+ python -m lidar_slam --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 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 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters Centerline goodness [0,1] 0.9567756254174837 Centerline is valid? [0, True] SLAMing on 0.052755096 meters Centerline goodness [0,1] 0.9534116632532068 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99999946e-01 -1.75402143e-04 2.78123929e-04 3.01384251e-02] [ 1.75406962e-04 9.99999984e-01 -1.73037165e-05 -3.00056499e-04] [-2.78120890e-04 1.73525004e-05 9.99999961e-01 -3.66131186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082755096 meters Centerline goodness [0,1] 0.9492051182628926 Centerline is valid? [True, False] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99999457e-01 -9.26491311e-04 -4.77294542e-04 3.28138976e-02] [ 9.26263984e-04 9.99999458e-01 -4.76284799e-04 8.85579991e-04] [ 4.77735557e-04 4.75842439e-04 9.99999773e-01 -1.24878033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11275509600000001 meters Centerline goodness [0,1] 0.9399727148703956 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 0.99999014 -0.00358614 -0.00261933 0.03990235] [ 0.00358145 0.99999198 -0.00179252 0.0036153 ] [ 0.00262574 0.00178312 0.99999496 -0.00284846] [ 0. 0. 0. 1. ]] SLAMing on 0.142755096 meters Centerline goodness [0,1] 0.9330973681924781 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.00 [[ 0.99998419 -0.00455541 -0.00329545 0.04279096] [ 0.00454809 0.99998718 -0.00222621 0.004036 ] [ 0.00330555 0.00221119 0.99999209 -0.0038805 ] [ 0. 0. 0. 1. ]] SLAMing on 0.17275509600000002 meters Centerline goodness [0,1] 0.9292536334826795 Centerline is valid? [False, False] Translation: X:0.05, Y:0.00, Z:-0.00 [[ 0.9999767 -0.00551674 -0.00402058 0.04573926] [ 0.00550667 0.99998169 -0.00250952 0.00400812] [ 0.00403435 0.00248732 0.99998877 -0.00473746] [ 0. 0. 0. 1. ]] SLAMing on 0.20275509600000002 meters Centerline goodness [0,1] 0.9200123806154934 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.01 [[ 0.99997383 -0.00644314 -0.00328903 0.07190453] [ 0.00642621 0.99996618 -0.00513305 0.00484161] [ 0.003322 0.00511178 0.99998142 -0.00670808] [ 0. 0. 0. 1. ]] SLAMing on 0.23275509600000002 meters Centerline goodness [0,1] 0.9081691515796947 Centerline is valid? [False, False] Translation: X:0.08, Y:0.00, Z:-0.01 [[ 0.99997874 -0.00500991 -0.00417301 0.07631343] [ 0.00500112 0.99998526 -0.00211456 0.00391008] [ 0.00418354 0.00209364 0.99998906 -0.00820736] [ 0. 0. 0. 1. ]] SLAMing on 0.262755096 meters Centerline goodness [0,1] 0.910240681671165 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.01 [[ 0.9999709 -0.00588746 -0.00485061 0.0790415 ] [ 0.00587498 0.99997941 -0.00258238 0.00606183] [ 0.00486571 0.0025538 0.9999849 -0.00882753] [ 0. 0. 0. 1. ]] SLAMing on 0.292755096 meters Centerline goodness [0,1] 0.8990153320444225 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 0.99995022 -0.00717749 -0.00693099 0.08788972] [ 0.00716736 0.99997321 -0.00148531 0.00880117] [ 0.00694147 0.00143556 0.99997488 -0.01097611] [ 0. 0. 0. 1. ]] SLAMing on 0.322755096 meters Centerline goodness [0,1] 0.8923548503425892 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 0.99994115 -0.00790953 -0.0074254 0.09030027] [ 0.00789709 0.99996737 -0.0017037 0.01009957] [ 0.00743863 0.00164496 0.99997098 -0.01150616] [ 0. 0. 0. 1. ]] SLAMing on 0.352755096 meters Centerline goodness [0,1] 0.8882515643420694 Centerline is valid? [False, False] Translation: X:0.09, Y:0.01, Z:-0.01 [[ 0.99993279 -0.00855039 -0.00782961 0.09230811] [ 0.00853573 0.99996176 -0.00190398 0.01119003] [ 0.00784559 0.00183703 0.99996754 -0.01182697] [ 0. 0. 0. 1. ]] SLAMing on 0.382755096 meters Centerline goodness [0,1] 0.8789387158644625 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.99990371 -0.01236367 -0.00630211 0.10732026] [ 0.01238578 0.99991723 0.00348084 0.01185774] [ 0.00625856 -0.00355856 0.99997408 -0.01429311] [ 0. 0. 0. 1. ]] SLAMing on 0.412755096 meters Centerline goodness [0,1] 0.8726307114733083 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.99989145 -0.01313246 -0.00668083 0.10953053] [ 0.01315319 0.99990879 0.0030684 0.01356894] [ 0.00663993 -0.00315594 0.99997298 -0.01485923] [ 0. 0. 0. 1. ]] SLAMing on 0.442755096 meters Centerline goodness [0,1] 0.8668097578988668 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:-0.02 [[ 0.99991386 -0.01288225 -0.0025157 0.13091763] [ 0.01287815 0.99991573 -0.00163673 0.01866949] [ 0.00253658 0.00160419 0.9999955 -0.01844942] [ 0. 0. 0. 1. ]] SLAMing on 0.472755096 meters Centerline goodness [0,1] 0.8609620700067359 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.02 [[ 0.99991709 -0.01230866 -0.00378322 0.13753828] [ 0.01231294 0.99992358 0.00110832 0.02093212] [ 0.00376929 -0.00115481 0.99999223 -0.01993672] [ 0. 0. 0. 1. ]] SLAMing on 0.502755096 meters Centerline goodness [0,1] 0.8584555822468922 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.02 [[ 9.99903033e-01 -1.32656378e-02 -4.23644707e-03 1.40313342e-01] [ 1.32679565e-02 9.99911842e-01 5.19683283e-04 2.30990551e-02] [ 4.22917967e-03 -5.75841887e-04 9.99990891e-01 -2.08860820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.532755096 meters Centerline goodness [0,1] 0.8560969334050665 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.02 [[ 9.99886320e-01 -1.42863335e-02 -4.82156972e-03 1.43451769e-01] [ 1.42865552e-02 9.99897942e-01 1.15491375e-05 2.48024925e-02] [ 4.82091264e-03 -8.04314466e-05 9.99988376e-01 -2.19452772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5627550960000001 meters Centerline goodness [0,1] 0.8521317920157252 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.02 [[ 9.99869675e-01 -1.52755218e-02 -5.22414145e-03 1.46341205e-01] [ 1.52731878e-02 9.99883240e-01 -4.86388213e-04 2.61954991e-02] [ 5.23096131e-03 4.06535531e-04 9.99986236e-01 -2.31665489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5927550960000001 meters Centerline goodness [0,1] 0.8488383075179449 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.02 [[ 0.99981497 -0.01804135 -0.00667333 0.15355726] [ 0.0180326 0.99983646 -0.00136838 0.02943407] [ 0.00669692 0.00124779 0.9999768 -0.02497267] [ 0. 0. 0. 1. ]] SLAMing on 0.6227550960000001 meters Centerline goodness [0,1] 0.8464255439389659 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.03 [[ 0.99978403 -0.01944488 -0.0073348 0.15715161] [ 0.01943246 0.99980962 -0.00176144 0.03070051] [ 0.00736765 0.00161853 0.99997155 -0.02587033] [ 0. 0. 0. 1. ]] SLAMing on 0.652755096 meters Centerline goodness [0,1] 0.843396805172129 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.03 [[ 0.99973973 -0.02127793 -0.00822879 0.16171279] [ 0.02126057 0.99977157 -0.00219153 0.03178219] [ 0.00827354 0.00201601 0.99996374 -0.02697413] [ 0. 0. 0. 1. ]] SLAMing on 0.6827550960000001 meters Centerline goodness [0,1] 0.8399896143133645 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.03 [[ 0.99968759 -0.02327863 -0.00910138 0.16629209] [ 0.02325728 0.99972653 -0.00244398 0.03177242] [ 0.00915579 0.00223155 0.99995559 -0.02791866] [ 0. 0. 0. 1. ]] SLAMing on 0.7127550960000001 meters Centerline goodness [0,1] 0.8081516587677725 Centerline is valid? [False, False] Translation: X:0.18, Y:0.03, Z:-0.03 [[ 0.9993284 -0.03447131 -0.01242914 0.18470512] [ 0.03443351 0.99940173 -0.00324258 0.0327079 ] [ 0.01253348 0.00281242 0.9999175 -0.0273978 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7427550960000001 meters Centerline goodness [0,1] 0.7786535148783538 Centerline is valid? [False, False] Translation: X:0.19, Y:0.03, Z:-0.03 [[ 0.99916267 -0.03850575 -0.01383023 0.19192176] [ 0.03845577 0.99925284 -0.00386176 0.03253236] [ 0.0139686 0.00332668 0.9998969 -0.02835161] [ 0. 0. 0. 1. ]] SLAMing on 0.7727550960000001 meters Centerline goodness [0,1] 0.7538406827880513 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:-0.03 [[ 0.99891361 -0.04386534 -0.01573005 0.20079501] [ 0.04379784 0.99902978 -0.00461044 0.03317966] [ 0.01591703 0.00391648 0.99986565 -0.0284458 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8027550960000001 meters Centerline goodness [0,1] 0.6300712622592253 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:-0.03 [[ 0.99831534 -0.05651603 -0.01313094 0.2287037 ] [ 0.0565497 0.99839735 0.00220705 0.03065246] [ 0.01298516 -0.00294588 0.99991135 -0.02971302] [ 0. 0. 0. 1. ]] SLAMing on 0.8327550960000001 meters Centerline goodness [0,1] 0.6461570916250615 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:-0.03 [[ 0.99802435 -0.06093346 -0.01531347 0.23800642] [ 0.0609735 0.99813705 0.00216093 0.03226215] [ 0.01515327 -0.00309038 0.99988041 -0.02951588] [ 0. 0. 0. 1. ]] SLAMing on 0.8627550960000001 meters Centerline goodness [0,1] 0.5785829194936001 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:-0.03 [[ 0.99762608 -0.06717 -0.01517871 0.27532975] [ 0.06728673 0.99770687 0.00731439 0.03133746] [ 0.0146526 -0.00831835 0.99985804 -0.02712233] [ 0. 0. 0. 1. ]] SLAMing on 0.8927550960000001 meters Centerline goodness [0,1] 0.5698548170137762 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:-0.02 [[ 0.99755459 -0.06760993 -0.01771288 0.30048563] [ 0.06774404 0.99767759 0.00708342 0.03077581] [ 0.01719284 -0.00826604 0.99981802 -0.0239511 ] [ 0. 0. 0. 1. ]] SLAMing on 0.922755096 meters Centerline goodness [0,1] 0.5513430298017049 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.02 [[ 0.99729852 -0.07179384 -0.01553397 0.33259658] [ 0.07194481 0.99736444 0.00938733 0.03306068] [ 0.01481908 -0.01047956 0.99983527 -0.0225791 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9527550960000001 meters Centerline goodness [0,1] 0.549630920177892 Centerline is valid? [False, False] Translation: X:0.36, Y:0.03, Z:-0.02 [[ 0.99732138 -0.07109907 -0.01717518 0.35649761] [ 0.07125173 0.99742261 0.00844557 0.03486448] [ 0.01653044 -0.00964671 0.99981683 -0.02040315] [ 0. 0. 0. 1. ]] SLAMing on 0.9827550960000001 meters Centerline goodness [0,1] 0.564816074749399 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.02 [[ 0.99751827 -0.06947176 -0.01144451 0.37438308] [ 0.06955873 0.99755053 0.00738423 0.03769043] [ 0.01090348 -0.00816197 0.99990724 -0.0212836 ] [ 0. 0. 0. 1. ]] SLAMing on 1.012755096 meters Centerline goodness [0,1] 0.5739287325214253 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.02 [[ 0.99770437 -0.06745554 -0.00597847 0.39255599] [ 0.06749011 0.99770319 0.00578239 0.04172317] [ 0.00557468 -0.0061726 0.99996541 -0.02305746] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters Centerline goodness [0,1] 0.576944549900623 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.02 [[ 0.99776883 -0.06673894 -0.00181179 0.41961645] [ 0.06675301 0.99772592 0.00932832 0.04952072] [ 0.00118511 -0.00942845 0.99995485 -0.0215996 ] [ 0. 0. 0. 1. ]] SLAMing on 1.072755096 meters Centerline goodness [0,1] 0.5973175227055715 Centerline is valid? [False, False] Translation: X:0.44, Y:0.06, Z:-0.02 [[ 0.99790859 -0.06454811 0.00346376 0.43716115] [ 0.0645238 0.99789352 0.00672269 0.05532031] [-0.0038904 -0.00648513 0.9999714 -0.02357553] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters Centerline goodness [0,1] 0.602234710165526 Centerline is valid? [False, False] Translation: X:0.46, Y:0.06, Z:-0.02 [[ 0.99798067 -0.06310625 0.00722331 0.46482397] [ 0.06302947 0.99795743 0.01040406 0.06497402] [-0.00786512 -0.00992777 0.99991979 -0.02266475] [ 0. 0. 0. 1. ]] SLAMing on 1.1327550960000001 meters Centerline goodness [0,1] 0.6169146674764652 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99814396 -0.05970632 0.01199096 0.48251379] [ 0.05960378 0.9981839 0.00873456 0.07194493] [-0.01249069 -0.00800364 0.99988996 -0.0245018 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1627550960000002 meters Centerline goodness [0,1] 0.6169146674764652 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99814396 -0.05970632 0.01199096 0.48251379] [ 0.05960378 0.9981839 0.00873456 0.07194493] [-0.01249069 -0.00800364 0.99988996 -0.0245018 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1927550960000002 meters Centerline goodness [0,1] 0.6259095325488503 Centerline is valid? [False, False] Translation: X:0.50, Y:0.08, Z:-0.03 [[ 0.99830541 -0.05579981 0.01651312 0.50058597] [ 0.05568655 0.99842204 0.00724167 0.07933454] [-0.01689115 -0.00630984 0.99983742 -0.02681644] [ 0. 0. 0. 1. ]] SLAMing on 1.2227550960000002 meters Centerline goodness [0,1] 0.6486590777541964 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.03 [[ 0.99848807 -0.05217567 0.01729953 0.53096649] [ 0.05203748 0.99861027 0.00834496 0.09419447] [-0.01771089 -0.00743212 0.99981553 -0.02768395] [ 0. 0. 0. 1. ]] SLAMing on 1.2527550960000002 meters Centerline goodness [0,1] 0.642730363749118 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.03 [[ 0.99859324 -0.04851234 0.0214033 0.54906068] [ 0.04838649 0.99880844 0.00635971 0.10157316] [-0.02168633 -0.00531514 0.9997507 -0.02936754] [ 0. 0. 0. 1. ]] SLAMing on 1.282755096 meters Centerline goodness [0,1] 0.709539052496799 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.03 [[ 0.9986627 -0.04491891 0.02559489 0.56722762] [ 0.04481778 0.99898499 0.0045115 0.10906549] [-0.02577156 -0.00335836 0.99966222 -0.03097017] [ 0. 0. 0. 1. ]] SLAMing on 1.312755096 meters Centerline goodness [0,1] 0.7752192049033796 Centerline is valid? [False, False] Translation: X:0.60, Y:0.13, Z:-0.03 [[ 0.99874773 -0.04216808 0.02692241 0.59889427] [ 0.0420142 0.99909743 0.00625632 0.12507556] [-0.02716193 -0.00511736 0.99961795 -0.03169411] [ 0. 0. 0. 1. ]] SLAMing on 1.342755096 meters Centerline goodness [0,1] 0.8119509400331028 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:-0.03 [[ 0.99912086 -0.03562467 0.02209966 0.61517041] [ 0.0355301 0.99935775 0.00465723 0.1313261 ] [-0.02225137 -0.00386794 0.99974493 -0.02857907] [ 0. 0. 0. 1. ]] SLAMing on 1.3727550960000001 meters Centerline goodness [0,1] 0.8599065479840159 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.03 [[ 0.99925482 -0.03033824 0.02386188 0.63887551] [ 0.03029399 0.99953858 0.00221364 0.1475832 ] [-0.02391803 -0.00148912 0.99971281 -0.03053815] [ 0. 0. 0. 1. ]] SLAMing on 1.4027550960000001 meters Centerline goodness [0,1] 0.8890140964854464 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.03 [[ 0.99934248 -0.0277362 0.0233521 0.6414633 ] [ 0.02764336 0.99960865 0.00428955 0.15336116] [-0.02346194 -0.0036412 0.9997181 -0.03100421] [ 0. 0. 0. 1. ]] SLAMing on 1.4327550960000002 meters Centerline goodness [0,1] 0.8973029266115492 Centerline is valid? [False, False] Translation: X:0.65, Y:0.16, Z:-0.03 [[ 0.99941582 -0.02565448 0.02258039 0.64504195] [ 0.02552986 0.99965729 0.00579009 0.1593276 ] [-0.02272119 -0.00521023 0.99972826 -0.03197101] [ 0. 0. 0. 1. ]] SLAMing on 1.4627550960000002 meters Centerline goodness [0,1] 0.9063089010779559 Centerline is valid? [False, False] Translation: X:0.65, Y:0.17, Z:-0.03 [[ 0.99948655 -0.02358851 0.02168467 0.64891623] [ 0.0234378 0.99969953 0.00717819 0.165209 ] [-0.02184747 -0.00666627 0.99973909 -0.03323357] [ 0. 0. 0. 1. ]] SLAMing on 1.4927550960000002 meters Centerline goodness [0,1] 0.9122235702275291 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.03 [[ 0.99955059 -0.02485867 0.01675303 0.66763528] [ 0.02467146 0.99963186 0.01128981 0.17709999] [-0.01702751 -0.01087141 0.99979592 -0.03261539] [ 0. 0. 0. 1. ]] SLAMing on 1.5227550960000003 meters Centerline goodness [0,1] 0.9147901087695445 Centerline is valid? [False, False] Translation: X:0.67, Y:0.18, Z:-0.04 [[ 0.99956756 -0.02506897 0.01536982 0.67323185] [ 0.02492255 0.99964285 0.00964549 0.18404158] [-0.01560613 -0.00925826 0.99983535 -0.03551787] [ 0. 0. 0. 1. ]] SLAMing on 1.552755096 meters Centerline goodness [0,1] 0.9190429437377273 Centerline is valid? [False, False] Translation: X:0.68, Y:0.19, Z:-0.04 [[ 0.9995685 -0.02591335 0.01383157 0.67795846] [ 0.0258172 0.99964157 0.00708577 0.19130032] [-0.01401022 -0.00672562 0.99987923 -0.03711514] [ 0. 0. 0. 1. ]] SLAMing on 1.582755096 meters Centerline goodness [0,1] 0.9226142572747681 Centerline is valid? [False, False] Translation: X:0.70, Y:0.20, Z:-0.04 [[ 0.99959412 -0.02489099 0.01385753 0.70466829] [ 0.02485556 0.99968734 0.00272289 0.203494 ] [-0.01392097 -0.00237735 0.99990027 -0.03921549] [ 0. 0. 0. 1. ]] SLAMing on 1.612755096 meters Centerline goodness [0,1] 0.9251655770172711 Centerline is valid? [False, False] Translation: X:0.71, Y:0.21, Z:-0.04 [[ 0.99964465 -0.0233594 0.01284197 0.70877588] [ 0.02330391 0.99971851 0.00445339 0.20644843] [-0.01294239 -0.00415254 0.99990762 -0.0404068 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6427550960000001 meters Centerline goodness [0,1] 0.9269564847142979 Centerline is valid? [False, False] Translation: X:0.71, Y:0.21, Z:-0.04 [[ 0.99965737 -0.0234664 0.01159657 0.71377451] [ 0.02342556 0.99971894 0.00364535 0.21142036] [-0.01167886 -0.00337244 0.99992611 -0.04258311] [ 0. 0. 0. 1. ]] SLAMing on 1.6727550960000002 meters Centerline goodness [0,1] 0.9320396612621814 Centerline is valid? [False, False] Translation: X:0.73, Y:0.22, Z:-0.04 [[ 0.99957194 -0.02829868 0.00742374 0.73338965] [ 0.02824018 0.99957019 0.00786997 0.21997923] [-0.00764326 -0.00765695 0.99994147 -0.04151303] [ 0. 0. 0. 1. ]] SLAMing on 1.7027550960000002 meters Centerline goodness [0,1] 0.9329882692348487 Centerline is valid? [False, False] Translation: X:0.74, Y:0.22, Z:-0.04 [[ 0.9995495 -0.02943235 0.00587718 0.73813424] [ 0.02939823 0.99955089 0.00581015 0.22452233] [-0.00604555 -0.00563476 0.99996585 -0.04304795] [ 0. 0. 0. 1. ]] SLAMing on 1.7327550960000002 meters Centerline goodness [0,1] 0.9353212576896788 Centerline is valid? [False, False] Translation: X:0.74, Y:0.23, Z:-0.04 [[ 0.99953786 -0.03005246 0.00457281 0.74150815] [ 0.03003231 0.99953918 0.00441456 0.22838803] [-0.00470337 -0.00427518 0.9999798 -0.04351369] [ 0. 0. 0. 1. ]] SLAMing on 1.7627550960000002 meters Centerline goodness [0,1] 0.9410244360902256 Centerline is valid? [False, False] Translation: X:0.76, Y:0.23, Z:-0.04 [[ 0.99936267 -0.03567098 0.00135711 0.75791724] [ 0.03565971 0.9993353 0.00757314 0.23452216] [-0.00162635 -0.00751992 0.9999704 -0.04253052] [ 0. 0. 0. 1. ]] SLAMing on 1.7927550960000003 meters Centerline goodness [0,1] 0.9411437257798617 Centerline is valid? [False, False] Translation: X:0.76, Y:0.24, Z:-0.04 [[ 9.99332510e-01 -3.65294076e-02 -3.69169424e-04 7.62787273e-01] [ 3.65309632e-02 9.99314626e-01 5.98058942e-03 2.37872267e-01] [ 1.50449016e-04 -5.99008355e-03 9.99982048e-01 -4.40718965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.822755096 meters Centerline goodness [0,1] 0.9474080123796423 Centerline is valid? [False, False] Translation: X:0.78, Y:0.24, Z:-0.04 [[ 0.99912052 -0.04182233 -0.00301413 0.77895466] [ 0.0418489 0.99908004 0.00936766 0.2434836 ] [ 0.00261958 -0.00948556 0.99995158 -0.04424125] [ 0. 0. 0. 1. ]] SLAMing on 1.852755096 meters Centerline goodness [0,1] 0.9486592334196503 Centerline is valid? [False, False] Translation: X:0.78, Y:0.25, Z:-0.05 [[ 0.99907576 -0.04271453 -0.0048056 0.78378707] [ 0.04275001 0.99905735 0.00753943 0.24732214] [ 0.00447903 -0.0077379 0.99996003 -0.04563868] [ 0. 0. 0. 1. ]] SLAMing on 1.8827550960000001 meters Centerline goodness [0,1] 0.9513237283404548 Centerline is valid? [False, True] Translation: X:0.79, Y:0.25, Z:-0.05 [[ 0.9990403 -0.04330238 -0.00658608 0.78853248] [ 0.04334265 0.99904165 0.00609924 0.25081941] [ 0.00631566 -0.00637885 0.99995971 -0.04702909] [ 0. 0. 0. 1. ]] SLAMing on 1.9127550960000002 meters Centerline goodness [0,1] 0.9532082116474833 Centerline is valid? [True, True] Translation: X:0.82, Y:0.26, Z:-0.05 [[ 9.98964666e-01 -4.40488037e-02 -1.13709300e-02 8.17206696e-01] [ 4.40518257e-02 9.99029247e-01 1.53134124e-05 2.56968601e-01] [ 1.13592171e-02 -5.16207782e-04 9.99935349e-01 -5.16284202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9427550960000002 meters Centerline goodness [0,1] 0.9559060186675249 Centerline is valid? [True, True] Translation: X:0.85, Y:0.26, Z:-0.05 [[ 9.98909878e-01 -4.39928533e-02 -1.56104112e-02 8.46470574e-01] [ 4.39985320e-02 9.99031595e-01 2.03604721e-05 2.62006363e-01] [ 1.55943983e-02 -7.07173456e-04 9.99878150e-01 -5.27022870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9727550960000002 meters Centerline goodness [0,1] 0.9575342465753425 Centerline is valid? [True, True] Translation: X:0.88, Y:0.27, Z:-0.05 [[ 9.98804743e-01 -4.45576380e-02 -2.00923383e-02 8.76103181e-01] [ 4.45671547e-02 9.99006390e-01 2.58972346e-05 2.68370290e-01] [ 2.00712204e-02 -9.21324628e-04 9.99798128e-01 -5.36392656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002755096 meters Centerline goodness [0,1] 0.9593073037075092 Centerline is valid? [True, True] Translation: X:0.90, Y:0.27, Z:-0.05 [[ 9.98767598e-01 -4.51717919e-02 -2.05619424e-02 9.04719878e-01] [ 4.51816999e-02 9.98978785e-01 1.73212162e-05 2.69832332e-01] [ 2.05401618e-02 -9.46323379e-04 9.99788581e-01 -5.37968570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0327550960000003 meters Centerline goodness [0,1] 0.9608418886769402 Centerline is valid? [True, True] Translation: X:0.93, Y:0.27, Z:-0.05 [[ 9.98696198e-01 -4.53523693e-02 -2.34321708e-02 9.34248248e-01] [ 4.53653549e-02 9.98970462e-01 2.26247717e-05 2.73175466e-01] [ 2.34070204e-02 -1.08560402e-03 9.99725429e-01 -5.33255053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.062755096 meters Centerline goodness [0,1] 0.9570187079926367 Centerline is valid? [True, True] Translation: X:0.96, Y:0.27, Z:-0.06 [[ 9.98584671e-01 -4.61779833e-02 -2.63865137e-02 9.62806288e-01] [ 4.61946908e-02 9.98932455e-01 2.36427193e-05 2.71288891e-01] [ 2.63572531e-02 -1.24252610e-03 9.99651815e-01 -5.63334511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0927550960000003 meters Centerline goodness [0,1] 0.9454273504273504 Centerline is valid? [True, False] Translation: X:0.97, Y:0.27, Z:-0.06 [[ 0.99888147 -0.0438567 -0.01767485 0.97387474] [ 0.04379654 0.99903333 -0.00377662 0.27492202] [ 0.0178234 0.0029983 0.99983665 -0.06059159] [ 0. 0. 0. 1. ]] SLAMing on 2.122755096 meters Centerline goodness [0,1] 0.9659426176935905 Centerline is valid? [False, True] Translation: X:0.99, Y:0.28, Z:-0.06 [[ 0.99895444 -0.04368696 -0.01347154 0.9936397 ] [ 0.04361145 0.99903145 -0.00584885 0.2791163 ] [ 0.01371401 0.00525522 0.99989215 -0.06155651] [ 0. 0. 0. 1. ]] SLAMing on 2.1527550960000004 meters Centerline goodness [0,1] 0.9661762830052298 Centerline is valid? [True, True] Translation: X:1.02, Y:0.28, Z:-0.06 [[ 9.98987190e-01 -4.27013756e-02 -1.41840611e-02 1.02234716e+00] [ 4.27061661e-02 9.99087675e-01 3.48892136e-05 2.79055284e-01] [ 1.41696308e-02 -6.40600749e-04 9.99899401e-01 -6.07458954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.182755096 meters Centerline goodness [0,1] 0.9631083202511774 Centerline is valid? [True, True] Translation: X:1.05, Y:0.28, Z:-0.07 [[ 9.99039751e-01 -4.18289224e-02 -1.30352250e-02 1.05039413e+00] [ 4.18329336e-02 9.99124619e-01 3.50863416e-05 2.75654540e-01] [ 1.30223466e-02 -5.80354351e-04 9.99915037e-01 -6.50157155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2127550960000004 meters Centerline goodness [0,1] 0.965057705796085 Centerline is valid? [True, True] Translation: X:1.08, Y:0.28, Z:-0.07 [[ 9.99051199e-01 -4.13151540e-02 -1.37753208e-02 1.07812719e+00] [ 4.13194507e-02 9.99145986e-01 2.73346798e-05 2.77968451e-01] [ 1.37624271e-02 -5.96497433e-04 9.99905115e-01 -6.50378093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2427550960000002 meters Centerline goodness [0,1] 0.9740080334941449 Centerline is valid? [True, True] Translation: X:1.11, Y:0.29, Z:-0.06 [[ 9.99098034e-01 -4.09505677e-02 -1.12324929e-02 1.10721494e+00] [ 4.09534416e-02 9.99161056e-01 2.58726720e-05 2.86313416e-01] [ 1.12220099e-02 -4.85858577e-04 9.99936913e-01 -5.82076071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.272755096 meters Centerline goodness [0,1] 0.9713815720100386 Centerline is valid? [True, True] Translation: X:1.14, Y:0.29, Z:-0.06 [[ 9.99144918e-01 -3.93824022e-02 -1.25880618e-02 1.13512407e+00] [ 3.93858678e-02 9.99224075e-01 2.74257317e-05 2.86183106e-01] [ 1.25772144e-02 -5.23194019e-04 9.99920767e-01 -6.14031556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3027550960000003 meters Centerline goodness [0,1] 0.9741928676936062 Centerline is valid? [True, True] Translation: X:1.16, Y:0.29, Z:-0.06 [[ 9.99146282e-01 -3.98214066e-02 -1.09982713e-02 1.16397215e+00] [ 3.98239842e-02 9.99206710e-01 1.53718992e-05 2.88438599e-01] [ 1.09889343e-02 -4.53353757e-04 9.99939517e-01 -5.96024349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.332755096 meters Centerline goodness [0,1] 0.9752570354888425 Centerline is valid? [True, True] Translation: X:1.19, Y:0.29, Z:-0.06 [[ 9.99103665e-01 -4.11416794e-02 -9.96138174e-03 1.19175831e+00] [ 4.11438076e-02 9.99153235e-01 8.72399026e-06 2.88825889e-01] [ 9.95258787e-03 -4.18565345e-04 9.99950384e-01 -5.88646158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3627550960000003 meters Centerline goodness [0,1] 0.9739498809197631 Centerline is valid? [True, True] Translation: X:1.22, Y:0.28, Z:-0.06 [[ 9.99008421e-01 -4.39797553e-02 -6.92503009e-03 1.21947552e+00] [ 4.39808708e-02 9.99032373e-01 8.79837585e-06 2.82998866e-01] [ 6.91794230e-03 -3.13358505e-04 9.99976022e-01 -5.85103711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.392755096 meters Centerline goodness [0,1] 0.9746108189172634 Centerline is valid? [True, True] Translation: X:1.25, Y:0.28, Z:-0.06 [[ 9.98898330e-01 -4.65521081e-02 -5.91845105e-03 1.24833605e+00] [ 4.65529265e-02 9.98915825e-01 5.22388425e-07 2.81864183e-01] [ 5.91201010e-03 -2.76043030e-04 9.99982486e-01 -5.76116049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4227550960000004 meters Centerline goodness [0,1] 0.95389741859288 Centerline is valid? [True, True] Translation: X:1.28, Y:0.28, Z:-0.06 [[ 9.98695226e-01 -5.09739123e-02 -3.08304364e-03 1.27674536e+00] [ 5.09741620e-02 9.98699972e-01 2.44283794e-06 2.75785932e-01] [ 3.07891107e-03 -1.59595216e-04 9.99995247e-01 -5.80804375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.452755096 meters Centerline goodness [0,1] 0.9551302297180637 Centerline is valid? [True, True] Translation: X:1.31, Y:0.28, Z:-0.06 [[ 9.98636480e-01 -5.21286492e-02 -2.79012211e-03 1.30540551e+00] [ 5.21288392e-02 9.98640368e-01 -4.62030831e-06 2.76653020e-01] [ 2.78656942e-03 -1.40831818e-04 9.99996108e-01 -5.77753046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4827550960000004 meters Centerline goodness [0,1] 0.9506840665123132 Centerline is valid? [True, True] Translation: X:1.33, Y:0.28, Z:-0.06 [[ 9.98609126e-01 -5.26804979e-02 -2.13982641e-03 1.33345876e+00] [ 5.26806171e-02 9.98611412e-01 -6.44678884e-07 2.76614370e-01] [ 2.13688904e-03 -1.12083594e-04 9.99997711e-01 -5.79223509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5127550960000002 meters Centerline goodness [0,1] 0.9414075630252101 Centerline is valid? [True, False] Translation: X:1.34, Y:0.28, Z:-0.06 [[ 0.99873492 -0.05018585 -0.00315202 1.33692172] [ 0.05019507 0.99873517 0.00291666 0.27528871] [ 0.00300166 -0.00307119 0.99999078 -0.05901892] [ 0. 0. 0. 1. ]] SLAMing on 2.542755096 meters Centerline goodness [0,1] 0.9404055442554887 Centerline is valid? [False, False] Translation: X:1.34, Y:0.28, Z:-0.06 [[ 0.99875659 -0.04969668 -0.00393767 1.3388544 ] [ 0.04970939 0.9987586 0.00319788 0.27521958] [ 0.00377386 -0.00338965 0.99998713 -0.05944876] [ 0. 0. 0. 1. ]] SLAMing on 2.5727550960000003 meters Centerline goodness [0,1] 0.9487351596257918 Centerline is valid? [False, False] Translation: X:1.34, Y:0.27, Z:-0.06 [[ 0.99883387 -0.0480184 -0.00501423 1.34275453] [ 0.0480424 0.99883385 0.00478224 0.27400832] [ 0.00477874 -0.00501756 0.99997599 -0.0612946 ] [ 0. 0. 0. 1. ]] SLAMing on 2.602755096 meters Centerline goodness [0,1] 0.9486017580296642 Centerline is valid? [False, False] Translation: X:1.34, Y:0.27, Z:-0.06 [[ 0.99884667 -0.04767526 -0.00569214 1.34446341] [ 0.04770336 0.99884949 0.00490744 0.27424624] [ 0.00545163 -0.00517332 0.99997176 -0.06171613] [ 0. 0. 0. 1. ]] SLAMing on 2.6327550960000003 meters Centerline goodness [0,1] 0.9491134677453158 Centerline is valid? [False, False] Translation: X:1.35, Y:0.27, Z:-0.06 [[ 0.99885874 -0.0473567 -0.00620923 1.34571782] [ 0.04738725 0.99886473 0.0048685 0.27486541] [ 0.00597162 -0.00515718 0.99996887 -0.06190707] [ 0. 0. 0. 1. ]] SLAMing on 2.662755096 meters Centerline goodness [0,1] 0.9476926311363397 Centerline is valid? [False, False] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99894246 -0.04544387 -0.00698733 1.34672226] [ 0.04548791 0.99894516 0.00627855 0.2762814 ] [ 0.00669464 -0.00658975 0.99995588 -0.06095662] [ 0. 0. 0. 1. ]] SLAMing on 2.6927550960000004 meters Centerline goodness [0,1] 0.9519317067061844 Centerline is valid? [False, True] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99893877 -0.04540716 -0.00771488 1.34852209] [ 0.04545222 0.99894986 0.00576906 0.27801732] [ 0.00744482 -0.0061136 0.9999536 -0.0613496 ] [ 0. 0. 0. 1. ]] SLAMing on 2.722755096 meters Centerline goodness [0,1] 0.9412636147393899 Centerline is valid? [True, False] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99892705 -0.04553596 -0.00843998 1.350455 ] [ 0.04557917 0.99894822 0.00499984 0.28035571] [ 0.00820343 -0.00537916 0.99995188 -0.06160532] [ 0. 0. 0. 1. ]] SLAMing on 2.7527550960000005 meters Centerline goodness [0,1] 0.9373278236914601 Centerline is valid? [False, False] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99892694 -0.04540981 -0.00910611 1.35198122] [ 0.04545687 0.99895364 0.0050291 0.28064842] [ 0.00886821 -0.00543764 0.99994589 -0.06173178] [ 0. 0. 0. 1. ]] SLAMing on 2.7827550960000003 meters Centerline goodness [0,1] 0.9239294078287053 Centerline is valid? [False, False] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99893155 -0.04520975 -0.00958359 1.35315128] [ 0.04526127 0.9989615 0.0052294 0.28042765] [ 0.00933721 -0.00565758 0.9999404 -0.06191531] [ 0. 0. 0. 1. ]] SLAMing on 2.812755096 meters Centerline goodness [0,1] 0.9162374911024578 Centerline is valid? [False, False] Translation: X:1.35, Y:0.28, Z:-0.06 [[ 0.99892832 -0.04515292 -0.01016975 1.35450123] [ 0.04520696 0.99896438 0.00514828 0.28077007] [ 0.00992676 -0.0056025 0.99993503 -0.06204792] [ 0. 0. 0. 1. ]] SLAMing on 2.8427550960000003 meters Centerline goodness [0,1] 0.9040866691763918 Centerline is valid? [False, False] Translation: X:1.36, Y:0.28, Z:-0.06 [[ 0.99890775 -0.04552136 -0.01054054 1.3559032 ] [ 0.04556494 0.99895364 0.00393167 0.28432451] [ 0.01035054 -0.00440766 0.99993672 -0.06251779] [ 0. 0. 0. 1. ]] SLAMing on 2.872755096 meters Centerline goodness [0,1] 0.8833263685750105 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99898205 -0.0436628 -0.01133275 1.35837473] [ 0.04372667 0.99902866 0.00545058 0.28721356] [ 0.01108376 -0.00594058 0.99992093 -0.06344465] [ 0. 0. 0. 1. ]] SLAMing on 2.9027550960000004 meters Centerline goodness [0,1] 0.8915178291002743 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99899294 -0.04332438 -0.01166627 1.35898339] [ 0.0433909 0.99904297 0.00551095 0.28796574] [ 0.01141635 -0.00601161 0.99991676 -0.0632994 ] [ 0. 0. 0. 1. ]] SLAMing on 2.932755096 meters Centerline goodness [0,1] 0.8962787678261052 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99898854 -0.04329156 -0.01215462 1.36016295] [ 0.04335937 0.9990451 0.005372 0.28837441] [ 0.01191045 -0.00589358 0.9999117 -0.06339493] [ 0. 0. 0. 1. ]] SLAMing on 2.9627550960000004 meters Centerline goodness [0,1] 0.8952184854724319 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99897522 -0.04342462 -0.01275956 1.36141176] [ 0.04349294 0.99904058 0.00512666 0.28850147] [ 0.01252469 -0.00567636 0.99990545 -0.06323368] [ 0. 0. 0. 1. ]] SLAMing on 2.9927550960000002 meters Centerline goodness [0,1] 0.8910093122311772 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99897683 -0.04341791 -0.01265591 1.36109625] [ 0.04348651 0.9990405 0.0051966 0.28844117] [ 0.01241815 -0.00574164 0.99990641 -0.06265169] [ 0. 0. 0. 1. ]] SLAMing on 3.0227550960000005 meters Centerline goodness [0,1] 0.8759638088471906 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.9989731 -0.04336326 -0.01312883 1.36224782] [ 0.04343331 0.99904332 0.00509844 0.28904618] [ 0.01289519 -0.00566344 0.99990081 -0.06288618] [ 0. 0. 0. 1. ]] SLAMing on 3.0527550960000003 meters Centerline goodness [0,1] 0.8759638088471906 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.9989731 -0.04336326 -0.01312883 1.36224782] [ 0.04343331 0.99904332 0.00509844 0.28904618] [ 0.01289519 -0.00566344 0.99990081 -0.06288618] [ 0. 0. 0. 1. ]] SLAMing on 3.082755096 meters Centerline goodness [0,1] 0.8766777297680923 Centerline is valid? [False, False] Translation: X:1.36, Y:0.29, Z:-0.06 [[ 0.99896903 -0.04326556 -0.01374622 1.36362233] [ 0.0433392 0.99904737 0.00510464 0.28943342] [ 0.01351227 -0.00569512 0.99989249 -0.06301372] [ 0. 0. 0. 1. ]] SLAMing on 3.1127550960000003 meters Centerline goodness [0,1] 0.85595712289629 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.9989598 -0.04326792 -0.01439433 1.36521031] [ 0.04334285 0.99904807 0.00493482 0.28993732] [ 0.01416711 -0.00555357 0.99988422 -0.06319143] [ 0. 0. 0. 1. ]] SLAMing on 3.142755096 meters Centerline goodness [0,1] 0.8497539000583966 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99895751 -0.04309224 -0.01506502 1.36668944] [ 0.04317139 0.99905533 0.00496834 0.29027782] [ 0.01483669 -0.00561354 0.99987417 -0.06330788] [ 0. 0. 0. 1. ]] SLAMing on 3.1727550960000004 meters Centerline goodness [0,1] 0.819501988730527 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99892851 -0.04354076 -0.01568558 1.36816835] [ 0.04361278 0.99903935 0.00427856 0.29150201] [ 0.01548422 -0.00495807 0.99986782 -0.06324267] [ 0. 0. 0. 1. ]] SLAMing on 3.202755096 meters Centerline goodness [0,1] 0.8193282557123236 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99893194 -0.04335814 -0.01597027 1.36870905] [ 0.04343692 0.99904549 0.00461974 0.29081208] [ 0.01575473 -0.00530851 0.99986179 -0.06311717] [ 0. 0. 0. 1. ]] SLAMing on 3.2327550960000004 meters Centerline goodness [0,1] 0.9568052159739201 Centerline is valid? [False, True] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99893273 -0.04323222 -0.01625941 1.36923357] [ 0.04331872 0.99904877 0.00500536 0.28987402] [ 0.01602755 -0.00570435 0.99985528 -0.06295757] [ 0. 0. 0. 1. ]] SLAMing on 3.2627550960000002 meters Centerline goodness [0,1] 0.9220043481896479 Centerline is valid? [True, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99891886 -0.04341802 -0.0166127 1.37026412] [ 0.04351632 0.99903701 0.005602 0.28789694] [ 0.01635348 -0.00631887 0.99984631 -0.06313137] [ 0. 0. 0. 1. ]] SLAMing on 3.2927550960000005 meters Centerline goodness [0,1] 0.8687360860251186 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.9988734 -0.04439372 -0.01676692 1.37068068] [ 0.04449118 0.99899472 0.00548473 0.28661728] [ 0.01650658 -0.00622453 0.99984438 -0.06296153] [ 0. 0. 0. 1. ]] SLAMing on 3.3227550960000003 meters Centerline goodness [0,1] 0.8375194581177163 Centerline is valid? [False, False] Translation: X:1.37, Y:0.29, Z:-0.06 [[ 0.99885748 -0.04462641 -0.01709428 1.37125552] [ 0.04472867 0.99898321 0.00564724 0.28579861] [ 0.01682488 -0.00640539 0.99983793 -0.06276873] [ 0. 0. 0. 1. ]] SLAMing on 3.352755096 meters Centerline goodness [0,1] 0.8144057775149929 Centerline is valid? [False, False] Translation: X:1.37, Y:0.28, Z:-0.06 [[ 0.99884462 -0.04482138 -0.01733407 1.37158163] [ 0.04492911 0.99897289 0.00587642 0.28478308] [ 0.01705288 -0.00664843 0.99983248 -0.06247779] [ 0. 0. 0. 1. ]] SLAMing on 3.3827550960000003 meters Centerline goodness [0,1] 0.7869497843112618 Centerline is valid? [False, False] Translation: X:1.37, Y:0.28, Z:-0.06 [[ 0.9988059 -0.04543019 -0.0179684 1.37308691] [ 0.04553843 0.99894655 0.00566111 0.28411003] [ 0.01769228 -0.0064726 0.99982253 -0.06262946] [ 0. 0. 0. 1. ]] SLAMing on 3.412755096 meters Centerline goodness [0,1] 0.7474179990284495 Centerline is valid? [False, False] Translation: X:1.37, Y:0.28, Z:-0.06 [[ 0.9987749 -0.04607106 -0.01805968 1.37318155] [ 0.04618363 0.99891574 0.00586599 0.28207338] [ 0.01776985 -0.00669286 0.9998197 -0.06219319] [ 0. 0. 0. 1. ]] SLAMing on 3.4427550960000004 meters Centerline goodness [0,1] 0.7465287288510567 Centerline is valid? [False, False] Translation: X:1.37, Y:0.28, Z:-0.06 [[ 0.9987653 -0.04610829 -0.01849034 1.37404451] [ 0.0462255 0.99891324 0.00596225 0.28134665] [ 0.01819534 -0.00680962 0.99981126 -0.06184231] [ 0. 0. 0. 1. ]] SLAMing on 3.472755096 meters Centerline goodness [0,1] 0.7714315811650689 Centerline is valid? [False, False] Translation: X:1.38, Y:0.28, Z:-0.06 [[ 0.99876161 -0.04596076 -0.0190488 1.3750521 ] [ 0.04607895 0.99892089 0.00581267 0.2820114 ] [ 0.01876109 -0.00668322 0.99980166 -0.06164356] [ 0. 0. 0. 1. ]] SLAMing on 3.5027550960000005 meters Centerline goodness [0,1] 0.7621654501216545 Centerline is valid? [False, False] Translation: X:1.38, Y:0.28, Z:-0.06 [[ 0.99878004 -0.04532421 -0.01959974 1.37590737] [ 0.04543755 0.99895271 0.00537639 0.28451008] [ 0.01933553 -0.0062604 0.99979345 -0.06103977] [ 0. 0. 0. 1. ]] SLAMing on 3.5327550960000003 meters Centerline goodness [0,1] 0.795390811141333 Centerline is valid? [False, False] Translation: X:1.38, Y:0.29, Z:-0.06 [[ 0.99880119 -0.04472432 -0.01989757 1.37631114] [ 0.04484186 0.99897895 0.00550069 0.28544444] [ 0.01963124 -0.00638634 0.99978689 -0.06076986] [ 0. 0. 0. 1. ]] SLAMing on 3.5627550960000005 meters Centerline goodness [0,1] 0.8205878021585005 Centerline is valid? [False, False] Translation: X:1.38, Y:0.29, Z:-0.06 [[ 0.99880781 -0.04426927 -0.02057151 1.37767547] [ 0.04439251 0.99899862 0.00557286 0.28614247] [ 0.0203042 -0.00647943 0.99977285 -0.06079429] [ 0. 0. 0. 1. ]] SLAMing on 3.5927550960000003 meters Centerline goodness [0,1] 0.8810430954195242 Centerline is valid? [False, False] Translation: X:1.38, Y:0.29, Z:-0.06 [[ 0.99885816 -0.04301002 -0.02079681 1.37772971] [ 0.04315061 0.99904834 0.00635952 0.28592814] [ 0.0205035 -0.00724966 0.9997635 -0.0601212 ] [ 0. 0. 0. 1. ]] SLAMing on 3.622755096 meters Centerline goodness [0,1] 0.9606047790230493 Centerline is valid? [False, True] Translation: X:1.38, Y:0.29, Z:-0.06 [[ 0.99885892 -0.04274962 -0.02129148 1.37889524] [ 0.04289546 0.99905881 0.00644068 0.28603165] [ 0.0209961 -0.00734664 0.99975256 -0.06031764] [ 0. 0. 0. 1. ]] SLAMing on 3.6527550960000004 meters Centerline goodness [0,1] 0.9629997045042002 Centerline is valid? [True, True] Translation: X:1.41, Y:0.29, Z:-0.06 [[ 9.98884838e-01 -4.20179601e-02 -2.15306990e-02 1.40826609e+00] [ 4.20353398e-02 9.99116061e-01 3.55063858e-04 2.88965767e-01] [ 2.14967481e-02 -1.25971815e-03 9.99768125e-01 -6.05835696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.682755096 meters Centerline goodness [0,1] 0.8928313891834571 Centerline is valid? [True, False] Translation: X:1.41, Y:0.29, Z:-0.06 [[ 9.98893655e-01 -4.16058803e-02 -2.19184052e-02 1.40918548e+00] [ 4.16356047e-02 9.99132456e-01 9.01342744e-04 2.88101180e-01] [ 2.18618889e-02 -1.81293160e-03 9.99759357e-01 -6.07917034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7127550960000004 meters Centerline goodness [0,1] 0.9306001690617075 Centerline is valid? [False, False] Translation: X:1.41, Y:0.29, Z:-0.06 [[ 0.99889169 -0.04134943 -0.02248599 1.41094 ] [ 0.04139934 0.99914113 0.0017585 0.28593982] [ 0.02239397 -0.00268745 0.99974561 -0.06149372] [ 0. 0. 0. 1. ]] SLAMing on 3.7427550960000002 meters Centerline goodness [0,1] 0.8133161475721591 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.06 [[ 0.99889165 -0.04116909 -0.02281601 1.41184255] [ 0.04123603 0.99914638 0.00247106 0.28403461] [ 0.0226948 -0.00340917 0.99973663 -0.06174626] [ 0. 0. 0. 1. ]] SLAMing on 3.7727550960000005 meters Centerline goodness [0,1] 0.9307014931722466 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.06 [[ 0.9988948 -0.04101638 -0.02295301 1.41210736] [ 0.04110035 0.9991499 0.00319829 0.28188328] [ 0.02280232 -0.00413813 0.99973143 -0.06161012] [ 0. 0. 0. 1. ]] SLAMing on 3.8027550960000003 meters Centerline goodness [0,1] 0.922203694202155 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.06 [[ 0.99889324 -0.04089067 -0.02324303 1.41281989] [ 0.04099163 0.99915194 0.00388361 0.27977121] [ 0.02306452 -0.00483208 0.9997223 -0.06172682] [ 0. 0. 0. 1. ]] SLAMing on 3.8327550960000005 meters Centerline goodness [0,1] 0.9183337607933658 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.06 [[ 0.99888829 -0.04095452 -0.02334319 1.41319398] [ 0.04108651 0.99914205 0.00520283 0.27519077] [ 0.02311008 -0.00615613 0.99971397 -0.06167372] [ 0. 0. 0. 1. ]] SLAMing on 3.8627550960000003 meters Centerline goodness [0,1] 0.9182556083427427 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.06 [[ 0.99872797 -0.04464286 -0.02344035 1.41389717] [ 0.04469056 0.99899973 0.00151463 0.27446454] [ 0.02334928 -0.00256027 0.99972409 -0.06161125] [ 0. 0. 0. 1. ]] SLAMing on 3.892755096 meters Centerline goodness [0,1] 0.9025082019261298 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.06 [[ 0.99871584 -0.04476307 -0.02372617 1.41469813] [ 0.04481489 0.99899394 0.00165628 0.27338121] [ 0.02362816 -0.00271743 0.99971712 -0.06171738] [ 0. 0. 0. 1. ]] SLAMing on 3.9227550960000004 meters Centerline goodness [0,1] 0.9251723844385801 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.06 [[ 0.99872587 -0.04445475 -0.02388319 1.41503396] [ 0.04452032 0.99900601 0.00222046 0.27231003] [ 0.02376074 -0.00328092 0.99971229 -0.06170552] [ 0. 0. 0. 1. ]] SLAMing on 3.952755096 meters Centerline goodness [0,1] 0.9054509962019139 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.06 [[ 0.99873603 -0.04406809 -0.0241733 1.41586174] [ 0.04414938 0.99902091 0.00283903 0.27123665] [ 0.02402452 -0.00390268 0.99970375 -0.06195427] [ 0. 0. 0. 1. ]] SLAMing on 3.9827550960000004 meters Centerline goodness [0,1] 0.9196436147645312 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.06 [[ 0.99877903 -0.04291521 -0.0244692 1.41665126] [ 0.04303364 0.99906422 0.0043337 0.26852856] [ 0.02426032 -0.00538141 0.99969119 -0.06210629] [ 0. 0. 0. 1. ]] SLAMing on 4.012755096 meters Centerline goodness [0,1] 0.9369505202803143 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.06 [[ 0.99880944 -0.0421181 -0.02461217 1.41705027] [ 0.04226129 0.99909239 0.00532673 0.26670802] [ 0.02436548 -0.00636053 0.99968288 -0.06220897] [ 0. 0. 0. 1. ]] SLAMing on 4.0427550960000005 meters Centerline goodness [0,1] 0.9590446574009435 Centerline is valid? [False, True] Translation: X:1.42, Y:0.26, Z:-0.06 [[ 0.99885589 -0.04078953 -0.02496236 1.41794097] [ 0.04097087 0.99913723 0.00679654 0.26367055] [ 0.02466359 -0.00781149 0.99966529 -0.06226467] [ 0. 0. 0. 1. ]] SLAMing on 4.072755096000001 meters Centerline goodness [0,1] 0.97398801076066 Centerline is valid? [True, True] Translation: X:1.45, Y:0.27, Z:-0.06 [[ 9.98944232e-01 -3.87638561e-02 -2.46533011e-02 1.44826866e+00] [ 3.87885480e-02 9.99247304e-01 5.23971253e-04 2.68239638e-01] [ 2.46144335e-02 -1.47968381e-03 9.99695924e-01 -6.17386203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters Centerline goodness [0,1] 0.982892393792928 Centerline is valid? [True, True] Translation: X:1.48, Y:0.27, Z:-0.06 [[ 9.99052486e-01 -3.61778392e-02 -2.41928592e-02 1.47847875e+00] [ 3.62008395e-02 9.99344403e-01 5.13274102e-04 2.70753963e-01] [ 2.41584293e-02 -1.38858958e-03 9.99707178e-01 -6.03589379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.132755096 meters Centerline goodness [0,1] 0.9904256668216596 Centerline is valid? [True, True] Translation: X:1.51, Y:0.27, Z:-0.06 [[ 9.99230829e-01 -3.15264768e-02 -2.33201813e-02 1.50840040e+00] [ 3.15465765e-02 9.99502161e-01 4.94424175e-04 2.73073861e-01] [ 2.32929841e-02 -1.22971576e-03 9.99727925e-01 -5.92838618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096000001 meters Centerline goodness [0,1] 0.9939422082445069 Centerline is valid? [True, True] Translation: X:1.54, Y:0.27, Z:-0.06 [[ 9.99305591e-01 -2.87019231e-02 -2.37599350e-02 1.53874844e+00] [ 2.87219882e-02 9.99587312e-01 5.03592627e-04 2.73983650e-01] [ 2.37356755e-02 -1.18567550e-03 9.99717566e-01 -5.96072424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.192755096 meters Centerline goodness [0,1] 0.9977880300827908 Centerline is valid? [True, True] Translation: X:1.57, Y:0.27, Z:-0.06 [[ 9.99428265e-01 -2.41787645e-02 -2.36332536e-02 1.56795178e+00] [ 2.41973452e-02 9.99707076e-01 5.00511290e-04 2.74876837e-01] [ 2.36142291e-02 -1.07208713e-03 9.99720570e-01 -5.99368496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters Centerline goodness [0,1] 0.9992395919143273 Centerline is valid? [True, True] Translation: X:1.60, Y:0.28, Z:-0.06 [[ 9.99482594e-01 -2.20497198e-02 -2.34169567e-02 1.59654779e+00] [ 2.20673637e-02 9.99756363e-01 4.95291406e-04 2.76066445e-01] [ 2.34003305e-02 -1.01178564e-03 9.99725663e-01 -5.95960628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2527550960000005 meters Centerline goodness [0,1] 0.999641946966027 Centerline is valid? [True, True] Translation: X:1.63, Y:0.27, Z:-0.06 [[ 9.99564057e-01 -1.84554243e-02 -2.30454726e-02 1.62598397e+00] [ 1.84715275e-02 9.99829269e-01 4.86066898e-04 2.74862103e-01] [ 2.30325674e-02 -9.11540082e-04 9.99734300e-01 -5.94593398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.65, Y:0.28, Z:-0.06 [[ 9.99583837e-01 -1.70416420e-02 -2.32751988e-02 1.65472568e+00] [ 1.70576534e-02 9.99854388e-01 4.89542783e-04 2.82278286e-01] [ 2.32634671e-02 -8.86359329e-04 9.99728976e-01 -5.89420697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.312755096 meters Centerline goodness [0,1] 0.9998946791928214 Centerline is valid? [True, True] Translation: X:1.68, Y:0.27, Z:-0.06 [[ 9.99586470e-01 -1.63087269e-02 -2.36836354e-02 1.68265395e+00] [ 1.63249700e-02 9.99866617e-01 4.92642185e-04 2.70611702e-01] [ 2.36724421e-02 -8.79073100e-04 9.99719382e-01 -5.99421130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.71, Y:0.27, Z:-0.06 [[ 9.99605844e-01 -1.48133054e-02 -2.38479029e-02 1.71202101e+00] [ 1.48292876e-02 9.99889918e-01 4.93454764e-04 2.74215348e-01] [ 2.38379680e-02 -8.46907677e-04 9.99715477e-01 -5.89350684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.372755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.74, Y:0.27, Z:-0.06 [[ 9.99629738e-01 -1.44394935e-02 -2.30626990e-02 1.74092719e+00] [ 1.44542223e-02 9.99895421e-01 4.72064066e-04 2.71229226e-01] [ 2.30534707e-02 -8.05242657e-04 9.99733909e-01 -5.77714300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.77, Y:0.27, Z:-0.06 [[ 9.99673279e-01 -1.30510701e-02 -2.19773701e-02 1.76886714e+00] [ 1.30640018e-02 9.99914563e-01 4.44933658e-04 2.65148732e-01] [ 2.19696856e-02 -7.31900693e-04 9.99758369e-01 -5.57526438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.80, Y:0.26, Z:-0.06 [[ 9.99675406e-01 -1.31407211e-02 -2.18266735e-02 1.79635124e+00] [ 1.31534504e-02 9.99913393e-01 4.39733845e-04 2.60818897e-01] [ 2.18190048e-02 -7.26687179e-04 9.99761673e-01 -5.52954501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.82, Y:0.26, Z:-0.05 [[ 9.99679116e-01 -1.32946879e-02 -2.15619080e-02 1.82458389e+00] [ 1.33070186e-02 9.99911366e-01 4.28488164e-04 2.62027897e-01] [ 2.15543002e-02 -7.15275379e-04 9.99767423e-01 -5.46201386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.492755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.85, Y:0.25, Z:-0.05 [[ 9.99660824e-01 -1.42810787e-02 -2.17781671e-02 1.85188897e+00] [ 1.42937536e-02 9.99897748e-01 4.26435883e-04 2.51562154e-01] [ 2.17698503e-02 -7.37583000e-04 9.99762737e-01 -5.42677646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.88, Y:0.25, Z:-0.05 [[ 9.99643244e-01 -1.53157920e-02 -2.18817722e-02 1.88045032e+00] [ 1.53287854e-02 9.99882416e-01 4.26183698e-04 2.46598281e-01] [ 2.18726719e-02 -7.61452644e-04 9.99760475e-01 -5.37974267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.552755096 meters Centerline goodness [0,1] 0.9999789380568251 Centerline is valid? [True, True] Translation: X:1.91, Y:0.24, Z:-0.05 [[ 9.99614506e-01 -1.66955188e-02 -2.21832916e-02 1.90926939e+00] [ 1.67090836e-02 9.99860303e-01 4.26258620e-04 2.40721148e-01] [ 2.21730760e-02 -7.96756774e-04 9.99753830e-01 -5.37700124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5827550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.94, Y:0.23, Z:-0.05 [[ 9.99596772e-01 -1.81612007e-02 -2.18280427e-02 1.93768356e+00] [ 1.81745634e-02 9.99834743e-01 4.13939373e-04 2.33960537e-01] [ 2.18169179e-02 -8.10487609e-04 9.99761654e-01 -5.31807689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.97, Y:0.22, Z:-0.05 [[ 9.99570576e-01 -2.04828708e-02 -2.09550835e-02 1.96601041e+00] [ 2.04955902e-02 9.99789866e-01 3.92377219e-04 2.21635216e-01] [ 2.09426432e-02 -8.21695528e-04 9.99780341e-01 -5.14593676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters Centerline goodness [0,1] 0.9998527060011784 Centerline is valid? [True, True] Translation: X:1.99, Y:0.21, Z:-0.05 [[ 9.99531602e-01 -2.33018990e-02 -1.98393010e-02 1.99468829e+00] [ 2.33138340e-02 9.99728127e-01 3.70480649e-04 2.09203511e-01] [ 1.98252743e-02 -8.32837289e-04 9.99803113e-01 -4.99240305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672755096 meters Centerline goodness [0,1] 0.9999160104986876 Centerline is valid? [True, True] Translation: X:2.02, Y:0.20, Z:-0.05 [[ 9.99495822e-01 -2.48460217e-02 -1.97680809e-02 2.02351129e+00] [ 2.48581453e-02 9.99690921e-01 3.67767769e-04 2.02603143e-01] [ 1.97528334e-02 -8.58980175e-04 9.99804525e-01 -4.91930545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096000001 meters Centerline goodness [0,1] 0.9996434264619515 Centerline is valid? [True, True] Translation: X:2.05, Y:0.20, Z:-0.05 [[ 9.99468634e-01 -2.61545681e-02 -1.94521896e-02 2.05173960e+00] [ 2.61664595e-02 9.99657536e-01 3.57000828e-04 1.96965374e-01] [ 1.94361908e-02 -8.65806063e-04 9.99810725e-01 -4.87461428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.732755096 meters Centerline goodness [0,1] 0.9995160543702395 Centerline is valid? [True, True] Translation: X:2.08, Y:0.19, Z:-0.05 [[ 9.99450150e-01 -2.71195476e-02 -1.90768833e-02 2.08014928e+00] [ 2.71311325e-02 9.99631822e-01 3.48675622e-04 1.91608701e-01] [ 1.90604037e-02 -8.66061352e-04 9.99817959e-01 -4.82428825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.11, Y:0.20, Z:-0.05 [[ 9.99405215e-01 -2.86648112e-02 -1.91714789e-02 2.10876144e+00] [ 2.86767052e-02 9.99588679e-01 3.45717820e-04 1.95033251e-01] [ 1.91536833e-02 -8.95287041e-04 9.99816151e-01 -4.90333661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7927550960000005 meters Centerline goodness [0,1] 0.9970870712401055 Centerline is valid? [True, True] Translation: X:2.14, Y:0.17, Z:-0.05 [[ 9.99381017e-01 -2.91908625e-02 -1.96335608e-02 2.13628669e+00] [ 2.92033226e-02 9.99573431e-01 3.48160396e-04 1.74016008e-01] [ 1.96150226e-02 -9.21310100e-04 9.99807182e-01 -4.97792452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096000001 meters Centerline goodness [0,1] 0.9963891293789725 Centerline is valid? [True, True] Translation: X:2.16, Y:0.17, Z:-0.05 [[ 9.99369111e-01 -2.94423000e-02 -1.98628105e-02 2.16405552e+00] [ 2.94550641e-02 9.99566044e-01 3.50295633e-04 1.70070857e-01] [ 1.98438774e-02 -9.35134991e-04 9.99802654e-01 -4.96339521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852755096 meters Centerline goodness [0,1] 0.9955254920908346 Centerline is valid? [True, True] Translation: X:2.19, Y:0.17, Z:-0.05 [[ 9.99348886e-01 -2.99238155e-02 -2.01585855e-02 2.19297867e+00] [ 2.99369475e-02 9.99551728e-01 3.49908536e-04 1.65732476e-01] [ 2.01390784e-02 -9.53167223e-04 9.99796734e-01 -4.96387978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882755096 meters Centerline goodness [0,1] 0.9934676331759946 Centerline is valid? [True, True] Translation: X:2.22, Y:0.16, Z:-0.05 [[ 9.99374067e-01 -2.98735132e-02 -1.89485482e-02 2.22093260e+00] [ 2.98850227e-02 9.99553290e-01 3.24469076e-04 1.59332751e-01] [ 1.89303907e-02 -8.90543773e-04 9.99820407e-01 -4.86814955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912755096000001 meters Centerline goodness [0,1] 0.992068000589114 Centerline is valid? [True, True] Translation: X:2.25, Y:0.16, Z:-0.05 [[ 9.99373969e-01 -3.01515842e-02 -1.85081721e-02 2.24921670e+00] [ 3.01625908e-02 9.99544956e-01 3.15763856e-04 1.55834247e-01] [ 1.84902293e-02 -8.73820600e-04 9.99828659e-01 -4.78304206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096000001 meters Centerline goodness [0,1] 0.9904683924334992 Centerline is valid? [True, True] Translation: X:2.28, Y:0.15, Z:-0.05 [[ 9.99377295e-01 -3.03049024e-02 -1.80730462e-02 2.27697832e+00] [ 3.03153371e-02 9.99540338e-01 3.03612198e-04 1.52766374e-01] [ 1.80555377e-02 -8.51313624e-04 9.99836623e-01 -4.67388579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972755096 meters Centerline goodness [0,1] 0.9904683924334992 Centerline is valid? [True, True] Translation: X:2.30, Y:0.15, Z:-0.05 [[ 9.99369182e-01 -3.05712367e-02 -1.80731260e-02 2.30454522e+00] [ 3.05816277e-02 9.99532228e-01 2.98780042e-04 1.52600290e-01] [ 1.80555378e-02 -8.51297175e-04 9.99836623e-01 -4.61768303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0027550960000005 meters Centerline goodness [0,1] 0.9998315080033698 Centerline is valid? [True, True] Translation: X:2.33, Y:0.16, Z:-0.05 [[ 9.99392290e-01 -3.04507550e-02 -1.69647096e-02 2.33359688e+00] [ 3.04598233e-02 9.99535954e-01 2.76344185e-04 1.64796916e-01] [ 1.69484223e-02 -7.92918306e-04 9.99856051e-01 -4.56790603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032755096000001 meters Centerline goodness [0,1] 0.999873577749684 Centerline is valid? [True, True] Translation: X:2.36, Y:0.16, Z:-0.04 [[ 9.99402463e-01 -3.03677082e-02 -1.65081829e-02 2.36241883e+00] [ 3.03762077e-02 9.99538502e-01 2.64306825e-04 1.62387789e-01] [ 1.64925380e-02 -7.65604885e-04 9.99863696e-01 -4.47150657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters Centerline goodness [0,1] 0.9998519364595893 Centerline is valid? [True, True] Translation: X:2.39, Y:0.16, Z:-0.04 [[ 9.99461214e-01 -2.90496937e-02 -1.52773547e-02 2.39072397e+00] [ 2.90567582e-02 9.99577734e-01 2.40607468e-04 1.56599746e-01] [ 1.52639141e-02 -6.84388235e-04 9.99883265e-01 -4.24848453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092755096 meters Centerline goodness [0,1] 0.9998518173543047 Centerline is valid? [True, True] Translation: X:2.42, Y:0.16, Z:-0.04 [[ 9.99488023e-01 -2.85013958e-02 -1.45383041e-02 2.41940698e+00] [ 2.85076788e-02 9.99593548e-01 2.25072229e-04 1.55107282e-01] [ 1.45259801e-02 -6.39410301e-04 9.99894288e-01 -4.15732638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096000001 meters Centerline goodness [0,1] 0.9999788998375287 Centerline is valid? [True, True] Translation: X:2.45, Y:0.15, Z:-0.04 [[ 9.99516634e-01 -2.73594438e-02 -1.47634417e-02 2.44871122e+00] [ 2.73657338e-02 9.99625463e-01 2.24168788e-04 1.54300379e-01] [ 1.47517792e-02 -6.28072850e-04 9.99890989e-01 -4.12542460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152755096000001 meters Centerline goodness [0,1] 0.9999576934467149 Centerline is valid? [True, True] Translation: X:2.48, Y:0.15, Z:-0.04 [[ 9.99627105e-01 -2.33829044e-02 -1.41028602e-02 2.47800109e+00] [ 2.33881808e-02 9.99726437e-01 2.09303060e-04 1.53621489e-01] [ 1.40941080e-02 -5.39065255e-04 9.99900528e-01 -4.01081947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.51, Y:0.16, Z:-0.04 [[ 9.99677144e-01 -2.13495162e-02 -1.37770131e-02 2.50733696e+00] [ 2.13543617e-02 9.99771949e-01 2.04680381e-04 1.57424578e-01] [ 1.37695014e-02 -4.98813618e-04 9.99905072e-01 -3.99045557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.53, Y:0.16, Z:-0.04 [[ 9.99717153e-01 -1.93068694e-02 -1.38873559e-02 2.53485109e+00] [ 1.93115624e-02 9.99813494e-01 2.03900258e-04 1.56123342e-01] [ 1.38808291e-02 -4.72029125e-04 9.99903545e-01 -3.93124486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.56, Y:0.15, Z:-0.04 [[ 9.99764036e-01 -1.60106666e-02 -1.46809577e-02 2.56319486e+00] [ 1.60155301e-02 9.99871720e-01 2.13764264e-04 1.54867335e-01] [ 1.46756519e-02 -4.48837143e-04 9.99892206e-01 -3.96109114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.272755096 meters Centerline goodness [0,1] 0.9999576809140922 Centerline is valid? [True, True] Translation: X:2.59, Y:0.15, Z:-0.04 [[ 9.99764394e-01 -1.57561985e-02 -1.49298001e-02 2.59226454e+00] [ 1.57611979e-02 9.99875761e-01 2.17252004e-04 1.53594134e-01] [ 1.49245222e-02 -4.52512353e-04 9.99888521e-01 -3.97269759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.62, Y:0.15, Z:-0.04 [[ 9.99743062e-01 -1.66181064e-02 -1.54158663e-02 2.62117960e+00] [ 1.66234676e-02 9.99861796e-01 2.19683030e-04 1.49160732e-01] [ 1.54100850e-02 -4.75891738e-04 9.99881144e-01 -3.91963987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3327550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.65, Y:0.14, Z:-0.04 [[ 9.99706933e-01 -1.79768875e-02 -1.62135690e-02 2.64847286e+00] [ 1.79829052e-02 9.99838269e-01 2.25428847e-04 1.44335355e-01] [ 1.62068943e-02 -5.16929856e-04 9.99868526e-01 -3.86572086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.68, Y:0.14, Z:-0.04 [[ 9.99665688e-01 -2.04616243e-02 -1.58061603e-02 2.67721494e+00] [ 2.04676362e-02 9.99790492e-01 2.18655678e-04 1.39537971e-01] [ 1.57983747e-02 -5.42097316e-04 9.99875051e-01 -3.77231054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.71, Y:0.13, Z:-0.04 [[ 9.99605390e-01 -2.32492022e-02 -1.57651216e-02 2.70616156e+00] [ 2.32554587e-02 9.99729532e-01 2.13620308e-04 1.33791703e-01] [ 1.57558912e-02 -5.80161146e-04 9.99875700e-01 -3.70977578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.74, Y:0.12, Z:-0.04 [[ 9.99466821e-01 -2.88126335e-02 -1.53592568e-02 2.73578986e+00] [ 2.88191433e-02 9.99584622e-01 2.02625399e-04 1.22543663e-01] [ 1.53470387e-02 -6.45157986e-04 9.99882019e-01 -3.62532491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.452755096000001 meters Centerline goodness [0,1] 0.9999369085173502 Centerline is valid? [True, True] Translation: X:2.77, Y:0.11, Z:-0.04 [[ 9.99315399e-01 -3.35315921e-02 -1.56321982e-02 2.76594582e+00] [ 3.35389046e-02 9.99437391e-01 2.05789575e-04 1.14216339e-01] [ 1.56165030e-02 -7.29935497e-04 9.99877789e-01 -3.58843088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096000001 meters Centerline goodness [0,1] 0.9999788677331417 Centerline is valid? [True, True] Translation: X:2.79, Y:0.11, Z:-0.04 [[ 9.99248740e-01 -3.54214805e-02 -1.57249373e-02 2.79438957e+00] [ 3.54291189e-02 9.99372170e-01 2.07353435e-04 1.13393917e-01] [ 1.57077199e-02 -7.64318330e-04 9.99876334e-01 -3.60492553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.512755096 meters Centerline goodness [0,1] 0.9987978994875256 Centerline is valid? [True, True] Translation: X:2.82, Y:0.10, Z:-0.04 [[ 9.99200596e-01 -3.64483929e-02 -1.64220365e-02 2.82247941e+00] [ 3.64568115e-02 9.99335207e-01 2.13468321e-04 1.01722607e-01] [ 1.64033386e-02 -8.11992763e-04 9.99865126e-01 -3.55333110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5427550960000005 meters Centerline goodness [0,1] 0.999810082508599 Centerline is valid? [True, True] Translation: X:2.85, Y:0.10, Z:-0.04 [[ 9.99151576e-01 -3.74292443e-02 -1.71808221e-02 2.85105475e+00] [ 3.74385801e-02 9.99298906e-01 2.21958200e-04 1.00423360e-01] [ 1.71604690e-02 -8.64995468e-04 9.99852374e-01 -3.66599903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572755096000001 meters Centerline goodness [0,1] 0.9999789473684211 Centerline is valid? [True, True] Translation: X:2.88, Y:0.10, Z:-0.04 [[ 9.99138190e-01 -3.75857008e-02 -1.76122702e-02 2.87905933e+00] [ 3.75954459e-02 9.99293017e-01 2.22429632e-04 1.00568189e-01] [ 1.75914584e-02 -8.84379091e-04 9.99844867e-01 -3.65458839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters Centerline goodness [0,1] 0.99993674489215 Centerline is valid? [True, True] Translation: X:2.91, Y:0.09, Z:-0.04 [[ 9.99130744e-01 -3.74287460e-02 -1.83533400e-02 2.90711317e+00] [ 3.74391715e-02 9.99298883e-01 2.24655237e-04 9.45492997e-02] [ 1.83320636e-02 -9.11593796e-04 9.99831538e-01 -3.64614907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632755096 meters Centerline goodness [0,1] 0.9999367262143294 Centerline is valid? [True, True] Translation: X:2.94, Y:0.09, Z:-0.04 [[ 9.99123155e-01 -3.73716616e-02 -1.88753702e-02 2.93586298e+00] [ 3.73826449e-02 9.99300998e-01 2.29256788e-04 9.20485626e-02] [ 1.88536086e-02 -9.34667028e-04 9.99821818e-01 -3.61700522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.96, Y:0.09, Z:-0.04 [[ 9.99106671e-01 -3.76347051e-02 -1.92221088e-02 2.96360151e+00] [ 3.76460351e-02 9.99291111e-01 2.27784881e-04 9.04045821e-02] [ 1.91999098e-02 -9.51217575e-04 9.99815212e-01 -3.59240035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.692755096000001 meters Centerline goodness [0,1] 0.9999577880962431 Centerline is valid? [True, True] Translation: X:2.99, Y:0.09, Z:-0.04 [[ 9.99113820e-01 -3.71854932e-02 -1.97183847e-02 2.99165622e+00] [ 3.71971915e-02 9.99307919e-01 2.26703937e-04 8.77389970e-02] [ 1.96963079e-02 -9.59971568e-04 9.99805548e-01 -3.53507554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.02, Y:0.09, Z:-0.03 [[ 9.99128976e-01 -3.64261507e-02 -2.03574362e-02 3.02080704e+00] [ 3.64384184e-02 9.99335873e-01 2.31882125e-04 8.55219021e-02] [ 2.03354697e-02 -9.73472926e-04 9.99792739e-01 -3.49056049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7527550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:0.08, Z:-0.03 [[ 9.99196496e-01 -3.46436162e-02 -2.01539665e-02 3.04841483e+00] [ 3.46551604e-02 9.99399304e-01 2.23720750e-04 8.15348088e-02] [ 2.01341096e-02 -9.21979931e-04 9.99796863e-01 -3.28344063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.08, Y:0.08, Z:-0.03 [[ 9.99232524e-01 -3.39823087e-02 -1.94824338e-02 3.07745257e+00] [ 3.39929178e-02 9.99422051e-01 2.13550630e-04 8.30278937e-02] [ 1.94639170e-02 -8.75651507e-04 9.99810177e-01 -3.11836813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.11, Y:0.08, Z:-0.03 [[ 9.99268805e-01 -3.28651880e-02 -1.95380467e-02 3.10556996e+00] [ 3.28755278e-02 9.99459432e-01 2.08173357e-04 7.83593417e-02] [ 1.95206434e-02 -8.50344739e-04 9.99809092e-01 -2.97824084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.13, Y:0.08, Z:-0.03 [[ 9.99352101e-01 -3.00992254e-02 -1.97335857e-02 3.13464249e+00] [ 3.01091728e-02 9.99546595e-01 2.07100467e-04 7.76388598e-02] [ 1.97184048e-02 -8.01128227e-04 9.99805252e-01 -2.95133439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.16, Y:0.08, Z:-0.03 [[ 9.99398516e-01 -2.84698915e-02 -1.98007944e-02 3.16234173e+00] [ 2.84795563e-02 9.99594354e-01 2.06229938e-04 7.70009862e-02] [ 1.97868909e-02 -7.70023732e-04 9.99803924e-01 -2.92173366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.19, Y:0.08, Z:-0.03 [[ 9.99429360e-01 -2.71141359e-02 -2.01439224e-02 3.19179619e+00] [ 2.71238237e-02 9.99632060e-01 2.07815127e-04 7.65405525e-02] [ 2.01308759e-02 -7.54076739e-04 9.99797069e-01 -2.86268393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.22, Y:0.08, Z:-0.03 [[ 9.99502381e-01 -2.32538241e-02 -2.13131450e-02 3.22117876e+00] [ 2.32636741e-02 9.99729341e-01 2.14297995e-04 7.73534700e-02] [ 2.13023932e-02 -7.10013416e-04 9.99772826e-01 -2.81832792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.25, Y:0.08, Z:-0.03 [[ 9.99541031e-01 -2.08848046e-02 -2.19443203e-02 3.24898192e+00] [ 2.08946541e-02 9.99781659e-01 2.19625949e-04 7.89010763e-02] [ 2.19349421e-02 -6.78044130e-04 9.99759170e-01 -2.80311555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.28, Y:0.08, Z:-0.03 [[ 9.99604621e-01 -1.55977645e-02 -2.33947047e-02 3.27873229e+00] [ 1.56074584e-02 9.99878169e-01 2.31818383e-04 7.90654081e-02] [ 2.33882386e-02 -5.96858607e-04 9.99726280e-01 -2.79730171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:0.08, Z:-0.03 [[ 9.99625156e-01 -1.34683989e-02 -2.38359072e-02 3.30750162e+00] [ 1.34778174e-02 9.99909143e-01 2.34524906e-04 7.98214954e-02] [ 2.38305828e-02 -5.55693000e-04 9.99715857e-01 -2.76571714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:0.08, Z:-0.03 [[ 9.99648141e-01 -1.13019641e-02 -2.39970587e-02 3.33556267e+00] [ 1.13107490e-02 9.99936005e-01 2.30378324e-04 7.90568117e-02] [ 2.39929193e-02 -5.01721973e-04 9.99712003e-01 -2.72584768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0827550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.36, Y:0.08, Z:-0.03 [[ 9.99690086e-01 -7.98405930e-03 -2.35793594e-02 3.36416963e+00] [ 7.99155543e-03 9.99968042e-01 2.23695505e-04 7.73504352e-02] [ 2.35768199e-02 -4.12061937e-04 9.99721943e-01 -2.62123381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.39, Y:0.07, Z:-0.02 [[ 9.99691073e-01 -5.97507926e-03 -2.41258387e-02 3.39312161e+00] [ 5.98219011e-03 9.99982082e-01 2.22576947e-04 7.30148450e-02] [ 2.41240765e-02 -3.66833541e-04 9.99708905e-01 -2.49326661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.42, Y:0.07, Z:-0.02 [[ 9.99672087e-01 -6.30123146e-03 -2.48195947e-02 3.42086266e+00] [ 6.30868842e-03 9.99980075e-01 2.22155556e-04 7.13754873e-02] [ 2.48177004e-02 -3.78661798e-04 9.99691922e-01 -2.40950208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.45, Y:0.07, Z:-0.02 [[ 9.99658339e-01 -7.04786325e-03 -2.51700633e-02 3.44886280e+00] [ 7.05558748e-03 9.99975085e-01 2.18084901e-04 6.56931615e-02] [ 2.51678991e-02 -3.95599974e-04 9.99683160e-01 -2.46468081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.48, Y:0.06, Z:-0.02 [[ 9.99645339e-01 -7.90624590e-03 -2.54300443e-02 3.47713324e+00] [ 7.91432007e-03 9.99968658e-01 2.16872263e-04 6.13609504e-02] [ 2.54275326e-02 -4.18056857e-04 9.99676581e-01 -2.43773718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.232755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.51, Y:0.06, Z:-0.02 [[ 9.99609260e-01 -1.05600826e-02 -2.58807382e-02 3.50540702e+00] [ 1.05692729e-02 9.99944120e-01 2.18330575e-04 5.51285573e-02] [ 2.58769864e-02 -4.91785851e-04 9.99665014e-01 -2.26225067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.53, Y:0.05, Z:-0.02 [[ 9.99598214e-01 -1.21796721e-02 -2.55942576e-02 3.53341475e+00] [ 1.21891229e-02 9.99925687e-01 2.13270109e-04 4.94865037e-02] [ 2.55897580e-02 -5.25155972e-04 9.99672391e-01 -2.14587716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2927550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:0.04, Z:-0.02 [[ 9.99570346e-01 -1.57586774e-02 -2.47141172e-02 3.56243731e+00] [ 1.57684864e-02 9.99875649e-01 2.02055213e-04 4.06908593e-02] [ 2.47078598e-02 -5.91672620e-04 9.99694539e-01 -1.93670554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.59, Y:0.04, Z:-0.02 [[ 9.99541020e-01 -1.76656525e-02 -2.46104509e-02 3.59136679e+00] [ 1.76758003e-02 9.99843752e-01 1.94845171e-04 3.71020243e-02] [ 2.46031635e-02 -6.29765156e-04 9.99697098e-01 -1.83296607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.62, Y:0.03, Z:-0.02 [[ 9.99499672e-01 -1.95615786e-02 -2.48545701e-02 3.61912397e+00] [ 1.95723691e-02 9.99808425e-01 1.90927323e-04 3.18417124e-02] [ 2.48460737e-02 -6.77294615e-04 9.99691059e-01 -1.78574507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.65, Y:0.03, Z:-0.02 [[ 9.99448654e-01 -2.11771921e-02 -2.55717391e-02 3.64754523e+00] [ 2.11890806e-02 9.99775467e-01 1.94002745e-04 2.69423762e-02] [ 2.55618889e-02 -7.35737422e-04 9.99672971e-01 -1.80512936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.68, Y:0.02, Z:-0.02 [[ 9.99336809e-01 -2.38666506e-02 -2.75013701e-02 3.67641550e+00] [ 2.38813133e-02 9.99714780e-01 2.04795149e-04 1.85713510e-02] [ 2.74886384e-02 -8.61428167e-04 9.99621745e-01 -1.92564039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.71, Y:0.02, Z:-0.02 [[ 9.99382983e-01 -2.28137477e-02 -2.67055481e-02 3.70515993e+00] [ 2.28270184e-02 9.99739411e-01 1.92134904e-04 1.97784843e-02] [ 2.66942056e-02 -8.01624391e-04 9.99643325e-01 -1.75595615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:0.02, Z:-0.02 [[ 9.99446475e-01 -1.96056652e-02 -2.68767986e-02 3.73395673e+00] [ 1.96177922e-02 9.99807535e-01 1.87574319e-04 2.04479129e-02] [ 2.68679483e-02 -7.14733942e-04 9.99638736e-01 -1.74264954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5027550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.76, Y:0.02, Z:-0.02 [[ 9.99478474e-01 -1.73395683e-02 -2.72418781e-02 3.76320246e+00] [ 1.73510956e-02 9.99849441e-01 1.86800190e-04 2.25562014e-02] [ 2.72345376e-02 -6.59379199e-04 9.99628854e-01 -1.66253484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:0.02, Z:-0.02 [[ 9.99497956e-01 -1.55505098e-02 -2.76046822e-02 3.79073431e+00] [ 1.55614951e-02 9.99878896e-01 1.83154609e-04 2.18040096e-02] [ 2.75984910e-02 -6.12632783e-04 9.99618901e-01 -1.69649263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:0.03, Z:-0.02 [[ 9.99562656e-01 -1.13819969e-02 -2.72936997e-02 3.81982602e+00] [ 1.13911174e-02 9.99935103e-01 1.78695468e-04 2.58468692e-02] [ 2.72898945e-02 -4.89523053e-04 9.99627442e-01 -1.60511282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.85, Y:0.03, Z:-0.01 [[ 9.99591988e-01 -9.28029809e-03 -2.70135710e-02 3.84732689e+00] [ 9.28840048e-03 9.99956847e-01 1.74471421e-04 2.67623317e-02] [ 2.70107861e-02 -4.25313101e-04 9.99635052e-01 -1.49926856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.88, Y:0.03, Z:-0.02 [[ 9.99584906e-01 -6.70532616e-03 -2.80188351e-02 3.87646087e+00] [ 6.71289390e-03 9.99977453e-01 1.76039972e-04 3.13819246e-02] [ 2.80170229e-02 -3.64054366e-04 9.99607380e-01 -1.55671767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.90, Y:0.03, Z:-0.02 [[ 9.99544784e-01 -7.19525558e-03 -2.92993668e-02 3.90404896e+00] [ 7.20353550e-03 9.99974039e-01 1.77053743e-04 2.92930056e-02] [ 2.92973322e-02 -3.88032174e-04 9.99570666e-01 -1.68806816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.93, Y:0.03, Z:-0.02 [[ 9.99540473e-01 -7.87952546e-03 -2.92703876e-02 3.93256867e+00] [ 7.88792059e-03 9.99968875e-01 1.71356578e-04 2.92062611e-02] [ 2.92681264e-02 -4.02160328e-04 9.99571516e-01 -1.65293902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.96, Y:0.03, Z:-0.02 [[ 9.99537562e-01 -1.09058399e-02 -2.83852900e-02 3.96113453e+00] [ 1.09147302e-02 9.99940420e-01 1.58274882e-04 2.73643745e-02] [ 2.83818727e-02 -4.68019471e-04 9.99597044e-01 -1.54039185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.99, Y:0.03, Z:-0.01 [[ 9.99522269e-01 -1.36056658e-02 -2.77510444e-02 3.99005261e+00] [ 1.36150057e-02 9.99907301e-01 1.47625003e-04 2.52510143e-02] [ 2.77464634e-02 -5.25385105e-04 9.99614855e-01 -1.38851214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.772755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.02, Y:0.02, Z:-0.01 [[ 9.99490221e-01 -1.70830745e-02 -2.69716022e-02 4.01888684e+00] [ 1.70929753e-02 9.99853895e-01 1.36551641e-04 2.29702623e-02] [ 2.69653288e-02 -5.97506959e-04 9.99636191e-01 -1.28464169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.05, Y:0.02, Z:-0.01 [[ 9.99366088e-01 -2.45236234e-02 -2.58072664e-02 4.04940830e+00] [ 2.45350339e-02 9.99698963e-01 1.25545557e-04 1.91718513e-02] [ 2.57964186e-02 -7.58648130e-04 9.99666929e-01 -1.14242620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8327550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.08, Y:0.01, Z:-0.01 [[ 9.99212410e-01 -3.14088572e-02 -2.42496051e-02 4.07806605e+00] [ 3.14209525e-02 9.99506233e-01 1.17823385e-04 1.24464958e-02] [ 2.42339308e-02 -8.79676279e-04 9.99705928e-01 -9.31101165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.11, Y:0.01, Z:-0.01 [[ 9.99202884e-01 -3.17104502e-02 -2.42496142e-02 4.10566758e+00] [ 3.17225876e-02 9.99496705e-01 1.15897038e-04 1.24851029e-02] [ 2.42337344e-02 -8.85065166e-04 9.99705928e-01 -8.74734809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.14, Y:0.01, Z:-0.01 [[ 9.99109347e-01 -3.46947205e-02 -2.40164466e-02 4.13522427e+00] [ 3.47073363e-02 9.99397513e-01 1.08541100e-04 9.87774759e-03] [ 2.39982112e-02 -9.41991317e-04 9.99711558e-01 -7.88131879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.16, Y:0.01, Z:-0.01 [[ 9.99000708e-01 -3.77023259e-02 -2.40025054e-02 4.16435705e+00] [ 3.77157703e-02 9.99288501e-01 1.07511380e-04 7.00593363e-03] [ 2.39813742e-02 -1.01267693e-03 9.99711893e-01 -7.09592222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.19, Y:0.00, Z:-0.01 [[ 9.98948270e-01 -3.94376275e-02 -2.33886371e-02 4.19237129e+00] [ 3.94508350e-02 9.99221507e-01 1.03373232e-04 2.70857073e-03] [ 2.33663524e-02 -1.02596577e-03 9.99726443e-01 -5.63861641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.22, Y:0.00, Z:-0.01 [[ 9.98771758e-01 -4.38379908e-02 -2.30912745e-02 4.22292420e+00] [ 4.38519946e-02 9.99038034e-01 1.00193506e-04 4.34168116e-03] [ 2.30646691e-02 -1.11266889e-03 9.99733356e-01 -5.55763947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012755096 meters Centerline goodness [0,1] 0.9999780118296356 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.00, Z:-0.01 [[ 9.98668958e-01 -4.58752413e-02 -2.35748762e-02 4.25111032e+00] [ 4.58903983e-02 9.98946476e-01 1.02044500e-04 -6.06779227e-05] [ 2.35453581e-02 -1.18376913e-03 9.99722069e-01 -5.68368573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0427550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.28, Y:0.00, Z:-0.00 [[ 9.98581448e-01 -4.78570670e-02 -2.33407987e-02 4.27993785e+00] [ 4.78724093e-02 9.98853454e-01 9.86744002e-05 8.19976889e-04] [ 2.33093152e-02 -1.21591470e-03 9.99727562e-01 -4.94455404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072755096000001 meters Centerline goodness [0,1] 0.9997582789460963 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.01, Z:-0.00 [[ 9.98449733e-01 -5.07428894e-02 -2.28755109e-02 4.30792612e+00] [ 5.07582563e-02 9.98710965e-01 9.12503893e-05 -6.54729853e-03] [ 2.28413933e-02 -1.25222997e-03 9.99738317e-01 -4.17760548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096000001 meters Centerline goodness [0,1] 0.9998681492550433 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.00, Z:-0.00 [[ 9.98403574e-01 -5.17195571e-02 -2.27022207e-02 4.33673323e+00] [ 5.17348958e-02 9.98660850e-01 8.84496048e-05 -1.74833219e-03] [ 2.26672445e-02 -1.26280542e-03 9.99742267e-01 -2.93614584e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132755096 meters Centerline goodness [0,1] 0.999691853938767 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.01, Z:-0.00 [[ 9.98326002e-01 -5.32306517e-02 -2.26205785e-02 4.36478704e+00] [ 5.32461415e-02 9.98581415e-01 8.25832149e-05 -5.16707638e-03] [ 2.25840933e-02 -1.28690349e-03 9.99744119e-01 -2.19432579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096000001 meters Centerline goodness [0,1] 0.9999561114768488 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.00, Z:-0.00 [[ 9.98390391e-01 -5.24338615e-02 -2.16175015e-02 4.39360033e+00] [ 5.24477755e-02 9.98623665e-01 7.67976488e-05 -2.85357326e-04] [ 2.15837217e-02 -1.21046390e-03 9.99766312e-01 -3.99359386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.192755096000001 meters Centerline goodness [0,1] 0.9998461572273137 Centerline is valid? [True, True] Translation: X:4.42, Y:0.00, Z:0.00 [[ 9.98434795e-01 -5.16222819e-02 -2.15197695e-02 4.42258988e+00] [ 5.16357630e-02 9.98665982e-01 7.08972901e-05 1.32687253e-03] [ 2.14874018e-02 -1.18197604e-03 9.99768420e-01 5.29066007e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755096 meters Centerline goodness [0,1] 0.9998901509326186 Centerline is valid? [True, True] Translation: X:4.45, Y:0.00, Z:-0.00 [[ 9.98458867e-01 -5.04081388e-02 -2.32144300e-02 4.45140195e+00] [ 5.04233524e-02 9.98727931e-01 7.00909408e-05 2.05459635e-03] [ 2.31813665e-02 -1.24053230e-03 9.99730506e-01 -4.89985212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2527550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.48, Y:0.00, Z:-0.00 [[ 9.98459847e-01 -4.99553367e-02 -2.41329128e-02 4.48083657e+00] [ 4.99714952e-02 9.98750642e-01 6.65830223e-05 3.91683389e-03] [ 2.40994360e-02 -1.27243821e-03 9.99708757e-01 -7.02003670e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:0.01, Z:0.00 [[ 9.98486891e-01 -4.94543121e-02 -2.40457657e-02 4.50990949e+00] [ 4.94700689e-02 9.98775605e-01 6.04990248e-05 7.81689664e-03] [ 2.40133322e-02 -1.24995317e-03 9.99710857e-01 5.95095516e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.54, Y:0.01, Z:0.00 [[ 9.98498519e-01 -4.93273608e-02 -2.38226378e-02 4.53799751e+00] [ 4.93426542e-02 9.98781908e-01 5.42184397e-05 7.16398808e-03] [ 2.37909452e-02 -1.22960921e-03 9.99716199e-01 1.93853598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:0.01, Z:0.00 [[ 9.98488774e-01 -4.97572721e-02 -2.33319977e-02 4.56598294e+00] [ 4.97719944e-02 9.98760605e-01 5.03376670e-05 7.78944149e-03] [ 2.33005755e-02 -1.21154165e-03 9.99727771e-01 3.02255371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.59, Y:0.01, Z:0.00 [[ 9.98444102e-01 -5.04549560e-02 -2.37418080e-02 4.59459799e+00] [ 5.04702269e-02 9.98725565e-01 4.40533150e-05 1.15772004e-02] [ 2.37093279e-02 -1.24223921e-03 9.99718123e-01 3.53583281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.62, Y:0.01, Z:0.00 [[ 9.98415732e-01 -5.08687517e-02 -2.40498765e-02 4.62276159e+00] [ 5.08843807e-02 9.98704550e-01 3.79395751e-05 1.14871910e-02] [ 2.40167912e-02 -1.26164254e-03 9.99710759e-01 4.23286302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.65, Y:0.01, Z:0.01 [[ 9.98409274e-01 -5.11834961e-02 -2.36468216e-02 4.65078894e+00] [ 5.11985241e-02 9.98688495e-01 3.01320989e-05 1.08320864e-02] [ 2.36142664e-02 -1.24076653e-03 9.99720374e-01 5.68041566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.68, Y:0.01, Z:0.01 [[ 9.98389040e-01 -5.12235496e-02 -2.44023251e-02 4.67771470e+00] [ 5.12393935e-02 9.98686399e-01 2.40376560e-05 9.53143053e-03] [ 2.43690388e-02 -1.27435927e-03 9.99702219e-01 6.19022431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.492755096000001 meters Centerline goodness [0,1] 0.9999781840394433 Centerline is valid? [True, True] Translation: X:4.71, Y:0.01, Z:0.01 [[ 9.98405004e-01 -5.08775229e-02 -2.44729751e-02 4.70634691e+00] [ 5.08932618e-02 9.98704098e-01 2.02911302e-05 9.56881252e-03] [ 2.44402282e-02 -1.26576830e-03 9.99700492e-01 6.38544922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.74, Y:0.01, Z:0.01 [[ 9.98434129e-01 -5.02664066e-02 -2.45474854e-02 4.73571918e+00] [ 5.02819094e-02 9.98735065e-01 1.43234958e-05 1.32048962e-02] [ 2.45157145e-02 -1.24859551e-03 9.99698665e-01 7.11272317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:0.01, Z:0.01 [[ 9.98435617e-01 -5.02085622e-02 -2.46052782e-02 4.76333059e+00] [ 5.02240371e-02 9.98737977e-01 1.09575434e-05 1.16982067e-02] [ 2.45736756e-02 -1.24671681e-03 9.99697244e-01 7.37903646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5827550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.79, Y:0.01, Z:0.01 [[ 9.98383269e-01 -5.11141064e-02 -2.48635603e-02 4.79198511e+00] [ 5.11301090e-02 9.98692001e-01 7.89204898e-06 1.14181815e-02] [ 2.48306354e-02 -1.27915584e-03 9.99690854e-01 7.24397633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.82, Y:0.01, Z:0.01 [[ 9.98339435e-01 -5.18819749e-02 -2.50326588e-02 4.81991748e+00] [ 5.18982886e-02 9.98652376e-01 2.01892106e-06 7.84114258e-03] [ 2.49988195e-02 -1.30116772e-03 9.99686634e-01 7.72572681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.85, Y:0.01, Z:0.01 [[ 9.98296523e-01 -5.27299508e-02 -2.49720687e-02 4.84901286e+00] [ 5.27463720e-02 9.98607941e-01 -1.11663518e-06 8.00514322e-03] [ 2.49373650e-02 -1.31607129e-03 9.99688149e-01 9.14605688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.88, Y:0.01, Z:0.01 [[ 9.98252665e-01 -5.41594211e-02 -2.36299421e-02 4.87756021e+00] [ 5.41743815e-02 9.98531490e-01 -7.05670716e-06 7.89663718e-03] [ 2.35956234e-02 -1.27309312e-03 9.99720774e-01 1.16123556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.91, Y:0.01, Z:0.01 [[ 9.98230236e-01 -5.46941696e-02 -2.33440433e-02 4.90613512e+00] [ 5.47087695e-02 9.98502354e-01 -1.32471867e-05 6.97105127e-03] [ 2.33098067e-02 -1.26390014e-03 9.99727491e-01 1.29500836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.732755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.93, Y:0.01, Z:0.01 [[ 9.98229456e-01 -5.47769447e-02 -2.31827207e-02 4.93303882e+00] [ 5.47912253e-02 9.98497832e-01 -1.92173345e-05 5.75846118e-03] [ 2.31489490e-02 -1.25102636e-03 9.99731244e-01 1.45741155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755096 meters Centerline goodness [0,1] 0.999890278692122 Centerline is valid? [True, True] Translation: X:4.96, Y:0.00, Z:0.01 [[ 9.98227337e-01 -5.48884812e-02 -2.30095229e-02 4.96015393e+00] [ 5.49024730e-02 9.98491721e-01 -2.36694259e-05 4.69486114e-03] [ 2.29761173e-02 -1.23965224e-03 9.99735246e-01 1.35262559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7927550960000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.99, Y:0.01, Z:0.02 [[ 9.98265336e-01 -5.38979254e-02 -2.36924471e-02 4.98920824e+00] [ 5.39123959e-02 9.98545669e-01 -2.80247269e-05 5.75222097e-03] [ 2.36595009e-02 -1.24934047e-03 9.99719294e-01 1.54896814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.02, Y:0.01, Z:0.02 [[ 9.98392509e-01 -5.10879825e-02 -2.45441809e-02 5.01862566e+00] [ 5.11025249e-02 9.98693412e-01 -3.47720772e-05 7.59453310e-03] [ 2.45138882e-02 -1.21955343e-03 9.99698746e-01 1.53123600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.852755096000001 meters Centerline goodness [0,1] 0.9999781167253868 Centerline is valid? [True, True] Translation: X:5.05, Y:0.01, Z:0.02 [[ 9.98440457e-01 -4.97398723e-02 -2.53495330e-02 5.04647908e+00] [ 4.97549203e-02 9.98761456e-01 -3.71599185e-05 5.39524607e-03] [ 2.53199848e-02 -1.22416203e-03 9.99678648e-01 1.50545041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.08, Y:0.01, Z:0.02 [[ 9.98601441e-01 -4.62848856e-02 -2.55513392e-02 5.07652186e+00] [ 4.62989943e-02 9.98927626e-01 -3.94676815e-05 1.47683939e-02] [ 2.55257653e-02 -1.14358882e-03 9.99673510e-01 1.59561629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.10, Y:0.01, Z:0.02 [[ 9.98648560e-01 -4.48801714e-02 -2.62073100e-02 5.10461949e+00] [ 4.48945060e-02 9.98991733e-01 -4.14522148e-05 1.00647471e-02] [ 2.61827464e-02 -1.13516804e-03 9.99656529e-01 1.54370604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.13, Y:0.01, Z:0.02 [[ 9.98691698e-01 -4.36613514e-02 -2.66191596e-02 5.13383710e+00] [ 4.36756122e-02 9.99045764e-01 -4.57150574e-05 1.20246583e-02] [ 2.65957546e-02 -1.11695284e-03 9.99645646e-01 1.58588869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.972755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.16, Y:0.01, Z:0.02 [[ 9.98760725e-01 -4.11986649e-02 -2.79228436e-02 5.16233631e+00] [ 4.12132275e-02 9.99150373e-01 -5.40208747e-05 1.28031938e-02] [ 2.79013452e-02 -1.09683658e-03 9.99610080e-01 1.55798842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.19, Y:0.01, Z:0.02 [[ 9.98772300e-01 -4.05380872e-02 -2.84702526e-02 5.19079345e+00] [ 4.05528576e-02 9.99177393e-01 -5.86368619e-05 1.26694788e-02] [ 2.84492098e-02 -1.09598523e-03 9.99594638e-01 1.58014948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032755095999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.22, Y:0.02, Z:0.02 [[ 9.98950727e-01 -3.65990998e-02 -2.75309062e-02 5.22078691e+00] [ 3.66112695e-02 9.99329581e-01 -6.20699682e-05 2.02167918e-02] [ 2.75147207e-02 -9.45936587e-04 9.99620951e-01 1.87325495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.25, Y:0.02, Z:0.02 [[ 9.98989119e-01 -3.54262244e-02 -2.76716914e-02 5.24869293e+00] [ 3.54380220e-02 9.99371874e-01 -6.41045616e-05 2.05198200e-02] [ 2.76565811e-02 -9.16590251e-04 9.99617063e-01 1.90196867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.28, Y:0.02, Z:0.02 [[ 9.98972403e-01 -3.54599145e-02 -2.82264439e-02 5.27689574e+00] [ 3.54720804e-02 9.99370665e-01 -6.97543053e-05 2.23182426e-02] [ 2.82111535e-02 -9.31568061e-04 9.99601552e-01 1.92895975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.30, Y:0.02, Z:0.02 [[ 9.98948690e-01 -3.60959114e-02 -2.82595199e-02 5.30439584e+00] [ 3.61081495e-02 9.99347885e-01 -7.72853794e-05 1.92299402e-02] [ 2.82438811e-02 -9.43194842e-04 9.99600617e-01 1.94537749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.33, Y:0.02, Z:0.02 [[ 9.98977106e-01 -3.65485740e-02 -2.66259860e-02 5.33166187e+00] [ 3.65595036e-02 9.99331475e-01 -7.63654776e-05 1.87595795e-02] [ 2.66109769e-02 -8.97145468e-04 9.99645463e-01 2.11511664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.36, Y:0.01, Z:0.02 [[ 9.98860254e-01 -3.92638791e-02 -2.71392794e-02 5.36046167e+00] [ 3.92761531e-02 9.99228391e-01 -8.08625192e-05 1.30435140e-02] [ 2.71215135e-02 -9.85156136e-04 9.99631659e-01 2.22776399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.39, Y:0.01, Z:0.02 [[ 9.98793462e-01 -4.07291237e-02 -2.74364322e-02 5.38828287e+00] [ 4.07421722e-02 9.99169690e-01 -8.34877156e-05 8.56310673e-03] [ 2.74170518e-02 -1.03443286e-03 9.99623547e-01 2.24859340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.42, Y:0.02, Z:0.02 [[ 9.98734830e-01 -4.24401077e-02 -2.69736309e-02 5.41702409e+00] [ 4.24532463e-02 9.99098451e-01 -8.56427034e-05 1.71835420e-02] [ 2.69529475e-02 -1.05958384e-03 9.99636142e-01 2.44907402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.45, Y:0.02, Z:0.03 [[ 9.98667732e-01 -4.40103791e-02 -2.69415607e-02 5.44553707e+00] [ 4.40238600e-02 9.99030476e-01 -9.28521484e-05 1.79909180e-02] [ 2.69195266e-02 -1.09334305e-03 9.99637006e-01 2.55635739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.47, Y:0.01, Z:0.03 [[ 9.98542173e-01 -4.73795090e-02 -2.58594307e-02 5.47447080e+00] [ 4.73929050e-02 9.98876320e-01 -9.49450967e-05 1.02279066e-02] [ 2.58348715e-02 -1.13074686e-03 9.99665584e-01 2.67618647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.50, Y:0.01, Z:0.03 [[ 9.98464108e-01 -4.90786905e-02 -2.57042201e-02 5.50293042e+00] [ 4.90924318e-02 9.98794235e-01 -9.65599755e-05 1.25506292e-02] [ 2.56779659e-02 -1.16547100e-03 9.99669587e-01 2.85750172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362755095999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.53, Y:0.01, Z:0.03 [[ 9.98293250e-01 -5.24756756e-02 -2.56298760e-02 5.53253778e+00] [ 5.24903991e-02 9.98621424e-01 -9.84287543e-05 1.27220960e-02] [ 2.55997084e-02 -1.24706166e-03 9.99671496e-01 3.04862130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.56, Y:0.01, Z:0.03 [[ 9.98233845e-01 -5.35882651e-02 -2.56415435e-02 5.56005100e+00] [ 5.36033345e-02 9.98562303e-01 -9.97860902e-05 7.26290366e-03] [ 2.56100261e-02 -1.27486238e-03 9.99671197e-01 3.05380766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters Centerline goodness [0,1] 0.9999779745385666 Centerline is valid? [True, True] Translation: X:5.59, Y:0.01, Z:0.03 [[ 9.98141097e-01 -5.48338860e-02 -2.66006471e-02 5.58924489e+00] [ 5.48504464e-02 9.98494575e-01 -1.07251126e-04 1.06645167e-02] [ 2.65664829e-02 -1.35200562e-03 9.99646134e-01 2.99500477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.62, Y:0.01, Z:0.03 [[ 9.98106587e-01 -5.50033936e-02 -2.75293881e-02 5.61666445e+00] [ 5.50210162e-02 9.98485190e-01 -1.17515613e-04 6.36292515e-03] [ 2.74941501e-02 -1.39740180e-03 9.99620988e-01 2.86538908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.64, Y:0.01, Z:0.03 [[ 9.98087079e-01 -5.50626322e-02 -2.81120793e-02 5.64475490e+00] [ 5.50808981e-02 9.98481887e-01 -1.24794447e-04 1.35212603e-02] [ 2.80762735e-02 -1.42388285e-03 9.99604770e-01 2.96136755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.67, Y:0.01, Z:0.03 [[ 9.98153970e-01 -5.38244102e-02 -2.81351202e-02 5.67385801e+00] [ 5.38419769e-02 9.98549460e-01 -1.33381492e-04 1.41486420e-02] [ 2.81014882e-02 -1.38171523e-03 9.99604120e-01 3.01040755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.70, Y:0.02, Z:0.03 [[ 9.98207123e-01 -5.27041812e-02 -2.83691540e-02 5.70326173e+00] [ 5.27213742e-02 9.98609251e-01 -1.42115569e-04 1.63803994e-02] [ 2.83371898e-02 -1.35380001e-03 9.99597504e-01 3.12395316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.73, Y:0.02, Z:0.03 [[ 9.98340243e-01 -4.97294485e-02 -2.90472260e-02 5.73192714e+00] [ 4.97460481e-02 9.98761887e-01 -1.51343607e-04 1.74003846e-02] [ 2.90187885e-02 -1.29389229e-03 9.99578029e-01 3.09816882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.76, Y:0.02, Z:0.03 [[ 9.98419118e-01 -4.83888482e-02 -2.85969248e-02 5.76050986e+00] [ 4.84042918e-02 9.98827814e-01 -1.52364876e-04 1.97131218e-02] [ 2.85707766e-02 -1.23208989e-03 9.99591013e-01 3.22472153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.79, Y:0.02, Z:0.03 [[ 9.98483147e-01 -4.72347351e-02 -2.82893149e-02 5.78952885e+00] [ 4.72491725e-02 9.98883122e-01 -1.58265502e-04 2.09092629e-02] [ 2.82651948e-02 -1.17862128e-03 9.99599765e-01 3.33480865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.82, Y:0.03, Z:0.03 [[ 9.98596083e-01 -4.47947495e-02 -2.82717769e-02 5.81851573e+00] [ 4.48080204e-02 9.98995603e-01 -1.64266159e-04 2.61827680e-02] [ 2.82507390e-02 -1.10276681e-03 9.99600260e-01 3.49357117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692755095999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.85, Y:0.02, Z:0.04 [[ 9.98643103e-01 -4.38433064e-02 -2.81019091e-02 5.84622869e+00] [ 4.38559753e-02 9.99037850e-01 -1.65658707e-04 2.31920171e-02] [ 2.80821338e-02 -1.06700271e-03 9.99605050e-01 3.50048048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.88, Y:0.02, Z:0.04 [[ 9.98718490e-01 -4.30582504e-02 -2.65963402e-02 5.87539889e+00] [ 4.30692250e-02 9.99072078e-01 -1.60337149e-04 2.33909543e-02] [ 2.65785647e-02 -9.85352086e-04 9.99646242e-01 3.80277794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:0.02, Z:0.04 [[ 9.98705341e-01 -4.33621934e-02 -2.65962944e-02 5.90299880e+00] [ 4.33730811e-02 9.99058931e-01 -1.67650369e-04 2.37344468e-02] [ 2.65785351e-02 -9.86129913e-04 9.99646242e-01 3.85898500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.93, Y:0.02, Z:0.04 [[ 9.98723245e-01 -4.32729597e-02 -2.60639839e-02 5.93105167e+00] [ 4.32832128e-02 9.99062828e-01 -1.70915651e-04 2.24984765e-02] [ 2.60469535e-02 -9.57435531e-04 9.99660262e-01 4.00801679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.96, Y:0.03, Z:0.04 [[ 9.98719128e-01 -4.36637169e-02 -2.55652809e-02 5.95885932e+00] [ 4.36736199e-02 9.99045838e-01 -1.71133345e-04 2.53414149e-02] [ 2.55483597e-02 -9.45614214e-04 9.99673140e-01 4.14385198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.99, Y:0.02, Z:0.04 [[ 9.98721279e-01 -4.40529513e-02 -2.48020960e-02 5.98700713e+00] [ 4.40622276e-02 9.99028774e-01 -1.72629935e-04 2.48390620e-02] [ 2.47856124e-02 -9.20426408e-04 9.99692366e-01 4.18381198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.02, Y:0.03, Z:0.04 [[ 9.98704779e-01 -4.49041730e-02 -2.39244759e-02 6.01559203e+00] [ 4.49129799e-02 9.98990889e-01 -1.69370717e-04 2.54709595e-02] [ 2.39079389e-02 -9.05368161e-04 9.99713754e-01 4.35617507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.04, Y:0.02, Z:0.04 [[ 9.98691638e-01 -4.54215608e-02 -2.34924093e-02 6.04373870e+00] [ 4.54300568e-02 9.98967507e-01 -1.72205922e-04 2.46666367e-02] [ 2.34759754e-02 -8.95280876e-04 9.99724000e-01 4.42030842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.07, Y:0.02, Z:0.04 [[ 9.98640390e-01 -4.67619661e-02 -2.30367152e-02 6.07266153e+00] [ 4.67704090e-02 9.98905651e-01 -1.72448277e-04 2.28041488e-02] [ 2.30195691e-02 -9.05222780e-04 9.99734605e-01 4.48918184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.10, Y:0.02, Z:0.05 [[ 9.98582186e-01 -4.78815613e-02 -2.32588438e-02 6.10129532e+00] [ 4.78903259e-02 9.98852584e-01 -1.80355937e-04 2.36207729e-02] [ 2.32407920e-02 -9.33773385e-04 9.99729460e-01 4.56341395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.13, Y:0.02, Z:0.05 [[ 9.98531127e-01 -4.88035123e-02 -2.35330556e-02 6.13012248e+00] [ 4.88125885e-02 9.98807937e-01 -1.88939930e-04 2.31344642e-02] [ 2.35142237e-02 -9.60046959e-04 9.99723041e-01 4.57490964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.16, Y:0.02, Z:0.04 [[ 9.98403087e-01 -5.10913308e-02 -2.41029239e-02 6.15872290e+00] [ 5.11013755e-02 9.98693451e-01 -1.99413713e-04 2.11602754e-02] [ 2.40816205e-02 -1.03259729e-03 9.99709462e-01 4.48800303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.19, Y:0.02, Z:0.05 [[ 9.98321041e-01 -5.24820857e-02 -2.45097947e-02 6.18783585e+00] [ 5.24928345e-02 9.98621280e-01 -2.05077478e-04 2.14033833e-02] [ 2.44867655e-02 -1.08185544e-03 9.99699569e-01 4.50209758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters Centerline goodness [0,1] 0.9999561037706861 Centerline is valid? [True, True] Translation: X:6.22, Y:0.02, Z:0.04 [[ 9.98180854e-01 -5.47374546e-02 -2.52743532e-02 6.21681480e+00] [ 5.47494559e-02 9.98500100e-01 -2.17423362e-04 1.90276220e-02] [ 2.52483454e-02 -1.16672925e-03 9.99680529e-01 4.42591979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112755095999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.25, Y:0.02, Z:0.04 [[ 9.98119764e-01 -5.58390502e-02 -2.52772191e-02 6.24571480e+00] [ 5.58513452e-02 9.98439071e-01 -2.19882019e-04 1.79884621e-02] [ 2.52500411e-02 -1.19229810e-03 9.99680456e-01 4.44231946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755096 meters Centerline goodness [0,1] 0.9999779711421963 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:0.04 [[ 9.98073316e-01 -5.66784715e-02 -2.52429494e-02 6.27439063e+00] [ 5.66908348e-02 9.98391756e-01 -2.26172571e-04 1.71998708e-02] [ 2.52151717e-02 -1.20530707e-03 9.99681320e-01 4.49634588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172755096 meters Centerline goodness [0,1] 0.9999121439082782 Centerline is valid? [True, True] Translation: X:6.30, Y:0.01, Z:0.05 [[ 9.97995219e-01 -5.77793940e-02 -2.58279669e-02 6.30180764e+00] [ 5.77925416e-02 9.98328586e-01 -2.37746410e-04 1.49095870e-02] [ 2.57985345e-02 -1.25539407e-03 9.99666374e-01 4.55936126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755096 meters Centerline goodness [0,1] 0.9998242530755712 Centerline is valid? [True, True] Translation: X:6.33, Y:0.02, Z:0.05 [[ 9.97956082e-01 -5.83337521e-02 -2.60927676e-02 6.33090653e+00] [ 5.83472346e-02 9.98296319e-01 -2.44983865e-04 1.51261754e-02] [ 2.60626047e-02 -1.27795770e-03 9.99659496e-01 4.59578626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232755096 meters Centerline goodness [0,1] 0.9999340731787716 Centerline is valid? [True, True] Translation: X:6.36, Y:0.02, Z:0.05 [[ 9.98005981e-01 -5.75227899e-02 -2.59844273e-02 6.35913221e+00] [ 5.75357377e-02 9.98343416e-01 -2.49698464e-04 1.66836452e-02] [ 2.59557452e-02 -1.24583263e-03 9.99662317e-01 4.59329306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters Centerline goodness [0,1] 0.9998469309658656 Centerline is valid? [True, True] Translation: X:6.39, Y:0.02, Z:0.05 [[ 9.98076681e-01 -5.60180069e-02 -2.65503657e-02 6.38719263e+00] [ 5.60309290e-02 9.98429000e-01 -2.57582754e-04 1.74587501e-02] [ 2.65230844e-02 -1.23055432e-03 9.99647444e-01 4.60711400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292755096 meters Centerline goodness [0,1] 0.9999561355411778 Centerline is valid? [True, True] Translation: X:6.42, Y:0.02, Z:0.05 [[ 9.98148691e-01 -5.46692202e-02 -2.66545997e-02 6.41613040e+00] [ 5.46816718e-02 9.98503804e-01 -2.62065470e-04 2.33043378e-02] [ 2.66290461e-02 -1.19593777e-03 9.99644669e-01 4.71002303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755096 meters Centerline goodness [0,1] 0.9999125683060109 Centerline is valid? [True, True] Translation: X:6.44, Y:0.02, Z:0.05 [[ 9.98377686e-01 -5.01866460e-02 -2.68941655e-02 6.44472889e+00] [ 5.01975442e-02 9.98739272e-01 -2.70182534e-04 2.32555157e-02] [ 2.68738188e-02 -1.08027685e-03 9.99638250e-01 4.71558632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352755096 meters Centerline goodness [0,1] 0.999978075464252 Centerline is valid? [True, True] Translation: X:6.47, Y:0.03, Z:0.05 [[ 9.98499513e-01 -4.76141260e-02 -2.70484425e-02 6.47370577e+00] [ 4.76241636e-02 9.98865288e-01 -2.73341785e-04 2.57953062e-02] [ 2.70307653e-02 -1.01522781e-03 9.99634087e-01 4.76599900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755096 meters Centerline goodness [0,1] 0.9998255750572331 Centerline is valid? [True, True] Translation: X:6.50, Y:0.03, Z:0.05 [[ 9.98602022e-01 -4.51997006e-02 -2.74041692e-02 6.50303501e+00] [ 4.52090128e-02 9.98977511e-01 -2.79985339e-04 2.88074467e-02] [ 2.73888040e-02 -9.59321513e-04 9.99624396e-01 4.84286969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412755096 meters Centerline goodness [0,1] 0.9999781564001747 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:0.05 [[ 9.98766163e-01 -4.12976598e-02 -2.75799915e-02 6.53229831e+00] [ 4.13054697e-02 9.99146524e-01 -2.86721981e-04 3.37591793e-02] [ 2.75682936e-02 -8.52836290e-04 9.99619559e-01 4.84156194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters Centerline goodness [0,1] 0.9999561759098977 Centerline is valid? [True, True] Translation: X:6.56, Y:0.04, Z:0.05 [[ 9.98810060e-01 -3.98172580e-02 -2.81611299e-02 6.56152687e+00] [ 3.98247376e-02 9.99206637e-01 -2.95440099e-04 3.87084862e-02] [ 2.81505515e-02 -8.26421065e-04 9.99603353e-01 4.95696525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472755096 meters Centerline goodness [0,1] 0.9999341758820431 Centerline is valid? [True, True] Translation: X:6.59, Y:0.04, Z:0.05 [[ 9.98890801e-01 -3.77960793e-02 -2.80824500e-02 6.58901605e+00] [ 3.78025556e-02 9.99285183e-01 -3.00437122e-04 4.07380641e-02] [ 2.80737315e-02 -7.61484499e-04 9.99605565e-01 5.03310154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters Centerline goodness [0,1] 0.9999123940515561 Centerline is valid? [True, True] Translation: X:6.62, Y:0.04, Z:0.05 [[ 9.98905555e-01 -3.75613365e-02 -2.78718330e-02 6.61780514e+00] [ 3.75675225e-02 9.99294046e-01 -3.01845872e-04 4.04380009e-02] [ 2.78634945e-02 -7.45560196e-04 9.99611459e-01 5.16468076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532755096 meters Centerline goodness [0,1] 0.9998465147893963 Centerline is valid? [True, True] Translation: X:6.65, Y:0.04, Z:0.05 [[ 9.98891458e-01 -3.80365157e-02 -2.77322786e-02 6.64589033e+00] [ 3.80426254e-02 9.99276070e-01 -3.07452855e-04 3.92035804e-02] [ 2.77238968e-02 -7.47896657e-04 9.99615339e-01 5.29786554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755096 meters Centerline goodness [0,1] 0.9998692326133862 Centerline is valid? [True, True] Translation: X:6.67, Y:0.04, Z:0.05 [[ 9.98852597e-01 -3.96402430e-02 -2.68726757e-02 6.67381494e+00] [ 3.96463940e-02 9.99213726e-01 -3.04073564e-04 3.66059033e-02] [ 2.68636000e-02 -7.61680021e-04 9.99638818e-01 5.48664423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592755096 meters Centerline goodness [0,1] 0.9999344104593454 Centerline is valid? [True, True] Translation: X:6.70, Y:0.04, Z:0.06 [[ 9.98788745e-01 -4.14875730e-02 -2.64541856e-02 6.70268721e+00] [ 4.14940957e-02 9.99138703e-01 -3.02563078e-04 3.60949126e-02] [ 2.64439533e-02 -7.95495912e-04 9.99649981e-01 5.55079400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755096 meters Centerline goodness [0,1] 0.9999123018570082 Centerline is valid? [True, True] Translation: X:6.73, Y:0.04, Z:0.06 [[ 9.98723681e-01 -4.34753997e-02 -2.57079432e-02 6.73127827e+00] [ 4.34820601e-02 9.99054163e-01 -3.00136812e-04 3.51184057e-02] [ 2.56966762e-02 -8.18080587e-04 9.99669451e-01 5.61538304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652755096 meters Centerline goodness [0,1] 0.9999561355411778 Centerline is valid? [True, True] Translation: X:6.76, Y:0.04, Z:0.06 [[ 9.98563958e-01 -4.72379623e-02 -2.52704873e-02 6.76108684e+00] [ 4.72454736e-02 9.98883264e-01 -3.00069478e-04 3.80868388e-02] [ 2.52564416e-02 -8.94277577e-04 9.99680605e-01 5.78351234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:6.79, Y:0.04, Z:0.06 [[ 9.98432719e-01 -4.97648216e-02 -2.56040829e-02 6.79035256e+00] [ 4.97733315e-02 9.98760493e-01 -3.05227627e-04 3.54958078e-02] [ 2.55875361e-02 -9.69651258e-04 9.99672115e-01 5.85799182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712755096 meters Centerline goodness [0,1] 0.9997375442894012 Centerline is valid? [True, True] Translation: X:6.82, Y:0.03, Z:0.06 [[ 9.98136844e-01 -5.53421149e-02 -2.56922427e-02 6.81953815e+00] [ 5.53524843e-02 9.98466829e-01 -3.07952233e-04 2.71485632e-02] [ 2.56698948e-02 -1.11475099e-03 9.99669852e-01 5.88562323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742755096 meters Centerline goodness [0,1] 0.9997379454926625 Centerline is valid? [True, True] Translation: X:6.85, Y:0.03, Z:0.06 [[ 9.98020559e-01 -5.75743666e-02 -2.53013030e-02 6.84866109e+00] [ 5.75851220e-02 9.98340554e-01 -3.03909118e-04 2.97697581e-02] [ 2.52768142e-02 -1.15367107e-03 9.99679825e-01 6.00527349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772755096 meters Centerline goodness [0,1] 0.9997372397030808 Centerline is valid? [True, True] Translation: X:6.88, Y:0.03, Z:0.06 [[ 9.97947128e-01 -5.89813796e-02 -2.49545088e-02 6.87604878e+00] [ 5.89922384e-02 9.98258396e-01 -3.01449478e-04 2.84098495e-02] [ 2.49288278e-02 -1.17129169e-03 9.99688542e-01 6.04557153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755096 meters Centerline goodness [0,1] 0.9998031539117692 Centerline is valid? [True, True] Translation: X:6.91, Y:0.03, Z:0.06 [[ 9.97814581e-01 -6.10744672e-02 -2.52184562e-02 6.90606046e+00] [ 6.10861588e-02 9.98132450e-01 -3.07220156e-04 2.85417116e-02] [ 2.51901228e-02 -1.23394987e-03 9.99681917e-01 6.01836357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832755096 meters Centerline goodness [0,1] 0.9996716646601729 Centerline is valid? [True, True] Translation: X:6.93, Y:0.03, Z:0.06 [[ 9.97730541e-01 -6.22479996e-02 -2.56701025e-02 6.93430527e+00] [ 6.22604679e-02 9.98059886e-01 -3.14023024e-04 2.73852907e-02] [ 2.56398469e-02 -1.28492223e-03 9.99670419e-01 5.99412891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755096 meters Centerline goodness [0,1] 0.9995843996762692 Centerline is valid? [True, True] Translation: X:6.96, Y:0.03, Z:0.06 [[ 9.97610295e-01 -6.38477995e-02 -2.64037417e-02 6.96311677e+00] [ 6.38614547e-02 9.97958721e-01 -3.26607211e-04 2.78402122e-02] [ 2.63706974e-02 -1.36035464e-03 9.99651307e-01 5.94106103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892755096 meters Centerline goodness [0,1] 0.9994754671620588 Centerline is valid? [True, True] Translation: X:6.99, Y:0.03, Z:0.06 [[ 9.97582089e-01 -6.41359578e-02 -2.67685389e-02 6.99094322e+00] [ 6.41499317e-02 9.97940215e-01 -3.37283873e-04 2.66417689e-02] [ 2.67350335e-02 -1.38073159e-03 9.99641602e-01 5.91994857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters Centerline goodness [0,1] 0.9998466795163834 Centerline is valid? [True, True] Translation: X:7.02, Y:0.03, Z:0.06 [[ 9.97597074e-01 -6.38389252e-02 -2.69196816e-02 7.01996086e+00] [ 6.38528500e-02 9.97959266e-01 -3.42892252e-04 2.95223426e-02] [ 2.68866355e-02 -1.37683008e-03 9.99637541e-01 5.99991668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952755096 meters Centerline goodness [0,1] 0.9996496145760336 Centerline is valid? [True, True] Translation: X:7.05, Y:0.03, Z:0.06 [[ 9.97706117e-01 -6.21098128e-02 -2.69234946e-02 7.04810942e+00] [ 6.21229421e-02 9.98068444e-01 -3.49315561e-04 3.17407077e-02] [ 2.68931863e-02 -1.32405242e-03 9.99637436e-01 6.06606096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982755096 meters Centerline goodness [0,1] 0.9996933523162852 Centerline is valid? [True, True] Translation: X:7.08, Y:0.03, Z:0.06 [[ 9.97800810e-01 -6.08619495e-02 -2.62557808e-02 7.07658071e+00] [ 6.08738944e-02 9.98145405e-01 -3.44841040e-04 3.36314632e-02] [ 2.62280747e-02 -1.25420896e-03 9.99655198e-01 6.16539519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012755096 meters Centerline goodness [0,1] 0.9996503954901018 Centerline is valid? [True, True] Translation: X:7.11, Y:0.04, Z:0.06 [[ 9.97914741e-01 -5.92516608e-02 -2.56009899e-02 7.10502425e+00] [ 5.92623433e-02 9.98242384e-01 -3.41906865e-04 3.67188850e-02] [ 2.55762517e-02 -1.17598075e-03 9.99672182e-01 6.28451207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755096 meters Centerline goodness [0,1] 0.9996723531596077 Centerline is valid? [True, True] Translation: X:7.13, Y:0.04, Z:0.07 [[ 9.98150743e-01 -5.59298573e-02 -2.38106196e-02 7.13373790e+00] [ 5.59381152e-02 9.98434187e-01 -3.19618179e-04 3.97368893e-02] [ 2.37912128e-02 -1.01289406e-03 9.99716436e-01 6.51364167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072755096 meters Centerline goodness [0,1] 0.9996941762418629 Centerline is valid? [True, True] Translation: X:7.16, Y:0.04, Z:0.07 [[ 9.98243920e-01 -5.45295102e-02 -2.31432210e-02 7.16293012e+00] [ 5.45368938e-02 9.98511707e-01 -3.12477256e-04 4.18743160e-02] [ 2.31258163e-02 -9.50230863e-04 9.99732111e-01 6.64975759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters Centerline goodness [0,1] 0.9997167509151125 Centerline is valid? [True, True] Translation: X:7.19, Y:0.05, Z:0.07 [[ 9.98415015e-01 -5.16738150e-02 -2.22996488e-02 7.19218032e+00] [ 5.16798345e-02 9.98663657e-01 -3.06658944e-04 4.93856559e-02] [ 2.22856950e-02 -8.46269263e-04 9.99751285e-01 6.76084773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132755096 meters Centerline goodness [0,1] 0.9997382941137984 Centerline is valid? [True, True] Translation: X:7.22, Y:0.05, Z:0.07 [[ 9.98460979e-01 -5.08534568e-02 -2.21269133e-02 7.22082739e+00] [ 5.08590583e-02 9.98705793e-01 -3.09884531e-04 5.21241162e-02] [ 2.21140352e-02 -8.15946360e-04 9.99755122e-01 6.78313632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162755096 meters Centerline goodness [0,1] 0.9998044413541349 Centerline is valid? [True, True] Translation: X:7.25, Y:0.05, Z:0.07 [[ 9.98482948e-01 -5.02568058e-02 -2.24956784e-02 7.25015688e+00] [ 5.02623042e-02 9.98736000e-01 -3.21285238e-04 5.38791030e-02] [ 2.24833907e-02 -8.09886799e-04 9.99746889e-01 6.78466851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192755095999999 meters Centerline goodness [0,1] 0.9998257650005444 Centerline is valid? [True, True] Translation: X:7.28, Y:0.06, Z:0.07 [[ 9.98482662e-01 -5.04019267e-02 -2.21815218e-02 7.27872542e+00] [ 5.04071826e-02 9.98728698e-01 -3.22465820e-04 5.50201358e-02] [ 2.21695753e-02 -7.96131487e-04 9.99753908e-01 6.76305067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755096 meters Centerline goodness [0,1] 0.9997172560789943 Centerline is valid? [True, True] Translation: X:7.31, Y:0.05, Z:0.07 [[ 9.98416063e-01 -5.15728786e-02 -2.24856201e-02 7.30690465e+00] [ 5.15784265e-02 9.98668891e-01 -3.33541278e-04 5.37188559e-02] [ 2.24728910e-02 -8.26759938e-04 9.99747111e-01 6.80075676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252755096 meters Centerline goodness [0,1] 0.9997598934800166 Centerline is valid? [True, True] Translation: X:7.34, Y:0.05, Z:0.07 [[ 9.98352170e-01 -5.31370485e-02 -2.16655895e-02 7.33571122e+00] [ 5.31425182e-02 9.98586886e-01 -3.23616448e-04 5.43221838e-02] [ 2.16521695e-02 -8.28280801e-04 9.99765221e-01 6.92282263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755096 meters Centerline goodness [0,1] 0.9996957579972183 Centerline is valid? [True, True] Translation: X:7.36, Y:0.05, Z:0.07 [[ 9.98164438e-01 -5.67714258e-02 -2.10893302e-02 7.36456244e+00] [ 5.67773017e-02 9.98386816e-01 -3.20522871e-04 4.82816012e-02] [ 2.10735058e-02 -8.77460732e-04 9.99777544e-01 7.03979337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312755096 meters Centerline goodness [0,1] 0.9996959826275787 Centerline is valid? [True, True] Translation: X:7.39, Y:0.05, Z:0.07 [[ 9.98039217e-01 -5.91522845e-02 -2.04628802e-02 7.39373315e+00] [ 5.91582920e-02 9.98248566e-01 -3.12160853e-04 4.79647514e-02] [ 2.04455058e-02 -8.99000268e-04 9.99790565e-01 7.12995794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters Centerline goodness [0,1] 0.9996300970451282 Centerline is valid? [True, True] Translation: X:7.42, Y:0.04, Z:0.07 [[ 9.97802510e-01 -6.34489889e-02 -1.90886537e-02 7.42356574e+00] [ 6.34549803e-02 9.97984659e-01 -2.92268180e-04 4.49042775e-02] [ 1.90687277e-02 -9.19644219e-04 9.99817752e-01 7.23072159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372755096 meters Centerline goodness [0,1] 0.9995665648093969 Centerline is valid? [True, True] Translation: X:7.45, Y:0.04, Z:0.07 [[ 9.97663239e-01 -6.55856170e-02 -1.91464927e-02 7.45209494e+00] [ 6.55920299e-02 9.97846481e-01 -2.93532024e-04 4.31336503e-02] [ 1.91245118e-02 -9.63011212e-04 9.99816646e-01 7.25902210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755096 meters Centerline goodness [0,1] 0.9996953408917807 Centerline is valid? [True, True] Translation: X:7.48, Y:0.04, Z:0.07 [[ 9.97555382e-01 -6.72807350e-02 -1.88828826e-02 7.47968998e+00] [ 6.72872577e-02 9.97733602e-01 -2.90424992e-04 4.04439674e-02] [ 1.88596264e-02 -9.80862371e-04 9.99821660e-01 7.26621088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432755096 meters Centerline goodness [0,1] 0.9995233968804159 Centerline is valid? [True, True] Translation: X:7.51, Y:0.04, Z:0.07 [[ 9.97344448e-01 -6.99397805e-02 -2.03095782e-02 7.50942808e+00] [ 6.99478129e-02 9.97550602e-01 -3.15484501e-04 4.01604402e-02] [ 2.02818969e-02 -1.10596386e-03 9.99793689e-01 7.17400891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755096 meters Centerline goodness [0,1] 0.9995874677030636 Centerline is valid? [True, True] Translation: X:7.54, Y:0.04, Z:0.07 [[ 9.97256031e-01 -7.11543884e-02 -2.04318608e-02 7.53787578e+00] [ 7.11627559e-02 9.97464667e-01 -3.18164513e-04 4.18304341e-02] [ 2.04026981e-02 -1.13669605e-03 9.99791197e-01 7.18522386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492755096 meters Centerline goodness [0,1] 0.9994351264447727 Centerline is valid? [True, True] Translation: X:7.57, Y:0.04, Z:0.07 [[ 9.97152618e-01 -7.22913836e-02 -2.14618731e-02 7.56545070e+00] [ 7.23008327e-02 9.97382813e-01 -3.36360823e-04 3.92103874e-02] [ 2.14300193e-02 -1.21630822e-03 9.99769611e-01 7.12664590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters Centerline goodness [0,1] 0.9996303061934586 Centerline is valid? [True, True] Translation: X:7.59, Y:0.04, Z:0.07 [[ 9.97110617e-01 -7.26639984e-02 -2.21441027e-02 7.59390688e+00] [ 7.26740939e-02 9.97355681e-01 -3.49572281e-04 4.11127414e-02] [ 2.21109479e-02 -1.26074036e-03 9.99754728e-01 7.17200458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552755096 meters Centerline goodness [0,1] 0.9993891397779087 Centerline is valid? [True, True] Translation: X:7.62, Y:0.04, Z:0.07 [[ 9.97112910e-01 -7.25949574e-02 -2.22669450e-02 7.62162426e+00] [ 7.26050063e-02 9.97360710e-01 -3.57888551e-04 3.99485795e-02] [ 2.22341569e-02 -1.25983639e-03 9.99751997e-01 7.26175667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755096 meters Centerline goodness [0,1] 0.9997822347074323 Centerline is valid? [True, True] Translation: X:7.65, Y:0.04, Z:0.07 [[ 9.97190113e-01 -7.14365313e-02 -2.25544112e-02 7.65065827e+00] [ 7.14464903e-02 9.97444367e-01 -3.64986039e-04 4.22225931e-02] [ 2.25228437e-02 -1.24747305e-03 9.99745550e-01 7.35535268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612755096 meters Centerline goodness [0,1] 0.9997170098828856 Centerline is valid? [True, True] Translation: X:7.68, Y:0.05, Z:0.07 [[ 9.97266402e-01 -7.05170292e-02 -2.20697136e-02 7.67981816e+00] [ 7.05262177e-02 9.97509860e-01 -3.62696627e-04 4.54506404e-02] [ 2.20403332e-02 -1.19478827e-03 9.99756368e-01 7.40604523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755096 meters Centerline goodness [0,1] 0.9997170098828856 Centerline is valid? [True, True] Translation: X:7.71, Y:0.05, Z:0.07 [[ 9.97245186e-01 -7.08164654e-02 -2.20696158e-02 7.70743447e+00] [ 7.08255977e-02 9.97488646e-01 -3.68555953e-04 4.60836440e-02] [ 2.20402910e-02 -1.19555308e-03 9.99756368e-01 7.46229569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672755096 meters Centerline goodness [0,1] 0.9997825519700791 Centerline is valid? [True, True] Translation: X:7.74, Y:0.05, Z:0.08 [[ 9.97375623e-01 -6.89250002e-02 -2.21632937e-02 7.73607770e+00] [ 6.89336052e-02 9.97621179e-01 -3.76414569e-04 5.17428062e-02] [ 2.21365156e-02 -1.15236902e-03 9.99754293e-01 7.50940494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755096 meters Centerline goodness [0,1] 0.9997167694285278 Centerline is valid? [True, True] Translation: X:7.76, Y:0.05, Z:0.08 [[ 9.97626903e-01 -6.51550754e-02 -2.22571105e-02 7.76478104e+00] [ 6.51627796e-02 9.97874575e-01 -3.79706163e-04 5.13453531e-02] [ 2.22345445e-02 -1.07153010e-03 9.99752208e-01 7.52360668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732755096 meters Centerline goodness [0,1] 0.9997820306029034 Centerline is valid? [True, True] Translation: X:7.79, Y:0.05, Z:0.08 [[ 9.97766213e-01 -6.30759830e-02 -2.20001220e-02 7.79298041e+00] [ 6.30829778e-02 9.98008214e-01 -3.76602977e-04 5.12720517e-02] [ 2.19800570e-02 -1.01207148e-03 9.99757897e-01 7.57760236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters Centerline goodness [0,1] 0.9998256586832872 Centerline is valid? [True, True] Translation: X:7.82, Y:0.06, Z:0.08 [[ 9.98011494e-01 -5.92510467e-02 -2.15028386e-02 7.82269352e+00] [ 5.92568110e-02 9.98242703e-01 -3.69557423e-04 6.24028049e-02] [ 2.14869484e-02 -9.05367088e-04 9.99768719e-01 7.73419910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792755096 meters Centerline goodness [0,1] 0.999978237687972 Centerline is valid? [True, True] Translation: X:7.85, Y:0.07, Z:0.08 [[ 9.98123607e-01 -5.72941011e-02 -2.16020894e-02 7.85186614e+00] [ 5.72994462e-02 9.98356968e-01 -3.71959161e-04 6.58397707e-02] [ 2.15879075e-02 -8.66526541e-04 9.99766578e-01 7.79328028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755096 meters Centerline goodness [0,1] 0.9998911529083943 Centerline is valid? [True, True] Translation: X:7.88, Y:0.07, Z:0.08 [[ 9.98256574e-01 -5.51661252e-02 -2.09883493e-02 7.88087426e+00] [ 5.51705944e-02 9.98476876e-01 -3.66481025e-04 6.95090051e-02] [ 2.09765988e-02 -7.92097613e-04 9.99779653e-01 7.86766759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852755096 meters Centerline goodness [0,1] 0.9999127056872245 Centerline is valid? [True, True] Translation: X:7.91, Y:0.07, Z:0.08 [[ 9.98362027e-01 -5.33052348e-02 -2.07801555e-02 7.90888927e+00] [ 5.33091791e-02 9.98577988e-01 -3.64482294e-04 6.51000545e-02] [ 2.07700347e-02 -7.43887749e-04 9.99784003e-01 7.95228823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755096 meters Centerline goodness [0,1] 0.9999134555053116 Centerline is valid? [True, True] Translation: X:7.94, Y:0.07, Z:0.08 [[ 9.98551149e-01 -4.95193986e-02 -2.10578252e-02 7.93811289e+00] [ 4.95225649e-02 9.98772936e-01 -3.71407334e-04 7.36088729e-02] [ 2.10503777e-02 -6.71968294e-04 9.99778190e-01 8.04118002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912755096 meters Centerline goodness [0,1] 0.9999782618147037 Centerline is valid? [True, True] Translation: X:7.97, Y:0.08, Z:0.08 [[ 9.98611381e-01 -4.82523211e-02 -2.11429020e-02 7.96747572e+00] [ 4.82552090e-02 9.98834969e-01 -3.73869602e-04 7.69007929e-02] [ 2.11363099e-02 -6.46904716e-04 9.99776394e-01 8.09621705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942755096 meters Centerline goodness [0,1] 0.9999782381615598 Centerline is valid? [True, True] Translation: X:8.00, Y:0.08, Z:0.08 [[ 9.98650120e-01 -4.74283389e-02 -2.11776100e-02 7.99603882e+00] [ 4.74309367e-02 9.98874448e-01 -3.79888990e-04 7.91077944e-02] [ 2.11717909e-02 -6.25097693e-04 9.99775657e-01 8.17914508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972755096 meters Centerline goodness [0,1] 0.9999564089710338 Centerline is valid? [True, True] Translation: X:8.02, Y:0.08, Z:0.08 [[ 9.98675456e-01 -4.67513256e-02 -2.14859750e-02 8.02446044e+00] [ 4.67537139e-02 9.98906370e-01 -3.91435449e-04 7.83320410e-02] [ 2.14807774e-02 -6.13632153e-04 9.99769073e-01 8.21657828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters Centerline goodness [0,1] 0.9999128540305011 Centerline is valid? [True, True] Translation: X:8.05, Y:0.08, Z:0.08 [[ 9.98640328e-01 -4.74708961e-02 -2.15408917e-02 8.05376785e+00] [ 4.74733368e-02 9.98872426e-01 -3.98339402e-04 8.01312237e-02] [ 2.15355123e-02 -6.24820215e-04 9.99767889e-01 8.30584632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.08, Y:0.08, Z:0.08 [[ 9.98535948e-01 -4.98753559e-02 -2.09382099e-02 8.08282725e+00] [ 4.98780762e-02 9.98755237e-01 -3.92622982e-04 8.06333459e-02] [ 2.09317290e-02 -6.52309466e-04 9.99780695e-01 8.45121865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.11, Y:0.08, Z:0.09 [[ 9.98468165e-01 -5.13756919e-02 -2.05392752e-02 8.11100968e+00] [ 5.13785157e-02 9.98679176e-01 -3.90536506e-04 7.99431570e-02] [ 2.05322105e-02 -6.65339202e-04 9.99788971e-01 8.53668319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.14, Y:0.08, Z:0.09 [[ 9.98368945e-01 -5.33932694e-02 -2.02140415e-02 8.13953027e+00] [ 5.33963801e-02 9.98573321e-01 -3.86201589e-04 8.19663763e-02] [ 2.02058231e-02 -6.93784970e-04 9.99795601e-01 8.61918563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755096 meters Centerline goodness [0,1] 0.9999565207939303 Centerline is valid? [True, True] Translation: X:8.17, Y:0.08, Z:0.09 [[ 9.98163726e-01 -5.67777470e-02 -2.11060149e-02 8.16897647e+00] [ 5.67817681e-02 9.98386530e-01 -4.09198904e-04 8.08740522e-02] [ 2.10951943e-02 -7.89989340e-04 9.99777160e-01 8.65173834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152755096 meters Centerline goodness [0,1] 0.9999565094483224 Centerline is valid? [True, True] Translation: X:8.20, Y:0.07, Z:0.09 [[ 9.98068166e-01 -5.81423461e-02 -2.18953054e-02 8.19718160e+00] [ 5.81469798e-02 9.98307942e-01 -4.25495267e-04 7.47497474e-02] [ 2.18829965e-02 -8.48472599e-04 9.99760179e-01 8.63612177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182755096 meters Centerline goodness [0,1] 0.9999135490285072 Centerline is valid? [True, True] Translation: X:8.23, Y:0.08, Z:0.09 [[ 9.97954071e-01 -5.95974017e-02 -2.31478361e-02 8.22593647e+00] [ 5.96029054e-02 9.98222064e-01 -4.52708790e-04 7.79468396e-02] [ 2.31336610e-02 -9.27895708e-04 9.99731950e-01 8.59090853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212755096 meters Centerline goodness [0,1] 0.9999349381912818 Centerline is valid? [True, True] Translation: X:8.25, Y:0.08, Z:0.09 [[ 9.97793834e-01 -6.16671917e-02 -2.45890640e-02 8.25497229e+00] [ 6.16738574e-02 9.98096236e-01 -4.87913787e-04 8.18528607e-02] [ 2.45723405e-02 -1.02966506e-03 9.99697524e-01 8.50111400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755096 meters Centerline goodness [0,1] 0.9999132734920428 Centerline is valid? [True, True] Translation: X:8.28, Y:0.08, Z:0.08 [[ 9.97735008e-01 -6.23741533e-02 -2.51856754e-02 8.28264647e+00] [ 6.23812112e-02 9.98052267e-01 -5.06116198e-04 8.20129978e-02] [ 2.51681890e-02 -1.06614309e-03 9.99682662e-01 8.44622686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:0.08, Z:0.08 [[ 9.97686366e-01 -6.30291084e-02 -2.54803080e-02 8.31065224e+00] [ 6.30364810e-02 9.98011091e-01 -5.14578188e-04 8.20842528e-02] [ 2.54620634e-02 -1.09280131e-03 9.99675192e-01 8.45375431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:0.08, Z:0.08 [[ 9.97577913e-01 -6.45929045e-02 -2.58082162e-02 8.33952298e+00] [ 6.46009003e-02 9.97911042e-01 -5.24691665e-04 8.36616287e-02] [ 2.57881952e-02 -1.14381318e-03 9.99666775e-01 8.47354111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.37, Y:0.08, Z:0.09 [[ 9.97521493e-01 -6.55834751e-02 -2.54887926e-02 8.36782656e+00] [ 6.55914366e-02 9.97846425e-01 -5.24481770e-04 8.26589367e-02] [ 2.54682979e-02 -1.14866468e-03 9.99674970e-01 8.56137924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362755096 meters Centerline goodness [0,1] 0.9999566968345386 Centerline is valid? [True, True] Translation: X:8.40, Y:0.08, Z:0.09 [[ 9.97475380e-01 -6.64405492e-02 -2.50702805e-02 8.39674939e+00] [ 6.64484167e-02 9.97789726e-01 -5.20047138e-04 8.32954588e-02] [ 2.50494205e-02 -1.14714623e-03 9.99685556e-01 8.72865560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.43, Y:0.09, Z:0.09 [[ 9.97440843e-01 -6.71311589e-02 -2.46002516e-02 8.42555810e+00] [ 6.71387815e-02 9.97743513e-01 -5.16884883e-04 8.60400852e-02] [ 2.45794406e-02 -1.13606883e-03 9.99697234e-01 8.93146096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:8.45, Y:0.09, Z:0.09 [[ 9.97466150e-01 -6.68259467e-02 -2.44043710e-02 8.45366125e+00] [ 6.68332115e-02 9.97764027e-01 -5.18738926e-04 8.53752322e-02] [ 2.43844687e-02 -1.11359797e-03 9.99702034e-01 8.99846943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.48, Y:0.09, Z:0.09 [[ 9.97503347e-01 -6.63797116e-02 -2.40999289e-02 8.48237870e+00] [ 6.63865954e-02 9.97793844e-01 -5.15209720e-04 8.73519985e-02] [ 2.40809601e-02 -1.08598881e-03 9.99709422e-01 9.14429991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.51, Y:0.09, Z:0.09 [[ 9.97688872e-01 -6.40323482e-02 -2.27326595e-02 8.51170991e+00] [ 6.40377348e-02 9.97947357e-01 -4.91681862e-04 9.30584153e-02] [ 2.27174810e-02 -9.65202499e-04 9.99741459e-01 9.41987329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512755096 meters Centerline goodness [0,1] 0.9999784594175426 Centerline is valid? [True, True] Translation: X:8.54, Y:0.10, Z:0.10 [[ 9.97798020e-01 -6.26258769e-02 -2.18428617e-02 8.54084284e+00] [ 6.26303975e-02 9.98036675e-01 -4.77746405e-04 9.58089888e-02] [ 2.18298964e-02 -8.91332695e-04 9.99761302e-01 9.58861974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.57, Y:0.10, Z:0.10 [[ 9.97884838e-01 -6.11682388e-02 -2.20067388e-02 8.56865596e+00] [ 6.11723484e-02 9.98127099e-01 -4.87021422e-04 9.67049388e-02] [ 2.19953126e-02 -8.60212603e-04 9.99757704e-01 9.67746860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:0.10, Z:0.10 [[ 9.98064063e-01 -5.80682804e-02 -2.22755721e-02 8.59752539e+00] [ 5.80716733e-02 9.98312294e-01 -4.95072176e-04 1.03364222e-01] [ 2.22667255e-02 -7.99465996e-04 9.99751746e-01 9.72288850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.63, Y:0.11, Z:0.10 [[ 9.98122458e-01 -5.70335255e-02 -2.23324064e-02 8.62633519e+00] [ 5.70366321e-02 9.98371962e-01 -4.98347057e-04 1.07300152e-01] [ 2.23244708e-02 -7.76353856e-04 9.99750477e-01 9.76496826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.66, Y:0.11, Z:0.10 [[ 9.98157185e-01 -5.62248248e-02 -2.28255028e-02 8.65505507e+00] [ 5.62277185e-02 9.98417837e-01 -5.15510131e-04 1.14141403e-01] [ 2.28183736e-02 -7.68865806e-04 9.99739331e-01 9.84395649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.68, Y:0.11, Z:0.10 [[ 9.98157320e-01 -5.61927445e-02 -2.28984543e-02 8.68163081e+00] [ 5.61955050e-02 9.98419647e-01 -5.23413296e-04 1.14339388e-01] [ 2.28916786e-02 -7.64341388e-04 9.99737659e-01 9.88420489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.71, Y:0.12, Z:0.10 [[ 9.98132318e-01 -5.66628229e-02 -2.28298060e-02 8.70983828e+00] [ 5.66655721e-02 9.98393077e-01 -5.26999637e-04 1.15341582e-01] [ 2.28229816e-02 -7.67648650e-04 9.99739227e-01 9.95337426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.74, Y:0.12, Z:0.10 [[ 9.98081593e-01 -5.74251779e-02 -2.31404893e-02 8.73835880e+00] [ 5.74280410e-02 9.98349501e-01 -5.41348636e-04 1.17547613e-01] [ 2.31333830e-02 -7.88602859e-04 9.99732076e-01 1.00304858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.77, Y:0.12, Z:0.10 [[ 9.97940396e-01 -5.97077784e-02 -2.34509722e-02 8.76569612e+00] [ 5.97112065e-02 9.98215540e-01 -5.54657599e-04 1.18168613e-01] [ 2.34422422e-02 -8.46770618e-04 9.99724834e-01 1.00779856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.79, Y:0.12, Z:0.10 [[ 9.97821359e-01 -6.15283446e-02 -2.38075475e-02 8.79462326e+00] [ 6.15323159e-02 9.98104931e-01 -5.66422537e-04 1.18611452e-01] [ 2.37972816e-02 -8.99745026e-04 9.99716400e-01 1.00884627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.82, Y:0.12, Z:0.10 [[ 9.97539427e-01 -6.58048497e-02 -2.41829277e-02 8.82277082e+00] [ 6.58100588e-02 9.97831999e-01 -5.81253469e-04 1.15732085e-01] [ 2.41687484e-02 -1.01165664e-03 9.99707381e-01 1.01585871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.85, Y:0.11, Z:0.10 [[ 9.97386526e-01 -6.80545682e-02 -2.42630162e-02 8.85124600e+00] [ 6.80604328e-02 9.97681029e-01 -5.84964126e-04 1.13925566e-01] [ 2.42465605e-02 -1.06791605e-03 9.99705439e-01 1.02214056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:0.11, Z:0.10 [[ 9.97247807e-01 -7.01838448e-02 -2.38964467e-02 8.88079032e+00] [ 7.01901131e-02 9.97533465e-01 -5.77388703e-04 1.14013645e-01] [ 2.38780286e-02 -1.10149468e-03 9.99714272e-01 1.03382999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:0.12, Z:0.10 [[ 9.97025795e-01 -7.31931376e-02 -2.41314936e-02 8.90978124e+00] [ 7.32003851e-02 9.97317082e-01 -5.84062288e-04 1.20660835e-01] [ 2.41095002e-02 -1.18410946e-03 9.99708622e-01 1.04928595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932755096 meters Centerline goodness [0,1] 0.9999362502390616 Centerline is valid? [True, True] Translation: X:8.94, Y:0.11, Z:0.10 [[ 9.96913681e-01 -7.45860604e-02 -2.44955450e-02 8.93789504e+00] [ 7.45938871e-02 9.97213817e-01 -5.95349963e-04 1.12322433e-01] [ 2.44717008e-02 -1.23370540e-03 9.99699762e-01 1.04278471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.97, Y:0.12, Z:0.11 [[ 9.96785784e-01 -7.61749894e-02 -2.48086910e-02 8.96621024e+00] [ 7.61833205e-02 9.97093641e-01 -6.10539355e-04 1.21940910e-01] [ 2.47830958e-02 -1.28143150e-03 9.99692031e-01 1.05455931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992755096 meters Centerline goodness [0,1] 0.9999788211872842 Centerline is valid? [True, True] Translation: X:8.99, Y:0.12, Z:0.11 [[ 9.96614645e-01 -7.80826833e-02 -2.57360493e-02 8.99445514e+00] [ 7.80921067e-02 9.96945943e-01 -6.40238702e-04 1.19860109e-01] [ 2.57074415e-02 -1.37171104e-03 9.99668568e-01 1.05204423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096000001 meters Centerline goodness [0,1] 0.9990687042289295 Centerline is valid? [True, True] Translation: X:9.02, Y:0.11, Z:0.10 [[ 9.96567968e-01 -7.85911675e-02 -2.59944739e-02 9.02312791e+00] [ 7.86008676e-02 9.96905954e-01 -6.49977565e-04 1.09110775e-01] [ 2.59651283e-02 -1.39544138e-03 9.99661875e-01 1.04353574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052755096 meters Centerline goodness [0,1] 0.9997031067755275 Centerline is valid? [True, True] Translation: X:9.05, Y:0.12, Z:0.11 [[ 9.96561277e-01 -7.87043195e-02 -2.59085312e-02 9.05152030e+00] [ 7.87137972e-02 9.96897040e-01 -6.55417009e-04 1.16151399e-01] [ 2.58797223e-02 -1.38619566e-03 9.99664103e-01 1.05121044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082755096 meters Centerline goodness [0,1] 0.9980978146003298 Centerline is valid? [True, True] Translation: X:9.08, Y:0.11, Z:0.11 [[ 9.96624789e-01 -7.80594114e-02 -2.54117661e-02 9.07946963e+00] [ 7.80681484e-02 9.96947813e-01 -6.49604106e-04 1.14894599e-01] [ 2.53849123e-02 -1.33643797e-03 9.99676858e-01 1.05763974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112755096 meters Centerline goodness [0,1] 0.9995766837404225 Centerline is valid? [True, True] Translation: X:9.11, Y:0.12, Z:0.11 [[ 9.96667349e-01 -7.75312602e-02 -2.53593882e-02 9.10836111e+00] [ 7.75397013e-02 9.96989052e-01 -6.51791364e-04 1.22182420e-01] [ 2.53335666e-02 -1.31674022e-03 9.99678187e-01 1.07297802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755096 meters Centerline goodness [0,1] 0.9995557342021197 Centerline is valid? [True, True] Translation: X:9.14, Y:0.13, Z:0.11 [[ 9.96866435e-01 -7.50025782e-02 -2.51380867e-02 9.13636681e+00] [ 7.50099106e-02 9.97182575e-01 -6.52471178e-04 1.25137212e-01] [ 2.51161991e-02 -1.23517902e-03 9.99683775e-01 1.08650338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172755096 meters Centerline goodness [0,1] 0.9991955969517358 Centerline is valid? [True, True] Translation: X:9.16, Y:0.13, Z:0.11 [[ 9.96972434e-01 -7.37124600e-02 -2.47475206e-02 9.16385754e+00] [ 7.37191083e-02 9.97278836e-01 -6.44815496e-04 1.25130874e-01] [ 2.47277095e-02 -1.18150187e-03 9.99693525e-01 1.09267447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755096 meters Centerline goodness [0,1] 0.999788887012329 Centerline is valid? [True, True] Translation: X:9.19, Y:0.13, Z:0.11 [[ 9.97086715e-01 -7.21256695e-02 -2.48187514e-02 9.19296609e+00] [ 7.21317867e-02 9.97394898e-01 -6.49852083e-04 1.32327678e-01] [ 2.48009670e-02 -1.14226200e-03 9.99691756e-01 1.10250822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232755096 meters Centerline goodness [0,1] 0.9999577256393997 Centerline is valid? [True, True] Translation: X:9.22, Y:0.14, Z:0.11 [[ 9.97351101e-01 -6.84847714e-02 -2.45074977e-02 9.22218288e+00] [ 6.84895064e-02 9.97651627e-01 -6.47107937e-04 1.38934065e-01] [ 2.44942620e-02 -1.03311260e-03 9.99699437e-01 1.11231740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.25, Y:0.15, Z:0.11 [[ 9.97443867e-01 -6.70727510e-02 -2.46369385e-02 9.25070591e+00] [ 6.70770558e-02 9.97747585e-01 -6.52575291e-04 1.47107243e-01] [ 2.46252159e-02 -1.00166608e-03 9.99696252e-01 1.12273716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292755096 meters Centerline goodness [0,1] 0.9999788953844205 Centerline is valid? [True, True] Translation: X:9.28, Y:0.15, Z:0.11 [[ 9.97560429e-01 -6.53573144e-02 -2.45277763e-02 9.27920771e+00] [ 6.53608874e-02 9.97861475e-01 -6.56858727e-04 1.46233927e-01] [ 2.45182535e-02 -9.47900951e-04 9.99698933e-01 1.12633497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:0.15, Z:0.11 [[ 9.97711746e-01 -6.27077726e-02 -2.52785981e-02 9.30824013e+00] [ 6.27105315e-02 9.98031523e-01 -6.84370784e-04 1.53944417e-01] [ 2.52717531e-02 -9.02429549e-04 9.99680211e-01 1.13530269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.34, Y:0.16, Z:0.11 [[ 9.97797258e-01 -6.12733294e-02 -2.54206828e-02 9.33625202e+00] [ 6.12755039e-02 9.98120649e-01 -6.94143369e-04 1.57933149e-01] [ 2.54154409e-02 -8.65050796e-04 9.99676601e-01 1.14387779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.37, Y:0.16, Z:0.12 [[ 9.97952655e-01 -5.86142359e-02 -2.55904279e-02 9.36518099e+00] [ 5.86154769e-02 9.98280388e-01 -7.02267735e-04 1.63661025e-01] [ 2.55875852e-02 -7.99165188e-04 9.99672265e-01 1.15118156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.39, Y:0.17, Z:0.12 [[ 9.98001695e-01 -5.75082216e-02 -2.61805390e-02 9.39362071e+00] [ 5.75089440e-02 9.98344727e-01 -7.25968730e-04 1.71050469e-01] [ 2.61789522e-02 -7.81097127e-04 9.99656967e-01 1.16346513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:0.17, Z:0.12 [[ 9.98059527e-01 -5.64166920e-02 -2.63502738e-02 9.42198561e+00] [ 5.64168341e-02 9.98407029e-01 -7.38629470e-04 1.72469151e-01] [ 2.63499696e-02 -7.49402847e-04 9.99652498e-01 1.16732420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.45, Y:0.17, Z:0.12 [[ 9.98107182e-01 -5.53820280e-02 -2.67373205e-02 9.45048506e+00] [ 5.53816023e-02 9.98464974e-01 -7.56997838e-04 1.74434537e-01] [ 2.67382022e-02 -7.25190676e-04 9.99642207e-01 1.17119589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:0.17, Z:0.12 [[ 9.98218211e-01 -5.34320369e-02 -2.65597663e-02 9.47940967e+00] [ 5.34307334e-02 9.98571269e-01 -7.59262625e-04 1.74533861e-01] [ 2.65623885e-02 -6.61198014e-04 9.99646939e-01 1.16718846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.51, Y:0.18, Z:0.12 [[ 9.98248927e-01 -5.27071490e-02 -2.68521002e-02 9.50708004e+00] [ 5.27053823e-02 9.98609805e-01 -7.74034267e-04 1.77452434e-01] [ 2.68555677e-02 -6.42571329e-04 9.99639118e-01 1.18104877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:0.18, Z:0.12 [[ 9.98232508e-01 -5.30172720e-02 -2.68519792e-02 9.53463240e+00] [ 5.30155052e-02 9.98593386e-01 -7.78208314e-04 1.78415199e-01] [ 2.68554673e-02 -6.46738406e-04 9.99639118e-01 1.18667568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.56, Y:0.18, Z:0.12 [[ 9.98221996e-01 -5.34525929e-02 -2.63754879e-02 9.56253599e+00] [ 5.34508265e-02 9.98570184e-01 -7.72488127e-04 1.78143314e-01] [ 2.63790673e-02 -6.38676988e-04 9.99651808e-01 1.19416418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.59, Y:0.18, Z:0.12 [[ 9.98161792e-01 -5.43272879e-02 -2.68623112e-02 9.59160435e+00] [ 5.43255513e-02 9.98522960e-01 -7.94968305e-04 1.75077268e-01] [ 2.68658229e-02 -6.65802875e-04 9.99638827e-01 1.19124579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.62, Y:0.18, Z:0.12 [[ 9.98112142e-01 -5.54040239e-02 -2.65056005e-02 9.61892993e+00] [ 5.54025470e-02 9.98463786e-01 -7.90650299e-04 1.75999144e-01] [ 2.65086875e-02 -6.79320116e-04 9.99648352e-01 1.20045819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.65, Y:0.17, Z:0.12 [[ 9.97936795e-01 -5.83339998e-02 -2.68197339e-02 9.64753073e+00] [ 5.83334259e-02 9.98296832e-01 -8.04449519e-04 1.70229998e-01] [ 2.68209821e-02 -7.61697183e-04 9.99639963e-01 1.19580952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:0.17, Z:0.12 [[ 9.97851075e-01 -5.97081598e-02 -2.69846013e-02 9.67578828e+00] [ 5.97079033e-02 9.98215558e-01 -8.15966226e-04 1.71780330e-01] [ 2.69851687e-02 -7.96981191e-04 9.99635516e-01 1.20261479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.70, Y:0.17, Z:0.12 [[ 9.97733395e-01 -6.14468309e-02 -2.74291635e-02 9.70493426e+00] [ 6.14471128e-02 9.98109993e-01 -8.33402069e-04 1.67055325e-01] [ 2.74285321e-02 -8.53929826e-04 9.99623402e-01 1.19970936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.73, Y:0.16, Z:0.12 [[ 9.97516830e-01 -6.44856032e-02 -2.83157290e-02 9.73351455e+00] [ 6.44869478e-02 9.97918174e-01 -8.66643377e-04 1.60340707e-01] [ 2.83126666e-02 -9.61503584e-04 9.99598654e-01 1.19734363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.76, Y:0.16, Z:0.12 [[ 9.97369040e-01 -6.65481064e-02 -2.87462561e-02 9.76265989e+00] [ 6.65502282e-02 9.97782685e-01 -8.83977047e-04 1.63718327e-01] [ 2.87413436e-02 -1.03141856e-03 9.99586350e-01 1.21160964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.79, Y:0.16, Z:0.12 [[ 9.97232115e-01 -6.85049166e-02 -2.88995554e-02 9.79193198e+00] [ 6.85076487e-02 9.97650188e-01 -8.96742968e-04 1.64077378e-01] [ 2.88930782e-02 -1.08557970e-03 9.99581918e-01 1.22084945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.82, Y:0.16, Z:0.12 [[ 9.97078576e-01 -7.06666223e-02 -2.89921036e-02 9.82036618e+00] [ 7.06700535e-02 9.97499333e-01 -9.07567552e-04 1.55216080e-01] [ 2.89837387e-02 -1.14395735e-03 9.99579229e-01 1.21095976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.85, Y:0.16, Z:0.12 [[ 9.96807281e-01 -7.41703931e-02 -2.95634533e-02 9.84987054e+00] [ 7.41753114e-02 9.97244782e-01 -9.31795263e-04 1.56133677e-01] [ 2.95511112e-02 -1.26405805e-03 9.99562471e-01 1.22896032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.88, Y:0.15, Z:0.12 [[ 9.96678824e-01 -7.57469641e-02 -2.98951396e-02 9.87885648e+00] [ 7.57526018e-02 9.97126195e-01 -9.45570343e-04 1.54360574e-01] [ 2.98808509e-02 -1.32220467e-03 9.99552593e-01 1.23469734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952755096 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:9.91, Y:0.14, Z:0.12 [[ 9.96507078e-01 -7.81663797e-02 -2.93880874e-02 9.90804785e+00] [ 7.81726524e-02 9.96939395e-01 -9.37177248e-04 1.44330136e-01] [ 2.93713979e-02 -1.36344098e-03 9.99567638e-01 1.23402725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.94, Y:0.15, Z:0.13 [[ 9.96441969e-01 -7.90425033e-02 -2.92520991e-02 9.93613428e+00] [ 7.90489100e-02 9.96870296e-01 -9.39154324e-04 1.47145571e-01] [ 2.92347818e-02 -1.37653376e-03 9.99571625e-01 1.25013167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.96, Y:0.15, Z:0.13 [[ 9.96418080e-01 -7.94199115e-02 -2.90428602e-02 9.96421755e+00] [ 7.94262541e-02 9.96840304e-01 -9.36998792e-04 1.45681188e-01] [ 2.90255100e-02 -1.37312306e-03 9.99577728e-01 1.25749079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755096 meters Centerline goodness [0,1] 0.9998933538094019 Centerline is valid? [True, True] Translation: X:9.99, Y:0.14, Z:0.13 [[ 9.96465994e-01 -7.92996317e-02 -2.76964255e-02 9.99310048e+00] [ 7.93051675e-02 9.96849979e-01 -9.00247796e-04 1.38085541e-01] [ 2.76805705e-02 -1.29940335e-03 9.99615975e-01 1.26410470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.02, Y:0.15, Z:0.13 [[ 9.96494984e-01 -7.89921199e-02 -2.75316414e-02 1.00213222e+01] [ 7.89973335e-02 9.96874421e-01 -8.99953506e-04 1.50903099e-01] [ 2.75166783e-02 -1.27812710e-03 9.99620527e-01 1.29130603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.05, Y:0.15, Z:0.13 [[ 9.96619799e-01 -7.76508221e-02 -2.68202644e-02 1.00507092e+01] [ 7.76550869e-02 9.96979892e-01 -8.84077078e-04 1.49973020e-01] [ 2.68079136e-02 -1.20164124e-03 9.99639881e-01 1.30430420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:0.15, Z:0.13 [[ 9.96690736e-01 -7.68009331e-02 -2.66306731e-02 1.00796178e+01] [ 7.68046587e-02 9.97045767e-01 -8.84447910e-04 1.50263598e-01] [ 2.66199263e-02 -1.16383872e-03 9.99644949e-01 1.31322651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.11, Y:0.15, Z:0.13 [[ 9.96930848e-01 -7.39213973e-02 -2.57781117e-02 1.01091255e+01] [ 7.39237874e-02 9.97263522e-01 -8.61541237e-04 1.51985742e-01] [ 2.57712568e-02 -1.04671861e-03 9.99667318e-01 1.32643555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:0.15, Z:0.13 [[ 9.97045622e-01 -7.24576657e-02 -2.54934279e-02 1.01377459e+01] [ 7.24594719e-02 9.97370992e-01 -8.54128070e-04 1.53260980e-01] [ 2.54882936e-02 -9.95635671e-04 9.99674625e-01 1.33220735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.17, Y:0.15, Z:0.13 [[ 9.97134440e-01 -7.11327009e-02 -2.57496905e-02 1.01652447e+01] [ 7.11339437e-02 9.97466394e-01 -8.68884690e-04 1.53897931e-01] [ 2.57462571e-02 -9.65282188e-04 9.99668044e-01 1.33177710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.19, Y:0.16, Z:0.13 [[ 9.97354482e-01 -6.81492207e-02 -2.52927085e-02 1.01938393e+01] [ 6.81493827e-02 9.97674761e-01 -8.56576214e-04 1.55514433e-01] [ 2.52922719e-02 -8.69372347e-04 9.99679721e-01 1.33502132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.22, Y:0.16, Z:0.13 [[ 9.97439732e-01 -6.69707101e-02 -2.50779916e-02 1.02223095e+01] [ 6.69704298e-02 9.97754597e-01 -8.51995700e-04 1.56441614e-01] [ 2.50787402e-02 -8.29669514e-04 9.99685135e-01 1.34367700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312755096 meters Centerline goodness [0,1] 0.9999356595963712 Centerline is valid? [True, True] Translation: X:10.25, Y:0.16, Z:0.13 [[ 9.97540080e-01 -6.55693600e-02 -2.47880490e-02 1.02500943e+01] [ 6.55685153e-02 9.97847709e-01 -8.47734203e-04 1.57018510e-01] [ 2.47902833e-02 -7.79666723e-04 9.99692370e-01 1.34897005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.28, Y:0.16, Z:0.14 [[ 9.97662062e-01 -6.37852707e-02 -2.45326061e-02 1.02784029e+01] [ 6.37838336e-02 9.97963383e-01 -8.41879572e-04 1.56309272e-01] [ 2.45363421e-02 -7.24872353e-04 9.99698676e-01 1.36460412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.31, Y:0.16, Z:0.14 [[ 9.97685032e-01 -6.34685189e-02 -2.44197609e-02 1.03074068e+01] [ 6.34668502e-02 9.97983590e-01 -8.44148459e-04 1.56626798e-01] [ 2.44240975e-02 -7.07651023e-04 9.99701437e-01 1.37280150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.34, Y:0.16, Z:0.14 [[ 9.97679680e-01 -6.38001413e-02 -2.37654819e-02 1.03356380e+01] [ 6.37985123e-02 9.97962457e-01 -8.27522150e-04 1.58087304e-01] [ 2.37698548e-02 -6.90600358e-04 9.99717219e-01 1.38460866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:0.16, Z:0.14 [[ 9.97639929e-01 -6.43685793e-02 -2.39010065e-02 1.03639179e+01] [ 6.43669210e-02 9.97925947e-01 -8.39498716e-04 1.61119182e-01] [ 2.39054719e-02 -7.00916760e-04 9.99713978e-01 1.39264852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.39, Y:0.15, Z:0.14 [[ 9.97593987e-01 -6.52048412e-02 -2.35492227e-02 1.03916041e+01] [ 6.52033063e-02 9.97871652e-01 -8.33838893e-04 1.54097051e-01] [ 2.35534721e-02 -7.03654516e-04 9.99722331e-01 1.39236756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492755096 meters Centerline goodness [0,1] 0.9999784347976106 Centerline is valid? [True, True] Translation: X:10.42, Y:0.16, Z:0.14 [[ 9.97545746e-01 -6.60193678e-02 -2.33222405e-02 1.04203395e+01] [ 6.60180197e-02 9.97818087e-01 -8.28590553e-04 1.59311046e-01] [ 2.33260564e-02 -7.13131151e-04 9.99727656e-01 1.40440308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.45, Y:0.15, Z:0.14 [[ 9.97400909e-01 -6.83417945e-02 -2.28216081e-02 1.04479658e+01] [ 6.83409749e-02 9.97661688e-01 -8.16750508e-04 1.52369588e-01] [ 2.28240623e-02 -7.45023247e-04 9.99739220e-01 1.40874096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.48, Y:0.15, Z:0.14 [[ 9.97303114e-01 -6.98338781e-02 -2.25771453e-02 1.04765576e+01] [ 6.98333666e-02 9.97558340e-01 -8.12040155e-04 1.50515153e-01] [ 2.25787275e-02 -7.66787891e-04 9.99744774e-01 1.41374817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.51, Y:0.15, Z:0.14 [[ 9.97190412e-01 -7.14127483e-02 -2.26163966e-02 1.05052858e+01] [ 7.14125076e-02 9.97446531e-01 -8.19322636e-04 1.48764209e-01] [ 2.26171564e-02 -7.98072919e-04 9.99743881e-01 1.41842051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.54, Y:0.15, Z:0.14 [[ 9.96985686e-01 -7.41223880e-02 -2.29218921e-02 1.05351387e+01] [ 7.41227313e-02 9.97248776e-01 -8.35818588e-04 1.48276305e-01] [ 2.29207817e-02 -8.65734081e-04 9.99736910e-01 1.41718154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.56, Y:0.14, Z:0.14 [[ 9.96853665e-01 -7.58588103e-02 -2.29828466e-02 1.05628119e+01] [ 7.58595884e-02 9.97118157e-01 -8.39253419e-04 1.42650207e-01] [ 2.29802784e-02 -9.06856433e-04 9.99735507e-01 1.41372835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.59, Y:0.15, Z:0.14 [[ 9.96691636e-01 -7.78626185e-02 -2.33065713e-02 1.05917790e+01] [ 7.78638661e-02 9.96963634e-01 -8.55340871e-04 1.46949327e-01] [ 2.33024031e-02 -9.62228658e-04 9.99727999e-01 1.42473953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.62, Y:0.15, Z:0.14 [[ 9.96631348e-01 -7.85890879e-02 -2.34459444e-02 1.06193776e+01] [ 7.85904047e-02 9.96906614e-01 -8.66701184e-04 1.45503181e-01] [ 2.34415303e-02 -9.78844689e-04 9.99724730e-01 1.42688529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.65, Y:0.14, Z:0.14 [[ 9.96566860e-01 -7.93453982e-02 -2.36389585e-02 1.06479778e+01] [ 7.93468692e-02 9.96846681e-01 -8.77219035e-04 1.36351625e-01] [ 2.36340206e-02 -1.00146993e-03 9.99720176e-01 1.42529505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.68, Y:0.14, Z:0.14 [[ 9.96531879e-01 -7.97685283e-02 -2.36895767e-02 1.06761346e+01] [ 7.97700530e-02 9.96812901e-01 -8.82131649e-04 1.43314992e-01] [ 2.36844420e-02 -1.01064648e-03 9.99718973e-01 1.43956198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.70, Y:0.14, Z:0.14 [[ 9.96540587e-01 -7.99278284e-02 -2.27684049e-02 1.07032015e+01] [ 7.99291215e-02 9.96800183e-01 -8.54706094e-04 1.42094049e-01] [ 2.27638650e-02 -9.68109287e-04 9.99740401e-01 1.44927378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.73, Y:0.14, Z:0.15 [[ 9.96556410e-01 -7.97607429e-02 -2.26615619e-02 1.07325330e+01] [ 7.97618246e-02 9.96813581e-01 -8.57588652e-04 1.43886514e-01] [ 2.26577545e-02 -9.52892054e-04 9.99742826e-01 1.45970691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.76, Y:0.15, Z:0.15 [[ 9.96644467e-01 -7.86900560e-02 -2.25318064e-02 1.07616453e+01] [ 7.86907238e-02 9.96898708e-01 -8.58373300e-04 1.45389119e-01] [ 2.25294741e-02 -9.17551152e-04 9.99745758e-01 1.46536019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.79, Y:0.15, Z:0.15 [[ 9.96701902e-01 -7.80737315e-02 -2.21316529e-02 1.07902057e+01] [ 7.80740945e-02 9.96947198e-01 -8.48979783e-04 1.46163591e-01] [ 2.21303723e-02 -8.81728990e-04 9.99754705e-01 1.47365418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:0.15, Z:0.15 [[ 9.96841873e-01 -7.62979402e-02 -2.20205375e-02 1.08195648e+01] [ 7.62977385e-02 9.97084716e-01 -8.50546180e-04 1.50444674e-01] [ 2.20212363e-02 -8.32257163e-04 9.99757157e-01 1.47696017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.85, Y:0.15, Z:0.15 [[ 9.96898838e-01 -7.54369053e-02 -2.24048973e-02 1.08486493e+01] [ 7.54363487e-02 9.97150239e-01 -8.71229032e-04 1.53381455e-01] [ 2.24067715e-02 -8.21616432e-04 9.99748599e-01 1.47993809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.88, Y:0.16, Z:0.15 [[ 9.96963090e-01 -7.45797701e-02 -2.24155247e-02 1.08775509e+01] [ 7.45788570e-02 9.97214733e-01 -8.77864197e-04 1.55472156e-01] [ 2.24185624e-02 -7.96526011e-04 9.99748355e-01 1.48195642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:0.16, Z:0.15 [[ 9.97045698e-01 -7.35412681e-02 -2.21711081e-02 1.09052721e+01] [ 7.35399904e-02 9.97291886e-01 -8.74059500e-04 1.55873299e-01] [ 2.21753457e-02 -7.58985814e-04 9.99753809e-01 1.48978143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.93, Y:0.16, Z:0.15 [[ 9.97161020e-01 -7.19860676e-02 -2.20886087e-02 1.09337596e+01] [ 7.19843642e-02 9.97405378e-01 -8.73256300e-04 1.58869852e-01] [ 2.20941594e-02 -7.19257307e-04 9.99755636e-01 1.50049692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.96, Y:0.16, Z:0.15 [[ 9.97194268e-01 -7.15600355e-02 -2.19716623e-02 1.09621244e+01] [ 7.15581157e-02 9.97436049e-01 -8.74592803e-04 1.60070812e-01] [ 2.19779139e-02 -7.00111824e-04 9.99758211e-01 1.50860472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.99, Y:0.16, Z:0.15 [[ 9.97192957e-01 -7.13682272e-02 -2.26447182e-02 1.09914117e+01] [ 7.13659962e-02 9.97449784e-01 -9.07673583e-04 1.61119888e-01] [ 2.26517483e-02 -7.10937169e-04 9.99743163e-01 1.51347030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.02, Y:0.16, Z:0.15 [[ 9.97150857e-01 -7.19191431e-02 -2.27553222e-02 1.10189946e+01] [ 7.19168917e-02 9.97410205e-01 -9.18336609e-04 1.62449897e-01] [ 2.27624365e-02 -7.20771903e-04 9.99740642e-01 1.51470315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.05, Y:0.16, Z:0.15 [[ 9.97105369e-01 -7.24710049e-02 -2.29964378e-02 1.10472369e+01] [ 7.24686868e-02 9.97370250e-01 -9.35256750e-04 1.63922665e-01] [ 2.30037419e-02 -7.33972118e-04 9.99735109e-01 1.52010304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.07, Y:0.16, Z:0.15 [[ 9.97054157e-01 -7.31551260e-02 -2.30507021e-02 1.10748728e+01] [ 7.31528257e-02 9.97320296e-01 -9.44134680e-04 1.63913020e-01] [ 2.30580013e-02 -7.44870586e-04 9.99733851e-01 1.52167090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.10, Y:0.16, Z:0.15 [[ 9.96911997e-01 -7.49821646e-02 -2.33269338e-02 1.11038591e+01] [ 7.49802432e-02 9.97184559e-01 -9.58238334e-04 1.63390489e-01] [ 2.33331089e-02 -7.93779875e-04 9.99727431e-01 1.52682818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.13, Y:0.16, Z:0.15 [[ 9.96845616e-01 -7.58872107e-02 -2.32368207e-02 1.11325477e+01] [ 7.58854042e-02 9.97116083e-01 -9.60794748e-04 1.64179331e-01] [ 2.32427196e-02 -8.05571496e-04 9.99729527e-01 1.53186893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.16, Y:0.16, Z:0.15 [[ 9.96716473e-01 -7.74515382e-02 -2.36121194e-02 1.11608357e+01] [ 7.74499677e-02 9.96995756e-01 -9.82385729e-04 1.62795741e-01] [ 2.36172701e-02 -8.49597844e-04 9.99720712e-01 1.54160710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.19, Y:0.16, Z:0.15 [[ 9.96668504e-01 -7.80557313e-02 -2.36473207e-02 1.11888528e+01] [ 7.80542493e-02 9.96948624e-01 -9.87090818e-04 1.62322881e-01] [ 2.36522119e-02 -8.61971533e-04 9.99719876e-01 1.54819571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.22, Y:0.16, Z:0.16 [[ 9.96573247e-01 -7.91010397e-02 -2.41824197e-02 1.12161962e+01] [ 7.90997397e-02 9.96866193e-01 -1.01180524e-03 1.62161014e-01] [ 2.41866715e-02 -9.04485068e-04 9.99707051e-01 1.55095583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.24, Y:0.17, Z:0.16 [[ 9.96494036e-01 -7.99377160e-02 -2.46900177e-02 1.12448075e+01] [ 7.99365308e-02 9.96799416e-01 -1.03654823e-03 1.67881990e-01] [ 2.46938545e-02 -9.40720223e-04 9.99694618e-01 1.55677725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.27, Y:0.17, Z:0.16 [[ 9.96410258e-01 -8.09208571e-02 -2.48678870e-02 1.12729526e+01] [ 8.09198070e-02 9.96720062e-01 -1.05018455e-03 1.67106877e-01] [ 2.48713037e-02 -9.65889963e-04 9.99690195e-01 1.55538210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.30, Y:0.17, Z:0.16 [[ 9.96350705e-01 -8.17356241e-02 -2.45878031e-02 1.13020336e+01] [ 8.17347679e-02 9.96653572e-01 -1.04149541e-03 1.69973915e-01] [ 2.45906490e-02 -9.71983688e-04 9.99697132e-01 1.56513387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.33, Y:0.17, Z:0.16 [[ 9.96265963e-01 -8.26091457e-02 -2.50970107e-02 1.13295425e+01] [ 8.26083748e-02 9.96581514e-01 -1.06926448e-03 1.70015210e-01] [ 2.50995479e-02 -1.00795146e-03 9.99684449e-01 1.57039732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.36, Y:0.17, Z:0.16 [[ 9.96240294e-01 -8.29181752e-02 -2.50968636e-02 1.13571179e+01] [ 8.29174157e-02 9.96555845e-01 -1.07270470e-03 1.71357478e-01] [ 2.50993729e-02 -1.01229543e-03 9.99684449e-01 1.57603105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.39, Y:0.17, Z:0.16 [[ 9.96179601e-01 -8.35556213e-02 -2.53901594e-02 1.13858883e+01] [ 8.35548534e-02 9.96502580e-01 -1.09300456e-03 1.73061821e-01] [ 2.53926860e-02 -1.03264220e-03 9.99677020e-01 1.57798455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.41, Y:0.18, Z:0.16 [[ 9.96163305e-01 -8.35856989e-02 -2.59249208e-02 1.14136646e+01] [ 8.35847186e-02 9.96500042e-01 -1.12335805e-03 1.75958354e-01] [ 2.59280813e-02 -1.04787914e-03 9.99663262e-01 1.57995031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.44, Y:0.18, Z:0.16 [[ 9.96190357e-01 -8.31275573e-02 -2.63549184e-02 1.14412076e+01] [ 8.31262012e-02 9.96538366e-01 -1.14893588e-03 1.77361804e-01] [ 2.63591955e-02 -1.04622540e-03 9.99651989e-01 1.58237994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.47, Y:0.18, Z:0.16 [[ 9.96177452e-01 -8.32647020e-02 -2.64097116e-02 1.14691946e+01] [ 8.32632880e-02 9.96526914e-01 -1.15512233e-03 1.81549682e-01] [ 2.64141693e-02 -1.04825260e-03 9.99650535e-01 1.59071514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:0.19, Z:0.16 [[ 9.96197037e-01 -8.31624282e-02 -2.59898657e-02 1.14974523e+01] [ 8.31608219e-02 9.96535482e-01 -1.14452421e-03 1.87212129e-01] [ 2.59950048e-02 -1.02116697e-03 9.99661551e-01 1.60104127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.53, Y:0.19, Z:0.16 [[ 9.96243032e-01 -8.26112364e-02 -2.59847072e-02 1.15264043e+01] [ 8.26092533e-02 9.96581349e-01 -1.15161507e-03 1.90702583e-01] [ 2.59910109e-02 -9.99288774e-04 9.99661677e-01 1.61287090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.55, Y:0.19, Z:0.16 [[ 9.96234323e-01 -8.27504310e-02 -2.58754678e-02 1.15540615e+01] [ 8.27483173e-02 9.96569809e-01 -1.15427537e-03 1.92817663e-01] [ 2.58822268e-02 -9.91222678e-04 9.99664508e-01 1.62065802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.58, Y:0.19, Z:0.16 [[ 9.96278539e-01 -8.21286833e-02 -2.61524670e-02 1.15819181e+01] [ 8.21261210e-02 9.96621253e-01 -1.17386148e-03 1.91842807e-01] [ 2.61605121e-02 -9.78307673e-04 9.99657277e-01 1.62515981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.61, Y:0.20, Z:0.16 [[ 9.96378771e-01 -8.08527584e-02 -2.63092314e-02 1.16107973e+01] [ 8.08496256e-02 9.96725607e-01 -1.18453007e-03 1.97540408e-01] [ 2.63188571e-02 -9.46850889e-04 9.99653150e-01 1.62897822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.64, Y:0.20, Z:0.16 [[ 9.96451099e-01 -7.98186384e-02 -2.67243827e-02 1.16390515e+01] [ 7.98148388e-02 9.96808972e-01 -1.21054515e-03 2.02854299e-01] [ 2.67357285e-02 -9.26753247e-04 9.99642107e-01 1.63611965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.67, Y:0.21, Z:0.16 [[ 9.96624710e-01 -7.76289392e-02 -2.67008538e-02 1.16667745e+01] [ 7.76241935e-02 9.96981949e-01 -1.21575772e-03 2.06068280e-01] [ 2.67146472e-02 -8.60978054e-04 9.99642729e-01 1.64817421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.70, Y:0.21, Z:0.17 [[ 9.96698039e-01 -7.68547029e-02 -2.61987188e-02 1.16958399e+01] [ 7.68497727e-02 9.97041965e-01 -1.19647826e-03 2.09600703e-01] [ 2.62131770e-02 -8.20838049e-04 9.99656039e-01 1.66383222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.72, Y:0.21, Z:0.17 [[ 9.96740607e-01 -7.64284562e-02 -2.58235055e-02 1.17247482e+01] [ 7.64233388e-02 9.97074754e-01 -1.18648151e-03 2.12002669e-01] [ 2.58386464e-02 -7.90904214e-04 9.99665814e-01 1.67680251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.75, Y:0.21, Z:0.17 [[ 9.96817249e-01 -7.52908934e-02 -2.62040860e-02 1.17527148e+01] [ 7.52850567e-02 9.97161318e-01 -1.21063279e-03 2.12850609e-01] [ 2.62208505e-02 -7.65996453e-04 9.99655881e-01 1.68641445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.78, Y:0.22, Z:0.17 [[ 9.96844992e-01 -7.49268438e-02 -2.61921598e-02 1.17811614e+01] [ 7.49207664e-02 9.97188750e-01 -1.21467419e-03 2.16034336e-01] [ 2.62095388e-02 -7.51494794e-04 9.99656189e-01 1.69511236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.81, Y:0.22, Z:0.17 [[ 9.96845619e-01 -7.49540137e-02 -2.60903591e-02 1.18095632e+01] [ 7.49477999e-02 9.97186715e-01 -1.21733262e-03 2.18345359e-01] [ 2.61082035e-02 -7.41922327e-04 9.99658847e-01 1.70020273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.84, Y:0.22, Z:0.17 [[ 9.96854972e-01 -7.47494808e-02 -2.63187941e-02 1.18380355e+01] [ 7.47428729e-02 9.97202073e-01 -1.23610456e-03 2.20543928e-01] [ 2.63375543e-02 -7.34925308e-04 9.99652836e-01 1.70757554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096000001 meters Centerline goodness [0,1] 0.9999569688885064 Centerline is valid? [True, True] Translation: X:11.87, Y:0.22, Z:0.17 [[ 9.96816793e-01 -7.51010771e-02 -2.67602227e-02 1.18654234e+01] [ 7.50941921e-02 9.97175644e-01 -1.26356386e-03 2.21123168e-01] [ 2.67795374e-02 -7.49995632e-04 9.99641083e-01 1.70551948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052755096 meters Centerline goodness [0,1] 0.9999785324803572 Centerline is valid? [True, True] Translation: X:11.89, Y:0.22, Z:0.17 [[ 9.96807863e-01 -7.52583023e-02 -2.66509398e-02 1.18930141e+01] [ 7.52513920e-02 9.97163794e-01 -1.26355915e-03 2.22538796e-01] [ 2.66704456e-02 -7.45994622e-04 9.99644002e-01 1.71556866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.92, Y:0.22, Z:0.17 [[ 9.96715970e-01 -7.63369141e-02 -2.70175896e-02 1.19220699e+01] [ 7.63299870e-02 9.97081778e-01 -1.28912170e-03 2.23758076e-01] [ 2.70371538e-02 -7.77364073e-04 9.99634127e-01 1.72561742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.95, Y:0.22, Z:0.17 [[ 9.96646542e-01 -7.73614367e-02 -2.66623099e-02 1.19502449e+01] [ 7.73548963e-02 9.97002802e-01 -1.27818090e-03 2.23913803e-01] [ 2.66812796e-02 -7.88565639e-04 9.99643680e-01 1.73219667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.98, Y:0.22, Z:0.17 [[ 9.96537446e-01 -7.86906567e-02 -2.68495667e-02 1.19790950e+01] [ 7.86844075e-02 9.96898740e-01 -1.29082217e-03 2.24495226e-01] [ 2.68678749e-02 -8.26289617e-04 9.99638652e-01 1.73943785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.01, Y:0.22, Z:0.17 [[ 9.96426244e-01 -7.99171263e-02 -2.73494786e-02 1.20074453e+01] [ 7.99109262e-02 9.96801133e-01 -1.32134001e-03 2.24419784e-01] [ 2.73675889e-02 -8.68904298e-04 9.99625060e-01 1.74207866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755096 meters Centerline goodness [0,1] 0.9998923272390551 Centerline is valid? [True, True] Translation: X:12.03, Y:0.22, Z:0.17 [[ 9.96212804e-01 -8.21759547e-02 -2.84105980e-02 1.20349133e+01] [ 8.21700718e-02 9.96617371e-01 -1.37647092e-03 2.23445700e-01] [ 2.84276083e-02 -9.63242927e-04 9.99595390e-01 1.73006299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.06, Y:0.23, Z:0.18 [[ 9.96147162e-01 -8.31917164e-02 -2.77483279e-02 1.20638722e+01] [ 8.31863800e-02 9.96533094e-01 -1.34862864e-03 2.28482349e-01] [ 2.77643218e-02 -9.64850354e-04 9.99614031e-01 1.75911544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.09, Y:0.23, Z:0.18 [[ 9.96074407e-01 -8.38689810e-02 -2.83155418e-02 1.20915974e+01] [ 8.38635019e-02 9.96476292e-01 -1.38309953e-03 2.25160570e-01] [ 2.83317653e-02 -9.96970456e-04 9.99598078e-01 1.75344732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.12, Y:0.23, Z:0.18 [[ 9.95937300e-01 -8.49884839e-02 -2.97632751e-02 1.21202231e+01] [ 8.49827601e-02 9.96381353e-01 -1.45951487e-03 2.31046673e-01] [ 2.97796143e-02 -1.07577997e-03 9.99555910e-01 1.75792473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.15, Y:0.23, Z:0.18 [[ 9.95878001e-01 -8.54794269e-02 -3.03360180e-02 1.21487729e+01] [ 8.54734516e-02 9.96339325e-01 -1.49605441e-03 2.33443162e-01] [ 3.03528496e-02 -1.10303649e-03 9.99538637e-01 1.76061724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.18, Y:0.24, Z:0.18 [[ 9.95835385e-01 -8.57785161e-02 -3.08857837e-02 1.21764291e+01] [ 8.57722412e-02 9.96313595e-01 -1.53044270e-03 2.35144654e-01] [ 3.09032054e-02 -1.12507390e-03 9.99521749e-01 1.76944774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.20, Y:0.24, Z:0.18 [[ 9.95822588e-01 -8.60250000e-02 -3.06116573e-02 1.22047387e+01] [ 8.60187611e-02 9.96292353e-01 -1.52309371e-03 2.38765129e-01] [ 3.06291842e-02 -1.11644572e-03 9.99530193e-01 1.78376494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:0.24, Z:0.18 [[ 9.95777425e-01 -8.66428936e-02 -3.03369251e-02 1.22324774e+01] [ 8.66367588e-02 9.96238809e-01 -1.51909141e-03 2.41528635e-01] [ 3.03544406e-02 -1.11561593e-03 9.99538575e-01 1.79561430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.26, Y:0.24, Z:0.18 [[ 9.95756293e-01 -8.70064866e-02 -2.99879459e-02 1.22604609e+01] [ 8.70004327e-02 9.96207131e-01 -1.50907459e-03 2.42975303e-01] [ 3.00055048e-02 -1.10629375e-03 9.99549121e-01 1.80496847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.29, Y:0.25, Z:0.18 [[ 9.95710533e-01 -8.75948938e-02 -2.97937905e-02 1.22891080e+01] [ 8.75890432e-02 9.96155559e-01 -1.50392072e-03 2.45292593e-01] [ 2.98109858e-02 -1.11213990e-03 9.99554935e-01 1.82393812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.32, Y:0.25, Z:0.18 [[ 9.95777486e-01 -8.69754946e-02 -2.93676893e-02 1.23180474e+01] [ 8.69693033e-02 9.96209877e-01 -1.49050063e-03 2.49109502e-01] [ 2.93860192e-02 -1.06988051e-03 9.99567565e-01 1.83672411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.35, Y:0.25, Z:0.18 [[ 9.95848445e-01 -8.61655760e-02 -2.93490669e-02 1.23461648e+01] [ 8.61588465e-02 9.96280289e-01 -1.49618401e-03 2.51098767e-01] [ 2.93688164e-02 -1.03870923e-03 9.99568104e-01 1.84239306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.37, Y:0.26, Z:0.19 [[ 9.95954878e-01 -8.49352433e-02 -2.93237935e-02 1.23746071e+01] [ 8.49278610e-02 9.96385975e-01 -1.49938738e-03 2.55203597e-01] [ 2.93451673e-02 -9.97084877e-04 9.99568841e-01 1.85261830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.40, Y:0.26, Z:0.19 [[ 9.96242703e-01 -8.17219182e-02 -2.86706338e-02 1.24030710e+01] [ 8.17133543e-02 9.96654785e-01 -1.47216106e-03 2.62713557e-01] [ 2.86950322e-02 -8.76143948e-04 9.99587829e-01 1.86711396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.43, Y:0.26, Z:0.19 [[ 9.96408236e-01 -7.98105885e-02 -2.83001390e-02 1.24310581e+01] [ 7.98014062e-02 9.96809720e-01 -1.45553905e-03 2.64408448e-01] [ 2.83260210e-02 -8.08079790e-04 9.99598411e-01 1.86696972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.46, Y:0.27, Z:0.19 [[ 9.96528211e-01 -7.84258116e-02 -2.79448984e-02 1.24594130e+01] [ 7.84162005e-02 9.96919667e-01 -1.44133829e-03 2.69820367e-01] [ 2.79718569e-02 -7.54998485e-04 9.99608426e-01 1.87672694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.49, Y:0.27, Z:0.19 [[ 9.96724433e-01 -7.57149755e-02 -2.84191420e-02 1.24868098e+01] [ 7.57037504e-02 9.97129267e-01 -1.47225880e-03 2.73946155e-01] [ 2.84490303e-02 -6.83999313e-04 9.99595010e-01 1.88204168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.51, Y:0.27, Z:0.19 [[ 9.96830237e-01 -7.44062849e-02 -2.81635187e-02 1.25148441e+01] [ 7.43946626e-02 9.97227806e-01 -1.46171712e-03 2.73999722e-01] [ 2.81942049e-02 -6.38131645e-04 9.99602261e-01 1.87829626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.54, Y:0.28, Z:0.19 [[ 9.96950418e-01 -7.25995849e-02 -2.86210555e-02 1.25431122e+01] [ 7.25867168e-02 9.97360993e-01 -1.48968709e-03 2.81143197e-01] [ 2.86536750e-02 -5.92364284e-04 9.99589224e-01 1.89750949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.57, Y:0.28, Z:0.19 [[ 9.96989544e-01 -7.22144421e-02 -2.82298265e-02 1.25717469e+01] [ 7.22015540e-02 9.97388968e-01 -1.47693121e-03 2.83578532e-01] [ 2.82627733e-02 -5.65752369e-04 9.99600368e-01 1.90254977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.60, Y:0.29, Z:0.19 [[ 9.97017097e-01 -7.19326044e-02 -2.79751303e-02 1.26000787e+01] [ 7.19196258e-02 9.97409346e-01 -1.47114216e-03 2.86321091e-01] [ 2.80084795e-02 -5.45207020e-04 9.99607537e-01 1.91265617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.63, Y:0.29, Z:0.19 [[ 9.97004263e-01 -7.22084968e-02 -2.77206139e-02 1.26282959e+01] [ 7.21956442e-02 9.97389413e-01 -1.46552268e-03 2.88556904e-01] [ 2.77540700e-02 -5.40175222e-04 9.99614636e-01 1.92020026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755096 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:12.66, Y:0.29, Z:0.19 [[ 9.96957728e-01 -7.28181655e-02 -2.77993568e-02 1.26564315e+01] [ 7.28052333e-02 9.97345082e-01 -1.47842637e-03 2.91840629e-01] [ 2.78332080e-02 -5.50010057e-04 9.99612430e-01 1.93353958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.68, Y:0.29, Z:0.19 [[ 9.96907390e-01 -7.34211035e-02 -2.80178064e-02 1.26847661e+01] [ 7.34079853e-02 9.97300869e-01 -1.49788355e-03 2.90776733e-01] [ 2.80521590e-02 -5.63479536e-04 9.99606302e-01 1.93261224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755096000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.71, Y:0.29, Z:0.19 [[ 9.96787138e-01 -7.50605589e-02 -2.79519937e-02 1.27140440e+01] [ 7.50480011e-02 9.97178795e-01 -1.49955036e-03 2.91981283e-01] [ 2.79856925e-02 -6.03008748e-04 9.99608142e-01 1.94483753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.74, Y:0.29, Z:0.19 [[ 9.96689336e-01 -7.61063583e-02 -2.86040276e-02 1.27418588e+01] [ 7.60934481e-02 9.97099500e-01 -1.54116579e-03 2.90673733e-01] [ 2.86383541e-02 -6.40515581e-04 9.99589633e-01 1.94523060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.77, Y:0.29, Z:0.20 [[ 9.96578497e-01 -7.74557393e-02 -2.88428059e-02 1.27710323e+01] [ 7.74430500e-02 9.96995559e-01 -1.55843796e-03 2.92255343e-01] [ 2.88768594e-02 -6.80569102e-04 9.99582745e-01 1.95130818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.80, Y:0.29, Z:0.19 [[ 9.96446468e-01 -7.90168094e-02 -2.91681424e-02 1.27988471e+01] [ 7.90043053e-02 9.96873018e-01 -1.58269734e-03 2.90372752e-01] [ 2.92019939e-02 -7.27335652e-04 9.99573266e-01 1.94203616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.83, Y:0.29, Z:0.19 [[ 9.96358555e-01 -7.99542939e-02 -2.96131965e-02 1.28275483e+01] [ 7.99416843e-02 9.96798240e-01 -1.61138720e-03 2.90740630e-01] [ 2.96472195e-02 -7.61809387e-04 9.99560134e-01 1.94327425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.86, Y:0.29, Z:0.19 [[ 9.96259351e-01 -8.10558515e-02 -2.99542012e-02 1.28561560e+01] [ 8.10432018e-02 9.96709243e-01 -1.63812579e-03 2.91367299e-01] [ 2.99884089e-02 -7.95586236e-04 9.99549930e-01 1.94777515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.88, Y:0.29, Z:0.20 [[ 9.96210156e-01 -8.16780924e-02 -2.99000675e-02 1.28843601e+01] [ 8.16655105e-02 9.96658438e-01 -1.64377883e-03 2.92859374e-01] [ 2.99344153e-02 -8.04255110e-04 9.99551541e-01 1.95519096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.91, Y:0.29, Z:0.20 [[ 9.96170459e-01 -8.21479356e-02 -2.99354801e-02 1.29127172e+01] [ 8.21352484e-02 9.96619818e-01 -1.65530835e-03 2.94438470e-01] [ 2.99702729e-02 -8.09788819e-04 9.99550462e-01 1.96266060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.94, Y:0.29, Z:0.20 [[ 9.96106578e-01 -8.27824943e-02 -3.03107798e-02 1.29410603e+01] [ 8.27695474e-02 9.96567292e-01 -1.68374151e-03 2.94350427e-01] [ 3.03461161e-02 -8.31623538e-04 9.99539105e-01 1.96758089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.97, Y:0.29, Z:0.20 [[ 9.95982002e-01 -8.43092071e-02 -3.01961864e-02 1.29689026e+01] [ 8.42969679e-02 9.96439259e-01 -1.68037828e-03 2.92154943e-01] [ 3.02303370e-02 -8.71820432e-04 9.99542579e-01 1.97563989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.00, Y:0.29, Z:0.20 [[ 9.95897519e-01 -8.53553461e-02 -3.00432498e-02 1.29976064e+01] [ 8.53435641e-02 9.96350172e-01 -1.67658393e-03 2.93494645e-01] [ 3.00767025e-02 -8.94292234e-04 9.99547194e-01 1.98514034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.03, Y:0.29, Z:0.20 [[ 9.95795821e-01 -8.65862735e-02 -2.98914715e-02 1.30254989e+01] [ 8.65749651e-02 9.96243931e-01 -1.67476040e-03 2.91683416e-01] [ 2.99242083e-02 -9.20133686e-04 9.99551747e-01 1.98932253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.05, Y:0.29, Z:0.20 [[ 9.95649194e-01 -8.85209227e-02 -2.90986043e-02 1.30539774e+01] [ 8.85109034e-02 9.96073867e-01 -1.63472209e-03 2.92191681e-01] [ 2.91290664e-02 -9.47934029e-04 9.99575209e-01 2.01246099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.08, Y:0.29, Z:0.20 [[ 9.95598992e-01 -8.93247030e-02 -2.83504065e-02 1.30818675e+01] [ 8.93153285e-02 9.96002116e-01 -1.59935087e-03 2.90323689e-01] [ 2.83799264e-02 -9.39813755e-04 9.99596767e-01 2.02285646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.11, Y:0.29, Z:0.21 [[ 9.95460046e-01 -9.10617239e-02 -2.76958287e-02 1.31105381e+01] [ 9.10533125e-02 9.95844786e-01 -1.56732195e-03 2.89497000e-01] [ 2.77234697e-02 -9.61590564e-04 9.99615168e-01 2.05222630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.14, Y:0.29, Z:0.21 [[ 9.95406316e-01 -9.17569479e-02 -2.73299941e-02 1.31394020e+01] [ 9.17488171e-02 9.95780970e-01 -1.55398959e-03 2.90714747e-01] [ 2.73572774e-02 -9.60643578e-04 9.99625258e-01 2.06702335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:0.29, Z:0.21 [[ 9.95377589e-01 -9.20681900e-02 -2.73295517e-02 1.31669443e+01] [ 9.20599640e-02 9.95752240e-01 -1.56173623e-03 2.92450690e-01] [ 2.73572485e-02 -9.61440304e-04 9.99625258e-01 2.07264361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:0.29, Z:0.21 [[ 9.95360765e-01 -9.23805288e-02 -2.68846863e-02 1.31949235e+01] [ 9.23724578e-02 9.95723327e-01 -1.54463989e-03 2.93645441e-01] [ 2.69124039e-02 -9.45930610e-04 9.99637348e-01 2.08537138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:0.30, Z:0.21 [[ 9.95359532e-01 -9.24514529e-02 -2.66857970e-02 1.32233865e+01] [ 9.24433042e-02 9.95716757e-01 -1.54152774e-03 2.95813446e-01] [ 2.67140117e-02 -9.32548911e-04 9.99642682e-01 2.09089833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.25, Y:0.30, Z:0.21 [[ 9.95460690e-01 -9.10278407e-02 -2.77839365e-02 1.32508122e+01] [ 9.10182395e-02 9.95847920e-01 -1.61267321e-03 2.98305460e-01] [ 2.78153735e-02 -9.23492198e-04 9.99612651e-01 2.08168969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.28, Y:0.30, Z:0.21 [[ 9.95534400e-01 -9.00353193e-02 -2.83707437e-02 1.32799100e+01] [ 9.00247599e-02 9.95938158e-01 -1.65186592e-03 3.01231519e-01] [ 2.84042325e-02 -9.09580037e-04 9.99596105e-01 2.08360397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.31, Y:0.30, Z:0.21 [[ 9.95697691e-01 -8.80413769e-02 -2.88933228e-02 1.33080088e+01] [ 8.80294001e-02 9.96116445e-01 -1.68872848e-03 3.02898343e-01] [ 2.89297920e-02 -8.61998831e-04 9.99581074e-01 2.08852205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.34, Y:0.31, Z:0.21 [[ 9.95792842e-01 -8.70218043e-02 -2.87022766e-02 1.33366031e+01] [ 8.70094400e-02 9.96206067e-01 -1.68181396e-03 3.07288582e-01] [ 2.87397366e-02 -8.22630713e-04 9.99586590e-01 2.10300993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.37, Y:0.31, Z:0.21 [[ 9.95867573e-01 -8.60483862e-02 -2.90422367e-02 1.33657662e+01] [ 8.60350770e-02 9.96290641e-01 -1.70987309e-03 3.09581575e-01] [ 2.90816404e-02 -7.95843906e-04 9.99576723e-01 2.11279085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.39, Y:0.31, Z:0.21 [[ 9.95946548e-01 -8.51882265e-02 -2.88693553e-02 1.33946934e+01] [ 8.51744829e-02 9.96364588e-01 -1.70769028e-03 3.12492614e-01] [ 2.89098784e-02 -7.58164171e-04 9.99581735e-01 2.12293303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.42, Y:0.32, Z:0.21 [[ 9.96104030e-01 -8.34485014e-02 -2.85150511e-02 1.34238783e+01] [ 8.34341595e-02 9.96511851e-01 -1.69447504e-03 3.15221585e-01] [ 2.85569878e-02 -6.91255900e-04 9.99591927e-01 2.13608373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.45, Y:0.32, Z:0.21 [[ 9.96155558e-01 -8.28707357e-02 -2.83997413e-02 1.34529784e+01] [ 8.28560627e-02 9.96560083e-01 -1.69508362e-03 3.16973442e-01] [ 2.84425214e-02 -6.64523772e-04 9.99595209e-01 2.14145565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.48, Y:0.32, Z:0.22 [[ 9.96198822e-01 -8.23309828e-02 -2.84519853e-02 1.34818141e+01] [ 8.23158115e-02 9.96604835e-01 -1.70607116e-03 3.18974369e-01] [ 2.84958486e-02 -6.42462184e-04 9.99593704e-01 2.15069828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:0.32, Z:0.22 [[ 9.96264026e-01 -8.17784913e-02 -2.77537080e-02 1.35107401e+01] [ 8.17636325e-02 9.96650347e-01 -1.67170198e-03 3.19986709e-01] [ 2.77974519e-02 -6.03787431e-04 9.99613394e-01 2.16502734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.54, Y:0.32, Z:0.22 [[ 9.96342790e-01 -8.10209477e-02 -2.71413024e-02 1.35382914e+01] [ 8.10062900e-02 9.96712239e-01 -1.64093833e-03 3.21235553e-01] [ 2.71850187e-02 -5.63679143e-04 9.99630260e-01 2.17386684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.57, Y:0.32, Z:0.22 [[ 9.96342461e-01 -8.09574473e-02 -2.73421172e-02 1.35664778e+01] [ 8.09424328e-02 9.96717400e-01 -1.65728322e-03 3.24231929e-01] [ 2.73865334e-02 -5.61915846e-04 9.99624761e-01 2.17905071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.59, Y:0.32, Z:0.22 [[ 9.96358546e-01 -8.06576228e-02 -2.76404892e-02 1.35944619e+01] [ 8.06419622e-02 9.96741713e-01 -1.68263767e-03 3.24640599e-01] [ 2.76861461e-02 -5.52472859e-04 9.99616513e-01 2.17897429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.62, Y:0.33, Z:0.22 [[ 9.96343414e-01 -8.08282551e-02 -2.76874335e-02 1.36219434e+01] [ 8.08124877e-02 9.96727890e-01 -1.68980206e-03 3.27057956e-01] [ 2.77334209e-02 -5.53867224e-04 9.99615201e-01 2.19156224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.65, Y:0.33, Z:0.22 [[ 9.96351501e-01 -8.07624816e-02 -2.75881770e-02 1.36491597e+01] [ 8.07465977e-02 9.96733228e-01 -1.69112512e-03 3.27603300e-01] [ 2.76346321e-02 -5.42696372e-04 9.99617943e-01 2.19903371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.68, Y:0.33, Z:0.22 [[ 9.96329678e-01 -8.12853037e-02 -2.68304421e-02 1.36767790e+01] [ 8.12703416e-02 9.96690730e-01 -1.64944792e-03 3.28780695e-01] [ 2.68757288e-02 -5.37125278e-04 9.99638638e-01 2.21932598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.70, Y:0.33, Z:0.22 [[ 9.96305723e-01 -8.15941724e-02 -2.67824097e-02 1.37036152e+01] [ 8.15791762e-02 9.96665492e-01 -1.65391508e-03 3.28757719e-01] [ 2.68280533e-02 -5.37081860e-04 9.99639919e-01 2.22392276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.73, Y:0.33, Z:0.22 [[ 9.96261482e-01 -8.19592368e-02 -2.73082866e-02 1.37320229e+01] [ 8.19436440e-02 9.96635529e-01 -1.69147169e-03 3.30244047e-01] [ 2.73550404e-02 -5.52592419e-04 9.99625628e-01 2.23037068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.76, Y:0.33, Z:0.22 [[ 9.96235081e-01 -8.20679912e-02 -2.79375605e-02 1.37603416e+01] [ 8.20515082e-02 9.96626575e-01 -1.73780277e-03 3.30536576e-01] [ 2.79859333e-02 -5.61058896e-04 9.99608160e-01 2.21949004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.79, Y:0.33, Z:0.22 [[ 9.96176923e-01 -8.26853874e-02 -2.81897833e-02 1.37889532e+01] [ 8.26687367e-02 9.96575532e-01 -1.75758986e-03 3.32276533e-01] [ 2.82385753e-02 -5.79543315e-04 9.99601044e-01 2.21900340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:0.33, Z:0.22 [[ 9.96051996e-01 -8.37184453e-02 -2.95236078e-02 1.38168290e+01] [ 8.37004285e-02 9.96489249e-01 -1.84773591e-03 3.31130974e-01] [ 2.95746473e-02 -6.30697581e-04 9.99562375e-01 2.21324089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.85, Y:0.33, Z:0.22 [[ 9.95952679e-01 -8.48765667e-02 -2.95673791e-02 1.38455943e+01] [ 8.48588468e-02 9.96391254e-01 -1.85586398e-03 3.33078416e-01] [ 2.96181973e-02 -6.60700982e-04 9.99561067e-01 2.22906511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.87, Y:0.33, Z:0.22 [[ 9.95883552e-01 -8.56854188e-02 -2.95628246e-02 1.38736070e+01] [ 8.56678690e-02 9.96322011e-01 -1.86203914e-03 3.32451112e-01] [ 2.96136424e-02 -6.78210036e-04 9.99561190e-01 2.23637597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.90, Y:0.33, Z:0.23 [[ 9.95794735e-01 -8.67011910e-02 -2.95930643e-02 1.39021633e+01] [ 8.66839214e-02 9.96234112e-01 -1.86839656e-03 3.33183266e-01] [ 2.96436123e-02 -7.04703399e-04 9.99560283e-01 2.25186127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.93, Y:0.33, Z:0.23 [[ 9.95704628e-01 -8.80031002e-02 -2.87706138e-02 1.39312861e+01] [ 8.79870993e-02 9.96119944e-01 -1.82412748e-03 3.34022679e-01] [ 2.88195111e-02 -7.15150683e-04 9.99584376e-01 2.27872411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.96, Y:0.34, Z:0.23 [[ 9.95673281e-01 -8.85597931e-02 -2.81403852e-02 1.39591857e+01] [ 8.85444832e-02 9.96070611e-01 -1.79212846e-03 3.35050508e-01] [ 2.81885212e-02 -7.07301439e-04 9.99602374e-01 2.29137254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.99, Y:0.34, Z:0.23 [[ 9.95627073e-01 -8.91308720e-02 -2.79717652e-02 1.39875738e+01] [ 8.91157239e-02 9.96019670e-01 -1.79017545e-03 3.36824419e-01] [ 2.80199883e-02 -7.10376960e-04 9.99607111e-01 2.30079682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.02, Y:0.34, Z:0.23 [[ 9.95637878e-01 -8.91240949e-02 -2.76063732e-02 1.40154221e+01] [ 8.91091425e-02 9.96020288e-01 -1.77383567e-03 3.37458413e-01] [ 2.76545993e-02 -6.93882266e-04 9.99617298e-01 2.30034889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.04, Y:0.34, Z:0.23 [[ 9.95589211e-01 -8.96606561e-02 -2.76240656e-02 1.40431233e+01] [ 8.96457743e-02 9.95972123e-01 -1.77918055e-03 3.39309367e-01] [ 2.76723218e-02 -7.05047795e-04 9.99616799e-01 2.30045029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.07, Y:0.34, Z:0.23 [[ 9.95566479e-01 -8.99874772e-02 -2.73795642e-02 1.40716434e+01] [ 8.99727525e-02 9.95942651e-01 -1.77176680e-03 3.40932343e-01] [ 2.74279125e-02 -6.99503115e-04 9.99623539e-01 2.30176706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:0.34, Z:0.23 [[ 9.95525176e-01 -9.04801319e-02 -2.72574752e-02 1.40996722e+01] [ 9.04654963e-02 9.95898014e-01 -1.77215758e-03 3.42176022e-01] [ 2.73060105e-02 -7.01633539e-04 9.99626875e-01 2.30341072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:0.34, Z:0.23 [[ 9.95549417e-01 -9.04765758e-02 -2.63694378e-02 1.41281224e+01] [ 9.04626770e-02 9.95898358e-01 -1.72198893e-03 3.42486187e-01] [ 2.64170795e-02 -6.71124863e-04 9.99650783e-01 2.30720810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.16, Y:0.35, Z:0.23 [[ 9.95548911e-01 -9.06129621e-02 -2.59163393e-02 1.41562375e+01] [ 9.05994014e-02 9.95885968e-01 -1.69939333e-03 3.47194695e-01] [ 2.59637057e-02 -6.56175643e-04 9.99662671e-01 2.32005446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.19, Y:0.35, Z:0.23 [[ 9.95603259e-01 -9.04645021e-02 -2.42965932e-02 1.41851148e+01] [ 9.04523685e-02 9.95899497e-01 -1.60019662e-03 3.50452257e-01] [ 2.43417259e-02 -6.04523432e-04 9.99703514e-01 2.34015257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.21, Y:0.35, Z:0.23 [[ 9.95644955e-01 -9.00751216e-02 -2.40332390e-02 1.42128105e+01] [ 9.00629874e-02 9.95934804e-01 -1.58903086e-03 3.50034509e-01] [ 2.40786713e-02 -5.82394745e-04 9.99709897e-01 2.34554762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.24, Y:0.35, Z:0.24 [[ 9.95667235e-01 -8.99837528e-02 -2.34452958e-02 1.42407325e+01] [ 8.99720887e-02 9.95943075e-01 -1.55402981e-03 3.51728247e-01] [ 2.34900175e-02 -5.62125674e-04 9.99723913e-01 2.35429021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:0.35, Z:0.24 [[ 9.95730725e-01 -8.95425623e-02 -2.24154544e-02 1.42680961e+01] [ 8.95316526e-02 9.95982860e-01 -1.49182585e-03 3.53227535e-01] [ 2.24589903e-02 -5.21435837e-04 9.99747629e-01 2.35541627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.30, Y:0.36, Z:0.24 [[ 9.95717922e-01 -8.98104813e-02 -2.19065711e-02 1.42959917e+01] [ 8.98000746e-02 9.95958741e-01 -1.46030119e-03 3.58136920e-01] [ 2.19491913e-02 -5.13163649e-04 9.99758956e-01 2.35874366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.32, Y:0.36, Z:0.24 [[ 9.95716993e-01 -8.99824640e-02 -2.12326621e-02 1.43242465e+01] [ 8.99725875e-02 9.95943227e-01 -1.42192751e-03 3.60558285e-01] [ 2.12744745e-02 -4.94520159e-04 9.99773550e-01 2.35878230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.35, Y:0.36, Z:0.24 [[ 9.95780312e-01 -8.94736032e-02 -2.03971557e-02 1.43522755e+01] [ 8.94642557e-02 9.95989088e-01 -1.37214986e-03 3.62919843e-01] [ 2.04381157e-02 -4.58456540e-04 9.99791015e-01 2.35789978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.38, Y:0.36, Z:0.24 [[ 9.95833342e-01 -8.90265219e-02 -1.97543197e-02 1.43801704e+01] [ 8.90176296e-02 9.96029162e-01 -1.33076886e-03 3.63643964e-01] [ 1.97943522e-02 -4.33258712e-04 9.99803979e-01 2.36595936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.41, Y:0.37, Z:0.24 [[ 9.95835411e-01 -8.90861563e-02 -1.93775781e-02 1.44080859e+01] [ 8.90775800e-02 9.96023833e-01 -1.30699394e-03 3.66931147e-01] [ 1.94169646e-02 -4.24556915e-04 9.99811383e-01 2.37535583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.44, Y:0.37, Z:0.24 [[ 9.95826798e-01 -8.93087812e-02 -1.87864129e-02 1.44357758e+01] [ 8.93006529e-02 9.96003902e-01 -1.27279948e-03 3.68043033e-01] [ 1.88250127e-02 -4.10151107e-04 9.99822710e-01 2.37674090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:0.37, Z:0.24 [[ 9.95784078e-01 -8.97975855e-02 -1.87206998e-02 1.44633952e+01] [ 8.97894917e-02 9.95959951e-01 -1.27413273e-03 3.70008242e-01] [ 1.87594813e-02 -4.12161036e-04 9.99823940e-01 2.37471625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.49, Y:0.37, Z:0.24 [[ 9.95754107e-01 -9.00884515e-02 -1.89164005e-02 1.44912613e+01] [ 9.00801211e-02 9.95933682e-01 -1.29372698e-03 3.71328273e-01] [ 1.89560302e-02 -4.15757693e-04 9.99820232e-01 2.37132852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.52, Y:0.37, Z:0.24 [[ 9.95748637e-01 -9.03398458e-02 -1.79823129e-02 1.45197029e+01] [ 9.03323293e-02 9.95910917e-01 -1.23148008e-03 3.70194384e-01] [ 1.80200334e-02 -3.98139599e-04 9.99837547e-01 2.36945294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:0.37, Z:0.24 [[ 9.95729702e-01 -9.06878595e-02 -1.72647942e-02 1.45475199e+01] [ 9.06809673e-02 9.95879291e-01 -1.18325503e-03 3.73953953e-01] [ 1.73009579e-02 -3.87386065e-04 9.99850252e-01 2.37244092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:0.37, Z:0.24 [[ 9.95711839e-01 -9.10262028e-02 -1.64974150e-02 1.45750969e+01] [ 9.10198653e-02 9.95848429e-01 -1.13615530e-03 3.74093107e-01] [ 1.65323447e-02 -3.70309204e-04 9.99863263e-01 2.38106442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.60, Y:0.38, Z:0.24 [[ 9.95663787e-01 -9.15719405e-02 -1.63769151e-02 1.46034484e+01] [ 9.15657575e-02 9.95798392e-01 -1.12856086e-03 3.75789367e-01] [ 1.64114502e-02 -3.75897457e-04 9.99865252e-01 2.38325167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.63, Y:0.38, Z:0.24 [[ 9.95614011e-01 -9.21997488e-02 -1.58728694e-02 1.46327742e+01] [ 9.21939462e-02 9.95740463e-01 -1.09847663e-03 3.77074962e-01] [ 1.59065376e-02 -3.69723743e-04 9.99873415e-01 2.38646826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.66, Y:0.38, Z:0.24 [[ 9.95551098e-01 -9.28522895e-02 -1.60144756e-02 1.46606738e+01] [ 9.28464035e-02 9.95679822e-01 -1.11225536e-03 3.78398823e-01] [ 1.60485657e-02 -3.79579422e-04 9.99871141e-01 2.38781263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.69, Y:0.38, Z:0.24 [[ 9.95426264e-01 -9.42146156e-02 -1.58164136e-02 1.46889149e+01] [ 9.42089600e-02 9.95551834e-01 -1.10393159e-03 3.77996882e-01] [ 1.58500661e-02 -3.91165384e-04 9.99874303e-01 2.38854624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.72, Y:0.38, Z:0.24 [[ 9.95325061e-01 -9.53277529e-02 -1.55126500e-02 1.47176333e+01] [ 9.53224384e-02 9.95445859e-01 -1.08331419e-03 3.78325449e-01] [ 1.55452731e-02 -4.00453858e-04 9.99879085e-01 2.39717527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.75, Y:0.38, Z:0.24 [[ 9.95260626e-01 -9.60635157e-02 -1.51025713e-02 1.47465644e+01] [ 9.60585104e-02 9.95375127e-01 -1.05816268e-03 3.83652827e-01] [ 1.51343747e-02 -3.97582850e-04 9.99885390e-01 2.39768404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.77, Y:0.38, Z:0.24 [[ 9.95128133e-01 -9.76025032e-02 -1.39194408e-02 1.47748327e+01] [ 9.75983431e-02 9.95225404e-01 -9.79473366e-04 3.83443213e-01] [ 1.39485801e-02 -3.83812854e-04 9.99902640e-01 2.41132671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.80, Y:0.38, Z:0.24 [[ 9.95049822e-01 -9.85364457e-02 -1.29003829e-02 1.48039880e+01] [ 9.85329414e-02 9.95133375e-01 -9.08493221e-04 3.84903226e-01] [ 1.29271213e-02 -3.67116657e-04 9.99916374e-01 2.41885769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.83, Y:0.39, Z:0.24 [[ 9.94961151e-01 -9.94677527e-02 -1.25886311e-02 1.48330112e+01] [ 9.94644488e-02 9.95040719e-01 -8.89815783e-04 3.86092664e-01] [ 1.26147085e-02 -3.66789121e-04 9.99920364e-01 2.42493673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.86, Y:0.39, Z:0.24 [[ 9.94809907e-01 -1.01012121e-01 -1.22393264e-02 1.48616882e+01] [ 1.01009076e-01 9.94885125e-01 -8.68255106e-04 3.86313945e-01] [ 1.22644281e-02 -3.72534274e-04 9.99924720e-01 2.43548884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.89, Y:0.39, Z:0.24 [[ 9.94735457e-01 -1.01772432e-01 -1.19893056e-02 1.48900425e+01] [ 1.01769516e-01 9.94807637e-01 -8.54654413e-04 3.87273117e-01] [ 1.20140330e-02 -3.69990772e-04 9.99927760e-01 2.44140026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.92, Y:0.39, Z:0.24 [[ 9.94704041e-01 -1.02114780e-01 -1.16808314e-02 1.49175304e+01] [ 1.02112012e-01 9.94772557e-01 -8.34650448e-04 3.88273558e-01] [ 1.17050006e-02 -3.62523018e-04 9.99931428e-01 2.44634690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.95, Y:0.39, Z:0.25 [[ 9.94673712e-01 -1.02409785e-01 -1.16808806e-02 1.49450427e+01] [ 1.02407046e-01 9.94742229e-01 -8.33967685e-04 3.90422374e-01] [ 1.17048717e-02 -3.66678750e-04 9.99931428e-01 2.45197839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.97, Y:0.39, Z:0.25 [[ 9.94646925e-01 -1.02652049e-01 -1.18342995e-02 1.49725745e+01] [ 1.02649190e-01 9.94717257e-01 -8.50288370e-04 3.91391888e-01] [ 1.18590658e-02 -3.69044555e-04 9.99929611e-01 2.45321463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:0.39, Z:0.25 [[ 9.94629958e-01 -1.02779498e-01 -1.21499724e-02 1.50008351e+01] [ 1.02776501e-01 9.94704091e-01 -8.72503401e-04 3.93407711e-01] [ 1.21753028e-02 -3.80913632e-04 9.99925806e-01 2.45384104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.03, Y:0.40, Z:0.24 [[ 9.94594722e-01 -1.03073691e-01 -1.25360529e-02 1.50283509e+01] [ 1.03070475e-01 9.94673645e-01 -9.04081725e-04 3.96203646e-01] [ 1.25624685e-02 -3.92902020e-04 9.99921012e-01 2.44955432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.06, Y:0.40, Z:0.24 [[ 9.94588390e-01 -1.03156004e-01 -1.23601567e-02 1.50562235e+01] [ 1.03152843e-01 9.94665115e-01 -8.94731151e-04 4.02685420e-01] [ 1.23865136e-02 -3.85096085e-04 9.99923210e-01 2.44360445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.08, Y:0.41, Z:0.24 [[ 9.94599623e-01 -1.03054846e-01 -1.22999746e-02 1.50842223e+01] [ 1.03051660e-01 9.94675603e-01 -8.94171868e-04 4.05061204e-01] [ 1.23266334e-02 -3.78189802e-04 9.99923953e-01 2.44972634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.11, Y:0.40, Z:0.25 [[ 9.94633298e-01 -1.02745716e-01 -1.21622862e-02 1.51125897e+01] [ 1.02742513e-01 9.94707588e-01 -8.89569906e-04 4.03485272e-01] [ 1.21893179e-02 -3.64787998e-04 9.99925641e-01 2.46901011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.14, Y:0.41, Z:0.25 [[ 9.94700744e-01 -1.02151310e-01 -1.16421938e-02 1.51407089e+01] [ 1.02148339e-01 9.94768814e-01 -8.51064611e-04 4.10382963e-01] [ 1.16682286e-02 -3.42676157e-04 9.99931865e-01 2.46600711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:0.41, Z:0.25 [[ 9.94717019e-01 -1.01951144e-01 -1.20006718e-02 1.51681589e+01] [ 1.01947920e-01 9.94789347e-01 -8.81667710e-04 4.12779440e-01] [ 1.20280275e-02 -3.46433653e-04 9.99927601e-01 2.47118277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096000004 meters Centerline goodness [0,1] 0.9999780156967925 Centerline is valid? [True, True] Translation: X:15.20, Y:0.42, Z:0.25 [[ 9.94779999e-01 -1.01358811e-01 -1.17960093e-02 1.51966768e+01] [ 1.01355648e-01 9.94849878e-01 -8.67204119e-04 4.16311793e-01] [ 1.18231572e-02 -3.32914849e-04 9.99930049e-01 2.47444983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.22, Y:0.42, Z:0.25 [[ 9.94815998e-01 -1.00969979e-01 -1.20910171e-02 1.52248640e+01] [ 1.00966570e-01 9.94889418e-01 -8.93611459e-04 4.18064195e-01] [ 1.21194529e-02 -3.31809551e-04 9.99926502e-01 2.47996280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:0.42, Z:0.25 [[ 9.94838374e-01 -1.00753826e-01 -1.20530783e-02 1.52536129e+01] [ 1.00750425e-01 9.94911332e-01 -8.90572117e-04 4.20730563e-01] [ 1.20814727e-02 -3.28377450e-04 9.99926962e-01 2.48521812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.28, Y:0.43, Z:0.25 [[ 9.94916040e-01 -9.99401366e-02 -1.24113810e-02 1.52818676e+01] [ 9.99364262e-02 9.94993399e-01 -9.20350240e-04 4.25113010e-01] [ 1.24412220e-02 -3.24677841e-04 9.99922552e-01 2.48244738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.31, Y:0.43, Z:0.25 [[ 9.94954295e-01 -9.95714746e-02 -1.23074073e-02 1.53103490e+01] [ 9.95677614e-02 9.95030363e-01 -9.15593361e-04 4.31642065e-01] [ 1.23374109e-02 -3.14447446e-04 9.99923842e-01 2.47315426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.34, Y:0.43, Z:0.25 [[ 9.95005542e-01 -9.90793211e-02 -1.21350420e-02 1.53385296e+01] [ 9.90756164e-02 9.95079494e-01 -9.07562792e-04 4.30691510e-01] [ 1.21652521e-02 -2.99256754e-04 9.99925956e-01 2.48896489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.37, Y:0.44, Z:0.25 [[ 9.95064019e-01 -9.84494039e-02 -1.24624909e-02 1.53671753e+01] [ 9.84454489e-02 9.95142013e-01 -9.31914375e-04 4.37649068e-01] [ 1.24936946e-02 -2.99561043e-04 9.99921906e-01 2.47997385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.40, Y:0.44, Z:0.25 [[ 9.95151590e-01 -9.75502996e-02 -1.25399894e-02 1.53959328e+01] [ 9.75461794e-02 9.95230555e-01 -9.41251689e-04 4.41769438e-01] [ 1.25720000e-02 -2.86539940e-04 9.99920928e-01 2.48341004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:0.44, Z:0.25 [[ 9.95180941e-01 -9.72188710e-02 -1.27822407e-02 1.54244959e+01] [ 9.72145161e-02 9.95262986e-01 -9.63069751e-04 4.44845740e-01] [ 1.28153196e-02 -2.84190680e-04 9.99917840e-01 2.48542156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.45, Y:0.45, Z:0.25 [[ 9.95170655e-01 -9.72898175e-02 -1.30406298e-02 1.54521483e+01] [ 9.72852458e-02 9.95256052e-01 -9.85982947e-04 4.47091336e-01] [ 1.30746918e-02 -2.87439580e-04 9.99914481e-01 2.48711556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.48, Y:0.45, Z:0.25 [[ 9.95135113e-01 -9.76392659e-02 -1.31407679e-02 1.54805315e+01] [ 9.76345991e-02 9.95221829e-01 -9.97734444e-04 4.49973369e-01] [ 1.31753971e-02 -2.90113028e-04 9.99913159e-01 2.48849180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:0.45, Z:0.25 [[ 9.95079079e-01 -9.81789262e-02 -1.33613389e-02 1.55080798e+01] [ 9.81740929e-02 9.95168734e-01 -1.01874530e-03 4.53008660e-01] [ 1.33968061e-02 -2.98005195e-04 9.99910214e-01 2.48850143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:0.46, Z:0.25 [[ 9.94985993e-01 -9.91350500e-02 -1.32331182e-02 1.55367256e+01] [ 9.91303353e-02 9.95073942e-01 -1.01336011e-03 4.55603446e-01] [ 1.32683906e-02 -3.03524330e-04 9.99911925e-01 2.49144837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.56, Y:0.46, Z:0.25 [[ 9.94868948e-01 -1.00243496e-01 -1.36754146e-02 1.55649523e+01] [ 1.00238499e-01 9.94962882e-01 -1.05207472e-03 4.56504389e-01] [ 1.37119935e-02 -3.24126555e-04 9.99905934e-01 2.49759172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.59, Y:0.46, Z:0.25 [[ 9.94788481e-01 -1.00989527e-01 -1.40354668e-02 1.55930013e+01] [ 1.00984304e-01 9.94887430e-01 -1.08222736e-03 4.57821486e-01] [ 1.40730031e-02 -3.40774528e-04 9.99900912e-01 2.50508131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.62, Y:0.46, Z:0.25 [[ 9.94562847e-01 -1.03157034e-01 -1.42608061e-02 1.56220547e+01] [ 1.03151859e-01 9.94665011e-01 -1.09994656e-03 4.59203229e-01] [ 1.42981921e-02 -3.77062677e-04 9.99897705e-01 2.50554689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.65, Y:0.46, Z:0.25 [[ 9.94448532e-01 -1.04232104e-01 -1.44147574e-02 1.56498244e+01] [ 1.04226858e-01 9.94552922e-01 -1.11675750e-03 4.59552397e-01] [ 1.44526411e-02 -3.91847020e-04 9.99895478e-01 2.51461661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.68, Y:0.46, Z:0.25 [[ 9.94349017e-01 -1.05145031e-01 -1.46477130e-02 1.56781665e+01] [ 1.05139692e-01 9.94456814e-01 -1.13623091e-03 4.60287107e-01] [ 1.46859870e-02 -4.10245947e-04 9.99892071e-01 2.52064095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.71, Y:0.46, Z:0.25 [[ 9.94087280e-01 -1.07493308e-01 -1.53515218e-02 1.57072851e+01] [ 1.07487714e-01 9.94205699e-01 -1.19142788e-03 4.63698758e-01] [ 1.53906410e-02 -4.65716698e-04 9.99881449e-01 2.51636810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.74, Y:0.47, Z:0.25 [[ 9.93960062e-01 -1.08689544e-01 -1.51650391e-02 1.57363543e+01] [ 1.08684162e-01 9.94075630e-01 -1.18100901e-03 4.65821624e-01] [ 1.52035591e-02 -4.74323775e-04 9.99884307e-01 2.51996480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:0.46, Z:0.25 [[ 9.93804491e-01 -1.10051255e-01 -1.55356302e-02 1.57646935e+01] [ 1.10045691e-01 9.93925787e-01 -1.21510499e-03 4.62889990e-01] [ 1.55749873e-02 -5.02052377e-04 9.99878576e-01 2.52920810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:0.47, Z:0.25 [[ 9.93732407e-01 -1.10649695e-01 -1.58917601e-02 1.57936097e+01] [ 1.10643938e-01 9.93859332e-01 -1.24377458e-03 4.69208862e-01] [ 1.59317974e-02 -5.22347810e-04 9.99872944e-01 2.52621830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:0.47, Z:0.25 [[ 9.93666271e-01 -1.11242407e-01 -1.58892439e-02 1.58225226e+01] [ 1.11236659e-01 9.93793162e-01 -1.24781936e-03 4.72275410e-01] [ 1.59294324e-02 -5.27550407e-04 9.99872979e-01 2.52524668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:0.47, Z:0.25 [[ 9.93627870e-01 -1.11517218e-01 -1.63574359e-02 1.58501124e+01] [ 1.11511077e-01 9.93762354e-01 -1.28986910e-03 4.73939227e-01] [ 1.63992466e-02 -5.42385410e-04 9.99865376e-01 2.52686544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.88, Y:0.48, Z:0.25 [[ 9.93632606e-01 -1.11431091e-01 -1.66539862e-02 1.58781934e+01] [ 1.11424686e-01 9.93772011e-01 -1.31488471e-03 4.75712093e-01] [ 1.66967844e-02 -5.49152862e-04 9.99860448e-01 2.53567277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:0.48, Z:0.25 [[ 9.93629953e-01 -1.11476531e-01 -1.65075533e-02 1.59050806e+01] [ 1.11470221e-01 9.93766918e-01 -1.30472688e-03 4.77564199e-01] [ 1.65501068e-02 -5.43684916e-04 9.99862890e-01 2.54391586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.93, Y:0.48, Z:0.26 [[ 9.93651748e-01 -1.11224215e-01 -1.68931121e-02 1.59338231e+01] [ 1.11217540e-01 9.93795186e-01 -1.33702576e-03 4.80307822e-01] [ 1.69370031e-02 -5.50272380e-04 9.99856407e-01 2.55054801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.96, Y:0.49, Z:0.25 [[ 9.93685056e-01 -1.10857965e-01 -1.73355568e-02 1.59622090e+01] [ 1.10850800e-01 9.93836106e-01 -1.37664478e-03 4.87734550e-01] [ 1.73813143e-02 -5.53709001e-04 9.99848780e-01 2.54827496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.99, Y:0.49, Z:0.26 [[ 9.93709965e-01 -1.10658893e-01 -1.71788974e-02 1.59907092e+01] [ 1.10651736e-01 9.93858299e-01 -1.36948104e-03 4.86435917e-01] [ 1.72249350e-02 -5.40007866e-04 9.99851494e-01 2.55508072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.02, Y:0.49, Z:0.26 [[ 9.93697768e-01 -1.10732441e-01 -1.74089817e-02 1.60184668e+01] [ 1.10725083e-01 9.93850103e-01 -1.38894861e-03 4.91286595e-01] [ 1.74557199e-02 -5.47415808e-04 9.99847487e-01 2.56148944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.05, Y:0.50, Z:0.26 [[ 9.93719297e-01 -1.10516542e-01 -1.75514175e-02 1.60467641e+01] [ 1.10508934e-01 9.93874137e-01 -1.40574878e-03 4.95769472e-01] [ 1.75992584e-02 -5.42668737e-04 9.99844974e-01 2.56532042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.07, Y:0.50, Z:0.26 [[ 9.93832951e-01 -1.09514711e-01 -1.73951905e-02 1.60749483e+01] [ 1.09506993e-01 9.93985042e-01 -1.39845107e-03 4.96531962e-01] [ 1.74437101e-02 -5.15068247e-04 9.99847714e-01 2.57796728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:0.50, Z:0.26 [[ 9.93808944e-01 -1.09693662e-01 -1.76375723e-02 1.61028208e+01] [ 1.09685735e-01 9.93965304e-01 -1.41913070e-03 4.99234768e-01] [ 1.76868045e-02 -5.24245294e-04 9.99843439e-01 2.58430174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:0.50, Z:0.26 [[ 9.93831821e-01 -1.09500398e-01 -1.75491789e-02 1.61308100e+01] [ 1.09492422e-01 9.93986620e-01 -1.41756530e-03 5.00611088e-01] [ 1.75988730e-02 -5.12680604e-04 9.99844996e-01 2.59078616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.16, Y:0.50, Z:0.26 [[ 9.93806359e-01 -1.09723499e-01 -1.75975487e-02 1.61582018e+01] [ 1.09715479e-01 9.93962015e-01 -1.42346737e-03 5.04114308e-01] [ 1.76474828e-02 -5.16072561e-04 9.99844138e-01 2.59450640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.19, Y:0.51, Z:0.26 [[ 9.93790241e-01 -1.09789331e-01 -1.80903375e-02 1.61864241e+01] [ 1.09780768e-01 9.93954740e-01 -1.46870897e-03 5.06544322e-01] [ 1.81422253e-02 -5.26382505e-04 9.99835278e-01 2.59943050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.21, Y:0.51, Z:0.26 [[ 9.93757679e-01 -1.10039104e-01 -1.83595150e-02 1.62138216e+01] [ 1.10030229e-01 9.93927116e-01 -1.49592505e-03 5.13145110e-01] [ 1.84126300e-02 -5.33514622e-04 9.99830331e-01 2.60415436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.24, Y:0.52, Z:0.26 [[ 9.93749810e-01 -1.10142236e-01 -1.81659727e-02 1.62413275e+01] [ 1.10133459e-01 9.93915697e-01 -1.48590050e-03 5.15574014e-01] [ 1.82191059e-02 -5.24068073e-04 9.99833881e-01 2.61064726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.27, Y:0.52, Z:0.26 [[ 9.93784679e-01 -1.09786943e-01 -1.84075561e-02 1.62697088e+01] [ 1.09777760e-01 9.93955008e-01 -1.51166886e-03 5.18537631e-01] [ 1.84622441e-02 -5.18466918e-04 9.99829424e-01 2.61622502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.30, Y:0.52, Z:0.26 [[ 9.93816029e-01 -1.09364430e-01 -1.92125244e-02 1.62970161e+01] [ 1.09354236e-01 9.94001581e-01 -1.58353359e-03 5.20689962e-01] [ 1.92704619e-02 -5.27229866e-04 9.99814168e-01 2.61436726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.32, Y:0.52, Z:0.26 [[ 9.93807638e-01 -1.09374014e-01 -1.95883369e-02 1.63246914e+01] [ 1.09363384e-01 9.94000522e-01 -1.61628963e-03 5.24315543e-01] [ 1.96475972e-02 -5.35965833e-04 9.99806824e-01 2.61620738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.35, Y:0.52, Z:0.26 [[ 9.93764784e-01 -1.09679604e-01 -2.00484098e-02 1.63526219e+01] [ 1.09668397e-01 9.93966843e-01 -1.66087421e-03 5.24722119e-01] [ 2.01096186e-02 -5.48158679e-04 9.99797631e-01 2.61871372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.38, Y:0.53, Z:0.26 [[ 9.93696595e-01 -1.10225309e-01 -2.04318077e-02 1.63802501e+01] [ 1.10213743e-01 9.93906464e-01 -1.69470594e-03 5.25935625e-01] [ 2.04941053e-02 -5.67842477e-04 9.99789813e-01 2.62227702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.41, Y:0.53, Z:0.26 [[ 9.93652201e-01 -1.10646275e-01 -2.03151604e-02 1.64076220e+01] [ 1.10634801e-01 9.93859688e-01 -1.69127942e-03 5.27057826e-01] [ 2.03775528e-02 -5.67020224e-04 9.99792195e-01 2.62728229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096000004 meters Centerline goodness [0,1] 0.9999134142909712 Centerline is valid? [True, True] Translation: X:16.44, Y:0.53, Z:0.26 [[ 9.93482669e-01 -1.12023905e-01 -2.10435722e-02 1.64366760e+01] [ 1.12011829e-01 9.93705323e-01 -1.75539775e-03 5.29346220e-01] [ 2.11077562e-02 -6.13171770e-04 9.99777018e-01 2.61501200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.46, Y:0.53, Z:0.26 [[ 9.93470026e-01 -1.12147865e-01 -2.09800834e-02 1.64640079e+01] [ 1.12135770e-01 9.93691344e-01 -1.75578185e-03 5.33213686e-01] [ 2.10446345e-02 -6.08301167e-04 9.99778352e-01 2.63506811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.49, Y:0.53, Z:0.26 [[ 9.93317009e-01 -1.13448861e-01 -2.12291070e-02 1.64921196e+01] [ 1.13436635e-01 9.93543633e-01 -1.78318204e-03 5.34721351e-01] [ 2.12943441e-02 -6.36893405e-04 9.99773047e-01 2.64002271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.52, Y:0.54, Z:0.26 [[ 9.93227797e-01 -1.14264686e-01 -2.10267532e-02 1.65211656e+01] [ 1.14252828e-01 9.93450132e-01 -1.76830549e-03 5.36238451e-01] [ 2.10910856e-02 -6.46035857e-04 9.99777350e-01 2.64495967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.55, Y:0.54, Z:0.27 [[ 9.93158950e-01 -1.14815880e-01 -2.12747373e-02 1.65496213e+01] [ 1.14803744e-01 9.93386571e-01 -1.79494524e-03 5.37803368e-01] [ 2.13401266e-02 -6.59753569e-04 9.99772056e-01 2.65142603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:0.54, Z:0.27 [[ 9.93055177e-01 -1.15674455e-01 -2.14670739e-02 1.65770576e+01] [ 1.15662161e-01 9.93286948e-01 -1.81756987e-03 5.38500549e-01] [ 2.15332107e-02 -6.77981006e-04 9.99767904e-01 2.65763906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.60, Y:0.54, Z:0.27 [[ 9.92991866e-01 -1.16204834e-01 -2.15311768e-02 1.66047612e+01] [ 1.16192534e-01 9.93225031e-01 -1.82567309e-03 5.42521151e-01] [ 2.15974558e-02 -6.88883462e-04 9.99766510e-01 2.66422731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.63, Y:0.54, Z:0.27 [[ 9.92977209e-01 -1.16330301e-01 -2.15296088e-02 1.66320757e+01] [ 1.16317894e-01 9.93210346e-01 -1.83195516e-03 5.43994110e-01] [ 2.15965421e-02 -6.85189022e-04 9.99766533e-01 2.67023683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.66, Y:0.55, Z:0.27 [[ 9.92954255e-01 -1.16539833e-01 -2.14549601e-02 1.66599280e+01] [ 1.16527495e-01 9.93185783e-01 -1.82865041e-03 5.49870170e-01] [ 2.15218719e-02 -6.84326542e-04 9.99768143e-01 2.67557287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.69, Y:0.55, Z:0.27 [[ 9.93051466e-01 -1.15616873e-01 -2.19436613e-02 1.66874972e+01] [ 1.15603593e-01 9.93293656e-01 -1.87703379e-03 5.50049144e-01] [ 2.20135163e-02 -6.72774922e-04 9.99757447e-01 2.67105614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.71, Y:0.55, Z:0.27 [[ 9.93017939e-01 -1.15904536e-01 -2.19433736e-02 1.67149683e+01] [ 1.15891252e-01 9.93260128e-01 -1.88039072e-03 5.52587578e-01] [ 2.20134239e-02 -6.75783321e-04 9.99757447e-01 2.67668290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.74, Y:0.56, Z:0.27 [[ 9.93012707e-01 -1.15783917e-01 -2.28001872e-02 1.67427408e+01] [ 1.15769385e-01 9.93274184e-01 -1.96073756e-03 5.58424136e-01] [ 2.28738592e-02 -6.92526333e-04 9.99738119e-01 2.67993147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.77, Y:0.56, Z:0.27 [[ 9.93065973e-01 -1.15423483e-01 -2.23022995e-02 1.67712109e+01] [ 1.15409339e-01 9.93316153e-01 -1.92457616e-03 5.62164566e-01] [ 2.23753756e-02 -6.62662542e-04 9.99749420e-01 2.69006425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.80, Y:0.56, Z:0.27 [[ 9.93063003e-01 -1.15491077e-01 -2.20835540e-02 1.67979688e+01] [ 1.15477099e-01 9.93308304e-01 -1.91141703e-03 5.63628367e-01] [ 2.21565292e-02 -6.51987214e-04 9.99754301e-01 2.69488615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:0.57, Z:0.27 [[ 9.93076372e-01 -1.15327985e-01 -2.23332924e-02 1.68257573e+01] [ 1.15313582e-01 9.93327252e-01 -1.93599399e-03 5.65708901e-01] [ 2.24075422e-02 -6.52742048e-04 9.99748706e-01 2.69807375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.85, Y:0.57, Z:0.27 [[ 9.93037789e-01 -1.15712478e-01 -2.20583776e-02 1.68538602e+01] [ 1.15698469e-01 9.93282537e-01 -1.91457544e-03 5.68243225e-01] [ 2.21317416e-02 -6.50874761e-04 9.99754851e-01 2.70157390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:0.57, Z:0.27 [[ 9.93012458e-01 -1.16003032e-01 -2.16692323e-02 1.68814752e+01] [ 1.15989442e-01 9.93248654e-01 -1.88722568e-03 5.71586670e-01] [ 2.17418597e-02 -6.39363550e-04 9.99763413e-01 2.71041472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.91, Y:0.57, Z:0.27 [[ 9.92984704e-01 -1.16300559e-01 -2.13437780e-02 1.69098024e+01] [ 1.16287305e-01 9.93213866e-01 -1.86528742e-03 5.74311519e-01] [ 2.14158702e-02 -6.29808558e-04 9.99770456e-01 2.72013540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.94, Y:0.58, Z:0.27 [[ 9.92980230e-01 -1.16528771e-01 -2.02807490e-02 1.69373402e+01] [ 1.16516732e-01 9.93187137e-01 -1.77829717e-03 5.75414945e-01] [ 2.03498019e-02 -5.97232675e-04 9.99792743e-01 2.73518262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452755096000004 meters Centerline goodness [0,1] 0.9999346732574091 Centerline is valid? [True, True] Translation: X:16.96, Y:0.58, Z:0.27 [[ 9.92939810e-01 -1.16833016e-01 -2.05080752e-02 1.69649670e+01] [ 1.16820729e-01 9.93151386e-01 -1.80022398e-03 5.76991754e-01] [ 2.05779489e-02 -6.08254237e-04 9.99788067e-01 2.72868685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:0.58, Z:0.27 [[ 9.92964554e-01 -1.16709224e-01 -2.00087985e-02 1.69923024e+01] [ 1.16697385e-01 9.93165955e-01 -1.76230349e-03 5.78783247e-01] [ 2.00777345e-02 -5.85069553e-04 9.99798251e-01 2.74900983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:0.58, Z:0.28 [[ 9.92941187e-01 -1.17012629e-01 -1.93866904e-02 1.70206055e+01] [ 1.17001542e-01 9.93130263e-01 -1.70905174e-03 5.81593232e-01] [ 1.94534896e-02 -5.71284814e-04 9.99810600e-01 2.75792513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:0.59, Z:0.28 [[ 9.92993127e-01 -1.16499476e-01 -1.98121628e-02 1.70495733e+01] [ 1.16487676e-01 9.93190591e-01 -1.75253408e-03 5.85717943e-01] [ 1.98814230e-02 -5.67618504e-04 9.99802184e-01 2.75602010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:0.59, Z:0.28 [[ 9.93036787e-01 -1.16058864e-01 -2.02059182e-02 1.70771903e+01] [ 1.16046391e-01 9.93242177e-01 -1.79271784e-03 5.87958167e-01] [ 2.02774310e-02 -5.64589130e-04 9.99794232e-01 2.75552604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:0.59, Z:0.28 [[ 9.93124616e-01 -1.15304940e-01 -2.02056168e-02 1.71050659e+01] [ 1.15292274e-01 9.93329991e-01 -1.79454107e-03 5.90938902e-01] [ 2.02777646e-02 -5.47348595e-04 9.99794235e-01 2.75315664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.13, Y:0.60, Z:0.27 [[ 9.93184824e-01 -1.14581713e-01 -2.13292275e-02 1.71337643e+01] [ 1.14567385e-01 9.93413669e-01 -1.89652008e-03 5.97777139e-01] [ 2.14060527e-02 -5.60038858e-04 9.99770707e-01 2.74480781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.16, Y:0.60, Z:0.27 [[ 9.93208537e-01 -1.14304869e-01 -2.17071309e-02 1.71614301e+01] [ 1.14289839e-01 9.93445562e-01 -1.93583594e-03 5.96466036e-01] [ 2.17861283e-02 -5.58215705e-04 9.99762498e-01 2.74405249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.19, Y:0.60, Z:0.27 [[ 9.93290238e-01 -1.13545304e-01 -2.19537590e-02 1.71892852e+01] [ 1.13529699e-01 9.93532670e-01 -1.95993303e-03 5.98943479e-01] [ 2.20343180e-02 -5.45621293e-04 9.99757066e-01 2.74629461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.22, Y:0.61, Z:0.28 [[ 9.93307586e-01 -1.13441370e-01 -2.17047435e-02 1.72167283e+01] [ 1.13426044e-01 9.93544548e-01 -1.93988733e-03 6.06844346e-01] [ 2.17846931e-02 -5.34978387e-04 9.99762542e-01 2.75319239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.24, Y:0.61, Z:0.28 [[ 9.93313869e-01 -1.13442931e-01 -2.14069749e-02 1.72441130e+01] [ 1.13427882e-01 9.93544377e-01 -1.91984946e-03 6.10413941e-01] [ 2.14865729e-02 -5.21134729e-04 9.99769001e-01 2.76032168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.27, Y:0.61, Z:0.28 [[ 9.93338153e-01 -1.13281696e-01 -2.11322472e-02 1.72715401e+01] [ 1.13266858e-01 9.93562782e-01 -1.90159127e-03 6.12503773e-01] [ 2.12116298e-02 -5.04660093e-04 9.99774881e-01 2.76731105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.30, Y:0.61, Z:0.28 [[ 9.93296389e-01 -1.13645037e-01 -2.11444756e-02 1.72992622e+01] [ 1.13630218e-01 9.93521286e-01 -1.90491477e-03 6.14974062e-01] [ 2.12239707e-02 -5.10506406e-04 9.99774616e-01 2.77444964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.33, Y:0.62, Z:0.28 [[ 9.93236202e-01 -1.14133307e-01 -2.13409075e-02 1.73274891e+01] [ 1.14118185e-01 9.93465308e-01 -1.92908959e-03 6.16110178e-01] [ 2.14216246e-02 -5.19344015e-04 9.99770396e-01 2.77890084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.36, Y:0.62, Z:0.28 [[ 9.93155223e-01 -1.14711589e-01 -2.19989762e-02 1.73563336e+01] [ 1.14695585e-01 9.93398689e-01 -1.99202939e-03 6.18578458e-01] [ 2.20822630e-02 -5.44791063e-04 9.99756009e-01 2.78308349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.38, Y:0.62, Z:0.28 [[ 9.93086502e-01 -1.15341701e-01 -2.18057822e-02 1.73840096e+01] [ 1.15326009e-01 9.93325723e-01 -1.98003167e-03 6.19681327e-01] [ 2.18886246e-02 -5.48431103e-04 9.99760265e-01 2.78858382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.41, Y:0.63, Z:0.28 [[ 9.93027833e-01 -1.15858891e-01 -2.17357076e-02 1.74120431e+01] [ 1.15843371e-01 9.93265528e-01 -1.97601963e-03 6.25729043e-01] [ 2.18182685e-02 -5.55695156e-04 9.99761799e-01 2.79715290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.44, Y:0.62, Z:0.28 [[ 9.92991065e-01 -1.16202823e-01 -2.15788952e-02 1.74406671e+01] [ 1.16187465e-01 9.93225351e-01 -1.96834750e-03 6.23918804e-01] [ 2.16614333e-02 -5.52645645e-04 9.99765211e-01 2.80271581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.47, Y:0.63, Z:0.28 [[ 9.92947961e-01 -1.16615873e-01 -2.13327111e-02 1.74680771e+01] [ 1.16600910e-01 9.93176939e-01 -1.94818829e-03 6.30087717e-01] [ 2.14143464e-02 -5.52963945e-04 9.99770534e-01 2.81385848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters Centerline goodness [0,1] 0.9999782125582815 Centerline is valid? [True, True] Translation: X:17.50, Y:0.63, Z:0.28 [[ 9.92892781e-01 -1.16994842e-01 -2.18204452e-02 1.74964355e+01] [ 1.16979124e-01 9.93132361e-01 -1.99973947e-03 6.33755907e-01] [ 2.19045495e-02 -5.67009692e-04 9.99759906e-01 2.81786343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:0.64, Z:0.28 [[ 9.92892213e-01 -1.17033309e-01 -2.16392693e-02 1.75247186e+01] [ 1.17017710e-01 9.93127834e-01 -1.99007962e-03 6.36002110e-01] [ 2.17234662e-02 -5.56243174e-04 9.99763863e-01 2.82955061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.55, Y:0.64, Z:0.28 [[ 9.92836763e-01 -1.17392594e-01 -2.22292755e-02 1.75525613e+01] [ 1.17376068e-01 9.93085420e-01 -2.05125569e-03 6.36022907e-01] [ 2.23163716e-02 -5.72622890e-04 9.99750795e-01 2.83026250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.58, Y:0.64, Z:0.28 [[ 9.92776338e-01 -1.17805544e-01 -2.27375449e-02 1.75802936e+01] [ 1.17788297e-01 9.93036506e-01 -2.10097633e-03 6.39301738e-01] [ 2.28267188e-02 -5.92417119e-04 9.99739261e-01 2.83415475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.61, Y:0.64, Z:0.28 [[ 9.92729652e-01 -1.18211865e-01 -2.26670082e-02 1.76085031e+01] [ 1.18194670e-01 9.92988219e-01 -2.10153514e-03 6.42769842e-01] [ 2.27564984e-02 -5.92863298e-04 9.99740862e-01 2.83869606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.64, Y:0.64, Z:0.28 [[ 9.92665954e-01 -1.18768181e-01 -2.25482417e-02 1.76359397e+01] [ 1.18751160e-01 9.92921832e-01 -2.09714967e-03 6.43529696e-01] [ 2.26377161e-02 -5.95860771e-04 9.99743556e-01 2.84728867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.67, Y:0.65, Z:0.29 [[ 9.92598070e-01 -1.19411012e-01 -2.21377788e-02 1.76651881e+01] [ 1.19394710e-01 9.92844728e-01 -2.06140603e-03 6.45549402e-01] [ 2.22255315e-02 -5.96986037e-04 9.99752804e-01 2.85914381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.69, Y:0.65, Z:0.29 [[ 9.92526781e-01 -1.19998846e-01 -2.21555032e-02 1.76937644e+01] [ 1.19982534e-01 9.92773847e-01 -2.06893740e-03 6.47475594e-01] [ 2.22436743e-02 -6.04797640e-04 9.99752396e-01 2.87111944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.72, Y:0.65, Z:0.29 [[ 9.92439651e-01 -1.20716375e-01 -2.21606802e-02 1.77216632e+01] [ 1.20700111e-01 9.92686848e-01 -2.07495859e-03 6.48176274e-01] [ 2.22490973e-02 -6.15525379e-04 9.99752269e-01 2.88492705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.75, Y:0.65, Z:0.29 [[ 9.92426563e-01 -1.20835482e-01 -2.20975864e-02 1.77490389e+01] [ 1.20819285e-01 9.92672357e-01 -2.07149226e-03 6.53272683e-01] [ 2.21859730e-02 -6.14010644e-04 9.99753672e-01 2.89359764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.78, Y:0.65, Z:0.29 [[ 9.92426096e-01 -1.20821489e-01 -2.21948592e-02 1.77759489e+01] [ 1.20804998e-01 9.92674063e-01 -2.08724460e-03 6.52697238e-01] [ 2.22844451e-02 -6.09813916e-04 9.99751485e-01 2.90043723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.80, Y:0.66, Z:0.29 [[ 9.92462338e-01 -1.20515598e-01 -2.22372974e-02 1.78032515e+01] [ 1.20498902e-01 9.92711252e-01 -2.09416131e-03 6.55367711e-01] [ 2.23275945e-02 -6.01193695e-04 9.99750527e-01 2.90833073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.83, Y:0.66, Z:0.29 [[ 9.92477325e-01 -1.20395687e-01 -2.22179736e-02 1.78303209e+01] [ 1.20378935e-01 9.92725805e-01 -2.09476089e-03 6.62446240e-01] [ 2.23085559e-02 -5.95573330e-04 9.99750956e-01 2.91798197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.86, Y:0.66, Z:0.29 [[ 9.92492050e-01 -1.20238165e-01 -2.24123642e-02 1.78585101e+01] [ 1.20220931e-01 9.92744899e-01 -2.11968142e-03 6.64097264e-01] [ 2.25046268e-02 -5.90668320e-04 9.99746564e-01 2.92085038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.89, Y:0.67, Z:0.29 [[ 9.92501417e-01 -1.20081846e-01 -2.28317319e-02 1.78861311e+01] [ 1.20063856e-01 9.92763817e-01 -2.16210991e-03 6.68013948e-01] [ 2.29261474e-02 -5.95368618e-04 9.99736984e-01 2.92805879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.91, Y:0.67, Z:0.29 [[ 9.92596195e-01 -1.19244219e-01 -2.30999818e-02 1.79144088e+01] [ 1.19225413e-01 9.92864787e-01 -2.19461137e-03 6.72492253e-01] [ 2.31968532e-02 -5.75741960e-04 9.99730751e-01 2.93138849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.94, Y:0.68, Z:0.29 [[ 9.92591771e-01 -1.19201594e-01 -2.35064990e-02 1.79422919e+01] [ 1.19181949e-01 9.92869904e-01 -2.23994548e-03 6.76320190e-01] [ 2.36059005e-02 -5.78198923e-04 9.99721175e-01 2.93986730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.97, Y:0.68, Z:0.29 [[ 9.92606504e-01 -1.19064380e-01 -2.35796939e-02 1.79703414e+01] [ 1.19044394e-01 9.92886373e-01 -2.25451522e-03 6.80605301e-01] [ 2.36803892e-02 -5.69183908e-04 9.99719418e-01 2.94591724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.00, Y:0.68, Z:0.29 [[ 9.92597972e-01 -1.19058676e-01 -2.39644996e-02 1.79975970e+01] [ 1.19037857e-01 9.92887056e-01 -2.29853768e-03 6.82306343e-01] [ 2.40677023e-02 -5.71158827e-04 9.99710168e-01 2.94728358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.03, Y:0.69, Z:0.30 [[ 9.92547664e-01 -1.19494675e-01 -2.38779500e-02 1.80252369e+01] [ 1.19474036e-01 9.92834675e-01 -2.29422870e-03 6.86341571e-01] [ 2.39810048e-02 -5.75663718e-04 9.99712249e-01 2.95314397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:0.69, Z:0.30 [[ 9.92458862e-01 -1.20252303e-01 -2.37653087e-02 1.80535693e+01] [ 1.20231912e-01 9.92743190e-01 -2.29027577e-03 6.87915871e-01] [ 2.38682593e-02 -5.84344013e-04 9.99714942e-01 2.96629925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:0.69, Z:0.30 [[ 9.92405702e-01 -1.20750313e-01 -2.34581558e-02 1.80809098e+01] [ 1.20730530e-01 9.92682738e-01 -2.26299019e-03 6.89743028e-01] [ 2.35597631e-02 -5.86311214e-04 9.99722258e-01 2.97551919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:0.69, Z:0.30 [[ 9.92307126e-01 -1.21605724e-01 -2.32080888e-02 1.81094349e+01] [ 1.21586529e-01 9.92578305e-01 -2.24165317e-03 6.92411172e-01] [ 2.33084433e-02 -5.97382542e-04 9.99728143e-01 2.98352910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:0.70, Z:0.30 [[ 9.92238930e-01 -1.22156375e-01 -2.32320219e-02 1.81371601e+01] [ 1.22137138e-01 9.92510682e-01 -2.25049080e-03 6.96675414e-01] [ 2.33329418e-02 -6.04468096e-04 9.99727567e-01 2.99257916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.16, Y:0.70, Z:0.30 [[ 9.92170234e-01 -1.22747496e-01 -2.30494972e-02 1.81649691e+01] [ 1.22728550e-01 9.92437749e-01 -2.24013085e-03 7.00257195e-01] [ 2.31501615e-02 -6.06240219e-04 9.99731815e-01 3.00127564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.19, Y:0.70, Z:0.30 [[ 9.92130700e-01 -1.23066759e-01 -2.30487753e-02 1.81924157e+01] [ 1.23047728e-01 9.92398209e-01 -2.24753570e-03 7.03093419e-01] [ 2.31501602e-02 -6.06250263e-04 9.99731815e-01 3.00689168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:0.70, Z:0.30 [[ 9.92080743e-01 -1.23510208e-01 -2.28260458e-02 1.82202755e+01] [ 1.23491504e-01 9.92343118e-01 -2.23260637e-03 7.04634515e-01] [ 2.29270191e-02 -6.03896938e-04 9.99736959e-01 3.01235218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:0.71, Z:0.30 [[ 9.92012972e-01 -1.24021519e-01 -2.29983911e-02 1.82476931e+01] [ 1.24002602e-01 9.92279336e-01 -2.25238354e-03 7.07939994e-01] [ 2.31001723e-02 -6.17466639e-04 9.99732965e-01 3.01790351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096000004 meters Centerline goodness [0,1] 0.9999565859164713 Centerline is valid? [True, True] Translation: X:18.28, Y:0.71, Z:0.30 [[ 9.91986249e-01 -1.24259783e-01 -2.28645714e-02 1.82750883e+01] [ 1.24240985e-01 9.92249531e-01 -2.24637913e-03 7.09352159e-01] [ 2.29664948e-02 -6.12339665e-04 9.99736048e-01 3.02002303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892755096000002 meters Centerline goodness [0,1] 0.9999348859418749 Centerline is valid? [True, True] Translation: X:18.30, Y:0.71, Z:0.30 [[ 9.91982702e-01 -1.24233725e-01 -2.31581431e-02 1.83025917e+01] [ 1.24214308e-01 9.92252793e-01 -2.28063719e-03 7.13473536e-01] [ 2.32620642e-02 -6.14220073e-04 9.99729213e-01 3.02554073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096000003 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:18.33, Y:0.72, Z:0.30 [[ 9.91939003e-01 -1.24592532e-01 -2.31022856e-02 1.83307101e+01] [ 1.24573137e-01 9.92207803e-01 -2.28240981e-03 7.16886470e-01] [ 2.32066392e-02 -6.13912886e-04 9.99730501e-01 3.03115801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952755096000004 meters Centerline goodness [0,1] 0.9999783150818605 Centerline is valid? [True, True] Translation: X:18.36, Y:0.72, Z:0.30 [[ 9.91915876e-01 -1.24733253e-01 -2.33347575e-02 1.83583503e+01] [ 1.24713331e-01 9.92190121e-01 -2.31281258e-03 7.20992394e-01] [ 2.34410005e-02 -6.16039810e-04 9.99725032e-01 3.03600174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:18.39, Y:0.72, Z:0.30 [[ 9.91867266e-01 -1.25133603e-01 -2.32574232e-02 1.83864536e+01] [ 1.25113748e-01 9.92139709e-01 -2.31258564e-03 7.24924689e-01] [ 2.33639952e-02 -6.16045389e-04 9.99726835e-01 3.04192619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012755096000003 meters Centerline goodness [0,1] 0.999978315552086 Centerline is valid? [True, True] Translation: X:18.41, Y:0.73, Z:0.30 [[ 9.91793726e-01 -1.25709535e-01 -2.32877221e-02 1.84139724e+01] [ 1.25689609e-01 9.92066895e-01 -2.32319002e-03 7.27820214e-01] [ 2.33950253e-02 -6.22899410e-04 9.99726105e-01 3.04737398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096000004 meters Centerline goodness [0,1] 0.9998698989548549 Centerline is valid? [True, True] Translation: X:18.44, Y:0.73, Z:0.31 [[ 9.91659757e-01 -1.26778598e-01 -2.31972836e-02 1.84418880e+01] [ 1.26758958e-01 9.91930834e-01 -2.32106830e-03 7.27274418e-01] [ 2.33043627e-02 -6.38753479e-04 9.99728212e-01 3.05136651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.47, Y:0.73, Z:0.31 [[ 9.91536519e-01 -1.27756066e-01 -2.31023686e-02 1.84704324e+01] [ 1.27736786e-01 9.91805403e-01 -2.31439270e-03 7.31323330e-01] [ 2.32087317e-02 -6.56217440e-04 9.99730426e-01 3.06426950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.50, Y:0.73, Z:0.31 [[ 9.91495863e-01 -1.28071324e-01 -2.31017120e-02 1.84978712e+01] [ 1.28051978e-01 9.91764742e-01 -2.32092942e-03 7.34240630e-01] [ 2.32087080e-02 -6.57028004e-04 9.99730426e-01 3.06988851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.53, Y:0.74, Z:0.31 [[ 9.91460696e-01 -1.28420172e-01 -2.26703928e-02 1.85261598e+01] [ 1.28401482e-01 9.91719639e-01 -2.28423404e-03 7.35476964e-01] [ 2.27760155e-02 -6.46183751e-04 9.99740384e-01 3.07828330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.55, Y:0.74, Z:0.31 [[ 9.91468561e-01 -1.28328786e-01 -2.28432789e-02 1.85539289e+01] [ 1.28309720e-01 9.91731468e-01 -2.30449244e-03 7.40436043e-01] [ 2.29501312e-02 -6.46182909e-04 9.99736402e-01 3.08372866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.58, Y:0.74, Z:0.31 [[ 9.91448838e-01 -1.28457293e-01 -2.29766288e-02 1.85814530e+01] [ 1.28437868e-01 9.91714831e-01 -2.32533275e-03 7.43728280e-01] [ 2.30849695e-02 -6.45620751e-04 9.99733298e-01 3.08709794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.61, Y:0.75, Z:0.31 [[ 9.91495013e-01 -1.28099055e-01 -2.29841682e-02 1.86092900e+01] [ 1.28079364e-01 9.91761178e-01 -2.33287859e-03 7.45660846e-01] [ 2.30936453e-02 -6.30760168e-04 9.99733107e-01 3.09078853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.64, Y:0.75, Z:0.31 [[ 9.91671146e-01 -1.26697445e-01 -2.31537301e-02 1.86376246e+01] [ 1.26677015e-01 9.91941227e-01 -2.35288610e-03 7.50133215e-01] [ 2.32652441e-02 -5.99756166e-04 9.99729148e-01 3.09706604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096000002 meters Centerline goodness [0,1] 0.9999783456041577 Centerline is valid? [True, True] Translation: X:18.67, Y:0.75, Z:0.31 [[ 9.91792267e-01 -1.25790911e-01 -2.29073400e-02 1.86663805e+01] [ 1.25770531e-01 9.92056614e-01 -2.33400220e-03 7.54176721e-01] [ 2.30189744e-02 -5.66222980e-04 9.99734868e-01 3.10133932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.69, Y:0.76, Z:0.31 [[ 9.91962280e-01 -1.24503952e-01 -2.25743309e-02 1.86941456e+01] [ 1.24483699e-01 9.92218974e-01 -2.30569344e-03 7.58113743e-01] [ 2.26857474e-02 -5.22975308e-04 9.99742509e-01 3.11274462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters Centerline goodness [0,1] 0.9999350593124946 Centerline is valid? [True, True] Translation: X:18.72, Y:0.76, Z:0.31 [[ 9.92133165e-01 -1.23147769e-01 -2.25035416e-02 1.87221382e+01] [ 1.23127246e-01 9.92388225e-01 -2.30060368e-03 7.62330925e-01] [ 2.26155639e-02 -4.88293883e-04 9.99744116e-01 3.12024036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:0.77, Z:0.31 [[ 9.92500458e-01 -1.20060132e-01 -2.29870778e-02 1.87507208e+01] [ 1.20037827e-01 9.92766531e-01 -2.35272119e-03 7.70052690e-01] [ 2.31032695e-02 -4.24242019e-04 9.99732994e-01 3.11974202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.78, Y:0.77, Z:0.31 [[ 9.92590787e-01 -1.19245730e-01 -2.33234944e-02 1.87791272e+01] [ 1.19222393e-01 9.92864690e-01 -2.39355412e-03 7.74497040e-01] [ 2.34424952e-02 -4.04863051e-04 9.99725105e-01 3.12139098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.81, Y:0.78, Z:0.31 [[ 9.92712782e-01 -1.18130358e-01 -2.38023149e-02 1.88069648e+01] [ 1.18105590e-01 9.92998023e-01 -2.44861796e-03 7.78131931e-01] [ 2.39249078e-02 -3.80412097e-04 9.99713686e-01 3.12545346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.84, Y:0.78, Z:0.31 [[ 9.92827475e-01 -1.17170663e-01 -2.37621749e-02 1.88350918e+01] [ 1.17145636e-01 9.93111731e-01 -2.44733843e-03 7.82627149e-01] [ 2.38852509e-02 -3.53850257e-04 9.99714644e-01 3.12578279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.86, Y:0.79, Z:0.31 [[ 9.92851362e-01 -1.16962444e-01 -2.37899007e-02 1.88626516e+01] [ 1.16937144e-01 9.93136279e-01 -2.45665589e-03 7.85556257e-01] [ 2.39139499e-02 -3.42828891e-04 9.99713962e-01 3.13252008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.89, Y:0.79, Z:0.31 [[ 9.92835342e-01 -1.17184697e-01 -2.33608719e-02 1.88900416e+01] [ 1.17160199e-01 9.93110082e-01 -2.41932450e-03 7.89217067e-01] [ 2.34834252e-02 -3.34973527e-04 9.99724170e-01 3.14395302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.92, Y:0.79, Z:0.31 [[ 9.92844865e-01 -1.17103427e-01 -2.33636904e-02 1.89177128e+01] [ 1.17078730e-01 9.93119671e-01 -2.42688963e-03 7.92368956e-01] [ 2.34871376e-02 -3.25866295e-04 9.99724086e-01 3.14966166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.95, Y:0.80, Z:0.32 [[ 9.92817418e-01 -1.17285260e-01 -2.36165612e-02 1.89456079e+01] [ 1.17259901e-01 9.93098213e-01 -2.46056699e-03 7.96203386e-01] [ 2.37421529e-02 -3.26381846e-04 9.99718062e-01 3.15272113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.97, Y:0.80, Z:0.32 [[ 9.92837929e-01 -1.17084487e-01 -2.37501302e-02 1.89731696e+01] [ 1.17058603e-01 9.93121907e-01 -2.48199617e-03 8.00517027e-01] [ 2.38773779e-02 -3.15937140e-04 9.99714845e-01 3.15496607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.00, Y:0.80, Z:0.32 [[ 9.92848205e-01 -1.16992167e-01 -2.37755192e-02 1.90005445e+01] [ 1.16966033e-01 9.93132790e-01 -2.49171139e-03 8.02604180e-01] [ 2.39037584e-02 -3.07036975e-04 9.99714217e-01 3.15721159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672755096000003 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:19.03, Y:0.81, Z:0.32 [[ 9.92800605e-01 -1.17416527e-01 -2.36710331e-02 1.90285119e+01] [ 1.17390649e-01 9.93082707e-01 -2.48467677e-03 8.06341100e-01] [ 2.37990357e-02 -3.11969332e-04 9.99716714e-01 3.16565662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.06, Y:0.81, Z:0.32 [[ 9.92682095e-01 -1.18470995e-01 -2.33855115e-02 1.90563864e+01] [ 1.18445871e-01 9.92957460e-01 -2.46150138e-03 8.08023037e-01] [ 2.35124346e-02 -3.26428922e-04 9.99723491e-01 3.16792931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.09, Y:0.81, Z:0.32 [[ 9.92558403e-01 -1.19484958e-01 -2.34768070e-02 1.90853163e+01] [ 1.19459852e-01 9.92835950e-01 -2.47401600e-03 8.10146982e-01] [ 2.36042257e-02 -3.48930525e-04 9.99721321e-01 3.17184658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:0.81, Z:0.32 [[ 9.92459489e-01 -1.20240433e-01 -2.37991702e-02 1.91132213e+01] [ 1.20214689e-01 9.92744733e-01 -2.51472379e-03 8.12497409e-01] [ 2.39288723e-02 -3.65248348e-04 9.99713597e-01 3.17676816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:0.81, Z:0.32 [[ 9.92393488e-01 -1.20804160e-01 -2.36964269e-02 1.91410097e+01] [ 1.20778639e-01 9.92676290e-01 -2.51051174e-03 8.13964038e-01] [ 2.38261614e-02 -3.70606689e-04 9.99716048e-01 3.18138326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:0.82, Z:0.32 [[ 9.92292284e-01 -1.21544217e-01 -2.41459527e-02 1.91700960e+01] [ 1.21517864e-01 9.92585940e-01 -2.56116937e-03 8.16875619e-01] [ 2.42782285e-02 -3.92735992e-04 9.99705163e-01 3.18607806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852755096000003 meters Centerline goodness [0,1] 0.9999783451352346 Centerline is valid? [True, True] Translation: X:19.20, Y:0.82, Z:0.32 [[ 9.92219619e-01 -1.22214563e-01 -2.37450626e-02 1.91981136e+01] [ 1.22189114e-01 9.92503624e-01 -2.52514575e-03 8.20753410e-01] [ 2.38756703e-02 -3.95889015e-04 9.99714857e-01 3.18975801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:0.82, Z:0.32 [[ 9.92148282e-01 -1.22685132e-01 -2.42929010e-02 1.92258830e+01] [ 1.22658463e-01 9.92445561e-01 -2.59050510e-03 8.21724340e-01] [ 2.44271982e-02 -4.09564714e-04 9.99701528e-01 3.19641168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.25, Y:0.82, Z:0.32 [[ 9.92074410e-01 -1.23326896e-01 -2.40591357e-02 1.92541071e+01] [ 1.23300849e-01 9.92366012e-01 -2.56878479e-03 8.24260554e-01] [ 2.41922688e-02 -4.18086208e-04 9.99707237e-01 3.20565100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:0.83, Z:0.32 [[ 9.92042249e-01 -1.23648401e-01 -2.37328690e-02 1.92815762e+01] [ 1.23622983e-01 9.92326006e-01 -2.54085136e-03 8.25691616e-01] [ 2.38649153e-02 -4.13296173e-04 9.99715107e-01 3.21144371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.31, Y:0.83, Z:0.32 [[ 9.91969030e-01 -1.24277500e-01 -2.35063153e-02 1.93091327e+01] [ 1.24252669e-01 9.92247411e-01 -2.51969569e-03 8.26273548e-01] [ 2.36372220e-02 -4.21262324e-04 9.99720513e-01 3.21824579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:0.83, Z:0.32 [[ 9.91913463e-01 -1.24737908e-01 -2.34123176e-02 1.93369526e+01] [ 1.24713335e-01 9.92189635e-01 -2.51251450e-03 8.30814170e-01] [ 2.35428646e-02 -4.27631238e-04 9.99722737e-01 3.22973788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.032755096000002 meters Centerline goodness [0,1] 0.9999783174327841 Centerline is valid? [True, True] Translation: X:19.36, Y:0.83, Z:0.32 [[ 9.91887933e-01 -1.25010782e-01 -2.30354509e-02 1.93648347e+01] [ 1.24986905e-01 9.92155294e-01 -2.47907711e-03 8.34010239e-01] [ 2.31646559e-02 -4.20163036e-04 9.99731575e-01 3.23462644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096000004 meters Centerline goodness [0,1] 0.9999783493548108 Centerline is valid? [True, True] Translation: X:19.39, Y:0.84, Z:0.32 [[ 9.91859503e-01 -1.25207950e-01 -2.31882826e-02 1.93923927e+01] [ 1.25183639e-01 9.92130431e-01 -2.50281356e-03 8.36010676e-01] [ 2.33191729e-02 -4.20354170e-04 9.99727983e-01 3.23969005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:0.84, Z:0.32 [[ 9.91818101e-01 -1.25487671e-01 -2.34456371e-02 1.94198346e+01] [ 1.25462721e-01 9.92095088e-01 -2.53800686e-03 8.38738373e-01] [ 2.35787899e-02 -4.24312267e-04 9.99721892e-01 3.24706064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.45, Y:0.84, Z:0.33 [[ 9.91850702e-01 -1.25232294e-01 -2.34319914e-02 1.94476290e+01] [ 1.25207127e-01 9.92127363e-01 -2.54387998e-03 8.42053740e-01] [ 2.35660958e-02 -4.10703189e-04 9.99722197e-01 3.25401082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.152755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:0.84, Z:0.33 [[ 9.91844852e-01 -1.25304401e-01 -2.32937036e-02 1.94747401e+01] [ 1.25279391e-01 9.92118261e-01 -2.53566277e-03 8.44516687e-01] [ 2.34278384e-02 -4.03236934e-04 9.99725449e-01 3.25805973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters Centerline goodness [0,1] 0.9999783671526846 Centerline is valid? [True, True] Translation: X:19.50, Y:0.85, Z:0.33 [[ 9.91953119e-01 -1.24443035e-01 -2.33011098e-02 1.95033361e+01] [ 1.24417687e-01 9.92226681e-01 -2.54008929e-03 8.49653594e-01] [ 2.34360793e-02 -3.79420692e-04 9.99725265e-01 3.26682177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.212755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:0.85, Z:0.33 [[ 9.92008373e-01 -1.24013598e-01 -2.32382374e-02 1.95313200e+01] [ 1.23988130e-01 9.92280452e-01 -2.53918289e-03 8.53166881e-01] [ 2.33737419e-02 -3.62374914e-04 9.99726731e-01 3.27284502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.56, Y:0.86, Z:0.33 [[ 9.92101273e-01 -1.23182599e-01 -2.36878029e-02 1.95589214e+01] [ 1.23155842e-01 9.92383961e-01 -2.59068097e-03 8.55551039e-01] [ 2.38265225e-02 -3.47073426e-04 9.99716048e-01 3.27407104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.272755096000004 meters Centerline goodness [0,1] 0.9999565292992523 Centerline is valid? [True, True] Translation: X:19.59, Y:0.86, Z:0.33 [[ 9.92067180e-01 -1.23462220e-01 -2.36599084e-02 1.95871431e+01] [ 1.23435534e-01 9.92349211e-01 -2.59066156e-03 8.59387845e-01] [ 2.37987403e-02 -3.50363120e-04 9.99716708e-01 3.27972169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.61, Y:0.86, Z:0.33 [[ 9.92043865e-01 -1.23649528e-01 -2.36593440e-02 1.96144651e+01] [ 1.23622734e-01 9.92325891e-01 -2.59740227e-03 8.62772082e-01] [ 2.37989471e-02 -3.48095800e-04 9.99716704e-01 3.28763957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.332755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.64, Y:0.87, Z:0.33 [[ 9.91992854e-01 -1.24219138e-01 -2.27987707e-02 1.96423068e+01] [ 1.24194328e-01 9.92254749e-01 -2.50641870e-03 8.65100218e-01] [ 2.29335337e-02 -3.45128572e-04 9.99736932e-01 3.29785170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.67, Y:0.87, Z:0.33 [[ 9.91907623e-01 -1.24966157e-01 -2.24215829e-02 1.96701661e+01] [ 1.24942196e-01 9.92160943e-01 -2.47191976e-03 8.68899994e-01] [ 2.25547251e-02 -3.49485742e-04 9.99745549e-01 3.30820621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.392755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.70, Y:0.87, Z:0.33 [[ 9.91848090e-01 -1.25469274e-01 -2.22447353e-02 1.96978341e+01] [ 1.25445665e-01 9.92097444e-01 -2.45916057e-03 8.71675678e-01] [ 2.23774942e-02 -3.51391898e-04 9.99749531e-01 3.31557791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.73, Y:0.87, Z:0.33 [[ 9.91726405e-01 -1.26491114e-01 -2.18800120e-02 1.97257372e+01] [ 1.26468473e-01 9.91967673e-01 -2.42100140e-03 8.74193765e-01] [ 2.20104997e-02 -3.66160680e-04 9.99757673e-01 3.32793033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:0.88, Z:0.33 [[ 9.91656219e-01 -1.27062245e-01 -2.17515184e-02 1.97534413e+01] [ 1.27039960e-01 9.91894675e-01 -2.40892378e-03 8.76947484e-01] [ 2.18812985e-02 -3.74487780e-04 9.99760506e-01 3.33378969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:0.88, Z:0.33 [[ 9.91586963e-01 -1.27575426e-01 -2.19044470e-02 1.97802662e+01] [ 1.27552901e-01 9.91828796e-01 -2.42818886e-03 8.78513967e-01] [ 2.20352385e-02 -3.86215327e-04 9.99757120e-01 3.33635349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.512755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:0.88, Z:0.33 [[ 9.91459994e-01 -1.28558401e-01 -2.19047543e-02 1.98090082e+01] [ 1.28536010e-01 9.91701858e-01 -2.43295397e-03 8.81963360e-01] [ 2.20357622e-02 -4.03373188e-04 9.99757102e-01 3.34033922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:0.89, Z:0.33 [[ 9.91416578e-01 -1.28939513e-01 -2.16279987e-02 1.98367132e+01] [ 1.28917655e-01 9.91652379e-01 -2.40773251e-03 8.85787323e-01] [ 2.17579083e-02 -4.01164959e-04 9.99763188e-01 3.34309061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:0.89, Z:0.33 [[ 9.91374840e-01 -1.29252070e-01 -2.16755302e-02 1.98643289e+01] [ 1.29230139e-01 9.91611687e-01 -2.41539399e-03 8.90803656e-01] [ 2.18059037e-02 -4.06570940e-04 9.99762140e-01 3.34923048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:0.89, Z:0.34 [[ 9.91409302e-01 -1.28966021e-01 -2.18027760e-02 1.98923555e+01] [ 1.28943617e-01 9.91648934e-01 -2.43619285e-03 8.93250827e-01] [ 2.19348857e-02 -3.96064545e-04 9.99759323e-01 3.35272467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:0.90, Z:0.34 [[ 9.91335476e-01 -1.29543845e-01 -2.17340044e-02 1.99199010e+01] [ 1.29521669e-01 9.91573612e-01 -2.43092415e-03 8.96380638e-01] [ 2.18657765e-02 -4.05163162e-04 9.99760833e-01 3.35708888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.95, Y:0.90, Z:0.34 [[ 9.91276960e-01 -1.29908080e-01 -2.22233806e-02 1.99479143e+01] [ 1.29884831e-01 9.91525954e-01 -2.49254688e-03 9.01003263e-01] [ 2.23588606e-02 -4.15675736e-04 9.99749923e-01 3.36014461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.692755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.97, Y:0.90, Z:0.34 [[ 9.91254170e-01 -1.30150141e-01 -2.18199762e-02 1.99749744e+01] [ 1.30127644e-01 9.91494213e-01 -2.45380085e-03 9.02854959e-01] [ 2.19537426e-02 -4.07041772e-04 9.99758905e-01 3.36519718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096000004 meters Centerline goodness [0,1] 0.9999349776756686 Centerline is valid? [True, True] Translation: X:20.00, Y:0.91, Z:0.34 [[ 9.91262474e-01 -1.30020231e-01 -2.22136732e-02 2.00023732e+01] [ 1.29996806e-01 9.91511257e-01 -2.50147962e-03 9.06342762e-01] [ 2.23503500e-02 -4.08083694e-04 9.99750116e-01 3.37134218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:0.91, Z:0.34 [[ 9.91244955e-01 -1.30115036e-01 -2.24391667e-02 2.00293125e+01] [ 1.30091010e-01 9.91498820e-01 -2.53340024e-03 9.09542822e-01] [ 2.25780408e-02 -4.07913656e-04 9.99745000e-01 3.37742691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:0.91, Z:0.34 [[ 9.91276761e-01 -1.29780360e-01 -2.29660793e-02 2.00569780e+01] [ 1.29755020e-01 9.91542683e-01 -2.59644678e-03 9.13879166e-01] [ 2.31088157e-02 -4.06166732e-04 9.99732873e-01 3.38256839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.08, Y:0.92, Z:0.34 [[ 9.91333094e-01 -1.29342499e-01 -2.30046522e-02 2.00849101e+01] [ 1.29316806e-01 9.91599902e-01 -2.60727430e-03 9.17262633e-01] [ 2.31486422e-02 -3.90210850e-04 9.99731958e-01 3.38804393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.11, Y:0.92, Z:0.34 [[ 9.91352183e-01 -1.29278375e-01 -2.25377515e-02 2.01124727e+01] [ 1.29253640e-01 9.91608269e-01 -2.55691152e-03 9.21418646e-01] [ 2.26791742e-02 -3.78286609e-04 9.99742723e-01 3.40017897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.872755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.14, Y:0.93, Z:0.34 [[ 9.91537108e-01 -1.27815337e-01 -2.27464765e-02 2.01403250e+01] [ 1.27789600e-01 9.91797925e-01 -2.58745139e-03 9.28540336e-01] [ 2.28906242e-02 -3.41209063e-04 9.99737917e-01 3.41504186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.17, Y:0.93, Z:0.34 [[ 9.91643565e-01 -1.26977749e-01 -2.27967605e-02 2.01680514e+01] [ 1.26951539e-01 9.91905515e-01 -2.59917244e-03 9.31360230e-01] [ 2.29422695e-02 -3.16631206e-04 9.99736741e-01 3.41768762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.20, Y:0.94, Z:0.34 [[ 9.91757596e-01 -1.25956864e-01 -2.34891404e-02 2.01966192e+01] [ 1.25928658e-01 9.92035675e-01 -2.68206872e-03 9.36885931e-01] [ 2.36398903e-02 -2.97993912e-04 9.99720494e-01 3.42230911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.22, Y:0.94, Z:0.34 [[ 9.91747763e-01 -1.25939042e-01 -2.39944130e-02 2.02241042e+01] [ 1.25909454e-01 9.92037937e-01 -2.74598286e-03 9.38414944e-01] [ 2.41491945e-02 -2.97801096e-04 9.99708321e-01 3.42268580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.992755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:0.94, Z:0.34 [[ 9.91729797e-01 -1.26072398e-01 -2.40366503e-02 2.02517660e+01] [ 1.26042649e-01 9.92020999e-01 -2.75475860e-03 9.43106179e-01] [ 2.41921609e-02 -2.97666901e-04 9.99707283e-01 3.43222488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.28, Y:0.95, Z:0.34 [[ 9.91690930e-01 -1.26377920e-01 -2.40358009e-02 2.02791434e+01] [ 1.26348082e-01 9.91982123e-01 -2.76215213e-03 9.46426924e-01] [ 2.41921598e-02 -2.97676123e-04 9.99707283e-01 3.43783944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.052755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.31, Y:0.95, Z:0.34 [[ 9.91690275e-01 -1.26324843e-01 -2.43399384e-02 2.03057450e+01] [ 1.26294059e-01 9.91988885e-01 -2.80406277e-03 9.48206552e-01] [ 2.44991711e-02 -2.93227835e-04 9.99699807e-01 3.43855190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.33, Y:0.95, Z:0.34 [[ 9.91662257e-01 -1.26555956e-01 -2.42808137e-02 2.03337435e+01] [ 1.26525293e-01 9.91959426e-01 -2.80120345e-03 9.53387536e-01] [ 2.44400910e-02 -2.94289336e-04 9.99701253e-01 3.44860309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.112755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.36, Y:0.96, Z:0.35 [[ 9.91584993e-01 -1.27098004e-01 -2.46028392e-02 2.03616357e+01] [ 1.27066501e-01 9.91890117e-01 -2.84597383e-03 9.57261741e-01] [ 2.47650307e-02 -3.04171747e-04 9.99693253e-01 3.45797205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.39, Y:0.96, Z:0.35 [[ 9.91518425e-01 -1.27586013e-01 -2.47593024e-02 2.03891959e+01] [ 1.27554065e-01 9.91827461e-01 -2.87185619e-03 9.60636164e-01] [ 2.49233647e-02 -3.10651343e-04 9.99689316e-01 3.46338981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.172755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.42, Y:0.96, Z:0.35 [[ 9.91287092e-01 -1.29246158e-01 -2.54033664e-02 2.04175479e+01] [ 1.29212884e-01 9.91612477e-01 -2.95391421e-03 9.61365155e-01] [ 2.55720772e-02 -3.54265200e-04 9.99672918e-01 3.46044066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:0.96, Z:0.35 [[ 9.91197954e-01 -1.29943936e-01 -2.53217272e-02 2.04454404e+01] [ 1.29911015e-01 9.91521275e-01 -2.94784643e-03 9.62966662e-01] [ 2.54900860e-02 -3.67671928e-04 9.99675007e-01 3.46756507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:0.97, Z:0.35 [[ 9.90987393e-01 -1.31501256e-01 -2.55226860e-02 2.04742876e+01] [ 1.31468242e-01 9.91315920e-01 -2.97454710e-03 9.66829906e-01] [ 2.56922016e-02 -4.07683967e-04 9.99669818e-01 3.48063857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:0.97, Z:0.35 [[ 9.90707092e-01 -1.33525499e-01 -2.58920734e-02 2.05025964e+01] [ 1.33492053e-01 9.91045271e-01 -3.02374933e-03 9.65367070e-01] [ 2.60639645e-02 -4.60736128e-04 9.99660171e-01 3.47825455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.292755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:0.97, Z:0.35 [[ 9.90611598e-01 -1.34247674e-01 -2.58113221e-02 2.05313156e+01] [ 1.34214594e-01 9.90947696e-01 -3.01766102e-03 9.67691547e-01] [ 2.59827841e-02 -4.74926110e-04 9.99662278e-01 3.48780875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:0.97, Z:0.35 [[ 9.90495474e-01 -1.35164601e-01 -2.54803400e-02 2.05596161e+01] [ 1.35132502e-01 9.90823039e-01 -2.98539368e-03 9.72163381e-01] [ 2.56500275e-02 -4.86203164e-04 9.99670866e-01 3.50397386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.352755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.59, Y:0.98, Z:0.35 [[ 9.90380222e-01 -1.36128545e-01 -2.48200470e-02 2.05885038e+01] [ 1.36098230e-01 9.90691061e-01 -2.91447832e-03 9.75251369e-01] [ 2.49857424e-02 -4.91522773e-04 9.99687687e-01 3.52119057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:0.98, Z:0.35 [[ 9.90299201e-01 -1.36759746e-01 -2.45818061e-02 2.06164818e+01] [ 1.36730039e-01 9.90604122e-01 -2.89319660e-03 9.77936733e-01] [ 2.47465113e-02 -4.95941037e-04 9.99693635e-01 3.52910796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:0.98, Z:0.35 [[ 9.90221635e-01 -1.37339084e-01 -2.44763114e-02 2.06440842e+01] [ 1.37309625e-01 9.90523965e-01 -2.88823419e-03 9.80246837e-01] [ 2.46410404e-02 -5.00841148e-04 9.99696238e-01 3.53702216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.67, Y:0.98, Z:0.36 [[ 9.90113291e-01 -1.38262499e-01 -2.36464140e-02 2.06728089e+01] [ 1.38235102e-01 9.90395493e-01 -2.79719361e-03 9.83889418e-01] [ 2.38060488e-02 -4.99225883e-04 9.99716471e-01 3.55046550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.472755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.70, Y:0.99, Z:0.36 [[ 9.90041399e-01 -1.38725799e-01 -2.39411808e-02 2.07006109e+01] [ 1.38697705e-01 9.90330698e-01 -2.83811149e-03 9.86221419e-01] [ 2.41034056e-02 -5.10738970e-04 9.99709340e-01 3.55576602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.73, Y:0.99, Z:0.36 [[ 9.89974833e-01 -1.39195386e-01 -2.39682167e-02 2.07282163e+01] [ 1.39167289e-01 9.90264800e-01 -2.84448334e-03 9.89736877e-01] [ 2.41308202e-02 -5.19624818e-04 9.99708674e-01 3.56207741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.532755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.76, Y:0.99, Z:0.36 [[ 9.89907347e-01 -1.39680066e-01 -2.39358113e-02 2.07559009e+01] [ 1.39652022e-01 9.90196548e-01 -2.84748183e-03 9.90287281e-01] [ 2.40988941e-02 -5.23941262e-04 9.99709442e-01 3.56906932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.78, Y:0.99, Z:0.36 [[ 9.89860981e-01 -1.40062453e-01 -2.36166648e-02 2.07837215e+01] [ 1.40035188e-01 9.90142533e-01 -2.81256107e-03 9.94633703e-01] [ 2.37777985e-02 -5.23119622e-04 9.99717131e-01 3.57952586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.592755096 meters Centerline goodness [0,1] 0.999891012925867 Centerline is valid? [True, True] Translation: X:20.81, Y:1.00, Z:0.36 [[ 9.89781438e-01 -1.40563583e-01 -2.39704721e-02 2.08119295e+01] [ 1.40535454e-01 9.90071509e-01 -2.86245746e-03 9.97290501e-01] [ 2.41348387e-02 -5.35493913e-04 9.99708569e-01 3.58537384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:1.00, Z:0.36 [[ 9.89717801e-01 -1.40964011e-01 -2.42450309e-02 2.08401936e+01] [ 1.40935185e-01 9.90014571e-01 -2.90219199e-03 9.99776134e-01] [ 2.44120385e-02 -5.44626840e-04 9.99701833e-01 3.59441349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.652755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:1.00, Z:0.36 [[ 9.89673303e-01 -1.41184444e-01 -2.47731111e-02 2.08684555e+01] [ 1.41154328e-01 9.89983152e-01 -2.96896656e-03 1.00265177e+00] [ 2.49441345e-02 -5.58524919e-04 9.99688691e-01 3.60182751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:1.00, Z:0.36 [[ 9.89597419e-01 -1.41638743e-01 -2.52074448e-02 2.08966065e+01] [ 1.41607497e-01 9.89918249e-01 -3.02936274e-03 1.00438264e+00] [ 2.53823848e-02 -5.71713624e-04 9.99677652e-01 3.60735641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.712755096000002 meters Centerline goodness [0,1] 0.9998245729447625 Centerline is valid? [True, True] Translation: X:20.92, Y:1.00, Z:0.36 [[ 9.89629642e-01 -1.41397531e-01 -2.52964269e-02 2.09247752e+01] [ 1.41365804e-01 9.89952738e-01 -3.04720640e-03 1.00289896e+00] [ 2.54731345e-02 -5.60443938e-04 9.99675350e-01 3.60070721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096000003 meters Centerline goodness [0,1] 0.9998905045550105 Centerline is valid? [True, True] Translation: X:20.95, Y:1.01, Z:0.36 [[ 9.89618100e-01 -1.41532430e-01 -2.49917397e-02 2.09519385e+01] [ 1.41501416e-01 9.89933465e-01 -3.01406694e-03 1.01026419e+00] [ 2.51667477e-02 -5.53591341e-04 9.99683114e-01 3.61751300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:1.01, Z:0.36 [[ 9.89631686e-01 -1.41485482e-01 -2.47180832e-02 2.09785056e+01] [ 1.41454950e-01 9.89940184e-01 -2.98825653e-03 1.01178863e+00] [ 2.48922187e-02 -5.39221857e-04 9.99689995e-01 3.62352833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096000002 meters Centerline goodness [0,1] 0.9998465652536057 Centerline is valid? [True, True] Translation: X:21.01, Y:1.01, Z:0.36 [[ 9.89642669e-01 -1.41471246e-01 -2.43572066e-02 2.10065342e+01] [ 1.41441493e-01 9.89942225e-01 -2.94876363e-03 1.01435888e+00] [ 2.45293926e-02 -5.26897358e-04 9.99698970e-01 3.62881659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.832755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:1.02, Z:0.36 [[ 9.89699935e-01 -1.41150826e-01 -2.38848026e-02 2.10340783e+01] [ 1.41121961e-01 9.89987976e-01 -2.89829969e-03 1.01641869e+00] [ 2.40547648e-02 -5.02223166e-04 9.99710516e-01 3.63763892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096000004 meters Centerline goodness [0,1] 0.9998249031495546 Centerline is valid? [True, True] Translation: X:21.06, Y:1.02, Z:0.36 [[ 9.89660882e-01 -1.41474585e-01 -2.35856180e-02 2.10617956e+01] [ 1.41446458e-01 9.89941761e-01 -2.86501495e-03 1.01907824e+00] [ 2.37537150e-02 -5.00708912e-04 9.99717715e-01 3.64526283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.892755096000002 meters Centerline goodness [0,1] 0.9999123844570027 Centerline is valid? [True, True] Translation: X:21.09, Y:1.02, Z:0.37 [[ 9.89694174e-01 -1.41212079e-01 -2.37611327e-02 2.10896459e+01] [ 1.41183276e-01 9.89979246e-01 -2.89387402e-03 1.02202447e+00] [ 2.39316782e-02 -4.90624293e-04 9.99713476e-01 3.65212407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096000003 meters Centerline goodness [0,1] 0.9998248916517095 Centerline is valid? [True, True] Translation: X:21.12, Y:1.02, Z:0.37 [[ 9.89784726e-01 -1.40538054e-01 -2.39843956e-02 2.11178013e+01] [ 1.40508337e-01 9.90075165e-01 -2.92818397e-03 1.02471593e+00] [ 2.41578757e-02 -4.71735773e-04 9.99708045e-01 3.65504161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.15, Y:1.03, Z:0.37 [[ 9.89799599e-01 -1.40351582e-01 -2.44578561e-02 2.11457925e+01] [ 1.40320515e-01 9.90101616e-01 -2.99040426e-03 1.02880863e+00] [ 2.46354708e-02 -4.72038015e-04 9.99696389e-01 3.66261980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters Centerline goodness [0,1] 0.9999561066608142 Centerline is valid? [True, True] Translation: X:21.17, Y:1.03, Z:0.37 [[ 9.90048559e-01 -1.38476414e-01 -2.50625996e-02 2.11736889e+01] [ 1.38443010e-01 9.90365639e-01 -3.07149999e-03 1.03189841e+00] [ 2.52464678e-02 -4.28807591e-04 9.99681165e-01 3.66162477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.012755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:1.04, Z:0.37 [[ 9.90122071e-01 -1.37966867e-01 -2.49685429e-02 2.12026451e+01] [ 1.37933468e-01 9.90436760e-01 -3.06327286e-03 1.03629046e+00] [ 2.51523928e-02 -4.10983645e-04 9.99683544e-01 3.66860429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.23, Y:1.04, Z:0.37 [[ 9.90233022e-01 -1.37128454e-01 -2.51862817e-02 2.12306863e+01] [ 1.37094037e-01 9.90553198e-01 -3.09634293e-03 1.03902036e+00] [ 2.53729486e-02 -3.86788019e-04 9.99677980e-01 3.67851973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.072755096 meters Centerline goodness [0,1] 0.9998019322608332 Centerline is valid? [True, True] Translation: X:21.26, Y:1.04, Z:0.37 [[ 9.90227789e-01 -1.37159377e-01 -2.52236077e-02 2.12585971e+01] [ 1.37124754e-01 9.90548918e-01 -3.10543098e-03 1.04204333e+00] [ 2.54111563e-02 -3.83696945e-04 9.99677011e-01 3.68224802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096000003 meters Centerline goodness [0,1] 0.9999560391251786 Centerline is valid? [True, True] Translation: X:21.29, Y:1.05, Z:0.37 [[ 9.90174374e-01 -1.37525669e-01 -2.53258713e-02 2.12862373e+01] [ 1.37490683e-01 9.90498128e-01 -3.12591591e-03 1.04588858e+00] [ 2.55151218e-02 -3.86869510e-04 9.99674361e-01 3.68840886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:1.05, Z:0.37 [[ 9.90152193e-01 -1.37661279e-01 -2.54559697e-02 2.13132349e+01] [ 1.37625793e-01 9.90479290e-01 -3.14916899e-03 1.04765232e+00] [ 2.56471295e-02 -3.85241443e-04 9.99670984e-01 3.69130944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters Centerline goodness [0,1] 0.9999560912423983 Centerline is valid? [True, True] Translation: X:21.34, Y:1.05, Z:0.37 [[ 9.90101715e-01 -1.38062500e-01 -2.52456062e-02 2.13407626e+01] [ 1.38027646e-01 9.90423442e-01 -3.12637980e-03 1.04910591e+00] [ 2.54354760e-02 -3.89157611e-04 9.99676390e-01 3.70516236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.192755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:1.05, Z:0.37 [[ 9.90008034e-01 -1.38749271e-01 -2.51541643e-02 2.13682426e+01] [ 1.38714803e-01 9.90327460e-01 -3.11854502e-03 1.05374551e+00] [ 2.53435555e-02 -4.01870314e-04 9.99678720e-01 3.71952545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.40, Y:1.06, Z:0.37 [[ 9.89941818e-01 -1.39288224e-01 -2.47787664e-02 2.13963301e+01] [ 1.39254748e-01 9.90251801e-01 -3.07993677e-03 1.05776727e+00] [ 2.49662170e-02 -4.01602658e-04 9.99688215e-01 3.73069575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.42, Y:1.06, Z:0.37 [[ 9.89983498e-01 -1.38941465e-01 -2.50587731e-02 2.14236955e+01] [ 1.38906934e-01 9.90300519e-01 -3.12193450e-03 1.06158722e+00] [ 2.52494821e-02 -3.90173707e-04 9.99681105e-01 3.73719989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.45, Y:1.06, Z:0.37 [[ 9.90093202e-01 -1.38251278e-01 -2.45364177e-02 2.14515153e+01] [ 1.38217900e-01 9.90397119e-01 -3.05929158e-03 1.06353479e+00] [ 2.47237484e-02 -3.62388330e-04 9.99694256e-01 3.73754544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.48, Y:1.07, Z:0.37 [[ 9.90078030e-01 -1.38371643e-01 -2.44700322e-02 2.14791450e+01] [ 1.38338401e-01 9.90380310e-01 -3.05430035e-03 1.06812091e+00] [ 2.46572666e-02 -3.61149455e-04 9.99695898e-01 3.74760557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.51, Y:1.07, Z:0.38 [[ 9.90104329e-01 -1.38176352e-01 -2.45094739e-02 2.15062759e+01] [ 1.38142759e-01 9.90407580e-01 -3.06670171e-03 1.07415357e+00] [ 2.46981144e-02 -3.49451708e-04 9.99694894e-01 3.75768625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.372755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:1.08, Z:0.38 [[ 9.90042505e-01 -1.38550189e-01 -2.48934471e-02 2.15338070e+01] [ 1.38515449e-01 9.90355349e-01 -3.12285992e-03 1.07799077e+00] [ 2.50860314e-02 -3.56362961e-04 9.99685232e-01 3.76346902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:1.08, Z:0.38 [[ 9.89973175e-01 -1.38998083e-01 -2.51524581e-02 2.15609499e+01] [ 1.38962580e-01 9.90292583e-01 -3.16246321e-03 1.08167866e+00] [ 2.53478690e-02 -3.64496719e-04 9.99678625e-01 3.76030473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.432755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:1.09, Z:0.38 [[ 9.89844548e-01 -1.39849921e-01 -2.54905849e-02 2.15899197e+01] [ 1.39813649e-01 9.90172636e-01 -3.20853133e-03 1.08687427e+00] [ 2.56887924e-02 -3.87984430e-04 9.99669913e-01 3.76710599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.62, Y:1.09, Z:0.38 [[ 9.89726422e-01 -1.40630328e-01 -2.57821717e-02 2.16180743e+01] [ 1.40593318e-01 9.90062092e-01 -3.25169364e-03 1.08893856e+00] [ 2.59832376e-02 -4.06513940e-04 9.99662296e-01 3.76173894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.492755096000003 meters Centerline goodness [0,1] 0.9999780379065732 Centerline is valid? [True, True] Translation: X:21.65, Y:1.09, Z:0.38 [[ 9.89309277e-01 -1.43521167e-01 -2.58617384e-02 2.16469957e+01] [ 1.43484820e-01 9.89647131e-01 -3.26537113e-03 1.09131506e+00] [ 2.60626450e-02 -4.80304914e-04 9.99660196e-01 3.77156376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.68, Y:1.09, Z:0.38 [[ 9.89065751e-01 -1.45139073e-01 -2.61455344e-02 2.16759196e+01] [ 1.45102292e-01 9.89411127e-01 -3.30863017e-03 1.09398058e+00] [ 2.63488942e-02 -5.21324183e-04 9.99652672e-01 3.78045420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.552755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.70, Y:1.10, Z:0.38 [[ 9.88837659e-01 -1.46723501e-01 -2.59287287e-02 2.17041515e+01] [ 1.46687709e-01 9.89177390e-01 -3.28744006e-03 1.09579686e+00] [ 2.61304569e-02 -5.52681269e-04 9.99658389e-01 3.78570663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.73, Y:1.10, Z:0.38 [[ 9.88554640e-01 -1.48582721e-01 -2.61323352e-02 2.17332312e+01] [ 1.48546917e-01 9.88899799e-01 -3.31691912e-03 1.09823663e+00] [ 2.63350979e-02 -6.02922047e-04 9.99652989e-01 3.79219015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.612755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.76, Y:1.10, Z:0.38 [[ 9.87988806e-01 -1.52357739e-01 -2.57922041e-02 2.17613627e+01] [ 1.52323981e-01 9.88325172e-01 -3.28010026e-03 1.09698289e+00] [ 2.59908332e-02 -6.88068855e-04 9.99661944e-01 3.79538974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:1.10, Z:0.38 [[ 9.87763068e-01 -1.53866552e-01 -2.54795121e-02 2.17895646e+01] [ 1.53833996e-01 9.88091379e-01 -3.24470965e-03 1.10193549e+00] [ 2.56753385e-02 -7.14610804e-04 9.99670079e-01 3.80922778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.672755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:1.10, Z:0.38 [[ 9.87306649e-01 -1.56786941e-01 -2.53660543e-02 2.18184442e+01] [ 1.56755460e-01 9.87632141e-01 -3.23718753e-03 1.10488133e+00] [ 2.55598793e-02 -7.80170740e-04 9.99672988e-01 3.81700630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:1.11, Z:0.38 [[ 9.87096058e-01 -1.58043283e-01 -2.57622375e-02 2.18458115e+01] [ 1.58011072e-01 9.87431846e-01 -3.29417049e-03 1.10670200e+00] [ 2.59590752e-02 -8.19056051e-04 9.99662671e-01 3.82408487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:1.11, Z:0.38 [[ 9.86895287e-01 -1.59336585e-01 -2.54861761e-02 2.18735713e+01] [ 1.59305417e-01 9.87223959e-01 -3.26176735e-03 1.10857834e+00] [ 2.56802826e-02 -8.41063079e-04 9.99669853e-01 3.83087273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:1.11, Z:0.38 [[ 9.86874026e-01 -1.59566003e-01 -2.48665987e-02 2.19014904e+01] [ 1.59536320e-01 9.87186919e-01 -3.18584986e-03 1.11427552e+00] [ 2.50563343e-02 -8.23093162e-04 9.99685702e-01 3.84507309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.792755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.93, Y:1.12, Z:0.38 [[ 9.86837386e-01 -1.59684748e-01 -2.55490851e-02 2.19292395e+01] [ 1.59653242e-01 9.87167703e-01 -3.28145214e-03 1.11908512e+00] [ 2.57452295e-02 -8.40734611e-04 9.99668183e-01 3.84524501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:1.12, Z:0.38 [[ 9.86723945e-01 -1.60292529e-01 -2.61182245e-02 2.19569385e+01] [ 1.60259629e-01 9.87069172e-01 -3.36164570e-03 1.12173202e+00] [ 2.63193409e-02 -8.68680660e-04 9.99653209e-01 3.84440982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.852755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:1.13, Z:0.39 [[ 9.86658220e-01 -1.60695705e-01 -2.61237076e-02 2.19850786e+01] [ 1.60662866e-01 9.87003607e-01 -3.36488961e-03 1.12524043e+00] [ 2.63249169e-02 -8.77113735e-04 9.99653055e-01 3.85191672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:1.13, Z:0.39 [[ 9.86575190e-01 -1.61261163e-01 -2.57726862e-02 2.20127149e+01] [ 1.61229296e-01 9.86911379e-01 -3.32339615e-03 1.13166528e+00] [ 2.59712920e-02 -8.76531864e-04 9.99662305e-01 3.86345573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.04, Y:1.14, Z:0.39 [[ 9.86523560e-01 -1.61576885e-01 -2.57716200e-02 2.20400731e+01] [ 1.61544911e-01 9.86859738e-01 -3.33164544e-03 1.13536031e+00] [ 2.59712911e-02 -8.76527334e-04 9.99662305e-01 3.86907308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:1.14, Z:0.39 [[ 9.86462433e-01 -1.61997353e-01 -2.54701088e-02 2.20677592e+01] [ 1.61966075e-01 9.86790809e-01 -3.29997297e-03 1.13774527e+00] [ 2.56682561e-02 -8.69994184e-04 9.99670137e-01 3.87785363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.09, Y:1.14, Z:0.39 [[ 9.86426762e-01 -1.62256728e-01 -2.51991516e-02 2.20944955e+01] [ 1.62226101e-01 9.86748199e-01 -3.26859670e-03 1.13880817e+00] [ 2.53955692e-02 -8.63728858e-04 9.99677107e-01 3.87907643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:1.15, Z:0.39 [[ 9.86376286e-01 -1.62577826e-01 -2.51052288e-02 2.21220272e+01] [ 1.62547421e-01 9.86695345e-01 -3.26075922e-03 1.14694038e+00] [ 2.53013395e-02 -8.64454621e-04 9.99679496e-01 3.88868014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.032755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:1.15, Z:0.39 [[ 9.86283428e-01 -1.63181807e-01 -2.48333986e-02 2.21497914e+01] [ 1.63152074e-01 9.86595638e-01 -3.23239998e-03 1.14909640e+00] [ 2.50279916e-02 -8.63557962e-04 9.99686378e-01 3.89758413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.18, Y:1.15, Z:0.39 [[ 9.86271725e-01 -1.63313152e-01 -2.44315172e-02 2.21777371e+01] [ 1.63284333e-01 9.86573916e-01 -3.18342513e-03 1.15362477e+00] [ 2.46233928e-02 -8.49561793e-04 9.99696437e-01 3.91208366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.21, Y:1.16, Z:0.39 [[ 9.86193141e-01 -1.63800838e-01 -2.43387418e-02 2.22051266e+01] [ 1.63772194e-01 9.86493062e-01 -3.17912282e-03 1.15703419e+00] [ 2.45307429e-02 -8.50780032e-04 9.99698714e-01 3.92423961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:1.16, Z:0.39 [[ 9.86274689e-01 -1.63259185e-01 -2.46713604e-02 2.22338455e+01] [ 1.63229389e-01 9.86582856e-01 -3.23036991e-03 1.16122693e+00] [ 2.48677287e-02 -8.41059004e-04 9.99690396e-01 3.92942759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.152755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:1.16, Z:0.39 [[ 9.86367565e-01 -1.62742688e-01 -2.43689277e-02 2.22626309e+01] [ 1.62713297e-01 9.86668211e-01 -3.19746344e-03 1.16058692e+00] [ 2.45644101e-02 -8.11274339e-04 9.99697920e-01 3.92829466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.29, Y:1.17, Z:0.39 [[ 9.86407292e-01 -1.62525851e-01 -2.42074734e-02 2.22903074e+01] [ 1.62496621e-01 9.86703966e-01 -3.18290777e-03 1.16989243e+00] [ 2.44029148e-02 -7.93989191e-04 9.99701889e-01 3.93923226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.212755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:1.17, Z:0.39 [[ 9.86493486e-01 -1.62016703e-01 -2.41078652e-02 2.23183112e+01] [ 1.61987417e-01 9.86787713e-01 -3.17573677e-03 1.16925881e+00] [ 2.43038676e-02 -7.72327173e-04 9.99704319e-01 3.93583319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:1.18, Z:0.39 [[ 9.86570623e-01 -1.61530499e-01 -2.42137264e-02 2.23459433e+01] [ 1.61500734e-01 9.86867427e-01 -3.19273025e-03 1.17856935e+00] [ 2.44114612e-02 -7.60680722e-04 9.99701706e-01 3.93821800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.37, Y:1.18, Z:0.39 [[ 9.86513970e-01 -1.61872279e-01 -2.42394680e-02 2.23738852e+01] [ 1.61842389e-01 9.86811422e-01 -3.20287531e-03 1.18492134e+00] [ 2.44382406e-02 -7.63292169e-04 9.99701050e-01 3.94785239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:1.19, Z:0.39 [[ 9.86459650e-01 -1.62203313e-01 -2.42372684e-02 2.24015436e+01] [ 1.62173347e-01 9.86757063e-01 -3.20998140e-03 1.18513243e+00] [ 2.44369654e-02 -7.64121808e-04 9.99701081e-01 3.94949118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.332755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.43, Y:1.19, Z:0.40 [[ 9.86211495e-01 -1.63763460e-01 -2.38415029e-02 2.24296511e+01] [ 1.63734808e-01 9.86499322e-01 -3.16225494e-03 1.18644045e+00] [ 2.40374883e-02 -7.85031722e-04 9.99710750e-01 3.95695648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.46, Y:1.19, Z:0.40 [[ 9.86055192e-01 -1.64770221e-01 -2.33652077e-02 2.24578019e+01] [ 1.64742920e-01 9.86331663e-01 -3.10181648e-03 1.19252408e+00] [ 2.35569311e-02 -7.90690287e-04 9.99722184e-01 3.97097085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.392755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.49, Y:1.20, Z:0.40 [[ 9.85760075e-01 -1.66732517e-01 -2.18481707e-02 2.24865508e+01] [ 1.66709001e-01 9.86001858e-01 -2.90611697e-03 1.19610158e+00] [ 2.20268811e-02 -7.77552641e-04 9.99757076e-01 3.98896505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.51, Y:1.20, Z:0.40 [[ 9.85639573e-01 -1.67493613e-01 -2.14597480e-02 2.25145224e+01] [ 1.67470983e-01 9.85872857e-01 -2.86016637e-03 1.19872029e+00] [ 2.16356427e-02 -7.74791929e-04 9.99765622e-01 3.99684473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.54, Y:1.20, Z:0.40 [[ 9.85452939e-01 -1.68638893e-01 -2.10577314e-02 2.25432626e+01] [ 1.68617297e-01 9.85677591e-01 -2.80972879e-03 1.20172879e+00] [ 2.12299635e-02 -7.81842249e-04 9.99774313e-01 4.00356950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.57, Y:1.20, Z:0.40 [[ 9.85330711e-01 -1.69455037e-01 -2.02084445e-02 2.25723250e+01] [ 1.69435212e-01 9.85537625e-01 -2.70168593e-03 1.20464021e+00] [ 2.03739967e-02 -7.61967956e-04 9.99792138e-01 4.01344007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.512755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.60, Y:1.20, Z:0.40 [[ 9.85192812e-01 -1.70351069e-01 -1.93813482e-02 2.26004727e+01] [ 1.70332905e-01 9.85383154e-01 -2.59627439e-03 1.20137182e+00] [ 1.95403321e-02 -7.43450487e-04 9.99808793e-01 4.02461370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.63, Y:1.21, Z:0.40 [[ 9.85093079e-01 -1.70893377e-01 -1.96743560e-02 2.26284472e+01] [ 1.70874732e-01 9.85289232e-01 -2.63733293e-03 1.21149340e+00] [ 1.98356339e-02 -7.63831906e-04 9.99802963e-01 4.02761230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:1.22, Z:0.40 [[ 9.85057725e-01 -1.71127447e-01 -1.94081463e-02 2.26559296e+01] [ 1.71109248e-01 9.85248613e-01 -2.60679304e-03 1.21833577e+00] [ 1.95679430e-02 -7.53071690e-04 9.99808246e-01 4.02908265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:1.22, Z:0.40 [[ 9.84988873e-01 -1.71531623e-01 -1.93345042e-02 2.26836098e+01] [ 1.71513520e-01 9.85178327e-01 -2.60306322e-03 1.22422069e+00] [ 1.94944422e-02 -7.52140571e-04 9.99809682e-01 4.03072716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:1.23, Z:0.40 [[ 9.85024988e-01 -1.71346612e-01 -1.91340457e-02 2.27117754e+01] [ 1.71328723e-01 9.85210535e-01 -2.58254661e-03 1.22620722e+00] [ 1.92935740e-02 -7.34338666e-04 9.99813592e-01 4.03727139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:1.23, Z:0.40 [[ 9.85072470e-01 -1.71085495e-01 -1.90258318e-02 2.27391651e+01] [ 1.71067722e-01 9.85255921e-01 -2.56986496e-03 1.23020552e+00] [ 1.91849800e-02 -7.23202471e-04 9.99815690e-01 4.04173074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.692755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:1.24, Z:0.40 [[ 9.85132499e-01 -1.70745167e-01 -1.89749155e-02 2.27675445e+01] [ 1.70727395e-01 9.85314965e-01 -2.56459649e-03 1.23769687e+00] [ 1.91341606e-02 -7.13070531e-04 9.99816671e-01 4.04859669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:1.24, Z:0.41 [[ 9.85332152e-01 -1.69582573e-01 -1.90342254e-02 2.27963874e+01] [ 1.69564365e-01 9.85515743e-01 -2.57824679e-03 1.24313229e+00] [ 1.91957545e-02 -6.87096874e-04 9.99815508e-01 4.05546873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:1.25, Z:0.41 [[ 9.85425594e-01 -1.69041890e-01 -1.90062678e-02 2.28252266e+01] [ 1.69023583e-01 9.85608638e-01 -2.57714124e-03 1.24831067e+00] [ 1.91683866e-02 -6.72926548e-04 9.99816043e-01 4.06667319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.85, Y:1.25, Z:0.41 [[ 9.85570868e-01 -1.68258320e-01 -1.84174577e-02 2.28537392e+01] [ 1.68240899e-01 9.85742734e-01 -2.50238153e-03 1.25325116e+00] [ 1.85759216e-02 -6.32295318e-04 9.99827253e-01 4.07211052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.88, Y:1.26, Z:0.41 [[ 9.85686047e-01 -1.67649817e-01 -1.77920196e-02 2.28820122e+01] [ 1.67633373e-01 9.85846431e-01 -2.42226981e-03 1.25858063e+00] [ 1.79462921e-02 -5.94938701e-04 9.99838775e-01 4.08252762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:1.27, Z:0.41 [[ 9.86033860e-01 -1.65660831e-01 -1.71381587e-02 2.29098469e+01] [ 1.65645192e-01 9.86182643e-01 -2.33790070e-03 1.26505201e+00] [ 1.72886532e-02 -5.33604348e-04 9.99850398e-01 4.09398693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.872755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:1.27, Z:0.41 [[ 9.86162233e-01 -1.64927638e-01 -1.68203671e-02 2.29378192e+01] [ 1.64912390e-01 9.86305540e-01 -2.29917617e-03 1.26988456e+00] [ 1.69692189e-02 -5.06526222e-04 9.99855884e-01 4.10235742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:1.27, Z:0.41 [[ 9.86248102e-01 -1.64402297e-01 -1.69282443e-02 2.29660971e+01] [ 1.64386694e-01 9.86393248e-01 -2.31865012e-03 1.27493963e+00] [ 1.70790972e-02 -4.96013829e-04 9.99854019e-01 4.10463189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.932755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.99, Y:1.28, Z:0.41 [[ 9.86347266e-01 -1.63798766e-01 -1.70010303e-02 2.29942285e+01] [ 1.63782858e-01 9.86493655e-01 -2.33333664e-03 1.28060524e+00] [ 1.71536062e-02 -4.82997125e-04 9.99852749e-01 4.10158098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:1.28, Z:0.41 [[ 9.86305633e-01 -1.64018495e-01 -1.72954160e-02 2.30208221e+01] [ 1.64001972e-01 9.86457142e-01 -2.37904360e-03 1.28359309e+00] [ 1.74513938e-02 -4.90018222e-04 9.99847593e-01 4.10626293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.992755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:1.29, Z:0.41 [[ 9.86061509e-01 -1.65445333e-01 -1.76222277e-02 2.30482742e+01] [ 1.65428362e-01 9.86218824e-01 -2.42657423e-03 1.28654636e+00] [ 1.77808381e-02 -5.22464809e-04 9.99841772e-01 4.10393255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.08, Y:1.29, Z:0.41 [[ 9.85902795e-01 -1.66381477e-01 -1.76884981e-02 2.30758584e+01] [ 1.66364498e-01 9.86061313e-01 -2.43740573e-03 1.28986517e+00] [ 1.78474829e-02 -5.39692986e-04 9.99840575e-01 4.10157794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.052755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.10, Y:1.29, Z:0.41 [[ 9.85693190e-01 -1.67611847e-01 -1.77539950e-02 2.31045472e+01] [ 1.67594919e-01 9.85852906e-01 -2.44769703e-03 1.29319608e+00] [ 1.79130906e-02 -5.62801056e-04 9.99839389e-01 4.10370361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.13, Y:1.30, Z:0.41 [[ 9.85457705e-01 -1.68998488e-01 -1.76811207e-02 2.31321533e+01] [ 1.68981834e-01 9.85616139e-01 -2.44258815e-03 1.29580054e+00] [ 1.78395916e-02 -5.80720879e-04 9.99840693e-01 4.10874768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.112755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:1.30, Z:0.41 [[ 9.85060303e-01 -1.71380621e-01 -1.68784302e-02 2.31596959e+01] [ 1.71365756e-01 9.85204715e-01 -2.33384407e-03 1.29702108e+00] [ 1.70286847e-02 -5.93407810e-04 9.99854825e-01 4.11772384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:1.30, Z:0.41 [[ 9.84862983e-01 -1.72529034e-01 -1.66924122e-02 2.31875293e+01] [ 1.72514611e-01 9.85004248e-01 -2.31103020e-03 1.30285515e+00] [ 1.68408167e-02 -6.03636902e-04 9.99858001e-01 4.12082920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.172755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:1.30, Z:0.41 [[ 9.84608543e-01 -1.73966787e-01 -1.67801356e-02 2.32154684e+01] [ 1.73952394e-01 9.84751319e-01 -2.32480183e-03 1.30143836e+00] [ 1.69286990e-02 -6.29925009e-04 9.99856501e-01 4.12893733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:1.31, Z:0.41 [[ 9.84097119e-01 -1.76842571e-01 -1.67202035e-02 2.32448777e+01] [ 1.76828664e-01 9.84238919e-01 -2.31828378e-03 1.30684995e+00] [ 1.68666463e-02 -6.75194859e-04 9.99857520e-01 4.12680526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.27, Y:1.31, Z:0.41 [[ 9.83825138e-01 -1.78356139e-01 -1.66488937e-02 2.32737314e+01] [ 1.78342569e-01 9.83965752e-01 -2.30820272e-03 1.31045235e+00] [ 1.67936233e-02 -6.98338610e-04 9.99858733e-01 4.12966847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096000003 meters Centerline goodness [0,1] 0.9999781907005147 Centerline is valid? [True, True] Translation: X:23.30, Y:1.31, Z:0.41 [[ 9.83619496e-01 -1.79485766e-01 -1.66597151e-02 2.33019847e+01] [ 1.79472255e-01 9.83760312e-01 -2.31481275e-03 1.30751099e+00] [ 1.68046425e-02 -7.13061689e-04 9.99858538e-01 4.13908584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.292755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:1.32, Z:0.41 [[ 9.83460704e-01 -1.80331856e-01 -1.68957293e-02 2.33303719e+01] [ 1.80318066e-01 9.83605550e-01 -2.34867944e-03 1.31633434e+00] [ 1.70422748e-02 -7.36771283e-04 9.99854498e-01 4.13516716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.36, Y:1.32, Z:0.41 [[ 9.83423059e-01 -1.80527383e-01 -1.69985778e-02 2.33583842e+01] [ 1.80513378e-01 9.83569680e-01 -2.36737343e-03 1.32046143e+00] [ 1.71466615e-02 -7.40341086e-04 9.99852711e-01 4.14330912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.352755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:1.33, Z:0.41 [[ 9.83454152e-01 -1.80378205e-01 -1.67819654e-02 2.33862733e+01] [ 1.80364448e-01 9.83597062e-01 -2.34224773e-03 1.32946844e+00] [ 1.69291823e-02 -7.23376663e-04 9.99856429e-01 4.14524752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:1.34, Z:0.41 [[ 9.83705574e-01 -1.78945744e-01 -1.73713718e-02 2.34143538e+01] [ 1.78930693e-01 9.83858681e-01 -2.42950553e-03 1.33693601e+00] [ 1.75257247e-02 -7.18353478e-04 9.99846155e-01 4.13989373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:1.34, Z:0.41 [[ 9.83800118e-01 -1.78379045e-01 -1.78393875e-02 2.34428019e+01] [ 1.78362986e-01 9.83961582e-01 -2.50012440e-03 1.34199234e+00] [ 1.79992418e-02 -7.22263749e-04 9.99837740e-01 4.14007832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.47, Y:1.35, Z:0.41 [[ 9.83964839e-01 -1.77457574e-01 -1.79444780e-02 2.34705413e+01] [ 1.77441076e-01 9.84128200e-01 -2.52019836e-03 1.34641306e+00] [ 1.81068951e-02 -7.04300906e-04 9.99835809e-01 4.14047287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.472755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.50, Y:1.35, Z:0.41 [[ 9.84417351e-01 -1.74823324e-01 -1.89547852e-02 2.34992823e+01] [ 1.74804370e-01 9.84599578e-01 -2.66510296e-03 1.34564058e+00] [ 1.91287957e-02 -6.89805678e-04 9.99816790e-01 4.14273936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:1.35, Z:0.41 [[ 9.84696192e-01 -1.73298596e-01 -1.84663500e-02 2.35269456e+01] [ 1.73280312e-01 9.84869121e-01 -2.59781227e-03 1.35093601e+00] [ 1.86371351e-02 -6.41799044e-04 9.99826108e-01 4.14854294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.532755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.55, Y:1.36, Z:0.42 [[ 9.84897770e-01 -1.72147918e-01 -1.84791143e-02 2.35547763e+01] [ 1.72129382e-01 9.85070917e-01 -2.60092357e-03 1.36462602e+00] [ 1.86509817e-02 -6.19154712e-04 9.99825864e-01 4.15195047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:1.37, Z:0.42 [[ 9.85378809e-01 -1.69432500e-01 -1.79229044e-02 2.35821653e+01] [ 1.69414527e-01 9.85541643e-01 -2.52745901e-03 1.37053030e+00] [ 1.80920023e-02 -5.45895822e-04 9.99836177e-01 4.15654477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.61, Y:1.38, Z:0.42 [[ 9.85561036e-01 -1.68387323e-01 -1.77525664e-02 2.36107872e+01] [ 1.68369498e-01 9.85720771e-01 -2.50472257e-03 1.37602755e+00] [ 1.79208370e-02 -5.20433712e-04 9.99839273e-01 4.16374280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:1.38, Z:0.42 [[ 9.85661656e-01 -1.67787692e-01 -1.78435073e-02 2.36391920e+01] [ 1.67769497e-01 9.85823023e-01 -2.52248966e-03 1.38069735e+00] [ 1.80137831e-02 -5.07274905e-04 9.99837610e-01 4.16778955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.652755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.67, Y:1.38, Z:0.42 [[ 9.85890191e-01 -1.66501130e-01 -1.72599382e-02 2.36664527e+01] [ 1.66483821e-01 9.86041155e-01 -2.44504269e-03 1.38375379e+00] [ 1.74261117e-02 -4.62956846e-04 9.99848047e-01 4.17705171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.69, Y:1.39, Z:0.42 [[ 9.85917274e-01 -1.66390290e-01 -1.67749780e-02 2.36940342e+01] [ 1.66373908e-01 9.86059872e-01 -2.37721616e-03 1.38772739e+00] [ 1.69366784e-02 -4.47180172e-04 9.99856464e-01 4.19001658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.712755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.72, Y:1.39, Z:0.42 [[ 9.85896759e-01 -1.66578897e-01 -1.60950715e-02 2.37211123e+01] [ 1.66563769e-01 9.86028036e-01 -2.28535227e-03 1.39328206e+00] [ 1.62508832e-02 -4.27734378e-04 9.99867854e-01 4.19383435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.75, Y:1.40, Z:0.42 [[ 9.85834431e-01 -1.66963863e-01 -1.59230343e-02 2.37487871e+01] [ 1.66949029e-01 9.85962924e-01 -2.26575861e-03 1.39712773e+00] [ 1.60778213e-02 -4.24672260e-04 9.99870653e-01 4.20083395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:1.40, Z:0.42 [[ 9.85663385e-01 -1.68047444e-01 -1.50913146e-02 2.37772591e+01] [ 1.68034178e-01 9.85778821e-01 -2.15187089e-03 1.40194782e+00] [ 1.52383147e-02 -4.14836297e-04 9.99883804e-01 4.19872486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.81, Y:1.40, Z:0.42 [[ 9.85513835e-01 -1.68934279e-01 -1.49562695e-02 2.38063418e+01] [ 1.68921289e-01 9.85627228e-01 -2.13679608e-03 1.40458522e+00] [ 1.51022846e-02 -4.20590218e-04 9.99885866e-01 4.20168244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.832755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:1.41, Z:0.42 [[ 9.85460618e-01 -1.69244489e-01 -1.49557107e-02 2.38336320e+01] [ 1.69231475e-01 9.85574008e-01 -2.14069915e-03 1.40866070e+00] [ 1.51022612e-02 -4.21402261e-04 9.99885866e-01 4.20730134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:1.41, Z:0.42 [[ 9.85081364e-01 -1.71495769e-01 -1.42796261e-02 2.38624371e+01] [ 1.71484076e-01 9.85184762e-01 -2.04843438e-03 1.41068637e+00] [ 1.44193679e-02 -4.30853966e-04 9.99895943e-01 4.21051933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.892755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.89, Y:1.41, Z:0.42 [[ 9.84851564e-01 -1.72817613e-01 -1.41940218e-02 2.38906757e+01] [ 1.72806123e-01 9.84953744e-01 -2.04128114e-03 1.41253857e+00] [ 1.43332242e-02 -4.42454946e-04 9.99897176e-01 4.21342766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:1.42, Z:0.42 [[ 9.84609959e-01 -1.74206812e-01 -1.39719742e-02 2.39198357e+01] [ 1.74195815e-01 9.84708982e-01 -2.00958951e-03 1.41567571e+00] [ 1.41084127e-02 -4.55197590e-04 9.99900368e-01 4.21291641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.95, Y:1.42, Z:0.42 [[ 9.84232214e-01 -1.76320805e-01 -1.40685105e-02 2.39485367e+01] [ 1.76309798e-01 9.84332637e-01 -2.02860952e-03 1.41574669e+00] [ 1.42057801e-02 -4.83793417e-04 9.99898976e-01 4.21437177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.98, Y:1.42, Z:0.42 [[ 9.84042566e-01 -1.77364472e-01 -1.42151977e-02 2.39766326e+01] [ 1.77353323e-01 9.84145107e-01 -2.05120583e-03 1.41614005e+00] [ 1.43536283e-02 -5.02638697e-04 9.99896855e-01 4.21875883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.012755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.01, Y:1.42, Z:0.42 [[ 9.83800482e-01 -1.78682785e-01 -1.44593794e-02 2.40050370e+01] [ 1.78671386e-01 9.83906592e-01 -2.08685062e-03 1.42076413e+00] [ 1.45995630e-02 -5.30432704e-04 9.99893280e-01 4.21815787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.03, Y:1.42, Z:0.42 [[ 9.83594798e-01 -1.79794675e-01 -1.46679497e-02 2.40326982e+01] [ 1.79782991e-01 9.83704007e-01 -2.12218250e-03 1.42192863e+00] [ 1.48104780e-02 -5.49680196e-04 9.99890168e-01 4.21391920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:1.42, Z:0.42 [[ 9.83504549e-01 -1.80274876e-01 -1.48247009e-02 2.40602874e+01] [ 1.80262973e-01 9.83616111e-01 -2.14636721e-03 1.42403479e+00] [ 1.49687508e-02 -5.61382752e-04 9.99887804e-01 4.21617967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.09, Y:1.43, Z:0.42 [[ 9.83454800e-01 -1.80502358e-01 -1.53477837e-02 2.40880601e+01] [ 1.80489620e-01 9.83574378e-01 -2.22258715e-03 1.42941854e+00] [ 1.54968691e-02 -5.84301652e-04 9.99879746e-01 4.21287839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.12, Y:1.43, Z:0.42 [[ 9.83425700e-01 -1.80592438e-01 -1.61326935e-02 2.41155561e+01] [ 1.80578277e-01 9.83557827e-01 -2.34225074e-03 1.43050436e+00] [ 1.62904298e-02 -6.09784428e-04 9.99867116e-01 4.21230677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.14, Y:1.43, Z:0.42 [[ 9.83518035e-01 -1.80047160e-01 -1.65920241e-02 2.41445013e+01] [ 1.80032044e-01 9.83657787e-01 -2.41251841e-03 1.43311016e+00] [ 1.67552409e-02 -6.14340652e-04 9.99859432e-01 4.21161100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.192755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:1.44, Z:0.42 [[ 9.83606057e-01 -1.79573064e-01 -1.65117709e-02 2.41729643e+01] [ 1.79557953e-01 9.83744457e-01 -2.40533406e-03 1.43840749e+00] [ 1.66752963e-02 -5.98918615e-04 9.99860778e-01 4.22017030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:1.44, Z:0.42 [[ 9.83954425e-01 -1.77692194e-01 -1.60989006e-02 2.42015641e+01] [ 1.77677506e-01 9.84085963e-01 -2.34959803e-03 1.43970905e+00] [ 1.62602073e-02 -5.48515133e-04 9.99867644e-01 4.22503595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.252755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:1.45, Z:0.42 [[ 9.84138940e-01 -1.76668819e-01 -1.60833703e-02 2.42299314e+01] [ 1.76653950e-01 9.84270212e-01 -2.35181372e-03 1.44738161e+00] [ 1.62458745e-02 -5.26679428e-04 9.99867888e-01 4.22431277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:1.45, Z:0.42 [[ 9.84364987e-01 -1.75387924e-01 -1.62679955e-02 2.42573914e+01] [ 1.75372451e-01 9.84499274e-01 -2.38398500e-03 1.45075729e+00] [ 1.64339519e-02 -5.06246890e-04 9.99864825e-01 4.22947753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:1.45, Z:0.42 [[ 9.84949031e-01 -1.72154061e-01 -1.54397637e-02 2.42848313e+01] [ 1.72139693e-01 9.85069945e-01 -2.26478831e-03 1.45393403e+00] [ 1.55991397e-02 -4.27095134e-04 9.99878235e-01 4.24823679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.31, Y:1.46, Z:0.42 [[ 9.85168218e-01 -1.70895955e-01 -1.54322518e-02 2.43131285e+01] [ 1.70881424e-01 9.85288997e-01 -2.26511968e-03 1.46191249e+00] [ 1.55923277e-02 -4.05561247e-04 9.99878350e-01 4.24771722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.372755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.34, Y:1.47, Z:0.43 [[ 9.85345732e-01 -1.69880601e-01 -1.53091749e-02 2.43408355e+01] [ 1.69866100e-01 9.85464579e-01 -2.25211359e-03 1.46571885e+00] [ 1.54692400e-02 -3.81399318e-04 9.99880271e-01 4.25320741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096000003 meters Centerline goodness [0,1] 0.999933733875243 Centerline is valid? [True, True] Translation: X:24.37, Y:1.47, Z:0.43 [[ 9.85595836e-01 -1.68474295e-01 -1.47397433e-02 2.43693656e+01] [ 1.68460690e-01 9.85705987e-01 -2.16873162e-03 1.47079721e+00] [ 1.48944287e-02 -3.45574462e-04 9.99889012e-01 4.25638572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.432755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.40, Y:1.48, Z:0.43 [[ 9.85545120e-01 -1.68757689e-01 -1.48881863e-02 2.43973956e+01] [ 1.68743782e-01 9.85657507e-01 -2.19451588e-03 1.47512555e+00] [ 1.50449940e-02 -3.49494435e-04 9.99886757e-01 4.26005561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.43, Y:1.48, Z:0.43 [[ 9.85523026e-01 -1.68915278e-01 -1.45600441e-02 2.44252918e+01] [ 1.68901928e-01 9.85630516e-01 -2.15063587e-03 1.47934358e+00] [ 1.47140991e-02 -3.39718361e-04 9.99891684e-01 4.26631942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.492755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:1.48, Z:0.43 [[ 9.85476848e-01 -1.69174729e-01 -1.46728727e-02 2.44522650e+01] [ 1.69161115e-01 9.85586016e-01 -2.17305156e-03 1.48198751e+00] [ 1.48290035e-02 -3.40587498e-04 9.99889986e-01 4.27378585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:1.49, Z:0.43 [[ 9.85629851e-01 -1.68359115e-01 -1.37479042e-02 2.44805597e+01] [ 1.68347072e-01 9.85725679e-01 -2.03687414e-03 1.48927905e+00] [ 1.38945885e-02 -3.06815459e-04 9.99903418e-01 4.27981360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.552755096000002 meters Centerline goodness [0,1] 0.9999558489149871 Centerline is valid? [True, True] Translation: X:24.51, Y:1.49, Z:0.43 [[ 9.85569942e-01 -1.68691246e-01 -1.39697134e-02 2.45086086e+01] [ 1.68678772e-01 9.85668893e-01 -2.07487693e-03 1.49279706e+00] [ 1.41195255e-02 -3.11457765e-04 9.99900266e-01 4.28258381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.54, Y:1.50, Z:0.43 [[ 9.85566454e-01 -1.68737772e-01 -1.36502089e-02 2.45355860e+01] [ 1.68725870e-01 9.85660931e-01 -2.02726589e-03 1.49912699e+00] [ 1.37965540e-02 -3.05138123e-04 9.99904776e-01 4.29133824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.612755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:1.50, Z:0.43 [[ 9.85433833e-01 -1.69521948e-01 -1.35081780e-02 2.45637825e+01] [ 1.69510286e-01 9.85526364e-01 -2.01195834e-03 1.50114794e+00] [ 1.36537366e-02 -3.07123298e-04 9.99906736e-01 4.30020736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.59, Y:1.51, Z:0.43 [[ 9.85264693e-01 -1.70479218e-01 -1.37956733e-02 2.45923848e+01] [ 1.70467145e-01 9.85361218e-01 -2.05499157e-03 1.50695201e+00] [ 1.39440548e-02 -3.26998414e-04 9.99902723e-01 4.30498849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.672755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.62, Y:1.51, Z:0.43 [[ 9.85203111e-01 -1.70912556e-01 -1.27956054e-02 2.46199992e+01] [ 1.70902147e-01 9.85286154e-01 -1.91066437e-03 1.51201377e+00] [ 1.29338894e-02 -3.04403960e-04 9.99916307e-01 4.31253366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.65, Y:1.52, Z:0.43 [[ 9.84992347e-01 -1.72103011e-01 -1.30625645e-02 2.46487246e+01] [ 1.72092267e-01 9.85078904e-01 -1.95059058e-03 1.51637898e+00] [ 1.32033592e-02 -3.26649551e-04 9.99912778e-01 4.31123254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.68, Y:1.52, Z:0.43 [[ 9.84778163e-01 -1.73286595e-01 -1.35545200e-02 2.46778712e+01] [ 1.73275082e-01 9.84871379e-01 -2.02813680e-03 1.51995836e+00] [ 1.37009078e-02 -3.51395745e-04 9.99906076e-01 4.31181026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.71, Y:1.52, Z:0.43 [[ 9.84516022e-01 -1.74758018e-01 -1.37053567e-02 2.47061062e+01] [ 1.74746335e-01 9.84611343e-01 -2.05466435e-03 1.52400789e+00] [ 1.38535187e-02 -3.72110883e-04 9.99903966e-01 4.31132692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.792755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:1.53, Z:0.43 [[ 9.84096700e-01 -1.77025823e-01 -1.46814193e-02 2.47346045e+01] [ 1.77012600e-01 9.84206114e-01 -2.20558671e-03 1.52800539e+00] [ 1.48399884e-02 -4.28285602e-04 9.99889790e-01 4.30624309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:1.53, Z:0.43 [[ 9.83931019e-01 -1.77949517e-01 -1.46191128e-02 2.47618993e+01] [ 1.77936433e-01 9.84039522e-01 -2.20132335e-03 1.53034218e+00] [ 1.47775092e-02 -4.35322461e-04 9.99890712e-01 4.31131907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.852755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:1.53, Z:0.43 [[ 9.83799957e-01 -1.78663914e-01 -1.47258114e-02 2.47906619e+01] [ 1.78650704e-01 9.83910059e-01 -2.21833287e-03 1.53475746e+00] [ 1.48852100e-02 -4.48380803e-04 9.99889109e-01 4.31519216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:1.54, Z:0.43 [[ 9.83686481e-01 -1.79263827e-01 -1.50129301e-02 2.48182050e+01] [ 1.79250091e-01 9.83800929e-01 -2.26658459e-03 1.53925907e+00] [ 1.51760513e-02 -4.61460476e-04 9.99884731e-01 4.31788610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:1.55, Z:0.43 [[ 9.83676827e-01 -1.79357743e-01 -1.45154968e-02 2.48455133e+01] [ 1.79344898e-01 9.83783818e-01 -2.19253647e-03 1.54550578e+00] [ 1.46733592e-02 -4.46532959e-04 9.99892241e-01 4.32201880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.87, Y:1.55, Z:0.43 [[ 9.83720629e-01 -1.79140505e-01 -1.42268748e-02 2.48730855e+01] [ 1.79128063e-01 9.83823407e-01 -2.15447354e-03 1.54912630e+00] [ 1.43826859e-02 -4.29032442e-04 9.99896472e-01 4.33220640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:1.55, Z:0.43 [[ 9.83785066e-01 -1.78776669e-01 -1.43473840e-02 2.49018892e+01] [ 1.78763955e-01 9.83889588e-01 -2.17417606e-03 1.55399949e+00] [ 1.45049336e-02 -4.25873166e-04 9.99894707e-01 4.34255734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:1.56, Z:0.43 [[ 9.84128406e-01 -1.76892826e-01 -1.41495495e-02 2.49291475e+01] [ 1.76880194e-01 9.84230043e-01 -2.14922074e-03 1.55988559e+00] [ 1.43065934e-02 -3.87665874e-04 9.99897580e-01 4.34887346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.032755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:1.57, Z:0.44 [[ 9.84240806e-01 -1.76209442e-01 -1.48414229e-02 2.49578196e+01] [ 1.76195457e-01 9.84352618e-01 -2.25493010e-03 1.56537711e+00] [ 1.50065335e-02 -3.95597073e-04 9.99887317e-01 4.35441959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:1.57, Z:0.44 [[ 9.84318554e-01 -1.75829188e-01 -1.41802735e-02 2.49858651e+01] [ 1.75816329e-01 9.84420622e-01 -2.15818421e-03 1.57071106e+00] [ 1.43388254e-02 -3.68782867e-04 9.99897126e-01 4.35603979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.01, Y:1.58, Z:0.44 [[ 9.84572209e-01 -1.74468898e-01 -1.33479561e-02 2.50142482e+01] [ 1.74457334e-01 9.84662631e-01 -2.03493289e-03 1.57810062e+00] [ 1.34982661e-02 -3.25110460e-04 9.99908841e-01 4.36924809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:1.58, Z:0.44 [[ 9.84624419e-01 -1.74162927e-01 -1.34918099e-02 2.50425874e+01] [ 1.74151030e-01 9.84716798e-01 -2.06075245e-03 1.58294679e+00] [ 1.36445185e-02 -3.20545399e-04 9.99906858e-01 4.37999714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.152755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.07, Y:1.59, Z:0.44 [[ 9.84536008e-01 -1.74677499e-01 -1.32898397e-02 2.50702411e+01] [ 1.74665957e-01 9.84625649e-01 -2.03326406e-03 1.58610683e+00] [ 1.34406825e-02 -3.19460885e-04 9.99909619e-01 4.38571533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.10, Y:1.59, Z:0.44 [[ 9.84536190e-01 -1.74688464e-01 -1.31313176e-02 2.50979793e+01] [ 1.74677141e-01 9.84623706e-01 -2.01319318e-03 1.59111822e+00] [ 1.32810883e-02 -3.11679484e-04 9.99911754e-01 4.39624842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.212755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:1.60, Z:0.44 [[ 9.84618607e-01 -1.74295896e-01 -1.21301112e-02 2.51242034e+01] [ 1.74286152e-01 9.84693284e-01 -1.86395089e-03 1.59644953e+00] [ 1.22693180e-02 -2.78829674e-04 9.99924690e-01 4.40814582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:1.60, Z:0.44 [[ 9.84577438e-01 -1.74474133e-01 -1.28858756e-02 2.51512579e+01] [ 1.74463104e-01 9.84661713e-01 -1.98377822e-03 1.59956927e+00] [ 1.30343464e-02 -2.94926592e-04 9.99915006e-01 4.40553580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.272755096000004 meters Centerline goodness [0,1] 0.999956234408508 Centerline is valid? [True, True] Translation: X:25.18, Y:1.60, Z:0.44 [[ 9.84436754e-01 -1.75239288e-01 -1.32464982e-02 2.51786808e+01] [ 1.75227694e-01 9.84525822e-01 -2.03995315e-03 1.60423533e+00] [ 1.33989995e-02 -3.12948474e-04 9.99910180e-01 4.40696517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.21, Y:1.61, Z:0.44 [[ 9.84364561e-01 -1.75642324e-01 -1.32734614e-02 2.52061355e+01] [ 1.75630662e-01 9.84453998e-01 -2.04832133e-03 1.61057723e+00] [ 1.34268841e-02 -3.14931897e-04 9.99909806e-01 4.40955808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.332755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:1.61, Z:0.44 [[ 9.84097873e-01 -1.77116531e-01 -1.34577327e-02 2.52350854e+01] [ 1.77104617e-01 9.84189830e-01 -2.08149955e-03 1.61480600e+00] [ 1.36136316e-02 -3.35027310e-04 9.99907274e-01 4.40573706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.26, Y:1.62, Z:0.44 [[ 9.84048167e-01 -1.77423822e-01 -1.30380870e-02 2.52621655e+01] [ 1.77412624e-01 9.84134483e-01 -2.01978383e-03 1.62079603e+00] [ 1.31895887e-02 -3.25556643e-04 9.99912961e-01 4.41610232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.392755096000002 meters Centerline goodness [0,1] 0.9999562956164503 Centerline is valid? [True, True] Translation: X:25.29, Y:1.63, Z:0.44 [[ 9.83921072e-01 -1.78145283e-01 -1.27899473e-02 2.52901049e+01] [ 1.78134494e-01 9.84004143e-01 -1.98702916e-03 1.62555961e+00] [ 1.29393410e-02 -3.23250934e-04 9.99916231e-01 4.42021065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.32, Y:1.63, Z:0.44 [[ 9.83390998e-01 -1.80979208e-01 -1.37357559e-02 2.53181986e+01] [ 1.80967019e-01 9.83486847e-01 -2.13550394e-03 1.62749457e+00] [ 1.38954170e-02 -3.85683443e-04 9.99903380e-01 4.41273726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:1.63, Z:0.44 [[ 9.83026450e-01 -1.82872835e-01 -1.47148036e-02 2.53472248e+01] [ 1.82859049e-01 9.83136477e-01 -2.28832768e-03 1.63119119e+00] [ 1.48851331e-02 -4.41248365e-04 9.99889113e-01 4.41565131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:1.64, Z:0.44 [[ 9.82889501e-01 -1.83674766e-01 -1.38495372e-02 2.53752010e+01] [ 1.83662584e-01 9.82986979e-01 -2.15734258e-03 1.63648066e+00] [ 1.40101642e-02 -4.23212417e-04 9.99901763e-01 4.42543518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.512755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:1.64, Z:0.44 [[ 9.82543440e-01 -1.85472821e-01 -1.44298622e-02 2.54031585e+01] [ 1.85459711e-01 9.82649286e-01 -2.25309529e-03 1.64002615e+00] [ 1.45973818e-02 -4.62394093e-04 9.99893346e-01 4.41957937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:1.64, Z:0.44 [[ 9.82358250e-01 -1.86438872e-01 -1.45882017e-02 2.54316003e+01] [ 1.86425573e-01 9.82466445e-01 -2.27831203e-03 1.64426013e+00] [ 1.47571846e-02 -4.81495251e-04 9.99890991e-01 4.42063085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:1.65, Z:0.44 [[ 9.82236674e-01 -1.87079345e-01 -1.45751277e-02 2.54602129e+01] [ 1.87066081e-01 9.82344686e-01 -2.28023352e-03 1.65117938e+00] [ 1.47443839e-02 -4.86783041e-04 9.99891177e-01 4.41798155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.49, Y:1.65, Z:0.44 [[ 9.82169775e-01 -1.87442174e-01 -1.44209717e-02 2.54878232e+01] [ 1.87429154e-01 9.82275521e-01 -2.26121290e-03 1.65419996e+00] [ 1.45892142e-02 -4.82015566e-04 9.99893456e-01 4.42401606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:1.66, Z:0.44 [[ 9.82079212e-01 -1.87929250e-01 -1.42484165e-02 2.55150981e+01] [ 1.87916590e-01 9.82182449e-01 -2.23427338e-03 1.65934098e+00] [ 1.44144299e-02 -4.83280394e-04 9.99895990e-01 4.42693414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.54, Y:1.66, Z:0.44 [[ 9.82172981e-01 -1.87450094e-01 -1.40959877e-02 2.55421580e+01] [ 1.87437572e-01 9.82274017e-01 -2.21611964e-03 1.66425716e+00] [ 1.42615343e-02 -4.65504873e-04 9.99898191e-01 4.43999199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.692755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.57, Y:1.67, Z:0.44 [[ 9.82300051e-01 -1.86790713e-01 -1.39942500e-02 2.55698659e+01] [ 1.86778284e-01 9.82399626e-01 -2.20149779e-03 1.66870222e+00] [ 1.41591653e-02 -4.51290606e-04 9.99899652e-01 4.44851033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:1.67, Z:0.45 [[ 9.82244465e-01 -1.87082797e-01 -1.39942399e-02 2.55970952e+01] [ 1.87070398e-01 9.82344043e-01 -2.20156357e-03 1.67316982e+00] [ 1.41590329e-02 -4.55434393e-04 9.99899652e-01 4.45414132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.752755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:1.68, Z:0.45 [[ 9.82401393e-01 -1.86265616e-01 -1.38788887e-02 2.56248025e+01] [ 1.86253261e-01 9.82499329e-01 -2.18892240e-03 1.67811139e+00] [ 1.40437199e-02 -4.34587863e-04 9.99901288e-01 4.46107196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:1.68, Z:0.45 [[ 9.82578023e-01 -1.85328077e-01 -1.39259744e-02 2.56534850e+01] [ 1.85315540e-01 9.82676613e-01 -2.19662169e-03 1.68351470e+00] [ 1.40918251e-02 -4.22347274e-04 9.99900616e-01 4.46740299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:1.69, Z:0.45 [[ 9.83036916e-01 -1.82938738e-01 -1.31087564e-02 2.56821840e+01] [ 1.82927374e-01 9.83124248e-01 -2.07094660e-03 1.69079247e+00] [ 1.32663927e-02 -3.62133426e-04 9.99911932e-01 4.47850209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:1.70, Z:0.45 [[ 9.83253883e-01 -1.81782396e-01 -1.29214022e-02 2.57103980e+01] [ 1.81771216e-01 9.83338724e-01 -2.04432253e-03 1.70031961e+00] [ 1.30777370e-02 -3.38650929e-04 9.99914425e-01 4.47777777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.872755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:1.71, Z:0.45 [[ 9.83676243e-01 -1.79503654e-01 -1.26287903e-02 2.57383096e+01] [ 1.79492747e-01 9.83757261e-01 -2.00111742e-03 1.70529368e+00] [ 1.27828721e-02 -2.98324596e-04 9.99918251e-01 4.49143068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.77, Y:1.71, Z:0.45 [[ 9.83802938e-01 -1.78796391e-01 -1.27917660e-02 2.57668193e+01] [ 1.78785093e-01 9.83886054e-01 -2.03064051e-03 1.71198431e+00] [ 1.29487113e-02 -2.89226969e-04 9.99916120e-01 4.49157583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.932755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:1.72, Z:0.45 [[ 9.83947192e-01 -1.78003778e-01 -1.27506543e-02 2.57949482e+01] [ 1.77992440e-01 9.84029766e-01 -2.02766496e-03 1.71778663e+00] [ 1.29079554e-02 -2.74404836e-04 9.99916651e-01 4.49005941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:1.72, Z:0.45 [[ 9.84051266e-01 -1.77384511e-01 -1.33357226e-02 2.58229167e+01] [ 1.77371981e-01 9.84141586e-01 -2.12602692e-03 1.71805380e+00] [ 1.35013634e-02 -2.73264050e-04 9.99908815e-01 4.50773147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.992755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:1.72, Z:0.45 [[ 9.84263207e-01 -1.76234920e-01 -1.29303048e-02 2.58515704e+01] [ 1.76223028e-01 9.84348105e-01 -2.06228624e-03 1.72472386e+00] [ 1.30913679e-02 -2.48785013e-04 9.99914273e-01 4.50440043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096000004 meters Centerline goodness [0,1] 0.9999349353691334 Centerline is valid? [True, True] Translation: X:25.88, Y:1.73, Z:0.45 [[ 9.84244382e-01 -1.76336784e-01 -1.29744365e-02 2.58798090e+01] [ 1.76324811e-01 9.84329861e-01 -2.07004537e-03 1.72867207e+00] [ 1.31361505e-02 -2.50284547e-04 9.99913686e-01 4.51048290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.052755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.91, Y:1.73, Z:0.45 [[ 9.84243835e-01 -1.76359954e-01 -1.26980273e-02 2.59072543e+01] [ 1.76348420e-01 9.84325713e-01 -2.03120261e-03 1.73137099e+00] [ 1.28572176e-02 -2.40078410e-04 9.99917314e-01 4.51684224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:1.74, Z:0.45 [[ 9.84348807e-01 -1.75812589e-01 -1.21391891e-02 2.59350087e+01] [ 1.75802006e-01 9.84423630e-01 -1.94184218e-03 1.73783880e+00] [ 1.22915049e-02 -2.22643749e-04 9.99924432e-01 4.51525325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.112755096000004 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:25.96, Y:1.74, Z:0.45 [[ 9.84521434e-01 -1.74880924e-01 -1.15848615e-02 2.59625369e+01] [ 1.74871158e-01 9.84589571e-01 -1.85859387e-03 1.74138074e+00] [ 1.17313664e-02 -1.96032627e-04 9.99931166e-01 4.53444965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:1.75, Z:0.45 [[ 9.84627130e-01 -1.74285774e-01 -1.15707930e-02 2.59909589e+01] [ 1.74275993e-01 9.84695097e-01 -1.85600986e-03 1.74705599e+00] [ 1.17171793e-02 -1.89033784e-04 9.99931334e-01 4.53134432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.172755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:1.75, Z:0.45 [[ 9.84868628e-01 -1.72925045e-01 -1.14330443e-02 2.60196306e+01] [ 1.72915369e-01 9.84934973e-01 -1.83693260e-03 1.75329916e+00] [ 1.15784568e-02 -1.67811785e-04 9.99932953e-01 4.53052699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096000004 meters Centerline goodness [0,1] 0.9999781821355326 Centerline is valid? [True, True] Translation: X:26.05, Y:1.76, Z:0.45 [[ 9.85082073e-01 -1.71738370e-01 -1.09197741e-02 2.60471383e+01] [ 1.71729421e-01 9.85142585e-01 -1.75896376e-03 1.75896346e+00] [ 1.10596161e-02 -1.42522818e-04 9.99938830e-01 4.54842078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:1.77, Z:0.46 [[ 9.85240557e-01 -1.70855192e-01 -1.04665604e-02 2.60747096e+01] [ 1.70846934e-01 9.85296142e-01 -1.68470770e-03 1.76516233e+00] [ 1.06005026e-02 -1.28337391e-04 9.99943805e-01 4.55070549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096000003 meters Centerline goodness [0,1] 0.9999129014697877 Centerline is valid? [True, True] Translation: X:26.10, Y:1.77, Z:0.46 [[ 9.85541380e-01 -1.69190818e-01 -9.09154471e-03 2.61013781e+01] [ 1.69184478e-01 9.85583309e-01 -1.46754952e-03 1.77047940e+00] [ 9.20877062e-03 -9.18174599e-05 9.99957594e-01 4.57378319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.292755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.13, Y:1.78, Z:0.46 [[ 9.85511779e-01 -1.69348254e-01 -9.36490719e-03 2.61287063e+01] [ 1.69341540e-01 9.85556269e-01 -1.51114938e-03 1.77570632e+00] [ 9.48555350e-03 -9.66122818e-05 9.99955006e-01 4.57328980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:1.78, Z:0.46 [[ 9.85438964e-01 -1.69757803e-01 -9.60924312e-03 2.61563216e+01] [ 1.69750721e-01 9.85485808e-01 -1.55377354e-03 1.78063367e+00] [ 9.73353790e-03 -1.00026961e-04 9.99952623e-01 4.57309673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.352755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.18, Y:1.79, Z:0.46 [[ 9.85442819e-01 -1.69776446e-01 -8.85491766e-03 2.61834623e+01] [ 1.69770389e-01 9.85482598e-01 -1.43673212e-03 1.78515957e+00] [ 8.97029053e-03 -8.74854682e-05 9.99959762e-01 4.58078685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:1.79, Z:0.46 [[ 9.85487694e-01 -1.69562620e-01 -7.90709263e-03 2.62113381e+01] [ 1.69557801e-01 9.85519412e-01 -1.28076879e-03 1.79163643e+00] [ 8.00976379e-03 -7.85273527e-05 9.99967918e-01 4.58682612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.412755096000005 meters Centerline goodness [0,1] 0.9999781973575197 Centerline is valid? [True, True] Translation: X:26.24, Y:1.80, Z:0.46 [[ 9.85445689e-01 -1.69784271e-01 -8.37233340e-03 2.62390025e+01] [ 1.69778827e-01 9.85481250e-01 -1.36190142e-03 1.79624800e+00] [ 8.48200703e-03 -7.93650629e-05 9.99964024e-01 4.59093261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096000003 meters Centerline goodness [0,1] 0.9998471448848127 Centerline is valid? [True, True] Translation: X:26.27, Y:1.80, Z:0.46 [[ 9.85454570e-01 -1.69686395e-01 -9.26383181e-03 2.62668569e+01] [ 1.69679734e-01 9.85498107e-01 -1.50605246e-03 1.80242740e+00] [ 9.38504533e-03 -8.77382341e-05 9.99955956e-01 4.58317349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.472755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.29, Y:1.81, Z:0.46 [[ 9.85285667e-01 -1.70631995e-01 -9.84255327e-03 2.62933469e+01] [ 1.70624485e-01 9.85334822e-01 -1.60396858e-03 1.80621094e+00] [ 9.97189883e-03 -9.90133281e-05 9.99950274e-01 4.58236970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:1.81, Z:0.46 [[ 9.85061517e-01 -1.71898651e-01 -1.02304189e-02 2.63215815e+01] [ 1.71890591e-01 9.85114633e-01 -1.66854173e-03 1.81033911e+00] [ 1.03649555e-02 -1.14896510e-04 9.99946276e-01 4.58324192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.532755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.35, Y:1.82, Z:0.46 [[ 9.84833751e-01 -1.73268388e-01 -8.97492503e-03 2.63492036e+01] [ 1.73262199e-01 9.84874639e-01 -1.46848037e-03 1.81537733e+00] [ 9.09361728e-03 -1.08806221e-04 9.99958646e-01 4.59988973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.38, Y:1.82, Z:0.46 [[ 9.84507598e-01 -1.75094232e-01 -9.31665518e-03 2.63781534e+01] [ 1.75087653e-01 9.84551671e-01 -1.52349363e-03 1.81867652e+00] [ 9.43948337e-03 -1.31340238e-04 9.99955438e-01 4.60051770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:1.82, Z:0.46 [[ 9.84196798e-01 -1.76855514e-01 -8.87641221e-03 2.64064922e+01] [ 1.76849594e-01 9.84236815e-01 -1.45371490e-03 1.82347000e+00] [ 8.99358918e-03 -1.39048344e-04 9.99959547e-01 4.61037663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.43, Y:1.83, Z:0.46 [[ 9.83576816e-01 -1.80346193e-01 -7.20402391e-03 2.64348401e+01] [ 1.80342380e-01 9.83603188e-01 -1.18079086e-03 1.82806939e+00] [ 7.29885203e-03 -1.37792298e-04 9.99973354e-01 4.62800363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.652755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.46, Y:1.83, Z:0.46 [[ 9.83132993e-01 -1.82769120e-01 -6.70573601e-03 2.64623657e+01] [ 1.82765848e-01 9.83155852e-01 -1.10277709e-03 1.82966669e+00] [ 6.79433720e-03 -1.41402985e-04 9.99976908e-01 4.64461363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:1.83, Z:0.47 [[ 9.82524631e-01 -1.86038970e-01 -5.90347232e-03 2.64905677e+01] [ 1.86036504e-01 9.82542355e-01 -9.69049251e-04 1.83435494e+00] [ 5.98069252e-03 -1.46146592e-04 9.99982105e-01 4.65242664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.712755096000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:1.84, Z:0.47 [[ 9.82232738e-01 -1.87577156e-01 -5.80158731e-03 2.65185952e+01] [ 1.87574777e-01 9.82249860e-01 -9.56364432e-04 1.83830094e+00] [ 5.87800045e-03 -1.48858993e-04 9.99982713e-01 4.65632428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:1.84, Z:0.46 [[ 9.81786131e-01 -1.89873423e-01 -6.63902528e-03 2.65473583e+01] [ 1.89870370e-01 9.81808560e-01 -1.09288255e-03 1.84296309e+00] [ 6.72576120e-03 -1.87577255e-04 9.99977364e-01 4.64395781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.58, Y:1.84, Z:0.47 [[ 9.81415279e-01 -1.91776592e-01 -6.76677429e-03 2.65752825e+01] [ 1.91773440e-01 9.81438586e-01 -1.11765588e-03 1.84482447e+00] [ 6.85551362e-03 -2.00803023e-04 9.99976481e-01 4.65665778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096000002 meters Centerline goodness [0,1] 0.9999349339579673 Centerline is valid? [True, True] Translation: X:26.60, Y:1.85, Z:0.46 [[ 9.80774994e-01 -1.95026549e-01 -6.71240716e-03 2.66042615e+01] [ 1.95023508e-01 9.80797939e-01 -1.11107999e-03 1.85235262e+00] [ 6.80020521e-03 -2.19357717e-04 9.99976854e-01 4.64135273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.832755096000003 meters Centerline goodness [0,1] 0.999869528344967 Centerline is valid? [True, True] Translation: X:26.63, Y:1.86, Z:0.46 [[ 9.80481882e-01 -1.96485542e-01 -6.97923720e-03 2.66324958e+01] [ 1.96482312e-01 9.80506692e-01 -1.15233239e-03 1.85738760e+00] [ 7.06960543e-03 -2.41455632e-04 9.99974981e-01 4.63639496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096000004 meters Centerline goodness [0,1] 0.9996087806998478 Centerline is valid? [True, True] Translation: X:26.66, Y:1.86, Z:0.46 [[ 9.80025630e-01 -1.98708853e-01 -8.03468400e-03 2.66603425e+01] [ 1.98704602e-01 9.80058522e-01 -1.33200051e-03 1.86074551e+00] [ 8.13914082e-03 -2.91134047e-04 9.99966834e-01 4.63037400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.892755096000002 meters Centerline goodness [0,1] 0.9998697351280937 Centerline is valid? [True, True] Translation: X:26.69, Y:1.86, Z:0.46 [[ 9.79734966e-01 -2.00091874e-01 -9.09052858e-03 2.66881465e+01] [ 2.00086480e-01 9.79777080e-01 -1.50824139e-03 1.86397080e+00] [ 9.20847839e-03 -3.41215040e-04 9.99957543e-01 4.62604006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096000003 meters Centerline goodness [0,1] 0.999869709669714 Centerline is valid? [True, True] Translation: X:26.72, Y:1.87, Z:0.46 [[ 9.79393171e-01 -2.01710705e-01 -1.00899514e-02 2.67165384e+01] [ 2.01704152e-01 9.79445065e-01 -1.67348761e-03 1.86844405e+00] [ 1.02201135e-02 -3.96182762e-04 9.99947695e-01 4.62085186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.952755096000004 meters Centerline goodness [0,1] 0.9999347584977056 Centerline is valid? [True, True] Translation: X:26.74, Y:1.87, Z:0.46 [[ 9.79302226e-01 -2.02084588e-01 -1.13565112e-02 2.67426877e+01] [ 2.02076261e-01 9.79367970e-01 -1.88796452e-03 1.87499780e+00] [ 1.15037319e-02 -4.45993471e-04 9.99933730e-01 4.61251677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755096 meters Centerline goodness [0,1] 0.9998261965282756 Centerline is valid? [True, True] Translation: X:26.77, Y:1.88, Z:0.46 [[ 9.79102747e-01 -2.02970016e-01 -1.26878953e-02 2.67712800e+01] [ 2.02959660e-01 9.79184822e-01 -2.11208696e-03 1.88090008e+00] [ 1.28524848e-02 -5.07180767e-04 9.99917275e-01 4.59809517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.012755096000003 meters Centerline goodness [0,1] 0.999934809535192 Centerline is valid? [True, True] Translation: X:26.80, Y:1.89, Z:0.46 [[ 9.78832786e-01 -2.04048722e-01 -1.58270858e-02 2.67994639e+01] [ 2.04032655e-01 9.78960522e-01 -2.64046711e-03 1.88759582e+00] [ 1.60328762e-02 -6.44666573e-04 9.99871257e-01 4.57532174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096000004 meters Centerline goodness [0,1] 0.9998261134175234 Centerline is valid? [True, True] Translation: X:26.83, Y:1.90, Z:0.46 [[ 9.78877406e-01 -2.03764276e-01 -1.67076074e-02 2.68278276e+01] [ 2.03746246e-01 9.79019749e-01 -2.79235252e-03 1.89552498e+00] [ 1.69260593e-02 -6.70741498e-04 9.99856519e-01 4.56713989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.072755096 meters Centerline goodness [0,1] 0.9998480540059476 Centerline is valid? [True, True] Translation: X:26.86, Y:1.90, Z:0.46 [[ 9.78820186e-01 -2.03941265e-01 -1.78606991e-02 2.68556239e+01] [ 2.03920592e-01 9.78982865e-01 -2.99047141e-03 1.90082128e+00] [ 1.80951989e-02 -7.15030564e-04 9.99836013e-01 4.56282346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096000003 meters Centerline goodness [0,1] 0.9999349170191995 Centerline is valid? [True, True] Translation: X:26.88, Y:1.91, Z:0.46 [[ 9.78879275e-01 -2.03571785e-01 -1.88120727e-02 2.68845319e+01] [ 2.03548659e-01 9.79059743e-01 -3.15628398e-03 1.90610236e+00] [ 1.90606735e-02 -7.39551208e-04 9.99818055e-01 4.55997046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.132755096000004 meters Centerline goodness [0,1] 0.9999349678090654 Centerline is valid? [True, True] Translation: X:26.91, Y:1.91, Z:0.45 [[ 9.79119856e-01 -2.02168315e-01 -2.12668990e-02 2.69121048e+01] [ 2.02138293e-01 9.79350465e-01 -3.57443903e-03 1.91484110e+00] [ 2.15503857e-02 -7.99050419e-04 9.99767444e-01 4.54417432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096000005 meters Centerline goodness [0,1] 0.9998485078018482 Centerline is valid? [True, True] Translation: X:26.94, Y:1.92, Z:0.45 [[ 9.79241583e-01 -2.01466246e-01 -2.22996331e-02 2.69407714e+01] [ 2.01432907e-01 9.79495118e-01 -3.75457816e-03 1.92149715e+00] [ 2.25988025e-02 -8.15240869e-04 9.99744282e-01 4.53875389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.192755096000003 meters Centerline goodness [0,1] 0.9997621158711966 Centerline is valid? [True, True] Translation: X:26.97, Y:1.93, Z:0.45 [[ 9.79419490e-01 -2.00504767e-01 -2.31365764e-02 2.69685103e+01] [ 2.00468475e-01 9.79692386e-01 -3.90128909e-03 1.92592453e+00] [ 2.34489548e-02 -8.17155614e-04 9.99724701e-01 4.53703586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096000004 meters Centerline goodness [0,1] 0.9997613779339668 Centerline is valid? [True, True] Translation: X:27.00, Y:1.94, Z:0.45 [[ 9.79861112e-01 -1.98195462e-01 -2.43055607e-02 2.69965832e+01] [ 1.98154620e-01 9.80162192e-01 -4.10162738e-03 1.93676921e+00] [ 2.46363156e-02 -7.97233980e-04 9.99696162e-01 4.53768972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.252755096000005 meters Centerline goodness [0,1] 0.9997191982028685 Centerline is valid? [True, True] Translation: X:27.02, Y:1.94, Z:0.45 [[ 9.80119508e-01 -1.96794404e-01 -2.52529534e-02 2.70240566e+01] [ 1.96749696e-01 9.80444463e-01 -4.26757088e-03 1.94226200e+00] [ 2.55989524e-02 -7.85781424e-04 9.99671984e-01 4.53073535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096000002 meters Centerline goodness [0,1] 0.9997198215478782 Centerline is valid? [True, True] Translation: X:27.05, Y:1.95, Z:0.45 [[ 9.80328163e-01 -1.95622559e-01 -2.62394056e-02 2.70522140e+01] [ 1.95573767e-01 9.80678951e-01 -4.43810915e-03 1.95037567e+00] [ 2.66006270e-02 -7.80936020e-04 9.99645836e-01 4.53082246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.312755096000004 meters Centerline goodness [0,1] 0.9997837837837837 Centerline is valid? [True, True] Translation: X:27.08, Y:1.96, Z:0.45 [[ 9.80713635e-01 -1.93548396e-01 -2.71989768e-02 2.70804069e+01] [ 1.93494956e-01 9.81090447e-01 -4.60828566e-03 1.95905758e+00] [ 2.75765826e-02 -7.43456236e-04 9.99619417e-01 4.52730502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096000005 meters Centerline goodness [0,1] 0.9996342434217603 Centerline is valid? [True, True] Translation: X:27.11, Y:1.97, Z:0.45 [[ 9.80836256e-01 -1.92871200e-01 -2.75851197e-02 2.71081654e+01] [ 1.92815743e-01 9.81223813e-01 -4.68161285e-03 1.96748283e+00] [ 2.79701246e-02 -7.26949732e-04 9.99608495e-01 4.53196222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.372755096000002 meters Centerline goodness [0,1] 0.9998062724670125 Centerline is valid? [True, True] Translation: X:27.14, Y:1.97, Z:0.45 [[ 9.81007360e-01 -1.91869423e-01 -2.84725074e-02 2.71354181e+01] [ 1.91809720e-01 9.81420203e-01 -4.83908656e-03 1.97110755e+00] [ 2.88719667e-02 -7.14124135e-04 9.99582863e-01 4.52062998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096000003 meters Centerline goodness [0,1] 0.9997637203307915 Centerline is valid? [True, True] Translation: X:27.16, Y:1.98, Z:0.45 [[ 9.81254098e-01 -1.90603327e-01 -2.84739681e-02 2.71624585e+01] [ 1.90542958e-01 9.81666909e-01 -4.84372850e-03 1.98203613e+00] [ 2.88751830e-02 -6.72585676e-04 9.99582799e-01 4.53139088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.432755096000005 meters Centerline goodness [0,1] 0.9998065098679967 Centerline is valid? [True, True] Translation: X:27.19, Y:1.99, Z:0.45 [[ 9.81379412e-01 -1.89915990e-01 -2.87465737e-02 2.71908909e+01] [ 1.89853929e-01 9.81800129e-01 -4.89819685e-03 1.98923084e+00] [ 2.91536356e-02 -6.50660407e-04 9.99574731e-01 4.53622991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096000002 meters Centerline goodness [0,1] 0.9996992739614211 Centerline is valid? [True, True] Translation: X:27.22, Y:2.00, Z:0.45 [[ 9.81531407e-01 -1.89084147e-01 -2.90393254e-02 2.72184621e+01] [ 1.89020210e-01 9.81960690e-01 -4.95626252e-03 1.99675290e+00] [ 2.94526267e-02 -6.24292056e-04 9.99565982e-01 4.53767367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.492755096000003 meters Centerline goodness [0,1] 0.9997851079832384 Centerline is valid? [True, True] Translation: X:27.25, Y:2.01, Z:0.45 [[ 9.81835619e-01 -1.87306844e-01 -3.02483499e-02 2.72457835e+01] [ 1.87236362e-01 9.82301279e-01 -5.17130679e-03 2.00548273e+00] [ 3.06816139e-02 -5.86217783e-04 9.99529037e-01 4.52862516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096000004 meters Centerline goodness [0,1] 0.9998284623796556 Centerline is valid? [True, True] Translation: X:27.27, Y:2.01, Z:0.45 [[ 9.81928288e-01 -1.86775752e-01 -3.05230332e-02 2.72735280e+01] [ 1.86703464e-01 9.82402411e-01 -5.22675835e-03 2.01191563e+00] [ 3.09621331e-02 -5.66454161e-04 9.99520398e-01 4.53041159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.552755096000002 meters Centerline goodness [0,1] 0.9997423676413758 Centerline is valid? [True, True] Translation: X:27.30, Y:2.02, Z:0.45 [[ 9.82092312e-01 -1.85932655e-01 -3.03930703e-02 2.73010126e+01] [ 1.85860318e-01 9.82562348e-01 -5.21291607e-03 2.02031388e+00] [ 3.08323378e-02 -5.29300923e-04 9.99524430e-01 4.53951448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096000003 meters Centerline goodness [0,1] 0.9997645094303269 Centerline is valid? [True, True] Translation: X:27.33, Y:2.03, Z:0.45 [[ 9.82198519e-01 -1.85258658e-01 -3.10692716e-02 2.73282137e+01] [ 1.85182429e-01 9.82689661e-01 -5.33840260e-03 2.02795728e+00] [ 3.15204372e-02 -5.10112058e-04 9.99502977e-01 4.54070065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.612755096000004 meters Centerline goodness [0,1] 0.9997643883736372 Centerline is valid? [True, True] Translation: X:27.36, Y:2.04, Z:0.45 [[ 9.82337458e-01 -1.84438083e-01 -3.15549142e-02 2.73552327e+01] [ 1.84358691e-01 9.82844017e-01 -5.43239231e-03 2.03683897e+00] [ 3.20154987e-02 -4.80980235e-04 9.99487257e-01 4.54568207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096000002 meters Centerline goodness [0,1] 0.9997643883736372 Centerline is valid? [True, True] Translation: X:27.38, Y:2.04, Z:0.46 [[ 9.82278081e-01 -1.84754346e-01 -3.15531650e-02 2.73823756e+01] [ 1.84674791e-01 9.82784615e-01 -5.44253683e-03 2.04168066e+00] [ 3.20154975e-02 -4.80989535e-04 9.99487257e-01 4.55129717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.672755096000003 meters Centerline goodness [0,1] 0.9998283556470993 Centerline is valid? [True, True] Translation: X:27.41, Y:2.05, Z:0.46 [[ 9.82287854e-01 -1.84693561e-01 -3.16047405e-02 2.74091990e+01] [ 1.84613447e-01 9.82796045e-01 -5.45976004e-03 2.04711579e+00] [ 3.20693965e-02 -4.71604107e-04 9.99485533e-01 4.55085138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096000004 meters Centerline goodness [0,1] 0.9999570363687139 Centerline is valid? [True, True] Translation: X:27.44, Y:2.05, Z:0.46 [[ 9.82249507e-01 -1.84851723e-01 -3.18707751e-02 2.74365967e+01] [ 1.84770118e-01 9.82766308e-01 -5.51251292e-03 2.05444514e+00] [ 3.23405215e-02 -4.74103771e-04 9.99476796e-01 4.56475556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.732755096 meters Centerline goodness [0,1] 0.9998502032955275 Centerline is valid? [True, True] Translation: X:27.46, Y:2.06, Z:0.46 [[ 9.82231752e-01 -1.84898694e-01 -3.21443235e-02 2.74630135e+01] [ 1.84815432e-01 9.82757473e-01 -5.56826061e-03 2.05966529e+00] [ 3.26196383e-02 -4.71444664e-04 9.99467727e-01 4.56850348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096000003 meters Centerline goodness [0,1] 0.9999786370433668 Centerline is valid? [True, True] Translation: X:27.49, Y:2.06, Z:0.46 [[ 9.82157010e-01 -1.85344014e-01 -3.18622780e-02 2.74899618e+01] [ 1.85262295e-01 9.82673582e-01 -5.52392253e-03 2.06426999e+00] [ 3.23340449e-02 -4.77519505e-04 9.99477004e-01 4.57342635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.792755096000004 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:27.52, Y:2.07, Z:0.46 [[ 9.81875401e-01 -1.86803676e-01 -3.20169308e-02 2.75176712e+01] [ 1.86721806e-01 9.82397125e-01 -5.55477941e-03 2.06822748e+00] [ 3.24909939e-02 -5.24157855e-04 9.99471891e-01 4.58232971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755096000005 meters Centerline goodness [0,1] 0.9999785623941518 Centerline is valid? [True, True] Translation: X:27.55, Y:2.07, Z:0.46 [[ 9.81635181e-01 -1.87981474e-01 -3.24859496e-02 2.75458028e+01] [ 1.87897649e-01 9.82172411e-01 -5.64168043e-03 2.07367246e+00] [ 3.29673349e-02 -5.65961564e-04 9.99456269e-01 4.59633243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.852755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.57, Y:2.08, Z:0.46 [[ 9.81400479e-01 -1.89128510e-01 -3.29166686e-02 2.75733704e+01] [ 1.89042855e-01 9.81952158e-01 -5.72355580e-03 2.07706786e+00] [ 3.34050813e-02 -6.05560602e-04 9.99441711e-01 4.59566708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.60, Y:2.08, Z:0.46 [[ 9.81204650e-01 -1.90163121e-01 -3.27936319e-02 2.76015198e+01] [ 1.90078495e-01 9.81752304e-01 -5.70780930e-03 2.08196396e+00] [ 3.32806386e-02 -6.32835165e-04 9.99445846e-01 4.61203492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.912755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.63, Y:2.08, Z:0.46 [[ 9.80637851e-01 -1.93075418e-01 -3.27305413e-02 2.76300199e+01] [ 1.92992503e-01 9.81183652e-01 -5.70386616e-03 2.08221076e+00] [ 3.32159484e-02 -7.23322033e-04 9.99447936e-01 4.61580090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.66, Y:2.09, Z:0.46 [[ 9.80302061e-01 -1.94755586e-01 -3.28348918e-02 2.76583721e+01] [ 1.94672893e-01 9.80851496e-01 -5.72772590e-03 2.08660322e+00] [ 3.33216594e-02 -7.77161876e-04 9.99444377e-01 4.63067485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.972755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.69, Y:2.09, Z:0.46 [[ 9.79605361e-01 -1.98203282e-01 -3.29969147e-02 2.76873549e+01] [ 1.98121407e-01 9.80160532e-01 -5.76542829e-03 2.08653399e+00] [ 3.34850002e-02 -8.89550717e-04 9.99438824e-01 4.64433097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.72, Y:2.09, Z:0.47 [[ 9.79301651e-01 -1.99780737e-01 -3.24951363e-02 2.77157076e+01] [ 1.99701974e-01 9.79840194e-01 -5.68465977e-03 2.08865438e+00] [ 3.29757262e-02 -9.22346162e-04 9.99455727e-01 4.65750410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.74, Y:2.09, Z:0.47 [[ 9.79006423e-01 -2.01322339e-01 -3.18706613e-02 2.77436207e+01] [ 2.01247286e-01 9.79524583e-01 -5.57860482e-03 2.09009592e+00] [ 3.23411940e-02 -9.52394143e-04 9.99476433e-01 4.66965849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:2.09, Z:0.47 [[ 9.78447268e-01 -2.04156699e-01 -3.09997883e-02 2.77726451e+01] [ 2.04086999e-01 9.78937697e-01 -5.42976401e-03 2.08767403e+00] [ 3.14553841e-02 -1.01391601e-03 9.99504643e-01 4.68149347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:2.09, Z:0.47 [[ 9.78177744e-01 -2.05550784e-01 -3.02849252e-02 2.78012285e+01] [ 2.05484794e-01 9.78645909e-01 -5.30897029e-03 2.08901819e+00] [ 3.07294812e-02 -1.02997504e-03 9.99527207e-01 4.69272735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.83, Y:2.09, Z:0.47 [[ 9.77845152e-01 -2.07232972e-01 -2.95525665e-02 2.78298915e+01] [ 2.07170735e-01 9.78291056e-01 -5.18614938e-03 2.09388156e+00] [ 2.99857526e-02 -1.05117590e-03 9.99549773e-01 4.71295346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.86, Y:2.10, Z:0.47 [[ 9.78368314e-01 -2.05122414e-01 -2.68372460e-02 2.78580160e+01] [ 2.05070138e-01 9.78735921e-01 -4.71543279e-03 2.10040927e+00] [ 2.72338177e-02 -8.90087721e-04 9.99628695e-01 4.73935459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.89, Y:2.10, Z:0.47 [[ 9.78501618e-01 -2.04494641e-01 -2.67679884e-02 2.78865274e+01] [ 2.04442303e-01 9.78867300e-01 -4.70682684e-03 2.10410790e+00] [ 2.71648294e-02 -8.66871532e-04 9.99630592e-01 4.74372237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.91, Y:2.11, Z:0.47 [[ 9.78677172e-01 -2.03647575e-01 -2.68078039e-02 2.79142979e+01] [ 2.03594587e-01 9.79043902e-01 -4.72033772e-03 2.10626050e+00] [ 2.72073022e-02 -8.38236984e-04 9.99629461e-01 4.74898325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.94, Y:2.11, Z:0.48 [[ 9.79162229e-01 -2.01318384e-01 -2.66877960e-02 2.79430435e+01] [ 2.01264898e-01 9.79525559e-01 -4.70313266e-03 2.11075781e+00] [ 2.70882054e-02 -7.66186690e-04 9.99632754e-01 4.76044163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.97, Y:2.12, Z:0.48 [[ 9.79324224e-01 -2.00488277e-01 -2.69910082e-02 2.79710521e+01] [ 2.00433041e-01 9.79695819e-01 -4.76433452e-03 2.11600035e+00] [ 2.73981711e-02 -7.44061650e-04 9.99624323e-01 4.76420611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.00, Y:2.12, Z:0.48 [[ 9.79543620e-01 -1.99451348e-01 -2.67106006e-02 2.79998907e+01] [ 1.99396668e-01 9.79907480e-01 -4.72222781e-03 2.12131119e+00] [ 2.71157720e-02 -7.00376632e-04 9.99632054e-01 4.76973487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.03, Y:2.13, Z:0.48 [[ 9.79732992e-01 -1.98577309e-01 -2.62739000e-02 2.80275709e+01] [ 1.98523903e-01 9.80085006e-01 -4.65198201e-03 2.12820382e+00] [ 2.66744335e-02 -6.58296913e-04 9.99643957e-01 4.77799468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.05, Y:2.14, Z:0.48 [[ 9.80059524e-01 -1.96979260e-01 -2.61247005e-02 2.80543598e+01] [ 1.96925722e-01 9.80407469e-01 -4.63194401e-03 2.13532353e+00] [ 2.65252484e-02 -6.05044656e-04 9.99647961e-01 4.78732527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.08, Y:2.14, Z:0.48 [[ 9.80131265e-01 -1.96733418e-01 -2.52718237e-02 2.80826160e+01] [ 1.96683149e-01 9.80456848e-01 -4.48418232e-03 2.14061244e+00] [ 2.56601211e-02 -5.75454567e-04 9.99670559e-01 4.79398570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:2.14, Z:0.48 [[ 9.80144706e-01 -1.96833607e-01 -2.39350375e-02 2.81103296e+01] [ 1.96788383e-01 9.80436759e-01 -4.25365040e-03 2.14284973e+00] [ 2.43040519e-02 -5.40944419e-04 9.99704467e-01 4.81749838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.14, Y:2.15, Z:0.48 [[ 9.80064397e-01 -1.97309750e-01 -2.32946271e-02 2.81382687e+01] [ 1.97266875e-01 9.80341053e-01 -4.14719204e-03 2.14637371e+00] [ 2.36549607e-02 -5.30743019e-04 9.99720041e-01 4.83032631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:2.15, Z:0.48 [[ 9.79903226e-01 -1.98178282e-01 -2.26944009e-02 2.81666151e+01] [ 1.98137659e-01 9.80165847e-01 -4.04737056e-03 2.15041463e+00] [ 2.30463776e-02 -5.30583979e-04 9.99734256e-01 4.84134635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:2.15, Z:0.49 [[ 9.79708231e-01 -1.99311998e-01 -2.11307632e-02 2.81945715e+01] [ 1.99276929e-01 9.79935949e-01 -3.77386426e-03 2.15359406e+00] [ 2.14589709e-02 -5.13587710e-04 9.99769598e-01 4.85773071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.22, Y:2.16, Z:0.49 [[ 9.79592624e-01 -1.99978874e-01 -2.01677967e-02 2.82230258e+01] [ 1.99947030e-01 9.79800080e-01 -3.60380452e-03 2.15929103e+00] [ 2.04810936e-02 -5.02230724e-04 9.99790114e-01 4.87172987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:2.16, Z:0.49 [[ 9.79476309e-01 -2.00637642e-01 -1.92534705e-02 2.82507346e+01] [ 2.00608644e-01 9.79665402e-01 -3.44568711e-03 2.16374264e+00] [ 1.95532935e-02 -4.87443726e-04 9.99808697e-01 4.87909083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:2.17, Z:0.49 [[ 9.79140027e-01 -2.02279327e-01 -1.91802098e-02 2.82789055e+01] [ 2.02250831e-01 9.79327732e-01 -3.43428674e-03 2.16835501e+00] [ 1.94783966e-02 -5.16565760e-04 9.99810145e-01 4.88159429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:2.17, Z:0.49 [[ 9.79075026e-01 -2.02661041e-01 -1.84552130e-02 2.83065065e+01] [ 2.02634634e-01 9.79248821e-01 -3.30941015e-03 2.17345088e+00] [ 1.87429341e-02 -4.99504512e-04 9.99824211e-01 4.89411984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:2.18, Z:0.49 [[ 9.79011201e-01 -2.02998029e-01 -1.81347114e-02 2.83335306e+01] [ 2.02972475e-01 9.79179023e-01 -3.25809520e-03 2.17791079e+00] [ 1.84185159e-02 -4.91135566e-04 9.99830244e-01 4.90250943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:2.18, Z:0.49 [[ 9.78812243e-01 -2.03925491e-01 -1.84658181e-02 2.83615869e+01] [ 2.03899126e-01 9.78986276e-01 -3.31945916e-03 2.18155254e+00] [ 1.87547048e-02 -5.16036899e-04 9.99823982e-01 4.89941510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:2.19, Z:0.49 [[ 9.78659334e-01 -2.04685394e-01 -1.81603422e-02 2.83895870e+01] [ 2.04659999e-01 9.78827676e-01 -3.26595288e-03 2.18743954e+00] [ 1.84443384e-02 -5.20440353e-04 9.99829753e-01 4.90632180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:2.19, Z:0.49 [[ 9.78595811e-01 -2.05055864e-01 -1.73876981e-02 2.84167486e+01] [ 2.05032564e-01 9.78750143e-01 -3.13144820e-03 2.19473773e+00] [ 1.76603338e-02 -5.00622220e-04 9.99843919e-01 4.90919766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.44, Y:2.20, Z:0.49 [[ 9.78520695e-01 -2.05378923e-01 -1.77973921e-02 2.84441917e+01] [ 2.05354458e-01 9.78682397e-01 -3.21113988e-03 2.20136465e+00] [ 1.80774948e-02 -5.12606980e-04 9.99836457e-01 4.90164472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:2.21, Z:0.49 [[ 9.78460068e-01 -2.05624274e-01 -1.82907777e-02 2.84712473e+01] [ 2.05598355e-01 9.78630871e-01 -3.30669857e-03 2.20633846e+00] [ 1.85798572e-02 -5.25081297e-04 9.99827242e-01 4.90027399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:2.21, Z:0.49 [[ 9.78437020e-01 -2.05773539e-01 -1.78395009e-02 2.84982163e+01] [ 2.05748881e-01 9.78599503e-01 -3.22659334e-03 2.20949340e+00] [ 1.81216743e-02 -5.13438980e-04 9.99835657e-01 4.89605798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.53, Y:2.22, Z:0.49 [[ 9.78306635e-01 -2.06406161e-01 -1.76811799e-02 2.85254796e+01] [ 2.06381977e-01 9.78466264e-01 -3.20160377e-03 2.21979490e+00] [ 1.79612688e-02 -5.16926648e-04 9.99838550e-01 4.89894585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.55, Y:2.22, Z:0.49 [[ 9.78274934e-01 -2.06592133e-01 -1.72581501e-02 2.85526406e+01] [ 2.06569026e-01 9.78427022e-01 -3.13038495e-03 2.22439158e+00] [ 1.75325533e-02 -5.02622133e-04 9.99846167e-01 4.90595287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.58, Y:2.23, Z:0.49 [[ 9.78117036e-01 -2.07361444e-01 -1.69792597e-02 2.85813383e+01] [ 2.07339175e-01 9.78264266e-01 -3.08092544e-03 2.23003153e+00] [ 1.72490682e-02 -5.06960043e-04 9.99851095e-01 4.91003434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.61, Y:2.23, Z:0.49 [[ 9.77929494e-01 -2.08273034e-01 -1.66207098e-02 2.86086921e+01] [ 2.08251738e-01 9.78070594e-01 -3.02115391e-03 2.23476494e+00] [ 1.68854524e-02 -5.06816179e-04 9.99857302e-01 4.91916567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:2.24, Z:0.49 [[ 9.77814156e-01 -2.08873225e-01 -1.58572645e-02 2.86369061e+01] [ 2.08853907e-01 9.77942602e-01 -2.88311415e-03 2.24043311e+00] [ 1.61096998e-02 -4.92701809e-04 9.99870109e-01 4.93013786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.66, Y:2.25, Z:0.49 [[ 9.77739440e-01 -2.09267275e-01 -1.52576362e-02 2.86648517e+01] [ 2.09249377e-01 9.77858364e-01 -2.77804492e-03 2.24553303e+00] [ 1.55011611e-02 -4.76446787e-04 9.99879736e-01 4.94172330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.69, Y:2.25, Z:0.50 [[ 9.77691227e-01 -2.09548845e-01 -1.44619057e-02 2.86928918e+01] [ 2.09532731e-01 9.77798076e-01 -2.63754078e-03 2.25062046e+00] [ 1.46935172e-02 -4.51542119e-04 9.99891942e-01 4.95518872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.72, Y:2.26, Z:0.50 [[ 9.77617381e-01 -2.09929605e-01 -1.39218486e-02 2.87198035e+01] [ 2.09914651e-01 9.77716406e-01 -2.54326024e-03 2.25769703e+00] [ 1.41455254e-02 -4.36064569e-04 9.99899852e-01 4.96176526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:2.26, Z:0.50 [[ 9.77566885e-01 -2.10184726e-01 -1.36149520e-02 2.87469888e+01] [ 2.10170390e-01 9.77661598e-01 -2.49148897e-03 2.26387683e+00] [ 1.38344887e-02 -4.25862674e-04 9.99904208e-01 4.96618586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.77, Y:2.27, Z:0.50 [[ 9.77462075e-01 -2.10698156e-01 -1.31977115e-02 2.87748506e+01] [ 2.10684655e-01 9.77551081e-01 -2.42087552e-03 2.26839715e+00] [ 1.34115112e-02 -4.14241296e-04 9.99909976e-01 4.97229911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.80, Y:2.27, Z:0.50 [[ 9.77313844e-01 -2.11384560e-01 -1.31991523e-02 2.88027671e+01] [ 2.11371117e-01 9.77402879e-01 -2.42123115e-03 2.27395335e+00] [ 1.34127004e-02 -4.23616846e-04 9.99909956e-01 4.97793132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.83, Y:2.28, Z:0.50 [[ 9.77142809e-01 -2.12122792e-01 -1.39946851e-02 2.88312188e+01] [ 2.12107694e-01 9.77242914e-01 -2.57150150e-03 2.27918034e+00] [ 1.42216809e-02 -4.55656182e-04 9.99898763e-01 4.98021570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.86, Y:2.28, Z:0.50 [[ 9.76788569e-01 -2.13759347e-01 -1.38214959e-02 2.88600509e+01] [ 2.13744730e-01 9.76886237e-01 -2.54352091e-03 2.28403241e+00] [ 1.40457305e-02 -4.69789768e-04 9.99901243e-01 4.98202830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.89, Y:2.29, Z:0.50 [[ 9.76689854e-01 -2.14180436e-01 -1.42712691e-02 2.88867062e+01] [ 2.14164830e-01 9.76793993e-01 -2.63089646e-03 2.28815905e+00] [ 1.45035765e-02 -4.86834046e-04 9.99894699e-01 4.98615695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.91, Y:2.29, Z:0.50 [[ 9.76529757e-01 -2.14892497e-01 -1.45205945e-02 2.89148795e+01] [ 2.14876376e-01 9.76637579e-01 -2.67979193e-03 2.29385847e+00] [ 1.47572255e-02 -5.03236174e-04 9.99890980e-01 4.98969872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.94, Y:2.30, Z:0.50 [[ 9.76405659e-01 -2.15434228e-01 -1.48352017e-02 2.89421029e+01] [ 2.15417402e-01 9.76518215e-01 -2.74195078e-03 2.29888457e+00] [ 1.50775547e-02 -5.18504358e-04 9.99886193e-01 4.99776400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.97, Y:2.30, Z:0.50 [[ 9.76415453e-01 -2.15364980e-01 -1.51917305e-02 2.89699931e+01] [ 2.15347246e-01 9.76533486e-01 -2.81305914e-03 2.30291419e+00] [ 1.54410680e-02 -5.24782914e-04 9.99880642e-01 5.00905411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.00, Y:2.31, Z:0.50 [[ 9.76338086e-01 -2.15720008e-01 -1.51268310e-02 2.89971373e+01] [ 2.15702407e-01 9.76455121e-01 -2.80502241e-03 2.30856957e+00] [ 1.53757711e-02 -5.24243644e-04 9.99881648e-01 5.01661164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.03, Y:2.31, Z:0.50 [[ 9.76366983e-01 -2.15592807e-01 -1.50750389e-02 2.90253023e+01] [ 2.15575235e-01 9.76483218e-01 -2.80039414e-03 2.31470618e+00] [ 1.53242673e-02 -5.15592669e-04 9.99882444e-01 5.02092879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.05, Y:2.32, Z:0.50 [[ 9.76467914e-01 -2.15053426e-01 -1.61999246e-02 2.90531870e+01] [ 2.15032979e-01 9.76602136e-01 -3.01424653e-03 2.32043513e+00] [ 1.64691050e-02 -5.40203033e-04 9.99864229e-01 5.01440242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.08, Y:2.33, Z:0.50 [[ 9.76544022e-01 -2.14691058e-01 -1.64171427e-02 2.90818076e+01] [ 2.14669932e-01 9.76681863e-01 -3.05922566e-03 2.32660993e+00] [ 1.66911139e-02 -5.36798374e-04 9.99860550e-01 5.01432629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.11, Y:2.33, Z:0.50 [[ 9.76801710e-01 -2.13452943e-01 -1.72122361e-02 2.91097746e+01] [ 2.13429442e-01 9.76953199e-01 -3.21236295e-03 2.33124988e+00] [ 1.75012375e-02 -5.35756338e-04 9.99846698e-01 5.01390563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.14, Y:2.34, Z:0.50 [[ 9.76739120e-01 -2.13739230e-01 -1.72114113e-02 2.91368500e+01] [ 2.13715695e-01 9.76890605e-01 -3.21677590e-03 2.33649819e+00] [ 1.75012172e-02 -5.36397866e-04 9.99846698e-01 5.01952422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.17, Y:2.34, Z:0.50 [[ 9.76835489e-01 -2.13253935e-01 -1.77534862e-02 2.91655596e+01] [ 2.13228712e-01 9.76996658e-01 -3.32379381e-03 2.34271033e+00] [ 1.80539087e-02 -5.38753226e-04 9.99836870e-01 5.01903821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:2.35, Z:0.50 [[ 9.76943842e-01 -2.12711240e-01 -1.82936640e-02 2.91937579e+01] [ 2.12684276e-01 9.77114956e-01 -3.42958426e-03 2.34804710e+00] [ 1.86045238e-02 -5.40263462e-04 9.99826775e-01 5.02059409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.22, Y:2.35, Z:0.50 [[ 9.77195936e-01 -2.11481642e-01 -1.90687824e-02 2.92215393e+01] [ 2.11452005e-01 9.77381824e-01 -3.58039060e-03 2.35207804e+00] [ 1.93946682e-02 -5.33389125e-04 9.99811763e-01 5.02195872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.25, Y:2.36, Z:0.50 [[ 9.77204267e-01 -2.11432290e-01 -1.91887467e-02 2.92486803e+01] [ 2.11402237e-01 9.77392501e-01 -3.60455945e-03 2.35690072e+00] [ 1.95170574e-02 -5.34153109e-04 9.99809381e-01 5.02913492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:2.36, Z:0.50 [[ 9.77329243e-01 -2.10861000e-01 -1.91099603e-02 2.92766606e+01] [ 2.10830972e-01 9.77515920e-01 -3.59548576e-03 2.36237412e+00] [ 1.94384381e-02 -5.14998126e-04 9.99810923e-01 5.03542014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:2.37, Z:0.51 [[ 9.77732084e-01 -2.09116217e-01 -1.76175870e-02 2.93036830e+01] [ 2.09090331e-01 9.77890697e-01 -3.31927992e-03 2.36939180e+00] [ 1.79221897e-02 -4.38300625e-04 9.99839289e-01 5.06204570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:2.37, Z:0.51 [[ 9.77798490e-01 -2.08819569e-01 -1.74499669e-02 2.93309997e+01] [ 2.08794098e-01 9.77954092e-01 -3.28928871e-03 2.37375028e+00] [ 1.77521344e-02 -4.27188558e-04 9.99842327e-01 5.07078186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.36, Y:2.38, Z:0.51 [[ 9.77709164e-01 -2.09256723e-01 -1.72166820e-02 2.93582373e+01] [ 2.09231980e-01 9.77860645e-01 -3.24627559e-03 2.37819086e+00] [ 1.75148207e-02 -4.28367059e-04 9.99846512e-01 5.07506019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.39, Y:2.38, Z:0.51 [[ 9.77484809e-01 -2.10238721e-01 -1.79757493e-02 2.93861863e+01] [ 2.10211808e-01 9.77649973e-01 -3.39517660e-03 2.38004982e+00] [ 1.82877884e-02 -4.59981201e-04 9.99832659e-01 5.07400693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:2.38, Z:0.51 [[ 9.77296972e-01 -2.11106621e-01 -1.80173246e-02 2.94150748e+01] [ 2.11079690e-01 9.77462925e-01 -3.40520266e-03 2.38401711e+00] [ 1.83301276e-02 -4.75197052e-04 9.99831876e-01 5.08091574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:2.39, Z:0.51 [[ 9.76962485e-01 -2.12566343e-01 -1.89697717e-02 2.94429035e+01] [ 2.12536666e-01 9.77146496e-01 -3.59035216e-03 2.38655969e+00] [ 1.92994340e-02 -5.24132649e-04 9.99813611e-01 5.08124665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:2.39, Z:0.51 [[ 9.76857097e-01 -2.13027982e-01 -1.92169555e-02 2.94700075e+01] [ 2.12997568e-01 9.77045951e-01 -3.63959034e-03 2.39268123e+00] [ 1.95511831e-02 -5.37805133e-04 9.99808713e-01 5.07914444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:2.40, Z:0.51 [[ 9.76761809e-01 -2.13446749e-01 -1.94127526e-02 2.94975370e+01] [ 2.13415686e-01 9.76954547e-01 -3.68214629e-03 2.40074008e+00] [ 1.97513191e-02 -5.46406050e-04 9.99804774e-01 5.07893386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:2.40, Z:0.51 [[ 9.76579550e-01 -2.14216891e-01 -2.00874334e-02 2.95252089e+01] [ 2.14183671e-01 9.76785950e-01 -3.81615935e-03 2.40203902e+00] [ 2.04386085e-02 -5.75617039e-04 9.99790944e-01 5.08104786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:2.40, Z:0.51 [[ 9.76357845e-01 -2.15142967e-01 -2.09490589e-02 2.95535178e+01] [ 2.15107006e-01 9.76582368e-01 -3.98180734e-03 2.40442067e+00] [ 2.13151394e-02 -6.18620520e-04 9.99772615e-01 5.08075176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.012755096 meters Centerline goodness [0,1] 0.9999569855471439 Centerline is valid? [True, True] Translation: X:29.58, Y:2.41, Z:0.51 [[ 9.76332949e-01 -2.15265775e-01 -2.08475007e-02 2.95811490e+01] [ 2.15230150e-01 9.76555306e-01 -3.96440122e-03 2.41006059e+00] [ 2.12121373e-02 -6.16435152e-04 9.99774807e-01 5.09514574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.042755096 meters Centerline goodness [0,1] 0.9999351225103263 Centerline is valid? [True, True] Translation: X:29.61, Y:2.42, Z:0.51 [[ 9.76410452e-01 -2.14889784e-01 -2.10952446e-02 2.96085104e+01] [ 2.14853096e-01 9.76638116e-01 -4.01724690e-03 2.42321940e+00] [ 2.14656852e-02 -6.09896738e-04 9.99769400e-01 5.10559840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.072755096 meters Centerline goodness [0,1] 0.9999351463530632 Centerline is valid? [True, True] Translation: X:29.64, Y:2.43, Z:0.51 [[ 9.76326567e-01 -2.15226348e-01 -2.15418851e-02 2.96350754e+01] [ 2.15188041e-01 9.76563991e-01 -4.10828035e-03 2.43147205e+00] [ 2.19212395e-02 -6.24532802e-04 9.99759506e-01 5.11131163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755096 meters Centerline goodness [0,1] 0.999935170178282 Centerline is valid? [True, True] Translation: X:29.66, Y:2.44, Z:0.51 [[ 9.76328775e-01 -2.15167844e-01 -2.20209292e-02 2.96628600e+01] [ 2.15127635e-01 9.76576880e-01 -4.20696032e-03 2.43757128e+00] [ 2.24103329e-02 -6.29934007e-04 9.99748658e-01 5.11267719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.132755096 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:29.69, Y:2.44, Z:0.51 [[ 9.76193530e-01 -2.15659968e-01 -2.31726079e-02 2.96905163e+01] [ 2.15615395e-01 9.76468296e-01 -4.43489988e-03 2.44410968e+00] [ 2.35837473e-02 -6.67050426e-04 9.99721642e-01 5.10910096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:2.45, Z:0.51 [[ 9.76096710e-01 -2.16102061e-01 -2.31324716e-02 2.97180673e+01] [ 2.16057604e-01 9.76370550e-01 -4.43408337e-03 2.44687036e+00] [ 2.35440786e-02 -6.69852206e-04 9.99722575e-01 5.11293813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.192755096 meters Centerline goodness [0,1] 0.9999139581406354 Centerline is valid? [True, True] Translation: X:29.75, Y:2.45, Z:0.51 [[ 9.75923846e-01 -2.16870742e-01 -2.32320655e-02 2.97454562e+01] [ 2.16826063e-01 9.76200085e-01 -4.45553535e-03 2.45443349e+00] [ 2.36454196e-02 -6.89054112e-04 9.99720171e-01 5.12221003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.222755096 meters Centerline goodness [0,1] 0.9999351323300467 Centerline is valid? [True, True] Translation: X:29.77, Y:2.46, Z:0.51 [[ 9.75639649e-01 -2.18098550e-01 -2.36706024e-02 2.97732855e+01] [ 2.18052470e-01 9.75926478e-01 -4.54211505e-03 2.45713795e+00] [ 2.40913963e-02 -7.29965769e-04 9.99709494e-01 5.13272344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.252755096 meters Centerline goodness [0,1] 0.9999568174457519 Centerline is valid? [True, True] Translation: X:29.80, Y:2.46, Z:0.51 [[ 9.75431921e-01 -2.18976561e-01 -2.41212012e-02 2.98017383e+01] [ 2.18928898e-01 9.75729821e-01 -4.63181000e-03 2.46237492e+00] [ 2.45500331e-02 -7.62812671e-04 9.99698311e-01 5.14193474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755096 meters Centerline goodness [0,1] 0.999849316542891 Centerline is valid? [True, True] Translation: X:29.83, Y:2.47, Z:0.52 [[ 9.75401662e-01 -2.19109004e-01 -2.41421338e-02 2.98295782e+01] [ 2.19061127e-01 9.75700091e-01 -4.64281171e-03 2.46790028e+00] [ 2.45727640e-02 -7.59996791e-04 9.99697755e-01 5.15139722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.312755096 meters Centerline goodness [0,1] 0.9997853893038029 Centerline is valid? [True, True] Translation: X:29.86, Y:2.47, Z:0.52 [[ 9.75440616e-01 -2.18973186e-01 -2.37980899e-02 2.98576657e+01] [ 2.18926443e-01 9.75730597e-01 -4.58413472e-03 2.47328575e+00] [ 2.42243270e-02 -7.38479969e-04 9.99706275e-01 5.16989795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters Centerline goodness [0,1] 0.9997632677656781 Centerline is valid? [True, True] Translation: X:29.89, Y:2.48, Z:0.52 [[ 9.75481585e-01 -2.18750813e-01 -2.41611072e-02 2.98860975e+01] [ 2.18702394e-01 9.75780476e-01 -4.66100463e-03 2.47974082e+00] [ 2.45955353e-02 -7.37367791e-04 9.99697212e-01 5.17339991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.372755096 meters Centerline goodness [0,1] 0.9998274672187716 Centerline is valid? [True, True] Translation: X:29.91, Y:2.49, Z:0.52 [[ 9.75521328e-01 -2.18531970e-01 -2.45340117e-02 2.99145601e+01] [ 2.18481798e-01 9.75829512e-01 -4.74001392e-03 2.48708619e+00] [ 2.49768572e-02 -7.36250313e-04 9.99687759e-01 5.17866474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.402755096 meters Centerline goodness [0,1] 0.9997634255973503 Centerline is valid? [True, True] Translation: X:29.94, Y:2.49, Z:0.52 [[ 9.75684976e-01 -2.17761952e-01 -2.48708642e-02 2.99416574e+01] [ 2.17709982e-01 9.76001646e-01 -4.81145279e-03 2.49199977e+00] [ 2.53217557e-02 -7.20173187e-04 9.99679094e-01 5.18184138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.432755096 meters Centerline goodness [0,1] 0.9998496950957657 Centerline is valid? [True, True] Translation: X:29.97, Y:2.50, Z:0.52 [[ 9.75796404e-01 -2.17251986e-01 -2.49590180e-02 2.99692903e+01] [ 2.17199410e-01 9.76115298e-01 -4.83129326e-03 2.49731141e+00] [ 2.54124874e-02 -7.06725394e-04 9.99676801e-01 5.18665324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755096 meters Centerline goodness [0,1] 0.9998066221181324 Centerline is valid? [True, True] Translation: X:30.00, Y:2.50, Z:0.52 [[ 9.75885581e-01 -2.16808469e-01 -2.53262791e-02 2.99979957e+01] [ 2.16754071e-01 9.76213909e-01 -4.90678991e-03 2.50373454e+00] [ 2.57876996e-02 -7.01108583e-04 9.99667196e-01 5.19211095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.492755096 meters Centerline goodness [0,1] 0.9998498691717068 Centerline is valid? [True, True] Translation: X:30.03, Y:2.51, Z:0.52 [[ 9.75999705e-01 -2.16192977e-01 -2.61758028e-02 3.00261239e+01] [ 2.16134459e-01 9.76350401e-01 -5.07843330e-03 2.50927366e+00] [ 2.66546771e-02 -7.00943561e-04 9.99644455e-01 5.19496624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters Centerline goodness [0,1] 0.9998496240601503 Centerline is valid? [True, True] Translation: X:30.05, Y:2.52, Z:0.52 [[ 9.76077999e-01 -2.15763558e-01 -2.67922894e-02 3.00540620e+01] [ 2.15701882e-01 9.76445390e-01 -5.20560021e-03 2.51538591e+00] [ 2.72843863e-02 -6.98075421e-04 9.99627468e-01 5.20038646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.552755096 meters Centerline goodness [0,1] 0.9998067259373792 Centerline is valid? [True, True] Translation: X:30.08, Y:2.52, Z:0.52 [[ 9.76153873e-01 -2.15352295e-01 -2.73314023e-02 3.00823611e+01] [ 2.15287735e-01 9.76536179e-01 -5.31809059e-03 2.52119856e+00] [ 2.78353662e-02 -6.92840973e-04 9.99612281e-01 5.20240625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters Centerline goodness [0,1] 0.9999569883223295 Centerline is valid? [True, True] Translation: X:30.11, Y:2.53, Z:0.52 [[ 9.76527410e-01 -2.13591358e-01 -2.78019825e-02 3.01093984e+01] [ 2.13523659e-01 9.76922880e-01 -5.41610402e-03 2.52614121e+00] [ 2.83172258e-02 -6.47407009e-04 9.99598777e-01 5.20945510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.612755096 meters Centerline goodness [0,1] 0.9998495238504697 Centerline is valid? [True, True] Translation: X:30.14, Y:2.53, Z:0.52 [[ 9.76743072e-01 -2.12585473e-01 -2.79354290e-02 3.01379909e+01] [ 2.12516593e-01 9.77142280e-01 -5.44625947e-03 2.53188463e+00] [ 2.84546845e-02 -6.17146006e-04 9.99594893e-01 5.22074054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755096 meters Centerline goodness [0,1] 0.9998278273969654 Centerline is valid? [True, True] Translation: X:30.17, Y:2.54, Z:0.52 [[ 9.76952462e-01 -2.11637213e-01 -2.78132529e-02 3.01650270e+01] [ 2.11568363e-01 9.77348123e-01 -5.42906604e-03 2.53722288e+00] [ 2.83322229e-02 -5.80464942e-04 9.99598393e-01 5.22666584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.672755096 meters Centerline goodness [0,1] 0.9998708983324368 Centerline is valid? [True, True] Translation: X:30.19, Y:2.54, Z:0.52 [[ 9.77411851e-01 -2.09443836e-01 -2.82728358e-02 3.01933040e+01] [ 2.09371624e-01 9.77820540e-01 -5.52398203e-03 2.54423224e+00] [ 2.88027236e-02 -5.20324045e-04 9.99584980e-01 5.22682860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters Centerline goodness [0,1] 0.9998707565052559 Centerline is valid? [True, True] Translation: X:30.22, Y:2.55, Z:0.52 [[ 9.77567424e-01 -2.08679860e-01 -2.85420167e-02 3.02211305e+01] [ 2.08605755e-01 9.77983880e-01 -5.58292639e-03 2.54943522e+00] [ 2.90786765e-02 -4.96341974e-04 9.99577003e-01 5.22523775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.732755096 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:30.25, Y:2.55, Z:0.52 [[ 9.77594985e-01 -2.08509985e-01 -2.88380341e-02 3.02489282e+01] [ 2.08434125e-01 9.78020114e-01 -5.64546586e-03 2.55496321e+00] [ 2.93813135e-02 -4.91851307e-04 9.99568155e-01 5.22573941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters Centerline goodness [0,1] 0.9999353155522974 Centerline is valid? [True, True] Translation: X:30.28, Y:2.56, Z:0.52 [[ 9.77564656e-01 -2.08621587e-01 -2.90581719e-02 3.02764133e+01] [ 2.08544351e-01 9.77996315e-01 -5.69744127e-03 2.55953753e+00] [ 2.96073943e-02 -4.90300387e-04 9.99561485e-01 5.22752502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.792755096 meters Centerline goodness [0,1] 0.9999784612733695 Centerline is valid? [True, True] Translation: X:30.30, Y:2.56, Z:0.52 [[ 9.77476921e-01 -2.09141766e-01 -2.82593289e-02 3.03027271e+01] [ 2.09068735e-01 9.77885211e-01 -5.54778158e-03 2.56334647e+00] [ 2.87946526e-02 -4.85313686e-04 9.99585230e-01 5.23237747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755096 meters Centerline goodness [0,1] 0.9999783446662913 Centerline is valid? [True, True] Translation: X:30.33, Y:2.57, Z:0.52 [[ 9.77473649e-01 -2.09306562e-01 -2.71298430e-02 3.03303729e+01] [ 2.09239189e-01 9.77849961e-01 -5.33067104e-03 2.56964290e+00] [ 2.76446604e-02 -4.66035868e-04 9.99617705e-01 5.24740553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.36, Y:2.57, Z:0.53 [[ 9.77322364e-01 -2.10039348e-01 -2.69159671e-02 3.03583192e+01] [ 2.09973131e-01 9.77692817e-01 -5.29519025e-03 2.57349908e+00] [ 2.74277460e-02 -4.76522022e-04 9.99623675e-01 5.25499682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters Centerline goodness [0,1] 0.9999351659751037 Centerline is valid? [True, True] Translation: X:30.39, Y:2.58, Z:0.53 [[ 9.77218929e-01 -2.10629624e-01 -2.60446923e-02 3.03850330e+01] [ 2.10567739e-01 9.77565822e-01 -5.12740959e-03 2.58058209e+00] [ 2.65403854e-02 -4.73570238e-04 9.99647630e-01 5.26642941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:2.58, Z:0.53 [[ 9.76902963e-01 -2.12045452e-01 -2.64069527e-02 3.04130948e+01] [ 2.11982157e-01 9.77259671e-01 -5.20585870e-03 2.58366817e+00] [ 2.69103285e-02 -5.12184009e-04 9.99637720e-01 5.26299366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.44, Y:2.59, Z:0.53 [[ 9.76470132e-01 -2.14172464e-01 -2.52237474e-02 3.04405750e+01] [ 2.14115340e-01 9.76795711e-01 -4.97589345e-03 2.58551938e+00] [ 2.57041476e-02 -5.41979903e-04 9.99669447e-01 5.26766462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.47, Y:2.59, Z:0.53 [[ 9.76089917e-01 -2.15991940e-01 -2.44122063e-02 3.04691631e+01] [ 2.15938921e-01 9.76394981e-01 -4.81904754e-03 2.58907607e+00] [ 2.48768311e-02 -5.67721760e-04 9.99690363e-01 5.27708958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.50, Y:2.59, Z:0.53 [[ 9.75746935e-01 -2.17542098e-01 -2.43588607e-02 3.04973075e+01] [ 2.17489659e-01 9.76050754e-01 -4.81387673e-03 2.59265809e+00] [ 2.48227052e-02 -6.00674849e-04 9.99691689e-01 5.28095880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.53, Y:2.60, Z:0.53 [[ 9.75312861e-01 -2.19543331e-01 -2.37812581e-02 3.05260752e+01] [ 2.19493879e-01 9.75602544e-01 -4.70238266e-03 2.59775553e+00] [ 2.42334326e-02 -6.33546294e-04 9.99706127e-01 5.28619997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:2.61, Z:0.53 [[ 9.74876454e-01 -2.21549517e-01 -2.30588510e-02 3.05535209e+01] [ 2.21503462e-01 9.75148901e-01 -4.56476353e-03 2.60515196e+00] [ 2.34971344e-02 -6.57534856e-04 9.99723688e-01 5.28663432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.58, Y:2.61, Z:0.53 [[ 9.74680225e-01 -2.22509117e-01 -2.20941449e-02 3.05813103e+01] [ 2.22467018e-01 9.74930393e-01 -4.37659884e-03 2.60981264e+00] [ 2.25140865e-02 -6.49434193e-04 9.99746315e-01 5.29175718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.61, Y:2.62, Z:0.53 [[ 9.74552108e-01 -2.23121557e-01 -2.15628993e-02 3.06080471e+01] [ 2.23081559e-01 9.74790416e-01 -4.27362303e-03 2.62040567e+00] [ 2.19728450e-02 -6.45416864e-04 9.99758360e-01 5.30227106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.64, Y:2.63, Z:0.53 [[ 9.74423791e-01 -2.23687386e-01 -2.14995174e-02 3.06358119e+01] [ 2.23647611e-01 9.74660726e-01 -4.26788337e-03 2.62702110e+00] [ 2.19094069e-02 -6.49588606e-04 9.99759749e-01 5.30737842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:2.63, Z:0.53 [[ 9.74382318e-01 -2.23890117e-01 -2.12676653e-02 3.06628441e+01] [ 2.23851116e-01 9.74614182e-01 -4.22771385e-03 2.63176178e+00] [ 2.16743116e-02 -6.41380995e-04 9.99764879e-01 5.31072030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:2.64, Z:0.53 [[ 9.74359683e-01 -2.23936673e-01 -2.18076519e-02 3.06902017e+01] [ 2.23895601e-01 9.74603477e-01 -4.33854628e-03 2.63852251e+00] [ 2.22253729e-02 -6.55332739e-04 9.99752771e-01 5.29967245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.72, Y:2.64, Z:0.53 [[ 9.74354490e-01 -2.23968486e-01 -2.17127701e-02 3.07179898e+01] [ 2.23927622e-01 9.74596173e-01 -4.32670259e-03 2.64473696e+00] [ 2.21302276e-02 -6.46346877e-04 9.99754888e-01 5.29659120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.75, Y:2.65, Z:0.53 [[ 9.74298105e-01 -2.24248893e-01 -2.13456339e-02 3.07454405e+01] [ 2.24209318e-01 9.74531698e-01 -4.26035459e-03 2.65120157e+00] [ 2.17573766e-02 -6.35034619e-04 9.99763079e-01 5.29583509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:2.65, Z:0.53 [[ 9.74212945e-01 -2.24701348e-01 -2.04558520e-02 3.07736939e+01] [ 2.24664972e-01 9.74427488e-01 -4.08908073e-03 2.65439583e+00] [ 2.08515664e-02 -6.12078035e-04 9.99782395e-01 5.30069948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:2.66, Z:0.53 [[ 9.73947898e-01 -2.25929705e-01 -1.95258764e-02 3.08018026e+01] [ 2.25896773e-01 9.74143418e-01 -3.90496731e-03 2.65945349e+00] [ 1.99032521e-02 -6.07597778e-04 9.99801726e-01 5.30609316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.83, Y:2.67, Z:0.53 [[ 9.73692074e-01 -2.27051784e-01 -1.92673663e-02 3.08298755e+01] [ 2.27019833e-01 9.73882491e-01 -3.85863293e-03 2.66539116e+00] [ 1.96402602e-02 -6.16953969e-04 9.99806921e-01 5.31107120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:2.67, Z:0.53 [[ 9.73194450e-01 -2.29223200e-01 -1.86892345e-02 3.08578940e+01] [ 2.29193433e-01 9.73373680e-01 -3.74827575e-03 2.66651241e+00] [ 1.90508007e-02 -6.35648653e-04 9.99818315e-01 5.31401928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.89, Y:2.67, Z:0.53 [[ 9.73016594e-01 -2.30023955e-01 -1.81021473e-02 3.08857171e+01] [ 2.29996116e-01 9.73184764e-01 -3.63332612e-03 2.67208790e+00] [ 1.84524860e-02 -6.28136964e-04 9.99829541e-01 5.32417728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.91, Y:2.68, Z:0.53 [[ 9.72945925e-01 -2.30322706e-01 -1.81018810e-02 3.09127336e+01] [ 2.30294894e-01 9.73114100e-01 -3.63465242e-03 2.67768456e+00] [ 1.84523386e-02 -6.32450525e-04 9.99829541e-01 5.32980801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.94, Y:2.69, Z:0.53 [[ 9.72900139e-01 -2.30671433e-01 -1.60002669e-02 3.09394494e+01] [ 2.30649681e-01 9.73031539e-01 -3.21702000e-03 2.68537920e+00] [ 1.63108389e-02 -5.60617234e-04 9.99866812e-01 5.34300957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.97, Y:2.69, Z:0.54 [[ 9.72872849e-01 -2.30827889e-01 -1.53917433e-02 3.09672275e+01] [ 2.30807704e-01 9.72994449e-01 -3.09943081e-03 2.69089672e+00] [ 1.56915158e-02 -5.37180858e-04 9.99876736e-01 5.35150259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.00, Y:2.70, Z:0.54 [[ 9.72940519e-01 -2.30573639e-01 -1.49178745e-02 3.09957916e+01] [ 2.30554575e-01 9.73054744e-01 -3.00883512e-03 2.69689611e+00] [ 1.52096666e-02 -5.11966613e-04 9.99884195e-01 5.36004883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.02, Y:2.70, Z:0.54 [[ 9.73284697e-01 -2.29175092e-01 -1.39884291e-02 3.10233196e+01] [ 2.29158118e-01 9.73385109e-01 -2.82608296e-03 2.70292084e+00] [ 1.42637964e-02 -4.54978782e-04 9.99898163e-01 5.36796203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.05, Y:2.71, Z:0.54 [[ 9.73453795e-01 -2.28495329e-01 -1.33263935e-02 3.10513810e+01] [ 2.28479860e-01 9.73544917e-01 -2.69237922e-03 2.71011903e+00] [ 1.35890387e-02 -4.23905731e-04 9.99907575e-01 5.37447393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.08, Y:2.71, Z:0.54 [[ 9.73659017e-01 -2.27643343e-01 -1.29084154e-02 3.10790773e+01] [ 2.27628692e-01 9.73744501e-01 -2.61262957e-03 2.71380882e+00] [ 1.31642462e-02 -3.94515382e-04 9.99913270e-01 5.38859147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.11, Y:2.73, Z:0.54 [[ 9.74074865e-01 -2.25901350e-01 -1.21135365e-02 3.11057855e+01] [ 2.25888317e-01 9.74150121e-01 -2.45141409e-03 2.72598028e+00] [ 1.23541808e-02 -3.48445524e-04 9.99923623e-01 5.38638060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.692755096 meters Centerline goodness [0,1] 0.9999354436099933 Centerline is valid? [True, True] Translation: X:31.13, Y:2.73, Z:0.54 [[ 9.74164233e-01 -2.25527841e-01 -1.18844204e-02 3.11329285e+01] [ 2.25515218e-01 9.74236666e-01 -2.40927654e-03 2.73311572e+00] [ 1.21215971e-02 -3.33086629e-04 9.99926475e-01 5.39296158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.16, Y:2.74, Z:0.54 [[ 9.74291281e-01 -2.25029175e-01 -1.08798049e-02 3.11612487e+01] [ 2.25018562e-01 9.74351980e-01 -2.20582480e-03 2.74095625e+00] [ 1.10971344e-02 -2.99042180e-04 9.99938380e-01 5.39860448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:2.75, Z:0.54 [[ 9.74499870e-01 -2.24082235e-01 -1.17113753e-02 3.11884540e+01] [ 2.24069809e-01 9.74570192e-01 -2.37947651e-03 2.74753681e+00] [ 1.19467557e-02 -3.05366077e-04 9.99928588e-01 5.39763619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:2.75, Z:0.54 [[ 9.74447001e-01 -2.24314910e-01 -1.16560532e-02 3.12162805e+01] [ 2.24302605e-01 9.74516664e-01 -2.36935521e-03 2.75223395e+00] [ 1.18904998e-02 -3.05672008e-04 9.99929259e-01 5.39920717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.24, Y:2.76, Z:0.54 [[ 9.74331438e-01 -2.24762259e-01 -1.26560625e-02 3.12440755e+01] [ 2.24747792e-01 9.74413574e-01 -2.57245328e-03 2.75787480e+00] [ 1.29104295e-02 -3.37999986e-04 9.99916600e-01 5.39483053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.27, Y:2.76, Z:0.54 [[ 9.74073854e-01 -2.25886114e-01 -1.24736320e-02 3.12727037e+01] [ 2.25872101e-01 9.74153656e-01 -2.53939436e-03 2.76288653e+00] [ 1.27248481e-02 -3.43887816e-04 9.99918977e-01 5.39959957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.30, Y:2.77, Z:0.54 [[ 9.73840548e-01 -2.26928838e-01 -1.17426361e-02 3.13009926e+01] [ 2.26916463e-01 9.73911285e-01 -2.39327904e-03 2.77062262e+00] [ 1.19793899e-02 -3.33925284e-04 9.99928189e-01 5.40275188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.33, Y:2.77, Z:0.54 [[ 9.73568271e-01 -2.28128767e-01 -1.10492816e-02 3.13291703e+01] [ 2.28117838e-01 9.73630916e-01 -2.25631028e-03 2.77255999e+00] [ 1.12726514e-02 -3.23866128e-04 9.99936409e-01 5.42103923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.36, Y:2.78, Z:0.54 [[ 9.73223753e-01 -2.29597188e-01 -1.09844088e-02 3.13566010e+01] [ 2.29586469e-01 9.73285681e-01 -2.24418237e-03 2.77615878e+00] [ 1.12062258e-02 -3.37780046e-04 9.99937151e-01 5.43147411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:2.78, Z:0.54 [[ 9.72534798e-01 -2.32496047e-01 -1.10297718e-02 3.13849061e+01] [ 2.32485410e-01 9.72597270e-01 -2.25475579e-03 2.78365141e+00] [ 1.12517477e-02 -3.71432544e-04 9.99936628e-01 5.42879479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:2.78, Z:0.55 [[ 9.72140874e-01 -2.34153605e-01 -1.06869275e-02 3.14141336e+01] [ 2.34143722e-01 9.72199540e-01 -2.18444352e-03 2.78152889e+00] [ 1.09013213e-02 -3.78690149e-04 9.99940507e-01 5.45483652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:2.79, Z:0.54 [[ 9.71296489e-01 -2.37643825e-01 -1.04183501e-02 3.14420623e+01] [ 2.37634608e-01 9.71352278e-01 -2.13190253e-03 2.78992803e+00] [ 1.06265216e-02 -4.05051096e-04 9.99943455e-01 5.44576565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.47, Y:2.79, Z:0.55 [[ 9.70956381e-01 -2.39038000e-01 -1.02245030e-02 3.14698577e+01] [ 2.39029203e-01 9.71010126e-01 -2.09196152e-03 2.79254782e+00] [ 1.04281543e-02 -4.12751420e-04 9.99945540e-01 5.45735713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:2.80, Z:0.55 [[ 9.70682352e-01 -2.40153984e-01 -1.00913858e-02 3.14973805e+01] [ 2.40145454e-01 9.70734716e-01 -2.06669599e-03 2.79673643e+00] [ 1.02923838e-02 -4.17295100e-04 9.99946945e-01 5.46508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:2.80, Z:0.55 [[ 9.70460911e-01 -2.41059620e-01 -9.79181773e-03 3.15244387e+01] [ 2.41051633e-01 9.70510221e-01 -2.00550510e-03 2.80120364e+00] [ 9.98650548e-03 -4.14069346e-04 9.99950048e-01 5.47717664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:2.81, Z:0.55 [[ 9.70312058e-01 -2.41651901e-01 -9.94323656e-03 3.15521676e+01] [ 2.41643672e-01 9.70362911e-01 -2.03894047e-03 2.80558122e+00] [ 1.01412618e-02 -4.24311668e-04 9.99948486e-01 5.48819870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.58, Y:2.82, Z:0.55 [[ 9.70256656e-01 -2.41880796e-01 -9.78270790e-03 3.15777121e+01] [ 2.41872858e-01 9.70305881e-01 -2.00448628e-03 2.81882431e+00] [ 9.97706575e-03 -4.21305360e-04 9.99950139e-01 5.47649574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:2.82, Z:0.55 [[ 9.70699139e-01 -2.40054000e-01 -1.08286246e-02 3.16053160e+01] [ 2.40044093e-01 9.70759437e-01 -2.22482673e-03 2.82383588e+00] [ 1.10460681e-02 -4.39709983e-04 9.99938894e-01 5.48122636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.63, Y:2.83, Z:0.55 [[ 9.70915979e-01 -2.39136168e-01 -1.16642404e-02 3.16328554e+01] [ 2.39124598e-01 9.70985932e-01 -2.39721382e-03 2.83239436e+00] [ 1.18990738e-02 -4.61713585e-04 9.99929097e-01 5.47570640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.66, Y:2.84, Z:0.55 [[ 9.71280881e-01 -2.37642728e-01 -1.18060692e-02 3.16602012e+01] [ 2.37630725e-01 9.71352529e-01 -2.42969915e-03 2.84132901e+00] [ 1.20452555e-02 -4.45564449e-04 9.99927354e-01 5.47515825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.69, Y:2.85, Z:0.55 [[ 9.72095821e-01 -2.34224979e-01 -1.29758937e-02 3.16888910e+01] [ 2.34210096e-01 9.72182322e-01 -2.67643705e-03 2.84612567e+00] [ 1.32418229e-02 -4.37332039e-04 9.99912228e-01 5.48331123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.72, Y:2.86, Z:0.55 [[ 9.72397644e-01 -2.32950915e-01 -1.32926141e-02 3.17166860e+01] [ 2.32935191e-01 9.72488398e-01 -2.74073265e-03 2.85634826e+00] [ 1.35653692e-02 -4.31235626e-04 9.99907893e-01 5.47912077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:2.87, Z:0.55 [[ 9.72593394e-01 -2.32102495e-01 -1.38029538e-02 3.17443278e+01] [ 2.32085400e-01 9.72691238e-01 -2.84991407e-03 2.86500648e+00] [ 1.40874844e-02 -4.31656456e-04 9.99900673e-01 5.47905684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:2.87, Z:0.55 [[ 9.72796292e-01 -2.31240167e-01 -1.39770962e-02 3.17721637e+01] [ 2.31222474e-01 9.72896608e-01 -2.89111022e-03 2.86929693e+00] [ 1.42668103e-02 -4.19357457e-04 9.99898136e-01 5.49144998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:2.87, Z:0.55 [[ 9.72989547e-01 -2.30452460e-01 -1.35279158e-02 3.17998002e+01] [ 2.30435791e-01 9.73083506e-01 -2.79953896e-03 2.87330753e+00] [ 1.38089523e-02 -3.93393825e-04 9.99904574e-01 5.50925461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:2.88, Z:0.55 [[ 9.72892161e-01 -2.30875172e-01 -1.33228728e-02 3.18274341e+01] [ 2.30859047e-01 9.72983299e-01 -2.75690111e-03 2.88053758e+00] [ 1.35994328e-02 -3.93538246e-04 9.99907446e-01 5.51373768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.85, Y:2.88, Z:0.55 [[ 9.72679670e-01 -2.31777361e-01 -1.31725141e-02 3.18548544e+01] [ 2.31761608e-01 9.72768779e-01 -2.73112922e-03 2.88360578e+00] [ 1.34468244e-02 -3.96369175e-04 9.99909509e-01 5.53047781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.88, Y:2.89, Z:0.55 [[ 9.72536480e-01 -2.32383838e-01 -1.30593591e-02 3.18826960e+01] [ 2.32368397e-01 9.72624075e-01 -2.70859110e-03 2.89172990e+00] [ 1.33312799e-02 -4.00378689e-04 9.99911054e-01 5.52993055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.91, Y:2.89, Z:0.55 [[ 9.72190937e-01 -2.33808695e-01 -1.33520204e-02 3.19103358e+01] [ 2.33792616e-01 9.72282528e-01 -2.77458209e-03 2.89363599e+00] [ 1.36306576e-02 -4.24180216e-04 9.99907008e-01 5.54503089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.94, Y:2.90, Z:0.56 [[ 9.72037337e-01 -2.34449542e-01 -1.32976358e-02 3.19382060e+01] [ 2.34433635e-01 9.72128195e-01 -2.76466239e-03 2.89783304e+00] [ 1.35751805e-02 -4.30058022e-04 9.99907761e-01 5.55630031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:2.90, Z:0.56 [[ 9.71863111e-01 -2.35160046e-01 -1.34850204e-02 3.19659866e+01] [ 2.35143737e-01 9.71956560e-01 -2.80501676e-03 2.90215126e+00] [ 1.37664819e-02 -4.44825776e-04 9.99905139e-01 5.56635329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.99, Y:2.91, Z:0.56 [[ 9.71704871e-01 -2.35811037e-01 -1.35202779e-02 3.19943125e+01] [ 2.35794703e-01 9.71798821e-01 -2.81251178e-03 2.90963858e+00] [ 1.38022114e-02 -4.55078514e-04 9.99904641e-01 5.56862854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.02, Y:2.92, Z:0.56 [[ 9.71472882e-01 -2.36721708e-01 -1.42573978e-02 3.20227998e+01] [ 2.36703579e-01 9.71577374e-01 -2.97017218e-03 2.91576766e+00] [ 1.45552694e-02 -4.89335365e-04 9.99893947e-01 5.57203804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.05, Y:2.92, Z:0.56 [[ 9.71427370e-01 -2.36893763e-01 -1.44986242e-02 3.20498543e+01] [ 2.36874961e-01 9.71535434e-01 -3.02544291e-03 2.91938988e+00] [ 1.48026357e-02 -4.95362978e-04 9.99890312e-01 5.58139512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.08, Y:2.93, Z:0.56 [[ 9.71363034e-01 -2.37123223e-01 -1.50477029e-02 3.20766862e+01] [ 2.37102977e-01 9.71479444e-01 -3.14131032e-03 2.92821202e+00] [ 1.53634117e-02 -5.16502445e-04 9.99881842e-01 5.57906916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.11, Y:2.93, Z:0.56 [[ 9.71465048e-01 -2.36646087e-01 -1.59464460e-02 3.21053421e+01] [ 2.36623191e-01 9.71595772e-01 -3.33475859e-03 2.93428738e+00] [ 1.62826571e-02 -5.33697530e-04 9.99867286e-01 5.58279933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.13, Y:2.94, Z:0.56 [[ 9.71527618e-01 -2.36327275e-01 -1.68376705e-02 3.21327049e+01] [ 2.36301602e-01 9.71673358e-01 -3.52687841e-03 2.93878153e+00] [ 1.71942134e-02 -5.52308727e-04 9.99852016e-01 5.58316223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.16, Y:2.95, Z:0.56 [[ 9.71802701e-01 -2.34989637e-01 -1.94776853e-02 3.21603869e+01] [ 2.34954969e-01 9.71997685e-01 -4.08207424e-03 2.94503807e+00] [ 1.98915102e-02 -6.09408168e-04 9.99801959e-01 5.56744978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:2.95, Z:0.56 [[ 9.71919751e-01 -2.34386376e-01 -2.08572485e-02 3.21874923e+01] [ 2.34346353e-01 9.72143315e-01 -4.37737560e-03 2.95492772e+00] [ 2.13022319e-02 -6.33362308e-04 9.99772881e-01 5.56220146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:2.96, Z:0.56 [[ 9.72114837e-01 -2.33499504e-01 -2.16962170e-02 3.22148648e+01] [ 2.33455840e-01 9.72356715e-01 -4.55956429e-03 2.96044280e+00] [ 2.21611183e-02 -6.32688470e-04 9.99754212e-01 5.55858446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:2.96, Z:0.56 [[ 9.72341388e-01 -2.32500637e-01 -2.22638640e-02 3.22420618e+01] [ 2.32454344e-01 9.72596044e-01 -4.68115580e-03 2.96460357e+00] [ 2.27421177e-02 -6.23650362e-04 9.99741170e-01 5.56182264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:2.97, Z:0.56 [[ 9.72266753e-01 -2.32796738e-01 -2.24285453e-02 3.22684999e+01] [ 2.32749772e-01 9.72525207e-01 -4.71856617e-03 2.97353271e+00] [ 2.29107925e-02 -6.32533787e-04 9.99737313e-01 5.57521658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:2.98, Z:0.56 [[ 9.72211326e-01 -2.33001309e-01 -2.27052516e-02 3.22958757e+01] [ 2.32953073e-01 9.72476212e-01 -4.78363957e-03 2.97719339e+00] [ 2.31949113e-02 -6.38549571e-04 9.99730758e-01 5.58102036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:2.98, Z:0.56 [[ 9.71751220e-01 -2.34808802e-01 -2.37569445e-02 3.23244719e+01] [ 2.34756457e-01 9.72041317e-01 -5.00837481e-03 2.98158194e+00] [ 2.42687421e-02 -7.10201795e-04 9.99705218e-01 5.58795709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:2.99, Z:0.56 [[ 9.71497624e-01 -2.35831804e-01 -2.39943056e-02 3.23524069e+01] [ 2.35778570e-01 9.71793608e-01 -5.06446973e-03 2.98542490e+00] [ 2.45118759e-02 -7.37222766e-04 9.99699267e-01 5.59681492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:2.99, Z:0.56 [[ 9.71328085e-01 -2.36570592e-01 -2.35818943e-02 3.23798284e+01] [ 2.36519336e-01 9.71614021e-01 -4.97972130e-03 2.98945013e+00] [ 2.40905547e-02 -7.40630813e-04 9.99709506e-01 5.61286865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:3.00, Z:0.56 [[ 9.71399449e-01 -2.36396394e-01 -2.23574410e-02 3.24074003e+01] [ 2.36350218e-01 9.71656452e-01 -4.72368127e-03 3.00081779e+00] [ 2.28404130e-02 -6.95604671e-04 9.99738882e-01 5.63364608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:3.01, Z:0.56 [[ 9.71465754e-01 -2.36094760e-01 -2.26616985e-02 3.24350992e+01] [ 2.36047088e-01 9.71729791e-01 -4.79439762e-03 3.00831354e+00] [ 2.31529797e-02 -6.91634851e-04 9.99731695e-01 5.63975001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.46, Y:3.02, Z:0.56 [[ 9.71363558e-01 -2.36444183e-01 -2.33877409e-02 3.24621219e+01] [ 2.36393344e-01 9.71644810e-01 -4.95486318e-03 3.01511001e+00] [ 2.38961256e-02 -7.15732765e-04 9.99714191e-01 5.63966584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.49, Y:3.02, Z:0.56 [[ 9.71132846e-01 -2.37215930e-01 -2.50917842e-02 3.24894815e+01] [ 2.37157482e-01 9.71456634e-01 -5.32320994e-03 3.01982130e+00] [ 2.56383305e-02 -7.81160337e-04 9.99670979e-01 5.63305855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.52, Y:3.02, Z:0.56 [[ 9.70810945e-01 -2.38479794e-01 -2.55635927e-02 3.25176818e+01] [ 2.38419472e-01 9.71147108e-01 -5.42683756e-03 3.02452759e+00] [ 2.61202002e-02 -8.26424977e-04 9.99658468e-01 5.63571938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:3.03, Z:0.56 [[ 9.70494036e-01 -2.39709912e-01 -2.60860760e-02 3.25458608e+01] [ 2.39647348e-01 9.70844169e-01 -5.54505002e-03 3.03110575e+00] [ 2.66547182e-02 -8.70020959e-04 9.99644321e-01 5.64696900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:3.04, Z:0.57 [[ 9.70191402e-01 -2.40921083e-01 -2.61854093e-02 3.25737889e+01] [ 2.40858285e-01 9.70544292e-01 -5.57353144e-03 3.03683984e+00] [ 2.67568807e-02 -8.99580474e-04 9.99641566e-01 5.65265064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:3.04, Z:0.57 [[ 9.69799737e-01 -2.42444672e-01 -2.66280285e-02 3.26010384e+01] [ 2.42380133e-01 9.70164767e-01 -5.67408704e-03 3.04401715e+00] [ 2.72092273e-02 -9.51376981e-04 9.99629308e-01 5.65258325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:3.05, Z:0.57 [[ 9.69677896e-01 -2.42932766e-01 -2.66167102e-02 3.26279476e+01] [ 2.42868354e-01 9.70042653e-01 -5.67574104e-03 3.05048775e+00] [ 2.71981676e-02 -9.60715972e-04 9.99629600e-01 5.65375083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:3.06, Z:0.57 [[ 9.69604791e-01 -2.43224570e-01 -2.66150000e-02 3.26548892e+01] [ 2.43160049e-01 9.69969528e-01 -5.68375081e-03 3.05641895e+00] [ 2.71981668e-02 -9.60712706e-04 9.99629600e-01 5.65936839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.68, Y:3.07, Z:0.57 [[ 9.69516320e-01 -2.43550252e-01 -2.68585124e-02 3.26821330e+01] [ 2.43484434e-01 9.69887794e-01 -5.74433074e-03 3.06533733e+00] [ 2.74487766e-02 -9.70407312e-04 9.99622740e-01 5.67243546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:3.07, Z:0.57 [[ 9.69720228e-01 -2.42712506e-01 -2.70798720e-02 3.27098048e+01] [ 2.42645071e-01 9.70097800e-01 -5.79892748e-03 3.06714416e+00] [ 2.76775965e-02 -9.47460192e-04 9.99616453e-01 5.67044160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:3.08, Z:0.57 [[ 9.69829873e-01 -2.42275538e-01 -2.70662340e-02 3.27371431e+01] [ 2.42207891e-01 9.70207039e-01 -5.79998672e-03 3.07804058e+00] [ 2.76650456e-02 -9.30655072e-04 9.99616816e-01 5.68418501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.77, Y:3.09, Z:0.57 [[ 9.69959213e-01 -2.41703552e-01 -2.75412000e-02 3.27655953e+01] [ 2.41633064e-01 9.70349701e-01 -5.90942425e-03 3.08566527e+00] [ 2.81529240e-02 -9.22964027e-04 9.99603202e-01 5.69167723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:3.09, Z:0.57 [[ 9.70308683e-01 -2.40266206e-01 -2.78066417e-02 3.27927895e+01] [ 2.40193579e-01 9.70706634e-01 -5.97284971e-03 3.09233066e+00] [ 2.84271655e-02 -8.83468832e-04 9.99595476e-01 5.69860889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.82, Y:3.10, Z:0.57 [[ 9.70397746e-01 -2.39940293e-01 -2.75112703e-02 3.28212225e+01] [ 2.39868929e-01 9.70787266e-01 -5.91441568e-03 3.09940738e+00] [ 2.81266975e-02 -8.59763308e-04 9.99603996e-01 5.70611465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.85, Y:3.11, Z:0.57 [[ 9.70479393e-01 -2.39670017e-01 -2.69820462e-02 3.28491482e+01] [ 2.39601065e-01 9.70854055e-01 -5.80800818e-03 3.10658673e+00] [ 2.75876344e-02 -8.28374766e-04 9.99619046e-01 5.71320221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.88, Y:3.11, Z:0.57 [[ 9.70555338e-01 -2.39482059e-01 -2.58974787e-02 3.28769316e+01] [ 2.39418317e-01 9.70900473e-01 -5.58044481e-03 3.11191568e+00] [ 2.64802908e-02 -7.84200268e-04 9.99649028e-01 5.73319744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:3.12, Z:0.57 [[ 9.70482277e-01 -2.39809834e-01 -2.56006584e-02 3.29043338e+01] [ 2.39747561e-01 9.70819569e-01 -5.52018207e-03 3.11739044e+00] [ 2.61774141e-02 -7.80456543e-04 9.99657008e-01 5.74470525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.93, Y:3.12, Z:0.58 [[ 9.70576562e-01 -2.39458635e-01 -2.53120530e-02 3.29317570e+01] [ 2.39397466e-01 9.70906273e-01 -5.46463411e-03 3.12143614e+00] [ 2.58841848e-02 -7.55795544e-04 9.99664663e-01 5.76042842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:3.13, Z:0.58 [[ 9.70513035e-01 -2.39701245e-01 -2.54511792e-02 3.29594747e+01] [ 2.39639391e-01 9.70846399e-01 -5.49828951e-03 3.12735357e+00] [ 2.60271325e-02 -7.62943422e-04 9.99660946e-01 5.77228710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.99, Y:3.13, Z:0.58 [[ 9.70465893e-01 -2.39920259e-01 -2.51837137e-02 3.29866202e+01] [ 2.39859575e-01 9.70792306e-01 -5.44815467e-03 3.13299484e+00] [ 2.57552782e-02 -7.53306588e-04 9.99667994e-01 5.78096001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.01, Y:3.14, Z:0.58 [[ 9.70439746e-01 -2.40062354e-01 -2.48347587e-02 3.30135702e+01] [ 2.40003197e-01 9.70757189e-01 -5.38012607e-03 3.13900698e+00] [ 2.54000863e-02 -7.39333303e-04 9.99677092e-01 5.78838750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:3.14, Z:0.58 [[ 9.70418221e-01 -2.40240891e-01 -2.39330559e-02 3.30400478e+01] [ 2.40185851e-01 9.70713042e-01 -5.19112279e-03 3.14436012e+00] [ 2.44792495e-02 -7.10821261e-04 9.99700086e-01 5.79755894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.07, Y:3.15, Z:0.58 [[ 9.70323023e-01 -2.40610884e-01 -2.40755822e-02 3.30678761e+01] [ 2.40555206e-01 9.70621390e-01 -5.22589556e-03 3.14973111e+00] [ 2.46256824e-02 -7.20699833e-04 9.99696482e-01 5.80291076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.10, Y:3.15, Z:0.58 [[ 9.70198216e-01 -2.41057998e-01 -2.46264893e-02 3.30953709e+01] [ 2.40999721e-01 9.70510428e-01 -5.35199981e-03 3.15308580e+00] [ 2.51904070e-02 -7.42476387e-04 9.99682396e-01 5.80358874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:3.16, Z:0.58 [[ 9.70162658e-01 -2.41135962e-01 -2.52559742e-02 3.31222687e+01] [ 2.41074604e-01 9.70491046e-01 -5.49228896e-03 3.15933381e+00] [ 2.58350852e-02 -7.60160326e-04 9.99665929e-01 5.80731871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.15, Y:3.16, Z:0.58 [[ 9.70236895e-01 -2.40809780e-01 -2.55150395e-02 3.31504434e+01] [ 2.40746848e-01 9.70572040e-01 -5.55615441e-03 3.16355219e+00] [ 2.61021603e-02 -7.51879328e-04 9.99658998e-01 5.80448779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:3.17, Z:0.58 [[ 9.70348316e-01 -2.40241977e-01 -2.66071074e-02 3.31784654e+01] [ 2.40173133e-01 9.70712735e-01 -5.80113121e-03 3.17038492e+00] [ 2.72215333e-02 -7.61194453e-04 9.99629136e-01 5.79752177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.21, Y:3.17, Z:0.58 [[ 9.70376474e-01 -2.40064219e-01 -2.71784761e-02 3.32056974e+01] [ 2.39992144e-01 9.70756706e-01 -5.93193540e-03 3.17465520e+00] [ 2.78077334e-02 -7.66410192e-04 9.99612996e-01 5.79060423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.23, Y:3.18, Z:0.58 [[ 9.70359877e-01 -2.40075189e-01 -2.76696931e-02 3.32331938e+01] [ 2.40000350e-01 9.70753986e-01 -6.04404964e-03 3.18219350e+00] [ 2.83114913e-02 -7.75832767e-04 9.99598848e-01 5.79390330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.26, Y:3.19, Z:0.58 [[ 9.70558293e-01 -2.39257128e-01 -2.77961407e-02 3.32602841e+01] [ 2.39181079e-01 9.70955954e-01 -6.07832701e-03 3.18755500e+00] [ 2.84431114e-02 -7.48940231e-04 9.99595132e-01 5.79403973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:3.20, Z:0.58 [[ 9.70758421e-01 -2.38495974e-01 -2.73451608e-02 3.32870320e+01] [ 2.38421960e-01 9.71143226e-01 -5.98365225e-03 3.20063364e+00] [ 2.79831446e-02 -7.11006033e-04 9.99608142e-01 5.81698392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:3.20, Z:0.58 [[ 9.70880591e-01 -2.37977740e-01 -2.75222422e-02 3.33156812e+01] [ 2.37902370e-01 9.71270361e-01 -6.02900370e-03 3.20079072e+00] [ 2.81663068e-02 -6.94163988e-04 9.99603010e-01 5.80614868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:3.21, Z:0.58 [[ 9.71080367e-01 -2.37230646e-01 -2.69172973e-02 3.33428587e+01] [ 2.37158160e-01 9.71453135e-01 -5.90036007e-03 3.21375986e+00] [ 2.75486391e-02 -6.53932877e-04 9.99620250e-01 5.83890922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:3.22, Z:0.58 [[ 9.71300647e-01 -2.36306971e-01 -2.70937098e-02 3.33697872e+01] [ 2.36232992e-01 9.71678251e-01 -5.94552804e-03 3.21922766e+00] [ 2.77313383e-02 -6.25532899e-04 9.99615217e-01 5.84601429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:3.22, Z:0.59 [[ 9.71279214e-01 -2.36364279e-01 -2.73608406e-02 3.33970254e+01] [ 2.36288702e-01 9.71664311e-01 -6.00966315e-03 3.22490326e+00] [ 2.80060220e-02 -6.27996611e-04 9.99607557e-01 5.85538516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:3.23, Z:0.59 [[ 9.71375229e-01 -2.36039287e-01 -2.67510607e-02 3.34241210e+01] [ 2.35966714e-01 9.71743329e-01 -5.88316695e-03 3.23017246e+00] [ 2.73838233e-02 -5.97597245e-04 9.99624814e-01 5.86386217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:3.24, Z:0.59 [[ 9.71570366e-01 -2.35353374e-01 -2.56868336e-02 3.34520374e+01] [ 2.35286103e-01 9.71909711e-01 -5.65366774e-03 3.23790109e+00] [ 2.62958928e-02 -5.50818930e-04 9.99654051e-01 5.88569079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:3.24, Z:0.59 [[ 9.71687116e-01 -2.34965880e-01 -2.48028927e-02 3.34793219e+01] [ 2.34902881e-01 9.72003482e-01 -5.46507756e-03 3.24411328e+00] [ 2.53926048e-02 -5.15925506e-04 9.99677423e-01 5.89664926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:3.25, Z:0.59 [[ 9.71816673e-01 -2.34566684e-01 -2.34696532e-02 3.35064560e+01] [ 2.34510091e-01 9.72099915e-01 -5.17422269e-03 3.25388016e+00] [ 2.40285481e-02 -4.75474610e-04 9.99711160e-01 5.91498295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:3.26, Z:0.59 [[ 9.71809207e-01 -2.34643218e-01 -2.30092446e-02 3.35334376e+01] [ 2.34588689e-01 9.72081451e-01 -5.07935297e-03 3.26066913e+00] [ 2.35586956e-02 -4.61546522e-04 9.99722349e-01 5.92487444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:3.27, Z:0.59 [[ 9.71775586e-01 -2.34827532e-01 -2.25441976e-02 3.35606967e+01] [ 2.34775067e-01 9.72036948e-01 -4.98396030e-03 3.26730694e+00] [ 2.30841641e-02 -4.49524550e-04 9.99733424e-01 5.93552331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:3.27, Z:0.59 [[ 9.71709688e-01 -2.35170069e-01 -2.18018550e-02 3.35871933e+01] [ 2.35120941e-01 9.71954139e-01 -4.82647446e-03 3.27227895e+00] [ 2.23254456e-02 -4.36140673e-04 9.99750661e-01 5.94574426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:3.28, Z:0.59 [[ 9.71643577e-01 -2.35408897e-01 -2.21677673e-02 3.36146016e+01] [ 2.35358086e-01 9.71896318e-01 -4.91109156e-03 3.27795697e+00] [ 2.27008860e-02 -4.45532696e-04 9.99742202e-01 5.94736845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:3.28, Z:0.59 [[ 9.71521717e-01 -2.35873211e-01 -2.25695045e-02 3.36421883e+01] [ 2.35820496e-01 9.71783731e-01 -5.00747697e-03 3.28440255e+00] [ 2.31138070e-02 -4.57479119e-04 9.99732736e-01 5.94860710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:3.29, Z:0.59 [[ 9.71349109e-01 -2.36548017e-01 -2.29334895e-02 3.36699176e+01] [ 2.36493597e-01 9.71619685e-01 -5.09582130e-03 3.29035924e+00] [ 2.34880362e-02 -4.73801929e-04 9.99724006e-01 5.94127861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.70, Y:3.29, Z:0.59 [[ 9.71172669e-01 -2.37201787e-01 -2.36423289e-02 3.36976316e+01] [ 2.37143966e-01 9.71460274e-01 -5.26070839e-03 3.29450305e+00] [ 2.42154327e-02 -4.97579427e-04 9.99706640e-01 5.93387909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:3.30, Z:0.59 [[ 9.71036953e-01 -2.37695266e-01 -2.42527807e-02 3.37250664e+01] [ 2.37634485e-01 9.71339637e-01 -5.40010843e-03 3.29874504e+00] [ 2.48412675e-02 -5.19592214e-04 9.99691273e-01 5.93287924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.75, Y:3.31, Z:0.59 [[ 9.71037600e-01 -2.37749872e-01 -2.36849558e-02 3.37520670e+01] [ 2.37691845e-01 9.71326280e-01 -5.27676252e-03 3.30557225e+00] [ 2.42603696e-02 -5.05786036e-04 9.99705546e-01 5.93880041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.78, Y:3.31, Z:0.59 [[ 9.71072592e-01 -2.37606600e-01 -2.36880749e-02 3.37788306e+01] [ 2.37548336e-01 9.71361343e-01 -5.28483775e-03 3.31358995e+00] [ 2.42653926e-02 -4.95101685e-04 9.99705429e-01 5.94506053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:3.32, Z:0.59 [[ 9.70988576e-01 -2.37969866e-01 -2.34846435e-02 3.38059163e+01] [ 2.37912542e-01 9.71272413e-01 -5.24622559e-03 3.31885776e+00] [ 2.40584300e-02 -4.93266129e-04 9.99710432e-01 5.94989658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.83, Y:3.32, Z:0.60 [[ 9.70812811e-01 -2.38671275e-01 -2.36327823e-02 3.38328016e+01] [ 2.38613368e-01 9.71100284e-01 -5.28198308e-03 3.32403419e+00] [ 2.42104592e-02 -5.11280947e-04 9.99706753e-01 5.95281697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.86, Y:3.33, Z:0.60 [[ 9.70723836e-01 -2.39126204e-01 -2.26691959e-02 3.38598712e+01] [ 2.39072949e-01 9.70988368e-01 -5.07086223e-03 3.33192471e+00] [ 2.32241016e-02 -4.97184676e-04 9.99730161e-01 5.96456186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.89, Y:3.34, Z:0.60 [[ 9.70451572e-01 -2.40217901e-01 -2.27838914e-02 3.38883811e+01] [ 2.40164238e-01 9.70718853e-01 -5.10373503e-03 3.33695315e+00] [ 2.33427614e-02 -5.18948223e-04 9.99727386e-01 5.96807988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:3.34, Z:0.60 [[ 9.69998272e-01 -2.42114744e-01 -2.19955025e-02 3.39158289e+01] [ 2.42065092e-01 9.70247473e-01 -4.93274468e-03 3.33992241e+00] [ 2.25353710e-02 -5.39589509e-04 9.99745901e-01 5.97644439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:3.35, Z:0.60 [[ 9.69622339e-01 -2.43670067e-01 -2.13873460e-02 3.39436690e+01] [ 2.43623455e-01 9.69858024e-01 -4.79842865e-03 3.34545694e+00] [ 2.19119226e-02 -5.57795518e-04 9.99759749e-01 5.98440310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:3.35, Z:0.60 [[ 9.69160848e-01 -2.45495926e-01 -2.14243269e-02 3.39722079e+01] [ 2.45449546e-01 9.69397438e-01 -4.80910312e-03 3.35198905e+00] [ 2.19493028e-02 -5.97796861e-04 9.99758906e-01 5.99082771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:3.36, Z:0.60 [[ 9.68386432e-01 -2.48633939e-01 -2.02208287e-02 3.40010561e+01] [ 2.48593197e-01 9.68597322e-01 -4.54425254e-03 3.35597157e+00] [ 2.07156959e-02 -6.26167925e-04 9.99785211e-01 5.99890789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.03, Y:3.37, Z:0.60 [[ 9.67881413e-01 -2.50599660e-01 -2.01340613e-02 3.40287180e+01] [ 2.50559665e-01 9.68090579e-01 -4.52599386e-03 3.36543173e+00] [ 2.06258075e-02 -6.64158317e-04 9.99787045e-01 5.99993018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.06, Y:3.37, Z:0.60 [[ 9.67585765e-01 -2.51741174e-01 -2.01039592e-02 3.40566965e+01] [ 2.51701425e-01 9.67794356e-01 -4.52506847e-03 3.36754887e+00] [ 2.05956443e-02 -6.81803355e-04 9.99787655e-01 6.00278166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.08, Y:3.37, Z:0.60 [[ 9.67289756e-01 -2.52912324e-01 -1.96439557e-02 3.40846046e+01] [ 2.52874575e-01 9.67488957e-01 -4.42346641e-03 3.37324200e+00] [ 2.01240594e-02 -6.88683198e-04 9.99797253e-01 6.01008265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.11, Y:3.38, Z:0.60 [[ 9.67137142e-01 -2.53555792e-01 -1.88470076e-02 3.41129955e+01] [ 2.53521071e-01 9.67320533e-01 -4.24894009e-03 3.37906624e+00] [ 1.93084408e-02 -6.68805767e-04 9.99813351e-01 6.02733288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.14, Y:3.39, Z:0.60 [[ 9.67130793e-01 -2.53624071e-01 -1.82444388e-02 3.41400504e+01] [ 2.53591456e-01 9.67302650e-01 -4.11796875e-03 3.38541506e+00] [ 1.86923100e-02 -6.44019407e-04 9.99825076e-01 6.03345220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.17, Y:3.39, Z:0.60 [[ 9.67224262e-01 -2.53236832e-01 -1.86636950e-02 3.41677132e+01] [ 2.53202511e-01 9.67404099e-01 -4.21877524e-03 3.39399317e+00] [ 1.91236843e-02 -6.45192664e-04 9.99816917e-01 6.02884539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.20, Y:3.40, Z:0.60 [[ 9.67661129e-01 -2.51490647e-01 -1.96059792e-02 3.41951966e+01] [ 2.51452295e-01 9.67859520e-01 -4.43767811e-03 3.40144078e+00] [ 2.00918682e-02 -6.35799863e-04 9.99797936e-01 6.01693943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:3.41, Z:0.60 [[ 9.67906140e-01 -2.50526372e-01 -1.98555315e-02 3.42221153e+01] [ 2.50486718e-01 9.68109578e-01 -4.49989125e-03 3.40830232e+00] [ 2.03496716e-02 -6.18074553e-04 9.99792733e-01 6.01199401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.25, Y:3.42, Z:0.60 [[ 9.68447105e-01 -2.48368114e-01 -2.05787341e-02 3.42490025e+01] [ 2.48324985e-01 9.68665541e-01 -4.66600845e-03 3.41879568e+00] [ 2.10927983e-02 -5.91431475e-04 9.99777347e-01 6.00239685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.28, Y:3.43, Z:0.60 [[ 9.68624904e-01 -2.47677875e-01 -2.05296440e-02 3.42769576e+01] [ 2.47634673e-01 9.68842271e-01 -4.66077996e-03 3.42503709e+00] [ 2.10443590e-02 -5.69304122e-04 9.99778381e-01 6.00980236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.30, Y:3.43, Z:0.60 [[ 9.68751431e-01 -2.47225711e-01 -2.00028448e-02 3.43042448e+01] [ 2.47184487e-01 9.68957768e-01 -4.54675480e-03 3.42981441e+00] [ 2.05059865e-02 -5.39717704e-04 9.99789584e-01 6.02255881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.33, Y:3.44, Z:0.60 [[ 9.68956739e-01 -2.46520073e-01 -1.87267672e-02 3.43322271e+01] [ 2.46483762e-01 9.69137562e-01 -4.25919144e-03 3.43746678e+00] [ 1.91987897e-02 -4.88871780e-04 9.99815567e-01 6.04310567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.36, Y:3.44, Z:0.61 [[ 9.69144922e-01 -2.45838769e-01 -1.79281758e-02 3.43595406e+01] [ 2.45805277e-01 9.69310630e-01 -4.08274155e-03 3.44478434e+00] [ 1.83816675e-02 -4.50071975e-04 9.99830942e-01 6.05508220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.39, Y:3.45, Z:0.61 [[ 9.69070185e-01 -2.46133230e-01 -1.79278829e-02 3.43863899e+01] [ 2.46099764e-01 9.69235898e-01 -4.08402755e-03 3.45107842e+00] [ 1.83815626e-02 -4.54338405e-04 9.99830942e-01 6.06071059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.41, Y:3.46, Z:0.61 [[ 9.69081756e-01 -2.46150657e-01 -1.70412530e-02 3.44133776e+01] [ 2.46120333e-01 9.69231485e-01 -3.88718719e-03 3.45843445e+00] [ 1.74737526e-02 -4.27196662e-04 9.99847231e-01 6.07303667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.44, Y:3.46, Z:0.61 [[ 9.69101168e-01 -2.46110233e-01 -1.65130122e-02 3.44395918e+01] [ 2.46081658e-01 9.69241759e-01 -3.77237081e-03 3.46451533e+00] [ 1.69335200e-02 -4.07740460e-04 9.99856535e-01 6.08613614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:3.47, Z:0.61 [[ 9.69009647e-01 -2.46550036e-01 -1.52769274e-02 3.44669422e+01] [ 2.46525605e-01 9.69129988e-01 -3.49185113e-03 3.46996011e+00] [ 1.56662445e-02 -3.82516338e-04 9.99877204e-01 6.10158631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.49, Y:3.48, Z:0.61 [[ 9.68804481e-01 -2.47375064e-01 -1.49484404e-02 3.44942570e+01] [ 2.47351748e-01 9.68919722e-01 -3.41820720e-03 3.47853485e+00] [ 1.53294180e-02 -3.85948417e-04 9.99882423e-01 6.10715507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.52, Y:3.48, Z:0.61 [[ 9.68620999e-01 -2.48121907e-01 -1.44526901e-02 3.45215033e+01] [ 2.48100126e-01 9.68728742e-01 -3.30948727e-03 3.48383075e+00] [ 1.48218926e-02 -3.80075374e-04 9.99890077e-01 6.11739099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.55, Y:3.49, Z:0.61 [[ 9.68193981e-01 -2.49825487e-01 -1.36982125e-02 3.45485439e+01] [ 2.49806060e-01 9.68290803e-01 -3.13894068e-03 3.48968306e+00] [ 1.40480406e-02 -3.82793024e-04 9.99901248e-01 6.12297671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:3.50, Z:0.61 [[ 9.67955736e-01 -2.50719904e-01 -1.41853339e-02 3.45755809e+01] [ 2.50699145e-01 9.68059587e-01 -3.25201157e-03 3.49866362e+00] [ 1.45475925e-02 -4.08447840e-04 9.99894095e-01 6.11672376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:3.50, Z:0.61 [[ 9.67771721e-01 -2.51419422e-01 -1.43586206e-02 3.46031011e+01] [ 2.51398208e-01 9.67878141e-01 -3.29323764e-03 3.50499266e+00] [ 1.47253789e-02 -4.22629230e-04 9.99891486e-01 6.11353660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.63, Y:3.51, Z:0.61 [[ 9.67622480e-01 -2.51890751e-01 -1.60557069e-02 3.46292121e+01] [ 2.51864262e-01 9.67755558e-01 -3.68419550e-03 3.51139766e+00] [ 1.64660143e-02 -4.78948370e-04 9.99864311e-01 6.09593852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:3.52, Z:0.61 [[ 9.67556822e-01 -2.52065188e-01 -1.72318382e-02 3.46553432e+01] [ 2.52034667e-01 9.67710120e-01 -3.95615204e-03 3.52213306e+00] [ 1.76726324e-02 -5.15218715e-04 9.99843694e-01 6.08675282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.68, Y:3.53, Z:0.61 [[ 9.67687218e-01 -2.51408735e-01 -1.93673725e-02 3.46825426e+01] [ 2.51369899e-01 9.67880848e-01 -4.45393479e-03 3.52713248e+00] [ 1.98650670e-02 -5.58358707e-04 9.99802514e-01 6.06975663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.71, Y:3.53, Z:0.61 [[ 9.67768448e-01 -2.51052042e-01 -1.99274749e-02 3.47095808e+01] [ 2.51010786e-01 9.67973427e-01 -4.58593982e-03 3.53263831e+00] [ 2.04405757e-02 -5.63883263e-04 9.99790911e-01 6.06480392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.74, Y:3.54, Z:0.61 [[ 9.67803403e-01 -2.50845109e-01 -2.08159813e-02 3.47368610e+01] [ 2.50799995e-01 9.68027062e-01 -4.79273629e-03 3.54420716e+00] [ 2.13526677e-02 -5.82221514e-04 9.99771836e-01 6.06499096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:3.55, Z:0.61 [[ 9.67883639e-01 -2.50518894e-01 -2.10129681e-02 3.47641573e+01] [ 2.50472715e-01 9.68111540e-01 -4.84414300e-03 3.54980103e+00] [ 2.15564462e-02 -5.74608407e-04 9.99767468e-01 6.06270634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.79, Y:3.56, Z:0.61 [[ 9.67941482e-01 -2.50234575e-01 -2.17243131e-02 3.47918997e+01] [ 2.50185084e-01 9.68185063e-01 -5.01081477e-03 3.55843876e+00] [ 2.22870346e-02 -5.84923630e-04 9.99751442e-01 6.06203822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:3.56, Z:0.61 [[ 9.67862781e-01 -2.50541747e-01 -2.16903101e-02 3.48195988e+01] [ 2.50492354e-01 9.68105619e-01 -5.00898888e-03 3.56402637e+00] [ 2.22534719e-02 -5.85242940e-04 9.99752190e-01 6.06710961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:3.57, Z:0.61 [[ 9.67709064e-01 -2.51138220e-01 -2.16509147e-02 3.48466606e+01] [ 2.51089097e-01 9.67951053e-01 -5.00253170e-03 3.56954620e+00] [ 2.22133526e-02 -5.95313357e-04 9.99753076e-01 6.07404712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:3.58, Z:0.61 [[ 9.67631206e-01 -2.51474994e-01 -2.12173551e-02 3.48743740e+01] [ 2.51427750e-01 9.67863620e-01 -4.90924654e-03 3.57512477e+00] [ 2.17700588e-02 -5.84291689e-04 9.99762833e-01 6.08213138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:3.57, Z:0.61 [[ 9.67518941e-01 -2.51984513e-01 -2.02707660e-02 3.49028584e+01] [ 2.51941370e-01 9.67731103e-01 -4.69655728e-03 3.57363825e+00] [ 2.08001105e-02 -5.63036449e-04 9.99783496e-01 6.10143055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:3.58, Z:0.61 [[ 9.67337816e-01 -2.52727878e-01 -1.96511772e-02 3.49302261e+01] [ 2.52687447e-01 9.67537238e-01 -4.55491071e-03 3.58413684e+00] [ 2.01643986e-02 -5.59468410e-04 9.99796521e-01 6.11459423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:3.59, Z:0.61 [[ 9.67291710e-01 -2.53002049e-01 -1.83496936e-02 3.49575595e+01] [ 2.52966750e-01 9.67465601e-01 -4.25834918e-03 3.58923114e+00] [ 1.88300685e-02 -5.22796497e-04 9.99822562e-01 6.12962254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:3.60, Z:0.61 [[ 9.67261493e-01 -2.53115778e-01 -1.83740599e-02 3.49851822e+01] [ 2.53080377e-01 9.67435852e-01 -4.26551115e-03 3.59588345e+00] [ 1.88553925e-02 -5.24249332e-04 9.99822084e-01 6.13807809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:3.60, Z:0.61 [[ 9.67154896e-01 -2.53544325e-01 -1.80743448e-02 3.50119472e+01] [ 2.53510039e-01 9.67323631e-01 -4.20160681e-03 3.60302953e+00] [ 1.85490344e-02 -5.18423257e-04 9.99827817e-01 6.14398708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:3.61, Z:0.61 [[ 9.67400749e-01 -2.52609036e-01 -1.80129178e-02 3.50387079e+01] [ 2.52574706e-01 9.67568309e-01 -4.19353364e-03 3.61001700e+00] [ 1.84880529e-02 -4.92779822e-04 9.99828960e-01 6.14066801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:3.62, Z:0.61 [[ 9.67485522e-01 -2.52259400e-01 -1.83564725e-02 3.50660143e+01] [ 2.52223650e-01 9.67659522e-01 -4.27538433e-03 3.61585984e+00] [ 1.88413213e-02 -4.93564062e-04 9.99822365e-01 6.14284396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.09, Y:3.62, Z:0.61 [[ 9.67697406e-01 -2.51395600e-01 -1.90258195e-02 3.50945478e+01] [ 2.51356993e-01 9.67884296e-01 -4.43308370e-03 3.62243314e+00] [ 1.95292497e-02 -4.92389194e-04 9.99809165e-01 6.13786974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.12, Y:3.63, Z:0.61 [[ 9.67929452e-01 -2.50441948e-01 -1.97839936e-02 3.51215506e+01] [ 2.50399889e-01 9.68131496e-01 -4.61533177e-03 3.62922016e+00] [ 2.03093800e-02 -4.86594249e-04 9.99793625e-01 6.13718113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.15, Y:3.64, Z:0.61 [[ 9.68173025e-01 -2.49434226e-01 -2.05805949e-02 3.51489829e+01] [ 2.49388439e-01 9.68391622e-01 -4.80333817e-03 3.63824056e+00] [ 2.11281926e-02 -4.82099991e-04 9.99776659e-01 6.13333421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.18, Y:3.65, Z:0.61 [[ 9.68585727e-01 -2.47771531e-01 -2.12357702e-02 3.51757903e+01] [ 2.47722259e-01 9.68818384e-01 -4.96188935e-03 3.64755397e+00] [ 2.18030195e-02 -4.54557762e-04 9.99762183e-01 6.12310582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:3.66, Z:0.61 [[ 9.69459013e-01 -2.44215118e-01 -2.25432660e-02 3.52031900e+01] [ 2.44158569e-01 9.69721001e-01 -5.27005137e-03 3.65993698e+00] [ 2.31477047e-02 -3.95032750e-04 9.99731978e-01 6.10997689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.23, Y:3.67, Z:0.61 [[ 9.69693353e-01 -2.43211963e-01 -2.32968267e-02 3.52307858e+01] [ 2.43151137e-01 9.69973092e-01 -5.45217291e-03 3.66991632e+00] [ 2.39233287e-02 -3.77714077e-04 9.99713725e-01 6.11107340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.26, Y:3.68, Z:0.61 [[ 9.69815377e-01 -2.42686175e-01 -2.36971567e-02 3.52575560e+01] [ 2.42622935e-01 9.70104782e-01 -5.55195269e-03 3.67619013e+00] [ 2.43361072e-02 -3.65104630e-04 9.99703766e-01 6.11062802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.28, Y:3.69, Z:0.61 [[ 9.70203018e-01 -2.41184707e-01 -2.31525739e-02 3.52831007e+01] [ 2.41123838e-01 9.70479179e-01 -5.42751430e-03 3.68711694e+00] [ 2.37781244e-02 -3.16846739e-04 9.99717210e-01 6.12816132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.31, Y:3.69, Z:0.61 [[ 9.69993190e-01 -2.42038778e-01 -2.30313107e-02 3.53099288e+01] [ 2.41978720e-01 9.70266520e-01 -5.40185668e-03 3.69418554e+00] [ 2.36539684e-02 -3.33322883e-04 9.99720150e-01 6.13747593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.34, Y:3.70, Z:0.61 [[ 9.69172599e-01 -2.45339174e-01 -2.26530788e-02 3.53378432e+01] [ 2.45281821e-01 9.69437223e-01 -5.31971233e-03 3.70028001e+00] [ 2.32658717e-02 -4.00669001e-04 9.99729233e-01 6.14878356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.37, Y:3.71, Z:0.62 [[ 9.68581361e-01 -2.47662455e-01 -2.26595662e-02 3.53654101e+01] [ 2.47605571e-01 9.68846275e-01 -5.32692709e-03 3.70684261e+00] [ 2.32729161e-02 -4.51072537e-04 9.99729047e-01 6.15531530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.39, Y:3.71, Z:0.62 [[ 9.67928299e-01 -2.50203635e-01 -2.26483863e-02 3.53934592e+01] [ 2.50147448e-01 9.68193101e-01 -5.32661850e-03 3.70999448e+00] [ 2.32607507e-02 -5.09651250e-04 9.99729302e-01 6.16072150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.42, Y:3.71, Z:0.62 [[ 9.66550385e-01 -2.55476826e-01 -2.26261801e-02 3.54229374e+01] [ 2.55422138e-01 9.66814972e-01 -5.32365548e-03 3.71201372e+00] [ 2.32354003e-02 -6.33646048e-04 9.99729821e-01 6.16916829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.45, Y:3.72, Z:0.62 [[ 9.65877890e-01 -2.58001840e-01 -2.26925448e-02 3.54512913e+01] [ 2.57947467e-01 9.66144176e-01 -5.34184843e-03 3.71777103e+00] [ 2.33024767e-02 -6.93911162e-04 9.99728220e-01 6.17654631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.48, Y:3.72, Z:0.62 [[ 9.64933191e-01 -2.61583646e-01 -2.18616975e-02 3.54794262e+01] [ 2.61533969e-01 9.65180522e-01 -5.15203274e-03 3.72115730e+00] [ 2.24481721e-02 -7.46209137e-04 9.99747730e-01 6.17870238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.51, Y:3.73, Z:0.62 [[ 9.64468746e-01 -2.63336129e-01 -2.13101189e-02 3.55075560e+01] [ 2.63289311e-01 9.64703839e-01 -5.02405711e-03 3.72726194e+00] [ 2.18809693e-02 -7.65180476e-04 9.99760290e-01 6.18680984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.54, Y:3.73, Z:0.62 [[ 9.64162523e-01 -2.64499619e-01 -2.07504246e-02 3.55357012e+01] [ 2.64455373e-01 9.64385486e-01 -4.89789932e-03 3.73291319e+00] [ 2.13069008e-02 -7.65190316e-04 9.99772689e-01 6.19662653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.56, Y:3.74, Z:0.62 [[ 9.63967168e-01 -2.65180329e-01 -2.11350846e-02 3.55641970e+01] [ 2.65134457e-01 9.64198512e-01 -4.99484976e-03 3.73862108e+00] [ 2.17029530e-02 -7.88767997e-04 9.99764152e-01 6.20748206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:3.74, Z:0.62 [[ 9.63938997e-01 -2.65271139e-01 -2.12798654e-02 3.55908978e+01] [ 2.65224530e-01 9.64173531e-01 -5.03495201e-03 3.74299662e+00] [ 2.18531104e-02 -7.90555722e-04 9.99760880e-01 6.21453671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.62, Y:3.75, Z:0.62 [[ 9.64013358e-01 -2.64965841e-01 -2.17105630e-02 3.56190820e+01] [ 2.64917174e-01 9.64257470e-01 -5.14021991e-03 3.74940064e+00] [ 2.22965553e-02 -7.96260355e-04 9.99751084e-01 6.22078244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.65, Y:3.76, Z:0.62 [[ 9.64226773e-01 -2.64200147e-01 -2.15641561e-02 3.56460677e+01] [ 2.64151817e-01 9.64467570e-01 -5.11123894e-03 3.75564029e+00] [ 2.21483193e-02 -7.67817574e-04 9.99754401e-01 6.22629393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.67, Y:3.77, Z:0.62 [[ 9.64781233e-01 -2.62194438e-01 -2.12426270e-02 3.56729996e+01] [ 2.62147003e-01 9.65014805e-01 -5.03733692e-03 3.76571223e+00] [ 2.18202113e-02 -7.08762865e-04 9.99761660e-01 6.23258902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.70, Y:3.77, Z:0.62 [[ 9.64948777e-01 -2.61570135e-01 -2.13289219e-02 3.57002508e+01] [ 2.61522032e-01 9.65184224e-01 -5.06366304e-03 3.77457620e+00] [ 2.19108419e-02 -6.91807527e-04 9.99759689e-01 6.23584582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.73, Y:3.78, Z:0.62 [[ 9.65102024e-01 -2.60987437e-01 -2.15323222e-02 3.57274250e+01] [ 2.60938139e-01 9.65341958e-01 -5.11774942e-03 3.78103140e+00] [ 2.21217224e-02 -6.79453753e-04 9.99755054e-01 6.24075690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:3.79, Z:0.62 [[ 9.65101370e-01 -2.60932734e-01 -2.22138305e-02 3.57544308e+01] [ 2.60880189e-01 9.65356733e-01 -5.28250312e-03 3.78693598e+00] [ 2.28226489e-02 -6.96997301e-04 9.99739286e-01 6.24615876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:3.79, Z:0.63 [[ 9.64960085e-01 -2.61424253e-01 -2.25697821e-02 3.57820880e+01] [ 2.61369976e-01 9.65223731e-01 -5.37436490e-03 3.79204019e+00] [ 2.31898786e-02 -7.13015795e-04 9.99730824e-01 6.25136335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:3.80, Z:0.63 [[ 9.64703709e-01 -2.62345698e-01 -2.28361260e-02 3.58104530e+01] [ 2.62290223e-01 9.64973674e-01 -5.44492747e-03 3.79749798e+00] [ 2.34647137e-02 -7.36950855e-04 9.99724394e-01 6.26044013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.84, Y:3.80, Z:0.63 [[ 9.64474695e-01 -2.63169266e-01 -2.30326096e-02 3.58384289e+01] [ 2.63112924e-01 9.64749379e-01 -5.49781555e-03 3.80095421e+00] [ 2.36675519e-02 -7.57673284e-04 9.99719597e-01 6.26893262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:3.80, Z:0.63 [[ 9.63972842e-01 -2.65047148e-01 -2.25026403e-02 3.58673426e+01] [ 2.64993798e-01 9.64235136e-01 -5.37487503e-03 3.80431647e+00] [ 2.31224317e-02 -7.81826547e-04 9.99732335e-01 6.28986457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.90, Y:3.81, Z:0.63 [[ 9.63785927e-01 -2.65806212e-01 -2.15347430e-02 3.58953640e+01] [ 2.65757418e-01 9.64026182e-01 -5.14927937e-03 3.81202048e+00] [ 2.21287665e-02 -7.60214716e-04 9.99754840e-01 6.30793630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.92, Y:3.82, Z:0.63 [[ 9.63632149e-01 -2.66371035e-01 -2.14371777e-02 3.59236558e+01] [ 2.66322697e-01 9.63870265e-01 -5.13160235e-03 3.81540987e+00] [ 2.20295683e-02 -7.64229974e-04 9.99757028e-01 6.31884281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:3.82, Z:0.63 [[ 9.63563293e-01 -2.66624154e-01 -2.13855346e-02 3.59509351e+01] [ 2.66576065e-01 9.63800277e-01 -5.12133066e-03 3.81929579e+00] [ 2.19768547e-02 -7.66145440e-04 9.99758186e-01 6.33445462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:3.83, Z:0.63 [[ 9.63467554e-01 -2.66980382e-01 -2.12543773e-02 3.59775711e+01] [ 2.66932917e-01 9.63701659e-01 -5.09221623e-03 3.82771100e+00] [ 2.18424005e-02 -7.67307827e-04 9.99761132e-01 6.34109029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:3.83, Z:0.63 [[ 9.63516559e-01 -2.66808196e-01 -2.11949618e-02 3.60053332e+01] [ 2.66760817e-01 9.63749353e-01 -5.08429432e-03 3.83120315e+00] [ 2.17831621e-02 -7.55183572e-04 9.99762434e-01 6.34839004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:3.84, Z:0.64 [[ 9.63716866e-01 -2.66083683e-01 -2.11961315e-02 3.60320888e+01] [ 2.66036080e-01 9.63949651e-01 -5.08661586e-03 3.83817730e+00] [ 2.17854691e-02 -7.36878257e-04 9.99762397e-01 6.35637990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:3.85, Z:0.64 [[ 9.63801319e-01 -2.65782072e-01 -2.11402026e-02 3.60591025e+01] [ 2.65734600e-01 9.64032864e-01 -5.07535862e-03 3.84959817e+00] [ 2.17287894e-02 -7.26045963e-04 9.99763638e-01 6.36140601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:3.86, Z:0.64 [[ 9.64034072e-01 -2.64888099e-01 -2.17394461e-02 3.60859137e+01] [ 2.64837542e-01 9.64278889e-01 -5.22498359e-03 3.85657502e+00] [ 2.23469249e-02 -7.20359267e-04 9.99750017e-01 6.36207343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:3.86, Z:0.64 [[ 9.63957103e-01 -2.65168106e-01 -2.17388789e-02 3.61126854e+01] [ 2.65117567e-01 9.64201924e-01 -5.22734219e-03 3.86320070e+00] [ 2.23467933e-02 -7.24425056e-04 9.99750017e-01 6.36770246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:3.87, Z:0.64 [[ 9.63944634e-01 -2.65214644e-01 -2.17240663e-02 3.61387633e+01] [ 2.65164036e-01 9.64189129e-01 -5.23047887e-03 3.87276405e+00] [ 2.23333082e-02 -7.18549069e-04 9.99750322e-01 6.37511721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:3.88, Z:0.64 [[ 9.63996012e-01 -2.65001318e-01 -2.20451662e-02 3.61666497e+01] [ 2.64948986e-01 9.64247783e-01 -5.31488043e-03 3.87825987e+00] [ 2.26654529e-02 -7.17320885e-04 9.99742848e-01 6.38503664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:3.89, Z:0.64 [[ 9.64353473e-01 -2.63702304e-01 -2.19880212e-02 3.61941851e+01] [ 2.63649768e-01 9.64603874e-01 -5.30718632e-03 3.88897384e+00] [ 2.26092477e-02 -6.79133117e-04 9.99744148e-01 6.39822993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:3.89, Z:0.64 [[ 9.64620255e-01 -2.62691388e-01 -2.23829774e-02 3.62210332e+01] [ 2.62636546e-01 9.64879680e-01 -5.40811954e-03 3.89471922e+00] [ 2.30175465e-02 -6.61806229e-04 9.99734842e-01 6.39964902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:3.90, Z:0.64 [[ 9.64828962e-01 -2.61913909e-01 -2.24984074e-02 3.62484722e+01] [ 2.61858226e-01 9.65091027e-01 -5.43873961e-03 3.90287765e+00] [ 2.31374927e-02 -6.43939566e-04 9.99732085e-01 6.40242694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:3.91, Z:0.64 [[ 9.65004502e-01 -2.61226664e-01 -2.29551832e-02 3.62761397e+01] [ 2.61168352e-01 9.65277280e-01 -5.55554288e-03 3.91288676e+00] [ 2.36093727e-02 -6.34043474e-04 9.99721059e-01 6.40914851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.30, Y:3.92, Z:0.64 [[ 9.65437484e-01 -2.59661865e-01 -2.24984625e-02 3.63033353e+01] [ 2.59605281e-01 9.65699426e-01 -5.45126222e-03 3.92192174e+00] [ 2.31422372e-02 -5.77866782e-04 9.99732016e-01 6.41692196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.33, Y:3.93, Z:0.64 [[ 9.65631265e-01 -2.58958827e-01 -2.22841894e-02 3.63311625e+01] [ 2.58902994e-01 9.65888204e-01 -5.40521437e-03 3.92725704e+00] [ 2.29237636e-02 -5.49999350e-04 9.99737065e-01 6.42559000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.36, Y:3.94, Z:0.64 [[ 9.65830429e-01 -2.58240774e-01 -2.19837666e-02 3.63581525e+01] [ 2.58186191e-01 9.66080447e-01 -5.33495164e-03 3.93711984e+00] [ 2.26157891e-02 -5.23246333e-04 9.99744093e-01 6.43910306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.39, Y:3.94, Z:0.64 [[ 9.65927456e-01 -2.57880413e-01 -2.19509137e-02 3.63853315e+01] [ 2.57825764e-01 9.66176710e-01 -5.33303034e-03 3.94245270e+00] [ 2.25837456e-02 -5.08190663e-04 9.99744826e-01 6.44333764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:3.95, Z:0.65 [[ 9.66080805e-01 -2.57303639e-01 -2.19707820e-02 3.64124668e+01] [ 2.57248690e-01 9.66330479e-01 -5.34013590e-03 3.94877147e+00] [ 2.26050727e-02 -4.92952097e-04 9.99744351e-01 6.45124732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:3.96, Z:0.65 [[ 9.66216402e-01 -2.56809060e-01 -2.17938508e-02 3.64401678e+01] [ 2.56754809e-01 9.66462043e-01 -5.29968386e-03 3.95694765e+00] [ 2.24239364e-02 -4.75034534e-04 9.99748439e-01 6.46014261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:3.96, Z:0.65 [[ 9.66227930e-01 -2.56788609e-01 -2.15220068e-02 3.64666779e+01] [ 2.56735566e-01 9.66467483e-01 -5.23956642e-03 3.96295077e+00] [ 2.21457807e-02 -4.62849176e-04 9.99754645e-01 6.46857622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:3.97, Z:0.65 [[ 9.66234558e-01 -2.56790938e-01 -2.11941794e-02 3.64927163e+01] [ 2.56739433e-01 9.66466869e-01 -5.16278492e-03 3.96875574e+00] [ 2.18092286e-02 -4.52920400e-04 9.99762048e-01 6.47582784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.52, Y:3.98, Z:0.65 [[ 9.66117391e-01 -2.57202384e-01 -2.15434566e-02 3.65196185e+01] [ 2.57149194e-01 9.66357447e-01 -5.25131963e-03 3.97595689e+00] [ 2.21693317e-02 -4.66491280e-04 9.99754121e-01 6.48043227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.55, Y:3.98, Z:0.65 [[ 9.65701370e-01 -2.58706150e-01 -2.21808967e-02 3.65473331e+01] [ 2.58649999e-01 9.65955935e-01 -5.41378266e-03 3.97944231e+00] [ 2.28263477e-02 -5.08991575e-04 9.99739315e-01 6.47256658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:3.99, Z:0.65 [[ 9.65340365e-01 -2.59984518e-01 -2.29353527e-02 3.65757099e+01] [ 2.59924772e-01 9.65612625e-01 -5.60092447e-03 3.98567744e+00] [ 2.36028198e-02 -5.54667842e-04 9.99721261e-01 6.47359110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.60, Y:3.99, Z:0.65 [[ 9.64999674e-01 -2.61251412e-01 -2.28763933e-02 3.66041863e+01] [ 2.61192175e-01 9.65270618e-01 -5.59300969e-03 3.99222796e+00] [ 2.35430920e-02 -5.77882404e-04 9.99722656e-01 6.48126237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.63, Y:3.99, Z:0.65 [[ 9.64414080e-01 -2.63364416e-01 -2.33381075e-02 3.66325222e+01] [ 2.63303231e-01 9.64696211e-01 -5.71216174e-03 3.99436673e+00] [ 2.40185641e-02 -6.36109900e-04 9.99711310e-01 6.48122413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:4.00, Z:0.65 [[ 9.64139808e-01 -2.64312822e-01 -2.39408003e-02 3.66612145e+01] [ 2.64248648e-01 9.64436767e-01 -5.86292049e-03 4.00058831e+00] [ 2.46390331e-02 -6.73649074e-04 9.99696186e-01 6.48214654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:4.01, Z:0.65 [[ 9.63832589e-01 -2.65283523e-01 -2.55224018e-02 3.66890116e+01] [ 2.65210733e-01 9.64170166e-01 -6.25770577e-03 4.00685830e+00] [ 2.62680046e-02 -7.37434120e-04 9.99654664e-01 6.47048635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:4.01, Z:0.65 [[ 9.63754360e-01 -2.65500868e-01 -2.62072883e-02 3.67168781e+01] [ 2.65424029e-01 9.64110323e-01 -6.43190360e-03 4.01177094e+00] [ 2.69743932e-02 -7.57268892e-04 9.99635838e-01 6.46326271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:4.02, Z:0.65 [[ 9.63642893e-01 -2.65861847e-01 -2.66430845e-02 3.67429328e+01] [ 2.65782453e-01 9.64010828e-01 -6.54307032e-03 4.02175557e+00] [ 2.74237747e-02 -7.76081133e-04 9.99623596e-01 6.46897487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:4.02, Z:0.65 [[ 9.63571690e-01 -2.66105485e-01 -2.67856063e-02 3.67712838e+01] [ 2.66025133e-01 9.63943599e-01 -6.58531797e-03 4.02360738e+00] [ 2.75722030e-02 -7.80218511e-04 9.99619510e-01 6.46429774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:4.03, Z:0.65 [[ 9.63413960e-01 -2.66691189e-01 -2.66336588e-02 3.67982691e+01] [ 2.66611855e-01 9.63781712e-01 -6.55215127e-03 4.03263133e+00] [ 2.74164343e-02 -7.88415166e-04 9.99623788e-01 6.48108511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.83, Y:4.04, Z:0.65 [[ 9.63284353e-01 -2.67167427e-01 -2.65484916e-02 3.68253447e+01] [ 2.67088587e-01 9.63649800e-01 -6.53825141e-03 4.03783481e+00] [ 2.73302564e-02 -7.92603833e-04 9.99626145e-01 6.48533701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:4.05, Z:0.65 [[ 9.63165071e-01 -2.67619660e-01 -2.63204056e-02 3.68526826e+01] [ 2.67542227e-01 9.63524305e-01 -6.48619331e-03 4.04576768e+00] [ 2.70961834e-02 -7.94545089e-04 9.99632515e-01 6.49725201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.88, Y:4.05, Z:0.65 [[ 9.62702414e-01 -2.69218232e-01 -2.69370836e-02 3.68811791e+01] [ 2.69137545e-01 9.63078822e-01 -6.64561732e-03 4.04816185e+00] [ 2.77316560e-02 -8.52028709e-04 9.99615041e-01 6.49465189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.91, Y:4.06, Z:0.65 [[ 9.62378242e-01 -2.70364755e-01 -2.70373552e-02 3.69089726e+01] [ 2.70283803e-01 9.62757559e-01 -6.67447859e-03 4.05597223e+00] [ 2.78349618e-02 -8.84386212e-04 9.99612141e-01 6.50518655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:4.06, Z:0.65 [[ 9.62124021e-01 -2.71293781e-01 -2.67778388e-02 3.69366042e+01] [ 2.71214559e-01 9.62496172e-01 -6.61680232e-03 4.06028372e+00] [ 2.75686647e-02 -8.96355301e-04 9.99619510e-01 6.50788956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.96, Y:4.06, Z:0.65 [[ 9.61554844e-01 -2.73261948e-01 -2.72064269e-02 3.69649716e+01] [ 2.73180877e-01 9.61939175e-01 -6.72550966e-03 4.06215214e+00] [ 2.80087537e-02 -9.65329153e-04 9.99607212e-01 6.51264857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.99, Y:4.07, Z:0.65 [[ 9.61204059e-01 -2.74508819e-01 -2.70493011e-02 3.69934875e+01] [ 2.74429063e-01 9.61584070e-01 -6.69068679e-03 4.06679419e+00] [ 2.78468295e-02 -9.91999045e-04 9.99611710e-01 6.52010906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.02, Y:4.07, Z:0.65 [[ 9.60892153e-01 -2.75604834e-01 -2.69860155e-02 3.70218430e+01] [ 2.75525672e-01 9.61270486e-01 -6.68258243e-03 4.07209688e+00] [ 2.77826123e-02 -1.01409905e-03 9.99613474e-01 6.52815676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.05, Y:4.08, Z:0.65 [[ 9.60812466e-01 -2.75985659e-01 -2.59098798e-02 3.70485232e+01] [ 2.75912659e-01 9.61161256e-01 -6.42226995e-03 4.07685074e+00] [ 2.66760270e-02 -9.78266811e-04 9.99643653e-01 6.54140591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.08, Y:4.08, Z:0.66 [[ 9.60854846e-01 -2.75886706e-01 -2.53868053e-02 3.70768304e+01] [ 2.75816482e-01 9.61189690e-01 -6.29672851e-03 4.08463268e+00] [ 2.61387192e-02 -9.51857224e-04 9.99657872e-01 6.55489057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:4.10, Z:0.66 [[ 9.60979395e-01 -2.75510601e-01 -2.47489616e-02 3.71032235e+01] [ 2.75443574e-01 9.61297601e-01 -6.14491251e-03 4.09649955e+00] [ 2.54841059e-02 -9.11808120e-04 9.99674812e-01 6.57374156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:4.10, Z:0.66 [[ 9.61303170e-01 -2.74441238e-01 -2.40462679e-02 3.71303925e+01] [ 2.74377473e-01 9.61603494e-01 -5.97676734e-03 4.10282291e+00] [ 2.47632467e-02 -8.52268845e-04 9.99692980e-01 6.58304746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.16, Y:4.11, Z:0.66 [[ 9.61534313e-01 -2.73602361e-01 -2.43621093e-02 3.71581025e+01] [ 2.73536551e-01 9.61842526e-01 -6.05882833e-03 4.10775089e+00] [ 2.50902225e-02 -8.38156024e-04 9.99684839e-01 6.58423480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:4.12, Z:0.66 [[ 9.61931196e-01 -2.72168791e-01 -2.47492003e-02 3.71852898e+01] [ 2.72100309e-01 9.62249185e-01 -6.15860328e-03 4.11881695e+00] [ 2.54910774e-02 -8.10112451e-04 9.99674721e-01 6.59566141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.21, Y:4.12, Z:0.66 [[ 9.62179204e-01 -2.71321935e-01 -2.44046499e-02 3.72125352e+01] [ 2.71254913e-01 9.62488345e-01 -6.07931758e-03 4.12476129e+00] [ 2.51386433e-02 -7.70488248e-04 9.99683677e-01 6.59793410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.24, Y:4.13, Z:0.66 [[ 9.62377424e-01 -2.70621704e-01 -2.43636284e-02 3.72404841e+01] [ 2.70554577e-01 9.62685481e-01 -6.07335860e-03 4.13390078e+00] [ 2.50980940e-02 -7.46827962e-04 9.99684714e-01 6.60531483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:4.14, Z:0.66 [[ 9.62534181e-01 -2.70068540e-01 -2.43091329e-02 3.72685111e+01] [ 2.70001371e-01 9.62840827e-01 -6.06633593e-03 4.14217495e+00] [ 2.50441521e-02 -7.24443537e-04 9.99686084e-01 6.61072740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:4.15, Z:0.66 [[ 9.62994122e-01 -2.68468232e-01 -2.38144660e-02 3.72953913e+01] [ 2.68403116e-01 9.63288311e-01 -5.94956902e-03 4.15211388e+00] [ 2.45374670e-02 -6.62476895e-04 9.99698692e-01 6.61676878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:4.16, Z:0.66 [[ 9.63074888e-01 -2.68191513e-01 -2.36658528e-02 3.73233734e+01] [ 2.68126961e-01 9.63365401e-01 -5.91915650e-03 4.16057135e+00] [ 2.43863313e-02 -6.44862193e-04 9.99702401e-01 6.62419175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:4.17, Z:0.66 [[ 9.63040184e-01 -2.68315940e-01 -2.36677046e-02 3.73500579e+01] [ 2.68251245e-01 9.63330756e-01 -5.92657753e-03 4.16785331e+00] [ 2.43900230e-02 -6.41358926e-04 9.99702313e-01 6.62914736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:4.17, Z:0.66 [[ 9.62588792e-01 -2.69891601e-01 -2.41110234e-02 3.73784790e+01] [ 2.69824759e-01 9.62890467e-01 -6.04543706e-03 4.17402832e+00] [ 2.48478873e-02 -6.86481121e-04 9.99691008e-01 6.63158809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:4.18, Z:0.66 [[ 9.62238189e-01 -2.71113628e-01 -2.43940301e-02 3.74069999e+01] [ 2.71045421e-01 9.62547081e-01 -6.12348244e-03 4.18074348e+00] [ 2.51405620e-02 -7.19641501e-04 9.99683667e-01 6.63666157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.44, Y:4.19, Z:0.66 [[ 9.61483471e-01 -2.73781927e-01 -2.43514218e-02 3.74358091e+01] [ 2.73714635e-01 9.61791478e-01 -6.11984447e-03 4.18603459e+00] [ 2.50964928e-02 -7.81211208e-04 9.99684728e-01 6.64091545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.46, Y:4.19, Z:0.66 [[ 9.61146936e-01 -2.74985690e-01 -2.40715294e-02 3.74630914e+01] [ 2.74920162e-01 9.61447988e-01 -6.05560509e-03 4.19146851e+00] [ 2.48087283e-02 -7.97422476e-04 9.99691898e-01 6.64738729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.49, Y:4.20, Z:0.67 [[ 9.60744986e-01 -2.76439772e-01 -2.34547144e-02 3.74907613e+01] [ 2.76377919e-01 9.61030902e-01 -5.90346249e-03 4.19927628e+00] [ 2.41726572e-02 -8.10643159e-04 9.99707470e-01 6.65818865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.52, Y:4.21, Z:0.67 [[ 9.60441762e-01 -2.77541679e-01 -2.28525469e-02 3.75181674e+01] [ 2.77483134e-01 9.60713255e-01 -5.75779476e-03 4.20518571e+00] [ 2.35527727e-02 -8.11169786e-04 9.99722266e-01 6.66601583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:4.21, Z:0.67 [[ 9.59843426e-01 -2.79664589e-01 -2.20978789e-02 3.75460384e+01] [ 2.79610348e-01 9.60097404e-01 -5.57026473e-03 4.21322297e+00] [ 2.27739220e-02 -8.32213634e-04 9.99740294e-01 6.67624526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:4.22, Z:0.67 [[ 9.59651029e-01 -2.80313584e-01 -2.22305302e-02 3.75731003e+01] [ 2.80258727e-01 9.59908109e-01 -5.60967843e-03 4.21965399e+00] [ 2.29117353e-02 -8.46966427e-04 9.99737133e-01 6.67997318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.60, Y:4.23, Z:0.67 [[ 9.59588087e-01 -2.80510489e-01 -2.24625932e-02 3.76004495e+01] [ 2.80454481e-01 9.59850576e-01 -5.67054273e-03 4.22632264e+00] [ 2.31513798e-02 -8.58349677e-04 9.99731602e-01 6.68382877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:4.24, Z:0.67 [[ 9.59614949e-01 -2.80430230e-01 -2.23167185e-02 3.76283360e+01] [ 2.80374864e-01 9.59874037e-01 -5.63639494e-03 4.23505588e+00] [ 2.30018542e-02 -8.48278065e-04 9.99735062e-01 6.69048439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.66, Y:4.24, Z:0.67 [[ 9.59599499e-01 -2.80485567e-01 -2.22855982e-02 3.76555891e+01] [ 2.80430224e-01 9.59857874e-01 -5.63489329e-03 4.24268467e+00] [ 2.29715131e-02 -8.42314508e-04 9.99735765e-01 6.69681895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.68, Y:4.25, Z:0.67 [[ 9.59642917e-01 -2.80312880e-01 -2.25867745e-02 3.76825820e+01] [ 2.80255826e-01 9.59908318e-01 -5.71777393e-03 4.24894553e+00] [ 2.32839984e-02 -8.43053900e-04 9.99728535e-01 6.70091498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.71, Y:4.26, Z:0.67 [[ 9.59661954e-01 -2.80260660e-01 -2.24253586e-02 3.77100550e+01] [ 2.80204343e-01 9.59923574e-01 -5.67959004e-03 4.25817562e+00] [ 2.31183961e-02 -8.33196400e-04 9.99732387e-01 6.70750775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.74, Y:4.27, Z:0.67 [[ 9.59715093e-01 -2.80048582e-01 -2.27976221e-02 3.77371820e+01] [ 2.79990169e-01 9.59985465e-01 -5.78030698e-03 4.26874077e+00] [ 2.35041526e-02 -8.35662224e-04 9.99723390e-01 6.71087243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:4.28, Z:0.67 [[ 9.60088010e-01 -2.78753239e-01 -2.29705329e-02 3.77640713e+01] [ 2.78693423e-01 9.60362424e-01 -5.83016181e-03 4.27692271e+00] [ 2.36852132e-02 -8.04268012e-04 9.99719142e-01 6.71125025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:4.29, Z:0.67 [[ 9.60219434e-01 -2.78325771e-01 -2.26584005e-02 3.77914191e+01] [ 2.78267386e-01 9.60486417e-01 -5.75372340e-03 4.28656562e+00] [ 2.33644954e-02 -7.80256843e-04 9.99726708e-01 6.71843300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.82, Y:4.29, Z:0.67 [[ 9.60486091e-01 -2.77363003e-01 -2.31567037e-02 3.78189930e+01] [ 2.77301582e-01 9.60764891e-01 -5.88697811e-03 4.29466330e+00] [ 2.38809778e-02 -7.67029959e-04 9.99714515e-01 6.72655600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.85, Y:4.30, Z:0.67 [[ 9.60938215e-01 -2.75804896e-01 -2.30088436e-02 3.78456344e+01] [ 2.75743670e-01 9.61213371e-01 -5.85529987e-03 4.30252398e+00] [ 2.37313285e-02 -7.17961577e-04 9.99718115e-01 6.73230559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.87, Y:4.31, Z:0.67 [[ 9.61044839e-01 -2.75436171e-01 -2.29724355e-02 3.78733521e+01] [ 2.75374966e-01 9.61319103e-01 -5.84891429e-03 4.31093397e+00] [ 2.36948437e-02 -7.04964752e-04 9.99718989e-01 6.73836564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.90, Y:4.32, Z:0.67 [[ 9.60961618e-01 -2.75726510e-01 -2.29708583e-02 3.79000335e+01] [ 2.75665239e-01 9.61235868e-01 -5.85510246e-03 4.31791398e+00] [ 2.36948199e-02 -7.05738418e-04 9.99718989e-01 6.74398433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.93, Y:4.33, Z:0.67 [[ 9.61063391e-01 -2.75350011e-01 -2.32277909e-02 3.79277674e+01] [ 2.75287075e-01 9.61343791e-01 -5.92800389e-03 4.32622526e+00] [ 2.39621685e-02 -6.97123096e-04 9.99712623e-01 6.74462948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.95, Y:4.33, Z:0.67 [[ 9.61098656e-01 -2.75149815e-01 -2.41236863e-02 3.79548439e+01] [ 2.75081710e-01 9.61401098e-01 -6.16289955e-03 4.33255988e+00] [ 2.48882592e-02 -7.12830414e-04 9.99689985e-01 6.74113079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.98, Y:4.34, Z:0.67 [[ 9.60953735e-01 -2.75587634e-01 -2.48872352e-02 3.79824910e+01] [ 2.75515202e-01 9.61275664e-01 -6.36165438e-03 4.33970902e+00] [ 2.56766868e-02 -7.43556082e-04 9.99670023e-01 6.74563755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.01, Y:4.35, Z:0.68 [[ 9.60605218e-01 -2.76818593e-01 -2.46795639e-02 3.80103736e+01] [ 2.76747573e-01 9.60921893e-01 -6.31631510e-03 4.34606655e+00] [ 2.54636067e-02 -7.62524148e-04 9.99675459e-01 6.75411063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.04, Y:4.35, Z:0.68 [[ 9.60452357e-01 -2.77314472e-01 -2.50589938e-02 3.80378288e+01] [ 2.77241256e-01 9.60778889e-01 -6.41976294e-03 4.34996631e+00] [ 2.58564454e-02 -7.81510450e-04 9.99665361e-01 6.75598781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:4.36, Z:0.68 [[ 9.60221171e-01 -2.78149282e-01 -2.46633233e-02 3.80654723e+01] [ 2.78078572e-01 9.60537534e-01 -6.32086672e-03 4.35502843e+00] [ 2.54481923e-02 -7.88911669e-04 9.99675831e-01 6.76509925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:4.36, Z:0.68 [[ 9.59868479e-01 -2.79450086e-01 -2.36675228e-02 3.80939970e+01] [ 2.79385295e-01 9.60159898e-01 -6.06856452e-03 4.36041617e+00] [ 2.44204671e-02 -7.87334026e-04 9.99701466e-01 6.78105522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:4.37, Z:0.68 [[ 9.59206840e-01 -2.81799539e-01 -2.26110265e-02 3.81216786e+01] [ 2.81740917e-01 9.59472967e-01 -5.80359654e-03 4.36950229e+00] [ 2.33301195e-02 -8.03601842e-04 9.99727493e-01 6.80989105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.15, Y:4.37, Z:0.68 [[ 9.58817169e-01 -2.83123285e-01 -2.26017976e-02 3.81506623e+01] [ 2.83064934e-01 9.59083165e-01 -5.80736022e-03 4.36902918e+00] [ 2.33212025e-02 -8.29579657e-04 9.99727680e-01 6.81668428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.18, Y:4.37, Z:0.68 [[ 9.58432424e-01 -2.84435674e-01 -2.24418220e-02 3.81794708e+01] [ 2.84378442e-01 9.58694748e-01 -5.76901496e-03 4.37461583e+00] [ 2.31557705e-02 -8.52759380e-04 9.99731506e-01 6.82512913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.21, Y:4.38, Z:0.68 [[ 9.58097375e-01 -2.85545276e-01 -2.26564805e-02 3.82082662e+01] [ 2.85487112e-01 9.58364814e-01 -5.83025255e-03 4.37989281e+00] [ 2.33779748e-02 -8.82183511e-04 9.99726309e-01 6.83097472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.23, Y:4.39, Z:0.69 [[ 9.58415584e-01 -2.84581566e-01 -2.12814434e-02 3.82347795e+01] [ 2.84529899e-01 9.58651495e-01 -5.48153517e-03 4.39430498e+00] [ 2.19614314e-02 -8.01618197e-04 9.99758497e-01 6.85487084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:4.40, Z:0.69 [[ 9.58540095e-01 -2.84136405e-01 -2.16192029e-02 3.82632298e+01] [ 2.84082893e-01 9.58783532e-01 -5.57206711e-03 4.40154278e+00] [ 2.23113628e-02 -8.00595959e-04 9.99750750e-01 6.86274062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.29, Y:4.41, Z:0.69 [[ 9.59092706e-01 -2.82249038e-01 -2.18326106e-02 3.82907396e+01] [ 2.82193842e-01 9.59340870e-01 -5.63295580e-03 4.40893261e+00] [ 2.25348120e-02 -7.58501438e-04 9.99745771e-01 6.86638054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:4.42, Z:0.69 [[ 9.59495229e-01 -2.80857428e-01 -2.20909762e-02 3.83183034e+01] [ 2.80800406e-01 9.59749225e-01 -5.70591478e-03 4.41981133e+00] [ 2.28043458e-02 -7.28357072e-04 9.99739682e-01 6.87191063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:4.43, Z:0.69 [[ 9.59803826e-01 -2.79793549e-01 -2.21852711e-02 3.83454385e+01] [ 2.79735626e-01 9.60059935e-01 -5.73589606e-03 4.42714080e+00] [ 2.29040567e-02 -7.00675718e-04 9.99737422e-01 6.87123986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:4.43, Z:0.69 [[ 9.60852933e-01 -2.76137854e-01 -2.25727175e-02 3.83732207e+01] [ 2.76076828e-01 9.61117838e-01 -5.83837034e-03 4.43292010e+00] [ 2.33072365e-02 -6.21988987e-04 9.99728156e-01 6.86289716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:4.45, Z:0.69 [[ 9.61223390e-01 -2.74827830e-01 -2.27872415e-02 3.83985957e+01] [ 2.74765211e-01 9.61493272e-01 -5.89634256e-03 4.44934433e+00] [ 2.35302584e-02 -5.93438823e-04 9.99722949e-01 6.87384147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.43, Y:4.46, Z:0.69 [[ 9.61552688e-01 -2.73669496e-01 -2.28349433e-02 3.84251897e+01] [ 2.73606144e-01 9.61823629e-01 -5.91478119e-03 4.45597708e+00] [ 2.35818832e-02 -5.60407030e-04 9.99721752e-01 6.87596621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:4.47, Z:0.69 [[ 9.61895450e-01 -2.72352036e-01 -2.41145633e-02 3.84525164e+01] [ 2.72280886e-01 9.62197517e-01 -6.24964355e-03 4.46673621e+00] [ 2.49050760e-02 -5.54430945e-04 9.99689667e-01 6.87901379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.48, Y:4.47, Z:0.69 [[ 9.61870238e-01 -2.72402593e-01 -2.45453151e-02 3.84795606e+01] [ 2.72328707e-01 9.62183202e-01 -6.36869961e-03 4.47396301e+00] [ 2.53519402e-02 -5.58531310e-04 9.99678432e-01 6.88858184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.51, Y:4.48, Z:0.69 [[ 9.61719278e-01 -2.72909809e-01 -2.48247089e-02 3.85066145e+01] [ 2.72834184e-01 9.62039454e-01 -6.44957989e-03 4.48122351e+00] [ 2.56425030e-02 -5.70343872e-04 9.99671014e-01 6.89560002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:4.49, Z:0.69 [[ 9.61346413e-01 -2.74228034e-01 -2.47398309e-02 3.85348130e+01] [ 2.74153153e-01 9.61664511e-01 -6.43567501e-03 4.48817412e+00] [ 2.55562599e-02 -5.95589561e-04 9.99673208e-01 6.90453616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:4.49, Z:0.69 [[ 9.61135097e-01 -2.74979756e-01 -2.46060669e-02 3.85620461e+01] [ 2.74905767e-01 9.61449825e-01 -6.40726814e-03 4.49327736e+00] [ 2.54193678e-02 -6.06099405e-04 9.99676692e-01 6.91009272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.59, Y:4.50, Z:0.69 [[ 9.60752554e-01 -2.76333976e-01 -2.43734105e-02 3.85898415e+01] [ 2.76261728e-01 9.61061462e-01 -6.35010700e-03 4.50034370e+00] [ 2.51790958e-02 -6.32558978e-04 9.99682756e-01 6.91986410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.62, Y:4.51, Z:0.69 [[ 9.60400547e-01 -2.77568809e-01 -2.42145667e-02 3.86181929e+01] [ 2.77497716e-01 9.60705537e-01 -6.31578789e-03 4.50671928e+00] [ 2.50161340e-02 -6.53800791e-04 9.99686834e-01 6.92897416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.65, Y:4.51, Z:0.69 [[ 9.59701328e-01 -2.79993276e-01 -2.40234773e-02 3.86460172e+01] [ 2.79923905e-01 9.60001702e-01 -6.27211585e-03 4.51212044e+00] [ 2.48187293e-02 -7.05387654e-04 9.99691719e-01 6.94725868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.67, Y:4.52, Z:0.70 [[ 9.59364640e-01 -2.81173517e-01 -2.36841977e-02 3.86736250e+01] [ 2.81106391e-01 9.59656673e-01 -6.18598785e-03 4.51722225e+00] [ 2.44680343e-02 -7.23161317e-04 9.99700351e-01 6.95854253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.70, Y:4.52, Z:0.70 [[ 9.58843306e-01 -2.82965355e-01 -2.34546788e-02 3.87015162e+01] [ 2.82900000e-01 9.59129831e-01 -6.12845441e-03 4.52288250e+00] [ 2.42302223e-02 -7.59101145e-04 9.99706117e-01 6.97825041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:4.53, Z:0.70 [[ 9.58643050e-01 -2.83651462e-01 -2.33527415e-02 3.87285318e+01] [ 2.83586820e-01 9.58927137e-01 -6.10421948e-03 4.53167146e+00] [ 2.41250483e-02 -7.70762132e-04 9.99708652e-01 6.99035285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:4.54, Z:0.70 [[ 9.58551473e-01 -2.83970722e-01 -2.32315191e-02 3.87556104e+01] [ 2.83906765e-01 9.58832641e-01 -6.07578358e-03 4.53923642e+00] [ 2.40004835e-02 -7.71634148e-04 9.99711649e-01 7.00200869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:4.55, Z:0.70 [[ 9.58459327e-01 -2.84321018e-01 -2.27437284e-02 3.87828929e+01] [ 2.84259639e-01 9.58728839e-01 -5.95579038e-03 4.54736772e+00] [ 2.34984247e-02 -7.56741210e-04 9.99723587e-01 7.01486503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.81, Y:4.56, Z:0.70 [[ 9.58406495e-01 -2.84493113e-01 -2.28179573e-02 3.88099974e+01] [ 2.84431198e-01 9.58677786e-01 -5.98302158e-03 4.55500386e+00] [ 2.35771972e-02 -7.55972183e-04 9.99721733e-01 7.02342270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.84, Y:4.56, Z:0.70 [[ 9.58427457e-01 -2.84389990e-01 -2.32194417e-02 3.88365282e+01] [ 2.84325655e-01 9.58708380e-01 -6.09628110e-03 4.56247936e+00] [ 2.39943946e-02 -7.59039775e-04 9.99711805e-01 7.02474865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.86, Y:4.57, Z:0.70 [[ 9.58720133e-01 -2.83335326e-01 -2.40166411e-02 3.88633260e+01] [ 2.83265984e-01 9.59020610e-01 -6.31290256e-03 4.57153830e+00] [ 2.48211221e-02 -7.50790699e-04 9.99691627e-01 7.02365211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:4.58, Z:0.70 [[ 9.58677952e-01 -2.83437182e-01 -2.44938557e-02 3.88897468e+01] [ 2.83364997e-01 9.58990500e-01 -6.44203919e-03 4.58068198e+00] [ 2.53152883e-02 -7.64860401e-04 9.99679224e-01 7.02422579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:4.59, Z:0.70 [[ 9.58662495e-01 -2.83448628e-01 -2.49618955e-02 3.89155738e+01] [ 2.83373465e-01 9.58987111e-01 -6.57273134e-03 4.58796328e+00] [ 2.58011677e-02 -7.72507778e-04 9.99666796e-01 7.02130627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.94, Y:4.59, Z:0.70 [[ 9.58618375e-01 -2.83550438e-01 -2.54943119e-02 3.89414199e+01] [ 2.83471970e-01 9.58957000e-01 -6.71671925e-03 4.59451319e+00] [ 2.63524775e-02 -7.88152318e-04 9.99652402e-01 7.01726310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.97, Y:4.60, Z:0.70 [[ 9.58512421e-01 -2.83857580e-01 -2.60540497e-02 3.89683853e+01] [ 2.83775607e-01 9.58866111e-01 -6.86915505e-03 4.60264060e+00] [ 2.69322071e-02 -8.09333346e-04 9.99636935e-01 7.01558776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.99, Y:4.61, Z:0.70 [[ 9.58501518e-01 -2.83864013e-01 -2.63829953e-02 3.89949486e+01] [ 2.83779757e-01 9.58864204e-01 -6.96331912e-03 4.60975777e+00] [ 2.72743455e-02 -8.12608046e-04 9.99627656e-01 7.01780807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.02, Y:4.62, Z:0.70 [[ 9.58344932e-01 -2.84381295e-01 -2.65003944e-02 3.90219355e+01] [ 2.84296356e-01 9.58710903e-01 -6.99900641e-03 4.61969037e+00] [ 2.73966035e-02 -8.26503219e-04 9.99624301e-01 7.02071165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:4.63, Z:0.70 [[ 9.58193142e-01 -2.84864532e-01 -2.67974252e-02 3.90482867e+01] [ 2.84777645e-01 9.58567415e-01 -7.08543587e-03 4.62905256e+00] [ 2.77055280e-02 -8.42091584e-04 9.99615773e-01 7.02726612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:4.64, Z:0.70 [[ 9.57952604e-01 -2.85671477e-01 -2.68070141e-02 3.90752593e+01] [ 2.85584633e-01 9.58327225e-01 -7.09557689e-03 4.63512476e+00] [ 2.77168954e-02 -8.58444924e-04 9.99615444e-01 7.02688670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.10, Y:4.64, Z:0.70 [[ 9.57768869e-01 -2.86279200e-01 -2.68889162e-02 3.91021411e+01] [ 2.86191960e-01 9.58145842e-01 -7.12097261e-03 4.64246454e+00] [ 2.78020896e-02 -8.75145745e-04 9.99613064e-01 7.03480938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:4.65, Z:0.71 [[ 9.57582249e-01 -2.86934872e-01 -2.65446035e-02 3.91282011e+01] [ 2.86850033e-01 9.57949688e-01 -7.03238578e-03 4.65465021e+00] [ 2.74462313e-02 -8.80232585e-04 9.99622894e-01 7.05314941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.15, Y:4.66, Z:0.71 [[ 9.57330165e-01 -2.87809712e-01 -2.61634244e-02 3.91546158e+01] [ 2.87727532e-01 9.57687203e-01 -6.93459415e-03 4.66188189e+00] [ 2.70522203e-02 -8.89241354e-04 9.99633626e-01 7.06239012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.18, Y:4.67, Z:0.71 [[ 9.56910159e-01 -2.89239998e-01 -2.57521297e-02 3.91820028e+01] [ 2.89160784e-01 9.57256180e-01 -6.82984431e-03 4.66532685e+00] [ 2.66268495e-02 -9.10958630e-04 9.99645028e-01 7.06437340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.21, Y:4.67, Z:0.71 [[ 9.56652784e-01 -2.90121131e-01 -2.54003920e-02 3.92092796e+01] [ 2.90044275e-01 9.56989490e-01 -6.74045920e-03 4.67352184e+00] [ 2.62634578e-02 -9.18959214e-04 9.99654634e-01 7.07291546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.24, Y:4.69, Z:0.71 [[ 9.56434414e-01 -2.90856267e-01 -2.52159196e-02 3.92355038e+01] [ 2.90780601e-01 9.56766311e-01 -6.69830777e-03 4.68694665e+00] [ 2.60739872e-02 -9.25808186e-04 9.99659587e-01 7.08817469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.26, Y:4.70, Z:0.71 [[ 9.56229871e-01 -2.91525598e-01 -2.52439920e-02 3.92621525e+01] [ 2.91449805e-01 9.56562567e-01 -6.71309967e-03 4.69731149e+00] [ 2.61044982e-02 -9.38090123e-04 9.99658779e-01 7.09710861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:4.71, Z:0.71 [[ 9.56147642e-01 -2.91798186e-01 -2.52092303e-02 3.92881077e+01] [ 2.91722510e-01 9.56479451e-01 -6.71095627e-03 4.70583282e+00] [ 2.60703556e-02 -9.37434930e-04 9.99659671e-01 7.10271424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.32, Y:4.71, Z:0.71 [[ 9.56036439e-01 -2.92186388e-01 -2.49287338e-02 3.93153625e+01] [ 2.92112362e-01 9.56360940e-01 -6.64235808e-03 4.71362948e+00] [ 2.57816739e-02 -9.31654954e-04 9.99667163e-01 7.10720991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.34, Y:4.72, Z:0.71 [[ 9.56183361e-01 -2.91717686e-01 -2.47824790e-02 3.93423085e+01] [ 2.91644175e-01 9.56504036e-01 -6.61095209e-03 4.71952932e+00] [ 2.56330728e-02 -9.06383251e-04 9.99671008e-01 7.10877166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:4.73, Z:0.71 [[ 9.56247498e-01 -2.91492964e-01 -2.49514582e-02 3.93691269e+01] [ 2.91418199e-01 9.56572549e-01 -6.66267025e-03 4.72848342e+00] [ 2.58100015e-02 -9.00147272e-04 9.99666461e-01 7.11079696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:4.75, Z:0.71 [[ 9.56368419e-01 -2.91075819e-01 -2.51856189e-02 3.93936300e+01] [ 2.90999398e-01 9.56699571e-01 -6.72915155e-03 4.74685194e+00] [ 2.60537641e-02 -8.93451915e-04 9.99660144e-01 7.12759072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.42, Y:4.75, Z:0.71 [[ 9.56787725e-01 -2.89679856e-01 -2.53541190e-02 3.94218379e+01] [ 2.89601700e-01 9.57123217e-01 -6.78248590e-03 4.74995103e+00] [ 2.62317655e-02 -8.53196707e-04 9.99655524e-01 7.11107600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:4.76, Z:0.71 [[ 9.56917069e-01 -2.89250450e-01 -2.53751983e-02 3.94487523e+01] [ 2.89171800e-01 9.57253092e-01 -6.79621887e-03 4.76178357e+00] [ 2.62562964e-02 -8.34373944e-04 9.99654896e-01 7.12369686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:4.77, Z:0.71 [[ 9.57151143e-01 -2.88477980e-01 -2.53405920e-02 3.94751018e+01] [ 2.88399067e-01 9.57486192e-01 -6.79486308e-03 4.77329778e+00] [ 2.62234353e-02 -8.04492138e-04 9.99655783e-01 7.13680427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:4.78, Z:0.71 [[ 9.57609048e-01 -2.86920956e-01 -2.57153036e-02 3.95016876e+01] [ 2.86838940e-01 9.57953954e-01 -6.90250916e-03 4.78172656e+00] [ 2.66145512e-02 -7.66245192e-04 9.99645476e-01 7.14105722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:4.79, Z:0.71 [[ 9.57676868e-01 -2.86678123e-01 -2.58973135e-02 3.95290065e+01] [ 2.86594745e-01 9.58026657e-01 -6.95541093e-03 4.79091618e+00] [ 2.68042808e-02 -7.60997798e-04 9.99640411e-01 7.14761921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.55, Y:4.80, Z:0.72 [[ 9.57734891e-01 -2.86455274e-01 -2.62155302e-02 3.95545960e+01] [ 2.86369575e-01 9.58093316e-01 -7.04733383e-03 4.80240983e+00] [ 2.71356702e-02 -7.57852724e-04 9.99631473e-01 7.15991291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:4.81, Z:0.72 [[ 9.57740435e-01 -2.86519253e-01 -2.52977610e-02 3.95817602e+01] [ 2.86439391e-01 9.58074206e-01 -6.80370922e-03 4.81133147e+00] [ 2.61865260e-02 -7.30087834e-04 9.99656808e-01 7.16930023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:4.82, Z:0.72 [[ 9.57641161e-01 -2.86851008e-01 -2.52963621e-02 3.96083301e+01] [ 2.86771125e-01 9.57974927e-01 -6.80890676e-03 4.81871736e+00] [ 2.61864224e-02 -7.33776845e-04 9.99656808e-01 7.17492583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:4.82, Z:0.72 [[ 9.57576158e-01 -2.87101546e-01 -2.49119045e-02 3.96346171e+01] [ 2.87023938e-01 9.57899881e-01 -6.71394793e-03 4.82437860e+00] [ 2.57906952e-02 -7.21196455e-04 9.99667105e-01 7.18172668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:4.83, Z:0.72 [[ 9.57442183e-01 -2.87566796e-01 -2.46942176e-02 3.96609057e+01] [ 2.87490520e-01 9.57760313e-01 -6.66205603e-03 4.83447355e+00] [ 2.55669277e-02 -7.20819994e-04 9.99672853e-01 7.19716970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:4.84, Z:0.72 [[ 9.57180155e-01 -2.88489621e-01 -2.40808924e-02 3.96883375e+01] [ 2.88417188e-01 9.57482752e-01 -6.50424255e-03 4.84097567e+00] [ 2.49334456e-02 -7.19611359e-04 9.99688854e-01 7.20808523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.72, Y:4.85, Z:0.72 [[ 9.56912761e-01 -2.89383949e-01 -2.39770105e-02 3.97150894e+01] [ 2.89312328e-01 9.57212823e-01 -6.47987603e-03 4.85149995e+00] [ 2.48262740e-02 -7.36168645e-04 9.99691510e-01 7.21814855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:4.86, Z:0.72 [[ 9.56624993e-01 -2.90343194e-01 -2.38632214e-02 3.97422962e+01] [ 2.90272373e-01 9.56922289e-01 -6.45623579e-03 4.85722992e+00] [ 2.47097725e-02 -7.50637384e-04 9.99694385e-01 7.21772904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:4.86, Z:0.72 [[ 9.56089101e-01 -2.92105931e-01 -2.38276386e-02 3.97695970e+01] [ 2.92035799e-01 9.56385643e-01 -6.44941595e-03 4.86486058e+00] [ 2.46723241e-02 -7.92307183e-04 9.99695278e-01 7.21801710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:4.87, Z:0.72 [[ 9.55789546e-01 -2.93094493e-01 -2.37057233e-02 3.97975426e+01] [ 2.93025292e-01 9.56083135e-01 -6.41997606e-03 4.87212285e+00] [ 2.45463019e-02 -8.10230490e-04 9.99698366e-01 7.22515630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:4.88, Z:0.72 [[ 9.55495285e-01 -2.94063849e-01 -2.35629581e-02 3.98252787e+01] [ 2.93995589e-01 9.55785423e-01 -6.38890902e-03 4.87937709e+00] [ 2.43998791e-02 -8.22833305e-04 9.99701940e-01 7.23217444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:4.89, Z:0.72 [[ 9.55214183e-01 -2.94965594e-01 -2.36888772e-02 3.98519337e+01] [ 2.94896703e-01 9.55507502e-01 -6.43024142e-03 4.88575238e+00] [ 2.45315999e-02 -8.43513975e-04 9.99698699e-01 7.23401924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:4.89, Z:0.72 [[ 9.55173046e-01 -2.95107666e-01 -2.35779299e-02 3.98785136e+01] [ 2.95039331e-01 9.55463638e-01 -6.40545759e-03 4.89369268e+00] [ 2.44181543e-02 -8.38096220e-04 9.99701481e-01 7.23961077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.91, Y:4.90, Z:0.72 [[ 9.55062182e-01 -2.95481205e-01 -2.33898483e-02 3.99051734e+01] [ 2.95413863e-01 9.55348190e-01 -6.36283630e-03 4.90258697e+00] [ 2.42255478e-02 -8.32781132e-04 9.99706171e-01 7.24387152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:4.91, Z:0.72 [[ 9.55347610e-01 -2.94555126e-01 -2.34141255e-02 3.99320143e+01] [ 2.94487178e-01 9.55634153e-01 -6.37717577e-03 4.91128017e+00] [ 2.42537678e-02 -8.02740126e-04 9.99705512e-01 7.24106051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.96, Y:4.92, Z:0.72 [[ 9.55527385e-01 -2.93949711e-01 -2.36850824e-02 3.99597702e+01] [ 2.93879909e-01 9.55820558e-01 -6.45452714e-03 4.91915568e+00] [ 2.45359950e-02 -7.93092413e-04 9.99698633e-01 7.24144941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.99, Y:4.93, Z:0.72 [[ 9.55730992e-01 -2.93272416e-01 -2.38654553e-02 3.99874292e+01] [ 2.93201147e-01 9.56028603e-01 -6.51129588e-03 4.92682129e+00] [ 2.47256413e-02 -7.74331588e-04 9.99693975e-01 7.24441594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.02, Y:4.93, Z:0.72 [[ 9.55936348e-01 -2.92563324e-01 -2.43392805e-02 4.00150289e+01] [ 2.92488770e-01 9.56245846e-01 -6.64836767e-03 4.93453448e+00] [ 2.52194045e-02 -7.63549923e-04 9.99681649e-01 7.24484947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:4.94, Z:0.72 [[ 9.56506473e-01 -2.90689233e-01 -2.43954093e-02 4.00416764e+01] [ 2.90613557e-01 9.56817259e-01 -6.67039875e-03 4.94208053e+00] [ 2.52809617e-02 -7.09357075e-04 9.99680134e-01 7.24419999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.07, Y:4.95, Z:0.72 [[ 9.56741718e-01 -2.89902133e-01 -2.45364818e-02 4.00690269e+01] [ 2.89825226e-01 9.57056048e-01 -6.71263977e-03 4.95006280e+00] [ 2.54287968e-02 -6.89028872e-04 9.99676398e-01 7.24563103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.10, Y:4.96, Z:0.72 [[ 9.57026221e-01 -2.88939401e-01 -2.47958467e-02 4.00953039e+01] [ 2.88860366e-01 9.57347158e-01 -6.79024186e-03 4.95793752e+00] [ 2.57002018e-02 -6.64097869e-04 9.99669475e-01 7.24798721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.12, Y:4.97, Z:0.73 [[ 9.57620617e-01 -2.87027262e-01 -2.40437975e-02 4.01229741e+01] [ 2.86952262e-01 9.57922232e-01 -6.58770284e-03 4.96753036e+00] [ 2.49229385e-02 -5.90902008e-04 9.99689201e-01 7.26132198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.15, Y:4.97, Z:0.73 [[ 9.57822421e-01 -2.86360356e-01 -2.39573689e-02 4.01507027e+01] [ 2.86285519e-01 9.58121823e-01 -6.57073365e-03 4.97287939e+00] [ 2.48356756e-02 -5.65051769e-04 9.99691387e-01 7.27005142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.18, Y:4.99, Z:0.73 [[ 9.58093539e-01 -2.85564580e-01 -2.25752539e-02 4.01769455e+01] [ 2.85497817e-01 9.58359333e-01 -6.19558901e-03 4.98597578e+00] [ 2.34044461e-02 -5.09231911e-04 9.99725949e-01 7.30408856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.20, Y:4.99, Z:0.73 [[ 9.57998507e-01 -2.85936288e-01 -2.18929044e-02 4.02043358e+01] [ 2.85873440e-01 9.58248503e-01 -6.01521451e-03 4.98861417e+00] [ 2.26988109e-02 -4.96033357e-04 9.99742226e-01 7.31065545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.23, Y:5.00, Z:0.73 [[ 9.57895340e-01 -2.86321233e-01 -2.13698338e-02 4.02300653e+01] [ 2.86261282e-01 9.58133558e-01 -5.87901538e-03 4.99962553e+00] [ 2.21584419e-02 -4.85874600e-04 9.99754354e-01 7.32663662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.26, Y:5.00, Z:0.73 [[ 9.57658670e-01 -2.87171457e-01 -2.05530083e-02 4.02574235e+01] [ 2.87116047e-01 9.57879076e-01 -5.66134255e-03 5.00457449e+00] [ 2.13130726e-02 -4.79464731e-04 9.99772736e-01 7.33850536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:5.01, Z:0.73 [[ 9.57287984e-01 -2.88425846e-01 -2.02545546e-02 4.02853815e+01] [ 2.88372269e-01 9.57502106e-01 -5.58132976e-03 5.01061842e+00] [ 2.10035784e-02 -4.97911946e-04 9.99779277e-01 7.34562497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.31, Y:5.01, Z:0.74 [[ 9.56975182e-01 -2.89476580e-01 -2.00452241e-02 4.03135531e+01] [ 2.89424216e-01 9.57184961e-01 -5.52939579e-03 5.01306942e+00] [ 2.07876176e-02 -5.10078717e-04 9.99783784e-01 7.35626166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:5.02, Z:0.74 [[ 9.56580913e-01 -2.90807357e-01 -1.95969059e-02 4.03419519e+01] [ 2.90757547e-01 9.56781483e-01 -5.40770343e-03 5.01881583e+00] [ 2.03225566e-02 -5.25042402e-04 9.99793338e-01 7.36800880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:5.02, Z:0.74 [[ 9.55848528e-01 -2.93262396e-01 -1.87285475e-02 4.03715439e+01] [ 2.93217279e-01 9.56031834e-01 -5.17295266e-03 5.01733554e+00] [ 1.94221201e-02 -5.46974539e-04 9.99811223e-01 7.38200969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:5.03, Z:0.74 [[ 9.55593258e-01 -2.94140922e-01 -1.79622660e-02 4.03979376e+01] [ 2.94099485e-01 9.55761911e-01 -4.96622069e-03 5.02854835e+00] [ 1.86284184e-02 -5.37006169e-04 9.99826332e-01 7.39182550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:5.03, Z:0.74 [[ 9.55548262e-01 -2.94294719e-01 -1.78363999e-02 4.04251914e+01] [ 2.94253785e-01 9.55714568e-01 -4.93695636e-03 5.03408279e+00] [ 1.84994274e-02 -5.30928112e-04 9.99828730e-01 7.40153264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:5.04, Z:0.74 [[ 9.55672833e-01 -2.93890050e-01 -1.78346418e-02 4.04516296e+01] [ 2.93848926e-01 9.55839093e-01 -4.94335277e-03 5.04423373e+00] [ 1.84998501e-02 -5.16462402e-04 9.99828730e-01 7.40194264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.48, Y:5.05, Z:0.74 [[ 9.55801297e-01 -2.93471460e-01 -1.78432790e-02 4.04795852e+01] [ 2.93430193e-01 9.55967701e-01 -4.94740682e-03 5.05165679e+00] [ 1.85095211e-02 -5.07018939e-04 9.99828556e-01 7.40715456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.51, Y:5.06, Z:0.74 [[ 9.56269491e-01 -2.91929783e-01 -1.80461336e-02 4.05079367e+01] [ 2.91887200e-01 9.56439634e-01 -5.00889943e-03 5.05857216e+00] [ 1.87222843e-02 -4.77577688e-04 9.99824609e-01 7.41010013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:5.06, Z:0.74 [[ 9.56460975e-01 -2.91282178e-01 -1.83601918e-02 4.05354514e+01] [ 2.91237875e-01 9.56637065e-01 -5.10158608e-03 5.06486373e+00] [ 1.90500411e-02 -4.67715263e-04 9.99818422e-01 7.41311109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:5.07, Z:0.74 [[ 9.56561531e-01 -2.90970700e-01 -1.80579522e-02 4.05629098e+01] [ 2.90927742e-01 9.56731858e-01 -5.02005345e-03 5.07264886e+00] [ 1.87373066e-02 -4.51569233e-04 9.99824339e-01 7.41753049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.59, Y:5.08, Z:0.74 [[ 9.56712124e-01 -2.90466616e-01 -1.81949849e-02 4.05907000e+01] [ 2.90422813e-01 9.56885025e-01 -5.06342202e-03 5.08082489e+00] [ 1.88812637e-02 -4.40001480e-04 9.99821636e-01 7.41901914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.62, Y:5.09, Z:0.74 [[ 9.56791898e-01 -2.90197647e-01 -1.82917821e-02 4.06188141e+01] [ 2.90153217e-01 9.56966634e-01 -5.09619464e-03 5.08541027e+00] [ 1.89835288e-02 -4.31421679e-04 9.99819704e-01 7.42491472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.65, Y:5.09, Z:0.74 [[ 9.56815001e-01 -2.90122691e-01 -1.82723441e-02 4.06458022e+01] [ 2.90078290e-01 9.56989364e-01 -5.09350722e-03 5.09399783e+00] [ 1.89641810e-02 -4.26866217e-04 9.99820073e-01 7.43085142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:5.10, Z:0.74 [[ 9.56971205e-01 -2.89642960e-01 -1.76937511e-02 4.06736120e+01] [ 2.89601127e-01 9.57134681e-01 -4.93863343e-03 5.09785619e+00] [ 1.83657432e-02 -3.98000278e-04 9.99831256e-01 7.44345031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.70, Y:5.11, Z:0.74 [[ 9.56918189e-01 -2.89818085e-01 -1.76934158e-02 4.07003289e+01] [ 2.89776257e-01 9.57081667e-01 -4.93996614e-03 5.10709051e+00] [ 1.83657354e-02 -3.99988363e-04 9.99831256e-01 7.44984471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.73, Y:5.11, Z:0.75 [[ 9.56926993e-01 -2.89820087e-01 -1.71769495e-02 4.07276932e+01] [ 2.89780563e-01 9.57081068e-01 -4.80155611e-03 5.11380396e+00] [ 1.78313206e-02 -3.82807444e-04 9.99840936e-01 7.45955733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.75, Y:5.12, Z:0.75 [[ 9.56936819e-01 -2.89776852e-01 -1.73580214e-02 4.07541518e+01] [ 2.89736364e-01 9.57094160e-01 -4.85871418e-03 5.12002650e+00] [ 1.80212039e-02 -3.79767529e-04 9.99837533e-01 7.46633368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:5.13, Z:0.75 [[ 9.56930656e-01 -2.89802428e-01 -1.72705441e-02 4.07803389e+01] [ 2.89762306e-01 9.57086418e-01 -4.83680607e-03 5.12673052e+00] [ 1.79311213e-02 -3.75864665e-04 9.99839154e-01 7.47164980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:5.13, Z:0.75 [[ 9.56740140e-01 -2.90426661e-01 -1.73395432e-02 4.08075145e+01] [ 2.90386281e-01 9.56897176e-01 -4.85829638e-03 5.13289481e+00] [ 1.80031387e-02 -3.87038320e-04 9.99837855e-01 7.47453622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.83, Y:5.14, Z:0.75 [[ 9.56615567e-01 -2.90829073e-01 -1.74673304e-02 4.08346642e+01] [ 2.90788055e-01 9.56774946e-01 -4.90005258e-03 5.13962109e+00] [ 1.81373819e-02 -3.91824463e-04 9.99835427e-01 7.47898025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:5.15, Z:0.75 [[ 9.56358450e-01 -2.91659823e-01 -1.76935878e-02 4.08628674e+01] [ 2.91617766e-01 9.56522024e-01 -4.96960277e-03 5.14731878e+00] [ 1.83737399e-02 -4.07042946e-04 9.99831106e-01 7.47823158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.89, Y:5.15, Z:0.75 [[ 9.56031643e-01 -2.92730302e-01 -1.76767805e-02 4.08909577e+01] [ 2.92688410e-01 9.56194955e-01 -4.97017622e-03 5.15384637e+00] [ 1.83573696e-02 -4.22143051e-04 9.99831400e-01 7.48626404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.92, Y:5.16, Z:0.75 [[ 9.55686969e-01 -2.93860337e-01 -1.75647549e-02 4.09192897e+01] [ 2.93819069e-01 9.55848269e-01 -4.94390938e-03 5.16003704e+00] [ 1.82420594e-02 -4.36030153e-04 9.99833505e-01 7.49294942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:5.16, Z:0.75 [[ 9.55196947e-01 -2.95486255e-01 -1.69311707e-02 4.09473053e+01] [ 2.95448075e-01 9.55346887e-01 -4.77078414e-03 5.16471204e+00] [ 1.75848424e-02 -4.45243342e-04 9.99845276e-01 7.50384546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.97, Y:5.17, Z:0.75 [[ 9.54963534e-01 -2.96239719e-01 -1.69315749e-02 4.09749620e+01] [ 2.96201615e-01 9.55113512e-01 -4.77319154e-03 5.17140228e+00] [ 1.75855849e-02 -4.56935980e-04 9.99845257e-01 7.51211578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.00, Y:5.18, Z:0.75 [[ 9.54644256e-01 -2.97261084e-01 -1.70350263e-02 4.10036003e+01] [ 2.97222586e-01 9.54796116e-01 -4.80738274e-03 5.17729873e+00] [ 1.76940248e-02 -4.73854271e-04 9.99843336e-01 7.51593360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.03, Y:5.18, Z:0.75 [[ 9.54534791e-01 -2.97607259e-01 -1.71246155e-02 4.10317572e+01] [ 2.97568310e-01 9.54688269e-01 -4.83830213e-03 5.18085073e+00] [ 1.77885834e-02 -4.77415183e-04 9.99841657e-01 7.52121800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:5.19, Z:0.75 [[ 9.54371895e-01 -2.98112685e-01 -1.74101679e-02 4.10592207e+01] [ 2.98072486e-01 9.54530557e-01 -4.92033508e-03 5.18858781e+00] [ 1.80853515e-02 -4.93662502e-04 9.99836325e-01 7.52661397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:5.19, Z:0.75 [[ 9.54406872e-01 -2.97963663e-01 -1.80326950e-02 4.10875400e+01] [ 2.97920392e-01 9.54577081e-01 -5.10265820e-03 5.19287738e+00] [ 1.87340041e-02 -5.02295518e-04 9.99824377e-01 7.52744803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.612755096 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:41.12, Y:5.20, Z:0.75 [[ 9.54553887e-01 -2.97510582e-01 -1.77293864e-02 4.11155877e+01] [ 2.97468582e-01 9.54718400e-01 -5.02191741e-03 5.20065010e+00] [ 1.84206450e-02 -4.80244660e-04 9.99830210e-01 7.53294837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:5.21, Z:0.75 [[ 9.55263582e-01 -2.95199582e-01 -1.81299624e-02 4.11427810e+01] [ 2.95155141e-01 9.55435510e-01 -5.14098483e-03 5.20765082e+00] [ 1.88396264e-02 -4.40156008e-04 9.99822422e-01 7.53620535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:5.22, Z:0.75 [[ 9.55671395e-01 -2.93885094e-01 -1.79926968e-02 4.11707304e+01] [ 2.93841044e-01 9.55840669e-01 -5.10452507e-03 5.21605696e+00] [ 1.86982952e-02 -4.08744232e-04 9.99825088e-01 7.54157061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:5.22, Z:0.75 [[ 9.56165376e-01 -2.92281022e-01 -1.78767282e-02 4.11985673e+01] [ 2.92237164e-01 9.56332404e-01 -5.07667208e-03 5.22446912e+00] [ 1.85799094e-02 -3.70106287e-04 9.99827310e-01 7.54669471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:5.23, Z:0.76 [[ 9.56642569e-01 -2.90691273e-01 -1.82641550e-02 4.12263709e+01] [ 2.90645103e-01 9.56816841e-01 -5.19200200e-03 5.23385305e+00] [ 1.89847207e-02 -3.41497084e-04 9.99819716e-01 7.55501979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.25, Y:5.24, Z:0.76 [[ 9.57538663e-01 -2.87758576e-01 -1.77400883e-02 4.12538895e+01] [ 2.87714429e-01 9.57702944e-01 -5.04761369e-03 5.24199061e+00] [ 1.84422289e-02 -2.70794107e-04 9.99829891e-01 7.56486763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:5.25, Z:0.76 [[ 9.57791025e-01 -2.86937889e-01 -1.74068944e-02 4.12817956e+01] [ 2.86895161e-01 9.57949157e-01 -4.95773686e-03 5.25035352e+00] [ 1.80974824e-02 -2.45477885e-04 9.99836197e-01 7.57410587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.31, Y:5.26, Z:0.76 [[ 9.57940199e-01 -2.86430720e-01 -1.75504525e-02 4.13085930e+01] [ 2.86387104e-01 9.58100928e-01 -5.00381854e-03 5.25729956e+00] [ 1.82483522e-02 -2.32864332e-04 9.99833458e-01 7.58078552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:5.26, Z:0.76 [[ 9.57921970e-01 -2.86538448e-01 -1.67695040e-02 4.13366439e+01] [ 2.86498550e-01 9.58068719e-01 -4.78656445e-03 5.26274706e+00] [ 1.74378720e-02 -2.19283341e-04 9.99847925e-01 7.59195013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:5.27, Z:0.76 [[ 9.57829869e-01 -2.86846261e-01 -1.67679620e-02 4.13631124e+01] [ 2.86806315e-01 9.57976604e-01 -4.79195987e-03 5.27048166e+00] [ 1.74378710e-02 -2.19275097e-04 9.99847925e-01 7.59756455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:5.27, Z:0.76 [[ 9.57699690e-01 -2.87264936e-01 -1.70340745e-02 4.13905105e+01] [ 2.87223661e-01 9.57851140e-01 -4.87466472e-03 5.27432835e+00] [ 1.77164280e-02 -2.24124363e-04 9.99843027e-01 7.61126304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:5.28, Z:0.76 [[ 9.57429976e-01 -2.88168476e-01 -1.69343244e-02 4.14170947e+01] [ 2.88127803e-01 9.57579695e-01 -4.84730083e-03 5.28195170e+00] [ 1.76128045e-02 -2.38298572e-04 9.99844854e-01 7.61048568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:5.28, Z:0.76 [[ 9.56784850e-01 -2.90291618e-01 -1.71326246e-02 4.14456363e+01] [ 2.90250211e-01 9.56938191e-01 -4.91053405e-03 5.28455401e+00] [ 1.78203496e-02 -2.74423320e-04 9.99841167e-01 7.61648017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.47, Y:5.29, Z:0.76 [[ 9.56319656e-01 -2.91825110e-01 -1.70534531e-02 4.14744628e+01] [ 2.91784307e-01 9.56471649e-01 -4.88912673e-03 5.28964777e+00] [ 1.77379144e-02 -3.00361999e-04 9.99842626e-01 7.62354084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:5.29, Z:0.76 [[ 9.55672954e-01 -2.93937565e-01 -1.70268150e-02 4.15040793e+01] [ 2.93897135e-01 9.55824564e-01 -4.88649227e-03 5.29165326e+00] [ 1.77109716e-02 -3.34243630e-04 9.99843093e-01 7.63335879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.53, Y:5.30, Z:0.76 [[ 9.55370154e-01 -2.94917052e-01 -1.70822077e-02 4.15316071e+01] [ 2.94876418e-01 9.55522795e-01 -4.90788928e-03 5.29573734e+00] [ 1.77698591e-02 -3.48289282e-04 9.99842043e-01 7.64002187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:5.30, Z:0.76 [[ 9.55049441e-01 -2.95949892e-01 -1.71530094e-02 4.15596727e+01] [ 2.95909063e-01 9.55203395e-01 -4.92954898e-03 5.30231546e+00] [ 1.78435123e-02 -3.67767936e-04 9.99840724e-01 7.64614434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.59, Y:5.31, Z:0.76 [[ 9.54773415e-01 -2.96827032e-01 -1.73620233e-02 4.15870669e+01] [ 2.96785246e-01 9.54931184e-01 -4.99516773e-03 5.30767975e+00] [ 1.80622382e-02 -3.83538989e-04 9.99836791e-01 7.64969877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.61, Y:5.32, Z:0.77 [[ 9.54589179e-01 -2.97416702e-01 -1.74013096e-02 4.16144343e+01] [ 2.97374792e-01 9.54747689e-01 -5.00826008e-03 5.31507646e+00] [ 1.81034004e-02 -3.93879964e-04 9.99836042e-01 7.65705030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:5.32, Z:0.77 [[ 9.54746367e-01 -2.96922129e-01 -1.72227744e-02 4.16417100e+01] [ 2.96880964e-01 9.54901621e-01 -4.95855113e-03 5.32260131e+00] [ 1.79183587e-02 -3.78955188e-04 9.99839382e-01 7.66522830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.67, Y:5.33, Z:0.77 [[ 9.54999609e-01 -2.96080695e-01 -1.76626334e-02 4.16691080e+01] [ 2.96037209e-01 9.55162858e-01 -5.08778527e-03 5.33029950e+00] [ 1.83770864e-02 -3.69963747e-04 9.99831059e-01 7.67057686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:5.34, Z:0.77 [[ 9.54911929e-01 -2.96347211e-01 -1.79314841e-02 4.16963497e+01] [ 2.96302341e-01 9.55080201e-01 -5.17040591e-03 5.33891027e+00] [ 1.86582408e-02 -3.75858430e-04 9.99825849e-01 7.67114718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.72, Y:5.35, Z:0.77 [[ 9.55344057e-01 -2.94935633e-01 -1.81852806e-02 4.17235657e+01] [ 2.94889109e-01 9.55517060e-01 -5.24993497e-03 5.34989686e+00] [ 1.89247387e-02 -3.47147006e-04 9.99820851e-01 7.67965033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.75, Y:5.36, Z:0.77 [[ 9.55225231e-01 -2.95266682e-01 -1.90353446e-02 4.17507257e+01] [ 2.95215653e-01 9.55414807e-01 -5.50132109e-03 5.35739866e+00] [ 1.98110069e-02 -3.64530965e-04 9.99803676e-01 7.67862137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.78, Y:5.37, Z:0.77 [[ 9.55580987e-01 -2.94136233e-01 -1.86776141e-02 4.17766410e+01] [ 2.94086761e-01 9.55763448e-01 -5.40449886e-03 5.36792545e+00] [ 1.94410398e-02 -3.28402674e-04 9.99810951e-01 7.68836941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.80, Y:5.38, Z:0.77 [[ 9.55630352e-01 -2.93949949e-01 -1.90802773e-02 4.18025187e+01] [ 2.93898243e-01 9.55820757e-01 -5.52303123e-03 5.37598046e+00] [ 1.98608198e-02 -3.29683684e-04 9.99802700e-01 7.68501282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.83, Y:5.38, Z:0.77 [[ 9.55591811e-01 -2.93968975e-01 -2.06526823e-02 4.18289656e+01] [ 2.93908285e-01 9.55814897e-01 -5.98347107e-03 5.38475400e+00] [ 2.14990962e-02 -3.52238475e-04 9.99768806e-01 7.68391874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:5.39, Z:0.77 [[ 9.55088561e-01 -2.95488643e-01 -2.21878882e-02 4.18574782e+01] [ 2.95418820e-01 9.55346165e-01 -6.43623811e-03 5.39134827e+00] [ 2.30989492e-02 -4.07542352e-04 9.99733101e-01 7.68075306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:5.40, Z:0.77 [[ 9.54723549e-01 -2.96681401e-01 -2.19793570e-02 4.18851905e+01] [ 2.96613051e-01 9.54976421e-01 -6.38226829e-03 5.39942466e+00] [ 2.28832680e-02 -4.26062295e-04 9.99738053e-01 7.68629654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.91, Y:5.41, Z:0.77 [[ 9.54062362e-01 -2.98809776e-01 -2.18569863e-02 4.19121188e+01] [ 2.98742605e-01 9.54312579e-01 -6.35277888e-03 5.40747599e+00] [ 2.27566694e-02 -4.68665802e-04 9.99740924e-01 7.68985624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.94, Y:5.42, Z:0.77 [[ 9.53698477e-01 -3.00009187e-01 -2.13002753e-02 4.19401281e+01] [ 2.99945638e-01 9.53936190e-01 -6.19347571e-03 5.41586820e+00] [ 2.21772031e-02 -4.82216324e-04 9.99753939e-01 7.69943128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.97, Y:5.42, Z:0.77 [[ 9.53052910e-01 -3.02130242e-01 -2.01858141e-02 4.19675481e+01] [ 3.02073526e-01 9.53266526e-01 -5.87503498e-03 5.42390944e+00] [ 2.10174866e-02 -4.98380864e-04 9.99778984e-01 7.71078039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.00, Y:5.43, Z:0.77 [[ 9.52654715e-01 -3.03359061e-01 -2.05493208e-02 4.19955311e+01] [ 3.03300440e-01 9.52876173e-01 -5.98690933e-03 5.43254976e+00] [ 2.13971413e-02 -5.29160630e-04 9.99770915e-01 7.71724675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.02, Y:5.44, Z:0.77 [[ 9.52344943e-01 -3.04345899e-01 -2.03145949e-02 4.20222130e+01] [ 3.04288710e-01 9.52561432e-01 -5.92435992e-03 5.43897400e+00] [ 2.11539543e-02 -5.39467677e-04 9.99776085e-01 7.72256822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.05, Y:5.44, Z:0.77 [[ 9.51933045e-01 -3.05659855e-01 -1.98879429e-02 4.20501293e+01] [ 3.05605288e-01 9.52140612e-01 -5.80197905e-03 5.44273521e+00] [ 2.07095502e-02 -5.54764917e-04 9.99785380e-01 7.73354248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.08, Y:5.45, Z:0.77 [[ 9.51674597e-01 -3.06481969e-01 -1.96026563e-02 4.20767124e+01] [ 3.06429089e-01 9.51876298e-01 -5.72075273e-03 5.45405056e+00] [ 2.04126114e-02 -5.62529046e-04 9.99791483e-01 7.73519167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.10, Y:5.46, Z:0.77 [[ 9.51442771e-01 -3.07167483e-01 -2.01194416e-02 4.21049093e+01] [ 3.07111802e-01 9.51655291e-01 -5.87771695e-03 5.46213116e+00] [ 2.09522166e-02 -5.86606674e-04 9.99780306e-01 7.73624241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.13, Y:5.47, Z:0.77 [[ 9.51266667e-01 -3.07721624e-01 -1.99782682e-02 4.21326274e+01] [ 3.07666723e-01 9.51476251e-01 -5.84230439e-03 5.46830127e+00] [ 2.08066511e-02 -5.89058868e-04 9.99783345e-01 7.73785717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.16, Y:5.48, Z:0.77 [[ 9.51083192e-01 -3.08317494e-01 -1.95213943e-02 4.21597685e+01] [ 3.08265160e-01 9.51283333e-01 -5.71068910e-03 5.47852893e+00] [ 2.03310824e-02 -5.86425324e-04 9.99793130e-01 7.74373203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.19, Y:5.48, Z:0.78 [[ 9.51080650e-01 -3.08338395e-01 -1.93140306e-02 4.21864765e+01] [ 3.08287056e-01 9.51276565e-01 -5.65578299e-03 5.48490163e+00] [ 2.01168797e-02 -5.75159858e-04 9.99797470e-01 7.75267394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.21, Y:5.49, Z:0.78 [[ 9.51019621e-01 -3.08535291e-01 -1.91743260e-02 4.22129864e+01] [ 3.08484677e-01 9.51212724e-01 -5.61760922e-03 5.49429517e+00] [ 1.99720936e-02 -5.72529184e-04 9.99800374e-01 7.76177617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:5.50, Z:0.78 [[ 9.51338341e-01 -3.07558842e-01 -1.90504327e-02 4.22408307e+01] [ 3.07508556e-01 9.51528909e-01 -5.58775443e-03 5.50024264e+00] [ 1.98456007e-02 -5.42326024e-04 9.99802910e-01 7.77637749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.27, Y:5.51, Z:0.78 [[ 9.51513951e-01 -3.07015589e-01 -1.90428322e-02 4.22682721e+01] [ 3.06965124e-01 9.51704341e-01 -5.59113388e-03 5.51105735e+00] [ 1.98397114e-02 -5.25443462e-04 9.99803035e-01 7.78444730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:5.52, Z:0.78 [[ 9.51682914e-01 -3.06464154e-01 -1.94770109e-02 4.22956579e+01] [ 3.06411135e-01 9.51882058e-01 -5.72405980e-03 5.51952024e+00] [ 2.02940364e-02 -5.20483117e-04 9.99793919e-01 7.78957242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:5.53, Z:0.78 [[ 9.52187639e-01 -3.04854204e-01 -2.00652290e-02 4.23221140e+01] [ 3.04797452e-01 9.52398902e-01 -5.90289202e-03 5.52890149e+00] [ 2.09096235e-02 -4.95169848e-04 9.99781247e-01 7.78769986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:5.54, Z:0.78 [[ 9.52227686e-01 -3.04693259e-01 -2.06022454e-02 4.23484418e+01] [ 3.04633338e-01 9.52450401e-01 -6.06328973e-03 5.53774745e+00] [ 2.14700604e-02 -5.02498451e-04 9.99769365e-01 7.78302851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:5.55, Z:0.78 [[ 9.52307535e-01 -3.04373032e-01 -2.16198232e-02 4.23755599e+01] [ 3.04306803e-01 9.52552778e-01 -6.36986689e-03 5.54586611e+00] [ 2.25328384e-02 -5.12987058e-04 9.99745972e-01 7.77965758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:5.55, Z:0.78 [[ 9.52351305e-01 -3.04117370e-01 -2.32296623e-02 4.24015748e+01] [ 3.04040743e-01 9.52634417e-01 -6.84793761e-03 5.55291001e+00] [ 2.42119525e-02 -5.41121444e-04 9.99706701e-01 7.77798213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:5.56, Z:0.78 [[ 9.52278557e-01 -3.04292943e-01 -2.39030385e-02 4.24280591e+01] [ 3.04211757e-01 9.52578340e-01 -7.05071405e-03 5.56169476e+00] [ 2.49149992e-02 -5.57341520e-04 9.99689418e-01 7.78312187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.45, Y:5.57, Z:0.78 [[ 9.52306145e-01 -3.04161637e-01 -2.44684484e-02 4.24539062e+01] [ 3.04076334e-01 9.52620273e-01 -7.22483056e-03 5.56811970e+00] [ 2.55066563e-02 -5.60025573e-04 9.99674495e-01 7.78436455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:5.58, Z:0.78 [[ 9.52520523e-01 -3.03422335e-01 -2.52891357e-02 4.24806929e+01] [ 3.03330833e-01 9.52856012e-01 -7.47171596e-03 5.57922205e+00] [ 2.63639905e-02 -5.54011804e-04 9.99652256e-01 7.79460766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:5.59, Z:0.78 [[ 9.52419750e-01 -3.03676063e-01 -2.60282438e-02 4.25069901e+01] [ 3.03579009e-01 9.52775170e-01 -7.69812717e-03 5.58784757e+00] [ 2.71368014e-02 -5.69780091e-04 9.99631567e-01 7.79880958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:5.60, Z:0.78 [[ 9.52467901e-01 -3.03405878e-01 -2.73819405e-02 4.25330250e+01] [ 3.03298123e-01 9.52861235e-01 -8.10655292e-03 5.59550303e+00] [ 2.85507654e-02 -5.83659709e-04 9.99592173e-01 7.80079823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:5.60, Z:0.78 [[ 9.52331265e-01 -3.03787754e-01 -2.78955579e-02 4.25597472e+01] [ 3.03675916e-01 9.52739544e-01 -8.26429523e-03 5.60394024e+00] [ 2.90877928e-02 -6.00862360e-04 9.99576680e-01 7.80724312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.59, Y:5.61, Z:0.78 [[ 9.52216065e-01 -3.04135857e-01 -2.80347419e-02 4.25864028e+01] [ 3.04022773e-01 9.52628476e-01 -8.31502151e-03 5.61266832e+00] [ 2.92355897e-02 -6.05502921e-04 9.99572365e-01 7.82060726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:5.62, Z:0.78 [[ 9.52071638e-01 -3.04551017e-01 -2.84301706e-02 4.26139809e+01] [ 3.04434675e-01 9.52495824e-01 -8.44006073e-03 5.61927268e+00] [ 2.96500478e-02 -6.19587320e-04 9.99560149e-01 7.82901127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:5.63, Z:0.78 [[ 9.51832574e-01 -3.05281929e-01 -2.85953798e-02 4.26413493e+01] [ 3.05164416e-01 9.52261798e-01 -8.49391376e-03 5.62889964e+00] [ 2.98233262e-02 -6.41508600e-04 9.99554980e-01 7.84315503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:5.63, Z:0.78 [[ 9.51792067e-01 -3.05443420e-01 -2.82166272e-02 4.26678277e+01] [ 3.05328862e-01 9.52210018e-01 -8.38852038e-03 5.63475998e+00] [ 2.94303734e-02 -6.31223511e-04 9.99566633e-01 7.84820693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:5.64, Z:0.79 [[ 9.51400660e-01 -3.06654190e-01 -2.82841241e-02 4.26952216e+01] [ 3.06539454e-01 9.51820763e-01 -8.41412977e-03 5.64334878e+00] [ 2.95016447e-02 -6.64991329e-04 9.99564511e-01 7.87386445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:5.65, Z:0.79 [[ 9.51190475e-01 -3.07285969e-01 -2.84958483e-02 4.27227775e+01] [ 3.07169587e-01 9.51616975e-01 -8.48399177e-03 5.64996642e+00] [ 2.97241446e-02 -6.83165795e-04 9.99557907e-01 7.88514521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:5.66, Z:0.79 [[ 9.50929039e-01 -3.08071179e-01 -2.87421603e-02 4.27504030e+01] [ 3.07952991e-01 9.51363046e-01 -8.56210616e-03 5.65724760e+00] [ 2.99819673e-02 -7.09278853e-04 9.99550188e-01 7.89613593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:5.66, Z:0.79 [[ 9.50416603e-01 -3.09558204e-01 -2.96984686e-02 4.27781735e+01] [ 3.09432468e-01 9.50880182e-01 -8.85588198e-03 5.66443225e+00] [ 3.09810961e-02 -7.72893149e-04 9.99519672e-01 7.90496899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:5.67, Z:0.79 [[ 9.50157605e-01 -3.10333239e-01 -2.98966016e-02 4.28061977e+01] [ 3.10205927e-01 9.50627503e-01 -8.92378674e-03 5.67231037e+00] [ 3.11898793e-02 -7.95099160e-04 9.99513161e-01 7.91201902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:5.68, Z:0.79 [[ 9.49701055e-01 -3.11678366e-01 -3.04056294e-02 4.28333640e+01] [ 3.11547149e-01 9.50187286e-01 -9.08268504e-03 5.67913005e+00] [ 3.17219189e-02 -8.46951590e-04 9.99496374e-01 7.91259841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:5.69, Z:0.79 [[ 9.49521852e-01 -3.12200009e-01 -3.06497344e-02 4.28602231e+01] [ 3.12066846e-01 9.50016000e-01 -9.15877953e-03 5.68678460e+00] [ 3.19771091e-02 -8.68304656e-04 9.99488224e-01 7.91393519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:5.70, Z:0.79 [[ 9.49303282e-01 -3.12824585e-01 -3.10492975e-02 4.28879555e+01] [ 3.12688086e-01 9.49810495e-01 -9.28354747e-03 5.69629395e+00] [ 3.23950705e-02 -8.95843318e-04 9.99474740e-01 7.92574485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:5.70, Z:0.79 [[ 9.49098272e-01 -3.13454311e-01 -3.09655472e-02 4.29150729e+01] [ 3.13318660e-01 9.49602849e-01 -9.26537200e-03 5.70267988e+00] [ 3.23092426e-02 -9.08335210e-04 9.99477507e-01 7.92908619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.94, Y:5.71, Z:0.79 [[ 9.48610302e-01 -3.14879397e-01 -3.14556947e-02 4.29427295e+01] [ 3.14740023e-01 9.49131198e-01 -9.41740649e-03 5.70971735e+00] [ 3.28209285e-02 -9.66917252e-04 9.99460780e-01 7.93292420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:5.72, Z:0.79 [[ 9.48291161e-01 -3.15776812e-01 -3.20761280e-02 4.29694512e+01] [ 3.15632169e-01 9.48832958e-01 -9.60997439e-03 5.71654718e+00] [ 3.34694945e-02 -1.01120408e-03 9.99439228e-01 7.93663270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:5.72, Z:0.79 [[ 9.48242743e-01 -3.15948924e-01 -3.18116028e-02 4.29967516e+01] [ 3.15806570e-01 9.48775669e-01 -9.53625111e-03 5.72494377e+00] [ 3.31950430e-02 -1.00363226e-03 9.99448389e-01 7.94330378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.02, Y:5.73, Z:0.80 [[ 9.48058618e-01 -3.16496031e-01 -3.18609212e-02 4.30228952e+01] [ 3.16353312e-01 9.48593288e-01 -9.55800593e-03 5.73336439e+00] [ 3.32481269e-02 -1.01775806e-03 9.99446610e-01 7.95044171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.05, Y:5.74, Z:0.80 [[ 9.47896103e-01 -3.16987338e-01 -3.18120286e-02 4.30497037e+01] [ 3.16845143e-01 9.48429212e-01 -9.54908035e-03 5.74280128e+00] [ 3.31983948e-02 -1.02795070e-03 9.99448253e-01 7.96066579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.08, Y:5.75, Z:0.80 [[ 9.47805038e-01 -3.17259798e-01 -3.18092809e-02 4.30760696e+01] [ 3.17117449e-01 9.48338106e-01 -9.55822665e-03 5.75091740e+00] [ 3.31983942e-02 -1.02794262e-03 9.99448253e-01 7.96628283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:5.76, Z:0.80 [[ 9.47539904e-01 -3.18124348e-01 -3.10649188e-02 4.31023789e+01] [ 3.17988818e-01 9.48048440e-01 -9.34165579e-03 5.75903137e+00] [ 3.24228559e-02 -1.02670517e-03 9.99473714e-01 7.96841933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.13, Y:5.77, Z:0.80 [[ 9.47247913e-01 -3.19023968e-01 -3.07424716e-02 4.31302914e+01] [ 3.18891554e-01 9.47746075e-01 -9.24954790e-03 5.76727102e+00] [ 3.20868843e-02 -1.04189960e-03 9.99484540e-01 7.97404663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.16, Y:5.78, Z:0.80 [[ 9.47015419e-01 -3.19763982e-01 -3.02124582e-02 4.31558805e+01] [ 3.19636211e-01 9.47496656e-01 -9.09834565e-03 5.78125501e+00] [ 3.15355263e-02 -1.04072202e-03 9.99502090e-01 8.00118475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.18, Y:5.78, Z:0.80 [[ 9.46823493e-01 -3.20277908e-01 -3.07788171e-02 4.31845130e+01] [ 3.20145345e-01 9.47323026e-01 -9.27594641e-03 5.78272475e+00] [ 3.21283628e-02 -1.07101104e-03 9.99483177e-01 7.97691042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.21, Y:5.80, Z:0.80 [[ 9.46955022e-01 -3.19943682e-01 -3.02030888e-02 4.32100920e+01] [ 3.19815703e-01 9.47435997e-01 -9.10753786e-03 5.79799444e+00] [ 3.15293928e-02 -1.03499335e-03 9.99502289e-01 7.99941653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.24, Y:5.81, Z:0.80 [[ 9.47065750e-01 -3.19605318e-01 -3.03134564e-02 4.32370667e+01] [ 3.19475948e-01 9.47550211e-01 -9.14968746e-03 5.80768214e+00] [ 3.16478108e-02 -1.01906460e-03 9.99498563e-01 8.00101881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:5.82, Z:0.80 [[ 9.47945330e-01 -3.17056514e-01 -2.95773158e-02 4.32636667e+01] [ 3.16931913e-01 9.48406215e-01 -8.93391552e-03 5.81770897e+00] [ 3.08838662e-02 -9.05131766e-04 9.99522570e-01 8.00956251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:5.83, Z:0.80 [[ 9.48318175e-01 -3.15948868e-01 -2.94779886e-02 4.32907086e+01] [ 3.15824430e-01 9.48775827e-01 -8.90839484e-03 5.82727845e+00] [ 3.07826003e-02 -8.61876214e-04 9.99525732e-01 8.01448926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:5.84, Z:0.80 [[ 9.48669379e-01 -3.14934685e-01 -2.90267531e-02 4.33173934e+01] [ 3.14813301e-01 9.49113002e-01 -8.78037932e-03 5.83786416e+00] [ 3.03149147e-02 -8.08330945e-04 9.99540071e-01 8.02551436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:5.85, Z:0.80 [[ 9.49073639e-01 -3.13731108e-01 -2.88447678e-02 4.33447078e+01] [ 3.13610431e-01 9.49511569e-01 -8.73378391e-03 5.84760722e+00] [ 3.01285004e-02 -7.57015964e-04 9.99545747e-01 8.03132209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:5.86, Z:0.80 [[ 9.49751233e-01 -3.11797473e-01 -2.74760216e-02 4.33706506e+01] [ 3.11686989e-01 9.50148359e-01 -8.32564079e-03 5.85729295e+00] [ 2.87022106e-02 -6.56630833e-04 9.99587791e-01 8.04231160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:5.87, Z:0.81 [[ 9.49972503e-01 -3.11205260e-01 -2.65241335e-02 4.33975506e+01] [ 3.11101958e-01 9.50342523e-01 -8.04121784e-03 5.86714869e+00] [ 2.77094813e-02 -6.12774033e-04 9.99615831e-01 8.05403280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.42, Y:5.87, Z:0.81 [[ 9.50234855e-01 -3.10480360e-01 -2.56059857e-02 4.34239287e+01] [ 3.10383650e-01 9.50579627e-01 -7.76934671e-03 5.87474153e+00] [ 2.67527579e-02 -5.64975264e-04 9.99641921e-01 8.05742846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:5.88, Z:0.81 [[ 9.50238318e-01 -3.10508476e-01 -2.51321476e-02 4.34508027e+01] [ 3.10415198e-01 9.50570451e-01 -7.63033913e-03 5.88293495e+00] [ 2.62591619e-02 -5.50759945e-04 9.99655017e-01 8.06293159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:5.89, Z:0.81 [[ 9.50025649e-01 -3.11186487e-01 -2.47838092e-02 4.34780123e+01] [ 3.11095803e-01 9.50348706e-01 -7.53247583e-03 5.89143255e+00] [ 2.58972657e-02 -5.54093789e-04 9.99664456e-01 8.07115077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.50, Y:5.90, Z:0.81 [[ 9.49659613e-01 -3.12339146e-01 -2.43079504e-02 4.35045204e+01] [ 3.12252116e-01 9.49970492e-01 -7.39462444e-03 5.89822189e+00] [ 2.54014662e-02 -5.67832762e-04 9.99677169e-01 8.07708767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.53, Y:5.91, Z:0.81 [[ 9.49358387e-01 -3.13263194e-01 -2.41831310e-02 4.35318320e+01] [ 3.13177284e-01 9.49666166e-01 -7.35944435e-03 5.90548189e+00] [ 2.52713444e-02 -5.86857081e-04 9.99680456e-01 8.08166931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.56, Y:5.92, Z:0.81 [[ 9.48950609e-01 -3.14497953e-01 -2.41615291e-02 4.35593582e+01] [ 3.14412514e-01 9.49257951e-01 -7.35613672e-03 5.91547422e+00] [ 2.52490135e-02 -6.16076687e-04 9.99681003e-01 8.09217564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.59, Y:5.92, Z:0.81 [[ 9.48478669e-01 -3.15968947e-01 -2.34912566e-02 4.35870712e+01] [ 3.15888470e-01 9.48769322e-01 -7.15873200e-03 5.92285340e+00] [ 2.45497206e-02 -6.30712527e-04 9.99698411e-01 8.09828096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.62, Y:5.93, Z:0.81 [[ 9.47437429e-01 -3.19102450e-01 -2.31504774e-02 4.36152569e+01] [ 3.19025065e-01 9.47719971e-01 -7.06149584e-03 5.92925560e+00] [ 2.41935104e-02 -6.95257105e-04 9.99707052e-01 8.11298685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.64, Y:5.94, Z:0.81 [[ 9.46900462e-01 -3.20717585e-01 -2.27979435e-02 4.36423450e+01] [ 3.20642866e-01 9.47174595e-01 -6.95989091e-03 5.93505639e+00] [ 2.38257923e-02 -7.19674028e-04 9.99715866e-01 8.12062014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.67, Y:5.94, Z:0.81 [[ 9.45791369e-01 -3.23988832e-01 -2.25815035e-02 4.36714841e+01] [ 3.23916404e-01 9.46060574e-01 -6.89592893e-03 5.94181475e+00] [ 2.35976741e-02 -7.92409364e-04 9.99721222e-01 8.11905710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.70, Y:5.95, Z:0.81 [[ 9.45087773e-01 -3.26033903e-01 -2.26052002e-02 4.36998113e+01] [ 3.25961868e-01 9.45357701e-01 -6.90484066e-03 5.94882660e+00] [ 2.36212123e-02 -8.42752803e-04 9.99720625e-01 8.12158202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.73, Y:5.96, Z:0.81 [[ 9.44498331e-01 -3.27674325e-01 -2.35040502e-02 4.37274059e+01] [ 3.27596801e-01 9.44790296e-01 -7.18558543e-03 5.95560092e+00] [ 2.45609304e-02 -9.13078222e-04 9.99697918e-01 8.11386094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:5.96, Z:0.81 [[ 9.43577366e-01 -3.30228497e-01 -2.47162861e-02 4.37558404e+01] [ 3.30143578e-01 9.43900463e-01 -7.55870060e-03 5.96144105e+00] [ 2.58258122e-02 -1.02770433e-03 9.99665930e-01 8.09806470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:5.97, Z:0.81 [[ 9.43205110e-01 -3.31314465e-01 -2.43894535e-02 4.37838027e+01] [ 3.31232064e-01 9.43519815e-01 -7.46173766e-03 5.96908130e+00] [ 2.54841143e-02 -1.04061993e-03 9.99674686e-01 8.09955265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:5.98, Z:0.81 [[ 9.43049895e-01 -3.31733926e-01 -2.46880240e-02 4.38108690e+01] [ 3.31649458e-01 9.43372399e-01 -7.56004149e-03 5.98011107e+00] [ 2.57979227e-02 -1.05827346e-03 9.99666618e-01 8.10828745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.612755096 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:43.84, Y:5.99, Z:0.81 [[ 9.42936114e-01 -3.32127505e-01 -2.37235239e-02 4.38362992e+01] [ 3.32049478e-01 9.43233946e-01 -7.27099448e-03 5.98808263e+00] [ 2.47917303e-02 -1.02130043e-03 9.99692116e-01 8.11018885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.86, Y:6.00, Z:0.81 [[ 9.42861373e-01 -3.32381687e-01 -2.31267520e-02 4.38617424e+01] [ 3.32307480e-01 9.43144432e-01 -7.09353691e-03 6.00052764e+00] [ 2.41696292e-02 -9.96970734e-04 9.99707375e-01 8.12226401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:6.01, Z:0.81 [[ 9.42809750e-01 -3.32537769e-01 -2.29871261e-02 4.38875262e+01] [ 3.32464316e-01 9.43089422e-01 -7.05844154e-03 6.01111062e+00] [ 2.40261139e-02 -9.87631649e-04 9.99710843e-01 8.13278561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.92, Y:6.01, Z:0.81 [[ 9.42570652e-01 -3.33234709e-01 -2.26979117e-02 4.39169225e+01] [ 3.33163129e-01 9.42843389e-01 -6.97662533e-03 6.01065904e+00] [ 2.37254297e-02 -9.86144996e-04 9.99718026e-01 8.13189359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.94, Y:6.03, Z:0.81 [[ 9.42251432e-01 -3.34120873e-01 -2.29233751e-02 4.39417618e+01] [ 3.34048050e-01 9.42529687e-01 -7.04905332e-03 6.02789203e+00] [ 2.39611974e-02 -1.01552818e-03 9.99712373e-01 8.14522822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:6.03, Z:0.82 [[ 9.41937986e-01 -3.35014734e-01 -2.27586862e-02 4.39703843e+01] [ 3.34943067e-01 9.42212331e-01 -7.00459160e-03 6.02872835e+00] [ 2.37901562e-02 -1.02497326e-03 9.99716449e-01 8.15066014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.00, Y:6.04, Z:0.82 [[ 9.41811535e-01 -3.35406673e-01 -2.22125415e-02 4.39965304e+01] [ 3.35338447e-01 9.42072900e-01 -6.83935803e-03 6.03769113e+00] [ 2.32197997e-02 -1.00733289e-03 9.99729877e-01 8.16401828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:6.05, Z:0.82 [[ 9.41798887e-01 -3.35474078e-01 -2.17255522e-02 4.40227290e+01] [ 3.35408681e-01 9.42048927e-01 -6.69595066e-03 6.04727975e+00] [ 2.27128510e-02 -9.80699929e-04 9.99741549e-01 8.17465491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:6.06, Z:0.82 [[ 9.42061423e-01 -3.34795724e-01 -2.07869581e-02 4.40484773e+01] [ 3.34735564e-01 9.42290285e-01 -6.41250771e-03 6.05802105e+00] [ 2.17342289e-02 -9.17158011e-04 9.99763363e-01 8.19084570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:6.08, Z:0.82 [[ 9.42146807e-01 -3.34570892e-01 -2.05356293e-02 4.40733405e+01] [ 3.34512080e-01 9.42370155e-01 -6.33709619e-03 6.07593576e+00] [ 2.14723721e-02 -8.98941121e-04 9.99769038e-01 8.20127913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:6.09, Z:0.82 [[ 9.42230477e-01 -3.34357704e-01 -2.01656783e-02 4.41005027e+01] [ 3.34300821e-01 9.42445842e-01 -6.22867693e-03 6.08555809e+00] [ 2.10876657e-02 -8.72553573e-04 9.99777250e-01 8.21338349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:6.09, Z:0.82 [[ 9.42506151e-01 -3.33617505e-01 -1.95324494e-02 4.41292646e+01] [ 3.33563869e-01 9.42708163e-01 -6.03853079e-03 6.08862517e+00] [ 2.04279591e-02 -8.23966976e-04 9.99790988e-01 8.22550872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:6.11, Z:0.82 [[ 9.42425700e-01 -3.33859768e-01 -1.92731731e-02 4.41532358e+01] [ 3.33807488e-01 9.42622403e-01 -5.96379066e-03 6.10502516e+00] [ 2.01583945e-02 -8.13099910e-04 9.99796468e-01 8.23512646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:6.12, Z:0.82 [[ 9.42636721e-01 -3.33269173e-01 -1.91747603e-02 4.41781269e+01] [ 3.33217180e-01 9.42831392e-01 -5.93951648e-03 6.12143978e+00] [ 2.00580237e-02 -7.90553222e-04 9.99798505e-01 8.24103536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.20, Y:6.13, Z:0.82 [[ 9.42704637e-01 -3.33065004e-01 -1.93822274e-02 4.42042147e+01] [ 3.33011715e-01 9.42903537e-01 -6.00978576e-03 6.13081837e+00] [ 2.02772201e-02 -7.89055878e-04 9.99794085e-01 8.24537832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.23, Y:6.14, Z:0.83 [[ 9.42846566e-01 -3.32676168e-01 -1.91551836e-02 4.42304398e+01] [ 3.32623978e-01 9.43040814e-01 -5.94246255e-03 6.13976662e+00] [ 2.00410356e-02 -7.68642943e-04 9.99798863e-01 8.25358639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.26, Y:6.15, Z:0.83 [[ 9.43029815e-01 -3.32179963e-01 -1.87413826e-02 4.42569581e+01] [ 3.32129851e-01 9.43215737e-01 -5.81689792e-03 6.15242368e+00] [ 1.96094239e-02 -7.39064433e-04 9.99807444e-01 8.25887501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.28, Y:6.16, Z:0.83 [[ 9.43424618e-01 -3.31035433e-01 -1.91189002e-02 4.42832859e+01] [ 3.30982929e-01 9.43618047e-01 -5.93996993e-03 6.16346815e+00] [ 2.00072797e-02 -7.24115708e-04 9.99799572e-01 8.26117508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.31, Y:6.17, Z:0.83 [[ 9.43586977e-01 -3.30570428e-01 -1.91522449e-02 4.43103996e+01] [ 3.30517530e-01 9.43781059e-01 -5.95607487e-03 6.17325816e+00] [ 2.00444282e-02 -7.10078001e-04 9.99798838e-01 8.26534760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.34, Y:6.18, Z:0.83 [[ 9.43815171e-01 -3.29878483e-01 -1.98269672e-02 4.43375729e+01] [ 3.29821513e-01 9.44023133e-01 -6.17200144e-03 6.18360164e+00] [ 2.07531262e-02 -7.14131702e-04 9.99784376e-01 8.26996342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.36, Y:6.20, Z:0.83 [[ 9.44467937e-01 -3.27991428e-01 -2.00484055e-02 4.43638134e+01] [ 3.27932626e-01 9.44680458e-01 -6.24695620e-03 6.19562149e+00] [ 2.09882850e-02 -6.74476433e-04 9.99779494e-01 8.26938657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.39, Y:6.20, Z:0.83 [[ 9.44955878e-01 -3.26569649e-01 -2.02645809e-02 4.43904154e+01] [ 3.26509120e-01 9.45172920e-01 -6.32021839e-03 6.20467898e+00] [ 2.12175246e-02 -6.44242957e-04 9.99774675e-01 8.26953270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.42, Y:6.22, Z:0.83 [[ 9.45367683e-01 -3.25332345e-01 -2.09477918e-02 4.44167511e+01] [ 3.25267306e-01 9.45599525e-01 -6.53583050e-03 6.21638460e+00] [ 2.19345390e-02 -6.34868866e-04 9.99759207e-01 8.27488400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters Centerline goodness [0,1] 0.9998509179196661 Centerline is valid? [True, True] Translation: X:44.44, Y:6.23, Z:0.83 [[ 9.46408963e-01 -3.22232859e-01 -2.18187955e-02 4.44421081e+01] [ 3.22161335e-01 9.46660260e-01 -6.81373639e-03 6.22899798e+00] [ 2.28505964e-02 -5.80591109e-04 9.99738722e-01 8.27091917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.332755096 meters Centerline goodness [0,1] 0.9997664345167318 Centerline is valid? [True, True] Translation: X:44.47, Y:6.24, Z:0.83 [[ 9.46787974e-01 -3.21053347e-01 -2.27438097e-02 4.44693706e+01] [ 3.20975218e-01 9.47060938e-01 -7.10556356e-03 6.24011163e+00] [ 2.38210387e-02 -5.72737151e-04 9.99716075e-01 8.27022694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755096 meters Centerline goodness [0,1] 0.9998299681190224 Centerline is valid? [True, True] Translation: X:44.50, Y:6.25, Z:0.83 [[ 9.47122187e-01 -3.20031848e-01 -2.32202251e-02 4.44959008e+01] [ 3.19949949e-01 9.47406624e-01 -7.26080074e-03 6.25183435e+00] [ 2.43226826e-02 -5.52444352e-04 9.99704007e-01 8.27532971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.392755096 meters Centerline goodness [0,1] 0.9998514903999152 Centerline is valid? [True, True] Translation: X:44.52, Y:6.26, Z:0.83 [[ 9.47378983e-01 -3.19215801e-01 -2.39652803e-02 4.45226769e+01] [ 3.19128119e-01 9.47681897e-01 -7.50101464e-03 6.26415735e+00] [ 2.51059047e-02 -5.41691183e-04 9.99684650e-01 8.28428309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755096 meters Centerline goodness [0,1] 0.9997876497069565 Centerline is valid? [True, True] Translation: X:44.55, Y:6.27, Z:0.83 [[ 9.47231273e-01 -3.19623711e-01 -2.43638671e-02 4.45492990e+01] [ 3.19533028e-01 9.47544392e-01 -7.63338877e-03 6.27411290e+00] [ 2.55256577e-02 -5.54475640e-04 9.99674014e-01 8.29546055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.452755096000004 meters Centerline goodness [0,1] 0.9998514557338086 Centerline is valid? [True, True] Translation: X:44.58, Y:6.28, Z:0.83 [[ 9.46574535e-01 -3.21530107e-01 -2.48000098e-02 4.45769540e+01] [ 3.21436580e-01 9.46899160e-01 -7.77853404e-03 6.28230237e+00] [ 2.59841414e-02 -6.08668108e-04 9.99662170e-01 8.30892903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters Centerline goodness [0,1] 0.999850936967632 Centerline is valid? [True, True] Translation: X:44.60, Y:6.29, Z:0.83 [[ 9.46080230e-01 -3.22974718e-01 -2.48903404e-02 4.46046338e+01] [ 3.22880810e-01 9.46407374e-01 -7.81444128e-03 6.28976284e+00] [ 2.60802687e-02 -6.43524851e-04 9.99659645e-01 8.32140093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.512755096 meters Centerline goodness [0,1] 0.9999361620632421 Centerline is valid? [True, True] Translation: X:44.63, Y:6.30, Z:0.83 [[ 9.45536405e-01 -3.24586395e-01 -2.45881993e-02 4.46318046e+01] [ 3.24495132e-01 9.45855813e-01 -7.72597156e-03 6.29659732e+00] [ 2.57646365e-02 -6.73563609e-04 9.99667810e-01 8.33391979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.542755096 meters Centerline goodness [0,1] 0.9999576603086564 Centerline is valid? [True, True] Translation: X:44.66, Y:6.30, Z:0.84 [[ 9.44274547e-01 -3.28239637e-01 -2.45829131e-02 4.46604270e+01] [ 3.28149586e-01 9.44594170e-01 -7.72673392e-03 6.30340035e+00] [ 2.57570968e-02 -7.70714601e-04 9.99667934e-01 8.35319125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.572755096 meters Centerline goodness [0,1] 0.9997876767590981 Centerline is valid? [True, True] Translation: X:44.69, Y:6.31, Z:0.84 [[ 9.43620530e-01 -3.30101513e-01 -2.47646231e-02 4.46877819e+01] [ 3.30010719e-01 9.43945077e-01 -7.78565429e-03 6.31092643e+00] [ 2.59465003e-02 -8.25887844e-04 9.99662992e-01 8.36177605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755096 meters Centerline goodness [0,1] 0.9996828014971769 Centerline is valid? [True, True] Translation: X:44.72, Y:6.31, Z:0.84 [[ 9.42730170e-01 -3.32662034e-01 -2.44089633e-02 4.47164619e+01] [ 3.32574594e-01 9.43045702e-01 -7.67742457e-03 6.31427948e+00] [ 2.55727556e-02 -8.80061294e-04 9.99672576e-01 8.36529790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.632755096000004 meters Centerline goodness [0,1] 0.9999364433710436 Centerline is valid? [True, True] Translation: X:44.74, Y:6.33, Z:0.84 [[ 9.41390231e-01 -3.36448572e-01 -2.42237737e-02 4.47434560e+01] [ 3.36363539e-01 9.41701343e-01 -7.62564472e-03 6.32636995e+00] [ 2.53771975e-02 -9.69286824e-04 9.99677477e-01 8.39404893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters Centerline goodness [0,1] 0.9999364433710436 Centerline is valid? [True, True] Translation: X:44.77, Y:6.33, Z:0.84 [[ 9.41284148e-01 -3.36745309e-01 -2.42229109e-02 4.47697170e+01] [ 3.36660304e-01 9.41595267e-01 -7.62838431e-03 6.33481046e+00] [ 2.53770009e-02 -9.74415319e-04 9.99677477e-01 8.39968092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.692755096 meters Centerline goodness [0,1] 0.9997466216216216 Centerline is valid? [True, True] Translation: X:44.80, Y:6.34, Z:0.84 [[ 9.40448113e-01 -3.39032276e-01 -2.47883436e-02 4.47984994e+01] [ 3.38943824e-01 9.40774154e-01 -7.81507868e-03 6.33534798e+00] [ 2.59697969e-02 -1.05217999e-03 9.99662174e-01 8.39617841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.722755096 meters Centerline goodness [0,1] 0.9997468835031323 Centerline is valid? [True, True] Translation: X:44.83, Y:6.34, Z:0.84 [[ 9.39882236e-01 -3.40569060e-01 -2.51813007e-02 4.48261697e+01] [ 3.40478137e-01 9.40218854e-01 -7.94634079e-03 6.34134888e+00] [ 2.63822115e-02 -1.10505777e-03 9.99651318e-01 8.40128112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.752755096 meters Centerline goodness [0,1] 0.9997464985106788 Centerline is valid? [True, True] Translation: X:44.85, Y:6.35, Z:0.84 [[ 9.39190842e-01 -3.42358263e-01 -2.66717413e-02 4.48535205e+01] [ 3.42256812e-01 9.39568697e-01 -8.42251861e-03 6.35129599e+00] [ 2.79434520e-02 -1.21823279e-03 9.99608763e-01 8.40679541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755096 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:44.88, Y:6.36, Z:0.84 [[ 9.39085084e-01 -3.42604263e-01 -2.72309506e-02 4.48807824e+01] [ 3.42498406e-01 9.39478989e-01 -8.60644566e-03 6.35621148e+00] [ 2.85315109e-02 -1.24437244e-03 9.99592119e-01 8.40543156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.812755096000004 meters Centerline goodness [0,1] 0.9997886951928157 Centerline is valid? [True, True] Translation: X:44.91, Y:6.37, Z:0.84 [[ 9.39013112e-01 -3.42754767e-01 -2.78126968e-02 4.49056370e+01] [ 3.42644249e-01 9.39424055e-01 -8.79564711e-03 6.36931991e+00] [ 2.91426664e-02 -1.27063265e-03 9.99574455e-01 8.41639084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096000005 meters Centerline goodness [0,1] 0.9998945725973095 Centerline is valid? [True, True] Translation: X:44.93, Y:6.38, Z:0.84 [[ 9.39049579e-01 -3.42627896e-01 -2.81427321e-02 4.49322863e+01] [ 3.42514383e-01 9.39470333e-01 -8.91013777e-03 6.38190232e+00] [ 2.94921237e-02 -1.27222941e-03 9.99564203e-01 8.42641684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.872755096 meters Centerline goodness [0,1] 0.9997900130191928 Centerline is valid? [True, True] Translation: X:44.96, Y:6.39, Z:0.84 [[ 9.39771736e-01 -3.40617223e-01 -2.84427669e-02 4.49577607e+01] [ 3.40500131e-01 9.40201272e-01 -9.01273527e-03 6.39313037e+00] [ 2.98118185e-02 -1.21485200e-03 9.99554791e-01 8.43254729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.902755096 meters Centerline goodness [0,1] 0.9998315221969506 Centerline is valid? [True, True] Translation: X:44.98, Y:6.40, Z:0.84 [[ 9.40215747e-01 -3.39336589e-01 -2.90693849e-02 4.49849682e+01] [ 3.39213547e-01 9.40664259e-01 -9.21530555e-03 6.40429995e+00] [ 3.04716218e-02 -1.19635376e-03 9.99534916e-01 8.43924795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.932755096 meters Centerline goodness [0,1] 0.9999579275090982 Centerline is valid? [True, True] Translation: X:45.01, Y:6.42, Z:0.85 [[ 9.40708478e-01 -3.38008093e-01 -2.86022626e-02 4.50098140e+01] [ 3.37888228e-01 9.41142524e-01 -9.07162494e-03 6.41891161e+00] [ 2.99850883e-02 -1.13061335e-03 9.99549707e-01 8.46155037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:6.43, Z:0.85 [[ 9.41817688e-01 -3.34923977e-01 -2.83790711e-02 4.50353281e+01] [ 3.34804482e-01 9.42244600e-01 -9.00402322e-03 6.43036207e+00] [ 2.97556898e-02 -1.02129188e-03 9.99556680e-01 8.47410246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.992755096 meters Centerline goodness [0,1] 0.9999577934411007 Centerline is valid? [True, True] Translation: X:45.06, Y:6.44, Z:0.85 [[ 9.42225851e-01 -3.33760824e-01 -2.85334488e-02 4.50615760e+01] [ 3.33639349e-01 9.42657277e-01 -9.05780260e-03 6.44416478e+00] [ 2.99204028e-02 -9.85385526e-04 9.99551799e-01 8.48708080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096000004 meters Centerline goodness [0,1] 0.9999578938503968 Centerline is valid? [True, True] Translation: X:45.09, Y:6.45, Z:0.85 [[ 9.42643710e-01 -3.32553253e-01 -2.88299981e-02 4.50881417e+01] [ 3.32428408e-01 9.43084002e-01 -9.16076768e-03 6.45439341e+00] [ 3.02355531e-02 -9.48570349e-04 9.99542351e-01 8.49019387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:6.47, Z:0.85 [[ 9.43294584e-01 -3.30730551e-01 -2.85066675e-02 4.51144810e+01] [ 3.30607404e-01 9.43724823e-01 -9.06656638e-03 6.46540697e+00] [ 2.99010403e-02 -8.72072394e-04 9.99552484e-01 8.49012049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:6.48, Z:0.85 [[ 9.43370891e-01 -3.30563448e-01 -2.79135992e-02 4.51414533e+01] [ 3.30445057e-01 9.43783397e-01 -8.88619464e-03 6.47665602e+00] [ 2.92818426e-02 -8.40933515e-04 9.99570841e-01 8.50285960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:6.49, Z:0.85 [[ 9.43374770e-01 -3.30633119e-01 -2.69403658e-02 4.51679244e+01] [ 3.30522647e-01 9.43759021e-01 -8.58423507e-03 6.48836655e+00] [ 2.82634456e-02 -8.06250220e-04 9.99600184e-01 8.51616132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:6.50, Z:0.85 [[ 9.43265580e-01 -3.30979097e-01 -2.65119432e-02 4.51951931e+01] [ 3.30872065e-01 9.43637749e-01 -8.45429450e-03 6.49529533e+00] [ 2.78158651e-02 -7.97416376e-04 9.99612746e-01 8.51870709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:6.51, Z:0.85 [[ 9.42993268e-01 -3.31777476e-01 -2.62183814e-02 4.52219070e+01] [ 3.31673000e-01 9.43357331e-01 -8.36465270e-03 6.50623506e+00] [ 2.75085056e-02 -8.08118035e-04 9.99621243e-01 8.52901173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:6.51, Z:0.85 [[ 9.42377041e-01 -3.33585773e-01 -2.54174028e-02 4.52497629e+01] [ 3.33488047e-01 9.42719389e-01 -8.11636396e-03 6.50983220e+00] [ 2.66689820e-02 -8.27724958e-04 9.99643977e-01 8.52414269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:6.52, Z:0.85 [[ 9.41950441e-01 -3.34810164e-01 -2.51300959e-02 4.52764900e+01] [ 3.34714880e-01 9.42285222e-01 -8.03181566e-03 6.51643671e+00] [ 2.63688515e-02 -8.45844751e-04 9.99651924e-01 8.52805157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:6.52, Z:0.85 [[ 9.41400346e-01 -3.36392759e-01 -2.46028644e-02 4.53042831e+01] [ 3.36301848e-01 9.41721381e-01 -7.86807705e-03 6.52494312e+00] [ 2.58158076e-02 -8.66978313e-04 9.99666341e-01 8.53522518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:6.54, Z:0.85 [[ 9.40925354e-01 -3.37754590e-01 -2.41104622e-02 4.53307225e+01] [ 3.37667544e-01 9.41233799e-01 -7.71790940e-03 6.53577901e+00] [ 2.53003413e-02 -8.79343939e-04 9.99679508e-01 8.54964482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755096 meters Centerline goodness [0,1] 0.9999790523272865 Centerline is valid? [True, True] Translation: X:45.36, Y:6.54, Z:0.86 [[ 9.39999631e-01 -3.40342254e-01 -2.38294805e-02 4.53587826e+01] [ 3.40257865e-01 9.40301167e-01 -7.63553866e-03 6.54305803e+00] [ 2.50055847e-02 -9.30764618e-04 9.99686878e-01 8.55774341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.352755096 meters Centerline goodness [0,1] 0.9999790483772968 Centerline is valid? [True, True] Translation: X:45.39, Y:6.55, Z:0.86 [[ 9.39624119e-01 -3.41378073e-01 -2.38228129e-02 4.53856535e+01] [ 3.41293895e-01 9.39925585e-01 -7.64013023e-03 6.54958642e+00] [ 2.49998443e-02 -9.51729954e-04 9.99687002e-01 8.56242098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096000004 meters Centerline goodness [0,1] 0.999979061099711 Centerline is valid? [True, True] Translation: X:45.41, Y:6.56, Z:0.86 [[ 9.39095444e-01 -3.42858844e-01 -2.34000080e-02 4.54132764e+01] [ 3.42778003e-01 9.39386434e-01 -7.50794878e-03 6.55860441e+00] [ 2.45558167e-02 -9.70327531e-04 9.99697990e-01 8.57028592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.412755096 meters Centerline goodness [0,1] 0.9999580501719942 Centerline is valid? [True, True] Translation: X:45.44, Y:6.57, Z:0.86 [[ 9.38963025e-01 -3.43239453e-01 -2.31325693e-02 4.54396991e+01] [ 3.43160383e-01 9.39247439e-01 -7.42958537e-03 6.56810113e+00] [ 2.42773333e-02 -9.62075410e-04 9.99704799e-01 8.57545804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.442755096 meters Centerline goodness [0,1] 0.9999370633771791 Centerline is valid? [True, True] Translation: X:45.47, Y:6.58, Z:0.86 [[ 9.39101025e-01 -3.42875827e-01 -2.29223017e-02 4.54665360e+01] [ 3.42797902e-01 9.39380269e-01 -7.36945061e-03 6.57631665e+00] [ 2.40595644e-02 -9.37058296e-04 9.99710088e-01 8.58175873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.472755096 meters Centerline goodness [0,1] 0.9999790431083262 Centerline is valid? [True, True] Translation: X:45.49, Y:6.59, Z:0.86 [[ 9.39915843e-01 -3.40597630e-01 -2.34832638e-02 4.54931415e+01] [ 3.40515070e-01 9.40208726e-01 -7.55239221e-03 6.58855821e+00] [ 2.46514964e-02 -8.97792120e-04 9.99695703e-01 8.58435075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:6.60, Z:0.86 [[ 9.40301080e-01 -3.39534514e-01 -2.34561758e-02 4.55204084e+01] [ 3.39451743e-01 9.40593198e-01 -7.54658413e-03 6.59988924e+00] [ 2.46250452e-02 -8.66178555e-04 9.99696382e-01 8.58829762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:6.61, Z:0.86 [[ 9.40870735e-01 -3.37935224e-01 -2.37074803e-02 4.55468597e+01] [ 3.37849984e-01 9.41169008e-01 -7.63457172e-03 6.61238531e+00] [ 2.48927364e-02 -8.26426726e-04 9.99689786e-01 8.59100797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:6.62, Z:0.86 [[ 9.42204703e-01 -3.34140830e-01 -2.44990705e-02 4.55720105e+01] [ 3.34048336e-01 9.42522866e-01 -7.89659558e-03 6.62443554e+00] [ 2.57295091e-02 -7.43664243e-04 9.99668665e-01 8.58559711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.60, Y:6.64, Z:0.86 [[ 9.42751711e-01 -3.32572558e-01 -2.47932583e-02 4.55992866e+01] [ 3.32477187e-01 9.43077407e-01 -7.99524791e-03 6.63538972e+00] [ 2.60409618e-02 -7.05659151e-04 9.99660628e-01 8.58309581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.63, Y:6.65, Z:0.86 [[ 9.43240946e-01 -3.31137134e-01 -2.53912658e-02 4.56260658e+01] [ 3.31036381e-01 9.43582399e-01 -8.19580728e-03 6.64621750e+00] [ 2.66726876e-02 -6.74811738e-04 9.99643993e-01 8.58168910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:6.66, Z:0.86 [[ 9.43663342e-01 -3.29923905e-01 -2.54895044e-02 4.56533269e+01] [ 3.29821713e-01 9.44007316e-01 -8.23553227e-03 6.65622432e+00] [ 2.67793776e-02 -6.35422108e-04 9.99641166e-01 8.58154552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:6.67, Z:0.86 [[ 9.44209354e-01 -3.28357368e-01 -2.54977396e-02 4.56801957e+01] [ 3.28254327e-01 9.44553386e-01 -8.24609812e-03 6.66521143e+00] [ 2.67916433e-02 -5.83700370e-04 9.99640869e-01 8.58620588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:6.67, Z:0.86 [[ 9.44216985e-01 -3.28361498e-01 -2.51597098e-02 4.57059919e+01] [ 3.28260981e-01 9.44551959e-01 -8.14404654e-03 6.67261240e+00] [ 2.64388445e-02 -5.69203947e-04 9.99650271e-01 8.59441245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.73, Y:6.68, Z:0.86 [[ 9.43876727e-01 -3.29393993e-01 -2.44196825e-02 4.57341404e+01] [ 3.29299494e-01 9.44192389e-01 -7.91050570e-03 6.67839986e+00] [ 2.56625514e-02 -5.74846859e-04 9.99670497e-01 8.60385017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:6.69, Z:0.86 [[ 9.43602709e-01 -3.30207737e-01 -2.40162166e-02 4.57613450e+01] [ 3.30116416e-01 9.43908106e-01 -7.78705949e-03 6.68890961e+00] [ 2.52404488e-02 -5.80256910e-04 9.99681241e-01 8.62081102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:6.69, Z:0.86 [[ 9.43373795e-01 -3.30865454e-01 -2.39569404e-02 4.57899694e+01] [ 3.30774621e-01 9.43677754e-01 -7.77474582e-03 6.69223549e+00] [ 2.51800265e-02 -5.89856410e-04 9.99682759e-01 8.61511643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:6.70, Z:0.86 [[ 9.42765019e-01 -3.32631094e-01 -2.34664432e-02 4.58175431e+01] [ 3.32544402e-01 9.43056822e-01 -7.61908395e-03 6.70043461e+00] [ 2.46645336e-02 -6.20628500e-04 9.99695591e-01 8.62382313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:6.70, Z:0.86 [[ 9.42334257e-01 -3.33847928e-01 -2.34885111e-02 4.58459682e+01] [ 3.33761285e-01 9.42626725e-01 -7.63294528e-03 6.70327616e+00] [ 2.46891413e-02 -6.46769827e-04 9.99694967e-01 8.62386346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:6.71, Z:0.86 [[ 9.41926795e-01 -3.35015584e-01 -2.32049875e-02 4.58728936e+01] [ 3.34931292e-01 9.42212351e-01 -7.54419194e-03 6.71373382e+00] [ 2.43914477e-02 -6.65999914e-04 9.99702263e-01 8.63681076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:6.71, Z:0.86 [[ 9.41187146e-01 -3.37163813e-01 -2.20753061e-02 4.59023090e+01] [ 3.37087975e-01 9.41445750e-01 -7.18311867e-03 6.71246926e+00] [ 2.32045907e-02 -6.80661254e-04 9.99730506e-01 8.64663289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:6.72, Z:0.87 [[ 9.40824640e-01 -3.38180652e-01 -2.19736837e-02 4.59293400e+01] [ 3.38105719e-01 9.41080951e-01 -7.15304270e-03 6.72373069e+00] [ 2.30980358e-02 -6.99669280e-04 9.99732960e-01 8.65914840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:6.73, Z:0.87 [[ 9.40484183e-01 -3.39155359e-01 -2.15207982e-02 4.59570322e+01] [ 3.39083587e-01 9.40730115e-01 -7.01224199e-03 6.73073626e+00] [ 2.26235024e-02 -7.02446785e-04 9.99743809e-01 8.66542122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:6.74, Z:0.87 [[ 9.40355044e-01 -3.39531823e-01 -2.12257427e-02 4.59830029e+01] [ 3.39461963e-01 9.40594310e-01 -6.92233885e-03 6.74025563e+00] [ 2.23151672e-02 -6.95876035e-04 9.99750743e-01 8.67512873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.01, Y:6.75, Z:0.87 [[ 9.40258741e-01 -3.39771820e-01 -2.16474267e-02 4.60110317e+01] [ 3.39699153e-01 9.40507630e-01 -7.06279927e-03 6.74631079e+00] [ 2.27593101e-02 -7.12753745e-04 9.99740719e-01 8.67903819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.04, Y:6.76, Z:0.87 [[ 9.40261747e-01 -3.39787083e-01 -2.12740671e-02 4.60363746e+01] [ 3.39716750e-01 9.40502130e-01 -6.94790105e-03 6.75818953e+00] [ 2.23691125e-02 -6.94311364e-04 9.99749539e-01 8.68519512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.06, Y:6.77, Z:0.87 [[ 9.40662374e-01 -3.38662750e-01 -2.14904459e-02 4.60629758e+01] [ 3.38590514e-01 9.40907592e-01 -7.02618523e-03 6.76521596e+00] [ 2.26000309e-02 -6.67193035e-04 9.99744364e-01 8.68144360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.09, Y:6.77, Z:0.87 [[ 9.40851788e-01 -3.38108223e-01 -2.19258194e-02 4.60909897e+01] [ 3.38032733e-01 9.41107004e-01 -7.17491320e-03 6.76866116e+00] [ 2.30604394e-02 -6.61114745e-04 9.99733854e-01 8.67683323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.12, Y:6.77, Z:0.87 [[ 9.41026672e-01 -3.37631412e-01 -2.17676916e-02 4.61200732e+01] [ 3.37556822e-01 9.41278183e-01 -7.12564037e-03 6.77425705e+00] [ 2.28952932e-02 -6.42415169e-04 9.99737662e-01 8.67638715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.14, Y:6.79, Z:0.87 [[ 9.41072535e-01 -3.37480609e-01 -2.21206333e-02 4.61448682e+01] [ 3.37403446e-01 9.41332259e-01 -7.24519161e-03 6.78852845e+00] [ 2.32679774e-02 -6.45327066e-04 9.99729056e-01 8.68764834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.17, Y:6.79, Z:0.87 [[ 9.40867010e-01 -3.38037092e-01 -2.23650318e-02 4.61718405e+01] [ 3.37958170e-01 9.41132558e-01 -7.33374777e-03 6.79443528e+00] [ 2.35275384e-02 -6.58363900e-04 9.99722972e-01 8.69398399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:6.80, Z:0.87 [[ 9.40754923e-01 -3.38341179e-01 -2.24815631e-02 4.61982961e+01] [ 3.38261341e-01 9.41023277e-01 -7.37949637e-03 6.80058383e+00] [ 2.36524617e-02 -6.62346134e-04 9.99720022e-01 8.69989664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.23, Y:6.81, Z:0.87 [[ 9.40366165e-01 -3.39478758e-01 -2.15789004e-02 4.62259770e+01] [ 3.39405386e-01 9.40613491e-01 -7.08831177e-03 6.80786413e+00] [ 2.27037361e-02 -6.58386486e-04 9.99742020e-01 8.71204128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:6.81, Z:0.87 [[ 9.40305532e-01 -3.39635657e-01 -2.17514783e-02 4.62525499e+01] [ 3.39561002e-01 9.40556847e-01 -7.15139812e-03 6.81440612e+00] [ 2.28873717e-02 -6.61454565e-04 9.99737831e-01 8.71676592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:6.82, Z:0.87 [[ 9.40195007e-01 -3.39941469e-01 -2.17519184e-02 4.62794452e+01] [ 3.39866806e-01 9.40446360e-01 -7.15533406e-03 6.82220445e+00] [ 2.28889072e-02 -6.65345680e-04 9.99737793e-01 8.72524041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.31, Y:6.83, Z:0.87 [[ 9.40618434e-01 -3.38839289e-01 -2.06130731e-02 4.63074004e+01] [ 3.38771828e-01 9.40844077e-01 -6.78752241e-03 6.82822173e+00] [ 2.16935670e-02 -5.98659771e-04 9.99764488e-01 8.73715123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.34, Y:6.84, Z:0.88 [[ 9.40980490e-01 -3.37860725e-01 -2.01456584e-02 4.63352317e+01] [ 3.37795939e-01 9.41195952e-01 -6.63956942e-03 6.83668588e+00] [ 2.12042619e-02 -5.57416316e-04 9.99775009e-01 8.75002676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.36, Y:6.85, Z:0.88 [[ 9.41927773e-01 -3.35307421e-01 -1.84662856e-02 4.63628519e+01] [ 3.35252399e-01 9.42108660e-01 -6.09108863e-03 6.84612192e+00] [ 1.94396348e-02 -4.53500998e-04 9.99810930e-01 8.76396074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:6.85, Z:0.88 [[ 9.42291845e-01 -3.34269319e-01 -1.87109633e-02 4.63900354e+01] [ 3.34212512e-01 9.42477499e-01 -6.17750191e-03 6.85426222e+00] [ 1.96996112e-02 -4.32428368e-04 9.99805850e-01 8.76714318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:6.86, Z:0.88 [[ 9.42584334e-01 -3.33466234e-01 -1.83042092e-02 4.64172497e+01] [ 3.33411612e-01 9.42761958e-01 -6.04874664e-03 6.86186231e+00] [ 1.92735649e-02 -4.01382082e-04 9.99814167e-01 8.76922816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.44, Y:6.87, Z:0.88 [[ 9.42896962e-01 -3.32588574e-01 -1.81702923e-02 4.64447652e+01] [ 3.32534554e-01 9.43071947e-01 -6.00614307e-03 6.87193474e+00] [ 1.91334675e-02 -3.79076000e-04 9.99816867e-01 8.76944345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.47, Y:6.88, Z:0.88 [[ 9.42796884e-01 -3.32872247e-01 -1.81687258e-02 4.64708827e+01] [ 3.32818188e-01 9.42971857e-01 -6.01087777e-03 6.88076271e+00] [ 1.91334515e-02 -3.79845574e-04 9.99816867e-01 8.77506062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.50, Y:6.89, Z:0.88 [[ 9.43036593e-01 -3.32221002e-01 -1.76405835e-02 4.64983762e+01] [ 3.32169820e-01 9.43201507e-01 -5.84192323e-03 6.88851868e+00] [ 1.85794345e-02 -3.50522052e-04 9.99827326e-01 8.78034692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.53, Y:6.89, Z:0.88 [[ 9.43018360e-01 -3.32265139e-01 -1.77834469e-02 4.65250017e+01] [ 3.32213029e-01 9.43185960e-01 -5.89470636e-03 6.89497127e+00] [ 1.87317029e-02 -3.49076444e-04 9.99824485e-01 8.78599791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:6.90, Z:0.88 [[ 9.42929272e-01 -3.32520809e-01 -1.77285097e-02 4.65521042e+01] [ 3.32469024e-01 9.43095853e-01 -5.87874794e-03 6.90244180e+00] [ 1.86744900e-02 -3.50936806e-04 9.99825555e-01 8.79270565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.58, Y:6.91, Z:0.88 [[ 9.42919450e-01 -3.32547004e-01 -1.77595152e-02 4.65790123e+01] [ 3.32494927e-01 9.43086619e-01 -5.89519218e-03 6.90763595e+00] [ 1.87091896e-02 -3.46257329e-04 9.99824908e-01 8.80300833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:6.91, Z:0.88 [[ 9.42882666e-01 -3.32679311e-01 -1.72265609e-02 4.66050191e+01] [ 3.32630292e-01 9.43039958e-01 -5.72064912e-03 6.91468570e+00] [ 1.81484769e-02 -3.36175106e-04 9.99835246e-01 8.81289923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:6.92, Z:0.88 [[ 9.43021603e-01 -3.32300781e-01 -1.69247337e-02 4.66317930e+01] [ 3.32253360e-01 9.43173414e-01 -5.62285105e-03 6.92205819e+00] [ 1.78314366e-02 -3.20829623e-04 9.99840956e-01 8.81974074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:6.93, Z:0.88 [[ 9.42929760e-01 -3.32546431e-01 -1.72145235e-02 4.66588873e+01] [ 3.32497390e-01 9.43086827e-01 -5.72039950e-03 6.93033080e+00] [ 1.81370888e-02 -3.29849210e-04 9.99835455e-01 8.82145072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:6.94, Z:0.88 [[ 9.42860367e-01 -3.32734315e-01 -1.73840043e-02 4.66855544e+01] [ 3.32684234e-01 9.43020554e-01 -5.78228152e-03 6.93815779e+00] [ 1.83174368e-02 -3.31500059e-04 9.99832167e-01 8.82215764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:6.95, Z:0.88 [[ 9.42673448e-01 -3.33210159e-01 -1.83782579e-02 4.67132729e+01] [ 3.33154156e-01 9.42852515e-01 -6.11911488e-03 6.94514290e+00] [ 1.93669380e-02 -3.54465900e-04 9.99812380e-01 8.81058278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:6.96, Z:0.88 [[ 9.42443704e-01 -3.33821503e-01 -1.90543465e-02 4.67388928e+01] [ 3.33761304e-01 9.42636231e-01 -6.35041653e-03 6.95558078e+00] [ 2.00812229e-02 -3.74693447e-04 9.99798282e-01 8.80526021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:6.96, Z:0.88 [[ 9.42211252e-01 -3.34442756e-01 -1.96468884e-02 4.67667411e+01] [ 3.34378748e-01 9.42415985e-01 -6.55477970e-03 6.95953053e+00] [ 2.07077403e-02 -3.93514776e-04 9.99785494e-01 8.80410676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.912755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:6.96, Z:0.88 [[ 9.41815377e-01 -3.35455782e-01 -2.12888266e-02 4.67940121e+01] [ 3.35380806e-01 9.42055847e-01 -7.10610670e-03 6.96494264e+00] [ 2.24390482e-02 -4.47223271e-04 9.99748113e-01 8.79366998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:6.97, Z:0.88 [[ 9.41618277e-01 -3.35988612e-01 -2.16026337e-02 4.68207973e+01] [ 3.35911491e-01 9.41865934e-01 -7.21339260e-03 6.97245549e+00] [ 2.27704025e-02 -4.64310592e-04 9.99740613e-01 8.79242793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.85, Y:6.99, Z:0.88 [[ 9.41366191e-01 -3.36642905e-01 -2.23885692e-02 4.68468877e+01] [ 3.36560091e-01 9.41632260e-01 -7.48277981e-03 6.98503811e+00] [ 2.36008238e-02 -4.91062966e-04 9.99721341e-01 8.80148754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:6.99, Z:0.88 [[ 9.40959201e-01 -3.37719594e-01 -2.32649342e-02 4.68749934e+01] [ 3.37630320e-01 9.41246617e-01 -7.78290637e-03 6.99317973e+00] [ 2.45264806e-02 -5.31549829e-04 9.99699039e-01 8.80629235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:7.00, Z:0.88 [[ 9.40744574e-01 -3.38308674e-01 -2.33856172e-02 4.69020682e+01] [ 3.38218495e-01 9.41035039e-01 -7.82969400e-03 6.99919478e+00] [ 2.46555386e-02 -5.43706121e-04 9.99695858e-01 8.80898377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:7.00, Z:0.88 [[ 9.40018879e-01 -3.40298542e-01 -2.36940951e-02 4.69304431e+01] [ 3.40206513e-01 9.40317256e-01 -7.93641706e-03 7.00472690e+00] [ 2.49807176e-02 -6.00503594e-04 9.99687753e-01 8.82524852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:7.01, Z:0.88 [[ 9.39486284e-01 -3.41787731e-01 -2.33809332e-02 4.69580540e+01] [ 3.41698421e-01 9.39776971e-01 -7.83796931e-03 7.01061275e+00] [ 2.46517843e-02 -6.25563289e-04 9.99695903e-01 8.83370216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:7.02, Z:0.88 [[ 9.39036848e-01 -3.43019863e-01 -2.33917027e-02 4.69857692e+01] [ 3.42930765e-01 9.39327922e-01 -7.84511478e-03 7.01603974e+00] [ 2.46635097e-02 -6.54882634e-04 9.99695595e-01 8.84061757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:7.02, Z:0.88 [[ 9.38602045e-01 -3.44225972e-01 -2.31231760e-02 4.70130689e+01] [ 3.44139197e-01 9.38886587e-01 -7.75817333e-03 7.02421190e+00] [ 2.43806046e-02 -6.75753875e-04 9.99702520e-01 8.84998418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:7.03, Z:0.89 [[ 9.38152302e-01 -3.45487153e-01 -2.25584762e-02 4.70409057e+01] [ 3.45404774e-01 9.38423229e-01 -7.57525106e-03 7.03236084e+00] [ 2.37865500e-02 -6.85066144e-04 9.99716825e-01 8.86973517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:7.04, Z:0.89 [[ 9.38006549e-01 -3.45933270e-01 -2.17689334e-02 4.70675354e+01] [ 3.45856526e-01 9.38258882e-01 -7.31669503e-03 7.04051955e+00] [ 2.29559833e-02 -6.65819826e-04 9.99736255e-01 8.88280627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:7.05, Z:0.89 [[ 9.38290906e-01 -3.45179981e-01 -2.14698872e-02 4.70954190e+01] [ 3.45104967e-01 9.38536298e-01 -7.22354274e-03 7.04948261e+00] [ 2.26436908e-02 -6.31580265e-04 9.99743399e-01 8.89912921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:7.06, Z:0.89 [[ 9.38504688e-01 -3.44591716e-01 -2.15754449e-02 4.71231935e+01] [ 3.44515657e-01 9.38752455e-01 -7.26570256e-03 7.05905552e+00] [ 2.27577028e-02 -6.14182645e-04 9.99740821e-01 8.90391552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:7.07, Z:0.89 [[ 9.39002063e-01 -3.43225661e-01 -2.17087720e-02 4.71496194e+01] [ 3.43148160e-01 9.39252793e-01 -7.31645058e-03 7.06805230e+00] [ 2.29012183e-02 -5.79162983e-04 9.99737565e-01 8.90753509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:7.08, Z:0.89 [[ 9.40464606e-01 -3.39190918e-01 -2.18139051e-02 4.71752700e+01] [ 3.39111523e-01 9.40717434e-01 -7.35427588e-03 7.07841746e+00] [ 2.30152245e-02 -4.80910422e-04 9.99734999e-01 8.91111176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.20, Y:7.09, Z:0.89 [[ 9.41455226e-01 -3.36445123e-01 -2.16040832e-02 4.72012440e+01] [ 3.36366461e-01 9.41702986e-01 -7.28630087e-03 7.09119644e+00] [ 2.27960701e-02 -4.07162990e-04 9.99740053e-01 8.91948373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.23, Y:7.10, Z:0.89 [[ 9.42135134e-01 -3.34551987e-01 -2.13625177e-02 4.72280092e+01] [ 3.34474442e-01 9.42377231e-01 -7.21131983e-03 7.10249150e+00] [ 2.25441116e-02 -3.51178416e-04 9.99745788e-01 8.92394247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:7.11, Z:0.89 [[ 9.43410818e-01 -3.30944649e-01 -2.12524509e-02 4.72534554e+01] [ 3.30866848e-01 9.43650133e-01 -7.18026897e-03 7.11435366e+00] [ 2.24311497e-02 -2.57788021e-04 9.99748357e-01 8.93045734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.28, Y:7.13, Z:0.89 [[ 9.43891913e-01 -3.29585785e-01 -2.10063418e-02 4.72798953e+01] [ 3.29509382e-01 9.44125607e-01 -7.09969336e-03 7.12595228e+00] [ 2.21725832e-02 -2.20443535e-04 9.99754134e-01 8.93865193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:7.14, Z:0.89 [[ 9.44194865e-01 -3.28717293e-01 -2.09999680e-02 4.73060946e+01] [ 3.28640579e-01 9.44428348e-01 -7.10396204e-03 7.13617929e+00] [ 2.21681602e-02 -1.93917145e-04 9.99754237e-01 8.94459785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.33, Y:7.14, Z:0.89 [[ 9.44583843e-01 -3.27594885e-01 -2.10464931e-02 4.73322139e+01] [ 3.27517397e-01 9.44818271e-01 -7.12668121e-03 7.14494280e+00] [ 2.22197755e-02 -1.61344699e-04 9.99753097e-01 8.94749721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:7.15, Z:0.90 [[ 9.44523922e-01 -3.27751895e-01 -2.12897992e-02 4.73586051e+01] [ 3.27672582e-01 9.44763816e-01 -7.21185838e-03 7.15484120e+00] [ 2.24775322e-02 -1.64310696e-04 9.99747335e-01 8.95297040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.39, Y:7.16, Z:0.90 [[ 9.44288665e-01 -3.28405737e-01 -2.16469105e-02 4.73852850e+01] [ 3.28323751e-01 9.44536734e-01 -7.33987087e-03 7.16312935e+00] [ 2.28567579e-02 -1.76237984e-04 9.99738735e-01 8.95238748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:7.17, Z:0.90 [[ 9.43851341e-01 -3.29665107e-01 -2.15769378e-02 4.74127114e+01] [ 3.29583917e-01 9.44097916e-01 -7.31885745e-03 7.17185480e+00] [ 2.27835140e-02 -2.03498281e-04 9.99740401e-01 8.95301411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:7.18, Z:0.90 [[ 9.43214964e-01 -3.31473390e-01 -2.17007515e-02 4.74396595e+01] [ 3.31391608e-01 9.43464537e-01 -7.36677992e-03 7.17988353e+00] [ 2.29157810e-02 -2.42989881e-04 9.99737369e-01 8.95777185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:7.19, Z:0.90 [[ 9.42513489e-01 -3.33470877e-01 -2.15753946e-02 4.74677970e+01] [ 3.33390500e-01 9.42760358e-01 -7.32685328e-03 7.18830968e+00] [ 2.27837190e-02 -2.87373557e-04 9.99740376e-01 8.96091639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.50, Y:7.20, Z:0.90 [[ 9.40916178e-01 -3.37985242e-01 -2.10409472e-02 4.74955365e+01] [ 3.37909793e-01 9.41151333e-01 -7.15130719e-03 7.19586292e+00] [ 2.22197518e-02 -3.81161462e-04 9.99753038e-01 8.97465133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:7.20, Z:0.90 [[ 9.39944288e-01 -3.40704569e-01 -2.06187418e-02 4.75232656e+01] [ 3.40632635e-01 9.40170310e-01 -7.01401672e-03 7.20339373e+00] [ 2.17748364e-02 -4.30631391e-04 9.99762807e-01 8.98634134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.55, Y:7.21, Z:0.90 [[ 9.39039748e-01 -3.43198586e-01 -2.04715056e-02 4.75502304e+01] [ 3.43128137e-01 9.39262743e-01 -6.97001307e-03 7.20954231e+00] [ 2.16202212e-02 -4.79230267e-04 9.99766141e-01 8.99795728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.58, Y:7.21, Z:0.90 [[ 9.37439792e-01 -3.47547748e-01 -2.04254805e-02 4.75785306e+01] [ 3.47478597e-01 9.37662109e-01 -6.95652897e-03 7.21479680e+00] [ 2.15699251e-02 -5.76090238e-04 9.99767176e-01 9.00555681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.61, Y:7.22, Z:0.90 [[ 9.36754298e-01 -3.49386967e-01 -2.04971469e-02 4.76058522e+01] [ 3.49317740e-01 9.36978316e-01 -6.98231369e-03 7.22272941e+00] [ 2.16449116e-02 -6.19304660e-04 9.99765530e-01 9.01065811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:7.23, Z:0.90 [[ 9.35661139e-01 -3.52260158e-01 -2.12371112e-02 4.76338064e+01] [ 3.52186520e-01 9.35901854e-01 -7.23707147e-03 7.23036295e+00] [ 2.24251836e-02 -7.07977741e-04 9.99748273e-01 9.01486370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.66, Y:7.24, Z:0.90 [[ 9.35384810e-01 -3.53005342e-01 -2.10353425e-02 4.76599380e+01] [ 3.52933155e-01 9.35621034e-01 -7.17415050e-03 7.23863463e+00] [ 2.22136224e-02 -7.13478419e-04 9.99752992e-01 9.01928546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:7.25, Z:0.90 [[ 9.35002314e-01 -3.54020386e-01 -2.09818810e-02 4.76867221e+01] [ 3.53948765e-01 9.35237418e-01 -7.15843544e-03 7.25074948e+00] [ 2.21572723e-02 -7.33357146e-04 9.99754229e-01 9.02772451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.71, Y:7.26, Z:0.90 [[ 9.34797080e-01 -3.54550241e-01 -2.11789041e-02 4.77125774e+01] [ 3.54477256e-01 9.35036667e-01 -7.23225412e-03 7.26048409e+00] [ 2.23672494e-02 -7.46749797e-04 9.99749543e-01 9.03300766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:7.27, Z:0.90 [[ 9.34907044e-01 -3.54260328e-01 -2.11763792e-02 4.77391851e+01] [ 3.54187131e-01 9.35146557e-01 -7.23834762e-03 7.26934096e+00] [ 2.23672775e-02 -7.33218819e-04 9.99749552e-01 9.04264957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:7.28, Z:0.90 [[ 9.34985267e-01 -3.54049439e-01 -2.12495828e-02 4.77654757e+01] [ 3.53975629e-01 9.35226424e-01 -7.26567258e-03 7.27865332e+00] [ 2.24455787e-02 -7.28537625e-04 9.99747801e-01 9.04623353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.79, Y:7.29, Z:0.91 [[ 9.35110149e-01 -3.53693411e-01 -2.16790082e-02 4.77926578e+01] [ 3.53616428e-01 9.35361126e-01 -7.41531687e-03 7.28907002e+00] [ 2.29004502e-02 -7.31915362e-04 9.99737482e-01 9.05345714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.052755096 meters Centerline goodness [0,1] 0.9999565585699082 Centerline is valid? [True, True] Translation: X:47.82, Y:7.30, Z:0.91 [[ 9.35870912e-01 -3.51620407e-01 -2.25549501e-02 4.78196903e+01] [ 3.51536310e-01 9.36142402e-01 -7.72184500e-03 7.30081027e+00] [ 2.38298035e-02 -7.02233808e-04 9.99715783e-01 9.05729907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:7.31, Z:0.91 [[ 9.36400625e-01 -3.50211226e-01 -2.24936953e-02 4.78452680e+01] [ 3.50127045e-01 9.36670520e-01 -7.70651861e-03 7.31079236e+00] [ 2.37680906e-02 -6.59262214e-04 9.99717282e-01 9.06600052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:7.32, Z:0.91 [[ 9.37654770e-01 -3.46843778e-01 -2.24260002e-02 4.78707016e+01] [ 3.46759083e-01 9.37922742e-01 -7.68567119e-03 7.32323800e+00] [ 2.36995828e-02 -5.69912996e-04 9.99718963e-01 9.08469622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.90, Y:7.33, Z:0.91 [[ 9.38243565e-01 -3.45264514e-01 -2.21681571e-02 4.78966058e+01] [ 3.45181262e-01 9.38505271e-01 -7.59957912e-03 7.33360501e+00] [ 2.34287972e-02 -5.21776214e-04 9.99725372e-01 9.09595100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.92, Y:7.35, Z:0.91 [[ 9.38812126e-01 -3.43694637e-01 -2.24897329e-02 4.79227835e+01] [ 3.43608432e-01 9.39081338e-01 -7.71274628e-03 7.34505868e+00] [ 2.37705180e-02 -4.86842120e-04 9.99717323e-01 9.10765990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.95, Y:7.36, Z:0.91 [[ 9.39691172e-01 -3.41290475e-01 -2.23900276e-02 4.79481099e+01] [ 3.41204211e-01 9.39957784e-01 -7.68440513e-03 7.35657963e+00] [ 2.36682950e-02 -4.18604037e-04 9.99719779e-01 9.11814216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.232755096 meters Centerline goodness [0,1] 0.999762326606456 Centerline is valid? [True, True] Translation: X:47.97, Y:7.37, Z:0.91 [[ 9.39948876e-01 -3.40568896e-01 -2.25596568e-02 4.79747049e+01] [ 3.40481043e-01 9.40219478e-01 -7.74552206e-03 7.36693857e+00] [ 2.38489126e-02 -4.00740719e-04 9.99715494e-01 9.12409187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.262755096 meters Centerline goodness [0,1] 0.99963161202245 Centerline is valid? [True, True] Translation: X:48.00, Y:7.38, Z:0.91 [[ 9.40166000e-01 -3.39974017e-01 -2.24846748e-02 4.80010609e+01] [ 3.39886440e-01 9.40434753e-01 -7.72553424e-03 7.37625663e+00] [ 2.37718505e-02 -3.78951438e-04 9.99717338e-01 9.13051670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.292755096 meters Centerline goodness [0,1] 0.9991772398562335 Centerline is valid? [True, True] Translation: X:48.03, Y:7.39, Z:0.91 [[ 9.40534335e-01 -3.38896885e-01 -2.33252226e-02 4.80274482e+01] [ 3.38802246e-01 9.40823453e-01 -8.01674189e-03 7.38506731e+00] [ 2.46617653e-02 -3.62616804e-04 9.99695787e-01 9.12718987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755096 meters Centerline goodness [0,1] 0.9988108879424037 Centerline is valid? [True, True] Translation: X:48.05, Y:7.40, Z:0.91 [[ 9.40527655e-01 -3.38884642e-01 -2.37682593e-02 4.80531939e+01] [ 3.38786282e-01 9.40827862e-01 -8.17247602e-03 7.39589244e+00] [ 2.51313672e-02 -3.65920492e-04 9.99684090e-01 9.13497467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.352755096 meters Centerline goodness [0,1] 0.9990873533246415 Centerline is valid? [True, True] Translation: X:48.08, Y:7.40, Z:0.91 [[ 9.40430857e-01 -3.39145427e-01 -2.38784870e-02 4.80798563e+01] [ 3.39046031e-01 9.40733886e-01 -8.21854568e-03 7.40430861e+00] [ 2.52505841e-02 -3.66932297e-04 9.99681086e-01 9.14568692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096000004 meters Centerline goodness [0,1] 0.999178147371153 Centerline is valid? [True, True] Translation: X:48.11, Y:7.41, Z:0.92 [[ 9.40255891e-01 -3.39621237e-01 -2.40057191e-02 4.81062891e+01] [ 3.39520750e-01 9.40562212e-01 -8.26953416e-03 7.41185677e+00] [ 2.53873817e-02 -3.74961554e-04 9.99677618e-01 9.15167304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.412755096000005 meters Centerline goodness [0,1] 0.9991983186358416 Centerline is valid? [True, True] Translation: X:48.13, Y:7.42, Z:0.92 [[ 9.39763836e-01 -3.40996761e-01 -2.37726964e-02 4.81339277e+01] [ 3.40898571e-01 9.40064383e-01 -8.19265844e-03 7.42101407e+00] [ 2.51415352e-02 -4.04914121e-04 9.99683820e-01 9.16797930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.442755096 meters Centerline goodness [0,1] 0.9991517313380894 Centerline is valid? [True, True] Translation: X:48.16, Y:7.43, Z:0.92 [[ 9.39472933e-01 -3.41800333e-01 -2.37305651e-02 4.81601442e+01] [ 3.41702560e-01 9.39772503e-01 -8.18557470e-03 7.42990741e+00] [ 2.50991647e-02 -4.18668971e-04 9.99684879e-01 9.17435474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.472755096 meters Centerline goodness [0,1] 0.9991517313380894 Centerline is valid? [True, True] Translation: X:48.19, Y:7.44, Z:0.92 [[ 9.39364562e-01 -3.42098236e-01 -2.37279683e-02 4.81861621e+01] [ 3.42000368e-01 9.39664101e-01 -8.19309591e-03 7.43906361e+00] [ 2.50991637e-02 -4.18669940e-04 9.99684879e-01 9.17996955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755096 meters Centerline goodness [0,1] 0.9992832942402919 Centerline is valid? [True, True] Translation: X:48.21, Y:7.45, Z:0.92 [[ 9.39015839e-01 -3.43064729e-01 -2.35764000e-02 4.82139613e+01] [ 3.42968209e-01 9.39311665e-01 -8.14888152e-03 7.44775358e+00] [ 2.49411814e-02 -4.34026865e-04 9.99688826e-01 9.18594534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.532755096 meters Centerline goodness [0,1] 0.999024939871292 Centerline is valid? [True, True] Translation: X:48.24, Y:7.46, Z:0.92 [[ 9.38667068e-01 -3.44018198e-01 -2.35714932e-02 4.82411226e+01] [ 3.43921853e-01 9.38962872e-01 -8.15381862e-03 7.45575919e+00] [ 2.49378190e-02 -4.53030610e-04 9.99688902e-01 9.18954725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096000004 meters Centerline goodness [0,1] 0.9991741464368765 Centerline is valid? [True, True] Translation: X:48.27, Y:7.46, Z:0.92 [[ 9.37892139e-01 -3.46087921e-01 -2.41140358e-02 4.82684226e+01] [ 3.45987677e-01 9.38201942e-01 -8.34522804e-03 7.46189949e+00] [ 2.55120178e-02 -5.16235436e-04 9.99674382e-01 9.18965040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.592755096000005 meters Centerline goodness [0,1] 0.9991094119946999 Centerline is valid? [True, True] Translation: X:48.30, Y:7.47, Z:0.92 [[ 9.37338836e-01 -3.47553543e-01 -2.45446732e-02 4.82964759e+01] [ 3.47450093e-01 9.37659969e-01 -8.49793013e-03 7.46966695e+00] [ 2.59680433e-02 -5.62609070e-04 9.99662615e-01 9.19132828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters Centerline goodness [0,1] 0.9991707583196945 Centerline is valid? [True, True] Translation: X:48.32, Y:7.48, Z:0.92 [[ 9.36243795e-01 -3.50447028e-01 -2.51880306e-02 4.83248160e+01] [ 3.50338923e-01 9.36582327e-01 -8.72833408e-03 7.47570354e+00] [ 2.66494830e-02 -6.52498896e-04 9.99644627e-01 9.18614723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.652755096 meters Centerline goodness [0,1] 0.9991269806626216 Centerline is valid? [True, True] Translation: X:48.35, Y:7.49, Z:0.92 [[ 9.35809697e-01 -3.51568437e-01 -2.56874503e-02 4.83513445e+01] [ 3.51456246e-01 9.36161928e-01 -8.90795166e-03 7.48588428e+00] [ 2.71793677e-02 -6.91867325e-04 9.99630333e-01 9.18986808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755096 meters Centerline goodness [0,1] 0.9991477086474791 Centerline is valid? [True, True] Translation: X:48.38, Y:7.49, Z:0.92 [[ 9.35411694e-01 -3.52586990e-01 -2.62178641e-02 4.83784808e+01] [ 3.52470435e-01 9.35778754e-01 -9.09484751e-03 7.49145382e+00] [ 2.77408451e-02 -7.33595252e-04 9.99614880e-01 9.18385786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.712755096 meters Centerline goodness [0,1] 0.9993017978704835 Centerline is valid? [True, True] Translation: X:48.41, Y:7.50, Z:0.92 [[ 9.35173793e-01 -3.53145950e-01 -2.71645905e-02 4.84050243e+01] [ 3.53020973e-01 9.35567923e-01 -9.42628780e-03 7.49917785e+00] [ 2.87431749e-02 -7.74452857e-04 9.99586530e-01 9.18157375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755096 meters Centerline goodness [0,1] 0.999300638167672 Centerline is valid? [True, True] Translation: X:48.43, Y:7.51, Z:0.92 [[ 9.35166956e-01 -3.53156560e-01 -2.72618493e-02 4.84311989e+01] [ 3.53030599e-01 9.35563918e-01 -9.46320126e-03 7.50645425e+00] [ 2.88471942e-02 -7.74593881e-04 9.99583533e-01 9.18329181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.772755096000004 meters Centerline goodness [0,1] 0.9994298495680014 Centerline is valid? [True, True] Translation: X:48.46, Y:7.52, Z:0.92 [[ 9.35131538e-01 -3.53242755e-01 -2.73598799e-02 4.84574875e+01] [ 3.53115766e-01 9.35531376e-01 -9.50263983e-03 7.51526846e+00] [ 2.89527648e-02 -7.74986767e-04 9.99580480e-01 9.18697295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters Centerline goodness [0,1] 0.999145093053333 Centerline is valid? [True, True] Translation: X:48.48, Y:7.53, Z:0.92 [[ 9.35142880e-01 -3.53208998e-01 -2.74080076e-02 4.84831114e+01] [ 3.53081284e-01 9.35544128e-01 -9.52840727e-03 7.52651167e+00] [ 2.90069197e-02 -7.66832295e-04 9.99578917e-01 9.20289626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.832755096 meters Centerline goodness [0,1] 0.9994499328918128 Centerline is valid? [True, True] Translation: X:48.51, Y:7.53, Z:0.92 [[ 9.35405508e-01 -3.52503534e-01 -2.75280432e-02 4.85110573e+01] [ 3.52374176e-01 9.35810188e-01 -9.57765523e-03 7.53227385e+00] [ 2.91371806e-02 -7.41180080e-04 9.99575147e-01 9.20203161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755096 meters Centerline goodness [0,1] 0.9994075309400509 Centerline is valid? [True, True] Translation: X:48.54, Y:7.55, Z:0.92 [[ 9.35375128e-01 -3.52582596e-01 -2.75478354e-02 4.85360432e+01] [ 3.52452941e-01 9.35780405e-01 -9.58948135e-03 7.54601257e+00] [ 2.91598088e-02 -7.39553250e-04 9.99574489e-01 9.22603778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.892755096 meters Centerline goodness [0,1] 0.9994304241149667 Centerline is valid? [True, True] Translation: X:48.56, Y:7.55, Z:0.92 [[ 9.35509831e-01 -3.52199060e-01 -2.78779134e-02 4.85629621e+01] [ 3.52065879e-01 9.35924832e-01 -9.71215523e-03 7.55409325e+00] [ 2.95122434e-02 -7.29045397e-04 9.99564153e-01 9.23933072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755096 meters Centerline goodness [0,1] 0.9995186206292941 Centerline is valid? [True, True] Translation: X:48.59, Y:7.56, Z:0.93 [[ 9.35450811e-01 -3.52388752e-01 -2.74581106e-02 4.85899252e+01] [ 3.52259493e-01 9.35853434e-01 -9.57075084e-03 7.56277789e+00] [ 2.90693920e-02 -7.19413489e-04 9.99577137e-01 9.25034063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.952755096000004 meters Centerline goodness [0,1] 0.9995392615020076 Centerline is valid? [True, True] Translation: X:48.62, Y:7.57, Z:0.93 [[ 9.35299527e-01 -3.52783549e-01 -2.75420279e-02 4.86166185e+01] [ 3.52653395e-01 9.35704677e-01 -9.60943662e-03 7.57200776e+00] [ 2.91612555e-02 -7.25088118e-04 9.99574457e-01 9.26478326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters Centerline goodness [0,1] 0.9994962878605375 Centerline is valid? [True, True] Translation: X:48.64, Y:7.58, Z:0.93 [[ 9.35021520e-01 -3.53550946e-01 -2.71382853e-02 4.86434278e+01] [ 3.53424645e-01 9.35414986e-01 -9.47754814e-03 7.58184317e+00] [ 2.87363549e-02 -7.29627401e-04 9.99586759e-01 9.28707226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.012755096 meters Centerline goodness [0,1] 0.9997805140361274 Centerline is valid? [True, True] Translation: X:48.67, Y:7.59, Z:0.93 [[ 9.34760613e-01 -3.54235652e-01 -2.71974102e-02 4.86705152e+01] [ 3.54108890e-01 9.35155894e-01 -9.50512098e-03 7.58780469e+00] [ 2.88008712e-02 -7.45832027e-04 9.99584891e-01 9.28420287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.042755096 meters Centerline goodness [0,1] 0.9997146932952924 Centerline is valid? [True, True] Translation: X:48.70, Y:7.60, Z:0.93 [[ 9.34037857e-01 -3.56109928e-01 -2.75499582e-02 4.86973695e+01] [ 3.55980534e-01 9.34443719e-01 -9.63306280e-03 7.59800689e+00] [ 2.91743147e-02 -8.09603514e-04 9.99574011e-01 9.30219250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.072755096 meters Centerline goodness [0,1] 0.9998903917399216 Centerline is valid? [True, True] Translation: X:48.73, Y:7.60, Z:0.93 [[ 9.33647130e-01 -3.57148437e-01 -2.73501503e-02 4.87250758e+01] [ 3.57021147e-01 9.34047272e-01 -9.57047382e-03 7.60424960e+00] [ 2.89644130e-02 -8.29136607e-04 9.99580099e-01 9.30188706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755096 meters Centerline goodness [0,1] 0.9998028563918339 Centerline is valid? [True, True] Translation: X:48.75, Y:7.61, Z:0.93 [[ 9.33147625e-01 -3.58435009e-01 -2.75654768e-02 4.87518247e+01] [ 3.58306099e-01 9.33554276e-01 -9.65154919e-03 7.61462217e+00] [ 2.91933219e-02 -8.70558262e-04 9.99573405e-01 9.31474069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.132755096000004 meters Centerline goodness [0,1] 0.9998901002285915 Centerline is valid? [True, True] Translation: X:48.78, Y:7.62, Z:0.93 [[ 9.32760431e-01 -3.59418026e-01 -2.78686377e-02 4.87795650e+01] [ 3.59286449e-01 9.33176225e-01 -9.76631060e-03 7.62395619e+00] [ 2.95165382e-02 -9.03195769e-04 9.99563884e-01 9.32494390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096000005 meters Centerline goodness [0,1] 0.9998683575409189 Centerline is valid? [True, True] Translation: X:48.81, Y:7.63, Z:0.93 [[ 9.32311832e-01 -3.60580366e-01 -2.78647976e-02 4.88063440e+01] [ 3.60449141e-01 9.32727682e-01 -9.77184002e-03 7.63211257e+00] [ 2.95138017e-02 -9.33440276e-04 9.99563937e-01 9.32976602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.192755096 meters Centerline goodness [0,1] 0.9998683344305465 Centerline is valid? [True, True] Translation: X:48.83, Y:7.64, Z:0.93 [[ 9.32148787e-01 -3.60996068e-01 -2.79370179e-02 4.88329733e+01] [ 3.60864196e-01 9.32566859e-01 -9.80230375e-03 7.64194046e+00] [ 2.95917302e-02 -9.44263956e-04 9.99561623e-01 9.33553454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.222755096 meters Centerline goodness [0,1] 0.9999344190621926 Centerline is valid? [True, True] Translation: X:48.86, Y:7.65, Z:0.93 [[ 9.32192288e-01 -3.60822732e-01 -2.87140235e-02 4.88589753e+01] [ 3.60683025e-01 9.32633928e-01 -1.00852168e-02 7.65292113e+00] [ 3.04186480e-02 -9.55299523e-04 9.99536789e-01 9.34182995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.252755096 meters Centerline goodness [0,1] 0.9999125816814913 Centerline is valid? [True, True] Translation: X:48.89, Y:7.66, Z:0.93 [[ 9.32384925e-01 -3.60334002e-01 -2.85964668e-02 4.88851737e+01] [ 3.60194970e-01 9.32822891e-01 -1.00517639e-02 7.66194915e+00] [ 3.02974312e-02 -9.28190382e-04 9.99540496e-01 9.34134550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755096 meters Centerline goodness [0,1] 0.9999125912329007 Centerline is valid? [True, True] Translation: X:48.91, Y:7.67, Z:0.93 [[ 9.32524181e-01 -3.59962974e-01 -2.87281859e-02 4.89117112e+01] [ 3.59822328e-01 9.32966140e-01 -1.01031423e-02 7.67352166e+00] [ 3.04391819e-02 -9.15618217e-04 9.99536201e-01 9.34891627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.312755096000004 meters Centerline goodness [0,1] 0.9999346077555202 Centerline is valid? [True, True] Translation: X:48.94, Y:7.68, Z:0.94 [[ 9.32990475e-01 -3.58802286e-01 -2.81014783e-02 4.89383718e+01] [ 3.58666927e-01 9.33413197e-01 -9.89136400e-03 7.68325580e+00] [ 2.97793347e-02 -8.50522474e-04 9.99556135e-01 9.35764207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096000005 meters Centerline goodness [0,1] 0.9999347372084929 Centerline is valid? [True, True] Translation: X:48.97, Y:7.69, Z:0.94 [[ 9.33240639e-01 -3.58184535e-01 -2.76721537e-02 4.89651526e+01] [ 3.58052811e-01 9.33650459e-01 -9.74702503e-03 7.69239198e+00] [ 2.93273527e-02 -8.11772556e-04 9.99569531e-01 9.36341311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.372755096 meters Centerline goodness [0,1] 0.9999344477220583 Centerline is valid? [True, True] Translation: X:48.99, Y:7.70, Z:0.94 [[ 9.33383249e-01 -3.57829869e-01 -2.74498755e-02 4.89912960e+01] [ 3.57699966e-01 9.33786464e-01 -9.67331146e-03 7.70473269e+00] [ 2.90937220e-02 -7.89912680e-04 9.99576376e-01 9.37737761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.402755096 meters Centerline goodness [0,1] 0.9998477731384829 Centerline is valid? [True, True] Translation: X:49.02, Y:7.72, Z:0.94 [[ 9.34031776e-01 -3.56183446e-01 -2.67954083e-02 4.90177516e+01] [ 3.56058756e-01 9.34415777e-01 -9.45084825e-03 7.71716513e+00] [ 2.84042879e-02 -7.13347147e-04 9.99596262e-01 9.38751846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.432755096 meters Centerline goodness [0,1] 0.9998908606727348 Centerline is valid? [True, True] Translation: X:49.04, Y:7.73, Z:0.94 [[ 9.34393914e-01 -3.55261819e-01 -2.64017777e-02 4.90446425e+01] [ 3.55140170e-01 9.34766599e-01 -9.32016332e-03 7.72835303e+00] [ 2.79905981e-02 -6.67627943e-04 9.99607963e-01 9.39329795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755096 meters Centerline goodness [0,1] 0.9999131152526174 Centerline is valid? [True, True] Translation: X:49.07, Y:7.74, Z:0.94 [[ 9.35469587e-01 -3.52496500e-01 -2.53548801e-02 4.90702686e+01] [ 3.52383120e-01 9.35812967e-01 -8.95702285e-03 7.74037844e+00] [ 2.68847447e-02 -5.55609261e-04 9.99638386e-01 9.40116893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.492755096 meters Centerline goodness [0,1] 0.9998909439888327 Centerline is valid? [True, True] Translation: X:49.10, Y:7.75, Z:0.94 [[ 9.35748098e-01 -3.51795564e-01 -2.48068201e-02 4.90965696e+01] [ 3.51686688e-01 9.36076712e-01 -8.76716993e-03 7.75143759e+00] [ 2.63053381e-02 -5.20365804e-04 9.99653819e-01 9.41101264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096000004 meters Centerline goodness [0,1] 0.9998475775721285 Centerline is valid? [True, True] Translation: X:49.12, Y:7.76, Z:0.94 [[ 9.36035736e-01 -3.51071645e-01 -2.42033054e-02 4.91231420e+01] [ 3.50967576e-01 9.36348476e-01 -8.56107234e-03 7.76238032e+00] [ 2.56682779e-02 -4.81105778e-04 9.99670400e-01 9.41985423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.552755096 meters Centerline goodness [0,1] 0.9999126504050837 Centerline is valid? [True, True] Translation: X:49.15, Y:7.77, Z:0.94 [[ 9.36104021e-01 -3.50912508e-01 -2.38678328e-02 4.91487022e+01] [ 3.50811067e-01 9.36408136e-01 -8.44975436e-03 7.77288147e+00] [ 2.53151574e-02 -4.63250872e-04 9.99679413e-01 9.43061481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.582755096 meters Centerline goodness [0,1] 0.9998688094457199 Centerline is valid? [True, True] Translation: X:49.17, Y:7.78, Z:0.95 [[ 9.36010501e-01 -3.51218481e-01 -2.30200181e-02 4.91742543e+01] [ 3.51124021e-01 9.36293425e-01 -8.15743023e-03 7.78367964e+00] [ 2.44185318e-02 -4.47440947e-04 9.99701723e-01 9.45116266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.612755096 meters Centerline goodness [0,1] 0.999847743338771 Centerline is valid? [True, True] Translation: X:49.20, Y:7.79, Z:0.95 [[ 9.35866705e-01 -3.51644131e-01 -2.23587995e-02 4.91995842e+01] [ 3.51554972e-01 9.36133651e-01 -7.93027532e-03 7.79228388e+00] [ 2.37194594e-02 -4.38666509e-04 9.99718558e-01 9.45641961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755096 meters Centerline goodness [0,1] 0.9998907366534823 Centerline is valid? [True, True] Translation: X:49.23, Y:7.80, Z:0.95 [[ 9.35234834e-01 -3.53391098e-01 -2.12258660e-02 4.92261892e+01] [ 3.53311127e-01 9.35475560e-01 -7.53148447e-03 7.80221412e+00] [ 2.25178385e-02 -4.55628041e-04 9.99746338e-01 9.46868999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.672755096 meters Centerline goodness [0,1] 0.9999125568380552 Centerline is valid? [True, True] Translation: X:49.25, Y:7.81, Z:0.95 [[ 9.34552951e-01 -3.55233944e-01 -2.04848180e-02 4.92538511e+01] [ 3.55159850e-01 9.34777307e-01 -7.27095562e-03 7.81089022e+00] [ 2.17316333e-02 -4.80291871e-04 9.99763725e-01 9.47721370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:7.82, Z:0.95 [[ 9.33908506e-01 -3.56967844e-01 -1.97195386e-02 4.92810040e+01] [ 3.56899448e-01 9.34116541e-01 -7.00511674e-03 7.81950328e+00] [ 2.09209486e-02 -4.95754317e-04 9.99781010e-01 9.48748403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.732755096 meters Centerline goodness [0,1] 0.9999781497181314 Centerline is valid? [True, True] Translation: X:49.31, Y:7.83, Z:0.95 [[ 9.32353172e-01 -3.61050266e-01 -1.89807292e-02 4.93094950e+01] [ 3.60987630e-01 9.32546188e-01 -6.74827104e-03 7.82556449e+00] [ 2.01368717e-02 -5.60036548e-04 9.99797076e-01 9.49979517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.762755096 meters Centerline goodness [0,1] 0.9999781478082251 Centerline is valid? [True, True] Translation: X:49.34, Y:7.83, Z:0.95 [[ 9.31568703e-01 -3.63089176e-01 -1.86011451e-02 4.93363172e+01] [ 3.63029404e-01 9.31754206e-01 -6.61442507e-03 7.83485695e+00] [ 1.97333213e-02 -5.90971244e-04 9.99805104e-01 9.50860923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:7.84, Z:0.95 [[ 9.30826201e-01 -3.65019178e-01 -1.79884011e-02 4.93628797e+01] [ 3.64963584e-01 9.30999801e-01 -6.39944201e-03 7.84243071e+00] [ 1.90831169e-02 -6.08343058e-04 9.99817716e-01 9.51816147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:7.85, Z:0.95 [[ 9.29641114e-01 -3.68046537e-01 -1.75825295e-02 4.93909341e+01] [ 3.67993928e-01 9.29807141e-01 -6.25697329e-03 7.85026171e+00] [ 1.86512189e-02 -6.53524485e-04 9.99825837e-01 9.52539086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:7.86, Z:0.95 [[ 9.29046175e-01 -3.69553726e-01 -1.74140368e-02 4.94185424e+01] [ 3.69502372e-01 9.29209118e-01 -6.19768860e-03 7.85919820e+00] [ 1.84716607e-02 -6.76589009e-04 9.99829155e-01 9.52697057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:7.87, Z:0.95 [[ 9.28640866e-01 -3.70532888e-01 -1.82077175e-02 4.94449901e+01] [ 3.70476821e-01 9.28819066e-01 -6.48599515e-03 7.86764663e+00] [ 1.93149497e-02 -7.22377143e-04 9.99813188e-01 9.52565650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.912755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.47, Y:7.88, Z:0.95 [[ 9.28325459e-01 -3.71299573e-01 -1.86673366e-02 4.94715354e+01] [ 3.71240734e-01 9.28512821e-01 -6.65277750e-03 7.87649146e+00] [ 1.98030348e-02 -7.54133002e-04 9.99803616e-01 9.52105399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.50, Y:7.89, Z:0.95 [[ 9.28250593e-01 -3.71453629e-01 -1.93141846e-02 4.94962925e+01] [ 3.71390631e-01 9.28451178e-01 -6.88540937e-03 7.89059199e+00] [ 2.04898877e-02 -7.81721853e-04 9.99789755e-01 9.51892973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:7.90, Z:0.95 [[ 9.28293183e-01 -3.71337697e-01 -1.94956571e-02 4.95225621e+01] [ 3.71273341e-01 9.28497553e-01 -6.95702567e-03 7.90315643e+00] [ 2.06850758e-02 -7.80058230e-04 9.99785737e-01 9.50974726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:7.91, Z:0.95 [[ 9.28339478e-01 -3.71212752e-01 -1.96699333e-02 4.95493743e+01] [ 3.71147086e-01 9.28547514e-01 -7.02524217e-03 7.91104087e+00] [ 2.08723272e-02 -7.78628771e-04 9.99781846e-01 9.50937706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.58, Y:7.92, Z:0.95 [[ 9.28366088e-01 -3.71135336e-01 -1.98738131e-02 4.95757807e+01] [ 3.71068235e-01 9.28578456e-01 -7.10036959e-03 7.92434026e+00] [ 2.10895927e-02 -7.82798414e-04 9.99777283e-01 9.51129348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:7.93, Z:0.95 [[ 9.28637722e-01 -3.70440850e-01 -2.01384472e-02 4.96019296e+01] [ 3.70371659e-01 9.28855738e-01 -7.20092616e-03 7.93415104e+00] [ 2.13732295e-02 -7.71658438e-04 9.99771269e-01 9.51384289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:7.94, Z:0.95 [[ 9.28891971e-01 -3.69825095e-01 -1.97257249e-02 4.96282357e+01] [ 3.69758529e-01 9.29101099e-01 -7.05542131e-03 7.94231578e+00] [ 2.09364645e-02 -7.40030808e-04 9.99780534e-01 9.52372069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.65, Y:7.96, Z:0.95 [[ 9.29120150e-01 -3.69263392e-01 -1.95011207e-02 4.96527288e+01] [ 3.69198167e-01 9.29324504e-01 -6.97713966e-03 7.96072013e+00] [ 2.06992716e-02 -7.17176963e-04 9.99785490e-01 9.53576962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.68, Y:7.97, Z:0.96 [[ 9.29688173e-01 -3.67898746e-01 -1.81773012e-02 4.96789354e+01] [ 3.67841713e-01 9.29865641e-01 -6.50883192e-03 7.97399894e+00] [ 1.92970390e-02 -6.35185567e-04 9.99813593e-01 9.55376513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.71, Y:7.99, Z:0.96 [[ 9.30057560e-01 -3.66984364e-01 -1.77598340e-02 4.97057078e+01] [ 3.66929650e-01 9.30226919e-01 -6.36484448e-03 7.98547406e+00] [ 1.88564740e-02 -5.96937938e-04 9.99822023e-01 9.56328974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.73, Y:8.00, Z:0.96 [[ 9.31013185e-01 -3.64579887e-01 -1.72033735e-02 4.97317721e+01] [ 3.64528035e-01 9.31171966e-01 -6.17107374e-03 7.99541156e+00] [ 1.82691485e-02 -5.25760928e-04 9.99832967e-01 9.58246035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.76, Y:8.01, Z:0.96 [[ 9.31446744e-01 -3.63494459e-01 -1.66955321e-02 4.97586010e+01] [ 3.63445424e-01 9.31596232e-01 -5.99030506e-03 8.00761215e+00] [ 1.77309375e-02 -4.88264592e-04 9.99842675e-01 9.59175538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.78, Y:8.02, Z:0.96 [[ 9.31748846e-01 -3.62737600e-01 -1.62948233e-02 4.97835595e+01] [ 3.62690703e-01 9.31891208e-01 -5.85068186e-03 8.02253156e+00] [ 1.73072648e-02 -4.58614839e-04 9.99850113e-01 9.59695343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:8.03, Z:0.96 [[ 9.32058221e-01 -3.61947007e-01 -1.61813728e-02 4.98096355e+01] [ 3.61900556e-01 9.32198570e-01 -5.81495568e-03 8.03408346e+00] [ 1.71889584e-02 -4.36170570e-04 9.99852164e-01 9.60300789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.84, Y:8.04, Z:0.96 [[ 9.32651559e-01 -3.60424194e-01 -1.59834117e-02 4.98365263e+01] [ 3.60378555e-01 9.32788423e-01 -5.74937212e-03 8.04259395e+00] [ 1.69813542e-02 -3.97917938e-04 9.99855727e-01 9.61228077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:8.05, Z:0.96 [[ 9.32760729e-01 -3.60136079e-01 -1.61067445e-02 4.98634304e+01] [ 3.60089668e-01 9.32899699e-01 -5.79499542e-03 8.05331462e+00] [ 1.71129641e-02 -3.94528138e-04 9.99853485e-01 9.61574019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:8.06, Z:0.96 [[ 9.32658391e-01 -3.60401087e-01 -1.61053441e-02 4.98893047e+01] [ 3.60354648e-01 9.32797352e-01 -5.79888477e-03 8.06283625e+00] [ 1.71129467e-02 -3.95257049e-04 9.99853485e-01 9.62135773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.91, Y:8.08, Z:0.96 [[ 9.32656085e-01 -3.60380764e-01 -1.66832694e-02 4.99139912e+01] [ 3.60330832e-01 9.32805200e-01 -6.01246358e-03 8.07685431e+00] [ 1.77290167e-02 -4.03935614e-04 9.99842747e-01 9.61643087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:8.09, Z:0.96 [[ 9.32459229e-01 -3.60855246e-01 -1.74148812e-02 4.99400920e+01] [ 3.60800793e-01 9.32621741e-01 -6.28304808e-03 8.08744813e+00] [ 1.85087677e-02 -4.24616792e-04 9.99828608e-01 9.60866124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.97, Y:8.10, Z:0.96 [[ 9.32302548e-01 -3.61221219e-01 -1.81986260e-02 4.99662194e+01] [ 3.61161783e-01 9.32480042e-01 -6.56790619e-03 8.09701000e+00] [ 1.93423226e-02 -4.49372543e-04 9.99812819e-01 9.61037212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.99, Y:8.11, Z:0.96 [[ 9.31713312e-01 -3.62719510e-01 -1.85704197e-02 4.99927049e+01] [ 3.62657877e-01 9.31898234e-01 -6.70414659e-03 8.10612792e+00] [ 1.97374661e-02 -4.88366377e-04 9.99805078e-01 9.60732551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.02, Y:8.12, Z:0.96 [[ 9.31111890e-01 -3.64233368e-01 -1.90971983e-02 5.00199916e+01] [ 3.64168464e-01 9.31307559e-01 -6.89638815e-03 8.11535815e+00] [ 2.02972599e-02 -5.33288393e-04 9.99793847e-01 9.60780757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.05, Y:8.12, Z:0.96 [[ 9.30335382e-01 -3.66185618e-01 -1.96002650e-02 5.00477670e+01] [ 3.66117557e-01 9.30541644e-01 -7.08405252e-03 8.12477405e+00] [ 2.08329409e-02 -5.85456431e-04 9.99782799e-01 9.61142866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:8.13, Z:0.96 [[ 9.29586261e-01 -3.68076942e-01 -1.97167050e-02 5.00751264e+01] [ 3.68008371e-01 9.29795124e-01 -7.13205202e-03 8.13172283e+00] [ 2.09576401e-02 -6.26054905e-04 9.99780169e-01 9.61529181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:8.14, Z:0.96 [[ 9.27909260e-01 -3.72265131e-01 -2.00767747e-02 5.01036719e+01] [ 3.72194963e-01 9.28126143e-01 -7.26445163e-03 8.13704171e+00] [ 2.13380815e-02 -7.31722492e-04 9.99772049e-01 9.61748281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096000005 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:50.13, Y:8.15, Z:0.96 [[ 9.27058451e-01 -3.74362744e-01 -2.03755587e-02 5.01304437e+01] [ 3.74290949e-01 9.27282002e-01 -7.37391238e-03 8.14611962e+00] [ 2.16544069e-02 -7.90339405e-04 9.99765203e-01 9.61794305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:8.15, Z:0.96 [[ 9.25552932e-01 -3.78061923e-01 -2.05171390e-02 5.01585225e+01] [ 3.77989985e-01 9.25779891e-01 -7.42729951e-03 8.15074385e+00] [ 2.18023338e-02 -8.80914215e-04 9.99761913e-01 9.62014953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.18, Y:8.16, Z:0.96 [[ 9.24785826e-01 -3.79929392e-01 -2.06114806e-02 5.01849592e+01] [ 3.79857209e-01 9.25015025e-01 -7.46348676e-03 8.16302323e+00] [ 2.19015272e-02 -9.27292715e-04 9.99759703e-01 9.62747660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:8.17, Z:0.96 [[ 9.23913396e-01 -3.82028378e-01 -2.09369461e-02 5.02116318e+01] [ 3.81954293e-01 9.24150066e-01 -7.58769452e-03 8.17327792e+00] [ 2.22475948e-02 -9.86583840e-04 9.99752005e-01 9.63386360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.24, Y:8.18, Z:0.96 [[ 9.23715322e-01 -3.82507052e-01 -2.09370369e-02 5.02380367e+01] [ 3.82432952e-01 9.23952039e-01 -7.59390130e-03 8.18190315e+00] [ 2.22495387e-02 -9.92409814e-04 9.99751956e-01 9.63798549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.27, Y:8.19, Z:0.96 [[ 9.23535773e-01 -3.82941309e-01 -2.09195906e-02 5.02654539e+01] [ 3.82867362e-01 9.23772135e-01 -7.59120731e-03 8.19194836e+00] [ 2.22319217e-02 -9.98676938e-04 9.99752341e-01 9.64170169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:8.20, Z:0.96 [[ 9.23603312e-01 -3.82766211e-01 -2.11411653e-02 5.02917628e+01] [ 3.82690498e-01 9.23844700e-01 -7.67806964e-03 8.20277719e+00] [ 2.24700591e-02 -9.99032518e-04 9.99747017e-01 9.64904152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:8.21, Z:0.97 [[ 9.23934111e-01 -3.81963727e-01 -2.12007180e-02 5.03180361e+01] [ 3.81887241e-01 9.24176800e-01 -7.70571469e-03 8.21191432e+00] [ 2.25365152e-02 -9.76711049e-04 9.99745543e-01 9.65173706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:8.22, Z:0.97 [[ 9.24220521e-01 -3.81256656e-01 -2.14427251e-02 5.03446626e+01] [ 3.81178161e-01 9.24468726e-01 -7.79641095e-03 8.22279986e+00] [ 2.27955624e-02 -9.67895543e-04 9.99739679e-01 9.65647723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.37, Y:8.23, Z:0.97 [[ 9.24989142e-01 -3.79404291e-01 -2.11535370e-02 5.03711929e+01] [ 3.79327286e-01 9.25230548e-01 -7.69703631e-03 8.23433958e+00] [ 2.24921872e-02 -9.04438752e-04 9.99746610e-01 9.66731622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:8.24, Z:0.97 [[ 9.25215055e-01 -3.78867392e-01 -2.08950135e-02 5.03981324e+01] [ 3.78792074e-01 9.25450554e-01 -7.60505959e-03 8.24493599e+00] [ 2.22186109e-02 -8.78549879e-04 9.99752750e-01 9.67914989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:8.26, Z:0.97 [[ 9.25927159e-01 -3.77161603e-01 -2.01995563e-02 5.04241465e+01] [ 3.77090691e-01 9.26147115e-01 -7.35749830e-03 8.25569437e+00] [ 2.14827266e-02 -8.04557130e-04 9.99768896e-01 9.69295681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:8.27, Z:0.97 [[ 9.26178424e-01 -3.76552743e-01 -2.00389289e-02 5.04511961e+01] [ 3.76482765e-01 9.26394851e-01 -7.30120445e-03 8.26672148e+00] [ 2.13132492e-02 -7.82093358e-04 9.99772541e-01 9.70051567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.48, Y:8.28, Z:0.97 [[ 9.26428455e-01 -3.75949048e-01 -1.98149167e-02 5.04783818e+01] [ 3.75880370e-01 9.26640029e-01 -7.22520532e-03 8.27783098e+00] [ 2.10776040e-02 -7.54402418e-04 9.99777558e-01 9.70989993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:8.29, Z:0.97 [[ 9.26673694e-01 -3.75356987e-01 -1.95703113e-02 5.05040818e+01] [ 3.75289756e-01 9.26880037e-01 -7.14112217e-03 8.28774722e+00] [ 2.08198010e-02 -7.27047289e-04 9.99782980e-01 9.71835446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:8.30, Z:0.97 [[ 9.27007372e-01 -3.74534418e-01 -1.95269601e-02 5.05294542e+01] [ 3.74467240e-01 9.27212745e-01 -7.12829964e-03 8.30160285e+00] [ 2.07754398e-02 -7.04220539e-04 9.99783919e-01 9.72670211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.56, Y:8.31, Z:0.97 [[ 9.27113281e-01 -3.74270011e-01 -1.95684188e-02 5.05568670e+01] [ 3.74202367e-01 9.27319512e-01 -7.14923973e-03 8.30788203e+00] [ 2.08219226e-02 -6.94393532e-04 9.99782959e-01 9.73315757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.58, Y:8.32, Z:0.97 [[ 9.27236905e-01 -3.73963668e-01 -1.95677490e-02 5.05833858e+01] [ 3.73895917e-01 9.27443101e-01 -7.15107526e-03 8.31767389e+00] [ 2.08222162e-02 -6.85560584e-04 9.99782959e-01 9.73797165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.61, Y:8.33, Z:0.97 [[ 9.27337773e-01 -3.73708292e-01 -1.96663821e-02 5.06104573e+01] [ 3.73639756e-01 9.27546036e-01 -7.18916265e-03 8.32850197e+00] [ 2.09281244e-02 -6.81360121e-04 9.99780751e-01 9.74343939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.232755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.64, Y:8.34, Z:0.97 [[ 9.27298263e-01 -3.73815789e-01 -1.94855931e-02 5.06365290e+01] [ 3.73748421e-01 9.27502724e-01 -7.12839536e-03 8.33801504e+00] [ 2.07376474e-02 -6.72561010e-04 9.99784726e-01 9.74964540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.66, Y:8.35, Z:0.98 [[ 9.27290801e-01 -3.73858865e-01 -1.90083953e-02 5.06598248e+01] [ 3.73794649e-01 9.27485377e-01 -6.95960606e-03 8.35486625e+00] [ 2.02319191e-02 -6.51657787e-04 9.99795101e-01 9.75503724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.69, Y:8.36, Z:0.98 [[ 9.27206007e-01 -3.74070719e-01 -1.89767894e-02 5.06876547e+01] [ 3.74006624e-01 9.27399955e-01 -6.95479560e-03 8.35631023e+00] [ 2.02006590e-02 -6.48916681e-04 9.99795735e-01 9.76061743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:8.37, Z:0.98 [[ 9.27086196e-01 -3.74377760e-01 -1.87743817e-02 5.07129183e+01] [ 3.74315032e-01 9.27276051e-01 -6.88340221e-03 8.36928927e+00] [ 1.99860272e-02 -6.46026118e-04 9.99800051e-01 9.76395748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.74, Y:8.38, Z:0.98 [[ 9.27101644e-01 -3.74324626e-01 -1.90687021e-02 5.07370575e+01] [ 3.74259777e-01 9.27297500e-01 -6.99758524e-03 8.38436772e+00] [ 2.03017283e-02 -6.49175421e-04 9.99793688e-01 9.76405874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:8.39, Z:0.98 [[ 9.26974470e-01 -3.74622076e-01 -1.94070295e-02 5.07629483e+01] [ 3.74554823e-01 9.27177364e-01 -7.12886848e-03 8.39466672e+00] [ 2.06643899e-02 -6.60717423e-04 9.99786250e-01 9.76490475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.412755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.79, Y:8.40, Z:0.98 [[ 9.27076194e-01 -3.74341970e-01 -1.99454201e-02 5.07894596e+01] [ 3.74270713e-01 9.27290487e-01 -7.33395326e-03 8.40263839e+00] [ 2.12406048e-02 -6.65853131e-04 9.99774171e-01 9.76593700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.82, Y:8.41, Z:0.98 [[ 9.27321178e-01 -3.73709893e-01 -2.04046067e-02 5.08162285e+01] [ 3.73635084e-01 9.27545404e-01 -7.50650029e-03 8.41473588e+00] [ 2.17314526e-02 -6.62940234e-04 9.99763624e-01 9.76299197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:8.42, Z:0.98 [[ 9.27412211e-01 -3.73480275e-01 -2.04713075e-02 5.08432338e+01] [ 3.73404779e-01 9.27637891e-01 -7.53748507e-03 8.42493088e+00] [ 2.18050625e-02 -6.53728364e-04 9.99762028e-01 9.76527744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:8.43, Z:0.98 [[ 9.27635443e-01 -3.72922063e-01 -2.05333966e-02 5.08694467e+01] [ 3.72845838e-01 9.27862452e-01 -7.56647958e-03 8.43426604e+00] [ 2.18738749e-02 -6.36856835e-04 9.99760535e-01 9.76928071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.90, Y:8.44, Z:0.98 [[ 9.27784404e-01 -3.72553488e-01 -2.04938725e-02 5.08970043e+01] [ 3.72477413e-01 9.28010511e-01 -7.55439249e-03 8.44439308e+00] [ 2.18329444e-02 -6.24657074e-04 9.99761438e-01 9.77347917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:8.45, Z:0.98 [[ 9.27903477e-01 -3.72260165e-01 -2.04330000e-02 5.09245298e+01] [ 3.72184344e-01 9.28128222e-01 -7.53774274e-03 8.45445556e+00] [ 2.17704453e-02 -6.10544984e-04 9.99762809e-01 9.77632083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.95, Y:8.46, Z:0.98 [[ 9.27920598e-01 -3.72225568e-01 -2.02852168e-02 5.09508974e+01] [ 3.72150698e-01 9.28142105e-01 -7.48938479e-03 8.46426273e+00] [ 2.16153043e-02 -5.99603174e-04 9.99766182e-01 9.78262850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.98, Y:8.48, Z:0.98 [[ 9.28035636e-01 -3.71980971e-01 -1.94939694e-02 5.09768266e+01] [ 3.71911640e-01 9.28240183e-01 -7.20372720e-03 8.47632496e+00] [ 2.07747351e-02 -5.64718562e-04 9.99784022e-01 9.79419373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:8.48, Z:0.98 [[ 9.28080736e-01 -3.71887268e-01 -1.91313096e-02 5.10037470e+01] [ 3.71820352e-01 9.28277739e-01 -7.07565546e-03 8.48316271e+00] [ 2.03905150e-02 -5.46630717e-04 9.99791942e-01 9.79941299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:8.50, Z:0.98 [[ 9.28056738e-01 -3.71968472e-01 -1.87122361e-02 5.10287145e+01] [ 3.71904433e-01 9.28245210e-01 -6.92260042e-03 8.49534017e+00] [ 1.99445326e-02 -5.34597590e-04 9.99800945e-01 9.80544093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:8.50, Z:0.98 [[ 9.28227563e-01 -3.71563914e-01 -1.82715342e-02 5.10555948e+01] [ 3.71502650e-01 9.28407238e-01 -6.76613328e-03 8.50158379e+00] [ 1.94774755e-02 -5.07411957e-04 9.99810167e-01 9.81454624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.08, Y:8.52, Z:0.98 [[ 9.28229250e-01 -3.71568430e-01 -1.80931403e-02 5.10803786e+01] [ 3.71508325e-01 9.28405435e-01 -6.70177110e-03 8.51576641e+00] [ 1.92879364e-02 -5.00972285e-04 9.99813845e-01 9.81910737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:8.52, Z:0.98 [[ 9.28350620e-01 -3.71245514e-01 -1.84903827e-02 5.11074029e+01] [ 3.71182535e-01 9.28534609e-01 -6.85608271e-03 8.52204075e+00] [ 1.97142502e-02 -4.98458485e-04 9.99805531e-01 9.82707570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:8.53, Z:0.98 [[ 9.28246215e-01 -3.71522103e-01 -1.81739098e-02 5.11332693e+01] [ 3.71461280e-01 9.28423978e-01 -6.74053928e-03 8.53388729e+00] [ 1.93773529e-02 -4.94023721e-04 9.99812119e-01 9.83283453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.16, Y:8.54, Z:0.98 [[ 9.28169548e-01 -3.71713930e-01 -1.81671362e-02 5.11596686e+01] [ 3.71653057e-01 9.28347194e-01 -6.74480762e-03 8.53970871e+00] [ 1.93725488e-02 -4.91546670e-04 9.99812214e-01 9.83740764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.18, Y:8.55, Z:0.98 [[ 9.28021780e-01 -3.72066473e-01 -1.84963768e-02 5.11848287e+01] [ 3.72003388e-01 9.28205949e-01 -6.86985824e-03 8.55202346e+00] [ 1.97244909e-02 -5.05336768e-04 9.99805326e-01 9.83876021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.21, Y:8.56, Z:0.98 [[ 9.27913683e-01 -3.72325080e-01 -1.87144782e-02 5.12127423e+01] [ 3.72260412e-01 9.28102243e-01 -6.95782178e-03 8.55808507e+00] [ 1.99595207e-02 -5.10401319e-04 9.99800659e-01 9.84442647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.24, Y:8.57, Z:0.98 [[ 9.27701334e-01 -3.72855456e-01 -1.86827213e-02 5.12378280e+01] [ 3.72791075e-01 9.27889293e-01 -6.94798442e-03 8.57048224e+00] [ 1.99260909e-02 -5.19097333e-04 9.99801321e-01 9.84893815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:8.58, Z:0.98 [[ 9.27513581e-01 -3.73309260e-01 -1.89407705e-02 5.12640951e+01] [ 3.73243045e-01 9.27706805e-01 -7.05083135e-03 8.57909782e+00] [ 2.02036223e-02 -5.29769021e-04 9.99795746e-01 9.84900727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:8.59, Z:0.99 [[ 9.27353717e-01 -3.73684380e-01 -1.93666760e-02 5.12908755e+01] [ 3.73615088e-01 9.27555760e-01 -7.21645669e-03 8.58899515e+00] [ 2.06603490e-02 -5.43474422e-04 9.99786404e-01 9.85039285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.32, Y:8.60, Z:0.98 [[ 9.27319322e-01 -3.73750245e-01 -1.97390173e-02 5.13172984e+01] [ 3.73678126e-01 9.27529219e-01 -7.36239166e-03 8.59857541e+00] [ 2.10602110e-02 -5.48750966e-04 9.99778059e-01 9.84934665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.34, Y:8.61, Z:0.98 [[ 9.27540555e-01 -3.73177640e-01 -2.01734461e-02 5.13434318e+01] [ 3.73102023e-01 9.27759752e-01 -7.53149718e-03 8.60744046e+00] [ 2.15266977e-02 -5.40984495e-04 9.99768127e-01 9.84944593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:8.62, Z:0.99 [[ 9.27581215e-01 -3.73067139e-01 -2.03469802e-02 5.13701676e+01] [ 3.72990135e-01 9.27804191e-01 -7.59880883e-03 8.61747581e+00] [ 2.17128793e-02 -5.40710563e-04 9.99764101e-01 9.85375330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:8.63, Z:0.99 [[ 9.28016648e-01 -3.71943892e-01 -2.10438154e-02 5.13962366e+01] [ 3.71861083e-01 9.28255065e-01 -7.86573534e-03 8.62634723e+00] [ 2.24596404e-02 -5.25842632e-04 9.99747612e-01 9.85279338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:8.64, Z:0.99 [[ 9.28169171e-01 -3.71575511e-01 -2.08237645e-02 5.14231922e+01] [ 3.71494281e-01 9.28402596e-01 -7.78580511e-03 8.63811334e+00] [ 2.22258515e-02 -5.09365145e-04 9.99752845e-01 9.85754725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:8.65, Z:0.99 [[ 9.28202822e-01 -3.71484129e-01 -2.09538490e-02 5.14491627e+01] [ 3.71401773e-01 9.28439166e-01 -7.83824091e-03 8.64850948e+00] [ 2.23661562e-02 -5.06819350e-04 9.99749718e-01 9.86279230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:8.66, Z:0.99 [[ 9.28352205e-01 -3.71127324e-01 -2.06565295e-02 5.14765450e+01] [ 3.71047048e-01 9.28581862e-01 -7.73392444e-03 8.65886831e+00] [ 2.20515493e-02 -4.84738504e-04 9.99756718e-01 9.86981834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:8.67, Z:0.99 [[ 9.28347825e-01 -3.71157718e-01 -2.03042894e-02 5.15023934e+01] [ 3.71080040e-01 9.28569720e-01 -7.60779040e-03 8.66754344e+00] [ 2.16776385e-02 -4.71840847e-04 9.99764901e-01 9.87627653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.53, Y:8.68, Z:0.99 [[ 9.28145233e-01 -3.71672358e-01 -2.01515271e-02 5.15290195e+01] [ 3.71595898e-01 9.28363846e-01 -7.55368083e-03 8.67695047e+00] [ 2.15154436e-02 -4.77311972e-04 9.99768402e-01 9.88492169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.56, Y:8.69, Z:0.99 [[ 9.27866374e-01 -3.72384455e-01 -1.98446541e-02 5.15559835e+01] [ 3.72310335e-01 9.28078438e-01 -7.44499046e-03 8.68509252e+00] [ 2.11897943e-02 -4.80413524e-04 9.99775356e-01 9.89565341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:8.69, Z:0.99 [[ 9.27759135e-01 -3.72651587e-01 -1.98439292e-02 5.15817301e+01] [ 3.72577486e-01 9.27971206e-01 -7.44692203e-03 8.69495518e+00] [ 2.11897023e-02 -4.84451337e-04 9.99775356e-01 9.90128072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.61, Y:8.71, Z:0.99 [[ 9.27581653e-01 -3.73130977e-01 -1.91194063e-02 5.16067432e+01] [ 3.73062167e-01 9.27778557e-01 -7.18107921e-03 8.70840517e+00] [ 2.04180583e-02 -4.71689832e-04 9.99791418e-01 9.91011777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:8.71, Z:0.99 [[ 9.27359266e-01 -3.73690697e-01 -1.89750972e-02 5.16349619e+01] [ 3.73622899e-01 9.27553253e-01 -7.13380604e-03 8.71329713e+00] [ 2.02662501e-02 -4.73929707e-04 9.99794506e-01 9.91598379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:8.73, Z:0.99 [[ 9.27134451e-01 -3.74300281e-01 -1.79167391e-02 5.16608802e+01] [ 3.74239898e-01 9.27307441e-01 -6.73860754e-03 8.72729090e+00] [ 1.91365882e-02 -4.57563396e-04 9.99816774e-01 9.92036271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.69, Y:8.74, Z:0.99 [[ 9.27068552e-01 -3.74457747e-01 -1.80359666e-02 5.16869429e+01] [ 3.74396477e-01 9.27243865e-01 -6.78914974e-03 8.73650460e+00] [ 1.92659891e-02 -4.58595132e-04 9.99814288e-01 9.92547028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:8.75, Z:0.99 [[ 9.26978091e-01 -3.74667786e-01 -1.83212486e-02 5.17129112e+01] [ 3.74604472e-01 9.27159013e-01 -6.90323741e-03 8.74606318e+00] [ 1.95731314e-02 -4.64071819e-04 9.99808320e-01 9.92735991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:8.75, Z:0.99 [[ 9.27117803e-01 -3.74314109e-01 -1.84804246e-02 5.17398516e+01] [ 3.74249484e-01 9.27301861e-01 -6.97009478e-03 8.75490990e+00] [ 1.97459370e-02 -4.54190428e-04 9.99804927e-01 9.92520761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:8.77, Z:0.99 [[ 9.27114512e-01 -3.74320330e-01 -1.85195193e-02 5.17658140e+01] [ 3.74255394e-01 9.27299350e-01 -6.98675835e-03 8.76552745e+00] [ 1.97884239e-02 -4.53504922e-04 9.99804087e-01 9.92631618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:8.77, Z:0.99 [[ 9.27417265e-01 -3.73570209e-01 -1.85071554e-02 5.17920269e+01] [ 3.73505075e-01 9.27601808e-01 -6.98897768e-03 8.77411726e+00] [ 1.97781447e-02 -4.30817893e-04 9.99804301e-01 9.92806216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:8.79, Z:0.99 [[ 9.27401592e-01 -3.73600048e-01 -1.86893249e-02 5.18178561e+01] [ 3.73533590e-01 9.27589789e-01 -7.05979132e-03 8.78516134e+00] [ 1.99735653e-02 -4.33828923e-04 9.99800414e-01 9.93077217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.84, Y:8.80, Z:0.99 [[ 9.27488655e-01 -3.73383110e-01 -1.87042226e-02 5.18441371e+01] [ 3.73316368e-01 9.27677139e-01 -7.07219436e-03 8.79541028e+00] [ 1.99921176e-02 -4.23212403e-04 9.99800048e-01 9.93806740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:8.81, Z:0.99 [[ 9.27809174e-01 -3.72578387e-01 -1.88542288e-02 5.18716361e+01] [ 3.72510262e-01 9.28000638e-01 -7.13588660e-03 8.80571062e+00] [ 2.01554135e-02 -4.02652659e-04 9.99796778e-01 9.94789490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:8.82, Z:1.00 [[ 9.27906458e-01 -3.72357669e-01 -1.84220305e-02 5.18975579e+01] [ 3.72292484e-01 9.28089230e-01 -6.97760731e-03 8.81562153e+00] [ 1.96954537e-02 -3.83816601e-04 9.99805952e-01 9.95451937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:8.82, Z:1.00 [[ 9.28064509e-01 -3.71956094e-01 -1.85723160e-02 5.19233879e+01] [ 3.71889623e-01 9.28250250e-01 -7.04146135e-03 8.82494116e+00] [ 1.98588715e-02 -3.71921242e-04 9.99802724e-01 9.95960218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.732755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.95, Y:8.83, Z:1.00 [[ 9.28267389e-01 -3.71435720e-01 -1.88457200e-02 5.19500099e+01] [ 3.71367127e-01 9.28458601e-01 -7.14726332e-03 8.83385129e+00] [ 2.01522197e-02 -3.64109426e-04 9.99796857e-01 9.96630999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.98, Y:8.84, Z:1.00 [[ 9.28153315e-01 -3.71718305e-01 -1.88924659e-02 5.19758642e+01] [ 3.71649389e-01 9.28345499e-01 -7.16703499e-03 8.84351778e+00] [ 2.02028538e-02 -3.69266122e-04 9.99795833e-01 9.97045186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.00, Y:8.85, Z:1.00 [[ 9.28032231e-01 -3.71976415e-01 -1.97414740e-02 5.20019192e+01] [ 3.71901072e-01 9.28242101e-01 -7.49625433e-03 8.85335382e+00] [ 2.11132971e-02 -3.85109708e-04 9.99777015e-01 9.97067506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.03, Y:8.86, Z:1.00 [[ 9.27758537e-01 -3.72656036e-01 -1.97882947e-02 5.20286778e+01] [ 3.72580341e-01 9.27969462e-01 -7.52105548e-03 8.86275928e+00] [ 2.11656999e-02 -3.95006150e-04 9.99775903e-01 9.97273515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:8.87, Z:1.00 [[ 9.27516340e-01 -3.73256690e-01 -1.98212767e-02 5.20553720e+01] [ 3.73180732e-01 9.27728021e-01 -7.54058298e-03 8.87213882e+00] [ 2.12033269e-02 -4.02904627e-04 9.99775103e-01 9.97933804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.08, Y:8.88, Z:1.00 [[ 9.27166385e-01 -3.74116163e-01 -1.99898016e-02 5.20824209e+01] [ 3.74038960e-01 9.27381756e-01 -7.61154779e-03 8.87974219e+00] [ 2.13857803e-02 -4.19793346e-04 9.99771210e-01 9.98398159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.912755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.11, Y:8.89, Z:1.00 [[ 9.26947255e-01 -3.74651540e-01 -2.01248585e-02 5.21091649e+01] [ 3.74573369e-01 9.27165593e-01 -7.66516892e-03 8.88804227e+00] [ 2.15308437e-02 -4.33028771e-04 9.99768091e-01 9.99119470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.14, Y:8.90, Z:1.00 [[ 9.26531461e-01 -3.75687677e-01 -1.99555034e-02 5.21366088e+01] [ 3.75611008e-01 9.26746225e-01 -7.60294694e-03 8.89694501e+00] [ 2.13500209e-02 -4.51137211e-04 9.99771961e-01 1.00002080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:8.91, Z:1.00 [[ 9.26224111e-01 -3.76452305e-01 -1.98130720e-02 5.21639797e+01] [ 3.76376776e-01 9.26435886e-01 -7.55459477e-03 8.90721816e+00] [ 2.11994855e-02 -4.59932334e-04 9.99775160e-01 1.00152038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:8.91, Z:1.00 [[ 9.26046527e-01 -3.76927876e-01 -1.90579747e-02 5.21913266e+01] [ 3.76857977e-01 9.26242504e-01 -7.27250466e-03 8.91379639e+00] [ 2.03935159e-02 -4.47472098e-04 9.99791930e-01 1.00249854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:8.92, Z:1.00 [[ 9.25632632e-01 -3.77960431e-01 -1.87121423e-02 5.22195304e+01] [ 3.77893216e-01 9.25821636e-01 -7.14252801e-03 8.92220093e+00] [ 2.00236992e-02 -4.59834638e-04 9.99799400e-01 1.00342380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.25, Y:8.93, Z:1.00 [[ 9.25362429e-01 -3.78630003e-01 -1.85390504e-02 5.22460153e+01] [ 3.78564055e-01 9.25548002e-01 -7.08177102e-03 8.93380434e+00] [ 1.98401520e-02 -4.65013255e-04 9.99803057e-01 1.00408738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.27, Y:8.94, Z:1.00 [[ 9.24939622e-01 -3.79639209e-01 -1.89938455e-02 5.22729073e+01] [ 3.79570076e-01 9.25134492e-01 -7.26149278e-03 8.94407960e+00] [ 2.03286089e-02 -4.93052983e-04 9.99793231e-01 1.00446658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:8.95, Z:1.00 [[ 9.24492120e-01 -3.80716476e-01 -1.92167718e-02 5.23001852e+01] [ 3.80645816e-01 9.24691677e-01 -7.35289564e-03 8.95316908e+00] [ 2.05689575e-02 -5.17089717e-04 9.99788303e-01 1.00479587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:8.96, Z:1.00 [[ 9.23712685e-01 -3.82566913e-01 -1.99356871e-02 5.23278953e+01] [ 3.82491161e-01 9.23927610e-01 -7.63437136e-03 8.95931734e+00] [ 2.13397896e-02 -5.73258442e-04 9.99772116e-01 1.00485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:8.97, Z:1.01 [[ 9.23301846e-01 -3.83536751e-01 -2.03288563e-02 5.23552309e+01] [ 3.83458160e-01 9.23525416e-01 -7.78751512e-03 8.96751310e+00] [ 2.17610137e-02 -6.05038743e-04 9.99763018e-01 1.00503127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.38, Y:8.98, Z:1.01 [[ 9.22907661e-01 -3.84470500e-01 -2.05884458e-02 5.23825667e+01] [ 3.84389976e-01 9.23137064e-01 -7.89346786e-03 8.97654524e+00] [ 2.20407629e-02 -6.29050226e-04 9.99756875e-01 1.00555631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:8.98, Z:1.01 [[ 9.22468420e-01 -3.85494360e-01 -2.11213910e-02 5.24094914e+01] [ 3.85409738e-01 9.22709953e-01 -8.10413565e-03 8.98338073e+00] [ 2.26130162e-02 -6.64580551e-04 9.99744072e-01 1.00516422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.44, Y:8.99, Z:1.01 [[ 9.22253292e-01 -3.85993170e-01 -2.14041601e-02 5.24361484e+01] [ 3.85906334e-01 9.22501385e-01 -8.21558544e-03 8.99281595e+00] [ 2.29165272e-02 -6.83150219e-04 9.99737148e-01 1.00553098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:9.00, Z:1.01 [[ 9.22029604e-01 -3.86504284e-01 -2.18139215e-02 5.24628153e+01] [ 3.86414067e-01 9.22287344e-01 -8.37997235e-03 8.99999729e+00] [ 2.33575989e-02 -7.02623545e-04 9.99726927e-01 1.00547466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:9.01, Z:1.01 [[ 9.21770237e-01 -3.87105134e-01 -2.21188793e-02 5.24889747e+01] [ 3.87012477e-01 9.22035298e-01 -8.50018286e-03 9.01127592e+00] [ 2.36848519e-02 -7.25066697e-04 9.99719212e-01 1.00634562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.52, Y:9.02, Z:1.01 [[ 9.21999994e-01 -3.86593769e-01 -2.14771731e-02 5.25155281e+01] [ 3.86506120e-01 9.22249851e-01 -8.26018385e-03 9.02319645e+00] [ 2.30006553e-02 -6.85169392e-04 9.99735215e-01 1.00794596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.54, Y:9.03, Z:1.01 [[ 9.22340589e-01 -3.85822412e-01 -2.07100009e-02 5.25418500e+01] [ 3.85740579e-01 9.22572849e-01 -7.97147022e-03 9.03483883e+00] [ 2.21820564e-02 -6.36277184e-04 9.99753745e-01 1.00876331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.57, Y:9.04, Z:1.01 [[ 9.22637986e-01 -3.85079962e-01 -2.12736912e-02 5.25689810e+01] [ 3.84993269e-01 9.22882997e-01 -8.19487804e-03 9.04185306e+00] [ 2.27888112e-02 -6.29322156e-04 9.99740103e-01 1.00855993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:9.05, Z:1.01 [[ 9.22702445e-01 -3.84918722e-01 -2.13956942e-02 5.25945207e+01] [ 3.84830922e-01 9.22950262e-01 -8.24474942e-03 9.05464381e+00] [ 2.29207199e-02 -6.26274271e-04 9.99737090e-01 1.00924170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:9.06, Z:1.01 [[ 9.23181781e-01 -3.83762356e-01 -2.14907506e-02 5.26214381e+01] [ 3.83673314e-01 9.23431698e-01 -8.28776316e-03 9.06227629e+00] [ 2.30257718e-02 -5.94315543e-04 9.99734695e-01 1.00927996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:9.08, Z:1.01 [[ 9.23358051e-01 -3.83351754e-01 -2.12447975e-02 5.26474817e+01] [ 3.83264545e-01 9.23602243e-01 -8.19666028e-03 9.07542102e+00] [ 2.27639467e-02 -5.73925394e-04 9.99740703e-01 1.01044460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:9.09, Z:1.01 [[ 9.23501219e-01 -3.83016555e-01 -2.10669537e-02 5.26734282e+01] [ 3.82930570e-01 9.23741311e-01 -8.13435670e-03 9.08786005e+00] [ 2.25760087e-02 -5.55092282e-04 9.99744975e-01 1.01146598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:9.10, Z:1.01 [[ 9.23914531e-01 -3.82024986e-01 -2.09487344e-02 5.26987917e+01] [ 3.81939564e-01 9.24151848e-01 -8.09517107e-03 9.10320552e+00] [ 2.24523692e-02 -5.21904314e-04 9.99747778e-01 1.01213133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.72, Y:9.11, Z:1.01 [[ 9.24118976e-01 -3.81515995e-01 -2.12052503e-02 5.27240231e+01] [ 3.81428189e-01 9.24362096e-01 -8.20068205e-03 9.11391351e+00] [ 2.27300210e-02 -5.09874303e-04 9.99741510e-01 1.01253087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.75, Y:9.13, Z:1.01 [[ 9.24403626e-01 -3.80850165e-01 -2.07626495e-02 5.27500100e+01] [ 3.80765759e-01 9.24636643e-01 -8.03216945e-03 9.12671498e+00] [ 2.22569596e-02 -4.80739426e-04 9.99752168e-01 1.01383667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:9.14, Z:1.01 [[ 9.24318726e-01 -3.81065253e-01 -2.05952973e-02 5.27762985e+01] [ 3.80982109e-01 9.24548023e-01 -7.97409923e-03 9.13745933e+00] [ 2.20799935e-02 -4.75830551e-04 9.99756094e-01 1.01466478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:9.14, Z:1.01 [[ 9.24252775e-01 -3.81233900e-01 -2.04333446e-02 5.28025889e+01] [ 3.81151942e-01 9.24478498e-01 -7.91857931e-03 9.14413246e+00] [ 2.19090186e-02 -4.69440089e-04 9.99759858e-01 1.01485130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.83, Y:9.16, Z:1.02 [[ 9.24151419e-01 -3.81464030e-01 -2.07207202e-02 5.28270132e+01] [ 3.81379726e-01 9.24383560e-01 -8.03363808e-03 9.15801325e+00] [ 2.22184370e-02 -4.78164542e-04 9.99753026e-01 1.01535492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:9.17, Z:1.02 [[ 9.23761608e-01 -3.82396085e-01 -2.09218873e-02 5.28525204e+01] [ 3.82310212e-01 9.23998369e-01 -8.11886075e-03 9.16839042e+00] [ 2.24364103e-02 -4.98759327e-04 9.99748148e-01 1.01543680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.88, Y:9.18, Z:1.02 [[ 9.23316285e-01 -3.83468402e-01 -2.09528820e-02 5.28792310e+01] [ 3.83382489e-01 9.23553848e-01 -8.13364315e-03 9.18015232e+00] [ 2.24701099e-02 -5.23042864e-04 9.99747378e-01 1.01585645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:9.19, Z:1.02 [[ 9.23200847e-01 -3.83756092e-01 -2.07715806e-02 5.29055390e+01] [ 3.83671595e-01 9.23434346e-01 -8.06941923e-03 9.18988149e+00] [ 2.22778797e-02 -5.19770782e-04 9.99751682e-01 1.01633503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.93, Y:9.20, Z:1.02 [[ 9.23054727e-01 -3.84104768e-01 -2.08206236e-02 5.29321824e+01] [ 3.84019908e-01 9.23289364e-01 -8.09079670e-03 9.19785382e+00] [ 2.23311739e-02 -5.27285832e-04 9.99750489e-01 1.01683401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.96, Y:9.21, Z:1.02 [[ 9.22857712e-01 -3.84570725e-01 -2.09523545e-02 5.29577950e+01] [ 3.84484846e-01 9.23095372e-01 -8.14475567e-03 9.21051284e+00] [ 2.24732561e-02 -5.39412230e-04 9.99747299e-01 1.01746915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:9.22, Z:1.02 [[ 9.22520067e-01 -3.85386753e-01 -2.08273040e-02 5.29839642e+01] [ 3.85301942e-01 9.22754978e-01 -8.10336375e-03 9.22298201e+00] [ 2.23414275e-02 -5.49285006e-04 9.99750248e-01 1.01777774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:9.23, Z:1.02 [[ 9.22527851e-01 -3.85368452e-01 -2.08211495e-02 5.30100551e+01] [ 3.85283546e-01 9.22762625e-01 -8.10725752e-03 9.23138433e+00] [ 2.23372598e-02 -5.42875442e-04 9.99750345e-01 1.01792810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:9.24, Z:1.02 [[ 9.22234782e-01 -3.86069975e-01 -2.08082018e-02 5.30361078e+01] [ 3.85985274e-01 9.22469330e-01 -8.10575356e-03 9.24482310e+00] [ 2.23243161e-02 -5.56251623e-04 9.99750627e-01 1.01865170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.06, Y:9.25, Z:1.02 [[ 9.22084430e-01 -3.86438084e-01 -2.06376067e-02 5.30625071e+01] [ 3.86354716e-01 9.22315185e-01 -8.04571785e-03 9.25181540e+00] [ 2.21435498e-02 -5.54605518e-04 9.99754648e-01 1.01902191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.09, Y:9.27, Z:1.02 [[ 9.21721690e-01 -3.87303548e-01 -2.06176516e-02 5.30886322e+01] [ 3.87220443e-01 9.21952079e-01 -8.04314432e-03 9.26504940e+00] [ 2.21236251e-02 -5.70035620e-04 9.99755080e-01 1.01949228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.052755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:9.27, Z:1.02 [[ 9.21314899e-01 -3.88308930e-01 -1.98754001e-02 5.31145431e+01] [ 3.88231809e-01 9.21529084e-01 -7.75946284e-03 9.27398758e+00] [ 2.13288280e-02 -5.67353827e-04 9.99772354e-01 1.02032037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:9.28, Z:1.02 [[ 9.21098174e-01 -3.88833491e-01 -1.96639270e-02 5.31413557e+01] [ 3.88758068e-01 9.21307869e-01 -7.67948011e-03 9.28100824e+00] [ 2.11025697e-02 -5.70955140e-04 9.99777153e-01 1.02106924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.17, Y:9.29, Z:1.02 [[ 9.20829898e-01 -3.89473347e-01 -1.95655739e-02 5.31673189e+01] [ 3.89398775e-01 9.21037554e-01 -7.64320843e-03 9.29034263e+00] [ 2.09974543e-02 -5.80715677e-04 9.99779361e-01 1.02177161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.19, Y:9.31, Z:1.02 [[ 9.20859099e-01 -3.89416482e-01 -1.93215947e-02 5.31915239e+01] [ 3.89343704e-01 9.21061604e-01 -7.54994888e-03 9.30653324e+00] [ 2.07364535e-02 -5.70302115e-04 9.99784814e-01 1.02321397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.22, Y:9.31, Z:1.02 [[ 9.20943766e-01 -3.89219764e-01 -1.92497899e-02 5.32178529e+01] [ 3.89147340e-01 9.21144758e-01 -7.52882565e-03 9.31481536e+00] [ 2.06622108e-02 -5.57379495e-04 9.99786358e-01 1.02419747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.24, Y:9.33, Z:1.02 [[ 9.20827465e-01 -3.89494871e-01 -1.92490371e-02 5.32434742e+01] [ 3.89422467e-01 9.21028463e-01 -7.53074994e-03 9.32502823e+00] [ 2.06620995e-02 -5.61486124e-04 9.99786358e-01 1.02476035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.232755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:9.34, Z:1.03 [[ 9.21172622e-01 -3.88671426e-01 -1.93784447e-02 5.32688254e+01] [ 3.88597723e-01 9.21376270e-01 -7.58808850e-03 9.33904296e+00] [ 2.08041122e-02 -5.40480094e-04 9.99783425e-01 1.02590644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:9.35, Z:1.03 [[ 9.21274173e-01 -3.88387402e-01 -2.02268061e-02 5.32952805e+01] [ 3.88306891e-01 9.21496024e-01 -7.92692604e-03 9.35055017e+00] [ 2.17176396e-02 -5.51335934e-04 9.99763992e-01 1.02638830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:9.36, Z:1.03 [[ 9.21335212e-01 -3.88240873e-01 -2.02596199e-02 5.33210475e+01] [ 3.88159924e-01 9.21557774e-01 -7.94626950e-03 9.36275069e+00] [ 2.17554768e-02 -5.42794630e-04 9.99763174e-01 1.02681199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.35, Y:9.37, Z:1.03 [[ 9.21803199e-01 -3.87091013e-01 -2.09621116e-02 5.33468695e+01] [ 3.87003887e-01 9.22041360e-01 -8.22927967e-03 9.37385675e+00] [ 2.25134141e-02 -5.26642345e-04 9.99746402e-01 1.02697170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.37, Y:9.39, Z:1.03 [[ 9.21851860e-01 -3.86971927e-01 -2.10208602e-02 5.33722022e+01] [ 3.86884216e-01 9.22091348e-01 -8.25524604e-03 9.38519809e+00] [ 2.25777018e-02 -5.22525099e-04 9.99744955e-01 1.02774210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:9.40, Z:1.03 [[ 9.21971100e-01 -3.86686127e-01 -2.10506601e-02 5.33983013e+01] [ 3.86597930e-01 9.22211245e-01 -8.27411471e-03 9.39521553e+00] [ 2.26126408e-02 -5.09646968e-04 9.99744172e-01 1.02834169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.412755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.42, Y:9.40, Z:1.03 [[ 9.22105838e-01 -3.86400783e-01 -2.03779014e-02 5.34245053e+01] [ 3.86318016e-01 9.22330852e-01 -8.01190628e-03 9.40411868e+00] [ 2.18909740e-02 -4.84524886e-04 9.99760247e-01 1.02934069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:9.42, Z:1.03 [[ 9.21954525e-01 -3.86768820e-01 -2.02418739e-02 5.34500761e+01] [ 3.86687187e-01 9.22176579e-01 -7.96095549e-03 9.41538765e+00] [ 2.17456314e-02 -4.87634340e-04 9.99763417e-01 1.03036665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:9.42, Z:1.03 [[ 9.21895659e-01 -3.86925856e-01 -1.99192497e-02 5.34754980e+01] [ 3.86846695e-01 9.22110706e-01 -7.84095562e-03 9.42483344e+00] [ 2.14016219e-02 -4.77152972e-04 9.99770845e-01 1.03130957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.50, Y:9.43, Z:1.03 [[ 9.21705884e-01 -3.87402747e-01 -1.94261559e-02 5.35016142e+01] [ 3.87327466e-01 9.21910456e-01 -7.65148780e-03 9.43494131e+00] [ 2.08733837e-02 -4.71862413e-04 9.99782016e-01 1.03177435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.53, Y:9.45, Z:1.03 [[ 9.21578463e-01 -3.87708264e-01 -1.93762490e-02 5.35275214e+01] [ 3.87633296e-01 9.21782013e-01 -7.63857910e-03 9.44562937e+00] [ 2.08222181e-02 -4.71329293e-04 9.99783083e-01 1.03241042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.55, Y:9.45, Z:1.03 [[ 9.21553552e-01 -3.87787005e-01 -1.89812902e-02 5.35533452e+01] [ 3.87714945e-01 9.21748897e-01 -7.48944730e-03 9.45470540e+00] [ 2.04002936e-02 -4.57403114e-04 9.99791788e-01 1.03307209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.58, Y:9.46, Z:1.03 [[ 9.21648277e-01 -3.87593212e-01 -1.83291019e-02 5.35795119e+01] [ 3.87525896e-01 9.21830415e-01 -7.23643790e-03 9.46456172e+00] [ 1.97011178e-02 -4.33551115e-04 9.99805820e-01 1.03411915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.61, Y:9.48, Z:1.03 [[ 9.21688694e-01 -3.87494964e-01 -1.83739905e-02 5.36056272e+01] [ 3.87427262e-01 9.21871719e-01 -7.25597809e-03 9.47515881e+00] [ 1.97501171e-02 -4.30831855e-04 9.99804855e-01 1.03460248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.63, Y:9.49, Z:1.03 [[ 9.21916171e-01 -3.86938194e-01 -1.86924724e-02 5.36318402e+01] [ 3.86867877e-01 9.22105557e-01 -7.38835974e-03 9.48540824e+00] [ 2.00952713e-02 -4.20068815e-04 9.99797981e-01 1.03466844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:9.50, Z:1.04 [[ 9.21943346e-01 -3.86870475e-01 -1.87537178e-02 5.36581366e+01] [ 3.86799643e-01 9.22133971e-01 -7.41451109e-03 9.49611796e+00] [ 2.01618957e-02 -4.18172194e-04 9.99796641e-01 1.03503610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.68, Y:9.51, Z:1.04 [[ 9.21854460e-01 -3.87078565e-01 -1.88292122e-02 5.36829610e+01] [ 3.87007076e-01 9.22046642e-01 -7.45074713e-03 9.50565802e+00] [ 2.02454364e-02 -4.18533877e-04 9.99794953e-01 1.03538282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:9.51, Z:1.04 [[ 9.21793138e-01 -3.87200922e-01 -1.93095006e-02 5.37084853e+01] [ 3.87125706e-01 9.21995261e-01 -7.64370190e-03 9.51490433e+00] [ 2.07629165e-02 -4.29292086e-04 9.99784335e-01 1.03548612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:9.52, Z:1.04 [[ 9.21693995e-01 -3.87442512e-01 -1.91958164e-02 5.37344894e+01] [ 3.87368142e-01 9.21893766e-01 -7.60303756e-03 9.52489285e+00] [ 2.06422435e-02 -4.28173673e-04 9.99786835e-01 1.03611027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:9.53, Z:1.04 [[ 9.21514989e-01 -3.87859201e-01 -1.93743307e-02 5.37610320e+01] [ 3.87783399e-01 9.21718531e-01 -7.68015951e-03 9.53488992e+00] [ 2.08365001e-02 -4.35661691e-04 9.99782802e-01 1.03660523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:9.55, Z:1.04 [[ 9.21260831e-01 -3.88491307e-01 -1.87879117e-02 5.37879804e+01] [ 3.88420036e-01 9.21452288e-01 -7.45366116e-03 9.54514455e+00] [ 2.02078468e-02 -4.30835255e-04 9.99795708e-01 1.03762733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:9.56, Z:1.04 [[ 9.21092071e-01 -3.88896024e-01 -1.86890261e-02 5.38127760e+01] [ 3.88825478e-01 9.21281551e-01 -7.41969983e-03 9.55837114e+00] [ 2.01033467e-02 -4.32542818e-04 9.99797814e-01 1.03804860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.84, Y:9.57, Z:1.04 [[ 9.20861146e-01 -3.89446807e-01 -1.85993089e-02 5.38392375e+01] [ 3.89376919e-01 9.21048855e-01 -7.39059530e-03 9.56905558e+00] [ 2.00091159e-02 -4.36429541e-04 9.99799702e-01 1.03826368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:9.58, Z:1.04 [[ 9.20493050e-01 -3.90313245e-01 -1.86578461e-02 5.38658621e+01] [ 3.90242961e-01 9.20682012e-01 -7.42051385e-03 9.57773958e+00] [ 2.00742681e-02 -4.50561672e-04 9.99798390e-01 1.03875769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.89, Y:9.59, Z:1.04 [[ 9.20246796e-01 -3.90884640e-01 -1.88423049e-02 5.38924368e+01] [ 3.90813016e-01 9.20439559e-01 -7.49695497e-03 9.58703251e+00] [ 2.02736474e-02 -4.64769219e-04 9.99794360e-01 1.03973353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.92, Y:9.60, Z:1.04 [[ 9.19945464e-01 -3.91602314e-01 -1.86539952e-02 5.39199237e+01] [ 3.91532133e-01 9.20134451e-01 -7.42841242e-03 9.59618668e+00] [ 2.00731671e-02 -4.69904248e-04 9.99798403e-01 1.04048497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:9.61, Z:1.04 [[ 9.19918148e-01 -3.91646458e-01 -1.90696669e-02 5.39451599e+01] [ 3.91573005e-01 9.20115659e-01 -7.59977043e-03 9.60588717e+00] [ 2.05227223e-02 -4.76000043e-04 9.99789273e-01 1.04084275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:9.62, Z:1.04 [[ 9.19807929e-01 -3.91903628e-01 -1.91028730e-02 5.39700610e+01] [ 3.91829915e-01 9.20006150e-01 -7.61587166e-03 9.61815163e+00] [ 2.05594484e-02 -4.79937953e-04 9.99788517e-01 1.04132948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.00, Y:9.63, Z:1.04 [[ 9.19850032e-01 -3.91786287e-01 -1.94788045e-02 5.39961974e+01] [ 3.91709470e-01 9.20056126e-01 -7.77279705e-03 9.62968476e+00] [ 2.09668687e-02 -4.80224563e-04 9.99780056e-01 1.04154328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:9.64, Z:1.04 [[ 9.19954073e-01 -3.91547190e-01 -1.93726886e-02 5.40229862e+01] [ 3.91471012e-01 9.20157911e-01 -7.73728513e-03 9.64052726e+00] [ 2.08554450e-02 -4.65899067e-04 9.99782393e-01 1.04187166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.132755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.05, Y:9.65, Z:1.04 [[ 9.19876163e-01 -3.91708083e-01 -1.98147133e-02 5.40481148e+01] [ 3.91628292e-01 9.20089426e-01 -7.92013903e-03 9.65266228e+00] [ 2.13336907e-02 -4.74455232e-04 9.99772298e-01 1.04234015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:9.66, Z:1.04 [[ 9.19883021e-01 -3.91700288e-01 -1.96497343e-02 5.40735637e+01] [ 3.91621668e-01 9.20092750e-01 -7.86126838e-03 9.66101811e+00] [ 2.11588392e-02 -4.63814414e-04 9.99776019e-01 1.04289246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:9.67, Z:1.04 [[ 9.19849576e-01 -3.91757887e-01 -2.00627979e-02 5.40984965e+01] [ 3.91675865e-01 9.20068223e-01 -8.03003504e-03 9.67326595e+00] [ 2.16049723e-02 -4.71689391e-04 9.99766474e-01 1.04297663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:9.68, Z:1.04 [[ 9.19821111e-01 -3.91818407e-01 -2.01856313e-02 5.41240984e+01] [ 3.91735229e-01 9.20042453e-01 -8.08666726e-03 9.68386277e+00] [ 2.17401428e-02 -4.69135634e-04 9.99763545e-01 1.04335962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:9.70, Z:1.04 [[ 9.19555241e-01 -3.92425359e-01 -2.05059861e-02 5.41495585e+01] [ 3.92339502e-01 9.19783726e-01 -8.22266522e-03 9.69513414e+00] [ 2.20878547e-02 -4.84113476e-04 9.99755916e-01 1.04348652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.17, Y:9.71, Z:1.04 [[ 9.19500956e-01 -3.92539772e-01 -2.07489618e-02 5.41747137e+01] [ 3.92451732e-01 9.19734903e-01 -8.32747238e-03 9.70510478e+00] [ 2.23524085e-02 -4.85847181e-04 9.99750036e-01 1.04394907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.312755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.20, Y:9.72, Z:1.04 [[ 9.19347240e-01 -3.92878255e-01 -2.11501701e-02 5.42009932e+01] [ 3.92786777e-01 9.19590358e-01 -8.49238192e-03 9.71602358e+00] [ 2.27859647e-02 -5.00059299e-04 9.99740241e-01 1.04400000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.23, Y:9.73, Z:1.04 [[ 9.19803306e-01 -3.91833057e-01 -2.07058962e-02 5.42266477e+01] [ 3.91744956e-01 9.20036220e-01 -8.32127344e-03 9.73092497e+00] [ 2.23107245e-02 -4.57495582e-04 9.99750980e-01 1.04498547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:9.74, Z:1.05 [[ 9.19885107e-01 -3.91652343e-01 -2.04898204e-02 5.42522683e+01] [ 3.91565891e-01 9.20113170e-01 -8.24055919e-03 9.74281623e+00] [ 2.20803879e-02 -4.42747116e-04 9.99756100e-01 1.04547307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:9.75, Z:1.05 [[ 9.19859581e-01 -3.91696566e-01 -2.07882559e-02 5.42777132e+01] [ 3.91607423e-01 9.20094345e-01 -8.36792334e-03 9.75273239e+00] [ 2.24048435e-02 -4.43520858e-04 9.99748882e-01 1.04611529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.31, Y:9.76, Z:1.05 [[ 9.19417444e-01 -3.92710365e-01 -2.12163376e-02 5.43051373e+01] [ 3.92617696e-01 9.19662081e-01 -8.54403257e-03 9.76309766e+00] [ 2.28671914e-02 -4.74377021e-04 9.99738399e-01 1.04626197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:9.77, Z:1.05 [[ 9.19119149e-01 -3.93405804e-01 -2.12570661e-02 5.43308659e+01] [ 3.93312820e-01 9.19364801e-01 -8.56675170e-03 9.77252684e+00] [ 2.29132082e-02 -4.86811088e-04 9.99737339e-01 1.04677350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:9.78, Z:1.05 [[ 9.18719428e-01 -3.94355706e-01 -2.09330008e-02 5.43578972e+01] [ 3.94265720e-01 9.18957739e-01 -8.43888429e-03 9.78290237e+00] [ 2.25644653e-02 -5.00197714e-04 9.99745265e-01 1.04744966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:9.79, Z:1.05 [[ 9.17958563e-01 -3.96127204e-01 -2.08641792e-02 5.43849022e+01] [ 3.96038118e-01 9.18195486e-01 -8.41774011e-03 9.79296158e+00] [ 2.24918910e-02 -5.35873625e-04 9.99746882e-01 1.04795241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.552755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.41, Y:9.80, Z:1.05 [[ 9.17606166e-01 -3.96951621e-01 -2.06962692e-02 5.44121377e+01] [ 3.96864025e-01 9.17839372e-01 -8.35658208e-03 9.80394527e+00] [ 2.23130095e-02 -5.45553453e-04 9.99750885e-01 1.04842440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.44, Y:9.81, Z:1.05 [[ 9.17177543e-01 -3.97941689e-01 -2.06825159e-02 5.44390104e+01] [ 3.97854322e-01 9.17410538e-01 -8.35727242e-03 9.81127306e+00] [ 2.23000652e-02 -5.63525771e-04 9.99751164e-01 1.04827828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.46, Y:9.82, Z:1.05 [[ 9.17146945e-01 -3.98040532e-01 -2.01299654e-02 5.44637794e+01] [ 3.97957740e-01 9.17367666e-01 -8.13651660e-03 9.82373577e+00] [ 2.17052428e-02 -5.48494194e-04 9.99764263e-01 1.04945267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.49, Y:9.83, Z:1.05 [[ 9.17133274e-01 -3.98085887e-01 -1.98540860e-02 5.44897870e+01] [ 3.98005212e-01 9.17347993e-01 -8.03192151e-03 9.83094145e+00] [ 2.14105005e-02 -5.35687236e-04 9.99770625e-01 1.05056797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:9.85, Z:1.05 [[ 9.17260041e-01 -3.97797588e-01 -1.97761565e-02 5.45155182e+01] [ 3.97717409e-01 9.17473054e-01 -8.00362287e-03 9.84513917e+00] [ 2.13279126e-02 -5.23918279e-04 9.99772397e-01 1.05140672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.54, Y:9.86, Z:1.05 [[ 9.17835719e-01 -3.96455281e-01 -2.00200746e-02 5.45413301e+01] [ 3.96372653e-01 9.18053902e-01 -8.10881907e-03 9.85693992e+00] [ 2.15942917e-02 -4.92846288e-04 9.99766695e-01 1.05136037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.732755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.57, Y:9.87, Z:1.05 [[ 9.18188415e-01 -3.95630902e-01 -2.01550138e-02 5.45680116e+01] [ 3.95546817e-01 9.18409477e-01 -8.16991010e-03 9.86894266e+00] [ 2.17428246e-02 -4.70734767e-04 9.99763486e-01 1.05152858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:9.88, Z:1.05 [[ 9.18947967e-01 -3.93851768e-01 -2.03818359e-02 5.45933053e+01] [ 3.93765206e-01 9.19173869e-01 -8.26807129e-03 9.88112350e+00] [ 2.19908455e-02 -4.27730511e-04 9.99758081e-01 1.05134798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.62, Y:9.89, Z:1.05 [[ 9.19273164e-01 -3.93093139e-01 -2.03625442e-02 5.46197702e+01] [ 3.93006498e-01 9.19498569e-01 -8.26281209e-03 9.89311839e+00] [ 2.19713850e-02 -4.06830769e-04 9.99758517e-01 1.05160390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.65, Y:9.90, Z:1.05 [[ 9.19670733e-01 -3.92179657e-01 -2.00214730e-02 5.46460458e+01] [ 3.92095544e-01 9.19888568e-01 -8.13060016e-03 9.90390086e+00] [ 2.16061801e-02 -3.72855354e-04 9.99766490e-01 1.05245198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.67, Y:9.91, Z:1.05 [[ 9.19728528e-01 -3.92060949e-01 -1.96887775e-02 5.46719497e+01] [ 3.91979454e-01 9.19939174e-01 -8.00147794e-03 9.91267679e+00] [ 2.12495447e-02 -3.58408714e-04 9.99774139e-01 1.05322571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:9.92, Z:1.05 [[ 9.19728055e-01 -3.92080426e-01 -1.93195207e-02 5.46974186e+01] [ 3.92001867e-01 9.19930877e-01 -7.85604532e-03 9.92447127e+00] [ 2.08528252e-02 -3.47862917e-04 9.99782496e-01 1.05419393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.912755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.72, Y:9.93, Z:1.06 [[ 9.19559319e-01 -3.92512204e-01 -1.85695515e-02 5.47231662e+01] [ 3.92439587e-01 9.19746734e-01 -7.55745702e-03 9.93375750e+00] [ 2.00456785e-02 -3.37897090e-04 9.99799008e-01 1.05530909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:9.94, Z:1.06 [[ 9.19435358e-01 -3.92817715e-01 -1.82445998e-02 5.47488428e+01] [ 3.92747590e-01 9.19616295e-01 -7.42962263e-03 9.94355195e+00] [ 1.96965187e-02 -3.34464873e-04 9.99805949e-01 1.05591943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:9.96, Z:1.06 [[ 9.19114345e-01 -3.93579612e-01 -1.79974640e-02 5.47749772e+01] [ 3.93511488e-01 9.19290471e-01 -7.33066628e-03 9.95610608e+00] [ 1.94300979e-02 -3.44488283e-04 9.99811158e-01 1.05663358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:9.97, Z:1.06 [[ 9.18742467e-01 -3.94463121e-01 -1.76387359e-02 5.48023148e+01] [ 3.94397743e-01 9.18911706e-01 -7.19006680e-03 9.96663767e+00] [ 1.90446571e-02 -3.50857907e-04 9.99818573e-01 1.05711292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.83, Y:9.98, Z:1.06 [[ 9.18164754e-01 -3.95812070e-01 -1.75011400e-02 5.48301622e+01] [ 3.95747848e-01 9.18331459e-01 -7.13954322e-03 9.97588238e+00] [ 1.88977648e-02 -3.70761553e-04 9.99821353e-01 1.05780546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:9.99, Z:1.06 [[ 9.17801759e-01 -3.96674417e-01 -1.70099420e-02 5.48571490e+01] [ 3.96613801e-01 9.17959295e-01 -6.94439987e-03 9.98696114e+00] [ 1.83691001e-02 -3.72795338e-04 9.99831204e-01 1.05872936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.092755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:10.00, Z:1.06 [[ 9.17520998e-01 -3.97330304e-01 -1.68477841e-02 5.48834531e+01] [ 3.97270842e-01 9.17675590e-01 -6.88406026e-03 9.99639290e+00] [ 1.81960459e-02 -3.76863530e-04 9.99834367e-01 1.05908663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.91, Y:10.01, Z:1.06 [[ 9.17397333e-01 -3.97615773e-01 -1.68472829e-02 5.49089194e+01] [ 3.97556337e-01 9.17551934e-01 -6.88528667e-03 1.00069817e+01] [ 1.81959556e-02 -3.81200452e-04 9.99834367e-01 1.05964948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:10.02, Z:1.06 [[ 9.17220628e-01 -3.98023761e-01 -1.68346296e-02 5.49344339e+01] [ 3.97964372e-01 9.17375026e-01 -6.88620141e-03 1.00186658e+01] [ 1.81845405e-02 -3.83416801e-04 9.99834574e-01 1.05979605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.96, Y:10.03, Z:1.06 [[ 9.17066385e-01 -3.98372997e-01 -1.69764645e-02 5.49600864e+01] [ 3.98312545e-01 9.17223421e-01 -6.95064851e-03 1.00293145e+01] [ 1.83401616e-02 -3.87732699e-04 9.99831730e-01 1.06046485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.99, Y:10.04, Z:1.06 [[ 9.16955111e-01 -3.98642592e-01 -1.66555595e-02 5.49864236e+01] [ 3.98584339e-01 9.17106286e-01 -6.82535628e-03 1.00403460e+01] [ 1.79957960e-02 -3.80099840e-04 9.99837990e-01 1.06115946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:10.05, Z:1.06 [[ 9.16913319e-01 -3.98710695e-01 -1.73132044e-02 5.50114095e+01] [ 3.98647630e-01 9.17076676e-01 -7.10191791e-03 1.00497265e+01] [ 1.87091466e-02 -3.90024800e-04 9.99824893e-01 1.06136854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.272755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:10.06, Z:1.06 [[ 9.16916307e-01 -3.98697414e-01 -1.74602062e-02 5.50373748e+01] [ 3.98633223e-01 9.17082450e-01 -7.16479752e-03 1.00617553e+01] [ 1.88690349e-02 -3.90698572e-04 9.99821888e-01 1.06133382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.06, Y:10.07, Z:1.06 [[ 9.16938747e-01 -3.98629592e-01 -1.78264492e-02 5.50628087e+01] [ 3.98562547e-01 9.17111931e-01 -7.32129158e-03 1.00725230e+01] [ 1.92673327e-02 -3.91779067e-04 9.99814291e-01 1.06140445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:10.08, Z:1.06 [[ 9.17182561e-01 -3.98041319e-01 -1.84189346e-02 5.50880962e+01] [ 3.97969485e-01 9.17367407e-01 -7.57164073e-03 1.00838222e+01] [ 1.99107561e-02 -3.85597073e-04 9.99801687e-01 1.06081414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.11, Y:10.10, Z:1.06 [[ 9.17175988e-01 -3.98045516e-01 -1.86540609e-02 5.51138091e+01] [ 3.97971795e-01 9.17365585e-01 -7.67035465e-03 1.00952085e+01] [ 2.01657438e-02 -3.88725004e-04 9.99796575e-01 1.06120416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:10.11, Z:1.06 [[ 9.17475158e-01 -3.97394047e-01 -1.78130578e-02 5.51392433e+01] [ 3.97326579e-01 9.17647998e-01 -7.33088969e-03 1.01062062e+01] [ 1.92593688e-02 -3.51692153e-04 9.99814459e-01 1.06251709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.16, Y:10.12, Z:1.06 [[ 9.17487312e-01 -3.97378461e-01 -1.75325786e-02 5.51644139e+01] [ 3.97313064e-01 9.17654750e-01 -7.21731206e-03 1.01160761e+01] [ 1.89568584e-02 -3.44130264e-04 9.99820243e-01 1.06357165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.452755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:10.13, Z:1.06 [[ 9.17396703e-01 -3.97602401e-01 -1.71936213e-02 5.51897536e+01] [ 3.97539506e-01 9.17557745e-01 -7.07999126e-03 1.01284374e+01] [ 1.85911619e-02 -3.39983099e-04 9.99827112e-01 1.06440713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:10.14, Z:1.07 [[ 9.17370312e-01 -3.97673781e-01 -1.69491807e-02 5.52147770e+01] [ 3.97612555e-01 9.17526814e-01 -6.98578735e-03 1.01377123e+01] [ 1.83293922e-02 -3.30653121e-04 9.99831948e-01 1.06530772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.512755096 meters Centerline goodness [0,1] 0.999935379644588 Centerline is valid? [True, True] Translation: X:55.24, Y:10.15, Z:1.07 [[ 9.17269779e-01 -3.97914165e-01 -1.67472315e-02 5.52410564e+01] [ 3.97854359e-01 9.17422590e-01 -6.90647393e-03 1.01489105e+01] [ 1.81124723e-02 -3.27859221e-04 9.99835902e-01 1.06585597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:10.16, Z:1.07 [[ 9.17293800e-01 -3.97856848e-01 -1.67932196e-02 5.52674325e+01] [ 3.97796590e-01 9.17447451e-01 -6.93166711e-03 1.01572786e+01] [ 1.81647077e-02 -3.21910232e-04 9.99834956e-01 1.06685739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:10.17, Z:1.07 [[ 9.17356829e-01 -3.97693012e-01 -1.72254719e-02 5.52925980e+01] [ 3.97629463e-01 9.17518482e-01 -7.11655979e-03 1.01702365e+01] [ 1.86348949e-02 -3.20930430e-04 9.99826304e-01 1.06683848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:10.18, Z:1.07 [[ 9.17241120e-01 -3.97938141e-01 -1.77190052e-02 5.53184630e+01] [ 3.97870810e-01 9.17412191e-01 -7.32739318e-03 1.01781139e+01] [ 1.91714806e-02 -3.28888632e-04 9.99816156e-01 1.06722214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.632755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.34, Y:10.19, Z:1.07 [[ 9.17173633e-01 -3.98086392e-01 -1.78815775e-02 5.53435764e+01] [ 3.98017796e-01 9.17347870e-01 -7.39728650e-03 1.01910667e+01] [ 1.93483862e-02 -3.32589950e-04 9.99812747e-01 1.06751196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.37, Y:10.20, Z:1.07 [[ 9.16880011e-01 -3.98748872e-01 -1.81764339e-02 5.53692576e+01] [ 3.98677994e-01 9.17060095e-01 -7.52596101e-03 1.02012072e+01] [ 1.96698506e-02 -3.46140983e-04 9.99806470e-01 1.06787488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:10.21, Z:1.07 [[ 9.16065462e-01 -4.00609092e-01 -1.83418949e-02 5.53966508e+01] [ 4.00537157e-01 9.16248988e-01 -7.60115437e-03 1.02109580e+01] [ 1.98508342e-02 -3.83455454e-04 9.99802879e-01 1.06831829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:10.22, Z:1.07 [[ 9.15596857e-01 -4.01663652e-01 -1.86736985e-02 5.54239610e+01] [ 4.01589188e-01 9.15787172e-01 -7.74469164e-03 1.02215875e+01] [ 2.02118947e-02 -4.08140107e-04 9.99795635e-01 1.06900439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:10.23, Z:1.07 [[ 9.14614039e-01 -4.03905672e-01 -1.84761431e-02 5.54511456e+01] [ 4.03833116e-01 9.14800529e-01 -7.66857698e-03 1.02304037e+01] [ 1.99993672e-02 -4.47490264e-04 9.99799893e-01 1.07024005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:10.24, Z:1.07 [[ 9.14405472e-01 -4.04396786e-01 -1.80519190e-02 5.54773282e+01] [ 4.04327509e-01 9.14583536e-01 -7.49812789e-03 1.02414345e+01] [ 1.95422068e-02 -4.42558278e-04 9.99808935e-01 1.07176796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.812755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:10.25, Z:1.07 [[ 9.14132319e-01 -4.05011982e-01 -1.80941702e-02 5.55032983e+01] [ 4.04942367e-01 9.14311266e-01 -7.52247263e-03 1.02503821e+01] [ 1.95903952e-02 -4.50560764e-04 9.99807988e-01 1.07282028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:10.26, Z:1.07 [[ 9.13440378e-01 -4.06576742e-01 -1.79451425e-02 5.55300799e+01] [ 4.06508536e-01 9.13616508e-01 -7.46233263e-03 1.02618304e+01] [ 1.94289893e-02 -4.78457654e-04 9.99811125e-01 1.07325377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:10.27, Z:1.07 [[ 9.12976687e-01 -4.07600733e-01 -1.83087989e-02 5.55566235e+01] [ 4.07529821e-01 9.13160111e-01 -7.61954620e-03 1.02712593e+01] [ 1.98245975e-02 -5.04913493e-04 9.99803346e-01 1.07405480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:10.28, Z:1.07 [[ 9.12748878e-01 -4.08115376e-01 -1.82023715e-02 5.55829068e+01] [ 4.08045349e-01 9.12930216e-01 -7.57726671e-03 1.02810025e+01] [ 1.97098940e-02 -5.11251331e-04 9.99805610e-01 1.07452516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:10.30, Z:1.07 [[ 9.12404162e-01 -4.08873085e-01 -1.84782326e-02 5.56081667e+01] [ 4.08801034e-01 9.12591100e-01 -7.69407399e-03 1.02951573e+01] [ 2.00089704e-02 -5.33815453e-04 9.99799658e-01 1.07483563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.63, Y:10.31, Z:1.07 [[ 9.12274951e-01 -4.09149214e-01 -1.87439300e-02 5.56327619e+01] [ 4.09075015e-01 9.12467329e-01 -7.81059443e-03 1.03098538e+01] [ 2.02989224e-02 -5.42263812e-04 9.99793809e-01 1.07499373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:10.32, Z:1.07 [[ 9.12092197e-01 -4.09514449e-01 -1.96402599e-02 5.56596945e+01] [ 4.09432909e-01 9.12303453e-01 -8.19158970e-03 1.03165142e+01] [ 2.12724513e-02 -5.69883691e-04 9.99773553e-01 1.07454243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.68, Y:10.33, Z:1.07 [[ 9.11743530e-01 -4.10259540e-01 -2.02693068e-02 5.56849736e+01] [ 4.10172817e-01 9.11968610e-01 -8.45664837e-03 1.03305300e+01] [ 2.19543922e-02 -6.03624236e-04 9.99758791e-01 1.07471449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.052755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.71, Y:10.34, Z:1.07 [[ 9.11158408e-01 -4.11491894e-01 -2.15586742e-02 5.57116557e+01] [ 4.11393977e-01 9.11413175e-01 -9.00114011e-03 1.03395235e+01] [ 2.33527559e-02 -6.67644211e-04 9.99727064e-01 1.07412937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.74, Y:10.35, Z:1.07 [[ 9.10727519e-01 -4.12420693e-01 -2.20126954e-02 5.57376379e+01] [ 4.12318805e-01 9.10993237e-01 -9.19378086e-03 1.03514221e+01] [ 2.38451221e-02 -7.03219033e-04 9.99715417e-01 1.07491703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.76, Y:10.37, Z:1.08 [[ 9.10442547e-01 -4.13053272e-01 -2.19399812e-02 5.57632734e+01] [ 4.12952081e-01 9.10706588e-01 -9.17006309e-03 1.03650330e+01] [ 2.37686100e-02 -7.11345318e-04 9.99717234e-01 1.07568934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:10.38, Z:1.08 [[ 9.10402915e-01 -4.13154358e-01 -2.16796861e-02 5.57884040e+01] [ 4.13055422e-01 9.10660742e-01 -9.06811433e-03 1.03787133e+01] [ 2.34893700e-02 -6.99274156e-04 9.99723842e-01 1.07662213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:10.39, Z:1.08 [[ 9.10547956e-01 -4.12841523e-01 -2.15475333e-02 5.58141491e+01] [ 4.12743527e-01 9.10802621e-01 -9.02033181e-03 1.03914873e+01] [ 2.33495173e-02 -6.80160192e-04 9.99727131e-01 1.07748442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:10.41, Z:1.08 [[ 9.11066997e-01 -4.11717816e-01 -2.11037001e-02 5.58391485e+01] [ 4.11623369e-01 9.11311165e-01 -8.84092478e-03 1.04056764e+01] [ 2.28720038e-02 -6.32101350e-04 9.99738202e-01 1.07890989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.232755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:10.42, Z:1.08 [[ 9.11317352e-01 -4.11158520e-01 -2.11979800e-02 5.58646800e+01] [ 4.11062925e-01 9.11563653e-01 -8.88700898e-03 1.04204658e+01] [ 2.29772775e-02 -6.14818146e-04 9.99735798e-01 1.08009786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:10.43, Z:1.08 [[ 9.11745178e-01 -4.10205540e-01 -2.12637063e-02 5.58903296e+01] [ 4.10108945e-01 9.11992912e-01 -8.92090395e-03 1.04305222e+01] [ 2.30517536e-02 -5.86844996e-04 9.99734101e-01 1.08109921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:10.44, Z:1.08 [[ 9.12705246e-01 -4.08046912e-01 -2.16067607e-02 5.59147471e+01] [ 4.07946512e-01 9.12960803e-01 -9.06729700e-03 1.04434414e+01] [ 2.34260082e-02 -5.38633133e-04 9.99725428e-01 1.08194604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:10.46, Z:1.08 [[ 9.13086116e-01 -4.07203690e-01 -2.14219484e-02 5.59397138e+01] [ 4.07104703e-01 9.13337229e-01 -8.99255651e-03 1.04590911e+01] [ 2.32272652e-02 -5.09997464e-04 9.99730081e-01 1.08319490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:10.47, Z:1.08 [[ 9.13508739e-01 -4.06238988e-01 -2.17179107e-02 5.59657087e+01] [ 4.06136811e-01 9.13766736e-01 -9.12371465e-03 1.04727017e+01] [ 2.35515130e-02 -4.85849931e-04 9.99722507e-01 1.08413085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.99, Y:10.48, Z:1.09 [[ 9.14462502e-01 -4.04090441e-01 -2.16621307e-02 5.59909928e+01] [ 4.03988038e-01 9.14718938e-01 -9.10653281e-03 1.04848827e+01] [ 2.34946241e-02 -4.23658926e-04 9.99723873e-01 1.08536591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.412755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.02, Y:10.50, Z:1.09 [[ 9.14633815e-01 -4.03709529e-01 -2.15314030e-02 5.60164298e+01] [ 4.03608184e-01 9.14887124e-01 -9.05451896e-03 1.04996653e+01] [ 2.33541989e-02 -4.08681246e-04 9.99727170e-01 1.08679531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.04, Y:10.51, Z:1.09 [[ 9.14810794e-01 -4.03315330e-01 -2.13998834e-02 5.60420915e+01] [ 4.03214957e-01 9.15060977e-01 -9.00590886e-03 1.05120311e+01] [ 2.32144193e-02 -3.90050425e-04 9.99730433e-01 1.08794748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:10.52, Z:1.09 [[ 9.14881695e-01 -4.03162154e-01 -2.12547102e-02 5.60668643e+01] [ 4.03062952e-01 9.15128480e-01 -8.95105837e-03 1.05236515e+01] [ 2.30595186e-02 -3.77826785e-04 9.99734023e-01 1.08878864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.09, Y:10.54, Z:1.09 [[ 9.14884588e-01 -4.03116019e-01 -2.19923933e-02 5.60911123e+01] [ 4.03009715e-01 9.15148800e-01 -9.26523153e-03 1.05353165e+01] [ 2.38612756e-02 -3.86530602e-04 9.99715205e-01 1.08920617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:10.55, Z:1.09 [[ 9.14704981e-01 -4.03552448e-01 -2.14527463e-02 5.61168054e+01] [ 4.03451329e-01 9.14956433e-01 -9.04164402e-03 1.05474150e+01] [ 2.32771058e-02 -3.84702171e-04 9.99728977e-01 1.08997919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.14, Y:10.56, Z:1.09 [[ 9.14418967e-01 -4.04187578e-01 -2.16876662e-02 5.61424486e+01] [ 4.04084225e-01 9.14676032e-01 -9.14853340e-03 1.05594174e+01] [ 2.35349120e-02 -3.98051334e-04 9.99722936e-01 1.09083508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.592755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.17, Y:10.57, Z:1.09 [[ 9.13931313e-01 -4.05293205e-01 -2.16095695e-02 5.61681063e+01] [ 4.05190720e-01 9.14186657e-01 -9.12340057e-03 1.05720003e+01] [ 2.34528324e-02 -4.17835587e-04 9.99724857e-01 1.09199044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.622755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:10.58, Z:1.09 [[ 9.13543562e-01 -4.06168745e-01 -2.15664394e-02 5.61943803e+01] [ 4.06066759e-01 9.13797988e-01 -9.11175572e-03 1.05823875e+01] [ 2.34082793e-02 -4.33428381e-04 9.99725895e-01 1.09255819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.22, Y:10.59, Z:1.09 [[ 9.13168652e-01 -4.06998718e-01 -2.17958139e-02 5.62212119e+01] [ 4.06894726e-01 9.13428615e-01 -9.21123951e-03 1.05906625e+01] [ 2.36578828e-02 -4.57186569e-04 9.99720009e-01 1.09279367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.25, Y:10.60, Z:1.09 [[ 9.12065792e-01 -4.09448564e-01 -2.20876660e-02 5.62474001e+01] [ 4.09342408e-01 9.12333052e-01 -9.33781521e-03 1.06030003e+01] [ 2.39746628e-02 -5.24716588e-04 9.99712429e-01 1.09336019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.27, Y:10.61, Z:1.09 [[ 9.11560363e-01 -4.10550421e-01 -2.24957132e-02 5.62738224e+01] [ 4.10440480e-01 9.11837727e-01 -9.51691759e-03 1.06132787e+01] [ 2.44196145e-02 -5.57906444e-04 9.99701641e-01 1.09389272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.30, Y:10.62, Z:1.09 [[ 9.10949869e-01 -4.11896507e-01 -2.26186673e-02 5.63000918e+01] [ 4.11785711e-01 9.11230440e-01 -9.57154845e-03 1.06228130e+01] [ 2.45533056e-02 -5.94843196e-04 9.99698345e-01 1.09408906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.772755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:10.63, Z:1.09 [[ 9.09953400e-01 -4.14074548e-01 -2.29581712e-02 5.63264385e+01] [ 4.13961024e-01 9.10242732e-01 -9.71795645e-03 1.06306286e+01] [ 2.49214669e-02 -6.60900546e-04 9.99689194e-01 1.09346713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.35, Y:10.64, Z:1.09 [[ 9.09399395e-01 -4.15266763e-01 -2.33721049e-02 5.63519938e+01] [ 4.15149398e-01 9.09699413e-01 -9.89723708e-03 1.06438738e+01] [ 2.53715837e-02 -7.02373877e-04 9.99677843e-01 1.09436876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.38, Y:10.65, Z:1.09 [[ 9.08951200e-01 -4.16231461e-01 -2.36450064e-02 5.63783008e+01] [ 4.16111465e-01 9.09258400e-01 -1.00205633e-02 1.06549273e+01] [ 2.56702944e-02 -7.30755222e-04 9.99670197e-01 1.09469388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.41, Y:10.66, Z:1.10 [[ 9.08539361e-01 -4.17103848e-01 -2.40958467e-02 5.64058548e+01] [ 4.16979328e-01 9.08858514e-01 -1.02196282e-02 1.06648691e+01] [ 2.61623617e-02 -7.62535462e-04 9.99657416e-01 1.09509117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.43, Y:10.68, Z:1.10 [[ 9.08308634e-01 -4.17596600e-01 -2.42591335e-02 5.64322767e+01] [ 4.17470376e-01 9.08632202e-01 -1.02959997e-02 1.06750754e+01] [ 2.63422044e-02 -7.75524157e-04 9.99652683e-01 1.09544717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.46, Y:10.69, Z:1.10 [[ 9.08128111e-01 -4.17999217e-01 -2.40829515e-02 5.64580266e+01] [ 4.17874824e-01 9.08447055e-01 -1.02264429e-02 1.06866801e+01] [ 2.61527315e-02 -7.76738802e-04 9.99657657e-01 1.09624867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.952755096000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:10.70, Z:1.10 [[ 9.08071521e-01 -4.18089414e-01 -2.46445790e-02 5.64846417e+01] [ 4.17958973e-01 9.08405536e-01 -1.04727932e-02 1.06959013e+01] [ 2.67658359e-02 -7.90377652e-04 9.99641418e-01 1.09619444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:10.71, Z:1.10 [[ 9.08059005e-01 -4.18113025e-01 -2.47050891e-02 5.65107251e+01] [ 4.17981836e-01 9.08394670e-01 -1.05028062e-02 1.07068173e+01] [ 2.68333314e-02 -7.89110738e-04 9.99639610e-01 1.09630715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:10.72, Z:1.10 [[ 9.07931946e-01 -4.18389051e-01 -2.47018926e-02 5.65360337e+01] [ 4.18257760e-01 9.08267570e-01 -1.05103196e-02 1.07177721e+01] [ 2.68333306e-02 -7.89103352e-04 9.99639610e-01 1.09686879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:10.73, Z:1.10 [[ 9.07948879e-01 -4.18340442e-01 -2.49019635e-02 5.65605359e+01] [ 4.18206750e-01 9.08289963e-01 -1.06045462e-02 1.07311240e+01] [ 2.70545140e-02 -7.85783414e-04 9.99633651e-01 1.09779804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:10.74, Z:1.10 [[ 9.07969443e-01 -4.18288457e-01 -2.50251190e-02 5.65866509e+01] [ 4.18153200e-01 9.08313909e-01 -1.06651151e-02 1.07385140e+01] [ 2.71917582e-02 -7.80734916e-04 9.99629931e-01 1.09743086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.61, Y:10.75, Z:1.10 [[ 9.08058461e-01 -4.18166224e-01 -2.38083967e-02 5.66124778e+01] [ 4.18043641e-01 9.08370227e-01 -1.01511240e-02 1.07524301e+01] [ 2.58716959e-02 -7.35134782e-04 9.99665001e-01 1.09940124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:10.76, Z:1.10 [[ 9.07933481e-01 -4.18465309e-01 -2.33147814e-02 5.66376258e+01] [ 4.18347686e-01 9.08232494e-01 -9.94736780e-03 1.07616054e+01] [ 2.53378704e-02 -7.22136564e-04 9.99678684e-01 1.10048608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.66, Y:10.77, Z:1.10 [[ 9.07818935e-01 -4.18733540e-01 -2.29565527e-02 5.66635162e+01] [ 4.18619490e-01 9.08108866e-01 -9.79853392e-03 1.07689617e+01] [ 2.49500238e-02 -7.14765744e-04 9.99688444e-01 1.10105923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:10.78, Z:1.10 [[ 9.07565746e-01 -4.19328291e-01 -2.20952672e-02 5.66875793e+01] [ 4.19222677e-01 9.07834399e-01 -9.43662124e-03 1.07831177e+01] [ 2.40158859e-02 -6.98482879e-04 9.99711333e-01 1.10274592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:10.79, Z:1.10 [[ 9.07381736e-01 -4.19746696e-01 -2.17047741e-02 5.67140104e+01] [ 4.19644713e-01 9.07641028e-01 -9.27787152e-03 1.07935562e+01] [ 2.35944994e-02 -6.89722543e-04 9.99721373e-01 1.10353428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.74, Y:10.80, Z:1.10 [[ 9.07235846e-01 -4.20082216e-01 -2.13085029e-02 5.67410786e+01] [ 4.19983849e-01 9.07485796e-01 -9.11569914e-03 1.08019147e+01] [ 2.31665068e-02 -6.79138053e-04 9.99731390e-01 1.10404060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.77, Y:10.81, Z:1.11 [[ 9.07024923e-01 -4.20563293e-01 -2.07919589e-02 5.67664110e+01] [ 4.20469698e-01 9.07262953e-01 -8.89761181e-03 1.08148583e+01] [ 2.26057830e-02 -6.72033028e-04 9.99744231e-01 1.10521044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:10.83, Z:1.11 [[ 9.07000962e-01 -4.20617665e-01 -2.07372759e-02 5.67923611e+01] [ 4.20524400e-01 9.07237752e-01 -8.88201494e-03 1.08261324e+01] [ 2.25495719e-02 -6.64534409e-04 9.99745505e-01 1.10575628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:10.84, Z:1.11 [[ 9.06943607e-01 -4.20742735e-01 -2.07085659e-02 5.68183287e+01] [ 4.20649590e-01 9.07179759e-01 -8.87732376e-03 1.08352744e+01] [ 2.25214613e-02 -6.59817714e-04 9.99746142e-01 1.10603703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.84, Y:10.85, Z:1.11 [[ 9.07029785e-01 -4.20545908e-01 -2.09310486e-02 5.68443312e+01] [ 4.20450571e-01 9.07271022e-01 -8.97828767e-03 1.08482385e+01] [ 2.27659160e-02 -6.56897019e-04 9.99740607e-01 1.10578840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:10.86, Z:1.11 [[ 9.07041096e-01 -4.20486681e-01 -2.16194716e-02 5.68703575e+01] [ 4.20384776e-01 9.07298463e-01 -9.28109602e-03 1.08594677e+01] [ 2.35178906e-02 -6.70161212e-04 9.99723192e-01 1.10562360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.90, Y:10.87, Z:1.11 [[ 9.07247037e-01 -4.20022089e-01 -2.20058820e-02 5.68961984e+01] [ 4.19916189e-01 9.07513639e-01 -9.45457471e-03 1.08701400e+01] [ 2.39417682e-02 -6.62991187e-04 9.99713135e-01 1.10535507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.92, Y:10.88, Z:1.11 [[ 9.07857256e-01 -4.18670828e-01 -2.25818452e-02 5.69217209e+01] [ 4.18558827e-01 9.08137835e-01 -9.70472005e-03 1.08806997e+01] [ 2.45705111e-02 -6.41330108e-04 9.99697894e-01 1.10502912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:10.89, Z:1.11 [[ 9.07969925e-01 -4.18421531e-01 -2.26723968e-02 5.69478291e+01] [ 4.18308467e-01 9.08252729e-01 -9.74707716e-03 1.08930091e+01] [ 2.46706532e-02 -6.34002622e-04 9.99695432e-01 1.10566643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:10.91, Z:1.11 [[ 9.08155121e-01 -4.18001815e-01 -2.29947604e-02 5.69736825e+01] [ 4.17885190e-01 9.08445977e-01 -9.89318916e-03 1.09052120e+01] [ 2.50248686e-02 -6.24619407e-04 9.99686634e-01 1.10584775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.00, Y:10.92, Z:1.11 [[ 9.08195157e-01 -4.17918333e-01 -2.29308488e-02 5.69995355e+01] [ 4.17802139e-01 9.08484392e-01 -9.87333951e-03 1.09165893e+01] [ 2.49585678e-02 -6.13638552e-04 9.99688298e-01 1.10621849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.03, Y:10.93, Z:1.11 [[ 9.08549513e-01 -4.17115644e-01 -2.35015195e-02 5.70252457e+01] [ 4.16993128e-01 9.08853223e-01 -1.01267123e-02 1.09272744e+01] [ 2.55834419e-02 -5.99352638e-04 9.99672511e-01 1.10598263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:10.94, Z:1.11 [[ 9.08691917e-01 -4.16842809e-01 -2.28270214e-02 5.70513482e+01] [ 4.16727055e-01 9.08978408e-01 -9.83948789e-03 1.09395701e+01] [ 2.48507893e-02 -5.71574277e-04 9.99691008e-01 1.10692614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.08, Y:10.95, Z:1.11 [[ 9.08664812e-01 -4.16888716e-01 -2.30663714e-02 5.70767700e+01] [ 4.16770340e-01 9.08957354e-01 -9.95048378e-03 1.09507157e+01] [ 2.51145923e-02 -5.71724981e-04 9.99684415e-01 1.10781017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.10, Y:10.96, Z:1.11 [[ 9.08884875e-01 -4.16416223e-01 -2.29305964e-02 5.71032311e+01] [ 4.16298898e-01 9.09173926e-01 -9.89943807e-03 1.09606778e+01] [ 2.49701870e-02 -5.48532503e-04 9.99688046e-01 1.10851052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.13, Y:10.97, Z:1.11 [[ 9.08887762e-01 -4.16423420e-01 -2.26841588e-02 5.71288263e+01] [ 4.16308517e-01 9.09170635e-01 -9.79668719e-03 1.09727702e+01] [ 2.47033411e-02 -5.39519418e-04 9.99694680e-01 1.10955906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.15, Y:10.98, Z:1.11 [[ 9.09028314e-01 -4.16136006e-01 -2.23237563e-02 5.71546888e+01] [ 4.16024460e-01 9.09302237e-01 -9.64836142e-03 1.09828181e+01] [ 2.43140721e-02 -5.16594929e-04 9.99704236e-01 1.11029560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.18, Y:10.99, Z:1.11 [[ 9.08902906e-01 -4.16418783e-01 -2.21563524e-02 5.71795593e+01] [ 4.16308923e-01 9.09172772e-01 -9.57869997e-03 1.09931746e+01] [ 2.41327029e-02 -5.17778990e-04 9.99708630e-01 1.11095137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.21, Y:11.00, Z:1.11 [[ 9.09001904e-01 -4.16225812e-01 -2.17166318e-02 5.72055921e+01] [ 4.16120139e-01 9.09261142e-01 -9.39182207e-03 1.10025529e+01] [ 2.36552081e-02 -4.99543672e-04 9.99720052e-01 1.11148453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82275509600001 meters Centerline goodness [0,1] 0.9998708872199866 Centerline is valid? [True, True] Translation: X:57.23, Y:11.01, Z:1.11 [[ 9.08598809e-01 -4.17060561e-01 -2.25542321e-02 5.72327635e+01] [ 4.16946752e-01 9.08878539e-01 -9.75741410e-03 1.10137449e+01] [ 2.45684902e-02 -5.38339020e-04 9.99698004e-01 1.10993864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.26, Y:11.03, Z:1.11 [[ 9.08821586e-01 -4.16647325e-01 -2.11738611e-02 5.72590083e+01] [ 4.16546765e-01 9.09068076e-01 -9.16650854e-03 1.10258885e+01] [ 2.30676825e-02 -4.89182537e-04 9.99733786e-01 1.11343890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:11.04, Z:1.11 [[ 9.08625254e-01 -4.17081854e-01 -2.10446092e-02 5.72852615e+01] [ 4.16982477e-01 9.08868795e-01 -9.11744082e-03 1.10367208e+01] [ 2.29295077e-02 -4.90896297e-04 9.99736964e-01 1.11420038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.31, Y:11.05, Z:1.11 [[ 9.08486513e-01 -4.17394120e-01 -2.08423704e-02 5.73114899e+01] [ 4.17296565e-01 9.08725432e-01 -9.03693629e-03 1.10474902e+01] [ 2.27119561e-02 -4.87514813e-04 9.99741931e-01 1.11462438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:11.06, Z:1.12 [[ 9.08145149e-01 -4.18152168e-01 -2.05220070e-02 5.73382692e+01] [ 4.18057731e-01 9.08376859e-01 -8.90036330e-03 1.10564509e+01] [ 2.23634225e-02 -4.96561932e-04 9.99749784e-01 1.11537170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:11.07, Z:1.12 [[ 9.07816928e-01 -4.18883903e-01 -2.01171693e-02 5.73649677e+01] [ 4.18793278e-01 9.08039660e-01 -8.72732706e-03 1.10673237e+01] [ 2.19229244e-02 -5.02120044e-04 9.99759538e-01 1.11620723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:11.08, Z:1.12 [[ 9.07500000e-01 -4.19589301e-01 -1.97121651e-02 5.73908646e+01] [ 4.19502326e-01 9.07713923e-01 -8.55760418e-03 1.10765091e+01] [ 2.14836859e-02 -5.03273338e-04 9.99769072e-01 1.11690179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:11.09, Z:1.12 [[ 9.07161332e-01 -4.20334981e-01 -1.94118769e-02 5.74169316e+01] [ 4.20250762e-01 9.07368857e-01 -8.42939826e-03 1.10856536e+01] [ 2.11569035e-02 -5.11031909e-04 9.99776037e-01 1.11764537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.44, Y:11.09, Z:1.12 [[ 9.06641561e-01 -4.21467229e-01 -1.91430149e-02 5.74444119e+01] [ 4.21385534e-01 9.06843479e-01 -8.31475202e-03 1.10930657e+01] [ 2.08641137e-02 -5.28089798e-04 9.99782181e-01 1.11831828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:11.11, Z:1.12 [[ 9.06349385e-01 -4.22112320e-01 -1.87611961e-02 5.74705398e+01] [ 4.22033949e-01 9.06543385e-01 -8.15093867e-03 1.11058856e+01] [ 2.04484499e-02 -5.30263430e-04 9.99790768e-01 1.11896694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:11.12, Z:1.12 [[ 9.06114719e-01 -4.22638051e-01 -1.82536224e-02 5.74959953e+01] [ 4.22563859e-01 9.06298408e-01 -7.93601172e-03 1.11173468e+01] [ 1.98972895e-02 -5.22384105e-04 9.99801893e-01 1.11930450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:11.13, Z:1.12 [[ 9.06248932e-01 -4.22342350e-01 -1.84340344e-02 5.75229639e+01] [ 4.22266482e-01 9.06436250e-01 -8.02144245e-03 1.11257772e+01] [ 2.00970718e-02 -5.14651186e-04 9.99797901e-01 1.11959927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:11.14, Z:1.12 [[ 9.06360899e-01 -4.22090415e-01 -1.86976455e-02 5.75480908e+01] [ 4.22012264e-01 9.06553593e-01 -8.13832227e-03 1.11409888e+01] [ 2.03855255e-02 -5.14378596e-04 9.99792061e-01 1.11967795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:11.15, Z:1.12 [[ 9.06599501e-01 -4.21569624e-01 -1.88784809e-02 5.75749445e+01] [ 4.21489713e-01 9.06795898e-01 -8.22325301e-03 1.11493791e+01] [ 2.05856027e-02 -5.01888430e-04 9.99787968e-01 1.11972193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.60, Y:11.16, Z:1.12 [[ 9.07071788e-01 -4.20512842e-01 -1.97413609e-02 5.76006667e+01] [ 4.20425152e-01 9.07286450e-01 -8.60169954e-03 1.11623307e+01] [ 2.15281944e-02 -4.97405679e-04 9.99768118e-01 1.11909585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.63, Y:11.18, Z:1.12 [[ 9.07379346e-01 -4.19822698e-01 -2.02885074e-02 5.76261978e+01] [ 4.19729764e-01 9.07606007e-01 -8.84657805e-03 1.11754501e+01] [ 2.21279654e-02 -4.88488195e-04 9.99755027e-01 1.11945981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.65, Y:11.19, Z:1.12 [[ 9.07657018e-01 -4.19221375e-01 -2.03021030e-02 5.76517933e+01] [ 4.19128029e-01 9.07883924e-01 -8.85870671e-03 1.11863844e+01] [ 2.21457122e-02 -4.68513089e-04 9.99754644e-01 1.11963439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.68, Y:11.20, Z:1.12 [[ 9.07885798e-01 -4.18730937e-01 -2.01935785e-02 5.76783947e+01] [ 4.18638409e-01 9.08110235e-01 -8.81390078e-03 1.11989348e+01] [ 2.20286482e-02 -4.51792226e-04 9.99757238e-01 1.12045889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:11.21, Z:1.12 [[ 9.08088630e-01 -4.18299203e-01 -2.00204259e-02 5.77035017e+01] [ 4.18208027e-01 9.08309193e-01 -8.74392832e-03 1.12104061e+01] [ 2.18423152e-02 -4.32440939e-04 9.99761335e-01 1.12103359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.73, Y:11.22, Z:1.12 [[ 9.08063256e-01 -4.18363070e-01 -1.98359446e-02 5.77287264e+01] [ 4.18273533e-01 9.08279780e-01 -8.66560657e-03 1.12211295e+01] [ 2.16419572e-02 -4.27931711e-04 9.99765694e-01 1.12165433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:11.23, Z:1.12 [[ 9.07536839e-01 -4.19541594e-01 -1.90193607e-02 5.77551509e+01] [ 4.19459478e-01 9.07736009e-01 -8.31170503e-03 1.12306882e+01] [ 2.07516646e-02 -4.34672622e-04 9.99784567e-01 1.12276830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.78, Y:11.24, Z:1.12 [[ 9.07075788e-01 -4.20543733e-01 -1.88807905e-02 5.77807095e+01] [ 4.20462962e-01 9.07272156e-01 -8.25424578e-03 1.12435854e+01] [ 2.06012869e-02 -4.51446617e-04 9.99787669e-01 1.12383172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.81, Y:11.25, Z:1.13 [[ 9.06420803e-01 -4.21985878e-01 -1.81451539e-02 5.78078635e+01] [ 4.21911454e-01 9.06602287e-01 -7.93837134e-03 1.12540331e+01] [ 1.98003187e-02 -4.60143358e-04 9.99803849e-01 1.12504514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:11.26, Z:1.13 [[ 9.05063591e-01 -4.24941282e-01 -1.68760886e-02 5.78352920e+01] [ 4.24877323e-01 9.05220787e-01 -7.38832368e-03 1.12625249e+01] [ 1.84161900e-02 -4.83364603e-04 9.99830291e-01 1.12654785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.86, Y:11.27, Z:1.13 [[ 9.04453759e-01 -4.26244636e-01 -1.67005496e-02 5.78618428e+01] [ 4.26182117e-01 9.04607794e-01 -7.31721875e-03 1.12715042e+01] [ 1.82263726e-02 -4.99389591e-04 9.99833761e-01 1.12739292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.89, Y:11.28, Z:1.13 [[ 9.03376765e-01 -4.28521447e-01 -1.67268996e-02 5.78884634e+01] [ 4.28459073e-01 9.03531446e-01 -7.33138876e-03 1.12819454e+01] [ 1.82549371e-02 -5.43785622e-04 9.99833217e-01 1.12748211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.91, Y:11.29, Z:1.13 [[ 9.02921165e-01 -4.29470640e-01 -1.69805520e-02 5.79147832e+01] [ 4.29406417e-01 9.03080643e-01 -7.44852274e-03 1.12926545e+01] [ 1.85337296e-02 -5.66129160e-04 9.99828075e-01 1.12771226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.94, Y:11.30, Z:1.13 [[ 9.02505776e-01 -4.30334963e-01 -1.71797441e-02 5.79414644e+01] [ 4.30269348e-01 9.02669083e-01 -7.53757627e-03 1.13049749e+01] [ 1.87513064e-02 -5.89211166e-04 9.99824005e-01 1.12754777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.97, Y:11.32, Z:1.13 [[ 9.02111091e-01 -4.31143025e-01 -1.76429106e-02 5.79676597e+01] [ 4.31073864e-01 9.02283388e-01 -7.74678052e-03 1.13169271e+01] [ 1.92588755e-02 -6.16941022e-04 9.99814340e-01 1.12744956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.99, Y:11.33, Z:1.13 [[ 9.01467883e-01 -4.32441468e-01 -1.87091575e-02 5.79940730e+01] [ 4.32363837e-01 9.01661753e-01 -8.22163005e-03 1.13260300e+01] [ 2.04247055e-02 -6.77627682e-04 9.99791164e-01 1.12710566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:11.34, Z:1.13 [[ 9.01180950e-01 -4.33014810e-01 -1.92631580e-02 5.80207993e+01] [ 4.32932592e-01 9.01386527e-01 -8.46755623e-03 1.13367147e+01] [ 2.10301284e-02 -7.08848559e-04 9.99778591e-01 1.12715413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:11.35, Z:1.13 [[ 9.00857042e-01 -4.33668677e-01 -1.96994432e-02 5.80470624e+01] [ 4.33582706e-01 9.01072105e-01 -8.66594189e-03 1.13484440e+01] [ 2.15087663e-02 -7.34563106e-04 9.99768390e-01 1.12717145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.07, Y:11.36, Z:1.13 [[ 9.00760300e-01 -4.33863317e-01 -1.98369480e-02 5.80730752e+01] [ 4.33776051e-01 9.00978399e-01 -8.73279127e-03 1.13579012e+01] [ 2.16614995e-02 -7.38641291e-04 9.99765089e-01 1.12714177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.10, Y:11.37, Z:1.13 [[ 9.00494972e-01 -4.34399885e-01 -2.01381792e-02 5.80993426e+01] [ 4.34310022e-01 9.00719802e-01 -8.86808447e-03 1.13696165e+01] [ 2.19911516e-02 -7.60547587e-04 9.99757876e-01 1.12730130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:11.38, Z:1.13 [[ 9.00390687e-01 -4.34599831e-01 -2.04840936e-02 5.81252226e+01] [ 4.34506754e-01 9.00623334e-01 -9.02720937e-03 1.13814554e+01] [ 2.23716763e-02 -7.72461780e-04 9.99749424e-01 1.12790225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:11.39, Z:1.13 [[ 9.00174112e-01 -4.35041516e-01 -2.06263654e-02 5.81507406e+01] [ 4.34947083e-01 9.00410056e-01 -9.09763195e-03 1.13933541e+01] [ 2.25300344e-02 -7.81924705e-04 9.99745861e-01 1.12870227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.18, Y:11.40, Z:1.13 [[ 9.00016743e-01 -4.35354327e-01 -2.08919144e-02 5.81764010e+01] [ 4.35257362e-01 9.00258841e-01 -9.22215614e-03 1.14030577e+01] [ 2.28230362e-02 -7.93264625e-04 9.99739206e-01 1.12978029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.20, Y:11.41, Z:1.13 [[ 8.99881049e-01 -4.35634791e-01 -2.08908053e-02 5.82015774e+01] [ 4.35537844e-01 9.00123154e-01 -9.22466793e-03 1.14143533e+01] [ 2.28228838e-02 -7.97632413e-04 9.99739206e-01 1.13034341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.23, Y:11.43, Z:1.13 [[ 8.99755421e-01 -4.35886733e-01 -2.10461139e-02 5.82274658e+01] [ 4.35788225e-01 9.00001173e-01 -9.30113192e-03 1.14252702e+01] [ 2.29957672e-02 -8.02904739e-04 9.99735240e-01 1.13118448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:11.44, Z:1.13 [[ 8.99494394e-01 -4.36437821e-01 -2.07813358e-02 5.82531268e+01] [ 4.36341763e-01 8.99734065e-01 -9.19117621e-03 1.14355355e+01] [ 2.27090527e-02 -8.00353234e-04 9.99741796e-01 1.13201938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.28, Y:11.45, Z:1.13 [[ 8.99332046e-01 -4.36763733e-01 -2.09597837e-02 5.82789031e+01] [ 4.36666052e-01 8.99575889e-01 -9.27251091e-03 1.14464206e+01] [ 2.29048125e-02 -8.13359769e-04 9.99737320e-01 1.13259841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:11.46, Z:1.13 [[ 8.99126093e-01 -4.37172211e-01 -2.12773864e-02 5.83042397e+01] [ 4.37071589e-01 8.99377431e-01 -9.41610738e-03 1.14577751e+01] [ 2.32528616e-02 -8.33473261e-04 9.99729268e-01 1.13267598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.33, Y:11.47, Z:1.13 [[ 8.98851066e-01 -4.37698258e-01 -2.20679961e-02 5.83306683e+01] [ 4.37589998e-01 8.99121502e-01 -9.77339396e-03 1.14679673e+01] [ 2.41196073e-02 -8.71908770e-04 9.99708700e-01 1.13275655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:11.48, Z:1.13 [[ 8.98589266e-01 -4.38232819e-01 -2.21207386e-02 5.83563661e+01] [ 4.38124125e-01 8.98861064e-01 -9.79996882e-03 1.14813555e+01] [ 2.41781386e-02 -8.85482436e-04 9.99707274e-01 1.13377670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.38, Y:11.49, Z:1.13 [[ 8.98259457e-01 -4.38893020e-01 -2.24246682e-02 5.83835015e+01] [ 4.38781343e-01 8.98538864e-01 -9.94193809e-03 1.14922944e+01] [ 2.45128831e-02 -9.09086132e-04 9.99699101e-01 1.13451659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.41, Y:11.50, Z:1.14 [[ 8.98092561e-01 -4.39232233e-01 -2.24676869e-02 5.84095674e+01] [ 4.39120052e-01 8.98373091e-01 -9.96839931e-03 1.15037651e+01] [ 2.45628076e-02 -9.13466541e-04 9.99697871e-01 1.13541349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:11.51, Z:1.14 [[ 8.98025479e-01 -4.39356507e-01 -2.27178136e-02 5.84342301e+01] [ 4.39241666e-01 8.98312314e-01 -1.00869450e-02 1.15137233e+01] [ 2.48394566e-02 -9.20276624e-04 9.99691030e-01 1.13590136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.46, Y:11.52, Z:1.14 [[ 8.98023012e-01 -4.39348079e-01 -2.29768392e-02 5.84595192e+01] [ 4.39230486e-01 8.98316429e-01 -1.02065044e-02 1.15247494e+01] [ 2.51246803e-02 -9.26452411e-04 9.99683896e-01 1.13636000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.49, Y:11.54, Z:1.14 [[ 8.98176252e-01 -4.39022577e-01 -2.32076860e-02 5.84852867e+01] [ 4.38902293e-01 8.98475560e-01 -1.03172538e-02 1.15372003e+01] [ 2.53810460e-02 -9.19194219e-04 9.99677427e-01 1.13696812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:11.55, Z:1.14 [[ 8.98436601e-01 -4.38476136e-01 -2.34595986e-02 5.85118939e+01] [ 4.38352853e-01 8.98742375e-01 -1.04365144e-02 1.15496790e+01] [ 2.56602978e-02 -9.07035488e-04 9.99670309e-01 1.13767159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:11.56, Z:1.14 [[ 8.99404357e-01 -4.36479864e-01 -2.36036329e-02 5.85369410e+01] [ 4.36354222e-01 8.99713624e-01 -1.05065405e-02 1.15622115e+01] [ 2.58224035e-02 -8.49916551e-04 9.99666185e-01 1.13802271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:11.57, Z:1.14 [[ 8.99860721e-01 -4.35530062e-01 -2.37539057e-02 5.85625278e+01] [ 4.35402390e-01 9.00173808e-01 -1.05770386e-02 1.15748448e+01] [ 2.59892620e-02 -8.24645733e-04 9.99661882e-01 1.13843193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:11.59, Z:1.14 [[ 9.01120303e-01 -4.32898091e-01 -2.41131084e-02 5.85873291e+01] [ 4.32765419e-01 9.01442551e-01 -1.07433187e-02 1.15881557e+01] [ 2.63873442e-02 -7.54296816e-04 9.99651509e-01 1.13895990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.61, Y:11.60, Z:1.14 [[ 9.01714251e-01 -4.31680165e-01 -2.37412025e-02 5.86134294e+01] [ 4.31551041e-01 9.02026462e-01 -1.05811123e-02 1.16014084e+01] [ 2.59828492e-02 -7.04400848e-04 9.99662141e-01 1.13964366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:11.62, Z:1.14 [[ 9.03006626e-01 -4.28967491e-01 -2.37891832e-02 5.86365537e+01] [ 4.28836713e-01 9.03319714e-01 -1.06097857e-02 1.16204689e+01] [ 2.60404913e-02 -6.20968366e-04 9.99660696e-01 1.14171690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:11.63, Z:1.14 [[ 9.03596300e-01 -4.27729969e-01 -2.36812222e-02 5.86626515e+01] [ 4.27599748e-01 9.03906379e-01 -1.05694616e-02 1.16338589e+01] [ 2.59264833e-02 -5.75558253e-04 9.99663687e-01 1.14240161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:11.65, Z:1.14 [[ 9.04206746e-01 -4.26445885e-01 -2.35386331e-02 5.86888036e+01] [ 4.26316594e-01 9.04512923e-01 -1.05134994e-02 1.16471991e+01] [ 2.57744364e-02 -5.28532828e-04 9.99667644e-01 1.14332000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:11.66, Z:1.14 [[ 9.04857531e-01 -4.25084481e-01 -2.31523693e-02 5.87139740e+01] [ 4.24958796e-01 9.05153555e-01 -1.03471729e-02 1.16594800e+01] [ 2.53548720e-02 -4.76085666e-04 9.99678400e-01 1.14415688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:11.67, Z:1.15 [[ 9.05959592e-01 -4.22753114e-01 -2.27381289e-02 5.87395351e+01] [ 4.22631066e-01 9.06244804e-01 -1.01655423e-02 1.16732173e+01] [ 2.49038258e-02 -4.00269081e-04 9.99689772e-01 1.14538468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:11.69, Z:1.15 [[ 9.06276952e-01 -4.22076434e-01 -2.26620943e-02 5.87654408e+01] [ 4.21954803e-01 9.06560171e-01 -1.01390412e-02 1.16870557e+01] [ 2.48240024e-02 -3.73600115e-04 9.99691767e-01 1.14632361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:11.70, Z:1.15 [[ 9.06585139e-01 -4.21395838e-01 -2.29985408e-02 5.87913687e+01] [ 4.21270171e-01 9.06876741e-01 -1.02966006e-02 1.16981643e+01] [ 2.51957863e-02 -3.53854122e-04 9.99682473e-01 1.14607062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.82, Y:11.71, Z:1.15 [[ 9.06961171e-01 -4.20558296e-01 -2.34979492e-02 5.88176203e+01] [ 4.20426729e-01 9.07265456e-01 -1.05241406e-02 1.17110886e+01] [ 2.57448922e-02 -3.34179046e-04 9.99668489e-01 1.14595393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:11.72, Z:1.15 [[ 9.06854043e-01 -4.20752465e-01 -2.41476384e-02 5.88429325e+01] [ 4.20613362e-01 9.07175422e-01 -1.08237014e-02 1.17223215e+01] [ 2.64602431e-02 -3.41301977e-04 9.99649808e-01 1.14591278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:11.73, Z:1.15 [[ 9.06731959e-01 -4.20994236e-01 -2.45154678e-02 5.88690031e+01] [ 4.20850695e-01 9.07063247e-01 -1.09981042e-02 1.17337309e+01] [ 2.68672182e-02 -3.45019129e-04 9.99638952e-01 1.14619967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:11.74, Z:1.15 [[ 9.06209961e-01 -4.22107694e-01 -2.46698313e-02 5.88953501e+01] [ 4.21962538e-01 9.06545617e-01 -1.10752484e-02 1.17430968e+01] [ 2.70392749e-02 -3.73244236e-04 9.99634302e-01 1.14626722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:11.75, Z:1.15 [[ 9.05672383e-01 -4.23276579e-01 -2.43817966e-02 5.89218281e+01] [ 4.23135107e-01 9.06000429e-01 -1.09500210e-02 1.17535553e+01] [ 2.67248056e-02 -3.99662496e-04 9.99642749e-01 1.14711972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:11.76, Z:1.15 [[ 9.04631698e-01 -4.25531317e-01 -2.37610978e-02 5.89492119e+01] [ 4.25397534e-01 9.04943588e-01 -1.06789750e-02 1.17622139e+01] [ 2.60466914e-02 -4.47373139e-04 9.99660627e-01 1.14899539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.98, Y:11.77, Z:1.15 [[ 9.03920639e-01 -4.27057066e-01 -2.34465283e-02 5.89764619e+01] [ 4.26927117e-01 9.04224548e-01 -1.05452815e-02 1.17730061e+01] [ 2.57043634e-02 -4.77861170e-04 9.99669474e-01 1.14995095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:11.78, Z:1.15 [[ 9.03335542e-01 -4.28303909e-01 -2.32520928e-02 5.90032044e+01] [ 4.28176324e-01 9.03634611e-01 -1.04654868e-02 1.17830871e+01] [ 2.54938048e-02 -5.02149413e-04 9.99674854e-01 1.15056163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:11.79, Z:1.15 [[ 9.02643029e-01 -4.29773697e-01 -2.30245729e-02 5.90299917e+01] [ 4.29648884e-01 9.02936480e-01 -1.03705969e-02 1.17933770e+01] [ 2.52467365e-02 -5.31535056e-04 9.99681109e-01 1.15130245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.922755096 meters Centerline goodness [0,1] 0.9999781745165656 Centerline is valid? [True, True] Translation: X:59.06, Y:11.80, Z:1.15 [[ 9.01845459e-01 -4.31482505e-01 -2.23073236e-02 5.90567916e+01] [ 4.31365695e-01 9.02121134e-01 -1.00546955e-02 1.18039903e+01] [ 2.44623333e-02 -5.54832675e-04 9.99700598e-01 1.15264853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:11.82, Z:1.15 [[ 9.01400127e-01 -4.32428498e-01 -2.19864875e-02 5.90831584e+01] [ 4.32315131e-01 9.01668051e-01 -9.91733026e-03 1.18155578e+01] [ 2.41130496e-02 -5.65608473e-04 9.99709078e-01 1.15318380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.11, Y:11.82, Z:1.15 [[ 9.01216052e-01 -4.32791844e-01 -2.23796139e-02 5.91093087e+01] [ 4.32674330e-01 9.01493696e-01 -1.01014784e-02 1.18247826e+01] [ 2.45469183e-02 -5.79469993e-04 9.99698511e-01 1.15341698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.13, Y:11.84, Z:1.15 [[ 9.01057594e-01 -4.33130248e-01 -2.22126299e-02 5.91340695e+01] [ 4.33014498e-01 9.01331155e-01 -1.00296599e-02 1.18392578e+01] [ 2.43650844e-02 -5.81089578e-04 9.99702958e-01 1.15423469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.16, Y:11.85, Z:1.15 [[ 9.00683670e-01 -4.33870437e-01 -2.29209499e-02 5.91601704e+01] [ 4.33747206e-01 9.00975066e-01 -1.03581810e-02 1.18505968e+01] [ 2.51453129e-02 -6.12453535e-04 9.99683619e-01 1.15404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.19, Y:11.86, Z:1.15 [[ 9.00611443e-01 -4.34004118e-01 -2.32261543e-02 5.91857806e+01] [ 4.33877449e-01 9.00910675e-01 -1.05031139e-02 1.18605647e+01] [ 2.54830850e-02 -6.18080049e-04 9.99675062e-01 1.15365708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:11.87, Z:1.15 [[ 9.00275995e-01 -4.34655346e-01 -2.40387966e-02 5.92117491e+01] [ 4.34519789e-01 9.00596636e-01 -1.08743737e-02 1.18699585e+01] [ 2.63758640e-02 -6.55395261e-04 9.99651882e-01 1.15329355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:11.88, Z:1.15 [[ 9.00101108e-01 -4.34990546e-01 -2.45197770e-02 5.92363427e+01] [ 4.34849517e-01 9.00434767e-01 -1.10963036e-02 1.18842439e+01] [ 2.69052468e-02 -6.74618048e-04 9.99637761e-01 1.15407985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.26, Y:11.90, Z:1.15 [[ 8.99897979e-01 -4.35392681e-01 -2.48362730e-02 5.92618814e+01] [ 4.35247884e-01 9.00240380e-01 -1.12489217e-02 1.18970634e+01] [ 2.72563140e-02 -6.87053296e-04 9.99628242e-01 1.15404340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:11.91, Z:1.15 [[ 8.99606921e-01 -4.36002856e-01 -2.46758314e-02 5.92870031e+01] [ 4.35859944e-01 8.99945014e-01 -1.11839529e-02 1.19094704e+01] [ 2.70831268e-02 -6.94045025e-04 9.99632944e-01 1.15419582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.31, Y:11.92, Z:1.15 [[ 8.99397244e-01 -4.36448029e-01 -2.44482089e-02 5.93119422e+01] [ 4.36307790e-01 8.99729200e-01 -1.10851286e-02 1.19221128e+01] [ 2.68348500e-02 -6.97009915e-04 9.99639638e-01 1.15482405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:11.93, Z:1.16 [[ 8.99083236e-01 -4.37109191e-01 -2.41845105e-02 5.93383734e+01] [ 4.36971970e-01 8.99408174e-01 -1.09742635e-02 1.19340452e+01] [ 2.65486979e-02 -7.01176804e-04 9.99647275e-01 1.15552525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.36, Y:11.94, Z:1.16 [[ 8.98491379e-01 -4.38345306e-01 -2.38040658e-02 5.93642373e+01] [ 4.38212628e-01 8.98806361e-01 -1.08082840e-02 1.19431938e+01] [ 2.61330063e-02 -7.20092223e-04 9.99658215e-01 1.15712982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.39, Y:11.96, Z:1.16 [[ 8.98109318e-01 -4.39146636e-01 -2.34496196e-02 5.93888928e+01] [ 4.39018073e-01 8.98415104e-01 -1.06504441e-02 1.19574569e+01] [ 2.57445992e-02 -7.29543717e-04 9.99668287e-01 1.15879536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:11.97, Z:1.16 [[ 8.97760468e-01 -4.39871592e-01 -2.32190746e-02 5.94148835e+01] [ 4.39745717e-01 8.98060373e-01 -1.05484602e-02 1.19678153e+01] [ 2.54920988e-02 -7.40498034e-04 9.99674749e-01 1.15947737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:11.98, Z:1.16 [[ 8.97165011e-01 -4.41091228e-01 -2.30970141e-02 5.94408191e+01] [ 4.40966985e-01 8.97461943e-01 -1.04966253e-02 1.19807337e+01] [ 2.53586605e-02 -7.67815739e-04 9.99678123e-01 1.15991991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.47, Y:12.00, Z:1.16 [[ 8.96860644e-01 -4.41681647e-01 -2.36285353e-02 5.94661767e+01] [ 4.41551621e-01 8.97171494e-01 -1.07459652e-02 1.19955065e+01] [ 2.59451440e-02 -7.95584822e-04 9.99663052e-01 1.16097106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:12.01, Z:1.16 [[ 8.96626553e-01 -4.42174753e-01 -2.32875936e-02 5.94918779e+01] [ 4.42048449e-01 8.96928570e-01 -1.05975769e-02 1.20059522e+01] [ 2.55732890e-02 -7.92175801e-04 9.99672636e-01 1.16136332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.52, Y:12.02, Z:1.16 [[ 8.96334989e-01 -4.42765913e-01 -2.32794750e-02 5.95167676e+01] [ 4.42639801e-01 8.96636881e-01 -1.05976239e-02 1.20201803e+01] [ 2.55655025e-02 -8.05401027e-04 9.99672825e-01 1.16243667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.54, Y:12.03, Z:1.16 [[ 8.95762598e-01 -4.43948338e-01 -2.27868460e-02 5.95417942e+01] [ 4.43827717e-01 8.96052012e-01 -1.03802390e-02 1.20313131e+01] [ 2.50264890e-02 -8.15203975e-04 9.99686456e-01 1.16349286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:12.04, Z:1.16 [[ 8.95326680e-01 -4.44850665e-01 -2.23163994e-02 5.95680402e+01] [ 4.44735132e-01 8.95604386e-01 -1.01708803e-02 1.20440306e+01] [ 2.45111880e-02 -8.18626328e-04 9.99699221e-01 1.16441487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.59, Y:12.06, Z:1.17 [[ 8.94851487e-01 -4.45815514e-01 -2.21211115e-02 5.95931612e+01] [ 4.45702133e-01 8.95124480e-01 -1.00882836e-02 1.20572348e+01] [ 2.42986618e-02 -8.31910990e-04 9.99704398e-01 1.16541338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:12.07, Z:1.17 [[ 8.94474753e-01 -4.46573751e-01 -2.20635790e-02 5.96192614e+01] [ 4.46461109e-01 8.94746426e-01 -1.00653581e-02 1.20703047e+01] [ 2.42362331e-02 -8.47321218e-04 9.99705900e-01 1.16580675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.64, Y:12.08, Z:1.17 [[ 8.94352010e-01 -4.46805123e-01 -2.23531948e-02 5.96448166e+01] [ 4.46689413e-01 8.94630899e-01 -1.02040962e-02 1.20826401e+01] [ 2.45571012e-02 -8.58881559e-04 9.99698060e-01 1.16603837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:12.10, Z:1.17 [[ 8.93917825e-01 -4.47667429e-01 -2.24676504e-02 5.96698037e+01] [ 4.47550717e-01 8.94199693e-01 -1.02598093e-02 1.20976959e+01] [ 2.46835486e-02 -8.83986641e-04 9.99694924e-01 1.16625502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:12.11, Z:1.17 [[ 8.93692385e-01 -4.48116732e-01 -2.24792499e-02 5.96953887e+01] [ 4.47999877e-01 8.93974609e-01 -1.02717675e-02 1.21083026e+01] [ 2.46988295e-02 -8.90900800e-04 9.99694540e-01 1.16655280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:12.12, Z:1.17 [[ 8.93503706e-01 -4.48493186e-01 -2.24719647e-02 5.97200132e+01] [ 4.48376460e-01 8.93785799e-01 -1.02710979e-02 1.21226600e+01] [ 2.46916403e-02 -8.98635892e-04 9.99694711e-01 1.16757466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:12.13, Z:1.17 [[ 8.92994816e-01 -4.49539222e-01 -2.17886822e-02 5.97456967e+01] [ 4.49429736e-01 8.93260143e-01 -9.96136075e-03 1.21331037e+01] [ 2.39409837e-02 -8.97038179e-04 9.99712971e-01 1.16859676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:12.15, Z:1.17 [[ 8.92751918e-01 -4.50012720e-01 -2.19673400e-02 5.97719663e+01] [ 4.49901493e-01 8.93021677e-01 -1.00464023e-02 1.21455710e+01] [ 2.41383196e-02 -9.14194115e-04 9.99708210e-01 1.16926428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:12.16, Z:1.17 [[ 8.92505128e-01 -4.50513289e-01 -2.17341611e-02 5.97972284e+01] [ 4.50404389e-01 8.92769257e-01 -9.94687330e-03 1.21590483e+01] [ 2.38847895e-02 -9.11526160e-04 9.99714302e-01 1.17013930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:12.17, Z:1.17 [[ 8.92362161e-01 -4.50796542e-01 -2.17313454e-02 5.98222495e+01] [ 4.50687577e-01 8.92626263e-01 -9.95302144e-03 1.21706834e+01] [ 2.38847573e-02 -9.12347690e-04 9.99714302e-01 1.17070134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:12.18, Z:1.17 [[ 8.92258540e-01 -4.51023608e-01 -2.12697793e-02 5.98473730e+01] [ 4.50919113e-01 8.92511574e-01 -9.74905006e-03 1.21814834e+01] [ 2.33805759e-02 -8.92276830e-04 9.99726239e-01 1.17129121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:12.20, Z:1.17 [[ 8.92639988e-01 -4.50283247e-01 -2.09487378e-02 5.98720160e+01] [ 4.50181592e-01 8.92885359e-01 -9.60572601e-03 1.21960903e+01] [ 2.30301188e-02 -8.56281004e-04 9.99734405e-01 1.17193450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:12.21, Z:1.17 [[ 8.92966453e-01 -4.49641685e-01 -2.08151009e-02 5.98974069e+01] [ 4.49541004e-01 8.93208636e-01 -9.55080828e-03 1.22085759e+01] [ 2.28866694e-02 -8.28689951e-04 9.99737722e-01 1.17225518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:12.22, Z:1.17 [[ 8.93293176e-01 -4.49004759e-01 -2.05433440e-02 5.99225410e+01] [ 4.48906467e-01 8.93529008e-01 -9.42848885e-03 1.22196911e+01] [ 2.25895101e-02 -7.99635209e-04 9.99744505e-01 1.17298040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:12.23, Z:1.17 [[ 8.94431305e-01 -4.46721675e-01 -2.07938637e-02 5.99468199e+01] [ 4.46620299e-01 8.94672669e-01 -9.54589409e-03 1.22332349e+01] [ 2.28680594e-02 -7.48815126e-04 9.99738211e-01 1.17358183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:12.25, Z:1.17 [[ 8.94936550e-01 -4.45721851e-01 -2.05086162e-02 5.99724261e+01] [ 4.45622915e-01 8.95171227e-01 -9.41761651e-03 1.22471632e+01] [ 2.25563606e-02 -7.10940102e-04 9.99745320e-01 1.17397845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:12.26, Z:1.17 [[ 8.96290590e-01 -4.42964453e-01 -2.11109384e-02 5.99966736e+01] [ 4.42858711e-01 8.96538937e-01 -9.70037460e-03 1.22639029e+01] [ 2.32236994e-02 -6.54808477e-04 9.99730079e-01 1.17351589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.02, Y:12.28, Z:1.17 [[ 8.96861705e-01 -4.41793035e-01 -2.14008465e-02 6.00218505e+01] [ 4.41683988e-01 8.97116779e-01 -9.83560378e-03 1.22755618e+01] [ 2.35443597e-02 -6.31234829e-04 9.99722594e-01 1.17341022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:12.29, Z:1.17 [[ 8.97509155e-01 -4.40469011e-01 -2.15491662e-02 6.00465629e+01] [ 4.40357994e-01 8.97767616e-01 -9.90679989e-03 1.22901839e+01] [ 2.37097819e-02 -5.97903987e-04 9.99718705e-01 1.17406769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:12.31, Z:1.18 [[ 8.98645851e-01 -4.38176722e-01 -2.08996288e-02 6.00705741e+01] [ 4.38071529e-01 8.98888700e-01 -9.61462186e-03 1.23075331e+01] [ 2.29993437e-02 -5.15392300e-04 9.99735347e-01 1.17559056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:12.32, Z:1.18 [[ 8.99063250e-01 -4.37319829e-01 -2.08959213e-02 6.00962728e+01] [ 4.37214287e-01 8.99305916e-01 -9.61961627e-03 1.23192915e+01] [ 2.29986746e-02 -4.87351870e-04 9.99735377e-01 1.17647068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:12.33, Z:1.18 [[ 8.99136478e-01 -4.37179072e-01 -2.06894639e-02 6.01212238e+01] [ 4.37075475e-01 8.99374357e-01 -9.52868635e-03 1.23332399e+01] [ 2.27733156e-02 -4.75267791e-04 9.99740541e-01 1.17759740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.15, Y:12.34, Z:1.18 [[ 8.99149849e-01 -4.37191159e-01 -1.98353041e-02 6.01454788e+01] [ 4.37095788e-01 8.99368494e-01 -9.14241032e-03 1.23444178e+01] [ 2.18362285e-02 -4.49531015e-04 9.99761460e-01 1.17835629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:12.36, Z:1.18 [[ 8.98844406e-01 -4.37827845e-01 -1.96344449e-02 6.01704451e+01] [ 4.37734472e-01 8.99058713e-01 -9.05333367e-03 1.23574902e+01] [ 2.16163203e-02 -4.57135061e-04 9.99766236e-01 1.17915006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:12.37, Z:1.18 [[ 8.98390502e-01 -4.38777693e-01 -1.92000408e-02 6.01966717e+01] [ 4.38688468e-01 8.98595528e-01 -8.86035965e-03 1.23695992e+01] [ 2.11407990e-02 -4.62773542e-04 9.99776401e-01 1.17994025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.22, Y:12.38, Z:1.18 [[ 8.97554155e-01 -4.40497798e-01 -1.89269272e-02 6.02239182e+01] [ 4.40411343e-01 8.97753557e-01 -8.74067652e-03 1.23776097e+01] [ 2.08419650e-02 -4.90402903e-04 9.99782662e-01 1.18034766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.25, Y:12.39, Z:1.18 [[ 8.96915191e-01 -4.41811234e-01 -1.86003557e-02 6.02489834e+01] [ 4.41727951e-01 8.97107895e-01 -8.59319858e-03 1.23917891e+01] [ 2.04830976e-02 -5.08926666e-04 9.99790070e-01 1.18116207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.28, Y:12.40, Z:1.18 [[ 8.96158737e-01 -4.43353711e-01 -1.83576718e-02 6.02752951e+01] [ 4.43272782e-01 8.96346587e-01 -8.48742513e-03 1.24009979e+01] [ 2.02177679e-02 -5.31376077e-04 9.99795459e-01 1.18189486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:12.41, Z:1.18 [[ 8.94650714e-01 -4.46390242e-01 -1.83262822e-02 6.03020322e+01] [ 4.46310180e-01 8.94838195e-01 -8.47511258e-03 1.24124061e+01] [ 2.01822648e-02 -5.96940768e-04 9.99796139e-01 1.18292472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:12.42, Z:1.18 [[ 8.93865738e-01 -4.47967595e-01 -1.81404315e-02 6.03285044e+01] [ 4.47889349e-01 8.94049578e-01 -8.39539057e-03 1.24228829e+01] [ 1.99793081e-02 -6.20554083e-04 9.99800201e-01 1.18339838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:12.43, Z:1.18 [[ 8.92978324e-01 -4.49720839e-01 -1.84629605e-02 6.03554210e+01] [ 4.49640113e-01 8.93168920e-01 -8.54691461e-03 1.24340271e+01] [ 2.03342681e-02 -6.69478148e-04 9.99793013e-01 1.18392220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.38, Y:12.44, Z:1.18 [[ 8.91487518e-01 -4.52633532e-01 -1.93103829e-02 6.03839757e+01] [ 4.52545762e-01 8.91696306e-01 -8.94598153e-03 1.24437301e+01] [ 2.12682484e-02 -7.63601088e-04 9.99773514e-01 1.18389575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.41, Y:12.46, Z:1.18 [[ 8.90704019e-01 -4.54154393e-01 -1.97518980e-02 6.04105509e+01] [ 4.54062809e-01 8.90922626e-01 -9.15638425e-03 1.24550891e+01] [ 2.17558250e-02 -8.12974034e-04 9.99762983e-01 1.18387032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.44, Y:12.47, Z:1.18 [[ 8.89888364e-01 -4.55726662e-01 -2.02955593e-02 6.04372627e+01] [ 4.55630218e-01 8.90119349e-01 -9.41539879e-03 1.24660092e+01] [ 2.23563183e-02 -8.68616284e-04 9.99749689e-01 1.18390897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.46, Y:12.48, Z:1.18 [[ 8.89192392e-01 -4.57076752e-01 -2.04385106e-02 6.04635176e+01] [ 4.56979145e-01 8.89426797e-01 -9.48857518e-03 1.24773614e+01] [ 2.25155661e-02 -9.02804243e-04 9.99746085e-01 1.18427787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.49, Y:12.49, Z:1.18 [[ 8.88247853e-01 -4.58885245e-01 -2.09781744e-02 6.04895421e+01] [ 4.58782765e-01 8.88495017e-01 -9.74572459e-03 1.24871774e+01] [ 2.31111726e-02 -9.67805890e-04 9.99732433e-01 1.18420771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.52, Y:12.50, Z:1.18 [[ 8.87881863e-01 -4.59563799e-01 -2.16081617e-02 6.05160384e+01] [ 4.59455194e-01 8.88144183e-01 -1.00416391e-02 1.24991545e+01] [ 2.38059369e-02 -1.01219292e-03 9.99716086e-01 1.18454964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:12.51, Z:1.19 [[ 8.87627808e-01 -4.60047157e-01 -2.17597611e-02 6.05423114e+01] [ 4.59936995e-01 8.87893890e-01 -1.01192807e-02 1.25110823e+01] [ 2.39757052e-02 -1.02596418e-03 9.99712015e-01 1.18545728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:12.52, Z:1.19 [[ 8.87585140e-01 -4.60135991e-01 -2.16214850e-02 6.05669721e+01] [ 4.60027078e-01 8.87847869e-01 -1.00622333e-02 1.25236389e+01] [ 2.38265850e-02 -1.01537978e-03 9.99715591e-01 1.18646858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.59, Y:12.54, Z:1.19 [[ 8.88151182e-01 -4.59064884e-01 -2.11402707e-02 6.05918541e+01] [ 4.58960280e-01 8.88402226e-01 -9.84611707e-03 1.25387472e+01] [ 2.33010701e-02 -9.57704041e-04 9.99728034e-01 1.18818493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:12.55, Z:1.19 [[ 8.88614707e-01 -4.58184837e-01 -2.07499075e-02 6.06176942e+01] [ 4.58083660e-01 8.88856471e-01 -9.67135237e-03 1.25519811e+01] [ 2.28749566e-02 -9.11087643e-04 9.99737919e-01 1.18928759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.64, Y:12.56, Z:1.19 [[ 8.89943113e-01 -4.55622184e-01 -2.02405593e-02 6.06421022e+01] [ 4.55525108e-01 8.90172879e-01 -9.44039770e-03 1.25649088e+01] [ 2.23188515e-02 -8.18666012e-04 9.99750568e-01 1.19053192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.67, Y:12.57, Z:1.19 [[ 8.90590691e-01 -4.54364685e-01 -2.00238182e-02 6.06691711e+01] [ 4.54269306e-01 8.90815430e-01 -9.34172311e-03 1.25726748e+01] [ 2.20820753e-02 -7.76554349e-04 9.99755860e-01 1.19107726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.69, Y:12.59, Z:1.19 [[ 8.92208897e-01 -4.51187069e-01 -1.98371338e-02 6.06925627e+01] [ 4.51092618e-01 8.92429131e-01 -9.25725609e-03 1.25921560e+01] [ 2.18799903e-02 -6.88978364e-04 9.99760367e-01 1.19235518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.72, Y:12.61, Z:1.19 [[ 8.92841897e-01 -4.49950953e-01 -1.94289981e-02 6.07182420e+01] [ 4.49859928e-01 8.93053039e-01 -9.07274064e-03 1.26061745e+01] [ 2.14334141e-02 -6.39804732e-04 9.99770073e-01 1.19330367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:12.62, Z:1.19 [[ 8.93551440e-01 -4.48550987e-01 -1.91790712e-02 6.07435840e+01] [ 4.48461831e-01 8.93757048e-01 -8.96245084e-03 1.26199110e+01] [ 2.11615462e-02 -5.92670530e-04 9.99775894e-01 1.19408408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:12.63, Z:1.19 [[ 8.94797778e-01 -4.46042143e-01 -1.95791351e-02 6.07690296e+01] [ 4.45948485e-01 8.95011797e-01 -9.15600261e-03 1.26307428e+01] [ 2.16075199e-02 -5.38514825e-04 9.99766385e-01 1.19391543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.79, Y:12.65, Z:1.19 [[ 8.95122118e-01 -4.45400569e-01 -1.93578706e-02 6.07939480e+01] [ 4.45308791e-01 8.95331262e-01 -9.05600274e-03 1.26467907e+01] [ 2.13652555e-02 -5.14001590e-04 9.99771605e-01 1.19486334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.82, Y:12.66, Z:1.20 [[ 8.95287625e-01 -4.45081563e-01 -1.90386852e-02 6.08198959e+01] [ 4.44992594e-01 8.95489899e-01 -8.91247827e-03 1.26596324e+01] [ 2.10157301e-02 -4.92842413e-04 9.99779024e-01 1.19555932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:12.67, Z:1.20 [[ 8.95252018e-01 -4.45167071e-01 -1.87110273e-02 6.08451400e+01] [ 4.45081029e-01 8.95447401e-01 -8.76524710e-03 1.26724268e+01] [ 2.06567401e-02 -4.80818126e-04 9.99786511e-01 1.19635208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.87, Y:12.69, Z:1.20 [[ 8.95134851e-01 -4.45409786e-01 -1.85396877e-02 6.08706824e+01] [ 4.45325218e-01 8.95326698e-01 -8.69216733e-03 1.26850182e+01] [ 2.04706537e-02 -4.75528550e-04 9.99790341e-01 1.19709312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:12.70, Z:1.20 [[ 8.94870867e-01 -4.45939138e-01 -1.85584667e-02 6.08959161e+01] [ 4.45854362e-01 8.95063156e-01 -8.70829746e-03 1.26966092e+01] [ 2.04943704e-02 -4.81571622e-04 9.99789852e-01 1.19741387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:12.71, Z:1.20 [[ 8.94425315e-01 -4.46830875e-01 -1.85882960e-02 6.09212399e+01] [ 4.46745870e-01 8.94618311e-01 -8.72955150e-03 1.27084937e+01] [ 2.05300631e-02 -4.96312618e-04 9.99789113e-01 1.19744901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:12.72, Z:1.20 [[ 8.94187234e-01 -4.47302488e-01 -1.86995862e-02 6.09471285e+01] [ 4.47216518e-01 8.94382595e-01 -8.78408960e-03 1.27198862e+01] [ 2.06537295e-02 -5.08143024e-04 9.99786560e-01 1.19779288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.97, Y:12.73, Z:1.20 [[ 8.93791522e-01 -4.48084005e-01 -1.89060492e-02 6.09732781e+01] [ 4.47996251e-01 8.93991299e-01 -8.88345173e-03 1.27327801e+01] [ 2.08823762e-02 -5.29885333e-04 9.99781799e-01 1.19780723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:12.74, Z:1.20 [[ 8.93310957e-01 -4.49013892e-01 -1.95463509e-02 6.09991723e+01] [ 4.48920173e-01 8.93524598e-01 -9.19085213e-03 1.27435889e+01] [ 2.15919656e-02 -5.64462315e-04 9.99766707e-01 1.19777976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.03, Y:12.76, Z:1.20 [[ 8.92899634e-01 -4.49807909e-01 -2.00770671e-02 6.10258021e+01] [ 4.49709170e-01 8.93125125e-01 -9.44318391e-03 1.27556504e+01] [ 2.21789518e-02 -5.97025706e-04 9.99753839e-01 1.19795815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.05, Y:12.77, Z:1.20 [[ 8.92675413e-01 -4.50227895e-01 -2.06264096e-02 6.10510889e+01] [ 4.50123627e-01 8.92913468e-01 -9.70874631e-03 1.27676652e+01] [ 2.27887473e-02 -6.17675162e-04 9.99740112e-01 1.19820702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:12.78, Z:1.20 [[ 8.92561295e-01 -4.50411338e-01 -2.15397346e-02 6.10762982e+01] [ 4.50297497e-01 8.92820930e-01 -1.01465084e-02 1.27783987e+01] [ 2.38012283e-02 -6.42907868e-04 9.99716504e-01 1.19776770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:12.79, Z:1.20 [[ 8.92577606e-01 -4.50370152e-01 -2.17242498e-02 6.11009511e+01] [ 4.50254246e-01 8.92841706e-01 -1.02373038e-02 1.27913068e+01] [ 2.40068923e-02 -6.43847567e-04 9.99711586e-01 1.19824594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:12.80, Z:1.20 [[ 8.92841882e-01 -4.49830339e-01 -2.20462865e-02 6.11257675e+01] [ 4.49710625e-01 8.93113804e-01 -1.03965018e-02 1.28031353e+01] [ 2.43665047e-02 -6.32017070e-04 9.99702893e-01 1.19838925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:12.82, Z:1.20 [[ 8.93385276e-01 -4.48745552e-01 -2.21399829e-02 6.11501413e+01] [ 4.48624402e-01 8.93659369e-01 -1.04440867e-02 1.28195535e+01] [ 2.44723405e-02 -6.01943308e-04 9.99700326e-01 1.19941478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.18, Y:12.83, Z:1.20 [[ 8.93682647e-01 -4.48161576e-01 -2.19665323e-02 6.11751909e+01] [ 4.48041978e-01 8.93952387e-01 -1.03689702e-02 1.28313011e+01] [ 2.42840080e-02 -5.75359905e-04 9.99704934e-01 1.20013942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:12.84, Z:1.20 [[ 8.94065839e-01 -4.47396273e-01 -2.19738496e-02 6.12011165e+01] [ 4.47276281e-01 8.94335659e-01 -1.03758401e-02 1.28449067e+01] [ 2.42941094e-02 -5.51697565e-04 9.99704702e-01 1.20122179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:12.86, Z:1.20 [[ 8.94873651e-01 -4.45773437e-01 -2.20724093e-02 6.12257012e+01] [ 4.45651688e-01 8.95145681e-01 -1.04299176e-02 1.28596734e+01] [ 2.44074021e-02 -5.03147976e-04 9.99701968e-01 1.20260610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.25, Y:12.87, Z:1.20 [[ 8.95159498e-01 -4.45212010e-01 -2.18114481e-02 6.12517065e+01] [ 4.45092775e-01 8.95425061e-01 -1.03141494e-02 1.28710208e+01] [ 2.41225005e-02 -4.75309203e-04 9.99708897e-01 1.20298536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:12.88, Z:1.20 [[ 8.95420670e-01 -4.44696873e-01 -2.15989828e-02 6.12771828e+01] [ 4.44579623e-01 8.95681020e-01 -1.02210640e-02 1.28837985e+01] [ 2.38910741e-02 -4.50315702e-04 9.99714466e-01 1.20369437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.30, Y:12.89, Z:1.20 [[ 8.95870830e-01 -4.43786366e-01 -2.16591245e-02 6.13028881e+01] [ 4.43668039e-01 8.96132515e-01 -1.02561093e-02 1.28934969e+01] [ 2.39609672e-02 -4.21312107e-04 9.99712806e-01 1.20416520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.33, Y:12.91, Z:1.21 [[ 8.95756936e-01 -4.43993379e-01 -2.21221877e-02 6.13271397e+01] [ 4.43869911e-01 8.96029962e-01 -1.04790142e-02 1.29080733e+01] [ 2.44747559e-02 -4.32723838e-04 9.99700355e-01 1.20555742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:12.92, Z:1.21 [[ 8.95634535e-01 -4.44245637e-01 -2.20134778e-02 6.13522034e+01] [ 4.44123271e-01 8.95904922e-01 -1.04351026e-02 1.29189960e+01] [ 2.43577319e-02 -4.30659449e-04 9.99703214e-01 1.20640934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.38, Y:12.93, Z:1.21 [[ 8.94816774e-01 -4.45908402e-01 -2.16480359e-02 6.13791909e+01] [ 4.45790455e-01 8.95078478e-01 -1.02658997e-02 1.29297077e+01] [ 2.39543419e-02 -4.64388523e-04 9.99712946e-01 1.20763743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:12.94, Z:1.21 [[ 8.94139786e-01 -4.47273418e-01 -2.14600224e-02 6.14053197e+01] [ 4.47157738e-01 8.94397143e-01 -1.01837066e-02 1.29414302e+01] [ 2.37486840e-02 -4.90357869e-04 9.99717840e-01 1.20887512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:12.95, Z:1.21 [[ 8.93484268e-01 -4.48594830e-01 -2.11787896e-02 6.14316430e+01] [ 4.48482371e-01 8.93735093e-01 -1.00572106e-02 1.29527942e+01] [ 2.34398401e-02 -5.12354310e-04 9.99725118e-01 1.21024243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:12.96, Z:1.21 [[ 8.93344661e-01 -4.48872914e-01 -2.11760006e-02 6.14564740e+01] [ 4.48760393e-01 8.93595459e-01 -1.00630796e-02 1.29647794e+01] [ 2.34398219e-02 -5.13151915e-04 9.99725118e-01 1.21080417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:12.98, Z:1.21 [[ 8.91884344e-01 -4.51774931e-01 -2.10173537e-02 6.14832318e+01] [ 4.51664710e-01 8.92131761e-01 -9.99556345e-03 1.29756477e+01] [ 2.32659938e-02 -5.77910436e-04 9.99729143e-01 1.21193457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:12.98, Z:1.21 [[ 8.91243383e-01 -4.53001937e-01 -2.17825063e-02 6.15101529e+01] [ 4.52883741e-01 8.91509312e-01 -1.03664781e-02 1.29829944e+01] [ 2.41153418e-02 -6.25887951e-04 9.99708987e-01 1.21205295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.54, Y:12.99, Z:1.21 [[ 8.89665255e-01 -4.56086445e-01 -2.19291642e-02 6.15364291e+01] [ 4.55967503e-01 8.89935194e-01 -1.04397199e-02 1.29942555e+01] [ 2.42769497e-02 -7.11130141e-04 9.99705018e-01 1.21307411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:13.00, Z:1.21 [[ 8.88786547e-01 -4.57776508e-01 -2.23415051e-02 6.15633416e+01] [ 4.57653414e-01 8.89066973e-01 -1.06428247e-02 1.30019721e+01] [ 2.47351294e-02 -7.65466676e-04 9.99693747e-01 1.21307559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.59, Y:13.02, Z:1.21 [[ 8.87966452e-01 -4.59339462e-01 -2.28656655e-02 6.15884729e+01] [ 4.59210970e-01 8.88260422e-01 -1.08953036e-02 1.30150991e+01] [ 2.53153086e-02 -8.25500353e-04 9.99679175e-01 1.21395316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.62, Y:13.02, Z:1.21 [[ 8.86702625e-01 -4.61753823e-01 -2.32779250e-02 6.16152039e+01] [ 4.61621403e-01 8.87007657e-01 -1.10948926e-02 1.30249890e+01] [ 2.57708068e-02 -9.07718034e-04 9.99667465e-01 1.21468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.64, Y:13.04, Z:1.22 [[ 8.86231926e-01 -4.62632187e-01 -2.37577737e-02 6.16408762e+01] [ 4.62494459e-01 8.86549806e-01 -1.13276757e-02 1.30357131e+01] [ 2.63029971e-02 -9.48890893e-04 9.99653566e-01 1.21547647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.67, Y:13.05, Z:1.22 [[ 8.85802012e-01 -4.63480448e-01 -2.32522948e-02 6.16664707e+01] [ 4.63348713e-01 8.86106637e-01 -1.10904692e-02 1.30486477e+01] [ 2.57442284e-02 -9.49960960e-04 9.99668111e-01 1.21673937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:13.06, Z:1.22 [[ 8.85582054e-01 -4.63897274e-01 -2.33183502e-02 6.16924211e+01] [ 4.63764721e-01 8.85888482e-01 -1.11301641e-02 1.30605204e+01] [ 2.58207106e-02 -9.57554605e-04 9.99666131e-01 1.21796093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:13.07, Z:1.22 [[ 8.85411714e-01 -4.64233961e-01 -2.30851868e-02 6.17171390e+01] [ 4.64103949e-01 8.85712101e-01 -1.10271616e-02 1.30709424e+01] [ 2.55660123e-02 -9.50348314e-04 9.99672684e-01 1.21968807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:13.08, Z:1.22 [[ 8.85458847e-01 -4.64152949e-01 -2.29056745e-02 6.17429625e+01] [ 4.64024765e-01 8.85754574e-01 -1.09477034e-02 1.30827217e+01] [ 2.53702148e-02 -9.35059411e-04 9.99677687e-01 1.22103007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:13.10, Z:1.22 [[ 8.86391261e-01 -4.62364397e-01 -2.30151554e-02 6.17684685e+01] [ 4.62234187e-01 8.86689567e-01 -1.10076717e-02 1.30969057e+01] [ 2.54968537e-02 -8.81287631e-04 9.99674514e-01 1.22238620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:13.11, Z:1.22 [[ 8.86916465e-01 -4.61358877e-01 -2.29601976e-02 6.17935968e+01] [ 4.61228759e-01 8.87213207e-01 -1.09889324e-02 1.31107279e+01] [ 2.54404320e-02 -8.43638394e-04 9.99675984e-01 1.22285571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.82, Y:13.13, Z:1.22 [[ 8.87930218e-01 -4.59397467e-01 -2.31061566e-02 6.18185765e+01] [ 4.59264848e-01 8.88230459e-01 -1.10657199e-02 1.31266709e+01] [ 2.56071558e-02 -7.86258379e-04 9.99671774e-01 1.22393816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:13.14, Z:1.22 [[ 8.90118403e-01 -4.55155068e-01 -2.28712409e-02 6.18426660e+01] [ 4.55023640e-01 8.90411948e-01 -1.09567393e-02 1.31431759e+01] [ 2.53518416e-02 -6.54160036e-04 9.99678376e-01 1.22469406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.87, Y:13.16, Z:1.23 [[ 8.91206504e-01 -4.53032718e-01 -2.26345622e-02 6.18669555e+01] [ 4.52903260e-01 8.91493698e-01 -1.08454622e-02 1.31568352e+01] [ 2.50919188e-02 -5.85720487e-04 9.99684977e-01 1.22545494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.89, Y:13.17, Z:1.23 [[ 8.92296032e-01 -4.50906979e-01 -2.21514839e-02 6.18922036e+01] [ 4.50782249e-01 8.92570801e-01 -1.06173934e-02 1.31718010e+01] [ 2.45592245e-02 -5.11637701e-04 9.99698246e-01 1.22690902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.282755096 meters Centerline goodness [0,1] 0.9999360191089595 Centerline is valid? [True, True] Translation: X:61.92, Y:13.19, Z:1.23 [[ 8.94749381e-01 -4.46092042e-01 -2.06260673e-02 6.19164299e+01] [ 4.45982484e-01 8.94987022e-01 -9.89216276e-03 1.31883668e+01] [ 2.28728777e-02 -3.47858250e-04 9.99738321e-01 1.22892744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:13.20, Z:1.23 [[ 8.95706827e-01 -4.44177352e-01 -2.03901811e-02 6.19408482e+01] [ 4.44069745e-01 8.95938834e-01 -9.78098021e-03 1.32011477e+01] [ 2.26128449e-02 -2.93771759e-04 9.99744254e-01 1.22980006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.97, Y:13.22, Z:1.23 [[ 8.96481612e-01 -4.42626266e-01 -2.00675931e-02 6.19653943e+01] [ 4.42521589e-01 8.96706154e-01 -9.62891958e-03 1.32170554e+01] [ 2.22567469e-02 -2.48193843e-04 9.99752257e-01 1.23062302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:13.23, Z:1.23 [[ 8.97861458e-01 -4.39830721e-01 -1.98428737e-02 6.19890049e+01] [ 4.39727551e-01 8.98080680e-01 -9.52748160e-03 1.32312312e+01] [ 2.20109806e-02 -1.71099734e-04 9.99757714e-01 1.23110790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.01, Y:13.24, Z:1.23 [[ 8.98376358e-01 -4.38788135e-01 -1.96186428e-02 6.20132359e+01] [ 4.38686985e-01 8.98590536e-01 -9.42215400e-03 1.32443422e+01] [ 2.17634561e-02 -1.41802857e-04 9.99763138e-01 1.23130684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43275509600001 meters Centerline goodness [0,1] 0.9999147630412547 Centerline is valid? [True, True] Translation: X:62.04, Y:13.26, Z:1.23 [[ 8.98665249e-01 -4.38206331e-01 -1.93902667e-02 6.20384713e+01] [ 4.38107334e-01 8.98874405e-01 -9.31491428e-03 1.32576440e+01] [ 2.15112689e-02 -1.24028302e-04 9.99768598e-01 1.23199126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46275509600001 meters Centerline goodness [0,1] 0.9998507048862157 Centerline is valid? [True, True] Translation: X:62.06, Y:13.27, Z:1.23 [[ 8.98334732e-01 -4.38886849e-01 -1.93143107e-02 6.20633672e+01] [ 4.38788630e-01 8.98542328e-01 -9.28560213e-03 1.32695267e+01] [ 2.14300543e-02 -1.33321016e-04 9.99770341e-01 1.23244262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.492755096 meters Centerline goodness [0,1] 0.9997211198112196 Centerline is valid? [True, True] Translation: X:62.09, Y:13.28, Z:1.23 [[ 8.97677231e-01 -4.40239871e-01 -1.90904406e-02 6.20888888e+01] [ 4.40144072e-01 8.97880188e-01 -9.18503637e-03 1.32815731e+01] [ 2.11845476e-02 -1.57346263e-04 9.99775570e-01 1.23277705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters Centerline goodness [0,1] 0.9993581102766544 Centerline is valid? [True, True] Translation: X:62.11, Y:13.29, Z:1.23 [[ 8.97214631e-01 -4.41170989e-01 -1.93407302e-02 6.21146138e+01] [ 4.41072718e-01 8.97423048e-01 -9.31289621e-03 1.32924865e+01] [ 2.14653967e-02 -1.75001706e-04 9.99769577e-01 1.23268283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.552755096 meters Centerline goodness [0,1] 0.998976065531806 Centerline is valid? [True, True] Translation: X:62.14, Y:13.30, Z:1.23 [[ 8.95374585e-01 -4.44883657e-01 -1.95674308e-02 6.21427085e+01] [ 4.44783895e-01 8.95588333e-01 -9.42471194e-03 1.33009301e+01] [ 2.17172631e-02 -2.64630545e-04 9.99764117e-01 1.23219105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters Centerline goodness [0,1] 0.9991868700917981 Centerline is valid? [True, True] Translation: X:62.17, Y:13.31, Z:1.23 [[ 8.94127114e-01 -4.47376530e-01 -1.97723361e-02 6.21695128e+01] [ 4.47275133e-01 8.94345647e-01 -9.52991083e-03 1.33094080e+01] [ 2.19467612e-02 -3.22722587e-04 9.99759089e-01 1.23219517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.612755096 meters Centerline goodness [0,1] 0.9992494907258497 Centerline is valid? [True, True] Translation: X:62.20, Y:13.32, Z:1.23 [[ 8.92799909e-01 -4.50027135e-01 -1.95933581e-02 6.21955405e+01] [ 4.49928123e-01 8.93014800e-01 -9.44731066e-03 1.33213941e+01] [ 2.17487049e-02 -3.81044704e-04 9.99763396e-01 1.23274220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.642755096 meters Centerline goodness [0,1] 0.9994199411347671 Centerline is valid? [True, True] Translation: X:62.22, Y:13.33, Z:1.23 [[ 8.90024577e-01 -4.55465715e-01 -2.01800513e-02 6.22242083e+01] [ 4.55361926e-01 8.90253171e-01 -9.73692901e-03 1.33281172e+01] [ 2.24001920e-02 -5.23120904e-04 9.99748947e-01 1.23224175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.672755096 meters Centerline goodness [0,1] 0.9994639449364239 Centerline is valid? [True, True] Translation: X:62.25, Y:13.34, Z:1.23 [[ 8.88820198e-01 -4.57812157e-01 -2.01664306e-02 6.22511587e+01] [ 4.57709067e-01 8.89048757e-01 -9.73231118e-03 1.33384650e+01] [ 2.23845105e-02 -5.80083402e-04 9.99749267e-01 1.23248174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.702755096 meters Centerline goodness [0,1] 0.9992481687538934 Centerline is valid? [True, True] Translation: X:62.28, Y:13.35, Z:1.23 [[ 8.87305958e-01 -4.60730226e-01 -2.03910548e-02 6.22777280e+01] [ 4.60625444e-01 8.87539988e-01 -9.84736196e-03 1.33490708e+01] [ 2.26348539e-02 -6.55015750e-04 9.99743584e-01 1.23225161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.732755096 meters Centerline goodness [0,1] 0.9994196668457819 Centerline is valid? [True, True] Translation: X:62.30, Y:13.36, Z:1.23 [[ 8.86698058e-01 -4.61894738e-01 -2.04891654e-02 6.23038551e+01] [ 4.61789160e-01 8.86934486e-01 -9.89890386e-03 1.33605536e+01] [ 2.27447990e-02 -6.84335647e-04 9.99741069e-01 1.23248791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.762755096 meters Centerline goodness [0,1] 0.9991396924400473 Centerline is valid? [True, True] Translation: X:62.33, Y:13.37, Z:1.23 [[ 8.86686405e-01 -4.61895139e-01 -2.09785453e-02 6.23289105e+01] [ 4.61784296e-01 8.86934270e-01 -1.01422638e-02 1.33698813e+01] [ 2.32912530e-02 -6.94555353e-04 9.99728481e-01 1.23198044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79275509600001 meters Centerline goodness [0,1] 0.9992917239010989 Centerline is valid? [True, True] Translation: X:62.36, Y:13.38, Z:1.23 [[ 8.86843844e-01 -4.61581419e-01 -2.12270901e-02 6.23550787e+01] [ 4.61467747e-01 8.87097580e-01 -1.02665513e-02 1.33830820e+01] [ 2.35693496e-02 -6.90789616e-04 9.99721966e-01 1.23255353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82275509600001 meters Centerline goodness [0,1] 0.9992261392949269 Centerline is valid? [True, True] Translation: X:62.38, Y:13.40, Z:1.23 [[ 8.87114035e-01 -4.61070414e-01 -2.10419180e-02 6.23813848e+01] [ 4.60958409e-01 8.87363303e-01 -1.01839978e-02 1.33959122e+01] [ 2.33673660e-02 -6.65081654e-04 9.99726725e-01 1.23307721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85275509600001 meters Centerline goodness [0,1] 0.9991175774272001 Centerline is valid? [True, True] Translation: X:62.41, Y:13.41, Z:1.23 [[ 8.87580053e-01 -4.60163013e-01 -2.12520756e-02 6.24073512e+01] [ 4.60048331e-01 8.87834213e-01 -1.02928527e-02 1.34094321e+01] [ 2.36047100e-02 -6.41251148e-04 9.99721164e-01 1.23363312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters Centerline goodness [0,1] 0.9992704019227056 Centerline is valid? [True, True] Translation: X:62.43, Y:13.42, Z:1.23 [[ 8.88152052e-01 -4.59059953e-01 -2.12106537e-02 6.24329407e+01] [ 4.58945237e-01 8.88405085e-01 -1.02798529e-02 1.34216270e+01] [ 2.35627214e-02 -6.04456027e-04 9.99722178e-01 1.23408726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.912755096 meters Centerline goodness [0,1] 0.9991627847068673 Centerline is valid? [True, True] Translation: X:62.46, Y:13.44, Z:1.24 [[ 8.89198067e-01 -4.57051856e-01 -2.07460751e-02 6.24566784e+01] [ 4.56941408e-01 8.89439889e-01 -1.00614573e-02 1.34380922e+01] [ 2.30509945e-02 -5.33112448e-04 9.99734148e-01 1.23504720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters Centerline goodness [0,1] 0.999204386625094 Centerline is valid? [True, True] Translation: X:62.48, Y:13.45, Z:1.24 [[ 8.89486582e-01 -4.56517974e-01 -2.01236290e-02 6.24826550e+01] [ 4.56413776e-01 8.89714051e-01 -9.76592445e-03 1.34492876e+01] [ 2.23625955e-02 -4.98042731e-04 9.99749802e-01 1.23564894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.972755096 meters Centerline goodness [0,1] 0.9991827429726649 Centerline is valid? [True, True] Translation: X:62.51, Y:13.46, Z:1.24 [[ 8.90180225e-01 -4.55190822e-01 -1.95059659e-02 6.25080214e+01] [ 4.55092549e-01 8.90393798e-01 -9.46872492e-03 1.34634902e+01] [ 2.16780677e-02 -4.48148050e-04 9.99764903e-01 1.23702427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters Centerline goodness [0,1] 0.9992685340561938 Centerline is valid? [True, True] Translation: X:62.53, Y:13.47, Z:1.24 [[ 8.90320126e-01 -4.54943292e-01 -1.88858311e-02 6.25333392e+01] [ 4.54850985e-01 8.90520310e-01 -9.17383240e-03 1.34748009e+01] [ 2.09917896e-02 -4.22591243e-04 9.99779559e-01 1.23806669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.032755096 meters Centerline goodness [0,1] 0.9992296004622397 Centerline is valid? [True, True] Translation: X:62.56, Y:13.49, Z:1.24 [[ 8.90349372e-01 -4.54907390e-01 -1.83646929e-02 6.25589435e+01] [ 4.54820033e-01 8.90538658e-01 -8.92394115e-03 1.34870719e+01] [ 2.04140357e-02 -4.07204812e-04 9.99791529e-01 1.23906036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.062755096 meters Centerline goodness [0,1] 0.9993988449234601 Centerline is valid? [True, True] Translation: X:62.59, Y:13.50, Z:1.24 [[ 8.90575776e-01 -4.54486891e-01 -1.77891566e-02 6.25852005e+01] [ 4.54404710e-01 8.90753345e-01 -8.65084665e-03 1.34996807e+01] [ 1.97774471e-02 -3.79242071e-04 9.99804335e-01 1.23973109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.092755096 meters Centerline goodness [0,1] 0.9992905666867314 Centerline is valid? [True, True] Translation: X:62.61, Y:13.51, Z:1.24 [[ 8.90554171e-01 -4.54522822e-01 -1.79519420e-02 6.26101055e+01] [ 4.54439017e-01 8.90735012e-01 -8.73606118e-03 1.35125447e+01] [ 1.99611625e-02 -3.78127165e-04 9.99800685e-01 1.24014967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.122755096 meters Centerline goodness [0,1] 0.9994409804343152 Centerline is valid? [True, True] Translation: X:62.64, Y:13.52, Z:1.24 [[ 8.90546500e-01 -4.54544244e-01 -1.77893599e-02 6.26357522e+01] [ 4.54461816e-01 8.90724084e-01 -8.66394267e-03 1.35221543e+01] [ 1.97835566e-02 -3.68941006e-04 9.99804218e-01 1.24062058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.152755096 meters Centerline goodness [0,1] 0.9994838265657261 Centerline is valid? [True, True] Translation: X:62.66, Y:13.54, Z:1.24 [[ 8.90527704e-01 -4.54590193e-01 -1.75546042e-02 6.26599680e+01] [ 4.54509847e-01 8.90700638e-01 -8.55412127e-03 1.35359863e+01] [ 1.95245168e-02 -3.61058502e-04 9.99809313e-01 1.24136744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18275509600001 meters Centerline goodness [0,1] 0.9995061198196263 Centerline is valid? [True, True] Translation: X:62.69, Y:13.55, Z:1.24 [[ 8.90350352e-01 -4.54935689e-01 -1.76002494e-02 6.26860575e+01] [ 4.54854851e-01 8.90524220e-01 -8.58356688e-03 1.35470129e+01] [ 1.95784193e-02 -3.63177024e-04 9.99808258e-01 1.24137422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21275509600001 meters Centerline goodness [0,1] 0.9995069773423935 Centerline is valid? [True, True] Translation: X:62.71, Y:13.56, Z:1.24 [[ 8.90091223e-01 -4.55442234e-01 -1.76064234e-02 6.27113435e+01] [ 4.55361397e-01 8.90265260e-01 -8.58869378e-03 1.35577668e+01] [ 1.95860410e-02 -3.72564600e-04 9.99808106e-01 1.24181430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters Centerline goodness [0,1] 0.9996758789083602 Centerline is valid? [True, True] Translation: X:62.74, Y:13.57, Z:1.24 [[ 8.89341328e-01 -4.56908397e-01 -1.75134231e-02 6.27387160e+01] [ 4.56828637e-01 8.89513663e-01 -8.54633683e-03 1.35679556e+01] [ 1.94833222e-02 -4.00022654e-04 9.99810102e-01 1.24241203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.272755096 meters Centerline goodness [0,1] 0.999699021820918 Centerline is valid? [True, True] Translation: X:62.76, Y:13.58, Z:1.24 [[ 8.88763221e-01 -4.58022666e-01 -1.77531699e-02 6.27649803e+01] [ 4.57940809e-01 8.88940413e-01 -8.66938119e-03 1.35790396e+01] [ 1.97522833e-02 -4.24873855e-04 9.99804814e-01 1.24277112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters Centerline goodness [0,1] 0.9996115918261658 Centerline is valid? [True, True] Translation: X:62.79, Y:13.59, Z:1.24 [[ 8.88187704e-01 -4.59150516e-01 -1.74185421e-02 6.27910696e+01] [ 4.59071818e-01 8.88358381e-01 -8.51187066e-03 1.35901873e+01] [ 1.93821376e-02 -4.36222923e-04 9.99812054e-01 1.24318337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.332755096 meters Centerline goodness [0,1] 0.9998488708493458 Centerline is valid? [True, True] Translation: X:62.82, Y:13.60, Z:1.24 [[ 8.87060475e-01 -4.61320666e-01 -1.75201620e-02 6.28178846e+01] [ 4.61241408e-01 8.87233345e-01 -8.56472399e-03 1.35991843e+01] [ 1.94955562e-02 -4.83596071e-04 9.99809827e-01 1.24373804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters Centerline goodness [0,1] 0.9996975915325629 Centerline is valid? [True, True] Translation: X:62.84, Y:13.61, Z:1.24 [[ 8.86599799e-01 -4.62200918e-01 -1.76382667e-02 6.28444736e+01] [ 4.62120701e-01 8.86775088e-01 -8.62555261e-03 1.36113255e+01] [ 1.96279138e-02 -5.03594942e-04 9.99807227e-01 1.24389354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.392755096 meters Centerline goodness [0,1] 0.9998485143586747 Centerline is valid? [True, True] Translation: X:62.87, Y:13.62, Z:1.24 [[ 8.86079025e-01 -4.63176006e-01 -1.82194723e-02 6.28718046e+01] [ 4.63090491e-01 8.86266156e-01 -8.91617514e-03 1.36222181e+01] [ 2.02770601e-02 -5.36828604e-04 9.99794255e-01 1.24368366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.422755096 meters Centerline goodness [0,1] 0.9998484520458973 Centerline is valid? [True, True] Translation: X:62.90, Y:13.63, Z:1.24 [[ 8.85967224e-01 -4.63376077e-01 -1.85658008e-02 6.28970652e+01] [ 4.63287191e-01 8.86161561e-01 -9.09207716e-03 1.36343134e+01] [ 2.06653501e-02 -5.46015350e-04 9.99786300e-01 1.24388730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.452755096 meters Centerline goodness [0,1] 0.9998700454840805 Centerline is valid? [True, True] Translation: X:62.92, Y:13.65, Z:1.24 [[ 8.85815197e-01 -4.63667857e-01 -1.85352080e-02 6.29219512e+01] [ 4.63579178e-01 8.86008928e-01 -9.08435701e-03 1.36465791e+01] [ 2.06344841e-02 -5.45474990e-04 9.99786938e-01 1.24455537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.482755096 meters Centerline goodness [0,1] 0.99978332466632 Centerline is valid? [True, True] Translation: X:62.95, Y:13.66, Z:1.25 [[ 8.85898331e-01 -4.63519357e-01 -1.82743781e-02 6.29476627e+01] [ 4.63432977e-01 8.86086636e-01 -8.96373794e-03 1.36581721e+01] [ 2.03475483e-02 -5.27988988e-04 9.99792828e-01 1.24543961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.512755096 meters Centerline goodness [0,1] 0.9998268623122538 Centerline is valid? [True, True] Translation: X:62.97, Y:13.67, Z:1.25 [[ 8.86390285e-01 -4.62571202e-01 -1.84430444e-02 6.29733702e+01] [ 4.62482968e-01 8.86581989e-01 -9.04877051e-03 1.36690249e+01] [ 2.05369716e-02 -5.08851637e-04 9.99788965e-01 1.24604723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54275509600001 meters Centerline goodness [0,1] 0.9998919923098525 Centerline is valid? [True, True] Translation: X:63.00, Y:13.68, Z:1.25 [[ 8.86741073e-01 -4.61882210e-01 -1.88439139e-02 6.29985248e+01] [ 4.61789893e-01 8.86941133e-01 -9.24779391e-03 1.36801166e+01] [ 2.09848338e-02 -5.01530289e-04 9.99779668e-01 1.24631388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57275509600001 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:63.02, Y:13.69, Z:1.25 [[ 8.87006667e-01 -4.61360437e-01 -1.91237790e-02 6.30242093e+01] [ 4.61265184e-01 8.87212659e-01 -9.38764537e-03 1.36933666e+01] [ 2.12979470e-02 -4.94229387e-04 9.99773051e-01 1.24690819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60275509600001 meters Centerline goodness [0,1] 0.9999349945828819 Centerline is valid? [True, True] Translation: X:63.05, Y:13.71, Z:1.25 [[ 8.87747527e-01 -4.59936099e-01 -1.90555325e-02 6.30500734e+01] [ 4.59841058e-01 8.87951902e-01 -9.36064494e-03 1.37050550e+01] [ 2.12256949e-02 -4.52626831e-04 9.99774607e-01 1.24716172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.632755096 meters Centerline goodness [0,1] 0.9999349945828819 Centerline is valid? [True, True] Translation: X:63.07, Y:13.72, Z:1.25 [[ 8.87606483e-01 -4.60208340e-01 -1.90529588e-02 6.30747483e+01] [ 4.60113250e-01 8.87810835e-01 -9.36588068e-03 1.37173779e+01] [ 2.12256797e-02 -4.53302389e-04 9.99774607e-01 1.24772344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters Centerline goodness [0,1] 0.9999783136710617 Centerline is valid? [True, True] Translation: X:63.10, Y:13.73, Z:1.25 [[ 8.87956220e-01 -4.59529410e-01 -1.91434889e-02 6.30999541e+01] [ 4.59433100e-01 8.88162448e-01 -9.41767573e-03 1.37316105e+01] [ 2.13302270e-02 -4.32668715e-04 9.99772391e-01 1.24838112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.692755096 meters Centerline goodness [0,1] 0.9999783362218371 Centerline is valid? [True, True] Translation: X:63.12, Y:13.74, Z:1.25 [[ 8.88831644e-01 -4.57824176e-01 -1.93735034e-02 6.31245339e+01] [ 4.57724992e-01 8.89042671e-01 -9.53732512e-03 1.37438837e+01] [ 2.15902893e-02 -3.90660321e-04 9.99766826e-01 1.24897819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.15, Y:13.76, Z:1.25 [[ 8.89034779e-01 -4.57428075e-01 -1.94092040e-02 6.31506227e+01] [ 4.57328374e-01 8.89246542e-01 -9.55749785e-03 1.37562254e+01] [ 2.16314354e-02 -3.79431709e-04 9.99765941e-01 1.24976333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:13.77, Z:1.25 [[ 8.88994417e-01 -4.57523952e-01 -1.89936797e-02 6.31759877e+01] [ 4.57428363e-01 8.89197221e-01 -9.35918307e-03 1.37687495e+01] [ 2.11711776e-02 -3.67986320e-04 9.99775798e-01 1.25071430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:13.78, Z:1.25 [[ 8.89111992e-01 -4.57308242e-01 -1.86825463e-02 6.32013933e+01] [ 4.57215564e-01 8.89308185e-01 -9.21301866e-03 1.37784188e+01] [ 2.08277307e-02 -3.50545551e-04 9.99783018e-01 1.25160345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:13.79, Z:1.25 [[ 8.89135798e-01 -4.57298447e-01 -1.77669086e-02 6.32260497e+01] [ 4.57214542e-01 8.89313230e-01 -8.76589678e-03 1.37911341e+01] [ 1.98089779e-02 -3.29216370e-04 9.99803729e-01 1.25301102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:13.80, Z:1.25 [[ 8.89090271e-01 -4.57392726e-01 -1.76177054e-02 6.32508302e+01] [ 4.57310110e-01 8.89264747e-01 -8.69901245e-03 1.38033472e+01] [ 1.96456694e-02 -3.22547469e-04 9.99806953e-01 1.25382420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:13.81, Z:1.25 [[ 8.89052637e-01 -4.57475668e-01 -1.73614979e-02 6.32753468e+01] [ 4.57395322e-01 8.89222084e-01 -8.57929163e-03 1.38149442e+01] [ 1.93630445e-02 -3.13626062e-04 9.99812469e-01 1.25438264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.30, Y:13.83, Z:1.25 [[ 8.88716856e-01 -4.58137486e-01 -1.70995249e-02 6.33009824e+01] [ 4.58059621e-01 8.88881286e-01 -8.45237961e-03 1.38270215e+01] [ 1.90717996e-02 -3.20829659e-04 9.99818065e-01 1.25490972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93275509600001 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:63.33, Y:13.84, Z:1.26 [[ 8.88528189e-01 -4.58506886e-01 -1.70027415e-02 6.33263643e+01] [ 4.58429839e-01 8.88690797e-01 -8.41128398e-03 1.38384200e+01] [ 1.89668115e-02 -3.20901116e-04 9.99820062e-01 1.25567416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.35, Y:13.85, Z:1.26 [[ 8.87953827e-01 -4.59627759e-01 -1.67428776e-02 6.33526418e+01] [ 4.59553213e-01 8.88111597e-01 -8.28465913e-03 1.38487369e+01] [ 1.86774030e-02 -3.37848401e-04 9.99825505e-01 1.25637700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.38, Y:13.86, Z:1.26 [[ 8.87519073e-01 -4.60456639e-01 -1.70169846e-02 6.33787603e+01] [ 4.60379746e-01 8.87682125e-01 -8.42230083e-03 1.38599219e+01] [ 1.89837774e-02 -3.59322439e-04 9.99819727e-01 1.25718325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:13.87, Z:1.26 [[ 8.87118357e-01 -4.61227524e-01 -1.70350074e-02 6.34050770e+01] [ 4.61150578e-01 8.87281821e-01 -8.43291431e-03 1.38717376e+01] [ 1.90043446e-02 -3.74710424e-04 9.99819331e-01 1.25788622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:13.89, Z:1.26 [[ 8.86531181e-01 -4.62336921e-01 -1.75224698e-02 6.34307028e+01] [ 4.62255611e-01 8.86704239e-01 -8.67998858e-03 1.38860174e+01] [ 1.95503275e-02 -4.04779470e-04 9.99808792e-01 1.25700966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:13.90, Z:1.26 [[ 8.86382685e-01 -4.62612500e-01 -1.77597834e-02 6.34564926e+01] [ 4.62528905e-01 8.86560492e-01 -8.80375987e-03 1.38952736e+01] [ 1.98178517e-02 -4.10912859e-04 9.99803523e-01 1.25726431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.48, Y:13.91, Z:1.26 [[ 8.86274890e-01 -4.62806151e-01 -1.80910290e-02 6.34815313e+01] [ 4.62719350e-01 8.86459413e-01 -8.97284584e-03 1.39078225e+01] [ 2.01896512e-02 -4.18661198e-04 9.99796081e-01 1.25725800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.51, Y:13.92, Z:1.26 [[ 8.86993468e-01 -4.61406619e-01 -1.86150328e-02 6.35070280e+01] [ 4.61314267e-01 8.87188694e-01 -9.23956873e-03 1.39220108e+01] [ 2.07782448e-02 -3.91943086e-04 9.99784032e-01 1.25705242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.53, Y:13.94, Z:1.26 [[ 8.87449111e-01 -4.60502600e-01 -1.92725472e-02 6.35312008e+01] [ 4.60403259e-01 8.87658274e-01 -9.57219078e-03 1.39379038e+01] [ 2.15154548e-02 -3.78311357e-04 9.99768444e-01 1.25733855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.55, Y:13.95, Z:1.26 [[ 8.89528295e-01 -4.56440660e-01 -2.00333601e-02 6.35542102e+01] [ 4.56332140e-01 8.89753810e-01 -9.95666011e-03 1.39544623e+01] [ 2.23693830e-02 -2.85135214e-04 9.99749733e-01 1.25703523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:13.97, Z:1.26 [[ 8.90726904e-01 -4.54102249e-01 -1.99180988e-02 6.35777235e+01] [ 4.53994331e-01 8.90949548e-01 -9.90202856e-03 1.39713933e+01] [ 2.22425546e-02 -2.22700688e-04 9.99752579e-01 1.25732060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.60, Y:13.99, Z:1.26 [[ 8.91768609e-01 -4.52043153e-01 -2.01428753e-02 6.36015698e+01] [ 4.51932118e-01 8.91996054e-01 -1.00199937e-02 1.39888250e+01] [ 2.24968348e-02 -1.67696448e-04 9.99746900e-01 1.25769003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:14.01, Z:1.26 [[ 8.93866660e-01 -4.47853405e-01 -2.07297064e-02 6.36244232e+01] [ 4.47734525e-01 8.94106998e-01 -1.03184784e-02 1.40064416e+01] [ 2.31557412e-02 -5.80614338e-05 9.99731868e-01 1.25816307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.65, Y:14.02, Z:1.26 [[ 8.94652603e-01 -4.46296006e-01 -2.04106746e-02 6.36484756e+01] [ 4.46180285e-01 8.94885398e-01 -1.01626093e-02 1.40211986e+01] [ 2.28007466e-02 -1.48357181e-05 9.99740029e-01 1.25897740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.67, Y:14.04, Z:1.26 [[ 8.95229378e-01 -4.45128390e-01 -2.06174182e-02 6.36725908e+01] [ 4.45009821e-01 8.95466759e-01 -1.02734505e-02 1.40352038e+01] [ 2.30352171e-02 2.21411045e-05 9.99734654e-01 1.25946590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.70, Y:14.05, Z:1.26 [[ 8.95717982e-01 -4.44141140e-01 -2.06868115e-02 6.36962341e+01] [ 4.44021338e-01 8.95956832e-01 -1.03153448e-02 1.40487114e+01] [ 2.31159591e-02 5.42541023e-05 9.99732789e-01 1.26028287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.412755096 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:63.72, Y:14.06, Z:1.26 [[ 8.96071096e-01 -4.43457322e-01 -2.00547772e-02 6.37188753e+01] [ 4.43344487e-01 8.96295486e-01 -1.00033701e-02 1.40630907e+01] [ 2.24110740e-02 7.25558949e-05 9.99748838e-01 1.26137095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:14.08, Z:1.26 [[ 8.95765867e-01 -4.44105940e-01 -1.93242246e-02 6.37437483e+01] [ 4.44001258e-01 8.95974280e-01 -9.64220925e-03 1.40763522e+01] [ 2.15961706e-02 5.71818964e-05 9.99766774e-01 1.26243000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:14.09, Z:1.26 [[ 8.95169450e-01 -4.45313272e-01 -1.91766956e-02 6.37685314e+01] [ 4.45210309e-01 8.95374831e-01 -9.57559992e-03 1.40886467e+01] [ 2.14344723e-02 3.41219287e-05 9.99770255e-01 1.26336030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.79, Y:14.10, Z:1.26 [[ 8.93781099e-01 -4.48122127e-01 -1.84907271e-02 6.37948660e+01] [ 4.48026865e-01 8.93972348e-01 -9.23959283e-03 1.40987151e+01] [ 2.06706647e-02 -2.61690715e-05 9.99786339e-01 1.26477164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.82, Y:14.11, Z:1.27 [[ 8.92734640e-01 -4.50194947e-01 -1.86914777e-02 6.38205877e+01] [ 4.50097906e-01 8.92930291e-01 -9.34718525e-03 1.41094599e+01] [ 2.08982422e-02 -6.84389227e-05 9.99781606e-01 1.26532758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.85, Y:14.12, Z:1.27 [[ 8.91715558e-01 -4.52214176e-01 -1.85930555e-02 6.38473308e+01] [ 4.52118446e-01 8.91909372e-01 -9.30502389e-03 1.41193110e+01] [ 2.07911842e-02 -1.08828798e-04 9.99783834e-01 1.26587282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.87, Y:14.13, Z:1.27 [[ 8.89536093e-01 -4.56487760e-01 -1.85597517e-02 6.38746719e+01] [ 4.56393254e-01 8.89729668e-01 -9.29058476e-03 1.41281196e+01] [ 2.07541999e-02 -2.06234988e-04 9.99784587e-01 1.26658580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.90, Y:14.14, Z:1.27 [[ 8.88657965e-01 -4.58193273e-01 -1.85996314e-02 6.39004548e+01] [ 4.58098665e-01 8.88852555e-01 -9.31383869e-03 1.41381355e+01] [ 2.07998682e-02 -2.43649402e-04 9.99783630e-01 1.26674019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.93, Y:14.15, Z:1.27 [[ 8.87653715e-01 -4.60130729e-01 -1.87241661e-02 6.39269617e+01] [ 4.60035232e-01 8.87851130e-01 -9.37851393e-03 1.41499782e+01] [ 2.09396144e-02 -2.88903354e-04 9.99780700e-01 1.26657963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.95, Y:14.16, Z:1.27 [[ 8.86285622e-01 -4.62754154e-01 -1.88782462e-02 6.39531803e+01] [ 4.62657541e-01 8.86486588e-01 -9.46193384e-03 1.41613805e+01] [ 2.11138612e-02 -3.48187020e-04 9.99777017e-01 1.26641410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:14.17, Z:1.27 [[ 8.85789395e-01 -4.63695924e-01 -1.90588035e-02 6.39788014e+01] [ 4.63597536e-01 8.85994331e-01 -9.55876876e-03 1.41718480e+01] [ 2.13183540e-02 -3.68558335e-04 9.99772670e-01 1.26658044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:14.18, Z:1.27 [[ 8.84908663e-01 -4.65347699e-01 -1.97022025e-02 6.40054208e+01] [ 4.65242904e-01 8.85127868e-01 -9.88418747e-03 1.41830793e+01] [ 2.20385524e-02 -4.19706782e-04 9.99757034e-01 1.26621161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:14.19, Z:1.27 [[ 8.84561198e-01 -4.65983853e-01 -2.02616955e-02 6.40305840e+01] [ 4.65873042e-01 8.84793113e-01 -1.01712906e-02 1.41941006e+01] [ 2.26670658e-02 -4.42248662e-04 9.99742971e-01 1.26610167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:14.21, Z:1.27 [[ 8.84039739e-01 -4.66964972e-01 -2.04316984e-02 6.40567848e+01] [ 4.66852468e-01 8.84275690e-01 -1.02604865e-02 1.42062714e+01] [ 2.28585420e-02 -4.67910977e-04 9.99738600e-01 1.26646848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:14.22, Z:1.27 [[ 8.83710248e-01 -4.67565977e-01 -2.09345293e-02 6.40812689e+01] [ 4.67447873e-01 8.83958041e-01 -1.05199160e-02 1.42210006e+01] [ 2.34240003e-02 -4.89243672e-04 9.99725501e-01 1.26717319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:14.23, Z:1.27 [[ 8.84112278e-01 -4.66799580e-01 -2.10625533e-02 6.41059553e+01] [ 4.66679651e-01 8.84363011e-01 -1.05909481e-02 1.42338560e+01] [ 2.35707931e-02 -4.65877749e-04 9.99722062e-01 1.26787929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:14.25, Z:1.27 [[ 8.85174881e-01 -4.64804102e-01 -2.05567017e-02 6.41292478e+01] [ 4.64689270e-01 8.85413455e-01 -1.03390435e-02 1.42488469e+01] [ 2.30068101e-02 -4.00617089e-04 9.99735228e-01 1.26891596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:14.26, Z:1.27 [[ 8.85501417e-01 -4.64161768e-01 -2.10022273e-02 6.41539408e+01] [ 4.64041664e-01 8.85750360e-01 -1.05656577e-02 1.42611276e+01] [ 2.35069047e-02 -3.90003623e-04 9.99723598e-01 1.26896135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:14.28, Z:1.27 [[ 8.85622731e-01 -4.63908667e-01 -2.14738865e-02 6.41782729e+01] [ 4.63782951e-01 8.85882948e-01 -1.08063339e-02 1.42761602e+01] [ 2.40365018e-02 -3.88887475e-04 9.99711006e-01 1.26953601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:14.29, Z:1.27 [[ 8.85615430e-01 -4.63904877e-01 -2.18534975e-02 6.42020587e+01] [ 4.63774468e-01 8.85884933e-01 -1.10058609e-02 1.42902603e+01] [ 2.44653568e-02 -3.88133974e-04 9.99700603e-01 1.26999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:14.30, Z:1.27 [[ 8.85413267e-01 -4.64259613e-01 -2.25023833e-02 6.42270847e+01] [ 4.64121258e-01 8.85699074e-01 -1.13405618e-02 1.43020358e+01] [ 2.51953049e-02 -4.02750553e-04 9.99682467e-01 1.26994245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:14.31, Z:1.27 [[ 8.85059597e-01 -4.64935570e-01 -2.24594370e-02 6.42518088e+01] [ 4.64797864e-01 8.85344420e-01 -1.13227122e-02 1.43148589e+01] [ 2.51486689e-02 -4.17823312e-04 9.99683635e-01 1.27045862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:14.33, Z:1.27 [[ 8.84622116e-01 -4.65778859e-01 -2.22208634e-02 6.42768018e+01] [ 4.65644128e-01 8.84901051e-01 -1.12105418e-02 1.43286603e+01] [ 2.48848987e-02 -4.29921393e-04 9.99690231e-01 1.27158021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:14.34, Z:1.27 [[ 8.83686737e-01 -4.67559660e-01 -2.20389431e-02 6.43019223e+01] [ 4.67427518e-01 8.83961392e-01 -1.11253080e-02 1.43407659e+01] [ 2.46833201e-02 -4.70321358e-04 9.99695210e-01 1.27276301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.33, Y:14.35, Z:1.27 [[ 8.83245175e-01 -4.68420947e-01 -2.14424048e-02 6.43272019e+01] [ 4.68296052e-01 8.83505284e-01 -1.08268501e-02 1.43528099e+01] [ 2.40160013e-02 -4.78630400e-04 9.99711460e-01 1.27399237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.35, Y:14.37, Z:1.28 [[ 8.82387171e-01 -4.70056102e-01 -2.09795257e-02 6.43520773e+01] [ 4.69936908e-01 8.82636393e-01 -1.05971898e-02 1.43668791e+01] [ 2.34985666e-02 -5.08229083e-04 9.99723741e-01 1.27576104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:14.38, Z:1.28 [[ 8.81879954e-01 -4.71015208e-01 -2.07947081e-02 6.43776760e+01] [ 4.70898220e-01 8.82124934e-01 -1.05103289e-02 1.43786973e+01] [ 2.32940553e-02 -5.23342699e-04 9.99728520e-01 1.27630869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:14.39, Z:1.28 [[ 8.81503253e-01 -4.71716162e-01 -2.08776711e-02 6.44031770e+01] [ 4.71598375e-01 8.81750287e-01 -1.05547878e-02 1.43902702e+01] [ 2.33877565e-02 -5.41795934e-04 9.99726322e-01 1.27666022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.43, Y:14.40, Z:1.28 [[ 8.80767397e-01 -4.73103285e-01 -2.05444646e-02 6.44284658e+01] [ 4.72989547e-01 8.81006788e-01 -1.03888400e-02 1.44024819e+01] [ 2.30148071e-02 -5.67165449e-04 9.99734963e-01 1.27730912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.45, Y:14.42, Z:1.28 [[ 8.80456983e-01 -4.73682445e-01 -2.05047020e-02 6.44529306e+01] [ 4.73569215e-01 8.80695525e-01 -1.03725998e-02 1.44175497e+01] [ 2.29717177e-02 -5.77767675e-04 9.99735948e-01 1.27822971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.48, Y:14.43, Z:1.28 [[ 8.80269854e-01 -4.74015880e-01 -2.08309647e-02 6.44769173e+01] [ 4.73898950e-01 8.80516097e-01 -1.05445560e-02 1.44311606e+01] [ 2.33402867e-02 -5.89717481e-04 9.99727404e-01 1.27874784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.50, Y:14.44, Z:1.28 [[ 8.80339451e-01 -4.73890496e-01 -2.07424503e-02 6.45029195e+01] [ 4.73774404e-01 8.80583592e-01 -1.05048463e-02 1.44418091e+01] [ 2.32436082e-02 -5.79411461e-04 9.99729663e-01 1.27864922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.53, Y:14.46, Z:1.28 [[ 8.80230398e-01 -4.74070797e-01 -2.12444165e-02 6.45267330e+01] [ 4.73948990e-01 8.80486527e-01 -1.07624258e-02 1.44574031e+01] [ 2.38075743e-02 -5.95355420e-04 9.99716382e-01 1.27949734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.55, Y:14.47, Z:1.28 [[ 8.80501986e-01 -4.73547559e-01 -2.16555335e-02 6.45507686e+01] [ 4.73420654e-01 8.80768055e-01 -1.09780774e-02 1.44713962e+01] [ 2.42721439e-02 -5.85957862e-04 9.99705216e-01 1.27961089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.58, Y:14.49, Z:1.28 [[ 8.80639907e-01 -4.73297468e-01 -2.15142041e-02 6.45765546e+01] [ 4.73172063e-01 8.80902480e-01 -1.09096040e-02 1.44852729e+01] [ 2.41154037e-02 -5.72487719e-04 9.99709017e-01 1.28047571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:14.50, Z:1.28 [[ 8.81208098e-01 -4.72258173e-01 -2.10833229e-02 6.46018777e+01] [ 4.72137285e-01 8.81460118e-01 -1.06978267e-02 1.44998423e+01] [ 2.36362444e-02 -5.27211317e-04 9.99720486e-01 1.28224400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.63, Y:14.51, Z:1.28 [[ 8.81569470e-01 -4.71583426e-01 -2.10793922e-02 6.46270072e+01] [ 4.71462231e-01 8.81821308e-01 -1.07026153e-02 1.45139160e+01] [ 2.36354332e-02 -5.03038376e-04 9.99720518e-01 1.28293348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.65, Y:14.53, Z:1.28 [[ 8.81432068e-01 -4.71840318e-01 -2.10766130e-02 6.46515054e+01] [ 4.71719065e-01 8.81683878e-01 -1.07080859e-02 1.45265705e+01] [ 2.36354165e-02 -5.03789870e-04 9.99720518e-01 1.28349522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.68, Y:14.54, Z:1.28 [[ 8.82015882e-01 -4.70749619e-01 -2.10423545e-02 6.46762337e+01] [ 4.70628271e-01 8.82266727e-01 -1.06982521e-02 1.45409389e+01] [ 2.36011674e-02 -4.67098654e-04 9.99721345e-01 1.28404305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.70, Y:14.56, Z:1.28 [[ 8.83317489e-01 -4.68308473e-01 -2.09138298e-02 6.46995450e+01] [ 4.68187761e-01 8.83564949e-01 -1.06396035e-02 1.45590459e+01] [ 2.34613434e-02 -3.93451343e-04 9.99724667e-01 1.28461436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.72, Y:14.57, Z:1.29 [[ 8.84090231e-01 -4.66818506e-01 -2.15625959e-02 6.47239723e+01] [ 4.66689564e-01 8.84353071e-01 -1.09771059e-02 1.45742675e+01] [ 2.41932641e-02 -3.58286390e-04 9.99707236e-01 1.28515613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.75, Y:14.59, Z:1.29 [[ 8.84751680e-01 -4.65549479e-01 -2.18665630e-02 6.47486264e+01] [ 4.65416302e-01 8.85021796e-01 -1.11394196e-02 1.45892935e+01] [ 2.45383358e-02 -3.21434677e-04 9.99698838e-01 1.28561480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.77, Y:14.60, Z:1.29 [[ 8.85527193e-01 -4.64063740e-01 -2.20552782e-02 6.47728670e+01] [ 4.63927625e-01 8.85801766e-01 -1.12423419e-02 1.46033490e+01] [ 2.47537676e-02 -2.76653387e-04 9.99693540e-01 1.28572442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.80, Y:14.62, Z:1.29 [[ 8.87051131e-01 -4.61130888e-01 -2.23292479e-02 6.47966839e+01] [ 4.60990348e-01 8.87332106e-01 -1.13856222e-02 1.46192268e+01] [ 2.50637207e-02 -1.93938705e-04 9.99685837e-01 1.28591033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.82, Y:14.63, Z:1.29 [[ 8.87714391e-01 -4.59849653e-01 -2.23932227e-02 6.48211323e+01] [ 4.59707704e-01 8.87996776e-01 -1.14259580e-02 1.46338647e+01] [ 2.51393324e-02 -1.51349666e-04 9.99683946e-01 1.28635924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.762755096 meters Centerline goodness [0,1] 0.9999350508768131 Centerline is valid? [True, True] Translation: X:64.84, Y:14.65, Z:1.29 [[ 8.88313599e-01 -4.58688288e-01 -2.24500437e-02 6.48448986e+01] [ 4.58545031e-01 8.88597233e-01 -1.14635296e-02 1.46481706e+01] [ 2.52072335e-02 -1.11146736e-04 9.99682241e-01 1.28702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.87, Y:14.66, Z:1.29 [[ 8.89187990e-01 -4.56996645e-01 -2.23335140e-02 6.48692264e+01] [ 4.56854150e-01 8.89468416e-01 -1.14114995e-02 1.46624207e+01] [ 2.50799723e-02 -5.61902456e-05 9.99685446e-01 1.28772821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.89, Y:14.68, Z:1.29 [[ 8.89305021e-01 -4.56780266e-01 -2.20990445e-02 6.48939225e+01] [ 4.56640591e-01 8.89579556e-01 -1.12953212e-02 1.46750358e+01] [ 2.48183380e-02 -4.63349211e-05 9.99691977e-01 1.28875258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.92, Y:14.69, Z:1.29 [[ 8.89193636e-01 -4.57018127e-01 -2.16589100e-02 6.49196311e+01] [ 4.56883835e-01 8.89457379e-01 -1.10784404e-02 1.46870891e+01] [ 2.43277254e-02 -4.47271211e-05 9.99704036e-01 1.28980174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:14.70, Z:1.29 [[ 8.88968450e-01 -4.57472547e-01 -2.13064121e-02 6.49448891e+01] [ 4.57342526e-01 8.89223744e-01 -1.09062826e-02 1.46991776e+01] [ 2.39354924e-02 -4.89871662e-05 9.99713504e-01 1.29096126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:14.71, Z:1.29 [[ 8.88664338e-01 -4.58068587e-01 -2.11864130e-02 6.49691161e+01] [ 4.57940014e-01 8.88916850e-01 -1.08525142e-02 1.47105917e+01] [ 2.38041553e-02 -5.78639373e-05 9.99716639e-01 1.29157034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.00, Y:14.72, Z:1.29 [[ 8.87902959e-01 -4.59536642e-01 -2.13168896e-02 6.49953853e+01] [ 4.59406798e-01 8.88158807e-01 -1.09237197e-02 1.47212351e+01] [ 2.39526326e-02 -9.39209755e-05 9.99713090e-01 1.29258358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:14.73, Z:1.29 [[ 8.87347986e-01 -4.60619462e-01 -2.10538301e-02 6.50215019e+01] [ 4.60492913e-01 8.87597712e-01 -1.07971438e-02 1.47329024e+01] [ 2.36607060e-02 -1.14315724e-04 9.99720040e-01 1.29315731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:14.74, Z:1.29 [[ 8.86872201e-01 -4.61524355e-01 -2.12830708e-02 6.50471500e+01] [ 4.61395114e-01 8.87127529e-01 -1.09223249e-02 1.47432137e+01] [ 2.39217170e-02 -1.33198512e-04 9.99713826e-01 1.29353509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.032755096 meters Centerline goodness [0,1] 0.9999354185951391 Centerline is valid? [True, True] Translation: X:65.07, Y:14.75, Z:1.29 [[ 8.85763899e-01 -4.63652569e-01 -2.11804232e-02 6.50740351e+01] [ 4.63525119e-01 8.86017076e-01 -1.08721913e-02 1.47511791e+01] [ 2.38071361e-02 -1.87463620e-04 9.99716552e-01 1.29396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:14.76, Z:1.29 [[ 8.85112304e-01 -4.64871197e-01 -2.17020833e-02 6.51009170e+01] [ 4.64737677e-01 8.85378293e-01 -1.11431870e-02 1.47623023e+01] [ 2.43947001e-02 -2.22803876e-04 9.99702380e-01 1.29427876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:14.78, Z:1.30 [[ 8.84451627e-01 -4.66113774e-01 -2.19833770e-02 6.51265055e+01] [ 4.65976980e-01 8.84724751e-01 -1.12946544e-02 1.47752514e+01] [ 2.47138317e-02 -2.54172117e-04 9.99694534e-01 1.29533558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:14.79, Z:1.29 [[ 8.83382639e-01 -4.68093491e-01 -2.28822417e-02 6.51537087e+01] [ 4.67945734e-01 8.83678892e-01 -1.17645659e-02 1.47859491e+01] [ 2.57274707e-02 -3.15034129e-04 9.99668944e-01 1.29490969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.18, Y:14.80, Z:1.30 [[ 8.82831819e-01 -4.69110212e-01 -2.33149967e-02 6.51795427e+01] [ 4.68956954e-01 8.83139565e-01 -1.19952064e-02 1.47990133e+01] [ 2.62174698e-02 -3.43979919e-04 9.99656204e-01 1.29533998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.21, Y:14.81, Z:1.29 [[ 8.82273721e-01 -4.70149405e-01 -2.35078269e-02 6.52055525e+01] [ 4.69993779e-01 8.82586765e-01 -1.21016052e-02 1.48084527e+01] [ 2.64372594e-02 -3.71604179e-04 9.99650406e-01 1.29490368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:14.82, Z:1.30 [[ 8.81176678e-01 -4.72180847e-01 -2.39355533e-02 6.52315050e+01] [ 4.72020136e-01 8.81501592e-01 -1.23261318e-02 1.48205509e+01] [ 2.69193918e-02 -4.36563261e-04 9.99637512e-01 1.29577786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:14.83, Z:1.30 [[ 8.80573484e-01 -4.73304543e-01 -2.39405291e-02 6.52582590e+01] [ 4.73143981e-01 8.80898742e-01 -1.23360796e-02 1.48298112e+01] [ 2.69279044e-02 -4.64492665e-04 9.99637270e-01 1.29545936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:14.84, Z:1.30 [[ 8.80022672e-01 -4.74318591e-01 -2.41240819e-02 6.52839944e+01] [ 4.74155829e-01 8.80353127e-01 -1.24347054e-02 1.48405558e+01] [ 2.71357228e-02 -4.95751371e-04 9.99631636e-01 1.29603830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:14.85, Z:1.30 [[ 8.78961027e-01 -4.76280526e-01 -2.41738224e-02 6.53102929e+01] [ 4.76117720e-01 8.79293213e-01 -1.24644473e-02 1.48525514e+01] [ 2.71924514e-02 -5.53821795e-04 9.99630064e-01 1.29771261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.34, Y:14.86, Z:1.30 [[ 8.78556738e-01 -4.77031473e-01 -2.40630799e-02 6.53369253e+01] [ 4.76870253e-01 8.78886028e-01 -1.24141689e-02 1.48616953e+01] [ 2.70706540e-02 -5.68415257e-04 9.99633361e-01 1.29752097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:14.88, Z:1.30 [[ 8.78392123e-01 -4.77349927e-01 -2.37555123e-02 6.53595743e+01] [ 4.77192802e-01 8.78713108e-01 -1.22598793e-02 1.48785277e+01] [ 2.67265325e-02 -5.66978072e-04 9.99642622e-01 1.29977523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:14.90, Z:1.30 [[ 8.79247310e-01 -4.75797232e-01 -2.32628909e-02 6.53832262e+01] [ 4.75645779e-01 8.79554855e-01 -1.20145736e-02 1.48951373e+01] [ 2.61774895e-02 -5.01114353e-04 9.99657185e-01 1.30172492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:14.91, Z:1.30 [[ 8.79391632e-01 -4.75530749e-01 -2.32565038e-02 6.54075050e+01] [ 4.75379062e-01 8.79698966e-01 -1.20198425e-02 1.49088815e+01] [ 2.61745270e-02 -4.85505996e-04 9.99657270e-01 1.30258714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:14.92, Z:1.30 [[ 8.79700670e-01 -4.74938392e-01 -2.36696868e-02 6.54339137e+01] [ 4.74780830e-01 8.80018922e-01 -1.22416957e-02 1.49193775e+01] [ 2.66438235e-02 -4.68885602e-04 9.99644880e-01 1.30187060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:14.93, Z:1.30 [[ 8.80384718e-01 -4.73659785e-01 -2.38569891e-02 6.54590342e+01] [ 4.73499170e-01 8.80707796e-01 -1.23415496e-02 1.49317411e+01] [ 2.68567320e-02 -4.30952820e-04 9.99639200e-01 1.30177775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:14.95, Z:1.30 [[ 8.80962532e-01 -4.72599095e-01 -2.35608443e-02 6.54822611e+01] [ 4.72441962e-01 8.81277450e-01 -1.21921724e-02 1.49507272e+01] [ 2.65256504e-02 -3.90284478e-04 9.99648057e-01 1.30476259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:14.96, Z:1.30 [[ 8.82030138e-01 -4.70585293e-01 -2.39231716e-02 6.55072320e+01] [ 4.70422367e-01 8.82354449e-01 -1.23863827e-02 1.49637562e+01] [ 2.69375664e-02 -3.28832193e-04 9.99637064e-01 1.30408664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:14.98, Z:1.31 [[ 8.82414356e-01 -4.69859119e-01 -2.40273360e-02 6.55312433e+01] [ 4.69694386e-01 8.82741364e-01 -1.24445984e-02 1.49801471e+01] [ 2.70571314e-02 -3.04212548e-04 9.99633843e-01 1.30539564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:14.99, Z:1.31 [[ 8.82654948e-01 -4.69395741e-01 -2.42462522e-02 6.55550533e+01] [ 4.69227580e-01 8.82987858e-01 -1.25666740e-02 1.49944617e+01] [ 2.73078895e-02 -2.84973267e-04 9.99627029e-01 1.30588179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:15.01, Z:1.31 [[ 8.83041326e-01 -4.68669144e-01 -2.42332418e-02 6.55789170e+01] [ 4.68500629e-01 8.83373742e-01 -1.25694755e-02 1.50085645e+01] [ 2.72979349e-02 -2.53922695e-04 9.99627310e-01 1.30657574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.60, Y:15.02, Z:1.31 [[ 8.82906868e-01 -4.68929749e-01 -2.40905181e-02 6.56031859e+01] [ 4.68763051e-01 8.83235431e-01 -1.25049893e-02 1.50218662e+01] [ 2.71415606e-02 -2.52003794e-04 9.99631568e-01 1.30752334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:15.03, Z:1.31 [[ 8.82291367e-01 -4.70082472e-01 -2.41746313e-02 6.56278471e+01] [ 4.69914821e-01 8.82622450e-01 -1.25567020e-02 1.50345665e+01] [ 2.72397578e-02 -2.81347781e-04 9.99628889e-01 1.30788664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters Centerline goodness [0,1] 0.9999784737918416 Centerline is valid? [True, True] Translation: X:65.65, Y:15.05, Z:1.31 [[ 8.81633012e-01 -4.71318966e-01 -2.41177144e-02 6.56541607e+01] [ 4.71152448e-01 8.81962773e-01 -1.25314736e-02 1.50476146e+01] [ 2.71772475e-02 -3.14959366e-04 9.99630581e-01 1.30825827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.68, Y:15.06, Z:1.31 [[ 8.80766282e-01 -4.72947151e-01 -2.39112504e-02 6.56802140e+01] [ 4.72783848e-01 8.81090725e-01 -1.24324809e-02 1.50598863e+01] [ 2.69478874e-02 -3.54743010e-04 9.99636777e-01 1.30931634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.71, Y:15.07, Z:1.31 [[ 8.78916156e-01 -4.76392033e-01 -2.36012904e-02 6.57065502e+01] [ 4.76233992e-01 8.79232864e-01 -1.22782333e-02 1.50694894e+01] [ 2.66002827e-02 -4.48199130e-04 9.99646049e-01 1.31016242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:15.08, Z:1.31 [[ 8.77807328e-01 -4.78435727e-01 -2.35276440e-02 6.57326474e+01] [ 4.78279296e-01 8.78122429e-01 -1.22439889e-02 1.50813277e+01] [ 2.65181137e-02 -5.04921836e-04 9.99648205e-01 1.31125247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:15.09, Z:1.31 [[ 8.76685531e-01 -4.80486218e-01 -2.35684941e-02 6.57588574e+01] [ 4.80329767e-01 8.77002098e-01 -1.22733412e-02 1.50942771e+01] [ 2.65667901e-02 -5.60788620e-04 9.99646883e-01 1.31251574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.79, Y:15.10, Z:1.31 [[ 8.74692764e-01 -4.84159050e-01 -2.24183885e-02 6.57853656e+01] [ 4.84018534e-01 8.74979779e-01 -1.16810000e-02 1.51047448e+01] [ 2.52710985e-02 -6.33629321e-04 9.99680434e-01 1.31400506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.81, Y:15.12, Z:1.31 [[ 8.73905014e-01 -4.85575634e-01 -2.25017690e-02 6.58108243e+01] [ 4.85434468e-01 8.74194400e-01 -1.17272599e-02 1.51157347e+01] [ 2.53653921e-02 -6.74623071e-04 9.99678019e-01 1.31441346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.84, Y:15.13, Z:1.31 [[ 8.72225693e-01 -4.88587963e-01 -2.24531330e-02 6.58375125e+01] [ 4.88448308e-01 8.72514315e-01 -1.17056317e-02 1.51270796e+01] [ 2.53099107e-02 -7.57242085e-04 9.99679366e-01 1.31499242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:15.14, Z:1.32 [[ 8.71453864e-01 -4.89967721e-01 -2.23560967e-02 6.58627845e+01] [ 4.89829531e-01 8.71740221e-01 -1.16626917e-02 1.51406610e+01] [ 2.52030512e-02 -7.87178632e-04 9.99682043e-01 1.31566141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:15.15, Z:1.32 [[ 8.70780558e-01 -4.91167366e-01 -2.22674129e-02 6.58883499e+01] [ 4.91030490e-01 8.71064841e-01 -1.16232425e-02 1.51530678e+01] [ 2.51053179e-02 -8.12685126e-04 9.99684482e-01 1.31591467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:15.17, Z:1.32 [[ 8.70111886e-01 -4.92347544e-01 -2.23428210e-02 6.59147183e+01] [ 4.92210034e-01 8.70398288e-01 -1.16663186e-02 1.51657788e+01] [ 2.51910364e-02 -8.46358187e-04 9.99682297e-01 1.31623327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:15.18, Z:1.32 [[ 8.69049198e-01 -4.94244177e-01 -2.18216805e-02 6.59402478e+01] [ 4.94113421e-01 8.69322685e-01 -1.14016269e-02 1.51798160e+01] [ 2.46052696e-02 -8.73810462e-04 9.99696863e-01 1.31669831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.97, Y:15.19, Z:1.32 [[ 8.68737558e-01 -4.94779258e-01 -2.21029674e-02 6.59662401e+01] [ 4.94645107e-01 8.69018231e-01 -1.15555943e-02 1.51906540e+01] [ 2.49253500e-02 -8.94345919e-04 9.99688915e-01 1.31692519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.99, Y:15.20, Z:1.32 [[ 8.68532571e-01 -4.95144331e-01 -2.19832594e-02 6.59907623e+01] [ 4.95011653e-01 8.68810271e-01 -1.14967641e-02 1.52036667e+01] [ 2.47918391e-02 -8.96655494e-04 9.99692233e-01 1.31731008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.01, Y:15.22, Z:1.32 [[ 8.68639598e-01 -4.94971336e-01 -2.16477306e-02 6.60146329e+01] [ 4.94842427e-01 8.68908866e-01 -1.13294040e-02 1.52196864e+01] [ 2.44176353e-02 -8.71046571e-04 9.99701466e-01 1.31821368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.04, Y:15.24, Z:1.32 [[ 8.69632360e-01 -4.93253048e-01 -2.09997530e-02 6.60388178e+01] [ 4.93131071e-01 8.69885512e-01 -1.09974440e-02 1.52360450e+01] [ 2.36919036e-02 -7.91897545e-04 9.99718994e-01 1.31968564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:15.25, Z:1.32 [[ 8.70226176e-01 -4.92211999e-01 -2.08266628e-02 6.60634381e+01] [ 4.92091565e-01 8.70475033e-01 -1.09136615e-02 1.52496984e+01] [ 2.35009251e-02 -7.51271203e-04 9.99723533e-01 1.32002235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.09, Y:15.27, Z:1.32 [[ 8.70923570e-01 -4.90987648e-01 -2.05733822e-02 6.60872109e+01] [ 4.90869687e-01 8.71166248e-01 -1.07851306e-02 1.52659638e+01] [ 2.32182020e-02 -7.05825264e-04 9.99730172e-01 1.32104388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.11, Y:15.28, Z:1.32 [[ 8.72660243e-01 -4.87929991e-01 -1.97084936e-02 6.61107185e+01] [ 4.87820819e-01 8.72882565e-01 -1.03380558e-02 1.52819272e+01] [ 2.22474479e-02 -5.92603219e-04 9.99752319e-01 1.32217351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.13, Y:15.30, Z:1.32 [[ 8.73562380e-01 -4.86327687e-01 -1.93429216e-02 6.61346186e+01] [ 4.86222087e-01 8.73776338e-01 -1.01485264e-02 1.52981127e+01] [ 2.18368966e-02 -5.39584802e-04 9.99761401e-01 1.32350170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:15.31, Z:1.32 [[ 8.74357264e-01 -4.84921677e-01 -1.87174356e-02 6.61589805e+01] [ 4.84822341e-01 8.74557451e-01 -9.82664926e-03 1.53124262e+01] [ 2.11346280e-02 -4.82628779e-04 9.99776522e-01 1.32426356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:15.33, Z:1.33 [[ 8.75233988e-01 -4.83350136e-01 -1.83877984e-02 6.61832976e+01] [ 4.83253874e-01 8.75427014e-01 -9.65592432e-03 1.53276422e+01] [ 2.07643677e-02 -4.34781636e-04 9.99784303e-01 1.32532890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:15.34, Z:1.33 [[ 8.75802440e-01 -4.82333382e-01 -1.80165121e-02 6.62075264e+01] [ 4.82240630e-01 8.75987643e-01 -9.46698764e-03 1.53429820e+01] [ 2.03484862e-02 -3.97083299e-04 9.99792869e-01 1.32630009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.23, Y:15.36, Z:1.33 [[ 8.75655254e-01 -4.82600635e-01 -1.80139879e-02 6.62318517e+01] [ 4.82507841e-01 8.75840436e-01 -9.47178847e-03 1.53559696e+01] [ 2.03484701e-02 -3.97869054e-04 9.99792869e-01 1.32686181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.25, Y:15.37, Z:1.33 [[ 8.76929263e-01 -4.80308993e-01 -1.72725060e-02 6.62547099e+01] [ 4.80223106e-01 8.77099291e-01 -9.08857199e-03 1.53724990e+01] [ 1.95150256e-02 -3.24621748e-04 9.99809511e-01 1.32819703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.28, Y:15.39, Z:1.33 [[ 8.77458175e-01 -4.79351613e-01 -1.70053677e-02 6.62784294e+01] [ 4.79268144e-01 8.77622894e-01 -8.95002301e-03 1.53863019e+01] [ 1.92145080e-02 -2.96860161e-04 9.99815340e-01 1.32891408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:15.40, Z:1.33 [[ 8.78086529e-01 -4.78192337e-01 -1.72086237e-02 6.63019184e+01] [ 4.78106602e-01 8.78255096e-01 -9.05888156e-03 1.54043140e+01] [ 1.94454493e-02 -2.73074756e-04 9.99810882e-01 1.32888834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:15.42, Z:1.33 [[ 8.78198359e-01 -4.77986997e-01 -1.72067769e-02 6.63262202e+01] [ 4.77901122e-01 8.78366872e-01 -9.06401204e-03 1.54172131e+01] [ 1.94463427e-02 -2.63137502e-04 9.99810867e-01 1.32944455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.35, Y:15.43, Z:1.33 [[ 8.77735265e-01 -4.78842107e-01 -1.70599334e-02 6.63506661e+01] [ 4.78757800e-01 8.77900996e-01 -8.98937766e-03 1.54331035e+01] [ 1.92814251e-02 -2.77282422e-04 9.99814058e-01 1.32961921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:15.45, Z:1.33 [[ 8.77219329e-01 -4.79787381e-01 -1.70387260e-02 6.63761018e+01] [ 4.79703349e-01 8.77384741e-01 -8.98410038e-03 1.54463115e+01] [ 1.92599762e-02 -2.92507393e-04 9.99814467e-01 1.32999277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:15.46, Z:1.33 [[ 8.76394361e-01 -4.81291175e-01 -1.70800937e-02 6.64017733e+01] [ 4.81206905e-01 8.76560724e-01 -9.01182484e-03 1.54591623e+01] [ 1.93090510e-02 -3.21146538e-04 9.99813511e-01 1.33038899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.43, Y:15.47, Z:1.33 [[ 8.75467070e-01 -4.82988811e-01 -1.67097877e-02 6.64267392e+01] [ 4.82908359e-01 8.75626455e-01 -8.82201973e-03 1.54732958e+01] [ 1.88924690e-02 -3.45908392e-04 9.99821462e-01 1.33055800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.45, Y:15.49, Z:1.33 [[ 8.73282316e-01 -4.86919577e-01 -1.69505818e-02 6.64532523e+01] [ 4.86837408e-01 8.73446701e-01 -8.95536588e-03 1.54853149e+01] [ 1.91659728e-02 -4.31614676e-04 9.99816223e-01 1.33084949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:15.50, Z:1.33 [[ 8.72098981e-01 -4.89025684e-01 -1.72408675e-02 6.64786873e+01] [ 4.88940961e-01 8.72269253e-01 -9.11522738e-03 1.54959248e+01] [ 1.94962589e-02 -4.80385794e-04 9.99809814e-01 1.33118030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:66.50, Y:15.51, Z:1.33 [[ 8.70726338e-01 -4.91465001e-01 -1.72567701e-02 6.65038251e+01] [ 4.91380526e-01 8.70897164e-01 -9.12741246e-03 1.55097083e+01] [ 1.95146759e-02 -5.32162313e-04 9.99809429e-01 1.33115392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:15.52, Z:1.33 [[ 8.68223934e-01 -4.95863893e-01 -1.74985880e-02 6.65307984e+01] [ 4.95777791e-01 8.68400022e-01 -9.26195860e-03 1.55199125e+01] [ 1.97884451e-02 -6.33957186e-04 9.99803989e-01 1.33137834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:15.53, Z:1.33 [[ 8.67048261e-01 -4.97917316e-01 -1.74831133e-02 6.65569661e+01] [ 4.97831740e-01 8.67224242e-01 -9.25591802e-03 1.55306277e+01] [ 1.97704615e-02 -6.78321073e-04 9.99804315e-01 1.33185459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:15.54, Z:1.33 [[ 8.65048012e-01 -5.01373691e-01 -1.77864759e-02 6.65823895e+01] [ 5.01285801e-01 8.65230508e-01 -9.41883823e-03 1.55445691e+01] [ 2.01117592e-02 -7.68360518e-04 9.99797443e-01 1.33227003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:15.56, Z:1.33 [[ 8.64118446e-01 -5.02960787e-01 -1.81592727e-02 6.66082816e+01] [ 5.02869492e-01 8.64308841e-01 -9.61772015e-03 1.55575462e+01] [ 2.05325561e-02 -8.20894878e-04 9.99788848e-01 1.33293100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:15.57, Z:1.33 [[ 8.63404890e-01 -5.04197408e-01 -1.78036612e-02 6.66335038e+01] [ 5.04109789e-01 8.63588031e-01 -9.43571347e-03 1.55706379e+01] [ 2.01324910e-02 -8.28158739e-04 9.99796978e-01 1.33320683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:15.58, Z:1.33 [[ 8.62698172e-01 -5.05395153e-01 -1.80998324e-02 6.66588271e+01] [ 5.05304809e-01 8.62887585e-01 -9.59503939e-03 1.55835580e+01] [ 2.04674071e-02 -8.68309434e-04 9.99790144e-01 1.33348712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.68, Y:15.60, Z:1.33 [[ 8.61795133e-01 -5.06917405e-01 -1.85443670e-02 6.66838332e+01] [ 5.06822868e-01 8.61994136e-01 -9.83312328e-03 1.55971075e+01] [ 2.09697169e-02 -9.24571482e-04 9.99779684e-01 1.33363547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:15.61, Z:1.33 [[ 8.61406679e-01 -5.07585167e-01 -1.83256776e-02 6.67090342e+01] [ 5.07492949e-01 8.61601089e-01 -9.71953511e-03 1.56107192e+01] [ 2.07229156e-02 -9.27679697e-04 9.99784827e-01 1.33402490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:15.62, Z:1.33 [[ 8.61045626e-01 -5.08186094e-01 -1.86366324e-02 6.67334333e+01] [ 5.08090722e-01 8.61246763e-01 -9.89099601e-03 1.56245585e+01] [ 2.10772059e-02 -9.52501149e-04 9.99777397e-01 1.33424847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:15.64, Z:1.33 [[ 8.60926297e-01 -5.08392284e-01 -1.85255773e-02 6.67572447e+01] [ 5.08298042e-01 8.61125068e-01 -9.83448015e-03 1.56387389e+01] [ 2.09526128e-02 -9.49752086e-04 9.99780019e-01 1.33498802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:15.65, Z:1.34 [[ 8.61173682e-01 -5.07978799e-01 -1.83692346e-02 6.67812230e+01] [ 5.07885896e-01 8.61369075e-01 -9.75876805e-03 1.56541949e+01] [ 2.07799379e-02 -9.25480965e-04 9.99783645e-01 1.33591971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:15.67, Z:1.34 [[ 8.61337564e-01 -5.07709256e-01 -1.81359406e-02 6.68054237e+01] [ 5.07618511e-01 8.61528002e-01 -9.64103805e-03 1.56679375e+01] [ 2.05194649e-02 -9.01950930e-04 9.99789047e-01 1.33675821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.132755096 meters Centerline goodness [0,1] 0.9999572503419972 Centerline is valid? [True, True] Translation: X:66.83, Y:15.69, Z:1.34 [[ 8.61459377e-01 -5.07514849e-01 -1.77882196e-02 6.68295616e+01] [ 5.07427466e-01 8.61642563e-01 -9.45831475e-03 1.56851508e+01] [ 2.01273223e-02 -8.78277271e-04 9.99797039e-01 1.33665894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:15.70, Z:1.34 [[ 8.61890902e-01 -5.06792458e-01 -1.74779175e-02 6.68540522e+01] [ 5.06707885e-01 8.62067685e-01 -9.29656014e-03 1.57003251e+01] [ 1.97785745e-02 -8.43578026e-04 9.99804029e-01 1.33853739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:15.72, Z:1.34 [[ 8.62440682e-01 -5.05898237e-01 -1.62186267e-02 6.68775272e+01] [ 5.05825153e-01 8.62592834e-01 -8.63230759e-03 1.57150912e+01] [ 1.83571403e-02 -7.58936080e-04 9.99831205e-01 1.33979585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:15.73, Z:1.34 [[ 8.62573711e-01 -5.05676117e-01 -1.60703931e-02 6.69016398e+01] [ 5.05604277e-01 8.62723078e-01 -8.55600698e-03 1.57320796e+01] [ 1.81908674e-02 -7.45072800e-04 9.99834255e-01 1.34050187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.93, Y:15.74, Z:1.34 [[ 8.62764683e-01 -5.05354101e-01 -1.59478957e-02 6.69278445e+01] [ 5.05283188e-01 8.62911759e-01 -8.49681629e-03 1.57419677e+01] [ 1.80555277e-02 -7.27450593e-04 9.99836721e-01 1.34162426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:15.76, Z:1.34 [[ 8.63204066e-01 -5.04593051e-01 -1.62663240e-02 6.69501706e+01] [ 5.04519113e-01 8.63357011e-01 -8.66813254e-03 1.57623688e+01] [ 1.84175243e-02 -7.24304097e-04 9.99830121e-01 1.34129229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:15.77, Z:1.34 [[ 8.63383238e-01 -5.04286631e-01 -1.62597417e-02 6.69770885e+01] [ 5.04212588e-01 8.63536037e-01 -8.67059947e-03 1.57736807e+01] [ 1.84133403e-02 -7.12316207e-04 9.99830206e-01 1.34181033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:15.79, Z:1.34 [[ 8.64262315e-01 -5.02768017e-01 -1.65822756e-02 6.69976576e+01] [ 5.02690662e-01 8.64421104e-01 -8.84612323e-03 1.57938071e+01] [ 1.87816168e-02 -6.90384161e-04 9.99823372e-01 1.34163157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.02, Y:15.80, Z:1.34 [[ 8.64660250e-01 -5.02091578e-01 -1.63309376e-02 6.70234006e+01] [ 5.02016368e-01 8.64814205e-01 -8.71535959e-03 1.58038866e+01] [ 1.84991355e-02 -6.62572967e-04 9.99828657e-01 1.34209775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:15.82, Z:1.34 [[ 8.65078015e-01 -5.01362789e-01 -1.65946297e-02 6.70470346e+01] [ 5.01284965e-01 8.65236917e-01 -8.85782093e-03 1.58202939e+01] [ 1.87992681e-02 -6.55932230e-04 9.99823063e-01 1.34208048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.07, Y:15.84, Z:1.34 [[ 8.65499736e-01 -5.00626620e-01 -1.68284139e-02 6.70691180e+01] [ 5.00546337e-01 8.65663083e-01 -8.98838792e-03 1.58400731e+01] [ 1.90675629e-02 -6.43953562e-04 9.99817990e-01 1.34182629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.10, Y:15.85, Z:1.34 [[ 8.65598744e-01 -5.00468989e-01 -1.64196737e-02 6.70964508e+01] [ 5.00392406e-01 8.65754242e-01 -8.77677686e-03 1.58488692e+01] [ 1.86079068e-02 -6.19113021e-04 9.99826666e-01 1.34272006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.12, Y:15.86, Z:1.34 [[ 8.65502421e-01 -5.00630874e-01 -1.65616404e-02 6.71204044e+01] [ 5.00552954e-01 8.65660636e-01 -8.85462169e-03 1.58635147e+01] [ 1.87696571e-02 -6.26281504e-04 9.99823638e-01 1.34345395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.14, Y:15.88, Z:1.34 [[ 8.65353317e-01 -5.00881113e-01 -1.67853018e-02 6.71415425e+01] [ 5.00800987e-01 8.65515863e-01 -8.98127633e-03 1.58815015e+01] [ 1.90264967e-02 -6.34118457e-04 9.99818779e-01 1.34325276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:15.90, Z:1.34 [[ 8.65039886e-01 -5.01421961e-01 -1.67932149e-02 6.71660440e+01] [ 5.01341811e-01 8.65202636e-01 -8.98816732e-03 1.58971276e+01] [ 1.90363983e-02 -6.44017531e-04 9.99818584e-01 1.34339275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.19, Y:15.92, Z:1.34 [[ 8.64641558e-01 -5.02117839e-01 -1.65121534e-02 6.71880240e+01] [ 5.02040369e-01 8.64798972e-01 -8.84343881e-03 1.59169893e+01] [ 1.87201417e-02 -6.43362878e-04 9.99824556e-01 1.34341190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.22, Y:15.93, Z:1.34 [[ 8.63857255e-01 -5.03457801e-01 -1.67596526e-02 6.72150757e+01] [ 5.03378113e-01 8.64019551e-01 -8.98279395e-03 1.59263912e+01] [ 1.90031252e-02 -6.76590570e-04 9.99819195e-01 1.34362461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.24, Y:15.93, Z:1.34 [[ 8.63446081e-01 -5.04161212e-01 -1.68028933e-02 6.72433343e+01] [ 5.04081114e-01 8.63609286e-01 -9.01280708e-03 1.59315954e+01] [ 1.90550424e-02 -6.87948201e-04 9.99818200e-01 1.34438001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.26, Y:15.95, Z:1.34 [[ 8.62808157e-01 -5.05242660e-01 -1.70862175e-02 6.72643175e+01] [ 5.05159998e-01 8.62977018e-01 -9.16745477e-03 1.59538940e+01] [ 1.93768023e-02 -7.21518841e-04 9.99811992e-01 1.34433500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:15.97, Z:1.34 [[ 8.62624769e-01 -5.05558133e-01 -1.70141735e-02 6.72889875e+01] [ 5.05476094e-01 8.62792244e-01 -9.13576395e-03 1.59668129e+01] [ 1.92983567e-02 -7.19521671e-04 9.99813510e-01 1.34493617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.31, Y:15.98, Z:1.35 [[ 8.62344310e-01 -5.06033655e-01 -1.70947434e-02 6.73139066e+01] [ 5.05950883e-01 8.62513423e-01 -9.18143452e-03 1.59783983e+01] [ 1.93905605e-02 -7.31542700e-04 9.99811718e-01 1.34537923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.34, Y:16.00, Z:1.35 [[ 8.62171045e-01 -5.06328441e-01 -1.71055362e-02 6.73370065e+01] [ 5.06245582e-01 8.62340401e-01 -9.18931236e-03 1.59951830e+01] [ 1.94036051e-02 -7.36843084e-04 9.99811461e-01 1.34574795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.36, Y:16.01, Z:1.35 [[ 8.62305346e-01 -5.06110059e-01 -1.67957915e-02 6.73607710e+01] [ 5.06029983e-01 8.62468609e-01 -9.03078731e-03 1.60099521e+01] [ 1.90564152e-02 -7.11877894e-04 9.99818157e-01 1.34625858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.38, Y:16.02, Z:1.35 [[ 8.62136720e-01 -5.06385721e-01 -1.71399445e-02 6.73847758e+01] [ 5.06302341e-01 8.62306771e-01 -9.21803797e-03 1.60236953e+01] [ 1.94477730e-02 -7.30785025e-04 9.99810607e-01 1.34666780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:16.04, Z:1.35 [[ 8.62101263e-01 -5.06446492e-01 -1.71278246e-02 6.74091628e+01] [ 5.06363093e-01 8.62271085e-01 -9.21918156e-03 1.60379145e+01] [ 1.94378501e-02 -7.25030197e-04 9.99810804e-01 1.34696782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.43, Y:16.05, Z:1.35 [[ 8.62492702e-01 -5.05766762e-01 -1.75020391e-02 6.74339246e+01] [ 5.05679378e-01 8.62669964e-01 -9.42869657e-03 1.60530161e+01] [ 1.98672048e-02 -7.18238269e-04 9.99802370e-01 1.34754409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:16.07, Z:1.35 [[ 8.62863182e-01 -5.05139759e-01 -1.73479719e-02 6.74589670e+01] [ 5.05053647e-01 8.63037279e-01 -9.35246379e-03 1.60682348e+01] [ 1.96962478e-02 -6.91759810e-04 9.99805771e-01 1.34811176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.48, Y:16.08, Z:1.35 [[ 8.63105668e-01 -5.04726326e-01 -1.73188465e-02 6.74839534e+01] [ 5.04640286e-01 8.63279144e-01 -9.34355017e-03 1.60835967e+01] [ 1.96669347e-02 -6.75316531e-04 9.99806359e-01 1.34856543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:16.10, Z:1.35 [[ 8.64216994e-01 -5.02815113e-01 -1.74914092e-02 6.75073667e+01] [ 5.02726821e-01 8.64393755e-01 -9.44352837e-03 1.61004522e+01] [ 1.98678137e-02 -6.32142855e-04 9.99802416e-01 1.34896883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.53, Y:16.12, Z:1.35 [[ 8.64710816e-01 -5.01966038e-01 -1.74728600e-02 6.75317112e+01] [ 5.01877626e-01 8.64887119e-01 -9.44027313e-03 1.61156193e+01] [ 1.98507480e-02 -6.06131214e-04 9.99802771e-01 1.34931740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:16.13, Z:1.35 [[ 8.65297555e-01 -5.00947693e-01 -1.76508138e-02 6.75562473e+01] [ 5.00857122e-01 8.65477365e-01 -9.54327779e-03 1.61316274e+01] [ 2.00570628e-02 -5.82760864e-04 9.99798667e-01 1.34967733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:16.15, Z:1.35 [[ 8.66610657e-01 -4.98680546e-01 -1.74264689e-02 6.75802372e+01] [ 4.98591672e-01 8.66785697e-01 -9.42866823e-03 1.61486847e+01] [ 1.98069074e-02 -5.17707857e-04 9.99803690e-01 1.35043558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.60, Y:16.16, Z:1.35 [[ 8.67186193e-01 -4.97671920e-01 -1.76286077e-02 6.76046437e+01] [ 4.97580622e-01 8.67365215e-01 -9.54509732e-03 1.61639160e+01] [ 2.00407680e-02 -4.94276962e-04 9.99799041e-01 1.35085374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:16.18, Z:1.35 [[ 8.67798660e-01 -4.96598199e-01 -1.77683749e-02 6.76287599e+01] [ 4.96505077e-01 8.67980421e-01 -9.62794083e-03 1.61772764e+01] [ 2.02038196e-02 -4.66974198e-04 9.99795773e-01 1.35137929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:16.20, Z:1.35 [[ 8.68801151e-01 -4.94842814e-01 -1.77524765e-02 6.76519570e+01] [ 4.94749443e-01 8.68982399e-01 -9.62176337e-03 1.61961650e+01] [ 2.01878501e-02 -4.23628767e-04 9.99796115e-01 1.35146443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:16.21, Z:1.35 [[ 8.69089722e-01 -4.94325816e-01 -1.80289140e-02 6.76780239e+01] [ 4.94229268e-01 8.69276606e-01 -9.77820230e-03 1.62080707e+01] [ 2.05057310e-02 -4.12281843e-04 9.99789650e-01 1.35173612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.70, Y:16.22, Z:1.35 [[ 8.69355164e-01 -4.93839434e-01 -1.85529697e-02 6.77029058e+01] [ 4.93736995e-01 8.69553015e-01 -1.00664477e-02 1.62206238e+01] [ 2.11039996e-02 -4.08969197e-04 9.99777202e-01 1.35161008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:16.24, Z:1.35 [[ 8.69240634e-01 -4.94048022e-01 -1.83649422e-02 6.77269314e+01] [ 4.93947616e-01 8.69434521e-01 -9.96827528e-03 1.62360355e+01] [ 2.08919214e-02 -4.06489498e-04 9.99781657e-01 1.35208728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:16.25, Z:1.35 [[ 8.68991675e-01 -4.94473894e-01 -1.86825220e-02 6.77523329e+01] [ 4.94369903e-01 8.69192381e-01 -1.01491016e-02 1.62484889e+01] [ 2.12571715e-02 -4.16591802e-04 9.99773954e-01 1.35267908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:16.26, Z:1.35 [[ 8.68516514e-01 -4.95317718e-01 -1.84234732e-02 6.77795880e+01] [ 4.95216624e-01 8.68711792e-01 -1.00158440e-02 1.62579632e+01] [ 2.09657134e-02 -4.24684267e-04 9.99780105e-01 1.35344860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:16.27, Z:1.35 [[ 8.68344237e-01 -4.95619780e-01 -1.84206547e-02 6.78037002e+01] [ 4.95518644e-01 8.68539494e-01 -1.00210250e-02 1.62713294e+01] [ 2.09656843e-02 -4.26078579e-04 9.99780105e-01 1.35401043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:16.28, Z:1.35 [[ 8.67995392e-01 -4.96235940e-01 -1.82726967e-02 6.78284676e+01] [ 4.96136391e-01 8.68187599e-01 -9.94860400e-03 1.62842927e+01] [ 2.08009835e-02 -4.30407362e-04 9.99783543e-01 1.35440433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.85, Y:16.30, Z:1.36 [[ 8.67630670e-01 -4.96872008e-01 -1.83092190e-02 6.78534804e+01] [ 4.96772149e-01 8.67823721e-01 -9.97103711e-03 1.62956516e+01] [ 2.08435038e-02 -4.44332455e-04 9.99782652e-01 1.35514860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:16.31, Z:1.36 [[ 8.67071214e-01 -4.97855831e-01 -1.80853762e-02 6.78800388e+01] [ 4.97758566e-01 8.67259684e-01 -9.85140068e-03 1.63079517e+01] [ 2.05892949e-02 -4.60284945e-04 9.99787912e-01 1.35596260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:16.32, Z:1.36 [[ 8.66328698e-01 -4.99154618e-01 -1.78676772e-02 6.79081367e+01] [ 4.99059832e-01 8.66512803e-01 -9.73895499e-03 1.63176111e+01] [ 2.03438154e-02 -4.79903758e-04 9.99792928e-01 1.35687427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:16.33, Z:1.36 [[ 8.65914504e-01 -4.99878198e-01 -1.77160449e-02 6.79323290e+01] [ 4.99785037e-01 8.66095578e-01 -9.66268347e-03 1.63309565e+01] [ 2.01739530e-02 -4.87156400e-04 9.99796366e-01 1.35731416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:16.34, Z:1.36 [[ 8.65601890e-01 -5.00413633e-01 -1.78763447e-02 6.79571265e+01] [ 5.00318842e-01 8.65786315e-01 -9.75259777e-03 1.63415324e+01] [ 2.03574275e-02 -5.02005011e-04 9.99792640e-01 1.35777264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.98, Y:16.35, Z:1.36 [[ 8.65150711e-01 -5.01199170e-01 -1.77098710e-02 6.79826885e+01] [ 5.01106158e-01 8.65331805e-01 -9.66882734e-03 1.63544845e+01] [ 2.01709229e-02 -5.09532563e-04 9.99796416e-01 1.35813883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:16.36, Z:1.36 [[ 8.64805680e-01 -5.01788827e-01 -1.78636455e-02 6.80090497e+01] [ 5.01694184e-01 8.64990000e-01 -9.75934234e-03 1.63635422e+01] [ 2.03490037e-02 -5.22152374e-04 9.99792801e-01 1.35863321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:16.38, Z:1.36 [[ 8.64854927e-01 -5.01695056e-01 -1.81114821e-02 6.80327375e+01] [ 5.01597604e-01 8.65044392e-01 -9.90171494e-03 1.63761790e+01] [ 2.06348775e-02 -5.21129097e-04 9.99786942e-01 1.35895330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:16.39, Z:1.36 [[ 8.64811578e-01 -5.01767385e-01 -1.81776151e-02 6.80579388e+01] [ 5.01669168e-01 8.65002438e-01 -9.94119225e-03 1.63896099e+01] [ 2.07118474e-02 -5.21890891e-04 9.99785350e-01 1.35943360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:16.40, Z:1.36 [[ 8.64859133e-01 -5.01681296e-01 -1.82908871e-02 6.80820122e+01] [ 5.01581686e-01 8.65052374e-01 -1.00101100e-02 1.64043477e+01] [ 2.08444602e-02 -5.17038971e-04 9.99782597e-01 1.36007929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:16.42, Z:1.36 [[ 8.65407907e-01 -5.00712462e-01 -1.88728685e-02 6.81079033e+01] [ 5.00606010e-01 8.65613527e-01 -1.03365998e-02 1.64157634e+01] [ 2.15122746e-02 -5.02496223e-04 9.99768458e-01 1.36028427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:16.43, Z:1.36 [[ 8.65691910e-01 -5.00220629e-01 -1.88901921e-02 6.81338036e+01] [ 5.00113783e-01 8.65897849e-01 -1.03498625e-02 1.64295698e+01] [ 2.15341914e-02 -4.87453217e-04 9.99767994e-01 1.36060347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:16.44, Z:1.36 [[ 8.65983104e-01 -4.99709909e-01 -1.90596362e-02 6.81598005e+01] [ 4.99600878e-01 8.66192693e-01 -1.04489366e-02 1.64430836e+01] [ 2.17307548e-02 -4.73608427e-04 9.99763747e-01 1.36107748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.18, Y:16.46, Z:1.36 [[ 8.66175221e-01 -4.99362630e-01 -1.94280776e-02 6.81847555e+01] [ 4.99249113e-01 8.66392950e-01 -1.06573508e-02 1.64570269e+01] [ 2.21542322e-02 -4.68317287e-04 9.99754455e-01 1.36144497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:16.47, Z:1.36 [[ 8.66747191e-01 -4.98368324e-01 -1.94504508e-02 6.82099181e+01] [ 4.98254143e-01 8.66965295e-01 -1.06764468e-02 1.64719084e+01] [ 2.21836687e-02 -4.37487430e-04 9.99753816e-01 1.36208608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:16.49, Z:1.36 [[ 8.66942118e-01 -4.98013710e-01 -1.98420905e-02 6.82351167e+01] [ 4.97894628e-01 8.67169049e-01 -1.08986510e-02 1.64856950e+01] [ 2.26341244e-02 -4.30770740e-04 9.99743723e-01 1.36281097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:16.50, Z:1.36 [[ 8.67331255e-01 -4.97337235e-01 -1.98032468e-02 6.82596789e+01] [ 4.97218292e-01 8.67557208e-01 -1.08839527e-02 1.64979299e+01] [ 2.25934444e-02 -4.06544231e-04 9.99744653e-01 1.36355665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:16.51, Z:1.36 [[ 8.67522950e-01 -4.97006553e-01 -1.97083276e-02 6.82842670e+01] [ 4.96888607e-01 8.67746698e-01 -1.08342659e-02 1.65106391e+01] [ 2.24865373e-02 -3.93869139e-04 9.99747068e-01 1.36440125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:16.52, Z:1.37 [[ 8.67570869e-01 -4.96929048e-01 -1.95527210e-02 6.83094760e+01] [ 4.96812874e-01 8.67791088e-01 -1.07515998e-02 1.65238522e+01] [ 2.23104593e-02 -3.86268741e-04 9.99751016e-01 1.36525078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:16.54, Z:1.37 [[ 8.67792748e-01 -4.96556849e-01 -1.91583357e-02 6.83345864e+01] [ 4.96445068e-01 8.68004127e-01 -1.05418242e-02 1.65350804e+01] [ 2.18641294e-02 -3.62942621e-04 9.99760885e-01 1.36624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:16.55, Z:1.37 [[ 8.67775883e-01 -4.96591800e-01 -1.90158328e-02 6.83584999e+01] [ 4.96481627e-01 8.67984133e-01 -1.04660495e-02 1.65507201e+01] [ 2.17027955e-02 -3.58826235e-04 9.99764402e-01 1.36718209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:16.56, Z:1.37 [[ 8.67724496e-01 -4.96694946e-01 -1.86635778e-02 6.83829806e+01] [ 4.96588684e-01 8.67925117e-01 -1.02795809e-02 1.65620144e+01] [ 2.13044039e-02 -3.48277353e-04 9.99772975e-01 1.36810020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:16.57, Z:1.37 [[ 8.67467222e-01 -4.97137627e-01 -1.88361099e-02 6.84083379e+01] [ 4.97029422e-01 8.67671626e-01 -1.03780109e-02 1.65743995e+01] [ 2.15028578e-02 -3.59516588e-04 9.99768722e-01 1.36858495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:16.59, Z:1.37 [[ 8.67101693e-01 -4.97773026e-01 -1.88856848e-02 6.84323765e+01] [ 4.97664323e-01 8.67307256e-01 -1.04089660e-02 1.65881039e+01] [ 2.15609939e-02 -3.73099459e-04 9.99767465e-01 1.36911902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.46, Y:16.60, Z:1.37 [[ 8.66827303e-01 -4.98238362e-01 -1.92083601e-02 6.84570178e+01] [ 4.98125856e-01 8.67040014e-01 -1.05945676e-02 1.66002333e+01] [ 2.19330368e-02 -3.84520353e-04 9.99759368e-01 1.36968195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:16.61, Z:1.37 [[ 8.65899279e-01 -4.99840457e-01 -1.94411135e-02 6.84838054e+01] [ 4.99725546e-01 8.66117391e-01 -1.07258495e-02 1.66118856e+01] [ 2.21995000e-02 -4.27715713e-04 9.99753469e-01 1.37007460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.51, Y:16.62, Z:1.37 [[ 8.65466691e-01 -5.00572601e-01 -1.98614486e-02 6.85088503e+01] [ 5.00452704e-01 8.65694443e-01 -1.09646111e-02 1.66234512e+01] [ 2.26825296e-02 -4.50209943e-04 9.99742617e-01 1.37060673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.54, Y:16.64, Z:1.37 [[ 8.64475596e-01 -5.02275477e-01 -2.00322178e-02 6.85352411e+01] [ 5.02153895e-01 8.64707522e-01 -1.10619643e-02 1.66352158e+01] [ 2.28781628e-02 -4.96458022e-04 9.99738137e-01 1.37156139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:16.65, Z:1.37 [[ 8.63962539e-01 -5.03163079e-01 -1.98908682e-02 6.85608885e+01] [ 5.03043288e-01 8.64191330e-01 -1.09906762e-02 1.66464756e+01] [ 2.27196183e-02 -5.10435194e-04 9.99741746e-01 1.37179700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:16.66, Z:1.37 [[ 8.63465781e-01 -5.03994556e-01 -2.04042134e-02 6.85862392e+01] [ 5.03868630e-01 8.63706660e-01 -1.12787320e-02 1.66604646e+01] [ 2.33076745e-02 -5.42243970e-04 9.99728192e-01 1.37259151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:16.67, Z:1.37 [[ 8.62390595e-01 -5.05822609e-01 -2.06385798e-02 6.86126313e+01] [ 5.05694118e-01 8.62637316e-01 -1.14158187e-02 1.66725462e+01] [ 2.35779883e-02 -5.91913693e-04 9.99721825e-01 1.37295123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:16.69, Z:1.37 [[ 8.61769628e-01 -5.06864558e-01 -2.10102112e-02 6.86385784e+01] [ 5.06731520e-01 8.62025481e-01 -1.16291563e-02 1.66855933e+01] [ 2.40057446e-02 -6.24882587e-04 9.99711625e-01 1.37340617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:16.70, Z:1.37 [[ 8.61409326e-01 -5.07475425e-01 -2.10396467e-02 6.86644060e+01] [ 5.07342028e-01 8.61665996e-01 -1.16523908e-02 1.66969587e+01] [ 2.40424501e-02 -6.36818952e-04 9.99710736e-01 1.37375865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.69, Y:16.71, Z:1.37 [[ 8.61001532e-01 -5.08159652e-01 -2.12162731e-02 6.86891869e+01] [ 5.08024147e-01 8.61262639e-01 -1.17529587e-02 1.67089777e+01] [ 2.42451628e-02 -6.59063574e-04 9.99705826e-01 1.37416628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:16.72, Z:1.38 [[ 8.60256436e-01 -5.09403006e-01 -2.16203923e-02 6.87145651e+01] [ 5.09262591e-01 8.60527792e-01 -1.19804837e-02 1.67226357e+01] [ 2.47078429e-02 -7.04168845e-04 9.99694467e-01 1.37519084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.74, Y:16.73, Z:1.38 [[ 8.59895068e-01 -5.10010404e-01 -2.16762603e-02 6.87404702e+01] [ 5.09869280e-01 8.60167933e-01 -1.20184991e-02 1.67339706e+01] [ 2.47747836e-02 -7.17411129e-04 9.99692801e-01 1.37544399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.77, Y:16.75, Z:1.38 [[ 8.59460000e-01 -5.10715459e-01 -2.23210313e-02 6.87660086e+01] [ 5.10565948e-01 8.59749468e-01 -1.23800225e-02 1.67480386e+01] [ 2.55131636e-02 -7.56224396e-04 9.99674200e-01 1.37611470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:16.76, Z:1.38 [[ 8.59370429e-01 -5.10862423e-01 -2.24064893e-02 6.87908195e+01] [ 5.10711624e-01 8.59662149e-01 -1.24348627e-02 1.67600119e+01] [ 2.56145148e-02 -7.57101292e-04 9.99671608e-01 1.37665293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:16.77, Z:1.38 [[ 8.59312792e-01 -5.10958524e-01 -2.24256930e-02 6.88153972e+01] [ 5.10807367e-01 8.59605034e-01 -1.24506812e-02 1.67730368e+01] [ 2.56390203e-02 -7.56179595e-04 9.99670980e-01 1.37703591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:16.78, Z:1.38 [[ 8.59462355e-01 -5.10663176e-01 -2.34004561e-02 6.88405663e+01] [ 5.10498254e-01 8.59780509e-01 -1.30003456e-02 1.67843173e+01] [ 2.67580538e-02 -7.72584322e-04 9.99641641e-01 1.37691965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:16.80, Z:1.38 [[ 8.59658651e-01 -5.10320805e-01 -2.36575578e-02 6.88651599e+01] [ 5.10151988e-01 8.59983772e-01 -1.31476402e-02 1.67993647e+01] [ 2.70546301e-02 -7.66467510e-04 9.99633663e-01 1.37792282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:16.81, Z:1.38 [[ 8.59996533e-01 -5.09742031e-01 -2.38542441e-02 6.88899442e+01] [ 5.09569971e-01 8.60326974e-01 -1.32643486e-02 1.68111914e+01] [ 2.72838457e-02 -7.48112650e-04 9.99627447e-01 1.37816949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:16.83, Z:1.38 [[ 8.60828631e-01 -5.08313359e-01 -2.43227767e-02 6.89153381e+01] [ 5.08133776e-01 8.61171888e-01 -1.35294020e-02 1.68258255e+01] [ 2.78232673e-02 -7.12727769e-04 9.99612604e-01 1.37859805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:16.84, Z:1.38 [[ 8.61328149e-01 -5.07451693e-01 -2.46292361e-02 6.89405838e+01] [ 5.07266964e-01 8.61679934e-01 -1.37083399e-02 1.68403532e+01] [ 2.81788388e-02 -6.86218842e-04 9.99602662e-01 1.37922785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.97, Y:16.85, Z:1.38 [[ 8.62296863e-01 -5.05817154e-01 -2.43541952e-02 6.89653922e+01] [ 5.05635665e-01 8.62640495e-01 -1.35628497e-02 1.68528429e+01] [ 2.78692370e-02 -6.19146914e-04 9.99611386e-01 1.38000993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:16.87, Z:1.38 [[ 8.62643769e-01 -5.05246152e-01 -2.39176428e-02 6.89902654e+01] [ 5.05070742e-01 8.62975077e-01 -1.33252234e-02 1.68676787e+01] [ 2.73728475e-02 -5.85180694e-04 9.99625122e-01 1.38149901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:16.88, Z:1.38 [[ 8.63068569e-01 -5.04552500e-01 -2.32254046e-02 6.90157975e+01] [ 5.04386634e-01 8.63380845e-01 -1.29476027e-02 1.68822795e+01] [ 2.65851147e-02 -5.39914744e-04 9.99646408e-01 1.38282451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:16.90, Z:1.38 [[ 8.63946904e-01 -5.03089345e-01 -2.22903113e-02 6.90412678e+01] [ 5.02935912e-01 8.64234280e-01 -1.24329027e-02 1.68967809e+01] [ 2.55189120e-02 -4.69230238e-04 9.99674229e-01 1.38437695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:16.91, Z:1.39 [[ 8.64393889e-01 -5.02343105e-01 -2.17855483e-02 6.90664630e+01] [ 5.02196188e-01 8.64668270e-01 -1.21561268e-02 1.69113207e+01] [ 2.49438189e-02 -4.32937561e-04 9.99688761e-01 1.38510437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:16.93, Z:1.39 [[ 8.64881409e-01 -5.01521859e-01 -2.13535357e-02 6.90909574e+01] [ 5.01380275e-01 8.65144883e-01 -1.19226815e-02 1.69260011e+01] [ 2.44533875e-02 -3.94536016e-04 9.99700893e-01 1.38611126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:16.94, Z:1.39 [[ 8.65985570e-01 -4.99628450e-01 -2.09858443e-02 6.91158141e+01] [ 4.99490961e-01 8.66239750e-01 -1.17250069e-02 1.69396916e+01] [ 2.40369195e-02 -3.28552754e-04 9.99711018e-01 1.38609353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:16.95, Z:1.39 [[ 8.66568778e-01 -4.98607006e-01 -2.12039329e-02 6.91405409e+01] [ 4.98466150e-01 8.66828106e-01 -1.18546328e-02 1.69536761e+01] [ 2.42909680e-02 -2.96588179e-04 9.99704887e-01 1.38632457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:16.97, Z:1.39 [[ 8.66947269e-01 -4.97960622e-01 -2.09201201e-02 6.91656332e+01] [ 4.97823149e-01 8.67199601e-01 -1.17032234e-02 1.69688236e+01] [ 2.39696642e-02 -2.68442445e-04 9.99712650e-01 1.38669347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:16.98, Z:1.39 [[ 8.67638170e-01 -4.96729887e-01 -2.15273215e-02 6.91904356e+01] [ 4.96583744e-01 8.67905158e-01 -1.20507787e-02 1.69834642e+01] [ 2.46696553e-02 -2.34402333e-04 9.99695630e-01 1.38634105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:17.00, Z:1.39 [[ 8.67873511e-01 -4.96316832e-01 -2.15678439e-02 6.92142366e+01] [ 4.96169835e-01 8.68141438e-01 -1.20805135e-02 1.69967808e+01] [ 2.47197012e-02 -2.16955870e-04 9.99694398e-01 1.38648538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:17.01, Z:1.39 [[ 8.67794185e-01 -4.96431573e-01 -2.21120958e-02 6.92391023e+01] [ 4.96276976e-01 8.68075828e-01 -1.23902845e-02 1.70106992e+01] [ 2.53459043e-02 -2.21507234e-04 9.99678716e-01 1.38653635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:17.02, Z:1.39 [[ 8.67394831e-01 -4.97126872e-01 -2.21603251e-02 6.92647959e+01] [ 4.96971628e-01 8.67677830e-01 -1.24251181e-02 1.70223464e+01] [ 2.54048829e-02 -2.35569613e-04 9.99677216e-01 1.38626312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:17.04, Z:1.39 [[ 8.66849110e-01 -4.98069152e-01 -2.23548612e-02 6.92892158e+01] [ 4.97911377e-01 8.67137273e-01 -1.25383185e-02 1.70352442e+01] [ 2.56296831e-02 -2.61909446e-04 9.99671471e-01 1.38733380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:17.05, Z:1.39 [[ 8.66212352e-01 -4.99185074e-01 -2.21454998e-02 6.93145082e+01] [ 4.99030406e-01 8.66495344e-01 -1.24287162e-02 1.70469785e+01] [ 2.53932020e-02 -2.85370285e-04 9.99677500e-01 1.38768477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:17.06, Z:1.39 [[ 8.64438925e-01 -5.02260520e-01 -2.19024101e-02 6.93415566e+01] [ 5.02110121e-01 8.64716274e-01 -1.22960130e-02 1.70586107e+01] [ 2.51151723e-02 -3.68269546e-04 9.99684496e-01 1.38852476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:17.07, Z:1.39 [[ 8.63409545e-01 -5.04044999e-01 -2.15080720e-02 6.93681465e+01] [ 5.03900331e-01 8.63677298e-01 -1.20823083e-02 1.70711148e+01] [ 2.46660606e-02 -4.05944275e-04 9.99695664e-01 1.38901801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:17.08, Z:1.39 [[ 8.63251326e-01 -5.04316069e-01 -2.15046713e-02 6.93921061e+01] [ 5.04171334e-01 8.63519043e-01 -1.20883584e-02 1.70847727e+01] [ 2.46660466e-02 -4.06747404e-04 9.99695664e-01 1.38957971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:17.10, Z:1.39 [[ 8.62127536e-01 -5.06239072e-01 -2.14035934e-02 6.94174864e+01] [ 5.06096096e-01 8.62393064e-01 -1.20393214e-02 1.70961639e+01] [ 2.45530854e-02 -4.52844549e-04 9.99698425e-01 1.39025412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:17.11, Z:1.39 [[ 8.59971606e-01 -5.09918379e-01 -2.07866180e-02 6.94443240e+01] [ 5.09784521e-01 8.60222620e-01 -1.16955754e-02 1.71074000e+01] [ 2.38449079e-02 -5.38833369e-04 9.99715525e-01 1.39129729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:17.12, Z:1.39 [[ 8.59097076e-01 -5.11405163e-01 -2.04199255e-02 6.94717375e+01] [ 5.11276248e-01 8.59339538e-01 -1.14959720e-02 1.71163802e+01] [ 2.34267488e-02 -5.64067016e-04 9.99725397e-01 1.39157427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:17.13, Z:1.39 [[ 8.57968471e-01 -5.13330385e-01 -1.95453029e-02 6.94963249e+01] [ 5.13212722e-01 8.58190870e-01 -1.10059977e-02 1.71305098e+01] [ 2.24233136e-02 -5.88099147e-04 9.99748393e-01 1.39332134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:17.15, Z:1.39 [[ 8.57576493e-01 -5.14003643e-01 -1.90476979e-02 6.95215064e+01] [ 5.13892002e-01 8.57787800e-01 -1.07284790e-02 1.71452288e+01] [ 2.18533601e-02 -5.87968259e-04 9.99761014e-01 1.39405113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:17.15, Z:1.39 [[ 8.57463074e-01 -5.14199216e-01 -1.88743977e-02 6.95485423e+01] [ 5.14089498e-01 8.57670582e-01 -1.06377067e-02 1.71531286e+01] [ 2.16579161e-02 -5.81688941e-04 9.99765271e-01 1.39443475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:17.17, Z:1.40 [[ 8.58009652e-01 -5.13278119e-01 -1.91052344e-02 6.95724827e+01] [ 5.13165348e-01 8.58222150e-01 -1.07734294e-02 1.71699312e+01] [ 2.19263009e-02 -5.60437838e-04 9.99759433e-01 1.39510756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:17.18, Z:1.40 [[ 8.58683070e-01 -5.12145853e-01 -1.92356561e-02 6.95971051e+01] [ 5.12031108e-01 8.58898332e-01 -1.08535163e-02 1.71849343e+01] [ 2.20800563e-02 -5.29523586e-04 9.99756066e-01 1.39528291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.62, Y:17.20, Z:1.40 [[ 8.59332974e-01 -5.11046756e-01 -1.94435891e-02 6.96195286e+01] [ 5.10929087e-01 8.59552769e-01 -1.09774888e-02 1.72037335e+01] [ 2.23228009e-02 -5.00977105e-04 9.99750690e-01 1.39602852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:17.22, Z:1.40 [[ 8.61345852e-01 -5.07659023e-01 -1.91217028e-02 6.96429808e+01] [ 5.07544237e-01 8.61557982e-01 -1.08024080e-02 1.72192149e+01] [ 2.19583955e-02 -4.00500732e-04 9.99758805e-01 1.39670260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:17.24, Z:1.40 [[ 8.62046072e-01 -5.06465400e-01 -1.92189389e-02 6.96671827e+01] [ 5.06349083e-01 8.62260206e-01 -1.08602091e-02 1.72354835e+01] [ 2.20720463e-02 -3.69491506e-04 9.99756314e-01 1.39754502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:17.25, Z:1.40 [[ 8.63485097e-01 -5.04039057e-01 -1.83879375e-02 6.96907410e+01] [ 5.03931896e-01 8.63680812e-01 -1.03970283e-02 1.72505754e+01] [ 2.11218171e-02 -2.88589202e-04 9.99776868e-01 1.39891527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:17.27, Z:1.40 [[ 8.63833945e-01 -5.03453130e-01 -1.80516309e-02 6.97150288e+01] [ 5.03349676e-01 8.64022497e-01 -1.02092631e-02 1.72656568e+01] [ 2.07369007e-02 -2.67174519e-04 9.99784932e-01 1.40008890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:17.28, Z:1.40 [[ 8.64083967e-01 -5.03024750e-01 -1.80277226e-02 6.97384838e+01] [ 5.02921344e-01 8.64271970e-01 -1.02021420e-02 1.72803561e+01] [ 2.07127852e-02 -2.51019112e-04 9.99785436e-01 1.40119915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:17.29, Z:1.40 [[ 8.64185171e-01 -5.02851656e-01 -1.80056181e-02 6.97620492e+01] [ 5.02748311e-01 8.64372694e-01 -1.01970940e-02 1.72931449e+01] [ 2.06911903e-02 -2.40116700e-04 9.99785886e-01 1.40201741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:17.31, Z:1.40 [[ 8.64017832e-01 -5.03144649e-01 -1.78506939e-02 6.97861606e+01] [ 5.03043073e-01 8.64202177e-01 -1.01125598e-02 1.73062184e+01] [ 2.05146889e-02 -2.42235927e-04 9.99789522e-01 1.40277580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:17.32, Z:1.40 [[ 8.63564082e-01 -5.03923172e-01 -1.78469304e-02 6.98105879e+01] [ 5.03821738e-01 8.63748442e-01 -1.01136363e-02 1.73195232e+01] [ 2.05117540e-02 -2.57898487e-04 9.99789579e-01 1.40329008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:17.33, Z:1.40 [[ 8.62790367e-01 -5.05258439e-01 -1.75126313e-02 6.98368417e+01] [ 5.05160903e-01 8.62968037e-01 -9.93120571e-03 1.73324469e+01] [ 2.01306665e-02 -2.78148013e-04 9.99797319e-01 1.40405518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:17.35, Z:1.41 [[ 8.62156922e-01 -5.06342894e-01 -1.73872095e-02 6.98626574e+01] [ 5.06246849e-01 8.62332178e-01 -9.86620412e-03 1.73463577e+01] [ 1.99892326e-02 -2.96003853e-04 9.99800152e-01 1.40506654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:17.36, Z:1.41 [[ 8.61166945e-01 -5.08044735e-01 -1.67940665e-02 6.98884493e+01] [ 5.07955337e-01 8.61330625e-01 -9.53569801e-03 1.73566813e+01] [ 1.93098049e-02 -3.18807765e-04 9.99813498e-01 1.40648251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:17.37, Z:1.41 [[ 8.60596880e-01 -5.09020672e-01 -1.64610183e-02 6.99126022e+01] [ 5.08934931e-01 8.60754230e-01 -9.34834034e-03 1.73723329e+01] [ 1.89273896e-02 -3.32434684e-04 9.99820806e-01 1.40673212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:17.39, Z:1.41 [[ 8.60163696e-01 -5.09743704e-01 -1.67263881e-02 6.99381541e+01] [ 5.09655193e-01 8.60326237e-01 -9.50523818e-03 1.73860677e+01] [ 1.92353859e-02 -3.48629754e-04 9.99814922e-01 1.40687827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:17.40, Z:1.41 [[ 8.59679865e-01 -5.10540898e-01 -1.72777428e-02 6.99630874e+01] [ 5.10446485e-01 8.59853390e-01 -9.82514422e-03 1.73992286e+01] [ 1.98724637e-02 -3.72884446e-04 9.99802454e-01 1.40678765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:17.41, Z:1.41 [[ 8.59269491e-01 -5.11212767e-01 -1.78170793e-02 6.99871894e+01] [ 5.11112463e-01 8.59454099e-01 -1.01342085e-02 1.74146290e+01] [ 2.04936986e-02 -3.98515089e-04 9.99789903e-01 1.40671742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.01, Y:17.43, Z:1.41 [[ 8.58927677e-01 -5.11787948e-01 -1.77859813e-02 7.00116341e+01] [ 5.11687985e-01 8.59111710e-01 -1.01229966e-02 1.74269958e+01] [ 2.04609724e-02 -4.05950983e-04 9.99790570e-01 1.40701588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.04, Y:17.44, Z:1.41 [[ 8.58391129e-01 -5.12661093e-01 -1.85276333e-02 7.00359410e+01] [ 5.12552733e-01 8.58590944e-01 -1.05492688e-02 1.74419767e+01] [ 2.13158579e-02 -4.40990340e-04 9.99772694e-01 1.40744400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:17.46, Z:1.41 [[ 8.58357668e-01 -5.12734291e-01 -1.80460528e-02 7.00598570e+01] [ 5.12631372e-01 8.58547241e-01 -1.02815932e-02 1.74575358e+01] [ 2.07651142e-02 -4.25688440e-04 9.99784291e-01 1.40848627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:17.47, Z:1.41 [[ 8.58705390e-01 -5.12169974e-01 -1.75205885e-02 7.00836760e+01] [ 5.12072698e-01 8.58884021e-01 -9.98948793e-03 1.74710880e+01] [ 2.01644693e-02 -3.93787888e-04 9.99796599e-01 1.40929585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:17.49, Z:1.41 [[ 8.58553989e-01 -5.12383170e-01 -1.86691170e-02 7.01068176e+01] [ 5.12272709e-01 8.58756839e-01 -1.06471984e-02 1.74874673e+01] [ 2.14876771e-02 -4.22484515e-04 9.99769024e-01 1.40887754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.13, Y:17.50, Z:1.41 [[ 8.58498573e-01 -5.12452660e-01 -1.92995444e-02 7.01301930e+01] [ 5.12334450e-01 8.58715369e-01 -1.10147808e-02 1.75009059e+01] [ 2.22173691e-02 -4.31647825e-04 9.99753071e-01 1.40870607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:17.52, Z:1.41 [[ 8.58484378e-01 -5.12464096e-01 -1.96245378e-02 7.01534177e+01] [ 5.12341782e-01 8.58708542e-01 -1.12043632e-02 1.75160320e+01] [ 2.25935921e-02 -4.35699854e-04 9.99744637e-01 1.40878567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:17.53, Z:1.41 [[ 8.58656745e-01 -5.12173494e-01 -1.96699520e-02 7.01769413e+01] [ 5.12050348e-01 8.58881909e-01 -1.12386187e-02 1.75307311e+01] [ 2.26502885e-02 -4.21889965e-04 9.99743360e-01 1.40887472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.20, Y:17.54, Z:1.41 [[ 8.58824525e-01 -5.11889649e-01 -1.97337854e-02 7.02007054e+01] [ 5.11765452e-01 8.59051116e-01 -1.12828076e-02 1.75445933e+01] [ 2.27278828e-02 -4.09117723e-04 9.99741605e-01 1.40984144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:17.56, Z:1.41 [[ 8.59194871e-01 -5.11273062e-01 -1.95966660e-02 7.02242611e+01] [ 5.11150359e-01 8.59418237e-01 -1.12073865e-02 1.75620769e+01] [ 2.25717670e-02 -3.87513814e-04 9.99745150e-01 1.41133441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:17.58, Z:1.41 [[ 8.59194441e-01 -5.11285899e-01 -1.92780171e-02 7.02481344e+01] [ 5.11166999e-01 8.59410605e-01 -1.10322891e-02 1.75771738e+01] [ 2.22083862e-02 -3.75404624e-04 9.99753293e-01 1.41201153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:17.59, Z:1.41 [[ 8.59157896e-01 -5.11345935e-01 -1.93143760e-02 7.02722390e+01] [ 5.11226417e-01 8.59374888e-01 -1.10613142e-02 1.75924448e+01] [ 2.22544477e-02 -3.70603833e-04 9.99752270e-01 1.41282358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.30, Y:17.61, Z:1.41 [[ 8.59268099e-01 -5.11178562e-01 -1.88364470e-02 7.02955136e+01] [ 5.11064682e-01 8.59474464e-01 -1.07951910e-02 1.76069582e+01] [ 2.17077154e-02 -3.50679550e-04 9.99764298e-01 1.41407449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:17.62, Z:1.41 [[ 8.59218570e-01 -5.11264312e-01 -1.87683859e-02 7.03193841e+01] [ 5.11151199e-01 8.59423459e-01 -1.07596795e-02 1.76210708e+01] [ 2.16310313e-02 -3.48566523e-04 9.99765961e-01 1.41495228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:17.63, Z:1.42 [[ 8.59304142e-01 -5.11128811e-01 -1.85399619e-02 7.03437524e+01] [ 5.11018242e-01 8.59504058e-01 -1.06362756e-02 1.76335932e+01] [ 2.13716794e-02 -3.34463048e-04 9.99771544e-01 1.41548890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:17.65, Z:1.42 [[ 8.59611401e-01 -5.10610628e-01 -1.85748798e-02 7.03674778e+01] [ 5.10499445e-01 8.59812005e-01 -1.06598368e-02 1.76494470e+01] [ 2.14139306e-02 -3.19148569e-04 9.99770645e-01 1.41631778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.39, Y:17.66, Z:1.42 [[ 8.59714290e-01 -5.10422378e-01 -1.89825184e-02 7.03915620e+01] [ 5.10306059e-01 8.59923774e-01 -1.09009049e-02 1.76641449e+01] [ 2.18875846e-02 -3.15230432e-04 9.99760388e-01 1.41666296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:17.68, Z:1.42 [[ 8.59681557e-01 -5.10478486e-01 -1.89561496e-02 7.04154986e+01] [ 5.10362332e-01 8.59890469e-01 -1.08936148e-02 1.76792426e+01] [ 2.18611683e-02 -3.09464967e-04 9.99760968e-01 1.41697570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:17.69, Z:1.42 [[ 8.59425497e-01 -5.10918112e-01 -1.87215896e-02 7.04396188e+01] [ 5.10804760e-01 8.59629331e-01 -1.07662017e-02 1.76929413e+01] [ 2.15942750e-02 -3.10328791e-04 9.99766768e-01 1.41681909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:17.71, Z:1.42 [[ 8.58938007e-01 -5.11732361e-01 -1.88544744e-02 7.04649056e+01] [ 5.11617530e-01 8.59144855e-01 -1.08453202e-02 1.77070982e+01] [ 2.17486260e-02 -3.30821950e-04 9.99763416e-01 1.41720152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57275509600001 meters Centerline goodness [0,1] 0.9999129431736566 Centerline is valid? [True, True] Translation: X:70.49, Y:17.72, Z:1.42 [[ 8.57628923e-01 -5.13927958e-01 -1.87265701e-02 7.04903175e+01] [ 5.13815062e-01 8.57833265e-01 -1.07782990e-02 1.77179515e+01] [ 2.16035440e-02 -3.78212830e-04 9.99766545e-01 1.41672204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:17.73, Z:1.42 [[ 8.56765858e-01 -5.15365634e-01 -1.87223770e-02 7.05158429e+01] [ 5.15253043e-01 8.56970300e-01 -1.07799576e-02 1.77303249e+01] [ 2.16001407e-02 -4.10862133e-04 9.99766605e-01 1.41712195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:17.74, Z:1.42 [[ 8.55805956e-01 -5.16963700e-01 -1.85660472e-02 7.05418955e+01] [ 5.16853304e-01 8.56007205e-01 -1.06924192e-02 1.77430703e+01] [ 2.14202627e-02 -4.45286794e-04 9.99770461e-01 1.41773095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:17.76, Z:1.42 [[ 8.53989303e-01 -5.19971937e-01 -1.82059390e-02 7.05684364e+01] [ 5.19866334e-01 8.54183195e-01 -1.04911773e-02 1.77552199e+01] [ 2.10063249e-02 -5.05301561e-04 9.99779215e-01 1.41828418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:17.77, Z:1.42 [[ 8.53114542e-01 -5.21414704e-01 -1.79523043e-02 7.05934160e+01] [ 5.21312215e-01 8.53303245e-01 -1.03511567e-02 1.77699534e+01] [ 2.07160049e-02 -5.28033209e-04 9.99785261e-01 1.41886021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:17.78, Z:1.42 [[ 8.52101275e-01 -5.23075484e-01 -1.77610290e-02 7.06194602e+01] [ 5.22975401e-01 8.52286177e-01 -1.02470714e-02 1.77811877e+01] [ 2.04974714e-02 -5.57038686e-04 9.99789750e-01 1.41923720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:17.80, Z:1.42 [[ 8.51866053e-01 -5.23452582e-01 -1.79338346e-02 7.06407601e+01] [ 5.23350577e-01 8.52054617e-01 -1.03491081e-02 1.77995443e+01] [ 2.06978739e-02 -5.69628838e-04 9.99785614e-01 1.41954911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:17.81, Z:1.42 [[ 8.52037300e-01 -5.23165418e-01 -1.81764824e-02 7.06673724e+01] [ 5.23060409e-01 8.52230971e-01 -1.04967390e-02 1.78095582e+01] [ 2.09820921e-02 -5.63785153e-04 9.99779693e-01 1.41938461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:17.83, Z:1.42 [[ 8.52788626e-01 -5.21891100e-01 -1.95253376e-02 7.06894087e+01] [ 5.21769520e-01 8.53011932e-01 -1.12788343e-02 1.78298847e+01] [ 2.25416692e-02 -5.69264464e-04 9.99745742e-01 1.41852971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:17.84, Z:1.42 [[ 8.53488440e-01 -5.20709563e-01 -2.04703084e-02 7.07135172e+01] [ 5.20575420e-01 8.53733705e-01 -1.18318601e-02 1.78446617e+01] [ 2.36371549e-02 -5.57983592e-04 9.99720448e-01 1.41822734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:17.86, Z:1.42 [[ 8.54070164e-01 -5.19728744e-01 -2.11231483e-02 7.07397890e+01] [ 5.19585519e-01 8.54331163e-01 -1.22128050e-02 1.78559712e+01] [ 2.43935097e-02 -5.44689543e-04 9.99702286e-01 1.41701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:17.88, Z:1.42 [[ 8.55585434e-01 -5.17177546e-01 -2.23819160e-02 7.07609345e+01] [ 5.17015647e-01 8.55877995e-01 -1.29490527e-02 1.78770165e+01] [ 2.58531487e-02 -4.92779888e-04 9.99665630e-01 1.41694860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:17.89, Z:1.42 [[ 8.56343411e-01 -5.15922307e-01 -2.23637038e-02 7.07856767e+01] [ 5.15760060e-01 8.56635262e-01 -1.29455794e-02 1.78904637e+01] [ 2.58364505e-02 -4.48443595e-04 9.99666083e-01 1.41690634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:17.91, Z:1.42 [[ 8.56776152e-01 -5.15215615e-01 -2.20792994e-02 7.08095116e+01] [ 5.15057138e-01 8.57060497e-01 -1.27847589e-02 1.79062854e+01] [ 2.55102027e-02 -4.18424217e-04 9.99674474e-01 1.41785927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:17.92, Z:1.42 [[ 8.57597273e-01 -5.13875984e-01 -2.14100454e-02 7.08337919e+01] [ 5.13726369e-01 8.57864408e-01 -1.24046437e-02 1.79221864e+01] [ 2.47413645e-02 -3.60716242e-04 9.99693821e-01 1.41957162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:17.94, Z:1.42 [[ 8.57633264e-01 -5.13826332e-01 -2.11585830e-02 7.08575508e+01] [ 5.13680004e-01 8.57894154e-01 -1.22668180e-02 1.79365475e+01] [ 2.44548388e-02 -3.48309820e-04 9.99700875e-01 1.42079368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:17.95, Z:1.42 [[ 8.57600916e-01 -5.13891211e-01 -2.08923975e-02 7.08839844e+01] [ 5.13748365e-01 8.57855296e-01 -1.21205988e-02 1.79455734e+01] [ 2.41513230e-02 -3.38798461e-04 9.99708257e-01 1.42052869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.91, Y:17.96, Z:1.42 [[ 8.57305047e-01 -5.14437731e-01 -1.95416585e-02 7.09072611e+01] [ 5.14312815e-01 8.57527675e-01 -1.13408481e-02 1.79622126e+01] [ 2.25916731e-02 -3.27959085e-04 9.99744722e-01 1.42352754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.93, Y:17.97, Z:1.42 [[ 8.57101781e-01 -5.14794381e-01 -1.90599957e-02 7.09311634e+01] [ 5.14675465e-01 8.57313619e-01 -1.10690387e-02 1.79746789e+01] [ 2.20386728e-02 -3.22419348e-04 9.99757067e-01 1.42480982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.95, Y:17.99, Z:1.43 [[ 8.56941426e-01 -5.15061358e-01 -1.90575318e-02 7.09549223e+01] [ 5.14942415e-01 8.57153249e-01 -1.10732793e-02 1.79886788e+01] [ 2.20386435e-02 -3.24379689e-04 9.99757067e-01 1.42537185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:18.00, Z:1.43 [[ 8.56731853e-01 -5.15420719e-01 -1.87620359e-02 7.09800954e+01] [ 5.15305360e-01 8.56937208e-01 -1.09090240e-02 1.79999614e+01] [ 2.17006237e-02 -3.22069300e-04 9.99764462e-01 1.42601761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:18.02, Z:1.43 [[ 8.56288959e-01 -5.16156128e-01 -1.87635346e-02 7.10048230e+01] [ 5.16040850e-01 8.56494447e-01 -1.09134235e-02 1.80153750e+01] [ 2.17038936e-02 -3.37706306e-04 9.99764386e-01 1.42696973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:18.03, Z:1.43 [[ 8.55581118e-01 -5.17344637e-01 -1.83160357e-02 7.10303775e+01] [ 5.17234932e-01 8.55777074e-01 -1.06594394e-02 1.80270687e+01] [ 2.11890473e-02 -3.53678459e-04 9.99775424e-01 1.42810375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:18.04, Z:1.43 [[ 8.55246735e-01 -5.17904592e-01 -1.81067915e-02 7.10546851e+01] [ 5.17797455e-01 8.55438310e-01 -1.05400718e-02 1.80408530e+01] [ 2.09479948e-02 -3.61288587e-04 9.99780501e-01 1.42883048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.08, Y:18.05, Z:1.43 [[ 8.54852509e-01 -5.18562745e-01 -1.78848663e-02 7.10790622e+01] [ 5.18458211e-01 8.55039499e-01 -1.04181382e-02 1.80546865e+01] [ 2.06947255e-02 -3.66584201e-04 9.99785774e-01 1.42971680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.11, Y:18.06, Z:1.43 [[ 8.54556705e-01 -5.19038935e-01 -1.82049994e-02 7.11051721e+01] [ 5.18930575e-01 8.54750513e-01 -1.06121449e-02 1.80645063e+01] [ 2.10688490e-02 -3.78451233e-04 9.99777956e-01 1.42977570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.13, Y:18.08, Z:1.43 [[ 8.54399551e-01 -5.19298059e-01 -1.81915911e-02 7.11276134e+01] [ 5.19189865e-01 8.54593108e-01 -1.06068198e-02 1.80821676e+01] [ 2.10545093e-02 -3.82427683e-04 9.99778256e-01 1.43063533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.15, Y:18.10, Z:1.43 [[ 8.55153219e-01 -5.18036652e-01 -1.87349542e-02 7.11503412e+01] [ 5.17921427e-01 8.55358346e-01 -1.09313558e-02 1.80980469e+01] [ 2.16879424e-02 -3.55250146e-04 9.99764726e-01 1.43057678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:18.11, Z:1.43 [[ 8.55201497e-01 -5.17939915e-01 -1.92000831e-02 7.11737428e+01] [ 5.17818807e-01 8.55416925e-01 -1.12057252e-02 1.81129431e+01] [ 2.22279684e-02 -3.59011137e-04 9.99752864e-01 1.43074265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:18.13, Z:1.43 [[ 8.56029591e-01 -5.16564456e-01 -1.93520769e-02 7.11968371e+01] [ 5.16440899e-01 8.56248247e-01 -1.13020600e-02 1.81290788e+01] [ 2.24084244e-02 -3.19306152e-04 9.99748849e-01 1.43107378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:18.14, Z:1.43 [[ 8.56657503e-01 -5.15470813e-01 -2.06824460e-02 7.12201386e+01] [ 5.15329291e-01 8.56907081e-01 -1.20820286e-02 1.81442698e+01] [ 2.39508676e-02 -3.08109758e-04 9.99713089e-01 1.43027330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.24, Y:18.16, Z:1.43 [[ 8.56763799e-01 -5.15260290e-01 -2.15087752e-02 7.12448892e+01] [ 5.15107041e-01 8.57033685e-01 -1.25697494e-02 1.81584068e+01] [ 2.49104376e-02 -3.10015290e-04 9.99689639e-01 1.42981548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:18.17, Z:1.43 [[ 8.56735802e-01 -5.15283169e-01 -2.20685481e-02 7.12680725e+01] [ 5.15121613e-01 8.57019929e-01 -1.29059719e-02 1.81741861e+01] [ 2.55634156e-02 -3.10977866e-04 9.99673154e-01 1.43071925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.29, Y:18.19, Z:1.43 [[ 8.56603062e-01 -5.15490650e-01 -2.23737155e-02 7.12917857e+01] [ 5.15324418e-01 8.56895146e-01 -1.30939880e-02 1.81896418e+01] [ 2.59217566e-02 -3.13371666e-04 9.99663926e-01 1.43145684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.32, Y:18.20, Z:1.43 [[ 8.55994594e-01 -5.16510597e-01 -2.21372759e-02 7.13167273e+01] [ 5.16347970e-01 8.56280732e-01 -1.29646190e-02 1.82040652e+01] [ 2.56520859e-02 -3.32893741e-04 9.99670876e-01 1.43250474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:18.22, Z:1.43 [[ 8.54377611e-01 -5.19185930e-01 -2.20197117e-02 7.13421205e+01] [ 5.19025705e-01 8.54661223e-01 -1.29039061e-02 1.82177070e+01] [ 2.55189202e-02 -4.03987939e-04 9.99674258e-01 1.43380096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:18.23, Z:1.43 [[ 8.53571797e-01 -5.20508237e-01 -2.20536012e-02 7.13673929e+01] [ 5.20347777e-01 8.53856535e-01 -1.29309143e-02 1.82301766e+01] [ 2.55612590e-02 -4.38078578e-04 9.99673162e-01 1.43460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.39, Y:18.24, Z:1.44 [[ 8.52548039e-01 -5.22186972e-01 -2.19683192e-02 7.13919881e+01] [ 5.22028207e-01 8.52830893e-01 -1.28848309e-02 1.82449578e+01] [ 2.54635522e-02 -4.83144960e-04 9.99675634e-01 1.43619015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:18.26, Z:1.44 [[ 8.51166408e-01 -5.24462693e-01 -2.13220416e-02 7.14178304e+01] [ 5.24313655e-01 8.51433265e-01 -1.25134841e-02 1.82579656e+01] [ 2.47171511e-02 -5.28380211e-04 9.99694345e-01 1.43794699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:18.27, Z:1.44 [[ 8.50590263e-01 -5.25422197e-01 -2.06813882e-02 7.14417907e+01] [ 5.25282103e-01 8.50841484e-01 -1.21442115e-02 1.82714539e+01] [ 2.39774213e-02 -5.33815024e-04 9.99712358e-01 1.43898140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:18.29, Z:1.44 [[ 8.50038538e-01 -5.26329420e-01 -2.02934910e-02 7.14660818e+01] [ 5.26194730e-01 8.50280567e-01 -1.19190411e-02 1.82852524e+01] [ 2.35285030e-02 -5.46683710e-04 9.99723017e-01 1.43977219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.49, Y:18.30, Z:1.44 [[ 8.49582364e-01 -5.27074957e-01 -2.00448797e-02 7.14904176e+01] [ 5.26943695e-01 8.49818615e-01 -1.17755687e-02 1.82997874e+01] [ 2.32411193e-02 -5.58207538e-04 9.99729733e-01 1.44043951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:18.32, Z:1.44 [[ 8.48864939e-01 -5.28233523e-01 -1.99414074e-02 7.15142758e+01] [ 5.28103861e-01 8.49098936e-01 -1.17178896e-02 1.83159409e+01] [ 2.31220099e-02 -5.84228620e-04 9.99732480e-01 1.44131526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.54, Y:18.33, Z:1.44 [[ 8.48615006e-01 -5.28609898e-01 -2.05948387e-02 7.15383249e+01] [ 5.28471538e-01 8.48864657e-01 -1.21089958e-02 1.83302086e+01] [ 2.38831657e-02 -6.07910556e-04 9.99714572e-01 1.44139985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:18.34, Z:1.44 [[ 8.48219418e-01 -5.29226114e-01 -2.10603519e-02 7.15629047e+01] [ 5.29081548e-01 8.48480592e-01 -1.23855115e-02 1.83441748e+01] [ 2.44240360e-02 -6.37012279e-04 9.99701486e-01 1.44076007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:18.36, Z:1.44 [[ 8.48166155e-01 -5.29302844e-01 -2.12761309e-02 7.15864436e+01] [ 5.29155229e-01 8.48432724e-01 -1.25162596e-02 1.83599498e+01] [ 2.46762575e-02 -6.42508145e-04 9.99695288e-01 1.44159777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.61, Y:18.38, Z:1.44 [[ 8.48004591e-01 -5.29563835e-01 -2.12216637e-02 7.16094286e+01] [ 5.29416836e-01 8.48269848e-01 -1.24931710e-02 1.83768810e+01] [ 2.46176290e-02 -6.40839696e-04 9.99696735e-01 1.44248153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:18.39, Z:1.44 [[ 8.48519733e-01 -5.28741481e-01 -2.11355095e-02 7.16334868e+01] [ 5.28595211e-01 8.48782704e-01 -1.24508917e-02 1.83918360e+01] [ 2.45227578e-02 -6.07301793e-04 9.99699087e-01 1.44258595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:18.41, Z:1.44 [[ 8.48829798e-01 -5.28251928e-01 -2.09254469e-02 7.16566263e+01] [ 5.28108288e-01 8.49087487e-01 -1.23319255e-02 1.84093671e+01] [ 2.42818985e-02 -5.83196054e-04 9.99704981e-01 1.44354422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:18.42, Z:1.44 [[ 8.49305004e-01 -5.27489983e-01 -2.08645153e-02 7.16799912e+01] [ 5.27346777e-01 8.49561070e-01 -1.23030631e-02 1.84248383e+01] [ 2.42154224e-02 -5.53781833e-04 9.99706610e-01 1.44409577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:18.44, Z:1.45 [[ 8.49991769e-01 -5.26403418e-01 -2.03330734e-02 7.17030598e+01] [ 5.26267027e-01 8.50234782e-01 -1.19929963e-02 1.84427896e+01] [ 2.36010405e-02 -5.06677942e-04 9.99721328e-01 1.44511944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:18.46, Z:1.45 [[ 8.50423707e-01 -5.25695538e-01 -2.05844692e-02 7.17265597e+01] [ 5.25555377e-01 8.50672654e-01 -1.21483082e-02 1.84570713e+01] [ 2.38969565e-02 -4.87069169e-04 9.99714308e-01 1.44562627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:18.47, Z:1.45 [[ 8.50451147e-01 -5.25657251e-01 -2.04279414e-02 7.17495829e+01] [ 5.25519119e-01 8.50696318e-01 -1.20594476e-02 1.84731909e+01] [ 2.37171106e-02 -4.79302741e-04 9.99718595e-01 1.44627398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:18.49, Z:1.45 [[ 8.50907412e-01 -5.24902651e-01 -2.08274487e-02 7.17747593e+01] [ 5.24758641e-01 8.51162144e-01 -1.23034088e-02 1.84862165e+01] [ 2.41856278e-02 -4.60321951e-04 9.99707379e-01 1.44549130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:18.50, Z:1.45 [[ 8.50966527e-01 -5.24783263e-01 -2.14125126e-02 7.17968466e+01] [ 5.24630910e-01 8.51235754e-01 -1.26530274e-02 1.85034276e+01] [ 2.48671933e-02 -4.66363223e-04 9.99690655e-01 1.44613864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.82, Y:18.52, Z:1.45 [[ 8.51715575e-01 -5.23556633e-01 -2.16571377e-02 7.18199285e+01] [ 5.23400173e-01 8.51990768e-01 -1.28058510e-02 1.85194835e+01] [ 2.51562696e-02 -4.28406860e-04 9.99683439e-01 1.44651412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.84, Y:18.53, Z:1.45 [[ 8.52194451e-01 -5.22769142e-01 -2.18412705e-02 7.18431489e+01] [ 5.22609651e-01 8.52474199e-01 -1.29187085e-02 1.85339951e+01] [ 2.53726218e-02 -4.05207062e-04 9.99677981e-01 1.44706529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:18.55, Z:1.45 [[ 8.52594676e-01 -5.22121651e-01 -2.17094572e-02 7.18673531e+01] [ 5.21963775e-01 8.52870938e-01 -1.28444750e-02 1.85499353e+01] [ 2.52217436e-02 -3.80419195e-04 9.99681809e-01 1.44785461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:18.57, Z:1.45 [[ 8.52838800e-01 -5.21722004e-01 -2.17285960e-02 7.18910755e+01] [ 5.21563517e-01 8.53115478e-01 -1.28638237e-02 1.85652105e+01] [ 2.52483415e-02 -3.62074972e-04 9.99681144e-01 1.44861991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:18.58, Z:1.45 [[ 8.53343179e-01 -5.20876753e-01 -2.21996861e-02 7.19145304e+01] [ 5.20710828e-01 8.53631826e-01 -1.31506431e-02 1.85805572e+01] [ 2.58002229e-02 -3.37605302e-04 9.99667062e-01 1.44924116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:18.60, Z:1.45 [[ 8.53383939e-01 -5.20811738e-01 -2.21582215e-02 7.19383986e+01] [ 5.20646305e-01 8.53671497e-01 -1.31301569e-02 1.85954180e+01] [ 2.57541819e-02 -3.31531112e-04 9.99668251e-01 1.44968149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:18.61, Z:1.45 [[ 8.53305833e-01 -5.20926182e-01 -2.24737317e-02 7.19616139e+01] [ 5.20755819e-01 8.53601665e-01 -1.33256961e-02 1.86089174e+01] [ 2.61253188e-02 -3.32432378e-04 9.99658620e-01 1.45022038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.98, Y:18.62, Z:1.45 [[ 8.53124101e-01 -5.21214628e-01 -2.26843390e-02 7.19847251e+01] [ 5.21040972e-01 8.53425566e-01 -1.34576791e-02 1.86242600e+01] [ 2.63737341e-02 -3.38399712e-04 9.99652095e-01 1.45182434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:18.64, Z:1.45 [[ 8.52849159e-01 -5.21646285e-01 -2.30968545e-02 7.20097027e+01] [ 5.21466184e-01 8.53161784e-01 -1.37109027e-02 1.86360919e+01] [ 2.68575950e-02 -3.50896739e-04 9.99639208e-01 1.45101523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:18.65, Z:1.45 [[ 8.52485261e-01 -5.22228472e-01 -2.33731155e-02 7.20334998e+01] [ 5.22044126e-01 8.52805538e-01 -1.38796235e-02 1.86509627e+01] [ 2.71810569e-02 -3.69623141e-04 9.99630458e-01 1.45153076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:18.66, Z:1.45 [[ 8.51788338e-01 -5.23344259e-01 -2.38204601e-02 7.20592259e+01] [ 5.23152962e-01 8.52121249e-01 -1.41546930e-02 1.86647533e+01] [ 2.77056976e-02 -4.04941833e-04 9.99616041e-01 1.45225680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.08, Y:18.68, Z:1.45 [[ 8.51333236e-01 -5.24076747e-01 -2.39851099e-02 7.20841786e+01] [ 5.23882891e-01 8.51670935e-01 -1.42595436e-02 1.86767799e+01] [ 2.79005162e-02 -4.25765292e-04 9.99610614e-01 1.45227670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:18.69, Z:1.45 [[ 8.50364089e-01 -5.25664318e-01 -2.36207902e-02 7.21092355e+01] [ 5.25476799e-01 8.50691958e-01 -1.40472914e-02 1.86916837e+01] [ 2.74781761e-02 -4.66865112e-04 9.99622295e-01 1.45476021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.13, Y:18.71, Z:1.46 [[ 8.49723800e-01 -5.26706614e-01 -2.34436760e-02 7.21342755e+01] [ 5.26522102e-01 8.50047000e-01 -1.39490171e-02 1.87050413e+01] [ 2.72752660e-02 -4.90801739e-04 9.99627840e-01 1.45544052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:18.72, Z:1.46 [[ 8.48963664e-01 -5.27935711e-01 -2.33362725e-02 7.21591991e+01] [ 5.27753268e-01 8.49284174e-01 -1.38880921e-02 1.87176294e+01] [ 2.71511467e-02 -5.25308516e-04 9.99631202e-01 1.45601752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.18, Y:18.73, Z:1.46 [[ 8.48149444e-01 -5.29245581e-01 -2.32730455e-02 7.21839930e+01] [ 5.29064538e-01 8.48468501e-01 -1.38534066e-02 1.87301775e+01] [ 2.70783003e-02 -5.63184018e-04 9.99633157e-01 1.45635664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:18.74, Z:1.46 [[ 8.46334997e-01 -5.32155154e-01 -2.29775064e-02 7.22103274e+01] [ 5.31979641e-01 8.46646607e-01 -1.36815469e-02 1.87420767e+01] [ 2.67345335e-02 -6.44393640e-04 9.99642361e-01 1.45693928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.24, Y:18.75, Z:1.46 [[ 8.45543703e-01 -5.33415619e-01 -2.28828388e-02 7.22355635e+01] [ 5.33241830e-01 8.45853014e-01 -1.36319406e-02 1.87539349e+01] [ 2.66270082e-02 -6.75685252e-04 9.99645210e-01 1.45729195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:18.77, Z:1.46 [[ 8.44998741e-01 -5.34281393e-01 -2.28149160e-02 7.22596794e+01] [ 5.34108874e-01 8.45306397e-01 -1.35943057e-02 1.87689137e+01] [ 2.65487790e-02 -6.98477870e-04 9.99647275e-01 1.45815892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.28, Y:18.78, Z:1.46 [[ 8.44279049e-01 -5.35419459e-01 -2.27791620e-02 7.22848238e+01] [ 5.35247814e-01 8.44585975e-01 -1.35760150e-02 1.87800962e+01] [ 2.65078234e-02 -7.30551608e-04 9.99648339e-01 1.45846166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.31, Y:18.80, Z:1.46 [[ 8.44083827e-01 -5.35735901e-01 -2.25729212e-02 7.23086609e+01] [ 5.35567342e-01 8.44385286e-01 -1.34577211e-02 1.87952025e+01] [ 2.62700269e-02 -7.29874676e-04 9.99654617e-01 1.45923861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:18.81, Z:1.46 [[ 8.44263622e-01 -5.35456191e-01 -2.24856533e-02 7.23325600e+01] [ 5.35288606e-01 8.44562705e-01 -1.34143987e-02 1.88120806e+01] [ 2.61733670e-02 -7.11025158e-04 9.99657166e-01 1.46004127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.36, Y:18.83, Z:1.46 [[ 8.44669412e-01 -5.34823480e-01 -2.23031263e-02 7.23571589e+01] [ 5.34658208e-01 8.44963540e-01 -1.33123185e-02 1.88256402e+01] [ 2.59650690e-02 -6.80041280e-04 9.99662619e-01 1.46045265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:18.84, Z:1.46 [[ 8.44899696e-01 -5.34470852e-01 -2.20320829e-02 7.23814757e+01] [ 5.34309358e-01 8.45186652e-01 -1.31542547e-02 1.88402091e+01] [ 2.56517881e-02 -6.57922288e-04 9.99670722e-01 1.46118645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:18.86, Z:1.46 [[ 8.45657198e-01 -5.33284156e-01 -2.17235320e-02 7.24042634e+01] [ 5.33126576e-01 8.45935955e-01 -1.29774415e-02 1.88580177e+01] [ 2.52973807e-02 -6.06925435e-04 9.99679786e-01 1.46278281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:18.87, Z:1.46 [[ 8.45908499e-01 -5.32888672e-01 -2.16442852e-02 7.24295797e+01] [ 5.32731937e-01 8.46185156e-01 -1.29369510e-02 1.88695452e+01] [ 2.52090275e-02 -5.87125164e-04 9.99682030e-01 1.46281033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:18.89, Z:1.46 [[ 8.45779120e-01 -5.33089151e-01 -2.17631923e-02 7.24511811e+01] [ 5.32930654e-01 8.46058866e-01 -1.30120337e-02 1.88872884e+01] [ 2.53495158e-02 -5.92965866e-04 9.99678474e-01 1.46390910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:18.90, Z:1.46 [[ 8.45616100e-01 -5.33347868e-01 -2.17592120e-02 7.24747584e+01] [ 5.33189285e-01 8.45895797e-01 -1.30186868e-02 1.89015949e+01] [ 2.53495148e-02 -5.92967514e-04 9.99678474e-01 1.46447064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.50, Y:18.92, Z:1.46 [[ 8.45353433e-01 -5.33760567e-01 -2.18455936e-02 7.24986222e+01] [ 5.33600628e-01 8.45635440e-01 -1.30794838e-02 1.89167206e+01] [ 2.54547209e-02 -6.00035890e-04 9.99675796e-01 1.46465489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:18.93, Z:1.47 [[ 8.45046650e-01 -5.34264939e-01 -2.13807070e-02 7.25225854e+01] [ 5.34111677e-01 8.45316876e-01 -1.28099452e-02 1.89315812e+01] [ 2.49173770e-02 -5.94684028e-04 9.99689337e-01 1.46531576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:18.94, Z:1.47 [[ 8.44441878e-01 -5.35219421e-01 -2.14029194e-02 7.25471013e+01] [ 5.35065949e-01 8.44712845e-01 -1.28311870e-02 1.89446362e+01] [ 2.49468214e-02 -6.16781741e-04 9.99688589e-01 1.46585852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:18.96, Z:1.47 [[ 8.43938335e-01 -5.36037632e-01 -2.07784266e-02 7.25715604e+01] [ 5.35893151e-01 8.44193860e-01 -1.24602362e-02 1.89601797e+01] [ 2.42201757e-02 -6.19345511e-04 9.99706457e-01 1.46710240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:18.97, Z:1.47 [[ 8.43576130e-01 -5.36605507e-01 -2.08288655e-02 7.25961714e+01] [ 5.36460322e-01 8.43833000e-01 -1.24976648e-02 1.89726334e+01] [ 2.42823998e-02 -6.31128195e-04 9.99704940e-01 1.46769059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.62, Y:18.99, Z:1.47 [[ 8.42989529e-01 -5.37542571e-01 -2.04117160e-02 7.26201676e+01] [ 5.37403311e-01 8.43236369e-01 -1.22518381e-02 1.89891296e+01] [ 2.37977858e-02 -6.41152588e-04 9.99716587e-01 1.46882370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:19.00, Z:1.47 [[ 8.42225154e-01 -5.38739091e-01 -2.04201269e-02 7.26443255e+01] [ 5.38599901e-01 8.42472399e-01 -1.22639115e-02 1.90020643e+01] [ 2.38104419e-02 -6.69303537e-04 9.99716267e-01 1.46898102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.67, Y:19.02, Z:1.47 [[ 8.41803127e-01 -5.39405700e-01 -2.02234260e-02 7.26685757e+01] [ 5.39269281e-01 8.42045742e-01 -1.21495549e-02 1.90187406e+01] [ 2.35825889e-02 -6.78339092e-04 9.99721662e-01 1.46955948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:19.03, Z:1.47 [[ 8.41496808e-01 -5.39873305e-01 -2.04923495e-02 7.26929523e+01] [ 5.39733186e-01 8.41746002e-01 -1.23189188e-02 1.90341586e+01] [ 2.39000087e-02 -6.94070224e-04 9.99714113e-01 1.46897664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:19.05, Z:1.47 [[ 8.41362989e-01 -5.40091673e-01 -2.02312972e-02 7.27171888e+01] [ 5.39954983e-01 8.41605915e-01 -1.21696514e-02 1.90492639e+01] [ 2.35995068e-02 -6.84895504e-04 9.99721258e-01 1.46913602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:19.06, Z:1.47 [[ 8.41600045e-01 -5.39710476e-01 -2.05418136e-02 7.27409364e+01] [ 5.39569251e-01 8.41850428e-01 -1.23644714e-02 1.90631402e+01] [ 2.39663693e-02 -6.77791336e-04 9.99712536e-01 1.46870064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.76, Y:19.08, Z:1.47 [[ 8.41432316e-01 -5.39955628e-01 -2.09661101e-02 7.27641111e+01] [ 5.39808490e-01 8.41693196e-01 -1.26237322e-02 1.90798645e+01] [ 2.44632874e-02 -6.95668010e-04 9.99700487e-01 1.46883713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.79, Y:19.10, Z:1.47 [[ 8.41527293e-01 -5.39806457e-01 -2.09953324e-02 7.27887291e+01] [ 5.39658644e-01 8.41788881e-01 -1.26502257e-02 1.90956818e+01] [ 2.45023109e-02 -6.84802413e-04 9.99699539e-01 1.46891222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.81, Y:19.11, Z:1.47 [[ 8.41636911e-01 -5.39632806e-01 -2.10652759e-02 7.28126850e+01] [ 5.39483777e-01 8.41900219e-01 -1.26994747e-02 1.91097353e+01] [ 2.45879135e-02 -6.76027970e-04 9.99697443e-01 1.46882203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:19.13, Z:1.47 [[ 8.42119626e-01 -5.38881220e-01 -2.10134896e-02 7.28363567e+01] [ 5.38732600e-01 8.42381511e-01 -1.26718807e-02 1.91263178e+01] [ 2.45300136e-02 -6.49412478e-04 9.99698883e-01 1.46947516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:19.14, Z:1.47 [[ 8.42289825e-01 -5.38614050e-01 -2.10417637e-02 7.28606767e+01] [ 5.38464757e-01 8.42552373e-01 -1.26966571e-02 1.91419777e+01] [ 2.45673858e-02 -6.35983042e-04 9.99697974e-01 1.47031427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:19.16, Z:1.47 [[ 8.43234473e-01 -5.37145108e-01 -2.07546904e-02 7.28840802e+01] [ 5.36999252e-01 8.43489655e-01 -1.25301915e-02 1.91577342e+01] [ 2.42368977e-02 -5.79363802e-04 9.99706075e-01 1.47095913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:19.17, Z:1.47 [[ 8.43687858e-01 -5.36440310e-01 -2.05570378e-02 7.29084331e+01] [ 5.36296930e-01 8.43938085e-01 -1.24142184e-02 1.91736760e+01] [ 2.40083542e-02 -5.50950890e-04 9.99711606e-01 1.47161576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:19.19, Z:1.47 [[ 8.43972206e-01 -5.36001662e-01 -2.03257025e-02 7.29321962e+01] [ 5.35861192e-01 8.44216762e-01 -1.22817603e-02 1.91895730e+01] [ 2.37423427e-02 -5.26290842e-04 9.99717972e-01 1.47219189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:19.20, Z:1.47 [[ 8.44472157e-01 -5.35244120e-01 -1.95065982e-02 7.29560738e+01] [ 5.35114399e-01 8.44697284e-01 -1.17931276e-02 1.92046368e+01] [ 2.27893727e-02 -4.79293650e-04 9.99740174e-01 1.47284900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.98, Y:19.22, Z:1.47 [[ 8.44528965e-01 -5.35158735e-01 -1.93895555e-02 7.29798610e+01] [ 5.35030476e-01 8.44751387e-01 -1.17253476e-02 1.92196497e+01] [ 2.26542761e-02 -4.71607424e-04 9.99743248e-01 1.47331024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:19.23, Z:1.47 [[ 8.44453805e-01 -5.35286892e-01 -1.91236641e-02 7.30041921e+01] [ 5.35161991e-01 8.44670190e-01 -1.15721026e-02 1.92343954e+01] [ 2.23475838e-02 -4.62152076e-04 9.99750155e-01 1.47388274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:19.25, Z:1.47 [[ 8.44114336e-01 -5.35822438e-01 -1.91128846e-02 7.30286946e+01] [ 5.35697646e-01 8.44330560e-01 -1.15731410e-02 1.92484426e+01] [ 2.23387412e-02 -4.69673056e-04 9.99750349e-01 1.47418330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:19.26, Z:1.47 [[ 8.43860506e-01 -5.36218756e-01 -1.92065369e-02 7.30529964e+01] [ 5.36092671e-01 8.44078917e-01 -1.16374296e-02 1.92623443e+01] [ 2.24520409e-02 -4.76116425e-04 9.99747808e-01 1.47443647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:19.28, Z:1.47 [[ 8.43354148e-01 -5.37003289e-01 -1.95256088e-02 7.30776541e+01] [ 5.36873014e-01 8.43580002e-01 -1.18384032e-02 1.92772924e+01] [ 2.28286745e-02 -4.98806021e-04 9.99739267e-01 1.47476911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:19.29, Z:1.48 [[ 8.42596552e-01 -5.38187948e-01 -1.96158838e-02 7.31016008e+01] [ 5.38056629e-01 8.42824688e-01 -1.18999842e-02 1.92940511e+01] [ 2.29371792e-02 -5.27570611e-04 9.99736769e-01 1.47524931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:19.31, Z:1.48 [[ 8.42097298e-01 -5.38962408e-01 -1.97905127e-02 7.31266956e+01] [ 5.38828782e-01 8.42329641e-01 -1.20133201e-02 1.93090596e+01] [ 2.31448634e-02 -5.47313452e-04 9.99731972e-01 1.47520148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:19.32, Z:1.48 [[ 8.41620219e-01 -5.39687254e-01 -2.03242299e-02 7.31510767e+01] [ 5.39546365e-01 8.41865390e-01 -1.23444211e-02 1.93235553e+01] [ 2.37723925e-02 -5.76550027e-04 9.99717230e-01 1.47565193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:19.34, Z:1.48 [[ 8.40912123e-01 -5.40788267e-01 -2.03678945e-02 7.31759865e+01] [ 5.40647011e-01 8.41158536e-01 -1.23744576e-02 1.93379129e+01] [ 2.38245899e-02 -6.06009849e-04 9.99715970e-01 1.47590519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:19.35, Z:1.48 [[ 8.39598104e-01 -5.42817981e-01 -2.05830590e-02 7.32011404e+01] [ 5.42674155e-01 8.39850104e-01 -1.25125192e-02 1.93492620e+01] [ 2.40787046e-02 -6.64406778e-04 9.99709845e-01 1.47633274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:19.36, Z:1.48 [[ 8.38831056e-01 -5.43998101e-01 -2.07008785e-02 7.32261363e+01] [ 5.43852902e-01 8.39086156e-01 -1.25874614e-02 1.93622200e+01] [ 2.42173757e-02 -6.99479325e-04 9.99706472e-01 1.47655252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:19.38, Z:1.48 [[ 8.37987085e-01 -5.45299945e-01 -2.06304539e-02 7.32513994e+01] [ 5.45156041e-01 8.38240678e-01 -1.25481766e-02 1.93764589e+01] [ 2.41358057e-02 -7.31606624e-04 9.99708421e-01 1.47727240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:19.38, Z:1.48 [[ 8.37065400e-01 -5.46707567e-01 -2.07930972e-02 7.32792076e+01] [ 5.46561644e-01 8.37323259e-01 -1.26542014e-02 1.93846308e+01] [ 2.43286916e-02 -7.72315271e-04 9.99703715e-01 1.47688350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:19.40, Z:1.48 [[ 8.35577474e-01 -5.48972140e-01 -2.09731958e-02 7.33024285e+01] [ 5.48824298e-01 8.35840224e-01 -1.27675074e-02 1.94027311e+01] [ 2.45392465e-02 -8.42357894e-04 9.99698512e-01 1.47837814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:19.42, Z:1.48 [[ 8.35007703e-01 -5.49831391e-01 -2.11560370e-02 7.33281283e+01] [ 5.49681034e-01 8.35275217e-01 -1.28869601e-02 1.94168296e+01] [ 2.47567686e-02 -8.68361369e-04 9.99693127e-01 1.47922527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:19.43, Z:1.48 [[ 8.34533743e-01 -5.50555937e-01 -2.10140874e-02 7.33536353e+01] [ 5.50407623e-01 8.34797814e-01 -1.28085000e-02 1.94310136e+01] [ 2.45943100e-02 -8.77188518e-04 9.99697129e-01 1.47986157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:19.44, Z:1.48 [[ 8.34421575e-01 -5.50732373e-01 -2.08443807e-02 7.33777294e+01] [ 5.50586315e-01 8.34681435e-01 -1.27126721e-02 1.94436423e+01] [ 2.43996977e-02 -8.68902910e-04 9.99701905e-01 1.48069804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:19.46, Z:1.48 [[ 8.34600419e-01 -5.50462198e-01 -2.08208635e-02 7.34010799e+01] [ 5.50316228e-01 8.34859651e-01 -1.27047770e-02 1.94605169e+01] [ 2.43759983e-02 -8.54646831e-04 9.99702496e-01 1.48197578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:19.48, Z:1.48 [[ 8.34911287e-01 -5.49993345e-01 -2.07476030e-02 7.34252299e+01] [ 5.49848063e-01 8.35168623e-01 -1.26680164e-02 1.94765603e+01] [ 2.42950718e-02 -8.31359446e-04 9.99704486e-01 1.48280993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:19.49, Z:1.48 [[ 8.36396639e-01 -5.47735758e-01 -2.06446668e-02 7.34492926e+01] [ 5.47591049e-01 8.36651043e-01 -1.26124700e-02 1.94904426e+01] [ 2.41806828e-02 -7.55807200e-04 9.99707319e-01 1.48370479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:19.50, Z:1.48 [[ 8.37424875e-01 -5.46150635e-01 -2.09538363e-02 7.34738528e+01] [ 5.46000970e-01 8.37686677e-01 -1.28051352e-02 1.95035708e+01] [ 2.45462822e-02 -7.17476157e-04 9.99698437e-01 1.48397938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:19.52, Z:1.49 [[ 8.38273192e-01 -5.44853394e-01 -2.08046637e-02 7.34953204e+01] [ 5.44705367e-01 8.38531054e-01 -1.27175258e-02 1.95236206e+01] [ 2.43745437e-02 -6.71651030e-04 9.99702671e-01 1.48537196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:19.54, Z:1.49 [[ 8.40555218e-01 -5.41323797e-01 -2.08679839e-02 7.35187115e+01] [ 5.41173601e-01 8.40814027e-01 -1.27634488e-02 1.95391325e+01] [ 2.44552521e-02 -5.64818504e-04 9.99700766e-01 1.48595112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:19.55, Z:1.49 [[ 8.41604766e-01 -5.39689225e-01 -2.09035300e-02 7.35439042e+01] [ 5.39537943e-01 8.41864166e-01 -1.27880315e-02 1.95513887e+01] [ 2.44994956e-02 -5.15779363e-04 9.99699709e-01 1.48593508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:19.57, Z:1.49 [[ 8.42519949e-01 -5.38267174e-01 -2.07022744e-02 7.35661236e+01] [ 5.38118277e-01 8.42774128e-01 -1.26684177e-02 1.95699367e+01] [ 2.42663347e-02 -4.66877595e-04 9.99705420e-01 1.48764605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:19.59, Z:1.49 [[ 8.44314016e-01 -5.35485043e-01 -1.97385495e-02 7.35892967e+01] [ 5.35348764e-01 8.44544633e-01 -1.20856826e-02 1.95869802e+01] [ 2.31417883e-02 -3.62896883e-04 9.99732127e-01 1.48925468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:19.60, Z:1.49 [[ 8.44926880e-01 -5.34536341e-01 -1.92215350e-02 7.36131616e+01] [ 5.34406704e-01 8.45145429e-01 -1.17761619e-02 1.96033800e+01] [ 2.25397789e-02 -3.22121401e-04 9.99745895e-01 1.49033882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:19.62, Z:1.49 [[ 8.45540436e-01 -5.33574405e-01 -1.89664529e-02 7.36375241e+01] [ 5.33447792e-01 8.45753080e-01 -1.16267333e-02 1.96174820e+01] [ 2.22446632e-02 -2.86739288e-04 9.99752516e-01 1.49113669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:19.63, Z:1.49 [[ 8.45991609e-01 -5.32864001e-01 -1.88189622e-02 7.36618816e+01] [ 5.32739110e-01 8.46200855e-01 -1.15392142e-02 1.96332965e+01] [ 2.20734537e-02 -2.63518762e-04 9.99756317e-01 1.49227655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.69, Y:19.65, Z:1.49 [[ 8.46551384e-01 -5.32003509e-01 -1.79727708e-02 7.36862566e+01] [ 5.31889269e-01 8.46742119e-01 -1.10267737e-02 1.96460118e+01] [ 2.10845844e-02 -2.24793358e-04 9.99777670e-01 1.49316784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:19.66, Z:1.49 [[ 8.46494047e-01 -5.32103927e-01 -1.76985894e-02 7.37101990e+01] [ 5.31993117e-01 8.46679020e-01 -1.08609908e-02 1.96600944e+01] [ 2.07642001e-02 -2.21763676e-04 9.99784376e-01 1.49411591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:19.67, Z:1.50 [[ 8.46183076e-01 -5.32613614e-01 -1.72319635e-02 7.37344460e+01] [ 5.32508535e-01 8.46358487e-01 -1.05816557e-02 1.96744323e+01] [ 2.02203525e-02 -2.22149651e-04 9.99795523e-01 1.49501976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:19.69, Z:1.50 [[ 8.45733813e-01 -5.33339644e-01 -1.68268440e-02 7.37585966e+01] [ 5.33239454e-01 8.45901160e-01 -1.03398181e-02 1.96879154e+01] [ 1.97484818e-02 -2.28003296e-04 9.99804954e-01 1.49565212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.78, Y:19.70, Z:1.50 [[ 8.45320658e-01 -5.33995509e-01 -1.67863395e-02 7.37830177e+01] [ 5.33895787e-01 8.45487280e-01 -1.03221962e-02 1.97006260e+01] [ 1.97046429e-02 -2.36590248e-04 9.99805817e-01 1.49651405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:19.72, Z:1.50 [[ 8.44946970e-01 -5.34586491e-01 -1.67899487e-02 7.38069240e+01] [ 5.34486803e-01 8.45113733e-01 -1.03264402e-02 1.97157293e+01] [ 1.97097917e-02 -2.48711656e-04 9.99805712e-01 1.49694841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:19.73, Z:1.50 [[ 8.43661390e-01 -5.36619966e-01 -1.65671811e-02 7.38326648e+01] [ 5.36523165e-01 8.43823992e-01 -1.01962804e-02 1.97296499e+01] [ 1.94513126e-02 -2.86468392e-04 9.99810764e-01 1.49773718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:19.74, Z:1.50 [[ 8.42884323e-01 -5.37849280e-01 -1.62532897e-02 7.38573185e+01] [ 5.37756226e-01 8.43040960e-01 -1.00090888e-02 1.97440576e+01] [ 1.90855702e-02 -3.03803649e-04 9.99817808e-01 1.49823720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:19.76, Z:1.50 [[ 8.42208820e-01 -5.38908521e-01 -1.61836430e-02 7.38816704e+01] [ 5.38816334e-01 8.42364234e-01 -9.97269579e-03 1.97568293e+01] [ 1.90068927e-02 -3.20918824e-04 9.99819301e-01 1.49874651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.91, Y:19.77, Z:1.50 [[ 8.41394508e-01 -5.40174309e-01 -1.63400914e-02 7.39070971e+01] [ 5.40080531e-01 8.41553084e-01 -1.00710924e-02 1.97714320e+01] [ 1.91911997e-02 -3.51203440e-04 9.99815770e-01 1.49920030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:19.79, Z:1.50 [[ 8.39994395e-01 -5.42336871e-01 -1.67372494e-02 7.39325002e+01] [ 5.42238779e-01 8.40161029e-01 -1.03224168e-02 1.97858709e+01] [ 1.96602119e-02 -4.04813427e-04 9.99806637e-01 1.49886647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.96, Y:19.80, Z:1.50 [[ 8.39212354e-01 -5.43543755e-01 -1.68170308e-02 7.39574729e+01] [ 5.43444835e-01 8.39380725e-01 -1.03783067e-02 1.97993114e+01] [ 1.97569553e-02 -4.29525316e-04 9.99804720e-01 1.49866708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:19.81, Z:1.50 [[ 8.37581460e-01 -5.46008641e-01 -1.82170615e-02 7.39833849e+01] [ 5.45893083e-01 8.37779379e-01 -1.12452023e-02 1.98128807e+01] [ 2.14018561e-02 -5.25794891e-04 9.99770816e-01 1.49790464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:19.83, Z:1.50 [[ 8.36893921e-01 -5.47057384e-01 -1.83516529e-02 7.40080788e+01] [ 5.46940214e-01 8.37094926e-01 -1.13352178e-02 1.98273115e+01] [ 2.15630901e-02 -5.50882141e-04 9.99767338e-01 1.49793199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:19.84, Z:1.50 [[ 8.36118072e-01 -5.48228373e-01 -1.87675568e-02 7.40329065e+01] [ 5.48105972e-01 8.36328467e-01 -1.15990828e-02 1.98403438e+01] [ 2.20547883e-02 -5.88407214e-04 9.99756590e-01 1.49811776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:19.85, Z:1.50 [[ 8.35950898e-01 -5.48483311e-01 -1.87657448e-02 7.40562788e+01] [ 5.48360909e-01 8.36161292e-01 -1.16020136e-02 1.98549951e+01] [ 2.20547003e-02 -5.91687167e-04 9.99756590e-01 1.49868038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.08, Y:19.87, Z:1.50 [[ 8.34681607e-01 -5.50386494e-01 -1.95274967e-02 7.40806828e+01] [ 5.50254276e-01 8.34909738e-01 -1.20814128e-02 1.98706228e+01] [ 2.29531436e-02 -6.60955483e-04 9.99736323e-01 1.49889663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.10, Y:19.89, Z:1.50 [[ 8.34240518e-01 -5.51051115e-01 -1.96323087e-02 7.41049050e+01] [ 5.50917484e-01 8.34471216e-01 -1.21537742e-02 1.98860862e+01] [ 2.30799473e-02 -6.76611245e-04 9.99733394e-01 1.49972546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:19.90, Z:1.50 [[ 8.33979302e-01 -5.51460823e-01 -1.92219656e-02 7.41283054e+01] [ 5.51332664e-01 8.34200524e-01 -1.19070710e-02 1.99008596e+01] [ 2.26012570e-02 -6.67446810e-04 9.99744336e-01 1.50049429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.15, Y:19.92, Z:1.50 [[ 8.33896888e-01 -5.51595985e-01 -1.89169037e-02 7.41514279e+01] [ 5.51471715e-01 8.34111169e-01 -1.17262655e-02 1.99171239e+01] [ 2.22469616e-02 -6.53641011e-04 9.99752292e-01 1.50199917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:19.94, Z:1.50 [[ 8.34377949e-01 -5.50884752e-01 -1.84235994e-02 7.41748690e+01] [ 5.50766537e-01 8.34581102e-01 -1.14282659e-02 1.99350731e+01] [ 2.16716453e-02 -6.11608980e-04 9.99764955e-01 1.50340751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:19.95, Z:1.50 [[ 8.34876274e-01 -5.50137738e-01 -1.81680296e-02 7.41984289e+01] [ 5.50022470e-01 8.35073730e-01 -1.12760048e-02 1.99506722e+01] [ 2.13750000e-02 -5.78755589e-04 9.99771361e-01 1.50474465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:19.97, Z:1.51 [[ 8.35428694e-01 -5.49307625e-01 -1.78894137e-02 7.42220210e+01] [ 5.49195621e-01 8.35620030e-01 -1.11056307e-02 1.99677198e+01] [ 2.10491600e-02 -5.46825108e-04 9.99778292e-01 1.50567905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:19.99, Z:1.51 [[ 8.36043639e-01 -5.48384390e-01 -1.74812575e-02 7.42452718e+01] [ 5.48277104e-01 8.36226228e-01 -1.08587927e-02 1.99852957e+01] [ 2.05730784e-02 -5.06148619e-04 9.99788224e-01 1.50645044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:20.00, Z:1.51 [[ 8.37587647e-01 -5.46028831e-01 -1.73045846e-02 7.42678659e+01] [ 5.45923064e-01 8.37766270e-01 -1.07557105e-02 2.00042250e+01] [ 2.03701253e-02 -4.38121579e-04 9.99792411e-01 1.50718157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:20.02, Z:1.51 [[ 8.38349777e-01 -5.44864665e-01 -1.70923301e-02 7.42916716e+01] [ 5.44761101e-01 8.38523904e-01 -1.06304318e-02 2.00212523e+01] [ 2.01244740e-02 -3.99216457e-04 9.99797403e-01 1.50789317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:20.04, Z:1.51 [[ 8.39100128e-01 -5.43722118e-01 -1.66503195e-02 7.43149393e+01] [ 5.43623488e-01 8.39265233e-01 -1.03620511e-02 2.00365557e+01] [ 1.96081106e-02 -3.56706378e-04 9.99807679e-01 1.50847833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:20.06, Z:1.51 [[ 8.40405194e-01 -5.41695290e-01 -1.68915098e-02 7.43375395e+01] [ 5.41593327e-01 8.40574872e-01 -1.05144167e-02 2.00554667e+01] [ 1.98941887e-02 -3.11958538e-04 9.99802042e-01 1.50889651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.36, Y:20.07, Z:1.51 [[ 8.40756175e-01 -5.41149521e-01 -1.69189348e-02 7.43612784e+01] [ 5.41046983e-01 8.40926340e-01 -1.05381645e-02 2.00700718e+01] [ 1.99303006e-02 -2.93911740e-04 9.99801329e-01 1.50935962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:20.09, Z:1.51 [[ 8.41161491e-01 -5.40502125e-01 -1.74585177e-02 7.43847829e+01] [ 5.40392751e-01 8.41342601e-01 -1.08767260e-02 2.00856073e+01] [ 2.05674882e-02 -2.85373310e-04 9.99788426e-01 1.50875983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:20.10, Z:1.51 [[ 8.40936488e-01 -5.40843847e-01 -1.77131753e-02 7.44079912e+01] [ 5.40731259e-01 8.41122967e-01 -1.10389976e-02 2.01019293e+01] [ 2.08693325e-02 -2.94971752e-04 9.99782168e-01 1.50926607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:20.12, Z:1.51 [[ 8.40710564e-01 -5.41199430e-01 -1.75762256e-02 7.44316400e+01] [ 5.41088498e-01 8.40894220e-01 -1.09612101e-02 2.01165678e+01] [ 2.07119471e-02 -2.95088360e-04 9.99785441e-01 1.50943487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:20.13, Z:1.51 [[ 8.40007756e-01 -5.42297676e-01 -1.73263062e-02 7.44560037e+01] [ 5.42189958e-01 8.40186369e-01 -1.08127210e-02 2.01312670e+01] [ 2.04210397e-02 -3.11379757e-04 9.99791420e-01 1.50973994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:20.15, Z:1.51 [[ 8.38684292e-01 -5.44323555e-01 -1.79032279e-02 7.44813735e+01] [ 5.44208856e-01 8.38875279e-01 -1.11798020e-02 2.01453133e+01] [ 2.11040048e-02 -3.66770829e-04 9.99777218e-01 1.50955909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:20.16, Z:1.51 [[ 8.37835816e-01 -5.45621785e-01 -1.81111322e-02 7.45063879e+01] [ 5.45504557e-01 8.38031449e-01 -1.13167616e-02 2.01596519e+01] [ 2.13523700e-02 -3.98116999e-04 9.99771933e-01 1.50974690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:20.17, Z:1.51 [[ 8.36892151e-01 -5.47073384e-01 -1.79510631e-02 7.45319242e+01] [ 5.46958405e-01 8.37084543e-01 -1.12237255e-02 2.01739406e+01] [ 2.11667590e-02 -4.25437091e-04 9.99775869e-01 1.51021110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:20.18, Z:1.51 [[ 8.35487433e-01 -5.49215495e-01 -1.79746763e-02 7.45576080e+01] [ 5.49100561e-01 8.35680630e-01 -1.12453760e-02 2.01846942e+01] [ 2.11972236e-02 -4.74534573e-04 9.99775201e-01 1.51046391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:20.20, Z:1.51 [[ 8.34589667e-01 -5.50574422e-01 -1.81078193e-02 7.45826289e+01] [ 5.50458040e-01 8.34785928e-01 -1.13313914e-02 2.01997968e+01] [ 2.13549270e-02 -5.10532528e-04 9.99771827e-01 1.51097168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:20.21, Z:1.51 [[ 8.33763362e-01 -5.51832729e-01 -1.78688023e-02 7.46078009e+01] [ 5.51719546e-01 8.33954650e-01 -1.11886033e-02 2.02140513e+01] [ 2.10760083e-02 -5.29920002e-04 9.99777736e-01 1.51177878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:20.23, Z:1.51 [[ 8.33057516e-01 -5.52893782e-01 -1.79900504e-02 7.46332552e+01] [ 5.52779156e-01 8.33251558e-01 -1.12714640e-02 2.02282968e+01] [ 2.12221599e-02 -5.54747030e-04 9.99774631e-01 1.51261232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:20.24, Z:1.51 [[ 8.32388717e-01 -5.53900051e-01 -1.79932855e-02 7.46586097e+01] [ 5.53785477e-01 8.32582971e-01 -1.12801843e-02 2.02408491e+01] [ 2.12289977e-02 -5.74922063e-04 9.99774474e-01 1.51274760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:20.26, Z:1.51 [[ 8.31876472e-01 -5.54661913e-01 -1.82125606e-02 7.46837126e+01] [ 5.54544654e-01 8.32075599e-01 -1.14203519e-02 2.02560134e+01] [ 2.14886615e-02 -5.99356058e-04 9.99768912e-01 1.51295018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:20.27, Z:1.51 [[ 8.31537386e-01 -5.55164508e-01 -1.83832617e-02 7.47076981e+01] [ 5.55045012e-01 8.31740341e-01 -1.15343316e-02 2.02720228e+01] [ 2.16935518e-02 -6.12309719e-04 9.99764480e-01 1.51317568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:20.28, Z:1.51 [[ 8.31420948e-01 -5.55296456e-01 -1.96227668e-02 7.47320626e+01] [ 5.55160162e-01 8.31652224e-01 -1.23195793e-02 2.02834267e+01] [ 2.31603363e-02 -6.51022133e-04 9.99731551e-01 1.51271659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:20.30, Z:1.51 [[ 8.31447782e-01 -5.55245788e-01 -1.99173463e-02 7.47539278e+01] [ 5.55105250e-01 8.31686050e-01 -1.25090404e-02 2.03009054e+01] [ 2.35105711e-02 -6.55609624e-04 9.99723373e-01 1.51297268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:20.31, Z:1.51 [[ 8.31690801e-01 -5.54844312e-01 -2.09332739e-02 7.47784588e+01] [ 5.54688728e-01 8.31953930e-01 -1.31557837e-02 2.03148237e+01] [ 2.47149312e-02 -6.69906767e-04 9.99694315e-01 1.51238452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:20.33, Z:1.51 [[ 8.33484436e-01 -5.52157754e-01 -2.06279109e-02 7.48010127e+01] [ 5.52005780e-01 8.33739456e-01 -1.29668603e-02 2.03312806e+01] [ 2.43580557e-02 -5.79049782e-04 9.99703131e-01 1.51210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:20.35, Z:1.51 [[ 8.34489220e-01 -5.50629324e-01 -2.08588047e-02 7.48229526e+01] [ 5.50473338e-01 8.34749699e-01 -1.31165930e-02 2.03499891e+01] [ 2.46342616e-02 -5.36560388e-04 9.99696387e-01 1.51243835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:20.37, Z:1.51 [[ 8.35147293e-01 -5.49613433e-01 -2.13090095e-02 7.48471131e+01] [ 5.49450101e-01 8.35418945e-01 -1.34079558e-02 2.03659202e+01] [ 2.51711429e-02 -5.10619404e-04 9.99683026e-01 1.51268278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:20.38, Z:1.51 [[ 8.35731404e-01 -5.48726822e-01 -2.12578287e-02 7.48708818e+01] [ 5.48563783e-01 8.36001584e-01 -1.33838302e-02 2.03821868e+01] [ 2.51156451e-02 -4.75987711e-04 9.99684439e-01 1.51321874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:20.39, Z:1.51 [[ 8.36492958e-01 -5.47575741e-01 -2.09842759e-02 7.48955437e+01] [ 5.47416334e-01 8.36756012e-01 -1.32187134e-02 2.03946578e+01] [ 2.47969658e-02 -4.29774717e-04 9.99692416e-01 1.51392822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:20.41, Z:1.52 [[ 8.36376561e-01 -5.47782780e-01 -2.02057848e-02 7.49182966e+01] [ 5.47634958e-01 8.36620495e-01 -1.27318706e-02 2.04114624e+01] [ 2.38788731e-02 -4.16755941e-04 9.99714772e-01 1.51605206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:20.43, Z:1.52 [[ 8.36279361e-01 -5.47957731e-01 -1.94719123e-02 7.49413079e+01] [ 5.47820318e-01 8.36505927e-01 -1.22773698e-02 2.04256253e+01] [ 2.30158497e-02 -3.99798224e-04 9.99735020e-01 1.51741477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:20.44, Z:1.52 [[ 8.36247760e-01 -5.48040716e-01 -1.84677246e-02 7.49638100e+01] [ 5.47917016e-01 8.36451571e-01 -1.16495820e-02 2.04418665e+01] [ 2.18318025e-02 -3.76843675e-04 9.99761587e-01 1.51921832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:20.46, Z:1.52 [[ 8.35946544e-01 -5.48514934e-01 -1.80206105e-02 7.49872236e+01] [ 5.48397100e-01 8.36140674e-01 -1.13751302e-02 2.04576109e+01] [ 2.13071942e-02 -3.73449705e-04 9.99772906e-01 1.52002041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:20.47, Z:1.52 [[ 8.35651509e-01 -5.48986212e-01 -1.73405318e-02 7.50112449e+01] [ 5.48877056e-01 8.35831326e-01 -1.09531690e-02 2.04725754e+01] [ 2.05068985e-02 -3.64787810e-04 9.99789645e-01 1.52111954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:20.49, Z:1.52 [[ 8.35508532e-01 -5.49210849e-01 -1.71153611e-02 7.50351310e+01] [ 5.49104404e-01 8.35683741e-01 -1.08184633e-02 2.04855936e+01] [ 2.02446464e-02 -3.59201729e-04 9.99794992e-01 1.52168829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:20.50, Z:1.52 [[ 8.35314543e-01 -5.49489942e-01 -1.76186627e-02 7.50578767e+01] [ 5.49377132e-01 8.35500247e-01 -1.11401613e-02 2.05015502e+01] [ 2.08418036e-02 -3.73751597e-04 9.99782716e-01 1.52220310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:20.51, Z:1.52 [[ 8.35107852e-01 -5.49807311e-01 -1.75156278e-02 7.50810847e+01] [ 5.49695726e-01 8.35291435e-01 -1.10827222e-02 2.05147920e+01] [ 2.07240156e-02 -3.72997457e-04 9.99785165e-01 1.52199760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:20.53, Z:1.52 [[ 8.34808016e-01 -5.50258440e-01 -1.76415934e-02 7.51037869e+01] [ 5.50145271e-01 8.34994312e-01 -1.11659497e-02 2.05308014e+01] [ 2.08747882e-02 -3.84014895e-04 9.99782024e-01 1.52233367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:20.55, Z:1.52 [[ 8.34367373e-01 -5.50922146e-01 -1.77728910e-02 7.51281227e+01] [ 5.50807272e-01 8.34556548e-01 -1.12568911e-02 2.05468218e+01] [ 2.10341531e-02 -3.97054936e-04 9.99778679e-01 1.52230172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:20.56, Z:1.52 [[ 8.34011792e-01 -5.51447575e-01 -1.81632302e-02 7.51520811e+01] [ 5.51327574e-01 8.34209447e-01 -1.15110712e-02 2.05617507e+01] [ 2.14996905e-02 -4.13520565e-04 9.99768769e-01 1.52228298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:20.58, Z:1.52 [[ 8.32995358e-01 -5.52959682e-01 -1.88234718e-02 7.51767128e+01] [ 5.52831115e-01 8.33207880e-01 -1.19325687e-02 2.05771240e+01] [ 2.22820944e-02 -4.66426571e-04 9.99751615e-01 1.52252528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:20.59, Z:1.52 [[ 8.32386778e-01 -5.53876685e-01 -1.87848013e-02 7.52019361e+01] [ 5.53748723e-01 8.32598573e-01 -1.19150466e-02 2.05901965e+01] [ 2.22396652e-02 -4.84132492e-04 9.99752551e-01 1.52325418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:20.60, Z:1.52 [[ 8.31203860e-01 -5.55674294e-01 -1.80616186e-02 7.52264937e+01] [ 5.55556364e-01 8.31399915e-01 -1.14589535e-02 2.06047833e+01] [ 2.13838740e-02 -5.09520747e-04 9.99771209e-01 1.52441148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:20.62, Z:1.53 [[ 8.30643983e-01 -5.56513667e-01 -1.79753148e-02 7.52507914e+01] [ 5.56396912e-01 8.30838291e-01 -1.14109997e-02 2.06199315e+01] [ 2.12849571e-02 -5.22931392e-04 9.99773313e-01 1.52523733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:20.63, Z:1.53 [[ 8.30299302e-01 -5.57031760e-01 -1.78518445e-02 7.52752717e+01] [ 5.56916581e-01 8.30491024e-01 -1.13393494e-02 2.06349032e+01] [ 2.11421744e-02 -5.26934313e-04 9.99776340e-01 1.52608379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.30, Y:20.65, Z:1.53 [[ 8.30256760e-01 -5.57095351e-01 -1.78460458e-02 7.52981005e+01] [ 5.56980119e-01 8.30448371e-01 -1.13424181e-02 2.06510742e+01] [ 2.11390281e-02 -5.22773421e-04 9.99776409e-01 1.52607319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.32, Y:20.67, Z:1.53 [[ 8.30352430e-01 -5.56947336e-01 -1.80140530e-02 7.53215663e+01] [ 5.56829718e-01 8.30547649e-01 -1.14572083e-02 2.06655590e+01] [ 2.13425910e-02 -5.17239293e-04 9.99772087e-01 1.52617143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:20.68, Z:1.53 [[ 8.30588470e-01 -5.56585863e-01 -1.83021753e-02 7.53441936e+01] [ 5.56464190e-01 8.30789936e-01 -1.16485227e-02 2.06829642e+01] [ 2.16886661e-02 -5.09376539e-04 9.99764643e-01 1.52672791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:20.70, Z:1.53 [[ 8.31842948e-01 -5.54705457e-01 -1.84164648e-02 7.53677477e+01] [ 5.54581637e-01 8.32046662e-01 -1.17286186e-02 2.06998050e+01] [ 2.18292868e-02 -4.57064505e-04 9.99761608e-01 1.52689194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:20.72, Z:1.53 [[ 8.32571865e-01 -5.53603497e-01 -1.86348820e-02 7.53906675e+01] [ 5.53476289e-01 8.32780275e-01 -1.18748047e-02 2.07155329e+01] [ 2.20926956e-02 -4.27337029e-04 9.99755835e-01 1.52704329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:20.73, Z:1.53 [[ 8.34442216e-01 -5.50763242e-01 -1.91321722e-02 7.54133372e+01] [ 5.50628334e-01 8.34661442e-01 -1.21949068e-02 2.07328789e+01] [ 2.26853928e-02 -3.58771069e-04 9.99742589e-01 1.52715747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:20.75, Z:1.53 [[ 8.35339006e-01 -5.49391482e-01 -1.94356527e-02 7.54367015e+01] [ 5.49251712e-01 8.35565016e-01 -1.23959771e-02 2.07496696e+01] [ 2.30499957e-02 -3.20222296e-04 9.99734262e-01 1.52771950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:20.77, Z:1.53 [[ 8.36338756e-01 -5.47865232e-01 -1.95236403e-02 7.54597416e+01] [ 5.47723614e-01 8.36566562e-01 -1.24590911e-02 2.07660587e+01] [ 2.31587275e-02 -2.73538039e-04 9.99731763e-01 1.52830528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:20.78, Z:1.53 [[ 8.38364278e-01 -5.44771830e-01 -1.92091232e-02 7.54820690e+01] [ 5.44633867e-01 8.38584295e-01 -1.22609629e-02 2.07834364e+01] [ 2.27878962e-02 -1.82785716e-04 9.99740305e-01 1.52929804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:20.80, Z:1.53 [[ 8.38911258e-01 -5.43935963e-01 -1.90149943e-02 7.55050287e+01] [ 5.43800490e-01 8.39126715e-01 -1.21401700e-02 2.07996508e+01] [ 2.25594648e-02 -1.55837901e-04 9.99745491e-01 1.53042348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:20.81, Z:1.53 [[ 8.39538862e-01 -5.42971985e-01 -1.88659052e-02 7.55282171e+01] [ 5.42838208e-01 8.39750801e-01 -1.20528452e-02 2.08147939e+01] [ 2.23870163e-02 -1.22302270e-04 9.99749372e-01 1.53119015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:20.83, Z:1.53 [[ 8.39374856e-01 -5.43225535e-01 -1.88645068e-02 7.55513515e+01] [ 5.43091773e-01 8.39586804e-01 -1.20550333e-02 2.08297870e+01] [ 2.23869930e-02 -1.26466589e-04 9.99749372e-01 1.53175277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.902755096 meters Centerline goodness [0,1] 0.9999350944375933 Centerline is valid? [True, True] Translation: X:75.57, Y:20.84, Z:1.53 [[ 8.39656209e-01 -5.42799775e-01 -1.85971662e-02 7.55740242e+01] [ 5.42669508e-01 8.39862128e-01 -1.18916690e-02 2.08446469e+01] [ 2.20738508e-02 -1.07201301e-04 9.99756337e-01 1.53116265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:20.86, Z:1.53 [[ 8.39618918e-01 -5.42868939e-01 -1.82588963e-02 7.55972583e+01] [ 5.42743308e-01 8.39817423e-01 -1.16789202e-02 2.08600440e+01] [ 2.16742623e-02 -1.04051465e-04 9.99765080e-01 1.53333279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:20.88, Z:1.53 [[ 8.39196518e-01 -5.43526981e-01 -1.81004364e-02 7.56206670e+01] [ 5.43403512e-01 8.39391689e-01 -1.15851055e-02 2.08753515e+01] [ 2.14901733e-02 -1.13660545e-04 9.99769053e-01 1.53414877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:20.89, Z:1.53 [[ 8.38789238e-01 -5.44172349e-01 -1.75803220e-02 7.56437453e+01] [ 5.44055860e-01 8.38973444e-01 -1.12597215e-02 2.08885814e+01] [ 2.08766524e-02 -1.20144001e-04 9.99782052e-01 1.53484336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters Centerline goodness [0,1] 0.9999782844733984 Centerline is valid? [True, True] Translation: X:75.67, Y:20.90, Z:1.54 [[ 8.37874703e-01 -5.45607357e-01 -1.66911581e-02 7.56685241e+01] [ 5.45502577e-01 8.38040925e-01 -1.06933162e-02 2.09008961e+01] [ 1.98222256e-02 -1.45410691e-04 9.99803510e-01 1.53627280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:20.92, Z:1.54 [[ 8.37221768e-01 -5.46618584e-01 -1.63656263e-02 7.56920232e+01] [ 5.46518011e-01 8.37381691e-01 -1.04865463e-02 2.09164453e+01] [ 1.94364169e-02 -1.64544721e-04 9.99811081e-01 1.53785170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:20.93, Z:1.54 [[ 8.36167113e-01 -5.48226957e-01 -1.64852113e-02 7.57165561e+01] [ 5.48125068e-01 8.36329579e-01 -1.05709482e-02 2.09300647e+01] [ 1.95823486e-02 -1.96878334e-04 9.99808228e-01 1.53862054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:20.94, Z:1.54 [[ 8.35627302e-01 -5.49039794e-01 -1.68023059e-02 7.57402520e+01] [ 5.48934041e-01 8.35796182e-01 -1.07778186e-02 2.09449060e+01] [ 1.99607544e-02 -2.17118142e-04 9.99800741e-01 1.53845800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:20.96, Z:1.54 [[ 8.35165610e-01 -5.49732516e-01 -1.71045197e-02 7.57637268e+01] [ 5.49622909e-01 8.35340713e-01 -1.09795601e-02 2.09591643e+01] [ 2.03239228e-02 -2.31284878e-04 9.99793421e-01 1.53802794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:20.97, Z:1.54 [[ 8.34232449e-01 -5.51124541e-01 -1.78314829e-02 7.57882875e+01] [ 5.51005650e-01 8.34422954e-01 -1.14502514e-02 2.09737793e+01] [ 2.11895132e-02 -2.73076585e-04 9.99775440e-01 1.53722899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:20.99, Z:1.54 [[ 8.33633200e-01 -5.52013595e-01 -1.83488188e-02 7.58131345e+01] [ 5.51887759e-01 8.33835057e-01 -1.17898051e-02 2.09887004e+01] [ 2.18080210e-02 -2.98115512e-04 9.99762132e-01 1.53702078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:21.00, Z:1.54 [[ 8.33261377e-01 -5.52556682e-01 -1.88836143e-02 7.58372909e+01] [ 5.52423372e-01 8.33475263e-01 -1.21410305e-02 2.10034380e+01] [ 2.24476329e-02 -3.15098138e-04 9.99747970e-01 1.53695508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.262755096 meters Centerline goodness [0,1] 0.9997604425279847 Centerline is valid? [True, True] Translation: X:75.86, Y:21.02, Z:1.53 [[ 8.31846191e-01 -5.54645075e-01 -2.00188851e-02 7.58621951e+01] [ 5.54495636e-01 8.32086950e-01 -1.28801311e-02 2.10178638e+01] [ 2.38013543e-02 -3.86096491e-04 9.99716633e-01 1.53360720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:21.03, Z:1.54 [[ 8.31798524e-01 -5.54720731e-01 -1.99029030e-02 7.58854370e+01] [ 5.54572850e-01 8.32036517e-01 -1.28135595e-02 2.10326906e+01] [ 2.36678892e-02 -3.79309809e-04 9.99719804e-01 1.53699083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:21.05, Z:1.54 [[ 8.31128571e-01 -5.55715987e-01 -2.01255906e-02 7.59097525e+01] [ 5.55564853e-01 8.31372106e-01 -1.29659740e-02 2.10477583e+01] [ 2.39372537e-02 -4.04679270e-04 9.99713381e-01 1.53716659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:21.06, Z:1.54 [[ 8.30514350e-01 -5.56630852e-01 -2.01992421e-02 7.59341921e+01] [ 5.56478686e-01 8.30759841e-01 -1.30214942e-02 2.10626817e+01] [ 2.40288846e-02 -4.25909919e-04 9.99711174e-01 1.53769293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:21.08, Z:1.54 [[ 8.29884063e-01 -5.57575457e-01 -2.00512430e-02 7.59581422e+01] [ 5.57425617e-01 8.30126143e-01 -1.29332363e-02 2.10766798e+01] [ 2.38563162e-02 -4.43989874e-04 9.99715299e-01 1.53791930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:21.09, Z:1.54 [[ 8.29620407e-01 -5.57977332e-01 -1.97807488e-02 7.59814809e+01] [ 5.57831539e-01 8.29856070e-01 -1.27623168e-02 2.10923755e+01] [ 2.35362579e-02 -4.46447134e-04 9.99722884e-01 1.53870426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:21.11, Z:1.54 [[ 8.29559899e-01 -5.58059745e-01 -1.99923650e-02 7.60041936e+01] [ 5.57910639e-01 8.29800652e-01 -1.29072312e-02 2.11076135e+01] [ 2.37926837e-02 -4.46631767e-04 9.99716814e-01 1.53922773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:21.12, Z:1.54 [[ 8.29539531e-01 -5.58090578e-01 -1.99768224e-02 7.60266002e+01] [ 5.57941603e-01 8.29779917e-01 -1.29018200e-02 2.11238596e+01] [ 2.37767502e-02 -4.43330580e-04 9.99717195e-01 1.53972311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.502755096 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:76.05, Y:21.14, Z:1.54 [[ 8.29460208e-01 -5.58189146e-01 -2.05095514e-02 7.60493412e+01] [ 5.58031938e-01 8.29713610e-01 -1.32544840e-02 2.11380727e+01] [ 2.44155630e-02 -4.50917644e-04 9.99701794e-01 1.53927834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:21.16, Z:1.54 [[ 8.29238442e-01 -5.58522143e-01 -2.04113144e-02 7.60712360e+01] [ 5.58366423e-01 8.29489487e-01 -1.31958063e-02 2.11551473e+01] [ 2.43011207e-02 -4.54522696e-04 9.99704581e-01 1.53992313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.562755096 meters Centerline goodness [0,1] 0.9999564137209607 Centerline is valid? [True, True] Translation: X:76.10, Y:21.17, Z:1.54 [[ 8.28663905e-01 -5.59364989e-01 -2.06625479e-02 7.60956404e+01] [ 5.59205467e-01 8.28921335e-01 -1.33665729e-02 2.11694097e+01] [ 2.46044197e-02 -4.78213228e-04 9.99697151e-01 1.53912821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.592755096 meters Centerline goodness [0,1] 0.9999134349030471 Centerline is valid? [True, True] Translation: X:76.12, Y:21.18, Z:1.54 [[ 8.27920768e-01 -5.60459819e-01 -2.07844458e-02 7.61198148e+01] [ 5.60298659e-01 8.28181460e-01 -1.34492595e-02 2.11848881e+01] [ 2.47510622e-02 -5.10575882e-04 9.99693515e-01 1.53924755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:21.20, Z:1.54 [[ 8.27600690e-01 -5.60971308e-01 -1.97050641e-02 7.61431484e+01] [ 5.60826439e-01 8.27835097e-01 -1.27576380e-02 2.11990490e+01] [ 2.34692126e-02 -4.92890896e-04 9.99724439e-01 1.54166332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.17, Y:21.22, Z:1.54 [[ 8.26312099e-01 -5.62894534e-01 -1.89224482e-02 7.61663285e+01] [ 5.62761361e-01 8.26528566e-01 -1.22547668e-02 2.12157409e+01] [ 2.25380852e-02 -5.22560574e-04 9.99745849e-01 1.54294148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:21.23, Z:1.54 [[ 8.25545628e-01 -5.64023371e-01 -1.87630619e-02 7.61911224e+01] [ 5.63892558e-01 8.25758646e-01 -1.21589744e-02 2.12313844e+01] [ 2.23517063e-02 -5.42562801e-04 9.99750022e-01 1.54335813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71275509600001 meters Centerline goodness [0,1] 0.9999133148404993 Centerline is valid? [True, True] Translation: X:76.22, Y:21.25, Z:1.54 [[ 8.24716085e-01 -5.65239747e-01 -1.86388767e-02 7.62156837e+01] [ 5.65110807e-01 8.24926487e-01 -1.20858354e-02 2.12470075e+01] [ 2.22070976e-02 -5.65647779e-04 9.99753232e-01 1.54301076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.24, Y:21.26, Z:1.54 [[ 8.23876860e-01 -5.66487887e-01 -1.78435835e-02 7.62393993e+01] [ 5.66369864e-01 8.24069870e-01 -1.15769458e-02 2.12628548e+01] [ 2.12625591e-02 -5.68090186e-04 9.99773765e-01 1.54420166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.26, Y:21.28, Z:1.54 [[ 8.23429951e-01 -5.67142208e-01 -1.76870574e-02 7.62631481e+01] [ 5.67026254e-01 8.23619686e-01 -1.14822151e-02 2.12772318e+01] [ 2.10794575e-02 -5.74226121e-04 9.99777639e-01 1.54444674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:21.29, Z:1.54 [[ 8.22523233e-01 -5.68456196e-01 -1.76942055e-02 7.62863381e+01] [ 5.68340399e-01 8.22713307e-01 -1.14893437e-02 2.12935718e+01] [ 2.10884469e-02 -6.06079718e-04 9.99777430e-01 1.54494823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.832755096 meters Centerline goodness [0,1] 0.9998043860983721 Centerline is valid? [True, True] Translation: X:76.31, Y:21.31, Z:1.54 [[ 8.21686942e-01 -5.69630654e-01 -1.87479903e-02 7.63105676e+01] [ 5.69500894e-01 8.21900521e-01 -1.21764179e-02 2.13077672e+01] [ 2.23450439e-02 -6.71793668e-04 9.99750093e-01 1.54265024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:21.32, Z:1.55 [[ 8.21829827e-01 -5.69458424e-01 -1.76872383e-02 7.63341842e+01] [ 5.69342841e-01 8.22019896e-01 -1.14899889e-02 2.13248232e+01] [ 2.10823327e-02 -6.27286922e-04 9.99777546e-01 1.54567467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:21.34, Z:1.55 [[ 8.21478945e-01 -5.69957217e-01 -1.79196513e-02 7.63578348e+01] [ 5.69838541e-01 8.21674119e-01 -1.16481481e-02 2.13418675e+01] [ 2.13630597e-02 -6.42599544e-04 9.99771577e-01 1.54596672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:21.36, Z:1.55 [[ 8.21496652e-01 -5.69932339e-01 -1.78991503e-02 7.63815371e+01] [ 5.69813777e-01 8.21691380e-01 -1.16419226e-02 2.13558219e+01] [ 2.13426858e-02 -6.35382002e-04 9.99772017e-01 1.54642893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.952755096 meters Centerline goodness [0,1] 0.9998697520948204 Centerline is valid? [True, True] Translation: X:76.41, Y:21.37, Z:1.54 [[ 8.21130244e-01 -5.70437538e-01 -1.86047740e-02 7.64067551e+01] [ 5.70309445e-01 8.21340713e-01 -1.21066163e-02 2.13675587e+01] [ 2.21869267e-02 -6.69369596e-04 9.99753616e-01 1.54477973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:21.39, Z:1.55 [[ 8.22044955e-01 -5.69129154e-01 -1.82783683e-02 7.64264284e+01] [ 5.69005133e-01 8.22247907e-01 -1.18969687e-02 2.13900856e+01] [ 2.18002618e-02 -6.20642226e-04 9.99762153e-01 1.54725507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:21.41, Z:1.55 [[ 8.22585247e-01 -5.68339423e-01 -1.85421644e-02 7.64493285e+01] [ 5.68211439e-01 8.22793982e-01 -1.20757371e-02 2.14061826e+01] [ 2.21194987e-02 -6.02546739e-04 9.99755152e-01 1.54763599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04275509600001 meters Centerline goodness [0,1] 0.9999567903901828 Centerline is valid? [True, True] Translation: X:76.47, Y:21.42, Z:1.55 [[ 8.23002701e-01 -5.67718449e-01 -1.90346424e-02 7.64748448e+01] [ 5.67583336e-01 8.23222573e-01 -1.23996725e-02 2.14191051e+01] [ 2.27092701e-02 -5.98781816e-04 9.99741932e-01 1.54658691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:21.44, Z:1.55 [[ 8.24641712e-01 -5.65331697e-01 -1.91342567e-02 7.64956559e+01] [ 5.65194354e-01 8.24863499e-01 -1.24719509e-02 2.14411167e+01] [ 2.28339391e-02 -5.29682933e-04 9.99739131e-01 1.54798497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10275509600001 meters Centerline goodness [0,1] 0.9999351771823682 Centerline is valid? [True, True] Translation: X:76.52, Y:21.46, Z:1.55 [[ 8.25296906e-01 -5.64365942e-01 -1.93933165e-02 7.65178019e+01] [ 5.64224428e-01 8.25524578e-01 -1.26477467e-02 2.14607620e+01] [ 2.31476169e-02 -5.04036635e-04 9.99731931e-01 1.54777723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:21.48, Z:1.55 [[ 8.27125380e-01 -5.61700681e-01 -1.88666783e-02 7.65391574e+01] [ 5.61565897e-01 8.27340423e-01 -1.23112996e-02 2.14788595e+01] [ 2.25244310e-02 -4.11894760e-04 9.99746208e-01 1.54949507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:21.50, Z:1.55 [[ 8.27707691e-01 -5.60830971e-01 -1.91989829e-02 7.65622079e+01] [ 5.60691061e-01 8.27930232e-01 -1.25325763e-02 2.14966879e+01] [ 2.29240753e-02 -3.91388336e-04 9.99737132e-01 1.54991786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.59, Y:21.51, Z:1.55 [[ 8.28167366e-01 -5.60149610e-01 -1.92672904e-02 7.65860001e+01] [ 5.60008343e-01 8.28391380e-01 -1.25847886e-02 2.15135811e+01] [ 2.30102217e-02 -3.67532178e-04 9.99735162e-01 1.55014817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:21.53, Z:1.55 [[ 8.28564506e-01 -5.59564478e-01 -1.91951794e-02 7.66099607e+01] [ 5.59423949e-01 8.28786750e-01 -1.25446651e-02 2.15272799e+01] [ 2.29282593e-02 -3.44178838e-04 9.99737054e-01 1.55036141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:21.55, Z:1.55 [[ 8.28433356e-01 -5.59785120e-01 -1.84063533e-02 7.66318028e+01] [ 5.59655896e-01 8.28637742e-01 -1.20320264e-02 2.15457015e+01] [ 2.19875484e-02 -3.33492136e-04 9.99758189e-01 1.55249563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:21.56, Z:1.55 [[ 8.28148406e-01 -5.60212573e-01 -1.82233394e-02 7.66554593e+01] [ 5.60085827e-01 8.28348816e-01 -1.19207985e-02 2.15609438e+01] [ 2.17734628e-02 -3.34443803e-04 9.99762874e-01 1.55343758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:21.57, Z:1.55 [[ 8.27903474e-01 -5.60582574e-01 -1.79726218e-02 7.66788308e+01] [ 5.60459208e-01 8.28098464e-01 -1.17647367e-02 2.15749360e+01] [ 2.14782069e-02 -3.32854977e-04 9.99769261e-01 1.55412779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.342755096 meters Centerline goodness [0,1] 0.9999138228197173 Centerline is valid? [True, True] Translation: X:76.70, Y:21.59, Z:1.55 [[ 8.27356258e-01 -5.61379616e-01 -1.82906594e-02 7.67027788e+01] [ 5.61251964e-01 8.27558336e-01 -1.19763982e-02 2.15894232e+01] [ 2.18598935e-02 -3.56920534e-04 9.99760980e-01 1.55344084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.372755096 meters Centerline goodness [0,1] 0.9999784529196294 Centerline is valid? [True, True] Translation: X:76.73, Y:21.60, Z:1.56 [[ 8.26101636e-01 -5.63253586e-01 -1.73633490e-02 7.67268412e+01] [ 5.63138916e-01 8.26284001e-01 -1.13714670e-02 2.16043752e+01] [ 2.07520771e-02 -3.83990072e-04 9.99784579e-01 1.55583328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:21.62, Z:1.56 [[ 8.25264943e-01 -5.64492252e-01 -1.69195474e-02 7.67512089e+01] [ 5.64383584e-01 8.25438269e-01 -1.10830559e-02 2.16193471e+01] [ 2.02223411e-02 -4.02657352e-04 9.99795426e-01 1.55740538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43275509600001 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:76.78, Y:21.63, Z:1.56 [[ 8.23307682e-01 -5.67356769e-01 -1.64547227e-02 7.67766467e+01] [ 5.67254435e-01 8.23471973e-01 -1.07849790e-02 2.16324688e+01] [ 1.96689338e-02 -4.54658335e-04 9.99806444e-01 1.55885580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:21.65, Z:1.56 [[ 8.22048207e-01 -5.69185130e-01 -1.62798362e-02 7.68017407e+01] [ 5.69085278e-01 8.22209247e-01 -1.06724078e-02 2.16469948e+01] [ 1.94600077e-02 -4.91381435e-04 9.99810515e-01 1.55947351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:21.66, Z:1.56 [[ 8.20933136e-01 -5.70790104e-01 -1.63536895e-02 7.68264777e+01] [ 5.70689532e-01 8.21095841e-01 -1.07274064e-02 2.16608455e+01] [ 1.95510438e-02 -5.26395999e-04 9.99808722e-01 1.56009300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters Centerline goodness [0,1] 0.9999135733114386 Centerline is valid? [True, True] Translation: X:76.85, Y:21.67, Z:1.56 [[ 8.18909905e-01 -5.73669392e-01 -1.70292542e-02 7.68526385e+01] [ 5.73560885e-01 8.19086716e-01 -1.11742318e-02 2.16742090e+01] [ 2.03587506e-02 -6.16625006e-04 9.99792549e-01 1.55898191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:21.69, Z:1.56 [[ 8.18478661e-01 -5.74294271e-01 -1.66964790e-02 7.68772534e+01] [ 5.74189966e-01 8.18648712e-01 -1.09622029e-02 2.16901089e+01] [ 1.99640813e-02 -6.14621563e-04 9.99800509e-01 1.56087459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:21.71, Z:1.56 [[ 8.17701261e-01 -5.75370921e-01 -1.76904254e-02 7.69013444e+01] [ 5.75253925e-01 8.17892322e-01 -1.16220305e-02 2.17059019e+01] [ 2.11558415e-02 -6.73137632e-04 9.99775964e-01 1.56013976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.612755096 meters Centerline goodness [0,1] 0.9998494882600842 Centerline is valid? [True, True] Translation: X:76.93, Y:21.72, Z:1.56 [[ 8.17242456e-01 -5.75964907e-01 -1.94729058e-02 7.69260670e+01] [ 5.75823121e-01 8.17474074e-01 -1.28012604e-02 2.17214029e+01] [ 2.32916724e-02 -7.51215888e-04 9.99728430e-01 1.55774973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:21.74, Z:1.56 [[ 8.17540950e-01 -5.75554535e-01 -1.90728298e-02 7.69492231e+01] [ 5.75418251e-01 8.17763084e-01 -1.25449483e-02 2.17374813e+01] [ 2.28173580e-02 -7.18845353e-04 9.99739392e-01 1.55971672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:21.75, Z:1.56 [[ 8.17587886e-01 -5.75464131e-01 -1.97757974e-02 7.69726373e+01] [ 5.75317513e-01 8.17826685e-01 -1.30105194e-02 2.17512798e+01] [ 2.36602620e-02 -7.40119468e-04 9.99719783e-01 1.55945317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:21.77, Z:1.56 [[ 8.18149175e-01 -5.74626937e-01 -2.08760856e-02 7.69952701e+01] [ 5.74463107e-01 8.18415127e-01 -1.37411383e-02 2.17687689e+01] [ 2.49813324e-02 -7.50240054e-04 9.99687636e-01 1.55956236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:21.78, Z:1.56 [[ 8.18619289e-01 -5.73940485e-01 -2.13255497e-02 7.70187251e+01] [ 5.73769110e-01 8.18896680e-01 -1.40440455e-02 2.17835369e+01] [ 2.55238681e-02 -7.39215159e-04 9.99673940e-01 1.55989873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:21.80, Z:1.56 [[ 8.18979181e-01 -5.73419554e-01 -2.15201502e-02 7.70418158e+01] [ 5.73244756e-01 8.19261550e-01 -1.41761155e-02 2.18001948e+01] [ 2.57594934e-02 -7.26369838e-04 9.99667905e-01 1.56065776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:21.82, Z:1.56 [[ 8.18810955e-01 -5.73659886e-01 -2.15164001e-02 7.70647419e+01] [ 5.73485022e-01 8.19093283e-01 -1.41818054e-02 2.18155229e+01] [ 2.57594717e-02 -7.27115528e-04 9.99667905e-01 1.56121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:21.84, Z:1.56 [[ 8.19837136e-01 -5.72158938e-01 -2.23879310e-02 7.70855736e+01] [ 5.71968802e-01 8.20142463e-01 -1.47658457e-02 2.18365081e+01] [ 2.68097035e-02 -6.99609371e-04 9.99640310e-01 1.56239498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:21.85, Z:1.56 [[ 8.20344664e-01 -5.71429324e-01 -2.24312211e-02 7.71084607e+01] [ 5.71237975e-01 8.20651009e-01 -1.48019800e-02 2.18524749e+01] [ 2.68664896e-02 -6.70840002e-04 9.99638806e-01 1.56307940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:21.87, Z:1.56 [[ 8.21414360e-01 -5.69880872e-01 -2.26769002e-02 7.71312200e+01] [ 5.69684618e-01 8.21727085e-01 -1.49677239e-02 2.18711163e+01] [ 2.71640426e-02 -6.23977924e-04 9.99630795e-01 1.56464088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:21.89, Z:1.57 [[ 8.21900518e-01 -5.69190897e-01 -2.23888868e-02 7.71542253e+01] [ 5.68999226e-01 8.22205190e-01 -1.47819370e-02 2.18866684e+01] [ 2.68220029e-02 -5.89977541e-04 9.99640051e-01 1.56603756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters Centerline goodness [0,1] 0.9999784357276864 Centerline is valid? [True, True] Translation: X:77.18, Y:21.90, Z:1.57 [[ 8.22187900e-01 -5.68792214e-01 -2.19652869e-02 7.71778866e+01] [ 5.68607472e-01 8.22481064e-01 -1.45065893e-02 2.19036226e+01] [ 2.63172676e-02 -5.62484093e-04 9.99653482e-01 1.56751557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:21.92, Z:1.57 [[ 8.22574459e-01 -5.68234991e-01 -2.19147083e-02 7.72008205e+01] [ 5.68050706e-01 8.22866153e-01 -1.44806606e-02 2.19187160e+01] [ 2.62612898e-02 -5.37243952e-04 9.99654968e-01 1.56850737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:21.94, Z:1.57 [[ 8.23025757e-01 -5.67570257e-01 -2.21947498e-02 7.72238509e+01] [ 5.67380896e-01 8.23324804e-01 -1.46692140e-02 2.19350003e+01] [ 2.65992976e-02 -5.19736085e-04 9.99646041e-01 1.56997602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:21.95, Z:1.57 [[ 8.23142030e-01 -5.67396677e-01 -2.23206217e-02 7.72468409e+01] [ 5.67204939e-01 8.23444442e-01 -1.47583308e-02 2.19509529e+01] [ 2.67536197e-02 -5.12164524e-04 9.99641927e-01 1.57054302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:21.97, Z:1.57 [[ 8.23260723e-01 -5.67197446e-01 -2.29965105e-02 7.72702213e+01] [ 5.66993558e-01 8.23581686e-01 -1.52155063e-02 2.19673957e+01] [ 2.75697012e-02 -5.12544614e-04 9.99619752e-01 1.57078992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:21.98, Z:1.57 [[ 8.23403619e-01 -5.66969233e-01 -2.35025204e-02 7.72924857e+01] [ 5.66755892e-01 8.23738812e-01 -1.55604416e-02 2.19846699e+01] [ 2.81822299e-02 -5.07668004e-04 9.99602673e-01 1.57115484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:22.00, Z:1.57 [[ 8.23152564e-01 -5.67305801e-01 -2.41657816e-02 7.73160961e+01] [ 5.67080078e-01 8.23507045e-01 -1.60103957e-02 2.20015376e+01] [ 2.89834817e-02 -5.24935046e-04 9.99579753e-01 1.57180803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.34, Y:22.02, Z:1.57 [[ 8.23047153e-01 -5.67422159e-01 -2.50095521e-02 7.73391880e+01] [ 5.67180193e-01 8.23426864e-01 -1.65779194e-02 2.20162022e+01] [ 3.00002158e-02 -5.40513253e-04 9.99549746e-01 1.57217407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:22.03, Z:1.57 [[ 8.22626322e-01 -5.68024166e-01 -2.51889083e-02 7.73633467e+01] [ 5.67778811e-01 8.23011684e-01 -1.67030141e-02 2.20319152e+01] [ 3.02184815e-02 -5.61389312e-04 9.99543160e-01 1.57302063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:22.05, Z:1.57 [[ 8.22137073e-01 -5.68719258e-01 -2.54762338e-02 7.73874261e+01] [ 5.68468289e-01 8.22531497e-01 -1.69038849e-02 2.20485900e+01] [ 3.05685696e-02 -5.85120624e-04 9.99532501e-01 1.57408403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:22.06, Z:1.57 [[ 8.21149753e-01 -5.70141109e-01 -2.55381809e-02 7.74111001e+01] [ 5.69889332e-01 8.21546539e-01 -1.69538357e-02 2.20632265e+01] [ 3.06468828e-02 -6.32298850e-04 9.99530074e-01 1.57485652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:22.08, Z:1.58 [[ 8.20527040e-01 -5.71035499e-01 -2.55702173e-02 7.74353712e+01] [ 5.70783305e-01 8.20925102e-01 -1.69822424e-02 2.20789980e+01] [ 3.06886965e-02 -6.60664056e-04 9.99528773e-01 1.57578498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:22.09, Z:1.58 [[ 8.19517891e-01 -5.72500670e-01 -2.51676171e-02 7.74596973e+01] [ 5.72256742e-01 8.19903957e-01 -1.67248892e-02 2.20941849e+01] [ 3.02100391e-02 -6.95992588e-04 9.99543330e-01 1.57751381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:22.11, Z:1.58 [[ 8.18918129e-01 -5.73345037e-01 -2.54669636e-02 7.74838343e+01] [ 5.73095429e-01 8.19313699e-01 -1.69319738e-02 2.21082127e+01] [ 3.05732953e-02 -7.29100100e-04 9.99532262e-01 1.57775706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.51, Y:22.13, Z:1.58 [[ 8.18441821e-01 -5.74010613e-01 -2.57837481e-02 7.75077753e+01] [ 5.73754901e-01 8.18847508e-01 -1.71485537e-02 2.21251969e+01] [ 3.09564097e-02 -7.58458333e-04 9.99520448e-01 1.57913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.392755096 meters Centerline goodness [0,1] 0.9999568500539374 Centerline is valid? [True, True] Translation: X:77.53, Y:22.14, Z:1.58 [[ 8.17870492e-01 -5.74797922e-01 -2.63667695e-02 7.75315643e+01] [ 5.74530638e-01 8.18295002e-01 -1.75452375e-02 2.21399351e+01] [ 3.16607618e-02 -7.98784880e-04 9.99498353e-01 1.57945292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:22.16, Z:1.58 [[ 8.17790046e-01 -5.74915146e-01 -2.63061641e-02 7.75548626e+01] [ 5.74648904e-01 8.18212651e-01 -1.75127091e-02 2.21563936e+01] [ 3.15923580e-02 -7.95089118e-04 9.99500521e-01 1.58095190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.58, Y:22.17, Z:1.58 [[ 8.17744799e-01 -5.74955631e-01 -2.68228701e-02 7.75773870e+01] [ 5.74678496e-01 8.18184195e-01 -1.78675773e-02 2.21711077e+01] [ 3.22191125e-02 -8.03408260e-04 9.99480507e-01 1.58114486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.482755096 meters Centerline goodness [0,1] 0.9998921879379865 Centerline is valid? [True, True] Translation: X:77.60, Y:22.19, Z:1.58 [[ 8.17716837e-01 -5.74969474e-01 -2.73729378e-02 7.75988151e+01] [ 5.74680527e-01 8.18174458e-01 -1.82441126e-02 2.21888621e+01] [ 3.28856463e-02 -8.12176299e-04 9.99458791e-01 1.58040270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:22.20, Z:1.58 [[ 8.18499416e-01 -5.73847663e-01 -2.75239153e-02 7.76223041e+01] [ 5.73554574e-01 8.18961707e-01 -1.83541230e-02 2.22041903e+01] [ 3.30735032e-02 -7.63628507e-04 9.99452630e-01 1.58276083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54275509600001 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:77.64, Y:22.22, Z:1.58 [[ 8.19280714e-01 -5.72732715e-01 -2.75017997e-02 7.76447787e+01] [ 5.72439342e-01 8.19741865e-01 -1.83432303e-02 2.22205171e+01] [ 3.30501447e-02 -7.14857299e-04 9.99453439e-01 1.58384994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:22.24, Z:1.58 [[ 8.19638134e-01 -5.72226627e-01 -2.73864274e-02 7.76682406e+01] [ 5.71935222e-01 8.20095248e-01 -1.82725256e-02 2.22371597e+01] [ 3.29155047e-02 -6.86403598e-04 9.99457902e-01 1.58475759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:22.25, Z:1.59 [[ 8.19761907e-01 -5.72055494e-01 -2.72566887e-02 7.76919116e+01] [ 5.71766413e-01 8.20214646e-01 -1.81962360e-02 2.22538857e+01] [ 3.27655921e-02 -6.67878058e-04 9.99462841e-01 1.58555777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:22.27, Z:1.59 [[ 8.20580675e-01 -5.70894553e-01 -2.69585995e-02 7.77143922e+01] [ 5.70610811e-01 8.21023168e-01 -1.80072184e-02 2.22729845e+01] [ 3.24138576e-02 -6.06492894e-04 9.99474349e-01 1.58813655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:22.29, Z:1.59 [[ 8.20879185e-01 -5.70468209e-01 -2.68958229e-02 7.77380793e+01] [ 5.70185314e-01 8.21319477e-01 -1.79728773e-02 2.22877156e+01] [ 3.23430183e-02 -5.82042395e-04 9.99476658e-01 1.58767192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:22.30, Z:1.59 [[ 8.21279228e-01 -5.69908768e-01 -2.65410179e-02 7.77617054e+01] [ 5.69632810e-01 8.21707792e-01 -1.77416334e-02 2.23046571e+01] [ 3.19200737e-02 -5.47799628e-04 9.99490274e-01 1.58850088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters Centerline goodness [0,1] 0.999892577075948 Centerline is valid? [True, True] Translation: X:77.78, Y:22.32, Z:1.59 [[ 8.21539514e-01 -5.69570505e-01 -2.57345328e-02 7.77841013e+01] [ 5.69310678e-01 8.21942320e-01 -1.72097153e-02 2.23205692e+01] [ 3.09544478e-02 -5.12483186e-04 9.99520665e-01 1.58752940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:22.34, Z:1.59 [[ 8.21999727e-01 -5.68923412e-01 -2.53495729e-02 7.78068614e+01] [ 5.68670836e-01 8.22390372e-01 -1.69574629e-02 2.23376612e+01] [ 3.04947423e-02 -4.76532937e-04 9.99534814e-01 1.59076916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:22.35, Z:1.59 [[ 8.22360678e-01 -5.68431980e-01 -2.46576311e-02 7.78294618e+01] [ 5.68192582e-01 8.22730144e-01 -1.65015177e-02 2.23545091e+01] [ 2.96665668e-02 -4.40083801e-04 9.99559754e-01 1.59159186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.812755096 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:77.85, Y:22.37, Z:1.59 [[ 8.22113016e-01 -5.68795956e-01 -2.45224154e-02 7.78523715e+01] [ 5.68559184e-01 8.22478548e-01 -1.64162363e-02 2.23705033e+01] [ 2.95066494e-02 -4.46442936e-04 9.99564484e-01 1.59234882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.842755096 meters Centerline goodness [0,1] 0.9999144037148787 Centerline is valid? [True, True] Translation: X:77.88, Y:22.39, Z:1.59 [[ 8.21547667e-01 -5.69631450e-01 -2.40716136e-02 7.78760706e+01] [ 5.69403385e-01 8.21900115e-01 -1.61240647e-02 2.23862275e+01] [ 2.89692363e-02 -4.59770544e-04 9.99580198e-01 1.59115641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:22.40, Z:1.59 [[ 8.21624570e-01 -5.69531289e-01 -2.38154556e-02 7.78988161e+01] [ 5.69307738e-01 8.21969533e-01 -1.59620202e-02 2.24026580e+01] [ 2.86664489e-02 -4.43535091e-04 9.99588935e-01 1.59403215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:22.42, Z:1.60 [[ 8.20953780e-01 -5.70542037e-01 -2.27305064e-02 7.79218639e+01] [ 5.70338564e-01 8.21268276e-01 -1.52427222e-02 2.24175836e+01] [ 2.73644576e-02 -4.50514013e-04 9.99625422e-01 1.59562264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:22.44, Z:1.60 [[ 8.20470082e-01 -5.71263843e-01 -2.20559911e-02 7.79430948e+01] [ 5.71072368e-01 8.20766358e-01 -1.47964742e-02 2.24354482e+01] [ 2.65555062e-02 -4.55502705e-04 9.99647237e-01 1.59780180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:22.45, Z:1.60 [[ 8.20307353e-01 -5.71503814e-01 -2.18914926e-02 7.79673881e+01] [ 5.71315052e-01 8.20599284e-01 -1.46944357e-02 2.24473987e+01] [ 2.63620692e-02 -4.52985555e-04 9.99652358e-01 1.59724763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:22.47, Z:1.60 [[ 8.19647690e-01 -5.72439725e-01 -2.21455641e-02 7.79882834e+01] [ 5.72246753e-01 8.19946661e-01 -1.48703489e-02 2.24676649e+01] [ 2.66705598e-02 -4.84280031e-04 9.99644160e-01 1.59942386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:22.48, Z:1.60 [[ 8.18955667e-01 -5.73425816e-01 -2.22362365e-02 7.80132021e+01] [ 5.73231416e-01 8.19257329e-01 -1.49389320e-02 2.24810314e+01] [ 2.67835689e-02 -5.12186344e-04 9.99641125e-01 1.59865038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:22.50, Z:1.60 [[ 8.18728283e-01 -5.73745557e-01 -2.23614664e-02 7.80363772e+01] [ 5.73548991e-01 8.19033432e-01 -1.50263823e-02 2.24955953e+01] [ 2.69361087e-02 -5.22872323e-04 9.99637020e-01 1.59863879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:22.51, Z:1.60 [[ 8.18225697e-01 -5.74453928e-01 -2.25697568e-02 7.80604092e+01] [ 5.74253821e-01 8.18536734e-01 -1.51711319e-02 2.25121149e+01] [ 2.71892913e-02 -5.47359117e-04 9.99630153e-01 1.59854024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:22.53, Z:1.60 [[ 8.18083567e-01 -5.74656991e-01 -2.25526062e-02 7.80820374e+01] [ 5.74457029e-01 8.18394186e-01 -1.51683139e-02 2.25306874e+01] [ 2.71734994e-02 -5.46554808e-04 9.99630583e-01 1.59982271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:22.54, Z:1.60 [[ 8.18001273e-01 -5.74777878e-01 -2.24567859e-02 7.81061081e+01] [ 5.74579423e-01 8.18309292e-01 -1.51125408e-02 2.25438264e+01] [ 2.70629507e-02 -5.41129459e-04 9.99633585e-01 1.59913561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:22.56, Z:1.60 [[ 8.17477658e-01 -5.75520762e-01 -2.24973507e-02 7.81280334e+01] [ 5.75321722e-01 8.17786975e-01 -1.51452991e-02 2.25625185e+01] [ 2.71144744e-02 -5.62270928e-04 9.99632177e-01 1.60060345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:22.58, Z:1.60 [[ 8.16985247e-01 -5.76235860e-01 -2.20757695e-02 7.81516163e+01] [ 5.76044272e-01 8.17283250e-01 -1.48689848e-02 2.25779740e+01] [ 2.66101989e-02 -5.68879345e-04 9.99645724e-01 1.60124650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:22.59, Z:1.60 [[ 8.16510236e-01 -5.76933557e-01 -2.14174124e-02 7.81747860e+01] [ 5.76753329e-01 8.16790883e-01 -1.44308871e-02 2.25939484e+01] [ 2.58192102e-02 -5.69596869e-04 9.99666466e-01 1.60238181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:22.61, Z:1.60 [[ 8.15325329e-01 -5.78674906e-01 -1.94925735e-02 7.81979638e+01] [ 5.78525952e-01 8.15558114e-01 -1.31410052e-02 2.26089847e+01] [ 2.35016964e-02 -5.62765248e-04 9.99723639e-01 1.60451957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:22.63, Z:1.61 [[ 8.14674607e-01 -5.79632127e-01 -1.82176368e-02 7.82202838e+01] [ 5.79502204e-01 8.14878086e-01 -1.22841476e-02 2.26274647e+01] [ 2.19654396e-02 -5.49577515e-04 9.99758580e-01 1.60631061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:22.64, Z:1.61 [[ 8.14028612e-01 -5.80559414e-01 -1.75552273e-02 7.82436464e+01] [ 5.80438839e-01 8.14217702e-01 -1.18442920e-02 2.26437452e+01] [ 2.11700921e-02 -5.48143228e-04 9.99775738e-01 1.60768939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:22.66, Z:1.61 [[ 8.12796630e-01 -5.82315308e-01 -1.64474748e-02 7.82672218e+01] [ 5.82209705e-01 8.12962839e-01 -1.11032431e-02 2.26589784e+01] [ 1.98367743e-02 -5.51200864e-04 9.99803080e-01 1.60874490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:22.67, Z:1.61 [[ 8.12223117e-01 -5.83124584e-01 -1.61036874e-02 7.82910209e+01] [ 5.83023465e-01 8.12382551e-01 -1.08733572e-02 2.26744247e+01] [ 1.94228765e-02 -5.57235570e-04 9.99811203e-01 1.60897274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.412755096 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:78.32, Y:22.69, Z:1.61 [[ 8.11621831e-01 -5.83970989e-01 -1.57444482e-02 7.83152617e+01] [ 5.83874433e-01 8.11774333e-01 -1.06338152e-02 2.26905137e+01] [ 1.89907785e-02 -5.62144231e-04 9.99819501e-01 1.60866757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:22.71, Z:1.61 [[ 8.11205740e-01 -5.84545506e-01 -1.58682007e-02 7.83384935e+01] [ 5.84447410e-01 8.11360722e-01 -1.07239917e-02 2.27065879e+01] [ 1.91434960e-02 -5.74765160e-04 9.99816581e-01 1.60949225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:22.72, Z:1.61 [[ 8.11120766e-01 -5.84679460e-01 -1.52653749e-02 7.83605581e+01] [ 5.84588667e-01 8.11264212e-01 -1.03183628e-02 2.27218034e+01] [ 1.84171872e-02 -5.54526837e-04 9.99830235e-01 1.60989046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:22.74, Z:1.61 [[ 8.11408329e-01 -5.84272033e-01 -1.55793155e-02 7.83832862e+01] [ 5.84177303e-01 8.11557691e-01 -1.05352749e-02 2.27402109e+01] [ 1.87989798e-02 -5.52672708e-04 9.99823131e-01 1.60910227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:22.76, Z:1.61 [[ 8.11688689e-01 -5.83881213e-01 -1.56269370e-02 7.84063957e+01] [ 5.83785708e-01 8.11838924e-01 -1.05739805e-02 2.27562193e+01] [ 1.88605043e-02 -5.40002064e-04 9.99821979e-01 1.60914733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.43, Y:22.77, Z:1.61 [[ 8.12180797e-01 -5.83174826e-01 -1.64156987e-02 7.84302847e+01] [ 5.83069246e-01 8.12346492e-01 -1.11099799e-02 2.27726728e+01] [ 1.98142958e-02 -5.48176787e-04 9.99803527e-01 1.60882559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:22.79, Z:1.61 [[ 8.12609646e-01 -5.82590222e-01 -1.59435585e-02 7.84535145e+01] [ 5.82490398e-01 8.12765876e-01 -1.07966163e-02 2.27873395e+01] [ 1.92483834e-02 -5.13535193e-04 9.99814601e-01 1.60940080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:22.80, Z:1.61 [[ 8.13449594e-01 -5.81427927e-01 -1.55345834e-02 7.84765852e+01] [ 5.81332894e-01 8.13597777e-01 -1.05225178e-02 2.28049159e+01] [ 1.87569882e-02 -4.71226434e-04 9.99823961e-01 1.60979395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:22.82, Z:1.61 [[ 8.13976112e-01 -5.80691242e-01 -1.55103677e-02 7.85002445e+01] [ 5.80596260e-01 8.14123750e-01 -1.05120209e-02 2.28215586e+01] [ 1.87315972e-02 -4.48727583e-04 9.99824448e-01 1.61015640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.52, Y:22.84, Z:1.61 [[ 8.13802460e-01 -5.80934651e-01 -1.55076596e-02 7.85229580e+01] [ 5.80839637e-01 8.13950078e-01 -1.05160144e-02 2.28371801e+01] [ 1.87315779e-02 -4.49505006e-04 9.99824448e-01 1.61071814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:22.86, Z:1.61 [[ 8.14720169e-01 -5.79678610e-01 -1.42742770e-02 7.85451084e+01] [ 5.79597818e-01 8.14845116e-01 -9.68536882e-03 2.28562646e+01] [ 1.72457260e-02 -3.82474471e-04 9.99851208e-01 1.61149558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:22.87, Z:1.61 [[ 8.15164591e-01 -5.79061678e-01 -1.39377988e-02 7.85685671e+01] [ 5.78984468e-01 8.15283660e-01 -9.46254753e-03 2.28722123e+01] [ 1.68426583e-02 -3.56235324e-04 9.99858089e-01 1.61246923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:22.89, Z:1.61 [[ 8.15455151e-01 -5.78676091e-01 -1.29181677e-02 7.85912659e+01] [ 5.78609647e-01 8.15557405e-01 -8.77475812e-03 2.28879082e+01] [ 1.56132501e-02 -3.19154769e-04 9.99878055e-01 1.61352639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:22.90, Z:1.62 [[ 8.15942626e-01 -5.78008680e-01 -1.19831722e-02 7.86149171e+01] [ 5.77951341e-01 8.16030568e-01 -8.14609714e-03 2.29030030e+01] [ 1.44871497e-02 -2.78942574e-04 9.99895017e-01 1.61523533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:22.92, Z:1.62 [[ 8.16033330e-01 -5.77879191e-01 -1.20517529e-02 7.86384381e+01] [ 5.77821177e-01 8.16122272e-01 -8.19295750e-03 2.29191063e+01] [ 1.45702436e-02 -2.78031631e-04 9.99893810e-01 1.61576982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:22.94, Z:1.62 [[ 8.15972737e-01 -5.77964097e-01 -1.20828601e-02 7.86610837e+01] [ 5.77905715e-01 8.16062146e-01 -8.21940211e-03 2.29361076e+01] [ 1.46108840e-02 -2.75945855e-04 9.99893217e-01 1.61563878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:22.95, Z:1.62 [[ 8.15864193e-01 -5.78118466e-01 -1.20273595e-02 7.86849455e+01] [ 5.78060536e-01 8.15952796e-01 -8.18845628e-03 2.29489816e+01] [ 1.45476554e-02 -2.71873583e-04 9.99894140e-01 1.61677038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:22.97, Z:1.62 [[ 8.15519657e-01 -5.78608085e-01 -1.18478801e-02 7.87062156e+01] [ 5.78551909e-01 8.15605669e-01 -8.06727877e-03 2.29671080e+01] [ 1.43309909e-02 -2.75589205e-04 9.99897268e-01 1.61630695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.73, Y:22.98, Z:1.62 [[ 8.15329399e-01 -5.78863884e-01 -1.24328301e-02 7.87291808e+01] [ 5.78801943e-01 8.15424136e-01 -8.47286467e-03 2.29818602e+01] [ 1.50426651e-02 -2.87970543e-04 9.99886811e-01 1.61689286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:23.00, Z:1.62 [[ 8.14788654e-01 -5.79637588e-01 -1.18201469e-02 7.87534273e+01] [ 5.79581667e-01 8.14874336e-01 -8.05653217e-03 2.29970330e+01] [ 1.43018032e-02 -2.86369410e-04 9.99897683e-01 1.61800595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:23.01, Z:1.62 [[ 8.14232574e-01 -5.80421510e-01 -1.16699165e-02 7.87774516e+01] [ 5.80367017e-01 8.14316146e-01 -7.95868059e-03 2.30123524e+01] [ 1.41223908e-02 -2.92617642e-04 9.99900231e-01 1.61865299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:23.03, Z:1.62 [[ 8.13305264e-01 -5.81709096e-01 -1.22096689e-02 7.88018892e+01] [ 5.81649501e-01 8.13396842e-01 -8.33276494e-03 2.30257398e+01] [ 1.47785513e-02 -3.24666245e-04 9.99890739e-01 1.61861405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:23.04, Z:1.62 [[ 8.12563795e-01 -5.82733165e-01 -1.27333071e-02 7.88254328e+01] [ 5.82668427e-01 8.12663480e-01 -8.69322795e-03 2.30399783e+01] [ 1.54137259e-02 -3.55493699e-04 9.99881138e-01 1.61881275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:23.06, Z:1.62 [[ 8.11845270e-01 -5.83726389e-01 -1.30675279e-02 7.88501691e+01] [ 5.83658321e-01 8.11950341e-01 -8.92233671e-03 2.30556066e+01] [ 1.58183871e-02 -3.83414561e-04 9.99874808e-01 1.61860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:23.07, Z:1.62 [[ 8.10668462e-01 -5.85346298e-01 -1.36512265e-02 7.88745561e+01] [ 5.85272138e-01 8.10783281e-01 -9.32717514e-03 2.30694890e+01] [ 1.65278137e-02 -4.28435818e-04 9.99863315e-01 1.61815342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:23.08, Z:1.62 [[ 8.10075099e-01 -5.86165180e-01 -1.37374003e-02 7.88986981e+01] [ 5.86090180e-01 8.10191448e-01 -9.38716899e-03 2.30848484e+01] [ 1.66323558e-02 -4.47043563e-04 9.99861573e-01 1.61850509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:23.10, Z:1.62 [[ 8.09658421e-01 -5.86744345e-01 -1.35762609e-02 7.89222033e+01] [ 5.86671084e-01 8.09772111e-01 -9.28268295e-03 2.30994511e+01] [ 1.64402392e-02 -4.48997293e-04 9.99864749e-01 1.61933880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:23.11, Z:1.62 [[ 8.09380908e-01 -5.87125571e-01 -1.36421957e-02 7.89455417e+01] [ 5.87051617e-01 8.09495741e-01 -9.32978200e-03 2.31144915e+01] [ 1.65210529e-02 -4.57325592e-04 9.99863414e-01 1.62071682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:23.13, Z:1.62 [[ 8.09494743e-01 -5.86964814e-01 -1.38046489e-02 7.89684406e+01] [ 5.86888954e-01 8.09612315e-01 -9.44751087e-03 2.31297341e+01] [ 1.67217703e-02 -4.54085595e-04 9.99860078e-01 1.62161078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:23.15, Z:1.62 [[ 8.09502438e-01 -5.86954376e-01 -1.37972359e-02 7.89896399e+01] [ 5.86878560e-01 8.09619884e-01 -9.44452281e-03 2.31488866e+01] [ 1.67140206e-02 -4.51937721e-04 9.99860209e-01 1.62200341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:23.17, Z:1.62 [[ 8.09797082e-01 -5.86554119e-01 -1.35259083e-02 7.90131422e+01] [ 5.86481100e-01 8.09909921e-01 -9.26497154e-03 2.31653978e+01] [ 1.63891745e-02 -4.29942627e-04 9.99865596e-01 1.62271076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:23.18, Z:1.62 [[ 8.09984004e-01 -5.86290773e-01 -1.37492962e-02 7.90360833e+01] [ 5.86215192e-01 8.10100578e-01 -9.42349521e-03 2.31824372e+01] [ 1.66632211e-02 -4.27165940e-04 9.99861068e-01 1.62309979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:23.20, Z:1.62 [[ 8.09842623e-01 -5.86478049e-01 -1.40863178e-02 7.90592987e+01] [ 5.86398649e-01 8.09965003e-01 -9.66012224e-03 2.31987880e+01] [ 1.70748741e-02 -4.37019001e-04 9.99854118e-01 1.62338670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:23.22, Z:1.62 [[ 8.10127654e-01 -5.86069741e-01 -1.46779365e-02 7.90833765e+01] [ 5.85983335e-01 8.10260492e-01 -1.00730666e-02 2.32153651e+01] [ 1.77964716e-02 -4.40556346e-04 9.99841533e-01 1.62400642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:23.23, Z:1.62 [[ 8.10236798e-01 -5.85917056e-01 -1.47490877e-02 7.91067667e+01] [ 5.85829669e-01 8.10370912e-01 -1.01283519e-02 2.32290946e+01] [ 1.78866058e-02 -4.34089751e-04 9.99839928e-01 1.62451691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:23.25, Z:1.62 [[ 8.10219716e-01 -5.85934155e-01 -1.50059465e-02 7.91277061e+01] [ 5.85843656e-01 8.10358546e-01 -1.03071931e-02 2.32476426e+01] [ 1.81995335e-02 -4.40047529e-04 9.99834278e-01 1.62460938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:23.26, Z:1.63 [[ 8.10104753e-01 -5.86088402e-01 -1.51879758e-02 7.91507359e+01] [ 5.85995577e-01 8.10246993e-01 -1.04400374e-02 2.32623367e+01] [ 1.84247965e-02 -4.42562667e-04 9.99830151e-01 1.62528505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:23.28, Z:1.63 [[ 8.09888155e-01 -5.86380568e-01 -1.54598496e-02 7.91740188e+01] [ 5.86284388e-01 8.10035569e-01 -1.06298258e-02 2.32773561e+01] [ 1.87561514e-02 -4.54898431e-04 9.99823984e-01 1.62605708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:23.29, Z:1.63 [[ 8.09759127e-01 -5.86559634e-01 -1.54256744e-02 7.91968503e+01] [ 5.86463770e-01 8.09905915e-01 -1.06138945e-02 2.32916519e+01] [ 1.87190271e-02 -4.51901222e-04 9.99824682e-01 1.62648988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:23.31, Z:1.63 [[ 8.09876673e-01 -5.86381816e-01 -1.60044001e-02 7.92201889e+01] [ 5.86278527e-01 8.10034661e-01 -1.10152958e-02 2.33080617e+01] [ 1.94232879e-02 -4.62005031e-04 9.99811243e-01 1.62661158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:23.32, Z:1.63 [[ 8.09874477e-01 -5.86379565e-01 -1.61967960e-02 7.92431610e+01] [ 5.86273648e-01 8.10036290e-01 -1.11543094e-02 2.33240527e+01] [ 1.96606516e-02 -4.62164197e-04 9.99806604e-01 1.62691400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:23.34, Z:1.63 [[ 8.09912539e-01 -5.86328025e-01 -1.61594010e-02 7.92658064e+01] [ 5.86222440e-01 8.10073602e-01 -1.11359978e-02 2.33409011e+01] [ 1.96196518e-02 -4.53819191e-04 9.99807413e-01 1.62744040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:23.36, Z:1.63 [[ 8.09991558e-01 -5.86210903e-01 -1.64454575e-02 7.92887755e+01] [ 5.86101362e-01 8.10158363e-01 -1.13411164e-02 2.33557181e+01] [ 1.99717110e-02 -4.52496517e-04 9.99800443e-01 1.62766132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:23.37, Z:1.63 [[ 8.09717420e-01 -5.86578103e-01 -1.68472382e-02 7.93114931e+01] [ 5.86463152e-01 8.09892529e-01 -1.16216704e-02 2.33726982e+01] [ 2.04614697e-02 -4.70015421e-04 9.99790532e-01 1.62799932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:23.39, Z:1.63 [[ 8.09024710e-01 -5.87517244e-01 -1.73927458e-02 7.93363592e+01] [ 5.87394767e-01 8.09211490e-01 -1.20063350e-02 2.33854802e+01] [ 2.11283386e-02 -5.02986151e-04 9.99776645e-01 1.62809033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:23.40, Z:1.63 [[ 8.08544663e-01 -5.88157182e-01 -1.80736558e-02 7.93599919e+01] [ 5.88025019e-01 8.08746462e-01 -1.24794634e-02 2.34019963e+01] [ 2.19568912e-02 -5.37558320e-04 9.99758774e-01 1.62799070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:23.42, Z:1.63 [[ 8.08042014e-01 -5.88842916e-01 -1.82242388e-02 7.93839664e+01] [ 5.88708548e-01 8.08247309e-01 -1.25909761e-02 2.34175404e+01] [ 2.21437991e-02 -5.54727510e-04 9.99754642e-01 1.62824280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:23.43, Z:1.63 [[ 8.07734121e-01 -5.89249010e-01 -1.87401511e-02 7.94078732e+01] [ 5.89106863e-01 8.07951281e-01 -1.29549696e-02 2.34313778e+01] [ 2.27748321e-02 -5.75780637e-04 9.99740454e-01 1.62825091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:23.45, Z:1.63 [[ 8.07230967e-01 -5.89919263e-01 -1.93242970e-02 7.94329581e+01] [ 5.89768194e-01 8.07462006e-01 -1.33636033e-02 2.34458317e+01] [ 2.34870826e-02 -6.09341327e-04 9.99723955e-01 1.62813690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:23.46, Z:1.63 [[ 8.06992637e-01 -5.90231394e-01 -1.97429707e-02 7.94563877e+01] [ 5.90073603e-01 8.07233863e-01 -1.36613697e-02 2.34616441e+01] [ 2.40005638e-02 -6.25181101e-04 9.99711749e-01 1.62826514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:23.48, Z:1.63 [[ 8.07130373e-01 -5.90028791e-01 -2.01639710e-02 7.94810968e+01] [ 5.89863921e-01 8.07381963e-01 -1.39613750e-02 2.34775230e+01] [ 2.45176397e-02 -6.25349211e-04 9.99699202e-01 1.62881829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.51, Y:23.49, Z:1.63 [[ 8.07363496e-01 -5.89696190e-01 -2.05569554e-02 7.95055568e+01] [ 5.89524588e-01 8.07624922e-01 -1.42388458e-02 2.34934266e+01] [ 2.49989027e-02 -6.22906326e-04 9.99687285e-01 1.62928749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:23.51, Z:1.63 [[ 8.07587404e-01 -5.89383289e-01 -2.07345965e-02 7.95294718e+01] [ 5.89208393e-01 8.07853306e-01 -1.43703176e-02 2.35096548e+01] [ 2.52201374e-02 -6.11710827e-04 9.99681735e-01 1.62984662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:23.53, Z:1.63 [[ 8.09006621e-01 -5.87416335e-01 -2.12211236e-02 7.95532986e+01] [ 5.87232231e-01 8.09284709e-01 -1.47162144e-02 2.35257606e+01] [ 2.58184756e-02 -5.56212863e-04 9.99666493e-01 1.63033819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:23.54, Z:1.63 [[ 8.09791403e-01 -5.86324759e-01 -2.14746317e-02 7.95768153e+01] [ 5.86135650e-01 8.10075925e-01 -1.48994986e-02 2.35411548e+01] [ 2.61320271e-02 -5.21561335e-04 9.99658364e-01 1.63050804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:23.56, Z:1.63 [[ 8.10660740e-01 -5.85103105e-01 -2.19891253e-02 7.96001289e+01] [ 5.84904280e-01 8.10958763e-01 -1.52599821e-02 2.35569575e+01] [ 2.67609368e-02 -4.90865084e-04 9.99641741e-01 1.63073183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.62, Y:23.57, Z:1.63 [[ 8.12283206e-01 -5.82827185e-01 -2.25491724e-02 7.96233439e+01] [ 5.82617062e-01 8.12596022e-01 -1.56545255e-02 2.35745513e+01] [ 2.74472508e-02 -4.21624397e-04 9.99623164e-01 1.63175412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:23.59, Z:1.63 [[ 8.13077714e-01 -5.81705585e-01 -2.28745244e-02 7.96465712e+01] [ 5.81488694e-01 8.13399327e-01 -1.58881311e-02 2.35900294e+01] [ 2.78483374e-02 -3.82991983e-04 9.99612086e-01 1.63220007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:23.60, Z:1.63 [[ 8.14201152e-01 -5.80130701e-01 -2.29096977e-02 7.96703509e+01] [ 5.79912428e-01 8.14523335e-01 -1.59158204e-02 2.36046779e+01] [ 2.78937394e-02 -3.26939107e-04 9.99610840e-01 1.63282761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:23.62, Z:1.63 [[ 8.14448348e-01 -5.79781529e-01 -2.29622987e-02 7.96937949e+01] [ 5.79561970e-01 8.14771920e-01 -1.59574926e-02 2.36207999e+01] [ 2.79608956e-02 -3.11521567e-04 9.99608969e-01 1.63412717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:23.64, Z:1.63 [[ 8.14631231e-01 -5.79532653e-01 -2.27565650e-02 7.97162836e+01] [ 5.79316676e-01 8.14948967e-01 -1.58230956e-02 2.36350498e+01] [ 2.77154398e-02 -2.93269758e-04 9.99615810e-01 1.63484092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:23.65, Z:1.64 [[ 8.14322821e-01 -5.79984438e-01 -2.22799137e-02 7.97414157e+01] [ 5.79777434e-01 8.14627500e-01 -1.54972183e-02 2.36478813e+01] [ 2.71379758e-02 -2.97652625e-04 9.99631653e-01 1.63606685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:23.66, Z:1.64 [[ 8.13792757e-01 -5.80744669e-01 -2.18398047e-02 7.97660197e+01] [ 5.80545786e-01 8.14085704e-01 -1.52005541e-02 2.36618596e+01] [ 2.66071135e-02 -3.08905786e-04 9.99645920e-01 1.63744078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:23.68, Z:1.64 [[ 8.13194096e-01 -5.81572720e-01 -2.21027908e-02 7.97908903e+01] [ 5.81369095e-01 8.13494352e-01 -1.53920690e-02 2.36754904e+01] [ 2.69321029e-02 -3.33139859e-04 9.99637210e-01 1.63798788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.81, Y:23.69, Z:1.64 [[ 8.12792569e-01 -5.82155756e-01 -2.15154649e-02 7.98149696e+01] [ 5.81962900e-01 8.13077217e-01 -1.49873834e-02 2.36880462e+01] [ 2.62187259e-02 -3.39568467e-04 9.99656172e-01 1.63973750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:23.71, Z:1.64 [[ 8.13238030e-01 -5.81544419e-01 -2.12130783e-02 7.98372753e+01] [ 5.81356590e-01 8.13514592e-01 -1.47825481e-02 2.37061523e+01] [ 2.58538571e-02 -3.10632551e-04 9.99665685e-01 1.64136196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.86, Y:23.72, Z:1.64 [[ 8.13396076e-01 -5.81323176e-01 -2.12176585e-02 7.98604022e+01] [ 5.81134968e-01 8.13672709e-01 -1.47943344e-02 2.37229196e+01] [ 2.58645191e-02 -2.96669713e-04 9.99665413e-01 1.64229227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:23.74, Z:1.64 [[ 8.14612696e-01 -5.79609294e-01 -2.14294529e-02 7.98830634e+01] [ 5.79416470e-01 8.14894478e-01 -1.49513846e-02 2.37413041e+01] [ 2.61287043e-02 -2.36990234e-04 9.99658559e-01 1.64326632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:23.76, Z:1.64 [[ 8.14912334e-01 -5.79180348e-01 -2.16335812e-02 7.99053161e+01] [ 5.78983436e-01 8.15199409e-01 -1.51030924e-02 2.37577676e+01] [ 2.63830969e-02 -2.17788899e-04 9.99651882e-01 1.64351135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.482755096 meters Centerline goodness [0,1] 0.9999783329361038 Centerline is valid? [True, True] Translation: X:79.93, Y:23.77, Z:1.64 [[ 8.15645592e-01 -5.78116457e-01 -2.24417321e-02 7.99279124e+01] [ 5.77903895e-01 8.15954245e-01 -1.56767113e-02 2.37733675e+01] [ 2.73743914e-02 -1.82523905e-04 9.99625234e-01 1.64309451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:23.79, Z:1.64 [[ 8.15823869e-01 -5.77851060e-01 -2.27940175e-02 7.99501085e+01] [ 5.77631518e-01 8.16142219e-01 -1.59282011e-02 2.37897016e+01] [ 2.78072879e-02 -1.71936289e-04 9.99613288e-01 1.64320997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:23.81, Z:1.64 [[ 8.15830772e-01 -5.77830721e-01 -2.30610023e-02 7.99721450e+01] [ 5.77605762e-01 8.16156621e-01 -1.61230496e-02 2.38064181e+01] [ 2.81377831e-02 -1.66487787e-04 9.99604040e-01 1.64356319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:23.82, Z:1.64 [[ 8.15909522e-01 -5.77698919e-01 -2.35714034e-02 7.99945076e+01] [ 5.77463565e-01 8.16249921e-01 -1.64892897e-02 2.38222649e+01] [ 2.87660010e-02 -1.57858146e-04 9.99586161e-01 1.64338136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:23.84, Z:1.64 [[ 8.15730466e-01 -5.77951849e-01 -2.35683278e-02 8.00170015e+01] [ 5.77716474e-01 8.16070851e-01 -1.64936846e-02 2.38382132e+01] [ 2.87659809e-02 -1.61410184e-04 9.99586161e-01 1.64394384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:23.85, Z:1.64 [[ 8.15422318e-01 -5.78335356e-01 -2.47923098e-02 8.00402165e+01] [ 5.78074772e-01 8.15799108e-01 -1.73601100e-02 2.38542656e+01] [ 3.02655096e-02 -1.75987716e-04 9.99541879e-01 1.64274778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:23.87, Z:1.64 [[ 8.14953518e-01 -5.78987169e-01 -2.49924153e-02 8.00627043e+01] [ 5.78722439e-01 8.15336629e-01 -1.75076885e-02 2.38705789e+01] [ 3.05139587e-02 -1.95719250e-04 9.99534322e-01 1.64354101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.09, Y:23.89, Z:1.64 [[ 8.13980492e-01 -5.80316443e-01 -2.58569935e-02 8.00865589e+01] [ 5.80033371e-01 8.14391040e-01 -1.81251747e-02 2.38864786e+01] [ 3.15760408e-02 -2.44380491e-04 9.99501323e-01 1.64380509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:23.90, Z:1.64 [[ 8.13400937e-01 -5.81134545e-01 -2.57207521e-02 8.01096537e+01] [ 5.80854586e-01 8.13807452e-01 -1.80383075e-02 2.39015601e+01] [ 3.14144234e-02 -2.67640633e-04 9.99506409e-01 1.64377647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:23.92, Z:1.65 [[ 8.12995753e-01 -5.81720595e-01 -2.52795404e-02 8.01321222e+01] [ 5.81450220e-01 8.13388635e-01 -1.77361506e-02 2.39175246e+01] [ 3.08795750e-02 -2.79379271e-04 9.99523073e-01 1.64511908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:23.93, Z:1.65 [[ 8.12338240e-01 -5.82677195e-01 -2.43694413e-02 8.01551324e+01] [ 5.82426074e-01 8.12703635e-01 -1.71075852e-02 2.39323644e+01] [ 2.97733333e-02 -2.96252418e-04 9.99556632e-01 1.64627331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:23.95, Z:1.65 [[ 8.11875463e-01 -5.83350512e-01 -2.36730536e-02 8.01773645e+01] [ 5.83113583e-01 8.12220467e-01 -1.66271389e-02 2.39490160e+01] [ 2.89271887e-02 -3.04912978e-04 9.99581475e-01 1.64841250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:23.97, Z:1.65 [[ 8.11474803e-01 -5.83922598e-01 -2.33033065e-02 8.01996378e+01] [ 5.83692937e-01 8.11809277e-01 -1.63784099e-02 2.39658167e+01] [ 2.84815641e-02 -3.11308480e-04 9.99594269e-01 1.64992978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:23.98, Z:1.65 [[ 8.11499563e-01 -5.83896400e-01 -2.30966249e-02 8.02218614e+01] [ 5.83670517e-01 8.11828125e-01 -1.62426278e-02 2.39812081e+01] [ 2.82345016e-02 -2.99933602e-04 9.99601282e-01 1.65057345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:24.00, Z:1.65 [[ 8.11455356e-01 -5.83963719e-01 -2.29473488e-02 8.02443617e+01] [ 5.83740639e-01 8.11779704e-01 -1.61424553e-02 2.39967593e+01] [ 2.80548003e-02 -2.96418252e-04 9.99606343e-01 1.65044544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:24.01, Z:1.65 [[ 8.11482814e-01 -5.83937418e-01 -2.26436363e-02 8.02667189e+01] [ 5.83720023e-01 8.11798627e-01 -1.59350076e-02 2.40140398e+01] [ 2.76871200e-02 -2.86559035e-04 9.99616597e-01 1.65153729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:24.03, Z:1.65 [[ 8.11367724e-01 -5.84113011e-01 -2.22352751e-02 8.02890707e+01] [ 5.83903212e-01 8.11672293e-01 -1.56565247e-02 2.40298873e+01] [ 2.71929365e-02 -2.80049802e-04 9.99630164e-01 1.65193313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:24.05, Z:1.65 [[ 8.11048929e-01 -5.84555783e-01 -2.22299560e-02 8.03115222e+01] [ 5.84346087e-01 8.11353469e-01 -1.56588154e-02 2.40467335e+01] [ 2.71898030e-02 -2.89922329e-04 9.99630247e-01 1.65311852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:24.06, Z:1.65 [[ 8.10515466e-01 -5.85323652e-01 -2.14686295e-02 8.03336683e+01] [ 5.85128118e-01 8.10799688e-01 -1.51311480e-02 2.40625794e+01] [ 2.62633769e-02 -2.97869327e-04 9.99655014e-01 1.65381328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:24.08, Z:1.66 [[ 8.10092256e-01 -5.85931396e-01 -2.08551297e-02 8.03565858e+01] [ 5.85746946e-01 8.10360603e-01 -1.47040341e-02 2.40790401e+01] [ 2.55157307e-02 -3.04204385e-04 9.99674374e-01 1.65501112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:24.09, Z:1.66 [[ 8.09640967e-01 -5.86562700e-01 -2.06325957e-02 8.03791492e+01] [ 5.86382155e-01 8.09903760e-01 -1.45556780e-02 2.40940534e+01] [ 2.52482346e-02 -3.13712746e-04 9.99681163e-01 1.65568750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:24.11, Z:1.66 [[ 8.08459824e-01 -5.88183400e-01 -2.08086804e-02 8.04032488e+01] [ 5.88000169e-01 8.08727492e-01 -1.46848318e-02 2.41100374e+01] [ 2.54659263e-02 -3.63411051e-04 9.99675625e-01 1.65607093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:24.13, Z:1.66 [[ 8.07670769e-01 -5.89261344e-01 -2.09522510e-02 8.04274339e+01] [ 5.89075719e-01 8.07942395e-01 -1.47947207e-02 2.41262050e+01] [ 2.56461688e-02 -3.93198842e-04 9.99671006e-01 1.65649344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.45, Y:24.14, Z:1.66 [[ 8.06856792e-01 -5.90369892e-01 -2.11070757e-02 8.04506146e+01] [ 5.90181699e-01 8.07132709e-01 -1.49114925e-02 2.41415222e+01] [ 2.58395074e-02 -4.25570819e-04 9.99666014e-01 1.65658204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:24.16, Z:1.66 [[ 8.05172318e-01 -5.92662273e-01 -2.11888655e-02 8.04748454e+01] [ 5.92473323e-01 8.05450918e-01 -1.49726347e-02 2.41561349e+01] [ 2.59403069e-02 -4.98286588e-04 9.99663369e-01 1.65609833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:24.17, Z:1.66 [[ 8.03954354e-01 -5.94307718e-01 -2.13479283e-02 8.04983318e+01] [ 5.94116388e-01 8.04237547e-01 -1.50892673e-02 2.41707277e+01] [ 2.61364735e-02 -5.52071907e-04 9.99658232e-01 1.65606313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:24.19, Z:1.66 [[ 8.02977586e-01 -5.95638166e-01 -2.10278530e-02 8.05206167e+01] [ 5.95452911e-01 8.03252659e-01 -1.48659858e-02 2.41883622e+01] [ 2.57454274e-02 -5.84042858e-04 9.99668361e-01 1.65737511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:24.20, Z:1.66 [[ 8.01022944e-01 -5.98282082e-01 -2.05132575e-02 8.05443544e+01] [ 5.98106570e-01 8.01285297e-01 -1.45052976e-02 2.42021255e+01] [ 2.51152313e-02 -6.50037926e-04 9.99684351e-01 1.65824942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.57, Y:24.21, Z:1.66 [[ 8.00205298e-01 -5.99387239e-01 -2.01598341e-02 8.05690492e+01] [ 5.99217988e-01 8.00458924e-01 -1.42588113e-02 2.42147495e+01] [ 2.46836686e-02 -6.70158885e-04 9.99695087e-01 1.65828795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:24.23, Z:1.66 [[ 7.99595452e-01 -6.00183960e-01 -2.06476984e-02 8.05924023e+01] [ 6.00006605e-01 7.99861683e-01 -1.46069237e-02 2.42293681e+01] [ 2.52821440e-02 -7.09125691e-04 9.99680104e-01 1.65845700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:24.25, Z:1.66 [[ 7.98752847e-01 -6.01288062e-01 -2.11318720e-02 8.06136483e+01] [ 6.01102590e-01 7.99031971e-01 -1.49527572e-02 2.42484369e+01] [ 2.58759558e-02 -7.58865605e-04 9.99664873e-01 1.65867207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:24.27, Z:1.66 [[ 7.98617104e-01 -6.01451911e-01 -2.15944617e-02 8.06362343e+01] [ 6.01258129e-01 7.98908629e-01 -1.52861211e-02 2.42653565e+01] [ 2.64458685e-02 -7.76087856e-04 9.99649946e-01 1.65902927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:24.28, Z:1.66 [[ 7.99466901e-01 -6.00321940e-01 -2.15926454e-02 8.06585728e+01] [ 6.00127542e-01 7.99758109e-01 -1.52937721e-02 2.42823937e+01] [ 2.64500803e-02 -7.31476615e-04 9.99649868e-01 1.65963117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:24.30, Z:1.66 [[ 8.00121434e-01 -5.99445592e-01 -2.16950115e-02 8.06827905e+01] [ 5.99248900e-01 8.00415198e-01 -1.53709657e-02 2.42965577e+01] [ 2.65790745e-02 -7.02072632e-04 9.99646467e-01 1.65938377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:24.32, Z:1.66 [[ 8.00847284e-01 -5.98480622e-01 -2.15539620e-02 8.07021416e+01] [ 5.98285984e-01 8.01137009e-01 -1.52765904e-02 2.43193469e+01] [ 2.64104200e-02 -6.61217448e-04 9.99650965e-01 1.66128947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:24.34, Z:1.66 [[ 8.02324408e-01 -5.96480341e-01 -2.20623395e-02 8.07235426e+01] [ 5.96275429e-01 8.02627460e-01 -1.56451993e-02 2.43370269e+01] [ 2.70398934e-02 -6.02705733e-04 9.99634174e-01 1.66132025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:24.36, Z:1.66 [[ 8.02804905e-01 -5.95828199e-01 -2.22045539e-02 8.07466359e+01] [ 5.95620228e-01 8.03111712e-01 -1.57518879e-02 2.43551603e+01] [ 2.72181563e-02 -5.79788600e-04 9.99629349e-01 1.66185021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:24.37, Z:1.66 [[ 8.03184910e-01 -5.95316629e-01 -2.21836177e-02 8.07684625e+01] [ 5.95108615e-01 8.03491011e-01 -1.57458853e-02 2.43741852e+01] [ 2.71981247e-02 -5.54804521e-04 9.99629909e-01 1.66298283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.79, Y:24.39, Z:1.66 [[ 8.03674208e-01 -5.94665697e-01 -2.19197498e-02 8.07907450e+01] [ 5.94462159e-01 8.03972909e-01 -1.55660960e-02 2.43910058e+01] [ 2.68795083e-02 -5.20391954e-04 9.99638545e-01 1.66367023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:24.41, Z:1.67 [[ 8.04422177e-01 -5.93674797e-01 -2.13353571e-02 8.08127911e+01] [ 5.93481509e-01 8.04704924e-01 -1.51553292e-02 2.44095725e+01] [ 2.61660039e-02 -4.70856991e-04 9.99657501e-01 1.66539884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.83, Y:24.43, Z:1.67 [[ 8.04673708e-01 -5.93343954e-01 -2.10517471e-02 8.08346394e+01] [ 5.93155440e-01 8.04948913e-01 -1.49623378e-02 2.44281039e+01] [ 2.58233937e-02 -4.47158473e-04 9.99666421e-01 1.66683644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.86, Y:24.45, Z:1.67 [[ 8.05012416e-01 -5.92896264e-01 -2.07130281e-02 8.08560174e+01] [ 5.92713430e-01 8.05278737e-01 -1.47290754e-02 2.44457165e+01] [ 2.54125749e-02 -4.19801378e-04 9.99676960e-01 1.66762947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:24.46, Z:1.67 [[ 8.04856518e-01 -5.93110480e-01 -2.06384152e-02 8.08780925e+01] [ 5.92928948e-01 8.05120973e-01 -1.46793015e-02 2.44613408e+01] [ 2.53228685e-02 -4.22382282e-04 9.99679236e-01 1.66803867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:24.48, Z:1.67 [[ 8.04480035e-01 -5.93627589e-01 -2.04489255e-02 8.09004470e+01] [ 5.93449412e-01 8.04739772e-01 -1.45497523e-02 2.44791465e+01] [ 2.50931980e-02 -4.30417560e-04 9.99685023e-01 1.66923468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:24.49, Z:1.67 [[ 8.03280623e-01 -5.95264291e-01 -2.00166039e-02 8.09246995e+01] [ 5.95093870e-01 8.03529843e-01 -1.42505004e-02 2.44928066e+01] [ 2.45667526e-02 -4.64607480e-04 9.99698084e-01 1.66996250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:24.51, Z:1.67 [[ 8.02173769e-01 -5.96758709e-01 -1.99069873e-02 8.09480650e+01] [ 5.96590517e-01 8.02420581e-01 -1.41762769e-02 2.45101417e+01] [ 2.44335930e-02 -5.04482395e-04 9.99701328e-01 1.67111412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:24.52, Z:1.67 [[ 8.00050369e-01 -5.99590882e-01 -2.02529576e-02 8.09718921e+01] [ 5.99417498e-01 8.00306454e-01 -1.44305900e-02 2.45238229e+01] [ 2.48610229e-02 -5.94778352e-04 9.99690740e-01 1.67125226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:24.54, Z:1.67 [[ 7.98727317e-01 -6.01349656e-01 -2.03289332e-02 8.09959977e+01] [ 6.01175392e-01 7.98985715e-01 -1.44905397e-02 2.45397745e+01] [ 2.49564083e-02 -6.47264520e-04 9.99688331e-01 1.67190137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.02, Y:24.55, Z:1.67 [[ 7.97694014e-01 -6.02721662e-01 -2.02696528e-02 8.10199804e+01] [ 6.02548672e-01 7.97951209e-01 -1.44556210e-02 2.45539842e+01] [ 2.48869099e-02 -6.82290034e-04 9.99690040e-01 1.67225267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:24.57, Z:1.67 [[ 7.95814045e-01 -6.05210170e-01 -2.00164043e-02 8.10431988e+01] [ 6.05042167e-01 7.96065381e-01 -1.42788288e-02 2.45715787e+01] [ 2.45760589e-02 -7.47476150e-04 9.99697684e-01 1.67357891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:24.59, Z:1.67 [[ 7.95123223e-01 -6.06118204e-01 -1.99945860e-02 8.10677898e+01] [ 6.05950668e-01 7.95374209e-01 -1.42707966e-02 2.45851785e+01] [ 2.45529676e-02 -7.68690950e-04 9.99698235e-01 1.67380241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:24.60, Z:1.67 [[ 7.94227140e-01 -6.07266375e-01 -2.07557244e-02 8.10919372e+01] [ 6.07086142e-01 7.94497865e-01 -1.48175081e-02 2.45999388e+01] [ 2.54885531e-02 -8.32045538e-04 9.99674768e-01 1.67315115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:24.62, Z:1.67 [[ 7.93907535e-01 -6.07676361e-01 -2.09825289e-02 8.11137864e+01] [ 6.07492171e-01 7.94184310e-01 -1.49848018e-02 2.46193156e+01] [ 2.57699051e-02 -8.50175012e-04 9.99667539e-01 1.67353445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:24.63, Z:1.67 [[ 7.93766108e-01 -6.07849494e-01 -2.13156918e-02 8.11361958e+01] [ 6.07659264e-01 7.94051792e-01 -1.52306177e-02 2.46344477e+01] [ 2.61836865e-02 -8.63129496e-04 9.99656776e-01 1.67355175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:24.65, Z:1.67 [[ 7.93898623e-01 -6.07658302e-01 -2.18257776e-02 8.11585871e+01] [ 6.07458636e-01 7.94198102e-01 -1.56006567e-02 2.46528664e+01] [ 2.68138597e-02 -8.72917250e-04 9.99640063e-01 1.67376339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:24.67, Z:1.67 [[ 7.94004532e-01 -6.07518630e-01 -2.18613198e-02 8.11819151e+01] [ 6.07318040e-01 7.94304960e-01 -1.56342268e-02 2.46687405e+01] [ 2.68626388e-02 -8.63126924e-04 9.99638762e-01 1.67416562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:24.69, Z:1.67 [[ 7.94769729e-01 -6.06517325e-01 -2.18589208e-02 8.12047772e+01] [ 6.06316280e-01 7.95069841e-01 -1.56370162e-02 2.46850555e+01] [ 2.68634899e-02 -8.25592408e-04 9.99638770e-01 1.67439235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:24.70, Z:1.68 [[ 7.95133593e-01 -6.06040481e-01 -2.18518774e-02 8.12268563e+01] [ 6.05839261e-01 7.95433395e-01 -1.56365956e-02 2.47045820e+01] [ 2.68581230e-02 -8.05542851e-04 9.99638931e-01 1.67583969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:24.72, Z:1.68 [[ 7.95670412e-01 -6.05346848e-01 -2.15357841e-02 8.12495235e+01] [ 6.05150921e-01 7.95961438e-01 -1.54192138e-02 2.47234121e+01] [ 2.64756262e-02 -7.63787398e-04 9.99649167e-01 1.67705016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:24.74, Z:1.68 [[ 7.96372939e-01 -6.04436143e-01 -2.11445326e-02 8.12722295e+01] [ 6.04246733e-01 7.96653275e-01 -1.51474688e-02 2.47405566e+01] [ 2.60005387e-02 -7.13480510e-04 9.99661674e-01 1.67823373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:24.76, Z:1.68 [[ 7.97925272e-01 -6.02404896e-01 -2.05815562e-02 8.12943654e+01] [ 6.02224575e-01 7.98190423e-01 -1.47516129e-02 2.47574836e+01] [ 2.53144449e-02 -6.24034164e-04 9.99679343e-01 1.67977820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:24.78, Z:1.68 [[ 7.98465266e-01 -6.01710190e-01 -1.99515923e-02 8.13170669e+01] [ 6.01540432e-01 7.98714286e-01 -1.43037980e-02 2.47762871e+01] [ 2.45423628e-02 -5.80603520e-04 9.99698622e-01 1.68122106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:24.79, Z:1.68 [[ 7.99087555e-01 -6.00890426e-01 -1.97427236e-02 8.13397993e+01] [ 6.00723789e-01 7.99331220e-01 -1.41608531e-02 2.47928463e+01] [ 2.42900964e-02 -5.44162209e-04 9.99704804e-01 1.68242716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.36, Y:24.81, Z:1.68 [[ 7.99675468e-01 -6.00127311e-01 -1.91404324e-02 8.13615497e+01] [ 5.99970388e-01 7.99904343e-01 -1.37322836e-02 2.48116091e+01] [ 2.35516334e-02 -5.02322394e-04 9.99722496e-01 1.68439986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:24.83, Z:1.69 [[ 7.99774586e-01 -6.00003046e-01 -1.88932878e-02 8.13833201e+01] [ 5.99849937e-01 7.99997568e-01 -1.35626183e-02 2.48269372e+01] [ 2.32521965e-02 -4.86100060e-04 9.99729513e-01 1.68524711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:24.84, Z:1.69 [[ 7.99616714e-01 -6.00223244e-01 -1.85786958e-02 8.14052043e+01] [ 6.00075108e-01 7.99832375e-01 -1.33430699e-02 2.48442604e+01] [ 2.28686631e-02 -4.79271114e-04 9.99738363e-01 1.68680547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:24.86, Z:1.69 [[ 7.99351675e-01 -6.00576047e-01 -1.85825611e-02 8.14273836e+01] [ 6.00427753e-01 7.99567495e-01 -1.33541857e-02 2.48601409e+01] [ 2.28782159e-02 -4.82794712e-04 9.99738143e-01 1.68735291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:24.88, Z:1.69 [[ 7.99166488e-01 -6.00822509e-01 -1.85805715e-02 8.14496751e+01] [ 6.00674218e-01 7.99382309e-01 -1.33569534e-02 2.48763724e+01] [ 2.28781384e-02 -4.86440747e-04 9.99738143e-01 1.68791547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:24.89, Z:1.69 [[ 7.98965855e-01 -6.01098935e-01 -1.82656264e-02 8.14722810e+01] [ 6.00955512e-01 7.99174474e-01 -1.31389692e-02 2.48936529e+01] [ 2.24952427e-02 -4.79241066e-04 9.99746835e-01 1.68877806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:24.91, Z:1.69 [[ 7.98626760e-01 -6.01554092e-01 -1.81099999e-02 8.14948074e+01] [ 6.01413039e-01 7.98831924e-01 -1.30350968e-02 2.49102716e+01] [ 2.23081619e-02 -4.81412922e-04 9.99751026e-01 1.68947538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:24.93, Z:1.69 [[ 7.97479625e-01 -6.03071016e-01 -1.82098319e-02 8.15183074e+01] [ 6.02928701e-01 7.97687330e-01 -1.31112923e-02 2.49277671e+01] [ 2.24327925e-02 -5.23241786e-04 9.99748216e-01 1.69025716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:24.94, Z:1.69 [[ 7.96798731e-01 -6.03972705e-01 -1.81316019e-02 8.15416743e+01] [ 6.03831675e-01 7.97004818e-01 -1.30624604e-02 2.49443674e+01] [ 2.23403436e-02 -5.40283687e-04 9.99750277e-01 1.69081594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:24.96, Z:1.69 [[ 7.94918814e-01 -6.06430945e-01 -1.85899940e-02 8.15654632e+01] [ 6.06283194e-01 7.95135917e-01 -1.34000616e-02 2.49591199e+01] [ 2.29077839e-02 -6.18839906e-04 9.99737391e-01 1.69060349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:24.98, Z:1.69 [[ 7.93673531e-01 -6.08060651e-01 -1.85626009e-02 8.15889589e+01] [ 6.07913706e-01 7.93890298e-01 -1.33835822e-02 2.49761356e+01] [ 2.28746985e-02 -6.62264562e-04 9.99738120e-01 1.69097323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:24.99, Z:1.69 [[ 7.92491824e-01 -6.09589474e-01 -1.89045412e-02 8.16126387e+01] [ 6.09437311e-01 7.92716951e-01 -1.36381604e-02 2.49932250e+01] [ 2.32996293e-02 -7.13002209e-04 9.99728273e-01 1.69103379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:25.00, Z:1.69 [[ 7.90779906e-01 -6.11783723e-01 -1.96930781e-02 8.16386908e+01] [ 6.11619088e-01 7.91024671e-01 -1.42148177e-02 2.50047899e+01] [ 2.42741047e-02 -8.03870206e-04 9.99705017e-01 1.69046834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.66, Y:25.02, Z:1.69 [[ 7.89839878e-01 -6.13001756e-01 -1.95400720e-02 8.16597619e+01] [ 6.12839952e-01 7.90081107e-01 -1.41080800e-02 2.50246414e+01] [ 2.40865195e-02 -8.31812635e-04 9.99709532e-01 1.69145418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:25.04, Z:1.69 [[ 7.89366499e-01 -6.13610538e-01 -1.95611296e-02 8.16824159e+01] [ 6.13448394e-01 7.89608379e-01 -1.41306444e-02 2.50404301e+01] [ 2.41163441e-02 -8.45486248e-04 9.99708801e-01 1.69205358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:25.06, Z:1.69 [[ 7.89341422e-01 -6.13634284e-01 -1.98263720e-02 8.17048630e+01] [ 6.13467643e-01 7.89589915e-01 -1.43253951e-02 2.50550747e+01] [ 2.44452570e-02 -8.55209991e-04 9.99700804e-01 1.69225919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.73, Y:25.07, Z:1.69 [[ 7.89540279e-01 -6.13373743e-01 -1.99699674e-02 8.17270286e+01] [ 6.13204480e-01 7.89792333e-01 -1.44338354e-02 2.50745451e+01] [ 2.46254628e-02 -8.49579063e-04 9.99696386e-01 1.69298312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:25.09, Z:1.69 [[ 7.89990552e-01 -6.12794971e-01 -1.99311526e-02 8.17517499e+01] [ 6.12626009e-01 7.90241510e-01 -1.44128345e-02 2.50880409e+01] [ 2.45825366e-02 -8.24339375e-04 9.99697464e-01 1.69273749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:25.11, Z:1.69 [[ 7.91520836e-01 -6.10813275e-01 -2.00476743e-02 8.17715138e+01] [ 6.10641563e-01 7.91774312e-01 -1.45024372e-02 2.51098958e+01] [ 2.47315147e-02 -7.62961930e-04 9.99693838e-01 1.69393385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:25.13, Z:1.70 [[ 7.92397596e-01 -6.09675907e-01 -2.00334325e-02 8.17930622e+01] [ 6.09503883e-01 7.92650471e-01 -1.44999324e-02 2.51295487e+01] [ 2.47197692e-02 -7.20743301e-04 9.99694160e-01 1.69506882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:25.15, Z:1.70 [[ 7.93432066e-01 -6.08322275e-01 -2.02377574e-02 8.18146771e+01] [ 6.08146080e-01 7.93689832e-01 -1.46559219e-02 2.51484972e+01] [ 2.49780260e-02 -6.79034449e-04 9.99687770e-01 1.69598711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:25.17, Z:1.70 [[ 7.95904476e-01 -6.05083523e-01 -2.02483327e-02 8.18351061e+01] [ 6.04905893e-01 7.96161795e-01 -1.46715996e-02 2.51705499e+01] [ 2.49984920e-02 -5.71144001e-04 9.99687326e-01 1.69757422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:25.19, Z:1.70 [[ 7.97360942e-01 -6.03161509e-01 -2.02909444e-02 8.18576809e+01] [ 6.02982336e-01 7.97618917e-01 -1.47093698e-02 2.51873097e+01] [ 2.50565668e-02 -5.06404131e-04 9.99685907e-01 1.69787388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:25.21, Z:1.70 [[ 7.99793736e-01 -5.99943559e-01 -1.99425793e-02 8.18777076e+01] [ 5.99769393e-01 8.00042230e-01 -1.44604778e-02 2.52097761e+01] [ 2.46303762e-02 -3.95549090e-04 9.99696548e-01 1.69920135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:25.23, Z:1.70 [[ 8.00616533e-01 -5.98841878e-01 -2.00392491e-02 8.18991386e+01] [ 5.98665484e-01 8.00867203e-01 -1.45382462e-02 2.52291429e+01] [ 2.47548880e-02 -3.57246488e-04 9.99693487e-01 1.70016927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:25.25, Z:1.70 [[ 8.01352764e-01 -5.97851811e-01 -2.01732555e-02 8.19213619e+01] [ 5.97672549e-01 8.01606579e-01 -1.46429490e-02 2.52463525e+01] [ 2.49253279e-02 -3.22833388e-04 9.99689264e-01 1.70049200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:25.26, Z:1.70 [[ 8.01711137e-01 -5.97372479e-01 -2.01338850e-02 8.19436200e+01] [ 5.97193663e-01 8.01963857e-01 -1.46185154e-02 2.52642571e+01] [ 2.48793468e-02 -3.04001930e-04 9.99690415e-01 1.70139668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:25.28, Z:1.70 [[ 8.01991647e-01 -5.96979289e-01 -2.06186064e-02 8.19664270e+01] [ 5.96791373e-01 8.02256595e-01 -1.49804182e-02 2.52813039e+01] [ 2.54844124e-02 -2.90836193e-04 9.99675177e-01 1.70190557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:25.30, Z:1.70 [[ 8.01603945e-01 -5.97510054e-01 -2.03187306e-02 8.19892885e+01] [ 5.97327497e-01 8.01861364e-01 -1.47720599e-02 2.52973538e+01] [ 2.51192593e-02 -2.95595016e-04 9.99684418e-01 1.70257289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:25.31, Z:1.70 [[ 8.00814466e-01 -5.98572973e-01 -2.01640096e-02 8.20127098e+01] [ 5.98393316e-01 8.01068220e-01 -1.46678406e-02 2.53122573e+01] [ 2.49325202e-02 -3.19789649e-04 9.99689085e-01 1.70352770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:25.33, Z:1.70 [[ 8.00209341e-01 -5.99383565e-01 -2.01085295e-02 8.20366504e+01] [ 5.99205054e-01 8.00461883e-01 -1.46313779e-02 2.53291840e+01] [ 2.48659189e-02 -3.40967234e-04 9.99690737e-01 1.70438324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:25.35, Z:1.71 [[ 7.99369861e-01 -6.00501075e-01 -2.01564832e-02 8.20608368e+01] [ 6.00321857e-01 7.99623863e-01 -1.46746597e-02 2.53454686e+01] [ 2.49297539e-02 -3.69896746e-04 9.99689137e-01 1.70501085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:25.36, Z:1.71 [[ 7.97744809e-01 -6.02651778e-01 -2.03483162e-02 8.20852193e+01] [ 6.02469641e-01 7.98004163e-01 -1.48218449e-02 2.53588614e+01] [ 2.51704522e-02 -4.35192972e-04 9.99683079e-01 1.70519988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.11, Y:25.38, Z:1.71 [[ 7.96777339e-01 -6.03912308e-01 -2.08757518e-02 8.21094434e+01] [ 6.03720924e-01 7.97050620e-01 -1.52103707e-02 2.53751424e+01] [ 2.58247609e-02 -4.83849495e-04 9.99666368e-01 1.70555541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.13, Y:25.39, Z:1.71 [[ 7.95697953e-01 -6.05320182e-01 -2.12660587e-02 8.21330292e+01] [ 6.05121866e-01 7.95981905e-01 -1.55026874e-02 2.53892983e+01] [ 2.63114874e-02 -5.33100526e-04 9.99653651e-01 1.70526365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:25.40, Z:1.71 [[ 7.93579459e-01 -6.08062759e-01 -2.21658188e-02 8.21572176e+01] [ 6.07848219e-01 7.93888697e-01 -1.61641323e-02 2.54046081e+01] [ 2.74260000e-02 -6.45930112e-04 9.99623628e-01 1.70551198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:25.42, Z:1.71 [[ 7.92801913e-01 -6.09067860e-01 -2.23935046e-02 8.21813674e+01] [ 6.08849063e-01 7.93117821e-01 -1.63382991e-02 2.54185607e+01] [ 2.77118205e-02 -6.81229504e-04 9.99615722e-01 1.70548774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:25.43, Z:1.71 [[ 7.91531423e-01 -6.10691127e-01 -2.31160823e-02 8.22055859e+01] [ 6.10458568e-01 7.91868532e-01 -1.68690672e-02 2.54321605e+01] [ 2.86066878e-02 -7.59013729e-04 9.99590457e-01 1.70533618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:25.45, Z:1.71 [[ 7.91124003e-01 -6.11196810e-01 -2.36911902e-02 8.22295571e+01] [ 6.10952601e-01 7.91478257e-01 -1.72941407e-02 2.54479063e+01] [ 2.93211856e-02 -7.92384506e-04 9.99569728e-01 1.70548659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:25.46, Z:1.71 [[ 7.90508148e-01 -6.11977762e-01 -2.40850107e-02 8.22528740e+01] [ 6.11725430e-01 7.90874538e-01 -1.75915605e-02 2.54648927e+01] [ 2.98138656e-02 -8.27141622e-04 9.99555126e-01 1.70623370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:25.48, Z:1.71 [[ 7.89638407e-01 -6.13075771e-01 -2.46836912e-02 8.22776134e+01] [ 6.12810953e-01 7.90023620e-01 -1.80392618e-02 2.54798261e+01] [ 3.05601334e-02 -8.81942329e-04 9.99532541e-01 1.70644239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:25.49, Z:1.71 [[ 7.89427248e-01 -6.13347539e-01 -2.46863709e-02 8.23003647e+01] [ 6.13082505e-01 7.89812644e-01 -1.80507319e-02 2.54942444e+01] [ 3.05689798e-02 -8.85042475e-04 9.99532268e-01 1.70675892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:25.51, Z:1.71 [[ 7.89517764e-01 -6.13238164e-01 -2.45082507e-02 8.23236183e+01] [ 6.12976630e-01 7.89897589e-01 -1.79290324e-02 2.55110441e+01] [ 3.03537750e-02 -8.67695306e-04 9.99538841e-01 1.70729921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:25.53, Z:1.71 [[ 7.90096285e-01 -6.12517643e-01 -2.38746207e-02 8.23458921e+01] [ 6.12268848e-01 7.90456501e-01 -1.74750803e-02 2.55287648e+01] [ 2.95756441e-02 -8.10690460e-04 9.99562216e-01 1.70897346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:25.55, Z:1.71 [[ 7.90627781e-01 -6.11836852e-01 -2.37355752e-02 8.23685628e+01] [ 6.11590410e-01 7.90983607e-01 -1.73811460e-02 2.55450881e+01] [ 2.94088765e-02 -7.74433223e-04 9.99567165e-01 1.70971726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:25.56, Z:1.71 [[ 7.91178198e-01 -6.11133866e-01 -2.35044055e-02 8.23917500e+01] [ 6.10891739e-01 7.91526914e-01 -1.72171060e-02 2.55620404e+01] [ 2.91263261e-02 -7.36848247e-04 9.99575467e-01 1.71056056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:25.58, Z:1.71 [[ 7.91938871e-01 -6.10144821e-01 -2.35822490e-02 8.24139868e+01] [ 6.09900423e-01 7.92289601e-01 -1.72818598e-02 2.55783095e+01] [ 2.92284079e-02 -6.96647086e-04 9.99572516e-01 1.71127774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:25.59, Z:1.71 [[ 7.93323820e-01 -6.08364861e-01 -2.30111379e-02 8.24361742e+01] [ 6.08131317e-01 7.93657243e-01 -1.68665693e-02 2.55946198e+01] [ 2.85239844e-02 -6.13142395e-04 9.99592920e-01 1.71236324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:25.61, Z:1.71 [[ 7.94210265e-01 -6.07211295e-01 -2.29019258e-02 8.24582612e+01] [ 6.06979392e-01 7.94540195e-01 -1.67897584e-02 2.56111648e+01] [ 2.83914315e-02 -5.66398480e-04 9.99596722e-01 1.71311965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:25.63, Z:1.71 [[ 7.95852975e-01 -6.05076564e-01 -2.23694889e-02 8.24806943e+01] [ 6.04854348e-01 7.96167147e-01 -1.64039957e-02 2.56297945e+01] [ 2.77355255e-02 -4.75113796e-04 9.99615183e-01 1.71438955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:25.65, Z:1.72 [[ 7.96508166e-01 -6.04232887e-01 -2.18485491e-02 8.25033001e+01] [ 6.04020358e-01 7.96807652e-01 -1.60303729e-02 2.56474851e+01] [ 2.70951696e-02 -4.28645561e-04 9.99632767e-01 1.71552339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:25.67, Z:1.72 [[ 7.97094382e-01 -6.03483686e-01 -2.11657252e-02 8.25248329e+01] [ 6.03283756e-01 7.97375253e-01 -1.55375748e-02 2.56665506e+01] [ 2.62536984e-02 -3.84024624e-04 9.99655238e-01 1.71762941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.55, Y:25.68, Z:1.72 [[ 7.98015005e-01 -6.02301782e-01 -2.01150376e-02 8.25474818e+01] [ 6.02120658e-01 7.98268413e-01 -1.47734293e-02 2.56829733e+01] [ 2.49552619e-02 -3.22261376e-04 9.99688517e-01 1.71946601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:25.70, Z:1.72 [[ 7.98020909e-01 -6.02310793e-01 -1.96045269e-02 8.25702015e+01] [ 6.02138654e-01 7.98261619e-01 -1.44023856e-02 2.56992266e+01] [ 2.43242536e-02 -3.11238619e-04 9.99704073e-01 1.72099328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.59, Y:25.72, Z:1.72 [[ 7.97962143e-01 -6.02390970e-01 -1.95330040e-02 8.25927968e+01] [ 6.02219884e-01 7.98201119e-01 -1.43591369e-02 2.57151205e+01] [ 2.42410800e-02 -3.05115783e-04 9.99706095e-01 1.72196750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:25.73, Z:1.72 [[ 7.97715987e-01 -6.02729765e-01 -1.91320244e-02 8.26159748e+01] [ 6.02565517e-01 7.97945324e-01 -1.40732864e-02 2.57316064e+01] [ 2.37486981e-02 -3.01812625e-04 9.99717914e-01 1.72280235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:25.75, Z:1.72 [[ 7.97172896e-01 -6.03455261e-01 -1.88976647e-02 8.26390669e+01] [ 6.03295028e-01 7.97396796e-01 -1.39089704e-02 2.57466270e+01] [ 2.34623787e-02 -3.13012977e-04 9.99724672e-01 1.72303516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:25.76, Z:1.72 [[ 7.96579111e-01 -6.04229899e-01 -1.91820161e-02 8.26630251e+01] [ 6.04064946e-01 7.96809962e-01 -1.41218088e-02 2.57628533e+01] [ 2.38172407e-02 -3.38045664e-04 9.99716272e-01 1.72315756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:25.78, Z:1.72 [[ 7.95334343e-01 -6.05873572e-01 -1.89867606e-02 8.26869519e+01] [ 6.05712259e-01 7.95560854e-01 -1.39852705e-02 2.57765608e+01] [ 2.35784292e-02 -3.77547720e-04 9.99721919e-01 1.72314887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:25.79, Z:1.72 [[ 7.94648369e-01 -6.06771945e-01 -1.90204010e-02 8.27105190e+01] [ 6.06610195e-01 7.94875868e-01 -1.40152124e-02 2.57931467e+01] [ 2.36228955e-02 -4.00803489e-04 9.99720860e-01 1.72363155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:25.81, Z:1.72 [[ 7.93918617e-01 -6.07724482e-01 -1.90835861e-02 8.27345768e+01] [ 6.07561745e-01 7.94147829e-01 -1.40695217e-02 2.58098286e+01] [ 2.37055812e-02 -4.24401635e-04 9.99718893e-01 1.72377121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:25.82, Z:1.72 [[ 7.92787767e-01 -6.09186292e-01 -1.94838022e-02 8.27595988e+01] [ 6.09016921e-01 7.93027010e-01 -1.43718771e-02 2.58235695e+01] [ 2.42063319e-02 -4.72116847e-04 9.99706872e-01 1.72322917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:25.84, Z:1.72 [[ 7.92316941e-01 -6.09789586e-01 -1.97617283e-02 8.27813007e+01] [ 6.09615442e-01 7.92563194e-01 -1.45807060e-02 2.58426853e+01] [ 2.45535812e-02 -4.94514348e-04 9.99698393e-01 1.72388305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.81, Y:25.86, Z:1.72 [[ 7.91657582e-01 -6.10639808e-01 -1.99323469e-02 8.28061379e+01] [ 6.10462724e-01 7.91908300e-01 -1.47141710e-02 2.58556963e+01] [ 2.47696495e-02 -5.19369729e-04 9.99693050e-01 1.72277488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.83, Y:25.87, Z:1.72 [[ 7.91372111e-01 -6.11001975e-01 -2.01685027e-02 8.28279912e+01] [ 6.10820679e-01 7.91628892e-01 -1.48928163e-02 2.58741501e+01] [ 2.50655096e-02 -5.33578987e-04 9.99685668e-01 1.72362844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:25.89, Z:1.72 [[ 7.91214750e-01 -6.11203091e-01 -2.02484835e-02 8.28524235e+01] [ 6.11020187e-01 7.91473623e-01 -1.49611363e-02 2.58866486e+01] [ 2.51704333e-02 -5.34760429e-04 9.99683031e-01 1.72332118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:25.90, Z:1.72 [[ 7.91153206e-01 -6.11284236e-01 -2.02036382e-02 8.28752074e+01] [ 6.11101990e-01 7.91410956e-01 -1.49350748e-02 2.59029993e+01] [ 2.51189565e-02 -5.30551219e-04 9.99684328e-01 1.72382519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:25.92, Z:1.73 [[ 7.90930000e-01 -6.11582370e-01 -1.99183506e-02 8.28963207e+01] [ 6.11405110e-01 7.91180592e-01 -1.47330599e-02 2.59208708e+01] [ 2.47694921e-02 -5.25362319e-04 9.99693051e-01 1.72512755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:25.94, Z:1.73 [[ 7.90739878e-01 -6.11828315e-01 -1.99137684e-02 8.29183899e+01] [ 6.11650977e-01 7.90990415e-01 -1.47392511e-02 2.59374138e+01] [ 2.47694911e-02 -5.25362299e-04 9.99693051e-01 1.72568906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:25.95, Z:1.73 [[ 7.90741917e-01 -6.11830365e-01 -1.97693019e-02 8.29408073e+01] [ 6.11655358e-01 7.90988837e-01 -1.46417847e-02 2.59539138e+01] [ 2.45955856e-02 -5.14126585e-04 9.99697351e-01 1.72617389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:25.97, Z:1.73 [[ 7.90746523e-01 -6.11838131e-01 -1.93400491e-02 8.29631742e+01] [ 6.11670441e-01 7.90982841e-01 -1.43323631e-02 2.59697105e+01] [ 2.40667332e-02 -4.96470108e-04 9.99710231e-01 1.72687854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:25.98, Z:1.73 [[ 7.90731798e-01 -6.11855864e-01 -1.93810341e-02 8.29879735e+01] [ 6.11687346e-01 7.90969126e-01 -1.43677770e-02 2.59819126e+01] [ 2.41208082e-02 -4.94075126e-04 9.99708929e-01 1.72729297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:26.00, Z:1.73 [[ 7.90631718e-01 -6.11992529e-01 -1.91476327e-02 8.30088394e+01] [ 6.11827954e-01 7.90863393e-01 -1.42002693e-02 2.60005778e+01] [ 2.38336204e-02 -4.87873635e-04 9.99715820e-01 1.72860772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:26.02, Z:1.73 [[ 7.90411269e-01 -6.12293042e-01 -1.86348125e-02 8.30323168e+01] [ 6.12137052e-01 7.90630763e-01 -1.38284838e-02 2.60165580e+01] [ 2.32003405e-02 -4.76869738e-04 9.99730722e-01 1.72979201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:26.03, Z:1.73 [[ 7.90096336e-01 -6.12726209e-01 -1.77305545e-02 8.30554541e+01] [ 6.12584926e-01 7.90295123e-01 -1.31653617e-02 2.60324148e+01] [ 2.20791329e-02 -4.59566388e-04 9.99756121e-01 1.73179721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:26.05, Z:1.73 [[ 7.89867967e-01 -6.13018667e-01 -1.77963195e-02 8.30784810e+01] [ 6.12876217e-01 7.90068288e-01 -1.32228193e-02 2.60483582e+01] [ 2.21661428e-02 -4.62659594e-04 9.99754194e-01 1.73293529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:26.06, Z:1.73 [[ 7.89689141e-01 -6.13250905e-01 -1.77309841e-02 8.31014988e+01] [ 6.13109370e-01 7.89888040e-01 -1.31827667e-02 2.60645847e+01] [ 2.20898359e-02 -4.60744772e-04 9.99755884e-01 1.73366197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:26.08, Z:1.73 [[ 7.89613361e-01 -6.13354987e-01 -1.75042709e-02 8.31244687e+01] [ 6.13216893e-01 7.89807227e-01 -1.30224877e-02 2.60812841e+01] [ 2.18124074e-02 -4.51184346e-04 9.99761979e-01 1.73483940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:26.10, Z:1.74 [[ 7.89611836e-01 -6.13362806e-01 -1.72978915e-02 8.31472504e+01] [ 6.13227772e-01 7.89801162e-01 -1.28772840e-02 2.60984001e+01] [ 2.15603418e-02 -4.39491613e-04 9.99767452e-01 1.73573345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:26.11, Z:1.74 [[ 7.89672372e-01 -6.13285184e-01 -1.72866237e-02 8.31697932e+01] [ 6.13150126e-01 7.89861442e-01 -1.28773139e-02 2.61134261e+01] [ 2.15515033e-02 -4.30436513e-04 9.99767647e-01 1.73641709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:26.13, Z:1.74 [[ 7.89615230e-01 -6.13362805e-01 -1.71422990e-02 8.31929460e+01] [ 6.13229887e-01 7.89801171e-01 -1.27756339e-02 2.61301225e+01] [ 2.13751065e-02 -4.24334981e-04 9.99771436e-01 1.73707974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:26.15, Z:1.74 [[ 7.89214512e-01 -6.13878997e-01 -1.71181881e-02 8.32155810e+01] [ 6.13746395e-01 7.89400020e-01 -1.27660274e-02 2.61467023e+01] [ 2.13498941e-02 -4.31092210e-04 9.99771972e-01 1.73744858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:26.16, Z:1.74 [[ 7.88752159e-01 -6.14471391e-01 -1.71738889e-02 8.32389588e+01] [ 6.14337882e-01 7.88938980e-01 -1.28160628e-02 2.61640444e+01] [ 2.14242543e-02 -4.41873325e-04 9.99770377e-01 1.73779008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:26.18, Z:1.74 [[ 7.89040747e-01 -6.14107376e-01 -1.69360390e-02 8.32628732e+01] [ 6.13977306e-01 7.89222373e-01 -1.26457325e-02 2.61790530e+01] [ 2.11321385e-02 -4.20345365e-04 9.99776603e-01 1.73763999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:26.20, Z:1.74 [[ 7.88656451e-01 -6.14595748e-01 -1.71192348e-02 8.32843977e+01] [ 6.14462873e-01 7.88842112e-01 -1.27867249e-02 2.61976271e+01] [ 2.13630401e-02 -4.34801129e-04 9.99771690e-01 1.73820985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:26.21, Z:1.74 [[ 7.89320109e-01 -6.13743203e-01 -1.71186198e-02 8.33071571e+01] [ 6.13609961e-01 7.89505616e-01 -1.27944954e-02 2.62131797e+01] [ 2.13677811e-02 -4.05203131e-04 9.99771601e-01 1.73916629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:26.23, Z:1.74 [[ 7.89204048e-01 -6.13881957e-01 -1.74903945e-02 8.33287774e+01] [ 6.13742794e-01 7.89397727e-01 -1.30771347e-02 2.62318668e+01] [ 2.18346947e-02 -4.14075992e-04 9.99761509e-01 1.73852032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:26.25, Z:1.74 [[ 7.89144085e-01 -6.13946490e-01 -1.79254277e-02 8.33506387e+01] [ 6.13800136e-01 7.89347535e-01 -1.34112291e-02 2.62494789e+01] [ 2.23831692e-02 -4.19237880e-04 9.99749378e-01 1.73902609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:26.27, Z:1.74 [[ 7.89071778e-01 -6.14033152e-01 -1.81388545e-02 8.33711504e+01] [ 6.13883121e-01 7.89280123e-01 -1.35794532e-02 2.62664467e+01] [ 2.26548718e-02 -4.19973305e-04 9.99743257e-01 1.73915311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:26.28, Z:1.74 [[ 7.88840454e-01 -6.14324936e-01 -1.83196869e-02 8.33933251e+01] [ 6.14171854e-01 7.89053033e-01 -1.37202292e-02 2.62838390e+01] [ 2.28838834e-02 -4.28364223e-04 9.99738038e-01 1.73928739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:26.30, Z:1.74 [[ 7.88394225e-01 -6.14891822e-01 -1.85092873e-02 8.34156123e+01] [ 6.14735504e-01 7.88611344e-01 -1.38711603e-02 2.63009607e+01] [ 2.31258970e-02 -4.42373398e-04 9.99732463e-01 1.74009026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:26.32, Z:1.74 [[ 7.88002435e-01 -6.15398988e-01 -1.83370615e-02 8.34374666e+01] [ 6.15245504e-01 7.88215634e-01 -1.37507859e-02 2.63183977e+01] [ 2.29157782e-02 -4.46141872e-04 9.99737300e-01 1.74064731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.46, Y:26.34, Z:1.74 [[ 7.87165860e-01 -6.16476336e-01 -1.80786261e-02 8.34594520e+01] [ 6.16327238e-01 7.87373299e-01 -1.35655440e-02 2.63365744e+01] [ 2.25974644e-02 -4.64016573e-04 9.99744537e-01 1.74213173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:26.35, Z:1.74 [[ 7.86741897e-01 -6.17022593e-01 -1.78971115e-02 8.34825640e+01] [ 6.16876452e-01 7.86945296e-01 -1.34366326e-02 2.63527655e+01] [ 2.23747536e-02 -4.69144781e-04 9.99749544e-01 1.74304516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:26.37, Z:1.74 [[ 7.86250205e-01 -6.17653996e-01 -1.77244520e-02 8.35048044e+01] [ 6.17510760e-01 7.86449814e-01 -1.33097978e-02 2.63690491e+01] [ 2.21602417e-02 -4.80208596e-04 9.99754316e-01 1.74397659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:26.39, Z:1.74 [[ 7.85540229e-01 -6.18569171e-01 -1.72838095e-02 8.35274321e+01] [ 6.18433107e-01 7.85730196e-01 -1.29827291e-02 2.63873194e+01] [ 2.16111269e-02 -4.90424017e-04 9.99766332e-01 1.74485899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:26.41, Z:1.75 [[ 7.84985443e-01 -6.19267401e-01 -1.74854138e-02 8.35491363e+01] [ 6.19128157e-01 7.85179996e-01 -1.31415252e-02 2.64063094e+01] [ 2.18673153e-02 -5.09806083e-04 9.99760752e-01 1.74552703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.57, Y:26.42, Z:1.75 [[ 7.84617546e-01 -6.19741932e-01 -1.71826622e-02 8.35711731e+01] [ 6.19607429e-01 7.84805504e-01 -1.29210897e-02 2.64230856e+01] [ 2.14927890e-02 -5.08391416e-04 9.99768874e-01 1.74655891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:26.44, Z:1.75 [[ 7.84244463e-01 -6.20225832e-01 -1.67493179e-02 8.35932185e+01] [ 6.20098062e-01 7.84423140e-01 -1.25988617e-02 2.64395822e+01] [ 2.09526920e-02 -5.05632010e-04 9.99780340e-01 1.74730383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:26.46, Z:1.75 [[ 7.83897949e-01 -6.20664518e-01 -1.67201134e-02 8.36154476e+01] [ 6.20537217e-01 7.84076076e-01 -1.25805640e-02 2.64558707e+01] [ 2.09181506e-02 -5.13574340e-04 9.99781060e-01 1.74824992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:26.47, Z:1.75 [[ 7.83534566e-01 -6.21126685e-01 -1.65898903e-02 8.36380159e+01] [ 6.21001376e-01 7.83710005e-01 -1.24867570e-02 2.64733403e+01] [ 2.07575210e-02 -5.18538983e-04 9.99784405e-01 1.74916035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:26.49, Z:1.75 [[ 7.82743965e-01 -6.22146470e-01 -1.56734077e-02 8.36608914e+01] [ 6.22034690e-01 7.82900702e-01 -1.18039923e-02 2.64909998e+01] [ 1.96145340e-02 -5.09899530e-04 9.99807486e-01 1.75051499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:26.51, Z:1.75 [[ 7.82465820e-01 -6.22506789e-01 -1.52491874e-02 8.36824447e+01] [ 6.22400927e-01 7.82614239e-01 -1.14907946e-02 2.65067610e+01] [ 1.90873288e-02 -4.99954352e-04 9.99817695e-01 1.75171410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:26.52, Z:1.75 [[ 7.81968151e-01 -6.23147936e-01 -1.45760276e-02 8.37054555e+01] [ 6.23051261e-01 7.82103836e-01 -1.09871225e-02 2.65245511e+01] [ 1.82465699e-02 -4.90032491e-04 9.99833397e-01 1.75271036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:26.54, Z:1.75 [[ 7.81772626e-01 -6.23417832e-01 -1.34821203e-02 8.37280889e+01] [ 6.23335071e-01 7.81888739e-01 -1.01680822e-02 2.65411319e+01] [ 1.68804818e-02 -4.54750079e-04 9.99857411e-01 1.75436994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:26.56, Z:1.76 [[ 7.81570861e-01 -6.23673910e-01 -1.33357791e-02 8.37505280e+01] [ 6.23592939e-01 7.81684494e-01 -1.00597587e-02 2.65585364e+01] [ 1.66983808e-02 -4.53683375e-04 9.99860469e-01 1.75524574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.77, Y:26.58, Z:1.76 [[ 7.81906266e-01 -6.23247446e-01 -1.36093012e-02 8.37720374e+01] [ 6.23162944e-01 7.82024565e-01 -1.02725574e-02 2.65777725e+01] [ 1.70451530e-02 -4.48635230e-04 9.99854620e-01 1.75549663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:26.60, Z:1.75 [[ 7.82235025e-01 -6.22823682e-01 -1.41076506e-02 8.37921977e+01] [ 6.22732705e-01 7.82362101e-01 -1.06545840e-02 2.65994330e+01] [ 1.76732184e-02 -4.50906619e-04 9.99843715e-01 1.75465668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:26.61, Z:1.75 [[ 7.82645003e-01 -6.22294790e-01 -1.46967329e-02 8.38168314e+01] [ 6.22195830e-01 7.82782850e-01 -1.11066995e-02 2.66134175e+01] [ 1.84159916e-02 -4.51643072e-04 9.99830309e-01 1.75491050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.84, Y:26.63, Z:1.75 [[ 7.83886120e-01 -6.20711469e-01 -1.54862430e-02 8.38379158e+01] [ 6.20601235e-01 7.84038955e-01 -1.17057291e-02 2.66343212e+01] [ 1.94076981e-02 -4.34823013e-04 9.99811558e-01 1.75428240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:26.66, Z:1.75 [[ 7.84481091e-01 -6.19954129e-01 -1.56938304e-02 8.38574355e+01] [ 6.19840656e-01 7.84637944e-01 -1.18683487e-02 2.66572852e+01] [ 1.96718066e-02 -4.17179042e-04 9.99806404e-01 1.75442942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:26.67, Z:1.75 [[ 7.85094597e-01 -6.19167903e-01 -1.60493481e-02 8.38808220e+01] [ 6.19048928e-01 7.85258523e-01 -1.21440191e-02 2.66732487e+01] [ 2.01220742e-02 -4.01127946e-04 9.99797450e-01 1.75495556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:26.69, Z:1.76 [[ 7.86267094e-01 -6.17673873e-01 -1.62186364e-02 8.39020519e+01] [ 6.17552005e-01 7.86434265e-01 -1.22746681e-02 2.66932066e+01] [ 2.03366332e-02 -3.64683849e-04 9.99793123e-01 1.75618364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:26.71, Z:1.76 [[ 7.86984594e-01 -6.16765774e-01 -1.59759016e-02 8.39241944e+01] [ 6.16647205e-01 7.87146664e-01 -1.20976488e-02 2.67110843e+01] [ 2.00367934e-02 -3.30831897e-04 9.99799189e-01 1.75702463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.95, Y:26.73, Z:1.76 [[ 7.87395567e-01 -6.16245308e-01 -1.58095475e-02 8.39465333e+01] [ 6.16128960e-01 7.87554205e-01 -1.19783022e-02 2.67301326e+01] [ 1.98324482e-02 -3.09057994e-04 9.99803270e-01 1.75765316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:26.75, Z:1.76 [[ 7.88199735e-01 -6.15219149e-01 -1.57027693e-02 8.39684986e+01] [ 6.15104029e-01 7.88356089e-01 -1.19042701e-02 2.67472970e+01] [ 1.97031087e-02 -2.75894155e-04 9.99805837e-01 1.75822283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:26.77, Z:1.76 [[ 7.89286955e-01 -6.13820449e-01 -1.58290392e-02 8.39896191e+01] [ 6.13703140e-01 7.89445627e-01 -1.20024274e-02 2.67652662e+01] [ 1.98635012e-02 -2.40971623e-04 9.99802672e-01 1.75926297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:26.78, Z:1.76 [[ 7.89697550e-01 -6.13283871e-01 -1.61453762e-02 8.40103524e+01] [ 6.13161665e-01 7.89862545e-01 -1.22446807e-02 2.67839019e+01] [ 2.02620931e-02 -2.30131432e-04 9.99794676e-01 1.75968483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:26.80, Z:1.76 [[ 7.89987049e-01 -6.12910486e-01 -1.61616120e-02 8.40315604e+01] [ 6.12787797e-01 7.90152321e-01 -1.22648330e-02 2.68002249e+01] [ 2.02873799e-02 -2.14579380e-04 9.99794167e-01 1.75981391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:26.82, Z:1.76 [[ 7.90088708e-01 -6.12763750e-01 -1.67457760e-02 8.40540056e+01] [ 6.12631902e-01 7.90266120e-01 -1.27126687e-02 2.68177019e+01] [ 2.10234820e-02 -2.14860599e-04 9.99778959e-01 1.76041324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:26.83, Z:1.76 [[ 7.90014297e-01 -6.12867203e-01 -1.64682046e-02 8.40760664e+01] [ 6.12739551e-01 7.90185894e-01 -1.25098098e-02 2.68333522e+01] [ 2.06797952e-02 -2.07791680e-04 9.99786129e-01 1.76103561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:26.85, Z:1.76 [[ 7.89851109e-01 -6.13092789e-01 -1.58889267e-02 8.40983697e+01] [ 6.12973903e-01 7.90010881e-01 -1.20748656e-02 2.68485758e+01] [ 1.99554379e-02 -2.02151443e-04 9.99800850e-01 1.76280491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:26.87, Z:1.76 [[ 7.89645229e-01 -6.13366379e-01 -1.55594933e-02 8.41206441e+01] [ 6.13252351e-01 7.89798483e-01 -1.18283294e-02 2.68663332e+01] [ 1.95439638e-02 -2.01712027e-04 9.99808978e-01 1.76362781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:26.88, Z:1.76 [[ 7.89083557e-01 -6.14094153e-01 -1.53463722e-02 8.41428812e+01] [ 6.13983228e-01 7.89232746e-01 -1.16734077e-02 2.68840356e+01] [ 1.92804309e-02 -2.11121063e-04 9.99814093e-01 1.76437884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:26.90, Z:1.76 [[ 7.88301055e-01 -6.15093655e-01 -1.55319868e-02 8.41659973e+01] [ 6.14980071e-01 7.88454020e-01 -1.18224610e-02 2.68988826e+01] [ 1.95181782e-02 -2.32203837e-04 9.99809475e-01 1.76479227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:26.92, Z:1.76 [[ 7.87567574e-01 -6.16036619e-01 -1.53687889e-02 8.41890632e+01] [ 6.15925513e-01 7.87717476e-01 -1.17021765e-02 2.69161787e+01] [ 1.93152329e-02 -2.49774386e-04 9.99813412e-01 1.76480163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:26.93, Z:1.77 [[ 7.86864506e-01 -6.16918053e-01 -1.60113750e-02 8.42124174e+01] [ 6.16797502e-01 7.87027343e-01 -1.21984953e-02 2.69325944e+01] [ 2.01268619e-02 -2.77213140e-04 9.99797396e-01 1.76529194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:26.95, Z:1.77 [[ 7.86211953e-01 -6.17768143e-01 -1.52736847e-02 8.42363370e+01] [ 6.17658488e-01 7.86360250e-01 -1.16425704e-02 2.69492494e+01] [ 1.92030276e-02 -2.80393005e-04 9.99815566e-01 1.76582557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:26.96, Z:1.77 [[ 7.84749122e-01 -6.19617735e-01 -1.55781377e-02 8.42603866e+01] [ 6.19503894e-01 7.84903660e-01 -1.18814667e-02 2.69640402e+01] [ 1.95893048e-02 -3.26746449e-04 9.99808058e-01 1.76627261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:26.98, Z:1.77 [[ 7.83451471e-01 -6.21255591e-01 -1.56615310e-02 8.42841507e+01] [ 6.21140811e-01 7.83607910e-01 -1.19472474e-02 2.69807186e+01] [ 1.96947938e-02 -3.67927488e-04 9.99805971e-01 1.76666383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:27.00, Z:1.77 [[ 7.82299911e-01 -6.22700081e-01 -1.58574693e-02 8.43079295e+01] [ 6.22582576e-01 7.82460508e-01 -1.21032821e-02 2.69975670e+01] [ 1.99445582e-02 -4.04187554e-04 9.99801006e-01 1.76714171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:27.01, Z:1.77 [[ 7.82117260e-01 -6.22929555e-01 -1.58543736e-02 8.43297317e+01] [ 6.22812016e-01 7.82277832e-01 -1.21073359e-02 2.70144484e+01] [ 1.99445424e-02 -4.04937976e-04 9.99801006e-01 1.76770342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:27.03, Z:1.77 [[ 7.79934103e-01 -6.25671703e-01 -1.54180133e-02 8.43537926e+01] [ 6.25560939e-01 7.80086349e-01 -1.17813214e-02 2.70287452e+01] [ 1.93986211e-02 -4.56252486e-04 9.99811725e-01 1.76851726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:27.05, Z:1.77 [[ 7.78497947e-01 -6.27458413e-01 -1.53911133e-02 8.43781789e+01] [ 6.27348345e-01 7.78649916e-01 -1.17627605e-02 2.70450543e+01] [ 1.93649321e-02 -4.98304512e-04 9.99812358e-01 1.76934926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:27.06, Z:1.77 [[ 7.76229748e-01 -6.30272418e-01 -1.49685181e-02 8.44029945e+01] [ 6.30168719e-01 7.76373865e-01 -1.14458302e-02 2.70583144e+01] [ 1.88351573e-02 -5.48098017e-04 9.99822452e-01 1.77046376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:27.07, Z:1.77 [[ 7.75166646e-01 -6.31579087e-01 -1.49842912e-02 8.44269578e+01] [ 6.31475357e-01 7.75311243e-01 -1.14608277e-02 2.70745440e+01] [ 1.88559085e-02 -5.78159314e-04 9.99822044e-01 1.77104531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:27.09, Z:1.77 [[ 7.74305054e-01 -6.32635595e-01 -1.49628468e-02 8.44505408e+01] [ 6.32532249e-01 7.74449382e-01 -1.14502937e-02 2.70909518e+01] [ 1.88318308e-02 -5.98462917e-04 9.99822486e-01 1.77156461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:27.11, Z:1.77 [[ 7.73318312e-01 -6.33840688e-01 -1.49923551e-02 8.44731640e+01] [ 6.33737045e-01 7.73463375e-01 -1.14789011e-02 2.71072120e+01] [ 1.88718321e-02 -6.24366442e-04 9.99821716e-01 1.77127655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:27.12, Z:1.77 [[ 7.73320729e-01 -6.33833587e-01 -1.51668661e-02 8.44943664e+01] [ 6.33727445e-01 7.73469190e-01 -1.16162499e-02 2.71235547e+01] [ 1.90938730e-02 -6.28572425e-04 9.99817498e-01 1.77145980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:27.15, Z:1.77 [[ 7.73627430e-01 -6.33463949e-01 -1.49674796e-02 8.45119446e+01] [ 6.33360404e-01 7.73771967e-01 -1.14691716e-02 2.71488833e+01] [ 1.88467229e-02 -6.06943182e-04 9.99822201e-01 1.77107600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:27.16, Z:1.77 [[ 7.74287534e-01 -6.32660733e-01 -1.48058021e-02 8.45388641e+01] [ 6.32559138e-01 7.74428864e-01 -1.13521479e-02 2.71601177e+01] [ 1.86480988e-02 -5.75718801e-04 9.99825943e-01 1.77164453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:27.19, Z:1.77 [[ 7.76048598e-01 -6.30492853e-01 -1.50776685e-02 8.45557491e+01] [ 6.30387043e-01 7.76194873e-01 -1.15626835e-02 2.71860899e+01] [ 1.89933983e-02 -5.31562490e-04 9.99819468e-01 1.77111839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:27.20, Z:1.77 [[ 7.76966533e-01 -6.29361424e-01 -1.50732828e-02 8.45777214e+01] [ 6.29255339e-01 7.77112572e-01 -1.15658671e-02 2.72039776e+01] [ 1.89927482e-02 -4.98652016e-04 9.99819497e-01 1.77121472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:27.22, Z:1.77 [[ 7.78138732e-01 -6.27908392e-01 -1.52041357e-02 8.46015712e+01] [ 6.27800047e-01 7.78287118e-01 -1.16731536e-02 2.72188614e+01] [ 1.91628541e-02 -4.61824163e-04 9.99816269e-01 1.77172239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:27.24, Z:1.77 [[ 7.80063541e-01 -6.25518273e-01 -1.50918118e-02 8.46240482e+01] [ 6.25411032e-01 7.80209415e-01 -1.15892081e-02 2.72356100e+01] [ 1.90240351e-02 -3.98266877e-04 9.99818947e-01 1.77171577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:27.26, Z:1.77 [[ 7.80683535e-01 -6.24735093e-01 -1.54687439e-02 8.46426105e+01] [ 6.24622235e-01 7.80836676e-01 -1.18806472e-02 2.72589204e+01] [ 1.95008198e-02 -3.87095733e-04 9.99809766e-01 1.77170185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:27.28, Z:1.77 [[ 7.81041946e-01 -6.24285875e-01 -1.55121065e-02 8.46648363e+01] [ 6.24172162e-01 7.81195883e-01 -1.19207254e-02 2.72774002e+01] [ 1.95599342e-02 -3.71638509e-04 9.99808617e-01 1.77198297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:27.29, Z:1.77 [[ 7.81668354e-01 -6.23508967e-01 -1.52037296e-02 8.46877242e+01] [ 6.23399451e-01 7.81816125e-01 -1.16906285e-02 2.72935368e+01] [ 1.91757326e-02 -3.39802336e-04 9.99816071e-01 1.77235749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:27.31, Z:1.77 [[ 7.81678721e-01 -6.23502606e-01 -1.49290750e-02 8.47093249e+01] [ 6.23396976e-01 7.81821201e-01 -1.14813035e-02 2.73108130e+01] [ 1.88304900e-02 -3.32049549e-04 9.99822635e-01 1.77275944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:27.33, Z:1.77 [[ 7.81550072e-01 -6.23658736e-01 -1.51415437e-02 8.47318755e+01] [ 6.23549960e-01 7.81696661e-01 -1.16523569e-02 2.73281697e+01] [ 1.91031883e-02 -3.34608577e-04 9.99817461e-01 1.77321103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:27.34, Z:1.77 [[ 7.81280351e-01 -6.23990022e-01 -1.54099108e-02 8.47550922e+01] [ 6.23877266e-01 7.81432233e-01 -1.18668503e-02 2.73446987e+01] [ 1.94465972e-02 -3.42556043e-04 9.99810838e-01 1.77346535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:27.36, Z:1.77 [[ 7.81003017e-01 -6.24335421e-01 -1.54780319e-02 8.47771040e+01] [ 6.24221580e-01 7.81156298e-01 -1.19271699e-02 2.73616099e+01] [ 1.95373168e-02 -3.46565840e-04 9.99809068e-01 1.77410810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:27.38, Z:1.77 [[ 7.80896826e-01 -6.24469098e-01 -1.54431872e-02 8.47986233e+01] [ 6.24355640e-01 7.81049440e-01 -1.19082477e-02 2.73775692e+01] [ 1.94982254e-02 -3.42928215e-04 9.99809833e-01 1.77450377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:27.40, Z:1.78 [[ 7.80816932e-01 -6.24569458e-01 -1.54243391e-02 8.48203175e+01] [ 6.24456216e-01 7.80969190e-01 -1.18978716e-02 2.73952408e+01] [ 1.94769808e-02 -3.41764792e-04 9.99810247e-01 1.77523386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.84, Y:27.41, Z:1.78 [[ 7.80757541e-01 -6.24640935e-01 -1.55358934e-02 8.48419507e+01] [ 6.24525911e-01 7.80912022e-01 -1.19916330e-02 2.74126374e+01] [ 1.96226308e-02 -3.40010091e-04 9.99807400e-01 1.77541575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:27.43, Z:1.78 [[ 7.80482578e-01 -6.24976022e-01 -1.58719036e-02 8.48641434e+01] [ 6.24855877e-01 7.80643869e-01 -1.22589812e-02 2.74302171e+01] [ 2.00518735e-02 -3.49730979e-04 9.99798880e-01 1.77569379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:27.45, Z:1.78 [[ 7.80008146e-01 -6.25559223e-01 -1.62157726e-02 8.48862076e+01] [ 6.25433775e-01 7.80176599e-01 -1.25326966e-02 2.74475513e+01] [ 2.04911103e-02 -3.66286432e-04 9.99789968e-01 1.77573400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:27.47, Z:1.77 [[ 7.79033081e-01 -6.26737849e-01 -1.75250836e-02 8.49077967e+01] [ 6.26591418e-01 7.79230063e-01 -1.35537650e-02 2.74668178e+01] [ 2.21507295e-02 -4.22235644e-04 9.99754553e-01 1.77472937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:27.48, Z:1.77 [[ 7.78375748e-01 -6.27541815e-01 -1.79573215e-02 8.49298104e+01] [ 6.27388109e-01 7.78582730e-01 -1.38957599e-02 2.74833384e+01] [ 2.27014308e-02 -4.50087495e-04 9.99742188e-01 1.77445292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:27.50, Z:1.77 [[ 7.76948244e-01 -6.29273871e-01 -1.91264817e-02 8.49523224e+01] [ 6.29099921e-01 7.77183450e-01 -1.48045410e-02 2.75015073e+01] [ 2.41808958e-02 -5.30106000e-04 9.99707459e-01 1.77420159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:27.52, Z:1.77 [[ 7.76010838e-01 -6.30426112e-01 -1.92378780e-02 8.49757482e+01] [ 6.30250272e-01 7.76249058e-01 -1.48994450e-02 2.75190215e+01] [ 2.43263839e-02 -5.62547037e-04 9.99703911e-01 1.77466498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:27.54, Z:1.77 [[ 7.75141241e-01 -6.31493129e-01 -1.92998519e-02 8.49988137e+01] [ 6.31316273e-01 7.75381247e-01 -1.49561095e-02 2.75366418e+01] [ 2.44094236e-02 -5.91213329e-04 9.99701871e-01 1.77492446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:27.55, Z:1.77 [[ 7.73555803e-01 -6.33439732e-01 -1.91187253e-02 8.50240869e+01] [ 6.33266588e-01 7.73791765e-01 -1.48233852e-02 2.75498909e+01] [ 2.41836333e-02 -6.40534294e-04 9.99707328e-01 1.77468384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:27.57, Z:1.78 [[ 7.72800532e-01 -6.34363987e-01 -1.90176206e-02 8.50445801e+01] [ 6.34192857e-01 7.73034212e-01 -1.47487924e-02 2.75710096e+01] [ 2.40573741e-02 -6.62964521e-04 9.99710360e-01 1.77597259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:27.59, Z:1.78 [[ 7.72223149e-01 -6.35067943e-01 -1.89767110e-02 8.50672953e+01] [ 6.34897563e-01 7.72455986e-01 -1.47253224e-02 2.75892501e+01] [ 2.40102542e-02 -6.77032725e-04 9.99711483e-01 1.77666065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:27.61, Z:1.78 [[ 7.71876269e-01 -6.35517658e-01 -1.80092224e-02 8.50881599e+01] [ 6.35364169e-01 7.72086059e-01 -1.39817519e-02 2.76071203e+01] [ 2.27903198e-02 -6.50232164e-04 9.99740055e-01 1.77785186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:27.63, Z:1.78 [[ 7.72022973e-01 -6.35358207e-01 -1.73342967e-02 8.51103948e+01] [ 6.35215859e-01 7.72217306e-01 -1.34627231e-02 2.76262545e+01] [ 2.19394955e-02 -6.17488675e-04 9.99759110e-01 1.77935366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:27.64, Z:1.78 [[ 7.72084966e-01 -6.35294989e-01 -1.68843490e-02 8.51321345e+01] [ 6.35159768e-01 7.72269333e-01 -1.31204317e-02 2.76447447e+01] [ 2.13746095e-02 -5.94171169e-04 9.99771360e-01 1.78072837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:27.66, Z:1.78 [[ 7.73380672e-01 -6.33741704e-01 -1.59307503e-02 8.51524571e+01] [ 6.33620846e-01 7.73544562e-01 -1.23868665e-02 2.76641708e+01] [ 2.01732191e-02 -5.14292335e-04 9.99796368e-01 1.78263686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:27.69, Z:1.78 [[ 7.73821112e-01 -6.33209465e-01 -1.57053893e-02 8.51723767e+01] [ 6.33091850e-01 7.73980317e-01 -1.22138704e-02 2.76851369e+01] [ 1.98896005e-02 -4.91603180e-04 9.99802061e-01 1.78347940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:27.70, Z:1.78 [[ 7.74613235e-01 -6.32241950e-01 -1.56350004e-02 8.51943796e+01] [ 6.32125050e-01 7.74770873e-01 -1.21661783e-02 2.77026790e+01] [ 1.98055112e-02 -4.59192695e-04 9.99803746e-01 1.78416203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:27.72, Z:1.79 [[ 7.75589400e-01 -6.31048763e-01 -1.54448119e-02 8.52151631e+01] [ 6.30934382e-01 7.75743052e-01 -1.20218096e-02 2.77211569e+01] [ 1.95675536e-02 -4.20674804e-04 9.99808449e-01 1.78515624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:27.75, Z:1.79 [[ 7.77267206e-01 -6.28984695e-01 -1.52952247e-02 8.52326586e+01] [ 6.28872080e-01 7.77417598e-01 -1.19073933e-02 2.77452800e+01] [ 1.93803450e-02 -3.63513396e-04 9.99812117e-01 1.78581939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:27.76, Z:1.79 [[ 7.77882515e-01 -6.28221139e-01 -1.53945993e-02 8.52541856e+01] [ 6.28106771e-01 7.78034757e-01 -1.19917083e-02 2.77648513e+01] [ 1.95109780e-02 -3.41311887e-04 9.99809584e-01 1.78681690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:27.78, Z:1.79 [[ 7.78223183e-01 -6.27807019e-01 -1.50673069e-02 8.52754357e+01] [ 6.27697259e-01 7.78368965e-01 -1.17433143e-02 2.77845973e+01] [ 1.91004592e-02 -3.18787816e-04 9.99817519e-01 1.78752708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:27.80, Z:1.79 [[ 7.78570110e-01 -6.27388222e-01 -1.45809184e-02 8.52956763e+01] [ 6.27285238e-01 7.78706577e-01 -1.13708840e-02 2.78030681e+01] [ 1.84882157e-02 -2.93364475e-04 9.99829035e-01 1.78866900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.32, Y:27.82, Z:1.79 [[ 7.78190194e-01 -6.27871629e-01 -1.40442030e-02 8.53168480e+01] [ 6.27776127e-01 7.78316859e-01 -1.09545459e-02 2.78211621e+01] [ 1.78088885e-02 -2.91895165e-04 9.99841367e-01 1.78949118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:27.84, Z:1.79 [[ 7.76765429e-01 -6.29642578e-01 -1.36269121e-02 8.53391348e+01] [ 6.29552810e-01 7.76884885e-01 -1.06365491e-02 2.78372160e+01] [ 1.72837662e-02 -3.16757193e-04 9.99850574e-01 1.79032008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:27.85, Z:1.79 [[ 7.75818318e-01 -6.30809596e-01 -1.36085100e-02 8.53626195e+01] [ 6.30720224e-01 7.75937586e-01 -1.06236224e-02 2.78545800e+01] [ 1.72608374e-02 -3.41161593e-04 9.99850962e-01 1.79087172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:27.87, Z:1.79 [[ 7.74575066e-01 -6.32333336e-01 -1.37120447e-02 8.53851643e+01] [ 6.32242734e-01 7.74696336e-01 -1.07103623e-02 2.78724241e+01] [ 1.73951899e-02 -3.73361058e-04 9.99848623e-01 1.79083731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:27.89, Z:1.79 [[ 7.72261145e-01 -6.35151136e-01 -1.39913661e-02 8.54084034e+01] [ 6.35057146e-01 7.72387753e-01 -1.09352536e-02 2.78871281e+01] [ 1.77522986e-02 -4.40445542e-04 9.99842319e-01 1.79079535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:27.90, Z:1.79 [[ 7.71108303e-01 -6.36553928e-01 -1.38232448e-02 8.54314214e+01] [ 6.36462349e-01 7.71232054e-01 -1.08072614e-02 2.79042568e+01] [ 1.75403342e-02 -4.64405807e-04 9.99846049e-01 1.79103530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:27.92, Z:1.79 [[ 7.69935984e-01 -6.37970272e-01 -1.38749222e-02 8.54544988e+01] [ 6.37878120e-01 7.70060835e-01 -1.08542371e-02 2.79207220e+01] [ 1.76092148e-02 -4.93441519e-04 9.99844824e-01 1.79125912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:27.94, Z:1.79 [[ 7.68803437e-01 -6.39338870e-01 -1.36778534e-02 8.54774208e+01] [ 6.39249489e-01 7.68924927e-01 -1.07027105e-02 2.79382444e+01] [ 1.73599013e-02 -5.15280204e-04 9.99849173e-01 1.79153389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:27.95, Z:1.79 [[ 7.66856713e-01 -6.41667772e-01 -1.39014856e-02 8.55014910e+01] [ 6.41575713e-01 7.66982492e-01 -1.08839963e-02 2.79549947e+01] [ 1.76461057e-02 -5.72389846e-04 9.99844132e-01 1.79127274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:27.97, Z:1.79 [[ 7.66105060e-01 -6.42566467e-01 -1.38337474e-02 8.55242786e+01] [ 6.42475343e-01 7.66229726e-01 -1.08369771e-02 2.79728520e+01] [ 1.75633065e-02 -5.85578659e-04 9.99845582e-01 1.79164889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:27.99, Z:1.79 [[ 7.65546948e-01 -6.43224304e-01 -1.41549983e-02 8.55487705e+01] [ 6.43128886e-01 7.65677558e-01 -1.10956055e-02 2.79868879e+01] [ 1.79751276e-02 -6.09281355e-04 9.99838249e-01 1.79223189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:28.01, Z:1.79 [[ 7.64685074e-01 -6.44244761e-01 -1.43327041e-02 8.55701691e+01] [ 6.44147078e-01 7.64819115e-01 -1.12366862e-02 2.80067652e+01] [ 1.82011023e-02 -6.39843279e-04 9.99834141e-01 1.79190579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:28.02, Z:1.79 [[ 7.64388464e-01 -6.44585063e-01 -1.48449749e-02 8.55922257e+01] [ 6.44480210e-01 7.64532310e-01 -1.16449744e-02 2.80238061e+01] [ 1.88556395e-02 -6.66008516e-04 9.99821995e-01 1.79224496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:28.04, Z:1.79 [[ 7.64099867e-01 -6.44921440e-01 -1.50906957e-02 8.56146484e+01] [ 6.44813002e-01 7.64248568e-01 -1.18456075e-02 2.80400954e+01] [ 1.91725288e-02 -6.79449723e-04 9.99815959e-01 1.79251691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:28.06, Z:1.79 [[ 7.63984101e-01 -6.45052482e-01 -1.53488705e-02 8.56358451e+01] [ 6.44940263e-01 7.64137956e-01 -1.20515692e-02 2.80581961e+01] [ 1.95025492e-02 -6.91897340e-04 9.99809568e-01 1.79246506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:28.08, Z:1.79 [[ 7.63740867e-01 -6.45344448e-01 -1.51799321e-02 8.56578919e+01] [ 6.45234603e-01 7.63891401e-01 -1.19262485e-02 2.80751410e+01] [ 1.92923578e-02 -6.86054041e-04 9.99813650e-01 1.79319470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:28.09, Z:1.79 [[ 7.63398513e-01 -6.45749689e-01 -1.51673803e-02 8.56806343e+01] [ 6.45639962e-01 7.63548861e-01 -1.19237831e-02 2.80925147e+01] [ 1.92808151e-02 -6.90068538e-04 9.99813870e-01 1.79380859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:28.11, Z:1.80 [[ 7.63377287e-01 -6.45782715e-01 -1.48257458e-02 8.57025090e+01] [ 6.45677763e-01 7.63520947e-01 -1.16615038e-02 2.81087111e+01] [ 1.88505650e-02 -6.70527260e-04 9.99822087e-01 1.79514423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:28.13, Z:1.80 [[ 7.63186482e-01 -6.46008238e-01 -1.48240004e-02 8.57240704e+01] [ 6.45903285e-01 7.63330141e-01 -1.16637220e-02 2.81259115e+01] [ 1.88504668e-02 -6.73275622e-04 9.99822087e-01 1.79570676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:28.14, Z:1.80 [[ 7.63089238e-01 -6.46131645e-01 -1.44468725e-02 8.57458973e+01] [ 6.46031864e-01 7.63225700e-01 -1.13737141e-02 2.81440963e+01] [ 1.83751409e-02 -6.53981144e-04 9.99830949e-01 1.79676968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:28.16, Z:1.80 [[ 7.63116340e-01 -6.46104792e-01 -1.42144089e-02 8.57675300e+01] [ 6.46008071e-01 7.63248447e-01 -1.11973734e-02 2.81615453e+01] [ 1.80838021e-02 -6.37724206e-04 9.99836271e-01 1.79792364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:28.18, Z:1.80 [[ 7.63623314e-01 -6.45506236e-01 -1.41821405e-02 8.57895073e+01] [ 6.45409728e-01 7.63754750e-01 -1.11787411e-02 2.81806456e+01] [ 1.80476243e-02 -6.16944122e-04 9.99836938e-01 1.79869110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:28.20, Z:1.80 [[ 7.64146034e-01 -6.44880985e-01 -1.44690617e-02 8.58111414e+01] [ 6.44780301e-01 7.64282764e-01 -1.14113807e-02 2.81987456e+01] [ 1.84174369e-02 -6.09404655e-04 9.99830199e-01 1.79917931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:28.22, Z:1.80 [[ 7.64702047e-01 -6.44216364e-01 -1.46988248e-02 8.58304969e+01] [ 6.44112296e-01 7.64843065e-01 -1.15946272e-02 2.82216143e+01] [ 1.87117428e-02 -6.01258585e-04 9.99824739e-01 1.79943535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:28.24, Z:1.80 [[ 7.65982986e-01 -6.42683965e-01 -1.50793241e-02 8.58520522e+01] [ 6.42574070e-01 7.66131183e-01 -1.18984990e-02 2.82416613e+01] [ 1.91997149e-02 -5.75534847e-04 9.99815503e-01 1.80032322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:28.26, Z:1.80 [[ 7.66623449e-01 -6.41921096e-01 -1.50264692e-02 8.58735550e+01] [ 6.41811702e-01 7.66770503e-01 -1.18631457e-02 2.82593967e+01] [ 1.91370568e-02 -5.49598109e-04 9.99816719e-01 1.80124199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:28.28, Z:1.80 [[ 7.67127813e-01 -6.41319705e-01 -1.49650845e-02 8.58949950e+01] [ 6.41211051e-01 7.67273585e-01 -1.18167047e-02 2.82785187e+01] [ 1.90605996e-02 -5.30854730e-04 9.99818189e-01 1.80186844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:28.30, Z:1.80 [[ 7.68443101e-01 -6.39729928e-01 -1.55183544e-02 8.59151890e+01] [ 6.39612626e-01 7.68599613e-01 -1.22606652e-02 2.82977003e+01] [ 1.97709157e-02 -5.04111880e-04 9.99804409e-01 1.80208685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:28.32, Z:1.80 [[ 7.68974906e-01 -6.39091064e-01 -1.54985809e-02 8.59367223e+01] [ 6.38973861e-01 7.69130923e-01 -1.22485707e-02 2.83154567e+01] [ 1.97483899e-02 -4.84344605e-04 9.99804864e-01 1.80250315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:28.34, Z:1.80 [[ 7.69952793e-01 -6.37902233e-01 -1.59197481e-02 8.59565719e+01] [ 6.37778269e-01 7.70117216e-01 -1.25838752e-02 2.83369754e+01] [ 2.02873542e-02 -4.64279527e-04 9.99794083e-01 1.80254222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:28.35, Z:1.80 [[ 7.70066872e-01 -6.37763949e-01 -1.59423423e-02 8.59787077e+01] [ 6.37639460e-01 7.70231743e-01 -1.26087865e-02 2.83529565e+01] [ 2.03207275e-02 -4.55857724e-04 9.99793409e-01 1.80298277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:28.37, Z:1.80 [[ 7.69945439e-01 -6.37909289e-01 -1.59925213e-02 8.60004701e+01] [ 6.37783960e-01 7.70111375e-01 -1.26526776e-02 2.83709418e+01] [ 2.03872831e-02 -4.57902172e-04 9.99792053e-01 1.80370394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:28.39, Z:1.80 [[ 7.69681465e-01 -6.38231050e-01 -1.58609244e-02 8.60209067e+01] [ 6.38107692e-01 7.69844736e-01 -1.25561100e-02 2.83900337e+01] [ 2.02241484e-02 -4.56772694e-04 9.99795367e-01 1.80444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:28.40, Z:1.81 [[ 7.68541479e-01 -6.39617053e-01 -1.52976988e-02 8.60453261e+01] [ 6.39502424e-01 7.68693570e-01 -1.21179809e-02 2.84038616e+01] [ 1.95101100e-02 -4.69744443e-04 9.99809549e-01 1.80550644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:28.42, Z:1.81 [[ 7.67519908e-01 -6.40843325e-01 -1.52651145e-02 8.60675955e+01] [ 6.40729383e-01 7.67671534e-01 -1.20943651e-02 2.84222363e+01] [ 1.94691870e-02 -4.98141377e-04 9.99810333e-01 1.80616424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:28.44, Z:1.81 [[ 7.66462190e-01 -6.42109215e-01 -1.52140679e-02 8.60899684e+01] [ 6.41996158e-01 7.66612994e-01 -1.20603230e-02 2.84403703e+01] [ 1.94073466e-02 -5.23591565e-04 9.99811523e-01 1.80688991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:28.46, Z:1.81 [[ 7.65567087e-01 -6.43179595e-01 -1.50679998e-02 8.61132443e+01] [ 6.43068776e-01 7.65715167e-01 -1.19512715e-02 2.84554724e+01] [ 1.92246099e-02 -5.40260047e-04 9.99815044e-01 1.80746226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:28.47, Z:1.81 [[ 7.63671402e-01 -6.45433326e-01 -1.48933612e-02 8.61354598e+01] [ 6.45325451e-01 7.63816389e-01 -1.18146877e-02 2.84743802e+01] [ 1.90013866e-02 -5.88525874e-04 9.99819284e-01 1.80750064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:28.49, Z:1.81 [[ 7.62663010e-01 -6.46630643e-01 -1.46268609e-02 8.61604009e+01] [ 6.46526686e-01 7.62803021e-01 -1.16100972e-02 2.84882343e+01] [ 1.86648583e-02 -6.02064212e-04 9.99825615e-01 1.80796120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:28.50, Z:1.81 [[ 7.61431174e-01 -6.48069289e-01 -1.51249437e-02 8.61841516e+01] [ 6.47958371e-01 7.61581095e-01 -1.20077142e-02 2.85044736e+01] [ 1.93007020e-02 -6.57285948e-04 9.99813508e-01 1.80776355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:28.53, Z:1.81 [[ 7.60732029e-01 -6.48879559e-01 -1.55595080e-02 8.62037984e+01] [ 6.48762207e-01 7.60890819e-01 -1.23596262e-02 2.85259697e+01] [ 1.98589956e-02 -6.92057220e-04 9.99802551e-01 1.80740549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:28.54, Z:1.81 [[ 7.60177609e-01 -6.49514956e-01 -1.61345820e-02 8.62267281e+01] [ 6.49388748e-01 7.60348466e-01 -1.28243446e-02 2.85437776e+01] [ 2.05975083e-02 -7.28836370e-04 9.99787583e-01 1.80737357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:28.56, Z:1.81 [[ 7.59943889e-01 -6.49790650e-01 -1.60436163e-02 8.62488331e+01] [ 6.49665780e-01 7.60112875e-01 -1.27589661e-02 2.85603315e+01] [ 2.04856161e-02 -7.26890197e-04 9.99789884e-01 1.80733924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:28.58, Z:1.81 [[ 7.59965505e-01 -6.49744644e-01 -1.68620526e-02 8.62703994e+01] [ 6.49606597e-01 7.60152170e-01 -1.34144397e-02 2.85772314e+01] [ 2.15336862e-02 -7.59189156e-04 9.99767835e-01 1.80665472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:28.59, Z:1.81 [[ 7.59958332e-01 -6.49755600e-01 -1.67628823e-02 8.62921424e+01] [ 6.49619081e-01 7.60142813e-01 -1.33399090e-02 2.85935004e+01] [ 2.14098651e-02 -7.51713250e-04 9.99770500e-01 1.80682061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:28.61, Z:1.81 [[ 7.60093023e-01 -6.49601054e-01 -1.66453425e-02 8.63138808e+01] [ 6.49466289e-01 7.60274902e-01 -1.32518783e-02 2.86125854e+01] [ 2.12634702e-02 -7.37928577e-04 9.99773635e-01 1.80754899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:28.63, Z:1.81 [[ 7.60957860e-01 -6.48594051e-01 -1.63979331e-02 8.63359543e+01] [ 6.48462886e-01 7.61134203e-01 -1.30617887e-02 2.86321302e+01] [ 2.09528262e-02 -6.93980233e-04 9.99780225e-01 1.80848262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:28.65, Z:1.81 [[ 7.61273731e-01 -6.48233082e-01 -1.60055579e-02 8.63583585e+01] [ 6.48107912e-01 7.61441680e-01 -1.27554645e-02 2.86501495e+01] [ 2.04558130e-02 -6.62928649e-04 9.99790538e-01 1.80933541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:28.67, Z:1.81 [[ 7.62184667e-01 -6.47182171e-01 -1.51581697e-02 8.63803457e+01] [ 6.47069580e-01 7.62335150e-01 -1.20862404e-02 2.86679694e+01] [ 1.93776049e-02 -5.96443317e-04 9.99812059e-01 1.81092929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:28.69, Z:1.81 [[ 7.62618247e-01 -6.46676447e-01 -1.49325673e-02 8.64028072e+01] [ 6.46566967e-01 7.62764215e-01 -1.19125718e-02 2.86860567e+01] [ 1.90936076e-02 -5.70160149e-04 9.99817538e-01 1.81210369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:28.70, Z:1.81 [[ 7.62948988e-01 -6.46289796e-01 -1.47763761e-02 8.64257600e+01] [ 6.46182402e-01 7.63091867e-01 -1.17942944e-02 2.87034298e+01] [ 1.88982646e-02 -5.49789252e-04 9.99821261e-01 1.81324672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:28.72, Z:1.81 [[ 7.63463390e-01 -6.45688499e-01 -1.44918433e-02 8.64461542e+01] [ 6.45585038e-01 7.63600739e-01 -1.15702315e-02 2.87247544e+01] [ 1.85367477e-02 -5.22269097e-04 9.99828043e-01 1.81445544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:28.74, Z:1.82 [[ 7.63650254e-01 -6.45469274e-01 -1.44119904e-02 8.64688008e+01] [ 6.45366790e-01 7.63786067e-01 -1.15130278e-02 2.87433754e+01] [ 1.84389831e-02 -5.09093385e-04 9.99829858e-01 1.81527639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:28.76, Z:1.82 [[ 7.63622291e-01 -6.45504158e-01 -1.43310542e-02 8.64905824e+01] [ 6.45402709e-01 7.63756591e-01 -1.14547998e-02 2.87607277e+01] [ 1.83395580e-02 -5.02160694e-04 9.99831690e-01 1.81557764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:28.78, Z:1.82 [[ 7.63688405e-01 -6.45415608e-01 -1.47889586e-02 8.65119954e+01] [ 6.45307402e-01 7.63831416e-01 -1.18289486e-02 2.87772229e+01] [ 1.89308592e-02 -5.09793516e-04 9.99820665e-01 1.81601943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:28.79, Z:1.82 [[ 7.64166385e-01 -6.44845739e-01 -1.49569061e-02 8.65341118e+01] [ 6.44734873e-01 7.64312583e-01 -1.19674035e-02 2.87944803e+01] [ 1.91488807e-02 -4.98151501e-04 9.99816519e-01 1.81582497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:28.81, Z:1.82 [[ 7.64159004e-01 -6.44847655e-01 -1.52485465e-02 8.65548055e+01] [ 6.44732381e-01 7.64310961e-01 -1.22029503e-02 2.88129727e+01] [ 1.95236751e-02 -5.06237321e-04 9.99809267e-01 1.81584525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:28.83, Z:1.82 [[ 7.64290542e-01 -6.44685201e-01 -1.55228568e-02 8.65781666e+01] [ 6.44565543e-01 7.64447995e-01 -1.24307626e-02 2.88290709e+01] [ 1.98803455e-02 -5.04784311e-04 9.99802239e-01 1.81609492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:28.85, Z:1.82 [[ 7.64417408e-01 -6.44513836e-01 -1.63688896e-02 8.66010368e+01] [ 6.44380641e-01 7.64592467e-01 -1.31129448e-02 2.88457244e+01] [ 2.09670040e-02 -5.24032260e-04 9.99780031e-01 1.81581956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:28.86, Z:1.82 [[ 7.64347158e-01 -6.44594263e-01 -1.64820590e-02 8.66233998e+01] [ 6.44459145e-01 7.64524662e-01 -1.32080234e-02 2.88631487e+01] [ 2.11147567e-02 -5.26498481e-04 9.99776920e-01 1.81641049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:28.88, Z:1.82 [[ 7.64138736e-01 -6.44831143e-01 -1.68756826e-02 8.66446823e+01] [ 6.44689373e-01 7.64324869e-01 -1.35316618e-02 2.88791743e+01] [ 2.16241408e-02 -5.39506291e-04 9.99766025e-01 1.81649490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:28.90, Z:1.82 [[ 7.63309879e-01 -6.45801498e-01 -1.72758415e-02 8.66678026e+01] [ 6.45653059e-01 7.63505136e-01 -1.38576240e-02 2.88965422e+01] [ 2.21394681e-02 -5.76538591e-04 9.99754726e-01 1.81625858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:28.91, Z:1.82 [[ 7.62733234e-01 -6.46479875e-01 -1.73719613e-02 8.66917217e+01] [ 6.46329796e-01 7.62930809e-01 -1.39418741e-02 2.89108968e+01] [ 2.22667455e-02 -5.94085477e-04 9.99751889e-01 1.81655194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:28.93, Z:1.82 [[ 7.61811333e-01 -6.47565298e-01 -1.73976633e-02 8.67144296e+01] [ 6.47414989e-01 7.62009708e-01 -1.39655664e-02 2.89288595e+01] [ 2.23008045e-02 -6.24381258e-04 9.99751111e-01 1.81732280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:28.94, Z:1.82 [[ 7.60490254e-01 -6.49116485e-01 -1.73885827e-02 8.67385892e+01] [ 6.48966578e-01 7.60688733e-01 -1.39653980e-02 2.89430837e+01] [ 2.22924690e-02 -6.64059970e-04 9.99751271e-01 1.81836175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:28.96, Z:1.82 [[ 7.59721847e-01 -6.50021549e-01 -1.71668786e-02 8.67621014e+01] [ 6.49875581e-01 7.59915473e-01 -1.37914243e-02 2.89597468e+01] [ 2.20100997e-02 -6.78688850e-04 9.99757518e-01 1.81928247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:28.98, Z:1.82 [[ 7.58508798e-01 -6.51424237e-01 -1.76314221e-02 8.67827645e+01] [ 6.51270466e-01 7.58713336e-01 -1.41722656e-02 2.89800639e+01] [ 2.26093524e-02 -7.33036333e-04 9.99744107e-01 1.81970556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:28.99, Z:1.82 [[ 7.58079664e-01 -6.51917092e-01 -1.78697850e-02 8.68075353e+01] [ 6.51759082e-01 7.58289879e-01 -1.43721544e-02 2.89937045e+01] [ 2.29199302e-02 -7.51556670e-04 9.99737021e-01 1.81983308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:29.01, Z:1.82 [[ 7.57766243e-01 -6.52271319e-01 -1.82331397e-02 8.68312570e+01] [ 6.52106734e-01 7.57985179e-01 -1.46723013e-02 2.90084374e+01] [ 2.33907709e-02 -7.71778518e-04 9.99726101e-01 1.81998987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:29.03, Z:1.82 [[ 7.57532044e-01 -6.52538723e-01 -1.83961269e-02 8.68529232e+01] [ 6.52371149e-01 7.57754975e-01 -1.48082003e-02 2.90267792e+01] [ 2.36026808e-02 -7.83416167e-04 9.99721111e-01 1.82072292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:29.04, Z:1.82 [[ 7.57908958e-01 -6.52100563e-01 -1.84083425e-02 8.68760632e+01] [ 6.51932432e-01 7.58132094e-01 -1.48267194e-02 2.90432429e+01] [ 2.36244673e-02 -7.63692040e-04 9.99720612e-01 1.82158463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:29.06, Z:1.82 [[ 7.58503417e-01 -6.51400044e-01 -1.87229636e-02 8.68979659e+01] [ 6.51225720e-01 7.58734092e-01 -1.50877047e-02 2.90593135e+01] [ 2.40338823e-02 -7.48799866e-04 9.99710864e-01 1.82169759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:29.08, Z:1.82 [[ 7.59228427e-01 -6.50558571e-01 -1.85941557e-02 8.69158396e+01] [ 6.50386243e-01 7.59455751e-01 -1.49898864e-02 2.90827225e+01] [ 2.38732376e-02 -7.12635164e-04 9.99714740e-01 1.82303995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:29.10, Z:1.82 [[ 7.61317967e-01 -6.48083991e-01 -1.95472190e-02 8.69367927e+01] [ 6.47892522e-01 7.61568581e-01 -1.57663082e-02 2.91009546e+01] [ 2.51044398e-02 -6.61323351e-04 9.99684615e-01 1.82296541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:29.12, Z:1.82 [[ 7.62251900e-01 -6.46988892e-01 -1.94271624e-02 8.69585078e+01] [ 6.46799311e-01 7.62499175e-01 -1.56735636e-02 2.91198450e+01] [ 2.49538168e-02 -6.18271582e-04 9.99688414e-01 1.82334162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:29.14, Z:1.82 [[ 7.63446172e-01 -6.45577155e-01 -1.94956304e-02 8.69797727e+01] [ 6.45385581e-01 7.63694844e-01 -1.57364823e-02 2.91376331e+01] [ 2.50478258e-02 -5.68241603e-04 9.99686092e-01 1.82367378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:29.16, Z:1.82 [[ 7.65428254e-01 -6.43230815e-01 -1.93314980e-02 8.70018320e+01] [ 6.43041606e-01 7.65672178e-01 -1.56079878e-02 2.91562083e+01] [ 2.48411289e-02 -4.84162640e-04 9.99691294e-01 1.82447544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.02, Y:29.17, Z:1.82 [[ 7.66072253e-01 -6.42458875e-01 -1.94909536e-02 8.70239852e+01] [ 6.42266065e-01 7.66320029e-01 -1.57453208e-02 2.91745099e+01] [ 2.50520292e-02 -4.56324664e-04 9.99686045e-01 1.82488419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:29.19, Z:1.83 [[ 7.66814787e-01 -6.41565227e-01 -1.97266781e-02 8.70456423e+01] [ 6.41367226e-01 7.67068366e-01 -1.59437831e-02 2.91918373e+01] [ 2.53606876e-02 -4.26116179e-04 9.99678275e-01 1.82585539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:29.21, Z:1.83 [[ 7.68086151e-01 -6.40071045e-01 -1.87808869e-02 8.70675458e+01] [ 6.39891025e-01 7.68315646e-01 -1.51837175e-02 2.92090412e+01] [ 2.41483071e-02 -3.55317807e-04 9.99708324e-01 1.82753894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:29.23, Z:1.83 [[ 7.68238425e-01 -6.39883223e-01 -1.89521189e-02 8.70890447e+01] [ 6.39699751e-01 7.68472081e-01 -1.53261319e-02 2.92266781e+01] [ 2.43711089e-02 -3.49542303e-04 9.99702919e-01 1.82837584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:29.24, Z:1.83 [[ 7.68047645e-01 -6.40112338e-01 -1.89475464e-02 8.71103612e+01] [ 6.39928796e-01 7.68281246e-01 -1.53317830e-02 2.92441588e+01] [ 2.43711080e-02 -3.49540701e-04 9.99702919e-01 1.82893726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.13, Y:29.26, Z:1.83 [[ 7.68023563e-01 -6.40153343e-01 -1.85338443e-02 8.71328746e+01] [ 6.39977528e-01 7.68247085e-01 -1.50059957e-02 2.92616023e+01] [ 2.38447102e-02 -3.36285521e-04 9.99715618e-01 1.83011569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:29.28, Z:1.83 [[ 7.67609815e-01 -6.40644323e-01 -1.87088980e-02 8.71560170e+01] [ 6.40465094e-01 7.67837698e-01 -1.51569623e-02 2.92776987e+01] [ 2.40756190e-02 -3.47763079e-04 9.99710080e-01 1.83055547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:29.29, Z:1.83 [[ 7.67211064e-01 -6.41115228e-01 -1.89327387e-02 8.71781312e+01] [ 6.40931615e-01 7.67444548e-01 -1.53469790e-02 2.92930799e+01] [ 2.43690090e-02 -3.60218768e-04 9.99702967e-01 1.83096453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:29.31, Z:1.83 [[ 7.66685413e-01 -6.41736752e-01 -1.91681539e-02 8.72019663e+01] [ 6.41548593e-01 7.66924896e-01 -1.55436865e-02 2.93101001e+01] [ 2.46754893e-02 -3.80184507e-04 9.99695441e-01 1.83151939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:29.33, Z:1.83 [[ 7.66213187e-01 -6.42292214e-01 -1.94438433e-02 8.72257384e+01] [ 6.42098576e-01 7.66459753e-01 -1.57754441e-02 2.93274039e+01] [ 2.50353682e-02 -3.97510814e-04 9.99686487e-01 1.83179151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:29.35, Z:1.83 [[ 7.64860379e-01 -6.43887520e-01 -1.99364510e-02 8.72485426e+01] [ 6.43684262e-01 7.65120027e-01 -1.61837892e-02 2.93455078e+01] [ 2.56743179e-02 -4.54440635e-04 9.99670257e-01 1.83263639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:29.36, Z:1.83 [[ 7.63985224e-01 -6.44910025e-01 -2.04361649e-02 8.72718252e+01] [ 6.44696562e-01 7.64258343e-01 -1.65990363e-02 2.93623853e+01] [ 2.63233945e-02 -4.93706776e-04 9.99653357e-01 1.83275101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:29.38, Z:1.83 [[ 7.63056192e-01 -6.45990436e-01 -2.10144089e-02 8.72950235e+01] [ 6.45764901e-01 7.63345312e-01 -1.70770808e-02 2.93788717e+01] [ 2.70728814e-02 -5.39595451e-04 9.99633317e-01 1.83297659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:29.39, Z:1.83 [[ 7.61095879e-01 -6.48281304e-01 -2.15502801e-02 8.73203585e+01] [ 6.48044933e-01 7.61400650e-01 -1.75161712e-02 2.93925032e+01] [ 2.77638036e-02 -6.34064091e-04 9.99614310e-01 1.83258966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:29.41, Z:1.83 [[ 7.59862358e-01 -6.49721121e-01 -2.17177581e-02 8.73442292e+01] [ 6.49481500e-01 7.60172343e-01 -1.76575833e-02 2.94084840e+01] [ 2.79817439e-02 -6.87949208e-04 9.99608198e-01 1.83272724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:29.42, Z:1.83 [[ 7.57629272e-01 -6.52320189e-01 -2.18232963e-02 8.73695825e+01] [ 6.52079025e-01 7.57943113e-01 -1.77533761e-02 2.94236556e+01] [ 2.81217028e-02 -7.80036341e-04 9.99604202e-01 1.83357014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:29.44, Z:1.83 [[ 7.57012628e-01 -6.53042840e-01 -2.16085707e-02 8.73925676e+01] [ 6.52806466e-01 7.57320554e-01 -1.75868397e-02 2.94391635e+01] [ 2.78495745e-02 -7.92754882e-04 9.99611811e-01 1.83444842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:29.46, Z:1.84 [[ 7.56686204e-01 -6.53432629e-01 -2.12552957e-02 8.74132953e+01] [ 6.53203928e-01 7.56984263e-01 -1.73047286e-02 2.94586800e+01] [ 2.73973987e-02 -7.89793263e-04 9.99624309e-01 1.83572686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:29.48, Z:1.84 [[ 7.56140949e-01 -6.54048430e-01 -2.17144380e-02 8.74363001e+01] [ 6.53809674e-01 7.56452230e-01 -1.76899327e-02 2.94768982e+01] [ 2.79960078e-02 -8.21027138e-04 9.99607698e-01 1.83641384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:29.49, Z:1.84 [[ 7.56184972e-01 -6.53995537e-01 -2.17744474e-02 8.74588948e+01] [ 6.53755177e-01 7.56497968e-01 -1.77480640e-02 2.94923951e+01] [ 2.80794799e-02 -8.14338448e-04 9.99605362e-01 1.83638672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:29.51, Z:1.84 [[ 7.56743818e-01 -6.53354286e-01 -2.16095145e-02 8.74804139e+01] [ 6.53117092e-01 7.57051894e-01 -1.76208309e-02 2.95112344e+01] [ 2.78721692e-02 -7.79088430e-04 9.99611192e-01 1.83742475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:29.53, Z:1.84 [[ 7.57663187e-01 -6.52281903e-01 -2.17902321e-02 8.75011203e+01] [ 6.52039999e-01 7.57976104e-01 -1.77782160e-02 2.95317086e+01] [ 2.81128838e-02 -7.38203079e-04 9.99604482e-01 1.83834201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:29.55, Z:1.84 [[ 7.59376875e-01 -6.50276778e-01 -2.20652095e-02 8.75225713e+01] [ 6.50027641e-01 7.59697090e-01 -1.80110403e-02 2.95499222e+01] [ 2.84750367e-02 -6.65828537e-04 9.99594282e-01 1.83812326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:29.57, Z:1.84 [[ 7.60253089e-01 -6.49256335e-01 -2.19420150e-02 8.75438707e+01] [ 6.49009397e-01 7.60569410e-01 -1.79157904e-02 2.95692002e+01] [ 2.83203658e-02 -6.20038926e-04 9.99598706e-01 1.83871366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:29.59, Z:1.84 [[ 7.61220078e-01 -6.48133927e-01 -2.15964213e-02 8.75644282e+01] [ 6.47893990e-01 7.61526163e-01 -1.76431388e-02 2.95894827e+01] [ 2.78813567e-02 -5.61880085e-04 9.99611081e-01 1.83959439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:29.61, Z:1.84 [[ 7.62764664e-01 -6.46323088e-01 -2.13666187e-02 8.75846724e+01] [ 6.46087257e-01 7.63063714e-01 -1.74649636e-02 2.96103246e+01] [ 2.75921006e-02 -4.83042999e-04 9.99619149e-01 1.84069498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:29.63, Z:1.84 [[ 7.63592766e-01 -6.45357154e-01 -2.09816733e-02 8.76064183e+01] [ 6.45129167e-01 7.63880851e-01 -1.71581766e-02 2.96280225e+01] [ 2.71006505e-02 -4.34029902e-04 9.99632616e-01 1.84142886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:29.65, Z:1.84 [[ 7.64729369e-01 -6.44017712e-01 -2.07407389e-02 8.76266427e+01] [ 6.43794311e-01 7.65010486e-01 -1.69658887e-02 2.96493939e+01] [ 2.67932155e-02 -3.78456312e-04 9.99640926e-01 1.84314722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:29.67, Z:1.84 [[ 7.65151300e-01 -6.43514377e-01 -2.08022899e-02 8.76474001e+01] [ 6.43289235e-01 7.65433943e-01 -1.70246833e-02 2.96668777e+01] [ 2.68784073e-02 -3.55430574e-04 9.99638647e-01 1.84381951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:29.68, Z:1.84 [[ 7.65266883e-01 -6.43381020e-01 -2.06751523e-02 8.76689614e+01] [ 6.43158401e-01 7.65546044e-01 -1.69270742e-02 2.96849801e+01] [ 2.67183394e-02 -3.43668577e-04 9.99642942e-01 1.84469960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:29.70, Z:1.85 [[ 7.65403794e-01 -6.43222446e-01 -2.05406391e-02 8.76903093e+01] [ 6.43002380e-01 7.65679292e-01 -1.68274106e-02 2.97034516e+01] [ 2.65513102e-02 -3.27915860e-04 9.99647398e-01 1.84528475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:29.72, Z:1.85 [[ 7.65240080e-01 -6.43411898e-01 -2.07062466e-02 8.77112441e+01] [ 6.43188050e-01 7.65520098e-01 -1.69738442e-02 2.97216864e+01] [ 2.67722212e-02 -3.28944452e-04 9.99641506e-01 1.84557510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:29.74, Z:1.85 [[ 7.64992816e-01 -6.43709708e-01 -2.05864814e-02 8.77329432e+01] [ 6.43488287e-01 7.65269693e-01 -1.68855334e-02 2.97386392e+01] [ 2.66235921e-02 -3.29847880e-04 9.99645475e-01 1.84544399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:29.76, Z:1.85 [[ 7.64533131e-01 -6.44264234e-01 -2.03147171e-02 8.77542733e+01] [ 6.44048610e-01 7.64802904e-01 -1.66705245e-02 2.97572833e+01] [ 2.62769773e-02 -3.38496971e-04 9.99654643e-01 1.84688820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:29.77, Z:1.85 [[ 7.63334083e-01 -6.45691279e-01 -2.00960075e-02 8.77775564e+01] [ 6.45480499e-01 7.63598475e-01 -1.65013408e-02 2.97746183e+01] [ 2.60000525e-02 -3.75545131e-04 9.99661871e-01 1.84769573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.80, Y:29.79, Z:1.85 [[ 7.62696684e-01 -6.46441454e-01 -2.01795447e-02 8.78004597e+01] [ 6.46228957e-01 7.62963491e-01 -1.65784564e-02 2.97911357e+01] [ 2.61132574e-02 -3.96272419e-04 9.99658912e-01 1.84733529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:29.81, Z:1.85 [[ 7.61776191e-01 -6.47521050e-01 -2.03353108e-02 8.78234295e+01] [ 6.47305489e-01 7.62047441e-01 -1.67122955e-02 2.98080725e+01] [ 2.63180347e-02 -4.32129540e-04 9.99653527e-01 1.84720115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.85, Y:29.83, Z:1.85 [[ 7.60095557e-01 -6.49477254e-01 -2.08336622e-02 8.78468645e+01] [ 6.49251469e-01 7.60380853e-01 -1.71314713e-02 2.98253034e+01] [ 2.69680188e-02 -5.04730558e-04 9.99636169e-01 1.84781602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:29.84, Z:1.85 [[ 7.59486619e-01 -6.50193156e-01 -2.07107829e-02 8.78690900e+01] [ 6.49970068e-01 7.59768774e-01 -1.70388290e-02 2.98424108e+01] [ 2.68139362e-02 -5.20626321e-04 9.99640306e-01 1.84810200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.89, Y:29.86, Z:1.85 [[ 7.58799396e-01 -6.50988983e-01 -2.09002485e-02 8.78916786e+01] [ 6.50761957e-01 7.59086979e-01 -1.71998006e-02 2.98594258e+01] [ 2.70619873e-02 -5.49888301e-04 9.99633606e-01 1.84816984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:29.88, Z:1.85 [[ 7.57478604e-01 -6.52519266e-01 -2.10896071e-02 8.79145686e+01] [ 6.52288515e-01 7.57771893e-01 -1.73623766e-02 2.98775730e+01] [ 2.73103967e-02 -6.04879647e-04 9.99626819e-01 1.84875540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:29.89, Z:1.85 [[ 7.56726980e-01 -6.53398462e-01 -2.08501367e-02 8.79375570e+01] [ 6.53173036e-01 7.57013911e-01 -1.71733322e-02 2.98936295e+01] [ 2.70048724e-02 -6.23223249e-04 9.99635108e-01 1.84846192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:29.91, Z:1.85 [[ 7.55540613e-01 -6.54762701e-01 -2.10757573e-02 8.79597541e+01] [ 6.54532760e-01 7.55834207e-01 -1.73642608e-02 2.99125547e+01] [ 2.72992486e-02 -6.75369384e-04 9.99627078e-01 1.84870753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:29.93, Z:1.85 [[ 7.55052021e-01 -6.55326648e-01 -2.10577848e-02 8.79820237e+01] [ 6.55097084e-01 7.55345292e-01 -1.73580298e-02 2.99295279e+01] [ 2.72810781e-02 -6.88677927e-04 9.99627565e-01 1.84881541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:29.95, Z:1.85 [[ 7.54527747e-01 -6.55925156e-01 -2.12148269e-02 8.80041674e+01] [ 6.55692217e-01 7.54825599e-01 -1.74937709e-02 2.99480755e+01] [ 2.74880988e-02 -7.10861366e-04 9.99621878e-01 1.84954457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:29.96, Z:1.85 [[ 7.53962549e-01 -6.56579474e-01 -2.10681933e-02 8.80271446e+01] [ 6.56349777e-01 7.54256502e-01 -1.73810159e-02 2.99643086e+01] [ 2.73028400e-02 -7.23468915e-04 9.99626946e-01 1.84977753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:29.98, Z:1.85 [[ 7.53535361e-01 -6.57062677e-01 -2.12861064e-02 8.80490405e+01] [ 6.56828252e-01 7.53835582e-01 -1.75659458e-02 2.99829616e+01] [ 2.75881518e-02 -7.44754791e-04 9.99619097e-01 1.85050805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:30.00, Z:1.85 [[ 7.53435544e-01 -6.57179698e-01 -2.12067508e-02 8.80708153e+01] [ 6.56946788e-01 7.53733573e-01 -1.75105256e-02 3.00014097e+01] [ 2.74918020e-02 -7.38654375e-04 9.99621756e-01 1.85106684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:30.02, Z:1.85 [[ 7.53626570e-01 -6.56957454e-01 -2.13048584e-02 8.80931907e+01] [ 6.56722025e-01 7.53927302e-01 -1.76012857e-02 3.00167007e+01] [ 2.76256103e-02 -7.26573148e-04 9.99618076e-01 1.85081683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:30.04, Z:1.85 [[ 7.54050897e-01 -6.56470755e-01 -2.12930293e-02 8.81136687e+01] [ 6.56235215e-01 7.54351147e-01 -1.75980017e-02 3.00367881e+01] [ 2.76149945e-02 -7.03446678e-04 9.99618386e-01 1.85140481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:30.05, Z:1.85 [[ 7.54502045e-01 -6.55950104e-01 -2.13571074e-02 8.81352244e+01] [ 6.55712716e-01 7.54803947e-01 -1.76588883e-02 3.00548254e+01] [ 2.77037785e-02 -6.80459561e-04 9.99615945e-01 1.85168550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.16, Y:30.08, Z:1.85 [[ 7.54850098e-01 -6.55549561e-01 -2.13565706e-02 8.81554482e+01] [ 6.55311883e-01 7.55151862e-01 -1.76635494e-02 3.00755450e+01] [ 2.77067862e-02 -6.61882501e-04 9.99615874e-01 1.85286510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:30.09, Z:1.85 [[ 7.55627404e-01 -6.54649924e-01 -2.14639950e-02 8.81768617e+01] [ 6.54409253e-01 7.55931932e-01 -1.77607252e-02 3.00936506e+01] [ 2.78523766e-02 -6.25746297e-04 9.99611851e-01 1.85343653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:30.11, Z:1.85 [[ 7.57127745e-01 -6.52926457e-01 -2.10859985e-02 8.81973960e+01] [ 6.52693385e-01 7.57421112e-01 -1.74529393e-02 3.01146024e+01] [ 2.73664662e-02 -5.48587124e-04 9.99625318e-01 1.85462997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:30.13, Z:1.86 [[ 7.57831603e-01 -6.52117376e-01 -2.08372035e-02 8.82188792e+01] [ 6.51889211e-01 7.58117848e-01 -1.72564327e-02 3.01342303e+01] [ 2.70502756e-02 -5.06078098e-04 9.99633946e-01 1.85550059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:30.15, Z:1.86 [[ 7.59168540e-01 -6.50571549e-01 -2.04887244e-02 8.82391948e+01] [ 6.50350182e-01 7.59444842e-01 -1.69756571e-02 3.01535872e+01] [ 2.66039356e-02 -4.37460871e-04 9.99645957e-01 1.85637118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:30.17, Z:1.86 [[ 7.59463452e-01 -6.50239220e-01 -2.01052651e-02 8.82595001e+01] [ 6.50025854e-01 7.59729416e-01 -1.66614434e-02 3.01712333e+01] [ 2.61084852e-02 -4.15184824e-04 9.99659029e-01 1.85739805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:30.19, Z:1.86 [[ 7.59775266e-01 -6.49893874e-01 -1.94807044e-02 8.82813546e+01] [ 6.49693317e-01 7.60024870e-01 -1.61490383e-02 3.01898752e+01] [ 2.53009809e-02 -3.86843603e-04 9.99679804e-01 1.85853409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:30.21, Z:1.86 [[ 7.59640980e-01 -6.50073224e-01 -1.87185480e-02 8.83015425e+01] [ 6.49887908e-01 7.59871479e-01 -1.55255403e-02 3.02094760e+01] [ 2.43164288e-02 -3.71121358e-04 9.99704243e-01 1.86016254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:30.23, Z:1.86 [[ 7.59185027e-01 -6.50612734e-01 -1.84706613e-02 8.83235728e+01] [ 6.50432232e-01 7.59409592e-01 -1.53291812e-02 3.02252178e+01] [ 2.40001579e-02 -3.76228678e-04 9.99711884e-01 1.86038138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:30.24, Z:1.86 [[ 7.58667461e-01 -6.51216509e-01 -1.84592010e-02 8.83455543e+01] [ 6.51036262e-01 7.58891894e-01 -1.53257766e-02 3.02432582e+01] [ 2.39889367e-02 -3.90441170e-04 9.99712148e-01 1.86095778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:30.26, Z:1.86 [[ 7.57366858e-01 -6.52749370e-01 -1.77116634e-02 8.83677271e+01] [ 6.52583684e-01 7.57573817e-01 -1.47121764e-02 3.02595500e+01] [ 2.30212563e-02 -4.15827784e-04 9.99734889e-01 1.86128375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:30.28, Z:1.86 [[ 7.56539287e-01 -6.53711751e-01 -1.75856357e-02 8.83889007e+01] [ 6.53548570e-01 7.56743520e-01 -1.46120373e-02 3.02788022e+01] [ 2.28598764e-02 -4.38486811e-04 9.99738583e-01 1.86222442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:30.30, Z:1.86 [[ 7.55643105e-01 -6.54746862e-01 -1.76081026e-02 8.84107227e+01] [ 6.54583359e-01 7.55848088e-01 -1.46387981e-02 3.02980571e+01] [ 2.28937577e-02 -4.64264102e-04 9.99737796e-01 1.86251903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:30.31, Z:1.86 [[ 7.53922428e-01 -6.56727400e-01 -1.76095153e-02 8.84342831e+01] [ 6.56564230e-01 7.54127876e-01 -1.46477896e-02 3.03131598e+01] [ 2.28994311e-02 -5.18480752e-04 9.99737639e-01 1.86227370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:30.33, Z:1.86 [[ 7.52768095e-01 -6.58051571e-01 -1.75592180e-02 8.84565770e+01] [ 6.57889612e-01 7.52972658e-01 -1.46094445e-02 3.03316623e+01] [ 2.28353789e-02 -5.54503354e-04 9.99739085e-01 1.86244559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:30.35, Z:1.86 [[ 7.50290691e-01 -6.60858770e-01 -1.81539176e-02 8.84791662e+01] [ 6.60686268e-01 7.50509998e-01 -1.51128514e-02 3.03494106e+01] [ 2.36121570e-02 -6.55012374e-04 9.99720980e-01 1.86234459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:30.37, Z:1.86 [[ 7.49007888e-01 -6.62314026e-01 -1.80918365e-02 8.85020058e+01] [ 6.62142941e-01 7.49226035e-01 -1.50689958e-02 3.03656292e+01] [ 2.35352822e-02 -6.92585136e-04 9.99722767e-01 1.86262684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:30.38, Z:1.86 [[ 7.48800505e-01 -6.62548533e-01 -1.80899164e-02 8.85230985e+01] [ 6.62377461e-01 7.49018661e-01 -1.50713005e-02 3.03834124e+01] [ 2.35351530e-02 -6.96955498e-04 9.99722767e-01 1.86318983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:30.40, Z:1.86 [[ 7.47500575e-01 -6.64026375e-01 -1.76596410e-02 8.85459915e+01] [ 6.63863548e-01 7.47708804e-01 -1.47218792e-02 3.04016068e+01] [ 2.29799851e-02 -7.18978744e-04 9.99735667e-01 1.86396349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:30.42, Z:1.87 [[ 7.45159367e-01 -6.66673744e-01 -1.68415247e-02 8.85691024e+01] [ 6.66526167e-01 7.45349277e-01 -1.40472297e-02 3.04170380e+01] [ 2.19177375e-02 -7.57892102e-04 9.99759490e-01 1.86502516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:30.43, Z:1.87 [[ 7.44034240e-01 -6.67938335e-01 -1.64751587e-02 8.85918725e+01] [ 6.67797319e-01 7.44216219e-01 -1.37462642e-02 3.04338812e+01] [ 2.14427371e-02 -7.74375582e-04 9.99769778e-01 1.86607492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:30.45, Z:1.87 [[ 7.43173463e-01 -6.68895870e-01 -1.64778517e-02 8.86122146e+01] [ 6.68754955e-01 7.43355687e-01 -1.37525808e-02 3.04538639e+01] [ 2.14479493e-02 -7.99091899e-04 9.99769647e-01 1.86700324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:30.47, Z:1.87 [[ 7.42375546e-01 -6.69791121e-01 -1.60748831e-02 8.86346783e+01] [ 6.69657141e-01 7.42549130e-01 -1.34202557e-02 3.04706720e+01] [ 2.09251585e-02 -8.01790603e-04 9.99780723e-01 1.86763679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:30.49, Z:1.87 [[ 7.41659250e-01 -6.70594947e-01 -1.56197086e-02 8.86572098e+01] [ 6.70468572e-01 7.41823280e-01 -1.30428135e-02 3.04892272e+01] [ 2.03335083e-02 -7.99200450e-04 9.99792933e-01 1.86844060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:30.51, Z:1.87 [[ 7.41499507e-01 -6.70775119e-01 -1.54667519e-02 8.86781052e+01] [ 6.70651102e-01 7.41660376e-01 -1.29222662e-02 3.05079514e+01] [ 2.01390117e-02 -7.90940168e-04 9.99796877e-01 1.86930727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:30.53, Z:1.87 [[ 7.41721603e-01 -6.70526581e-01 -1.55938483e-02 8.86995787e+01] [ 6.70400289e-01 7.41885092e-01 -1.30369794e-02 3.05261309e+01] [ 2.03104848e-02 -7.84311155e-04 9.99793413e-01 1.87011438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:30.55, Z:1.87 [[ 7.42427859e-01 -6.69759272e-01 -1.49462930e-02 8.87198401e+01] [ 6.69643055e-01 7.42577932e-01 -1.24977632e-02 3.05470103e+01] [ 1.94692801e-02 -7.29993771e-04 9.99810189e-01 1.87106101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:30.57, Z:1.87 [[ 7.42821012e-01 -6.69316262e-01 -1.52540392e-02 8.87409247e+01] [ 6.69194968e-01 7.42977262e-01 -1.27625339e-02 3.05661324e+01] [ 1.98755758e-02 -7.27647967e-04 9.99802196e-01 1.87195649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:30.58, Z:1.87 [[ 7.44742010e-01 -6.67191837e-01 -1.46421127e-02 8.87620070e+01] [ 6.67079536e-01 7.44885659e-01 -1.22575549e-02 3.05842920e+01] [ 1.90848403e-02 -6.38737714e-04 9.99817664e-01 1.87323773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:30.61, Z:1.87 [[ 7.45656804e-01 -6.66173922e-01 -1.44304245e-02 8.87816014e+01] [ 6.66064616e-01 7.45796181e-01 -1.20823716e-02 3.06054495e+01] [ 1.88111164e-02 -6.02292553e-04 9.99822874e-01 1.87420392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:30.63, Z:1.88 [[ 7.46746635e-01 -6.64956417e-01 -1.42276713e-02 8.88025688e+01] [ 6.64849820e-01 7.46881952e-01 -1.19191306e-02 3.06257573e+01] [ 1.85520933e-02 -5.58694085e-04 9.99827739e-01 1.87512283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:30.65, Z:1.88 [[ 7.48017463e-01 -6.63533161e-01 -1.39147481e-02 8.88218456e+01] [ 6.63430841e-01 7.48146702e-01 -1.16632384e-02 3.06475710e+01] [ 1.81492183e-02 -5.07167061e-04 9.99835161e-01 1.87600596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:30.67, Z:1.88 [[ 7.50689890e-01 -6.60519063e-01 -1.33886602e-02 8.88406631e+01] [ 6.60423747e-01 7.50809162e-01 -1.12284290e-02 3.06689896e+01] [ 1.74689202e-02 -4.13120998e-04 9.99847321e-01 1.87720235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:30.69, Z:1.88 [[ 7.51918814e-01 -6.59118885e-01 -1.34310103e-02 8.88610115e+01] [ 6.59022630e-01 7.52038665e-01 -1.12703500e-02 3.06897552e+01] [ 1.75291396e-02 -3.76951483e-04 9.99846282e-01 1.87774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.88, Y:30.71, Z:1.88 [[ 7.53759785e-01 -6.57014088e-01 -1.33669480e-02 8.88801326e+01] [ 6.56918293e-01 7.53878230e-01 -1.12236710e-02 3.07100549e+01] [ 1.74511611e-02 -3.21040777e-04 9.99847665e-01 1.87825581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54275509600001 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:88.90, Y:30.73, Z:1.88 [[ 7.54104021e-01 -6.56619393e-01 -1.33453353e-02 8.88998875e+01] [ 6.56523810e-01 7.54222034e-01 -1.12075941e-02 3.07282819e+01] [ 1.74244696e-02 -3.09838546e-04 9.99848134e-01 1.87902195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:30.75, Z:1.88 [[ 7.54419755e-01 -6.56254511e-01 -1.34480358e-02 8.89210144e+01] [ 6.56157341e-01 7.54539546e-01 -1.12967827e-02 3.07479024e+01] [ 1.75606394e-02 -3.01511351e-04 9.99845755e-01 1.87965068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.94, Y:30.77, Z:1.88 [[ 7.54466686e-01 -6.56198731e-01 -1.35368105e-02 8.89413466e+01] [ 6.56100146e-01 7.54588058e-01 -1.13781076e-02 3.07659984e+01] [ 1.76810153e-02 -2.97100184e-04 9.99843634e-01 1.88030050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:30.79, Z:1.88 [[ 7.53683598e-01 -6.57100967e-01 -1.33922631e-02 8.89622624e+01] [ 6.57004559e-01 7.53802508e-01 -1.12600257e-02 3.07862101e+01] [ 1.74940953e-02 -3.12281221e-04 9.99846918e-01 1.88088673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:30.80, Z:1.88 [[ 7.53083214e-01 -6.57788170e-01 -1.34311605e-02 8.89839881e+01] [ 6.57691188e-01 7.53202906e-01 -1.12997298e-02 3.08030858e+01] [ 1.75492177e-02 -3.23919110e-04 9.99845948e-01 1.88200677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:30.82, Z:1.88 [[ 7.51363678e-01 -6.59744845e-01 -1.37609189e-02 8.90070253e+01] [ 6.59643314e-01 7.51489586e-01 -1.15802104e-02 3.08210251e+01] [ 1.79811714e-02 -3.76348643e-04 9.99838255e-01 1.88239712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:30.84, Z:1.88 [[ 7.50201008e-01 -6.61066022e-01 -1.37899180e-02 8.90295967e+01] [ 6.60964170e-01 7.50327630e-01 -1.16109740e-02 3.08396516e+01] [ 1.80225769e-02 -4.04077295e-04 9.99837499e-01 1.88268491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:30.86, Z:1.88 [[ 7.49140268e-01 -6.62264822e-01 -1.39342621e-02 8.90513885e+01] [ 6.62160915e-01 7.49269723e-01 -1.17389962e-02 3.08592414e+01] [ 1.82148450e-02 -4.32568999e-04 9.99834002e-01 1.88275742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:30.88, Z:1.88 [[ 7.46980296e-01 -6.64685312e-01 -1.46244162e-02 8.90741480e+01] [ 6.64571172e-01 7.47123267e-01 -1.23280529e-02 3.08755109e+01] [ 1.91205173e-02 -5.10152791e-04 9.99817056e-01 1.88254193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:30.89, Z:1.88 [[ 7.45850459e-01 -6.65950257e-01 -1.47427419e-02 8.90964844e+01] [ 6.65834466e-01 7.45995950e-01 -1.24300415e-02 3.08943569e+01] [ 1.92758151e-02 -5.45273478e-04 9.99814056e-01 1.88279771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:30.91, Z:1.88 [[ 7.44664013e-01 -6.67269270e-01 -1.50741022e-02 8.91200324e+01] [ 6.67148340e-01 7.44816338e-01 -1.27167535e-02 3.09092142e+01] [ 1.97129364e-02 -5.86953583e-04 9.99805509e-01 1.88326880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:30.93, Z:1.88 [[ 7.43562438e-01 -6.68497179e-01 -1.50473648e-02 8.91413431e+01] [ 6.68376882e-01 7.43714422e-01 -1.26965062e-02 3.09285236e+01] [ 1.96785208e-02 -6.16665658e-04 9.99806169e-01 1.88370463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:30.95, Z:1.88 [[ 7.41530675e-01 -6.70734037e-01 -1.57515183e-02 8.91627797e+01] [ 6.70602566e-01 7.41697620e-01 -1.32980848e-02 3.09475177e+01] [ 2.06023417e-02 -7.02070812e-04 9.99787503e-01 1.88369255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:30.97, Z:1.88 [[ 7.40660365e-01 -6.71693531e-01 -1.58121617e-02 8.91846090e+01] [ 6.71561113e-01 7.40828775e-01 -1.33565901e-02 3.09655820e+01] [ 2.06856396e-02 -7.26136035e-04 9.99785766e-01 1.88423736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:30.99, Z:1.88 [[ 7.39652817e-01 -6.72797272e-01 -1.60480900e-02 8.92042767e+01] [ 6.72661072e-01 7.39826496e-01 -1.35587121e-02 3.09867764e+01] [ 2.09950667e-02 -7.66185805e-04 9.99779286e-01 1.88486036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:31.00, Z:1.89 [[ 7.38507165e-01 -6.74052242e-01 -1.61474801e-02 8.92262390e+01] [ 6.73914484e-01 7.38683243e-01 -1.36504930e-02 3.10037172e+01] [ 2.11290184e-02 -8.01033835e-04 9.99776436e-01 1.88543473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:31.02, Z:1.89 [[ 7.38020860e-01 -6.74583896e-01 -1.61795349e-02 8.92475820e+01] [ 6.74445653e-01 7.38197739e-01 -1.36805870e-02 3.10226203e+01] [ 2.11723998e-02 -8.15658407e-04 9.99775507e-01 1.88616077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:31.04, Z:1.89 [[ 7.37612517e-01 -6.75028482e-01 -1.62580515e-02 8.92679546e+01] [ 6.74888839e-01 7.37791207e-01 -1.37546352e-02 3.10431746e+01] [ 2.12798180e-02 -8.26786375e-04 9.99773217e-01 1.88698075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:31.06, Z:1.89 [[ 7.37389736e-01 -6.75272482e-01 -1.62312417e-02 8.92883186e+01] [ 6.75133202e-01 7.37567889e-01 -1.37392801e-02 3.10622160e+01] [ 2.12494004e-02 -8.27046044e-04 9.99773864e-01 1.88773842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:31.08, Z:1.89 [[ 7.37457931e-01 -6.75191371e-01 -1.65049327e-02 8.93108833e+01] [ 6.75047136e-01 7.37642136e-01 -1.39801152e-02 3.10792094e+01] [ 2.16139869e-02 -8.31860704e-04 9.99766044e-01 1.88830959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:31.10, Z:1.89 [[ 7.38075758e-01 -6.74519462e-01 -1.63606788e-02 8.93295952e+01] [ 6.74377468e-01 7.38256631e-01 -1.38628200e-02 3.11025671e+01] [ 2.14291215e-02 -8.01461748e-04 9.99770049e-01 1.88918367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:31.12, Z:1.89 [[ 7.38430883e-01 -6.74125775e-01 -1.65611301e-02 8.93505210e+01] [ 6.73980019e-01 7.38616144e-01 -1.40401251e-02 3.11225148e+01] [ 2.16971283e-02 -7.94208820e-04 9.99764274e-01 1.88977006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:31.14, Z:1.89 [[ 7.39174642e-01 -6.73313964e-01 -1.64059329e-02 8.93713464e+01] [ 6.73170561e-01 7.39356296e-01 -1.39162731e-02 3.11425696e+01] [ 2.14998508e-02 -7.57434847e-04 9.99768565e-01 1.89049680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:31.16, Z:1.89 [[ 7.39728506e-01 -6.72707763e-01 -1.63096060e-02 8.93917483e+01] [ 6.72565729e-01 7.39907922e-01 -1.38422227e-02 3.11626641e+01] [ 2.13793773e-02 -7.29795276e-04 9.99771169e-01 1.89135729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.41, Y:31.18, Z:1.89 [[ 7.41299836e-01 -6.70975858e-01 -1.63079926e-02 8.94108350e+01] [ 6.70833268e-01 7.41478889e-01 -1.38485610e-02 3.11849092e+01] [ 2.13840823e-02 -6.74007969e-04 9.99771107e-01 1.89233072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:31.21, Z:1.89 [[ 7.42135561e-01 -6.70056321e-01 -1.61038974e-02 8.94316329e+01] [ 6.69916902e-01 7.42309992e-01 -1.36828430e-02 3.12050708e+01] [ 2.11223594e-02 -6.33748668e-04 9.99776697e-01 1.89318905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:31.23, Z:1.89 [[ 7.43705240e-01 -6.68313284e-01 -1.61205051e-02 8.94505220e+01] [ 6.68173009e-01 7.43879707e-01 -1.37044342e-02 3.12255591e+01] [ 2.11505721e-02 -5.79226836e-04 9.99776134e-01 1.89385148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:31.25, Z:1.89 [[ 7.44173571e-01 -6.67796886e-01 -1.59064621e-02 8.94717797e+01] [ 6.67660137e-01 7.44343342e-01 -1.35251882e-02 3.12458902e+01] [ 2.08719477e-02 -5.55023082e-04 9.99782003e-01 1.89450707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:31.27, Z:1.90 [[ 7.45150187e-01 -6.66712491e-01 -1.56733389e-02 8.94912767e+01] [ 6.66579345e-01 7.45314827e-01 -1.33335860e-02 3.12675707e+01] [ 2.05712402e-02 -5.11999916e-04 9.99788259e-01 1.89521842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:31.29, Z:1.90 [[ 7.45330236e-01 -6.66515311e-01 -1.54977079e-02 8.95119419e+01] [ 6.66384944e-01 7.45491177e-01 -1.31913485e-02 3.12872528e+01] [ 2.03456403e-02 -4.95528323e-04 9.99792883e-01 1.89546677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:31.31, Z:1.90 [[ 7.45209361e-01 -6.66651696e-01 -1.54442626e-02 8.95323162e+01] [ 6.66522109e-01 7.45369220e-01 -1.31531000e-02 3.13052293e+01] [ 2.02802144e-02 -4.92129226e-04 9.99794214e-01 1.89586791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:31.32, Z:1.90 [[ 7.45068940e-01 -6.66802278e-01 -1.57161269e-02 8.95525189e+01] [ 6.66668023e-01 7.45234507e-01 -1.33894154e-02 3.13244518e+01] [ 2.06402927e-02 -5.01401717e-04 9.99786841e-01 1.89617745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:31.34, Z:1.90 [[ 7.44509966e-01 -6.67420454e-01 -1.59639593e-02 8.95752318e+01] [ 6.67281892e-01 7.44680916e-01 -1.36091740e-02 3.13412564e+01] [ 2.09710969e-02 -5.20295311e-04 9.99779947e-01 1.89612131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:31.36, Z:1.90 [[ 7.43771657e-01 -6.68243161e-01 -1.59624666e-02 8.95951874e+01] [ 6.68104721e-01 7.43942730e-01 -1.36123757e-02 3.13619869e+01] [ 2.09715380e-02 -5.40100085e-04 9.99779927e-01 1.89647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:31.38, Z:1.90 [[ 7.42570001e-01 -6.69576978e-01 -1.60144957e-02 8.96183142e+01] [ 6.69437780e-01 7.42742446e-01 -1.36644343e-02 3.13789247e+01] [ 2.10440363e-02 -5.73909406e-04 9.99778385e-01 1.89698225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:31.40, Z:1.90 [[ 7.42015200e-01 -6.70199498e-01 -1.56868108e-02 8.96379892e+01] [ 6.70065925e-01 7.42180775e-01 -1.33922670e-02 3.14001174e+01] [ 2.06179400e-02 -5.73931719e-04 9.99787263e-01 1.89776212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:31.42, Z:1.90 [[ 7.41141118e-01 -6.71172352e-01 -1.54115881e-02 8.96598848e+01] [ 6.71043473e-01 7.41301108e-01 -1.31653101e-02 3.14184568e+01] [ 2.02608195e-02 -5.84492937e-04 9.99794558e-01 1.89833046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.68, Y:31.44, Z:1.90 [[ 7.39505428e-01 -6.72977319e-01 -1.52725241e-02 8.96823078e+01] [ 6.72850991e-01 7.39662856e-01 -1.30538714e-02 3.14369397e+01] [ 2.00814781e-02 -6.22724232e-04 9.99798153e-01 1.89896282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:31.46, Z:1.90 [[ 7.38541321e-01 -6.74039595e-01 -1.50778713e-02 8.97044209e+01] [ 6.73916545e-01 7.38694942e-01 -1.28946897e-02 3.14550565e+01] [ 1.98294786e-02 -6.37965789e-04 9.99803173e-01 1.89957403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:31.47, Z:1.90 [[ 7.37601235e-01 -6.75071572e-01 -1.49261699e-02 8.97265162e+01] [ 6.74951055e-01 7.37751954e-01 -1.27721816e-02 3.14723362e+01] [ 1.96339477e-02 -6.53657207e-04 9.99807022e-01 1.90016614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:31.49, Z:1.90 [[ 7.35453090e-01 -6.77404452e-01 -1.52302555e-02 8.97494857e+01] [ 6.77279393e-01 7.35610413e-01 -1.30362772e-02 3.14903613e+01] [ 2.00343668e-02 -7.27567834e-04 9.99799027e-01 1.89994637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:31.50, Z:1.90 [[ 7.34462685e-01 -6.78477528e-01 -1.52580548e-02 8.97748195e+01] [ 6.78352097e-01 7.34620771e-01 -1.30673259e-02 3.15049004e+01] [ 2.00747709e-02 -7.52870183e-04 9.99798198e-01 1.90041963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:31.52, Z:1.90 [[ 7.33949122e-01 -6.79032185e-01 -1.52963443e-02 8.97972269e+01] [ 6.78906098e-01 7.34108103e-01 -1.31073967e-02 3.15222727e+01] [ 2.01295145e-02 -7.64619116e-04 9.99797088e-01 1.90095815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:31.55, Z:1.90 [[ 7.33060824e-01 -6.79996212e-01 -1.50658751e-02 8.98136904e+01] [ 6.79874020e-01 7.33215214e-01 -1.29138285e-02 3.15466626e+01] [ 1.98278833e-02 -7.76275306e-04 9.99803107e-01 1.90168862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:31.56, Z:1.90 [[ 7.32746495e-01 -6.80338009e-01 -1.49253811e-02 8.98376069e+01] [ 6.80218069e-01 7.32898078e-01 -1.27978951e-02 3.15620013e+01] [ 1.96456775e-02 -7.74901129e-04 9.99806705e-01 1.90215920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:31.58, Z:1.90 [[ 7.32507031e-01 -6.80595920e-01 -1.49212115e-02 8.98584011e+01] [ 6.80475934e-01 7.32658578e-01 -1.28027544e-02 3.15801420e+01] [ 1.96456561e-02 -7.75417714e-04 9.99806705e-01 1.90272114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:31.60, Z:1.90 [[ 7.32919069e-01 -6.80158496e-01 -1.46307137e-02 8.98760440e+01] [ 6.80042880e-01 7.33064710e-01 -1.25623295e-02 3.16041639e+01] [ 1.92696350e-02 -7.42341838e-04 9.99814048e-01 1.90358783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:31.62, Z:1.90 [[ 7.33303753e-01 -6.79739524e-01 -1.48251839e-02 8.99006987e+01] [ 6.79620571e-01 7.33453229e-01 -1.27373413e-02 3.16183838e+01] [ 1.95316533e-02 -7.35159798e-04 9.99808969e-01 1.90453048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:31.64, Z:1.91 [[ 7.33980939e-01 -6.79014706e-01 -1.45262127e-02 8.99216610e+01] [ 6.78900219e-01 7.34124339e-01 -1.24879195e-02 3.16383120e+01] [ 1.91435273e-02 -6.95954131e-04 9.99816504e-01 1.90540657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:31.66, Z:1.91 [[ 7.34567768e-01 -6.78389234e-01 -1.40797853e-02 8.99417970e+01] [ 6.78281429e-01 7.34702402e-01 -1.21112841e-02 3.16589616e+01] [ 1.85606169e-02 -6.53497950e-04 9.99827523e-01 1.90612084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:31.68, Z:1.91 [[ 7.36574749e-01 -6.76223642e-01 -1.33875111e-02 8.99611261e+01] [ 6.76125702e-01 7.36696184e-01 -1.15224751e-02 3.16806307e+01] [ 1.76542984e-02 -5.64476137e-04 9.99843991e-01 1.90711768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:31.70, Z:1.91 [[ 7.37459532e-01 -6.75261223e-01 -1.32559260e-02 8.99820246e+01] [ 6.75164912e-01 7.37578470e-01 -1.14167288e-02 3.17011992e+01] [ 1.74865598e-02 -5.30560629e-04 9.99846958e-01 1.90783232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:31.72, Z:1.91 [[ 7.38981932e-01 -6.73602935e-01 -1.28370273e-02 9.00022209e+01] [ 6.73512254e-01 7.39093271e-01 -1.10625394e-02 3.17228042e+01] [ 1.69395195e-02 -4.70878453e-04 9.99856405e-01 1.90860574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.02, Y:31.74, Z:1.91 [[ 7.39845606e-01 -6.72653385e-01 -1.28803336e-02 9.00227968e+01] [ 6.72561826e-01 7.39957584e-01 -1.11069462e-02 3.17415820e+01] [ 1.70020255e-02 -4.45395387e-04 9.99855356e-01 1.90911737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:31.76, Z:1.91 [[ 7.40545082e-01 -6.71888617e-01 -1.25963525e-02 9.00418732e+01] [ 6.71800919e-01 7.40652086e-01 -1.08633946e-02 3.17635070e+01] [ 1.66285059e-02 -4.17407686e-04 9.99861650e-01 1.90959381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:31.78, Z:1.91 [[ 7.42110237e-01 -6.70167031e-01 -1.21879858e-02 9.00632981e+01] [ 6.70084583e-01 7.42210227e-01 -1.05181028e-02 3.17818650e+01] [ 1.60949334e-02 -3.61389665e-04 9.99870403e-01 1.91112685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:31.80, Z:1.91 [[ 7.42554398e-01 -6.69681207e-01 -1.18341476e-02 9.00849204e+01] [ 6.69603384e-01 7.42648615e-01 -1.02147855e-02 3.18008169e+01] [ 1.56292632e-02 -3.39151413e-04 9.99877798e-01 1.91228692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:31.82, Z:1.91 [[ 7.42861419e-01 -6.69340155e-01 -1.18603830e-02 9.01036892e+01] [ 6.69261857e-01 7.42956021e-01 -1.02429192e-02 3.18205088e+01] [ 1.56677401e-02 -3.28632485e-04 9.99877199e-01 1.91255478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:31.84, Z:1.91 [[ 7.43382275e-01 -6.68765713e-01 -1.16281413e-02 9.01245586e+01] [ 6.68690295e-01 7.43473151e-01 -1.00480088e-02 3.18405841e+01] [ 1.53649747e-02 -3.06113609e-04 9.99881905e-01 1.91323644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:31.86, Z:1.91 [[ 7.43338652e-01 -6.68812997e-01 -1.16971861e-02 9.01448032e+01] [ 6.68736592e-01 7.43430617e-01 -1.01137649e-02 3.18577991e+01] [ 1.54602637e-02 -3.04384025e-04 9.99880437e-01 1.91352254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:31.88, Z:1.91 [[ 7.42964956e-01 -6.69230199e-01 -1.15764406e-02 9.01659547e+01] [ 6.69155378e-01 7.43055076e-01 -1.00117375e-02 3.18760324e+01] [ 1.53020900e-02 -3.08067411e-04 9.99882869e-01 1.91389123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:31.89, Z:1.91 [[ 7.41943668e-01 -6.70356673e-01 -1.18963817e-02 9.01888894e+01] [ 6.70277681e-01 7.42038960e-01 -1.02961681e-02 3.18922562e+01] [ 1.57296837e-02 -3.34702423e-04 9.99876225e-01 1.91343510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:31.91, Z:1.91 [[ 7.40829695e-01 -6.71581510e-01 -1.22326701e-02 9.02125242e+01] [ 6.71498138e-01 7.40930590e-01 -1.05882827e-02 3.19097723e+01] [ 1.61744544e-02 -3.70100969e-04 9.99869116e-01 1.91383349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:31.93, Z:1.91 [[ 7.39512643e-01 -6.73025313e-01 -1.25689645e-02 9.02340717e+01] [ 6.72937403e-01 7.39619335e-01 -1.08853698e-02 3.19291332e+01] [ 1.66223786e-02 -4.08257736e-04 9.99861755e-01 1.91338286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:31.94, Z:1.91 [[ 7.36870604e-01 -6.75908378e-01 -1.30222364e-02 9.02576071e+01] [ 6.75814332e-01 7.36985502e-01 -1.12853353e-02 3.19439098e+01] [ 1.72250520e-02 -4.84782157e-04 9.99851520e-01 1.91298282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:31.96, Z:1.91 [[ 7.35270622e-01 -6.77649251e-01 -1.29848439e-02 9.02800209e+01] [ 6.77555957e-01 7.35385084e-01 -1.12562674e-02 3.19621263e+01] [ 1.71766617e-02 -5.21555612e-04 9.99852334e-01 1.91302033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:31.98, Z:1.91 [[ 7.33940610e-01 -6.79083598e-01 -1.32908509e-02 9.03015887e+01] [ 6.78985963e-01 7.34060726e-01 -1.15287529e-02 3.19804855e+01] [ 1.75852786e-02 -5.62881274e-04 9.99845209e-01 1.91330851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:31.99, Z:1.91 [[ 7.31879354e-01 -6.81304663e-01 -1.32878826e-02 9.03261777e+01] [ 6.81207395e-01 7.31999713e-01 -1.15284462e-02 3.19946316e+01] [ 1.75811104e-02 -6.14372143e-04 9.99845252e-01 1.91415295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:32.01, Z:1.91 [[ 7.30844628e-01 -6.82413089e-01 -1.33605937e-02 9.03481314e+01] [ 6.82314896e-01 7.30966458e-01 -1.15939619e-02 3.20127886e+01] [ 1.76780173e-02 -6.42747310e-04 9.99843525e-01 1.91485116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:32.03, Z:1.92 [[ 7.30361170e-01 -6.82933799e-01 -1.31904091e-02 9.03712761e+01] [ 6.82838053e-01 7.30479989e-01 -1.14533842e-02 3.20283477e+01] [ 1.74572331e-02 -6.41806146e-04 9.99847405e-01 1.91571022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:32.05, Z:1.92 [[ 7.29516422e-01 -6.83835160e-01 -1.32387495e-02 9.03938300e+01] [ 6.83738829e-01 7.29636233e-01 -1.14969916e-02 3.20468479e+01] [ 1.75215184e-02 -6.64602887e-04 9.99846266e-01 1.91594351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:32.06, Z:1.92 [[ 7.29067014e-01 -6.84315885e-01 -1.31551597e-02 9.04160246e+01] [ 6.84220725e-01 7.29185384e-01 -1.14313446e-02 3.20641476e+01] [ 1.74152009e-02 -6.66816685e-04 9.99848122e-01 1.91631005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:32.08, Z:1.92 [[ 7.29010534e-01 -6.84378761e-01 -1.30135995e-02 9.04371511e+01] [ 6.84285625e-01 7.29126379e-01 -1.13096156e-02 3.20821553e+01] [ 1.72286194e-02 -6.60190150e-04 9.99851358e-01 1.91696093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:32.10, Z:1.92 [[ 7.29300348e-01 -6.84055935e-01 -1.37288039e-02 9.04587940e+01] [ 6.83952078e-01 7.29429237e-01 -1.19391563e-02 3.21017314e+01] [ 1.81812417e-02 -6.82613049e-04 9.99834475e-01 1.91778407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:32.12, Z:1.92 [[ 7.29840785e-01 -6.83486119e-01 -1.33848202e-02 9.04804828e+01] [ 6.83387195e-01 7.29963223e-01 -1.16462597e-02 3.21204355e+01] [ 1.77304833e-02 -6.47099415e-04 9.99842593e-01 1.91873552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:32.14, Z:1.92 [[ 7.30983904e-01 -6.82267282e-01 -1.31866453e-02 9.05016504e+01] [ 6.82170950e-01 7.31102586e-01 -1.14805578e-02 3.21384306e+01] [ 1.74735994e-02 -6.03443427e-04 9.99847143e-01 1.92013809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:32.16, Z:1.92 [[ 7.31569430e-01 -6.81641748e-01 -1.30650925e-02 9.05228664e+01] [ 6.81547038e-01 7.31685854e-01 -1.13774133e-02 3.21581573e+01] [ 1.73148632e-02 -5.81107329e-04 9.99849918e-01 1.92102508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85275509600001 meters Centerline goodness [0,1] 0.9999151139595094 Centerline is valid? [True, True] Translation: X:90.54, Y:32.18, Z:1.92 [[ 7.31888053e-01 -6.81295661e-01 -1.32702668e-02 9.05445760e+01] [ 6.81197775e-01 7.32008121e-01 -1.15629589e-02 3.21761942e+01] [ 1.75917368e-02 -5.76884733e-04 9.99845087e-01 1.91988275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:32.20, Z:1.92 [[ 7.32666967e-01 -6.80464184e-01 -1.29464544e-02 9.05654674e+01] [ 6.80370834e-01 7.32781142e-01 -1.12838768e-02 3.21960535e+01] [ 1.71651916e-02 -5.41066171e-04 9.99852521e-01 1.92318625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:32.21, Z:1.92 [[ 7.33758504e-01 -6.79289664e-01 -1.28066292e-02 9.05866655e+01] [ 6.79198026e-01 7.33870083e-01 -1.11688330e-02 3.22137490e+01] [ 1.69852749e-02 -5.03011106e-04 9.99855613e-01 1.92376378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:32.23, Z:1.92 [[ 7.34194144e-01 -6.78811066e-01 -1.32096456e-02 9.06082076e+01] [ 6.78713451e-01 7.34312795e-01 -1.15226233e-02 3.22308006e+01] [ 1.75216960e-02 -5.05721568e-04 9.99846355e-01 1.92453782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:32.25, Z:1.93 [[ 7.35294918e-01 -6.77615190e-01 -1.33805121e-02 9.06297004e+01] [ 6.77514805e-01 7.35416496e-01 -1.16733365e-02 3.22505822e+01] [ 1.77502795e-02 -4.82150006e-04 9.99842335e-01 1.92501233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:32.27, Z:1.93 [[ 7.35632432e-01 -6.77245705e-01 -1.35344351e-02 9.06510610e+01] [ 6.77142821e-01 7.35756774e-01 -1.18139629e-02 3.22693855e+01] [ 1.79590080e-02 -4.74011254e-04 9.99838612e-01 1.92543422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:32.29, Z:1.93 [[ 7.36186433e-01 -6.76631600e-01 -1.41143342e-02 9.06732618e+01] [ 6.76519463e-01 7.36321570e-01 -1.23273197e-02 3.22868299e+01] [ 1.87337428e-02 -4.73416254e-04 9.99824396e-01 1.92557066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.69, Y:32.31, Z:1.93 [[ 7.36003562e-01 -6.76824145e-01 -1.44164549e-02 9.06924444e+01] [ 6.76707153e-01 7.36144578e-01 -1.25932107e-02 3.23076458e+01] [ 1.91359842e-02 -4.87070174e-04 9.99816772e-01 1.92568142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:32.33, Z:1.93 [[ 7.36018948e-01 -6.76802190e-01 -1.46595750e-02 9.07135656e+01] [ 6.76681054e-01 7.36164762e-01 -1.28138509e-02 3.23258235e+01] [ 1.94643049e-02 -4.88619645e-04 9.99810433e-01 1.92617031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:32.34, Z:1.93 [[ 7.35910800e-01 -6.76916747e-01 -1.47990727e-02 9.07349599e+01] [ 6.76793152e-01 7.36059426e-01 -1.29441602e-02 3.23434861e+01] [ 1.96551158e-02 -4.90163742e-04 9.99806699e-01 1.92678509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:32.36, Z:1.93 [[ 7.35648312e-01 -6.77197990e-01 -1.49814440e-02 9.07574640e+01] [ 6.77071219e-01 7.35800676e-01 -1.31121806e-02 3.23600896e+01] [ 1.99028990e-02 -4.97551010e-04 9.99801794e-01 1.92715166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:32.38, Z:1.93 [[ 7.35196800e-01 -6.77687117e-01 -1.50278618e-02 9.07792518e+01] [ 6.77559493e-01 7.35350199e-01 -1.31612219e-02 3.23777543e+01] [ 1.99699317e-02 -5.06182260e-04 9.99800453e-01 1.92761253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:32.39, Z:1.93 [[ 7.34355196e-01 -6.78589660e-01 -1.54440471e-02 9.08021253e+01] [ 6.78454887e-01 7.34517381e-01 -1.35345353e-02 3.23932660e+01] [ 2.05283167e-02 -5.38932876e-04 9.99789127e-01 1.92753330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:32.41, Z:1.93 [[ 7.33645138e-01 -6.79351366e-01 -1.57013671e-02 9.08250491e+01] [ 6.79212137e-01 7.33812919e-01 -1.37649172e-02 3.24112834e+01] [ 2.08730814e-02 -5.65994509e-04 9.99781973e-01 1.92795860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:32.43, Z:1.93 [[ 7.32918670e-01 -6.80134154e-01 -1.57402783e-02 9.08478893e+01] [ 6.79994256e-01 7.33087438e-01 -1.38065532e-02 3.24287703e+01] [ 2.09293086e-02 -5.84218243e-04 9.99780787e-01 1.92820802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:32.44, Z:1.93 [[ 7.31976875e-01 -6.81138148e-01 -1.61455525e-02 9.08711392e+01] [ 6.80991030e-01 7.32154653e-01 -1.41697185e-02 3.24442697e+01] [ 2.14725772e-02 -6.23070195e-04 9.99769243e-01 1.92836956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:32.46, Z:1.93 [[ 7.31673905e-01 -6.81457726e-01 -1.63909688e-02 9.08918431e+01] [ 6.81306084e-01 7.31857199e-01 -1.43896067e-02 3.24639479e+01] [ 2.18017572e-02 -6.38767026e-04 9.99762109e-01 1.92900998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:32.48, Z:1.93 [[ 7.31492602e-01 -6.81647147e-01 -1.66054449e-02 9.09132133e+01] [ 6.81491357e-01 7.31680770e-01 -1.45869890e-02 3.24809927e+01] [ 2.20930642e-02 -6.46192634e-04 9.99755710e-01 1.92950539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:32.50, Z:1.93 [[ 7.32143329e-01 -6.80933418e-01 -1.71995915e-02 9.09356608e+01] [ 6.80765947e-01 7.32345047e-01 -1.51148119e-02 3.24994707e+01] [ 2.28882161e-02 -6.42687507e-04 9.99737824e-01 1.93008391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:32.52, Z:1.93 [[ 7.32624281e-01 -6.80419312e-01 -1.70652703e-02 9.09576384e+01] [ 6.80254123e-01 7.32822749e-01 -1.50049048e-02 3.25189611e+01] [ 2.27154453e-02 -6.15762873e-04 9.99741781e-01 1.93066923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:32.53, Z:1.93 [[ 7.34108641e-01 -6.78796350e-01 -1.78890846e-02 9.09803735e+01] [ 6.78614155e-01 7.34326338e-01 -1.57371601e-02 3.25346871e+01] [ 2.38187528e-02 -5.87000816e-04 9.99716121e-01 1.93082800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:32.55, Z:1.93 [[ 7.34710436e-01 -6.78146276e-01 -1.78382578e-02 9.10014865e+01] [ 6.77964802e-01 7.34926740e-01 -1.56975699e-02 3.25535896e+01] [ 2.37550612e-02 -5.60542447e-04 9.99717652e-01 1.93132705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:32.57, Z:1.93 [[ 7.35442493e-01 -6.77348744e-01 -1.79727112e-02 9.10218969e+01] [ 6.77164072e-01 7.35661876e-01 -1.58248136e-02 3.25737353e+01] [ 2.39407560e-02 -5.32233883e-04 9.99713237e-01 1.93225944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:32.59, Z:1.93 [[ 7.36953767e-01 -6.75696066e-01 -1.82748830e-02 9.10432819e+01] [ 6.75504413e-01 7.37180165e-01 -1.60994722e-02 3.25929353e+01] [ 2.43502313e-02 -4.80197429e-04 9.99703374e-01 1.93320154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:32.61, Z:1.93 [[ 7.37672543e-01 -6.74907646e-01 -1.84089603e-02 9.10636937e+01] [ 6.74712710e-01 7.37902071e-01 -1.62262722e-02 3.26135612e+01] [ 2.45352451e-02 -4.51084081e-04 9.99698864e-01 1.93441017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:32.63, Z:1.94 [[ 7.38574551e-01 -6.73913055e-01 -1.86769116e-02 9.10849046e+01] [ 6.73711879e-01 7.38810544e-01 -1.64706930e-02 3.26316469e+01] [ 2.48985143e-02 -4.18022485e-04 9.99689897e-01 1.93503813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:32.65, Z:1.94 [[ 7.39787538e-01 -6.72573881e-01 -1.89412856e-02 9.11065903e+01] [ 6.72366417e-01 7.40029887e-01 -1.67082914e-02 3.26501206e+01] [ 2.52546778e-02 -3.74898586e-04 9.99680979e-01 1.93627404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:32.67, Z:1.94 [[ 7.40279060e-01 -6.72026861e-01 -1.91523050e-02 9.11271884e+01] [ 6.71814348e-01 7.40526686e-01 -1.69029183e-02 3.26676097e+01] [ 2.55420081e-02 -3.53916778e-04 9.99673687e-01 1.93688984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:32.69, Z:1.94 [[ 7.40513917e-01 -6.71766295e-01 -1.92141580e-02 9.11484117e+01] [ 6.71552160e-01 7.40763072e-01 -1.69637077e-02 3.26857918e+01] [ 2.56287858e-02 -3.41447677e-04 9.99671470e-01 1.93785209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:32.70, Z:1.94 [[ 7.40577055e-01 -6.71699207e-01 -1.91259153e-02 9.11698653e+01] [ 6.71486744e-01 7.40823911e-01 -1.68963344e-02 3.27038022e+01] [ 2.55181897e-02 -3.29761049e-04 9.99674304e-01 1.93920736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:32.72, Z:1.94 [[ 7.40407992e-01 -6.71898739e-01 -1.86571519e-02 9.11915393e+01] [ 6.71696389e-01 7.40642951e-01 -1.64918124e-02 3.27208398e+01] [ 2.48991160e-02 -3.21271811e-04 9.99689917e-01 1.93997346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:32.74, Z:1.94 [[ 7.40088889e-01 -6.72251052e-01 -1.86268685e-02 9.12143504e+01] [ 6.72049302e-01 7.40323184e-01 -1.64717645e-02 3.27379062e+01] [ 2.48630637e-02 -3.27604091e-04 9.99690813e-01 1.94129662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:32.75, Z:1.94 [[ 7.39717877e-01 -6.72666946e-01 -1.83478182e-02 9.12361292e+01] [ 6.72471088e-01 7.39945316e-01 -1.62346807e-02 3.27540710e+01] [ 2.44969152e-02 -3.29293774e-04 9.99699851e-01 1.94163640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:32.77, Z:1.94 [[ 7.39509133e-01 -6.72896516e-01 -1.83445072e-02 9.12566630e+01] [ 6.72700636e-01 7.39736553e-01 -1.62384212e-02 3.27724745e+01] [ 2.44968796e-02 -3.31900916e-04 9.99699851e-01 1.94219860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:32.79, Z:1.94 [[ 7.39051898e-01 -6.73388521e-01 -1.87134265e-02 9.12781803e+01] [ 6.73184575e-01 7.39288698e-01 -1.65755531e-02 3.27903514e+01] [ 2.49964119e-02 -3.47396105e-04 9.99687481e-01 1.94238579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:32.81, Z:1.94 [[ 7.38591609e-01 -6.73886906e-01 -1.89439652e-02 9.12997429e+01] [ 6.73677793e-01 7.38834426e-01 -1.67905736e-02 3.28082376e+01] [ 2.53114014e-02 -3.60751881e-04 9.99679550e-01 1.94278090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:32.83, Z:1.94 [[ 7.37963332e-01 -6.74562372e-01 -1.93836540e-02 9.13236072e+01] [ 6.74343386e-01 7.38217758e-01 -1.71912752e-02 3.28252164e+01] [ 2.59059450e-02 -3.84708132e-04 9.99664311e-01 1.94232021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:32.84, Z:1.94 [[ 7.37547056e-01 -6.75006931e-01 -1.97479995e-02 9.13455069e+01] [ 6.74779521e-01 7.37811279e-01 -1.75247070e-02 3.28431195e+01] [ 2.63995954e-02 -4.00249614e-04 9.99651390e-01 1.94222814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:32.86, Z:1.94 [[ 7.37144647e-01 -6.75436107e-01 -2.00956632e-02 9.13683805e+01] [ 6.75200498e-01 7.37418398e-01 -1.78435872e-02 3.28589321e+01] [ 2.68711148e-02 -4.15297035e-04 9.99638820e-01 1.94187160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:32.88, Z:1.94 [[ 7.36819255e-01 -6.75783730e-01 -2.03405143e-02 9.13897162e+01] [ 6.75542273e-01 7.37099836e-01 -1.80684593e-02 3.28765408e+01] [ 2.72033606e-02 -4.27688499e-04 9.99629829e-01 1.94225686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:32.89, Z:1.94 [[ 7.36264231e-01 -6.76382554e-01 -2.05334663e-02 9.14126648e+01] [ 6.76136417e-01 7.36550366e-01 -1.82511147e-02 3.28948161e+01] [ 2.74686677e-02 -4.45781396e-04 9.99622566e-01 1.94253523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:32.91, Z:1.94 [[ 7.35400317e-01 -6.77324265e-01 -2.04502825e-02 9.14362967e+01] [ 6.77080208e-01 7.35684455e-01 -1.81872059e-02 3.29116823e+01] [ 2.73635908e-02 -4.71604530e-04 9.99625436e-01 1.94310542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:32.93, Z:1.94 [[ 7.34705683e-01 -6.78079799e-01 -2.03800059e-02 9.14602122e+01] [ 6.77837468e-01 7.34988125e-01 -1.81334662e-02 3.29272433e+01] [ 2.72749995e-02 -4.91570949e-04 9.99627847e-01 1.94281987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:32.95, Z:1.94 [[ 7.33486775e-01 -6.79395969e-01 -2.04516271e-02 9.14818494e+01] [ 6.79152266e-01 7.33771646e-01 -1.82036060e-02 3.29457242e+01] [ 2.73742807e-02 -5.37664634e-04 9.99625110e-01 1.94482543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:32.96, Z:1.95 [[ 7.32744616e-01 -6.80199768e-01 -2.03372685e-02 9.15044039e+01] [ 6.79958818e-01 7.33026579e-01 -1.81118775e-02 3.29636005e+01] [ 2.72274533e-02 -5.57124323e-04 9.99629109e-01 1.94572549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:32.98, Z:1.95 [[ 7.32183367e-01 -6.80809063e-01 -2.01627420e-02 9.15270353e+01] [ 6.80572195e-01 7.32460714e-01 -1.79663681e-02 3.29817786e+01] [ 2.70000826e-02 -5.67525726e-04 9.99635270e-01 1.94672421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:33.00, Z:1.95 [[ 7.32226667e-01 -6.80758634e-01 -2.02926243e-02 9.15484412e+01] [ 6.80518436e-01 7.32507588e-01 -1.80912398e-02 3.29977359e+01] [ 2.71802690e-02 -5.62616663e-04 9.99630390e-01 1.94761242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:33.02, Z:1.95 [[ 7.32201986e-01 -6.80791538e-01 -2.00781763e-02 9.15682387e+01] [ 6.80556205e-01 7.32477014e-01 -1.79074180e-02 3.30172994e+01] [ 2.68980213e-02 -5.52480381e-04 9.99638030e-01 1.94848387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.59, Y:33.03, Z:1.95 [[ 7.32365706e-01 -6.80609364e-01 -2.02821915e-02 9.15885063e+01] [ 6.80368874e-01 7.32646298e-01 -1.80996412e-02 3.30347405e+01] [ 2.71784578e-02 -5.43815301e-04 9.99630450e-01 1.94899585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:33.06, Z:1.95 [[ 7.33273599e-01 -6.79648558e-01 -1.96892654e-02 9.16093013e+01] [ 6.79421404e-01 7.33537728e-01 -1.75771706e-02 3.30552683e+01] [ 2.63891176e-02 -4.88433180e-04 9.99651627e-01 1.95035310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:33.07, Z:1.95 [[ 7.33313137e-01 -6.79605809e-01 -1.96923119e-02 9.16295270e+01] [ 6.79378306e-01 7.33577341e-01 -1.75898435e-02 3.30748493e+01] [ 2.63999936e-02 -4.79666204e-04 9.99651344e-01 1.95135535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:33.09, Z:1.95 [[ 7.33492320e-01 -6.79419889e-01 -1.94327181e-02 9.16515213e+01] [ 6.79198025e-01 7.33749550e-01 -1.73678001e-02 3.30915085e+01] [ 2.60587771e-02 -4.59515755e-04 9.99660307e-01 1.95151071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:33.11, Z:1.95 [[ 7.33127760e-01 -6.79814730e-01 -1.93809207e-02 9.16710194e+01] [ 6.79594007e-01 7.33383743e-01 -1.73283091e-02 3.31118962e+01] [ 2.59936919e-02 -4.67293115e-04 9.99661998e-01 1.95261797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:33.13, Z:1.95 [[ 7.32876657e-01 -6.80079726e-01 -1.95798613e-02 9.16927393e+01] [ 6.79854275e-01 7.33138010e-01 -1.75163828e-02 3.31281277e+01] [ 2.62672773e-02 -4.74104340e-04 9.99654843e-01 1.95234354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:33.15, Z:1.95 [[ 7.32063092e-01 -6.80954462e-01 -1.96124857e-02 9.17132887e+01] [ 6.80728381e-01 7.32325590e-01 -1.75528150e-02 3.31473505e+01] [ 2.63153929e-02 -5.01007659e-04 9.99653565e-01 1.95301114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:33.17, Z:1.95 [[ 7.31436245e-01 -6.81631354e-01 -1.94863106e-02 9.17338609e+01] [ 6.81408154e-01 7.31695587e-01 -1.74498290e-02 3.31675994e+01] [ 2.61523981e-02 -5.14693564e-04 9.99657835e-01 1.95407489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:33.18, Z:1.95 [[ 7.31192759e-01 -6.81904249e-01 -1.90720817e-02 9.17547901e+01] [ 6.81690312e-01 7.31441275e-01 -1.70874292e-02 3.31848086e+01] [ 2.56020983e-02 -5.07048845e-04 9.99672084e-01 1.95440849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:33.21, Z:1.96 [[ 7.30489579e-01 -6.82669204e-01 -1.86475938e-02 9.17743299e+01] [ 6.82464774e-01 7.30727371e-01 -1.67135046e-02 3.32069784e+01] [ 2.50361021e-02 -5.17284930e-04 9.99686414e-01 1.95528449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:33.22, Z:1.96 [[ 7.29771674e-01 -6.83433417e-01 -1.87634803e-02 9.17951947e+01] [ 6.83226473e-01 7.30012652e-01 -1.68260080e-02 3.32248144e+01] [ 2.51970342e-02 -5.40562457e-04 9.99682358e-01 1.95566171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:33.24, Z:1.96 [[ 7.28461013e-01 -6.84821273e-01 -1.90886295e-02 9.18168505e+01] [ 6.84607404e-01 7.28710828e-01 -1.71240039e-02 3.32442343e+01] [ 2.56369732e-02 -5.94047869e-04 9.99671142e-01 1.95608801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.652755096 meters Centerline goodness [0,1] 0.9999780913153974 Centerline is valid? [True, True] Translation: X:91.84, Y:33.26, Z:1.96 [[ 7.27880810e-01 -6.85438759e-01 -1.90586803e-02 9.18378544e+01] [ 6.85225554e-01 7.28130028e-01 -1.71056469e-02 3.32618833e+01] [ 2.56020708e-02 -6.08622695e-04 9.99672028e-01 1.95633915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:33.28, Z:1.96 [[ 7.27468203e-01 -6.85874324e-01 -1.91422510e-02 9.18602165e+01] [ 6.85659271e-01 7.27719742e-01 -1.71854586e-02 3.32791788e+01] [ 2.57172588e-02 -6.23187194e-04 9.99669062e-01 1.95651960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.88, Y:33.30, Z:1.96 [[ 7.26652834e-01 -6.86727193e-01 -1.95300062e-02 9.18786224e+01] [ 6.86503487e-01 7.26914936e-01 -1.75396241e-02 3.33024127e+01] [ 2.62415900e-02 -6.62199771e-04 9.99655411e-01 1.95773481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:33.32, Z:1.96 [[ 7.26377382e-01 -6.87012626e-01 -1.97370636e-02 9.18983172e+01] [ 6.86783981e-01 7.26645168e-01 -1.77359233e-02 3.33219767e+01] [ 2.65266452e-02 -6.72125635e-04 9.99647881e-01 1.95820483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:33.34, Z:1.96 [[ 7.26347952e-01 -6.87032780e-01 -2.01149647e-02 9.19184647e+01] [ 6.86795017e-01 7.26626107e-01 -1.80860362e-02 3.33393981e+01] [ 2.70417582e-02 -6.78102189e-04 9.99634075e-01 1.95837884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:33.36, Z:1.96 [[ 7.25970538e-01 -6.87428188e-01 -2.02302837e-02 9.19386897e+01] [ 6.87187635e-01 7.26252028e-01 -1.81974288e-02 3.33591048e+01] [ 2.72017101e-02 -6.91203637e-04 9.99629726e-01 1.95948718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:33.38, Z:1.96 [[ 7.25409758e-01 -6.88013568e-01 -2.04453912e-02 9.19596558e+01] [ 6.87767796e-01 7.25697474e-01 -1.84020583e-02 3.33788058e+01] [ 2.74980346e-02 -7.12649001e-04 9.99621604e-01 1.96026136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:33.40, Z:1.96 [[ 7.24754016e-01 -6.88696402e-01 -2.07094785e-02 9.19804568e+01] [ 6.88444232e-01 7.25049458e-01 -1.86499957e-02 3.33984363e+01] [ 2.78595811e-02 -7.40661782e-04 9.99611572e-01 1.96134306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:33.42, Z:1.96 [[ 7.23966903e-01 -6.89526505e-01 -2.06185223e-02 9.20011967e+01] [ 6.89276599e-01 7.24260049e-01 -1.85782313e-02 3.34179588e+01] [ 2.77433549e-02 -7.61840365e-04 9.99614789e-01 1.96275531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:33.44, Z:1.96 [[ 7.23348341e-01 -6.90174856e-01 -2.06360050e-02 9.20218160e+01] [ 6.89924506e-01 7.23642218e-01 -1.86042252e-02 3.34376796e+01] [ 2.77732529e-02 -7.79950134e-04 9.99613945e-01 1.96374542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.04, Y:33.46, Z:1.96 [[ 7.22636475e-01 -6.90915473e-01 -2.07926506e-02 9.20431042e+01] [ 6.90661370e-01 7.22935098e-01 -1.87540875e-02 3.34557067e+01] [ 2.79892261e-02 -8.08292824e-04 9.99607898e-01 1.96445999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:33.47, Z:1.97 [[ 7.21491726e-01 -6.92119105e-01 -2.05142214e-02 9.20647630e+01] [ 6.91872132e-01 7.21782819e-01 -1.85071803e-02 3.34738703e+01] [ 2.76159856e-02 -8.40440662e-04 9.99618253e-01 1.96592975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:33.49, Z:1.97 [[ 7.21020553e-01 -6.92602696e-01 -2.07573597e-02 9.20843647e+01] [ 6.92349826e-01 7.21318764e-01 -1.87338808e-02 3.34947216e+01] [ 2.79478094e-02 -8.63841292e-04 9.99609010e-01 1.96751318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:33.51, Z:1.97 [[ 7.20513737e-01 -6.93117417e-01 -2.11707601e-02 9.21056168e+01] [ 6.92854342e-01 7.20824143e-01 -1.91158465e-02 3.35125860e+01] [ 2.85099212e-02 -8.95023060e-04 9.99593109e-01 1.96766985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:33.53, Z:1.97 [[ 7.20344866e-01 -6.93292650e-01 -2.11795929e-02 9.21262464e+01] [ 6.93029269e-01 7.20655600e-01 -1.91295070e-02 3.35307888e+01] [ 2.85255389e-02 -8.98235624e-04 9.99592660e-01 1.96796649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:33.55, Z:1.97 [[ 7.20108212e-01 -6.93534186e-01 -2.13189138e-02 9.21456347e+01] [ 6.93267119e-01 7.20423148e-01 -1.92662639e-02 3.35507857e+01] [ 2.87204516e-02 -9.05907099e-04 9.99587072e-01 1.96871968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:33.57, Z:1.97 [[ 7.19889083e-01 -6.93762852e-01 -2.12794155e-02 9.21650265e+01] [ 6.93496540e-01 7.20202948e-01 -1.92422366e-02 3.35718490e+01] [ 2.86750468e-02 -9.04924942e-04 9.99588377e-01 1.97016763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:33.59, Z:1.97 [[ 7.19667966e-01 -6.93995599e-01 -2.11690320e-02 9.21854731e+01] [ 6.93731807e-01 7.19978678e-01 -1.91541787e-02 3.35910917e+01] [ 2.85341674e-02 -9.00982033e-04 9.99592412e-01 1.97100923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:33.61, Z:1.97 [[ 7.19599419e-01 -6.94073055e-01 -2.09587808e-02 9.22069169e+01] [ 6.93814193e-01 7.19904027e-01 -1.89751651e-02 3.36075387e+01] [ 2.82584615e-02 -8.86981783e-04 9.99600256e-01 1.97121431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:33.63, Z:1.97 [[ 7.19502218e-01 -6.94178347e-01 -2.08081883e-02 9.22252044e+01] [ 6.93922941e-01 7.19802510e-01 -1.88493671e-02 3.36297551e+01] [ 2.80626087e-02 -8.77117783e-04 9.99605783e-01 1.97293511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:33.65, Z:1.97 [[ 7.19488922e-01 -6.94192634e-01 -2.07912764e-02 9.22449184e+01] [ 6.93937329e-01 7.19788741e-01 -1.88454709e-02 3.36496996e+01] [ 2.80477138e-02 -8.68735216e-04 9.99606208e-01 1.97390212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:33.67, Z:1.98 [[ 7.19803649e-01 -6.93874992e-01 -2.04988504e-02 9.22644251e+01] [ 6.93626393e-01 7.20094991e-01 -1.85911475e-02 3.36719545e+01] [ 2.76610518e-02 -8.36567858e-04 9.99617010e-01 1.97533823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.312755096 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:92.28, Y:33.69, Z:1.98 [[ 7.20429997e-01 -6.93221130e-01 -2.06175996e-02 9.22838660e+01] [ 6.92969098e-01 7.20724504e-01 -1.87087673e-02 3.36940181e+01] [ 2.78289220e-02 -8.09002221e-04 9.99612373e-01 1.97636684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:33.71, Z:1.98 [[ 7.21157262e-01 -6.92470076e-01 -2.04303042e-02 9.23040815e+01] [ 6.92222064e-01 7.21446190e-01 -1.85474710e-02 3.37129957e+01] [ 2.75829338e-02 -7.66663969e-04 9.99619225e-01 1.97700246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:33.74, Z:1.98 [[ 7.22947443e-01 -6.90603033e-01 -2.03579454e-02 9.23233282e+01] [ 6.90355886e-01 7.23233694e-01 -1.84871517e-02 3.37350672e+01] [ 2.74908351e-02 -6.88988402e-04 9.99621818e-01 1.97762988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:33.75, Z:1.98 [[ 7.23951908e-01 -6.89543719e-01 -2.05692804e-02 9.23431384e+01] [ 6.89290744e-01 7.24243770e-01 -1.86877296e-02 3.37547793e+01] [ 2.77831798e-02 -6.49197109e-04 9.99613762e-01 1.97756300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:33.78, Z:1.98 [[ 7.24939908e-01 -6.88500378e-01 -2.07210098e-02 9.23632749e+01] [ 6.88243076e-01 7.25235726e-01 -1.88311079e-02 3.37756507e+01] [ 2.79928415e-02 -6.09669855e-04 9.99607938e-01 1.97817243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:33.80, Z:1.98 [[ 7.25634267e-01 -6.87758609e-01 -2.10477266e-02 9.23828709e+01] [ 6.87492566e-01 7.25939223e-01 -1.91367913e-02 3.37953723e+01] [ 2.84408633e-02 -5.83844005e-04 9.99595306e-01 1.97831265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.40, Y:33.82, Z:1.98 [[ 7.26936552e-01 -6.86393509e-01 -2.06688355e-02 9.24017501e+01] [ 6.86136307e-01 7.27230144e-01 -1.87959221e-02 3.38154955e+01] [ 2.79323991e-02 -5.18195703e-04 9.99609680e-01 1.97875076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:33.83, Z:1.98 [[ 7.27238051e-01 -6.86071290e-01 -2.07605942e-02 9.24215540e+01] [ 6.85811547e-01 7.27534144e-01 -1.88836130e-02 3.38339836e+01] [ 2.80595458e-02 -5.04973315e-04 9.99606126e-01 1.97931189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:33.85, Z:1.98 [[ 7.26960105e-01 -6.86361188e-01 -2.09123289e-02 9.24416304e+01] [ 6.86097543e-01 7.27260651e-01 -1.90291207e-02 3.38536567e+01] [ 2.82695638e-02 -5.14485866e-04 9.99600204e-01 1.97989597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:33.87, Z:1.98 [[ 7.26440555e-01 -6.86913752e-01 -2.08234753e-02 9.24626383e+01] [ 6.86652291e-01 7.26738756e-01 -1.89581415e-02 3.38718126e+01] [ 2.81558347e-02 -5.26524168e-04 9.99603407e-01 1.98036590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:33.89, Z:1.98 [[ 7.24920751e-01 -6.88530369e-01 -2.03920636e-02 9.24836373e+01] [ 6.88280091e-01 7.25207283e-01 -1.85718331e-02 3.38922764e+01] [ 2.75757442e-02 -5.72344193e-04 9.99619553e-01 1.98213885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:33.91, Z:1.98 [[ 7.23955058e-01 -6.89557939e-01 -1.99730484e-02 9.25066555e+01] [ 6.89318002e-01 7.24230279e-01 -1.81987412e-02 3.39078000e+01] [ 2.70141729e-02 -5.92711055e-04 9.99634875e-01 1.98207626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:33.93, Z:1.98 [[ 7.23004755e-01 -6.90552584e-01 -2.00313254e-02 9.25279876e+01] [ 6.90311517e-01 7.23281919e-01 -1.82558514e-02 3.39255893e+01] [ 2.70949208e-02 -6.28787275e-04 9.99632667e-01 1.98276361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:33.94, Z:1.98 [[ 7.22011786e-01 -6.91602046e-01 -1.96364616e-02 9.25496914e+01] [ 6.91370622e-01 7.22278469e-01 -1.79018606e-02 3.39448651e+01] [ 2.65639568e-02 -6.50718320e-04 9.99646904e-01 1.98378150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:33.96, Z:1.98 [[ 7.21809985e-01 -6.91812793e-01 -1.96317376e-02 9.25699402e+01] [ 6.91581306e-01 7.22076613e-01 -1.79070398e-02 3.39635831e+01] [ 2.65639378e-02 -6.51462657e-04 9.99646904e-01 1.98434326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:33.98, Z:1.99 [[ 7.19684394e-01 -6.94020845e-01 -1.97342315e-02 9.25901924e+01] [ 6.93787482e-01 7.19954537e-01 -1.80109802e-02 3.39844882e+01] [ 2.67077452e-02 -7.29141440e-04 9.99643019e-01 1.98561590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:34.00, Z:1.99 [[ 7.18493300e-01 -6.95255888e-01 -1.96628416e-02 9.26142275e+01] [ 6.95024433e-01 7.18761896e-01 -1.79547857e-02 3.39993777e+01] [ 2.66160718e-02 -7.65762070e-04 9.99645436e-01 1.98527147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:34.02, Z:1.99 [[ 7.17523652e-01 -6.96248108e-01 -1.99594791e-02 9.26362388e+01] [ 6.96009811e-01 7.17800750e-01 -1.82325543e-02 3.40187001e+01] [ 2.70213104e-02 -8.09704333e-04 9.99634530e-01 1.98575681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:34.04, Z:1.99 [[ 7.15899169e-01 -6.97916144e-01 -2.00358658e-02 9.26574293e+01] [ 6.97676456e-01 7.16178957e-01 -1.83102337e-02 3.40362134e+01] [ 2.71282732e-02 -8.70270791e-04 9.99631582e-01 1.98597309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:34.06, Z:1.99 [[ 7.14915946e-01 -6.98920319e-01 -2.01389501e-02 9.26754810e+01] [ 6.98678407e-01 7.15198966e-01 -1.84098666e-02 3.40594041e+01] [ 2.72703861e-02 -9.09142376e-04 9.99627680e-01 1.98749925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:34.08, Z:1.99 [[ 7.13967742e-01 -6.99887439e-01 -2.01899686e-02 9.26962636e+01] [ 6.99644441e-01 7.14252536e-01 -1.84654088e-02 3.40787893e+01] [ 2.73444440e-02 -9.42093099e-04 9.99625627e-01 1.98767669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:34.10, Z:1.99 [[ 7.13451486e-01 -7.00408472e-01 -2.03703139e-02 9.27172861e+01] [ 7.00161122e-01 7.13741579e-01 -1.86376514e-02 3.40980841e+01] [ 2.75931089e-02 -9.65441791e-04 9.99618771e-01 1.98824668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:34.12, Z:1.99 [[ 7.12921370e-01 -7.00943305e-01 -2.05329635e-02 9.27381605e+01] [ 7.00691906e-01 7.13216314e-01 -1.87974228e-02 3.41169194e+01] [ 2.78203722e-02 -9.86196956e-04 9.99612452e-01 1.98853921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:34.14, Z:1.99 [[ 7.12762736e-01 -7.01088284e-01 -2.10831579e-02 9.27552731e+01] [ 7.00822959e-01 7.13073767e-01 -1.93127703e-02 3.41395171e+01] [ 2.85738038e-02 -1.01013811e-03 9.99591175e-01 1.98959398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:34.16, Z:1.99 [[ 7.12617638e-01 -7.01227920e-01 -2.13426044e-02 9.27751895e+01] [ 7.00955722e-01 7.12936438e-01 -1.95629902e-02 3.41590610e+01] [ 2.89340353e-02 -1.01928888e-03 9.99580803e-01 1.99007969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:34.18, Z:1.99 [[ 7.13518211e-01 -7.00307488e-01 -2.14752077e-02 9.27974037e+01] [ 7.00031190e-01 7.13840640e-01 -1.96945173e-02 3.41761880e+01] [ 2.91220939e-02 -9.80918410e-04 9.99575381e-01 1.98854881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:34.20, Z:1.99 [[ 7.14157173e-01 -6.99653279e-01 -2.15597269e-02 9.28141953e+01] [ 6.99374326e-01 7.14481896e-01 -1.97780665e-02 3.42001410e+01] [ 2.92418236e-02 -9.53671418e-04 9.99571912e-01 1.99010342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:34.22, Z:1.99 [[ 7.15002435e-01 -6.98789353e-01 -2.15628825e-02 9.28337044e+01] [ 6.98509667e-01 7.15326924e-01 -1.97898116e-02 3.42199979e+01] [ 2.92534201e-02 -9.12118366e-04 9.99571611e-01 1.99052278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:34.24, Z:1.99 [[ 7.17402187e-01 -6.96334530e-01 -2.12679295e-02 9.28519806e+01] [ 6.96061194e-01 7.17716928e-01 -1.95249982e-02 3.42426909e+01] [ 2.88602835e-02 -7.96503972e-04 9.99583138e-01 1.99111240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:34.26, Z:1.99 [[ 7.18671424e-01 -6.95030370e-01 -2.10753156e-02 9.28717329e+01] [ 6.94761139e-01 7.18980007e-01 -1.93574195e-02 3.42629320e+01] [ 2.86067250e-02 -7.30686040e-04 9.99590477e-01 1.99172521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:34.28, Z:1.99 [[ 7.20069707e-01 -6.93579435e-01 -2.11467437e-02 9.28910228e+01] [ 6.93307604e-01 7.20379841e-01 -1.94280699e-02 3.42828034e+01] [ 2.87085977e-02 -6.71633647e-04 9.99587598e-01 1.99238010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:34.30, Z:1.99 [[ 7.22844552e-01 -6.90708223e-01 -2.04426972e-02 9.29089393e+01] [ 6.90452892e-01 7.23133366e-01 -1.87866678e-02 3.43047388e+01] [ 2.77589024e-02 -5.34878930e-04 9.99614504e-01 1.99392309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:34.33, Z:1.99 [[ 7.24258388e-01 -6.89238079e-01 -2.00164513e-02 9.29289951e+01] [ 6.88992475e-01 7.24534787e-01 -1.84041396e-02 3.43263714e+01] [ 2.71874490e-02 -4.61831867e-04 9.99630246e-01 1.99494205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30275509600001 meters Centerline goodness [0,1] 0.9999570557416474 Centerline is valid? [True, True] Translation: X:92.95, Y:34.35, Z:2.00 [[ 7.25301861e-01 -6.88151154e-01 -1.96264859e-02 9.29487066e+01] [ 6.87914462e-01 7.25567242e-01 -1.80518872e-02 3.43473560e+01] [ 2.66627623e-02 -4.08276124e-04 9.99644402e-01 1.99593916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:34.37, Z:2.00 [[ 7.27643940e-01 -6.85691080e-01 -1.90273338e-02 9.29669838e+01] [ 6.85467544e-01 7.27892610e-01 -1.75098439e-02 3.43699103e+01] [ 2.58561994e-02 -3.01687929e-04 9.99665627e-01 1.99709281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:34.39, Z:2.00 [[ 7.28518333e-01 -6.84768154e-01 -1.88046165e-02 9.29866814e+01] [ 6.84549311e-01 7.28760940e-01 -1.73127988e-02 3.43893120e+01] [ 2.55593232e-02 -2.59995961e-04 9.99673273e-01 1.99711870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.01, Y:34.41, Z:2.00 [[ 7.29477994e-01 -6.83747993e-01 -1.87226862e-02 9.30059842e+01] [ 6.83530603e-01 7.29718188e-01 -1.72418298e-02 3.44109296e+01] [ 2.54513512e-02 -2.19993569e-04 9.99676038e-01 1.99787336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:34.43, Z:2.00 [[ 7.29542040e-01 -6.83685481e-01 -1.85087748e-02 9.30255420e+01] [ 6.83472794e-01 7.29776760e-01 -1.70534677e-02 3.44289843e+01] [ 2.51664820e-02 -2.09022448e-04 9.99683252e-01 1.99838569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:34.45, Z:2.00 [[ 7.29132024e-01 -6.84124824e-01 -1.84313807e-02 9.30466271e+01] [ 6.83913885e-01 7.29364914e-01 -1.69888425e-02 3.44478971e+01] [ 2.50656913e-02 -2.18368047e-04 9.99685782e-01 1.99890010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:34.47, Z:2.00 [[ 7.28448133e-01 -6.84858753e-01 -1.82155153e-02 9.30678786e+01] [ 6.84652698e-01 7.28675808e-01 -1.68002960e-02 3.44668844e+01] [ 2.47790351e-02 -2.33157456e-04 9.99692925e-01 1.99960789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:34.48, Z:2.00 [[ 7.26776206e-01 -6.86634639e-01 -1.81443973e-02 9.30910558e+01] [ 6.86430510e-01 7.27002607e-01 -1.67440760e-02 3.44823889e+01] [ 2.46880868e-02 -2.85671848e-04 9.99695162e-01 1.99924737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:34.50, Z:2.00 [[ 7.25397629e-01 -6.88092131e-01 -1.80969194e-02 9.31125483e+01] [ 6.87889416e-01 7.25623256e-01 -1.67045333e-02 3.45011274e+01] [ 2.46258035e-02 -3.31250439e-04 9.99696684e-01 2.00023635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.14, Y:34.52, Z:2.00 [[ 7.22717232e-01 -6.90914974e-01 -1.77848597e-02 9.31361030e+01] [ 6.90719851e-01 7.22935908e-01 -1.64243859e-02 3.45173581e+01] [ 2.42051679e-02 -4.14168890e-04 9.99706926e-01 2.00117469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:34.53, Z:2.00 [[ 7.21201435e-01 -6.92500445e-01 -1.76528956e-02 9.31577885e+01] [ 6.92308602e-01 7.21417300e-01 -1.63057749e-02 3.45341981e+01] [ 2.40268606e-02 -4.61503236e-04 9.99711207e-01 2.00174509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:34.55, Z:2.00 [[ 7.19620969e-01 -6.94149891e-01 -1.73663550e-02 9.31803546e+01] [ 6.93964614e-01 7.19830309e-01 -1.60449574e-02 3.45514021e+01] [ 2.36384341e-02 -5.05348095e-04 9.99720445e-01 2.00241388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:34.57, Z:2.00 [[ 7.16479501e-01 -6.97385710e-01 -1.76152130e-02 9.32045952e+01] [ 6.97195921e-01 7.16695745e-01 -1.62805661e-02 3.45672763e+01] [ 2.39785824e-02 -6.16562730e-04 9.99712282e-01 2.00247308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:34.59, Z:2.00 [[ 7.14589042e-01 -6.99325558e-01 -1.75003990e-02 9.32268871e+01] [ 6.99138614e-01 7.14802989e-01 -1.61828669e-02 3.45852833e+01] [ 2.38264300e-02 -6.71105331e-04 9.99715885e-01 2.00256819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:34.60, Z:2.00 [[ 7.13098966e-01 -7.00831622e-01 -1.80250779e-02 9.32490461e+01] [ 7.00633565e-01 7.13326360e-01 -1.66767191e-02 3.46018815e+01] [ 2.45453353e-02 -7.36823424e-04 9.99698446e-01 2.00210910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:34.62, Z:2.00 [[ 7.09859697e-01 -7.04111480e-01 -1.80619783e-02 9.32727386e+01] [ 7.03913495e-01 7.10088943e-01 -1.67177897e-02 3.46172487e+01] [ 2.45967987e-02 -8.46785175e-04 9.99697094e-01 2.00211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:34.64, Z:2.00 [[ 7.08368013e-01 -7.05624553e-01 -1.75712380e-02 9.32955620e+01] [ 7.05437434e-01 7.08585377e-01 -1.62723906e-02 3.46350385e+01] [ 2.39329206e-02 -8.68567999e-04 9.99713189e-01 2.00264639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:34.66, Z:2.00 [[ 7.05775588e-01 -7.08217873e-01 -1.75574476e-02 9.33159275e+01] [ 7.08031642e-01 7.05993302e-01 -1.62681048e-02 3.46557705e+01] [ 2.39168030e-02 -9.49597212e-04 9.99713501e-01 2.00406353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:34.67, Z:2.00 [[ 7.04794526e-01 -7.09210305e-01 -1.68943727e-02 9.33380914e+01] [ 7.09037984e-01 7.04996354e-01 -1.56613627e-02 3.46730037e+01] [ 2.30176709e-02 -9.40709217e-04 9.99734616e-01 2.00482092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:34.69, Z:2.01 [[ 7.04199669e-01 -7.09801638e-01 -1.68659658e-02 9.33595707e+01] [ 7.09629980e-01 7.04400966e-01 -1.56387277e-02 3.46927013e+01] [ 2.29807972e-02 -9.55808044e-04 9.99735450e-01 2.00567777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:34.71, Z:2.01 [[ 7.03933719e-01 -7.10079033e-01 -1.62814919e-02 9.33799659e+01] [ 7.09918968e-01 7.04121374e-01 -1.51046019e-02 3.47099438e+01] [ 2.21896076e-02 -9.25901288e-04 9.99753352e-01 2.00679296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:34.73, Z:2.01 [[ 7.04044369e-01 -7.09974968e-01 -1.60334449e-02 9.33997245e+01] [ 7.09819595e-01 7.04226332e-01 -1.48800323e-02 3.47304946e+01] [ 2.18556245e-02 -9.04650403e-04 9.99760728e-01 2.00762479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:34.75, Z:2.01 [[ 7.04648778e-01 -7.09377060e-01 -1.59463403e-02 9.34210230e+01] [ 7.09223048e-01 7.04828645e-01 -1.48070484e-02 3.47507445e+01] [ 2.17432179e-02 -8.75743514e-04 9.99763205e-01 2.00826804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:34.77, Z:2.01 [[ 7.06483312e-01 -7.07553606e-01 -1.57868328e-02 9.34383867e+01] [ 7.07402104e-01 7.06659212e-01 -1.46635938e-02 3.47744493e+01] [ 2.15311895e-02 -8.08054401e-04 9.99767851e-01 2.00887546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:34.80, Z:2.01 [[ 7.07564695e-01 -7.06470543e-01 -1.58610972e-02 9.34581165e+01] [ 7.06317160e-01 7.07742026e-01 -1.47409296e-02 3.47952647e+01] [ 2.16395976e-02 -7.72803755e-04 9.99765538e-01 2.00939817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:34.81, Z:2.01 [[ 7.09045332e-01 -7.04980838e-01 -1.60229614e-02 9.34792545e+01] [ 7.04823749e-01 7.09225978e-01 -1.48994993e-02 3.48133113e+01] [ 2.18677619e-02 -7.28943325e-04 9.99760606e-01 2.00959050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:34.84, Z:2.01 [[ 7.12364708e-01 -7.01621792e-01 -1.62290894e-02 9.34953299e+01] [ 7.01459684e-01 7.12549270e-01 -1.50946644e-02 3.48381982e+01] [ 2.21547713e-02 -6.31145714e-04 9.99754354e-01 2.01026412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:34.86, Z:2.01 [[ 7.14191330e-01 -6.99758440e-01 -1.63972444e-02 9.35151517e+01] [ 6.99592270e-01 7.14379309e-01 -1.52597187e-02 3.48597033e+01] [ 2.23919691e-02 -5.73026610e-04 9.99749104e-01 2.01080154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:34.88, Z:2.01 [[ 7.17970871e-01 -6.95880550e-01 -1.63734459e-02 9.35324399e+01] [ 6.95713660e-01 7.18157408e-01 -1.52460044e-02 3.48822893e+01] [ 2.23681094e-02 -4.45042934e-04 9.99749703e-01 2.01157901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:34.90, Z:2.01 [[ 7.19524303e-01 -6.94271605e-01 -1.64838088e-02 9.35521214e+01] [ 6.94101830e-01 7.19712988e-01 -1.53578679e-02 3.49037259e+01] [ 2.25261429e-02 -3.91082660e-04 9.99746178e-01 2.01205853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:34.93, Z:2.01 [[ 7.20818612e-01 -6.92930585e-01 -1.63625480e-02 9.35717616e+01] [ 6.92762768e-01 7.21004222e-01 -1.52531769e-02 3.49253071e+01] [ 2.23668590e-02 -3.40590180e-04 9.99749773e-01 2.01293994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:34.95, Z:2.01 [[ 7.22087114e-01 -6.91617757e-01 -1.59711855e-02 9.35916093e+01] [ 6.91457383e-01 7.22263661e-01 -1.48960381e-02 3.49454344e+01] [ 2.18377714e-02 -2.87156953e-04 9.99761486e-01 2.01389222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:34.97, Z:2.02 [[ 7.23697643e-01 -6.89945520e-01 -1.53915945e-02 9.36109158e+01] [ 6.89796137e-01 7.23861264e-01 -1.43582959e-02 3.49666105e+01] [ 2.10478210e-02 -2.25997489e-04 9.99778445e-01 2.01507705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:34.99, Z:2.02 [[ 7.24124508e-01 -6.89495820e-01 -1.54664336e-02 9.36309932e+01] [ 6.89344715e-01 7.24289631e-01 -1.44358272e-02 3.49862618e+01] [ 2.11556200e-02 -2.08368039e-04 9.99776173e-01 2.01579883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:35.01, Z:2.02 [[ 7.24313085e-01 -6.89305562e-01 -1.51128220e-02 9.36510422e+01] [ 6.89161075e-01 7.24470707e-01 -1.41140824e-02 3.50058237e+01] [ 2.06777123e-02 -1.92154150e-04 9.99786175e-01 2.01636524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:35.02, Z:2.02 [[ 7.24101659e-01 -6.89517268e-01 -1.55796271e-02 9.36717755e+01] [ 6.89363570e-01 7.24269216e-01 -1.45592256e-02 3.50230909e+01] [ 2.13226817e-02 -1.97667944e-04 9.99772626e-01 2.01673537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38275509600001 meters Centerline goodness [0,1] 0.9999359781472076 Centerline is valid? [True, True] Translation: X:93.69, Y:35.04, Z:2.02 [[ 7.23322663e-01 -6.90330060e-01 -1.57712814e-02 9.36931637e+01] [ 6.90172632e-01 7.23494547e-01 -1.47437402e-02 3.50414977e+01] [ 2.15884832e-02 -2.20425400e-04 9.99766917e-01 2.01654680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:35.06, Z:2.02 [[ 7.22277426e-01 -6.91413039e-01 -1.62274128e-02 9.37149103e+01] [ 6.91246438e-01 7.22459649e-01 -1.51795161e-02 3.50610388e+01] [ 2.22189663e-02 -2.53319430e-04 9.99753096e-01 2.01655548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:35.08, Z:2.02 [[ 7.21500610e-01 -6.92215611e-01 -1.65655715e-02 9.37370369e+01] [ 6.92042008e-01 7.21690703e-01 -1.55044722e-02 3.50798595e+01] [ 2.26876567e-02 -2.77585215e-04 9.99742563e-01 2.01671500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:35.10, Z:2.02 [[ 7.20510004e-01 -6.93241257e-01 -1.67896621e-02 9.37587655e+01] [ 6.93063015e-01 7.20705532e-01 -1.57223901e-02 3.50976419e+01] [ 2.29998118e-02 -3.08154416e-04 9.99735422e-01 2.01681208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:35.11, Z:2.02 [[ 7.18300826e-01 -6.95523523e-01 -1.70573050e-02 9.37823715e+01] [ 6.95340077e-01 7.18503223e-01 -1.59779892e-02 3.51142743e+01] [ 2.33687960e-02 -3.83624896e-04 9.99726839e-01 2.01692855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:35.13, Z:2.02 [[ 7.16606186e-01 -6.97266130e-01 -1.71906417e-02 9.38052872e+01] [ 6.97080101e-01 7.16812215e-01 -1.61115130e-02 3.51325538e+01] [ 2.35564743e-02 -4.37644410e-04 9.99722412e-01 2.01735574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:35.15, Z:2.02 [[ 7.15207133e-01 -6.98697368e-01 -1.73420047e-02 9.38272977e+01] [ 6.98508274e-01 7.15417189e-01 -1.62615306e-02 3.51494036e+01] [ 2.37686569e-02 -4.83171121e-04 9.99717369e-01 2.01748115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:35.16, Z:2.02 [[ 7.12060962e-01 -7.01895735e-01 -1.76511791e-02 9.38513956e+01] [ 7.01700677e-01 7.12279455e-01 -1.65570977e-02 3.51641849e+01] [ 2.41939284e-02 -5.96181407e-04 9.99707106e-01 2.01751471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:35.18, Z:2.02 [[ 7.10208565e-01 -7.03764642e-01 -1.78640158e-02 9.38740733e+01] [ 7.03565230e-01 7.10432890e-01 -1.67653328e-02 3.51820188e+01] [ 2.44900329e-02 -6.61617419e-04 9.99699855e-01 2.01758563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:35.20, Z:2.02 [[ 7.10001052e-01 -7.03974106e-01 -1.78595862e-02 9.38940529e+01] [ 7.03774641e-01 7.10225330e-01 -1.67700505e-02 3.52010264e+01] [ 2.44900118e-02 -6.62370388e-04 9.99699855e-01 2.01814742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:35.22, Z:2.02 [[ 7.06810310e-01 -7.07167469e-01 -1.82580841e-02 9.39184998e+01] [ 7.06959825e-01 7.07045655e-01 -1.71536587e-02 3.52161903e+01] [ 2.50398084e-02 -7.83349124e-04 9.99686148e-01 2.01849731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:35.23, Z:2.02 [[ 7.05116611e-01 -7.08857604e-01 -1.82060746e-02 9.39412413e+01] [ 7.08651573e-01 7.05351115e-01 -1.71100089e-02 3.52329392e+01] [ 2.49702350e-02 -8.37211884e-04 9.99687845e-01 2.01904594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:35.25, Z:2.02 [[ 7.03632998e-01 -7.10333599e-01 -1.80771130e-02 9.39638058e+01] [ 7.10130828e-01 7.03864621e-01 -1.69941858e-02 3.52496707e+01] [ 2.47953814e-02 -8.79445306e-04 9.99692160e-01 2.01980244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:35.27, Z:2.02 [[ 7.02127269e-01 -7.11823141e-01 -1.80309265e-02 9.39858391e+01] [ 7.11621716e-01 7.02358143e-01 -1.69579330e-02 3.52689371e+01] [ 2.47352172e-02 -9.24571634e-04 9.99693610e-01 2.02071675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:35.29, Z:2.02 [[ 7.00374634e-01 -7.13556630e-01 -1.76722699e-02 9.40047379e+01] [ 7.13363487e-01 7.00596899e-01 -1.66289327e-02 3.52902820e+01] [ 2.42468227e-02 -9.60269476e-04 9.99705541e-01 2.02239932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:35.30, Z:2.02 [[ 6.99927541e-01 -7.13998677e-01 -1.75307620e-02 9.40293899e+01] [ 7.13808555e-01 7.00146388e-01 -1.65040040e-02 3.53032596e+01] [ 2.40579367e-02 -9.62000994e-04 9.99710103e-01 2.02254964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:35.32, Z:2.02 [[ 6.99533900e-01 -7.14388495e-01 -1.73608837e-02 9.40507678e+01] [ 7.14201978e-01 6.99748637e-01 -1.63517650e-02 3.53222274e+01] [ 2.38297675e-02 -9.60563552e-04 9.99715569e-01 2.02319058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:35.35, Z:2.02 [[ 7.00203690e-01 -7.13746559e-01 -1.67523732e-02 9.40678363e+01] [ 7.13572510e-01 7.00403484e-01 -1.57871380e-02 3.53457440e+01] [ 2.30014360e-02 -8.99820661e-04 9.99735027e-01 2.02478920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:35.36, Z:2.03 [[ 7.01006576e-01 -7.12962220e-01 -1.65726825e-02 9.40891588e+01] [ 7.12791489e-01 7.01201921e-01 -1.56255517e-02 3.53632907e+01] [ 2.27612248e-02 -8.59252552e-04 9.99740561e-01 2.02533900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:35.39, Z:2.03 [[ 7.01843243e-01 -7.12142722e-01 -1.63952864e-02 9.41063433e+01] [ 7.11975327e-01 7.02034236e-01 -1.54617335e-02 3.53869540e+01] [ 2.25210134e-02 -8.21326233e-04 9.99746032e-01 2.02624888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:35.41, Z:2.03 [[ 7.04474782e-01 -7.09540351e-01 -1.63637417e-02 9.41257373e+01] [ 7.09372702e-01 7.04664429e-01 -1.54406014e-02 3.54084072e+01] [ 2.24866764e-02 -7.30477393e-04 9.99746876e-01 2.02683272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:35.43, Z:2.03 [[ 7.05821170e-01 -7.08202230e-01 -1.63118922e-02 9.41447333e+01] [ 7.08035091e-01 7.06009306e-01 -1.54003325e-02 3.54303043e+01] [ 2.24228975e-02 -6.79511351e-04 9.99748344e-01 2.02736275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:35.45, Z:2.03 [[ 7.09198004e-01 -7.04834991e-01 -1.56788815e-02 9.41628706e+01] [ 7.04679573e-01 7.09371087e-01 -1.48107981e-02 3.54514759e+01] [ 2.15613139e-02 -5.44799091e-04 9.99767379e-01 2.02812799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:35.47, Z:2.03 [[ 7.10881262e-01 -7.03140973e-01 -1.55113942e-02 9.41828029e+01] [ 7.02988267e-01 7.11050307e-01 -1.46614028e-02 3.54728059e+01] [ 2.13384146e-02 -4.81811601e-04 9.99772194e-01 2.02892558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:35.49, Z:2.03 [[ 7.12382031e-01 -7.01628155e-01 -1.51583050e-02 9.42020866e+01] [ 7.01481821e-01 7.12543160e-01 -1.43352543e-02 3.54930741e+01] [ 2.08589646e-02 -4.21097866e-04 9.99782339e-01 2.02985731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:35.51, Z:2.03 [[ 7.13639477e-01 -7.00355734e-01 -1.48506839e-02 9.42220420e+01] [ 7.00214949e-01 7.13793882e-01 -1.40470129e-02 3.55147758e+01] [ 2.04382334e-02 -3.74167909e-04 9.99791047e-01 2.03054508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:35.54, Z:2.03 [[ 7.15644464e-01 -6.98313396e-01 -1.45397011e-02 9.42411948e+01] [ 6.98177887e-01 7.15792085e-01 -1.37596947e-02 3.55362047e+01] [ 2.00159820e-02 -3.04248456e-04 9.99799614e-01 2.03139762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:35.56, Z:2.03 [[ 7.16193922e-01 -6.97752474e-01 -1.44135433e-02 9.42615992e+01] [ 6.97619048e-01 7.16338890e-01 -1.36476492e-02 3.55573058e+01] [ 1.98476626e-02 -2.80798992e-04 9.99802976e-01 2.03193999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:35.58, Z:2.03 [[ 7.16511596e-01 -6.97428897e-01 -1.42852281e-02 9.42809622e+01] [ 6.97297622e-01 7.16653936e-01 -1.35337038e-02 3.55760263e+01] [ 1.96763611e-02 -2.63999839e-04 9.99806367e-01 2.03243633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:35.60, Z:2.03 [[ 7.16952107e-01 -6.96981627e-01 -1.40102323e-02 9.43005297e+01] [ 6.96855191e-01 7.17088943e-01 -1.32774783e-02 3.55951387e+01] [ 1.93007411e-02 -2.43787069e-04 9.99813694e-01 2.03294493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:35.62, Z:2.03 [[ 7.16889322e-01 -6.97052684e-01 -1.36841533e-02 9.43203938e+01] [ 6.96932011e-01 7.17019874e-01 -1.29720141e-02 3.56153076e+01] [ 1.88539871e-02 -2.37426138e-04 9.99822220e-01 2.03348163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:35.63, Z:2.03 [[ 7.16315617e-01 -6.97639326e-01 -1.38314053e-02 9.43419907e+01] [ 6.97515986e-01 7.16449097e-01 -1.31202071e-02 3.56334679e+01] [ 1.90626703e-02 -2.49417004e-04 9.99818260e-01 2.03402882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.342755096 meters Centerline goodness [0,1] 0.9999784742552092 Centerline is valid? [True, True] Translation: X:94.36, Y:35.65, Z:2.03 [[ 7.15734480e-01 -6.98237643e-01 -1.37240257e-02 9.43624505e+01] [ 6.98116246e-01 7.15865998e-01 -1.30222938e-02 3.56525311e+01] [ 1.89172190e-02 -2.60460591e-04 9.99821019e-01 2.03445026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:35.67, Z:2.03 [[ 7.15030224e-01 -6.98956882e-01 -1.38223013e-02 9.43830876e+01] [ 6.98833724e-01 7.15163758e-01 -1.31234647e-02 3.56705593e+01] [ 1.90579449e-02 -2.75816348e-04 9.99818343e-01 2.03480985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:35.69, Z:2.03 [[ 7.13335734e-01 -7.00680825e-01 -1.40894380e-02 9.44050628e+01] [ 7.00553053e-01 7.13474791e-01 -1.33844306e-02 3.56891676e+01] [ 1.94306727e-02 -3.22806195e-04 9.99811155e-01 2.03478530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:35.71, Z:2.03 [[ 7.12280637e-01 -7.01744483e-01 -1.45249551e-02 9.44265213e+01] [ 7.01608760e-01 7.12428630e-01 -1.38056401e-02 3.57080178e+01] [ 2.00360256e-02 -3.57345594e-04 9.99799195e-01 2.03489247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:35.73, Z:2.03 [[ 7.11031571e-01 -7.03004689e-01 -1.47821310e-02 9.44477143e+01] [ 7.02864235e-01 7.11185104e-01 -1.40575818e-02 3.57256069e+01] [ 2.03953773e-02 -3.94446732e-04 9.99791915e-01 2.03452610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:35.74, Z:2.03 [[ 7.08754156e-01 -7.05291893e-01 -1.51951665e-02 9.44701882e+01] [ 7.05143912e-01 7.08916868e-01 -1.44547031e-02 3.57434711e+01] [ 2.09668947e-02 -4.69948267e-04 9.99780060e-01 2.03422479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:35.76, Z:2.03 [[ 7.07297587e-01 -7.06743043e-01 -1.56331273e-02 9.44912431e+01] [ 7.06586590e-01 7.07470140e-01 -1.48792793e-02 3.57628537e+01] [ 2.15757979e-02 -5.22079815e-04 9.99767079e-01 2.03451136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:35.78, Z:2.03 [[ 7.06333617e-01 -7.07706473e-01 -1.56323101e-02 9.45125765e+01] [ 7.07550105e-01 7.06506369e-01 -1.48862003e-02 3.57815356e+01] [ 2.15793870e-02 -5.46018998e-04 9.99766989e-01 2.03480189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:35.80, Z:2.04 [[ 7.04551948e-01 -7.09475258e-01 -1.58559637e-02 9.45345947e+01] [ 7.09314729e-01 7.04730084e-01 -1.51037383e-02 3.57984252e+01] [ 2.18899033e-02 -6.05500392e-04 9.99760204e-01 2.03557699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.56, Y:35.82, Z:2.04 [[ 7.03590183e-01 -7.10430721e-01 -1.57811608e-02 9.45565899e+01] [ 7.10271816e-01 7.03766862e-01 -1.50383258e-02 3.58155971e+01] [ 2.17899467e-02 -6.28095394e-04 9.99762374e-01 2.03615030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:35.84, Z:2.04 [[ 7.02519320e-01 -7.11490824e-01 -1.57293144e-02 9.45763997e+01] [ 7.11333131e-01 7.02695081e-01 -1.49933083e-02 3.58359054e+01] [ 2.17205132e-02 -6.55693751e-04 9.99763867e-01 2.03662643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:35.85, Z:2.04 [[ 7.01981712e-01 -7.12022706e-01 -1.56634267e-02 9.45978251e+01] [ 7.11866359e-01 7.02156124e-01 -1.49353193e-02 3.58533645e+01] [ 2.16324574e-02 -6.65945548e-04 9.99765769e-01 2.03716518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:35.87, Z:2.04 [[ 7.01758089e-01 -7.12246191e-01 -1.55224730e-02 9.46171285e+01] [ 7.12092535e-01 7.01929431e-01 -1.48086495e-02 3.58741330e+01] [ 2.14430849e-02 -6.61347544e-04 9.99769852e-01 2.03795153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:35.90, Z:2.04 [[ 7.01575202e-01 -7.12426918e-01 -1.54958567e-02 9.46350788e+01] [ 7.12273646e-01 7.01746002e-01 -1.47919696e-02 3.58963637e+01] [ 2.14123528e-02 -6.59611300e-04 9.99770512e-01 2.03913718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:35.92, Z:2.04 [[ 7.01157949e-01 -7.12834662e-01 -1.56293143e-02 9.46557596e+01] [ 7.12678635e-01 7.01331800e-01 -1.49288119e-02 3.59158856e+01] [ 2.16031098e-02 -6.71223275e-04 9.99766400e-01 2.04000896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:35.94, Z:2.04 [[ 7.00826807e-01 -7.13163869e-01 -1.54622922e-02 9.46760056e+01] [ 7.13011044e-01 7.00997040e-01 -1.47783687e-02 3.59350781e+01] [ 2.13784196e-02 -6.67708127e-04 9.99771233e-01 2.04023069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:35.95, Z:2.04 [[ 7.00406346e-01 -7.13572419e-01 -1.56637883e-02 9.46962562e+01] [ 7.13415484e-01 7.00581143e-01 -1.49802962e-02 3.59533282e+01] [ 2.16632809e-02 -6.82494605e-04 9.99765091e-01 2.04065902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:35.97, Z:2.04 [[ 7.00028143e-01 -7.13941759e-01 -1.57405174e-02 9.47167713e+01] [ 7.13783191e-01 7.00204746e-01 -1.50622148e-02 3.59726981e+01] [ 2.17751291e-02 -6.91342529e-04 9.99762655e-01 2.04133741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:35.99, Z:2.04 [[ 6.99703246e-01 -7.14264589e-01 -1.55391146e-02 9.47371634e+01] [ 7.14109941e-01 6.99875436e-01 -1.48783877e-02 3.59925296e+01] [ 2.15025501e-02 -6.86180026e-04 9.99768558e-01 2.04213740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:36.01, Z:2.04 [[ 6.99447260e-01 -7.14516056e-01 -1.55027687e-02 9.47614186e+01] [ 7.14362001e-01 6.99618706e-01 -1.48525201e-02 3.60066475e+01] [ 2.14583911e-02 -6.86034330e-04 9.99769507e-01 2.04280632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:36.03, Z:2.04 [[ 6.99276045e-01 -7.14684262e-01 -1.54731628e-02 9.47767113e+01] [ 7.14530661e-01 6.99446880e-01 -1.48322761e-02 3.60315178e+01] [ 2.14230497e-02 -6.84193907e-04 9.99770266e-01 2.04377040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:36.05, Z:2.04 [[ 6.99145821e-01 -7.14814199e-01 -1.53551871e-02 9.47965626e+01] [ 7.14662779e-01 6.99314094e-01 -1.47278664e-02 3.60513984e+01] [ 2.12657868e-02 -6.76854484e-04 9.99773628e-01 2.04477868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:36.07, Z:2.05 [[ 6.98863815e-01 -7.15096240e-01 -1.50577246e-02 9.48143937e+01] [ 7.14950521e-01 6.99025696e-01 -1.44509400e-02 3.60736974e+01] [ 2.08595492e-02 -6.66288979e-04 9.99782194e-01 2.04548789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:36.09, Z:2.05 [[ 6.99108749e-01 -7.14847190e-01 -1.55065578e-02 9.48333559e+01] [ 7.14692387e-01 6.99280376e-01 -1.48911774e-02 3.60931034e+01] [ 2.14883479e-02 -6.71866373e-04 9.99768873e-01 2.04606636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:36.11, Z:2.05 [[ 6.99359196e-01 -7.14604471e-01 -1.54001747e-02 9.48528502e+01] [ 7.14451566e-01 6.99528428e-01 -1.47965483e-02 3.61133973e+01] [ 2.13465395e-02 -6.54576814e-04 9.99771922e-01 2.04655743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:36.13, Z:2.05 [[ 6.99798751e-01 -7.14171970e-01 -1.54953487e-02 9.48743117e+01] [ 7.14016872e-01 6.99969992e-01 -1.48968722e-02 3.61300665e+01] [ 2.14852076e-02 -6.39127819e-04 9.99768962e-01 2.04679165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:36.16, Z:2.05 [[ 7.00884069e-01 -7.13087114e-01 -1.63795837e-02 9.48889566e+01] [ 7.12913356e-01 7.01075149e-01 -1.57537955e-02 3.61559605e+01] [ 2.27171476e-02 -6.35639699e-04 9.99741730e-01 2.04682641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:36.17, Z:2.05 [[ 7.01674501e-01 -7.12302774e-01 -1.66629118e-02 9.49118017e+01] [ 7.12122533e-01 7.01872054e-01 -1.60348945e-02 3.61724004e+01] [ 2.31169319e-02 -6.14758364e-04 9.99732579e-01 2.04603688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:36.19, Z:2.05 [[ 7.03334272e-01 -7.10656060e-01 -1.69960602e-02 9.49290076e+01] [ 7.10467929e-01 7.03539368e-01 -1.63609214e-02 3.61939915e+01] [ 2.35843854e-02 -5.67958982e-04 9.99721688e-01 2.04607910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:36.21, Z:2.05 [[ 7.04138520e-01 -7.09862883e-01 -1.68413870e-02 9.49477432e+01] [ 7.09677807e-01 7.04339693e-01 -1.62174919e-02 3.62144941e+01] [ 2.33742529e-02 -5.32597860e-04 9.99726643e-01 2.04646426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:36.24, Z:2.05 [[ 7.04822439e-01 -7.09186031e-01 -1.67482238e-02 9.49666953e+01] [ 7.09002665e-01 7.05021220e-01 -1.61338215e-02 3.62352194e+01] [ 2.32497340e-02 -5.03055901e-04 9.99729562e-01 2.04700123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:36.26, Z:2.05 [[ 7.06316565e-01 -7.07700086e-01 -1.66582615e-02 9.49816785e+01] [ 7.07518075e-01 7.06512838e-01 -1.60556654e-02 3.62614545e+01] [ 2.31318714e-02 -4.45638653e-04 9.99732323e-01 2.04820415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:36.28, Z:2.05 [[ 7.07073199e-01 -7.06946422e-01 -1.65604403e-02 9.50045014e+01] [ 7.06766142e-01 7.07266984e-01 -1.59697551e-02 3.62782634e+01] [ 2.30024139e-02 -4.12572726e-04 9.99735324e-01 2.04816256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:36.30, Z:2.05 [[ 7.07572494e-01 -7.06441559e-01 -1.67776537e-02 9.50227189e+01] [ 7.06256242e-01 7.07771266e-01 -1.61850195e-02 3.62977698e+01] [ 2.33085117e-02 -3.97248036e-04 9.99728241e-01 2.04846960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:36.32, Z:2.05 [[ 7.08395626e-01 -7.05618837e-01 -1.66641645e-02 9.50390830e+01] [ 7.05435586e-01 7.08591509e-01 -1.60843987e-02 3.63228621e+01] [ 2.31575402e-02 -3.61376933e-04 9.99731763e-01 2.04976057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:36.34, Z:2.05 [[ 7.08682912e-01 -7.05329936e-01 -1.66796796e-02 9.50584639e+01] [ 7.05146069e-01 7.08879088e-01 -1.61077813e-02 3.63420236e+01] [ 2.31851764e-02 -3.46301147e-04 9.99731128e-01 2.05024906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:36.36, Z:2.05 [[ 7.08569389e-01 -7.05450704e-01 -1.63928488e-02 9.50811144e+01] [ 7.05273020e-01 7.08758907e-01 -1.58359909e-02 3.63579950e+01] [ 2.27900886e-02 -3.40535592e-04 9.99740214e-01 2.05020584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:36.38, Z:2.05 [[ 7.08418412e-01 -7.05598905e-01 -1.65389872e-02 9.50979921e+01] [ 7.05417916e-01 7.08611366e-01 -1.59842752e-02 3.63804234e+01] [ 2.29982014e-02 -3.43343051e-04 9.99735447e-01 2.05141938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:36.40, Z:2.05 [[ 7.07548567e-01 -7.06476343e-01 -1.63156832e-02 9.51197031e+01] [ 7.06300227e-01 7.07736566e-01 -1.57779085e-02 3.63997273e+01] [ 2.26939247e-02 -3.60134188e-04 9.99742395e-01 2.05222041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:36.42, Z:2.05 [[ 7.06709134e-01 -7.07314814e-01 -1.63692791e-02 9.51405834e+01] [ 7.07137566e-01 7.06898584e-01 -1.58383860e-02 3.64183455e+01] [ 2.27741452e-02 -3.82200075e-04 9.99740562e-01 2.05285237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:36.44, Z:2.05 [[ 7.06492586e-01 -7.07531220e-01 -1.63645643e-02 9.51602706e+01] [ 7.07353917e-01 7.06681984e-01 -1.58432560e-02 3.64376464e+01] [ 2.27741411e-02 -3.82395754e-04 9.99740562e-01 2.05341386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:36.46, Z:2.05 [[ 7.05634316e-01 -7.08389855e-01 -1.62488472e-02 9.51814510e+01] [ 7.08215074e-01 7.05821261e-01 -1.57402874e-02 3.64559497e+01] [ 2.26190417e-02 -4.00791634e-04 9.99744076e-01 2.05416613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:36.47, Z:2.05 [[ 7.03677779e-01 -7.10334995e-01 -1.61795587e-02 9.52039081e+01] [ 7.10162115e-01 7.03863613e-01 -1.56775293e-02 3.64731576e+01] [ 2.25245003e-02 -4.58180564e-04 9.99746186e-01 2.05458418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:36.49, Z:2.06 [[ 7.02272332e-01 -7.11725077e-01 -1.61550893e-02 9.52263774e+01] [ 7.11552960e-01 7.02457947e-01 -1.56594534e-02 3.64919931e+01] [ 2.24934966e-02 -4.98000731e-04 9.99746865e-01 2.05521014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:36.51, Z:2.06 [[ 6.99667080e-01 -7.14284998e-01 -1.62147428e-02 9.52492293e+01] [ 7.14112106e-01 6.99854706e-01 -1.57254976e-02 3.65095169e+01] [ 2.25804511e-02 -5.76531130e-04 9.99744863e-01 2.05608636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.27, Y:36.53, Z:2.06 [[ 6.98271148e-01 -7.15647337e-01 -1.63184887e-02 9.52698763e+01] [ 7.15472401e-01 6.98461528e-01 -1.58346886e-02 3.65291998e+01] [ 2.27298893e-02 -6.18522087e-04 9.99741451e-01 2.05687743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:36.54, Z:2.06 [[ 6.96969409e-01 -7.16923770e-01 -1.59358128e-02 9.52954411e+01] [ 7.16757094e-01 6.97151274e-01 -1.54715397e-02 3.65430856e+01] [ 2.22015868e-02 -6.38917029e-04 9.99753310e-01 2.05700442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:36.57, Z:2.06 [[ 6.95579574e-01 -7.18271911e-01 -1.59536143e-02 9.53145282e+01] [ 7.18105092e-01 6.95762173e-01 -1.54943904e-02 3.65652580e+01] [ 2.22291068e-02 -6.78790205e-04 9.99752672e-01 2.05810916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:36.58, Z:2.06 [[ 6.93540770e-01 -7.20250966e-01 -1.54837330e-02 9.53361800e+01] [ 7.20094150e-01 6.93713222e-01 -1.50459294e-02 3.65839849e+01] [ 2.15781155e-02 -7.14780115e-04 9.99766910e-01 2.05850699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:36.60, Z:2.06 [[ 6.92587933e-01 -7.21170292e-01 -1.53416089e-02 9.53569983e+01] [ 7.21016394e-01 6.92757443e-01 -1.49159013e-02 3.66044379e+01] [ 2.13849186e-02 -7.30978237e-04 9.99771049e-01 2.05914939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:36.62, Z:2.06 [[ 6.91988146e-01 -7.21755050e-01 -1.49014525e-02 9.53780087e+01] [ 7.21609830e-01 6.92148197e-01 -1.44957689e-02 3.66239729e+01] [ 2.07764079e-02 -7.22134386e-04 9.99783886e-01 2.06031843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:36.64, Z:2.06 [[ 6.91951616e-01 -7.21795475e-01 -1.46373938e-02 9.53987217e+01] [ 7.21655206e-01 6.92106057e-01 -1.42467292e-02 3.66416890e+01] [ 2.04138536e-02 -7.05104144e-04 9.99791367e-01 2.06122112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:36.66, Z:2.06 [[ 6.92031527e-01 -7.21723244e-01 -1.44195769e-02 9.54186639e+01] [ 7.21586983e-01 6.92181396e-01 -1.40406818e-02 3.66615532e+01] [ 2.01144493e-02 -6.88384588e-04 9.99797447e-01 2.06213357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:36.68, Z:2.06 [[ 6.93154908e-01 -7.20650453e-01 -1.41137743e-02 9.54376438e+01] [ 7.20519524e-01 6.93298289e-01 -1.37512466e-02 3.66833597e+01] [ 1.96948977e-02 -6.37505840e-04 9.99805833e-01 2.06279402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:36.70, Z:2.06 [[ 6.93970200e-01 -7.19861759e-01 -1.42971702e-02 9.54595084e+01] [ 7.19727081e-01 6.94117185e-01 -1.39377858e-02 3.67002237e+01] [ 1.99571905e-02 -6.17652520e-04 9.99800645e-01 2.06326001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:36.72, Z:2.06 [[ 6.94621801e-01 -7.19231017e-01 -1.43978458e-02 9.54758277e+01] [ 7.19094247e-01 6.94770741e-01 -1.40385929e-02 3.67245515e+01] [ 2.01001935e-02 -6.01895400e-04 9.99797790e-01 2.06347932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:36.75, Z:2.06 [[ 6.96300140e-01 -7.17601366e-01 -1.46422514e-02 9.54944908e+01] [ 7.17459389e-01 6.96453852e-01 -1.42848622e-02 3.67452636e+01] [ 2.04484890e-02 -5.58669158e-04 9.99790752e-01 2.06344815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:36.77, Z:2.06 [[ 6.96825907e-01 -7.17086789e-01 -1.48388723e-02 9.55137323e+01] [ 7.16940796e-01 6.96983670e-01 -1.44796171e-02 3.67654600e+01] [ 2.07255938e-02 -5.48820603e-04 9.99785051e-01 2.06366589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:36.78, Z:2.06 [[ 6.97156230e-01 -7.16766128e-01 -1.48158280e-02 9.55333660e+01] [ 7.16620338e-01 6.97313441e-01 -1.44657251e-02 3.67848234e+01] [ 2.06998178e-02 -5.32453308e-04 9.99785594e-01 2.06425819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:36.81, Z:2.07 [[ 6.97462800e-01 -7.16479210e-01 -1.42542775e-02 9.55522395e+01] [ 7.16344097e-01 6.97608265e-01 -1.39227763e-02 3.68063334e+01] [ 1.99192816e-02 -5.00349023e-04 9.99801466e-01 2.06563036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:36.82, Z:2.07 [[ 6.97284535e-01 -7.16660094e-01 -1.38775556e-02 9.55725187e+01] [ 7.16531921e-01 6.97422449e-01 -1.35622205e-02 3.68236100e+01] [ 1.93980210e-02 -4.86984919e-04 9.99811722e-01 2.06680828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:36.84, Z:2.07 [[ 6.96980709e-01 -7.16964095e-01 -1.34304657e-02 9.55922762e+01] [ 7.16844024e-01 6.97109934e-01 -1.31295889e-02 3.68426026e+01] [ 1.87759549e-02 -4.76478872e-04 9.99823603e-01 2.06804758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:36.86, Z:2.07 [[ 6.96432038e-01 -7.17505700e-01 -1.29609406e-02 9.56125035e+01] [ 7.17393853e-01 6.96552475e-01 -1.26771265e-02 3.68622809e+01] [ 1.81238858e-02 -4.69342067e-04 9.99835639e-01 2.06932287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:36.88, Z:2.07 [[ 6.95334019e-01 -7.18581110e-01 -1.23203246e-02 9.56330254e+01] [ 7.18480094e-01 6.95443002e-01 -1.20576080e-02 3.68806373e+01] [ 1.72324529e-02 -4.67842974e-04 9.99851401e-01 2.07110029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:36.90, Z:2.07 [[ 6.93691117e-01 -7.20178851e-01 -1.16213975e-02 9.56511052e+01] [ 7.20089156e-01 6.93788292e-01 -1.13759906e-02 3.69033160e+01] [ 1.62555374e-02 -4.77018738e-04 9.99867756e-01 2.07198171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:36.92, Z:2.07 [[ 6.92839065e-01 -7.20999987e-01 -1.15347160e-02 9.56752741e+01] [ 7.20911625e-01 6.92934904e-01 -1.12980987e-02 3.69188773e+01] [ 1.61387363e-02 -4.87746776e-04 9.99869643e-01 2.07316445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:36.94, Z:2.07 [[ 6.91993259e-01 -7.21814535e-01 -1.13624905e-02 9.56922031e+01] [ 7.21728863e-01 6.92086360e-01 -1.11318947e-02 3.69435242e+01] [ 1.58989881e-02 -4.97441256e-04 9.99873479e-01 2.07272053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:36.96, Z:2.07 [[ 6.91236971e-01 -7.22535249e-01 -1.15872187e-02 9.57122176e+01] [ 7.22446138e-01 6.91333888e-01 -1.13592660e-02 3.69636125e+01] [ 1.62181070e-02 -5.19196788e-04 9.99868343e-01 2.07272685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:36.98, Z:2.07 [[ 6.90251307e-01 -7.23471127e-01 -1.19440752e-02 9.57319279e+01] [ 7.23376534e-01 6.90354416e-01 -1.17119979e-02 3.69845226e+01] [ 1.67189374e-02 -5.55841817e-04 9.99860074e-01 2.07209381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:37.00, Z:2.07 [[ 6.89965946e-01 -7.23739522e-01 -1.21695274e-02 9.57515715e+01] [ 7.23641251e-01 6.90073026e-01 -1.19397512e-02 3.70043043e+01] [ 1.70391325e-02 -5.68350316e-04 9.99854662e-01 2.07208860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:37.02, Z:2.07 [[ 6.89773130e-01 -7.23922236e-01 -1.22321093e-02 9.57712551e+01] [ 7.23822838e-01 6.89881345e-01 -1.20095318e-02 3.70232247e+01] [ 1.71326711e-02 -5.70027749e-04 9.99853063e-01 2.07234861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:37.04, Z:2.07 [[ 6.89714435e-01 -7.23975067e-01 -1.24137409e-02 9.57897047e+01] [ 7.23872635e-01 6.89825898e-01 -1.21917304e-02 3.70443543e+01] [ 1.73898288e-02 -5.77154931e-04 9.99848619e-01 2.07250689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:37.07, Z:2.07 [[ 6.89852627e-01 -7.23841518e-01 -1.25224080e-02 9.58101630e+01] [ 7.23737112e-01 6.89966035e-01 -1.23070626e-02 3.70654421e+01] [ 1.75483990e-02 -5.72871923e-04 9.99845851e-01 2.07276033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:37.09, Z:2.07 [[ 6.89843721e-01 -7.23853383e-01 -1.23255757e-02 9.58298005e+01] [ 7.23752182e-01 6.89953595e-01 -1.21167058e-02 3.70851522e+01] [ 1.72747937e-02 -5.62028878e-04 9.99850622e-01 2.07343865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:37.11, Z:2.07 [[ 6.90732948e-01 -7.23005104e-01 -1.23131693e-02 9.58491801e+01] [ 7.22903828e-01 6.90842481e-01 -1.21128741e-02 3.71051825e+01] [ 1.72641303e-02 -5.34475992e-04 9.99850821e-01 2.07361950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:37.13, Z:2.07 [[ 6.91227565e-01 -7.22527516e-01 -1.25874038e-02 9.58686563e+01] [ 7.22421535e-01 6.91341960e-01 -1.23862390e-02 3.71257284e+01] [ 1.76515989e-02 -5.31701796e-04 9.99844057e-01 2.07419821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:37.14, Z:2.07 [[ 6.91429410e-01 -7.22337103e-01 -1.24290384e-02 9.58900230e+01] [ 7.22233612e-01 6.91540921e-01 -1.22378282e-02 3.71427036e+01] [ 1.74350260e-02 -5.15074979e-04 9.99847866e-01 2.07494682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:37.16, Z:2.08 [[ 6.92770886e-01 -7.21051140e-01 -1.23997220e-02 9.59086842e+01] [ 7.20947808e-01 6.92881683e-01 -1.22160153e-02 3.71633815e+01] [ 1.73999120e-02 -4.76652681e-04 9.99848496e-01 2.07556743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:37.19, Z:2.08 [[ 6.93310011e-01 -7.20534461e-01 -1.23012159e-02 9.59247537e+01] [ 7.20432661e-01 6.93418979e-01 -1.21202673e-02 3.71882336e+01] [ 1.72629669e-02 -4.59095083e-04 9.99850878e-01 2.07568151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:37.21, Z:2.08 [[ 6.94557301e-01 -7.19336071e-01 -1.20736389e-02 9.59441115e+01] [ 7.19237698e-01 6.94662107e-01 -1.19033956e-02 3.72076631e+01] [ 1.69496413e-02 -4.16225926e-04 9.99856258e-01 2.07645245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:37.23, Z:2.08 [[ 6.95232993e-01 -7.18682624e-01 -1.20984334e-02 9.59641907e+01] [ 7.18583721e-01 6.95338138e-01 -1.19293558e-02 3.72287862e+01] [ 1.69859229e-02 -4.00055589e-04 9.99855649e-01 2.07700887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:37.25, Z:2.08 [[ 6.95903810e-01 -7.18034767e-01 -1.19983675e-02 9.59838371e+01] [ 7.17937292e-01 6.96007135e-01 -1.18369251e-02 3.72493422e+01] [ 1.68502732e-02 -3.76714208e-04 9.99857953e-01 2.07749035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:37.27, Z:2.08 [[ 6.96349316e-01 -7.17603581e-01 -1.19470001e-02 9.60026628e+01] [ 7.17506752e-01 6.96451701e-01 -1.17935896e-02 3.72685881e+01] [ 1.67836307e-02 -3.59595148e-04 9.99859080e-01 2.07828303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:37.29, Z:2.08 [[ 6.97426230e-01 -7.16554719e-01 -1.20825911e-02 9.60224978e+01] [ 7.16455420e-01 6.97530805e-01 -1.19334615e-02 3.72893088e+01] [ 1.69789577e-02 -3.33928853e-04 9.99855791e-01 2.07839638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:37.31, Z:2.08 [[ 6.97642886e-01 -7.16338692e-01 -1.23807232e-02 9.60417953e+01] [ 7.16234283e-01 6.97752656e-01 -1.22345455e-02 3.73101495e+01] [ 1.74027608e-02 -3.32154728e-04 9.99848505e-01 2.07866548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:37.33, Z:2.08 [[ 6.97812620e-01 -7.16164937e-01 -1.28580609e-02 9.60617876e+01] [ 7.16052152e-01 6.97930993e-01 -1.27139440e-02 3.73303929e+01] [ 1.80793201e-02 -3.35091587e-04 9.99836500e-01 2.07913112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:37.35, Z:2.08 [[ 6.97698644e-01 -7.16275887e-01 -1.28629535e-02 9.60816842e+01] [ 7.16162888e-01 6.97817127e-01 -1.27269267e-02 3.73483319e+01] [ 1.80919799e-02 -3.32410403e-04 9.99836271e-01 2.07922055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:37.37, Z:2.08 [[ 6.97295445e-01 -7.16671682e-01 -1.26792203e-02 9.61020258e+01] [ 7.16561885e-01 6.97410631e-01 -1.25489706e-02 3.73672981e+01] [ 1.78361149e-02 -3.35105929e-04 9.99840868e-01 2.07957345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:37.38, Z:2.08 [[ 6.96092639e-01 -7.17835849e-01 -1.29124542e-02 9.61239201e+01] [ 7.17722020e-01 6.96212295e-01 -1.27883770e-02 3.73844570e+01] [ 1.81697649e-02 -3.65657609e-04 9.99834849e-01 2.08024388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:37.40, Z:2.08 [[ 6.95153921e-01 -7.18747941e-01 -1.27445625e-02 9.61454947e+01] [ 7.18637137e-01 6.95270632e-01 -1.26259235e-02 3.74015480e+01] [ 1.79357765e-02 -3.81755697e-04 9.99839068e-01 2.08071971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:37.42, Z:2.08 [[ 6.94173427e-01 -7.19689870e-01 -1.30285970e-02 9.61654595e+01] [ 7.19574153e-01 6.94295557e-01 -1.29119293e-02 3.74222537e+01] [ 1.83382818e-02 -4.11923471e-04 9.99831755e-01 2.08086756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:37.44, Z:2.08 [[ 6.92848790e-01 -7.20962610e-01 -1.31707706e-02 9.61870684e+01] [ 7.20844447e-01 6.92973821e-01 -1.30600977e-02 3.74418806e+01] [ 1.85428413e-02 -4.45403949e-04 9.99827968e-01 2.08121029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:37.46, Z:2.08 [[ 6.90843755e-01 -7.22886111e-01 -1.30604866e-02 9.62097327e+01] [ 7.22770126e-01 6.90967027e-01 -1.29581318e-02 3.74583410e+01] [ 1.83916191e-02 -4.87685111e-04 9.99830741e-01 2.08186425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:37.48, Z:2.08 [[ 6.89829112e-01 -7.23853686e-01 -1.31010886e-02 9.62311207e+01] [ 7.23737048e-01 6.89953318e-01 -1.30040390e-02 3.74762289e+01] [ 1.84521610e-02 -5.11178508e-04 9.99829614e-01 2.08245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:37.50, Z:2.08 [[ 6.88991513e-01 -7.24655647e-01 -1.28408978e-02 9.62523928e+01] [ 7.24543667e-01 6.89110966e-01 -1.27495796e-02 3.74950719e+01] [ 1.80878583e-02 -5.19439093e-04 9.99836266e-01 2.08319805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:37.51, Z:2.08 [[ 6.87342634e-01 -7.26221879e-01 -1.27234394e-02 9.62752112e+01] [ 7.26112141e-01 6.87460164e-01 -1.26365529e-02 3.75134787e+01] [ 1.79237989e-02 -5.53002212e-04 9.99839203e-01 2.08367341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:37.53, Z:2.08 [[ 6.86466741e-01 -7.27050601e-01 -1.26821936e-02 9.62962907e+01] [ 7.26941592e-01 6.86583645e-01 -1.26024050e-02 3.75330358e+01] [ 1.78699728e-02 -5.68082146e-04 9.99840158e-01 2.08362614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:37.55, Z:2.08 [[ 6.85292161e-01 -7.28146034e-01 -1.33419420e-02 9.63182423e+01] [ 7.28025446e-01 6.85421743e-01 -1.32659150e-02 3.75511309e+01] [ 1.88043805e-02 -6.22245727e-04 9.99822988e-01 2.08357297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:37.57, Z:2.08 [[ 6.84774128e-01 -7.28633627e-01 -1.33203047e-02 9.63394204e+01] [ 7.28513442e-01 6.84903379e-01 -1.32486365e-02 3.75710819e+01] [ 1.87765237e-02 -6.31697531e-04 9.99823506e-01 2.08379575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:37.59, Z:2.08 [[ 6.84602759e-01 -7.28784920e-01 -1.38420740e-02 9.63599463e+01] [ 7.28655010e-01 6.84742368e-01 -1.37755132e-02 3.75894232e+01] [ 1.95176408e-02 -6.55342256e-04 9.99809298e-01 2.08390559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:37.61, Z:2.08 [[ 6.84659751e-01 -7.28732094e-01 -1.38043830e-02 9.63800407e+01] [ 7.28602730e-01 6.84798596e-01 -1.37457029e-02 3.76089387e+01] [ 1.94701570e-02 -6.46781615e-04 9.99810229e-01 2.08410916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:37.63, Z:2.08 [[ 6.84949394e-01 -7.28463247e-01 -1.36244447e-02 9.63995364e+01] [ 7.28337022e-01 6.85084599e-01 -1.35748084e-02 3.76288066e+01] [ 1.92226462e-02 -6.25130649e-04 9.99815032e-01 2.08462038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:37.65, Z:2.08 [[ 6.85351671e-01 -7.28084269e-01 -1.36522726e-02 9.64192896e+01] [ 7.27957292e-01 6.85487364e-01 -1.36108770e-02 3.76478305e+01] [ 1.92683258e-02 -6.10034056e-04 9.99814162e-01 2.08499934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.44, Y:37.67, Z:2.09 [[ 6.86598330e-01 -7.26907062e-01 -1.37425179e-02 9.64395174e+01] [ 7.26778032e-01 6.86735606e-01 -1.37076644e-02 3.76670759e+01] [ 1.94016744e-02 -5.76100651e-04 9.99811604e-01 2.08577682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:37.69, Z:2.09 [[ 6.86379412e-01 -7.27113799e-01 -1.37413706e-02 9.64589226e+01] [ 7.26984788e-01 6.86516705e-01 -1.37088144e-02 3.76866812e+01] [ 1.94015486e-02 -5.80319418e-04 9.99811604e-01 2.08633975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:37.71, Z:2.09 [[ 6.86951280e-01 -7.26575249e-01 -1.36508779e-02 9.64789084e+01] [ 7.26447668e-01 6.87086675e-01 -1.36267062e-02 3.77062927e+01] [ 1.92801638e-02 -5.55765154e-04 9.99813966e-01 2.08730167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:37.73, Z:2.09 [[ 6.87453159e-01 -7.26110350e-01 -1.31115931e-02 9.64989004e+01] [ 7.25992432e-01 6.87577991e-01 -1.30956263e-02 3.77264669e+01] [ 1.85241126e-02 -5.16287697e-04 9.99828281e-01 2.08854062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:37.75, Z:2.09 [[ 6.89064923e-01 -7.24593976e-01 -1.23734291e-02 9.65182199e+01] [ 7.24488587e-01 6.89175865e-01 -1.23658582e-02 3.77468755e+01] [ 1.74876951e-02 -4.43529023e-04 9.99846980e-01 2.08979598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:37.77, Z:2.09 [[ 6.89720173e-01 -7.23973608e-01 -1.21777693e-02 9.65375238e+01] [ 7.23871406e-01 6.89827543e-01 -1.21716569e-02 3.77670175e+01] [ 1.72125190e-02 -4.20101668e-04 9.99851765e-01 2.09075465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:37.79, Z:2.09 [[ 6.90910628e-01 -7.22852401e-01 -1.12654522e-02 9.65565626e+01] [ 7.22764679e-01 6.91002373e-01 -1.12667825e-02 3.77868395e+01] [ 1.59286749e-02 -3.57931141e-04 9.99873067e-01 2.09263344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:37.81, Z:2.09 [[ 6.91135565e-01 -7.22636284e-01 -1.13327442e-02 9.65765741e+01] [ 7.22547468e-01 6.91228381e-01 -1.13349453e-02 3.78071453e+01] [ 1.60245572e-02 -3.54461774e-04 9.99871536e-01 2.09356719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:37.83, Z:2.09 [[ 6.91419639e-01 -7.22366069e-01 -1.12314380e-02 9.65938984e+01] [ 7.22278701e-01 6.91510771e-01 -1.12397460e-02 3.78297343e+01] [ 1.58858715e-02 -3.40847302e-04 9.99873753e-01 2.09385432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:37.85, Z:2.10 [[ 6.91524609e-01 -7.22268278e-01 -1.10566656e-02 9.66158615e+01] [ 7.22183486e-01 6.91612917e-01 -1.10718292e-02 3.78462083e+01] [ 1.56437637e-02 -3.28498957e-04 9.99877575e-01 2.09553518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:37.86, Z:2.10 [[ 6.91874458e-01 -7.21926044e-01 -1.15118009e-02 9.66349697e+01] [ 7.21833961e-01 6.91970143e-01 -1.15349258e-02 3.78649648e+01] [ 1.62931859e-02 -3.28888346e-04 9.99867203e-01 2.09567609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:37.89, Z:2.10 [[ 6.91902611e-01 -7.21892498e-01 -1.19162520e-02 9.66524265e+01] [ 7.21793758e-01 6.92005135e-01 -1.19441631e-02 3.78874797e+01] [ 1.68685093e-02 -3.36878654e-04 9.99857660e-01 2.09524559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:37.91, Z:2.09 [[ 6.92047787e-01 -7.21750940e-01 -1.20598714e-02 9.66716647e+01] [ 7.21649656e-01 6.92152779e-01 -1.20956215e-02 3.79077730e+01] [ 1.70772997e-02 -3.32253899e-04 9.99854117e-01 2.09492551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:37.93, Z:2.09 [[ 6.92089563e-01 -7.21699666e-01 -1.27133122e-02 9.66915856e+01] [ 7.21586949e-01 6.92206236e-01 -1.27593313e-02 3.79282046e+01] [ 1.80086391e-02 -3.43160079e-04 9.99837772e-01 2.09433203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:37.95, Z:2.09 [[ 6.91839597e-01 -7.21940567e-01 -1.26408404e-02 9.67103072e+01] [ 7.21829033e-01 6.91954985e-01 -1.26943192e-02 3.79487191e+01] [ 1.79114365e-02 -3.42092861e-04 9.99839519e-01 2.09443561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:37.97, Z:2.09 [[ 6.91396494e-01 -7.22364326e-01 -1.26755114e-02 9.67305910e+01] [ 7.22252095e-01 6.91512588e-01 -1.27377773e-02 3.79669429e+01] [ 1.79665916e-02 -3.48060109e-04 9.99838527e-01 2.09461114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:37.99, Z:2.10 [[ 6.90876289e-01 -7.22859770e-01 -1.27947274e-02 9.67503074e+01] [ 7.22745422e-01 6.90994661e-01 -1.28620802e-02 3.79851924e+01] [ 1.81385686e-02 -3.61224387e-04 9.99835417e-01 2.09509934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:38.00, Z:2.10 [[ 6.89923390e-01 -7.23767995e-01 -1.28687613e-02 9.67731343e+01] [ 7.23652332e-01 6.90043291e-01 -1.29444234e-02 3.80016103e+01] [ 1.82487618e-02 -3.81848600e-04 9.99833405e-01 2.09569822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:38.02, Z:2.10 [[ 6.89354446e-01 -7.24306983e-01 -1.30323651e-02 9.67911190e+01] [ 7.24188394e-01 6.89477509e-01 -1.31123656e-02 3.80227249e+01] [ 1.84829005e-02 -3.98820042e-04 9.99829097e-01 2.09579272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:38.04, Z:2.10 [[ 6.88803506e-01 -7.24828073e-01 -1.31907076e-02 9.68114733e+01] [ 7.24706540e-01 6.88929673e-01 -1.32791479e-02 3.80424942e+01] [ 1.87125690e-02 -4.12668454e-04 9.99824819e-01 2.09595755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:38.06, Z:2.10 [[ 6.88449212e-01 -7.25165424e-01 -1.31449409e-02 9.68310236e+01] [ 7.25044642e-01 6.88574568e-01 -1.32413097e-02 3.80614084e+01] [ 1.86534120e-02 -4.14699775e-04 9.99825924e-01 2.09628987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:38.08, Z:2.10 [[ 6.88185192e-01 -7.25410914e-01 -1.34219383e-02 9.68520534e+01] [ 7.25284927e-01 6.88315934e-01 -1.35259061e-02 3.80790193e+01] [ 1.90503738e-02 -4.26401250e-04 9.99818434e-01 2.09680535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:38.10, Z:2.10 [[ 6.88133997e-01 -7.25457271e-01 -1.35407002e-02 9.68704482e+01] [ 7.25328910e-01 6.88267075e-01 -1.36530359e-02 3.81005765e+01] [ 1.92243123e-02 -4.26343153e-04 9.99815105e-01 2.09733725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:38.12, Z:2.10 [[ 6.88288965e-01 -7.25312531e-01 -1.34176378e-02 9.68892772e+01] [ 7.25186314e-01 6.88419612e-01 -1.35369357e-02 3.81219236e+01] [ 1.90554741e-02 -4.12963819e-04 9.99818343e-01 2.09806473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:38.14, Z:2.10 [[ 6.88830133e-01 -7.24793306e-01 -1.37007542e-02 9.69080920e+01] [ 7.24661434e-01 6.88966256e-01 -1.38312783e-02 3.81425676e+01] [ 1.94641753e-02 -4.01006898e-04 9.99810475e-01 2.09840088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:38.16, Z:2.10 [[ 6.89286399e-01 -7.24359641e-01 -1.36883331e-02 9.69275192e+01] [ 7.24227761e-01 6.89422195e-01 -1.38270237e-02 3.81631693e+01] [ 1.94527786e-02 -3.82691504e-04 9.99810704e-01 2.09901182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:38.18, Z:2.10 [[ 6.90271701e-01 -7.23416551e-01 -1.39094449e-02 9.69461070e+01] [ 7.23280013e-01 6.90411738e-01 -1.40589861e-02 3.81834227e+01] [ 1.97737472e-02 -3.55903211e-04 9.99804417e-01 2.09960643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:38.20, Z:2.10 [[ 6.90773176e-01 -7.22939658e-01 -1.38083497e-02 9.69652063e+01] [ 7.22804880e-01 6.90911093e-01 -1.39630793e-02 3.82031066e+01] [ 1.96348057e-02 -3.35421966e-04 9.99807162e-01 2.10027953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:38.22, Z:2.10 [[ 6.90929161e-01 -7.22786706e-01 -1.40097221e-02 9.69851267e+01] [ 7.22647794e-01 6.91071102e-01 -1.41738276e-02 3.82235877e+01] [ 1.99263682e-02 -3.30983961e-04 9.99801395e-01 2.10070124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:38.24, Z:2.10 [[ 6.91233350e-01 -7.22495022e-01 -1.40498881e-02 9.70040772e+01] [ 7.22355093e-01 6.91376049e-01 -1.42224226e-02 3.82428905e+01] [ 1.99893856e-02 -3.17995442e-04 9.99800142e-01 2.10105346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:38.26, Z:2.10 [[ 6.91163735e-01 -7.22559027e-01 -1.41825287e-02 9.70236936e+01] [ 7.22416307e-01 6.91309158e-01 -1.43641324e-02 3.82626520e+01] [ 2.01834455e-02 -3.17722646e-04 9.99796243e-01 2.10174548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:38.28, Z:2.10 [[ 6.90696374e-01 -7.23005981e-01 -1.41728722e-02 9.70424919e+01] [ 7.22863380e-01 6.90841694e-01 -1.43627175e-02 3.82829269e+01] [ 2.01755417e-02 -3.24773365e-04 9.99796400e-01 2.10197566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:38.30, Z:2.10 [[ 6.90322759e-01 -7.23359072e-01 -1.43576121e-02 9.70631951e+01] [ 7.23212622e-01 6.90471971e-01 -1.45588874e-02 3.83004011e+01] [ 2.04448320e-02 -3.33275012e-04 9.99790927e-01 2.10269978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.422755096 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:97.08, Y:38.32, Z:2.10 [[ 6.89417683e-01 -7.24214663e-01 -1.47098753e-02 9.70847355e+01] [ 7.24060956e-01 6.89574501e-01 -1.49244643e-02 3.83192164e+01] [ 2.09520708e-02 -3.61656749e-04 9.99780416e-01 2.10376510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.11, Y:38.34, Z:2.10 [[ 6.88777202e-01 -7.24824424e-01 -1.46805996e-02 9.71052801e+01] [ 7.24671297e-01 6.88933534e-01 -1.49028788e-02 3.83388567e+01] [ 2.09159279e-02 -3.73846020e-04 9.99781168e-01 2.10425736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:38.36, Z:2.10 [[ 6.87752738e-01 -7.25785150e-01 -1.52343829e-02 9.71243328e+01] [ 7.25620295e-01 6.87921322e-01 -1.54739110e-02 3.83598964e+01] [ 2.17107917e-02 -4.12152708e-04 9.99764208e-01 2.10487067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:38.38, Z:2.11 [[ 6.87147246e-01 -7.26361348e-01 -1.50948464e-02 9.71444125e+01] [ 7.26199529e-01 6.87312894e-01 -1.53372094e-02 3.83807613e+01] [ 2.15152387e-02 -4.22949195e-04 9.99768431e-01 2.10557253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:38.40, Z:2.11 [[ 6.86298917e-01 -7.27160581e-01 -1.52080879e-02 9.71647542e+01] [ 7.26996332e-01 6.86467254e-01 -1.54609771e-02 3.84008657e+01] [ 2.16824675e-02 -4.45372306e-04 9.99764808e-01 2.10593568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:38.42, Z:2.11 [[ 6.85565113e-01 -7.27856035e-01 -1.50355439e-02 9.71857156e+01] [ 7.27695482e-01 6.85729818e-01 -1.52938498e-02 3.84189918e+01] [ 2.14420417e-02 -4.56367521e-04 9.99769989e-01 2.10663973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:38.44, Z:2.11 [[ 6.84980387e-01 -7.28405045e-01 -1.50983229e-02 9.72057608e+01] [ 7.28243181e-01 6.85146603e-01 -1.53623615e-02 3.84387595e+01] [ 2.15345862e-02 -4.72334367e-04 9.99767992e-01 2.10713808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:38.46, Z:2.11 [[ 6.84351491e-01 -7.28995679e-01 -1.51108147e-02 9.72246212e+01] [ 7.28833494e-01 6.84518126e-01 -1.53841572e-02 3.84599976e+01] [ 2.15586106e-02 -4.85096965e-04 9.99767468e-01 2.10747576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:38.48, Z:2.11 [[ 6.83947133e-01 -7.29371473e-01 -1.52830817e-02 9.72440263e+01] [ 7.29205557e-01 6.84117683e-01 -1.55644195e-02 3.84798396e+01] [ 2.18076700e-02 -4.99268053e-04 9.99762060e-01 2.10800354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:38.50, Z:2.11 [[ 6.83494518e-01 -7.29777646e-01 -1.61193144e-02 9.72630723e+01] [ 7.29592933e-01 6.83684360e-01 -1.64270586e-02 3.85004327e+01] [ 2.30086233e-02 -5.32733396e-04 9.99735125e-01 2.10774678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:38.52, Z:2.11 [[ 6.83481841e-01 -7.29784627e-01 -1.63392400e-02 9.72824211e+01] [ 7.29594590e-01 6.83676908e-01 -1.66619328e-02 3.85208492e+01] [ 2.33303834e-02 -5.32892596e-04 9.99727668e-01 2.10813174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:38.54, Z:2.11 [[ 6.83778094e-01 -7.29500473e-01 -1.66306621e-02 9.73008499e+01] [ 7.29303256e-01 6.83980105e-01 -1.69698665e-02 3.85403041e+01] [ 2.37545676e-02 -5.25173011e-04 9.99717683e-01 2.10777314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:38.56, Z:2.11 [[ 6.84471123e-01 -7.28834563e-01 -1.73049659e-02 9.73184978e+01] [ 7.28620563e-01 6.84689648e-01 -1.76680577e-02 3.85623367e+01] [ 2.47256221e-02 -5.15478705e-04 9.99694142e-01 2.10740882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:38.58, Z:2.11 [[ 6.84772546e-01 -7.28534513e-01 -1.80006555e-02 9.73369388e+01] [ 7.28302569e-01 6.85008901e-01 -1.83894718e-02 3.85825152e+01] [ 2.57279742e-02 -5.17318248e-04 9.99668847e-01 2.10724774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:38.60, Z:2.11 [[ 6.85189714e-01 -7.28123844e-01 -1.87276256e-02 9.73551544e+01] [ 7.27872377e-01 6.85445404e-01 -1.91416019e-02 3.86037652e+01] [ 2.67742216e-02 -5.15692622e-04 9.99641373e-01 2.10665438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:38.63, Z:2.11 [[ 6.85163684e-01 -7.28131103e-01 -1.93861533e-02 9.73740146e+01] [ 7.27861283e-01 6.85437686e-01 -1.98275494e-02 3.86250449e+01] [ 2.77250554e-02 -5.25313573e-04 9.99615449e-01 2.10723500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:38.65, Z:2.11 [[ 6.84901290e-01 -7.28378580e-01 -1.93614898e-02 9.73931100e+01] [ 7.28109193e-01 6.85174699e-01 -1.98150222e-02 3.86453268e+01] [ 2.76988407e-02 -5.25944436e-04 9.99616175e-01 2.10777627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:38.66, Z:2.11 [[ 6.85019475e-01 -7.28284621e-01 -1.87037111e-02 9.74116040e+01] [ 7.28032888e-01 6.85274590e-01 -1.91533226e-02 3.86646793e+01] [ 2.67662483e-02 -4.96517801e-04 9.99641596e-01 2.10900550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:38.69, Z:2.11 [[ 6.84859385e-01 -7.28441708e-01 -1.84472355e-02 9.74308749e+01] [ 7.28196612e-01 6.85107611e-01 -1.89012007e-02 3.86853817e+01] [ 2.64067644e-02 -4.88549741e-04 9.99651161e-01 2.11010175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:38.71, Z:2.11 [[ 6.84616739e-01 -7.28674268e-01 -1.82683220e-02 9.74492203e+01] [ 7.28433681e-01 6.84860261e-01 -1.87295550e-02 3.87061042e+01] [ 2.61589925e-02 -4.84694134e-04 9.99657678e-01 2.11136796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:38.72, Z:2.11 [[ 6.84381469e-01 -7.28900824e-01 -1.80442135e-02 9.74685007e+01] [ 7.28665887e-01 6.84619135e-01 -1.85112185e-02 3.87246940e+01] [ 2.58462562e-02 -4.79467948e-04 9.99665815e-01 2.11195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:38.75, Z:2.11 [[ 6.84563523e-01 -7.28730165e-01 -1.80313764e-02 9.74857662e+01] [ 7.28495224e-01 6.84800796e-01 -1.85088626e-02 3.87471740e+01] [ 2.58358674e-02 -4.65279365e-04 9.99666090e-01 2.11342591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:38.77, Z:2.11 [[ 6.84317993e-01 -7.28972800e-01 -1.75368613e-02 9.75048995e+01] [ 7.28750370e-01 6.84542513e-01 -1.80124088e-02 3.87679147e+01] [ 2.51352832e-02 -4.53778753e-04 9.99683956e-01 2.11417146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:38.79, Z:2.11 [[ 6.84532150e-01 -7.28776161e-01 -1.73506065e-02 9.75236464e+01] [ 7.28558097e-01 6.84751867e-01 -1.78319933e-02 3.87879127e+01] [ 2.48763918e-02 -4.34352153e-04 9.99690440e-01 2.11489697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:38.81, Z:2.12 [[ 6.84303348e-01 -7.28991350e-01 -1.73360362e-02 9.75428322e+01] [ 7.28773474e-01 6.84522769e-01 -1.78269815e-02 3.88086198e+01] [ 2.48626268e-02 -4.34980247e-04 9.99690782e-01 2.11565868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:38.83, Z:2.12 [[ 6.84298067e-01 -7.28997054e-01 -1.73046397e-02 9.75618057e+01] [ 7.28779698e-01 6.84516701e-01 -1.78055935e-02 3.88298584e+01] [ 2.48255401e-02 -4.26936860e-04 9.99691708e-01 2.11655747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:38.85, Z:2.12 [[ 6.84205062e-01 -7.29087467e-01 -1.71726020e-02 9.75804210e+01] [ 7.28873194e-01 6.84420404e-01 -1.76798900e-02 3.88495071e+01] [ 2.46434654e-02 -4.19979034e-04 9.99696215e-01 2.11701457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:38.87, Z:2.12 [[ 6.84068836e-01 -7.29214888e-01 -1.71893789e-02 9.75995255e+01] [ 7.29000040e-01 6.84284642e-01 -1.77051130e-02 3.88703647e+01] [ 2.46732600e-02 -4.19541908e-04 9.99695481e-01 2.11768468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:38.89, Z:2.12 [[ 6.83882527e-01 -7.29390018e-01 -1.71723792e-02 9.76181522e+01] [ 7.29175383e-01 6.84097966e-01 -1.76984173e-02 3.88917590e+01] [ 2.46566386e-02 -4.18037854e-04 9.99695891e-01 2.11861387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:38.91, Z:2.12 [[ 6.83666510e-01 -7.29592375e-01 -1.71776129e-02 9.76364333e+01] [ 7.29377405e-01 6.83882148e-01 -1.77146497e-02 3.89112104e+01] [ 2.46719361e-02 -4.18049960e-04 9.99695514e-01 2.11910705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:38.93, Z:2.12 [[ 6.83336071e-01 -7.29902158e-01 -1.71654774e-02 9.76554582e+01] [ 7.29687342e-01 6.83551506e-01 -1.77121730e-02 3.89321468e+01] [ 2.46616413e-02 -4.22064874e-04 9.99695766e-01 2.11955776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:38.95, Z:2.12 [[ 6.83115086e-01 -7.30109109e-01 -1.71601126e-02 9.76745156e+01] [ 7.29894228e-01 6.83330456e-01 -1.77173694e-02 3.89520756e+01] [ 2.46616403e-02 -4.22064858e-04 9.99695766e-01 2.12011921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.69, Y:38.97, Z:2.12 [[ 6.82605276e-01 -7.30578607e-01 -1.74624080e-02 9.76938824e+01] [ 7.30355963e-01 6.82828460e-01 -1.80405458e-02 3.89724121e+01] [ 2.51038659e-02 -4.39202049e-04 9.99684752e-01 2.12033600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:38.99, Z:2.12 [[ 6.81552368e-01 -7.31549447e-01 -1.79381557e-02 9.77145243e+01] [ 7.31314554e-01 6.81788220e-01 -1.85430953e-02 3.89932134e+01] [ 2.57952143e-02 -4.80343816e-04 9.99667133e-01 2.12000695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:39.01, Z:2.12 [[ 6.80741932e-01 -7.32296775e-01 -1.82168683e-02 9.77341527e+01] [ 7.32054525e-01 6.80985443e-01 -1.88414173e-02 3.90138323e+01] [ 2.62029312e-02 -5.09598012e-04 9.99656514e-01 2.12017892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:39.03, Z:2.12 [[ 6.78964487e-01 -7.33930627e-01 -1.87899124e-02 9.77554359e+01] [ 7.33673231e-01 6.79224186e-01 -1.94446792e-02 3.90314720e+01] [ 2.70336086e-02 -5.83409130e-04 9.99634355e-01 2.12003700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:39.05, Z:2.12 [[ 6.77869770e-01 -7.34937595e-01 -1.89553814e-02 9.77756026e+01] [ 7.34675820e-01 6.78134457e-01 -1.96239020e-02 3.90497838e+01] [ 2.72766407e-02 -6.23610438e-04 9.99627729e-01 2.12025377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.80, Y:39.07, Z:2.12 [[ 6.76572471e-01 -7.36133536e-01 -1.88973130e-02 9.77957648e+01] [ 7.35873551e-01 6.76836005e-01 -1.95739400e-02 3.90706845e+01] [ 2.71994155e-02 -6.62843856e-04 9.99629808e-01 2.12131336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:39.09, Z:2.12 [[ 6.75307996e-01 -7.37289121e-01 -1.90751900e-02 9.78172264e+01] [ 7.37024425e-01 6.75576974e-01 -1.97673857e-02 3.90884159e+01] [ 2.74610376e-02 -7.09807297e-04 9.99622623e-01 2.12142584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.84, Y:39.11, Z:2.12 [[ 6.73018839e-01 -7.39381003e-01 -1.90098270e-02 9.78362736e+01] [ 7.39118755e-01 6.73286797e-01 -1.97067259e-02 3.91096865e+01] [ 2.73698443e-02 -7.87521827e-04 9.99625065e-01 2.12300937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:39.13, Z:2.12 [[ 6.71988598e-01 -7.40309840e-01 -1.93045645e-02 9.78558859e+01] [ 7.40039473e-01 6.72265313e-01 -2.00231847e-02 3.91314349e+01] [ 2.78011498e-02 -8.30787927e-04 9.99613128e-01 2.12410605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:39.15, Z:2.12 [[ 6.70488288e-01 -7.41660847e-01 -1.96123238e-02 9.78764864e+01] [ 7.41382042e-01 6.70774470e-01 -2.03538049e-02 3.91514287e+01] [ 2.82510663e-02 -8.93236840e-04 9.99600460e-01 2.12465498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:39.17, Z:2.13 [[ 6.69926021e-01 -7.42167312e-01 -1.96674202e-02 9.78962790e+01] [ 7.41886832e-01 6.70214036e-01 -2.04224136e-02 3.91695832e+01] [ 2.83382289e-02 -9.09493806e-04 9.99597978e-01 2.12513108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:39.19, Z:2.13 [[ 6.68944485e-01 -7.43049805e-01 -1.97550725e-02 9.79167885e+01] [ 7.42766875e-01 6.69235457e-01 -2.05249400e-02 3.91899676e+01] [ 2.84718477e-02 -9.43368043e-04 9.99594150e-01 2.12606695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:39.21, Z:2.13 [[ 6.68489991e-01 -7.43461273e-01 -1.96587923e-02 9.79367273e+01] [ 7.43180946e-01 6.68778316e-01 -2.04363759e-02 3.92101151e+01] [ 2.83410281e-02 -9.48527106e-04 9.99597862e-01 2.12700475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:39.23, Z:2.13 [[ 6.68075852e-01 -7.43834513e-01 -1.96181972e-02 9.79565731e+01] [ 7.43555148e-01 6.68363155e-01 -2.04067308e-02 3.92301779e+01] [ 2.82913108e-02 -9.53967456e-04 9.99599266e-01 2.12787624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:39.25, Z:2.13 [[ 6.67559917e-01 -7.44302569e-01 -1.94278686e-02 9.79753747e+01] [ 7.44028449e-01 6.67841876e-01 -2.02211805e-02 3.92512186e+01] [ 2.80254208e-02 -9.56037316e-04 9.99606754e-01 2.12950118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:39.27, Z:2.13 [[ 6.67581071e-01 -7.44279765e-01 -1.95740990e-02 9.79948953e+01] [ 7.44001131e-01 6.67867294e-01 -2.03861655e-02 3.92712607e+01] [ 2.82459110e-02 -9.53733536e-04 9.99600550e-01 2.13025238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:39.29, Z:2.13 [[ 6.67425286e-01 -7.44421284e-01 -1.95048578e-02 9.80139710e+01] [ 7.44144319e-01 6.67709557e-01 -2.03268328e-02 3.92917303e+01] [ 2.81553070e-02 -9.47786878e-04 9.99603111e-01 2.13121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:39.31, Z:2.13 [[ 6.67307892e-01 -7.44514270e-01 -1.99669680e-02 9.80330473e+01] [ 7.44223677e-01 6.67605850e-01 -2.08218168e-02 3.93127191e+01] [ 2.88322043e-02 -9.65327629e-04 9.99583799e-01 2.13200286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:39.33, Z:2.13 [[ 6.67055363e-01 -7.44739748e-01 -1.99962915e-02 9.80521589e+01] [ 7.44448021e-01 6.67354308e-01 -2.08655613e-02 3.93330007e+01] [ 2.88840241e-02 -9.67715087e-04 9.99582301e-01 2.13228488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:39.35, Z:2.13 [[ 6.67398708e-01 -7.44423052e-01 -2.03293893e-02 9.80703174e+01] [ 7.44120985e-01 6.67707567e-01 -2.12265078e-02 3.93542868e+01] [ 2.93755889e-02 -9.60981322e-04 9.99567982e-01 2.13298311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.982755096 meters Centerline goodness [0,1] 0.9999347925315712 Centerline is valid? [True, True] Translation: X:98.09, Y:39.37, Z:2.13 [[ 6.67253763e-01 -7.44542916e-01 -2.06944934e-02 9.80894336e+01] [ 7.44229561e-01 6.67573889e-01 -2.16209106e-02 3.93734268e+01] [ 2.99127993e-02 -9.74819758e-04 9.99552037e-01 2.13273078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:39.39, Z:2.13 [[ 6.67992565e-01 -7.43893053e-01 -2.02251923e-02 9.81083051e+01] [ 7.43593114e-01 6.68298051e-01 -2.11422681e-02 3.93945353e+01] [ 2.92440430e-02 -9.16435795e-04 9.99571881e-01 2.13417853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:39.42, Z:2.14 [[ 6.68810644e-01 -7.43159601e-01 -2.01526346e-02 9.81264063e+01] [ 7.42861144e-01 6.69113625e-01 -2.10778620e-02 3.94171212e+01] [ 2.91486179e-02 -8.73510695e-04 9.99574707e-01 2.13533009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:39.44, Z:2.14 [[ 6.71217123e-01 -7.40991850e-01 -1.99662716e-02 9.81426633e+01] [ 7.40697588e-01 6.71513584e-01 -2.08947102e-02 3.94406218e+01] [ 2.88904326e-02 -7.64081932e-04 9.99582292e-01 2.13638173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:39.46, Z:2.14 [[ 6.72536207e-01 -7.39793750e-01 -2.00064462e-02 9.81614237e+01] [ 7.39497415e-01 6.72833344e-01 -2.09490690e-02 3.94619112e+01] [ 2.89589944e-02 -7.05707818e-04 9.99580351e-01 2.13658059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:39.48, Z:2.14 [[ 6.73919292e-01 -7.38527060e-01 -2.02625281e-02 9.81792235e+01] [ 7.38222169e-01 6.74223522e-01 -2.12290379e-02 3.94849480e+01] [ 2.93396920e-02 -6.51589267e-04 9.99569286e-01 2.13725426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:39.51, Z:2.14 [[ 6.77251516e-01 -7.35455735e-01 -2.08625531e-02 9.81973266e+01] [ 7.35130678e-01 6.77572569e-01 -2.18700608e-02 3.95068693e+01] [ 3.02203553e-02 -5.25170971e-04 9.99543123e-01 2.13666430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.21, Y:39.53, Z:2.14 [[ 6.78549345e-01 -7.34258323e-01 -2.08686768e-02 9.82140235e+01] [ 7.33932136e-01 6.78870017e-01 -2.18888007e-02 3.95306382e+01] [ 3.02391531e-02 -4.63561200e-04 9.99542585e-01 2.13824286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:39.55, Z:2.14 [[ 6.80887151e-01 -7.32092778e-01 -2.08051135e-02 9.82308202e+01] [ 7.31767268e-01 6.81204841e-01 -2.18318528e-02 3.95527805e+01] [ 3.01554858e-02 -3.59473030e-04 9.99545155e-01 2.13921752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:39.57, Z:2.14 [[ 6.81476359e-01 -7.31556059e-01 -2.03888385e-02 9.82493005e+01] [ 7.31243010e-01 6.81781216e-01 -2.14017100e-02 3.95748181e+01] [ 2.95572777e-02 -3.24436252e-04 9.99563036e-01 2.14019094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:39.60, Z:2.14 [[ 6.81545922e-01 -7.31490979e-01 -2.03986389e-02 9.82678198e+01] [ 7.31177219e-01 6.81851047e-01 -2.14248449e-02 3.95956025e+01] [ 2.95809141e-02 -3.13004398e-04 9.99562340e-01 2.14095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.29, Y:39.62, Z:2.14 [[ 6.81317595e-01 -7.31713737e-01 -2.00334963e-02 9.82870590e+01] [ 7.31410826e-01 6.81611995e-01 -2.10544856e-02 3.96162811e+01] [ 2.90609277e-02 -3.07924602e-04 9.99577595e-01 2.14127958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:39.64, Z:2.14 [[ 6.80694960e-01 -7.32307020e-01 -1.95141066e-02 9.83066395e+01] [ 7.32019510e-01 6.80974543e-01 -2.05209300e-02 3.96353273e+01] [ 2.83162309e-02 -3.16213190e-04 9.99598965e-01 2.14129310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:39.66, Z:2.14 [[ 6.80103470e-01 -7.32865155e-01 -1.91816521e-02 9.83257373e+01] [ 7.32587259e-01 6.80373838e-01 -2.01828877e-02 3.96553423e+01] [ 2.78420294e-02 -3.25781992e-04 9.99612282e-01 2.14231142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:39.67, Z:2.14 [[ 6.79352904e-01 -7.33563233e-01 -1.90948630e-02 9.83453052e+01] [ 7.33287779e-01 6.79621118e-01 -2.01039682e-02 3.96749772e+01] [ 2.77248041e-02 -3.44340484e-04 9.99615534e-01 2.14298251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:39.69, Z:2.14 [[ 6.77459832e-01 -7.35327392e-01 -1.84879290e-02 9.83668442e+01] [ 7.35069523e-01 6.77711938e-01 -1.94762984e-02 3.96947021e+01] [ 2.68509459e-02 -3.95503324e-04 9.99639370e-01 2.14432221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:39.71, Z:2.15 [[ 6.76198882e-01 -7.36495983e-01 -1.81311482e-02 9.83872854e+01] [ 7.36248118e-01 6.76441782e-01 -1.91108247e-02 3.97146838e+01] [ 2.63397118e-02 -4.26305503e-04 9.99652959e-01 2.14513732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:39.73, Z:2.15 [[ 6.73934282e-01 -7.38584489e-01 -1.74796036e-02 9.84092073e+01] [ 7.38354555e-01 6.74160752e-01 -1.84345325e-02 3.97336620e+01] [ 2.53995224e-02 -4.82481528e-04 9.99677264e-01 2.14636286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:39.75, Z:2.15 [[ 6.72585962e-01 -7.39819290e-01 -1.71913513e-02 9.84299289e+01] [ 7.39597038e-01 6.72805436e-01 -1.81401987e-02 3.97541163e+01] [ 2.49869035e-02 -5.13829487e-04 9.99687647e-01 2.14762835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:39.77, Z:2.15 [[ 6.71438799e-01 -7.40856338e-01 -1.73731649e-02 9.84520411e+01] [ 7.40629473e-01 6.71663295e-01 -1.83412370e-02 3.97718666e+01] [ 2.52571388e-02 -5.52059818e-04 9.99680835e-01 2.14769404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:98.47, Y:39.79, Z:2.15 [[ 6.69426814e-01 -7.42679674e-01 -1.71651359e-02 9.84710587e+01] [ 7.42458653e-01 6.69646571e-01 -1.81278088e-02 3.97935159e+01] [ 2.49577295e-02 -6.09162415e-04 9.99688322e-01 2.14918771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:39.81, Z:2.15 [[ 6.68674614e-01 -7.43350423e-01 -1.74473251e-02 9.84933196e+01] [ 7.43122055e-01 6.68901893e-01 -1.84355668e-02 3.98101561e+01] [ 2.53746351e-02 -6.38096543e-04 9.99677808e-01 2.14873581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:39.83, Z:2.15 [[ 6.67884180e-01 -7.44055986e-01 -1.76468711e-02 9.85102801e+01] [ 7.43822402e-01 6.68116940e-01 -1.86544765e-02 3.98329508e+01] [ 2.56701484e-02 -6.67108309e-04 9.99670245e-01 2.14971401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:39.85, Z:2.15 [[ 6.67643751e-01 -7.44268512e-01 -1.77821367e-02 9.85288010e+01] [ 7.44031132e-01 6.67880176e-01 -1.88081095e-02 3.98528689e+01] [ 2.58746203e-02 -6.73346508e-04 9.99664969e-01 2.14998105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:39.88, Z:2.15 [[ 6.67969626e-01 -7.43976635e-01 -1.77579663e-02 9.85472033e+01] [ 7.43739596e-01 6.68205310e-01 -1.87903310e-02 3.98750399e+01] [ 2.58455346e-02 -6.55932319e-04 9.99665733e-01 2.15072120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.732755096 meters Centerline goodness [0,1] 0.9999568398109584 Centerline is valid? [True, True] Translation: X:98.57, Y:39.90, Z:2.15 [[ 6.68280978e-01 -7.43699203e-01 -1.76643711e-02 9.85655272e+01] [ 7.43464366e-01 6.68514091e-01 -1.86988427e-02 3.98953137e+01] [ 2.57151954e-02 -6.36749565e-04 9.99669107e-01 2.15102410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:39.92, Z:2.15 [[ 6.69609671e-01 -7.42500589e-01 -1.77697250e-02 9.85852422e+01] [ 7.42262299e-01 6.69845153e-01 -1.88188957e-02 3.99155218e+01] [ 2.58760053e-02 -5.88482407e-04 9.99664987e-01 2.15112665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:39.94, Z:2.15 [[ 6.70429505e-01 -7.41763359e-01 -1.76464587e-02 9.86014551e+01] [ 7.41527976e-01 6.70661475e-01 -1.86934940e-02 3.99386523e+01] [ 2.57009489e-02 -5.52672855e-04 9.99669523e-01 2.15271039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:39.96, Z:2.15 [[ 6.72370892e-01 -7.40012745e-01 -1.72777604e-02 9.86185043e+01] [ 7.39786284e-01 6.72592683e-01 -1.83122167e-02 3.99610907e+01] [ 2.51721690e-02 -4.69248748e-04 9.99683021e-01 2.15376700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:39.98, Z:2.15 [[ 6.72885680e-01 -7.39547783e-01 -1.71446399e-02 9.86362538e+01] [ 7.39324528e-01 6.73103914e-01 -1.81758985e-02 3.99824696e+01] [ 2.49820697e-02 -4.45151007e-04 9.99687800e-01 2.15459660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:40.00, Z:2.16 [[ 6.73313243e-01 -7.39164929e-01 -1.68666759e-02 9.86544046e+01] [ 7.38948478e-01 6.73524338e-01 -1.78917072e-02 4.00038557e+01] [ 2.45850392e-02 -4.16881135e-04 9.99697655e-01 2.15529578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.67, Y:40.02, Z:2.16 [[ 6.73627697e-01 -7.38885066e-01 -1.65706386e-02 9.86723607e+01] [ 7.38675819e-01 6.73831363e-01 -1.75877334e-02 4.00235118e+01] [ 2.41611296e-02 -3.92745737e-04 9.99708000e-01 2.15589538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:40.05, Z:2.16 [[ 6.73515857e-01 -7.39007318e-01 -1.56388382e-02 9.86892832e+01] [ 7.38820791e-01 6.73697296e-01 -1.66069853e-02 4.00464540e+01] [ 2.28085267e-02 -3.69230926e-04 9.99739784e-01 2.15762690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:40.07, Z:2.16 [[ 6.73188690e-01 -7.39313302e-01 -1.52587505e-02 9.87077875e+01] [ 7.39135597e-01 6.73361500e-01 -1.62129229e-02 4.00678793e+01] [ 2.22610847e-02 -3.63929321e-04 9.99752125e-01 2.15870929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:40.09, Z:2.16 [[ 6.71915216e-01 -7.40484952e-01 -1.45594870e-02 9.87272083e+01] [ 7.40323249e-01 6.72072833e-01 -1.54788273e-02 4.00881940e+01] [ 2.12468744e-02 -3.78267114e-04 9.99774188e-01 2.16008297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:40.11, Z:2.16 [[ 6.70913871e-01 -7.41400263e-01 -1.41502101e-02 9.87475206e+01] [ 7.41247642e-01 6.71062960e-01 -1.50478501e-02 4.01068013e+01] [ 2.06521619e-02 -3.92998482e-04 9.99786644e-01 2.16104375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:40.13, Z:2.16 [[ 6.68832018e-01 -7.43280534e-01 -1.40633988e-02 9.87655418e+01] [ 7.43130110e-01 6.68979707e-01 -1.49596331e-02 4.01295429e+01] [ 2.05273325e-02 -4.45453501e-04 9.99789193e-01 2.16152731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:40.15, Z:2.16 [[ 6.67480838e-01 -7.44493343e-01 -1.41064699e-02 9.87846713e+01] [ 7.44342096e-01 6.67629712e-01 -1.50137177e-02 4.01508928e+01] [ 2.05955114e-02 -4.78670483e-04 9.99787775e-01 2.16199938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:40.17, Z:2.16 [[ 6.65983114e-01 -7.45835690e-01 -1.39862778e-02 9.88069743e+01] [ 7.45687135e-01 6.66129765e-01 -1.48940812e-02 4.01683611e+01] [ 2.04252132e-02 -5.10180887e-04 9.99791253e-01 2.16220103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:40.19, Z:2.16 [[ 6.64544025e-01 -7.47110469e-01 -1.43939452e-02 9.88265735e+01] [ 7.46953310e-01 6.64699655e-01 -1.53336596e-02 4.01891740e+01] [ 2.10235880e-02 -5.61713079e-04 9.99778822e-01 2.16262710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:40.21, Z:2.16 [[ 6.63120302e-01 -7.48375824e-01 -1.43209937e-02 9.88470131e+01] [ 7.48220386e-01 6.63274659e-01 -1.52637093e-02 4.02076277e+01] [ 2.09217432e-02 -5.93583884e-04 9.99780940e-01 2.16298442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:40.23, Z:2.16 [[ 6.60106024e-01 -7.51044187e-01 -1.38804035e-02 9.88675648e+01] [ 7.50898690e-01 6.60251618e-01 -1.47972346e-02 4.02258652e+01] [ 2.02779359e-02 -6.55033096e-04 9.99794167e-01 2.16377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:40.25, Z:2.16 [[ 6.58812792e-01 -7.52174380e-01 -1.41211769e-02 9.88840222e+01] [ 7.52023866e-01 6.58963746e-01 -1.50627667e-02 4.02502013e+01] [ 2.06351709e-02 -6.95918687e-04 9.99786830e-01 2.16450972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:40.27, Z:2.17 [[ 6.58577404e-01 -7.52380563e-01 -1.41170492e-02 9.89027621e+01] [ 7.52230014e-01 6.58728322e-01 -1.50666343e-02 4.02704437e+01] [ 2.06351429e-02 -6.96723162e-04 9.99786830e-01 2.16507163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:40.29, Z:2.17 [[ 6.56368962e-01 -7.54314249e-01 -1.37767807e-02 9.89219527e+01] [ 7.54171112e-01 6.56513120e-01 -1.47124938e-02 4.02920006e+01] [ 2.01424809e-02 -7.33225722e-04 9.99796851e-01 2.16559278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:40.31, Z:2.17 [[ 6.55424487e-01 -7.55134360e-01 -1.38144919e-02 9.89418074e+01] [ 7.54990451e-01 6.55569621e-01 -1.47611310e-02 4.03116507e+01] [ 2.02029984e-02 -7.55002749e-04 9.99795614e-01 2.16592297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:40.33, Z:2.17 [[ 6.53934252e-01 -7.56411217e-01 -1.45624161e-02 9.89613831e+01] [ 7.56251501e-01 6.54095845e-01 -1.55657565e-02 4.03316488e+01] [ 2.12993287e-02 -8.33867711e-04 9.99772796e-01 2.16559926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:40.35, Z:2.17 [[ 6.53609568e-01 -7.56694171e-01 -1.44383031e-02 9.89801761e+01] [ 7.56537094e-01 6.53768492e-01 -1.54397036e-02 4.03524834e+01] [ 2.11224413e-02 -8.31573887e-04 9.99776551e-01 2.16612897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:40.37, Z:2.17 [[ 6.53539484e-01 -7.56752368e-01 -1.45601103e-02 9.89980192e+01] [ 7.56592436e-01 6.53701123e-01 -1.55797018e-02 4.03738139e+01] [ 2.13079367e-02 -8.34119039e-04 9.99772612e-01 2.16674421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:40.40, Z:2.17 [[ 6.55082597e-01 -7.55417371e-01 -1.45391474e-02 9.90155023e+01] [ 7.55257369e-01 6.55243452e-01 -1.55667869e-02 4.03977825e+01] [ 2.12861024e-02 -7.83267075e-04 9.99773118e-01 2.16767712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:40.42, Z:2.17 [[ 6.56208249e-01 -7.54440330e-01 -1.45093941e-02 9.90333200e+01] [ 7.54280647e-01 6.56368213e-01 -1.55394663e-02 4.04196143e+01] [ 2.12471052e-02 -7.47029227e-04 9.99773976e-01 2.16836354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:40.44, Z:2.17 [[ 6.57537717e-01 -7.53277763e-01 -1.47228416e-02 9.90507947e+01] [ 7.53112983e-01 6.57702134e-01 -1.57714419e-02 4.04425678e+01] [ 2.15635208e-02 -7.17645289e-04 9.99767223e-01 2.16907423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:40.47, Z:2.17 [[ 6.61121420e-01 -7.50133620e-01 -1.47655357e-02 9.90656433e+01] [ 7.49966910e-01 6.61286004e-01 -1.58257512e-02 4.04676270e+01] [ 2.16356702e-02 -6.10920125e-04 9.99765735e-01 2.16925116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:40.49, Z:2.17 [[ 6.62631594e-01 -7.48798195e-01 -1.48537419e-02 9.90833443e+01] [ 7.48628953e-01 6.62797815e-01 -1.59294346e-02 4.04900548e+01] [ 2.17729596e-02 -5.64594612e-04 9.99762782e-01 2.16969703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:40.51, Z:2.17 [[ 6.66024751e-01 -7.45774751e-01 -1.52003719e-02 9.90990243e+01] [ 7.45596536e-01 6.66198018e-01 -1.63097287e-02 4.05149096e+01] [ 2.22898415e-02 -4.70661669e-04 9.99751440e-01 2.17041325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:40.54, Z:2.17 [[ 6.67377973e-01 -7.44567657e-01 -1.50214694e-02 9.91168159e+01] [ 7.44393186e-01 6.67546872e-01 -1.61232575e-02 4.05379573e+01] [ 2.20323910e-02 -4.21572580e-04 9.99757169e-01 2.17121403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:40.56, Z:2.17 [[ 6.68551890e-01 -7.43519992e-01 -1.47102945e-02 9.91343812e+01] [ 7.43352244e-01 6.68713603e-01 -1.57974181e-02 4.05594757e+01] [ 2.15826702e-02 -3.73536709e-04 9.99766997e-01 2.17178974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:40.58, Z:2.17 [[ 6.69512371e-01 -7.42657025e-01 -1.46194596e-02 9.91521379e+01] [ 7.42491005e-01 6.69671881e-01 -1.57060481e-02 4.05800616e+01] [ 2.14544480e-02 -3.39423715e-04 9.99769769e-01 2.17234113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:40.60, Z:2.17 [[ 6.70995648e-01 -7.41321669e-01 -1.43883337e-02 9.91697798e+01] [ 7.41160400e-01 6.71149835e-01 -1.54648035e-02 4.06026967e+01] [ 2.11211217e-02 -2.87247322e-04 9.99776883e-01 2.17293610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:40.62, Z:2.17 [[ 6.71304776e-01 -7.41042684e-01 -1.43401066e-02 9.91876112e+01] [ 7.40882264e-01 6.71457867e-01 -1.54208714e-02 4.06237882e+01] [ 2.10563013e-02 -2.72226074e-04 9.99778254e-01 2.17368921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:40.64, Z:2.17 [[ 6.71702841e-01 -7.40683573e-01 -1.42526438e-02 9.92073728e+01] [ 7.40524832e-01 6.71853987e-01 -1.53359892e-02 4.06427425e+01] [ 2.09348109e-02 -2.53209122e-04 9.99780811e-01 2.17451005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:40.66, Z:2.18 [[ 6.71441450e-01 -7.40921213e-01 -1.42174214e-02 9.92256593e+01] [ 7.40763140e-01 6.71591908e-01 -1.53061531e-02 4.06638802e+01] [ 2.08889586e-02 -2.54556093e-04 9.99781769e-01 2.17527987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.25, Y:40.68, Z:2.18 [[ 6.70504266e-01 -7.41779737e-01 -1.36693357e-02 9.92460507e+01] [ 7.41633622e-01 6.70643535e-01 -1.47247946e-02 4.06849268e+01] [ 2.00898059e-02 -2.64601304e-04 9.99798144e-01 2.17599714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:40.70, Z:2.18 [[ 6.69927709e-01 -7.42299327e-01 -1.37322233e-02 9.92654193e+01] [ 7.42151803e-01 6.70068380e-01 -1.48009176e-02 4.07043430e+01] [ 2.01882398e-02 -2.75849503e-04 9.99796159e-01 2.17673862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:40.72, Z:2.18 [[ 6.69148689e-01 -7.43003418e-01 -1.36364182e-02 9.92856064e+01] [ 7.42857984e-01 6.69287558e-01 -1.47030627e-02 4.07221250e+01] [ 2.00511109e-02 -2.91387039e-04 9.99798914e-01 2.17709869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:40.74, Z:2.18 [[ 6.68244394e-01 -7.43819526e-01 -1.34886085e-02 9.93050420e+01] [ 7.43677257e-01 6.68380444e-01 -1.45505531e-02 4.07409438e+01] [ 1.98385076e-02 -3.07845829e-04 9.99803150e-01 2.17743580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:40.76, Z:2.18 [[ 6.66925900e-01 -7.44995585e-01 -1.38355399e-02 9.93261430e+01] [ 7.44846038e-01 6.67069305e-01 -1.49305714e-02 4.07590961e+01] [ 2.03524738e-02 -3.47762274e-04 9.99792806e-01 2.17736168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:40.78, Z:2.18 [[ 6.66022760e-01 -7.45798362e-01 -1.40885193e-02 9.93464575e+01] [ 7.45643385e-01 6.66171646e-01 -1.52078826e-02 4.07790831e+01] [ 2.07273860e-02 -3.76215299e-04 9.99785094e-01 2.17761733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:40.80, Z:2.18 [[ 6.64332799e-01 -7.47289565e-01 -1.48404591e-02 9.93656575e+01] [ 7.47117767e-01 6.64498393e-01 -1.60289819e-02 4.08005274e+01] [ 2.18397521e-02 -4.38992262e-04 9.99761388e-01 2.17768769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:40.82, Z:2.18 [[ 6.63551207e-01 -7.47977802e-01 -1.51328266e-02 9.93875898e+01] [ 7.47799150e-01 6.63723580e-01 -1.63535876e-02 4.08177797e+01] [ 2.22761343e-02 -4.64872074e-04 9.99751748e-01 2.17745861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:40.84, Z:2.18 [[ 6.62538198e-01 -7.48869916e-01 -1.53943596e-02 9.94057343e+01] [ 7.48685157e-01 6.62716832e-01 -1.66414113e-02 4.08409437e+01] [ 2.26643535e-02 -4.99957878e-04 9.99743006e-01 2.17803233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:40.86, Z:2.18 [[ 6.60484926e-01 -7.50672670e-01 -1.58178534e-02 9.94283261e+01] [ 7.50477903e-01 6.60674062e-01 -1.71085370e-02 4.08583663e+01] [ 2.32933566e-02 -5.71018647e-04 9.99728510e-01 2.17796153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:40.88, Z:2.18 [[ 6.59278426e-01 -7.51734410e-01 -1.57268354e-02 9.94475418e+01] [ 7.51542016e-01 6.59465705e-01 -1.70170893e-02 4.08796599e+01] [ 2.31636402e-02 -6.00377706e-04 9.99731507e-01 2.17867011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:40.90, Z:2.18 [[ 6.58287058e-01 -7.52603143e-01 -1.57053682e-02 9.94684577e+01] [ 7.52411322e-01 6.58474084e-01 -1.70024361e-02 4.08975276e+01] [ 2.31376648e-02 -6.24413171e-04 9.99732093e-01 2.17923014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.49, Y:40.92, Z:2.18 [[ 6.56129521e-01 -7.54487123e-01 -1.55959444e-02 9.94878331e+01] [ 7.54298393e-01 6.56314494e-01 -1.68884280e-02 4.09187201e+01] [ 2.29779458e-02 -6.82999631e-04 9.99735739e-01 2.18052169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:40.94, Z:2.18 [[ 6.55289346e-01 -7.55221030e-01 -1.53970057e-02 9.95103510e+01] [ 7.55037092e-01 6.55469842e-01 -1.66816228e-02 4.09360926e+01] [ 2.26905852e-02 -6.94020708e-04 9.99742295e-01 2.18105251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:40.96, Z:2.18 [[ 6.53650315e-01 -7.56641342e-01 -1.53344488e-02 9.95312542e+01] [ 7.56459157e-01 6.53829746e-01 -1.66194692e-02 4.09552757e+01] [ 2.26010962e-02 -7.36563003e-04 9.99744291e-01 2.18170504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:40.98, Z:2.18 [[ 6.52985539e-01 -7.57220041e-01 -1.50895973e-02 9.95471654e+01] [ 7.57043587e-01 6.53159447e-01 -1.63628759e-02 4.09786454e+01] [ 2.22462106e-02 -7.38761582e-04 9.99752249e-01 2.18268349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:41.00, Z:2.18 [[ 6.52549200e-01 -7.57594050e-01 -1.51919791e-02 9.95675433e+01] [ 7.57415072e-01 6.52725587e-01 -1.64838058e-02 4.09961120e+01] [ 2.24042267e-02 -7.50139637e-04 9.99748712e-01 2.18311704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:41.01, Z:2.18 [[ 6.52348985e-01 -7.57759737e-01 -1.55235982e-02 9.95877100e+01] [ 7.57572685e-01 6.52533213e-01 -1.68532874e-02 4.10149771e+01] [ 2.29004060e-02 -7.66029080e-04 9.99737458e-01 2.18355275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:41.04, Z:2.18 [[ 6.52463823e-01 -7.57660449e-01 -1.55435953e-02 9.96023376e+01] [ 7.57472675e-01 6.52648504e-01 -1.68842032e-02 4.10396348e+01] [ 2.29369972e-02 -7.57516963e-04 9.99736625e-01 2.18478385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:41.06, Z:2.19 [[ 6.52828437e-01 -7.57344321e-01 -1.56400625e-02 9.96209520e+01] [ 7.57153875e-01 6.53015333e-01 -1.69995575e-02 4.10592831e+01] [ 2.30877190e-02 -7.44139328e-04 9.99733166e-01 2.18565104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:41.08, Z:2.19 [[ 6.53806629e-01 -7.56514065e-01 -1.49452476e-02 9.96430318e+01] [ 7.56339781e-01 6.53977071e-01 -1.62519686e-02 4.10766319e+01] [ 2.20686921e-02 -6.78040460e-04 9.99756227e-01 2.18701517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:41.10, Z:2.19 [[ 6.54356367e-01 -7.56046429e-01 -1.45444870e-02 9.96584047e+01] [ 7.55881141e-01 6.54517674e-01 -1.58213436e-02 4.11015349e+01] [ 2.14812941e-02 -6.41106560e-04 9.99769045e-01 2.18850382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:41.12, Z:2.19 [[ 6.54925824e-01 -7.55556208e-01 -1.43868922e-02 9.96767150e+01] [ 7.55394180e-01 6.55083538e-01 -1.56585574e-02 4.11225052e+01] [ 2.12555365e-02 -6.12581010e-04 9.99773888e-01 2.18977392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:41.14, Z:2.19 [[ 6.55483421e-01 -7.55080220e-01 -1.39766728e-02 9.96949272e+01] [ 7.54927012e-01 6.55632162e-01 -1.52208774e-02 4.11438147e+01] [ 2.06565396e-02 -5.74335052e-04 9.99786466e-01 2.19096890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:41.16, Z:2.19 [[ 6.55498699e-01 -7.55069269e-01 -1.38511479e-02 9.97136750e+01] [ 7.54918615e-01 6.55644783e-01 -1.50931259e-02 4.11646547e+01] [ 2.04777884e-02 -5.62964969e-04 9.99790150e-01 2.19187699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:41.19, Z:2.19 [[ 6.55400675e-01 -7.55146497e-01 -1.42731616e-02 9.97323728e+01] [ 7.54986332e-01 6.55555822e-01 -1.55628691e-02 4.11861849e+01] [ 2.11091003e-02 -5.76127013e-04 9.99777012e-01 2.19200743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:41.20, Z:2.19 [[ 6.55131666e-01 -7.55372372e-01 -1.46656319e-02 9.97524024e+01] [ 7.55203115e-01 6.55295528e-01 -1.60008511e-02 4.12049233e+01] [ 2.16969239e-02 -5.92866671e-04 9.99764418e-01 2.19202480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:41.23, Z:2.19 [[ 6.54798978e-01 -7.55654722e-01 -1.49746576e-02 9.97714615e+01] [ 7.55478168e-01 6.54969900e-01 -1.63452924e-02 4.12259709e+01] [ 2.21593473e-02 -6.10146120e-04 9.99754265e-01 2.19201188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:41.25, Z:2.19 [[ 6.54088458e-01 -7.56266349e-01 -1.51492112e-02 9.97906962e+01] [ 7.56085597e-01 6.54263563e-01 -1.65456952e-02 4.12473740e+01] [ 2.24245294e-02 -6.31752122e-04 9.99748339e-01 2.19243763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:41.27, Z:2.19 [[ 6.53356495e-01 -7.56896289e-01 -1.52740863e-02 9.98075956e+01] [ 7.56712499e-01 6.53534683e-01 -1.66916999e-02 4.12700120e+01] [ 2.26160309e-02 -6.52461430e-04 9.99744012e-01 2.19354686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:41.29, Z:2.19 [[ 6.52942942e-01 -7.57259257e-01 -1.49643441e-02 9.98289062e+01] [ 7.57082731e-01 6.53114080e-01 -1.63626732e-02 4.12879925e+01] [ 2.21642095e-02 -6.45354517e-04 9.99754135e-01 2.19405087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:41.31, Z:2.19 [[ 6.52324915e-01 -7.57789971e-01 -1.50521024e-02 9.98450156e+01] [ 7.57611351e-01 6.52498215e-01 -1.64657383e-02 4.13119274e+01] [ 2.22990413e-02 -6.62632272e-04 9.99751126e-01 2.19495648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:41.33, Z:2.20 [[ 6.51721093e-01 -7.58296217e-01 -1.56991765e-02 9.98637784e+01] [ 7.58101816e-01 6.51909774e-01 -1.71838117e-02 4.13319798e+01] [ 2.32648661e-02 -7.02521695e-04 9.99729090e-01 2.19516521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:41.35, Z:2.20 [[ 6.51093922e-01 -7.58831334e-01 -1.58654161e-02 9.98820864e+01] [ 7.58632817e-01 6.51286788e-01 -1.73715177e-02 4.13538873e+01] [ 2.35149878e-02 -7.25535682e-04 9.99723221e-01 2.19508486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:41.37, Z:2.19 [[ 6.49894992e-01 -7.59833204e-01 -1.70294586e-02 9.99024734e+01] [ 7.59604543e-01 6.50117563e-01 -1.86572510e-02 4.13733629e+01] [ 2.52475489e-02 -8.10400147e-04 9.99680901e-01 2.19409798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:41.40, Z:2.19 [[ 6.49051054e-01 -7.60551001e-01 -1.71727772e-02 9.99206270e+01] [ 7.60318557e-01 6.49277650e-01 -1.88208603e-02 4.13951435e+01] [ 2.54641245e-02 -8.41081941e-04 9.99675383e-01 2.19461207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:41.41, Z:2.19 [[ 6.48172065e-01 -7.61291737e-01 -1.75461025e-02 9.99412683e+01] [ 7.61049188e-01 6.48408905e-01 -1.92360624e-02 4.14144142e+01] [ 2.60213045e-02 -8.85168767e-04 9.99660997e-01 2.19479179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:41.44, Z:2.20 [[ 6.47035420e-01 -7.62253207e-01 -1.77542433e-02 9.99611049e+01] [ 7.62005039e-01 6.47278289e-01 -1.94714466e-02 4.14360124e+01] [ 2.63341088e-02 -9.30107246e-04 9.99652765e-01 2.19547091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:41.45, Z:2.20 [[ 6.45281110e-01 -7.63746761e-01 -1.74118994e-02 9.99823560e+01] [ 7.63508356e-01 6.45515262e-01 -1.91059444e-02 4.14548672e+01] [ 2.58317499e-02 -9.65425628e-04 9.99665838e-01 2.19633359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:41.48, Z:2.20 [[ 6.44643940e-01 -7.64292842e-01 -1.70482314e-02 1.00001320e+02] [ 7.64064259e-01 6.44868613e-01 -1.87157869e-02 4.14756741e+01] [ 2.52982113e-02 -9.60925674e-04 9.99679487e-01 2.19768051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:41.50, Z:2.20 [[ 6.43949932e-01 -7.64880363e-01 -1.69267873e-02 1.00020458e+02] [ 7.64654957e-01 6.44171630e-01 -1.85932198e-02 4.14970412e+01] [ 2.51253449e-02 -9.70049235e-04 9.99683838e-01 2.19865732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:41.52, Z:2.20 [[ 6.43912296e-01 -7.64914772e-01 -1.68031634e-02 1.00038385e+02] [ 7.64692405e-01 6.44130790e-01 -1.84675692e-02 4.15180331e+01] [ 2.49495514e-02 -9.57756542e-04 9.99688253e-01 2.19957272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:41.54, Z:2.20 [[ 6.44261328e-01 -7.64623319e-01 -1.66889405e-02 1.00056878e+02] [ 7.64403593e-01 6.44476772e-01 -1.83531282e-02 4.15398589e+01] [ 2.47888643e-02 -9.32875355e-04 9.99692274e-01 2.20004027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:41.56, Z:2.20 [[ 6.46004274e-01 -7.63142890e-01 -1.70706470e-02 1.00074018e+02] [ 7.62912195e-01 6.46229170e-01 -1.87841274e-02 4.15624857e+01] [ 2.53665233e-02 -8.88778243e-04 9.99677823e-01 2.20033983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:41.58, Z:2.20 [[ 6.45773078e-01 -7.63338658e-01 -1.70652876e-02 1.00092435e+02] [ 7.63107903e-01 6.45997912e-01 -1.87889954e-02 4.15830180e+01] [ 2.53665067e-02 -8.89228504e-04 9.99677823e-01 2.20090166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:41.61, Z:2.20 [[ 6.46897214e-01 -7.62382793e-01 -1.72183301e-02 1.00110143e+02] [ 7.62147251e-01 6.47125761e-01 -1.89688280e-02 4.16054374e+01] [ 2.56039331e-02 -8.52020995e-04 9.99671802e-01 2.20096437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:41.63, Z:2.20 [[ 6.49450742e-01 -7.60199746e-01 -1.76090905e-02 1.00127321e+02] [ 7.59952336e-01 6.49688958e-01 -1.94088967e-02 4.16266179e+01] [ 2.61950700e-02 -7.76947060e-04 9.99656548e-01 2.20007722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:41.65, Z:2.20 [[ 6.50682388e-01 -7.59157212e-01 -1.71101306e-02 1.00144654e+02] [ 7.58923112e-01 6.50906923e-01 -1.88649895e-02 4.16482496e+01] [ 2.54585953e-02 -7.10157121e-04 9.99675625e-01 2.20075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:41.67, Z:2.20 [[ 6.51766660e-01 -7.58223318e-01 -1.72516813e-02 1.00160815e+02] [ 7.57984806e-01 6.51994590e-01 -1.90286369e-02 4.16721468e+01] [ 2.56759591e-02 -6.74281174e-04 9.99670091e-01 2.20169135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:41.69, Z:2.20 [[ 6.52711978e-01 -7.57418415e-01 -1.68647165e-02 1.00178329e+02] [ 7.57189986e-01 6.52929520e-01 -1.86109563e-02 4.16928333e+01] [ 2.51077523e-02 -6.22200321e-04 9.99684557e-01 2.20250890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:41.71, Z:2.20 [[ 6.54157004e-01 -7.56180789e-01 -1.64081551e-02 1.00195968e+02] [ 7.55963983e-01 6.54362520e-01 -1.81148883e-02 4.17146078e+01] [ 2.44350122e-02 -5.53993247e-04 9.99701267e-01 2.20372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:41.74, Z:2.20 [[ 6.54500466e-01 -7.55890842e-01 -1.60678154e-02 1.00213958e+02] [ 7.55682615e-01 6.54697456e-01 -1.77490087e-02 4.17363934e+01] [ 2.39358710e-02 -5.25434269e-04 9.99713358e-01 2.20460567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:41.76, Z:2.21 [[ 6.54659012e-01 -7.55762251e-01 -1.56523958e-02 1.00231801e+02] [ 7.55564389e-01 6.54845912e-01 -1.72998607e-02 4.17561012e+01] [ 2.33244891e-02 -5.00883180e-04 9.99727822e-01 2.20534970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:41.78, Z:2.21 [[ 6.54577270e-01 -7.55842095e-01 -1.52093645e-02 1.00248491e+02] [ 7.55655103e-01 6.54753766e-01 -1.68188027e-02 4.17783878e+01] [ 2.26707478e-02 -4.83827940e-04 9.99742868e-01 2.20652832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:41.80, Z:2.21 [[ 6.54118596e-01 -7.56245950e-01 -1.48635575e-02 1.00269833e+02] [ 7.56067245e-01 6.54287271e-01 -1.64465450e-02 4.17962131e+01] [ 2.21626695e-02 -4.79858039e-04 9.99754263e-01 2.20667910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:41.82, Z:2.21 [[ 6.53212929e-01 -7.57029701e-01 -1.47953071e-02 1.00287288e+02] [ 7.56852626e-01 6.53380275e-01 -1.63804496e-02 4.18185648e+01] [ 2.20674487e-02 -4.97945520e-04 9.99756360e-01 2.20729124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:41.84, Z:2.21 [[ 6.52553087e-01 -7.57594867e-01 -1.49828342e-02 1.00307788e+02] [ 7.57413202e-01 6.52724865e-01 -1.65979650e-02 4.18374076e+01] [ 2.23542016e-02 -5.17143110e-04 9.99749980e-01 2.20739032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:41.86, Z:2.21 [[ 6.51997962e-01 -7.58068690e-01 -1.51828796e-02 1.00327916e+02] [ 7.57882108e-01 6.52174497e-01 -1.68266511e-02 4.18562588e+01] [ 2.26576443e-02 -5.35890572e-04 9.99743139e-01 2.20745412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:41.87, Z:2.21 [[ 6.51498031e-01 -7.58487954e-01 -1.56951944e-02 1.00349004e+02] [ 7.58288459e-01 6.51686816e-01 -1.74042200e-02 4.18744605e+01] [ 2.34292425e-02 -5.62669721e-04 9.99725339e-01 2.20710918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:41.90, Z:2.21 [[ 6.50810353e-01 -7.59074962e-01 -1.58457016e-02 1.00365607e+02] [ 7.58871587e-01 6.51002966e-01 -1.75798893e-02 4.18977189e+01] [ 2.36600525e-02 -5.83678737e-04 9.99719891e-01 2.20755226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:41.91, Z:2.21 [[ 6.50422623e-01 -7.59404985e-01 -1.59524526e-02 1.00387918e+02] [ 7.59198834e-01 6.50617948e-01 -1.77035831e-02 4.19138714e+01] [ 2.38231412e-02 -5.96272418e-04 9.99716011e-01 2.20734727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:41.94, Z:2.21 [[ 6.49673289e-01 -7.60051447e-01 -1.56976264e-02 1.00404166e+02] [ 7.59851847e-01 6.49862625e-01 -1.74281346e-02 4.19366905e+01] [ 2.34475796e-02 -6.05276910e-04 9.99724884e-01 2.20887489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:41.96, Z:2.21 [[ 6.49148112e-01 -7.60502782e-01 -1.55642822e-02 1.00423517e+02] [ 7.60306457e-01 6.49334387e-01 -1.72900093e-02 4.19577128e+01] [ 2.32555238e-02 -6.09847371e-04 9.99729368e-01 2.20979109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:41.98, Z:2.21 [[ 6.48442462e-01 -7.61107946e-01 -1.53970156e-02 1.00442753e+02] [ 7.60915760e-01 6.48624940e-01 -1.71141588e-02 4.19777918e+01] [ 2.30126106e-02 -6.18284575e-04 9.99734984e-01 2.21074318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:42.00, Z:2.21 [[ 6.47564550e-01 -7.61866058e-01 -1.48412860e-02 1.00462747e+02] [ 7.61687510e-01 6.47734305e-01 -1.65047709e-02 4.19970301e+01] [ 2.21876348e-02 -6.16517575e-04 9.99753634e-01 2.21169340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:42.02, Z:2.21 [[ 6.47041157e-01 -7.62319315e-01 -1.43876440e-02 1.00480434e+02] [ 7.62151500e-01 6.47200813e-01 -1.60062320e-02 4.20190859e+01] [ 2.15135547e-02 -6.08873633e-04 9.99768371e-01 2.21245047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:42.04, Z:2.21 [[ 6.46689955e-01 -7.62615775e-01 -1.44665793e-02 1.00498453e+02] [ 7.62445979e-01 6.46851451e-01 -1.61036987e-02 4.20401061e+01] [ 2.16386625e-02 -6.15885017e-04 9.99765667e-01 2.21305633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:42.06, Z:2.21 [[ 6.46349325e-01 -7.62905794e-01 -1.43979027e-02 1.00517822e+02] [ 7.62737468e-01 6.46509373e-01 -1.60369917e-02 4.20592560e+01] [ 2.15430930e-02 -6.16321090e-04 9.99767731e-01 2.21392751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:42.08, Z:2.21 [[ 6.46745993e-01 -7.62568285e-01 -1.44648439e-02 1.00535531e+02] [ 7.62398111e-01 6.46907450e-01 -1.61205561e-02 4.20819422e+01] [ 2.16504401e-02 -6.02064601e-04 9.99765420e-01 2.21451799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.55, Y:42.10, Z:2.22 [[ 6.47053558e-01 -7.62308539e-01 -1.44008408e-02 1.00553011e+02] [ 7.62139606e-01 6.47213527e-01 -1.60584022e-02 4.21039778e+01] [ 2.15618761e-02 -5.84804801e-04 9.99767345e-01 2.21513742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:42.13, Z:2.22 [[ 6.49175047e-01 -7.60499913e-01 -1.45478743e-02 1.00569264e+02] [ 7.60326844e-01 6.49337823e-01 -1.62321258e-02 4.21263116e+01] [ 2.17910153e-02 -5.23648325e-04 9.99762410e-01 2.21579601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:42.15, Z:2.22 [[ 6.50032512e-01 -7.59767050e-01 -1.45520897e-02 1.00586676e+02] [ 7.59593620e-01 6.50195188e-01 -1.62403770e-02 4.21493739e+01] [ 2.18006020e-02 -4.96901404e-04 9.99762215e-01 2.21636078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:42.17, Z:2.22 [[ 6.52342313e-01 -7.57786997e-01 -1.44351653e-02 1.00604724e+02] [ 7.57615668e-01 6.52501869e-01 -1.61186470e-02 4.21708575e+01] [ 2.16334735e-02 -4.21431963e-04 9.99765880e-01 2.21647819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:42.19, Z:2.22 [[ 6.52977920e-01 -7.57235445e-01 -1.46395294e-02 1.00622111e+02] [ 7.57059011e-01 6.53141880e-01 -1.63505009e-02 4.21930312e+01] [ 2.19428686e-02 -4.06471580e-04 9.99759144e-01 2.21712105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.64, Y:42.22, Z:2.22 [[ 6.53594403e-01 -7.56706338e-01 -1.44870530e-02 1.00638297e+02] [ 7.56533229e-01 6.53754828e-01 -1.61894635e-02 4.22169107e+01] [ 2.17216505e-02 -3.78594199e-04 9.99763985e-01 2.21799203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:42.24, Z:2.22 [[ 6.54446984e-01 -7.55976435e-01 -1.40987506e-02 1.00656274e+02] [ 7.55812108e-01 6.54598744e-01 -1.57652004e-02 4.22390778e+01] [ 2.11471444e-02 -3.38518526e-04 9.99776317e-01 2.21889207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:42.26, Z:2.22 [[ 6.54412029e-01 -7.56005165e-01 -1.41805059e-02 1.00674624e+02] [ 7.55838723e-01 6.54565564e-01 -1.58665387e-02 4.22593722e+01] [ 2.12772560e-02 -3.34921661e-04 9.99773557e-01 2.21965292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.69, Y:42.28, Z:2.22 [[ 6.54039399e-01 -7.56335410e-01 -1.37554386e-02 1.00692924e+02] [ 7.56178694e-01 6.54183949e-01 -1.53994853e-02 4.22790438e+01] [ 2.06457632e-02 -3.29699462e-04 9.99786799e-01 2.22008400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:42.30, Z:2.22 [[ 6.53616877e-01 -7.56704811e-01 -1.35206486e-02 1.00711093e+02] [ 7.56553309e-01 6.53756622e-01 -1.51449652e-02 4.23009195e+01] [ 2.02994816e-02 -3.30086634e-04 9.99793890e-01 2.22108254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:42.32, Z:2.22 [[ 6.52249408e-01 -7.57887588e-01 -1.33084068e-02 1.00731308e+02] [ 7.57740869e-01 6.52385069e-01 -1.49163479e-02 4.23219649e+01] [ 1.99871208e-02 -3.55144636e-04 9.99800174e-01 2.22212877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:42.34, Z:2.22 [[ 6.51366310e-01 -7.58649022e-01 -1.31754320e-02 1.00750409e+02] [ 7.58505220e-01 6.51499443e-01 -1.47752061e-02 4.23422995e+01] [ 1.97929822e-02 -3.69562464e-04 9.99804031e-01 2.22239471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:42.36, Z:2.22 [[ 6.49607208e-01 -7.60153396e-01 -1.33150385e-02 1.00770890e+02] [ 7.60006664e-01 6.49743522e-01 -1.49407812e-02 4.23628486e+01] [ 2.00086456e-02 -4.13878810e-04 9.99799721e-01 2.22312529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:42.38, Z:2.22 [[ 6.48748412e-01 -7.60885932e-01 -1.33452811e-02 1.00790455e+02] [ 7.60738524e-01 6.48885516e-01 -1.49828362e-02 4.23836985e+01] [ 2.00597889e-02 -4.32178223e-04 9.99798689e-01 2.22356937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:42.40, Z:2.22 [[ 6.47881305e-01 -7.61623524e-01 -1.33948410e-02 1.00809723e+02] [ 7.61474997e-01 6.48019602e-01 -1.50474208e-02 4.24045967e+01] [ 2.01405892e-02 -4.50893911e-04 9.99797056e-01 2.22397774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:42.42, Z:2.22 [[ 6.46238786e-01 -7.63010647e-01 -1.37907536e-02 1.00829429e+02] [ 7.62853330e-01 6.46385721e-01 -1.55014753e-02 4.24247788e+01] [ 2.07419369e-02 -5.02667748e-04 9.99784737e-01 2.22342147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.85, Y:42.45, Z:2.22 [[ 6.45309590e-01 -7.63794529e-01 -1.39086271e-02 1.00849062e+02] [ 7.63634581e-01 6.45459245e-01 -1.56393450e-02 4.24464436e+01] [ 2.09226981e-02 -5.28889270e-04 9.99780957e-01 2.22362843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:42.47, Z:2.22 [[ 6.44445670e-01 -7.64514533e-01 -1.43981427e-02 1.00867605e+02] [ 7.64343115e-01 6.44606243e-01 -1.61985857e-02 4.24660668e+01] [ 2.16651868e-02 -5.66012814e-04 9.99765122e-01 2.22341265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:42.49, Z:2.22 [[ 6.43569358e-01 -7.65252909e-01 -1.43689782e-02 1.00887236e+02] [ 7.65082181e-01 6.43729481e-01 -1.61744132e-02 4.24868515e+01] [ 2.16272517e-02 -5.84092487e-04 9.99765933e-01 2.22364204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.90, Y:42.51, Z:2.22 [[ 6.42356747e-01 -7.66267472e-01 -1.45592069e-02 1.00904192e+02] [ 7.66092254e-01 6.42521420e-01 -1.63976437e-02 4.25098241e+01] [ 2.19195833e-02 -6.20558535e-04 9.99759544e-01 2.22376891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.92, Y:42.53, Z:2.22 [[ 6.41840653e-01 -7.66697248e-01 -1.46937583e-02 1.00923055e+02] [ 7.66518765e-01 6.42008507e-01 -1.65547564e-02 4.25295751e+01] [ 2.21260040e-02 -6.37525799e-04 9.99754987e-01 2.22408865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.94, Y:42.55, Z:2.22 [[ 6.41511377e-01 -7.66969900e-01 -1.48433355e-02 1.00941748e+02] [ 7.66787678e-01 6.41682749e-01 -1.67304092e-02 4.25493405e+01] [ 2.23564326e-02 -6.48938920e-04 9.99749853e-01 2.22436883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:42.57, Z:2.22 [[ 6.41796757e-01 -7.66732379e-01 -1.47777587e-02 1.00959364e+02] [ 7.66551488e-01 6.41966557e-01 -1.66659962e-02 4.25709392e+01] [ 2.22651857e-02 -6.31730604e-04 9.99751900e-01 2.22491026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:42.59, Z:2.23 [[ 6.42361753e-01 -7.66259743e-01 -1.47439747e-02 1.00977495e+02] [ 7.66079329e-01 6.42530651e-01 -1.66380331e-02 4.25927412e+01] [ 2.22225106e-02 -6.07418130e-04 9.99752865e-01 2.22539833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:42.62, Z:2.23 [[ 6.43577198e-01 -7.65236769e-01 -1.48686731e-02 1.00994290e+02] [ 7.65052790e-01 6.43748679e-01 -1.67889168e-02 4.26160353e+01] [ 2.24191851e-02 -5.70355834e-04 9.99748496e-01 2.22642737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.01, Y:42.64, Z:2.23 [[ 6.44396191e-01 -7.64550062e-01 -1.47224939e-02 1.01012886e+02] [ 7.64369301e-01 6.44564129e-01 -1.66329723e-02 4.26356076e+01] [ 2.22063314e-02 -5.35198331e-04 9.99753266e-01 2.22708255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:42.66, Z:2.23 [[ 6.45122546e-01 -7.63937923e-01 -1.46884679e-02 1.01029784e+02] [ 7.63757659e-01 6.45289542e-01 -1.66025633e-02 4.26584146e+01] [ 2.21616424e-02 -5.07741956e-04 9.99754272e-01 2.22787651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.05, Y:42.68, Z:2.23 [[ 6.47047873e-01 -7.62301344e-01 -1.50236772e-02 1.01047328e+02] [ 7.62112077e-01 6.47222105e-01 -1.69920400e-02 4.26807394e+01] [ 2.26767109e-02 -4.55062504e-04 9.99742747e-01 2.22823720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:42.70, Z:2.23 [[ 6.47985512e-01 -7.61504610e-01 -1.50168322e-02 1.01065504e+02] [ 7.61315091e-01 6.48159356e-01 -1.69935434e-02 4.27011722e+01] [ 2.26739620e-02 -4.20971089e-04 9.99742824e-01 2.22861578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.08, Y:42.72, Z:2.23 [[ 6.48857011e-01 -7.60763238e-01 -1.49624600e-02 1.01083474e+02] [ 7.60574706e-01 6.49029387e-01 -1.69402244e-02 4.27234347e+01] [ 2.25985762e-02 -3.88285225e-04 9.99744544e-01 2.22942303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:42.75, Z:2.23 [[ 6.50850726e-01 -7.59057657e-01 -1.49935101e-02 1.01100258e+02] [ 7.58867666e-01 6.51023324e-01 -1.69852141e-02 4.27473876e+01] [ 2.26538817e-02 -3.23251075e-04 9.99743316e-01 2.23035658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.12, Y:42.77, Z:2.23 [[ 6.51606638e-01 -7.58408925e-01 -1.49896845e-02 1.01117990e+02] [ 7.58218656e-01 6.51778962e-01 -1.69898635e-02 4.27676969e+01] [ 2.26552252e-02 -2.94750584e-04 9.99743294e-01 2.23097122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.14, Y:42.79, Z:2.23 [[ 6.52088623e-01 -7.57995709e-01 -1.49309335e-02 1.01136233e+02] [ 7.57806627e-01 6.52259481e-01 -1.69317937e-02 4.27894918e+01] [ 2.25730699e-02 -2.73730329e-04 9.99745158e-01 2.23169471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:42.81, Z:2.23 [[ 6.52475031e-01 -7.57662581e-01 -1.49581667e-02 1.01154340e+02] [ 7.57472498e-01 6.52646419e-01 -1.69725234e-02 4.28113373e+01] [ 2.26218398e-02 -2.56252177e-04 9.99744061e-01 2.23271399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.17, Y:42.83, Z:2.23 [[ 6.52212484e-01 -7.57891590e-01 -1.48058768e-02 1.01172915e+02] [ 7.57705195e-01 6.52380467e-01 -1.68096219e-02 4.28317489e+01] [ 2.23989359e-02 -2.55044465e-04 9.99749080e-01 2.23381075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:42.85, Z:2.23 [[ 6.51462209e-01 -7.58540353e-01 -1.46124627e-02 1.01191781e+02] [ 7.58358745e-01 6.51626014e-01 -1.65997326e-02 4.28525071e+01] [ 2.21134278e-02 -2.67390408e-04 9.99755433e-01 2.23484382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:42.87, Z:2.24 [[ 6.50545497e-01 -7.59325548e-01 -1.46720360e-02 1.01210799e+02] [ 7.59142436e-01 6.50710864e-01 -1.66773041e-02 4.28723019e+01] [ 2.22107563e-02 -2.88820099e-04 9.99753269e-01 2.23519149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.23, Y:42.89, Z:2.24 [[ 6.49820416e-01 -7.59948912e-01 -1.45285154e-02 1.01229361e+02] [ 7.59769375e-01 6.49982738e-01 -1.65208158e-02 4.28934891e+01] [ 2.19982603e-02 -3.02757662e-04 9.99757963e-01 2.23584297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.25, Y:42.92, Z:2.24 [[ 6.48845782e-01 -7.60776290e-01 -1.47847238e-02 1.01248640e+02] [ 7.60590340e-01 6.49014120e-01 -1.68227865e-02 4.29153092e+01] [ 2.23938716e-02 -3.29724016e-04 9.99749171e-01 2.23619011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:42.94, Z:2.24 [[ 6.48601132e-01 -7.60984970e-01 -1.47799316e-02 1.01266712e+02] [ 7.60798979e-01 6.48769424e-01 -1.68269958e-02 4.29361272e+01] [ 2.23938586e-02 -3.30548371e-04 9.99749171e-01 2.23675174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:42.96, Z:2.24 [[ 6.46528383e-01 -7.62744683e-01 -1.48861633e-02 1.01287217e+02] [ 7.62556226e-01 6.46699620e-01 -1.69588820e-02 4.29560756e+01] [ 2.25621732e-02 -3.87137899e-04 9.99745367e-01 2.23657384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.31, Y:42.98, Z:2.24 [[ 6.45450452e-01 -7.63654448e-01 -1.50199288e-02 1.01306853e+02] [ 7.63462622e-01 6.45625054e-01 -1.71205753e-02 4.29755101e+01] [ 2.27714458e-02 -4.16671100e-04 9.99740610e-01 2.23681966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.33, Y:43.00, Z:2.24 [[ 6.43300676e-01 -7.65462250e-01 -1.52244526e-02 1.01327543e+02] [ 7.65265537e-01 6.43480621e-01 -1.73593653e-02 4.29956096e+01] [ 2.30845790e-02 -4.83457418e-04 9.99733399e-01 2.23666532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.35, Y:43.02, Z:2.24 [[ 6.42412703e-01 -7.66206099e-01 -1.53013898e-02 1.01346920e+02] [ 7.66007391e-01 6.42594706e-01 -1.74562621e-02 4.30155727e+01] [ 2.32076866e-02 -5.06853161e-04 9.99730537e-01 2.23711359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:43.04, Z:2.24 [[ 6.41677048e-01 -7.66823225e-01 -1.52547703e-02 1.01365089e+02] [ 7.66625768e-01 6.41858136e-01 -1.74087328e-02 4.30367612e+01] [ 2.31408190e-02 -5.23915770e-04 9.99732078e-01 2.23758881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.39, Y:43.06, Z:2.24 [[ 6.40564573e-01 -7.67752950e-01 -1.52458410e-02 1.01385271e+02] [ 7.67555750e-01 6.40745741e-01 -1.74087879e-02 4.30558644e+01] [ 2.31343560e-02 -5.50580174e-04 9.99732213e-01 2.23765296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:43.08, Z:2.24 [[ 6.40039311e-01 -7.68189791e-01 -1.53011583e-02 1.01404380e+02] [ 7.67991143e-01 6.40221935e-01 -1.74779551e-02 4.30770275e+01] [ 2.32225239e-02 -5.64575719e-04 9.99730161e-01 2.23806286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.42, Y:43.10, Z:2.24 [[ 6.39612752e-01 -7.68543010e-01 -1.54002646e-02 1.01423035e+02] [ 7.68341624e-01 6.39797868e-01 -1.76022175e-02 4.30985095e+01] [ 2.33811176e-02 -5.74061507e-04 9.99726459e-01 2.23875780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.44, Y:43.12, Z:2.24 [[ 6.39492482e-01 -7.68644337e-01 -1.53378303e-02 1.01440907e+02] [ 7.68444351e-01 6.39676137e-01 -1.75418993e-02 4.31204168e+01] [ 2.32947256e-02 -5.68356288e-04 9.99728480e-01 2.23957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:43.14, Z:2.24 [[ 6.39452409e-01 -7.68681238e-01 -1.51581981e-02 1.01457890e+02] [ 7.68485669e-01 6.39631804e-01 -1.73473868e-02 4.31427098e+01] [ 2.30302764e-02 -5.56029782e-04 9.99734613e-01 2.24041084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.48, Y:43.16, Z:2.24 [[ 6.40082003e-01 -7.68170251e-01 -1.44739347e-02 1.01475776e+02] [ 7.67991583e-01 6.40245429e-01 -1.65746594e-02 4.31643351e+01] [ 2.19990308e-02 -5.06718808e-04 9.99757864e-01 2.24198993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:43.18, Z:2.24 [[ 6.40374668e-01 -7.67931991e-01 -1.41683081e-02 1.01494215e+02] [ 7.67760517e-01 6.40531205e-01 -1.62346294e-02 4.31847801e+01] [ 2.15423348e-02 -4.81622134e-04 9.99767821e-01 2.24299666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.51, Y:43.21, Z:2.24 [[ 6.40664313e-01 -7.67699621e-01 -1.36575769e-02 1.01511503e+02] [ 7.67540063e-01 6.40809713e-01 -1.56576904e-02 4.32067276e+01] [ 2.07723109e-02 -4.51414030e-04 9.99784130e-01 2.24379581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:43.23, Z:2.24 [[ 6.41942990e-01 -7.66633953e-01 -1.34751791e-02 1.01528680e+02] [ 7.66478195e-01 6.42084277e-01 -1.54582844e-02 4.32281543e+01] [ 2.05030463e-02 -4.05093604e-04 9.99789708e-01 2.24497713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:43.25, Z:2.25 [[ 6.42225607e-01 -7.66400343e-01 -1.32960076e-02 1.01546149e+02] [ 7.66248590e-01 6.42363107e-01 -1.52556846e-02 4.32500446e+01] [ 2.02328267e-02 -3.90455812e-04 9.99795219e-01 2.24547575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:43.27, Z:2.25 [[ 6.42735516e-01 -7.65971914e-01 -1.33447423e-02 1.01563718e+02] [ 7.65818757e-01 6.42873928e-01 -1.53213574e-02 4.32720105e+01] [ 2.03147163e-02 -3.72073434e-04 9.99793566e-01 2.24600233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:43.29, Z:2.25 [[ 6.42993321e-01 -7.65757800e-01 -1.32128827e-02 1.01581306e+02] [ 7.65607419e-01 6.43128965e-01 -1.51794233e-02 4.32929558e+01] [ 2.01213493e-02 -3.55613183e-04 9.99797482e-01 2.24637855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.60, Y:43.31, Z:2.25 [[ 6.43575911e-01 -7.65270713e-01 -1.30683886e-02 1.01598567e+02] [ 7.65123376e-01 6.43708495e-01 -1.50197692e-02 4.33138553e+01] [ 1.99064222e-02 -3.32567970e-04 9.99801792e-01 2.24687989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:43.34, Z:2.25 [[ 6.43557918e-01 -7.65287511e-01 -1.29704160e-02 1.01616885e+02] [ 7.65142229e-01 6.43688527e-01 -1.49147388e-02 4.33356500e+01] [ 1.97629713e-02 -3.25714776e-04 9.99804640e-01 2.24760925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:43.36, Z:2.25 [[ 6.43634881e-01 -7.65223934e-01 -1.29023602e-02 1.01633715e+02] [ 7.65079979e-01 6.43764112e-01 -1.48457021e-02 4.33578730e+01] [ 1.96663630e-02 -3.16125755e-04 9.99806548e-01 2.24792847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.65, Y:43.38, Z:2.25 [[ 6.43357830e-01 -7.65460401e-01 -1.26915886e-02 1.01651384e+02] [ 7.65320981e-01 6.43482926e-01 -1.46123235e-02 4.33796102e+01] [ 1.93519756e-02 -3.12186271e-04 9.99812684e-01 2.24823538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:43.40, Z:2.25 [[ 6.43128835e-01 -7.65655718e-01 -1.25148826e-02 1.01669665e+02] [ 7.65520015e-01 6.43250516e-01 -1.44180680e-02 4.33998511e+01] [ 1.90894809e-02 -3.07717880e-04 9.99817732e-01 2.24901019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:43.42, Z:2.25 [[ 6.42239334e-01 -7.66404283e-01 -1.23738805e-02 1.01688261e+02] [ 7.66271606e-01 6.42358445e-01 -1.42637153e-02 4.34213245e+01] [ 1.88802391e-02 -3.21034239e-04 9.99821701e-01 2.24959643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:43.44, Z:2.25 [[ 6.41646739e-01 -7.66900390e-01 -1.23795759e-02 1.01706521e+02] [ 7.66767518e-01 6.41766065e-01 -1.42790196e-02 4.34423576e+01] [ 1.88953774e-02 -3.30170386e-04 9.99821412e-01 2.25039187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:43.46, Z:2.25 [[ 6.41009989e-01 -7.67428168e-01 -1.26570720e-02 1.01725259e+02] [ 7.67289190e-01 6.41134842e-01 -1.46086698e-02 4.34624761e+01] [ 1.93259946e-02 -3.47331308e-04 9.99813175e-01 2.25090664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:43.48, Z:2.25 [[ 6.40633205e-01 -7.67743456e-01 -1.26127522e-02 1.01742760e+02] [ 7.67605349e-01 6.40757257e-01 -1.45659267e-02 4.34826426e+01] [ 1.92646074e-02 -3.50199780e-04 9.99814359e-01 2.25131540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:43.50, Z:2.25 [[ 6.40610861e-01 -7.67759053e-01 -1.27968863e-02 1.01760889e+02] [ 7.67616722e-01 6.40738569e-01 -1.47869716e-02 4.35046850e+01] [ 1.95522899e-02 -3.50409287e-04 9.99808774e-01 2.25156695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:43.52, Z:2.25 [[ 6.40531882e-01 -7.67821741e-01 -1.29878021e-02 1.01778621e+02] [ 7.67674954e-01 6.40663446e-01 -1.50171360e-02 4.35248442e+01] [ 1.98512936e-02 -3.51456000e-04 9.99802882e-01 2.25194900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:43.55, Z:2.25 [[ 6.40436069e-01 -7.67899440e-01 -1.31183975e-02 1.01796482e+02] [ 7.67749573e-01 6.40570313e-01 -1.51745404e-02 4.35465271e+01] [ 2.00557770e-02 -3.53321106e-04 9.99798800e-01 2.25224053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:43.57, Z:2.25 [[ 6.40550673e-01 -7.67795102e-01 -1.36204534e-02 1.01814058e+02] [ 7.67633311e-01 6.40695368e-01 -1.57653178e-02 4.35666535e+01] [ 2.08310952e-02 -3.57028822e-04 9.99782945e-01 2.25212271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:43.59, Z:2.25 [[ 6.40368747e-01 -7.67941821e-01 -1.39006468e-02 1.01831234e+02] [ 7.67773149e-01 6.40519498e-01 -1.60985989e-02 4.35884528e+01] [ 2.12664227e-02 -3.63503804e-04 9.99773778e-01 2.25240804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:43.61, Z:2.25 [[ 6.39914617e-01 -7.68307653e-01 -1.45819378e-02 1.01850945e+02] [ 7.68121889e-01 6.40080620e-01 -1.68986430e-02 4.36077949e+01] [ 2.23169725e-02 -3.87016917e-04 9.99750870e-01 2.25259795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:43.63, Z:2.25 [[ 6.39424148e-01 -7.68714568e-01 -1.46516915e-02 1.01869677e+02] [ 7.68526909e-01 6.39591866e-01 -1.69892608e-02 4.36287427e+01] [ 2.24309950e-02 -3.96875558e-04 9.99748315e-01 2.25327497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:43.65, Z:2.25 [[ 6.38886808e-01 -7.69163943e-01 -1.45077646e-02 1.01888643e+02] [ 7.68979850e-01 6.39051380e-01 -1.68322406e-02 4.36499518e+01] [ 2.22179596e-02 -4.02282190e-04 9.99753070e-01 2.25408443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:43.67, Z:2.26 [[ 6.38147186e-01 -7.69782478e-01 -1.42514706e-02 1.01906027e+02] [ 7.69604776e-01 6.38306171e-01 -1.65445161e-02 4.36721982e+01] [ 2.18324802e-02 -4.10163450e-04 9.99761559e-01 2.25589568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:43.69, Z:2.26 [[ 6.37701439e-01 -7.70149548e-01 -1.43717936e-02 1.01925709e+02] [ 7.69968694e-01 6.37863228e-01 -1.66946626e-02 4.36904305e+01] [ 2.20246255e-02 -4.19620781e-04 9.99757340e-01 2.25674140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:43.71, Z:2.26 [[ 6.37228576e-01 -7.70540676e-01 -1.43808121e-02 1.01943882e+02] [ 7.70359482e-01 6.37390684e-01 -1.67148200e-02 4.37106033e+01] [ 2.20456443e-02 -4.27234039e-04 9.99756874e-01 2.25745502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:43.73, Z:2.26 [[ 6.36607052e-01 -7.71045113e-01 -1.48624963e-02 1.01960231e+02] [ 7.70851464e-01 6.36780361e-01 -1.72856143e-02 4.37332860e+01] [ 2.27921342e-02 -4.52633044e-04 9.99740123e-01 2.25821991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:43.76, Z:2.26 [[ 6.36100212e-01 -7.71454977e-01 -1.52885448e-02 1.01978222e+02] [ 7.71249913e-01 6.36283738e-01 -1.77925809e-02 4.37553296e+01] [ 2.34540276e-02 -4.73424390e-04 9.99724804e-01 2.25907344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:43.78, Z:2.26 [[ 6.35573320e-01 -7.71886794e-01 -1.54055744e-02 1.01997198e+02] [ 7.71678426e-01 6.35759814e-01 -1.79406455e-02 4.37761564e+01] [ 2.36423924e-02 -4.85553814e-04 9.99720362e-01 2.25947625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:43.80, Z:2.26 [[ 6.34456065e-01 -7.72801432e-01 -1.56028101e-02 1.02017428e+02] [ 7.72587702e-01 6.34647679e-01 -1.81814695e-02 4.37959111e+01] [ 2.39529529e-02 -5.19195620e-04 9.99712952e-01 2.26003647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:43.82, Z:2.26 [[ 6.33655748e-01 -7.73453593e-01 -1.58092754e-02 1.02035701e+02] [ 7.73234198e-01 6.33852697e-01 -1.84291401e-02 4.38174926e+01] [ 2.42748365e-02 -5.46541779e-04 9.99705173e-01 2.26068000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.372755096 meters Centerline goodness [0,1] 0.9999359343968224 Centerline is valid? [True, True] Translation: X:102.06, Y:43.84, Z:2.26 [[ 6.32730005e-01 -7.74203138e-01 -1.61938945e-02 1.02055762e+02] [ 7.73972885e-01 6.32936934e-01 -1.88894143e-02 4.38387094e+01] [ 2.48739578e-02 -5.81736062e-04 9.99690426e-01 2.26001637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.08, Y:43.86, Z:2.26 [[ 6.31106041e-01 -7.75529135e-01 -1.61159744e-02 1.02078736e+02] [ 7.75301277e-01 6.31311468e-01 -1.88084895e-02 4.38560925e+01] [ 2.47607311e-02 -6.24584237e-04 9.99693211e-01 2.26153567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:43.88, Z:2.26 [[ 6.30353683e-01 -7.76140130e-01 -1.61472223e-02 1.02095024e+02] [ 7.75911401e-01 6.30560134e-01 -1.88524956e-02 4.38795777e+01] [ 2.48139730e-02 -6.45073821e-04 9.99691878e-01 2.26320791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:43.90, Z:2.26 [[ 6.29241265e-01 -7.77035561e-01 -1.64671484e-02 1.02114746e+02] [ 7.76797682e-01 6.29456325e-01 -1.92378907e-02 4.39006184e+01] [ 2.53138759e-02 -6.86367996e-04 9.99679317e-01 2.26415352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:43.92, Z:2.27 [[ 6.28851615e-01 -7.77351390e-01 -1.64457811e-02 1.02133107e+02] [ 7.77113974e-01 6.29066243e-01 -1.92232224e-02 4.39200428e+01] [ 2.52886844e-02 -6.91691853e-04 9.99679951e-01 2.26503936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.15, Y:43.94, Z:2.27 [[ 6.28251830e-01 -7.77832738e-01 -1.66093507e-02 1.02151446e+02] [ 7.77590510e-01 6.28470942e-01 -1.94235298e-02 4.39418880e+01] [ 2.55467516e-02 -7.12405399e-04 9.99673375e-01 2.26569411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:43.96, Z:2.27 [[ 6.28135832e-01 -7.77921260e-01 -1.68490560e-02 1.02170200e+02] [ 7.77671698e-01 6.28361359e-01 -1.97163189e-02 4.39630269e+01] [ 2.59250394e-02 -7.18507602e-04 9.99663631e-01 2.26629556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:43.98, Z:2.27 [[ 6.27715936e-01 -7.78249062e-01 -1.73522708e-02 1.02188910e+02] [ 7.77984148e-01 6.27955286e-01 -2.03180837e-02 4.39830390e+01] [ 2.67089797e-02 -7.45806664e-04 9.99642973e-01 2.26667228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:44.00, Z:2.27 [[ 6.27517634e-01 -7.78407686e-01 -1.74095470e-02 1.02206005e+02] [ 7.78140759e-01 6.27758644e-01 -2.03971805e-02 4.40047231e+01] [ 2.68063157e-02 -7.47487693e-04 9.99640367e-01 2.26739111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:44.02, Z:2.27 [[ 6.27400865e-01 -7.78497331e-01 -1.76085166e-02 1.02224227e+02] [ 7.78223950e-01 6.27647465e-01 -2.06432463e-02 4.40241670e+01] [ 2.71226530e-02 -7.51778704e-04 9.99631830e-01 2.26755459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:44.05, Z:2.27 [[ 6.26849977e-01 -7.78932232e-01 -1.79912107e-02 1.02242812e+02] [ 7.78646670e-01 6.27107622e-01 -2.11043556e-02 4.40454777e+01] [ 2.77212882e-02 -7.79531466e-04 9.99615387e-01 2.26812775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:44.07, Z:2.27 [[ 6.26375684e-01 -7.79312396e-01 -1.80469572e-02 1.02261503e+02] [ 7.79024857e-01 6.26635113e-01 -2.11827252e-02 4.40659789e+01] [ 2.78168174e-02 -7.90684300e-04 9.99612725e-01 2.26868816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:44.09, Z:2.27 [[ 6.25827205e-01 -7.79750759e-01 -1.81400986e-02 1.02280751e+02] [ 7.79460058e-01 6.26089534e-01 -2.13052384e-02 4.40863888e+01] [ 2.79701017e-02 -8.06084513e-04 9.99608435e-01 2.26989745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:44.11, Z:2.27 [[ 6.25383896e-01 -7.80105447e-01 -1.81789721e-02 1.02298750e+02] [ 7.79813290e-01 6.25647526e-01 -2.13636824e-02 4.41072613e+01] [ 2.80395539e-02 -8.15701152e-04 9.99606482e-01 2.27089790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.32, Y:44.13, Z:2.27 [[ 6.24953372e-01 -7.80456242e-01 -1.79258921e-02 1.02316455e+02] [ 7.80171968e-01 6.25209881e-01 -2.10785392e-02 4.41285308e+01] [ 2.76583224e-02 -8.12174357e-04 9.99617105e-01 2.27172175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.34, Y:44.15, Z:2.27 [[ 6.24750322e-01 -7.80618900e-01 -1.79211321e-02 1.02335667e+02] [ 7.80334486e-01 6.25006780e-01 -2.10858949e-02 4.41476627e+01] [ 2.76608772e-02 -8.11057782e-04 9.99617036e-01 2.27229693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:44.17, Z:2.27 [[ 6.24429462e-01 -7.80869944e-01 -1.81653128e-02 1.02354170e+02] [ 7.80577481e-01 6.24693084e-01 -2.13856616e-02 4.41684803e+01] [ 2.80471656e-02 -8.25596924e-04 9.99606260e-01 2.27301569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:44.19, Z:2.27 [[ 6.24028235e-01 -7.81191117e-01 -1.81438857e-02 1.02372164e+02] [ 7.80899111e-01 6.24291397e-01 -2.13735982e-02 4.41881314e+01] [ 2.80239368e-02 -8.30815391e-04 9.99606907e-01 2.27380617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:44.21, Z:2.28 [[ 6.23627986e-01 -7.81514172e-01 -1.79925945e-02 1.02389835e+02] [ 7.81226777e-01 6.23886937e-01 -2.12087795e-02 4.42102087e+01] [ 2.78003064e-02 -8.29908122e-04 9.99613152e-01 2.27529598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:44.23, Z:2.28 [[ 6.23050796e-01 -7.81972775e-01 -1.80633341e-02 1.02409223e+02] [ 7.81682942e-01 6.23312011e-01 -2.13052587e-02 4.42312295e+01] [ 2.79192254e-02 -8.45541784e-04 9.99609825e-01 2.27620983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:44.25, Z:2.28 [[ 6.22813100e-01 -7.82162251e-01 -1.80569922e-02 1.02426923e+02] [ 7.81872342e-01 6.23074231e-01 -2.13106328e-02 4.42523839e+01] [ 2.79192190e-02 -8.45721526e-04 9.99609825e-01 2.27677151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:44.27, Z:2.28 [[ 6.22342858e-01 -7.82535558e-01 -1.80960737e-02 1.02445610e+02] [ 7.82244182e-01 6.22605306e-01 -2.13698956e-02 4.42734367e+01] [ 2.79894147e-02 -8.56146439e-04 9.99607853e-01 2.27736280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:44.29, Z:2.28 [[ 6.21871866e-01 -7.82911573e-01 -1.80236418e-02 1.02464668e+02] [ 7.82622331e-01 6.22132403e-01 -2.12969650e-02 4.42929789e+01] [ 2.78867319e-02 -8.61721194e-04 9.99610718e-01 2.27780223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:44.32, Z:2.28 [[ 6.21675709e-01 -7.83072915e-01 -1.77798411e-02 1.02482194e+02] [ 7.82791186e-01 6.21929327e-01 -2.10207279e-02 4.43152387e+01] [ 2.75185672e-02 -8.49826958e-04 9.99620931e-01 2.27902951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:44.34, Z:2.28 [[ 6.21745939e-01 -7.83013343e-01 -1.79469260e-02 1.02500111e+02] [ 7.82725906e-01 6.22004331e-01 -2.12313035e-02 4.43355136e+01] [ 2.77874596e-02 -8.47047251e-04 9.99613495e-01 2.27954611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:44.36, Z:2.28 [[ 6.22090077e-01 -7.82743072e-01 -1.78106775e-02 1.02514448e+02] [ 7.82459510e-01 6.22344447e-01 -2.10832592e-02 4.43598207e+01] [ 2.75871513e-02 -8.20447647e-04 9.99619065e-01 2.28169984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.53, Y:44.38, Z:2.28 [[ 6.21884756e-01 -7.82905647e-01 -1.78353124e-02 1.02531937e+02] [ 7.82621002e-01 6.22139916e-01 -2.11256204e-02 4.43819638e+01] [ 2.76354272e-02 -8.20588747e-04 9.99617732e-01 2.28237241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:44.40, Z:2.28 [[ 6.21529342e-01 -7.83182478e-01 -1.80688467e-02 1.02550286e+02] [ 7.82890093e-01 6.21791370e-01 -2.14148488e-02 4.44020439e+01] [ 2.80067873e-02 -8.35964185e-04 9.99607383e-01 2.28232675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:44.42, Z:2.28 [[ 6.20821982e-01 -7.83742326e-01 -1.81116864e-02 1.02568693e+02] [ 7.83448506e-01 6.21085527e-01 -2.14757250e-02 4.44238911e+01] [ 2.80803409e-02 -8.56971494e-04 9.99605302e-01 2.28295965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:44.44, Z:2.28 [[ 6.20552429e-01 -7.83957819e-01 -1.80227888e-02 1.02587175e+02] [ 7.83666614e-01 6.20813505e-01 -2.13829536e-02 4.44442160e+01] [ 2.79521243e-02 -8.54614076e-04 9.99608898e-01 2.28358485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:44.47, Z:2.28 [[ 6.20039258e-01 -7.84361202e-01 -1.81334815e-02 1.02603325e+02] [ 7.84066224e-01 6.20303754e-01 -2.15269579e-02 4.44673916e+01] [ 2.81331772e-02 -8.70291342e-04 9.99603805e-01 2.28461191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:44.49, Z:2.28 [[ 6.19655970e-01 -7.84659455e-01 -1.83308045e-02 1.02621063e+02] [ 7.84357750e-01 6.19926412e-01 -2.17752965e-02 4.44892418e+01] [ 2.84499421e-02 -8.84716131e-04 9.99594827e-01 2.28497079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.64, Y:44.51, Z:2.29 [[ 6.19705495e-01 -7.84615580e-01 -1.85335417e-02 1.02638843e+02] [ 7.84306743e-01 6.19981944e-01 -2.20300174e-02 4.45096135e+01] [ 2.87755561e-02 -8.83858942e-04 9.99585507e-01 2.28510616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.66, Y:44.53, Z:2.29 [[ 6.19313873e-01 -7.84921110e-01 -1.86863322e-02 1.02656242e+02] [ 7.84606925e-01 6.19595066e-01 -2.22244623e-02 4.45299701e+01] [ 2.90224089e-02 -8.97507813e-04 9.99578358e-01 2.28528227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:44.55, Z:2.29 [[ 6.19201743e-01 -7.85014570e-01 -1.84749892e-02 1.02673734e+02] [ 7.84707124e-01 6.19476669e-01 -2.19860307e-02 4.45516055e+01] [ 2.87041792e-02 -8.83667110e-04 9.99587560e-01 2.28623753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:44.57, Z:2.29 [[ 6.19184124e-01 -7.85028478e-01 -1.84745354e-02 1.02690554e+02] [ 7.84720657e-01 6.19459056e-01 -2.19993007e-02 4.45740069e+01] [ 2.87142958e-02 -8.75731856e-04 9.99587276e-01 2.28691708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:44.60, Z:2.29 [[ 6.19289932e-01 -7.84948516e-01 -1.83250193e-02 1.02707713e+02] [ 7.84645230e-01 6.19560403e-01 -2.18350536e-02 4.45963181e+01] [ 2.84928493e-02 -8.56410114e-04 9.99593629e-01 2.28811435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:44.62, Z:2.29 [[ 6.20073412e-01 -7.84330126e-01 -1.83089536e-02 1.02725469e+02] [ 7.84026721e-01 6.20343117e-01 -2.18292814e-02 4.46185240e+01] [ 2.84791964e-02 -8.18951877e-04 9.99594050e-01 2.28869711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:44.64, Z:2.29 [[ 6.20579934e-01 -7.83936193e-01 -1.80163868e-02 1.02741956e+02] [ 7.83641901e-01 6.20840910e-01 -2.14926794e-02 4.46413913e+01] [ 2.80341992e-02 -7.80470072e-04 9.99606660e-01 2.28954333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:44.66, Z:2.29 [[ 6.21272788e-01 -7.83381996e-01 -1.82420400e-02 1.02759441e+02] [ 7.83079657e-01 6.21540084e-01 -2.17755568e-02 4.46638593e+01] [ 2.83967382e-02 -7.56409564e-04 9.99596445e-01 2.28988926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:44.69, Z:2.29 [[ 6.22799362e-01 -7.82158952e-01 -1.86635493e-02 1.02776740e+02] [ 7.81841531e-01 6.23078544e-01 -2.22923476e-02 4.46863406e+01] [ 2.90650163e-02 -7.08278090e-04 9.99577272e-01 2.28923127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:44.71, Z:2.29 [[ 6.23412734e-01 -7.81672466e-01 -1.85666020e-02 1.02792833e+02] [ 7.81357751e-01 6.23688786e-01 -2.21892732e-02 4.47098907e+01] [ 2.89245254e-02 -6.74082850e-04 9.99581371e-01 2.29023681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:44.73, Z:2.29 [[ 6.24739493e-01 -7.80613811e-01 -1.85106643e-02 1.02809002e+02] [ 7.80300138e-01 6.25013360e-01 -2.21358220e-02 4.47335834e+01] [ 2.88489409e-02 -6.14751743e-04 9.99583594e-01 2.29173453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:44.76, Z:2.29 [[ 6.25115513e-01 -7.80317115e-01 -1.83247083e-02 1.02826311e+02] [ 7.80009219e-01 6.25383767e-01 -2.19262992e-02 4.47563995e+01] [ 2.85694417e-02 -5.86971643e-04 9.99591638e-01 2.29299530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:44.78, Z:2.29 [[ 6.25209357e-01 -7.80249222e-01 -1.80114444e-02 1.02843993e+02] [ 7.79951351e-01 6.25468490e-01 -2.15651959e-02 4.47781446e+01] [ 2.80918183e-02 -5.65288116e-04 9.99605187e-01 2.29360549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:44.80, Z:2.29 [[ 6.25264302e-01 -7.80208271e-01 -1.78775369e-02 1.02860959e+02] [ 7.79914424e-01 6.25519585e-01 -2.14182371e-02 4.47990161e+01] [ 2.78934352e-02 -5.50889842e-04 9.99610751e-01 2.29470676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:44.82, Z:2.30 [[ 6.24854741e-01 -7.80529285e-01 -1.81820566e-02 1.02878626e+02] [ 7.80225104e-01 6.25118960e-01 -2.17961672e-02 4.48211915e+01] [ 2.83784951e-02 -5.66658616e-04 9.99597089e-01 2.29563060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:44.84, Z:2.30 [[ 6.24195731e-01 -7.81058589e-01 -1.80878279e-02 1.02896326e+02] [ 7.80757380e-01 6.24457481e-01 -2.16971862e-02 4.48431571e+01] [ 2.82418531e-02 -5.78914156e-04 9.99600952e-01 2.29637394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:44.86, Z:2.30 [[ 6.22492436e-01 -7.82417590e-01 -1.80522006e-02 1.02915410e+02] [ 7.82117754e-01 6.22753817e-01 -2.16680191e-02 4.48646794e+01] [ 2.81955162e-02 -6.30768572e-04 9.99602228e-01 2.29724797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.93, Y:44.89, Z:2.30 [[ 6.21441403e-01 -7.83255929e-01 -1.79090138e-02 1.02934353e+02] [ 7.82960837e-01 6.21699059e-01 -2.15083358e-02 4.48866474e+01] [ 2.79805485e-02 -6.55886085e-04 9.99608253e-01 2.29821082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:44.91, Z:2.30 [[ 6.20223828e-01 -7.84215771e-01 -1.81115300e-02 1.02953493e+02] [ 7.83914050e-01 6.20487820e-01 -2.17629920e-02 4.49063937e+01] [ 2.83048652e-02 -6.99956615e-04 9.99599092e-01 2.29865914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:44.93, Z:2.30 [[ 6.19338472e-01 -7.84913490e-01 -1.81843446e-02 1.02972027e+02] [ 7.84609362e-01 6.19604940e-01 -2.18601695e-02 4.49287797e+01] [ 2.84254517e-02 -7.28763021e-04 9.99595650e-01 2.29930857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:44.95, Z:2.30 [[ 6.18908076e-01 -7.85252758e-01 -1.81906477e-02 1.02990480e+02] [ 7.84948238e-01 6.19174905e-01 -2.18792538e-02 4.49489921e+01] [ 2.84439370e-02 -7.37469941e-04 9.99595117e-01 2.29942567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96275509600001 meters Centerline goodness [0,1] 0.9999570511306289 Centerline is valid? [True, True] Translation: X:103.01, Y:44.97, Z:2.30 [[ 6.18594369e-01 -7.85500473e-01 -1.81662615e-02 1.03008508e+02] [ 7.85196612e-01 6.18860611e-01 -2.18592082e-02 4.49698432e+01] [ 2.84128021e-02 -7.42103848e-04 9.99595999e-01 2.29904492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.03, Y:44.99, Z:2.30 [[ 6.18743510e-01 -7.85384862e-01 -1.80855624e-02 1.03025633e+02] [ 7.85083347e-01 6.19007342e-01 -2.17726389e-02 4.49917455e+01] [ 2.82949969e-02 -7.26994831e-04 9.99599352e-01 2.30008507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:45.01, Z:2.30 [[ 6.18670164e-01 -7.85436964e-01 -1.83304066e-02 1.03043132e+02] [ 7.85126861e-01 6.18941226e-01 -2.20810126e-02 4.50119813e+01] [ 2.86886878e-02 -7.30830853e-04 9.99588128e-01 2.30006150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:45.03, Z:2.30 [[ 6.19083213e-01 -7.85114785e-01 -1.81865342e-02 1.03060338e+02] [ 7.84809031e-01 6.19349886e-01 -2.19203880e-02 4.50340098e+01] [ 2.84738486e-02 -7.02412050e-04 9.99594291e-01 2.30075942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:45.05, Z:2.30 [[ 6.19217452e-01 -7.85007588e-01 -1.82437455e-02 1.03077802e+02] [ 7.84699482e-01 6.19485762e-01 -2.20025867e-02 4.50542746e+01] [ 2.85739381e-02 -6.91471938e-04 9.99591443e-01 2.30073098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:45.08, Z:2.30 [[ 6.19492637e-01 -7.84790499e-01 -1.82413221e-02 1.03095689e+02] [ 7.84482021e-01 6.19760776e-01 -2.20122418e-02 4.50757803e+01] [ 2.85802542e-02 -6.73567523e-04 9.99591274e-01 2.30152588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:45.10, Z:2.30 [[ 6.19374166e-01 -7.84888555e-01 -1.80443611e-02 1.03113788e+02] [ 7.84586378e-01 6.19636601e-01 -2.17875715e-02 4.50965165e+01] [ 2.82817621e-02 -6.62700965e-04 9.99599771e-01 2.30207703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:45.12, Z:2.30 [[ 6.18896676e-01 -7.85270453e-01 -1.78106787e-02 1.03132128e+02] [ 7.84975869e-01 6.19152546e-01 -2.15176574e-02 4.51172998e+01] [ 2.79247077e-02 -6.63746361e-04 9.99609809e-01 2.30286284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.15, Y:45.14, Z:2.30 [[ 6.18221924e-01 -7.85813463e-01 -1.72874184e-02 1.03150564e+02] [ 7.85535803e-01 6.18463230e-01 -2.08982111e-02 4.51386602e+01] [ 2.71137282e-02 -6.60153859e-04 9.99632137e-01 2.30494860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:45.16, Z:2.31 [[ 6.17576875e-01 -7.86328963e-01 -1.68986634e-02 1.03168334e+02] [ 7.86063504e-01 6.17807678e-01 -2.04411434e-02 4.51601586e+01] [ 2.65135870e-02 -6.59445088e-04 9.99648236e-01 2.30610512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:45.18, Z:2.31 [[ 6.17143935e-01 -7.86669008e-01 -1.68888942e-02 1.03187500e+02] [ 7.86403628e-01 6.17374626e-01 -2.04427200e-02 4.51813173e+01] [ 2.65084290e-02 -6.65387018e-04 9.99648368e-01 2.30684713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:45.20, Z:2.31 [[ 6.15898591e-01 -7.87647728e-01 -1.67326911e-02 1.03208320e+02] [ 7.87387289e-01 6.16125455e-01 -2.02652923e-02 4.51997165e+01] [ 2.62713483e-02 -6.93743256e-04 9.99654608e-01 2.30770581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:45.22, Z:2.31 [[ 6.15442046e-01 -7.88007500e-01 -1.65912055e-02 1.03227945e+02] [ 7.87751383e-01 6.15665243e-01 -2.01014108e-02 4.52185807e+01] [ 2.60546910e-02 -6.98491747e-04 9.99660275e-01 2.30824854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.24, Y:45.24, Z:2.31 [[ 6.15229210e-01 -7.88172765e-01 -1.66346471e-02 1.03243454e+02] [ 7.87915058e-01 6.15453655e-01 -2.01658156e-02 4.52424023e+01] [ 2.61320009e-02 -7.00090129e-04 9.99658256e-01 2.30979600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:45.26, Z:2.31 [[ 6.15059418e-01 -7.88298244e-01 -1.69644069e-02 1.03262085e+02] [ 7.88029915e-01 6.15292916e-01 -2.05786511e-02 4.52618200e+01] [ 2.66601939e-02 -7.11366969e-04 9.99644301e-01 2.31048105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:45.28, Z:2.31 [[ 6.15056698e-01 -7.88295671e-01 -1.71811826e-02 1.03279286e+02] [ 7.88020101e-01 6.15296211e-01 -2.08540895e-02 4.52839679e+01] [ 2.70107051e-02 -7.12669818e-04 9.99634890e-01 2.31109217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:45.30, Z:2.31 [[ 6.15364812e-01 -7.88046527e-01 -1.75732689e-02 1.03296679e+02] [ 7.87757760e-01 6.15615276e-01 -2.13434737e-02 4.53048273e+01] [ 2.76380231e-02 -7.09456249e-04 9.99617745e-01 2.31151596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:45.33, Z:2.31 [[ 6.15755763e-01 -7.87733489e-01 -1.79106062e-02 1.03315116e+02] [ 7.87433054e-01 6.16015794e-01 -2.17652687e-02 4.53250592e+01] [ 2.81784474e-02 -7.01313711e-04 9.99602663e-01 2.31060801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:45.35, Z:2.31 [[ 6.15734435e-01 -7.87750234e-01 -1.79073902e-02 1.03331693e+02] [ 7.87449568e-01 6.15994389e-01 -2.17736118e-02 4.53480488e+01] [ 2.81830196e-02 -6.94404095e-04 9.99602539e-01 2.31172311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:45.37, Z:2.31 [[ 6.15785211e-01 -7.87714758e-01 -1.77210201e-02 1.03349385e+02] [ 7.87419924e-01 6.16039773e-01 -2.15606584e-02 4.53704279e+01] [ 2.79005020e-02 -6.77149710e-04 9.99610476e-01 2.31240340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:45.39, Z:2.31 [[ 6.16448990e-01 -7.87195796e-01 -1.77037137e-02 1.03366745e+02] [ 7.86900961e-01 6.16702816e-01 -2.15525790e-02 4.53909607e+01] [ 2.78840297e-02 -6.45003805e-04 9.99610957e-01 2.31311734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.38, Y:45.41, Z:2.31 [[ 6.17152629e-01 -7.86645467e-01 -1.76505598e-02 1.03383811e+02] [ 7.86351882e-01 6.17404677e-01 -2.14984434e-02 4.54121525e+01] [ 2.78091912e-02 -6.11730033e-04 9.99613062e-01 2.31408596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:45.43, Z:2.32 [[ 6.17525541e-01 -7.86354130e-01 -1.75894381e-02 1.03400500e+02] [ 7.86062145e-01 6.17775716e-01 -2.14352258e-02 4.54347068e+01] [ 2.77220061e-02 -5.89591995e-04 9.99615497e-01 2.31531917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:45.46, Z:2.32 [[ 6.18262488e-01 -7.85775675e-01 -1.75523291e-02 1.03417741e+02] [ 7.85484317e-01 6.18511343e-01 -2.14034239e-02 4.54565033e+01] [ 2.76746045e-02 -5.54145093e-04 9.99616831e-01 2.31579565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.44, Y:45.48, Z:2.32 [[ 6.18772937e-01 -7.85373520e-01 -1.75637892e-02 1.03435508e+02] [ 7.85081252e-01 6.19021934e-01 -2.14306464e-02 4.54785703e+01] [ 2.77034330e-02 -5.28297663e-04 9.99616047e-01 2.31639892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:45.50, Z:2.32 [[ 6.19140702e-01 -7.85080673e-01 -1.76954615e-02 1.03451724e+02] [ 7.84783506e-01 6.19393314e-01 -2.16049096e-02 4.55010564e+01] [ 2.79220475e-02 -5.10627371e-04 9.99609973e-01 2.31741582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:45.52, Z:2.32 [[ 6.20031718e-01 -7.84380802e-01 -1.75335774e-02 1.03468978e+02] [ 7.84088406e-01 6.20279405e-01 -2.14203511e-02 4.55216474e+01] [ 2.76774291e-02 -4.66577680e-04 9.99616798e-01 2.31784898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77275509600001 meters Centerline goodness [0,1] 0.9999784492047756 Centerline is valid? [True, True] Translation: X:103.49, Y:45.54, Z:2.32 [[ 6.20189712e-01 -7.84252794e-01 -1.76713435e-02 1.03486961e+02] [ 7.83955400e-01 6.20441252e-01 -2.16005559e-02 4.55433005e+01] [ 2.79043268e-02 -4.57102583e-04 9.99610494e-01 2.31834252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.50, Y:45.56, Z:2.32 [[ 6.20743489e-01 -7.83815013e-01 -1.76506961e-02 1.03504416e+02] [ 7.83517760e-01 6.20994237e-01 -2.15888315e-02 4.55638403e+01] [ 2.78826308e-02 -4.28507316e-04 9.99611112e-01 2.31878379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:45.58, Z:2.32 [[ 6.20546033e-01 -7.83969970e-01 -1.77117699e-02 1.03521638e+02] [ 7.83670404e-01 6.20798599e-01 -2.16748183e-02 4.55841448e+01] [ 2.79878487e-02 -4.29967383e-04 9.99608171e-01 2.31921669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:45.61, Z:2.32 [[ 6.20301529e-01 -7.84163562e-01 -1.77065518e-02 1.03538952e+02] [ 7.83863952e-01 6.20554044e-01 -2.16790805e-02 4.56056058e+01] [ 2.79878173e-02 -4.31960885e-04 9.99608171e-01 2.31977871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:45.63, Z:2.32 [[ 6.20158060e-01 -7.84284563e-01 -1.73696608e-02 1.03556230e+02] [ 7.83995926e-01 6.20401118e-01 -2.12800690e-02 4.56281479e+01] [ 2.74657867e-02 -4.20737006e-04 9.99622656e-01 2.32093037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.57, Y:45.65, Z:2.32 [[ 6.19912852e-01 -7.84480156e-01 -1.72898920e-02 1.03573919e+02] [ 7.84193871e-01 6.20153779e-01 -2.11958363e-02 4.56486531e+01] [ 2.73501048e-02 -4.19055985e-04 9.99625828e-01 2.32127180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.952755096 meters Centerline goodness [0,1] 0.9998485569642162 Centerline is valid? [True, True] Translation: X:103.59, Y:45.67, Z:2.32 [[ 6.19202321e-01 -7.85038126e-01 -1.74249031e-02 1.03592125e+02] [ 7.84747224e-01 6.19447293e-01 -2.13739568e-02 4.56684600e+01] [ 2.75731800e-02 -4.39340675e-04 9.99619691e-01 2.32030502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.982755096 meters Centerline goodness [0,1] 0.9999566790131479 Centerline is valid? [True, True] Translation: X:103.61, Y:45.69, Z:2.32 [[ 6.19440705e-01 -7.84861426e-01 -1.69043174e-02 1.03609019e+02] [ 7.84587275e-01 6.19671182e-01 -2.07469267e-02 4.56890297e+01] [ 2.67585808e-02 -4.11421447e-04 9.99641840e-01 2.32235852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:45.71, Z:2.32 [[ 6.19685155e-01 -7.84673125e-01 -1.66852156e-02 1.03625569e+02] [ 7.84405667e-01 6.19909618e-01 -2.04894069e-02 4.57113171e+01] [ 2.64208126e-02 -3.90996391e-04 9.99650833e-01 2.32393339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:45.73, Z:2.32 [[ 6.19255809e-01 -7.85012461e-01 -1.66637011e-02 1.03644758e+02] [ 7.84745472e-01 6.19479845e-01 -2.04760070e-02 4.57310476e+01] [ 2.63967476e-02 -3.96877703e-04 9.99651466e-01 2.32398603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07275509600001 meters Centerline goodness [0,1] 0.9998701579744644 Centerline is valid? [True, True] Translation: X:103.66, Y:45.75, Z:2.32 [[ 6.18054044e-01 -7.85957101e-01 -1.67521439e-02 1.03663272e+02] [ 7.85687290e-01 6.18280882e-01 -2.05969170e-02 4.57529726e+01] [ 2.65458235e-02 -4.31938662e-04 9.99647504e-01 2.32303564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10275509600001 meters Centerline goodness [0,1] 0.9999566273421235 Centerline is valid? [True, True] Translation: X:103.68, Y:45.77, Z:2.32 [[ 6.18208483e-01 -7.85843501e-01 -1.63787731e-02 1.03681270e+02] [ 7.85585231e-01 6.18425278e-01 -2.01499665e-02 4.57742615e+01] [ 2.59637675e-02 -4.10042033e-04 9.99662800e-01 2.32480733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:45.80, Z:2.33 [[ 6.18359881e-01 -7.85721997e-01 -1.64924500e-02 1.03699340e+02] [ 7.85459746e-01 6.18579650e-01 -2.03027913e-02 4.57962877e+01] [ 2.61542437e-02 -3.99724020e-04 9.99657839e-01 2.32575180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:45.82, Z:2.33 [[ 6.18175679e-01 -7.85862232e-01 -1.67147298e-02 1.03716985e+02] [ 7.85592572e-01 6.18401479e-01 -2.05893281e-02 4.58168445e+01] [ 2.65167890e-02 -4.03145656e-04 9.99648287e-01 2.32593925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:45.84, Z:2.33 [[ 6.18030515e-01 -7.85977019e-01 -1.66855913e-02 1.03734381e+02] [ 7.85708020e-01 6.18255583e-01 -2.05655392e-02 4.58393843e+01] [ 2.64800012e-02 -3.99872079e-04 9.99649263e-01 2.32647523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.75, Y:45.86, Z:2.33 [[ 6.18174964e-01 -7.85856300e-01 -1.70173393e-02 1.03753044e+02] [ 7.85576085e-01 6.18409024e-01 -2.09879522e-02 4.58595085e+01] [ 2.70171907e-02 -3.94188163e-04 9.99634891e-01 2.32582320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:45.88, Z:2.33 [[ 6.18249410e-01 -7.85796315e-01 -1.70826888e-02 1.03770267e+02] [ 7.85513577e-01 6.18485248e-01 -2.10812039e-02 4.58797932e+01] [ 2.71309234e-02 -3.85242104e-04 9.99631815e-01 2.32580861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:45.90, Z:2.33 [[ 6.18337443e-01 -7.85726139e-01 -1.71243020e-02 1.03786930e+02] [ 7.85441620e-01 6.18574405e-01 -2.11463082e-02 4.59022897e+01] [ 2.72078620e-02 -3.74585366e-04 9.99629727e-01 2.32681510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:45.92, Z:2.33 [[ 6.18830530e-01 -7.85329182e-01 -1.75171599e-02 1.03804545e+02] [ 7.85030916e-01 6.19078306e-01 -2.16451452e-02 4.59226948e+01] [ 2.78430578e-02 -3.56835392e-04 9.99612243e-01 2.32691658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.82, Y:45.94, Z:2.33 [[ 6.19036401e-01 -7.85167157e-01 -1.75062747e-02 1.03822294e+02] [ 7.84868844e-01 6.19283795e-01 -2.16443962e-02 4.59449152e+01] [ 2.78358213e-02 -3.41460484e-04 9.99612450e-01 2.32750098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:45.96, Z:2.33 [[ 6.19675626e-01 -7.84653092e-01 -1.79344199e-02 1.03840136e+02] [ 7.84339393e-01 6.19935016e-01 -2.21876736e-02 4.59647170e+01] [ 2.85278016e-02 -3.17511476e-04 9.99592949e-01 2.32633406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.402755096 meters Centerline goodness [0,1] 0.9998037719393873 Centerline is valid? [True, True] Translation: X:103.86, Y:45.99, Z:2.33 [[ 6.18900544e-01 -7.85261957e-01 -1.80492501e-02 1.03856880e+02] [ 7.84944110e-01 6.19163583e-01 -2.23428281e-02 4.59874759e+01] [ 2.87204112e-02 -3.39664083e-04 9.99587426e-01 2.32523911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.87, Y:46.01, Z:2.33 [[ 6.20083285e-01 -7.84332432e-01 -1.78705183e-02 1.03874027e+02] [ 7.84020071e-01 6.20340676e-01 -2.21353527e-02 4.60098241e+01] [ 2.84472844e-02 -2.85082826e-04 9.99595253e-01 2.32843757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.89, Y:46.03, Z:2.33 [[ 6.20284482e-01 -7.84180276e-01 -1.75629125e-02 1.03891063e+02] [ 7.83878156e-01 6.20533016e-01 -2.17672229e-02 4.60302563e+01] [ 2.79677939e-02 -2.65312877e-04 9.99608790e-01 2.32927483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.91, Y:46.05, Z:2.33 [[ 6.20340717e-01 -7.84140950e-01 -1.73310378e-02 1.03908724e+02] [ 7.83846404e-01 6.20582715e-01 -2.14920415e-02 4.60520553e+01] [ 2.76081324e-02 -2.52483246e-04 9.99618791e-01 2.33030257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:46.07, Z:2.33 [[ 6.20275513e-01 -7.84199314e-01 -1.70212697e-02 1.03926224e+02] [ 7.83914876e-01 6.20508966e-01 -2.11208339e-02 4.60736335e+01] [ 2.71247939e-02 -2.42490439e-04 9.99632026e-01 2.33104173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:46.09, Z:2.33 [[ 6.20562658e-01 -7.83982064e-01 -1.65562829e-02 1.03943648e+02] [ 7.83712548e-01 6.20783437e-01 -2.05564256e-02 4.60949343e+01] [ 2.63937352e-02 -2.18816563e-04 9.99651601e-01 2.33198267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:46.12, Z:2.33 [[ 6.20522275e-01 -7.84012231e-01 -1.66411384e-02 1.03961152e+02] [ 7.83739604e-01 6.20745339e-01 -2.06750301e-02 4.61164911e+01] [ 2.65393855e-02 -2.13002507e-04 9.99647746e-01 2.33262903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.612755096 meters Centerline goodness [0,1] 0.9999563975669843 Centerline is valid? [True, True] Translation: X:103.98, Y:46.14, Z:2.33 [[ 6.20108769e-01 -7.84342819e-01 -1.64759290e-02 1.03978531e+02] [ 7.84075366e-01 6.20327571e-01 -2.04823167e-02 4.61388350e+01] [ 2.62856311e-02 -2.17105878e-04 9.99654450e-01 2.33270412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:46.16, Z:2.33 [[ 6.19969054e-01 -7.84459315e-01 -1.61850063e-02 1.03996089e+02] [ 7.84200945e-01 6.20180247e-01 -2.01330278e-02 4.61591072e+01] [ 2.58311624e-02 -2.10443071e-04 9.99666298e-01 2.33332335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:46.18, Z:2.33 [[ 6.19305842e-01 -7.84984832e-01 -1.60961883e-02 1.04013813e+02] [ 7.84729188e-01 6.19514941e-01 -2.00334536e-02 4.61802159e+01] [ 2.56977864e-02 -2.24313935e-04 9.99669732e-01 2.33385930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:46.20, Z:2.33 [[ 6.19582804e-01 -7.84773166e-01 -1.57552495e-02 1.04029307e+02] [ 7.84527929e-01 6.19783056e-01 -1.96186667e-02 4.62025059e+01] [ 2.51610398e-02 -2.05044731e-04 9.99683390e-01 2.33447773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:46.23, Z:2.34 [[ 6.19196526e-01 -7.85080609e-01 -1.56237165e-02 1.04046303e+02] [ 7.84839234e-01 6.19393570e-01 -1.94674735e-02 4.62251001e+01] [ 2.49607655e-02 -2.07913725e-04 9.99688410e-01 2.33517987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:46.25, Z:2.34 [[ 6.19278747e-01 -7.85016956e-01 -1.55631629e-02 1.04063078e+02] [ 7.84777123e-01 6.19474244e-01 -1.94043289e-02 4.62482598e+01] [ 2.48737058e-02 -1.96925767e-04 9.99690582e-01 2.33592641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:46.27, Z:2.34 [[ 6.19193837e-01 -7.85084222e-01 -1.55485189e-02 1.04080315e+02] [ 7.84844565e-01 6.19388995e-01 -1.93979546e-02 4.62692401e+01] [ 2.48596097e-02 -1.92076625e-04 9.99690934e-01 2.33570997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:46.29, Z:2.34 [[ 6.18869088e-01 -7.85339362e-01 -1.55928784e-02 1.04095805e+02] [ 7.85098124e-01 6.19065463e-01 -1.94650533e-02 4.62924778e+01] [ 2.49396850e-02 -1.95619821e-04 9.99688939e-01 2.33655521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:46.31, Z:2.34 [[ 6.19300859e-01 -7.84999051e-01 -1.55863906e-02 1.04111163e+02] [ 7.84757592e-01 6.19496941e-01 -1.94695131e-02 4.63149879e+01] [ 2.49392706e-02 -1.74052205e-04 9.99688953e-01 2.33691152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.13, Y:46.34, Z:2.34 [[ 6.19173516e-01 -7.85100506e-01 -1.55355352e-02 1.04127199e+02] [ 7.84860365e-01 6.19368361e-01 -1.94175416e-02 4.63376061e+01] [ 2.48669407e-02 -1.70398336e-04 9.99690755e-01 2.33721145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:46.36, Z:2.34 [[ 6.18345051e-01 -7.85742144e-01 -1.60835482e-02 1.04143675e+02] [ 7.85484634e-01 6.18554157e-01 -2.01157804e-02 4.63609639e+01] [ 2.57543620e-02 -1.94886667e-04 9.99668282e-01 2.33664509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:46.38, Z:2.34 [[ 6.17352004e-01 -7.86515812e-01 -1.64128235e-02 1.04161479e+02] [ 7.86247571e-01 6.17570100e-01 -2.05409114e-02 4.63830604e+01] [ 2.62918206e-02 -2.23569798e-04 9.99654285e-01 2.33643109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:46.40, Z:2.34 [[ 6.14971248e-01 -7.88372138e-01 -1.67253185e-02 1.04180769e+02] [ 7.88093943e-01 6.15198571e-01 -2.09441098e-02 4.64033529e+01] [ 2.68011446e-02 -3.01096844e-04 9.99640739e-01 2.33582116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.20, Y:46.43, Z:2.34 [[ 6.13378487e-01 -7.89610818e-01 -1.67805834e-02 1.04198696e+02] [ 7.89331023e-01 6.13607882e-01 -2.10214669e-02 4.64258158e+01] [ 2.68954759e-02 -3.51319497e-04 9.99638190e-01 2.33667145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:46.45, Z:2.34 [[ 6.12099760e-01 -7.90605804e-01 -1.66236535e-02 1.04216936e+02] [ 7.90331311e-01 6.12325334e-01 -2.08351973e-02 4.64465535e+01] [ 2.66515121e-02 -3.84974586e-04 9.99644711e-01 2.33710217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:46.47, Z:2.34 [[ 6.10730453e-01 -7.91669054e-01 -1.63836093e-02 1.04234392e+02] [ 7.91402621e-01 6.10950024e-01 -2.05416484e-02 4.64691794e+01] [ 2.62717539e-02 -4.20621089e-04 9.99654749e-01 2.33825750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:46.49, Z:2.34 [[ 6.08429284e-01 -7.93447497e-01 -1.59648295e-02 1.04252677e+02] [ 7.93194819e-01 6.08638515e-01 -2.00284049e-02 4.64895869e+01] [ 2.56082978e-02 -4.77352041e-04 9.99671940e-01 2.33921887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:46.51, Z:2.34 [[ 6.07401278e-01 -7.94241283e-01 -1.56356259e-02 1.04268389e+02] [ 7.93998899e-01 6.07602289e-01 -1.96266919e-02 4.65131146e+01] [ 2.50885710e-02 -4.93392062e-04 9.99685111e-01 2.34084546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.29, Y:46.54, Z:2.34 [[ 6.05890307e-01 -7.95399508e-01 -1.53804987e-02 1.04285330e+02] [ 7.95165055e-01 6.06085264e-01 -1.93180903e-02 4.65361970e+01] [ 2.46874931e-02 -5.25391487e-04 9.99695079e-01 2.34277459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:46.56, Z:2.34 [[ 6.05307964e-01 -7.95846599e-01 -1.51808791e-02 1.04302415e+02] [ 7.95618062e-01 6.05498067e-01 -1.90785255e-02 4.65589556e+01] [ 2.43755726e-02 -5.29798181e-04 9.99702731e-01 2.34386420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.32, Y:46.58, Z:2.34 [[ 6.04875264e-01 -7.96172776e-01 -1.53240161e-02 1.04320331e+02] [ 7.95939699e-01 6.05069102e-01 -1.92711702e-02 4.65795091e+01] [ 2.46152698e-02 -5.40338643e-04 9.99696852e-01 2.34400237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:46.60, Z:2.35 [[ 6.04797018e-01 -7.96240102e-01 -1.49086262e-02 1.04335083e+02] [ 7.96019243e-01 6.04980518e-01 -1.87599759e-02 4.66038998e+01] [ 2.39568735e-02 -5.21575836e-04 9.99712857e-01 2.34537784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:46.63, Z:2.35 [[ 6.04748219e-01 -7.96274912e-01 -1.50284810e-02 1.04350328e+02] [ 7.96050201e-01 6.04934702e-01 -1.89230975e-02 4.66272528e+01] [ 2.41592375e-02 -5.19715779e-04 9.99707988e-01 2.34613783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:46.65, Z:2.35 [[ 6.05457341e-01 -7.95746642e-01 -1.44461294e-02 1.04364278e+02] [ 7.95538601e-01 6.05629473e-01 -1.82009706e-02 4.66503850e+01] [ 2.32323630e-02 -4.72542345e-04 9.99729981e-01 2.34721342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:46.67, Z:2.35 [[ 6.05240043e-01 -7.95915031e-01 -1.42742205e-02 1.04380637e+02] [ 7.95711748e-01 6.05408163e-01 -1.79936154e-02 4.66736390e+01] [ 2.29631186e-02 -4.67708407e-04 9.99736203e-01 2.34833307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:46.70, Z:2.35 [[ 6.05150499e-01 -7.95988568e-01 -1.39668504e-02 1.04396919e+02] [ 7.95793715e-01 6.05311485e-01 -1.76173146e-02 4.66961538e+01] [ 2.24774760e-02 -4.53605030e-04 9.99747247e-01 2.34950938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.41, Y:46.72, Z:2.35 [[ 6.05043082e-01 -7.96073567e-01 -1.37747597e-02 1.04412893e+02] [ 7.95883821e-01 6.05199701e-01 -1.73857539e-02 4.67182290e+01] [ 2.21768196e-02 -4.43978262e-04 9.99753966e-01 2.35046385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:46.74, Z:2.35 [[ 6.04836098e-01 -7.96235445e-01 -1.35059628e-02 1.04427403e+02] [ 7.96052912e-01 6.04986715e-01 -1.70539255e-02 4.67407133e+01] [ 2.17498680e-02 -4.36631234e-04 9.99763348e-01 2.35137074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:46.76, Z:2.35 [[ 6.04339792e-01 -7.96616589e-01 -1.32448354e-02 1.04443444e+02] [ 7.96440937e-01 6.04484756e-01 -1.67336003e-02 4.67641460e+01] [ 2.13365647e-02 -4.35948563e-04 9.99772255e-01 2.35220012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:46.79, Z:2.35 [[ 6.04066935e-01 -7.96822009e-01 -1.33350794e-02 1.04459270e+02] [ 7.96643779e-01 6.04213946e-01 -1.68581235e-02 4.67860328e+01] [ 2.14901648e-02 -4.39873001e-04 9.99768963e-01 2.35275884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:46.81, Z:2.35 [[ 6.03187131e-01 -7.97494859e-01 -1.29319480e-02 1.04474354e+02] [ 7.97327246e-01 6.03325577e-01 -1.63558012e-02 4.68103770e+01] [ 2.08458423e-02 -4.45385706e-04 9.99782603e-01 2.35305793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:46.83, Z:2.35 [[ 6.02639741e-01 -7.97911351e-01 -1.27600050e-02 1.04490528e+02] [ 7.97748054e-01 6.02774647e-01 -1.61482711e-02 4.68315308e+01] [ 2.05762963e-02 -4.47679213e-04 9.99788185e-01 2.35331332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.51, Y:46.86, Z:2.35 [[ 6.01931864e-01 -7.98448098e-01 -1.25962933e-02 1.04506284e+02] [ 7.98288872e-01 6.02063476e-01 -1.59514243e-02 4.68553129e+01] [ 2.03201525e-02 -4.53810210e-04 9.99793421e-01 2.35364681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.52, Y:46.88, Z:2.35 [[ 6.01249333e-01 -7.98965246e-01 -1.24006038e-02 1.04520894e+02] [ 7.98810850e-01 6.01377025e-01 -1.57130742e-02 4.68792583e+01] [ 2.00116384e-02 -4.58261504e-04 9.99799642e-01 2.35424817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:46.90, Z:2.35 [[ 6.00972619e-01 -7.99174300e-01 -1.23429544e-02 1.04537017e+02] [ 7.99021185e-01 6.01099184e-01 -1.56498274e-02 4.69024813e+01] [ 1.99262797e-02 -4.57164298e-04 9.99801347e-01 2.35457473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:46.92, Z:2.36 [[ 6.00437401e-01 -7.99581304e-01 -1.20276971e-02 1.04555961e+02] [ 7.99435805e-01 6.00557685e-01 -1.52597688e-02 4.69223846e+01] [ 1.94247517e-02 -4.52835751e-04 9.99811219e-01 2.35515958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:46.95, Z:2.36 [[ 5.99741075e-01 -8.00116218e-01 -1.11660950e-02 1.04568358e+02] [ 7.99990775e-01 5.99844856e-01 -1.41742200e-02 4.69486030e+01] [ 1.80389479e-02 -4.31911023e-04 9.99837192e-01 2.35596829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:46.97, Z:2.36 [[ 5.99144145e-01 -8.00565439e-01 -1.10123510e-02 1.04587719e+02] [ 8.00443347e-01 5.99245184e-01 -1.39877950e-02 4.69683352e+01] [ 1.77972435e-02 -4.34057653e-04 9.99841522e-01 2.35705359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:47.00, Z:2.36 [[ 5.98487322e-01 -8.01062449e-01 -1.05772536e-02 1.04600283e+02] [ 8.00949768e-01 5.98580630e-01 -1.34424298e-02 4.69950243e+01] [ 1.70995649e-02 -4.26725004e-04 9.99853701e-01 2.35721411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:47.02, Z:2.36 [[ 5.98227374e-01 -8.01256650e-01 -1.05730810e-02 1.04617196e+02] [ 8.01143941e-01 5.98320649e-01 -1.34457108e-02 4.70168013e+01] [ 1.70995578e-02 -4.26967528e-04 9.99853701e-01 2.35777570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:47.04, Z:2.36 [[ 5.96884325e-01 -8.02268457e-01 -9.71728451e-03 1.04633373e+02] [ 8.02173255e-01 5.96963275e-01 -1.23659589e-02 4.70389778e+01] [ 1.57216808e-02 -4.13898691e-04 9.99876321e-01 2.35919005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:47.06, Z:2.36 [[ 5.96067493e-01 -8.02879583e-01 -9.37651831e-03 1.04648473e+02] [ 8.02790973e-01 5.96141095e-01 -1.19351822e-02 4.70628157e+01] [ 1.51722420e-02 -4.13210100e-04 9.99884810e-01 2.35949872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:47.08, Z:2.36 [[ 5.94715618e-01 -8.03892833e-01 -8.34541013e-03 1.04668564e+02] [ 8.03822668e-01 5.94774043e-01 -1.06281061e-02 4.70822291e+01] [ 1.35074917e-02 -3.87529137e-04 9.99908695e-01 2.36143882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:47.11, Z:2.36 [[ 5.93826607e-01 -8.04552957e-01 -8.03122934e-03 1.04683591e+02] [ 8.04487953e-01 5.93880789e-01 -1.02342858e-02 4.71062739e+01] [ 1.30036177e-02 -3.83636043e-04 9.99915376e-01 2.36147681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.932755096 meters Centerline goodness [0,1] 0.9999370012599748 Centerline is valid? [True, True] Translation: X:104.70, Y:47.13, Z:2.36 [[ 5.93492954e-01 -8.04795234e-01 -8.41102044e-03 1.04699637e+02] [ 8.04723860e-01 5.93552415e-01 -1.07256520e-02 4.71291477e+01] [ 1.36243351e-02 -4.02949954e-04 9.99907103e-01 2.36036157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:47.15, Z:2.36 [[ 5.92925348e-01 -8.05220097e-01 -7.75411725e-03 1.04711341e+02] [ 8.05159392e-01 5.92975930e-01 -9.89447241e-03 4.71544389e+01] [ 1.25652329e-02 -3.76616832e-04 9.99920983e-01 2.36060768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:47.18, Z:2.36 [[ 5.92852414e-01 -8.05275156e-01 -7.61166568e-03 1.04729980e+02] [ 8.05216596e-01 5.92901162e-01 -9.71836391e-03 4.71759032e+01] [ 1.23389224e-02 -3.67484022e-04 9.99923805e-01 2.36184647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:47.20, Z:2.36 [[ 5.92670011e-01 -8.05412360e-01 -7.29296715e-03 1.04746143e+02] [ 8.05358552e-01 5.92714776e-01 -9.31643631e-03 4.71981736e+01] [ 1.18262224e-02 -3.51881048e-04 9.99930006e-01 2.36258860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.76, Y:47.22, Z:2.36 [[ 5.92529996e-01 -8.05513986e-01 -7.44463681e-03 1.04760450e+02] [ 8.05457837e-01 5.92576654e-01 -9.51749161e-03 4.72211804e+01] [ 1.20779906e-02 -3.56941797e-04 9.99926995e-01 2.36206656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.77, Y:47.24, Z:2.36 [[ 5.92212830e-01 -8.05746883e-01 -7.47820304e-03 1.04774927e+02] [ 8.05690160e-01 5.92259935e-01 -9.56739284e-03 4.72448881e+01] [ 1.21379370e-02 -3.59181808e-04 9.99926268e-01 2.36163438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:47.27, Z:2.36 [[ 5.91690200e-01 -8.06131632e-01 -7.38237380e-03 1.04793019e+02] [ 8.06076308e-01 5.91736144e-01 -9.45103705e-03 4.72655463e+01] [ 1.19871973e-02 -3.58670616e-04 9.99928087e-01 2.36280668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.81, Y:47.29, Z:2.36 [[ 5.90526465e-01 -8.06987831e-01 -7.00966493e-03 1.04809975e+02] [ 8.06937933e-01 5.90567961e-01 -8.98089012e-03 4.72874651e+01] [ 1.13871526e-02 -3.52911238e-04 9.99935102e-01 2.36364756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:47.32, Z:2.36 [[ 5.89553473e-01 -8.07700461e-01 -6.83145728e-03 1.04820688e+02] [ 8.07653066e-01 5.89592945e-01 -8.75702112e-03 4.73156381e+01] [ 1.11008290e-02 -3.54715200e-04 9.99938321e-01 2.36157394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.84, Y:47.33, Z:2.36 [[ 5.87704974e-01 -8.09050442e-01 -6.34389214e-03 1.04842012e+02] [ 8.09009599e-01 5.87739108e-01 -8.13690404e-03 4.73333466e+01] [ 1.03117193e-02 -3.50170655e-04 9.99946771e-01 2.36402421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:47.36, Z:2.36 [[ 5.87013853e-01 -8.09551815e-01 -6.37145130e-03 1.04858508e+02] [ 8.09510578e-01 5.87048321e-01 -8.17882032e-03 4.73554359e+01] [ 1.03615286e-02 -3.56676400e-04 9.99946254e-01 2.36447540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:47.38, Z:2.36 [[ 5.86036605e-01 -8.10263642e-01 -5.82484414e-03 1.04874293e+02] [ 8.10229196e-01 5.86065455e-01 -7.47880809e-03 4.73789218e+01] [ 9.47354621e-03 -3.36603481e-04 9.99955068e-01 2.36496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.89, Y:47.40, Z:2.37 [[ 5.85147803e-01 -8.10904453e-01 -6.00149125e-03 1.04891435e+02] [ 8.10867863e-01 5.85178471e-01 -7.71135212e-03 4.74000523e+01] [ 9.76511324e-03 -3.54135637e-04 9.99952257e-01 2.36553602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:47.42, Z:2.37 [[ 5.84251607e-01 -8.11552424e-01 -5.72039721e-03 1.04908663e+02] [ 8.11519177e-01 5.84279508e-01 -7.35403927e-03 4.74227537e+01] [ 9.31049926e-03 -3.45602781e-04 9.99956597e-01 2.36620892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.93, Y:47.45, Z:2.37 [[ 5.83837648e-01 -8.11846887e-01 -6.18330754e-03 1.04925456e+02] [ 8.11808000e-01 5.83870269e-01 -7.95483349e-03 4.74453699e+01] [ 1.00683562e-02 -3.75327261e-04 9.99949242e-01 2.36622782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:47.46, Z:2.37 [[ 5.83349336e-01 -8.12198515e-01 -6.09299292e-03 1.04944333e+02] [ 8.12160726e-01 5.83381036e-01 -7.84355274e-03 4.74647284e+01] [ 9.92505842e-03 -3.72958271e-04 9.99950676e-01 2.36751194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:47.49, Z:2.37 [[ 5.83127379e-01 -8.12357525e-01 -6.14098249e-03 1.04957956e+02] [ 8.12319086e-01 5.83159593e-01 -7.91150462e-03 4.74900459e+01] [ 1.00081432e-02 -3.75022329e-04 9.99949847e-01 2.36661696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:47.51, Z:2.37 [[ 5.83133397e-01 -8.12352545e-01 -6.22764296e-03 1.04974482e+02] [ 8.12312953e-01 5.83166529e-01 -8.02911618e-03 4.75133615e+01] [ 1.01542259e-02 -3.76749249e-04 9.99948374e-01 2.36694658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:47.54, Z:2.37 [[ 5.83414713e-01 -8.12149916e-01 -6.30772742e-03 1.04990149e+02] [ 8.12109235e-01 5.83448690e-01 -8.13735030e-03 4.75366999e+01] [ 1.02889837e-02 -3.75113801e-04 9.99946997e-01 2.36742058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:47.56, Z:2.37 [[ 5.83536323e-01 -8.12059395e-01 -6.70063159e-03 1.05006366e+02] [ 8.12013412e-01 5.83574661e-01 -8.65066930e-03 4.75590556e+01] [ 1.09351761e-02 -3.93022960e-04 9.99940132e-01 2.36748834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.02, Y:47.58, Z:2.37 [[ 5.83503740e-01 -8.12083853e-01 -6.57272406e-03 1.05023210e+02] [ 8.12039552e-01 5.83540632e-01 -8.49100273e-03 4.75818687e+01] [ 1.07308578e-02 -3.82780043e-04 9.99942349e-01 2.36835235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:47.60, Z:2.37 [[ 5.83594959e-01 -8.12015734e-01 -6.88268927e-03 1.05039859e+02] [ 8.11967079e-01 5.83635410e-01 -8.89782389e-03 4.76047375e+01] [ 1.12421542e-02 -3.95791930e-04 9.99936727e-01 2.36854444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:47.63, Z:2.37 [[ 5.84416777e-01 -8.11422957e-01 -7.05802977e-03 1.05054883e+02] [ 8.11371676e-01 5.84459265e-01 -9.13079167e-03 4.76282790e+01] [ 1.15340649e-02 -3.90497607e-04 9.99933404e-01 2.36899957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:47.65, Z:2.37 [[ 5.85071949e-01 -8.10949295e-01 -7.21489390e-03 1.05070719e+02] [ 8.10895584e-01 5.85116306e-01 -9.34125957e-03 4.76506054e+01] [ 1.17968399e-02 -3.85216656e-04 9.99930341e-01 2.36981222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.08, Y:47.67, Z:2.37 [[ 5.86739826e-01 -8.09740434e-01 -7.53694231e-03 1.05084324e+02] [ 8.09681670e-01 5.86788112e-01 -9.76236182e-03 4.76743818e+01] [ 1.23275673e-02 -3.74557560e-04 9.99923943e-01 2.37009646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:47.70, Z:2.37 [[ 5.87955375e-01 -8.08857919e-01 -7.57249837e-03 1.05100003e+02] [ 8.08798451e-01 5.88004031e-01 -9.81451367e-03 4.76983755e+01] [ 1.23912067e-02 -3.54128889e-04 9.99923163e-01 2.37053226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:47.72, Z:2.37 [[ 5.89020036e-01 -8.08083597e-01 -7.50314030e-03 1.05114855e+02] [ 8.08025084e-01 5.89067730e-01 -9.72999240e-03 4.77224633e+01] [ 1.22825051e-02 -3.31565104e-04 9.99924512e-01 2.37113945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:47.75, Z:2.37 [[ 5.90258321e-01 -8.07178373e-01 -7.62815847e-03 1.05129925e+02] [ 8.07117738e-01 5.90307527e-01 -9.89857010e-03 4.77455668e+01] [ 1.24928711e-02 -3.14108635e-04 9.99921912e-01 2.37208276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:47.77, Z:2.37 [[ 5.93068536e-01 -8.05114482e-01 -7.77066963e-03 1.05139519e+02] [ 8.05051305e-01 5.93119379e-01 -1.00895742e-02 4.77737388e+01] [ 1.27321970e-02 -2.71978739e-04 9.99918905e-01 2.37111070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:47.80, Z:2.37 [[ 5.95815476e-01 -8.03082822e-01 -7.86764757e-03 1.05152220e+02] [ 8.03017784e-01 5.95867376e-01 -1.02229639e-02 4.78003023e+01] [ 1.28979612e-02 -2.26860816e-04 9.99916792e-01 2.37064148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:47.82, Z:2.37 [[ 5.96740234e-01 -8.02397507e-01 -7.70290919e-03 1.05167970e+02] [ 8.02335032e-01 5.96789912e-01 -1.00148199e-02 4.78239764e+01] [ 1.26328850e-02 -2.04067925e-04 9.99920181e-01 2.37104652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.18, Y:47.85, Z:2.37 [[ 5.97789056e-01 -8.01617521e-01 -7.58915338e-03 1.05184579e+02] [ 8.01556743e-01 5.97837200e-01 -9.87274014e-03 4.78452959e+01] [ 1.24512397e-02 -1.81321055e-04 9.99922464e-01 2.37258695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:47.87, Z:2.37 [[ 5.98722345e-01 -8.00921018e-01 -7.55497764e-03 1.05199079e+02] [ 8.00860646e-01 5.98769987e-01 -9.83502477e-03 4.78691554e+01] [ 1.24007719e-02 -1.62035192e-04 9.99923094e-01 2.37241813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:47.89, Z:2.37 [[ 6.00441534e-01 -7.99634836e-01 -7.35484466e-03 1.05214357e+02] [ 7.99577433e-01 6.00486563e-01 -9.58208251e-03 4.78922599e+01] [ 1.20786524e-02 -1.27287495e-04 9.99927042e-01 2.37294645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:47.91, Z:2.37 [[ 6.00896560e-01 -7.99290851e-01 -7.58018889e-03 1.05230945e+02] [ 7.99229796e-01 6.00944357e-01 -9.87992091e-03 4.79145839e+01] [ 1.24522021e-02 -1.21502334e-04 9.99922461e-01 2.37405680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:47.94, Z:2.37 [[ 6.01010187e-01 -7.99205199e-01 -7.60289457e-03 1.05247072e+02] [ 7.99143689e-01 6.01058263e-01 -9.91610004e-03 4.79364288e+01] [ 1.24947813e-02 -1.16128065e-04 9.99921930e-01 2.37444412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:47.96, Z:2.37 [[ 6.01082021e-01 -7.99149509e-01 -7.77600963e-03 1.05263716e+02] [ 7.99085081e-01 6.01132306e-01 -1.01480467e-02 4.79587915e+01] [ 1.27842172e-02 -1.13884842e-04 9.99918272e-01 2.37460921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.28, Y:47.98, Z:2.37 [[ 6.00513102e-01 -7.99575652e-01 -7.92408051e-03 1.05280960e+02] [ 7.99508692e-01 6.00565369e-01 -1.03484062e-02 4.79806118e+01] [ 1.30332620e-02 -1.21017747e-04 9.99915056e-01 2.37435379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:48.00, Z:2.37 [[ 5.99516789e-01 -8.00320756e-01 -8.14292075e-03 1.05298952e+02] [ 8.00250010e-01 5.99572072e-01 -1.06420307e-02 4.80022597e+01] [ 1.33993060e-02 -1.36296302e-04 9.99910216e-01 2.37480811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:48.02, Z:2.38 [[ 5.97472843e-01 -8.01849519e-01 -7.97184374e-03 1.05318454e+02] [ 8.01781752e-01 5.97526002e-01 -1.04259426e-02 4.80223758e+01] [ 1.31234210e-02 -1.62461279e-04 9.99913871e-01 2.37570940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.34, Y:48.04, Z:2.38 [[ 5.95929410e-01 -8.02997778e-01 -7.91878838e-03 1.05337297e+02] [ 8.02930913e-01 5.95981993e-01 -1.03640325e-02 4.80429970e+01] [ 1.30417503e-02 -1.82008224e-04 9.99914936e-01 2.37694374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:48.07, Z:2.38 [[ 5.94250086e-01 -8.04240865e-01 -7.96657363e-03 1.05355186e+02] [ 8.04173259e-01 5.94303447e-01 -1.04298687e-02 4.80652174e+01] [ 1.31226888e-02 -2.08555088e-04 9.99913872e-01 2.37664869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:48.08, Z:2.38 [[ 5.91411597e-01 -8.06326683e-01 -8.34287187e-03 1.05375145e+02] [ 8.06252638e-01 5.91470381e-01 -1.09303190e-02 4.80842530e+01] [ 1.37479695e-02 -2.62145029e-04 9.99905458e-01 2.37628626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:48.11, Z:2.38 [[ 5.89811119e-01 -8.07493854e-01 -8.74754305e-03 1.05393605e+02] [ 8.07412468e-01 5.89875908e-01 -1.14682124e-02 4.81056033e+01] [ 1.44204759e-02 -2.98796143e-04 9.99895975e-01 2.37625984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.41, Y:48.13, Z:2.38 [[ 5.87600321e-01 -8.09098743e-01 -9.22422391e-03 1.05413193e+02] [ 8.09008299e-01 5.87672613e-01 -1.21025157e-02 4.81258546e+01] [ 1.52129540e-02 -3.51031606e-04 9.99884215e-01 2.37545879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:48.15, Z:2.38 [[ 5.86664474e-01 -8.09775473e-01 -9.40628617e-03 1.05431505e+02] [ 8.09681442e-01 5.86739759e-01 -1.23457909e-02 4.81474615e+01] [ 1.55163607e-02 -3.73258432e-04 9.99879544e-01 2.37605690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:48.17, Z:2.38 [[ 5.85979821e-01 -8.10268790e-01 -9.59885429e-03 1.05449221e+02] [ 8.10170795e-01 5.86058305e-01 -1.26073707e-02 4.81688840e+01] [ 1.58408472e-02 -3.89046623e-04 9.99874450e-01 2.37653478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:48.19, Z:2.38 [[ 5.85036335e-01 -8.10947930e-01 -9.79501722e-03 1.05467160e+02] [ 8.10845838e-01 5.85118182e-01 -1.28740090e-02 4.81903079e+01] [ 1.61713936e-02 -4.10485928e-04 9.99869150e-01 2.37697952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:48.21, Z:2.38 [[ 5.84700488e-01 -8.11188572e-01 -9.92169759e-03 1.05483729e+02] [ 8.11083710e-01 5.84784513e-01 -1.30494316e-02 4.82128772e+01] [ 1.63876049e-02 -4.17318244e-04 9.99865627e-01 2.37758691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:48.23, Z:2.38 [[ 5.84758132e-01 -8.11145229e-01 -1.00670171e-02 1.05501739e+02] [ 8.11037113e-01 5.84844633e-01 -1.32497851e-02 4.82332600e+01] [ 1.66351409e-02 -4.16804885e-04 9.99861540e-01 2.37839409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:48.26, Z:2.38 [[ 5.84452647e-01 -8.11365046e-01 -1.00928063e-02 1.05516857e+02] [ 8.11256247e-01 5.84539636e-01 -1.32934301e-02 4.82567899e+01] [ 1.66854699e-02 -4.18471765e-04 9.99860700e-01 2.37873583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:48.28, Z:2.38 [[ 5.84463370e-01 -8.11355589e-01 -1.02311999e-02 1.05535404e+02] [ 8.11243620e-01 5.84552763e-01 -1.34853792e-02 4.82766664e+01] [ 1.69221140e-02 -4.18285471e-04 9.99856723e-01 2.37994975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:48.30, Z:2.38 [[ 5.84515412e-01 -8.11316421e-01 -1.03632969e-02 1.05550757e+02] [ 8.11201356e-01 5.84607125e-01 -1.36699994e-02 4.83007764e+01] [ 1.71491522e-02 -4.16395136e-04 9.99852856e-01 2.37996516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:48.32, Z:2.38 [[ 5.84866720e-01 -8.11062334e-01 -1.04312288e-02 1.05567369e+02] [ 8.10945546e-01 5.84959593e-01 -1.37694089e-02 4.83233547e+01] [ 1.72696963e-02 -4.05889495e-04 9.99850785e-01 2.38053422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:48.35, Z:2.38 [[ 5.84924934e-01 -8.11018839e-01 -1.05481780e-02 1.05584178e+02] [ 8.10899227e-01 5.85019898e-01 -1.39342311e-02 4.83450490e+01] [ 1.74718179e-02 -4.03030159e-04 9.99847275e-01 2.38135243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:48.37, Z:2.38 [[ 5.84826856e-01 -8.11092487e-01 -1.03211549e-02 1.05600964e+02] [ 8.10977872e-01 5.84917792e-01 -1.36406635e-02 4.83677039e+01] [ 1.71008668e-02 -3.92801832e-04 9.99853692e-01 2.38179875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:48.39, Z:2.38 [[ 5.84902386e-01 -8.11032071e-01 -1.07786045e-02 1.05618561e+02] [ 8.10906872e-01 5.85001554e-01 -1.42557674e-02 4.83885753e+01] [ 1.78673849e-02 -4.02212043e-04 9.99840285e-01 2.38220083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:48.41, Z:2.38 [[ 5.84743483e-01 -8.11143035e-01 -1.10469779e-02 1.05635984e+02] [ 8.11011340e-01 5.84847681e-01 -1.46218172e-02 4.84095381e+01] [ 1.83211846e-02 -4.09212014e-04 9.99832069e-01 2.38240612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.65, Y:48.43, Z:2.38 [[ 5.84478700e-01 -8.11333919e-01 -1.10418122e-02 1.05652401e+02] [ 8.11202184e-01 5.84582847e-01 -1.46257169e-02 4.84316780e+01] [ 1.83211942e-02 -4.08722221e-04 9.99832069e-01 2.38296749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:48.45, Z:2.38 [[ 5.84035403e-01 -8.11652916e-01 -1.10540199e-02 1.05668007e+02] [ 8.11520765e-01 5.84139857e-01 -1.46517808e-02 4.84545559e+01] [ 1.83492542e-02 -4.13407982e-04 9.99831553e-01 2.38311439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:48.47, Z:2.38 [[ 5.83457297e-01 -8.12059395e-01 -1.17098598e-02 1.05685825e+02] [ 8.11910948e-01 5.83574623e-01 -1.55329253e-02 4.84744949e+01] [ 1.94472349e-02 -4.44564745e-04 9.99810786e-01 2.38348844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.70, Y:48.50, Z:2.38 [[ 5.82822480e-01 -8.12512579e-01 -1.18855189e-02 1.05702381e+02] [ 8.12359498e-01 5.82943478e-01 -1.57780680e-02 4.84967553e+01] [ 1.97484644e-02 -4.59501498e-04 9.99804874e-01 2.38379893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:48.52, Z:2.38 [[ 5.82144662e-01 -8.12996998e-01 -1.19780320e-02 1.05719898e+02] [ 8.12841400e-01 5.82267685e-01 -1.59123202e-02 4.85168630e+01] [ 1.99110895e-02 -4.72967984e-04 9.99801643e-01 2.38437539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.74, Y:48.54, Z:2.38 [[ 5.81261638e-01 -8.13628693e-01 -1.19690107e-02 1.05738230e+02] [ 8.13473223e-01 5.81384651e-01 -1.59123493e-02 4.85366939e+01] [ 1.99053431e-02 -4.87231451e-04 9.99801750e-01 2.38495858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.76, Y:48.56, Z:2.39 [[ 5.80600031e-01 -8.14099764e-01 -1.20490101e-02 1.05755019e+02] [ 8.13942072e-01 5.80724827e-01 -1.60305282e-02 4.85589650e+01] [ 2.00476086e-02 -4.99871066e-04 9.99798902e-01 2.38547195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:48.58, Z:2.39 [[ 5.79932766e-01 -8.14575134e-01 -1.20556227e-02 1.05772280e+02] [ 8.14417146e-01 5.80057834e-01 -1.60505663e-02 4.85800046e+01] [ 2.00673505e-02 -5.10056512e-04 9.99798500e-01 2.38599009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:48.60, Z:2.39 [[ 5.78912119e-01 -8.15299783e-01 -1.21253022e-02 1.05790419e+02] [ 8.15139880e-01 5.79038843e-01 -1.61553353e-02 4.86015261e+01] [ 2.01924623e-02 -5.31298003e-04 9.99795970e-01 2.38684684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:48.62, Z:2.39 [[ 5.78299669e-01 -8.15735246e-01 -1.20624334e-02 1.05807771e+02] [ 8.15576876e-01 5.78425207e-01 -1.60822382e-02 4.86218454e+01] [ 2.00960641e-02 -5.37488776e-04 9.99797909e-01 2.38747770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:48.64, Z:2.39 [[ 5.77741858e-01 -8.16132006e-01 -1.19538458e-02 1.05825188e+02] [ 8.15976402e-01 5.77865257e-01 -1.59453933e-02 4.86424802e+01] [ 1.99212580e-02 -5.41734955e-04 9.99801405e-01 2.38821259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:48.66, Z:2.39 [[ 5.76947164e-01 -8.16693528e-01 -1.19854852e-02 1.05842813e+02] [ 8.16536988e-01 5.77071376e-01 -1.59991922e-02 4.86648698e+01] [ 1.99829171e-02 -5.55903406e-04 9.99800167e-01 2.38902657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:48.69, Z:2.39 [[ 5.76734220e-01 -8.16849708e-01 -1.15842399e-02 1.05858947e+02] [ 8.16703309e-01 5.76850298e-01 -1.54737748e-02 4.86877396e+01] [ 1.93221207e-02 -5.36631659e-04 9.99813166e-01 2.38960341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:48.71, Z:2.39 [[ 5.76660142e-01 -8.16899350e-01 -1.17700234e-02 1.05877502e+02] [ 8.16748008e-01 5.76779993e-01 -1.57331000e-02 4.87077996e+01] [ 1.96410732e-02 -5.40491470e-04 9.99806949e-01 2.39034306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:48.73, Z:2.39 [[ 5.76910554e-01 -8.16722229e-01 -1.17903785e-02 1.05892403e+02] [ 8.16570097e-01 5.77030780e-01 -1.57719807e-02 4.87314351e+01] [ 1.96847385e-02 -5.28648421e-04 9.99806097e-01 2.39103123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:48.76, Z:2.39 [[ 5.77375159e-01 -8.16394052e-01 -1.17761710e-02 1.05905613e+02] [ 8.16242010e-01 5.77495014e-01 -1.57635549e-02 4.87554453e+01] [ 1.96699525e-02 -5.10720465e-04 9.99806397e-01 2.39124042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:48.78, Z:2.39 [[ 5.78705735e-01 -8.15449334e-01 -1.19187181e-02 1.05923555e+02] [ 8.15293166e-01 5.78828260e-01 -1.59655424e-02 4.87757226e+01] [ 1.99179818e-02 -4.77898487e-04 9.99801503e-01 2.39151120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:48.80, Z:2.39 [[ 5.79659646e-01 -8.14769237e-01 -1.20741409e-02 1.05933778e+02] [ 8.14608605e-01 5.79785205e-01 -1.61844609e-02 4.88038358e+01] [ 2.01870091e-02 -4.54220186e-04 9.99796118e-01 2.39162105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:48.82, Z:2.39 [[ 5.80644221e-01 -8.14067463e-01 -1.21018605e-02 1.05952211e+02] [ 8.13905709e-01 5.80770166e-01 -1.62329870e-02 4.88242251e+01] [ 2.02431461e-02 -4.24183257e-04 9.99794997e-01 2.39205863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:48.85, Z:2.39 [[ 5.83280732e-01 -8.12178813e-01 -1.22132313e-02 1.05964186e+02] [ 8.12013415e-01 5.83408476e-01 -1.63940592e-02 4.88509519e+01] [ 2.04402102e-02 -3.54968767e-04 9.99791014e-01 2.39254664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:48.87, Z:2.39 [[ 5.84143176e-01 -8.11560518e-01 -1.20944101e-02 1.05979871e+02] [ 8.11397966e-01 5.84268278e-01 -1.62456117e-02 4.88747616e+01] [ 2.02506772e-02 -3.23616551e-04 9.99794882e-01 2.39326640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:48.90, Z:2.39 [[ 5.85206826e-01 -8.10791042e-01 -1.22824171e-02 1.05996196e+02] [ 8.10622999e-01 5.85335630e-01 -1.65092247e-02 4.88981648e+01] [ 2.05748678e-02 -2.95098812e-04 9.99788271e-01 2.39421750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:48.92, Z:2.40 [[ 5.85948396e-01 -8.10258169e-01 -1.20903615e-02 1.06011952e+02] [ 8.10095015e-01 5.86073057e-01 -1.62615462e-02 4.89210116e+01] [ 2.02618858e-02 -2.65914667e-04 9.99794672e-01 2.39515993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters Centerline goodness [0,1] 0.9999152811606481 Centerline is valid? [True, True] Translation: X:106.03, Y:48.94, Z:2.39 [[ 5.86784059e-01 -8.09658136e-01 -1.17546125e-02 1.06028356e+02] [ 8.09503595e-01 5.86901737e-01 -1.58202798e-02 4.89420828e+01] [ 1.97078207e-02 -2.32313047e-04 9.99805755e-01 2.39393368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:48.96, Z:2.40 [[ 5.86736656e-01 -8.09693082e-01 -1.17136339e-02 1.06044806e+02] [ 8.09539449e-01 5.86853526e-01 -1.57740222e-02 4.89641147e+01] [ 1.96463040e-02 -2.27451661e-04 9.99806967e-01 2.39733630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:48.99, Z:2.40 [[ 5.86667197e-01 -8.09744869e-01 -1.16123935e-02 1.06061522e+02] [ 8.09593691e-01 5.86782071e-01 -1.56478932e-02 4.89861026e+01] [ 1.94847455e-02 -2.21214834e-04 9.99810130e-01 2.39845121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:49.01, Z:2.40 [[ 5.86397933e-01 -8.09942762e-01 -1.14099230e-02 1.06078421e+02] [ 8.09796656e-01 5.86508887e-01 -1.53851154e-02 4.90071337e+01] [ 1.91530841e-02 -2.17917587e-04 9.99816539e-01 2.39933639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:49.03, Z:2.40 [[ 5.86145348e-01 -8.10126994e-01 -1.13086459e-02 1.06095633e+02] [ 8.09983334e-01 5.86254388e-01 -1.52574844e-02 4.90291561e+01] [ 1.89902433e-02 -2.16711173e-04 9.99819646e-01 2.40026932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.11, Y:49.05, Z:2.40 [[ 5.85474176e-01 -8.10613424e-01 -1.12189846e-02 1.06112667e+02] [ 8.10471942e-01 5.85581614e-01 -1.51461444e-02 4.90502885e+01] [ 1.88472990e-02 -2.24995829e-04 9.99822349e-01 2.40117875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:49.07, Z:2.40 [[ 5.84300007e-01 -8.11459712e-01 -1.12533262e-02 1.06130393e+02] [ 8.11317320e-01 5.84408312e-01 -1.52029955e-02 4.90718887e+01] [ 1.89131557e-02 -2.46908105e-04 9.99821100e-01 2.40182441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:49.09, Z:2.40 [[ 5.83626991e-01 -8.11942156e-01 -1.13785332e-02 1.06148103e+02] [ 8.11796482e-01 5.83737842e-01 -1.53819004e-02 4.90942599e+01] [ 1.91312938e-02 -2.59760947e-04 9.99816946e-01 2.40218545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:49.11, Z:2.40 [[ 5.82205025e-01 -8.12953319e-01 -1.20087404e-02 1.06166229e+02] [ 8.12791054e-01 5.82328781e-01 -1.62448027e-02 4.91148484e+01] [ 2.01993014e-02 -3.02790974e-04 9.99795927e-01 2.40178406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:49.14, Z:2.40 [[ 5.81392666e-01 -8.13530240e-01 -1.22929680e-02 1.06183733e+02] [ 8.13360130e-01 5.81522522e-01 -1.66389546e-02 4.91354401e+01] [ 2.06849305e-02 -3.24843866e-04 9.99785991e-01 2.40188150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.20, Y:49.16, Z:2.40 [[ 5.80304303e-01 -8.14301356e-01 -1.26576900e-02 1.06201001e+02] [ 8.14120936e-01 5.80442223e-01 -1.71442994e-02 4.91575148e+01] [ 2.13076839e-02 -3.55979705e-04 9.99772902e-01 2.40213734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:49.18, Z:2.40 [[ 5.78730403e-01 -8.15406033e-01 -1.35691341e-02 1.06219813e+02] [ 8.15198722e-01 5.78889304e-01 -1.83906681e-02 4.91772073e+01] [ 2.28508883e-02 -4.18302031e-04 9.99738797e-01 2.40144954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:49.20, Z:2.40 [[ 5.77727050e-01 -8.16114903e-01 -1.37083969e-02 1.06237840e+02] [ 8.15903315e-01 5.77889493e-01 -1.85880078e-02 4.91985242e+01] [ 2.30918887e-02 -4.45931632e-04 9.99733247e-01 2.40164613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:49.22, Z:2.40 [[ 5.76800430e-01 -8.16763904e-01 -1.40708684e-02 1.06254183e+02] [ 8.16540911e-01 5.76971834e-01 -1.90904032e-02 4.92217297e+01] [ 2.37108470e-02 -4.78086901e-04 9.99718744e-01 2.40218246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:49.24, Z:2.40 [[ 5.75039574e-01 -8.18000708e-01 -1.42944396e-02 1.06275079e+02] [ 8.17770671e-01 5.75216968e-01 -1.94053804e-02 4.92401397e+01] [ 2.40960191e-02 -5.30711767e-04 9.99709508e-01 2.40231712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.29, Y:49.26, Z:2.40 [[ 5.73987290e-01 -8.18740745e-01 -1.42191252e-02 1.06291559e+02] [ 8.18513154e-01 5.74163117e-01 -1.93114442e-02 4.92635120e+01] [ 2.39751635e-02 -5.54017472e-04 9.99712401e-01 2.40382847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:49.28, Z:2.40 [[ 5.72662297e-01 -8.19669148e-01 -1.41556197e-02 1.06312077e+02] [ 8.19443592e-01 5.72836929e-01 -1.92367520e-02 4.92824136e+01] [ 2.38766339e-02 -5.83569287e-04 9.99714742e-01 2.40479318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:49.31, Z:2.41 [[ 5.71811600e-01 -8.20260316e-01 -1.43006105e-02 1.06326827e+02] [ 8.20030024e-01 5.71990074e-01 -1.94451781e-02 4.93067375e+01] [ 2.41299152e-02 -6.07951536e-04 9.99708646e-01 2.40630491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:49.33, Z:2.41 [[ 5.71511833e-01 -8.20468483e-01 -1.43420025e-02 1.06343555e+02] [ 8.20236618e-01 5.71691433e-01 -1.95140177e-02 4.93291732e+01] [ 2.42098364e-02 -6.11343596e-04 9.99706712e-01 2.40790883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.932755096 meters Centerline goodness [0,1] 0.9999363489773402 Centerline is valid? [True, True] Translation: X:106.36, Y:49.35, Z:2.41 [[ 5.71459989e-01 -8.20504314e-01 -1.43579878e-02 1.06361741e+02] [ 8.20271626e-01 5.71640013e-01 -1.95487877e-02 4.93494239e+01] [ 2.42474650e-02 -6.06100029e-04 9.99705803e-01 2.40675621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:49.37, Z:2.41 [[ 5.71462855e-01 -8.20507994e-01 -1.40298457e-02 1.06378166e+02] [ 8.20285554e-01 5.71634751e-01 -1.91134052e-02 4.93717475e+01] [ 2.37026491e-02 -5.85878625e-04 9.99718881e-01 2.40927902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.39, Y:49.40, Z:2.41 [[ 5.71785663e-01 -8.20278236e-01 -1.43098167e-02 1.06393703e+02] [ 8.20046445e-01 5.71964403e-01 -1.95076925e-02 4.93953017e+01] [ 2.41864414e-02 -5.80495458e-04 9.99707297e-01 2.41054930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters Centerline goodness [0,1] 0.9998513863530211 Centerline is valid? [True, True] Translation: X:106.41, Y:49.42, Z:2.41 [[ 5.72995514e-01 -8.19424276e-01 -1.48323050e-02 1.06411251e+02] [ 8.19174617e-01 5.73187183e-01 -2.02336695e-02 4.94159825e+01] [ 2.50816471e-02 -5.56445917e-04 9.99685251e-01 2.40785188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:49.44, Z:2.41 [[ 5.74059140e-01 -8.18688549e-01 -1.43235362e-02 1.06426754e+02] [ 8.18455214e-01 5.74237590e-01 -1.95512752e-02 4.94383254e+01] [ 2.42315180e-02 -4.99584674e-04 9.99706249e-01 2.41179392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters Centerline goodness [0,1] 0.9999574205360755 Centerline is valid? [True, True] Translation: X:106.44, Y:49.46, Z:2.41 [[ 5.74665780e-01 -8.18260298e-01 -1.44681369e-02 1.06441636e+02] [ 8.18021847e-01 5.74847679e-01 -1.97586267e-02 4.94620341e+01] [ 2.44846747e-02 -4.80645478e-04 9.99700090e-01 2.41196602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.112755096 meters Centerline goodness [0,1] 0.9998934628824683 Centerline is valid? [True, True] Translation: X:106.46, Y:49.49, Z:2.41 [[ 5.76469675e-01 -8.16987806e-01 -1.46163812e-02 1.06458159e+02] [ 8.16743711e-01 5.76654789e-01 -1.99741044e-02 4.94855400e+01] [ 2.47472060e-02 -4.23371927e-04 9.99693651e-01 2.41150688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:49.51, Z:2.41 [[ 5.77471088e-01 -8.16288189e-01 -1.41681161e-02 1.06473811e+02] [ 8.16058348e-01 5.77644746e-01 -1.93731795e-02 4.95076978e+01] [ 2.39982355e-02 -3.74558381e-04 9.99711931e-01 2.41429433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:49.53, Z:2.41 [[ 5.79073256e-01 -8.15146997e-01 -1.44754134e-02 1.06489958e+02] [ 8.14906454e-01 5.79254060e-01 -1.98041732e-02 4.95289785e+01] [ 2.45282543e-02 -3.28040775e-04 9.99699083e-01 2.41441699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters Centerline goodness [0,1] 0.9999144933732365 Centerline is valid? [True, True] Translation: X:106.51, Y:49.55, Z:2.41 [[ 5.79285513e-01 -8.14985502e-01 -1.50640512e-02 1.06506520e+02] [ 8.14724581e-01 5.79481255e-01 -2.06235660e-02 4.95517478e+01] [ 2.55372425e-02 -3.26119799e-04 9.99673818e-01 2.41339197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.52, Y:49.57, Z:2.42 [[ 5.79709951e-01 -8.14685504e-01 -1.49633665e-02 1.06523027e+02] [ 8.14427619e-01 5.79902955e-01 -2.04991615e-02 4.95736529e+01] [ 2.53776702e-02 -3.03011012e-04 9.99677889e-01 2.41535848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.54, Y:49.60, Z:2.42 [[ 5.79917436e-01 -8.14528203e-01 -1.54781902e-02 1.06540292e+02] [ 8.14251820e-01 5.80123882e-01 -2.12191974e-02 4.95953484e+01] [ 2.62629025e-02 -2.97761967e-04 9.99655026e-01 2.41572648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:49.62, Z:2.42 [[ 5.79743605e-01 -8.14651171e-01 -1.55184418e-02 1.06557433e+02] [ 8.14373021e-01 5.79951189e-01 -2.12884986e-02 4.96167554e+01] [ 2.63426391e-02 -2.95929438e-04 9.99652929e-01 2.41599572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.57, Y:49.64, Z:2.42 [[ 5.79088630e-01 -8.15113319e-01 -1.57046313e-02 1.06574711e+02] [ 8.14828229e-01 5.79301458e-01 -2.15587052e-02 4.96392564e+01] [ 2.66705035e-02 -3.12175829e-04 9.99644230e-01 2.41634671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:49.66, Z:2.42 [[ 5.77997270e-01 -8.15880527e-01 -1.60661553e-02 1.06593108e+02] [ 8.15582051e-01 5.78220412e-01 -2.20697263e-02 4.96596687e+01] [ 2.72960389e-02 -3.47026342e-04 9.99627333e-01 2.41644293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.61, Y:49.68, Z:2.42 [[ 5.77016282e-01 -8.16574455e-01 -1.60738925e-02 1.06610917e+02] [ 8.16275555e-01 5.77240004e-01 -2.20951753e-02 4.96814505e+01] [ 2.73208495e-02 -3.71449677e-04 9.99626647e-01 2.41700396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.412755096 meters Centerline goodness [0,1] 0.9998071111682634 Centerline is valid? [True, True] Translation: X:106.63, Y:49.70, Z:2.41 [[ 5.75372525e-01 -8.17716260e-01 -1.69285155e-02 1.06629717e+02] [ 8.17384783e-01 5.75621338e-01 -2.32850196e-02 4.97027951e+01] [ 2.87849539e-02 -4.39550457e-04 9.99585531e-01 2.41400219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:49.72, Z:2.42 [[ 5.73586613e-01 -8.18981436e-01 -1.63647180e-02 1.06648350e+02] [ 8.18671819e-01 5.73819813e-01 -2.25227707e-02 4.97245880e+01] [ 2.78361305e-02 -4.78573726e-04 9.99612385e-01 2.41808849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:49.74, Z:2.42 [[ 5.72224593e-01 -8.19935123e-01 -1.62913917e-02 1.06667472e+02] [ 8.19628279e-01 5.72456225e-01 -2.24355517e-02 4.97443350e+01] [ 2.77218054e-02 -5.14710919e-04 9.99615544e-01 2.41771233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.69, Y:49.76, Z:2.42 [[ 5.70874505e-01 -8.20867635e-01 -1.66920788e-02 1.06685213e+02] [ 8.20545577e-01 5.71118206e-01 -2.29989407e-02 4.97648210e+01] [ 2.84122361e-02 -5.67102529e-04 9.99596130e-01 2.41790378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:49.79, Z:2.42 [[ 5.68616429e-01 -8.22427157e-01 -1.69978962e-02 1.06702434e+02] [ 8.22093631e-01 5.68870062e-01 -2.34289236e-02 4.97881261e+01] [ 2.89381773e-02 -6.51791364e-04 9.99580991e-01 2.41913781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:49.81, Z:2.42 [[ 5.67251848e-01 -8.23364170e-01 -1.72274230e-02 1.06720604e+02] [ 8.23021584e-01 5.67512954e-01 -2.37596105e-02 4.98091342e+01] [ 2.93395977e-02 -7.00858009e-04 9.99569256e-01 2.41921583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.74, Y:49.83, Z:2.42 [[ 5.66991983e-01 -8.23543290e-01 -1.72203612e-02 1.06736655e+02] [ 8.23200632e-01 5.67252993e-01 -2.37647281e-02 4.98315602e+01] [ 2.93395838e-02 -7.01401927e-04 9.99569256e-01 2.41977751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:49.85, Z:2.42 [[ 5.65248442e-01 -8.24729197e-01 -1.77750249e-02 1.06755184e+02] [ 8.24364191e-01 5.65527317e-01 -2.45465735e-02 4.98528588e+01] [ 3.02965380e-02 -7.78181607e-04 9.99540652e-01 2.42036999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:49.87, Z:2.42 [[ 5.64395308e-01 -8.25314444e-01 -1.77201901e-02 1.06772688e+02] [ 8.24951506e-01 5.64672853e-01 -2.44863588e-02 4.98748413e+01] [ 3.02150558e-02 -7.98311482e-04 9.99543102e-01 2.42114859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:49.90, Z:2.42 [[ 5.63675172e-01 -8.25801834e-01 -1.79340908e-02 1.06789759e+02] [ 8.25429829e-01 5.63959795e-01 -2.47981073e-02 4.98980203e+01] [ 3.05924287e-02 -8.25256124e-04 9.99531601e-01 2.42195708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.712755096 meters Centerline goodness [0,1] 0.9999570907530573 Centerline is valid? [True, True] Translation: X:106.81, Y:49.92, Z:2.42 [[ 5.63009898e-01 -8.26251467e-01 -1.81209142e-02 1.06807403e+02] [ 8.25871392e-01 5.63300801e-01 -2.50729148e-02 4.99196974e+01] [ 3.09240581e-02 -8.49245421e-04 9.99521376e-01 2.42181195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:49.94, Z:2.42 [[ 5.63042425e-01 -8.26227795e-01 -1.81894969e-02 1.06824757e+02] [ 8.25844326e-01 5.63335532e-01 -2.51838707e-02 4.99409035e+01] [ 3.10544039e-02 -8.42105194e-04 9.99517341e-01 2.42272668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.772755096 meters Centerline goodness [0,1] 0.9999354324946732 Centerline is valid? [True, True] Translation: X:106.84, Y:49.96, Z:2.42 [[ 5.62837114e-01 -8.26364754e-01 -1.83214775e-02 1.06840652e+02] [ 8.25975288e-01 5.63134598e-01 -2.53820345e-02 4.99634412e+01] [ 3.12922765e-02 -8.47136641e-04 9.99509918e-01 2.42276695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:106.86, Y:49.99, Z:2.42 [[ 5.63621166e-01 -8.25832210e-01 -1.82302779e-02 1.06857469e+02] [ 8.25445844e-01 5.63915343e-01 -2.52714232e-02 4.99862556e+01] [ 3.11502887e-02 -8.04598154e-04 9.99514388e-01 2.42456326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.832755096 meters Centerline goodness [0,1] 0.9999568658744366 Centerline is valid? [True, True] Translation: X:106.87, Y:50.01, Z:2.43 [[ 5.64239511e-01 -8.25414249e-01 -1.80303276e-02 1.06873627e+02] [ 8.25035639e-01 5.64527000e-01 -2.50092213e-02 5.00081746e+01] [ 3.08215743e-02 -7.64472052e-04 9.99524610e-01 2.42532927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:50.03, Z:2.43 [[ 5.65414258e-01 -8.24616440e-01 -1.77325570e-02 1.06888968e+02] [ 8.24249434e-01 5.65691820e-01 -2.46096841e-02 5.00315862e+01] [ 3.03247125e-02 -7.01383805e-04 9.99539854e-01 2.42750475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:50.05, Z:2.43 [[ 5.66431594e-01 -8.23925010e-01 -1.74019411e-02 1.06904920e+02] [ 8.23570782e-01 5.66698477e-01 -2.41661423e-02 5.00549360e+01] [ 2.97727425e-02 -6.43263744e-04 9.99556487e-01 2.42862648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:50.08, Z:2.43 [[ 5.68826070e-01 -8.22272145e-01 -1.74763048e-02 1.06920225e+02] [ 8.21913683e-01 5.69094206e-01 -2.42833731e-02 5.00776754e+01] [ 2.99132051e-02 -5.50998360e-04 9.99552348e-01 2.42963724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:50.10, Z:2.43 [[ 5.69890090e-01 -8.21538345e-01 -1.73214534e-02 1.06935888e+02] [ 8.21185518e-01 5.70153046e-01 -2.40800411e-02 5.01010164e+01] [ 2.96585565e-02 -5.01149890e-04 9.99559963e-01 2.43041338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters Centerline goodness [0,1] 0.9998928349443813 Centerline is valid? [True, True] Translation: X:106.95, Y:50.12, Z:2.43 [[ 5.71546912e-01 -8.20383110e-01 -1.74837063e-02 1.06950961e+02] [ 8.20022620e-01 5.71814097e-01 -2.43216170e-02 5.01239328e+01] [ 2.99504735e-02 -4.36089607e-04 9.99551289e-01 2.42931532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:50.15, Z:2.43 [[ 5.72901568e-01 -8.19443750e-01 -1.71969063e-02 1.06966502e+02] [ 8.19094112e-01 5.73159491e-01 -2.39381256e-02 5.01477858e+01] [ 2.94725174e-02 -3.71694972e-04 9.99565522e-01 2.43160014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:50.17, Z:2.43 [[ 5.73701000e-01 -8.18881664e-01 -1.73200296e-02 1.06982077e+02] [ 8.18526273e-01 5.73962288e-01 -2.41253420e-02 5.01703046e+01] [ 2.96968440e-02 -3.36166415e-04 9.99558895e-01 2.43198533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.072755096 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:107.00, Y:50.19, Z:2.43 [[ 5.74964121e-01 -8.17991240e-01 -1.75097332e-02 1.06996988e+02] [ 8.17627116e-01 5.75230606e-01 -2.44059215e-02 5.01941344e+01] [ 3.00359644e-02 -2.83903503e-04 9.99548778e-01 2.43228622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:50.22, Z:2.43 [[ 5.75575141e-01 -8.17566671e-01 -1.72625421e-02 1.07012465e+02] [ 8.17212146e-01 5.75833896e-01 -2.40755476e-02 5.02162117e+01] [ 2.96237221e-02 -2.49872388e-04 9.99561090e-01 2.43315184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:50.24, Z:2.43 [[ 5.75668453e-01 -8.17503639e-01 -1.71357142e-02 1.07028551e+02] [ 8.17153949e-01 5.75923383e-01 -2.39098416e-02 5.02378251e+01] [ 2.94152410e-02 -2.38374999e-04 9.99567250e-01 2.43335319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:50.26, Z:2.43 [[ 5.75307453e-01 -8.17760936e-01 -1.69819336e-02 1.07044857e+02] [ 8.17417256e-01 5.75557984e-01 -2.37073236e-02 5.02604693e+01] [ 2.91610106e-02 -2.42325622e-04 9.99574698e-01 2.43490990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:50.28, Z:2.44 [[ 5.74523579e-01 -8.18314250e-01 -1.68655333e-02 1.07061846e+02] [ 8.17975067e-01 5.74771016e-01 -2.35598941e-02 5.02813980e+01] [ 2.89732168e-02 -2.59871051e-04 9.99580154e-01 2.43521720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.08, Y:50.30, Z:2.44 [[ 5.72182745e-01 -8.19959136e-01 -1.65505465e-02 1.07081028e+02] [ 8.19632781e-01 5.72421966e-01 -2.31343186e-02 5.03019618e+01] [ 2.84430923e-02 -3.28312535e-04 9.99595359e-01 2.43638947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.10, Y:50.32, Z:2.44 [[ 5.70668060e-01 -8.21012130e-01 -1.66447288e-02 1.07099140e+02] [ 8.20682161e-01 5.70910624e-01 -2.32776722e-02 5.03229749e+01] [ 2.86139037e-02 -3.76207942e-04 9.99590468e-01 2.43653713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:50.34, Z:2.44 [[ 5.67072910e-01 -8.23501264e-01 -1.65524430e-02 1.07118139e+02] [ 8.23175705e-01 5.67314222e-01 -2.31588624e-02 5.03444592e+01] [ 2.84617888e-02 -4.92805434e-04 9.99594760e-01 2.43787928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:50.37, Z:2.44 [[ 5.65361618e-01 -8.24678464e-01 -1.64824833e-02 1.07136185e+02] [ 8.24355796e-01 5.65601570e-01 -2.30734872e-02 5.03650171e+01] [ 2.83507264e-02 -5.42566541e-04 9.99597890e-01 2.43830723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:50.39, Z:2.44 [[ 5.63425906e-01 -8.26004750e-01 -1.63524272e-02 1.07154623e+02] [ 8.25687421e-01 5.63662838e-01 -2.29016908e-02 5.03869894e+01] [ 2.81341609e-02 -5.98587585e-04 9.99603977e-01 2.43868439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:50.41, Z:2.44 [[ 5.60192410e-01 -8.28209728e-01 -1.59094415e-02 1.07174751e+02] [ 8.27909885e-01 5.60417862e-01 -2.22944209e-02 5.04060843e+01] [ 2.73803914e-02 -6.82418517e-04 9.99624854e-01 2.43922525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:50.43, Z:2.44 [[ 5.58797296e-01 -8.29150212e-01 -1.59846139e-02 1.07193253e+02] [ 8.28847532e-01 5.59025403e-01 -2.24135456e-02 5.04283181e+01] [ 2.75200013e-02 -7.24179134e-04 9.99620991e-01 2.43957497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:50.45, Z:2.44 [[ 5.57314647e-01 -8.30145064e-01 -1.61107581e-02 1.07211076e+02] [ 8.29837634e-01 5.57546928e-01 -2.26036542e-02 5.04507408e+01] [ 2.77468156e-02 -7.71965793e-04 9.99614685e-01 2.44023842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:50.47, Z:2.44 [[ 5.55152000e-01 -8.31593192e-01 -1.60941061e-02 1.07230569e+02] [ 8.31286632e-01 5.55384610e-01 -2.25935955e-02 5.04702232e+01] [ 2.77270990e-02 -8.35935520e-04 9.99615181e-01 2.44000192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:50.49, Z:2.44 [[ 5.54274038e-01 -8.32174812e-01 -1.62902833e-02 1.07247697e+02] [ 8.31860593e-01 5.54512695e-01 -2.28828543e-02 5.04920643e+01] [ 2.80757039e-02 -8.67872664e-04 9.99605423e-01 2.44053268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:50.51, Z:2.44 [[ 5.53752283e-01 -8.32532428e-01 -1.57532884e-02 1.07264399e+02] [ 8.32238368e-01 5.53975663e-01 -2.21418695e-02 5.05132560e+01] [ 2.71607627e-02 -8.49380225e-04 9.99630718e-01 2.44170059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.552755096 meters Centerline goodness [0,1] 0.9999132377502549 Centerline is valid? [True, True] Translation: X:107.28, Y:50.54, Z:2.44 [[ 5.53179248e-01 -8.32910032e-01 -1.59247870e-02 1.07279644e+02] [ 8.32609285e-01 5.53407737e-01 -2.23976637e-02 5.05363325e+01] [ 2.74681391e-02 -8.69202806e-04 9.99622302e-01 2.44140504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:50.56, Z:2.44 [[ 5.54517752e-01 -8.32028728e-01 -1.54356203e-02 1.07294937e+02] [ 8.31745497e-01 5.54731977e-01 -2.17223741e-02 5.05586492e+01] [ 2.66362715e-02 -7.93065574e-04 9.99644877e-01 2.44359004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:50.58, Z:2.44 [[ 5.55093501e-01 -8.31646412e-01 -1.53443872e-02 1.07310083e+02] [ 8.31366032e-01 5.55305018e-01 -2.16068818e-02 5.05818381e+01] [ 2.64901009e-02 -7.62962638e-04 9.99648785e-01 2.44423455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:50.61, Z:2.45 [[ 5.55925017e-01 -8.31093469e-01 -1.51993631e-02 1.07323431e+02] [ 8.30817794e-01 5.56132290e-01 -2.14165633e-02 5.06074876e+01] [ 2.62520225e-02 -7.21897945e-04 9.99655096e-01 2.44526092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:50.63, Z:2.45 [[ 5.57848640e-01 -8.29803229e-01 -1.52150129e-02 1.07335349e+02] [ 8.29526159e-01 5.58055708e-01 -2.14517731e-02 5.06341115e+01] [ 2.62915754e-02 -6.54408740e-04 9.99654103e-01 2.44683120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:50.66, Z:2.45 [[ 5.59255934e-01 -8.28862997e-01 -1.47963814e-02 1.07351063e+02] [ 8.28600321e-01 5.59451329e-01 -2.08738862e-02 5.06564339e+01] [ 2.55794471e-02 -5.86441621e-04 9.99672620e-01 2.44741991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:50.68, Z:2.45 [[ 5.62387596e-01 -8.26752781e-01 -1.41432281e-02 1.07362533e+02] [ 8.26511887e-01 5.62565218e-01 -1.99618490e-02 5.06827745e+01] [ 2.44600024e-02 -4.63249836e-04 9.99700702e-01 2.44938495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:50.71, Z:2.45 [[ 5.63932137e-01 -8.25707333e-01 -1.37092887e-02 1.07377070e+02] [ 8.25480393e-01 5.64098610e-01 -1.93617910e-02 5.07065501e+01] [ 2.37205635e-02 -3.98012864e-04 9.99718549e-01 2.45026403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:50.73, Z:2.45 [[ 5.65841393e-01 -8.24400327e-01 -1.36974006e-02 1.07391878e+02] [ 8.24173113e-01 5.66007056e-01 -1.93569555e-02 5.07294748e+01] [ 2.37107058e-02 -3.36062657e-04 9.99718805e-01 2.45037178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:50.75, Z:2.45 [[ 5.69607081e-01 -8.21809275e-01 -1.33149991e-02 1.07404108e+02] [ 8.21593665e-01 5.69762643e-01 -1.88249929e-02 5.07541242e+01] [ 2.30569428e-02 -2.16669668e-04 9.99734130e-01 2.45057312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:50.78, Z:2.45 [[ 5.72285223e-01 -8.19947686e-01 -1.32444506e-02 1.07415337e+02] [ 8.19733674e-01 5.72438445e-01 -1.87331608e-02 5.07805950e+01] [ 2.29418446e-02 -1.36211050e-04 9.99736792e-01 2.45072311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:50.80, Z:2.45 [[ 5.73343416e-01 -8.19206695e-01 -1.33310973e-02 1.07429915e+02] [ 8.18989379e-01 5.73498371e-01 -1.88683694e-02 5.08045110e+01] [ 2.31024571e-02 -9.99716743e-05 9.99733098e-01 2.45121751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:50.83, Z:2.45 [[ 5.73954503e-01 -8.18783093e-01 -1.30565830e-02 1.07444561e+02] [ 8.18574258e-01 5.74102988e-01 -1.84917374e-02 5.08272891e+01] [ 2.26365452e-02 -7.43668067e-05 9.99743758e-01 2.45153822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:50.85, Z:2.45 [[ 5.74402646e-01 -8.18468880e-01 -1.30496338e-02 1.07460111e+02] [ 8.18259984e-01 5.74550859e-01 -1.84907724e-02 5.08510937e+01] [ 2.26318001e-02 -5.68445699e-05 9.99743866e-01 2.45171164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:50.87, Z:2.45 [[ 5.74361073e-01 -8.18498985e-01 -1.29910952e-02 1.07475768e+02] [ 8.18291691e-01 5.74507971e-01 -1.84201114e-02 5.08746608e+01] [ 2.25403302e-02 -5.07103511e-05 9.99745933e-01 2.45209695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:50.90, Z:2.45 [[ 5.74042350e-01 -8.18725045e-01 -1.28328365e-02 1.07491075e+02] [ 8.18522564e-01 5.74185770e-01 -1.82075430e-02 5.08964515e+01] [ 2.22754036e-02 -5.20654587e-05 9.99751871e-01 2.45254784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:50.92, Z:2.45 [[ 5.73209611e-01 -8.19307598e-01 -1.28763752e-02 1.07507313e+02] [ 8.19103679e-01 5.73354214e-01 -1.82786332e-02 5.09186996e+01] [ 2.23585471e-02 -6.95980827e-05 9.99750014e-01 2.45280992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:50.94, Z:2.45 [[ 5.70899699e-01 -8.20917594e-01 -1.29552473e-02 1.07524706e+02] [ 8.20711302e-01 5.71046660e-01 -1.84030042e-02 5.09389279e+01] [ 2.25054006e-02 -1.26248312e-04 9.99746713e-01 2.45291748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:50.96, Z:2.45 [[ 5.69200419e-01 -8.22100434e-01 -1.27184551e-02 1.07541804e+02] [ 8.21901733e-01 5.69342471e-01 -1.80746421e-02 5.09614595e+01] [ 2.21003278e-02 -1.65226434e-04 9.99755744e-01 2.45398706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.56, Y:50.98, Z:2.45 [[ 5.67694882e-01 -8.23142167e-01 -1.26291235e-02 1.07559139e+02] [ 8.22946244e-01 5.67835306e-01 -1.79595183e-02 5.09832825e+01] [ 2.19544990e-02 -1.97563133e-04 9.99758951e-01 2.45480432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:51.00, Z:2.46 [[ 5.64733420e-01 -8.25176258e-01 -1.26612466e-02 1.07578391e+02] [ 8.24979592e-01 5.64875269e-01 -1.80167553e-02 5.10035014e+01] [ 2.20190239e-02 -2.70606214e-04 9.99757515e-01 2.45522416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:51.03, Z:2.46 [[ 5.63216480e-01 -8.26211714e-01 -1.27043136e-02 1.07594647e+02] [ 8.26013801e-01 5.63359662e-01 -1.80856958e-02 5.10261369e+01] [ 2.20997116e-02 -3.07776414e-04 9.99755724e-01 2.45550994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:51.05, Z:2.46 [[ 5.61481301e-01 -8.27391648e-01 -1.27204527e-02 1.07611360e+02] [ 8.27193279e-01 5.61625266e-01 -1.81201463e-02 5.10489478e+01] [ 2.21365853e-02 -3.48149710e-04 9.99754895e-01 2.45561696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:51.07, Z:2.46 [[ 5.58425797e-01 -8.29447978e-01 -1.32921717e-02 1.07628113e+02] [ 8.29231674e-01 5.58583796e-01 -1.89466055e-02 5.10719135e+01] [ 2.31400154e-02 -4.42016478e-04 9.99732136e-01 2.45536554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:51.09, Z:2.46 [[ 5.57176968e-01 -8.30287085e-01 -1.33109737e-02 1.07645566e+02] [ 8.30070135e-01 5.57335746e-01 -1.89851807e-02 5.10927094e+01] [ 2.31818318e-02 -4.70936282e-04 9.99731154e-01 2.45524265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.66, Y:51.12, Z:2.46 [[ 5.54721706e-01 -8.31928861e-01 -1.33491420e-02 1.07661011e+02] [ 8.31710872e-01 5.54882046e-01 -1.90510074e-02 5.11164886e+01] [ 2.32562821e-02 -5.34619208e-04 9.99729393e-01 2.45542053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:51.14, Z:2.46 [[ 5.53098086e-01 -8.33010247e-01 -1.32829432e-02 1.07677916e+02] [ 8.32794448e-01 5.53257267e-01 -1.89684949e-02 5.11380328e+01] [ 2.31498355e-02 -5.70523160e-04 9.99731844e-01 2.45582433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:51.16, Z:2.46 [[ 5.51790342e-01 -8.33879572e-01 -1.31254581e-02 1.07694169e+02] [ 8.33668844e-01 5.51946108e-01 -1.87550368e-02 5.11611659e+01] [ 2.28839876e-02 -5.93437311e-04 9.99737951e-01 2.45648176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:51.18, Z:2.46 [[ 5.49562070e-01 -8.35355882e-01 -1.27311513e-02 1.07711831e+02] [ 8.35157768e-01 5.49709156e-01 -1.82029482e-02 5.11823878e+01] [ 2.22043703e-02 -6.28869948e-04 9.99753255e-01 2.45711639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:51.21, Z:2.46 [[ 5.48386907e-01 -8.36130239e-01 -1.25707677e-02 1.07728718e+02] [ 8.35937040e-01 5.48530589e-01 -1.79849601e-02 5.12053390e+01] [ 2.19332196e-02 -6.45653702e-04 9.99759230e-01 2.45759568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:51.23, Z:2.46 [[ 5.47217701e-01 -8.36897056e-01 -1.24941770e-02 1.07745148e+02] [ 8.36706163e-01 5.47359912e-01 -1.78863806e-02 5.12270114e+01] [ 2.18078709e-02 -6.66210780e-04 9.99761958e-01 2.45833252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:51.25, Z:2.46 [[ 5.47221485e-01 -8.36897706e-01 -1.22831628e-02 1.07759689e+02] [ 8.36712988e-01 5.47358939e-01 -1.75945464e-02 5.12511980e+01] [ 2.14481345e-02 -6.49368007e-04 9.99769751e-01 2.45910366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:51.27, Z:2.46 [[ 5.46960691e-01 -8.37068253e-01 -1.22776811e-02 1.07775337e+02] [ 8.36883492e-01 5.47098088e-01 -1.75983709e-02 5.12739180e+01] [ 2.14481334e-02 -6.49371535e-04 9.99769751e-01 2.45966526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:51.30, Z:2.46 [[ 5.46904930e-01 -8.37107423e-01 -1.20896963e-02 1.07791286e+02] [ 8.36928049e-01 5.47038171e-01 -1.73401636e-02 5.12960339e+01] [ 2.11291051e-02 -6.34784983e-04 9.99776554e-01 2.46016187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:51.32, Z:2.46 [[ 5.47887187e-01 -8.36474074e-01 -1.14347574e-02 1.07804981e+02] [ 8.36313323e-01 5.48006199e-01 -1.64082500e-02 5.13205028e+01] [ 1.99913937e-02 -5.73170006e-04 9.99799988e-01 2.46115635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:51.34, Z:2.46 [[ 5.49308875e-01 -8.35547700e-01 -1.09453793e-02 1.07819114e+02] [ 8.35400047e-01 5.49417674e-01 -1.57156379e-02 5.13439122e+01] [ 1.91447499e-02 -5.11030999e-04 9.99816592e-01 2.46184953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:51.37, Z:2.46 [[ 5.50357375e-01 -8.34858792e-01 -1.08423345e-02 1.07831094e+02] [ 8.34713647e-01 5.50463957e-01 -1.55743457e-02 5.13707002e+01] [ 1.89706938e-02 -4.78788518e-04 9.99819926e-01 2.46205059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:51.39, Z:2.46 [[ 5.51240640e-01 -8.34283662e-01 -1.02238834e-02 1.07846459e+02] [ 8.34154411e-01 5.51335276e-01 -1.46912188e-02 5.13926574e+01] [ 1.78934314e-02 -4.29900577e-04 9.99839807e-01 2.46276572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:51.42, Z:2.46 [[ 5.53566890e-01 -8.32746388e-01 -9.85658963e-03 1.07860317e+02] [ 8.32625896e-01 5.53654515e-01 -1.41702316e-02 5.14168716e+01] [ 1.72573545e-02 -3.62680745e-04 9.99851015e-01 2.46389444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:51.44, Z:2.46 [[ 5.54489624e-01 -8.32132288e-01 -9.85456164e-03 1.07874314e+02] [ 8.32011597e-01 5.54577083e-01 -1.41760706e-02 5.14411932e+01] [ 1.72614801e-02 -3.38625488e-04 9.99850952e-01 2.46446505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.89, Y:51.47, Z:2.47 [[ 5.56361674e-01 -8.30885771e-01 -9.51432218e-03 1.07886458e+02] [ 8.30772953e-01 5.56442947e-01 -1.36947688e-02 5.14653011e+01] [ 1.66729660e-02 -2.84997014e-04 9.99860956e-01 2.46520853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:51.49, Z:2.47 [[ 5.56807261e-01 -8.30590744e-01 -9.20270995e-03 1.07900023e+02] [ 8.30485030e-01 5.56883244e-01 -1.32539459e-02 5.14902736e+01] [ 1.61334398e-02 -2.62819516e-04 9.99869813e-01 2.46532673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.91, Y:51.52, Z:2.47 [[ 5.56914905e-01 -8.30520822e-01 -8.99737154e-03 1.07913476e+02] [ 8.30419642e-01 5.56987523e-01 -1.29659651e-02 5.15152968e+01] [ 1.57799277e-02 -2.50654853e-04 9.99875458e-01 2.46528593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:51.54, Z:2.47 [[ 5.56784587e-01 -8.30609316e-01 -8.89311189e-03 1.07928238e+02] [ 8.30510348e-01 5.56855550e-01 -1.28241089e-02 5.15395439e+01] [ 1.56040031e-02 -2.45555265e-04 9.99878220e-01 2.46536628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:51.56, Z:2.47 [[ 5.56496014e-01 -8.30804447e-01 -8.72677526e-03 1.07942754e+02] [ 8.30709047e-01 5.56564382e-01 -1.25923882e-02 5.15627802e+01] [ 1.53188244e-02 -2.41797328e-04 9.99882631e-01 2.46576125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:51.59, Z:2.47 [[ 5.55834098e-01 -8.31247739e-01 -8.69785839e-03 1.07957272e+02] [ 8.31152885e-01 5.55902092e-01 -1.25597022e-02 5.15863829e+01] [ 1.52753818e-02 -2.48139325e-04 9.99883294e-01 2.46606342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.97, Y:51.61, Z:2.47 [[ 5.54639155e-01 -8.32046982e-01 -8.55730631e-03 1.07972030e+02] [ 8.31955140e-01 5.54705103e-01 -1.23649960e-02 5.16100864e+01] [ 1.50350391e-02 -2.61184042e-04 9.99886933e-01 2.46648123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:51.63, Z:2.47 [[ 5.53990152e-01 -8.32481113e-01 -8.37305622e-03 1.07988876e+02] [ 8.32393118e-01 5.54053362e-01 -1.21065969e-02 5.16317089e+01] [ 1.47176332e-02 -2.62738896e-04 9.99891655e-01 2.46767708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:51.66, Z:2.47 [[ 5.52450453e-01 -8.33504403e-01 -8.30105912e-03 1.08002567e+02] [ 8.33417926e-01 5.52512742e-01 -1.20096123e-02 5.16568862e+01] [ 1.45965057e-02 -2.83535727e-04 9.99893425e-01 2.46728609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:51.68, Z:2.47 [[ 5.51688047e-01 -8.34012513e-01 -7.96408636e-03 1.08017932e+02] [ 8.33932852e-01 5.51745457e-01 -1.15303102e-02 5.16790284e+01] [ 1.40105714e-02 -2.80378941e-04 9.99901808e-01 2.46782287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.03, Y:51.70, Z:2.47 [[ 5.50629145e-01 -8.34710572e-01 -8.11202051e-03 1.08033357e+02] [ 8.34627941e-01 5.50688814e-01 -1.17486429e-02 5.17025734e+01] [ 1.42739154e-02 -3.01373791e-04 9.99898077e-01 2.46803509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:51.73, Z:2.47 [[ 5.49783769e-01 -8.35268239e-01 -8.04836600e-03 1.08049271e+02] [ 8.35186854e-01 5.49842590e-01 -1.16638537e-02 5.17260083e+01] [ 1.41677809e-02 -3.09292039e-04 9.99899584e-01 2.46832677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:51.75, Z:2.47 [[ 5.48123860e-01 -8.36356676e-01 -8.23068858e-03 1.08063841e+02] [ 8.36271537e-01 5.48185548e-01 -1.19382166e-02 5.17487582e+01] [ 1.44965517e-02 -3.39469194e-04 9.99894862e-01 2.46808715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:51.77, Z:2.47 [[ 5.47080926e-01 -8.37040543e-01 -8.09877846e-03 1.08079166e+02] [ 8.36958162e-01 5.47140755e-01 -1.17485381e-02 5.17731607e+01] [ 1.42651745e-02 -3.50937627e-04 9.99898186e-01 2.46763702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:51.80, Z:2.47 [[ 5.46628875e-01 -8.37333810e-01 -8.30441773e-03 1.08094346e+02] [ 8.37247114e-01 5.46691831e-01 -1.20545290e-02 5.17963557e+01] [ 1.46336220e-02 -3.63496165e-04 9.99892857e-01 2.46780772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:51.82, Z:2.47 [[ 5.46114147e-01 -8.37668179e-01 -8.44753462e-03 1.08107918e+02] [ 8.37578388e-01 5.46179350e-01 -1.22703999e-02 5.18208654e+01] [ 1.48923925e-02 -3.74433435e-04 9.99889032e-01 2.46731159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:51.84, Z:2.47 [[ 5.46115348e-01 -8.37665196e-01 -8.66291643e-03 1.08124519e+02] [ 8.37570616e-01 5.46183922e-01 -1.25931279e-02 5.18428144e+01] [ 1.52803707e-02 -3.78503808e-04 9.99883177e-01 2.46793486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:51.87, Z:2.47 [[ 5.46130068e-01 -8.37656754e-01 -8.55045575e-03 1.08137493e+02] [ 8.37564541e-01 5.46196873e-01 -1.24344175e-02 5.18673660e+01] [ 1.50860060e-02 -3.70749267e-04 9.99886131e-01 2.46849626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:51.89, Z:2.47 [[ 5.47051481e-01 -8.37059806e-01 -8.09681160e-03 1.08152292e+02] [ 8.36976949e-01 5.47111297e-01 -1.17819852e-02 5.18899726e+01] [ 1.42920833e-02 -3.31492229e-04 9.99897808e-01 2.47086467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:51.91, Z:2.47 [[ 5.47578310e-01 -8.36717566e-01 -7.85550522e-03 1.08166691e+02] [ 8.36639431e-01 5.47634567e-01 -1.14386750e-02 5.19138858e+01] [ 1.38728865e-02 -3.08655114e-04 9.99903719e-01 2.47179549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:51.94, Z:2.47 [[ 5.48444446e-01 -8.36152367e-01 -7.60973563e-03 1.08181019e+02] [ 8.36078902e-01 5.48497164e-01 -1.10874028e-02 5.19378554e+01] [ 1.34446765e-02 -2.81514922e-04 9.99909577e-01 2.47302213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.382755096 meters Centerline goodness [0,1] 0.9999576522401965 Centerline is valid? [True, True] Translation: X:108.19, Y:51.96, Z:2.47 [[ 5.50586581e-01 -8.34747282e-01 -7.16881839e-03 1.08193439e+02] [ 8.34681889e-01 5.50633201e-01 -1.04509578e-02 5.19622658e+01] [ 1.26712981e-02 -2.29525737e-04 9.99919690e-01 2.47345146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:51.99, Z:2.47 [[ 5.51815270e-01 -8.33936920e-01 -7.00866322e-03 1.08207201e+02] [ 8.33874276e-01 5.51859740e-01 -1.02234475e-02 5.19863744e+01] [ 1.23935094e-02 -2.02889513e-04 9.99923177e-01 2.47474815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.22, Y:52.01, Z:2.47 [[ 5.53876583e-01 -8.32568137e-01 -7.14347059e-03 1.08220464e+02] [ 8.32502862e-01 5.53922620e-01 -1.04267365e-02 5.20096258e+01] [ 1.26378985e-02 -1.71834511e-04 9.99920124e-01 2.47478215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:52.03, Z:2.47 [[ 5.54457760e-01 -8.32182578e-01 -6.98210394e-03 1.08233126e+02] [ 8.32120121e-01 5.54501698e-01 -1.01966244e-02 5.20348191e+01] [ 1.23570416e-02 -1.56351667e-04 9.99923637e-01 2.47308985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:52.06, Z:2.48 [[ 5.55022722e-01 -8.31805470e-01 -7.03123631e-03 1.08250550e+02] [ 8.31741993e-01 5.55067239e-01 -1.02770629e-02 5.20555203e+01] [ 1.24513261e-02 -1.44171051e-04 9.99922469e-01 2.47543810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.26, Y:52.08, Z:2.47 [[ 5.55087884e-01 -8.31760583e-01 -7.19545827e-03 1.08264917e+02] [ 8.31694054e-01 5.55134499e-01 -1.05208206e-02 5.20800568e+01] [ 1.27452510e-02 -1.44439802e-04 9.99918766e-01 2.47408777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.28, Y:52.10, Z:2.47 [[ 5.54804893e-01 -8.31950207e-01 -7.09821065e-03 1.08282860e+02] [ 8.31885395e-01 5.54850280e-01 -1.03853570e-02 5.21022867e+01] [ 1.25785441e-02 -1.43050905e-04 9.99920877e-01 2.47402901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:52.12, Z:2.47 [[ 5.53446852e-01 -8.32854272e-01 -7.09527588e-03 1.08301736e+02] [ 8.32789501e-01 5.53492308e-01 -1.03880754e-02 5.21232473e+01] [ 1.25789336e-02 -1.59623631e-04 9.99920869e-01 2.47425187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62275509600002 meters Centerline goodness [0,1] 0.9999574920297556 Centerline is valid? [True, True] Translation: X:108.32, Y:52.14, Z:2.47 [[ 5.52581061e-01 -8.33426219e-01 -7.41004381e-03 1.08319310e+02] [ 8.33355530e-01 5.52630714e-01 -1.08560765e-02 5.21445468e+01] [ 1.31427566e-02 -1.76338731e-04 9.99913615e-01 2.47366840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:52.17, Z:2.47 [[ 5.51422271e-01 -8.34194770e-01 -7.25015180e-03 1.08336267e+02] [ 8.34127068e-01 5.51469900e-01 -1.06293792e-02 5.21664495e+01] [ 1.28652131e-02 -1.86271426e-04 9.99917222e-01 2.47427424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:52.19, Z:2.47 [[ 5.50454722e-01 -8.34834066e-01 -7.18897107e-03 1.08353910e+02] [ 8.34767467e-01 5.50501629e-01 -1.05466617e-02 5.21881669e+01] [ 1.27622528e-02 -1.95659420e-04 9.99918540e-01 2.47460154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.37, Y:52.21, Z:2.47 [[ 5.48669861e-01 -8.36008551e-01 -7.14747317e-03 1.08373842e+02] [ 8.35942727e-01 5.48716371e-01 -1.04929352e-02 5.22089614e+01] [ 1.26941191e-02 -2.17720905e-04 9.99919403e-01 2.47494383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.39, Y:52.23, Z:2.48 [[ 5.47599290e-01 -8.36709645e-01 -7.21022334e-03 1.08391079e+02] [ 8.36642641e-01 5.47646706e-01 -1.05913215e-02 5.22298220e+01] [ 1.28105159e-02 -2.32580158e-04 9.99917915e-01 2.47557285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:52.25, Z:2.48 [[ 5.45969195e-01 -8.37774183e-01 -7.21507677e-03 1.08410622e+02] [ 8.37707067e-01 5.46016808e-01 -1.06072602e-02 5.22491810e+01] [ 1.28260419e-02 -2.52883507e-04 9.99917711e-01 2.47562780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:52.27, Z:2.48 [[ 5.45057227e-01 -8.38366828e-01 -7.32672995e-03 1.08427176e+02] [ 8.38297621e-01 5.45106402e-01 -1.07753584e-02 5.22713472e+01] [ 1.30275504e-02 -2.68793336e-04 9.99915102e-01 2.47554945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.45, Y:52.29, Z:2.48 [[ 5.43316845e-01 -8.39493730e-01 -7.55536302e-03 1.08447359e+02] [ 8.39420136e-01 5.43369291e-01 -1.11197528e-02 5.22906169e+01] [ 1.34403150e-02 -3.00574840e-04 9.99909630e-01 2.47643055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.46, Y:52.31, Z:2.48 [[ 5.42461458e-01 -8.40047537e-01 -7.46337581e-03 1.08463119e+02] [ 8.39975695e-01 5.42512710e-01 -1.09904668e-02 5.23135898e+01] [ 1.32814908e-02 -3.07149657e-04 9.99911750e-01 2.47650534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:52.34, Z:2.48 [[ 5.41707200e-01 -8.40534649e-01 -7.40367166e-03 1.08479780e+02] [ 8.40463906e-01 5.41757701e-01 -1.09094356e-02 5.23352153e+01] [ 1.31807548e-02 -3.12798973e-04 9.99913081e-01 2.47721441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:52.36, Z:2.48 [[ 5.41685023e-01 -8.40549083e-01 -7.38746851e-03 1.08496481e+02] [ 8.40478535e-01 5.41735308e-01 -1.08944181e-02 5.23562238e+01] [ 1.31593456e-02 -3.07665619e-04 9.99913365e-01 2.47777006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:52.38, Z:2.48 [[ 5.41873836e-01 -8.40427787e-01 -7.34033364e-03 1.08512895e+02] [ 8.40358074e-01 5.41923467e-01 -1.08288250e-02 5.23775897e+01] [ 1.30787445e-02 -3.00651694e-04 9.99914424e-01 2.47876924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters Centerline goodness [0,1] 0.9998491639372522 Centerline is valid? [True, True] Translation: X:108.53, Y:52.40, Z:2.47 [[ 5.42691423e-01 -8.39898134e-01 -7.55936311e-03 1.08525688e+02] [ 8.39824042e-01 5.42743991e-01 -1.11596887e-02 5.24027099e+01] [ 1.34758006e-02 -2.92267539e-04 9.99909155e-01 2.47477282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:52.43, Z:2.48 [[ 5.43042140e-01 -8.39672719e-01 -7.41347622e-03 1.08540488e+02] [ 8.39601343e-01 5.43092671e-01 -1.09515071e-02 5.24264388e+01] [ 1.32218863e-02 -2.77234747e-04 9.99912549e-01 2.47743717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:52.45, Z:2.48 [[ 5.43380918e-01 -8.39450541e-01 -7.74383397e-03 1.08555489e+02] [ 8.39372527e-01 5.43436023e-01 -1.14477453e-02 5.24485742e+01] [ 1.38180943e-02 -2.79475164e-04 9.99904487e-01 2.47762770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.072755096 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:108.57, Y:52.47, Z:2.48 [[ 5.45050670e-01 -8.38370945e-01 -7.34333160e-03 1.08571069e+02] [ 8.38300596e-01 5.45100085e-01 -1.08631762e-02 5.24716072e+01] [ 1.31102220e-02 -2.34937776e-04 9.99914030e-01 2.47805320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:52.50, Z:2.48 [[ 5.45998535e-01 -8.37757556e-01 -6.91924301e-03 1.08586136e+02] [ 8.37694975e-01 5.46042338e-01 -1.02417450e-02 5.24957675e+01] [ 1.23582989e-02 -2.04237359e-04 9.99923612e-01 2.48007486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:52.52, Z:2.48 [[ 5.48295132e-01 -8.36261681e-01 -6.23294599e-03 1.08599729e+02] [ 8.36210744e-01 5.48330537e-01 -9.23112542e-03 5.25202374e+01] [ 1.11373511e-02 -1.50675272e-04 9.99937966e-01 2.48248091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.162755096 meters Centerline goodness [0,1] 0.9998920855545723 Centerline is valid? [True, True] Translation: X:108.61, Y:52.54, Z:2.48 [[ 5.49547698e-01 -8.35440248e-01 -6.07622910e-03 1.08614111e+02] [ 8.35391732e-01 5.49581274e-01 -9.00432927e-03 5.25441711e+01] [ 1.08619608e-02 -1.27723129e-04 9.99940999e-01 2.48121473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:52.57, Z:2.48 [[ 5.50679058e-01 -8.34698188e-01 -5.61332560e-03 1.08628134e+02] [ 8.34656697e-01 5.50707658e-01 -8.32313306e-03 5.25685972e+01] [ 1.00386055e-02 -1.01824728e-04 9.99949607e-01 2.48489550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:52.59, Z:2.49 [[ 5.52747867e-01 -8.33331950e-01 -5.25895342e-03 1.08641819e+02] [ 8.33295429e-01 5.52772879e-01 -7.80207659e-03 5.25922166e+01] [ 9.40872653e-03 -6.96806518e-05 9.99955735e-01 2.48658843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:52.62, Z:2.49 [[ 5.53284735e-01 -8.32977812e-01 -4.89553958e-03 1.08656796e+02] [ 8.32946109e-01 5.53306390e-01 -7.26762814e-03 5.26165484e+01] [ 8.76250632e-03 -5.66529317e-05 9.99961607e-01 2.48726881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:52.64, Z:2.49 [[ 5.54282933e-01 -8.32314674e-01 -4.76585994e-03 1.08671064e+02] [ 8.32284568e-01 5.54303420e-01 -7.07926835e-03 5.26400464e+01] [ 8.53391139e-03 -4.26340554e-05 9.99963585e-01 2.48806460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:52.66, Z:2.49 [[ 5.54438038e-01 -8.32210728e-01 -4.87512727e-03 1.08686180e+02] [ 8.32179169e-01 5.54459469e-01 -7.24755044e-03 5.26635256e+01] [ 8.73454970e-03 -3.86617135e-05 9.99961852e-01 2.48800322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:52.69, Z:2.49 [[ 5.54482098e-01 -8.32179621e-01 -5.16543084e-03 1.08701309e+02] [ 8.32144137e-01 5.54506156e-01 -7.68486467e-03 5.26872630e+01] [ 9.25945097e-03 -3.72631062e-05 9.99957130e-01 2.48774655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:52.71, Z:2.49 [[ 5.53422497e-01 -8.32879111e-01 -5.99385635e-03 1.08716979e+02] [ 8.32831293e-01 5.53454952e-01 -8.92493205e-03 5.27094201e+01] [ 1.07507190e-02 -5.26129523e-05 9.99942208e-01 2.48670706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:52.73, Z:2.49 [[ 5.53167464e-01 -8.33048538e-01 -5.99082101e-03 1.08732188e+02] [ 8.33000708e-01 5.53199901e-01 -8.92696838e-03 5.27324130e+01] [ 1.07507195e-02 -5.22496841e-05 9.99942208e-01 2.48726833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:52.76, Z:2.49 [[ 5.52225086e-01 -8.33672211e-01 -6.17250652e-03 1.08748588e+02] [ 8.33621405e-01 5.52259578e-01 -9.20393016e-03 5.27555253e+01] [ 1.10818867e-02 -6.28924345e-05 9.99938592e-01 2.48700964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.77, Y:52.78, Z:2.49 [[ 5.50954058e-01 -8.34510985e-01 -6.40632956e-03 1.08765317e+02] [ 8.34456227e-01 5.50991297e-01 -9.56010858e-03 5.27772296e+01] [ 1.15078475e-02 -7.86209742e-05 9.99933779e-01 2.48788103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:52.80, Z:2.49 [[ 5.48141693e-01 -8.36357738e-01 -6.81307748e-03 1.08783234e+02] [ 8.36295867e-01 5.48184019e-01 -1.01737122e-02 5.27985012e+01] [ 1.22436831e-02 -1.21112704e-04 9.99925036e-01 2.48761043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:52.82, Z:2.49 [[ 5.46639332e-01 -8.37339044e-01 -6.98323624e-03 1.08800155e+02] [ 8.37274034e-01 5.46683917e-01 -1.04349370e-02 5.28192943e+01] [ 1.25552031e-02 -1.42735384e-04 9.99921170e-01 2.48884945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:52.84, Z:2.49 [[ 5.43072161e-01 -8.39656293e-01 -7.06663667e-03 1.08817418e+02] [ 8.39589812e-01 5.43118101e-01 -1.05677232e-02 5.28423714e+01] [ 1.27112736e-02 -1.94039862e-04 9.99919190e-01 2.48804643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:52.86, Z:2.49 [[ 5.40997748e-01 -8.40993407e-01 -7.17816164e-03 1.08834658e+02] [ 8.40924834e-01 5.41045320e-01 -1.07417447e-02 5.28636817e+01] [ 1.29174472e-02 -2.25034705e-04 9.99916541e-01 2.48878539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:52.89, Z:2.49 [[ 5.38854999e-01 -8.42367773e-01 -7.19896272e-03 1.08851481e+02] [ 8.42298840e-01 5.38903025e-01 -1.07793547e-02 5.28868334e+01] [ 1.29597238e-02 -2.55168762e-04 9.99915987e-01 2.48882177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:52.91, Z:2.49 [[ 5.35040296e-01 -8.44793053e-01 -7.52195683e-03 1.08870189e+02] [ 8.44717912e-01 5.35093070e-01 -1.12718699e-02 5.29074115e+01] [ 1.35473444e-02 -3.23027053e-04 9.99908178e-01 2.48898355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:52.93, Z:2.49 [[ 5.33171509e-01 -8.45973140e-01 -7.58867971e-03 1.08887548e+02] [ 8.45896731e-01 5.33225394e-01 -1.13753840e-02 5.29300640e+01] [ 1.36697461e-02 -3.54208694e-04 9.99906502e-01 2.48968562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:52.95, Z:2.49 [[ 5.30017995e-01 -8.47950513e-01 -7.80078931e-03 1.08905376e+02] [ 8.47869867e-01 5.30075238e-01 -1.17017087e-02 5.29507167e+01] [ 1.40574751e-02 -4.11938007e-04 9.99901104e-01 2.49038614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:52.97, Z:2.49 [[ 5.28943882e-01 -8.48618696e-01 -8.04231400e-03 1.08921508e+02] [ 8.48532981e-01 5.29004835e-01 -1.20691759e-02 5.29739566e+01] [ 1.44965513e-02 -4.40251925e-04 9.99894823e-01 2.49090102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:53.00, Z:2.49 [[ 5.28045481e-01 -8.49177724e-01 -8.07233659e-03 1.08937633e+02] [ 8.49091324e-01 5.28106985e-01 -1.21217416e-02 5.29973887e+01] [ 1.45565703e-02 -4.53320066e-04 9.99893945e-01 2.49161415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:53.02, Z:2.49 [[ 5.27080125e-01 -8.49772890e-01 -8.51921033e-03 1.08952425e+02] [ 8.49676606e-01 5.27148740e-01 -1.28011882e-02 5.30212555e+01] [ 1.53689937e-02 -4.91321826e-04 9.99881769e-01 2.49209931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:53.04, Z:2.49 [[ 5.26753839e-01 -8.49972097e-01 -8.82197798e-03 1.08967608e+02] [ 8.49868742e-01 5.26827461e-01 -1.32645246e-02 5.30445121e+01] [ 1.59221361e-02 -5.10384070e-04 9.99873104e-01 2.49239432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:53.07, Z:2.49 [[ 5.26798908e-01 -8.49939511e-01 -9.25953889e-03 1.08981718e+02] [ 8.49825487e-01 5.26880012e-01 -1.39317789e-02 5.30679159e+01] [ 1.67198353e-02 -5.29746254e-04 9.99860073e-01 2.49257480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:53.09, Z:2.49 [[ 5.26639677e-01 -8.50034644e-01 -9.57888617e-03 1.08995803e+02] [ 8.49912466e-01 5.26726501e-01 -1.44219986e-02 5.30901877e+01] [ 1.73046516e-02 -5.46018099e-04 9.99850114e-01 2.49296815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.01, Y:53.11, Z:2.49 [[ 5.26495926e-01 -8.50125418e-01 -9.42414325e-03 1.09009245e+02] [ 8.50006993e-01 5.26579992e-01 -1.41994272e-02 5.31145196e+01] [ 1.70338592e-02 -5.34647101e-04 9.99854770e-01 2.49394609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:53.14, Z:2.49 [[ 5.26636977e-01 -8.50039477e-01 -9.29424777e-03 1.09023133e+02] [ 8.49924112e-01 5.26718728e-01 -1.40137700e-02 5.31369133e+01] [ 1.68077121e-02 -5.19235801e-04 9.99858606e-01 2.49483676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:53.16, Z:2.50 [[ 5.26445238e-01 -8.50158613e-01 -9.25983711e-03 1.09036108e+02] [ 8.50043999e-01 5.26526415e-01 -1.39690691e-02 5.31620691e+01] [ 1.67514733e-02 -5.17319039e-04 9.99859550e-01 2.49574635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:53.19, Z:2.50 [[ 5.26866316e-01 -8.49901797e-01 -8.87810296e-03 1.09045066e+02] [ 8.49796277e-01 5.26940890e-01 -1.34009779e-02 5.31893731e+01] [ 1.60677507e-02 -4.84054983e-04 9.99870788e-01 2.49655005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.06, Y:53.21, Z:2.50 [[ 5.26764287e-01 -8.49964228e-01 -8.95533499e-03 1.09059048e+02] [ 8.49856722e-01 5.26840181e-01 -1.35268678e-02 5.32122430e+01] [ 1.62153840e-02 -4.85280782e-04 9.99868404e-01 2.49745513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:53.24, Z:2.50 [[ 5.27364727e-01 -8.49592621e-01 -8.87823157e-03 1.09072138e+02] [ 8.49486749e-01 5.27439250e-01 -1.34202014e-02 5.32377633e+01] [ 1.60844319e-02 -4.64599224e-04 9.99870529e-01 2.49799347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:53.26, Z:2.50 [[ 5.27415160e-01 -8.49560097e-01 -8.99393464e-03 1.09089054e+02] [ 8.49451290e-01 5.27491636e-01 -1.36044178e-02 5.32595776e+01] [ 1.63019958e-02 -4.64733219e-04 9.99867006e-01 2.49933931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:53.29, Z:2.50 [[ 5.27504320e-01 -8.49506259e-01 -8.84912713e-03 1.09100727e+02] [ 8.49400768e-01 5.27578347e-01 -1.33949056e-02 5.32858719e+01] [ 1.60476640e-02 -4.50584823e-04 9.99871126e-01 2.49958500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:53.31, Z:2.50 [[ 5.27974172e-01 -8.49212811e-01 -8.99310326e-03 1.09112937e+02] [ 8.49103665e-01 5.28050570e-01 -1.36220744e-02 5.33113909e+01] [ 1.63168534e-02 -4.43973475e-04 9.99866773e-01 2.49987671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:53.33, Z:2.50 [[ 5.28086657e-01 -8.49138924e-01 -9.35791443e-03 1.09127022e+02] [ 8.49020565e-01 5.28169368e-01 -1.41844699e-02 5.33346100e+01] [ 1.69871492e-02 -4.54432536e-04 9.99855605e-01 2.50000863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.14, Y:53.36, Z:2.50 [[ 5.28112907e-01 -8.49115623e-01 -9.97076586e-03 1.09140383e+02] [ 8.48981045e-01 5.28206807e-01 -1.51246523e-02 5.33580836e+01] [ 1.81092050e-02 -4.77467093e-04 9.99835901e-01 2.50004155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:53.38, Z:2.50 [[ 5.27889375e-01 -8.49251958e-01 -1.01940979e-02 1.09152412e+02] [ 8.49111107e-01 5.27987570e-01 -1.54743019e-02 5.33834210e+01] [ 1.85239381e-02 -4.87202210e-04 9.99828298e-01 2.50045359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:53.41, Z:2.50 [[ 5.27428575e-01 -8.49531109e-01 -1.07700184e-02 1.09167032e+02] [ 8.49373716e-01 5.27538270e-01 -1.63604778e-02 5.34073037e+01] [ 1.95803317e-02 -5.18787045e-04 9.99808152e-01 2.50040054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:53.43, Z:2.50 [[ 5.26795810e-01 -8.49922004e-01 -1.08977976e-02 1.09183708e+02] [ 8.49760709e-01 5.26908249e-01 -1.65660730e-02 5.34286701e+01] [ 1.98220094e-02 -5.33582440e-04 9.99803382e-01 2.50068747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.332755096 meters Centerline goodness [0,1] 0.9998299211259222 Centerline is valid? [True, True] Translation: X:109.20, Y:53.45, Z:2.50 [[ 5.26034817e-01 -8.50385523e-01 -1.14818984e-02 1.09196802e+02] [ 8.50206305e-01 5.26159799e-01 -1.74672450e-02 5.34536316e+01] [ 2.08952056e-02 -5.73603435e-04 9.99781507e-01 2.49728614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:53.48, Z:2.50 [[ 5.25414912e-01 -8.50772094e-01 -1.12256174e-02 1.09210961e+02] [ 8.50600646e-01 5.25534508e-01 -1.70886725e-02 5.34782978e+01] [ 2.04380150e-02 -5.69874028e-04 9.99790960e-01 2.50166604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.23, Y:53.50, Z:2.50 [[ 5.24153977e-01 -8.51546076e-01 -1.14843226e-02 1.09225095e+02] [ 8.51366569e-01 5.24279421e-01 -1.74944048e-02 5.35022157e+01] [ 2.09182857e-02 -6.07606483e-04 9.99781004e-01 2.50168691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:53.53, Z:2.50 [[ 5.23523638e-01 -8.51930193e-01 -1.17451103e-02 1.09240409e+02] [ 8.51742371e-01 5.23654988e-01 -1.78993729e-02 5.35251385e+01] [ 2.13994018e-02 -6.33063279e-04 9.99770806e-01 2.50202661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:53.55, Z:2.50 [[ 5.22804041e-01 -8.52369913e-01 -1.18939329e-02 1.09255865e+02] [ 8.52177217e-01 5.22938909e-01 -1.81352642e-02 5.35490626e+01] [ 2.16777539e-02 -6.54549275e-04 9.99764796e-01 2.50235383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters Centerline goodness [0,1] 0.9999575515748366 Centerline is valid? [True, True] Translation: X:109.27, Y:53.57, Z:2.50 [[ 5.21331551e-01 -8.53263700e-01 -1.24287289e-02 1.09271760e+02] [ 8.53053243e-01 5.21479191e-01 -1.89636050e-02 5.35714831e+01] [ 2.26622792e-02 -7.16041885e-04 9.99742921e-01 2.50119689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:53.59, Z:2.50 [[ 5.19628600e-01 -8.54300169e-01 -1.25434846e-02 1.09286606e+02] [ 8.54085841e-01 5.19779415e-01 -1.91503500e-02 5.35943589e+01] [ 2.28799923e-02 -7.62143026e-04 9.99737928e-01 2.50284086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.542755096 meters Centerline goodness [0,1] 0.9999147866470676 Centerline is valid? [True, True] Translation: X:109.30, Y:53.62, Z:2.50 [[ 5.18786542e-01 -8.54806968e-01 -1.28674802e-02 1.09302379e+02] [ 8.54581287e-01 5.18945479e-01 -1.96573876e-02 5.36170587e+01] [ 2.34807926e-02 -7.98319657e-04 9.99723969e-01 2.50127886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:53.64, Z:2.50 [[ 5.18512715e-01 -8.54977574e-01 -1.25663093e-02 1.09316618e+02] [ 8.54762096e-01 5.18664379e-01 -1.92099064e-02 5.36410140e+01] [ 2.29417362e-02 -7.80624137e-04 9.99736499e-01 2.50451395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:53.67, Z:2.51 [[ 5.18194998e-01 -8.55171235e-01 -1.24940851e-02 1.09331241e+02] [ 8.54958009e-01 5.18345013e-01 -1.91115157e-02 5.36651397e+01] [ 2.28198652e-02 -7.78426267e-04 9.99739290e-01 2.50545324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:53.69, Z:2.51 [[ 5.19010992e-01 -8.54675970e-01 -1.25130610e-02 1.09344059e+02] [ 8.54461674e-01 5.19161268e-01 -1.91526675e-02 5.36888370e+01] [ 2.28656213e-02 -7.51486115e-04 9.99738265e-01 2.50632130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.36, Y:53.72, Z:2.51 [[ 5.19971243e-01 -8.54089498e-01 -1.26900131e-02 1.09355510e+02] [ 8.53868637e-01 5.20125560e-01 -1.94358573e-02 5.37152146e+01] [ 2.32003618e-02 -7.29517282e-04 9.99730569e-01 2.50740661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:53.74, Z:2.51 [[ 5.22993343e-01 -8.52239659e-01 -1.28657448e-02 1.09368303e+02] [ 8.52011790e-01 5.23151165e-01 -1.97171822e-02 5.37390470e+01] [ 2.35344940e-02 -6.49811265e-04 9.99722814e-01 2.50791884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:53.77, Z:2.51 [[ 5.24741155e-01 -8.51162316e-01 -1.30166073e-02 1.09377715e+02] [ 8.50928491e-01 5.24902228e-01 -1.99588162e-02 5.37669088e+01] [ 2.38206384e-02 -6.02989697e-04 9.99716066e-01 2.50916695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:53.79, Z:2.51 [[ 5.26599451e-01 -8.50012261e-01 -1.31215381e-02 1.09391111e+02] [ 8.49773988e-01 5.26762618e-01 -2.01323940e-02 5.37906577e+01] [ 2.40247175e-02 -5.48634201e-04 9.99711214e-01 2.50956979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:53.81, Z:2.51 [[ 5.30655309e-01 -8.47488883e-01 -1.29435780e-02 1.09402934e+02] [ 8.47256074e-01 5.30812974e-01 -1.98678524e-02 5.38149858e+01] [ 2.37084032e-02 -4.23543728e-04 9.99718827e-01 2.51009621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:53.84, Z:2.51 [[ 5.32355292e-01 -8.46422287e-01 -1.29288678e-02 1.09413729e+02] [ 8.46189495e-01 5.32512136e-01 -1.98535484e-02 5.38417261e+01] [ 2.36892649e-02 -3.71130557e-04 9.99719301e-01 2.51145452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:53.86, Z:2.51 [[ 5.34000114e-01 -8.45387880e-01 -1.27753724e-02 1.09429174e+02] [ 8.45159981e-01 5.34152818e-01 -1.96309485e-02 5.38644036e+01] [ 2.34197671e-02 -3.14304749e-04 9.99725670e-01 2.51184252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:53.89, Z:2.51 [[ 5.35283542e-01 -8.44574453e-01 -1.28655399e-02 1.09442254e+02] [ 8.44342760e-01 5.35438062e-01 -1.97834686e-02 5.38884500e+01] [ 2.35973119e-02 -2.73160290e-04 9.99721507e-01 2.51302228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.45, Y:53.91, Z:2.52 [[ 5.37919100e-01 -8.42904005e-01 -1.24852037e-02 1.09453643e+02] [ 8.42685062e-01 5.38063940e-01 -1.92115268e-02 5.39149347e+01] [ 2.29113107e-02 -1.86847419e-04 9.99737484e-01 2.51530819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:53.94, Z:2.52 [[ 5.38663855e-01 -8.42428263e-01 -1.24849474e-02 1.09468205e+02] [ 8.42208910e-01 5.38808497e-01 -1.92238331e-02 5.39392560e+01] [ 2.29216961e-02 -1.59749933e-04 9.99737251e-01 2.51616304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:53.96, Z:2.52 [[ 5.39189371e-01 -8.42095431e-01 -1.22517940e-02 1.09482130e+02] [ 8.41883834e-01 5.39328532e-01 -1.88770919e-02 5.39619109e+01] [ 2.25040549e-02 -1.36260002e-04 9.99746742e-01 2.51713894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:53.98, Z:2.52 [[ 5.39717267e-01 -8.41759050e-01 -1.21232556e-02 1.09496387e+02] [ 8.41551581e-01 5.39853395e-01 -1.86882053e-02 5.39849111e+01] [ 2.22757467e-02 -1.15997845e-04 9.99751858e-01 2.51810808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:54.01, Z:2.52 [[ 5.39255630e-01 -8.42055697e-01 -1.20652049e-02 1.09512010e+02] [ 8.41850077e-01 5.39390571e-01 -1.86080453e-02 5.40070996e+01] [ 2.21768683e-02 -1.22600456e-04 9.99754055e-01 2.51851757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:54.03, Z:2.52 [[ 5.38574884e-01 -8.42496586e-01 -1.16874558e-02 1.09527929e+02] [ 8.42303487e-01 5.38701666e-01 -1.80374849e-02 5.40304649e+01] [ 2.14925714e-02 -1.29848426e-04 9.99769000e-01 2.51986870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.54, Y:54.05, Z:2.52 [[ 5.38040142e-01 -8.42834207e-01 -1.19709901e-02 1.09543669e+02] [ 8.42631431e-01 5.38173280e-01 -1.84876145e-02 5.40526830e+01] [ 2.20244609e-02 -1.40053762e-04 9.99757422e-01 2.52013630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:54.08, Z:2.52 [[ 5.36762693e-01 -8.43644850e-01 -1.22139071e-02 1.09559860e+02] [ 8.43433667e-01 5.36901610e-01 -1.88761675e-02 5.40754649e+01] [ 2.24824478e-02 -1.69597946e-04 9.99747223e-01 2.52028546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:54.10, Z:2.52 [[ 5.35218867e-01 -8.44619359e-01 -1.26056829e-02 1.09576888e+02] [ 8.44394354e-01 5.35367253e-01 -1.94956388e-02 5.40967805e+01] [ 2.32150638e-02 -2.09733771e-04 9.99730472e-01 2.51996371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:54.12, Z:2.52 [[ 5.34041485e-01 -8.45360628e-01 -1.28491808e-02 1.09592889e+02] [ 8.45126712e-01 5.34195987e-01 -1.98869094e-02 5.41195371e+01] [ 2.36755911e-02 -2.38751288e-04 9.99719665e-01 2.52012071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:54.14, Z:2.52 [[ 5.32889372e-01 -8.46086411e-01 -1.29113517e-02 1.09609311e+02] [ 8.45850112e-01 5.33045698e-01 -1.99968167e-02 5.41414837e+01] [ 2.38013754e-02 -2.64977195e-04 9.99716672e-01 2.52005043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:54.16, Z:2.52 [[ 5.31614343e-01 -8.46888130e-01 -1.29106788e-02 1.09625814e+02] [ 8.46651755e-01 5.31771012e-01 -2.00099232e-02 5.41642384e+01] [ 2.38116912e-02 -2.93286660e-04 9.99716418e-01 2.52034436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters Centerline goodness [0,1] 0.9999787052810903 Centerline is valid? [True, True] Translation: X:109.64, Y:54.19, Z:2.52 [[ 5.30090722e-01 -8.47843921e-01 -1.28261755e-02 1.09642455e+02] [ 8.47610604e-01 5.30245771e-01 -1.98918827e-02 5.41865867e+01] [ 2.36662371e-02 -3.27099920e-04 9.99719862e-01 2.52027958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:54.21, Z:2.52 [[ 5.26554781e-01 -8.50045842e-01 -1.27329538e-02 1.09660964e+02] [ 8.49816263e-01 5.26708546e-01 -1.97592018e-02 5.42089751e+01] [ 2.35027830e-02 -4.16369069e-04 9.99723685e-01 2.52162859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.68, Y:54.23, Z:2.52 [[ 5.26283747e-01 -8.50213762e-01 -1.27269878e-02 1.09675753e+02] [ 8.49984139e-01 5.26437446e-01 -1.97630440e-02 5.42322381e+01] [ 2.35027749e-02 -4.16768948e-04 9.99723685e-01 2.52219011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:54.25, Z:2.52 [[ 5.24232516e-01 -8.51484337e-01 -1.24375470e-02 1.09694601e+02] [ 8.51265095e-01 5.24379839e-01 -1.93267065e-02 5.42532093e+01] [ 2.29783868e-02 -4.55961676e-04 9.99735858e-01 2.52267970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:54.27, Z:2.52 [[ 5.20374342e-01 -8.53849420e-01 -1.23171477e-02 1.09714244e+02] [ 8.53634785e-01 5.20519805e-01 -1.91516846e-02 5.42738840e+01] [ 2.27639741e-02 -5.48300429e-04 9.99740717e-01 2.52412632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:54.30, Z:2.52 [[ 5.18369404e-01 -8.55068961e-01 -1.22569523e-02 1.09731925e+02] [ 8.54856470e-01 5.18513954e-01 -1.90707804e-02 5.42964402e+01] [ 2.26622332e-02 -5.92225870e-04 9.99743003e-01 2.52481852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:54.32, Z:2.53 [[ 5.16676436e-01 -8.56092866e-01 -1.22664582e-02 1.09749083e+02] [ 8.55880068e-01 5.16821639e-01 -1.90971965e-02 5.43183584e+01] [ 2.26885447e-02 -6.31545622e-04 9.99742382e-01 2.52533551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:54.34, Z:2.53 [[ 5.14081564e-01 -8.57656673e-01 -1.20489228e-02 1.09765748e+02] [ 8.57451605e-01 5.14222290e-01 -1.87665185e-02 5.43412159e+01] [ 2.22910545e-02 -6.83846960e-04 9.99751290e-01 2.52607707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:54.36, Z:2.53 [[ 5.12993864e-01 -8.58310014e-01 -1.18833938e-02 1.09784821e+02] [ 8.58110456e-01 5.13131012e-01 -1.85205595e-02 5.43614139e+01] [ 2.19941196e-02 -6.96331035e-04 9.99757858e-01 2.52662587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:54.39, Z:2.53 [[ 5.11322505e-01 -8.59313403e-01 -1.13916901e-02 1.09798681e+02] [ 8.59130042e-01 5.11448903e-01 -1.77648699e-02 5.43865456e+01] [ 2.10918582e-02 -7.03365380e-04 9.99777295e-01 2.52821722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:54.41, Z:2.53 [[ 5.10602807e-01 -8.59742427e-01 -1.13018932e-02 1.09815174e+02] [ 8.59561809e-01 5.10727379e-01 -1.76363418e-02 5.44083941e+01] [ 2.09348976e-02 -7.09510181e-04 9.99780589e-01 2.52893473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:54.43, Z:2.53 [[ 5.10440553e-01 -8.59840568e-01 -1.11642200e-02 1.09829619e+02] [ 8.59664086e-01 5.10562151e-01 -1.74341566e-02 5.44319071e+01] [ 2.06906233e-02 -6.98378405e-04 9.99785682e-01 2.52956972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:54.45, Z:2.53 [[ 5.10970149e-01 -8.59528770e-01 -1.09453353e-02 1.09846581e+02] [ 8.59358835e-01 5.11086930e-01 -1.71038777e-02 5.44534051e+01] [ 2.02952928e-02 -6.66399603e-04 9.99793807e-01 2.53000948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:54.48, Z:2.53 [[ 5.11826018e-01 -8.59016130e-01 -1.11989691e-02 1.09857772e+02] [ 8.58837846e-01 5.11948103e-01 -1.75126830e-02 5.44794170e+01] [ 2.07769682e-02 -6.54651685e-04 9.99783921e-01 2.53033984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:54.50, Z:2.53 [[ 5.14185770e-01 -8.57606657e-01 -1.11272521e-02 1.09872232e+02] [ 8.57430074e-01 5.14305820e-01 -1.74123854e-02 5.45028655e+01] [ 2.06557881e-02 -5.87639847e-04 9.99786474e-01 2.53028228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.89, Y:54.53, Z:2.53 [[ 5.15533161e-01 -8.56794453e-01 -1.13500808e-02 1.09886194e+02] [ 8.56610269e-01 5.15657785e-01 -1.77734524e-02 5.45262387e+01] [ 2.10809530e-02 -5.59791666e-04 9.99777615e-01 2.53094316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:54.55, Z:2.53 [[ 5.17252281e-01 -8.55757787e-01 -1.13441022e-02 1.09897952e+02] [ 8.55573373e-01 5.17376408e-01 -1.77723214e-02 5.45523628e+01] [ 2.10779733e-02 -5.12938060e-04 9.99777703e-01 2.53145718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:54.58, Z:2.53 [[ 5.20696534e-01 -8.53665908e-01 -1.13858243e-02 1.09909598e+02] [ 8.53479379e-01 5.20820831e-01 -1.78496697e-02 5.45767845e+01] [ 2.11676290e-02 -4.23305098e-04 9.99775851e-01 2.53142936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:54.60, Z:2.53 [[ 5.22123660e-01 -8.52790908e-01 -1.15995637e-02 1.09923548e+02] [ 8.52596901e-01 5.22252347e-01 -1.81936681e-02 5.46013568e+01] [ 2.15732941e-02 -3.90407516e-04 9.99767193e-01 2.53175475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:54.63, Z:2.53 [[ 5.24808656e-01 -8.51137563e-01 -1.18626938e-02 1.09937286e+02] [ 8.50933948e-01 5.24942610e-01 -1.86191144e-02 5.46258625e+01] [ 2.20746611e-02 -3.22896476e-04 9.99756273e-01 2.53191303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:54.65, Z:2.53 [[ 5.25749909e-01 -8.50553460e-01 -1.20766279e-02 1.09951233e+02] [ 8.50341990e-01 5.25888509e-01 -1.89677621e-02 5.46508914e+01] [ 2.24840555e-02 -2.96964622e-04 9.99747158e-01 2.53210733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:54.67, Z:2.53 [[ 5.26818022e-01 -8.49889060e-01 -1.23027386e-02 1.09965884e+02] [ 8.49669103e-01 5.26961587e-01 -1.93365285e-02 5.46736231e+01] [ 2.29169747e-02 -2.66425118e-04 9.99737336e-01 2.53210536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:54.70, Z:2.53 [[ 5.28765981e-01 -8.48679364e-01 -1.22423613e-02 1.09979301e+02] [ 8.48460972e-01 5.28907643e-01 -1.92531606e-02 5.46987031e+01] [ 2.28148385e-02 -2.06749459e-04 9.99739686e-01 2.53258585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:54.72, Z:2.53 [[ 5.29215325e-01 -8.48402059e-01 -1.20451735e-02 1.09993343e+02] [ 8.48190282e-01 5.29352352e-01 -1.89561102e-02 5.47225890e+01] [ 2.24585438e-02 -1.84735096e-04 9.99747758e-01 2.53329521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters Centerline goodness [0,1] 0.9999574042127234 Centerline is valid? [True, True] Translation: X:110.01, Y:54.75, Z:2.53 [[ 5.29682201e-01 -8.48111381e-01 -1.19937577e-02 1.10008511e+02] [ 8.47901032e-01 5.29817948e-01 -1.88886890e-02 5.47453023e+01] [ 2.23742202e-02 -1.64517138e-04 9.99749652e-01 2.53228981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:54.77, Z:2.53 [[ 5.29942142e-01 -8.47949268e-01 -1.19735429e-02 1.10022856e+02] [ 8.47739269e-01 5.30077369e-01 -1.88710273e-02 5.47691464e+01] [ 2.23485779e-02 -1.49889861e-04 9.99750228e-01 2.53413707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.042755096 meters Centerline goodness [0,1] 0.9999786584715197 Centerline is valid? [True, True] Translation: X:110.04, Y:54.79, Z:2.53 [[ 5.29452395e-01 -8.48253079e-01 -1.21192075e-02 1.10039196e+02] [ 8.48037717e-01 5.29591058e-01 -1.91139128e-02 5.47913969e+01] [ 2.26316593e-02 -1.57638143e-04 9.99743859e-01 2.53434023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:54.81, Z:2.54 [[ 5.28748877e-01 -8.48691559e-01 -1.21352188e-02 1.10054597e+02] [ 8.48475510e-01 5.28888087e-01 -1.91494062e-02 5.48145911e+01] [ 2.26701121e-02 -1.71208928e-04 9.99742985e-01 2.53511946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:54.84, Z:2.54 [[ 5.27683522e-01 -8.49356285e-01 -1.20000955e-02 1.10070528e+02] [ 8.49144903e-01 5.27819917e-01 -1.89490967e-02 5.48369991e+01] [ 2.24284238e-02 -1.90693879e-04 9.99748433e-01 2.53560964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.09, Y:54.86, Z:2.54 [[ 5.25612919e-01 -8.50638652e-01 -1.20392454e-02 1.10087453e+02] [ 8.50425999e-01 5.25750726e-01 -1.90208841e-02 5.48585464e+01] [ 2.25095412e-02 -2.40864898e-04 9.99746599e-01 2.53566485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:54.88, Z:2.54 [[ 5.24355666e-01 -8.51414919e-01 -1.19904799e-02 1.10102876e+02] [ 8.51203928e-01 5.24492674e-01 -1.89554145e-02 5.48823639e+01] [ 2.24278416e-02 -2.66964587e-04 9.99748429e-01 2.53629321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.12, Y:54.90, Z:2.54 [[ 5.22958934e-01 -8.52270250e-01 -1.22218859e-02 1.10119827e+02] [ 8.52050964e-01 5.23101643e-01 -1.93345537e-02 5.49032475e+01] [ 2.28715535e-02 -3.02492093e-04 9.99738366e-01 2.53640555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:54.93, Z:2.54 [[ 5.21307306e-01 -8.53283154e-01 -1.21058157e-02 1.10136528e+02] [ 8.53068058e-01 5.21447739e-01 -1.91609922e-02 5.49257684e+01] [ 2.26623021e-02 -3.38319469e-04 9.99743120e-01 2.53670620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:54.95, Z:2.54 [[ 5.18447283e-01 -8.55020282e-01 -1.23584997e-02 1.10155200e+02] [ 8.54796312e-01 5.18594394e-01 -1.95734462e-02 5.49477051e+01] [ 2.31447421e-02 -4.16199943e-04 9.99732038e-01 2.53727281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:54.97, Z:2.54 [[ 5.16726195e-01 -8.56063217e-01 -1.22396394e-02 1.10170655e+02] [ 8.55843552e-01 5.16870936e-01 -1.93971425e-02 5.49719365e+01] [ 2.29314941e-02 -4.52204847e-04 9.99736936e-01 2.53779437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:55.00, Z:2.54 [[ 5.15249288e-01 -8.56952066e-01 -1.23015396e-02 1.10187103e+02] [ 8.56730129e-01 5.15395886e-01 -1.95081398e-02 5.49953539e+01] [ 2.30577036e-02 -4.87544465e-04 9.99734017e-01 2.53831634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:55.02, Z:2.54 [[ 5.12657319e-01 -8.58501788e-01 -1.25360829e-02 1.10204377e+02] [ 8.58271451e-01 5.12810263e-01 -1.98934778e-02 5.50170450e+01] [ 2.35072182e-02 -5.60825046e-04 9.99723510e-01 2.53759127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:55.04, Z:2.54 [[ 5.11571691e-01 -8.59144262e-01 -1.28663457e-02 1.10220338e+02] [ 8.58901498e-01 5.11733113e-01 -2.04312877e-02 5.50401841e+01] [ 2.41375587e-02 -5.98855145e-04 9.99708467e-01 2.53758840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:55.06, Z:2.54 [[ 5.10640566e-01 -8.59693500e-01 -1.31642724e-02 1.10236883e+02] [ 8.59439201e-01 5.10809833e-01 -2.09182652e-02 5.50635385e+01] [ 2.47077364e-02 -6.32176984e-04 9.99694517e-01 2.53759232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:55.09, Z:2.54 [[ 5.10445697e-01 -8.59806656e-01 -1.33306053e-02 1.10252070e+02] [ 8.59545574e-01 5.10619337e-01 -2.11966927e-02 5.50868740e+01] [ 2.50319223e-02 -6.38502167e-04 9.99686448e-01 2.53790491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:55.11, Z:2.54 [[ 5.10309315e-01 -8.59884409e-01 -1.35353802e-02 1.10266744e+02] [ 8.59614892e-01 5.10488382e-01 -2.15371694e-02 5.51102430e+01] [ 2.54291305e-02 -6.44596218e-04 9.99676420e-01 2.53819071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:55.14, Z:2.54 [[ 5.11099061e-01 -8.59418560e-01 -1.33224602e-02 1.10280433e+02] [ 8.59156940e-01 5.11272308e-01 -2.12126952e-02 5.51352577e+01] [ 2.50419889e-02 -6.04295533e-04 9.99686218e-01 2.53963967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:55.16, Z:2.54 [[ 5.11761941e-01 -8.59022325e-01 -1.34298286e-02 1.10293753e+02] [ 8.58755955e-01 5.11937795e-01 -2.13986930e-02 5.51598308e+01] [ 2.52571918e-02 -5.81908621e-04 9.99680817e-01 2.54096995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:55.18, Z:2.54 [[ 5.13757630e-01 -8.57830781e-01 -1.33958631e-02 1.10310156e+02] [ 8.57564993e-01 5.13931986e-01 -2.13587454e-02 5.51822192e+01] [ 2.52067517e-02 -5.14604810e-04 9.99682127e-01 2.54141155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:55.21, Z:2.54 [[ 5.14808773e-01 -8.57200180e-01 -1.34081357e-02 1.10323523e+02] [ 8.56933413e-01 5.14983128e-01 -2.13893362e-02 5.52056490e+01] [ 2.52399065e-02 -4.78461557e-04 9.99681308e-01 2.54230204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:55.23, Z:2.54 [[ 5.17341289e-01 -8.55675362e-01 -1.33291236e-02 1.10334710e+02] [ 8.55410844e-01 5.17512821e-01 -2.12783721e-02 5.52316113e+01] [ 2.51053711e-02 -3.93696392e-04 9.99684733e-01 2.54430875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:55.26, Z:2.54 [[ 5.18571012e-01 -8.54930870e-01 -1.33158982e-02 1.10348430e+02] [ 8.54666278e-01 5.18741829e-01 -2.12712896e-02 5.52560433e+01] [ 2.50929955e-02 -3.49975008e-04 9.99685060e-01 2.54485079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:55.28, Z:2.55 [[ 5.21021275e-01 -8.53441070e-01 -1.32352650e-02 1.10361192e+02] [ 8.53178834e-01 5.21189283e-01 -2.11567601e-02 5.52813686e+01] [ 2.49541263e-02 -2.68925823e-04 9.99688561e-01 2.54616643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:55.31, Z:2.55 [[ 5.22003691e-01 -8.52841421e-01 -1.31779390e-02 1.10375405e+02] [ 8.52580908e-01 5.22169951e-01 -2.10793411e-02 5.53057542e+01] [ 2.48584589e-02 -2.31765363e-04 9.99690954e-01 2.54689827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:55.33, Z:2.55 [[ 5.22831040e-01 -8.52337218e-01 -1.29988547e-02 1.10389201e+02] [ 8.52083230e-01 5.22992569e-01 -2.08072526e-02 5.53288800e+01] [ 2.45331002e-02 -1.97428573e-04 9.99698999e-01 2.54741758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:55.35, Z:2.55 [[ 5.24129226e-01 -8.51537880e-01 -1.31070203e-02 1.10403839e+02] [ 8.51279021e-01 5.24293063e-01 -2.09955462e-02 5.53532953e+01] [ 2.47504227e-02 -1.53352003e-04 9.99693650e-01 2.54781495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:55.38, Z:2.55 [[ 5.24565845e-01 -8.51264689e-01 -1.33829592e-02 1.10418523e+02] [ 8.50994348e-01 5.24736516e-01 -2.14524643e-02 5.53763529e+01] [ 2.52842527e-02 -1.35592536e-04 9.99680293e-01 2.54793000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:55.40, Z:2.55 [[ 5.24663522e-01 -8.51203169e-01 -1.34667567e-02 1.10433602e+02] [ 8.50929021e-01 5.24836307e-01 -2.16021476e-02 5.54003393e+01] [ 2.54556594e-02 -1.25395289e-04 9.99675944e-01 2.54844222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:55.42, Z:2.55 [[ 5.24028435e-01 -8.51594911e-01 -1.34278298e-02 1.10449572e+02] [ 8.51322100e-01 5.24200428e-01 -2.15544398e-02 5.54233202e+01] [ 2.53945254e-02 -1.36268908e-04 9.99677498e-01 2.54904246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:55.45, Z:2.55 [[ 5.23524801e-01 -8.51905722e-01 -1.33575366e-02 1.10464940e+02] [ 8.51635487e-01 5.23695160e-01 -2.14563921e-02 5.54467586e+01] [ 2.52741004e-02 -1.42798780e-04 9.99680549e-01 2.54976783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:55.47, Z:2.55 [[ 5.22542985e-01 -8.52512153e-01 -1.31094618e-02 1.10481059e+02] [ 8.52251691e-01 5.22707378e-01 -2.10725280e-02 5.54692984e+01] [ 2.48169986e-02 -1.61259333e-04 9.99691998e-01 2.55085267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:55.49, Z:2.55 [[ 5.21576502e-01 -8.53102852e-01 -1.31710619e-02 1.10496540e+02] [ 8.52839745e-01 5.21742744e-01 -2.11867384e-02 5.54922179e+01] [ 2.49463729e-02 -1.82300233e-04 9.99688774e-01 2.55143284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:55.52, Z:2.55 [[ 5.20995409e-01 -8.53456876e-01 -1.32342364e-02 1.10512133e+02] [ 8.53190972e-01 5.21163433e-01 -2.13035479e-02 5.55152059e+01] [ 2.50788595e-02 -1.92280298e-04 9.99685457e-01 2.55195315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.53, Y:55.54, Z:2.55 [[ 5.20193874e-01 -8.53946776e-01 -1.31619625e-02 1.10528243e+02] [ 8.53683552e-01 5.20360318e-01 -2.12021708e-02 5.55387334e+01] [ 2.49544884e-02 -2.06911483e-04 9.99688567e-01 2.55242330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:55.56, Z:2.55 [[ 5.18771055e-01 -8.54808379e-01 -1.33875812e-02 1.10545027e+02] [ 8.54535969e-01 5.18943711e-01 -2.15801417e-02 5.55595910e+01] [ 2.53942871e-02 -2.45016819e-04 9.99677483e-01 2.55223814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:55.58, Z:2.55 [[ 5.18184257e-01 -8.55163882e-01 -1.34093755e-02 1.10560609e+02] [ 8.54890416e-01 5.18357666e-01 -2.16265347e-02 5.55830670e+01] [ 2.54450840e-02 -2.57016807e-04 9.99676188e-01 2.55293913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:55.61, Z:2.55 [[ 5.17413047e-01 -8.55624509e-01 -1.37999417e-02 1.10577183e+02] [ 8.55334648e-01 5.17596968e-01 -2.22714594e-02 5.56050777e+01] [ 2.61988145e-02 -2.80024621e-04 9.99656713e-01 2.55259956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.59, Y:55.63, Z:2.55 [[ 5.17438369e-01 -8.55604062e-01 -1.41146211e-02 1.10592048e+02] [ 8.55300481e-01 5.17630767e-01 -2.27920356e-02 5.56286172e+01] [ 2.68071204e-02 -2.78768470e-04 9.99640586e-01 2.55256021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.61, Y:55.65, Z:2.55 [[ 5.17695809e-01 -8.55444152e-01 -1.43649318e-02 1.10606101e+02] [ 8.55129205e-01 5.17895000e-01 -2.32123260e-02 5.56517073e+01] [ 2.72963749e-02 -2.66948829e-04 9.99627349e-01 2.55256243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:55.68, Z:2.55 [[ 5.18908167e-01 -8.54695653e-01 -1.51543898e-02 1.10620057e+02] [ 8.54344295e-01 5.19129356e-01 -2.45058726e-02 5.56761024e+01] [ 2.88121514e-02 -2.30769073e-04 9.99584817e-01 2.55194368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:55.70, Z:2.55 [[ 5.18650524e-01 -8.54852152e-01 -1.51469964e-02 1.10634399e+02] [ 8.54500728e-01 5.18871607e-01 -2.45104421e-02 5.56996488e+01] [ 2.88121505e-02 -2.30765819e-04 9.99584817e-01 2.55250505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.65, Y:55.72, Z:2.55 [[ 5.19828233e-01 -8.54131762e-01 -1.54123473e-02 1.10648320e+02] [ 8.53767092e-01 5.20056630e-01 -2.49570473e-02 5.57242545e+01] [ 2.93319002e-02 -1.85177103e-04 9.99569710e-01 2.55284745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:55.75, Z:2.55 [[ 5.20288564e-01 -8.53850710e-01 -1.54523380e-02 1.10662903e+02] [ 8.53483505e-01 5.20517952e-01 -2.50393329e-02 5.57483975e+01] [ 2.94230716e-02 -1.60637031e-04 9.99567035e-01 2.55344286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.68, Y:55.77, Z:2.55 [[ 5.20512431e-01 -8.53715214e-01 -1.53994020e-02 1.10677507e+02] [ 8.53349943e-01 5.20740158e-01 -2.49712299e-02 5.57717540e+01] [ 2.93374060e-02 -1.43243261e-04 9.99569555e-01 2.55359301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:55.80, Z:2.56 [[ 5.20370962e-01 -8.53805881e-01 -1.51518583e-02 1.10692232e+02] [ 8.53451793e-01 5.20591489e-01 -2.45873606e-02 5.57951700e+01] [ 2.88807616e-02 -1.36832175e-04 9.99582854e-01 2.55517490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.71, Y:55.82, Z:2.56 [[ 5.20000503e-01 -8.54033688e-01 -1.50312148e-02 1.10707600e+02] [ 8.53684830e-01 5.20217686e-01 -2.44083944e-02 5.58188726e+01] [ 2.86650948e-02 -1.39542681e-04 9.99589062e-01 2.55658056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:55.84, Z:2.56 [[ 5.19215382e-01 -8.54514882e-01 -1.48224250e-02 1.10724256e+02] [ 8.54175370e-01 5.19426889e-01 -2.40861850e-02 5.58415671e+01] [ 2.82811696e-02 -1.55032568e-04 9.99599996e-01 2.55802128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.74, Y:55.86, Z:2.56 [[ 5.18567350e-01 -8.54909559e-01 -1.47495730e-02 1.10739836e+02] [ 8.54573046e-01 5.18777041e-01 -2.39852211e-02 5.58637169e+01] [ 2.81569346e-02 -1.66635035e-04 9.99603501e-01 2.55857941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:55.89, Z:2.56 [[ 5.18228456e-01 -8.55117802e-01 -1.45880590e-02 1.10755168e+02] [ 8.54788212e-01 5.18433715e-01 -2.37401601e-02 5.58873109e+01] [ 2.78635752e-02 -1.66874371e-04 9.99611721e-01 2.56011695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:55.91, Z:2.56 [[ 5.17990221e-01 -8.55264709e-01 -1.44363668e-02 1.10771097e+02] [ 8.54941526e-01 5.18191327e-01 -2.35103217e-02 5.59093228e+01] [ 2.75883485e-02 -1.64132730e-04 9.99619356e-01 2.56098083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.79, Y:55.93, Z:2.56 [[ 5.17719615e-01 -8.55436501e-01 -1.39568045e-02 1.10785657e+02] [ 8.55134057e-01 5.17907682e-01 -2.27459199e-02 5.59331848e+01] [ 2.66860264e-02 -1.58929945e-04 9.99643852e-01 2.56248332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:55.96, Z:2.56 [[ 5.17997556e-01 -8.55274808e-01 -1.35475133e-02 1.10801013e+02] [ 8.54989384e-01 5.18174666e-01 -2.20945631e-02 5.59553100e+01] [ 2.59169014e-02 -1.38050368e-04 9.99664091e-01 2.56332118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.82, Y:55.98, Z:2.56 [[ 5.17942089e-01 -8.55307964e-01 -1.35749789e-02 1.10816066e+02] [ 8.55020963e-01 5.18119938e-01 -2.21558541e-02 5.59790139e+01] [ 2.59835456e-02 -1.31442195e-04 9.99662362e-01 2.56449193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:56.00, Z:2.56 [[ 5.17864309e-01 -8.55355653e-01 -1.35375127e-02 1.10830997e+02] [ 8.55069848e-01 5.18041206e-01 -2.21102563e-02 5.60011385e+01] [ 2.59251221e-02 -1.25406306e-04 9.99663880e-01 2.56495526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.85, Y:56.02, Z:2.57 [[ 5.18182911e-01 -8.55165511e-01 -1.33574029e-02 1.10845812e+02] [ 8.54886792e-01 5.18355031e-01 -2.18319844e-02 5.60234126e+01] [ 2.55938371e-02 -1.06106070e-04 9.99672418e-01 2.56580510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:56.05, Z:2.57 [[ 5.18381356e-01 -8.55046860e-01 -1.32528302e-02 1.10859862e+02] [ 8.54772048e-01 5.18550730e-01 -2.16768757e-02 5.60472022e+01] [ 2.54070092e-02 -9.12605828e-05 9.99677186e-01 2.56742829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:56.07, Z:2.57 [[ 5.18465288e-01 -8.54998603e-01 -1.30818318e-02 1.10874226e+02] [ 8.54730443e-01 5.18630295e-01 -2.14122957e-02 5.60706473e+01] [ 2.50921172e-02 -7.99078045e-05 9.99685140e-01 2.56804007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:56.09, Z:2.57 [[ 5.18968927e-01 -8.54697839e-01 -1.27615309e-02 1.10888227e+02] [ 8.54442208e-01 5.19125804e-01 -2.09024451e-02 5.60940528e+01] [ 2.44901147e-02 -5.62711469e-05 9.99700071e-01 2.56852663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75275509600002 meters Centerline goodness [0,1] 0.9999782466826191 Centerline is valid? [True, True] Translation: X:110.90, Y:56.12, Z:2.57 [[ 5.18865858e-01 -8.54761208e-01 -1.27082233e-02 1.10902179e+02] [ 8.54507455e-01 5.19021459e-01 -2.08263134e-02 5.61180953e+01] [ 2.43973654e-02 -5.32085617e-05 9.99702339e-01 2.56924333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:56.14, Z:2.57 [[ 5.18518106e-01 -8.54977371e-01 -1.23558951e-02 1.10915333e+02] [ 8.54737228e-01 5.18665298e-01 -2.02627862e-02 5.61413819e+01] [ 2.37327977e-02 -5.44219715e-05 9.99718336e-01 2.56955028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:56.17, Z:2.57 [[ 5.18204791e-01 -8.55172317e-01 -1.20042831e-02 1.10929408e+02] [ 8.54945376e-01 5.18343810e-01 -1.97001943e-02 5.61657917e+01] [ 2.30694067e-02 -5.42712334e-05 9.99733864e-01 2.57071606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84275509600002 meters Centerline goodness [0,1] 0.999978324482497 Centerline is valid? [True, True] Translation: X:110.94, Y:56.19, Z:2.57 [[ 5.17634933e-01 -8.55515699e-01 -1.21229120e-02 1.10943369e+02] [ 8.55284012e-01 5.17776868e-01 -1.99091515e-02 5.61886940e+01] [ 2.33095551e-02 -6.28605033e-05 9.99728293e-01 2.57123934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87275509600002 meters Centerline goodness [0,1] 0.9999349141952141 Centerline is valid? [True, True] Translation: X:110.96, Y:56.21, Z:2.57 [[ 5.16433440e-01 -8.56241931e-01 -1.20937193e-02 1.10957611e+02] [ 8.56011216e-01 5.16575017e-01 -1.98758550e-02 5.62121487e+01] [ 2.32658538e-02 -8.78031783e-05 9.99729310e-01 2.57162137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90275509600002 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:110.97, Y:56.24, Z:2.57 [[ 5.15598647e-01 -8.56743763e-01 -1.21721181e-02 1.10971675e+02] [ 8.56509852e-01 5.15742295e-01 -2.00189632e-02 5.62366549e+01] [ 2.34287980e-02 -1.03788684e-04 9.99725503e-01 2.57270897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:56.26, Z:2.57 [[ 5.13834656e-01 -8.57798258e-01 -1.24937833e-02 1.10986185e+02] [ 8.57551760e-01 5.13986504e-01 -2.05634070e-02 5.62590555e+01] [ 2.40608907e-02 -1.47874713e-04 9.99710484e-01 2.57263351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:56.28, Z:2.57 [[ 5.12664585e-01 -8.58492858e-01 -1.28466380e-02 1.11001184e+02] [ 8.58232049e-01 5.12825488e-01 -2.11605393e-02 5.62823678e+01] [ 2.47542553e-02 -1.77137419e-04 9.99693551e-01 2.57258631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:56.30, Z:2.57 [[ 5.10370754e-01 -8.59853582e-01 -1.31723935e-02 1.11016657e+02] [ 8.59579439e-01 5.10540655e-01 -2.17124097e-02 5.63048313e+01] [ 2.53945356e-02 -2.41339699e-04 9.99677478e-01 2.57204655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:56.33, Z:2.57 [[ 5.09127619e-01 -8.60589702e-01 -1.32072760e-02 1.11031200e+02] [ 8.60313994e-01 5.09298823e-01 -2.17839477e-02 5.63291208e+01] [ 2.54734912e-02 -2.71595006e-04 9.99675461e-01 2.57280622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:56.35, Z:2.57 [[ 5.06612859e-01 -8.62073698e-01 -1.31282181e-02 1.11047070e+02] [ 8.61801392e-01 5.06782819e-01 -2.16687477e-02 5.63527014e+01] [ 2.53332129e-02 -3.36250438e-04 9.99679006e-01 2.57353125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:56.38, Z:2.57 [[ 5.05484210e-01 -8.62738659e-01 -1.29506506e-02 1.11061882e+02] [ 8.62473526e-01 5.05649956e-01 -2.13901751e-02 5.63764179e+01] [ 2.50026268e-02 -3.57197508e-04 9.99687322e-01 2.57427184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:56.40, Z:2.58 [[ 5.04607709e-01 -8.63253494e-01 -1.28243819e-02 1.11076083e+02] [ 8.62993318e-01 5.04770509e-01 -2.11958992e-02 5.63993462e+01] [ 2.47708038e-02 -3.71741769e-04 9.99693087e-01 2.57510338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:56.42, Z:2.58 [[ 5.04056983e-01 -8.63579484e-01 -1.25312529e-02 1.11090089e+02] [ 8.63330897e-01 5.04212590e-01 -2.07226196e-02 5.64238374e+01] [ 2.42140447e-02 -3.73236702e-04 9.99706727e-01 2.57625889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.10, Y:56.45, Z:2.58 [[ 5.03735009e-01 -8.63775095e-01 -1.19843912e-02 1.11104095e+02] [ 8.63547472e-01 5.03877422e-01 -1.98319739e-02 5.64486320e+01] [ 2.31690293e-02 -3.59031161e-04 9.99731498e-01 2.57768277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.12, Y:56.47, Z:2.58 [[ 5.04320933e-01 -8.63441304e-01 -1.13802625e-02 1.11116407e+02] [ 8.63235685e-01 5.04449216e-01 -1.88451571e-02 5.64726511e+01] [ 2.20124516e-02 -3.19841477e-04 9.99757645e-01 2.57906589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.13, Y:56.50, Z:2.58 [[ 5.04921333e-01 -8.63092163e-01 -1.12412049e-02 1.11129286e+02] [ 8.62891155e-01 5.05046365e-01 -1.86285499e-02 5.64964205e+01] [ 2.17554851e-02 -2.93984063e-04 9.99763278e-01 2.57985568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:56.52, Z:2.58 [[ 5.05689648e-01 -8.62647165e-01 -1.08557999e-02 1.11142035e+02] [ 8.62459334e-01 5.05806090e-01 -1.80026612e-02 5.65214552e+01] [ 2.10208744e-02 -2.58926548e-04 9.99779003e-01 2.58112602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:56.55, Z:2.58 [[ 5.06226671e-01 -8.62335339e-01 -1.05981018e-02 1.11155218e+02] [ 8.62156000e-01 5.06337543e-01 -1.75875973e-02 5.65456962e+01] [ 2.05326235e-02 -2.33906202e-04 9.99789156e-01 2.58199037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.17, Y:56.57, Z:2.58 [[ 5.07814855e-01 -8.61408038e-01 -1.00132538e-02 1.11166777e+02] [ 8.61247552e-01 5.07913535e-01 -1.66281552e-02 5.65711957e+01] [ 1.94094937e-02 -1.79866079e-04 9.99811602e-01 2.58342153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:56.60, Z:2.58 [[ 5.09214335e-01 -8.60589353e-01 -9.31271057e-03 1.11178845e+02] [ 8.60450218e-01 5.09299468e-01 -1.54749649e-02 5.65965586e+01] [ 1.80605485e-02 -1.33049895e-04 9.99836886e-01 2.58438373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:56.62, Z:2.59 [[ 5.09547114e-01 -8.60394366e-01 -9.12547586e-03 1.11191747e+02] [ 8.60260551e-01 5.09628808e-01 -1.51743939e-02 5.66198979e+01] [ 1.77065684e-02 -1.18218275e-04 9.99843219e-01 2.58511653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.21, Y:56.64, Z:2.59 [[ 5.09875584e-01 -8.60199466e-01 -9.15253045e-03 1.11205355e+02] [ 8.60064617e-01 5.09957712e-01 -1.52310790e-02 5.66441342e+01] [ 1.77691695e-02 -1.05812327e-04 9.99842110e-01 2.58558113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.22, Y:56.67, Z:2.59 [[ 5.10280876e-01 -8.59960496e-01 -9.02067326e-03 1.11219492e+02] [ 8.59829283e-01 5.10360595e-01 -1.50221945e-02 5.66686612e+01] [ 1.75222900e-02 -9.07004506e-05 9.99846469e-01 2.58621909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:56.69, Z:2.59 [[ 5.10653409e-01 -8.59744387e-01 -8.52557159e-03 1.11233419e+02] [ 8.59626998e-01 5.10724567e-01 -1.42070691e-02 5.66921401e+01] [ 1.65686668e-02 -7.39232541e-05 9.99862727e-01 2.58747860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:56.72, Z:2.59 [[ 5.10302865e-01 -8.59952764e-01 -8.49881607e-03 1.11247904e+02] [ 8.59835961e-01 5.10373626e-01 -1.41733155e-02 5.67160631e+01] [ 1.65259534e-02 -7.49041914e-05 9.99863434e-01 2.58809144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.26, Y:56.74, Z:2.59 [[ 5.09868688e-01 -8.60212237e-01 -8.29625138e-03 1.11262441e+02] [ 8.60100819e-01 5.09936173e-01 -1.38448862e-02 5.67390511e+01] [ 1.61400992e-02 -7.65386607e-05 9.99869737e-01 2.58880753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.28, Y:56.76, Z:2.59 [[ 5.08587276e-01 -8.60970634e-01 -8.27950197e-03 1.11277979e+02] [ 8.60859596e-01 5.08654655e-01 -1.38274580e-02 5.67620555e+01] [ 1.61164425e-02 -9.50195417e-05 9.99870117e-01 2.58846875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:56.79, Z:2.59 [[ 5.07651050e-01 -8.61520846e-01 -8.49967962e-03 1.11293045e+02] [ 8.61403731e-01 5.07722188e-01 -1.42053086e-02 5.67852236e+01] [ 1.65536454e-02 -1.10315919e-04 9.99862973e-01 2.58835059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:56.81, Z:2.59 [[ 5.05843090e-01 -8.62583434e-01 -8.51990088e-03 1.11309496e+02] [ 8.62465749e-01 5.05914816e-01 -1.42489185e-02 5.68065853e+01] [ 1.66012251e-02 -1.40405722e-04 9.99862180e-01 2.58805232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:56.83, Z:2.59 [[ 5.04627945e-01 -8.63294570e-01 -8.55118125e-03 1.11325735e+02] [ 8.63175943e-01 5.04700366e-01 -1.43119228e-02 5.68300236e+01] [ 1.66711895e-02 -1.58977766e-04 9.99861013e-01 2.58816925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:56.85, Z:2.59 [[ 5.03554338e-01 -8.63921055e-01 -8.56970320e-03 1.11341365e+02] [ 8.63801830e-01 5.03627224e-01 -1.43533303e-02 5.68524433e+01] [ 1.67160801e-02 -1.74843562e-04 9.99860261e-01 2.58809710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:56.87, Z:2.59 [[ 5.01736480e-01 -8.64977959e-01 -8.58111332e-03 1.11358548e+02] [ 8.64858462e-01 5.01809812e-01 -1.43789379e-02 5.68738967e+01] [ 1.67435512e-02 -2.07010798e-04 9.99859795e-01 2.58835610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:56.90, Z:2.59 [[ 5.00460088e-01 -8.65717276e-01 -8.56143154e-03 1.11374478e+02] [ 8.65598266e-01 5.00533262e-01 -1.43560582e-02 5.68959659e+01] [ 1.67135688e-02 -2.26126151e-04 9.99860293e-01 2.58874114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:56.92, Z:2.59 [[ 5.00537804e-01 -8.65676409e-01 -8.14012933e-03 1.11387100e+02] [ 8.65568668e-01 5.00603947e-01 -1.36590402e-02 5.69197682e+01] [ 1.58992898e-02 -2.08974896e-04 9.99873576e-01 2.58946250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:56.94, Z:2.59 [[ 5.01069932e-01 -8.65370374e-01 -7.93967431e-03 1.11399677e+02] [ 8.65267687e-01 5.01132796e-01 -1.33322772e-02 5.69443542e+01] [ 1.55161889e-02 -1.89540389e-04 9.99879599e-01 2.59043401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:56.97, Z:2.59 [[ 5.02801493e-01 -8.64366237e-01 -7.85284451e-03 1.11410812e+02] [ 8.64265510e-01 5.02862790e-01 -1.31963291e-02 5.69701248e+01] [ 1.53553647e-02 -1.51808668e-04 9.99882088e-01 2.59046122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters Centerline goodness [0,1] 0.9999781735638205 Centerline is valid? [True, True] Translation: X:111.42, Y:56.99, Z:2.59 [[ 5.04473353e-01 -8.63393366e-01 -7.65063205e-03 1.11422633e+02] [ 8.63297501e-01 5.04531350e-01 -1.28663142e-02 5.69943721e+01] [ 1.49686741e-02 -1.14058840e-04 9.99887957e-01 2.59163718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:57.02, Z:2.59 [[ 5.07195160e-01 -8.61798096e-01 -7.55729734e-03 1.11434104e+02] [ 8.61704294e-01 5.07251455e-01 -1.27149903e-02 5.70201811e+01] [ 1.47912045e-02 -6.31740631e-05 9.99890602e-01 2.59167501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:57.05, Z:2.59 [[ 5.08637386e-01 -8.60948438e-01 -7.46969691e-03 1.11446947e+02] [ 8.60856579e-01 5.08692230e-01 -1.25763901e-02 5.70453022e+01] [ 1.46274002e-02 -3.35155606e-05 9.99893013e-01 2.59252729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:57.07, Z:2.59 [[ 5.10092379e-01 -8.60087169e-01 -7.47176706e-03 1.11459022e+02] [ 8.59995039e-01 5.10147098e-01 -1.25885507e-02 5.70696635e+01] [ 1.46389512e-02 -4.35882212e-06 9.99892845e-01 2.59307054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:57.09, Z:2.59 [[ 5.11209684e-01 -8.59425310e-01 -7.26606603e-03 1.11471680e+02] [ 8.59337988e-01 5.11261319e-01 -1.22509811e-02 5.70942251e+01] [ 1.42436618e-02 1.88136232e-05 9.99898554e-01 2.59364055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:57.12, Z:2.60 [[ 5.13279555e-01 -8.58195586e-01 -6.66596205e-03 1.11483410e+02] [ 8.58121903e-01 5.13322836e-01 -1.12457261e-02 5.71191126e+01] [ 1.30728231e-02 5.19932660e-05 9.99914546e-01 2.59537294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.042755096 meters Centerline goodness [0,1] 0.9999782637047342 Centerline is valid? [True, True] Translation: X:111.50, Y:57.14, Z:2.60 [[ 5.13897231e-01 -8.57830405e-01 -6.05250490e-03 1.11497256e+02] [ 8.57769556e-01 5.13932868e-01 -1.02174323e-02 5.71438477e+01] [ 1.18754053e-02 5.90557437e-05 9.99929483e-01 2.59711997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:57.17, Z:2.60 [[ 5.14308003e-01 -8.57588817e-01 -5.35708904e-03 1.11510486e+02] [ 8.57541088e-01 5.14335899e-01 -9.04795872e-03 5.71672399e+01] [ 1.05147714e-02 5.95136162e-05 9.99944716e-01 2.59925977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.102755096 meters Centerline goodness [0,1] 0.9998914365120722 Centerline is valid? [True, True] Translation: X:111.52, Y:57.19, Z:2.60 [[ 5.13563977e-01 -8.58042934e-01 -3.79009288e-03 1.11523719e+02] [ 8.58019030e-01 5.13577961e-01 -6.40480779e-03 5.71911416e+01] [ 7.44210824e-03 3.73067405e-05 9.99972306e-01 2.60259700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.132755096 meters Centerline goodness [0,1] 0.9998914365120722 Centerline is valid? [True, True] Translation: X:111.54, Y:57.21, Z:2.60 [[ 5.13281449e-01 -8.58211973e-01 -3.78997319e-03 1.11537125e+02] [ 8.58188073e-01 5.13295440e-01 -6.40487933e-03 5.72142853e+01] [ 7.44212009e-03 3.49959540e-05 9.99972306e-01 2.60314204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.162755096 meters Centerline goodness [0,1] 0.9999350691513538 Centerline is valid? [True, True] Translation: X:111.55, Y:57.24, Z:2.60 [[ 5.12045121e-01 -8.58952634e-01 -3.18847740e-03 1.11551783e+02] [ 8.58935720e-01 5.12055048e-01 -5.39038464e-03 5.72370309e+01] [ 6.26276103e-03 2.14230262e-05 9.99980388e-01 2.60497137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:57.26, Z:2.61 [[ 5.09004555e-01 -8.60762035e-01 -1.75577474e-03 1.11569084e+02] [ 8.60756927e-01 5.09007583e-01 -2.96528026e-03 5.72583154e+01] [ 3.44610333e-03 -1.95410537e-06 9.99994062e-01 2.60894820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:57.28, Z:2.61 [[ 5.07095315e-01 -8.61889223e-01 -1.14362146e-03 1.11585645e+02] [ 8.61887064e-01 5.07096605e-01 -1.92923247e-03 5.72815330e+01] [ 2.24271124e-03 -7.36779106e-06 9.99997485e-01 2.61132723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:57.30, Z:2.61 [[ 5.04950118e-01 -8.63148437e-01 -3.91799947e-04 1.11601664e+02] [ 8.63148190e-01 5.04950270e-01 -6.53214695e-04 5.73031923e+01] [ 7.61660732e-04 -8.34057779e-06 9.99999710e-01 2.61397857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:57.32, Z:2.62 [[ 5.01082444e-01 -8.65399140e-01 8.44229634e-04 1.11619543e+02] [ 8.65397931e-01 5.01083155e-01 1.44654471e-03 5.73249992e+01] [-1.67486780e-03 5.75642031e-06 9.99998597e-01 2.61577671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:57.35, Z:2.62 [[ 4.99081389e-01 -8.66553802e-01 1.50843057e-03 1.11635673e+02] [ 8.66549968e-01 4.99083668e-01 2.57769965e-03 5.73470696e+01] [-2.98654849e-03 2.06485357e-05 9.99995540e-01 2.62021275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:57.37, Z:2.62 [[ 4.95486912e-01 -8.68610688e-01 2.86215279e-03 1.11650770e+02] [ 8.68596968e-01 4.95495174e-01 4.88250301e-03 5.73717354e+01] [-5.65917720e-03 6.68408965e-05 9.99983984e-01 2.61670800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:57.40, Z:2.62 [[ 4.93795553e-01 -8.69571696e-01 3.31926890e-03 1.11666268e+02] [ 8.69553251e-01 4.93806701e-01 5.66436169e-03 5.73960985e+01] [-6.56464582e-03 8.92444527e-05 9.99978449e-01 2.61756229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:57.42, Z:2.62 [[ 4.92204068e-01 -8.70472135e-01 3.66303440e-03 1.11681555e+02] [ 8.70449675e-01 4.92217686e-01 6.25399118e-03 5.74197134e+01] [-7.24693537e-03 1.10247196e-04 9.99973735e-01 2.61890973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:57.44, Z:2.63 [[ 4.89970448e-01 -8.71729724e-01 4.03097291e-03 1.11700907e+02] [ 8.71702573e-01 4.89987008e-01 6.88156951e-03 5.74395481e+01] [-7.97399305e-03 1.42043757e-04 9.99968197e-01 2.62834428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters Centerline goodness [0,1] 0.9999781978328646 Centerline is valid? [True, True] Translation: X:111.71, Y:57.46, Z:2.63 [[ 4.89027602e-01 -8.72258746e-01 4.08466975e-03 1.11714365e+02] [ 8.72230824e-01 4.89044638e-01 6.98085624e-03 5.74631701e+01] [-8.08669875e-03 1.48943473e-04 9.99967291e-01 2.62906450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:57.49, Z:2.62 [[ 4.87706060e-01 -8.72998339e-01 4.08652380e-03 1.11723091e+02] [ 8.72970380e-01 4.87723154e-01 6.98860302e-03 5.74910921e+01] [-8.09413111e-03 1.59030194e-04 9.99967229e-01 2.62056692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:57.52, Z:2.62 [[ 4.86814023e-01 -8.73497407e-01 3.79297673e-03 1.11736696e+02] [ 8.73473288e-01 4.86828775e-01 6.49297724e-03 5.75162686e+01] [-7.51812900e-03 1.52191482e-04 9.99971727e-01 2.61939165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:57.54, Z:2.62 [[ 4.85861826e-01 -8.74027881e-01 3.68092364e-03 1.11750865e+02] [ 8.74005146e-01 4.85875745e-01 6.30595943e-03 5.75402881e+01] [-7.30005588e-03 1.53321237e-04 9.99973342e-01 2.61901612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.77, Y:57.56, Z:2.63 [[ 4.84353006e-01 -8.74868085e-01 2.82830836e-03 1.11772343e+02] [ 8.74854666e-01 4.84361247e-01 4.84734008e-03 5.75594472e+01] [-5.61070609e-03 1.26535025e-04 9.99984252e-01 2.62666249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:57.58, Z:2.63 [[ 4.83862575e-01 -8.75140354e-01 2.52376826e-03 1.11784365e+02] [ 8.75129630e-01 4.83869144e-01 4.33397137e-03 5.75824096e+01] [-5.01400682e-03 1.11577843e-04 9.99987424e-01 2.62608549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:57.61, Z:2.61 [[ 4.83421164e-01 -8.75385573e-01 2.01896401e-03 1.11789277e+02] [ 8.75378694e-01 4.83425372e-01 3.47156992e-03 5.76121205e+01] [-4.01498065e-03 8.91277114e-05 9.99991936e-01 2.61472741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:57.64, Z:2.61 [[ 4.82342971e-01 -8.75981687e-01 1.15886631e-03 1.11800416e+02] [ 8.75979405e-01 4.82344360e-01 1.99999969e-03 5.76386457e+01] [-2.31093573e-03 5.04572329e-05 9.99997329e-01 2.61067734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:57.66, Z:2.61 [[ 4.81354844e-01 -8.76525345e-01 9.13621876e-04 1.11813512e+02] [ 8.76523919e-01 4.81355709e-01 1.58147003e-03 5.76624823e+01] [-1.82597567e-03 3.95631686e-05 9.99998332e-01 2.61020441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:57.69, Z:2.61 [[ 4.79138889e-01 -8.77739052e-01 2.86706538e-04 1.11827290e+02] [ 8.77738907e-01 4.79138975e-01 5.04664043e-04 5.76871655e+01] [-5.80335615e-04 9.84931460e-06 9.99999832e-01 2.60781286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:57.71, Z:2.61 [[ 4.77711655e-01 -8.78516679e-01 -1.39838764e-04 1.11844805e+02] [ 8.78516650e-01 4.77711675e-01 -2.28645538e-04 5.77086900e+01] [ 2.67671528e-04 -1.36240439e-05 9.99999964e-01 2.61000645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:57.74, Z:2.61 [[ 4.76508278e-01 -8.79169909e-01 -3.63583506e-04 1.11855933e+02] [ 8.79169696e-01 4.76508416e-01 -6.12924994e-04 5.77356176e+01] [ 7.12115811e-04 -2.75877671e-05 9.99999746e-01 2.60729167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:57.76, Z:2.61 [[ 4.74384862e-01 -8.80316110e-01 -1.59643259e-03 1.11872513e+02] [ 8.80311868e-01 4.74387536e-01 -2.73518733e-03 5.77572085e+01] [ 3.16515719e-03 -1.07827089e-04 9.99994985e-01 2.60610369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:57.78, Z:2.60 [[ 4.73674959e-01 -8.80697162e-01 -2.13128795e-03 1.11881426e+02] [ 8.80689583e-01 4.73679732e-01 -3.65661361e-03 5.77847025e+01] [ 4.22991713e-03 -1.44956795e-04 9.99991043e-01 2.60201740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:57.81, Z:2.60 [[ 4.72868589e-01 -8.81127688e-01 -3.04859601e-03 1.11893690e+02] [ 8.81112135e-01 4.72878370e-01 -5.23949113e-03 5.78103863e+01] [ 6.05827582e-03 -2.08564158e-04 9.99981627e-01 2.59938565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:57.83, Z:2.60 [[ 4.71815734e-01 -8.81683861e-01 -4.84577037e-03 1.11907348e+02] [ 8.81644464e-01 4.71840498e-01 -8.34173445e-03 5.78343793e+01] [ 9.64120334e-03 -3.36485053e-04 9.99953466e-01 2.59576339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:57.86, Z:2.59 [[ 4.71227864e-01 -8.81994001e-01 -5.55723122e-03 1.11920533e+02] [ 8.81942097e-01 4.71260472e-01 -9.57629064e-03 5.78595772e+01] [ 1.10651343e-02 -3.88541166e-04 9.99938704e-01 2.59398966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.93, Y:57.88, Z:2.59 [[ 4.70436599e-01 -8.82402954e-01 -7.37789621e-03 1.11932930e+02] [ 8.82311330e-01 4.70494159e-01 -1.27264325e-02 5.78835357e+01] [ 1.47010987e-02 -5.22621798e-04 9.99891796e-01 2.58924505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:57.91, Z:2.59 [[ 4.70081300e-01 -8.82582527e-01 -8.46485779e-03 1.11943275e+02] [ 8.82461731e-01 4.70157125e-01 -1.46140805e-02 5.79102245e+01] [ 1.68779453e-02 -6.00107074e-04 9.99857377e-01 2.58681258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:57.94, Z:2.58 [[ 4.70214093e-01 -8.82495037e-01 -1.00606848e-02 1.11951133e+02] [ 8.82324082e-01 4.70321184e-01 -1.73838211e-02 5.79386303e+01] [ 2.00728890e-02 -7.02666781e-04 9.99798272e-01 2.58234560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:57.96, Z:2.58 [[ 4.70323895e-01 -8.82426195e-01 -1.09290703e-02 1.11962675e+02] [ 8.82224108e-01 4.70450257e-01 -1.88991858e-02 5.79637121e+01] [ 2.18187205e-02 -7.53150660e-04 9.99761660e-01 2.58043782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:57.99, Z:2.58 [[ 4.71238631e-01 -8.81927095e-01 -1.17792844e-02 1.11976950e+02] [ 8.81691801e-01 4.71385184e-01 -2.03856613e-02 5.79875966e+01] [ 2.35312472e-02 -7.79187332e-04 9.99722798e-01 2.57872093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:58.02, Z:2.58 [[ 4.73040440e-01 -8.80946109e-01 -1.29110466e-02 1.11981531e+02] [ 8.80662632e-01 4.73215938e-01 -2.23607699e-02 5.80177266e+01] [ 2.58083463e-02 -7.92727849e-04 9.99666595e-01 2.57601529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:58.04, Z:2.57 [[ 4.73996958e-01 -8.80423341e-01 -1.34767866e-02 1.11994187e+02] [ 8.80113818e-01 4.74187849e-01 -2.33570235e-02 5.80421085e+01] [ 2.69545971e-02 -7.89948063e-04 9.99636347e-01 2.57421563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:58.07, Z:2.57 [[ 4.74712883e-01 -8.80034923e-01 -1.36459889e-02 1.12001306e+02] [ 8.79716957e-01 4.74908351e-01 -2.36671473e-02 5.80700652e+01] [ 2.73085103e-02 -7.69508123e-04 9.99626757e-01 2.57467899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:58.10, Z:2.57 [[ 4.75375163e-01 -8.79669947e-01 -1.41152163e-02 1.12009151e+02] [ 8.79329111e-01 4.75584059e-01 -2.44972878e-02 5.80969536e+01] [ 2.82624997e-02 -7.66518448e-04 9.99600242e-01 2.57330809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:58.13, Z:2.57 [[ 4.74998107e-01 -8.79867562e-01 -1.44869352e-02 1.12016529e+02] [ 8.79508198e-01 4.75218314e-01 -2.51571933e-02 5.81255080e+01] [ 2.90194553e-02 -7.91759093e-04 9.99578533e-01 2.57431214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:58.15, Z:2.57 [[ 4.74619915e-01 -8.80061448e-01 -1.50925032e-02 1.12023600e+02] [ 8.79670902e-01 4.74859097e-01 -2.62286577e-02 5.81534205e+01] [ 3.02496429e-02 -8.27792585e-04 9.99542032e-01 2.57382868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:58.18, Z:2.57 [[ 4.74008850e-01 -8.80389167e-01 -1.51830485e-02 1.12034526e+02] [ 8.79993489e-01 4.74251201e-01 -2.64056354e-02 5.81798734e+01] [ 3.04478143e-02 -8.44478935e-04 9.99536001e-01 2.57351722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:58.20, Z:2.57 [[ 4.73384711e-01 -8.80719374e-01 -1.55016000e-02 1.12045657e+02] [ 8.80306489e-01 4.73637645e-01 -2.69790140e-02 5.82045525e+01] [ 3.11030816e-02 -8.74706383e-04 9.99515799e-01 2.57289934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:58.23, Z:2.57 [[ 4.72983774e-01 -8.80927856e-01 -1.58890398e-02 1.12051310e+02] [ 8.80493579e-01 4.73249722e-01 -2.76723237e-02 5.82334244e+01] [ 3.18968044e-02 -9.01637413e-04 9.99490761e-01 2.57251818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:58.26, Z:2.57 [[ 4.72626097e-01 -8.81114216e-01 -1.61959852e-02 1.12064534e+02] [ 8.80662402e-01 4.72902620e-01 -2.82284457e-02 5.82575001e+01] [ 3.25316087e-02 -9.21695112e-04 9.99470282e-01 2.57089764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:58.28, Z:2.57 [[ 4.72494534e-01 -8.81186181e-01 -1.61192642e-02 1.12071475e+02] [ 8.80737906e-01 4.72768532e-01 -2.81186082e-02 5.82834323e+01] [ 3.23984098e-02 -9.10958293e-04 9.99474619e-01 2.57223259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:58.31, Z:2.57 [[ 4.72032304e-01 -8.81439303e-01 -1.58196085e-02 1.12082104e+02] [ 8.81006904e-01 4.72296461e-01 -2.76204196e-02 5.83092139e+01] [ 3.18172685e-02 -8.99453983e-04 9.99493298e-01 2.57418621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:58.33, Z:2.58 [[ 4.72030409e-01 -8.81444020e-01 -1.56119280e-02 1.12093172e+02] [ 8.81022150e-01 4.72287699e-01 -2.72818692e-02 5.83335379e+01] [ 3.14207620e-02 -8.76582440e-04 9.99505862e-01 2.57541962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:58.36, Z:2.58 [[ 4.73253522e-01 -8.80797412e-01 -1.50672930e-02 1.12101058e+02] [ 8.80403480e-01 4.73492649e-01 -2.63519083e-02 5.83618414e+01] [ 3.03449451e-02 -7.94163772e-04 9.99539171e-01 2.57876129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:58.39, Z:2.58 [[ 4.73971505e-01 -8.80417463e-01 -1.47004426e-02 1.12111972e+02] [ 8.80041757e-01 4.74198840e-01 -2.57286978e-02 5.83878658e+01] [ 2.96229276e-02 -7.42333733e-04 9.99560869e-01 2.58110641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:58.41, Z:2.58 [[ 4.74809641e-01 -8.79971349e-01 -1.43606823e-02 1.12122327e+02] [ 8.79612054e-01 4.75026262e-01 -2.51532420e-02 5.84143784e+01] [ 2.89558336e-02 -6.88827454e-04 9.99580455e-01 2.58404496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:58.44, Z:2.59 [[ 4.77194883e-01 -8.78695775e-01 -1.33708268e-02 1.12133140e+02] [ 8.78383328e-01 4.77381840e-01 -2.34373116e-02 5.84406568e+01] [ 2.69772566e-02 -5.60546178e-04 9.99635890e-01 2.58850374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:58.47, Z:2.59 [[ 4.78657225e-01 -8.77907555e-01 -1.28680027e-02 1.12144988e+02] [ 8.77617428e-01 4.78829914e-01 -2.25735008e-02 5.84652045e+01] [ 2.59790315e-02 -4.88214168e-04 9.99662369e-01 2.59079501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:58.49, Z:2.59 [[ 4.82236464e-01 -8.75956778e-01 -1.21538377e-02 1.12154716e+02] [ 8.75696950e-01 4.82389467e-01 -2.13366592e-02 5.84928530e+01] [ 2.45528745e-02 -3.53763524e-04 9.99698470e-01 2.59397797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:58.52, Z:2.60 [[ 4.83959266e-01 -8.75009068e-01 -1.19398222e-02 1.12166713e+02] [ 8.74757655e-01 4.84106439e-01 -2.09761769e-02 5.85179836e+01] [ 2.41344898e-02 -2.92835666e-04 9.99708678e-01 2.59535035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:58.54, Z:2.60 [[ 4.85804620e-01 -8.73987638e-01 -1.18101369e-02 1.12179067e+02] [ 8.73740958e-01 4.85948099e-01 -2.07649554e-02 5.85425418e+01] [ 2.38874279e-02 -2.31289083e-04 9.99714628e-01 2.59646868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:58.57, Z:2.60 [[ 4.87284941e-01 -8.73168770e-01 -1.13879237e-02 1.12191773e+02] [ 8.72938824e-01 4.87417959e-01 -2.00385189e-02 5.85672754e+01] [ 2.30476874e-02 -1.76492255e-04 9.99734351e-01 2.59831413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:58.59, Z:2.60 [[ 4.90568633e-01 -8.71337575e-01 -1.06417249e-02 1.12203971e+02] [ 8.71136043e-01 4.90684037e-01 -1.87395339e-02 5.85910243e+01] [ 2.15501846e-02 -7.73625703e-05 9.99767765e-01 2.60122677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:58.61, Z:2.60 [[ 4.92120122e-01 -8.70463947e-01 -1.05024678e-02 1.12216528e+02] [ 8.70267138e-01 4.92232176e-01 -1.85092687e-02 5.86146354e+01] [ 2.12813037e-02 -3.11690598e-05 9.99773527e-01 2.60251264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:58.64, Z:2.60 [[ 4.94731751e-01 -8.68982294e-01 -1.05007898e-02 1.12229780e+02] [ 8.68784887e-01 4.94843178e-01 -1.85216046e-02 5.86394086e+01] [ 2.12911906e-02 4.02984272e-05 9.99773316e-01 2.60373102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:58.66, Z:2.60 [[ 4.95873584e-01 -8.68330528e-01 -1.05585324e-02 1.12243782e+02] [ 8.68130497e-01 4.95985976e-01 -1.86373911e-02 5.86641183e+01] [ 2.14202997e-02 7.56059620e-05 9.99770556e-01 2.60472014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:58.69, Z:2.61 [[ 4.97222948e-01 -8.67555881e-01 -1.07765114e-02 1.12258824e+02] [ 8.67347009e-01 4.97339702e-01 -1.90364409e-02 5.86863985e+01] [ 2.18747632e-02 1.18380394e-04 9.99760712e-01 2.60537712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:58.71, Z:2.61 [[ 4.97344533e-01 -8.67483283e-01 -1.10076969e-02 1.12273555e+02] [ 8.67265104e-01 4.97466317e-01 -1.94551584e-02 5.87089467e+01] [ 2.23529831e-02 1.29325308e-04 9.99750132e-01 2.60589524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:58.73, Z:2.61 [[ 4.96951299e-01 -8.67711504e-01 -1.07774352e-02 1.12289278e+02] [ 8.67502088e-01 4.97068136e-01 -1.90629325e-02 5.87321814e+01] [ 2.18982454e-02 1.23901556e-04 9.99760197e-01 2.60667526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:58.76, Z:2.61 [[ 4.96671058e-01 -8.67872018e-01 -1.07713260e-02 1.12302672e+02] [ 8.67662565e-01 4.96787827e-01 -1.90663839e-02 5.87562503e+01] [ 2.18982447e-02 1.23844739e-04 9.99760197e-01 2.60723662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:58.78, Z:2.61 [[ 4.95956094e-01 -8.68279548e-01 -1.08710889e-02 1.12319178e+02] [ 8.68065971e-01 4.96075210e-01 -1.92576331e-02 5.87796895e+01] [ 2.21138867e-02 1.14118132e-04 9.99755452e-01 2.60824809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.34, Y:58.80, Z:2.61 [[ 4.93281175e-01 -8.69804559e-01 -1.06635489e-02 1.12338526e+02] [ 8.69599109e-01 4.93396418e-01 -1.89040731e-02 5.88001077e+01] [ 2.17042058e-02 5.20107760e-05 9.99764435e-01 2.60929501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:58.82, Z:2.61 [[ 4.91352048e-01 -8.70894958e-01 -1.07302073e-02 1.12355857e+02] [ 8.70686863e-01 4.91469198e-01 -1.90371825e-02 5.88224809e+01] [ 2.18529527e-02 1.13081160e-05 9.99761196e-01 2.60996561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:58.84, Z:2.61 [[ 4.89432881e-01 -8.71973832e-01 -1.08208367e-02 1.12373235e+02] [ 8.71762150e-01 4.89552484e-01 -1.92124588e-02 5.88447610e+01] [ 2.20501288e-02 -2.99867422e-05 9.99756866e-01 2.61042311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:58.86, Z:2.61 [[ 4.86086929e-01 -8.73843484e-01 -1.08195558e-02 1.12393999e+02] [ 8.73631995e-01 4.86207316e-01 -1.92245751e-02 5.88648479e+01] [ 2.20598168e-02 -1.07495485e-04 9.99756647e-01 2.61139805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:58.89, Z:2.61 [[ 4.84783345e-01 -8.74568870e-01 -1.06957780e-02 1.12411112e+02] [ 8.74362059e-01 4.84901303e-01 -1.90188540e-02 5.88863493e+01] [ 2.18196943e-02 -1.31958842e-04 9.99761913e-01 2.61230331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:58.91, Z:2.61 [[ 4.82171285e-01 -8.76011627e-01 -1.06995680e-02 1.12431985e+02] [ 8.75804691e-01 4.82289947e-01 -1.90407612e-02 5.89066248e+01] [ 2.18402223e-02 -1.89823574e-04 9.99761456e-01 2.61316374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:58.93, Z:2.61 [[ 4.80834563e-01 -8.76745715e-01 -1.07272998e-02 1.12448353e+02] [ 8.76537579e-01 4.80954161e-01 -1.91041444e-02 5.89291114e+01] [ 2.19088162e-02 -2.16948444e-04 9.99759950e-01 2.61403762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:58.95, Z:2.62 [[ 4.79271020e-01 -8.77601550e-01 -1.07149001e-02 1.12465484e+02] [ 8.77393791e-01 4.79390716e-01 -1.90965307e-02 5.89509464e+01] [ 2.18957685e-02 -2.48773017e-04 9.99760228e-01 2.61502067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:58.97, Z:2.62 [[ 4.76691392e-01 -8.79010753e-01 -1.02670531e-02 1.12486444e+02] [ 8.78820033e-01 4.76801856e-01 -1.83122641e-02 5.89715317e+01] [ 2.09920270e-02 -2.93593297e-04 9.99779600e-01 2.61671991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:58.99, Z:2.62 [[ 4.75332583e-01 -8.79750083e-01 -9.93610948e-03 1.12503651e+02] [ 8.79571377e-01 4.75436321e-01 -1.77340927e-02 5.89943495e+01] [ 2.03255569e-02 -3.09925402e-04 9.99793366e-01 2.61808764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:59.01, Z:2.62 [[ 4.73370702e-01 -8.80811836e-01 -9.52304874e-03 1.12524661e+02] [ 8.80647652e-01 4.73466364e-01 -1.70092544e-02 5.90144460e+01] [ 1.94907958e-02 -3.34767819e-04 9.99809980e-01 2.61998283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.54, Y:59.04, Z:2.62 [[ 4.72489980e-01 -8.81286026e-01 -9.38937485e-03 1.12541975e+02] [ 8.81126372e-01 4.72583137e-01 -1.67778251e-02 5.90357733e+01] [ 1.92233230e-02 -3.45871572e-04 9.99815155e-01 2.62098838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:59.06, Z:2.62 [[ 4.71863750e-01 -8.81619834e-01 -9.54300928e-03 1.12559136e+02] [ 8.81454717e-01 4.71960103e-01 -1.70658179e-02 5.90578127e+01] [ 1.95494832e-02 -3.58989714e-04 9.99808826e-01 2.62155484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:59.08, Z:2.62 [[ 4.72178540e-01 -8.81452747e-01 -9.40642590e-03 1.12573588e+02] [ 8.81292061e-01 4.72272102e-01 -1.68334554e-02 5.90815201e+01] [ 1.92802881e-02 -3.41412064e-04 9.99814060e-01 2.62215899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:59.11, Z:2.62 [[ 4.72617976e-01 -8.81216800e-01 -9.44462339e-03 1.12588137e+02] [ 8.81054518e-01 4.72712222e-01 -1.69142417e-02 5.91050936e+01] [ 1.93697028e-02 -3.27253440e-04 9.99812336e-01 2.62265843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:59.13, Z:2.62 [[ 4.73518927e-01 -8.80734724e-01 -9.28286565e-03 1.12602559e+02] [ 8.80577635e-01 4.73609816e-01 -1.66364382e-02 5.91288017e+01] [ 1.90487451e-02 -2.96615498e-04 9.99818512e-01 2.62336220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:59.15, Z:2.62 [[ 4.75701445e-01 -8.79561645e-01 -8.91339788e-03 1.12617962e+02] [ 8.79416402e-01 4.75784887e-01 -1.59854272e-02 5.91529958e+01] [ 1.83010286e-02 -2.34297480e-04 9.99832495e-01 2.62498354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:59.18, Z:2.63 [[ 4.76358539e-01 -8.79206276e-01 -8.88071149e-03 1.12631801e+02] [ 8.79061832e-01 4.76441264e-01 -1.59379190e-02 5.91760341e+01] [ 1.82438558e-02 -2.14530707e-04 9.99833544e-01 2.62551293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:59.20, Z:2.63 [[ 4.77474290e-01 -8.78597414e-01 -9.21338049e-03 1.12646962e+02] [ 8.78441581e-01 4.77563134e-01 -1.65481830e-02 5.92001159e+01] [ 1.89391617e-02 -1.92084563e-04 9.99820620e-01 2.62550577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:59.22, Z:2.63 [[ 4.77598939e-01 -8.78526595e-01 -9.50135546e-03 1.12661419e+02] [ 8.78360600e-01 4.77693403e-01 -1.70783238e-02 5.92239999e+01] [ 1.95424965e-02 -1.89026956e-04 9.99809009e-01 2.62522067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:59.25, Z:2.63 [[ 4.77347221e-01 -8.78659633e-01 -9.84273765e-03 1.12676639e+02] [ 8.78481248e-01 4.77448647e-01 -1.77055520e-02 5.92480243e+01] [ 2.02565556e-02 -1.94964404e-04 9.99794796e-01 2.62509247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:59.27, Z:2.62 [[ 4.76580946e-01 -8.79070342e-01 -1.02925492e-02 1.12693404e+02] [ 8.78875073e-01 4.76692027e-01 -1.85288237e-02 5.92695148e+01] [ 2.11945156e-02 -2.15380628e-04 9.99775348e-01 2.62453619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:59.29, Z:2.63 [[ 4.75699088e-01 -8.79548120e-01 -1.02704038e-02 1.12708446e+02] [ 8.79353590e-01 4.75809889e-01 -1.84990036e-02 5.92930031e+01] [ 2.11575235e-02 -2.31357305e-04 9.99776128e-01 2.62531851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:59.32, Z:2.63 [[ 4.74617848e-01 -8.80132752e-01 -1.02096756e-02 1.12723630e+02] [ 8.79940366e-01 4.74727581e-01 -1.84031468e-02 5.93167132e+01] [ 2.10440268e-02 -2.49443739e-04 9.99778519e-01 2.62641665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:59.34, Z:2.63 [[ 4.72193250e-01 -8.81442394e-01 -9.63536880e-03 1.12740431e+02] [ 8.81271071e-01 4.72291461e-01 -1.73802926e-02 5.93397391e+01] [ 1.98704291e-02 -2.84514947e-04 9.99802523e-01 2.62805553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:59.36, Z:2.63 [[ 4.70994037e-01 -8.82085818e-01 -9.44602067e-03 1.12756054e+02] [ 8.81921055e-01 4.71088654e-01 -1.70508822e-02 5.93623122e+01] [ 1.94902545e-02 -2.99780694e-04 9.99810002e-01 2.62905331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:59.39, Z:2.63 [[ 4.68819457e-01 -8.83245677e-01 -9.24071334e-03 1.12771954e+02] [ 8.83088055e-01 4.68910398e-01 -1.66891185e-02 5.93860513e+01] [ 1.90736583e-02 -3.36180111e-04 9.99818025e-01 2.63066623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:59.41, Z:2.63 [[ 4.69764916e-01 -8.82747330e-01 -8.83603339e-03 1.12784021e+02] [ 8.82602919e-01 4.69847915e-01 -1.59694701e-02 5.94119676e+01] [ 1.82485989e-02 -2.96812097e-04 9.99833436e-01 2.63199527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:59.44, Z:2.63 [[ 4.69901313e-01 -8.82673145e-01 -8.99300339e-03 1.12797292e+02] [ 8.82523409e-01 4.69987267e-01 -1.62604469e-02 5.94371224e+01] [ 1.85792569e-02 -2.95730650e-04 9.99827347e-01 2.63229686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:59.46, Z:2.63 [[ 4.70111588e-01 -8.82556259e-01 -9.46282095e-03 1.12810779e+02] [ 8.82390179e-01 4.70206721e-01 -1.71234079e-02 5.94613818e+01] [ 1.95618528e-02 -2.99987805e-04 9.99808604e-01 2.63204442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:59.49, Z:2.63 [[ 4.72713081e-01 -8.81160140e-01 -9.95743759e-03 1.12820715e+02] [ 8.80975639e-01 4.72817878e-01 -1.80326742e-02 5.94874320e+01] [ 2.05977282e-02 -2.47978991e-04 9.99787814e-01 2.63160103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:59.51, Z:2.63 [[ 4.73777503e-01 -8.80585050e-01 -1.02395004e-02 1.12832443e+02] [ 8.80389598e-01 4.73888088e-01 -1.85535806e-02 5.95127504e+01] [ 2.11903829e-02 -2.24480570e-04 9.99775433e-01 2.63095726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:59.54, Z:2.63 [[ 4.75499226e-01 -8.79647177e-01 -1.10149670e-02 1.12844647e+02] [ 8.79420379e-01 4.75626753e-01 -1.99747275e-02 5.95369974e+01] [ 2.28097257e-02 -1.88818989e-04 9.99739807e-01 2.62984056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:59.56, Z:2.63 [[ 4.75665315e-01 -8.79554446e-01 -1.12465509e-02 1.12856780e+02] [ 8.79317610e-01 4.75798218e-01 -2.04107016e-02 5.95627384e+01] [ 2.33034122e-02 -1.80627425e-04 9.99728422e-01 2.63020011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:59.59, Z:2.63 [[ 4.75526822e-01 -8.79628117e-01 -1.13409711e-02 1.12869383e+02] [ 8.79386944e-01 4.75662006e-01 -2.05975274e-02 5.95879537e+01] [ 2.35126333e-02 -1.78425148e-04 9.99723524e-01 2.63024799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.102755096 meters Centerline goodness [0,1] 0.9999783023780594 Centerline is valid? [True, True] Translation: X:112.88, Y:59.61, Z:2.63 [[ 4.74979256e-01 -8.79921274e-01 -1.15437467e-02 1.12881897e+02] [ 8.79671106e-01 4.75119476e-01 -2.09816178e-02 5.96127050e+01] [ 2.39468307e-02 -1.88867240e-04 9.99713216e-01 2.63053728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:59.64, Z:2.63 [[ 4.74251186e-01 -8.80312992e-01 -1.16124643e-02 1.12894989e+02] [ 8.80059563e-01 4.74393292e-01 -2.11227152e-02 5.96361654e+01] [ 2.41034758e-02 -2.02187555e-04 9.99709449e-01 2.63158101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:59.66, Z:2.63 [[ 4.73598574e-01 -8.80665074e-01 -1.15506755e-02 1.12908219e+02] [ 8.80414044e-01 4.73739362e-01 -2.10268508e-02 5.96607206e+01] [ 2.39896228e-02 -2.11090347e-04 9.99712185e-01 2.63251125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.192755096 meters Centerline goodness [0,1] 0.9999350705566618 Centerline is valid? [True, True] Translation: X:112.92, Y:59.69, Z:2.63 [[ 4.72155573e-01 -8.81439410e-01 -1.15620840e-02 1.12921787e+02] [ 8.81187737e-01 4.72297055e-01 -2.10633359e-02 5.96852452e+01] [ 2.40267926e-02 -2.43195188e-04 9.99711285e-01 2.63383033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:59.71, Z:2.63 [[ 4.71281471e-01 -8.81907513e-01 -1.15288185e-02 1.12935557e+02] [ 8.81657050e-01 4.71422392e-01 -2.10184257e-02 5.97096002e+01] [ 2.39712507e-02 -2.58869522e-04 9.99712615e-01 2.63477789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25275509600002 meters Centerline goodness [0,1] 0.9999784063917081 Centerline is valid? [True, True] Translation: X:112.95, Y:59.73, Z:2.64 [[ 4.70469296e-01 -8.82341494e-01 -1.14947920e-02 1.12949563e+02] [ 8.82092261e-01 4.70609620e-01 -2.09721143e-02 5.97329331e+01] [ 2.39141264e-02 -2.72731165e-04 9.99713979e-01 2.63541784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:59.76, Z:2.64 [[ 4.68773878e-01 -8.83242885e-01 -1.15350334e-02 1.12962043e+02] [ 8.82991781e-01 4.68915673e-01 -2.10619661e-02 5.97577191e+01] [ 2.40117897e-02 -3.12040165e-04 9.99711627e-01 2.63623898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31275509600002 meters Centerline goodness [0,1] 0.9999783680886043 Centerline is valid? [True, True] Translation: X:112.98, Y:59.78, Z:2.64 [[ 4.67709429e-01 -8.83803689e-01 -1.17868123e-02 1.12975532e+02] [ 8.83541284e-01 4.67857802e-01 -2.15377751e-02 5.97825580e+01] [ 2.45497171e-02 -3.40714767e-04 9.99698552e-01 2.63646363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:59.81, Z:2.64 [[ 4.65730196e-01 -8.84845777e-01 -1.19723051e-02 1.12989636e+02] [ 8.84574985e-01 4.65883887e-01 -2.18929086e-02 5.98072268e+01] [ 2.49495518e-02 -3.94213026e-04 9.99688634e-01 2.63714085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:59.83, Z:2.64 [[ 4.64522025e-01 -8.85480413e-01 -1.19885547e-02 1.13003225e+02] [ 8.85208700e-01 4.64676511e-01 -2.19385108e-02 5.98301902e+01] [ 2.49969214e-02 -4.21451457e-04 9.99687439e-01 2.63740778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:59.85, Z:2.64 [[ 4.63145441e-01 -8.86201564e-01 -1.19619330e-02 1.13016324e+02] [ 8.85930869e-01 4.63299669e-01 -2.19069025e-02 5.98544959e+01] [ 2.49558909e-02 -4.51363690e-04 9.99688451e-01 2.63839676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:59.88, Z:2.64 [[ 4.60844727e-01 -8.87396966e-01 -1.21968090e-02 1.13031233e+02] [ 8.87115520e-01 4.61005809e-01 -2.23539244e-02 5.98777267e+01] [ 2.54596045e-02 -5.18290390e-04 9.99675717e-01 2.63914336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:59.90, Z:2.64 [[ 4.59395073e-01 -8.88147814e-01 -1.22321870e-02 1.13045543e+02] [ 8.87864599e-01 4.59557562e-01 -2.24343608e-02 5.99027679e+01] [ 2.55464225e-02 -5.54290980e-04 9.99673483e-01 2.64012708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:59.93, Z:2.64 [[ 4.57898184e-01 -8.88921347e-01 -1.21692856e-02 1.13060085e+02] [ 8.88640916e-01 4.58059487e-01 -2.23344695e-02 5.99262951e+01] [ 2.54278434e-02 -5.87212050e-04 9.99676488e-01 2.64063743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.07, Y:59.95, Z:2.64 [[ 4.56595744e-01 -8.89590486e-01 -1.22104086e-02 1.13073203e+02] [ 8.89308008e-01 4.56758562e-01 -2.24250409e-02 5.99512453e+01] [ 2.55263117e-02 -6.19635923e-04 9.99673959e-01 2.64201870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:59.97, Z:2.64 [[ 4.54219039e-01 -8.90810163e-01 -1.19297290e-02 1.13090539e+02] [ 8.90540564e-01 4.54375188e-01 -2.19246922e-02 5.99730956e+01] [ 2.49513115e-02 -6.65294988e-04 9.99688446e-01 2.64310631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:60.00, Z:2.64 [[ 4.52890077e-01 -8.91487120e-01 -1.18866623e-02 1.13102742e+02] [ 8.91219318e-01 4.53045510e-01 -2.18607445e-02 5.99990856e+01] [ 2.48737711e-02 -6.93108770e-04 9.99690360e-01 2.64475542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:60.02, Z:2.65 [[ 4.50995103e-01 -8.92446116e-01 -1.19728048e-02 1.13116923e+02] [ 8.92174360e-01 4.51153385e-01 -2.20348452e-02 6.00240622e+01] [ 2.50664834e-02 -7.44222186e-04 9.99685509e-01 2.64525719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:60.05, Z:2.65 [[ 4.49901129e-01 -8.93000679e-01 -1.17796806e-02 1.13130932e+02] [ 8.92737437e-01 4.50054681e-01 -2.16945538e-02 6.00476373e+01] [ 2.46747517e-02 -7.55757625e-04 9.99695246e-01 2.64588134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:60.07, Z:2.65 [[ 4.48703609e-01 -8.93601065e-01 -1.19250592e-02 1.13145253e+02] [ 8.93331116e-01 4.48861347e-01 -2.19774410e-02 6.00720952e+01] [ 2.49917628e-02 -7.91669331e-04 9.99687344e-01 2.64626418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:60.10, Z:2.65 [[ 4.47427706e-01 -8.94239337e-01 -1.20189502e-02 1.13159352e+02] [ 8.93964951e-01 4.47588342e-01 -2.21662387e-02 6.00971871e+01] [ 2.52014646e-02 -8.26730892e-04 9.99682051e-01 2.64630514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:60.12, Z:2.65 [[ 4.47172620e-01 -8.94365722e-01 -1.21079942e-02 1.13171679e+02] [ 8.94086892e-01 4.47335738e-01 -2.23465360e-02 6.01222822e+01] [ 2.54023143e-02 -8.32839807e-04 9.99676962e-01 2.64718315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:60.15, Z:2.65 [[ 4.46861743e-01 -8.94516498e-01 -1.24425709e-02 1.13185883e+02] [ 8.94221662e-01 4.47034115e-01 -2.29808558e-02 6.01453164e+01] [ 2.61190083e-02 -8.57151142e-04 9.99658473e-01 2.64712094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:60.17, Z:2.65 [[ 4.47446596e-01 -8.94219721e-01 -1.27528204e-02 1.13196663e+02] [ 8.93909494e-01 4.47627480e-01 -2.35681259e-02 6.01719829e+01] [ 2.67835958e-02 -8.54389482e-04 9.99640890e-01 2.64735823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:60.20, Z:2.65 [[ 4.47936464e-01 -8.93973052e-01 -1.28493373e-02 1.13209957e+02] [ 8.93657535e-01 4.48119938e-01 -2.37640867e-02 6.01959863e+01] [ 2.70024973e-02 -8.38106171e-04 9.99635015e-01 2.64721878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:60.22, Z:2.65 [[ 4.49748875e-01 -8.93064139e-01 -1.27433289e-02 1.13221096e+02] [ 8.92752960e-01 4.49928719e-01 -2.35860200e-02 6.02217828e+01] [ 2.67974183e-02 -7.68858671e-04 9.99640589e-01 2.64791013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:60.24, Z:2.65 [[ 4.50773784e-01 -8.92548980e-01 -1.26219392e-02 1.13235051e+02] [ 8.92243058e-01 4.50949880e-01 -2.33780100e-02 6.02448159e+01] [ 2.65578810e-02 -7.23643598e-04 9.99647015e-01 2.64793934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:60.27, Z:2.65 [[ 4.51920134e-01 -8.91970787e-01 -1.25022975e-02 1.13244720e+02] [ 8.91669969e-01 4.52092534e-01 -2.31734110e-02 6.02710906e+01] [ 2.63222010e-02 -6.75392224e-04 9.99653283e-01 2.64937975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:60.30, Z:2.65 [[ 4.51646111e-01 -8.92109668e-01 -1.24951822e-02 1.13257658e+02] [ 8.91808798e-01 4.51818419e-01 -2.31772473e-02 6.02954493e+01] [ 2.63221999e-02 -6.75399803e-04 9.99653283e-01 2.64994127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.27, Y:60.32, Z:2.65 [[ 4.54762038e-01 -8.90527594e-01 -1.23326394e-02 1.13266249e+02] [ 8.90233480e-01 4.54928876e-01 -2.28925619e-02 6.03228544e+01] [ 2.59969319e-02 -5.68260387e-04 9.99661861e-01 2.65141427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:60.35, Z:2.65 [[ 4.56340386e-01 -8.89721622e-01 -1.22019427e-02 1.13278856e+02] [ 8.89433006e-01 4.56503205e-01 -2.26661152e-02 6.03472114e+01] [ 2.57367587e-02 -5.09346817e-04 9.99668625e-01 2.65200643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03275509600002 meters Centerline goodness [0,1] 0.9999565708329714 Centerline is valid? [True, True] Translation: X:113.29, Y:60.37, Z:2.65 [[ 4.59418364e-01 -8.88139141e-01 -1.19847145e-02 1.13288606e+02] [ 8.87859848e-01 4.59574478e-01 -2.22753065e-02 6.03737183e+01] [ 2.52914405e-02 -4.07061896e-04 9.99680037e-01 2.65270519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:60.40, Z:2.65 [[ 4.61180502e-01 -8.87229622e-01 -1.16680248e-02 1.13301227e+02] [ 8.86964229e-01 4.61327955e-01 -2.17019592e-02 6.03985120e+01] [ 2.46374071e-02 -3.40600185e-04 9.99696395e-01 2.65378637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:60.43, Z:2.66 [[ 4.62184467e-01 -8.86710179e-01 -1.14270284e-02 1.13310669e+02] [ 8.86455113e-01 4.62325609e-01 -2.12688374e-02 6.04251115e+01] [ 2.41423025e-02 -2.99421475e-04 9.99708487e-01 2.65502986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:60.45, Z:2.66 [[ 4.63209170e-01 -8.86183407e-01 -1.07812367e-02 1.13321152e+02] [ 8.85955891e-01 4.63334553e-01 -2.00811366e-02 6.04508180e+01] [ 2.27908895e-02 -2.49933526e-04 9.99740223e-01 2.65651216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:60.47, Z:2.66 [[ 4.62892078e-01 -8.86354017e-01 -1.03672702e-02 1.13333857e+02] [ 8.86143368e-01 4.63008096e-01 -1.93244298e-02 6.04747558e+01] [ 2.19284160e-02 -2.41762284e-04 9.99759514e-01 2.65746733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:60.50, Z:2.66 [[ 4.61990332e-01 -8.86826111e-01 -1.02167766e-02 1.13346807e+02] [ 8.86621321e-01 4.62103219e-01 -1.90590676e-02 6.04992324e+01] [ 2.16232841e-02 -2.53307047e-04 9.99766157e-01 2.65808575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:60.52, Z:2.66 [[ 4.59914887e-01 -8.87904665e-01 -1.01785824e-02 1.13361740e+02] [ 8.87701354e-01 4.60027411e-01 -1.90023006e-02 6.05218450e+01] [ 2.15546583e-02 -2.96100437e-04 9.99767628e-01 2.65790776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:60.54, Z:2.66 [[ 4.58214393e-01 -8.88782458e-01 -1.02621588e-02 1.13376154e+02] [ 8.88575730e-01 4.58329173e-01 -1.91713956e-02 6.05446171e+01] [ 2.17426469e-02 -3.34095803e-04 9.99763545e-01 2.65796677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:60.57, Z:2.66 [[ 4.55062634e-01 -8.90398603e-01 -1.04080667e-02 1.13390758e+02] [ 8.90186130e-01 4.55181457e-01 -1.94549310e-02 6.05695062e+01] [ 2.20602024e-02 -4.11904478e-04 9.99756559e-01 2.65773723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:60.59, Z:2.66 [[ 4.53489987e-01 -8.91198888e-01 -1.05533604e-02 1.13406111e+02] [ 8.90980331e-01 4.53612543e-01 -1.97411045e-02 6.05920107e+01] [ 2.23803871e-02 -4.50443275e-04 9.99749426e-01 2.65760883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:60.62, Z:2.66 [[ 4.51795625e-01 -8.92058656e-01 -1.05861760e-02 1.13420617e+02] [ 8.91838659e-01 4.51919369e-01 -1.98164029e-02 6.06159129e+01] [ 2.24614917e-02 -4.88196847e-04 9.99747590e-01 2.65811116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.44, Y:60.64, Z:2.66 [[ 4.49736503e-01 -8.93102586e-01 -1.02395835e-02 1.13435130e+02] [ 8.92896729e-01 4.49852759e-01 -1.91814286e-02 6.06384917e+01] [ 2.17372883e-02 -5.16302024e-04 9.99763584e-01 2.65864697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:60.66, Z:2.66 [[ 4.48677801e-01 -8.93636551e-01 -1.00968058e-02 1.13447430e+02] [ 8.93436218e-01 4.48791083e-01 -1.89285139e-02 6.06636707e+01] [ 2.14465683e-02 -5.28048020e-04 9.99769856e-01 2.65908650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:60.69, Z:2.66 [[ 4.47831483e-01 -8.94060782e-01 -1.01133775e-02 1.13462563e+02] [ 8.93859589e-01 4.47945335e-01 -1.89739684e-02 6.06867782e+01] [ 2.14941213e-02 -5.42799004e-04 9.99768827e-01 2.65947014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:60.71, Z:2.66 [[ 4.46908009e-01 -8.94521931e-01 -1.01855442e-02 1.13475907e+02] [ 8.94317646e-01 4.47023711e-01 -1.91246135e-02 6.07116241e+01] [ 2.16605660e-02 -5.62168979e-04 9.99765224e-01 2.65957897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:60.74, Z:2.66 [[ 4.46601434e-01 -8.94674333e-01 -1.02468322e-02 1.13488996e+02] [ 8.94467309e-01 4.46718611e-01 -1.92539863e-02 6.07354389e+01] [ 2.18034980e-02 -5.66598486e-04 9.99762115e-01 2.65984729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:60.76, Z:2.66 [[ 4.46650709e-01 -8.94646771e-01 -1.05023640e-02 1.13500824e+02] [ 8.94428916e-01 4.46773800e-01 -1.97506019e-02 6.07611921e+01] [ 2.23619933e-02 -5.71997685e-04 9.99749776e-01 2.65971270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:60.79, Z:2.66 [[ 4.47108380e-01 -8.94413368e-01 -1.09006172e-02 1.13513030e+02] [ 8.94178231e-01 4.47240871e-01 -2.05157051e-02 6.07863362e+01] [ 2.32247224e-02 -5.74350893e-04 9.99730105e-01 2.65944044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:60.81, Z:2.66 [[ 4.47558275e-01 -8.94187135e-01 -1.09980805e-02 1.13526378e+02] [ 8.93947343e-01 4.47693035e-01 -2.07145985e-02 6.08099894e+01] [ 2.34464915e-02 -5.60714838e-04 9.99724936e-01 2.65949358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.54, Y:60.83, Z:2.66 [[ 4.48153447e-01 -8.93886250e-01 -1.12187049e-02 1.13539504e+02] [ 8.93636342e-01 4.48293507e-01 -2.11428445e-02 6.08332008e+01] [ 2.39285706e-02 -5.50203752e-04 9.99713519e-01 2.65942280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:60.86, Z:2.66 [[ 4.49460699e-01 -8.93229884e-01 -1.12006351e-02 1.13552488e+02] [ 8.92980193e-01 4.49599953e-01 -2.11248213e-02 6.08574595e+01] [ 2.39051267e-02 -5.07168315e-04 9.99714103e-01 2.65938713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:60.88, Z:2.66 [[ 4.49865675e-01 -8.93026184e-01 -1.11852197e-02 1.13562512e+02] [ 8.92776752e-01 4.50004439e-01 -2.11110490e-02 6.08828112e+01] [ 2.38861181e-02 -4.88767803e-04 9.99714567e-01 2.66043532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.57, Y:60.91, Z:2.66 [[ 4.50252277e-01 -8.92830108e-01 -1.12821136e-02 1.13574923e+02] [ 8.92575854e-01 4.50393354e-01 -2.13112862e-02 6.09080118e+01] [ 2.41087470e-02 -4.74687038e-04 9.99709229e-01 2.66141721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:60.93, Z:2.66 [[ 4.50350583e-01 -8.92781704e-01 -1.11884689e-02 1.13588938e+02] [ 8.92531262e-01 4.50489308e-01 -2.11501838e-02 6.09328733e+01] [ 2.39227827e-02 -4.61060690e-04 9.99713703e-01 2.66275923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:60.96, Z:2.66 [[ 4.50038797e-01 -8.92939309e-01 -1.11567271e-02 1.13603537e+02] [ 8.92689941e-01 4.50176831e-01 -2.11066479e-02 6.09559288e+01] [ 2.38694557e-02 -4.60687666e-04 9.99714978e-01 2.66325836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:60.98, Z:2.66 [[ 4.49491731e-01 -8.93214456e-01 -1.11857072e-02 1.13617118e+02] [ 8.92963463e-01 4.49630644e-01 -2.11786897e-02 6.09807306e+01] [ 2.39465486e-02 -4.68781957e-04 9.99713130e-01 2.66393273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:61.00, Z:2.66 [[ 4.49066503e-01 -8.93430499e-01 -1.10099589e-02 1.13632472e+02] [ 8.93187026e-01 4.49201209e-01 -2.08616956e-02 6.10035521e+01] [ 2.35841619e-02 -4.65663747e-04 9.99721747e-01 2.66378070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:61.03, Z:2.66 [[ 4.48949330e-01 -8.93488862e-01 -1.10522838e-02 1.13643885e+02] [ 8.93243132e-01 4.49085114e-01 -2.09587149e-02 6.10285299e+01] [ 2.36897944e-02 -4.62975632e-04 9.99719250e-01 2.66460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:61.05, Z:2.67 [[ 4.48615140e-01 -8.93660236e-01 -1.07628625e-02 1.13655763e+02] [ 8.93426889e-01 4.48744001e-01 -2.04258380e-02 6.10529773e+01] [ 2.30835292e-02 -4.52490600e-04 9.99733437e-01 2.66614598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:61.08, Z:2.67 [[ 4.47913315e-01 -8.94012490e-01 -1.07391809e-02 1.13668205e+02] [ 8.93779885e-01 4.48041800e-01 -2.03976294e-02 6.10780420e+01] [ 2.30473374e-02 -4.62094080e-04 9.99734268e-01 2.66756505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:61.10, Z:2.67 [[ 4.47372656e-01 -8.94285916e-01 -1.05075220e-02 1.13682533e+02] [ 8.94062981e-01 4.47495799e-01 -1.99723658e-02 6.11014330e+01] [ 2.25630774e-02 -4.59296060e-04 9.99745316e-01 2.66897785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:61.13, Z:2.67 [[ 4.46191715e-01 -8.94880805e-01 -1.00647490e-02 1.13695666e+02] [ 8.94676187e-01 4.46304974e-01 -1.91413163e-02 6.11259551e+01] [ 2.16211441e-02 -4.63994532e-04 9.99766128e-01 2.67041024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:61.15, Z:2.67 [[ 4.45513381e-01 -8.95219681e-01 -9.97750538e-03 1.13708649e+02] [ 8.95018372e-01 4.45624845e-01 -1.89897470e-02 6.11495998e+01] [ 2.14462196e-02 -4.69864204e-04 9.99769893e-01 2.67102255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:61.18, Z:2.67 [[ 4.44835294e-01 -8.95555545e-01 -1.00909045e-02 1.13718536e+02] [ 8.95349383e-01 4.44949470e-01 -1.92211466e-02 6.11761002e+01] [ 2.17035470e-02 -4.84640653e-04 9.99764333e-01 2.67090860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:61.20, Z:2.67 [[ 4.44150622e-01 -8.95892279e-01 -1.03561809e-02 1.13732253e+02] [ 8.95674864e-01 4.44271052e-01 -1.97426037e-02 6.11993298e+01] [ 2.22881975e-02 -5.07081191e-04 9.99751459e-01 2.67103329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:61.22, Z:2.67 [[ 4.43598150e-01 -8.96162817e-01 -1.06248385e-02 1.13746013e+02] [ 8.95933655e-01 4.43725060e-01 -2.02720631e-02 6.12222276e+01] [ 2.28815763e-02 -5.26500745e-04 9.99738044e-01 2.67090742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:61.25, Z:2.67 [[ 4.43049323e-01 -8.96431784e-01 -1.08330452e-02 1.13756545e+02] [ 8.96193240e-01 4.43181410e-01 -2.06860912e-02 6.12483766e+01] [ 2.33446739e-02 -5.43543179e-04 9.99727328e-01 2.67107826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:61.27, Z:2.67 [[ 4.43004832e-01 -8.96448284e-01 -1.12780260e-02 1.13768921e+02] [ 8.96189337e-01 4.43148014e-01 -2.15525034e-02 6.12729222e+01] [ 2.43185395e-02 -5.59383465e-04 9.99704104e-01 2.67017596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:61.30, Z:2.67 [[ 4.43019791e-01 -8.96439588e-01 -1.13811311e-02 1.13782131e+02] [ 8.96175552e-01 4.43165606e-01 -2.17629360e-02 6.12967488e+01] [ 2.45528833e-02 -5.58080100e-04 9.99698377e-01 2.67002216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:61.32, Z:2.67 [[ 4.43283326e-01 -8.96311166e-01 -1.12332662e-02 1.13793817e+02] [ 8.96053495e-01 4.43425310e-01 -2.14971562e-02 6.13228497e+01] [ 2.42492557e-02 -5.36276605e-04 9.99705800e-01 2.67064677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:61.35, Z:2.67 [[ 4.43058548e-01 -8.96422402e-01 -1.12249844e-02 1.13805450e+02] [ 8.96164775e-01 4.43200396e-01 -2.14966235e-02 6.13483519e+01] [ 2.42449724e-02 -5.35172845e-04 9.99705904e-01 2.67134304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:61.37, Z:2.67 [[ 4.42548708e-01 -8.96676210e-01 -1.10641805e-02 1.13817723e+02] [ 8.96425609e-01 4.42686672e-01 -2.12046419e-02 6.13734325e+01] [ 2.39116632e-02 -5.34127894e-04 9.99713933e-01 2.67223586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:61.40, Z:2.67 [[ 4.41425667e-01 -8.97236093e-01 -1.05249646e-02 1.13830595e+02] [ 8.97009149e-01 4.41550804e-01 -2.01859765e-02 6.13986206e+01] [ 2.27588932e-02 -5.30381391e-04 9.99740842e-01 2.67421326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:61.42, Z:2.67 [[ 4.40346609e-01 -8.97766754e-01 -1.04747456e-02 1.13843908e+02] [ 8.97541773e-01 4.40470834e-01 -2.01049643e-02 6.14225155e+01] [ 2.26633884e-02 -5.48368909e-04 9.99743002e-01 2.67489540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:61.45, Z:2.68 [[ 4.39409669e-01 -8.98224885e-01 -1.05451255e-02 1.13857342e+02] [ 8.97996632e-01 4.39535816e-01 -2.02562555e-02 6.14474333e+01] [ 2.28296331e-02 -5.68692626e-04 9.99739208e-01 2.67563914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:61.47, Z:2.68 [[ 4.37408941e-01 -8.99203374e-01 -1.03300791e-02 1.13870657e+02] [ 8.98984282e-01 4.37530492e-01 -1.98577374e-02 6.14722425e+01] [ 2.23758691e-02 -6.00626853e-04 9.99749448e-01 2.67692945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:61.50, Z:2.68 [[ 4.36604499e-01 -8.99594306e-01 -1.03245204e-02 1.13884100e+02] [ 8.99375236e-01 4.36726123e-01 -1.98614597e-02 6.14972242e+01] [ 2.23762438e-02 -6.14015297e-04 9.99749432e-01 2.67736556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:61.52, Z:2.68 [[ 4.35187532e-01 -9.00283438e-01 -1.00768950e-02 1.13896977e+02] [ 9.00074618e-01 4.35303731e-01 -1.93995767e-02 6.15219484e+01] [ 2.18516276e-02 -6.27503498e-04 9.99761028e-01 2.67800795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:61.55, Z:2.68 [[ 4.34520813e-01 -9.00607632e-01 -9.87706118e-03 1.13909676e+02] [ 9.00406817e-01 4.34632606e-01 -1.90279107e-02 6.15458564e+01] [ 2.14295744e-02 -6.25350010e-04 9.99770165e-01 2.67849637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.92, Y:61.57, Z:2.68 [[ 4.33618030e-01 -9.01043011e-01 -9.84362985e-03 1.13924506e+02] [ 9.00843339e-01 4.33729277e-01 -1.89787473e-02 6.15684745e+01] [ 2.13701380e-02 -6.38041373e-04 9.99771429e-01 2.67944800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:61.59, Z:2.68 [[ 4.33041646e-01 -9.01323034e-01 -9.57714268e-03 1.13934595e+02] [ 9.01133798e-01 4.33147081e-01 -1.84792917e-02 6.15938555e+01] [ 2.08041227e-02 -6.27984068e-04 9.99783374e-01 2.68020123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:61.62, Z:2.68 [[ 4.32547374e-01 -9.01559968e-01 -9.61214601e-03 1.13948691e+02] [ 9.01369079e-01 4.32653696e-01 -1.85623907e-02 6.16160534e+01] [ 2.08938389e-02 -6.34977846e-04 9.99781498e-01 2.68056529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:61.64, Z:2.68 [[ 4.32089047e-01 -9.01780815e-01 -9.50880506e-03 1.13958245e+02] [ 9.01593734e-01 4.32193201e-01 -1.83786938e-02 6.16414532e+01] [ 2.06831943e-02 -6.31846781e-04 9.99785880e-01 2.68148026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:61.67, Z:2.68 [[ 4.31766581e-01 -9.01935324e-01 -9.50210064e-03 1.13970322e+02] [ 9.01748231e-01 4.31870665e-01 -1.83808693e-02 6.16661018e+01] [ 2.06820338e-02 -6.32257360e-04 9.99785904e-01 2.68165229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:61.69, Z:2.68 [[ 4.31365506e-01 -9.02128101e-01 -9.41750040e-03 1.13980631e+02] [ 9.01944067e-01 4.31467836e-01 -1.82320209e-02 6.16927058e+01] [ 2.05109669e-02 -6.29393701e-04 9.99789430e-01 2.68215479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:61.72, Z:2.68 [[ 4.31010324e-01 -9.02297404e-01 -9.46015028e-03 1.13992128e+02] [ 9.02111454e-01 4.31113664e-01 -1.83284933e-02 6.17180893e+01] [ 2.06161520e-02 -6.34340088e-04 9.99787263e-01 2.68269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:61.74, Z:2.68 [[ 4.30827564e-01 -9.02385261e-01 -9.40485650e-03 1.14004300e+02] [ 9.02201213e-01 4.30929746e-01 -1.82352748e-02 6.17429729e+01] [ 2.05080756e-02 -6.28813913e-04 9.99789490e-01 2.68301118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:61.77, Z:2.68 [[ 4.30729771e-01 -9.02432092e-01 -9.39057197e-03 1.14019270e+02] [ 9.02248331e-01 4.30831671e-01 -1.82214441e-02 6.17655205e+01] [ 2.04893718e-02 -6.24109413e-04 9.99789876e-01 2.68296913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:61.79, Z:2.68 [[ 4.31315752e-01 -9.02151100e-01 -9.49291735e-03 1.14030801e+02] [ 9.01963027e-01 4.31419770e-01 -1.84304221e-02 6.17887905e+01] [ 2.07224577e-02 -6.12929114e-04 9.99785079e-01 2.68332611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:61.81, Z:2.68 [[ 4.31026570e-01 -9.02289349e-01 -9.48826616e-03 1.14042835e+02] [ 9.02101257e-01 4.31130553e-01 -1.84328163e-02 6.18126844e+01] [ 2.07224152e-02 -6.14343254e-04 9.99785079e-01 2.68387106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:61.84, Z:2.68 [[ 4.31707720e-01 -9.01965401e-01 -9.31983415e-03 1.14051115e+02] [ 9.01783568e-01 4.31807915e-01 -1.81196295e-02 6.18386567e+01] [ 2.03676571e-02 -5.82089338e-04 9.99792388e-01 2.68494372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:61.86, Z:2.69 [[ 4.32135598e-01 -9.01761133e-01 -9.25658393e-03 1.14065731e+02] [ 9.01581410e-01 4.32234362e-01 -1.80116134e-02 6.18607534e+01] [ 2.02431866e-02 -5.62104650e-04 9.99794928e-01 2.68567418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:61.89, Z:2.69 [[ 4.32766415e-01 -9.01458003e-01 -9.31120480e-03 1.14073541e+02] [ 9.01275757e-01 4.32866229e-01 -1.81338784e-02 6.18887010e+01] [ 2.03774359e-02 -5.44229619e-04 9.99792210e-01 2.68631689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:61.91, Z:2.69 [[ 4.33387597e-01 -9.01160550e-01 -9.21160613e-03 1.14084908e+02] [ 9.00981846e-01 4.33485172e-01 -1.79532544e-02 6.19137919e+01] [ 2.01718593e-02 -5.18772089e-04 9.99796393e-01 2.68678925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:61.94, Z:2.69 [[ 4.34729401e-01 -9.00517381e-01 -8.87665704e-03 1.14093792e+02] [ 9.00351028e-01 4.34819768e-01 -1.73146225e-02 6.19411028e+01] [ 1.94518645e-02 -4.64931815e-04 9.99810686e-01 2.68746922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.11, Y:61.96, Z:2.69 [[ 4.35058690e-01 -9.00359307e-01 -8.77804589e-03 1.14106804e+02] [ 9.00196356e-01 4.35147007e-01 -1.71348369e-02 6.19644998e+01] [ 1.92472503e-02 -4.47305215e-04 9.99814654e-01 2.68807397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:61.99, Z:2.69 [[ 4.34950100e-01 -9.00414029e-01 -8.54322439e-03 1.14118747e+02] [ 9.00259447e-01 4.35033779e-01 -1.66894685e-02 6.19893819e+01] [ 1.87440228e-02 -4.32032485e-04 9.99824222e-01 2.68882025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:62.02, Z:2.69 [[ 4.34550866e-01 -9.00607395e-01 -8.47730743e-03 1.14130049e+02] [ 9.00454972e-01 4.34633333e-01 -1.65743448e-02 6.20150135e+01] [ 1.86114979e-02 -4.31037715e-04 9.99826698e-01 2.68948719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:62.04, Z:2.69 [[ 4.34285524e-01 -9.00735743e-01 -8.43829168e-03 1.14141874e+02] [ 9.00584514e-01 4.34367283e-01 -1.65105009e-02 6.20401113e+01] [ 1.85369162e-02 -4.29123262e-04 9.99828085e-01 2.68986975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:62.06, Z:2.69 [[ 4.34158563e-01 -9.00796433e-01 -8.49279048e-03 1.14157787e+02] [ 9.00643008e-01 4.34241410e-01 -1.66304014e-02 6.20625724e+01] [ 1.86685276e-02 -4.28741176e-04 9.99825636e-01 2.69076511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:62.09, Z:2.69 [[ 4.33935085e-01 -9.00906088e-01 -8.28020631e-03 1.14165969e+02] [ 9.00760113e-01 4.34013876e-01 -1.62226208e-02 6.20897161e+01] [ 1.82087823e-02 -4.18915221e-04 9.99834119e-01 2.69133420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:62.11, Z:2.69 [[ 4.33912648e-01 -9.00917406e-01 -8.22448730e-03 1.14177872e+02] [ 9.00773171e-01 4.33990390e-01 -1.61255878e-02 6.21145158e+01] [ 1.80971712e-02 -4.11301006e-04 9.99836148e-01 2.69191515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:62.14, Z:2.69 [[ 4.33879593e-01 -9.00933041e-01 -8.25563991e-03 1.14189041e+02] [ 9.00787475e-01 4.33957936e-01 -1.61998283e-02 6.21408264e+01] [ 1.81775610e-02 -4.07802115e-04 9.99834691e-01 2.69239760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.20, Y:62.17, Z:2.69 [[ 4.33565865e-01 -9.01083603e-01 -8.30554839e-03 1.14199902e+02] [ 9.00936071e-01 4.33645215e-01 -1.63102595e-02 6.21664456e+01] [ 1.82985687e-02 -4.11196366e-04 9.99832483e-01 2.69289711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:62.19, Z:2.69 [[ 4.33028447e-01 -9.01345937e-01 -7.86549901e-03 1.14211394e+02] [ 9.01213485e-01 4.33099695e-01 -1.54566712e-02 6.21895344e+01] [ 1.73383530e-02 -3.95315466e-04 9.99849601e-01 2.69397551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:62.21, Z:2.69 [[ 4.32231993e-01 -9.01728449e-01 -7.82994043e-03 1.14222306e+02] [ 9.01597008e-01 4.32302720e-01 -1.54010739e-02 6.22139361e+01] [ 1.72724910e-02 -4.02614001e-04 9.99850738e-01 2.69471801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:62.24, Z:2.70 [[ 4.30741439e-01 -9.02442291e-01 -7.72811783e-03 1.14234559e+02] [ 9.02314191e-01 4.30810554e-01 -1.52107402e-02 6.22375378e+01] [ 1.70561700e-02 -4.21294250e-04 9.99854444e-01 2.69546190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:62.26, Z:2.70 [[ 4.29588710e-01 -9.02991698e-01 -7.71584609e-03 1.14247176e+02] [ 9.02863932e-01 4.29657773e-01 -1.51959748e-02 6.22608584e+01] [ 1.70370123e-02 -4.38339929e-04 9.99854763e-01 2.69590092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:62.29, Z:2.70 [[ 4.28196384e-01 -9.03650527e-01 -7.97379067e-03 1.14259354e+02] [ 9.03514053e-01 4.28270356e-01 -1.57117298e-02 6.22855990e+01] [ 1.76128511e-02 -4.76726051e-04 9.99844768e-01 2.69595107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:62.31, Z:2.69 [[ 4.25717811e-01 -9.04814276e-01 -8.68737930e-03 1.14272637e+02] [ 9.04652238e-01 4.25806066e-01 -1.71325289e-02 6.23086246e+01] [ 1.92008955e-02 -5.65434433e-04 9.99815486e-01 2.69471954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:62.33, Z:2.69 [[ 4.24398509e-01 -9.05430417e-01 -9.03695118e-03 1.14285443e+02] [ 9.05254993e-01 4.24494270e-01 -1.78328764e-02 6.23334409e+01] [ 1.99825627e-02 -6.12499012e-04 9.99800141e-01 2.69457544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:62.36, Z:2.69 [[ 4.22624305e-01 -9.06256390e-01 -9.38362315e-03 1.14293135e+02] [ 9.06067166e-01 4.22727933e-01 -1.85306558e-02 6.23613996e+01] [ 2.07602448e-02 -6.70687328e-04 9.99784258e-01 2.69440789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:62.39, Z:2.69 [[ 4.21783204e-01 -9.06645679e-01 -9.61988284e-03 1.14305082e+02] [ 9.06446586e-01 4.21892311e-01 -1.90122348e-02 6.23864140e+01] [ 2.12959151e-02 -7.00868653e-04 9.99772971e-01 2.69488575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:62.41, Z:2.70 [[ 4.20966591e-01 -9.07026124e-01 -9.52575854e-03 1.14315826e+02] [ 9.06830702e-01 4.21073760e-01 -1.88405838e-02 6.24121096e+01] [ 2.10999486e-02 -7.06993972e-04 9.99777121e-01 2.69571175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:62.44, Z:2.70 [[ 4.19984589e-01 -9.07484934e-01 -9.16737009e-03 1.14328884e+02] [ 9.07303766e-01 4.20084051e-01 -1.81456938e-02 6.24356489e+01] [ 2.03180097e-02 -6.96677675e-04 9.99793325e-01 2.69780196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:62.46, Z:2.70 [[ 4.19494222e-01 -9.07712482e-01 -9.09112009e-03 1.14339235e+02] [ 9.07534245e-01 4.19592138e-01 -1.80008714e-02 6.24613956e+01] [ 2.01541782e-02 -6.99241266e-04 9.99796639e-01 2.69860126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:62.49, Z:2.70 [[ 4.19364156e-01 -9.07771449e-01 -9.20330839e-03 1.14349986e+02] [ 9.07588502e-01 4.19464540e-01 -1.82376202e-02 6.24877005e+01] [ 2.04160524e-02 -7.04612688e-04 9.99791322e-01 2.69916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:62.51, Z:2.70 [[ 4.19917485e-01 -9.07511980e-01 -9.55573146e-03 1.14360253e+02] [ 9.07314356e-01 4.20025594e-01 -1.89515164e-02 6.25131904e+01] [ 2.12123799e-02 -7.11979227e-04 9.99774739e-01 2.69896322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:62.54, Z:2.70 [[ 4.20064922e-01 -9.07441056e-01 -9.80769443e-03 1.14372130e+02] [ 9.07232595e-01 4.20178781e-01 -1.94630561e-02 6.25391418e+01] [ 2.17825613e-02 -7.22112941e-04 9.99762471e-01 2.69931720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:62.56, Z:2.70 [[ 4.20741567e-01 -9.07127487e-01 -9.81101465e-03 1.14383419e+02] [ 9.06918470e-01 4.20855359e-01 -1.94847499e-02 6.25635106e+01] [ 2.18041703e-02 -6.99746192e-04 9.99762016e-01 2.70024128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:62.59, Z:2.70 [[ 4.20980737e-01 -9.07016321e-01 -9.82921332e-03 1.14395317e+02] [ 9.06806163e-01 4.21094906e-01 -1.95361814e-02 6.25891651e+01] [ 2.18586670e-02 -6.88835181e-04 9.99760833e-01 2.70096150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:62.62, Z:2.70 [[ 4.21190330e-01 -9.06919688e-01 -9.76650683e-03 1.14406380e+02] [ 9.06711859e-01 4.21303009e-01 -1.94262471e-02 6.26151622e+01] [ 2.17327047e-02 -6.73260123e-04 9.99763590e-01 2.70156896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:62.64, Z:2.70 [[ 4.21301482e-01 -9.06869420e-01 -9.63935303e-03 1.14416550e+02] [ 9.06666641e-01 4.21411231e-01 -1.91879173e-02 6.26396743e+01] [ 2.14630670e-02 -6.55781860e-04 9.99769427e-01 2.70226457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:62.67, Z:2.70 [[ 4.20657087e-01 -9.07167786e-01 -9.70692094e-03 1.14426559e+02] [ 9.06961857e-01 4.20768537e-01 -1.93398151e-02 6.26658506e+01] [ 2.16288241e-02 -6.68376767e-04 9.99765846e-01 2.70257003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:62.69, Z:2.70 [[ 4.19586636e-01 -9.07662128e-01 -9.82424766e-03 1.14439969e+02] [ 9.07450981e-01 4.19701057e-01 -1.95892756e-02 6.26900784e+01] [ 2.19036907e-02 -6.95624906e-04 9.99759843e-01 2.70293209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:62.72, Z:2.70 [[ 4.17443460e-01 -9.08653997e-01 -9.42711617e-03 1.14453147e+02] [ 9.08459557e-01 4.17549286e-01 -1.88102997e-02 6.27154999e+01] [ 2.10283396e-02 -7.11917190e-04 9.99778627e-01 2.70409379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:62.74, Z:2.70 [[ 4.16212094e-01 -9.09218869e-01 -9.40964079e-03 1.14471293e+02] [ 9.09024998e-01 4.16317800e-01 -1.87894203e-02 6.27370257e+01] [ 2.10010964e-02 -7.33214742e-04 9.99779184e-01 2.70463587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:62.76, Z:2.71 [[ 4.14038532e-01 -9.10210017e-01 -9.47725369e-03 1.14479928e+02] [ 9.10013318e-01 4.14146243e-01 -1.89380655e-02 6.27643390e+01] [ 2.11625859e-02 -7.83338258e-04 9.99775741e-01 2.70520058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:62.79, Z:2.71 [[ 4.13063717e-01 -9.10650128e-01 -9.73190517e-03 1.14492281e+02] [ 9.10442516e-01 4.13177528e-01 -1.94616616e-02 6.27893242e+01] [ 2.17437691e-02 -8.21433965e-04 9.99763239e-01 2.70518159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:62.81, Z:2.70 [[ 4.12352332e-01 -9.10970114e-01 -9.95015009e-03 1.14511112e+02] [ 9.10752852e-01 4.12471486e-01 -1.99127156e-02 6.28104045e+01] [ 2.22440420e-02 -8.51072850e-04 9.99752208e-01 2.70488167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:62.84, Z:2.71 [[ 4.12466303e-01 -9.10919254e-01 -9.88240799e-03 1.14518856e+02] [ 9.10704616e-01 4.12583825e-01 -1.97911628e-02 6.28382162e+01] [ 2.21054730e-02 -8.36766817e-04 9.99755294e-01 2.70630779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:62.86, Z:2.71 [[ 4.12903546e-01 -9.10723020e-01 -9.70789800e-03 1.14530288e+02] [ 9.10515527e-01 4.13016867e-01 -1.94561590e-02 6.28627339e+01] [ 2.17286975e-02 -8.05674825e-04 9.99763579e-01 2.70746553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:62.89, Z:2.71 [[ 4.13843600e-01 -9.10296151e-01 -9.71560731e-03 1.14541134e+02] [ 9.10087864e-01 4.13956899e-01 -1.94875888e-02 6.28893479e+01] [ 2.17613198e-02 -7.77242391e-04 9.99762892e-01 2.70844444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:62.91, Z:2.71 [[ 4.14976913e-01 -9.09776958e-01 -1.00024070e-02 1.14554993e+02] [ 9.09555688e-01 4.15096736e-01 -2.00785977e-02 6.29127524e+01] [ 2.24190120e-02 -7.65591690e-04 9.99748369e-01 2.70843540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:62.94, Z:2.71 [[ 4.17898094e-01 -9.08434191e-01 -1.04164840e-02 1.14561955e+02] [ 9.08193408e-01 4.18027283e-01 -2.09266410e-02 6.29402013e+01] [ 2.33648507e-02 -7.14978700e-04 9.99726749e-01 2.70865789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:62.96, Z:2.71 [[ 4.19387060e-01 -9.07747379e-01 -1.04494307e-02 1.14572619e+02] [ 9.07504466e-01 4.19516681e-01 -2.10094802e-02 6.29649028e+01] [ 2.34550110e-02 -6.71800906e-04 9.99724668e-01 2.70878367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:62.99, Z:2.71 [[ 4.22327392e-01 -9.06383529e-01 -1.04149683e-02 1.14582727e+02] [ 9.06141430e-01 4.22455386e-01 -2.09560263e-02 6.29903199e+01] [ 2.33940566e-02 -5.87130321e-04 9.99726149e-01 2.70959137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.59, Y:63.02, Z:2.71 [[ 4.23182323e-01 -9.05982610e-01 -1.05939411e-02 1.14594031e+02] [ 9.05731592e-01 4.23314527e-01 -2.13329419e-02 6.30164212e+01] [ 2.38118435e-02 -5.67543185e-04 9.99716297e-01 2.71020394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:63.04, Z:2.71 [[ 4.23896685e-01 -9.05648238e-01 -1.06239789e-02 1.14605481e+02] [ 9.05395291e-01 4.24029448e-01 -2.14101515e-02 6.30421463e+01] [ 2.38949459e-02 -5.43208190e-04 9.99714327e-01 2.71029433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:63.07, Z:2.71 [[ 4.24532255e-01 -9.05343405e-01 -1.12108322e-02 1.14617645e+02] [ 9.05061158e-01 4.24679902e-01 -2.26115432e-02 6.30659055e+01] [ 2.52322266e-02 -5.47159386e-04 9.99681467e-01 2.70960308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:63.09, Z:2.71 [[ 4.24373795e-01 -9.05417036e-01 -1.12637750e-02 1.14629292e+02] [ 9.05131672e-01 4.24522899e-01 -2.27368459e-02 6.30910836e+01] [ 2.53680580e-02 -5.46277922e-04 9.99678030e-01 2.71021415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:63.11, Z:2.71 [[ 4.24006022e-01 -9.05587459e-01 -1.14126128e-02 1.14642334e+02] [ 9.05294114e-01 4.24159221e-01 -2.30547697e-02 6.31143410e+01] [ 2.57188753e-02 -5.56410050e-04 9.99669060e-01 2.71077043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:63.14, Z:2.71 [[ 4.23153227e-01 -9.05987228e-01 -1.13352758e-02 1.14654856e+02] [ 9.05697628e-01 4.23304638e-01 -2.29126651e-02 6.31390972e+01] [ 2.55568568e-02 -5.70764239e-04 9.99673207e-01 2.71161489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:63.16, Z:2.71 [[ 4.21378299e-01 -9.06818047e-01 -1.10162818e-02 1.14669443e+02] [ 9.06544370e-01 4.21521855e-01 -2.22852304e-02 6.31616804e+01] [ 2.48522527e-02 -5.96235743e-04 9.99690957e-01 2.71317067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.452755096 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:114.68, Y:63.19, Z:2.72 [[ 4.18840517e-01 -9.07999647e-01 -1.04528735e-02 1.14683908e+02] [ 9.07753224e-01 4.18970465e-01 -2.11620959e-02 6.31857203e+01] [ 2.35946209e-02 -6.25086422e-04 9.99721413e-01 2.71554014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:63.21, Z:2.72 [[ 4.17400153e-01 -9.08666004e-01 -1.01590486e-02 1.14697862e+02] [ 9.08433093e-01 4.17523277e-01 -2.05822266e-02 6.32096402e+01] [ 2.29440088e-02 -6.37791386e-04 9.99736548e-01 2.71728635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:63.23, Z:2.72 [[ 4.16002916e-01 -9.09309950e-01 -9.84825278e-03 1.14711701e+02] [ 9.09090942e-01 4.16118969e-01 -1.99665531e-02 6.32325861e+01] [ 2.22538302e-02 -6.46813071e-04 9.99752144e-01 2.71827259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:63.25, Z:2.72 [[ 4.14391386e-01 -9.10047809e-01 -9.63139170e-03 1.14728444e+02] [ 9.09838194e-01 4.14502766e-01 -1.95427324e-02 6.32546010e+01] [ 2.17770593e-02 -6.64668059e-04 9.99762631e-01 2.71928829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:63.28, Z:2.72 [[ 4.12414451e-01 -9.10948099e-01 -9.37454523e-03 1.14742051e+02] [ 9.10749424e-01 4.12520411e-01 -1.90367290e-02 6.32793892e+01] [ 2.12086634e-02 -6.86839505e-04 9.99774835e-01 2.72075976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:63.30, Z:2.72 [[ 4.11497921e-01 -9.11360985e-01 -9.51925344e-03 1.14755512e+02] [ 9.11155912e-01 4.11607395e-01 -1.93457007e-02 6.33037093e+01] [ 2.15491120e-02 -7.12808404e-04 9.99767537e-01 2.72155782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.632755096 meters Centerline goodness [0,1] 0.9999357051007287 Centerline is valid? [True, True] Translation: X:114.77, Y:63.33, Z:2.72 [[ 4.11397581e-01 -9.11405239e-01 -9.61875305e-03 1.14765599e+02] [ 9.11195537e-01 4.11509388e-01 -1.95631302e-02 6.33300352e+01] [ 2.17881466e-02 -7.16340406e-04 9.99762354e-01 2.72050399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.662755096 meters Centerline goodness [0,1] 0.9999786429746065 Centerline is valid? [True, True] Translation: X:114.78, Y:63.35, Z:2.72 [[ 4.12463117e-01 -9.10920851e-01 -9.86811222e-03 1.14781270e+02] [ 9.10699630e-01 4.12580549e-01 -2.00866775e-02 6.33531038e+01] [ 2.23687645e-02 -7.01872548e-04 9.99749542e-01 2.72195963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:63.38, Z:2.72 [[ 4.13512291e-01 -9.10443686e-01 -9.99401153e-03 1.14793297e+02] [ 9.10216371e-01 4.13632486e-01 -2.03549892e-02 6.33785561e+01] [ 2.26659192e-02 -6.79674671e-04 9.99742864e-01 2.72202821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:63.40, Z:2.72 [[ 4.16373915e-01 -9.09134187e-01 -1.03823117e-02 1.14804408e+02] [ 9.08888072e-01 4.16502868e-01 -2.11620895e-02 6.34027810e+01] [ 2.35634416e-02 -6.25017155e-04 9.99722148e-01 2.72188184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:63.43, Z:2.72 [[ 4.16074449e-01 -9.09271348e-01 -1.03763065e-02 1.14815979e+02] [ 9.09025202e-01 4.16203344e-01 -2.11650337e-02 6.34268962e+01] [ 2.35634122e-02 -6.26094393e-04 9.99722148e-01 2.72242663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:63.45, Z:2.72 [[ 4.17653787e-01 -9.08544882e-01 -1.05598622e-02 1.14824460e+02] [ 9.08289284e-01 4.17786849e-01 -2.15574836e-02 6.34540938e+01] [ 2.39977129e-02 -5.87845029e-04 9.99711841e-01 2.72294365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:63.48, Z:2.72 [[ 4.20180190e-01 -9.07373144e-01 -1.10718134e-02 1.14836759e+02] [ 9.07091294e-01 4.20325692e-01 -2.26207006e-02 6.34796391e+01] [ 2.51791838e-02 -5.38375255e-04 9.99682809e-01 2.72272647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:63.50, Z:2.72 [[ 4.20823459e-01 -9.07073744e-01 -1.11731278e-02 1.14849513e+02] [ 9.06786152e-01 4.20971442e-01 -2.28455541e-02 6.35034775e+01] [ 2.54261700e-02 -5.17692454e-04 9.99676569e-01 2.72265559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:63.53, Z:2.72 [[ 4.21725774e-01 -9.06651843e-01 -1.13933189e-02 1.14861405e+02] [ 9.06352146e-01 4.21879358e-01 -2.33151145e-02 6.35286077e+01] [ 2.59452976e-02 -4.93774372e-04 9.99663242e-01 2.72325585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90275509600002 meters Centerline goodness [0,1] 0.9999142973453603 Centerline is valid? [True, True] Translation: X:114.87, Y:63.55, Z:2.72 [[ 4.22170796e-01 -9.06445499e-01 -1.13303499e-02 1.14873795e+02] [ 9.06148558e-01 4.22322550e-01 -2.32046097e-02 6.35524774e+01] [ 2.58187763e-02 -4.70671674e-04 9.99666529e-01 2.72178337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:63.58, Z:2.72 [[ 4.23619700e-01 -9.05772049e-01 -1.11060877e-02 1.14886833e+02] [ 9.05486056e-01 4.23765059e-01 -2.27635023e-02 6.35758280e+01] [ 2.53249161e-02 -4.13339534e-04 9.99679187e-01 2.72497157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:63.60, Z:2.73 [[ 4.23556043e-01 -9.05803265e-01 -1.09874016e-02 1.14899217e+02] [ 9.05522925e-01 4.23698338e-01 -2.25377653e-02 6.36008594e+01] [ 2.50701252e-02 -4.03337396e-04 9.99685614e-01 2.72635531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:63.62, Z:2.73 [[ 4.23355365e-01 -9.05899275e-01 -1.08045650e-02 1.14913480e+02] [ 9.05627785e-01 4.23493032e-01 -2.21803157e-02 6.36236851e+01] [ 2.46687899e-02 -3.94758580e-04 9.99695601e-01 2.72717672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:63.65, Z:2.73 [[ 4.22467879e-01 -9.06315787e-01 -1.06106712e-02 1.14927544e+02] [ 9.06053646e-01 4.22600913e-01 -2.18004176e-02 6.36471239e+01] [ 2.42421420e-02 -4.03861190e-04 9.99706035e-01 2.72877807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:63.67, Z:2.73 [[ 4.21911655e-01 -9.06576680e-01 -1.04536058e-02 1.14940813e+02] [ 9.06321882e-01 4.22040945e-01 -2.14962335e-02 6.36709791e+01] [ 2.38998336e-02 -4.04820243e-04 9.99714276e-01 2.72955475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:63.69, Z:2.73 [[ 4.20705994e-01 -9.07138842e-01 -1.02756622e-02 1.14956512e+02] [ 9.06892389e-01 4.20831254e-01 -2.11482742e-02 6.36944721e+01] [ 2.35087408e-02 -4.21714088e-04 9.99723542e-01 2.73105680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:63.72, Z:2.73 [[ 4.19947119e-01 -9.07490850e-01 -1.02359390e-02 1.14969250e+02] [ 9.07246019e-01 4.20071625e-01 -2.10829406e-02 6.37190099e+01] [ 2.34324032e-02 -4.32794772e-04 9.99725330e-01 2.73218056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:63.74, Z:2.73 [[ 4.19134701e-01 -9.07868156e-01 -1.00754017e-02 1.14983681e+02] [ 9.07630675e-01 4.19255552e-01 -2.07687347e-02 6.37425795e+01] [ 2.30794410e-02 -4.39846280e-04 9.99733537e-01 2.73277889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:63.77, Z:2.73 [[ 4.18072732e-01 -9.08359756e-01 -9.88654046e-03 1.14997355e+02] [ 9.08130853e-01 4.18189370e-01 -2.03961972e-02 6.37672241e+01] [ 2.26615309e-02 -4.51178516e-04 9.99743093e-01 2.73366978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:63.79, Z:2.74 [[ 4.18280343e-01 -9.08271952e-01 -9.14420043e-03 1.15008833e+02] [ 9.08075827e-01 4.18380086e-01 -1.88784721e-02 6.37907470e+01] [ 2.09725380e-02 -4.07133579e-04 9.99779969e-01 2.73610606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.232755096 meters Centerline goodness [0,1] 0.9998704747101872 Centerline is valid? [True, True] Translation: X:115.02, Y:63.81, Z:2.73 [[ 4.18351771e-01 -9.08234294e-01 -9.60534934e-03 1.15020388e+02] [ 9.08017563e-01 4.18461816e-01 -1.98447283e-02 6.38139314e+01] [ 2.20431347e-02 -4.19748682e-04 9.99756932e-01 2.73305912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:63.84, Z:2.74 [[ 4.18516189e-01 -9.08158487e-01 -9.61052065e-03 1.15030112e+02] [ 9.07941206e-01 4.18626318e-01 -1.98688642e-02 6.38403994e+01] [ 2.20672946e-02 -4.10346363e-04 9.99756403e-01 2.73623780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:63.87, Z:2.74 [[ 4.19015991e-01 -9.07926716e-01 -9.73025488e-03 1.15040563e+02] [ 9.07703559e-01 4.19128765e-01 -2.01327491e-02 6.38662190e+01] [ 2.23572905e-02 -3.96243186e-04 9.99749966e-01 2.73627885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:63.89, Z:2.74 [[ 4.20075520e-01 -9.07438198e-01 -9.61630321e-03 1.15050863e+02] [ 9.07219757e-01 4.20185420e-01 -1.99129572e-02 6.38929353e+01] [ 2.21104085e-02 -3.59154384e-04 9.99755471e-01 2.73679576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:63.92, Z:2.74 [[ 4.21353188e-01 -9.06842163e-01 -9.93890150e-03 1.15061790e+02] [ 9.06608289e-01 4.21470260e-01 -2.05968222e-02 6.39176508e+01] [ 2.28670182e-02 -3.32153780e-04 9.99738460e-01 2.73632347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:63.94, Z:2.74 [[ 4.22274850e-01 -9.06411343e-01 -1.01206797e-02 1.15071500e+02] [ 9.06168403e-01 4.22396001e-01 -2.09867701e-02 6.39444638e+01] [ 2.32975812e-02 -3.08854981e-04 9.99728527e-01 2.73636298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:63.97, Z:2.74 [[ 4.22455753e-01 -9.06322660e-01 -1.05058110e-02 1.15081814e+02] [ 9.06060411e-01 4.22586252e-01 -2.18034863e-02 6.39711937e+01] [ 2.42006050e-02 -3.07891188e-04 9.99707075e-01 2.73618603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:64.00, Z:2.73 [[ 4.21042192e-01 -9.06973159e-01 -1.10978277e-02 1.15093992e+02] [ 9.06680242e-01 4.21188274e-01 -2.30515884e-02 6.39952407e+01] [ 2.55814469e-02 -3.56489791e-04 9.99672678e-01 2.73425848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47275509600001 meters Centerline goodness [0,1] 0.9999567997235183 Centerline is valid? [True, True] Translation: X:115.11, Y:64.02, Z:2.73 [[ 4.19391240e-01 -9.07735434e-01 -1.12858265e-02 1.15107338e+02] [ 9.07432315e-01 4.19542870e-01 -2.34600583e-02 6.40187282e+01] [ 2.60304142e-02 -4.02180740e-04 9.99661070e-01 2.73303146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:64.04, Z:2.74 [[ 4.16097402e-01 -9.09252410e-01 -1.10909011e-02 1.15120409e+02] [ 9.08959722e-01 4.16244910e-01 -2.30737666e-02 6.40443893e+01] [ 2.55964090e-02 -4.80248019e-04 9.99672243e-01 2.73599791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:64.07, Z:2.74 [[ 4.14615192e-01 -9.09930778e-01 -1.09645348e-02 1.15134008e+02] [ 9.09644520e-01 4.14759834e-01 -2.28282172e-02 6.40686655e+01] [ 2.53197460e-02 -5.08903377e-04 9.99679274e-01 2.73695923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:64.09, Z:2.74 [[ 4.13011901e-01 -9.10666454e-01 -1.03816239e-02 1.15145157e+02] [ 9.10409693e-01 4.13142034e-01 -2.16298608e-02 6.40949059e+01] [ 2.39866738e-02 -5.18141077e-04 9.99712144e-01 2.73901927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:64.12, Z:2.74 [[ 4.11115666e-01 -9.11527164e-01 -1.01063524e-02 1.15157819e+02] [ 9.11283723e-01 4.11239505e-01 -2.10723982e-02 6.41191419e+01] [ 2.33641948e-02 -5.46561379e-04 9.99726871e-01 2.74006825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:64.14, Z:2.74 [[ 4.10171596e-01 -9.11951394e-01 -1.01940097e-02 1.15169508e+02] [ 9.11703457e-01 4.10297858e-01 -2.12714489e-02 6.41441232e+01] [ 2.35811078e-02 -5.68969764e-04 9.99721765e-01 2.74018146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:64.17, Z:2.74 [[ 4.09195949e-01 -9.12389484e-01 -1.02031450e-02 1.15181755e+02] [ 9.12140804e-01 4.09322714e-01 -2.13089036e-02 6.41695754e+01] [ 2.36183985e-02 -5.87187866e-04 9.99720874e-01 2.74074592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:64.19, Z:2.74 [[ 4.08240631e-01 -9.12817693e-01 -1.01708452e-02 1.15197160e+02] [ 9.12570311e-01 4.08366864e-01 -2.12587056e-02 6.41923854e+01] [ 2.35587588e-02 -6.02943968e-04 9.99722272e-01 2.74126205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:64.22, Z:2.74 [[ 4.07505385e-01 -9.13145622e-01 -1.02193535e-02 1.15207068e+02] [ 9.12895597e-01 4.07633035e-01 -2.13761082e-02 6.42186738e+01] [ 2.36852457e-02 -6.18323665e-04 9.99719274e-01 2.74201012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:64.24, Z:2.74 [[ 4.07408377e-01 -9.13187066e-01 -1.03825037e-02 1.15219123e+02] [ 9.12928569e-01 4.07540174e-01 -2.17355560e-02 6.42443964e+01] [ 2.40799159e-02 -6.23236654e-04 9.99709843e-01 2.74206005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:64.27, Z:2.74 [[ 4.07386045e-01 -9.13197204e-01 -1.03671375e-02 1.15230911e+02] [ 9.12939043e-01 4.07517470e-01 -2.17213419e-02 6.42690811e+01] [ 2.40606583e-02 -6.15592996e-04 9.99710311e-01 2.74210745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:64.29, Z:2.74 [[ 4.07040426e-01 -9.13351892e-01 -1.03157116e-02 1.15243276e+02] [ 9.13095893e-01 4.07170658e-01 -2.16320469e-02 6.42947421e+01] [ 2.39579261e-02 -6.14116312e-04 9.99712779e-01 2.74305741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:64.32, Z:2.74 [[ 4.07102145e-01 -9.13326991e-01 -1.00821815e-02 1.15255469e+02] [ 9.13082049e-01 4.07226542e-01 -2.11592694e-02 6.43195734e+01] [ 2.34310637e-02 -5.91874982e-04 9.99725280e-01 2.74468460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:64.34, Z:2.75 [[ 4.07013811e-01 -9.13367001e-01 -1.00238754e-02 1.15268484e+02] [ 9.13124504e-01 4.07136807e-01 -2.10537458e-02 6.43437578e+01] [ 2.33108853e-02 -5.83880960e-04 9.99728094e-01 2.74580064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:64.37, Z:2.75 [[ 4.06827895e-01 -9.13451357e-01 -9.88347351e-03 1.15281183e+02] [ 9.13215333e-01 4.06947525e-01 -2.07717979e-02 6.43683255e+01] [ 2.29960821e-02 -5.75192723e-04 9.99735390e-01 2.74681155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:64.39, Z:2.75 [[ 4.06817966e-01 -9.13456219e-01 -9.84267064e-03 1.15293292e+02] [ 9.13221751e-01 4.06936623e-01 -2.07030827e-02 6.43921831e+01] [ 2.29167028e-02 -5.66154916e-04 9.99737218e-01 2.74766609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:64.42, Z:2.75 [[ 4.06547424e-01 -9.13575387e-01 -9.96008833e-03 1.15306295e+02] [ 9.13334905e-01 4.06669010e-01 -2.09682564e-02 6.44170890e+01] [ 2.32065422e-02 -5.72305715e-04 9.99730528e-01 2.74765945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:64.44, Z:2.75 [[ 4.05950889e-01 -9.13842818e-01 -9.75600597e-03 1.15319210e+02] [ 9.13611795e-01 4.06067705e-01 -2.05549990e-02 6.44421970e+01] [ 2.27456371e-02 -5.68882005e-04 9.99741123e-01 2.74806251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:64.47, Z:2.75 [[ 4.05822722e-01 -9.13899228e-01 -9.80402691e-03 1.15331264e+02] [ 9.13665555e-01 4.05940732e-01 -2.06730499e-02 6.44673200e+01] [ 2.28729382e-02 -5.68008302e-04 9.99738219e-01 2.74885222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:64.49, Z:2.75 [[ 4.05071030e-01 -9.14234316e-01 -9.64761502e-03 1.15344081e+02] [ 9.14007762e-01 4.05185500e-01 -2.03597829e-02 6.44922879e+01] [ 2.25226859e-02 -5.70836805e-04 9.99746169e-01 2.74959589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:64.52, Z:2.75 [[ 4.05027794e-01 -9.14252627e-01 -9.72729977e-03 1.15357377e+02] [ 9.14021935e-01 4.05144184e-01 -2.05448847e-02 6.45173515e+01] [ 2.27241738e-02 -5.69716020e-04 9.99741610e-01 2.75048377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:64.54, Z:2.75 [[ 4.06519568e-01 -9.13593333e-01 -9.43725658e-03 1.15367246e+02] [ 9.13375672e-01 4.06628775e-01 -1.99479636e-02 6.45442075e+01] [ 2.20617866e-02 -5.10523024e-04 9.99756479e-01 2.75151511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.132755096 meters Centerline goodness [0,1] 0.9999139636926783 Centerline is valid? [True, True] Translation: X:115.38, Y:64.57, Z:2.75 [[ 4.08528540e-01 -9.12691330e-01 -9.94828729e-03 1.15378020e+02] [ 9.12448796e-01 4.08649369e-01 -2.10449063e-02 6.45695902e+01] [ 2.32728648e-02 -4.79857902e-04 9.99729035e-01 2.74820279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:64.60, Z:2.75 [[ 4.09490023e-01 -9.12253533e-01 -1.05552395e-02 1.15388729e+02] [ 9.11979879e-01 4.09625764e-01 -2.23479979e-02 6.45950710e+01] [ 2.47107381e-02 -4.74883872e-04 9.99694530e-01 2.75045072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.40, Y:64.62, Z:2.75 [[ 4.10727282e-01 -9.11695145e-01 -1.07267154e-02 1.15398906e+02] [ 9.11411821e-01 4.10867094e-01 -2.27315561e-02 6.46206386e+01] [ 2.51315037e-02 -4.39985008e-04 9.99684057e-01 2.75090883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:64.65, Z:2.75 [[ 4.13658641e-01 -9.10369742e-01 -1.06518638e-02 1.15406783e+02] [ 9.10089431e-01 4.13795616e-01 -2.25923756e-02 6.46464647e+01] [ 2.49751097e-02 -3.48617282e-04 9.99688013e-01 2.75185047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:64.67, Z:2.75 [[ 4.14868640e-01 -9.09821406e-01 -1.04413070e-02 1.15417205e+02] [ 9.09551476e-01 4.14999902e-01 -2.21629042e-02 6.46714274e+01] [ 2.44974260e-02 -3.02212216e-04 9.99699847e-01 2.75268752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:64.70, Z:2.75 [[ 4.16096871e-01 -9.09262073e-01 -1.02896456e-02 1.15425268e+02] [ 9.08999300e-01 4.16223998e-01 -2.18599408e-02 6.46970635e+01] [ 2.41592125e-02 -2.57427677e-04 9.99708090e-01 2.75338996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:64.72, Z:2.75 [[ 4.16033238e-01 -9.09292011e-01 -1.02168208e-02 1.15435808e+02] [ 9.09032485e-01 4.16158595e-01 -2.17247576e-02 6.47222258e+01] [ 2.40059663e-02 -2.49200741e-04 9.99711784e-01 2.75380253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:64.75, Z:2.75 [[ 4.15355783e-01 -9.09601781e-01 -1.02065731e-02 1.15447275e+02] [ 9.09342420e-01 4.15481087e-01 -2.17216607e-02 6.47463281e+01] [ 2.39986993e-02 -2.59052472e-04 9.99711956e-01 2.75448622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:64.77, Z:2.76 [[ 4.14068445e-01 -9.10189746e-01 -1.00969424e-02 1.15460119e+02] [ 9.09935652e-01 4.14191436e-01 -2.15072776e-02 6.47706848e+01] [ 2.37577706e-02 -2.82082906e-04 9.99717705e-01 2.75559772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:64.79, Z:2.76 [[ 4.11238305e-01 -9.11472064e-01 -1.00863282e-02 1.15473465e+02] [ 9.11218475e-01 4.11361831e-01 -2.15019947e-02 6.47948703e+01] [ 2.37475979e-02 -3.48404754e-04 9.99717925e-01 2.75735471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:64.82, Z:2.76 [[ 4.09512955e-01 -9.12248975e-01 -1.00472911e-02 1.15484932e+02] [ 9.11997273e-01 4.09636008e-01 -2.14316395e-02 6.48205753e+01] [ 2.36667234e-02 -3.86568045e-04 9.99719829e-01 2.75832493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:64.84, Z:2.76 [[ 4.06643509e-01 -9.13534482e-01 -9.78814886e-03 1.15501665e+02] [ 9.13295594e-01 4.06761054e-01 -2.08950569e-02 6.48423673e+01] [ 2.30697927e-02 -4.42633986e-04 9.99733759e-01 2.75922722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:64.87, Z:2.76 [[ 4.05037038e-01 -9.14249811e-01 -9.60630769e-03 1.15510755e+02] [ 9.14019637e-01 4.05150667e-01 -2.05192817e-02 6.48692362e+01] [ 2.26517514e-02 -4.69284791e-04 9.99743306e-01 2.76057996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:64.89, Z:2.76 [[ 4.03300750e-01 -9.15019894e-01 -9.33269658e-03 1.15523074e+02] [ 9.14802513e-01 4.03408418e-01 -1.99501750e-02 6.48948463e+01] [ 2.20196953e-02 -4.91653771e-04 9.99757416e-01 2.76108767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:64.92, Z:2.76 [[ 3.99872897e-01 -9.16526056e-01 -9.03630346e-03 1.15538381e+02] [ 9.16322334e-01 3.99974606e-01 -1.93311859e-02 6.49176685e+01] [ 2.13318275e-02 -5.50149371e-04 9.99772299e-01 2.76155264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:64.94, Z:2.76 [[ 3.96832552e-01 -9.17847444e-01 -8.94394883e-03 1.15550874e+02] [ 9.17647952e-01 3.96932862e-01 -1.91452330e-02 6.49422096e+01] [ 2.11225504e-02 -6.09944639e-04 9.99776708e-01 2.76177727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.56, Y:64.97, Z:2.76 [[ 3.96513046e-01 -9.17985579e-01 -8.93763511e-03 1.15562001e+02] [ 9.17786055e-01 3.96613293e-01 -1.91481800e-02 6.49665468e+01] [ 2.11225380e-02 -6.10333674e-04 9.99776708e-01 2.76232190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:64.99, Z:2.76 [[ 3.95037446e-01 -9.18620515e-01 -9.04247722e-03 1.15573445e+02] [ 9.18416067e-01 3.95140398e-01 -1.93905421e-02 6.49921129e+01] [ 2.13855978e-02 -6.44766164e-04 9.99771094e-01 2.76254789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.59, Y:65.02, Z:2.76 [[ 3.92672246e-01 -9.19630532e-01 -9.39105783e-03 1.15586627e+02] [ 9.19409918e-01 3.92783867e-01 -2.01552922e-02 6.50156841e+01] [ 2.22240781e-02 -7.19807847e-04 9.99752756e-01 2.76240296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:65.04, Z:2.76 [[ 3.91562243e-01 -9.20104064e-01 -9.35531603e-03 1.15598894e+02] [ 9.19884876e-01 3.91673294e-01 -2.00959277e-02 6.50401306e+01] [ 2.21545722e-02 -7.37007212e-04 9.99754286e-01 2.76255995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:65.06, Z:2.76 [[ 3.90726962e-01 -9.20457332e-01 -9.52578177e-03 1.15610679e+02] [ 9.20229788e-01 3.90842316e-01 -2.04797880e-02 6.50649160e+01] [ 2.25738496e-02 -7.63902799e-04 9.99744886e-01 2.76266731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:65.09, Z:2.76 [[ 3.90370144e-01 -9.20609160e-01 -9.48289059e-03 1.15622125e+02] [ 9.20383319e-01 3.90484562e-01 -2.04047194e-02 6.50895020e+01] [ 2.24876940e-02 -7.62501065e-04 9.99746829e-01 2.76320842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:65.11, Z:2.76 [[ 3.90473516e-01 -9.20565917e-01 -9.42477929e-03 1.15633050e+02] [ 9.20342424e-01 3.90586524e-01 -2.02975079e-02 6.51140670e+01] [ 2.23663857e-02 -7.48384954e-04 9.99749561e-01 2.76374392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:65.14, Z:2.76 [[ 3.90163516e-01 -9.20697417e-01 -9.41794017e-03 1.15644112e+02] [ 9.20473886e-01 3.90276449e-01 -2.03006808e-02 6.51384356e+01] [ 2.23663847e-02 -7.48382980e-04 9.99749561e-01 2.76428850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:65.16, Z:2.76 [[ 3.90607044e-01 -9.20507939e-01 -9.55360896e-03 1.15654025e+02] [ 9.20277447e-01 3.90723156e-01 -2.06115383e-02 6.51639609e+01] [ 2.27059009e-02 -7.40958829e-04 9.99741913e-01 2.76454285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:65.19, Z:2.76 [[ 3.91246113e-01 -9.20236650e-01 -9.53869478e-03 1.15662700e+02] [ 9.20006391e-01 3.91361717e-01 -2.05972869e-02 6.51912773e+01] [ 2.26874582e-02 -7.17051741e-04 9.99742349e-01 2.76497411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:65.22, Z:2.77 [[ 3.93290012e-01 -9.19362624e-01 -9.76384018e-03 1.15671680e+02] [ 9.19120687e-01 3.93410613e-01 -2.11009890e-02 6.52184335e+01] [ 2.32406590e-02 -6.75339266e-04 9.99729671e-01 2.76504382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:65.24, Z:2.77 [[ 3.94128627e-01 -9.19001912e-01 -9.90510836e-03 1.15683156e+02] [ 9.18752384e-01 3.94252527e-01 -2.14243260e-02 6.52430042e+01] [ 2.35941106e-02 -6.56401717e-04 9.99721405e-01 2.76542284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:65.27, Z:2.77 [[ 3.95064096e-01 -9.18597690e-01 -1.01313610e-02 1.15692453e+02] [ 9.18336045e-01 3.95193466e-01 -2.19324444e-02 6.52695440e+01] [ 2.41509404e-02 -6.39272647e-04 9.99708119e-01 2.76600658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:65.29, Z:2.77 [[ 3.96364186e-01 -9.18033493e-01 -1.04850956e-02 1.15703984e+02] [ 9.17752570e-01 3.96502362e-01 -2.27177679e-02 6.52937613e+01] [ 2.50130370e-02 -6.18213822e-04 9.99686934e-01 2.76542049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:65.32, Z:2.77 [[ 3.96880175e-01 -9.17808053e-01 -1.07007320e-02 1.15714072e+02] [ 9.17514869e-01 3.97023939e-01 -2.32046636e-02 6.53201186e+01] [ 2.55458738e-02 -6.08609756e-04 9.99673466e-01 2.76576855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:65.35, Z:2.77 [[ 3.96974262e-01 -9.17765260e-01 -1.08794280e-02 1.15725051e+02] [ 9.17461671e-01 3.97122849e-01 -2.36119814e-02 6.53461138e+01] [ 2.59907257e-02 -6.08109282e-04 9.99661999e-01 2.76570809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:65.37, Z:2.77 [[ 3.97714279e-01 -9.17444348e-01 -1.09188227e-02 1.15736979e+02] [ 9.17137915e-01 3.97863708e-01 -2.37173796e-02 6.53699591e+01] [ 2.61035792e-02 -5.81325798e-04 9.99659074e-01 2.76606738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:65.40, Z:2.77 [[ 3.97602114e-01 -9.17492730e-01 -1.09384011e-02 1.15747976e+02] [ 9.17184675e-01 3.97752130e-01 -2.37805559e-02 6.53953472e+01] [ 2.61692595e-02 -5.77334544e-04 9.99657360e-01 2.76700846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:65.42, Z:2.77 [[ 3.96800580e-01 -9.17841148e-01 -1.08132429e-02 1.15759733e+02] [ 9.17539671e-01 3.96947459e-01 -2.35301515e-02 6.54189586e+01] [ 2.58892305e-02 -5.84801560e-04 9.99664647e-01 2.76741727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:65.44, Z:2.77 [[ 3.95198732e-01 -9.18531226e-01 -1.08788519e-02 1.15772522e+02] [ 9.18225760e-01 3.95347944e-01 -2.36950979e-02 6.54441012e+01] [ 2.60656190e-02 -6.24969428e-04 9.99660039e-01 2.76866307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:65.47, Z:2.77 [[ 3.94299829e-01 -9.18919840e-01 -1.06758002e-02 1.15783319e+02] [ 9.18625333e-01 3.94443823e-01 -2.32715996e-02 6.54701619e+01] [ 2.55957380e-02 -6.31072779e-04 9.99672176e-01 2.76964692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:65.49, Z:2.77 [[ 3.92975541e-01 -9.19486614e-01 -1.07047385e-02 1.15797869e+02] [ 9.19190218e-01 3.93120756e-01 -2.33540904e-02 6.54933320e+01] [ 2.56820284e-02 -6.62104583e-04 9.99669943e-01 2.76962875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.272755096 meters Centerline goodness [0,1] 0.9999565085025878 Centerline is valid? [True, True] Translation: X:115.81, Y:65.52, Z:2.77 [[ 3.90977641e-01 -9.20339048e-01 -1.06076345e-02 1.15810216e+02] [ 9.20047864e-01 3.91120878e-01 -2.31600116e-02 6.55187940e+01] [ 2.54639303e-02 -7.04484756e-04 9.99675493e-01 2.77046896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:65.54, Z:2.77 [[ 3.90171638e-01 -9.20683927e-01 -1.03537090e-02 1.15825332e+02] [ 9.20406175e-01 3.90308357e-01 -2.26243063e-02 6.55420878e+01] [ 2.48709743e-02 -7.02255031e-04 9.99690423e-01 2.77197022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:65.57, Z:2.77 [[ 3.89134222e-01 -9.21120597e-01 -1.05547886e-02 1.15835853e+02] [ 9.20831593e-01 3.89276642e-01 -2.30840499e-02 6.55677431e+01] [ 2.53719265e-02 -7.36388942e-04 9.99677810e-01 2.77283796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:65.59, Z:2.77 [[ 3.88115400e-01 -9.21544547e-01 -1.10491747e-02 1.15848517e+02] [ 9.21227447e-01 3.88271839e-01 -2.41861420e-02 6.55913852e+01] [ 2.65786907e-02 -7.91788776e-04 9.99646411e-01 2.77218986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:65.62, Z:2.77 [[ 3.87451357e-01 -9.21821504e-01 -1.12499474e-02 1.15859817e+02] [ 9.21492295e-01 3.87613787e-01 -2.46475610e-02 6.56158549e+01] [ 2.70812864e-02 -8.17008859e-04 9.99632901e-01 2.77228374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.87, Y:65.64, Z:2.77 [[ 3.86724735e-01 -9.22126047e-01 -1.12930555e-02 1.15871049e+02] [ 9.21793821e-01 3.86888692e-01 -2.47647358e-02 6.56402232e+01] [ 2.72053635e-02 -8.32732917e-04 9.99629519e-01 2.77235248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.88, Y:65.67, Z:2.77 [[ 3.87143418e-01 -9.21943732e-01 -1.18206756e-02 1.15881875e+02] [ 9.21578948e-01 3.87322907e-01 -2.59462539e-02 6.56652313e+01] [ 2.84994046e-02 -8.48764327e-04 9.99593449e-01 2.77217712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:65.69, Z:2.77 [[ 3.87354234e-01 -9.21852806e-01 -1.20042663e-02 1.15893810e+02] [ 9.21475840e-01 3.87539275e-01 -2.63739661e-02 6.56887762e+01] [ 2.89650393e-02 -8.45573972e-04 9.99580068e-01 2.77201355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:65.71, Z:2.77 [[ 3.87515707e-01 -9.21786454e-01 -1.18873596e-02 1.15905047e+02] [ 9.21416068e-01 3.87697118e-01 -2.61414382e-02 6.57137702e+01] [ 2.87055187e-02 -8.22986272e-04 9.99587573e-01 2.77268949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:65.74, Z:2.77 [[ 3.88899239e-01 -9.21202468e-01 -1.19747378e-02 1.15913231e+02] [ 9.20825673e-01 3.89082779e-01 -2.63566024e-02 6.57412868e+01] [ 2.89389314e-02 -7.76583340e-04 9.99580880e-01 2.77479887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:65.76, Z:2.77 [[ 3.89279853e-01 -9.21042617e-01 -1.19034824e-02 1.15926773e+02] [ 9.20669619e-01 3.89461079e-01 -2.62206360e-02 6.57643453e+01] [ 2.87862663e-02 -7.52009227e-04 9.99585307e-01 2.77450795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:65.79, Z:2.78 [[ 3.90222607e-01 -9.20646192e-01 -1.17006600e-02 1.15935275e+02] [ 9.20285081e-01 3.90397354e-01 -2.57929484e-02 6.57914526e+01] [ 2.83140865e-02 -7.02951281e-04 9.99598829e-01 2.77686571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:65.82, Z:2.78 [[ 3.92093495e-01 -9.19856025e-01 -1.12953430e-02 1.15945159e+02] [ 9.19518636e-01 3.92255675e-01 -2.49191344e-02 6.58169958e+01] [ 2.73526783e-02 -6.15647875e-04 9.99625656e-01 2.77867278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:65.84, Z:2.78 [[ 3.92915992e-01 -9.19508189e-01 -1.10324248e-02 1.15954468e+02] [ 9.19185665e-01 3.93070434e-01 -2.43587240e-02 6.58431026e+01] [ 2.67345662e-02 -5.69914489e-04 9.99642405e-01 2.78008683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.692755096 meters Centerline goodness [0,1] 0.9999355323949716 Centerline is valid? [True, True] Translation: X:115.97, Y:65.87, Z:2.78 [[ 3.93254673e-01 -9.19362881e-01 -1.10749730e-02 1.15965585e+02] [ 9.19037196e-01 3.93410202e-01 -2.44754185e-02 6.58670789e+01] [ 2.68587987e-02 -5.53239405e-04 9.99639084e-01 2.77968716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:65.89, Z:2.78 [[ 3.94417136e-01 -9.18868786e-01 -1.07366841e-02 1.15974769e+02] [ 9.18561950e-01 3.94562933e-01 -2.37494501e-02 6.58936885e+01] [ 2.60589260e-02 -4.95119397e-04 9.99660286e-01 2.78283605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:65.92, Z:2.78 [[ 3.94528078e-01 -9.18821702e-01 -1.06899763e-02 1.15985519e+02] [ 9.18516996e-01 3.94672583e-01 -2.36660333e-02 6.59194518e+01] [ 2.59639056e-02 -4.82010277e-04 9.99662765e-01 2.78364841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:65.94, Z:2.78 [[ 3.94292178e-01 -9.18922837e-01 -1.07003441e-02 1.15997707e+02] [ 9.18617084e-01 3.94437051e-01 -2.37079427e-02 6.59435102e+01] [ 2.60063821e-02 -4.81662498e-04 9.99661661e-01 2.78350435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:65.97, Z:2.78 [[ 3.93713941e-01 -9.19171013e-01 -1.06761971e-02 1.16010326e+02] [ 9.18866304e-01 3.93858361e-01 -2.36707984e-02 6.59668976e+01] [ 2.59624213e-02 -4.90474462e-04 9.99662799e-01 2.78372184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:65.99, Z:2.78 [[ 3.93216207e-01 -9.19384599e-01 -1.06289253e-02 1.16020699e+02] [ 9.19082085e-01 3.93359525e-01 -2.35882490e-02 6.59917371e+01] [ 2.58676619e-02 -4.93573041e-04 9.99665254e-01 2.78471948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:66.02, Z:2.79 [[ 3.92184452e-01 -9.19823709e-01 -1.07564113e-02 1.16030107e+02] [ 9.19513501e-01 3.92331587e-01 -2.38924069e-02 6.60185868e+01] [ 2.61968822e-02 -5.20434907e-04 9.99656667e-01 2.78553989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:66.04, Z:2.79 [[ 3.91049933e-01 -9.20306412e-01 -1.07730394e-02 1.16042238e+02] [ 9.19994886e-01 3.91197918e-01 -2.39499398e-02 6.60427001e+01] [ 2.62556737e-02 -5.45518776e-04 9.99655112e-01 2.78605201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:66.07, Z:2.79 [[ 3.88853667e-01 -9.21241331e-01 -1.03554431e-02 1.16055926e+02] [ 9.20953318e-01 3.88991101e-01 -2.30414799e-02 6.60662838e+01] [ 2.52549389e-02 -5.77115712e-04 9.99680877e-01 2.78746708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:66.09, Z:2.79 [[ 3.87617910e-01 -9.21763316e-01 -1.02345048e-02 1.16067043e+02] [ 9.21481678e-01 3.87752542e-01 -2.27921678e-02 6.60921287e+01] [ 2.49774394e-02 -5.96256250e-04 9.99687837e-01 2.78830463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:66.12, Z:2.79 [[ 3.86756157e-01 -9.22126343e-01 -1.01332609e-02 1.16077687e+02] [ 9.21849906e-01 3.86888409e-01 -2.25856311e-02 6.61178557e+01] [ 2.47472466e-02 -6.06213684e-04 9.99693556e-01 2.78883332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:66.14, Z:2.79 [[ 3.85996641e-01 -9.22445121e-01 -1.00792877e-02 1.16090655e+02] [ 9.22171250e-01 3.86127725e-01 -2.24847797e-02 6.61419527e+01] [ 2.46328678e-02 -6.15779851e-04 9.99696375e-01 2.78896191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:66.17, Z:2.79 [[ 3.85133030e-01 -9.22803693e-01 -1.02904233e-02 1.16102510e+02] [ 9.22517818e-01 3.85269943e-01 -2.29770695e-02 6.61667058e+01] [ 2.51679154e-02 -6.43870462e-04 9.99683031e-01 2.78916582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:66.19, Z:2.79 [[ 3.84561277e-01 -9.23041932e-01 -1.03061044e-02 1.16114021e+02] [ 9.22754723e-01 3.84698800e-01 -2.30337651e-02 6.61901552e+01] [ 2.52258770e-02 -6.52112397e-04 9.99681564e-01 2.78951011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:66.22, Z:2.79 [[ 3.84219102e-01 -9.23186473e-01 -1.01201595e-02 1.16124475e+02] [ 9.22909053e-01 3.84351824e-01 -2.26396936e-02 6.62151832e+01] [ 2.47903606e-02 -6.41384053e-04 9.99692466e-01 2.79000162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:66.24, Z:2.79 [[ 3.85136954e-01 -9.22804086e-01 -1.01067462e-02 1.16132821e+02] [ 9.22526763e-01 3.85269062e-01 -2.26301163e-02 6.62425390e+01] [ 2.47769804e-02 -6.08049737e-04 9.99692819e-01 2.79111697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:66.27, Z:2.79 [[ 3.85793885e-01 -9.22528008e-01 -1.02543587e-02 1.16143320e+02] [ 9.22241932e-01 3.85929688e-01 -2.29803023e-02 6.62685601e+01] [ 2.51574340e-02 -5.91339508e-04 9.99683327e-01 2.79130114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:66.30, Z:2.79 [[ 3.87788352e-01 -9.21689435e-01 -1.04297667e-02 1.16152774e+02] [ 9.21392671e-01 3.87928211e-01 -2.33933623e-02 6.62951481e+01] [ 2.56074156e-02 -5.38237178e-04 9.99671931e-01 2.79120103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:66.32, Z:2.79 [[ 3.88605231e-01 -9.21343232e-01 -1.06123841e-02 1.16163528e+02] [ 9.21035322e-01 3.88749767e-01 -2.38234172e-02 6.63211076e+01] [ 2.60751060e-02 -5.16476112e-04 9.99659853e-01 2.79176828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:66.35, Z:2.79 [[ 3.89426278e-01 -9.20996226e-01 -1.06360370e-02 1.16173706e+02] [ 9.20686263e-01 3.89571194e-01 -2.38974779e-02 6.63458066e+01] [ 2.61529806e-02 -4.86147329e-04 9.99657834e-01 2.79221675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:66.37, Z:2.79 [[ 3.90419155e-01 -9.20575364e-01 -1.06716054e-02 1.16182798e+02] [ 9.20262560e-01 3.90564715e-01 -2.40004899e-02 6.63727947e+01] [ 2.62622123e-02 -4.50427934e-04 9.99654987e-01 2.79313704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:66.40, Z:2.79 [[ 3.93047310e-01 -9.19458530e-01 -1.04797162e-02 1.16190721e+02] [ 9.19155973e-01 3.93186828e-01 -2.35884759e-02 6.63989303e+01] [ 2.58091117e-02 -3.61106745e-04 9.99666824e-01 2.79315536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:66.42, Z:2.79 [[ 3.93865033e-01 -9.19109004e-01 -1.04391070e-02 1.16199981e+02] [ 9.18808148e-01 3.94003212e-01 -2.35171345e-02 6.64238567e+01] [ 2.57278518e-02 -3.28959601e-04 9.99668930e-01 2.79395976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:66.45, Z:2.80 [[ 3.95071478e-01 -9.18595665e-01 -1.00265745e-02 1.16208743e+02] [ 9.18317441e-01 3.95198594e-01 -2.26085808e-02 6.64493860e+01] [ 2.47306324e-02 -2.75572854e-04 9.99694113e-01 2.79632625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:66.47, Z:2.80 [[ 3.95131419e-01 -9.18571800e-01 -9.84942333e-03 1.16219080e+02] [ 9.18302828e-01 3.95254071e-01 -2.22291419e-02 6.64747812e+01] [ 2.43120876e-02 -2.61320916e-04 9.99704383e-01 2.79756298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:66.50, Z:2.80 [[ 3.95141498e-01 -9.18567338e-01 -9.86115519e-03 1.16229938e+02] [ 9.18297219e-01 3.95264445e-01 -2.22763698e-02 6.64983574e+01] [ 2.43601098e-02 -2.53153239e-04 9.99703216e-01 2.79797542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:66.52, Z:2.80 [[ 3.94446473e-01 -9.18866709e-01 -9.79545823e-03 1.16239178e+02] [ 9.18599763e-01 3.94567995e-01 -2.21488634e-02 6.65246296e+01] [ 2.42168276e-02 -2.61564543e-04 9.99706695e-01 2.79920739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:66.55, Z:2.80 [[ 3.93601090e-01 -9.19229328e-01 -9.77881162e-03 1.16249995e+02] [ 9.18962945e-01 3.93722449e-01 -2.21300513e-02 6.65507144e+01] [ 2.41927299e-02 -2.75953206e-04 9.99707275e-01 2.80010733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:66.58, Z:2.80 [[ 3.92618006e-01 -9.19651024e-01 -9.64861409e-03 1.16261532e+02] [ 9.19391366e-01 3.92736439e-01 -2.18541733e-02 6.65757049e+01] [ 2.38875752e-02 -2.90510527e-04 9.99714609e-01 2.80065040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:66.60, Z:2.80 [[ 3.92300987e-01 -9.19786378e-01 -9.64125436e-03 1.16272126e+02] [ 9.19526682e-01 3.92419334e-01 -2.18574199e-02 6.66002621e+01] [ 2.38875717e-02 -2.90703235e-04 9.99714609e-01 2.80119478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:66.63, Z:2.80 [[ 3.90274389e-01 -9.20650708e-01 -9.39016473e-03 1.16283194e+02] [ 9.20404164e-01 3.90387202e-01 -2.13074449e-02 6.66262953e+01] [ 2.32825144e-02 -3.26996668e-04 9.99728872e-01 2.80244382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.29, Y:66.65, Z:2.80 [[ 3.88756131e-01 -9.21292311e-01 -9.44187056e-03 1.16294625e+02] [ 9.21042796e-01 3.88870607e-01 -2.14433875e-02 6.66516518e+01] [ 2.34272940e-02 -3.60118503e-04 9.99725478e-01 2.80293625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:66.68, Z:2.80 [[ 3.86871610e-01 -9.22084080e-01 -9.55541496e-03 1.16306421e+02] [ 9.21828311e-01 3.86989385e-01 -2.17205255e-02 6.66758989e+01] [ 2.37259950e-02 -4.05397348e-04 9.99718417e-01 2.80291300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:66.70, Z:2.80 [[ 3.83779893e-01 -9.23374130e-01 -9.65453656e-03 1.16318479e+02] [ 9.23112948e-01 3.83901008e-01 -2.19658999e-02 6.67014614e+01] [ 2.39891300e-02 -4.82156987e-04 9.99712103e-01 2.80363333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:66.73, Z:2.80 [[ 3.81939153e-01 -9.24135766e-01 -9.77596656e-03 1.16330255e+02] [ 9.23867781e-01 3.82063877e-01 -2.22602219e-02 6.67257960e+01] [ 2.43065109e-02 -5.29650245e-04 9.99704413e-01 2.80394845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:66.75, Z:2.80 [[ 3.79905918e-01 -9.24972474e-01 -9.86998508e-03 1.16341266e+02] [ 9.24699216e-01 3.80033661e-01 -2.24894722e-02 6.67519743e+01] [ 2.45530693e-02 -5.82883905e-04 9.99698358e-01 2.80437682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:66.78, Z:2.80 [[ 3.76054783e-01 -9.26540876e-01 -1.02374181e-02 1.16353346e+02] [ 9.26246948e-01 3.76193449e-01 -2.33469495e-02 6.67767216e+01] [ 2.54831527e-02 -7.02645225e-04 9.99675005e-01 2.80319816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:66.80, Z:2.80 [[ 3.74186336e-01 -9.27294695e-01 -1.04467322e-02 1.16365960e+02] [ 9.26988371e-01 3.74331362e-01 -2.38451492e-02 6.68007584e+01] [ 2.60220198e-02 -7.61470267e-04 9.99661080e-01 2.80315757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:66.83, Z:2.80 [[ 3.70453950e-01 -9.28790447e-01 -1.05913582e-02 1.16379310e+02] [ 9.28475653e-01 3.70604301e-01 -2.41953378e-02 6.68254350e+01] [ 2.63976015e-02 -8.70559731e-04 9.99651144e-01 2.80335904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:66.85, Z:2.80 [[ 3.68501578e-01 -9.29563306e-01 -1.08925209e-02 1.16391121e+02] [ 9.29230129e-01 3.68661319e-01 -2.49037930e-02 6.68497172e+01] [ 2.71653032e-02 -9.44571619e-04 9.99630509e-01 2.80342351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:66.88, Z:2.80 [[ 3.66352390e-01 -9.30414738e-01 -1.06930216e-02 1.16403075e+02] [ 9.30093578e-01 3.66507092e-01 -2.44640103e-02 6.68750189e+01] [ 2.66807440e-02 -9.83062110e-04 9.99643522e-01 2.80374981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.42, Y:66.90, Z:2.80 [[ 3.64527193e-01 -9.31130194e-01 -1.07929348e-02 1.16415202e+02] [ 9.30802736e-01 3.64685462e-01 -2.47139632e-02 6.68990422e+01] [ 2.69479438e-02 -1.03718164e-03 9.99636300e-01 2.80417482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:66.92, Z:2.81 [[ 3.62196904e-01 -9.32039467e-01 -1.07626884e-02 1.16428564e+02] [ 9.31713655e-01 3.62355125e-01 -2.46663391e-02 6.69238403e+01] [ 2.68899168e-02 -1.09367214e-03 9.99637803e-01 2.80527820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:66.95, Z:2.81 [[ 3.61042526e-01 -9.32488420e-01 -1.06602102e-02 1.16439122e+02] [ 9.32168435e-01 3.61198167e-01 -2.44518364e-02 6.69500253e+01] [ 2.66515027e-02 -1.10895867e-03 9.99644171e-01 2.80632637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:66.97, Z:2.81 [[ 3.60335428e-01 -9.32764430e-01 -1.04354083e-02 1.16451251e+02] [ 9.32457369e-01 3.60484830e-01 -2.39570877e-02 6.69735041e+01] [ 2.61081256e-02 -1.09798595e-03 9.99658522e-01 2.80697173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.042755096 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:116.46, Y:67.00, Z:2.81 [[ 3.60008667e-01 -9.32890460e-01 -1.04474951e-02 1.16458739e+02] [ 9.32582125e-01 3.60158549e-01 -2.40083214e-02 6.70007837e+01] [ 2.61598887e-02 -1.09994343e-03 9.99657166e-01 2.80799508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:67.02, Z:2.81 [[ 3.61255114e-01 -9.32411421e-01 -1.01825243e-02 1.16473638e+02] [ 9.32117836e-01 3.61397120e-01 -2.34192604e-02 6.70235647e+01] [ 2.55163208e-02 -1.03098490e-03 9.99673874e-01 2.80818891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:67.05, Z:2.81 [[ 3.62231529e-01 -9.32034469e-01 -1.00034073e-02 1.16477960e+02] [ 9.31750500e-01 3.62368305e-01 -2.30264491e-02 6.70523306e+01] [ 2.50863620e-02 -9.79773861e-04 9.99684808e-01 2.80986384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:67.08, Z:2.81 [[ 3.64996628e-01 -9.30957667e-01 -9.76131388e-03 1.16486374e+02] [ 9.30686425e-01 3.65126078e-01 -2.24883283e-02 6.70782620e+01] [ 2.44997919e-02 -8.76558329e-04 9.99699451e-01 2.81086073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:67.11, Z:2.81 [[ 3.66809589e-01 -9.30248499e-01 -9.40506287e-03 1.16494797e+02] [ 9.29996050e-01 3.66929288e-01 -2.16851339e-02 6.71057869e+01] [ 2.36235562e-02 -7.92356273e-04 9.99720611e-01 2.81200830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:67.13, Z:2.81 [[ 3.68476065e-01 -9.29591160e-01 -9.25550895e-03 1.16504110e+02] [ 9.29346183e-01 3.68591558e-01 -2.13526440e-02 6.71325482e+01] [ 2.32607316e-02 -7.33633680e-04 9.99729163e-01 2.81307642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:67.16, Z:2.81 [[ 3.71274390e-01 -9.28479297e-01 -9.02902093e-03 1.16514095e+02] [ 9.28245439e-01 3.71383609e-01 -2.08475442e-02 6.71574516e+01] [ 2.27097436e-02 -6.40988239e-04 9.99741895e-01 2.81371823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:67.19, Z:2.81 [[ 3.72351033e-01 -9.28049069e-01 -8.92374028e-03 1.16521914e+02] [ 9.27820203e-01 3.72457463e-01 -2.06181510e-02 6.71851634e+01] [ 2.24583695e-02 -6.02436697e-04 9.99747598e-01 2.81494698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:67.21, Z:2.82 [[ 3.74436663e-01 -9.27209929e-01 -8.88443454e-03 1.16531093e+02] [ 9.26982457e-01 3.74541657e-01 -2.05443854e-02 6.72111484e+01] [ 2.23765490e-02 -5.43143836e-04 9.99749466e-01 2.81629345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:67.24, Z:2.82 [[ 3.74976059e-01 -9.26993685e-01 -8.69842158e-03 1.16541347e+02] [ 9.26775202e-01 3.75076585e-01 -2.01315646e-02 6.72367450e+01] [ 2.19244076e-02 -5.12626634e-04 9.99759500e-01 2.81674316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:67.26, Z:2.82 [[ 3.75167225e-01 -9.26915521e-01 -8.78469469e-03 1.16553350e+02] [ 9.26692263e-01 3.75269718e-01 -2.03491533e-02 6.72608851e+01] [ 2.21585759e-02 -5.06373241e-04 9.99754340e-01 2.81708494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:67.29, Z:2.82 [[ 3.74929538e-01 -9.27011668e-01 -8.78689376e-03 1.16560207e+02] [ 9.26787915e-01 3.75032148e-01 -2.03727218e-02 6.72889872e+01] [ 2.21811184e-02 -5.05251794e-04 9.99753841e-01 2.81680711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:67.31, Z:2.82 [[ 3.74314216e-01 -9.27259386e-01 -8.88249603e-03 1.16574962e+02] [ 9.27030393e-01 3.74419233e-01 -2.06128239e-02 6.73123728e+01] [ 2.24392118e-02 -5.18670764e-04 9.99748075e-01 2.81666302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:67.34, Z:2.82 [[ 3.73313086e-01 -9.27661369e-01 -9.04014758e-03 1.16585110e+02] [ 9.27423838e-01 3.73422130e-01 -2.09984945e-02 6.73376162e+01] [ 2.28552833e-02 -5.45035578e-04 9.99738635e-01 2.81668343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:67.36, Z:2.82 [[ 3.71094737e-01 -9.28548774e-01 -9.26664423e-03 1.16595954e+02] [ 9.28298987e-01 3.71209922e-01 -2.15449451e-02 6.73631535e+01] [ 2.34454027e-02 -6.07000708e-04 9.99724934e-01 2.81696268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:67.39, Z:2.82 [[ 3.69372687e-01 -9.29236556e-01 -9.12361203e-03 1.16607709e+02] [ 9.28994214e-01 3.69484804e-01 -2.12303950e-02 6.73885648e+01] [ 2.30990952e-02 -6.33854721e-04 9.99732979e-01 2.81733309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:67.41, Z:2.82 [[ 3.67951862e-01 -9.29798878e-01 -9.24515808e-03 1.16619672e+02] [ 9.29549773e-01 3.68067379e-01 -2.15319535e-02 6.74141142e+01] [ 2.34232273e-02 -6.71112228e-04 9.99725413e-01 2.81767789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:67.44, Z:2.82 [[ 3.64953639e-01 -9.30976250e-01 -9.59493812e-03 1.16634460e+02] [ 9.30707864e-01 3.65078940e-01 -2.23660155e-02 6.74368452e+01] [ 2.43251391e-02 -7.67525626e-04 9.99703805e-01 2.81751722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:67.46, Z:2.82 [[ 3.63383381e-01 -9.31590037e-01 -9.61877906e-03 1.16643576e+02] [ 9.31320116e-01 3.63509774e-01 -2.24384695e-02 6.74637494e+01] [ 2.43999748e-02 -8.04395531e-04 9.99701953e-01 2.81856276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:67.49, Z:2.82 [[ 3.61722409e-01 -9.32235102e-01 -9.72693611e-03 1.16655621e+02] [ 9.31958831e-01 3.61852168e-01 -2.27100477e-02 6.74890771e+01] [ 2.46908165e-02 -8.50370845e-04 9.99694774e-01 2.81905428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:67.51, Z:2.82 [[ 3.60235080e-01 -9.32808214e-01 -9.97614596e-03 1.16668514e+02] [ 9.32517320e-01 3.60372054e-01 -2.33116223e-02 6.75137440e+01] [ 2.53403970e-02 -9.05264746e-04 9.99678471e-01 2.81919581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:67.54, Z:2.82 [[ 3.57960079e-01 -9.33683620e-01 -9.97392134e-03 1.16685069e+02] [ 9.33392693e-01 3.58097719e-01 -2.33260482e-02 6.75358103e+01] [ 2.53507876e-02 -9.59791235e-04 9.99678156e-01 2.81884988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:67.56, Z:2.82 [[ 3.57138148e-01 -9.33997679e-01 -1.00338912e-02 1.16694641e+02] [ 9.33702816e-01 3.57277728e-01 -2.34878148e-02 6.75620010e+01] [ 2.55224504e-02 -9.80277780e-04 9.99673769e-01 2.81942787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:67.59, Z:2.82 [[ 3.56373487e-01 -9.34289916e-01 -1.00144985e-02 1.16704383e+02] [ 9.33995801e-01 3.56512788e-01 -2.34622125e-02 6.75883890e+01] [ 2.54908053e-02 -9.92189086e-04 9.99674564e-01 2.82073438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:67.61, Z:2.82 [[ 3.55984544e-01 -9.34438947e-01 -9.94278743e-03 1.16715438e+02] [ 9.34148559e-01 3.56121998e-01 -2.33150459e-02 6.76119834e+01] [ 2.53273323e-02 -9.88244585e-04 9.99678723e-01 2.82140271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:67.64, Z:2.82 [[ 3.55899168e-01 -9.34471594e-01 -9.93086545e-03 1.16725460e+02] [ 9.34181318e-01 3.56036343e-01 -2.33106878e-02 6.76370885e+01] [ 2.53189246e-02 -9.80974596e-04 9.99678943e-01 2.82240352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:67.66, Z:2.82 [[ 3.56765385e-01 -9.34143042e-01 -9.75895743e-03 1.16736094e+02] [ 9.33862075e-01 3.56897613e-01 -2.29285593e-02 6.76624091e+01] [ 2.49015027e-02 -9.33403947e-04 9.99689474e-01 2.82348582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.75, Y:67.69, Z:2.82 [[ 3.57697382e-01 -9.33787071e-01 -9.71030419e-03 1.16746044e+02] [ 9.33508288e-01 3.57828034e-01 -2.28336076e-02 6.76885963e+01] [ 2.47963466e-02 -8.97127790e-04 9.99692121e-01 2.82454947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:67.71, Z:2.83 [[ 3.59023310e-01 -9.33281090e-01 -9.41643409e-03 1.16755927e+02] [ 9.33018319e-01 3.59145817e-01 -2.21607391e-02 6.77140106e+01] [ 2.40640717e-02 -8.29483607e-04 9.99710074e-01 2.82600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:67.74, Z:2.83 [[ 3.61963605e-01 -9.32147196e-01 -9.16264097e-03 1.16762492e+02] [ 9.31897629e-01 3.62078826e-01 -2.15808420e-02 6.77413614e+01] [ 2.34341196e-02 -7.27164030e-04 9.99725119e-01 2.82830379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:67.77, Z:2.83 [[ 3.63262608e-01 -9.31641456e-01 -9.19103525e-03 1.16773897e+02] [ 9.31389729e-01 3.63378207e-01 -2.16668080e-02 6.77662160e+01] [ 2.35255185e-02 -6.89694660e-04 9.99722999e-01 2.82895200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:67.79, Z:2.83 [[ 3.65243210e-01 -9.30866895e-01 -9.17726433e-03 1.16780233e+02] [ 9.30615245e-01 3.65357941e-01 -2.16527211e-02 6.77942838e+01] [ 2.35087877e-02 -6.31992716e-04 9.99723431e-01 2.82987978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:67.82, Z:2.83 [[ 3.65963311e-01 -9.30581924e-01 -9.38819222e-03 1.16790322e+02] [ 9.30318021e-01 3.66083184e-01 -2.21694127e-02 6.78201054e+01] [ 2.40673140e-02 -6.20812742e-04 9.99710147e-01 2.83014131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:67.85, Z:2.83 [[ 3.66416384e-01 -9.30401658e-01 -9.58058510e-03 1.16800033e+02] [ 9.30126354e-01 3.66541097e-01 -2.26404484e-02 6.78454247e+01] [ 2.45763889e-02 -6.15323449e-04 9.99697766e-01 2.83000238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:67.87, Z:2.83 [[ 3.66314286e-01 -9.30440407e-01 -9.72072727e-03 1.16810519e+02] [ 9.30156438e-01 3.66442719e-01 -2.29942212e-02 6.78710337e+01] [ 2.49568422e-02 -6.18685343e-04 9.99688338e-01 2.83004745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:67.89, Z:2.83 [[ 3.65708808e-01 -9.30677530e-01 -9.81850443e-03 1.16821949e+02] [ 9.30387327e-01 3.65840040e-01 -2.32483693e-02 6.78944454e+01] [ 2.52287370e-02 -6.32878650e-04 9.99681504e-01 2.83095814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:67.92, Z:2.83 [[ 3.64849955e-01 -9.31014254e-01 -9.84728930e-03 1.16833331e+02] [ 9.30721878e-01 3.64982242e-01 -2.33398752e-02 6.79195819e+01] [ 2.53238422e-02 -6.49535158e-04 9.99679089e-01 2.83142179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:67.94, Z:2.83 [[ 3.63085642e-01 -9.31700179e-01 -1.01780384e-02 1.16846439e+02] [ 9.31387493e-01 3.63227571e-01 -2.41468272e-02 6.79438243e+01] [ 2.61945474e-02 -7.12331435e-04 9.99656610e-01 2.83131631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:67.97, Z:2.83 [[ 3.62100139e-01 -9.32082586e-01 -1.02734037e-02 1.16858500e+02] [ 9.31763600e-01 3.62245093e-01 -2.43943999e-02 6.79694799e+01] [ 2.64590854e-02 -7.39167978e-04 9.99649624e-01 2.83160321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:67.99, Z:2.83 [[ 3.61199696e-01 -9.32431073e-01 -1.03475915e-02 1.16869792e+02] [ 9.32107049e-01 3.61347079e-01 -2.45914228e-02 6.79939325e+01] [ 2.66688787e-02 -7.62648558e-04 9.99644031e-01 2.83192402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:68.02, Z:2.83 [[ 3.60343521e-01 -9.32762424e-01 -1.03347692e-02 1.16881306e+02] [ 9.32438746e-01 3.60490853e-01 -2.45831367e-02 6.80190226e+01] [ 2.66558160e-02 -7.78165144e-04 9.99644368e-01 2.83225372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:68.04, Z:2.83 [[ 3.59269489e-01 -9.33176023e-01 -1.03896338e-02 1.16893180e+02] [ 9.32848491e-01 3.59418783e-01 -2.47352246e-02 6.80435680e+01] [ 2.68165480e-02 -8.05342668e-04 9.99640047e-01 2.83247389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:68.07, Z:2.83 [[ 3.58550626e-01 -9.33450832e-01 -1.05353159e-02 1.16903921e+02] [ 9.33113544e-01 3.58704414e-01 -2.51049413e-02 6.80682363e+01] [ 2.72132926e-02 -8.29253509e-04 9.99629306e-01 2.83259590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:68.09, Z:2.83 [[ 3.57722956e-01 -9.33767059e-01 -1.06473983e-02 1.16915540e+02] [ 9.33422050e-01 3.57880359e-01 -2.53953850e-02 6.80919343e+01] [ 2.75238687e-02 -8.54004154e-04 9.99620782e-01 2.83236731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:68.12, Z:2.83 [[ 3.55989676e-01 -9.34426335e-01 -1.08983827e-02 1.16924609e+02] [ 9.34064485e-01 3.56155278e-01 -2.60183894e-02 6.81182042e+01] [ 2.81937848e-02 -9.17514171e-04 9.99602055e-01 2.83372760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:68.14, Z:2.83 [[ 3.55030410e-01 -9.34790435e-01 -1.09658589e-02 1.16936739e+02] [ 9.34423620e-01 3.55198467e-01 -2.62020561e-02 6.81432286e+01] [ 2.83884877e-02 -9.44230840e-04 9.99596520e-01 2.83433635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:68.17, Z:2.83 [[ 3.54710264e-01 -9.34912060e-01 -1.09575939e-02 1.16946866e+02] [ 9.34545196e-01 3.54878214e-01 -2.62055124e-02 6.81680004e+01] [ 2.83884610e-02 -9.45002546e-04 9.99596520e-01 2.83488117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:68.19, Z:2.84 [[ 3.53669988e-01 -9.35305006e-01 -1.10492416e-02 1.16958995e+02] [ 9.34931459e-01 3.53841199e-01 -2.64494601e-02 6.81935370e+01] [ 2.86479893e-02 -9.75903305e-04 9.99589086e-01 2.83526418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters Centerline goodness [0,1] 0.9999570677256627 Centerline is valid? [True, True] Translation: X:116.97, Y:68.22, Z:2.84 [[ 3.52205687e-01 -9.35857477e-01 -1.10425199e-02 1.16971116e+02] [ 9.35484008e-01 3.52377296e-01 -2.64558526e-02 6.82185358e+01] [ 2.86500408e-02 -1.01219906e-03 9.99588991e-01 2.83627189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:68.24, Z:2.84 [[ 3.51752625e-01 -9.36027216e-01 -1.10968950e-02 1.16980223e+02] [ 9.35649463e-01 3.51926134e-01 -2.66097550e-02 6.82439355e+01] [ 2.88127423e-02 -1.02275265e-03 9.99584304e-01 2.83760422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:68.27, Z:2.84 [[ 3.52082366e-01 -9.35907423e-01 -1.07378918e-02 1.16992385e+02] [ 9.35552972e-01 3.52244732e-01 -2.57737365e-02 6.82671441e+01] [ 2.79041972e-02 -9.71388472e-04 9.99610130e-01 2.83854255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:68.29, Z:2.84 [[ 3.52429930e-01 -9.35778397e-01 -1.05799747e-02 1.17002212e+02] [ 9.35433542e-01 3.52587452e-01 -2.54200290e-02 6.82915984e+01] [ 2.75178803e-02 -9.38084132e-04 9.99620871e-01 2.83935394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:68.32, Z:2.84 [[ 3.52903546e-01 -9.35600448e-01 -1.05303736e-02 1.17012308e+02] [ 9.35258077e-01 3.53059444e-01 -2.53250402e-02 6.83164206e+01] [ 2.74119669e-02 -9.11320459e-04 9.99623806e-01 2.84030519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:68.34, Z:2.84 [[ 3.53684777e-01 -9.35306127e-01 -1.04655219e-02 1.17020438e+02] [ 9.34967219e-01 3.53838498e-01 -2.51916133e-02 6.83437978e+01] [ 2.72649748e-02 -8.75029762e-04 9.99627858e-01 2.84203636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:68.37, Z:2.84 [[ 3.55647642e-01 -9.34560029e-01 -1.05974928e-02 1.17031863e+02] [ 9.34211590e-01 3.55804552e-01 -2.55308797e-02 6.83686673e+01] [ 2.76307758e-02 -8.20303444e-04 9.99617861e-01 2.84175176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:68.40, Z:2.84 [[ 3.56759137e-01 -9.34136994e-01 -1.05354174e-02 1.17037620e+02] [ 9.33791870e-01 3.56913821e-01 -2.54021095e-02 6.83965759e+01] [ 2.74892863e-02 -7.75452459e-04 9.99621797e-01 2.84302361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:68.42, Z:2.84 [[ 3.57751140e-01 -9.33758179e-01 -1.04778048e-02 1.17046799e+02] [ 9.33416102e-01 3.57903789e-01 -2.52835678e-02 6.84228090e+01] [ 2.73587842e-02 -7.34926498e-04 9.99625408e-01 2.84344923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.06, Y:68.45, Z:2.84 [[ 3.60263386e-01 -9.32791222e-01 -1.05275269e-02 1.17055661e+02] [ 9.32444975e-01 3.60416569e-01 -2.54217436e-02 6.84498097e+01] [ 2.75074744e-02 -6.57816124e-04 9.99621381e-01 2.84426833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:68.47, Z:2.84 [[ 3.61187287e-01 -9.32434069e-01 -1.05095485e-02 1.17066316e+02] [ 9.32088223e-01 3.61339620e-01 -2.54012549e-02 6.84740461e+01] [ 2.74825117e-02 -6.21216018e-04 9.99622091e-01 2.84492667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:68.50, Z:2.85 [[ 3.63208800e-01 -9.31650088e-01 -1.03673423e-02 1.17075601e+02] [ 9.31312561e-01 3.63356323e-01 -2.50817925e-02 6.85001641e+01] [ 2.71344935e-02 -5.45308357e-04 9.99631643e-01 2.84694468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:68.52, Z:2.85 [[ 3.63738005e-01 -9.31447297e-01 -1.00298308e-02 1.17085528e+02] [ 9.31130765e-01 3.63875910e-01 -2.42862243e-02 6.85242455e+01] [ 2.62709518e-02 -5.05261285e-04 9.99654731e-01 2.84784472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.09, Y:68.55, Z:2.85 [[ 3.63806071e-01 -9.31421338e-01 -9.97162896e-03 1.17093494e+02] [ 9.31107831e-01 3.63942370e-01 -2.41693762e-02 6.85499646e+01] [ 2.61409710e-02 -4.91696031e-04 9.99658146e-01 2.84943383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90275509600002 meters Centerline goodness [0,1] 0.9999571394895314 Centerline is valid? [True, True] Translation: X:117.10, Y:68.58, Z:2.85 [[ 3.63976086e-01 -9.31358531e-01 -9.62788572e-03 1.17104045e+02] [ 9.31065679e-01 3.64103108e-01 -2.33586628e-02 6.85755450e+01] [ 2.52608330e-02 -4.62199293e-04 9.99680787e-01 2.85033021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.11, Y:68.60, Z:2.85 [[ 3.64017891e-01 -9.31342496e-01 -9.59840321e-03 1.17114782e+02] [ 9.31050851e-01 3.64144135e-01 -2.33101419e-02 6.86010595e+01] [ 2.52049280e-02 -4.51292786e-04 9.99682203e-01 2.85104454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:68.63, Z:2.85 [[ 3.63316507e-01 -9.31616003e-01 -9.63005389e-03 1.17125876e+02] [ 9.31321940e-01 3.63443817e-01 -2.34101836e-02 6.86254781e+01] [ 2.53092852e-02 -4.63374333e-04 9.99679561e-01 2.85145589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:68.65, Z:2.85 [[ 3.62655361e-01 -9.31873337e-01 -9.65260866e-03 1.17136948e+02] [ 9.31577397e-01 3.62783488e-01 -2.34881589e-02 6.86507303e+01] [ 2.53897960e-02 -4.74045314e-04 9.99677515e-01 2.85178065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:68.67, Z:2.85 [[ 3.61530767e-01 -9.32306979e-01 -9.95995512e-03 1.17149297e+02] [ 9.31991421e-01 3.61667575e-01 -2.42601848e-02 6.86745316e+01] [ 2.62201324e-02 -5.11789492e-04 9.99656062e-01 2.85132636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:68.70, Z:2.85 [[ 3.60809189e-01 -9.32584581e-01 -1.01355463e-02 1.17159353e+02] [ 9.32257278e-01 3.60951127e-01 -2.47113474e-02 6.86995533e+01] [ 2.67038585e-02 -5.32855593e-04 9.99643246e-01 2.85169762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.17, Y:68.72, Z:2.85 [[ 3.59760282e-01 -9.32989645e-01 -1.01420525e-02 1.17170910e+02] [ 9.32661429e-01 3.59902785e-01 -2.47516400e-02 6.87243367e+01] [ 2.67431768e-02 -5.54444188e-04 9.99642184e-01 2.85182170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:68.75, Z:2.85 [[ 3.58773888e-01 -9.33367891e-01 -1.02799257e-02 1.17183637e+02] [ 9.33030205e-01 3.58920661e-01 -2.51116650e-02 6.87472766e+01] [ 2.71280995e-02 -5.82071521e-04 9.99631796e-01 2.85185643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:68.77, Z:2.85 [[ 3.58371595e-01 -9.33523504e-01 -1.01817401e-02 1.17192847e+02] [ 9.33191763e-01 3.58515733e-01 -2.48918218e-02 6.87731501e+01] [ 2.68874147e-02 -5.80994119e-04 9.99638299e-01 2.85328485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:68.80, Z:2.85 [[ 3.57520752e-01 -9.33847050e-01 -1.04211160e-02 1.17204195e+02] [ 9.33498969e-01 3.57672077e-01 -2.55021597e-02 6.87978021e+01] [ 2.75424588e-02 -6.10549706e-04 9.99620448e-01 2.85383117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:68.82, Z:2.85 [[ 3.57002913e-01 -9.34046960e-01 -1.02565514e-02 1.17213940e+02] [ 9.33709213e-01 3.57149699e-01 -2.51236353e-02 6.88237475e+01] [ 2.71297794e-02 -6.07425585e-04 9.99631735e-01 2.85487847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:68.85, Z:2.86 [[ 3.56605935e-01 -9.34196707e-01 -1.04268286e-02 1.17224420e+02] [ 9.33846999e-01 3.56757800e-01 -2.55666783e-02 6.88487586e+01] [ 2.76041591e-02 -6.19833347e-04 9.99618740e-01 2.85532308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:68.87, Z:2.86 [[ 3.56242894e-01 -9.34333504e-01 -1.05784588e-02 1.17235717e+02] [ 9.33972865e-01 3.56399364e-01 -2.59649969e-02 6.88734157e+01] [ 2.80301226e-02 -6.30147813e-04 9.99606880e-01 2.85623212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:68.90, Z:2.86 [[ 3.56460337e-01 -9.34253480e-01 -1.03181312e-02 1.17245113e+02] [ 9.33909657e-01 3.56609136e-01 -2.53510810e-02 6.88986043e+01] [ 2.73638755e-02 -5.99547544e-04 9.99625359e-01 2.85677118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:68.92, Z:2.86 [[ 3.57572126e-01 -9.33828193e-01 -1.03479929e-02 1.17254762e+02] [ 9.33481482e-01 3.57721391e-01 -2.54505357e-02 6.89229674e+01] [ 2.74681262e-02 -5.59257630e-04 9.99622523e-01 2.85760587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:68.95, Z:2.86 [[ 3.58267662e-01 -9.33565201e-01 -1.00148871e-02 1.17264481e+02] [ 9.33239680e-01 3.58407244e-01 -2.46565875e-02 6.89477748e+01] [ 2.66079402e-02 -5.12632114e-04 9.99645815e-01 2.85850588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:68.97, Z:2.86 [[ 3.58893410e-01 -9.33325552e-01 -9.94652326e-03 1.17273330e+02] [ 9.33003707e-01 3.59030891e-01 -2.45133100e-02 6.89731865e+01] [ 2.64500077e-02 -4.82477644e-04 9.99650021e-01 2.85988192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.28, Y:69.00, Z:2.86 [[ 3.61501812e-01 -9.32317304e-01 -1.00441482e-02 1.17281978e+02] [ 9.31988067e-01 3.61641095e-01 -2.47782454e-02 6.89996460e+01] [ 2.67335637e-02 -4.03645677e-04 9.99642513e-01 2.86122866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:69.03, Z:2.86 [[ 3.62911766e-01 -9.31769423e-01 -1.00395216e-02 1.17290779e+02] [ 9.31439670e-01 3.63050432e-01 -2.47896284e-02 6.90258508e+01] [ 2.67430704e-02 -3.54760807e-04 9.99642277e-01 2.86178412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:69.05, Z:2.86 [[ 3.64206258e-01 -9.31261771e-01 -1.02623427e-02 1.17299904e+02] [ 9.30916294e-01 3.64350675e-01 -2.53660891e-02 6.90508539e+01] [ 2.73615605e-02 -3.14893647e-04 9.99625553e-01 2.86196261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:69.08, Z:2.86 [[ 3.65894127e-01 -9.30600763e-01 -1.01836645e-02 1.17307907e+02] [ 9.30259600e-01 3.66035729e-01 -2.51976323e-02 6.90766209e+01] [ 2.71765209e-02 -2.53785932e-04 9.99630618e-01 2.86250700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.31, Y:69.10, Z:2.86 [[ 3.69462513e-01 -9.29190926e-01 -1.00833768e-02 1.17314135e+02] [ 9.28855252e-01 3.69600059e-01 -2.49743405e-02 6.91028687e+01] [ 2.69327472e-02 -1.38914937e-04 9.99637238e-01 2.86319125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:69.13, Z:2.86 [[ 3.71051897e-01 -9.28558037e-01 -1.00231017e-02 1.17322332e+02] [ 9.28225455e-01 3.71187238e-01 -2.48503318e-02 6.91291733e+01] [ 2.67954228e-02 -8.29354144e-05 9.99640935e-01 2.86367772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.33, Y:69.15, Z:2.86 [[ 3.73882317e-01 -9.27421642e-01 -1.00553480e-02 1.17329009e+02] [ 9.27085886e-01 3.74017509e-01 -2.49532017e-02 6.91548166e+01] [ 2.69030155e-02 7.38966579e-06 9.99638048e-01 2.86382262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:69.18, Z:2.86 [[ 3.74718847e-01 -9.27084661e-01 -9.99086710e-03 1.17338193e+02] [ 9.26752550e-01 3.74852012e-01 -2.48129154e-02 6.91801297e+01] [ 2.67487699e-02 3.88055002e-05 9.99642187e-01 2.86493985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:69.21, Z:2.87 [[ 3.75285332e-01 -9.26856509e-01 -9.89605931e-03 1.17348794e+02] [ 9.26529974e-01 3.75415781e-01 -2.46007738e-02 6.92066175e+01] [ 2.65165241e-02 6.33139740e-05 9.99648373e-01 2.86693224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:69.23, Z:2.87 [[ 3.76364127e-01 -9.26421441e-01 -9.66220100e-03 1.17357654e+02] [ 9.26109477e-01 3.76488120e-01 -2.40402084e-02 6.92324986e+01] [ 2.59090683e-02 9.96161137e-05 9.99664299e-01 2.86730215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:69.26, Z:2.87 [[ 3.76297356e-01 -9.26446995e-01 -9.81152337e-03 1.17368302e+02] [ 9.26124843e-01 3.76425232e-01 -2.44298899e-02 6.92584310e+01] [ 2.63263031e-02 1.06207447e-04 9.99653397e-01 2.86845729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:69.28, Z:2.87 [[ 3.75962957e-01 -9.26582941e-01 -9.79325303e-03 1.17378809e+02] [ 9.26261444e-01 3.76090471e-01 -2.44068700e-02 6.92847733e+01] [ 2.62981386e-02 1.04966347e-04 9.99654139e-01 2.86878617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:69.31, Z:2.87 [[ 3.74096618e-01 -9.27334775e-01 -1.00962825e-02 1.17390755e+02] [ 9.26992685e-01 3.74232830e-01 -2.51863318e-02 6.93092256e+01] [ 2.71345217e-02 6.29415433e-05 9.99631789e-01 2.86875658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:69.33, Z:2.87 [[ 3.72866246e-01 -9.27831372e-01 -9.98543358e-03 1.17401503e+02] [ 9.27496267e-01 3.72999926e-01 -2.49345297e-02 6.93332459e+01] [ 2.68596049e-02 3.57921083e-05 9.99639215e-01 2.86889044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:69.36, Z:2.87 [[ 3.71261775e-01 -9.28474614e-01 -9.97928777e-03 1.17413051e+02] [ 9.28139444e-01 3.71395870e-01 -2.49455412e-02 6.93574781e+01] [ 2.68675679e-02 -8.44704824e-07 9.99639002e-01 2.87043780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.43, Y:69.38, Z:2.87 [[ 3.68106819e-01 -9.29726565e-01 -1.02900023e-02 1.17427084e+02] [ 9.29369948e-01 3.68250604e-01 -2.57486362e-02 6.93824576e+01] [ 2.77284907e-02 -8.49703083e-05 9.99615488e-01 2.87069043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:69.41, Z:2.87 [[ 3.66559091e-01 -9.30334255e-01 -1.06116334e-02 1.17439531e+02] [ 9.29954531e-01 3.66712637e-01 -2.65784237e-02 6.94079867e+01] [ 2.86182381e-02 -1.25773750e-04 9.99590406e-01 2.87060876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:69.43, Z:2.87 [[ 3.64789302e-01 -9.31027780e-01 -1.07720957e-02 1.17451305e+02] [ 9.30636032e-01 3.64948274e-01 -2.70061669e-02 6.94329920e+01] [ 2.90747494e-02 -1.73339631e-04 9.99577225e-01 2.87067116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:69.46, Z:2.87 [[ 3.61692221e-01 -9.32230722e-01 -1.11632277e-02 1.17463296e+02] [ 9.31809704e-01 3.61864351e-01 -2.80154946e-02 6.94576227e+01] [ 3.01564789e-02 -2.69017451e-04 9.99545154e-01 2.87002235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:69.48, Z:2.87 [[ 3.59837339e-01 -9.32946752e-01 -1.12892107e-02 1.17474339e+02] [ 9.32515677e-01 3.60014240e-01 -2.83594618e-02 6.94824883e+01] [ 3.05221444e-02 -3.22572695e-04 9.99534039e-01 2.86986135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:69.51, Z:2.87 [[ 3.59934510e-01 -9.32912702e-01 -1.10018138e-02 1.17481801e+02] [ 9.32502472e-01 3.60102486e-01 -2.76647612e-02 6.95084062e+01] [ 2.97705876e-02 -3.01716251e-04 9.99556712e-01 2.87118748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:69.53, Z:2.87 [[ 3.59229737e-01 -9.33183903e-01 -1.10362750e-02 1.17490814e+02] [ 9.32770384e-01 3.59399087e-01 -2.77796171e-02 6.95328094e+01] [ 2.98899186e-02 -3.15045920e-04 9.99553147e-01 2.87179626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.072755096 meters Centerline goodness [0,1] 0.9999784264233167 Centerline is valid? [True, True] Translation: X:117.50, Y:69.56, Z:2.87 [[ 3.57903959e-01 -9.33691539e-01 -1.11743653e-02 1.17502066e+02] [ 9.33266955e-01 3.58078185e-01 -2.81567703e-02 6.95562021e+01] [ 3.02910347e-02 -3.51246324e-04 9.99541060e-01 2.87201003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:69.58, Z:2.87 [[ 3.56438719e-01 -9.34251046e-01 -1.12437618e-02 1.17513056e+02] [ 9.33820629e-01 3.56615800e-01 -2.83584898e-02 6.95805944e+01] [ 3.05036519e-02 -3.91592887e-04 9.99534579e-01 2.87241816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:69.61, Z:2.87 [[ 3.54128059e-01 -9.35129904e-01 -1.11973254e-02 1.17524950e+02] [ 9.34702777e-01 3.54304746e-01 -2.82642231e-02 6.96053334e+01] [ 3.03979858e-02 -4.57016667e-04 9.99537770e-01 2.87285677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:69.63, Z:2.87 [[ 3.52539671e-01 -9.35731335e-01 -1.10747173e-02 1.17535679e+02] [ 9.35313031e-01 3.52713233e-01 -2.79805215e-02 6.96300379e+01] [ 3.00884501e-02 -4.94083592e-04 9.99547118e-01 2.87353991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:69.66, Z:2.88 [[ 3.51431255e-01 -9.36151254e-01 -1.08121263e-02 1.17543149e+02] [ 9.35751977e-01 3.51597172e-01 -2.73434899e-02 6.96561909e+01] [ 2.93991554e-02 -5.08111587e-04 9.99567622e-01 2.87615012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:69.68, Z:2.88 [[ 3.50599926e-01 -9.36469655e-01 -1.02115921e-02 1.17552620e+02] [ 9.36112917e-01 3.50748256e-01 -2.58508797e-02 6.96802549e+01] [ 2.77902625e-02 -4.95886748e-04 9.99613653e-01 2.87773675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:69.71, Z:2.88 [[ 3.50556168e-01 -9.36488643e-01 -9.96970526e-03 1.17559194e+02] [ 9.36147890e-01 3.50697584e-01 -2.52652559e-02 6.97069439e+01] [ 2.71569767e-02 -4.76227257e-04 9.99631068e-01 2.88041018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:69.73, Z:2.88 [[ 3.51322985e-01 -9.36204831e-01 -9.62679987e-03 1.17569586e+02] [ 9.35886397e-01 3.51454591e-01 -2.44197208e-02 6.97307421e+01] [ 2.62452436e-02 -4.30381853e-04 9.99655442e-01 2.88151551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:69.76, Z:2.88 [[ 3.51834018e-01 -9.36014979e-01 -9.42244122e-03 1.17578638e+02] [ 9.35709351e-01 3.51959938e-01 -2.39209768e-02 6.97560374e+01] [ 2.57067144e-02 -4.00452994e-04 9.99669448e-01 2.88272313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:69.78, Z:2.88 [[ 3.52345646e-01 -9.35823528e-01 -9.32046407e-03 1.17585549e+02] [ 9.35523837e-01 3.52468701e-01 -2.36847259e-02 6.97822190e+01] [ 2.54498956e-02 -3.74306281e-04 9.99676029e-01 2.88425216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:69.81, Z:2.88 [[ 3.52023816e-01 -9.35944717e-01 -9.31231582e-03 1.17595134e+02] [ 9.35644984e-01 3.52146768e-01 -2.36879295e-02 6.98071916e+01] [ 2.54498944e-02 -3.74306263e-04 9.99676029e-01 2.88479649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:69.83, Z:2.89 [[ 3.53810132e-01 -9.35272690e-01 -9.13158582e-03 1.17600938e+02] [ 9.34983673e-01 3.53927815e-01 -2.32515331e-02 6.98335473e+01] [ 2.49784461e-02 -3.11255671e-04 9.99687941e-01 2.88546032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:69.86, Z:2.89 [[ 3.54669954e-01 -9.34946282e-01 -9.20184068e-03 1.17608482e+02] [ 9.34652067e-01 3.54789192e-01 -2.34551269e-02 6.98597722e+01] [ 2.51939973e-02 -2.81690624e-04 9.99682541e-01 2.88586138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:69.89, Z:2.89 [[ 3.55330977e-01 -9.34693916e-01 -9.33699899e-03 1.17616312e+02] [ 9.34390293e-01 3.55453535e-01 -2.38236229e-02 6.98861267e+01] [ 2.55866647e-02 -2.59130026e-04 9.99672574e-01 2.88589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:69.91, Z:2.89 [[ 3.55498672e-01 -9.34630285e-01 -9.32339481e-03 1.17625005e+02] [ 9.34326919e-01 3.55620824e-01 -2.38125404e-02 6.99124618e+01] [ 2.55715148e-02 -2.45772258e-04 9.99672965e-01 2.88605727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:69.94, Z:2.89 [[ 3.55050125e-01 -9.34801432e-01 -9.25695888e-03 1.17634461e+02] [ 9.34501835e-01 3.55170693e-01 -2.36664278e-02 6.99368837e+01] [ 2.54112111e-02 -2.47876908e-04 9.99677052e-01 2.88658782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:69.96, Z:2.89 [[ 3.53907093e-01 -9.35235091e-01 -9.22459416e-03 1.17644749e+02] [ 9.34937115e-01 3.54027190e-01 -2.36080643e-02 6.99623848e+01] [ 2.53448474e-02 -2.69354015e-04 9.99678731e-01 2.88801157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:69.99, Z:2.89 [[ 3.51469625e-01 -9.36157073e-01 -8.89033015e-03 1.17656680e+02] [ 9.35880051e-01 3.51581905e-01 -2.27748448e-02 6.99869361e+01] [ 2.44465112e-02 -3.15616478e-04 9.99701090e-01 2.88960545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:70.01, Z:2.89 [[ 3.50059709e-01 -9.36686339e-01 -8.76943767e-03 1.17665490e+02] [ 9.36416448e-01 3.50169370e-01 -2.24866115e-02 7.00126048e+01] [ 2.41336902e-02 -3.40189006e-04 9.99708682e-01 2.89078268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:70.04, Z:2.89 [[ 3.47213262e-01 -9.37745240e-01 -8.76443094e-03 1.17676913e+02] [ 9.37475441e-01 3.47323625e-01 -2.24965957e-02 7.00386564e+01] [ 2.41401695e-02 -4.05322385e-04 9.99708501e-01 2.89114925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:70.06, Z:2.89 [[ 3.45763685e-01 -9.38279863e-01 -8.85281741e-03 1.17687993e+02] [ 9.38004268e-01 3.45876719e-01 -2.27439934e-02 7.00634634e+01] [ 2.44022145e-02 -4.39933514e-04 9.99702125e-01 2.89123027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:70.09, Z:2.89 [[ 3.44424909e-01 -9.38772592e-01 -8.80351646e-03 1.17697790e+02] [ 9.38499823e-01 3.44537084e-01 -2.26336172e-02 7.00893780e+01] [ 2.42809574e-02 -4.66517074e-04 9.99705065e-01 2.89181143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.71, Y:70.11, Z:2.89 [[ 3.43033383e-01 -9.39281567e-01 -8.84514993e-03 1.17709345e+02] [ 9.39005849e-01 3.43147041e-01 -2.27623215e-02 7.01140080e+01] [ 2.44154160e-02 -4.97411360e-04 9.99701776e-01 2.89223738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:70.14, Z:2.89 [[ 3.40146156e-01 -9.40330696e-01 -8.87551703e-03 1.17721290e+02] [ 9.40052885e-01 3.40261460e-01 -2.28628876e-02 7.01393511e+01] [ 2.45186714e-02 -5.66732058e-04 9.99699212e-01 2.89316166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:70.17, Z:2.89 [[ 3.38695714e-01 -9.40854467e-01 -8.83652254e-03 1.17730334e+02] [ 9.40578756e-01 3.38810445e-01 -2.27834484e-02 7.01658159e+01] [ 2.44298153e-02 -5.94789050e-04 9.99701371e-01 2.89415350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:70.19, Z:2.89 [[ 3.37476396e-01 -9.41292048e-01 -8.88605149e-03 1.17740943e+02] [ 9.41012843e-01 3.37592791e-01 -2.29333022e-02 7.01904400e+01] [ 2.45868019e-02 -6.22440425e-04 9.99697505e-01 2.89455689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:70.22, Z:2.90 [[ 3.35980307e-01 -9.41828602e-01 -8.72453528e-03 1.17749372e+02] [ 9.41559101e-01 3.36092951e-01 -2.25385864e-02 7.02172408e+01] [ 2.41597401e-02 -6.42144417e-04 9.99707905e-01 2.89596359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:70.24, Z:2.90 [[ 3.35421959e-01 -9.42027149e-01 -8.77267449e-03 1.17761788e+02] [ 9.41754194e-01 3.35536025e-01 -2.26850867e-02 7.02418389e+01] [ 2.43135159e-02 -6.52626772e-04 9.99704170e-01 2.89643825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:70.27, Z:2.90 [[ 3.34288825e-01 -9.42429740e-01 -8.78450854e-03 1.17771070e+02] [ 9.42155657e-01 3.34403543e-01 -2.27373947e-02 7.02666940e+01] [ 2.43659677e-02 -6.75517476e-04 9.99702878e-01 2.89696762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:70.29, Z:2.90 [[ 3.33655762e-01 -9.42654429e-01 -8.74411366e-03 1.17777855e+02] [ 9.42382562e-01 3.33769621e-01 -2.26483307e-02 7.02942555e+01] [ 2.42680688e-02 -6.83554186e-04 9.99705253e-01 2.89788411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:70.32, Z:2.90 [[ 3.33049691e-01 -9.42868948e-01 -8.72064670e-03 1.17790783e+02] [ 9.42598083e-01 3.33163129e-01 -2.26093709e-02 7.03185202e+01] [ 2.42230717e-02 -6.90020878e-04 9.99706340e-01 2.89808104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:70.35, Z:2.90 [[ 3.32834920e-01 -9.42946551e-01 -8.52748101e-03 1.17796145e+02] [ 9.42687063e-01 3.32943462e-01 -2.21303387e-02 7.03462940e+01] [ 2.37068956e-02 -6.72996508e-04 9.99718726e-01 2.89969104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:70.37, Z:2.90 [[ 3.32908228e-01 -9.42922983e-01 -8.26799767e-03 1.17808652e+02] [ 9.42678595e-01 3.33010259e-01 -2.14763525e-02 7.03701095e+01] [ 2.30038744e-02 -6.44409978e-04 9.99735168e-01 2.89990804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.81, Y:70.40, Z:2.90 [[ 3.32526855e-01 -9.43056656e-01 -8.36865060e-03 1.17814699e+02] [ 9.42805943e-01 3.32631497e-01 -2.17541216e-02 7.03971013e+01] [ 2.32990459e-02 -6.56183899e-04 9.99728325e-01 2.90078345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:70.42, Z:2.90 [[ 3.32556440e-01 -9.43048105e-01 -8.15393310e-03 1.17824557e+02] [ 9.42809594e-01 3.32655788e-01 -2.12178449e-02 7.04214590e+01] [ 2.27219014e-02 -6.31475406e-04 9.99741625e-01 2.90200224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:70.45, Z:2.90 [[ 3.32417288e-01 -9.43097876e-01 -8.07112287e-03 1.17833363e+02] [ 9.42863688e-01 3.32514678e-01 -2.10251109e-02 7.04467359e+01] [ 2.25125042e-02 -6.20858339e-04 9.99746369e-01 2.90299696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:70.47, Z:2.90 [[ 3.32742941e-01 -9.42983186e-01 -8.05270750e-03 1.17841186e+02] [ 9.42749544e-01 3.32839820e-01 -2.09988386e-02 7.04731157e+01] [ 2.24818134e-02 -6.04471014e-04 9.99747069e-01 2.90364829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:70.50, Z:2.90 [[ 3.34248200e-01 -9.42451986e-01 -7.89901183e-03 1.17848676e+02] [ 9.42226564e-01 3.34341069e-01 -2.06192177e-02 7.04999446e+01] [ 2.20735867e-02 -5.50722377e-04 9.99756197e-01 2.90421412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:70.53, Z:2.90 [[ 3.34802921e-01 -9.42257033e-01 -7.66080751e-03 1.17856281e+02] [ 9.42044564e-01 3.34890159e-01 -2.00155246e-02 7.05267569e+01] [ 2.14252979e-02 -5.15565951e-04 9.99770319e-01 2.90483193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:70.55, Z:2.91 [[ 3.36337395e-01 -9.41710205e-01 -7.68415355e-03 1.17863877e+02] [ 9.41495884e-01 3.36424825e-01 -2.00957196e-02 7.05532310e+01] [ 2.15094842e-02 -4.75656958e-04 9.99768531e-01 2.90534526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:70.58, Z:2.91 [[ 3.36779131e-01 -9.41552788e-01 -7.62659646e-03 1.17872334e+02] [ 9.41341220e-01 3.36865166e-01 -1.99641383e-02 7.05778233e+01] [ 2.13664247e-02 -4.55724481e-04 9.99771608e-01 2.90541021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:70.60, Z:2.91 [[ 3.37069829e-01 -9.41447347e-01 -7.79891282e-03 1.17881077e+02] [ 9.41225575e-01 3.37159738e-01 -2.04383913e-02 7.06033605e+01] [ 2.18711487e-02 -4.51371117e-04 9.99760696e-01 2.90528815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:70.63, Z:2.91 [[ 3.37188860e-01 -9.41403453e-01 -7.95051478e-03 1.17890258e+02] [ 9.41172464e-01 3.37282279e-01 -2.08580376e-02 7.06287928e+01] [ 2.23173964e-02 -4.49707661e-04 9.99750835e-01 2.90518011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:70.65, Z:2.91 [[ 3.36309190e-01 -9.41716500e-01 -8.13403046e-03 1.17899818e+02] [ 9.41474290e-01 3.36407208e-01 -2.13623768e-02 7.06546829e+01] [ 2.28536492e-02 -4.73616925e-04 9.99738709e-01 2.90514816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:70.68, Z:2.91 [[ 3.35425116e-01 -9.42032616e-01 -8.03379415e-03 1.17910566e+02] [ 9.41795926e-01 3.35520965e-01 -2.11214284e-02 7.06788155e+01] [ 2.25925809e-02 -4.81537022e-04 9.99744639e-01 2.90507844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:70.70, Z:2.91 [[ 3.34407321e-01 -9.42393650e-01 -8.12107489e-03 1.17921031e+02] [ 9.42151350e-01 3.34505538e-01 -2.13747104e-02 7.07044541e+01] [ 2.28599359e-02 -5.03422038e-04 9.99738551e-01 2.90569850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:70.73, Z:2.91 [[ 3.32251339e-01 -9.43154380e-01 -8.29835542e-03 1.17932411e+02] [ 9.42901104e-01 3.32354481e-01 -2.18633613e-02 7.07285791e+01] [ 2.33785206e-02 -5.60397418e-04 9.99726528e-01 2.90591129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:70.75, Z:2.91 [[ 3.30643126e-01 -9.43719554e-01 -8.27804791e-03 1.17943452e+02] [ 9.43467308e-01 3.30746203e-01 -2.18262942e-02 7.07545307e+01] [ 2.33358336e-02 -5.93353438e-04 9.99727506e-01 2.90677436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:70.78, Z:2.91 [[ 3.27373869e-01 -9.44859547e-01 -8.17229945e-03 1.17954203e+02] [ 9.44613613e-01 3.27475193e-01 -2.15666428e-02 7.07800914e+01] [ 2.30536736e-02 -6.59310017e-04 9.99734011e-01 2.90743475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:70.81, Z:2.91 [[ 3.25968626e-01 -9.45344084e-01 -8.30774750e-03 1.17965444e+02] [ 9.45089580e-01 3.26073729e-01 -2.19456121e-02 7.08059985e+01] [ 2.34550927e-02 -6.97984577e-04 9.99724648e-01 2.90794767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:70.83, Z:2.91 [[ 3.24514853e-01 -9.45842388e-01 -8.50218208e-03 1.17973511e+02] [ 9.45575492e-01 3.24625358e-01 -2.24803647e-02 7.08329374e+01] [ 2.40229058e-02 -7.44242752e-04 9.99711131e-01 2.90875322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:70.86, Z:2.91 [[ 3.22761378e-01 -9.46440524e-01 -8.68491131e-03 1.17986494e+02] [ 9.46161705e-01 3.22877217e-01 -2.29854395e-02 7.08563999e+01] [ 2.45585114e-02 -7.98518359e-04 9.99698075e-01 2.90894527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:70.88, Z:2.91 [[ 3.19648844e-01 -9.47495572e-01 -8.76110043e-03 1.17996713e+02] [ 9.47211776e-01 3.19767672e-01 -2.32053330e-02 7.08824752e+01] [ 2.47884670e-02 -8.81059608e-04 9.99692330e-01 2.90937741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:70.91, Z:2.91 [[ 3.18195414e-01 -9.47985427e-01 -8.67805260e-03 1.18007751e+02] [ 9.47706632e-01 3.18312446e-01 -2.30071062e-02 7.09086276e+01] [ 2.45727335e-02 -9.03492329e-04 9.99697637e-01 2.90965838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:70.94, Z:2.91 [[ 3.16313067e-01 -9.48613869e-01 -8.81873997e-03 1.18017119e+02] [ 9.48325636e-01 3.16434518e-01 -2.34026529e-02 7.09352489e+01] [ 2.49906348e-02 -9.60472266e-04 9.99687224e-01 2.91127853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:70.96, Z:2.91 [[ 3.15811750e-01 -9.48780425e-01 -8.86813360e-03 1.18031006e+02] [ 9.48488430e-01 3.15934742e-01 -2.35571067e-02 7.09586928e+01] [ 2.51522732e-02 -9.71711021e-04 9.99683159e-01 2.91133710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:70.98, Z:2.91 [[ 3.15357491e-01 -9.48932150e-01 -8.79932260e-03 1.18041825e+02] [ 9.48644125e-01 3.15478743e-01 -2.33984533e-02 7.09831224e+01] [ 2.49795439e-02 -9.68548135e-04 9.99687493e-01 2.91202373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:71.01, Z:2.91 [[ 3.15939791e-01 -9.48738821e-01 -8.75771525e-03 1.18047490e+02] [ 9.48452830e-01 3.16059747e-01 -2.33123563e-02 7.10113868e+01] [ 2.48852987e-02 -9.40978816e-04 9.99689870e-01 2.91345050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:71.04, Z:2.91 [[ 3.16733159e-01 -9.48475960e-01 -8.57087981e-03 1.18056223e+02] [ 9.48201449e-01 3.16847841e-01 -2.28354515e-02 7.10373480e+01] [ 2.43745416e-02 -8.94175947e-04 9.99702497e-01 2.91413363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:71.06, Z:2.91 [[ 3.18978911e-01 -9.47724289e-01 -8.43363325e-03 1.18064836e+02] [ 9.47457852e-01 3.19089333e-01 -2.24859272e-02 7.10627095e+01] [ 2.40015418e-02 -8.17975466e-04 9.99711587e-01 2.91478139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:71.09, Z:2.92 [[ 3.19832201e-01 -9.47437115e-01 -8.38309668e-03 1.18071886e+02] [ 9.47173286e-01 3.19941083e-01 -2.23711748e-02 7.10901084e+01] [ 2.38773783e-02 -7.85223163e-04 9.99714586e-01 2.91585595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:71.12, Z:2.92 [[ 3.20808946e-01 -9.47108247e-01 -8.22124795e-03 1.18078691e+02] [ 9.46853917e-01 3.20913418e-01 -2.19599212e-02 7.11177974e+01] [ 2.34367312e-02 -7.39381662e-04 9.99725049e-01 2.91718189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:71.14, Z:2.92 [[ 3.21769243e-01 -9.46784033e-01 -8.03428140e-03 1.18088617e+02] [ 9.46540562e-01 3.21868787e-01 -2.14813700e-02 7.11427670e+01] [ 2.29242025e-02 -6.92729062e-04 9.99736966e-01 2.91784562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:71.17, Z:2.92 [[ 3.23959564e-01 -9.46038363e-01 -7.84957247e-03 1.18096466e+02] [ 9.45805286e-01 3.24054058e-01 -2.10077972e-02 7.11694755e+01] [ 2.24178679e-02 -6.18490305e-04 9.99748497e-01 2.91900528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:71.19, Z:2.92 [[ 3.24725065e-01 -9.45776562e-01 -7.76705037e-03 1.18106618e+02] [ 9.45547835e-01 3.24817409e-01 -2.08072719e-02 7.11935274e+01] [ 2.22019033e-02 -5.87474950e-04 9.99753335e-01 2.91981020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:71.22, Z:2.92 [[ 3.26557531e-01 -9.45148903e-01 -7.33006502e-03 1.18113471e+02] [ 9.44944589e-01 3.26639394e-01 -1.96578076e-02 7.12206874e+01] [ 2.09738433e-02 -5.07100158e-04 9.99779896e-01 2.92132809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:71.25, Z:2.92 [[ 3.27268850e-01 -9.44903342e-01 -7.26461409e-03 1.18122260e+02] [ 9.44702216e-01 3.27349116e-01 -1.95007587e-02 7.12451750e+01] [ 2.08043971e-02 -4.80906152e-04 9.99783449e-01 2.92204944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:71.27, Z:2.92 [[ 3.27681566e-01 -9.44760600e-01 -7.22493907e-03 1.18131634e+02] [ 9.44561299e-01 3.27760878e-01 -1.94102971e-02 7.12706044e+01] [ 2.07061363e-02 -4.64001303e-04 9.99785497e-01 2.92259022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:71.30, Z:2.92 [[ 3.28896953e-01 -9.44336991e-01 -7.37847224e-03 1.18141062e+02] [ 9.44128572e-01 3.28979413e-01 -1.98440348e-02 7.12971911e+01] [ 2.11668216e-02 -4.39583881e-04 9.99775861e-01 2.92248753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:71.32, Z:2.92 [[ 3.29014717e-01 -9.44296100e-01 -7.36146559e-03 1.18149622e+02] [ 9.44088237e-01 3.29096780e-01 -1.98169061e-02 7.13227745e+01] [ 2.11356617e-02 -4.29819325e-04 9.99776525e-01 2.92298701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:71.35, Z:2.92 [[ 3.28819219e-01 -9.44364879e-01 -7.27304082e-03 1.18159032e+02] [ 9.44161565e-01 3.28899373e-01 -1.95995352e-02 7.13475109e+01] [ 2.09012113e-02 -4.22221728e-04 9.99781457e-01 2.92306298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:71.37, Z:2.92 [[ 3.28362060e-01 -9.44524628e-01 -7.18218068e-03 1.18168697e+02] [ 9.44325960e-01 3.28440329e-01 -1.93760513e-02 7.13715738e+01] [ 2.06600755e-02 -4.19959534e-04 9.99786470e-01 2.92347173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:71.40, Z:2.92 [[ 3.27596738e-01 -9.44788209e-01 -7.45765667e-03 1.18179873e+02] [ 9.44573583e-01 3.27681310e-01 -2.01421456e-02 7.13966774e+01] [ 2.14737964e-02 -4.45804266e-04 9.99769312e-01 2.92311684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:71.42, Z:2.92 [[ 3.27279310e-01 -9.44898269e-01 -7.45088361e-03 1.18188942e+02] [ 9.44683614e-01 3.27363809e-01 -2.01446508e-02 7.14218396e+01] [ 2.14737953e-02 -4.45800237e-04 9.99769312e-01 2.92366124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:71.45, Z:2.92 [[ 3.26557724e-01 -9.45147429e-01 -7.50933437e-03 1.18199596e+02] [ 9.44929000e-01 3.26643730e-01 -2.03238389e-02 7.14473887e+01] [ 2.16619011e-02 -4.58881234e-04 9.99765248e-01 2.92344467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:71.47, Z:2.92 [[ 3.24542267e-01 -9.45839716e-01 -7.71670540e-03 1.18210848e+02] [ 9.45608760e-01 3.24633592e-01 -2.09070517e-02 7.14727456e+01] [ 2.22798217e-02 -5.11762254e-04 9.99751643e-01 2.92373828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:71.50, Z:2.92 [[ 3.23274377e-01 -9.46274735e-01 -7.60287367e-03 1.18222362e+02] [ 9.46050233e-01 3.23363338e-01 -2.06181708e-02 7.14987631e+01] [ 2.19689447e-02 -5.27374104e-04 9.99758515e-01 2.92460403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:71.52, Z:2.93 [[ 3.22079547e-01 -9.46681756e-01 -7.64323179e-03 1.18232215e+02] [ 9.46454535e-01 3.22169752e-01 -2.07476227e-02 7.15249114e+01] [ 2.21038140e-02 -5.51586479e-04 9.99755529e-01 2.92512933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:71.55, Z:2.93 [[ 3.20005565e-01 -9.47386019e-01 -7.49460480e-03 1.18244003e+02] [ 9.47167317e-01 3.20092786e-01 -2.03637579e-02 7.15507747e+01] [ 2.16913085e-02 -5.82128859e-04 9.99764546e-01 2.92540823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:71.57, Z:2.93 [[ 3.18516295e-01 -9.47887376e-01 -7.54265747e-03 1.18259284e+02] [ 9.47665557e-01 3.18604999e-01 -2.05145590e-02 7.15737727e+01] [ 2.18486199e-02 -6.13695375e-04 9.99761102e-01 2.92587681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:71.60, Z:2.93 [[ 3.17494075e-01 -9.48230966e-01 -7.45303754e-03 1.18269138e+02] [ 9.48014034e-01 3.17580930e-01 -2.02914679e-02 7.15991034e+01] [ 2.16079408e-02 -6.23163368e-04 9.99766327e-01 2.92649713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:71.63, Z:2.93 [[ 3.15576936e-01 -9.48871430e-01 -7.36250815e-03 1.18278684e+02] [ 9.48659482e-01 3.15662135e-01 -2.00649802e-02 7.16252518e+01] [ 2.13631515e-02 -6.52468191e-04 9.99771569e-01 2.92750687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:71.65, Z:2.93 [[ 3.14674251e-01 -9.49171488e-01 -7.32140143e-03 1.18289095e+02] [ 9.48961572e-01 3.14758713e-01 -1.99721404e-02 7.16507212e+01] [ 2.12614611e-02 -6.63010285e-04 9.99773730e-01 2.92787908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:71.68, Z:2.93 [[ 3.13937160e-01 -9.49417074e-01 -7.11891213e-03 1.18297967e+02] [ 9.49218249e-01 3.14017183e-01 -1.94402846e-02 7.16765131e+01] [ 2.06923989e-02 -6.54373560e-04 9.99785675e-01 2.92827020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:71.70, Z:2.93 [[ 3.13697506e-01 -9.49497318e-01 -6.97988216e-03 1.18307207e+02] [ 9.49305780e-01 3.13774495e-01 -1.90814538e-02 7.17031625e+01] [ 2.03078982e-02 -6.40238013e-04 9.99793568e-01 2.92913693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:71.73, Z:2.93 [[ 3.14112396e-01 -9.49359781e-01 -7.02919663e-03 1.18317334e+02] [ 9.49165095e-01 3.14190405e-01 -1.92357125e-02 7.17270401e+01] [ 2.04701179e-02 -6.29692354e-04 9.99790267e-01 2.93013778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:71.75, Z:2.93 [[ 3.15610565e-01 -9.48863581e-01 -6.91923485e-03 1.18326801e+02] [ 9.48674491e-01 3.15685864e-01 -1.89511180e-02 7.17528956e+01] [ 2.01663303e-02 -5.82928562e-04 9.99796469e-01 2.93113009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:71.78, Z:2.93 [[ 3.16504984e-01 -9.48565182e-01 -6.97789310e-03 1.18337130e+02] [ 9.48372421e-01 3.16581394e-01 -1.91303892e-02 7.17776724e+01] [ 2.03554922e-02 -5.62777854e-04 9.99792647e-01 2.93133680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:71.81, Z:2.93 [[ 3.17578668e-01 -9.48205263e-01 -7.11122006e-03 1.18343325e+02] [ 9.48004576e-01 3.17657810e-01 -1.95151206e-02 7.18054138e+01] [ 2.07632747e-02 -5.43883141e-04 9.99784272e-01 2.93144916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:71.83, Z:2.93 [[ 3.20428602e-01 -9.47246676e-01 -7.01747714e-03 1.18351508e+02] [ 9.47050634e-01 3.20505092e-01 -1.92764526e-02 7.18315022e+01] [ 2.05086928e-02 -4.69179413e-04 9.99789565e-01 2.93160304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:71.86, Z:2.93 [[ 3.21726566e-01 -9.46806854e-01 -6.98556009e-03 1.18361124e+02] [ 9.46612126e-01 3.21802103e-01 -1.92065117e-02 7.18567711e+01] [ 2.04328248e-02 -4.33370832e-04 9.99791134e-01 2.93215976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:71.88, Z:2.93 [[ 3.22686701e-01 -9.46479666e-01 -7.03804735e-03 1.18369568e+02] [ 9.46281532e-01 3.22763184e-01 -1.93698021e-02 7.18829840e+01] [ 2.06047464e-02 -4.09596698e-04 9.99787616e-01 2.93223555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:71.91, Z:2.93 [[ 3.23935776e-01 -9.46054103e-01 -6.87367688e-03 1.18377296e+02] [ 9.45864631e-01 3.24008487e-01 -1.89367547e-02 7.19094922e+01] [ 2.01423241e-02 -3.67275536e-04 9.99797055e-01 2.93266898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:71.94, Z:2.93 [[ 3.23829364e-01 -9.46090321e-01 -6.90278767e-03 1.18387078e+02] [ 9.45898816e-01 3.23902721e-01 -1.90383117e-02 7.19357110e+01] [ 2.02477941e-02 -3.64174311e-04 9.99794926e-01 2.93320620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:71.96, Z:2.93 [[ 3.23484515e-01 -9.46206531e-01 -7.13930073e-03 1.18400813e+02] [ 9.46001275e-01 3.23563067e-01 -1.97111297e-02 7.19585978e+01] [ 2.09608137e-02 -3.77542377e-04 9.99780227e-01 2.93317213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:71.99, Z:2.93 [[ 3.22752917e-01 -9.46456385e-01 -7.13208081e-03 1.18409647e+02] [ 9.46251242e-01 3.22831476e-01 -1.97085245e-02 7.19854443e+01] [ 2.09557190e-02 -3.87756533e-04 9.99780330e-01 2.93352620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:72.01, Z:2.93 [[ 3.21826988e-01 -9.46772203e-01 -7.05580962e-03 1.18420569e+02] [ 9.46571098e-01 3.21904080e-01 -1.95171738e-02 7.20098572e+01] [ 2.07496115e-02 -3.97672196e-04 9.99784625e-01 2.93409066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:72.04, Z:2.93 [[ 3.20449219e-01 -9.47240109e-01 -6.96232802e-03 1.18431285e+02] [ 9.47044120e-01 3.20524573e-01 -1.92726231e-02 7.20356515e+01] [ 2.04873988e-02 -4.17734776e-04 9.99790024e-01 2.93463324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:72.06, Z:2.94 [[ 3.17620475e-01 -9.48194647e-01 -6.64416161e-03 1.18445299e+02] [ 9.48016025e-01 3.17689640e-01 -1.84095033e-02 7.20592537e+01] [ 1.95665738e-02 -4.51536500e-04 9.99808454e-01 2.93537538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:72.08, Z:2.94 [[ 3.16288398e-01 -9.48640305e-01 -6.57425316e-03 1.18457323e+02] [ 9.48465145e-01 3.16356370e-01 -1.82350126e-02 7.20849799e+01] [ 1.93782747e-02 -4.67927064e-04 9.99812114e-01 2.93611388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:72.11, Z:2.94 [[ 3.15086416e-01 -9.49040339e-01 -6.55627980e-03 1.18468109e+02] [ 9.48865877e-01 3.15154246e-01 -1.82029897e-02 7.21108504e+01] [ 1.93416109e-02 -4.85515394e-04 9.99812816e-01 2.93660139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:72.14, Z:2.94 [[ 3.13525806e-01 -9.49555692e-01 -6.74961407e-03 1.18479851e+02] [ 9.49370523e-01 3.13598009e-01 -1.87589691e-02 7.21361114e+01] [ 1.99293515e-02 -5.26463719e-04 9.99801252e-01 2.93655940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:72.16, Z:2.94 [[ 3.14687207e-01 -9.49173812e-01 -6.40603445e-03 1.18486761e+02] [ 9.49006620e-01 3.14752050e-01 -1.78208541e-02 7.21630550e+01] [ 1.89314005e-02 -4.71374305e-04 9.99820674e-01 2.93746229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:72.19, Z:2.94 [[ 3.15403011e-01 -9.48934201e-01 -6.69499632e-03 1.18497413e+02] [ 9.48751116e-01 3.15473708e-01 -1.86456432e-02 7.21872198e+01] [ 1.98055838e-02 -4.70993232e-04 9.99803739e-01 2.93714485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.51, Y:72.21, Z:2.94 [[ 3.15504302e-01 -9.48898317e-01 -7.00137762e-03 1.18506498e+02] [ 9.48697710e-01 3.15581604e-01 -1.95167978e-02 7.22128807e+01] [ 2.07289626e-02 -4.84557243e-04 9.99785015e-01 2.93749358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:72.24, Z:2.94 [[ 3.15462939e-01 -9.48910731e-01 -7.18047113e-03 1.18515700e+02] [ 9.48699250e-01 3.15544266e-01 -2.00386916e-02 7.22387847e+01] [ 2.12806859e-02 -4.90643050e-04 9.99773420e-01 2.93762513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:72.26, Z:2.94 [[ 3.15337234e-01 -9.48951259e-01 -7.34415562e-03 1.18524563e+02] [ 9.48729530e-01 3.15422353e-01 -2.05187487e-02 7.22643144e+01] [ 2.17878033e-02 -4.97291843e-04 9.99762494e-01 2.93781790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:72.29, Z:2.94 [[ 3.14694490e-01 -9.49164777e-01 -7.32143189e-03 1.18534888e+02] [ 9.48943978e-01 3.14779244e-01 -2.04781615e-02 7.22888634e+01] [ 2.17417844e-02 -5.03264111e-04 9.99763493e-01 2.93827174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:72.32, Z:2.94 [[ 3.14483607e-01 -9.49234859e-01 -7.29674117e-03 1.18542590e+02] [ 9.49015050e-01 3.14567851e-01 -2.04328924e-02 7.23152349e+01] [ 2.16909340e-02 -4.98907466e-04 9.99764600e-01 2.93881331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.55, Y:72.34, Z:2.94 [[ 3.14145704e-01 -9.49346800e-01 -7.28901489e-03 1.18550175e+02] [ 9.49126993e-01 3.14229858e-01 -2.04339901e-02 7.23404617e+01] [ 2.16893693e-02 -4.98950585e-04 9.99764633e-01 2.93889582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:72.37, Z:2.94 [[ 3.13792120e-01 -9.49464436e-01 -7.19657887e-03 1.18558846e+02] [ 9.49249703e-01 3.13874245e-01 -2.01980071e-02 7.23666292e+01] [ 2.14361102e-02 -4.93374895e-04 9.99770098e-01 2.93986501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:72.39, Z:2.94 [[ 3.13953212e-01 -9.49411450e-01 -7.16088841e-03 1.18567916e+02] [ 9.49198356e-01 3.14034500e-01 -2.01199871e-02 7.23925180e+01] [ 2.13509122e-02 -4.80368914e-04 9.99771928e-01 2.94108851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:72.42, Z:2.94 [[ 3.14444965e-01 -9.49248872e-01 -7.13739072e-03 1.18577471e+02] [ 9.49036667e-01 3.14525620e-01 -2.00758241e-02 7.24171809e+01] [ 2.13018456e-02 -4.60903706e-04 9.99772984e-01 2.94242192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:72.44, Z:2.94 [[ 3.14518051e-01 -9.49225308e-01 -7.05062288e-03 1.18582367e+02] [ 9.49017870e-01 3.14596749e-01 -1.98486498e-02 7.24443336e+01] [ 2.10589437e-02 -4.48408476e-04 9.99778135e-01 2.94307500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:72.47, Z:2.94 [[ 3.15154921e-01 -9.49014275e-01 -7.02010965e-03 1.18590099e+02] [ 9.48808100e-01 3.15232811e-01 -1.97854564e-02 7.24696551e+01] [ 2.09896495e-02 -4.25252954e-04 9.99779603e-01 2.94315571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:72.50, Z:2.94 [[ 3.15094060e-01 -9.49034430e-01 -7.02736228e-03 1.18597902e+02] [ 9.48827331e-01 3.15172134e-01 -1.98298243e-02 7.24954311e+01] [ 2.10340147e-02 -4.19493563e-04 9.99778673e-01 2.94374625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:72.52, Z:2.94 [[ 3.15228361e-01 -9.48989924e-01 -7.01458532e-03 1.18607199e+02] [ 9.48783090e-01 3.15306132e-01 -1.98164617e-02 7.25205181e+01] [ 2.10173643e-02 -4.08609183e-04 9.99779027e-01 2.94411504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:72.55, Z:2.95 [[ 3.14504482e-01 -9.49232267e-01 -6.71074172e-03 1.18614508e+02] [ 9.49042604e-01 3.14575815e-01 -1.89787233e-02 7.25467174e+01] [ 2.01262535e-02 -3.99886265e-04 9.99797366e-01 2.94519248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:72.57, Z:2.95 [[ 3.13720953e-01 -9.49492324e-01 -6.59473049e-03 1.18624620e+02] [ 9.49308805e-01 3.13790001e-01 -1.86715694e-02 7.25712799e+01] [ 1.97978723e-02 -4.02773180e-04 9.99803922e-01 2.94620547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:72.60, Z:2.95 [[ 3.11576035e-01 -9.50198974e-01 -6.50259772e-03 1.18633245e+02] [ 9.50020392e-01 3.11643576e-01 -1.84264852e-02 7.25984473e+01] [ 1.95353202e-02 -4.36349231e-04 9.99809072e-01 2.94704564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:72.62, Z:2.95 [[ 3.10290578e-01 -9.50619226e-01 -6.54547595e-03 1.18644148e+02] [ 9.50437999e-01 3.10359267e-01 -1.85670696e-02 7.26238093e+01] [ 1.96816625e-02 -4.59882284e-04 9.99806192e-01 2.94757669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:72.65, Z:2.95 [[ 3.08972965e-01 -9.51049472e-01 -6.37254986e-03 1.18652261e+02] [ 9.50877420e-01 3.09038320e-01 -1.80955333e-02 7.26503318e+01] [ 1.91791095e-02 -4.68483192e-04 9.99815954e-01 2.94827285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:72.68, Z:2.95 [[ 3.07392053e-01 -9.51562448e-01 -6.24760002e-03 1.18662224e+02] [ 9.51396851e-01 3.07455154e-01 -1.77584135e-02 7.26764631e+01] [ 1.88190963e-02 -4.85151786e-04 9.99822787e-01 2.94883475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:72.70, Z:2.95 [[ 3.04967823e-01 -9.52342067e-01 -6.26217092e-03 1.18673317e+02] [ 9.52175514e-01 3.05031651e-01 -1.78180388e-02 7.27022452e+01] [ 1.88790282e-02 -5.28757319e-04 9.99821635e-01 2.94932011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:72.73, Z:2.95 [[ 3.04028173e-01 -9.52641514e-01 -6.40431538e-03 1.18683321e+02] [ 9.52467008e-01 3.04095114e-01 -1.82417041e-02 7.27269589e+01] [ 1.93253256e-02 -5.53907145e-04 9.99813095e-01 2.94976396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:72.75, Z:2.95 [[ 3.03012518e-01 -9.52964544e-01 -6.48017749e-03 1.18691880e+02] [ 9.52785688e-01 3.03081252e-01 -1.84712556e-02 7.27525487e+01] [ 1.95664719e-02 -5.77198718e-04 9.99808392e-01 2.94992193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:72.78, Z:2.95 [[ 3.01754010e-01 -9.53363284e-01 -6.55481175e-03 1.18701282e+02] [ 9.53179948e-01 3.01824591e-01 -1.87057185e-02 7.27776723e+01] [ 1.98117486e-02 -6.03389565e-04 9.99803546e-01 2.94963395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:72.80, Z:2.95 [[ 3.01052078e-01 -9.53585631e-01 -6.48768691e-03 1.18709396e+02] [ 9.53405822e-01 3.01121362e-01 -1.85273642e-02 7.28039310e+01] [ 1.96210094e-02 -6.07696979e-04 9.99807305e-01 2.94985765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:72.83, Z:2.95 [[ 3.00184430e-01 -9.53858694e-01 -6.54983792e-03 1.18718164e+02] [ 9.53675064e-01 3.00255228e-01 -1.87262090e-02 7.28300527e+01] [ 1.98287803e-02 -6.25100727e-04 9.99803195e-01 2.95001347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:72.85, Z:2.95 [[ 2.98991015e-01 -9.54231918e-01 -6.76907554e-03 1.18728524e+02] [ 9.54035419e-01 2.99066891e-01 -1.93755833e-02 7.28549679e+01] [ 2.05132063e-02 -6.64812511e-04 9.99789361e-01 2.94998766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:72.88, Z:2.95 [[ 2.98435935e-01 -9.54404898e-01 -6.87626185e-03 1.18735369e+02] [ 9.54201731e-01 2.98514366e-01 -1.97035689e-02 7.28811599e+01] [ 2.08578456e-02 -6.81087960e-04 9.99782219e-01 2.95063153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:72.91, Z:2.95 [[ 2.98018517e-01 -9.54533796e-01 -7.08492692e-03 1.18744119e+02] [ 9.54317628e-01 2.98101890e-01 -2.03255301e-02 7.29073471e+01] [ 2.15134355e-02 -7.03886338e-04 9.99768311e-01 2.95119029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:72.93, Z:2.95 [[ 2.98109464e-01 -9.54504768e-01 -7.16906235e-03 1.18756387e+02] [ 9.54282897e-01 2.98194825e-01 -2.05912523e-02 7.29303875e+01] [ 2.17922258e-02 -7.02866398e-04 9.99762274e-01 2.95168605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:72.96, Z:2.95 [[ 2.98257208e-01 -9.54458856e-01 -7.13659842e-03 1.18760247e+02] [ 9.54238437e-01 2.98341781e-01 -2.05228572e-02 7.29575008e+01] [ 2.17173683e-02 -6.88926428e-04 9.99763913e-01 2.95266500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:72.98, Z:2.95 [[ 2.98415990e-01 -9.54409654e-01 -7.07876143e-03 1.18767994e+02] [ 9.54192281e-01 2.98499178e-01 -2.03796718e-02 7.29835475e+01] [ 2.15635600e-02 -6.72879594e-04 9.99767253e-01 2.95317110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:73.01, Z:2.95 [[ 2.99870813e-01 -9.53953758e-01 -7.05150541e-03 1.18775456e+02] [ 9.53737438e-01 2.99953047e-01 -2.03240978e-02 7.30099781e+01] [ 2.15033700e-02 -6.30680992e-04 9.99768577e-01 2.95388756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:73.04, Z:2.95 [[ 3.00385346e-01 -9.53792304e-01 -6.99176712e-03 1.18783919e+02] [ 9.53579166e-01 3.00466090e-01 -2.01718152e-02 7.30362085e+01] [ 2.13405110e-02 -6.07885778e-04 9.99772081e-01 2.95464063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:73.06, Z:2.96 [[ 3.00052845e-01 -9.53897009e-01 -6.98473497e-03 1.18792475e+02] [ 9.53683843e-01 3.00133515e-01 -2.01742499e-02 7.30615684e+01] [ 2.13405097e-02 -6.07887815e-04 9.99772081e-01 2.95518512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:73.09, Z:2.96 [[ 3.00631149e-01 -9.53714857e-01 -6.99171010e-03 1.18800831e+02] [ 9.53500727e-01 3.00711864e-01 -2.02172863e-02 7.30859918e+01] [ 2.13840165e-02 -5.88654646e-04 9.99771162e-01 2.95599313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:73.11, Z:2.96 [[ 3.02311335e-01 -9.53183541e-01 -6.99954618e-03 1.18807941e+02] [ 9.52968278e-01 3.02391866e-01 -2.02637630e-02 7.31135752e+01] [ 2.14316912e-02 -5.44380219e-04 9.99770167e-01 2.95721935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:73.14, Z:2.96 [[ 3.03110720e-01 -9.52929541e-01 -7.01297581e-03 1.18815572e+02] [ 9.52712939e-01 3.03191389e-01 -2.03233406e-02 7.31385543e+01] [ 2.14929855e-02 -5.21130417e-04 9.99768863e-01 2.95770888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:73.16, Z:2.96 [[ 3.03805271e-01 -9.52709596e-01 -6.83982459e-03 1.18823120e+02] [ 9.52503021e-01 3.03881868e-01 -1.98445326e-02 7.31649515e+01] [ 2.09845754e-02 -4.86079958e-04 9.99779681e-01 2.95840110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:73.19, Z:2.96 [[ 3.04756167e-01 -9.52405600e-01 -6.87395161e-03 1.18829074e+02] [ 9.52196407e-01 3.04833332e-01 -1.99660320e-02 7.31912581e+01] [ 2.11111702e-02 -4.60580646e-04 9.99777028e-01 2.95921730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:73.22, Z:2.96 [[ 3.06330754e-01 -9.51899354e-01 -7.00633968e-03 1.18837286e+02] [ 9.51681376e-01 3.06410570e-01 -2.03745046e-02 7.32172283e+01] [ 2.15412943e-02 -4.26465634e-04 9.99767868e-01 2.96029822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:73.24, Z:2.96 [[ 3.06612215e-01 -9.51808172e-01 -7.08189618e-03 1.18846690e+02] [ 9.51584970e-01 3.06693706e-01 -2.06159117e-02 7.32418908e+01] [ 2.17943662e-02 -4.17935615e-04 9.99762387e-01 2.96073233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:73.27, Z:2.96 [[ 3.07222549e-01 -9.51609724e-01 -7.29651533e-03 1.18855246e+02] [ 9.51372146e-01 3.07308912e-01 -2.12666850e-02 7.32673393e+01] [ 2.24798684e-02 -4.08096282e-04 9.99747213e-01 2.96132080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:73.29, Z:2.96 [[ 3.07328977e-01 -9.51574174e-01 -7.44919999e-03 1.18862985e+02] [ 9.51325968e-01 3.07418974e-01 -2.17365427e-02 7.32938695e+01] [ 2.29739581e-02 -4.06347970e-04 9.99735981e-01 2.96170337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:73.32, Z:2.96 [[ 3.06924988e-01 -9.51702437e-01 -7.71506719e-03 1.18872293e+02] [ 9.51435588e-01 3.07021648e-01 -2.25395130e-02 7.33179637e+01] [ 2.38196021e-02 -4.22449722e-04 9.99716184e-01 2.96140549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.88, Y:73.34, Z:2.96 [[ 3.06790516e-01 -9.51742865e-01 -8.06828634e-03 1.18879497e+02] [ 9.51450296e-01 3.06896282e-01 -2.36009823e-02 7.33442424e+01] [ 2.49381936e-02 -4.36015880e-04 9.99688900e-01 2.96074927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:73.37, Z:2.96 [[ 3.06023075e-01 -9.51990672e-01 -7.97733021e-03 1.18888512e+02] [ 9.51704081e-01 3.06126712e-01 -2.33619023e-02 7.33686349e+01] [ 2.46823869e-02 -4.42776552e-04 9.99695245e-01 2.96108650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:73.39, Z:2.96 [[ 3.05202607e-01 -9.52253869e-01 -7.99608325e-03 1.18897932e+02] [ 9.51965322e-01 3.05306994e-01 -2.34449508e-02 7.33938504e+01] [ 2.47668053e-02 -4.56533846e-04 9.99693151e-01 2.96190698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:73.42, Z:2.96 [[ 3.03404839e-01 -9.52829552e-01 -7.83255045e-03 1.18909263e+02] [ 9.52552267e-01 3.03505535e-01 -2.29906088e-02 7.34196870e+01] [ 2.42833539e-02 -4.85451712e-04 9.99704998e-01 2.96317977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:73.45, Z:2.96 [[ 3.02282102e-01 -9.53185825e-01 -7.89391695e-03 1.18919026e+02] [ 9.52903706e-01 3.02384726e-01 -2.31949284e-02 7.34452085e+01] [ 2.44960769e-02 -5.10730999e-04 9.99699796e-01 2.96409044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:73.47, Z:2.97 [[ 2.99683488e-01 -9.54005862e-01 -7.91338197e-03 1.18929011e+02] [ 9.53721983e-01 2.99787405e-01 -2.32785372e-02 7.34717962e+01] [ 2.45801932e-02 -5.70973136e-04 9.99697698e-01 2.96503990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:73.50, Z:2.97 [[ 2.98310178e-01 -9.54435449e-01 -8.00070990e-03 1.18938896e+02] [ 9.54144794e-01 2.98416834e-01 -2.35606480e-02 7.34977389e+01] [ 2.48746642e-02 -6.05454592e-04 9.99690394e-01 2.96551956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:73.52, Z:2.97 [[ 2.96930003e-01 -9.54864954e-01 -8.09276761e-03 1.18951699e+02] [ 9.54567119e-01 2.97039573e-01 -2.38559830e-02 7.35220292e+01] [ 2.51831144e-02 -6.41532747e-04 9.99682649e-01 2.96524808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:73.55, Z:2.97 [[ 2.95751043e-01 -9.55230079e-01 -8.17414140e-03 1.18957680e+02] [ 9.54925848e-01 2.95863216e-01 -2.41159959e-02 7.35496217e+01] [ 2.54547524e-02 -6.73367976e-04 9.99675749e-01 2.96600261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:73.57, Z:2.97 [[ 2.94398998e-01 -9.55645888e-01 -8.37650862e-03 1.18968054e+02] [ 9.55325866e-01 2.94517265e-01 -2.47400568e-02 7.35743771e+01] [ 2.61097600e-02 -7.18847410e-04 9.99658824e-01 2.96557810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81275509600002 meters Centerline goodness [0,1] 0.9999783319971398 Centerline is valid? [True, True] Translation: X:118.98, Y:73.60, Z:2.97 [[ 2.94070144e-01 -9.55745742e-01 -8.53385283e-03 1.18979576e+02] [ 9.55412846e-01 2.94193030e-01 -2.52339908e-02 7.35984693e+01] [ 2.66278792e-02 -7.32789326e-04 9.99645147e-01 2.96525865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:73.62, Z:2.97 [[ 2.93916496e-01 -9.55791247e-01 -8.72845654e-03 1.18987868e+02] [ 9.55442148e-01 2.94045130e-01 -2.58411112e-02 7.36230820e+01] [ 2.72652680e-02 -7.44406405e-04 9.99627956e-01 2.96560563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:73.65, Z:2.97 [[ 2.93824956e-01 -9.55819762e-01 -8.68776094e-03 1.18993749e+02] [ 9.55473126e-01 2.93952449e-01 -2.57500243e-02 7.36494986e+01] [ 2.71661707e-02 -7.34922339e-04 9.99630661e-01 2.96697994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.00, Y:73.68, Z:2.97 [[ 2.93734495e-01 -9.55847618e-01 -8.68203420e-03 1.18999880e+02] [ 9.55500654e-01 2.93861873e-01 -2.57623810e-02 7.36762479e+01] [ 2.71762294e-02 -7.28389375e-04 9.99630393e-01 2.96807045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:73.70, Z:2.97 [[ 2.94357011e-01 -9.55654913e-01 -8.81118657e-03 1.19007385e+02] [ 9.55296602e-01 2.94487996e-01 -2.61767527e-02 7.37026894e+01] [ 2.76107310e-02 -7.11985921e-04 9.99618498e-01 2.96845447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:73.73, Z:2.97 [[ 2.94713782e-01 -9.55544472e-01 -8.86274160e-03 1.19015519e+02] [ 9.55181028e-01 2.94846191e-01 -2.63614955e-02 7.37278420e+01] [ 2.78027269e-02 -6.96426602e-04 9.99613187e-01 2.96880837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:73.75, Z:2.97 [[ 2.95781497e-01 -9.55213884e-01 -8.92985942e-03 1.19023852e+02] [ 9.54843876e-01 2.95915528e-01 -2.65927366e-02 7.37549285e+01] [ 2.80442353e-02 -6.60982120e-04 9.99606465e-01 2.96994618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:73.78, Z:2.97 [[ 2.95684301e-01 -9.55245629e-01 -8.75118358e-03 1.19032086e+02] [ 9.54889537e-01 2.95813076e-01 -2.60882415e-02 7.37806575e+01] [ 2.75093932e-02 -6.42530191e-04 9.99621339e-01 2.97069596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:73.81, Z:2.97 [[ 2.95783481e-01 -9.55215356e-01 -8.70385274e-03 1.19039524e+02] [ 9.54862267e-01 2.95910850e-01 -2.59773045e-02 7.38071278e+01] [ 2.73894846e-02 -6.27323018e-04 9.99624641e-01 2.97148010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:73.83, Z:2.97 [[ 2.96170990e-01 -9.55097474e-01 -8.45932394e-03 1.19045226e+02] [ 9.54763132e-01 2.96291185e-01 -2.52763921e-02 7.38337619e+01] [ 2.66478413e-02 -5.90516562e-04 9.99644709e-01 2.97231602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:73.86, Z:2.97 [[ 2.95950770e-01 -9.55167295e-01 -8.28133511e-03 1.19052300e+02] [ 9.54846156e-01 2.96066053e-01 -2.47731760e-02 7.38602766e+01] [ 2.61143497e-02 -5.75760485e-04 9.99658796e-01 2.97336463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:73.89, Z:2.97 [[ 2.95475521e-01 -9.55316778e-01 -8.00443614e-03 1.19060519e+02] [ 9.55016102e-01 2.95583389e-01 -2.39729860e-02 7.38850728e+01] [ 2.52677741e-02 -5.60934858e-04 9.99680561e-01 2.97441659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:73.91, Z:2.98 [[ 2.94250410e-01 -9.55696750e-01 -7.77294948e-03 1.19069419e+02] [ 9.55412654e-01 2.94352510e-01 -2.33079316e-02 7.39105902e+01] [ 2.45633016e-02 -5.68005873e-04 9.99698115e-01 2.97608612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:73.94, Z:2.98 [[ 2.93388979e-01 -9.55962244e-01 -7.68735012e-03 1.19077724e+02] [ 9.55683811e-01 2.93489108e-01 -2.30780683e-02 7.39370971e+01] [ 2.43179155e-02 -5.75825168e-04 9.99704110e-01 2.97677852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:73.96, Z:2.98 [[ 2.92553241e-01 -9.56218873e-01 -7.62024764e-03 1.19086541e+02] [ 9.55944776e-01 2.92651884e-01 -2.29010725e-02 7.39635377e+01] [ 2.41285176e-02 -5.84752933e-04 9.99708694e-01 2.97710525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:73.99, Z:2.98 [[ 2.91096871e-01 -9.56662686e-01 -7.68873338e-03 1.19096321e+02] [ 9.56383184e-01 2.91197735e-01 -2.31319136e-02 7.39903083e+01] [ 2.43683804e-02 -6.19747636e-04 9.99702855e-01 2.97742901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:74.02, Z:2.98 [[ 2.89798420e-01 -9.57057510e-01 -7.60257082e-03 1.19105199e+02] [ 9.56783785e-01 2.89897423e-01 -2.28970214e-02 7.40170811e+01] [ 2.41177320e-02 -6.38495855e-04 9.99708921e-01 2.97779427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:74.04, Z:2.98 [[ 2.88459849e-01 -9.57462601e-01 -7.50224233e-03 1.19113972e+02] [ 9.57195615e-01 2.88556644e-01 -2.26189625e-02 7.40440727e+01] [ 2.38216325e-02 -6.56450968e-04 9.99716009e-01 2.97833419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:74.07, Z:2.98 [[ 2.85514885e-01 -9.58346880e-01 -7.24626356e-03 1.19124533e+02] [ 9.58097551e-01 2.85605971e-01 -2.18703393e-02 7.40688938e+01] [ 2.30289476e-02 -6.98319956e-04 9.99734555e-01 2.97939131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:74.10, Z:2.98 [[ 2.83976947e-01 -9.58804529e-01 -7.13923636e-03 1.19134553e+02] [ 9.58562106e-01 2.84065767e-01 -2.15714745e-02 7.40953040e+01] [ 2.27108401e-02 -7.17599987e-04 9.99741818e-01 2.97976608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:74.12, Z:2.98 [[ 2.82108595e-01 -9.59354193e-01 -7.36694639e-03 1.19144827e+02] [ 9.59095662e-01 2.82203694e-01 -2.22842273e-02 7.41200808e+01] [ 2.34574463e-02 -7.79034268e-04 9.99724533e-01 2.98012684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.16, Y:74.15, Z:2.98 [[ 2.79046206e-01 -9.60248268e-01 -7.51522428e-03 1.19156453e+02] [ 9.59978920e-01 2.79146050e-01 -2.27586469e-02 7.41455895e+01] [ 2.39517965e-02 -8.63742816e-04 9.99712741e-01 2.97984042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:74.17, Z:2.98 [[ 2.77780072e-01 -9.60613573e-01 -7.73276476e-03 1.19166009e+02] [ 9.60327917e-01 2.77886179e-01 -2.34427603e-02 7.41716771e+01] [ 2.46682622e-02 -9.14058227e-04 9.99695274e-01 2.98023382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:74.20, Z:2.98 [[ 2.76280687e-01 -9.61045020e-01 -7.83909472e-03 1.19175609e+02] [ 9.60751011e-01 2.76390213e-01 -2.37895967e-02 7.41965813e+01] [ 2.50295225e-02 -9.58812066e-04 9.99686253e-01 2.98040385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:74.22, Z:2.98 [[ 2.75707766e-01 -9.61210267e-01 -7.74917999e-03 1.19183287e+02] [ 9.60922504e-01 2.75814986e-01 -2.35379371e-02 7.42224631e+01] [ 2.47622468e-02 -9.56769399e-04 9.99692911e-01 2.98062692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:74.25, Z:2.98 [[ 2.75632161e-01 -9.61230938e-01 -7.87369872e-03 1.19191745e+02] [ 9.60933133e-01 2.75742905e-01 -2.39450061e-02 7.42469849e+01] [ 2.51877972e-02 -9.66084209e-04 9.99682270e-01 2.98111751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:74.27, Z:2.98 [[ 2.75640254e-01 -9.61228821e-01 -7.84889416e-03 1.19199983e+02] [ 9.60932156e-01 2.75750327e-01 -2.38987024e-02 7.42733676e+01] [ 2.51364566e-02 -9.54810404e-04 9.99683573e-01 2.98197132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:74.30, Z:2.98 [[ 2.76090709e-01 -9.61101828e-01 -7.56291022e-03 1.19207680e+02] [ 9.60825724e-01 2.76192802e-01 -2.30535063e-02 7.43006644e+01] [ 2.42455884e-02 -9.01779809e-04 9.99705626e-01 2.98357050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:74.33, Z:2.98 [[ 2.76443204e-01 -9.61001168e-01 -7.47727515e-03 1.19213443e+02] [ 9.60730673e-01 2.76542921e-01 -2.28163703e-02 7.43275063e+01] [ 2.39943460e-02 -8.76217071e-04 9.99711710e-01 2.98459504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:74.35, Z:2.98 [[ 2.78084708e-01 -9.60527781e-01 -7.43492992e-03 1.19223292e+02] [ 9.60259537e-01 2.78182863e-01 -2.27137869e-02 7.43528775e+01] [ 2.38854934e-02 -8.23105567e-04 9.99714362e-01 2.98484608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:74.38, Z:2.99 [[ 2.79014280e-01 -9.60259294e-01 -7.28839491e-03 1.19226978e+02] [ 9.60000901e-01 2.79108373e-01 -2.22887004e-02 7.43811196e+01] [ 2.34371837e-02 -7.77999986e-04 9.99725009e-01 2.98621973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:74.41, Z:2.99 [[ 2.79957140e-01 -9.59986132e-01 -7.11520881e-03 1.19235238e+02] [ 9.59739259e-01 2.80046590e-01 -2.17821495e-02 7.44070669e+01] [ 2.29031514e-02 -7.30676951e-04 9.99737421e-01 2.98717057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:74.44, Z:2.99 [[ 2.83237410e-01 -9.59024047e-01 -7.03187657e-03 1.19238382e+02] [ 9.58782104e-01 2.83323968e-01 -2.15500805e-02 7.44353150e+01] [ 2.26593446e-02 -6.38248423e-04 9.99743040e-01 2.98768376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:74.46, Z:2.99 [[ 2.84670665e-01 -9.58600035e-01 -6.97028944e-03 1.19249806e+02] [ 9.58361656e-01 2.84755371e-01 -2.13849193e-02 7.44606714e+01] [ 2.24844118e-02 -5.92398934e-04 9.99747018e-01 2.98773937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:74.49, Z:2.99 [[ 2.86022973e-01 -9.58198356e-01 -6.83888071e-03 1.19252466e+02] [ 9.57968274e-01 2.86104204e-01 -2.10040459e-02 7.44888661e+01] [ 2.20826747e-02 -5.43791106e-04 9.99756000e-01 2.98885920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:74.52, Z:2.99 [[ 2.88315520e-01 -9.57513868e-01 -6.43074751e-03 1.19258360e+02] [ 9.57309845e-01 2.88386868e-01 -1.97705822e-02 7.45163227e+01] [ 2.07851498e-02 -4.56052212e-04 9.99783861e-01 2.99014563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:74.54, Z:2.99 [[ 2.88839606e-01 -9.57355409e-01 -6.50410489e-03 1.19268180e+02] [ 9.57146201e-01 2.88912487e-01 -2.00180987e-02 7.45412009e+01] [ 2.10435522e-02 -4.43359557e-04 9.99778462e-01 2.99058820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:74.57, Z:2.99 [[ 2.89142415e-01 -9.57265210e-01 -6.32311666e-03 1.19273391e+02] [ 9.57066969e-01 2.89211244e-01 -1.94851979e-02 7.45683317e+01] [ 2.04812184e-02 -4.17648928e-04 9.99790151e-01 2.99120961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:74.59, Z:2.99 [[ 2.89479947e-01 -9.57164308e-01 -6.15211837e-03 1.19280831e+02] [ 9.56976176e-01 2.89545046e-01 -1.89806518e-02 7.45949833e+01] [ 1.99489179e-02 -3.92912641e-04 9.99800923e-01 2.99175552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:74.62, Z:2.99 [[ 2.88730515e-01 -9.57392165e-01 -5.91036243e-03 1.19288918e+02] [ 9.57218173e-01 2.88790743e-01 -1.82558539e-02 7.46195255e+01] [ 1.91848695e-02 -3.86484228e-04 9.99815879e-01 2.99259297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:74.65, Z:2.99 [[ 2.87179133e-01 -9.57858777e-01 -5.89137130e-03 1.19298409e+02] [ 9.57685554e-01 2.87239264e-01 -1.82204595e-02 7.46460324e+01] [ 1.91448602e-02 -4.09545414e-04 9.99816636e-01 2.99338376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:74.67, Z:2.99 [[ 2.85793152e-01 -9.58274125e-01 -5.74249165e-03 1.19305818e+02] [ 9.58109292e-01 2.85850528e-01 -1.77780732e-02 7.46728211e+01] [ 1.86777618e-02 -4.21083047e-04 9.99825467e-01 2.99401884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:74.70, Z:2.99 [[ 2.85444960e-01 -9.58377934e-01 -5.73680923e-03 1.19313846e+02] [ 9.58213085e-01 2.85502291e-01 -1.77799065e-02 7.46983497e+01] [ 1.86777423e-02 -4.21900967e-04 9.99825467e-01 2.99456350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:74.72, Z:3.00 [[ 2.84027696e-01 -9.58798971e-01 -5.72716568e-03 1.19325402e+02] [ 9.58634347e-01 2.84085087e-01 -1.77722348e-02 7.47234993e+01] [ 1.86670028e-02 -4.42450822e-04 9.99825658e-01 2.99529251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:74.75, Z:3.00 [[ 2.81432746e-01 -9.59562882e-01 -5.88941498e-03 1.19333833e+02] [ 9.59388537e-01 2.81493917e-01 -1.82978100e-02 7.47507219e+01] [ 1.92157338e-02 -5.00634295e-04 9.99815235e-01 2.99509580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:74.78, Z:3.00 [[ 2.79863739e-01 -9.60021136e-01 -5.97541022e-03 1.19342481e+02] [ 9.59841368e-01 2.79927013e-01 -1.85853525e-02 7.47773536e+01] [ 1.95150100e-02 -5.34079684e-04 9.99809421e-01 2.99511010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:74.80, Z:3.00 [[ 2.78318145e-01 -9.60469866e-01 -6.05363578e-03 1.19351794e+02] [ 9.60285052e-01 2.78383395e-01 -1.88494963e-02 7.48035190e+01] [ 1.97896049e-02 -5.67059105e-04 9.99804006e-01 2.99506677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.36, Y:74.83, Z:2.99 [[ 2.75271972e-01 -9.61345486e-01 -6.34020425e-03 1.19362021e+02] [ 9.61142522e-01 2.75344202e-01 -1.97641676e-02 7.48284445e+01] [ 2.07459318e-02 -6.53318520e-04 9.99784567e-01 2.99444208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:74.85, Z:2.99 [[ 2.73816348e-01 -9.61760032e-01 -6.49991930e-03 1.19370923e+02] [ 9.61546323e-01 2.73892602e-01 -2.02857317e-02 7.48545291e+01] [ 2.12902858e-02 -6.95408536e-04 9.99773094e-01 2.99473714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:74.88, Z:2.99 [[ 2.71541849e-01 -9.62402894e-01 -6.75972727e-03 1.19380564e+02] [ 9.62171404e-01 2.71624886e-01 -2.11213428e-02 7.48799709e+01] [ 2.21633516e-02 -7.68687811e-04 9.99754067e-01 2.99445789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:74.91, Z:3.00 [[ 2.70545856e-01 -9.62683427e-01 -6.74981789e-03 1.19386312e+02] [ 9.62452177e-01 2.70628907e-01 -2.11140305e-02 7.49073022e+01] [ 2.21528230e-02 -7.84063472e-04 9.99754289e-01 2.99518463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:74.93, Z:3.00 [[ 2.69732389e-01 -9.62911923e-01 -6.71319394e-03 1.19394560e+02] [ 9.62682738e-01 2.69814753e-01 -2.10224773e-02 7.49330080e+01] [ 2.20541128e-02 -7.92232887e-04 9.99756465e-01 2.99564300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:74.96, Z:3.00 [[ 2.68944094e-01 -9.63131614e-01 -6.82402964e-03 1.19401268e+02] [ 9.62894302e-01 2.69029415e-01 -2.13947926e-02 7.49591709e+01] [ 2.24418658e-02 -8.16816149e-04 9.99747816e-01 2.99605082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:74.99, Z:3.00 [[ 2.68531920e-01 -9.63244974e-01 -7.05181230e-03 1.19407675e+02] [ 9.62990940e-01 2.68623163e-01 -2.21369923e-02 7.49859221e+01] [ 2.32176267e-02 -8.46342320e-04 9.99730076e-01 2.99650353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:75.01, Z:3.00 [[ 2.68216991e-01 -9.63332644e-01 -7.06130658e-03 1.19415181e+02] [ 9.63077320e-01 2.68308587e-01 -2.21941123e-02 7.50114127e+01] [ 2.32749221e-02 -8.47746185e-04 9.99728743e-01 2.99729297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:75.04, Z:3.00 [[ 2.68900352e-01 -9.63141472e-01 -7.14884356e-03 1.19420411e+02] [ 9.62879037e-01 2.68994070e-01 -2.24978007e-02 7.50396150e+01] [ 2.35915614e-02 -8.33805088e-04 9.99721333e-01 2.99804710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:75.07, Z:3.00 [[ 2.69032584e-01 -9.63103794e-01 -7.24915882e-03 1.19427632e+02] [ 9.62833309e-01 2.69128936e-01 -2.28393273e-02 7.50650306e+01] [ 2.39476012e-02 -8.35208333e-04 9.99712866e-01 2.99854421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:75.09, Z:3.00 [[ 2.69635409e-01 -9.62934273e-01 -7.37106044e-03 1.19434324e+02] [ 9.62653820e-01 2.69734878e-01 -2.32533453e-02 7.50913622e+01] [ 2.43796752e-02 -8.25854245e-04 9.99702430e-01 2.99935661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:75.12, Z:3.00 [[ 2.70959483e-01 -9.62563690e-01 -7.21811963e-03 1.19438706e+02] [ 9.62293995e-01 2.71054518e-01 -2.27972736e-02 7.51195401e+01] [ 2.39003317e-02 -7.68815713e-04 9.99714051e-01 3.00080276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:75.15, Z:3.00 [[ 2.71710171e-01 -9.62352980e-01 -7.09400141e-03 1.19445247e+02] [ 9.62091858e-01 2.71801780e-01 -2.24287689e-02 7.51470646e+01] [ 2.35125548e-02 -7.30956362e-04 9.99723274e-01 3.00198724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:75.17, Z:3.00 [[ 2.72679609e-01 -9.62080323e-01 -6.87632546e-03 1.19451064e+02] [ 9.61834385e-01 2.72765450e-01 -2.17629208e-02 7.51742743e+01] [ 2.28133019e-02 -6.79581538e-04 9.99739512e-01 3.00333161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:75.20, Z:3.00 [[ 2.74605714e-01 -9.61532800e-01 -6.81004824e-03 1.19456202e+02] [ 9.61290902e-01 2.74689440e-01 -2.15757628e-02 7.52007039e+01] [ 2.26164519e-02 -6.21609684e-04 9.99744022e-01 3.00438274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:75.23, Z:3.01 [[ 2.74827474e-01 -9.61470040e-01 -6.72469814e-03 1.19463047e+02] [ 9.61233674e-01 2.74909074e-01 -2.13266269e-02 7.52257312e+01] [ 2.23535933e-02 -6.02863295e-04 9.99749945e-01 3.00510739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:75.25, Z:3.01 [[ 2.75705757e-01 -9.61217501e-01 -6.87395561e-03 1.19468202e+02] [ 9.60969982e-01 2.75790805e-01 -2.18203041e-02 7.52508378e+01] [ 2.28698319e-02 -5.89681539e-04 9.99738277e-01 3.00547148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:75.28, Z:3.01 [[ 2.75740019e-01 -9.61207286e-01 -6.92783606e-03 1.19470323e+02] [ 9.60955335e-01 2.75826409e-01 -2.20144490e-02 7.52789088e+01] [ 2.30713289e-02 -5.87076443e-04 9.99733649e-01 3.00603523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:75.30, Z:3.01 [[ 2.75822498e-01 -9.61184045e-01 -6.86879811e-03 1.19480606e+02] [ 9.60935734e-01 2.75907417e-01 -2.18543238e-02 7.53031661e+01] [ 2.29011797e-02 -5.72559362e-04 9.99737570e-01 3.00592684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:75.33, Z:3.01 [[ 2.75337099e-01 -9.61323726e-01 -6.79520718e-03 1.19482307e+02] [ 9.61080115e-01 2.75420348e-01 -2.16482042e-02 7.53309096e+01] [ 2.26824707e-02 -5.70184743e-04 9.99742557e-01 3.00705808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:75.36, Z:3.01 [[ 2.74701348e-01 -9.61505582e-01 -6.79601874e-03 1.19489876e+02] [ 9.61261355e-01 2.74784793e-01 -2.16777438e-02 7.53569783e+01] [ 2.27107143e-02 -5.77844734e-04 9.99741911e-01 3.00724661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:75.38, Z:3.01 [[ 2.73567396e-01 -9.61828370e-01 -6.86054522e-03 1.19497947e+02] [ 9.61578960e-01 2.73652743e-01 -2.19107326e-02 7.53843416e+01] [ 2.29517712e-02 -6.02893884e-04 9.99736392e-01 3.00728771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:75.41, Z:3.01 [[ 2.72656157e-01 -9.62087179e-01 -6.84685462e-03 1.19506959e+02] [ 9.61838274e-01 2.72741414e-01 -2.18919170e-02 7.54092988e+01] [ 2.29293535e-02 -6.16600882e-04 9.99736898e-01 3.00750217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:75.43, Z:3.01 [[ 2.70740275e-01 -9.62627390e-01 -6.94340271e-03 1.19514475e+02] [ 9.62370931e-01 2.70828482e-01 -2.22289129e-02 7.54347139e+01] [ 2.32786316e-02 -6.63866941e-04 9.99728796e-01 3.00742548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:75.46, Z:3.01 [[ 2.69567351e-01 -9.62956278e-01 -6.97498679e-03 1.19521714e+02] [ 9.62697135e-01 2.69656691e-01 -2.23493850e-02 7.54618206e+01] [ 2.34023324e-02 -6.90135287e-04 9.99725890e-01 3.00757700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:75.49, Z:3.01 [[ 2.68126890e-01 -9.63358195e-01 -6.99711511e-03 1.19528812e+02] [ 9.63096953e-01 2.68217205e-01 -2.24452641e-02 7.54887872e+01] [ 2.34995757e-02 -7.20721399e-04 9.99723587e-01 3.00785383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:75.51, Z:3.01 [[ 2.65645446e-01 -9.64044287e-01 -7.14915226e-03 1.19539820e+02] [ 9.63771185e-01 2.65740451e-01 -2.29589998e-02 7.55131171e+01] [ 2.40333115e-02 -7.91193197e-04 9.99710845e-01 3.00752386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:75.54, Z:3.01 [[ 2.64219902e-01 -9.64436486e-01 -7.07870327e-03 1.19546431e+02] [ 9.64168367e-01 2.64313458e-01 -2.27542584e-02 7.55408297e+01] [ 2.38160336e-02 -8.12933832e-04 9.99716028e-01 3.00826824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:75.56, Z:3.01 [[ 2.62243348e-01 -9.64975323e-01 -7.14503612e-03 1.19559511e+02] [ 9.64701713e-01 2.62339247e-01 -2.29940121e-02 7.55645089e+01] [ 2.40630777e-02 -8.62801853e-04 9.99710070e-01 3.00801754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:75.59, Z:3.01 [[ 2.60996307e-01 -9.65313681e-01 -7.10105443e-03 1.19563243e+02] [ 9.65042831e-01 2.61091406e-01 -2.28825560e-02 7.55921247e+01] [ 2.39428687e-02 -8.80559041e-04 9.99712941e-01 3.00905091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:75.62, Z:3.01 [[ 2.59104422e-01 -9.65824467e-01 -6.92797258e-03 1.19574332e+02] [ 9.65566174e-01 2.59195472e-01 -2.23533049e-02 7.56180843e+01] [ 2.33850679e-02 -8.97575830e-04 9.99726129e-01 3.01001357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:75.64, Z:3.01 [[ 2.58389154e-01 -9.66017004e-01 -6.79662214e-03 1.19581565e+02] [ 9.65767900e-01 2.58476991e-01 -2.19546941e-02 7.56444221e+01] [ 2.29653783e-02 -8.91104649e-04 9.99735864e-01 3.01121155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:75.67, Z:3.01 [[ 2.58059803e-01 -9.66105192e-01 -6.77472025e-03 1.19583579e+02] [ 9.65857028e-01 2.58147186e-01 -2.19141815e-02 7.56723232e+01] [ 2.29202795e-02 -8.88241811e-04 9.99736901e-01 3.01218868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:75.70, Z:3.01 [[ 2.57941187e-01 -9.66137102e-01 -6.74118097e-03 1.19595483e+02] [ 9.65890719e-01 2.58027764e-01 -2.18355881e-02 7.56959604e+01] [ 2.28355836e-02 -8.78946628e-04 9.99738848e-01 3.01260161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:75.72, Z:3.01 [[ 2.58093589e-01 -9.66096301e-01 -6.75549086e-03 1.19600363e+02] [ 9.65848179e-01 2.58180521e-01 -2.19115129e-02 7.57235096e+01] [ 2.29127677e-02 -8.69557546e-04 9.99737090e-01 3.01318868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:75.75, Z:3.01 [[ 2.58379320e-01 -9.66020685e-01 -6.64551526e-03 1.19607118e+02] [ 9.65779929e-01 2.58463397e-01 -2.15824107e-02 7.57499241e+01] [ 2.25666776e-02 -8.41656664e-04 9.99744986e-01 3.01401291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:75.78, Z:3.01 [[ 2.59100727e-01 -9.65827561e-01 -6.62836131e-03 1.19612291e+02] [ 9.65587327e-01 2.59184215e-01 -2.15558945e-02 7.57762791e+01] [ 2.25372436e-02 -8.15113749e-04 9.99745672e-01 3.01468641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:75.80, Z:3.02 [[ 2.59448392e-01 -9.65734241e-01 -6.62625055e-03 1.19618167e+02] [ 9.65493468e-01 2.59531765e-01 -2.15783765e-02 7.58020300e+01] [ 2.25586996e-02 -7.99126526e-04 9.99745201e-01 3.01517297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters Centerline goodness [0,1] 0.9998732760259361 Centerline is valid? [True, True] Translation: X:119.62, Y:75.83, Z:3.01 [[ 2.59698197e-01 -9.65665919e-01 -6.79553997e-03 1.19624175e+02] [ 9.65411881e-01 2.59785845e-01 -2.21633472e-02 7.58280597e+01] [ 2.31677741e-02 -8.04713721e-04 9.99731267e-01 3.01326434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:75.86, Z:3.02 [[ 2.60061068e-01 -9.65569347e-01 -6.63902490e-03 1.19625994e+02] [ 9.65326138e-01 2.60144659e-01 -2.16841979e-02 7.58554346e+01] [ 2.26647037e-02 -7.69608591e-04 9.99742826e-01 3.01602401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:75.88, Z:3.02 [[ 2.60142504e-01 -9.65547994e-01 -6.55353935e-03 1.19637024e+02] [ 9.65310308e-01 2.60223959e-01 -2.14359518e-02 7.58788735e+01] [ 2.24028282e-02 -7.49796931e-04 9.99748744e-01 3.01643103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:75.90, Z:3.02 [[ 2.59919289e-01 -9.65609463e-01 -6.35049992e-03 1.19644495e+02] [ 9.65385663e-01 2.59995849e-01 -2.08009464e-02 7.59045950e+01] [ 2.17366943e-02 -7.24114379e-04 9.99763468e-01 3.01773246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:75.93, Z:3.02 [[ 2.59286951e-01 -9.65779263e-01 -6.37900141e-03 1.19651407e+02] [ 9.65552840e-01 2.59364370e-01 -2.09245757e-02 7.59294239e+01] [ 2.18630069e-02 -7.33793499e-04 9.99760707e-01 3.01842134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:75.95, Z:3.02 [[ 2.58400449e-01 -9.66017532e-01 -6.27184495e-03 1.19658712e+02] [ 9.65798069e-01 2.58475512e-01 -2.06033805e-02 7.59545841e+01] [ 2.15243451e-02 -7.33412973e-04 9.99768055e-01 3.01897680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:75.98, Z:3.02 [[ 2.57664924e-01 -9.66213712e-01 -6.31269480e-03 1.19667116e+02] [ 9.65990797e-01 2.57741159e-01 -2.07671459e-02 7.59797930e+01] [ 2.16925424e-02 -7.47040012e-04 9.99764410e-01 3.01940783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:76.00, Z:3.02 [[ 2.56581014e-01 -9.66501779e-01 -6.36351563e-03 1.19676266e+02] [ 9.66274711e-01 2.56658757e-01 -2.09634295e-02 7.60048052e+01] [ 2.18944439e-02 -7.70086238e-04 9.99759991e-01 3.01968224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:76.03, Z:3.02 [[ 2.55918432e-01 -9.66677676e-01 -6.32670972e-03 1.19676928e+02] [ 9.66452824e-01 2.55995450e-01 -2.08631123e-02 7.60330697e+01] [ 2.17875138e-02 -7.75211480e-04 9.99762323e-01 3.02057469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:76.06, Z:3.02 [[ 2.55042070e-01 -9.66909487e-01 -6.29175600e-03 1.19688618e+02] [ 9.66686548e-01 2.55118463e-01 -2.07771148e-02 7.60565397e+01] [ 2.16947325e-02 -7.83117523e-04 9.99764335e-01 3.02076118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:76.08, Z:3.02 [[ 2.54105832e-01 -9.67154953e-01 -6.44393144e-03 1.19692682e+02] [ 9.66920462e-01 2.54186217e-01 -2.13116458e-02 7.60834181e+01] [ 2.22496223e-02 -8.15355696e-04 9.99752114e-01 3.02091151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:76.11, Z:3.02 [[ 2.53307810e-01 -9.67364276e-01 -6.44289229e-03 1.19708563e+02] [ 9.67129258e-01 2.53388388e-01 -2.13382906e-02 7.61057330e+01] [ 2.22744541e-02 -8.25953980e-04 9.99751552e-01 3.02095066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:76.13, Z:3.02 [[ 2.52275396e-01 -9.67631783e-01 -6.77178614e-03 1.19717267e+02] [ 9.67371445e-01 2.52364718e-01 -2.24618769e-02 7.61299882e+01] [ 2.34437859e-02 -8.84253650e-04 9.99724766e-01 3.01988746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:76.16, Z:3.02 [[ 2.51654336e-01 -9.67792540e-01 -6.90610893e-03 1.19724633e+02] [ 9.67521052e-01 2.51747439e-01 -2.29399446e-02 7.61557307e+01] [ 2.39397025e-02 -9.08869256e-04 9.99712991e-01 3.01980553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:76.18, Z:3.02 [[ 2.50726194e-01 -9.68032797e-01 -6.99143476e-03 1.19722038e+02] [ 9.67753880e-01 2.50821908e-01 -2.32550491e-02 7.61846448e+01] [ 2.42652552e-02 -9.35338187e-04 9.99705118e-01 3.02116231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:76.21, Z:3.02 [[ 2.49405006e-01 -9.68374262e-01 -6.95927921e-03 1.19730442e+02] [ 9.68097229e-01 2.49500251e-01 -2.31814432e-02 7.62096651e+01] [ 2.41846548e-02 -9.55690950e-04 9.99707052e-01 3.02198428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:76.24, Z:3.02 [[ 2.48751560e-01 -9.68541994e-01 -7.00476838e-03 1.19738423e+02] [ 9.68260541e-01 2.48848277e-01 -2.33679248e-02 7.62355981e+01] [ 2.43759410e-02 -9.69633083e-04 9.99702392e-01 3.02209520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:76.26, Z:3.02 [[ 2.48370784e-01 -9.68638691e-01 -7.14425675e-03 1.19746552e+02] [ 9.68345093e-01 2.48471541e-01 -2.38678568e-02 7.62608285e+01] [ 2.48944741e-02 -9.90027632e-04 9.99689594e-01 3.02206200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:76.29, Z:3.02 [[ 2.48352084e-01 -9.68644101e-01 -7.06030070e-03 1.19749543e+02] [ 9.68356514e-01 2.48450526e-01 -2.36219886e-02 7.62873568e+01] [ 2.46354353e-02 -9.70318076e-04 9.99696031e-01 3.02348315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:76.31, Z:3.02 [[ 2.48112833e-01 -9.68706314e-01 -6.93541838e-03 1.19761917e+02] [ 9.68428029e-01 2.48207924e-01 -2.32374610e-02 7.63110722e+01] [ 2.42317009e-02 -9.50941284e-04 9.99705917e-01 3.02350119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:76.34, Z:3.02 [[ 2.48280866e-01 -9.68663103e-01 -6.95732548e-03 1.19769187e+02] [ 9.68382214e-01 2.48376543e-01 -2.33448345e-02 7.63363698e+01] [ 2.43413162e-02 -9.41274524e-04 9.99703263e-01 3.02416837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:76.36, Z:3.02 [[ 2.47877280e-01 -9.68766527e-01 -6.94762151e-03 1.19776252e+02] [ 9.68485598e-01 2.47972840e-01 -2.33477224e-02 7.63613315e+01] [ 2.43413134e-02 -9.41301437e-04 9.99703263e-01 3.02469600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:76.39, Z:3.03 [[ 2.48735820e-01 -9.68546629e-01 -6.92238930e-03 1.19780934e+02] [ 9.68266805e-01 2.48830472e-01 -2.32978615e-02 7.63882603e+01] [ 2.42875666e-02 -9.07707085e-04 9.99704601e-01 3.02571286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:76.41, Z:3.03 [[ 2.49465795e-01 -9.68359737e-01 -6.79977042e-03 1.19788626e+02] [ 9.68088918e-01 2.49556947e-01 -2.29167228e-02 7.64137722e+01] [ 2.38885616e-02 -8.65843940e-04 9.99714253e-01 3.02596883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:76.44, Z:3.03 [[ 2.49869726e-01 -9.68255878e-01 -6.75829611e-03 1.19795243e+02] [ 9.67987534e-01 2.49959686e-01 -2.28098551e-02 7.64394221e+01] [ 2.37750778e-02 -8.42454152e-04 9.99716978e-01 3.02634836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:76.47, Z:3.03 [[ 2.51906354e-01 -9.67728219e-01 -6.72929300e-03 1.19800447e+02] [ 9.67461199e-01 2.51995010e-01 -2.27451750e-02 7.64665973e+01] [ 2.37068959e-02 -7.80675771e-04 9.99718647e-01 3.02701549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:76.49, Z:3.03 [[ 2.52901531e-01 -9.67469875e-01 -6.54646780e-03 1.19807029e+02] [ 9.67216406e-01 2.52985197e-01 -2.21565708e-02 7.64917139e+01] [ 2.30919743e-02 -7.28420375e-04 9.99733079e-01 3.02805957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:76.52, Z:3.03 [[ 2.55550849e-01 -9.66773331e-01 -6.56430724e-03 1.19807667e+02] [ 9.66517531e-01 2.55634294e-01 -2.22479104e-02 7.65211736e+01] [ 2.31867484e-02 -6.59045633e-04 9.99730934e-01 3.02927281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:76.55, Z:3.03 [[ 2.56675995e-01 -9.66474676e-01 -6.64328659e-03 1.19814197e+02] [ 9.66211931e-01 2.56761173e-01 -2.25433830e-02 7.65474474e+01] [ 2.34933469e-02 -6.32477489e-04 9.99723793e-01 3.02879332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:76.57, Z:3.03 [[ 2.57606052e-01 -9.66226225e-01 -6.78260398e-03 1.19820604e+02] [ 9.65951537e-01 2.57694594e-01 -2.30461304e-02 7.65737313e+01] [ 2.40156160e-02 -6.14844060e-04 9.99711394e-01 3.02850485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:76.60, Z:3.03 [[ 2.58425227e-01 -9.66006870e-01 -6.86511322e-03 1.19823073e+02] [ 9.65724728e-01 2.58515713e-01 -2.33532828e-02 7.66023040e+01] [ 2.43341713e-02 -5.94732194e-04 9.99703703e-01 3.02964178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:76.63, Z:3.03 [[ 2.59490617e-01 -9.65722569e-01 -6.67381101e-03 1.19835756e+02] [ 9.65455404e-01 2.59575847e-01 -2.27209932e-02 7.66264533e+01] [ 2.36745360e-02 -5.47382375e-04 9.99719569e-01 3.02964165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:76.65, Z:3.03 [[ 2.59220160e-01 -9.65795371e-01 -6.64898007e-03 1.19841021e+02] [ 9.65529484e-01 2.59304849e-01 -2.26673945e-02 7.66534987e+01] [ 2.36161775e-02 -5.43940647e-04 9.99720951e-01 3.03101832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:76.68, Z:3.03 [[ 2.58617887e-01 -9.65958538e-01 -6.39464678e-03 1.19852862e+02] [ 9.65711972e-01 2.58696391e-01 -2.18303723e-02 7.66775549e+01] [ 2.27415065e-02 -5.29662192e-04 9.99741238e-01 3.03161026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.382755096 meters Centerline goodness [0,1] 0.9999789189644995 Centerline is valid? [True, True] Translation: X:119.86, Y:76.70, Z:3.03 [[ 2.57359737e-01 -9.66295827e-01 -6.19192742e-03 1.19858339e+02] [ 9.66064222e-01 2.57433656e-01 -2.11620534e-02 7.67045424e+01] [ 2.20428144e-02 -5.35539041e-04 9.99756884e-01 3.03298493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:76.73, Z:3.03 [[ 2.56195508e-01 -9.66605733e-01 -6.10069870e-03 1.19867534e+02] [ 9.66380339e-01 2.56267552e-01 -2.08801675e-02 7.67299952e+01] [ 2.17463008e-02 -5.46190152e-04 9.99763372e-01 3.03402319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:76.75, Z:3.03 [[ 2.53511575e-01 -9.67312374e-01 -6.21718863e-03 1.19878885e+02] [ 9.67077835e-01 2.53587064e-01 -2.13087169e-02 7.67546345e+01] [ 2.21887841e-02 -6.10498942e-04 9.99753612e-01 3.03416271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.89, Y:76.78, Z:3.03 [[ 2.51972268e-01 -9.67714876e-01 -6.15589501e-03 1.19888480e+02] [ 9.67484361e-01 2.52046663e-01 -2.11303549e-02 7.67805349e+01] [ 2.19997316e-02 -6.31468689e-04 9.99757777e-01 3.03457846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:76.81, Z:3.04 [[ 2.50328040e-01 -9.68142089e-01 -6.06372154e-03 1.19898547e+02] [ 9.67917906e-01 2.50400623e-01 -2.08435885e-02 7.68058629e+01] [ 2.16979150e-02 -6.51450009e-04 9.99764360e-01 3.03532723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:76.83, Z:3.04 [[ 2.48666155e-01 -9.68570163e-01 -6.08141216e-03 1.19903440e+02] [ 9.68344142e-01 2.48739569e-01 -2.09344041e-02 7.68331112e+01] [ 2.17891271e-02 -6.83222056e-04 9.99762355e-01 3.03590076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:76.86, Z:3.04 [[ 2.46102090e-01 -9.69224871e-01 -6.07540950e-03 1.19917909e+02] [ 9.68998835e-01 2.46175978e-01 -2.09438875e-02 7.68568062e+01] [ 2.17949565e-02 -7.32730258e-04 9.99762193e-01 3.03505384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:76.88, Z:3.04 [[ 2.45071090e-01 -9.69485312e-01 -6.19603895e-03 1.19925077e+02] [ 9.69249605e-01 2.45148216e-01 -2.13905322e-02 7.68840342e+01] [ 2.22567546e-02 -7.63307257e-04 9.99751996e-01 3.03518370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:76.91, Z:3.03 [[ 2.43611790e-01 -9.69851097e-01 -6.49200587e-03 1.19936175e+02] [ 9.69591731e-01 2.43696874e-01 -2.24434685e-02 7.69092609e+01] [ 2.33489041e-02 -8.27101677e-04 9.99727035e-01 3.03442689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:76.94, Z:3.03 [[ 2.42785347e-01 -9.70057415e-01 -6.62469628e-03 1.19940021e+02] [ 9.69786631e-01 2.42874202e-01 -2.29349424e-02 7.69367871e+01] [ 2.38571788e-02 -8.56273932e-04 9.99715010e-01 3.03476961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:76.96, Z:3.03 [[ 2.42535377e-01 -9.70118808e-01 -6.78890953e-03 1.19953254e+02] [ 9.69833638e-01 2.42628794e-01 -2.35368255e-02 7.69616379e+01] [ 2.44807020e-02 -8.75599983e-04 9.99699919e-01 3.03410969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:76.99, Z:3.03 [[ 2.42103817e-01 -9.70226509e-01 -6.80175582e-03 1.19958988e+02] [ 9.69939699e-01 2.42197737e-01 -2.36058593e-02 7.69869571e+01] [ 2.45504003e-02 -8.82224355e-04 9.99698204e-01 3.03472285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:77.01, Z:3.04 [[ 2.42029629e-01 -9.70245478e-01 -6.73586982e-03 1.19968763e+02] [ 9.69963549e-01 2.42121783e-01 -2.34041901e-02 7.70120609e+01] [ 2.43387104e-02 -8.69040756e-04 9.99703392e-01 3.03500575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:77.04, Z:3.04 [[ 2.42641397e-01 -9.70092763e-01 -6.72188834e-03 1.19977421e+02] [ 9.69811157e-01 2.42733019e-01 -2.33880405e-02 7.70371321e+01] [ 2.43201931e-02 -8.44055489e-04 9.99703864e-01 3.03509365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.98, Y:77.06, Z:3.04 [[ 2.42817149e-01 -9.70049179e-01 -6.66502828e-03 1.19981918e+02] [ 9.69771455e-01 2.42907208e-01 -2.32252666e-02 7.70636873e+01] [ 2.41486342e-02 -8.24061154e-04 9.99708040e-01 3.03621691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:77.09, Z:3.04 [[ 2.43283271e-01 -9.69932684e-01 -6.62108799e-03 1.19988952e+02] [ 9.69657772e-01 2.43372041e-01 -2.31052818e-02 7.70893866e+01] [ 2.40219556e-02 -7.99060902e-04 9.99711112e-01 3.03709420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:77.12, Z:3.04 [[ 2.43848843e-01 -9.69791861e-01 -6.44114440e-03 1.19993035e+02] [ 9.69531035e-01 2.43932722e-01 -2.25033239e-02 7.71168009e+01] [ 2.33947462e-02 -7.57479896e-04 9.99726019e-01 3.03898469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:77.14, Z:3.04 [[ 2.46519289e-01 -9.69116958e-01 -6.36880590e-03 1.20003147e+02] [ 9.68861051e-01 2.46600612e-01 -2.22800936e-02 7.71436757e+01] [ 2.31625680e-02 -6.78015150e-04 9.99731482e-01 3.03944619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:77.17, Z:3.04 [[ 2.48236370e-01 -9.68678204e-01 -6.42189982e-03 1.20009496e+02] [ 9.68417232e-01 2.48318611e-01 -2.24929567e-02 7.71689783e+01] [ 2.33831141e-02 -6.35508519e-04 9.99726376e-01 3.03954367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:77.20, Z:3.04 [[ 2.49888540e-01 -9.68253748e-01 -6.35583502e-03 1.20011765e+02] [ 9.67997194e-01 2.49968681e-01 -2.22955404e-02 7.71965527e+01] [ 2.31765003e-02 -5.81030418e-04 9.99731220e-01 3.04049593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:77.22, Z:3.04 [[ 2.54054646e-01 -9.67169376e-01 -6.29569681e-03 1.20016743e+02] [ 9.66916599e-01 2.54132208e-01 -2.21158671e-02 7.72228732e+01] [ 2.29897287e-02 -4.68774952e-04 9.99735591e-01 3.04076537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.012755096 meters Centerline goodness [0,1] 0.9999787852430151 Centerline is valid? [True, True] Translation: X:120.02, Y:77.25, Z:3.04 [[ 2.55828864e-01 -9.66701060e-01 -6.37597638e-03 1.20023141e+02] [ 9.66441059e-01 2.55907952e-01 -2.24231863e-02 7.72490642e+01] [ 2.33081810e-02 -4.25507089e-04 9.99728237e-01 3.04014703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.042755096 meters Centerline goodness [0,1] 0.9999573996762375 Centerline is valid? [True, True] Translation: X:120.03, Y:77.28, Z:3.04 [[ 2.57900219e-01 -9.66150681e-01 -6.35125868e-03 1.20029547e+02] [ 9.65891911e-01 2.57978152e-01 -2.23626655e-02 7.72760090e+01] [ 2.32441905e-02 -3.67293029e-04 9.99729750e-01 3.04112814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:77.30, Z:3.04 [[ 2.61140010e-01 -9.65281258e-01 -6.16349374e-03 1.20035971e+02] [ 9.65036731e-01 2.61212592e-01 -2.17276341e-02 7.73025167e+01] [ 2.25832601e-02 -2.74043271e-04 9.99744928e-01 3.04239374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:77.33, Z:3.04 [[ 2.62015446e-01 -9.65044633e-01 -6.06321460e-03 1.20042004e+02] [ 9.64807390e-01 2.62085477e-01 -2.13986706e-02 7.73286303e+01] [ 2.22397527e-02 -2.43052033e-04 9.99752637e-01 3.04310018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:77.35, Z:3.04 [[ 2.62396458e-01 -9.64941883e-01 -5.93813681e-03 1.20049103e+02] [ 9.64713711e-01 2.62463547e-01 -2.09843474e-02 7.73549616e+01] [ 2.18072201e-02 -2.22383552e-04 9.99762170e-01 3.04329275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:77.38, Z:3.04 [[ 2.61855188e-01 -9.65089276e-01 -5.87796031e-03 1.20058918e+02] [ 9.64865157e-01 2.61921055e-01 -2.07987824e-02 7.73799344e+01] [ 2.16122434e-02 -2.25170040e-04 9.99766403e-01 3.04302993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:77.41, Z:3.04 [[ 2.61084079e-01 -9.65298460e-01 -5.82983600e-03 1.20067718e+02] [ 9.65077446e-01 2.61149055e-01 -2.06565774e-02 7.74055348e+01] [ 2.14622185e-02 -2.33139745e-04 9.99769633e-01 3.04360805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:77.43, Z:3.04 [[ 2.59774036e-01 -9.65651763e-01 -5.84143926e-03 1.20077014e+02] [ 9.65429379e-01 2.59839578e-01 -2.07245728e-02 7.74297575e+01] [ 2.15305574e-02 -2.55791157e-04 9.99768158e-01 3.04402056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:77.45, Z:3.04 [[ 2.57088538e-01 -9.66370145e-01 -5.85031237e-03 1.20088226e+02] [ 9.66146661e-01 2.57154908e-01 -2.07841891e-02 7.74542602e+01] [ 2.15896564e-02 -3.08882978e-04 9.99766868e-01 3.04428881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:77.48, Z:3.04 [[ 2.55317506e-01 -9.66839889e-01 -5.79661201e-03 1.20097492e+02] [ 9.66620022e-01 2.55383075e-01 -2.06208200e-02 7.74801816e+01] [ 2.14173879e-02 -3.38264895e-04 9.99770564e-01 3.04408820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:77.50, Z:3.04 [[ 2.52038157e-01 -9.67698658e-01 -6.00614952e-03 1.20109035e+02] [ 9.67462239e-01 2.52109364e-01 -2.13935936e-02 7.75039339e+01] [ 2.22167583e-02 -4.18720961e-04 9.99753090e-01 3.04352571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:77.53, Z:3.04 [[ 2.50383363e-01 -9.68128002e-01 -6.02859471e-03 1.20118548e+02] [ 9.67889455e-01 2.50455519e-01 -2.14950174e-02 7.75294000e+01] [ 2.23198231e-02 -4.53018508e-04 9.99750779e-01 3.04374346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:77.56, Z:3.04 [[ 2.48636514e-01 -9.68578431e-01 -5.97556675e-03 1.20127995e+02] [ 9.68343610e-01 2.48707842e-01 -2.13321842e-02 7.75552483e+01] [ 2.21480638e-02 -4.82441968e-04 9.99754585e-01 3.04444216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:77.58, Z:3.04 [[ 2.46088979e-01 -9.69229069e-01 -5.93513521e-03 1.20139061e+02] [ 9.68997038e-01 2.46159967e-01 -2.12134570e-02 7.75792190e+01] [ 2.20216919e-02 -5.30730473e-04 9.99757352e-01 3.04475630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.14, Y:77.61, Z:3.05 [[ 2.44711175e-01 -9.69577130e-01 -6.05230584e-03 1.20144000e+02] [ 9.69335467e-01 2.44785350e-01 -2.16537554e-02 7.76071340e+01] [ 2.24765018e-02 -5.67798765e-04 9.99747210e-01 3.04532361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:77.63, Z:3.05 [[ 2.43671967e-01 -9.69839345e-01 -5.96796072e-03 1.20150800e+02] [ 9.69603887e-01 2.43744355e-01 -2.13773773e-02 7.76336006e+01] [ 2.21872784e-02 -5.77490326e-04 9.99753665e-01 3.04609243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:77.66, Z:3.05 [[ 2.43028945e-01 -9.69999883e-01 -6.09573462e-03 1.20160986e+02] [ 9.69753597e-01 2.43104647e-01 -2.18652970e-02 7.76583767e+01] [ 2.26912369e-02 -5.97460517e-04 9.99742342e-01 3.04653227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:77.68, Z:3.05 [[ 2.42693092e-01 -9.70083678e-01 -6.14169112e-03 1.20173007e+02] [ 9.69833129e-01 2.42770041e-01 -2.20547032e-02 7.76817686e+01] [ 2.28859262e-02 -6.03891399e-04 9.99737901e-01 3.04645654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:77.71, Z:3.05 [[ 2.42967390e-01 -9.70015843e-01 -6.00931696e-03 1.20174879e+02] [ 9.69775300e-01 2.43041007e-01 -2.16087086e-02 7.77096606e+01] [ 2.24213002e-02 -5.77475619e-04 9.99748444e-01 3.04790523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:77.74, Z:3.05 [[ 2.44085743e-01 -9.69735413e-01 -5.94802550e-03 1.20181475e+02] [ 9.69499044e-01 2.44157610e-01 -2.14164605e-02 7.77371235e+01] [ 2.22205559e-02 -5.39152357e-04 9.99752948e-01 3.04896697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:77.76, Z:3.05 [[ 2.44777251e-01 -9.69562076e-01 -5.78597398e-03 1.20187960e+02] [ 9.69337840e-01 2.44845108e-01 -2.08572510e-02 7.77631616e+01] [ 2.16390670e-02 -5.03182937e-04 9.99765721e-01 3.05002088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:77.79, Z:3.05 [[ 2.46946129e-01 -9.69013384e-01 -5.53806719e-03 1.20194523e+02] [ 9.68807286e-01 2.47007848e-01 -1.99891598e-02 7.77890037e+01] [ 2.07377095e-02 -4.29074199e-04 9.99784859e-01 3.05151804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:77.82, Z:3.05 [[ 2.48014997e-01 -9.68740410e-01 -5.52993360e-03 1.20201008e+02] [ 9.68534368e-01 2.48076317e-01 -1.99829524e-02 7.78157765e+01] [ 2.07301390e-02 -3.99858872e-04 9.99785028e-01 3.05251343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:77.84, Z:3.05 [[ 2.49046212e-01 -9.68476400e-01 -5.42652577e-03 1.20207328e+02] [ 9.68277412e-01 2.49105059e-01 -1.96347372e-02 7.78412215e+01] [ 2.03675546e-02 -3.64425409e-04 9.99792493e-01 3.05316469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:77.87, Z:3.05 [[ 2.50010224e-01 -9.68228678e-01 -5.30246313e-03 1.20212198e+02] [ 9.68038112e-01 2.50066230e-01 -1.92118312e-02 7.78678065e+01] [ 1.99274129e-02 -3.29832176e-04 9.99801375e-01 3.05410083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:77.89, Z:3.06 [[ 2.52633326e-01 -9.67547402e-01 -5.33169229e-03 1.20218953e+02] [ 9.67354036e-01 2.52689436e-01 -1.93447327e-02 7.78945305e+01] [ 2.00642082e-02 -2.70509893e-04 9.99798657e-01 3.05510181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:77.92, Z:3.06 [[ 2.53734187e-01 -9.67260250e-01 -5.15474269e-03 1.20223594e+02] [ 9.67079021e-01 2.53786435e-01 -1.87246294e-02 7.79215373e+01] [ 1.94197935e-02 -2.33964877e-04 9.99811391e-01 3.05569949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:77.95, Z:3.06 [[ 2.55338006e-01 -9.66837946e-01 -5.18540161e-03 1.20229343e+02] [ 9.66653962e-01 2.55390578e-01 -1.88618826e-02 7.79468095e+01] [ 1.95606865e-02 -1.96333513e-04 9.99808652e-01 3.05628836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:77.97, Z:3.06 [[ 2.55734515e-01 -9.66733142e-01 -5.18550939e-03 1.20236580e+02] [ 9.66548598e-01 2.55787019e-01 -1.88893956e-02 7.79726970e+01] [ 1.95873907e-02 -1.81376413e-04 9.99808132e-01 3.05682473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:78.00, Z:3.06 [[ 2.55402607e-01 -9.66820917e-01 -5.17901849e-03 1.20243439e+02] [ 9.66636355e-01 2.55455046e-01 -1.88911750e-02 7.79985450e+01] [ 1.95873896e-02 -1.81372218e-04 9.99808132e-01 3.05736903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:78.02, Z:3.06 [[ 2.55295065e-01 -9.66848721e-01 -5.28974362e-03 1.20251751e+02] [ 9.66655652e-01 2.55349797e-01 -1.93217951e-02 7.80230374e+01] [ 2.00319879e-02 -1.80601636e-04 9.99799323e-01 3.05788779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:78.05, Z:3.06 [[ 2.55105203e-01 -9.66898964e-01 -5.26593175e-03 1.20259068e+02] [ 9.66707244e-01 2.55159484e-01 -1.92546641e-02 7.80494373e+01] [ 1.99609672e-02 -1.78649394e-04 9.99800744e-01 3.05831914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:78.08, Z:3.06 [[ 2.54483281e-01 -9.67062710e-01 -5.28915957e-03 1.20266321e+02] [ 9.66868815e-01 2.54538172e-01 -1.93652525e-02 7.80761435e+01] [ 2.00737065e-02 -1.85790465e-04 9.99798486e-01 3.05867538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:78.10, Z:3.06 [[ 2.53357163e-01 -9.67358304e-01 -5.29707129e-03 1.20275283e+02] [ 9.67163348e-01 2.53412450e-01 -1.94213594e-02 7.81007711e+01] [ 2.01297571e-02 -2.02592690e-04 9.99797355e-01 3.05936690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:78.13, Z:3.06 [[ 2.52374160e-01 -9.67614983e-01 -5.34115677e-03 1.20282978e+02] [ 9.67416237e-01 2.52430579e-01 -1.96119080e-02 7.81268933e+01] [ 2.03250473e-02 -2.17582984e-04 9.99793401e-01 3.05981882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:78.15, Z:3.06 [[ 2.49951634e-01 -9.68243323e-01 -5.38965905e-03 1.20293601e+02] [ 9.68040526e-01 2.50009596e-01 -1.98177211e-02 7.81517329e+01] [ 2.05358426e-02 -2.63936610e-04 9.99789083e-01 3.06042562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:78.18, Z:3.06 [[ 2.48337690e-01 -9.68658518e-01 -5.39134345e-03 1.20302643e+02] [ 9.68455160e-01 2.48396034e-01 -1.98497485e-02 7.81772866e+01] [ 2.05668163e-02 -2.91833695e-04 9.99788438e-01 3.06116017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:78.20, Z:3.06 [[ 2.44840663e-01 -9.69547965e-01 -5.45827728e-03 1.20316321e+02] [ 9.69339168e-01 2.44901226e-01 -2.01237794e-02 7.82010988e+01] [ 2.08477082e-02 -3.63802461e-04 9.99782597e-01 3.06166799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:78.23, Z:3.06 [[ 2.42551495e-01 -9.70123381e-01 -5.42198650e-03 1.20322699e+02] [ 9.69917059e-01 2.42611751e-01 -2.00109465e-02 7.82281195e+01] [ 2.07285247e-02 -4.05192195e-04 9.99785059e-01 3.06193795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:78.25, Z:3.06 [[ 2.40731691e-01 -9.70576355e-01 -5.45814367e-03 1.20332176e+02] [ 9.70366861e-01 2.40793156e-01 -2.01695414e-02 7.82545568e+01] [ 2.08903636e-02 -4.40953934e-04 9.99781675e-01 3.06265029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:78.28, Z:3.06 [[ 2.37456187e-01 -9.71383435e-01 -5.36475583e-03 1.20343098e+02] [ 9.71180757e-01 2.37516261e-01 -1.98485087e-02 7.82805293e+01] [ 2.05547293e-02 -4.96996433e-04 9.99788606e-01 3.06350778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:78.31, Z:3.06 [[ 2.36021442e-01 -9.71731917e-01 -5.56414815e-03 1.20351049e+02] [ 9.71513418e-01 2.36086401e-01 -2.06128585e-02 7.83071491e+01] [ 2.13437922e-02 -5.40568020e-04 9.99772049e-01 3.06424123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.36, Y:78.33, Z:3.06 [[ 2.33021981e-01 -9.72454837e-01 -5.68744640e-03 1.20362175e+02] [ 9.72226154e-01 2.33090572e-01 -2.10971579e-02 7.83318898e+01] [ 2.18417234e-02 -6.13382590e-04 9.99761253e-01 3.06385075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:78.36, Z:3.06 [[ 2.31725270e-01 -9.72763852e-01 -5.82132303e-03 1.20369813e+02] [ 9.72523711e-01 2.31797466e-01 -2.16232868e-02 7.83593424e+01] [ 2.23837197e-02 -6.50712696e-04 9.99749241e-01 3.06430486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:78.39, Z:3.06 [[ 2.30656312e-01 -9.73017414e-01 -5.89720389e-03 1.20378553e+02] [ 9.72770414e-01 2.30730692e-01 -2.19332792e-02 7.83854866e+01] [ 2.27021286e-02 -6.77576172e-04 9.99742044e-01 3.06481412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:78.41, Z:3.07 [[ 2.29816314e-01 -9.73216135e-01 -5.90053519e-03 1.20385072e+02] [ 9.72968250e-01 2.29891011e-01 -2.19751452e-02 7.84118962e+01] [ 2.27430458e-02 -6.90786551e-04 9.99741105e-01 3.06576100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:78.44, Z:3.07 [[ 2.29031663e-01 -9.73401731e-01 -5.79374077e-03 1.20395006e+02] [ 9.73162126e-01 2.29103895e-01 -2.16074659e-02 7.84366379e+01] [ 2.23601133e-02 -6.89455231e-04 9.99749744e-01 3.06663037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:78.46, Z:3.07 [[ 2.29013919e-01 -9.73406196e-01 -5.74481224e-03 1.20402260e+02] [ 9.73170086e-01 2.29084957e-01 -2.14491643e-02 7.84628423e+01] [ 2.21947995e-02 -6.78522246e-04 9.99753435e-01 3.06772255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:78.49, Z:3.07 [[ 2.29578475e-01 -9.73272597e-01 -5.84604312e-03 1.20407189e+02] [ 9.73027360e-01 2.29651917e-01 -2.18575968e-02 7.84895015e+01] [ 2.26159550e-02 -6.70326175e-04 9.99744002e-01 3.06860131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:78.52, Z:3.07 [[ 2.29800692e-01 -9.73220378e-01 -5.80847624e-03 1.20413114e+02] [ 9.72977581e-01 2.29873158e-01 -2.17475850e-02 7.85165987e+01] [ 2.25004057e-02 -6.53907085e-04 9.99746620e-01 3.06964810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:78.54, Z:3.07 [[ 2.30314647e-01 -9.73099304e-01 -5.73646257e-03 1.20419748e+02] [ 9.72861810e-01 2.30385221e-01 -2.15069256e-02 7.85417208e+01] [ 2.22499705e-02 -6.27425382e-04 9.99752242e-01 3.07021857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:78.57, Z:3.07 [[ 2.32545578e-01 -9.72569059e-01 -5.65507972e-03 1.20426271e+02] [ 9.72337419e-01 2.32613651e-01 -2.12328181e-02 7.85685606e+01] [ 2.19658307e-02 -5.61047669e-04 9.99758565e-01 3.07185045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:78.59, Z:3.07 [[ 2.33460032e-01 -9.72350616e-01 -5.54014808e-03 1.20432877e+02] [ 9.72127685e-01 2.33525172e-01 -2.08268772e-02 7.85940538e+01] [ 2.15447909e-02 -5.23487909e-04 9.99767747e-01 3.07277128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:78.62, Z:3.07 [[ 2.34877911e-01 -9.72009366e-01 -5.49169403e-03 1.20438413e+02] [ 9.71789595e-01 2.34941611e-01 -2.06741962e-02 7.86218624e+01] [ 2.13857398e-02 -4.80859106e-04 9.99771183e-01 3.07401179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:78.65, Z:3.07 [[ 2.37810694e-01 -9.71296205e-01 -5.45494568e-03 1.20442623e+02] [ 9.71078641e-01 2.37872900e-01 -2.05610568e-02 7.86499147e+01] [ 2.12684602e-02 -4.07542061e-04 9.99773718e-01 3.07495923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:78.68, Z:3.08 [[ 2.39161722e-01 -9.70964791e-01 -5.38942163e-03 1.20447527e+02] [ 9.70751814e-01 2.39222156e-01 -2.03390000e-02 7.86764575e+01] [ 2.10377219e-02 -3.67480585e-04 9.99778615e-01 3.07589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:78.70, Z:3.08 [[ 2.41794086e-01 -9.70312194e-01 -5.46497980e-03 1.20451268e+02] [ 9.70092407e-01 2.41855642e-01 -2.06535914e-02 7.87049145e+01] [ 2.13621678e-02 -3.07619150e-04 9.99771756e-01 3.07620957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:78.73, Z:3.08 [[ 2.42513150e-01 -9.70132217e-01 -5.55458493e-03 1.20457291e+02] [ 9.69904511e-01 2.42576581e-01 -2.10200614e-02 7.87318261e+01] [ 2.17396509e-02 -2.89775676e-04 9.99763624e-01 3.07610318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:78.76, Z:3.08 [[ 2.42884800e-01 -9.70038783e-01 -5.63327763e-03 1.20463882e+02] [ 9.69803856e-01 2.42949959e-01 -2.13494272e-02 7.87588002e+01] [ 2.20783769e-02 -2.77723025e-04 9.99756204e-01 3.07634124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:78.78, Z:3.08 [[ 2.42887718e-01 -9.70037675e-01 -5.69779495e-03 1.20470997e+02] [ 9.69796659e-01 2.42954386e-01 -2.16242132e-02 7.87848392e+01] [ 2.23606058e-02 -2.73446710e-04 9.99749933e-01 3.07666725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.48, Y:78.81, Z:3.08 [[ 2.42327532e-01 -9.70177808e-01 -5.69108670e-03 1.20478602e+02] [ 9.69936696e-01 2.42394191e-01 -2.16301002e-02 7.88105482e+01] [ 2.23645295e-02 -2.78425047e-04 9.99749844e-01 3.07709304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:78.84, Z:3.08 [[ 2.39872611e-01 -9.70788012e-01 -5.63618970e-03 1.20486861e+02] [ 9.70551014e-01 2.39938599e-01 -2.14522166e-02 7.88370670e+01] [ 2.21778941e-02 -3.24410421e-04 9.99753988e-01 3.07737436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:78.86, Z:3.08 [[ 2.37707206e-01 -9.71320581e-01 -5.62249954e-03 1.20495202e+02] [ 9.71084255e-01 2.37773410e-01 -2.14283994e-02 7.88625912e+01] [ 2.21507263e-02 -3.66235811e-04 9.99754575e-01 3.07764732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:78.89, Z:3.08 [[ 2.35677774e-01 -9.71814422e-01 -5.71987469e-03 1.20504052e+02] [ 9.71569290e-01 2.35746814e-01 -2.18301471e-02 7.88896141e+01] [ 2.25632940e-02 -4.12374110e-04 9.99745331e-01 3.07786503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:78.92, Z:3.08 [[ 2.33730758e-01 -9.72284392e-01 -5.74399441e-03 1.20513582e+02] [ 9.72036669e-01 2.33800889e-01 -2.19512627e-02 7.89155364e+01] [ 2.26858211e-02 -4.52687936e-04 9.99742541e-01 3.07851593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:78.94, Z:3.08 [[ 2.30111735e-01 -9.73146354e-01 -5.89596185e-03 1.20524201e+02] [ 9.72884902e-01 2.30186613e-01 -2.25630217e-02 7.89401488e+01] [ 2.33142938e-02 -5.44076192e-04 9.99728037e-01 3.07837545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:78.97, Z:3.08 [[ 2.28228574e-01 -9.73588835e-01 -6.04138062e-03 1.20531855e+02] [ 9.73313865e-01 2.28307738e-01 -2.31451337e-02 7.89673971e+01] [ 2.39131377e-02 -5.97778650e-04 9.99713861e-01 3.07863538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:78.99, Z:3.08 [[ 2.26624959e-01 -9.73962562e-01 -6.16896474e-03 1.20540465e+02] [ 9.73675235e-01 2.26707993e-01 -2.36647977e-02 7.89939023e+01] [ 2.44471806e-02 -6.43534385e-04 9.99700916e-01 3.07879909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.55, Y:79.02, Z:3.08 [[ 2.24195499e-01 -9.74523073e-01 -6.41554466e-03 1.20549995e+02] [ 9.74211755e-01 2.24286100e-01 -2.46414653e-02 7.90198142e+01] [ 2.54525939e-02 -7.25593410e-04 9.99675767e-01 3.07828446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:79.04, Z:3.08 [[ 2.22910723e-01 -9.74817236e-01 -6.49357068e-03 1.20558023e+02] [ 9.74497785e-01 2.23003980e-01 -2.49658088e-02 7.90443044e+01] [ 2.57851928e-02 -7.62823762e-04 9.99667216e-01 3.07809160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:79.07, Z:3.08 [[ 2.21273030e-01 -9.75190111e-01 -6.51873492e-03 1.20564566e+02] [ 9.74867560e-01 2.21367576e-01 -2.50925653e-02 7.90717808e+01] [ 2.59130581e-02 -8.02595238e-04 9.99663878e-01 3.07863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:79.10, Z:3.08 [[ 2.19390022e-01 -9.75615340e-01 -6.53657680e-03 1.20573751e+02] [ 9.75290362e-01 2.19485740e-01 -2.51936517e-02 7.90979513e+01] [ 2.60139985e-02 -8.47824545e-04 9.99661219e-01 3.07926852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:79.12, Z:3.08 [[ 2.18537395e-01 -9.75806683e-01 -6.53642090e-03 1.20580767e+02] [ 9.75480911e-01 2.18633421e-01 -2.52273625e-02 7.91245731e+01] [ 2.60461090e-02 -8.63031741e-04 9.99660370e-01 3.08006085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:79.15, Z:3.08 [[ 2.18459248e-01 -9.75824783e-01 -6.44594119e-03 1.20586026e+02] [ 9.75507067e-01 2.18552691e-01 -2.49135068e-02 7.91512114e+01] [ 2.57199951e-02 -8.45475229e-04 9.99668829e-01 3.08128866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:79.18, Z:3.08 [[ 2.18801919e-01 -9.75748305e-01 -6.40042360e-03 1.20592871e+02] [ 9.75434103e-01 2.18893966e-01 -2.47738101e-02 7.91762004e+01] [ 2.55740173e-02 -8.22634266e-04 9.99672593e-01 3.08170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:79.20, Z:3.08 [[ 2.19320384e-01 -9.75631657e-01 -6.43731086e-03 1.20595023e+02] [ 9.75312791e-01 2.19413357e-01 -2.49547468e-02 7.92034715e+01] [ 2.57590730e-02 -8.05306965e-04 9.99667856e-01 3.08270206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.60, Y:79.23, Z:3.08 [[ 2.21601985e-01 -9.75116002e-01 -6.42977909e-03 1.20600494e+02] [ 9.74796730e-01 2.21694023e-01 -2.49618846e-02 7.92298227e+01] [ 2.57661767e-02 -7.36124450e-04 9.99667726e-01 3.08295678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:79.26, Z:3.08 [[ 2.22607930e-01 -9.74887680e-01 -6.30248580e-03 1.20605518e+02] [ 9.74580046e-01 2.22696065e-01 -2.44989038e-02 7.92572294e+01] [ 2.52872183e-02 -6.88626640e-04 9.99679990e-01 3.08393441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:79.28, Z:3.08 [[ 2.23774359e-01 -9.74620964e-01 -6.24597293e-03 1.20611763e+02] [ 9.74317881e-01 2.23860582e-01 -2.43126781e-02 7.92833601e+01] [ 2.50938729e-02 -6.45009145e-04 9.99684891e-01 3.08473274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:79.31, Z:3.09 [[ 2.25834179e-01 -9.74146178e-01 -6.17641761e-03 1.20615059e+02] [ 9.73848848e-01 2.25917884e-01 -2.40734549e-02 7.93115075e+01] [ 2.48464272e-02 -5.78288242e-04 9.99691113e-01 3.08575751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:79.34, Z:3.09 [[ 2.26631194e-01 -9.73960802e-01 -6.21755278e-03 1.20620338e+02] [ 9.73658595e-01 2.26715789e-01 -2.42670749e-02 7.93379298e+01] [ 2.50447971e-02 -5.54097546e-04 9.99686176e-01 3.08648581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:79.37, Z:3.09 [[ 2.28737182e-01 -9.73469769e-01 -5.99250100e-03 1.20624437e+02] [ 9.73188069e-01 2.28815173e-01 -2.34221931e-02 7.93658144e+01] [ 2.41719720e-02 -4.74304036e-04 9.99707703e-01 3.08744967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.63, Y:79.39, Z:3.09 [[ 2.29500370e-01 -9.73290155e-01 -5.98781926e-03 1.20629848e+02] [ 9.73008061e-01 2.29578033e-01 -2.34358770e-02 7.93915417e+01] [ 2.41845801e-02 -4.47653974e-04 9.99707410e-01 3.08818815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:79.42, Z:3.09 [[ 2.30077511e-01 -9.73154108e-01 -5.95151254e-03 1.20635457e+02] [ 9.72874511e-01 2.30154086e-01 -2.33298812e-02 7.94179933e+01] [ 2.40733346e-02 -4.22393863e-04 9.99710106e-01 3.08911194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:79.44, Z:3.09 [[ 2.31036727e-01 -9.72927406e-01 -5.85603792e-03 1.20641594e+02] [ 9.72655828e-01 2.31110612e-01 -2.29896745e-02 7.94435139e+01] [ 2.37206768e-02 -3.84450264e-04 9.99718551e-01 3.09019962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:79.47, Z:3.09 [[ 2.31387911e-01 -9.72843615e-01 -5.91064911e-03 1.20647626e+02] [ 9.72566050e-01 2.31463093e-01 -2.32403570e-02 7.94703526e+01] [ 2.39773300e-02 -3.70959012e-04 9.99712434e-01 3.09101950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:79.50, Z:3.09 [[ 2.31863330e-01 -9.72730302e-01 -5.92923013e-03 1.20653473e+02] [ 9.72450133e-01 2.31938861e-01 -2.33474639e-02 7.94974983e+01] [ 2.40860045e-02 -3.52459904e-04 9.99709828e-01 3.09129621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:79.52, Z:3.09 [[ 2.31984927e-01 -9.72701302e-01 -5.93042948e-03 1.20658902e+02] [ 9.72420224e-01 2.32060465e-01 -2.33847783e-02 7.95239097e+01] [ 2.41226226e-02 -3.41953462e-04 9.99708949e-01 3.09152753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:79.55, Z:3.09 [[ 2.32539246e-01 -9.72567917e-01 -6.09475176e-03 1.20663518e+02] [ 9.72270107e-01 2.32618871e-01 -2.40686657e-02 7.95504919e+01] [ 2.48261663e-02 -3.28835559e-04 9.99691729e-01 3.09126788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:79.58, Z:3.09 [[ 2.32187842e-01 -9.72651717e-01 -6.11910403e-03 1.20669815e+02] [ 9.72350660e-01 2.32268224e-01 -2.42005280e-02 7.95757731e+01] [ 2.49599585e-02 -3.30846484e-04 9.99688397e-01 3.09114337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:79.60, Z:3.09 [[ 2.31434225e-01 -9.72831098e-01 -6.15256346e-03 1.20676082e+02] [ 9.72525871e-01 2.31515738e-01 -2.43699257e-02 7.96021348e+01] [ 2.51322369e-02 -3.43492255e-04 9.99684076e-01 3.09162173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:79.63, Z:3.09 [[ 2.30639320e-01 -9.73019466e-01 -6.21472182e-03 1.20683204e+02] [ 9.72707180e-01 2.30722754e-01 -2.46526425e-02 7.96273609e+01] [ 2.54213788e-02 -3.59235836e-04 9.99676760e-01 3.09181964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:79.65, Z:3.09 [[ 2.30308766e-01 -9.73097816e-01 -6.20592011e-03 1.20689520e+02] [ 9.72785498e-01 2.30392084e-01 -2.46548584e-02 7.96533554e+01] [ 2.54213837e-02 -3.58799071e-04 9.99676760e-01 3.09236383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:79.68, Z:3.09 [[ 2.29026577e-01 -9.73400520e-01 -6.18498676e-03 1.20696215e+02] [ 9.73089517e-01 2.29109756e-01 -2.46071404e-02 7.96795781e+01] [ 2.53696441e-02 -3.82856644e-04 9.99678065e-01 3.09299037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:79.71, Z:3.09 [[ 2.27730873e-01 -9.73704486e-01 -6.18257288e-03 1.20703765e+02] [ 9.73392913e-01 2.27814416e-01 -2.46338789e-02 7.97061328e+01] [ 2.53945976e-02 -4.08177888e-04 9.99677422e-01 3.09341134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:79.73, Z:3.09 [[ 2.25058911e-01 -9.74325863e-01 -6.13184953e-03 1.20711723e+02] [ 9.74018725e-01 2.25141946e-01 -2.44668766e-02 7.97334660e+01] [ 2.52192472e-02 -4.66047654e-04 9.99681836e-01 3.09366930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:79.76, Z:3.09 [[ 2.23499658e-01 -9.74684888e-01 -6.10508911e-03 1.20718882e+02] [ 9.74379750e-01 2.23582472e-01 -2.43922206e-02 7.97601536e+01] [ 2.51397197e-02 -4.97022260e-04 9.99683824e-01 3.09393964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.73, Y:79.79, Z:3.09 [[ 2.20392222e-01 -9.75392306e-01 -6.09244361e-03 1.20726472e+02] [ 9.75087884e-01 2.20475681e-01 -2.43740316e-02 7.97868565e+01] [ 2.51174785e-02 -5.68820961e-04 9.99684345e-01 3.09430678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:79.81, Z:3.10 [[ 2.18340608e-01 -9.75854128e-01 -6.00821997e-03 1.20735522e+02] [ 9.75557424e-01 2.18422418e-01 -2.40699053e-02 7.98125744e+01] [ 2.48010464e-02 -6.05925820e-04 9.99692223e-01 3.09511580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:79.84, Z:3.10 [[ 2.16702629e-01 -9.76219936e-01 -5.88273730e-03 1.20743252e+02] [ 9.75934825e-01 2.16781556e-01 -2.36002959e-02 7.98396645e+01] [ 2.43143483e-02 -6.26922045e-04 9.99704166e-01 3.09648975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:79.87, Z:3.10 [[ 2.13764771e-01 -9.76867822e-01 -5.82072530e-03 1.20751813e+02] [ 9.76588165e-01 2.13842904e-01 -2.33830772e-02 7.98664829e+01] [ 2.40868965e-02 -6.85973306e-04 9.99709633e-01 3.09743747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:79.89, Z:3.10 [[ 2.12930325e-01 -9.77050625e-01 -5.72310008e-03 1.20758611e+02] [ 9.76779585e-01 2.13006112e-01 -2.30225503e-02 7.98914127e+01] [ 2.37132525e-02 -6.88008205e-04 9.99718565e-01 3.09719499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:79.92, Z:3.10 [[ 2.12607362e-01 -9.77120440e-01 -5.81001053e-03 1.20763970e+02] [ 9.76840253e-01 2.12685586e-01 -2.34085740e-02 7.99166868e+01] [ 2.41087016e-02 -6.98617003e-04 9.99709099e-01 3.09736500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:79.94, Z:3.10 [[ 2.12575547e-01 -9.77127926e-01 -5.71429394e-03 1.20768652e+02] [ 9.76856247e-01 2.12651243e-01 -2.30504051e-02 7.99439568e+01] [ 2.37383463e-02 -6.82091254e-04 9.99717973e-01 3.09833782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:79.97, Z:3.10 [[ 2.13024902e-01 -9.77031058e-01 -5.54097391e-03 1.20775276e+02] [ 9.76774814e-01 2.13095980e-01 -2.23844896e-02 7.99693853e+01] [ 2.30511008e-02 -6.43830062e-04 9.99734081e-01 3.09879306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:80.00, Z:3.10 [[ 2.14025245e-01 -9.76812141e-01 -5.58897747e-03 1.20780126e+02] [ 9.76550528e-01 2.14097315e-01 -2.26142683e-02 7.99960241e+01] [ 2.32864769e-02 -6.17894589e-04 9.99728642e-01 3.09939172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:80.02, Z:3.10 [[ 2.16010955e-01 -9.76375433e-01 -5.50290833e-03 1.20783768e+02] [ 9.76120957e-01 2.16080325e-01 -2.22973387e-02 8.00217358e+01] [ 2.29596439e-02 -5.55034711e-04 9.99736239e-01 3.10003974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:80.05, Z:3.10 [[ 2.16676356e-01 -9.76228697e-01 -5.37473936e-03 1.20789011e+02] [ 9.75985332e-01 2.16742380e-01 -2.18030339e-02 8.00477991e+01] [ 2.24496811e-02 -5.21464849e-04 9.99747838e-01 3.10080555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:80.07, Z:3.10 [[ 2.18356885e-01 -9.75855951e-01 -5.04317789e-03 1.20792377e+02] [ 9.75640946e-01 2.18414660e-01 -2.04885496e-02 8.00735598e+01] [ 2.10953770e-02 -4.46514973e-04 9.99777368e-01 3.10233355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:80.10, Z:3.10 [[ 2.18674536e-01 -9.75785212e-01 -4.96666366e-03 1.20796219e+02] [ 9.75576200e-01 2.18730513e-01 -2.02000287e-02 8.00999659e+01] [ 2.07972502e-02 -4.28126951e-04 9.99783622e-01 3.10316118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:80.13, Z:3.10 [[ 2.19316230e-01 -9.75641757e-01 -4.85316607e-03 1.20800961e+02] [ 9.75441520e-01 2.19369559e-01 -1.97696051e-02 8.01264554e+01] [ 2.03526891e-02 -3.98184434e-04 9.99792783e-01 3.10371123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34275509600002 meters Centerline goodness [0,1] 0.9998702001081666 Centerline is valid? [True, True] Translation: X:120.80, Y:80.15, Z:3.10 [[ 2.19784511e-01 -9.75536150e-01 -4.89791305e-03 1.20802869e+02] [ 9.75331512e-01 2.19838743e-01 -1.99842299e-02 8.01545931e+01] [ 2.05720897e-02 -3.84864744e-04 9.99788298e-01 3.10202958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:80.18, Z:3.10 [[ 2.19819328e-01 -9.75529718e-01 -4.60794327e-03 1.20811074e+02] [ 9.75348088e-01 2.19867332e-01 -1.88272173e-02 8.01797764e+01] [ 1.93796461e-02 -3.55762403e-04 9.99812134e-01 3.10486940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:80.20, Z:3.11 [[ 2.19460338e-01 -9.75610846e-01 -4.54281168e-03 1.20816356e+02] [ 9.75433754e-01 2.19507070e-01 -1.85913360e-02 8.02042692e+01] [ 1.91350884e-02 -3.51150960e-04 9.99816846e-01 3.10539993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:80.23, Z:3.11 [[ 2.18677352e-01 -9.75787018e-01 -4.46216982e-03 1.20821827e+02] [ 9.75615622e-01 2.18722588e-01 -1.82917247e-02 8.02293484e+01] [ 1.88248048e-02 -3.53376652e-04 9.99822735e-01 3.10588257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:80.26, Z:3.11 [[ 2.17768243e-01 -9.75990317e-01 -4.46011298e-03 1.20824392e+02] [ 9.75818700e-01 2.17813605e-01 -1.83057017e-02 8.02565490e+01] [ 1.88376609e-02 -3.65861161e-04 9.99822489e-01 3.10548426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:80.28, Z:3.11 [[ 2.16142677e-01 -9.76350696e-01 -4.65428148e-03 1.20830545e+02] [ 9.76163281e-01 2.16192398e-01 -1.91336100e-02 8.02825797e+01] [ 1.96873337e-02 -4.07748987e-04 9.99806103e-01 3.10519697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:80.31, Z:3.11 [[ 2.14868499e-01 -9.76631746e-01 -4.68623769e-03 1.20839163e+02] [ 9.76441256e-01 2.14919165e-01 -1.92931528e-02 8.03087390e+01] [ 1.98494678e-02 -4.30345055e-04 9.99802887e-01 3.10523870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:80.34, Z:3.11 [[ 2.13726790e-01 -9.76882175e-01 -4.69841343e-03 1.20843711e+02] [ 9.76690199e-01 2.13777956e-01 -1.93711279e-02 8.03360485e+01] [ 1.99277268e-02 -4.48765347e-04 9.99801322e-01 3.10528389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:80.36, Z:3.10 [[ 2.11285966e-01 -9.77411853e-01 -4.93061751e-03 1.20850771e+02] [ 9.77199930e-01 2.11342858e-01 -2.03591010e-02 8.03627055e+01] [ 2.09412774e-02 -5.16606753e-04 9.99780574e-01 3.10485378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:80.39, Z:3.10 [[ 2.09781410e-01 -9.77735483e-01 -5.00861898e-03 1.20857868e+02] [ 9.77516245e-01 2.09840469e-01 -2.07115461e-02 8.03875899e+01] [ 2.13014245e-02 -5.51109086e-04 9.99772947e-01 3.10451980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:80.41, Z:3.10 [[ 2.08333613e-01 -9.78044073e-01 -5.18618877e-03 1.20864763e+02] [ 9.77808332e-01 2.08397302e-01 -2.14809234e-02 8.04141353e+01] [ 2.20900776e-02 -5.95900210e-04 9.99755807e-01 3.10452156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.87, Y:80.44, Z:3.11 [[ 2.05036621e-01 -9.78740699e-01 -5.16026063e-03 1.20873100e+02] [ 9.78506824e-01 2.05100483e-01 -2.14053122e-02 8.04392583e+01] [ 2.20086221e-02 -6.60477353e-04 9.99757563e-01 3.10504423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:80.47, Z:3.11 [[ 2.03338966e-01 -9.79095177e-01 -5.08921442e-03 1.20880553e+02] [ 9.78867102e-01 2.03401498e-01 -2.11429990e-02 8.04651432e+01] [ 2.17361622e-02 -6.82469019e-04 9.99763509e-01 3.10590766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:80.49, Z:3.11 [[ 2.00581223e-01 -9.79664460e-01 -4.97173384e-03 1.20888866e+02] [ 9.79446333e-01 2.00641536e-01 -2.06846683e-02 8.04900090e+01] [ 2.12615707e-02 -7.20590404e-04 9.99773688e-01 3.10726930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:80.52, Z:3.11 [[ 1.99122403e-01 -9.79962621e-01 -4.85079811e-03 1.20895882e+02] [ 9.79754433e-01 1.99180149e-01 -2.02118598e-02 8.05161439e+01] [ 2.07730498e-02 -7.27956865e-04 9.99783952e-01 3.10829346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:80.54, Z:3.11 [[ 1.97753379e-01 -9.80240228e-01 -4.76412845e-03 1.20902978e+02] [ 9.80038920e-01 1.97809381e-01 -1.98787547e-02 8.05419031e+01] [ 2.04283443e-02 -7.37940386e-04 9.99791047e-01 3.10919324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:80.57, Z:3.11 [[ 1.95810963e-01 -9.80629931e-01 -4.79640043e-03 1.20910555e+02] [ 9.80425368e-01 1.95868154e-01 -2.00440650e-02 8.05670992e+01] [ 2.05952722e-02 -7.77664985e-04 9.99787592e-01 3.10985010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:80.59, Z:3.11 [[ 1.95179848e-01 -9.80755600e-01 -4.82486296e-03 1.20916368e+02] [ 9.80548001e-01 1.95237878e-01 -2.01937752e-02 8.05929553e+01] [ 2.07471541e-02 -7.89591763e-04 9.99784443e-01 3.11042658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:80.62, Z:3.11 [[ 1.94719091e-01 -9.80846931e-01 -4.87593325e-03 1.20916556e+02] [ 9.80634253e-01 1.94778481e-01 -2.04402906e-02 8.06212897e+01] [ 2.09985232e-02 -8.01392362e-04 9.99779186e-01 3.11104930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:80.65, Z:3.11 [[ 1.94766466e-01 -9.80837419e-01 -4.89699063e-03 1.20928284e+02] [ 9.80622216e-01 1.94826386e-01 -2.05608593e-02 8.06459135e+01] [ 2.11209232e-02 -7.97531900e-04 9.99776610e-01 3.11144855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.942755096 meters Centerline goodness [0,1] 0.9999357078565 Centerline is valid? [True, True] Translation: X:120.92, Y:80.68, Z:3.11 [[ 1.96118728e-01 -9.80566857e-01 -5.10716145e-03 1.20924076e+02] [ 9.80331894e-01 1.96183608e-01 -2.14795321e-02 8.06761755e+01] [ 2.20640587e-02 -7.94174735e-04 9.99756244e-01 3.11086285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:80.70, Z:3.11 [[ 1.96757529e-01 -9.80439687e-01 -4.94916825e-03 1.20938680e+02] [ 9.80218380e-01 1.96818335e-01 -2.08439676e-02 8.07007864e+01] [ 2.14103401e-02 -7.50058118e-04 9.99770491e-01 3.11238514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:80.73, Z:3.11 [[ 1.98665846e-01 -9.80055137e-01 -4.87961501e-03 1.20933193e+02] [ 9.79839274e-01 1.98724557e-01 -2.05802770e-02 8.07307831e+01] [ 2.11395055e-02 -6.92640288e-04 9.99776296e-01 3.11348039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:80.76, Z:3.11 [[ 1.99070607e-01 -9.79973038e-01 -4.87222150e-03 1.20936406e+02] [ 9.79757195e-01 1.99129070e-01 -2.05779698e-02 8.07576965e+01] [ 2.11360565e-02 -6.77125127e-04 9.99776379e-01 3.11420034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:80.79, Z:3.11 [[ 1.99690619e-01 -9.79847490e-01 -4.74902130e-03 1.20940703e+02] [ 9.79641736e-01 1.99746054e-01 -2.00893775e-02 8.07852205e+01] [ 2.06331244e-02 -6.40679241e-04 9.99786909e-01 3.11492257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:80.81, Z:3.12 [[ 2.00543701e-01 -9.79673217e-01 -4.75516076e-03 1.20945349e+02] [ 9.79466236e-01 2.00599119e-01 -2.01466105e-02 8.08121708e+01] [ 2.06909758e-02 -6.17243573e-04 9.99785728e-01 3.11526257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:80.84, Z:3.12 [[ 2.00706354e-01 -9.79640268e-01 -4.68026803e-03 1.20951406e+02] [ 9.79439161e-01 2.00760024e-01 -1.98580450e-02 8.08374308e+01] [ 2.03933512e-02 -5.98401991e-04 9.99791855e-01 3.11570036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:80.86, Z:3.12 [[ 2.00430815e-01 -9.79696839e-01 -4.64672055e-03 1.20956498e+02] [ 9.79498124e-01 2.00483789e-01 -1.97401929e-02 8.08646024e+01] [ 2.02709967e-02 -5.94911109e-04 9.99794345e-01 3.11654437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:80.89, Z:3.12 [[ 2.00346413e-01 -9.79714480e-01 -4.56646653e-03 1.20962396e+02] [ 9.79521960e-01 2.00397607e-01 -1.94300906e-02 8.08912064e+01] [ 1.99510501e-02 -5.80205305e-04 9.99800790e-01 3.11753044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:80.92, Z:3.12 [[ 2.00273137e-01 -9.79729511e-01 -4.55595285e-03 1.20968309e+02] [ 9.79537257e-01 2.00324128e-01 -1.94166373e-02 8.09183235e+01] [ 1.99357199e-02 -5.74094693e-04 9.99801099e-01 3.11805570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:80.94, Z:3.12 [[ 2.00148830e-01 -9.79755174e-01 -4.49946263e-03 1.20974283e+02] [ 9.79567098e-01 2.00198605e-01 -1.92046523e-02 8.09442680e+01] [ 1.97166436e-02 -5.63736864e-04 9.99805449e-01 3.11881217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:80.97, Z:3.12 [[ 2.00482339e-01 -9.79687446e-01 -4.39761405e-03 1.20979933e+02] [ 9.79507174e-01 2.00529843e-01 -1.88010029e-02 8.09699740e+01] [ 1.93009594e-02 -5.38225457e-04 9.99813574e-01 3.11964115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:81.00, Z:3.12 [[ 2.00430419e-01 -9.79698080e-01 -4.39545393e-03 1.20984558e+02] [ 9.79517378e-01 2.00477902e-01 -1.88232821e-02 8.09967043e+01] [ 1.93223247e-02 -5.32665173e-04 9.99813165e-01 3.12014819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:81.02, Z:3.12 [[ 2.00911125e-01 -9.79599001e-01 -4.52967406e-03 1.20990045e+02] [ 9.79406433e-01 2.00961475e-01 -1.94299862e-02 8.10220729e+01] [ 1.99438851e-02 -5.32691514e-04 9.99800959e-01 3.12010994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:81.05, Z:3.12 [[ 2.00629003e-01 -9.79656473e-01 -4.60404022e-03 1.20997931e+02] [ 9.79456864e-01 2.00681095e-01 -1.97825553e-02 8.10475267e+01] [ 2.03040522e-02 -5.40504446e-04 9.99793705e-01 3.12018729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:81.07, Z:3.12 [[ 2.00542343e-01 -9.79673810e-01 -4.68975265e-03 1.21003805e+02] [ 9.79466003e-01 2.00596430e-01 -2.01846929e-02 8.10725809e+01] [ 2.07151626e-02 -5.45567663e-04 9.99785269e-01 3.11999370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:81.10, Z:3.12 [[ 2.00259906e-01 -9.79731648e-01 -4.67639349e-03 1.21007460e+02] [ 9.79524321e-01 2.00313764e-01 -2.01618540e-02 8.10992545e+01] [ 2.06899524e-02 -5.43030163e-04 9.99785793e-01 3.12041722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:81.13, Z:3.12 [[ 1.99985321e-01 -9.79787688e-01 -4.68582440e-03 1.21011279e+02] [ 9.79578893e-01 2.00039471e-01 -2.02336778e-02 8.11260007e+01] [ 2.07620582e-02 -5.43696127e-04 9.99784297e-01 3.12074665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:81.15, Z:3.12 [[ 1.99820051e-01 -9.79821476e-01 -4.67138730e-03 1.21016726e+02] [ 9.79613312e-01 1.99873920e-01 -2.02033517e-02 8.11527966e+01] [ 2.07293664e-02 -5.39118428e-04 9.99784978e-01 3.12156149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:81.18, Z:3.12 [[ 1.99676481e-01 -9.79850656e-01 -4.68994664e-03 1.21024078e+02] [ 9.79640166e-01 1.99730828e-01 -2.03160467e-02 8.11783308e+01] [ 2.08434186e-02 -5.37823390e-04 9.99782608e-01 3.12208406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:81.21, Z:3.12 [[ 1.99885094e-01 -9.79808753e-01 -4.55600342e-03 1.21027688e+02] [ 9.79609457e-01 1.99936355e-01 -1.97677992e-02 8.12056016e+01] [ 2.02795734e-02 -5.11815643e-04 9.99794217e-01 3.12289803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:81.23, Z:3.12 [[ 1.99521350e-01 -9.79882780e-01 -4.57919209e-03 1.21033174e+02] [ 9.79680832e-01 1.99573225e-01 -1.98996374e-02 8.12317845e+01] [ 2.04131962e-02 -5.15744194e-04 9.99791496e-01 3.12326587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:81.26, Z:3.12 [[ 1.98633732e-01 -9.80063651e-01 -4.45863898e-03 1.21039381e+02] [ 9.79871656e-01 1.98683101e-01 -1.94052372e-02 8.12568389e+01] [ 1.99042238e-02 -5.14359270e-04 9.99801759e-01 3.12367540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:81.28, Z:3.12 [[ 1.97983181e-01 -9.80195429e-01 -4.42506819e-03 1.21045258e+02] [ 9.80005727e-01 1.98031951e-01 -1.92904446e-02 8.12826819e+01] [ 1.97847105e-02 -5.17408583e-04 9.99804130e-01 3.12420701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:81.31, Z:3.12 [[ 1.96985558e-01 -9.80396851e-01 -4.32481659e-03 1.21051438e+02] [ 9.80215073e-01 1.97032345e-01 -1.88855746e-02 8.13079742e+01] [ 1.93674867e-02 -5.19064950e-04 9.99812298e-01 3.12493961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:81.33, Z:3.13 [[ 1.96623083e-01 -9.80469633e-01 -4.32004308e-03 1.21056953e+02] [ 9.80287849e-01 1.96669845e-01 -1.88866665e-02 8.13333052e+01] [ 1.93674251e-02 -5.21331142e-04 9.99812298e-01 3.12546766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:81.36, Z:3.13 [[ 1.95105741e-01 -9.80772827e-01 -4.29084830e-03 1.21061130e+02] [ 9.80592945e-01 1.95152168e-01 -1.87911388e-02 8.13615364e+01] [ 1.92672066e-02 -5.41316513e-04 9.99814224e-01 3.12602337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.07, Y:81.39, Z:3.13 [[ 1.94569539e-01 -9.80879218e-01 -4.31893464e-03 1.21069969e+02] [ 9.80696470e-01 1.94616690e-01 -1.89414449e-02 8.13864837e+01] [ 1.94198064e-02 -5.50135750e-04 9.99811266e-01 3.12635313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:81.41, Z:3.13 [[ 1.93014120e-01 -9.81186911e-01 -4.21849346e-03 1.21077461e+02] [ 9.81012222e-01 1.93059392e-01 -1.85227126e-02 8.14114728e+01] [ 1.89886629e-02 -5.63248587e-04 9.99819540e-01 3.12738553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:81.44, Z:3.13 [[ 1.92433285e-01 -9.81300936e-01 -4.23123916e-03 1.21083631e+02] [ 9.81124659e-01 1.92478952e-01 -1.86079915e-02 8.14369871e+01] [ 1.90744639e-02 -5.70576157e-04 9.99817903e-01 3.12798737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:81.46, Z:3.13 [[ 1.92054500e-01 -9.81375223e-01 -4.21189572e-03 1.21088977e+02] [ 9.81199993e-01 1.92099835e-01 -1.85533620e-02 8.14625838e+01] [ 1.90169143e-02 -5.69455387e-04 9.99819000e-01 3.12831051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:81.49, Z:3.13 [[ 1.91957570e-01 -9.81394120e-01 -4.22771881e-03 1.21093912e+02] [ 9.81216989e-01 1.92003281e-01 -1.86536761e-02 8.14875423e+01] [ 1.91183439e-02 -5.67595207e-04 9.99817067e-01 3.12869196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:81.51, Z:3.13 [[ 1.92091268e-01 -9.81367605e-01 -4.30921250e-03 1.21099061e+02] [ 9.81182923e-01 1.92138753e-01 -1.90465426e-02 8.15135820e+01] [ 1.95196266e-02 -5.69451198e-04 9.99809312e-01 3.12886001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:81.54, Z:3.13 [[ 1.92169347e-01 -9.81352447e-01 -4.27978741e-03 1.21104183e+02] [ 9.81169686e-01 1.92216188e-01 -1.89468622e-02 8.15382357e+01] [ 1.94161940e-02 -5.58191538e-04 9.99811332e-01 3.12947586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:81.57, Z:3.13 [[ 1.92837900e-01 -9.81221285e-01 -4.28176612e-03 1.21101719e+02] [ 9.81037700e-01 1.92884677e-01 -1.89876751e-02 8.15670063e+01] [ 1.94569981e-02 -5.39030589e-04 9.99810549e-01 3.12998354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:81.59, Z:3.13 [[ 1.93049887e-01 -9.81179193e-01 -4.37401236e-03 1.21114789e+02] [ 9.80986933e-01 1.93098678e-01 -1.94303496e-02 8.15909117e+01] [ 1.99092708e-02 -5.39822170e-04 9.99801645e-01 3.13068775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters Centerline goodness [0,1] 0.999935935764927 Centerline is valid? [True, True] Translation: X:121.12, Y:81.62, Z:3.13 [[ 1.94024075e-01 -9.80986648e-01 -4.45592491e-03 1.21119654e+02] [ 9.80786339e-01 1.94074531e-01 -1.98301123e-02 8.16157850e+01] [ 2.03178570e-02 -5.22791086e-04 9.99793434e-01 3.12944550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:81.64, Z:3.13 [[ 1.94431630e-01 -9.80905775e-01 -4.49463532e-03 1.21116969e+02] [ 9.80701262e-01 1.94482899e-01 -2.00358960e-02 8.16446801e+01] [ 2.05274558e-02 -5.12282622e-04 9.99789158e-01 3.13109535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:81.67, Z:3.13 [[ 1.94805599e-01 -9.80832069e-01 -4.38536373e-03 1.21129892e+02] [ 9.80636721e-01 1.94854347e-01 -1.95807232e-02 8.16687511e+01] [ 2.00599084e-02 -4.86014203e-04 9.99798662e-01 3.13202459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:81.70, Z:3.13 [[ 1.95070340e-01 -9.80780081e-01 -4.24209126e-03 1.21128188e+02] [ 9.80596652e-01 1.95115920e-01 -1.89732540e-02 8.16971839e+01] [ 1.94362891e-02 -4.58661385e-04 9.99810992e-01 3.13313774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:121.13, Y:81.72, Z:3.13 [[ 1.94947599e-01 -9.80804840e-01 -4.15923651e-03 1.21134793e+02] [ 9.80627933e-01 1.94991452e-01 -1.86330696e-02 8.17236603e+01] [ 1.90864205e-02 -4.46191317e-04 9.99817738e-01 3.13274958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:81.75, Z:3.13 [[ 1.94605912e-01 -9.80873156e-01 -4.04863527e-03 1.21140408e+02] [ 9.80705004e-01 1.94647536e-01 -1.81668000e-02 8.17499817e+01] [ 1.86073833e-02 -4.35150178e-04 9.99826773e-01 3.13466195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:81.78, Z:3.14 [[ 1.93930243e-01 -9.81006796e-01 -4.08991777e-03 1.21147532e+02] [ 9.80834636e-01 1.93972851e-01 -1.83833932e-02 8.17750964e+01] [ 1.88275667e-02 -4.46437107e-04 9.99822646e-01 3.13505792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:81.80, Z:3.14 [[ 1.93155441e-01 -9.81158957e-01 -4.25172609e-03 1.21153549e+02] [ 9.80972449e-01 1.93201647e-01 -1.91357973e-02 8.18011829e+01] [ 1.95966994e-02 -4.74642789e-04 9.99807854e-01 3.13511657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:81.83, Z:3.14 [[ 1.92400797e-01 -9.81307270e-01 -4.23965218e-03 1.21159770e+02] [ 9.81121210e-01 1.92446899e-01 -1.91144637e-02 8.18281492e+01] [ 1.95730701e-02 -4.81974628e-04 9.99808313e-01 3.13535696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:81.85, Z:3.14 [[ 1.90966836e-01 -9.81586729e-01 -4.37745631e-03 1.21168549e+02] [ 9.81387767e-01 1.91016291e-01 -1.97693475e-02 8.18529784e+01] [ 2.02414946e-02 -5.20692343e-04 9.99794984e-01 3.13536715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:81.88, Z:3.14 [[ 1.89689347e-01 -9.81834000e-01 -4.46627870e-03 1.21175707e+02] [ 9.81626214e-01 1.89741118e-01 -2.02060213e-02 8.18796992e+01] [ 2.06863955e-02 -5.51349262e-04 9.99785862e-01 3.13530247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:81.91, Z:3.14 [[ 1.88458213e-01 -9.82070769e-01 -4.52840482e-03 1.21182051e+02] [ 9.81856535e-01 1.88511721e-01 -2.05201332e-02 8.19064469e+01] [ 2.10058804e-02 -5.79056246e-04 9.99779184e-01 3.13540057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:81.93, Z:3.13 [[ 1.86743944e-01 -9.82397260e-01 -4.72478119e-03 1.21189640e+02] [ 9.82163360e-01 1.86802624e-01 -2.14456160e-02 8.19312016e+01] [ 2.19507159e-02 -6.35668053e-04 9.99758852e-01 3.13464848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:81.96, Z:3.13 [[ 1.85860949e-01 -9.82564274e-01 -4.81194521e-03 1.21196123e+02] [ 9.82321032e-01 1.85922052e-01 -2.18719307e-02 8.19564158e+01] [ 2.23852245e-02 -6.61737170e-04 9.99749200e-01 3.13476065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:81.98, Z:3.14 [[ 1.84674748e-01 -9.82787846e-01 -4.82569026e-03 1.21203625e+02] [ 9.82542418e-01 1.84736522e-01 -2.19730194e-02 8.19820572e+01] [ 2.24862977e-02 -6.83583558e-04 9.99746918e-01 3.13521172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:82.01, Z:3.14 [[ 1.82891499e-01 -9.83121330e-01 -4.81144390e-03 1.21207674e+02] [ 9.82876651e-01 1.82953377e-01 -2.19442438e-02 8.20095252e+01] [ 2.24541241e-02 -7.15640231e-04 9.99747618e-01 3.13568852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:82.03, Z:3.14 [[ 1.82133476e-01 -9.83262108e-01 -4.79839200e-03 1.21219771e+02] [ 9.83018063e-01 1.82195230e-01 -2.19176892e-02 8.20337265e+01] [ 2.24250774e-02 -7.24961095e-04 9.99748263e-01 3.13615805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:82.06, Z:3.14 [[ 1.80899608e-01 -9.83489920e-01 -4.78627235e-03 1.21228631e+02] [ 9.83246523e-01 1.80961378e-01 -2.18918945e-02 8.20590521e+01] [ 2.23965881e-02 -7.45850504e-04 9.99748887e-01 3.13655608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:82.08, Z:3.14 [[ 1.79461962e-01 -9.83753753e-01 -4.68593480e-03 1.21237028e+02] [ 9.83519786e-01 1.79521537e-01 -2.14673876e-02 8.20837924e+01] [ 2.19598493e-02 -7.56130077e-04 9.99758568e-01 3.13765423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:82.11, Z:3.14 [[ 1.78573480e-01 -9.83915597e-01 -4.64869975e-03 1.21237340e+02] [ 9.83684648e-01 1.78632345e-01 -2.13306928e-02 8.21114038e+01] [ 2.18180095e-02 -7.63758534e-04 9.99761667e-01 3.13840721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:82.14, Z:3.14 [[ 1.78573711e-01 -9.83916198e-01 -4.51063194e-03 1.21244324e+02] [ 9.83698055e-01 1.78629157e-01 -2.07306540e-02 8.21382077e+01] [ 2.12029567e-02 -7.35150040e-04 9.99774922e-01 3.13921487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:82.17, Z:3.14 [[ 1.78662148e-01 -9.83900002e-01 -4.54134458e-03 1.21248273e+02] [ 9.83678130e-01 1.78718357e-01 -2.09065756e-02 8.21657614e+01] [ 2.13816014e-02 -7.32007635e-04 9.99771119e-01 3.13966967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:82.19, Z:3.14 [[ 1.79260404e-01 -9.83791443e-01 -4.48379912e-03 1.21253412e+02] [ 9.83574425e-01 1.79315090e-01 -2.06748492e-02 8.21924072e+01] [ 2.11437526e-02 -7.03968315e-04 9.99776198e-01 3.14047806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:82.22, Z:3.14 [[ 1.80173424e-01 -9.83624834e-01 -4.44116042e-03 1.21260204e+02] [ 9.83411137e-01 1.80226900e-01 -2.05134095e-02 8.22185808e+01] [ 2.09779156e-02 -6.71515396e-04 9.99779714e-01 3.14109315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:82.25, Z:3.14 [[ 1.82251629e-01 -9.83242706e-01 -4.25726829e-03 1.21263497e+02] [ 9.83045653e-01 1.82300372e-01 -1.96931262e-02 8.22466421e+01] [ 2.01392243e-02 -5.95984739e-04 9.99797008e-01 3.14159862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:82.27, Z:3.14 [[ 1.83270019e-01 -9.83053232e-01 -4.29454186e-03 1.21269250e+02] [ 9.82852028e-01 1.83319429e-01 -1.98966642e-02 8.22735431e+01] [ 2.03467530e-02 -5.74437152e-04 9.99792818e-01 3.14220840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:82.30, Z:3.14 [[ 1.85909880e-01 -9.82557388e-01 -4.30068557e-03 1.21273646e+02] [ 9.82354849e-01 1.85958905e-01 -1.99558827e-02 8.23005602e+01] [ 2.04075508e-02 -5.14803558e-04 9.99791612e-01 3.14276991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.832755096 meters Centerline goodness [0,1] 0.9998703263453642 Centerline is valid? [True, True] Translation: X:121.28, Y:82.33, Z:3.14 [[ 1.86304433e-01 -9.82481813e-01 -4.48842903e-03 1.21279751e+02] [ 9.82260506e-01 1.86357760e-01 -2.08586672e-02 8.23275206e+01] [ 2.13297148e-02 -5.22744393e-04 9.99772359e-01 3.14118188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:82.36, Z:3.14 [[ 1.88858612e-01 -9.81994204e-01 -4.45061831e-03 1.21283027e+02] [ 9.81775735e-01 1.88910494e-01 -2.07179019e-02 8.23553202e+01] [ 2.11856281e-02 -4.56754871e-04 9.99775455e-01 3.14404489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:82.38, Z:3.14 [[ 1.89162013e-01 -9.81935761e-01 -4.46022431e-03 1.21289676e+02] [ 9.81715634e-01 1.89214066e-01 -2.07954504e-02 8.23808468e+01] [ 2.12637336e-02 -4.44962664e-04 9.99773802e-01 3.14457090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:82.41, Z:3.15 [[ 1.89574261e-01 -9.81855949e-01 -4.52718273e-03 1.21294343e+02] [ 9.81628286e-01 1.89627810e-01 -2.11471546e-02 8.24081411e+01] [ 2.16219393e-02 -4.35054421e-04 9.99766124e-01 3.14505329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:82.43, Z:3.15 [[ 1.89510134e-01 -9.81868410e-01 -4.50935009e-03 1.21300734e+02] [ 9.81641754e-01 1.89563293e-01 -2.11003462e-02 8.24336016e+01] [ 2.15725707e-02 -4.27836885e-04 9.99767193e-01 3.14543119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:82.46, Z:3.15 [[ 1.89022615e-01 -9.81962001e-01 -4.59132353e-03 1.21309552e+02] [ 9.81726387e-01 1.89077854e-01 -2.15143134e-02 8.24587302e+01] [ 2.19943558e-02 -4.40731681e-04 9.99757998e-01 3.14575636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:82.49, Z:3.15 [[ 1.88158006e-01 -9.82127821e-01 -4.63770934e-03 1.21314583e+02] [ 9.81886589e-01 1.88214597e-01 -2.17713323e-02 8.24851697e+01] [ 2.22551157e-02 -4.57254129e-04 9.99752220e-01 3.14661343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:82.51, Z:3.15 [[ 1.86740802e-01 -9.82398097e-01 -4.67460541e-03 1.21321710e+02] [ 9.82152230e-01 1.86798669e-01 -2.19830390e-02 8.25128294e+01] [ 2.24693057e-02 -4.86043811e-04 9.99747415e-01 3.14721913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:82.54, Z:3.15 [[ 1.84852273e-01 -9.82754817e-01 -4.75464941e-03 1.21331241e+02] [ 9.82499747e-01 1.84912647e-01 -2.23955307e-02 8.25388893e+01] [ 2.28885105e-02 -5.31577083e-04 9.99737882e-01 3.14788814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:82.57, Z:3.15 [[ 1.83733486e-01 -9.82964246e-01 -4.82672705e-03 1.21338941e+02] [ 9.82700556e-01 1.83796025e-01 -2.27736330e-02 8.25655016e+01] [ 2.32728002e-02 -5.58948378e-04 9.99728995e-01 3.14887122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:82.59, Z:3.15 [[ 1.81343547e-01 -9.83407686e-01 -4.88273233e-03 1.21352210e+02] [ 9.83137085e-01 1.81408225e-01 -2.30765750e-02 8.25906065e+01] [ 2.35794490e-02 -6.15607276e-04 9.99721777e-01 3.14967597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:82.62, Z:3.15 [[ 1.80045920e-01 -9.83646116e-01 -4.87709220e-03 1.21356129e+02] [ 9.83375570e-01 1.80110823e-01 -2.30776990e-02 8.26179610e+01] [ 2.35787060e-02 -6.40967783e-04 9.99721778e-01 3.15086209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:82.64, Z:3.15 [[ 1.78931589e-01 -9.83849291e-01 -4.90503080e-03 1.21362197e+02] [ 9.83574767e-01 1.78997574e-01 -2.32496640e-02 8.26448770e+01] [ 2.37521540e-02 -6.64365223e-04 9.99717657e-01 3.15174359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:82.67, Z:3.15 [[ 1.77781429e-01 -9.84057419e-01 -4.97591902e-03 1.21370466e+02] [ 9.83774030e-01 1.77849692e-01 -2.36250801e-02 8.26712190e+01] [ 2.41334010e-02 -6.95079409e-04 9.99708505e-01 3.15248877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:82.70, Z:3.15 [[ 1.77393312e-01 -9.84126900e-01 -5.08502039e-03 1.21375969e+02] [ 9.83829971e-01 1.77464747e-01 -2.41836984e-02 8.26976967e+01] [ 2.47022400e-02 -7.12769109e-04 9.99694599e-01 3.15273084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:82.72, Z:3.15 [[ 1.76904134e-01 -9.84214872e-01 -5.10025437e-03 1.21381065e+02] [ 9.83915157e-01 1.76976177e-01 -2.42980936e-02 8.27248122e+01] [ 2.48171686e-02 -7.19784375e-04 9.99691748e-01 3.15331699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:82.75, Z:3.15 [[ 1.77125958e-01 -9.84174021e-01 -5.28117417e-03 1.21386850e+02] [ 9.83851480e-01 1.77203163e-01 -2.52052515e-02 8.27512048e+01] [ 2.57421945e-02 -7.31386697e-04 9.99668347e-01 3.15368399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:82.78, Z:3.15 [[ 1.77400997e-01 -9.84124088e-01 -5.35400939e-03 1.21392671e+02] [ 9.83791371e-01 1.77480286e-01 -2.55985654e-02 8.27766655e+01] [ 2.61423959e-02 -7.26017212e-04 9.99657966e-01 3.15459299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:82.80, Z:3.16 [[ 1.78122480e-01 -9.83994201e-01 -5.27211739e-03 1.21398407e+02] [ 9.83670352e-01 1.78199158e-01 -2.52526851e-02 8.28019630e+01] [ 2.57879826e-02 -6.87954676e-04 9.99667198e-01 3.15572255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:82.83, Z:3.16 [[ 1.78446776e-01 -9.83935936e-01 -5.17900945e-03 1.21400439e+02] [ 9.83622273e-01 1.78520696e-01 -2.48512403e-02 8.28293747e+01] [ 2.53765888e-02 -6.59565326e-04 9.99677745e-01 3.15723417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:82.86, Z:3.16 [[ 1.78429722e-01 -9.83939620e-01 -5.06537501e-03 1.21407111e+02] [ 9.83638498e-01 1.78500467e-01 -2.43493006e-02 8.28553285e+01] [ 2.48624134e-02 -6.37858928e-04 9.99690679e-01 3.15769958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:82.88, Z:3.16 [[ 1.79500565e-01 -9.83746828e-01 -4.66096778e-03 1.21410392e+02] [ 9.83490963e-01 1.79560210e-01 -2.24423037e-02 8.28829716e+01] [ 2.29144694e-02 -5.55613493e-04 9.99737275e-01 3.15983065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:82.91, Z:3.16 [[ 1.79653607e-01 -9.83719734e-01 -4.47962906e-03 1.21414796e+02] [ 9.83482654e-01 1.79708682e-01 -2.16022956e-02 8.29102132e+01] [ 2.20556327e-02 -5.24707147e-04 9.99756607e-01 3.16137064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:82.94, Z:3.16 [[ 1.79824165e-01 -9.83689459e-01 -4.27998515e-03 1.21419311e+02] [ 9.83472282e-01 1.79874420e-01 -2.06751994e-02 8.29370151e+01] [ 2.11078355e-02 -4.91346309e-04 9.99777084e-01 3.16246506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:82.96, Z:3.16 [[ 1.80012839e-01 -9.83655690e-01 -4.10635811e-03 1.21424439e+02] [ 9.83455066e-01 1.80059078e-01 -1.98711475e-02 8.29641145e+01] [ 2.02857543e-02 -4.61357004e-04 9.99794116e-01 3.16324619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:82.99, Z:3.16 [[ 1.79660765e-01 -9.83720085e-01 -4.09924827e-03 1.21429645e+02] [ 9.83519445e-01 1.79706932e-01 -1.98726141e-02 8.29903651e+01] [ 2.02857529e-02 -4.61361343e-04 9.99794116e-01 3.16379060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:83.02, Z:3.16 [[ 1.80724583e-01 -9.83525831e-01 -3.94513981e-03 1.21437058e+02] [ 9.83339290e-01 1.80767157e-01 -1.91592261e-02 8.30157392e+01] [ 1.95567455e-02 -4.16867844e-04 9.99808662e-01 3.16414053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:83.04, Z:3.16 [[ 1.80954203e-01 -9.83484355e-01 -3.75492241e-03 1.21438276e+02] [ 9.83314922e-01 1.80992741e-01 -1.82590178e-02 8.30434390e+01] [ 1.86370720e-02 -3.88225229e-04 9.99826239e-01 3.16477713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:83.07, Z:3.16 [[ 1.82303476e-01 -9.83235547e-01 -3.64704101e-03 1.21440451e+02] [ 9.83075108e-01 1.82339623e-01 -1.77649871e-02 8.30704377e+01] [ 1.81321669e-02 -3.46696323e-04 9.99835539e-01 3.16483909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:83.10, Z:3.17 [[ 1.82679455e-01 -9.83165820e-01 -3.63154675e-03 1.21445385e+02] [ 9.83006135e-01 1.82715245e-01 -1.77222378e-02 8.30961677e+01] [ 1.80874374e-02 -3.32344002e-04 9.99836354e-01 3.16530700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:83.12, Z:3.17 [[ 1.82847435e-01 -9.83134622e-01 -3.62371151e-03 1.21449467e+02] [ 9.82975191e-01 1.82883052e-01 -1.77076921e-02 8.31230870e+01] [ 1.80717606e-02 -3.24212426e-04 9.99836640e-01 3.16558226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:83.15, Z:3.17 [[ 1.82933645e-01 -9.83119092e-01 -3.48331313e-03 1.21454123e+02] [ 9.82971270e-01 1.82966551e-01 -1.70506092e-02 8.31498460e+01] [ 1.74001092e-02 -3.04866655e-04 9.99848560e-01 3.16587633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:83.18, Z:3.17 [[ 1.82718866e-01 -9.83159115e-01 -3.45988435e-03 1.21460471e+02] [ 9.83012754e-01 1.82751373e-01 -1.69664984e-02 8.31754504e+01] [ 1.73130662e-02 -3.01011090e-04 9.99850072e-01 3.16663670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:83.20, Z:3.17 [[ 1.81878359e-01 -9.83315304e-01 -3.35785409e-03 1.21466060e+02] [ 9.83176952e-01 1.81909104e-01 -1.64972677e-02 8.32023064e+01] [ 1.68328400e-02 -3.00868763e-04 9.99858272e-01 3.16729756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:83.23, Z:3.17 [[ 1.79853416e-01 -9.83687862e-01 -3.30733029e-03 1.21472289e+02] [ 9.83553223e-01 1.79883528e-01 -1.62779901e-02 8.32292877e+01] [ 1.66073956e-02 -3.25283241e-04 9.99862035e-01 3.16689561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:83.26, Z:3.17 [[ 1.78509247e-01 -9.83932682e-01 -3.30541215e-03 1.21478562e+02] [ 9.83797820e-01 1.78539518e-01 -1.62938497e-02 8.32561029e+01] [ 1.66221979e-02 -3.43254423e-04 9.99861783e-01 3.16725451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:83.28, Z:3.17 [[ 1.76847806e-01 -9.84232865e-01 -3.24349606e-03 1.21483366e+02] [ 9.84102600e-01 1.76877182e-01 -1.60167261e-02 8.32833116e+01] [ 1.63378887e-02 -3.59410038e-04 9.99866463e-01 3.16725325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:83.31, Z:3.17 [[ 1.73835521e-01 -9.84769549e-01 -3.18548349e-03 1.21491612e+02] [ 9.84643550e-01 1.73864251e-01 -1.57576248e-02 8.33096825e+01] [ 1.60714707e-02 -3.97330864e-04 9.99870767e-01 3.16778298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:83.34, Z:3.17 [[ 1.72351281e-01 -9.85030347e-01 -3.20171747e-03 1.21498984e+02] [ 9.84902647e-01 1.72380509e-01 -1.58662035e-02 8.33359727e+01] [ 1.61806057e-02 -4.18819505e-04 9.99868998e-01 3.16822508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:83.36, Z:3.17 [[ 1.70583311e-01 -9.85337577e-01 -3.34578962e-03 1.21505472e+02] [ 9.85197666e-01 1.70615492e-01 -1.66106323e-02 8.33630237e+01] [ 1.69379237e-02 -4.62767467e-04 9.99856436e-01 3.16839351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:83.39, Z:3.17 [[ 1.69629597e-01 -9.85502042e-01 -3.39489877e-03 1.21510980e+02] [ 9.85357561e-01 1.69662882e-01 -1.68814393e-02 8.33901883e+01] [ 1.72126812e-02 -4.81597441e-04 9.99851735e-01 3.16824556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:83.42, Z:3.17 [[ 1.69047689e-01 -9.85601535e-01 -3.53439985e-03 1.21516641e+02] [ 9.85444355e-01 1.69083876e-01 -1.76086845e-02 8.34154209e+01] [ 1.79527565e-02 -5.06246950e-04 9.99838708e-01 3.16790908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09275509600002 meters Centerline goodness [0,1] 0.9998911054969946 Centerline is valid? [True, True] Translation: X:121.52, Y:83.44, Z:3.17 [[ 1.68588003e-01 -9.85679518e-01 -3.73800735e-03 1.21523048e+02] [ 9.85503001e-01 1.68628581e-01 -1.86611184e-02 8.34412148e+01] [ 1.90242171e-02 -5.37776771e-04 9.99818879e-01 3.16718900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:83.47, Z:3.17 [[ 1.68883017e-01 -9.85629398e-01 -3.63555615e-03 1.21527622e+02] [ 9.85461786e-01 1.68921369e-01 -1.81834741e-02 8.34682835e+01] [ 1.85362897e-02 -5.11821698e-04 9.99828057e-01 3.16886536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:83.49, Z:3.17 [[ 1.69026996e-01 -9.85604557e-01 -3.67848842e-03 1.21532403e+02] [ 9.85432340e-01 1.69066250e-01 -1.84311459e-02 8.34943804e+01] [ 1.87877296e-02 -5.09540229e-04 9.99823365e-01 3.16941412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:83.52, Z:3.17 [[ 1.69240249e-01 -9.85568031e-01 -3.65984928e-03 1.21537020e+02] [ 9.85396868e-01 1.69279087e-01 -1.83739904e-02 8.35200459e+01] [ 1.87283535e-02 -4.96785308e-04 9.99824486e-01 3.16994874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:83.55, Z:3.17 [[ 1.70095099e-01 -9.85420780e-01 -3.68004412e-03 1.21539751e+02] [ 9.85246993e-01 1.70134235e-01 -1.85123059e-02 8.35469171e+01] [ 1.88685124e-02 -4.76899900e-04 9.99821860e-01 3.17053289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:83.57, Z:3.17 [[ 1.70610280e-01 -9.85331778e-01 -3.66336560e-03 1.21543119e+02] [ 9.85158908e-01 1.70648988e-01 -1.84620815e-02 8.35736892e+01] [ 1.88164252e-02 -4.59176360e-04 9.99822850e-01 3.17142574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:83.60, Z:3.17 [[ 1.71464954e-01 -9.85183545e-01 -3.62649205e-03 1.21550839e+02] [ 9.85013470e-01 1.71502754e-01 -1.83103679e-02 8.35985718e+01] [ 1.86610265e-02 -4.32557132e-04 9.99825774e-01 3.17254310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:83.63, Z:3.17 [[ 1.71788413e-01 -9.85127426e-01 -3.56307277e-03 1.21553758e+02] [ 9.84962586e-01 1.71824863e-01 -1.80255608e-02 8.36260591e+01] [ 1.83696988e-02 -4.12910898e-04 9.99831178e-01 3.17327241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:83.65, Z:3.17 [[ 1.71746874e-01 -9.85134891e-01 -3.50115612e-03 1.21559315e+02] [ 9.84975152e-01 1.71782089e-01 -1.77444179e-02 8.36524558e+01] [ 1.80820811e-02 -4.01003479e-04 9.99836425e-01 3.17428904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:83.68, Z:3.18 [[ 1.72212452e-01 -9.85054090e-01 -3.36317682e-03 1.21564700e+02] [ 9.84906160e-01 1.72244887e-01 -1.70749780e-02 8.36790624e+01] [ 1.73990670e-02 -3.71889729e-04 9.99848556e-01 3.17546433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:83.71, Z:3.18 [[ 1.71799988e-01 -9.85126257e-01 -3.31976120e-03 1.21568999e+02] [ 9.84981609e-01 1.71831664e-01 -1.68851598e-02 8.37057988e+01] [ 1.72044543e-02 -3.69033482e-04 9.99851924e-01 3.17608931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:83.73, Z:3.18 [[ 1.71222018e-01 -9.85227042e-01 -3.27063187e-03 1.21575312e+02] [ 9.85086139e-01 1.71252856e-01 -1.66660883e-02 8.37313622e+01] [ 1.69799859e-02 -3.68252861e-04 9.99855762e-01 3.17591615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.58, Y:83.76, Z:3.18 [[ 1.70929860e-01 -9.85277681e-01 -3.29765748e-03 1.21579399e+02] [ 9.85133865e-01 1.70961266e-01 -1.68378628e-02 8.37588202e+01] [ 1.71537421e-02 -3.70540516e-04 9.99852795e-01 3.17609391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:83.78, Z:3.18 [[ 1.70471993e-01 -9.85356850e-01 -3.34330449e-03 1.21585504e+02] [ 9.85208460e-01 1.70504355e-01 -1.71042674e-02 8.37847505e+01] [ 1.74238550e-02 -3.78053313e-04 9.99848122e-01 3.17640500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:83.81, Z:3.18 [[ 1.69571316e-01 -9.85511811e-01 -3.46980638e-03 1.21592807e+02] [ 9.85351327e-01 1.69606335e-01 -1.77891726e-02 8.38103610e+01] [ 1.81199408e-02 -4.02444916e-04 9.99835739e-01 3.17606447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:83.84, Z:3.18 [[ 1.68576663e-01 -9.85682104e-01 -3.56349867e-03 1.21598011e+02] [ 9.85512168e-01 1.68613785e-01 -1.83073438e-02 8.38368260e+01] [ 1.86460762e-02 -4.25680365e-04 9.99826056e-01 3.17586067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:83.86, Z:3.18 [[ 1.67673090e-01 -9.85835859e-01 -3.65991111e-03 1.21604965e+02] [ 9.85655938e-01 1.67712429e-01 -1.88391577e-02 8.38626394e+01] [ 1.91861298e-02 -4.48593336e-04 9.99815829e-01 3.17594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:83.89, Z:3.18 [[ 1.66166235e-01 -9.86090858e-01 -3.68816432e-03 1.21611029e+02] [ 9.85907473e-01 1.66206481e-01 -1.90226103e-02 8.38887930e+01] [ 1.93710189e-02 -4.75273239e-04 9.99812251e-01 3.17604847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:83.91, Z:3.18 [[ 1.65549906e-01 -9.86194345e-01 -3.73400669e-03 1.21616516e+02] [ 9.86005678e-01 1.65591294e-01 -1.92957621e-02 8.39148752e+01] [ 1.96476905e-02 -4.87340191e-04 9.99806847e-01 3.17643067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:83.94, Z:3.18 [[ 1.64212813e-01 -9.86418076e-01 -3.67843475e-03 1.21620729e+02] [ 9.86234525e-01 1.64253240e-01 -1.90351177e-02 8.39421697e+01] [ 1.93807790e-02 -5.01989119e-04 9.99812049e-01 3.17712555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:83.97, Z:3.18 [[ 1.63272715e-01 -9.86574294e-01 -3.63076501e-03 1.21626700e+02] [ 9.86394867e-01 1.63312289e-01 -1.88218508e-02 8.39692442e+01] [ 1.91621028e-02 -5.08273275e-04 9.99816261e-01 3.17751105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:83.99, Z:3.18 [[ 1.62319083e-01 -9.86731498e-01 -3.66951950e-03 1.21632823e+02] [ 9.86547542e-01 1.62359702e-01 -1.90597865e-02 8.39947955e+01] [ 1.94026737e-02 -5.26388388e-04 9.99811612e-01 3.17822957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:84.02, Z:3.18 [[ 1.61438599e-01 -9.86875722e-01 -3.72660655e-03 1.21637970e+02] [ 9.86685469e-01 1.61480677e-01 -1.93849570e-02 8.40219070e+01] [ 1.97323184e-02 -5.47508238e-04 9.99805149e-01 3.17846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:84.05, Z:3.18 [[ 1.61052008e-01 -9.86939017e-01 -3.69152731e-03 1.21642280e+02] [ 9.86751648e-01 1.61093390e-01 -1.92380833e-02 8.40487097e+01] [ 1.95814956e-02 -5.44288721e-04 9.99808116e-01 3.17849952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:84.08, Z:3.18 [[ 1.60513910e-01 -9.87026395e-01 -3.76562698e-03 1.21646783e+02] [ 9.86830698e-01 1.60557097e-01 -1.96619536e-02 8.40757771e+01] [ 2.00114653e-02 -5.60019260e-04 9.99799594e-01 3.17876347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:84.10, Z:3.18 [[ 1.60855628e-01 -9.86970554e-01 -3.81989774e-03 1.21651741e+02] [ 9.86768387e-01 1.60900021e-01 -1.99833259e-02 8.41014460e+01] [ 2.03375758e-02 -5.54923893e-04 9.99793016e-01 3.17862116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:84.13, Z:3.18 [[ 1.61076300e-01 -9.86934789e-01 -3.76122109e-03 1.21652837e+02] [ 9.86738217e-01 1.61119311e-01 -1.97042918e-02 8.41285159e+01] [ 2.00528565e-02 -5.37446160e-04 9.99798777e-01 3.17909971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:84.16, Z:3.18 [[ 1.61318428e-01 -9.86895516e-01 -3.68855676e-03 1.21656824e+02] [ 9.86705748e-01 1.61359765e-01 -1.93595952e-02 8.41551890e+01] [ 1.97010824e-02 -5.16460684e-04 9.99805781e-01 3.17969151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:84.18, Z:3.18 [[ 1.62979918e-01 -9.86622479e-01 -3.69193995e-03 1.21660654e+02] [ 9.86431569e-01 1.63021028e-01 -1.94140288e-02 8.41812948e+01] [ 1.97561811e-02 -4.77749311e-04 9.99804713e-01 3.18047940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:84.21, Z:3.18 [[ 1.63971877e-01 -9.86458250e-01 -3.65308746e-03 1.21663585e+02] [ 9.86270558e-01 1.64011956e-01 -1.92474647e-02 8.42075030e+01] [ 1.95859703e-02 -4.46889692e-04 9.99808077e-01 3.18139127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:84.24, Z:3.18 [[ 1.66409526e-01 -9.86050690e-01 -3.45054164e-03 1.21663517e+02] [ 9.85882513e-01 1.66444883e-01 -1.82146157e-02 8.42351570e+01] [ 1.85348594e-02 -3.70743100e-04 9.99828146e-01 3.18321077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:84.26, Z:3.18 [[ 1.67266623e-01 -9.85906067e-01 -3.33239658e-03 1.21664509e+02] [ 9.85748627e-01 1.67299474e-01 -1.76218688e-02 8.42628808e+01] [ 1.79310156e-02 -3.37354870e-04 9.99839170e-01 3.18406706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:84.29, Z:3.19 [[ 1.67933192e-01 -9.85793104e-01 -3.22473996e-03 1.21669763e+02] [ 9.85645097e-01 1.67963866e-01 -1.70845967e-02 8.42885089e+01] [ 1.73835174e-02 -3.09378271e-04 9.99848847e-01 3.18518550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:84.32, Z:3.19 [[ 1.68256671e-01 -9.85738334e-01 -3.10305741e-03 1.21671749e+02] [ 9.85600728e-01 1.68285039e-01 -1.64727190e-02 8.43158490e+01] [ 1.67599888e-02 -2.86730765e-04 9.99859500e-01 3.18572028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:84.34, Z:3.19 [[ 1.69238243e-01 -9.85570302e-01 -3.09798275e-03 1.21675213e+02] [ 9.85432579e-01 1.69266390e-01 -1.64778851e-02 8.43428360e+01] [ 1.67644985e-02 -2.64164804e-04 9.99859431e-01 3.18611102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:84.37, Z:3.19 [[ 1.69413063e-01 -9.85540207e-01 -3.11677191e-03 1.21680333e+02] [ 9.85400261e-01 1.69441535e-01 -1.66099941e-02 8.43689300e+01] [ 1.68979276e-02 -2.57317886e-04 9.99857187e-01 3.18670986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:84.39, Z:3.19 [[ 1.69297461e-01 -9.85560039e-01 -3.12726350e-03 1.21684020e+02] [ 9.85418572e-01 1.69326151e-01 -1.67000696e-02 8.43946223e+01] [ 1.69884487e-02 -2.54384151e-04 9.99855654e-01 3.18685773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:84.42, Z:3.19 [[ 1.69276688e-01 -9.85563672e-01 -3.10677308e-03 1.21685468e+02] [ 9.85423449e-01 1.69305015e-01 -1.66264179e-02 8.44225678e+01] [ 1.69123857e-02 -2.47022090e-04 9.99856945e-01 3.18666289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:84.45, Z:3.19 [[ 1.68916278e-01 -9.85625302e-01 -3.17114145e-03 1.21690987e+02] [ 9.85478835e-01 1.68945850e-01 -1.69931020e-02 8.44484430e+01] [ 1.72845825e-02 -2.54681235e-04 9.99850578e-01 3.18733901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:84.48, Z:3.19 [[ 1.68092435e-01 -9.85765719e-01 -3.29849353e-03 1.21694857e+02] [ 9.85606576e-01 1.68124573e-01 -1.77145333e-02 8.44753663e+01] [ 1.80169375e-02 -2.73337878e-04 9.99837644e-01 3.18715175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:84.50, Z:3.19 [[ 1.67370968e-01 -9.85888188e-01 -3.38223146e-03 1.21699902e+02] [ 9.85720211e-01 1.67404892e-01 -1.82007752e-02 8.45021462e+01] [ 1.85101314e-02 -2.87652536e-04 9.99828631e-01 3.18693252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:84.53, Z:3.19 [[ 1.66243372e-01 -9.86078569e-01 -3.49227573e-03 1.21705169e+02] [ 9.85898794e-01 1.66279756e-01 -1.88310986e-02 8.45290326e+01] [ 1.91496375e-02 -3.12485096e-04 9.99816580e-01 3.18699136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:84.56, Z:3.19 [[ 1.65472789e-01 -9.86208030e-01 -3.53251312e-03 1.21709756e+02] [ 9.86023382e-01 1.65510172e-01 -1.90859435e-02 8.45557568e+01] [ 1.94073776e-02 -3.24936236e-04 9.99811606e-01 3.18732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:84.58, Z:3.19 [[ 1.63376954e-01 -9.86556966e-01 -3.65004725e-03 1.21715154e+02] [ 9.86359084e-01 1.63417300e-01 -1.97621611e-02 8.45833546e+01] [ 2.00929786e-02 -3.71575556e-04 9.99798047e-01 3.18725832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:84.61, Z:3.19 [[ 1.61769959e-01 -9.86821806e-01 -3.63361894e-03 1.21720791e+02] [ 9.86625067e-01 1.61810276e-01 -1.97081753e-02 8.46107857e+01] [ 2.00364140e-02 -3.96828823e-04 9.99799172e-01 3.18763925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:84.64, Z:3.19 [[ 1.59050295e-01 -9.87263739e-01 -3.64861849e-03 1.21727308e+02] [ 9.87064775e-01 1.59091508e-01 -1.98248076e-02 8.46376996e+01] [ 2.01527779e-02 -4.48281288e-04 9.99796812e-01 3.18783809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:84.66, Z:3.19 [[ 1.57390529e-01 -9.87529557e-01 -3.68711208e-03 1.21733738e+02] [ 9.87325659e-01 1.57432975e-01 -2.00723906e-02 8.46635981e+01] [ 2.04025521e-02 -4.81176194e-04 9.99791730e-01 3.18847834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:84.69, Z:3.19 [[ 1.57044431e-01 -9.87584673e-01 -3.68249052e-03 1.21738361e+02] [ 9.87380770e-01 1.57086856e-01 -2.00732385e-02 8.46899528e+01] [ 2.04024935e-02 -4.83630005e-04 9.99791730e-01 3.18902349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:84.72, Z:3.19 [[ 1.55270657e-01 -9.87865208e-01 -3.65420846e-03 1.21744342e+02] [ 9.87663706e-01 1.55312813e-01 -1.99582877e-02 8.47173831e+01] [ 2.02836434e-02 -5.10192630e-04 9.99794136e-01 3.18966207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:84.74, Z:3.19 [[ 1.52497476e-01 -9.88296967e-01 -3.69119281e-03 1.21751294e+02] [ 9.88090748e-01 1.52541087e-01 -2.01963012e-02 8.47445978e+01] [ 2.05230018e-02 -5.67348508e-04 9.99789220e-01 3.19042530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:84.77, Z:3.19 [[ 1.50863458e-01 -9.88547623e-01 -3.71684889e-03 1.21757458e+02] [ 9.88337850e-01 1.50908045e-01 -2.03729520e-02 8.47698938e+01] [ 2.07005357e-02 -5.99968444e-04 9.99785541e-01 3.19092224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:84.80, Z:3.19 [[ 1.48523510e-01 -9.88901541e-01 -3.80905177e-03 1.21763776e+02] [ 9.88680398e-01 1.48570886e-01 -2.09227685e-02 8.47964034e+01] [ 2.12564722e-02 -6.58411809e-04 9.99773839e-01 3.19118859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:84.82, Z:3.19 [[ 1.47376524e-01 -9.89072598e-01 -3.94418709e-03 1.21769365e+02] [ 9.88834579e-01 1.47427627e-01 -2.17087492e-02 8.48232234e+01] [ 2.20530111e-02 -7.00788589e-04 9.99756557e-01 3.19125254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.77, Y:84.85, Z:3.19 [[ 1.46454649e-01 -9.89209549e-01 -3.93746332e-03 1.21774488e+02] [ 9.88971451e-01 1.46505830e-01 -2.17143100e-02 8.48476342e+01] [ 2.20568641e-02 -7.13877178e-04 9.99756463e-01 3.19172621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:84.87, Z:3.19 [[ 1.45831946e-01 -9.89301726e-01 -3.89092323e-03 1.21779202e+02] [ 9.89068203e-01 1.45882105e-01 -2.15058501e-02 8.48731943e+01] [ 2.18433907e-02 -7.12148478e-04 9.99761151e-01 3.19230042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74275509600002 meters Centerline goodness [0,1] 0.9998485373030985 Centerline is valid? [True, True] Translation: X:121.79, Y:84.90, Z:3.19 [[ 1.45126046e-01 -9.89405047e-01 -4.01034683e-03 1.21785319e+02] [ 9.89155902e-01 1.45179545e-01 -2.22148813e-02 8.48975158e+01] [ 2.25617360e-02 -7.42900347e-04 9.99745176e-01 3.19080438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.79, Y:84.92, Z:3.19 [[ 1.47427917e-01 -9.89065146e-01 -3.89180142e-03 1.21788421e+02] [ 9.88829382e-01 1.47477785e-01 -2.16045269e-02 8.49244798e+01] [ 2.19422388e-02 -6.63217177e-04 9.99759020e-01 3.19347580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters Centerline goodness [0,1] 0.9999349593495935 Centerline is valid? [True, True] Translation: X:121.79, Y:84.95, Z:3.19 [[ 1.48174974e-01 -9.88953095e-01 -3.99412338e-03 1.21787991e+02] [ 9.88703764e-01 1.48227339e-01 -2.22153622e-02 8.49526312e+01] [ 2.25619894e-02 -6.57244111e-04 9.99745230e-01 3.19308707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.832755096 meters Centerline goodness [0,1] 0.9998700004333319 Centerline is valid? [True, True] Translation: X:121.80, Y:84.98, Z:3.19 [[ 1.48789385e-01 -9.88860691e-01 -4.03150235e-03 1.21795149e+02] [ 9.88605576e-01 1.48842607e-01 -2.24698196e-02 8.49778590e+01] [ 2.28195807e-02 -6.42295056e-04 9.99739393e-01 3.19261410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:85.01, Z:3.20 [[ 1.50506128e-01 -9.88601206e-01 -3.94477118e-03 1.21795234e+02] [ 9.88355843e-01 1.50556687e-01 -2.20320717e-02 8.50066943e+01] [ 2.23748443e-02 -5.82875846e-04 9.99749482e-01 3.19507748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.892755096 meters Centerline goodness [0,1] 0.9999783704280493 Centerline is valid? [True, True] Translation: X:121.80, Y:85.03, Z:3.20 [[ 1.52326241e-01 -9.88322526e-01 -3.91155238e-03 1.21801890e+02] [ 9.88080303e-01 1.52375529e-01 -2.18863510e-02 8.50320778e+01] [ 2.22267986e-02 -5.31062296e-04 9.99752813e-01 3.19560595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:85.06, Z:3.20 [[ 1.53020308e-01 -9.88215536e-01 -3.85227599e-03 1.21803201e+02] [ 9.87979568e-01 1.53067972e-01 -2.16001930e-02 8.50584985e+01] [ 2.19353064e-02 -5.00701773e-04 9.99759267e-01 3.19731735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:85.09, Z:3.20 [[ 1.53378529e-01 -9.88160357e-01 -3.75964143e-03 1.21806994e+02] [ 9.87934618e-01 1.53423868e-01 -2.11259902e-02 8.50856699e+01] [ 2.14526848e-02 -4.74006618e-04 9.99769752e-01 3.19842566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.982755096 meters Centerline goodness [0,1] 0.9998267310649542 Centerline is valid? [True, True] Translation: X:121.82, Y:85.11, Z:3.20 [[ 1.53160195e-01 -9.88193764e-01 -3.87818171e-03 1.21815485e+02] [ 9.87952565e-01 1.53208514e-01 -2.18375787e-02 8.51104360e+01] [ 2.21739296e-02 -4.86811751e-04 9.99754010e-01 3.19689158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.012755096 meters Centerline goodness [0,1] 0.9998707342295761 Centerline is valid? [True, True] Translation: X:121.82, Y:85.14, Z:3.20 [[ 1.53386104e-01 -9.88158790e-01 -3.86131094e-03 1.21816767e+02] [ 9.87918663e-01 1.53433970e-01 -2.17883312e-02 8.51379642e+01] [ 2.21227873e-02 -4.72633906e-04 9.99755149e-01 3.19790477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:85.16, Z:3.20 [[ 1.54301165e-01 -9.88016304e-01 -3.86432922e-03 1.21819744e+02] [ 9.87774781e-01 1.54348903e-01 -2.18494377e-02 8.51649633e+01] [ 2.21840556e-02 -4.45693259e-04 9.99753804e-01 3.19971519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:85.19, Z:3.20 [[ 1.53894889e-01 -9.88079558e-01 -3.89242727e-03 1.21826215e+02] [ 9.87833496e-01 1.53943445e-01 -2.20544730e-02 8.51905405e+01] [ 2.23907875e-02 -4.50999380e-04 9.99749193e-01 3.19971349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.102755096 meters Centerline goodness [0,1] 0.9998707425838558 Centerline is valid? [True, True] Translation: X:121.83, Y:85.22, Z:3.20 [[ 1.52904889e-01 -9.88233082e-01 -3.93336545e-03 1.21829406e+02] [ 9.87980760e-01 1.52954747e-01 -2.23352503e-02 8.52179764e+01] [ 2.26740601e-02 -4.70920440e-04 9.99742800e-01 3.19830675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:85.24, Z:3.20 [[ 1.53358642e-01 -9.88162946e-01 -3.88826127e-03 1.21836466e+02] [ 9.87915315e-01 1.53407271e-01 -2.21255612e-02 8.52435375e+01] [ 2.24601473e-02 -4.48126828e-04 9.99747639e-01 3.19999633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:85.27, Z:3.20 [[ 1.52211811e-01 -9.88339978e-01 -3.95632455e-03 1.21840493e+02] [ 9.88082506e-01 1.52262479e-01 -2.25632341e-02 8.52706313e+01] [ 2.29025461e-02 -4.74784346e-04 9.99737590e-01 3.19971568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:85.30, Z:3.20 [[ 1.51578479e-01 -9.88437083e-01 -4.01212222e-03 1.21848635e+02] [ 9.88171239e-01 1.51630779e-01 -2.29283667e-02 8.52954470e+01] [ 2.32716091e-02 -4.89216827e-04 9.99729060e-01 3.19968818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22275509600001 meters Centerline goodness [0,1] 0.9999349593495935 Centerline is valid? [True, True] Translation: X:121.85, Y:85.32, Z:3.20 [[ 1.49755289e-01 -9.88714756e-01 -4.06009220e-03 1.21852803e+02] [ 9.88441693e-01 1.49809369e-01 -2.32416185e-02 8.53219881e+01] [ 2.35875710e-02 -5.32609123e-04 9.99721633e-01 3.19892816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:85.35, Z:3.20 [[ 1.49191752e-01 -9.88800285e-01 -3.97710506e-03 1.21857840e+02] [ 9.88537241e-01 1.49243819e-01 -2.28124155e-02 8.53483292e+01] [ 2.31504813e-02 -5.28092217e-04 9.99731852e-01 3.20028927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28275509600002 meters Centerline goodness [0,1] 0.9998697209857779 Centerline is valid? [True, True] Translation: X:121.86, Y:85.38, Z:3.20 [[ 1.48085341e-01 -9.88966167e-01 -4.08063462e-03 1.21863275e+02] [ 9.88688142e-01 1.48140491e-01 -2.34553195e-02 8.53750623e+01] [ 2.38010246e-02 -5.61086080e-04 9.99716558e-01 3.19882955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.87, Y:85.40, Z:3.20 [[ 1.48555460e-01 -9.88896071e-01 -3.97947718e-03 1.21868475e+02] [ 9.88630558e-01 1.48607808e-01 -2.29202950e-02 8.54008677e+01] [ 2.32571711e-02 -5.29297784e-04 9.99729375e-01 3.20129243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.87, Y:85.43, Z:3.20 [[ 1.48364888e-01 -9.88924636e-01 -3.99062615e-03 1.21873091e+02] [ 9.88656472e-01 1.48417608e-01 -2.30346294e-02 8.54273065e+01] [ 2.33717917e-02 -5.27828166e-04 9.99726703e-01 3.20190900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:85.45, Z:3.20 [[ 1.48293303e-01 -9.88935664e-01 -3.91767819e-03 1.21878190e+02] [ 9.88676093e-01 1.48344158e-01 -2.26625982e-02 8.54523285e+01] [ 2.29930162e-02 -5.12603230e-04 9.99735494e-01 3.20250723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:85.48, Z:3.20 [[ 1.48829919e-01 -9.88855130e-01 -3.89703666e-03 1.21883149e+02] [ 9.88597308e-01 1.48880121e-01 -2.25848022e-02 8.54776410e+01] [ 2.29132888e-02 -4.91305663e-04 9.99737335e-01 3.20332262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43275509600002 meters Centerline goodness [0,1] 0.999913307325531 Centerline is valid? [True, True] Translation: X:121.89, Y:85.51, Z:3.20 [[ 1.48603978e-01 -9.88889026e-01 -3.91828463e-03 1.21886455e+02] [ 9.88627183e-01 1.48654814e-01 -2.27604920e-02 8.55050673e+01] [ 2.30900726e-02 -4.91423053e-04 9.99733268e-01 3.20220032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.89, Y:85.53, Z:3.20 [[ 1.49111819e-01 -9.88812920e-01 -3.83086795e-03 1.21889980e+02] [ 9.88561584e-01 1.49160305e-01 -2.22979215e-02 8.55323422e+01] [ 2.26198863e-02 -4.62165241e-04 9.99744031e-01 3.20437151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:85.56, Z:3.21 [[ 1.49643131e-01 -9.88733212e-01 -3.68350064e-03 1.21895227e+02] [ 9.88499872e-01 1.49687852e-01 -2.14836983e-02 8.55576673e+01] [ 2.17930213e-02 -4.26252041e-04 9.99762413e-01 3.20554828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:85.58, Z:3.21 [[ 1.49609835e-01 -9.88738461e-01 -3.62680950e-03 1.21899762e+02] [ 9.88511262e-01 1.49653218e-01 -2.11990501e-02 8.55835442e+01] [ 2.15030798e-02 -4.13555647e-04 9.99768697e-01 3.20657341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:85.61, Z:3.21 [[ 1.49647607e-01 -9.88733401e-01 -3.44310688e-03 1.21904740e+02] [ 9.88527742e-01 1.49686715e-01 -2.01690692e-02 8.56085752e+01] [ 2.04572198e-02 -3.85353728e-04 9.99790655e-01 3.20796542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:85.63, Z:3.21 [[ 1.49512540e-01 -9.88753927e-01 -3.41661028e-03 1.21908864e+02] [ 9.88550460e-01 1.49551095e-01 -2.00613706e-02 8.56343607e+01] [ 2.03467168e-02 -3.78065186e-04 9.99792913e-01 3.20890483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:85.66, Z:3.21 [[ 1.49328858e-01 -9.88781825e-01 -3.37548534e-03 1.21913708e+02] [ 9.88582332e-01 1.49366544e-01 -1.98647403e-02 8.56596418e+01] [ 2.01460788e-02 -3.70566188e-04 9.99796978e-01 3.20940515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:85.69, Z:3.21 [[ 1.49039228e-01 -9.88826045e-01 -3.21880860e-03 1.21917680e+02] [ 9.88644034e-01 1.49073561e-01 -1.89749201e-02 8.56854706e+01] [ 1.92427345e-02 -3.54248479e-04 9.99814779e-01 3.21002032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.92, Y:85.71, Z:3.21 [[ 1.48671216e-01 -9.88881626e-01 -3.16220688e-03 1.21919758e+02] [ 9.88705199e-01 1.48704432e-01 -1.86821272e-02 8.57127129e+01] [ 1.89446465e-02 -3.48995817e-04 9.99820473e-01 3.21065807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:85.74, Z:3.21 [[ 1.46849547e-01 -9.89154307e-01 -2.99443585e-03 1.21928542e+02] [ 9.88995508e-01 1.46879637e-01 -1.77273166e-02 8.57387807e+01] [ 1.79748733e-02 -3.58235195e-04 9.99838375e-01 3.21172178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:85.77, Z:3.21 [[ 1.45469135e-01 -9.89358239e-01 -3.00103057e-03 1.21931262e+02] [ 9.89198137e-01 1.45499594e-01 -1.78020798e-02 8.57654957e+01] [ 1.80492831e-02 -3.78960694e-04 9.99837027e-01 3.21166722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:85.79, Z:3.21 [[ 1.44007617e-01 -9.89572155e-01 -2.95906110e-03 1.21939784e+02] [ 9.89415851e-01 1.44037475e-01 -1.75920265e-02 8.57903154e+01] [ 1.78347952e-02 -3.94356147e-04 9.99840870e-01 3.21250361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:85.82, Z:3.21 [[ 1.41387101e-01 -9.89950026e-01 -2.93842399e-03 1.21942882e+02] [ 9.89795273e-01 1.41416969e-01 -1.75088288e-02 8.58187061e+01] [ 1.77484085e-02 -4.32915633e-04 9.99842391e-01 3.21198383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:85.85, Z:3.21 [[ 1.40043685e-01 -9.90140912e-01 -2.95635237e-03 1.21948271e+02] [ 9.89983690e-01 1.40074147e-01 -1.76501151e-02 8.58463049e+01] [ 1.78902096e-02 -4.54953471e-04 9.99839854e-01 3.21230106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:85.87, Z:3.21 [[ 1.38882127e-01 -9.90304520e-01 -2.95162695e-03 1.21953594e+02] [ 9.90147243e-01 1.38912691e-01 -1.76550553e-02 8.58721095e+01] [ 1.78938995e-02 -4.70573654e-04 9.99839781e-01 3.21250057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:85.90, Z:3.21 [[ 1.37771821e-01 -9.90459294e-01 -3.05147894e-03 1.21958707e+02] [ 9.90290428e-01 1.37804698e-01 -1.82957078e-02 8.58993449e+01] [ 1.85416619e-02 -5.01217411e-04 9.99827963e-01 3.21232520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:85.93, Z:3.21 [[ 1.37350866e-01 -9.90517539e-01 -3.12155940e-03 1.21962920e+02] [ 9.90340059e-01 1.37385368e-01 -1.87570645e-02 8.59267813e+01] [ 1.90080579e-02 -5.15106268e-04 9.99819198e-01 3.21226369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:85.95, Z:3.21 [[ 1.37377696e-01 -9.90513726e-01 -3.15063204e-03 1.21966213e+02] [ 9.90332143e-01 1.37412860e-01 -1.89723950e-02 8.59518749e+01] [ 1.92253551e-02 -5.13788249e-04 9.99815044e-01 3.21232622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:85.98, Z:3.21 [[ 1.37310840e-01 -9.90522679e-01 -3.24894295e-03 1.21970325e+02] [ 9.90328591e-01 1.37348271e-01 -1.96146295e-02 8.59773512e+01] [ 1.98749720e-02 -5.24219842e-04 9.99802336e-01 3.21225185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:86.00, Z:3.21 [[ 1.37404711e-01 -9.90509470e-01 -3.30689485e-03 1.21973664e+02] [ 9.90307374e-01 1.37443497e-01 -2.00147370e-02 8.60035617e+01] [ 2.02792978e-02 -5.24723205e-04 9.99794216e-01 3.21185730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:86.03, Z:3.21 [[ 1.38074400e-01 -9.90415948e-01 -3.42209179e-03 1.21977057e+02] [ 9.90198447e-01 1.38115814e-01 -2.07619166e-02 8.60288422e+01] [ 2.10355783e-02 -5.21860801e-04 9.99778592e-01 3.21132466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:86.06, Z:3.21 [[ 1.38440799e-01 -9.90364502e-01 -3.50696658e-03 1.21979605e+02] [ 9.90135173e-01 1.38484230e-01 -2.13179892e-02 8.60552418e+01] [ 2.15982393e-02 -5.21091508e-04 9.99766595e-01 3.21158510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:86.08, Z:3.21 [[ 1.38843474e-01 -9.90308107e-01 -3.51311097e-03 1.21980518e+02] [ 9.90076872e-01 1.38886990e-01 -2.14053929e-02 8.60829252e+01] [ 2.16858596e-02 -5.06250800e-04 9.99764706e-01 3.21185036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:86.11, Z:3.21 [[ 1.40562090e-01 -9.90065679e-01 -3.50001720e-03 1.21982302e+02] [ 9.89835078e-01 1.40604905e-01 -2.13723871e-02 8.61098497e+01] [ 2.16521865e-02 -4.60292408e-04 9.99765458e-01 3.21184235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:86.14, Z:3.21 [[ 1.41032072e-01 -9.89998830e-01 -3.50306528e-03 1.21984940e+02] [ 9.89767110e-01 1.41074867e-01 -2.14231203e-02 8.61375436e+01] [ 2.17030585e-02 -4.45871750e-04 9.99764361e-01 3.21209741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:86.16, Z:3.21 [[ 1.41314151e-01 -9.89958498e-01 -3.53317482e-03 1.21988314e+02] [ 9.89721749e-01 1.41357637e-01 -2.16535891e-02 8.61634899e+01] [ 2.19355958e-02 -4.36901410e-04 9.99759290e-01 3.21277595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:86.19, Z:3.21 [[ 1.41424028e-01 -9.89943302e-01 -3.39151837e-03 1.21990785e+02] [ 9.89724168e-01 1.41464093e-01 -2.08322374e-02 8.61907086e+01] [ 2.11025119e-02 -4.10488773e-04 9.99777233e-01 3.21392161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.99, Y:86.22, Z:3.21 [[ 1.41044053e-01 -9.89997921e-01 -3.26989107e-03 1.21993605e+02] [ 9.89793359e-01 1.41081392e-01 -2.01282506e-02 8.62175418e+01] [ 2.03882471e-02 -3.97546412e-04 9.99792059e-01 3.21485985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:86.24, Z:3.22 [[ 1.40456367e-01 -9.90081613e-01 -3.22635127e-03 1.21998572e+02] [ 9.89881577e-01 1.40492854e-01 -1.99053039e-02 8.62435384e+01] [ 2.01611547e-02 -3.97879027e-04 9.99796664e-01 3.21566033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:86.27, Z:3.22 [[ 1.39594901e-01 -9.90203681e-01 -3.15166041e-03 1.22002911e+02] [ 9.90012176e-01 1.39629898e-01 -1.94777389e-02 8.62691554e+01] [ 1.97269948e-02 -4.01189141e-04 9.99805323e-01 3.21630226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:86.30, Z:3.22 [[ 1.37921930e-01 -9.90438582e-01 -2.99261650e-03 1.22005936e+02] [ 9.90265202e-01 1.37953792e-01 -1.85359543e-02 8.62968806e+01] [ 1.87715671e-02 -4.06969397e-04 9.99823716e-01 3.21695700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:86.32, Z:3.22 [[ 1.37051244e-01 -9.90559513e-01 -2.96780057e-03 1.22009123e+02] [ 9.90388349e-01 1.37082745e-01 -1.84184496e-02 8.63235633e+01] [ 1.86514047e-02 -4.15003682e-04 9.99825961e-01 3.21760940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.01, Y:86.35, Z:3.22 [[ 1.36694299e-01 -9.90608853e-01 -2.96116671e-03 1.22013169e+02] [ 9.90437678e-01 1.36725739e-01 -1.84195159e-02 8.63500157e+01] [ 1.86514033e-02 -4.15008256e-04 9.99825961e-01 3.21815379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:86.38, Z:3.22 [[ 1.35295552e-01 -9.90801042e-01 -2.89985108e-03 1.22016851e+02] [ 9.90636171e-01 1.35325953e-01 -1.80793461e-02 8.63779861e+01] [ 1.83054601e-02 -4.26642261e-04 9.99832350e-01 3.21857461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:86.40, Z:3.22 [[ 1.34808120e-01 -9.90867379e-01 -2.93386918e-03 1.22023632e+02] [ 9.90697914e-01 1.34839338e-01 -1.83301849e-02 8.64038099e+01] [ 1.85583832e-02 -4.35520316e-04 9.99827684e-01 3.21921069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.02, Y:86.43, Z:3.22 [[ 1.33495570e-01 -9.91044815e-01 -3.01796990e-03 1.22024535e+02] [ 9.90864879e-01 1.33528857e-01 -1.88901232e-02 8.64317966e+01] [ 1.91239447e-02 -4.68652618e-04 9.99817011e-01 3.21885855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:86.46, Z:3.22 [[ 1.32941819e-01 -9.91119211e-01 -3.03009508e-03 1.22028208e+02] [ 9.90937091e-01 1.32975494e-01 -1.90052621e-02 8.64588595e+01] [ 1.92394088e-02 -4.76039490e-04 9.99814792e-01 3.21905545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:86.48, Z:3.22 [[ 1.32765896e-01 -9.91142544e-01 -3.11023914e-03 1.22032406e+02] [ 9.90949737e-01 1.32801434e-01 -1.95549964e-02 8.64846762e+01] [ 1.97948331e-02 -4.85854025e-04 9.99803945e-01 3.21912498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:86.51, Z:3.22 [[ 1.32608916e-01 -9.91163418e-01 -3.15517535e-03 1.22034130e+02] [ 9.90964278e-01 1.32645537e-01 -1.98736263e-02 8.65115257e+01] [ 2.01165313e-02 -4.91246027e-04 9.99797521e-01 3.21890077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:86.54, Z:3.22 [[ 1.32336098e-01 -9.91199608e-01 -3.23947398e-03 1.22038825e+02] [ 9.90988690e-01 1.32374784e-01 -2.04532098e-02 8.65371578e+01] [ 2.07020382e-02 -5.03584097e-04 9.99785563e-01 3.21893713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:86.56, Z:3.22 [[ 1.32261116e-01 -9.91209733e-01 -3.20347875e-03 1.22040131e+02] [ 9.91002481e-01 1.32298987e-01 -2.02746433e-02 8.65648708e+01] [ 2.05202408e-02 -4.93108438e-04 9.99789316e-01 3.21969993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:86.59, Z:3.22 [[ 1.32765558e-01 -9.91141893e-01 -3.32469172e-03 1.22043418e+02] [ 9.90917542e-01 1.32806261e-01 -2.10931945e-02 8.65920976e+01] [ 2.13478886e-02 -4.94045615e-04 9.99771986e-01 3.21968383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:86.62, Z:3.22 [[ 1.33073502e-01 -9.91100518e-01 -3.34766066e-03 1.22047002e+02] [ 9.90871954e-01 1.33114723e-01 -2.12894511e-02 8.66189122e+01] [ 2.15456089e-02 -4.84041257e-04 9.99767749e-01 3.22040429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:86.65, Z:3.22 [[ 1.34311397e-01 -9.90933798e-01 -3.26453342e-03 1.22050298e+02] [ 9.90715384e-01 1.34350346e-01 -2.08089553e-02 8.66454903e+01] [ 2.10588883e-02 -4.39343625e-04 9.99778140e-01 3.22195408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:86.67, Z:3.22 [[ 1.35018920e-01 -9.90837965e-01 -3.16510713e-03 1.22052857e+02] [ 9.90631685e-01 1.35055405e-01 -2.02213541e-02 8.66724979e+01] [ 2.04635502e-02 -4.05190013e-04 9.99790518e-01 3.22285456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:86.70, Z:3.22 [[ 1.35681607e-01 -9.90747552e-01 -3.12877782e-03 1.22055858e+02] [ 9.90545007e-01 1.35717142e-01 -2.00361036e-02 8.66994796e+01] [ 2.02753494e-02 -3.80664523e-04 9.99794362e-01 3.22378980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:86.73, Z:3.22 [[ 1.36164203e-01 -9.90681296e-01 -3.14331158e-03 1.22059562e+02] [ 9.90475868e-01 1.36199988e-01 -2.01771638e-02 8.67254355e+01] [ 2.04172578e-02 -3.65966832e-04 9.99791479e-01 3.22428482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:86.75, Z:3.22 [[ 1.36930555e-01 -9.90575571e-01 -3.17186187e-03 1.22063090e+02] [ 9.90365313e-01 1.36966849e-01 -2.04115212e-02 8.67521946e+01] [ 2.06535942e-02 -3.46341052e-04 9.99786632e-01 3.22482564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:86.78, Z:3.23 [[ 1.36790452e-01 -9.90594886e-01 -3.18505691e-03 1.22066324e+02] [ 9.90381896e-01 1.36827095e-01 -2.05437876e-02 8.67790118e+01] [ 2.07863730e-02 -3.44228714e-04 9.99783881e-01 3.22569897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:86.81, Z:3.23 [[ 1.35866653e-01 -9.90722126e-01 -3.14987170e-03 1.22071112e+02] [ 9.90512874e-01 1.35902702e-01 -2.03642217e-02 8.68062943e+01] [ 2.06033611e-02 -3.53169821e-04 9.99787666e-01 3.22661817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:86.83, Z:3.23 [[ 1.35026744e-01 -9.90837165e-01 -3.08088826e-03 1.22076376e+02] [ 9.90636086e-01 1.35061417e-01 -1.99639302e-02 8.68324367e+01] [ 2.01971131e-02 -3.56374600e-04 9.99795954e-01 3.22775315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:86.86, Z:3.23 [[ 1.33730774e-01 -9.91012869e-01 -3.09413487e-03 1.22080400e+02] [ 9.90809365e-01 1.33766025e-01 -2.00861481e-02 8.68596710e+01] [ 2.03195214e-02 -3.79561681e-04 9.99793465e-01 3.22860789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:86.89, Z:3.23 [[ 1.31068725e-01 -9.91368814e-01 -2.97730485e-03 1.22088521e+02] [ 9.91179600e-01 1.31101889e-01 -1.93725524e-02 8.68858043e+01] [ 1.95956746e-02 -4.11908088e-04 9.99807901e-01 3.23024194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:86.91, Z:3.23 [[ 1.29675730e-01 -9.91552176e-01 -2.91345051e-03 1.22094707e+02] [ 9.91370222e-01 1.29707759e-01 -1.89994547e-02 8.69115328e+01] [ 1.92168477e-02 -4.24539931e-04 9.99815249e-01 3.23131172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:86.94, Z:3.23 [[ 1.27926009e-01 -9.91779924e-01 -2.74215901e-03 1.22099870e+02] [ 9.91618254e-01 1.27954680e-01 -1.79119727e-02 8.69395383e+01] [ 1.81156069e-02 -4.27767758e-04 9.99835807e-01 3.23232750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.11, Y:86.96, Z:3.23 [[ 1.25273080e-01 -9.92118884e-01 -2.60309830e-03 1.22106726e+02] [ 9.91972679e-01 1.25299323e-01 -1.70377217e-02 8.69644813e+01] [ 1.72296119e-02 -4.47834518e-04 9.99851459e-01 3.23363693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.11, Y:86.99, Z:3.23 [[ 1.23848317e-01 -9.92297722e-01 -2.61241695e-03 1.22113235e+02] [ 9.92149950e-01 1.23874974e-01 -1.71308837e-02 8.69901888e+01] [ 1.73225500e-02 -4.70278241e-04 9.99849843e-01 3.23399385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:87.02, Z:3.23 [[ 1.22599372e-01 -9.92452861e-01 -2.59107076e-03 1.22117130e+02] [ 9.92306808e-01 1.22625798e-01 -1.70327140e-02 8.70172025e+01] [ 1.72218978e-02 -4.82937127e-04 9.99851575e-01 3.23435894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:87.04, Z:3.24 [[ 1.20958220e-01 -9.92654497e-01 -2.48168661e-03 1.22124783e+02] [ 9.92519924e-01 1.20982702e-01 -1.63519307e-02 8.70423377e+01] [ 1.65320587e-02 -4.85222969e-04 9.99863218e-01 3.23521734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:87.07, Z:3.24 [[ 1.20092050e-01 -9.92759723e-01 -2.45602922e-03 1.22126454e+02] [ 9.92627501e-01 1.20116157e-01 -1.62096478e-02 8.70698700e+01] [ 1.63872942e-02 -4.91272314e-04 9.99865599e-01 3.23514158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:87.10, Z:3.23 [[ 1.19996190e-01 -9.92771281e-01 -2.46925648e-03 1.22128329e+02] [ 9.92637003e-01 1.20020590e-01 -1.63351729e-02 8.70970314e+01] [ 1.65134522e-02 -4.90916827e-04 9.99863523e-01 3.23460389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:87.12, Z:3.23 [[ 1.20032668e-01 -9.92766637e-01 -2.56183036e-03 1.22132170e+02] [ 9.92621346e-01 1.20058948e-01 -1.69915512e-02 8.71245310e+01] [ 1.71762158e-02 -5.03386286e-04 9.99852351e-01 3.23462181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:87.15, Z:3.23 [[ 1.20502395e-01 -9.92709650e-01 -2.59309773e-03 1.22135971e+02] [ 9.92560088e-01 1.20529269e-01 -1.72385373e-02 8.71501189e+01] [ 1.74254065e-02 -4.96520283e-04 9.99848043e-01 3.23483101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:87.18, Z:3.23 [[ 1.21075193e-01 -9.92639784e-01 -2.65631543e-03 1.22139289e+02] [ 9.92481989e-01 1.21103326e-01 -1.77055478e-02 8.71757233e+01] [ 1.78969198e-02 -4.92642607e-04 9.99839716e-01 3.23485990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:87.20, Z:3.23 [[ 1.23375254e-01 -9.92356392e-01 -2.70904532e-03 1.22140980e+02] [ 9.92191345e-01 1.23404156e-01 -1.81038601e-02 8.72018505e+01] [ 1.82997887e-02 -4.54322993e-04 9.99832442e-01 3.23490193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:87.23, Z:3.24 [[ 1.24956600e-01 -9.92158337e-01 -2.77171570e-03 1.22143462e+02] [ 9.91984625e-01 1.24986600e-01 -1.85702562e-02 8.72278283e+01] [ 1.87710618e-02 -4.29023290e-04 9.99823716e-01 3.23541051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:87.25, Z:3.24 [[ 1.27823869e-01 -9.91792830e-01 -2.83550314e-03 1.22144293e+02] [ 9.91610009e-01 1.27854759e-01 -1.90460419e-02 8.72547898e+01] [ 1.92522604e-02 -3.77174530e-04 9.99814587e-01 3.23566269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:87.28, Z:3.24 [[ 1.28964889e-01 -9.91645209e-01 -2.79939865e-03 1.22146573e+02] [ 9.91466163e-01 1.28994807e-01 -1.88464307e-02 8.72814035e+01] [ 1.90500806e-02 -3.44981199e-04 9.99818471e-01 3.23625570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:87.31, Z:3.24 [[ 1.29578876e-01 -9.91565192e-01 -2.79011478e-03 1.22149288e+02] [ 9.91386396e-01 1.29608501e-01 -1.88321643e-02 8.73074394e+01] [ 1.90349412e-02 -3.25831162e-04 9.99818766e-01 3.23689862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:87.33, Z:3.24 [[ 1.30606319e-01 -9.91430327e-01 -2.80995291e-03 1.22152539e+02] [ 9.91248009e-01 1.30636195e-01 -1.90149583e-02 8.73323365e+01] [ 1.92190878e-02 -3.01886520e-04 9.99815251e-01 3.23804154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:87.36, Z:3.24 [[ 1.30789812e-01 -9.91406215e-01 -2.78253824e-03 1.22156184e+02] [ 9.91226476e-01 1.30819089e-01 -1.88795776e-02 8.73589532e+01] [ 1.90813396e-02 -2.88869171e-04 9.99817893e-01 3.23928113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:87.39, Z:3.24 [[ 1.30919768e-01 -9.91389173e-01 -2.74255201e-03 1.22157902e+02] [ 9.91213685e-01 1.30948200e-01 -1.86547252e-02 8.73862816e+01] [ 1.88532248e-02 -2.76182781e-04 9.99822224e-01 3.24009745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:87.41, Z:3.24 [[ 1.31507572e-01 -9.91311596e-01 -2.66060507e-03 1.22163033e+02] [ 9.91145641e-01 1.31534243e-01 -1.81400588e-02 8.74118896e+01] [ 1.83324113e-02 -2.51492039e-04 9.99831916e-01 3.24170658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:87.44, Z:3.24 [[ 1.31661604e-01 -9.91291334e-01 -2.59115329e-03 1.22165553e+02] [ 9.91133132e-01 1.31686887e-01 -1.77109540e-02 8.74378036e+01] [ 1.78979362e-02 -2.36325267e-04 9.99839791e-01 3.24240073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:87.47, Z:3.24 [[ 1.31787657e-01 -9.91274688e-01 -2.55058948e-03 1.22166778e+02] [ 9.91120635e-01 1.31812145e-01 -1.74770094e-02 8.74652874e+01] [ 1.76607157e-02 -2.24687747e-04 9.99844012e-01 3.24298076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:87.49, Z:3.24 [[ 1.31696848e-01 -9.91286878e-01 -2.50305158e-03 1.22169408e+02] [ 9.91137791e-01 1.31720455e-01 -1.71930294e-02 8.74919567e+01] [ 1.73729275e-02 -2.16601226e-04 9.99849056e-01 3.24385857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:87.52, Z:3.24 [[ 1.31427129e-01 -9.91322657e-01 -2.50994563e-03 1.22175993e+02] [ 9.91171962e-01 1.31450916e-01 -1.72857874e-02 8.75172135e+01] [ 1.74657273e-02 -2.15966332e-04 9.99847439e-01 3.24499458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:87.55, Z:3.24 [[ 1.30369444e-01 -9.91462214e-01 -2.54681601e-03 1.22177285e+02] [ 9.91306493e-01 1.30394109e-01 -1.75730863e-02 8.75450164e+01] [ 1.77551409e-02 -2.33681758e-04 9.99842338e-01 3.24428791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:87.57, Z:3.24 [[ 1.29521946e-01 -9.91573188e-01 -2.58441631e-03 1.22180845e+02] [ 9.91412007e-01 1.29547493e-01 -1.78795869e-02 8.75708036e+01] [ 1.80637236e-02 -2.46422479e-04 9.99836807e-01 3.24426706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:87.60, Z:3.24 [[ 1.28616833e-01 -9.91690847e-01 -2.64098744e-03 1.22183953e+02] [ 9.91521902e-01 1.28643673e-01 -1.83063680e-02 8.75974332e+01] [ 1.84940040e-02 -2.64089818e-04 9.99828936e-01 3.24400392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:87.63, Z:3.24 [[ 1.27387798e-01 -9.91849228e-01 -2.73080376e-03 1.22186655e+02] [ 9.91667680e-01 1.27416734e-01 -1.89786177e-02 8.76250407e+01] [ 1.91718774e-02 -2.90405507e-04 9.99816160e-01 3.24324402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:87.65, Z:3.24 [[ 1.26780057e-01 -9.91926877e-01 -2.80857904e-03 1.22189964e+02] [ 9.91733856e-01 1.26810798e-01 -1.95698653e-02 8.76509004e+01] [ 1.97680335e-02 -3.04294278e-04 9.99804547e-01 3.24312010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:87.68, Z:3.24 [[ 1.25970175e-01 -9.92030155e-01 -2.77235248e-03 1.22192574e+02] [ 9.91841118e-01 1.26000297e-01 -1.93680631e-02 8.76783264e+01] [ 1.95630199e-02 -3.09934894e-04 9.99808578e-01 3.24360981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:87.71, Z:3.24 [[ 1.26036543e-01 -9.92021860e-01 -2.72390279e-03 1.22192621e+02] [ 9.91838463e-01 1.26065623e-01 -1.90767402e-02 8.77051835e+01] [ 1.92679338e-02 -2.97305177e-04 9.99814312e-01 3.24390983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:87.73, Z:3.24 [[ 1.25561056e-01 -9.92081821e-01 -2.84291635e-03 1.22194630e+02] [ 9.91880948e-01 1.25592846e-01 -1.99655439e-02 8.77328220e+01] [ 2.01645031e-02 -3.12939796e-04 9.99796627e-01 3.24361860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:87.76, Z:3.24 [[ 1.24190992e-01 -9.92253591e-01 -3.06739866e-03 1.22199059e+02] [ 9.92018500e-01 1.24228344e-01 -2.16012450e-02 8.77584856e+01] [ 2.18149707e-02 -3.60236192e-04 9.99761960e-01 3.24211963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:87.79, Z:3.24 [[ 1.23178011e-01 -9.92379494e-01 -3.18080477e-03 1.22202689e+02] [ 9.92125660e-01 1.23218453e-01 -2.24474275e-02 8.77854449e+01] [ 2.26683006e-02 -3.90728569e-04 9.99742965e-01 3.24202072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:87.81, Z:3.24 [[ 1.22206563e-01 -9.92499286e-01 -3.27462894e-03 1.22206930e+02] [ 9.92228880e-01 1.22249715e-01 -2.31701812e-02 8.78125716e+01] [ 2.33967107e-02 -4.17633203e-04 9.99726172e-01 3.24202478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:87.84, Z:3.24 [[ 1.21291214e-01 -9.92611397e-01 -3.32516201e-03 1.22210692e+02] [ 9.92331168e-01 1.21335992e-01 -2.35887926e-02 8.78391901e+01] [ 2.38179662e-02 -4.38548613e-04 9.99716216e-01 3.24253530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:87.87, Z:3.24 [[ 1.19860691e-01 -9.92784971e-01 -3.37870942e-03 1.22215506e+02] [ 9.92494188e-01 1.19907369e-01 -2.40314346e-02 8.78651025e+01] [ 2.42631793e-02 -4.72925102e-04 9.99705494e-01 3.24164864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:87.89, Z:3.24 [[ 1.19025056e-01 -9.92885527e-01 -3.37138945e-03 1.22217941e+02] [ 9.92594481e-01 1.19071807e-01 -2.40437205e-02 8.78918195e+01] [ 2.42740996e-02 -4.84617395e-04 9.99705223e-01 3.24206890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:87.92, Z:3.24 [[ 1.18000046e-01 -9.93007957e-01 -3.34449635e-03 1.22221393e+02] [ 9.92720053e-01 1.18046383e-01 -2.39154451e-02 8.79168237e+01] [ 2.41430330e-02 -4.98124965e-04 9.99708390e-01 3.24275544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:87.94, Z:3.24 [[ 1.15887877e-01 -9.93257182e-01 -3.18917434e-03 1.22226549e+02] [ 9.92994112e-01 1.15930598e-01 -2.28645939e-02 8.79436449e+01] [ 2.30801450e-02 -5.17102093e-04 9.99733484e-01 3.24468086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:87.97, Z:3.25 [[ 1.14879891e-01 -9.93374407e-01 -3.14600350e-03 1.22228417e+02] [ 9.93117236e-01 1.14921751e-01 -2.26085485e-02 8.79706168e+01] [ 2.28202977e-02 -5.27082719e-04 9.99739444e-01 3.24647059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:88.00, Z:3.25 [[ 1.13852196e-01 -9.93492922e-01 -3.08068145e-03 1.22232454e+02] [ 9.93245115e-01 1.13892621e-01 -2.21948879e-02 8.79970481e+01] [ 2.24013309e-02 -5.32935066e-04 9.99748917e-01 3.24803805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:88.02, Z:3.25 [[ 1.13175105e-01 -9.93570845e-01 -2.89345852e-03 1.22235946e+02] [ 9.93351147e-01 1.13210942e-01 -2.08993044e-02 8.80240098e+01] [ 2.10925107e-02 -5.08939376e-04 9.99777399e-01 3.25012605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:88.05, Z:3.25 [[ 1.12828335e-01 -9.93610304e-01 -2.88616051e-03 1.22239396e+02] [ 9.93390594e-01 1.12864096e-01 -2.09003122e-02 8.80505392e+01] [ 2.10925095e-02 -5.08937267e-04 9.99777399e-01 3.25067045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:88.08, Z:3.25 [[ 1.12687173e-01 -9.93626609e-01 -2.78622377e-03 1.22240889e+02] [ 9.93420829e-01 1.12720554e-01 -2.02270372e-02 8.80777417e+01] [ 2.04121871e-02 -4.88565084e-04 9.99791530e-01 3.25170918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:88.10, Z:3.25 [[ 1.12947935e-01 -9.93597305e-01 -2.67582459e-03 1.22243382e+02] [ 9.93406521e-01 1.12978697e-01 -1.94755541e-02 8.81040830e+01] [ 1.96531693e-02 -4.58457973e-04 9.99806753e-01 3.25255643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:88.13, Z:3.25 [[ 1.13434703e-01 -9.93542110e-01 -2.57742233e-03 1.22244714e+02] [ 9.93364406e-01 1.13463172e-01 -1.87953405e-02 8.81303111e+01] [ 1.89664047e-02 -4.28275748e-04 9.99820030e-01 3.25373434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:88.16, Z:3.25 [[ 1.13588730e-01 -9.93524763e-01 -2.47888522e-03 1.22247862e+02] [ 9.93359501e-01 1.13615059e-01 -1.81251192e-02 8.81576338e+01] [ 1.82893935e-02 -4.03614910e-04 9.99832654e-01 3.25445056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:88.18, Z:3.26 [[ 1.13460145e-01 -9.93539601e-01 -2.42017169e-03 1.22251072e+02] [ 9.93381290e-01 1.13485279e-01 -1.77398908e-02 8.81843457e+01] [ 1.78999378e-02 -3.91382702e-04 9.99839707e-01 3.25505998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:88.21, Z:3.26 [[ 1.13771251e-01 -9.93503960e-01 -2.44637360e-03 1.22254672e+02] [ 9.93341222e-01 1.13796902e-01 -1.79855974e-02 8.82098715e+01] [ 1.81471520e-02 -3.83839825e-04 9.99835253e-01 3.25583049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:88.24, Z:3.26 [[ 1.13330961e-01 -9.93554201e-01 -2.47864817e-03 1.22257961e+02] [ 9.93386392e-01 1.13357384e-01 -1.82641559e-02 8.82359510e+01] [ 1.84274019e-02 -3.92361029e-04 9.99830124e-01 3.25612160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:88.26, Z:3.26 [[ 1.12775013e-01 -9.93617527e-01 -2.45075023e-03 1.22261207e+02] [ 9.93452569e-01 1.12800956e-01 -1.81090642e-02 8.82610070e+01] [ 1.82699306e-02 -3.92454170e-04 9.99833014e-01 3.25622935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:88.29, Z:3.26 [[ 1.12418051e-01 -9.93657769e-01 -2.53382113e-03 1.22263726e+02] [ 9.93480351e-01 1.12445869e-01 -1.87808281e-02 8.82869897e+01] [ 1.89466334e-02 -4.05997422e-04 9.99820414e-01 3.25620684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:88.31, Z:3.26 [[ 1.12056121e-01 -9.93698683e-01 -2.52048506e-03 1.22266751e+02] [ 9.93522152e-01 1.12083733e-01 -1.87342012e-02 8.83127680e+01] [ 1.88986564e-02 -4.04875831e-04 9.99821322e-01 3.25648727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:88.34, Z:3.26 [[ 1.11848594e-01 -9.93722060e-01 -2.52188703e-03 1.22270030e+02] [ 9.93544343e-01 1.11876295e-01 -1.87971594e-02 8.83385678e+01] [ 1.89612913e-02 -4.03170754e-04 9.99820137e-01 3.25684401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:88.36, Z:3.26 [[ 1.11417597e-01 -9.93770258e-01 -2.60626322e-03 1.22273447e+02] [ 9.93579363e-01 1.11447289e-01 -1.94820968e-02 8.83635335e+01] [ 1.96511893e-02 -4.18880935e-04 9.99806809e-01 3.25639473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:88.39, Z:3.26 [[ 1.10989931e-01 -9.93817909e-01 -2.68315050e-03 1.22275331e+02] [ 9.93614373e-01 1.11021514e-01 -2.01171951e-02 8.83901903e+01] [ 2.02907162e-02 -4.33210791e-04 9.99794028e-01 3.25644516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:88.42, Z:3.26 [[ 1.10688907e-01 -9.93851312e-01 -2.74493808e-03 1.22278736e+02] [ 9.93637035e-01 1.10722052e-01 -2.06414534e-02 8.84156322e+01] [ 2.08184607e-02 -4.42692224e-04 9.99783174e-01 3.25601002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:88.44, Z:3.26 [[ 1.10396168e-01 -9.93883734e-01 -2.79448722e-03 1.22281987e+02] [ 9.93660287e-01 1.10430615e-01 -2.10787497e-02 8.84403566e+01] [ 2.12584234e-02 -4.49757785e-04 9.99773913e-01 3.25612201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:88.47, Z:3.26 [[ 1.09970900e-01 -9.93930934e-01 -2.77492313e-03 1.22285086e+02] [ 9.93709300e-01 1.10004989e-01 -2.09935593e-02 8.84652029e+01] [ 2.11714034e-02 -4.48786316e-04 9.99775760e-01 3.25636501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:88.49, Z:3.26 [[ 1.09791662e-01 -9.93950748e-01 -2.77504433e-03 1.22286026e+02] [ 9.93727779e-01 1.09825822e-01 -2.10568222e-02 8.84928917e+01] [ 2.12342157e-02 -4.45775144e-04 9.99774429e-01 3.25665433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:88.52, Z:3.26 [[ 1.09457697e-01 -9.93987830e-01 -2.68453155e-03 1.22290078e+02] [ 9.93778079e-01 1.09489759e-01 -2.04235877e-02 8.85200400e+01] [ 2.05947263e-02 -4.32309730e-04 9.99787813e-01 3.25763062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:88.55, Z:3.26 [[ 1.09156921e-01 -9.94020930e-01 -2.67521621e-03 1.22293014e+02] [ 9.93811499e-01 1.09188848e-01 -2.04083470e-02 8.85472626e+01] [ 2.05784278e-02 -4.30948302e-04 9.99788149e-01 3.25878781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:88.57, Z:3.26 [[ 1.09068558e-01 -9.94030884e-01 -2.57906431e-03 1.22297438e+02] [ 9.93835178e-01 1.09098271e-01 -1.97282932e-02 8.85734468e+01] [ 1.98919042e-02 -4.11428344e-04 9.99802052e-01 3.26019615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:88.60, Z:3.26 [[ 1.09125359e-01 -9.94024825e-01 -2.51046465e-03 1.22300049e+02] [ 9.93838315e-01 1.09153524e-01 -1.92590667e-02 8.86002590e+01] [ 1.94180165e-02 -3.93343379e-04 9.99811375e-01 3.26117018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:88.63, Z:3.26 [[ 1.08984238e-01 -9.94040527e-01 -2.42227568e-03 1.22303657e+02] [ 9.93865959e-01 1.09010502e-01 -1.86324025e-02 8.86262632e+01] [ 1.87854167e-02 -3.76779152e-04 9.99823468e-01 3.26198757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:88.65, Z:3.26 [[ 1.09575469e-01 -9.93975643e-01 -2.37450254e-03 1.22306966e+02] [ 9.93806902e-01 1.09600627e-01 -1.83178399e-02 8.86534824e+01] [ 1.84677337e-02 -3.52611116e-04 9.99829395e-01 3.26322091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:88.68, Z:3.26 [[ 1.09462123e-01 -9.93988208e-01 -2.34215242e-03 1.22310646e+02] [ 9.93823146e-01 1.09486636e-01 -1.81171380e-02 8.86794395e+01] [ 1.82646560e-02 -3.44544886e-04 9.99833128e-01 3.26383522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:88.71, Z:3.26 [[ 1.09573538e-01 -9.93975949e-01 -2.33515218e-03 1.22313541e+02] [ 9.93810911e-01 1.09597903e-01 -1.81155206e-02 8.87067113e+01] [ 1.82623195e-02 -3.35718041e-04 9.99833174e-01 3.26410531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:88.73, Z:3.26 [[ 1.09997647e-01 -9.93929124e-01 -2.32705179e-03 1.22316651e+02] [ 9.93764302e-01 1.10021790e-01 -1.81029947e-02 8.87342748e+01] [ 1.82491201e-02 -3.21254173e-04 9.99833419e-01 3.26437281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:88.76, Z:3.26 [[ 1.09774069e-01 -9.93953754e-01 -2.36404406e-03 1.22321595e+02] [ 9.93782723e-01 1.09799041e-01 -1.84409762e-02 8.87602908e+01] [ 1.85890472e-02 -3.25005144e-04 9.99827156e-01 3.26482205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15275509600002 meters Centerline goodness [0,1] 0.9999571082373631 Centerline is valid? [True, True] Translation: X:122.33, Y:88.79, Z:3.26 [[ 1.09392153e-01 -9.93996019e-01 -2.29605129e-03 1.22325053e+02] [ 9.93833748e-01 1.09415788e-01 -1.79629372e-02 8.87862011e+01] [ 1.81063123e-02 -3.16888878e-04 9.99836017e-01 3.26412119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:88.81, Z:3.27 [[ 1.09012851e-01 -9.94037740e-01 -2.27350507e-03 1.22326383e+02] [ 9.93877695e-01 1.09036101e-01 -1.78397322e-02 8.88133779e+01] [ 1.79812612e-02 -3.14825904e-04 9.99838274e-01 3.26509929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:88.84, Z:3.27 [[ 1.07786103e-01 -9.94171470e-01 -2.29000238e-03 1.22331922e+02] [ 9.94008164e-01 1.07809910e-01 -1.80220322e-02 8.88402879e+01] [ 1.81638752e-02 -3.33756445e-04 9.99834968e-01 3.26545274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:88.87, Z:3.27 [[ 1.06705218e-01 -9.94288034e-01 -2.30269018e-03 1.22336723e+02] [ 9.94121971e-01 1.06729487e-01 -1.81747878e-02 8.88673484e+01] [ 1.83167390e-02 -3.49810212e-04 9.99832173e-01 3.26568433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:88.89, Z:3.27 [[ 1.05446362e-01 -9.94422223e-01 -2.34678823e-03 1.22341187e+02] [ 9.94248740e-01 1.05471809e-01 -1.85779510e-02 8.88938449e+01] [ 1.87218473e-02 -3.74313894e-04 9.99824661e-01 3.26594065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:88.92, Z:3.27 [[ 1.04035412e-01 -9.94570698e-01 -2.40000754e-03 1.22346464e+02] [ 9.94388183e-01 1.04062308e-01 -1.90572351e-02 8.89203736e+01] [ 1.92035180e-02 -4.03911821e-04 9.99815514e-01 3.26600398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:88.95, Z:3.27 [[ 1.02022371e-01 -9.94779266e-01 -2.37661923e-03 1.22353317e+02] [ 9.94599332e-01 1.02049131e-01 -1.89247126e-02 8.89471834e+01] [ 1.90684436e-02 -4.33039848e-04 9.99818087e-01 3.26605188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters Centerline goodness [0,1] 0.9999568891188136 Centerline is valid? [True, True] Translation: X:122.36, Y:88.97, Z:3.27 [[ 1.00777012e-01 -9.94906187e-01 -2.38165402e-03 1.22357302e+02] [ 9.94724856e-01 1.00804127e-01 -1.89996843e-02 8.89739577e+01] [ 1.91429840e-02 -4.54359032e-04 9.99816653e-01 3.26625432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:89.00, Z:3.27 [[ 9.97009906e-02 -9.95014593e-01 -2.38148695e-03 1.22361002e+02] [ 9.94832261e-01 9.97283237e-02 -1.90534283e-02 8.90005305e+01] [ 1.91959409e-02 -4.69534371e-04 9.99815631e-01 3.26693186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:89.03, Z:3.27 [[ 9.85613660e-02 -9.95128158e-01 -2.36759990e-03 1.22365999e+02] [ 9.94946922e-01 9.85886145e-02 -1.89975913e-02 8.90271386e+01] [ 1.91384565e-02 -4.83207676e-04 9.99816726e-01 3.26748922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:89.05, Z:3.27 [[ 9.81156830e-02 -9.95172261e-01 -2.34175174e-03 1.22369680e+02] [ 9.94994009e-01 9.81424438e-02 -1.88409659e-02 8.90540794e+01] [ 1.89798319e-02 -4.81434707e-04 9.99819751e-01 3.26789035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:89.08, Z:3.27 [[ 9.99838874e-02 -9.94986335e-01 -2.32706911e-03 1.22370383e+02] [ 9.94809232e-01 1.00010007e-01 -1.87774005e-02 8.90801746e+01] [ 1.89159871e-02 -4.37552340e-04 9.99820981e-01 3.26872378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:89.11, Z:3.27 [[ 1.00720550e-01 -9.94911788e-01 -2.43011287e-03 1.22372607e+02] [ 9.94717738e-01 1.00748911e-01 -1.96539805e-02 8.91062618e+01] [ 1.97988081e-02 -4.37716645e-04 9.99803889e-01 3.26832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:89.13, Z:3.27 [[ 1.01201997e-01 -9.94862752e-01 -2.50211817e-03 1.22375515e+02] [ 9.94655674e-01 1.01231992e-01 -2.03020765e-02 8.91330421e+01] [ 2.04510741e-02 -4.34135360e-04 9.99790761e-01 3.26850837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:89.16, Z:3.27 [[ 1.02735284e-01 -9.94705492e-01 -2.53883451e-03 1.22376594e+02] [ 9.94490950e-01 1.02765863e-01 -2.06622255e-02 8.91601292e+01] [ 2.08137347e-02 -4.02108348e-04 9.99783290e-01 3.26870930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:89.19, Z:3.27 [[ 1.04534509e-01 -9.94517677e-01 -2.66973334e-03 1.22378387e+02] [ 9.94278983e-01 1.04567917e-01 -2.17911794e-02 8.91852809e+01] [ 2.19508815e-02 -3.76529505e-04 9.99758979e-01 3.26805567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:89.21, Z:3.27 [[ 1.04595632e-01 -9.94511282e-01 -2.65780618e-03 1.22381447e+02] [ 9.94273516e-01 1.04628748e-01 -2.17485820e-02 8.92115700e+01] [ 2.19072931e-02 -3.67779606e-04 9.99759939e-01 3.26848383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:89.24, Z:3.27 [[ 1.04473350e-01 -9.94524261e-01 -2.61014186e-03 1.22384576e+02] [ 9.94293568e-01 1.04505341e-01 -2.14227668e-02 8.92365877e+01] [ 2.15782350e-02 -3.57139047e-04 9.99767099e-01 3.26926210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:89.26, Z:3.27 [[ 1.03757155e-01 -9.94599618e-01 -2.46012682e-03 1.22386683e+02] [ 9.94393750e-01 1.03785738e-01 -2.02383603e-02 8.92614293e+01] [ 2.03843915e-02 -3.46460048e-04 9.99792157e-01 3.27031179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:89.29, Z:3.27 [[ 1.02654116e-01 -9.94714304e-01 -2.36345795e-03 1.22387675e+02] [ 9.94523443e-01 1.02680724e-01 -1.94882118e-02 8.92889494e+01] [ 1.96278846e-02 -3.49969187e-04 9.99807293e-01 3.27130315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:89.32, Z:3.27 [[ 1.01298384e-01 -9.94853548e-01 -2.24824399e-03 1.22390674e+02] [ 9.94679907e-01 1.01322714e-01 -1.85900757e-02 8.93160387e+01] [ 1.87222010e-02 -3.53138493e-04 9.99824662e-01 3.27239647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:89.34, Z:3.27 [[ 9.92170267e-02 -9.95063614e-01 -2.09420481e-03 1.22394596e+02] [ 9.94912153e-01 9.92384703e-02 -1.73647108e-02 8.93433350e+01] [ 1.74868175e-02 -3.60674843e-04 9.99847029e-01 3.27477241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:89.37, Z:3.28 [[ 9.79171338e-02 -9.95192445e-01 -2.05749454e-03 1.22398759e+02] [ 9.95045394e-01 9.79380424e-02 -1.71115360e-02 8.93703781e+01] [ 1.72307783e-02 -3.71787906e-04 9.99851470e-01 3.27548247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:89.40, Z:3.28 [[ 9.61577843e-02 -9.95363974e-01 -2.05907496e-03 1.22402255e+02] [ 9.95216195e-01 9.61789978e-02 -1.71558974e-02 8.93977321e+01] [ 1.72744019e-02 -3.99551667e-04 9.99850707e-01 3.27622805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:89.42, Z:3.28 [[ 9.50071954e-02 -9.95474442e-01 -2.06607586e-03 1.22405714e+02] [ 9.95324832e-01 9.50287459e-02 -1.72631596e-02 8.94236914e+01] [ 1.73813708e-02 -4.16292230e-04 9.99848846e-01 3.27651113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:89.45, Z:3.28 [[ 9.39569921e-02 -9.95574013e-01 -2.11393653e-03 1.22408766e+02] [ 9.95416370e-01 9.39797436e-02 -1.77216737e-02 8.94503837e+01] [ 1.78419050e-02 -4.39171878e-04 9.99840724e-01 3.27651205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:89.48, Z:3.28 [[ 9.28541834e-02 -9.95677363e-01 -2.16570357e-03 1.22412074e+02] [ 9.95510910e-01 9.28782722e-02 -1.82114120e-02 8.94765579e+01] [ 1.83338375e-02 -4.64975741e-04 9.99831813e-01 3.27636910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:89.50, Z:3.28 [[ 9.07817305e-02 -9.95868292e-01 -2.24116181e-03 1.22416176e+02] [ 9.95688918e-01 9.08079300e-02 -1.89076096e-02 8.95026561e+01] [ 1.90330042e-02 -5.15034453e-04 9.99818723e-01 3.27594828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:89.53, Z:3.28 [[ 8.97804615e-02 -9.95959052e-01 -2.24400996e-03 1.22418593e+02] [ 9.95778119e-01 8.98069399e-02 -1.89908037e-02 8.95285794e+01] [ 1.91155905e-02 -5.29532905e-04 9.99817140e-01 3.27649366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:89.55, Z:3.28 [[ 8.89131007e-02 -9.96036773e-01 -2.28180333e-03 1.22421312e+02] [ 9.95848465e-01 8.89406768e-02 -1.93750295e-02 8.95535646e+01] [ 1.95011870e-02 -5.49636396e-04 9.99809683e-01 3.27684018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:89.58, Z:3.28 [[ 8.89027499e-02 -9.96037697e-01 -2.28180473e-03 1.22421668e+02] [ 9.95848084e-01 8.89303646e-02 -1.94417842e-02 8.95812821e+01] [ 1.95676717e-02 -5.43902789e-04 9.99808387e-01 3.27752948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:89.61, Z:3.28 [[ 8.86803870e-02 -9.96057480e-01 -2.29912938e-03 1.22424151e+02] [ 9.95863789e-01 8.87084988e-02 -1.96498489e-02 8.96069764e+01] [ 1.97763313e-02 -5.47063493e-04 9.99804280e-01 3.27782835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:89.63, Z:3.28 [[ 8.89071025e-02 -9.96037216e-01 -2.32198070e-03 1.22425889e+02] [ 9.95838353e-01 8.89357661e-02 -1.99099067e-02 8.96347155e+01] [ 2.00375151e-02 -5.42185323e-04 9.99799082e-01 3.27831762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:89.66, Z:3.28 [[ 8.90926695e-02 -9.96020704e-01 -2.29197588e-03 1.22428089e+02] [ 9.95825846e-01 8.91205904e-02 -1.97079830e-02 8.96599481e+01] [ 1.98338213e-02 -5.26572009e-04 9.99803152e-01 3.27859872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:89.69, Z:3.28 [[ 8.99126238e-02 -9.95947139e-01 -2.23974487e-03 1.22429958e+02] [ 9.95759732e-01 8.99391669e-02 -1.93262116e-02 8.96854277e+01] [ 1.94493259e-02 -4.92577367e-04 9.99810723e-01 3.27958611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:89.71, Z:3.28 [[ 8.99736492e-02 -9.95941718e-01 -2.19907840e-03 1.22430785e+02] [ 9.95760119e-01 8.99992497e-02 -1.90242003e-02 8.97129234e+01] [ 1.91449101e-02 -4.78077847e-04 9.99816605e-01 3.28057333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:89.74, Z:3.28 [[ 8.96229231e-02 -9.95973356e-01 -2.19237753e-03 1.22433640e+02] [ 9.95791747e-01 8.96484596e-02 -1.90249724e-02 8.97395232e+01] [ 1.91449089e-02 -4.78077816e-04 9.99816605e-01 3.28111774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:89.77, Z:3.28 [[ 8.96428151e-02 -9.95971635e-01 -2.16041125e-03 1.22437707e+02] [ 9.95794202e-01 8.96676357e-02 -1.88048696e-02 8.97658602e+01] [ 1.89228357e-02 -4.65603551e-04 9.99820839e-01 3.28201614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:89.79, Z:3.28 [[ 8.94763140e-02 -9.95986703e-01 -2.11574013e-03 1.22439065e+02] [ 9.95815436e-01 8.95001743e-02 -1.84752736e-02 8.97929563e+01] [ 1.85904859e-02 -4.53787301e-04 9.99827079e-01 3.28293180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:89.82, Z:3.28 [[ 9.00684054e-02 -9.95933341e-01 -2.11259165e-03 1.22440974e+02] [ 9.95761521e-01 9.00921180e-02 -1.85041613e-02 8.98197536e+01] [ 1.86192390e-02 -4.36997172e-04 9.99826551e-01 3.28353989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:89.85, Z:3.28 [[ 9.04556301e-02 -9.95898184e-01 -2.14139708e-03 1.22443859e+02] [ 9.95720404e-01 9.04799533e-02 -1.88216641e-02 8.98451915e+01] [ 1.89382146e-02 -4.29707279e-04 9.99820564e-01 3.28399391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:89.87, Z:3.28 [[ 9.06613515e-02 -9.95879444e-01 -2.15684303e-03 1.22445285e+02] [ 9.95697768e-01 9.06860189e-02 -1.90263380e-02 8.98713124e+01] [ 1.91435344e-02 -4.22610279e-04 9.99816656e-01 3.28429192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:89.90, Z:3.28 [[ 9.01642970e-02 -9.95924550e-01 -2.16549089e-03 1.22448384e+02] [ 9.95740175e-01 9.01892820e-02 -1.91676192e-02 8.98970968e+01] [ 1.92848066e-02 -4.28031364e-04 9.99813939e-01 3.28472194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:89.92, Z:3.29 [[ 8.95613736e-02 -9.95978915e-01 -2.18214962e-03 1.22451727e+02] [ 9.95790425e-01 8.95868868e-02 -1.93808961e-02 8.99232792e+01] [ 1.94984559e-02 -4.37184017e-04 9.99809791e-01 3.28517775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:89.95, Z:3.29 [[ 8.76495330e-02 -9.96149029e-01 -2.16155101e-03 1.22456369e+02] [ 9.95962886e-01 8.76749518e-02 -1.92621927e-02 8.99490949e+01] [ 1.93775284e-02 -4.64502391e-04 9.99812130e-01 3.28535707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:89.98, Z:3.29 [[ 8.61798207e-02 -9.96277276e-01 -2.15134371e-03 1.22460481e+02] [ 9.96091749e-01 8.62053017e-02 -1.92321028e-02 8.99764993e+01] [ 1.93459642e-02 -4.85516547e-04 9.99812731e-01 3.28595139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:90.00, Z:3.29 [[ 8.46602596e-02 -9.96407670e-01 -2.09641655e-03 1.22460494e+02] [ 9.96230504e-01 8.46847521e-02 -1.87956255e-02 9.00049137e+01] [ 1.89056399e-02 -4.97271589e-04 9.99821149e-01 3.28657775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:90.03, Z:3.29 [[ 8.34642722e-02 -9.96508520e-01 -2.11774029e-03 1.22463350e+02] [ 9.96326700e-01 8.34895114e-02 -1.90422742e-02 9.00332852e+01] [ 1.91525976e-02 -5.20611638e-04 9.99816437e-01 3.28700263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:90.06, Z:3.29 [[ 8.16037005e-02 -9.96662492e-01 -2.17078267e-03 1.22468605e+02] [ 9.96470340e-01 8.16306099e-02 -1.95781714e-02 9.00598755e+01] [ 1.96900315e-02 -5.65469307e-04 9.99805973e-01 3.28731708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:90.09, Z:3.29 [[ 8.08315987e-02 -9.96725399e-01 -2.17541999e-03 1.22471307e+02] [ 9.96531239e-01 8.08588081e-02 -1.96810393e-02 9.00872958e+01] [ 1.97924936e-02 -5.77024107e-04 9.99803943e-01 3.28766876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:90.11, Z:3.29 [[ 8.05168290e-02 -9.96750728e-01 -2.24181908e-03 1.22475495e+02] [ 9.96543111e-01 8.05458316e-02 -2.03518285e-02 9.01130511e+01] [ 2.04662691e-02 -5.95404662e-04 9.99790367e-01 3.28776087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:90.14, Z:3.29 [[ 8.04669680e-02 -9.96754651e-01 -2.28748945e-03 1.22478775e+02] [ 9.96536930e-01 8.04972202e-02 -2.08409538e-02 9.01387086e+01] [ 2.09574542e-02 -6.02559344e-04 9.99780187e-01 3.28805306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:90.17, Z:3.29 [[ 8.07974273e-02 -9.96727830e-01 -2.32557818e-03 1.22479750e+02] [ 9.96501194e-01 8.08286656e-02 -2.12625584e-02 9.01656380e+01] [ 2.13809571e-02 -5.99481418e-04 9.99771221e-01 3.28821449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:90.19, Z:3.29 [[ 8.19685832e-02 -9.96632038e-01 -2.39412199e-03 1.22482860e+02] [ 9.96390161e-01 8.20014516e-02 -2.19637906e-02 9.01926434e+01] [ 2.20861389e-02 -5.85138798e-04 9.99755900e-01 3.28826755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:90.22, Z:3.29 [[ 8.23320075e-02 -9.96601993e-01 -2.43055880e-03 1.22485380e+02] [ 9.96351148e-01 8.23658329e-02 -2.23664692e-02 9.02187467e+01] [ 2.24906628e-02 -5.80213745e-04 9.99746885e-01 3.28868423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:90.25, Z:3.29 [[ 8.29195844e-02 -9.96553314e-01 -2.41573411e-03 1.22486064e+02] [ 9.96303797e-01 8.29528950e-02 -2.23061044e-02 9.02461412e+01] [ 2.24296143e-02 -5.57192167e-04 9.99748269e-01 3.28940679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:90.27, Z:3.29 [[ 8.43050015e-02 -9.96436959e-01 -2.46026740e-03 1.22489002e+02] [ 9.96176342e-01 8.43392327e-02 -2.27945261e-02 9.02728062e+01] [ 2.29208053e-02 -5.29167617e-04 9.99737144e-01 3.28987335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:90.30, Z:3.29 [[ 8.47628261e-02 -9.96397973e-01 -2.51844200e-03 1.22492572e+02] [ 9.96123210e-01 8.47986069e-02 -2.34040095e-02 9.02983574e+01] [ 2.35332681e-02 -5.24888534e-04 9.99722917e-01 3.28992509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:90.32, Z:3.29 [[ 8.49762799e-02 -9.96379695e-01 -2.55640030e-03 1.22496433e+02] [ 9.96094993e-01 8.50131214e-02 -2.38229708e-02 9.03231603e+01] [ 2.39540520e-02 -5.22030105e-04 9.99712924e-01 3.29022305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:90.35, Z:3.29 [[ 8.50723340e-02 -9.96371520e-01 -2.54815853e-03 1.22497084e+02] [ 9.96086556e-01 8.51089561e-02 -2.38335729e-02 9.03509841e+01] [ 2.39639643e-02 -5.10608783e-04 9.99712693e-01 3.29146470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:90.38, Z:3.29 [[ 8.44954090e-02 -9.96420663e-01 -2.52760080e-03 1.22500053e+02] [ 9.96138500e-01 8.45316440e-02 -2.37168749e-02 9.03779020e+01] [ 2.38456464e-02 -5.13873427e-04 9.99715520e-01 3.29225310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:90.40, Z:3.29 [[ 8.35639802e-02 -9.96499290e-01 -2.49523695e-03 1.22505003e+02] [ 9.96222467e-01 8.35995922e-02 -2.34926572e-02 9.04033029e+01] [ 2.36190170e-02 -5.22671172e-04 9.99720895e-01 3.29301439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:90.43, Z:3.29 [[ 8.23314540e-02 -9.96601935e-01 -2.47264475e-03 1.22508315e+02] [ 9.96328223e-01 8.23668048e-02 -2.33619545e-02 9.04299532e+01] [ 2.34862329e-02 -5.40142067e-04 9.99724014e-01 3.29397641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:90.46, Z:3.29 [[ 8.12655639e-02 -9.96689390e-01 -2.48344313e-03 1.22510913e+02] [ 9.96411439e-01 8.13015643e-02 -2.35435902e-02 9.04571259e+01] [ 2.36675544e-02 -5.61248012e-04 9.99719727e-01 3.29492278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:90.48, Z:3.30 [[ 7.88593179e-02 -9.96882687e-01 -2.47298269e-03 1.22516856e+02] [ 9.96605253e-01 7.88957305e-02 -2.35251865e-02 9.04836728e+01] [ 2.36469589e-02 -6.09407378e-04 9.99720186e-01 3.29545652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:90.51, Z:3.30 [[ 7.78618596e-02 -9.96961087e-01 -2.47426613e-03 1.22520844e+02] [ 9.96681622e-01 7.78986351e-02 -2.36124360e-02 9.05101069e+01] [ 2.37334218e-02 -6.27547401e-04 9.99718126e-01 3.29606059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:90.54, Z:3.30 [[ 7.66002061e-02 -9.97058785e-01 -2.48739173e-03 1.22524774e+02] [ 9.96774812e-01 7.66377738e-02 -2.38039073e-02 9.05374410e+01] [ 2.39245230e-02 -6.55985226e-04 9.99713552e-01 3.29623097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:90.56, Z:3.30 [[ 7.48638415e-02 -9.97190406e-01 -2.58821226e-03 1.22529241e+02] [ 9.96880824e-01 7.49051149e-02 -2.48565134e-02 9.05642406e+01] [ 2.49805470e-02 -7.19285090e-04 9.99687679e-01 3.29622098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:90.59, Z:3.30 [[ 7.40744784e-02 -9.97249299e-01 -2.60901779e-03 1.22532957e+02] [ 9.96932570e-01 7.41167311e-02 -2.51428171e-02 9.05913425e+01] [ 2.52670286e-02 -7.38573755e-04 9.99680465e-01 3.29636279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:90.62, Z:3.30 [[ 7.26360107e-02 -9.97355043e-01 -2.63230882e-03 1.22536640e+02] [ 9.97030461e-01 7.26795542e-02 -2.54547168e-02 9.06186324e+01] [ 2.55787052e-02 -7.75562991e-04 9.99672511e-01 3.29661847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:90.65, Z:3.30 [[ 7.16492063e-02 -9.97426463e-01 -2.61570464e-03 1.22538683e+02] [ 9.97103781e-01 7.16925887e-02 -2.53815541e-02 9.06456445e+01] [ 2.55037603e-02 -7.89560785e-04 9.99674414e-01 3.29726792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:90.67, Z:3.30 [[ 7.07716626e-02 -9.97489258e-01 -2.55949136e-03 1.22542165e+02] [ 9.97178174e-01 7.08135408e-02 -2.49225108e-02 9.06728344e+01] [ 2.50411834e-02 -7.88461392e-04 9.99686109e-01 3.29826262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:90.70, Z:3.30 [[ 7.00591622e-02 -9.97539607e-01 -2.53900957e-03 1.22544793e+02] [ 9.97231352e-01 7.01006607e-02 -2.48098398e-02 9.06995726e+01] [ 2.49267841e-02 -7.93823357e-04 9.99688964e-01 3.29907945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.73, Z:3.30 [[ 6.93403409e-02 -9.97589776e-01 -2.56033286e-03 1.22549606e+02] [ 9.97274071e-01 6.93828390e-02 -2.51087276e-02 9.07254949e+01] [ 2.52258531e-02 -8.12305842e-04 9.99681448e-01 3.29949702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.75, Z:3.30 [[ 6.89922094e-02 -9.97613961e-01 -2.54158609e-03 1.22552617e+02] [ 9.97300519e-01 6.90342724e-02 -2.50188803e-02 9.07506472e+01] [ 2.51346408e-02 -8.08617297e-04 9.99683748e-01 3.29980852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.78, Z:3.30 [[ 6.95895763e-02 -9.97572238e-01 -2.63085387e-03 1.22552663e+02] [ 9.97233633e-01 6.96345300e-02 -2.60021737e-02 9.07783799e+01] [ 2.61222449e-02 -8.14095709e-04 9.99658424e-01 3.29990398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.80, Z:3.30 [[ 6.99973436e-02 -9.97543596e-01 -2.67314406e-03 1.22554738e+02] [ 9.97191448e-01 7.00436890e-02 -2.65159773e-02 9.08049676e+01] [ 2.66380802e-02 -8.09588422e-04 9.99644816e-01 3.29963223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:90.83, Z:3.30 [[ 7.18752922e-02 -9.97410088e-01 -2.65697907e-03 1.22552996e+02] [ 9.97059582e-01 7.19204952e-02 -2.64505794e-02 9.08330019e+01] [ 2.65731660e-02 -7.48023315e-04 9.99646591e-01 3.30078696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.86, Z:3.30 [[ 7.27184705e-02 -9.97348913e-01 -2.67755566e-03 1.22557286e+02] [ 9.96990491e-01 7.27641411e-02 -2.67458587e-02 9.08594086e+01] [ 2.68697831e-02 -7.24579595e-04 9.99638680e-01 3.30093361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.89, Z:3.30 [[ 7.38003963e-02 -9.97269485e-01 -2.65991281e-03 1.22557813e+02] [ 9.96913177e-01 7.38451489e-02 -2.66647999e-02 9.08872372e+01] [ 2.67884129e-02 -6.83829330e-04 9.99640892e-01 3.30186394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.91, Z:3.30 [[ 7.48226603e-02 -9.97193466e-01 -2.60010163e-03 1.22559309e+02] [ 9.96850666e-01 7.48651298e-02 -2.61526763e-02 9.09144470e+01] [ 2.62739349e-02 -6.35100232e-04 9.99654579e-01 3.30297874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.94, Z:3.30 [[ 7.56502808e-02 -9.97131179e-01 -2.53914298e-03 1.22559882e+02] [ 9.96801911e-01 7.56905650e-02 -2.56298555e-02 9.09416896e+01] [ 2.57485172e-02 -5.92116812e-04 9.99668277e-01 3.30426356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:90.97, Z:3.31 [[ 7.72835109e-02 -9.97006358e-01 -2.36262391e-03 1.22561085e+02] [ 9.96719246e-01 7.73179642e-02 -2.39306679e-02 9.09684331e+01] [ 2.40417013e-02 -5.05426686e-04 9.99710829e-01 3.30580562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:91.00, Z:3.31 [[ 7.80850386e-02 -9.96943938e-01 -2.34751106e-03 1.22561324e+02] [ 9.96658381e-01 7.81188664e-02 -2.38645200e-02 9.09958477e+01] [ 2.39749735e-02 -4.76204607e-04 9.99712446e-01 3.30692753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:91.02, Z:3.31 [[ 7.98042297e-02 -9.96807858e-01 -2.31926613e-03 1.22563119e+02] [ 9.96527032e-01 7.98368045e-02 -2.36634613e-02 9.10233811e+01] [ 2.37730870e-02 -4.22767095e-04 9.99717291e-01 3.30755694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:91.05, Z:3.31 [[ 8.03343698e-02 -9.96765350e-01 -2.28623823e-03 1.22564301e+02] [ 9.96490627e-01 8.03659094e-02 -2.34040629e-02 9.10504614e+01] [ 2.35120945e-02 -3.98064329e-04 9.99723473e-01 3.30814380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:91.08, Z:3.31 [[ 8.09712038e-02 -9.96713993e-01 -2.20928039e-03 1.22565749e+02] [ 9.96455561e-01 8.10005224e-02 -2.26986860e-02 9.10766278e+01] [ 2.28030509e-02 -3.63509796e-04 9.99739911e-01 3.30904171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:91.10, Z:3.31 [[ 8.07186199e-02 -9.96734550e-01 -2.17737280e-03 1.22568325e+02] [ 9.96481588e-01 8.07471926e-02 -2.24574335e-02 9.11023440e+01] [ 2.25599166e-02 -3.56978867e-04 9.99745429e-01 3.30939848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:91.13, Z:3.31 [[ 8.05415461e-02 -9.96748972e-01 -2.13202318e-03 1.22569964e+02] [ 9.96504601e-01 8.05690133e-02 -2.20729271e-02 9.11293402e+01] [ 2.21729424e-02 -3.46783229e-04 9.99754090e-01 3.30989484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:91.15, Z:3.31 [[ 7.94303754e-02 -9.96838306e-01 -2.05128413e-03 1.22573720e+02] [ 9.96610524e-01 7.94560805e-02 -2.13118579e-02 9.11548481e+01] [ 2.14074633e-02 -3.51522484e-04 9.99770772e-01 3.31073625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:91.18, Z:3.31 [[ 7.83034088e-02 -9.96927656e-01 -1.95561523e-03 1.22575321e+02] [ 9.96719522e-01 7.83270260e-02 -2.03732912e-02 9.11825279e+01] [ 2.04638750e-02 -3.53901722e-04 9.99790530e-01 3.31154770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:91.21, Z:3.31 [[ 7.72180261e-02 -9.97012360e-01 -1.93125429e-03 1.22578845e+02] [ 9.96807866e-01 7.72413076e-02 -2.01954889e-02 9.12087314e+01] [ 2.02843247e-02 -3.65633679e-04 9.99794185e-01 3.31235957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:91.24, Z:3.31 [[ 7.54974458e-02 -9.97144225e-01 -1.87884331e-03 1.22582568e+02] [ 9.96949609e-01 7.55198367e-02 -1.97035895e-02 9.12367789e+01] [ 1.97892105e-02 -3.85541422e-04 9.99804100e-01 3.31254574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:91.26, Z:3.31 [[ 7.44621099e-02 -9.97222030e-01 -1.90172344e-03 1.22585500e+02] [ 9.97021301e-01 7.44852843e-02 -2.00117112e-02 9.12636899e+01] [ 2.00977697e-02 -4.05944536e-04 9.99797937e-01 3.31278823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:91.29, Z:3.31 [[ 7.25850170e-02 -9.97360584e-01 -1.81155930e-03 1.22588912e+02] [ 9.97177131e-01 7.26064185e-02 -1.91331430e-02 9.12901647e+01] [ 1.92141735e-02 -4.17665989e-04 9.99815303e-01 3.31312472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:91.32, Z:3.31 [[ 7.17870548e-02 -9.97418357e-01 -1.80014250e-03 1.22591769e+02] [ 9.97236184e-01 7.18083556e-02 -1.90670679e-02 9.13164539e+01] [ 1.91471088e-02 -4.26398584e-04 9.99816586e-01 3.31367851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:91.34, Z:3.31 [[ 7.08553911e-02 -9.97485098e-01 -1.72988690e-03 1.22594738e+02] [ 9.97315616e-01 7.08752482e-02 -1.83918740e-02 9.13420042e+01] [ 1.84682265e-02 -4.22079795e-04 9.99829359e-01 3.31404234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:91.37, Z:3.31 [[ 7.02652910e-02 -9.97526841e-01 -1.72941348e-03 1.22595939e+02] [ 9.97355965e-01 7.02852723e-02 -1.84677950e-02 9.13696058e+01] [ 1.85436735e-02 -4.27195857e-04 9.99827960e-01 3.31419088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:91.40, Z:3.31 [[ 6.94525660e-02 -9.97583755e-01 -1.72979160e-03 1.22598783e+02] [ 9.97411494e-01 6.94727267e-02 -1.85432510e-02 9.13968720e+01] [ 1.86186193e-02 -4.37437661e-04 9.99826563e-01 3.31442298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:91.42, Z:3.31 [[ 6.90953871e-02 -9.97608570e-01 -1.72315101e-03 1.22601055e+02] [ 9.97436301e-01 6.91154861e-02 -1.85438680e-02 9.14235308e+01] [ 1.86186180e-02 -4.37437631e-04 9.99826563e-01 3.31496737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:91.45, Z:3.32 [[ 6.88641137e-02 -9.97624564e-01 -1.72160897e-03 1.22604058e+02] [ 9.97451262e-01 6.88842483e-02 -1.85994890e-02 9.14496319e+01] [ 1.86738988e-02 -4.36383715e-04 9.99825532e-01 3.31542910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:91.48, Z:3.32 [[ 6.86898438e-02 -9.97636562e-01 -1.73051828e-03 1.22604746e+02] [ 9.97460005e-01 6.87102520e-02 -1.87733667e-02 9.14769023e+01] [ 1.88479014e-02 -4.36583142e-04 9.99822267e-01 3.31544204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.50, Z:3.32 [[ 6.95776549e-02 -9.97574967e-01 -1.77093027e-03 1.22606307e+02] [ 9.97388529e-01 6.95988963e-02 -1.92903009e-02 9.15030963e+01] [ 1.93667761e-02 -4.24131640e-04 9.99812356e-01 3.31523827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.53, Z:3.32 [[ 7.00537419e-02 -9.97541657e-01 -1.76526072e-03 1.22608185e+02] [ 9.97354838e-01 7.00747923e-02 -1.93093556e-02 9.15306892e+01] [ 1.93855868e-02 -4.07898710e-04 9.99811999e-01 3.31583197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.56, Z:3.32 [[ 7.18072968e-02 -9.97417026e-01 -1.72863186e-03 1.22609255e+02] [ 9.97236453e-01 7.18271944e-02 -1.89818846e-02 9.15581545e+01] [ 1.90570176e-02 -3.60816889e-04 9.99818333e-01 3.31651742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.59, Z:3.32 [[ 7.25305316e-02 -9.97364681e-01 -1.73620148e-03 1.22610601e+02] [ 9.97181051e-01 7.25504980e-02 -1.91409850e-02 9.15854469e+01] [ 1.92165047e-02 -3.43001398e-04 9.99815287e-01 3.31699801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.61, Z:3.32 [[ 7.29620364e-02 -9.97333142e-01 -1.77369466e-03 1.22612787e+02] [ 9.97139918e-01 7.29828185e-02 -1.96339315e-02 9.16114982e+01] [ 1.97110198e-02 -3.36090127e-04 9.99805662e-01 3.31708054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:91.64, Z:3.32 [[ 7.39602776e-02 -9.97259738e-01 -1.70047387e-03 1.22613998e+02] [ 9.97080692e-01 7.39792242e-02 -1.88988909e-02 9.16386355e+01] [ 1.89729027e-02 -2.97742445e-04 9.99819954e-01 3.31783798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:91.67, Z:3.32 [[ 7.44292865e-02 -9.97224934e-01 -1.64710454e-03 1.22615860e+02] [ 9.97055603e-01 7.44470038e-02 -1.83784675e-02 9.16662913e+01] [ 1.84500880e-02 -2.74358589e-04 9.99829745e-01 3.31885111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:91.69, Z:3.32 [[ 7.43742961e-02 -9.97229112e-01 -1.60084076e-03 1.22619000e+02] [ 9.97068292e-01 7.43910538e-02 -1.79106863e-02 9.16919925e+01] [ 1.79801460e-02 -2.64052882e-04 9.99838309e-01 3.32006267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:91.72, Z:3.32 [[ 7.44269870e-02 -9.97225292e-01 -1.52992374e-03 1.22620784e+02] [ 9.97077578e-01 7.44422972e-02 -1.71653061e-02 9.17191544e+01] [ 1.72315685e-02 -2.47890638e-04 9.99851495e-01 3.32102193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:91.75, Z:3.32 [[ 7.36873870e-02 -9.97280251e-01 -1.50652513e-03 1.22623605e+02] [ 9.97135886e-01 7.37023558e-02 -1.69702221e-02 9.17464201e+01] [ 1.70351018e-02 -2.51718953e-04 9.99854860e-01 3.32168589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:91.77, Z:3.32 [[ 7.29818321e-02 -9.97332174e-01 -1.47889052e-03 1.22626550e+02] [ 9.97191943e-01 7.29963724e-02 -1.67259652e-02 9.17738427e+01] [ 1.67892969e-02 -2.54046133e-04 9.99859018e-01 3.32239929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:91.80, Z:3.32 [[ 7.12475146e-02 -9.97457508e-01 -1.52013635e-03 1.22630184e+02] [ 9.97308127e-01 7.12631557e-02 -1.72645007e-02 9.18002181e+01] [ 1.73289356e-02 -2.85991571e-04 9.99849802e-01 3.32253560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:91.83, Z:3.32 [[ 6.99796342e-02 -9.97547258e-01 -1.52258211e-03 1.22632721e+02] [ 9.97396111e-01 6.99955391e-02 -1.73672780e-02 9.18273609e+01] [ 1.74312545e-02 -3.03261714e-04 9.99848018e-01 3.32264028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:91.85, Z:3.32 [[ 6.89172646e-02 -9.97621242e-01 -1.50597391e-03 1.22636955e+02] [ 9.97472192e-01 6.89330038e-02 -1.72472515e-02 9.18529422e+01] [ 1.73100358e-02 -3.13533702e-04 9.99850121e-01 3.32328156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:91.88, Z:3.32 [[ 6.64998572e-02 -9.97785296e-01 -1.50739916e-03 1.22640785e+02] [ 9.97634668e-01 6.65160151e-02 -1.73403927e-02 9.18808981e+01] [ 1.74022550e-02 -3.50700021e-04 9.99848508e-01 3.32377726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:91.91, Z:3.32 [[ 6.51051957e-02 -9.97877245e-01 -1.52240236e-03 1.22645824e+02] [ 9.97722467e-01 6.51219164e-02 -1.75788204e-02 9.19075721e+01] [ 1.76406466e-02 -3.74462499e-04 9.99844322e-01 3.32421332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:91.93, Z:3.32 [[ 6.38576881e-02 -9.97957815e-01 -1.54787424e-03 1.22648017e+02] [ 9.97796548e-01 6.38752017e-02 -1.79445779e-02 9.19348870e+01] [ 1.80068025e-02 -3.98564318e-04 9.99837785e-01 3.32464016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:91.96, Z:3.32 [[ 6.21852506e-02 -9.98063388e-01 -1.57130199e-03 1.22652031e+02] [ 9.97895816e-01 6.22036102e-02 -1.82934651e-02 9.19604971e+01] [ 1.83557784e-02 -4.30411969e-04 9.99831426e-01 3.32493424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:91.99, Z:3.33 [[ 6.13133011e-02 -9.98117312e-01 -1.58424651e-03 1.22654653e+02] [ 9.97945455e-01 6.13321502e-02 -1.85266338e-02 9.19880214e+01] [ 1.85889192e-02 -4.45062522e-04 9.99827112e-01 3.32514692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:92.01, Z:3.32 [[ 6.03983758e-02 -9.98172899e-01 -1.70297326e-03 1.22659835e+02] [ 9.97972527e-01 6.04203824e-02 -2.00053203e-02 9.20137219e+01] [ 2.00716629e-02 -4.91231669e-04 9.99798423e-01 3.32465185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:92.04, Z:3.32 [[ 6.03088119e-02 -9.98178238e-01 -1.74739044e-03 1.22659225e+02] [ 9.97965354e-01 6.03320472e-02 -2.06203116e-02 9.20406463e+01] [ 2.06881700e-02 -5.00248624e-04 9.99785852e-01 3.32474431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:92.07, Z:3.32 [[ 6.05362617e-02 -9.98164485e-01 -1.73826608e-03 1.22661804e+02] [ 9.97951981e-01 6.05592505e-02 -2.06014726e-02 9.20665132e+01] [ 2.06689264e-02 -4.87569945e-04 9.99786256e-01 3.32458145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:92.09, Z:3.32 [[ 6.14263716e-02 -9.98109946e-01 -1.82650349e-03 1.22663364e+02] [ 9.97873047e-01 6.14515947e-02 -2.17505043e-02 9.20935791e+01] [ 2.18216362e-02 -4.86564044e-04 9.99761761e-01 3.32404731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.12, Z:3.32 [[ 6.16017668e-02 -9.98099082e-01 -1.85612036e-03 1.22668610e+02] [ 9.97852289e-01 6.16278185e-02 -2.21995883e-02 9.21191863e+01] [ 2.22717773e-02 -4.84600089e-04 9.99751836e-01 3.32353663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.15, Z:3.32 [[ 6.22935005e-02 -9.98056058e-01 -1.90387529e-03 1.22666771e+02] [ 9.97793987e-01 6.23207799e-02 -2.28752985e-02 9.21465035e+01] [ 2.29494813e-02 -4.74692898e-04 9.99736513e-01 3.32402818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.17, Z:3.32 [[ 6.26831398e-02 -9.98031607e-01 -1.93288845e-03 1.22669741e+02] [ 9.97759061e-01 6.27112001e-02 -2.33272614e-02 9.21725720e+01] [ 2.34025579e-02 -4.66330979e-04 9.99726014e-01 3.32478891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.20, Z:3.33 [[ 6.49541196e-02 -9.97886599e-01 -1.81577014e-03 1.22668423e+02] [ 9.97643947e-01 6.49783716e-02 -2.20083364e-02 9.22002597e+01] [ 2.20798098e-02 -3.81959968e-04 9.99756138e-01 3.32654586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.23, Z:3.33 [[ 6.52554025e-02 -9.97866906e-01 -1.83588531e-03 1.22669812e+02] [ 9.97616678e-01 6.52801563e-02 -2.23486950e-02 9.22269215e+01] [ 2.24208700e-02 -3.73136721e-04 9.99748551e-01 3.32727463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.25, Z:3.33 [[ 6.54378633e-02 -9.97854949e-01 -1.84026728e-03 1.22671516e+02] [ 9.97601109e-01 6.54627286e-02 -2.25090769e-02 9.22544877e+01] [ 2.25812627e-02 -3.62906777e-04 9.99744945e-01 3.32817177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.28, Z:3.33 [[ 6.54988229e-02 -9.97850951e-01 -1.83926721e-03 1.22673615e+02] [ 9.97595145e-01 6.55236811e-02 -2.25958654e-02 9.22816298e+01] [ 2.26678214e-02 -3.54841458e-04 9.99742989e-01 3.32879076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:92.31, Z:3.33 [[ 6.56723757e-02 -9.97839595e-01 -1.81159003e-03 1.22674741e+02] [ 9.97589233e-01 6.56964819e-02 -2.23538667e-02 9.23065660e+01] [ 2.24245883e-02 -3.39191182e-04 9.99748480e-01 3.32949227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:92.33, Z:3.33 [[ 6.52224857e-02 -9.97869140e-01 -1.79064159e-03 1.22676658e+02] [ 9.97622056e-01 6.52461863e-02 -2.22073975e-02 9.23323652e+01] [ 2.22769092e-02 -3.37961880e-04 9.99751782e-01 3.33007567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:92.36, Z:3.33 [[ 6.34700010e-02 -9.97982131e-01 -1.79577173e-03 1.22678957e+02] [ 9.97731142e-01 6.34943162e-02 -2.23839044e-02 9.23583284e+01] [ 2.24527579e-02 -3.70990950e-04 9.99747836e-01 3.33008598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:92.38, Z:3.33 [[ 6.21622084e-02 -9.98064489e-01 -1.77054963e-03 1.22681350e+02] [ 9.97818349e-01 6.21862037e-02 -2.21679526e-02 9.23836018e+01] [ 2.22351500e-02 -3.88678024e-04 9.99752693e-01 3.33081105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:92.41, Z:3.33 [[ 6.03262311e-02 -9.98177157e-01 -1.76312523e-03 1.22682731e+02] [ 9.97931269e-01 6.03505100e-02 -2.21584823e-02 9.24103421e+01] [ 2.22244964e-02 -4.22740077e-04 9.99752916e-01 3.33149180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:92.44, Z:3.33 [[ 5.63996747e-02 -9.98406795e-01 -1.71700927e-03 1.22688440e+02] [ 9.98172071e-01 5.64236544e-02 -2.16538370e-02 9.24365533e+01] [ 2.17162180e-02 -4.92601336e-04 9.99764054e-01 3.33324469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:92.46, Z:3.33 [[ 5.43971680e-02 -9.98518009e-01 -1.65323074e-03 1.22691223e+02] [ 9.98298463e-01 5.44198843e-02 -2.09440876e-02 9.24638156e+01] [ 2.10030173e-02 -5.11118653e-04 9.99779282e-01 3.33440365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.49, Z:3.34 [[ 5.26938528e-02 -9.98609370e-01 -1.63851972e-03 1.22695025e+02] [ 9.98391820e-01 5.27165846e-02 -2.08503009e-02 9.24899050e+01] [ 2.09076830e-02 -5.37202000e-04 9.99781266e-01 3.33519966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.52, Z:3.34 [[ 5.02161851e-02 -9.98736984e-01 -1.66486603e-03 1.22698561e+02] [ 9.98510277e-01 5.02402714e-02 -2.12871171e-02 9.25160465e+01] [ 2.13438744e-02 -5.93428025e-04 9.99772017e-01 3.33516528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.54, Z:3.34 [[ 4.93605117e-02 -9.98779620e-01 -1.67644222e-03 1.22700213e+02] [ 9.98547610e-01 4.93851925e-02 -2.15353885e-02 9.25423572e+01] [ 2.15918986e-02 -6.11009578e-04 9.99766681e-01 3.33509820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.57, Z:3.33 [[ 4.91462488e-02 -9.98789980e-01 -1.79524215e-03 1.22697947e+02] [ 9.98521175e-01 4.91746863e-02 -2.31800230e-02 9.25689991e+01] [ 2.32402552e-02 -6.53376117e-04 9.99729695e-01 3.33408305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.60, Z:3.33 [[ 4.94312040e-02 -9.98775826e-01 -1.84557318e-03 1.22698618e+02] [ 9.98488771e-01 4.94612588e-02 -2.39532388e-02 9.25952656e+01] [ 2.40152003e-02 -6.58746665e-04 9.99711376e-01 3.33378371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.62, Z:3.33 [[ 4.98846769e-02 -9.98753245e-01 -1.86409309e-03 1.22701897e+02] [ 9.98457362e-01 4.99152858e-02 -2.43178990e-02 9.26207107e+01] [ 2.43806273e-02 -6.48126932e-04 9.99702538e-01 3.33333773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.65, Z:3.33 [[ 5.06530248e-02 -9.98714503e-01 -1.90063078e-03 1.22702317e+02] [ 9.98403610e-01 5.06846925e-02 -2.49257495e-02 9.26470884e+01] [ 2.49900404e-02 -6.35032028e-04 9.99687498e-01 3.33314167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.67, Z:3.33 [[ 5.29557711e-02 -9.98594813e-01 -2.02151401e-03 1.22701493e+02] [ 9.98239553e-01 5.29908633e-02 -2.66413924e-02 9.26746946e+01] [ 2.67110781e-02 -6.07139762e-04 9.99643011e-01 3.33239285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.70, Z:3.33 [[ 5.37626362e-02 -9.98551599e-01 -2.06942804e-03 1.22699733e+02] [ 9.98175837e-01 5.37991852e-02 -2.73979170e-02 9.27012854e+01] [ 2.74695674e-02 -5.92668818e-04 9.99622465e-01 3.33323772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.73, Z:3.33 [[ 5.53500319e-02 -9.98464857e-01 -2.07457277e-03 1.22702146e+02] [ 9.98083324e-01 5.53862385e-02 -2.76051202e-02 9.27272910e+01] [ 2.76776452e-02 -5.42652200e-04 9.99616753e-01 3.33355424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.75, Z:3.33 [[ 5.56193148e-02 -9.98450055e-01 -1.99489496e-03 1.22704170e+02] [ 9.98093932e-01 5.56527626e-02 -2.66697098e-02 9.27530935e+01] [ 2.67393947e-02 -5.07741565e-04 9.99642310e-01 3.33444476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.78, Z:3.34 [[ 5.57903637e-02 -9.98440584e-01 -1.95857418e-03 1.22701913e+02] [ 9.98094039e-01 5.58226068e-02 -2.63082825e-02 9.27804758e+01] [ 2.63765896e-02 -4.87092562e-04 9.99651959e-01 3.33703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:92.81, Z:3.34 [[ 5.58143865e-02 -9.98439261e-01 -1.94828774e-03 1.22707687e+02] [ 9.98092952e-01 5.58463456e-02 -2.62991324e-02 9.28057677e+01] [ 2.63668911e-02 -4.76702323e-04 9.99652219e-01 3.33708303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:92.83, Z:3.34 [[ 5.54083177e-02 -9.98461935e-01 -1.91912245e-03 1.22704980e+02] [ 9.98122325e-01 5.54395299e-02 -2.60438629e-02 9.28335781e+01] [ 2.61102010e-02 -4.72472329e-04 9.99658959e-01 3.33928722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:92.86, Z:3.34 [[ 5.39329850e-02 -9.98542752e-01 -1.89891706e-03 1.22713278e+02] [ 9.98207049e-01 5.39640978e-02 -2.58952353e-02 9.28591262e+01] [ 2.59599729e-02 -4.98905056e-04 9.99662859e-01 3.33860483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:92.89, Z:3.34 [[ 5.27095962e-02 -9.98608172e-01 -1.84885579e-03 1.22712852e+02] [ 9.98286776e-01 5.27395450e-02 -2.53387666e-02 9.28854198e+01] [ 2.54010072e-02 -5.10092128e-04 9.99677212e-01 3.34083143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:92.91, Z:3.34 [[ 5.17359921e-02 -9.98659116e-01 -1.83208159e-03 1.22719867e+02] [ 9.98340307e-01 5.17657755e-02 -2.52375885e-02 9.29103574e+01] [ 2.52985869e-02 -5.23349219e-04 9.99679803e-01 3.34039222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:92.94, Z:3.34 [[ 5.07572544e-02 -9.98709382e-01 -1.80865194e-03 1.22717829e+02] [ 9.98395402e-01 5.07866563e-02 -2.50467080e-02 9.29370659e+01] [ 2.51062377e-02 -5.34447644e-04 9.99684646e-01 3.34253724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:92.96, Z:3.34 [[ 4.94443371e-02 -9.98775284e-01 -1.78593001e-03 1.22721546e+02] [ 9.98465987e-01 4.94734790e-02 -2.48605758e-02 9.29631619e+01] [ 2.49184849e-02 -5.53975677e-04 9.99689333e-01 3.34402654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:92.99, Z:3.35 [[ 4.88961292e-02 -9.98802290e-01 -1.77573710e-03 1.22721299e+02] [ 9.98493454e-01 4.89251769e-02 -2.48425048e-02 9.29904313e+01] [ 2.48996289e-02 -5.58359542e-04 9.99689800e-01 3.34541563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.02, Z:3.35 [[ 4.83534047e-02 -9.98828730e-01 -1.76559788e-03 1.22726119e+02] [ 9.98520284e-01 4.83823591e-02 -2.48271863e-02 9.30168693e+01] [ 2.48835308e-02 -5.62506306e-04 9.99690199e-01 3.34511653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.04, Z:3.35 [[ 4.81036952e-02 -9.98840758e-01 -1.78152793e-03 1.22725285e+02] [ 9.98523351e-01 4.81333295e-02 -2.51853212e-02 9.30439204e+01] [ 2.52418762e-02 -5.67390222e-04 9.99681212e-01 3.34582454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.07, Z:3.35 [[ 4.76252201e-02 -9.98863602e-01 -1.82834125e-03 1.22726450e+02] [ 9.98525789e-01 4.76566723e-02 -2.59824986e-02 9.30713707e+01] [ 2.60401048e-02 -5.88223677e-04 9.99660726e-01 3.34640400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.10, Z:3.35 [[ 4.72322010e-02 -9.98882239e-01 -1.84175815e-03 1.22730049e+02] [ 9.98535776e-01 4.72643353e-02 -2.63132518e-02 9.30974527e+01] [ 2.63708893e-02 -5.96228609e-04 9.99652050e-01 3.34649674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.12, Z:3.35 [[ 4.68736497e-02 -9.98899147e-01 -1.83184821e-03 1.22731706e+02] [ 9.98552671e-01 4.69056475e-02 -2.63139421e-02 9.31241600e+01] [ 2.63708983e-02 -5.95766421e-04 9.99652050e-01 3.34704101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.15, Z:3.35 [[ 4.66407595e-02 -9.98910051e-01 -1.83033531e-03 1.22734477e+02] [ 9.98560714e-01 4.66728631e-02 -2.64224342e-02 9.31499837e+01] [ 2.64790621e-02 -5.95338529e-04 9.99649191e-01 3.34721915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:93.18, Z:3.35 [[ 4.75950314e-02 -9.98865050e-01 -1.82369566e-03 1.22734415e+02] [ 9.98515224e-01 4.76266350e-02 -2.64395915e-02 9.31768601e+01] [ 2.64964403e-02 -5.62594693e-04 9.99648749e-01 3.34809270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.20, Z:3.35 [[ 4.79030688e-02 -9.98850309e-01 -1.83202289e-03 1.22735633e+02] [ 9.98493440e-01 4.79349322e-02 -2.67037820e-02 9.32019628e+01] [ 2.67608988e-02 -5.50069735e-04 9.99641712e-01 3.34829412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.23, Z:3.35 [[ 4.77647314e-02 -9.98856873e-01 -1.86473495e-03 1.22736815e+02] [ 9.98482656e-01 4.77978861e-02 -2.73449668e-02 9.32279120e+01] [ 2.74028384e-02 -5.55780514e-04 9.99624317e-01 3.34842947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.25, Z:3.35 [[ 4.74099874e-02 -9.98873771e-01 -1.86610832e-03 1.22737756e+02] [ 9.98494679e-01 4.74434126e-02 -2.75226835e-02 9.32541408e+01] [ 2.75802212e-02 -5.58449147e-04 9.99619437e-01 3.34896171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.28, Z:3.35 [[ 4.70786487e-02 -9.98889459e-01 -1.85739587e-03 1.22741338e+02] [ 9.98509529e-01 4.71119765e-02 -2.75532553e-02 9.32796747e+01] [ 2.76101618e-02 -5.57457453e-04 9.99618611e-01 3.34886603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.31, Z:3.35 [[ 4.65351319e-02 -9.98914952e-01 -1.84375187e-03 1.22741764e+02] [ 9.98536153e-01 4.65682669e-02 -2.75126716e-02 9.33059494e+01] [ 2.75686794e-02 -5.60747093e-04 9.99619754e-01 3.35030966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.33, Z:3.35 [[ 4.55725876e-02 -9.98959344e-01 -1.83510975e-03 1.22744484e+02] [ 9.98579762e-01 4.56058664e-02 -2.75420549e-02 9.33314975e+01] [ 2.75970848e-02 -5.77340746e-04 9.99618961e-01 3.35043932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:93.36, Z:3.35 [[ 4.46944369e-02 -9.98999053e-01 -1.81628804e-03 1.22743307e+02] [ 9.98622903e-01 4.47274573e-02 -2.74181131e-02 9.33591852e+01] [ 2.74719070e-02 -5.88349711e-04 9.99622403e-01 3.35172505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.38, Z:3.35 [[ 4.33579766e-02 -9.99058032e-01 -1.77049922e-03 1.22747349e+02] [ 9.98697036e-01 4.33899131e-02 -2.68616189e-02 9.33849652e+01] [ 2.69131380e-02 -6.03526876e-04 9.99637594e-01 3.35159429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.41, Z:3.35 [[ 4.23319368e-02 -9.99102122e-01 -1.71985031e-03 1.22747105e+02] [ 9.98758448e-01 4.23624938e-02 -2.62103522e-02 9.34115977e+01] [ 2.62596756e-02 -6.08180055e-04 9.99654970e-01 3.35304212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.44, Z:3.35 [[ 4.18308163e-02 -9.99123231e-01 -1.71789778e-03 1.22746915e+02] [ 9.98776321e-01 4.18615705e-02 -2.63338129e-02 9.34392189e+01] [ 2.63826381e-02 -6.14230735e-04 9.99651729e-01 3.35412549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.47, Z:3.35 [[ 4.10329732e-02 -9.99156389e-01 -1.67521984e-03 1.22747480e+02] [ 9.98822906e-01 4.10625684e-02 -2.58199131e-02 9.34663068e+01] [ 2.58669200e-02 -6.13780148e-04 9.99665207e-01 3.35480429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.49, Z:3.36 [[ 3.99205445e-02 -9.99201569e-01 -1.60460213e-03 1.22751761e+02] [ 9.98892263e-01 3.99481213e-02 -2.48675265e-02 9.34921406e+01] [ 2.49117723e-02 -6.10099462e-04 9.99689467e-01 3.35568859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.52, Z:3.36 [[ 3.92653209e-02 -9.99227620e-01 -1.54860025e-03 1.22751896e+02] [ 9.98936196e-01 3.92912792e-02 -2.41385876e-02 9.35183274e+01] [ 2.41807899e-02 -5.99143456e-04 9.99707422e-01 3.35710970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.54, Z:3.36 [[ 3.88956608e-02 -9.99242204e-01 -1.46458653e-03 1.22753543e+02] [ 9.98978508e-01 3.89190516e-02 -2.29618936e-02 9.35441796e+01] [ 2.30014935e-02 -5.69972438e-04 9.99735268e-01 3.35842061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.57, Z:3.36 [[ 3.82444097e-02 -9.99267453e-01 -1.38651113e-03 1.22751521e+02] [ 9.99028399e-01 3.82655963e-02 -2.18632553e-02 9.35712361e+01] [ 2.19002951e-02 -5.49016704e-04 9.99760009e-01 3.35935582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.60, Z:3.36 [[ 3.76109108e-02 -9.99291539e-01 -1.35621938e-03 1.22751036e+02] [ 9.99060254e-01 3.76313926e-02 -2.15054970e-02 9.35989577e+01] [ 2.15412976e-02 -5.46103548e-04 9.99767810e-01 3.35992114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.62, Z:3.36 [[ 3.74327889e-02 -9.99298218e-01 -1.36309526e-03 1.22752427e+02] [ 9.99061887e-01 3.74535890e-02 -2.17387750e-02 9.36247940e+01] [ 2.17745719e-02 -5.48073552e-04 9.99762756e-01 3.36003268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.65, Z:3.36 [[ 3.71450075e-02 -9.99308983e-01 -1.34371155e-03 1.22753449e+02] [ 9.99077261e-01 3.71653388e-02 -2.15258859e-02 9.36516605e+01] [ 2.15609507e-02 -5.42892458e-04 9.99767388e-01 3.36052776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:93.68, Z:3.36 [[ 3.68472673e-02 -9.99320031e-01 -1.32491359e-03 1.22753764e+02] [ 9.99092206e-01 3.68671654e-02 -2.13442362e-02 9.36788586e+01] [ 2.13785686e-02 -5.37234064e-04 9.99771308e-01 3.36080920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.70, Z:3.36 [[ 3.69471352e-02 -9.99316371e-01 -1.30394679e-03 1.22755559e+02] [ 9.99093169e-01 3.69664493e-02 -2.11263234e-02 9.37049552e+01] [ 2.11600831e-02 -5.22207206e-04 9.99775964e-01 3.36142684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.73, Z:3.36 [[ 3.69025905e-02 -9.99318027e-01 -1.29600495e-03 1.22757371e+02] [ 9.99095516e-01 3.69217296e-02 -2.10935007e-02 9.37303986e+01] [ 2.11269663e-02 -5.16427909e-04 9.99776667e-01 3.36193865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.76, Z:3.36 [[ 3.77228135e-02 -9.99287411e-01 -1.28797372e-03 1.22756791e+02] [ 9.99064699e-01 3.77416045e-02 -2.11020928e-02 9.37570049e+01] [ 2.11356659e-02 -4.90738759e-04 9.99776496e-01 3.36177179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.78, Z:3.36 [[ 3.79537988e-02 -9.99278649e-01 -1.30037757e-03 1.22755465e+02] [ 9.99048706e-01 3.79729674e-02 -2.14414816e-02 9.37840065e+01] [ 2.14753940e-02 -4.85354846e-04 9.99769259e-01 3.36191167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.81, Z:3.36 [[ 3.83476531e-02 -9.99263607e-01 -1.30448994e-03 1.22755795e+02] [ 9.99029406e-01 3.83669135e-02 -2.16385324e-02 9.38113350e+01] [ 2.16726472e-02 -4.73436880e-04 9.99765009e-01 3.36214798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.84, Z:3.36 [[ 3.90145640e-02 -9.99237710e-01 -1.36447262e-03 1.22755625e+02] [ 9.98978205e-01 3.90355335e-02 -2.27766074e-02 9.38375202e+01] [ 2.28125080e-02 -4.74458997e-04 9.99739648e-01 3.36161427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.87, Z:3.36 [[ 3.92510280e-02 -9.99228453e-01 -1.36248827e-03 1.22755591e+02] [ 9.98966406e-01 3.92719424e-02 -2.28874422e-02 9.38652637e+01] [ 2.29232911e-02 -4.62724378e-04 9.99737120e-01 3.36159354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.89, Z:3.36 [[ 3.94742276e-02 -9.99219642e-01 -1.37553315e-03 1.22758878e+02] [ 9.98949204e-01 3.94955509e-02 -2.32505931e-02 9.38912665e+01] [ 2.32867767e-02 -4.56288539e-04 9.99728722e-01 3.36164957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.92, Z:3.36 [[ 3.99723410e-02 -9.99199867e-01 -1.35599157e-03 1.22757130e+02] [ 9.98933691e-01 3.99929952e-02 -2.30660385e-02 9.39182242e+01] [ 2.31018128e-02 -4.32542107e-04 9.99733024e-01 3.36267047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.94, Z:3.36 [[ 3.99770467e-02 -9.99199721e-01 -1.32448971e-03 1.22759499e+02] [ 9.98942724e-01 3.99968078e-02 -2.26647171e-02 9.39440296e+01] [ 2.26995544e-02 -4.17020906e-04 9.99742245e-01 3.36315834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:93.97, Z:3.36 [[ 3.98236717e-02 -9.99205948e-01 -1.24483954e-03 1.22759442e+02] [ 9.98976829e-01 3.98412013e-02 -2.14003301e-02 9.39710468e+01] [ 2.14329330e-02 -3.91326135e-04 9.99770212e-01 3.36475592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:94.00, Z:3.37 [[ 3.93887980e-02 -9.99223224e-01 -1.21278028e-03 1.22762250e+02] [ 9.99003071e-01 3.94055808e-02 -2.09777332e-02 9.39971173e+01] [ 2.10092285e-02 -3.85283530e-04 9.99779208e-01 3.36549122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06275509600002 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:122.76, Y:94.02, Z:3.37 [[ 3.88765310e-02 -9.99243346e-01 -1.16187509e-03 1.22763143e+02] [ 9.99038711e-01 3.88920864e-02 -2.02252452e-02 9.40244692e+01] [ 2.02551295e-02 -3.74470815e-04 9.99794774e-01 3.36619822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:94.05, Z:3.37 [[ 3.87914213e-02 -9.99246679e-01 -1.14069095e-03 1.22764304e+02] [ 9.99047016e-01 3.88064761e-02 -1.99779274e-02 9.40516359e+01] [ 2.00071438e-02 -3.64631685e-04 9.99799771e-01 3.36715521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.08, Z:3.37 [[ 3.88981595e-02 -9.99242566e-01 -1.10815320e-03 1.22765490e+02] [ 9.99051813e-01 3.89123891e-02 -1.95269494e-02 9.40789272e+01] [ 1.95552799e-02 -3.47540076e-04 9.99808717e-01 3.36785294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.10, Z:3.37 [[ 3.88726046e-02 -9.99243554e-01 -1.11388405e-03 1.22766650e+02] [ 9.99048363e-01 3.88870301e-02 -1.97526508e-02 9.41044066e+01] [ 1.97810246e-02 -3.44987059e-04 9.99804277e-01 3.36788775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.13, Z:3.37 [[ 3.88535887e-02 -9.99244287e-01 -1.12001819e-03 1.22767354e+02] [ 9.99043976e-01 3.88682284e-02 -2.00098748e-02 9.41315770e+01] [ 2.00382861e-02 -3.41491981e-04 9.99799155e-01 3.36753772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.16, Z:3.37 [[ 3.85696328e-02 -9.99255278e-01 -1.12829770e-03 1.22770410e+02] [ 9.99049304e-01 3.85845937e-02 -2.02908290e-02 9.41575809e+01] [ 2.03192529e-02 -3.44615211e-04 9.99793483e-01 3.36757980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.18, Z:3.37 [[ 3.84618299e-02 -9.99259434e-01 -1.12715856e-03 1.22770560e+02] [ 9.99051031e-01 3.84768308e-02 -2.04100685e-02 9.41846503e+01] [ 2.04383230e-02 -3.41080336e-04 9.99791057e-01 3.36750861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.21, Z:3.37 [[ 3.84249824e-02 -9.99260839e-01 -1.13855661e-03 1.22771895e+02] [ 9.99045349e-01 3.84403432e-02 -2.07540466e-02 9.42113901e+01] [ 2.07824725e-02 -3.39995810e-04 9.99783963e-01 3.36804702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.24, Z:3.37 [[ 3.87703880e-02 -9.99247509e-01 -1.12859697e-03 1.22773744e+02] [ 9.99032976e-01 3.87854523e-02 -2.07075054e-02 9.42376662e+01] [ 2.07356964e-02 -3.24667573e-04 9.99784940e-01 3.36848499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:94.27, Z:3.37 [[ 3.90120006e-02 -9.99238159e-01 -1.07996598e-03 1.22774320e+02] [ 9.99039792e-01 3.90257766e-02 -1.99118897e-02 9.42650635e+01] [ 1.99388665e-02 -3.02126337e-04 9.99801155e-01 3.36978980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.29, Z:3.37 [[ 3.92322046e-02 -9.99229555e-01 -1.06307801e-03 1.22777839e+02] [ 9.99034755e-01 3.92455489e-02 -1.97318280e-02 9.42914988e+01] [ 1.97583468e-02 -2.87928768e-04 9.99804743e-01 3.37061067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.32, Z:3.37 [[ 3.93252827e-02 -9.99225902e-01 -1.05795137e-03 1.22777001e+02] [ 9.99030985e-01 3.93385092e-02 -1.97376223e-02 9.43176420e+01] [ 1.97639617e-02 -2.80738619e-04 9.99804634e-01 3.37111926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.34, Z:3.37 [[ 4.02016364e-02 -9.99191031e-01 -1.05484033e-03 1.22777399e+02] [ 9.98994368e-01 4.02146530e-02 -1.98250958e-02 9.43439662e+01] [ 1.98514779e-02 -2.56778258e-04 9.99802907e-01 3.37141127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.37, Z:3.37 [[ 4.03149535e-02 -9.99186459e-01 -1.06012509e-03 1.22777885e+02] [ 9.98984830e-01 4.03281162e-02 -2.00736787e-02 9.43706919e+01] [ 2.01001008e-02 -2.49779462e-04 9.99797941e-01 3.37165815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.40, Z:3.37 [[ 4.06539584e-02 -9.99172699e-01 -1.08288465e-03 1.22779353e+02] [ 9.98959058e-01 4.06676595e-02 -2.06625941e-02 9.43963513e+01] [ 2.06895383e-02 -2.41741191e-04 9.99785919e-01 3.37071889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.42, Z:3.37 [[ 4.02801401e-02 -9.99187849e-01 -1.07350270e-03 1.22779998e+02] [ 9.98974596e-01 4.02937226e-02 -2.06439645e-02 9.44240594e+01] [ 2.06704540e-02 -2.40860141e-04 9.99786314e-01 3.37096991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.45, Z:3.37 [[ 4.00890305e-02 -9.99195522e-01 -1.08538583e-03 1.22781607e+02] [ 9.98974407e-01 4.01029934e-02 -2.10210490e-02 9.44508858e+01] [ 2.10476652e-02 -2.41559192e-04 9.99778444e-01 3.37125116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:94.48, Z:3.37 [[ 3.92610936e-02 -9.99228410e-01 -1.07329340e-03 1.22784010e+02] [ 9.99009162e-01 3.92749632e-02 -2.09325578e-02 9.44767145e+01] [ 2.09585600e-02 -2.50394826e-04 9.99780314e-01 3.37141796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.50, Z:3.37 [[ 3.81556913e-02 -9.99271200e-01 -1.10132793e-03 1.22786309e+02] [ 9.99036830e-01 3.81705957e-02 -2.16429738e-02 9.45037560e+01] [ 2.16692387e-02 -2.74464538e-04 9.99765157e-01 3.37169969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.53, Z:3.37 [[ 3.72924320e-02 -9.99303806e-01 -1.08547909e-03 1.22788435e+02] [ 9.99072994e-01 3.73071493e-02 -2.14785600e-02 9.45290201e+01] [ 2.15041029e-02 -2.83485110e-04 9.99768720e-01 3.37259584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.55, Z:3.37 [[ 3.66959809e-02 -9.99325889e-01 -1.08305798e-03 1.22790664e+02] [ 9.99093195e-01 3.67108095e-02 -2.15662639e-02 9.45543870e+01] [ 2.15914858e-02 -2.90680651e-04 9.99766834e-01 3.37287072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.58, Z:3.37 [[ 3.56451243e-02 -9.99363943e-01 -1.06537571e-03 1.22791644e+02] [ 9.99135169e-01 3.56597614e-02 -2.13844661e-02 9.45809922e+01] [ 2.14088554e-02 -3.02202389e-04 9.99770759e-01 3.37358851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.61, Z:3.37 [[ 3.47393202e-02 -9.99395855e-01 -1.05077697e-03 1.22793181e+02] [ 9.99169887e-01 3.47538116e-02 -2.12534638e-02 9.46076834e+01] [ 2.12771421e-02 -3.11573818e-04 9.99773567e-01 3.37429240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.63, Z:3.38 [[ 3.39439282e-02 -9.99423214e-01 -1.02459465e-03 1.22794876e+02] [ 9.99205087e-01 3.39579276e-02 -2.08818914e-02 9.46328813e+01] [ 2.09046401e-02 -3.14966763e-04 9.99781425e-01 3.37548251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78275509600002 meters Centerline goodness [0,1] 0.9999568435362406 Centerline is valid? [True, True] Translation: X:122.80, Y:94.66, Z:3.38 [[ 3.37216863e-02 -9.99430719e-01 -1.04203812e-03 1.22796360e+02] [ 9.99201330e-01 3.37362736e-02 -2.14141724e-02 9.46580684e+01] [ 2.14371362e-02 -3.19083875e-04 9.99770147e-01 3.37521126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:94.68, Z:3.38 [[ 3.31195295e-02 -9.99450882e-01 -1.01534883e-03 1.22797271e+02] [ 9.99229627e-01 3.31335635e-02 -2.10313786e-02 9.46842458e+01] [ 2.10534720e-02 -3.18017269e-04 9.99778301e-01 3.37660954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:94.71, Z:3.38 [[ 3.42013421e-02 -9.99414440e-01 -1.02197743e-03 1.22795928e+02] [ 9.99186733e-01 3.42153663e-02 -2.13349807e-02 9.47096754e+01] [ 2.13574551e-02 -2.91461314e-04 9.99771861e-01 3.37668471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:94.73, Z:3.38 [[ 3.41801021e-02 -9.99415156e-01 -1.03306012e-03 1.22795800e+02] [ 9.99178618e-01 3.41944891e-02 -2.17445840e-02 9.47349703e+01] [ 2.17671918e-02 -2.88979485e-04 9.99763025e-01 3.37691290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.76, Z:3.38 [[ 3.46152709e-02 -9.99400179e-01 -1.03196273e-03 1.22794055e+02] [ 9.99160272e-01 3.46295734e-02 -2.18984654e-02 9.47614294e+01] [ 2.19210666e-02 -2.73074847e-04 9.99759667e-01 3.37752452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:94.79, Z:3.38 [[ 3.42298073e-02 -9.99413464e-01 -1.02351448e-03 1.22795007e+02] [ 9.99173552e-01 3.42440173e-02 -2.18988603e-02 9.47873315e+01] [ 2.19210651e-02 -2.73074829e-04 9.99759667e-01 3.37805176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.81, Z:3.38 [[ 3.55126662e-02 -9.99368688e-01 -1.03696745e-03 1.22793619e+02] [ 9.99118199e-01 3.55269822e-02 -2.23753700e-02 9.48139280e+01] [ 2.23980845e-02 -2.41444008e-04 9.99749102e-01 3.37849435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.84, Z:3.38 [[ 3.56487953e-02 -9.99363834e-01 -1.04484554e-03 1.22793220e+02] [ 9.99105179e-01 3.56633404e-02 -2.27369012e-02 9.48408215e+01] [ 2.27596994e-02 -2.33367453e-04 9.99740937e-01 3.37903568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.87, Z:3.38 [[ 3.61570943e-02 -9.99345548e-01 -1.06765314e-03 1.22791856e+02] [ 9.99070735e-01 3.61721891e-02 -2.34358580e-02 9.48675665e+01] [ 2.34591397e-02 -2.19288479e-04 9.99724772e-01 3.37926243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.90, Z:3.38 [[ 3.62388662e-02 -9.99342594e-01 -1.06004837e-03 1.22791024e+02] [ 9.99067076e-01 3.62537664e-02 -2.34657478e-02 9.48950861e+01] [ 2.34887520e-02 -2.08687331e-04 9.99724079e-01 3.37969223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.92, Z:3.38 [[ 3.60749149e-02 -9.99348528e-01 -1.05794824e-03 1.22791184e+02] [ 9.99069628e-01 3.60898408e-02 -2.36093583e-02 9.49208542e+01] [ 2.36321586e-02 -2.05258366e-04 9.99720700e-01 3.37969429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.95, Z:3.38 [[ 3.61579841e-02 -9.99345510e-01 -1.07301130e-03 1.22789409e+02] [ 9.99053220e-01 3.61733594e-02 -2.41692241e-02 9.49476518e+01] [ 2.41922200e-02 -1.98084970e-04 9.99707306e-01 3.37982204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:94.97, Z:3.38 [[ 3.57466527e-02 -9.99360315e-01 -1.06639540e-03 1.22789938e+02] [ 9.99066669e-01 3.57619995e-02 -2.42254253e-02 9.49730278e+01] [ 2.42480651e-02 -1.99422230e-04 9.99705953e-01 3.38034493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.00, Z:3.38 [[ 3.51809927e-02 -9.99380401e-01 -1.05468736e-03 1.22790916e+02] [ 9.99088935e-01 3.51962036e-02 -2.41355841e-02 9.49989021e+01] [ 2.41577507e-02 -2.04612664e-04 9.99708138e-01 3.38049836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.03, Z:3.38 [[ 3.37499105e-02 -9.99429710e-01 -1.09460933e-03 1.22791304e+02] [ 9.99109803e-01 3.37668021e-02 -2.52864339e-02 9.50251998e+01] [ 2.53089748e-02 -2.40220027e-04 9.99679648e-01 3.38040019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.05, Z:3.38 [[ 3.21052203e-02 -9.99483903e-01 -1.08765902e-03 1.22792863e+02] [ 9.99162439e-01 3.21224795e-02 -2.53488901e-02 9.50502045e+01] [ 2.53707460e-02 -2.72916339e-04 9.99678074e-01 3.38081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.08, Z:3.38 [[ 3.06115014e-02 -9.99530789e-01 -1.06668352e-03 1.22793746e+02] [ 9.99215977e-01 3.06286316e-02 -2.50862146e-02 9.50768226e+01] [ 2.51071149e-02 -2.97920520e-04 9.99684722e-01 3.38191225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.10, Z:3.38 [[ 2.67241828e-02 -9.99642333e-01 -1.01243786e-03 1.22794927e+02] [ 9.99353899e-01 2.67407941e-02 -2.40148748e-02 9.51044272e+01] [ 2.40333589e-02 -3.70005817e-04 9.99711089e-01 3.38386282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.13, Z:3.38 [[ 2.43928854e-02 -9.99701970e-01 -9.78686497e-04 1.22795971e+02] [ 9.99427988e-01 2.44091152e-02 -2.34070741e-02 9.51312510e+01] [ 2.34239870e-02 -4.07160601e-04 9.99725538e-01 3.38494738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.16, Z:3.39 [[ 2.19910365e-02 -9.99757707e-01 -9.60343040e-04 1.22798025e+02] [ 9.99489369e-01 2.20073870e-02 -2.31662762e-02 9.51576226e+01] [ 2.31817978e-02 -4.50402233e-04 9.99731165e-01 3.38617819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.18, Z:3.39 [[ 1.75169091e-02 -9.99846149e-01 -9.14331459e-04 1.22801656e+02] [ 9.99598683e-01 1.75329208e-02 -2.22501525e-02 9.51835058e+01] [ 2.22627601e-02 -5.24210623e-04 9.99752017e-01 3.38778744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.21, Z:3.39 [[ 1.51088922e-02 -9.99885447e-01 -9.02151557e-04 1.22803240e+02] [ 9.99640167e-01 1.51251737e-02 -2.21532375e-02 9.52101596e+01] [ 2.21643449e-02 -5.67116056e-04 9.99754180e-01 3.38876923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.24, Z:3.39 [[ 1.30994522e-02 -9.99913789e-01 -9.04516367e-04 1.22804329e+02] [ 9.99662660e-01 1.31164406e-02 -2.24170544e-02 9.52380957e+01] [ 2.24269859e-02 -6.10560105e-04 9.99748297e-01 3.38971134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:95.26, Z:3.39 [[ 1.05911654e-02 -9.99943517e-01 -8.88929511e-04 1.22806550e+02] [ 9.99697076e-01 1.06082981e-02 -2.22085787e-02 9.52639675e+01] [ 2.22167543e-02 -6.53445503e-04 9.99752964e-01 3.39060538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:95.29, Z:3.39 [[ 1.00772109e-02 -9.99948841e-01 -8.75221454e-04 1.22806981e+02] [ 9.99705360e-01 1.00940786e-02 -2.20749192e-02 9.52898476e+01] [ 2.20826244e-02 -6.52509963e-04 9.99755936e-01 3.39133115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.32, Z:3.39 [[ 1.08763918e-02 -9.99940462e-01 -8.81614778e-04 1.22804454e+02] [ 9.99688287e-01 1.08934553e-02 -2.24646822e-02 9.53151121e+01] [ 2.24729485e-02 -6.37005282e-04 9.99747248e-01 3.39207998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.34, Z:3.39 [[ 1.13201250e-02 -9.99935544e-01 -8.73578883e-04 1.22803657e+02] [ 9.99683912e-01 1.13368806e-02 -2.24399407e-02 9.53403802e+01] [ 2.24483980e-02 -6.19279821e-04 9.99747811e-01 3.39289563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.37, Z:3.39 [[ 1.19668493e-02 -9.99928020e-01 -8.65693051e-04 1.22802404e+02] [ 9.99675818e-01 1.19832799e-02 -2.24646428e-02 9.53666336e+01] [ 2.24733996e-02 -5.96581414e-04 9.99747263e-01 3.39346115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.39, Z:3.39 [[ 1.27197836e-02 -9.99918717e-01 -8.75936287e-04 1.22799037e+02] [ 9.99655338e-01 1.27365429e-02 -2.29561594e-02 9.53937165e+01] [ 2.29654499e-02 -5.83637006e-04 9.99736089e-01 3.39437647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.42, Z:3.39 [[ 1.35726732e-02 -9.99907484e-01 -8.98247802e-04 1.22797834e+02] [ 9.99624987e-01 1.35901953e-02 -2.37737499e-02 9.54194636e+01] [ 2.37837578e-02 -5.75237609e-04 9.99716961e-01 3.39457919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.45, Z:3.40 [[ 1.37166433e-02 -9.99905533e-01 -8.83023204e-04 1.22797660e+02] [ 9.99626575e-01 1.37336792e-02 -2.36240520e-02 9.54457720e+01] [ 2.36339475e-02 -5.58650765e-04 9.99720523e-01 3.39540832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.47, Z:3.40 [[ 1.35699466e-02 -9.99907547e-01 -8.68722192e-04 1.22797341e+02] [ 9.99631864e-01 1.35866089e-02 -2.34848866e-02 9.54713545e+01] [ 2.34945183e-02 -5.49713729e-04 9.99723815e-01 3.39638721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.50, Z:3.40 [[ 1.31292038e-02 -9.99913433e-01 -8.66016328e-04 1.22795990e+02] [ 9.99633460e-01 1.31460255e-02 -2.36670145e-02 9.54982659e+01] [ 2.36763504e-02 -5.54969842e-04 9.99719522e-01 3.39731194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.52, Z:3.40 [[ 1.25634969e-02 -9.99920712e-01 -8.53516886e-04 1.22795955e+02] [ 9.99643372e-01 1.25801190e-02 -2.35556531e-02 9.55243910e+01] [ 2.35645228e-02 -5.57271124e-04 9.99722163e-01 3.39850707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.55, Z:3.40 [[ 1.19990288e-02 -9.99927660e-01 -8.35359859e-04 1.22796618e+02] [ 9.99656448e-01 1.20152347e-02 -2.32942056e-02 9.55499677e+01] [ 2.33025576e-02 -5.55565026e-04 9.99728304e-01 3.39956100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.58, Z:3.40 [[ 1.20491369e-02 -9.99927062e-01 -8.30536492e-04 1.22795295e+02] [ 9.99652874e-01 1.20652867e-02 -2.34213769e-02 9.55777226e+01] [ 2.34296892e-02 -5.48040814e-04 9.99725337e-01 3.40070529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.60, Z:3.40 [[ 1.19067675e-02 -9.99928795e-01 -7.95595135e-04 1.22795083e+02] [ 9.99672151e-01 1.19217407e-02 -2.26597151e-02 9.56036426e+01] [ 2.26675865e-02 -5.25530341e-04 9.99742919e-01 3.40227566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.63, Z:3.40 [[ 1.15493668e-02 -9.99932998e-01 -7.81826889e-04 1.22795816e+02] [ 9.99679535e-01 1.15640463e-02 -2.25188663e-02 9.56289172e+01] [ 2.25263986e-02 -5.21497695e-04 9.99746112e-01 3.40355131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.66, Z:3.41 [[ 1.13904593e-02 -9.99934841e-01 -7.55408739e-04 1.22794948e+02] [ 9.99692857e-01 1.14043252e-02 -2.20030362e-02 9.56558263e+01] [ 2.20102175e-02 -5.04552031e-04 9.99757619e-01 3.40501384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:95.68, Z:3.41 [[ 1.10720620e-02 -9.99938438e-01 -7.28021968e-04 1.22797218e+02] [ 9.99709654e-01 1.10851055e-02 -2.13945861e-02 9.56826546e+01] [ 2.14013392e-02 -4.90928405e-04 9.99770845e-01 3.40615404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.71, Z:3.41 [[ 1.09410917e-02 -9.99939890e-01 -7.13912253e-04 1.22793563e+02] [ 9.99715368e-01 1.09537668e-02 -2.11943032e-02 9.57085592e+01] [ 2.12008493e-02 -4.81820235e-04 9.99775121e-01 3.40717231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.73, Z:3.41 [[ 1.02215427e-02 -9.99947513e-01 -7.01679282e-04 1.22793037e+02] [ 9.99726345e-01 1.02340430e-02 -2.10356616e-02 9.57344043e+01] [ 2.10417385e-02 -4.86470350e-04 9.99778480e-01 3.40791779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.76, Z:3.41 [[ 9.42928797e-03 -9.99955310e-01 -6.83081276e-04 1.22793160e+02] [ 9.99740858e-01 9.44141585e-03 -2.07141773e-02 9.57612031e+01] [ 2.07197008e-02 -4.87584319e-04 9.99785205e-01 3.40866953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.79, Z:3.41 [[ 9.20802440e-03 -9.99957370e-01 -6.85845053e-04 1.22793755e+02] [ 9.99736248e-01 9.22041473e-03 -2.10337508e-02 9.57879998e+01] [ 2.10391779e-02 -4.91984869e-04 9.99778531e-01 3.40916541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.81, Z:3.41 [[ 8.37177699e-03 -9.99964735e-01 -6.65353982e-04 1.22791938e+02] [ 9.99752005e-01 8.38372346e-03 -2.06310755e-02 9.58147872e+01] [ 2.06359261e-02 -4.92470214e-04 9.99786935e-01 3.41012064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.84, Z:3.41 [[ 8.46035837e-03 -9.99963999e-01 -6.51009807e-04 1.22793542e+02] [ 9.99755485e-01 8.47189182e-03 -2.04253847e-02 9.58397661e+01] [ 2.04301646e-02 -4.78044551e-04 9.99791168e-01 3.41129732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.87, Z:3.41 [[ 8.46102592e-03 -9.99963992e-01 -6.52968674e-04 1.22788397e+02] [ 9.99750153e-01 8.47272332e-03 -2.06844165e-02 9.58671453e+01] [ 2.06892041e-02 -4.77794147e-04 9.99785841e-01 3.41170983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.89, Z:3.41 [[ 8.48127650e-03 -9.99963822e-01 -6.49717250e-04 1.22786721e+02] [ 9.99747224e-01 8.49296522e-03 -2.08172462e-02 9.58945229e+01] [ 2.08220111e-02 -4.72996196e-04 9.99783087e-01 3.41209338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.92, Z:3.41 [[ 9.43491855e-03 -9.99955267e-01 -6.68645120e-04 1.22786574e+02] [ 9.99720094e-01 9.44720361e-03 -2.16906294e-02 9.59208105e+01] [ 2.16959759e-02 -4.63808641e-04 9.99764507e-01 3.41170489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:95.95, Z:3.41 [[ 9.93029095e-03 -9.99950471e-01 -6.66641100e-04 1.22786365e+02] [ 9.99710976e-01 9.94250514e-03 -2.18886076e-02 9.59471687e+01] [ 2.18941516e-02 -4.49088182e-04 9.99760193e-01 3.41197072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:95.97, Z:3.41 [[ 1.14401620e-02 -9.99934327e-01 -6.81030267e-04 1.22784773e+02] [ 9.99677849e-01 1.14526542e-02 -2.26502784e-02 9.59739959e+01] [ 2.26565905e-02 -4.21688019e-04 9.99743218e-01 3.41163602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.00, Z:3.41 [[ 1.22079042e-02 -9.99925253e-01 -6.75138907e-04 1.22783852e+02] [ 9.99667138e-01 1.22200944e-02 -2.27218413e-02 9.60005641e+01] [ 2.27283932e-02 -3.97528117e-04 9.99741598e-01 3.41200792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.03, Z:3.41 [[ 1.29486230e-02 -9.99915943e-01 -6.63492611e-04 1.22782937e+02] [ 9.99660117e-01 1.29603198e-02 -2.26203495e-02 9.60268773e+01] [ 2.26270471e-02 -3.70364724e-04 9.99743907e-01 3.41254594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.05, Z:3.41 [[ 1.41622005e-02 -9.99899502e-01 -6.46499309e-04 1.22781261e+02] [ 9.99650159e-01 1.41731074e-02 -2.23312251e-02 9.60520442e+01] [ 2.23381437e-02 -3.30013851e-04 9.99750418e-01 3.41310035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.08, Z:3.41 [[ 1.44235148e-02 -9.99895774e-01 -6.35707041e-04 1.22779664e+02] [ 9.99647930e-01 1.44340943e-02 -2.22637357e-02 9.60788895e+01] [ 2.22705911e-02 -3.14361905e-04 9.99751930e-01 3.41406566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.11, Z:3.42 [[ 1.42062358e-02 -9.99898894e-01 -6.19705889e-04 1.22779859e+02] [ 9.99657405e-01 1.42164252e-02 -2.19764840e-02 9.61057526e+01] [ 2.19830721e-02 -3.07290466e-04 9.99758296e-01 3.41536631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.13, Z:3.42 [[ 1.37896581e-02 -9.99904734e-01 -6.07655233e-04 1.22781474e+02] [ 9.99666615e-01 1.37996362e-02 -2.18226557e-02 9.61314821e+01] [ 2.18289621e-02 -3.06525689e-04 9.99761673e-01 3.41609196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.16, Z:3.42 [[ 1.25378987e-02 -9.99921223e-01 -5.91318420e-04 1.22783086e+02] [ 9.99691202e-01 1.25476987e-02 -2.14489103e-02 9.61563250e+01] [ 2.14546402e-02 -3.22211558e-04 9.99769771e-01 3.41684532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:96.18, Z:3.42 [[ 1.13504678e-02 -9.99935418e-01 -5.71691832e-04 1.22783896e+02] [ 9.99715299e-01 1.13599656e-02 -2.09826717e-02 9.61822697e+01] [ 2.09878110e-02 -3.33365931e-04 9.99779676e-01 3.41754007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.21, Z:3.42 [[ 1.00055217e-02 -9.99949792e-01 -5.51008857e-04 1.22786519e+02] [ 9.99739493e-01 1.00147191e-02 -2.05098080e-02 9.62076730e+01] [ 2.05142964e-02 -3.45653987e-04 9.99789500e-01 3.41815630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.24, Z:3.42 [[ 8.46139299e-03 -9.99964060e-01 -5.31907636e-04 1.22788078e+02] [ 9.99762176e-01 8.47037425e-03 -2.00958950e-02 9.62351521e+01] [ 2.00996783e-02 -3.61741870e-04 9.99797916e-01 3.41901572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.26, Z:3.42 [[ 5.95060745e-03 -9.99982161e-01 -5.16916198e-04 1.22790105e+02] [ 9.99786612e-01 5.95966812e-03 -1.97791034e-02 9.62625351e+01] [ 1.97818312e-02 -3.99108214e-04 9.99804241e-01 3.41956529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.29, Z:3.42 [[ 4.41407565e-03 -9.99990126e-01 -5.13799447e-04 1.22791113e+02] [ 9.99791681e-01 4.42343753e-03 -1.99255661e-02 9.62896054e+01] [ 1.99276421e-02 -4.25739456e-04 9.99801334e-01 3.41996879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.32, Z:3.42 [[ 2.25537796e-03 -9.99997322e-01 -5.18985897e-04 1.22797125e+02] [ 9.99789092e-01 2.26550175e-03 -2.04117248e-02 9.63155412e+01] [ 2.04128459e-02 -4.72840285e-04 9.99791524e-01 3.41956509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.34, Z:3.42 [[ 1.15691180e-03 -9.99999198e-01 -5.15756463e-04 1.22796698e+02] [ 9.99787364e-01 1.16728512e-03 -2.05879830e-02 9.63423946e+01] [ 2.05885685e-02 -4.91828314e-04 9.99787912e-01 3.41964523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.37, Z:3.42 [[ 2.01592286e-04 -9.99999847e-01 -5.14557313e-04 1.22798080e+02] [ 9.99781387e-01 2.12306473e-04 -2.09077311e-02 9.63683433e+01] [ 2.09078371e-02 -5.10229987e-04 9.99781277e-01 3.41984181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.40, Z:3.42 [[-7.59771908e-04 -9.99999585e-01 -5.01880917e-04 1.22795897e+02] [ 9.99784354e-01 -7.49192874e-04 -2.07529367e-02 9.63950380e+01] [ 2.07525521e-02 -5.17540187e-04 9.99784509e-01 3.42014474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.42, Z:3.42 [[-1.03595100e-03 -9.99999340e-01 -4.96976062e-04 1.22797044e+02] [ 9.99780550e-01 -1.02532576e-03 -2.09236929e-02 9.64214800e+01] [ 2.09231695e-02 -5.18542921e-04 9.99780952e-01 3.42049687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.45, Z:3.42 [[-1.22807342e-03 -9.99999127e-01 -4.87832906e-04 1.22800529e+02] [ 9.99781554e-01 -1.21762742e-03 -2.08653323e-02 9.64477139e+01] [ 2.08647201e-02 -5.13350500e-04 9.99782176e-01 3.42047524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.47, Z:3.42 [[-1.64767238e-03 -9.99998527e-01 -4.80758176e-04 1.22800797e+02] [ 9.99780951e-01 -1.63728262e-03 -2.08654953e-02 9.64736336e+01] [ 2.08646775e-02 -5.15032367e-04 9.99782176e-01 3.42100302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.50, Z:3.42 [[-1.00623865e-03 -9.99999374e-01 -4.89648486e-04 1.22797326e+02] [ 9.99764889e-01 -9.95396669e-04 -2.16604843e-02 9.65000698e+01] [ 2.16599833e-02 -5.11328980e-04 9.99765264e-01 3.42106270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.53, Z:3.42 [[-5.19093463e-04 -9.99999747e-01 -4.85981015e-04 1.22797823e+02] [ 9.99759763e-01 -5.08319814e-04 -2.19125274e-02 9.65255775e+01] [ 2.19122748e-02 -4.97238914e-04 9.99759774e-01 3.42130140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.55, Z:3.42 [[-2.33422151e-04 -9.99999858e-01 -4.78769660e-04 1.22800706e+02] [ 9.99758077e-01 -2.22835624e-04 -2.19940624e-02 9.65505681e+01] [ 2.19939525e-02 -4.83787736e-04 9.99757987e-01 3.42122195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.58, Z:3.42 [[ 1.62679405e-03 -9.99998560e-01 -4.83211500e-04 1.22799508e+02] [ 9.99742523e-01 1.63731358e-03 -2.26319806e-02 9.65777866e+01] [ 2.26327392e-02 -4.46269513e-04 9.99743747e-01 3.42137944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.60, Z:3.42 [[ 2.28604771e-03 -9.99997271e-01 -4.81850857e-04 1.22798245e+02] [ 9.99733363e-01 2.29651579e-03 -2.29767177e-02 9.66038672e+01] [ 2.29777615e-02 -4.29196504e-04 9.99735884e-01 3.42189046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.63, Z:3.42 [[ 4.58841605e-03 -9.99989362e-01 -4.72350713e-04 1.22796782e+02] [ 9.99725586e-01 4.59805563e-03 -2.29697582e-02 9.66303923e+01] [ 2.29716857e-02 -3.66826286e-04 9.99736049e-01 3.42336245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.66, Z:3.42 [[ 5.18232737e-03 -9.99986469e-01 -4.53118660e-04 1.22796736e+02] [ 9.99736673e-01 5.19116131e-03 -2.23525353e-02 9.66569359e+01] [ 2.23545851e-02 -3.37161186e-04 9.99750048e-01 3.42452669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.68, Z:3.43 [[ 5.80406305e-03 -9.99983063e-01 -4.31493821e-04 1.22795284e+02] [ 9.99748288e-01 5.81205092e-03 -2.16697935e-02 9.66835532e+01] [ 2.16719344e-02 -3.05612361e-04 9.99765089e-01 3.42585330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.71, Z:3.43 [[ 7.75447924e-03 -9.99969853e-01 -4.01821746e-04 1.22795140e+02] [ 9.99758508e-01 7.76110180e-03 -2.05594275e-02 9.67089467e+01] [ 2.05619263e-02 -2.42297056e-04 9.99788552e-01 3.42725343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.74, Z:3.43 [[ 8.21926406e-03 -9.99966144e-01 -3.93117794e-04 1.22794285e+02] [ 9.99755252e-01 8.22560443e-03 -2.05371924e-02 9.67362363e+01] [ 2.05397307e-02 -2.24220971e-04 9.99789012e-01 3.42815318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.76, Z:3.43 [[ 8.55889216e-03 -9.99963299e-01 -3.81032379e-04 1.22794385e+02] [ 9.99757648e-01 8.56485965e-03 -2.02802287e-02 9.67638369e+01] [ 2.02827479e-02 -2.07363745e-04 9.99794262e-01 3.42890146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:96.79, Z:3.43 [[ 9.24443429e-03 -9.99957202e-01 -3.66620009e-04 1.22794706e+02] [ 9.99759487e-01 9.24989695e-03 -1.98848826e-02 9.67899104e+01] [ 1.98874228e-02 -1.82707341e-04 9.99802209e-01 3.43005515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.82, Z:3.43 [[ 9.01340538e-03 -9.99959318e-01 -3.46900685e-04 1.22796195e+02] [ 9.99775191e-01 9.01840281e-03 -1.91894696e-02 9.68155721e+01] [ 1.91918174e-02 -1.73860231e-04 9.99815805e-01 3.43077137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.84, Z:3.43 [[ 8.08297063e-03 -9.99967278e-01 -3.28161987e-04 1.22796860e+02] [ 9.99795000e-01 8.08766961e-03 -1.85620175e-02 9.68429224e+01] [ 1.85640642e-02 -1.78058471e-04 9.99827657e-01 3.43120387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.87, Z:3.43 [[ 7.08580367e-03 -9.99974845e-01 -3.16703882e-04 1.22798320e+02] [ 9.99807881e-01 7.09040805e-03 -1.82736612e-02 9.68706112e+01] [ 1.82754471e-02 -1.87159461e-04 9.99832973e-01 3.43183301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:96.90, Z:3.43 [[ 4.55195516e-03 -9.99989596e-01 -2.94714653e-04 1.22802609e+02] [ 9.99839389e-01 4.55637978e-03 -1.73330601e-02 9.68970251e+01] [ 1.73342226e-02 -2.15768006e-04 9.99849728e-01 3.43256325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:96.92, Z:3.43 [[ 2.76308234e-03 -9.99996141e-01 -2.87790860e-04 1.22805192e+02] [ 9.99846494e-01 2.76764797e-03 -1.73010968e-02 9.69235177e+01] [ 1.73018265e-02 -2.39942328e-04 9.99850283e-01 3.43303399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:96.95, Z:3.43 [[ 1.24471982e-03 -9.99999186e-01 -2.80995276e-04 1.22807127e+02] [ 9.99850154e-01 1.24938593e-03 -1.72658038e-02 9.69499059e+01] [ 1.72661408e-02 -2.59462082e-04 9.99850895e-01 3.43348098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:96.98, Z:3.43 [[-3.33000614e-04 -9.99999907e-01 -2.75265125e-04 1.22809571e+02] [ 9.99849745e-01 -3.28179859e-04 -1.73314765e-02 9.69757081e+01] [ 1.73313845e-02 -2.80995158e-04 9.99849761e-01 3.43376082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:97.00, Z:3.43 [[-3.33664927e-03 -9.99994398e-01 -2.67225208e-04 1.22812334e+02] [ 9.99846089e-01 -3.33155145e-03 -1.72249593e-02 9.70034746e+01] [ 1.72239725e-02 -3.24657727e-04 9.99851604e-01 3.43310539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:97.03, Z:3.43 [[-4.55333695e-03 -9.99989598e-01 -2.65009661e-04 1.22817071e+02] [ 9.99837258e-01 -4.54801677e-03 -1.74577622e-02 9.70295149e+01] [ 1.74563754e-02 -3.44457607e-04 9.99847567e-01 3.43359806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:97.06, Z:3.43 [[-6.78018947e-03 -9.99976978e-01 -2.67593725e-04 1.22818280e+02] [ 9.99815856e-01 -6.77429239e-03 -1.79544751e-02 9.70567368e+01] [ 1.79522490e-02 -3.89279192e-04 9.99838770e-01 3.43255514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:97.08, Z:3.43 [[-7.77382756e-03 -9.99969747e-01 -2.70197671e-04 1.22823832e+02] [ 9.99796900e-01 -7.76745898e-03 -1.85963954e-02 9.70829647e+01] [ 1.85937341e-02 -4.14707965e-04 9.99827036e-01 3.43266662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.11, Z:3.43 [[-8.76930627e-03 -9.99961512e-01 -2.71282720e-04 1.22825911e+02] [ 9.99777495e-01 -8.76248693e-03 -1.91880255e-02 9.71091662e+01] [ 1.91849099e-02 -4.39488030e-04 9.99815856e-01 3.43258758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:97.14, Z:3.43 [[-9.51656035e-03 -9.99954678e-01 -2.79080143e-04 1.22824664e+02] [ 9.99748892e-01 -9.50893876e-03 -2.02912187e-02 9.71365966e+01] [ 2.02876453e-02 -4.72112671e-04 9.99794073e-01 3.43187028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.16, Z:3.43 [[-9.81768872e-03 -9.99951767e-01 -2.77877709e-04 1.22825949e+02] [ 9.99736202e-01 -9.80980112e-03 -2.07676486e-02 9.71637009e+01] [ 2.07639210e-02 -4.81694715e-04 9.99784291e-01 3.43212669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.19, Z:3.43 [[-9.68619587e-03 -9.99953052e-01 -2.68006426e-04 1.22827341e+02] [ 9.99741313e-01 -9.67862838e-03 -2.05823105e-02 9.71909903e+01] [ 2.05787502e-02 -4.67301387e-04 9.99788126e-01 3.43258385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.22, Z:3.43 [[-9.14898238e-03 -9.99958114e-01 -2.57062299e-04 1.22829209e+02] [ 9.99752241e-01 -9.14188150e-03 -2.02949019e-02 9.72185598e+01] [ 2.02917018e-02 -4.42676309e-04 9.99794004e-01 3.43326678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.25, Z:3.43 [[-9.17033577e-03 -9.99957920e-01 -2.49887656e-04 1.22830496e+02] [ 9.99751838e-01 -9.16337166e-03 -2.03050309e-02 9.72462710e+01] [ 2.03018866e-02 -4.36029594e-04 9.99793800e-01 3.43392108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75275509600002 meters Centerline goodness [0,1] 0.9998930527036276 Centerline is valid? [True, True] Translation: X:122.83, Y:97.27, Z:3.43 [[-8.93174384e-03 -9.99960080e-01 -2.48278642e-04 1.22833604e+02] [ 9.99744700e-01 -8.92466612e-03 -2.07577844e-02 9.72716978e+01] [ 2.07547399e-02 -4.33618469e-04 9.99784503e-01 3.43255095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:97.30, Z:3.43 [[-9.00084034e-03 -9.99959464e-01 -2.36108678e-04 1.22834741e+02] [ 9.99750754e-01 -8.99413694e-03 -2.04336938e-02 9.72980494e+01] [ 2.04307419e-02 -4.19970244e-04 9.99791182e-01 3.43491337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.32, Z:3.44 [[-8.68656250e-03 -9.99962246e-01 -2.22990755e-04 1.22837676e+02] [ 9.99763190e-01 -8.68038330e-03 -1.99553181e-02 9.73238047e+01] [ 1.99526291e-02 -3.96281066e-04 9.99800848e-01 3.43605263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.35, Z:3.44 [[-8.50099276e-03 -9.99963843e-01 -2.12314245e-04 1.22840020e+02] [ 9.99769563e-01 -8.49515534e-03 -1.97143108e-02 9.73493245e+01] [ 1.97117943e-02 -3.79856533e-04 9.99805632e-01 3.43685581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.38, Z:3.44 [[-8.30677197e-03 -9.99965476e-01 -2.09517043e-04 1.22841172e+02] [ 9.99764901e-01 -8.30090881e-03 -2.00309210e-02 9.73753092e+01] [ 2.00284903e-02 -3.75860078e-04 9.99799339e-01 3.43763153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.40, Z:3.44 [[-7.54249515e-03 -9.99971536e-01 -1.94764624e-04 1.22843996e+02] [ 9.99785481e-01 -7.53733429e-03 -1.92920011e-02 9.74019932e+01] [ 1.92899840e-02 -3.40232668e-04 9.99813873e-01 3.43891205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.43, Z:3.44 [[-7.31622197e-03 -9.99973218e-01 -1.89655759e-04 1.22844647e+02] [ 9.99782683e-01 -7.31112525e-03 -1.95226607e-02 9.74289094e+01] [ 1.95207513e-02 -3.32446663e-04 9.99809397e-01 3.43952145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.45, Z:3.44 [[-6.95768965e-03 -9.99975779e-01 -1.78540838e-04 1.22848373e+02] [ 9.99793581e-01 -6.95301340e-03 -1.90906218e-02 9.74541926e+01] [ 1.90889181e-02 -3.11330606e-04 9.99817742e-01 3.44059036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.48, Z:3.44 [[-7.17418624e-03 -9.99974250e-01 -1.71812421e-04 1.22851557e+02] [ 9.99794239e-01 -7.16963443e-03 -1.89756938e-02 9.74799896e+01] [ 1.89739734e-02 -3.07912230e-04 9.99819931e-01 3.44164941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.51, Z:3.44 [[-7.42665793e-03 -9.99972409e-01 -1.63276269e-04 1.22852092e+02] [ 9.99794693e-01 -7.42225953e-03 -1.88542072e-02 9.75066481e+01] [ 1.88524751e-02 -3.03266494e-04 9.99822230e-01 3.44260872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.53, Z:3.44 [[-7.66292345e-03 -9.99970627e-01 -1.54249601e-04 1.22853951e+02] [ 9.99797414e-01 -7.65872483e-03 -1.86138350e-02 9.75330158e+01] [ 1.86121069e-02 -2.96854745e-04 9.99826736e-01 3.44343549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:97.56, Z:3.44 [[-7.45786952e-03 -9.99972179e-01 -1.46159525e-04 1.22856312e+02] [ 9.99801768e-01 -7.45390005e-03 -1.84624800e-02 9.75584685e+01] [ 1.84608769e-02 -2.83821319e-04 9.99829543e-01 3.44428140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.58, Z:3.45 [[-4.33762430e-03 -9.99990584e-01 -1.28384733e-04 1.22852955e+02] [ 9.99845443e-01 -4.33480726e-03 -1.70382059e-02 9.75847937e+01] [ 1.70374889e-02 -2.02270226e-04 9.99854831e-01 3.44593411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.61, Z:3.45 [[-2.40682293e-03 -9.99997095e-01 -1.28805479e-04 1.22849336e+02] [ 9.99840912e-01 -2.40417051e-03 -1.76740091e-02 9.76110892e+01] [ 1.76736481e-02 -1.71323198e-04 9.99843794e-01 3.44576960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.64, Z:3.45 [[-1.02873740e-03 -9.99999463e-01 -1.25817161e-04 1.22847988e+02] [ 9.99832305e-01 -1.02626498e-03 -1.82841132e-02 9.76361741e+01] [ 1.82839742e-02 -1.44605613e-04 9.99832824e-01 3.44580167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.66, Z:3.45 [[ 5.13378471e-04 -9.99999860e-01 -1.24596871e-04 1.22846520e+02] [ 9.99813029e-01 5.15690991e-04 -1.93298217e-02 9.76622920e+01] [ 1.93298832e-02 -1.14650061e-04 9.99813154e-01 3.44504204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.69, Z:3.44 [[ 2.26716822e-03 -9.99997422e-01 -1.27995649e-04 1.22845528e+02] [ 9.99771492e-01 2.26937667e-03 -2.12558956e-02 9.76895810e+01] [ 2.12561313e-02 -7.97757097e-05 9.99774060e-01 3.44439545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.72, Z:3.44 [[ 2.17154795e-03 -9.99997635e-01 -1.22297869e-04 1.22845696e+02] [ 9.99763404e-01 2.17368618e-03 -2.16428265e-02 9.77159026e+01] [ 2.16430412e-02 -7.52704986e-05 9.99765759e-01 3.44452691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.74, Z:3.44 [[ 1.79340083e-03 -9.99998385e-01 -1.18579538e-04 1.22844780e+02] [ 9.99743754e-01 1.79561999e-03 -2.25654955e-02 9.77421441e+01] [ 2.25656720e-02 -7.80801737e-05 9.99745360e-01 3.44446671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.77, Z:3.44 [[ 9.93264188e-04 -9.99999500e-01 -1.11725521e-04 1.22843918e+02] [ 9.99734874e-01 9.95571495e-04 -2.30041443e-02 9.77684581e+01] [ 2.30042440e-02 -8.88467068e-05 9.99735363e-01 3.44462268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.79, Z:3.44 [[ 1.34799248e-05 -9.99999995e-01 -1.03020357e-04 1.22843508e+02] [ 9.99734821e-01 1.58486990e-05 -2.30279661e-02 9.77938068e+01] [ 2.30279676e-02 -1.02682623e-04 9.99734816e-01 3.44477802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:97.82, Z:3.45 [[-2.51760086e-03 -9.99996826e-01 -9.66604827e-05 1.22844322e+02] [ 9.99725581e-01 -2.51466671e-03 -2.32903153e-02 9.78204964e+01] [ 2.32899983e-02 -1.55269675e-04 9.99728739e-01 3.44528795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.85, Z:3.45 [[-4.58874881e-03 -9.99989468e-01 -8.71315981e-05 1.22845352e+02] [ 9.99722061e-01 -4.58550679e-03 -2.31251577e-02 9.78470897e+01] [ 2.31245146e-02 -1.93222921e-04 9.99732574e-01 3.44635130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.87, Z:3.45 [[-6.40032358e-03 -9.99979515e-01 -7.86573769e-05 1.22846318e+02] [ 9.99709329e-01 -6.39676582e-03 -2.32452064e-02 9.78737218e+01] [ 2.32442270e-02 -2.27411356e-04 9.99729791e-01 3.44738976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.90, Z:3.45 [[-8.15985632e-03 -9.99966705e-01 -6.93397428e-05 1.22847507e+02] [ 9.99699727e-01 -8.15607545e-03 -2.31070064e-02 9.79000807e+01] [ 2.31056715e-02 -2.57868774e-04 9.99732995e-01 3.44827318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.93, Z:3.45 [[-1.08789374e-02 -9.99940821e-01 -6.02363852e-05 1.22850362e+02] [ 9.99679377e-01 -1.08747156e-02 -2.28666522e-02 9.79266960e+01] [ 2.28646440e-02 -3.08981951e-04 9.99738522e-01 3.44974288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.95, Z:3.45 [[-1.32279067e-02 -9.99912506e-01 -5.41432910e-05 1.22851097e+02] [ 9.99649270e-01 -1.32231819e-02 -2.29452602e-02 9.79537781e+01] [ 2.29425367e-02 -3.57642062e-04 9.99736721e-01 3.45077084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:97.98, Z:3.45 [[-1.47527730e-02 -9.99891171e-01 -4.57482718e-05 1.22851999e+02] [ 9.99634582e-01 -1.47479507e-02 -2.26539487e-02 9.79798067e+01] [ 2.26508086e-02 -3.79940117e-04 9.99743365e-01 3.45131094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59275509600002 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:122.85, Y:98.01, Z:3.45 [[-1.59462640e-02 -9.99872850e-01 -3.75188395e-05 1.22851898e+02] [ 9.99610996e-01 -1.59412291e-02 -2.28852224e-02 9.80058452e+01] [ 2.28817144e-02 -4.02438042e-04 9.99738098e-01 3.45111422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.03, Z:3.45 [[-1.72166431e-02 -9.99851782e-01 -2.89359684e-05 1.22851771e+02] [ 9.99587740e-01 -1.72114315e-02 -2.29807818e-02 9.80322999e+01] [ 2.29768776e-02 -4.24575959e-04 9.99735907e-01 3.45247196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.06, Z:3.45 [[-1.90610201e-02 -9.99818322e-01 -2.03109107e-05 1.22854206e+02] [ 9.99550879e-01 -1.90554515e-02 -2.31285704e-02 9.80580225e+01] [ 2.31239814e-02 -4.61155933e-04 9.99732499e-01 3.45280124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.08, Z:3.45 [[-1.98852207e-02 -9.99802269e-01 -1.25434503e-05 1.22855171e+02] [ 9.99533109e-01 -1.98795762e-02 -2.32027381e-02 9.80830169e+01] [ 2.31979009e-02 -4.73929161e-04 9.99730780e-01 3.45354689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.11, Z:3.45 [[-2.11733817e-02 -9.99775819e-01 -3.92092628e-06 1.22854907e+02] [ 9.99518502e-01 -2.11678433e-02 -2.26867085e-02 9.81088753e+01] [ 2.26815395e-02 -4.84273377e-04 9.99742624e-01 3.45480923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.13, Z:3.46 [[-2.15429857e-02 -9.99767923e-01 2.96692347e-06 1.22854635e+02] [ 9.99510605e-01 -2.15375083e-02 -2.26867077e-02 9.81347986e+01] [ 2.26815065e-02 -4.85773947e-04 9.99742624e-01 3.45533699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.16, Z:3.46 [[-2.27291771e-02 -9.99741659e-01 1.12775680e-05 1.22852680e+02] [ 9.99485547e-01 -2.27236098e-02 -2.26335608e-02 9.81622418e+01] [ 2.26279699e-02 -5.03170447e-04 9.99743828e-01 3.45616034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:122.86, Y:98.19, Z:3.46 [[-2.34906229e-02 -9.99724057e-01 1.97545436e-05 1.22857529e+02] [ 9.99454585e-01 -2.34847499e-02 -2.32163363e-02 9.81887283e+01] [ 2.32103939e-02 -5.25622434e-04 9.99730464e-01 3.45553718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.22, Z:3.46 [[-2.53582880e-02 -9.99678427e-01 2.56042616e-05 1.22855113e+02] [ 9.99420195e-01 -2.53523197e-02 -2.27273800e-02 9.82157830e+01] [ 2.27207206e-02 -5.50738033e-04 9.99741699e-01 3.45789624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters Centerline goodness [0,1] 0.9998057498057498 Centerline is valid? [True, True] Translation: X:122.86, Y:98.24, Z:3.46 [[-2.66507341e-02 -9.99644806e-01 3.46173190e-05 1.22855876e+02] [ 9.99372007e-01 -2.66442702e-02 -2.33596567e-02 9.82434124e+01] [ 2.33522818e-02 -5.87956420e-04 9.99727125e-01 3.45536781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.27, Z:3.46 [[-2.77751305e-02 -9.99614196e-01 4.07591425e-05 1.22855340e+02] [ 9.99363448e-01 -2.77690765e-02 -2.23959420e-02 9.82693059e+01] [ 2.23884334e-02 -5.81317016e-04 9.99749179e-01 3.45954372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.30, Z:3.46 [[-2.98161986e-02 -9.99555397e-01 5.04530737e-05 1.22855568e+02] [ 9.99294882e-01 -2.98095799e-02 -2.28282031e-02 9.82964635e+01] [ 2.28195576e-02 -6.30232740e-04 9.99739401e-01 3.45977159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.32, Z:3.46 [[-3.08378199e-02 -9.99524400e-01 5.79496502e-05 1.22855525e+02] [ 9.99265911e-01 -3.08311632e-02 -2.27393640e-02 9.83231942e+01] [ 2.27303358e-02 -6.43325303e-04 9.99741426e-01 3.46025024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.35, Z:3.46 [[-3.21882875e-02 -9.99481821e-01 6.52809379e-05 1.22855995e+02] [ 9.99216212e-01 -3.21812392e-02 -2.30506033e-02 9.83498478e+01] [ 2.30407598e-02 -6.76729675e-04 9.99734297e-01 3.46081259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.38, Z:3.46 [[-3.28043811e-02 -9.99461789e-01 7.37958033e-05 1.22856078e+02] [ 9.99195708e-01 -3.27973513e-02 -2.30709839e-02 9.83754581e+01] [ 2.30609872e-02 -6.83092900e-04 9.99733827e-01 3.46126702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:98.40, Z:3.46 [[-3.28169283e-02 -9.99461376e-01 8.22374822e-05 1.22855185e+02] [ 9.99199009e-01 -3.28101986e-02 -2.29092020e-02 9.84019090e+01] [ 2.28995608e-02 -6.69638030e-04 9.99737546e-01 3.46170728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.43, Z:3.46 [[-3.16692440e-02 -9.99498399e-01 9.26743515e-05 1.22850214e+02] [ 9.99225902e-01 -3.16627746e-02 -2.33466557e-02 9.84291228e+01] [ 2.33378793e-02 -6.46768325e-04 9.99727425e-01 3.46262619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.46, Z:3.46 [[-3.07381086e-02 -9.99527468e-01 9.96848536e-05 1.22848007e+02] [ 9.99261353e-01 -3.07322258e-02 -2.30711665e-02 9.84559319e+01] [ 2.30633282e-02 -6.09552800e-04 9.99733820e-01 3.46338236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.132755096 meters Centerline goodness [0,1] 0.9999571321401779 Centerline is valid? [True, True] Translation: X:122.85, Y:98.48, Z:3.46 [[-2.95884215e-02 -9.99562161e-01 1.09153782e-04 1.22845984e+02] [ 9.99290162e-01 -2.95829170e-02 -2.33242986e-02 9.84829096e+01] [ 2.33173154e-02 -5.81052876e-04 9.99727946e-01 3.46279623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:98.51, Z:3.46 [[-2.70162054e-02 -9.99634989e-01 1.16951310e-04 1.22846194e+02] [ 9.99364089e-01 -2.70116072e-02 -2.32764074e-02 9.85087889e+01] [ 2.32710703e-02 -5.11963265e-04 9.99729061e-01 3.46378494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.54, Z:3.46 [[-2.62885253e-02 -9.99654389e-01 1.25182829e-04 1.22841842e+02] [ 9.99377200e-01 -2.62841843e-02 -2.35447349e-02 9.85355539e+01] [ 2.35398879e-02 -4.93851494e-04 9.99722776e-01 3.46459112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.56, Z:3.47 [[-2.59102463e-02 -9.99664264e-01 1.33501439e-04 1.22840957e+02] [ 9.99390619e-01 -2.59062778e-02 -2.33935088e-02 9.85613837e+01] [ 2.33891133e-02 -4.72711489e-04 9.99726326e-01 3.46522011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25275509600002 meters Centerline goodness [0,1] 0.9998708788843935 Centerline is valid? [True, True] Translation: X:122.84, Y:98.59, Z:3.46 [[-2.51253423e-02 -9.99684298e-01 1.48661670e-04 1.22840200e+02] [ 9.99389490e-01 -2.51215436e-02 -2.42807586e-02 9.85881799e+01] [ 2.42768277e-02 -4.61491461e-04 9.99705168e-01 3.46323429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.61, Z:3.47 [[-2.46834256e-02 -9.99695305e-01 1.57589565e-04 1.22839576e+02] [ 9.99400772e-01 -2.46799790e-02 -2.42692469e-02 9.86136803e+01] [ 2.42657415e-02 -4.41553015e-04 9.99705446e-01 3.46615958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31275509600002 meters Centerline goodness [0,1] 0.9999354741574 Centerline is valid? [True, True] Translation: X:122.84, Y:98.64, Z:3.47 [[-2.51245661e-02 -9.99684314e-01 1.66147615e-04 1.22837718e+02] [ 9.99386484e-01 -2.51211369e-02 -2.44045976e-02 9.86407117e+01] [ 2.44010673e-02 -4.47109246e-04 9.99702150e-01 3.46588631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.67, Z:3.47 [[-2.53455182e-02 -9.99678736e-01 1.69401596e-04 1.22837219e+02] [ 9.99398553e-01 -2.53424256e-02 -2.36705228e-02 9.86675240e+01] [ 2.36672114e-02 -4.30641955e-04 9.99719800e-01 3.46816240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.69, Z:3.47 [[-2.60274765e-02 -9.99661212e-01 1.75421938e-04 1.22839130e+02] [ 9.99388744e-01 -2.60244786e-02 -2.33423227e-02 9.86927007e+01] [ 2.33389799e-02 -4.32227045e-04 9.99727515e-01 3.46866252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.72, Z:3.47 [[-2.66280896e-02 -9.99645393e-01 1.82499866e-04 1.22837265e+02] [ 9.99379859e-01 -2.66252233e-02 -2.30433455e-02 9.87188473e+01] [ 2.30400333e-02 -4.31213580e-04 9.99734450e-01 3.46962609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.75, Z:3.47 [[-2.75386899e-02 -9.99620720e-01 1.89445050e-04 1.22837145e+02] [ 9.99360576e-01 -2.75358457e-02 -2.28082583e-02 9.87456590e+01] [ 2.28048241e-02 -4.38785636e-04 9.99739840e-01 3.47024390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.77, Z:3.47 [[-2.80293245e-02 -9.99607082e-01 1.98638068e-04 1.22836847e+02] [ 9.99346089e-01 -2.80265459e-02 -2.28453017e-02 9.87729739e+01] [ 2.28418925e-02 -4.41830199e-04 9.99738992e-01 3.47040720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49275509600002 meters Centerline goodness [0,1] 0.9999139488856381 Centerline is valid? [True, True] Translation: X:122.84, Y:98.80, Z:3.47 [[-2.87775500e-02 -9.99585818e-01 2.11774664e-04 1.22837209e+02] [ 9.99312387e-01 -2.87746321e-02 -2.33832105e-02 9.88003602e+01] [ 2.33796194e-02 -4.61282465e-04 9.99726553e-01 3.46911495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.83, Z:3.47 [[-2.90438938e-02 -9.99578112e-01 2.23251388e-04 1.22836743e+02] [ 9.99297045e-01 -2.90410219e-02 -2.37072805e-02 9.88280363e+01] [ 2.37037622e-02 -4.65457285e-04 9.99718918e-01 3.47117823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.85, Z:3.47 [[-2.94831141e-02 -9.99565252e-01 2.29998336e-04 1.22838478e+02] [ 9.99288510e-01 -2.94803642e-02 -2.35240790e-02 9.88532401e+01] [ 2.35206324e-02 -4.63728412e-04 9.99723244e-01 3.47160593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.88, Z:3.47 [[-3.04949721e-02 -9.99534891e-01 2.42930008e-04 1.22839135e+02] [ 9.99249907e-01 -3.04920794e-02 -2.38716822e-02 9.88789995e+01] [ 2.38679867e-02 -4.85218495e-04 9.99715001e-01 3.47196028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.612755096 meters Centerline goodness [0,1] 0.9999141704574714 Centerline is valid? [True, True] Translation: X:122.84, Y:98.91, Z:3.47 [[-3.09742252e-02 -9.99520151e-01 2.54126187e-04 1.22837855e+02] [ 9.99226647e-01 -3.09712892e-02 -2.42257754e-02 9.89054954e+01] [ 2.42220213e-02 -4.96444967e-04 9.99706481e-01 3.47086908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:122.84, Y:98.93, Z:3.47 [[-3.14637811e-02 -9.99504859e-01 2.61457879e-04 1.22837318e+02] [ 9.99215474e-01 -3.14609639e-02 -2.40550279e-02 9.89317168e+01] [ 2.40513430e-02 -4.95609372e-04 9.99710602e-01 3.47184929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.96, Z:3.47 [[-3.21423435e-02 -9.99483265e-01 2.69903656e-04 1.22837536e+02] [ 9.99194771e-01 -3.21395517e-02 -2.40178915e-02 9.89573878e+01] [ 2.40141552e-02 -5.02304998e-04 9.99711492e-01 3.47307499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:98.98, Z:3.47 [[-3.27567409e-02 -9.99463316e-01 2.75205947e-04 1.22837608e+02] [ 9.99179302e-01 -3.27539944e-02 -2.38306016e-02 9.89833837e+01] [ 2.38268262e-02 -5.05632754e-04 9.99715973e-01 3.47367061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:99.01, Z:3.47 [[-3.30520578e-02 -9.99453593e-01 2.77564849e-04 1.22838956e+02] [ 9.99182363e-01 -3.30495556e-02 -2.32880305e-02 9.90087523e+01] [ 2.32844791e-02 -4.92379426e-04 9.99728759e-01 3.47465008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:99.03, Z:3.48 [[-3.31180647e-02 -9.99451405e-01 2.86507429e-04 1.22837367e+02] [ 9.99180426e-01 -3.31157582e-02 -2.32770775e-02 9.90347284e+01] [ 2.32737957e-02 -4.84619143e-04 9.99729011e-01 3.47504507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:99.06, Z:3.47 [[-3.30226273e-02 -9.99454558e-01 3.04555713e-04 1.22838069e+02] [ 9.99167011e-01 -3.30204331e-02 -2.39777921e-02 9.90601575e+01] [ 2.39747701e-02 -4.87507668e-04 9.99712445e-01 3.47485476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:99.09, Z:3.47 [[-3.22021329e-02 -9.99481325e-01 3.20551075e-04 1.22838174e+02] [ 9.99181303e-01 -3.22003215e-02 -2.44921099e-02 9.90852073e+01] [ 2.44897283e-02 -4.68409535e-04 9.99699972e-01 3.47419745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.852755096 meters Centerline goodness [0,1] 0.9999134611224092 Centerline is valid? [True, True] Translation: X:122.84, Y:99.11, Z:3.47 [[-3.23528357e-02 -9.99476452e-01 3.39129945e-04 1.22838279e+02] [ 9.99156314e-01 -3.23510572e-02 -2.52995854e-02 9.91103252e+01] [ 2.52973111e-02 -4.79669503e-04 9.99679857e-01 3.47237996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.882755096 meters Centerline goodness [0,1] 0.9998707119462161 Centerline is valid? [True, True] Translation: X:122.84, Y:99.14, Z:3.47 [[-3.21027794e-02 -9.99484509e-01 3.56337122e-04 1.22837969e+02] [ 9.99150322e-01 -3.21012611e-02 -2.58484827e-02 9.91369623e+01] [ 2.58465970e-02 -4.73773791e-04 9.99665809e-01 3.47188855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.912755096 meters Centerline goodness [0,1] 0.9998704439454137 Centerline is valid? [True, True] Translation: X:122.84, Y:99.16, Z:3.47 [[-3.02440990e-02 -9.99542481e-01 3.51831671e-04 1.22835563e+02] [ 9.99231978e-01 -3.02434739e-02 -2.49155696e-02 9.91625225e+01] [ 2.49148109e-02 -4.01987496e-04 9.99689497e-01 3.47277608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.942755096 meters Centerline goodness [0,1] 0.9999784171109145 Centerline is valid? [True, True] Translation: X:122.83, Y:99.19, Z:3.48 [[-2.88161848e-02 -9.99584667e-01 3.48905268e-04 1.22831464e+02] [ 9.99291544e-01 -2.88161845e-02 -2.42082143e-02 9.91889399e+01] [ 2.42082139e-02 -3.48930291e-04 9.99706877e-01 3.47590136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.22, Z:3.48 [[-2.58158767e-02 -9.99666651e-01 3.57460646e-04 1.22827342e+02] [ 9.99373917e-01 -2.58169676e-02 -2.41921236e-02 9.92158478e+01] [ 2.41932877e-02 -2.67304035e-04 9.99707264e-01 3.47693476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.24, Z:3.48 [[-2.47008812e-02 -9.99694818e-01 3.71321505e-04 1.22825506e+02] [ 9.99393169e-01 -2.47025495e-02 -2.45576612e-02 9.92414108e+01] [ 2.45593392e-02 -2.35499698e-04 9.99698346e-01 3.47729347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.27, Z:3.48 [[-2.36330112e-02 -9.99720628e-01 3.83562414e-04 1.22823288e+02] [ 9.99414443e-01 -2.36352657e-02 -2.47415775e-02 9.92674894e+01] [ 2.47437310e-02 -2.01380163e-04 9.99693807e-01 3.47732717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06275509600002 meters Centerline goodness [0,1] 0.9998267273121074 Centerline is valid? [True, True] Translation: X:122.82, Y:99.29, Z:3.48 [[-2.24168237e-02 -9.99748627e-01 4.10361414e-04 1.22820599e+02] [ 9.99414645e-01 -2.24199414e-02 -2.58401611e-02 9.92938994e+01] [ 2.58428659e-02 -1.69133129e-04 9.99666003e-01 3.47539611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.32, Z:3.48 [[-2.24354842e-02 -9.99748212e-01 4.03314763e-04 1.22819221e+02] [ 9.99440024e-01 -2.24385819e-02 -2.48223515e-02 9.93197389e+01] [ 2.48251514e-02 -1.53812560e-04 9.99691797e-01 3.47851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.34, Z:3.48 [[-2.29433917e-02 -9.99736679e-01 4.16295188e-04 1.22818025e+02] [ 9.99423370e-01 -2.29466230e-02 -2.50275831e-02 9.93439960e+01] [ 2.50305454e-02 -1.58162502e-04 9.99686674e-01 3.47876746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.37, Z:3.48 [[-2.57791886e-02 -9.99667572e-01 4.23161515e-04 1.22817902e+02] [ 9.99358939e-01 -2.57817444e-02 -2.48397425e-02 9.93687478e+01] [ 2.48423949e-02 -2.17458165e-04 9.99691356e-01 3.47919341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18275509600002 meters Centerline goodness [0,1] 0.9998493003229278 Centerline is valid? [True, True] Translation: X:122.82, Y:99.40, Z:3.48 [[-2.76705066e-02 -9.99616994e-01 4.57378764e-04 1.22818102e+02] [ 9.99272327e-01 -2.76729763e-02 -2.62492311e-02 9.93956344e+01] [ 2.62518346e-02 -2.69283581e-04 9.99655325e-01 3.47715508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.42, Z:3.48 [[-3.18979743e-02 -9.99491029e-01 4.50256574e-04 1.22819274e+02] [ 9.99169127e-01 -3.18991287e-02 -2.53673351e-02 9.94228775e+01] [ 2.53687867e-02 -3.59284136e-04 9.99678096e-01 3.48147539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.45, Z:3.48 [[-3.43630400e-02 -9.99409314e-01 4.52483587e-04 1.22821215e+02] [ 9.99096072e-01 -3.43635991e-02 -2.50236093e-02 9.94489579e+01] [ 2.50243772e-02 -4.07812712e-04 9.99686758e-01 3.48212670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27275509600003 meters Centerline goodness [0,1] 0.9999353517939877 Centerline is valid? [True, True] Translation: X:122.82, Y:99.48, Z:3.48 [[-3.68894281e-02 -9.99319245e-01 4.64870202e-04 1.22822602e+02] [ 9.98998913e-01 -3.68893748e-02 -2.53050624e-02 9.94759260e+01] [ 2.53049846e-02 -4.69084453e-04 9.99679668e-01 3.48157624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.50, Z:3.48 [[-4.17610737e-02 -9.99127520e-01 4.60780442e-04 1.22826031e+02] [ 9.98824124e-01 -4.17597501e-02 -2.46270757e-02 9.95035690e+01] [ 2.46248312e-02 -5.68214505e-04 9.99696601e-01 3.48354509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.53, Z:3.48 [[-4.41643186e-02 -9.99024172e-01 4.66410408e-04 1.22829506e+02] [ 9.98724013e-01 -4.41624854e-02 -2.44953195e-02 9.95302265e+01] [ 2.44920141e-02 -6.16003819e-04 9.99699836e-01 3.48381861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.56, Z:3.49 [[-4.62310016e-02 -9.98930665e-01 4.69202717e-04 1.22826832e+02] [ 9.98635431e-01 -4.62287488e-02 -2.42935889e-02 9.95586359e+01] [ 2.42893016e-02 -6.54554491e-04 9.99704757e-01 3.48549784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.58, Z:3.49 [[-4.97808998e-02 -9.98760055e-01 4.62706493e-04 1.22830849e+02] [ 9.98482260e-01 -4.97779712e-02 -2.35654576e-02 9.95848117e+01] [ 2.35592703e-02 -7.11105458e-04 9.99722189e-01 3.48675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.61, Z:3.49 [[-5.10842452e-02 -9.98694239e-01 4.66472348e-04 1.22833198e+02] [ 9.98422347e-01 -5.10812270e-02 -2.33136299e-02 9.96114494e+01] [ 2.33070158e-02 -7.25222768e-04 9.99728092e-01 3.48762496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.64, Z:3.49 [[-5.17471376e-02 -9.98660100e-01 4.88187876e-04 1.22831796e+02] [ 9.98373199e-01 -5.17439783e-02 -2.39481791e-02 9.96378431e+01] [ 2.39413517e-02 -7.51856026e-04 9.99713082e-01 3.48865923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.67, Z:3.49 [[-5.17702317e-02 -9.98658893e-01 5.07924982e-04 1.22830071e+02] [ 9.98359847e-01 -5.17671644e-02 -2.44494698e-02 9.96653755e+01] [ 2.44429743e-02 -7.58662811e-04 9.99700938e-01 3.48905939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.69, Z:3.49 [[-5.13538817e-02 -9.98680377e-01 5.32663818e-04 1.22828578e+02] [ 9.98362752e-01 -5.13509882e-02 -2.51970656e-02 9.96925479e+01] [ 2.51911677e-02 -7.62175409e-04 9.99682362e-01 3.48960409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.83, Y:99.72, Z:3.49 [[-5.05945161e-02 -9.98719125e-01 5.51509165e-04 1.22827239e+02] [ 9.98390071e-01 -5.05920085e-02 -2.56459579e-02 9.97195814e+01] [ 2.56410106e-02 -7.46923554e-04 9.99670936e-01 3.49009886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.572755096 meters Centerline goodness [0,1] 0.9999565529076967 Centerline is valid? [True, True] Translation: X:122.83, Y:99.75, Z:3.49 [[-4.77431287e-02 -9.98859474e-01 5.86902944e-04 1.22825780e+02] [ 9.98498735e-01 -4.77416636e-02 -2.68516214e-02 9.97456130e+01] [ 2.68490162e-02 -6.95958571e-04 9.99639258e-01 3.48984416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.77, Z:3.49 [[-4.61553885e-02 -9.98934102e-01 5.83272457e-04 1.22821978e+02] [ 9.98587137e-01 -4.61547333e-02 -2.63338405e-02 9.97728886e+01] [ 2.63326921e-02 -6.33000264e-04 9.99653034e-01 3.49138856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.80, Z:3.49 [[-4.44819026e-02 -9.99010012e-01 5.97002125e-04 1.22823417e+02] [ 9.98657546e-01 -4.44820698e-02 -2.65414860e-02 9.97989536e+01] [ 2.65417662e-02 -5.84415121e-04 9.99647534e-01 3.49106542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.82, Z:3.49 [[-4.48446410e-02 -9.98993790e-01 6.04910853e-04 1.22822553e+02] [ 9.98641324e-01 -4.48448902e-02 -2.65413061e-02 9.98248639e+01] [ 2.65417271e-02 -5.86146367e-04 9.99647534e-01 3.49159327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:99.85, Z:3.49 [[-4.14147588e-02 -9.99141859e-01 6.03354854e-04 1.22815302e+02] [ 9.98801946e-01 -4.14164089e-02 -2.60644154e-02 9.98520812e+01] [ 2.60670373e-02 -4.76819476e-04 9.99660083e-01 3.49410139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:99.88, Z:3.50 [[-4.01642398e-02 -9.99192910e-01 6.02497187e-04 1.22813009e+02] [ 9.98864108e-01 -4.01664805e-02 -2.56348758e-02 9.98789467e+01] [ 2.56383864e-02 -4.27792484e-04 9.99671191e-01 3.49539206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:99.91, Z:3.50 [[-3.82113805e-02 -9.99269505e-01 5.88634158e-04 1.22810405e+02] [ 9.98964789e-01 -3.82142655e-02 -2.46783480e-02 9.99061922e+01] [ 2.46828148e-02 -3.54968946e-04 9.99695270e-01 3.49674055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:99.93, Z:3.50 [[-3.79637409e-02 -9.99278940e-01 5.94603604e-04 1.22809173e+02] [ 9.98977180e-01 -3.79668897e-02 -2.45582769e-02 9.99335427e+01] [ 2.45631442e-02 -3.38328632e-04 9.99698223e-01 3.49735596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:99.96, Z:3.50 [[-3.84594057e-02 -9.99259981e-01 6.04080279e-04 1.22808632e+02] [ 9.98957737e-01 -3.84626309e-02 -2.45777579e-02 9.99597230e+01] [ 2.45828044e-02 -3.41795294e-04 9.99697739e-01 3.49778635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:99.99, Z:3.50 [[-3.90149586e-02 -9.99238440e-01 6.10022989e-04 1.22808484e+02] [ 9.98939397e-01 -3.90182072e-02 -2.44471174e-02 9.99868527e+01] [ 2.44523014e-02 -3.44427276e-04 9.99700938e-01 3.49807186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.01, Z:3.50 [[-4.07651815e-02 -9.99168567e-01 6.11605703e-04 1.22810257e+02] [ 9.98876121e-01 -4.07680482e-02 -2.41756387e-02 1.00012753e+02] [ 2.41804722e-02 -3.74605967e-04 9.99707539e-01 3.49860942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.04, Z:3.50 [[-4.22619791e-02 -9.99106376e-01 6.12272317e-04 1.22809311e+02] [ 9.98820609e-01 -4.22645362e-02 -2.38977178e-02 1.00039251e+02] [ 2.39022397e-02 -3.98414644e-04 9.99714221e-01 3.49946340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.07, Z:3.50 [[-4.50626377e-02 -9.98983987e-01 5.94053947e-04 1.22809182e+02] [ 9.98722592e-01 -4.50644379e-02 -2.28556281e-02 1.00066806e+02] [ 2.28591772e-02 -4.36639791e-04 9.99738600e-01 3.50108356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.09, Z:3.50 [[-4.66635942e-02 -9.98910485e-01 5.93260275e-04 1.22810002e+02] [ 9.98656788e-01 -4.66651155e-02 -2.25163781e-02 1.00092658e+02] [ 2.25195307e-02 -4.58231730e-04 9.99746298e-01 3.50147044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.12, Z:3.50 [[-4.78213388e-02 -9.98855732e-01 5.88156155e-04 1.22808926e+02] [ 9.98613186e-01 -4.78226902e-02 -2.20158068e-02 1.00119625e+02] [ 2.20187420e-02 -4.65484862e-04 9.99757450e-01 3.50231266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.15, Z:3.50 [[-4.94284821e-02 -9.98777495e-01 5.84222609e-04 1.22809259e+02] [ 9.98544339e-01 -4.94295694e-02 -2.15852065e-02 1.00147917e+02] [ 2.15876963e-02 -4.83551812e-04 9.99766842e-01 3.50255748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.17, Z:3.50 [[-5.01715219e-02 -9.98740437e-01 5.97552634e-04 1.22809437e+02] [ 9.98502348e-01 -5.01726119e-02 -2.18121719e-02 1.00173923e+02] [ 2.18146789e-02 -4.97692155e-04 9.99761908e-01 3.50263913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.20, Z:3.50 [[-5.01145270e-02 -9.98743284e-01 6.21421427e-04 1.22810198e+02] [ 9.98492992e-01 -5.01158828e-02 -2.23638651e-02 1.00199621e+02] [ 2.23669032e-02 -5.00269581e-04 9.99749704e-01 3.50119320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.23, Z:3.50 [[-4.99075156e-02 -9.98753635e-01 6.45867109e-04 1.22807332e+02] [ 9.98491199e-01 -4.99092104e-02 -2.28997067e-02 1.00226893e+02] [ 2.29034000e-02 -4.97974847e-04 9.99737559e-01 3.50080485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:100.25, Z:3.50 [[-4.92990259e-02 -9.98783840e-01 6.68059120e-04 1.22807409e+02] [ 9.98510334e-01 -4.93011624e-02 -2.33775102e-02 1.00252642e+02] [ 2.33820156e-02 -4.85424547e-04 9.99726485e-01 3.50020780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.28, Z:3.50 [[-4.84849073e-02 -9.98823680e-01 6.85894817e-04 1.22804217e+02] [ 9.98543593e-01 -4.84875566e-02 -2.36569220e-02 1.00278537e+02] [ 2.36623512e-02 -4.62107795e-04 9.99719901e-01 3.49991004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.31, Z:3.50 [[-4.63919333e-02 -9.98923057e-01 7.17151021e-04 1.22801657e+02] [ 9.98625035e-01 -4.63956118e-02 -2.44025767e-02 1.00305807e+02] [ 2.44095692e-02 -4.15917748e-04 9.99701956e-01 3.49930246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.33, Z:3.50 [[-4.55999081e-02 -9.98959516e-01 7.31237872e-04 1.22799372e+02] [ 9.98657015e-01 -4.56040961e-02 -2.45852071e-02 1.00333183e+02] [ 2.45929740e-02 -3.90827355e-04 9.99697471e-01 3.49978145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.36, Z:3.50 [[-4.38254574e-02 -9.99038922e-01 7.49169293e-04 1.22798153e+02] [ 9.98729184e-01 -4.38305255e-02 -2.48777577e-02 1.00358360e+02] [ 2.48866847e-02 -3.42061872e-04 9.99690220e-01 3.49983014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.39, Z:3.50 [[-4.32615680e-02 -9.99063486e-01 7.67088901e-04 1.22796666e+02] [ 9.98747464e-01 -4.32671777e-02 -2.51287404e-02 1.00385024e+02] [ 2.51383967e-02 -3.20980616e-04 9.99683929e-01 3.50052725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.41, Z:3.50 [[-4.29669244e-02 -9.99076187e-01 7.85485365e-04 1.22795055e+02] [ 9.98753068e-01 -4.29730053e-02 -2.54092367e-02 1.00412128e+02] [ 2.54195180e-02 -3.07250837e-04 9.99676825e-01 3.50115782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.44, Z:3.50 [[-4.28402683e-02 -9.99081602e-01 8.15048689e-04 1.22794597e+02] [ 9.98741952e-01 -4.28469566e-02 -2.60509567e-02 1.00438506e+02] [ 2.60619539e-02 -3.02006657e-04 9.99660284e-01 3.50154380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.46, Z:3.50 [[-4.32713273e-02 -9.99063026e-01 8.14374076e-04 1.22795358e+02] [ 9.98732074e-01 -4.32779545e-02 -2.57150280e-02 1.00464234e+02] [ 2.57261781e-02 -2.99381885e-04 9.99668982e-01 3.50125547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.49, Z:3.50 [[-4.41053250e-02 -9.99026546e-01 8.25051690e-04 1.22794493e+02] [ 9.98695345e-01 -4.41119477e-02 -2.57243762e-02 1.00490968e+02] [ 2.57357293e-02 -3.10606689e-04 9.99668733e-01 3.50200125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.52, Z:3.50 [[-4.55322230e-02 -9.98962529e-01 8.25572335e-04 1.22792469e+02] [ 9.98638438e-01 -4.55384807e-02 -2.54463512e-02 1.00516822e+02] [ 2.54575467e-02 -3.34180670e-04 9.99675848e-01 3.50354104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.54, Z:3.50 [[-4.67576340e-02 -9.98905921e-01 8.27215201e-04 1.22792394e+02] [ 9.98588556e-01 -4.67636310e-02 -2.51805155e-02 1.00541973e+02] [ 2.51916496e-02 -3.51333693e-04 9.99682578e-01 3.50408977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.57, Z:3.51 [[-4.80094722e-02 -9.98846540e-01 8.24748611e-04 1.22790991e+02] [ 9.98538495e-01 -4.80151498e-02 -2.48076311e-02 1.00569380e+02] [ 2.48186169e-02 -3.67458036e-04 9.99691903e-01 3.50528946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.60, Z:3.51 [[-5.13223746e-02 -9.98681787e-01 8.38507214e-04 1.22792914e+02] [ 9.98370203e-01 -5.13273097e-02 -2.49488602e-02 1.00596231e+02] [ 2.49590106e-02 -4.43294131e-04 9.99688377e-01 3.50601680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.62, Z:3.51 [[-5.30353778e-02 -9.98592250e-01 8.75815748e-04 1.22793120e+02] [ 9.98259916e-01 -5.30403252e-02 -2.57655654e-02 1.00623946e+02] [ 2.57757475e-02 -4.92194743e-04 9.99667629e-01 3.50642447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.65, Z:3.51 [[-5.50307237e-02 -9.98484271e-01 8.83135683e-04 1.22792986e+02] [ 9.98153451e-01 -5.50352274e-02 -2.57062584e-02 1.00650755e+02] [ 2.57158983e-02 -5.33129077e-04 9.99669149e-01 3.50704471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.80, Y:100.68, Z:3.51 [[-5.81378351e-02 -9.98308161e-01 8.98800214e-04 1.22795424e+02] [ 9.97973012e-01 -5.81416115e-02 -2.58731674e-02 1.00677170e+02] [ 2.58816518e-02 -6.07231583e-04 9.99664830e-01 3.50664732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.70, Z:3.51 [[-5.99099340e-02 -9.98203381e-01 8.99523350e-04 1.22793588e+02] [ 9.97874739e-01 -5.99132972e-02 -2.56203544e-02 1.00704480e+02] [ 2.56282178e-02 -6.37302115e-04 9.99671340e-01 3.50740005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.73, Z:3.51 [[-6.25443057e-02 -9.98041781e-01 9.01815323e-04 1.22793033e+02] [ 9.97718047e-01 -6.25469944e-02 -2.54277817e-02 1.00731336e+02] [ 2.54343943e-02 -6.90605525e-04 9.99676255e-01 3.50822928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.76, Z:3.51 [[-6.39554782e-02 -9.97952334e-01 9.14083277e-04 1.22791032e+02] [ 9.97626559e-01 -6.39579641e-02 -2.55073921e-02 1.00758461e+02] [ 2.55136244e-02 -7.19423707e-04 9.99674216e-01 3.50898368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.79, Z:3.51 [[-6.51683018e-02 -9.97873844e-01 9.40223071e-04 1.22789205e+02] [ 9.97536022e-01 -6.51707132e-02 -2.59742655e-02 1.00785232e+02] [ 2.59803152e-02 -7.54792392e-04 9.99662170e-01 3.50926002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.81, Z:3.51 [[-6.67348755e-02 -9.97770287e-01 9.54437890e-04 1.22788224e+02] [ 9.97429044e-01 -6.67370231e-02 -2.61050302e-02 1.00811516e+02] [ 2.61105199e-02 -7.90131871e-04 9.99658750e-01 3.50951664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.84, Z:3.51 [[-6.74963874e-02 -9.97719045e-01 9.71853459e-04 1.22786697e+02] [ 9.97372481e-01 -6.74985674e-02 -2.63073614e-02 1.00837900e+02] [ 2.63129542e-02 -8.06351958e-04 9.99653429e-01 3.50989087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:100.86, Z:3.51 [[-6.79427656e-02 -9.97688730e-01 9.89674218e-04 1.22785264e+02] [ 9.97336856e-01 -6.79450978e-02 -2.65077228e-02 1.00863848e+02] [ 2.65136998e-02 -8.13969427e-04 9.99648119e-01 3.51009887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:100.89, Z:3.51 [[-6.81805939e-02 -9.97672492e-01 1.00294246e-03 1.22780531e+02] [ 9.97318436e-01 -6.81831278e-02 -2.65894240e-02 1.00890688e+02] [ 2.65959207e-02 -8.12629715e-04 9.99645936e-01 3.51048032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.892755096 meters Centerline goodness [0,1] 0.9999131548665842 Centerline is valid? [True, True] Translation: X:122.78, Y:100.92, Z:3.51 [[-6.85674671e-02 -9.97645989e-01 9.91673984e-04 1.22778123e+02] [ 9.97306340e-01 -6.85700100e-02 -2.60426170e-02 1.00918382e+02] [ 2.60493115e-02 -7.96673535e-04 9.99660342e-01 3.50938810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:100.95, Z:3.51 [[-6.81597198e-02 -9.97673910e-01 1.01130540e-03 1.22775359e+02] [ 9.97327328e-01 -6.81627080e-02 -2.63067577e-02 1.00945988e+02] [ 2.63144991e-02 -7.84458726e-04 9.99653406e-01 3.51121103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.952755096 meters Centerline goodness [0,1] 0.9999349099587763 Centerline is valid? [True, True] Translation: X:122.77, Y:100.97, Z:3.51 [[-6.83063054e-02 -9.97663922e-01 9.72875135e-04 1.22772371e+02] [ 9.97348660e-01 -6.83091871e-02 -2.50899362e-02 1.00972964e+02] [ 2.50977805e-02 -7.43505136e-04 9.99684725e-01 3.51109746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.77, Y:101.00, Z:3.51 [[-6.78431058e-02 -9.97695537e-01 9.63736486e-04 1.22770403e+02] [ 9.97391735e-01 -6.78462386e-02 -2.46295593e-02 1.00999836e+02] [ 2.46381873e-02 -7.09722995e-04 9.99696182e-01 3.51278046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.012755096 meters Centerline goodness [0,1] 0.9999350677459851 Centerline is valid? [True, True] Translation: X:122.77, Y:101.03, Z:3.51 [[-6.73028344e-02 -9.97732171e-01 9.18915392e-04 1.22766597e+02] [ 9.97460712e-01 -6.73059654e-02 -2.32816560e-02 1.01027015e+02] [ 2.32907057e-02 -6.50339437e-04 9.99728523e-01 3.51334188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:101.05, Z:3.51 [[-6.67419598e-02 -9.97769848e-01 9.17283974e-04 1.22764300e+02] [ 9.97504224e-01 -6.67453641e-02 -2.30299891e-02 1.01053251e+02] [ 2.30398531e-02 -6.22071966e-04 9.99734354e-01 3.51482582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:101.08, Z:3.52 [[-6.64148183e-02 -9.97791682e-01 9.11559925e-04 1.22762018e+02] [ 9.97534261e-01 -6.64183960e-02 -2.26714519e-02 1.01078841e+02] [ 2.26819305e-02 -5.96408104e-04 9.99742554e-01 3.51549493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.102755096 meters Centerline goodness [0,1] 0.9998919456270395 Centerline is valid? [True, True] Translation: X:122.76, Y:101.10, Z:3.51 [[-6.66616141e-02 -9.97775248e-01 8.84964660e-04 1.22760816e+02] [ 9.97537362e-01 -6.66650509e-02 -2.17941119e-02 1.01104401e+02] [ 2.18046216e-02 -5.70045362e-04 9.99762088e-01 3.51442425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.132755096 meters Centerline goodness [0,1] 0.999913618105645 Centerline is valid? [True, True] Translation: X:122.76, Y:101.13, Z:3.52 [[-6.69813469e-02 -9.97753844e-01 8.74828206e-04 1.22756997e+02] [ 9.97525881e-01 -6.69847492e-02 -2.13344640e-02 1.01130912e+02] [ 2.13451437e-02 -5.56347358e-04 9.99772012e-01 3.51504681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:101.16, Z:3.52 [[-6.73610327e-02 -9.97728300e-01 8.54789513e-04 1.22755103e+02] [ 9.97514589e-01 -6.73643014e-02 -2.06566102e-02 1.01157232e+02] [ 2.06672669e-02 -5.38785586e-04 9.99786264e-01 3.51686746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.18, Z:3.52 [[-6.95535174e-02 -9.97577899e-01 8.02346988e-04 1.22754216e+02] [ 9.97392835e-01 -6.95560745e-02 -1.92219979e-02 1.01184381e+02] [ 1.92312484e-02 -5.36702427e-04 9.99814918e-01 3.51811815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.21, Z:3.52 [[-7.10890185e-02 -9.97469681e-01 7.66299962e-04 1.22752189e+02] [ 9.97303471e-01 -7.10911674e-02 -1.82162844e-02 1.01211733e+02] [ 1.82246686e-02 -5.30744169e-04 9.99833776e-01 3.51899826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.24, Z:3.52 [[-7.43853912e-02 -9.97229311e-01 7.17391817e-04 1.22753898e+02] [ 9.97085856e-01 -7.43868648e-02 -1.69230446e-02 1.01237493e+02] [ 1.69295207e-02 -5.43526063e-04 9.99856538e-01 3.51999139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.26, Z:3.52 [[-7.65969260e-02 -9.97061887e-01 7.09740074e-04 1.22753269e+02] [ 9.96923845e-01 -7.65981379e-02 -1.66003777e-02 1.01264202e+02] [ 1.66059686e-02 -5.63981096e-04 9.99861952e-01 3.52046846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.29, Z:3.52 [[-7.86020608e-02 -9.96905832e-01 6.91215827e-04 1.22754921e+02] [ 9.96777068e-01 -7.86030246e-02 -1.60325150e-02 1.01290568e+02] [ 1.60372393e-02 -5.71200631e-04 9.99871232e-01 3.52121766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.32, Z:3.52 [[-8.13588128e-02 -9.96684631e-01 6.99712492e-04 1.22754704e+02] [ 9.96554963e-01 -8.13595227e-02 -1.60883407e-02 1.01317728e+02] [ 1.60919302e-02 -6.11626340e-04 9.99870329e-01 3.52135492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.35, Z:3.52 [[-8.23208927e-02 -9.96605630e-01 6.99261266e-04 1.22750432e+02] [ 9.96478184e-01 -8.23215564e-02 -1.59496182e-02 1.01345750e+02] [ 1.59530436e-02 -6.16188211e-04 9.99872552e-01 3.52123566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.37, Z:3.52 [[-8.31567527e-02 -9.96536223e-01 7.14860907e-04 1.22752148e+02] [ 9.96404926e-01 -8.31574093e-02 -1.61885271e-02 1.01372296e+02] [ 1.61918996e-02 -6.33894416e-04 9.99868702e-01 3.52157211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.40, Z:3.52 [[-8.28871957e-02 -9.96558666e-01 7.33930954e-04 1.22752679e+02] [ 9.96422649e-01 -8.28880173e-02 -1.64766588e-02 1.01397774e+02] [ 1.64807912e-02 -6.34398620e-04 9.99863981e-01 3.52141608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.42, Z:3.52 [[-8.27472912e-02 -9.96570287e-01 7.41186603e-04 1.22749477e+02] [ 9.96434079e-01 -8.27482443e-02 -1.64880013e-02 1.01423938e+02] [ 1.64927841e-02 -6.25793858e-04 9.99863789e-01 3.52133995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:101.45, Z:3.52 [[-8.08118637e-02 -9.96729048e-01 8.05032431e-04 1.22745149e+02] [ 9.96571322e-01 -8.08134058e-02 -1.77424468e-02 1.01450786e+02] [ 1.77494695e-02 -6.31527957e-04 9.99842266e-01 3.52087565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:101.48, Z:3.52 [[-7.97415222e-02 -9.96815218e-01 8.43667901e-04 1.22744141e+02] [ 9.96644856e-01 -7.97435002e-02 -1.84392486e-02 1.01476676e+02] [ 1.84478006e-02 -6.29536480e-04 9.99829627e-01 3.52049793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:101.50, Z:3.52 [[-8.01288558e-02 -9.96784152e-01 8.48517005e-04 1.22742698e+02] [ 9.96613791e-01 -8.01308572e-02 -1.84390254e-02 1.01502572e+02] [ 1.84477207e-02 -6.31854261e-04 9.99829627e-01 3.52102609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:101.53, Z:3.52 [[-7.91158317e-02 -9.96865058e-01 8.60668657e-04 1.22743509e+02] [ 9.96692745e-01 -7.91181667e-02 -1.85442301e-02 1.01528792e+02] [ 1.85541895e-02 -6.09319979e-04 9.99827671e-01 3.52118764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:101.56, Z:3.52 [[-7.80973759e-02 -9.96945342e-01 8.86512971e-04 1.22737358e+02] [ 9.96765449e-01 -7.81001324e-02 -1.89475241e-02 1.01555972e+02] [ 1.89588827e-02 -5.96106413e-04 9.99820087e-01 3.52146798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.74, Y:101.58, Z:3.52 [[-7.61133329e-02 -9.97098772e-01 8.94093954e-04 1.22738608e+02] [ 9.96918534e-01 -7.61165811e-02 -1.89658140e-02 1.01582326e+02] [ 1.89788452e-02 -5.52212478e-04 9.99819733e-01 3.52219026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.61, Z:3.52 [[-7.57297351e-02 -9.97127990e-01 8.82270210e-04 1.22733637e+02] [ 9.96955145e-01 -7.57330412e-02 -1.85726873e-02 1.01608344e+02] [ 1.85861634e-02 -5.26920863e-04 9.99827124e-01 3.52294194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.64, Z:3.52 [[-7.48044192e-02 -9.97197865e-01 8.47078251e-04 1.22731989e+02] [ 9.97040987e-01 -7.48076815e-02 -1.76940802e-02 1.01635060e+02] [ 1.77078670e-02 -4.79023660e-04 9.99843089e-01 3.52460054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.66, Z:3.53 [[-7.50398895e-02 -9.97180168e-01 8.53566340e-04 1.22731406e+02] [ 9.97023397e-01 -7.50432326e-02 -1.76878036e-02 1.01660737e+02] [ 1.77019814e-02 -4.76265218e-04 9.99843194e-01 3.52584637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.69, Z:3.53 [[-7.54023273e-02 -9.97152843e-01 8.34876296e-04 1.22731236e+02] [ 9.97004713e-01 -7.54055214e-02 -1.71933053e-02 1.01686204e+02] [ 1.72073076e-02 -4.64039634e-04 9.99851836e-01 3.52696472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.792755096 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:122.73, Y:101.71, Z:3.53 [[-7.64632347e-02 -9.97072069e-01 8.14847267e-04 1.22730839e+02] [ 9.96932555e-01 -7.64661718e-02 -1.66854716e-02 1.01712260e+02] [ 1.66989259e-02 -4.63477361e-04 9.99860456e-01 3.52682588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.74, Z:3.53 [[-7.68845165e-02 -9.97039666e-01 8.21889092e-04 1.22729887e+02] [ 9.96899976e-01 -7.68875074e-02 -1.66957558e-02 1.01738356e+02] [ 1.67095238e-02 -4.64303897e-04 9.99860278e-01 3.52869774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.76, Z:3.53 [[-7.77358626e-02 -9.96973646e-01 8.27111627e-04 1.22733460e+02] [ 9.96834386e-01 -7.77388338e-02 -1.66697690e-02 1.01764095e+02] [ 1.66836191e-02 -4.71345566e-04 9.99860708e-01 3.52961520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.79, Z:3.53 [[-7.85016393e-02 -9.96913624e-01 8.48245740e-04 1.22731753e+02] [ 9.96769621e-01 -7.85047228e-02 -1.69508701e-02 1.01790522e+02] [ 1.69651446e-02 -4.85165505e-04 9.99855964e-01 3.52931457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.82, Z:3.53 [[-7.88957150e-02 -9.96882497e-01 8.68158946e-04 1.22729946e+02] [ 9.96733957e-01 -7.88989518e-02 -1.72155092e-02 1.01817310e+02] [ 1.72303366e-02 -4.92906407e-04 9.99851425e-01 3.52982012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.84, Z:3.53 [[-7.94286968e-02 -9.96840162e-01 8.79645547e-04 1.22729206e+02] [ 9.96690014e-01 -7.94320062e-02 -1.73081825e-02 1.01844078e+02] [ 1.73233635e-02 -4.98032450e-04 9.99849815e-01 3.53040408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.87, Z:3.53 [[-7.94691426e-02 -9.96836939e-01 8.78626647e-04 1.22728277e+02] [ 9.96689388e-01 -7.94725027e-02 -1.71576316e-02 1.01870220e+02] [ 1.71731877e-02 -4.87784419e-04 9.99852411e-01 3.53110462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.90, Z:3.53 [[-7.83925552e-02 -9.96922171e-01 8.90442262e-04 1.22727174e+02] [ 9.96772962e-01 -7.83962331e-02 -1.72537839e-02 1.01897860e+02] [ 1.72704870e-02 -4.64999437e-04 9.99850746e-01 3.53158815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:101.92, Z:3.53 [[-7.80928760e-02 -9.96945676e-01 9.06355291e-04 1.22726813e+02] [ 9.96793144e-01 -7.80967875e-02 -1.74447945e-02 1.01923432e+02] [ 1.74622959e-02 -4.58865434e-04 9.99847417e-01 3.53184533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:101.95, Z:3.53 [[-7.62660430e-02 -9.97087048e-01 9.53149553e-04 1.22724947e+02] [ 9.96921137e-01 -7.62707448e-02 -1.81939646e-02 1.01949517e+02] [ 1.82136639e-02 -4.37366749e-04 9.99834022e-01 3.53119977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09275509600002 meters Centerline goodness [0,1] 0.9999139174037489 Centerline is valid? [True, True] Translation: X:122.72, Y:101.98, Z:3.53 [[-7.54484711e-02 -9.97149205e-01 9.95527671e-04 1.22722534e+02] [ 9.96970763e-01 -7.54538072e-02 -1.88685297e-02 1.01976415e+02] [ 1.88898558e-02 -4.31089739e-04 9.99821478e-01 3.52994840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:102.00, Z:3.53 [[-7.45416089e-02 -9.97217431e-01 9.71634246e-04 1.22720870e+02] [ 9.97049693e-01 -7.45468952e-02 -1.82940169e-02 1.02003253e+02] [ 1.83155448e-02 -3.94897823e-04 9.99832178e-01 3.53189444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:102.03, Z:3.53 [[-7.13496078e-02 -9.97450908e-01 9.59154237e-04 1.22716657e+02] [ 9.97289620e-01 -7.13553215e-02 -1.79396851e-02 1.02029037e+02] [ 1.79623959e-02 -3.23434930e-04 9.99838611e-01 3.53329131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:102.06, Z:3.53 [[-7.05416119e-02 -9.97508366e-01 9.69858001e-04 1.22714450e+02] [ 9.97345641e-01 -7.05476244e-02 -1.80195914e-02 1.02055610e+02] [ 1.80431144e-02 -3.03847376e-04 9.99837164e-01 3.53352287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:102.08, Z:3.53 [[-6.99487863e-02 -9.97550073e-01 1.00970133e-03 1.22712399e+02] [ 9.97376228e-01 -6.99554482e-02 -1.86250966e-02 1.02082356e+02] [ 1.86501006e-02 -2.95750795e-04 9.99826028e-01 3.53351494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:102.11, Z:3.53 [[-6.86340206e-02 -9.97641351e-01 1.05158369e-03 1.22709599e+02] [ 9.97455446e-01 -6.86415331e-02 -1.92606396e-02 1.02107329e+02] [ 1.92873928e-02 -2.73027256e-04 9.99813944e-01 3.53319784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:102.13, Z:3.53 [[-6.86019616e-02 -9.97643551e-01 1.05623227e-03 1.22707719e+02] [ 9.97458671e-01 -6.86095839e-02 -1.92074142e-02 1.02132193e+02] [ 1.92346206e-02 -2.64118260e-04 9.99814963e-01 3.53359887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.16, Z:3.53 [[-6.86691090e-02 -9.97638909e-01 1.07785357e-03 1.22704270e+02] [ 9.97448405e-01 -6.86770612e-02 -1.94972021e-02 1.02158656e+02] [ 1.95251912e-02 -2.63752173e-04 9.99809331e-01 3.53363053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.18, Z:3.53 [[-6.91101342e-02 -9.97608438e-01 1.09254139e-03 1.22702750e+02] [ 9.97415429e-01 -6.91182556e-02 -1.96247186e-02 1.02183853e+02] [ 1.96532995e-02 -2.66549303e-04 9.99806820e-01 3.53388008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.21, Z:3.53 [[-6.98501461e-02 -9.97556838e-01 1.14583919e-03 1.22701600e+02] [ 9.97347692e-01 -6.98589661e-02 -2.04280545e-02 1.02209610e+02] [ 2.04581926e-02 -2.84102518e-04 9.99790669e-01 3.53388036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.23, Z:3.53 [[-7.08820468e-02 -9.97484017e-01 1.17061878e-03 1.22701434e+02] [ 9.97268813e-01 -7.08910721e-02 -2.07212481e-02 1.02234886e+02] [ 2.07521003e-02 -3.01342883e-04 9.99784607e-01 3.53404285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.26, Z:3.53 [[-7.17784200e-02 -9.97419914e-01 1.17205131e-03 1.22699963e+02] [ 9.97207113e-01 -7.17873182e-02 -2.06047336e-02 1.02260118e+02] [ 2.06357100e-02 -3.10197317e-04 9.99787013e-01 3.53460945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.29, Z:3.53 [[-7.38282739e-02 -9.97270264e-01 1.18612092e-03 1.22695251e+02] [ 9.97055260e-01 -7.38369890e-02 -2.07100742e-02 1.02286694e+02] [ 2.07411208e-02 -3.46360926e-04 9.99784820e-01 3.53497211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.31, Z:3.54 [[-7.56700698e-02 -9.97132190e-01 1.19867652e-03 1.22694166e+02] [ 9.96915444e-01 -7.56786171e-02 -2.07929048e-02 1.02313978e+02] [ 2.08239889e-02 -3.78421426e-04 9.99783086e-01 3.53534187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.70, Y:102.34, Z:3.54 [[-7.86085288e-02 -9.96904857e-01 1.18507934e-03 1.22695745e+02] [ 9.96695519e-01 -7.86163121e-02 -2.04332643e-02 1.02340457e+02] [ 2.04631870e-02 -4.25065575e-04 9.99790517e-01 3.53614244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.37, Z:3.54 [[-8.02580613e-02 -9.96773396e-01 1.20030694e-03 1.22693080e+02] [ 9.96561370e-01 -8.02657514e-02 -2.05631780e-02 1.02367885e+02] [ 2.05931723e-02 -4.54181268e-04 9.99787835e-01 3.53682785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.39, Z:3.54 [[-8.20621436e-02 -9.96626483e-01 1.20781816e-03 1.22692407e+02] [ 9.96414366e-01 -8.20696029e-02 -2.05667460e-02 1.02394738e+02] [ 2.05964888e-02 -4.84263896e-04 9.99787753e-01 3.53775475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.42, Z:3.54 [[-8.49587859e-02 -9.96383736e-01 1.20619063e-03 1.22691654e+02] [ 9.96174687e-01 -8.49656763e-02 -2.04163600e-02 1.02422230e+02] [ 2.04450139e-02 -5.32972585e-04 9.99790837e-01 3.53913403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.45, Z:3.54 [[-8.66133454e-02 -9.96241251e-01 1.22427995e-03 1.22689751e+02] [ 9.96028467e-01 -8.66201577e-02 -2.05971166e-02 1.02449260e+02] [ 2.06257445e-02 -5.64567489e-04 9.99787107e-01 3.53918291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.48, Z:3.54 [[-8.77571021e-02 -9.96141131e-01 1.23985219e-03 1.22687346e+02] [ 9.95925494e-01 -8.77639119e-02 -2.07341580e-02 1.02476857e+02] [ 2.07629619e-02 -5.84769217e-04 9.99784255e-01 3.53947953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:102.50, Z:3.54 [[-8.93668943e-02 -9.95997903e-01 1.31704857e-03 1.22686002e+02] [ 9.95757590e-01 -8.93742747e-02 -2.18874427e-02 1.02502555e+02] [ 2.19175573e-02 -6.44551670e-04 9.99759574e-01 3.53922730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:102.53, Z:3.54 [[-8.98724207e-02 -9.95952400e-01 1.32869246e-03 1.22682314e+02] [ 9.95710615e-01 -8.98798912e-02 -2.19539536e-02 1.02529189e+02] [ 2.19845155e-02 -6.50061760e-04 9.99758100e-01 3.53968543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:102.56, Z:3.54 [[-9.02746463e-02 -9.95915958e-01 1.37555863e-03 1.22681539e+02] [ 9.95659950e-01 -9.02826418e-02 -2.25900242e-02 1.02555655e+02] [ 2.26219546e-02 -6.69717803e-04 9.99743867e-01 3.53970538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:102.58, Z:3.54 [[-9.05430785e-02 -9.95891556e-01 1.39970075e-03 1.22678717e+02] [ 9.95629759e-01 -9.05513829e-02 -2.28436102e-02 1.02581824e+02] [ 2.28765033e-02 -6.74747068e-04 9.99738071e-01 3.54028569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:102.61, Z:3.54 [[-8.95803055e-02 -9.95978577e-01 1.42904334e-03 1.22675299e+02] [ 9.95709115e-01 -8.95893223e-02 -2.31756641e-02 1.02609057e+02] [ 2.32104920e-02 -6.53171590e-04 9.99730387e-01 3.54004007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:102.63, Z:3.54 [[-8.92858265e-02 -9.96005022e-01 1.42756302e-03 1.22674088e+02] [ 9.95739146e-01 -8.92949879e-02 -2.30208283e-02 1.02634866e+02] [ 2.30563348e-02 -6.33953297e-04 9.99733966e-01 3.53986546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.67, Y:102.66, Z:3.54 [[-8.73069394e-02 -9.96180329e-01 1.50020574e-03 1.22666933e+02] [ 9.95890506e-01 -8.73177355e-02 -2.40356737e-02 1.02662176e+02] [ 2.40748599e-02 -6.04440456e-04 9.99709976e-01 3.53988112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:102.69, Z:3.54 [[-8.63738034e-02 -9.96261648e-01 1.51502833e-03 1.22663839e+02] [ 9.95969226e-01 -8.63851662e-02 -2.41434200e-02 1.02687603e+02] [ 2.41840394e-02 -5.76437419e-04 9.99707357e-01 3.53996499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:102.71, Z:3.54 [[-8.54394061e-02 -9.96342183e-01 1.53701764e-03 1.22659152e+02] [ 9.96044979e-01 -8.54514686e-02 -2.43402323e-02 1.02714106e+02] [ 2.43825406e-02 -5.48676288e-04 9.99702551e-01 3.54051329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:102.74, Z:3.54 [[-8.35633845e-02 -9.96501357e-01 1.48565896e-03 1.22653777e+02] [ 9.96226874e-01 -8.35752421e-02 -2.33922056e-02 1.02741371e+02] [ 2.34345289e-02 -4.74678487e-04 9.99725261e-01 3.54155978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:102.77, Z:3.54 [[-8.31775373e-02 -9.96533679e-01 1.45743165e-03 1.22651588e+02] [ 9.96272310e-01 -8.31891057e-02 -2.28266729e-02 1.02767195e+02] [ 2.28687908e-02 -4.46667635e-04 9.99738375e-01 3.54205950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:102.79, Z:3.54 [[-8.31190032e-02 -9.96538620e-01 1.41798834e-03 1.22647540e+02] [ 9.96293962e-01 -8.31300217e-02 -2.20848657e-02 1.02793875e+02] [ 2.21262990e-02 -4.22938801e-04 9.99755094e-01 3.54299221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.65, Y:102.82, Z:3.54 [[-8.40743926e-02 -9.96458522e-01 1.38222671e-03 1.22645132e+02] [ 9.96228189e-01 -8.40846824e-02 -2.14280394e-02 1.02819896e+02] [ 2.14683765e-02 -4.24536181e-04 9.99769438e-01 3.54352444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.85, Z:3.54 [[-8.51271365e-02 -9.96369156e-01 1.36927540e-03 1.22643337e+02] [ 9.96145671e-01 -8.51370485e-02 -2.11065037e-02 1.02846617e+02] [ 2.11464454e-02 -4.32738465e-04 9.99776295e-01 3.54381191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.87, Z:3.54 [[-8.64632253e-02 -9.96254076e-01 1.38823690e-03 1.22642513e+02] [ 9.96026979e-01 -8.64731625e-02 -2.12755699e-02 1.02872779e+02] [ 2.13159185e-02 -4.56832989e-04 9.99772686e-01 3.54392006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.90, Z:3.54 [[-8.91262887e-02 -9.96019389e-01 1.37173320e-03 1.22643643e+02] [ 9.95799968e-01 -8.91354541e-02 -2.09115732e-02 1.02898542e+02] [ 2.09506024e-02 -4.97799032e-04 9.99780388e-01 3.54397450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.93, Z:3.54 [[-9.06570326e-02 -9.95881184e-01 1.40335930e-03 1.22642912e+02] [ 9.95654203e-01 -9.06663400e-02 -2.12678619e-02 1.02925022e+02] [ 2.13075009e-02 -5.30820662e-04 9.99772829e-01 3.54416638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.95, Z:3.54 [[-9.37650528e-02 -9.95593399e-01 1.37813054e-03 1.22643637e+02] [ 9.95376794e-01 -9.37734098e-02 -2.07746603e-02 1.02951800e+02] [ 2.08123467e-02 -5.76177963e-04 9.99783234e-01 3.54487065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:102.98, Z:3.55 [[-9.52896538e-02 -9.95448614e-01 1.39208450e-03 1.22643901e+02] [ 9.95229976e-01 -9.52979118e-02 -2.08710824e-02 1.02977431e+02] [ 2.09087528e-02 -6.03353997e-04 9.99781206e-01 3.54543503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.00, Z:3.55 [[-9.69514857e-02 -9.95288146e-01 1.38387606e-03 1.22643400e+02] [ 9.95074441e-01 -9.69593579e-02 -2.06334636e-02 1.03004184e+02] [ 2.06704215e-02 -6.23385260e-04 9.99786150e-01 3.54594242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.03, Z:3.55 [[-9.81387207e-02 -9.95171748e-01 1.40870308e-03 1.22642643e+02] [ 9.94952631e-01 -9.81466865e-02 -2.08923617e-02 1.03030555e+02] [ 2.09297476e-02 -6.48756815e-04 9.99780738e-01 3.54662078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.06, Z:3.55 [[-1.00050739e-01 -9.94981376e-01 1.38250741e-03 1.22643117e+02] [ 9.94772448e-01 -1.00058076e-01 -2.03999445e-02 1.03055775e+02] [ 2.04358959e-02 -6.65749244e-04 9.99790944e-01 3.54683531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.08, Z:3.55 [[-1.00298386e-01 -9.94956370e-01 1.43340583e-03 1.22637011e+02] [ 9.94734253e-01 -1.00306298e-01 -2.10336190e-02 1.03081638e+02] [ 2.10713129e-02 -6.83780159e-04 9.99777741e-01 3.54692633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:103.11, Z:3.55 [[-1.00820772e-01 -9.94903513e-01 1.47389224e-03 1.22632411e+02] [ 9.94671270e-01 -1.00829099e-01 -2.15071336e-02 1.03108220e+02] [ 2.15461340e-02 -7.02327548e-04 9.99767608e-01 3.54699562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.14, Z:3.55 [[-9.95557095e-02 -9.95030749e-01 1.57132158e-03 1.22638587e+02] [ 9.94769601e-01 -9.95655961e-02 -2.28064067e-02 1.03135365e+02] [ 2.28495256e-02 -7.07405061e-04 9.99738665e-01 3.54566813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.64, Y:103.16, Z:3.55 [[-9.86790479e-02 -9.95118014e-01 1.60736047e-03 1.22635854e+02] [ 9.94847023e-01 -9.86897016e-02 -2.32323901e-02 1.03161544e+02] [ 2.32775998e-02 -6.93472353e-04 9.99728799e-01 3.54530442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:103.19, Z:3.55 [[-9.90486713e-02 -9.95081279e-01 1.61530586e-03 1.22633773e+02] [ 9.94810291e-01 -9.90594096e-02 -2.32318378e-02 1.03186553e+02] [ 2.32775781e-02 -6.94159774e-04 9.99728799e-01 3.54581498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:103.21, Z:3.55 [[-9.78171128e-02 -9.95203019e-01 1.66238820e-03 1.22622672e+02] [ 9.94919108e-01 -9.78289291e-02 -2.37796002e-02 1.03213012e+02] [ 2.38281596e-02 -6.72110056e-04 9.99715843e-01 3.54666103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:103.24, Z:3.55 [[-9.46534126e-02 -9.95508828e-01 1.70431003e-03 1.22618973e+02] [ 9.95213535e-01 -9.46668571e-02 -2.42529636e-02 1.03239297e+02] [ 2.43053810e-02 -5.99473362e-04 9.99704401e-01 3.54653130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.62, Y:103.27, Z:3.55 [[-9.31567929e-02 -9.95649945e-01 1.73154097e-03 1.22615767e+02] [ 9.95348349e-01 -9.31712018e-02 -2.45110332e-02 1.03266280e+02] [ 2.45657386e-02 -5.59882800e-04 9.99698060e-01 3.54694116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:103.29, Z:3.55 [[-8.97759727e-02 -9.95960483e-01 1.72974554e-03 1.22610264e+02] [ 9.95662482e-01 -8.97914295e-02 -2.43664027e-02 1.03293219e+02] [ 2.44232905e-02 -4.65274760e-04 9.99701599e-01 3.54777257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.61, Y:103.32, Z:3.55 [[-8.87758165e-02 -9.96050084e-01 1.75646439e-03 1.22609987e+02] [ 9.95745985e-01 -8.87921194e-02 -2.46148983e-02 1.03318483e+02] [ 2.46736317e-02 -4.36215334e-04 9.99695464e-01 3.54761908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.34, Z:3.55 [[-8.80868689e-02 -9.96111303e-01 1.72504527e-03 1.22604729e+02] [ 9.95821263e-01 -8.81028517e-02 -2.40395254e-02 1.03344550e+02] [ 2.40980243e-02 -3.99729761e-04 9.99709521e-01 3.54904591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.37, Z:3.55 [[-8.75975283e-02 -9.96154457e-01 1.72347948e-03 1.22601987e+02] [ 9.95868066e-01 -8.76136738e-02 -2.38880680e-02 1.03370999e+02] [ 2.39472058e-02 -3.76177536e-04 9.99713154e-01 3.54978834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.40, Z:3.55 [[-8.76179275e-02 -9.96152722e-01 1.68904285e-03 1.22600126e+02] [ 9.95880573e-01 -8.76334740e-02 -2.32864523e-02 1.03396259e+02] [ 2.33448795e-02 -3.58225720e-04 9.99727407e-01 3.55065492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.42, Z:3.55 [[-8.81527576e-02 -9.96105567e-01 1.67034510e-03 1.22597966e+02] [ 9.95842315e-01 -8.81678646e-02 -2.29022049e-02 1.03423038e+02] [ 2.29602846e-02 -3.55492190e-04 9.99736315e-01 3.55182924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.45, Z:3.55 [[-8.89170514e-02 -9.96037681e-01 1.64176923e-03 1.22596429e+02] [ 9.95786026e-01 -8.89314939e-02 -2.23914983e-02 1.03449006e+02] [ 2.24487810e-02 -3.56135151e-04 9.99747931e-01 3.55305816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.47, Z:3.55 [[-8.95989185e-02 -9.95976569e-01 1.64528996e-03 1.22597570e+02] [ 9.95726491e-01 -8.96132935e-02 -2.23206910e-02 1.03474216e+02] [ 2.23783251e-02 -3.61650975e-04 9.99749509e-01 3.55386081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.50, Z:3.56 [[-9.13833046e-02 -9.95814512e-01 1.59685018e-03 1.22595736e+02] [ 9.95580874e-01 -9.13964585e-02 -2.15733844e-02 1.03501652e+02] [ 2.16290357e-02 -3.81653661e-04 9.99765992e-01 3.55574396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:103.53, Z:3.56 [[-9.24474412e-02 -9.95716276e-01 1.60275399e-03 1.22593808e+02] [ 9.95483092e-01 -9.24604818e-02 -2.15516222e-02 1.03528644e+02] [ 2.16074924e-02 -3.96877829e-04 9.99766452e-01 3.55672745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.56, Z:3.56 [[-9.41098080e-02 -9.95560521e-01 1.61013511e-03 1.22595860e+02] [ 9.95327433e-01 -9.41226211e-02 -2.15460827e-02 1.03555006e+02] [ 2.16019795e-02 -4.25086061e-04 9.99766560e-01 3.55747509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:103.58, Z:3.56 [[-9.50353192e-02 -9.95472524e-01 1.65600840e-03 1.22595051e+02] [ 9.95228481e-01 -9.50486951e-02 -2.20457610e-02 1.03580578e+02] [ 2.21033508e-02 -4.47019213e-04 9.99755591e-01 3.55812713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:103.61, Z:3.56 [[-9.60456369e-02 -9.95375449e-01 1.71777084e-03 1.22591682e+02] [ 9.95115636e-01 -9.60598211e-02 -2.27460086e-02 1.03608129e+02] [ 2.28058272e-02 -4.75274255e-04 9.99739800e-01 3.55848950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:103.63, Z:3.56 [[-9.64817509e-02 -9.95333245e-01 1.73290820e-03 1.22590490e+02] [ 9.95071387e-01 -9.64961243e-02 -2.28349073e-02 1.03633801e+02] [ 2.28955613e-02 -4.78784474e-04 9.99737748e-01 3.55878507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:103.66, Z:3.56 [[-9.66729461e-02 -9.95314659e-01 1.75228643e-03 1.22588381e+02] [ 9.95049823e-01 -9.66876521e-02 -2.29640458e-02 1.03660385e+02] [ 2.30258758e-02 -4.76389651e-04 9.99734756e-01 3.55895403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.59, Y:103.69, Z:3.56 [[-9.59481263e-02 -9.95384669e-01 1.82149188e-03 1.22586806e+02] [ 9.95101548e-01 -9.59642849e-02 -2.37437529e-02 1.03686197e+02] [ 2.38089658e-02 -4.65599216e-04 9.99716418e-01 3.55899113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:103.71, Z:3.56 [[-9.56630240e-02 -9.95412040e-01 1.85939516e-03 1.22583509e+02] [ 9.95120166e-01 -9.56800066e-02 -2.41079009e-02 1.03712660e+02] [ 2.41752017e-02 -4.55913077e-04 9.99707633e-01 3.55939874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:103.74, Z:3.56 [[-9.50322734e-02 -9.95472405e-01 1.88600582e-03 1.22580870e+02] [ 9.95175181e-01 -9.50499907e-02 -2.43281543e-02 1.03739206e+02] [ 2.43972711e-02 -4.35053621e-04 9.99702248e-01 3.55972525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:103.76, Z:3.56 [[-9.45155833e-02 -9.95521569e-01 1.90018472e-03 1.22578458e+02] [ 9.95222924e-01 -9.45337769e-02 -2.43864205e-02 1.03764558e+02] [ 2.44568392e-02 -4.13789372e-04 9.99700801e-01 3.56019056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:103.79, Z:3.56 [[-9.33020096e-02 -9.95635985e-01 1.92892294e-03 1.22574603e+02] [ 9.95331468e-01 -9.33211823e-02 -2.46257235e-02 1.03790399e+02] [ 2.46982658e-02 -3.77711788e-04 9.99694880e-01 3.56099955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:103.82, Z:3.56 [[-9.27706302e-02 -9.95685552e-01 1.97256350e-03 1.22572080e+02] [ 9.95370336e-01 -9.27908970e-02 -2.50547942e-02 1.03816407e+02] [ 2.51297325e-02 -3.60917855e-04 9.99684133e-01 3.56181592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:103.84, Z:3.56 [[-9.23119585e-02 -9.95728176e-01 1.97544870e-03 1.22569817e+02] [ 9.95415055e-01 -9.23324715e-02 -2.49716604e-02 1.03841221e+02] [ 2.50473839e-02 -3.38791496e-04 9.99686208e-01 3.56258464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:103.87, Z:3.56 [[-9.25221482e-02 -9.95708637e-01 1.99045179e-03 1.22566660e+02] [ 9.95393368e-01 -9.25429425e-02 -2.50568770e-02 1.03867532e+02] [ 2.51335511e-02 -3.37033577e-04 9.99684046e-01 3.56399740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:103.89, Z:3.57 [[-9.29724391e-02 -9.95666728e-01 1.97265773e-03 1.22564577e+02] [ 9.95360112e-01 -9.29927651e-02 -2.47101841e-02 1.03894259e+02] [ 2.47865511e-02 -3.33861270e-04 9.99692711e-01 3.56511050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:103.92, Z:3.57 [[-9.42336119e-02 -9.95548230e-01 1.93621157e-03 1.22563315e+02] [ 9.95255691e-01 -9.42528615e-02 -2.41351797e-02 1.03920716e+02] [ 2.42102289e-02 -3.47319579e-04 9.99706829e-01 3.56681621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:103.95, Z:3.57 [[-9.50035824e-02 -9.95475109e-01 1.90417367e-03 1.22561401e+02] [ 9.95194886e-01 -9.50220222e-02 -2.36210351e-02 1.03947443e+02] [ 2.36950910e-02 -3.49059059e-04 9.99719171e-01 3.56790636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:103.97, Z:3.57 [[-9.61045351e-02 -9.95369459e-01 1.88617057e-03 1.22559589e+02] [ 9.95097073e-01 -9.61223642e-02 -2.32874675e-02 1.03972626e+02] [ 2.33609371e-02 -3.61108425e-04 9.99727031e-01 3.56905842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:104.00, Z:3.57 [[-9.72090188e-02 -9.95262258e-01 1.85585303e-03 1.22557823e+02] [ 9.95000604e-01 -9.72260208e-02 -2.28231924e-02 1.03997812e+02] [ 2.28954992e-02 -3.72045252e-04 9.99737794e-01 3.57010471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.56, Y:104.02, Z:3.57 [[-9.91503585e-02 -9.95070691e-01 1.87784030e-03 1.22555857e+02] [ 9.94805407e-01 -9.91672905e-02 -2.29793650e-02 1.04024761e+02] [ 2.30523130e-02 -4.10326592e-04 9.99734176e-01 3.57107244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:104.05, Z:3.57 [[-1.00321700e-01 -9.94953307e-01 1.86358256e-03 1.22553673e+02] [ 9.94694239e-01 -1.00338110e-01 -2.27075949e-02 1.04049685e+02] [ 2.27799850e-02 -4.24369688e-04 9.99740412e-01 3.57152334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:104.08, Z:3.57 [[-1.02422581e-01 -9.94739236e-01 1.86216336e-03 1.22551028e+02] [ 9.94482998e-01 -1.02438470e-01 -2.25815439e-02 1.04077144e+02] [ 2.26535049e-02 -4.60970199e-04 9.99743270e-01 3.57225633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:104.10, Z:3.57 [[-1.03522390e-01 -9.94625361e-01 1.87258283e-03 1.22549010e+02] [ 9.94368406e-01 -1.03538218e-01 -2.26121909e-02 1.04102319e+02] [ 2.26845425e-02 -4.78830855e-04 9.99742558e-01 3.57284033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:104.13, Z:3.57 [[-1.04700107e-01 -9.94502105e-01 1.85768936e-03 1.22546886e+02] [ 9.94251568e-01 -1.04715436e-01 -2.23270572e-02 1.04128575e+02] [ 2.23988341e-02 -4.90634709e-04 9.99748994e-01 3.57344438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:104.16, Z:3.57 [[-1.06108409e-01 -9.94352843e-01 1.85173020e-03 1.22541598e+02] [ 9.94106092e-01 -1.06123339e-01 -2.21565901e-02 1.04155768e+02] [ 2.22279801e-02 -5.10184250e-04 9.99752798e-01 3.57432288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:104.18, Z:3.57 [[-1.06601920e-01 -9.94300124e-01 1.81486769e-03 1.22541356e+02] [ 9.94065075e-01 -1.06616190e-01 -2.16244012e-02 1.04181086e+02] [ 2.16946391e-02 -5.01106104e-04 9.99764518e-01 3.57453257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:104.21, Z:3.57 [[-1.07261460e-01 -9.94229176e-01 1.82364096e-03 1.22538784e+02] [ 9.93994142e-01 -1.07275766e-01 -2.16230426e-02 1.04206274e+02] [ 2.16938923e-02 -5.06630701e-04 9.99764531e-01 3.57485137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:104.23, Z:3.58 [[-1.06670341e-01 -9.94292860e-01 1.77403355e-03 1.22533433e+02] [ 9.94072393e-01 -1.06684054e-01 -2.09425491e-02 1.04232705e+02] [ 2.10122881e-02 -4.70431068e-04 9.99779107e-01 3.57518268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.53, Y:104.26, Z:3.58 [[-1.06115784e-01 -9.94352207e-01 1.76905934e-03 1.22529320e+02] [ 9.94134838e-01 -1.06129584e-01 -2.07950721e-02 1.04258484e+02] [ 2.08653754e-02 -4.48001864e-04 9.99782194e-01 3.57546396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:104.28, Z:3.58 [[-1.05300536e-01 -9.94438835e-01 1.78913979e-03 1.22521430e+02] [ 9.94218587e-01 -1.05314875e-01 -2.09327041e-02 1.04284362e+02] [ 2.10047169e-02 -4.25428926e-04 9.99779286e-01 3.57574743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:104.31, Z:3.58 [[-1.02996725e-01 -9.94680083e-01 1.79090509e-03 1.22519244e+02] [ 9.94461471e-01 -1.03011640e-01 -2.08562836e-02 1.04310113e+02] [ 2.09298139e-02 -3.67142803e-04 9.99780880e-01 3.57591604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:104.34, Z:3.58 [[-1.01879756e-01 -9.94795142e-01 1.77217235e-03 1.22510102e+02] [ 9.94582930e-01 -1.01894630e-01 -2.05494389e-02 1.04336968e+02] [ 2.06230569e-02 -3.30999450e-04 9.99787267e-01 3.57659391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:104.36, Z:3.58 [[-9.93330522e-02 -9.95052604e-01 1.80532084e-03 1.22505156e+02] [ 9.94834327e-01 -9.93490773e-02 -2.08427914e-02 1.04362476e+02] [ 2.09190308e-02 -2.74382935e-04 9.99781135e-01 3.57664058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:104.39, Z:3.58 [[-9.86105583e-02 -9.95124505e-01 1.78242355e-03 1.22500676e+02] [ 9.94913602e-01 -9.86263567e-02 -2.04882064e-02 1.04389672e+02] [ 2.05641102e-02 -2.46996031e-04 9.99788506e-01 3.57751252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:104.42, Z:3.58 [[-9.81270230e-02 -9.95172271e-01 1.79975703e-03 1.22496785e+02] [ 9.94959056e-01 -9.81432550e-02 -2.06004352e-02 1.04415821e+02] [ 2.06776158e-02 -2.30774815e-04 9.99786169e-01 3.57800311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:104.44, Z:3.58 [[-9.77216470e-02 -9.95212126e-01 1.81746009e-03 1.22491870e+02] [ 9.94996603e-01 -9.77383086e-02 -2.07119038e-02 1.04441757e+02] [ 2.07903733e-02 -2.15634745e-04 9.99783834e-01 3.57854130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:104.47, Z:3.58 [[-9.81820909e-02 -9.95166799e-01 1.82199843e-03 1.22488912e+02] [ 9.94952147e-01 -9.81987563e-02 -2.06695476e-02 1.04467728e+02] [ 2.07485655e-02 -2.16578151e-04 9.99784702e-01 3.57934329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.49, Y:104.50, Z:3.58 [[-9.92715279e-02 -9.95058751e-01 1.80166068e-03 1.22485994e+02] [ 9.94850697e-01 -9.92876146e-02 -2.03484728e-02 1.04495038e+02] [ 2.04268085e-02 -2.27640602e-04 9.99791325e-01 3.57992969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.52, Z:3.58 [[-1.00566357e-01 -9.94928699e-01 1.81413977e-03 1.22484433e+02] [ 9.94719459e-01 -1.00582414e-01 -2.04052689e-02 1.04521653e+02] [ 2.04842582e-02 -2.47523419e-04 9.99790145e-01 3.58061279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.55, Z:3.58 [[-1.04105903e-01 -9.94564554e-01 1.81918843e-03 1.22484085e+02] [ 9.94355415e-01 -1.04121321e-01 -2.03975431e-02 1.04547663e+02] [ 2.04760897e-02 -3.14584784e-04 9.99790293e-01 3.58079643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.57, Z:3.58 [[-1.06456718e-01 -9.94315683e-01 1.81385645e-03 1.22482325e+02] [ 9.94109432e-01 -1.06471584e-01 -2.02543387e-02 1.04574682e+02] [ 2.03323308e-02 -3.53038608e-04 9.99793214e-01 3.58134407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.60, Z:3.58 [[-1.11506854e-01 -9.93761972e-01 1.83438368e-03 1.22483784e+02] [ 9.93552629e-01 -1.11521024e-01 -2.04018235e-02 1.04600946e+02] [ 2.04791287e-02 -4.52386417e-04 9.99790178e-01 3.58190830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.63, Z:3.58 [[-1.14071652e-01 -9.93470794e-01 1.85458534e-03 1.22481317e+02] [ 9.93258546e-01 -1.14085626e-01 -2.05409663e-02 1.04627604e+02] [ 2.06184317e-02 -5.01059224e-04 9.99787292e-01 3.58194191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.65, Z:3.58 [[-1.16703311e-01 -9.93165041e-01 1.88131410e-03 1.22482878e+02] [ 9.92947976e-01 -1.16717150e-01 -2.07707626e-02 1.04654457e+02] [ 2.08483769e-02 -5.55969737e-04 9.99782494e-01 3.58240906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.68, Z:3.58 [[-1.20859598e-01 -9.92667861e-01 1.86413836e-03 1.22484630e+02] [ 9.92456433e-01 -1.20872347e-01 -2.04964510e-02 1.04681501e+02] [ 2.05714910e-02 -6.27116719e-04 9.99788188e-01 3.58333383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.71, Z:3.58 [[-1.22695792e-01 -9.92442584e-01 1.86012762e-03 1.22484558e+02] [ 9.92233269e-01 -1.22708136e-01 -2.03925004e-02 1.04707269e+02] [ 2.04666386e-02 -6.56393492e-04 9.99790321e-01 3.58426278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.73, Z:3.59 [[-1.24687015e-01 -9.92194449e-01 1.82333059e-03 1.22483814e+02] [ 9.91994760e-01 -1.24698521e-01 -1.99166808e-02 1.04734172e+02] [ 1.99885867e-02 -6.74617084e-04 9.99799981e-01 3.58512050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.76, Z:3.59 [[-1.27279059e-01 -9.91865308e-01 1.80304810e-03 1.22479824e+02] [ 9.91671415e-01 -1.27289851e-01 -1.96239194e-02 1.04761366e+02] [ 1.96937946e-02 -7.09682740e-04 9.99805807e-01 3.58599660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.79, Z:3.59 [[-1.28964808e-01 -9.91647545e-01 1.79562924e-03 1.22480018e+02] [ 9.91456699e-01 -1.28975239e-01 -1.94679504e-02 1.04787573e+02] [ 1.95369369e-02 -7.30391835e-04 9.99808869e-01 3.58612536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.81, Z:3.59 [[-1.29352209e-01 -9.91597073e-01 1.80285442e-03 1.22477375e+02] [ 9.91406231e-01 -1.29362708e-01 -1.94672812e-02 1.04813377e+02] [ 1.95369212e-02 -7.30774720e-04 9.99808869e-01 3.58665302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.84, Z:3.59 [[-1.30050585e-01 -9.91505622e-01 1.85642153e-03 1.22479797e+02] [ 9.91305010e-01 -1.30061641e-01 -1.99586414e-02 1.04838691e+02] [ 2.00305544e-02 -7.55353021e-04 9.99799083e-01 3.58667018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:104.86, Z:3.59 [[-1.30322778e-01 -9.91469831e-01 1.88354395e-03 1.22473359e+02] [ 9.91265133e-01 -1.30334171e-01 -2.01603500e-02 1.04864896e+02] [ 2.02338690e-02 -7.60261374e-04 9.99794985e-01 3.58659166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:104.89, Z:3.59 [[-1.30423515e-01 -9.91456609e-01 1.87043851e-03 1.22475035e+02] [ 9.91256386e-01 -1.30434792e-01 -1.99384760e-02 1.04890887e+02] [ 2.00121041e-02 -7.46362016e-04 9.99799459e-01 3.58680806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:104.92, Z:3.59 [[-1.30385411e-01 -9.91461485e-01 1.94131834e-03 1.22466095e+02] [ 9.91247691e-01 -1.30397636e-01 -2.06027345e-02 1.04916270e+02] [ 2.06799611e-02 -7.61968678e-04 9.99785856e-01 3.58700916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:104.94, Z:3.59 [[-1.30287177e-01 -9.91474350e-01 1.96574855e-03 1.22465495e+02] [ 9.91257008e-01 -1.30299801e-01 -2.07727355e-02 1.04941594e+02] [ 2.08517711e-02 -7.57859030e-04 9.99782291e-01 3.58687992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:104.97, Z:3.59 [[-1.30489725e-01 -9.91447659e-01 1.99258272e-03 1.22465267e+02] [ 9.91226314e-01 -1.30502722e-01 -2.09626747e-02 1.04967112e+02] [ 2.10434322e-02 -7.60313219e-04 9.99778273e-01 3.58710792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:104.99, Z:3.59 [[-1.29781869e-01 -9.91540533e-01 2.00938797e-03 1.22458713e+02] [ 9.91317328e-01 -1.29795314e-01 -2.10507113e-02 1.04994140e+02] [ 2.11334427e-02 -7.40059539e-04 9.99776390e-01 3.58751765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.46, Y:105.02, Z:3.59 [[-1.29573491e-01 -9.91567823e-01 1.99069031e-03 1.22456966e+02] [ 9.91350345e-01 -1.29586788e-01 -2.07787909e-02 1.05019228e+02] [ 2.08615476e-02 -7.18908947e-04 9.99782116e-01 3.58791839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:105.05, Z:3.59 [[-1.29101094e-01 -9.91629280e-01 2.06849148e-03 1.22453841e+02] [ 9.91396068e-01 -1.29115616e-01 -2.15172777e-02 1.05045799e+02] [ 2.16042372e-02 -7.27209771e-04 9.99766337e-01 3.58850229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:105.07, Z:3.59 [[-1.28554234e-01 -9.91700377e-01 2.04216172e-03 1.22449223e+02] [ 9.91474854e-01 -1.28568572e-01 -2.11597603e-02 1.05071946e+02] [ 2.12467001e-02 -6.95424780e-04 9.99774022e-01 3.58910908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:105.10, Z:3.59 [[-1.28306234e-01 -9.91732522e-01 2.02855346e-03 1.22447196e+02] [ 9.91511792e-01 -1.28320496e-01 -2.09336118e-02 1.05097804e+02] [ 2.10208486e-02 -6.74578224e-04 9.99778810e-01 3.58978985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:105.12, Z:3.59 [[-1.28055208e-01 -9.91765001e-01 2.01143217e-03 1.22442806e+02] [ 9.91549710e-01 -1.28069339e-01 -2.06740770e-02 1.05124330e+02] [ 2.07614288e-02 -6.52988237e-04 9.99784245e-01 3.59109304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:105.15, Z:3.59 [[-1.28167188e-01 -9.91750544e-01 2.00762614e-03 1.22442302e+02] [ 9.91537800e-01 -1.28181297e-01 -2.05510575e-02 1.05149905e+02] [ 2.06388626e-02 -6.43334058e-04 9.99786789e-01 3.59207399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:105.18, Z:3.59 [[-1.28428810e-01 -9.91716762e-01 1.97597731e-03 1.22438886e+02] [ 9.91512374e-01 -1.28442476e-01 -2.01430609e-02 1.05176543e+02] [ 2.02300106e-02 -6.27743395e-04 9.99795155e-01 3.59331023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:105.20, Z:3.59 [[-1.28684528e-01 -9.91683656e-01 1.95423601e-03 1.22437865e+02] [ 9.91485298e-01 -1.28697892e-01 -1.98432900e-02 1.05201537e+02] [ 1.99297724e-02 -6.15928123e-04 9.99801193e-01 3.59438484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:105.23, Z:3.60 [[-1.29003359e-01 -9.91642271e-01 1.93397642e-03 1.22435003e+02] [ 9.91449576e-01 -1.29016434e-01 -1.95575501e-02 1.05227484e+02] [ 1.96436081e-02 -6.05549561e-04 9.99806862e-01 3.59519468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:105.25, Z:3.60 [[-1.29394779e-01 -9.91591231e-01 1.95501550e-03 1.22433327e+02] [ 9.91395862e-01 -1.29408110e-01 -1.96922743e-02 1.05253174e+02] [ 1.97796814e-02 -6.09883206e-04 9.99804177e-01 3.59596947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87275509600002 meters Centerline goodness [0,1] 0.9999136721700658 Centerline is valid? [True, True] Translation: X:122.43, Y:105.28, Z:3.60 [[-1.29933112e-01 -9.91520594e-01 2.07303858e-03 1.22428720e+02] [ 9.91302783e-01 -1.29948040e-01 -2.07917973e-02 1.05280508e+02] [ 2.08848825e-02 -6.46534013e-04 9.99781678e-01 3.59542765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:105.31, Z:3.60 [[-1.30366151e-01 -9.91463784e-01 2.05698615e-03 1.22429347e+02] [ 9.91250879e-01 -1.30380804e-01 -2.05557793e-02 1.05307191e+02] [ 2.06485022e-02 -6.40788500e-04 9.99786592e-01 3.59692099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:105.33, Z:3.60 [[-1.30624183e-01 -9.91429735e-01 2.09848931e-03 1.22428397e+02] [ 9.91209433e-01 -1.30639415e-01 -2.09093847e-02 1.05333113e+02] [ 2.10043312e-02 -6.51228891e-04 9.99779173e-01 3.59727646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:105.36, Z:3.60 [[-1.30521937e-01 -9.91443158e-01 2.11839410e-03 1.22422318e+02] [ 9.91220431e-01 -1.30537537e-01 -2.10239947e-02 1.05359050e+02] [ 2.11206257e-02 -6.44297002e-04 9.99776727e-01 3.59825232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:105.39, Z:3.60 [[-1.30618324e-01 -9.91430455e-01 2.12276195e-03 1.22417994e+02] [ 9.91208529e-01 -1.30634019e-01 -2.09858502e-02 1.05386386e+02] [ 2.10833159e-02 -6.37036830e-04 9.99777519e-01 3.59875155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:105.41, Z:3.60 [[-1.30347321e-01 -9.91466023e-01 2.16812476e-03 1.22414379e+02] [ 9.91236197e-01 -1.30363807e-01 -2.13560067e-02 1.05413664e+02] [ 2.14564001e-02 -6.34574534e-04 9.99769584e-01 3.59913140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:105.44, Z:3.60 [[-1.28812027e-01 -9.91666586e-01 2.20097081e-03 1.22412029e+02] [ 9.91431489e-01 -1.28829430e-01 -2.16004630e-02 1.05439579e+02] [ 2.17040072e-02 -6.00287646e-04 9.99764260e-01 3.59953511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:105.47, Z:3.60 [[-1.27726557e-01 -9.91806976e-01 2.20227533e-03 1.22408750e+02] [ 9.91573364e-01 -1.27744285e-01 -2.15327925e-02 1.05466552e+02] [ 2.16377019e-02 -5.66591884e-04 9.99765717e-01 3.60030261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:105.49, Z:3.60 [[-1.24871517e-01 -9.92170461e-01 2.20920641e-03 1.22403115e+02] [ 9.91937048e-01 -1.24890070e-01 -2.15258786e-02 1.05493024e+02] [ 2.16332489e-02 -4.96575428e-04 9.99765851e-01 3.60140765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:105.52, Z:3.60 [[-1.23519920e-01 -9.92339585e-01 2.23083954e-03 1.22399487e+02] [ 9.92103295e-01 -1.23539199e-01 -2.16591544e-02 1.05519740e+02] [ 2.17688325e-02 -4.62113770e-04 9.99762924e-01 3.60233921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:105.55, Z:3.60 [[-1.22225698e-01 -9.92499919e-01 2.18830005e-03 1.22396213e+02] [ 9.92274152e-01 -1.22244577e-01 -2.11724238e-02 1.05545172e+02] [ 2.12811367e-02 -4.16420699e-04 9.99773444e-01 3.60350377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:105.57, Z:3.61 [[-1.19308089e-01 -9.92855185e-01 2.03989792e-03 1.22391965e+02] [ 9.92660529e-01 -1.19325095e-01 -1.96620557e-02 1.05571032e+02] [ 1.97649850e-02 -3.20916147e-04 9.99804602e-01 3.60573382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:105.60, Z:3.61 [[-1.17756753e-01 -9.93040396e-01 2.02954431e-03 1.22387287e+02] [ 9.92849111e-01 -1.17773908e-01 -1.94922722e-02 1.05597607e+02] [ 1.95956410e-02 -2.80315414e-04 9.99807948e-01 3.60700633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.62, Z:3.61 [[-1.16648853e-01 -9.93171274e-01 1.96608626e-03 1.22384376e+02] [ 9.92993034e-01 -1.16665169e-01 -1.88168004e-02 1.05622545e+02] [ 1.89176794e-02 -2.42648235e-04 9.99821015e-01 3.60833026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.65, Z:3.61 [[-1.14855700e-01 -9.93380435e-01 1.86547455e-03 1.22381443e+02] [ 9.93221201e-01 -1.14870691e-01 -1.77867918e-02 1.05647480e+02] [ 1.78833393e-02 -1.90085547e-04 9.99840062e-01 3.61037974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.67, Z:3.61 [[-1.14563155e-01 -9.93414338e-01 1.79914307e-03 1.22378856e+02] [ 9.93267343e-01 -1.14577154e-01 -1.70897811e-02 1.05673291e+02] [ 1.71833743e-02 -1.70829178e-04 9.99852340e-01 3.61177408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.70, Z:3.61 [[-1.14588862e-01 -9.93411509e-01 1.72232985e-03 1.22377774e+02] [ 9.93277731e-01 -1.14601697e-01 -1.63033740e-02 1.05699498e+02] [ 1.63933413e-02 -1.57433188e-04 9.99865608e-01 3.61338115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.72, Z:3.61 [[-1.15673248e-01 -9.93285860e-01 1.70282376e-03 1.22376646e+02] [ 9.93156100e-01 -1.15685662e-01 -1.60558030e-02 1.05724720e+02] [ 1.61449944e-02 -1.66057080e-04 9.99869647e-01 3.61457876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.75, Z:3.62 [[-1.17033159e-01 -9.93126693e-01 1.61604517e-03 1.22375659e+02] [ 9.93010398e-01 -1.17044187e-01 -1.51989396e-02 1.05751114e+02] [ 1.52836213e-02 -1.74030254e-04 9.99883184e-01 3.61599618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.78, Z:3.62 [[-1.20577413e-01 -9.92702848e-01 1.46401114e-03 1.22377106e+02] [ 9.92607995e-01 -1.20586132e-01 -1.37242023e-02 1.05777256e+02] [ 1.38005942e-02 -2.01639644e-04 9.99904747e-01 3.61806616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:105.80, Z:3.62 [[-1.22547966e-01 -9.92461706e-01 1.32609198e-03 1.22375359e+02] [ 9.92384342e-01 -1.22554973e-01 -1.23934092e-02 1.05804426e+02] [ 1.24625032e-02 -2.02794170e-04 9.99922319e-01 3.62013680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:105.83, Z:3.62 [[-1.24399323e-01 -9.92231557e-01 1.15977868e-03 1.22371798e+02] [ 9.92172654e-01 -1.24404578e-01 -1.08131999e-02 1.05831327e+02] [ 1.08734799e-02 -1.94454060e-04 9.99940863e-01 3.62148145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:105.86, Z:3.62 [[-1.26044438e-01 -9.92024015e-01 1.07351461e-03 1.22369062e+02] [ 9.91973817e-01 -1.26048861e-01 -9.98156161e-03 1.05858130e+02] [ 1.00372641e-02 -1.93221936e-04 9.99949607e-01 3.62243692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:105.88, Z:3.62 [[-1.28816611e-01 -9.91667954e-01 9.74361228e-04 1.22367921e+02] [ 9.91626869e-01 -1.28820145e-01 -9.02898156e-03 1.05883972e+02] [ 9.07926903e-03 -1.96880029e-04 9.99958763e-01 3.62384218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:105.91, Z:3.62 [[-1.30366385e-01 -9.91465477e-01 9.01694688e-04 1.22364139e+02] [ 9.91430391e-01 -1.30369359e-01 -8.34323037e-03 1.05910541e+02] [ 8.38957824e-03 -1.93709266e-04 9.99964788e-01 3.62473980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:105.94, Z:3.62 [[-1.31594840e-01 -9.91303145e-01 9.34105283e-04 1.22361813e+02] [ 9.91265755e-01 -1.31597992e-01 -8.61228509e-03 1.05938030e+02] [ 8.66031167e-03 -2.07385701e-04 9.99962477e-01 3.62462958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:105.96, Z:3.63 [[-1.31923001e-01 -9.91259569e-01 8.87649296e-04 1.22358365e+02] [ 9.91225985e-01 -1.31925840e-01 -8.16202290e-03 1.05964471e+02] [ 8.20778718e-03 -1.96897505e-04 9.99966296e-01 3.62586742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:105.99, Z:3.62 [[-1.32831829e-01 -9.91138026e-01 1.05746986e-03 1.22354163e+02] [ 9.91090804e-01 -1.32835826e-01 -9.67793196e-03 1.05990862e+02] [ 9.73263626e-03 -2.37488751e-04 9.99952609e-01 3.62385500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:106.02, Z:3.62 [[-1.33696653e-01 -9.91021581e-01 1.19621371e-03 1.22351777e+02] [ 9.90961767e-01 -1.33701730e-01 -1.08914922e-02 1.06016059e+02] [ 1.09536397e-02 -2.70754005e-04 9.99939970e-01 3.62275506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:106.04, Z:3.62 [[-1.34732079e-01 -9.90881175e-01 1.32812770e-03 1.22348161e+02] [ 9.90807859e-01 -1.34738272e-01 -1.20575445e-02 1.06042724e+02] [ 1.21265435e-02 -3.08618674e-04 9.99926423e-01 3.62161761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:106.07, Z:3.62 [[-1.34967499e-01 -9.90849016e-01 1.41468528e-03 1.22343608e+02] [ 9.90766483e-01 -1.34974522e-01 -1.27927423e-02 1.06068917e+02] [ 1.28666226e-02 -3.24981674e-04 9.99917169e-01 3.62071061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:106.09, Z:3.62 [[-1.36090216e-01 -9.90695091e-01 1.63992100e-03 1.22340571e+02] [ 9.90585191e-01 -1.36099554e-01 -1.47611259e-02 1.06094007e+02] [ 1.48469675e-02 -3.84363361e-04 9.99889704e-01 3.61821115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:106.12, Z:3.62 [[-1.37113792e-01 -9.90553791e-01 1.73088869e-03 1.22339270e+02] [ 9.90432032e-01 -1.37124086e-01 -1.55362635e-02 1.06119823e+02] [ 1.56268512e-02 -4.15908397e-04 9.99877807e-01 3.61787469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:106.15, Z:3.62 [[-1.39271639e-01 -9.90252383e-01 1.90477859e-03 1.22331112e+02] [ 9.90106079e-01 -1.39283817e-01 -1.70285540e-02 1.06146602e+02] [ 1.71278710e-02 -4.85661754e-04 9.99853189e-01 3.61512399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:106.17, Z:3.62 [[-1.40269792e-01 -9.90111355e-01 1.97215043e-03 1.22329240e+02] [ 9.89955552e-01 -1.40282719e-01 -1.75716545e-02 1.06172375e+02] [ 1.76745533e-02 -5.12431053e-04 9.99843662e-01 3.61508887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.33, Y:106.20, Z:3.61 [[-1.41417427e-01 -9.89947884e-01 2.07334251e-03 1.22326151e+02] [ 9.89776894e-01 -1.41431552e-01 -1.84069655e-02 1.06198661e+02] [ 1.85151726e-02 -5.50919187e-04 9.99828428e-01 3.61489831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:106.23, Z:3.61 [[-1.43291205e-01 -9.89678096e-01 2.21287330e-03 1.22321224e+02] [ 9.89484632e-01 -1.43306968e-01 -1.95774561e-02 1.06225249e+02] [ 1.96924997e-02 -6.15673154e-04 9.99805894e-01 3.61319491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:106.25, Z:3.61 [[-1.43689812e-01 -9.89620046e-01 2.32443259e-03 1.22317298e+02] [ 9.89407967e-01 -1.43707163e-01 -2.04969727e-02 1.06250164e+02] [ 2.06182527e-02 -6.45394036e-04 9.99787213e-01 3.61272048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:106.28, Z:3.61 [[-1.45208415e-01 -9.89398017e-01 2.46564714e-03 1.22313508e+02] [ 9.89161142e-01 -1.45227629e-01 -2.16603424e-02 1.06276902e+02] [ 2.17887799e-02 -7.06341635e-04 9.99762347e-01 3.61125930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:106.30, Z:3.61 [[-1.45744388e-01 -9.89319205e-01 2.46667256e-03 1.22308728e+02] [ 9.89083577e-01 -1.45763537e-01 -2.16025025e-02 1.06302568e+02] [ 2.17313215e-02 -7.08698187e-04 9.99763596e-01 3.61176255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:106.33, Z:3.61 [[-1.46546072e-01 -9.89200511e-01 2.56876199e-03 1.22303801e+02] [ 9.88946748e-01 -1.46566692e-01 -2.24172769e-02 1.06328992e+02] [ 2.25516767e-02 -7.44795068e-04 9.99745401e-01 3.61090947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:106.35, Z:3.61 [[-1.48601453e-01 -9.88893293e-01 2.76845483e-03 1.22299858e+02] [ 9.88600594e-01 -1.48624863e-01 -2.40731154e-02 1.06354974e+02] [ 2.42172036e-02 -8.40403822e-04 9.99706367e-01 3.60846413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.30, Y:106.38, Z:3.61 [[-1.49674594e-01 -9.88731275e-01 2.82537092e-03 1.22296017e+02] [ 9.88428342e-01 -1.49698714e-01 -2.44889423e-02 1.06382327e+02] [ 2.46359375e-02 -8.72695782e-04 9.99696108e-01 3.60770194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:106.41, Z:3.61 [[-1.50584878e-01 -9.88592808e-01 2.90775806e-03 1.22290054e+02] [ 9.88273883e-01 -1.50610201e-01 -2.51256704e-02 1.06409442e+02] [ 2.52769951e-02 -9.09884661e-04 9.99680072e-01 3.60729621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:106.44, Z:3.61 [[-1.51428971e-01 -9.88463156e-01 3.13950154e-03 1.22284838e+02] [ 9.88093746e-01 -1.51458261e-01 -2.70396914e-02 1.06435127e+02] [ 2.72032421e-02 -9.92470807e-04 9.99629431e-01 3.60541644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:106.46, Z:3.60 [[-1.51589801e-01 -9.88438260e-01 3.21539128e-03 1.22280296e+02] [ 9.88053283e-01 -1.51620552e-01 -2.76028475e-02 1.06460813e+02] [ 2.77712300e-02 -1.00733226e-03 9.99613797e-01 3.60476692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:106.49, Z:3.60 [[-1.50622325e-01 -9.88585411e-01 3.43513182e-03 1.22274069e+02] [ 9.88148881e-01 -1.50657951e-01 -2.93933763e-02 1.06485393e+02] [ 2.95753929e-02 -1.03287702e-03 9.99562019e-01 3.60299903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.27, Y:106.51, Z:3.60 [[-1.50997575e-01 -9.88528131e-01 3.44474843e-03 1.22270788e+02] [ 9.88091611e-01 -1.51033320e-01 -2.93922497e-02 1.06511115e+02] [ 2.95753375e-02 -1.03443140e-03 9.99562019e-01 3.60352697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:106.54, Z:3.60 [[-1.50589952e-01 -9.88589900e-01 3.56022322e-03 1.22264272e+02] [ 9.88126727e-01 -1.50628432e-01 -3.02761893e-02 1.06537039e+02] [ 3.04670058e-02 -1.04133818e-03 9.99535231e-01 3.60286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:106.56, Z:3.60 [[-1.49823270e-01 -9.88706007e-01 3.66328315e-03 1.22258574e+02] [ 9.88218863e-01 -1.49864496e-01 -3.10501343e-02 1.06562934e+02] [ 3.12484503e-02 -1.03190714e-03 9.99511115e-01 3.60214504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:106.59, Z:3.60 [[-1.47874911e-01 -9.88998599e-01 3.84465665e-03 1.22250749e+02] [ 9.88465222e-01 -1.47921471e-01 -3.24922071e-02 1.06588717e+02] [ 3.27034545e-02 -1.00447284e-03 9.99464594e-01 3.60011406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:106.61, Z:3.60 [[-1.47197883e-01 -9.89099153e-01 3.95584138e-03 1.22248866e+02] [ 9.88537546e-01 -1.47247652e-01 -3.33413984e-02 1.06614819e+02] [ 3.35604372e-02 -9.97285534e-04 9.99436192e-01 3.59788655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.24, Y:106.64, Z:3.60 [[-1.45399506e-01 -9.89364691e-01 4.06105226e-03 1.22238089e+02] [ 9.88776990e-01 -1.45453145e-01 -3.41093240e-02 1.06639040e+02] [ 3.43372536e-02 -9.44003828e-04 9.99409857e-01 3.59885712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:106.66, Z:3.60 [[-1.44673850e-01 -9.89470922e-01 4.09543060e-03 1.22233273e+02] [ 9.88877382e-01 -1.44728948e-01 -3.42790683e-02 1.06663817e+02] [ 3.45108686e-02 -9.09406095e-04 9.99403909e-01 3.59933265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:106.69, Z:3.60 [[-1.43970516e-01 -9.89573527e-01 4.08959256e-03 1.22228291e+02] [ 9.88985569e-01 -1.44025976e-01 -3.41183536e-02 1.06689480e+02] [ 3.43516270e-02 -8.67488947e-04 9.99409432e-01 3.60022128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:106.72, Z:3.60 [[-1.42853511e-01 -9.89735399e-01 4.08826376e-03 1.22223006e+02] [ 9.89151519e-01 -1.42909685e-01 -3.40013985e-02 1.06715546e+02] [ 3.42366402e-02 -8.13306861e-04 9.99413423e-01 3.60153489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:106.74, Z:3.60 [[-1.41153057e-01 -9.89980151e-01 3.88777493e-03 1.22216465e+02] [ 9.89455354e-01 -1.41204834e-01 -3.22381386e-02 1.06740622e+02] [ 3.24640900e-02 -7.03732108e-04 9.99472655e-01 3.60470477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:106.77, Z:3.61 [[-1.40283821e-01 -9.90104106e-01 3.78260111e-03 1.22212142e+02] [ 9.89610246e-01 -1.40333331e-01 -3.12748742e-02 1.06766775e+02] [ 3.14962064e-02 -6.44058038e-04 9.99503664e-01 3.60651789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:106.79, Z:3.61 [[-1.38926230e-01 -9.90295903e-01 3.67797713e-03 1.22206938e+02] [ 9.89831390e-01 -1.38973724e-01 -3.03335514e-02 1.06791393e+02] [ 3.05503339e-02 -5.73548725e-04 9.99533065e-01 3.60968086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:106.82, Z:3.61 [[-1.38689323e-01 -9.90329189e-01 3.65627039e-03 1.22203634e+02] [ 9.89872554e-01 -1.38736412e-01 -3.00754819e-02 1.06816377e+02] [ 3.02918855e-02 -5.51906510e-04 9.99540943e-01 3.61106843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:106.84, Z:3.61 [[-1.38996972e-01 -9.90286274e-01 3.59683603e-03 1.22200888e+02] [ 9.89847094e-01 -1.39042456e-01 -2.94945064e-02 1.06841782e+02] [ 2.97081178e-02 -5.39329394e-04 9.99558471e-01 3.61223880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:106.87, Z:3.61 [[-1.39746820e-01 -9.90180906e-01 3.54960501e-03 1.22199732e+02] [ 9.89755821e-01 -1.39790844e-01 -2.90160995e-02 1.06866696e+02] [ 2.92273899e-02 -5.41665399e-04 9.99572642e-01 3.61402104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:106.89, Z:3.62 [[-1.40706613e-01 -9.90045112e-01 3.51087882e-03 1.22197610e+02] [ 9.89631831e-01 -1.40749329e-01 -2.86088382e-02 1.06892262e+02] [ 2.88181942e-02 -5.50975275e-04 9.99584518e-01 3.61522858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:106.92, Z:3.62 [[-1.42326796e-01 -9.89813579e-01 3.48735090e-03 1.22197224e+02] [ 9.89408191e-01 -1.42368324e-01 -2.83318019e-02 1.06918206e+02] [ 2.85396905e-02 -5.81961033e-04 9.99592491e-01 3.61720923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:106.94, Z:3.62 [[-1.43105112e-01 -9.89701573e-01 3.42391426e-03 1.22190062e+02] [ 9.89313054e-01 -1.43144884e-01 -2.77348598e-02 1.06943519e+02] [ 2.79393502e-02 -5.81677147e-04 9.99609451e-01 3.62096869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:106.97, Z:3.62 [[-1.44345455e-01 -9.89521692e-01 3.34835891e-03 1.22188207e+02] [ 9.89152407e-01 -1.44383077e-01 -2.70377892e-02 1.06969462e+02] [ 2.72379252e-02 -5.90744701e-04 9.99628804e-01 3.62287109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:106.99, Z:3.62 [[-1.45528551e-01 -9.89348660e-01 3.26659438e-03 1.22187897e+02] [ 9.88999379e-01 -1.45563989e-01 -2.62936188e-02 1.06994488e+02] [ 2.64890550e-02 -5.95812423e-04 9.99648926e-01 3.62437645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:107.02, Z:3.63 [[-1.47389831e-01 -9.89073464e-01 3.14964086e-03 1.22188718e+02] [ 9.88750720e-01 -1.47422215e-01 -2.52725825e-02 1.07022069e+02] [ 2.54607677e-02 -6.10711995e-04 9.99675636e-01 3.62661959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:107.05, Z:3.63 [[-1.48174712e-01 -9.88956169e-01 3.15447271e-03 1.22188218e+02] [ 9.88634266e-01 -1.48206985e-01 -2.52384280e-02 1.07048089e+02] [ 2.54272139e-02 -6.21076994e-04 9.99676483e-01 3.62712487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.19, Y:107.07, Z:3.63 [[-1.49245907e-01 -9.88794920e-01 3.20396886e-03 1.22186481e+02] [ 9.88464946e-01 -1.49278894e-01 -2.55511730e-02 1.07074298e+02] [ 2.57431550e-02 -6.46397088e-04 9.99668381e-01 3.62833558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:107.10, Z:3.63 [[-1.49552003e-01 -9.88748370e-01 3.29525898e-03 1.22184220e+02] [ 9.88401560e-01 -1.49586845e-01 -2.61941083e-02 1.07100803e+02] [ 2.63923093e-02 -6.60342238e-04 9.99651444e-01 3.62853647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:107.13, Z:3.63 [[-1.48999009e-01 -9.88831802e-01 3.31106298e-03 1.22181530e+02] [ 9.88483849e-01 -1.49034434e-01 -2.62377063e-02 1.07127570e+02] [ 2.64381408e-02 -6.36459950e-04 9.99650249e-01 3.62891865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:107.16, Z:3.63 [[-1.46862181e-01 -9.89151322e-01 3.34094825e-03 1.22178076e+02] [ 9.88799194e-01 -1.46899059e-01 -2.63973537e-02 1.07155097e+02] [ 2.66017594e-02 -5.73245998e-04 9.99645946e-01 3.63007262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:107.18, Z:3.63 [[-1.46111071e-01 -9.89262321e-01 3.40823718e-03 1.22175562e+02] [ 9.88897984e-01 -1.46149770e-01 -2.68518372e-02 1.07180638e+02] [ 2.70616238e-02 -5.52951809e-04 9.99633614e-01 3.63015950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:107.21, Z:3.63 [[-1.45128461e-01 -9.89406825e-01 3.44438171e-03 1.22173690e+02] [ 9.89037191e-01 -1.45168402e-01 -2.70475508e-02 1.07206237e+02] [ 2.72610467e-02 -5.18747825e-04 9.99628214e-01 3.63012879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:107.23, Z:3.63 [[-1.44388409e-01 -9.89514893e-01 3.50189452e-03 1.22168313e+02] [ 9.89135260e-01 -1.44430024e-01 -2.74117659e-02 1.07231936e+02] [ 2.76301294e-02 -4.94093926e-04 9.99618093e-01 3.63166546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.17, Y:107.26, Z:3.63 [[-1.43018840e-01 -9.89713239e-01 3.64910630e-03 1.22166266e+02] [ 9.89303679e-01 -1.43064639e-01 -2.84734771e-02 1.07258655e+02] [ 2.87026353e-02 -4.62169375e-04 9.99587888e-01 3.63187038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.28, Z:3.63 [[-1.42424275e-01 -9.89798808e-01 3.69386936e-03 1.22164457e+02] [ 9.89381781e-01 -1.42471496e-01 -2.87326318e-02 1.07283725e+02] [ 2.89657959e-02 -4.37577216e-04 9.99580308e-01 3.63232031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.31, Z:3.63 [[-1.41552880e-01 -9.89923611e-01 3.74531785e-03 1.22161226e+02] [ 9.89497671e-01 -1.41601842e-01 -2.90392520e-02 1.07310009e+02] [ 2.92769851e-02 -4.04606478e-04 9.99571255e-01 3.63479459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.34, Z:3.64 [[-1.41885859e-01 -9.89876100e-01 3.70264638e-03 1.22158935e+02] [ 9.89462435e-01 -1.41933608e-01 -2.86171470e-02 1.07335827e+02] [ 2.88529598e-02 -3.96738978e-04 9.99583588e-01 3.63516051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.36, Z:3.64 [[-1.42209963e-01 -9.89829734e-01 3.66388351e-03 1.22157003e+02] [ 9.89427245e-01 -1.42256621e-01 -2.82272964e-02 1.07362067e+02] [ 2.84614290e-02 -3.89056608e-04 9.99594816e-01 3.63722222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.39, Z:3.64 [[-1.43021695e-01 -9.89713063e-01 3.58438839e-03 1.22156667e+02] [ 9.89329999e-01 -1.43066066e-01 -2.75364067e-02 1.07387907e+02] [ 2.77659458e-02 -3.92160605e-04 9.99614375e-01 3.63731013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.41, Z:3.64 [[-1.44479302e-01 -9.89501559e-01 3.52092334e-03 1.22152935e+02] [ 9.89133762e-01 -1.44521601e-01 -2.69797511e-02 1.07414510e+02] [ 2.72053552e-02 -4.15351463e-04 9.99629780e-01 3.63965901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.44, Z:3.64 [[-1.47794299e-01 -9.89012260e-01 3.40510244e-03 1.22154200e+02] [ 9.88670147e-01 -1.47832745e-01 -2.60157616e-02 1.07442099e+02] [ 2.62332928e-02 -4.78458111e-04 9.99655733e-01 3.64221151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.47, Z:3.64 [[-1.49572199e-01 -9.88744955e-01 3.40164438e-03 1.22154380e+02] [ 9.88405375e-01 -1.49609992e-01 -2.59164862e-02 1.07468222e+02] [ 2.61337149e-02 -5.14182245e-04 9.99658324e-01 3.64330172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.50, Z:3.64 [[-1.51585350e-01 -9.88438442e-01 3.36573981e-03 1.22153736e+02] [ 9.88107796e-01 -1.51621712e-01 -2.55703036e-02 1.07495721e+02] [ 2.57849903e-02 -5.50369664e-04 9.99667360e-01 3.64425389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:107.52, Z:3.65 [[-1.55147170e-01 -9.87885846e-01 3.30324304e-03 1.22155587e+02] [ 9.87568944e-01 -1.55181089e-01 -2.50281776e-02 1.07522492e+02] [ 2.52375832e-02 -6.20870680e-04 9.99681289e-01 3.64560815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.55, Z:3.65 [[-1.56928458e-01 -9.87604439e-01 3.30636140e-03 1.22152058e+02] [ 9.87288651e-01 -1.56961915e-01 -2.49815242e-02 1.07549597e+02] [ 2.51908369e-02 -6.55978976e-04 9.99682445e-01 3.64652111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.58, Z:3.65 [[-1.58556305e-01 -9.87344476e-01 3.28386582e-03 1.22149386e+02] [ 9.87034604e-01 -1.58588840e-01 -2.47440757e-02 1.07576866e+02] [ 2.49517110e-02 -6.82040004e-04 9.99688425e-01 3.64718772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.60, Z:3.65 [[-1.61285657e-01 -9.86902767e-01 3.14087110e-03 1.22148257e+02] [ 9.86620710e-01 -1.61314683e-01 -2.36039917e-02 1.07604498e+02] [ 2.38015134e-02 -7.08136848e-04 9.99716453e-01 3.64885012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.15, Y:107.63, Z:3.65 [[-1.62668773e-01 -9.86675723e-01 3.14454749e-03 1.22146054e+02] [ 9.86394519e-01 -1.62697518e-01 -2.35662876e-02 1.07631012e+02] [ 2.37638940e-02 -7.31734670e-04 9.99717331e-01 3.64971095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:107.66, Z:3.65 [[-1.63816267e-01 -9.86485872e-01 3.13918964e-03 1.22143380e+02] [ 9.86207172e-01 -1.63844639e-01 -2.34595119e-02 1.07658417e+02] [ 2.36568165e-02 -7.47158341e-04 9.99719859e-01 3.65040697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:107.69, Z:3.65 [[-1.65304334e-01 -9.86237254e-01 3.24898394e-03 1.22140645e+02] [ 9.85940300e-01 -1.65334328e-01 -2.42133044e-02 1.07685146e+02] [ 2.44172314e-02 -7.99259958e-04 9.99701535e-01 3.65009808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:107.71, Z:3.65 [[-1.65342526e-01 -9.86230549e-01 3.33965449e-03 1.22138054e+02] [ 9.85918532e-01 -1.65374261e-01 -2.48193905e-02 1.07710232e+02] [ 2.50299340e-02 -8.11073448e-04 9.99686373e-01 3.64994678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:107.74, Z:3.65 [[-1.65205002e-01 -9.86253145e-01 3.47015137e-03 1.22131912e+02] [ 9.85918373e-01 -1.65239380e-01 -2.57081656e-02 1.07736469e+02] [ 2.59281648e-02 -8.25831570e-04 9.99663468e-01 3.65023503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:107.76, Z:3.65 [[-1.63436426e-01 -9.86547159e-01 3.63823426e-03 1.22124492e+02] [ 9.86181404e-01 -1.63474939e-01 -2.68734729e-02 1.07763379e+02] [ 2.71067085e-02 -8.04145407e-04 9.99632222e-01 3.64969091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.12, Y:107.79, Z:3.65 [[-1.62008884e-01 -9.86782472e-01 3.67068178e-03 1.22118981e+02] [ 9.86412119e-01 -1.62048678e-01 -2.70436237e-02 1.07789662e+02] [ 2.72810029e-02 -7.60502299e-04 9.99627515e-01 3.65032586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.11, Y:107.82, Z:3.65 [[-1.58884267e-01 -9.87290438e-01 3.65808206e-03 1.22110278e+02] [ 9.86924535e-01 -1.58924997e-01 -2.68850823e-02 1.07816467e+02] [ 2.71247453e-02 -6.61365651e-04 9.99631838e-01 3.65142687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:107.84, Z:3.65 [[-1.57239372e-01 -9.87553589e-01 3.69975458e-03 1.22104027e+02] [ 9.87180939e-01 -1.57281693e-01 -2.71341472e-02 1.07841685e+02] [ 2.73783281e-02 -6.14229064e-04 9.99624955e-01 3.65183689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:107.87, Z:3.65 [[-1.55746273e-01 -9.87790162e-01 3.70046771e-03 1.22097040e+02] [ 9.87419433e-01 -1.55789216e-01 -2.70662712e-02 1.07868053e+02] [ 2.73122893e-02 -5.61557135e-04 9.99626792e-01 3.65256218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.09, Y:107.89, Z:3.65 [[-1.54236893e-01 -9.88026766e-01 3.75386059e-03 1.22089177e+02] [ 9.87647319e-01 -1.54281704e-01 -2.73848406e-02 1.07894759e+02] [ 2.76361075e-02 -5.16262389e-04 9.99617917e-01 3.65333601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:107.92, Z:3.65 [[-1.51723821e-01 -9.88415557e-01 3.81705300e-03 1.22079449e+02] [ 9.88025426e-01 -1.51771183e-01 -2.77716823e-02 1.07921047e+02] [ 2.80292815e-02 -4.42280332e-04 9.99607005e-01 3.65382290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:107.95, Z:3.65 [[-1.51210368e-01 -9.88494032e-01 3.86965543e-03 1.22074681e+02] [ 9.88095323e-01 -1.51259286e-01 -2.80759938e-02 1.07946328e+02] [ 2.83382736e-02 -4.21792928e-04 9.99598301e-01 3.65361363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.07, Y:107.97, Z:3.65 [[-1.51734621e-01 -9.88413806e-01 3.84103178e-03 1.22067581e+02] [ 9.88023289e-01 -1.51782646e-01 -2.77850339e-02 1.07972296e+02] [ 2.80461131e-02 -4.20922732e-04 9.99606542e-01 3.65433583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:108.00, Z:3.65 [[-1.53228491e-01 -9.88183359e-01 3.83121435e-03 1.22063402e+02] [ 9.87797015e-01 -1.53275720e-01 -2.76334916e-02 1.07997406e+02] [ 2.78941887e-02 -4.49776121e-04 9.99610780e-01 3.65498495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:108.02, Z:3.66 [[-1.54868835e-01 -9.87927868e-01 3.76453195e-03 1.22059479e+02] [ 9.87556947e-01 -1.54913853e-01 -2.70735169e-02 1.08023571e+02] [ 2.73298599e-02 -4.75154323e-04 9.99626357e-01 3.65615571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:108.05, Z:3.66 [[-1.58934720e-01 -9.87283180e-01 3.41713137e-03 1.22057490e+02] [ 9.86978991e-01 -1.58970589e-01 -2.45116843e-02 1.08049704e+02] [ 2.47431971e-02 -5.23120808e-04 9.99693703e-01 3.65887493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:108.08, Z:3.66 [[-1.61641426e-01 -9.86844456e-01 3.17331312e-03 1.22051945e+02] [ 9.86583345e-01 -1.61671672e-01 -2.27062440e-02 1.08076242e+02] [ 2.29205659e-02 -5.39531790e-04 9.99737144e-01 3.66134929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:108.10, Z:3.66 [[-1.64511664e-01 -9.86370644e-01 2.97732990e-03 1.22048623e+02] [ 9.86141845e-01 -1.64537651e-01 -2.12514220e-02 1.08102840e+02] [ 2.14516617e-02 -5.60037204e-04 9.99769730e-01 3.66330303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.04, Y:108.13, Z:3.66 [[-1.64865109e-01 -9.86311606e-01 2.98536276e-03 1.22044701e+02] [ 9.86082817e-01 -1.64891187e-01 -2.12502936e-02 1.08129301e+02] [ 2.14516712e-02 -5.59617063e-04 9.99769730e-01 3.66384733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.172755096 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:122.04, Y:108.16, Z:3.66 [[-1.70405128e-01 -9.85369933e-01 2.86128311e-03 1.22043362e+02] [ 9.85160675e-01 -1.70427934e-01 -2.03165670e-02 1.08155169e+02] [ 2.05069768e-02 -6.43223585e-04 9.99789503e-01 3.66406177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.202755096 meters Centerline goodness [0,1] 0.9996577100804381 Centerline is valid? [True, True] Translation: X:122.04, Y:108.18, Z:3.67 [[-1.73012470e-01 -9.84915768e-01 2.75953100e-03 1.22039688e+02] [ 9.84721867e-01 -1.73033195e-01 -1.95539983e-02 1.08182124e+02] [ 1.97365317e-02 -6.65715043e-04 9.99804994e-01 3.66569152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.232755096 meters Centerline goodness [0,1] 0.9990842100779487 Centerline is valid? [True, True] Translation: X:122.04, Y:108.21, Z:3.67 [[-1.76790262e-01 -9.84244884e-01 2.68556351e-03 1.22037494e+02] [ 9.84062079e-01 -1.76809221e-01 -1.89822265e-02 1.08208466e+02] [ 1.91579917e-02 -7.13111592e-04 9.99816215e-01 3.66608473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.262755096 meters Centerline goodness [0,1] 0.9987595705547714 Centerline is valid? [True, True] Translation: X:122.03, Y:108.24, Z:3.67 [[-1.78392296e-01 -9.83955861e-01 2.65565710e-03 1.22030022e+02] [ 9.83777744e-01 -1.78410570e-01 -1.87355261e-02 1.08235250e+02] [ 1.89087280e-02 -7.29697161e-04 9.99820948e-01 3.66649055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.292755096 meters Centerline goodness [0,1] 0.9984029300909265 Centerline is valid? [True, True] Translation: X:122.03, Y:108.26, Z:3.67 [[-1.79278395e-01 -9.83794773e-01 2.66479410e-03 1.22026337e+02] [ 9.83616350e-01 -1.79296670e-01 -1.87504735e-02 1.08260962e+02] [ 1.89244065e-02 -7.40419748e-04 9.99820643e-01 3.66650052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.322755096 meters Centerline goodness [0,1] 0.9982724422547827 Centerline is valid? [True, True] Translation: X:122.02, Y:108.29, Z:3.67 [[-1.79667990e-01 -9.83723525e-01 2.72756802e-03 1.22018108e+02] [ 9.83537334e-01 -1.79687091e-01 -1.91536464e-02 1.08287396e+02] [ 1.93320013e-02 -7.58632182e-04 9.99812832e-01 3.66644256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.352755096 meters Centerline goodness [0,1] 0.9982999341224472 Centerline is valid? [True, True] Translation: X:122.02, Y:108.31, Z:3.67 [[-1.79270960e-01 -9.83795998e-01 2.71234682e-03 1.22015072e+02] [ 9.83612827e-01 -1.79289960e-01 -1.89978004e-02 1.08313008e+02] [ 1.91762565e-02 -7.37854790e-04 9.99815846e-01 3.66701530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.382755096 meters Centerline goodness [0,1] 0.9980532396631259 Centerline is valid? [True, True] Translation: X:122.01, Y:108.34, Z:3.67 [[-1.78581487e-01 -9.83921156e-01 2.79479712e-03 1.22006899e+02] [ 9.83727591e-01 -1.78601829e-01 -1.95298211e-02 1.08338999e+02] [ 1.97149600e-02 -7.38345459e-04 9.99805369e-01 3.66713313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.412755096 meters Centerline goodness [0,1] 0.998001998001998 Centerline is valid? [True, True] Translation: X:122.00, Y:108.36, Z:3.67 [[-1.76266670e-01 -9.84338459e-01 2.80348574e-03 1.21997938e+02] [ 9.84144711e-01 -1.76287631e-01 -1.95412323e-02 1.08364504e+02] [ 1.97294064e-02 -6.85432290e-04 9.99805121e-01 3.66748619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.442755096 meters Centerline goodness [0,1] 0.998177966101695 Centerline is valid? [True, True] Translation: X:121.99, Y:108.39, Z:3.67 [[-1.75044112e-01 -9.84556534e-01 2.82684344e-03 1.21990920e+02] [ 9.84360615e-01 -1.75065702e-01 -1.96514648e-02 1.08390888e+02] [ 1.98428614e-02 -6.57239851e-04 9.99802895e-01 3.66761620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47275509600001 meters Centerline goodness [0,1] 0.9975907688406104 Centerline is valid? [True, True] Translation: X:121.98, Y:108.42, Z:3.67 [[-1.73155208e-01 -9.84890144e-01 2.94579313e-03 1.21981947e+02] [ 9.84678511e-01 -1.73179095e-01 -2.04262480e-02 1.08416877e+02] [ 2.06277601e-02 -6.36252034e-04 9.99787023e-01 3.66815653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50275509600002 meters Centerline goodness [0,1] 0.9980308708632408 Centerline is valid? [True, True] Translation: X:121.97, Y:108.44, Z:3.67 [[-1.72936988e-01 -9.84928288e-01 3.01100373e-03 1.21974188e+02] [ 9.84708280e-01 -1.72962026e-01 -2.08264457e-02 1.08442294e+02] [ 2.10333448e-02 -6.36702480e-04 9.99778572e-01 3.66791101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53275509600002 meters Centerline goodness [0,1] 0.9977690316334477 Centerline is valid? [True, True] Translation: X:121.97, Y:108.47, Z:3.67 [[-1.73055489e-01 -9.84907347e-01 3.05210615e-03 1.21974191e+02] [ 9.84682567e-01 -1.73081227e-01 -2.10506572e-02 1.08467808e+02] [ 2.12612092e-02 -6.37576058e-04 9.99773752e-01 3.66895821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56275509600002 meters Centerline goodness [0,1] 0.9977780599288979 Centerline is valid? [True, True] Translation: X:121.96, Y:108.49, Z:3.67 [[-1.73106788e-01 -9.84898400e-01 3.03017857e-03 1.21959700e+02] [ 9.84678145e-01 -1.73132185e-01 -2.08374256e-02 1.08492842e+02] [ 2.10473686e-02 -6.23349202e-04 9.99778285e-01 3.67048322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59275509600002 meters Centerline goodness [0,1] 0.9976955115330134 Centerline is valid? [True, True] Translation: X:121.96, Y:108.52, Z:3.67 [[-1.73425108e-01 -9.84842504e-01 2.99572995e-03 1.21959937e+02] [ 9.84628529e-01 -1.73449900e-01 -2.05376033e-02 1.08519342e+02] [ 2.07459137e-02 -6.12054887e-04 9.99784593e-01 3.67133240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62275509600002 meters Centerline goodness [0,1] 0.9977604529800764 Centerline is valid? [True, True] Translation: X:121.95, Y:108.54, Z:3.67 [[-1.73814768e-01 -9.84773924e-01 2.95711059e-03 1.21950293e+02] [ 9.84566513e-01 -1.73838875e-01 -2.02194547e-02 1.08544906e+02] [ 2.04256526e-02 -6.02967770e-04 9.99791193e-01 3.67252036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65275509600002 meters Centerline goodness [0,1] 0.9977056978677724 Centerline is valid? [True, True] Translation: X:121.94, Y:108.57, Z:3.67 [[-1.74115956e-01 -9.84720916e-01 2.88979856e-03 1.21944036e+02] [ 9.84523880e-01 -1.74138949e-01 -1.97067458e-02 1.08570563e+02] [ 1.99088712e-02 -5.86183190e-04 9.99801627e-01 3.67375832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68275509600002 meters Centerline goodness [0,1] 0.9975534652212427 Centerline is valid? [True, True] Translation: X:121.94, Y:108.60, Z:3.68 [[-1.75038938e-01 -9.84557700e-01 2.73945445e-03 1.21941152e+02] [ 9.84381530e-01 -1.75059463e-01 -1.86330019e-02 1.08596810e+02] [ 1.88248329e-02 -5.64832514e-04 9.99822638e-01 3.67651005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71275509600002 meters Centerline goodness [0,1] 0.9973805952808467 Centerline is valid? [True, True] Translation: X:121.93, Y:108.62, Z:3.68 [[-1.75640592e-01 -9.84450700e-01 2.68356316e-03 1.21932159e+02] [ 9.84282552e-01 -1.75660212e-01 -1.82029631e-02 1.08621840e+02] [ 1.83913150e-02 -5.55794819e-04 9.99830711e-01 3.67788299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74275509600002 meters Centerline goodness [0,1] 0.997408726062317 Centerline is valid? [True, True] Translation: X:121.93, Y:108.65, Z:3.68 [[-1.76815907e-01 -9.84240840e-01 2.47059652e-03 1.21930250e+02] [ 9.84099101e-01 -1.76832392e-01 -1.67112187e-02 1.08647784e+02] [ 1.68847454e-02 -5.23497477e-04 9.99857305e-01 3.67982653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77275509600003 meters Centerline goodness [0,1] 0.9971760342247793 Centerline is valid? [True, True] Translation: X:121.92, Y:108.67, Z:3.68 [[-1.77722673e-01 -9.84077513e-01 2.46981636e-03 1.21924420e+02] [ 9.83936581e-01 -1.77739040e-01 -1.66625023e-02 1.08673683e+02] [ 1.68361766e-02 -5.31161781e-04 9.99858120e-01 3.68041464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80275509600003 meters Centerline goodness [0,1] 0.9971422567766337 Centerline is valid? [True, True] Translation: X:121.92, Y:108.70, Z:3.68 [[-1.79537898e-01 -9.83747945e-01 2.47450637e-03 1.21920398e+02] [ 9.83607333e-01 -1.79554095e-01 -1.66415603e-02 1.08699717e+02] [ 1.68154085e-02 -5.53848138e-04 9.99858458e-01 3.68065339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.832755096 meters Centerline goodness [0,1] 0.9970391835706186 Centerline is valid? [True, True] Translation: X:121.92, Y:108.73, Z:3.68 [[-1.80816351e-01 -9.83513754e-01 2.47861676e-03 1.21915473e+02] [ 9.83373195e-01 -1.80832437e-01 -1.66369532e-02 1.08726662e+02] [ 1.68108866e-02 -5.70827896e-04 9.99858524e-01 3.68077636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters Centerline goodness [0,1] 0.9969439444049064 Centerline is valid? [True, True] Translation: X:121.91, Y:108.75, Z:3.68 [[-1.81920782e-01 -9.83309988e-01 2.50933440e-03 1.21912405e+02] [ 9.83166641e-01 -1.81937134e-01 -1.67998888e-02 1.08751973e+02] [ 1.69760395e-02 -5.89155030e-04 9.99855723e-01 3.68118132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.892755096 meters Centerline goodness [0,1] 0.9969266793502122 Centerline is valid? [True, True] Translation: X:121.91, Y:108.78, Z:3.68 [[-1.82898722e-01 -9.83128230e-01 2.63445824e-03 1.21909225e+02] [ 9.82971213e-01 -1.82916623e-01 -1.75813171e-02 1.08777577e+02] [ 1.77665754e-02 -6.26003826e-04 9.99841966e-01 3.68008670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters Centerline goodness [0,1] 0.9967408902626211 Centerline is valid? [True, True] Translation: X:121.90, Y:108.80, Z:3.68 [[-1.83086300e-01 -9.83092923e-01 2.77692107e-03 1.21900696e+02] [ 9.82919527e-01 -1.83106193e-01 -1.84749719e-02 1.08803213e+02] [ 1.86710856e-02 -6.53024300e-04 9.99825467e-01 3.67769604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.952755096 meters Centerline goodness [0,1] 0.9973343967760894 Centerline is valid? [True, True] Translation: X:121.89, Y:108.83, Z:3.68 [[-1.82753683e-01 -9.83154976e-01 2.71738911e-03 1.21893792e+02] [ 9.82989866e-01 -1.82772821e-01 -1.80282952e-02 1.08828619e+02] [ 1.82212730e-02 -6.23571383e-04 9.99833784e-01 3.68035235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.982755096 meters Centerline goodness [0,1] 0.997183631434036 Centerline is valid? [True, True] Translation: X:121.89, Y:108.85, Z:3.68 [[-1.80196068e-01 -9.83626432e-01 2.90168593e-03 1.21885099e+02] [ 9.83439378e-01 -1.80218415e-01 -1.91914757e-02 1.08854195e+02] [ 1.94001800e-02 -6.04596246e-04 9.99811616e-01 3.67854596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.012755096 meters Centerline goodness [0,1] 0.9973472008758448 Centerline is valid? [True, True] Translation: X:121.88, Y:108.88, Z:3.68 [[-1.78992100e-01 -9.83846030e-01 2.96952461e-03 1.21876840e+02] [ 9.83651294e-01 -1.79015778e-01 -1.95827001e-02 1.08880802e+02] [ 1.97979535e-02 -5.84171886e-04 9.99803831e-01 3.67867874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.042755096 meters Centerline goodness [0,1] 0.9975836782720148 Centerline is valid? [True, True] Translation: X:121.87, Y:108.91, Z:3.68 [[-1.75404037e-01 -9.84491678e-01 3.09178970e-03 1.21867986e+02] [ 9.84281809e-01 -1.75430504e-01 -2.03336849e-02 1.08905706e+02] [ 2.05607378e-02 -5.23418058e-04 9.99788469e-01 3.67830188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.072755096 meters Centerline goodness [0,1] 0.997731759566514 Centerline is valid? [True, True] Translation: X:121.86, Y:108.93, Z:3.68 [[-1.74365620e-01 -9.84675985e-01 3.13613937e-03 1.21861737e+02] [ 9.84461259e-01 -1.74393106e-01 -2.05687560e-02 1.08931431e+02] [ 2.08004811e-02 -4.99076165e-04 9.99783522e-01 3.67845614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.102755096 meters Centerline goodness [0,1] 0.9976436926702011 Centerline is valid? [True, True] Translation: X:121.86, Y:108.96, Z:3.68 [[-1.72940829e-01 -9.84927275e-01 3.11963719e-03 1.21855337e+02] [ 9.84715992e-01 -1.72968361e-01 -2.04049262e-02 1.08956742e+02] [ 2.06369669e-02 -4.56888230e-04 9.99786931e-01 3.67892950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.132755096 meters Centerline goodness [0,1] 0.997858177771245 Centerline is valid? [True, True] Translation: X:121.85, Y:108.98, Z:3.68 [[-1.71962978e-01 -9.85098329e-01 3.16481852e-03 1.21849505e+02] [ 9.84882105e-01 -1.71991554e-01 -2.06432874e-02 1.08980963e+02] [ 2.08799900e-02 -4.32908062e-04 9.99781896e-01 3.67908185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.162755096 meters Centerline goodness [0,1] 0.9976403665859054 Centerline is valid? [True, True] Translation: X:121.84, Y:109.01, Z:3.68 [[-1.69458827e-01 -9.85531776e-01 3.29008831e-03 1.21842768e+02] [ 9.85299650e-01 -1.69490329e-01 -2.13922445e-02 1.09006072e+02] [ 2.16403749e-02 -3.83381803e-04 9.99765746e-01 3.67671798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.192755096 meters Centerline goodness [0,1] 0.998061566338678 Centerline is valid? [True, True] Translation: X:121.84, Y:109.03, Z:3.68 [[-1.69423796e-01 -9.85538427e-01 3.09626195e-03 1.21837280e+02] [ 9.85333914e-01 -1.69451723e-01 -2.00796118e-02 1.09031231e+02] [ 2.03138959e-02 -3.51112148e-04 9.99793590e-01 3.68050206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22275509600001 meters Centerline goodness [0,1] 0.998077288765873 Centerline is valid? [True, True] Translation: X:121.83, Y:109.06, Z:3.68 [[-1.69565626e-01 -9.85514483e-01 2.94986948e-03 1.21831464e+02] [ 9.85329861e-01 -1.69590965e-01 -1.90780076e-02 1.09057212e+02] [ 1.93019240e-02 -3.28379815e-04 9.99813647e-01 3.68182067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25275509600002 meters Centerline goodness [0,1] 0.998273138885964 Centerline is valid? [True, True] Translation: X:121.83, Y:109.08, Z:3.68 [[-1.70162529e-01 -9.85411736e-01 2.90251102e-03 1.21827681e+02] [ 9.85233938e-01 -1.70186969e-01 -1.87211930e-02 1.09083693e+02] [ 1.89420528e-02 -3.25993170e-04 9.99820530e-01 3.68275346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28275509600002 meters Centerline goodness [0,1] 0.9981700006310342 Centerline is valid? [True, True] Translation: X:121.82, Y:109.11, Z:3.68 [[-1.71174997e-01 -9.85236511e-01 2.85274041e-03 1.21824425e+02] [ 9.85065641e-01 -1.71198446e-01 -1.83514310e-02 1.09109938e+02] [ 1.85688846e-02 -3.31169582e-04 9.99827529e-01 3.68396557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31275509600002 meters Centerline goodness [0,1] 0.9981905403130786 Centerline is valid? [True, True] Translation: X:121.82, Y:109.14, Z:3.68 [[-1.71932088e-01 -9.85104804e-01 2.80741832e-03 1.21820021e+02] [ 9.84940173e-01 -1.71954687e-01 -1.80122756e-02 1.09135853e+02] [ 1.82267280e-02 -3.31749065e-04 9.99833824e-01 3.68416194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34275509600002 meters Centerline goodness [0,1] 0.998208602921031 Centerline is valid? [True, True] Translation: X:121.82, Y:109.16, Z:3.69 [[-1.73833679e-01 -9.84771790e-01 2.52448104e-03 1.21820229e+02] [ 9.84639309e-01 -1.73851709e-01 -1.61559441e-02 1.09162560e+02] [ 1.63488034e-02 -3.22743942e-04 9.99866297e-01 3.68680843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37275509600002 meters Centerline goodness [0,1] 0.9981905022408315 Centerline is valid? [True, True] Translation: X:121.82, Y:109.19, Z:3.69 [[-1.74791480e-01 -9.84602149e-01 2.55881709e-03 1.21818283e+02] [ 9.84466746e-01 -1.74809886e-01 -1.63318328e-02 1.09187797e+02] [ 1.65276642e-02 -3.35594887e-04 9.99863353e-01 3.68617812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40275509600002 meters Centerline goodness [0,1] 0.9983369121300156 Centerline is valid? [True, True] Translation: X:121.81, Y:109.21, Z:3.69 [[-1.76097994e-01 -9.84369650e-01 2.42658214e-03 1.21814132e+02] [ 9.84248497e-01 -1.76114400e-01 -1.54471222e-02 1.09213927e+02] [ 1.56330344e-02 -3.31847419e-04 9.99877742e-01 3.68747107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43275509600002 meters Centerline goodness [0,1] 0.9984672237853274 Centerline is valid? [True, True] Translation: X:121.81, Y:109.24, Z:3.69 [[-1.76888897e-01 -9.84227710e-01 2.47648301e-03 1.21810773e+02] [ 9.84102220e-01 -1.76905898e-01 -1.57201796e-02 1.09240543e+02] [ 1.59103408e-02 -3.43612789e-04 9.99873363e-01 3.68750228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46275509600002 meters Centerline goodness [0,1] 0.9985307081986482 Centerline is valid? [True, True] Translation: X:121.81, Y:109.27, Z:3.69 [[-1.77540229e-01 -9.84110367e-01 2.50040913e-03 1.21807423e+02] [ 9.83983134e-01 -1.77557491e-01 -1.58280924e-02 1.09266399e+02] [ 1.60205562e-02 -3.49762730e-04 9.99871601e-01 3.68776760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49275509600002 meters Centerline goodness [0,1] 0.9985713385297392 Centerline is valid? [True, True] Translation: X:121.80, Y:109.29, Z:3.69 [[-1.78663322e-01 -9.83906823e-01 2.60422793e-03 1.21804830e+02] [ 9.83769557e-01 -1.78681907e-01 -1.64388357e-02 1.09293037e+02] [ 1.66396110e-02 -3.75056838e-04 9.99861482e-01 3.68656501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52275509600003 meters Centerline goodness [0,1] 0.9985432588776759 Centerline is valid? [True, True] Translation: X:121.80, Y:109.32, Z:3.69 [[-1.79180077e-01 -9.83812721e-01 2.65145843e-03 1.21802170e+02] [ 9.83671219e-01 -1.79199286e-01 -1.66897801e-02 1.09319326e+02] [ 1.68947574e-02 -3.82312736e-04 9.99857200e-01 3.68637208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55275509600003 meters Centerline goodness [0,1] 0.9985936483281207 Centerline is valid? [True, True] Translation: X:121.80, Y:109.35, Z:3.69 [[-1.80431495e-01 -9.83583742e-01 2.73841474e-03 1.21803006e+02] [ 9.83433629e-01 -1.80451813e-01 -1.71883668e-02 1.09345092e+02] [ 1.74003500e-02 -4.08273569e-04 9.99848519e-01 3.68558384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters Centerline goodness [0,1] 0.9986974242615236 Centerline is valid? [True, True] Translation: X:121.80, Y:109.37, Z:3.69 [[-1.81117286e-01 -9.83457536e-01 2.79335884e-03 1.21797725e+02] [ 9.83302230e-01 -1.81138339e-01 -1.74821829e-02 1.09371241e+02] [ 1.76989689e-02 -4.19609533e-04 9.99843273e-01 3.68529897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.612755096 meters Centerline goodness [0,1] 0.9987986342368166 Centerline is valid? [True, True] Translation: X:121.80, Y:109.40, Z:3.69 [[-1.82773420e-01 -9.83151092e-01 2.79407132e-03 1.21796772e+02] [ 9.82996553e-01 -1.82794245e-01 -1.74367903e-02 1.09398591e+02] [ 1.76537395e-02 -4.40419324e-04 9.99844064e-01 3.68539321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters Centerline goodness [0,1] 0.9988609277110975 Centerline is valid? [True, True] Translation: X:121.80, Y:109.43, Z:3.68 [[-1.84951077e-01 -9.82743518e-01 2.87688873e-03 1.21797219e+02] [ 9.82580477e-01 -1.84972814e-01 -1.79071069e-02 1.09425050e+02] [ 1.81302394e-02 -4.85163992e-04 9.99835516e-01 3.68436611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.672755096 meters Centerline goodness [0,1] 0.9989904725850212 Centerline is valid? [True, True] Translation: X:121.80, Y:109.45, Z:3.69 [[-1.86422678e-01 -9.82465241e-01 2.93854868e-03 1.21795022e+02] [ 9.82296018e-01 -1.86445128e-01 -1.82413861e-02 1.09451987e+02] [ 1.84694059e-02 -5.14083388e-04 9.99829294e-01 3.68504123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.702755096 meters Centerline goodness [0,1] 0.9988595805790796 Centerline is valid? [True, True] Translation: X:121.79, Y:109.48, Z:3.68 [[-1.87925190e-01 -9.82178594e-01 3.05496719e-03 1.21794832e+02] [ 9.81996591e-01 -1.87949201e-01 -1.89154392e-02 1.09478241e+02] [ 1.91525181e-02 -5.54720139e-04 9.99816420e-01 3.68327125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.732755096 meters Centerline goodness [0,1] 0.9989071038251366 Centerline is valid? [True, True] Translation: X:121.79, Y:109.50, Z:3.68 [[-1.89178150e-01 -9.81938098e-01 3.03318093e-03 1.21793725e+02] [ 9.81759564e-01 -1.89201618e-01 -1.87324755e-02 1.09504450e+02] [ 1.89680141e-02 -5.65920661e-04 9.99819931e-01 3.68426743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.762755096 meters Centerline goodness [0,1] 0.99898567262584 Centerline is valid? [True, True] Translation: X:121.79, Y:109.53, Z:3.69 [[-1.90254637e-01 -9.81730335e-01 2.95358079e-03 1.21789890e+02] [ 9.81561847e-01 -1.90276729e-01 -1.81963585e-02 1.09530345e+02] [ 1.84259148e-02 -5.62819352e-04 9.99830070e-01 3.68599332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.792755096 meters Centerline goodness [0,1] 0.9990477802700072 Centerline is valid? [True, True] Translation: X:121.78, Y:109.56, Z:3.69 [[-1.91074125e-01 -9.81571094e-01 2.97749948e-03 1.21781853e+02] [ 9.81400764e-01 -1.91096462e-01 -1.82943399e-02 1.09555493e+02] [ 1.85261848e-02 -5.73454719e-04 9.99828211e-01 3.68630608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.822755096 meters Centerline goodness [0,1] 0.9992594473361263 Centerline is valid? [True, True] Translation: X:121.78, Y:109.58, Z:3.69 [[-1.91941785e-01 -9.81401985e-01 2.91471557e-03 1.21784998e+02] [ 9.81239613e-01 -1.91963074e-01 -1.78605986e-02 1.09581650e+02] [ 1.80879447e-02 -5.68160804e-04 9.99836238e-01 3.68758587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.852755096 meters Centerline goodness [0,1] 0.9992205275132721 Centerline is valid? [True, True] Translation: X:121.78, Y:109.61, Z:3.69 [[-1.92390767e-01 -9.81314275e-01 2.84356691e-03 1.21778604e+02] [ 9.81160553e-01 -1.92410984e-01 -1.73776629e-02 1.09606440e+02] [ 1.76000822e-02 -5.53306215e-04 9.99844953e-01 3.68834892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.882755096 meters Centerline goodness [0,1] 0.9994076581341231 Centerline is valid? [True, True] Translation: X:121.77, Y:109.63, Z:3.69 [[-1.92464844e-01 -9.81299805e-01 2.82442449e-03 1.21774647e+02] [ 9.81148764e-01 -1.92484798e-01 -1.72251204e-02 1.09632358e+02] [ 1.74466661e-02 -5.44049510e-04 9.99847647e-01 3.68911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.912755096 meters Centerline goodness [0,1] 0.9993647701526669 Centerline is valid? [True, True] Translation: X:121.77, Y:109.66, Z:3.69 [[-1.91258341e-01 -9.81535468e-01 2.89332305e-03 1.21774049e+02] [ 9.81377800e-01 -1.91279499e-01 -1.76001782e-02 1.09660365e+02] [ 1.78286325e-02 -5.26737880e-04 9.99840919e-01 3.68970338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.942755096 meters Centerline goodness [0,1] 0.9994084465383559 Centerline is valid? [True, True] Translation: X:121.77, Y:109.69, Z:3.69 [[-1.90263832e-01 -9.81728555e-01 2.95278911e-03 1.21770782e+02] [ 9.81565055e-01 -1.90286055e-01 -1.79237515e-02 1.09686046e+02] [ 1.81581333e-02 -5.11887036e-04 9.99834996e-01 3.69046839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97275509600001 meters Centerline goodness [0,1] 0.9995764955002647 Centerline is valid? [True, True] Translation: X:121.76, Y:109.71, Z:3.69 [[-1.87498055e-01 -9.82260651e-01 2.91441378e-03 1.21762218e+02] [ 9.82102218e-01 -1.87520172e-01 -1.76470381e-02 1.09710968e+02] [ 1.78805025e-02 -4.46533077e-04 9.99840031e-01 3.69147718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00275509600002 meters Centerline goodness [0,1] 0.9996188701617684 Centerline is valid? [True, True] Translation: X:121.76, Y:109.74, Z:3.69 [[-1.86108420e-01 -9.82524710e-01 2.97504547e-03 1.21759251e+02] [ 9.82360525e-01 -1.86131721e-01 -1.79661218e-02 1.09737774e+02] [ 1.82059090e-02 -4.21079310e-04 9.99834170e-01 3.69240635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03275509600002 meters Centerline goodness [0,1] 0.9995980792418505 Centerline is valid? [True, True] Translation: X:121.75, Y:109.76, Z:3.69 [[-1.85116890e-01 -9.82711949e-01 2.99356565e-03 1.21751564e+02] [ 9.82546421e-01 -1.85140665e-01 -1.80406448e-02 1.09763634e+02] [ 1.82829880e-02 -3.98310849e-04 9.99832773e-01 3.69214092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06275509600002 meters Centerline goodness [0,1] 0.9996429696524205 Centerline is valid? [True, True] Translation: X:121.75, Y:109.79, Z:3.69 [[-1.83141299e-01 -9.83082032e-01 2.99709586e-03 1.21747177e+02] [ 9.82917007e-01 -1.83165480e-01 -1.80156678e-02 1.09789132e+02] [ 1.82598439e-02 -3.53516322e-04 9.99833213e-01 3.69397549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09275509600002 meters Centerline goodness [0,1] 0.9996429696524205 Centerline is valid? [True, True] Translation: X:121.74, Y:109.81, Z:3.69 [[-1.83507746e-01 -9.83013675e-01 3.00350278e-03 1.21742650e+02] [ 9.82848658e-01 -1.83531983e-01 -1.80145995e-02 1.09814640e+02] [ 1.82598365e-02 -3.53829877e-04 9.99833213e-01 3.69450284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12275509600002 meters Centerline goodness [0,1] 0.9998517357507466 Centerline is valid? [True, True] Translation: X:121.74, Y:109.84, Z:3.70 [[-1.83043012e-01 -9.83100242e-01 3.02809385e-03 1.21736375e+02] [ 9.82933288e-01 -1.83067741e-01 -1.81205232e-02 1.09839885e+02] [ 1.83686371e-02 -3.40420895e-04 9.99831224e-01 3.69512870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15275509600002 meters Centerline goodness [0,1] 0.9998093826114582 Centerline is valid? [True, True] Translation: X:121.73, Y:109.87, Z:3.70 [[-1.83447281e-01 -9.83024919e-01 3.01712724e-03 1.21733056e+02] [ 9.82859966e-01 -1.83471777e-01 -1.80109569e-02 1.09865295e+02] [ 1.82587772e-02 -3.38647493e-04 9.99833237e-01 3.69610958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18275509600002 meters Centerline goodness [0,1] 0.9999364110390436 Centerline is valid? [True, True] Translation: X:121.73, Y:109.89, Z:3.70 [[-1.83771928e-01 -9.82964475e-01 2.95281199e-03 1.21729321e+02] [ 9.82807262e-01 -1.83795354e-01 -1.75827710e-02 1.09891611e+02] [ 1.78259523e-02 -3.29174642e-04 9.99841051e-01 3.69743090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.73, Y:109.92, Z:3.70 [[-1.83902362e-01 -9.82940474e-01 2.81873978e-03 1.21725946e+02] [ 9.82797874e-01 -1.83923702e-01 -1.67454469e-02 1.09918615e+02] [ 1.69782106e-02 -3.09275770e-04 9.99855812e-01 3.69907015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24275509600002 meters Centerline goodness [0,1] 0.9998517263291675 Centerline is valid? [True, True] Translation: X:121.72, Y:109.94, Z:3.70 [[-1.84583678e-01 -9.82812802e-01 2.80408151e-03 1.21723869e+02] [ 9.82672282e-01 -1.84604711e-01 -1.66218697e-02 1.09944976e+02] [ 1.68538330e-02 -3.12632667e-04 9.99857915e-01 3.70016830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27275509600003 meters Centerline goodness [0,1] 0.9999152362788727 Centerline is valid? [True, True] Translation: X:121.72, Y:109.97, Z:3.70 [[-1.85274386e-01 -9.82682927e-01 2.76900995e-03 1.21720442e+02] [ 9.82546508e-01 -1.85294812e-01 -1.63765942e-02 1.09971572e+02] [ 1.66060827e-02 -3.13482378e-04 9.99862060e-01 3.70102413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30275509600003 meters Centerline goodness [0,1] 0.9999152039345375 Centerline is valid? [True, True] Translation: X:121.72, Y:110.00, Z:3.70 [[-1.86148987e-01 -9.82517442e-01 2.83383965e-03 1.21719357e+02] [ 9.82375222e-01 -1.86170267e-01 -1.67198774e-02 1.09997551e+02] [ 1.69551479e-02 -3.28494396e-04 9.99856197e-01 3.70205202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.332755096 meters Centerline goodness [0,1] 0.9999575109940303 Centerline is valid? [True, True] Translation: X:121.72, Y:110.02, Z:3.70 [[-1.86898795e-01 -9.82374854e-01 2.91302125e-03 1.21715689e+02] [ 9.82225316e-01 -1.86921181e-01 -1.71435386e-02 1.10023848e+02] [ 1.73858866e-02 -3.42863498e-04 9.99848795e-01 3.70125456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.362755096 meters Centerline goodness [0,1] 0.9999575037715402 Centerline is valid? [True, True] Translation: X:121.71, Y:110.05, Z:3.70 [[-1.87333583e-01 -9.82291652e-01 3.03953140e-03 1.21711595e+02] [ 9.82129637e-01 -1.87357899e-01 -1.78435645e-02 1.10050704e+02] [ 1.80970647e-02 -3.57485017e-04 9.99836171e-01 3.70142195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.392755096 meters Centerline goodness [0,1] 0.9999574685267097 Centerline is valid? [True, True] Translation: X:121.71, Y:110.08, Z:3.70 [[-1.88191854e-01 -9.82127037e-01 3.21064528e-03 1.21708995e+02] [ 9.81947073e-01 -1.88218844e-01 -1.88045691e-02 1.10077105e+02] [ 1.90727796e-02 -3.86182991e-04 9.99818023e-01 3.70030334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters Centerline goodness [0,1] 0.99997873833266 Centerline is valid? [True, True] Translation: X:121.71, Y:110.10, Z:3.70 [[-1.88179758e-01 -9.82129173e-01 3.26592108e-03 1.21706957e+02] [ 9.81943827e-01 -1.88207705e-01 -1.90834975e-02 1.10102470e+02] [ 1.93571312e-02 -3.84176911e-04 9.99812559e-01 3.70144825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:110.13, Z:3.70 [[-1.89219067e-01 -9.81928898e-01 3.43283149e-03 1.21702256e+02] [ 9.81724892e-01 -1.89249743e-01 -2.00192847e-02 1.10128004e+02] [ 2.03071766e-02 -4.17934253e-04 9.99793701e-01 3.70117279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:110.15, Z:3.70 [[-1.90302314e-01 -9.81719233e-01 3.51795284e-03 1.21700870e+02] [ 9.81505981e-01 -1.90334315e-01 -2.04659959e-02 1.10153698e+02] [ 2.07614489e-02 -4.41834626e-04 9.99784360e-01 3.70175077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.512755096 meters Centerline goodness [0,1] 0.9998714680490992 Centerline is valid? [True, True] Translation: X:121.70, Y:110.18, Z:3.70 [[-1.91712034e-01 -9.81444444e-01 3.64681428e-03 1.21699303e+02] [ 9.81216380e-01 -1.91746119e-01 -2.11622492e-02 1.10180401e+02] [ 2.14688344e-02 -4.78743938e-04 9.99769403e-01 3.70047471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:110.21, Z:3.70 [[-1.93286317e-01 -9.81135857e-01 3.58183402e-03 1.21695934e+02] [ 9.80916711e-01 -1.93318866e-01 -2.07417827e-02 1.10207204e+02] [ 2.10429428e-02 -4.95621925e-04 9.99778450e-01 3.70340373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:110.23, Z:3.70 [[-1.94487104e-01 -9.80898414e-01 3.61496063e-03 1.21693170e+02] [ 9.80676087e-01 -1.94520008e-01 -2.08896814e-02 1.10233268e+02] [ 2.11938375e-02 -5.17668198e-04 9.99775251e-01 3.70403125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:110.26, Z:3.70 [[-1.96555689e-01 -9.80485904e-01 3.64045440e-03 1.21691332e+02] [ 9.80261338e-01 -1.96588609e-01 -2.09911377e-02 1.10260289e+02] [ 2.12971865e-02 -5.57330826e-04 9.99773034e-01 3.70492773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:110.29, Z:3.71 [[-1.98068166e-01 -9.80181473e-01 3.64433348e-03 1.21688377e+02] [ 9.79957301e-01 -1.98100834e-01 -2.09701840e-02 1.10287286e+02] [ 2.12765314e-02 -5.82234683e-04 9.99773459e-01 3.70540788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:110.31, Z:3.71 [[-1.99177600e-01 -9.79956433e-01 3.69781145e-03 1.21686075e+02] [ 9.79726536e-01 -1.99210999e-01 -2.12342368e-02 1.10313415e+02] [ 2.15452717e-02 -6.06540321e-04 9.99767690e-01 3.70590475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.69, Y:110.34, Z:3.71 [[-2.01844402e-01 -9.79410442e-01 3.74487588e-03 1.21686694e+02] [ 9.79175325e-01 -2.01878039e-01 -2.14695044e-02 1.10339711e+02] [ 2.17834650e-02 -6.66609217e-04 9.99762490e-01 3.70654743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:110.37, Z:3.71 [[-2.03276099e-01 -9.79114177e-01 3.77581181e-03 1.21682275e+02] [ 9.78876098e-01 -2.03309975e-01 -2.16018268e-02 1.10366537e+02] [ 2.19183150e-02 -6.95083149e-04 9.99759523e-01 3.70711435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:110.39, Z:3.71 [[-2.05029221e-01 -9.78748492e-01 3.79577076e-03 1.21680067e+02] [ 9.78508822e-01 -2.05063058e-01 -2.16709019e-02 1.10393298e+02] [ 2.19887349e-02 -7.28972956e-04 9.99757953e-01 3.70767314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78275509600002 meters Centerline goodness [0,1] 0.9999785968066436 Centerline is valid? [True, True] Translation: X:121.68, Y:110.42, Z:3.71 [[-2.05864245e-01 -9.78572911e-01 3.86923539e-03 1.21679843e+02] [ 9.78324937e-01 -2.05899230e-01 -2.20414436e-02 1.10419108e+02] [ 2.23658322e-02 -7.52175681e-04 9.99749571e-01 3.70795993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81275509600002 meters Centerline goodness [0,1] 0.9998058755014883 Centerline is valid? [True, True] Translation: X:121.68, Y:110.45, Z:3.71 [[-2.07806374e-01 -9.78161229e-01 4.13782054e-03 1.21677458e+02] [ 9.77878923e-01 -2.07845868e-01 -2.35139684e-02 1.10446768e+02] [ 2.38604811e-02 -8.40065010e-04 9.99714945e-01 3.70594496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:110.47, Z:3.71 [[-2.07380477e-01 -9.78251834e-01 4.08490240e-03 1.21670974e+02] [ 9.77977809e-01 -2.07419125e-01 -2.31670320e-02 1.10472888e+02] [ 2.35104785e-02 -8.09446245e-04 9.99723263e-01 3.70847725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:110.50, Z:3.71 [[-2.07150360e-01 -9.78300511e-01 4.10339691e-03 1.21666740e+02] [ 9.78025212e-01 -2.07189465e-01 -2.32209214e-02 1.10498913e+02] [ 2.35672199e-02 -7.96996583e-04 9.99721937e-01 3.70896244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:110.52, Z:3.71 [[-2.06927765e-01 -9.78347368e-01 4.16278969e-03 1.21663203e+02] [ 9.78065321e-01 -2.06968116e-01 -2.35037696e-02 1.10524456e+02] [ 2.38564159e-02 -7.92102267e-04 9.99715081e-01 3.70899479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.66, Y:110.55, Z:3.71 [[-2.06554385e-01 -9.78425992e-01 4.22666921e-03 1.21656723e+02] [ 9.78136347e-01 -2.06596131e-01 -2.38185727e-02 1.10550545e+02] [ 2.41779241e-02 -7.85571854e-04 9.99707363e-01 3.70908145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:110.58, Z:3.71 [[-2.04805616e-01 -9.78792668e-01 4.42421177e-03 1.21651949e+02] [ 9.78476876e-01 -2.04851967e-01 -2.48731723e-02 1.10576047e+02] [ 2.52519872e-02 -7.65176460e-04 9.99680825e-01 3.70871363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99275509600002 meters Centerline goodness [0,1] 0.9998270756327952 Centerline is valid? [True, True] Translation: X:121.65, Y:110.60, Z:3.71 [[-2.05640520e-01 -9.78616606e-01 4.63851190e-03 1.21648401e+02] [ 9.78270952e-01 -2.05691221e-01 -2.60204971e-02 1.10603067e+02] [ 2.64181918e-02 -8.13147121e-04 9.99650648e-01 3.70606942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:110.63, Z:3.71 [[-2.04431526e-01 -9.78870095e-01 4.59222965e-03 1.21643056e+02] [ 9.78532709e-01 -2.04481678e-01 -2.57095498e-02 1.10630036e+02] [ 2.61053363e-02 -7.62195598e-04 9.99658907e-01 3.70881880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:110.66, Z:3.71 [[-2.03820810e-01 -9.78996597e-01 4.76864817e-03 1.21639418e+02] [ 9.78634340e-01 -2.03875158e-01 -2.66410957e-02 1.10656123e+02] [ 2.70537509e-02 -7.63246843e-04 9.99633689e-01 3.70853355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:110.68, Z:3.71 [[-2.03775038e-01 -9.79005842e-01 4.82659234e-03 1.21635932e+02] [ 9.78636380e-01 -2.03830778e-01 -2.69044677e-02 1.10681500e+02] [ 2.73234391e-02 -7.58980068e-04 9.99626357e-01 3.70874238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:110.71, Z:3.71 [[-2.03407233e-01 -9.79082190e-01 4.85408151e-03 1.21631999e+02] [ 9.78710208e-01 -2.03463796e-01 -2.69965441e-02 1.10707666e+02] [ 2.74194654e-02 -7.40553225e-04 9.99623741e-01 3.70979027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.63, Y:110.73, Z:3.71 [[-2.03426397e-01 -9.79078661e-01 4.76194208e-03 1.21627573e+02] [ 9.78722181e-01 -2.03480867e-01 -2.64278134e-02 1.10733419e+02] [ 2.68438723e-02 -7.15496536e-04 9.99639382e-01 3.71057969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:110.76, Z:3.71 [[-2.03279350e-01 -9.79109232e-01 4.75588224e-03 1.21623614e+02] [ 9.78755194e-01 -2.03333775e-01 -2.63371540e-02 1.10758293e+02] [ 2.67539822e-02 -6.98955112e-04 9.99641804e-01 3.71131080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:110.78, Z:3.71 [[-2.02662954e-01 -9.79237300e-01 4.69448579e-03 1.21619921e+02] [ 9.78893872e-01 -2.02716238e-01 -2.59406033e-02 1.10784576e+02] [ 2.63536548e-02 -6.61795913e-04 9.99652463e-01 3.71247821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:110.81, Z:3.71 [[-2.02580511e-01 -9.79254115e-01 4.74508574e-03 1.21612639e+02] [ 9.78904743e-01 -2.02635016e-01 -2.61639872e-02 1.10810262e+02] [ 2.65827126e-02 -6.55326944e-04 9.99646402e-01 3.71384521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.61, Y:110.84, Z:3.71 [[-2.02355603e-01 -9.79300705e-01 4.72634488e-03 1.21611516e+02] [ 9.78955653e-01 -2.02409796e-01 -2.60019824e-02 1.10835789e+02] [ 2.64204182e-02 -6.34764778e-04 9.99650718e-01 3.71352560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:110.86, Z:3.71 [[-2.00181990e-01 -9.79747466e-01 4.69825628e-03 1.21602293e+02] [ 9.79408139e-01 -2.00236330e-01 -2.57897038e-02 1.10861778e+02] [ 2.62081586e-02 -5.61123794e-04 9.99656350e-01 3.71494228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.60, Y:110.89, Z:3.72 [[-1.99176111e-01 -9.79952452e-01 4.69781871e-03 1.21597428e+02] [ 9.79614619e-01 -1.99230817e-01 -2.57348123e-02 1.10886862e+02] [ 2.61548427e-02 -5.23707949e-04 9.99657766e-01 3.71535243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:110.91, Z:3.72 [[-1.98301183e-01 -9.80129752e-01 4.72336843e-03 1.21593558e+02] [ 9.79789830e-01 -1.98356820e-01 -2.58159042e-02 1.10911776e+02] [ 2.62398481e-02 -4.91415993e-04 9.99655555e-01 3.71561373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.382755096 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:121.59, Y:110.94, Z:3.72 [[-1.96259970e-01 -9.80540214e-01 4.78681932e-03 1.21587590e+02] [ 9.80192757e-01 -1.96317863e-01 -2.61047045e-02 1.10936993e+02] [ 2.65364507e-02 -4.31302883e-04 9.99647753e-01 3.71590487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.412755096 meters Centerline goodness [0,1] 0.9999132546842471 Centerline is valid? [True, True] Translation: X:121.58, Y:110.96, Z:3.72 [[-1.95799835e-01 -9.80631791e-01 4.86979293e-03 1.21579267e+02] [ 9.80273722e-01 -1.95859945e-01 -2.65011690e-02 1.10962187e+02] [ 2.69416862e-02 -4.15194480e-04 9.99636921e-01 3.71569961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:110.99, Z:3.72 [[-1.95148837e-01 -9.80761748e-01 4.82969552e-03 1.21574469e+02] [ 9.80411149e-01 -1.95208218e-01 -2.62246131e-02 1.10986965e+02] [ 2.66628936e-02 -3.82615418e-04 9.99644409e-01 3.71790439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.57, Y:111.01, Z:3.72 [[-1.94528665e-01 -9.80885174e-01 4.78264622e-03 1.21569910e+02] [ 9.80542965e-01 -1.94587133e-01 -2.59102617e-02 1.11012409e+02] [ 2.63456330e-02 -3.50698521e-04 9.99652832e-01 3.71812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:111.04, Z:3.72 [[-1.95378650e-01 -9.80716072e-01 4.81341301e-03 1.21563897e+02] [ 9.80370935e-01 -1.95437593e-01 -2.60187771e-02 1.11037886e+02] [ 2.64577547e-02 -3.64583323e-04 9.99649866e-01 3.71890299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:111.06, Z:3.72 [[-1.96161373e-01 -9.80559409e-01 4.89492368e-03 1.21558214e+02] [ 9.80203961e-01 -1.96222067e-01 -2.64025615e-02 1.11064823e+02] [ 2.68497721e-02 -3.81139129e-04 9.99639407e-01 3.71909812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:111.09, Z:3.72 [[-1.99457169e-01 -9.79894122e-01 4.93441579e-03 1.21554279e+02] [ 9.79534159e-01 -1.99517655e-01 -2.65619265e-02 1.11092003e+02] [ 2.70123787e-02 -4.64537840e-04 9.99634991e-01 3.71885972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.55, Y:111.12, Z:3.72 [[-2.01185471e-01 -9.79540896e-01 4.90306667e-03 1.21550557e+02] [ 9.79186725e-01 -2.01244590e-01 -2.63433537e-02 1.11118359e+02] [ 2.67911079e-02 -4.98882223e-04 9.99640929e-01 3.71923382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62275509600002 meters Centerline goodness [0,1] 0.9999351561655679 Centerline is valid? [True, True] Translation: X:121.55, Y:111.14, Z:3.72 [[-2.05822540e-01 -9.78576738e-01 4.96489876e-03 1.21548993e+02] [ 9.78214514e-01 -2.05881467e-01 -2.66305395e-02 1.11144529e+02] [ 2.70822072e-02 -6.24429266e-04 9.99633015e-01 3.71789309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:111.17, Z:3.72 [[-2.07766486e-01 -9.78165973e-01 4.94119940e-03 1.21543210e+02] [ 9.77808538e-01 -2.07824175e-01 -2.64494752e-02 1.11171421e+02] [ 2.68988773e-02 -6.63767569e-04 9.99637939e-01 3.72010147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68275509600002 meters Centerline goodness [0,1] 0.9999566799514815 Centerline is valid? [True, True] Translation: X:121.54, Y:111.20, Z:3.72 [[-2.10308641e-01 -9.77622878e-01 4.87696502e-03 1.21541322e+02] [ 9.77275910e-01 -2.10363972e-01 -2.60537123e-02 1.11198163e+02] [ 2.64966429e-02 -7.13180401e-04 9.99648648e-01 3.71976604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71275509600002 meters Centerline goodness [0,1] 0.9999136367561966 Centerline is valid? [True, True] Translation: X:121.54, Y:111.22, Z:3.72 [[-2.14693126e-01 -9.76669403e-01 4.87234052e-03 1.21541006e+02] [ 9.76324270e-01 -2.14746842e-01 -2.59752672e-02 1.11224504e+02] [ 2.64155685e-02 -8.19727031e-04 9.99650712e-01 3.71981792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:111.25, Z:3.72 [[-2.16308127e-01 -9.76313390e-01 4.79158522e-03 1.21533748e+02] [ 9.75980835e-01 -2.16359568e-01 -2.54940546e-02 1.11250955e+02] [ 2.59268922e-02 -8.38075840e-04 9.99663490e-01 3.72265049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:111.28, Z:3.72 [[-2.18213276e-01 -9.75889322e-01 4.79550287e-03 1.21530529e+02] [ 9.75557418e-01 -2.18264195e-01 -2.54649727e-02 1.11277015e+02] [ 2.58976816e-02 -8.78506719e-04 9.99664213e-01 3.72306554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.53, Y:111.30, Z:3.72 [[-2.20498490e-01 -9.75375680e-01 4.76433613e-03 1.21527622e+02] [ 9.75049251e-01 -2.20548029e-01 -2.52492462e-02 1.11303305e+02] [ 2.56782657e-02 -9.21958293e-04 9.99669834e-01 3.72280427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:111.33, Z:3.72 [[-2.21255680e-01 -9.75203723e-01 4.86026836e-03 1.21522167e+02] [ 9.74865279e-01 -2.21307017e-01 -2.57078383e-02 1.11329488e+02] [ 2.61459911e-02 -9.49898381e-04 9.99657684e-01 3.72309254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:111.36, Z:3.72 [[-2.21048629e-01 -9.75250368e-01 4.92182158e-03 1.21516564e+02] [ 9.74904695e-01 -2.21101398e-01 -2.59809153e-02 1.11355613e+02] [ 2.64261188e-02 -9.44738735e-04 9.99650323e-01 3.72308801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:111.38, Z:3.72 [[-2.19341261e-01 -9.75635917e-01 4.89571572e-03 1.21507800e+02] [ 9.75295352e-01 -2.19394117e-01 -2.57914366e-02 1.11381627e+02] [ 2.62371431e-02 -8.82357441e-04 9.99655358e-01 3.72333978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:111.41, Z:3.72 [[-2.18198768e-01 -9.75891896e-01 4.93006678e-03 1.21499159e+02] [ 9.75547877e-01 -2.18252813e-01 -2.59239068e-02 1.11408227e+02] [ 2.63749315e-02 -8.47048346e-04 9.99651762e-01 3.72418789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:111.43, Z:3.72 [[-2.15629591e-01 -9.76462407e-01 5.00480252e-03 1.21491502e+02] [ 9.76109361e-01 -2.15686258e-01 -2.62669700e-02 1.11433309e+02] [ 2.67281758e-02 -7.78701387e-04 9.99642435e-01 3.72495303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:111.46, Z:3.73 [[-2.16012014e-01 -9.76377828e-01 5.01474122e-03 1.21486396e+02] [ 9.76024803e-01 -2.16068810e-01 -2.62650728e-02 1.11458739e+02] [ 2.67281639e-02 -7.79059462e-04 9.99642435e-01 3.72548056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:111.48, Z:3.73 [[-2.14959133e-01 -9.76610279e-01 4.99344859e-03 1.21479124e+02] [ 9.76261746e-01 -2.15015866e-01 -2.60994333e-02 1.11484805e+02] [ 2.65626455e-02 -7.35398700e-04 9.99646880e-01 3.72629562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:111.51, Z:3.73 [[-2.13861785e-01 -9.76851350e-01 4.95753571e-03 1.21473452e+02] [ 9.76509201e-01 -2.13918126e-01 -2.58614762e-02 1.11510506e+02] [ 2.63233246e-02 -6.89702223e-04 9.99653243e-01 3.72705234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:111.54, Z:3.73 [[-2.13157779e-01 -9.77005165e-01 4.96672444e-03 1.21468219e+02] [ 9.76663194e-01 -2.13214612e-01 -2.58560315e-02 1.11535505e+02] [ 2.63204546e-02 -6.60597289e-04 9.99653339e-01 3.72764560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:111.56, Z:3.73 [[-2.12161115e-01 -9.77223265e-01 4.72769649e-03 1.21459201e+02] [ 9.76914745e-01 -2.12212957e-01 -2.45609710e-02 1.11561494e+02] [ 2.50048308e-02 -5.92326585e-04 9.99687155e-01 3.73033034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:111.59, Z:3.73 [[-2.12311583e-01 -9.77190848e-01 4.67323370e-03 1.21452973e+02] [ 9.76890538e-01 -2.12362218e-01 -2.42314835e-02 1.11588005e+02] [ 2.46712022e-02 -5.79386837e-04 9.99695452e-01 3.73127465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:111.61, Z:3.73 [[-2.12923888e-01 -9.77058508e-01 4.48208997e-03 1.21448770e+02] [ 9.76783276e-01 -2.12970318e-01 -2.31964658e-02 1.11613758e+02] [ 2.36188564e-02 -5.61051160e-04 9.99720878e-01 3.73268423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:111.64, Z:3.73 [[-2.13933460e-01 -9.76837959e-01 4.48078245e-03 1.21442193e+02] [ 9.76563942e-01 -2.13979606e-01 -2.31429325e-02 1.11639769e+02] [ 2.35656910e-02 -5.75277054e-04 9.99722125e-01 3.73335710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:111.67, Z:3.73 [[-2.15088448e-01 -9.76584155e-01 4.51078544e-03 1.21437305e+02] [ 9.76307471e-01 -2.15134913e-01 -2.32527598e-02 1.11666823e+02] [ 2.36787043e-02 -5.97486497e-04 9.99719442e-01 3.73399243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:111.69, Z:3.73 [[-2.17015014e-01 -9.76157688e-01 4.54447326e-03 1.21435249e+02] [ 9.75877848e-01 -2.17061650e-01 -2.33808890e-02 1.11693524e+02] [ 2.38098654e-02 -6.39153161e-04 9.99716301e-01 3.73415681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:111.72, Z:3.73 [[-2.18025639e-01 -9.75932256e-01 4.58840473e-03 1.21432241e+02] [ 9.75648067e-01 -2.18072917e-01 -2.35595646e-02 1.11719719e+02] [ 2.39931458e-02 -6.59920918e-04 9.99711905e-01 3.73436268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:111.75, Z:3.73 [[-2.18910184e-01 -9.75733974e-01 4.64149442e-03 1.21427654e+02] [ 9.75444243e-01 -2.18958330e-01 -2.37861000e-02 1.11745374e+02] [ 2.42251997e-02 -6.79500503e-04 9.99706296e-01 3.73482017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:111.77, Z:3.74 [[-2.19684846e-01 -9.75560136e-01 4.58138143e-03 1.21419571e+02] [ 9.75278906e-01 -2.19731561e-01 -2.34328324e-02 1.11770451e+02] [ 2.38668112e-02 -6.79713504e-04 9.99714916e-01 3.73597558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:111.80, Z:3.74 [[-2.20122946e-01 -9.75461378e-01 4.58139072e-03 1.21414461e+02] [ 9.75181261e-01 -2.20169567e-01 -2.33852627e-02 1.11796565e+02] [ 2.38201034e-02 -6.79946546e-04 9.99716030e-01 3.73659105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:111.82, Z:3.74 [[-2.20077275e-01 -9.75471183e-01 4.68656187e-03 1.21410943e+02] [ 9.75179260e-01 -2.20126108e-01 -2.38727141e-02 1.11821772e+02] [ 2.43187793e-02 -6.83603920e-04 9.99704021e-01 3.73636031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:111.85, Z:3.74 [[-2.19900196e-01 -9.75511071e-01 4.69608008e-03 1.21403522e+02] [ 9.75219171e-01 -2.19949315e-01 -2.38719128e-02 1.11847737e+02] [ 2.43202148e-02 -6.69730986e-04 9.99703996e-01 3.73689957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46275509600002 meters Centerline goodness [0,1] 0.9999141151715549 Centerline is valid? [True, True] Translation: X:121.40, Y:111.87, Z:3.74 [[-2.19841707e-01 -9.75523665e-01 4.81700843e-03 1.21397852e+02] [ 9.75217719e-01 -2.19893438e-01 -2.44392399e-02 1.11873579e+02] [ 2.49002854e-02 -6.75132251e-04 9.99689712e-01 3.73559581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:111.90, Z:3.74 [[-2.18003160e-01 -9.75936152e-01 4.82187081e-03 1.21390814e+02] [ 9.75630895e-01 -2.18055602e-01 -2.44153769e-02 1.11897884e+02] [ 2.48792849e-02 -6.18263163e-04 9.99690272e-01 3.73696507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:111.92, Z:3.74 [[-2.17235543e-01 -9.76107056e-01 4.87175133e-03 1.21382709e+02] [ 9.75796769e-01 -2.17289352e-01 -2.46171183e-02 1.11923054e+02] [ 2.50875226e-02 -5.93873846e-04 9.99685082e-01 3.73786469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.38, Y:111.95, Z:3.74 [[-2.16736449e-01 -9.76217921e-01 4.88699083e-03 1.21379560e+02] [ 9.75906995e-01 -2.16790784e-01 -2.46433246e-02 1.11948802e+02] [ 2.51167097e-02 -5.71858128e-04 9.99684362e-01 3.73795014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:111.97, Z:3.74 [[-2.15706795e-01 -9.76445009e-01 5.07173344e-03 1.21370803e+02] [ 9.76111608e-01 -2.15765698e-01 -2.55204328e-02 1.11974591e+02] [ 2.60136054e-02 -5.54352881e-04 9.99661435e-01 3.73918839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:112.00, Z:3.74 [[-2.15595951e-01 -9.76469161e-01 5.13446730e-03 1.21365459e+02] [ 9.76128761e-01 -2.15656386e-01 -2.57869111e-02 1.12001653e+02] [ 2.62874041e-02 -5.47652414e-04 9.99654276e-01 3.73967606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:112.03, Z:3.74 [[-2.15444318e-01 -9.76502835e-01 5.09492757e-03 1.21360345e+02] [ 9.76168921e-01 -2.15503904e-01 -2.55402727e-02 1.12028398e+02] [ 2.60381255e-02 -5.28996703e-04 9.99660811e-01 3.74015100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:112.05, Z:3.74 [[-2.15354472e-01 -9.76522400e-01 5.14324557e-03 1.21356024e+02] [ 9.76183455e-01 -2.15415251e-01 -2.57319352e-02 1.12053458e+02] [ 2.62357446e-02 -5.20736086e-04 9.99655648e-01 3.74081185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:112.08, Z:3.74 [[-2.15718852e-01 -9.76441834e-01 5.16923329e-03 1.21351076e+02] [ 9.76100898e-01 -2.15780148e-01 -2.58062809e-02 1.12079712e+02] [ 2.63137502e-02 -5.21208016e-04 9.99653597e-01 3.74142521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:112.11, Z:3.74 [[-2.16285067e-01 -9.76316609e-01 5.16229144e-03 1.21346958e+02] [ 9.75977936e-01 -2.16346030e-01 -2.57189314e-02 1.12106249e+02] [ 2.62266611e-02 -5.24338257e-04 9.99655884e-01 3.74214240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:112.13, Z:3.74 [[-2.16837222e-01 -9.76194421e-01 5.10608657e-03 1.21342758e+02] [ 9.75864381e-01 -2.16896705e-01 -2.53875727e-02 1.12132581e+02] [ 2.58907002e-02 -5.22122738e-04 9.99664643e-01 3.74322714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:112.16, Z:3.74 [[-2.17566951e-01 -9.76032011e-01 5.11226504e-03 1.21338238e+02] [ 9.75702462e-01 -2.17626358e-01 -2.53668040e-02 1.12158822e+02] [ 2.58713763e-02 -5.30928620e-04 9.99665139e-01 3.74410985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:112.18, Z:3.75 [[-2.18271063e-01 -9.75874968e-01 5.07838221e-03 1.21336310e+02] [ 9.75551044e-01 -2.18329478e-01 -2.51475441e-02 1.12184539e+02] [ 2.56496194e-02 -5.34760122e-04 9.99670851e-01 3.74514531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:112.21, Z:3.75 [[-2.18568875e-01 -9.75808554e-01 5.03111879e-03 1.21331387e+02] [ 9.75491921e-01 -2.18626138e-01 -2.48621094e-02 1.12210224e+02] [ 2.53605931e-02 -5.26267555e-04 9.99678230e-01 3.74618205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.33, Y:112.24, Z:3.75 [[-2.19295516e-01 -9.75645383e-01 5.05612852e-03 1.21328521e+02] [ 9.75326827e-01 -2.19353138e-01 -2.49355467e-02 1.12236076e+02] [ 2.54373286e-02 -5.36875777e-04 9.99676275e-01 3.74661959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.912755096 meters Centerline goodness [0,1] 0.999956930895622 Centerline is valid? [True, True] Translation: X:121.32, Y:112.26, Z:3.75 [[-2.19820793e-01 -9.75526992e-01 5.08995499e-03 1.21323706e+02] [ 9.75205439e-01 -2.19879044e-01 -2.50510945e-02 1.12262289e+02] [ 2.55571933e-02 -5.42999671e-04 9.99673214e-01 3.74606431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:112.29, Z:3.75 [[-2.20099448e-01 -9.75464650e-01 4.99502637e-03 1.21318508e+02] [ 9.75156127e-01 -2.20155483e-01 -2.45375610e-02 1.12287778e+02] [ 2.50352058e-02 -5.29773061e-04 9.99686430e-01 3.74776256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97275509600001 meters Centerline goodness [0,1] 0.9999568472608799 Centerline is valid? [True, True] Translation: X:121.31, Y:112.31, Z:3.75 [[-2.20185390e-01 -9.75444797e-01 5.08347706e-03 1.21311371e+02] [ 9.75126480e-01 -2.20243424e-01 -2.49235390e-02 1.12313196e+02] [ 2.54311389e-02 -5.30766065e-04 9.99676435e-01 3.74771954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:112.34, Z:3.75 [[-2.19394393e-01 -9.75623570e-01 4.97484063e-03 1.21304873e+02] [ 9.75319951e-01 -2.19450245e-01 -2.43430256e-02 1.12338385e+02] [ 2.48413595e-02 -4.88662010e-04 9.99691286e-01 3.74979038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03275509600002 meters Centerline goodness [0,1] 0.9999352373550936 Centerline is valid? [True, True] Translation: X:121.30, Y:112.36, Z:3.75 [[-2.18518047e-01 -9.75819618e-01 5.09276942e-03 1.21299143e+02] [ 9.75502804e-01 -2.18576888e-01 -2.48681211e-02 1.12363582e+02] [ 2.53799621e-02 -4.66122398e-04 9.99677768e-01 3.74896228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:112.39, Z:3.75 [[-2.17621686e-01 -9.76019868e-01 5.10093168e-03 1.21295135e+02] [ 9.75703425e-01 -2.17681030e-01 -2.48554943e-02 1.12389118e+02] [ 2.53698324e-02 -4.32098069e-04 9.99678041e-01 3.74980309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:112.41, Z:3.75 [[-2.17012483e-01 -9.76155229e-01 5.15284690e-03 1.21285662e+02] [ 9.75833689e-01 -2.17073265e-01 -2.50561117e-02 1.12414593e+02] [ 2.55771997e-02 -4.09167415e-04 9.99672766e-01 3.75087320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:112.44, Z:3.75 [[-2.16306274e-01 -9.76311654e-01 5.21065618e-03 1.21279050e+02] [ 9.75984223e-01 -2.16368685e-01 -2.52861271e-02 1.12439908e+02] [ 2.58145634e-02 -3.84029713e-04 9.99666675e-01 3.75142078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:112.47, Z:3.75 [[-2.14158610e-01 -9.76785354e-01 5.14421670e-03 1.21270477e+02] [ 9.76467587e-01 -2.14220156e-01 -2.49153988e-02 1.12465985e+02] [ 2.54389916e-02 -3.12686310e-04 9.99676328e-01 3.75190896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:112.49, Z:3.75 [[-2.13584339e-01 -9.76911293e-01 5.10442973e-03 1.21263700e+02] [ 9.76599599e-01 -2.13645134e-01 -2.46775317e-02 1.12491345e+02] [ 2.51982960e-02 -2.85750258e-04 9.99682432e-01 3.75253011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:112.52, Z:3.75 [[-2.13119436e-01 -9.77013367e-01 4.99858493e-03 1.21257013e+02] [ 9.76715659e-01 -2.13177891e-01 -2.41186413e-02 1.12516477e+02] [ 2.46298227e-02 -2.57955059e-04 9.99696607e-01 3.75379383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:112.54, Z:3.75 [[-2.12468863e-01 -9.77155197e-01 4.97033119e-03 1.21250330e+02] [ 9.76862051e-01 -2.12526867e-01 -2.39345724e-02 1.12541024e+02] [ 2.44441207e-02 -2.30023463e-04 9.99701171e-01 3.75457006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:112.57, Z:3.75 [[-2.11705004e-01 -9.77321073e-01 4.95091893e-03 1.21242805e+02] [ 9.77031450e-01 -2.11762793e-01 -2.37921381e-02 1.12565493e+02] [ 2.43009783e-02 -1.99711193e-04 9.99704668e-01 3.75492294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:112.59, Z:3.75 [[-2.11739868e-01 -9.77312761e-01 5.09854349e-03 1.21236348e+02] [ 9.77006871e-01 -2.11801153e-01 -2.44508733e-02 1.12591270e+02] [ 2.49760279e-02 -1.95912661e-04 9.99688031e-01 3.75484136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:112.62, Z:3.76 [[-2.12183155e-01 -9.77216798e-01 5.06334974e-03 1.21230274e+02] [ 9.76916251e-01 -2.12243470e-01 -2.42352552e-02 1.12615512e+02] [ 2.47577614e-02 -1.95844274e-04 9.99693460e-01 3.75517821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters Centerline goodness [0,1] 0.9999353350721014 Centerline is valid? [True, True] Translation: X:121.22, Y:112.64, Z:3.75 [[-2.13327560e-01 -9.76967279e-01 5.12725626e-03 1.21224379e+02] [ 9.76660263e-01 -2.13389057e-01 -2.44916633e-02 1.12641313e+02] [ 2.50216541e-02 -2.17159338e-04 9.99686886e-01 3.75442036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:112.67, Z:3.76 [[-2.13944476e-01 -9.76832861e-01 5.03216547e-03 1.21218767e+02] [ 9.76538231e-01 -2.14003536e-01 -2.39910388e-02 1.12666786e+02] [ 2.45121363e-02 -2.18648253e-04 9.99699509e-01 3.75660943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:112.69, Z:3.76 [[-2.16434547e-01 -9.76284500e-01 4.96616079e-03 1.21214641e+02] [ 9.75998500e-01 -2.16491350e-01 -2.36309914e-02 1.12693494e+02] [ 2.41457015e-02 -2.67597445e-04 9.99708414e-01 3.75800047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.452755096 meters Centerline goodness [0,1] 0.9999135490285072 Centerline is valid? [True, True] Translation: X:121.21, Y:112.72, Z:3.76 [[-2.18313804e-01 -9.75866051e-01 4.95307889e-03 1.21212312e+02] [ 9.75582438e-01 -2.18369772e-01 -2.35276379e-02 1.12719455e+02] [ 2.40414258e-02 -3.04271348e-04 9.99710917e-01 3.75640530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:112.75, Z:3.76 [[-2.20874881e-01 -9.75290595e-01 4.74780157e-03 1.21206429e+02] [ 9.75030668e-01 -2.20925635e-01 -2.25180087e-02 1.12745903e+02] [ 2.30105132e-02 -3.44410361e-04 9.99735164e-01 3.76018532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.512755096 meters Centerline goodness [0,1] 0.9998705250210397 Centerline is valid? [True, True] Translation: X:121.20, Y:112.77, Z:3.76 [[-2.23097533e-01 -9.74784131e-01 4.83616325e-03 1.21202457e+02] [ 9.74515276e-01 -2.23149594e-01 -2.28961809e-02 1.12772735e+02] [ 2.33980217e-02 -3.95166491e-04 9.99726151e-01 3.75848068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:112.80, Z:3.76 [[-2.24627957e-01 -9.74433632e-01 4.62358196e-03 1.21198204e+02] [ 9.74188646e-01 -2.24675172e-01 -2.18528838e-02 1.12798541e+02] [ 2.23329890e-02 -4.04527593e-04 9.99750506e-01 3.76209775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.572755096 meters Centerline goodness [0,1] 0.9998276567784743 Centerline is valid? [True, True] Translation: X:121.19, Y:112.82, Z:3.76 [[-2.26055322e-01 -9.74103125e-01 4.70026849e-03 1.21193267e+02] [ 9.73850811e-01 -2.26103763e-01 -2.21740051e-02 1.12824472e+02] [ 2.26625161e-02 -4.35191595e-04 9.99743077e-01 3.76010238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:112.85, Z:3.76 [[-2.25925158e-01 -9.74134093e-01 4.53792617e-03 1.21186830e+02] [ 9.73899773e-01 -2.25970358e-01 -2.13688830e-02 1.12850498e+02] [ 2.18415943e-02 -4.08282993e-04 9.99761361e-01 3.76402618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:112.88, Z:3.76 [[-2.25996807e-01 -9.74117737e-01 4.48072671e-03 1.21179926e+02] [ 9.73890130e-01 -2.26040875e-01 -2.10603532e-02 1.12875596e+02] [ 2.15280910e-02 -3.95837069e-04 9.99768165e-01 3.76429096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:112.90, Z:3.76 [[-2.24951834e-01 -9.74359358e-01 4.52931401e-03 1.21173361e+02] [ 9.74127733e-01 -2.24997127e-01 -2.12474039e-02 1.12900382e+02] [ 2.17216895e-02 -3.67512100e-04 9.99763989e-01 3.76421121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:112.93, Z:3.76 [[-2.24271960e-01 -9.74516116e-01 4.51970341e-03 1.21165635e+02] [ 9.74286415e-01 -2.24317236e-01 -2.11603335e-02 1.12925661e+02] [ 2.16349334e-02 -3.42183825e-04 9.99765879e-01 3.76478632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:112.95, Z:3.76 [[-2.23817304e-01 -9.74620735e-01 4.49866713e-03 1.21158253e+02] [ 9.74394040e-01 -2.23862279e-01 -2.10222475e-02 1.12950891e+02] [ 2.14958002e-02 -3.21668327e-04 9.99768887e-01 3.76489933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:112.98, Z:3.76 [[-2.22309719e-01 -9.74964731e-01 4.70776661e-03 1.21150324e+02] [ 9.74717543e-01 -2.22359369e-01 -2.19550283e-02 1.12975930e+02] [ 2.24521943e-02 -2.92073472e-04 9.99747875e-01 3.76463059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:113.00, Z:3.76 [[-2.21759493e-01 -9.75089562e-01 4.80342132e-03 1.21145268e+02] [ 9.74833271e-01 -2.21811338e-01 -2.23567421e-02 1.13001133e+02] [ 2.28652792e-02 -2.75284876e-04 9.99738517e-01 3.76411658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:113.03, Z:3.76 [[-2.21299906e-01 -9.75193566e-01 4.88464949e-03 1.21136279e+02] [ 9.74929633e-01 -2.21353656e-01 -2.26885383e-02 1.13026674e+02] [ 2.32069516e-02 -2.58781845e-04 9.99730649e-01 3.76459789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84275509600002 meters Centerline goodness [0,1] 0.999806101344364 Centerline is valid? [True, True] Translation: X:121.13, Y:113.05, Z:3.76 [[-2.22065149e-01 -9.75018285e-01 5.13947901e-03 1.21130714e+02] [ 9.74727186e-01 -2.22124437e-01 -2.38253432e-02 1.13051124e+02] [ 2.43717491e-02 -2.81188470e-04 9.99702925e-01 3.76106521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87275509600002 meters Centerline goodness [0,1] 0.9998707286594563 Centerline is valid? [True, True] Translation: X:121.12, Y:113.08, Z:3.76 [[-2.22580788e-01 -9.74901156e-01 5.05262362e-03 1.21124077e+02] [ 9.74620667e-01 -2.22637951e-01 -2.33858470e-02 1.13076332e+02] [ 2.39237951e-02 -2.80848851e-04 9.99713746e-01 3.76250208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90275509600002 meters Centerline goodness [0,1] 0.9998707286594563 Centerline is valid? [True, True] Translation: X:121.12, Y:113.10, Z:3.76 [[-2.22967494e-01 -9.74812738e-01 5.06190225e-03 1.21118351e+02] [ 9.74532272e-01 -2.23024769e-01 -2.33838388e-02 1.13101615e+02] [ 2.39237934e-02 -2.80848832e-04 9.99713746e-01 3.76302931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:113.13, Z:3.77 [[-2.23951037e-01 -9.74587727e-01 4.96943417e-03 1.21112642e+02] [ 9.74318374e-01 -2.24005978e-01 -2.29135027e-02 1.13127591e+02] [ 2.34444015e-02 -2.89691672e-04 9.99725100e-01 3.76549848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:113.15, Z:3.77 [[-2.25150396e-01 -9.74310951e-01 5.04672217e-03 1.21106826e+02] [ 9.74034136e-01 -2.25206731e-01 -2.32256267e-02 1.13154648e+02] [ 2.37655383e-02 -3.13579374e-04 9.99717511e-01 3.76584886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:113.18, Z:3.77 [[-2.26646943e-01 -9.73964047e-01 5.01977149e-03 1.21101477e+02] [ 9.73691040e-01 -2.26702271e-01 -2.30616378e-02 1.13181318e+02] [ 2.35991997e-02 -3.39143187e-04 9.99721443e-01 3.76621053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:113.21, Z:3.77 [[-2.28191227e-01 -9.73603647e-01 4.97009555e-03 1.21097394e+02] [ 9.73336866e-01 -2.28245056e-01 -2.27934066e-02 1.13206143e+02] [ 2.33261436e-02 -3.63678186e-04 9.99727842e-01 3.76624365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:113.23, Z:3.77 [[-2.31092978e-01 -9.72918390e-01 5.08346656e-03 1.21093177e+02] [ 9.72640238e-01 -2.31148479e-01 -2.32669031e-02 1.13233113e+02] [ 2.38118335e-02 -4.32433806e-04 9.99716365e-01 3.76648366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters Centerline goodness [0,1] 0.9998921809634709 Centerline is valid? [True, True] Translation: X:121.09, Y:113.26, Z:3.77 [[-2.33826374e-01 -9.72264821e-01 5.13262180e-03 1.21087345e+02] [ 9.71982058e-01 -2.33882176e-01 -2.34522264e-02 1.13259781e+02] [ 2.40022034e-02 -4.94932762e-04 9.99711783e-01 3.76511180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:113.29, Z:3.77 [[-2.35483352e-01 -9.71865607e-01 4.98334510e-03 1.21080840e+02] [ 9.71599863e-01 -2.35535521e-01 -2.27315661e-02 1.13286381e+02] [ 2.32657821e-02 -5.11087962e-04 9.99729184e-01 3.76766292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:113.31, Z:3.77 [[-2.36937412e-01 -9.71511913e-01 5.02648254e-03 1.21076465e+02] [ 9.71242412e-01 -2.36990105e-01 -2.28881582e-02 1.13312467e+02] [ 2.34273450e-02 -5.41127943e-04 9.99725396e-01 3.76778821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.07, Y:113.34, Z:3.77 [[-2.38196788e-01 -9.71203729e-01 5.06034794e-03 1.21071221e+02] [ 9.70931492e-01 -2.38249862e-01 -2.30008805e-02 1.13339005e+02] [ 2.35441681e-02 -5.65484663e-04 9.99722638e-01 3.76816365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.202755096 meters Centerline goodness [0,1] 0.9999140173255089 Centerline is valid? [True, True] Translation: X:121.07, Y:113.37, Z:3.77 [[-2.40548967e-01 -9.70623321e-01 5.15386734e-03 1.21067109e+02] [ 9.70341764e-01 -2.40603363e-01 -2.33855109e-02 1.13365086e+02] [ 2.39385601e-02 -6.24347763e-04 9.99713237e-01 3.76678602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:113.39, Z:3.77 [[-2.40929348e-01 -9.70529113e-01 5.12742624e-03 1.21061099e+02] [ 9.70251396e-01 -2.40983103e-01 -2.32244076e-02 1.13390626e+02] [ 2.37755868e-02 -6.20548914e-04 9.99717128e-01 3.76868919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:113.42, Z:3.77 [[-2.41707594e-01 -9.70335551e-01 5.13399881e-03 1.21054305e+02] [ 9.70058093e-01 -2.41761291e-01 -2.32115114e-02 1.13416477e+02] [ 2.37641568e-02 -6.30121459e-04 9.99717394e-01 3.76943233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:113.44, Z:3.77 [[-2.42414024e-01 -9.70159037e-01 5.18504884e-03 1.21047515e+02] [ 9.69877050e-01 -2.42468617e-01 -2.33982575e-02 1.13441735e+02] [ 2.39572426e-02 -6.43205907e-04 9.99712777e-01 3.77008811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:113.47, Z:3.77 [[-2.42820310e-01 -9.70057196e-01 5.22821363e-03 1.21041621e+02] [ 9.69771555e-01 -2.42875725e-01 -2.35481098e-02 1.13466740e+02] [ 2.41128195e-02 -6.47786455e-04 9.99709034e-01 3.77075051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:113.49, Z:3.77 [[-2.42820498e-01 -9.70057631e-01 5.13790392e-03 1.21036421e+02] [ 9.69782825e-01 -2.42874043e-01 -2.30969959e-02 1.13491322e+02] [ 2.36532807e-02 -6.25773067e-04 9.99720026e-01 3.77174407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:113.52, Z:3.77 [[-2.42757136e-01 -9.70074312e-01 4.98010955e-03 1.21029785e+02] [ 9.69817085e-01 -2.42807485e-01 -2.23460839e-02 1.13516416e+02] [ 2.28865698e-02 -5.94875992e-04 9.99737891e-01 3.77300722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:113.54, Z:3.77 [[-2.42420488e-01 -9.70159021e-01 4.87651867e-03 1.21023306e+02] [ 9.69913274e-01 -2.42468872e-01 -2.18423061e-02 1.13542274e+02] [ 2.23729143e-02 -5.65222316e-04 9.99749535e-01 3.77427302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:113.57, Z:3.78 [[-2.41070936e-01 -9.70496299e-01 4.66235470e-03 1.21016297e+02] [ 9.70272498e-01 -2.41115495e-01 -2.08470123e-02 1.13567240e+02] [ 2.13561142e-02 -5.01854228e-04 9.99771806e-01 3.77592929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.01, Y:113.59, Z:3.78 [[-2.40644798e-01 -9.70602301e-01 4.61021006e-03 1.21009192e+02] [ 9.70384229e-01 -2.40688478e-01 -2.05792067e-02 1.13592273e+02] [ 2.10838498e-02 -4.78603901e-04 9.99777596e-01 3.77674103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:113.62, Z:3.78 [[-2.40437733e-01 -9.70653877e-01 4.55503573e-03 1.21001990e+02] [ 9.70441736e-01 -2.40480436e-01 -2.02977209e-02 1.13617807e+02] [ 2.07974584e-02 -4.59941207e-04 9.99783604e-01 3.77738202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53275509600002 meters Centerline goodness [0,1] 0.9999147194269146 Centerline is valid? [True, True] Translation: X:120.99, Y:113.64, Z:3.78 [[-2.40303410e-01 -9.70686521e-01 4.68507681e-03 1.20994546e+02] [ 9.70462902e-01 -2.40348634e-01 -2.08396047e-02 1.13643600e+02] [ 2.13547752e-02 -4.61134821e-04 9.99771854e-01 3.77506890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:113.67, Z:3.78 [[-2.40221941e-01 -9.70706488e-01 4.72586425e-03 1.20988389e+02] [ 9.70479759e-01 -2.40267993e-01 -2.09840014e-02 1.13668728e+02] [ 2.15047802e-02 -4.54461956e-04 9.99768642e-01 3.77659760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:113.69, Z:3.78 [[-2.40960188e-01 -9.70523190e-01 4.78810616e-03 1.20983511e+02] [ 9.70291263e-01 -2.41007302e-01 -2.12213651e-02 1.13693418e+02] [ 2.17497955e-02 -4.67646558e-04 9.99763336e-01 3.77635783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:113.72, Z:3.78 [[-2.41652262e-01 -9.70351091e-01 4.79010815e-03 1.20974947e+02] [ 9.70119767e-01 -2.41699268e-01 -2.11920127e-02 1.13718946e+02] [ 2.17214583e-02 -4.74119212e-04 9.99763949e-01 3.77680733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:113.74, Z:3.78 [[-2.42494957e-01 -9.70141078e-01 4.74188077e-03 1.20969211e+02] [ 9.69915168e-01 -2.42540843e-01 -2.09405316e-02 1.13744640e+02] [ 2.14653696e-02 -4.78751212e-04 9.99769478e-01 3.77703566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68275509600002 meters Centerline goodness [0,1] 0.9998712777825453 Centerline is valid? [True, True] Translation: X:120.97, Y:113.77, Z:3.78 [[-2.44024762e-01 -9.69757652e-01 4.69175880e-03 1.20966772e+02] [ 9.69537217e-01 -2.44069353e-01 -2.06817902e-02 1.13770532e+02] [ 2.12014388e-02 -4.98034168e-04 9.99775100e-01 3.77515870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:113.80, Z:3.78 [[-2.44755523e-01 -9.69573959e-01 4.59049274e-03 1.20960617e+02] [ 9.69363549e-01 -2.44798066e-01 -2.02043704e-02 1.13795679e+02] [ 2.07133752e-02 -4.95274903e-04 9.99785332e-01 3.77843826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:113.82, Z:3.78 [[-2.45846162e-01 -9.69298614e-01 4.45672400e-03 1.20952397e+02] [ 9.69100906e-01 -2.45886056e-01 -1.95826694e-02 1.13821529e+02] [ 2.00773006e-02 -4.95308850e-04 9.99798308e-01 3.77940387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:113.85, Z:3.78 [[-2.47960554e-01 -9.68760574e-01 4.30286871e-03 1.20949015e+02] [ 9.68576799e-01 -2.47997354e-01 -1.88758145e-02 1.13847686e+02] [ 1.93532450e-02 -5.12798616e-04 9.99812577e-01 3.78093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80275509600003 meters Centerline goodness [0,1] 0.9998711921169575 Centerline is valid? [True, True] Translation: X:120.94, Y:113.87, Z:3.78 [[-2.49096113e-01 -9.68468955e-01 4.36010983e-03 1.20944377e+02] [ 9.68280697e-01 -2.49133692e-01 -1.91022386e-02 1.13874294e+02] [ 1.95861753e-02 -5.36483192e-04 9.99808029e-01 3.77934530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:113.90, Z:3.78 [[-2.50011714e-01 -9.68233709e-01 4.19859318e-03 1.20940479e+02] [ 9.68059646e-01 -2.50046411e-01 -1.83661160e-02 1.13898941e+02] [ 1.88325358e-02 -5.27255525e-04 9.99822513e-01 3.78292111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:113.92, Z:3.78 [[-2.50350220e-01 -9.68146477e-01 4.14328040e-03 1.20933828e+02] [ 9.67977589e-01 -2.50383966e-01 -1.80902240e-02 1.13924670e+02] [ 1.85513976e-02 -5.18288981e-04 9.99827774e-01 3.78351903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:113.95, Z:3.78 [[-2.50912834e-01 -9.68001407e-01 4.00331672e-03 1.20927571e+02] [ 9.67844259e-01 -2.50944263e-01 -1.74490063e-02 1.13950760e+02] [ 1.78952720e-02 -5.03592520e-04 9.99839740e-01 3.78432718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:113.98, Z:3.78 [[-2.51079621e-01 -9.67957974e-01 4.04782137e-03 1.20920864e+02] [ 9.67797880e-01 -2.51111742e-01 -1.76112434e-02 1.13976596e+02] [ 1.80633990e-02 -5.04351382e-04 9.99836716e-01 3.78430361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.952755096 meters Centerline goodness [0,1] 0.9999138970208369 Centerline is valid? [True, True] Translation: X:120.92, Y:114.00, Z:3.78 [[-2.51154008e-01 -9.67938389e-01 4.11571070e-03 1.20915151e+02] [ 9.67773470e-01 -2.51187219e-01 -1.78743259e-02 1.14002771e+02] [ 1.83350602e-02 -5.06132986e-04 9.99831771e-01 3.78295797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:114.03, Z:3.79 [[-2.50948786e-01 -9.67991296e-01 4.19011228e-03 1.20909316e+02] [ 9.67820972e-01 -2.50983261e-01 -1.81650732e-02 1.14027136e+02] [ 1.86352808e-02 -5.03224530e-04 9.99826221e-01 3.78515941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.012755096 meters Centerline goodness [0,1] 0.9999139099928975 Centerline is valid? [True, True] Translation: X:120.90, Y:114.05, Z:3.78 [[-2.49931447e-01 -9.68253687e-01 4.36686240e-03 1.20900365e+02] [ 9.68069430e-01 -2.49969104e-01 -1.88951381e-02 1.14052889e+02] [ 1.93868678e-02 -4.95063230e-04 9.99811934e-01 3.78340051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:114.08, Z:3.79 [[-2.49302929e-01 -9.68415312e-01 4.45342325e-03 1.20893295e+02] [ 9.68224335e-01 -2.49342232e-01 -1.92376547e-02 1.14078184e+02] [ 1.97404658e-02 -4.84090878e-04 9.99805021e-01 3.78544140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:114.10, Z:3.78 [[-2.47241081e-01 -9.68942898e-01 4.63762364e-03 1.20887371e+02] [ 9.68736659e-01 -2.47284161e-01 -1.99957380e-02 1.14104348e+02] [ 2.05215392e-02 -4.51131854e-04 9.99789309e-01 3.78482436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:114.13, Z:3.79 [[-2.46724621e-01 -9.69074533e-01 4.63799446e-03 1.20878224e+02] [ 9.68868943e-01 -2.46767832e-01 -1.99651972e-02 1.14129174e+02] [ 2.04922719e-02 -4.32296925e-04 9.99789918e-01 3.78512750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.132755096 meters Centerline goodness [0,1] 0.9998278570352678 Centerline is valid? [True, True] Translation: X:120.87, Y:114.15, Z:3.79 [[-2.46100799e-01 -9.69232936e-01 4.68114408e-03 1.20872133e+02] [ 9.69024272e-01 -2.46144967e-01 -2.01150402e-02 1.14153868e+02] [ 2.06483995e-02 -4.14185226e-04 9.99786713e-01 3.78549683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:114.18, Z:3.79 [[-2.45659568e-01 -9.69344998e-01 4.65310180e-03 1.20864753e+02] [ 9.69139421e-01 -2.45703313e-01 -1.99666060e-02 1.14179542e+02] [ 2.04978122e-02 -3.95483413e-04 9.99789820e-01 3.78616153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.192755096 meters Centerline goodness [0,1] 0.999870939987094 Centerline is valid? [True, True] Translation: X:120.86, Y:114.20, Z:3.78 [[-2.44946251e-01 -9.69525244e-01 4.70484700e-03 1.20859337e+02] [ 9.69315858e-01 -2.44991143e-01 -2.01521027e-02 1.14204503e+02] [ 2.06906181e-02 -3.75699191e-04 9.99785856e-01 3.78394188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:114.23, Z:3.79 [[-2.45256331e-01 -9.69447143e-01 4.64433221e-03 1.20854762e+02] [ 9.69243842e-01 -2.45300024e-01 -1.98563208e-02 1.14229597e+02] [ 2.03889082e-02 -3.68397987e-04 9.99792057e-01 3.78737958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:114.26, Z:3.79 [[-2.45813389e-01 -9.69306002e-01 4.65323318e-03 1.20849071e+02] [ 9.69102465e-01 -2.45857144e-01 -1.98664804e-02 1.14255365e+02] [ 2.04007293e-02 -3.73987132e-04 9.99791814e-01 3.78823695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28275509600002 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:120.84, Y:114.28, Z:3.79 [[-2.46939129e-01 -9.69019920e-01 4.63264130e-03 1.20843269e+02] [ 9.68818798e-01 -2.46982276e-01 -1.97457047e-02 1.14280837e+02] [ 2.02781614e-02 -3.87797140e-04 9.99794302e-01 3.78642001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31275509600002 meters Centerline goodness [0,1] 0.9999569947963703 Centerline is valid? [True, True] Translation: X:120.84, Y:114.31, Z:3.79 [[-2.48093763e-01 -9.68725259e-01 4.56695814e-03 1.20838766e+02] [ 9.68530424e-01 -2.48135476e-01 -1.94320279e-02 1.14306212e+02] [ 1.99575205e-02 -3.97727014e-04 9.99800750e-01 3.78878146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:114.33, Z:3.79 [[-2.50731894e-01 -9.68045452e-01 4.63892636e-03 1.20834777e+02] [ 9.67845054e-01 -2.50774400e-01 -1.97015556e-02 1.14333032e+02] [ 2.02353252e-02 -4.50046400e-04 9.99795144e-01 3.79072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37275509600002 meters Centerline goodness [0,1] 0.9999139914421485 Centerline is valid? [True, True] Translation: X:120.83, Y:114.36, Z:3.79 [[-2.52328411e-01 -9.67630360e-01 4.67541265e-03 1.20829157e+02] [ 9.67427365e-01 -2.52371267e-01 -1.98251652e-02 1.14359356e+02] [ 2.03633716e-02 -4.79330288e-04 9.99792530e-01 3.78924219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:114.39, Z:3.79 [[-2.54434022e-01 -9.67078857e-01 4.67036594e-03 1.20824626e+02] [ 9.66876863e-01 -2.54476362e-01 -1.97715059e-02 1.14386631e+02] [ 2.03091031e-02 -5.14875014e-04 9.99793616e-01 3.79221040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:114.41, Z:3.79 [[-2.57627007e-01 -9.66232881e-01 4.72704501e-03 1.20822992e+02] [ 9.66026483e-01 -2.57669717e-01 -1.99787786e-02 1.14413620e+02] [ 2.05221692e-02 -5.80622283e-04 9.99789230e-01 3.79268091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.82, Y:114.44, Z:3.79 [[-2.59299686e-01 -9.65785444e-01 4.70631930e-03 1.20817140e+02] [ 9.65581461e-01 -2.59341688e-01 -1.98577572e-02 1.14439873e+02] [ 2.03988776e-02 -6.04775534e-04 9.99791738e-01 3.79282241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:114.47, Z:3.79 [[-2.61019382e-01 -9.65322009e-01 4.72237367e-03 1.20812264e+02] [ 9.65117210e-01 -2.61061325e-01 -1.98935805e-02 1.14466612e+02] [ 2.04365402e-02 -6.34965981e-04 9.99790950e-01 3.79342030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:114.49, Z:3.79 [[-2.62626460e-01 -9.64886030e-01 4.72141051e-03 1.20807058e+02] [ 9.64681895e-01 -2.62668066e-01 -1.98577278e-02 1.14493001e+02] [ 2.04006079e-02 -6.60505535e-04 9.99791668e-01 3.79400648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55275509600003 meters Centerline goodness [0,1] 0.9998706059952556 Centerline is valid? [True, True] Translation: X:120.81, Y:114.52, Z:3.79 [[-2.65477271e-01 -9.64105599e-01 4.71305517e-03 1.20805932e+02] [ 9.63902717e-01 -2.65518151e-01 -1.97904896e-02 1.14519930e+02] [ 2.03315235e-02 -7.10998471e-04 9.99793040e-01 3.79131454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:114.55, Z:3.79 [[-2.67101842e-01 -9.63655728e-01 4.92383278e-03 1.20802127e+02] [ 9.63434992e-01 -2.67146115e-01 -2.06390295e-02 1.14546011e+02] [ 2.12043018e-02 -7.68929980e-04 9.99774868e-01 3.79443818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.79, Y:114.57, Z:3.80 [[-2.65762923e-01 -9.64026482e-01 4.79702732e-03 1.20791737e+02] [ 9.63817704e-01 -2.65805260e-01 -2.00748046e-02 1.14571488e+02] [ 2.06277183e-02 -7.11678887e-04 9.99786973e-01 3.79530975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters Centerline goodness [0,1] 0.9998704579312132 Centerline is valid? [True, True] Translation: X:120.79, Y:114.60, Z:3.79 [[-2.65017351e-01 -9.64230667e-01 5.00240982e-03 1.20786209e+02] [ 9.64004395e-01 -2.65063590e-01 -2.09002329e-02 1.14598456e+02] [ 2.14786023e-02 -7.16579316e-04 9.99769051e-01 3.79214201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.78, Y:114.62, Z:3.79 [[-2.62947044e-01 -9.64795853e-01 5.27393979e-03 1.20778598e+02] [ 9.64545268e-01 -2.62999003e-01 -2.19988802e-02 1.14624631e+02] [ 2.26114693e-02 -6.97586858e-04 9.99744085e-01 3.79495309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:114.65, Z:3.79 [[-2.61411614e-01 -9.65212406e-01 5.38327395e-03 1.20770653e+02] [ 9.64952219e-01 -2.61466188e-01 -2.24197855e-02 1.14650654e+02] [ 2.30473992e-02 -6.66190158e-04 9.99734151e-01 3.79482665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.76, Y:114.68, Z:3.79 [[-2.60054336e-01 -9.65578235e-01 5.51497390e-03 1.20763355e+02] [ 9.65306061e-01 -2.60112019e-01 -2.29335110e-02 1.14676190e+02] [ 2.35786101e-02 -6.40321256e-04 9.99721781e-01 3.79491594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.762755096 meters Centerline goodness [0,1] 0.9997842549243814 Centerline is valid? [True, True] Translation: X:120.76, Y:114.70, Z:3.79 [[-2.58872765e-01 -9.65894805e-01 5.66723715e-03 1.20755800e+02] [ 9.65608186e-01 -2.58934047e-01 -2.35369875e-02 1.14702820e+02] [ 2.42016946e-02 -6.20754440e-04 9.99706903e-01 3.79113263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.792755096 meters Centerline goodness [0,1] 0.9997842549243814 Centerline is valid? [True, True] Translation: X:120.75, Y:114.73, Z:3.79 [[-2.59245059e-01 -9.65794899e-01 5.67553828e-03 1.20749474e+02] [ 9.65508301e-01 -2.59306433e-01 -2.35349859e-02 1.14727971e+02] [ 2.42016729e-02 -6.21549484e-04 9.99706903e-01 3.79166022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.822755096 meters Centerline goodness [0,1] 0.9999567997235183 Centerline is valid? [True, True] Translation: X:120.74, Y:114.75, Z:3.80 [[-2.56053290e-01 -9.66646112e-01 5.65755249e-03 1.20738493e+02] [ 9.66362473e-01 -2.56115236e-01 -2.34212875e-02 1.14752215e+02] [ 2.40890818e-02 -5.29851292e-04 9.99709676e-01 3.79649189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.852755096 meters Centerline goodness [0,1] 0.9998071318361049 Centerline is valid? [True, True] Translation: X:120.73, Y:114.78, Z:3.79 [[-2.54001297e-01 -9.67186984e-01 5.71648908e-03 1.20729521e+02] [ 9.66898459e-01 -2.54065174e-01 -2.36274765e-02 1.14777180e+02] [ 2.43045485e-02 -4.74145201e-04 9.99704488e-01 3.79346364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:114.80, Z:3.80 [[-2.52945423e-01 -9.67464408e-01 5.58852673e-03 1.20720773e+02] [ 9.67189575e-01 -2.53006788e-01 -2.30627484e-02 1.14802156e+02] [ 2.37263235e-02 -4.28451857e-04 9.99718399e-01 3.79912123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:114.83, Z:3.80 [[-2.52405760e-01 -9.67605792e-01 5.51032221e-03 1.20714974e+02] [ 9.67339512e-01 -2.52465585e-01 -2.27023419e-02 1.14827223e+02] [ 2.33580843e-02 -3.99849483e-04 9.99727083e-01 3.80033272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.942755096 meters Centerline goodness [0,1] 0.9997846220116304 Centerline is valid? [True, True] Translation: X:120.71, Y:114.85, Z:3.80 [[-2.51437322e-01 -9.67857204e-01 5.63080167e-03 1.20707417e+02] [ 9.67580186e-01 -2.51500085e-01 -2.31579601e-02 1.14852727e+02] [ 2.38297456e-02 -3.74523350e-04 9.99715961e-01 3.79740867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97275509600001 meters Centerline goodness [0,1] 0.9999137522100996 Centerline is valid? [True, True] Translation: X:120.70, Y:114.88, Z:3.80 [[-2.51093168e-01 -9.67947455e-01 5.47216398e-03 1.20699716e+02] [ 9.67686693e-01 -2.51152550e-01 -2.24690993e-02 1.14878157e+02] [ 2.31232554e-02 -3.46497060e-04 9.99732562e-01 3.80057339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00275509600002 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:120.69, Y:114.90, Z:3.80 [[-2.50771510e-01 -9.68031702e-01 5.31729301e-03 1.20694042e+02] [ 9.67786310e-01 -2.50827672e-01 -2.17976609e-02 1.14902623e+02] [ 2.24345511e-02 -3.20228959e-04 9.99748263e-01 3.80314604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:114.93, Z:3.80 [[-2.51011467e-01 -9.67969992e-01 5.22856676e-03 1.20684913e+02] [ 9.67733512e-01 -2.51065724e-01 -2.13974869e-02 1.14927742e+02] [ 2.20248391e-02 -3.11155309e-04 9.99757375e-01 3.80475541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06275509600002 meters Centerline goodness [0,1] 0.9999784737918416 Centerline is valid? [True, True] Translation: X:120.68, Y:114.95, Z:3.80 [[-2.51779633e-01 -9.67770051e-01 5.30514816e-03 1.20678359e+02] [ 9.67527378e-01 -2.51835310e-01 -2.16737147e-02 1.14951930e+02] [ 2.23111957e-02 -3.24123858e-04 9.99751022e-01 3.80423192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:114.98, Z:3.81 [[-2.52744417e-01 -9.67518746e-01 5.26657183e-03 1.20672248e+02] [ 9.67280359e-01 -2.52799061e-01 -2.14788787e-02 1.14977486e+02] [ 2.21126022e-02 -3.34415175e-04 9.99755431e-01 3.80525184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12275509600002 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:120.67, Y:115.00, Z:3.80 [[-2.55423231e-01 -9.66815373e-01 5.19681889e-03 1.20669820e+02] [ 9.66583859e-01 -2.55475807e-01 -2.11602153e-02 1.15003682e+02] [ 2.17856829e-02 -3.81649291e-04 9.99762591e-01 3.80410339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15275509600002 meters Centerline goodness [0,1] 0.9999354213755247 Centerline is valid? [True, True] Translation: X:120.66, Y:115.03, Z:3.81 [[-2.56911397e-01 -9.66420606e-01 5.26749492e-03 1.20664541e+02] [ 9.66183404e-01 -2.56965061e-01 -2.14146582e-02 1.15030209e+02] [ 2.20491291e-02 -4.12303591e-04 9.99756803e-01 3.80532612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18275509600002 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:120.66, Y:115.06, Z:3.81 [[-2.58475208e-01 -9.66003591e-01 5.25632860e-03 1.20656787e+02] [ 9.65767990e-01 -2.58528276e-01 -2.13382279e-02 1.15056203e+02] [ 2.19717143e-02 -4.39008977e-04 9.99758496e-01 3.80767184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:115.08, Z:3.81 [[-2.61748546e-01 -9.65121626e-01 5.28646402e-03 1.20656410e+02] [ 9.64883882e-01 -2.61801433e-01 -2.14266898e-02 1.15083120e+02] [ 2.20633656e-02 -5.07580969e-04 9.99756445e-01 3.80898563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24275509600002 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:120.65, Y:115.11, Z:3.81 [[-2.63802390e-01 -9.64561691e-01 5.38922879e-03 1.20648337e+02] [ 9.64315310e-01 -2.63856847e-01 -2.18070577e-02 1.15109097e+02] [ 2.24562374e-02 -5.55838118e-04 9.99747672e-01 3.80761124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:115.14, Z:3.81 [[-2.65171251e-01 -9.64186059e-01 5.42690018e-03 1.20641736e+02] [ 9.63936906e-01 -2.65226137e-01 -2.19257111e-02 1.15135519e+02] [ 2.25798207e-02 -5.82878865e-04 9.99744873e-01 3.81048675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30275509600003 meters Centerline goodness [0,1] 0.9998274411682233 Centerline is valid? [True, True] Translation: X:120.64, Y:115.16, Z:3.81 [[-2.67245558e-01 -9.63611737e-01 5.67730099e-03 1.20635704e+02] [ 9.63339798e-01 -2.67305062e-01 -2.29006095e-02 1.15162341e+02] [ 2.35848674e-02 -6.50916171e-04 9.99721626e-01 3.80770598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.332755096 meters Centerline goodness [0,1] 0.9998922924475464 Centerline is valid? [True, True] Translation: X:120.63, Y:115.19, Z:3.81 [[-2.69977021e-01 -9.62847481e-01 6.09391956e-03 1.20630735e+02] [ 9.62534986e-01 -2.70044719e-01 -2.45407925e-02 1.15189112e+02] [ 2.52746710e-02 -7.59839258e-04 9.99680256e-01 3.80743830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:120.63, Y:115.21, Z:3.81 [[-2.72462850e-01 -9.62144320e-01 6.50414193e-03 1.20627063e+02] [ 9.61789284e-01 -2.72539085e-01 -2.61499727e-02 1.15214668e+02] [ 2.69326806e-02 -8.69282090e-04 9.99636872e-01 3.80771327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:115.24, Z:3.81 [[-2.73465333e-01 -9.61859798e-01 6.51473410e-03 1.20620029e+02] [ 9.61504633e-01 -2.73541482e-01 -2.61514498e-02 1.15240496e+02] [ 2.69360782e-02 -8.87567891e-04 9.99636764e-01 3.80985319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:115.27, Z:3.81 [[-2.74399938e-01 -9.61593120e-01 6.58376358e-03 1.20613643e+02] [ 9.61231444e-01 -2.74477394e-01 -2.63869557e-02 1.15265790e+02] [ 2.71806093e-02 -9.12058444e-04 9.99630123e-01 3.81024877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.61, Y:115.29, Z:3.81 [[-2.75095561e-01 -9.61392855e-01 6.79789342e-03 1.20608568e+02] [ 9.61008502e-01 -2.75177902e-01 -2.71989220e-02 1.15291711e+02] [ 2.80194793e-02 -9.49469327e-04 9.99606926e-01 3.81016940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.482755096 meters Centerline goodness [0,1] 0.9998704970753923 Centerline is valid? [True, True] Translation: X:120.60, Y:115.32, Z:3.81 [[-2.75846110e-01 -9.61176478e-01 6.97868624e-03 1.20598730e+02] [ 9.60772623e-01 -2.75932615e-01 -2.78775814e-02 1.15317004e+02] [ 2.87209226e-02 -9.84991696e-04 9.99586984e-01 3.80941892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.512755096 meters Centerline goodness [0,1] 0.9999137522100996 Centerline is valid? [True, True] Translation: X:120.59, Y:115.34, Z:3.81 [[-2.75997824e-01 -9.61133445e-01 6.90665161e-03 1.20592791e+02] [ 9.60739089e-01 -2.76082533e-01 -2.75470298e-02 1.15342678e+02] [ 2.83831776e-02 -9.67430124e-04 9.99596648e-01 3.81103273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.542755096 meters Centerline goodness [0,1] 0.9997849647342164 Centerline is valid? [True, True] Translation: X:120.58, Y:115.37, Z:3.81 [[-2.75109713e-01 -9.61387049e-01 7.04192990e-03 1.20584826e+02] [ 9.60978474e-01 -2.75198193e-01 -2.80415304e-02 1.15368706e+02] [ 2.88966905e-02 -9.47354323e-04 9.99581955e-01 3.81066456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.58, Y:115.39, Z:3.82 [[-2.73913276e-01 -9.61730472e-01 6.78353901e-03 1.20575825e+02] [ 9.61352545e-01 -2.73995890e-01 -2.69728876e-02 1.15394397e+02] [ 2.77993097e-02 -8.66859499e-04 9.99613149e-01 3.81543673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:115.42, Z:3.82 [[-2.72358800e-01 -9.62172972e-01 6.62241551e-03 1.20567296e+02] [ 9.61813991e-01 -2.72438150e-01 -2.62926023e-02 1.15418898e+02] [ 2.71022299e-02 -7.91489699e-04 9.99632354e-01 3.81665181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:115.44, Z:3.82 [[-2.71548661e-01 -9.62402154e-01 6.58929322e-03 1.20560704e+02] [ 9.62047917e-01 -2.71627550e-01 -2.61204743e-02 1.15444838e+02] [ 2.69282343e-02 -7.53763993e-04 9.99637085e-01 3.81748342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.662755096 meters Centerline goodness [0,1] 0.9999354810959611 Centerline is valid? [True, True] Translation: X:120.55, Y:115.47, Z:3.82 [[-2.70885135e-01 -9.62588865e-01 6.62729121e-03 1.20551971e+02] [ 9.62231677e-01 -2.70965213e-01 -2.62307548e-02 1.15469569e+02] [ 2.70451978e-02 -7.28532012e-04 9.99633946e-01 3.81725026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.692755096 meters Centerline goodness [0,1] 0.9999138840448664 Centerline is valid? [True, True] Translation: X:120.55, Y:115.49, Z:3.82 [[-2.70077598e-01 -9.62815515e-01 6.66150233e-03 1.20545527e+02] [ 9.62455912e-01 -2.70158839e-01 -2.63214770e-02 1.15493787e+02] [ 2.71423902e-02 -6.97438999e-04 9.99631334e-01 3.81731989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72275509600001 meters Centerline goodness [0,1] 0.9998494947323157 Centerline is valid? [True, True] Translation: X:120.54, Y:115.52, Z:3.82 [[-2.67886010e-01 -9.63427001e-01 6.74527631e-03 1.20536641e+02] [ 9.63059717e-01 -2.67970174e-01 -2.66076407e-02 1.15519844e+02] [ 2.74420524e-02 -6.31710809e-04 9.99623196e-01 3.81688147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75275509600002 meters Centerline goodness [0,1] 0.9997415742435662 Centerline is valid? [True, True] Translation: X:120.53, Y:115.54, Z:3.82 [[-2.67224203e-01 -9.63610365e-01 6.80361972e-03 1.20528889e+02] [ 9.63237884e-01 -2.67310110e-01 -2.67970834e-02 1.15544942e+02] [ 2.76406236e-02 -6.07324988e-04 9.99617740e-01 3.81626112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.52, Y:115.57, Z:3.82 [[-2.65185905e-01 -9.64174897e-01 6.57291662e-03 1.20519952e+02] [ 9.63828497e-01 -2.65266842e-01 -2.58482082e-02 1.15570361e+02] [ 2.66657704e-02 -5.19416138e-04 9.99644270e-01 3.82175831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81275509600002 meters Centerline goodness [0,1] 0.9998709538660071 Centerline is valid? [True, True] Translation: X:120.51, Y:115.60, Z:3.82 [[-2.63431952e-01 -9.64656702e-01 6.40740094e-03 1.20512131e+02] [ 9.64328629e-01 -2.63509480e-01 -2.51604609e-02 1.15595682e+02] [ 2.59596181e-02 -4.49229151e-04 9.99662891e-01 3.81961190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:115.62, Z:3.82 [[-2.62097521e-01 -9.65020927e-01 6.28488989e-03 1.20503590e+02] [ 9.64706348e-01 -2.62172565e-01 -2.46415979e-02 1.15620504e+02] [ 2.54273834e-02 -3.95428553e-04 9.99676594e-01 3.82335411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87275509600002 meters Centerline goodness [0,1] 0.9999143083613616 Centerline is valid? [True, True] Translation: X:120.50, Y:115.65, Z:3.82 [[-2.61248463e-01 -9.65252040e-01 6.14325623e-03 1.20496314e+02] [ 9.64952450e-01 -2.61320442e-01 -2.40498606e-02 1.15645047e+02] [ 2.48195354e-02 -3.55038975e-04 9.99691885e-01 3.82184349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90275509600002 meters Centerline goodness [0,1] 0.9998498788307706 Centerline is valid? [True, True] Translation: X:120.49, Y:115.67, Z:3.82 [[-2.61745798e-01 -9.65117129e-01 6.16966645e-03 1.20489795e+02] [ 9.64815725e-01 -2.61818253e-01 -2.41209233e-02 1.15670033e+02] [ 2.48948475e-02 -3.60959112e-04 9.99690010e-01 3.82085507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93275509600002 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:120.48, Y:115.70, Z:3.82 [[-2.62218658e-01 -9.64989519e-01 6.05017586e-03 1.20482968e+02] [ 9.64700559e-01 -2.62288205e-01 -2.36162776e-02 1.15695153e+02] [ 2.43763501e-02 -3.56020565e-04 9.99702789e-01 3.82166882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96275509600002 meters Centerline goodness [0,1] 0.9999141759821486 Centerline is valid? [True, True] Translation: X:120.48, Y:115.72, Z:3.82 [[-2.62882145e-01 -9.64809218e-01 6.01260483e-03 1.20475614e+02] [ 9.64524677e-01 -2.62950648e-01 -2.34329771e-02 1.15720166e+02] [ 2.41893707e-02 -3.60805549e-04 9.99707329e-01 3.82323166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:115.75, Z:3.82 [[-2.64205803e-01 -9.64446401e-01 6.19940324e-03 1.20472150e+02] [ 9.64144819e-01 -2.64278229e-01 -2.41202294e-02 1.15745890e+02] [ 2.49010357e-02 -3.95582040e-04 9.99689843e-01 3.82471830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:115.77, Z:3.83 [[-2.65609718e-01 -9.64060501e-01 6.23126314e-03 1.20465293e+02] [ 9.63756727e-01 -2.65682464e-01 -2.42032914e-02 1.15771425e+02] [ 2.49889746e-02 -4.23207624e-04 9.99687637e-01 3.82528962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05275509600003 meters Centerline goodness [0,1] 0.9999355282386315 Centerline is valid? [True, True] Translation: X:120.46, Y:115.80, Z:3.82 [[-2.69275956e-01 -9.63040814e-01 6.54598294e-03 1.20462459e+02] [ 9.62706369e-01 -2.69354981e-01 -2.53838664e-02 1.15797562e+02] [ 2.62088925e-02 -5.33405423e-04 9.99656346e-01 3.82277417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08275509600003 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:120.46, Y:115.82, Z:3.82 [[-2.70991657e-01 -9.62558653e-01 6.66046950e-03 1.20456850e+02] [ 9.62213297e-01 -2.71072876e-01 -2.57888927e-02 1.15824498e+02] [ 2.66287945e-02 -5.79782464e-04 9.99645223e-01 3.82386544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:115.85, Z:3.82 [[-2.74442610e-01 -9.61578673e-01 6.90717412e-03 1.20451018e+02] [ 9.61208032e-01 -2.74528649e-01 -2.67046819e-02 1.15850918e+02] [ 2.75748698e-02 -6.89671350e-04 9.99619503e-01 3.82498386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.45, Y:115.88, Z:3.83 [[-2.76413355e-01 -9.61013260e-01 7.01230649e-03 1.20445803e+02] [ 9.60632217e-01 -2.76501281e-01 -2.70700053e-02 1.15877746e+02] [ 2.79535457e-02 -7.46263437e-04 9.99608945e-01 3.82528876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.172755096 meters Centerline goodness [0,1] 0.9999567408560984 Centerline is valid? [True, True] Translation: X:120.44, Y:115.90, Z:3.82 [[-2.78582767e-01 -9.60386105e-01 7.08323982e-03 1.20441588e+02] [ 9.59998220e-01 -2.78671634e-01 -2.73045512e-02 1.15903268e+02] [ 2.81968095e-02 -8.06679785e-04 9.99602065e-01 3.82409949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:115.93, Z:3.82 [[-2.82069816e-01 -9.59365478e-01 7.38232572e-03 1.20438214e+02] [ 9.58944934e-01 -2.82164850e-01 -2.84184975e-02 1.15929394e+02] [ 2.93467582e-02 -9.36756510e-04 9.99568852e-01 3.82497016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.232755096 meters Centerline goodness [0,1] 0.999956835153451 Centerline is valid? [True, True] Translation: X:120.43, Y:115.96, Z:3.82 [[-2.84538269e-01 -9.58635080e-01 7.53369373e-03 1.20433742e+02] [ 9.58198214e-01 -2.84636157e-01 -2.89558521e-02 1.15955491e+02] [ 2.99024572e-02 -1.02027614e-03 9.99552301e-01 3.82407200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.43, Y:115.98, Z:3.83 [[-2.88027530e-01 -9.57590934e-01 7.72953335e-03 1.20430179e+02] [ 9.57132064e-01 -2.88128949e-01 -2.96634459e-02 1.15982756e+02] [ 3.06325492e-02 -1.14570485e-03 9.99530057e-01 3.82568691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:116.01, Z:3.83 [[-2.89826645e-01 -9.57048047e-01 7.71691540e-03 1.20421716e+02] [ 9.56591791e-01 -2.89926925e-01 -2.95723613e-02 1.16008733e+02] [ 3.05395122e-02 -1.18892036e-03 9.99532853e-01 3.82731524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.42, Y:116.03, Z:3.83 [[-2.91495182e-01 -9.56542087e-01 7.60221241e-03 1.20416301e+02] [ 9.56100430e-01 -2.91591784e-01 -2.90894912e-02 1.16034722e+02] [ 3.00420653e-02 -1.21096800e-03 9.99547902e-01 3.82834279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.352755096 meters Centerline goodness [0,1] 0.999978453383896 Centerline is valid? [True, True] Translation: X:120.41, Y:116.06, Z:3.83 [[-2.93126278e-01 -9.56045834e-01 7.30398533e-03 1.20411776e+02] [ 9.55639214e-01 -2.93214806e-01 -2.79064685e-02 1.16060806e+02] [ 2.88214996e-02 -1.20014446e-03 9.99583854e-01 3.82950794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.382755096 meters Centerline goodness [0,1] 0.9998920179682101 Centerline is valid? [True, True] Translation: X:120.41, Y:116.09, Z:3.83 [[-2.93963427e-01 -9.55790327e-01 7.09607669e-03 1.20405025e+02] [ 9.55407623e-01 -2.94046702e-01 -2.70704920e-02 1.16085874e+02] [ 2.79602924e-02 -1.17808886e-03 9.99608340e-01 3.82928199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.40, Y:116.11, Z:3.83 [[-2.93309709e-01 -9.55992100e-01 6.96555470e-03 1.20397306e+02] [ 9.55624542e-01 -2.93390248e-01 -2.65310609e-02 1.16112480e+02] [ 2.74071105e-02 -1.12536273e-03 9.99623721e-01 3.83284381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:116.14, Z:3.83 [[-2.92874033e-01 -9.56127383e-01 6.72517047e-03 1.20390105e+02] [ 9.55785702e-01 -2.92949303e-01 -2.55811987e-02 1.16137538e+02] [ 2.64290186e-02 -1.06424705e-03 9.99650126e-01 3.83413484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47275509600001 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:120.38, Y:116.16, Z:3.84 [[-2.90517609e-01 -9.56847355e-01 6.53135817e-03 1.20379310e+02] [ 9.56526180e-01 -2.90589433e-01 -2.48082377e-02 1.16162786e+02] [ 2.56356402e-02 -9.59814815e-04 9.99670892e-01 3.83515845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.37, Y:116.19, Z:3.84 [[-2.88586568e-01 -9.57431510e-01 6.53430043e-03 1.20370422e+02] [ 9.57111102e-01 -2.88659138e-01 -2.47838937e-02 1.16188349e+02] [ 2.56150663e-02 -8.98247352e-04 9.99671477e-01 3.83656836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.36, Y:116.21, Z:3.84 [[-2.83584205e-01 -9.58924955e-01 6.55206980e-03 1.20357111e+02] [ 9.58604106e-01 -2.83658877e-01 -2.48155111e-02 1.16212880e+02] [ 2.56547656e-02 -7.56445967e-04 9.99670576e-01 3.83699314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:116.24, Z:3.84 [[-2.81223739e-01 -9.59619977e-01 6.53510640e-03 1.20348306e+02] [ 9.59301903e-01 -2.81298835e-01 -2.47148714e-02 1.16238267e+02] [ 2.55552022e-02 -6.81268542e-04 9.99673180e-01 3.83729424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.34, Y:116.26, Z:3.84 [[-2.78834745e-01 -9.60317062e-01 6.50579465e-03 1.20341633e+02] [ 9.60002888e-01 -2.78909974e-01 -2.45699444e-02 1.16263366e+02] [ 2.54094678e-02 -6.05372516e-04 9.99676944e-01 3.83719907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62275509600002 meters Centerline goodness [0,1] 0.999956961480525 Centerline is valid? [True, True] Translation: X:120.33, Y:116.29, Z:3.84 [[-2.74858218e-01 -9.61463395e-01 6.41100212e-03 1.20327714e+02] [ 9.61159324e-01 -2.74932548e-01 -2.41836333e-02 1.16287817e+02] [ 2.50142713e-02 -4.85075900e-04 9.99686976e-01 3.83777213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:116.31, Z:3.84 [[-2.73688156e-01 -9.61797774e-01 6.31150740e-03 1.20319846e+02] [ 9.61504026e-01 -2.73760570e-01 -2.37730462e-02 1.16312079e+02] [ 2.45927048e-02 -4.37861398e-04 9.99697458e-01 3.83946226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:116.34, Z:3.84 [[-2.72833715e-01 -9.62040310e-01 6.34079781e-03 1.20312570e+02] [ 9.61744852e-01 -2.72907082e-01 -2.38445870e-02 1.16336526e+02] [ 2.46699025e-02 -4.07377596e-04 9.99695569e-01 3.84020324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:116.36, Z:3.84 [[-2.73212445e-01 -9.61932770e-01 6.34866931e-03 1.20305658e+02] [ 9.61637331e-01 -2.73285892e-01 -2.38424912e-02 1.16361514e+02] [ 2.46698754e-02 -4.08947913e-04 9.99695569e-01 3.84073095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.30, Y:116.39, Z:3.84 [[-2.71921134e-01 -9.62299557e-01 6.20164158e-03 1.20297780e+02] [ 9.62018581e-01 -2.71991610e-01 -2.32554082e-02 1.16385966e+02] [ 2.40654635e-02 -3.57542534e-04 9.99710321e-01 3.84127805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:116.41, Z:3.84 [[-2.71902315e-01 -9.62304543e-01 6.25278278e-03 1.20290480e+02] [ 9.62019660e-01 -2.71973974e-01 -2.34164822e-02 1.16411147e+02] [ 2.42343814e-02 -3.51695743e-04 9.99706242e-01 3.84194925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:116.44, Z:3.84 [[-2.72623923e-01 -9.62100254e-01 6.26876151e-03 1.20282858e+02] [ 9.61814737e-01 -2.72695747e-01 -2.34401704e-02 1.16437706e+02] [ 2.42612585e-02 -3.60964009e-04 9.99705587e-01 3.84291715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83275509600003 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:120.28, Y:116.46, Z:3.84 [[-2.73434064e-01 -9.61869615e-01 6.37623019e-03 1.20277377e+02] [ 9.61575045e-01 -2.73508137e-01 -2.38061248e-02 1.16462565e+02] [ 2.46423390e-02 -3.78181629e-04 9.99696260e-01 3.84174679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.27, Y:116.49, Z:3.84 [[-2.73613922e-01 -9.61818228e-01 6.41233401e-03 1.20269344e+02] [ 9.61521271e-01 -2.73688795e-01 -2.39016612e-02 1.16489063e+02] [ 2.47440374e-02 -3.74231722e-04 9.99693749e-01 3.84404924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.892755096 meters Centerline goodness [0,1] 0.9998931738062173 Centerline is valid? [True, True] Translation: X:120.26, Y:116.51, Z:3.84 [[-2.74802063e-01 -9.61477555e-01 6.68865379e-03 1.20264255e+02] [ 9.61155345e-01 -2.74883143e-01 -2.48929935e-02 1.16513639e+02] [ 2.57726527e-02 -4.11810633e-04 9.99667745e-01 3.84241049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:116.54, Z:3.84 [[-2.75207622e-01 -9.61362005e-01 6.62274127e-03 1.20256654e+02] [ 9.61047117e-01 -2.75286996e-01 -2.46070823e-02 1.16539323e+02] [ 2.54794685e-02 -4.07290201e-04 9.99675263e-01 3.84489589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.952755096 meters Centerline goodness [0,1] 0.9999141207033514 Centerline is valid? [True, True] Translation: X:120.25, Y:116.57, Z:3.84 [[-2.76106654e-01 -9.61103056e-01 6.78460420e-03 1.20248591e+02] [ 9.60773540e-01 -2.76189662e-01 -2.51689307e-02 1.16565659e+02] [ 2.60637738e-02 -4.30841041e-04 9.99660189e-01 3.84380058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.982755096 meters Centerline goodness [0,1] 0.9998074207215304 Centerline is valid? [True, True] Translation: X:120.24, Y:116.59, Z:3.84 [[-2.77875995e-01 -9.60589738e-01 7.23100696e-03 1.20242888e+02] [ 9.60216402e-01 -2.77969615e-01 -2.67834640e-02 1.16591085e+02] [ 2.77379209e-02 -4.99150219e-04 9.99615105e-01 3.84226850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.24, Y:116.62, Z:3.85 [[-2.78392986e-01 -9.60441889e-01 6.98013911e-03 1.20237758e+02] [ 9.60095017e-01 -2.78480056e-01 -2.58150541e-02 1.16615645e+02] [ 2.67376888e-02 -4.85133212e-04 9.99642366e-01 3.84520514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:116.64, Z:3.85 [[-2.79420020e-01 -9.60142828e-01 7.08536701e-03 1.20229984e+02] [ 9.59786476e-01 -2.79509374e-01 -2.61616284e-02 1.16641767e+02] [ 2.70993264e-02 -5.09643287e-04 9.99632616e-01 3.84611631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.072755096 meters Centerline goodness [0,1] 0.9998713578182286 Centerline is valid? [True, True] Translation: X:120.22, Y:116.67, Z:3.85 [[-2.81740036e-01 -9.59464703e-01 7.07365377e-03 1.20224523e+02] [ 9.59110269e-01 -2.81828257e-01 -2.60830602e-02 1.16667107e+02] [ 2.70193311e-02 -5.64228362e-04 9.99634752e-01 3.84509311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.102755096 meters Centerline goodness [0,1] 0.9999141833472786 Centerline is valid? [True, True] Translation: X:120.22, Y:116.69, Z:3.85 [[-2.82899545e-01 -9.59123678e-01 7.04395952e-03 1.20217509e+02] [ 9.58772955e-01 -2.82986620e-01 -2.59421253e-02 1.16693025e+02] [ 2.68750530e-02 -5.85457571e-04 9.99638629e-01 3.84610686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.21, Y:116.72, Z:3.85 [[-2.83816911e-01 -9.58854243e-01 6.81922365e-03 1.20211055e+02] [ 9.58526458e-01 -2.83898227e-01 -2.50764018e-02 1.16718239e+02] [ 2.59805798e-02 -5.80700599e-04 9.99662279e-01 3.84839649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.162755096 meters Centerline goodness [0,1] 0.9998075278015398 Centerline is valid? [True, True] Translation: X:120.20, Y:116.74, Z:3.85 [[-2.86385402e-01 -9.58089508e-01 6.92070021e-03 1.20203737e+02] [ 9.57752700e-01 -2.86468276e-01 -2.54104942e-02 1.16744630e+02] [ 2.63280890e-02 -6.48875280e-04 9.99653145e-01 3.84796025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:116.77, Z:3.85 [[-2.87016962e-01 -9.57903405e-01 6.50618848e-03 1.20196340e+02] [ 9.57606494e-01 -2.87090032e-01 -2.38561483e-02 1.16770853e+02] [ 2.47197476e-02 -6.16750860e-04 9.99694230e-01 3.85162174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:116.80, Z:3.85 [[-2.87949357e-01 -9.57625005e-01 6.28635286e-03 1.20191485e+02] [ 9.57348529e-01 -2.88017324e-01 -2.30177164e-02 1.16796427e+02] [ 2.38529193e-02 -6.09705971e-04 9.99715293e-01 3.85225131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.18, Y:116.82, Z:3.85 [[-2.89308158e-01 -9.57216393e-01 6.12916243e-03 1.20183965e+02] [ 9.56954238e-01 -2.89372416e-01 -2.24096268e-02 1.16822900e+02] [ 2.32244727e-02 -6.17959896e-04 9.99730085e-01 3.85319780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28275509600002 meters Centerline goodness [0,1] 0.9998716412801643 Centerline is valid? [True, True] Translation: X:120.17, Y:116.85, Z:3.85 [[-2.90207652e-01 -9.56942271e-01 6.40377478e-03 1.20174629e+02] [ 9.56656845e-01 -2.90277549e-01 -2.33800345e-02 1.16848248e+02] [ 2.42322153e-02 -6.58849931e-04 9.99706140e-01 3.85200460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:116.87, Z:3.85 [[-2.90156292e-01 -9.56960346e-01 6.01847748e-03 1.20166254e+02] [ 9.56708976e-01 -2.90218066e-01 -2.19410628e-02 1.16873068e+02] [ 2.27433979e-02 -6.08405999e-04 9.99741150e-01 3.85463878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34275509600002 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:120.16, Y:116.90, Z:3.85 [[-2.90960005e-01 -9.56716347e-01 6.00894833e-03 1.20158186e+02] [ 9.56466501e-01 -2.91021394e-01 -2.18719320e-02 1.16897638e+02] [ 2.26739674e-02 -6.16499664e-04 9.99742722e-01 3.85391865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:116.92, Z:3.86 [[-2.91075158e-01 -9.56681503e-01 5.97952152e-03 1.20152252e+02] [ 9.56434868e-01 -2.91135938e-01 -2.17303677e-02 1.16921951e+02] [ 2.25298945e-02 -6.06147330e-04 9.99745986e-01 3.85510620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40275509600002 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:120.14, Y:116.95, Z:3.85 [[-2.92048277e-01 -9.56383104e-01 6.25798677e-03 1.20142970e+02] [ 9.56113594e-01 -2.92114594e-01 -2.27125184e-02 1.16947190e+02] [ 2.35499181e-02 -6.49805617e-04 9.99722451e-01 3.85335637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:116.97, Z:3.85 [[-2.92451418e-01 -9.56260807e-01 6.11858625e-03 1.20134391e+02] [ 9.56003894e-01 -2.92514727e-01 -2.21740598e-02 1.16972318e+02] [ 2.29939609e-02 -6.35442973e-04 9.99735402e-01 3.85483460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.13, Y:117.00, Z:3.86 [[-2.93640899e-01 -9.55895855e-01 6.17547583e-03 1.20127922e+02] [ 9.55634855e-01 -2.93705087e-01 -2.23460549e-02 1.16997572e+02] [ 2.31742699e-02 -6.60215705e-04 9.99731223e-01 3.85501413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:117.02, Z:3.86 [[-2.95954578e-01 -9.55182153e-01 6.15967082e-03 1.20119781e+02] [ 9.54923069e-01 -2.96017832e-01 -2.22570486e-02 1.17023826e+02] [ 2.30829080e-02 -7.05063656e-04 9.99733306e-01 3.85561527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:117.05, Z:3.86 [[-2.97755636e-01 -9.54622590e-01 6.10669402e-03 1.20113671e+02] [ 9.54368522e-01 -2.97817348e-01 -2.20352081e-02 1.17049121e+02] [ 2.28539868e-02 -7.33070840e-04 9.99738545e-01 3.85586355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.11, Y:117.07, Z:3.86 [[-3.01488651e-01 -9.53450582e-01 6.04817078e-03 1.20106469e+02] [ 9.53201829e-01 -3.01548236e-01 -2.17929744e-02 1.17074929e+02] [ 2.26023394e-02 -8.05206998e-04 9.99744210e-01 3.85615460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.10, Y:117.10, Z:3.86 [[-3.03491585e-01 -9.52815927e-01 5.88793119e-03 1.20100509e+02] [ 9.52580701e-01 -3.03547584e-01 -2.11866225e-02 1.17101153e+02] [ 2.19742187e-02 -8.21232049e-04 9.99758200e-01 3.85663830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.612755096 meters Centerline goodness [0,1] 0.9998721990287126 Centerline is valid? [True, True] Translation: X:120.09, Y:117.13, Z:3.86 [[-3.05781947e-01 -9.52081091e-01 6.24482325e-03 1.20088945e+02] [ 9.51817065e-01 -3.05844332e-01 -2.24392508e-02 1.17126349e+02] [ 2.32739301e-02 -9.17588456e-04 9.99728704e-01 3.85566930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:117.15, Z:3.86 [[-3.07461074e-01 -9.51542989e-01 5.79895838e-03 1.20081747e+02] [ 9.51315825e-01 -3.07514492e-01 -2.08095553e-02 1.17152469e+02] [ 2.15844502e-02 -8.81487336e-04 9.99766640e-01 3.85758041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.08, Y:117.18, Z:3.86 [[-3.10137291e-01 -9.50673982e-01 5.81726344e-03 1.20075509e+02] [ 9.50445864e-01 -3.10190431e-01 -2.08460260e-02 1.17177925e+02] [ 2.16222340e-02 -9.36136051e-04 9.99765774e-01 3.85817932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:117.21, Z:3.86 [[-3.11465594e-01 -9.50239714e-01 5.80261746e-03 1.20073453e+02] [ 9.50013317e-01 -3.11518178e-01 -2.07634719e-02 1.17206056e+02] [ 2.15378964e-02 -9.54543230e-04 9.99767577e-01 3.85875431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:117.23, Z:3.86 [[-3.12659639e-01 -9.49846675e-01 5.93672145e-03 1.20064721e+02] [ 9.49610298e-01 -3.12714414e-01 -2.12126651e-02 1.17231423e+02] [ 2.20052778e-02 -9.94772383e-04 9.99757360e-01 3.85925979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:117.26, Z:3.86 [[-3.13511178e-01 -9.49564958e-01 6.09363248e-03 1.20055672e+02] [ 9.49316701e-01 -3.13568702e-01 -2.17363767e-02 1.17256365e+02] [ 2.25508741e-02 -1.02980999e-03 9.99745166e-01 3.85949739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.05, Y:117.28, Z:3.86 [[-3.13920985e-01 -9.49427472e-01 6.41018905e-03 1.20046492e+02] [ 9.49153664e-01 -3.13984564e-01 -2.28257808e-02 1.17280737e+02] [ 2.36841238e-02 -1.08123718e-03 9.99718907e-01 3.85951853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.822755096 meters Centerline goodness [0,1] 0.9999576091564222 Centerline is valid? [True, True] Translation: X:120.04, Y:117.31, Z:3.86 [[-3.14328884e-01 -9.49291904e-01 6.49872445e-03 1.20038191e+02] [ 9.49011384e-01 -3.14394152e-01 -2.31021693e-02 1.17305284e+02] [ 2.39738633e-02 -1.09431561e-03 9.99711987e-01 3.85956811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.852755096 meters Centerline goodness [0,1] 0.9997459134411789 Centerline is valid? [True, True] Translation: X:120.03, Y:117.33, Z:3.86 [[-3.14257184e-01 -9.49311273e-01 7.10836394e-03 1.20028745e+02] [ 9.48976879e-01 -3.14335351e-01 -2.52224122e-02 1.17329588e+02] [ 2.61783303e-02 -1.18065121e-03 9.99656592e-01 3.85711975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.02, Y:117.35, Z:3.86 [[-3.14516145e-01 -9.49229140e-01 6.60567200e-03 1.20019235e+02] [ 9.48941294e-01 -3.14583613e-01 -2.34002394e-02 1.17353903e+02] [ 2.42902253e-02 -1.09135816e-03 9.99704353e-01 3.86020887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:117.38, Z:3.86 [[-3.14377747e-01 -9.49274620e-01 6.65793540e-03 1.20008955e+02] [ 9.48983155e-01 -3.14446371e-01 -2.35467891e-02 1.17378466e+02] [ 2.44459329e-02 -1.08431797e-03 9.99700565e-01 3.86108562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:117.40, Z:3.86 [[-3.14103912e-01 -9.49365704e-01 6.59486501e-03 1.19998386e+02] [ 9.49080682e-01 -3.14171366e-01 -2.32854615e-02 1.17403328e+02] [ 2.41783363e-02 -1.05499559e-03 9.99707105e-01 3.86216784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97275509600001 meters Centerline goodness [0,1] 0.9998518988680842 Centerline is valid? [True, True] Translation: X:120.00, Y:117.43, Z:3.86 [[-3.13390497e-01 -9.49598610e-01 6.99118671e-03 1.19995328e+02] [ 9.49279452e-01 -3.13466587e-01 -2.46418396e-02 1.17429497e+02] [ 2.55913601e-02 -1.08592847e-03 9.99671898e-01 3.86012124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:117.45, Z:3.86 [[-3.11923413e-01 -9.50084174e-01 6.62167809e-03 1.19973886e+02] [ 9.49798822e-01 -3.11992150e-01 -2.33044100e-02 1.17451613e+02] [ 2.42070627e-02 -9.79929046e-04 9.99706486e-01 3.86355814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.97, Y:117.48, Z:3.86 [[-3.10929518e-01 -9.50412058e-01 6.30515895e-03 1.19973014e+02] [ 9.50154118e-01 -3.10992141e-01 -2.21594246e-02 1.17479211e+02] [ 2.30214392e-02 -8.99146486e-04 9.99734567e-01 3.86443731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:117.50, Z:3.87 [[-3.10802925e-01 -9.50453844e-01 6.24754757e-03 1.19962035e+02] [ 9.50201167e-01 -3.10864465e-01 -2.19323343e-02 1.17503688e+02] [ 2.27878120e-02 -8.80206668e-04 9.99739937e-01 3.86556699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:117.53, Z:3.87 [[-3.11003661e-01 -9.50387354e-01 6.37183810e-03 1.19951311e+02] [ 9.50125390e-01 -3.11067652e-01 -2.23306756e-02 1.17527148e+02] [ 2.32048644e-02 -8.90876707e-04 9.99730334e-01 3.86603810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:117.55, Z:3.87 [[-3.10861925e-01 -9.50432057e-01 6.61575957e-03 1.19942082e+02] [ 9.50150629e-01 -3.10930987e-01 -2.31452951e-02 1.17552468e+02] [ 2.40550751e-02 -9.09022863e-04 9.99710222e-01 3.86633280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:117.58, Z:3.87 [[-3.11549426e-01 -9.50207246e-01 6.56843648e-03 1.19933186e+02] [ 9.49930550e-01 -3.11617332e-01 -2.29475280e-02 1.17578256e+02] [ 2.38517461e-02 -9.09730708e-04 9.99715093e-01 3.86703692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:117.60, Z:3.87 [[-3.12091228e-01 -9.50029559e-01 6.54998369e-03 1.19926557e+02] [ 9.49755118e-01 -3.12158624e-01 -2.28519152e-02 1.17604445e+02] [ 2.37546288e-02 -9.11001726e-04 9.99717404e-01 3.86773110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:117.63, Z:3.87 [[-3.12952339e-01 -9.49746360e-01 6.53335785e-03 1.19921006e+02] [ 9.49473985e-01 -3.13019175e-01 -2.27628691e-02 1.17629972e+02] [ 2.36640184e-02 -9.20439832e-04 9.99719544e-01 3.86848155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.92, Y:117.66, Z:3.87 [[-3.13386916e-01 -9.49603589e-01 6.45474499e-03 1.19918334e+02] [ 9.49338448e-01 -3.13452061e-01 -2.24570097e-02 1.17657045e+02] [ 2.33485102e-02 -9.09995444e-04 9.99726972e-01 3.86870594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:117.68, Z:3.87 [[-3.14293060e-01 -9.49304176e-01 6.43851720e-03 1.19910236e+02] [ 9.49041093e-01 -3.14357658e-01 -2.23666441e-02 1.17681729e+02] [ 2.32567458e-02 -9.19263616e-04 9.99729103e-01 3.86970663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30275509600003 meters Centerline goodness [0,1] 0.9999576082579114 Centerline is valid? [True, True] Translation: X:119.90, Y:117.71, Z:3.87 [[-3.14829240e-01 -9.49125835e-01 6.53447862e-03 1.19904496e+02] [ 9.48855703e-01 -3.14895659e-01 -2.26622799e-02 1.17706531e+02] [ 2.35670343e-02 -9.34471034e-04 9.99721822e-01 3.86938623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:117.73, Z:3.87 [[-3.15412773e-01 -9.48932500e-01 6.47246684e-03 1.19895149e+02] [ 9.48668313e-01 -3.15477811e-01 -2.24094452e-02 1.17731306e+02] [ 2.33069705e-02 -9.28001059e-04 9.99727925e-01 3.87082456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters Centerline goodness [0,1] 0.9999575019655341 Centerline is valid? [True, True] Translation: X:119.88, Y:117.75, Z:3.87 [[-3.16095560e-01 -9.48704270e-01 6.61859122e-03 1.19883710e+02] [ 9.48428904e-01 -3.16163406e-01 -2.28760572e-02 1.17754074e+02] [ 2.37951694e-02 -9.53756883e-04 9.99716400e-01 3.87090684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:117.78, Z:3.87 [[-3.16692123e-01 -9.48505805e-01 6.54504006e-03 1.19881856e+02] [ 9.48237385e-01 -3.16758337e-01 -2.25835783e-02 1.17780988e+02] [ 2.34938511e-02 -9.45789685e-04 9.99723534e-01 3.87183872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:117.81, Z:3.87 [[-3.17053991e-01 -9.48385169e-01 6.50682430e-03 1.19876460e+02] [ 9.48120665e-01 -3.17119365e-01 -2.24168117e-02 1.17805952e+02] [ 2.33232117e-02 -9.38085030e-04 9.99727537e-01 3.87259183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:117.83, Z:3.87 [[-3.17583605e-01 -9.48206914e-01 6.65592745e-03 1.19867845e+02] [ 9.47931053e-01 -3.17651893e-01 -2.28909210e-02 1.17831218e+02] [ 2.38195976e-02 -9.60420921e-04 9.99715812e-01 3.87301377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.86, Y:117.85, Z:3.87 [[-3.17857410e-01 -9.48113551e-01 6.88189669e-03 1.19856058e+02] [ 9.47819600e-01 -3.17930367e-01 -2.36281104e-02 1.17854678e+02] [ 2.45900956e-02 -9.87573389e-04 9.99697130e-01 3.87337812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:117.88, Z:3.87 [[-3.18161483e-01 -9.48010188e-01 7.06782382e-03 1.19852756e+02] [ 9.47701155e-01 -3.18238377e-01 -2.42250952e-02 1.17880843e+02] [ 2.52148898e-02 -1.00930741e-03 9.99681545e-01 3.87312537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:117.90, Z:3.87 [[-3.18656684e-01 -9.47843886e-01 7.06297541e-03 1.19840711e+02] [ 9.47536185e-01 -3.18733350e-01 -2.41708425e-02 1.17903312e+02] [ 2.51613911e-02 -1.00977574e-03 9.99682892e-01 3.87439837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:117.93, Z:3.87 [[-3.18715571e-01 -9.47823284e-01 7.16991563e-03 1.19838453e+02] [ 9.47507234e-01 -3.18794597e-01 -2.44958429e-02 1.17930628e+02] [ 2.55034607e-02 -1.01365963e-03 9.99674220e-01 3.87404141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:117.96, Z:3.87 [[-3.19126771e-01 -9.47684838e-01 7.18004097e-03 1.19830833e+02] [ 9.47368819e-01 -3.19205921e-01 -2.44928752e-02 1.17955435e+02] [ 2.55034380e-02 -1.01418522e-03 9.99674220e-01 3.87456915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.632755096 meters Centerline goodness [0,1] 0.9999788283615269 Centerline is valid? [True, True] Translation: X:119.82, Y:117.98, Z:3.87 [[-3.18529385e-01 -9.47884712e-01 7.32138618e-03 1.19824384e+02] [ 9.47557245e-01 -3.18611931e-01 -2.49340300e-02 1.17980429e+02] [ 2.59672668e-02 -1.00478874e-03 9.99662289e-01 3.87431190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:118.00, Z:3.88 [[-3.18215358e-01 -9.47989331e-01 7.43058589e-03 1.19810705e+02] [ 9.47653158e-01 -3.18300538e-01 -2.52637871e-02 1.18003856e+02] [ 2.63149601e-02 -9.97706866e-04 9.99653204e-01 3.87560409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:118.03, Z:3.88 [[-3.17636726e-01 -9.48181767e-01 7.63195245e-03 1.19804666e+02] [ 9.47828232e-01 -3.17726840e-01 -2.59094186e-02 1.18028813e+02] [ 2.69917145e-02 -9.96002919e-04 9.99635161e-01 3.87558918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:118.05, Z:3.88 [[-3.16994108e-01 -9.48396404e-01 7.68089874e-03 1.19801551e+02] [ 9.48039235e-01 -3.17085654e-01 -2.60441186e-02 1.18054561e+02] [ 2.71356512e-02 -9.74038780e-04 9.99631286e-01 3.87515699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:118.08, Z:3.88 [[-3.15185504e-01 -9.48999749e-01 7.58776583e-03 1.19789830e+02] [ 9.48652279e-01 -3.15275540e-01 -2.56941198e-02 1.18077747e+02] [ 2.67759502e-02 -9.00262765e-04 9.99641055e-01 3.87719186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:118.10, Z:3.88 [[-3.14279879e-01 -9.49300096e-01 7.58198531e-03 1.19779921e+02] [ 9.48954087e-01 -3.14370135e-01 -2.56429080e-02 1.18103472e+02] [ 2.67263648e-02 -8.64094067e-04 9.99642413e-01 3.87850552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:118.13, Z:3.88 [[-3.13560825e-01 -9.49538763e-01 7.46640338e-03 1.19771216e+02] [ 9.49204144e-01 -3.13648632e-01 -2.52196198e-02 1.18129326e+02] [ 2.62888338e-02 -8.20743763e-04 9.99654052e-01 3.87978326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:118.16, Z:3.88 [[-3.11291040e-01 -9.50287997e-01 7.11411625e-03 1.19768918e+02] [ 9.49985165e-01 -3.11371505e-01 -2.39994096e-02 1.18156566e+02] [ 2.50214840e-02 -7.12496264e-04 9.99686660e-01 3.88068679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:118.18, Z:3.88 [[-3.10164856e-01 -9.50656833e-01 7.02486635e-03 1.19756285e+02] [ 9.50362400e-01 -3.10243686e-01 -2.36677935e-02 1.18181061e+02] [ 2.46793700e-02 -6.64748912e-04 9.99695197e-01 3.88296347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:118.21, Z:3.88 [[-3.09556168e-01 -9.50856010e-01 6.91575985e-03 1.19750097e+02] [ 9.50571416e-01 -3.09632770e-01 -2.32708223e-02 1.18205665e+02] [ 2.42685472e-02 -6.29702960e-04 9.99705277e-01 3.88343054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:118.23, Z:3.88 [[-3.08019141e-01 -9.51356210e-01 6.75066086e-03 1.19741353e+02] [ 9.51085776e-01 -3.08092583e-01 -2.26893598e-02 1.18231814e+02] [ 2.36654918e-02 -5.68299582e-04 9.99719772e-01 3.88468848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:118.26, Z:3.89 [[-3.07659404e-01 -9.51472217e-01 6.80531199e-03 1.19734523e+02] [ 9.51198133e-01 -3.07734160e-01 -2.28428907e-02 1.18256180e+02] [ 2.38286028e-02 -5.54630075e-04 9.99715905e-01 3.88511753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.73, Y:118.28, Z:3.89 [[-3.06822163e-01 -9.51740444e-01 7.09133962e-03 1.19727497e+02] [ 9.51443806e-01 -3.06903617e-01 -2.37666609e-02 1.18281852e+02] [ 2.47960501e-02 -5.45127142e-04 9.99692382e-01 3.88515436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:118.31, Z:3.89 [[-3.06971320e-01 -9.51691189e-01 7.24493300e-03 1.19721117e+02] [ 9.51382447e-01 -3.07056311e-01 -2.42458638e-02 1.18307577e+02] [ 2.52991773e-02 -5.50082730e-04 9.99679773e-01 3.88525030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:118.33, Z:3.88 [[-3.07209480e-01 -9.51612675e-01 7.46000089e-03 1.19716582e+02] [ 9.51286217e-01 -3.07299528e-01 -2.49305899e-02 1.18332282e+02] [ 2.60167201e-02 -5.62317530e-04 9.99661350e-01 3.88494696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:118.36, Z:3.89 [[-3.07455553e-01 -9.51531818e-01 7.63428081e-03 1.19709883e+02] [ 9.51190730e-01 -3.07549786e-01 -2.54818377e-02 1.18358134e+02] [ 2.65947008e-02 -5.72875348e-04 9.99646134e-01 3.88531683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:118.38, Z:3.89 [[-3.08029145e-01 -9.51345778e-01 7.69787438e-03 1.19703072e+02] [ 9.50999908e-01 -3.08124767e-01 -2.56574262e-02 1.18383570e+02] [ 2.67809899e-02 -5.82557239e-04 9.99641155e-01 3.88592661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:118.41, Z:3.89 [[-3.08709148e-01 -9.51125140e-01 7.72207131e-03 1.19697289e+02] [ 9.50777960e-01 -3.08805144e-01 -2.57031925e-02 1.18408582e+02] [ 2.68315679e-02 -5.92835473e-04 9.99639793e-01 3.88632664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:118.43, Z:3.89 [[-3.09769429e-01 -9.50780639e-01 7.68617478e-03 1.19690070e+02] [ 9.50437380e-01 -3.09864170e-01 -2.55535377e-02 1.18434343e+02] [ 2.66774790e-02 -6.10476966e-04 9.99643906e-01 3.88743023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:118.46, Z:3.89 [[-3.12360957e-01 -9.49932362e-01 7.69030758e-03 1.19687850e+02] [ 9.49589367e-01 -3.12454885e-01 -2.55338913e-02 1.18460581e+02] [ 2.66583438e-02 -6.73156403e-04 9.99644377e-01 3.88777335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:118.49, Z:3.89 [[-3.14167722e-01 -9.49335729e-01 7.76637200e-03 1.19682561e+02] [ 9.48986517e-01 -3.14262873e-01 -2.57572907e-02 1.18487052e+02] [ 2.68929987e-02 -7.21927049e-04 9.99638057e-01 3.88839142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:118.51, Z:3.89 [[-3.15892267e-01 -9.48763103e-01 7.78784186e-03 1.19677059e+02] [ 9.48412668e-01 -3.15987331e-01 -2.57956753e-02 1.18513495e+02] [ 2.69348443e-02 -7.62566491e-04 9.99636900e-01 3.88925755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:118.54, Z:3.89 [[-3.18775078e-01 -9.47796988e-01 7.95734574e-03 1.19673361e+02] [ 9.47431782e-01 -3.18873241e-01 -2.63225086e-02 1.18540264e+02] [ 2.74857790e-02 -8.51917468e-04 9.99621832e-01 3.88947225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:118.57, Z:3.89 [[-3.20163795e-01 -9.47327951e-01 8.05590135e-03 1.19667923e+02] [ 9.46954499e-01 -3.20263888e-01 -2.66123807e-02 1.18566433e+02] [ 2.77906663e-02 -8.91748751e-04 9.99613367e-01 3.88965146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:118.59, Z:3.89 [[-3.21274294e-01 -9.46948867e-01 8.40658089e-03 1.19662981e+02] [ 9.46543080e-01 -3.21382845e-01 -2.77356228e-02 1.18592842e+02] [ 2.89659475e-02 -9.53551657e-04 9.99579944e-01 3.89005429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:118.62, Z:3.89 [[-3.21403945e-01 -9.46904962e-01 8.39620527e-03 1.19654738e+02] [ 9.46501052e-01 -3.21512203e-01 -2.76706138e-02 1.18617663e+02] [ 2.89009239e-02 -9.46427318e-04 9.99581833e-01 3.89111875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:118.64, Z:3.89 [[-3.21003686e-01 -9.47039828e-01 8.49690063e-03 1.19649796e+02] [ 9.46627413e-01 -3.21114768e-01 -2.79615196e-02 1.18643054e+02] [ 2.92091530e-02 -9.32351781e-04 9.99572887e-01 3.89089715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.442755096 meters Centerline goodness [0,1] 0.9999567052711332 Centerline is valid? [True, True] Translation: X:119.64, Y:118.67, Z:3.89 [[-3.19986632e-01 -9.47381727e-01 8.74179667e-03 1.19641041e+02] [ 9.46946560e-01 -3.20104714e-01 -2.87260367e-02 1.18669242e+02] [ 3.00128126e-02 -9.13933449e-04 9.99549096e-01 3.89123479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:118.69, Z:3.89 [[-3.16555943e-01 -9.48533692e-01 8.72751795e-03 1.19631151e+02] [ 9.48101439e-01 -3.16675238e-01 -2.86435942e-02 1.18694960e+02] [ 2.99332030e-02 -7.92727678e-04 9.99551587e-01 3.89249677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:118.72, Z:3.89 [[-3.15233688e-01 -9.48974687e-01 8.64667117e-03 1.19623089e+02] [ 9.48551535e-01 -3.15351399e-01 -2.83457211e-02 1.18720185e+02] [ 2.96261116e-02 -7.33712980e-04 9.99560781e-01 3.89271933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53275509600002 meters Centerline goodness [0,1] 0.999956783854448 Centerline is valid? [True, True] Translation: X:119.61, Y:118.75, Z:3.89 [[-3.12675681e-01 -9.49819586e-01 8.75624591e-03 1.19613225e+02] [ 9.49386873e-01 -3.12797582e-01 -2.86747129e-02 1.18745971e+02] [ 2.99747365e-02 -6.52820470e-04 9.99550443e-01 3.89290208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:118.77, Z:3.89 [[-3.12049764e-01 -9.50027911e-01 8.48018433e-03 1.19606341e+02] [ 9.49623128e-01 -3.12164389e-01 -2.77364022e-02 1.18770918e+02] [ 2.89975678e-02 -6.02158571e-04 9.99579301e-01 3.89386201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:118.80, Z:3.89 [[-3.12029319e-01 -9.50036334e-01 8.28659526e-03 1.19598337e+02] [ 9.49650847e-01 -3.12138801e-01 -2.70672786e-02 1.18796422e+02] [ 2.83014661e-02 -5.76412309e-04 9.99599267e-01 3.89481434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:118.82, Z:3.90 [[-3.13123161e-01 -9.49679840e-01 7.87958077e-03 1.19594283e+02] [ 9.49332093e-01 -3.13221773e-01 -2.57040556e-02 1.18821719e+02] [ 2.68786797e-02 -5.68196258e-04 9.99638542e-01 3.89567960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:118.85, Z:3.90 [[-3.14494295e-01 -9.49230524e-01 7.39941355e-03 1.19588597e+02] [ 9.48924551e-01 -3.14580832e-01 -2.41059596e-02 1.18847955e+02] [ 2.52098263e-02 -5.59701586e-04 9.99682025e-01 3.89749151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:118.87, Z:3.90 [[-3.15302199e-01 -9.48963648e-01 7.24697316e-03 1.19582927e+02] [ 9.48670849e-01 -3.15384975e-01 -2.35783123e-02 1.18871615e+02] [ 2.46605477e-02 -5.59301539e-04 9.99695726e-01 3.89819173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:118.90, Z:3.90 [[-3.15926757e-01 -9.48757531e-01 7.03081121e-03 1.19575971e+02] [ 9.48482677e-01 -3.16004507e-01 -2.28421328e-02 1.18895750e+02] [ 2.38934136e-02 -5.47838323e-04 9.99714362e-01 3.89911148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:118.92, Z:3.90 [[-3.16365067e-01 -9.48615008e-01 6.53539479e-03 1.19570238e+02] [ 9.48378122e-01 -3.16432152e-01 -2.12045071e-02 1.18920004e+02] [ 2.21829227e-02 -5.10339881e-04 9.99753798e-01 3.90020938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77275509600003 meters Centerline goodness [0,1] 0.999956568946797 Centerline is valid? [True, True] Translation: X:119.56, Y:118.94, Z:3.90 [[-3.16837128e-01 -9.48457198e-01 6.57099186e-03 1.19560303e+02] [ 9.48218383e-01 -3.16904843e-01 -2.12889243e-02 1.18944632e+02] [ 2.22740126e-02 -5.14386367e-04 9.99751771e-01 3.90023241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:118.97, Z:3.90 [[-3.16919888e-01 -9.48430931e-01 6.36823942e-03 1.19554069e+02] [ 9.48207207e-01 -3.16983482e-01 -2.06049893e-02 1.18969084e+02] [ 2.15610359e-02 -4.91720389e-04 9.99767413e-01 3.90018647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:118.99, Z:3.90 [[-3.17555240e-01 -9.48217501e-01 6.49918197e-03 1.19550105e+02] [ 9.47985096e-01 -3.17621336e-01 -2.09986728e-02 1.18994437e+02] [ 2.19755879e-02 -5.07110935e-04 9.99758379e-01 3.89999209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:119.02, Z:3.90 [[-3.18220959e-01 -9.47992921e-01 6.69652198e-03 1.19540017e+02] [ 9.47746831e-01 -3.18290972e-01 -2.16056087e-02 1.19019476e+02] [ 2.26134066e-02 -5.28750047e-04 9.99744144e-01 3.90033539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:119.04, Z:3.90 [[-3.18878230e-01 -9.47772684e-01 6.60413103e-03 1.19530737e+02] [ 9.47533917e-01 -3.18946174e-01 -2.12794503e-02 1.19044663e+02] [ 2.22744440e-02 -5.27915318e-04 9.99751754e-01 3.90069002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters Centerline goodness [0,1] 0.999868918357984 Centerline is valid? [True, True] Translation: X:119.52, Y:119.07, Z:3.90 [[-3.19770822e-01 -9.47469768e-01 6.90366722e-03 1.19524050e+02] [ 9.47209524e-01 -3.19844840e-01 -2.22125060e-02 1.19070384e+02] [ 2.32537803e-02 -5.63691979e-04 9.99729435e-01 3.89952693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.952755096 meters Centerline goodness [0,1] 0.999847158234896 Centerline is valid? [True, True] Translation: X:119.52, Y:119.09, Z:3.90 [[-3.20109948e-01 -9.47354297e-01 7.03254967e-03 1.19517349e+02] [ 9.47084974e-01 -3.20186677e-01 -2.25952419e-02 1.19094588e+02] [ 2.36574282e-02 -5.72539603e-04 9.99719960e-01 3.89952607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.982755096 meters Centerline goodness [0,1] 0.9998684066235333 Centerline is valid? [True, True] Translation: X:119.51, Y:119.12, Z:3.90 [[-3.20516515e-01 -9.47217692e-01 6.91427388e-03 1.19510418e+02] [ 9.46958051e-01 -3.20590591e-01 -2.21838439e-02 1.19119145e+02] [ 2.32295805e-02 -5.62761020e-04 9.99729999e-01 3.89987222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:119.14, Z:3.90 [[-3.19994473e-01 -9.47396255e-01 6.62374463e-03 1.19501947e+02] [ 9.47158653e-01 -3.20062601e-01 -2.12230375e-02 1.19143882e+02] [ 2.22266391e-02 -5.17517642e-04 9.99752824e-01 3.90112684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.042755096 meters Centerline goodness [0,1] 0.9998024626325146 Centerline is valid? [True, True] Translation: X:119.49, Y:119.17, Z:3.90 [[-3.19937874e-01 -9.47412602e-01 7.00848002e-03 1.19492597e+02] [ 9.47147346e-01 -3.20014178e-01 -2.24238999e-02 1.19168711e+02] [ 2.34874984e-02 -5.36191618e-04 9.99723987e-01 3.90043260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.48, Y:119.19, Z:3.90 [[-3.18287861e-01 -9.47971873e-01 6.49355205e-03 1.19482511e+02] [ 9.47744864e-01 -3.18353775e-01 -2.07496182e-02 1.19193950e+02] [ 2.17373012e-02 -4.50121000e-04 9.99763616e-01 3.90247710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:119.22, Z:3.90 [[-3.15044220e-01 -9.49053595e-01 6.66436235e-03 1.19472182e+02] [ 9.48815331e-01 -3.15114474e-01 -2.12681773e-02 1.19218509e+02] [ 2.22846772e-02 -3.77167162e-04 9.99751595e-01 3.90238437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:119.24, Z:3.90 [[-3.13390843e-01 -9.49600733e-01 6.68029039e-03 1.19462473e+02] [ 9.49362070e-01 -3.13461860e-01 -2.12913495e-02 1.19244373e+02] [ 2.23122973e-02 -3.30499659e-04 9.99750995e-01 3.90289806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.45, Y:119.27, Z:3.90 [[-3.10469393e-01 -9.50561495e-01 6.44984873e-03 1.19452138e+02] [ 9.50339745e-01 -3.10536285e-01 -2.05325373e-02 1.19268449e+02] [ 2.15203514e-02 -2.45176801e-04 9.99768380e-01 3.90382236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:119.29, Z:3.90 [[-3.09056407e-01 -9.51022766e-01 6.31157608e-03 1.19442452e+02] [ 9.50811048e-01 -3.09120783e-01 -2.00672038e-02 1.19292889e+02] [ 2.10354070e-02 -2.00781640e-04 9.99778711e-01 3.90478905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:119.32, Z:3.91 [[-3.07985543e-01 -9.51371505e-01 6.09627180e-03 1.19433416e+02] [ 9.51174562e-01 -3.08045828e-01 -1.93576691e-02 1.19316684e+02] [ 2.02942659e-02 -1.63263575e-04 9.99794037e-01 3.90578949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.42, Y:119.34, Z:3.91 [[-3.07143067e-01 -9.51644333e-01 6.01670037e-03 1.19423831e+02] [ 9.51452948e-01 -3.07201962e-01 -1.90851444e-02 1.19341170e+02] [ 2.00106117e-02 -1.37262492e-04 9.99799758e-01 3.90628552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:119.36, Z:3.91 [[-3.06064767e-01 -9.51990957e-01 6.12986959e-03 1.19413789e+02] [ 9.51792908e-01 -3.06126126e-01 -1.94179067e-02 1.19364953e+02] [ 2.03621848e-02 -1.08770684e-04 9.99792663e-01 3.90672758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:119.39, Z:3.91 [[-3.06005919e-01 -9.52010831e-01 5.97951824e-03 1.19405053e+02] [ 9.51822888e-01 -3.06064319e-01 -1.89161705e-02 1.19390086e+02] [ 1.98385164e-02 -9.70178155e-05 9.99803193e-01 3.90738776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:119.41, Z:3.91 [[-3.06016326e-01 -9.52006765e-01 6.09330985e-03 1.19396595e+02] [ 9.51812111e-01 -3.06076970e-01 -1.92508099e-02 1.19414954e+02] [ 2.01919231e-02 -9.13760114e-05 9.99796118e-01 3.90790910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:119.44, Z:3.91 [[-3.06590142e-01 -9.51821987e-01 6.11475508e-03 1.19389110e+02] [ 9.51626430e-01 -3.06651098e-01 -1.92935785e-02 1.19439374e+02] [ 2.02391486e-02 -9.62584161e-05 9.99795163e-01 3.90873136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:119.46, Z:3.91 [[-3.07279859e-01 -9.51598829e-01 6.22545166e-03 1.19381458e+02] [ 9.51396634e-01 -3.07342898e-01 -1.96160305e-02 1.19463578e+02] [ 2.05799400e-02 -1.04737326e-04 9.99788205e-01 3.90885051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:119.49, Z:3.91 [[-3.08144253e-01 -9.51317830e-01 6.44244544e-03 1.19374108e+02] [ 9.51101852e-01 -3.08211570e-01 -2.02705367e-02 1.19487615e+02] [ 2.12693592e-02 -1.18827590e-04 9.99773775e-01 3.90946641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:119.51, Z:3.91 [[-3.10584448e-01 -9.50524224e-01 6.40323213e-03 1.19366624e+02] [ 9.50311282e-01 -3.10650404e-01 -2.01194800e-02 1.19513113e+02] [ 2.11132198e-02 -1.63733856e-04 9.99777078e-01 3.91020877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49275509600002 meters Centerline goodness [0,1] 0.9999782703172534 Centerline is valid? [True, True] Translation: X:119.36, Y:119.54, Z:3.91 [[-3.12122076e-01 -9.50020317e-01 6.41922786e-03 1.19360299e+02] [ 9.49806782e-01 -3.12188022e-01 -2.01423979e-02 1.19537995e+02] [ 2.11396933e-02 -1.89860883e-04 9.99776514e-01 3.91056438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52275509600003 meters Centerline goodness [0,1] 0.9999782703172534 Centerline is valid? [True, True] Translation: X:119.35, Y:119.56, Z:3.91 [[-3.12472387e-01 -9.49905098e-01 6.42740361e-03 1.19352155e+02] [ 9.49691592e-01 -3.12538428e-01 -2.01397887e-02 1.19562605e+02] [ 2.11396986e-02 -1.89076700e-04 9.99776514e-01 3.91109134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:119.59, Z:3.91 [[-3.14260238e-01 -9.49314485e-01 6.52003276e-03 1.19344721e+02] [ 9.49095217e-01 -3.14327787e-01 -2.04037035e-02 1.19587940e+02] [ 2.14189587e-02 -2.23940785e-04 9.99770563e-01 3.91146941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:119.61, Z:3.91 [[-3.17879187e-01 -9.48107529e-01 6.70340842e-03 1.19338446e+02] [ 9.47876089e-01 -3.17949713e-01 -2.09499366e-02 1.19614291e+02] [ 2.19941395e-02 -3.05548263e-04 9.99758053e-01 3.91168904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:119.64, Z:3.91 [[-3.20228466e-01 -9.47315192e-01 6.90342393e-03 1.19332023e+02] [ 9.47070160e-01 -3.20302664e-01 -2.15479665e-02 1.19640828e+02] [ 2.26239011e-02 -3.62245458e-04 9.99743981e-01 3.91204353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:119.67, Z:3.91 [[-3.24134282e-01 -9.45986159e-01 6.86681809e-03 1.19326457e+02] [ 9.45744007e-01 -3.24206706e-01 -2.14075755e-02 1.19667152e+02] [ 2.24775386e-02 -4.44677074e-04 9.99747249e-01 3.91259698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.32, Y:119.69, Z:3.91 [[-3.24509169e-01 -9.45857566e-01 6.87492475e-03 1.19318291e+02] [ 9.45615440e-01 -3.24581681e-01 -2.14049720e-02 1.19691771e+02] [ 2.24775293e-02 -4.45074674e-04 9.99747249e-01 3.91312437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:119.72, Z:3.91 [[-3.27608677e-01 -9.44787284e-01 7.03871794e-03 1.19311477e+02] [ 9.44533924e-01 -3.27683867e-01 -2.18848986e-02 1.19718514e+02] [ 2.29830482e-02 -5.21374810e-04 9.99735719e-01 3.91353484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:119.74, Z:3.91 [[-3.28837437e-01 -9.44360506e-01 7.01246312e-03 1.19303608e+02] [ 9.44109539e-01 -3.28911754e-01 -2.17769667e-02 1.19744400e+02] [ 2.28717889e-02 -5.40548595e-04 9.99738260e-01 3.91414083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:119.77, Z:3.91 [[-3.29603562e-01 -9.44093396e-01 7.01087019e-03 1.19295135e+02] [ 9.43843086e-01 -3.29677657e-01 -2.17455895e-02 1.19769457e+02] [ 2.28411947e-02 -5.50262390e-04 9.99738954e-01 3.91459993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.29, Y:119.79, Z:3.92 [[-3.30014947e-01 -9.43948813e-01 7.12549767e-03 1.19286079e+02] [ 9.43690892e-01 -3.30091388e-01 -2.20720568e-02 1.19792758e+02] [ 2.31869573e-02 -5.59841420e-04 9.99730990e-01 3.91504630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:119.82, Z:3.92 [[-3.29653748e-01 -9.44074611e-01 7.17887029e-03 1.19276948e+02] [ 9.43813407e-01 -3.29731452e-01 -2.22130981e-02 1.19817415e+02] [ 2.33379212e-02 -5.47116995e-04 9.99727484e-01 3.91575519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.27, Y:119.84, Z:3.92 [[-3.29261153e-01 -9.44210679e-01 7.29978110e-03 1.19267797e+02] [ 9.43941339e-01 -3.29341624e-01 -2.25575462e-02 1.19842666e+02] [ 2.37031978e-02 -5.36758532e-04 9.99718896e-01 3.91611141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:119.87, Z:3.92 [[-3.28549869e-01 -9.44458362e-01 7.30657019e-03 1.19258003e+02] [ 9.44189251e-01 -3.28630708e-01 -2.25502930e-02 1.19866271e+02] [ 2.36989761e-02 -5.10110780e-04 9.99719010e-01 3.91705515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:119.89, Z:3.92 [[-3.28326041e-01 -9.44535674e-01 7.37366443e-03 1.19248897e+02] [ 9.44262196e-01 -3.28408448e-01 -2.27331565e-02 1.19891421e+02] [ 2.38938510e-02 -5.01214709e-04 9.99714376e-01 3.91745300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.24, Y:119.92, Z:3.92 [[-3.28142188e-01 -9.44599577e-01 7.37187987e-03 1.19239116e+02] [ 9.44326934e-01 -3.28224622e-01 -2.26988569e-02 1.19916287e+02] [ 2.38609631e-02 -4.86987835e-04 9.99715168e-01 3.91814133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.23, Y:119.94, Z:3.92 [[-3.27618601e-01 -9.44781579e-01 7.33621720e-03 1.19230578e+02] [ 9.44512306e-01 -3.27700404e-01 -2.25599215e-02 1.19940657e+02] [ 2.37182796e-02 -4.61902507e-04 9.99718575e-01 3.91891900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:119.97, Z:3.92 [[-3.27919276e-01 -9.44676650e-01 7.41454383e-03 1.19221138e+02] [ 9.44402303e-01 -3.28002761e-01 -2.27701322e-02 1.19965006e+02] [ 2.39424030e-02 -4.64452985e-04 9.99713232e-01 3.91988507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.21, Y:119.99, Z:3.92 [[-3.28136652e-01 -9.44601571e-01 7.36279747e-03 1.19212472e+02] [ 9.44331715e-01 -3.28218927e-01 -2.25820070e-02 1.19989505e+02] [ 2.37476087e-02 -4.57060983e-04 9.99717881e-01 3.92081427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:120.01, Z:3.92 [[-3.28677655e-01 -9.44413868e-01 7.31067410e-03 1.19202565e+02] [ 9.44148459e-01 -3.28758630e-01 -2.23931032e-02 1.20014229e+02] [ 2.35518044e-02 -4.57750954e-04 9.99722513e-01 3.92190769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:120.04, Z:3.92 [[-3.29213555e-01 -9.44227633e-01 7.25340789e-03 1.19194127e+02] [ 9.43967012e-01 -3.29293133e-01 -2.21881327e-02 1.20039634e+02] [ 2.33391455e-02 -4.57656285e-04 9.99727500e-01 3.92228634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.19, Y:120.06, Z:3.92 [[-3.30128363e-01 -9.43906306e-01 7.49328879e-03 1.19189054e+02] [ 9.43628845e-01 -3.30213037e-01 -2.28900354e-02 1.20064924e+02] [ 2.40804304e-02 -4.85766483e-04 9.99709906e-01 3.92245054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.18, Y:120.09, Z:3.92 [[-3.30718667e-01 -9.43698799e-01 7.59868519e-03 1.19180291e+02] [ 9.43414216e-01 -3.30805577e-01 -2.31794727e-02 1.20089446e+02] [ 2.43881280e-02 -4.97176681e-04 9.99702442e-01 3.92318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:120.11, Z:3.92 [[-3.31620558e-01 -9.43381986e-01 7.63110515e-03 1.19174042e+02] [ 9.43095610e-01 -3.31707951e-01 -2.32487726e-02 1.20114349e+02] [ 2.44637716e-02 -5.12909187e-04 9.99700586e-01 3.92328437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.16, Y:120.14, Z:3.92 [[-3.30709262e-01 -9.43704168e-01 7.33675297e-03 1.19161800e+02] [ 9.43440083e-01 -3.30790312e-01 -2.23289009e-02 1.20137533e+02] [ 2.34988036e-02 -4.62587506e-04 9.99723758e-01 3.92435408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:120.16, Z:3.93 [[-3.30839173e-01 -9.43658205e-01 7.39144509e-03 1.19149963e+02] [ 9.43390832e-01 -3.30921411e-01 -2.24668262e-02 1.20161258e+02] [ 2.36469923e-02 -4.59884672e-04 9.99720265e-01 3.92519130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:120.19, Z:3.93 [[-3.30734099e-01 -9.43695464e-01 7.33671905e-03 1.19141765e+02] [ 9.43432734e-01 -3.30815167e-01 -2.22711090e-02 1.20185616e+02] [ 2.34442425e-02 -4.44114254e-04 9.99725047e-01 3.92538187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.13, Y:120.21, Z:3.93 [[-3.30830723e-01 -9.43659094e-01 7.65165593e-03 1.19131566e+02] [ 9.43374108e-01 -3.30918884e-01 -2.31945025e-02 1.20209877e+02] [ 2.44197806e-02 -4.55079936e-04 9.99701689e-01 3.92523014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33275509600003 meters Centerline goodness [0,1] 0.9999568761050498 Centerline is valid? [True, True] Translation: X:119.13, Y:120.24, Z:3.92 [[-3.32534636e-01 -9.43055701e-01 8.16455080e-03 1.19127818e+02] [ 9.42731888e-01 -3.32634441e-01 -2.47167268e-02 1.20236788e+02] [ 2.60250610e-02 -5.22185376e-04 9.99661154e-01 3.92348546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:120.26, Z:3.93 [[-3.33517362e-01 -9.42708490e-01 8.17760318e-03 1.19116195e+02] [ 9.42384321e-01 -3.33617164e-01 -2.47261091e-02 1.20260674e+02] [ 2.60377017e-02 -5.40141644e-04 9.99660816e-01 3.92505625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:120.29, Z:3.92 [[-3.34684713e-01 -9.42293473e-01 8.31590144e-03 1.19110441e+02] [ 9.41958948e-01 -3.34787522e-01 -2.51128412e-02 1.20285884e+02] [ 2.64477264e-02 -5.71646281e-04 9.99650034e-01 3.92412791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:120.31, Z:3.92 [[-3.35508351e-01 -9.41999799e-01 8.39790501e-03 1.19098173e+02] [ 9.41659267e-01 -3.35612914e-01 -2.53337119e-02 1.20309965e+02] [ 2.66827969e-02 -5.91706820e-04 9.99643776e-01 3.92455343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.09, Y:120.33, Z:3.92 [[-3.36189033e-01 -9.41757611e-01 8.33885796e-03 1.19090445e+02] [ 9.41422592e-01 -3.36291907e-01 -2.51248100e-02 1.20334022e+02] [ 2.64657715e-02 -5.96296304e-04 9.99649542e-01 3.92432775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:120.36, Z:3.92 [[-3.36205390e-01 -9.41751842e-01 8.33091736e-03 1.19081618e+02] [ 9.41418170e-01 -3.36308078e-01 -2.50740249e-02 1.20359044e+02] [ 2.64152640e-02 -5.87145352e-04 9.99650884e-01 3.92477278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:120.38, Z:3.93 [[-3.36318174e-01 -9.41710370e-01 8.46555926e-03 1.19071829e+02] [ 9.41366667e-01 -3.36424185e-01 -2.54473009e-02 1.20383681e+02] [ 2.68120060e-02 -5.89194454e-04 9.99640320e-01 3.92557253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:120.41, Z:3.93 [[-3.35392264e-01 -9.42038836e-01 8.65222831e-03 1.19064975e+02] [ 9.41680834e-01 -3.35503373e-01 -2.59748558e-02 1.20408721e+02] [ 2.73721747e-02 -5.64128124e-04 9.99625153e-01 3.92561779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:120.43, Z:3.93 [[-3.35281932e-01 -9.42078230e-01 8.63917204e-03 1.19056695e+02] [ 9.41722233e-01 -3.35392767e-01 -2.59022646e-02 1.20431599e+02] [ 2.72994754e-02 -5.48860932e-04 9.99627149e-01 3.92609232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:120.46, Z:3.93 [[-3.34364479e-01 -9.42404211e-01 8.64280857e-03 1.19044358e+02] [ 9.42048962e-01 -3.34475772e-01 -2.58787764e-02 1.20455843e+02] [ 2.72790779e-02 -5.10994748e-04 9.99627726e-01 3.92729998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:120.48, Z:3.93 [[-3.34423911e-01 -9.42384063e-01 8.53960214e-03 1.19034698e+02] [ 9.42038064e-01 -3.34532556e-01 -2.55393027e-02 1.20480689e+02] [ 2.69246068e-02 -4.96323222e-04 9.99637344e-01 3.92824494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:120.51, Z:3.93 [[-3.34402256e-01 -9.42394720e-01 8.20506836e-03 1.19025756e+02] [ 9.42076073e-01 -3.34502578e-01 -2.45091251e-02 1.20505602e+02] [ 2.58418866e-02 -4.66108151e-04 9.99665934e-01 3.92974457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:120.53, Z:3.93 [[-3.34670657e-01 -9.42302869e-01 7.80093497e-03 1.19018114e+02] [ 9.42015508e-01 -3.34761272e-01 -2.32738827e-02 1.20529572e+02] [ 2.45424973e-02 -4.40483874e-04 9.99698691e-01 3.93156139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:120.55, Z:3.93 [[-3.34837579e-01 -9.42248149e-01 7.22637949e-03 1.19010089e+02] [ 9.42002147e-01 -3.34915307e-01 -2.15335257e-02 1.20553865e+02] [ 2.27101498e-02 -4.02968616e-04 9.99742010e-01 3.93431792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75275509600002 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:119.00, Y:120.58, Z:3.94 [[-3.35576916e-01 -9.41987209e-01 6.94483425e-03 1.19003104e+02] [ 9.41760531e-01 -3.35648538e-01 -2.06678958e-02 1.20577074e+02] [ 2.17999169e-02 -3.95297927e-04 9.99762275e-01 3.93510120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:120.60, Z:3.94 [[-3.36641232e-01 -9.41609718e-01 6.61961434e-03 1.18992930e+02] [ 9.41404242e-01 -3.36706081e-01 -1.96740555e-02 1.20601282e+02] [ 2.07541463e-02 -3.91365266e-04 9.99784533e-01 3.93697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:120.63, Z:3.94 [[-3.37474207e-01 -9.41312772e-01 6.43627751e-03 1.18988184e+02] [ 9.41118958e-01 -3.37535352e-01 -1.91048025e-02 1.20626713e+02] [ 2.01560657e-02 -3.90075271e-04 9.99796770e-01 3.93755208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.98, Y:120.65, Z:3.94 [[-3.38141689e-01 -9.41073765e-01 6.35349698e-03 1.18976994e+02] [ 9.40885368e-01 -3.38201147e-01 -1.88336752e-02 1.20650561e+02] [ 1.98726376e-02 -3.90538382e-04 9.99802443e-01 3.93843166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:120.68, Z:3.94 [[-3.39477183e-01 -9.40594345e-01 6.12548912e-03 1.18969499e+02] [ 9.40419585e-01 -3.39532211e-01 -1.81351093e-02 1.20676375e+02] [ 1.91375821e-02 -3.95925875e-04 9.99816781e-01 3.93879301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:120.70, Z:3.94 [[-3.40415384e-01 -9.40255684e-01 6.05106479e-03 1.18962322e+02] [ 9.40085474e-01 -3.40468922e-01 -1.78945627e-02 1.20700408e+02] [ 1.88856638e-02 -4.03066316e-04 9.99821569e-01 3.93937413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.96, Y:120.73, Z:3.94 [[-3.41537538e-01 -9.39849260e-01 5.95643567e-03 1.18955023e+02] [ 9.39684706e-01 -3.41589227e-01 -1.75913086e-02 1.20725662e+02] [ 1.85678326e-02 -4.10920729e-04 9.99827519e-01 3.93993448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.95, Y:120.75, Z:3.94 [[-3.43255007e-01 -9.39224344e-01 5.79936806e-03 1.18947667e+02] [ 9.39068637e-01 -3.43303730e-01 -1.71068207e-02 1.20751457e+02] [ 1.80580871e-02 -4.25997180e-04 9.99836849e-01 3.94072745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:120.78, Z:3.94 [[-3.44064147e-01 -9.38929475e-01 5.59491040e-03 1.18944723e+02] [ 9.38784740e-01 -3.44109376e-01 -1.64908880e-02 1.20777664e+02] [ 1.74090419e-02 -4.21506811e-04 9.99848362e-01 3.94205265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.93, Y:120.80, Z:3.94 [[-3.46014967e-01 -9.38213537e-01 5.38534421e-03 1.18931710e+02] [ 9.38079698e-01 -3.46056601e-01 -1.58527066e-02 1.20801653e+02] [ 1.67368578e-02 -4.33391679e-04 9.99859835e-01 3.94207947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:120.83, Z:3.94 [[-3.47203710e-01 -9.37774830e-01 5.28702497e-03 1.18923918e+02] [ 9.37646074e-01 -3.47243683e-01 -1.55455390e-02 1.20827359e+02] [ 1.64141012e-02 -4.40110620e-04 9.99865183e-01 3.94274075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.92, Y:120.85, Z:3.94 [[-3.47942370e-01 -9.37500859e-01 5.31472459e-03 1.18916831e+02] [ 9.37371027e-01 -3.47982668e-01 -1.56083214e-02 1.20851733e+02] [ 1.64822468e-02 -4.48927505e-04 9.99864058e-01 3.94327252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:120.88, Z:3.94 [[-3.50220182e-01 -9.36653361e-01 5.12885477e-03 1.18910488e+02] [ 9.36532583e-01 -3.50257423e-01 -1.50485478e-02 1.20877729e+02] [ 1.58916924e-02 -4.66965551e-04 9.99873610e-01 3.94349695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.90, Y:120.90, Z:3.94 [[-3.51270600e-01 -9.36259470e-01 5.21259186e-03 1.18900985e+02] [ 9.36134965e-01 -3.51308936e-01 -1.52760531e-02 1.20902077e+02] [ 1.61335795e-02 -4.86338833e-04 9.99869727e-01 3.94348503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:120.93, Z:3.94 [[-3.52522571e-01 -9.35789411e-01 5.10051322e-03 1.18894188e+02] [ 9.35670452e-01 -3.52559127e-01 -1.49287202e-02 1.20927579e+02] [ 1.57683707e-02 -4.90311298e-04 9.99875551e-01 3.94405112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:120.95, Z:3.94 [[-3.54272638e-01 -9.35128379e-01 5.08065193e-03 1.18885760e+02] [ 9.35010561e-01 -3.54308698e-01 -1.48525030e-02 1.20953414e+02] [ 1.56891162e-02 -5.11372191e-04 9.99876787e-01 3.94408859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.232755096 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:118.88, Y:120.98, Z:3.94 [[-3.54924827e-01 -9.34880327e-01 5.20965361e-03 1.18877843e+02] [ 9.34756700e-01 -3.54962664e-01 -1.52124794e-02 1.20978273e+02] [ 1.60710802e-02 -5.29527991e-04 9.99870712e-01 3.94381403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.87, Y:121.00, Z:3.94 [[-3.55202669e-01 -9.34774149e-01 5.32492864e-03 1.18870416e+02] [ 9.34645317e-01 -3.55242172e-01 -1.55283912e-02 1.21002153e+02] [ 1.64071778e-02 -5.38806376e-04 9.99865248e-01 3.94368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:121.03, Z:3.94 [[-3.55190522e-01 -9.34778795e-01 5.31946312e-03 1.18863230e+02] [ 9.34650479e-01 -3.55229954e-01 -1.54971797e-02 1.21026102e+02] [ 1.63760676e-02 -5.32612581e-04 9.99865761e-01 3.94433072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.85, Y:121.05, Z:3.94 [[-3.55107596e-01 -9.34810825e-01 5.22659070e-03 1.18849758e+02] [ 9.34687164e-01 -3.55145680e-01 -1.52135285e-02 1.21049627e+02] [ 1.60779722e-02 -5.17212301e-04 9.99870607e-01 3.94429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.84, Y:121.07, Z:3.95 [[-3.53536335e-01 -9.35406740e-01 5.12747824e-03 1.18841302e+02] [ 9.35288084e-01 -3.53573198e-01 -1.49061567e-02 1.21074106e+02] [ 1.57562583e-02 -4.74198705e-04 9.99875750e-01 3.94534203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:121.10, Z:3.95 [[-3.52846638e-01 -9.35667720e-01 5.01676377e-03 1.18829944e+02] [ 9.35554417e-01 -3.52882018e-01 -1.45675769e-02 1.21098452e+02] [ 1.54007372e-02 -4.46665032e-04 9.99881302e-01 3.94604366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:121.12, Z:3.95 [[-3.53201887e-01 -9.35533646e-01 5.02230777e-03 1.18821241e+02] [ 9.35420357e-01 -3.53237310e-01 -1.45656649e-02 1.21122885e+02] [ 1.54007361e-02 -4.46651390e-04 9.99881302e-01 3.94657104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.81, Y:121.15, Z:3.95 [[-3.52277602e-01 -9.35882334e-01 4.97470371e-03 1.18809299e+02] [ 9.35771491e-01 -3.52312474e-01 -1.44096558e-02 1.21147198e+02] [ 1.52383925e-02 -4.21013097e-04 9.99883800e-01 3.94689436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:121.17, Z:3.95 [[-3.49699182e-01 -9.36848912e-01 4.95964841e-03 1.18797700e+02] [ 9.36739077e-01 -3.49734153e-01 -1.43500266e-02 1.21170987e+02] [ 1.51783652e-02 -3.72296076e-04 9.99884733e-01 3.94764630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:121.20, Z:3.95 [[-3.48560117e-01 -9.37272867e-01 5.04165103e-03 1.18786977e+02] [ 9.37159703e-01 -3.48596398e-01 -1.45685264e-02 1.21195702e+02] [ 1.54121858e-02 -3.53175063e-04 9.99881163e-01 3.94812759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:121.22, Z:3.95 [[-3.46758364e-01 -9.37941361e-01 4.96386344e-03 1.18775823e+02] [ 9.37831929e-01 -3.46793749e-01 -1.43307086e-02 1.21220483e+02] [ 1.51628011e-02 -3.14023442e-04 9.99884989e-01 3.94896252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:121.25, Z:3.95 [[-3.46250901e-01 -9.38129099e-01 4.90988997e-03 1.18765943e+02] [ 9.38022282e-01 -3.46285583e-01 -1.41595646e-02 1.21245536e+02] [ 1.49837237e-02 -2.97175813e-04 9.99887694e-01 3.94974860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:121.27, Z:3.95 [[-3.46193622e-01 -9.38149986e-01 4.95779016e-03 1.18757068e+02] [ 9.38041325e-01 -3.46228995e-01 -1.42812976e-02 1.21269186e+02] [ 1.51145298e-02 -2.93482079e-04 9.99885726e-01 3.95032483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:121.29, Z:3.95 [[-3.46394267e-01 -9.38074173e-01 5.27812690e-03 1.18748644e+02] [ 9.37951346e-01 -3.46434339e-01 -1.51829155e-02 1.21293300e+02] [ 1.60712253e-02 -3.08648641e-04 9.99870802e-01 3.95011691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:121.32, Z:3.95 [[-3.46828236e-01 -9.37913241e-01 5.37831460e-03 1.18740124e+02] [ 9.37786023e-01 -3.46869792e-01 -1.54506769e-02 1.21318027e+02] [ 1.63569693e-02 -3.15022752e-04 9.99866166e-01 3.95010197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:121.34, Z:3.95 [[-3.47402208e-01 -9.37700364e-01 5.45274072e-03 1.18729646e+02] [ 9.37569885e-01 -3.47444848e-01 -1.56457294e-02 1.21341975e+02] [ 1.65655328e-02 -3.23035451e-04 9.99862730e-01 3.94993585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:121.37, Z:3.95 [[-3.48024434e-01 -9.37468829e-01 5.58460683e-03 1.18721612e+02] [ 9.37332282e-01 -3.48069077e-01 -1.60034677e-02 1.21365700e+02] [ 1.69465811e-02 -3.34965530e-04 9.99856340e-01 3.95024473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:121.39, Z:3.95 [[-3.49519707e-01 -9.36911349e-01 5.75310689e-03 1.18713339e+02] [ 9.36766762e-01 -3.49566861e-01 -1.64633777e-02 1.21392070e+02] [ 1.74358209e-02 -3.64955614e-04 9.99847918e-01 3.94999725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:121.42, Z:3.95 [[-3.50633974e-01 -9.36493938e-01 5.90936922e-03 1.18705841e+02] [ 9.36341670e-01 -3.50683551e-01 -1.68915477e-02 1.21416676e+02] [ 1.78911506e-02 -3.89561874e-04 9.99839865e-01 3.94996058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:121.44, Z:3.95 [[-3.52894994e-01 -9.35640862e-01 6.42661754e-03 1.18698975e+02] [ 9.35461131e-01 -3.52953205e-01 -1.83441336e-02 1.21442173e+02] [ 1.94318162e-02 -4.61702000e-04 9.99811078e-01 3.94863945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.69, Y:121.47, Z:3.95 [[-3.54303480e-01 -9.35107342e-01 6.58056947e-03 1.18689965e+02] [ 9.34919244e-01 -3.54364240e-01 -1.87614694e-02 1.21468345e+02] [ 1.98759063e-02 -4.94952884e-04 9.99802332e-01 3.94836894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:121.49, Z:3.95 [[-3.56453225e-01 -9.34287068e-01 6.98378969e-03 1.18683983e+02] [ 9.34075540e-01 -3.56521185e-01 -1.98879467e-02 1.21493592e+02] [ 2.10709204e-02 -5.65735632e-04 9.99777823e-01 3.94732189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:121.52, Z:3.95 [[-3.57624667e-01 -9.33838019e-01 7.15202514e-03 1.18673693e+02] [ 9.33616501e-01 -3.57695672e-01 -2.03478438e-02 1.21518574e+02] [ 2.15598386e-02 -5.99642177e-04 9.99767380e-01 3.94723368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:121.54, Z:3.95 [[-3.59267854e-01 -9.33205399e-01 7.36832074e-03 1.18664479e+02] [ 9.32970677e-01 -3.59342820e-01 -2.09392918e-02 1.21544306e+02] [ 2.21884133e-02 -6.48387229e-04 9.99753597e-01 3.94729902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.66, Y:121.57, Z:3.95 [[-3.60393511e-01 -9.32771106e-01 7.38787874e-03 1.18659523e+02] [ 9.32535580e-01 -3.60468608e-01 -2.09708052e-02 1.21570698e+02] [ 2.22240595e-02 -6.68282342e-04 9.99752792e-01 3.94761027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:121.59, Z:3.95 [[-3.61280021e-01 -9.32428104e-01 7.38759433e-03 1.18648975e+02] [ 9.32193081e-01 -3.61354905e-01 -2.09450019e-02 1.21594911e+02] [ 2.21992519e-02 -6.80346429e-04 9.99753335e-01 3.94818969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:121.62, Z:3.95 [[-3.62031520e-01 -9.32137237e-01 7.30411154e-03 1.18643217e+02] [ 9.31907986e-01 -3.62104553e-01 -2.06832725e-02 1.21619605e+02] [ 2.19245005e-02 -6.81236701e-04 9.99759397e-01 3.94858729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:121.64, Z:3.95 [[-3.62885487e-01 -9.31805733e-01 7.22495643e-03 1.18630705e+02] [ 9.31581915e-01 -3.62956758e-01 -2.04335009e-02 1.21643580e+02] [ 2.16624000e-02 -6.84382165e-04 9.99765108e-01 3.94952351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.63, Y:121.67, Z:3.95 [[-3.63684812e-01 -9.31496237e-01 6.93666469e-03 1.18625365e+02] [ 9.31290356e-01 -3.63750348e-01 -1.95948339e-02 1.21668583e+02] [ 2.07757282e-02 -6.66294560e-04 9.99783939e-01 3.95098677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.61, Y:121.69, Z:3.95 [[-3.63871791e-01 -9.31423599e-01 6.88469536e-03 1.18611015e+02] [ 9.31221288e-01 -3.63936325e-01 -1.94232744e-02 1.21691898e+02] [ 2.05968869e-02 -6.56406770e-04 9.99787646e-01 3.95192088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.60, Y:121.72, Z:3.95 [[-3.63154026e-01 -9.31704993e-01 6.70516494e-03 1.18604198e+02] [ 9.31513612e-01 -3.63215400e-01 -1.88934812e-02 1.21717356e+02] [ 2.00385699e-02 -6.15291343e-04 9.99799018e-01 3.95301118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:121.74, Z:3.95 [[-3.62890941e-01 -9.31806922e-01 6.78417060e-03 1.18590835e+02] [ 9.31611487e-01 -3.62953840e-01 -1.90931105e-02 1.21740927e+02] [ 2.02534333e-02 -6.08505591e-04 9.99794693e-01 3.95390252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.58, Y:121.76, Z:3.95 [[-3.62243344e-01 -9.32059948e-01 6.63423158e-03 1.18582581e+02] [ 9.31873558e-01 -3.62303637e-01 -1.86479763e-02 1.21764581e+02] [ 1.97846380e-02 -5.72840312e-04 9.99804101e-01 3.95483506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:121.79, Z:3.96 [[-3.61391858e-01 -9.32390032e-01 6.68981948e-03 1.18571999e+02] [ 9.32201063e-01 -3.61453352e-01 -1.87790573e-02 1.21789576e+02] [ 1.99274635e-02 -5.50341565e-04 9.99801277e-01 3.95541519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:121.81, Z:3.96 [[-3.58884881e-01 -9.33357347e-01 6.76047954e-03 1.18563049e+02] [ 9.33164966e-01 -3.58948210e-01 -1.89559664e-02 1.21814529e+02] [ 2.01193526e-02 -4.94367096e-04 9.99797463e-01 3.95583107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28275509600002 meters Centerline goodness [0,1] 0.9998927199776858 Centerline is valid? [True, True] Translation: X:118.55, Y:121.84, Z:3.95 [[-3.57640838e-01 -9.33835060e-01 6.71655897e-03 1.18549006e+02] [ 9.33645691e-01 -3.57703610e-01 -1.88109100e-02 1.21838918e+02] [ 1.99688246e-02 -4.56663272e-04 9.99800499e-01 3.95423522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:121.86, Z:3.96 [[-3.53095586e-01 -9.35562649e-01 6.78509587e-03 1.18536329e+02] [ 9.35370136e-01 -3.53160592e-01 -1.89816858e-02 1.21862670e+02] [ 2.01547847e-02 -3.55773426e-04 9.99796808e-01 3.95694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34275509600002 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:118.53, Y:121.89, Z:3.96 [[-3.51731300e-01 -9.36076537e-01 6.76821768e-03 1.18525915e+02] [ 9.35885490e-01 -3.51796269e-01 -1.89138784e-02 1.21886704e+02] [ 2.00858715e-02 -3.18326330e-04 9.99798208e-01 3.95562192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37275509600002 meters Centerline goodness [0,1] 0.9999356995884774 Centerline is valid? [True, True] Translation: X:118.51, Y:121.91, Z:3.96 [[-3.49904598e-01 -9.36760604e-01 6.80749508e-03 1.18514925e+02] [ 9.36567928e-01 -3.49970707e-01 -1.90005415e-02 1.21911587e+02] [ 2.01813826e-02 -2.72695273e-04 9.99796298e-01 3.95666769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40275509600002 meters Centerline goodness [0,1] 0.9998713385083844 Centerline is valid? [True, True] Translation: X:118.50, Y:121.94, Z:3.96 [[-3.46623951e-01 -9.37979715e-01 6.77429984e-03 1.18502802e+02] [ 9.37789555e-01 -3.46690088e-01 -1.88874128e-02 1.21935871e+02] [ 2.00645926e-02 -1.93962003e-04 9.99798667e-01 3.95639222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:121.96, Z:3.96 [[-3.44884517e-01 -9.38620188e-01 6.84191705e-03 1.18492442e+02] [ 9.38426761e-01 -3.44952343e-01 -1.90550568e-02 1.21959567e+02] [ 2.02455963e-02 -1.51156017e-04 9.99795025e-01 3.95947794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.48, Y:121.98, Z:3.96 [[-3.43991205e-01 -9.38948260e-01 6.79819573e-03 1.18482084e+02] [ 9.38757836e-01 -3.44058352e-01 -1.89096704e-02 1.21983716e+02] [ 2.00941782e-02 -1.22900805e-04 9.99798084e-01 3.95963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:122.01, Z:3.96 [[-3.43525721e-01 -9.39118044e-01 6.88318827e-03 1.18472340e+02] [ 9.38923327e-01 -3.43594657e-01 -1.91232087e-02 1.22008284e+02] [ 2.03239771e-02 -1.06528029e-04 9.99793441e-01 3.95984862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:122.03, Z:3.96 [[-3.43954908e-01 -9.38961308e-01 6.83249491e-03 1.18464224e+02] [ 9.38769874e-01 -3.44022747e-01 -1.89597735e-02 1.22032378e+02] [ 2.01530274e-02 -1.07166765e-04 9.99796901e-01 3.96058779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55275509600003 meters Centerline goodness [0,1] 0.9998712252913527 Centerline is valid? [True, True] Translation: X:118.46, Y:122.06, Z:3.96 [[-3.45531623e-01 -9.38383158e-01 6.70413490e-03 1.18456229e+02] [ 9.38199191e-01 -3.45596631e-01 -1.85808210e-02 1.22057628e+02] [ 1.97528559e-02 -1.30447304e-04 9.99804885e-01 3.95886281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.45, Y:122.08, Z:3.96 [[-3.47236191e-01 -9.37754399e-01 6.61166662e-03 1.18451265e+02] [ 9.37575797e-01 -3.47299096e-01 -1.83019623e-02 1.22083283e+02] [ 1.94589715e-02 -1.56165072e-04 9.99810644e-01 3.96266139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:122.11, Z:3.96 [[-3.49237889e-01 -9.37011280e-01 6.53897216e-03 1.18442967e+02] [ 9.36836786e-01 -3.49299048e-01 -1.80834663e-02 1.22108408e+02] [ 1.92284686e-02 -1.89481915e-04 9.99815098e-01 3.96312701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:122.13, Z:3.96 [[-3.52787566e-01 -9.35680403e-01 6.56633380e-03 1.18438055e+02] [ 9.35504656e-01 -3.52848577e-01 -1.81361566e-02 1.22134986e+02] [ 1.92865678e-02 -2.55374697e-04 9.99813964e-01 3.96369942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:122.16, Z:3.96 [[-3.54767267e-01 -9.34931272e-01 6.61081975e-03 1.18431043e+02] [ 9.34753427e-01 -3.54828736e-01 -1.82372891e-02 1.22160538e+02] [ 1.93963208e-02 -2.90506811e-04 9.99811831e-01 3.96373680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:122.19, Z:3.96 [[-3.56805138e-01 -9.34154367e-01 6.76105790e-03 1.18422227e+02] [ 9.33968633e-01 -3.56869034e-01 -1.86302181e-02 1.22186194e+02] [ 1.98163118e-02 -3.32741521e-04 9.99803582e-01 3.96386748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:122.21, Z:3.96 [[-3.58634694e-01 -9.33453359e-01 6.78101903e-03 1.18414802e+02] [ 9.33266824e-01 -3.58698610e-01 -1.86639328e-02 1.22212916e+02] [ 1.98542529e-02 -3.65033730e-04 9.99802818e-01 3.96434360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:122.24, Z:3.96 [[-3.61319477e-01 -9.32416220e-01 6.94466515e-03 1.18410140e+02] [ 9.32220831e-01 -3.61385961e-01 -1.90921401e-02 1.22239230e+02] [ 2.03115256e-02 -4.24400559e-04 9.99793610e-01 3.96495195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.792755096 meters Centerline goodness [0,1] 0.9998491411823021 Centerline is valid? [True, True] Translation: X:118.40, Y:122.26, Z:3.96 [[-3.63144221e-01 -9.31706285e-01 7.04796297e-03 1.18403398e+02] [ 9.31505260e-01 -3.63212311e-01 -1.93589040e-02 1.22264770e+02] [ 2.05967194e-02 -4.64859511e-04 9.99787757e-01 3.96257623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:122.29, Z:3.97 [[-3.64942830e-01 -9.31003728e-01 6.98492820e-03 1.18396899e+02] [ 9.30806609e-01 -3.65009337e-01 -1.91635376e-02 1.22291444e+02] [ 2.03908890e-02 -4.91978305e-04 9.99791963e-01 3.96582876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:122.32, Z:3.97 [[-3.66373750e-01 -9.30440663e-01 7.10260849e-03 1.18389955e+02] [ 9.30237193e-01 -3.66442215e-01 -1.94645271e-02 1.22316522e+02] [ 2.07132831e-02 -5.24181205e-04 9.99785320e-01 3.96600343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.882755096 meters Centerline goodness [0,1] 0.9999136311618768 Centerline is valid? [True, True] Translation: X:118.38, Y:122.34, Z:3.96 [[-3.67755907e-01 -9.29893877e-01 7.27810971e-03 1.18381161e+02] [ 9.29680618e-01 -3.67827493e-01 -1.99219646e-02 1.22341953e+02] [ 2.12024017e-02 -5.60102621e-04 9.99775047e-01 3.96460456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.912755096 meters Centerline goodness [0,1] 0.9998916529427061 Centerline is valid? [True, True] Translation: X:118.37, Y:122.37, Z:3.96 [[-3.69088895e-01 -9.29365038e-01 7.34937199e-03 1.18374956e+02] [ 9.29147960e-01 -3.69161591e-01 -2.00944842e-02 1.22367107e+02] [ 2.13882170e-02 -5.87996997e-04 9.99771073e-01 3.96441575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:122.39, Z:3.97 [[-3.68603480e-01 -9.29558587e-01 7.23236350e-03 1.18364807e+02] [ 9.29348839e-01 -3.68674001e-01 -1.97538927e-02 1.22391970e+02] [ 2.10287850e-02 -5.59964989e-04 9.99778714e-01 3.96772984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:122.42, Z:3.97 [[-3.67369376e-01 -9.30048547e-01 7.03154174e-03 1.18353279e+02] [ 9.29850818e-01 -3.67436310e-01 -1.91836867e-02 1.22416419e+02] [ 2.04254037e-02 -5.09214174e-04 9.99791250e-01 3.96853265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:122.44, Z:3.97 [[-3.65158438e-01 -9.30917830e-01 7.16302893e-03 1.18342142e+02] [ 9.30713260e-01 -3.65228396e-01 -1.95204111e-02 1.22440368e+02] [ 2.07880403e-02 -4.61316832e-04 9.99783799e-01 3.96941984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:122.47, Z:3.97 [[-3.63809627e-01 -9.31446105e-01 7.12106315e-03 1.18329473e+02] [ 9.31244486e-01 -3.63879069e-01 -1.93837673e-02 1.22465086e+02] [ 2.06461404e-02 -4.20550355e-04 9.99786757e-01 3.96981612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06275509600002 meters Centerline goodness [0,1] 0.999827187695764 Centerline is valid? [True, True] Translation: X:118.32, Y:122.49, Z:3.97 [[-3.61359588e-01 -9.32395638e-01 7.59091515e-03 1.18318586e+02] [ 9.32167269e-01 -3.61439107e-01 -2.06386586e-02 1.22488896e+02] [ 2.19870489e-02 -3.81974539e-04 9.99758183e-01 3.96639719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09275509600002 meters Centerline goodness [0,1] 0.9998056281450446 Centerline is valid? [True, True] Translation: X:118.31, Y:122.51, Z:3.97 [[-3.60478500e-01 -9.32735962e-01 7.67310494e-03 1.18308945e+02] [ 9.32503115e-01 -3.60559977e-01 -2.08432916e-02 1.22512372e+02] [ 2.22079022e-02 -3.58364229e-04 9.99753310e-01 3.96646291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12275509600002 meters Centerline goodness [0,1] 0.9999783774433489 Centerline is valid? [True, True] Translation: X:118.30, Y:122.54, Z:3.97 [[-3.58946337e-01 -9.33328373e-01 7.46165113e-03 1.18297607e+02] [ 9.33108852e-01 -3.59023755e-01 -2.02438416e-02 1.22536492e+02] [ 2.15730617e-02 -3.03920038e-04 9.99767228e-01 3.97033551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:122.56, Z:3.97 [[-3.57878137e-01 -9.33737977e-01 7.52522831e-03 1.18287435e+02] [ 9.33515324e-01 -3.57957142e-01 -2.03917954e-02 1.22559824e+02] [ 2.17343030e-02 -2.72861791e-04 9.99763745e-01 3.97101989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18275509600002 meters Centerline goodness [0,1] 0.9999133523958063 Centerline is valid? [True, True] Translation: X:118.28, Y:122.58, Z:3.97 [[-3.58174300e-01 -9.33624025e-01 7.57306222e-03 1.18278226e+02] [ 9.33398947e-01 -3.58254246e-01 -2.05012547e-02 1.22583931e+02] [ 2.18535456e-02 -2.74334254e-04 9.99761145e-01 3.96929717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:122.61, Z:3.97 [[-3.58646742e-01 -9.33443346e-01 7.48558935e-03 1.18268301e+02] [ 9.33223934e-01 -3.58724748e-01 -2.02396456e-02 1.22608244e+02] [ 2.15778287e-02 -2.73151824e-04 9.99767134e-01 3.97206308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:122.63, Z:3.97 [[-3.60175527e-01 -9.32855547e-01 7.35648450e-03 1.18260161e+02] [ 9.32644004e-01 -3.60250526e-01 -1.98675564e-02 1.22632629e+02] [ 2.11837376e-02 -2.94826433e-04 9.99775556e-01 3.97325989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:122.66, Z:3.97 [[-3.61347430e-01 -9.32403579e-01 7.18334526e-03 1.18251994e+02] [ 9.32202158e-01 -3.61418692e-01 -1.93820690e-02 1.22657736e+02] [ 2.06681057e-02 -3.07330851e-04 9.99786345e-01 3.97421742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:122.68, Z:3.98 [[-3.62772525e-01 -9.31851137e-01 7.03945357e-03 1.18244009e+02] [ 9.31658036e-01 -3.62840673e-01 -1.89723719e-02 1.22682383e+02] [ 2.02336264e-02 -3.24291791e-04 9.99795227e-01 3.97504668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:122.71, Z:3.98 [[-3.63120738e-01 -9.31715459e-01 7.04512537e-03 1.18234734e+02] [ 9.31522373e-01 -3.63188929e-01 -1.89702655e-02 1.22706594e+02] [ 2.02336012e-02 -3.25804929e-04 9.99795227e-01 3.97557437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters Centerline goodness [0,1] 0.9999349903569029 Centerline is valid? [True, True] Translation: X:118.23, Y:122.73, Z:3.97 [[-3.64710328e-01 -9.31093649e-01 7.14095351e-03 1.18226401e+02] [ 9.30895611e-01 -3.64780056e-01 -1.92060281e-02 1.22732094e+02] [ 2.04874882e-02 -3.57154515e-04 9.99790046e-01 3.97438170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:122.76, Z:3.98 [[-3.66683969e-01 -9.30319057e-01 7.02274737e-03 1.18219084e+02] [ 9.30127789e-01 -3.66751010e-01 -1.88677841e-02 1.22756024e+02] [ 2.01286588e-02 -3.86461480e-04 9.99797323e-01 3.97691065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:122.78, Z:3.98 [[-3.68253773e-01 -9.29698874e-01 7.01161164e-03 1.18211576e+02] [ 9.29508443e-01 -3.68320286e-01 -1.88207878e-02 1.22780662e+02] [ 2.00801840e-02 -4.13473892e-04 9.99798287e-01 3.97741278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:122.81, Z:3.98 [[-3.69907424e-01 -9.29041823e-01 7.05617082e-03 1.18204018e+02] [ 9.28849297e-01 -3.69974452e-01 -1.89179211e-02 1.22806154e+02] [ 2.01861428e-02 -4.43760156e-04 9.99796141e-01 3.97711358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.482755096 meters Centerline goodness [0,1] 0.9999567623659633 Centerline is valid? [True, True] Translation: X:118.20, Y:122.83, Z:3.98 [[-3.70864494e-01 -9.28659276e-01 7.17474169e-03 1.18195377e+02] [ 9.28460595e-01 -3.70933598e-01 -1.92143169e-02 1.22829769e+02] [ 2.05049064e-02 -4.64442996e-04 9.99789644e-01 3.97584267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.512755096 meters Centerline goodness [0,1] 0.9998694403342328 Centerline is valid? [True, True] Translation: X:118.18, Y:122.85, Z:3.97 [[-3.71624547e-01 -9.28354472e-01 7.29180390e-03 1.18181597e+02] [ 9.28149714e-01 -3.71695768e-01 -1.95029469e-02 1.22853786e+02] [ 2.08159806e-02 -4.79888112e-04 9.99783209e-01 3.97461740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.542755096 meters Centerline goodness [0,1] 0.9998478558542894 Centerline is valid? [True, True] Translation: X:118.17, Y:122.88, Z:3.97 [[-3.72689246e-01 -9.27926924e-01 7.37226348e-03 1.18174801e+02] [ 9.27718002e-01 -3.72761818e-01 -1.96961025e-02 1.22879176e+02] [ 2.10246421e-02 -5.01144049e-04 9.99778832e-01 3.97424387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:122.90, Z:3.98 [[-3.73449388e-01 -9.27621609e-01 7.32842665e-03 1.18162791e+02] [ 9.27415575e-01 -3.73520942e-01 -1.95564874e-02 1.22902329e+02] [ 2.08783412e-02 -5.06861245e-04 9.99781895e-01 3.97771481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.15, Y:122.93, Z:3.98 [[-3.74112156e-01 -9.27353873e-01 7.40873306e-03 1.18151611e+02] [ 9.27143753e-01 -3.74185149e-01 -1.97467893e-02 1.22927542e+02] [ 2.10844994e-02 -5.18553346e-04 9.99777563e-01 3.97800194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:122.95, Z:3.98 [[-3.74835296e-01 -9.27062355e-01 7.34104661e-03 1.18141541e+02] [ 9.26856450e-01 -3.74906811e-01 -1.95448978e-02 1.22952522e+02] [ 2.08715473e-02 -5.22021137e-04 9.99782029e-01 3.97918282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:122.98, Z:3.98 [[-3.75298073e-01 -9.26874600e-01 7.40493859e-03 1.18133109e+02] [ 9.26665522e-01 -3.75370746e-01 -1.96929937e-02 1.22977716e+02] [ 2.10325330e-02 -5.28841299e-04 9.99778652e-01 3.98009507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.12, Y:123.00, Z:3.98 [[-3.75347480e-01 -9.26854754e-01 7.38472153e-03 1.18121489e+02] [ 9.26647288e-01 -3.75419758e-01 -1.96165724e-02 1.23001540e+02] [ 2.09540837e-02 -5.19998836e-04 9.99780304e-01 3.98079697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:123.02, Z:3.98 [[-3.75126791e-01 -9.26942186e-01 7.62069156e-03 1.18111987e+02] [ 9.26721803e-01 -3.75203827e-01 -2.02185298e-02 1.23024655e+02] [ 2.16007208e-02 -5.22251189e-04 9.99766541e-01 3.98065718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:123.05, Z:3.98 [[-3.74991215e-01 -9.26996538e-01 7.68168382e-03 1.18099434e+02] [ 9.26773056e-01 -3.75069531e-01 -2.03604962e-02 1.23049442e+02] [ 2.17552750e-02 -5.15829617e-04 9.99763193e-01 3.98079185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:123.07, Z:3.98 [[-3.74190309e-01 -9.27316946e-01 8.05567579e-03 1.18089444e+02] [ 9.27071814e-01 -3.74276661e-01 -2.13268195e-02 1.23073313e+02] [ 2.27917725e-02 -5.12099192e-04 9.99740103e-01 3.98068973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:123.10, Z:3.98 [[-3.73855571e-01 -9.27451121e-01 8.15048298e-03 1.18078654e+02] [ 9.27200803e-01 -3.73944070e-01 -2.15523158e-02 1.23097040e+02] [ 2.30365443e-02 -5.00318967e-04 9.99734498e-01 3.98101023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:123.12, Z:3.98 [[-3.73685479e-01 -9.27520563e-01 8.04786468e-03 1.18067548e+02] [ 9.27277098e-01 -3.73771822e-01 -2.12557959e-02 1.23122346e+02] [ 2.27232528e-02 -4.80381656e-04 9.99741678e-01 3.98221832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87275509600002 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:118.06, Y:123.15, Z:3.98 [[-3.73370878e-01 -9.27645345e-01 8.26443494e-03 1.18058920e+02] [ 9.27389196e-01 -3.73462028e-01 -2.18035209e-02 1.23146694e+02] [ 2.33123873e-02 -4.76452080e-04 9.99728116e-01 3.98164320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90275509600002 meters Centerline goodness [0,1] 0.9999138784825389 Centerline is valid? [True, True] Translation: X:118.05, Y:123.17, Z:3.98 [[-3.73096886e-01 -9.27755452e-01 8.27855344e-03 1.18049708e+02] [ 9.27498948e-01 -3.73188434e-01 -2.18195967e-02 1.23170148e+02] [ 2.33327102e-02 -4.62473979e-04 9.99727648e-01 3.98198896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:123.19, Z:3.99 [[-3.73426546e-01 -9.27624261e-01 8.11450251e-03 1.18038391e+02] [ 9.27378256e-01 -3.73514423e-01 -2.13669181e-02 1.23194549e+02] [ 2.28513553e-02 -4.53761235e-04 9.99738771e-01 3.98522235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:123.22, Z:3.99 [[-3.73614442e-01 -9.27549734e-01 7.98377717e-03 1.18029344e+02] [ 9.27312125e-01 -3.73699474e-01 -2.09982511e-02 1.23218129e+02] [ 2.24604556e-02 -4.41796501e-04 9.99747635e-01 3.98643176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:123.24, Z:3.99 [[-3.73939746e-01 -9.27419109e-01 7.92853959e-03 1.18019682e+02] [ 9.27185198e-01 -3.74023533e-01 -2.08328093e-02 1.23243055e+02] [ 2.22862058e-02 -4.38990885e-04 9.99751535e-01 3.98692553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:123.27, Z:3.99 [[-3.74763546e-01 -9.27085200e-01 8.08186088e-03 1.18008892e+02] [ 9.26842650e-01 -3.74850399e-01 -2.12103919e-02 1.23268384e+02] [ 2.26933292e-02 -4.58268322e-04 9.99742368e-01 3.98739447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:123.29, Z:3.99 [[-3.76158120e-01 -9.26521101e-01 7.98230742e-03 1.18001891e+02] [ 9.26284861e-01 -3.76242502e-01 -2.09269398e-02 1.23293265e+02] [ 2.23925346e-02 -4.77947835e-04 9.99749142e-01 3.98823409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:123.32, Z:3.99 [[-3.77083188e-01 -9.26145740e-01 7.89541207e-03 1.17992620e+02] [ 9.25914950e-01 -3.77165521e-01 -2.06803100e-02 1.23318401e+02] [ 2.21308582e-02 -4.87717141e-04 9.99754964e-01 3.98888134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:123.34, Z:3.99 [[-3.78184486e-01 -9.25695924e-01 7.97182928e-03 1.17982991e+02] [ 9.25461086e-01 -3.78268153e-01 -2.08562383e-02 1.23342849e+02] [ 2.23220239e-02 -5.09887964e-04 9.99750703e-01 3.98939251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:123.37, Z:3.99 [[-3.79944153e-01 -9.24977123e-01 7.73067187e-03 1.17973431e+02] [ 9.24756623e-01 -3.80022427e-01 -2.02025391e-02 1.23368642e+02] [ 2.16247151e-02 -5.26846582e-04 9.99766020e-01 3.99069941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:123.39, Z:3.99 [[-3.80952359e-01 -9.24562911e-01 7.66322309e-03 1.17965138e+02] [ 9.24346612e-01 -3.81029048e-01 -2.00051144e-02 1.23392800e+02] [ 2.14158974e-02 -5.37521224e-04 9.99770509e-01 3.99158735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.96, Y:123.42, Z:3.99 [[-3.83241058e-01 -9.23617164e-01 7.59114694e-03 1.17957283e+02] [ 9.23405236e-01 -3.83315800e-01 -1.97931022e-02 1.23417281e+02] [ 2.11910555e-02 -5.75824603e-04 9.99775279e-01 3.99244592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:123.44, Z:3.99 [[-3.84586222e-01 -9.23058069e-01 7.56563873e-03 1.17948097e+02] [ 9.22847885e-01 -3.84660168e-01 -1.97062670e-02 1.23443345e+02] [ 2.11002286e-02 -5.96825094e-04 9.99777187e-01 3.99323792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:123.47, Z:3.99 [[-3.87372915e-01 -9.21890862e-01 7.71123333e-03 1.17939971e+02] [ 9.21672726e-01 -3.87449088e-01 -2.00646494e-02 1.23469807e+02] [ 2.14851272e-02 -6.65268266e-04 9.99768947e-01 3.99348276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:123.49, Z:3.99 [[-3.89331203e-01 -9.21064500e-01 7.83592171e-03 1.17933355e+02] [ 9.20839542e-01 -3.89409395e-01 -2.03681296e-02 1.23494795e+02] [ 2.18117426e-02 -7.14321829e-04 9.99761840e-01 3.99354140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:123.52, Z:3.99 [[-3.91052743e-01 -9.20333577e-01 7.99121708e-03 1.17923151e+02] [ 9.20099868e-01 -3.91133641e-01 -2.07535073e-02 1.23519506e+02] [ 2.22257834e-02 -7.62998172e-04 9.99752686e-01 3.99381537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:123.54, Z:3.99 [[-3.93701123e-01 -9.19201759e-01 8.21900652e-03 1.17913051e+02] [ 9.18954829e-01 -3.93786005e-01 -2.13214407e-02 1.23544866e+02] [ 2.28352356e-02 -8.41379420e-04 9.99738888e-01 3.99366551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:123.57, Z:3.99 [[-3.94964663e-01 -9.18658335e-01 8.35336405e-03 1.17908665e+02] [ 9.18403681e-01 -3.95052013e-01 -2.16468374e-02 1.23570885e+02] [ 2.31860609e-02 -8.77975549e-04 9.99730782e-01 3.99338780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:123.60, Z:3.99 [[-3.95959825e-01 -9.18225909e-01 8.77479556e-03 1.17901094e+02] [ 9.17945437e-01 -3.96055929e-01 -2.27129106e-02 1.23595088e+02] [ 2.43308928e-02 -9.38616575e-04 9.99703519e-01 3.99263262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:123.62, Z:3.99 [[-3.96201192e-01 -9.18121018e-01 8.85507580e-03 1.17884209e+02] [ 9.17836005e-01 -3.96299012e-01 -2.28945502e-02 1.23617178e+02] [ 2.45292255e-02 -9.43340687e-04 9.99698668e-01 3.99340014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:123.64, Z:3.99 [[-3.96290863e-01 -9.18080895e-01 9.00118899e-03 1.17872508e+02] [ 9.17787072e-01 -3.96391935e-01 -2.32448655e-02 1.23642241e+02] [ 2.49086656e-02 -9.50552903e-04 9.99689279e-01 3.99381304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:123.67, Z:3.99 [[-3.96120898e-01 -9.18154101e-01 9.01562657e-03 1.17862239e+02] [ 9.17859984e-01 -3.96222373e-01 -2.32568688e-02 1.23667800e+02] [ 2.49255824e-02 -9.37448897e-04 9.99688870e-01 3.99418945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:123.69, Z:4.00 [[-3.94961992e-01 -9.18655400e-01 8.79096258e-03 1.17852233e+02] [ 9.18376445e-01 -3.95058846e-01 -2.26542144e-02 1.23692007e+02] [ 2.42843639e-02 -8.74140682e-04 9.99704709e-01 3.99564829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:123.72, Z:4.00 [[-3.94294668e-01 -9.18943052e-01 8.68223499e-03 1.17842879e+02] [ 9.18671491e-01 -3.94389356e-01 -2.23546030e-02 1.23716089e+02] [ 2.39667882e-02 -8.38179018e-04 9.99712404e-01 3.99662717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:123.74, Z:4.00 [[-3.92024944e-01 -9.19916298e-01 8.39329316e-03 1.17828946e+02] [ 9.19663270e-01 -3.92114079e-01 -2.15874980e-02 1.23740520e+02] [ 2.31498197e-02 -7.43834274e-04 9.99731730e-01 3.99822897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:123.76, Z:4.00 [[-3.90741005e-01 -9.20463009e-01 8.32563257e-03 1.17817676e+02] [ 9.20214656e-01 -3.90829071e-01 -2.13921481e-02 1.23764941e+02] [ 2.29445803e-02 -6.97420347e-04 9.99736495e-01 3.99917829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65275509600002 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:117.81, Y:123.79, Z:4.00 [[-3.89450937e-01 -9.21011659e-01 8.09268629e-03 1.17806733e+02] [ 9.20777604e-01 -3.89534487e-01 -2.07722582e-02 1.23789555e+02] [ 2.22838724e-02 -6.38211121e-04 9.99751480e-01 3.99904282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:123.81, Z:4.00 [[-3.88031353e-01 -9.21610396e-01 8.12083563e-03 1.17794378e+02] [ 9.21375331e-01 -3.88115861e-01 -2.08225420e-02 1.23814333e+02] [ 2.23420963e-02 -5.97461542e-04 9.99750206e-01 4.00095545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:123.84, Z:4.00 [[-3.85421414e-01 -9.22706535e-01 7.93624307e-03 1.17782575e+02] [ 9.22482729e-01 -3.85502771e-01 -2.03280278e-02 1.23838460e+02] [ 2.18162478e-02 -5.13810073e-04 9.99761865e-01 4.00226286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:123.86, Z:4.00 [[-3.84569499e-01 -9.23062988e-01 7.81151744e-03 1.17770494e+02] [ 9.22846683e-01 -3.84648530e-01 -1.99876979e-02 1.23862460e+02] [ 2.14545929e-02 -4.77826032e-04 9.99769710e-01 4.00271854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77275509600003 meters Centerline goodness [0,1] 0.9999785825962176 Centerline is valid? [True, True] Translation: X:117.76, Y:123.89, Z:4.00 [[-3.82782577e-01 -9.23804223e-01 7.95342867e-03 1.17759549e+02] [ 9.23580672e-01 -3.82864948e-01 -2.03266835e-02 1.23886450e+02] [ 2.18229651e-02 -4.35067285e-04 9.99761756e-01 4.00238783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:123.91, Z:4.00 [[-3.82384429e-01 -9.23969825e-01 7.86837007e-03 1.17749486e+02] [ 9.23751540e-01 -3.82465152e-01 -2.00873007e-02 1.23909565e+02] [ 2.15694370e-02 -4.12652017e-04 9.99767267e-01 4.00312850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:123.93, Z:4.00 [[-3.82505042e-01 -9.23920465e-01 7.80177604e-03 1.17739836e+02] [ 9.23706336e-01 -3.82584386e-01 -1.98945405e-02 1.23934304e+02] [ 2.13658108e-02 -4.03212089e-04 9.99771644e-01 4.00334941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.73, Y:123.96, Z:4.00 [[-3.83087348e-01 -9.23678322e-01 7.90193653e-03 1.17728260e+02] [ 9.23459088e-01 -3.83168613e-01 -2.01277721e-02 1.23958709e+02] [ 2.16193608e-02 -4.13579729e-04 9.99766189e-01 4.00374655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.892755096 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:117.72, Y:123.98, Z:4.00 [[-3.84439372e-01 -9.23114245e-01 8.15225466e-03 1.17720495e+02] [ 9.22881271e-01 -3.84525534e-01 -2.07430276e-02 1.23984395e+02] [ 2.22829343e-02 -4.50873347e-04 9.99751603e-01 4.00224492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters Centerline goodness [0,1] 0.9999569781448976 Centerline is valid? [True, True] Translation: X:117.71, Y:124.01, Z:4.00 [[-3.84774519e-01 -9.22974546e-01 8.15824960e-03 1.17710515e+02] [ 9.22741590e-01 -3.84860732e-01 -2.07406695e-02 1.24009218e+02] [ 2.22829000e-02 -4.52524936e-04 9.99751603e-01 4.00278971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:124.04, Z:4.00 [[-3.86701892e-01 -9.22165848e-01 8.47324390e-03 1.17701908e+02] [ 9.21914907e-01 -3.86794377e-01 -2.15177616e-02 1.24035114e+02] [ 2.31203480e-02 -5.09349256e-04 9.99732559e-01 4.00425775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:124.06, Z:4.00 [[-3.88244275e-01 -9.21516738e-01 8.56067187e-03 1.17692606e+02] [ 9.21260980e-01 -3.88338262e-01 -2.17163938e-02 1.24061223e+02] [ 2.33364568e-02 -5.44652606e-04 9.99727519e-01 4.00421022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:124.09, Z:4.00 [[-3.89522611e-01 -9.20975393e-01 8.74417477e-03 1.17685313e+02] [ 9.20708990e-01 -3.89620314e-01 -2.21577933e-02 1.24086710e+02] [ 2.38136905e-02 -5.80121186e-04 9.99716246e-01 4.00417287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.68, Y:124.11, Z:4.00 [[-3.91989720e-01 -9.19927143e-01 8.83806936e-03 1.17677867e+02] [ 9.19655315e-01 -3.92088817e-01 -2.23710053e-02 1.24113394e+02] [ 2.40450031e-02 -6.41226639e-04 9.99710671e-01 4.00441147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:124.14, Z:4.01 [[-3.93522024e-01 -9.19273902e-01 8.71267648e-03 1.17668747e+02] [ 9.19010098e-01 -3.93617904e-01 -2.20314538e-02 1.24139210e+02] [ 2.36824060e-02 -6.62824624e-04 9.99719313e-01 4.00509788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:124.17, Z:4.01 [[-3.95263228e-01 -9.18525713e-01 8.80315592e-03 1.17663327e+02] [ 9.18256772e-01 -3.95360616e-01 -2.22369873e-02 1.24165513e+02] [ 2.39056657e-02 -7.05905821e-04 9.99713970e-01 4.00544405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.65, Y:124.19, Z:4.01 [[-3.97882949e-01 -9.17393978e-01 8.80044593e-03 1.17653755e+02] [ 9.17125498e-01 -3.97979528e-01 -2.22062249e-02 1.24190510e+02] [ 2.38742543e-02 -7.64364885e-04 9.99714677e-01 4.00592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:124.22, Z:4.01 [[-3.99096332e-01 -9.16866233e-01 8.85594872e-03 1.17644483e+02] [ 9.16594805e-01 -3.99193792e-01 -2.23221710e-02 1.24215796e+02] [ 2.40016846e-02 -7.91379986e-04 9.99711605e-01 4.00675738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:124.24, Z:4.01 [[-4.00982257e-01 -9.16041504e-01 9.01070391e-03 1.17636926e+02] [ 9.15760883e-01 -4.01082594e-01 -2.26882570e-02 1.24241636e+02] [ 2.43974216e-02 -8.45938328e-04 9.99701981e-01 4.00701198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:124.27, Z:4.01 [[-4.01341446e-01 -9.15884107e-01 9.01924509e-03 1.17627112e+02] [ 9.15603522e-01 -4.01441885e-01 -2.26848615e-02 1.24265655e+02] [ 2.43974068e-02 -8.46322532e-04 9.99701981e-01 4.00753958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.62, Y:124.29, Z:4.01 [[-4.02166483e-01 -9.15521104e-01 9.12291311e-03 1.17620181e+02] [ 9.15234585e-01 -4.02269007e-01 -2.29194492e-02 1.24291220e+02] [ 2.46531047e-02 -8.67828692e-04 9.99695689e-01 4.00761318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28275509600002 meters Centerline goodness [0,1] 0.9999130661566548 Centerline is valid? [True, True] Translation: X:117.61, Y:124.32, Z:4.01 [[-4.02445437e-01 -9.15395137e-01 9.45591423e-03 1.17613720e+02] [ 9.15087959e-01 -4.02555511e-01 -2.37294833e-02 1.24316210e+02] [ 2.55283840e-02 -8.96829002e-04 9.99673695e-01 4.00560456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.60, Y:124.34, Z:4.01 [[-4.02206152e-01 -9.15496826e-01 9.78639443e-03 1.17599016e+02] [ 9.15168589e-01 -4.02324166e-01 -2.45299809e-02 1.24339179e+02] [ 2.63944227e-02 -9.09908464e-04 9.99651192e-01 4.00877946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:124.36, Z:4.01 [[-4.01971999e-01 -9.15599229e-01 9.82672415e-03 1.17590688e+02] [ 9.15269069e-01 -4.02091098e-01 -2.46024517e-02 1.24362951e+02] [ 2.64772241e-02 -8.95400030e-04 9.99649016e-01 4.00937262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:124.39, Z:4.01 [[-4.00281591e-01 -9.16339501e-01 9.82686924e-03 1.17578013e+02] [ 9.16010296e-01 -4.00401326e-01 -2.45746908e-02 1.24387806e+02] [ 2.64534514e-02 -8.35282940e-04 9.99649697e-01 4.01058430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.57, Y:124.41, Z:4.01 [[-3.99599254e-01 -9.16637562e-01 9.79878750e-03 1.17566991e+02] [ 9.16310961e-01 -3.99718569e-01 -2.44803814e-02 1.24412955e+02] [ 2.63563944e-02 -8.03605754e-04 9.99652287e-01 4.01159232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:124.44, Z:4.01 [[-3.98728276e-01 -9.17017953e-01 9.68693199e-03 1.17556142e+02] [ 9.16699520e-01 -3.98845205e-01 -2.41762982e-02 1.24438007e+02] [ 2.60336859e-02 -7.59767805e-04 9.99660777e-01 4.01254315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:124.46, Z:4.01 [[-3.96864308e-01 -9.17827825e-01 9.52919742e-03 1.17545129e+02] [ 9.17520496e-01 -3.96978102e-01 -2.37597529e-02 1.24461796e+02] [ 2.55902450e-02 -6.86163947e-04 9.99672281e-01 4.01411753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.54, Y:124.49, Z:4.01 [[-3.96530604e-01 -9.17972642e-01 9.47141021e-03 1.17535110e+02] [ 9.17669583e-01 -3.96643147e-01 -2.35955752e-02 1.24485795e+02] [ 2.54168625e-02 -6.64742644e-04 9.99676718e-01 4.01487474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:124.51, Z:4.02 [[-3.95570867e-01 -9.18390281e-01 9.10939662e-03 1.17523113e+02] [ 9.18110655e-01 -3.95675280e-01 -2.26693350e-02 1.24510366e+02] [ 2.44236600e-02 -6.03894421e-04 9.99701516e-01 4.01688784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:124.53, Z:4.02 [[-3.95523902e-01 -9.18412118e-01 8.94561814e-03 1.17513804e+02] [ 9.18143022e-01 -3.95624622e-01 -2.22384810e-02 1.24534832e+02] [ 2.39631972e-02 -5.82493887e-04 9.99712672e-01 4.01793771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58275509600003 meters Centerline goodness [0,1] 0.9999565727189821 Centerline is valid? [True, True] Translation: X:117.51, Y:124.56, Z:4.02 [[-3.95206636e-01 -9.18546593e-01 9.15812782e-03 1.17505401e+02] [ 9.18265230e-01 -3.95312310e-01 -2.27408207e-02 1.24558581e+02] [ 2.45088241e-02 -5.77732908e-04 9.99699447e-01 4.01751967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:124.58, Z:4.02 [[-3.95077905e-01 -9.18602282e-01 9.12671943e-03 1.17493958e+02] [ 9.18323516e-01 -3.95182910e-01 -2.26359733e-02 1.24582405e+02] [ 2.44001802e-02 -5.61691828e-04 9.99702113e-01 4.01962444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters Centerline goodness [0,1] 0.9999349212547182 Centerline is valid? [True, True] Translation: X:117.48, Y:124.61, Z:4.02 [[-3.95846325e-01 -9.18268175e-01 9.44700557e-03 1.17483026e+02] [ 9.17970084e-01 -3.95958594e-01 -2.34033453e-02 1.24607424e+02] [ 2.52311702e-02 -5.92059739e-04 9.99681468e-01 4.01863216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:124.63, Z:4.02 [[-3.96080195e-01 -9.18169663e-01 9.21676254e-03 1.17472900e+02] [ 9.17886482e-01 -3.96187001e-01 -2.28093439e-02 1.24631280e+02] [ 2.45944091e-02 -5.74387631e-04 9.99697347e-01 4.02101806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:124.66, Z:4.02 [[-3.97011523e-01 -9.17766714e-01 9.27949426e-03 1.17463278e+02] [ 9.17480207e-01 -3.97119512e-01 -2.29382649e-02 1.24655802e+02] [ 2.47370442e-02 -5.93003163e-04 9.99693817e-01 4.02157903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.732755096 meters Centerline goodness [0,1] 0.999804924570834 Centerline is valid? [True, True] Translation: X:117.45, Y:124.68, Z:4.02 [[-3.99637332e-01 -9.16619885e-01 9.89899798e-03 1.17454250e+02] [ 9.16294238e-01 -3.99759304e-01 -2.44411112e-02 1.24681702e+02] [ 2.63604251e-02 -6.97185666e-04 9.99652261e-01 4.01882496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:124.71, Z:4.02 [[-4.00560199e-01 -9.16220977e-01 9.52097466e-03 1.17444694e+02] [ 9.15920224e-01 -4.00672748e-01 -2.34838781e-02 1.24706568e+02] [ 2.53312168e-02 -6.86253638e-04 9.99678878e-01 4.02305646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:124.73, Z:4.02 [[-4.02429326e-01 -9.15400743e-01 9.59777608e-03 1.17435785e+02] [ 9.15095563e-01 -4.02543094e-01 -2.36467547e-02 1.24732534e+02] [ 2.55097753e-02 -7.33265246e-04 9.99674304e-01 4.02380033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.822755096 meters Centerline goodness [0,1] 0.9998479781088476 Centerline is valid? [True, True] Translation: X:117.43, Y:124.76, Z:4.02 [[-4.05050136e-01 -9.14240090e-01 9.97220788e-03 1.17427245e+02] [ 9.13910959e-01 -4.05172029e-01 -2.45435729e-02 1.24758556e+02] [ 2.64791780e-02 -8.27667478e-04 9.99649022e-01 4.02166672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:124.78, Z:4.03 [[-4.07709945e-01 -9.13060655e-01 9.63539209e-03 1.17419121e+02] [ 9.12753654e-01 -4.07822870e-01 -2.36912311e-02 1.24784822e+02] [ 2.55610642e-02 -8.64411198e-04 9.99672889e-01 4.02620195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:124.81, Z:4.03 [[-4.09017448e-01 -9.12476517e-01 9.55688328e-03 1.17411501e+02] [ 9.12174911e-01 -4.09128127e-01 -2.34756610e-02 1.24809681e+02] [ 2.53309791e-02 -8.84405781e-04 9.99678728e-01 4.02663344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:124.84, Z:4.03 [[-4.10883776e-01 -9.11635873e-01 9.72407688e-03 1.17401618e+02] [ 9.11323898e-01 -4.10997741e-01 -2.38664823e-02 1.24835172e+02] [ 2.57541151e-02 -9.44566734e-04 9.99667862e-01 4.02715713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.39, Y:124.86, Z:4.03 [[-4.11698115e-01 -9.11268284e-01 9.73539682e-03 1.17390421e+02] [ 9.10956104e-01 -4.11812089e-01 -2.38700783e-02 1.24858949e+02] [ 2.57611994e-02 -9.58747078e-04 9.99667665e-01 4.02784226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:124.88, Z:4.03 [[-4.11886397e-01 -9.11181331e-01 9.90846304e-03 1.17378687e+02] [ 9.10858635e-01 -4.12004418e-01 -2.42674139e-02 1.24883249e+02] [ 2.61943450e-02 -9.70208542e-04 9.99656398e-01 4.02886688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00275509600002 meters Centerline goodness [0,1] 0.9999132095122375 Centerline is valid? [True, True] Translation: X:117.37, Y:124.91, Z:4.03 [[-4.12332104e-01 -9.10977528e-01 1.01084108e-02 1.17369349e+02] [ 9.10642310e-01 -4.12454797e-01 -2.47310341e-02 1.24907686e+02] [ 2.66986788e-02 -9.92252786e-04 9.99643034e-01 4.02741406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.36, Y:124.93, Z:4.03 [[-4.11118381e-01 -9.11526370e-01 1.00674676e-02 1.17357965e+02] [ 9.11194716e-01 -4.11240550e-01 -2.46048739e-02 1.24932315e+02] [ 2.65681422e-02 -9.42092643e-04 9.99646561e-01 4.02988746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06275509600002 meters Centerline goodness [0,1] 0.999934854834857 Centerline is valid? [True, True] Translation: X:117.34, Y:124.96, Z:4.03 [[-4.08525222e-01 -9.12687731e-01 1.04042568e-02 1.17344282e+02] [ 9.12334606e-01 -4.08656729e-01 -2.54016527e-02 1.24956487e+02] [ 2.74355463e-02 -8.85052238e-04 9.99623183e-01 4.02865981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09275509600002 meters Centerline goodness [0,1] 0.9999131454379642 Centerline is valid? [True, True] Translation: X:117.33, Y:124.98, Z:4.03 [[-4.06890977e-01 -9.13416983e-01 1.04473869e-02 1.17331742e+02] [ 9.13061874e-01 -4.07024235e-01 -2.54811061e-02 1.24981018e+02] [ 2.75272147e-02 -8.28921473e-04 9.99620711e-01 4.02863108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:125.01, Z:4.03 [[-4.04019296e-01 -9.14692069e-01 1.03357447e-02 1.17321037e+02] [ 9.14345604e-01 -4.04150832e-01 -2.51837541e-02 1.25005492e+02] [ 2.72125799e-02 -7.24279900e-04 9.99629407e-01 4.03029113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:125.03, Z:4.03 [[-3.98966946e-01 -9.16909505e-01 1.01161237e-02 1.17302562e+02] [ 9.16578956e-01 -3.99094794e-01 -2.46244433e-02 1.25027264e+02] [ 2.66156784e-02 -5.52112778e-04 9.99645588e-01 4.03163596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:125.05, Z:4.03 [[-3.97065268e-01 -9.17733625e-01 1.02061856e-02 1.17289700e+02] [ 9.17398105e-01 -3.97196112e-01 -2.48186404e-02 1.25051187e+02] [ 2.68307580e-02 -4.91484751e-04 9.99639870e-01 4.03209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:125.07, Z:4.03 [[-3.94221547e-01 -9.18960651e-01 1.00346513e-02 1.17274831e+02] [ 9.18637335e-01 -3.94349044e-01 -2.43778139e-02 1.25074858e+02] [ 2.63594068e-02 -3.92054194e-04 9.99652454e-01 4.03276032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:125.10, Z:4.03 [[-3.93842998e-01 -9.19124182e-01 9.92125050e-03 1.17264197e+02] [ 9.18808793e-01 -3.93967769e-01 -2.40790239e-02 1.25097661e+02] [ 2.60402660e-02 -3.67622746e-04 9.99660827e-01 4.03319349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.25, Y:125.12, Z:4.03 [[-3.93668768e-01 -9.19201457e-01 9.67386488e-03 1.17252801e+02] [ 9.18902168e-01 -3.93787459e-01 -2.34572380e-02 1.25121426e+02] [ 2.53713740e-02 -3.45046560e-04 9.99678035e-01 4.03414480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:125.14, Z:4.03 [[-3.94089195e-01 -9.19022987e-01 9.51078420e-03 1.17243104e+02] [ 9.18734261e-01 -3.94203796e-01 -2.30374867e-02 1.25144660e+02] [ 2.49211671e-02 -3.40941327e-04 9.99689361e-01 4.03460815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.23, Y:125.17, Z:4.03 [[-3.95538747e-01 -9.18400820e-01 9.43571601e-03 1.17232049e+02] [ 9.18116973e-01 -3.95651106e-01 -2.28347681e-02 1.25168431e+02] [ 2.47047212e-02 -3.68944530e-04 9.99694724e-01 4.03486113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters Centerline goodness [0,1] 0.9998491444334296 Centerline is valid? [True, True] Translation: X:117.22, Y:125.19, Z:4.03 [[-3.97566319e-01 -9.17524826e-01 9.44539534e-03 1.17221948e+02] [ 9.17240757e-01 -3.97678290e-01 -2.28335602e-02 1.25193315e+02] [ 2.47065870e-02 -4.14152885e-04 9.99694660e-01 4.03297612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.392755096 meters Centerline goodness [0,1] 0.9999567689081987 Centerline is valid? [True, True] Translation: X:117.21, Y:125.22, Z:4.04 [[-4.00856322e-01 -9.16098562e-01 8.81099004e-03 1.17212826e+02] [ 9.15851487e-01 -4.00952881e-01 -2.12800731e-02 1.25219177e+02] [ 2.30274362e-02 -4.60693520e-04 9.99734727e-01 4.03546581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters Centerline goodness [0,1] 0.9999133505188138 Centerline is valid? [True, True] Translation: X:117.21, Y:125.25, Z:4.04 [[-4.03249871e-01 -9.15049391e-01 8.61122385e-03 1.17206877e+02] [ 9.14813620e-01 -4.03341494e-01 -2.07769235e-02 1.25245094e+02] [ 2.24851751e-02 -5.00626868e-04 9.99747051e-01 4.03553669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.20, Y:125.27, Z:4.04 [[-4.06947563e-01 -9.13414135e-01 8.26433348e-03 1.17199022e+02] [ 9.13197076e-01 -4.07031086e-01 -1.99197091e-02 1.25270364e+02] [ 2.15587845e-02 -5.59311905e-04 9.99767426e-01 4.03811787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.482755096 meters Centerline goodness [0,1] 0.99989152365869 Centerline is valid? [True, True] Translation: X:117.19, Y:125.29, Z:4.04 [[-4.09959686e-01 -9.12066078e-01 8.27799851e-03 1.17186118e+02] [ 9.11848476e-01 -4.10042780e-01 -1.99317770e-02 1.25294654e+02] [ 2.15734312e-02 -6.22944726e-04 9.99767072e-01 4.03657525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:125.32, Z:4.04 [[-4.11796250e-01 -9.11239458e-01 8.15463498e-03 1.17177779e+02] [ 9.11028552e-01 -4.11876474e-01 -1.96149958e-02 1.25319126e+02] [ 2.12326605e-02 -6.48276431e-04 9.99774351e-01 4.03856566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.542755096 meters Centerline goodness [0,1] 0.9999133711612596 Centerline is valid? [True, True] Translation: X:117.17, Y:125.34, Z:4.04 [[-4.14420792e-01 -9.10048483e-01 8.19546474e-03 1.17167058e+02] [ 9.09835589e-01 -4.14501218e-01 -1.96962005e-02 1.25343585e+02] [ 2.13215275e-02 -7.05989509e-04 9.99772421e-01 4.03709963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:125.37, Z:4.04 [[-4.16545490e-01 -9.09078676e-01 8.11271595e-03 1.17159158e+02] [ 9.08870323e-01 -4.16623829e-01 -1.94761527e-02 1.25369011e+02] [ 2.10853059e-02 -7.39296814e-04 9.99777407e-01 4.03848035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:125.39, Z:4.04 [[-4.17333028e-01 -9.08716350e-01 8.23040574e-03 1.17147529e+02] [ 9.08502299e-01 -4.17413487e-01 -1.97371000e-02 1.25393728e+02] [ 2.13709079e-02 -7.59601193e-04 9.99771328e-01 4.03888140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.14, Y:125.42, Z:4.04 [[-4.17457566e-01 -9.08658620e-01 8.28810990e-03 1.17138260e+02] [ 9.08441987e-01 -4.17539143e-01 -1.98550041e-02 1.25417628e+02] [ 2.15020309e-02 -7.59354679e-04 9.99768516e-01 4.03904741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.662755096 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:117.12, Y:125.44, Z:4.04 [[-4.17239129e-01 -9.08757907e-01 8.40099401e-03 1.17124795e+02] [ 9.08535868e-01 -4.17323014e-01 -2.01017125e-02 1.25441656e+02] [ 2.17735183e-02 -7.54616634e-04 9.99762644e-01 4.03598200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.12, Y:125.47, Z:4.04 [[-4.15803113e-01 -9.09414385e-01 8.55844346e-03 1.17115462e+02] [ 9.09184551e-01 -4.15890551e-01 -2.04573079e-02 1.25466788e+02] [ 2.21635459e-02 -7.25007738e-04 9.99754096e-01 4.03823430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72275509600001 meters Centerline goodness [0,1] 0.9999351323300467 Centerline is valid? [True, True] Translation: X:117.10, Y:125.49, Z:4.04 [[-4.15528444e-01 -9.09539291e-01 8.62501993e-03 1.17101780e+02] [ 9.09306363e-01 -4.15617332e-01 -2.05954001e-02 1.25489542e+02] [ 2.23170334e-02 -7.15189059e-04 9.99750688e-01 4.03657220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75275509600002 meters Centerline goodness [0,1] 0.9998706032047273 Centerline is valid? [True, True] Translation: X:117.09, Y:125.51, Z:4.04 [[-4.13807506e-01 -9.10323458e-01 8.63426850e-03 1.17087934e+02] [ 9.10090707e-01 -4.13897042e-01 -2.05947310e-02 1.25513468e+02] [ 2.23215649e-02 -6.64286754e-04 9.99750622e-01 4.03523218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.08, Y:125.54, Z:4.04 [[-4.12547547e-01 -9.10896679e-01 8.47120468e-03 1.17076535e+02] [ 9.10673193e-01 -4.12634056e-01 -2.01859156e-02 1.25537997e+02] [ 2.18827910e-02 -6.13150950e-04 9.99760355e-01 4.03787024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:125.56, Z:4.04 [[-4.12248487e-01 -9.11031964e-01 8.48204546e-03 1.17065505e+02] [ 9.10808381e-01 -4.12335303e-01 -2.01913827e-02 1.25562176e+02] [ 2.18924418e-02 -5.98348881e-04 9.99760153e-01 4.03838066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:125.59, Z:4.04 [[-4.11275265e-01 -9.11475009e-01 8.12182089e-03 1.17054917e+02] [ 9.11270531e-01 -4.11355094e-01 -1.93133552e-02 1.25586549e+02] [ 2.09445930e-02 -5.41929228e-04 9.99780491e-01 4.04000986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:125.61, Z:4.04 [[-4.11231282e-01 -9.11496748e-01 7.90635073e-03 1.17043291e+02] [ 9.11303368e-01 -4.11306952e-01 -1.87819635e-02 1.25610487e+02] [ 2.03716357e-02 -5.18646886e-04 9.99792342e-01 4.04078260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.03, Y:125.63, Z:4.04 [[-4.10980196e-01 -9.11611338e-01 7.74906642e-03 1.17032261e+02] [ 9.11425985e-01 -4.11052946e-01 -1.83888206e-02 1.25634821e+02] [ 1.99487339e-02 -4.94740575e-04 9.99800882e-01 4.04158486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93275509600002 meters Centerline goodness [0,1] 0.9998497789604704 Centerline is valid? [True, True] Translation: X:117.02, Y:125.66, Z:4.04 [[-4.11221321e-01 -9.11504654e-01 7.50271184e-03 1.17021660e+02] [ 9.11331238e-01 -4.11289483e-01 -1.77858290e-02 1.25657843e+02] [ 1.92976524e-02 -4.76456431e-04 9.99813669e-01 4.03946963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:125.68, Z:4.04 [[-4.11108653e-01 -9.11556436e-01 7.38515209e-03 1.17011154e+02] [ 9.11388786e-01 -4.11174725e-01 -1.74878733e-02 1.25682235e+02] [ 1.89777714e-02 -4.58671240e-04 9.99819801e-01 4.04308600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:125.71, Z:4.04 [[-4.11282656e-01 -9.11479768e-01 7.15609934e-03 1.16999862e+02] [ 9.11322661e-01 -4.11344671e-01 -1.69283719e-02 1.25705866e+02] [ 1.83734918e-02 -4.40830275e-04 9.99831096e-01 4.04386707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:125.73, Z:4.05 [[-4.11638332e-01 -9.11319926e-01 7.06224410e-03 1.16989059e+02] [ 9.11167209e-01 -4.11698679e-01 -1.66887622e-02 1.25730326e+02] [ 1.81163181e-02 -4.34848973e-04 9.99835791e-01 4.04503097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:125.75, Z:4.05 [[-4.12194935e-01 -9.11072197e-01 6.54120914e-03 1.16977490e+02] [ 9.10941405e-01 -4.12246633e-01 -1.54424894e-02 1.25754461e+02] [ 1.67658142e-02 -4.06657677e-04 9.99859361e-01 4.04681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:125.78, Z:4.05 [[-4.12623444e-01 -9.10879710e-01 6.32836157e-03 1.16969881e+02] [ 9.10757522e-01 -4.12671781e-01 -1.49243832e-02 1.25779278e+02] [ 1.62058541e-02 -3.94547479e-04 9.99868599e-01 4.04828786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:125.80, Z:4.05 [[-4.12990406e-01 -9.10713346e-01 6.33455354e-03 1.16959778e+02] [ 9.10591179e-01 -4.13038796e-01 -1.49217542e-02 1.25802257e+02] [ 1.62058570e-02 -3.94352748e-04 9.99868599e-01 4.04879808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:125.82, Z:4.05 [[-4.14008458e-01 -9.10252313e-01 6.14192054e-03 1.16945380e+02] [ 9.10137658e-01 -4.14053828e-01 -1.44523768e-02 1.25824581e+02] [ 1.56983951e-02 -3.93413061e-04 9.99876695e-01 4.04815395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:125.85, Z:4.05 [[-4.14761777e-01 -9.09907350e-01 6.42514413e-03 1.16934368e+02] [ 9.09782124e-01 -4.14811330e-01 -1.51012254e-02 1.25849098e+02] [ 1.64059385e-02 -4.17929799e-04 9.99865326e-01 4.04795804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:125.87, Z:4.05 [[-4.15842375e-01 -9.09413927e-01 6.43656119e-03 1.16924429e+02] [ 9.09288469e-01 -4.15891962e-01 -1.51114345e-02 1.25873569e+02] [ 1.64194631e-02 -4.31283953e-04 9.99865099e-01 4.04825861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:125.90, Z:4.05 [[-4.17514647e-01 -9.08647250e-01 6.45716371e-03 1.16915938e+02] [ 9.08521174e-01 -4.17564327e-01 -1.51429764e-02 1.25898084e+02] [ 1.64559050e-02 -4.55944482e-04 9.99864488e-01 4.04871412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.91, Y:125.92, Z:4.05 [[-4.18903041e-01 -9.08009517e-01 6.24171084e-03 1.16906567e+02] [ 9.07891873e-01 -4.18949288e-01 -1.46232839e-02 1.25922723e+02] [ 1.58930412e-02 -4.58939537e-04 9.99873592e-01 4.04952524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:125.95, Z:4.05 [[-4.20057821e-01 -9.07475080e-01 6.35663394e-03 1.16896680e+02] [ 9.07353256e-01 -4.20105639e-01 -1.48768731e-02 1.25948229e+02] [ 1.61708494e-02 -4.81434396e-04 9.99869127e-01 4.05008611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:125.97, Z:4.05 [[-4.21919432e-01 -9.06611193e-01 6.33547960e-03 1.16886786e+02] [ 9.06490308e-01 -4.21966691e-01 -1.48132914e-02 1.25973752e+02] [ 1.61032571e-02 -5.06964622e-04 9.99870206e-01 4.05071534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.88, Y:126.00, Z:4.05 [[-4.22385156e-01 -9.06393621e-01 6.43298988e-03 1.16876607e+02] [ 9.06269192e-01 -4.22433824e-01 -1.50271847e-02 1.25997686e+02] [ 1.63380569e-02 -5.17239207e-04 9.99866391e-01 4.05093201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:126.02, Z:4.05 [[-4.23042497e-01 -9.06084531e-01 6.77263778e-03 1.16867249e+02] [ 9.05946873e-01 -4.23096349e-01 -1.58032699e-02 1.26021804e+02] [ 1.71845768e-02 -5.49804760e-04 9.99852183e-01 4.05092712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.86, Y:126.05, Z:4.05 [[-4.23271477e-01 -9.05977585e-01 6.77293761e-03 1.16857276e+02] [ 9.05840197e-01 -4.23325308e-01 -1.57867064e-02 1.26046173e+02] [ 1.71695581e-02 -5.46863409e-04 9.99852443e-01 4.05151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:126.07, Z:4.05 [[-4.23731566e-01 -9.05761302e-01 6.92995539e-03 1.16847183e+02] [ 9.05617736e-01 -4.23787859e-01 -1.61358861e-02 1.26070392e+02] [ 1.75520922e-02 -5.61393797e-04 9.99845793e-01 4.05190285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.83, Y:126.09, Z:4.05 [[-4.23558809e-01 -9.05842701e-01 6.85104315e-03 1.16831710e+02] [ 9.05702668e-01 -4.23613862e-01 -1.59365206e-02 1.26092445e+02] [ 1.73381777e-02 -5.45045626e-04 9.99849534e-01 4.05225491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:126.12, Z:4.05 [[-4.23491684e-01 -9.05875550e-01 6.65447416e-03 1.16819914e+02] [ 9.05743718e-01 -4.23543642e-01 -1.54629006e-02 1.26115964e+02] [ 1.68259238e-02 -5.21161662e-04 9.99858298e-01 4.05272904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:126.14, Z:4.05 [[-4.23226201e-01 -9.06000528e-01 6.52888074e-03 1.16814029e+02] [ 9.05873907e-01 -4.23276262e-01 -1.51548752e-02 1.26140779e+02] [ 1.64938451e-02 -4.99597542e-04 9.99863842e-01 4.05412225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.80, Y:126.16, Z:4.05 [[-4.22824843e-01 -9.06189795e-01 6.26157161e-03 1.16797842e+02] [ 9.06073606e-01 -4.22870948e-01 -1.45183335e-02 1.26162706e+02] [ 1.58042024e-02 -4.65267325e-04 9.99874998e-01 4.05461364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:126.19, Z:4.06 [[-4.23216223e-01 -9.06008738e-01 6.01624901e-03 1.16786969e+02] [ 9.05901675e-01 -4.23258747e-01 -1.39351564e-02 1.26186812e+02] [ 1.51718035e-02 -4.47454194e-04 9.99884801e-01 4.05572973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.78, Y:126.21, Z:4.06 [[-4.23402921e-01 -9.05921838e-01 5.96574102e-03 1.16776090e+02] [ 9.05816781e-01 -4.23444719e-01 -1.38032438e-02 1.26211083e+02] [ 1.50308215e-02 -4.40465439e-04 9.99886934e-01 4.05615517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.77, Y:126.24, Z:4.06 [[-4.23952476e-01 -9.05664628e-01 5.98998832e-03 1.16767185e+02] [ 9.05558917e-01 -4.23994556e-01 -1.38442833e-02 1.26235067e+02] [ 1.50780001e-02 -4.45030831e-04 9.99886221e-01 4.05709608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:126.26, Z:4.06 [[-4.24541127e-01 -9.05389473e-01 5.89356552e-03 1.16756922e+02] [ 9.05287341e-01 -4.24581804e-01 -1.36059383e-02 1.26259535e+02] [ 1.48209740e-02 -4.40910139e-04 9.99890066e-01 4.05769334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.74, Y:126.28, Z:4.06 [[-4.25249367e-01 -9.05058412e-01 5.67866484e-03 1.16744993e+02] [ 9.04963761e-01 -4.25287064e-01 -1.30959839e-02 1.26283892e+02] [ 1.42676931e-02 -4.30072972e-04 9.99898119e-01 4.05853077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:126.31, Z:4.06 [[-4.26071346e-01 -9.04672119e-01 5.61837430e-03 1.16734876e+02] [ 9.04579621e-01 -4.26108168e-01 -1.29436499e-02 1.26307627e+02] [ 1.41037943e-02 -4.32651431e-04 9.99900443e-01 4.05914939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.72, Y:126.33, Z:4.06 [[-4.26884385e-01 -9.04289660e-01 5.47106161e-03 1.16723772e+02] [ 9.04202046e-01 -4.26919227e-01 -1.25949624e-02 1.26331886e+02] [ 1.37251957e-02 -4.29647678e-04 9.99905713e-01 4.05929581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.71, Y:126.36, Z:4.06 [[-4.27495344e-01 -9.04000880e-01 5.49003455e-03 1.16713810e+02] [ 9.03912819e-01 -4.27530374e-01 -1.26251807e-02 1.26355121e+02] [ 1.37603310e-02 -4.34693347e-04 9.99905228e-01 4.05970674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:126.38, Z:4.06 [[-4.28241900e-01 -9.03647636e-01 5.46118967e-03 1.16703960e+02] [ 9.03560667e-01 -4.28276498e-01 -1.25444198e-02 1.26379810e+02] [ 1.36746345e-02 -4.37529990e-04 9.99906402e-01 4.06019000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.69, Y:126.40, Z:4.06 [[-4.28698495e-01 -9.03430602e-01 5.54504411e-03 1.16694405e+02] [ 9.03341111e-01 -4.28734124e-01 -1.27235105e-02 1.26403362e+02] [ 1.38721584e-02 -4.45483518e-04 9.99903678e-01 4.06045579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:126.43, Z:4.06 [[-4.29395745e-01 -9.03099483e-01 5.53340396e-03 1.16684314e+02] [ 9.03010557e-01 -4.29431162e-01 -1.26811136e-02 1.26427210e+02] [ 1.38285232e-02 -4.48494010e-04 9.99904281e-01 4.06123308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:126.45, Z:4.06 [[-4.30359385e-01 -9.02641304e-01 5.42920876e-03 1.16675672e+02] [ 9.02555806e-01 -4.30393395e-01 -1.24315048e-02 1.26452073e+02] [ 1.35578853e-02 -4.49850866e-04 9.99907986e-01 4.06058731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:126.48, Z:4.06 [[-4.31185946e-01 -9.02245748e-01 5.59381859e-03 1.16666895e+02] [ 9.02155061e-01 -4.31221969e-01 -1.28007592e-02 1.26476208e+02] [ 1.39616081e-02 -4.73015730e-04 9.99902420e-01 4.06081093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.66, Y:126.50, Z:4.06 [[-4.31962102e-01 -9.01875585e-01 5.40106948e-03 1.16656721e+02] [ 9.01791185e-01 -4.31995619e-01 -1.23467999e-02 1.26500302e+02] [ 1.34685158e-02 -4.62712807e-04 9.99909188e-01 4.06107664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:126.52, Z:4.06 [[-4.32572160e-01 -9.01583735e-01 5.30039220e-03 1.16645912e+02] [ 9.01502589e-01 -4.32604390e-01 -1.21047115e-02 1.26524699e+02] [ 1.32063840e-02 -4.57843923e-04 9.99912687e-01 4.06099173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:126.55, Z:4.06 [[-4.32515450e-01 -9.01612503e-01 5.02800931e-03 1.16637731e+02] [ 9.01539619e-01 -4.32544462e-01 -1.14718744e-02 1.26549252e+02] [ 1.25180230e-02 -4.28813328e-04 9.99921555e-01 4.06189183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.63, Y:126.57, Z:4.06 [[-4.31991655e-01 -9.01863454e-01 5.05168157e-03 1.16626231e+02] [ 9.01790067e-01 -4.32020989e-01 -1.15125818e-02 1.26572917e+02] [ 1.25652093e-02 -4.17783015e-04 9.99920967e-01 4.06200774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:126.60, Z:4.06 [[-4.30761492e-01 -9.02452238e-01 4.94933916e-03 1.16613484e+02] [ 9.02381978e-01 -4.30789750e-01 -1.12675642e-02 1.26597089e+02] [ 1.23005631e-02 -3.87438283e-04 9.99924270e-01 4.06165292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.60, Y:126.62, Z:4.06 [[-4.29770852e-01 -9.02924326e-01 4.96761593e-03 1.16603854e+02] [ 9.02853704e-01 -4.29799400e-01 -1.12988485e-02 1.26621741e+02] [ 1.23370835e-02 -3.70885318e-04 9.99923827e-01 4.06221744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:126.65, Z:4.06 [[-4.28122386e-01 -9.03706017e-01 5.16312454e-03 1.16589661e+02] [ 9.03629943e-01 -4.28153369e-01 -1.17311030e-02 1.26645152e+02] [ 1.28120775e-02 -3.56793855e-04 9.99917858e-01 4.06100222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.58, Y:126.67, Z:4.06 [[-4.27526527e-01 -9.03987258e-01 5.30145533e-03 1.16578475e+02] [ 9.03907221e-01 -4.27559250e-01 -1.20342474e-02 1.26668645e+02] [ 1.31454926e-02 -3.52936254e-04 9.99913532e-01 4.06087534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:126.69, Z:4.06 [[-4.27181417e-01 -9.04151768e-01 5.06128901e-03 1.16569688e+02] [ 9.04078966e-01 -4.27211274e-01 -1.14783142e-02 1.26692079e+02] [ 1.25403778e-02 -3.27517580e-04 9.99921313e-01 4.06174833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.56, Y:126.72, Z:4.06 [[-4.26153043e-01 -9.04636659e-01 5.10878568e-03 1.16557006e+02] [ 9.04562694e-01 -4.26183551e-01 -1.15720986e-02 1.26716031e+02] [ 1.26458250e-02 -3.10268089e-04 9.99919990e-01 4.06165565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:126.74, Z:4.06 [[-4.26380804e-01 -9.04530046e-01 4.98060681e-03 1.16547946e+02] [ 9.04459847e-01 -4.26409786e-01 -1.12729646e-02 1.26739342e+02] [ 1.23205146e-02 -3.01816830e-04 9.99924054e-01 4.06276501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:126.76, Z:4.06 [[-4.26887370e-01 -9.04293671e-01 4.48661520e-03 1.16536863e+02] [ 9.04236797e-01 -4.26910858e-01 -1.01456004e-02 1.26763400e+02] [ 1.10899870e-02 -2.74066104e-04 9.99938467e-01 4.06362346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.53, Y:126.79, Z:4.06 [[-4.27519657e-01 -9.03995840e-01 4.29702826e-03 1.16527580e+02] [ 9.03943738e-01 -4.27541168e-01 -9.70922620e-03 1.26786201e+02] [ 1.06142566e-02 -2.66613267e-04 9.99943632e-01 4.06471200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:126.81, Z:4.07 [[-4.28313463e-01 -9.03621072e-01 4.06637249e-03 1.16517625e+02] [ 9.03574495e-01 -4.28332689e-01 -9.17825439e-03 1.26809458e+02] [ 1.00354243e-02 -2.56899458e-04 9.99949611e-01 4.06560027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:126.83, Z:4.07 [[-4.29194162e-01 -9.03203712e-01 3.92760676e-03 1.16507454e+02] [ 9.03160329e-01 -4.29212057e-01 -8.85607846e-03 1.26833369e+02] [ 9.68461911e-03 -2.53718552e-04 9.99953071e-01 4.06616685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.50, Y:126.86, Z:4.07 [[-4.29905215e-01 -9.02867427e-01 3.45193483e-03 1.16497832e+02] [ 9.02833961e-01 -4.29919013e-01 -7.77694367e-03 1.26856978e+02] [ 8.50560154e-03 -2.26824636e-04 9.99963801e-01 4.06725599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:126.88, Z:4.07 [[-4.30260233e-01 -9.02698416e-01 3.42061522e-03 1.16487474e+02] [ 9.02665610e-01 -4.30273771e-01 -7.69921268e-03 1.26879884e+02] [ 8.42186811e-03 -2.24993323e-04 9.99964510e-01 4.06791346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:126.90, Z:4.07 [[-4.29815283e-01 -9.02910911e-01 3.27248154e-03 1.16477534e+02] [ 9.02880943e-01 -4.29827690e-01 -7.35928186e-03 1.26901941e+02] [ 8.05137907e-03 -2.08470592e-04 9.99967565e-01 4.06859021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.47, Y:126.92, Z:4.07 [[-4.29319057e-01 -9.03146478e-01 3.40389598e-03 1.16466118e+02] [ 9.03114146e-01 -4.29332500e-01 -7.64487068e-03 1.26924622e+02] [ 8.36584120e-03 -2.07982059e-04 9.99964984e-01 4.06860875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:126.95, Z:4.07 [[-4.28297384e-01 -9.03630742e-01 3.58234180e-03 1.16454348e+02] [ 9.03595035e-01 -4.28312317e-01 -8.03571629e-03 1.26947463e+02] [ 8.79568139e-03 -2.04690007e-04 9.99961296e-01 4.06874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:126.97, Z:4.07 [[-4.25505063e-01 -9.04946731e-01 4.10549300e-03 1.16440084e+02] [ 9.04900032e-01 -4.25524823e-01 -9.19553613e-03 1.26970526e+02] [ 1.00684595e-02 -1.97686443e-04 9.99949292e-01 4.06728009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:126.99, Z:4.07 [[-4.23875600e-01 -9.05709838e-01 4.37773889e-03 1.16427597e+02] [ 9.05656857e-01 -4.23898164e-01 -9.79812616e-03 1.26993551e+02] [ 1.07299747e-02 -1.88457359e-04 9.99942414e-01 4.06708055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:127.02, Z:4.06 [[-4.22740299e-01 -9.06239986e-01 4.44152973e-03 1.16411576e+02] [ 9.06185569e-01 -4.22763595e-01 -9.93260233e-03 1.27015779e+02] [ 1.08790385e-02 -1.74061134e-04 9.99940806e-01 4.06475035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:127.04, Z:4.07 [[-4.20413549e-01 -9.07319799e-01 4.81972599e-03 1.16401677e+02] [ 9.07255949e-01 -4.20441147e-01 -1.07649842e-02 1.27039909e+02] [ 1.17936944e-02 -1.53020134e-04 9.99930440e-01 4.06631336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.39, Y:127.06, Z:4.06 [[-4.19748159e-01 -9.07626846e-01 4.99909173e-03 1.16387474e+02] [ 9.07558315e-01 -4.19777902e-01 -1.11542512e-02 1.27062220e+02] [ 1.22224061e-02 -1.45009140e-04 9.99925293e-01 4.06424390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:127.09, Z:4.06 [[-4.19509212e-01 -9.07736909e-01 5.07198326e-03 1.16375400e+02] [ 9.07666515e-01 -4.19539849e-01 -1.13054015e-02 1.27085329e+02] [ 1.23902293e-02 -1.39050716e-04 9.99923229e-01 4.06344674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:127.11, Z:4.06 [[-4.20130532e-01 -9.07449781e-01 5.02308483e-03 1.16365836e+02] [ 9.07380858e-01 -4.20160535e-01 -1.11849628e-02 1.27108669e+02] [ 1.22602940e-02 -1.41293347e-04 9.99924830e-01 4.06424332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:127.13, Z:4.06 [[-4.20904445e-01 -9.07091811e-01 4.88818103e-03 1.16355312e+02] [ 9.07026661e-01 -4.20932805e-01 -1.08724640e-02 1.27133197e+02] [ 1.19199188e-02 -1.42557922e-04 9.99928945e-01 4.06492356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:127.16, Z:4.07 [[-4.22754560e-01 -9.06233356e-01 4.43688004e-03 1.16346365e+02] [ 9.06179735e-01 -4.22777817e-01 -9.85927034e-03 1.27158594e+02] [ 1.08106141e-02 -1.47440719e-04 9.99941553e-01 4.06629672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:127.18, Z:4.07 [[-4.24056461e-01 -9.05625604e-01 4.28765194e-03 1.16335737e+02] [ 9.05575572e-01 -4.24078108e-01 -9.52061027e-03 1.27183154e+02] [ 1.04404077e-02 -1.54483435e-04 9.99945486e-01 4.06682130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:127.21, Z:4.07 [[-4.25352427e-01 -9.05018584e-01 4.08346213e-03 1.16327004e+02] [ 9.04973268e-01 -4.25371999e-01 -9.05796561e-03 1.27207901e+02] [ 9.93461766e-03 -1.57403597e-04 9.99950638e-01 4.06878368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:127.23, Z:4.07 [[-4.26801936e-01 -9.04337139e-01 3.80085220e-03 1.16315850e+02] [ 9.04297922e-01 -4.26818831e-01 -8.42344423e-03 1.27233136e+02] [ 9.23990875e-03 -1.58039560e-04 9.99957299e-01 4.06913604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:127.26, Z:4.07 [[-4.29288437e-01 -9.03160290e-01 3.59562889e-03 1.16305871e+02] [ 9.03125203e-01 -4.29303461e-01 -7.96276853e-03 1.27257925e+02] [ 8.73527226e-03 -1.71021383e-04 9.99961832e-01 4.06976175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.30, Y:127.28, Z:4.07 [[-4.30545170e-01 -9.02561982e-01 3.56717902e-03 1.16295219e+02] [ 9.02527491e-01 -4.30559910e-01 -7.89251292e-03 1.27282043e+02] [ 8.65936639e-03 -1.78606184e-04 9.99962491e-01 4.07053183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:127.31, Z:4.07 [[-4.32254189e-01 -9.01745100e-01 3.47716397e-03 1.16283713e+02] [ 9.01712374e-01 -4.32268134e-01 -7.68476673e-03 1.27306564e+02] [ 8.43276792e-03 -1.86370830e-04 9.99964426e-01 4.07070536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:127.33, Z:4.07 [[-4.32608496e-01 -9.01575168e-01 3.47946044e-03 1.16272776e+02] [ 9.01542444e-01 -4.32622448e-01 -7.68372628e-03 1.27330077e+02] [ 8.43274950e-03 -1.87163996e-04 9.99964426e-01 4.07123291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:127.35, Z:4.07 [[-4.33892217e-01 -9.00957725e-01 3.56683486e-03 1.16261371e+02] [ 9.00923390e-01 -4.33906831e-01 -7.86815695e-03 1.27354322e+02] [ 8.63655079e-03 -2.00487113e-04 9.99962684e-01 4.07123541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:127.38, Z:4.07 [[-4.34651002e-01 -9.00591491e-01 3.67060651e-03 1.16250318e+02] [ 9.00555206e-01 -4.34666450e-01 -8.08689150e-03 1.27379206e+02] [ 8.87847517e-03 -2.09391693e-04 9.99960564e-01 4.07139452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.24, Y:127.40, Z:4.07 [[-4.36378550e-01 -8.99755219e-01 3.78259622e-03 1.16241785e+02] [ 8.99716729e-01 -4.36394883e-01 -8.32551648e-03 1.27404057e+02] [ 9.14163253e-03 -2.29811709e-04 9.99958188e-01 4.07208557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15275509600002 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:116.23, Y:127.43, Z:4.07 [[-4.37379825e-01 -8.99269104e-01 3.73735099e-03 1.16231344e+02] [ 8.99231580e-01 -4.37395730e-01 -8.21827924e-03 1.27428511e+02] [ 9.02514597e-03 -2.33765504e-04 9.99959245e-01 4.07218947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:127.45, Z:4.07 [[-4.38146292e-01 -8.98895169e-01 3.91183762e-03 1.16220992e+02] [ 8.98854138e-01 -4.38163684e-01 -8.59211583e-03 1.27452373e+02] [ 9.43743659e-03 -2.48432269e-04 9.99955436e-01 4.07203621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.21, Y:127.48, Z:4.07 [[-4.39531709e-01 -8.98216790e-01 4.29819622e-03 1.16210755e+02] [ 8.98167353e-01 -4.39552633e-01 -9.42807333e-03 1.27477196e+02] [ 1.03577372e-02 -2.83437662e-04 9.99946317e-01 4.07124073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:127.50, Z:4.07 [[-4.40146331e-01 -8.97914747e-01 4.50730582e-03 1.16198783e+02] [ 8.97860463e-01 -4.40169306e-01 -9.87786159e-03 1.27500592e+02] [ 1.08534553e-02 -3.00772843e-04 9.99941054e-01 4.07127874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:127.52, Z:4.07 [[-4.40590640e-01 -8.97695872e-01 4.69145108e-03 1.16189534e+02] [ 8.97637176e-01 -4.40615505e-01 -1.02702330e-02 1.27524584e+02] [ 1.12866719e-02 -3.13747643e-04 9.99936254e-01 4.07179897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.18, Y:127.55, Z:4.07 [[-4.40910853e-01 -8.97538050e-01 4.80295661e-03 1.16177350e+02] [ 8.97476665e-01 -4.40936896e-01 -1.05019258e-02 1.27548089e+02] [ 1.15436788e-02 -3.19871580e-04 9.99933318e-01 4.07157688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:127.57, Z:4.07 [[-4.41016800e-01 -8.97486244e-01 4.75642416e-03 1.16165631e+02] [ 8.97426158e-01 -4.41042337e-01 -1.03897904e-02 1.27572019e+02] [ 1.14224784e-02 -3.13532657e-04 9.99934712e-01 4.07187649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:127.60, Z:4.07 [[-4.40790161e-01 -8.97598001e-01 4.67572300e-03 1.16156581e+02] [ 8.97540054e-01 -4.40814856e-01 -1.02036186e-02 1.27595719e+02] [ 1.12198759e-02 -3.01006024e-04 9.99937010e-01 4.07300500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:127.62, Z:4.07 [[-4.40575435e-01 -8.97702874e-01 4.77879977e-03 1.16144146e+02] [ 8.97642491e-01 -4.40601249e-01 -1.04162042e-02 1.27618783e+02] [ 1.14562016e-02 -2.99469978e-04 9.99934331e-01 4.07297005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:127.64, Z:4.07 [[-4.40037051e-01 -8.97966733e-01 4.81031181e-03 1.16130331e+02] [ 8.97905686e-01 -4.40063247e-01 -1.04746075e-02 1.27641685e+02] [ 1.15226905e-02 -2.90009082e-04 9.99933570e-01 4.07252650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:127.66, Z:4.07 [[-4.39325453e-01 -8.98314388e-01 4.94035195e-03 1.16116791e+02] [ 8.98250152e-01 -4.39353139e-01 -1.07463640e-02 1.27664749e+02] [ 1.18241726e-02 -2.83479362e-04 9.99930052e-01 4.07224897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:127.69, Z:4.07 [[-4.37783474e-01 -8.99064738e-01 5.31290123e-03 1.16102485e+02] [ 8.98990686e-01 -4.37815624e-01 -1.15423523e-02 1.27688100e+02] [ 1.27033932e-02 -2.76802389e-04 9.99919270e-01 4.07166468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:127.71, Z:4.07 [[-4.37202724e-01 -8.99346288e-01 5.48014134e-03 1.16091644e+02] [ 8.99267665e-01 -4.37236984e-01 -1.18948568e-02 1.27710685e+02] [ 1.30937157e-02 -2.72349875e-04 9.99914237e-01 4.07231963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:127.73, Z:4.07 [[-4.35665160e-01 -9.00089017e-01 5.96911368e-03 1.16078048e+02] [ 8.99996065e-01 -4.35705970e-01 -1.29379972e-02 1.27733682e+02] [ 1.42461276e-02 -2.64455790e-04 9.99898484e-01 4.07198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.07, Y:127.76, Z:4.07 [[-4.35431407e-01 -9.00200433e-01 6.21852268e-03 1.16065042e+02] [ 9.00099703e-01 -4.35475726e-01 -1.34690756e-02 1.27757331e+02] [ 1.48328833e-02 -2.67568099e-04 9.99889951e-01 4.07204977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:127.78, Z:4.07 [[-4.34998304e-01 -9.00407973e-01 6.47752838e-03 1.16052148e+02] [ 9.00298868e-01 -4.35046447e-01 -1.40191369e-02 1.27779539e+02] [ 1.54409683e-02 -2.66589281e-04 9.99880746e-01 4.07153386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:127.80, Z:4.07 [[-4.35173158e-01 -9.00321603e-01 6.73301881e-03 1.16040503e+02] [ 9.00203969e-01 -4.35225156e-01 -1.45560419e-02 1.27802490e+02] [ 1.60354981e-02 -2.73308469e-04 9.99871386e-01 4.07129069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:127.83, Z:4.07 [[-4.35693596e-01 -9.00068865e-01 6.86507579e-03 1.16031281e+02] [ 8.99946796e-01 -4.35747587e-01 -1.48258126e-02 1.27825961e+02] [ 1.63356925e-02 -2.81308636e-04 9.99866524e-01 4.07212613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.02, Y:127.85, Z:4.07 [[-4.36588701e-01 -8.99634526e-01 6.93010264e-03 1.16017079e+02] [ 8.99510335e-01 -4.36643600e-01 -1.49507081e-02 1.27848746e+02] [ 1.64761581e-02 -2.93611260e-04 9.99864216e-01 4.07201097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:127.87, Z:4.07 [[-4.38574753e-01 -8.98664830e-01 7.32867188e-03 1.16004396e+02] [ 8.98526100e-01 -4.38635847e-01 -1.57936852e-02 1.27872957e+02] [ 1.74078477e-02 -3.41708633e-04 9.99848414e-01 4.07134593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.99, Y:127.90, Z:4.07 [[-4.39909770e-01 -8.98011240e-01 7.43015990e-03 1.15994352e+02] [ 8.97868815e-01 -4.39972361e-01 -1.59972567e-02 1.27896800e+02] [ 1.76347813e-02 -3.66040653e-04 9.99844428e-01 4.07156245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:127.92, Z:4.07 [[-4.42093787e-01 -8.96934441e-01 7.85445631e-03 1.15983758e+02] [ 8.96775443e-01 -4.42163351e-01 -1.68930878e-02 1.27921591e+02] [ 1.86249449e-02 -4.24645609e-04 9.99826451e-01 4.07118441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:127.95, Z:4.07 [[-4.42869387e-01 -8.96550673e-01 7.97478775e-03 1.15971068e+02] [ 8.96387003e-01 -4.42940964e-01 -1.71360080e-02 1.27945708e+02] [ 1.88956597e-02 -4.40517263e-04 9.99821364e-01 4.07155620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.96, Y:127.97, Z:4.07 [[-4.43556413e-01 -8.96210490e-01 8.02906161e-03 1.15959624e+02] [ 8.96044844e-01 -4.43628847e-01 -1.72361425e-02 1.27970193e+02] [ 1.90091350e-02 -4.50802264e-04 9.99819208e-01 4.07168937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:127.99, Z:4.07 [[-4.44058333e-01 -8.95958702e-01 8.37866007e-03 1.15948541e+02] [ 8.95778620e-01 -4.44137119e-01 -1.79689758e-02 1.27993589e+02] [ 1.98207341e-02 -4.73848877e-04 9.99803438e-01 4.07161995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:128.02, Z:4.07 [[-4.44307522e-01 -8.95833176e-01 8.58761687e-03 1.15937984e+02] [ 8.95644393e-01 -4.44390244e-01 -1.83965120e-02 1.28017005e+02] [ 2.02964589e-02 -4.82257750e-04 9.99793889e-01 4.07173816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:128.04, Z:4.07 [[-4.44163921e-01 -8.95900833e-01 8.95039306e-03 1.15926203e+02] [ 8.95696226e-01 -4.44253821e-01 -1.91523837e-02 1.28040834e+02] [ 2.11348828e-02 -4.89964553e-04 9.99776513e-01 4.07156398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:128.06, Z:4.07 [[-4.43236618e-01 -8.96353574e-01 9.56925964e-03 1.15912287e+02] [ 8.96120283e-01 -4.43339632e-01 -2.04550705e-02 1.28063569e+02] [ 2.25774076e-02 -4.91228623e-04 9.99744977e-01 4.07065979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:128.09, Z:4.07 [[-4.43028796e-01 -8.96455462e-01 9.64834000e-03 1.15900152e+02] [ 8.96218807e-01 -4.43133584e-01 -2.06028383e-02 1.28086950e+02] [ 2.27450304e-02 -4.80626867e-04 9.99741183e-01 4.07067617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:128.11, Z:4.07 [[-4.42969524e-01 -8.96480947e-01 9.99560743e-03 1.15888082e+02] [ 8.96227487e-01 -4.43082018e-01 -2.13217571e-02 1.28110103e+02] [ 2.35434229e-02 -4.86550452e-04 9.99722697e-01 4.07090369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05275509600003 meters Centerline goodness [0,1] 0.9999784012613664 Centerline is valid? [True, True] Translation: X:115.88, Y:128.13, Z:4.07 [[-4.42254309e-01 -8.96831812e-01 1.01896009e-02 1.15879145e+02] [ 8.96569041e-01 -4.42371431e-01 -2.17134022e-02 1.28133962e+02] [ 2.39808582e-02 -4.67164945e-04 9.99712309e-01 4.06994025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.87, Y:128.16, Z:4.07 [[-4.42526863e-01 -8.96696139e-01 1.02961267e-02 1.15866033e+02] [ 8.96428263e-01 -4.42646375e-01 -2.19216081e-02 1.28157170e+02] [ 2.42145644e-02 -4.71161513e-04 9.99706673e-01 4.07114939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11275509600003 meters Centerline goodness [0,1] 0.999935283458452 Centerline is valid? [True, True] Translation: X:115.85, Y:128.18, Z:4.07 [[-4.42873401e-01 -8.96521197e-01 1.06251835e-02 1.15854410e+02] [ 8.96236453e-01 -4.43000573e-01 -2.25989585e-02 1.28180630e+02] [ 2.49674077e-02 -4.85800858e-04 9.99688148e-01 4.06985204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.84, Y:128.21, Z:4.07 [[-4.43967258e-01 -8.95981072e-01 1.05353163e-02 1.15842044e+02] [ 8.95701527e-01 -4.44091958e-01 -2.23854527e-02 1.28205400e+02] [ 2.47355912e-02 -5.01909187e-04 9.99693902e-01 4.07222415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:128.23, Z:4.07 [[-4.45051286e-01 -8.95443523e-01 1.04999535e-02 1.15832395e+02] [ 8.95166227e-01 -4.45174826e-01 -2.22890153e-02 1.28229393e+02] [ 2.46328694e-02 -5.20551176e-04 9.99696429e-01 4.07287252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:128.26, Z:4.07 [[-4.47503115e-01 -8.94222060e-01 1.03860377e-02 1.15822925e+02] [ 8.93950979e-01 -4.47623259e-01 -2.20242172e-02 1.28255053e+02] [ 2.43435729e-02 -5.71297242e-04 9.99703488e-01 4.07444367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:128.28, Z:4.08 [[-4.48865052e-01 -8.93541125e-01 1.02187592e-02 1.15812527e+02] [ 8.93278999e-01 -4.48980969e-01 -2.16499075e-02 1.28280462e+02] [ 2.39331111e-02 -5.89683927e-04 9.99713388e-01 4.07540560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:128.31, Z:4.08 [[-4.50886084e-01 -8.92522762e-01 1.02401090e-02 1.15804555e+02] [ 8.92259759e-01 -4.51001902e-01 -2.16750188e-02 1.28305715e+02] [ 2.39637563e-02 -6.36127121e-04 9.99712626e-01 4.07673253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:128.33, Z:4.08 [[-4.51378835e-01 -8.92274301e-01 1.01842379e-02 1.15793305e+02] [ 8.92014595e-01 -4.51493263e-01 -2.15359345e-02 1.28329681e+02] [ 2.38140757e-02 -6.36376204e-04 9.99716202e-01 4.07769933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:128.35, Z:4.08 [[-4.51035525e-01 -8.92450645e-01 9.93988276e-03 1.15779982e+02] [ 8.92203780e-01 -4.51144637e-01 -2.09983867e-02 1.28352183e+02] [ 2.32243485e-02 -6.02617401e-04 9.99730097e-01 4.07892042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:128.38, Z:4.08 [[-4.48934565e-01 -8.93511016e-01 9.78884916e-03 1.15767470e+02] [ 8.93272321e-01 -4.49040960e-01 -2.06585698e-02 1.28375073e+02] [ 2.28542539e-02 -5.30238010e-04 9.99738667e-01 4.07999185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.76, Y:128.40, Z:4.08 [[-4.47881275e-01 -8.94038572e-01 9.86889243e-03 1.15755417e+02] [ 8.93796554e-01 -4.47989713e-01 -2.08071392e-02 1.28397407e+02] [ 2.30235473e-02 -4.98345973e-04 9.99734799e-01 4.08074699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.412755096 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:115.74, Y:128.42, Z:4.08 [[-4.46855371e-01 -8.94552311e-01 9.82037225e-03 1.15741567e+02] [ 8.94313274e-01 -4.46963030e-01 -2.06837488e-02 1.28419932e+02] [ 2.28920386e-02 -4.60154967e-04 9.99737837e-01 4.08121292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:128.44, Z:4.08 [[-4.45261547e-01 -8.95349085e-01 9.60052397e-03 1.15727710e+02] [ 8.95121263e-01 -4.45364856e-01 -2.02007398e-02 1.28443343e+02] [ 2.23624498e-02 -4.00979497e-04 9.99749849e-01 4.08293667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:128.47, Z:4.08 [[-4.45159594e-01 -8.95399376e-01 9.63816131e-03 1.15717418e+02] [ 8.95170204e-01 -4.45263748e-01 -2.02608164e-02 1.28466925e+02] [ 2.24330462e-02 -3.91501990e-04 9.99748271e-01 4.08338302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:128.49, Z:4.08 [[-4.46021007e-01 -8.94970869e-01 9.61275015e-03 1.15705493e+02] [ 8.94743286e-01 -4.46124402e-01 -2.01859178e-02 1.28490217e+02] [ 2.23542908e-02 -4.02399726e-04 9.99750031e-01 4.08423318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:128.51, Z:4.08 [[-4.47293808e-01 -8.94333865e-01 9.75635921e-03 1.15694184e+02] [ 8.94099752e-01 -4.47399990e-01 -2.04665924e-02 1.28513990e+02] [ 2.26689617e-02 -4.31421708e-04 9.99742933e-01 4.08460841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:128.54, Z:4.09 [[-4.48543525e-01 -8.93709902e-01 9.55604072e-03 1.15683895e+02] [ 8.93485602e-01 -4.48645087e-01 -2.00265840e-02 1.28538552e+02] [ 2.21852272e-02 -4.44609803e-04 9.99753779e-01 4.08526006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:128.56, Z:4.09 [[-4.49913690e-01 -8.93019615e-01 9.67668922e-03 1.15673370e+02] [ 8.92789891e-01 -4.50017489e-01 -2.02600598e-02 1.28563303e+02] [ 2.24473102e-02 -4.76027971e-04 9.99747914e-01 4.08582298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:128.59, Z:4.09 [[-4.52908387e-01 -8.91505254e-01 9.61124220e-03 1.15662807e+02] [ 8.91278683e-01 -4.53010035e-01 -2.01051452e-02 1.28588082e+02] [ 2.22778317e-02 -5.39493589e-04 9.99751673e-01 4.08688914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.65, Y:128.61, Z:4.09 [[-4.54524634e-01 -8.90682100e-01 9.63082882e-03 1.15653255e+02] [ 8.90454834e-01 -4.54626295e-01 -2.01275987e-02 1.28612484e+02] [ 2.23057199e-02 -5.72671368e-04 9.99751032e-01 4.08741126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:128.64, Z:4.09 [[-4.56299777e-01 -8.89775814e-01 9.46118830e-03 1.15641850e+02] [ 8.89556696e-01 -4.56397462e-01 -1.97545548e-02 1.28637575e+02] [ 2.18951874e-02 -5.97735561e-04 9.99760093e-01 4.08859553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:128.66, Z:4.09 [[-4.60197645e-01 -8.87768430e-01 9.23810477e-03 1.15634326e+02] [ 8.87559483e-01 -4.60289873e-01 -1.92716662e-02 1.28662753e+02] [ 2.13609829e-02 -6.69407895e-04 9.99771604e-01 4.08982176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74275509600002 meters Centerline goodness [0,1] 0.9999134161652019 Centerline is valid? [True, True] Translation: X:115.62, Y:128.69, Z:4.09 [[-4.62242369e-01 -8.86704279e-01 9.35487773e-03 1.15624875e+02] [ 8.86490202e-01 -4.62336462e-01 -1.94966208e-02 1.28688007e+02] [ 2.16128382e-02 -7.19156738e-04 9.99766157e-01 4.08847292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.62, Y:128.71, Z:4.09 [[-4.64632623e-01 -8.85459926e-01 8.78891521e-03 1.15615107e+02] [ 8.85270989e-01 -4.64715175e-01 -1.83052458e-02 1.28712654e+02] [ 2.02929038e-02 -7.24642690e-04 9.99793815e-01 4.09155700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.60, Y:128.74, Z:4.09 [[-4.65239177e-01 -8.85142491e-01 8.67633814e-03 1.15603923e+02] [ 8.84958640e-01 -4.65319514e-01 -1.80542596e-02 1.28736553e+02] [ 2.00178617e-02 -7.21348452e-04 9.99799362e-01 4.09216694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83275509600003 meters Centerline goodness [0,1] 0.9998705306087219 Centerline is valid? [True, True] Translation: X:115.59, Y:128.76, Z:4.09 [[-4.65758100e-01 -8.84867151e-01 8.91720867e-03 1.15591391e+02] [ 8.84673276e-01 -4.65842859e-01 -1.85371234e-02 1.28759759e+02] [ 2.05569096e-02 -7.44999171e-04 9.99788407e-01 4.09026887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:128.78, Z:4.09 [[-4.64260370e-01 -8.85656574e-01 8.64538081e-03 1.15576350e+02] [ 8.85474818e-01 -4.64340360e-01 -1.79548626e-02 1.28783071e+02] [ 1.99162413e-02 -6.80464155e-04 9.99801420e-01 4.09340632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.56, Y:128.81, Z:4.09 [[-4.63440767e-01 -8.86088225e-01 8.38527931e-03 1.15563790e+02] [ 8.85917602e-01 -4.63516185e-01 -1.73996931e-02 1.28806840e+02] [ 1.93043759e-02 -6.35060595e-04 9.99813451e-01 4.09426092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:128.83, Z:4.09 [[-4.63783831e-01 -8.85908655e-01 8.39126312e-03 1.15552289e+02] [ 8.85738054e-01 -4.63859301e-01 -1.73968068e-02 1.28830087e+02] [ 1.93043472e-02 -6.35896644e-04 9.99813452e-01 4.09478861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:128.85, Z:4.10 [[-4.62630825e-01 -8.86511219e-01 8.40110298e-03 1.15538393e+02] [ 8.86340652e-01 -4.62706705e-01 -1.73998296e-02 1.28854137e+02] [ 1.93123908e-02 -6.03458432e-04 9.99813316e-01 4.09538079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:128.88, Z:4.10 [[-4.59344319e-01 -8.88217348e-01 8.52875852e-03 1.15524891e+02] [ 8.88042143e-01 -4.59423181e-01 -1.76491753e-02 1.28877349e+02] [ 1.95946130e-02 -5.33151411e-04 9.99807865e-01 4.09582014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.51, Y:128.90, Z:4.10 [[-4.58049193e-01 -8.88884172e-01 8.71011690e-03 1.15512351e+02] [ 8.88701877e-01 -4.58131719e-01 -1.80083738e-02 1.28899792e+02] [ 1.99977392e-02 -5.08023844e-04 9.99799896e-01 4.09613323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:128.92, Z:4.10 [[-4.55173685e-01 -8.90356164e-01 9.10037097e-03 1.15496643e+02] [ 8.90157863e-01 -4.55264422e-01 -1.87958528e-02 1.28921457e+02] [ 2.08780785e-02 -4.54610815e-04 9.99781926e-01 4.09565847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:128.94, Z:4.10 [[-4.54672415e-01 -8.90609426e-01 9.37263646e-03 1.15485468e+02] [ 8.90399539e-01 -4.54768788e-01 -1.93393634e-02 1.28943201e+02] [ 2.14862018e-02 -4.47683869e-04 9.99769045e-01 4.09536608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:128.97, Z:4.10 [[-4.54493428e-01 -8.90698396e-01 9.59644285e-03 1.15472889e+02] [ 8.90478859e-01 -4.54594512e-01 -1.97795642e-02 1.28965309e+02] [ 2.19801164e-02 -4.44252455e-04 9.99758309e-01 4.09536244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:128.99, Z:4.10 [[-4.54770009e-01 -8.90552103e-01 1.00593556e-02 1.15460388e+02] [ 8.90311344e-01 -4.54881014e-01 -2.07116743e-02 1.28988196e+02] [ 2.30206350e-02 -4.63089895e-04 9.99734883e-01 4.09583338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:129.01, Z:4.10 [[-4.55832981e-01 -8.90006870e-01 1.02012501e-02 1.15452339e+02] [ 8.89759620e-01 -4.55946854e-01 -2.09829639e-02 1.29013965e+02] [ 2.33262099e-02 -4.88066532e-04 9.99727788e-01 4.09596680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:129.04, Z:4.10 [[-4.56866660e-01 -8.89475232e-01 1.03279688e-02 1.15442410e+02] [ 8.89222138e-01 -4.56983095e-01 -2.12235804e-02 1.29037837e+02] [ 2.35975563e-02 -5.12487770e-04 9.99721408e-01 4.09620292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.43, Y:129.06, Z:4.10 [[-4.58788775e-01 -8.88482790e-01 1.05447550e-02 1.15434679e+02] [ 8.88219201e-01 -4.58909590e-01 -2.16480702e-02 1.29062616e+02] [ 2.40730270e-02 -5.65837786e-04 9.99710043e-01 4.09654994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:129.09, Z:4.10 [[-4.59861883e-01 -8.87928577e-01 1.04829134e-02 1.15422982e+02] [ 8.87668411e-01 -4.59980982e-01 -2.15008784e-02 1.29086198e+02] [ 2.39131851e-02 -5.82083376e-04 9.99713869e-01 4.09742507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:129.11, Z:4.10 [[-4.60636681e-01 -8.87531371e-01 1.00952202e-02 1.15406900e+02] [ 8.87290438e-01 -4.60746936e-01 -2.06866978e-02 1.29107632e+02] [ 2.30114350e-02 -5.71659449e-04 9.99735038e-01 4.09988822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:129.13, Z:4.10 [[-4.60989941e-01 -8.87348468e-01 1.00484530e-02 1.15394040e+02] [ 8.87110187e-01 -4.61099093e-01 -2.05704340e-02 1.29130633e+02] [ 2.28864756e-02 -5.68678151e-04 9.99737909e-01 4.10075269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:129.15, Z:4.10 [[-4.61480564e-01 -8.87091024e-01 1.02568978e-02 1.15382077e+02] [ 8.86843190e-01 -4.61594166e-01 -2.09757701e-02 1.29154958e+02] [ 2.33419416e-02 -5.83650206e-04 9.99727369e-01 4.10127439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.37, Y:129.18, Z:4.10 [[-4.61935308e-01 -8.86852610e-01 1.04028420e-02 1.15372371e+02] [ 8.86598087e-01 -4.62052047e-01 -2.12541245e-02 1.29178190e+02] [ 2.36559302e-02 -5.94890759e-04 9.99719982e-01 4.10201918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:129.20, Z:4.10 [[-4.62856221e-01 -8.86371079e-01 1.05085552e-02 1.15360284e+02] [ 8.86111774e-01 -4.62975088e-01 -2.14474078e-02 1.29202115e+02] [ 2.38755613e-02 -6.15311667e-04 9.99714749e-01 4.10238982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:129.23, Z:4.10 [[-4.63362358e-01 -8.86102358e-01 1.08598540e-02 1.15350321e+02] [ 8.85825889e-01 -4.63489160e-01 -2.21425373e-02 1.29225703e+02] [ 2.46539791e-02 -6.40078465e-04 9.99695840e-01 4.10192002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.34, Y:129.25, Z:4.10 [[-4.63861143e-01 -8.85841166e-01 1.08751078e-02 1.15335312e+02] [ 8.85564301e-01 -4.63988158e-01 -2.21553101e-02 1.29247638e+02] [ 2.46720070e-02 -6.46380198e-04 9.99695391e-01 4.10230377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:129.27, Z:4.10 [[-4.64424876e-01 -8.85542331e-01 1.11496371e-02 1.15323517e+02] [ 8.85251812e-01 -4.64558213e-01 -2.26913038e-02 1.29269748e+02] [ 2.52737656e-02 -6.68169469e-04 9.99680344e-01 4.10197009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:129.29, Z:4.10 [[-4.64856727e-01 -8.85308079e-01 1.17400364e-02 1.15309959e+02] [ 8.84986579e-01 -4.65004417e-01 -2.38672914e-02 1.29292966e+02] [ 2.65890747e-02 -7.05096311e-04 9.99646199e-01 4.10135311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:129.32, Z:4.10 [[-4.65213950e-01 -8.85118234e-01 1.19034659e-02 1.15296666e+02] [ 8.84788298e-01 -4.65365663e-01 -2.41757625e-02 1.29317180e+02] [ 2.69378726e-02 -7.14854623e-04 9.99636854e-01 4.10179234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.29, Y:129.34, Z:4.10 [[-4.65700240e-01 -8.84862908e-01 1.18709870e-02 1.15285757e+02] [ 8.84535300e-01 -4.65850963e-01 -2.40869923e-02 1.29340103e+02] [ 2.68437968e-02 -7.17010990e-04 9.99639383e-01 4.10221488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:129.36, Z:4.10 [[-4.66054093e-01 -8.84673905e-01 1.20690937e-02 1.15275588e+02] [ 8.84335877e-01 -4.66209771e-01 -2.44643965e-02 1.29363918e+02] [ 2.72697426e-02 -7.28599520e-04 9.99627846e-01 4.10251043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:129.39, Z:4.10 [[-4.66831832e-01 -8.84266136e-01 1.18928884e-02 1.15262357e+02] [ 8.83938312e-01 -4.66982724e-01 -2.40872731e-02 1.29387246e+02] [ 2.68533333e-02 -7.32126160e-04 9.99639116e-01 4.10358562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.672755096 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:115.25, Y:129.41, Z:4.10 [[-4.67647637e-01 -8.83832798e-01 1.20529032e-02 1.15250077e+02] [ 8.83496606e-01 -4.67802323e-01 -2.43871675e-02 1.29410952e+02] [ 2.71925546e-02 -7.55902159e-04 9.99629928e-01 4.10374814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:129.43, Z:4.11 [[-4.68061951e-01 -8.83618435e-01 1.16820560e-02 1.15236284e+02] [ 8.83303148e-01 -4.68207136e-01 -2.36141281e-02 1.29433626e+02] [ 2.63355009e-02 -7.34078024e-04 9.99652891e-01 4.10604360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:129.46, Z:4.11 [[-4.68842404e-01 -8.83207465e-01 1.14618415e-02 1.15224185e+02] [ 8.82904413e-01 -4.68981915e-01 -2.31464930e-02 1.29457197e+02] [ 2.58185518e-02 -7.32346965e-04 9.99666377e-01 4.10685665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:129.48, Z:4.11 [[-4.69299310e-01 -8.82964853e-01 1.14553787e-02 1.15213516e+02] [ 8.82662631e-01 -4.69438523e-01 -2.31117483e-02 1.29480328e+02] [ 2.57844576e-02 -7.35092798e-04 9.99667255e-01 4.10738323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.792755096 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:115.20, Y:129.50, Z:4.11 [[-4.69796871e-01 -8.82698894e-01 1.15569169e-02 1.15200925e+02] [ 8.82391708e-01 -4.69938405e-01 -2.32974003e-02 1.29503835e+02] [ 2.59956286e-02 -7.47318122e-04 9.99661777e-01 4.10776731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:129.53, Z:4.11 [[-4.70202611e-01 -8.82480632e-01 1.17234329e-02 1.15189060e+02] [ 8.82165070e-01 -4.70348123e-01 -2.36100055e-02 1.29526928e+02] [ 2.63494672e-02 -7.59483219e-04 9.99652504e-01 4.10839274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:129.55, Z:4.11 [[-4.70381541e-01 -8.82384367e-01 1.17913117e-02 1.15179337e+02] [ 8.82065691e-01 -4.70528695e-01 -2.37247645e-02 1.29550546e+02] [ 2.64825118e-02 -7.58979762e-04 9.99648989e-01 4.10833786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:129.57, Z:4.11 [[-4.70581863e-01 -8.82278595e-01 1.17128399e-02 1.15165079e+02] [ 8.81964617e-01 -4.70727009e-01 -2.35477820e-02 1.29572392e+02] [ 2.62892542e-02 -7.50848752e-04 9.99654096e-01 4.10979158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:129.60, Z:4.11 [[-4.70427441e-01 -8.82358604e-01 1.18876998e-02 1.15152170e+02] [ 8.82035833e-01 -4.70577026e-01 -2.38757836e-02 1.29595751e+02] [ 2.66610815e-02 -7.46446545e-04 9.99644252e-01 4.11028599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:129.62, Z:4.11 [[-4.70335979e-01 -8.82404430e-01 1.21032498e-02 1.15139080e+02] [ 8.82070509e-01 -4.70491089e-01 -2.42848167e-02 1.29618567e+02] [ 2.71235010e-02 -7.46103334e-04 9.99631812e-01 4.11083898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:129.64, Z:4.11 [[-4.69890541e-01 -8.82642349e-01 1.20566480e-02 1.15124833e+02] [ 8.82311707e-01 -4.70044644e-01 -2.41678369e-02 1.29641325e+02] [ 2.69987191e-02 -7.18516284e-04 9.99635210e-01 4.11127640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:129.66, Z:4.11 [[-4.69842725e-01 -8.82666977e-01 1.21169753e-02 1.15112965e+02] [ 8.82333678e-01 -4.69998408e-01 -2.42647226e-02 1.29664228e+02] [ 2.71126285e-02 -7.09388026e-04 9.99632133e-01 4.11159265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:129.69, Z:4.11 [[-4.70109760e-01 -8.82526692e-01 1.19771207e-02 1.15099847e+02] [ 8.82201641e-01 -4.70261789e-01 -2.39606824e-02 1.29686690e+02] [ 2.67783240e-02 -6.97915126e-04 9.99641153e-01 4.11246064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:129.71, Z:4.11 [[-4.70182227e-01 -8.82487784e-01 1.19993660e-02 1.15086884e+02] [ 8.82162150e-01 -4.70334812e-01 -2.39813749e-02 1.29710121e+02] [ 2.68069899e-02 -6.90229744e-04 9.99640390e-01 4.11344240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:129.73, Z:4.11 [[-4.70349772e-01 -8.82396510e-01 1.21446085e-02 1.15075778e+02] [ 8.82063583e-01 -4.70506026e-01 -2.42469768e-02 1.29732595e+02] [ 2.71095591e-02 -6.92243153e-04 9.99632229e-01 4.11385616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.06, Y:129.76, Z:4.11 [[-4.70756882e-01 -8.82176917e-01 1.23225270e-02 1.15063522e+02] [ 8.81834788e-01 -4.70917606e-01 -2.45767237e-02 1.29755958e+02] [ 2.74839133e-02 -7.03228824e-04 9.99621999e-01 4.11410187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:129.78, Z:4.11 [[-4.71504941e-01 -8.81778824e-01 1.22145892e-02 1.15051739e+02] [ 8.81443180e-01 -4.71662595e-01 -2.43375798e-02 1.29779768e+02] [ 2.72215273e-02 -7.08822761e-04 9.99629174e-01 4.11452182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:129.80, Z:4.11 [[-4.72272099e-01 -8.81369790e-01 1.20978324e-02 1.15040841e+02] [ 8.81041039e-01 -4.72426484e-01 -2.40812202e-02 1.29802580e+02] [ 2.69397964e-02 -7.14201554e-04 9.99636803e-01 4.11495640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:129.83, Z:4.12 [[-4.73038473e-01 -8.80960603e-01 1.19590694e-02 1.15028550e+02] [ 8.80639855e-01 -4.73189076e-01 -2.37811565e-02 1.29826030e+02] [ 2.66091629e-02 -7.17768850e-04 9.99645656e-01 4.11594858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:129.85, Z:4.12 [[-4.74545496e-01 -8.80154318e-01 1.16167484e-02 1.15017675e+02] [ 8.79851991e-01 -4.74687100e-01 -2.30787941e-02 1.29850086e+02] [ 2.58272209e-02 -7.30918537e-04 9.99666154e-01 4.11690650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:129.87, Z:4.12 [[-4.75283104e-01 -8.79757847e-01 1.14935246e-02 1.15006883e+02] [ 8.79462321e-01 -4.75421488e-01 -2.28130329e-02 1.29873420e+02] [ 2.55342133e-02 -7.34527311e-04 9.99673679e-01 4.11754216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:129.90, Z:4.12 [[-4.76709935e-01 -8.78987512e-01 1.13398335e-02 1.14995255e+02] [ 8.78700160e-01 -4.76844193e-01 -2.24865643e-02 1.29898412e+02] [ 2.51727430e-02 -7.55255151e-04 9.99682831e-01 4.11789615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:129.92, Z:4.12 [[-4.77436521e-01 -8.78591915e-01 1.14287386e-02 1.14983093e+02] [ 8.78300424e-01 -4.77572665e-01 -2.26432191e-02 1.29922162e+02] [ 2.53522024e-02 -7.72833796e-04 9.99678283e-01 4.11821938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:129.94, Z:4.12 [[-4.77919825e-01 -8.78327361e-01 1.15623563e-02 1.14972493e+02] [ 8.78029496e-01 -4.78059023e-01 -2.28861141e-02 1.29944880e+02] [ 2.56289889e-02 -7.85637760e-04 9.99671215e-01 4.11832810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:129.97, Z:4.12 [[-4.78054335e-01 -8.78249934e-01 1.18787889e-02 1.14960363e+02] [ 8.77936141e-01 -4.78201227e-01 -2.34886949e-02 1.29966027e+02] [ 2.63093962e-02 -8.00054349e-04 9.99653528e-01 4.11797947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:129.99, Z:4.12 [[-4.78192215e-01 -8.78173375e-01 1.19886840e-02 1.14947784e+02] [ 8.77854379e-01 -4.78341805e-01 -2.36813539e-02 1.29988573e+02] [ 2.65310233e-02 -7.99920294e-04 9.99647670e-01 4.11792215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:130.01, Z:4.12 [[-4.78147749e-01 -8.78198506e-01 1.19211309e-02 1.14936054e+02] [ 8.77883722e-01 -4.78295694e-01 -2.35244512e-02 1.30009876e+02] [ 2.63609635e-02 -7.82796604e-04 9.99652183e-01 4.11799874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.92, Y:130.03, Z:4.12 [[-4.77488976e-01 -8.78556737e-01 1.19305533e-02 1.14923404e+02] [ 8.78242197e-01 -4.77637409e-01 -2.35191024e-02 1.30031115e+02] [ 2.63613445e-02 -7.52196760e-04 9.99652196e-01 4.11811961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:130.05, Z:4.12 [[-4.77445791e-01 -8.78581078e-01 1.18661521e-02 1.14910849e+02] [ 8.78270527e-01 -4.77592658e-01 -2.33695264e-02 1.30053577e+02] [ 2.61992108e-02 -7.35990335e-04 9.99656471e-01 4.11868546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:130.08, Z:4.12 [[-4.77601683e-01 -8.78497597e-01 1.17730245e-02 1.14897913e+02] [ 8.78192454e-01 -4.77746217e-01 -2.31638905e-02 1.30075833e+02] [ 2.59739401e-02 -7.24131796e-04 9.99662358e-01 4.11930682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.89, Y:130.10, Z:4.12 [[-4.77821381e-01 -8.78381727e-01 1.15008580e-02 1.14885182e+02] [ 8.78091041e-01 -4.77959252e-01 -2.26070141e-02 1.30098476e+02] [ 2.53545296e-02 -7.03314332e-04 9.99678275e-01 4.12025827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:130.12, Z:4.12 [[-4.77893502e-01 -8.78349062e-01 1.09875541e-02 1.14866434e+02] [ 8.78084223e-01 -4.78019335e-01 -2.15780380e-02 1.30118032e+02] [ 2.42053127e-02 -6.64006247e-04 9.99706788e-01 4.12275981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.86, Y:130.14, Z:4.12 [[-4.77687882e-01 -8.78460345e-01 1.10322318e-02 1.14859526e+02] [ 8.78193897e-01 -4.77814817e-01 -2.16443837e-02 1.30142544e+02] [ 2.42850965e-02 -6.50821201e-04 9.99704862e-01 4.12272515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:130.16, Z:4.12 [[-4.77754024e-01 -8.78425321e-01 1.09566488e-02 1.14847209e+02] [ 8.78163021e-01 -4.77879220e-01 -2.14746366e-02 1.30164493e+02] [ 2.40998193e-02 -6.37870264e-04 9.99709354e-01 4.12338781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.692755096 meters Centerline goodness [0,1] 0.9999365267433988 Centerline is valid? [True, True] Translation: X:114.83, Y:130.18, Z:4.12 [[-4.77247917e-01 -8.78701720e-01 1.08495708e-02 1.14828624e+02] [ 8.78445064e-01 -4.77370838e-01 -2.12450485e-02 1.30184170e+02] [ 2.38473293e-02 -6.08403243e-04 9.99715427e-01 4.12386702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:130.21, Z:4.13 [[-4.76629693e-01 -8.79037826e-01 1.07998643e-02 1.14815367e+02] [ 8.78784079e-01 -4.76751681e-01 -2.11276356e-02 1.30206543e+02] [ 2.37208443e-02 -5.79309685e-04 9.99718453e-01 4.12571363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:130.23, Z:4.13 [[-4.76052939e-01 -8.79349096e-01 1.08980423e-02 1.14802700e+02] [ 8.79091287e-01 -4.76177336e-01 -2.12991619e-02 1.30228537e+02] [ 2.39187995e-02 -5.59154565e-04 9.99713748e-01 4.12577293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:130.25, Z:4.13 [[-4.74562960e-01 -8.80152265e-01 1.10447777e-02 1.14786771e+02] [ 8.79888198e-01 -4.74691188e-01 -2.15646633e-02 1.30250772e+02] [ 2.42230459e-02 -5.15620856e-04 9.99706446e-01 4.12580032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:130.27, Z:4.13 [[-4.73959076e-01 -8.80478401e-01 1.09808279e-02 1.14774157e+02] [ 8.80217943e-01 -4.74086013e-01 -2.14202062e-02 1.30272741e+02] [ 2.40658859e-02 -4.86779379e-04 9.99710256e-01 4.12590856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:130.30, Z:4.13 [[-4.74303798e-01 -8.80292642e-01 1.09896080e-02 1.14762100e+02] [ 8.80032238e-01 -4.74430847e-01 -2.14157010e-02 1.30295680e+02] [ 2.40658931e-02 -4.86339031e-04 9.99710256e-01 4.12643571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:130.32, Z:4.13 [[-4.73625095e-01 -8.80656053e-01 1.11438999e-02 1.14748955e+02] [ 8.80388900e-01 -4.73755951e-01 -2.16952321e-02 1.30318804e+02] [ 2.43855264e-02 -4.64440575e-04 9.99702521e-01 4.12672501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:130.34, Z:4.13 [[-4.72255999e-01 -8.81388327e-01 1.13528892e-02 1.14734588e+02] [ 8.81111796e-01 -4.72392249e-01 -2.20809165e-02 1.30341867e+02] [ 2.48248789e-02 -4.24680679e-04 9.99691725e-01 4.12722702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:130.36, Z:4.13 [[-4.71958488e-01 -8.81548005e-01 1.13269816e-02 1.14722168e+02] [ 8.81273266e-01 -4.72094217e-01 -2.20109070e-02 1.30364758e+02] [ 2.47510736e-02 -4.06068331e-04 9.99693563e-01 4.12776296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:130.39, Z:4.13 [[-4.71795940e-01 -8.81633483e-01 1.14451932e-02 1.14709706e+02] [ 8.81353547e-01 -4.71934577e-01 -2.22189147e-02 1.30388240e+02] [ 2.49903216e-02 -3.95532147e-04 9.99687615e-01 4.12831943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:130.41, Z:4.13 [[-4.71937755e-01 -8.81559119e-01 1.13258768e-02 1.14698726e+02] [ 8.81285492e-01 -4.72073481e-01 -2.19661174e-02 1.30410881e+02] [ 2.47110772e-02 -3.85309280e-04 9.99694560e-01 4.12880061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:130.43, Z:4.13 [[-4.72379559e-01 -8.81323065e-01 1.12786363e-02 1.14686054e+02] [ 8.81052183e-01 -4.72514028e-01 -2.18527606e-02 1.30434136e+02] [ 2.45886558e-02 -3.85730321e-04 9.99697579e-01 4.13024077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:130.46, Z:4.13 [[-4.72949988e-01 -8.81021447e-01 1.09324403e-02 1.14675264e+02] [ 8.80767326e-01 -4.73076173e-01 -2.11625112e-02 1.30456780e+02] [ 2.38165032e-02 -3.79873183e-04 9.99716275e-01 4.13123755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:130.48, Z:4.13 [[-4.73512015e-01 -8.80722346e-01 1.07014472e-02 1.14663638e+02] [ 8.80479152e-01 -4.73632775e-01 -2.06992019e-02 1.30480890e+02] [ 2.32988057e-02 -3.78919654e-04 9.99728474e-01 4.13197533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:130.50, Z:4.13 [[-4.74627729e-01 -8.80122211e-01 1.06495053e-02 1.14653790e+02] [ 8.79881679e-01 -4.74747022e-01 -2.05790119e-02 1.30504429e+02] [ 2.31678664e-02 -3.97065056e-04 9.99731510e-01 4.13292157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:130.53, Z:4.13 [[-4.75653488e-01 -8.79569127e-01 1.05787674e-02 1.14641317e+02] [ 8.79332108e-01 -4.75770934e-01 -2.04221111e-02 1.30527897e+02] [ 2.29957285e-02 -4.11598516e-04 9.99735479e-01 4.13339739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:130.55, Z:4.13 [[-4.76966674e-01 -8.78855243e-01 1.07821282e-02 1.14631825e+02] [ 8.78609306e-01 -4.77088320e-01 -2.07947713e-02 1.30552848e+02] [ 2.34196212e-02 -4.45134732e-04 9.99725624e-01 4.13307298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:130.58, Z:4.13 [[-4.77599276e-01 -8.78511528e-01 1.07901453e-02 1.14618475e+02] [ 8.78265487e-01 -4.77720932e-01 -2.07953148e-02 1.30576191e+02] [ 2.34236021e-02 -4.55215106e-04 9.99725526e-01 4.13374520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:130.60, Z:4.13 [[-4.78291106e-01 -8.78137221e-01 1.06131901e-02 1.14606056e+02] [ 8.77899539e-01 -4.78408626e-01 -2.04349123e-02 1.30599491e+02] [ 2.30220988e-02 -4.56522080e-04 9.99734852e-01 4.13459056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.262755096 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:114.60, Y:130.62, Z:4.13 [[-4.78398914e-01 -8.78080874e-01 1.04142921e-02 1.14595372e+02] [ 8.77852441e-01 -4.78512052e-01 -2.00326914e-02 1.30623005e+02] [ 2.25736874e-02 -4.41406056e-04 9.99745084e-01 4.13472503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.292755096 meters Centerline goodness [0,1] 0.9999357917941913 Centerline is valid? [True, True] Translation: X:114.58, Y:130.65, Z:4.13 [[-4.78688090e-01 -8.77921350e-01 1.05742646e-02 1.14583078e+02] [ 8.77686281e-01 -4.78804661e-01 -2.03196574e-02 1.30646926e+02] [ 2.29020683e-02 -4.45891051e-04 9.99737614e-01 4.13471185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:130.67, Z:4.14 [[-4.78668470e-01 -8.77931552e-01 1.06153373e-02 1.14571023e+02] [ 8.77695108e-01 -4.78785962e-01 -2.03789271e-02 1.30670441e+02] [ 2.29737776e-02 -4.37720238e-04 9.99735972e-01 4.13609363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:130.69, Z:4.14 [[-4.79010774e-01 -8.77744470e-01 1.06453235e-02 1.14558937e+02] [ 8.77507092e-01 -4.79128848e-01 -2.04169359e-02 1.30693596e+02] [ 2.30213342e-02 -4.38585401e-04 9.99734878e-01 4.13647539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:130.72, Z:4.14 [[-4.79521833e-01 -8.77463952e-01 1.07621495e-02 1.14549685e+02] [ 8.77221735e-01 -4.79642380e-01 -2.06207375e-02 1.30717917e+02] [ 2.32559369e-02 -4.47302359e-04 9.99729444e-01 4.13630481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:130.74, Z:4.14 [[-4.80204150e-01 -8.77091284e-01 1.07169863e-02 1.14537699e+02] [ 8.76851476e-01 -4.80323509e-01 -2.05137886e-02 1.30741230e+02] [ 2.31400857e-02 -4.53601135e-04 9.99732129e-01 4.13660285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:130.77, Z:4.14 [[-4.81781841e-01 -8.76218509e-01 1.12863578e-02 1.14529031e+02] [ 8.75952813e-01 -4.81913750e-01 -2.15825545e-02 1.30766693e+02] [ 2.43500847e-02 -5.11765970e-04 9.99703362e-01 4.13564191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:130.79, Z:4.13 [[-4.82771284e-01 -8.75670701e-01 1.15199891e-02 1.14520800e+02] [ 8.75394227e-01 -4.82908408e-01 -2.20094950e-02 1.30791596e+02] [ 2.48361695e-02 -5.41020161e-04 9.99691388e-01 4.13484375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:130.82, Z:4.14 [[-4.84915965e-01 -8.74480405e-01 1.18544860e-02 1.14509052e+02] [ 8.74187798e-01 -4.85060460e-01 -2.26284021e-02 1.30816464e+02] [ 2.55382367e-02 -6.09826477e-04 9.99673660e-01 4.13592693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:130.84, Z:4.14 [[-4.86323858e-01 -8.73699530e-01 1.17573745e-02 1.14499494e+02] [ 8.73411961e-01 -4.86465544e-01 -2.24236619e-02 1.30841046e+02] [ 2.53111004e-02 -6.36130272e-04 9.99679420e-01 4.13635787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:130.87, Z:4.14 [[-4.87873738e-01 -8.72838714e-01 1.14801950e-02 1.14488470e+02] [ 8.72564781e-01 -4.88008349e-01 -2.18758814e-02 1.30866404e+02] [ 2.46965472e-02 -6.55454182e-04 9.99694779e-01 4.13735125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:130.89, Z:4.14 [[-4.89809834e-01 -8.71760051e-01 1.09881839e-02 1.14481005e+02] [ 8.71509232e-01 -4.89932611e-01 -2.09211588e-02 1.30891483e+02] [ 2.36217001e-02 -6.71085569e-04 9.99720743e-01 4.13912364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:130.92, Z:4.14 [[-4.90563694e-01 -8.71341367e-01 1.05586545e-02 1.14472033e+02] [ 8.71110043e-01 -4.90676871e-01 -2.00873253e-02 1.30915394e+02] [ 2.26838050e-02 -6.56362536e-04 9.99742474e-01 4.14023473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:130.94, Z:4.14 [[-4.90945564e-01 -8.71129358e-01 1.03002588e-02 1.14458676e+02] [ 8.70909489e-01 -4.91053183e-01 -1.95814490e-02 1.30937639e+02] [ 2.21159499e-02 -6.42832414e-04 9.99755206e-01 4.14158347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:130.96, Z:4.14 [[-4.91274508e-01 -8.70944046e-01 1.02871888e-02 1.14450172e+02] [ 8.70725086e-01 -4.91381783e-01 -1.95388602e-02 1.30961469e+02] [ 2.20721911e-02 -6.41630585e-04 9.99756174e-01 4.14213863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:130.98, Z:4.14 [[-4.91038982e-01 -8.71076251e-01 1.03384172e-02 1.14440323e+02] [ 8.70855463e-01 -4.91147398e-01 -1.96213061e-02 1.30983579e+02] [ 2.21693404e-02 -6.31559088e-04 9.99754030e-01 4.14257527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:131.00, Z:4.14 [[-4.90829197e-01 -8.71194499e-01 1.03365070e-02 1.14423720e+02] [ 8.70974249e-01 -4.90937638e-01 -1.95982871e-02 1.31004550e+02] [ 2.21485003e-02 -6.16580081e-04 9.99754502e-01 4.14334086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.42, Y:131.03, Z:4.14 [[-4.90571251e-01 -8.71339092e-01 1.03940062e-02 1.14415586e+02] [ 8.71116832e-01 -4.90680978e-01 -1.96886491e-02 1.31028513e+02] [ 2.22556307e-02 -6.04291404e-04 9.99752130e-01 4.14325030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:131.05, Z:4.14 [[-4.89332999e-01 -8.72034685e-01 1.04271191e-02 1.14397141e+02] [ 8.71811591e-01 -4.89443755e-01 -1.97322054e-02 1.31049928e+02] [ 2.23106558e-02 -5.65135912e-04 9.99750927e-01 4.14354675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:131.07, Z:4.14 [[-4.88990247e-01 -8.72228078e-01 1.03304371e-02 1.14383572e+02] [ 8.72009514e-01 -4.89099054e-01 -1.95326363e-02 1.31072993e+02] [ 2.20895208e-02 -5.43029214e-04 9.99755849e-01 4.14388413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:131.10, Z:4.14 [[-4.87312565e-01 -8.73166201e-01 1.03561191e-02 1.14371149e+02] [ 8.72947170e-01 -4.87422345e-01 -1.95626124e-02 1.31096671e+02] [ 2.21292158e-02 -4.92761994e-04 9.99754997e-01 4.14462165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.36, Y:131.12, Z:4.14 [[-4.86637506e-01 -8.73542373e-01 1.03758944e-02 1.14357524e+02] [ 8.73322963e-01 -4.86747884e-01 -1.95831437e-02 1.31119057e+02] [ 2.21571504e-02 -4.68385377e-04 9.99754390e-01 4.14477164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:131.14, Z:4.15 [[-4.85960859e-01 -8.73918628e-01 1.04055882e-02 1.14345238e+02] [ 8.73698457e-01 -4.86072048e-01 -1.96206569e-02 1.31141516e+02] [ 2.22047231e-02 -4.43524925e-04 9.99753346e-01 4.14500115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.33, Y:131.16, Z:4.15 [[-4.85164805e-01 -8.74359403e-01 1.05236310e-02 1.14331482e+02] [ 8.74134749e-01 -4.85278745e-01 -1.98237570e-02 1.31164092e+02] [ 2.24399828e-02 -4.18717641e-04 9.99748104e-01 4.14509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:131.19, Z:4.15 [[-4.83669934e-01 -8.75183925e-01 1.07931802e-02 1.14316114e+02] [ 8.74948256e-01 -4.83790195e-01 -2.03124908e-02 1.31187172e+02] [ 2.29988002e-02 -3.81066896e-04 9.99735420e-01 4.14501767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:131.21, Z:4.15 [[-4.83404686e-01 -8.75330446e-01 1.07944536e-02 1.14305783e+02] [ 8.75095160e-01 -4.83525053e-01 -2.02974044e-02 1.31209996e+02] [ 2.29863248e-02 -3.65686308e-04 9.99735713e-01 4.14517958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:131.23, Z:4.15 [[-4.83323409e-01 -8.75375217e-01 1.08033380e-02 1.14292298e+02] [ 8.75139923e-01 -4.83444002e-01 -2.02980811e-02 1.31232458e+02] [ 2.29912461e-02 -3.56105339e-04 9.99735603e-01 4.14608408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:131.26, Z:4.15 [[-4.83632834e-01 -8.75207299e-01 1.05577507e-02 1.14283347e+02] [ 8.74982958e-01 -4.83747935e-01 -1.98181436e-02 1.31256408e+02] [ 2.24522740e-02 -3.46853041e-04 9.99747856e-01 4.14652821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:131.28, Z:4.15 [[-4.84283681e-01 -8.74848667e-01 1.04463061e-02 1.14271928e+02] [ 8.74629380e-01 -4.84396208e-01 -1.95898211e-02 1.31279733e+02] [ 2.21982799e-02 -3.50384426e-04 9.99753526e-01 4.14727779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:131.30, Z:4.15 [[-4.85967074e-01 -8.73916503e-01 1.02931524e-02 1.14259560e+02] [ 8.73703789e-01 -4.86075922e-01 -1.92843809e-02 1.31304499e+02] [ 2.18561922e-02 -3.78407934e-04 9.99761053e-01 4.14821577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:131.33, Z:4.15 [[-4.86386191e-01 -8.73683998e-01 1.02344820e-02 1.14247289e+02] [ 8.73473998e-01 -4.86493708e-01 -1.91584925e-02 1.31326810e+02] [ 2.17174794e-02 -3.78872288e-04 9.99764076e-01 4.14920456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.23, Y:131.35, Z:4.15 [[-4.86743670e-01 -8.73487026e-01 1.00506081e-02 1.14233379e+02] [ 8.73284760e-01 -4.86847281e-01 -1.88003691e-02 1.31349230e+02] [ 2.13149897e-02 -3.73917780e-04 9.99772740e-01 4.14969993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:131.37, Z:4.15 [[-4.86178413e-01 -8.73803840e-01 9.86915706e-03 1.14220400e+02] [ 8.73609240e-01 -4.86278449e-01 -1.84435783e-02 1.31371516e+02] [ 2.09152279e-02 -3.45082811e-04 9.99781193e-01 4.15019863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:131.39, Z:4.15 [[-4.85804955e-01 -8.74012321e-01 9.79843588e-03 1.14205970e+02] [ 8.73820918e-01 -4.85903651e-01 -1.82933161e-02 1.31393675e+02] [ 2.07496795e-02 -3.24905383e-04 9.99784649e-01 4.15043971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:131.42, Z:4.15 [[-4.85696797e-01 -8.74071449e-01 9.88550042e-03 1.14193962e+02] [ 8.73876996e-01 -4.85797284e-01 -1.84389692e-02 1.31415643e+02] [ 2.09193258e-02 -3.17036874e-04 9.99781117e-01 4.15028683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:131.44, Z:4.15 [[-4.85372005e-01 -8.74255127e-01 9.59117581e-03 1.14178355e+02] [ 8.74072371e-01 -4.85466670e-01 -1.78774375e-02 1.31437046e+02] [ 2.02856376e-02 -2.93825918e-04 9.99794182e-01 4.15065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.17, Y:131.46, Z:4.15 [[-4.85929153e-01 -8.73941983e-01 9.91306601e-03 1.14166759e+02] [ 8.73747054e-01 -4.86030159e-01 -1.84599409e-02 1.31459801e+02] [ 2.09509664e-02 -3.08711213e-04 9.99780457e-01 4.15046221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:131.48, Z:4.15 [[-4.87036762e-01 -8.73323466e-01 1.00656153e-02 1.14154024e+02] [ 8.73122744e-01 -4.87140651e-01 -1.87259396e-02 1.31482744e+02] [ 2.12571729e-02 -3.31703291e-04 9.99773986e-01 4.15021468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.14, Y:131.51, Z:4.15 [[-4.88615012e-01 -8.72440904e-01 1.01113884e-02 1.14140710e+02] [ 8.72238524e-01 -4.88719488e-01 -1.87941579e-02 1.31505971e+02] [ 2.13384247e-02 -3.63565202e-04 9.99772244e-01 4.15034050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:131.53, Z:4.15 [[-4.91956459e-01 -8.70560342e-01 1.01751559e-02 1.14129205e+02] [ 8.70355360e-01 -4.92061478e-01 -1.88957397e-02 1.31530404e+02] [ 2.14566839e-02 -4.39879687e-04 9.99769682e-01 4.14980167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:131.55, Z:4.15 [[-4.93671134e-01 -8.69588370e-01 1.02410585e-02 1.14118263e+02] [ 8.69380863e-01 -4.93777115e-01 -1.90020033e-02 1.31554226e+02] [ 2.15807214e-02 -4.77360200e-04 9.99766995e-01 4.15004449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.11, Y:131.58, Z:4.15 [[-4.96878731e-01 -8.67759407e-01 1.02536940e-02 1.14107351e+02] [ 8.67551359e-01 -4.96984214e-01 -1.90087042e-02 1.31578749e+02] [ 2.15909059e-02 -5.49414599e-04 9.99766738e-01 4.15005684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:131.60, Z:4.15 [[-4.98044266e-01 -8.67088497e-01 1.04616699e-02 1.14094296e+02] [ 8.66872158e-01 -4.98153791e-01 -1.93768606e-02 1.31603174e+02] [ 2.20129735e-02 -5.81603963e-04 9.99757516e-01 4.15038114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.08, Y:131.63, Z:4.15 [[-4.99397790e-01 -8.66310910e-01 1.03563755e-02 1.14081710e+02] [ 8.66099086e-01 -4.99504800e-01 -1.91657930e-02 1.31627054e+02] [ 2.17765948e-02 -6.01707336e-04 9.99762681e-01 4.15069613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:131.65, Z:4.15 [[-5.00312955e-01 -8.65781052e-01 1.04936285e-02 1.14069990e+02] [ 8.65563828e-01 -5.00422601e-01 -1.94031124e-02 1.31650495e+02] [ 2.20500959e-02 -6.24723250e-04 9.99756672e-01 4.15115539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:131.67, Z:4.15 [[-5.00545135e-01 -8.65646820e-01 1.04953382e-02 1.14057429e+02] [ 8.65429875e-01 -5.00654768e-01 -1.93890437e-02 1.31673446e+02] [ 2.20386052e-02 -6.22112225e-04 9.99756927e-01 4.15110123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.04, Y:131.70, Z:4.15 [[-5.00569159e-01 -8.65628007e-01 1.08935946e-02 1.14043183e+02] [ 8.65394719e-01 -5.00687276e-01 -2.01055373e-02 1.31695497e+02] [ 2.28582004e-02 -6.36952649e-04 9.99738514e-01 4.15148765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:131.72, Z:4.15 [[-5.00283297e-01 -8.65794477e-01 1.07956621e-02 1.14031177e+02] [ 8.65565831e-01 -5.00399387e-01 -1.99059379e-02 1.31717490e+02] [ 2.26365938e-02 -6.14252021e-04 9.99743571e-01 4.15163512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:131.74, Z:4.15 [[-4.99644731e-01 -8.66164728e-01 1.06680445e-02 1.14016771e+02] [ 8.65941967e-01 -4.99758269e-01 -1.96515261e-02 1.31739579e+02] [ 2.23529022e-02 -5.80874070e-04 9.99749974e-01 4.15187165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.01, Y:131.76, Z:4.15 [[-4.99666966e-01 -8.66152690e-01 1.06037569e-02 1.14006009e+02] [ 8.65933010e-01 -4.99779145e-01 -1.95148459e-02 1.31763161e+02] [ 2.22023729e-02 -5.68780712e-04 9.99753335e-01 4.15234641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:131.79, Z:4.15 [[-4.99994242e-01 -8.65963712e-01 1.06116957e-02 1.13993392e+02] [ 8.65744080e-01 -5.00106516e-01 -1.95105282e-02 1.31785810e+02] [ 2.22023876e-02 -5.68139083e-04 9.99753335e-01 4.15287354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.98, Y:131.81, Z:4.15 [[-4.99982024e-01 -8.65971973e-01 1.05127375e-02 1.13979518e+02] [ 8.65756800e-01 -5.00092227e-01 -1.93113268e-02 1.31808315e+02] [ 2.19804061e-02 -5.53842269e-04 9.99758248e-01 4.15417391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:131.83, Z:4.16 [[-5.00186992e-01 -8.65854864e-01 1.04080421e-02 1.13965833e+02] [ 8.65644310e-01 -5.00294970e-01 -1.91016063e-02 1.31830535e+02] [ 2.17463099e-02 -5.44712595e-04 9.99763373e-01 4.15507085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.95, Y:131.85, Z:4.16 [[-5.00358653e-01 -8.65758158e-01 1.01995255e-02 1.13954092e+02] [ 8.65556304e-01 -5.00462319e-01 -1.87016765e-02 1.31853251e+02] [ 2.12956072e-02 -5.29282052e-04 9.99773083e-01 4.15583843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:131.88, Z:4.16 [[-5.01290262e-01 -8.65225573e-01 9.63230214e-03 1.13940253e+02] [ 8.65045777e-01 -5.01382533e-01 -1.76453579e-02 1.31876051e+02] [ 2.00966830e-02 -5.13063791e-04 9.99797910e-01 4.15720108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:131.90, Z:4.16 [[-5.01883251e-01 -8.64881970e-01 9.61151382e-03 1.13926007e+02] [ 8.64703216e-01 -5.01975010e-01 -1.75908498e-02 1.31899495e+02] [ 2.00387486e-02 -5.17445978e-04 9.99799070e-01 4.15789854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:131.92, Z:4.16 [[-5.03166946e-01 -8.64137574e-01 9.44868216e-03 1.13914179e+02] [ 8.63964983e-01 -5.03255374e-01 -1.72782193e-02 1.31923119e+02] [ 1.96858586e-02 -5.30498308e-04 9.99806074e-01 4.15905071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.90, Y:131.95, Z:4.16 [[-5.03852181e-01 -8.63739595e-01 9.32151845e-03 1.13901806e+02] [ 8.63571844e-01 -5.03938120e-01 -1.70305659e-02 1.31946018e+02] [ 1.94074426e-02 -5.31086886e-04 9.99811517e-01 4.15972158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.89, Y:131.97, Z:4.16 [[-5.04495862e-01 -8.63364838e-01 9.22399206e-03 1.13889325e+02] [ 8.63200817e-01 -5.04579898e-01 -1.68367147e-02 1.31968966e+02] [ 1.91904684e-02 -5.31895412e-04 9.99815705e-01 4.16030208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.87, Y:131.99, Z:4.16 [[-5.05142182e-01 -8.62986477e-01 9.25833104e-03 1.13874986e+02] [ 8.62821476e-01 -5.05226731e-01 -1.68834775e-02 1.31992515e+02] [ 1.92477691e-02 -5.40269834e-04 9.99814599e-01 4.16083565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:132.02, Z:4.16 [[-5.05831597e-01 -8.62579159e-01 9.57032639e-03 1.13862645e+02] [ 8.62403081e-01 -5.05921806e-01 -1.74370600e-02 1.32015154e+02] [ 1.98826814e-02 -5.66736929e-04 9.99802159e-01 4.16108084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:132.04, Z:4.16 [[-5.06276818e-01 -8.62315204e-01 9.81182334e-03 1.13849658e+02] [ 8.62130447e-01 -5.06371553e-01 -1.78589858e-02 1.32038082e+02] [ 2.03685032e-02 -5.82518867e-04 9.99792371e-01 4.16131671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.84, Y:132.06, Z:4.16 [[-5.06656335e-01 -8.62090126e-01 9.99865613e-03 1.13836500e+02] [ 8.61898576e-01 -5.06754637e-01 -1.81819433e-02 1.32061117e+02] [ 2.07413392e-02 -5.94169290e-04 9.99784699e-01 4.16154977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:132.08, Z:4.16 [[-5.07026449e-01 -8.61870141e-01 1.02000112e-02 1.13822318e+02] [ 8.61671122e-01 -5.07128674e-01 -1.85306729e-02 1.32084546e+02] [ 2.11437519e-02 -6.06486154e-04 9.99776262e-01 4.16183512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:132.11, Z:4.16 [[-5.07312727e-01 -8.61699942e-01 1.03444137e-02 1.13809669e+02] [ 8.61495562e-01 -5.07417809e-01 -1.87767129e-02 1.32107732e+02] [ 2.14288322e-02 -6.13998959e-04 9.99770188e-01 4.16264035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.80, Y:132.13, Z:4.16 [[-5.06522604e-01 -8.62167285e-01 1.01205143e-02 1.13797765e+02] [ 8.61972105e-01 -5.06623376e-01 -1.83533611e-02 1.32131435e+02] [ 2.09509566e-02 -5.72791245e-04 9.99780341e-01 4.16400762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:132.15, Z:4.16 [[-5.06205932e-01 -8.62355355e-01 9.93961812e-03 1.13781961e+02] [ 8.62167450e-01 -5.06303212e-01 -1.80096222e-02 1.32153436e+02] [ 2.05631547e-02 -5.46962371e-04 9.99788406e-01 4.16490021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:132.17, Z:4.17 [[-5.05777057e-01 -8.62608982e-01 9.76282722e-03 1.13769324e+02] [ 8.62428062e-01 -5.05871006e-01 -1.76737886e-02 1.32174984e+02] [ 2.01843001e-02 -5.19260639e-04 9.99796141e-01 4.16587450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.76, Y:132.20, Z:4.17 [[-5.05403931e-01 -8.62829050e-01 9.63826960e-03 1.13757382e+02] [ 8.62653094e-01 -5.05495583e-01 -1.74314158e-02 1.32197940e+02] [ 1.99124346e-02 -4.95422976e-04 9.99801605e-01 4.16699609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:132.22, Z:4.17 [[-5.04814434e-01 -8.63175703e-01 9.49175552e-03 1.13741859e+02] [ 8.63005422e-01 -5.04903445e-01 -1.71508936e-02 1.32219304e+02] [ 1.95966547e-02 -4.66582158e-04 9.99807858e-01 4.16816357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.73, Y:132.24, Z:4.17 [[-5.04616129e-01 -8.63291760e-01 9.48158733e-03 1.13730103e+02] [ 8.63122175e-01 -5.04704995e-01 -1.71166449e-02 1.32241908e+02] [ 1.95620630e-02 -4.53566800e-04 9.99808542e-01 4.16909652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:132.26, Z:4.17 [[-5.04453327e-01 -8.63389958e-01 9.19897521e-03 1.13715854e+02] [ 8.63230645e-01 -5.04537012e-01 -1.65908856e-02 1.32263814e+02] [ 1.89656274e-02 -4.28490110e-04 9.99820045e-01 4.17031240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:132.29, Z:4.17 [[-5.03525046e-01 -8.63935153e-01 8.86449476e-03 1.13702341e+02] [ 8.63787558e-01 -5.03602921e-01 -1.59734723e-02 1.32285149e+02] [ 1.82642297e-02 -3.86003118e-04 9.99833121e-01 4.17210048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.69, Y:132.31, Z:4.17 [[-5.03040840e-01 -8.64219642e-01 8.62115464e-03 1.13687813e+02] [ 8.64080341e-01 -5.03114582e-01 -1.55203600e-02 1.32306841e+02] [ 1.77504286e-02 -3.58004696e-04 9.99842385e-01 4.17293832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:132.33, Z:4.17 [[-5.02413237e-01 -8.64585784e-01 8.50662571e-03 1.13673212e+02] [ 8.64450454e-01 -5.02485136e-01 -1.53003529e-02 1.32327993e+02] [ 1.75029206e-02 -3.33543353e-04 9.99846757e-01 4.17343166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.66, Y:132.35, Z:4.17 [[-5.02264360e-01 -8.64673060e-01 8.42683035e-03 1.13658082e+02] [ 8.64540521e-01 -5.02334945e-01 -1.51423436e-02 1.32350265e+02] [ 1.73262679e-02 -3.20123223e-04 9.99849838e-01 4.17372680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:132.37, Z:4.17 [[-5.02101960e-01 -8.64766152e-01 8.55132429e-03 1.13644061e+02] [ 8.64629938e-01 -5.02174675e-01 -1.53514150e-02 1.32372520e+02] [ 1.75696425e-02 -3.14244546e-04 9.99845593e-01 4.17399808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.63, Y:132.39, Z:4.17 [[-5.01817807e-01 -8.64927884e-01 8.86815125e-03 1.13631125e+02] [ 8.64781697e-01 -5.01896063e-01 -1.59046722e-02 1.32394024e+02] [ 1.82072847e-02 -3.12232837e-04 9.99834185e-01 4.17417243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:132.42, Z:4.17 [[-5.02015852e-01 -8.64811488e-01 9.00964430e-03 1.13616561e+02] [ 8.64660879e-01 -5.02096596e-01 -1.61422863e-02 1.32416249e+02] [ 1.84837463e-02 -3.13396629e-04 9.99829112e-01 4.17444410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.60, Y:132.44, Z:4.17 [[-5.02108743e-01 -8.64756382e-01 9.12192957e-03 1.13602653e+02] [ 8.64602269e-01 -5.02191500e-01 -1.63283024e-02 1.32438571e+02] [ 1.87009592e-02 -3.11742378e-04 9.99825073e-01 4.17491709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:132.46, Z:4.17 [[-5.02395559e-01 -8.64586850e-01 9.39581299e-03 1.13587674e+02] [ 8.64423619e-01 -5.02483310e-01 -1.68026566e-02 1.32460130e+02] [ 1.92485952e-02 -3.19617395e-04 9.99814678e-01 4.17481267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:132.48, Z:4.18 [[-5.02716484e-01 -8.64399290e-01 9.48708984e-03 1.13575318e+02] [ 8.64233151e-01 -5.02805891e-01 -1.69498145e-02 1.32482210e+02] [ 1.94215723e-02 -3.21893587e-04 9.99811332e-01 4.17536247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:132.51, Z:4.18 [[-5.03752692e-01 -8.63793176e-01 9.72489601e-03 1.13562008e+02] [ 8.63618838e-01 -5.03846435e-01 -1.73572434e-02 1.32505304e+02] [ 1.98929225e-02 -3.45154690e-04 9.99802057e-01 4.17547232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:132.53, Z:4.18 [[-5.04616004e-01 -8.63287096e-01 9.90339725e-03 1.13549232e+02] [ 8.63106538e-01 -5.04713044e-01 -1.76591944e-02 1.32528603e+02] [ 2.02433284e-02 -3.63425203e-04 9.99795017e-01 4.17597298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.54, Y:132.55, Z:4.18 [[-5.05777842e-01 -8.62607143e-01 9.88385000e-03 1.13536829e+02] [ 8.62427494e-01 -5.05874264e-01 -1.76081444e-02 1.32551833e+02] [ 2.01888965e-02 -3.81705288e-04 9.99796111e-01 4.17630689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:132.58, Z:4.18 [[-5.07460829e-01 -8.61617037e-01 9.97941189e-03 1.13524912e+02] [ 8.61434039e-01 -5.07558772e-01 -1.77619956e-02 1.32575429e+02] [ 2.03691761e-02 -4.16911928e-04 9.99792440e-01 4.17612827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.51, Y:132.60, Z:4.18 [[-5.08408110e-01 -8.61058017e-01 1.00142480e-02 1.13512352e+02] [ 8.60873944e-01 -5.08506543e-01 -1.78086353e-02 1.32598308e+02] [ 2.04265788e-02 -4.33049431e-04 9.99791262e-01 4.17631909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:132.62, Z:4.18 [[-5.09242003e-01 -8.60563825e-01 1.01235197e-02 1.13499283e+02] [ 8.60375954e-01 -5.09342421e-01 -1.79865720e-02 1.32620989e+02] [ 2.06349312e-02 -4.49485049e-04 9.99786976e-01 4.17677659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:132.64, Z:4.18 [[-5.10512613e-01 -8.59806749e-01 1.04511554e-02 1.13486549e+02] [ 8.59606733e-01 -5.10619347e-01 -1.85512051e-02 1.32644932e+02] [ 2.12870135e-02 -4.86740664e-04 9.99773287e-01 4.17680328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:132.67, Z:4.18 [[-5.10924338e-01 -8.59559205e-01 1.06908267e-02 1.13475597e+02] [ 8.59350209e-01 -5.11035931e-01 -1.89603533e-02 1.32667794e+02] [ 2.17609428e-02 -5.00141778e-04 9.99763078e-01 4.17712659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:132.69, Z:4.18 [[-5.10886993e-01 -8.59576807e-01 1.10541307e-02 1.13461634e+02] [ 8.59353803e-01 -5.11006317e-01 -1.95853223e-02 1.32689899e+02] [ 2.24838194e-02 -5.06477094e-04 9.99747079e-01 4.17764722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:132.71, Z:4.18 [[-5.10710928e-01 -8.59680021e-01 1.11629162e-02 1.13447120e+02] [ 8.59453044e-01 -5.10832668e-01 -1.97598369e-02 1.32712459e+02] [ 2.26895192e-02 -4.97562266e-04 9.99742436e-01 4.17847847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:132.73, Z:4.18 [[-5.10459374e-01 -8.59827136e-01 1.13368560e-02 1.13433596e+02] [ 8.59593500e-01 -5.10585015e-01 -2.00488750e-02 1.32734763e+02] [ 2.30269956e-02 -4.89048406e-04 9.99734724e-01 4.17913753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:132.76, Z:4.18 [[-5.10296149e-01 -8.59923840e-01 1.13503455e-02 1.13419860e+02] [ 8.59690098e-01 -5.10422143e-01 -2.00542241e-02 1.32757675e+02] [ 2.30385731e-02 -4.75813748e-04 9.99734464e-01 4.17948925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.41, Y:132.78, Z:4.18 [[-5.09516140e-01 -8.60382389e-01 1.16381883e-02 1.13406466e+02] [ 8.60137213e-01 -5.09648836e-01 -2.05436034e-02 1.32779840e+02] [ 2.36067437e-02 -4.56858673e-04 9.99721218e-01 4.17987355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:132.80, Z:4.18 [[-5.09224555e-01 -8.60553628e-01 1.17390395e-02 1.13392493e+02] [ 8.60304680e-01 -5.09359653e-01 -2.07027030e-02 1.32802605e+02] [ 2.37951793e-02 -4.43174088e-04 9.99716756e-01 4.18040971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.38, Y:132.83, Z:4.18 [[-5.08987668e-01 -8.60689441e-01 1.20515234e-02 1.13379294e+02] [ 8.60427583e-01 -5.09130134e-01 -2.12339434e-02 1.32825055e+02] [ 2.44116246e-02 -4.38352118e-04 9.99701896e-01 4.18032862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:132.85, Z:4.18 [[-5.09326026e-01 -8.60484523e-01 1.23848888e-02 1.13368102e+02] [ 8.60208438e-01 -5.09476381e-01 -2.18004627e-02 1.32848223e+02] [ 2.50687691e-02 -4.49957195e-04 9.99685628e-01 4.18032009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:132.87, Z:4.18 [[-5.10305355e-01 -8.59900513e-01 1.26314306e-02 1.13355103e+02] [ 8.59613697e-01 -5.10461439e-01 -2.22128724e-02 1.32871459e+02] [ 2.55487186e-02 -4.77196975e-04 9.99673464e-01 4.18079964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:132.89, Z:4.18 [[-5.11166225e-01 -8.59386465e-01 1.28060443e-02 1.13342478e+02] [ 8.59092040e-01 -5.11326368e-01 -2.24991498e-02 1.32894877e+02] [ 2.58835330e-02 -4.99234711e-04 9.99664841e-01 4.18157399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:132.92, Z:4.18 [[-5.12431043e-01 -8.58633077e-01 1.27931547e-02 1.13330257e+02] [ 8.58339532e-01 -5.12590443e-01 -2.24563211e-02 1.32919169e+02] [ 2.58393889e-02 -5.26445659e-04 9.99665969e-01 4.18241574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:132.94, Z:4.18 [[-5.13705413e-01 -8.57870121e-01 1.28687148e-02 1.13318951e+02] [ 8.57573348e-01 -5.13866269e-01 -2.25701302e-02 1.32942768e+02] [ 2.59750388e-02 -5.58531185e-04 9.99662436e-01 4.18318379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:132.97, Z:4.18 [[-5.16031966e-01 -8.56472781e-01 1.28602529e-02 1.13309478e+02] [ 8.56176463e-01 -5.16191818e-01 -2.25360104e-02 1.32967372e+02] [ 2.59398368e-02 -6.18655909e-04 9.99663314e-01 4.18410453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:132.99, Z:4.19 [[-5.17260196e-01 -8.55734087e-01 1.26910299e-02 1.13295554e+02] [ 8.55445768e-01 -5.17415468e-01 -2.22209845e-02 1.32991220e+02] [ 2.55817891e-02 -6.37543020e-04 9.99672529e-01 4.18533980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:133.02, Z:4.19 [[-5.19213161e-01 -8.54554505e-01 1.24214159e-02 1.13286929e+02] [ 8.54278410e-01 -5.19361288e-01 -2.17313464e-02 1.33015972e+02] [ 2.50218225e-02 -6.71853626e-04 9.99686679e-01 4.18575212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:133.04, Z:4.19 [[-5.19732912e-01 -8.54235412e-01 1.26317552e-02 1.13275431e+02] [ 8.53950239e-01 -5.19885935e-01 -2.20817462e-02 1.33038724e+02] [ 2.54300814e-02 -6.89719815e-04 9.99676365e-01 4.18594075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:133.06, Z:4.19 [[-5.20412018e-01 -8.53819414e-01 1.27960702e-02 1.13262470e+02] [ 8.53527068e-01 -5.20568826e-01 -2.23526672e-02 1.33061959e+02] [ 2.57463764e-02 -7.10804332e-04 9.99668254e-01 4.18598298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:133.08, Z:4.19 [[-5.20954147e-01 -8.53488890e-01 1.27863446e-02 1.13246766e+02] [ 8.53197387e-01 -5.21110546e-01 -2.23162981e-02 1.33083671e+02] [ 2.57098115e-02 -7.16492197e-04 9.99669191e-01 4.18652751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:133.11, Z:4.19 [[-5.21179528e-01 -8.53344671e-01 1.32200973e-02 1.13236000e+02] [ 8.53033557e-01 -5.21346649e-01 -2.30526191e-02 1.33107349e+02] [ 2.65640831e-02 -7.37366472e-04 9.99646841e-01 4.18635117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:133.13, Z:4.19 [[-5.21103853e-01 -8.53390016e-01 1.32760936e-02 1.13223290e+02] [ 8.53076750e-01 -5.21272433e-01 -2.31324336e-02 1.33130089e+02] [ 2.66614495e-02 -7.28873510e-04 9.99644255e-01 4.18654318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:133.15, Z:4.19 [[-5.20087458e-01 -8.54003887e-01 1.36527657e-02 1.13209036e+02] [ 8.53673382e-01 -5.20266147e-01 -2.37674815e-02 1.33153785e+02] [ 2.74005934e-02 -7.06166334e-04 9.99624284e-01 4.18669992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.20, Y:133.18, Z:4.19 [[-5.19356472e-01 -8.54448773e-01 1.36436687e-02 1.13196352e+02] [ 8.54119410e-01 -5.19535219e-01 -2.37316233e-02 1.33175725e+02] [ 2.73658228e-02 -6.71849922e-04 9.99625260e-01 4.18668800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:133.20, Z:4.19 [[-5.18271819e-01 -8.55104815e-01 1.37868481e-02 1.13182504e+02] [ 8.54769334e-01 -5.18454777e-01 -2.39589351e-02 1.33198616e+02] [ 2.76352580e-02 -6.32665877e-04 9.99617873e-01 4.18720134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:133.22, Z:4.19 [[-5.18595171e-01 -8.54908615e-01 1.37952538e-02 1.13169343e+02] [ 8.54573193e-01 -5.18778237e-01 -2.39540948e-02 1.33220951e+02] [ 2.76352394e-02 -6.33423772e-04 9.99617873e-01 4.18772886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:133.24, Z:4.19 [[-5.15976667e-01 -8.56494404e-01 1.36167247e-02 1.13155156e+02] [ 8.56168708e-01 -5.16156036e-01 -2.36239389e-02 1.33242727e+02] [ 2.72621261e-02 -5.31187645e-04 9.99628178e-01 4.18853760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:133.27, Z:4.19 [[-5.15192446e-01 -8.56966170e-01 1.36282010e-02 1.13140705e+02] [ 8.56640628e-01 -5.15372426e-01 -2.36240721e-02 1.33265351e+02] [ 2.72686296e-02 -4.96472848e-04 9.99628019e-01 4.18979011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.13, Y:133.29, Z:4.19 [[-5.13569278e-01 -8.57945644e-01 1.32615387e-02 1.13128858e+02] [ 8.57638228e-01 -5.13740298e-01 -2.29690325e-02 1.33288365e+02] [ 2.65191682e-02 -4.22586953e-04 9.99648216e-01 4.19077606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.12, Y:133.31, Z:4.19 [[-5.13240410e-01 -8.58144734e-01 1.31109459e-02 1.13115329e+02] [ 8.57844817e-01 -5.13407691e-01 -2.26894917e-02 1.33310514e+02] [ 2.62021283e-02 -3.98006993e-04 9.99656586e-01 4.19187933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:133.33, Z:4.19 [[-5.12969646e-01 -8.58303854e-01 1.32905078e-02 1.13101905e+02] [ 8.57996245e-01 -5.13141644e-01 -2.29803490e-02 1.33333712e+02] [ 2.65440352e-02 -3.85015703e-04 9.99647571e-01 4.19240076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:133.36, Z:4.19 [[-5.12751083e-01 -8.58436824e-01 1.31356613e-02 1.13089168e+02] [ 8.58136901e-01 -5.12919181e-01 -2.26930150e-02 1.33355664e+02] [ 2.62180524e-02 -3.63672315e-04 9.99656182e-01 4.19278535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:133.38, Z:4.19 [[-5.12114032e-01 -8.58819247e-01 1.29892191e-02 1.13076690e+02] [ 8.58526634e-01 -5.12278628e-01 -2.24193123e-02 1.33378077e+02] [ 2.59082363e-02 -3.29653854e-04 9.99664271e-01 4.19422344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:133.40, Z:4.20 [[-5.12147049e-01 -8.58802309e-01 1.28060636e-02 1.13063365e+02] [ 8.58518396e-01 -5.12307032e-01 -2.20832361e-02 1.33400820e+02] [ 2.55257706e-02 -3.15623064e-04 9.99674115e-01 4.19543204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:133.42, Z:4.20 [[-5.12302655e-01 -8.58718358e-01 1.21971752e-02 1.13051138e+02] [ 8.58461205e-01 -5.12447748e-01 -2.10158236e-02 1.33424626e+02] [ 2.42970885e-02 -2.95660535e-04 9.99704738e-01 4.19659197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:133.45, Z:4.20 [[-5.12550612e-01 -8.58570844e-01 1.21645341e-02 1.13038921e+02] [ 8.58315462e-01 -5.12694860e-01 -2.09415557e-02 1.33446984e+02] [ 2.42165033e-02 -2.92599510e-04 9.99706695e-01 4.19731918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:133.47, Z:4.20 [[-5.13060307e-01 -8.58266676e-01 1.21422986e-02 1.13026837e+02] [ 8.58012593e-01 -5.13203883e-01 -2.08845674e-02 1.33469505e+02] [ 2.41560030e-02 -2.96797506e-04 9.99708157e-01 4.19802561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:133.49, Z:4.20 [[-5.14193230e-01 -8.57593774e-01 1.17576108e-02 1.13013990e+02] [ 8.57355786e-01 -5.14327546e-01 -2.02047682e-02 1.33492215e+02] [ 2.33747465e-02 -3.08699410e-04 9.99726726e-01 4.19920583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:133.52, Z:4.20 [[-5.15044380e-01 -8.57084506e-01 1.16376886e-02 1.13001261e+02] [ 8.56851634e-01 -5.15175744e-01 -1.99807355e-02 1.33515729e+02] [ 2.31206337e-02 -3.19193051e-04 9.99732631e-01 4.19943458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:133.54, Z:4.20 [[-5.15749147e-01 -8.56661380e-01 1.15800967e-02 1.12989355e+02] [ 8.56431105e-01 -5.15879030e-01 -1.98642571e-02 1.33538331e+02] [ 2.29908709e-02 -3.27418633e-04 9.99735621e-01 4.19951503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:133.56, Z:4.20 [[-5.17001616e-01 -8.55905704e-01 1.16084345e-02 1.12978435e+02] [ 8.55674454e-01 -5.17131802e-01 -1.98979531e-02 1.33561853e+02] [ 2.30338622e-02 -3.54233028e-04 9.99734623e-01 4.19926367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:133.58, Z:4.20 [[-5.18003191e-01 -8.55298918e-01 1.16813558e-02 1.12967441e+02] [ 8.55065035e-01 -5.18134751e-01 -2.00041282e-02 1.33584763e+02] [ 2.31620256e-02 -3.73883378e-04 9.99731654e-01 4.19927880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:133.61, Z:4.20 [[-5.18083811e-01 -8.55253642e-01 1.14180640e-02 1.12952082e+02] [ 8.55030574e-01 -5.18209493e-01 -1.95355501e-02 1.33606123e+02] [ 2.26247995e-02 -3.58258469e-04 9.99743962e-01 4.20005071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:133.63, Z:4.20 [[-5.18385088e-01 -8.55070238e-01 1.14799367e-02 1.12938164e+02] [ 8.54845107e-01 -5.18512063e-01 -1.96235294e-02 1.33629038e+02] [ 2.27319816e-02 -3.58977298e-04 9.99741531e-01 4.20010695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:133.65, Z:4.20 [[-5.18862888e-01 -8.54776511e-01 1.17651824e-02 1.12926200e+02] [ 8.54540416e-01 -5.18996126e-01 -2.00922376e-02 1.33651492e+02] [ 2.32804568e-02 -3.71292583e-04 9.99728905e-01 4.19988393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:133.67, Z:4.20 [[-5.19030869e-01 -8.54675410e-01 1.17004511e-02 1.12912210e+02] [ 8.54442317e-01 -5.19162605e-01 -1.99628739e-02 1.33674325e+02] [ 2.31362141e-02 -3.63987273e-04 9.99732256e-01 4.20012311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:133.70, Z:4.20 [[-5.19967543e-01 -8.54104215e-01 1.18213110e-02 1.12900323e+02] [ 8.53866568e-01 -5.20101761e-01 -2.01504973e-02 1.33697189e+02] [ 2.33589093e-02 -3.83782331e-04 9.99727070e-01 4.20040650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:133.72, Z:4.20 [[-5.20502297e-01 -8.53777157e-01 1.19132355e-02 1.12887719e+02] [ 8.53536164e-01 -5.20638467e-01 -2.02880079e-02 1.33720030e+02] [ 2.35239264e-02 -3.91577414e-04 9.99723197e-01 4.20103005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34275509600002 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:112.87, Y:133.74, Z:4.20 [[-5.20805802e-01 -8.53596377e-01 1.15992242e-02 1.12873073e+02] [ 8.53368271e-01 -5.20934814e-01 -1.97361131e-02 1.33742270e+02] [ 2.28891143e-02 -3.80272311e-04 9.99737938e-01 4.20215428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:133.76, Z:4.20 [[-5.21242267e-01 -8.53330550e-01 1.15529985e-02 1.12860075e+02] [ 8.53104594e-01 -5.21370145e-01 -1.96398452e-02 1.33764675e+02] [ 2.27826684e-02 -3.81201345e-04 9.99740369e-01 4.20207398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.85, Y:133.79, Z:4.20 [[-5.21781888e-01 -8.52995980e-01 1.18961676e-02 1.12846380e+02] [ 8.52756762e-01 -5.21917330e-01 -2.02040807e-02 1.33787179e+02] [ 2.34428156e-02 -3.97586051e-04 9.99725100e-01 4.20207067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:133.81, Z:4.20 [[-5.22019257e-01 -8.52852508e-01 1.17684010e-02 1.12832467e+02] [ 8.52618761e-01 -5.22151748e-01 -1.99700069e-02 1.33809387e+02] [ 2.31763616e-02 -3.90768643e-04 9.99731316e-01 4.20246564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.82, Y:133.83, Z:4.20 [[-5.22532806e-01 -8.52539674e-01 1.16434927e-02 1.12818551e+02] [ 8.52311174e-01 -5.22662368e-01 -1.97411096e-02 1.33831770e+02] [ 2.29156946e-02 -3.91498415e-04 9.99737324e-01 4.20347592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:133.85, Z:4.20 [[-5.22696738e-01 -8.52441758e-01 1.14529030e-02 1.12805298e+02] [ 8.52221030e-01 -5.22822058e-01 -1.94013499e-02 1.33853336e+02] [ 2.25263511e-02 -3.80617575e-04 9.99746177e-01 4.20448431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:133.88, Z:4.21 [[-5.22682693e-01 -8.52451186e-01 1.13920428e-02 1.12790904e+02] [ 8.52233185e-01 -5.22806695e-01 -1.92810407e-02 1.33875611e+02] [ 2.23919822e-02 -3.69189391e-04 9.99749200e-01 4.20552568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:133.90, Z:4.21 [[-5.22816109e-01 -8.52369596e-01 1.13749413e-02 1.12776663e+02] [ 8.52152595e-01 -5.22939710e-01 -1.92357425e-02 1.33898031e+02] [ 2.23443705e-02 -3.63570287e-04 9.99750267e-01 4.20634638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:133.92, Z:4.21 [[-5.22814797e-01 -8.52374223e-01 1.10847714e-02 1.12762071e+02] [ 8.52168494e-01 -5.22932179e-01 -1.87294670e-02 1.33918057e+02] [ 2.17610986e-02 -3.45949521e-04 9.99763139e-01 4.20707616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:133.94, Z:4.21 [[-5.23281584e-01 -8.52090426e-01 1.08761073e-02 1.12748847e+02] [ 8.51892678e-01 -5.23394487e-01 -1.83596519e-02 1.33938843e+02] [ 2.13365782e-02 -3.41991583e-04 9.99772291e-01 4.20778655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:133.96, Z:4.21 [[-5.23815947e-01 -8.51764165e-01 1.07079621e-02 1.12732809e+02] [ 8.51572710e-01 -5.23925271e-01 -1.80618421e-02 1.33959928e+02] [ 2.09946018e-02 -3.42472628e-04 9.99779530e-01 4.20889572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:133.98, Z:4.21 [[-5.25466750e-01 -8.50752154e-01 1.02697249e-02 1.12722774e+02] [ 8.50576159e-01 -5.25566974e-01 -1.73076071e-02 1.33984296e+02] [ 2.01219122e-02 -3.59388891e-04 9.99797469e-01 4.21030790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:134.01, Z:4.21 [[-5.26744708e-01 -8.49961823e-01 1.02426734e-02 1.12706764e+02] [ 8.49786898e-01 -5.26844147e-01 -1.72474046e-02 1.34005920e+02] [ 2.00559279e-02 -3.80889483e-04 9.99798787e-01 4.21110630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.70, Y:134.03, Z:4.21 [[-5.28192205e-01 -8.49064345e-01 1.01357729e-02 1.12695372e+02] [ 8.48893189e-01 -5.28289293e-01 -1.70521960e-02 1.34029816e+02] [ 1.98330319e-02 -4.02648472e-04 9.99803225e-01 4.21157529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:134.05, Z:4.21 [[-5.31221049e-01 -8.47171098e-01 1.02629258e-02 1.12682290e+02] [ 8.46995562e-01 -5.31319968e-01 -1.72513464e-02 1.34053233e+02] [ 2.00677395e-02 -4.71625729e-04 9.99798511e-01 4.21227025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.67, Y:134.08, Z:4.21 [[-5.32934972e-01 -8.46095310e-01 1.01509448e-02 1.12670394e+02] [ 8.45923673e-01 -5.33031403e-01 -1.70488103e-02 1.34076742e+02] [ 1.98356908e-02 -4.98982714e-04 9.99803129e-01 4.21281503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:134.10, Z:4.21 [[-5.35919224e-01 -8.44208413e-01 1.01361155e-02 1.12659464e+02] [ 8.44037222e-01 -5.36014777e-01 -1.70096237e-02 1.34100546e+02] [ 1.97927752e-02 -5.60525567e-04 9.99803947e-01 4.21360883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.65, Y:134.12, Z:4.21 [[-5.37543128e-01 -8.43174815e-01 1.01792044e-02 1.12646818e+02] [ 8.43002260e-01 -5.37639171e-01 -1.70678590e-02 1.34124623e+02] [ 1.98639279e-02 -5.93617957e-04 9.99802517e-01 4.21417665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:134.15, Z:4.21 [[-5.40354582e-01 -8.41376406e-01 1.01326198e-02 1.12636204e+02] [ 8.41205366e-01 -5.40449185e-01 -1.69767823e-02 1.34148636e+02] [ 1.97600301e-02 -6.49867975e-04 9.99804540e-01 4.21494487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.62, Y:134.17, Z:4.22 [[-5.41459557e-01 -8.40667327e-01 9.99961333e-03 1.12619649e+02] [ 8.40500887e-01 -5.41551484e-01 -1.67406463e-02 1.34170782e+02] [ 1.94886198e-02 -6.59699042e-04 9.99809861e-01 4.21532528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:134.19, Z:4.22 [[-5.42631610e-01 -8.39909505e-01 1.01469379e-02 1.12605619e+02] [ 8.39738266e-01 -5.42726035e-01 -1.69734064e-02 1.34194336e+02] [ 1.97631327e-02 -6.89534832e-04 9.99804452e-01 4.21575330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.59, Y:134.22, Z:4.22 [[-5.43455042e-01 -8.39376194e-01 1.02089518e-02 1.12590670e+02] [ 8.39203038e-01 -5.43550465e-01 -1.70631966e-02 1.34217348e+02] [ 1.98715215e-02 -7.05696895e-04 9.99802293e-01 4.21626447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:134.24, Z:4.22 [[-5.43571715e-01 -8.39299423e-01 1.03087480e-02 1.12578806e+02] [ 8.39123140e-01 -5.43668997e-01 -1.72156318e-02 1.34240518e+02] [ 2.00536165e-02 -7.07621477e-04 9.99798656e-01 4.21661214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:134.26, Z:4.22 [[-5.42253264e-01 -8.40146581e-01 1.07293762e-02 1.12561503e+02] [ 8.39956117e-01 -5.42358957e-01 -1.79020402e-02 1.34262165e+02] [ 2.08595111e-02 -6.95234537e-04 9.99782175e-01 4.21615212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:134.28, Z:4.22 [[-5.41715592e-01 -8.40489743e-01 1.10095147e-02 1.12548326e+02] [ 8.40289601e-01 -5.41827014e-01 -1.83541117e-02 1.34283531e+02] [ 2.13916951e-02 -6.91527747e-04 9.99770932e-01 4.21585936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:134.31, Z:4.22 [[-5.40714679e-01 -8.41129384e-01 1.13576005e-02 1.12532589e+02] [ 8.40916923e-01 -5.40833523e-01 -1.89163567e-02 1.34305445e+02] [ 2.20536745e-02 -6.77553241e-04 9.99756559e-01 4.21611031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:134.33, Z:4.22 [[-5.39497934e-01 -8.41908361e-01 1.15017993e-02 1.12518011e+02] [ 8.41690988e-01 -5.39620139e-01 -1.91412289e-02 1.34327344e+02] [ 2.23217632e-02 -6.45692597e-04 9.99750630e-01 4.21632626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:134.35, Z:4.22 [[-5.36480283e-01 -8.43834070e-01 1.15312153e-02 1.12499139e+02] [ 8.43616298e-01 -5.36603903e-01 -1.91779331e-02 1.34347487e+02] [ 2.23706884e-02 -5.60661834e-04 9.99749588e-01 4.21703254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18275509600002 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:112.48, Y:134.37, Z:4.22 [[-5.34989759e-01 -8.44778488e-01 1.16302795e-02 1.12483436e+02] [ 8.44557539e-01 -5.35115911e-01 -1.93267996e-02 1.34369917e+02] [ 2.25504122e-02 -5.17199629e-04 9.99745573e-01 4.21761814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:134.39, Z:4.22 [[-5.32109459e-01 -8.46594426e-01 1.17218237e-02 1.12465897e+02] [ 8.46370784e-01 -5.32238375e-01 -1.94629974e-02 1.34390928e+02] [ 2.27160695e-02 -4.35435909e-04 9.99741862e-01 4.21819236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:134.41, Z:4.22 [[-5.31230853e-01 -8.47146699e-01 1.16726865e-02 1.12452228e+02] [ 8.46925421e-01 -5.31358927e-01 -1.93654866e-02 1.34413950e+02] [ 2.26077942e-02 -4.01649045e-04 9.99744330e-01 4.21886935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:134.44, Z:4.22 [[-5.30574828e-01 -8.47556676e-01 1.17487546e-02 1.12437109e+02] [ 8.47332973e-01 -5.30704756e-01 -1.94755157e-02 1.34435853e+02] [ 2.27417233e-02 -3.78111197e-04 9.99741302e-01 4.21964342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:134.46, Z:4.22 [[-5.30529602e-01 -8.47584650e-01 1.17730123e-02 1.12423309e+02] [ 8.47360424e-01 -5.30660085e-01 -1.94983507e-02 1.34457205e+02] [ 2.27739705e-02 -3.68467507e-04 9.99740572e-01 4.22012369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:134.48, Z:4.22 [[-5.31031050e-01 -8.47268226e-01 1.19405864e-02 1.12407961e+02] [ 8.47037911e-01 -5.31165145e-01 -1.97576993e-02 1.34480147e+02] [ 2.30824942e-02 -3.77822486e-04 9.99733492e-01 4.22038477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:134.50, Z:4.22 [[-5.32588395e-01 -8.46292193e-01 1.17951648e-02 1.12396583e+02] [ 8.46067574e-01 -5.32718837e-01 -1.95013341e-02 1.34504343e+02] [ 2.27873333e-02 -4.06677730e-04 9.99740252e-01 4.22055022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:134.53, Z:4.22 [[-5.33861708e-01 -8.45489841e-01 1.17730910e-02 1.12384473e+02] [ 8.45266240e-01 -5.33991332e-01 -1.94484243e-02 1.34527438e+02] [ 2.27301737e-02 -4.31372721e-04 9.99741543e-01 4.22120924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.37, Y:134.55, Z:4.22 [[-5.35318194e-01 -8.44567891e-01 1.18113393e-02 1.12370382e+02] [ 8.44342971e-01 -5.35448281e-01 -1.94957683e-02 1.34550732e+02] [ 2.27898613e-02 -4.63618134e-04 9.99740170e-01 4.22217956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:134.57, Z:4.22 [[-5.37848858e-01 -8.42957064e-01 1.19161435e-02 1.12356896e+02] [ 8.42728101e-01 -5.37980585e-01 -1.96529391e-02 1.34574890e+02] [ 2.29772377e-02 -5.28241831e-04 9.99735849e-01 4.22310734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.34, Y:134.60, Z:4.22 [[-5.39240558e-01 -8.42067528e-01 1.19120963e-02 1.12344816e+02] [ 8.41838877e-01 -5.39371826e-01 -1.96300179e-02 1.34598455e+02] [ 2.29548498e-02 -5.57235973e-04 9.99736347e-01 4.22361898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:134.62, Z:4.22 [[-5.40665973e-01 -8.41151360e-01 1.20289122e-02 1.12334514e+02] [ 8.40918373e-01 -5.40799443e-01 -1.98053732e-02 1.34623374e+02] [ 2.31645457e-02 -5.92758115e-04 9.99731490e-01 4.22354344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:134.65, Z:4.22 [[-5.42976337e-01 -8.39649203e-01 1.28807070e-02 1.12319288e+02] [ 8.39382085e-01 -5.43128654e-01 -2.11891827e-02 1.34646174e+02] [ 2.47873615e-02 -6.93390147e-04 9.99692506e-01 4.22318124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:134.67, Z:4.22 [[-5.43303008e-01 -8.39437749e-01 1.28882705e-02 1.12305595e+02] [ 8.39170679e-01 -5.43455412e-01 -2.11845816e-02 1.34668199e+02] [ 2.47873378e-02 -6.94188179e-04 9.99692506e-01 4.22370882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:134.69, Z:4.22 [[-5.44652479e-01 -8.38563537e-01 1.28402176e-02 1.12295863e+02] [ 8.38298664e-01 -5.44803335e-01 -2.10873616e-02 1.34693184e+02] [ 2.46784859e-02 -7.21346485e-04 9.99695180e-01 4.22362308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:134.72, Z:4.22 [[-5.45729892e-01 -8.37858913e-01 1.30891688e-02 1.12282818e+02] [ 8.37583915e-01 -5.45886313e-01 -2.14783011e-02 1.34716516e+02] [ 2.51409841e-02 -7.58073698e-04 9.99683628e-01 4.22376859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:134.74, Z:4.22 [[-5.47314562e-01 -8.36820123e-01 1.33735833e-02 1.12266583e+02] [ 8.36533189e-01 -5.47477324e-01 -2.19272291e-02 1.34738990e+02] [ 2.56708801e-02 -8.13645492e-04 9.99670118e-01 4.22441363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:134.76, Z:4.22 [[-5.47681996e-01 -8.36573790e-01 1.37377216e-02 1.12249772e+02] [ 8.36271409e-01 -5.47853622e-01 -2.25064424e-02 1.34761007e+02] [ 2.63545603e-02 -8.37909501e-04 9.99652307e-01 4.22487747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:134.78, Z:4.22 [[-5.47801685e-01 -8.36479806e-01 1.46576974e-02 1.12233978e+02] [ 8.36136098e-01 -5.47997031e-01 -2.39933087e-02 1.34783325e+02] [ 2.81022928e-02 -8.87745063e-04 9.99604658e-01 4.22403134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:134.80, Z:4.22 [[-5.47971356e-01 -8.36360865e-01 1.50962228e-02 1.12220248e+02] [ 8.35996850e-01 -5.48178508e-01 -2.46898893e-02 1.34804238e+02] [ 2.89250820e-02 -9.08957399e-04 9.99581169e-01 4.22360157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:134.83, Z:4.22 [[-5.47653939e-01 -8.36562981e-01 1.54124247e-02 1.12206120e+02] [ 8.36184321e-01 -5.47870023e-01 -2.51837198e-02 1.34825993e+02] [ 2.95117732e-02 -9.04335462e-04 9.99564024e-01 4.22342589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:134.85, Z:4.22 [[-5.46637183e-01 -8.37215790e-01 1.60471508e-02 1.12190496e+02] [ 8.36806272e-01 -5.46871945e-01 -2.61980705e-02 1.34848381e+02] [ 3.07091749e-02 -8.92482986e-04 9.99527964e-01 4.22348682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:134.87, Z:4.22 [[-5.46263779e-01 -8.37457359e-01 1.61572182e-02 1.12177785e+02] [ 8.37042985e-01 -5.46501976e-01 -2.63558601e-02 1.34870789e+02] [ 3.09018606e-02 -8.72965586e-04 9.99522042e-01 4.22333367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:134.89, Z:4.22 [[-5.45361104e-01 -8.38040201e-01 1.64282227e-02 1.12161107e+02] [ 8.37612808e-01 -5.45607838e-01 -2.67744364e-02 1.34892000e+02] [ 3.14014211e-02 -8.41246472e-04 9.99506500e-01 4.22470092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:134.91, Z:4.23 [[-5.45327555e-01 -8.38064369e-01 1.63086346e-02 1.12145910e+02] [ 8.37643854e-01 -5.45570746e-01 -2.65581472e-02 1.34914253e+02] [ 3.11549508e-02 -8.22061912e-04 9.99514229e-01 4.22600657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.13, Y:134.94, Z:4.23 [[-5.45111890e-01 -8.38206503e-01 1.62137592e-02 1.12134523e+02] [ 8.37791579e-01 -5.45352384e-01 -2.63827267e-02 1.34937470e+02] [ 3.09563853e-02 -7.97787103e-04 9.99520418e-01 4.22540540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:134.96, Z:4.23 [[-5.45273858e-01 -8.38102673e-01 1.61347062e-02 1.12117791e+02] [ 8.37692357e-01 -5.45511949e-01 -2.62341158e-02 1.34957795e+02] [ 3.07885576e-02 -7.88857463e-04 9.99525609e-01 4.22770905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.10, Y:134.98, Z:4.23 [[-5.45202160e-01 -8.38149730e-01 1.61131884e-02 1.12104180e+02] [ 8.37741244e-01 -5.45439670e-01 -2.61758581e-02 1.34978764e+02] [ 3.07280606e-02 -7.72451906e-04 9.99527483e-01 4.22903936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:135.00, Z:4.23 [[-5.45175962e-01 -8.38167655e-01 1.60671501e-02 1.12089273e+02] [ 8.37762225e-01 -5.45412147e-01 -2.60776646e-02 1.35000859e+02] [ 3.06206738e-02 -7.56464488e-04 9.99530791e-01 4.23001480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.07, Y:135.02, Z:4.23 [[-5.45491421e-01 -8.37966765e-01 1.58369978e-02 1.12074489e+02] [ 8.37573460e-01 -5.45720759e-01 -2.56817545e-02 1.35023171e+02] [ 3.01630352e-02 -7.44527733e-04 9.99544715e-01 4.23139012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:135.05, Z:4.23 [[-5.45929874e-01 -8.37683792e-01 1.56983065e-02 1.12060394e+02] [ 8.37297899e-01 -5.46155028e-01 -2.54345078e-02 1.35045623e+02] [ 2.98797839e-02 -7.41298598e-04 9.99553225e-01 4.23260489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:135.07, Z:4.23 [[-5.46295936e-01 -8.37448263e-01 1.55292182e-02 1.12045780e+02] [ 8.37071195e-01 -5.46516118e-01 -2.51385474e-02 1.35067920e+02] [ 2.95392009e-02 -7.34025057e-04 9.99563353e-01 4.23345755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:135.09, Z:4.23 [[-5.47302450e-01 -8.36790298e-01 1.55571660e-02 1.12033263e+02] [ 8.36412253e-01 -5.47522987e-01 -2.51619126e-02 1.35090764e+02] [ 2.95731504e-02 -7.58972172e-04 9.99562331e-01 4.23411393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.02, Y:135.11, Z:4.23 [[-5.47882464e-01 -8.36408131e-01 1.56921857e-02 1.12018891e+02] [ 8.36023978e-01 -5.48106595e-01 -2.53588200e-02 1.35112676e+02] [ 2.98113137e-02 -7.74609288e-04 9.99555244e-01 4.23496367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:135.14, Z:4.24 [[-5.48972772e-01 -8.35692689e-01 1.57042984e-02 1.12006053e+02] [ 8.35308292e-01 -5.49196764e-01 -2.53569065e-02 1.35136037e+02] [ 2.98153313e-02 -8.02320543e-04 9.99555102e-01 4.23529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:135.16, Z:4.24 [[-5.50840629e-01 -8.34459205e-01 1.58882929e-02 1.11990746e+02] [ 8.34065860e-01 -5.51069036e-01 -2.56331485e-02 1.35158168e+02] [ 3.01453630e-02 -8.67896988e-04 9.99545148e-01 4.23703017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:135.18, Z:4.24 [[-5.51891238e-01 -8.33763106e-01 1.59732345e-02 1.11976902e+02] [ 8.33365876e-01 -5.52121612e-01 -2.57496027e-02 1.35181233e+02] [ 3.02882367e-02 -8.99431606e-04 9.99540801e-01 4.23815972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:135.20, Z:4.24 [[-5.53594816e-01 -8.32636785e-01 1.57722492e-02 1.11962484e+02] [ 8.32249648e-01 -5.53818657e-01 -2.54051020e-02 1.35203763e+02] [ 2.98881883e-02 -9.37683882e-04 9.99552808e-01 4.23951891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:135.23, Z:4.24 [[-5.54424331e-01 -8.32083413e-01 1.58383868e-02 1.11949222e+02] [ 8.31693445e-01 -5.54649685e-01 -2.54900177e-02 1.35226628e+02] [ 2.99945771e-02 -9.59603571e-04 9.99549601e-01 4.24023652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:135.25, Z:4.24 [[-5.55068747e-01 -8.31648844e-01 1.60899381e-02 1.11935414e+02] [ 8.31246868e-01 -5.55301024e-01 -2.58730931e-02 1.35249058e+02] [ 3.04520871e-02 -9.86634776e-04 9.99535741e-01 4.24057489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:135.27, Z:4.24 [[-5.55257818e-01 -8.31521265e-01 1.61598715e-02 1.11919416e+02] [ 8.31116400e-01 -5.55492047e-01 -2.59637498e-02 1.35270524e+02] [ 3.05660902e-02 -9.85840891e-04 9.99532262e-01 4.24152240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:135.29, Z:4.24 [[-5.55073824e-01 -8.31641770e-01 1.62793419e-02 1.11905931e+02] [ 8.31231661e-01 -5.55311641e-01 -2.61324897e-02 1.35291939e+02] [ 3.07729781e-02 -9.73556613e-04 9.99525926e-01 4.24191344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:135.31, Z:4.24 [[-5.54847419e-01 -8.31790833e-01 1.63814502e-02 1.11888953e+02] [ 8.31376361e-01 -5.55088364e-01 -2.62726851e-02 1.35312303e+02] [ 3.09465310e-02 -9.58181018e-04 9.99520582e-01 4.24301638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:135.33, Z:4.24 [[-5.53851284e-01 -8.32454997e-01 1.63533738e-02 1.11873732e+02] [ 8.32042934e-01 -5.54091920e-01 -2.62049796e-02 1.35333444e+02] [ 3.08757385e-02 -9.06952490e-04 9.99522819e-01 4.24350689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:135.35, Z:4.25 [[-5.53421737e-01 -8.32739809e-01 1.63948771e-02 1.11855889e+02] [ 8.32326445e-01 -5.53663827e-01 -2.62498503e-02 1.35354452e+02] [ 3.09365457e-02 -8.81347972e-04 9.99520962e-01 4.24508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:135.38, Z:4.25 [[-5.52856138e-01 -8.33111072e-01 1.66142066e-02 1.11839670e+02] [ 8.32687414e-01 -5.53105054e-01 -2.65794830e-02 1.35376538e+02] [ 3.13330632e-02 -8.60189572e-04 9.99508629e-01 4.24567288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:135.40, Z:4.25 [[-5.51663697e-01 -8.33903628e-01 1.64895060e-02 1.11824245e+02] [ 8.33487326e-01 -5.51909506e-01 -2.63585790e-02 1.35397616e+02] [ 3.10812298e-02 -7.97276902e-04 9.99516544e-01 4.24641186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:135.42, Z:4.25 [[-5.51316779e-01 -8.34135618e-01 1.63578731e-02 1.11809978e+02] [ 8.33726718e-01 -5.51558868e-01 -2.61261517e-02 1.35419227e+02] [ 3.08150837e-02 -7.65790006e-04 9.99524809e-01 4.24679825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:135.44, Z:4.25 [[-5.50601781e-01 -8.34607381e-01 1.63767935e-02 1.11791966e+02] [ 8.34198441e-01 -5.50844797e-01 -2.61337058e-02 1.35438723e+02] [ 3.08324553e-02 -7.27769321e-04 9.99524302e-01 4.24886038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65275509600002 meters Centerline goodness [0,1] 0.9998929038061988 Centerline is valid? [True, True] Translation: X:111.78, Y:135.46, Z:4.25 [[-5.51208038e-01 -8.34205233e-01 1.64720245e-02 1.11775108e+02] [ 8.33792043e-01 -5.51453605e-01 -2.62630996e-02 1.35460829e+02] [ 3.09923724e-02 -7.42188649e-04 9.99519346e-01 4.24797431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.76, Y:135.48, Z:4.25 [[-5.51133386e-01 -8.34263419e-01 1.60168293e-02 1.11760384e+02] [ 8.33873401e-01 -5.51365621e-01 -2.55167333e-02 1.35481961e+02] [ 3.01188062e-02 -7.07115647e-04 9.99546076e-01 4.25087882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:135.50, Z:4.25 [[-5.51720980e-01 -8.33875191e-01 1.60039541e-02 1.11747055e+02] [ 8.33486301e-01 -5.51952583e-01 -2.54741273e-02 1.35503681e+02] [ 3.00756666e-02 -7.15533989e-04 9.99547369e-01 4.25134701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.73, Y:135.52, Z:4.25 [[-5.53005212e-01 -8.33036378e-01 1.53501881e-02 1.11730217e+02] [ 8.32678898e-01 -5.53217748e-01 -2.44126148e-02 1.35524801e+02] [ 2.88285927e-02 -7.18525569e-04 9.99584112e-01 4.25435710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:135.55, Z:4.26 [[-5.54198847e-01 -8.32249347e-01 1.49887719e-02 1.11715391e+02] [ 8.31908745e-01 -5.54401020e-01 -2.38191092e-02 1.35548175e+02] [ 2.81332284e-02 -7.31232420e-04 9.99603915e-01 4.25564714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:135.57, Z:4.26 [[-5.56477803e-01 -8.30736620e-01 1.44610872e-02 1.11701816e+02] [ 8.30419560e-01 -5.56665138e-01 -2.29625321e-02 1.35570977e+02] [ 2.71257994e-02 -7.69369751e-04 9.99631732e-01 4.25735751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:135.60, Z:4.26 [[-5.58039405e-01 -8.29690072e-01 1.43668997e-02 1.11689904e+02] [ 8.29377287e-01 -5.58223734e-01 -2.27942624e-02 1.35596001e+02] [ 2.69321176e-02 -8.04516304e-04 9.99636941e-01 4.25761987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.67, Y:135.62, Z:4.26 [[-5.61008013e-01 -8.27686438e-01 1.43237586e-02 1.11673675e+02] [ 8.27375371e-01 -5.61190140e-01 -2.27073440e-02 1.35618113e+02] [ 2.68329128e-02 -8.87876835e-04 9.99639538e-01 4.25866775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:135.64, Z:4.26 [[-5.62783165e-01 -8.26478881e-01 1.44141867e-02 1.11661657e+02] [ 8.26163992e-01 -5.62966939e-01 -2.28316419e-02 1.35641980e+02] [ 2.69845804e-02 -9.40781678e-04 9.99635407e-01 4.25853097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:135.66, Z:4.26 [[-5.64547512e-01 -8.25270984e-01 1.46256844e-02 1.11642272e+02] [ 8.24946845e-01 -5.64736041e-01 -2.31496785e-02 1.35661484e+02] [ 2.73644090e-02 -1.00368119e-03 9.99625021e-01 4.26022614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:135.68, Z:4.26 [[-5.66093209e-01 -8.24208245e-01 1.48070005e-02 1.11628442e+02] [ 8.23876208e-01 -5.66285839e-01 -2.34167158e-02 1.35684834e+02] [ 2.76852449e-02 -1.05690836e-03 9.99616131e-01 4.26086009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.62, Y:135.71, Z:4.26 [[-5.68401084e-01 -8.22609344e-01 1.52995010e-02 1.11618878e+02] [ 8.22254841e-01 -5.68605767e-01 -2.41755824e-02 1.35710481e+02] [ 2.85864444e-02 -1.16133845e-03 9.99590649e-01 4.26033451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:135.73, Z:4.26 [[-5.69100542e-01 -8.22119943e-01 1.56003943e-02 1.11604325e+02] [ 8.21751818e-01 -5.69313066e-01 -2.46289141e-02 1.35732294e+02] [ 2.91294298e-02 -1.19667596e-03 9.99574932e-01 4.26052359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:135.75, Z:4.26 [[-5.69462400e-01 -8.21853779e-01 1.63993835e-02 1.11586743e+02] [ 8.21447650e-01 -5.69697098e-01 -2.58645494e-02 1.35752835e+02] [ 3.05995589e-02 -1.25765339e-03 9.99530933e-01 4.26035279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.57, Y:135.78, Z:4.26 [[-5.69578896e-01 -8.21760020e-01 1.70396553e-02 1.11574289e+02] [ 8.21322371e-01 -5.69832245e-01 -2.68472497e-02 1.35775442e+02] [ 3.17717415e-02 -1.29657673e-03 9.99494310e-01 4.25923716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:135.79, Z:4.26 [[-5.68881155e-01 -8.22234056e-01 1.74754070e-02 1.11548834e+02] [ 8.21774823e-01 -5.69148048e-01 -2.75070820e-02 1.35791708e+02] [ 3.25633534e-02 -1.28741111e-03 9.99468844e-01 4.26236126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:135.81, Z:4.26 [[-5.68849356e-01 -8.22248999e-01 1.78043266e-02 1.11534795e+02] [ 8.21773150e-01 -5.69126438e-01 -2.79997749e-02 1.35813108e+02] [ 3.31556999e-02 -1.29653635e-03 9.99449358e-01 4.26296120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:135.83, Z:4.26 [[-5.68541885e-01 -8.22457106e-01 1.80120677e-02 1.11520739e+02] [ 8.21970976e-01 -5.68825681e-01 -2.83029875e-02 1.35834434e+02] [ 3.35237199e-02 -1.28603695e-03 9.99437095e-01 4.26384778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:135.86, Z:4.27 [[-5.68279557e-01 -8.22640030e-01 1.79367163e-02 1.11503715e+02] [ 8.22158739e-01 -5.68561164e-01 -2.81639769e-02 1.35855486e+02] [ 3.33669351e-02 -1.25818427e-03 9.99442377e-01 4.26514090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:135.88, Z:4.26 [[-5.67240319e-01 -8.23349096e-01 1.82944243e-02 1.11490993e+02] [ 8.22849622e-01 -5.67533929e-01 -2.87008436e-02 1.35877479e+02] [ 3.40135201e-02 -1.22671553e-03 9.99420620e-01 4.26481894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.48, Y:135.90, Z:4.27 [[-5.66985549e-01 -8.23525921e-01 1.82330492e-02 1.11475479e+02] [ 8.23030806e-01 -5.67277380e-01 -2.85773725e-02 1.35897682e+02] [ 3.38774034e-02 -1.19659607e-03 9.99425280e-01 4.26575115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.46, Y:135.92, Z:4.27 [[-5.65590552e-01 -8.24481815e-01 1.83592955e-02 1.11455940e+02] [ 8.23981268e-01 -5.65887318e-01 -2.87474278e-02 1.35916992e+02] [ 3.40910239e-02 -1.13155803e-03 9.99418092e-01 4.26843446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:135.94, Z:4.27 [[-5.65227212e-01 -8.24735426e-01 1.81569689e-02 1.11439919e+02] [ 8.24246853e-01 -5.65517718e-01 -2.84048435e-02 1.35938580e+02] [ 3.36945684e-02 -1.08936600e-03 9.99431583e-01 4.26984343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:135.96, Z:4.27 [[-5.64961186e-01 -8.24925492e-01 1.77986282e-02 1.11423157e+02] [ 8.24456971e-01 -5.65240521e-01 -2.78182592e-02 1.35959012e+02] [ 3.30084970e-02 -1.04203362e-03 9.99454528e-01 4.27161292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:135.98, Z:4.27 [[-5.64335714e-01 -8.25356048e-01 1.76803883e-02 1.11407298e+02] [ 8.24894821e-01 -5.64611728e-01 -2.76067077e-02 1.35979482e+02] [ 3.27679178e-02 -9.94990359e-04 9.99462492e-01 4.27240260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:136.00, Z:4.27 [[-5.64565824e-01 -8.25205559e-01 1.73555537e-02 1.11393197e+02] [ 8.24761934e-01 -5.64831696e-01 -2.70722553e-02 1.35999871e+02] [ 3.21431424e-02 -9.69870029e-04 9.99482805e-01 4.27293255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:136.02, Z:4.27 [[-5.65043894e-01 -8.24880374e-01 1.72559171e-02 1.11376557e+02] [ 8.24442543e-01 -5.65306494e-01 -2.68897852e-02 1.36020189e+02] [ 3.19357381e-02 -9.67396759e-04 9.99489456e-01 4.27434102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:136.04, Z:4.27 [[-5.65393993e-01 -8.24640208e-01 1.72673325e-02 1.11362265e+02] [ 8.24202488e-01 -5.65656780e-01 -2.68824540e-02 1.36041819e+02] [ 3.19357362e-02 -9.67399622e-04 9.99489456e-01 4.27486844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.35, Y:136.06, Z:4.28 [[-5.66151992e-01 -8.24132312e-01 1.66690011e-02 1.11348427e+02] [ 8.23724929e-01 -5.66396535e-01 -2.59269633e-02 1.36062574e+02] [ 3.08085126e-02 -9.47930118e-04 9.99524856e-01 4.27647432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52275509600003 meters Centerline goodness [0,1] 0.9998950549911846 Centerline is valid? [True, True] Translation: X:111.34, Y:136.08, Z:4.28 [[-5.66927906e-01 -8.23603906e-01 1.64120597e-02 1.11336613e+02] [ 8.23209532e-01 -5.67164623e-01 -2.55021134e-02 1.36084547e+02] [ 3.03119799e-02 -9.47295743e-04 9.99540037e-01 4.27692159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.32, Y:136.10, Z:4.28 [[-5.67752208e-01 -8.23037783e-01 1.63167914e-02 1.11321431e+02] [ 8.22648542e-01 -5.67985821e-01 -2.53275183e-02 1.36104604e+02] [ 3.01132107e-02 -9.56769738e-04 9.99546037e-01 4.27842707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58275509600003 meters Centerline goodness [0,1] 0.9998740078115157 Centerline is valid? [True, True] Translation: X:111.31, Y:136.13, Z:4.28 [[-5.68895426e-01 -8.22254491e-01 1.59858115e-02 1.11308204e+02] [ 8.21881312e-01 -5.69119164e-01 -2.47888378e-02 1.36125935e+02] [ 2.94805649e-02 -9.63816669e-04 9.99564889e-01 4.27914732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:136.15, Z:4.28 [[-5.69667214e-01 -8.21723572e-01 1.57998832e-02 1.11293982e+02] [ 8.21359502e-01 -5.69885460e-01 -2.44771395e-02 1.36147492e+02] [ 2.91175662e-02 -9.66439704e-04 9.99575527e-01 4.27960218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters Centerline goodness [0,1] 0.9997899777376402 Centerline is valid? [True, True] Translation: X:111.28, Y:136.17, Z:4.28 [[-5.69967169e-01 -8.21511597e-01 1.60038053e-02 1.11278472e+02] [ 8.21138712e-01 -5.70190971e-01 -2.47683797e-02 1.36168229e+02] [ 2.94727364e-02 -9.75819217e-04 9.99565108e-01 4.27994269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.672755096 meters Centerline goodness [0,1] 0.9998946303633145 Centerline is valid? [True, True] Translation: X:111.26, Y:136.19, Z:4.28 [[-5.70168884e-01 -8.21371250e-01 1.60222984e-02 1.11260555e+02] [ 8.20998164e-01 -5.70393135e-01 -2.47726671e-02 1.36188173e+02] [ 2.94865655e-02 -9.70326409e-04 9.99564706e-01 4.28124705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.702755096 meters Centerline goodness [0,1] 0.9999579796621565 Centerline is valid? [True, True] Translation: X:111.25, Y:136.21, Z:4.28 [[-5.69945791e-01 -8.21525221e-01 1.60657212e-02 1.11246484e+02] [ 8.21150831e-01 -5.70171382e-01 -2.48174766e-02 1.36209396e+02] [ 2.95483974e-02 -9.52236024e-04 9.99562897e-01 4.28134704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.732755096 meters Centerline goodness [0,1] 0.9998331003692654 Centerline is valid? [True, True] Translation: X:111.23, Y:136.23, Z:4.28 [[-5.69911602e-01 -8.21546393e-01 1.61953624e-02 1.11231788e+02] [ 8.21166554e-01 -5.70140883e-01 -2.49972652e-02 1.36231594e+02] [ 2.97700513e-02 -9.47141469e-04 9.99556325e-01 4.28150092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.762755096 meters Centerline goodness [0,1] 0.9998745530954024 Centerline is valid? [True, True] Translation: X:111.22, Y:136.25, Z:4.28 [[-5.68470449e-01 -8.22539066e-01 1.64570278e-02 1.11217111e+02] [ 8.22147999e-01 -5.68707906e-01 -2.53768637e-02 1.36252522e+02] [ 3.02327036e-02 -8.95884616e-04 9.99542486e-01 4.28106437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.792755096 meters Centerline goodness [0,1] 0.9997486700456583 Centerline is valid? [True, True] Translation: X:111.20, Y:136.27, Z:4.28 [[-5.66137734e-01 -8.24136978e-01 1.69206178e-02 1.11202726e+02] [ 8.23725069e-01 -5.66389945e-01 -2.60660885e-02 1.36273790e+02] [ 3.10656952e-02 -8.19059259e-04 9.99517009e-01 4.27887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.822755096 meters Centerline goodness [0,1] 0.9997687812670787 Centerline is valid? [True, True] Translation: X:111.18, Y:136.29, Z:4.28 [[-5.65046137e-01 -8.24886253e-01 1.68977105e-02 1.11182928e+02] [ 8.24476553e-01 -5.65298228e-01 -2.60062955e-02 1.36292676e+02] [ 3.10044814e-02 -7.62990745e-04 9.99518954e-01 4.28052910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.852755096 meters Centerline goodness [0,1] 0.9998314369995785 Centerline is valid? [True, True] Translation: X:111.17, Y:136.31, Z:4.28 [[-5.63921882e-01 -8.25658573e-01 1.67341166e-02 1.11166482e+02] [ 8.25257837e-01 -5.64169682e-01 -2.57307565e-02 1.36313184e+02] [ 3.06857009e-02 -7.00175740e-04 9.99528838e-01 4.28091727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.882755096 meters Centerline goodness [0,1] 0.9997900571044676 Centerline is valid? [True, True] Translation: X:111.15, Y:136.33, Z:4.28 [[-5.62780340e-01 -8.26439738e-01 1.66026677e-02 1.11151514e+02] [ 8.26046287e-01 -5.63024822e-01 -2.55064857e-02 1.36333992e+02] [ 3.04272874e-02 -6.39976676e-04 9.99536778e-01 4.28094252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.912755096 meters Centerline goodness [0,1] 0.999789690634924 Centerline is valid? [True, True] Translation: X:111.13, Y:136.35, Z:4.28 [[-5.60489106e-01 -8.28008333e-01 1.59424988e-02 1.11134459e+02] [ 8.27646741e-01 -5.60715550e-01 -2.44733189e-02 1.36354037e+02] [ 2.92033190e-02 -5.22271503e-04 9.99573356e-01 4.28201965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.942755096 meters Centerline goodness [0,1] 0.9998319574852438 Centerline is valid? [True, True] Translation: X:111.12, Y:136.37, Z:4.28 [[-5.59554424e-01 -8.28644350e-01 1.57285731e-02 1.11120352e+02] [ 8.28293263e-01 -5.59775241e-01 -2.41236457e-02 1.36373711e+02] [ 2.87943885e-02 -4.70621543e-04 9.99585245e-01 4.28272345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97275509600001 meters Centerline goodness [0,1] 0.9996630940599271 Centerline is valid? [True, True] Translation: X:111.10, Y:136.39, Z:4.28 [[-5.58343677e-01 -8.29472514e-01 1.50893152e-02 1.11103669e+02] [ 8.29150228e-01 -5.58547392e-01 -2.31238102e-02 1.36393853e+02] [ 2.76086626e-02 -3.99724122e-04 9.99618728e-01 4.28404074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00275509600002 meters Centerline goodness [0,1] 0.9997268448478736 Centerline is valid? [True, True] Translation: X:111.09, Y:136.42, Z:4.28 [[-5.58430005e-01 -8.29418435e-01 1.48657031e-02 1.11089820e+02] [ 8.29106190e-01 -5.58627704e-01 -2.27599166e-02 1.36415548e+02] [ 2.71818880e-02 -3.84573884e-04 9.99630430e-01 4.28440969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03275509600002 meters Centerline goodness [0,1] 0.9996626109693608 Centerline is valid? [True, True] Translation: X:111.08, Y:136.44, Z:4.28 [[-5.58890929e-01 -8.29103165e-01 1.51284795e-02 1.11075799e+02] [ 8.28780294e-01 -5.59095507e-01 -2.31395395e-02 1.36437235e+02] [ 2.76433304e-02 -3.94293018e-04 9.99617772e-01 4.28395721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06275509600002 meters Centerline goodness [0,1] 0.9997037287848648 Centerline is valid? [True, True] Translation: X:111.06, Y:136.46, Z:4.29 [[-5.59896830e-01 -8.28449864e-01 1.36514283e-02 1.11063533e+02] [ 8.28187242e-01 -5.60063105e-01 -2.08616760e-02 1.36459306e+02] [ 2.49285140e-02 -3.74447547e-04 9.99689166e-01 4.28730465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09275509600002 meters Centerline goodness [0,1] 0.999810653875284 Centerline is valid? [True, True] Translation: X:111.05, Y:136.48, Z:4.29 [[-5.61116508e-01 -8.27626177e-01 1.35342174e-02 1.11049599e+02] [ 8.27368295e-01 -5.61279568e-01 -2.06627969e-02 1.36481394e+02] [ 2.46975513e-02 -3.96454097e-04 9.99694890e-01 4.28842251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12275509600002 meters Centerline goodness [0,1] 0.9998317701980906 Centerline is valid? [True, True] Translation: X:111.04, Y:136.50, Z:4.29 [[-5.62565597e-01 -8.26641343e-01 1.35660888e-02 1.11038039e+02] [ 8.26382435e-01 -5.62728980e-01 -2.06921844e-02 1.36504332e+02] [ 2.47390464e-02 -4.29933631e-04 9.99693851e-01 4.28853721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15275509600002 meters Centerline goodness [0,1] 0.9997892474024742 Centerline is valid? [True, True] Translation: X:111.02, Y:136.53, Z:4.29 [[-5.64994905e-01 -8.24988988e-01 1.31881105e-02 1.11024196e+02] [ 8.24744302e-01 -5.65148601e-01 -2.00971338e-02 1.36527518e+02] [ 2.40331563e-02 -4.77959170e-04 9.99711048e-01 4.28962929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18275509600002 meters Centerline goodness [0,1] 0.9997892740490991 Centerline is valid? [True, True] Translation: X:111.01, Y:136.55, Z:4.29 [[-5.66317415e-01 -8.24083397e-01 1.30820820e-02 1.11012115e+02] [ 8.23842799e-01 -5.66468271e-01 -1.99183161e-02 1.36550464e+02] [ 2.38249379e-02 -5.02510239e-04 9.99716020e-01 4.28995411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21275509600002 meters Centerline goodness [0,1] 0.9998318515248965 Centerline is valid? [True, True] Translation: X:111.00, Y:136.57, Z:4.29 [[-5.67892889e-01 -8.22998596e-01 1.30758428e-02 1.10999046e+02] [ 8.22758405e-01 -5.68043152e-01 -1.98893072e-02 1.36572926e+02] [ 2.37965149e-02 -5.36736563e-04 9.99716679e-01 4.28988512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24275509600002 meters Centerline goodness [0,1] 0.9998317206562894 Centerline is valid? [True, True] Translation: X:110.99, Y:136.60, Z:4.29 [[-5.70067397e-01 -8.21495293e-01 1.29863913e-02 1.10985591e+02] [ 8.21258425e-01 -5.70214996e-01 -1.97346941e-02 1.36596202e+02] [ 2.36169934e-02 -5.84922491e-04 9.99720909e-01 4.28995270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27275509600003 meters Centerline goodness [0,1] 0.9998317737356744 Centerline is valid? [True, True] Translation: X:110.97, Y:136.62, Z:4.29 [[-5.71050751e-01 -8.20810373e-01 1.30908846e-02 1.10973349e+02] [ 8.20569942e-01 -5.71200457e-01 -1.98748341e-02 1.36618174e+02] [ 2.37909892e-02 -6.07552538e-04 9.99716770e-01 4.28965813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30275509600003 meters Centerline goodness [0,1] 0.9998741769072684 Centerline is valid? [True, True] Translation: X:110.96, Y:136.64, Z:4.29 [[-5.72112562e-01 -8.20066861e-01 1.33251249e-02 1.10959516e+02] [ 8.19818022e-01 -5.72267363e-01 -2.02107679e-02 1.36640721e+02] [ 2.41997150e-02 -6.38656685e-04 9.99706940e-01 4.28939748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33275509600003 meters Centerline goodness [0,1] 0.9997895401452173 Centerline is valid? [True, True] Translation: X:110.95, Y:136.66, Z:4.29 [[-5.72414481e-01 -8.19853396e-01 1.34933662e-02 1.10947690e+02] [ 8.19598657e-01 -5.72573133e-01 -2.04462335e-02 1.36663203e+02] [ 2.44888529e-02 -6.44575271e-04 9.99699895e-01 4.28895052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36275509600003 meters Centerline goodness [0,1] 0.9998318727276548 Centerline is valid? [True, True] Translation: X:110.93, Y:136.68, Z:4.29 [[-5.72396167e-01 -8.19865445e-01 1.35380941e-02 1.10932092e+02] [ 8.19609510e-01 -5.72555892e-01 -2.04939425e-02 1.36684346e+02] [ 2.45535908e-02 -6.34703457e-04 9.99698314e-01 4.28908632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.392755096 meters Centerline goodness [0,1] 0.9998531386371265 Centerline is valid? [True, True] Translation: X:110.92, Y:136.71, Z:4.29 [[-5.72404243e-01 -8.19852722e-01 1.39605283e-02 1.10919209e+02] [ 8.19581071e-01 -5.72574100e-01 -2.11132049e-02 1.36706043e+02] [ 2.53031554e-02 -6.43503385e-04 9.99679617e-01 4.28845016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.422755096 meters Centerline goodness [0,1] 0.9997892651676396 Centerline is valid? [True, True] Translation: X:110.90, Y:136.73, Z:4.29 [[-5.71437110e-01 -8.20527778e-01 1.39210285e-02 1.10903217e+02] [ 8.20258364e-01 -5.71606338e-01 -2.10335657e-02 1.36727648e+02] [ 2.52159730e-02 -6.00519940e-04 9.99681846e-01 4.28918098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.452755096 meters Centerline goodness [0,1] 0.9998325624228217 Centerline is valid? [True, True] Translation: X:110.89, Y:136.75, Z:4.29 [[-5.70970334e-01 -8.20850623e-01 1.40403760e-02 1.10887532e+02] [ 8.20577129e-01 -5.71142642e-01 -2.11957128e-02 1.36749498e+02] [ 2.54175715e-02 -5.80911857e-04 9.99676753e-01 4.28981308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.482755096 meters Centerline goodness [0,1] 0.9997472513585239 Centerline is valid? [True, True] Translation: X:110.87, Y:136.77, Z:4.29 [[-5.70110138e-01 -8.21456616e-01 1.35446837e-02 1.10874951e+02] [ 8.21202635e-01 -5.70270770e-01 -2.04323570e-02 1.36771755e+02] [ 2.45084320e-02 -5.25763882e-04 9.99699485e-01 4.29088377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.512755096 meters Centerline goodness [0,1] 0.9997473950110515 Centerline is valid? [True, True] Translation: X:110.86, Y:136.79, Z:4.29 [[-5.69828911e-01 -8.21650636e-01 1.36104517e-02 1.10861835e+02] [ 8.21394624e-01 -5.69991203e-01 -2.05158381e-02 1.36792691e+02] [ 2.46146892e-02 -5.10965824e-04 9.99696882e-01 4.29152209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.542755096 meters Centerline goodness [0,1] 0.9997683820432915 Centerline is valid? [True, True] Translation: X:110.84, Y:136.81, Z:4.29 [[-5.69540325e-01 -8.21856730e-01 1.32413540e-02 1.10844710e+02] [ 8.21614877e-01 -5.69694028e-01 -1.99426396e-02 1.36812662e+02] [ 2.39335129e-02 -4.78844031e-04 9.99713438e-01 4.29325234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.572755096 meters Centerline goodness [0,1] 0.9998311310001267 Centerline is valid? [True, True] Translation: X:110.83, Y:136.84, Z:4.29 [[-5.68915487e-01 -8.22298179e-01 1.26835626e-02 1.10832820e+02] [ 8.22076775e-01 -5.69056692e-01 -1.90855347e-02 1.36835033e+02] [ 2.29116666e-02 -4.31194079e-04 9.99737400e-01 4.29439426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.602755096 meters Centerline goodness [0,1] 0.9998743376547218 Centerline is valid? [True, True] Translation: X:110.82, Y:136.86, Z:4.30 [[-5.68705400e-01 -8.22440725e-01 1.28616184e-02 1.10818923e+02] [ 8.22213500e-01 -5.68850662e-01 -1.93360916e-02 1.36857307e+02] [ 2.32191293e-02 -4.21543452e-04 9.99730311e-01 4.29500414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.632755096 meters Centerline goodness [0,1] 0.9998096446700507 Centerline is valid? [True, True] Translation: X:110.81, Y:136.88, Z:4.30 [[-5.69192081e-01 -8.22114380e-01 1.21787122e-02 1.10805259e+02] [ 8.21910887e-01 -5.69322214e-01 -1.82951287e-02 1.36880437e+02] [ 2.19742998e-02 -4.03626250e-04 9.99758454e-01 4.29683469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.662755096 meters Centerline goodness [0,1] 0.9998736921878618 Centerline is valid? [True, True] Translation: X:110.79, Y:136.90, Z:4.30 [[-5.69771249e-01 -8.21715233e-01 1.20332682e-02 1.10793310e+02] [ 8.21516816e-01 -5.69898159e-01 -1.80612665e-02 1.36902542e+02] [ 2.16989552e-02 -4.05258209e-04 9.99764468e-01 4.29776795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.692755096 meters Centerline goodness [0,1] 0.9998101826464757 Centerline is valid? [True, True] Translation: X:110.78, Y:136.93, Z:4.30 [[-5.70597019e-01 -8.21144315e-01 1.18766979e-02 1.10781539e+02] [ 8.20951237e-01 -5.70720460e-01 -1.78107647e-02 1.36925583e+02] [ 2.14034827e-02 -4.12579458e-04 9.99770834e-01 4.29862652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72275509600001 meters Centerline goodness [0,1] 0.99983094543764 Centerline is valid? [True, True] Translation: X:110.77, Y:136.95, Z:4.30 [[-5.71567841e-01 -8.20473594e-01 1.15449070e-02 1.10768479e+02] [ 8.20291254e-01 -5.71684271e-01 -1.73018171e-02 1.36948852e+02] [ 2.07957257e-02 -4.18976000e-04 9.99783658e-01 4.29974682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75275509600002 meters Centerline goodness [0,1] 0.9998730669148914 Centerline is valid? [True, True] Translation: X:110.76, Y:136.97, Z:4.30 [[-5.73304310e-01 -8.19264979e-01 1.12722523e-02 1.10756142e+02] [ 8.19091199e-01 -5.73414944e-01 -1.68792843e-02 1.36973149e+02] [ 2.02922844e-02 -4.43963821e-04 9.99793992e-01 4.30098409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78275509600002 meters Centerline goodness [0,1] 0.9997886594669991 Centerline is valid? [True, True] Translation: X:110.74, Y:137.00, Z:4.30 [[-5.74366357e-01 -8.18523916e-01 1.10402399e-02 1.10742995e+02] [ 8.18357334e-01 -5.74472274e-01 -1.65190907e-02 1.36996927e+02] [ 1.98635825e-02 -4.53148624e-04 9.99802597e-01 4.30181225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81275509600002 meters Centerline goodness [0,1] 0.9998728247737341 Centerline is valid? [True, True] Translation: X:110.73, Y:137.02, Z:4.30 [[-5.75344090e-01 -8.17841944e-01 1.06645280e-02 1.10731523e+02] [ 8.17686621e-01 -5.75442741e-01 -1.59449523e-02 1.37020928e+02] [ 1.91772760e-02 -4.53592220e-04 9.99815996e-01 4.30273129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84275509600002 meters Centerline goodness [0,1] 0.9998728166864508 Centerline is valid? [True, True] Translation: X:110.72, Y:137.04, Z:4.30 [[-5.76206185e-01 -8.17232504e-01 1.08382336e-02 1.10718232e+02] [ 8.17072232e-01 -5.76307913e-01 -1.61912694e-02 1.37044372e+02] [ 1.94781914e-02 -4.73889801e-04 9.99810170e-01 4.30303500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87275509600002 meters Centerline goodness [0,1] 0.9998096849228166 Centerline is valid? [True, True] Translation: X:110.70, Y:137.07, Z:4.30 [[-5.76494184e-01 -8.17029540e-01 1.08252812e-02 1.10704804e+02] [ 8.16869885e-01 -5.76595619e-01 -1.61581015e-02 1.37067109e+02] [ 1.94434559e-02 -4.72205277e-04 9.99810847e-01 4.30338224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90275509600002 meters Centerline goodness [0,1] 0.9999150616864502 Centerline is valid? [True, True] Translation: X:110.70, Y:137.09, Z:4.30 [[-5.76358059e-01 -8.17123002e-01 1.10176517e-02 1.10695623e+02] [ 8.16957921e-01 -5.76463165e-01 -1.64309443e-02 1.37091824e+02] [ 1.97773729e-02 -4.69149380e-04 9.99804299e-01 4.30378276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93275509600002 meters Centerline goodness [0,1] 0.9999787636178301 Centerline is valid? [True, True] Translation: X:110.68, Y:137.11, Z:4.30 [[-5.75945870e-01 -8.17410317e-01 1.12574009e-02 1.10679773e+02] [ 8.17238336e-01 -5.76055693e-01 -1.67732038e-02 1.37112780e+02] [ 2.01954797e-02 -4.60477844e-04 9.99795944e-01 4.30388337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96275509600002 meters Centerline goodness [0,1] 0.9998937842545779 Centerline is valid? [True, True] Translation: X:110.66, Y:137.13, Z:4.30 [[-5.75544626e-01 -8.17690619e-01 1.14207825e-02 1.10664157e+02] [ 8.17513955e-01 -5.75657754e-01 -1.70024688e-02 1.37134706e+02] [ 2.04772213e-02 -4.49030463e-04 9.99790219e-01 4.30387617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99275509600002 meters Centerline goodness [0,1] 0.9999363165492061 Centerline is valid? [True, True] Translation: X:110.65, Y:137.16, Z:4.30 [[-5.75321709e-01 -8.17842493e-01 1.17723335e-02 1.10650286e+02] [ 8.17655078e-01 -5.75441964e-01 -1.75133881e-02 1.37156594e+02] [ 2.10974877e-02 -4.50124166e-04 9.99777322e-01 4.30374094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02275509600003 meters Centerline goodness [0,1] 0.9999362719065321 Centerline is valid? [True, True] Translation: X:110.64, Y:137.18, Z:4.30 [[-5.74681408e-01 -8.18281499e-01 1.25167262e-02 1.10637550e+02] [ 8.18070107e-01 -5.74817523e-01 -1.86041711e-02 1.37178905e+02] [ 2.24182826e-02 -4.51911670e-04 9.99748577e-01 4.30285174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:137.20, Z:4.30 [[-5.74271332e-01 -8.18565300e-01 1.27783873e-02 1.10623500e+02] [ 8.18345431e-01 -5.74413315e-01 -1.89762751e-02 1.37201004e+02] [ 2.28733961e-02 -4.40395897e-04 9.99738273e-01 4.30299011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08275509600003 meters Centerline goodness [0,1] 0.9998933947379642 Centerline is valid? [True, True] Translation: X:110.61, Y:137.22, Z:4.30 [[-5.73917714e-01 -8.18810902e-01 1.29291805e-02 1.10609498e+02] [ 8.18586247e-01 -5.74063171e-01 -1.91841689e-02 1.37223299e+02] [ 2.31303730e-02 -4.26484978e-04 9.99732366e-01 4.30335799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11275509600003 meters Centerline goodness [0,1] 0.9998716028247379 Centerline is valid? [True, True] Translation: X:110.60, Y:137.25, Z:4.30 [[-5.72436873e-01 -8.19843836e-01 1.31190953e-02 1.10596188e+02] [ 8.19613184e-01 -5.72587058e-01 -1.94496749e-02 1.37246433e+02] [ 2.34575202e-02 -3.81127643e-04 9.99724762e-01 4.30419600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:110.58, Y:137.27, Z:4.30 [[-5.71858034e-01 -8.20246350e-01 1.32028631e-02 1.10581685e+02] [ 8.20013216e-01 -5.72010313e-01 -1.95583344e-02 1.37268140e+02] [ 2.35948262e-02 -3.58068462e-04 9.99721539e-01 4.30487123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.172755096 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:110.57, Y:137.29, Z:4.31 [[-5.71447911e-01 -8.20533924e-01 1.30906097e-02 1.10567941e+02] [ 8.20305185e-01 -5.71597733e-01 -1.93761543e-02 1.37289915e+02] [ 2.33813548e-02 -3.34167861e-04 9.99726563e-01 4.30541614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:137.31, Z:4.31 [[-5.70571811e-01 -8.21141909e-01 1.31823246e-02 1.10552956e+02] [ 8.20910510e-01 -5.70723991e-01 -1.94951188e-02 1.37311727e+02] [ 2.35317279e-02 -3.01856411e-04 9.99723045e-01 4.30671970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.232755096 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:110.54, Y:137.33, Z:4.31 [[-5.70797132e-01 -8.20986493e-01 1.31077402e-02 1.10539711e+02] [ 8.20758051e-01 -5.70947537e-01 -1.93683068e-02 1.37333613e+02] [ 2.33849503e-02 -2.97090725e-04 9.99726491e-01 4.30731726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.262755096 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:110.53, Y:137.36, Z:4.31 [[-5.71348404e-01 -8.20607710e-01 1.28057791e-02 1.10526346e+02] [ 8.20389948e-01 -5.71491819e-01 -1.89059273e-02 1.37357324e+02] [ 2.28327477e-02 -2.96138878e-04 9.99739255e-01 4.30815106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.292755096 meters Centerline goodness [0,1] 0.9999784385174325 Centerline is valid? [True, True] Translation: X:110.51, Y:137.38, Z:4.31 [[-5.72014163e-01 -8.20142004e-01 1.29186220e-02 1.10514616e+02] [ 8.19920615e-01 -5.72159941e-01 -1.90574695e-02 1.37380986e+02] [ 2.30213493e-02 -3.08897947e-04 9.99734926e-01 4.30826728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:137.40, Z:4.31 [[-5.72798373e-01 -8.19596976e-01 1.27601297e-02 1.10499759e+02] [ 8.19381197e-01 -5.72940395e-01 -1.88084440e-02 1.37402353e+02] [ 2.27261376e-02 -3.18035781e-04 9.99741677e-01 4.30937149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.352755096 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:110.49, Y:137.43, Z:4.31 [[-5.74606420e-01 -8.18333588e-01 1.25539194e-02 1.10488739e+02] [ 8.18124761e-01 -5.74743433e-01 -1.84895255e-02 1.37426691e+02] [ 2.23458825e-02 -3.53527793e-04 9.99750237e-01 4.30966816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.382755096 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:110.47, Y:137.45, Z:4.31 [[-5.74912276e-01 -8.18118661e-01 1.25591136e-02 1.10473952e+02] [ 8.17909860e-01 -5.75049328e-01 -1.84859967e-02 1.37447982e+02] [ 2.23458488e-02 -3.55603605e-04 9.99750237e-01 4.31019597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.46, Y:137.47, Z:4.31 [[-5.76120858e-01 -8.17267484e-01 1.25942848e-02 1.10459778e+02] [ 8.17057644e-01 -5.76258374e-01 -1.85227700e-02 1.37469760e+02] [ 2.23956197e-02 -3.81097465e-04 9.99749114e-01 4.31097727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:137.49, Z:4.31 [[-5.77426451e-01 -8.16347033e-01 1.24986106e-02 1.10446623e+02] [ 8.16140493e-01 -5.77561562e-01 -1.83667734e-02 1.37492870e+02] [ 2.22123780e-02 -4.04838605e-04 9.99753193e-01 4.31178047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:137.52, Z:4.31 [[-5.78624207e-01 -8.15503122e-01 1.21936555e-02 1.10432217e+02] [ 8.15306651e-01 -5.78752523e-01 -1.79048014e-02 1.37516072e+02] [ 2.16585303e-02 -4.18583074e-04 9.99765339e-01 4.31259009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:137.54, Z:4.31 [[-5.81007020e-01 -8.13802329e-01 1.25144779e-02 1.10421210e+02] [ 8.13595310e-01 -5.81141578e-01 -1.83613095e-02 1.37540703e+02] [ 2.22151599e-02 -4.86329189e-04 9.99753095e-01 4.31310414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:137.56, Z:4.31 [[-5.82172971e-01 -8.12966872e-01 1.26292315e-02 1.10407386e+02] [ 8.12756179e-01 -5.82309712e-01 -1.85146657e-02 1.37564136e+02] [ 2.24059340e-02 -5.14252018e-04 9.99748823e-01 4.31342559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:137.59, Z:4.31 [[-5.83778600e-01 -8.11815279e-01 1.25896340e-02 1.10394649e+02] [ 8.11605949e-01 -5.83914080e-01 -1.84426330e-02 1.37587095e+02] [ 2.23232758e-02 -5.48592614e-04 9.99750654e-01 4.31402410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:137.61, Z:4.31 [[-5.83804068e-01 -8.11801008e-01 1.23261631e-02 1.10378424e+02] [ 8.11600654e-01 -5.83933937e-01 -1.80426063e-02 1.37607607e+02] [ 2.18446709e-02 -5.29424898e-04 9.99761237e-01 4.31492322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:137.63, Z:4.31 [[-5.84336040e-01 -8.11413337e-01 1.26408004e-02 1.10364340e+02] [ 8.11202886e-01 -5.84472494e-01 -1.84873144e-02 1.37629601e+02] [ 2.23890536e-02 -5.48550280e-04 9.99749183e-01 4.31482321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:137.65, Z:4.32 [[-5.84083380e-01 -8.11591483e-01 1.28790830e-02 1.10348585e+02] [ 8.11373429e-01 -5.84225103e-01 -1.88198890e-02 1.37650355e+02] [ 2.27983452e-02 -5.42638656e-04 9.99739937e-01 4.31505435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:137.67, Z:4.32 [[-5.84361072e-01 -8.11386405e-01 1.31999675e-02 1.10333548e+02] [ 8.11157677e-01 -5.84509875e-01 -1.92725046e-02 1.37672499e+02] [ 2.33529595e-02 -5.54846482e-04 9.99727128e-01 4.31508917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:137.69, Z:4.32 [[-5.84466073e-01 -8.11304448e-01 1.35831650e-02 1.10318213e+02] [ 8.11062628e-01 -5.84623618e-01 -1.98151348e-02 1.37694029e+02] [ 2.40171461e-02 -5.64476522e-04 9.99711387e-01 4.31555957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:137.71, Z:4.32 [[-5.82791493e-01 -8.12502194e-01 1.39377415e-02 1.10299613e+02] [ 8.12248342e-01 -5.82957903e-01 -2.03153712e-02 1.37714267e+02] [ 2.46314002e-02 -5.18718111e-04 9.99696466e-01 4.31564370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:137.74, Z:4.32 [[-5.82901037e-01 -8.12414190e-01 1.44763741e-02 1.10284907e+02] [ 8.12140719e-01 -5.83080526e-01 -2.10844253e-02 1.37735540e+02] [ 2.55701781e-02 -5.33280553e-04 9.99672887e-01 4.31524764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:137.76, Z:4.32 [[-5.81904999e-01 -8.13123341e-01 1.47310661e-02 1.10267497e+02] [ 8.12840783e-01 -5.82091213e-01 -2.14401612e-02 1.37755702e+02] [ 2.60083196e-02 -5.02125669e-04 9.99661600e-01 4.31531775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:137.78, Z:4.31 [[-5.81225751e-01 -8.13599306e-01 1.52576359e-02 1.10250039e+02] [ 8.13296854e-01 -5.81425775e-01 -2.21877456e-02 1.37775665e+02] [ 2.69231172e-02 -4.87101794e-04 9.99637389e-01 4.31465291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:137.80, Z:4.32 [[-5.81092427e-01 -8.13693959e-01 1.52883219e-02 1.10235594e+02] [ 8.13390796e-01 -5.81293314e-01 -2.22147641e-02 1.37796529e+02] [ 2.69630186e-02 -4.73450807e-04 9.99636320e-01 4.31531639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:137.82, Z:4.32 [[-5.81058049e-01 -8.13728114e-01 1.47682574e-02 1.10219818e+02] [ 8.13445619e-01 -5.81245522e-01 -2.14445493e-02 1.37817330e+02] [ 2.60340161e-02 -4.47353671e-04 9.99660957e-01 4.31675746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:137.84, Z:4.32 [[-5.81122167e-01 -8.13686333e-01 1.45457307e-02 1.10204235e+02] [ 8.13412712e-01 -5.81304021e-01 -2.11043823e-02 1.37838405e+02] [ 2.56278392e-02 -4.32542133e-04 9.99671459e-01 4.31804855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:137.86, Z:4.32 [[-5.81378028e-01 -8.13508843e-01 1.42460745e-02 1.10189190e+02] [ 8.13246746e-01 -5.81552392e-01 -2.06529649e-02 1.37859259e+02] [ 2.50862083e-02 -4.21606277e-04 9.99685203e-01 4.31925047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.17, Y:137.88, Z:4.32 [[-5.81742106e-01 -8.13256615e-01 1.37767594e-02 1.10172866e+02] [ 8.13011832e-01 -5.81905070e-01 -1.99562267e-02 1.37879797e+02] [ 2.42462995e-02 -4.08708971e-04 9.99705932e-01 4.32065736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:137.90, Z:4.32 [[-5.82373964e-01 -8.12814087e-01 1.31843509e-02 1.10158631e+02] [ 8.12590134e-01 -5.82523047e-01 -1.90833203e-02 1.37900493e+02] [ 2.31913798e-02 -4.00155446e-04 9.99730964e-01 4.32181045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:137.92, Z:4.32 [[-5.82516221e-01 -8.12714037e-01 1.30669514e-02 1.10142069e+02] [ 8.12494321e-01 -5.82662629e-01 -1.89007671e-02 1.37921596e+02] [ 2.29745430e-02 -3.93179620e-04 9.99735973e-01 4.32270629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:137.94, Z:4.32 [[-5.83434110e-01 -8.12057673e-01 1.29218544e-02 1.10128637e+02] [ 8.11842992e-01 -5.83577048e-01 -1.86757910e-02 1.37943027e+02] [ 2.27067171e-02 -4.05576548e-04 9.99742087e-01 4.32368013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:137.96, Z:4.32 [[-5.83790629e-01 -8.11802530e-01 1.28512080e-02 1.10112550e+02] [ 8.11590479e-01 -5.83931922e-01 -1.85581575e-02 1.37963603e+02] [ 2.25697898e-02 -4.04160427e-04 9.99745188e-01 4.32425658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:137.99, Z:4.32 [[-5.84829146e-01 -8.11051730e-01 1.30368859e-02 1.10096826e+02] [ 8.10833666e-01 -5.84974277e-01 -1.88112051e-02 1.37985115e+02] [ 2.28831034e-02 -4.30595035e-04 9.99738055e-01 4.32465625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:138.01, Z:4.33 [[-5.85671314e-01 -8.10446033e-01 1.28973101e-02 1.10079375e+02] [ 8.10232793e-01 -5.85813139e-01 -1.85953366e-02 1.38006411e+02] [ 2.26259305e-02 -4.40931602e-04 9.99743904e-01 4.32568379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.07, Y:138.03, Z:4.33 [[-5.86478253e-01 -8.09860705e-01 1.29960586e-02 1.10066708e+02] [ 8.09644367e-01 -5.86622049e-01 -1.87235456e-02 1.38028321e+02] [ 2.27872384e-02 -4.58766642e-04 9.99740232e-01 4.32605508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:138.05, Z:4.33 [[-5.87373584e-01 -8.09211715e-01 1.29874419e-02 1.10052288e+02] [ 8.08995795e-01 -5.87516957e-01 -1.86983655e-02 1.38050026e+02] [ 2.27612787e-02 -4.76140047e-04 9.99740815e-01 4.32666527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.04, Y:138.07, Z:4.33 [[-5.88884347e-01 -8.08115693e-01 1.28161083e-02 1.10039221e+02] [ 8.07905493e-01 -5.89023576e-01 -1.84374891e-02 1.38071771e+02] [ 2.24486142e-02 -5.03344455e-04 9.99747871e-01 4.32798764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:138.09, Z:4.33 [[-5.89659638e-01 -8.07553299e-01 1.26166367e-02 1.10022668e+02] [ 8.07349719e-01 -5.89794378e-01 -1.81389749e-02 1.38092789e+02] [ 2.20894104e-02 -5.09783284e-04 9.99755869e-01 4.32910185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:138.11, Z:4.33 [[-5.90502978e-01 -8.06936706e-01 1.26248029e-02 1.10010328e+02] [ 8.06733047e-01 -5.90637687e-01 -1.81359784e-02 1.38114804e+02] [ 2.20912711e-02 -5.24503500e-04 9.99755821e-01 4.32943940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:138.13, Z:4.33 [[-5.91378610e-01 -8.06295891e-01 1.25807492e-02 1.09991674e+02] [ 8.06093769e-01 -5.91512168e-01 -1.80607607e-02 1.38134533e+02] [ 2.20039834e-02 -5.39483995e-04 9.99757738e-01 4.32991206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:138.16, Z:4.33 [[-5.91784867e-01 -8.05995099e-01 1.27503599e-02 1.09978621e+02] [ 8.05787736e-01 -5.91921953e-01 -1.82900385e-02 1.38156882e+02] [ 2.22888994e-02 -5.49684356e-04 9.99751421e-01 4.32972398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:138.18, Z:4.33 [[-5.91837634e-01 -8.05950380e-01 1.31224938e-02 1.09960907e+02] [ 8.05731079e-01 -5.91982832e-01 -1.88083661e-02 1.38176926e+02] [ 2.29269008e-02 -5.58297735e-04 9.99736988e-01 4.32957659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:138.20, Z:4.33 [[-5.91977931e-01 -8.05840896e-01 1.35122003e-02 1.09945651e+02] [ 8.05608736e-01 -5.92131849e-01 -1.93504221e-02 1.38198238e+02] [ 2.35943656e-02 -5.69476254e-04 9.99721452e-01 4.32967610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:138.22, Z:4.33 [[-5.91862243e-01 -8.05921150e-01 1.37907707e-02 1.09928577e+02] [ 8.05679733e-01 -5.92022616e-01 -1.97329586e-02 1.38219900e+02] [ 2.40676569e-02 -5.68248696e-04 9.99710171e-01 4.32999533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:138.24, Z:4.33 [[-5.92104885e-01 -8.05742266e-01 1.38277023e-02 1.09913213e+02] [ 8.05499877e-01 -5.92266053e-01 -1.97704538e-02 1.38241314e+02] [ 2.41195689e-02 -5.67969796e-04 9.99708920e-01 4.33055712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:138.26, Z:4.33 [[-5.92246916e-01 -8.05637645e-01 1.38410601e-02 1.09899315e+02] [ 8.05395164e-01 -5.92408362e-01 -1.97727733e-02 1.38262365e+02] [ 2.41292502e-02 -5.62841130e-04 9.99708689e-01 4.33097114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:138.28, Z:4.33 [[-5.92484042e-01 -8.05466937e-01 1.36262263e-02 1.09883654e+02] [ 8.05232275e-01 -5.92640456e-01 -1.94492315e-02 1.38284059e+02] [ 2.37411659e-02 -5.51082088e-04 9.99717987e-01 4.33203101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:138.30, Z:4.33 [[-5.92933819e-01 -8.05136126e-01 1.36127120e-02 1.09868158e+02] [ 8.04902215e-01 -5.93089801e-01 -1.94142400e-02 1.38304958e+02] [ 2.37046666e-02 -5.54457437e-04 9.99718851e-01 4.33327458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:138.33, Z:4.34 [[-5.93868765e-01 -8.04454929e-01 1.31208819e-02 1.09854261e+02] [ 8.04237791e-01 -5.94013436e-01 -1.86979386e-02 1.38326254e+02] [ 2.28356291e-02 -5.51812628e-04 9.99739081e-01 4.33543791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.84, Y:138.35, Z:4.34 [[-5.94798772e-01 -8.03771372e-01 1.28842067e-02 1.09839448e+02] [ 8.03562180e-01 -5.94938039e-01 -1.83453630e-02 1.38347861e+02] [ 2.24107823e-02 -5.58538169e-04 9.99748691e-01 4.33663606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:138.37, Z:4.34 [[-5.96444664e-01 -8.02558064e-01 1.24224318e-02 1.09823595e+02] [ 8.02363631e-01 -5.96573737e-01 -1.76742612e-02 1.38369548e+02] [ 2.15955174e-02 -5.74411290e-04 9.99766625e-01 4.33771281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:138.39, Z:4.34 [[-5.97552586e-01 -8.01733564e-01 1.24176599e-02 1.09811334e+02] [ 8.01539380e-01 -5.97681300e-01 -1.76546208e-02 1.38392918e+02] [ 2.15761051e-02 -5.96320858e-04 9.99767031e-01 4.33831442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:138.41, Z:4.34 [[-6.00048695e-01 -7.99874779e-01 1.19122501e-02 1.09793730e+02] [ 7.99695907e-01 -6.00166594e-01 -1.69267724e-02 1.38413637e+02] [ 2.06886329e-02 -6.30710021e-04 9.99785768e-01 4.33988805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:138.44, Z:4.34 [[-6.01455277e-01 -7.98816106e-01 1.20157224e-02 1.09781761e+02] [ 7.98634176e-01 -6.01574921e-01 -1.70606741e-02 1.38437741e+02] [ 2.08566985e-02 -6.65065900e-04 9.99782254e-01 4.34068947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:138.46, Z:4.34 [[-6.02827770e-01 -7.97781762e-01 1.19557824e-02 1.09766030e+02] [ 7.97601718e-01 -6.02945923e-01 -1.69621293e-02 1.38459643e+02] [ 2.07407676e-02 -6.89290044e-04 9.99784650e-01 4.34139294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:138.48, Z:4.34 [[-6.04049384e-01 -7.96855478e-01 1.20701327e-02 1.09752694e+02] [ 7.96672056e-01 -6.04169536e-01 -1.71115970e-02 1.38481882e+02] [ 2.09278763e-02 -7.20312187e-04 9.99780729e-01 4.34163640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.74, Y:138.50, Z:4.34 [[-6.05319867e-01 -7.95888704e-01 1.22077600e-02 1.09736731e+02] [ 7.95701164e-01 -6.05442485e-01 -1.72932292e-02 1.38503540e+02] [ 2.11545823e-02 -7.54206315e-04 9.99775932e-01 4.34176027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:138.53, Z:4.34 [[-6.06933637e-01 -7.94651177e-01 1.26912118e-02 1.09722948e+02] [ 7.94448519e-01 -6.07065757e-01 -1.79643458e-02 1.38526217e+02] [ 2.19797887e-02 -8.20651314e-04 9.99758078e-01 4.34097007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.71, Y:138.55, Z:4.34 [[-6.07725822e-01 -7.94040115e-01 1.30238507e-02 1.09708464e+02] [ 7.93826879e-01 -6.07864757e-01 -1.84207281e-02 1.38548163e+02] [ 2.25435369e-02 -8.56069391e-04 9.99745496e-01 4.34109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:138.57, Z:4.34 [[-6.08721779e-01 -7.93272478e-01 1.32880390e-02 1.09690146e+02] [ 7.93050653e-01 -6.08866141e-01 -1.87799175e-02 1.38569000e+02] [ 2.29882287e-02 -8.93656807e-04 9.99735336e-01 4.34137330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:138.59, Z:4.34 [[-6.09460777e-01 -7.92704560e-01 1.33057088e-02 1.09674942e+02] [ 7.92482333e-01 -6.09605328e-01 -1.87908286e-02 1.38591550e+02] [ 2.30068065e-02 -9.07733858e-04 9.99734896e-01 4.34155786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:138.61, Z:4.34 [[-6.10344608e-01 -7.92027382e-01 1.31181625e-02 1.09658374e+02] [ 7.91811528e-01 -6.10484885e-01 -1.85124039e-02 1.38613282e+02] [ 2.26707707e-02 -9.11833562e-04 9.99742569e-01 4.34182023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.64, Y:138.64, Z:4.34 [[-6.11531775e-01 -7.91112823e-01 1.30149619e-02 1.09644551e+02] [ 7.90900454e-01 -6.11669548e-01 -1.83530597e-02 1.38636197e+02] [ 2.24801967e-02 -9.29939897e-04 9.99746856e-01 4.34193819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:138.66, Z:4.34 [[-6.12136056e-01 -7.90641942e-01 1.32200180e-02 1.09628592e+02] [ 7.90423057e-01 -6.12278051e-01 -1.86273790e-02 1.38657337e+02] [ 2.28219139e-02 -9.53083230e-04 9.99739092e-01 4.34218500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:138.68, Z:4.34 [[-6.12900613e-01 -7.90050148e-01 1.31758289e-02 1.09614588e+02] [ 7.89832930e-01 -6.13041464e-01 -1.85500758e-02 1.38679217e+02] [ 2.27328196e-02 -9.62649243e-04 9.99741113e-01 4.34234849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:138.70, Z:4.34 [[-6.13048245e-01 -7.89930643e-01 1.34695915e-02 1.09600022e+02] [ 7.89703940e-01 -6.13195418e-01 -1.89490480e-02 1.38700340e+02] [ 2.32279254e-02 -9.79691111e-04 9.99729715e-01 4.34252593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.58, Y:138.72, Z:4.34 [[-6.13312850e-01 -7.89724630e-01 1.35039616e-02 1.09584322e+02] [ 7.89497013e-01 -6.13460711e-01 -1.89847892e-02 1.38721700e+02] [ 2.32769055e-02 -9.82277839e-04 9.99728574e-01 4.34291530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.57, Y:138.74, Z:4.34 [[-6.13044237e-01 -7.89933502e-01 1.34842452e-02 1.09565665e+02] [ 7.89706950e-01 -6.13191759e-01 -1.89420227e-02 1.38740842e+02] [ 2.32313664e-02 -9.63695745e-04 9.99729651e-01 4.34364324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:138.76, Z:4.34 [[-6.12428526e-01 -7.90414037e-01 1.33022783e-02 1.09547008e+02] [ 7.90194016e-01 -6.12572279e-01 -1.86713865e-02 1.38761376e+02] [ 2.29067329e-02 -9.23509019e-04 9.99737180e-01 4.34422175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:138.78, Z:4.34 [[-6.12004793e-01 -7.90744258e-01 1.31777427e-02 1.09531636e+02] [ 7.90528726e-01 -6.12145995e-01 -1.84828015e-02 1.38782559e+02] [ 2.26818715e-02 -8.94178953e-04 9.99742333e-01 4.34481553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:138.80, Z:4.35 [[-6.12310717e-01 -7.90507275e-01 1.31846201e-02 1.09516364e+02] [ 7.90291794e-01 -6.12451997e-01 -1.84778943e-02 1.38803532e+02] [ 2.26818568e-02 -8.94515646e-04 9.99742333e-01 4.34534317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:138.82, Z:4.35 [[-6.10900097e-01 -7.91600937e-01 1.30010595e-02 1.09498920e+02] [ 7.91391987e-01 -6.11037857e-01 -1.82060570e-02 1.38824286e+02] [ 2.23560713e-02 -8.33147670e-04 9.99749725e-01 4.34665964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:138.85, Z:4.35 [[-6.10201704e-01 -7.92139588e-01 1.29905055e-02 1.09483577e+02] [ 7.91931391e-01 -6.10339435e-01 -1.81782030e-02 1.38846068e+02] [ 2.23282920e-02 -8.04781305e-04 9.99750369e-01 4.34720864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:138.87, Z:4.35 [[-6.09445893e-01 -7.92721222e-01 1.29910884e-02 1.09466363e+02] [ 7.92513356e-01 -6.09583842e-01 -1.81692243e-02 1.38866155e+02] [ 2.23222872e-02 -7.77548049e-04 9.99750524e-01 4.34771575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.45, Y:138.89, Z:4.35 [[-6.07875519e-01 -7.93932841e-01 1.25697367e-02 1.09447302e+02] [ 7.93738712e-01 -6.08005057e-01 -1.75700470e-02 1.38885846e+02] [ 2.15919008e-02 -7.03314766e-04 9.99766620e-01 4.34876834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.43, Y:138.91, Z:4.35 [[-6.07435729e-01 -7.94266809e-01 1.27306755e-02 1.09428672e+02] [ 7.94068038e-01 -6.07568725e-01 -1.77818838e-02 1.38906658e+02] [ 2.18583204e-02 -6.92329039e-04 9.99760839e-01 4.34948713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.42, Y:138.93, Z:4.35 [[-6.07244315e-01 -7.94416991e-01 1.24894702e-02 1.09415530e+02] [ 7.94225978e-01 -6.07372374e-01 -1.74326105e-02 1.38928407e+02] [ 2.14345211e-02 -6.66391920e-04 9.99770032e-01 4.35009345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:138.95, Z:4.35 [[-6.06835502e-01 -7.94732210e-01 1.23039831e-02 1.09396005e+02] [ 7.94547205e-01 -6.06959891e-01 -1.71589574e-02 1.38947420e+02] [ 2.11048004e-02 -6.36569144e-04 9.99777066e-01 4.35126720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:138.97, Z:4.35 [[-6.06983911e-01 -7.94623448e-01 1.20044908e-02 1.09378591e+02] [ 7.94447574e-01 -6.07102293e-01 -1.67289407e-02 1.38967986e+02] [ 2.05811625e-02 -6.17259256e-04 9.99787995e-01 4.35237991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.36, Y:138.99, Z:4.35 [[-6.07747886e-01 -7.94046459e-01 1.15207936e-02 1.09363834e+02] [ 7.93884607e-01 -6.07856773e-01 -1.60428910e-02 1.38989609e+02] [ 1.97417932e-02 -6.03852441e-04 9.99804929e-01 4.35320745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:139.01, Z:4.35 [[-6.08349884e-01 -7.93586849e-01 1.14162757e-02 1.09351983e+02] [ 7.93428089e-01 -6.08456692e-01 -1.58846123e-02 1.39012025e+02] [ 1.95521288e-02 -6.05408192e-04 9.99808656e-01 4.35364391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.33, Y:139.03, Z:4.35 [[-6.09115834e-01 -7.93001358e-01 1.12582074e-02 1.09331726e+02] [ 7.92847124e-01 -6.09219565e-01 -1.56511965e-02 1.39030496e+02] [ 1.92701403e-02 -6.07354198e-04 9.99814129e-01 4.35372560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:139.05, Z:4.35 [[-6.10602947e-01 -7.91853177e-01 1.15146776e-02 1.09317685e+02] [ 7.91691876e-01 -6.10711161e-01 -1.59953434e-02 1.39052768e+02] [ 1.96981056e-02 -6.50727153e-04 9.99805762e-01 4.35396847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:139.07, Z:4.35 [[-6.11588627e-01 -7.91091524e-01 1.15564537e-02 1.09301852e+02] [ 7.90929170e-01 -6.11697435e-01 -1.60404865e-02 1.39074460e+02] [ 1.97585459e-02 -6.69842790e-04 9.99804556e-01 4.35424432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.29, Y:139.10, Z:4.35 [[-6.12329248e-01 -7.90520041e-01 1.14436172e-02 1.09285386e+02] [ 7.90360969e-01 -6.12435801e-01 -1.58722808e-02 1.39095562e+02] [ 1.95558369e-02 -6.74473370e-04 9.99808539e-01 4.35445696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.27, Y:139.12, Z:4.35 [[-6.13441463e-01 -7.89654175e-01 1.16557043e-02 1.09270671e+02] [ 7.89489256e-01 -6.13551778e-01 -1.61533549e-02 1.39117417e+02] [ 1.99069422e-02 -7.07084312e-04 9.99801587e-01 4.35463480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.25, Y:139.14, Z:4.36 [[-6.14114261e-01 -7.89132859e-01 1.15327866e-02 1.09254617e+02] [ 7.88971555e-01 -6.14222132e-01 -1.59705358e-02 1.39137977e+02] [ 1.96865673e-02 -7.08693219e-04 9.99805950e-01 4.35526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:139.16, Z:4.36 [[-6.14655546e-01 -7.88715885e-01 1.12166265e-02 1.09240698e+02] [ 7.88563472e-01 -6.14757489e-01 -1.55203623e-02 1.39158775e+02] [ 1.91366614e-02 -6.94654834e-04 9.99816636e-01 4.35558183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:139.18, Z:4.36 [[-6.15031541e-01 -7.88421700e-01 1.12883207e-02 1.09224210e+02] [ 7.88267540e-01 -6.15134727e-01 -1.56061679e-02 1.39179029e+02] [ 1.92480795e-02 -7.00068684e-04 9.99814493e-01 4.35610334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:139.20, Z:4.36 [[-6.15200037e-01 -7.88287482e-01 1.14786837e-02 1.09208765e+02] [ 7.88128310e-01 -6.15306707e-01 -1.58563445e-02 1.39199846e+02] [ 1.95622690e-02 -7.08148198e-04 9.99808390e-01 4.35679694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.19, Y:139.22, Z:4.36 [[-6.15174289e-01 -7.88309763e-01 1.13274616e-02 1.09191327e+02] [ 7.88154999e-01 -6.15278182e-01 -1.56351318e-02 1.39219932e+02] [ 1.92948670e-02 -6.90535596e-04 9.99813598e-01 4.35752238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.17, Y:139.24, Z:4.36 [[-6.14533283e-01 -7.88811050e-01 1.12237461e-02 1.09174272e+02] [ 7.88659432e-01 -6.14635413e-01 -1.54793159e-02 1.39240586e+02] [ 1.91087672e-02 -6.60841645e-04 9.99817192e-01 4.35845305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.16, Y:139.26, Z:4.36 [[-6.13936225e-01 -7.89277185e-01 1.11282278e-02 1.09158580e+02] [ 7.89128426e-01 -6.14036744e-01 -1.53363684e-02 1.39260293e+02] [ 1.89377865e-02 -6.33951239e-04 9.99820463e-01 4.35953805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.14, Y:139.28, Z:4.36 [[-6.12719980e-01 -7.90229193e-01 1.05852615e-02 1.09141232e+02] [ 7.90094895e-01 -6.12811144e-01 -1.45794139e-02 1.39280663e+02] [ 1.80078447e-02 -5.69737132e-04 9.99837683e-01 4.36090848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.12, Y:139.30, Z:4.36 [[-6.12262464e-01 -7.90583452e-01 1.06056850e-02 1.09121663e+02] [ 7.90448870e-01 -6.12354063e-01 -1.45974582e-02 1.39298857e+02] [ 1.80349431e-02 -5.54224017e-04 9.99837204e-01 4.36127091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:139.32, Z:4.36 [[-6.11820746e-01 -7.90926477e-01 1.05205883e-02 1.09106624e+02] [ 7.90794313e-01 -6.11910961e-01 -1.44682571e-02 1.39318952e+02] [ 1.78809909e-02 -5.32358403e-04 9.99839981e-01 4.36211965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:139.34, Z:4.36 [[-6.11070021e-01 -7.91509297e-01 1.03180885e-02 1.09087699e+02] [ 7.91382409e-01 -6.11156922e-01 -1.41809435e-02 1.39339218e+02] [ 1.75303198e-02 -4.99995661e-04 9.99846207e-01 4.36291794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:139.36, Z:4.36 [[-6.11011623e-01 -7.91554560e-01 1.03041332e-02 1.09070066e+02] [ 7.91428197e-01 -6.11098303e-01 -1.41517635e-02 1.39359494e+02] [ 1.74987313e-02 -4.91910434e-04 9.99846764e-01 4.36371338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:139.38, Z:4.36 [[-6.10912800e-01 -7.91634607e-01 1.00099412e-02 1.09051630e+02] [ 7.91515554e-01 -6.10994623e-01 -1.37367499e-02 1.39379207e+02] [ 1.69905069e-02 -4.68932185e-04 9.99855541e-01 4.36412364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:139.40, Z:4.37 [[-6.10618595e-01 -7.91864099e-01 9.80716122e-03 1.09039575e+02] [ 7.91750015e-01 -6.10697183e-01 -1.34485654e-02 1.39403120e+02] [ 1.66386419e-02 -4.47124090e-04 9.99861468e-01 4.36568253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:139.42, Z:4.37 [[-6.10430645e-01 -7.92011792e-01 9.57858313e-03 1.09017130e+02] [ 7.91903151e-01 -6.10505642e-01 -1.31247924e-02 1.39420176e+02] [ 1.62427694e-02 -4.26465333e-04 9.99867987e-01 4.36539317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:139.44, Z:4.37 [[-6.09767116e-01 -7.92521119e-01 9.71288767e-03 1.09000293e+02] [ 7.92409640e-01 -6.09844329e-01 -1.32987666e-02 1.39440355e+02] [ 1.64629029e-02 -4.12564746e-04 9.99864392e-01 4.36588847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:139.46, Z:4.37 [[-6.09596860e-01 -7.92650661e-01 9.82842892e-03 1.08984153e+02] [ 7.92536722e-01 -6.09675950e-01 -1.34454360e-02 1.39461139e+02] [ 1.66496905e-02 -4.06904734e-04 9.99861302e-01 4.36637492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:139.48, Z:4.37 [[-6.09336088e-01 -7.92849072e-01 9.99400252e-03 1.08966548e+02] [ 7.92731489e-01 -6.09417909e-01 -1.36601199e-02 1.39482498e+02] [ 1.69209375e-02 -4.01043513e-04 9.99856750e-01 4.36656664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:139.50, Z:4.37 [[-6.09583175e-01 -7.92655687e-01 1.02623081e-02 1.08948967e+02] [ 7.92531870e-01 -6.09669413e-01 -1.40157757e-02 1.39503927e+02] [ 1.73662997e-02 -4.10574803e-04 9.99849110e-01 4.36668027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:139.53, Z:4.37 [[-6.09363074e-01 -7.92818091e-01 1.07758154e-02 1.08933618e+02] [ 7.92681821e-01 -6.09458201e-01 -1.47048140e-02 1.39525658e+02] [ 1.82256516e-02 -4.18777687e-04 9.99833811e-01 4.36695270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:139.55, Z:4.37 [[-6.09838073e-01 -7.92449703e-01 1.09996788e-02 1.08915296e+02] [ 7.92307816e-01 -6.09937112e-01 -1.50015074e-02 1.39546004e+02] [ 1.85970524e-02 -4.33358831e-04 9.99826966e-01 4.36723398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.90, Y:139.57, Z:4.37 [[-6.10537824e-01 -7.91913580e-01 1.07910863e-02 1.08899815e+02] [ 7.91777144e-01 -6.10633027e-01 -1.47058165e-02 1.39568886e+02] [ 1.82351295e-02 -4.34321711e-04 9.99833632e-01 4.36832836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:139.59, Z:4.37 [[-6.11331375e-01 -7.91301051e-01 1.07980075e-02 1.08885732e+02] [ 7.91164550e-01 -6.11426568e-01 -1.47039747e-02 1.39590603e+02] [ 1.82374593e-02 -4.46000342e-04 9.99833584e-01 4.36943298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:139.61, Z:4.37 [[-6.12110996e-01 -7.90699249e-01 1.07156747e-02 1.08868830e+02] [ 7.90564943e-01 -6.12204616e-01 -1.45801068e-02 1.39611600e+02] [ 1.80886650e-02 -4.53206982e-04 9.99836284e-01 4.36965468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:139.64, Z:4.37 [[-6.13582919e-01 -7.89551372e-01 1.11639035e-02 1.08857632e+02] [ 7.89405639e-01 -6.13684269e-01 -1.51774869e-02 1.39635709e+02] [ 1.88345175e-02 -4.99798325e-04 9.99822490e-01 4.36984274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.84, Y:139.66, Z:4.37 [[-6.14546025e-01 -7.88801032e-01 1.12300533e-02 1.08840321e+02] [ 7.88653612e-01 -6.14648404e-01 -1.52584150e-02 1.39657302e+02] [ 1.89383878e-02 -5.20376214e-04 9.99820517e-01 4.37014129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:139.68, Z:4.37 [[-6.16458310e-01 -7.87306161e-01 1.13208608e-02 1.08827914e+02] [ 7.87156314e-01 -6.16561993e-01 -1.53702811e-02 1.39682217e+02] [ 1.90811295e-02 -5.63850467e-04 9.99817780e-01 4.37056246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.81, Y:139.70, Z:4.37 [[-6.17599592e-01 -7.86408524e-01 1.15055449e-02 1.08812225e+02] [ 7.86253828e-01 -6.17706468e-01 -1.56088866e-02 1.39703061e+02] [ 1.93820110e-02 -5.93763246e-04 9.99811975e-01 4.37120023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:139.73, Z:4.37 [[-6.18554605e-01 -7.85657959e-01 1.14791761e-02 1.08796533e+02] [ 7.85504103e-01 -6.18660813e-01 -1.55596496e-02 1.39725329e+02] [ 1.93262790e-02 -6.07552951e-04 9.99813045e-01 4.37144676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:139.75, Z:4.37 [[-6.19276949e-01 -7.85087837e-01 1.15389948e-02 1.08782235e+02] [ 7.84932494e-01 -6.19384131e-01 -1.56293941e-02 1.39746762e+02] [ 1.94175175e-02 -6.21591551e-04 9.99811269e-01 4.37187150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65275509600002 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:108.76, Y:139.77, Z:4.37 [[-6.20313258e-01 -7.84267017e-01 1.16922661e-02 1.08764688e+02] [ 7.84107640e-01 -6.20423104e-01 -1.58234407e-02 1.39767388e+02] [ 1.96639546e-02 -6.47494876e-04 9.99806436e-01 4.37061630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:139.79, Z:4.37 [[-6.20445047e-01 -7.84164773e-01 1.15565367e-02 1.08750559e+02] [ 7.84009285e-01 -6.20552339e-01 -1.56280402e-02 1.39789754e+02] [ 1.94263945e-02 -6.35908054e-04 9.99811088e-01 4.37315179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:139.81, Z:4.37 [[-6.20003761e-01 -7.84509127e-01 1.18644599e-02 1.08733526e+02] [ 7.84345566e-01 -6.20116947e-01 -1.60313712e-02 1.39810410e+02] [ 1.99341097e-02 -6.33673928e-04 9.99801095e-01 4.37346795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:139.83, Z:4.37 [[-6.19489344e-01 -7.84913615e-01 1.19820680e-02 1.08719157e+02] [ 7.84747146e-01 -6.19604903e-01 -1.61765696e-02 1.39831259e+02] [ 2.01213578e-02 -6.18318862e-04 9.99797354e-01 4.37408228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.70, Y:139.85, Z:4.37 [[-6.18959374e-01 -7.85332309e-01 1.19355572e-02 1.08703249e+02] [ 7.85167488e-01 -6.19074157e-01 -1.60998395e-02 1.39851849e+02] [ 2.00327192e-02 -5.93735124e-04 9.99799149e-01 4.37453190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:139.87, Z:4.38 [[-6.17653837e-01 -7.86358192e-01 1.20221138e-02 1.08686444e+02] [ 7.86191430e-01 -6.17770576e-01 -1.62034160e-02 1.39873355e+02] [ 2.01685971e-02 -5.56419274e-04 9.99796438e-01 4.37508926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:139.89, Z:4.38 [[-6.17117628e-01 -7.86776306e-01 1.22015617e-02 1.08668231e+02] [ 7.86604856e-01 -6.17238001e-01 -1.64332287e-02 1.39893607e+02] [ 2.04605425e-02 -5.43427477e-04 9.99790514e-01 4.37544684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:139.92, Z:4.38 [[-6.16575559e-01 -7.87196664e-01 1.24896787e-02 1.08651410e+02] [ 7.87017379e-01 -6.16701814e-01 -1.68082750e-02 1.39915099e+02] [ 2.09338255e-02 -5.33977328e-04 9.99780721e-01 4.37611198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:139.94, Z:4.38 [[-6.15127557e-01 -7.88327486e-01 1.25643634e-02 1.08637255e+02] [ 7.88146554e-01 -6.15255666e-01 -1.68959907e-02 1.39937072e+02] [ 2.10498696e-02 -4.90629739e-04 9.99778307e-01 4.37664781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.62, Y:139.96, Z:4.38 [[-6.14708211e-01 -7.88655492e-01 1.25032369e-02 1.08621546e+02] [ 7.88476591e-01 -6.14835176e-01 -1.68039208e-02 1.39957949e+02] [ 2.09399343e-02 -4.70998421e-04 9.99780625e-01 4.37747814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:139.98, Z:4.38 [[-6.14267172e-01 -7.88998964e-01 1.25090631e-02 1.08603669e+02] [ 7.88820247e-01 -6.14394361e-01 -1.67983969e-02 1.39978124e+02] [ 2.09394155e-02 -4.51301520e-04 9.99780645e-01 4.37819097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:140.00, Z:4.38 [[-6.13690646e-01 -7.89447961e-01 1.24782703e-02 1.08586652e+02] [ 7.89270506e-01 -6.13817346e-01 -1.67431977e-02 1.39999490e+02] [ 2.08772620e-02 -4.26413114e-04 9.99781955e-01 4.37879688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:140.02, Z:4.38 [[-6.12971338e-01 -7.90002795e-01 1.27170008e-02 1.08571990e+02] [ 7.89818885e-01 -6.13103105e-01 -1.70502783e-02 1.40019844e+02] [ 2.12666002e-02 -4.07204545e-04 9.99773757e-01 4.37912320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:140.04, Z:4.38 [[-6.12993030e-01 -7.89983466e-01 1.28711865e-02 1.08557518e+02] [ 7.89795394e-01 -6.13128013e-01 -1.72416830e-02 1.40040997e+02] [ 2.15123295e-02 -4.03427655e-04 9.99768502e-01 4.37974164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:140.06, Z:4.38 [[-6.12907030e-01 -7.90050255e-01 1.28672773e-02 1.08543913e+02] [ 7.89862630e-01 -6.13041957e-01 -1.72216187e-02 1.40062376e+02] [ 2.14941251e-02 -3.91869712e-04 9.99768898e-01 4.38066181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:140.08, Z:4.38 [[-6.13140044e-01 -7.89869284e-01 1.28763901e-02 1.08528102e+02] [ 7.89681667e-01 -6.13275112e-01 -1.72192119e-02 1.40083064e+02] [ 2.14976961e-02 -3.89539115e-04 9.99768822e-01 4.38113878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:140.10, Z:4.38 [[-6.13544801e-01 -7.89549298e-01 1.32167426e-02 1.08513971e+02] [ 7.89351886e-01 -6.13687008e-01 -1.76594558e-02 1.40103845e+02] [ 2.20539541e-02 -4.02206603e-04 9.99756701e-01 4.38158275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:140.13, Z:4.38 [[-6.14754019e-01 -7.88606441e-01 1.33183446e-02 1.08500996e+02] [ 7.88406097e-01 -6.14898119e-01 -1.77800513e-02 1.40126927e+02] [ 2.22108880e-02 -4.30093846e-04 9.99753215e-01 4.38217261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:140.15, Z:4.38 [[-6.15050965e-01 -7.88374758e-01 1.33248744e-02 1.08485237e+02] [ 7.88174465e-01 -6.15195137e-01 -1.77751564e-02 1.40147503e+02] [ 2.22108826e-02 -4.30301326e-04 9.99753215e-01 4.38269990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22275509600001 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:108.47, Y:140.17, Z:4.38 [[-6.15788868e-01 -7.87792347e-01 1.36853141e-02 1.08469704e+02] [ 7.87581263e-01 -6.15940753e-01 -1.82412626e-02 1.40168557e+02] [ 2.27996697e-02 -4.54469467e-04 9.99739950e-01 4.38171593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.45, Y:140.19, Z:4.38 [[-6.16979502e-01 -7.86856022e-01 1.39246190e-02 1.08454173e+02] [ 7.86637602e-01 -6.17136421e-01 -1.85451170e-02 1.40191490e+02] [ 2.31857265e-02 -4.88328097e-04 9.99731056e-01 4.38334427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:140.22, Z:4.38 [[-6.19427613e-01 -7.84929598e-01 1.39627658e-02 1.08443911e+02] [ 7.84709806e-01 -6.19584716e-01 -1.85822631e-02 1.40216005e+02] [ 2.32368846e-02 -5.53647644e-04 9.99729834e-01 4.38331084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:140.24, Z:4.38 [[-6.20952959e-01 -7.83719487e-01 1.41840799e-02 1.08429002e+02] [ 7.83492679e-01 -6.21114647e-01 -1.88631319e-02 1.40238252e+02] [ 2.35933439e-02 -5.99994860e-04 9.99721458e-01 4.38386147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:140.26, Z:4.38 [[-6.24420260e-01 -7.80956615e-01 1.43563291e-02 1.08415784e+02] [ 7.80723801e-01 -6.24584875e-01 -1.90808741e-02 1.40262311e+02] [ 2.38680809e-02 -7.06156529e-04 9.99714867e-01 4.38425150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:140.29, Z:4.38 [[-6.26014764e-01 -7.79678747e-01 1.43724117e-02 1.08404882e+02] [ 7.79445404e-01 -6.26179282e-01 -1.90884395e-02 1.40287289e+02] [ 2.38825570e-02 -7.47134729e-04 9.99714492e-01 4.38461678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.39, Y:140.31, Z:4.39 [[-6.28053333e-01 -7.78035812e-01 1.44667326e-02 1.08389054e+02] [ 7.77799238e-01 -6.28219407e-01 -1.92021451e-02 1.40309069e+02] [ 2.40282387e-02 -8.07757585e-04 9.99710954e-01 4.38522761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:140.33, Z:4.39 [[-6.31323658e-01 -7.75383586e-01 1.45166914e-02 1.08377219e+02] [ 7.75145012e-01 -6.31489889e-01 -1.92543688e-02 1.40334261e+02] [ 2.40966653e-02 -9.03197578e-04 9.99709225e-01 4.38573832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:140.36, Z:4.39 [[-6.32735859e-01 -7.74232443e-01 1.44726177e-02 1.08363169e+02] [ 7.73995350e-01 -6.32900663e-01 -1.91820128e-02 1.40357822e+02] [ 2.40110660e-02 -9.35408519e-04 9.99711255e-01 4.38628018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.35, Y:140.38, Z:4.39 [[-6.34126906e-01 -7.73091941e-01 1.45573775e-02 1.08350453e+02] [ 7.72852100e-01 -6.34293228e-01 -1.92803755e-02 1.40380480e+02] [ 2.41391489e-02 -9.75505091e-04 9.99708132e-01 4.38644937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52275509600003 meters Centerline goodness [0,1] 0.999913741050634 Centerline is valid? [True, True] Translation: X:108.34, Y:140.40, Z:4.39 [[-6.36003965e-01 -7.71543618e-01 1.48122201e-02 1.08335844e+02] [ 7.71295239e-01 -6.36175571e-01 -1.96035184e-02 1.40403282e+02] [ 2.45481421e-02 -1.04332057e-03 9.99698105e-01 4.38502605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55275509600003 meters Centerline goodness [0,1] 0.9999783975286772 Centerline is valid? [True, True] Translation: X:108.32, Y:140.42, Z:4.39 [[-6.36821280e-01 -7.70875854e-01 1.44594191e-02 1.08318777e+02] [ 7.70639321e-01 -6.36984573e-01 -1.91230212e-02 1.40424553e+02] [ 2.39519022e-02 -1.03494990e-03 9.99712576e-01 4.38699269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:140.45, Z:4.39 [[-6.37677337e-01 -7.70167666e-01 1.44699606e-02 1.08304262e+02] [ 7.69930949e-01 -6.37840620e-01 -1.91227003e-02 1.40446215e+02] [ 2.39572141e-02 -1.05324215e-03 9.99712430e-01 4.38820788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:140.47, Z:4.39 [[-6.38443277e-01 -7.69538521e-01 1.41650120e-02 1.08287509e+02] [ 7.69311849e-01 -6.38599540e-01 -1.87057660e-02 1.40468990e+02] [ 2.34405777e-02 -1.04525896e-03 9.99724685e-01 4.38963228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64275509600003 meters Centerline goodness [0,1] 0.999913511643495 Centerline is valid? [True, True] Translation: X:108.27, Y:140.49, Z:4.39 [[-6.38542053e-01 -7.69451094e-01 1.44589151e-02 1.08273142e+02] [ 7.69215196e-01 -6.38704850e-01 -1.90812892e-02 1.40490941e+02] [ 2.39170980e-02 -1.06218839e-03 9.99713381e-01 4.38840264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.26, Y:140.51, Z:4.39 [[-6.37811838e-01 -7.70056742e-01 1.44455507e-02 1.08256951e+02] [ 7.69821706e-01 -6.37974569e-01 -1.90523104e-02 1.40513022e+02] [ 2.38872541e-02 -1.03129060e-03 9.99714127e-01 4.39114314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.24, Y:140.53, Z:4.39 [[-6.37286440e-01 -7.70489423e-01 1.45616906e-02 1.08241193e+02] [ 7.70251042e-01 -6.37451975e-01 -1.91914364e-02 1.40534595e+02] [ 2.40691772e-02 -1.01428481e-03 9.99709781e-01 4.39169434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.22, Y:140.56, Z:4.39 [[-6.36584160e-01 -7.71062023e-01 1.49654635e-02 1.08222942e+02] [ 7.70810755e-01 -6.36759245e-01 -1.97090015e-02 1.40555209e+02] [ 2.47262598e-02 -1.01089795e-03 9.99693748e-01 4.39247841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:140.58, Z:4.39 [[-6.35860421e-01 -7.71655097e-01 1.51636408e-02 1.08207758e+02] [ 7.71397671e-01 -6.36040430e-01 -1.99550885e-02 1.40576278e+02] [ 2.50431344e-02 -9.91453797e-04 9.99685880e-01 4.39251891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:140.60, Z:4.39 [[-6.34929861e-01 -7.72418921e-01 1.52670605e-02 1.08190152e+02] [ 7.72158575e-01 -6.35112662e-01 -2.00759040e-02 1.40597509e+02] [ 2.52033116e-02 -9.58199267e-04 9.99681887e-01 4.39303020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:140.62, Z:4.39 [[-6.32246569e-01 -7.74616411e-01 1.52869568e-02 1.08171243e+02] [ 7.74356390e-01 -6.32430764e-01 -2.00875860e-02 1.40617002e+02] [ 2.52281156e-02 -8.62754646e-04 9.99681348e-01 4.39375444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.852755096 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:108.15, Y:140.64, Z:4.39 [[-6.31078578e-01 -7.75565937e-01 1.54047272e-02 1.08153960e+02] [ 7.75302556e-01 -6.31266031e-01 -2.02273440e-02 1.40638154e+02] [ 2.54121201e-02 -8.21719116e-04 9.99676722e-01 4.39351521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:140.66, Z:4.40 [[-6.28535674e-01 -7.77635671e-01 1.50223028e-02 1.08136169e+02] [ 7.77386144e-01 -6.28714767e-01 -1.97110535e-02 1.40659072e+02] [ 2.47727619e-02 -7.10970209e-04 9.99692855e-01 4.39634399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:140.68, Z:4.40 [[-6.27371082e-01 -7.78579544e-01 1.48128058e-02 1.08118842e+02] [ 7.78337531e-01 -6.27545587e-01 -1.94222587e-02 1.40680674e+02] [ 2.44174842e-02 -6.55600725e-04 9.99701634e-01 4.39741730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.10, Y:140.70, Z:4.40 [[-6.25186746e-01 -7.80337414e-01 1.46646659e-02 1.08102034e+02] [ 7.80101018e-01 -6.25358451e-01 -1.92148437e-02 1.40701448e+02] [ 2.41647343e-02 -5.72944820e-04 9.99707826e-01 4.39831288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.08, Y:140.72, Z:4.40 [[-6.24345221e-01 -7.81009724e-01 1.47260369e-02 1.08084392e+02] [ 7.80771872e-01 -6.24518630e-01 -1.92812018e-02 1.40721811e+02] [ 2.42554905e-02 -5.40450784e-04 9.99705646e-01 4.39900349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00275509600002 meters Centerline goodness [0,1] 0.9998701045658245 Centerline is valid? [True, True] Translation: X:108.07, Y:140.74, Z:4.40 [[-6.23933708e-01 -7.81334224e-01 1.49518641e-02 1.08066672e+02] [ 7.81089482e-01 -6.24112613e-01 -1.95618882e-02 1.40742383e+02] [ 2.46160197e-02 -5.26577667e-04 9.99696841e-01 4.39713707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.05, Y:140.76, Z:4.40 [[-6.23076732e-01 -7.82023688e-01 1.46403040e-02 1.08051603e+02] [ 7.81789572e-01 -6.23248523e-01 -1.91401116e-02 1.40763758e+02] [ 2.40925685e-02 -4.80121147e-04 9.99709617e-01 4.40022740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:140.78, Z:4.40 [[-6.23143650e-01 -7.81967497e-01 1.47927459e-02 1.08035535e+02] [ 7.81728836e-01 -6.23319024e-01 -1.93241138e-02 1.40784162e+02] [ 2.43314288e-02 -4.77782845e-04 9.99703833e-01 4.40117405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09275509600002 meters Centerline goodness [0,1] 0.9999135359474298 Centerline is valid? [True, True] Translation: X:108.02, Y:140.81, Z:4.40 [[-6.23697116e-01 -7.81521356e-01 1.50425094e-02 1.08023037e+02] [ 7.81274835e-01 -6.23878295e-01 -1.96343174e-02 1.40806884e+02] [ 2.47293335e-02 -4.93533088e-04 9.99694061e-01 4.39877462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:140.83, Z:4.40 [[-6.24495502e-01 -7.80885696e-01 1.49297605e-02 1.08004946e+02] [ 7.80643069e-01 -6.24673734e-01 -1.94711085e-02 1.40826363e+02] [ 2.45309394e-02 -5.04805593e-04 9.99698944e-01 4.40184372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:140.85, Z:4.40 [[-6.25257524e-01 -7.80275165e-01 1.49564539e-02 1.07989960e+02] [ 7.80031881e-01 -6.25436165e-01 -1.94902127e-02 1.40847589e+02] [ 2.45620361e-02 -5.19891253e-04 9.99698173e-01 4.40206535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18275509600002 meters Centerline goodness [0,1] 0.9999133767893107 Centerline is valid? [True, True] Translation: X:107.98, Y:140.87, Z:4.40 [[-6.26828801e-01 -7.79001910e-01 1.55460219e-02 1.07976350e+02] [ 7.78739095e-01 -6.27021280e-01 -2.02419560e-02 1.40870601e+02] [ 2.55162090e-02 -5.81946006e-04 9.99674239e-01 4.39946853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:140.89, Z:4.40 [[-6.27800768e-01 -7.78219969e-01 1.54878998e-02 1.07961976e+02] [ 7.77959262e-01 -6.27991494e-01 -2.01511669e-02 1.40892747e+02] [ 2.54083099e-02 -6.01962923e-04 9.99676976e-01 4.40151208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.94, Y:140.91, Z:4.40 [[-6.29070933e-01 -7.77196951e-01 1.53186226e-02 1.07944781e+02] [ 7.76941975e-01 -6.29257106e-01 -1.99163831e-02 1.40913868e+02] [ 2.51183043e-02 -6.27136819e-04 9.99684289e-01 4.40240278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27275509600003 meters Centerline goodness [0,1] 0.9997608643666167 Centerline is valid? [True, True] Translation: X:107.93, Y:140.94, Z:4.40 [[-6.30815114e-01 -7.75769959e-01 1.59142288e-02 1.07928709e+02] [ 7.75494706e-01 -6.31015435e-01 -2.06756355e-02 1.40936651e+02] [ 2.60816609e-02 -7.01103248e-04 9.99659570e-01 4.39934260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:140.96, Z:4.40 [[-6.33320981e-01 -7.73740734e-01 1.51595324e-02 1.07916842e+02] [ 7.73490685e-01 -6.33501957e-01 -1.96832595e-02 1.40961678e+02] [ 2.48333331e-02 -7.40064104e-04 9.99691331e-01 4.40281395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:140.98, Z:4.40 [[-6.34592897e-01 -7.72700918e-01 1.50048853e-02 1.07900328e+02] [ 7.72455902e-01 -6.34769804e-01 -1.94724280e-02 1.40983372e+02] [ 2.45710111e-02 -7.66452249e-04 9.99697793e-01 4.40387587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:141.00, Z:4.41 [[-6.35055849e-01 -7.72334966e-01 1.42396741e-02 1.07882556e+02] [ 7.72114513e-01 -6.35215053e-01 -1.84666154e-02 1.41003138e+02] [ 2.33076681e-02 -7.32673096e-04 9.99728071e-01 4.40522258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:141.03, Z:4.41 [[-6.35810856e-01 -7.71710441e-01 1.44066004e-02 1.07867458e+02] [ 7.71484981e-01 -6.35973604e-01 -1.86681406e-02 1.41025043e+02] [ 2.35686166e-02 -7.54930591e-04 9.99721937e-01 4.40551613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:141.05, Z:4.41 [[-6.36143803e-01 -7.71432586e-01 1.45886181e-02 1.07850954e+02] [ 7.71201664e-01 -6.36310600e-01 -1.88895194e-02 1.41045875e+02] [ 2.38548831e-02 -7.65684188e-04 9.99715139e-01 4.40602519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:141.07, Z:4.41 [[-6.36087908e-01 -7.71470576e-01 1.50107521e-02 1.07836414e+02] [ 7.71226497e-01 -6.36264526e-01 -1.94201759e-02 1.41067239e+02] [ 2.45329033e-02 -7.76249297e-04 9.99698722e-01 4.40547234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:141.09, Z:4.41 [[-6.35973741e-01 -7.71559642e-01 1.52682407e-02 1.07817292e+02] [ 7.71307551e-01 -6.36156519e-01 -1.97369101e-02 1.41086412e+02] [ 2.49411942e-02 -7.75647208e-04 9.99688619e-01 4.40522156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:141.11, Z:4.40 [[-6.35636829e-01 -7.71818940e-01 1.61661727e-02 1.07800353e+02] [ 7.71536856e-01 -6.35841870e-01 -2.08805258e-02 1.41105832e+02] [ 2.63951148e-02 -7.99633177e-04 9.99651268e-01 4.40385036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:141.13, Z:4.40 [[-6.35446887e-01 -7.71975576e-01 1.61543597e-02 1.07782803e+02] [ 7.71694394e-01 -6.35651711e-01 -2.08486161e-02 1.41126135e+02] [ 2.63631688e-02 -7.81959406e-04 9.99652125e-01 4.40381688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:141.15, Z:4.40 [[-6.35411290e-01 -7.72000908e-01 1.63428960e-02 1.07766789e+02] [ 7.71713569e-01 -6.35620949e-01 -2.10755005e-02 1.41145572e+02] [ 2.66581926e-02 -7.79576309e-04 9.99644303e-01 4.40375511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.75, Y:141.17, Z:4.41 [[-6.34931695e-01 -7.72399672e-01 1.61396603e-02 1.07749529e+02] [ 7.72119993e-01 -6.35136359e-01 -2.07971508e-02 1.41165235e+02] [ 2.63145975e-02 -7.43015780e-04 9.99653435e-01 4.40526714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.73, Y:141.19, Z:4.41 [[-6.35104871e-01 -7.72262508e-01 1.58877484e-02 1.07734181e+02] [ 7.71991832e-01 -6.35303147e-01 -2.04578224e-02 1.41185146e+02] [ 2.58923458e-02 -7.27650637e-04 9.99664472e-01 4.40627587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.662755096 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:107.72, Y:141.21, Z:4.41 [[-6.34851121e-01 -7.72478973e-01 1.55013263e-02 1.07716036e+02] [ 7.72221683e-01 -6.35039964e-01 -1.99478393e-02 1.41205056e+02] [ 2.52532481e-02 -6.93447851e-04 9.99680845e-01 4.40748496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:141.23, Z:4.41 [[-6.34696341e-01 -7.72614197e-01 1.50949852e-02 1.07700681e+02] [ 7.72370598e-01 -6.34875473e-01 -1.94111475e-02 1.41225305e+02] [ 2.45807640e-02 -6.61261536e-04 9.99697629e-01 4.40896252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:141.24, Z:4.41 [[-6.34949864e-01 -7.72417434e-01 1.44905786e-02 1.07685375e+02] [ 7.72193173e-01 -6.35114875e-01 -1.86225644e-02 1.41244942e+02] [ 2.35875754e-02 -6.34868817e-04 9.99721573e-01 4.40998694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:141.27, Z:4.41 [[-6.35054779e-01 -7.72332096e-01 1.44416552e-02 1.07669346e+02] [ 7.72109687e-01 -6.35218657e-01 -1.85442428e-02 1.41265014e+02] [ 2.34959227e-02 -6.26068125e-04 9.99723737e-01 4.41093447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:141.28, Z:4.41 [[-6.35349647e-01 -7.72092354e-01 1.42906679e-02 1.07649074e+02] [ 7.71874850e-01 -6.35510042e-01 -1.83358249e-02 1.41282501e+02] [ 2.32388131e-02 -6.19052739e-04 9.99729751e-01 4.41190948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:141.30, Z:4.41 [[-6.35466440e-01 -7.71997272e-01 1.42343351e-02 1.07633064e+02] [ 7.71781795e-01 -6.35625549e-01 -1.82488701e-02 1.41302459e+02] [ 2.31357850e-02 -6.10743787e-04 9.99732145e-01 4.41236959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.62, Y:141.32, Z:4.41 [[-6.35907148e-01 -7.71638321e-01 1.40142712e-02 1.07618382e+02] [ 7.71429706e-01 -6.36061267e-01 -1.79519698e-02 1.41322855e+02] [ 2.27663629e-02 -6.04760851e-04 9.99740630e-01 4.41279356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:141.34, Z:4.41 [[-6.36511677e-01 -7.71141309e-01 1.39272394e-02 1.07600504e+02] [ 7.70935486e-01 -6.36663735e-01 -1.78259763e-02 1.41342644e+02] [ 2.26133149e-02 -6.09438970e-04 9.99744101e-01 4.41316202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.59, Y:141.36, Z:4.41 [[-6.36886328e-01 -7.70829195e-01 1.40768579e-02 1.07585672e+02] [ 7.70619181e-01 -6.37041577e-01 -1.80029686e-02 1.41363503e+02] [ 2.28447576e-02 -6.17947853e-04 9.99738834e-01 4.41347047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:141.38, Z:4.41 [[-6.37492930e-01 -7.70330920e-01 1.38938495e-02 1.07569510e+02] [ 7.70126539e-01 -6.37644017e-01 -1.77545020e-02 1.41384752e+02] [ 2.25361719e-02 -6.18347301e-04 9.99745837e-01 4.41428615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:141.41, Z:4.41 [[-6.37861938e-01 -7.70028647e-01 1.37124335e-02 1.07552759e+02] [ 7.69829797e-01 -6.38009018e-01 -1.75093428e-02 1.41405370e+02] [ 2.22313517e-02 -6.12303432e-04 9.99752665e-01 4.41490066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:141.43, Z:4.42 [[-6.38228719e-01 -7.69724423e-01 1.37263916e-02 1.07535154e+02] [ 7.69525403e-01 -6.38376013e-01 -1.75134388e-02 1.41425873e+02] [ 2.22431207e-02 -6.14772613e-04 9.99752402e-01 4.41530388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.52, Y:141.45, Z:4.42 [[-6.38825741e-01 -7.69229323e-01 1.37084085e-02 1.07521564e+02] [ 7.69030993e-01 -6.38972504e-01 -1.74777653e-02 1.41448345e+02] [ 2.22037056e-02 -6.23055375e-04 9.99753273e-01 4.41535136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.50, Y:141.47, Z:4.42 [[-6.39582617e-01 -7.68600238e-01 1.37022122e-02 1.07504099e+02] [ 7.68402238e-01 -6.39729059e-01 -1.74565599e-02 1.41468084e+02] [ 2.21828195e-02 -6.36101766e-04 9.99753729e-01 4.41517876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:141.49, Z:4.42 [[-6.39876499e-01 -7.68355472e-01 1.37088915e-02 1.07487875e+02] [ 7.68157528e-01 -6.40023018e-01 -1.74513132e-02 1.41488322e+02] [ 2.21828181e-02 -6.36096980e-04 9.99753729e-01 4.41570610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:141.51, Z:4.42 [[-6.40442517e-01 -7.67880217e-01 1.39052229e-02 1.07474507e+02] [ 7.67676769e-01 -6.40593121e-01 -1.76870821e-02 1.41509911e+02] [ 2.24891505e-02 -6.52842773e-04 9.99746874e-01 4.41522748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:141.53, Z:4.42 [[-6.41186652e-01 -7.67257068e-01 1.40096038e-02 1.07456648e+02] [ 7.67050736e-01 -6.41339335e-01 -1.78052430e-02 1.41529208e+02] [ 2.26461085e-02 -6.70407304e-04 9.99743319e-01 4.41522655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:141.55, Z:4.42 [[-6.41581055e-01 -7.66924643e-01 1.41542197e-02 1.07440765e+02] [ 7.66714269e-01 -6.41736807e-01 -1.79749721e-02 1.41549533e+02] [ 2.28687328e-02 -6.80159368e-04 9.99738245e-01 4.41537625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:141.57, Z:4.42 [[-6.41787759e-01 -7.66748122e-01 1.43454049e-02 1.07425818e+02] [ 7.66532324e-01 -6.41947698e-01 -1.82029808e-02 1.41569746e+02] [ 2.31661010e-02 -6.86233710e-04 9.99731394e-01 4.41542134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:141.59, Z:4.42 [[-6.41734048e-01 -7.66787149e-01 1.46588169e-02 1.07408541e+02] [ 7.66562182e-01 -6.41901077e-01 -1.85857139e-02 1.41590349e+02] [ 2.36607969e-02 -6.90190725e-04 9.99719806e-01 4.41530724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:141.61, Z:4.42 [[-6.41681958e-01 -7.66829855e-01 1.47050798e-02 1.07390804e+02] [ 7.66603810e-01 -6.41850068e-01 -1.86303267e-02 1.41610347e+02] [ 2.37247472e-02 -6.81774263e-04 9.99718296e-01 4.41581043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.37, Y:141.63, Z:4.42 [[-6.41549082e-01 -7.66945855e-01 1.44509771e-02 1.07374174e+02] [ 7.66727905e-01 -6.41711480e-01 -1.82946731e-02 1.41630546e+02] [ 2.33043816e-02 -6.56963346e-04 9.99728200e-01 4.41640923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:141.65, Z:4.42 [[-6.40362630e-01 -7.67941878e-01 1.41765418e-02 1.07353762e+02] [ 7.67732674e-01 -6.40519252e-01 -1.79340433e-02 1.41649788e+02] [ 2.28526509e-02 -6.00496778e-04 9.99738664e-01 4.41758600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:141.67, Z:4.42 [[-6.40021599e-01 -7.68225354e-01 1.42182785e-02 1.07336781e+02] [ 7.68015270e-01 -6.40179244e-01 -1.79744315e-02 1.41670130e+02] [ 2.29106608e-02 -5.84169367e-04 9.99737346e-01 4.41820350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:141.69, Z:4.42 [[-6.39468207e-01 -7.68691411e-01 1.39257729e-02 1.07319508e+02] [ 7.68490298e-01 -6.39619587e-01 -1.75910680e-02 1.41690763e+02] [ 2.24292999e-02 -5.47107351e-04 9.99748282e-01 4.41902288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:141.71, Z:4.42 [[-6.38266627e-01 -7.69689586e-01 1.39159342e-02 1.07300342e+02] [ 7.69489288e-01 -6.38418113e-01 -1.75655423e-02 1.41710701e+02] [ 2.24041994e-02 -5.03337128e-04 9.99748868e-01 4.41999227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:141.73, Z:4.42 [[-6.37873663e-01 -7.70021574e-01 1.35634209e-02 1.07283499e+02] [ 7.69831639e-01 -6.38017675e-01 -1.71083073e-02 1.41730869e+02] [ 2.18274680e-02 -4.71388108e-04 9.99761641e-01 4.42026331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.27, Y:141.75, Z:4.42 [[-6.36772878e-01 -7.70940591e-01 1.30731515e-02 1.07266497e+02] [ 7.70764603e-01 -6.36906926e-01 -1.64771176e-02 1.41751169e+02] [ 2.10292595e-02 -4.15859122e-04 9.99778774e-01 4.42068121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.25, Y:141.77, Z:4.42 [[-6.36608101e-01 -7.71081278e-01 1.27979779e-02 1.07250125e+02] [ 7.70912895e-01 -6.36736607e-01 -1.61183455e-02 1.41771500e+02] [ 2.05774955e-02 -3.94943125e-04 9.99788183e-01 4.42146418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:141.79, Z:4.42 [[-6.36393915e-01 -7.71265943e-01 1.23138121e-02 1.07232635e+02] [ 7.71110329e-01 -6.36512930e-01 -1.54967712e-02 1.41791850e+02] [ 1.97900325e-02 -3.66743145e-04 9.99804091e-01 4.42250740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:141.81, Z:4.42 [[-6.35863477e-01 -7.71706010e-01 1.21438594e-02 1.07215031e+02] [ 7.71554956e-01 -6.35979338e-01 -1.52719386e-02 1.41813157e+02] [ 1.95086904e-02 -3.41213046e-04 9.99809629e-01 4.42355971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:141.83, Z:4.42 [[-6.35951089e-01 -7.71637889e-01 1.18819622e-02 1.07199951e+02] [ 7.71493474e-01 -6.36061994e-01 -1.49318366e-02 1.41834121e+02] [ 1.90796354e-02 -3.29061439e-04 9.99817913e-01 4.42453015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:141.85, Z:4.43 [[-6.36118678e-01 -7.71502388e-01 1.17086756e-02 1.07183417e+02] [ 7.71362342e-01 -6.36226345e-01 -1.47028995e-02 1.41854628e+02] [ 1.87926900e-02 -3.21157542e-04 9.99823350e-01 4.42506675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:141.88, Z:4.43 [[-6.36454475e-01 -7.71231245e-01 1.13166935e-02 1.07166072e+02] [ 7.71100574e-01 -6.36555002e-01 -1.41998405e-02 1.41875123e+02] [ 1.81550586e-02 -3.11243203e-04 9.99835135e-01 4.42539860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:141.90, Z:4.43 [[-6.37020973e-01 -7.70760214e-01 1.15313186e-02 1.07148794e+02] [ 7.70624659e-01 -6.37125252e-01 -1.44584716e-02 1.41896585e+02] [ 1.84909090e-02 -3.24031223e-04 9.99828976e-01 4.42531076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:141.92, Z:4.42 [[-6.38039486e-01 -7.69918057e-01 1.14804029e-02 1.07134223e+02] [ 7.69783748e-01 -6.38142672e-01 -1.43844225e-02 1.41917026e+02] [ 1.84009616e-02 -3.40401969e-04 9.99830630e-01 4.42498294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:141.94, Z:4.43 [[-6.39112311e-01 -7.69030004e-01 1.13272658e-02 1.07118186e+02] [ 7.68899329e-01 -6.39212584e-01 -1.41807606e-02 1.41938393e+02] [ 1.81459613e-02 -3.53571584e-04 9.99835286e-01 4.42516213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:141.96, Z:4.43 [[-6.40097334e-01 -7.68206127e-01 1.16081996e-02 1.07105287e+02] [ 7.68068973e-01 -6.40202471e-01 -1.45206717e-02 1.41960839e+02] [ 1.85864670e-02 -3.78745281e-04 9.99827185e-01 4.42572376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:141.98, Z:4.43 [[-6.41297059e-01 -7.67202192e-01 1.17846685e-02 1.07087118e+02] [ 7.67060902e-01 -6.41405201e-01 -1.47289099e-02 1.41980810e+02] [ 1.88587996e-02 -4.06048149e-04 9.99822075e-01 4.42551965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:142.00, Z:4.43 [[-6.43672855e-01 -7.65207537e-01 1.19449620e-02 1.07070632e+02] [ 7.65062239e-01 -6.43783512e-01 -1.49184343e-02 1.42003195e+02] [ 1.91056680e-02 -4.63951814e-04 9.99817362e-01 4.42513906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:142.02, Z:4.43 [[-6.45104404e-01 -7.64000368e-01 1.19894125e-02 1.07055669e+02] [ 7.63853963e-01 -6.45215617e-01 -1.49642827e-02 1.42024486e+02] [ 1.91684737e-02 -4.95364403e-04 9.99816145e-01 4.42574347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:142.05, Z:4.43 [[-6.47611881e-01 -7.61870166e-01 1.23572843e-02 1.07041546e+02] [ 7.61714491e-01 -6.47729518e-01 -1.54112525e-02 1.42046531e+02] [ 1.97455513e-02 -5.67787713e-04 9.99804876e-01 4.42615065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:142.07, Z:4.43 [[-6.48790691e-01 -7.60864918e-01 1.24585662e-02 1.07023748e+02] [ 7.60706730e-01 -6.48910026e-01 -1.55257455e-02 1.42067415e+02] [ 1.98974836e-02 -5.95643976e-04 9.99801848e-01 4.42663144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:142.09, Z:4.43 [[-6.49535761e-01 -7.60232473e-01 1.22426490e-02 1.07006414e+02] [ 7.60079821e-01 -6.49650853e-01 -1.52458452e-02 1.42088986e+02] [ 1.95438340e-02 -5.97331164e-04 9.99808823e-01 4.42727498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:142.11, Z:4.43 [[-6.50703948e-01 -7.59226009e-01 1.26586139e-02 1.06989886e+02] [ 7.59062852e-01 -6.50826749e-01 -1.57521697e-02 1.42110384e+02] [ 2.01980215e-02 -6.41315455e-04 9.99795793e-01 4.42730160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:142.13, Z:4.43 [[-6.51066599e-01 -7.58915318e-01 1.26421813e-02 1.06971744e+02] [ 7.58752752e-01 -6.51189011e-01 -1.57204665e-02 1.42130910e+02] [ 2.01629524e-02 -6.42780815e-04 9.99796500e-01 4.42767322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:142.15, Z:4.43 [[-6.51353668e-01 -7.58667101e-01 1.27526275e-02 1.06953621e+02] [ 7.58501870e-01 -6.51478173e-01 -1.58462691e-02 1.42151005e+02] [ 2.03301015e-02 -6.48633666e-04 9.99793112e-01 4.42793881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:142.17, Z:4.43 [[-6.51729219e-01 -7.58337854e-01 1.31424200e-02 1.06936859e+02] [ 7.58162558e-01 -6.51861372e-01 -1.63182922e-02 1.42171800e+02] [ 2.09418147e-02 -6.71017075e-04 9.99780471e-01 4.42787993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:142.19, Z:4.43 [[-6.51481101e-01 -7.58540539e-01 1.37341331e-02 1.06917931e+02] [ 7.58349442e-01 -6.51625491e-01 -1.70394292e-02 1.42191523e+02] [ 2.18746090e-02 -6.85593890e-04 9.99760487e-01 4.42789103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:142.21, Z:4.43 [[-6.51298894e-01 -7.58692055e-01 1.40041413e-02 1.06900175e+02] [ 7.58493693e-01 -6.51449074e-01 -1.73615181e-02 1.42211534e+02] [ 2.22950307e-02 -6.85484704e-04 9.99751200e-01 4.42784221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:142.23, Z:4.43 [[-6.50143554e-01 -7.59679045e-01 1.41812495e-02 1.06879158e+02] [ 7.59476170e-01 -6.50297873e-01 -1.75676967e-02 1.42230254e+02] [ 2.25678474e-02 -6.51203655e-04 9.99745102e-01 4.42854107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:142.25, Z:4.43 [[-6.49501674e-01 -7.60234988e-01 1.37963088e-02 1.06861416e+02] [ 7.60043355e-01 -6.49647900e-01 -1.70793762e-02 1.42249261e+02] [ 2.19470824e-02 -6.07290601e-04 9.99758949e-01 4.42964692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:142.27, Z:4.43 [[-6.49111901e-01 -7.60570335e-01 1.36566966e-02 1.06843486e+02] [ 7.60382912e-01 -6.49255286e-01 -1.68938158e-02 1.42268164e+02] [ 2.17156176e-02 -5.81658184e-04 9.99764019e-01 4.43095249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25275509600002 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:106.82, Y:142.29, Z:4.43 [[-6.47491093e-01 -7.61960400e-01 1.31009236e-02 1.06821398e+02] [ 7.61788462e-01 -6.47623420e-01 -1.61939831e-02 1.42286989e+02] [ 2.08236388e-02 -5.05327346e-04 9.99783037e-01 4.43253375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28275509600002 meters Centerline goodness [0,1] 0.9998924985487304 Centerline is valid? [True, True] Translation: X:106.80, Y:142.31, Z:4.43 [[-6.46839361e-01 -7.62514035e-01 1.30838873e-02 1.06804438e+02] [ 7.62342863e-01 -6.46971495e-01 -1.61630315e-02 1.42306936e+02] [ 2.07894405e-02 -4.80476849e-04 9.99783761e-01 4.43337613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:142.33, Z:4.43 [[-6.46041717e-01 -7.63193811e-01 1.28571744e-02 1.06785101e+02] [ 7.63028835e-01 -6.46169490e-01 -1.58740969e-02 1.42325435e+02] [ 2.04229263e-02 -4.44933995e-04 9.99791331e-01 4.43424999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:142.34, Z:4.43 [[-6.45998216e-01 -7.63227334e-01 1.30514885e-02 1.06768131e+02] [ 7.63057609e-01 -6.46129895e-01 -1.61010436e-02 1.42344882e+02] [ 2.07217134e-02 -4.42207816e-04 9.99785184e-01 4.43462902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:142.36, Z:4.43 [[-6.45920877e-01 -7.63294695e-01 1.29394759e-02 1.06747682e+02] [ 7.63128090e-01 -6.46050326e-01 -1.59528597e-02 1.42363813e+02] [ 2.05362858e-02 -4.29807536e-04 9.99789016e-01 4.43491338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:142.38, Z:4.44 [[-6.46231669e-01 -7.63032562e-01 1.28817752e-02 1.06731711e+02] [ 7.62867630e-01 -6.46359905e-01 -1.58698850e-02 1.42384521e+02] [ 2.04355020e-02 -4.28532958e-04 9.99791081e-01 4.43536506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:142.41, Z:4.44 [[-6.46792013e-01 -7.62551560e-01 1.32367074e-02 1.06717941e+02] [ 7.62377588e-01 -6.46927289e-01 -1.62940212e-02 1.42405613e+02] [ 2.09882185e-02 -4.47473671e-04 9.99779623e-01 4.43553202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:142.42, Z:4.44 [[-6.47856850e-01 -7.61646820e-01 1.32522984e-02 1.06698064e+02] [ 7.61472533e-01 -6.47992208e-01 -1.62996890e-02 1.42424948e+02] [ 2.10019924e-02 -4.68603951e-04 9.99779324e-01 4.43589080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.68, Y:142.45, Z:4.44 [[-6.48750544e-01 -7.60887597e-01 1.31452118e-02 1.06680576e+02] [ 7.60716201e-01 -6.48883528e-01 -1.61563634e-02 1.42446052e+02] [ 2.08228879e-02 -4.81673947e-04 9.99783064e-01 4.43637951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:142.47, Z:4.44 [[-6.49856560e-01 -7.59950755e-01 1.27004869e-02 1.06663661e+02] [ 7.59790804e-01 -6.49980471e-01 -1.55987276e-02 1.42467949e+02] [ 2.01093332e-02 -4.87222303e-04 9.99797668e-01 4.43729635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.65, Y:142.49, Z:4.44 [[-6.50992183e-01 -7.58982309e-01 1.24512447e-02 1.06647411e+02] [ 7.58828612e-01 -6.51111055e-01 -1.52817613e-02 1.42489070e+02] [ 1.97057295e-02 -4.99946424e-04 9.99805698e-01 4.43818349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.63, Y:142.51, Z:4.44 [[-6.53068216e-01 -7.57200717e-01 1.22057551e-02 1.06631945e+02] [ 7.57052925e-01 -6.53182048e-01 -1.49693400e-02 1.42511024e+02] [ 1.93073751e-02 -5.35597590e-04 9.99813452e-01 4.43889837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61275509600003 meters Centerline goodness [0,1] 0.9999785531987904 Centerline is valid? [True, True] Translation: X:106.62, Y:142.53, Z:4.44 [[-6.54257714e-01 -7.56174792e-01 1.21048357e-02 1.06615548e+02] [ 7.56029472e-01 -6.54369450e-01 -1.48344637e-02 1.42532864e+02] [ 1.91384822e-02 -5.53949720e-04 9.99816689e-01 4.43953986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.60, Y:142.55, Z:4.44 [[-6.56583828e-01 -7.54151324e-01 1.23878156e-02 1.06599141e+02] [ 7.53998983e-01 -6.56700385e-01 -1.51702664e-02 1.42554366e+02] [ 1.95757598e-02 -6.20151249e-04 9.99808184e-01 4.43987027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:142.58, Z:4.44 [[-6.57793739e-01 -7.53100007e-01 1.21563383e-02 1.06581769e+02] [ 7.52953328e-01 -6.57905753e-01 -1.48763558e-02 1.42575308e+02] [ 1.92011086e-02 -6.32418393e-04 9.99815442e-01 4.43997930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:142.60, Z:4.44 [[-6.59079927e-01 -7.51972672e-01 1.22780759e-02 1.06564612e+02] [ 7.51823057e-01 -6.59193946e-01 -1.50144107e-02 1.42595874e+02] [ 1.93840598e-02 -6.64756138e-04 9.99811890e-01 4.44027438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:142.62, Z:4.44 [[-6.60526151e-01 -7.50703055e-01 1.22526075e-02 1.06545004e+02] [ 7.50554065e-01 -6.60639420e-01 -1.49717280e-02 1.42616027e+02] [ 1.93338774e-02 -6.92973524e-04 9.99812843e-01 4.44072660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:142.64, Z:4.44 [[-6.61123703e-01 -7.50175295e-01 1.23481387e-02 1.06528429e+02] [ 7.50024075e-01 -6.61238631e-01 -1.50784958e-02 1.42636796e+02] [ 1.94765814e-02 -7.07349700e-04 9.99810063e-01 4.44092279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:142.66, Z:4.44 [[-6.61785803e-01 -7.49586887e-01 1.26114498e-02 1.06509832e+02] [ 7.49429285e-01 -6.61905554e-01 -1.53877825e-02 1.42656918e+02] [ 1.98820687e-02 -7.32026200e-04 9.99802064e-01 4.44105259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:142.68, Z:4.44 [[-6.62070190e-01 -7.49335120e-01 1.26467551e-02 1.06493664e+02] [ 7.49176817e-01 -6.62190561e-01 -1.54194044e-02 1.42677565e+02] [ 1.99288631e-02 -7.34072276e-04 9.99801131e-01 4.44137909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:142.70, Z:4.44 [[-6.62375899e-01 -7.49058280e-01 1.30330995e-02 1.06474418e+02] [ 7.48890362e-01 -6.62503676e-01 -1.58777972e-02 1.42697328e+02] [ 2.05278717e-02 -7.56707574e-04 9.99788995e-01 4.44144306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:142.72, Z:4.44 [[-6.62356711e-01 -7.49080244e-01 1.27426450e-02 1.06457011e+02] [ 7.48919957e-01 -6.62478869e-01 -1.55127560e-02 1.42717101e+02] [ 2.00620321e-02 -7.31756904e-04 9.99798469e-01 4.44228161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:142.74, Z:4.44 [[-6.62536389e-01 -7.48927001e-01 1.24048627e-02 1.06439790e+02] [ 7.48775293e-01 -6.62652129e-01 -1.50902459e-02 1.42736405e+02] [ 1.95216013e-02 -7.09382286e-04 9.99809184e-01 4.44291314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.42, Y:142.76, Z:4.44 [[-6.62738381e-01 -7.48752395e-01 1.21527698e-02 1.06421807e+02] [ 7.48606972e-01 -6.62849434e-01 -1.47726097e-02 1.42756374e+02] [ 1.91164835e-02 -6.92727244e-04 9.99817023e-01 4.44386263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:142.78, Z:4.44 [[-6.62726136e-01 -7.48769072e-01 1.17875448e-02 1.06403878e+02] [ 7.48632464e-01 -6.62830624e-01 -1.43177570e-02 1.42775615e+02] [ 1.85338392e-02 -6.64213045e-04 9.99828013e-01 4.44480078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.39, Y:142.80, Z:4.45 [[-6.63018868e-01 -7.48509788e-01 1.17931371e-02 1.06387191e+02] [ 7.48373220e-01 -6.63123410e-01 -1.43131491e-02 1.42795474e+02] [ 1.85338374e-02 -6.64219948e-04 9.99828013e-01 4.44532825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:142.82, Z:4.45 [[-6.62523569e-01 -7.48960248e-01 1.10031006e-02 1.06368162e+02] [ 7.48841601e-01 -6.62614659e-01 -1.33443065e-02 1.42815605e+02] [ 1.72851709e-02 -6.01338128e-04 9.99850419e-01 4.44745884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.35, Y:142.84, Z:4.45 [[-6.62228368e-01 -7.49228388e-01 1.05076502e-02 1.06351603e+02] [ 7.49120359e-01 -6.62311488e-01 -1.27350542e-02 1.42835517e+02] [ 1.65008016e-02 -5.62019522e-04 9.99863695e-01 4.44859689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:142.86, Z:4.45 [[-6.62091576e-01 -7.49353944e-01 1.01691159e-02 1.06333511e+02] [ 7.49252928e-01 -6.62169450e-01 -1.23154388e-02 1.42855141e+02] [ 1.59623006e-02 -5.34708426e-04 9.99872451e-01 4.44974945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.31, Y:142.87, Z:4.45 [[-6.61196555e-01 -7.50155123e-01 9.29558495e-03 1.06314313e+02] [ 7.50070913e-01 -6.61261730e-01 -1.12494700e-02 1.42874707e+02] [ 1.45856622e-02 -4.65762940e-04 9.99893515e-01 4.45145696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.29, Y:142.89, Z:4.45 [[-6.61040946e-01 -7.50295788e-01 9.00544258e-03 1.06293766e+02] [ 7.50216867e-01 -6.61102135e-01 -1.08912316e-02 1.42893396e+02] [ 1.41251625e-02 -4.43515099e-04 9.99900137e-01 4.45181013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:142.91, Z:4.45 [[-6.60694686e-01 -7.50602531e-01 8.85285730e-03 1.06275149e+02] [ 7.50526399e-01 -6.60753858e-01 -1.06987545e-02 1.42913946e+02] [ 1.38800718e-02 -4.24307113e-04 9.99903577e-01 4.45247427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.26, Y:142.93, Z:4.45 [[-6.59835485e-01 -7.51359252e-01 8.74107476e-03 1.06258283e+02] [ 7.51285190e-01 -6.59893261e-01 -1.05568716e-02 1.42933785e+02] [ 1.37001795e-02 -3.98758507e-04 9.99906069e-01 4.45374063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:142.95, Z:4.45 [[-6.59550424e-01 -7.51612592e-01 8.47046826e-03 1.06242247e+02] [ 7.51543175e-01 -6.59604707e-01 -1.02218473e-02 1.42953661e+02] [ 1.32700299e-02 -3.75901130e-04 9.99911879e-01 4.45462027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.22, Y:142.97, Z:4.45 [[-6.59076403e-01 -7.52029493e-01 8.36278397e-03 1.06224835e+02] [ 7.51961933e-01 -6.59129359e-01 -1.00866196e-02 1.42972410e+02] [ 1.30975918e-02 -3.59357746e-04 9.99914158e-01 4.45489568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:142.99, Z:4.45 [[-6.59033865e-01 -7.52066525e-01 8.38486301e-03 1.06207939e+02] [ 7.51998713e-01 -6.59087108e-01 -1.01054300e-02 1.42991111e+02] [ 1.31263107e-02 -3.54414386e-04 9.99913783e-01 4.45481557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:143.01, Z:4.45 [[-6.59178598e-01 -7.51936257e-01 8.68570320e-03 1.06188214e+02] [ 7.51863603e-01 -6.59235719e-01 -1.04589329e-02 1.43008929e+02] [ 1.35903767e-02 -3.63840654e-04 9.99907580e-01 4.45379050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:143.03, Z:4.45 [[-6.58975287e-01 -7.52113148e-01 8.79679167e-03 1.06170651e+02] [ 7.52038755e-01 -6.59033902e-01 -1.05842937e-02 1.43028619e+02] [ 1.37579704e-02 -3.59259690e-04 9.99905290e-01 4.45312427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:143.05, Z:4.45 [[-6.59259455e-01 -7.51862241e-01 8.95218438e-03 1.06153409e+02] [ 7.51785294e-01 -6.59320132e-01 -1.07626245e-02 1.43048073e+02] [ 1.39943664e-02 -3.65241392e-04 9.99902007e-01 4.45305339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.14, Y:143.07, Z:4.45 [[-6.59571198e-01 -7.51589340e-01 8.90503193e-03 1.06137943e+02] [ 7.51513292e-01 -6.59631209e-01 -1.06976133e-02 1.43067690e+02] [ 1.39142491e-02 -3.63587770e-04 9.99903126e-01 4.45342440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:143.09, Z:4.45 [[-6.59656813e-01 -7.51512211e-01 9.07114846e-03 1.06121298e+02] [ 7.51433428e-01 -6.59719078e-01 -1.08876178e-02 1.43087825e+02] [ 1.41665874e-02 -3.65727041e-04 9.99899582e-01 4.45369733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:143.11, Z:4.45 [[-6.59485470e-01 -7.51663035e-01 9.03310738e-03 1.06103616e+02] [ 7.51585043e-01 -6.59547235e-01 -1.08336171e-02 1.43106881e+02] [ 1.41009905e-02 -3.55464636e-04 9.99900513e-01 4.45353093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.09, Y:143.13, Z:4.45 [[-6.58925895e-01 -7.52152802e-01 9.10094664e-03 1.06087430e+02] [ 7.52073801e-01 -6.58988653e-01 -1.09065653e-02 1.43126204e+02] [ 1.42008242e-02 -3.42034745e-04 9.99899105e-01 4.45416175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:143.14, Z:4.45 [[-6.57992037e-01 -7.52965732e-01 9.43854370e-03 1.06068973e+02] [ 7.52880989e-01 -6.58059646e-01 -1.13012665e-02 1.43144943e+02] [ 1.47205911e-02 -3.30043260e-04 9.99891592e-01 4.45437378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:143.16, Z:4.45 [[-6.57493704e-01 -7.53399563e-01 9.54606306e-03 1.06051161e+02] [ 7.53313054e-01 -6.57562923e-01 -1.14212751e-02 1.43164710e+02] [ 1.48819208e-02 -3.18242557e-04 9.99889207e-01 4.45459330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:143.18, Z:4.45 [[-6.57091405e-01 -7.53744443e-01 1.00100443e-02 1.06033641e+02] [ 7.53649508e-01 -6.57167569e-01 -1.19668632e-02 1.43184365e+02] [ 1.55982331e-02 -3.19257930e-04 9.99878289e-01 4.45464368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:143.20, Z:4.45 [[-6.55817785e-01 -7.54845184e-01 1.05726327e-02 1.06016189e+02] [ 7.54739584e-01 -6.55902932e-01 -1.26294880e-02 1.43202425e+02] [ 1.64679290e-02 -3.03058466e-04 9.99864349e-01 4.45421094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.00, Y:143.22, Z:4.45 [[-6.55617078e-01 -7.55019065e-01 1.06047098e-02 1.05996301e+02] [ 7.54913007e-01 -6.55702773e-01 -1.26580237e-02 1.43220663e+02] [ 1.65105868e-02 -2.93183189e-04 9.99863648e-01 4.45407555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:143.24, Z:4.45 [[-6.55593128e-01 -7.55040177e-01 1.05821678e-02 1.05977076e+02] [ 7.54934740e-01 -6.55678465e-01 -1.26209370e-02 1.43240728e+02] [ 1.64678140e-02 -2.85353444e-04 9.99864356e-01 4.45425840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:143.26, Z:4.46 [[-6.55767958e-01 -7.54888955e-01 1.05380661e-02 1.05961000e+02] [ 7.54784525e-01 -6.55852565e-01 -1.25592135e-02 1.43261273e+02] [ 1.63922293e-02 -2.81960580e-04 9.99865599e-01 4.45522543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:143.28, Z:4.46 [[-6.56635403e-01 -7.54136416e-01 1.04025347e-02 1.05944619e+02] [ 7.54034714e-01 -6.56717733e-01 -1.23882779e-02 1.43281954e+02] [ 1.61739805e-02 -2.90709547e-04 9.99869150e-01 4.45584972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.93, Y:143.30, Z:4.46 [[-6.57552712e-01 -7.53333758e-01 1.06151077e-02 1.05927825e+02] [ 7.53227917e-01 -6.57638315e-01 -1.26314226e-02 1.43302634e+02] [ 1.64965786e-02 -3.10230735e-04 9.99863874e-01 4.45636517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:143.33, Z:4.46 [[-6.60497227e-01 -7.50750572e-01 1.08162939e-02 1.05913726e+02] [ 7.50640510e-01 -6.60585678e-01 -1.28602553e-02 1.43325774e+02] [ 1.67999329e-02 -3.75014587e-04 9.99858801e-01 4.45719819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:143.35, Z:4.46 [[-6.62350689e-01 -7.49119532e-01 1.05589638e-02 1.05897649e+02] [ 7.49014590e-01 -6.62434727e-01 -1.25450111e-02 1.43348091e+02] [ 1.63923371e-02 -4.00378803e-04 9.99865556e-01 4.45776907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:143.37, Z:4.46 [[-6.65899986e-01 -7.45965331e-01 1.06270145e-02 1.05884196e+02] [ 7.45858778e-01 -6.65984608e-01 -1.26168645e-02 1.43371352e+02] [ 1.64891716e-02 -4.75317874e-04 9.99863931e-01 4.45879777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.87, Y:143.39, Z:4.46 [[-6.67688615e-01 -7.44362529e-01 1.07860434e-02 1.05867637e+02] [ 7.44252715e-01 -6.67775530e-01 -1.27959799e-02 1.43392342e+02] [ 1.67275038e-02 -5.16188025e-04 9.99859952e-01 4.45938464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.85, Y:143.41, Z:4.46 [[-6.69497517e-01 -7.42732494e-01 1.10234686e-02 1.05851518e+02] [ 7.42617746e-01 -6.69588027e-01 -1.30674154e-02 1.43414577e+02] [ 1.70867766e-02 -5.62378759e-04 9.99853852e-01 4.46010930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:143.44, Z:4.46 [[-6.72251365e-01 -7.40245674e-01 1.06978436e-02 1.05834697e+02] [ 7.40137444e-01 -6.72336211e-01 -1.26721063e-02 1.43436215e+02] [ 1.65730195e-02 -6.00966163e-04 9.99862477e-01 4.46065810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.82, Y:143.46, Z:4.46 [[-6.73374485e-01 -7.39221779e-01 1.08611219e-02 1.05818682e+02] [ 7.39110183e-01 -6.73461775e-01 -1.28597992e-02 1.43458078e+02] [ 1.68207941e-02 -6.31894901e-04 9.99858321e-01 4.46147881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:143.48, Z:4.46 [[-6.74360929e-01 -7.38321233e-01 1.09130611e-02 1.05801616e+02] [ 7.38208600e-01 -6.74448910e-01 -1.29124055e-02 1.43479664e+02] [ 1.68938053e-02 -6.51506167e-04 9.99857077e-01 4.46202220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.78, Y:143.50, Z:4.46 [[-6.75089374e-01 -7.37647770e-01 1.14063628e-02 1.05783850e+02] [ 7.37524812e-01 -6.75185374e-01 -1.34856070e-02 1.43501110e+02] [ 1.76490373e-02 -6.91514428e-04 9.99844004e-01 4.46202015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:143.52, Z:4.46 [[-6.75076160e-01 -7.37653189e-01 1.18301389e-02 1.05766563e+02] [ 7.37521096e-01 -6.75179434e-01 -1.39773140e-02 1.43522428e+02] [ 1.82978767e-02 -7.10774488e-04 9.99832327e-01 4.46199341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:143.54, Z:4.46 [[-6.74089109e-01 -7.38540267e-01 1.27336570e-02 1.05748461e+02] [ 7.38387613e-01 -6.74208973e-01 -1.50330984e-02 1.43542595e+02] [ 1.96876943e-02 -7.31273305e-04 9.99805911e-01 4.46112023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.73, Y:143.56, Z:4.46 [[-6.73565730e-01 -7.39012888e-01 1.30061421e-02 1.05730306e+02] [ 7.38853945e-01 -6.73690898e-01 -1.53434806e-02 1.43562992e+02] [ 2.01011495e-02 -7.25203262e-04 9.99797688e-01 4.46117787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.71, Y:143.58, Z:4.46 [[-6.72734336e-01 -7.39767409e-01 1.31412807e-02 1.05711473e+02] [ 7.39605519e-01 -6.72862309e-01 -1.54915662e-02 1.43583187e+02] [ 2.03024283e-02 -7.02344807e-04 9.99793638e-01 4.46130903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:143.60, Z:4.46 [[-6.71746950e-01 -7.40663362e-01 1.31840385e-02 1.05693089e+02] [ 7.40500819e-01 -6.71875982e-01 -1.55306654e-02 1.43603038e+02] [ 2.03610337e-02 -6.69885802e-04 9.99792468e-01 4.46211582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.68, Y:143.62, Z:4.46 [[-6.69580208e-01 -7.42621770e-01 1.32382626e-02 1.05675341e+02] [ 7.42458499e-01 -6.69710789e-01 -1.55832021e-02 1.43622902e+02] [ 2.04382324e-02 -6.05343177e-04 9.99790934e-01 4.46330751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.66, Y:143.64, Z:4.46 [[-6.68720888e-01 -7.43398154e-01 1.30980711e-02 1.05657426e+02] [ 7.43238694e-01 -6.68848908e-01 -1.54071719e-02 1.43643052e+02] [ 2.02142937e-02 -5.68104423e-04 9.99795509e-01 4.46412985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:143.66, Z:4.46 [[-6.66853344e-01 -7.45070514e-01 1.32871112e-02 1.05639995e+02] [ 7.44906978e-01 -6.66985503e-01 -1.56183439e-02 1.43662723e+02] [ 2.04990781e-02 -5.17482983e-04 9.99789738e-01 4.46499164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:143.68, Z:4.47 [[-6.66269360e-01 -7.45594914e-01 1.31667920e-02 1.05621563e+02] [ 7.45434659e-01 -6.66399269e-01 -1.54655814e-02 1.43681845e+02] [ 2.03053993e-02 -4.89259904e-04 9.99793704e-01 4.46567198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:143.70, Z:4.47 [[-6.64801776e-01 -7.46904927e-01 1.31007035e-02 1.05603053e+02] [ 7.46746771e-01 -6.64930701e-01 -1.53760391e-02 1.43701289e+02] [ 2.01954994e-02 -4.39110075e-04 9.99795954e-01 4.46683362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:143.72, Z:4.47 [[-6.64181537e-01 -7.47456566e-01 1.30983987e-02 1.05584154e+02] [ 7.47298790e-01 -6.64310552e-01 -1.53625697e-02 1.43721035e+02] [ 2.01842580e-02 -4.15117644e-04 9.99796191e-01 4.46747822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:143.74, Z:4.47 [[-6.63504858e-01 -7.48058824e-01 1.30115287e-02 1.05568445e+02] [ 7.47903468e-01 -6.63632313e-01 -1.52498069e-02 1.43741213e+02] [ 2.00426235e-02 -3.86953572e-04 9.99799052e-01 4.46825731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:143.76, Z:4.47 [[-6.63016542e-01 -7.48490998e-01 1.30495595e-02 1.05549063e+02] [ 7.48335073e-01 -6.63144850e-01 -1.52815800e-02 1.43760247e+02] [ 2.00918733e-02 -3.66497300e-04 9.99798071e-01 4.46912580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.53, Y:143.78, Z:4.47 [[-6.62337665e-01 -7.49093693e-01 1.29404994e-02 1.05532367e+02] [ 7.48940695e-01 -6.62463980e-01 -1.51430041e-02 1.43779971e+02] [ 1.99161436e-02 -3.38115371e-04 9.99801597e-01 4.46960818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.51, Y:143.80, Z:4.47 [[-6.62372078e-01 -7.49061933e-01 1.30173089e-02 1.05514870e+02] [ 7.48907302e-01 -6.62499893e-01 -1.52231886e-02 1.43799902e+02] [ 2.00270768e-02 -3.34657417e-04 9.99799382e-01 4.46995607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:143.82, Z:4.47 [[-6.62627656e-01 -7.48827039e-01 1.35149889e-02 1.05498438e+02] [ 7.48660569e-01 -6.62765378e-01 -1.57926292e-02 1.43820932e+02] [ 2.07832145e-02 -3.46493557e-04 9.99783946e-01 4.47076739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:143.84, Z:4.47 [[-6.63202367e-01 -7.48318197e-01 1.35091129e-02 1.05481864e+02] [ 7.48152018e-01 -6.63339845e-01 -1.57736143e-02 1.43841379e+02] [ 2.07648154e-02 -3.54228268e-04 9.99784325e-01 4.47132080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:143.86, Z:4.47 [[-6.63759550e-01 -7.47820026e-01 1.37283953e-02 1.05465678e+02] [ 7.47648567e-01 -6.63901404e-01 -1.60170655e-02 1.43862058e+02] [ 2.10921832e-02 -3.67465115e-04 9.99777468e-01 4.47184514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:143.88, Z:4.47 [[-6.64940428e-01 -7.46767334e-01 1.38843764e-02 1.05449395e+02] [ 7.46591995e-01 -6.65085251e-01 -1.61864878e-02 1.43883444e+02] [ 2.13218343e-02 -3.97085845e-04 9.99772585e-01 4.47229669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65275509600002 meters Centerline goodness [0,1] 0.999935392169531 Centerline is valid? [True, True] Translation: X:105.43, Y:143.91, Z:4.47 [[-6.65900628e-01 -7.45912348e-01 1.38246968e-02 1.05432820e+02] [ 7.45738571e-01 -6.66043990e-01 -1.61055189e-02 1.43905133e+02] [ 2.12211616e-02 -4.15065521e-04 9.99774720e-01 4.47127894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68275509600002 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:105.42, Y:143.93, Z:4.47 [[-6.66579845e-01 -7.45308218e-01 1.36737096e-02 1.05416851e+02] [ 7.45138325e-01 -6.66719943e-01 -1.59183547e-02 1.43925377e+02] [ 2.09806155e-02 -4.22049285e-04 9.99779794e-01 4.47259783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:143.95, Z:4.47 [[-6.67332398e-01 -7.44632991e-01 1.37542540e-02 1.05401990e+02] [ 7.44461227e-01 -6.67473983e-01 -1.59988690e-02 1.43945777e+02] [ 2.10938923e-02 -4.37054767e-04 9.99777404e-01 4.47402883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:143.97, Z:4.47 [[-6.67516313e-01 -7.44464560e-01 1.39459692e-02 1.05385010e+02] [ 7.44288224e-01 -6.67661835e-01 -1.62084844e-02 1.43965870e+02] [ 2.13778336e-02 -4.39607091e-04 9.99771371e-01 4.47440213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:143.99, Z:4.47 [[-6.67152054e-01 -7.44776799e-01 1.46852441e-02 1.05369815e+02] [ 7.44581661e-01 -6.67313512e-01 -1.70536323e-02 1.43986249e+02] [ 2.25008114e-02 -4.43002378e-04 9.99746727e-01 4.47401483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:144.01, Z:4.47 [[-6.66810585e-01 -7.45072782e-01 1.51721535e-02 1.05352966e+02] [ 7.44864905e-01 -6.66983027e-01 -1.76044059e-02 1.44006216e+02] [ 2.32361326e-02 -4.37599523e-04 9.99729909e-01 4.47389301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:144.03, Z:4.47 [[-6.66320709e-01 -7.45500450e-01 1.56777218e-02 1.05333199e+02] [ 7.45278942e-01 -6.66504986e-01 -1.81769992e-02 1.44025821e+02] [ 2.40002409e-02 -4.27435091e-04 9.99711861e-01 4.47438481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:144.05, Z:4.47 [[-6.65010390e-01 -7.46655269e-01 1.63428870e-02 1.05316235e+02] [ 7.46415250e-01 -6.65211060e-01 -1.89346155e-02 1.44046513e+02] [ 2.50090997e-02 -3.93135965e-04 9.99687146e-01 4.47401663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.30, Y:144.07, Z:4.47 [[-6.65298900e-01 -7.46398057e-01 1.63497444e-02 1.05299097e+02] [ 7.46158106e-01 -6.65499651e-01 -1.89286928e-02 1.44065965e+02] [ 2.50090887e-02 -3.93744179e-04 9.99687146e-01 4.47454401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.28, Y:144.09, Z:4.47 [[-6.64955103e-01 -7.46698865e-01 1.65986881e-02 1.05283155e+02] [ 7.46452032e-01 -6.65162132e-01 -1.92015939e-02 1.44085613e+02] [ 2.53786271e-02 -3.78073453e-04 9.99677839e-01 4.47475106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:144.11, Z:4.48 [[-6.63986240e-01 -7.47551702e-01 1.69919306e-02 1.05263849e+02] [ 7.47293726e-01 -6.64203535e-01 -1.96405804e-02 1.44105111e+02] [ 2.59684496e-02 -3.43112012e-04 9.99662704e-01 4.47608900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.25, Y:144.13, Z:4.48 [[-6.63805326e-01 -7.47701790e-01 1.74505788e-02 1.05247245e+02] [ 7.47430153e-01 -6.64034577e-01 -2.01555571e-02 1.44126057e+02] [ 2.66581338e-02 -3.36277357e-04 9.99644552e-01 4.47577768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.012755096 meters Centerline goodness [0,1] 0.9999566480253176 Centerline is valid? [True, True] Translation: X:105.23, Y:144.15, Z:4.48 [[-6.63999696e-01 -7.47528684e-01 1.74719958e-02 1.05230133e+02] [ 7.47256734e-01 -6.64229445e-01 -2.01647903e-02 1.44146746e+02] [ 2.66791732e-02 -3.33348072e-04 9.99643992e-01 4.47504531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.21, Y:144.17, Z:4.48 [[-6.64027595e-01 -7.47501371e-01 1.75798980e-02 1.05211891e+02] [ 7.47226462e-01 -6.64260185e-01 -2.02736590e-02 1.44167309e+02] [ 2.68322142e-02 -3.26104010e-04 9.99639898e-01 4.47698244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.072755096 meters Centerline goodness [0,1] 0.9999783863228651 Centerline is valid? [True, True] Translation: X:105.19, Y:144.19, Z:4.48 [[-6.63457132e-01 -7.48027690e-01 1.67095465e-02 1.05193272e+02] [ 7.47779840e-01 -6.63667459e-01 -1.92565519e-02 1.44186740e+02] [ 2.54940163e-02 -2.80834718e-04 9.99674935e-01 4.47869689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.18, Y:144.21, Z:4.48 [[-6.63261101e-01 -7.48207363e-01 1.64454755e-02 1.05175366e+02] [ 7.47967687e-01 -6.63464900e-01 -1.89384618e-02 1.44206552e+02] [ 2.50808924e-02 -2.60460757e-04 9.99685391e-01 4.48025414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.132755096 meters Centerline goodness [0,1] 0.9998268210845329 Centerline is valid? [True, True] Translation: X:105.16, Y:144.23, Z:4.48 [[-6.62871993e-01 -7.48559594e-01 1.61014120e-02 1.05156223e+02] [ 7.48330285e-01 -6.63067478e-01 -1.85284570e-02 1.44226527e+02] [ 2.45459769e-02 -2.32820983e-04 9.99698675e-01 4.47804271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.14, Y:144.25, Z:4.48 [[-6.62765618e-01 -7.48658609e-01 1.58752257e-02 1.05137413e+02] [ 7.48436044e-01 -6.62955685e-01 -1.82550802e-02 1.44246288e+02] [ 2.41913941e-02 -2.17248323e-04 9.99707322e-01 4.48268643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:144.27, Z:4.48 [[-6.63118630e-01 -7.48345401e-01 1.59010401e-02 1.05119541e+02] [ 7.48122347e-01 -6.63309213e-01 -1.82713511e-02 1.44266471e+02] [ 2.42205880e-02 -2.20149842e-04 9.99706614e-01 4.48374481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22275509600001 meters Centerline goodness [0,1] 0.9998488773747841 Centerline is valid? [True, True] Translation: X:105.10, Y:144.29, Z:4.48 [[-6.64042264e-01 -7.47522962e-01 1.60403586e-02 1.05103993e+02] [ 7.47296080e-01 -6.64235924e-01 -1.84175628e-02 1.44287682e+02] [ 2.44221335e-02 -2.43142974e-04 9.99701706e-01 4.48069787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25275509600002 meters Centerline goodness [0,1] 0.9999783596624108 Centerline is valid? [True, True] Translation: X:105.08, Y:144.31, Z:4.49 [[-6.63737060e-01 -7.47818203e-01 1.48677374e-02 1.05084955e+02] [ 7.47623639e-01 -6.63903526e-01 -1.70588166e-02 1.44305741e+02] [ 2.26276369e-02 -2.07096903e-04 9.99743941e-01 4.48518597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28275509600002 meters Centerline goodness [0,1] 0.9999135770460634 Centerline is valid? [True, True] Translation: X:105.07, Y:144.33, Z:4.48 [[-6.64273803e-01 -7.47336299e-01 1.51251840e-02 1.05067665e+02] [ 7.47135117e-01 -6.64445941e-01 -1.73409431e-02 1.44326477e+02] [ 2.30093834e-02 -2.18578096e-04 9.99735225e-01 4.48395273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31275509600002 meters Centerline goodness [0,1] 0.9999350354057039 Centerline is valid? [True, True] Translation: X:105.05, Y:144.35, Z:4.48 [[-6.65054559e-01 -7.46633758e-01 1.55069199e-02 1.05049813e+02] [ 7.46422405e-01 -6.65235277e-01 -1.77656780e-02 1.44347426e+02] [ 2.35802051e-02 -2.40432709e-04 9.99721919e-01 4.48415662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34275509600002 meters Centerline goodness [0,1] 0.9998276938982101 Centerline is valid? [True, True] Translation: X:105.03, Y:144.37, Z:4.48 [[-6.66502675e-01 -7.45330058e-01 1.60402288e-02 1.05032190e+02] [ 7.45103866e-01 -6.66695599e-01 -1.83631966e-02 1.44368041e+02] [ 2.43805924e-02 -2.87483165e-04 9.99702708e-01 4.48217433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:144.39, Z:4.49 [[-6.66705820e-01 -7.45151276e-01 1.59036031e-02 1.05013076e+02] [ 7.44929184e-01 -6.66895416e-01 -1.81938140e-02 1.44386979e+02] [ 2.41631837e-02 -2.82863658e-04 9.99707988e-01 4.48651772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40275509600002 meters Centerline goodness [0,1] 0.9999350986500519 Centerline is valid? [True, True] Translation: X:105.00, Y:144.41, Z:4.48 [[-6.69065223e-01 -7.43017242e-01 1.66465035e-02 1.04997241e+02] [ 7.42773617e-01 -6.69272175e-01 -1.90292009e-02 1.44410053e+02] [ 2.52800660e-02 -3.67192927e-04 9.99680341e-01 4.48498169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:144.43, Z:4.49 [[-6.69983671e-01 -7.42190904e-01 1.65693113e-02 1.04978621e+02] [ 7.41949594e-01 -6.70188415e-01 -1.89285340e-02 1.44429367e+02] [ 2.51531462e-02 -3.88214924e-04 9.99683534e-01 4.48787365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46275509600002 meters Centerline goodness [0,1] 0.9998706785067678 Centerline is valid? [True, True] Translation: X:104.96, Y:144.45, Z:4.49 [[-6.71221793e-01 -7.41078741e-01 1.62359053e-02 1.04961302e+02] [ 7.40847049e-01 -6.71417999e-01 -1.85343001e-02 1.44448897e+02] [ 2.46364548e-02 -4.12303628e-04 9.99696391e-01 4.48538236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:144.47, Z:4.49 [[-6.71932870e-01 -7.40430995e-01 1.63755946e-02 1.04943366e+02] [ 7.40195458e-01 -6.72132246e-01 -1.86795990e-02 1.44468711e+02] [ 2.48375193e-02 -4.30295818e-04 9.99691409e-01 4.48907888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.93, Y:144.49, Z:4.49 [[-6.74000602e-01 -7.38542441e-01 1.66808639e-02 1.04928092e+02] [ 7.38297810e-01 -6.74206803e-01 -1.90139770e-02 1.44491088e+02] [ 2.52889809e-02 -4.99986607e-04 9.99680058e-01 4.48943185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55275509600003 meters Centerline goodness [0,1] 0.9998494040703928 Centerline is valid? [True, True] Translation: X:104.91, Y:144.51, Z:4.49 [[-6.75826738e-01 -7.36870329e-01 1.67432936e-02 1.04912372e+02] [ 7.36623699e-01 -6.76033882e-01 -1.90713464e-02 1.44511799e+02] [ 2.53721431e-02 -5.55419021e-04 9.99677921e-01 4.48629485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58275509600003 meters Centerline goodness [0,1] 0.9999569587018744 Centerline is valid? [True, True] Translation: X:104.90, Y:144.53, Z:4.49 [[-6.76606910e-01 -7.36149640e-01 1.69350759e-02 1.04897147e+02] [ 7.35897462e-01 -6.76818566e-01 -1.92757398e-02 1.44531814e+02] [ 2.56518027e-02 -5.79619431e-04 9.99670770e-01 4.48780681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:144.55, Z:4.49 [[-6.78104961e-01 -7.34764727e-01 1.71597457e-02 1.04878276e+02] [ 7.34505696e-01 -6.78321750e-01 -1.95188907e-02 1.44551608e+02] [ 2.59816212e-02 -6.31925706e-04 9.99662221e-01 4.48943881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.86, Y:144.57, Z:4.49 [[-6.78835875e-01 -7.34090229e-01 1.71286368e-02 1.04862557e+02] [ 7.33832281e-01 -6.79051631e-01 -1.94696238e-02 1.44572255e+02] [ 2.59236893e-02 -6.47132484e-04 9.99663715e-01 4.48958218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.84, Y:144.59, Z:4.49 [[-6.79625249e-01 -7.33358565e-01 1.71678902e-02 1.04839384e+02] [ 7.33099598e-01 -6.79841725e-01 -1.94989355e-02 1.44588284e+02] [ 2.59711595e-02 -6.66195481e-04 9.99662471e-01 4.49090623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:144.61, Z:4.49 [[-6.80102772e-01 -7.32920373e-01 1.69690141e-02 1.04820432e+02] [ 7.32667591e-01 -6.80314107e-01 -1.92592145e-02 1.44607410e+02] [ 2.56597303e-02 -6.65598493e-04 9.99670513e-01 4.49193229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.732755096 meters Centerline goodness [0,1] 0.9999568891188136 Centerline is valid? [True, True] Translation: X:104.80, Y:144.63, Z:4.49 [[-6.80926543e-01 -7.32163970e-01 1.65820747e-02 1.04803724e+02] [ 7.31922706e-01 -6.81128089e-01 -1.88063546e-02 1.44628165e+02] [ 2.50638521e-02 -6.68949096e-04 9.99685629e-01 4.49199455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:144.65, Z:4.50 [[-6.81779049e-01 -7.31387769e-01 1.57879636e-02 1.04784898e+02] [ 7.31169167e-01 -6.81961511e-01 -1.78926360e-02 1.44648417e+02] [ 2.38532386e-02 -6.55152230e-04 9.99715256e-01 4.49556174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.77, Y:144.67, Z:4.50 [[-6.82298351e-01 -7.30907044e-01 1.56157996e-02 1.04766752e+02] [ 7.30693359e-01 -6.82476712e-01 -1.76848080e-02 1.44668241e+02] [ 2.35833703e-02 -6.55954283e-04 9.99721658e-01 4.49680833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:144.69, Z:4.50 [[-6.82766272e-01 -7.30480936e-01 1.50937214e-02 1.04749917e+02] [ 7.30281473e-01 -6.82932788e-01 -1.70814775e-02 1.44688233e+02] [ 2.27856910e-02 -6.39991598e-04 9.99740168e-01 4.49786717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:144.71, Z:4.50 [[-6.83137310e-01 -7.30150049e-01 1.42941356e-02 1.04733023e+02] [ 7.29971341e-01 -6.83286570e-01 -1.61649562e-02 1.44707999e+02] [ 2.15698345e-02 -6.08575369e-04 9.99767159e-01 4.49890116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.882755096 meters Centerline goodness [0,1] 0.9999569929468433 Centerline is valid? [True, True] Translation: X:104.71, Y:144.73, Z:4.50 [[-6.83439178e-01 -7.29866976e-01 1.43208992e-02 1.04712617e+02] [ 7.29687796e-01 -6.83588930e-01 -1.61831708e-02 1.44725713e+02] [ 2.16011701e-02 -6.10427546e-04 9.99766481e-01 4.49796676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.912755096 meters Centerline goodness [0,1] 0.9998924684932685 Centerline is valid? [True, True] Translation: X:104.69, Y:144.75, Z:4.50 [[-6.83383611e-01 -7.29919303e-01 1.43056419e-02 1.04693274e+02] [ 7.29740769e-01 -6.83533065e-01 -1.61542329e-02 1.44745304e+02] [ 2.15696657e-02 -6.00127873e-04 9.99767168e-01 4.49648729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:144.77, Z:4.50 [[-6.82985649e-01 -7.30290545e-01 1.43639255e-02 1.04676696e+02] [ 7.30110893e-01 -6.83136428e-01 -1.62081668e-02 1.44765881e+02] [ 2.16491917e-02 -5.82686851e-04 9.99765459e-01 4.49965705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:144.79, Z:4.50 [[-6.82916623e-01 -7.30359802e-01 1.41225228e-02 1.04657383e+02] [ 7.30186406e-01 -6.83062401e-01 -1.59238634e-02 1.44785133e+02] [ 2.12767140e-02 -5.62596839e-04 9.99773467e-01 4.50031313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.64, Y:144.80, Z:4.50 [[-6.82346036e-01 -7.30889130e-01 1.43166476e-02 1.04638127e+02] [ 7.30711302e-01 -6.82495994e-01 -1.61310782e-02 1.44804777e+02] [ 2.15610843e-02 -5.45641023e-04 9.99767384e-01 4.50036442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:144.83, Z:4.50 [[-6.82008700e-01 -7.31203051e-01 1.43607509e-02 1.04623059e+02] [ 7.31024451e-01 -6.82159672e-01 -1.61689548e-02 1.44826122e+02] [ 2.16191142e-02 -5.29307836e-04 9.99766140e-01 4.50072693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:144.84, Z:4.50 [[-6.81787335e-01 -7.31415095e-01 1.40708485e-02 1.04602276e+02] [ 7.31243928e-01 -6.81932332e-01 -1.58307664e-02 1.44844427e+02] [ 2.11742281e-02 -5.03993500e-04 9.99775674e-01 4.50138737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:144.87, Z:4.50 [[-6.81208945e-01 -7.31954046e-01 1.40587536e-02 1.04586617e+02] [ 7.31783528e-01 -6.81353833e-01 -1.58057586e-02 1.44865962e+02] [ 2.11480746e-02 -4.79059856e-04 9.99776240e-01 4.50167988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:144.88, Z:4.50 [[-6.80043008e-01 -7.33033582e-01 1.42574781e-02 1.04569575e+02] [ 7.32858708e-01 -6.80192305e-01 -1.60169247e-02 1.44884733e+02] [ 2.14387706e-02 -4.43480706e-04 9.99770065e-01 4.50137052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:144.90, Z:4.50 [[-6.79763967e-01 -7.33297862e-01 1.39712188e-02 1.04550153e+02] [ 7.33130243e-01 -6.79907399e-01 -1.56836210e-02 1.44902485e+02] [ 2.09999008e-02 -4.18437345e-04 9.99779390e-01 4.50212573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.53, Y:144.92, Z:4.50 [[-6.79304942e-01 -7.33725215e-01 1.38602060e-02 1.04532851e+02] [ 7.33560589e-01 -6.79446211e-01 -1.55469759e-02 1.44922938e+02] [ 2.08244727e-02 -3.93836644e-04 9.99783070e-01 4.50260077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.52, Y:144.94, Z:4.50 [[-6.79375388e-01 -7.33659545e-01 1.38835899e-02 1.04515964e+02] [ 7.33494601e-01 -6.79517124e-01 -1.55611185e-02 1.44942501e+02] [ 2.08507002e-02 -3.88302717e-04 9.99782525e-01 4.50270307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:144.96, Z:4.50 [[-6.79468868e-01 -7.33578239e-01 1.36023346e-02 1.04499518e+02] [ 7.33420142e-01 -6.79604905e-01 -1.52338377e-02 1.44962465e+02] [ 2.04194251e-02 -3.74692290e-04 9.99791432e-01 4.50342338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.48, Y:144.98, Z:4.50 [[-6.79756475e-01 -7.33315265e-01 1.34110656e-02 1.04482809e+02] [ 7.33161712e-01 -6.79888656e-01 -1.50106571e-02 1.44982691e+02] [ 2.01255753e-02 -3.71111557e-04 9.99797391e-01 4.50391020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:145.00, Z:4.50 [[-6.80206962e-01 -7.32900744e-01 1.32283402e-02 1.04463652e+02] [ 7.32751487e-01 -6.80335478e-01 -1.47951460e-02 1.45002724e+02] [ 1.98430827e-02 -3.70675350e-04 9.99803038e-01 4.50478172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:145.02, Z:4.51 [[-6.80720493e-01 -7.32425917e-01 1.31105328e-02 1.04448874e+02] [ 7.32279424e-01 -6.80846631e-01 -1.46529735e-02 1.45024761e+02] [ 1.96584796e-02 -3.74005913e-04 9.99806683e-01 4.50563792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.43, Y:145.04, Z:4.51 [[-6.81266898e-01 -7.31916103e-01 1.31996938e-02 1.04433230e+02] [ 7.31767734e-01 -6.81394652e-01 -1.47414998e-02 1.45044402e+02] [ 1.97837418e-02 -3.83785803e-04 9.99804209e-01 4.50638900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.41, Y:145.06, Z:4.51 [[-6.80821309e-01 -7.32345378e-01 1.23528527e-02 1.04414757e+02] [ 7.32215698e-01 -6.80933280e-01 -1.37854742e-02 1.45063672e+02] [ 1.85071969e-02 -3.40491932e-04 9.99828669e-01 4.50786682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.39, Y:145.08, Z:4.51 [[-6.80740613e-01 -7.32425217e-01 1.20630932e-02 1.04393962e+02] [ 7.32301740e-01 -6.80847410e-01 -1.34523299e-02 1.45082061e+02] [ 1.80659514e-02 -3.23723106e-04 9.99836745e-01 4.50815759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:145.10, Z:4.51 [[-6.80539825e-01 -7.32605999e-01 1.24095197e-02 1.04378713e+02] [ 7.32475548e-01 -6.80652883e-01 -1.38284214e-02 1.45103048e+02] [ 1.85773598e-02 -3.21121698e-04 9.99827374e-01 4.50875653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.36, Y:145.12, Z:4.51 [[-6.79966265e-01 -7.33143754e-01 1.20877727e-02 1.04359695e+02] [ 7.33020243e-01 -6.80073636e-01 -1.34600088e-02 1.45121082e+02] [ 1.80886969e-02 -2.91769767e-04 9.99836344e-01 4.50953447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:145.14, Z:4.51 [[-6.79455862e-01 -7.33616014e-01 1.21357293e-02 1.04341282e+02] [ 7.33491776e-01 -6.79564176e-01 -1.35035177e-02 1.45138949e+02] [ 1.81534037e-02 -2.73586639e-04 9.99835176e-01 4.50989713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.32, Y:145.16, Z:4.51 [[-6.79181733e-01 -7.33854203e-01 1.30453944e-02 1.04322182e+02] [ 7.33710917e-01 -6.79306949e-01 -1.45037978e-02 1.45157421e+02] [ 1.95055001e-02 -2.79166196e-04 9.99809711e-01 4.50897778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:145.18, Z:4.51 [[-6.79428772e-01 -7.33626261e-01 1.30020563e-02 1.04303611e+02] [ 7.33484105e-01 -6.79553112e-01 -1.44442286e-02 1.45177447e+02] [ 1.94322532e-02 -2.77022843e-04 9.99811138e-01 4.50943384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:145.20, Z:4.51 [[-6.79789774e-01 -7.33285698e-01 1.33397119e-02 1.04284050e+02] [ 7.33136215e-01 -6.79920586e-01 -1.48083728e-02 1.45196318e+02] [ 1.99287127e-02 -2.86754527e-04 9.99801362e-01 4.50980534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:145.22, Z:4.51 [[-6.80104038e-01 -7.32992447e-01 1.34376298e-02 1.04267353e+02] [ 7.32840924e-01 -6.80236715e-01 -1.49060999e-02 1.45216675e+02] [ 2.00668278e-02 -2.90053653e-04 9.99798599e-01 4.50991748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:145.24, Z:4.51 [[-6.80676313e-01 -7.32459981e-01 1.34956303e-02 1.04247663e+02] [ 7.32307274e-01 -6.80810022e-01 -1.49589351e-02 1.45236096e+02] [ 2.01447817e-02 -2.99244518e-04 9.99797029e-01 4.50986788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.23, Y:145.26, Z:4.51 [[-6.81936798e-01 -7.31284860e-01 1.35888519e-02 1.04230424e+02] [ 7.31130025e-01 -6.82072097e-01 -1.50512646e-02 1.45256846e+02] [ 2.02753386e-02 -3.28793568e-04 9.99794380e-01 4.50994774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:145.28, Z:4.51 [[-6.82804676e-01 -7.30470258e-01 1.38193956e-02 1.04211310e+02] [ 7.30310176e-01 -6.82944418e-01 -1.52960477e-02 1.45275665e+02] [ 2.06111870e-02 -3.51767655e-04 9.99787505e-01 4.51045705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:145.30, Z:4.51 [[-6.84492540e-01 -7.28894414e-01 1.35238725e-02 1.04194911e+02] [ 7.28741012e-01 -6.84626019e-01 -1.49583361e-02 1.45297628e+02] [ 2.01618426e-02 -3.83468928e-04 9.99796656e-01 4.51105092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:145.32, Z:4.51 [[-6.85634825e-01 -7.27820426e-01 1.35023800e-02 1.04175407e+02] [ 7.27667506e-01 -6.85767644e-01 -1.49244523e-02 1.45318056e+02] [ 2.01218165e-02 -4.07481077e-04 9.99797453e-01 4.51156600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.16, Y:145.34, Z:4.51 [[-6.85897915e-01 -7.27572406e-01 1.35071712e-02 1.04157303e+02] [ 7.27419523e-01 -6.86030777e-01 -1.49201148e-02 1.45337755e+02] [ 2.01217990e-02 -4.08295618e-04 9.99797453e-01 4.51211051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:145.36, Z:4.51 [[-6.86700091e-01 -7.26813179e-01 1.36230721e-02 1.04142202e+02] [ 7.26657735e-01 -6.86835076e-01 -1.50371203e-02 1.45359654e+02] [ 2.02859809e-02 -4.26681147e-04 9.99794127e-01 4.51221044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:145.38, Z:4.51 [[-6.88305447e-01 -7.25294373e-01 1.35530316e-02 1.04123257e+02] [ 7.25140457e-01 -6.88438712e-01 -1.49485018e-02 1.45378629e+02] [ 2.01724959e-02 -4.61283697e-04 9.99796408e-01 4.51277334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.10, Y:145.40, Z:4.51 [[-6.88892668e-01 -7.24740126e-01 1.33656881e-02 1.04104475e+02] [ 7.24590550e-01 -6.89022159e-01 -1.47309103e-02 1.45398994e+02] [ 1.98853371e-02 -4.63364777e-04 9.99802160e-01 4.51352266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93275509600002 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:104.09, Y:145.42, Z:4.51 [[-6.89394558e-01 -7.24264987e-01 1.32427886e-02 1.04086678e+02] [ 7.24118266e-01 -6.89521582e-01 -1.45851184e-02 1.45418820e+02] [ 1.96946791e-02 -4.65556148e-04 9.99805933e-01 4.51428498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:145.44, Z:4.51 [[-6.89652487e-01 -7.24021533e-01 1.31250436e-02 1.04069124e+02] [ 7.23877574e-01 -6.89777216e-01 -1.44447542e-02 1.45436904e+02] [ 1.95116691e-02 -4.60935968e-04 9.99809523e-01 4.51437502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:145.46, Z:4.52 [[-6.89627762e-01 -7.24046098e-01 1.30689521e-02 1.04049337e+02] [ 7.23903601e-01 -6.89751437e-01 -1.43712230e-02 1.45455543e+02] [ 1.94197565e-02 -4.50132845e-04 9.99811317e-01 4.51513862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.03, Y:145.48, Z:4.52 [[-6.89784600e-01 -7.23897022e-01 1.30502170e-02 1.04032516e+02] [ 7.23755109e-01 -6.89907894e-01 -1.43401366e-02 1.45475849e+02] [ 1.93842299e-02 -4.46444177e-04 9.99812009e-01 4.51581343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.01, Y:145.49, Z:4.52 [[-6.89723045e-01 -7.23957298e-01 1.29596195e-02 1.04014731e+02] [ 7.23817568e-01 -6.89844651e-01 -1.42297477e-02 1.45493908e+02] [ 1.92418539e-02 -4.34184712e-04 9.99814764e-01 4.51653610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:145.51, Z:4.52 [[-6.89923172e-01 -7.23764220e-01 1.30908932e-02 1.03996223e+02] [ 7.23621836e-01 -6.90047219e-01 -1.43622390e-02 1.45512895e+02] [ 1.94282092e-02 -4.35985311e-04 9.99811159e-01 4.51737503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.98, Y:145.53, Z:4.52 [[-6.90126554e-01 -7.23574719e-01 1.28439053e-02 1.03976604e+02] [ 7.23437826e-01 -6.90245931e-01 -1.40807311e-02 1.45531663e+02] [ 1.90539145e-02 -4.25719495e-04 9.99818367e-01 4.51775718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:145.55, Z:4.52 [[-6.90579151e-01 -7.23124914e-01 1.38128483e-02 1.03958283e+02] [ 7.22966733e-01 -6.90717123e-01 -1.51313819e-02 1.45551634e+02] [ 2.04826501e-02 -4.63187083e-04 9.99790101e-01 4.51738025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.94, Y:145.57, Z:4.52 [[-6.90950090e-01 -7.22764075e-01 1.41444054e-02 1.03942715e+02] [ 7.22598370e-01 -6.91094685e-01 -1.54832762e-02 1.45573426e+02] [ 2.09658792e-02 -4.77446837e-04 9.99780078e-01 4.51751110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.92, Y:145.59, Z:4.52 [[-6.91282406e-01 -7.22441721e-01 1.43734263e-02 1.03921829e+02] [ 7.22270789e-01 -6.91431647e-01 -1.57220875e-02 1.45591679e+02] [ 2.12965337e-02 -4.86896468e-04 9.99773085e-01 4.51824709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:145.61, Z:4.52 [[-6.90645069e-01 -7.23052120e-01 1.43185376e-02 1.03900681e+02] [ 7.22882855e-01 -6.90793327e-01 -1.56510831e-02 1.45609645e+02] [ 2.12076991e-02 -4.58718024e-04 9.99774986e-01 4.51914517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:145.63, Z:4.52 [[-6.90469089e-01 -7.23207478e-01 1.49459361e-02 1.03883358e+02] [ 7.23023353e-01 -6.90630673e-01 -1.63249594e-02 1.45629258e+02] [ 2.21284546e-02 -4.65618978e-04 9.99755027e-01 4.51890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:145.65, Z:4.52 [[-6.90261976e-01 -7.23394754e-01 1.54412997e-02 1.03863122e+02] [ 7.23198492e-01 -6.90434509e-01 -1.68561835e-02 1.45648045e+02] [ 2.28548809e-02 -4.68057884e-04 9.99738684e-01 4.51901978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.84, Y:145.66, Z:4.52 [[-6.89304571e-01 -7.24293305e-01 1.60753743e-02 1.03843444e+02] [ 7.24081148e-01 -6.89491848e-01 -1.75351676e-02 1.45664929e+02] [ 2.37844440e-02 -4.47195691e-04 9.99717010e-01 4.51886775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:145.68, Z:4.52 [[-6.89186417e-01 -7.24389565e-01 1.67881153e-02 1.03826744e+02] [ 7.24158590e-01 -6.89390712e-01 -1.82970754e-02 1.45683504e+02] [ 2.48277812e-02 -4.52837887e-04 9.99691641e-01 4.51872852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:145.70, Z:4.52 [[-6.89220732e-01 -7.24324794e-01 1.81211332e-02 1.03809104e+02] [ 7.24056102e-01 -6.89458746e-01 -1.97331952e-02 1.45702875e+02] [ 2.67870163e-02 -4.79810187e-04 9.99641048e-01 4.51772122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:145.72, Z:4.52 [[-6.89710778e-01 -7.23838959e-01 1.88733598e-02 1.03791660e+02] [ 7.23547766e-01 -6.89968769e-01 -2.05360047e-02 1.45721496e+02] [ 2.78867891e-02 -5.08126458e-04 9.99610959e-01 4.51708272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:145.74, Z:4.52 [[-6.90452327e-01 -7.23114469e-01 1.95204979e-02 1.03772442e+02] [ 7.22803148e-01 -6.90727999e-01 -2.12235901e-02 1.45740829e+02] [ 2.88304395e-02 -5.44399844e-04 9.99584168e-01 4.51684972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:145.76, Z:4.52 [[-6.90926066e-01 -7.22659057e-01 1.96229171e-02 1.03755934e+02] [ 7.22344683e-01 -6.91204440e-01 -2.13209321e-02 1.45760258e+02] [ 2.89712120e-02 -5.56677902e-04 9.99580091e-01 4.51716162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.74, Y:145.78, Z:4.52 [[-6.91717527e-01 -7.21911091e-01 1.92675742e-02 1.03737766e+02] [ 7.21608089e-01 -6.91985588e-01 -2.09215863e-02 1.45779047e+02] [ 2.84364089e-02 -5.68190530e-04 9.99595442e-01 4.51861358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:145.80, Z:4.52 [[-6.92967972e-01 -7.20704236e-01 1.95139191e-02 1.03721010e+02] [ 7.20393410e-01 -6.93242401e-01 -2.11732922e-02 1.45799627e+02] [ 2.87875575e-02 -6.14714681e-04 9.99585363e-01 4.51965589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:145.82, Z:4.52 [[-6.93634994e-01 -7.20068642e-01 1.92781049e-02 1.03703106e+02] [ 7.19765465e-01 -6.93902560e-01 -2.09024676e-02 1.45818976e+02] [ 2.84283378e-02 -6.22968852e-04 9.99595639e-01 4.52100692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:145.84, Z:4.52 [[-6.94210993e-01 -7.19506626e-01 1.95272292e-02 1.03685862e+02] [ 7.19195803e-01 -6.94485278e-01 -2.11564626e-02 1.45839479e+02] [ 2.87835882e-02 -6.43147630e-04 9.99585460e-01 4.52182409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:145.86, Z:4.52 [[-6.94683822e-01 -7.19047115e-01 1.96375663e-02 1.03668439e+02] [ 7.18733047e-01 -6.94961019e-01 -2.12600186e-02 1.45859314e+02] [ 2.89342981e-02 -6.54823153e-04 9.99581101e-01 4.52247542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:145.88, Z:4.52 [[-6.95438773e-01 -7.18311029e-01 1.98539189e-02 1.03648908e+02] [ 7.17990169e-01 -6.95721784e-01 -2.14783018e-02 1.45878201e+02] [ 2.92409050e-02 -6.81925231e-04 9.99572161e-01 4.52391430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:145.90, Z:4.52 [[-6.95892418e-01 -7.17869350e-01 1.99333321e-02 1.03631756e+02] [ 7.17546194e-01 -6.96177503e-01 -2.15486215e-02 1.45898125e+02] [ 2.93462323e-02 -6.92435804e-04 9.99569067e-01 4.52461354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:145.92, Z:4.52 [[-6.96348968e-01 -7.17432585e-01 1.97129745e-02 1.03617523e+02] [ 7.17116829e-01 -6.96627596e-01 -2.12942522e-02 1.45919259e+02] [ 2.90097925e-02 -6.91724794e-04 9.99578888e-01 4.52496171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.60, Y:145.94, Z:4.53 [[-6.96526993e-01 -7.17260692e-01 1.96785822e-02 1.03598560e+02] [ 7.16946460e-01 -6.96804584e-01 -2.12401759e-02 1.45937192e+02] [ 2.89468695e-02 -6.85865977e-04 9.99580716e-01 4.52667614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77275509600003 meters Centerline goodness [0,1] 0.9999784320069017 Centerline is valid? [True, True] Translation: X:103.58, Y:145.96, Z:4.53 [[-6.96736063e-01 -7.17053460e-01 1.98291111e-02 1.03580238e+02] [ 7.16734797e-01 -6.97017835e-01 -2.13861813e-02 1.45956874e+02] [ 2.91562794e-02 -6.88309874e-04 9.99574628e-01 4.52778366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:145.98, Z:4.53 [[-6.96467602e-01 -7.17320061e-01 1.96165867e-02 1.03563527e+02] [ 7.17008766e-01 -6.96743494e-01 -2.11407881e-02 1.45976869e+02] [ 2.88324406e-02 -6.58609412e-04 9.99584042e-01 4.52905107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:146.00, Z:4.53 [[-6.96439266e-01 -7.17353942e-01 1.93822167e-02 1.03543982e+02] [ 7.17050493e-01 -6.96708629e-01 -2.08728485e-02 1.45996552e+02] [ 2.84769778e-02 -6.38643240e-04 9.99594245e-01 4.53021322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.53, Y:146.02, Z:4.53 [[-6.96277378e-01 -7.17506951e-01 1.95343014e-02 1.03527421e+02] [ 7.17199201e-01 -6.96551062e-01 -2.10219892e-02 1.46016678e+02] [ 2.86900618e-02 -6.27150142e-04 9.99588159e-01 4.53001507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:146.03, Z:4.53 [[-6.95015013e-01 -7.18734733e-01 1.93523899e-02 1.03506635e+02] [ 7.18433596e-01 -6.95284164e-01 -2.08110365e-02 1.46034476e+02] [ 2.84130250e-02 -5.60575732e-04 9.99596111e-01 4.53213862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:146.05, Z:4.53 [[-6.94204012e-01 -7.19515851e-01 1.94352840e-02 1.03486806e+02] [ 7.19212852e-01 -6.94475823e-01 -2.08854940e-02 1.46053851e+02] [ 2.85247788e-02 -5.20687650e-04 9.99592950e-01 4.53271516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:146.07, Z:4.53 [[-6.93851781e-01 -7.19853207e-01 1.95209524e-02 1.03469867e+02] [ 7.19548084e-01 -6.94126150e-01 -2.09628733e-02 1.46073519e+02] [ 2.86401950e-02 -4.98863052e-04 9.99589661e-01 4.53247564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:146.09, Z:4.53 [[-6.92078536e-01 -7.21557499e-01 1.95467500e-02 1.03448560e+02] [ 7.21252692e-01 -6.92354389e-01 -2.09750711e-02 1.46091064e+02] [ 2.86679980e-02 -4.18250481e-04 9.99588901e-01 4.53351085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:146.11, Z:4.53 [[-6.91934755e-01 -7.21684923e-01 1.99290405e-02 1.03430666e+02] [ 7.21368590e-01 -6.92221571e-01 -2.13694638e-02 1.46110082e+02] [ 2.92173316e-02 -4.10090874e-04 9.99572999e-01 4.53377963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.042755096 meters Centerline goodness [0,1] 0.9999350607182285 Centerline is valid? [True, True] Translation: X:103.41, Y:146.13, Z:4.53 [[-6.92100502e-01 -7.21518931e-01 2.01823470e-02 1.03413933e+02] [ 7.21194944e-01 -6.92394587e-01 -2.16237860e-02 1.46129053e+02] [ 2.95761188e-02 -4.10426554e-04 9.99562447e-01 4.53259917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:146.15, Z:4.53 [[-6.92119765e-01 -7.21493965e-01 2.04129577e-02 1.03395024e+02] [ 7.21163050e-01 -6.92420606e-01 -2.18531385e-02 1.46147350e+02] [ 2.99012601e-02 -4.03918284e-04 9.99552776e-01 4.53386086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.38, Y:146.17, Z:4.53 [[-6.92477683e-01 -7.21152264e-01 2.03487116e-02 1.03377839e+02] [ 7.20823756e-01 -6.92776477e-01 -2.17684689e-02 1.46165616e+02] [ 2.97954894e-02 -4.06344211e-04 9.99555933e-01 4.53376173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.36, Y:146.18, Z:4.53 [[-6.93257999e-01 -7.20408753e-01 2.01140483e-02 1.03357883e+02] [ 7.20087875e-01 -6.93549601e-01 -2.15035564e-02 1.46184752e+02] [ 2.94414404e-02 -4.23630170e-04 9.99566417e-01 4.53498501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:146.20, Z:4.54 [[-6.94878245e-01 -7.18869510e-01 1.92575345e-02 1.03339595e+02] [ 7.18575200e-01 -6.95144890e-01 -2.05734009e-02 1.46204199e+02] [ 2.81763673e-02 -4.58021943e-04 9.99602862e-01 4.53609061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:146.22, Z:4.54 [[-6.95905153e-01 -7.17896901e-01 1.84406487e-02 1.03320344e+02] [ 7.17627075e-01 -6.96149281e-01 -1.96865590e-02 1.46222829e+02] [ 2.69703641e-02 -4.66469107e-04 9.99636125e-01 4.53757077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:146.24, Z:4.54 [[-6.97400456e-01 -7.16445948e-01 1.83795474e-02 1.03301950e+02] [ 7.16177779e-01 -6.97642417e-01 -1.96073341e-02 1.46242802e+02] [ 2.68699469e-02 -5.11140276e-04 9.99638807e-01 4.53862199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25275509600002 meters Centerline goodness [0,1] 0.9999568407423393 Centerline is valid? [True, True] Translation: X:103.29, Y:146.26, Z:4.54 [[-7.00291365e-01 -7.13635588e-01 1.77834897e-02 1.03286042e+02] [ 7.13383969e-01 -7.00516881e-01 -1.89581830e-02 1.46263597e+02] [ 2.59868688e-02 -5.89795426e-04 9.99662110e-01 4.53923768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:146.28, Z:4.54 [[-7.01608821e-01 -7.12351349e-01 1.73383201e-02 1.03266016e+02] [ 7.12112111e-01 -7.01822756e-01 -1.84705382e-02 1.46283768e+02] [ 2.53259404e-02 -6.12264818e-04 9.99679059e-01 4.54159209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:146.30, Z:4.54 [[-7.03322746e-01 -7.10662924e-01 1.71849830e-02 1.03248929e+02] [ 7.10427680e-01 -7.03532355e-01 -1.82958109e-02 1.46303046e+02] [ 2.50923460e-02 -6.59172377e-04 9.99684920e-01 4.54208918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:146.32, Z:4.54 [[-7.06484539e-01 -7.07520080e-01 1.71736069e-02 1.03229654e+02] [ 7.07284495e-01 -7.06692829e-01 -1.82725989e-02 1.46322721e+02] [ 2.50646954e-02 -7.62682697e-04 9.99685540e-01 4.54262690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:146.34, Z:4.54 [[-7.07982232e-01 -7.06020705e-01 1.72024273e-02 1.03211925e+02] [ 7.05784201e-01 -7.08190731e-01 -1.82907165e-02 1.46343281e+02] [ 2.50962241e-02 -8.08300850e-04 9.99684713e-01 4.54297822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:146.36, Z:4.54 [[-7.10414950e-01 -7.03576832e-01 1.70364397e-02 1.03193097e+02] [ 7.03344467e-01 -7.10618654e-01 -1.81021981e-02 1.46364197e+02] [ 2.48426990e-02 -8.77586565e-04 9.99690987e-01 4.54328757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:146.38, Z:4.54 [[-7.11602604e-01 -7.02369966e-01 1.72674366e-02 1.03174942e+02] [ 7.02131203e-01 -7.11811476e-01 -1.83356710e-02 1.46384348e+02] [ 2.51695842e-02 -9.23705236e-04 9.99682769e-01 4.54396043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:146.40, Z:4.54 [[-7.12644968e-01 -7.01317225e-01 1.70674975e-02 1.03158223e+02] [ 7.01083976e-01 -7.12848697e-01 -1.81106014e-02 1.46404134e+02] [ 2.48678201e-02 -9.40679945e-04 9.99690305e-01 4.54419076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:146.43, Z:4.54 [[-7.13536997e-01 -7.00419726e-01 1.66481496e-02 1.03141868e+02] [ 7.00197865e-01 -7.13730569e-01 -1.76529010e-02 1.46425325e+02] [ 2.42467334e-02 -9.38999111e-04 9.99705564e-01 4.54446633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.12, Y:146.44, Z:4.55 [[-7.14370529e-01 -6.99569980e-01 1.66310005e-02 1.03120681e+02] [ 6.99348652e-01 -7.14563451e-01 -1.76220502e-02 1.46442771e+02] [ 2.42117624e-02 -9.57805553e-04 9.99706393e-01 4.54540361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:146.46, Z:4.55 [[-7.14757096e-01 -6.99174696e-01 1.66444839e-02 1.03101398e+02] [ 6.98953202e-01 -7.14950220e-01 -1.76239706e-02 1.46461559e+02] [ 2.42222117e-02 -9.63142691e-04 9.99706135e-01 4.54592193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:146.48, Z:4.55 [[-7.14445773e-01 -6.99512786e-01 1.57829042e-02 1.03082195e+02] [ 6.99313993e-01 -7.14619524e-01 -1.66995415e-02 1.46480001e+02] [ 2.29603142e-02 -8.93711072e-04 9.99735978e-01 4.54684863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:146.50, Z:4.55 [[-7.14198472e-01 -6.99773614e-01 1.54088026e-02 1.03059130e+02] [ 6.99584454e-01 -7.14364162e-01 -1.62922001e-02 1.46496091e+02] [ 2.24083481e-02 -8.56105675e-04 9.99748535e-01 4.54803197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:146.52, Z:4.55 [[-7.13640611e-01 -7.00347343e-01 1.51880853e-02 1.03040725e+02] [ 7.00163945e-01 -7.13801745e-01 -1.60474080e-02 1.46516470e+02] [ 2.20800413e-02 -8.17932293e-04 9.99755872e-01 4.54862719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.672755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.02, Y:146.54, Z:4.55 [[-7.13887025e-01 -7.00096051e-01 1.51932792e-02 1.03022174e+02] [ 6.99912701e-01 -7.14048213e-01 -1.60424892e-02 1.46535760e+02] [ 2.20800172e-02 -8.18555781e-04 9.99755872e-01 4.54917190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:146.55, Z:4.55 [[-7.12592830e-01 -7.01416937e-01 1.50246077e-02 1.03000501e+02] [ 7.01238169e-01 -7.12750798e-01 -1.58534032e-02 1.46553708e+02] [ 2.18286467e-02 -7.61193078e-04 9.99761437e-01 4.54967757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.98, Y:146.57, Z:4.55 [[-7.11678318e-01 -7.02348484e-01 1.48519135e-02 1.02979674e+02] [ 7.02174215e-01 -7.11832911e-01 -1.56613744e-02 1.46572258e+02] [ 2.15718234e-02 -7.17229856e-04 9.99767044e-01 4.54985616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:146.59, Z:4.55 [[-7.10775001e-01 -7.03263476e-01 1.48115412e-02 1.02958063e+02] [ 7.03090565e-01 -7.10928984e-01 -1.56088953e-02 1.46590969e+02] [ 2.15071199e-02 -6.80557720e-04 9.99768464e-01 4.55015605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:146.61, Z:4.55 [[-7.09052577e-01 -7.04992564e-01 1.51633875e-02 1.02937294e+02] [ 7.04811963e-01 -7.09214411e-01 -1.59692060e-02 1.46608306e+02] [ 2.20122644e-02 -6.35669733e-04 9.99757499e-01 4.54980268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:146.63, Z:4.55 [[-7.08341731e-01 -7.05707989e-01 1.51071455e-02 1.02917157e+02] [ 7.05529103e-01 -7.08502554e-01 -1.59001866e-02 1.46626525e+02] [ 2.19243398e-02 -6.04234906e-04 9.99759450e-01 4.55042531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:146.64, Z:4.55 [[-7.07962210e-01 -7.06091040e-01 1.49984262e-02 1.02898655e+02] [ 7.05915049e-01 -7.08120828e-01 -1.57745536e-02 1.46643930e+02] [ 2.17589689e-02 -5.80173063e-04 9.99763077e-01 4.55058859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:146.66, Z:4.55 [[-7.07155520e-01 -7.06899744e-01 1.49607002e-02 1.02877598e+02] [ 7.06725095e-01 -7.07313548e-01 -1.57221225e-02 1.46661922e+02] [ 2.16958703e-02 -5.44883401e-04 9.99764468e-01 4.55105196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:146.68, Z:4.55 [[-7.07208231e-01 -7.06846273e-01 1.49954831e-02 1.02857875e+02] [ 7.06671041e-01 -7.07366988e-01 -1.57475387e-02 1.46680885e+02] [ 2.17383988e-02 -5.39915340e-04 9.99763547e-01 4.55166396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:146.70, Z:4.55 [[-7.07439490e-01 -7.06612842e-01 1.50884145e-02 1.02838790e+02] [ 7.06435627e-01 -7.07600168e-01 -1.58337438e-02 1.46699752e+02] [ 2.18648913e-02 -5.42422088e-04 9.99760788e-01 4.55242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:146.72, Z:4.55 [[-7.07944581e-01 -7.06113198e-01 1.47858955e-02 1.02821607e+02] [ 7.05943140e-01 -7.08098765e-01 -1.55055122e-02 1.46718897e+02] [ 2.14185212e-02 -5.39041884e-04 9.99770452e-01 4.55321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.80, Y:146.74, Z:4.55 [[-7.08489933e-01 -7.05569855e-01 1.46011977e-02 1.02801915e+02] [ 7.05404095e-01 -7.08640167e-01 -1.53028357e-02 1.46737259e+02] [ 2.11442147e-02 -5.42160399e-04 9.99776289e-01 4.55401662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:146.76, Z:4.56 [[-7.09838148e-01 -7.04221553e-01 1.42059069e-02 1.02784692e+02] [ 7.04064593e-01 -7.09980064e-01 -1.48780940e-02 1.46756944e+02] [ 2.05633851e-02 -5.59162602e-04 9.99788395e-01 4.55507573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:146.78, Z:4.56 [[-7.10879566e-01 -7.03168887e-01 1.42744437e-02 1.02764227e+02] [ 7.03010418e-01 -7.11022626e-01 -1.49391390e-02 1.46776124e+02] [ 2.06541902e-02 -5.84845974e-04 9.99786508e-01 4.55572082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:146.80, Z:4.56 [[-7.12447159e-01 -7.01580635e-01 1.42708813e-02 1.02747626e+02] [ 7.01422128e-01 -7.12589800e-01 -1.49256446e-02 1.46796894e+02] [ 2.06408277e-02 -6.23821198e-04 9.99786761e-01 4.55580113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:146.82, Z:4.56 [[-7.13588493e-01 -7.00415341e-01 1.44849087e-02 1.02727682e+02] [ 7.00251973e-01 -7.13735184e-01 -1.51414006e-02 1.46815806e+02] [ 2.09436582e-02 -6.61643334e-04 9.99780439e-01 4.55643647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:146.84, Z:4.56 [[-7.14703747e-01 -6.99274264e-01 1.46307078e-02 1.02711376e+02] [ 6.99107584e-01 -7.14853147e-01 -1.52828077e-02 1.46836523e+02] [ 2.11456816e-02 -6.94241111e-04 9.99776164e-01 4.55667821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:146.86, Z:4.56 [[-7.16512266e-01 -6.97406513e-01 1.53077559e-02 1.02690390e+02] [ 6.97223893e-01 -7.16675348e-01 -1.59777506e-02 1.46855449e+02] [ 2.21136786e-02 -7.75321135e-04 9.99755162e-01 4.55663932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:146.88, Z:4.56 [[-7.17301125e-01 -6.96591682e-01 1.54636413e-02 1.02670838e+02] [ 6.96405368e-01 -7.17467342e-01 -1.61299939e-02 1.46876223e+02] [ 2.23306772e-02 -8.01099953e-04 9.99750318e-01 4.55707571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:146.90, Z:4.56 [[-7.18100083e-01 -6.95748030e-01 1.63385838e-02 1.02651748e+02] [ 6.95540085e-01 -7.18285409e-01 -1.70311718e-02 1.46896509e+02] [ 2.35851706e-02 -8.65945865e-04 9.99721456e-01 4.55695867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:146.92, Z:4.56 [[-7.18349113e-01 -6.95490778e-01 1.63441002e-02 1.02633075e+02] [ 6.95282887e-01 -7.18534499e-01 -1.70258765e-02 1.46915674e+02] [ 2.35851400e-02 -8.66750060e-04 9.99721456e-01 4.55750341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:146.93, Z:4.56 [[-7.18244705e-01 -6.95585265e-01 1.69021647e-02 1.02612693e+02] [ 6.95363275e-01 -7.18443010e-01 -1.75942407e-02 1.46933928e+02] [ 2.43815366e-02 -8.83825590e-04 9.99702335e-01 4.55705218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:146.95, Z:4.56 [[-7.17997424e-01 -6.95827418e-01 1.74328238e-02 1.02593401e+02] [ 6.95591675e-01 -7.18208470e-01 -1.81332630e-02 1.46952528e+02] [ 2.51380233e-02 -8.93509069e-04 9.99683591e-01 4.55742208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:146.97, Z:4.56 [[-7.17290589e-01 -6.96559590e-01 1.72901033e-02 1.02574415e+02] [ 6.96328223e-01 -7.17498440e-01 -1.79720425e-02 1.46971453e+02] [ 2.49242207e-02 -8.51590028e-04 9.99688981e-01 4.55806191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:146.99, Z:4.56 [[-7.16990100e-01 -6.96876373e-01 1.69857998e-02 1.02555444e+02] [ 6.96653469e-01 -7.17190806e-01 -1.76434354e-02 1.46990404e+02] [ 2.44773527e-02 -8.16952168e-04 9.99700051e-01 4.55916424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.422755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:147.01, Z:4.56 [[-7.16802183e-01 -6.97079409e-01 1.65809324e-02 1.02537238e+02] [ 6.96867348e-01 -7.16993505e-01 -1.72108527e-02 1.47009289e+02] [ 2.38857519e-02 -7.82066404e-04 9.99714389e-01 4.56004839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:147.03, Z:4.56 [[-7.16490508e-01 -6.97409571e-01 1.61630154e-02 1.02520162e+02] [ 6.97208449e-01 -7.16672408e-01 -1.67642221e-02 1.47027979e+02] [ 2.32751161e-02 -7.42415139e-04 9.99728822e-01 4.56199472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.50, Y:147.05, Z:4.56 [[-7.16539396e-01 -6.97371171e-01 1.56443058e-02 1.02501143e+02] [ 6.97183030e-01 -7.16709806e-01 -1.62134767e-02 1.47045880e+02] [ 2.25192386e-02 -7.10650304e-04 9.99746157e-01 4.56330169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.48, Y:147.06, Z:4.57 [[-7.16567593e-01 -6.97351129e-01 1.52409820e-02 1.02483781e+02] [ 6.97172821e-01 -7.16729331e-01 -1.57836222e-02 1.47064702e+02] [ 2.19303856e-02 -6.84433733e-04 9.99759266e-01 4.56515977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.542755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:147.08, Z:4.57 [[-7.16742953e-01 -6.97178013e-01 1.49116205e-02 1.02465100e+02] [ 6.97007549e-01 -7.16897743e-01 -1.54305574e-02 1.47083940e+02] [ 2.14479524e-02 -6.66231226e-04 9.99769744e-01 4.56614072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.45, Y:147.10, Z:4.57 [[-7.16819777e-01 -6.97099063e-01 1.49098681e-02 1.02446750e+02] [ 6.96928869e-01 -7.16974519e-01 -1.54172044e-02 1.47102775e+02] [ 2.14373143e-02 -6.60239525e-04 9.99769976e-01 4.56710584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:147.12, Z:4.57 [[-7.16961681e-01 -6.96952788e-01 1.49251116e-02 1.02428199e+02] [ 6.96782462e-01 -7.17116713e-01 -1.54214432e-02 1.47121929e+02] [ 2.14510648e-02 -6.57027802e-04 9.99769684e-01 4.56763369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.41, Y:147.14, Z:4.57 [[-7.16881298e-01 -6.97035112e-01 1.49417980e-02 1.02411029e+02] [ 6.96864669e-01 -7.17036704e-01 -1.54271885e-02 1.47140871e+02] [ 2.14671097e-02 -6.47051789e-04 9.99769346e-01 4.56823629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:147.16, Z:4.57 [[-7.17154786e-01 -6.96750083e-01 1.51107745e-02 1.02391819e+02] [ 6.96575964e-01 -7.17313665e-01 -1.55895013e-02 1.47159592e+02] [ 2.17011513e-02 -6.54283151e-04 9.99764288e-01 4.56841883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:147.18, Z:4.57 [[-7.17642007e-01 -6.96232679e-01 1.58115887e-02 1.02372341e+02] [ 6.96042193e-01 -7.17815839e-01 -1.62999373e-02 1.47177615e+02] [ 2.26983578e-02 -6.91986884e-04 9.99742120e-01 4.56833715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:147.20, Z:4.57 [[-7.18150667e-01 -6.95704214e-01 1.59770657e-02 1.02352729e+02] [ 6.95509879e-01 -7.18328022e-01 -1.64578745e-02 1.47196653e+02] [ 2.29265866e-02 -7.07026521e-04 9.99736901e-01 4.56884180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.34, Y:147.22, Z:4.57 [[-7.18684111e-01 -6.95150091e-01 1.61089781e-02 1.02339137e+02] [ 6.94952670e-01 -7.18864264e-01 -1.65818055e-02 1.47219755e+02] [ 2.31070123e-02 -7.22102829e-04 9.99732737e-01 4.56884508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.32, Y:147.24, Z:4.57 [[-7.19432592e-01 -6.94374886e-01 1.61326902e-02 1.02322757e+02] [ 6.94176968e-01 -7.19613070e-01 -1.65941636e-02 1.47238798e+02] [ 2.31318652e-02 -7.39440156e-04 9.99732149e-01 4.56941523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:147.26, Z:4.57 [[-7.20784750e-01 -6.92951972e-01 1.69383743e-02 1.02300863e+02] [ 6.92733661e-01 -7.20983285e-01 -1.74119726e-02 1.47255795e+02] [ 2.42779455e-02 -8.16502264e-04 9.99704914e-01 4.56990720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:147.28, Z:4.57 [[-7.21466488e-01 -6.92243732e-01 1.68736916e-02 1.02281279e+02] [ 6.92027186e-01 -7.21663307e-01 -1.73333573e-02 1.47275192e+02] [ 2.41760320e-02 -8.28383108e-04 9.99707374e-01 4.57090255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:147.30, Z:4.57 [[-7.22288065e-01 -6.91385259e-01 1.69225996e-02 1.02264381e+02] [ 6.91167494e-01 -7.22485777e-01 -1.73723140e-02 1.47295839e+02] [ 2.42372993e-02 -8.51464322e-04 9.99705871e-01 4.57152546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.25, Y:147.32, Z:4.57 [[-7.23651096e-01 -6.89961771e-01 1.67882745e-02 1.02245811e+02] [ 6.89747266e-01 -7.23845266e-01 -1.72261124e-02 1.47316996e+02] [ 2.40374721e-02 -8.86028672e-04 9.99710666e-01 4.57283263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:147.34, Z:4.57 [[-7.24259643e-01 -6.89312831e-01 1.71985496e-02 1.02230376e+02] [ 6.89087804e-01 -7.24463230e-01 -1.76359362e-02 1.47338773e+02] [ 2.46163939e-02 -9.21686113e-04 9.99696546e-01 4.57304589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:147.36, Z:4.57 [[-7.24364177e-01 -6.89193275e-01 1.75832246e-02 1.02210757e+02] [ 6.88958306e-01 -7.24576945e-01 -1.80195369e-02 1.47357221e+02] [ 2.51593429e-02 -9.38598394e-04 9.99683013e-01 4.57342139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:147.38, Z:4.57 [[-7.24209836e-01 -6.89338175e-01 1.82481257e-02 1.02190194e+02] [ 6.89085524e-01 -7.24439067e-01 -1.86863503e-02 1.47375125e+02] [ 2.61008698e-02 -9.58319452e-04 9.99658855e-01 4.57384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:147.39, Z:4.57 [[-7.23783792e-01 -6.89772784e-01 1.87224354e-02 1.02170536e+02] [ 6.89507344e-01 -7.24025269e-01 -1.91580856e-02 1.47394318e+02] [ 2.67702424e-02 -9.57055152e-04 9.99641155e-01 4.57377533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.15, Y:147.41, Z:4.57 [[-7.22251966e-01 -6.91360914e-01 1.92920678e-02 1.02149510e+02] [ 6.91080026e-01 -7.22508996e-01 -1.97268693e-02 1.47413184e+02] [ 2.75770789e-02 -9.15407370e-04 9.99619261e-01 4.57407763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:147.43, Z:4.57 [[-7.21520633e-01 -6.92116560e-01 1.95612867e-02 1.02130928e+02] [ 6.91828417e-01 -7.21785201e-01 -1.99891126e-02 1.47432533e+02] [ 2.79538431e-02 -8.89503164e-04 9.99608819e-01 4.57436000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:147.45, Z:4.57 [[-7.20802217e-01 -6.92860317e-01 1.97166146e-02 1.02110907e+02] [ 6.92568223e-01 -7.21071317e-01 -2.01348598e-02 1.47452202e+02] [ 2.81677306e-02 -8.58150844e-04 9.99602842e-01 4.57495292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14275509600003 meters Centerline goodness [0,1] 0.999957243030614 Centerline is valid? [True, True] Translation: X:102.09, Y:147.47, Z:4.57 [[-7.19131240e-01 -6.94599000e-01 1.95573205e-02 1.02092689e+02] [ 6.94312615e-01 -7.19396713e-01 -1.99590255e-02 1.47470932e+02] [ 2.79329912e-02 -7.74264450e-04 9.99609498e-01 4.57497019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.172755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:147.49, Z:4.58 [[-7.18230050e-01 -6.95524285e-01 1.97879582e-02 1.02072604e+02] [ 6.95231876e-01 -7.18502211e-01 -2.01794788e-02 1.47489787e+02] [ 2.82530093e-02 -7.36288730e-04 9.99600533e-01 4.57662770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:147.51, Z:4.58 [[-7.17492147e-01 -6.96293238e-01 1.95127160e-02 1.02052033e+02] [ 6.96009569e-01 -7.17757101e-01 -1.98853017e-02 1.47508700e+02] [ 2.78513915e-02 -6.86510748e-04 9.99611839e-01 4.57789999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:147.53, Z:4.58 [[-7.16245211e-01 -6.97578708e-01 1.94098987e-02 1.02032355e+02] [ 6.97298839e-01 -7.16507890e-01 -1.97679523e-02 1.47528603e+02] [ 2.76970482e-02 -6.24201304e-04 9.99616168e-01 4.57892304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.01, Y:147.55, Z:4.58 [[-7.16127449e-01 -6.97706392e-01 1.91642298e-02 1.02013705e+02] [ 6.97433959e-01 -7.16383576e-01 -1.95049864e-02 1.47547830e+02] [ 2.73376931e-02 -6.02271497e-04 9.99626074e-01 4.57964034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:147.57, Z:4.58 [[-7.16164251e-01 -6.97664129e-01 1.93268870e-02 1.01995252e+02] [ 6.97387430e-01 -7.16424738e-01 -1.96562570e-02 1.47568420e+02] [ 2.75597254e-02 -5.98780544e-04 9.99619979e-01 4.58073958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:147.59, Z:4.58 [[-7.16499291e-01 -6.97327206e-01 1.90665564e-02 1.01978228e+02] [ 6.97058175e-01 -7.16752688e-01 -1.93774335e-02 1.47587814e+02] [ 2.71784171e-02 -5.93418350e-04 9.99630422e-01 4.58112543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:147.61, Z:4.58 [[-7.17120121e-01 -6.96695497e-01 1.88179596e-02 1.01960159e+02] [ 6.96433599e-01 -7.17366730e-01 -1.91106625e-02 1.47607916e+02] [ 2.68136907e-02 -5.99181261e-04 9.99640269e-01 4.58205573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:147.63, Z:4.58 [[-7.18206043e-01 -6.95585384e-01 1.84676245e-02 1.01944202e+02] [ 6.95333130e-01 -7.18443171e-01 -1.87416098e-02 1.47628657e+02] [ 2.63043285e-02 -6.19186283e-04 9.99653790e-01 4.58331254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:147.65, Z:4.58 [[-7.19145864e-01 -6.94628886e-01 1.78867648e-02 1.01926096e+02] [ 6.94392290e-01 -7.19368001e-01 -1.81391143e-02 1.47648629e+02] [ 2.54671190e-02 -6.24237476e-04 9.99675465e-01 4.58419317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:147.67, Z:4.58 [[-7.19949893e-01 -6.93793875e-01 1.79502467e-02 1.01908007e+02] [ 6.93555666e-01 -7.20173341e-01 -1.81905762e-02 1.47668876e+02] [ 2.55477995e-02 -6.46808105e-04 9.99673392e-01 4.58497252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:147.69, Z:4.59 [[-7.21534077e-01 -6.92151344e-01 1.77508580e-02 1.01892722e+02] [ 6.91918210e-01 -7.21752065e-01 -1.79763212e-02 1.47690085e+02] [ 2.52540533e-02 -6.88386450e-04 9.99680829e-01 4.58507884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:147.71, Z:4.59 [[-7.22381481e-01 -6.91258082e-01 1.80903563e-02 1.01874073e+02] [ 6.91015954e-01 -7.22607597e-01 -1.83088055e-02 1.47709696e+02] [ 2.57283386e-02 -7.25217251e-04 9.99668708e-01 4.58530433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53275509600002 meters Centerline goodness [0,1] 0.9999140358040876 Centerline is valid? [True, True] Translation: X:101.86, Y:147.73, Z:4.58 [[-7.23268816e-01 -6.90320607e-01 1.84303652e-02 1.01858364e+02] [ 6.90069338e-01 -7.23503198e-01 -1.86395241e-02 1.47730881e+02] [ 2.62016757e-02 -7.63156619e-04 9.99656386e-01 4.58324376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:147.75, Z:4.59 [[-7.23289153e-01 -6.90294037e-01 1.86264180e-02 1.01838032e+02] [ 6.90037749e-01 -7.23528549e-01 -1.88240146e-02 1.47749688e+02] [ 2.64708502e-02 -7.62274036e-04 9.99649295e-01 4.58516749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.82, Y:147.77, Z:4.59 [[-7.23217716e-01 -6.90363297e-01 1.88322698e-02 1.01818258e+02] [ 6.90101697e-01 -7.23462469e-01 -1.90185366e-02 1.47768106e+02] [ 2.67541400e-02 -7.58361284e-04 9.99641756e-01 4.58557403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:147.79, Z:4.59 [[-7.23464944e-01 -6.90104024e-01 1.88390854e-02 1.01799281e+02] [ 6.89842512e-01 -7.23709790e-01 -1.90117835e-02 1.47786973e+02] [ 2.67541388e-02 -7.58356867e-04 9.99641756e-01 4.58611842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:147.81, Z:4.59 [[-7.23200715e-01 -6.90381650e-01 1.88123103e-02 1.01780810e+02] [ 6.90121342e-01 -7.23444976e-01 -1.89710322e-02 1.47805776e+02] [ 2.67069239e-02 -7.37087212e-04 9.99643035e-01 4.58604450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.76, Y:147.83, Z:4.58 [[-7.21985595e-01 -6.91626219e-01 1.97477476e-02 1.01762849e+02] [ 6.91340270e-01 -7.22255262e-01 -1.98989427e-02 1.47825379e+02] [ 2.80255451e-02 -7.14336852e-04 9.99606952e-01 4.58462577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.74, Y:147.84, Z:4.58 [[-7.21237377e-01 -6.92394632e-01 2.01573749e-02 1.01742746e+02] [ 6.92097429e-01 -7.21518677e-01 -2.02964972e-02 1.47843333e+02] [ 2.85971082e-02 -6.87725088e-04 9.99590783e-01 4.58476018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:147.86, Z:4.58 [[-7.20226570e-01 -6.93432882e-01 2.06040235e-02 1.01725762e+02] [ 6.93123211e-01 -7.20520933e-01 -2.07316043e-02 1.47861989e+02] [ 2.92216064e-02 -6.50325356e-04 9.99572746e-01 4.58401666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.70, Y:147.88, Z:4.58 [[-7.18008606e-01 -6.95714136e-01 2.11064382e-02 1.01704707e+02] [ 6.95390555e-01 -7.18318540e-01 -2.12238474e-02 1.47880208e+02] [ 2.99268765e-02 -5.61687351e-04 9.99551933e-01 4.58427857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.68, Y:147.90, Z:4.59 [[-7.17217780e-01 -6.96532622e-01 2.09991074e-02 1.01684887e+02] [ 6.96213093e-01 -7.17524941e-01 -2.11018539e-02 1.47897685e+02] [ 2.97655129e-02 -5.14771259e-04 9.99556776e-01 4.58549564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:147.92, Z:4.59 [[-7.15525688e-01 -6.98275226e-01 2.08494328e-02 1.01664912e+02] [ 6.97961427e-01 -7.15829258e-01 -2.09361032e-02 1.47915893e+02] [ 2.95437962e-02 -4.28219755e-04 9.99563395e-01 4.58622324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86275509600003 meters Centerline goodness [0,1] 0.9999351098806022 Centerline is valid? [True, True] Translation: X:101.65, Y:147.93, Z:4.59 [[-7.14987448e-01 -6.98820512e-01 2.10438170e-02 1.01646797e+02] [ 6.98501485e-01 -7.15296955e-01 -2.11173561e-02 1.47934159e+02] [ 2.98098198e-02 -3.99507096e-04 9.99555509e-01 4.58532595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.63, Y:147.95, Z:4.59 [[-7.14555538e-01 -6.99265466e-01 2.09330063e-02 1.01627465e+02] [ 6.98950387e-01 -7.14861995e-01 -2.09925060e-02 1.47951985e+02] [ 2.96435451e-02 -3.69178557e-04 9.99560465e-01 4.58749451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.922755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.61, Y:147.97, Z:4.59 [[-7.14613449e-01 -6.99218039e-01 2.05366040e-02 1.01608647e+02] [ 6.98915216e-01 -7.14908392e-01 -2.05793970e-02 1.47971059e+02] [ 2.90712762e-02 -3.52968906e-04 9.99577279e-01 4.58832529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.59, Y:147.99, Z:4.59 [[-7.14826436e-01 -6.99007089e-01 2.03040761e-02 1.01590206e+02] [ 6.98711439e-01 -7.15114654e-01 -2.03311707e-02 1.47990668e+02] [ 2.87313748e-02 -3.46568079e-04 9.99587109e-01 4.59036107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.57, Y:148.01, Z:4.59 [[-7.15061573e-01 -6.98779616e-01 1.98493063e-02 1.01571841e+02] [ 6.98497369e-01 -7.15336938e-01 -1.98618051e-02 1.48010401e+02] [ 2.80779665e-02 -3.37725391e-04 9.99605679e-01 4.59139050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:148.03, Z:4.59 [[-7.15781334e-01 -6.98062947e-01 1.91103400e-02 1.01554811e+02] [ 6.97801434e-01 -7.16036316e-01 -1.91089884e-02 1.48030519e+02] [ 2.70229743e-02 -3.42634544e-04 9.99634754e-01 4.59340416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.042755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:148.01, Z:4.59 [[-6.67624473e-01 -7.44266791e-01 1.85608692e-02 1.01548524e+02] [ 7.44011429e-01 -6.67881972e-01 -1.95106175e-02 1.48009188e+02] [ 2.69175746e-02 7.83733111e-04 9.99637349e-01 4.59354368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:148.03, Z:4.59 [[-6.68006859e-01 -7.43940704e-01 1.78623866e-02 1.01531252e+02] [ 7.43660224e-01 -6.68245536e-01 -2.04297665e-02 1.48030643e+02] [ 2.71349950e-02 -3.63677697e-04 9.99631712e-01 4.59465001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.102755096 meters Centerline goodness [0,1] 0.9998484454836755 Centerline is valid? [True, True] Translation: X:101.51, Y:148.05, Z:4.59 [[-6.69506034e-01 -7.42580183e-01 1.83396576e-02 1.01514826e+02] [ 7.42284417e-01 -6.69757043e-01 -2.09606474e-02 1.48053321e+02] [ 2.78480762e-02 -4.20037903e-04 9.99612079e-01 4.59260372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:148.07, Z:4.60 [[-6.70061463e-01 -7.42090045e-01 1.78885535e-02 1.01496924e+02] [ 7.41808838e-01 -6.70300073e-01 -2.04318286e-02 1.48074431e+02] [ 2.71529553e-02 -4.20693882e-04 9.99631202e-01 4.59536103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.48, Y:148.09, Z:4.60 [[-6.71140956e-01 -7.41117276e-01 1.77482429e-02 1.01480215e+02] [ 7.40840519e-01 -6.71375442e-01 -2.02569119e-02 1.48094661e+02] [ 2.69284818e-02 -4.46625722e-04 9.99637263e-01 4.59578386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:148.11, Z:4.60 [[-6.71352269e-01 -7.40934476e-01 1.73848872e-02 1.01462904e+02] [ 7.40669270e-01 -6.71577184e-01 -1.98272084e-02 1.48113340e+02] [ 2.63659558e-02 -4.34589589e-04 9.99652263e-01 4.59678740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.44, Y:148.13, Z:4.60 [[-6.71593278e-01 -7.40712985e-01 1.75140853e-02 1.01444874e+02] [ 7.40444177e-01 -6.71821468e-01 -1.99583629e-02 1.48133135e+02] [ 2.65497570e-02 -4.35699898e-04 9.99647398e-01 4.59739855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:148.15, Z:4.60 [[-6.71808201e-01 -7.40511694e-01 1.77812442e-02 1.01426666e+02] [ 7.40234976e-01 -6.72043330e-01 -2.02470216e-02 1.48152363e+02] [ 2.69429228e-02 -4.39816269e-04 9.99636877e-01 4.59765568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28275509600002 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:101.41, Y:148.17, Z:4.60 [[-6.71785171e-01 -7.40516337e-01 1.84455658e-02 1.01408064e+02] [ 7.40219019e-01 -6.72038211e-01 -2.09868295e-02 1.48171504e+02] [ 2.79372151e-02 -4.44882231e-04 9.99609581e-01 4.59605850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31275509600002 meters Centerline goodness [0,1] 0.9998484422023514 Centerline is valid? [True, True] Translation: X:101.39, Y:148.19, Z:4.60 [[-6.72150416e-01 -7.40178840e-01 1.86843338e-02 1.01389453e+02] [ 7.39874102e-01 -6.72409904e-01 -2.12422806e-02 1.48191122e+02] [ 2.82866177e-02 -4.53953059e-04 9.99599751e-01 4.59592347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:148.21, Z:4.60 [[-6.72196976e-01 -7.40139639e-01 1.85617897e-02 1.01373253e+02] [ 7.39839311e-01 -6.72453061e-01 -2.10873205e-02 1.48210677e+02] [ 2.80894941e-02 -4.42091409e-04 9.99605315e-01 4.59823592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37275509600002 meters Centerline goodness [0,1] 0.9999133392551509 Centerline is valid? [True, True] Translation: X:101.36, Y:148.23, Z:4.60 [[-6.72857926e-01 -7.39514611e-01 1.95025985e-02 1.01355877e+02] [ 7.39183333e-01 -6.73140335e-01 -2.21379859e-02 1.48230180e+02] [ 2.94993497e-02 -4.79723526e-04 9.99564684e-01 4.59559493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:148.25, Z:4.60 [[-6.73061916e-01 -7.39332882e-01 1.93532267e-02 1.01338417e+02] [ 7.39007017e-01 -6.73339933e-01 -2.19536725e-02 1.48248849e+02] [ 2.92623723e-02 -4.74010545e-04 9.99571653e-01 4.59693258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:148.27, Z:4.60 [[-6.74090647e-01 -7.38388367e-01 1.96065956e-02 1.01317993e+02] [ 7.38053932e-01 -6.74375531e-01 -2.22269545e-02 1.48267499e+02] [ 2.96343330e-02 -5.12257136e-04 9.99560675e-01 4.59837422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.30, Y:148.29, Z:4.60 [[-6.74909027e-01 -7.37644721e-01 1.94440351e-02 1.01302273e+02] [ 7.37315965e-01 -6.75188851e-01 -2.20268763e-02 1.48288279e+02] [ 2.93764048e-02 -5.29740215e-04 9.99568280e-01 4.59774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:148.31, Z:4.60 [[-6.75806164e-01 -7.36823833e-01 1.94079444e-02 1.01284407e+02] [ 7.36496432e-01 -6.76084560e-01 -2.19698051e-02 1.48308022e+02] [ 2.93092876e-02 -5.53447908e-04 9.99570237e-01 4.59819336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52275509600003 meters Centerline goodness [0,1] 0.9999135303400419 Centerline is valid? [True, True] Translation: X:101.26, Y:148.33, Z:4.60 [[-6.76801570e-01 -7.35908816e-01 1.94383531e-02 1.01264232e+02] [ 7.35580475e-01 -6.77080405e-01 -2.19883952e-02 1.48326384e+02] [ 2.93427819e-02 -5.83307436e-04 9.99569238e-01 4.59890930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:148.35, Z:4.60 [[-6.78358502e-01 -7.34500806e-01 1.83931633e-02 1.01244782e+02] [ 7.34206698e-01 -6.78607549e-01 -2.07922955e-02 1.48346507e+02] [ 2.77536973e-02 -6.00246744e-04 9.99614612e-01 4.60231793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.23, Y:148.37, Z:4.60 [[-6.79092387e-01 -7.33826545e-01 1.82245022e-02 1.01229741e+02] [ 7.33537940e-01 -6.79336608e-01 -2.05879464e-02 1.48368158e+02] [ 2.74885531e-02 -6.12753815e-04 9.99621931e-01 4.60183753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61275509600003 meters Centerline goodness [0,1] 0.9999135714440051 Centerline is valid? [True, True] Translation: X:101.21, Y:148.39, Z:4.60 [[-6.80651488e-01 -7.32373076e-01 1.85264380e-02 1.01209779e+02] [ 7.32074725e-01 -6.80903243e-01 -2.09134062e-02 1.48386553e+02] [ 2.79311273e-02 -6.72004006e-04 9.99609624e-01 4.60171142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:148.40, Z:4.60 [[-6.80906733e-01 -7.32149107e-01 1.79918139e-02 1.01190938e+02] [ 7.31868040e-01 -6.81144082e-01 -2.02956088e-02 1.48404953e+02] [ 2.71144295e-02 -6.51783117e-04 9.99632124e-01 4.60376121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.17, Y:148.42, Z:4.60 [[-6.81510171e-01 -7.31589508e-01 1.79074982e-02 1.01171750e+02] [ 7.31311293e-01 -6.81745081e-01 -2.01850963e-02 1.48424826e+02] [ 2.69755534e-02 -6.60392772e-04 9.99635875e-01 4.60420469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:148.44, Z:4.60 [[-6.82105968e-01 -7.31037841e-01 1.77517100e-02 1.01153837e+02] [ 7.30764649e-01 -6.82336597e-01 -1.99949097e-02 1.48442672e+02] [ 2.67296771e-02 -6.66325115e-04 9.99642476e-01 4.60429370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:148.46, Z:4.60 [[-6.82464904e-01 -7.30707027e-01 1.75754178e-02 1.01134892e+02] [ 7.30439547e-01 -6.82690855e-01 -1.97804282e-02 1.48461414e+02] [ 2.64522749e-02 -6.61667772e-04 9.99649858e-01 4.60493213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.762755096 meters Centerline goodness [0,1] 0.9998275453232447 Centerline is valid? [True, True] Translation: X:101.12, Y:148.48, Z:4.60 [[-6.83233396e-01 -7.29967336e-01 1.84340544e-02 1.01117726e+02] [ 7.29673266e-01 -6.83481660e-01 -2.07302886e-02 1.48481860e+02] [ 2.77317717e-02 -7.12788783e-04 9.99615146e-01 4.60298408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.792755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.10, Y:148.50, Z:4.61 [[-6.83077551e-01 -7.30149770e-01 1.69225458e-02 1.01098055e+02] [ 7.29902346e-01 -6.83286840e-01 -1.90173597e-02 1.48499680e+02] [ 2.54484737e-02 -6.38525607e-04 9.99675931e-01 4.60717770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.08, Y:148.52, Z:4.61 [[-6.83433940e-01 -7.29823610e-01 1.65996402e-02 1.01078404e+02] [ 7.29585788e-01 -6.83635212e-01 -1.86406928e-02 1.48518001e+02] [ 2.49525163e-02 -6.28820597e-04 9.99688440e-01 4.60840238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.06, Y:148.54, Z:4.61 [[-6.83931886e-01 -7.29360134e-01 1.64611935e-02 1.01059656e+02] [ 7.29126452e-01 -6.84129663e-01 -1.84721738e-02 1.48537774e+02] [ 2.47344580e-02 -6.31417091e-04 9.99693857e-01 4.60944106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:148.56, Z:4.61 [[-6.84376159e-01 -7.28941995e-01 1.65178802e-02 1.01041992e+02] [ 7.28706912e-01 -6.84575166e-01 -1.85223845e-02 1.48557193e+02] [ 2.48094745e-02 -6.39584933e-04 9.99691993e-01 4.61001782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.02, Y:148.58, Z:4.61 [[-6.84669399e-01 -7.28665212e-01 1.65777956e-02 1.01021759e+02] [ 7.28428696e-01 -6.84869766e-01 -1.85752000e-02 1.48576135e+02] [ 2.48887330e-02 -6.42128968e-04 9.99690021e-01 4.61080664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.942755096 meters Centerline goodness [0,1] 0.9998928234588014 Centerline is valid? [True, True] Translation: X:101.00, Y:148.59, Z:4.61 [[-6.85272501e-01 -7.28076473e-01 1.74999413e-02 1.01003003e+02] [ 7.27813109e-01 -6.85495567e-01 -1.95935043e-02 1.48594823e+02] [ 2.62617017e-02 -6.90203036e-04 9.99654864e-01 4.60903468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97275509600001 meters Centerline goodness [0,1] 0.9999142367066896 Centerline is valid? [True, True] Translation: X:100.98, Y:148.61, Z:4.61 [[-6.85474493e-01 -7.27884581e-01 1.75714597e-02 1.00984177e+02] [ 7.27619383e-01 -6.85699322e-01 -1.96589339e-02 1.48614405e+02] [ 2.63581729e-02 -6.90363035e-04 9.99652325e-01 4.60939158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.97, Y:148.63, Z:4.61 [[-6.85482409e-01 -7.27893466e-01 1.68810380e-02 1.00966153e+02] [ 7.27649039e-01 -6.85689927e-01 -1.88732766e-02 1.48633413e+02] [ 2.53128924e-02 -6.53828037e-04 9.99679364e-01 4.61132309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:148.65, Z:4.61 [[-6.85224957e-01 -7.28125587e-01 1.73172773e-02 1.00947351e+02] [ 7.27868837e-01 -6.85443437e-01 -1.93455573e-02 1.48652154e+02] [ 2.59560093e-02 -6.51352193e-04 9.99662874e-01 4.61124930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:148.67, Z:4.61 [[-6.84915459e-01 -7.28408855e-01 1.76452598e-02 1.00927748e+02] [ 7.28142786e-01 -6.85142414e-01 -1.96965630e-02 1.48671651e+02] [ 2.64366669e-02 -6.42211845e-04 9.99650284e-01 4.61172973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.91, Y:148.69, Z:4.61 [[-6.83726725e-01 -7.29507772e-01 1.83350895e-02 1.00907960e+02] [ 7.29221300e-01 -6.83972247e-01 -2.04514196e-02 1.48690380e+02] [ 2.74601619e-02 -6.12844318e-04 9.99622711e-01 4.61151385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:148.71, Z:4.61 [[-6.83339805e-01 -7.29860808e-01 1.87058965e-02 1.00891661e+02] [ 7.29563194e-01 -6.83595524e-01 -2.08495969e-02 1.48711671e+02] [ 2.80045707e-02 -6.00225934e-04 9.99607615e-01 4.61048223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:148.73, Z:4.61 [[-6.82769427e-01 -7.30385132e-01 1.90648512e-02 1.00871250e+02] [ 7.30076649e-01 -6.83035302e-01 -2.12335039e-02 1.48729256e+02] [ 2.85306019e-02 -5.78784588e-04 9.99592752e-01 4.61141987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18275509600002 meters Centerline goodness [0,1] 0.9998289172601099 Centerline is valid? [True, True] Translation: X:100.85, Y:148.75, Z:4.61 [[-6.81925866e-01 -7.31157352e-01 1.96479194e-02 1.00851092e+02] [ 7.30830525e-01 -6.82208636e-01 -2.18659881e-02 1.48746568e+02] [ 2.93914582e-02 -5.51683620e-04 9.99567826e-01 4.60987132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:148.77, Z:4.61 [[-6.81220751e-01 -7.31844263e-01 1.85003643e-02 1.00830086e+02] [ 7.31555159e-01 -6.81471748e-01 -2.05744196e-02 1.48765470e+02] [ 2.76647465e-02 -4.81684697e-04 9.99617142e-01 4.61439343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:148.79, Z:4.61 [[-6.81138155e-01 -7.31920866e-01 1.85110932e-02 1.00812756e+02] [ 7.31631841e-01 -6.81389482e-01 -2.05724094e-02 1.48785807e+02] [ 2.76706399e-02 -4.69347758e-04 9.99616984e-01 4.61479794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.79, Y:148.80, Z:4.62 [[-6.80897501e-01 -7.32161637e-01 1.78306003e-02 1.00793723e+02] [ 7.31893943e-01 -6.81130788e-01 -1.98016840e-02 1.48804992e+02] [ 2.66430042e-02 -4.32808849e-04 9.99644918e-01 4.61649963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:148.82, Z:4.62 [[-6.81082912e-01 -7.31993704e-01 1.76432492e-02 1.00777942e+02] [ 7.31731930e-01 -6.81311263e-01 -1.95792193e-02 1.48824922e+02] [ 2.63524097e-02 -4.24942919e-04 9.99652625e-01 4.61705877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33275509600003 meters Centerline goodness [0,1] 0.9998936532244342 Centerline is valid? [True, True] Translation: X:100.76, Y:148.85, Z:4.62 [[-6.81611025e-01 -7.31506108e-01 1.74706836e-02 1.00759022e+02] [ 7.31249673e-01 -6.81834753e-01 -1.93722687e-02 1.48845204e+02] [ 2.60830521e-02 -4.28920270e-04 9.99659687e-01 4.61720418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.74, Y:148.86, Z:4.62 [[-6.81664278e-01 -7.31472494e-01 1.67869631e-02 1.00742701e+02] [ 7.31236064e-01 -6.81870829e-01 -1.86008516e-02 1.48864131e+02] [ 2.50525518e-02 -4.04303217e-04 9.99686054e-01 4.61959447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39275509600003 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:100.72, Y:148.88, Z:4.62 [[-6.81911104e-01 -7.31246161e-01 1.66222279e-02 1.00723934e+02] [ 7.31014647e-01 -6.82113549e-01 -1.84036216e-02 1.48883815e+02] [ 2.47958245e-02 -3.98541817e-04 9.99692457e-01 4.62019153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:148.90, Z:4.62 [[-6.81764867e-01 -7.31391073e-01 1.62408572e-02 1.00707140e+02] [ 7.31170416e-01 -6.81958179e-01 -1.79684436e-02 1.48902798e+02] [ 2.42175447e-02 -3.75419269e-04 9.99706642e-01 4.62135984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.69, Y:148.92, Z:4.62 [[-6.81765157e-01 -7.31403181e-01 1.56734571e-02 1.00689978e+02] [ 7.31198002e-01 -6.81945205e-01 -1.73268270e-02 1.48921616e+02] [ 2.33613353e-02 -3.52426379e-04 9.99727025e-01 4.62210814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:148.94, Z:4.62 [[-6.81900279e-01 -7.31279655e-01 1.55587981e-02 1.00672350e+02] [ 7.31077752e-01 -6.82077670e-01 -1.71864236e-02 1.48941260e+02] [ 2.31803907e-02 -3.44735913e-04 9.99731239e-01 4.62291544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.65, Y:148.96, Z:4.62 [[-6.82177051e-01 -7.31021335e-01 1.55653070e-02 1.00654757e+02] [ 7.30819499e-01 -6.82354519e-01 -1.71805269e-02 1.48960289e+02] [ 2.31803893e-02 -3.44731249e-04 9.99731239e-01 4.62344184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.542755096 meters Centerline goodness [0,1] 0.9998290671338832 Centerline is valid? [True, True] Translation: X:100.64, Y:148.98, Z:4.62 [[-6.82639814e-01 -7.30575209e-01 1.62094913e-02 1.00637701e+02] [ 7.30356534e-01 -6.82832139e-01 -1.78774372e-02 1.48980131e+02] [ 2.41291741e-02 -3.65142524e-04 9.99708782e-01 4.62183537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.62, Y:149.00, Z:4.62 [[-6.82398053e-01 -7.30823607e-01 1.51575904e-02 1.00621495e+02] [ 7.30632727e-01 -6.82566297e-01 -1.67053524e-02 1.48999250e+02] [ 2.25547262e-02 -3.25068346e-04 9.99745557e-01 4.62478204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:149.02, Z:4.63 [[-6.82615466e-01 -7.30621298e-01 1.51209669e-02 1.00602482e+02] [ 7.30431527e-01 -6.82782845e-01 -1.66544616e-02 1.49017916e+02] [ 2.24924412e-02 -3.23762115e-04 9.99746961e-01 4.62530152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.59, Y:149.04, Z:4.62 [[-6.83231694e-01 -7.30034583e-01 1.56192175e-02 1.00586812e+02] [ 7.29832261e-01 -6.83410117e-01 -1.71895865e-02 1.49037600e+02] [ 2.32233238e-02 -3.45061473e-04 9.99730243e-01 4.62475871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:149.06, Z:4.63 [[-6.83801477e-01 -7.29500822e-01 1.56234346e-02 1.00568584e+02] [ 7.29298506e-01 -6.83979842e-01 -1.71832434e-02 1.49058240e+02] [ 2.32213045e-02 -3.55779707e-04 9.99730286e-01 4.62501889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.55, Y:149.08, Z:4.63 [[-6.84399334e-01 -7.28939291e-01 1.56544360e-02 1.00552475e+02] [ 7.28736305e-01 -6.84578246e-01 -1.72053180e-02 1.49078981e+02] [ 2.32583186e-02 -3.67352353e-04 9.99729421e-01 4.62521541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:149.10, Z:4.63 [[-6.84964926e-01 -7.28406165e-01 1.57324232e-02 1.00536654e+02] [ 7.28201247e-01 -6.85145470e-01 -1.72809084e-02 1.49098566e+02] [ 2.33665187e-02 -3.80445964e-04 9.99726893e-01 4.62565299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:149.12, Z:4.63 [[-6.85617802e-01 -7.27792412e-01 1.56982246e-02 1.00518679e+02] [ 7.27588537e-01 -6.85797384e-01 -1.72298800e-02 1.49119420e+02] [ 2.33055773e-02 -3.91264228e-04 9.99728312e-01 4.62692426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.50, Y:149.14, Z:4.63 [[-6.85771744e-01 -7.27647256e-01 1.57030595e-02 1.00502599e+02] [ 7.27443506e-01 -6.85951398e-01 -1.72228007e-02 1.49138564e+02] [ 2.33036593e-02 -3.87821429e-04 9.99728358e-01 4.62741104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:149.16, Z:4.63 [[-6.85636507e-01 -7.27782397e-01 1.53415235e-02 1.00483730e+02] [ 7.27588258e-01 -6.85808026e-01 -1.68130238e-02 1.49157621e+02] [ 2.27575627e-02 -3.65310509e-04 9.99740946e-01 4.62853519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:149.18, Z:4.63 [[-6.85721434e-01 -7.27706277e-01 1.51554943e-02 1.00467947e+02] [ 7.27517068e-01 -6.85888801e-01 -1.65972532e-02 1.49177519e+02] [ 2.24729091e-02 -3.55211495e-04 9.99747389e-01 4.62893621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:149.20, Z:4.63 [[-6.85263706e-01 -7.28148327e-01 1.46173827e-02 1.00448207e+02] [ 7.27972692e-01 -6.85419515e-01 -1.59952573e-02 1.49195918e+02] [ 2.16659592e-02 -3.19913830e-04 9.99765214e-01 4.63005349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.43, Y:149.22, Z:4.63 [[-6.85280198e-01 -7.28131002e-01 1.47069383e-02 1.00430797e+02] [ 7.27953457e-01 -6.85437922e-01 -1.60816381e-02 1.49216247e+02] [ 2.17902325e-02 -3.14461527e-04 9.99762515e-01 4.63050813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:149.24, Z:4.63 [[-6.85196752e-01 -7.28208264e-01 1.47694165e-02 1.00411847e+02] [ 7.28029478e-01 -6.85355843e-01 -1.61384099e-02 1.49235769e+02] [ 2.18744294e-02 -3.05415488e-04 9.99760679e-01 4.63108777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:149.26, Z:4.63 [[-6.85110470e-01 -7.28288446e-01 1.48183474e-02 1.00394920e+02] [ 7.28108748e-01 -6.85270641e-01 -1.61802019e-02 1.49255290e+02] [ 2.19384326e-02 -2.95857344e-04 9.99759280e-01 4.63142762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:149.27, Z:4.63 [[-6.85142751e-01 -7.28256345e-01 1.49032298e-02 1.00376522e+02] [ 7.28074844e-01 -6.85304758e-01 -1.62606797e-02 1.49274749e+02] [ 2.20551974e-02 -2.90220123e-04 9.99756712e-01 4.63196148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:149.29, Z:4.63 [[-6.85284565e-01 -7.28121156e-01 1.49882353e-02 1.00359504e+02] [ 7.27937809e-01 -6.85448393e-01 -1.63415566e-02 1.49293998e+02] [ 2.21722949e-02 -2.88113329e-04 9.99754123e-01 4.63235120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:149.31, Z:4.63 [[-6.85505777e-01 -7.27911099e-01 1.50751656e-02 1.00341875e+02] [ 7.27725871e-01 -6.85671458e-01 -1.64227751e-02 1.49313194e+02] [ 2.22909311e-02 -2.87319173e-04 9.99751485e-01 4.63300091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:149.33, Z:4.63 [[-6.85891311e-01 -7.27549040e-01 1.50167870e-02 1.00325505e+02] [ 7.27365439e-01 -6.86055618e-01 -1.63464922e-02 1.49332045e+02] [ 2.21952258e-02 -2.89225072e-04 9.99753614e-01 4.63361947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:149.35, Z:4.63 [[-6.86736984e-01 -7.26753541e-01 1.48864022e-02 1.00309909e+02] [ 7.26573208e-01 -6.86898245e-01 -1.61918207e-02 1.49352438e+02] [ 2.19929066e-02 -3.03461061e-04 9.99758081e-01 4.63481197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:149.37, Z:4.64 [[-6.87617284e-01 -7.25922949e-01 1.47764505e-02 1.00292949e+02] [ 7.25745295e-01 -6.87775959e-01 -1.60622964e-02 1.49372033e+02] [ 2.18228770e-02 -3.20773206e-04 9.99761801e-01 4.63558436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:149.39, Z:4.64 [[-6.88555665e-01 -7.25034817e-01 1.46836902e-02 1.00273912e+02] [ 7.24859457e-01 -6.88712132e-01 -1.59488877e-02 1.49391782e+02] [ 2.16763345e-02 -3.38085300e-04 9.99764984e-01 4.63653934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:149.41, Z:4.64 [[-6.89650657e-01 -7.23996706e-01 1.45169222e-02 1.00257280e+02] [ 7.23825322e-01 -6.89803335e-01 -1.57563449e-02 1.49412779e+02] [ 2.14213632e-02 -3.58657726e-04 9.99770472e-01 4.63720085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:149.43, Z:4.64 [[-6.91347461e-01 -7.22377636e-01 1.44651162e-02 1.00239784e+02] [ 7.22207372e-01 -6.91498656e-01 -1.56882204e-02 1.49434301e+02] [ 2.13354280e-02 -3.99197777e-04 9.99772294e-01 4.63746245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:149.46, Z:4.64 [[-6.92627319e-01 -7.21144550e-01 1.47626266e-02 1.00222293e+02] [ 7.20967180e-01 -6.92784487e-01 -1.59993715e-02 1.49455614e+02] [ 2.17651782e-02 -4.38232544e-04 9.99763014e-01 4.63793503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.292755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:149.48, Z:4.64 [[-6.93179491e-01 -7.20610447e-01 1.49257207e-02 1.00203796e+02] [ 7.20429265e-01 -6.93340018e-01 -1.61646205e-02 1.49475617e+02] [ 2.19969939e-02 -4.52057468e-04 9.99757935e-01 4.63864729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:149.50, Z:4.64 [[-6.93559354e-01 -7.20238397e-01 1.52339537e-02 1.00185801e+02] [ 7.20049834e-01 -6.93726484e-01 -1.64863921e-02 1.49495600e+02] [ 2.24423297e-02 -4.65085628e-04 9.99748031e-01 4.63877411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.17, Y:149.52, Z:4.64 [[-6.93398266e-01 -7.20388103e-01 1.54863190e-02 1.00167356e+02] [ 7.20193555e-01 -6.93571027e-01 -1.67473520e-02 1.49515567e+02] [ 2.28054553e-02 -4.59437637e-04 9.99739816e-01 4.63910581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.15, Y:149.53, Z:4.64 [[-6.93061080e-01 -7.20699427e-01 1.60834023e-02 1.00148339e+02] [ 7.20489972e-01 -6.93247522e-01 -1.73802727e-02 1.49534587e+02] [ 2.36757314e-02 -4.57660465e-04 9.99719586e-01 4.63900648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:149.55, Z:4.64 [[-6.92098999e-01 -7.21610183e-01 1.66649070e-02 1.00130005e+02] [ 7.21385883e-01 -6.92299470e-01 -1.79958522e-02 1.49553095e+02] [ 2.45230965e-02 -4.33082626e-04 9.99699170e-01 4.63850748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:149.57, Z:4.64 [[-6.91872147e-01 -7.21823898e-01 1.68283465e-02 1.00111376e+02] [ 7.21595503e-01 -6.92076645e-01 -1.81616954e-02 1.49572528e+02] [ 2.47560514e-02 -4.22312025e-04 9.99693433e-01 4.63854575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47275509600001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:149.59, Z:4.64 [[-6.91653012e-01 -7.22026914e-01 1.71244285e-02 1.00092290e+02] [ 7.21790809e-01 -6.91864846e-01 -1.84679004e-02 1.49592013e+02] [ 2.51821112e-02 -4.13123794e-04 9.99682795e-01 4.63921107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:149.61, Z:4.64 [[-6.90822644e-01 -7.22820337e-01 1.71707738e-02 1.00073551e+02] [ 7.22583533e-01 -6.91035903e-01 -1.85045667e-02 1.49611472e+02] [ 2.52410983e-02 -3.76055338e-04 9.99681322e-01 4.63992756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:149.63, Z:4.64 [[-6.90653805e-01 -7.22981040e-01 1.71970000e-02 1.00055995e+02] [ 7.22743885e-01 -6.90867776e-01 -1.85200608e-02 1.49630504e+02] [ 2.52705060e-02 -3.61923844e-04 9.99680584e-01 4.64065445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56275509600002 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:100.04, Y:149.65, Z:4.64 [[-6.90652086e-01 -7.22982079e-01 1.72223295e-02 1.00037496e+02] [ 7.22744500e-01 -6.90866693e-01 -1.85364726e-02 1.49650643e+02] [ 2.52998714e-02 -3.54909562e-04 9.99679844e-01 4.64091154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:149.67, Z:4.64 [[-6.90664720e-01 -7.22976760e-01 1.69366148e-02 1.00020728e+02] [ 7.22747323e-01 -6.90872267e-01 -1.82158540e-02 1.49669947e+02] [ 2.48706765e-02 -3.40154654e-04 9.99690619e-01 4.64200794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62275509600002 meters Centerline goodness [0,1] 0.9999784143156258 Centerline is valid? [True, True] Translation: X:100.00, Y:149.69, Z:4.64 [[-6.90947845e-01 -7.22709790e-01 1.67820044e-02 1.00002154e+02] [ 7.22484800e-01 -6.91151537e-01 -1.80351811e-02 1.49689449e+02] [ 2.46331100e-02 -3.36626419e-04 9.99696502e-01 4.64329743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65275509600002 meters Centerline goodness [0,1] 0.999913618105645 Centerline is valid? [True, True] Translation: X:99.98, Y:149.71, Z:4.64 [[-6.91390520e-01 -7.22286484e-01 1.67745176e-02 9.99845867e+01] [ 7.22061894e-01 -6.91593897e-01 -1.80139653e-02 1.49709634e+02] [ 2.46123977e-02 -3.42444914e-04 9.99697010e-01 4.64290137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:149.73, Z:4.65 [[-6.91686362e-01 -7.22001107e-01 1.68635406e-02 9.99669349e+01] [ 7.21774381e-01 -6.91891814e-01 -1.80958701e-02 1.49730383e+02] [ 2.47329840e-02 -3.44994962e-04 9.99694033e-01 4.64538888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.95, Y:149.75, Z:4.65 [[-6.92095498e-01 -7.21606450e-01 1.69691564e-02 9.99502986e+01] [ 7.21377090e-01 -6.92303407e-01 -1.81958087e-02 1.49750634e+02] [ 2.48780177e-02 -3.52076589e-04 9.99690432e-01 4.64588486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74275509600002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:149.77, Z:4.65 [[-6.92702187e-01 -7.21025174e-01 1.69227404e-02 9.99325626e+01] [ 7.20797230e-01 -6.92908773e-01 -1.81324724e-02 1.49770703e+02] [ 2.47998844e-02 -3.62538854e-04 9.99692370e-01 4.64670148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:149.79, Z:4.65 [[-6.94065929e-01 -7.19705525e-01 1.72175199e-02 9.99143949e+01] [ 7.19469489e-01 -6.94279332e-01 -1.84354231e-02 1.49792418e+02] [ 2.52218441e-02 -4.07918822e-04 9.99681795e-01 4.64728370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:149.81, Z:4.65 [[-6.94980919e-01 -7.18816247e-01 1.74563751e-02 9.98966293e+01] [ 7.18573648e-01 -6.95199979e-01 -1.86788880e-02 1.49813351e+02] [ 2.55623598e-02 -4.37779573e-04 9.99673134e-01 4.64753586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:149.84, Z:4.65 [[-6.97004099e-01 -7.16832225e-01 1.83533650e-02 9.98797546e+01] [ 7.16563742e-01 -6.97245497e-01 -1.96244979e-02 1.49836432e+02] [ 2.68642736e-02 -5.26999567e-04 9.99638951e-01 4.64809436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86275509600003 meters Centerline goodness [0,1] 0.9998481166464156 Centerline is valid? [True, True] Translation: X:99.86, Y:149.86, Z:4.65 [[-6.98505067e-01 -7.15359487e-01 1.87477064e-02 9.98621932e+01] [ 7.15079166e-01 -6.98756367e-01 -2.00331415e-02 1.49858688e+02] [ 2.74309770e-02 -5.87156584e-04 9.99623528e-01 4.64610664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89275509600003 meters Centerline goodness [0,1] 0.9998046663049376 Centerline is valid? [True, True] Translation: X:99.85, Y:149.88, Z:4.64 [[-7.00824520e-01 -7.13073517e-01 1.92652918e-02 9.98478449e+01] [ 7.12777017e-01 -7.01088931e-01 -2.05726762e-02 1.49882929e+02] [ 2.81765134e-02 -6.85978772e-04 9.99602728e-01 4.64485896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:149.90, Z:4.65 [[-7.01693301e-01 -7.12220728e-01 1.91871331e-02 9.98282433e+01] [ 7.11926701e-01 -7.01955222e-01 -2.04753143e-02 1.49902115e+02] [ 2.80514515e-02 -7.07558497e-04 9.99606230e-01 4.64916849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:149.92, Z:4.65 [[-7.02823910e-01 -7.11108655e-01 1.90533810e-02 9.98100069e+01] [ 7.10818693e-01 -7.03081743e-01 -2.03186587e-02 1.49923684e+02] [ 2.78448584e-02 -7.36939766e-04 9.99611985e-01 4.64971703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.982755096 meters Centerline goodness [0,1] 0.9998919993087956 Centerline is valid? [True, True] Translation: X:99.79, Y:149.95, Z:4.65 [[-7.04225570e-01 -7.09715898e-01 1.92273503e-02 9.97918939e+01] [ 7.09420462e-01 -7.04487558e-01 -2.04911900e-02 1.49945136e+02] [ 2.80883524e-02 -7.90144166e-04 9.99605132e-01 4.64839344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:149.97, Z:4.65 [[-7.05175655e-01 -7.08771982e-01 1.92242629e-02 9.97743632e+01] [ 7.08476663e-01 -7.05437175e-01 -2.04746440e-02 1.49966310e+02] [ 2.80733637e-02 -8.18278891e-04 9.99605531e-01 4.65101163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:149.99, Z:4.65 [[-7.05573133e-01 -7.08377841e-01 1.91673634e-02 9.97558177e+01] [ 7.08084522e-01 -7.05832954e-01 -2.03997657e-02 1.49986508e+02] [ 2.79796987e-02 -8.21413215e-04 9.99608154e-01 4.65203452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07275509600004 meters Centerline goodness [0,1] 0.9999129299085764 Centerline is valid? [True, True] Translation: X:99.74, Y:150.01, Z:4.65 [[-7.05636018e-01 -7.08298644e-01 1.97697078e-02 9.97370262e+01] [ 7.07987003e-01 -7.05912407e-01 -2.10256489e-02 1.50005654e+02] [ 2.88481207e-02 -8.39758997e-04 9.99583454e-01 4.65155985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:150.03, Z:4.65 [[-7.04826774e-01 -7.09093895e-01 2.01262873e-02 9.97171934e+01] [ 7.08771670e-01 -7.05113601e-01 -2.13899521e-02 1.50025265e+02] [ 2.93588034e-02 -8.11268733e-04 9.99568608e-01 4.65331987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:150.04, Z:4.65 [[-7.04344959e-01 -7.09561415e-01 2.05128482e-02 9.96998708e+01] [ 7.09227328e-01 -7.04643147e-01 -2.17860918e-02 1.50044669e+02] [ 2.99128080e-02 -7.96651422e-04 9.99552194e-01 4.65301522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16275509600007 meters Centerline goodness [0,1] 0.9999564156206415 Centerline is valid? [True, True] Translation: X:99.68, Y:150.06, Z:4.65 [[-7.03599244e-01 -7.10292355e-01 2.08056055e-02 9.96821087e+01] [ 7.09949491e-01 -7.03906375e-01 -2.20801855e-02 1.50063512e+02] [ 3.03285853e-02 -7.64672790e-04 9.99539690e-01 4.65166870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19275509600004 meters Centerline goodness [0,1] 0.999847208276946 Centerline is valid? [True, True] Translation: X:99.66, Y:150.08, Z:4.65 [[-7.01362842e-01 -7.12474615e-01 2.16815030e-02 9.96571336e+01] [ 7.12103856e-01 -7.01697551e-01 -2.29922857e-02 1.50078245e+02] [ 3.15952775e-02 -6.86452950e-04 9.99500509e-01 4.65134404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:150.10, Z:4.65 [[-6.99642870e-01 -7.14161790e-01 2.17437956e-02 9.96381780e+01] [ 7.13790200e-01 -6.99980411e-01 -2.30428874e-02 1.50097123e+02] [ 3.16765807e-02 -6.01283692e-04 9.99497990e-01 4.65302704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:150.11, Z:4.66 [[-6.97158634e-01 -7.16581670e-01 2.19214130e-02 9.96151418e+01] [ 7.16205690e-01 -6.97503029e-01 -2.32149489e-02 1.50113288e+02] [ 3.19256588e-02 -4.84261384e-04 9.99490129e-01 4.65575799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2827550960001 meters Centerline goodness [0,1] 0.999891292531797 Centerline is valid? [True, True] Translation: X:99.60, Y:150.13, Z:4.65 [[-6.96410680e-01 -7.17306458e-01 2.19911420e-02 9.95979486e+01] [ 7.16928941e-01 -6.96757669e-01 -2.32732275e-02 1.50131484e+02] [ 3.20165332e-02 -4.41638017e-04 9.99487242e-01 4.65345688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31275509600005 meters Centerline goodness [0,1] 0.9997841245169786 Centerline is valid? [True, True] Translation: X:99.58, Y:150.15, Z:4.65 [[-6.95690416e-01 -7.18014729e-01 2.16724330e-02 9.95779469e+01] [ 7.17648900e-01 -6.96027798e-01 -2.29207583e-02 1.50148528e+02] [ 3.15420579e-02 -3.92554174e-04 9.99502348e-01 4.65470413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters Centerline goodness [0,1] 0.9998703039211447 Centerline is valid? [True, True] Translation: X:99.56, Y:150.17, Z:4.66 [[-6.93871378e-01 -7.19790284e-01 2.10821684e-02 9.95570216e+01] [ 7.19445436e-01 -6.94191516e-01 -2.22801063e-02 1.50165113e+02] [ 3.06720665e-02 -2.92058221e-04 9.99529459e-01 4.65735765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.54, Y:150.18, Z:4.66 [[-6.92887174e-01 -7.20743042e-01 2.09004922e-02 9.95370228e+01] [ 7.20405036e-01 -6.93202287e-01 -2.20720198e-02 1.50182752e+02] [ 3.03965238e-02 -2.36599601e-04 9.99537891e-01 4.66065511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.52, Y:150.20, Z:4.66 [[-6.92209409e-01 -7.21392940e-01 2.09370569e-02 9.95162094e+01] [ 7.21054548e-01 -6.92525948e-01 -2.20941432e-02 1.50201091e+02] [ 3.04380141e-02 -1.97013749e-04 9.99536637e-01 4.66252325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:150.22, Z:4.66 [[-6.92466947e-01 -7.21145503e-01 2.09449537e-02 9.94976540e+01] [ 7.20807224e-01 -6.92783606e-01 -2.20866554e-02 1.50220359e+02] [ 3.04380128e-02 -1.97004865e-04 9.99536637e-01 4.66306664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:150.24, Z:4.66 [[-6.92724493e-01 -7.20894431e-01 2.10712091e-02 9.94788684e+01] [ 7.20552433e-01 -6.93044862e-01 -2.22038625e-02 1.50239741e+02] [ 3.06099340e-02 -1.98248422e-04 9.99531387e-01 4.66398643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:150.26, Z:4.67 [[-6.93185123e-01 -7.20454664e-01 2.09633539e-02 9.94602205e+01] [ 7.20116438e-01 -6.93502008e-01 -2.20744372e-02 1.50259101e+02] [ 3.04417592e-02 -2.05615739e-04 9.99536521e-01 4.66525936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.44, Y:150.28, Z:4.67 [[-6.94828186e-01 -7.18877191e-01 2.07214132e-02 9.94431707e+01] [ 7.18546505e-01 -6.95137049e-01 -2.18037423e-02 1.50278937e+02] [ 3.00784350e-02 -2.60555694e-04 9.99547508e-01 4.66619396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55275509600006 meters Centerline goodness [0,1] 0.9998704914848151 Centerline is valid? [True, True] Translation: X:99.43, Y:150.30, Z:4.66 [[-6.96536022e-01 -7.17225175e-01 2.06305154e-02 9.94266388e+01] [ 7.16897148e-01 -6.96841407e-01 -2.16917767e-02 1.50299653e+02] [ 2.99340858e-02 -3.19146201e-04 9.99551824e-01 4.66330052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:150.32, Z:4.67 [[-6.98652238e-01 -7.15159754e-01 2.07744211e-02 9.94074667e+01] [ 7.14826688e-01 -6.98960919e-01 -2.18274837e-02 1.50319469e+02] [ 3.01306464e-02 -3.99709733e-04 9.99545889e-01 4.66768222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61275509600006 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:99.39, Y:150.34, Z:4.67 [[-7.00384383e-01 -7.13451183e-01 2.11925687e-02 9.93905096e+01] [ 7.13104191e-01 -7.00704777e-01 -2.22537091e-02 1.50340132e+02] [ 3.07266692e-02 -4.73640795e-04 9.99527712e-01 4.66705076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:150.36, Z:4.67 [[-7.01843376e-01 -7.12009827e-01 2.13981551e-02 9.93727863e+01] [ 7.11655780e-01 -7.02169297e-01 -2.24572722e-02 1.50360606e+02] [ 3.10149260e-02 -5.33366961e-04 9.99518779e-01 4.66778999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:150.38, Z:4.67 [[-7.05267802e-01 -7.08599968e-01 2.19866470e-02 9.93564532e+01] [ 7.08224994e-01 -7.05610095e-01 -2.30597368e-02 1.50381924e+02] [ 3.18541288e-02 -6.91796979e-04 9.99492289e-01 4.66826322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:150.40, Z:4.67 [[-7.06941264e-01 -7.06928383e-01 2.20524466e-02 9.93371947e+01] [ 7.06550776e-01 -7.07284726e-01 -2.31152924e-02 1.50402845e+02] [ 3.19382149e-02 -7.59980779e-04 9.99489556e-01 4.66911741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73275509600006 meters Centerline goodness [0,1] 0.9999137187230371 Centerline is valid? [True, True] Translation: X:99.32, Y:150.43, Z:4.67 [[-7.10318117e-01 -7.03537030e-01 2.19959398e-02 9.93222794e+01] [ 7.03160161e-01 -7.10658031e-01 -2.30423758e-02 1.50425536e+02] [ 3.18427559e-02 -9.00748440e-04 9.99492485e-01 4.66673870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters Centerline goodness [0,1] 0.9999142606048914 Centerline is valid? [True, True] Translation: X:99.30, Y:150.44, Z:4.67 [[-7.11834481e-01 -7.01997492e-01 2.21628523e-02 9.93023373e+01] [ 7.01614553e-01 -7.12178759e-01 -2.32042106e-02 1.50444957e+02] [ 3.20732103e-02 -9.67777524e-04 9.99485054e-01 4.66811630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79275509600006 meters Centerline goodness [0,1] 0.9999568974806577 Centerline is valid? [True, True] Translation: X:99.28, Y:150.47, Z:4.67 [[-7.13152132e-01 -7.00662654e-01 2.20427414e-02 9.92832031e+01] [ 7.00283681e-01 -7.13491991e-01 -2.30639202e-02 1.50465197e+02] [ 3.18873470e-02 -1.01191179e-03 9.99490957e-01 4.66947362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:150.49, Z:4.67 [[-7.14339443e-01 -6.99450376e-01 2.20982366e-02 9.92662589e+01] [ 6.99069392e-01 -7.14680385e-01 -2.31069841e-02 1.50486645e+02] [ 3.19553649e-02 -1.05802933e-03 9.99488737e-01 4.67020991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85275509600007 meters Centerline goodness [0,1] 0.9998919853100021 Centerline is valid? [True, True] Translation: X:99.25, Y:150.51, Z:4.67 [[-7.16533466e-01 -6.97190616e-01 2.24730137e-02 9.92458798e+01] [ 6.96795992e-01 -7.16884845e-01 -2.34832760e-02 1.50506327e+02] [ 3.24828826e-02 -1.16744723e-03 9.99471610e-01 4.66902953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:150.53, Z:4.67 [[-7.17334568e-01 -6.96384907e-01 2.18901683e-02 9.92284348e+01] [ 6.96010598e-01 -7.17667550e-01 -2.28590498e-02 1.50526052e+02] [ 3.16285608e-02 -1.16179748e-03 9.99499017e-01 4.67172310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91275509600007 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:99.21, Y:150.55, Z:4.67 [[-7.17817296e-01 -6.95885667e-01 2.19423863e-02 9.92089649e+01] [ 6.95509869e-01 -7.18151626e-01 -2.28968209e-02 1.50545182e+02] [ 3.16915299e-02 -1.17458785e-03 9.99497007e-01 4.67066651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:150.56, Z:4.67 [[-7.17459389e-01 -6.96277409e-01 2.12083666e-02 9.91905349e+01] [ 6.95926982e-01 -7.17771930e-01 -2.21154328e-02 1.50563648e+02] [ 3.06212465e-02 -1.10745026e-03 9.99530446e-01 4.67380553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:150.58, Z:4.68 [[-7.16178381e-01 -6.97598769e-01 2.10827788e-02 9.91671137e+01] [ 6.97253509e-01 -7.16487884e-01 -2.19694259e-02 1.50580560e+02] [ 3.04314001e-02 -1.03398638e-03 9.99536323e-01 4.67553827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters Centerline goodness [0,1] 0.9998273629693569 Centerline is valid? [True, True] Translation: X:99.15, Y:150.60, Z:4.67 [[-7.15759972e-01 -6.98009947e-01 2.16743003e-02 9.91472621e+01] [ 6.97645678e-01 -7.16087315e-01 -2.25713186e-02 1.50599683e+02] [ 3.12756965e-02 -1.03466444e-03 9.99510260e-01 4.67320894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:150.62, Z:4.68 [[-7.14440804e-01 -6.99372384e-01 2.12745523e-02 9.91252795e+01] [ 6.99022436e-01 -7.14756861e-01 -2.21418813e-02 1.50618127e+02] [ 3.06915525e-02 -9.47674134e-04 9.99528454e-01 4.67656526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:150.63, Z:4.68 [[-7.12180513e-01 -7.01686835e-01 2.08447388e-02 9.91047634e+01] [ 7.01352201e-01 -7.12485023e-01 -2.16836915e-02 1.50634890e+02] [ 3.00667251e-02 -8.23199120e-04 9.99547555e-01 4.67741655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:150.65, Z:4.68 [[-7.10804185e-01 -7.03086189e-01 2.06693371e-02 9.90842884e+01] [ 7.02758217e-01 -7.11104249e-01 -2.14856988e-02 1.50652662e+02] [ 2.98043515e-02 -7.46578095e-04 9.99555473e-01 4.67820419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12275509600005 meters Centerline goodness [0,1] 0.9999353462209866 Centerline is valid? [True, True] Translation: X:99.06, Y:150.67, Z:4.68 [[-7.09883891e-01 -7.04000375e-01 2.11738844e-02 9.90642113e+01] [ 7.03657078e-01 -7.10199241e-01 -2.19944235e-02 1.50670951e+02] [ 3.05217590e-02 -7.14333292e-04 9.99533847e-01 4.67758181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.152755096 meters Centerline goodness [0,1] 0.999978428284833 Centerline is valid? [True, True] Translation: X:99.04, Y:150.69, Z:4.68 [[-7.07173225e-01 -7.06748430e-01 2.03147041e-02 9.90437116e+01] [ 7.06433989e-01 -7.07464728e-01 -2.10873678e-02 1.50687252e+02] [ 2.92754007e-02 -5.61424461e-04 9.99571226e-01 4.67960741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:150.70, Z:4.68 [[-7.05946214e-01 -7.07986148e-01 1.98886374e-02 9.90230740e+01] [ 7.07685673e-01 -7.06226151e-01 -2.06303864e-02 1.50704721e+02] [ 2.86519036e-02 -4.89039454e-04 9.99589330e-01 4.68163759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:150.72, Z:4.68 [[-7.03615882e-01 -7.10320807e-01 1.92104753e-02 9.90004837e+01] [ 7.10041715e-01 -7.03877982e-01 -1.99135418e-02 1.50721968e+02] [ 2.76668337e-02 -3.71245446e-04 9.99617131e-01 4.68325680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:150.74, Z:4.68 [[-7.02543391e-01 -7.11387784e-01 1.89790585e-02 9.89816933e+01] [ 7.11116096e-01 -7.02799630e-01 -1.96615761e-02 1.50740013e+02] [ 2.73254804e-02 -3.16796370e-04 9.99626539e-01 4.68359118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:150.76, Z:4.68 [[-7.01800722e-01 -7.12119290e-01 1.90227187e-02 9.89621228e+01] [ 7.11846950e-01 -7.02058429e-01 -1.96947145e-02 1.50757695e+02] [ 2.73800462e-02 -2.80500562e-04 9.99625057e-01 4.68400485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:150.78, Z:4.68 [[-7.01232311e-01 -7.12679892e-01 1.89899173e-02 9.89425965e+01] [ 7.12409111e-01 -7.01489351e-01 -1.96455866e-02 1.50776121e+02] [ 2.73222393e-02 -2.47530022e-04 9.99626647e-01 4.68438626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:150.79, Z:4.69 [[-7.00338270e-01 -7.13570257e-01 1.85417185e-02 9.89230463e+01] [ 7.13312810e-01 -7.00583649e-01 -1.91673372e-02 1.50794562e+02] [ 2.66672666e-02 -1.97574460e-04 9.99644346e-01 4.68513195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:150.81, Z:4.69 [[-7.00429130e-01 -7.13474369e-01 1.87978264e-02 9.89046972e+01] [ 7.13210139e-01 -7.00681302e-01 -1.94167713e-02 1.50812941e+02] [ 2.70246541e-02 -1.93271904e-04 9.99634749e-01 4.68538427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:150.83, Z:4.69 [[-7.01096067e-01 -7.12818398e-01 1.88211643e-02 9.88858419e+01] [ 7.12553677e-01 -7.01348621e-01 -1.94259844e-02 1.50832312e+02] [ 2.70473966e-02 -2.08391422e-04 9.99634131e-01 4.68585476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:150.85, Z:4.69 [[-7.01994026e-01 -7.11934811e-01 1.87939172e-02 9.88685326e+01] [ 7.11670920e-01 -7.02245520e-01 -1.93837946e-02 1.50852152e+02] [ 2.69979423e-02 -2.32223664e-04 9.99635462e-01 4.68588907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:150.87, Z:4.69 [[-7.02849802e-01 -7.11088286e-01 1.88575186e-02 9.88517684e+01] [ 7.10822677e-01 -7.03102684e-01 -1.94354644e-02 1.50870907e+02] [ 2.70791030e-02 -2.55860419e-04 9.99633261e-01 4.68606651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:150.89, Z:4.69 [[-7.05079459e-01 -7.08875606e-01 1.89296468e-02 9.88340157e+01] [ 7.08607495e-01 -7.05333442e-01 -1.94975616e-02 1.50892121e+02] [ 2.71730587e-02 -3.33640647e-04 9.99630689e-01 4.68669655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:150.91, Z:4.69 [[-7.07709615e-01 -7.06251633e-01 1.88608710e-02 9.88178815e+01] [ 7.05984901e-01 -7.07960770e-01 -1.94130517e-02 1.50913705e+02] [ 2.70632562e-02 -4.23313204e-04 9.99633633e-01 4.68678347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.80, Y:150.93, Z:4.69 [[-7.09083684e-01 -7.04863627e-01 1.91728031e-02 9.88000469e+01] [ 7.04587886e-01 -7.09342683e-01 -1.97197471e-02 1.50934890e+02] [ 2.74998200e-02 -4.74026162e-04 9.99621696e-01 4.68692435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:150.96, Z:4.69 [[-7.10726471e-01 -7.03207792e-01 1.91490189e-02 9.87829383e+01] [ 7.02932508e-01 -7.10984194e-01 -1.96816138e-02 1.50955527e+02] [ 2.74549139e-02 -5.27776044e-04 9.99622903e-01 4.68707233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:150.98, Z:4.69 [[-7.12242939e-01 -7.01670792e-01 1.91858317e-02 9.87653999e+01] [ 7.01394275e-01 -7.12501064e-01 -1.97054652e-02 1.50976680e+02] [ 2.74966749e-02 -5.78245892e-04 9.99621728e-01 4.68733472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:151.00, Z:4.69 [[-7.14918934e-01 -6.98932845e-01 1.95907080e-02 9.87474256e+01] [ 6.98643882e-01 -7.15186972e-01 -2.01077620e-02 1.50998402e+02] [ 2.80649945e-02 -6.88491507e-04 9.99605863e-01 4.68834667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:151.02, Z:4.69 [[-7.16499401e-01 -6.97318023e-01 1.93954438e-02 9.87296744e+01] [ 6.97034551e-01 -7.16761490e-01 -1.98947498e-02 1.51019569e+02] [ 2.77748748e-02 -7.35281855e-04 9.99613933e-01 4.68902679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:151.04, Z:4.69 [[-7.17993398e-01 -6.95783258e-01 1.92649273e-02 9.87150621e+01] [ 6.95503401e-01 -7.18251383e-01 -1.97476470e-02 1.51041433e+02] [ 2.75771429e-02 -7.79857712e-04 9.99619374e-01 4.68880705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:151.06, Z:4.69 [[-7.20000013e-01 -6.93711276e-01 1.90957388e-02 9.86952571e+01] [ 6.93435943e-01 -7.20252703e-01 -1.95610837e-02 1.51061075e+02] [ 2.73235019e-02 -8.42308859e-04 9.99626289e-01 4.69066243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:151.08, Z:4.69 [[-7.20817741e-01 -6.92864459e-01 1.89901396e-02 9.86765437e+01] [ 6.92592200e-01 -7.21067334e-01 -1.94407812e-02 1.51081628e+02] [ 2.71629957e-02 -8.60837459e-04 9.99630647e-01 4.69145257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:151.11, Z:4.69 [[-7.21811209e-01 -6.91843482e-01 1.84709169e-02 9.86627266e+01] [ 6.91585895e-01 -7.22046983e-01 -1.88972015e-02 1.51105202e+02] [ 2.64107755e-02 -8.65986285e-04 9.99650800e-01 4.69174699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.64, Y:151.12, Z:4.69 [[-7.22104734e-01 -6.91542427e-01 1.82708631e-02 9.86405832e+01] [ 6.91290645e-01 -7.22335335e-01 -1.86790880e-02 1.51121059e+02] [ 2.61150718e-02 -8.57781126e-04 9.99658575e-01 4.69350008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:151.14, Z:4.69 [[-7.22122300e-01 -6.91524800e-01 1.82437827e-02 9.86235305e+01] [ 6.91274106e-01 -7.22352222e-01 -1.86380645e-02 1.51140301e+02] [ 2.60671208e-02 -8.47507396e-04 9.99659836e-01 4.69407962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:151.16, Z:4.70 [[-7.21337694e-01 -6.92345074e-01 1.81721883e-02 9.86018700e+01] [ 6.92096979e-01 -7.21566110e-01 -1.85505029e-02 1.51157395e+02] [ 2.59557845e-02 -8.04260434e-04 9.99662768e-01 4.69533051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:151.18, Z:4.70 [[-7.20951701e-01 -6.92747160e-01 1.81663687e-02 9.85820457e+01] [ 6.92499687e-01 -7.21180119e-01 -1.85316077e-02 1.51175777e+02] [ 2.59389425e-02 -7.80189489e-04 9.99663225e-01 4.69596835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:151.19, Z:4.70 [[-7.19130414e-01 -6.94641913e-01 1.80016738e-02 9.85590263e+01] [ 6.94399819e-01 -7.19355356e-01 -1.83511040e-02 1.51192335e+02] [ 2.56970465e-02 -6.96478012e-04 9.99669534e-01 4.69721410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.54, Y:151.21, Z:4.70 [[-7.18340031e-01 -6.95456548e-01 1.81049838e-02 9.85417748e+01] [ 6.95212233e-01 -7.18567848e-01 -1.84445033e-02 1.51213235e+02] [ 2.58370099e-02 -6.62618847e-04 9.99665949e-01 4.69675561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99275509600005 meters Centerline goodness [0,1] 0.9998270644185041 Centerline is valid? [True, True] Translation: X:98.52, Y:151.23, Z:4.70 [[-7.17785871e-01 -6.96021443e-01 1.83737336e-02 9.85191499e+01] [ 6.95770307e-01 -7.18020708e-01 -1.87067894e-02 1.51229962e+02] [ 2.62130477e-02 -6.43570833e-04 9.99656172e-01 4.69536803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:151.25, Z:4.70 [[-7.15792475e-01 -6.98092962e-01 1.75314032e-02 9.84967693e+01] [ 6.97865168e-01 -7.16006935e-01 -1.78403131e-02 1.51247294e+02] [ 2.50068033e-02 -5.35406217e-04 9.99687138e-01 4.69966844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:151.27, Z:4.70 [[-7.15401203e-01 -6.98499652e-01 1.73018833e-02 9.84762312e+01] [ 6.98278182e-01 -7.15610215e-01 -1.75954880e-02 1.51265300e+02] [ 2.46718466e-02 -5.06305656e-04 9.99695475e-01 4.70069867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:151.28, Z:4.70 [[-7.15052318e-01 -6.98863284e-01 1.70379570e-02 9.84575776e+01] [ 6.98648913e-01 -7.15255116e-01 -1.73151583e-02 1.51283328e+02] [ 2.42874143e-02 -4.77693985e-04 9.99704903e-01 4.70139784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.44, Y:151.30, Z:4.70 [[-7.14743157e-01 -6.99188786e-01 1.66511834e-02 9.84373435e+01] [ 6.98984356e-01 -7.14936948e-01 -1.69124168e-02 1.51301705e+02] [ 2.37295184e-02 -4.49117428e-04 9.99718314e-01 4.70234423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.42, Y:151.32, Z:4.70 [[-7.14962732e-01 -6.98969172e-01 1.64434909e-02 9.84177498e+01] [ 6.98770034e-01 -7.15151663e-01 -1.66894585e-02 1.51320847e+02] [ 2.34250068e-02 -4.42122085e-04 9.99725499e-01 4.70320769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:151.34, Z:4.70 [[-7.15457833e-01 -6.98469679e-01 1.61305775e-02 9.84001969e+01] [ 6.98278195e-01 -7.15639513e-01 -1.63600093e-02 1.51340545e+02] [ 2.29706490e-02 -4.41266278e-04 9.99736042e-01 4.70343781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:151.36, Z:4.70 [[-7.15883966e-01 -6.98034156e-01 1.60768229e-02 9.83821321e+01] [ 6.97844121e-01 -7.16064326e-01 -1.62930717e-02 1.51360218e+02] [ 2.28851599e-02 -4.44832477e-04 9.99738001e-01 4.70376862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:151.38, Z:4.70 [[-7.16478751e-01 -6.97422999e-01 1.61046498e-02 9.83624312e+01] [ 6.97232429e-01 -7.16659579e-01 -1.63091488e-02 1.51379459e+02] [ 2.29159270e-02 -4.56474481e-04 9.99737291e-01 4.70429827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:151.40, Z:4.70 [[-7.17416904e-01 -6.96451953e-01 1.63604299e-02 9.83437222e+01] [ 6.96255305e-01 -7.17603261e-01 -1.65562857e-02 1.51400143e+02] [ 2.32709553e-02 -4.86723109e-04 9.99729076e-01 4.70390372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:151.42, Z:4.70 [[-7.17837846e-01 -6.96006446e-01 1.68479620e-02 9.83247553e+01] [ 6.95798050e-01 -7.18035354e-01 -1.70383050e-02 1.51420021e+02] [ 2.39562024e-02 -5.07961048e-04 9.99712880e-01 4.70445317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:151.44, Z:4.70 [[-7.18088333e-01 -6.95747861e-01 1.68540948e-02 9.83057923e+01] [ 6.95539537e-01 -7.18285915e-01 -1.70322365e-02 1.51438898e+02] [ 2.39562011e-02 -5.07961020e-04 9.99712880e-01 4.70499665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35275509600007 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:98.29, Y:151.46, Z:4.70 [[-7.18830348e-01 -6.94971743e-01 1.72397303e-02 9.82878253e+01] [ 6.94753861e-01 -7.19036848e-01 -1.74093048e-02 1.51459686e+02] [ 2.44949763e-02 -5.36967415e-04 9.99699809e-01 4.70426596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:151.48, Z:4.71 [[-7.18868482e-01 -6.94928720e-01 1.73833376e-02 9.82697184e+01] [ 6.94707465e-01 -7.19078430e-01 -1.75428052e-02 1.51478813e+02] [ 2.46909822e-02 -5.34635351e-04 9.99694988e-01 4.70500213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:151.50, Z:4.71 [[-7.18950253e-01 -6.94840978e-01 1.75085308e-02 9.82501605e+01] [ 6.94616751e-01 -7.19163215e-01 -1.76589660e-02 1.51498379e+02] [ 2.48616645e-02 -5.34199319e-04 9.99690758e-01 4.70524458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:151.52, Z:4.71 [[-7.18269936e-01 -6.95539748e-01 1.76849584e-02 9.82299104e+01] [ 6.95311506e-01 -7.18487441e-01 -1.78243442e-02 1.51517289e+02] [ 2.51039604e-02 -5.06135484e-04 9.99684718e-01 4.70575110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47275509600007 meters Centerline goodness [0,1] 0.9999354144241119 Centerline is valid? [True, True] Translation: X:98.21, Y:151.54, Z:4.70 [[-7.18044245e-01 -6.95764648e-01 1.80004798e-02 9.82116355e+01] [ 6.95528576e-01 -7.18269661e-01 -1.81299223e-02 1.51536497e+02] [ 2.55433575e-02 -4.98238307e-04 9.99673591e-01 4.70400617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.19, Y:151.55, Z:4.71 [[-7.16531411e-01 -6.97304479e-01 1.86869439e-02 9.81899824e+01] [ 6.97050867e-01 -7.16774902e-01 -1.88103388e-02 1.51553917e+02] [ 2.65108659e-02 -4.52448163e-04 9.99648423e-01 4.70547949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:151.57, Z:4.70 [[-7.15883115e-01 -6.97961732e-01 1.89943983e-02 9.81717587e+01] [ 6.97700258e-01 -7.16134931e-01 -1.91078732e-02 1.51573026e+02] [ 2.69391164e-02 -4.26607143e-04 9.99636985e-01 4.70473464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:151.59, Z:4.71 [[-7.15222192e-01 -6.98629817e-01 1.93285916e-02 9.81510190e+01] [ 6.98359626e-01 -7.15483206e-01 -1.94322944e-02 1.51590580e+02] [ 2.74052629e-02 -4.00100165e-04 9.99624325e-01 4.70545952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.592755096 meters Centerline goodness [0,1] 0.9998921972359371 Centerline is valid? [True, True] Translation: X:98.13, Y:151.61, Z:4.70 [[-7.14064383e-01 -6.99801508e-01 1.97460624e-02 9.81330240e+01] [ 6.99520348e-01 -7.14337263e-01 -1.98382657e-02 1.51609831e+02] [ 2.79881964e-02 -3.53026564e-04 9.99608191e-01 4.70238502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:151.63, Z:4.71 [[-7.13297614e-01 -7.00594847e-01 1.93229147e-02 9.81127258e+01] [ 7.00326224e-01 -7.13559224e-01 -1.94013946e-02 1.51627403e+02] [ 2.73805611e-02 -3.06624595e-04 9.99625035e-01 4.70621907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:151.65, Z:4.71 [[-7.11891858e-01 -7.02033916e-01 1.89304911e-02 9.80919833e+01] [ 7.01776983e-01 -7.12143472e-01 -1.89931827e-02 1.51645003e+02] [ 2.68150841e-02 -2.36109199e-04 9.99640383e-01 4.70764424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:151.66, Z:4.71 [[-7.11342362e-01 -7.02591280e-01 1.89086601e-02 9.80722911e+01] [ 7.02335501e-01 -7.11593600e-01 -1.89576649e-02 1.51663443e+02] [ 2.67747716e-02 -2.05166872e-04 9.99641470e-01 4.70880637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.712755096 meters Centerline goodness [0,1] 0.9998921344436295 Centerline is valid? [True, True] Translation: X:98.05, Y:151.68, Z:4.71 [[-7.11326764e-01 -7.02592432e-01 1.94450494e-02 9.80534611e+01] [ 7.02322333e-01 -7.11592464e-01 -1.94809152e-02 1.51681926e+02] [ 2.75240942e-02 -2.00603931e-04 9.99621120e-01 4.70663964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:151.70, Z:4.71 [[-7.10479702e-01 -7.03466700e-01 1.87934675e-02 9.80341095e+01] [ 7.03215071e-01 -7.10728203e-01 -1.88144931e-02 1.51700793e+02] [ 2.65924168e-02 -1.51465890e-04 9.99646348e-01 4.71052552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:151.72, Z:4.71 [[-7.10526204e-01 -7.03416785e-01 1.89034526e-02 9.80167134e+01] [ 7.03162556e-01 -7.10777607e-01 -1.89106661e-02 1.51718766e+02] [ 2.67382307e-02 -1.44323789e-04 9.99642459e-01 4.71098392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:151.30, Z:5.85 [[-7.51620338e-01 6.59523136e-01 -9.80311471e-03 9.76349265e+01] [ 6.59442343e-01 7.51683031e-01 1.04122996e-02 1.51300601e+02] [ 1.42359875e-02 1.36150724e-03 -9.99897736e-01 5.85398400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.00, Y:151.74, Z:4.71 [[-7.13755973e-01 -7.00119398e-01 1.96274941e-02 9.79963987e+01] [ 6.99883064e-01 -7.14025403e-01 -1.82049581e-02 1.51738070e+02] [ 2.67601737e-02 7.43053094e-04 9.99641606e-01 4.71137700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:151.31, Z:5.85 [[-7.53243162e-01 6.57671823e-01 -9.61835706e-03 9.76150889e+01] [ 6.57594386e-01 7.53303370e-01 1.01811420e-02 1.51314356e+02] [ 1.39413910e-02 1.34389800e-03 -9.99901911e-01 5.85413166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:151.32, Z:5.85 [[-7.96879309e-01 6.04045710e-01 -1.05899878e-02 9.76314085e+01] [ 6.03969663e-01 7.96948591e-01 9.67418286e-03 1.51322395e+02] [ 1.42833245e-02 1.31312478e-03 -9.99897126e-01 5.85439601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92275509600006 meters Centerline goodness [0,1] 0.999935179983579 Centerline is valid? [True, True] Translation: X:97.65, Y:151.33, Z:5.86 [[-8.36792012e-01 5.47409843e-01 -1.10268686e-02 9.76462468e+01] [ 5.47341359e-01 8.36863668e-01 8.75424724e-03 1.51333629e+02] [ 1.40201468e-02 1.29002289e-03 -9.99900881e-01 5.85639431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95275509600003 meters Centerline goodness [0,1] 0.999956759561542 Centerline is valid? [True, True] Translation: X:97.94, Y:151.83, Z:4.71 [[-8.10599281e-01 -5.85199899e-01 2.16768019e-02 9.79445003e+01] [ 5.85010695e-01 -8.10888838e-01 -1.48922703e-02 1.51831897e+02] [ 2.62924318e-02 6.09497288e-04 9.99654108e-01 4.71234000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:151.34, Z:5.86 [[-8.36586365e-01 5.47715090e-01 -1.14644642e-02 9.76208413e+01] [ 5.47643012e-01 8.36664018e-01 8.96952667e-03 1.51342281e+02] [ 1.45046498e-02 1.22535001e-03 -9.99894051e-01 5.85571125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:151.35, Z:5.86 [[-8.72313280e-01 4.88798952e-01 -1.20468166e-02 9.76356230e+01] [ 4.88733010e-01 8.72395646e-01 8.11681306e-03 1.51353784e+02] [ 1.44770800e-02 1.19272691e-03 -9.99894490e-01 5.85598633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04275509600006 meters Centerline goodness [0,1] 0.9999133655324771 Centerline is valid? [True, True] Translation: X:97.65, Y:151.36, Z:5.86 [[-9.03137330e-01 4.29179221e-01 -1.21720322e-02 9.76493068e+01] [ 4.29122812e-01 9.03218625e-01 7.05181828e-03 1.51364969e+02] [ 1.40205001e-02 1.14546364e-03 -9.99901052e-01 5.85808471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07275509600004 meters Centerline goodness [0,1] 0.999912899573208 Centerline is valid? [True, True] Translation: X:97.66, Y:151.38, Z:5.86 [[-9.30675835e-01 3.65624161e-01 -1.27068421e-02 9.76622264e+01] [ 3.65573431e-01 9.30761905e-01 6.19211418e-03 1.51378810e+02] [ 1.40910311e-02 1.11756718e-03 -9.99900092e-01 5.85841881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10275509600007 meters Centerline goodness [0,1] 0.9999782324771441 Centerline is valid? [True, True] Translation: X:97.67, Y:151.39, Z:5.86 [[-9.53864430e-01 2.99936057e-01 -1.34540355e-02 9.76725611e+01] [ 2.99889943e-01 9.53958688e-01 5.37069079e-03 1.51394293e+02] [ 1.44454579e-02 1.08818096e-03 -9.99895067e-01 5.85760652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13275509600004 meters Centerline goodness [0,1] 0.9999564630589055 Centerline is valid? [True, True] Translation: X:97.83, Y:151.98, Z:4.71 [[-9.47725076e-01 -3.18127812e-01 2.47360974e-02 9.78299233e+01] [ 3.18029693e-01 -9.48047761e-01 -7.90929790e-03 1.51982016e+02] [ 2.59671694e-02 3.70973514e-04 9.99662727e-01 4.71367294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.64, Y:151.40, Z:5.86 [[-9.53836789e-01 3.00035378e-01 -1.31966710e-02 9.76437123e+01] [ 2.99991422e-01 9.53927509e-01 5.23969232e-03 1.51397024e+02] [ 1.41607606e-02 1.03892320e-03 -9.99899192e-01 5.85797811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:151.41, Z:5.86 [[-9.72452344e-01 2.32714540e-01 -1.34306281e-02 9.76537960e+01] [ 2.32677772e-01 9.72544553e-01 4.25989424e-03 1.51413314e+02] [ 1.40532235e-02 1.01753551e-03 -9.99900731e-01 5.85840852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:152.02, Z:4.71 [[-9.69671975e-01 -2.43124997e-01 2.50299325e-02 9.77677631e+01] [ 2.43052475e-01 -9.69994915e-01 -5.94637964e-03 1.52024854e+02] [ 2.57246208e-02 3.17549351e-04 9.99669017e-01 4.71475683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:151.42, Z:5.86 [[-9.72971897e-01 2.30530878e-01 -1.34611471e-02 9.76212573e+01] [ 2.30494526e-01 9.73064500e-01 4.21337119e-03 1.51418798e+02] [ 1.40698765e-02 9.96771028e-04 -9.99900518e-01 5.85876720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:151.44, Z:5.86 [[-9.87050632e-01 1.59748858e-01 -1.45379662e-02 9.76284266e+01] [ 1.59716856e-01 9.87157204e-01 3.34383633e-03 1.51442104e+02] [ 1.48854321e-02 9.78577508e-04 -9.99888727e-01 5.85724834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31275509600005 meters Centerline goodness [0,1] 0.999847607436757 Centerline is valid? [True, True] Translation: X:97.69, Y:152.05, Z:4.72 [[-9.84969053e-01 -1.70996329e-01 2.44176239e-02 9.76934899e+01] [ 1.70954761e-01 -9.85271569e-01 -3.79531844e-03 1.52050546e+02] [ 2.47069761e-02 4.36037856e-04 9.99694641e-01 4.71618510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters Centerline goodness [0,1] 0.9998050048748781 Centerline is valid? [True, True] Translation: X:97.59, Y:151.45, Z:5.86 [[-9.87973221e-01 1.53950657e-01 -1.44260268e-02 9.75892743e+01] [ 1.53919203e-01 9.88078018e-01 3.27246976e-03 1.51450880e+02] [ 1.47578388e-02 1.01266994e-03 -9.99890584e-01 5.86038552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:152.05, Z:4.72 [[-9.84954096e-01 -1.71380148e-01 2.22322565e-02 9.76491448e+01] [ 1.71347635e-01 -9.85204856e-01 -3.37343674e-03 1.52050200e+02] [ 2.24814672e-02 4.86764232e-04 9.99747141e-01 4.72059206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters Centerline goodness [0,1] 0.9998698566253823 Centerline is valid? [True, True] Translation: X:97.55, Y:151.46, Z:5.86 [[-9.89308147e-01 1.44903322e-01 -1.65050912e-02 9.75464287e+01] [ 1.44865655e-01 9.89445278e-01 3.46168946e-03 1.51459353e+02] [ 1.68324948e-02 1.03365674e-03 -9.99857789e-01 5.86016766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43275509600005 meters Centerline goodness [0,1] 0.999891781918923 Centerline is valid? [True, True] Translation: X:97.60, Y:152.05, Z:4.72 [[-9.84883033e-01 -1.71953195e-01 2.09167454e-02 9.76039820e+01] [ 1.71929066e-01 -9.85104885e-01 -2.95996877e-03 1.52050466e+02] [ 2.11141642e-02 6.80973488e-04 9.99776839e-01 4.72080618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:151.47, Z:5.86 [[-9.90643983e-01 1.35177773e-01 -1.87475156e-02 9.75095626e+01] [ 1.35132746e-01 9.90820766e-01 3.65397725e-03 1.51469495e+02] [ 1.90693643e-02 1.08638730e-03 -9.99817573e-01 5.85651494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:152.05, Z:4.72 [[-9.84703566e-01 -1.73264394e-01 1.83939399e-02 9.75629949e+01] [ 1.73249599e-01 -9.84875009e-01 -2.40700289e-03 1.52048479e+02] [ 1.85327797e-02 8.16558382e-04 9.99827920e-01 4.72484769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:151.48, Z:5.86 [[-9.91791733e-01 1.26203335e-01 -2.05396394e-02 9.74730369e+01] [ 1.26152136e-01 9.92003725e-01 3.77475785e-03 1.51481490e+02] [ 2.08517858e-02 1.15265424e-03 -9.99781913e-01 5.85635652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:152.05, Z:4.73 [[-9.84980735e-01 -1.71796695e-01 1.72871752e-02 9.75202900e+01] [ 1.71785897e-01 -9.85132030e-01 -2.11881947e-03 1.52050244e+02] [ 1.73941562e-02 8.82696544e-04 9.99848321e-01 4.72594733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters Centerline goodness [0,1] 0.9999136516708401 Centerline is valid? [True, True] Translation: X:97.44, Y:151.49, Z:5.86 [[-9.92636380e-01 1.19307672e-01 -2.09450977e-02 9.74355227e+01] [ 1.19255482e-01 9.92856603e-01 3.72783127e-03 1.51488907e+02] [ 2.12402374e-02 1.20256322e-03 -9.99773677e-01 5.85869682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:152.05, Z:4.73 [[-9.85422451e-01 -1.69373482e-01 1.59754802e-02 9.74785258e+01] [ 1.69365091e-01 -9.85551575e-01 -1.88658810e-03 1.52052600e+02] [ 1.60641977e-02 8.46602374e-04 9.99870604e-01 4.72724734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters Centerline goodness [0,1] 0.9998490663676743 Centerline is valid? [True, True] Translation: X:97.40, Y:151.49, Z:5.86 [[-9.93078147e-01 1.15422307e-01 -2.17597156e-02 9.73975376e+01] [ 1.15368429e-01 9.93315806e-01 3.71951761e-03 1.51493351e+02] [ 2.20435847e-02 1.18338744e-03 -9.99756310e-01 5.86028083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:152.06, Z:4.73 [[-9.86294770e-01 -1.64300876e-01 1.50946909e-02 9.74434176e+01] [ 1.64294594e-01 -9.86409914e-01 -1.66381737e-03 1.52055056e+02] [ 1.51629194e-02 8.38961732e-04 9.99884684e-01 4.72807159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters Centerline goodness [0,1] 0.9998279643886284 Centerline is valid? [True, True] Translation: X:97.36, Y:151.50, Z:5.86 [[-9.93403694e-01 1.12482388e-01 -2.22892984e-02 9.73611572e+01] [ 1.12428163e-01 9.93653059e-01 3.67514104e-03 1.51496646e+02] [ 2.25612182e-02 1.14495381e-03 -9.99744808e-01 5.86101475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73275509600006 meters Centerline goodness [0,1] 0.9998493360022385 Centerline is valid? [True, True] Translation: X:97.41, Y:152.06, Z:4.72 [[-9.87415833e-01 -1.57343681e-01 1.59040390e-02 9.74064500e+01] [ 1.57337015e-01 -9.87543543e-01 -1.67731704e-03 1.52060417e+02] [ 1.59698462e-02 8.46084620e-04 9.99872116e-01 4.72498884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:151.50, Z:5.86 [[-9.93512505e-01 1.11491273e-01 -2.24187070e-02 9.73245192e+01] [ 1.11438595e-01 9.93764839e-01 3.58940670e-03 1.51498863e+02] [ 2.26791103e-02 1.06781124e-03 -9.99742226e-01 5.85996935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:152.07, Z:4.73 [[-9.88514190e-01 -1.50318403e-01 1.56228631e-02 9.73698515e+01] [ 1.50312489e-01 -9.88637308e-01 -1.55875909e-03 1.52066369e+02] [ 1.56796555e-02 8.07455966e-04 9.99876741e-01 4.72722897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.29, Y:151.50, Z:5.86 [[-9.93658248e-01 1.10363993e-01 -2.15191759e-02 9.72909981e+01] [ 1.10316111e-01 9.93890725e-01 3.40323834e-03 1.51498995e+02] [ 2.17633043e-02 1.00774404e-03 -9.99762643e-01 5.86225955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:152.07, Z:4.73 [[-9.89494277e-01 -1.43677805e-01 1.60550516e-02 9.73286002e+01] [ 1.43671054e-01 -9.89624239e-01 -1.57910624e-03 1.52068256e+02] [ 1.61153508e-02 7.44129608e-04 9.99869862e-01 4.72663011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.25, Y:151.50, Z:5.86 [[-9.93700930e-01 1.09952586e-01 -2.16538839e-02 9.72526205e+01] [ 1.09906363e-01 9.93936411e-01 3.31689381e-03 1.51499925e+02] [ 2.18872847e-02 9.16100837e-04 -9.99760025e-01 5.86370593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:151.52, Z:5.86 [[-9.98944578e-01 4.04453888e-02 -2.17692625e-02 9.72585807e+01] [ 4.04167394e-02 9.99181369e-01 1.75459604e-03 1.51517754e+02] [ 2.18224068e-02 8.72901592e-04 -9.99761482e-01 5.86410000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:151.54, Z:5.87 [[-9.99367398e-01 -2.79929644e-02 -2.19362355e-02 9.72586311e+01] [-2.80039663e-02 9.99607793e-01 1.94454856e-04 1.51540746e+02] [ 2.19221886e-02 8.08633444e-04 -9.99759353e-01 5.86581518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97275509600007 meters Centerline goodness [0,1] 0.9999569966457383 Centerline is valid? [True, True] Translation: X:97.26, Y:151.56, Z:5.87 [[-9.95014261e-01 -9.75470743e-02 -2.07650692e-02 9.72584967e+01] [-9.75426318e-02 9.95230589e-01 -1.22910494e-03 1.51558952e+02] [ 2.07859276e-02 8.02502557e-04 -9.99783627e-01 5.86781430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:151.57, Z:5.87 [[-9.85906129e-01 -1.66029861e-01 -2.05715954e-02 9.72572441e+01] [-1.66009663e-01 9.86120436e-01 -2.69762045e-03 1.51570652e+02] [ 2.07339562e-02 7.55483104e-04 -9.99784743e-01 5.86726353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:152.14, Z:4.73 [[-9.87606068e-01 1.56102048e-01 1.63218981e-02 9.71160192e+01] [-1.56069949e-01 -9.87740724e-01 3.23010768e-03 1.52140069e+02] [ 1.66260299e-02 6.42716135e-04 9.99861571e-01 4.72644889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:151.56, Z:5.87 [[-9.85048666e-01 -1.71050289e-01 -2.05164341e-02 9.71635659e+01] [-1.71029398e-01 9.85261999e-01 -2.78161219e-03 1.51557973e+02] [ 2.06898584e-02 7.68889999e-04 -9.99785646e-01 5.86995167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:151.57, Z:5.87 [[-9.70496483e-01 -2.40240366e-01 -2.05217911e-02 9.71508152e+01] [-2.40201384e-01 9.70713195e-01 -4.38046850e-03 1.51573387e+02] [ 2.09731387e-02 6.78133341e-04 -9.99779810e-01 5.87055858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:151.58, Z:5.87 [[-9.50506045e-01 -3.10033768e-01 -2.04284374e-02 9.71180024e+01] [-3.09977359e-01 9.50725306e-01 -5.95225253e-03 1.51583420e+02] [ 2.12672316e-02 6.74701052e-04 -9.99773599e-01 5.87141524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:151.59, Z:5.87 [[-9.25400676e-01 -3.78423882e-01 -2.07112360e-02 9.70752093e+01] [-3.78344390e-01 9.25632197e-01 -7.78200627e-03 1.51587228e+02] [ 2.21158839e-02 6.34506079e-04 -9.99755213e-01 5.87170418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:151.59, Z:5.87 [[-8.94735961e-01 -4.46126819e-01 -2.04553429e-02 9.70274896e+01] [-4.46026147e-01 8.94969536e-01 -9.49768162e-03 1.51586511e+02] [ 2.25440793e-02 6.25700510e-04 -9.99745654e-01 5.87268178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:151.58, Z:5.87 [[-8.58862960e-01 -5.11821544e-01 -1.98273357e-02 9.69750892e+01] [-5.11701805e-01 8.59091567e-01 -1.10879842e-02 1.51576105e+02] [ 2.27085661e-02 6.22624497e-04 -9.99741933e-01 5.87345985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:151.56, Z:5.87 [[-8.17864459e-01 -5.75100533e-01 -1.88972192e-02 9.69171927e+01] [-5.74964700e-01 8.18082502e-01 -1.25145100e-02 1.51559756e+02] [ 2.26565858e-02 6.30061028e-04 -9.99743108e-01 5.87493644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:151.54, Z:5.88 [[-7.71868577e-01 -6.35515375e-01 -1.84149055e-02 9.68576409e+01] [-6.35353330e-01 7.72087970e-01 -1.43636107e-02 1.51538523e+02] [ 2.33462225e-02 6.13151792e-04 -9.99727252e-01 5.87653113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30275509600006 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:96.80, Y:151.51, Z:5.88 [[-7.21368586e-01 -6.92340592e-01 -1.70841591e-02 9.67951394e+01] [-6.92166659e-01 7.21570592e-01 -1.55305563e-02 1.51507445e+02] [ 2.30798613e-02 6.21829898e-04 -9.99733431e-01 5.87871802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:151.47, Z:5.88 [[-6.65638972e-01 -7.46097641e-01 -1.62194209e-02 9.67335826e+01] [-7.45899037e-01 6.65836250e-01 -1.72254181e-02 1.51472056e+02] [ 2.36513222e-02 6.32140883e-04 -9.99720069e-01 5.88097247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:151.43, Z:5.88 [[-6.06211540e-01 -7.95164612e-01 -1.48596254e-02 9.66747961e+01] [-7.94951408e-01 6.06393292e-01 -1.84237523e-02 1.51428375e+02] [ 2.36606930e-02 6.43988906e-04 -9.99719839e-01 5.88295849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:151.38, Z:5.89 [[-5.42948630e-01 -8.39660760e-01 -1.32888310e-02 9.66177290e+01] [-8.39438716e-01 5.43110823e-01 -1.93203710e-02 1.51379397e+02] [ 2.34398653e-02 6.65190228e-04 -9.99725027e-01 5.88519573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:151.32, Z:5.89 [[-4.76047836e-01 -8.79337452e-01 -1.20043086e-02 9.65642744e+01] [-8.79092614e-01 4.76198694e-01 -2.07600483e-02 1.51321888e+02] [ 2.39715241e-02 6.70122984e-04 -9.99712417e-01 5.88700277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:151.26, Z:5.89 [[-4.06272780e-01 -9.13693155e-01 -1.03559930e-02 9.65136418e+01] [-9.13438349e-01 4.06404163e-01 -2.15879438e-02 1.51261828e+02] [ 2.39334751e-02 6.88967178e-04 -9.99713316e-01 5.88906417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:151.20, Z:5.89 [[-3.33654041e-01 -9.42657140e-01 -8.51456119e-03 9.64675324e+01] [-9.42403648e-01 3.33761875e-01 -2.18717995e-02 1.51195261e+02] [ 2.34594439e-02 7.26539224e-04 -9.99724525e-01 5.89176746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:151.12, Z:5.89 [[-2.59220906e-01 -9.65794083e-01 -6.80519735e-03 9.64239143e+01] [-9.65532589e-01 2.59309155e-01 -2.24851353e-02 1.51123649e+02] [ 2.34806606e-02 7.42022689e-04 -9.99724016e-01 5.89462009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.39, Y:151.05, Z:5.90 [[-1.83471092e-01 -9.83012444e-01 -4.98932459e-03 9.63895960e+01] [-9.82753112e-01 1.83537352e-01 -2.25911945e-02 1.51052186e+02] [ 2.31231527e-02 7.58443144e-04 -9.99732336e-01 5.89686360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:150.97, Z:5.90 [[-1.06116942e-01 -9.94348437e-01 -3.22198826e-03 9.63595722e+01] [-9.94085789e-01 1.06163006e-01 -2.28661315e-02 1.50973741e+02] [ 2.30789581e-02 7.76448785e-04 -9.99733344e-01 5.89971027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:150.89, Z:5.90 [[-2.87776901e-02 -9.99584799e-01 -1.43989964e-03 9.63367889e+01] [-9.99318299e-01 2.88032838e-02 -2.30934765e-02 1.50894238e+02] [ 2.31253619e-02 7.74341145e-04 -9.99732273e-01 5.90212144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:150.81, Z:5.90 [[ 4.84887526e-02 -9.98823672e-01 3.36896140e-04 9.63210352e+01] [-9.98561305e-01 -4.84837415e-02 -2.29051936e-02 1.50812771e+02] [ 2.28945835e-02 7.74232815e-04 -9.99737585e-01 5.90426302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:150.73, Z:5.91 [[ 1.25663043e-01 -9.92070718e-01 2.11901179e-03 9.63112527e+01] [-9.91807841e-01 -1.25678551e-01 -2.28497020e-02 1.50729100e+02] [ 2.29348346e-02 7.69710564e-04 -9.99736666e-01 5.90623929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:150.65, Z:5.91 [[ 2.02117132e-01 -9.79353590e-01 3.90005330e-03 9.63080586e+01] [-9.79091018e-01 -2.02153299e-01 -2.26896904e-02 1.50645704e+02] [ 2.30096384e-02 7.67467991e-04 -9.99734949e-01 5.90831148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:150.57, Z:5.91 [[ 2.77189715e-01 -9.60799382e-01 5.51449042e-03 9.63106258e+01] [-9.60550052e-01 -2.77243484e-01 -2.19008987e-02 1.50565013e+02] [ 2.25712265e-02 7.73759831e-04 -9.99744938e-01 5.91089880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:150.48, Z:5.91 [[ 3.50578118e-01 -9.36505887e-01 7.19079706e-03 9.63203463e+01] [-9.36261686e-01 -3.50651012e-01 -2.13991559e-02 1.50482482e+02] [ 2.25618957e-02 7.69608021e-04 -9.99745152e-01 5.91325335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:150.40, Z:5.92 [[ 4.21839598e-01 -9.06629125e-01 8.65929695e-03 9.63357640e+01] [-9.06398904e-01 -4.21927752e-01 -2.04450353e-02 1.50402962e+02] [ 2.21896621e-02 7.75748181e-04 -9.99753478e-01 5.91542129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:150.33, Z:5.92 [[ 4.90664103e-01 -8.71285417e-01 1.05099782e-02 9.63564740e+01] [-8.71051362e-01 -4.90776062e-01 -2.02084680e-02 1.50328074e+02] [ 2.27653892e-02 7.60838988e-04 -9.99740545e-01 5.91727430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:150.25, Z:5.92 [[ 5.56382129e-01 -8.30838065e-01 1.21258235e-02 9.63841174e+01] [-8.30610549e-01 -5.56513739e-01 -1.94569835e-02 1.50253197e+02] [ 2.29137899e-02 7.53680989e-04 -9.99737161e-01 5.91869705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:150.18, Z:5.92 [[ 6.18817864e-01 -7.85414312e-01 1.37407982e-02 9.64133389e+01] [-7.85193377e-01 -6.18969951e-01 -1.86429880e-02 1.50181933e+02] [ 2.31476108e-02 7.47430300e-04 -9.99731779e-01 5.92077677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:150.12, Z:5.92 [[ 6.77012704e-01 -7.35817039e-01 1.50693013e-02 9.64502894e+01] [-7.35610202e-01 -6.77179994e-01 -1.74610015e-02 1.50115423e+02] [ 2.30527318e-02 7.36188032e-04 -9.99733979e-01 5.92314930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:150.05, Z:5.92 [[ 7.31275791e-01 -6.81887195e-01 1.62963575e-02 9.64892524e+01] [-6.81695349e-01 -7.31456984e-01 -1.61904703e-02 1.50053217e+02] [ 2.29601589e-02 7.30547853e-04 -9.99736114e-01 5.92491361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:150.06, Z:5.93 [[ 7.81718120e-01 -6.23382619e-01 1.76321420e-02 9.65065367e+01] [-6.23202861e-01 -7.81916608e-01 -1.49870477e-02 1.50064013e+02] [ 2.31295297e-02 7.27245347e-04 -9.99732212e-01 5.92526081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:150.07, Z:5.93 [[ 8.27837884e-01 -5.60659229e-01 1.85921142e-02 9.65222899e+01] [-5.60498193e-01 -8.28046323e-01 -1.34559514e-02 1.50073774e+02] [ 2.29393351e-02 7.18499854e-04 -9.99736601e-01 5.92556406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:150.09, Z:5.93 [[ 8.68789480e-01 -4.94794455e-01 1.95776848e-02 9.65368803e+01] [-4.94650603e-01 -8.69009758e-01 -1.19508335e-02 1.50086317e+02] [ 2.29264053e-02 6.98644831e-04 -9.99736911e-01 5.92607267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:150.10, Z:5.93 [[ 9.04351607e-01 -4.26292262e-01 2.05688526e-02 9.65512683e+01] [-4.26165165e-01 -9.04585243e-01 -1.04302210e-02 1.50101462e+02] [ 2.30526031e-02 6.66858671e-04 -9.99734031e-01 5.92661266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:150.11, Z:5.93 [[ 9.34663492e-01 -3.54908918e-01 2.10669579e-02 9.65624719e+01] [-3.54802934e-01 -9.34900653e-01 -8.69750557e-03 1.50111176e+02] [ 2.27823350e-02 6.54622436e-04 -9.99740235e-01 5.92778061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:150.13, Z:5.93 [[ 9.59203583e-01 -2.81827918e-01 2.23944414e-02 9.65729770e+01] [-2.81736424e-01 -9.59464779e-01 -7.20597506e-03 1.50126540e+02] [ 2.35175227e-02 6.02667250e-04 -9.99723243e-01 5.92797216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:150.14, Z:5.93 [[ 9.78158185e-01 -2.06611122e-01 2.27685927e-02 9.65817144e+01] [-2.06541188e-01 -9.78422966e-01 -5.40714069e-03 1.50137613e+02] [ 2.33944894e-02 5.86386749e-04 -9.99726140e-01 5.92874924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.15, Z:5.93 [[ 9.91228059e-01 -1.30089892e-01 2.33142658e-02 9.65865896e+01] [-1.30040599e-01 -9.91502045e-01 -3.62453952e-03 1.50151259e+02] [ 2.35876582e-02 5.60944176e-04 -9.99721615e-01 5.92905917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.16, Z:5.93 [[ 9.98370361e-01 -5.18341407e-02 2.38713968e-02 9.65903316e+01] [-5.18061164e-02 -9.98655555e-01 -1.79132618e-03 1.50163316e+02] [ 2.39321549e-02 5.51722607e-04 -9.99713433e-01 5.92924949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.18, Z:5.93 [[ 9.99360869e-01 2.71413857e-02 2.32636688e-02 9.65917810e+01] [ 2.71476243e-02 -9.99631434e-01 4.76686380e-05 1.50176979e+02] [ 2.32563884e-02 5.83915169e-04 -9.99729363e-01 5.93002189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.19, Z:5.93 [[ 9.94121898e-01 1.05856312e-01 2.27176923e-02 9.65917883e+01] [ 1.05842603e-01 -9.94381251e-01 1.80842329e-03 1.50193976e+02] [ 2.27814803e-02 6.06706480e-04 -9.99740284e-01 5.93037243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.21, Z:5.93 [[ 9.82479328e-01 1.85044771e-01 2.21991723e-02 9.65926069e+01] [ 1.85012462e-01 -9.82729876e-01 3.51837283e-03 1.50206082e+02] [ 2.24668463e-02 6.50394939e-04 -9.99747377e-01 5.93188475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.22, Z:5.93 [[ 9.64662366e-01 2.62605408e-01 2.15619851e-02 9.65923368e+01] [ 2.62555569e-01 -9.64903070e-01 5.16129686e-03 1.50221949e+02] [ 2.21606101e-02 6.82310423e-04 -9.99754191e-01 5.93266660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.24, Z:5.93 [[ 9.40514538e-01 3.39120784e-01 2.07243446e-02 9.65894333e+01] [ 3.39055482e-01 -9.40742558e-01 6.69472755e-03 1.50237865e+02] [ 2.17665942e-02 7.30214047e-04 -9.99762813e-01 5.93373603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.25, Z:5.93 [[ 9.10848740e-01 4.12264493e-01 1.98131334e-02 9.65873176e+01] [ 4.12184697e-01 -9.11063899e-01 8.14533355e-03 1.50251680e+02] [ 2.14090624e-02 7.47503611e-04 -9.99770520e-01 5.93492687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:150.26, Z:5.94 [[ 8.75640478e-01 4.82606743e-01 1.85602874e-02 9.65861171e+01] [ 4.82516729e-01 -8.75836825e-01 9.35214962e-03 1.50262428e+02] [ 2.07691936e-02 7.66528370e-04 -9.99784003e-01 5.93624517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:150.28, Z:5.94 [[ 8.35248022e-01 5.49585638e-01 1.77867365e-02 9.65793035e+01] [ 5.49480177e-01 -8.35437042e-01 1.07927705e-02 1.50276877e+02] [ 2.07912502e-02 7.58818889e-04 -9.99783551e-01 5.93607518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:150.29, Z:5.94 [[ 7.89884723e-01 6.13017613e-01 1.70742567e-02 9.65740347e+01] [ 6.12894432e-01 -7.90068894e-01 1.23108954e-02 1.50289082e+02] [ 2.10366348e-02 7.40528651e-04 -9.99778431e-01 5.93680123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:150.30, Z:5.94 [[ 7.40367325e-01 6.72009843e-01 1.60933336e-02 9.65648005e+01] [ 6.71871549e-01 -7.40541878e-01 1.36509518e-02 1.50303144e+02] [ 2.10913615e-02 7.05934328e-04 -9.99777303e-01 5.93667081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:150.32, Z:5.94 [[ 6.85991786e-01 7.27450955e-01 1.51782185e-02 9.65545182e+01] [ 7.27294457e-01 -6.86159347e-01 1.51037477e-02 1.50316245e+02] [ 2.14019122e-02 6.77987358e-04 -9.99770723e-01 5.93687287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:150.33, Z:5.94 [[ 6.27936782e-01 7.78131545e-01 1.43769606e-02 9.65451016e+01] [ 7.77950066e-01 -6.28101033e-01 1.68162719e-02 1.50327104e+02] [ 2.21154555e-02 6.25001762e-04 -9.99755228e-01 5.93685929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:150.34, Z:5.94 [[ 5.65572800e-01 8.24594898e-01 1.30637608e-02 9.65365478e+01] [ 8.24399220e-01 -5.65723332e-01 1.79732803e-02 1.50336191e+02] [ 2.22111495e-02 6.04555720e-04 -9.99753119e-01 5.93750897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:150.34, Z:5.94 [[ 4.99945604e-01 8.65979062e-01 1.16041534e-02 9.65245404e+01] [ 8.65772375e-01 -5.00079917e-01 1.89280800e-02 1.50344869e+02] [ 2.21943251e-02 5.83545013e-04 -9.99753505e-01 5.93790486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:150.35, Z:5.94 [[ 4.32286926e-01 9.01678171e-01 1.02220072e-02 9.65117464e+01] [ 9.01454301e-01 -4.32407446e-01 2.00983610e-02 1.50353975e+02] [ 2.25423254e-02 5.26413619e-04 -9.99745751e-01 5.93866757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:150.36, Z:5.94 [[ 3.61931050e-01 9.32165417e-01 8.57619536e-03 9.65001998e+01] [ 9.31934870e-01 -3.62032317e-01 2.07364211e-02 1.50360435e+02] [ 2.24346345e-02 4.87300856e-04 -9.99748193e-01 5.93937446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:150.37, Z:5.94 [[ 2.88435617e-01 9.57474165e-01 6.93681843e-03 9.64875910e+01] [ 9.57235061e-01 -2.88518641e-01 2.14016661e-02 1.50366390e+02] [ 2.24929438e-02 4.67163060e-04 -9.99746893e-01 5.93975545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:150.37, Z:5.94 [[ 2.12908351e-01 9.77058109e-01 5.24276108e-03 9.64753702e+01] [ 9.76812278e-01 -2.12972408e-01 2.19209131e-02 1.50371136e+02] [ 2.25345694e-02 4.54047926e-04 -9.99745961e-01 5.94012637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:150.38, Z:5.94 [[ 1.35781988e-01 9.90732713e-01 3.45599292e-03 9.64620421e+01] [ 9.90493463e-01 -1.35825163e-01 2.17766896e-02 1.50375025e+02] [ 2.20442896e-02 4.66256190e-04 -9.99756886e-01 5.94042328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:150.38, Z:5.94 [[ 5.68426042e-02 9.98381658e-01 1.72696244e-03 9.64494163e+01] [ 9.98147275e-01 -5.68666880e-02 2.16378817e-02 1.50376674e+02] [ 2.17010708e-02 4.93809307e-04 -9.99764382e-01 5.94146925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:150.41, Z:4.78 [[-9.66495188e-03 -9.99953265e-01 -2.39591210e-04 9.70687424e+01] [ 9.99899874e-01 -9.66195867e-03 -1.03386733e-02 1.50405881e+02] [ 1.03358752e-02 -3.39490001e-04 9.99946526e-01 4.77680298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.43, Z:4.78 [[-8.94978538e-03 -9.99959921e-01 -2.41096535e-04 9.70636335e+01] [ 9.99903672e-01 -8.94672345e-03 -1.06114753e-02 1.50434443e+02] [ 1.06088929e-02 -3.36043737e-04 9.99943668e-01 4.77605964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:150.46, Z:4.78 [[-8.20510403e-03 -9.99966305e-01 -2.55033646e-04 9.70653188e+01] [ 9.99901254e-01 -8.20165993e-03 -1.14112056e-02 1.50461020e+02] [ 1.14087294e-02 -3.48638591e-04 9.99934858e-01 4.77653962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.49, Z:4.78 [[-7.67064150e-03 -9.99970546e-01 -2.62709355e-04 9.70641589e+01] [ 9.99899855e-01 -7.66697415e-03 -1.18952780e-02 1.50487770e+02] [ 1.18929134e-02 -3.53927459e-04 9.99929214e-01 4.77593101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.51, Z:4.78 [[-6.08747748e-03 -9.99981430e-01 -2.86400167e-04 9.70609437e+01] [ 9.99893994e-01 -6.08315647e-03 -1.32285865e-02 1.50514990e+02] [ 1.32265986e-02 -3.66898529e-04 9.99912457e-01 4.77549029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.54, Z:4.78 [[-5.84244706e-03 -9.99982892e-01 -2.87050911e-04 9.70588851e+01] [ 9.99892140e-01 -5.83804824e-03 -1.34768373e-02 1.50542736e+02] [ 1.34749309e-02 -3.65757658e-04 9.99909142e-01 4.77575362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.57, Z:4.78 [[-5.68929807e-03 -9.99983777e-01 -2.77851074e-04 9.70578241e+01] [ 9.99895952e-01 -5.68511469e-03 -1.32576492e-02 1.50569196e+02] [ 1.32558545e-02 -3.53248882e-04 9.99912075e-01 4.77663111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.60, Z:4.78 [[-6.28102535e-03 -9.99980237e-01 -2.73119694e-04 9.70579121e+01] [ 9.99892096e-01 -6.27684421e-03 -1.32815100e-02 1.50595504e+02] [ 1.32795332e-02 -3.56511724e-04 9.99911760e-01 4.77704690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.62, Z:4.78 [[-7.51269023e-03 -9.99971745e-01 -2.63045628e-04 9.70584283e+01] [ 9.99886803e-01 -7.50862228e-03 -1.30384419e-02 1.50622872e+02] [ 1.30360984e-02 -3.60969628e-04 9.99914961e-01 4.77779990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.65, Z:4.78 [[-8.35897769e-03 -9.99965029e-01 -2.59920156e-04 9.70584707e+01] [ 9.99879212e-01 -8.35485377e-03 -1.31056660e-02 1.50649058e+02] [ 1.31030361e-02 -3.69438730e-04 9.99914083e-01 4.77829304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.67, Z:4.78 [[-8.74663310e-03 -9.99961715e-01 -2.54837142e-04 9.70587214e+01] [ 9.99875896e-01 -8.74254247e-03 -1.31057646e-02 1.50674993e+02] [ 1.31030350e-02 -3.69436831e-04 9.99914083e-01 4.77869719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.70, Z:4.78 [[-9.79548516e-03 -9.99951993e-01 -2.46381036e-04 9.70598805e+01] [ 9.99868492e-01 -9.79148191e-03 -1.29276754e-02 1.50701585e+02] [ 1.29246424e-02 -3.72981488e-04 9.99916404e-01 4.77963450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.73, Z:4.78 [[-1.15015957e-02 -9.99933826e-01 -2.36956581e-04 9.70589888e+01] [ 9.99853597e-01 -1.14976699e-02 -1.26723736e-02 1.50728617e+02] [ 1.26688106e-02 -3.82674408e-04 9.99919674e-01 4.77983592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.76, Z:4.78 [[-1.22638397e-02 -9.99924770e-01 -2.31443153e-04 9.70580900e+01] [ 9.99845315e-01 -1.22599463e-02 -1.26111365e-02 1.50756067e+02] [ 1.26073503e-02 -3.86068310e-04 9.99920450e-01 4.77996933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.78, Z:4.78 [[-1.35872751e-02 -9.99907660e-01 -2.38791902e-04 9.70581219e+01] [ 9.99819196e-01 -1.35828951e-02 -1.33071470e-02 1.50783816e+02] [ 1.33026747e-02 -4.19556595e-04 9.99911427e-01 4.77938239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.81, Z:4.78 [[-1.42823706e-02 -9.99897971e-01 -2.48911212e-04 9.70582847e+01] [ 9.99799759e-01 -1.42774774e-02 -1.40212299e-02 1.50810786e+02] [ 1.40162455e-02 -4.49117771e-04 9.99901667e-01 4.77951868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.84, Z:4.78 [[-1.51903127e-02 -9.99884588e-01 -2.53880449e-04 9.70586303e+01] [ 9.99777921e-01 -1.51849819e-02 -1.46124826e-02 1.50837902e+02] [ 1.46069410e-02 -4.75792248e-04 9.99893200e-01 4.77969658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.86, Z:4.78 [[-1.64237216e-02 -9.99865090e-01 -2.52095434e-04 9.70604162e+01] [ 9.99755383e-01 -1.64181831e-02 -1.48195177e-02 1.50863870e+02] [ 1.48133795e-02 -4.95425400e-04 9.99890153e-01 4.77986300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.89, Z:4.78 [[-1.71657810e-02 -9.99852627e-01 -2.45626054e-04 9.70606884e+01] [ 9.99743734e-01 -1.71602844e-02 -1.47645002e-02 1.50890841e+02] [ 1.47581093e-02 -4.99007285e-04 9.99890969e-01 4.78034786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.92, Z:4.78 [[-1.81583545e-02 -9.99835092e-01 -2.49336296e-04 9.70611790e+01] [ 9.99717769e-01 -1.81524019e-02 -1.53255466e-02 1.50917290e+02] [ 1.53184933e-02 -5.27552634e-04 9.99882526e-01 4.78033852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.94, Z:4.78 [[-1.84720386e-02 -9.99829345e-01 -2.55552750e-04 9.70612714e+01] [ 9.99699634e-01 -1.84655234e-02 -1.61141648e-02 1.50943038e+02] [ 1.61066960e-02 -5.53137465e-04 9.99870126e-01 4.78000575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:150.97, Z:4.78 [[-1.83927062e-02 -9.99830807e-01 -2.54998075e-04 9.70585809e+01] [ 9.99694640e-01 -1.83859905e-02 -1.65100786e-02 1.50970256e+02] [ 1.65025968e-02 -5.58585233e-04 9.99863667e-01 4.77995602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.00, Z:4.78 [[-1.72754772e-02 -9.99850733e-01 -2.65340000e-04 9.70570776e+01] [ 9.99695798e-01 -1.72681269e-02 -1.76103087e-02 1.50998561e+02] [ 1.76030981e-02 -5.69485770e-04 9.99844891e-01 4.77927458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.03, Z:4.78 [[-1.65859088e-02 -9.99862409e-01 -2.64986744e-04 9.70601911e+01] [ 9.99700783e-01 -1.65784610e-02 -1.79860898e-02 1.51025223e+02] [ 1.79792220e-02 -5.63223101e-04 9.99838202e-01 4.77925311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.05, Z:4.78 [[-1.56206534e-02 -9.99877956e-01 -2.62079439e-04 9.70562912e+01] [ 9.99711833e-01 -1.56132788e-02 -1.82339291e-02 1.51053520e+02] [ 1.82276118e-02 -5.46829803e-04 9.99833714e-01 4.77980573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.08, Z:4.78 [[-1.26495119e-02 -9.99919956e-01 -2.65976112e-04 9.70546974e+01] [ 9.99740491e-01 -1.26422007e-02 -1.89506099e-02 1.51080274e+02] [ 1.89457305e-02 -5.05623054e-04 9.99820386e-01 4.77979092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.11, Z:4.78 [[-1.12133771e-02 -9.99937094e-01 -2.61214437e-04 9.70546191e+01] [ 9.99754659e-01 -1.12063402e-02 -1.91060166e-02 1.51106395e+02] [ 1.91018874e-02 -4.75393319e-04 9.99817429e-01 4.77983075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.13, Z:4.78 [[-9.67342202e-03 -9.99953179e-01 -2.53361972e-04 9.70547635e+01] [ 9.99771816e-01 -9.66684100e-03 -1.90490736e-02 1.51132737e+02] [ 1.90457325e-02 -4.37573887e-04 9.99818518e-01 4.78028493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.16, Z:4.78 [[-6.68243026e-03 -9.99977642e-01 -2.47732297e-04 9.70509335e+01] [ 9.99794319e-01 -6.67646086e-03 -1.91505907e-02 1.51160014e+02] [ 1.91485086e-02 -3.75653830e-04 9.99816580e-01 4.78136890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.19, Z:4.78 [[-3.82515177e-03 -9.99992655e-01 -2.42244524e-04 9.70496290e+01] [ 9.99807336e-01 -3.81977879e-03 -1.92535704e-02 1.51186842e+02] [ 1.92525037e-02 -3.15845681e-04 9.99814603e-01 4.78222585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.21, Z:4.78 [[-3.08153817e-03 -9.99995225e-01 -2.34509125e-04 9.70488817e+01] [ 9.99811463e-01 -3.07647582e-03 -1.91722109e-02 1.51214125e+02] [ 1.91713979e-02 -2.93544811e-04 9.99816169e-01 4.78247651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.24, Z:4.78 [[-2.57833718e-03 -9.99996650e-01 -2.29587380e-04 9.70487370e+01] [ 9.99809758e-01 -2.57341633e-03 -1.93345534e-02 1.51241408e+02] [ 1.93338978e-02 -2.79394701e-04 9.99813044e-01 4.78299222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.27, Z:4.78 [[-2.24002751e-03 -9.99997466e-01 -2.23507757e-04 9.70496256e+01] [ 9.99808886e-01 -2.23526422e-03 -1.94215248e-02 1.51267267e+02] [ 1.94209760e-02 -2.66969791e-04 9.99811359e-01 4.78286523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.29, Z:4.78 [[-2.86404052e-03 -9.99995876e-01 -2.15102886e-04 9.70506398e+01] [ 9.99808193e-01 -2.85933529e-03 -1.93752742e-02 1.51293090e+02] [ 1.93745792e-02 -2.70553198e-04 9.99812259e-01 4.78324508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:151.32, Z:4.78 [[-4.31668003e-03 -9.99990663e-01 -1.99403702e-04 9.70525119e+01] [ 9.99817717e-01 -4.31222465e-03 -1.85993922e-02 1.51319461e+02] [ 1.85983587e-02 -2.79654979e-04 9.99826996e-01 4.78472731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.35, Z:4.79 [[-5.63650027e-03 -9.99984097e-01 -1.88365439e-04 9.70554062e+01] [ 9.99818242e-01 -5.63213441e-03 -1.82143439e-02 1.51345323e+02] [ 1.82129933e-02 -2.90996357e-04 9.99834087e-01 4.78561477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.37, Z:4.79 [[-6.98878706e-03 -9.99975562e-01 -1.78342088e-04 9.70553786e+01] [ 9.99814922e-01 -6.98446732e-03 -1.79259529e-02 1.51371527e+02] [ 1.79242692e-02 -3.03589748e-04 9.99839301e-01 4.78667895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.40, Z:4.79 [[-9.55055491e-03 -9.99954378e-01 -1.68564365e-04 9.70582001e+01] [ 9.99799300e-01 -9.54610463e-03 -1.76134035e-02 1.51398662e+02] [ 1.76109908e-02 -3.36748311e-04 9.99844858e-01 4.78794690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.43, Z:4.79 [[-1.18712212e-02 -9.99929522e-01 -1.60438850e-04 9.70597689e+01] [ 9.99778227e-01 -1.18666336e-02 -1.73976968e-02 1.51426160e+02] [ 1.73945668e-02 -3.66935176e-04 9.99848636e-01 4.78864411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.45, Z:4.79 [[-1.31850567e-02 -9.99913062e-01 -1.53280217e-04 9.70612777e+01] [ 9.99763621e-01 -1.31804355e-02 -1.72909853e-02 1.51453688e+02] [ 1.72874618e-02 -3.81226607e-04 9.99850488e-01 4.78894818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.48, Z:4.79 [[-1.44780908e-02 -9.99895176e-01 -1.45433498e-04 9.70670646e+01] [ 9.99749200e-01 -1.44734914e-02 -1.70896151e-02 1.51480293e+02] [ 1.70857187e-02 -3.92822022e-04 9.99853951e-01 4.78898830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.51, Z:4.79 [[-1.56879625e-02 -9.99876927e-01 -1.40386225e-04 9.70672667e+01] [ 9.99728110e-01 -1.56832049e-02 -1.72552171e-02 1.51507039e+02] [ 1.72508917e-02 -4.11047254e-04 9.99851108e-01 4.78950326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.53, Z:4.79 [[-1.78023867e-02 -9.99841515e-01 -1.41884739e-04 9.70649921e+01] [ 9.99675140e-01 -1.77968352e-02 -1.82451750e-02 1.51534787e+02] [ 1.82397583e-02 -4.66646307e-04 9.99833533e-01 4.78906527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.56, Z:4.79 [[-1.90553175e-02 -9.99818420e-01 -1.46224726e-04 9.70691172e+01] [ 9.99624607e-01 -1.90487436e-02 -1.96923992e-02 1.51562045e+02] [ 1.96860381e-02 -5.21414753e-04 9.99806075e-01 4.78767005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.59, Z:4.79 [[-1.98360533e-02 -9.99803235e-01 -1.46772892e-04 9.70692999e+01] [ 9.99586999e-01 -1.98287096e-02 -2.08003194e-02 1.51588183e+02] [ 2.07933163e-02 -5.59308518e-04 9.99783639e-01 4.78715579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.62, Z:4.79 [[-2.01573332e-02 -9.99796810e-01 -1.46036643e-04 9.70679245e+01] [ 9.99556638e-01 -2.01492890e-02 -2.19210898e-02 1.51615836e+02] [ 2.19136931e-02 -5.87842606e-04 9.99759693e-01 4.78673138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.64, Z:4.79 [[-1.98259506e-02 -9.99803436e-01 -1.47664527e-04 9.70694112e+01] [ 9.99526945e-01 -1.98169941e-02 -2.35196307e-02 1.51642590e+02] [ 2.35120813e-02 -6.13893709e-04 9.99723364e-01 4.78521678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.67, Z:4.78 [[-1.96143526e-02 -9.99807610e-01 -1.41812152e-04 9.70715985e+01] [ 9.99520860e-01 -1.96053298e-02 -2.39516360e-02 1.51667578e+02] [ 2.39442476e-02 -6.11540037e-04 9.99713108e-01 4.78437312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.69, Z:4.78 [[-1.86285046e-02 -9.99826465e-01 -1.34810552e-04 9.70705844e+01] [ 9.99535682e-01 -1.86198347e-02 -2.41189157e-02 1.51693650e+02] [ 2.41122201e-02 -5.84047287e-04 9.99709088e-01 4.78496410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.72, Z:4.79 [[-1.84766503e-02 -9.99829284e-01 -1.24078229e-04 9.70694131e+01] [ 9.99546639e-01 -1.84684762e-02 -2.37788303e-02 1.51720337e+02] [ 2.37724793e-02 -5.63375109e-04 9.99717236e-01 4.78589119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.75, Z:4.79 [[-1.81667745e-02 -9.99834964e-01 -1.13958093e-04 9.70683126e+01] [ 9.99557246e-01 -1.81590420e-02 -2.35703403e-02 1.51746618e+02] [ 2.35643810e-02 -5.42104696e-04 9.99722174e-01 4.78709796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.77, Z:4.79 [[-1.70928548e-02 -9.99853901e-01 -1.00435746e-04 9.70681343e+01] [ 9.99602948e-01 -1.70863140e-02 -2.24054359e-02 1.51772274e+02] [ 2.24004464e-02 -4.83368731e-04 9.99748962e-01 4.78852085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.80, Z:4.79 [[-1.64987634e-02 -9.99863882e-01 -9.08783086e-05 9.70683692e+01] [ 9.99624375e-01 -1.64928219e-02 -2.18882659e-02 1.51797450e+02] [ 2.18837877e-02 -4.51973494e-04 9.99760419e-01 4.78936129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.82, Z:4.79 [[-1.52185190e-02 -9.99884189e-01 -7.84007404e-05 9.70687328e+01] [ 9.99668627e-01 -1.52136099e-02 -2.07649125e-02 1.51823835e+02] [ 2.07613149e-02 -3.94385976e-04 9.99784383e-01 4.79122129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.85, Z:4.79 [[-1.45510334e-02 -9.99894126e-01 -6.93444969e-05 9.70675707e+01] [ 9.99688048e-01 -1.45466264e-02 -2.03027743e-02 1.51850420e+02] [ 2.02996160e-02 -3.64749211e-04 9.99793875e-01 4.79225674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.88, Z:4.79 [[-1.41441835e-02 -9.99899964e-01 -6.14144525e-05 9.70672053e+01] [ 9.99694487e-01 -1.41400318e-02 -2.02729351e-02 1.51877025e+02] [ 2.02700387e-02 -3.48139804e-04 9.99794481e-01 4.79295337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.90, Z:4.79 [[-1.34144120e-02 -9.99910021e-01 -5.32132645e-05 9.70670664e+01] [ 9.99707330e-01 -1.34106213e-02 -2.01347707e-02 1.51902141e+02] [ 2.01322453e-02 -3.23293800e-04 9.99797274e-01 4.79356076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:151.93, Z:4.79 [[-1.12377355e-02 -9.99936854e-01 -4.39781644e-05 9.70659718e+01] [ 9.99747797e-01 -1.12347556e-02 -1.94453741e-02 1.51928295e+02] [ 1.94436521e-02 -2.62489044e-04 9.99810920e-01 4.79439541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.96, Z:4.80 [[-9.57721607e-03 -9.99954137e-01 -3.65488203e-05 9.70627372e+01] [ 9.99770853e-01 -9.57476084e-03 -1.91459263e-02 1.51955179e+02] [ 1.91446983e-02 -2.19905118e-04 9.99816699e-01 4.79566680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:151.98, Z:4.80 [[-9.24336573e-03 -9.99957279e-01 -2.97968973e-05 9.70640687e+01] [ 9.99770007e-01 -9.24105795e-03 -1.93529433e-02 1.51980812e+02] [ 1.93518412e-02 -2.08676378e-04 9.99812714e-01 4.79537423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.01, Z:4.80 [[-9.36514608e-03 -9.99956146e-01 -2.22471394e-05 9.70641076e+01] [ 9.99762236e-01 -9.36289188e-03 -1.96928534e-02 1.52005800e+02] [ 1.96917815e-02 -2.06668298e-04 9.99806077e-01 4.79547416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.03, Z:4.79 [[-1.03615081e-02 -9.99946318e-01 -1.51251948e-05 9.70658940e+01] [ 9.99740204e-01 -1.03590652e-02 -2.03030848e-02 1.52030743e+02] [ 2.03018382e-02 -2.25491843e-04 9.99793871e-01 4.79483289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.06, Z:4.79 [[-1.13924084e-02 -9.99935104e-01 -7.57435046e-06 9.70665350e+01] [ 9.99727655e-01 -1.13898906e-02 -2.03687569e-02 1.52057297e+02] [ 2.03673488e-02 -2.39621485e-04 9.99792535e-01 4.79499139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.08, Z:4.79 [[-1.32417149e-02 -9.99912325e-01 2.33515604e-07 9.70692661e+01] [ 9.99680190e-01 -1.32386459e-02 -2.15465876e-02 1.52082442e+02] [ 2.15447016e-02 -2.85080330e-04 9.99767845e-01 4.79431923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.11, Z:4.80 [[-1.39390076e-02 -9.99902847e-01 8.11991923e-06 9.70670914e+01] [ 9.99678434e-01 -1.39360512e-02 -2.11852493e-02 1.52109045e+02] [ 2.11833043e-02 -2.87184043e-04 9.99775567e-01 4.79572069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.14, Z:4.80 [[-1.47000127e-02 -9.99891949e-01 1.62755474e-05 9.70660280e+01] [ 9.99664082e-01 -1.46970102e-02 -2.13476202e-02 1.52135937e+02] [ 2.13455528e-02 -2.97540208e-04 9.99772113e-01 4.79607460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:152.16, Z:4.80 [[-1.50459478e-02 -9.99886803e-01 2.53792823e-05 9.70652941e+01] [ 9.99647066e-01 -1.50428961e-02 -2.18964627e-02 1.52161094e+02] [ 2.18943658e-02 -3.04082710e-04 9.99760243e-01 4.79571458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.19, Z:4.80 [[-1.55484558e-02 -9.99879115e-01 3.47969294e-05 9.70633599e+01] [ 9.99630466e-01 -1.55453653e-02 -2.22996061e-02 1.52187624e+02] [ 2.22974513e-02 -3.11940369e-04 9.99751332e-01 4.79631095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.21, Z:4.80 [[-1.62864510e-02 -9.99867366e-01 4.52788474e-05 9.70636893e+01] [ 9.99600557e-01 -1.62831511e-02 -2.30994747e-02 1.52213404e+02] [ 2.30971482e-02 -3.30947703e-04 9.99733171e-01 4.79558779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.24, Z:4.80 [[-1.61670821e-02 -9.99869303e-01 5.43748702e-05 9.70620309e+01] [ 9.99602410e-01 -1.61640231e-02 -2.31029578e-02 1.52239729e+02] [ 2.31008173e-02 -3.19154165e-04 9.99733090e-01 4.79625523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.27, Z:4.80 [[-1.67121574e-02 -9.99860340e-01 6.42928635e-05 9.70613479e+01] [ 9.99583946e-01 -1.67090494e-02 -2.35104636e-02 1.52265677e+02] [ 2.35082544e-02 -3.28644455e-04 9.99723589e-01 4.79594805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.29, Z:4.79 [[-1.78888859e-02 -9.99839978e-01 7.59826303e-05 9.70616117e+01] [ 9.99541764e-01 -1.78854062e-02 -2.44207810e-02 1.52292116e+02] [ 2.44182321e-02 -3.60912753e-04 9.99701765e-01 4.79472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.32, Z:4.80 [[-1.88724558e-02 -9.99821896e-01 8.63532137e-05 9.70596190e+01] [ 9.99513181e-01 -1.88687745e-02 -2.48469441e-02 1.52318515e+02] [ 2.48441481e-02 -3.82611679e-04 9.99691263e-01 4.79535645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.35, Z:4.80 [[-1.96601344e-02 -9.99806716e-01 9.57338036e-05 9.70572674e+01] [ 9.99496248e-01 -1.96564153e-02 -2.49173893e-02 1.52346214e+02] [ 2.49144549e-02 -3.94193645e-04 9.99689509e-01 4.79670998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.37, Z:4.80 [[-2.00167177e-02 -9.99799640e-01 1.04623428e-04 9.70569527e+01] [ 9.99489170e-01 -2.00131094e-02 -2.49173525e-02 1.52372969e+02] [ 2.49144539e-02 -3.94193629e-04 9.99689509e-01 4.79712710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.40, Z:4.80 [[-2.22333407e-02 -9.99752803e-01 1.11351257e-04 9.70565706e+01] [ 9.99453562e-01 -2.22294106e-02 -2.44628331e-02 1.52399901e+02] [ 2.44592613e-02 -4.32600094e-04 9.99700734e-01 4.79818496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.43, Z:4.80 [[-2.35402168e-02 -9.99722884e-01 1.18519913e-04 9.70565921e+01] [ 9.99431150e-01 -2.35362109e-02 -2.41541415e-02 1.52427459e+02] [ 2.41502375e-02 -4.50141234e-04 9.99708239e-01 4.79940533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.46, Z:4.80 [[-2.57745592e-02 -9.99667773e-01 1.22300530e-04 9.70564443e+01] [ 9.99395927e-01 -2.57704027e-02 -2.33166614e-02 1.52455347e+02] [ 2.33120667e-02 -4.78750017e-04 9.99728122e-01 4.80186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.48, Z:4.80 [[-2.69914621e-02 -9.99635656e-01 1.28793522e-04 9.70574015e+01] [ 9.99369780e-01 -2.69872541e-02 -2.30592885e-02 1.52481317e+02] [ 2.30543628e-02 -4.93691558e-04 9.99734091e-01 4.80278131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.51, Z:4.80 [[-2.81338024e-02 -9.99604157e-01 1.35593733e-04 9.70578523e+01] [ 9.99345341e-01 -2.81296042e-02 -2.27511534e-02 1.52507470e+02] [ 2.27459617e-02 -5.04571489e-04 9.99741150e-01 4.80370052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.53, Z:4.81 [[-2.99882039e-02 -9.99550243e-01 1.36598520e-04 9.70572153e+01] [ 9.99316170e-01 -2.99841382e-02 -2.16366411e-02 1.52534415e+02] [ 2.16310056e-02 -5.12338895e-04 9.99765891e-01 4.80578654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.56, Z:4.81 [[-3.08944031e-02 -9.99522644e-01 1.42897837e-04 9.70559674e+01] [ 9.99293080e-01 -3.08903709e-02 -2.14271887e-02 1.52561771e+02] [ 2.14213744e-02 -5.19183385e-04 9.99770401e-01 4.80691165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.59, Z:4.81 [[-3.22988367e-02 -9.99478245e-01 1.50221707e-04 9.70560208e+01] [ 9.99249769e-01 -3.22946662e-02 -2.13764684e-02 1.52588627e+02] [ 2.13701665e-02 -5.40326056e-04 9.99771486e-01 4.80778950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.62, Z:4.81 [[-3.28551444e-02 -9.99460111e-01 1.59768228e-04 9.70561212e+01] [ 9.99224235e-01 -3.28508625e-02 -2.17197987e-02 1.52615025e+02] [ 2.17133209e-02 -5.53962837e-04 9.99764085e-01 4.80801892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.64, Z:4.81 [[-3.28028832e-02 -9.99461827e-01 1.66518308e-04 9.70557666e+01] [ 9.99224613e-01 -3.27987266e-02 -2.17810782e-02 1.52640560e+02] [ 2.17748178e-02 -5.48092973e-04 9.99762750e-01 4.80843111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.67, Z:4.81 [[-3.28835648e-02 -9.99459173e-01 1.79120644e-04 9.70547289e+01] [ 9.99206213e-01 -3.28792731e-02 -2.24921555e-02 1.52665551e+02] [ 2.24858805e-02 -5.60643793e-04 9.99747003e-01 4.80850480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.69, Z:4.81 [[-3.28782699e-02 -9.99459345e-01 1.91197345e-04 9.70531726e+01] [ 9.99194205e-01 -3.28739530e-02 -2.30270475e-02 1.52691687e+02] [ 2.30208832e-02 -5.66046205e-04 9.99734824e-01 4.80896421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters Centerline goodness [0,1] 0.9999784686934803 Centerline is valid? [True, True] Translation: X:97.05, Y:152.72, Z:4.81 [[-3.34517625e-02 -9.99440313e-01 2.02502014e-04 9.70519191e+01] [ 9.99169178e-01 -3.34474055e-02 -2.32857433e-02 1.52718076e+02] [ 2.32794838e-02 -5.76615384e-04 9.99728830e-01 4.80913473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.74, Z:4.81 [[-3.38454056e-02 -9.99427057e-01 2.16651710e-04 9.70512471e+01] [ 9.99143307e-01 -3.38409603e-02 -2.38210292e-02 1.52744687e+02] [ 2.38147128e-02 -5.89766290e-04 9.99716216e-01 4.80952837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.77, Z:4.81 [[-3.46086165e-02 -9.99400916e-01 2.31752692e-04 9.70511473e+01] [ 9.99102789e-01 -3.46039546e-02 -2.44168779e-02 1.52771559e+02] [ 2.44102697e-02 -6.13489603e-04 9.99701837e-01 4.80953007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.80, Z:4.81 [[-3.64238098e-02 -9.99336402e-01 2.46900736e-04 9.70512927e+01] [ 9.99023675e-01 -3.64185901e-02 -2.50076738e-02 1.52799150e+02] [ 2.50000706e-02 -6.64215075e-04 9.99687229e-01 4.80962413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.83, Z:4.81 [[-3.87975583e-02 -9.99247058e-01 2.58015266e-04 9.70533232e+01] [ 9.98926912e-01 -3.87916615e-02 -2.53027910e-02 1.52825633e+02] [ 2.52937483e-02 -7.23948116e-04 9.99679800e-01 4.80969446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.85, Z:4.81 [[-4.01576584e-02 -9.99193321e-01 2.63775664e-04 9.70541720e+01] [ 9.98877496e-01 -4.01515998e-02 -2.51316100e-02 1.52852788e+02] [ 2.51219279e-02 -7.45747037e-04 9.99684116e-01 4.81003269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.88, Z:4.81 [[-4.12693890e-02 -9.99148019e-01 2.71229842e-04 9.70548999e+01] [ 9.98834970e-01 -4.12632509e-02 -2.50209306e-02 1.52879998e+02] [ 2.50108051e-02 -7.61684669e-04 9.99686891e-01 4.81113529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.91, Z:4.81 [[-4.26592025e-02 -9.99089644e-01 2.76230993e-04 9.70565450e+01] [ 9.98783293e-01 -4.26529654e-02 -2.47519471e-02 1.52905803e+02] [ 2.47411961e-02 -7.80003423e-04 9.99693585e-01 4.81182328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.93, Z:4.81 [[-4.29742733e-02 -9.99076141e-01 2.77860852e-04 9.70564552e+01] [ 9.98782839e-01 -4.29683930e-02 -2.42189754e-02 1.52932538e+02] [ 2.42085397e-02 -7.63270221e-04 9.99706639e-01 4.81278145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:152.96, Z:4.81 [[-4.18545463e-02 -9.99123676e-01 2.78236120e-04 9.70559203e+01] [ 9.98845808e-01 -4.18494706e-02 -2.35727416e-02 1.52959004e+02] [ 2.35637283e-02 -7.08711424e-04 9.99722086e-01 4.81364679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:152.99, Z:4.81 [[-4.09505158e-02 -9.99161134e-01 2.88636360e-04 9.70544089e+01] [ 9.98876130e-01 -4.09457314e-02 -2.38730826e-02 1.52986142e+02] [ 2.38648747e-02 -6.89303076e-04 9.99714956e-01 4.81452272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:153.01, Z:4.82 [[-3.97601036e-02 -9.99209211e-01 2.93199367e-04 9.70495383e+01] [ 9.98930827e-01 -3.97559494e-02 -2.35937984e-02 1.53013673e+02] [ 2.35867972e-02 -6.45205984e-04 9.99721585e-01 4.81597386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:153.04, Z:4.82 [[-3.61390031e-02 -9.99346727e-01 3.01640373e-04 9.70455106e+01] [ 9.99067899e-01 -3.61360469e-02 -2.36118421e-02 1.53041270e+02] [ 2.36073172e-02 -5.51949221e-04 9.99721156e-01 4.81672383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:153.07, Z:4.82 [[-3.41194768e-02 -9.99417713e-01 3.11216801e-04 9.70426955e+01] [ 9.99135931e-01 -3.41172483e-02 -2.37361688e-02 1.53068991e+02] [ 2.37329654e-02 -4.98917774e-04 9.99718209e-01 4.81699127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86275509600006 meters Centerline goodness [0,1] 0.99989228084538 Centerline is valid? [True, True] Translation: X:97.04, Y:153.10, Z:4.82 [[-2.93882234e-02 -9.99568017e-01 3.32976975e-04 9.70381520e+01] [ 9.99262086e-01 -2.93874674e-02 -2.47317823e-02 1.53096083e+02] [ 2.47308839e-02 -3.94091875e-04 9.99694067e-01 4.81544527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:153.12, Z:4.82 [[-2.72637471e-02 -9.99628222e-01 3.26528254e-04 9.70355080e+01] [ 9.99348752e-01 -2.72638462e-02 -2.36379832e-02 1.53122594e+02] [ 2.36380975e-02 -3.18144391e-04 9.99720531e-01 4.81796303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.15, Z:4.82 [[-2.55025224e-02 -9.99674701e-01 3.35693204e-04 9.70323266e+01] [ 9.99394470e-01 -2.55033220e-02 -2.36700887e-02 1.53149328e+02] [ 2.36709501e-02 -2.68157035e-04 9.99719768e-01 4.81895157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.18, Z:4.82 [[-2.20706323e-02 -9.99756356e-01 3.41814746e-04 9.70284607e+01] [ 9.99479562e-01 -2.20725648e-02 -2.35246250e-02 1.53176890e+02] [ 2.35264381e-02 -1.77566496e-04 9.99723199e-01 4.81985217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98275509600006 meters Centerline goodness [0,1] 0.9999137800961352 Centerline is valid? [True, True] Translation: X:97.03, Y:153.20, Z:4.82 [[-2.09611091e-02 -9.99780228e-01 3.58541054e-04 9.70267318e+01] [ 9.99489608e-01 -2.09636606e-02 -2.41049385e-02 1.53203726e+02] [ 2.41071573e-02 -1.46908189e-04 9.99709369e-01 4.81870354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.23, Z:4.82 [[-1.92964158e-02 -9.99813744e-01 3.53306483e-04 9.70235778e+01] [ 9.99544744e-01 -1.92994193e-02 -2.31913299e-02 1.53230269e+02] [ 2.31938290e-02 -9.43639059e-05 9.99730983e-01 4.82064920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.26, Z:4.82 [[-1.92187847e-02 -9.99815238e-01 3.59089849e-04 9.70223675e+01] [ 9.99550922e-01 -1.92219604e-02 -2.29884961e-02 1.53255791e+02] [ 2.29911511e-02 -8.28823670e-05 9.99735665e-01 4.82069947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.28, Z:4.82 [[-1.95959959e-02 -9.99807915e-01 3.60158911e-04 9.70208289e+01] [ 9.99554630e-01 -1.95991381e-02 -2.25036830e-02 1.53283276e+02] [ 2.25064192e-02 -8.09835743e-05 9.99746695e-01 4.82183563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.31, Z:4.82 [[-2.03028182e-02 -9.99793810e-01 3.64722291e-04 9.70201792e+01] [ 9.99545255e-01 -2.03059030e-02 -2.22924554e-02 1.53310556e+02] [ 2.22952649e-02 -8.80432320e-05 9.99751426e-01 4.82216267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.34, Z:4.82 [[-2.21826807e-02 -9.99753862e-01 3.78578579e-04 9.70204857e+01] [ 9.99497767e-01 -2.21855669e-02 -2.26277425e-02 1.53337120e+02] [ 2.26305720e-02 -1.23555543e-04 9.99743888e-01 4.82197688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.36, Z:4.82 [[-2.33252144e-02 -9.99727852e-01 3.94554389e-04 9.70205869e+01] [ 9.99460967e-01 -2.33281039e-02 -2.30992602e-02 1.53363338e+02] [ 2.31021780e-02 -1.44453486e-04 9.99733099e-01 4.82176697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.39, Z:4.82 [[-2.63962515e-02 -9.99651469e-01 4.23457903e-04 9.70219228e+01] [ 9.99355179e-01 -2.63987375e-02 -2.43378912e-02 1.53389660e+02] [ 2.43405874e-02 -2.19244249e-04 9.99703700e-01 4.82037838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.42, Z:4.82 [[-2.85168423e-02 -9.99593212e-01 4.48005832e-04 9.70219299e+01] [ 9.99275271e-01 -2.85190712e-02 -2.52110283e-02 1.53416833e+02] [ 2.52135495e-02 -2.71257769e-04 9.99682051e-01 4.82041369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25275509600004 meters Centerline goodness [0,1] 0.999956938314135 Centerline is valid? [True, True] Translation: X:97.02, Y:153.44, Z:4.82 [[-3.04676906e-02 -9.99535641e-01 4.71866342e-04 9.70230568e+01] [ 9.99196768e-01 -3.04696483e-02 -2.60272690e-02 1.53443685e+02] [ 2.60295606e-02 -3.21503457e-04 9.99661122e-01 4.81923577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.47, Z:4.82 [[-3.40237829e-02 -9.99420906e-01 4.84221090e-04 9.70258229e+01] [ 9.99077782e-01 -3.40247907e-02 -2.61896906e-02 1.53470052e+02] [ 2.61909998e-02 -4.07297817e-04 9.99656874e-01 4.81950575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.50, Z:4.82 [[-3.60404852e-02 -9.99350209e-01 4.94133713e-04 9.70263559e+01] [ 9.99006403e-01 -3.60410486e-02 -2.62154370e-02 1.53497106e+02] [ 2.62162116e-02 -4.51174328e-04 9.99656194e-01 4.82032012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.52, Z:4.82 [[-3.82353308e-02 -9.99268636e-01 5.02725184e-04 9.70264651e+01] [ 9.98925641e-01 -3.82353798e-02 -2.61843540e-02 1.53524325e+02] [ 2.61844256e-02 -4.98982361e-04 9.99657005e-01 4.82108398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.55, Z:4.82 [[-4.03589620e-02 -9.99185115e-01 5.09504801e-04 9.70277904e+01] [ 9.98845680e-01 -4.03585340e-02 -2.60479621e-02 1.53550612e+02] [ 2.60472989e-02 -5.42352043e-04 9.99660564e-01 4.82126013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.58, Z:4.82 [[-4.33061491e-02 -9.99061712e-01 5.21755186e-04 9.70317449e+01] [ 9.98718899e-01 -4.33049601e-02 -2.61771291e-02 1.53577160e+02] [ 2.61751620e-02 -6.12543890e-04 9.99657184e-01 4.82122838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.60, Z:4.82 [[-4.47628123e-02 -9.98997504e-01 5.26936269e-04 9.70330726e+01] [ 9.98659710e-01 -4.47613826e-02 -2.59846528e-02 1.53602961e+02] [ 2.59821897e-02 -6.36916116e-04 9.99662203e-01 4.82127968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters Centerline goodness [0,1] 0.9999566442662042 Centerline is valid? [True, True] Translation: X:97.03, Y:153.63, Z:4.82 [[-4.60809135e-02 -9.98937559e-01 5.49850172e-04 9.70302484e+01] [ 9.98581738e-01 -4.60791789e-02 -2.66687608e-02 1.53630068e+02] [ 2.66657634e-02 -6.79850519e-04 9.99644174e-01 4.82289658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.66, Z:4.82 [[-4.67880658e-02 -9.98904688e-01 5.48392329e-04 9.70303627e+01] [ 9.98562528e-01 -4.67863964e-02 -2.61516940e-02 1.53657038e+02] [ 2.61487071e-02 -6.75983151e-04 9.99657836e-01 4.82437604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.68, Z:4.83 [[-4.70630122e-02 -9.98891768e-01 5.54914213e-04 9.70298414e+01] [ 9.98553000e-01 -4.70615068e-02 -2.60215434e-02 1.53684206e+02] [ 2.60188206e-02 -6.70540963e-04 9.99661228e-01 4.82500435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.71, Z:4.82 [[-4.67244572e-02 -9.98907656e-01 5.66144618e-04 9.70334563e+01] [ 9.98567293e-01 -4.67233192e-02 -2.60824304e-02 1.53709883e+02] [ 2.60803915e-02 -6.53353904e-04 9.99659635e-01 4.82397911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.74, Z:4.82 [[-4.64997080e-02 -9.98918140e-01 5.70922893e-04 9.70318650e+01] [ 9.98584189e-01 -4.64989285e-02 -2.58353850e-02 1.53736491e+02] [ 2.58339821e-02 -6.31223287e-04 9.99666048e-01 4.82468773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.76, Z:4.83 [[-4.60620622e-02 -9.98938417e-01 5.69720936e-04 9.70270594e+01] [ 9.98616397e-01 -4.60616824e-02 -2.53695402e-02 1.53763232e+02] [ 2.53688507e-02 -5.99640672e-04 9.99677979e-01 4.82703655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:153.79, Z:4.83 [[-4.61007700e-02 -9.98936628e-01 5.75949279e-04 9.70259591e+01] [ 9.98617728e-01 -4.61006087e-02 -2.52461358e-02 1.53790328e+02] [ 2.52458414e-02 -5.88713138e-04 9.99681100e-01 4.82763803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.82, Z:4.83 [[-4.61847827e-02 -9.98932745e-01 5.80891061e-04 9.70245425e+01] [ 9.98618230e-01 -4.61848209e-02 -2.50717500e-02 1.53817521e+02] [ 2.50718204e-02 -5.77844921e-04 9.99685486e-01 4.82884178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.84, Z:4.83 [[-4.57014395e-02 -9.98954969e-01 5.90948212e-04 9.70232956e+01] [ 9.98639867e-01 -4.57018692e-02 -2.50949129e-02 1.53842794e+02] [ 2.50956954e-02 -5.56729200e-04 9.99684898e-01 4.82964116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.87, Z:4.83 [[-4.56294555e-02 -9.98958250e-01 6.05586284e-04 9.70216447e+01] [ 9.98638519e-01 -4.56301753e-02 -2.52783539e-02 1.53868845e+02] [ 2.52796532e-02 -5.48675732e-04 9.99680268e-01 4.83031729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:97.02, Y:153.90, Z:4.83 [[-4.52401290e-02 -9.98975953e-01 6.14107748e-04 9.70183768e+01] [ 9.98657147e-01 -4.52412083e-02 -2.52415538e-02 1.53896522e+02] [ 2.52434883e-02 -5.28648060e-04 9.99681193e-01 4.83148457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:153.92, Z:4.83 [[-4.52807930e-02 -9.98974114e-01 6.07791956e-04 9.70170197e+01] [ 9.98670565e-01 -4.52820193e-02 -2.46300733e-02 1.53922652e+02] [ 2.46323277e-02 -5.08285313e-04 9.99696449e-01 4.83223061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:153.95, Z:4.83 [[-4.51064067e-02 -9.98982002e-01 6.09684115e-04 9.70146735e+01] [ 9.98685730e-01 -4.51078798e-02 -2.43329339e-02 1.53948796e+02] [ 2.43356646e-02 -4.88688385e-04 9.99703724e-01 4.83327171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:153.98, Z:4.83 [[-4.52066677e-02 -9.98977461e-01 6.23793489e-04 9.70130313e+01] [ 9.98676868e-01 -4.52083695e-02 -2.45095266e-02 1.53975025e+02] [ 2.45126653e-02 -4.85025896e-04 9.99699402e-01 4.83402518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters Centerline goodness [0,1] 0.9999143487291493 Centerline is valid? [True, True] Translation: X:97.01, Y:154.00, Z:4.83 [[-4.55720261e-02 -9.98960849e-01 6.42262809e-04 9.70113580e+01] [ 9.98651592e-01 -4.55739012e-02 -2.48599462e-02 1.54002502e+02] [ 2.48633834e-02 -4.91521341e-04 9.99690737e-01 4.83363515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.03, Z:4.83 [[-4.67455907e-02 -9.98906619e-01 6.44785363e-04 9.70115989e+01] [ 9.98603493e-01 -4.67472923e-02 -2.46120608e-02 1.54028501e+02] [ 2.46152925e-02 -5.06620408e-04 9.99696869e-01 4.83444439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.05, Z:4.83 [[-4.71286612e-02 -9.98888613e-01 6.54101047e-04 9.70106569e+01] [ 9.98585488e-01 -4.71304759e-02 -2.46118139e-02 1.54054413e+02] [ 2.46152888e-02 -5.06746025e-04 9.99696869e-01 4.83484851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.08, Z:4.84 [[-4.78565709e-02 -9.98853986e-01 6.81244108e-04 9.70090230e+01] [ 9.98534358e-01 -4.78584936e-02 -2.52725211e-02 1.54081382e+02] [ 2.52761617e-02 -5.29210549e-04 9.99680367e-01 4.83566702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.11, Z:4.84 [[-4.95730179e-02 -9.98770251e-01 7.08515712e-04 9.70084194e+01] [ 9.98433609e-01 -4.95747077e-02 -2.59360107e-02 1.54108357e+02] [ 2.59392403e-02 -5.78320422e-04 9.99663354e-01 4.83601504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.14, Z:4.84 [[-5.05081152e-02 -9.98723390e-01 7.21362684e-04 9.70079283e+01] [ 9.98383415e-01 -5.05097472e-02 -2.60638202e-02 1.54135907e+02] [ 2.60669827e-02 -5.96237892e-04 9.99660021e-01 4.83638156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.16, Z:4.84 [[-5.12613538e-02 -9.98685010e-01 7.24534739e-04 9.70080715e+01] [ 9.98350821e-01 -5.12629475e-02 -2.58408188e-02 1.54161944e+02] [ 2.58439802e-02 -6.01295506e-04 9.99665808e-01 4.83658047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.19, Z:4.84 [[-5.24816190e-02 -9.98621632e-01 7.17801249e-04 9.70063845e+01] [ 9.98301886e-01 -5.24829833e-02 -2.52760831e-02 1.54189312e+02] [ 2.52789157e-02 -6.09947422e-04 9.99680251e-01 4.83830722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.01, Y:154.22, Z:4.84 [[-5.32417046e-02 -9.98581397e-01 7.17105873e-04 9.70051690e+01] [ 9.98270285e-01 -5.32430214e-02 -2.49322856e-02 1.54215567e+02] [ 2.49350975e-02 -6.11571903e-04 9.99688885e-01 4.83926535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:154.24, Z:4.84 [[-5.38892301e-02 -9.98546657e-01 7.24083572e-04 9.70039125e+01] [ 9.98237605e-01 -5.38905705e-02 -2.48493358e-02 1.54242981e+02] [ 2.48522425e-02 -6.16304125e-04 9.99690945e-01 4.83989281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:154.27, Z:4.84 [[-5.42759420e-02 -9.98525707e-01 7.30631668e-04 9.70030429e+01] [ 9.98218944e-01 -5.42773824e-02 -2.47569391e-02 1.54268029e+02] [ 2.47600969e-02 -6.14375816e-04 9.99693233e-01 4.84048857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:154.29, Z:4.84 [[-5.45248056e-02 -9.98512148e-01 7.32743931e-04 9.70013356e+01] [ 9.98211783e-01 -5.45263808e-02 -2.44971543e-02 1.54294609e+02] [ 2.45006600e-02 -6.04268948e-04 9.99699631e-01 4.84107354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:154.32, Z:4.84 [[-5.38570877e-02 -9.98548379e-01 7.40578639e-04 9.69972477e+01] [ 9.98249196e-01 -5.38590837e-02 -2.44487686e-02 1.54322006e+02] [ 2.44531651e-02 -5.77457444e-04 9.99700810e-01 4.84218172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:154.35, Z:4.84 [[-5.37176763e-02 -9.98555889e-01 7.40321652e-04 9.69976616e+01] [ 9.98263361e-01 -5.37198629e-02 -2.41751819e-02 1.54348452e+02] [ 2.41800402e-02 -5.59598613e-04 9.99707463e-01 4.84159099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:154.38, Z:4.84 [[-5.27794636e-02 -9.98605917e-01 7.42367061e-04 9.69937735e+01] [ 9.98317269e-01 -5.27820599e-02 -2.40142742e-02 1.54375267e+02] [ 2.40199800e-02 -5.26342656e-04 9.99711340e-01 4.84230674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:154.40, Z:4.84 [[-5.27812713e-02 -9.98605822e-01 7.41772591e-04 9.69933062e+01] [ 9.98323294e-01 -5.27839861e-02 -2.37581915e-02 1.54400191e+02] [ 2.37642220e-02 -5.13458695e-04 9.99717459e-01 4.84213102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36275509600006 meters Centerline goodness [0,1] 0.9998927084674477 Centerline is valid? [True, True] Translation: X:96.99, Y:154.43, Z:4.84 [[-5.32718905e-02 -9.98579756e-01 7.59245777e-04 9.69911207e+01] [ 9.98290087e-01 -5.32747279e-02 -2.40563188e-02 1.54426253e+02] [ 2.40626015e-02 -5.23578047e-04 9.99710317e-01 4.84165436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:154.45, Z:4.84 [[-5.32997061e-02 -9.98578271e-01 7.60237091e-04 9.69889628e+01] [ 9.98294325e-01 -5.33026829e-02 -2.38173157e-02 1.54451801e+02] [ 2.38239766e-02 -5.10515556e-04 9.99716038e-01 4.84315094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:154.48, Z:4.84 [[-5.40299772e-02 -9.98539017e-01 7.70675425e-04 9.69887448e+01] [ 9.98253355e-01 -5.40329578e-02 -2.38888913e-02 1.54476734e+02] [ 2.38956319e-02 -5.21386925e-04 9.99714323e-01 4.84343516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.99, Y:154.50, Z:4.84 [[-5.52380648e-02 -9.98472918e-01 7.66551299e-04 9.69861025e+01] [ 9.98197067e-01 -5.52408262e-02 -2.34748052e-02 1.54503194e+02] [ 2.34813021e-02 -5.31533550e-04 9.99724135e-01 4.84436254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.53, Z:4.85 [[-5.68512813e-02 -9.98382375e-01 7.51179249e-04 9.69844886e+01] [ 9.98123379e-01 -5.68536472e-02 -2.27460557e-02 1.54530027e+02] [ 2.27519684e-02 -5.43372841e-04 9.99740993e-01 4.84565879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.56, Z:4.85 [[-5.77833168e-02 -9.98328866e-01 7.51170404e-04 9.69833126e+01] [ 9.98075552e-01 -5.77855808e-02 -2.24948895e-02 1.54555751e+02] [ 2.25007043e-02 -5.50104511e-04 9.99746676e-01 4.84590874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.58, Z:4.85 [[-5.89466637e-02 -9.98260853e-01 7.48254001e-04 9.69799461e+01] [ 9.98015297e-01 -5.89487646e-02 -2.21474819e-02 1.54582845e+02] [ 2.21530728e-02 -5.58751231e-04 9.99754434e-01 4.84654001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.61, Z:4.85 [[-5.97949132e-02 -9.98210385e-01 7.71233431e-04 9.69788241e+01] [ 9.97955216e-01 -5.97970709e-02 -2.25764667e-02 1.54609267e+02] [ 2.25821810e-02 -5.80301438e-04 9.99744822e-01 4.84670123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.64, Z:4.85 [[-6.09679312e-02 -9.98139435e-01 7.61537821e-04 9.69769874e+01] [ 9.97895973e-01 -6.09698851e-02 -2.20522086e-02 1.54636196e+02] [ 2.20576099e-02 -5.84542010e-04 9.99756530e-01 4.84711099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.66, Z:4.85 [[-6.17041559e-02 -9.98094187e-01 7.69135922e-04 9.69811701e+01] [ 9.97850906e-01 -6.17061028e-02 -2.20437361e-02 1.54662107e+02] [ 2.20491853e-02 -5.92707155e-04 9.99756711e-01 4.84627608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:154.69, Z:4.85 [[-6.29694021e-02 -9.98015149e-01 7.85823234e-04 9.69761491e+01] [ 9.97766156e-01 -6.29712512e-02 -2.23006698e-02 1.54689119e+02] [ 2.23058906e-02 -6.20192018e-04 9.99751000e-01 4.84770022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:154.72, Z:4.85 [[-6.38739693e-02 -9.97957662e-01 7.87431127e-04 9.69746750e+01] [ 9.97712612e-01 -6.38757411e-02 -2.21231499e-02 1.54716518e+02] [ 2.21282647e-02 -6.27463432e-04 9.99754943e-01 4.84805086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:154.74, Z:4.85 [[-6.43842145e-02 -9.97924866e-01 7.97349318e-04 9.69742951e+01] [ 9.97678514e-01 -6.43860435e-02 -2.21815441e-02 1.54744255e+02] [ 2.21868526e-02 -6.32643013e-04 9.99753641e-01 4.84822053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75275509600004 meters Centerline goodness [0,1] 0.9999146101955426 Centerline is valid? [True, True] Translation: X:96.97, Y:154.77, Z:4.85 [[-6.50367781e-02 -9.97882535e-01 8.15187069e-04 9.69726271e+01] [ 9.97629942e-01 -6.50386637e-02 -2.24604450e-02 1.54771789e+02] [ 2.24659045e-02 -6.47499949e-04 9.99747400e-01 4.84717855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7827550960001 meters Centerline goodness [0,1] 0.999828935551469 Centerline is valid? [True, True] Translation: X:96.97, Y:154.80, Z:4.85 [[-6.58271598e-02 -9.97830688e-01 8.38008860e-04 9.69725654e+01] [ 9.97569120e-01 -6.58290989e-02 -2.28556674e-02 1.54798088e+02] [ 2.28612517e-02 -6.68551913e-04 9.99738424e-01 4.84631345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:154.82, Z:4.85 [[-6.56424515e-02 -9.97842878e-01 8.11889574e-04 9.69713252e+01] [ 9.97602289e-01 -6.56444594e-02 -2.19198180e-02 1.54823469e+02] [ 2.19258303e-02 -6.28927693e-04 9.99759402e-01 4.84898906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:154.85, Z:4.85 [[-6.57209021e-02 -9.97837699e-01 8.30372559e-04 9.69698465e+01] [ 9.97591441e-01 -6.57231372e-02 -2.21762371e-02 1.54850137e+02] [ 2.21828601e-02 -6.29069752e-04 9.99753732e-01 4.84940849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:154.88, Z:4.85 [[-6.47436763e-02 -9.97901541e-01 8.78280314e-04 9.69667078e+01] [ 9.97631839e-01 -6.47466038e-02 -2.32075759e-02 1.54876603e+02] [ 2.32157414e-02 -6.26343378e-04 9.99730282e-01 4.84904524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:154.90, Z:4.85 [[-6.40205263e-02 -9.97948173e-01 9.03521471e-04 9.69644939e+01] [ 9.97668645e-01 -6.40239848e-02 -2.36263339e-02 1.54902724e+02] [ 2.36357037e-02 -6.11155287e-04 9.99720451e-01 4.84911288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:154.93, Z:4.85 [[-6.27907059e-02 -9.98026293e-01 9.20062549e-04 9.69626097e+01] [ 9.97742226e-01 -6.27947907e-02 -2.38173260e-02 1.54929254e+02] [ 2.38280927e-02 -5.77521459e-04 9.99715904e-01 4.84925294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:154.95, Z:4.85 [[-6.25609229e-02 -9.98040708e-01 9.35854029e-04 9.69626876e+01] [ 9.97752567e-01 -6.25653539e-02 -2.39873296e-02 1.54954704e+02] [ 2.39988834e-02 -5.66918717e-04 9.99711825e-01 4.84908686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:154.98, Z:4.85 [[-6.24061234e-02 -9.98050392e-01 9.43952082e-04 9.69599703e+01] [ 9.97763135e-01 -6.24108139e-02 -2.39502981e-02 1.54980543e+02] [ 2.39625173e-02 -5.52804674e-04 9.99712705e-01 4.85051778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:155.01, Z:4.85 [[-6.24934974e-02 -9.98044924e-01 9.44439183e-04 9.69615564e+01] [ 9.97762973e-01 -6.24982962e-02 -2.37278729e-02 1.55006030e+02] [ 2.37405090e-02 -5.40511316e-04 9.99718008e-01 4.85079542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:155.03, Z:4.85 [[-6.28310770e-02 -9.98023714e-01 9.60231103e-04 9.69599382e+01] [ 9.97737957e-01 -6.28360697e-02 -2.38871712e-02 1.55032870e+02] [ 2.39003005e-02 -5.42797676e-04 9.99714200e-01 4.85167983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:155.06, Z:4.85 [[-6.35277415e-02 -9.97979606e-01 9.65501267e-04 9.69567672e+01] [ 9.97695934e-01 -6.35327090e-02 -2.37995342e-02 1.55060362e+02] [ 2.38127907e-02 -5.48653970e-04 9.99716285e-01 4.85280002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11275509600006 meters Centerline goodness [0,1] 0.9999356209360716 Centerline is valid? [True, True] Translation: X:96.96, Y:155.09, Z:4.85 [[-6.44136497e-02 -9.97922808e-01 9.75154253e-04 9.69555122e+01] [ 9.97638499e-01 -6.44185805e-02 -2.38258537e-02 1.55087469e+02] [ 2.38391809e-02 -5.61858767e-04 9.99715648e-01 4.85229685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:155.11, Z:4.85 [[-6.49217586e-02 -9.97889890e-01 9.65965078e-04 9.69547829e+01] [ 9.97615742e-01 -6.49265703e-02 -2.33959905e-02 1.55114362e+02] [ 2.34093392e-02 -5.55246880e-04 9.99725810e-01 4.85394766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:155.14, Z:4.85 [[-6.58581156e-02 -9.97828512e-01 9.84192112e-04 9.69592951e+01] [ 9.97548941e-01 -6.58629665e-02 -2.36258158e-02 1.55140744e+02] [ 2.36393344e-02 -5.74171907e-04 9.99720387e-01 4.85293337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:155.17, Z:4.85 [[-6.69695495e-02 -9.97754508e-01 1.01032724e-03 9.69558134e+01] [ 9.97465064e-01 -6.69744637e-02 -2.40388749e-02 1.55167916e+02] [ 2.40525619e-02 -6.02106494e-04 9.99710514e-01 4.85458880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:155.19, Z:4.86 [[-6.76959901e-02 -9.97705467e-01 1.02641445e-03 9.69535888e+01] [ 9.97411680e-01 -6.77009712e-02 -2.42181533e-02 1.55194837e+02] [ 2.42320733e-02 -6.15714108e-04 9.99706171e-01 4.85575432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:96.96, Y:155.22, Z:4.85 [[-6.82810224e-02 -9.97665573e-01 1.05173691e-03 9.69581706e+01] [ 9.97361922e-01 -6.82861957e-02 -2.46209644e-02 1.55220998e+02] [ 2.46353077e-02 -6.32182278e-04 9.99696305e-01 4.85333662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29275509600006 meters Centerline goodness [0,1] 0.9999356651154812 Centerline is valid? [True, True] Translation: X:96.95, Y:155.25, Z:4.86 [[-6.90120900e-02 -9.97615262e-01 1.05847173e-03 9.69512733e+01] [ 9.97312123e-01 -6.90172203e-02 -2.45998507e-02 1.55247899e+02] [ 2.46142393e-02 -6.42060425e-04 9.99696818e-01 4.85632992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:155.27, Z:4.86 [[-6.93253004e-02 -9.97593537e-01 1.06635956e-03 9.69498698e+01] [ 9.97290900e-01 -6.93305428e-02 -2.45792064e-02 1.55274761e+02] [ 2.45939887e-02 -6.40490174e-04 9.99697317e-01 4.85812895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:155.30, Z:4.86 [[-6.94917070e-02 -9.97581992e-01 1.03513013e-03 9.69478769e+01] [ 9.97301366e-01 -6.94967178e-02 -2.36683518e-02 1.55301364e+02] [ 2.36830597e-02 -6.12417475e-04 9.99719329e-01 4.85983038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.95, Y:155.33, Z:4.86 [[-6.99584372e-02 -9.97549384e-01 1.02110794e-03 9.69451474e+01] [ 9.97280922e-01 -6.99633061e-02 -2.31494644e-02 1.55328267e+02] [ 2.31641741e-02 -6.01168884e-04 9.99731494e-01 4.86104834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:155.35, Z:4.86 [[-6.99305630e-02 -9.97551354e-01 1.00603032e-03 9.69442469e+01] [ 9.97295065e-01 -6.99354072e-02 -2.26183919e-02 1.55354480e+02] [ 2.26333646e-02 -5.78407798e-04 9.99743665e-01 4.86168466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters Centerline goodness [0,1] 0.9998292386176866 Centerline is valid? [True, True] Translation: X:96.94, Y:155.38, Z:4.86 [[-6.94684012e-02 -9.97583655e-01 9.96748836e-04 9.69419540e+01] [ 9.97336252e-01 -6.94733771e-02 -2.22227373e-02 1.55381559e+02] [ 2.22382870e-02 -5.49684284e-04 9.99752548e-01 4.85988523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:155.41, Z:4.86 [[-6.88044173e-02 -9.97629661e-01 1.00622836e-03 9.69397967e+01] [ 9.97381711e-01 -6.88097557e-02 -2.22472501e-02 1.55406461e+02] [ 2.22637549e-02 -5.27115318e-04 9.99751993e-01 4.86252348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters Centerline goodness [0,1] 0.9999147848317 Centerline is valid? [True, True] Translation: X:96.94, Y:155.43, Z:4.86 [[-6.71640328e-02 -9.97741418e-01 1.02704610e-03 9.69355548e+01] [ 9.97487644e-01 -6.71701180e-02 -2.25072466e-02 1.55433832e+02] [ 2.25253990e-02 -4.87211653e-04 9.99746152e-01 4.86135021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5327550960001 meters Centerline goodness [0,1] 0.9999787084548726 Centerline is valid? [True, True] Translation: X:96.93, Y:155.46, Z:4.86 [[-6.60719862e-02 -9.97814307e-01 1.04961933e-03 9.69328734e+01] [ 9.97553624e-01 -6.60787206e-02 -2.28116398e-02 1.55458703e+02] [ 2.28311381e-02 -4.60158785e-04 9.99739230e-01 4.86283058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:155.49, Z:4.86 [[-6.50656807e-02 -9.97880407e-01 1.07299622e-03 9.69296577e+01] [ 9.97612665e-01 -6.50730817e-02 -2.31184842e-02 1.55485993e+02] [ 2.31393055e-02 -4.33785291e-04 9.99732156e-01 4.86406224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:155.51, Z:4.87 [[-6.27848969e-02 -9.98026497e-01 1.08089126e-03 9.69250994e+01] [ 9.97758903e-01 -6.27930945e-02 -2.31127252e-02 1.55513563e+02] [ 2.31349847e-02 -3.72661187e-04 9.99732281e-01 4.86520019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:155.54, Z:4.87 [[-6.16938270e-02 -9.98094543e-01 1.07489210e-03 9.69226517e+01] [ 9.97833831e-01 -6.17022813e-02 -2.28139053e-02 1.55539421e+02] [ 2.28367577e-02 -3.34913426e-04 9.99739151e-01 4.86591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.652755096 meters Centerline goodness [0,1] 0.9999149912866069 Centerline is valid? [True, True] Translation: X:96.92, Y:155.57, Z:4.87 [[-6.08022142e-02 -9.98149280e-01 1.05170061e-03 9.69191280e+01] [ 9.97903543e-01 -6.08105828e-02 -2.21493275e-02 1.55566654e+02] [ 2.21722898e-02 -2.97232393e-04 9.99754120e-01 4.86541109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.59, Z:4.87 [[-5.87957852e-02 -9.98269487e-01 1.04239775e-03 9.69147114e+01] [ 9.98031497e-01 -5.88045298e-02 -2.17981431e-02 1.55592921e+02] [ 2.18217188e-02 -2.41293155e-04 9.99761849e-01 4.86792783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.62, Z:4.87 [[-5.86116564e-02 -9.98280318e-01 1.03903679e-03 9.69123486e+01] [ 9.98046816e-01 -5.86204200e-02 -2.15916330e-02 1.55620399e+02] [ 2.16154110e-02 -2.28514010e-04 9.99766334e-01 4.86860165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74275509600005 meters Centerline goodness [0,1] 0.9998513295386968 Centerline is valid? [True, True] Translation: X:96.91, Y:155.65, Z:4.87 [[-5.90945840e-02 -9.98251824e-01 1.06133146e-03 9.69114596e+01] [ 9.98011979e-01 -5.91036510e-02 -2.18826168e-02 1.55645922e+02] [ 2.19070907e-02 -2.33922621e-04 9.99759984e-01 4.86626892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.67, Z:4.87 [[-5.94685240e-02 -9.98229629e-01 1.05010158e-03 9.69089128e+01] [ 9.97998705e-01 -5.94773542e-02 -2.14715700e-02 1.55671809e+02] [ 2.14960146e-02 -2.28882552e-04 9.99768908e-01 4.86931459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.70, Z:4.87 [[-6.04441586e-02 -9.98171018e-01 1.05988835e-03 9.69080025e+01] [ 9.97939437e-01 -6.04529663e-02 -2.15016052e-02 1.55698617e+02] [ 2.15263526e-02 -2.41942055e-04 9.99768252e-01 4.86971861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.73, Z:4.87 [[-6.28344050e-02 -9.98023429e-01 1.03618151e-03 9.69089090e+01] [ 9.97805198e-01 -6.28423352e-02 -2.08716754e-02 1.55725034e+02] [ 2.08955371e-02 -2.77552010e-04 9.99781626e-01 4.87071346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.75, Z:4.87 [[-6.32170514e-02 -9.97999256e-01 1.04399512e-03 9.69073502e+01] [ 9.97781029e-01 -6.32250612e-02 -2.08712849e-02 1.55750903e+02] [ 2.08955335e-02 -2.77742567e-04 9.99781626e-01 4.87111752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.78, Z:4.87 [[-6.61640060e-02 -9.97808216e-01 1.04317434e-03 9.69080038e+01] [ 9.97593516e-01 -6.61714113e-02 -2.07007378e-02 1.55778055e+02] [ 2.07243945e-02 -3.28979781e-04 9.99785173e-01 4.87171866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.81, Z:4.87 [[-6.79342374e-02 -9.97689252e-01 1.04647355e-03 9.69077660e+01] [ 9.97476097e-01 -6.79413573e-02 -2.06254434e-02 1.55805538e+02] [ 2.06488821e-02 -3.57341425e-04 9.99786725e-01 4.87209400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.83, Z:4.87 [[-6.98325643e-02 -9.97558150e-01 1.07294108e-03 9.69072813e+01] [ 9.97337159e-01 -6.98396814e-02 -2.10002292e-02 1.55832309e+02] [ 2.10238836e-02 -3.96415847e-04 9.99778895e-01 4.87226124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.86, Z:4.87 [[-7.36602995e-02 -9.97282777e-01 1.10580902e-03 9.69102102e+01] [ 9.97051402e-01 -7.36670346e-02 -2.14864830e-02 1.55858610e+02] [ 2.15095611e-02 -4.80152339e-04 9.99768527e-01 4.87168637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.89, Z:4.87 [[-7.54238938e-02 -9.97150914e-01 1.13630493e-03 9.69113480e+01] [ 9.96910045e-01 -7.54306559e-02 -2.19221031e-02 1.55885216e+02] [ 2.19453573e-02 -5.20656574e-04 9.99759036e-01 4.87149674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04275509600006 meters Centerline goodness [0,1] 0.9998516823459616 Centerline is valid? [True, True] Translation: X:96.91, Y:155.91, Z:4.87 [[-7.97257136e-02 -9.96816140e-01 1.18042429e-03 9.69115136e+01] [ 9.96559829e-01 -7.97319911e-02 -2.26123324e-02 1.55912102e+02] [ 2.26344555e-02 -6.26420905e-04 9.99743612e-01 4.86920009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.94, Z:4.87 [[-8.10967214e-02 -9.96705555e-01 1.16537755e-03 9.69112812e+01] [ 9.96459093e-01 -8.11025934e-02 -2.21730981e-02 1.55939514e+02] [ 2.21945652e-02 -6.36914502e-04 9.99753467e-01 4.87188880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10275509600007 meters Centerline goodness [0,1] 0.9998084087280469 Centerline is valid? [True, True] Translation: X:96.91, Y:155.97, Z:4.87 [[-8.36782432e-02 -9.96492127e-01 1.17985008e-03 9.69144795e+01] [ 9.96242831e-01 -8.36837115e-02 -2.22992799e-02 1.55965994e+02] [ 2.23197911e-02 -6.90547384e-04 9.99750644e-01 4.86886827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:155.99, Z:4.87 [[-8.49473940e-02 -9.96384720e-01 1.19607531e-03 9.69084646e+01] [ 9.96131986e-01 -8.49527986e-02 -2.24519145e-02 1.55992516e+02] [ 2.24723545e-02 -7.15782755e-04 9.99747209e-01 4.87313414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:156.02, Z:4.87 [[-8.78745520e-02 -9.96130781e-01 1.23734257e-03 9.69090663e+01] [ 9.95864054e-01 -8.78796714e-02 -2.30640342e-02 1.56019464e+02] [ 2.30835317e-02 -7.94516692e-04 9.99733224e-01 4.87297782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19275509600004 meters Centerline goodness [0,1] 0.9997664245976133 Centerline is valid? [True, True] Translation: X:96.91, Y:156.05, Z:4.87 [[-8.97531022e-02 -9.95963273e-01 1.24066458e-03 9.69108368e+01] [ 9.95698854e-01 -8.97578789e-02 -2.29633488e-02 1.56045817e+02] [ 2.29820114e-02 -8.25703494e-04 9.99735538e-01 4.86965821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22275509600007 meters Centerline goodness [0,1] 0.9997870210636168 Centerline is valid? [True, True] Translation: X:96.91, Y:156.07, Z:4.87 [[-9.09407410e-02 -9.95855567e-01 1.21317603e-03 9.69122832e+01] [ 9.95606130e-01 -9.09451325e-02 -2.23028457e-02 1.56072513e+02] [ 2.23207455e-02 -8.20391825e-04 9.99750525e-01 4.87034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25275509600004 meters Centerline goodness [0,1] 0.9999147612248812 Centerline is valid? [True, True] Translation: X:96.91, Y:156.10, Z:4.87 [[-9.09795208e-02 -9.95852008e-01 1.22698446e-03 9.69102761e+01] [ 9.95600291e-01 -9.09841284e-02 -2.24042039e-02 1.56098633e+02] [ 2.24229076e-02 -8.16737653e-04 9.99748241e-01 4.87235868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2827550960001 meters Centerline goodness [0,1] 0.9998090793381417 Centerline is valid? [True, True] Translation: X:96.91, Y:156.12, Z:4.87 [[-9.11781722e-02 -9.95833830e-01 1.23456783e-03 9.69101328e+01] [ 9.95582468e-01 -9.11829128e-02 -2.23880959e-02 1.56124205e+02] [ 2.24073948e-02 -8.12191581e-04 9.99748593e-01 4.87087361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31275509600005 meters Centerline goodness [0,1] 0.9997451255256786 Centerline is valid? [True, True] Translation: X:96.90, Y:156.15, Z:4.87 [[-8.98409374e-02 -9.95955338e-01 1.25315620e-03 9.69000235e+01] [ 9.95699914e-01 -8.98462930e-02 -2.25682393e-02 1.56150533e+02] [ 2.25895499e-02 -7.79784262e-04 9.99744519e-01 4.87162586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters Centerline goodness [0,1] 0.9998725438130642 Centerline is valid? [True, True] Translation: X:96.90, Y:156.18, Z:4.87 [[-8.85125812e-02 -9.96074289e-01 1.23810245e-03 9.68968968e+01] [ 9.95828091e-01 -8.85182444e-02 -2.21570299e-02 1.56178176e+02] [ 2.21796425e-02 -7.28238712e-04 9.99753736e-01 4.87335651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:156.21, Z:4.88 [[-8.64346752e-02 -9.96256744e-01 1.24367590e-03 9.68938085e+01] [ 9.96011353e-01 -8.64410000e-02 -2.21209942e-02 1.56205498e+02] [ 2.21456942e-02 -6.73305630e-04 9.99754527e-01 4.87632182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:156.23, Z:4.88 [[-8.29812057e-02 -9.96550358e-01 1.22653356e-03 9.68894511e+01] [ 9.96314654e-01 -8.29882634e-02 -2.16808208e-02 1.56231425e+02] [ 2.17078176e-02 -5.77087286e-04 9.99764191e-01 4.87702553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43275509600005 meters Centerline goodness [0,1] 0.9998941754148324 Centerline is valid? [True, True] Translation: X:96.89, Y:156.26, Z:4.88 [[-8.17346657e-02 -9.96653386e-01 1.21350536e-03 9.68854513e+01] [ 9.96425524e-01 -8.17419346e-02 -2.13173923e-02 1.56258594e+02] [ 2.13452455e-02 -5.33202223e-04 9.99772022e-01 4.87541399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters Centerline goodness [0,1] 0.9998097010191568 Centerline is valid? [True, True] Translation: X:96.88, Y:156.28, Z:4.87 [[-8.03655478e-02 -9.96764710e-01 1.22144557e-03 9.68825823e+01] [ 9.96536769e-01 -8.03732972e-02 -2.13213662e-02 1.56284687e+02] [ 2.13505570e-02 -4.96287853e-04 9.99771928e-01 4.87493873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49275509600005 meters Centerline goodness [0,1] 0.9999575911789652 Centerline is valid? [True, True] Translation: X:96.88, Y:156.31, Z:4.88 [[-7.68621595e-02 -9.97040983e-01 1.21933722e-03 9.68764731e+01] [ 9.96816710e-01 -7.68707362e-02 -2.11503279e-02 1.56311200e+02] [ 2.11814751e-02 -4.10204158e-04 9.99775563e-01 4.87784172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters Centerline goodness [0,1] 0.9998517137651993 Centerline is valid? [True, True] Translation: X:96.87, Y:156.34, Z:4.88 [[-7.59619956e-02 -9.97110001e-01 1.19195446e-03 9.68735276e+01] [ 9.96898312e-01 -7.59704328e-02 -2.05486845e-02 1.56337673e+02] [ 2.05798522e-02 -3.72661699e-04 9.99788143e-01 4.87671498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:156.36, Z:4.88 [[-7.34669364e-02 -9.97297015e-01 1.12828226e-03 9.68679982e+01] [ 9.97109715e-01 -7.34750073e-02 -1.93297540e-02 1.56364278e+02] [ 1.93604065e-02 -2.95076603e-04 9.99812526e-01 4.88084782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters Centerline goodness [0,1] 0.9999575839837123 Centerline is valid? [True, True] Translation: X:96.87, Y:156.39, Z:4.88 [[-7.34214659e-02 -9.97300376e-01 1.11739817e-03 9.68666839e+01] [ 9.97118941e-01 -7.34294243e-02 -1.90246239e-02 1.56389829e+02] [ 1.90553145e-02 -2.82636895e-04 9.99818391e-01 4.88025262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61275509600006 meters Centerline goodness [0,1] 0.9998938135791196 Centerline is valid? [True, True] Translation: X:96.86, Y:156.42, Z:4.88 [[-7.33306261e-02 -9.97307061e-01 1.11614847e-03 9.68644573e+01] [ 9.97128507e-01 -7.33386192e-02 -1.88729125e-02 1.56415727e+02] [ 1.89039457e-02 -2.71019035e-04 9.99821268e-01 4.87989555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters Centerline goodness [0,1] 0.9998939959294437 Centerline is valid? [True, True] Translation: X:96.86, Y:156.44, Z:4.88 [[-7.40900049e-02 -9.97250932e-01 1.11810338e-03 9.68623556e+01] [ 9.97074029e-01 -7.40979236e-02 -1.87850841e-02 1.56442133e+02] [ 1.88162917e-02 -2.76955132e-04 9.99822920e-01 4.88044075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67275509600006 meters Centerline goodness [0,1] 0.9999152003391987 Centerline is valid? [True, True] Translation: X:96.86, Y:156.47, Z:4.88 [[-7.52671592e-02 -9.97162790e-01 1.10652443e-03 9.68610218e+01] [ 9.96991737e-01 -7.52747450e-02 -1.84713285e-02 1.56468290e+02] [ 1.85022148e-02 -2.87088705e-04 9.99828778e-01 4.88124883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.49, Z:4.88 [[-7.73409820e-02 -9.97004072e-01 1.11929584e-03 9.68607208e+01] [ 9.96831273e-01 -7.73484188e-02 -1.85643643e-02 1.56494947e+02] [ 1.85953225e-02 -3.20037068e-04 9.99827041e-01 4.88360622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73275509600006 meters Centerline goodness [0,1] 0.9998940161519384 Centerline is valid? [True, True] Translation: X:96.86, Y:156.52, Z:4.88 [[-7.92047513e-02 -9.96857719e-01 1.13805258e-03 9.68601340e+01] [ 9.96681211e-01 -7.92121460e-02 -1.87616295e-02 1.56522256e+02] [ 1.87928228e-02 -3.51734578e-04 9.99823337e-01 4.88158210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.55, Z:4.88 [[-8.02058662e-02 -9.96777675e-01 1.13399940e-03 9.68593888e+01] [ 9.96604382e-01 -8.02130708e-02 -1.85895063e-02 1.56548285e+02] [ 1.86205665e-02 -3.60838688e-04 9.99826557e-01 4.88443913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.58, Z:4.88 [[-8.28255791e-02 -9.96563402e-01 1.14432930e-03 9.68585357e+01] [ 9.96389053e-01 -8.28324982e-02 -1.86448950e-02 1.56575493e+02] [ 1.86756077e-02 -4.04077043e-04 9.99825514e-01 4.88452816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.60, Z:4.88 [[-8.42379285e-02 -9.96445015e-01 1.14169622e-03 9.68599609e+01] [ 9.96273387e-01 -8.42446140e-02 -1.84981885e-02 1.56601394e+02] [ 1.85286094e-02 -4.20807518e-04 9.99828242e-01 4.88427465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85275509600007 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:96.86, Y:156.63, Z:4.88 [[-8.72545680e-02 -9.96185391e-01 1.14303017e-03 9.68603671e+01] [ 9.96015186e-01 -8.72607953e-02 -1.84201900e-02 1.56628019e+02] [ 1.84496659e-02 -4.68770309e-04 9.99829681e-01 4.88279936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.65, Z:4.88 [[-8.83964328e-02 -9.96084715e-01 1.14531691e-03 9.68574638e+01] [ 9.95915808e-01 -8.84025416e-02 -1.83492082e-02 1.56654620e+02] [ 1.83786147e-02 -4.81365330e-04 9.99830983e-01 4.88484855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:156.68, Z:4.89 [[-8.95728972e-02 -9.95979589e-01 1.16342343e-03 9.68566770e+01] [ 9.95807287e-01 -8.95790491e-02 -1.85321636e-02 1.56681476e+02] [ 1.85618751e-02 -5.01434060e-04 9.99827588e-01 4.88509694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters Centerline goodness [0,1] 0.999829960891005 Centerline is valid? [True, True] Translation: X:96.85, Y:156.71, Z:4.88 [[-9.15853949e-02 -9.95796500e-01 1.20215633e-03 9.68527863e+01] [ 9.95614585e-01 -9.15916509e-02 -1.90412088e-02 1.56708075e+02] [ 1.90712765e-02 -5.47012245e-04 9.99817977e-01 4.88246479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:156.73, Z:4.89 [[-9.19186636e-02 -9.95765824e-01 1.17584384e-03 9.68514235e+01] [ 9.95593855e-01 -9.19246503e-02 -1.85130692e-02 1.56733737e+02] [ 1.85427707e-02 -5.31033685e-04 9.99827927e-01 4.88553581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters Centerline goodness [0,1] 0.9998724462679904 Centerline is valid? [True, True] Translation: X:96.85, Y:156.76, Z:4.88 [[-9.27413790e-02 -9.95689468e-01 1.23252872e-03 9.68544708e+01] [ 9.95503042e-01 -9.27478746e-02 -1.92749790e-02 1.56759600e+02] [ 1.93062080e-02 -5.60602047e-04 9.99813461e-01 4.88227066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0327550960001 meters Centerline goodness [0,1] 0.9998723621511232 Centerline is valid? [True, True] Translation: X:96.85, Y:156.79, Z:4.88 [[-9.27968487e-02 -9.95684342e-01 1.19860491e-03 9.68465213e+01] [ 9.95510198e-01 -9.28030443e-02 -1.86290021e-02 1.56785261e+02] [ 1.86598399e-02 -5.35489284e-04 9.99825747e-01 4.88342747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:156.81, Z:4.89 [[-9.21188796e-02 -9.95747327e-01 1.17210808e-03 9.68437956e+01] [ 9.95582771e-01 -9.21249726e-02 -1.81089759e-02 1.56811420e+02] [ 1.81399448e-02 -5.01247961e-04 9.99835332e-01 4.88685932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:156.84, Z:4.89 [[-9.08758894e-02 -9.95861615e-01 1.10325550e-03 9.68407229e+01] [ 9.95717470e-01 -9.08815126e-02 -1.69490660e-02 1.56837772e+02] [ 1.69791898e-02 -4.41730672e-04 9.99855746e-01 4.88855881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:156.86, Z:4.89 [[-9.03184033e-02 -9.95912367e-01 1.06907296e-03 9.68385595e+01] [ 9.95778475e-01 -9.03237960e-02 -1.63352444e-02 1.56862755e+02] [ 1.63650346e-02 -4.10813344e-04 9.99865999e-01 4.88956657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.152755096 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:96.84, Y:156.89, Z:4.89 [[-8.99878893e-02 -9.95942326e-01 1.03133716e-03 9.68355932e+01] [ 9.95818840e-01 -8.99929769e-02 -1.56876515e-02 1.56888895e+02] [ 1.57168093e-02 -3.84673676e-04 9.99876409e-01 4.88933815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18275509600005 meters Centerline goodness [0,1] 0.9999576486532272 Centerline is valid? [True, True] Translation: X:96.83, Y:156.92, Z:4.89 [[-8.79550494e-02 -9.96123976e-01 9.66760720e-04 9.68309940e+01] [ 9.96016658e-01 -8.79597676e-02 -1.46251706e-02 1.56915918e+02] [ 1.46535191e-02 -3.23447819e-04 9.99892579e-01 4.89080510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.212755096 meters Centerline goodness [0,1] 0.9999366714514903 Centerline is valid? [True, True] Translation: X:96.83, Y:156.94, Z:4.89 [[-8.72478317e-02 -9.96186183e-01 9.50980313e-04 9.68282734e+01] [ 9.96083386e-01 -8.72524930e-02 -1.43140309e-02 1.56941413e+02] [ 1.43424153e-02 -3.01612473e-04 9.99897097e-01 4.89144323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:156.97, Z:4.89 [[-8.52874243e-02 -9.96356001e-01 8.80622315e-04 9.68239762e+01] [ 9.96268845e-01 -8.52916135e-02 -1.31806025e-02 1.56968652e+02] [ 1.32076821e-02 -2.46803063e-04 9.99912744e-01 4.89415096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.272755096 meters Centerline goodness [0,1] 0.9998733081357292 Centerline is valid? [True, True] Translation: X:96.82, Y:156.99, Z:4.89 [[-8.47624585e-02 -9.96400777e-01 9.03962663e-04 9.68210341e+01] [ 9.96309873e-01 -8.47669378e-02 -1.34611570e-02 1.56993863e+02] [ 1.34893334e-02 -2.40373834e-04 9.99908986e-01 4.89232657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30275509600006 meters Centerline goodness [0,1] 0.9999788404570461 Centerline is valid? [True, True] Translation: X:96.82, Y:157.02, Z:4.89 [[-8.43166149e-02 -9.96438634e-01 8.69697453e-04 9.68179843e+01] [ 9.96355434e-01 -8.43208148e-02 -1.28782663e-02 1.57019634e+02] [ 1.29057357e-02 -2.19324037e-04 9.99916693e-01 4.89461505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.82, Y:157.05, Z:4.90 [[-8.43569937e-02 -9.96435223e-01 8.62443734e-04 9.68155038e+01] [ 9.96354295e-01 -8.43611356e-02 -1.27010685e-02 1.57046391e+02] [ 1.27285487e-02 -2.12124432e-04 9.99918966e-01 4.89543664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.07, Z:4.89 [[-8.49293236e-02 -9.96386591e-01 8.78721531e-04 9.68140088e+01] [ 9.96303504e-01 -8.49335909e-02 -1.28690579e-02 1.57071946e+02] [ 1.28971897e-02 -2.17487045e-04 9.99916804e-01 4.89485576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39275509600003 meters Centerline goodness [0,1] 0.9999151157608811 Centerline is valid? [True, True] Translation: X:96.81, Y:157.10, Z:4.89 [[-8.62590407e-02 -9.96272309e-01 9.29932290e-04 9.68109146e+01] [ 9.96180369e-01 -8.62637158e-02 -1.35367477e-02 1.57098230e+02] [ 1.35665063e-02 -2.41286582e-04 9.99907942e-01 4.89282756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42275509600006 meters Centerline goodness [0,1] 0.9999787568509155 Centerline is valid? [True, True] Translation: X:96.81, Y:157.13, Z:4.89 [[-8.79486560e-02 -9.96124581e-01 9.24128353e-04 9.68091383e+01] [ 9.96034771e-01 -8.79531381e-02 -1.33783295e-02 1.57125100e+02] [ 1.34077629e-02 -2.56142131e-04 9.99910079e-01 4.89333409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45275509600003 meters Centerline goodness [0,1] 0.9999788104167991 Centerline is valid? [True, True] Translation: X:96.81, Y:157.15, Z:4.89 [[-8.95829366e-02 -9.95978933e-01 9.28892894e-04 9.68084021e+01] [ 9.95889127e-01 -8.95873354e-02 -1.33774835e-02 1.57152017e+02] [ 1.34069088e-02 -2.73319924e-04 9.99910086e-01 4.89363468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48275509600006 meters Centerline goodness [0,1] 0.9999364379846604 Centerline is valid? [True, True] Translation: X:96.81, Y:157.18, Z:4.89 [[-9.14699488e-02 -9.95807354e-01 9.80494213e-04 9.68106652e+01] [ 9.95708358e-01 -9.14746840e-02 -1.40445142e-02 1.57178497e+02] [ 1.40753209e-02 -3.08364708e-04 9.99900890e-01 4.89338990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.21, Z:4.89 [[-9.46901446e-02 -9.95506336e-01 9.54641223e-04 9.68095766e+01] [ 9.95413450e-01 -9.46943541e-02 -1.36030551e-02 1.57205771e+02] [ 1.36323266e-02 -3.37812536e-04 9.99907018e-01 4.89462658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.23, Z:4.89 [[-9.67445739e-02 -9.95308779e-01 9.60320391e-04 9.68091787e+01] [ 9.95215707e-01 -9.67486645e-02 -1.36158768e-02 1.57233221e+02] [ 1.36449115e-02 -3.61536265e-04 9.99906839e-01 4.89469008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57275509600004 meters Centerline goodness [0,1] 0.9999788162521713 Centerline is valid? [True, True] Translation: X:96.81, Y:157.26, Z:4.89 [[-9.90011107e-02 -9.95086852e-01 9.67879326e-04 9.68094554e+01] [ 9.94993237e-01 -9.90050783e-02 -1.36548052e-02 1.57260808e+02] [ 1.36835421e-02 -3.88807502e-04 9.99906300e-01 4.89477520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60275509600007 meters Centerline goodness [0,1] 0.9999151823579304 Centerline is valid? [True, True] Translation: X:96.81, Y:157.29, Z:4.89 [[-1.03343859e-01 -9.94645095e-01 1.08711551e-03 9.68122804e+01] [ 9.94528257e-01 -1.03348390e-01 -1.52530596e-02 1.57287270e+02] [ 1.52837326e-02 -4.95142945e-04 9.99883074e-01 4.89265726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63275509600004 meters Centerline goodness [0,1] 0.9998724191456335 Centerline is valid? [True, True] Translation: X:96.81, Y:157.31, Z:4.89 [[-1.05361437e-01 -9.94433353e-01 1.12844895e-03 9.68126514e+01] [ 9.94308772e-01 -1.05366110e-01 -1.57495385e-02 1.57314951e+02] [ 1.57807667e-02 -5.37367324e-04 9.99875332e-01 4.89207129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.34, Z:4.89 [[-1.07938716e-01 -9.94156961e-01 1.08180857e-03 9.68148998e+01] [ 9.94043488e-01 -1.07942751e-01 -1.50301987e-02 1.57341418e+02] [ 1.50591501e-02 -5.46975587e-04 9.99886455e-01 4.89459527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.37, Z:4.90 [[-1.09085018e-01 -9.94031829e-01 1.08742551e-03 9.68139663e+01] [ 9.93918305e-01 -1.09089006e-01 -1.50330360e-02 1.57368196e+02] [ 1.50619424e-02 -5.59066887e-04 9.99886406e-01 4.89506792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.39, Z:4.90 [[-1.09776700e-01 -9.93955682e-01 1.08563886e-03 9.68116254e+01] [ 9.93843625e-01 -1.09780637e-01 -1.49352137e-02 1.57394712e+02] [ 1.49641226e-02 -5.60583210e-04 9.99887874e-01 4.89552639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.42, Z:4.90 [[-1.10156501e-01 -9.93913655e-01 1.09134817e-03 9.68094804e+01] [ 9.93801600e-01 -1.10160481e-01 -1.49347964e-02 1.57420562e+02] [ 1.49641215e-02 -5.60581354e-04 9.99887874e-01 4.89593066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7827550960001 meters Centerline goodness [0,1] 0.9999786966617669 Centerline is valid? [True, True] Translation: X:96.81, Y:157.45, Z:4.90 [[-1.09983701e-01 -9.93932775e-01 1.10661977e-03 9.68090207e+01] [ 9.93818770e-01 -1.09987857e-01 -1.50639854e-02 1.57445623e+02] [ 1.50943035e-02 -5.57013368e-04 9.99885919e-01 4.89597735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:157.47, Z:4.90 [[-1.09733728e-01 -9.93960386e-01 1.12288049e-03 9.68071125e+01] [ 9.93844285e-01 -1.09738083e-01 -1.52016531e-02 1.57472015e+02] [ 1.52330638e-02 -5.52165709e-04 9.99883818e-01 4.89650418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:157.50, Z:4.90 [[-1.07163583e-01 -9.94240743e-01 1.14539225e-03 9.68046737e+01] [ 9.94121199e-01 -1.07168469e-01 -1.54259655e-02 1.57498405e+02] [ 1.54598733e-02 -5.14443018e-04 9.99880357e-01 4.89700198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:157.52, Z:4.90 [[-1.06296764e-01 -9.94333806e-01 1.13123909e-03 9.67969017e+01] [ 9.94218284e-01 -1.06301666e-01 -1.51643968e-02 1.57524839e+02] [ 1.51987250e-02 -4.87227713e-04 9.99884374e-01 4.89769680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters Centerline goodness [0,1] 0.9999147357875215 Centerline is valid? [True, True] Translation: X:96.80, Y:157.55, Z:4.90 [[-1.03491192e-01 -9.94629635e-01 1.20917971e-03 9.67964762e+01] [ 9.94499022e-01 -1.03497206e-01 -1.61252371e-02 1.57551317e+02] [ 1.61637854e-02 -4.66291966e-04 9.99869249e-01 4.89683068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:157.58, Z:4.90 [[-1.02322671e-01 -9.94750593e-01 1.15288348e-03 9.67903403e+01] [ 9.94632999e-01 -1.02328308e-01 -1.53007993e-02 1.57577754e+02] [ 1.53384518e-02 -4.18922696e-04 9.99882271e-01 4.89926941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:157.60, Z:4.90 [[-1.00481201e-01 -9.94938262e-01 1.17605517e-03 9.67873472e+01] [ 9.94817137e-01 -1.00487324e-01 -1.55293909e-02 1.57604431e+02] [ 1.55689638e-02 -3.90452004e-04 9.99878720e-01 4.90000823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:157.63, Z:4.90 [[-1.00211554e-01 -9.94965416e-01 1.21057708e-03 9.67877077e+01] [ 9.94838310e-01 -1.00218107e-01 -1.59081366e-02 1.57630105e+02] [ 1.59493675e-02 -3.89850623e-04 9.99872725e-01 4.90033196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.66, Z:4.90 [[-1.00491355e-01 -9.94937165e-01 1.23497419e-03 9.67837008e+01] [ 9.94806324e-01 -1.00498173e-01 -1.61398674e-02 1.57656503e+02] [ 1.61822665e-02 -3.93357011e-04 9.99868981e-01 4.90053370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.68, Z:4.90 [[-1.01605807e-01 -9.94824005e-01 1.20802518e-03 9.67817916e+01] [ 9.94700055e-01 -1.01612222e-01 -1.57084839e-02 1.57683507e+02] [ 1.57499270e-02 -3.94450464e-04 9.99875884e-01 4.90149067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.71, Z:4.90 [[-1.02674943e-01 -9.94714212e-01 1.22137256e-03 9.67819177e+01] [ 9.94588705e-01 -1.02681396e-01 -1.58062713e-02 1.57710058e+02] [ 1.58481349e-02 -4.08144659e-04 9.99874327e-01 4.90192058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.74, Z:4.90 [[-1.04196862e-01 -9.94556004e-01 1.16981613e-03 9.67809196e+01] [ 9.94441937e-01 -1.04202634e-01 -1.50680431e-02 1.57736834e+02] [ 1.51079106e-02 -4.06728582e-04 9.99885786e-01 4.90259642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.76, Z:4.90 [[-1.05116984e-01 -9.94459150e-01 1.19126856e-03 9.67788089e+01] [ 9.94341985e-01 -1.05122893e-01 -1.52707314e-02 1.57763183e+02] [ 1.53113482e-02 -4.20684889e-04 9.99882686e-01 4.90276166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.79, Z:4.90 [[-1.06142737e-01 -9.94350159e-01 1.21661699e-03 9.67784882e+01] [ 9.94229194e-01 -1.06148808e-01 -1.55158093e-02 1.57788713e+02] [ 1.55572898e-02 -4.37294331e-04 9.99878882e-01 4.90328487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.81, Z:4.90 [[-1.07016312e-01 -9.94256517e-01 1.21935349e-03 9.67786765e+01] [ 9.94136261e-01 -1.07022341e-01 -1.54697635e-02 1.57813786e+02] [ 1.55114113e-02 -4.43313522e-04 9.99879593e-01 4.90304676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:157.84, Z:4.90 [[-1.07380924e-01 -9.94217145e-01 1.26745450e-03 9.67760031e+01] [ 9.94088570e-01 -1.07387429e-01 -1.59954862e-02 1.57839651e+02] [ 1.60390953e-02 -4.57648057e-04 9.99871261e-01 4.90319937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:157.87, Z:4.90 [[-1.06855848e-01 -9.94273596e-01 1.35800494e-03 9.67744931e+01] [ 9.94127517e-01 -1.06863435e-01 -1.70495050e-02 1.57865117e+02] [ 1.70969937e-02 -4.71809226e-04 9.99853724e-01 4.90275881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:157.89, Z:4.90 [[-1.06626057e-01 -9.94298220e-01 1.39072153e-03 9.67721309e+01] [ 9.94146567e-01 -1.06634092e-01 -1.73716378e-02 1.57891109e+02] [ 1.74208869e-02 -4.69688216e-04 9.99848135e-01 4.90257754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:157.92, Z:4.90 [[-1.06432060e-01 -9.94318867e-01 1.48560612e-03 9.67697828e+01] [ 9.94147522e-01 -1.06441307e-01 -1.84648799e-02 1.57917508e+02] [ 1.85181083e-02 -4.88343567e-04 9.99828406e-01 4.90222461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:157.94, Z:4.90 [[-1.05253423e-01 -9.94444165e-01 1.58736649e-03 9.67677002e+01] [ 9.94250381e-01 -1.05264258e-01 -1.96370836e-02 1.57944315e+02] [ 1.96950761e-02 -4.88630523e-04 9.99805914e-01 4.90137962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:157.97, Z:4.90 [[-1.04996828e-01 -9.94471201e-01 1.64224375e-03 9.67662380e+01] [ 9.94265450e-01 -1.05008519e-01 -2.02342973e-02 1.57969859e+02] [ 2.02948755e-02 -4.91710801e-04 9.99793917e-01 4.90142261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.00, Z:4.90 [[-1.04681175e-01 -9.94504427e-01 1.67223682e-03 9.67646537e+01] [ 9.94293124e-01 -1.04693413e-01 -2.05054212e-02 1.57996510e+02] [ 2.05678043e-02 -4.83838002e-04 9.99788343e-01 4.90154819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.02, Z:4.90 [[-1.04655530e-01 -9.94507112e-01 1.68078910e-03 9.67624456e+01] [ 9.94295565e-01 -1.04667943e-01 -2.05170827e-02 1.58023161e+02] [ 2.05803094e-02 -4.76025014e-04 9.99788090e-01 4.90219680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.05, Z:4.90 [[-1.04971335e-01 -9.94473760e-01 1.72009018e-03 9.67610888e+01] [ 9.94254219e-01 -1.04984313e-01 -2.09007877e-02 1.58049386e+02] [ 2.09658674e-02 -4.83776682e-04 9.99780075e-01 4.90256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.07, Z:4.90 [[-1.05861172e-01 -9.94379385e-01 1.74657010e-03 9.67618247e+01] [ 9.94155065e-01 -1.05874398e-01 -2.11262335e-02 1.58074792e+02] [ 2.11924081e-02 -5.00086331e-04 9.99775291e-01 4.90314846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.10, Z:4.90 [[-1.06789897e-01 -9.94280060e-01 1.75488927e-03 9.67610966e+01] [ 9.94055687e-01 -1.06803089e-01 -2.11279532e-02 1.58100787e+02] [ 2.11945301e-02 -5.11794282e-04 9.99775240e-01 4.90387803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.13, Z:4.91 [[-1.08322726e-01 -9.94114313e-01 1.70860734e-03 9.67627479e+01] [ 9.93903541e-01 -1.08334953e-01 -2.04765360e-02 1.58126151e+02] [ 2.05411194e-02 -5.19883313e-04 9.99788874e-01 4.90500787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.15, Z:4.91 [[-1.09009885e-01 -9.94039183e-01 1.71690844e-03 9.67618643e+01] [ 9.93828266e-01 -1.09022133e-01 -2.04829699e-02 1.58152099e+02] [ 2.05480557e-02 -5.26534051e-04 9.99788728e-01 4.90582057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.18, Z:4.91 [[-1.10154214e-01 -9.93913024e-01 1.71757856e-03 9.67625657e+01] [ 9.93703847e-01 -1.10166280e-01 -2.03974499e-02 1.58177349e+02] [ 2.04625103e-02 -5.40100627e-04 9.99790475e-01 4.90633300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.20, Z:4.91 [[-1.10459891e-01 -9.93879083e-01 1.72665797e-03 9.67610232e+01] [ 9.93669539e-01 -1.10472069e-01 -2.04149292e-02 1.58203219e+02] [ 2.04807186e-02 -5.39303438e-04 9.99790103e-01 4.90642284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:158.23, Z:4.91 [[-1.10829065e-01 -9.93837924e-01 1.76038038e-03 9.67594327e+01] [ 9.93622079e-01 -1.10841694e-01 -2.07191396e-02 1.58228835e+02] [ 2.07865902e-02 -5.47130047e-04 9.99783786e-01 4.90665882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:158.25, Z:4.91 [[-1.10687290e-01 -9.93853697e-01 1.77558696e-03 9.67502675e+01] [ 9.93636048e-01 -1.10700220e-01 -2.08054386e-02 1.58254964e+02] [ 2.08741200e-02 -5.38610406e-04 9.99781967e-01 4.90849685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:158.28, Z:4.91 [[-1.10869403e-01 -9.93833343e-01 1.80608235e-03 9.67499410e+01] [ 9.93609977e-01 -1.10882787e-01 -2.10765550e-02 1.58281057e+02] [ 2.11468465e-02 -5.42203621e-04 9.99776233e-01 4.90866790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:158.31, Z:4.91 [[-1.10831912e-01 -9.93837507e-01 1.81563438e-03 9.67481399e+01] [ 9.93613412e-01 -1.10845488e-01 -2.11108103e-02 1.58307314e+02] [ 2.11819700e-02 -5.35712802e-04 9.99775493e-01 4.90912348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:158.33, Z:4.91 [[-1.11178487e-01 -9.93798755e-01 1.83790584e-03 9.67478535e+01] [ 9.93571257e-01 -1.11192373e-01 -2.12700143e-02 1.58332640e+02] [ 2.13424749e-02 -5.38677601e-04 9.99772078e-01 4.90921690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.36, Z:4.91 [[-1.11593787e-01 -9.93752209e-01 1.83663567e-03 9.67437363e+01] [ 9.93527096e-01 -1.11607611e-01 -2.11577615e-02 1.58360088e+02] [ 2.12305548e-02 -5.36327428e-04 9.99774463e-01 4.91036461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.39, Z:4.91 [[-1.12065718e-01 -9.93699171e-01 1.79810482e-03 9.67431984e+01] [ 9.93485176e-01 -1.12078911e-01 -2.06281918e-02 1.58386645e+02] [ 2.06997468e-02 -5.25322649e-04 9.99785599e-01 4.91112050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.41, Z:4.91 [[-1.12288050e-01 -9.93674102e-01 1.78102926e-03 9.67418070e+01] [ 9.93465966e-01 -1.12300993e-01 -2.03435970e-02 1.58413171e+02] [ 2.04149168e-02 -5.14950872e-04 9.99791461e-01 4.91207340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.44, Z:4.91 [[-1.12806723e-01 -9.93615362e-01 1.77655734e-03 9.67392108e+01] [ 9.93410079e-01 -1.12819539e-01 -2.02031355e-02 1.58440101e+02] [ 2.02745761e-02 -5.14199531e-04 9.99794317e-01 4.91290018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.47, Z:4.91 [[-1.12765619e-01 -9.93619995e-01 1.79458465e-03 9.67395551e+01] [ 9.93412272e-01 -1.12778750e-01 -2.03227002e-02 1.58466453e+02] [ 2.03954323e-02 -5.08939450e-04 9.99791862e-01 4.91295289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.49, Z:4.91 [[-1.12930700e-01 -9.93601241e-01 1.79773824e-03 9.67371499e+01] [ 9.93394569e-01 -1.12943886e-01 -2.02708666e-02 1.58493095e+02] [ 2.03442018e-02 -5.03339746e-04 9.99792909e-01 4.91320106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.74, Y:158.52, Z:4.91 [[-1.11746533e-01 -9.93734970e-01 1.87645735e-03 9.67350414e+01] [ 9.93511822e-01 -1.11761214e-01 -2.10639577e-02 1.58518622e+02] [ 2.11417065e-02 -4.89541679e-04 9.99776369e-01 4.91296019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:158.54, Z:4.91 [[-1.11265106e-01 -9.93788985e-01 1.87892172e-03 9.67301927e+01] [ 9.93567200e-01 -1.11279978e-01 -2.09996369e-02 1.58544696e+02] [ 2.10782942e-02 -4.69691820e-04 9.99777718e-01 4.91359274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:158.57, Z:4.91 [[-1.09237008e-01 -9.94013863e-01 1.92802846e-03 9.67281654e+01] [ 9.93782437e-01 -1.09253185e-01 -2.14525029e-02 1.58570587e+02] [ 2.15347285e-02 -4.27366408e-04 9.99768010e-01 4.91323397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.60, Z:4.91 [[-1.08749835e-01 -9.94067162e-01 1.98751499e-03 9.67245011e+01] [ 9.93823360e-01 -1.08767187e-01 -2.20187967e-02 1.58597036e+02] [ 2.21043392e-02 -4.19301684e-04 9.99755581e-01 4.91382044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.62, Z:4.91 [[-1.08355613e-01 -9.94110187e-01 1.99953258e-03 9.67226806e+01] [ 9.93865622e-01 -1.08373313e-01 -2.20533338e-02 1.58622250e+02] [ 2.21401397e-02 -4.02335801e-04 9.99754796e-01 4.91367550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.65, Z:4.91 [[-1.07853345e-01 -9.94164838e-01 1.98281257e-03 9.67204617e+01] [ 9.93926483e-01 -1.07870909e-01 -2.17718527e-02 1.58648318e+02] [ 2.18586982e-02 -3.77397209e-04 9.99760999e-01 4.91425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.67, Z:4.91 [[-1.07981642e-01 -9.94150973e-01 1.95158474e-03 9.67184679e+01] [ 9.93922001e-01 -1.07998661e-01 -2.13388211e-02 1.58674235e+02] [ 2.14247783e-02 -3.64477931e-04 9.99770397e-01 4.91489355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.70, Z:4.92 [[-1.08132068e-01 -9.94134688e-01 1.91803324e-03 9.67174995e+01] [ 9.93915265e-01 -1.08148503e-01 -2.08889237e-02 1.58699549e+02] [ 2.09738360e-02 -3.52399998e-04 9.99779963e-01 4.91531723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:158.72, Z:4.92 [[-1.08712788e-01 -9.94071408e-01 1.88850158e-03 9.67158383e+01] [ 9.93860188e-01 -1.08728623e-01 -2.04942262e-02 1.58724784e+02] [ 2.05780584e-02 -3.51077928e-04 9.99788188e-01 4.91579644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.75, Z:4.92 [[-1.09250134e-01 -9.94012502e-01 1.88539520e-03 9.67141018e+01] [ 9.93803759e-01 -1.09265834e-01 -2.03731583e-02 1.58750991e+02] [ 2.04571833e-02 -3.52057417e-04 9.99790668e-01 4.91608019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.78, Z:4.92 [[-1.10330839e-01 -9.93893131e-01 1.88406193e-03 9.67132613e+01] [ 9.93686376e-01 -1.10346322e-01 -2.02750005e-02 1.58776461e+02] [ 2.03590830e-02 -3.64791141e-04 9.99792666e-01 4.91602497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.80, Z:4.92 [[-1.11237994e-01 -9.93792003e-01 1.88783726e-03 9.67114745e+01] [ 9.93586132e-01 -1.11253382e-01 -2.02307645e-02 1.58803025e+02] [ 2.03152003e-02 -3.74700753e-04 9.99793555e-01 4.91642112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.83, Z:4.92 [[-1.12632489e-01 -9.93635064e-01 1.81188006e-03 9.67101077e+01] [ 9.93446860e-01 -1.12646425e-01 -1.93421603e-02 1.58829328e+02] [ 1.94231505e-02 -3.78549097e-04 9.99811281e-01 4.91683980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.86, Z:4.92 [[-1.13431823e-01 -9.93544151e-01 1.80063830e-03 9.67083790e+01] [ 9.93359728e-01 -1.13445467e-01 -1.91461745e-02 1.58855063e+02] [ 1.92268439e-02 -3.83103903e-04 9.99815074e-01 4.91744775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:158.88, Z:4.92 [[-1.13809035e-01 -9.93501076e-01 1.76516395e-03 9.67051263e+01] [ 9.93325261e-01 -1.13822108e-01 -1.86936780e-02 1.58879862e+02] [ 1.87731039e-02 -3.74127507e-04 9.99823700e-01 4.91864088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:158.91, Z:4.92 [[-1.14590701e-01 -9.93411260e-01 1.74326268e-03 9.67001998e+01] [ 9.93241132e-01 -1.14603344e-01 -1.83882261e-02 1.58905683e+02] [ 1.84668546e-02 -3.75639507e-04 9.99829403e-01 4.91924756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:158.93, Z:4.92 [[-1.15502269e-01 -9.93305673e-01 1.75104983e-03 9.66958643e+01] [ 9.93135375e-01 -1.15514897e-01 -1.83966178e-02 1.58932973e+02] [ 1.84757372e-02 -3.85821563e-04 9.99829235e-01 4.91962236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:158.96, Z:4.92 [[-1.16240262e-01 -9.93219566e-01 1.75955054e-03 9.66923658e+01] [ 9.93048895e-01 -1.16252913e-01 -1.84160894e-02 1.58960434e+02] [ 1.84957732e-02 -3.93371340e-04 9.99828861e-01 4.91962295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:158.99, Z:4.92 [[-1.16844416e-01 -9.93148608e-01 1.79574217e-03 9.66900165e+01] [ 9.92972209e-01 -1.16857515e-01 -1.87219923e-02 1.58987095e+02] [ 1.88035666e-02 -4.04438194e-04 9.99823116e-01 4.91954152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:159.01, Z:4.92 [[-1.17600871e-01 -9.93059208e-01 1.85624030e-03 9.66873393e+01] [ 9.92872232e-01 -1.17614756e-01 -1.92743560e-02 1.59012806e+02] [ 1.93588980e-02 -4.23671600e-04 9.99812509e-01 4.91888146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:159.04, Z:4.92 [[-1.18104530e-01 -9.92999375e-01 1.88708011e-03 9.66826536e+01] [ 9.92807636e-01 -1.18118817e-01 -1.95177466e-02 1.59039496e+02] [ 1.96040098e-02 -4.31626749e-04 9.99807730e-01 4.91902641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:159.06, Z:4.92 [[-1.18603550e-01 -9.92939887e-01 1.89190842e-03 9.66806651e+01] [ 9.92748564e-01 -1.18617844e-01 -1.94960683e-02 1.59064591e+02] [ 1.95828380e-02 -4.34113561e-04 9.99808144e-01 4.91909218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:159.09, Z:4.92 [[-1.18986735e-01 -9.92894029e-01 1.89837924e-03 9.66778999e+01] [ 9.92702710e-01 -1.19001082e-01 -1.94954384e-02 1.59090382e+02] [ 1.95828136e-02 -4.35172347e-04 9.99808144e-01 4.91949659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:159.12, Z:4.92 [[-1.19291185e-01 -9.92857463e-01 1.91611272e-03 9.66758664e+01] [ 9.92664115e-01 -1.19305777e-01 -1.95981350e-02 1.59115935e+02] [ 1.96867579e-02 -4.35828413e-04 9.99806102e-01 4.91912130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:159.14, Z:4.92 [[-1.19548468e-01 -9.92826460e-01 1.94531257e-03 9.66705283e+01] [ 9.92628785e-01 -1.19563492e-01 -1.98157940e-02 1.59142771e+02] [ 1.99062330e-02 -4.37974566e-04 9.99801755e-01 4.91985678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters Centerline goodness [0,1] 0.9999782971981683 Centerline is valid? [True, True] Translation: X:96.67, Y:159.17, Z:4.92 [[-1.19591622e-01 -9.92821180e-01 1.98691254e-03 9.66682901e+01] [ 9.92616537e-01 -1.19607321e-01 -2.01618049e-02 1.59167834e+02] [ 2.02547163e-02 -4.38940714e-04 9.99794756e-01 4.91966053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:159.19, Z:4.92 [[-1.18770099e-01 -9.92919895e-01 1.93562826e-03 9.66653552e+01] [ 9.92727203e-01 -1.18785190e-01 -1.95647482e-02 1.59192801e+02] [ 1.96561517e-02 -4.02156261e-04 9.99806718e-01 4.92045092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:159.22, Z:4.92 [[-1.18542119e-01 -9.92947130e-01 1.94004566e-03 9.66615685e+01] [ 9.92754839e-01 -1.18557349e-01 -1.95444346e-02 1.59218682e+02] [ 1.96365970e-02 -3.90848975e-04 9.99807107e-01 4.92093148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:159.24, Z:4.92 [[-1.17884189e-01 -9.93025573e-01 1.87840013e-03 9.66580457e+01] [ 9.92846716e-01 -1.17898613e-01 -1.88498176e-02 1.59243979e+02] [ 1.89398117e-02 -3.57132064e-04 9.99820562e-01 4.92118783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:159.27, Z:4.92 [[-1.17801893e-01 -9.93035409e-01 1.84130125e-03 9.66548952e+01] [ 9.92864918e-01 -1.17815792e-01 -1.84036227e-02 1.59270459e+02] [ 1.84923834e-02 -3.39818171e-04 9.99828944e-01 4.92151158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:159.30, Z:4.92 [[-1.17735263e-01 -9.93043312e-01 1.84067334e-03 9.66515874e+01] [ 9.92874242e-01 -1.17749188e-01 -1.83267294e-02 1.59296626e+02] [ 1.84159739e-02 -3.30145157e-04 9.99830357e-01 4.92158596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:159.32, Z:4.92 [[-1.17681105e-01 -9.93049786e-01 1.81134070e-03 9.66473296e+01] [ 9.92887286e-01 -1.17694620e-01 -1.79670109e-02 1.59323815e+02] [ 1.80553214e-02 -3.15920554e-04 9.99836940e-01 4.92230657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:159.35, Z:4.92 [[-1.18096421e-01 -9.93000463e-01 1.82125578e-03 9.66473817e+01] [ 9.92837372e-01 -1.18110037e-01 -1.79992095e-02 1.59350551e+02] [ 1.80883320e-02 -3.17431416e-04 9.99836342e-01 4.92232796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:159.38, Z:4.92 [[-1.18790978e-01 -9.92917712e-01 1.76639682e-03 9.66437637e+01] [ 9.92765407e-01 -1.18803699e-01 -1.73933077e-02 1.59377291e+02] [ 1.74799778e-02 -3.12550382e-04 9.99847165e-01 4.92303213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:159.40, Z:4.92 [[-1.19267752e-01 -9.92860540e-01 1.77546755e-03 9.66417295e+01] [ 9.92707771e-01 -1.19280551e-01 -1.74192746e-02 1.59402466e+02] [ 1.75066891e-02 -3.15037295e-04 9.99846697e-01 4.92317962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:159.43, Z:4.92 [[-1.19706373e-01 -9.92807791e-01 1.75323285e-03 9.66401277e+01] [ 9.92660011e-01 -1.19718809e-01 -1.71321080e-02 1.59428397e+02] [ 1.72187853e-02 -3.10458374e-04 9.99851698e-01 4.92355217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.64, Y:159.46, Z:4.92 [[-1.20013160e-01 -9.92770834e-01 1.70676285e-03 9.66365928e+01] [ 9.92631819e-01 -1.20024920e-01 -1.66159399e-02 1.59455169e+02] [ 1.67006746e-02 -2.99944333e-04 9.99860489e-01 4.92405957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:159.48, Z:4.92 [[-1.20110728e-01 -9.92759093e-01 1.67214979e-03 9.66340010e+01] [ 9.92626574e-01 -1.20122020e-01 -1.62229602e-02 1.59480670e+02] [ 1.63063533e-02 -2.88731247e-04 9.99867001e-01 4.92454848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:159.51, Z:4.92 [[-1.20622777e-01 -9.92696978e-01 1.68980516e-03 9.66328854e+01] [ 9.92562497e-01 -1.20634254e-01 -1.63421656e-02 1.59505679e+02] [ 1.64266668e-02 -2.94000166e-04 9.99865030e-01 4.92452968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:159.53, Z:4.92 [[-1.21522941e-01 -9.92587173e-01 1.69699453e-03 9.66296240e+01] [ 9.92452618e-01 -1.21534414e-01 -1.63458557e-02 1.59531740e+02] [ 1.64309299e-02 -3.02209798e-04 9.99864958e-01 4.92424326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:159.56, Z:4.92 [[-1.22521874e-01 -9.92464391e-01 1.67997853e-03 9.66271773e+01] [ 9.92333491e-01 -1.22533003e-01 -1.61216178e-02 1.59558511e+02] [ 1.62059844e-02 -3.08151854e-04 9.99868627e-01 4.92433650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:159.59, Z:4.92 [[-1.23516411e-01 -9.92341099e-01 1.68488274e-03 9.66246920e+01] [ 9.92210407e-01 -1.23527494e-01 -1.61079696e-02 1.59585254e+02] [ 1.61927296e-02 -3.17840415e-04 9.99868839e-01 4.92455136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:159.61, Z:4.93 [[-1.24275810e-01 -9.92246286e-01 1.68280074e-03 9.66215807e+01] [ 9.92116871e-01 -1.24286785e-01 -1.60284113e-02 1.59611994e+02] [ 1.61132814e-02 -3.22408794e-04 9.99870121e-01 4.92500146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:159.64, Z:4.93 [[-1.25669358e-01 -9.92070667e-01 1.73347243e-03 9.66211813e+01] [ 9.91934285e-01 -1.25680831e-01 -1.64530351e-02 1.59638295e+02] [ 1.65404378e-02 -3.48151622e-04 9.99863137e-01 4.92519106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:159.66, Z:4.93 [[-1.27003901e-01 -9.91900612e-01 1.78480603e-03 9.66172185e+01] [ 9.91757063e-01 -1.27015892e-01 -1.68787226e-02 1.59664951e+02] [ 1.69687140e-02 -3.73569620e-04 9.99855951e-01 4.92509647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:159.69, Z:4.92 [[-1.27693104e-01 -9.91812041e-01 1.82934245e-03 9.66143831e+01] [ 9.91662271e-01 -1.27705619e-01 -1.72399490e-02 1.59690510e+02] [ 1.73324064e-02 -3.87332706e-04 9.99849708e-01 4.92496752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:159.72, Z:4.93 [[-1.28296395e-01 -9.91734141e-01 1.85139256e-03 9.66113153e+01] [ 9.91581912e-01 -1.28309148e-01 -1.73802859e-02 1.59716373e+02] [ 1.74741735e-02 -3.94020649e-04 9.99847237e-01 4.92511957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:159.74, Z:4.93 [[-1.28845004e-01 -9.91663002e-01 1.85872186e-03 9.66074907e+01] [ 9.91510668e-01 -1.28857799e-01 -1.73857188e-02 1.59743022e+02] [ 1.74802849e-02 -3.97120465e-04 9.99847129e-01 4.92531481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:159.77, Z:4.93 [[-1.29356876e-01 -9.91596414e-01 1.83034712e-03 9.66038937e+01] [ 9.91449742e-01 -1.29369231e-01 -1.70590363e-02 1.59769327e+02] [ 1.71524698e-02 -3.92006463e-04 9.99852809e-01 4.92605314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:159.80, Z:4.93 [[-1.29903765e-01 -9.91524949e-01 1.81315341e-03 9.65998272e+01] [ 9.91382042e-01 -1.29915833e-01 -1.68381701e-02 1.59795418e+02] [ 1.69310231e-02 -3.89813963e-04 9.99856584e-01 4.92672708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:159.82, Z:4.93 [[-1.30469283e-01 -9.91450753e-01 1.78039383e-03 9.65985358e+01] [ 9.91313950e-01 -1.30480864e-01 -1.64741208e-02 1.59821100e+02] [ 1.65655868e-02 -3.84437493e-04 9.99862707e-01 4.92739174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.60, Y:159.85, Z:4.93 [[-1.30521277e-01 -9.91443978e-01 1.74192503e-03 9.65952273e+01] [ 9.91313993e-01 -1.30532378e-01 -1.60581784e-02 1.59846245e+02] [ 1.61481619e-02 -3.69139283e-04 9.99869542e-01 4.92786171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:159.87, Z:4.93 [[-1.30358645e-01 -9.91465393e-01 1.73164353e-03 9.65870641e+01] [ 9.91337858e-01 -1.30369658e-01 -1.59060904e-02 1.59872869e+02] [ 1.59960919e-02 -3.56852605e-04 9.99871991e-01 4.92845395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:159.90, Z:4.93 [[-1.29156514e-01 -9.91622766e-01 1.69879120e-03 9.65830695e+01] [ 9.91500854e-01 -1.29167278e-01 -1.55522091e-02 1.59898887e+02] [ 1.56413528e-02 -3.24316182e-04 9.99877614e-01 4.92913912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:159.92, Z:4.93 [[-1.28331932e-01 -9.91729837e-01 1.68678964e-03 9.65792109e+01] [ 9.91610496e-01 -1.28342662e-01 -1.53878537e-02 1.59924001e+02] [ 1.54770807e-02 -3.02114680e-04 9.99880177e-01 4.92965048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:159.95, Z:4.93 [[-1.27491734e-01 -9.91838270e-01 1.64461675e-03 9.65737166e+01] [ 9.91725457e-01 -1.27502042e-01 -1.49615186e-02 1.59950760e+02] [ 1.50490987e-02 -2.76461649e-04 9.99886718e-01 4.93055240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.57, Y:159.98, Z:4.93 [[-1.25062406e-01 -9.92147612e-01 1.58470765e-03 9.65678161e+01] [ 9.92043551e-01 -1.25072243e-01 -1.43710145e-02 1.59976167e+02] [ 1.44563707e-02 -2.25174656e-04 9.99895476e-01 4.93148449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:160.00, Z:4.93 [[-1.24426432e-01 -9.92227586e-01 1.57520447e-03 9.65633714e+01] [ 9.92125470e-01 -1.24436228e-01 -1.42364708e-02 1.60001612e+02] [ 1.43218315e-02 -2.08592788e-04 9.99897416e-01 4.93217649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:160.03, Z:4.93 [[-1.22368565e-01 -9.92483608e-01 1.49052636e-03 9.65564468e+01] [ 9.92392840e-01 -1.22377533e-01 -1.34234810e-02 1.60027328e+02] [ 1.35049918e-02 -1.63424423e-04 9.99908790e-01 4.93291116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:160.05, Z:4.93 [[-1.21657164e-01 -9.92571076e-01 1.48098471e-03 9.65526582e+01] [ 9.92482110e-01 -1.21666089e-01 -1.32899712e-02 1.60052559e+02] [ 1.33714266e-02 -1.46969381e-04 9.99910588e-01 4.93355106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:160.08, Z:4.93 [[-1.20955291e-01 -9.92656828e-01 1.49676832e-03 9.65485398e+01] [ 9.92566654e-01 -1.20964479e-01 -1.33802974e-02 1.60077518e+02] [ 1.34630994e-02 -1.32775455e-04 9.99909360e-01 4.93433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:160.10, Z:4.93 [[-1.19669774e-01 -9.92812652e-01 1.47763935e-03 9.65433816e+01] [ 9.92725420e-01 -1.19678847e-01 -1.31610510e-02 1.60103977e+02] [ 1.32433001e-02 -1.08089859e-04 9.99912298e-01 4.93481722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:160.13, Z:4.94 [[-1.19473913e-01 -9.92836206e-01 1.50104086e-03 9.65397702e+01] [ 9.92746773e-01 -1.19483299e-01 -1.33261307e-02 1.60129676e+02] [ 1.34100143e-02 -1.01971509e-04 9.99910077e-01 4.93510205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:160.16, Z:4.94 [[-1.19506146e-01 -9.92832315e-01 1.50814947e-03 9.65364004e+01] [ 9.92742681e-01 -1.19515622e-01 -1.33411066e-02 1.60155884e+02] [ 1.34257292e-02 -9.71398791e-05 9.99909866e-01 4.93535973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.18, Z:4.94 [[-1.20419047e-01 -9.92721898e-01 1.57672461e-03 9.65334939e+01] [ 9.92624644e-01 -1.20429320e-01 -1.38958803e-02 1.60182241e+02] [ 1.39846286e-02 -1.08232963e-04 9.99902204e-01 4.93505399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.21, Z:4.94 [[-1.21288800e-01 -9.92615899e-01 1.64451688e-03 9.65314511e+01] [ 9.92510873e-01 -1.21299890e-01 -1.44396240e-02 1.60207362e+02] [ 1.45324801e-02 -1.19163793e-04 9.99894391e-01 4.93535157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.23, Z:4.94 [[-1.23322942e-01 -9.92365165e-01 1.68272269e-03 9.65291826e+01] [ 9.92255792e-01 -1.23334334e-01 -1.47337922e-02 1.60233369e+02] [ 1.48288396e-02 -1.47323267e-04 9.99890036e-01 4.93509986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.26, Z:4.94 [[-1.25262939e-01 -9.92122054e-01 1.73981918e-03 9.65269043e+01] [ 9.92005935e-01 -1.25274898e-01 -1.51797332e-02 1.60259412e+02] [ 1.52781038e-02 -1.75547048e-04 9.99883268e-01 4.93513709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.28, Z:4.93 [[-1.26940724e-01 -9.91908647e-01 1.81370455e-03 9.65252648e+01] [ 9.91783337e-01 -1.26953518e-01 -1.57675653e-02 1.60284728e+02] [ 1.58702405e-02 -2.02744198e-04 9.99874039e-01 4.93489959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.53, Y:160.31, Z:4.93 [[-1.30583425e-01 -9.91435534e-01 1.88468744e-03 9.65250827e+01] [ 9.91301167e-01 -1.30596759e-01 -1.63243281e-02 1.60312273e+02] [ 1.64306530e-02 -2.63393816e-04 9.99864973e-01 4.93473339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:160.34, Z:4.94 [[-1.32543892e-01 -9.91175286e-01 1.91571683e-03 9.65233959e+01] [ 9.91037290e-01 -1.32557410e-01 -1.65415700e-02 1.60339456e+02] [ 1.66495378e-02 -2.93937255e-04 9.99861344e-01 4.93512517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:160.37, Z:4.94 [[-1.34279886e-01 -9.90941492e-01 1.96769489e-03 9.65203486e+01] [ 9.90796787e-01 -1.34293909e-01 -1.69372952e-02 1.60366809e+02] [ 1.70481180e-02 -3.24752283e-04 9.99854618e-01 4.93557757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:160.39, Z:4.94 [[-1.36779148e-01 -9.90599528e-01 2.00972864e-03 9.65202712e+01] [ 9.90449499e-01 -1.36793416e-01 -1.72438781e-02 1.60393004e+02] [ 1.73566951e-02 -3.68068225e-04 9.99849293e-01 4.93611893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:160.42, Z:4.94 [[-1.37699881e-01 -9.90471909e-01 2.03478142e-03 9.65153860e+01] [ 9.90319105e-01 -1.37714387e-01 -1.74016644e-02 1.60419644e+02] [ 1.75160784e-02 -3.81124193e-04 9.99846509e-01 4.93695651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:160.45, Z:4.94 [[-1.38409689e-01 -9.90372960e-01 2.03916251e-03 9.65119182e+01] [ 9.90220440e-01 -1.38424168e-01 -1.73847684e-02 1.60447008e+02] [ 1.74996739e-02 -3.86999985e-04 9.99846794e-01 4.93789620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:160.47, Z:4.94 [[-1.38678408e-01 -9.90335310e-01 2.06693613e-03 9.65084441e+01] [ 9.90179589e-01 -1.38693264e-01 -1.75658784e-02 1.60473873e+02] [ 1.76827798e-02 -3.89370097e-04 9.99843572e-01 4.93827579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:160.50, Z:4.94 [[-1.38884268e-01 -9.90306396e-01 2.09824595e-03 9.65089388e+01] [ 9.90146939e-01 -1.38899567e-01 -1.77749717e-02 1.60499060e+02] [ 1.78941136e-02 -3.91092134e-04 9.99839811e-01 4.93808217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:160.53, Z:4.94 [[-1.38008111e-01 -9.90428867e-01 2.10267828e-03 9.65004310e+01] [ 9.90269880e-01 -1.38023639e-01 -1.77493709e-02 1.60525029e+02] [ 1.78697086e-02 -3.67338180e-04 9.99840257e-01 4.93881877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:160.55, Z:4.94 [[-1.37745505e-01 -9.90465465e-01 2.08284585e-03 9.64970836e+01] [ 9.90310474e-01 -1.37760804e-01 -1.75249977e-02 1.60550484e+02] [ 1.76448395e-02 -3.51325601e-04 9.99844256e-01 4.93900597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:96.49, Y:160.58, Z:4.94 [[-1.37381351e-01 -9.90516040e-01 2.08320086e-03 9.64913954e+01] [ 9.90361836e-01 -1.37396728e-01 -1.74806456e-02 1.60577576e+02] [ 1.76010848e-02 -3.38392070e-04 9.99845032e-01 4.93987229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:160.60, Z:4.94 [[-1.37299133e-01 -9.90527476e-01 2.06560652e-03 9.64876495e+01] [ 9.90376795e-01 -1.37314282e-01 -1.72798330e-02 1.60604386e+02] [ 1.73997866e-02 -3.26777334e-04 9.99848559e-01 4.94040090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:160.63, Z:4.94 [[-1.37383715e-01 -9.90515831e-01 2.02583935e-03 9.64848545e+01] [ 9.90371771e-01 -1.37398290e-01 -1.68957431e-02 1.60630152e+02] [ 1.70138479e-02 -3.14865848e-04 9.99855204e-01 4.94086001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:160.66, Z:4.94 [[-1.37320785e-01 -9.90524605e-01 2.00224472e-03 9.64799910e+01] [ 9.90384769e-01 -1.37335047e-01 -1.66461514e-02 1.60656810e+02] [ 1.67634010e-02 -3.02869909e-04 9.99859438e-01 4.94155140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:96.48, Y:160.68, Z:4.94 [[-1.37937109e-01 -9.90438888e-01 2.04022663e-03 9.64770977e+01] [ 9.90294579e-01 -1.37951844e-01 -1.69096608e-02 1.60683162e+02] [ 1.70294386e-02 -3.12044353e-04 9.99854940e-01 4.94037616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:160.71, Z:4.94 [[-1.38283723e-01 -9.90390717e-01 1.95970477e-03 9.64737274e+01] [ 9.90258374e-01 -1.38297286e-01 -1.61929940e-02 1.60708884e+02] [ 1.63084128e-02 -2.98613430e-04 9.99866964e-01 4.94254353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:160.73, Z:4.94 [[-1.38670742e-01 -9.90336589e-01 1.96603330e-03 9.64703519e+01] [ 9.90204252e-01 -1.38684356e-01 -1.61922256e-02 1.60734597e+02] [ 1.63084116e-02 -2.98613408e-04 9.99866964e-01 4.94294758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.592755096 meters Centerline goodness [0,1] 0.9999568649441402 Centerline is valid? [True, True] Translation: X:96.47, Y:160.76, Z:4.94 [[-1.39655380e-01 -9.90198154e-01 1.99769040e-03 9.64678457e+01] [ 9.90062394e-01 -1.39669318e-01 -1.63993149e-02 1.60759516e+02] [ 1.65175874e-02 -3.12414413e-04 9.99863527e-01 4.94224500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:160.79, Z:4.94 [[-1.40132428e-01 -9.90130800e-01 1.97535827e-03 9.64644949e+01] [ 9.89998732e-01 -1.40146005e-01 -1.61743134e-02 1.60785267e+02] [ 1.62915244e-02 -3.10943622e-04 9.99867236e-01 4.94381173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:160.81, Z:4.94 [[-1.41408884e-01 -9.89949274e-01 1.99080101e-03 9.64618934e+01] [ 9.89815978e-01 -1.41422518e-01 -1.62481322e-02 1.60810665e+02] [ 1.63663707e-02 -3.27103586e-04 9.99866008e-01 4.94409193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:160.84, Z:4.94 [[-1.42225584e-01 -9.89832240e-01 2.00480119e-03 9.64587142e+01] [ 9.89697947e-01 -1.42239318e-01 -1.63079824e-02 1.60837302e+02] [ 1.64273283e-02 -3.35264694e-04 9.99865006e-01 4.94446828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:160.86, Z:4.94 [[-1.43145832e-01 -9.89699480e-01 2.05201515e-03 9.64555231e+01] [ 9.89559663e-01 -1.43160109e-01 -1.66390389e-02 1.60863918e+02] [ 1.67614149e-02 -3.51217653e-04 9.99859456e-01 4.94463579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:160.89, Z:4.94 [[-1.44034806e-01 -9.89570505e-01 2.04711407e-03 9.64526213e+01] [ 9.89432183e-01 -1.44048907e-01 -1.65489483e-02 1.60889171e+02] [ 1.66712357e-02 -3.58144021e-04 9.99860961e-01 4.94448970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:160.92, Z:4.95 [[-1.44577559e-01 -9.89491400e-01 2.02472169e-03 9.64461585e+01] [ 9.89356738e-01 -1.44591294e-01 -1.63279806e-02 1.60915984e+02] [ 1.64491535e-02 -3.57487544e-04 9.99864640e-01 4.94503808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80275509600006 meters Centerline goodness [0,1] 0.9998709094429743 Centerline is valid? [True, True] Translation: X:96.44, Y:160.94, Z:4.94 [[-1.45562528e-01 -9.89346996e-01 2.01773376e-03 9.64431952e+01] [ 9.89214032e-01 -1.45576053e-01 -1.62237865e-02 1.60942402e+02] [ 1.63446882e-02 -3.65604829e-04 9.99866350e-01 4.94359053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.44, Y:160.97, Z:4.95 [[-1.45282624e-01 -9.89388311e-01 1.93130619e-03 9.64374493e+01] [ 9.89267211e-01 -1.45295065e-01 -1.54831966e-02 1.60968704e+02] [ 1.55995030e-02 -3.38861539e-04 9.99878263e-01 4.94632062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:161.00, Z:4.95 [[-1.45694891e-01 -9.89327576e-01 1.98627384e-03 9.64345390e+01] [ 9.89200254e-01 -1.45708014e-01 -1.58755383e-02 1.60995141e+02] [ 1.59955238e-02 -3.48162231e-04 9.99872003e-01 4.94676020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:161.02, Z:4.95 [[-1.46325527e-01 -9.89234475e-01 1.99863052e-03 9.64289491e+01] [ 9.89106350e-01 -1.46338749e-01 -1.59248066e-02 1.61021518e+02] [ 1.60458448e-02 -3.53347581e-04 9.99871195e-01 4.94674691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:161.05, Z:4.95 [[-1.46939420e-01 -9.89143415e-01 2.02760460e-03 9.64275186e+01] [ 9.89012387e-01 -1.46952966e-01 -1.61035718e-02 1.61046953e+02] [ 1.62267045e-02 -3.60923444e-04 9.99868273e-01 4.94693276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:161.07, Z:4.95 [[-1.48048670e-01 -9.88977945e-01 2.05314680e-03 9.64199854e+01] [ 9.88844468e-01 -1.48062429e-01 -1.62522423e-02 1.61072998e+02] [ 1.63771031e-02 -3.75880009e-04 9.99865816e-01 4.94717340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:161.10, Z:4.95 [[-1.48971667e-01 -9.88839310e-01 2.06455867e-03 9.64167787e+01] [ 9.88705171e-01 -1.48985473e-01 -1.62915001e-02 1.61098151e+02] [ 1.64172650e-02 -3.85732097e-04 9.99865153e-01 4.94767231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:161.12, Z:4.95 [[-1.50200659e-01 -9.88653426e-01 2.04077751e-03 9.64133642e+01] [ 9.88523171e-01 -1.50214006e-01 -1.60528283e-02 1.61124739e+02] [ 1.61772371e-02 -3.93789524e-04 9.99869062e-01 4.94839665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:161.15, Z:4.95 [[-1.52307098e-01 -9.88331105e-01 2.04339818e-03 9.64085639e+01] [ 9.88201189e-01 -1.52320219e-01 -1.60300037e-02 1.61151089e+02] [ 1.61542021e-02 -4.22194818e-04 9.99869423e-01 4.94923607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:161.18, Z:4.95 [[-1.53827549e-01 -9.88095725e-01 1.98090294e-03 9.64039325e+01] [ 9.87974130e-01 -1.53839707e-01 -1.55068602e-02 1.61177750e+02] [ 1.56270038e-02 -4.28301449e-04 9.99877799e-01 4.95004249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:161.20, Z:4.95 [[-1.54975251e-01 -9.87916329e-01 1.99959336e-03 9.64007002e+01] [ 9.87793124e-01 -1.54987516e-01 -1.56081569e-02 1.61203757e+02] [ 1.57294651e-02 -4.43693461e-04 9.99876186e-01 4.95088077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13275509600004 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:96.40, Y:161.23, Z:4.95 [[-1.56131338e-01 -9.87734439e-01 1.91949807e-03 9.63976704e+01] [ 9.87621369e-01 -1.56142520e-01 -1.49514107e-02 1.61229403e+02] [ 1.50677386e-02 -4.38646443e-04 9.99886379e-01 4.95122385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:161.26, Z:4.95 [[-1.57127197e-01 -9.87576591e-01 1.87631070e-03 9.63954057e+01] [ 9.87468997e-01 -1.57137787e-01 -1.45840935e-02 1.61255597e+02] [ 1.46977487e-02 -4.38759092e-04 9.99891886e-01 4.95277709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19275509600004 meters Centerline goodness [0,1] 0.9998502833921505 Centerline is valid? [True, True] Translation: X:96.39, Y:161.28, Z:4.95 [[-1.57631108e-01 -9.87496344e-01 1.84535403e-03 9.63877111e+01] [ 9.87392681e-01 -1.57641311e-01 -1.43147011e-02 1.61280954e+02] [ 1.44266190e-02 -4.34353126e-04 9.99895837e-01 4.95086271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:161.31, Z:4.95 [[-1.57449774e-01 -9.87525305e-01 1.82751691e-03 9.63824532e+01] [ 9.87424248e-01 -1.57459817e-01 -1.41336497e-02 1.61307036e+02] [ 1.42450973e-02 -4.20805446e-04 9.99898445e-01 4.95389082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:161.33, Z:4.95 [[-1.56132113e-01 -9.87734618e-01 1.75735604e-03 9.63741103e+01] [ 9.87641731e-01 -1.56141540e-01 -1.35510565e-02 1.61333524e+02] [ 1.36592438e-02 -3.80116921e-04 9.99906636e-01 4.95498127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.37, Y:161.36, Z:4.96 [[-1.55433352e-01 -9.87844976e-01 1.66624897e-03 9.63719612e+01] [ 9.87761896e-01 -1.55441898e-01 -1.28161326e-02 1.61358758e+02] [ 1.29193571e-02 -3.46197214e-04 9.99916482e-01 4.95605230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31275509600005 meters Centerline goodness [0,1] 0.9998720845947213 Centerline is valid? [True, True] Translation: X:96.36, Y:161.39, Z:4.95 [[-1.53060456e-01 -9.88215470e-01 1.63781669e-03 9.63602437e+01] [ 9.88135746e-01 -1.53068917e-01 -1.25560678e-02 1.61385040e+02] [ 1.26587993e-02 -3.03452242e-04 9.99919828e-01 4.95393355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.35, Y:161.41, Z:4.96 [[-1.51666921e-01 -9.88430370e-01 1.59652504e-03 9.63529617e+01] [ 9.88355027e-01 -1.51675077e-01 -1.22070704e-02 1.61411724e+02] [ 1.23079922e-02 -2.73475233e-04 9.99924216e-01 4.95673554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.35, Y:161.44, Z:4.96 [[-1.50492300e-01 -9.88609836e-01 1.63086624e-03 9.63473381e+01] [ 9.88531681e-01 -1.50500914e-01 -1.24334336e-02 1.61438091e+02] [ 1.25372616e-02 -2.58973062e-04 9.99921372e-01 4.95742449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:161.46, Z:4.96 [[-1.48250838e-01 -9.88948513e-01 1.58997823e-03 9.63400832e+01] [ 9.88874647e-01 -1.48259201e-01 -1.20889100e-02 1.61464121e+02] [ 1.21910385e-02 -2.19901876e-04 9.99925662e-01 4.95774993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:161.49, Z:4.96 [[-1.47668047e-01 -9.89035740e-01 1.56634826e-03 9.63345419e+01] [ 9.88964432e-01 -1.47676211e-01 -1.18780423e-02 1.61490194e+02] [ 1.19791208e-02 -2.04944585e-04 9.99928227e-01 4.95807410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:161.52, Z:4.96 [[-1.47136929e-01 -9.89114881e-01 1.57352527e-03 9.63286677e+01] [ 9.89043356e-01 -1.47145214e-01 -1.18964337e-02 1.61515695e+02] [ 1.19984763e-02 -1.94119996e-04 9.99927997e-01 4.95835003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:161.54, Z:4.96 [[-1.46846451e-01 -9.89157995e-01 1.60631756e-03 9.63230175e+01] [ 9.89083928e-01 -1.46855114e-01 -1.21061274e-02 1.61541676e+02] [ 1.22107687e-02 -1.88958960e-04 9.99925428e-01 4.95853871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.32, Y:161.57, Z:4.96 [[-1.46288248e-01 -9.89240635e-01 1.64775058e-03 9.63168852e+01] [ 9.89163188e-01 -1.46297416e-01 -1.23795897e-02 1.61566368e+02] [ 1.24874548e-02 -1.81094279e-04 9.99922012e-01 4.95811576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:161.59, Z:4.96 [[-1.46477014e-01 -9.89212641e-01 1.68400441e-03 9.63125240e+01] [ 9.89132278e-01 -1.46486582e-01 -1.26102096e-02 1.61592490e+02] [ 1.27208628e-02 -1.81402721e-04 9.99919070e-01 4.95849611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:161.62, Z:4.96 [[-1.47309199e-01 -9.89089007e-01 1.71358914e-03 9.63088515e+01] [ 9.89006312e-01 -1.47319043e-01 -1.27911775e-02 1.61617649e+02] [ 1.29040573e-02 -1.89507630e-04 9.99916721e-01 4.95874159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:161.64, Z:4.96 [[-1.48161992e-01 -9.88961666e-01 1.68730612e-03 9.63053084e+01] [ 9.88881824e-01 -1.48171473e-01 -1.25679269e-02 1.61643313e+02] [ 1.26792086e-02 -1.93542730e-04 9.99919597e-01 4.95903849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:161.67, Z:4.96 [[-1.48903458e-01 -9.88850283e-01 1.69664497e-03 9.63022793e+01] [ 9.88770044e-01 -1.48912992e-01 -1.25984524e-02 1.61668804e+02] [ 1.27106357e-02 -1.98361415e-04 9.99919197e-01 4.95923104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:161.70, Z:4.96 [[-1.50771070e-01 -9.88567300e-01 1.66638526e-03 9.62993012e+01] [ 9.88490354e-01 -1.50780129e-01 -1.23358331e-02 1.61695450e+02] [ 1.24460590e-02 -2.12680998e-04 9.99922522e-01 4.95940553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:161.72, Z:4.96 [[-1.51867311e-01 -9.88399607e-01 1.59299283e-03 9.62969332e+01] [ 9.88329636e-01 -1.51875518e-01 -1.17625163e-02 1.61720405e+02] [ 1.18680031e-02 -2.11939695e-04 9.99929550e-01 4.95984427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:161.75, Z:4.96 [[-1.52636513e-01 -9.88281153e-01 1.56758946e-03 9.62923978e+01] [ 9.88213666e-01 -1.52644413e-01 -1.15513280e-02 1.61745998e+02] [ 1.16552435e-02 -2.14041106e-04 9.99932052e-01 4.96009312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters Centerline goodness [0,1] 0.9999152398711646 Centerline is valid? [True, True] Translation: X:96.29, Y:161.77, Z:4.96 [[-1.53758199e-01 -9.88107318e-01 1.53129643e-03 9.62880873e+01] [ 9.88043265e-01 -1.53765670e-01 -1.12527540e-02 1.61771934e+02] [ 1.13543894e-02 -2.17216062e-04 9.99935513e-01 4.95779080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:161.80, Z:4.96 [[-1.54607409e-01 -9.87974815e-01 1.52093947e-03 9.62845807e+01] [ 9.87911990e-01 -1.54614733e-01 -1.11437725e-02 1.61797598e+02] [ 1.12449262e-02 -2.20355461e-04 9.99936750e-01 4.96014590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters Centerline goodness [0,1] 0.9999576342992713 Centerline is valid? [True, True] Translation: X:96.28, Y:161.83, Z:4.96 [[-1.56046082e-01 -9.87748524e-01 1.57295826e-03 9.62816940e+01] [ 9.87681740e-01 -1.56053826e-01 -1.14884596e-02 1.61825050e+02] [ 1.15931752e-02 -2.39146952e-04 9.99932768e-01 4.95870003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:161.85, Z:4.96 [[-1.56895197e-01 -9.87613915e-01 1.62841514e-03 9.62782235e+01] [ 9.87542725e-01 -1.56903444e-01 -1.18606655e-02 1.61852349e+02] [ 1.19692622e-02 -2.52751918e-04 9.99928334e-01 4.95974713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters Centerline goodness [0,1] 0.9999787460148778 Centerline is valid? [True, True] Translation: X:96.28, Y:161.88, Z:4.96 [[-1.57957371e-01 -9.87444611e-01 1.61528929e-03 9.62770528e+01] [ 9.87374918e-01 -1.57965418e-01 -1.17344888e-02 1.61878747e+02] [ 1.18423176e-02 -2.58652862e-04 9.99929844e-01 4.95952272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.27, Y:161.91, Z:4.96 [[-1.59652706e-01 -9.87171880e-01 1.64109765e-03 9.62733939e+01] [ 9.87100340e-01 -1.59660898e-01 -1.18876392e-02 1.61905908e+02] [ 1.19971623e-02 -2.77965712e-04 9.99927993e-01 4.95965778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.27, Y:161.93, Z:4.96 [[-1.60221787e-01 -9.87079563e-01 1.70716069e-03 9.62736628e+01] [ 9.87002583e-01 -1.60230618e-01 -1.23309012e-02 1.61931837e+02] [ 1.24451200e-02 -2.90707019e-04 9.99922514e-01 4.96037655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97275509600007 meters Centerline goodness [0,1] 0.9999787676759098 Centerline is valid? [True, True] Translation: X:96.27, Y:161.96, Z:4.96 [[-1.61014569e-01 -9.86950497e-01 1.73922653e-03 9.62671239e+01] [ 9.86870945e-01 -1.61023679e-01 -1.25344676e-02 1.61957581e+02] [ 1.26509557e-02 -3.01839763e-04 9.99919928e-01 4.95939782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:161.98, Z:4.96 [[-1.61557119e-01 -9.86861834e-01 1.73714100e-03 9.62639878e+01] [ 9.86782916e-01 -1.61566175e-01 -1.24838717e-02 1.61982902e+02] [ 1.26005198e-02 -3.02677290e-04 9.99920565e-01 4.96016503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:162.01, Z:4.96 [[-1.62235398e-01 -9.86750611e-01 1.70486215e-03 9.62615269e+01] [ 9.86675041e-01 -1.62244079e-01 -1.22156775e-02 1.62008913e+02] [ 1.23304310e-02 -2.99670358e-04 9.99923932e-01 4.96044381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:162.03, Z:4.96 [[-1.62797526e-01 -9.86658015e-01 1.71060627e-03 9.62589312e+01] [ 9.86582383e-01 -1.62806233e-01 -1.22201293e-02 1.62034531e+02] [ 1.23355858e-02 -3.01752802e-04 9.99923868e-01 4.96090589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:162.06, Z:4.96 [[-1.63384529e-01 -9.86560840e-01 1.79042243e-03 9.62560179e+01] [ 9.86478352e-01 -1.63394028e-01 -1.27613830e-02 1.62060629e+02] [ 1.28824251e-02 -3.18799580e-04 9.99916967e-01 4.96097932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:162.09, Z:4.96 [[-1.64308186e-01 -9.86407300e-01 1.85975484e-03 9.62538196e+01] [ 9.86318804e-01 -1.64318364e-01 -1.32170995e-02 1.62086165e+02] [ 1.33430353e-02 -3.37366462e-04 9.99910921e-01 4.96081946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.152755096 meters Centerline goodness [0,1] 0.999872340425532 Centerline is valid? [True, True] Translation: X:96.25, Y:162.11, Z:4.96 [[-1.65298154e-01 -9.86241807e-01 1.90214803e-03 9.62496471e+01] [ 9.86149767e-01 -1.65308723e-01 -1.34782577e-02 1.62112584e+02] [ 1.36072629e-02 -3.52128281e-04 9.99907355e-01 4.95774337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:162.14, Z:4.96 [[-1.66429938e-01 -9.86051316e-01 1.96902912e-03 9.62490840e+01] [ 9.85953266e-01 -1.66441166e-01 -1.39102950e-02 1.62138529e+02] [ 1.40439922e-02 -3.73718846e-04 9.99901308e-01 4.96038117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:162.16, Z:4.96 [[-1.67020191e-01 -9.85951563e-01 1.94190295e-03 9.62468702e+01] [ 9.85856545e-01 -1.67031064e-01 -1.36929030e-02 1.62164056e+02] [ 1.38248973e-02 -3.72553550e-04 9.99904362e-01 4.96082412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:162.19, Z:4.96 [[-1.67021710e-01 -9.85951428e-01 1.87879534e-03 9.62452017e+01] [ 9.85862833e-01 -1.67031897e-01 -1.32219336e-02 1.62189419e+02] [ 1.33500031e-02 -3.56115458e-04 9.99910821e-01 4.96146406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.24, Y:162.21, Z:4.96 [[-1.67133635e-01 -9.85932560e-01 1.82606734e-03 9.62395616e+01] [ 9.85849312e-01 -1.67143261e-01 -1.28165466e-02 1.62214902e+02] [ 1.29414655e-02 -3.41848794e-04 9.99916197e-01 4.96199063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:162.24, Z:4.96 [[-1.66968424e-01 -9.85960582e-01 1.80989955e-03 9.62343787e+01] [ 9.85879238e-01 -1.66977905e-01 -1.26691396e-02 1.62240769e+02] [ 1.27934855e-02 -3.31003873e-04 9.99918105e-01 4.96212128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:162.27, Z:4.96 [[-1.66494455e-01 -9.86040825e-01 1.75707096e-03 9.62312773e+01] [ 9.85964574e-01 -1.66503438e-01 -1.22663980e-02 1.62266325e+02] [ 1.23877276e-02 -3.09877528e-04 9.99923221e-01 4.96291203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:162.29, Z:4.96 [[-1.64512118e-01 -9.86373515e-01 1.74679466e-03 9.62268177e+01] [ 9.86298619e-01 -1.64521158e-01 -1.21582395e-02 1.62291776e+02] [ 1.22799501e-02 -2.77316576e-04 9.99924560e-01 4.96347619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:162.32, Z:4.96 [[-1.63221486e-01 -9.86587838e-01 1.78469615e-03 9.62218506e+01] [ 9.86510079e-01 -1.63231033e-01 -1.23893066e-02 1.62318212e+02] [ 1.25144570e-02 -2.61580296e-04 9.99921657e-01 4.96376414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:162.34, Z:4.96 [[-1.60645317e-01 -9.87010529e-01 1.81623331e-03 9.62176957e+01] [ 9.86930446e-01 -1.60655423e-01 -1.25749634e-02 1.62343727e+02] [ 1.27034090e-02 -2.27613036e-04 9.99919283e-01 4.96423377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:162.37, Z:4.96 [[-1.59724441e-01 -9.87159978e-01 1.81145875e-03 9.62137898e+01] [ 9.87080722e-01 -1.59734574e-01 -1.25105904e-02 1.62369302e+02] [ 1.26393067e-02 -2.10191040e-04 9.99920099e-01 4.96460927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:162.39, Z:4.97 [[-1.60087246e-01 -9.87101198e-01 1.81641311e-03 9.62097932e+01] [ 9.87021946e-01 -1.60097413e-01 -1.25098707e-02 1.62394909e+02] [ 1.26393114e-02 -2.09831157e-04 9.99920099e-01 4.96501320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:162.42, Z:4.97 [[-1.59302685e-01 -9.87228092e-01 1.82996624e-03 9.62047463e+01] [ 9.87148075e-01 -1.59313075e-01 -1.25706990e-02 1.62420408e+02] [ 1.27016848e-02 -1.96098453e-04 9.99919311e-01 4.96534841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:162.45, Z:4.97 [[-1.57538456e-01 -9.87511012e-01 1.90700486e-03 9.61994558e+01] [ 9.87424610e-01 -1.57549901e-01 -1.30640415e-02 1.62446593e+02] [ 1.32013333e-02 -1.75065404e-04 9.99912843e-01 4.96531579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:162.47, Z:4.97 [[-1.57255563e-01 -9.87556103e-01 1.90579272e-03 9.61955054e+01] [ 9.87470280e-01 -1.57267024e-01 -1.30203584e-02 1.62472486e+02] [ 1.31580527e-02 -1.65610116e-04 9.99913415e-01 4.96584474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:162.50, Z:4.97 [[-1.56846291e-01 -9.87621226e-01 1.88565925e-03 9.61914543e+01] [ 9.87537655e-01 -1.56857551e-01 -1.28486514e-02 1.62498321e+02] [ 1.29853808e-02 -1.53103801e-04 9.99915675e-01 4.96647054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:162.52, Z:4.97 [[-1.56654337e-01 -9.87651594e-01 1.93608611e-03 9.61890044e+01] [ 9.87563979e-01 -1.56666230e-01 -1.31560193e-02 1.62523819e+02] [ 1.32968828e-02 -1.48938583e-04 9.99911581e-01 4.96691964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:162.55, Z:4.97 [[-1.56292373e-01 -9.87708892e-01 1.95955886e-03 9.61844341e+01] [ 9.87619654e-01 -1.56304594e-01 -1.32775146e-02 1.62550134e+02] [ 1.34206072e-02 -1.39875410e-04 9.99909930e-01 4.96711648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:162.58, Z:4.97 [[-1.56619556e-01 -9.87657053e-01 1.96501803e-03 9.61807513e+01] [ 9.87567781e-01 -1.56631820e-01 -1.32796853e-02 1.62576389e+02] [ 1.34235592e-02 -1.39269905e-04 9.99909890e-01 4.96732085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:162.60, Z:4.97 [[-1.57420517e-01 -9.87529674e-01 1.98065471e-03 9.61778208e+01] [ 9.87439439e-01 -1.57432909e-01 -1.33504022e-02 1.62602773e+02] [ 1.34957386e-02 -1.45850651e-04 9.99908918e-01 4.96750141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:162.63, Z:4.97 [[-1.58523044e-01 -9.87353223e-01 2.01437418e-03 9.61762787e+01] [ 9.87260387e-01 -1.58535763e-01 -1.35402853e-02 1.62628674e+02] [ 1.36883947e-02 -1.57735409e-04 9.99906297e-01 4.96787879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.65, Z:4.97 [[-1.59886443e-01 -9.87133261e-01 2.06166367e-03 9.61726470e+01] [ 9.87036561e-01 -1.59899640e-01 -1.38178271e-02 1.62654490e+02] [ 1.39696960e-02 -1.74345800e-04 9.99902404e-01 4.96788899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.68, Z:4.97 [[-1.61671343e-01 -9.86842444e-01 2.08984034e-03 9.61728541e+01] [ 9.86743594e-01 -1.61684730e-01 -1.39687976e-02 1.62680000e+02] [ 1.41228977e-02 -1.96217705e-04 9.99900248e-01 4.96808706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.71, Z:4.97 [[-1.63205753e-01 -9.86589868e-01 2.07712028e-03 9.61692923e+01] [ 9.86492738e-01 -1.63218834e-01 -1.38452435e-02 1.62706046e+02] [ 1.39986021e-02 -2.10559308e-04 9.99901993e-01 4.96824672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.73, Z:4.97 [[-1.65632433e-01 -9.86185328e-01 2.09658497e-03 9.61694999e+01] [ 9.86086864e-01 -1.65645526e-01 -1.39376205e-02 1.62732854e+02] [ 1.40923668e-02 -2.41107089e-04 9.99900669e-01 4.96874383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.76, Z:4.97 [[-1.67069608e-01 -9.85942799e-01 2.13164039e-03 9.61670014e+01] [ 9.85841502e-01 -1.67083004e-01 -1.41351391e-02 1.62759140e+02] [ 1.42925995e-02 -2.60092588e-04 9.99897822e-01 4.96899714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:162.79, Z:4.97 [[-1.68540074e-01 -9.85692529e-01 2.11693309e-03 9.61655481e+01] [ 9.85593129e-01 -1.68553146e-01 -1.40007732e-02 1.62785329e+02] [ 1.41572733e-02 -2.73256641e-04 9.99899743e-01 4.96942311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters Centerline goodness [0,1] 0.9999352079823766 Centerline is valid? [True, True] Translation: X:96.16, Y:162.81, Z:4.97 [[-1.70105840e-01 -9.85423366e-01 2.18906782e-03 9.61637215e+01] [ 9.85317437e-01 -1.70119658e-01 -1.44516844e-02 1.62812737e+02] [ 1.46134309e-02 -3.01389222e-04 9.99893173e-01 4.96770157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99275509600005 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:96.16, Y:162.84, Z:4.97 [[-1.71744359e-01 -9.85139150e-01 2.17475531e-03 9.61585628e+01] [ 9.85035041e-01 -1.71757833e-01 -1.43253377e-02 1.62839283e+02] [ 1.44859823e-02 -3.18085768e-04 9.99895022e-01 4.96852608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.16, Y:162.87, Z:4.97 [[-1.73554744e-01 -9.84821844e-01 2.16482071e-03 9.61611828e+01] [ 9.84719156e-01 -1.73567917e-01 -1.42254214e-02 1.62866583e+02] [ 1.43852491e-02 -3.37148948e-04 9.99896470e-01 4.97047233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.16, Y:162.89, Z:4.97 [[-1.74546649e-01 -9.84646563e-01 2.14806991e-03 9.61583584e+01] [ 9.84545954e-01 -1.74559530e-01 -1.40795906e-02 1.62892903e+02] [ 1.42383866e-02 -3.42671819e-04 9.99898570e-01 4.97089654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:162.92, Z:4.97 [[-1.75912734e-01 -9.84403273e-01 2.21508654e-03 9.61524753e+01] [ 9.84296810e-01 -1.75926296e-01 -1.44819870e-02 1.62920197e+02] [ 1.46458074e-02 -3.67263301e-04 9.99892677e-01 4.97019304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:162.95, Z:4.97 [[-1.76532995e-01 -9.84292183e-01 2.23636841e-03 9.61504447e+01] [ 9.84184124e-01 -1.76546762e-01 -1.45894183e-02 1.62946575e+02] [ 1.47550740e-02 -3.74515425e-04 9.99891068e-01 4.97027011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:162.97, Z:4.97 [[-1.76102166e-01 -9.84369404e-01 2.21438024e-03 9.61492764e+01] [ 9.84263994e-01 -1.76115724e-01 -1.44098161e-02 1.62971847e+02] [ 1.45745692e-02 -3.58065095e-04 9.99893721e-01 4.97051711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17275509600006 meters Centerline goodness [0,1] 0.999913403043883 Centerline is valid? [True, True] Translation: X:96.15, Y:163.00, Z:4.97 [[-1.75823417e-01 -9.84419162e-01 2.24476505e-03 9.61454694e+01] [ 9.84311445e-01 -1.75837395e-01 -1.45667719e-02 1.62998242e+02] [ 1.47345230e-02 -3.51631677e-04 9.99891379e-01 4.96846445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.14, Y:163.02, Z:4.97 [[-1.74509524e-01 -9.84652981e-01 2.22115532e-03 9.61410206e+01] [ 9.84548078e-01 -1.74523362e-01 -1.43762794e-02 1.63024298e+02] [ 1.45432898e-02 -3.21963474e-04 9.99894189e-01 4.97166816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:163.05, Z:4.97 [[-1.72527075e-01 -9.85002575e-01 2.08222396e-03 9.61326584e+01] [ 9.84910830e-01 -1.72539430e-01 -1.34462581e-02 1.63050848e+02] [ 1.36038646e-02 -2.69038650e-04 9.99907427e-01 4.97263625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:163.08, Z:4.97 [[-1.67653660e-01 -9.85843840e-01 2.04303298e-03 9.61246382e+01] [ 9.85755980e-01 -1.67665996e-01 -1.31628711e-02 1.63076509e+02] [ 1.33190826e-02 -1.92871541e-04 9.99911278e-01 4.97271698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:163.10, Z:4.97 [[-1.65418348e-01 -9.86221244e-01 2.10430548e-03 9.61185600e+01] [ 9.86128511e-01 -1.65431652e-01 -1.35250734e-02 1.63102736e+02] [ 1.36868334e-02 -1.62179655e-04 9.99906318e-01 4.97295773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:163.13, Z:4.97 [[-1.61314689e-01 -9.86900879e-01 2.05559382e-03 9.61106425e+01] [ 9.86812832e-01 -1.61327756e-01 -1.31829088e-02 1.63128789e+02] [ 1.33418486e-02 -9.81104763e-05 9.99910989e-01 4.97359574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:163.15, Z:4.97 [[-1.60027075e-01 -9.87110600e-01 1.99988568e-03 9.61050222e+01] [ 9.87027628e-01 -1.60039553e-01 -1.27985249e-02 1.63154838e+02] [ 1.29536204e-02 -7.41680733e-05 9.99916096e-01 4.97403631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:163.18, Z:4.97 [[-1.58955508e-01 -9.87283720e-01 2.00048462e-03 9.61003790e+01] [ 9.87201159e-01 -1.58968086e-01 -1.27678889e-02 1.63179638e+02] [ 1.29235420e-02 -5.46455220e-05 9.99916486e-01 4.97480565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:163.20, Z:4.97 [[-1.57172597e-01 -9.87569168e-01 1.97812453e-03 9.60939398e+01] [ 9.87488769e-01 -1.57185042e-01 -1.26013155e-02 1.63204207e+02] [ 1.27556022e-02 -2.72057195e-05 9.99918644e-01 4.97485359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.09, Y:163.23, Z:4.97 [[-1.57197693e-01 -9.87565190e-01 1.96999594e-03 9.60886364e+01] [ 9.87485867e-01 -1.57210035e-01 -1.25166737e-02 1.63230209e+02] [ 1.26707344e-02 -2.22490836e-05 9.99919723e-01 4.97483851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:163.26, Z:4.97 [[-1.57249621e-01 -9.87556858e-01 2.00229344e-03 9.60836802e+01] [ 9.87475314e-01 -1.57262367e-01 -1.26906517e-02 1.63256076e+02] [ 1.28476256e-02 -1.83848361e-05 9.99917466e-01 4.97470360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:163.28, Z:4.97 [[-1.57896758e-01 -9.87453650e-01 1.97553346e-03 9.60796079e+01] [ 9.87374654e-01 -1.57909115e-01 -1.24901337e-02 1.63281772e+02] [ 1.26453829e-02 -2.15599506e-05 9.99920044e-01 4.97472712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:163.31, Z:4.98 [[-1.58780845e-01 -9.87311891e-01 1.96818663e-03 9.60761994e+01] [ 9.87233867e-01 -1.58793041e-01 -1.24121429e-02 1.63307279e+02] [ 1.25671906e-02 -2.77500451e-05 9.99921029e-01 4.97551665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:163.33, Z:4.98 [[-1.60188381e-01 -9.87084530e-01 1.95265908e-03 9.60726458e+01] [ 9.87008123e-01 -1.60200276e-01 -1.22815175e-02 1.63333476e+02] [ 1.24357125e-02 -4.00660288e-05 9.99922673e-01 4.97600671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:163.36, Z:4.98 [[-1.61701766e-01 -9.86837806e-01 1.91929190e-03 9.60695682e+01] [ 9.86764333e-01 -1.61713148e-01 -1.20419963e-02 1.63359555e+02] [ 1.21938720e-02 -5.33232925e-05 9.99925651e-01 4.97674366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:163.38, Z:4.98 [[-1.63555310e-01 -9.86532569e-01 1.77484571e-03 9.60661666e+01] [ 9.86469996e-01 -1.63564926e-01 -1.11113868e-02 1.63384343e+02] [ 1.12520474e-02 -6.64942674e-05 9.99936692e-01 4.97796265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:163.41, Z:4.98 [[-1.64952692e-01 -9.86299842e-01 1.79745630e-03 9.60620558e+01] [ 9.86235993e-01 -1.64962466e-01 -1.12227941e-02 1.63410519e+02] [ 1.13655529e-02 -7.85139991e-05 9.99935407e-01 4.97801474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:163.44, Z:4.98 [[-1.66333540e-01 -9.86067799e-01 1.85736610e-03 9.60583632e+01] [ 9.85999952e-01 -1.66343884e-01 -1.15675075e-02 1.63436658e+02] [ 1.17153082e-02 -9.27015895e-05 9.99931369e-01 4.97787930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:163.46, Z:4.98 [[-1.68765443e-01 -9.85654182e-01 2.01482721e-03 9.60560645e+01] [ 9.85574736e-01 -1.68777423e-01 -1.25148685e-02 1.63461780e+02] [ 1.26753898e-02 -1.26314537e-04 9.99919656e-01 4.97716894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:163.49, Z:4.98 [[-1.70300199e-01 -9.85390153e-01 2.02197649e-03 9.60524924e+01] [ 9.85310533e-01 -1.70312144e-01 -1.25270919e-02 1.63487926e+02] [ 1.26884402e-02 -1.41091521e-04 9.99919489e-01 4.97724752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.05, Y:163.51, Z:4.98 [[-1.72723899e-01 -9.84967957e-01 2.13994181e-03 9.60483253e+01] [ 9.84879191e-01 -1.72737064e-01 -1.32244528e-02 1.63514825e+02] [ 1.33953095e-02 -1.76594881e-04 9.99910263e-01 4.97662797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:163.54, Z:4.98 [[-1.74075166e-01 -9.84729903e-01 2.20318320e-03 9.60442776e+01] [ 9.84636219e-01 -1.74088998e-01 -1.35844766e-02 1.63541304e+02] [ 1.37605903e-02 -1.95386038e-04 9.99905300e-01 4.97691407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:163.57, Z:4.98 [[-1.75422470e-01 -9.84490722e-01 2.23062345e-03 9.60394277e+01] [ 9.84395147e-01 -1.75436525e-01 -1.37193535e-02 1.63567666e+02] [ 1.38979091e-02 -2.10867982e-04 9.99903397e-01 4.97679205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:163.59, Z:4.98 [[-1.77131661e-01 -9.84184499e-01 2.29043467e-03 9.60353902e+01] [ 9.84084224e-01 -1.77146313e-01 -1.40507357e-02 1.63594248e+02] [ 1.42342584e-02 -2.34849537e-04 9.99898660e-01 4.97678673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:163.62, Z:4.98 [[-1.78026160e-01 -9.84022980e-01 2.33690260e-03 9.60315824e+01] [ 9.83919060e-01 -1.78041326e-01 -1.43027827e-02 1.63620747e+02] [ 1.44903321e-02 -2.46946486e-04 9.99894979e-01 4.97760028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:163.65, Z:4.98 [[-1.79009246e-01 -9.83844467e-01 2.39888665e-03 9.60281551e+01] [ 9.83735452e-01 -1.79025127e-01 -1.46480150e-02 1.63645796e+02] [ 1.48408295e-02 -2.62260276e-04 9.99889834e-01 4.97785402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:163.67, Z:4.98 [[-1.79775239e-01 -9.83704831e-01 2.38078094e-03 9.60234079e+01] [ 9.83597857e-01 -1.79790805e-01 -1.45093487e-02 1.63672025e+02] [ 1.47009590e-02 -2.66690605e-04 9.99891900e-01 4.97852298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:163.70, Z:4.98 [[-1.80936353e-01 -9.83491674e-01 2.48271381e-03 9.60191342e+01] [ 9.83375922e-01 -1.80953155e-01 -1.50914260e-02 1.63698346e+02] [ 1.52915467e-02 -2.89146590e-04 9.99883036e-01 4.97875676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:163.72, Z:4.98 [[-1.81269967e-01 -9.83430327e-01 2.44751430e-03 9.60150142e+01] [ 9.83318378e-01 -1.81286267e-01 -1.48410496e-02 1.63723266e+02] [ 1.50388390e-02 -2.83550773e-04 9.99886870e-01 4.97917023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:163.75, Z:4.98 [[-1.81307211e-01 -9.83423667e-01 2.36348843e-03 9.60096632e+01] [ 9.83319655e-01 -1.81322415e-01 -1.43051657e-02 1.63748551e+02] [ 1.44965920e-02 -2.69565079e-04 9.99894883e-01 4.98012441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:163.77, Z:4.98 [[-1.81283385e-01 -9.83428047e-01 2.36855838e-03 9.60040773e+01] [ 9.83324114e-01 -1.81298667e-01 -1.42996697e-02 1.63774124e+02] [ 1.44921128e-02 -2.63231972e-04 9.99894949e-01 4.98099453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:163.80, Z:4.98 [[-1.81459279e-01 -9.83395764e-01 2.30249194e-03 9.59985198e+01] [ 9.83298000e-01 -1.81473711e-01 -1.38684775e-02 1.63799832e+02] [ 1.40560438e-02 -2.52528210e-04 9.99901177e-01 4.98148546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:163.83, Z:4.98 [[-1.81549111e-01 -9.83378987e-01 2.38488603e-03 9.59938566e+01] [ 9.83274629e-01 -1.81564593e-01 -1.43283853e-02 1.63825466e+02] [ 1.45232439e-02 -2.56307681e-04 9.99894499e-01 4.98222557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:163.85, Z:4.98 [[-1.81776402e-01 -9.83336945e-01 2.40686410e-03 9.59895239e+01] [ 9.83231168e-01 -1.81792156e-01 -1.44250819e-02 1.63851452e+02] [ 1.46222650e-02 -2.55635699e-04 9.99893056e-01 4.98268346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:163.88, Z:4.98 [[-1.82224132e-01 -9.83253997e-01 2.43789547e-03 9.59850734e+01] [ 9.83145993e-01 -1.82240255e-01 -1.45755509e-02 1.63877928e+02] [ 1.47757514e-02 -2.59209958e-04 9.99890799e-01 4.98334899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:163.90, Z:4.98 [[-1.82142241e-01 -9.83269472e-01 2.31310113e-03 9.59799294e+01] [ 9.83172678e-01 -1.82156771e-01 -1.37984085e-02 1.63904053e+02] [ 1.39889008e-02 -2.39095205e-04 9.99902122e-01 4.98436072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.98, Y:163.93, Z:4.98 [[-1.82352726e-01 -9.83230434e-01 2.32296272e-03 9.59758601e+01] [ 9.83133280e-01 -1.82367368e-01 -1.38237850e-02 1.63928706e+02] [ 1.40155987e-02 -2.37022923e-04 9.99901749e-01 4.98488374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:163.95, Z:4.99 [[-1.82566105e-01 -9.83190728e-01 2.36858974e-03 9.59710994e+01] [ 9.83090232e-01 -1.82581314e-01 -1.40591663e-02 1.63953366e+02] [ 1.42553022e-02 -2.38189794e-04 9.99898360e-01 4.98531163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:163.98, Z:4.99 [[-1.82737189e-01 -9.83158766e-01 2.44132272e-03 9.59644329e+01] [ 9.83052543e-01 -1.82753337e-01 -1.44539179e-02 1.63980188e+02] [ 1.46566560e-02 -2.41319826e-04 9.99892556e-01 4.98528161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.96, Y:164.01, Z:4.98 [[-1.83053996e-01 -9.83099768e-01 2.46588380e-03 9.59595031e+01] [ 9.82991866e-01 -1.83070443e-01 -1.45672641e-02 1.64005138e+02] [ 1.47725044e-02 -2.42652185e-04 9.99890851e-01 4.98498898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:164.03, Z:4.99 [[-1.83443037e-01 -9.83027233e-01 2.47199533e-03 9.59549197e+01] [ 9.82919338e-01 -1.83459532e-01 -1.45662268e-02 1.64030661e+02] [ 1.47725088e-02 -2.42300867e-04 9.99890851e-01 4.98539290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:164.06, Z:4.99 [[-1.83797765e-01 -9.82960822e-01 2.53050507e-03 9.59502161e+01] [ 9.82848304e-01 -1.83815018e-01 -1.48745083e-02 1.64056820e+02] [ 1.50862038e-02 -2.46798770e-04 9.99886166e-01 4.98554092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:164.08, Z:4.99 [[-1.84256871e-01 -9.82874860e-01 2.53286510e-03 9.59458239e+01] [ 9.82762655e-01 -1.84274113e-01 -1.48531258e-02 1.64082854e+02] [ 1.50655054e-02 -2.47585255e-04 9.99886478e-01 4.98587874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:164.11, Z:4.99 [[-1.84839805e-01 -9.82765220e-01 2.60153137e-03 9.59415721e+01] [ 9.82647409e-01 -1.84857934e-01 -1.52188849e-02 1.64109385e+02] [ 1.54375045e-02 -2.56667654e-04 9.99880802e-01 4.98607688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:164.14, Z:4.99 [[-1.85696144e-01 -9.82603887e-01 2.55818315e-03 9.59372479e+01] [ 9.82490472e-01 -1.85713583e-01 -1.49310755e-02 1.64135460e+02] [ 1.51464222e-02 -2.59252568e-04 9.99885253e-01 4.98673946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:164.16, Z:4.99 [[-1.87343194e-01 -9.82291200e-01 2.55480272e-03 9.59329412e+01] [ 9.82178577e-01 -1.87360407e-01 -1.48768769e-02 1.64161754e+02] [ 1.50920941e-02 -2.77809129e-04 9.99886069e-01 4.98728755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:164.19, Z:4.99 [[-1.88280705e-01 -9.82111873e-01 2.57794329e-03 9.59267670e+01] [ 9.81997683e-01 -1.88298131e-01 -1.49788088e-02 1.64187758e+02] [ 1.51962879e-02 -2.88686347e-04 9.99884488e-01 4.98794413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:164.21, Z:4.99 [[-1.90144865e-01 -9.81752837e-01 2.50952673e-03 9.59229190e+01] [ 9.81645097e-01 -1.90161184e-01 -1.45474144e-02 1.64213888e+02] [ 1.47591799e-02 -3.02651542e-04 9.99891032e-01 4.98888147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:164.24, Z:4.99 [[-1.91277975e-01 -9.81532749e-01 2.48970636e-03 9.59178146e+01] [ 9.81427156e-01 -1.91293925e-01 -1.44004336e-02 1.64240676e+02] [ 1.46107629e-02 -3.11020352e-04 9.99893209e-01 4.98944888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:164.27, Z:4.99 [[-1.93484870e-01 -9.81100009e-01 2.52539566e-03 9.59151690e+01] [ 9.80991798e-01 -1.93501047e-01 -1.45752509e-02 1.64266811e+02] [ 1.47884455e-02 -3.42698103e-04 9.99890586e-01 4.98962073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:164.29, Z:4.99 [[-1.94694179e-01 -9.80860586e-01 2.58611335e-03 9.59108588e+01] [ 9.80747603e-01 -1.94711016e-01 -1.48915740e-02 1.64292665e+02] [ 1.51101027e-02 -3.62978295e-04 9.99885770e-01 4.98974620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:164.32, Z:4.99 [[-1.95538107e-01 -9.80692409e-01 2.69212097e-03 9.59074425e+01] [ 9.80570546e-01 -1.95556261e-01 -1.54646013e-02 1.64317469e+02] [ 1.56924782e-02 -3.84104331e-04 9.99876792e-01 4.98969001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:164.34, Z:4.99 [[-1.96787967e-01 -9.80442123e-01 2.78183509e-03 9.59014203e+01] [ 9.80312618e-01 -1.96807202e-01 -1.59404060e-02 1.64344469e+02] [ 1.61761307e-02 -4.09812066e-04 9.99869074e-01 4.98956789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:164.37, Z:4.99 [[-1.97817534e-01 -9.80234466e-01 2.93520004e-03 9.58973713e+01] [ 9.80090905e-01 -1.97838813e-01 -1.67816167e-02 1.64370816e+02] [ 1.70306156e-02 -4.42935182e-04 9.99854870e-01 4.98918290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:164.40, Z:4.99 [[-1.98398630e-01 -9.80116747e-01 3.02431506e-03 9.58925384e+01] [ 9.79965013e-01 -1.98421149e-01 -1.72517161e-02 1.64397280e+02] [ 1.75087839e-02 -4.58993897e-04 9.99846604e-01 4.98892195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:164.42, Z:4.99 [[-1.98905836e-01 -9.80013786e-01 3.07365925e-03 9.58864867e+01] [ 9.79857764e-01 -1.98929034e-01 -1.74929221e-02 1.64423412e+02] [ 1.77547448e-02 -4.67695411e-04 9.99842263e-01 4.98920916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:164.45, Z:4.99 [[-1.98709856e-01 -9.80053136e-01 3.20064269e-03 9.58833421e+01] [ 9.79884710e-01 -1.98735062e-01 -1.81750117e-02 1.64448567e+02] [ 1.84485572e-02 -4.75293121e-04 9.99829698e-01 4.98939792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:164.48, Z:4.99 [[-1.98378626e-01 -9.80120357e-01 3.16346942e-03 9.58750652e+01] [ 9.79956598e-01 -1.98403325e-01 -1.79216904e-02 1.64475270e+02] [ 1.81930564e-02 -4.55217580e-04 9.99834389e-01 4.99025512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:164.50, Z:4.99 [[-1.97411988e-01 -9.80315699e-01 3.10433996e-03 9.58713961e+01] [ 9.80158661e-01 -1.97435944e-01 -1.75512861e-02 1.64500836e+02] [ 1.78187096e-02 -4.22088599e-04 9.99841145e-01 4.99113809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:164.53, Z:4.99 [[-1.96936764e-01 -9.80411275e-01 3.10521584e-03 9.58664286e+01] [ 9.80254859e-01 -1.96960826e-01 -1.75169728e-02 1.64526594e+02] [ 1.77854435e-02 -4.05833023e-04 9.99841744e-01 4.99193244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:164.55, Z:4.99 [[-1.96671217e-01 -9.80464958e-01 2.98306045e-03 9.58633710e+01] [ 9.80321242e-01 -1.96693475e-01 -1.67910227e-02 1.64551598e+02] [ 1.70497579e-02 -3.77953325e-04 9.99854571e-01 4.99249306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:164.58, Z:4.99 [[-1.95178317e-01 -9.80763243e-01 2.98101113e-03 9.58558779e+01] [ 9.80620422e-01 -1.95200777e-01 -1.67405205e-02 1.64577517e+02] [ 1.70003829e-02 -3.44146221e-04 9.99855424e-01 4.99345250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:164.60, Z:4.99 [[-1.94862453e-01 -9.80825963e-01 3.00908403e-03 9.58498023e+01] [ 9.80681038e-01 -1.94885397e-01 -1.68636934e-02 1.64603261e+02] [ 1.71267749e-02 -3.35149028e-04 9.99853270e-01 4.99407093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:164.63, Z:4.99 [[-1.94189411e-01 -9.80959386e-01 3.02581510e-03 9.58444956e+01] [ 9.80813522e-01 -1.94212724e-01 -1.69190027e-02 1.64628724e+02] [ 1.71845062e-02 -3.17730799e-04 9.99852285e-01 4.99462927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:164.65, Z:4.99 [[-1.93738870e-01 -9.81048289e-01 3.08295458e-03 9.58397720e+01] [ 9.80897570e-01 -1.93763153e-01 -1.71987919e-02 1.64653830e+02] [ 1.74702084e-02 -3.08011853e-04 9.99847337e-01 4.99462243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:164.68, Z:4.99 [[-1.92718112e-01 -9.81249029e-01 3.17379739e-03 9.58347767e+01] [ 9.81090081e-01 -1.92744026e-01 -1.76633560e-02 1.64679754e+02] [ 1.79438814e-02 -2.90267491e-04 9.99838953e-01 4.99475811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:164.71, Z:5.00 [[-1.92673432e-01 -9.81257578e-01 3.24261951e-03 9.58301058e+01] [ 9.81092403e-01 -1.92700501e-01 -1.80059227e-02 1.64705907e+02] [ 1.82933025e-02 -2.87953561e-04 9.99832622e-01 4.99515914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:164.73, Z:5.00 [[-1.92975135e-01 -9.81198258e-01 3.25210380e-03 9.58256378e+01] [ 9.81032832e-01 -1.93002323e-01 -1.80190659e-02 1.64731904e+02] [ 1.83079396e-02 -2.86811074e-04 9.99832355e-01 4.99550660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:164.76, Z:5.00 [[-1.93296609e-01 -9.81134566e-01 3.37419994e-03 9.58204991e+01] [ 9.80957272e-01 -1.93325830e-01 -1.86535422e-02 1.64757531e+02] [ 1.89539551e-02 -2.95720485e-04 9.99820314e-01 4.99597729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:164.78, Z:5.00 [[-1.94679606e-01 -9.80860609e-01 3.50953523e-03 9.58190221e+01] [ 9.80669633e-01 -1.94710963e-01 -1.93574793e-02 1.64783503e+02] [ 1.96703339e-02 -3.26811822e-04 9.99806467e-01 4.99509952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:164.81, Z:4.99 [[-1.95620087e-01 -9.80672988e-01 3.64295119e-03 9.58155935e+01] [ 9.80468079e-01 -1.95653692e-01 -2.00494225e-02 1.64808995e+02] [ 2.03746839e-02 -3.50272426e-04 9.99792353e-01 4.99498270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:164.83, Z:5.00 [[-1.96939336e-01 -9.80408528e-01 3.74393873e-03 9.58129869e+01] [ 9.80192971e-01 -1.96974554e-01 -2.05612226e-02 1.64833841e+02] [ 2.08958586e-02 -3.79531090e-04 9.99781586e-01 4.99513226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:164.86, Z:5.00 [[-1.97082883e-01 -9.80380019e-01 3.65443541e-03 9.58071713e+01] [ 9.80175378e-01 -1.97116421e-01 -2.00335761e-02 1.64859688e+02] [ 2.03608669e-02 -3.66287315e-04 9.99792629e-01 4.99579553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:164.88, Z:5.00 [[-1.97007045e-01 -9.80395346e-01 3.63176254e-03 9.57998825e+01] [ 9.80194071e-01 -1.97040199e-01 -1.98681589e-02 1.64884783e+02] [ 2.01942537e-02 -3.54335176e-04 9.99796012e-01 4.99658956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:164.91, Z:5.00 [[-1.96383957e-01 -9.80520220e-01 3.66604934e-03 9.57930567e+01] [ 9.80316038e-01 -1.96417885e-01 -2.00120155e-02 1.64909233e+02] [ 2.03422635e-02 -3.36151825e-04 9.99793018e-01 4.99650381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:164.93, Z:5.00 [[-1.96399378e-01 -9.80517084e-01 3.67861719e-03 9.57857681e+01] [ 9.80312412e-01 -1.96433551e-01 -2.00358270e-02 1.64934398e+02] [ 2.03680745e-02 -3.28829879e-04 9.99792495e-01 4.99701108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:164.96, Z:5.00 [[-1.96450046e-01 -9.80507084e-01 3.63843136e-03 9.57816267e+01] [ 9.80307738e-01 -1.96483479e-01 -1.97732270e-02 1.64959880e+02] [ 2.01026808e-02 -3.17668927e-04 9.99797870e-01 4.99670015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:164.99, Z:5.00 [[-1.96851248e-01 -9.80425506e-01 3.92585429e-03 9.57763455e+01] [ 9.80194492e-01 -1.96890095e-01 -2.12849155e-02 1.64985468e+02] [ 2.16412358e-02 -3.41861429e-04 9.99765743e-01 4.99639273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:165.01, Z:5.00 [[-1.97722607e-01 -9.80249631e-01 4.05351024e-03 9.57717010e+01] [ 9.80004359e-01 -1.97763819e-01 -2.19300870e-02 1.65010025e+02] [ 2.22985973e-02 -3.63616266e-04 9.99751289e-01 4.99592093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:165.04, Z:5.00 [[-1.98843195e-01 -9.80022494e-01 4.15881667e-03 9.57644031e+01] [ 9.79765395e-01 -1.98886300e-01 -2.24501971e-02 1.65035898e+02] [ 2.28288298e-02 -3.89404252e-04 9.99739312e-01 4.99646233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:165.06, Z:5.00 [[-2.01013053e-01 -9.79578828e-01 4.36731107e-03 9.57586597e+01] [ 9.79296440e-01 -2.01059983e-01 -2.35237503e-02 1.65062632e+02] [ 2.39214593e-02 -4.51688676e-04 9.99713739e-01 4.99608848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60275509600007 meters Centerline goodness [0,1] 0.9999568965517242 Centerline is valid? [True, True] Translation: X:95.75, Y:165.09, Z:4.99 [[-2.02264030e-01 -9.79321138e-01 4.40132958e-03 9.57539388e+01] [ 9.79035425e-01 -2.02311351e-01 -2.36591006e-02 1.65088530e+02] [ 2.40602963e-02 -4.76327458e-04 9.99710396e-01 4.99493667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:165.11, Z:5.00 [[-2.03263500e-01 -9.79114250e-01 4.38586531e-03 9.57491644e+01] [ 9.78831694e-01 -2.03310224e-01 -2.35258829e-02 1.65113845e+02] [ 2.39262184e-02 -4.88929325e-04 9.99713608e-01 4.99635243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:165.14, Z:5.00 [[-2.04432695e-01 -9.78870939e-01 4.35411908e-03 9.57437127e+01] [ 9.78593621e-01 -2.04478438e-01 -2.33043565e-02 1.65139493e+02] [ 2.37022807e-02 -5.03259232e-04 9.99718935e-01 4.99727364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:165.17, Z:5.00 [[-2.04965423e-01 -9.78759640e-01 4.32919801e-03 9.57385469e+01] [ 9.78486616e-01 -2.05010520e-01 -2.31220570e-02 1.65165553e+02] [ 2.35184674e-02 -5.03159883e-04 9.99723276e-01 4.99809312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:165.19, Z:5.00 [[-2.04984929e-01 -9.78755765e-01 4.28159786e-03 9.57331033e+01] [ 9.78489824e-01 -2.05029059e-01 -2.28199541e-02 1.65191073e+02] [ 2.32130136e-02 -4.88246734e-04 9.99730422e-01 4.99952236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:165.22, Z:5.00 [[-2.04972991e-01 -9.78758514e-01 4.22431720e-03 9.57263239e+01] [ 9.78500723e-01 -2.05015974e-01 -2.24674178e-02 1.65217030e+02] [ 2.28562290e-02 -4.71716393e-04 9.99738651e-01 5.00061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:165.24, Z:5.00 [[-2.04856530e-01 -9.78783094e-01 4.17823199e-03 9.57217014e+01] [ 9.78531993e-01 -2.04898632e-01 -2.21740619e-02 1.65241750e+02] [ 2.25597110e-02 -4.53967701e-04 9.99745394e-01 5.00111396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:165.27, Z:5.00 [[-2.04439188e-01 -9.78870696e-01 4.09625257e-03 9.57171554e+01] [ 9.78630349e-01 -2.04479777e-01 -2.16947028e-02 1.65266760e+02] [ 2.20739097e-02 -4.26530345e-04 9.99756251e-01 5.00160329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:165.29, Z:5.00 [[-2.03522649e-01 -9.79061745e-01 4.07812187e-03 9.57101922e+01] [ 9.78824411e-01 -2.03563117e-01 -2.15599138e-02 1.65290955e+02] [ 2.19386421e-02 -3.96165541e-04 9.99759241e-01 5.00260319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:165.32, Z:5.00 [[-2.03392199e-01 -9.79088887e-01 4.06985827e-03 9.57010882e+01] [ 9.78853541e-01 -2.03432554e-01 -2.14695656e-02 1.65316212e+02] [ 2.18485548e-02 -3.82946998e-04 9.99761219e-01 5.00484719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:165.34, Z:5.01 [[-2.02949534e-01 -9.79181296e-01 3.93392822e-03 9.56945659e+01] [ 9.78962337e-01 -2.02987353e-01 -2.07093657e-02 1.65342245e+02] [ 2.10767612e-02 -3.51788566e-04 9.99777799e-01 5.00631337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:165.37, Z:5.01 [[-2.02847445e-01 -9.79202657e-01 3.88198368e-03 9.56921916e+01] [ 9.78990292e-01 -2.02884308e-01 -2.03952430e-02 1.65368158e+02] [ 2.07586697e-02 -3.36698600e-04 9.99784459e-01 5.00641258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:165.39, Z:5.01 [[-2.02924768e-01 -9.79186699e-01 3.86621676e-03 9.56846245e+01] [ 9.78976926e-01 -2.02961330e-01 -2.02700898e-02 1.65393513e+02] [ 2.06328948e-02 -3.28366272e-04 9.99787065e-01 5.00790526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:165.42, Z:5.01 [[-2.02793385e-01 -9.79214011e-01 3.84246937e-03 9.56788413e+01] [ 9.79007688e-01 -2.02829541e-01 -2.01028383e-02 1.65419335e+02] [ 2.04643472e-02 -3.14915568e-04 9.99790534e-01 5.00816418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:165.44, Z:5.01 [[-2.02952821e-01 -9.79181033e-01 3.82839617e-03 9.56727806e+01] [ 9.78977081e-01 -2.02988692e-01 -1.99866214e-02 1.65444861e+02] [ 2.03476417e-02 -3.08429079e-04 9.99792918e-01 5.00860877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:165.47, Z:5.01 [[-2.03383858e-01 -9.79091218e-01 3.92333566e-03 9.56685875e+01] [ 9.78877955e-01 -2.03421450e-01 -2.04368233e-02 1.65470050e+02] [ 2.08076048e-02 -3.16053176e-04 9.99783448e-01 5.00830340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:165.50, Z:5.01 [[-2.04251064e-01 -9.78910845e-01 3.88088101e-03 9.56628752e+01] [ 9.78703053e-01 -2.04287677e-01 -2.01712322e-02 1.65495961e+02] [ 2.05386542e-02 -3.21765562e-04 9.99789008e-01 5.00876576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:165.52, Z:5.01 [[-2.06621579e-01 -9.78413019e-01 3.93551582e-03 9.56594458e+01] [ 9.78200141e-01 -2.06658728e-01 -2.04121269e-02 1.65523517e+02] [ 2.07847994e-02 -3.67863752e-04 9.99783905e-01 5.00846498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:165.55, Z:5.01 [[-2.08061127e-01 -9.78107793e-01 3.96391365e-03 9.56550910e+01] [ 9.77892609e-01 -2.08098512e-01 -2.05196177e-02 1.65550899e+02] [ 2.08952825e-02 -3.93052924e-04 9.99781593e-01 5.00941121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:165.58, Z:5.01 [[-2.09651050e-01 -9.77768457e-01 3.90914221e-03 9.56513808e+01] [ 9.77559919e-01 -2.09687085e-01 -2.01972864e-02 1.65578218e+02] [ 2.05679662e-02 -4.12961561e-04 9.99788372e-01 5.00985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters Centerline goodness [0,1] 0.9999138061068373 Centerline is valid? [True, True] Translation: X:95.65, Y:165.60, Z:5.01 [[-2.11856755e-01 -9.77292460e-01 4.02036217e-03 9.56493207e+01] [ 9.77072674e-01 -2.11894391e-01 -2.07305768e-02 1.65604829e+02] [ 2.11117286e-02 -4.63726711e-04 9.99777015e-01 5.00835932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:165.63, Z:5.01 [[-2.13602721e-01 -9.76912988e-01 3.85908042e-03 9.56468583e+01] [ 9.76711201e-01 -2.13637055e-01 -1.98604851e-02 1.65631371e+02] [ 2.02264084e-02 -4.73046581e-04 9.99795313e-01 5.01116353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:165.66, Z:5.01 [[-2.15086170e-01 -9.76587477e-01 3.85232186e-03 9.56424729e+01] [ 9.76387108e-01 -2.15120097e-01 -1.97878813e-02 1.65658518e+02] [ 2.01533089e-02 -4.94742201e-04 9.99796779e-01 5.01167200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:165.68, Z:5.01 [[-2.15458750e-01 -9.76505316e-01 3.85928195e-03 9.56372576e+01] [ 9.76304958e-01 -2.15492742e-01 -1.97865240e-02 1.65683920e+02] [ 2.01532932e-02 -4.95343642e-04 9.99796779e-01 5.01207628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:165.71, Z:5.01 [[-2.16920862e-01 -9.76181541e-01 3.86507695e-03 9.56316629e+01] [ 9.75981328e-01 -2.16954676e-01 -1.97766341e-02 1.65710373e+02] [ 2.01441317e-02 -5.17721591e-04 9.99796952e-01 5.01224329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:165.74, Z:5.01 [[-2.17527905e-01 -9.76046489e-01 3.85502703e-03 9.56278968e+01] [ 9.75848071e-01 -2.17561439e-01 -1.96865989e-02 1.65735900e+02] [ 2.00537410e-02 -5.20463934e-04 9.99798768e-01 5.01239758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:165.76, Z:5.01 [[-2.17828186e-01 -9.75979566e-01 3.84290596e-03 9.56228985e+01] [ 9.75783227e-01 -2.17861471e-01 -1.95824903e-02 1.65761776e+02] [ 1.99493315e-02 -5.15775158e-04 9.99800859e-01 5.01264709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:165.79, Z:5.01 [[-2.16858240e-01 -9.76195641e-01 3.81772855e-03 9.56155510e+01] [ 9.76002664e-01 -2.16891302e-01 -1.94155254e-02 1.65788440e+02] [ 1.97813834e-02 -4.84303428e-04 9.99804212e-01 5.01304324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:165.81, Z:5.01 [[-2.15808611e-01 -9.76427922e-01 3.89326347e-03 9.56082047e+01] [ 9.76228027e-01 -2.15843227e-01 -1.97620835e-02 1.65814334e+02] [ 2.01365847e-02 -4.64114869e-04 9.99797131e-01 5.01346521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:165.84, Z:5.01 [[-2.14837385e-01 -9.76642209e-01 3.85926665e-03 9.56018322e+01] [ 9.76446581e-01 -2.14871611e-01 -1.95515868e-02 1.65840054e+02] [ 1.99241518e-02 -4.32044068e-04 9.99801401e-01 5.01354523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:165.87, Z:5.01 [[-2.12194717e-01 -9.77219631e-01 3.89810348e-03 9.55938348e+01] [ 9.77020964e-01 -2.12230190e-01 -1.97073928e-02 1.65866427e+02] [ 2.00857463e-02 -3.73275807e-04 9.99798191e-01 5.01393415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:165.89, Z:5.01 [[-2.10830865e-01 -9.77514997e-01 3.84413286e-03 9.55874404e+01] [ 9.77322571e-01 -2.10865645e-01 -1.93977489e-02 1.65892574e+02] [ 1.97721860e-02 -3.32686376e-04 9.99804456e-01 5.01438668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.58, Y:165.92, Z:5.01 [[-2.09860815e-01 -9.77723884e-01 3.80076545e-03 9.55822566e+01] [ 9.77536522e-01 -2.09895013e-01 -1.91423909e-02 1.65917644e+02] [ 1.95137345e-02 -3.01850722e-04 9.99809543e-01 5.01465475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:165.94, Z:5.02 [[-2.07701326e-01 -9.78185844e-01 3.55149200e-03 9.55744762e+01] [ 9.78022841e-01 -2.07731553e-01 -1.78584507e-02 1.65943536e+02] [ 1.82066407e-02 -2.35783595e-04 9.99834218e-01 5.01623566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:165.97, Z:5.02 [[-2.07013626e-01 -9.78331990e-01 3.44623458e-03 9.55681908e+01] [ 9.78179084e-01 -2.07042203e-01 -1.72975924e-02 1.65968991e+02] [ 1.76363040e-02 -2.09802733e-04 9.99844446e-01 5.01715369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:165.99, Z:5.02 [[-2.05961044e-01 -9.78554820e-01 3.24237418e-03 9.55618308e+01] [ 9.78420021e-01 -2.05986491e-01 -1.62428012e-02 1.65994825e+02] [ 1.65623567e-02 -1.72980481e-04 9.99862820e-01 5.01818888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:166.02, Z:5.02 [[-2.06194245e-01 -9.78505901e-01 3.18345238e-03 9.55568171e+01] [ 9.78376475e-01 -2.06218750e-01 -1.59154184e-02 1.66020706e+02] [ 1.62298184e-02 -1.67052750e-04 9.99868274e-01 5.01870991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:166.05, Z:5.02 [[-2.06750120e-01 -9.78388821e-01 3.11480527e-03 9.55519765e+01] [ 9.78265397e-01 -2.06773515e-01 -1.55411299e-02 1.66046607e+02] [ 1.58493270e-02 -1.66024255e-04 9.99874378e-01 5.01917578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:166.07, Z:5.02 [[-2.07470763e-01 -9.78236166e-01 3.14430219e-03 9.55471777e+01] [ 9.78110890e-01 -2.07494516e-01 -1.56560823e-02 1.66072938e+02] [ 1.59677713e-02 -1.72703119e-04 9.99872492e-01 5.01947779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:166.10, Z:5.02 [[-2.09666153e-01 -9.77767991e-01 3.14010293e-03 9.55444658e+01] [ 9.77643508e-01 -2.09689569e-01 -1.56030850e-02 1.66099344e+02] [ 1.59146439e-02 -2.01537549e-04 9.99873334e-01 5.02019441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:166.13, Z:5.02 [[-2.11036409e-01 -9.77473114e-01 3.15372373e-03 9.55403262e+01] [ 9.77348001e-01 -2.11059860e-01 -1.56403360e-02 1.66125496e+02] [ 1.59536324e-02 -2.18394770e-04 9.99872709e-01 5.02047766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:166.15, Z:5.02 [[-2.12674655e-01 -9.77117885e-01 3.18270532e-03 9.55364278e+01] [ 9.76990942e-01 -2.12698332e-01 -1.57517542e-02 1.66150716e+02] [ 1.60682768e-02 -2.40524611e-04 9.99870868e-01 5.02068067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:166.18, Z:5.02 [[-2.14704094e-01 -9.76673719e-01 3.25570648e-03 9.55330378e+01] [ 9.76541400e-01 -2.14728604e-01 -1.60785935e-02 1.66177203e+02] [ 1.64026330e-02 -2.72807695e-04 9.99865431e-01 5.02045379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89275509600003 meters Centerline goodness [0,1] 0.9998708121608819 Centerline is valid? [True, True] Translation: X:95.53, Y:166.20, Z:5.02 [[-2.16282878e-01 -9.76324943e-01 3.36473647e-03 9.55267450e+01] [ 9.76184110e-01 -2.16308838e-01 -1.65852191e-02 1.66204084e+02] [ 1.69203854e-02 -3.02496658e-04 9.99856794e-01 5.01836742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:166.23, Z:5.02 [[-2.17509103e-01 -9.76052620e-01 3.32751707e-03 9.55226795e+01] [ 9.75915352e-01 -2.17534328e-01 -1.63719803e-02 1.66228669e+02] [ 1.67037635e-02 -3.13679764e-04 9.99860433e-01 5.02105706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:166.26, Z:5.02 [[-2.20057673e-01 -9.75481000e-01 3.38209861e-03 9.55184823e+01] [ 9.75339620e-01 -2.20083372e-01 -1.66112653e-02 1.66256004e+02] [ 1.69483174e-02 -3.56741620e-04 9.99856303e-01 5.02111442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:166.28, Z:5.02 [[-2.21560207e-01 -9.75140621e-01 3.44149194e-03 9.55148705e+01] [ 9.74994735e-01 -2.21586603e-01 -1.68714266e-02 1.66281626e+02] [ 1.72146019e-02 -3.82600229e-04 9.99851745e-01 5.02110862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:166.31, Z:5.02 [[-2.24111595e-01 -9.74556750e-01 3.62408940e-03 9.55095700e+01] [ 9.74395534e-01 -2.24140458e-01 -1.77312966e-02 1.66308070e+02] [ 1.80924599e-02 -4.42492643e-04 9.99836220e-01 5.02071057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:166.33, Z:5.02 [[-2.25483458e-01 -9.74240021e-01 3.68674261e-03 9.55052669e+01] [ 9.74073758e-01 -2.25513109e-01 -1.80042260e-02 1.66333645e+02] [ 1.83718463e-02 -4.68495910e-04 9.99831114e-01 5.02048042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.50, Y:166.36, Z:5.02 [[-2.26577220e-01 -9.73985949e-01 3.75947889e-03 9.54993448e+01] [ 9.73813688e-01 -2.26607876e-01 -1.83240906e-02 1.66359855e+02] [ 1.86993343e-02 -4.90789507e-04 9.99825032e-01 5.02020065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:166.39, Z:5.02 [[-2.27836030e-01 -9.73692011e-01 3.82246126e-03 9.54945690e+01] [ 9.73514546e-01 -2.27867510e-01 -1.85964017e-02 1.66387132e+02] [ 1.89781825e-02 -5.15708693e-04 9.99819765e-01 5.02029680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:166.41, Z:5.02 [[-2.29403560e-01 -9.73324090e-01 3.77126154e-03 9.54915652e+01] [ 9.73151922e-01 -2.29433942e-01 -1.83140253e-02 1.66412879e+02] [ 1.86907374e-02 -5.31292178e-04 9.99825172e-01 5.02048046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:166.44, Z:5.02 [[-2.30233447e-01 -9.73128402e-01 3.69776846e-03 9.54855109e+01] [ 9.72963474e-01 -2.30262533e-01 -1.79233118e-02 1.66438362e+02] [ 1.82931413e-02 -5.28752212e-04 9.99832527e-01 5.02103654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:166.47, Z:5.02 [[-2.31377808e-01 -9.72856861e-01 3.71997932e-03 9.54853339e+01] [ 9.72690572e-01 -2.31407068e-01 -1.79950092e-02 1.66465441e+02] [ 1.83673976e-02 -5.45256966e-04 9.99831156e-01 5.02159391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:166.49, Z:5.02 [[-2.31738811e-01 -9.72770904e-01 3.72712704e-03 9.54746501e+01] [ 9.72604596e-01 -2.31768140e-01 -1.79952657e-02 1.66490088e+02] [ 1.83691001e-02 -5.45180578e-04 9.99831125e-01 5.02278056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:166.52, Z:5.02 [[-2.32057967e-01 -9.72694718e-01 3.75312672e-03 9.54694601e+01] [ 9.72526750e-01 -2.32087671e-01 -1.80840509e-02 1.66515479e+02] [ 1.84613152e-02 -5.46531948e-04 9.99829426e-01 5.02317708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:166.54, Z:5.02 [[-2.31546856e-01 -9.72816386e-01 3.78571553e-03 9.54624565e+01] [ 9.72646212e-01 -2.31577189e-01 -1.82030903e-02 1.66541422e+02] [ 1.85849498e-02 -5.32706449e-04 9.99827143e-01 5.02406122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:166.57, Z:5.02 [[-2.31119239e-01 -9.72918135e-01 3.76823324e-03 9.54567995e+01] [ 9.72750208e-01 -2.31149385e-01 -1.80830037e-02 1.66565860e+02] [ 1.84643070e-02 -5.13780374e-04 9.99829388e-01 5.02459982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.45, Y:166.59, Z:5.03 [[-2.30512817e-01 -9.73061872e-01 3.79934535e-03 9.54497220e+01] [ 9.72891878e-01 -2.30543589e-01 -1.81946871e-02 1.66591662e+02] [ 1.85804710e-02 -4.97756353e-04 9.99827244e-01 5.02519990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:166.62, Z:5.03 [[-2.29210643e-01 -9.73369765e-01 3.71227299e-03 9.54418226e+01] [ 9.73208135e-01 -2.29240253e-01 -1.77434964e-02 1.66617695e+02] [ 1.81219854e-02 -4.54183956e-04 9.99835680e-01 5.02568521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:166.64, Z:5.03 [[-2.28640482e-01 -9.73504153e-01 3.63240871e-03 9.54348174e+01] [ 9.73349966e-01 -2.28668935e-01 -1.73309760e-02 1.66644468e+02] [ 1.77023962e-02 -4.26957817e-04 9.99843209e-01 5.02662378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43275509600005 meters Centerline goodness [0,1] 0.9999348958333333 Centerline is valid? [True, True] Translation: X:95.43, Y:166.67, Z:5.03 [[-2.28180995e-01 -9.73612320e-01 3.53332126e-03 9.54298674e+01] [ 9.73466959e-01 -2.28207999e-01 -1.68282130e-02 1.66670076e+02] [ 1.71904877e-02 -4.00306891e-04 9.99852153e-01 5.02606947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:166.70, Z:5.03 [[-2.26685562e-01 -9.73962459e-01 3.28408000e-03 9.54212961e+01] [ 9.73837360e-01 -2.26709093e-01 -1.56135562e-02 1.66695826e+02] [ 1.59515484e-02 -3.41207972e-04 9.99872708e-01 5.02884911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49275509600005 meters Centerline goodness [0,1] 0.9999567071454857 Centerline is valid? [True, True] Translation: X:95.42, Y:166.72, Z:5.03 [[-2.26547719e-01 -9.73994982e-01 3.14725655e-03 9.54151374e+01] [ 9.73880483e-01 -2.26569355e-01 -1.49376214e-02 1.66721269e+02] [ 1.52622402e-02 -3.19032329e-04 9.99883474e-01 5.02945931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:166.75, Z:5.03 [[-2.25956730e-01 -9.74132597e-01 3.03980924e-03 9.54090304e+01] [ 9.74026196e-01 -2.25976987e-01 -1.44004084e-02 1.66746180e+02] [ 1.47148342e-02 -2.93015369e-04 9.99891688e-01 5.03017316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:166.77, Z:5.03 [[-2.25746249e-01 -9.74181496e-01 3.00745198e-03 9.54022705e+01] [ 9.74077772e-01 -2.25766107e-01 -1.42182489e-02 1.66772109e+02] [ 1.45301357e-02 -2.80224229e-04 9.99894393e-01 5.03061778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:166.80, Z:5.03 [[-2.25713829e-01 -9.74189017e-01 3.00450665e-03 9.53959526e+01] [ 9.74085895e-01 -2.25733659e-01 -1.41768835e-02 1.66797364e+02] [ 1.44891825e-02 -2.73271116e-04 9.99894989e-01 5.03093887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:166.82, Z:5.03 [[-2.24684915e-01 -9.74426705e-01 3.04719755e-03 9.53886953e+01] [ 9.74321066e-01 -2.24705432e-01 -1.43502447e-02 1.66823232e+02] [ 1.46679835e-02 -2.55334753e-04 9.99892387e-01 5.03100590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:166.85, Z:5.03 [[-2.24217518e-01 -9.74534306e-01 3.06464650e-03 9.53823756e+01] [ 9.74427870e-01 -2.24238329e-01 -1.44047638e-02 1.66847598e+02] [ 1.47251477e-02 -2.43523422e-04 9.99891549e-01 5.03091099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:166.87, Z:5.03 [[-2.23839212e-01 -9.74620991e-01 3.15128434e-03 9.53755216e+01] [ 9.74508920e-01 -2.23861267e-01 -1.47816705e-02 1.66873176e+02] [ 1.51119769e-02 -2.37762790e-04 9.99885779e-01 5.03087123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:166.90, Z:5.03 [[-2.22294346e-01 -9.74973918e-01 3.32924560e-03 9.53671491e+01] [ 9.74849360e-01 -2.22319167e-01 -1.55856987e-02 1.66898709e+02] [ 1.59358048e-02 -2.19099761e-04 9.99872993e-01 5.03055214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:166.92, Z:5.03 [[-2.22131969e-01 -9.75010837e-01 3.35502575e-03 9.53601258e+01] [ 9.74884830e-01 -2.22157204e-01 -1.56762737e-02 1.66924162e+02] [ 1.60298799e-02 -2.11437840e-04 9.99871491e-01 5.03060633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:166.95, Z:5.03 [[-2.21872949e-01 -9.75069512e-01 3.44113258e-03 9.53559742e+01] [ 9.74937483e-01 -2.21899537e-01 -1.60467698e-02 1.66948947e+02] [ 1.64103017e-02 -2.05454987e-04 9.99865321e-01 5.03093422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:166.97, Z:5.03 [[-2.22244068e-01 -9.74985057e-01 3.42235514e-03 9.53496246e+01] [ 9.74854859e-01 -2.22270322e-01 -1.59344882e-02 1.66974330e+02] [ 1.62965758e-02 -2.05045936e-04 9.99867181e-01 5.03116605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters Centerline goodness [0,1] 0.9999568314267213 Centerline is valid? [True, True] Translation: X:95.34, Y:167.00, Z:5.03 [[-2.23003580e-01 -9.74811595e-01 3.42890313e-03 9.53426830e+01] [ 9.74681355e-01 -2.23029839e-01 -1.59357476e-02 1.67000266e+02] [ 1.62990992e-02 -2.11640809e-04 9.99867138e-01 5.03044091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:167.03, Z:5.03 [[-2.23756742e-01 -9.74639186e-01 3.37304642e-03 9.53389605e+01] [ 9.74513609e-01 -2.23782062e-01 -1.56465660e-02 1.67025392e+02] [ 1.60045836e-02 -2.13944989e-04 9.99871896e-01 5.03168637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:167.05, Z:5.03 [[-2.25858729e-01 -9.74154084e-01 3.41409640e-03 9.53330813e+01] [ 9.74025773e-01 -2.25884398e-01 -1.58123877e-02 1.67051703e+02] [ 1.61748931e-02 -2.45947899e-04 9.99869148e-01 5.03209166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:167.08, Z:5.03 [[-2.27085594e-01 -9.73869000e-01 3.36219792e-03 9.53305182e+01] [ 9.73744949e-01 -2.27110338e-01 -1.55456699e-02 1.67077165e+02] [ 1.59030359e-02 -2.56274435e-04 9.99873506e-01 5.03242131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:95.32, Y:167.10, Z:5.03 [[-2.28544285e-01 -9.73527767e-01 3.34625086e-03 9.53231870e+01] [ 9.73405335e-01 -2.28568619e-01 -1.54415175e-02 1.67102548e+02] [ 1.57975940e-02 -2.71812142e-04 9.99875173e-01 5.03173136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:167.13, Z:5.03 [[-2.30561173e-01 -9.73052007e-01 3.36711201e-03 9.53181088e+01] [ 9.72928467e-01 -2.30585564e-01 -1.55079007e-02 1.67129387e+02] [ 1.58664013e-02 -2.99560651e-04 9.99874076e-01 5.03306140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:167.16, Z:5.03 [[-2.31834566e-01 -9.72749323e-01 3.38956429e-03 9.53129001e+01] [ 9.72624533e-01 -2.31859128e-01 -1.55840338e-02 1.67155715e+02] [ 1.59452597e-02 -3.16144318e-04 9.99872816e-01 5.03314396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:167.18, Z:5.03 [[-2.33596734e-01 -9.72327588e-01 3.40998106e-03 9.53083790e+01] [ 9.72201682e-01 -2.33621374e-01 -1.56506740e-02 1.67181771e+02] [ 1.60142266e-02 -3.40757024e-04 9.99871706e-01 5.03318476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:167.21, Z:5.03 [[-2.34610110e-01 -9.72083692e-01 3.37513234e-03 9.53028465e+01] [ 9.71960759e-01 -2.34634130e-01 -1.54630991e-02 1.67207866e+02] [ 1.58233477e-02 -3.47303198e-04 9.99874743e-01 5.03365353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:167.23, Z:5.03 [[-2.35482348e-01 -9.71872814e-01 3.36126771e-03 9.52972115e+01] [ 9.71751319e-01 -2.35506071e-01 -1.53709285e-02 1.67233906e+02] [ 1.57301865e-02 -3.53266009e-04 9.99876211e-01 5.03407148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:167.26, Z:5.03 [[-2.36616786e-01 -9.71597002e-01 3.42961232e-03 9.52918947e+01] [ 9.71470963e-01 -2.36641347e-01 -1.56538092e-02 1.67259820e+02] [ 1.60207821e-02 -3.72185230e-04 9.99871590e-01 5.03410189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.29, Y:167.29, Z:5.03 [[-2.37215986e-01 -9.71450775e-01 3.45929794e-03 9.52859122e+01] [ 9.71322979e-01 -2.37240906e-01 -1.57614691e-02 1.67285897e+02] [ 1.61321783e-02 -3.78776855e-04 9.99869796e-01 5.03444550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:167.31, Z:5.03 [[-2.37587827e-01 -9.71359880e-01 3.46533472e-03 9.52800931e+01] [ 9.71232093e-01 -2.37612795e-01 -1.57601417e-02 1.67311165e+02] [ 1.61321773e-02 -3.78773529e-04 9.99869796e-01 5.03484958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:167.34, Z:5.04 [[-2.38305400e-01 -9.71184548e-01 3.33318117e-03 9.52751398e+01] [ 9.71066717e-01 -2.38328423e-01 -1.51325437e-02 1.67336155e+02] [ 1.54908845e-02 -3.69425589e-04 9.99879941e-01 5.03529173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.27, Y:167.36, Z:5.04 [[-2.39040349e-01 -9.71003799e-01 3.36664191e-03 9.52698848e+01] [ 9.70883921e-01 -2.39063754e-01 -1.52621853e-02 1.67360795e+02] [ 1.56244820e-02 -3.79659614e-04 9.99877858e-01 5.03575217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:167.39, Z:5.04 [[-2.39655279e-01 -9.70852405e-01 3.30975191e-03 9.52641949e+01] [ 9.70736952e-01 -2.39677837e-01 -1.49767918e-02 1.67386651e+02] [ 1.53335285e-02 -3.76368721e-04 9.99882364e-01 5.03613078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:167.41, Z:5.04 [[-2.39820843e-01 -9.70811319e-01 3.36852183e-03 9.52586328e+01] [ 9.70692151e-01 -2.39844200e-01 -1.52154109e-02 1.67411120e+02] [ 1.55792135e-02 -3.79174968e-04 9.99878565e-01 5.03578762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:167.44, Z:5.04 [[-2.40129601e-01 -9.70734983e-01 3.37155913e-03 9.52525568e+01] [ 9.70615924e-01 -2.40152969e-01 -1.52078743e-02 1.67437288e+02] [ 1.55725055e-02 -3.79371791e-04 9.99878669e-01 5.03593080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.25, Y:167.46, Z:5.04 [[-2.40377358e-01 -9.70673879e-01 3.30849477e-03 9.52473930e+01] [ 9.70559611e-01 -2.40399841e-01 -1.48982352e-02 1.67461094e+02] [ 1.52566894e-02 -3.70107029e-04 9.99883541e-01 5.03626646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:167.49, Z:5.04 [[-2.40216561e-01 -9.70713736e-01 3.29335860e-03 9.52422245e+01] [ 9.70600956e-01 -2.40238868e-01 -1.48010547e-02 1.67485614e+02] [ 1.51587799e-02 -3.58921465e-04 9.99885035e-01 5.03687456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:167.51, Z:5.04 [[-2.39940217e-01 -9.70782409e-01 3.19491557e-03 9.52363384e+01] [ 9.70676675e-01 -2.39961250e-01 -1.43314737e-02 1.67510698e+02] [ 1.46793985e-02 -3.37466887e-04 9.99892195e-01 5.03760532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:167.54, Z:5.04 [[-2.39829266e-01 -9.70809966e-01 3.15171469e-03 9.52304716e+01] [ 9.70707447e-01 -2.39849754e-01 -1.41119820e-02 1.67535577e+02] [ 1.44559907e-02 -3.25073364e-04 9.99895454e-01 5.03794765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:167.56, Z:5.04 [[-2.39028229e-01 -9.71007859e-01 3.04019553e-03 9.52205302e+01] [ 9.70912816e-01 -2.39047379e-01 -1.35887503e-02 1.67560685e+02] [ 1.39215341e-02 -2.96330109e-04 9.99903047e-01 5.03842091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:167.59, Z:5.04 [[-2.38699627e-01 -9.71088950e-01 2.95636703e-03 9.52180068e+01] [ 9.70999392e-01 -2.38717772e-01 -1.31911148e-02 1.67586231e+02] [ 1.35154832e-02 -2.78083597e-04 9.99908623e-01 5.03934926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:167.61, Z:5.04 [[-2.37987141e-01 -9.71263691e-01 2.99398799e-03 9.52092693e+01] [ 9.71172205e-01 -2.38005825e-01 -1.33332709e-02 1.67611578e+02] [ 1.36627085e-02 -2.65469114e-04 9.99906626e-01 5.03905757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:167.64, Z:5.04 [[-2.37985839e-01 -9.71263927e-01 3.02080388e-03 9.52025780e+01] [ 9.71171116e-01 -2.38004866e-01 -1.34293847e-02 1.67637081e+02] [ 1.37624429e-02 -2.62285911e-04 9.99905259e-01 5.03913165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:167.66, Z:5.04 [[-2.37902185e-01 -9.71284302e-01 3.05875412e-03 9.51963346e+01] [ 9.71189480e-01 -2.37921707e-01 -1.35740647e-02 1.67662643e+02] [ 1.39120199e-02 -2.58669818e-04 9.99903190e-01 5.03934539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.19, Y:167.69, Z:5.04 [[-2.37719084e-01 -9.71329550e-01 2.92271919e-03 9.51899465e+01] [ 9.71243263e-01 -2.37736930e-01 -1.29490006e-02 1.67688064e+02] [ 1.32725852e-02 -2.39553228e-04 9.99911887e-01 5.03996986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:167.71, Z:5.04 [[-2.37837156e-01 -9.71300562e-01 2.95045155e-03 9.51840964e+01] [ 9.71212936e-01 -2.37855337e-01 -1.30488444e-02 1.67712477e+02] [ 1.33761306e-02 -2.37983339e-04 9.99910507e-01 5.04021289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:167.74, Z:5.04 [[-2.37868585e-01 -9.71292945e-01 2.92436309e-03 9.51783605e+01] [ 9.71207184e-01 -2.37886449e-01 -1.29090460e-02 1.67736712e+02] [ 1.32341316e-02 -2.30494056e-04 9.99912398e-01 5.04095914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:167.76, Z:5.04 [[-2.37923631e-01 -9.71279796e-01 2.81124707e-03 9.51718871e+01] [ 9.71200736e-01 -2.37940138e-01 -1.23943630e-02 1.67762152e+02] [ 1.27073029e-02 -2.18626631e-04 9.99919235e-01 5.04193139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:167.79, Z:5.04 [[-2.38262003e-01 -9.71197190e-01 2.68987750e-03 9.51628852e+01] [ 9.71125036e-01 -2.38277095e-01 -1.18401698e-02 1.67787670e+02] [ 1.21400759e-02 -2.08855196e-04 9.99926285e-01 5.04202225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.16, Y:167.81, Z:5.04 [[-2.38673976e-01 -9.71096101e-01 2.66373771e-03 9.51585049e+01] [ 9.71025569e-01 -2.38688750e-01 -1.17057222e-02 1.67813906e+02] [ 1.20031854e-02 -2.07293824e-04 9.99927938e-01 5.04288247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:167.84, Z:5.04 [[-2.39249456e-01 -9.70954568e-01 2.63154172e-03 9.51521022e+01] [ 9.70885959e-01 -2.39263838e-01 -1.15442715e-02 1.67839522e+02] [ 1.18385960e-02 -2.07033779e-04 9.99929900e-01 5.04302185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:167.87, Z:5.04 [[-2.39771653e-01 -9.70825479e-01 2.72850178e-03 9.51492535e+01] [ 9.70751991e-01 -2.39787080e-01 -1.19468946e-02 1.67865358e+02] [ 1.22526091e-02 -2.15828121e-04 9.99924911e-01 5.04399833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:167.89, Z:5.04 [[-2.40191012e-01 -9.70721733e-01 2.75588368e-03 9.51414804e+01] [ 9.70647050e-01 -2.40206723e-01 -1.20430267e-02 1.67890396e+02] [ 1.23524095e-02 -2.17636396e-04 9.99923682e-01 5.04343503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:167.92, Z:5.04 [[-2.40308579e-01 -9.70692705e-01 2.73123923e-03 9.51347137e+01] [ 9.70619602e-01 -2.40324006e-01 -1.19147468e-02 1.67915745e+02] [ 1.22219402e-02 -2.12221550e-04 9.99925287e-01 5.04334679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:167.94, Z:5.04 [[-2.40315225e-01 -9.70690613e-01 2.88576338e-03 9.51290258e+01] [ 9.70609309e-01 -2.40332451e-01 -1.25651380e-02 1.67940415e+02] [ 1.28904041e-02 -2.18645173e-04 9.99916891e-01 5.04325260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:167.97, Z:5.04 [[-2.40325788e-01 -9.70687711e-01 2.98060303e-03 9.51226904e+01] [ 9.70601308e-01 -2.40344170e-01 -1.29529996e-02 1.67966031e+02] [ 1.32896881e-02 -2.19962633e-04 9.99911664e-01 5.04336696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:167.99, Z:5.04 [[-2.39761568e-01 -9.70827198e-01 2.99024442e-03 9.51167521e+01] [ 9.70740562e-01 -2.39780124e-01 -1.29712702e-02 1.67990599e+02] [ 1.33098631e-02 -2.07260543e-04 9.99911398e-01 5.04363133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:168.02, Z:5.04 [[-2.39709195e-01 -9.70839830e-01 3.08649819e-03 9.51103949e+01] [ 9.70747782e-01 -2.39728974e-01 -1.33702060e-02 1.68016688e+02] [ 1.37202516e-02 -2.08750053e-04 9.99905851e-01 5.04384147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:168.04, Z:5.04 [[-2.39753065e-01 -9.70828846e-01 3.13347668e-03 9.51043903e+01] [ 9.70734307e-01 -2.39773452e-01 -1.35498294e-02 1.68042288e+02] [ 1.39058897e-02 -2.06839811e-04 9.99903287e-01 5.04410191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:168.07, Z:5.04 [[-2.39740894e-01 -9.70831674e-01 3.18828738e-03 9.50987809e+01] [ 9.70734139e-01 -2.39762006e-01 -1.37627200e-02 1.68068084e+02] [ 1.41257147e-02 -2.04507393e-04 9.99900206e-01 5.04408452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:168.09, Z:5.04 [[-2.40228912e-01 -9.70710949e-01 3.21300897e-03 9.50934506e+01] [ 9.70612222e-01 -2.40250308e-01 -1.38457174e-02 1.68092968e+02] [ 1.42121159e-02 -2.07555862e-04 9.99898981e-01 5.04397531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:168.12, Z:5.04 [[-2.41096078e-01 -9.70495579e-01 3.31860873e-03 9.50886458e+01] [ 9.70390620e-01 -2.41118816e-01 -1.42745270e-02 1.68119355e+02] [ 1.46535443e-02 -2.21185686e-04 9.99892607e-01 5.04394093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:168.14, Z:5.04 [[-2.41984565e-01 -9.70274497e-01 3.29720283e-03 9.50847053e+01] [ 9.70171212e-01 -2.42006920e-01 -1.41587261e-02 1.68144132e+02] [ 1.45357967e-02 -2.27341905e-04 9.99894324e-01 5.04454622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:168.17, Z:5.04 [[-2.42897202e-01 -9.70046449e-01 3.29184987e-03 9.50800114e+01] [ 9.69943838e-01 -2.42919394e-01 -1.41109901e-02 1.68168985e+02] [ 1.44879700e-02 -2.34610517e-04 9.99895016e-01 5.04473782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:168.19, Z:5.05 [[-2.43811357e-01 -9.69817000e-01 3.31788294e-03 9.50734704e+01] [ 9.69713112e-01 -2.43833809e-01 -1.41969869e-02 1.68194499e+02] [ 1.45774913e-02 -2.43992054e-04 9.99893713e-01 5.04528284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:168.22, Z:5.05 [[-2.45353799e-01 -9.69428272e-01 3.21556907e-03 9.50702341e+01] [ 9.69330974e-01 -2.45374738e-01 -1.37368566e-02 1.68219943e+02] [ 1.41059165e-02 -2.53439245e-04 9.99900475e-01 5.04649439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:168.24, Z:5.05 [[-2.46189903e-01 -9.69216166e-01 3.24871115e-03 9.50664221e+01] [ 9.69117183e-01 -2.46211198e-01 -1.38539510e-02 1.68244247e+02] [ 1.42273423e-02 -2.62321057e-04 9.99898752e-01 5.04710477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:168.27, Z:5.05 [[-2.47486536e-01 -9.68886034e-01 3.20450492e-03 9.50583717e+01] [ 9.68790054e-01 -2.47507132e-01 -1.36400498e-02 1.68269944e+02] [ 1.40087915e-02 -2.71236169e-04 9.99901835e-01 5.04754969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:168.30, Z:5.05 [[-2.48149603e-01 -9.68716181e-01 3.27650797e-03 9.50552351e+01] [ 9.68616177e-01 -2.48171074e-01 -1.39219403e-02 1.68295594e+02] [ 1.42995434e-02 -2.81045351e-04 9.99897717e-01 5.04814160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:168.32, Z:5.05 [[-2.48867615e-01 -9.68531991e-01 3.27001299e-03 9.50463825e+01] [ 9.68432723e-01 -2.48888935e-01 -1.38693776e-02 1.68321104e+02] [ 1.42468059e-02 -2.84851336e-04 9.99898469e-01 5.04800766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:168.35, Z:5.05 [[-2.49795158e-01 -9.68292843e-01 3.36885947e-03 9.50408551e+01] [ 9.68187839e-01 -2.49817693e-01 -1.42628321e-02 1.68347190e+02] [ 1.46521989e-02 -3.01097632e-04 9.99892605e-01 5.04778022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:168.37, Z:5.05 [[-2.50474533e-01 -9.68116908e-01 3.48733942e-03 9.50347335e+01] [ 9.68004773e-01 -2.50498610e-01 -1.47379257e-02 1.68372656e+02] [ 1.51416088e-02 -3.15713861e-04 9.99885309e-01 5.04780699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:168.40, Z:5.05 [[-2.51060891e-01 -9.67964961e-01 3.50198090e-03 9.50289825e+01] [ 9.67852259e-01 -2.51085110e-01 -1.47740213e-02 1.68398552e+02] [ 1.51800303e-02 -3.19778836e-04 9.99884726e-01 5.04788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:168.42, Z:5.05 [[-2.52378426e-01 -9.67621997e-01 3.57782029e-03 9.50236001e+01] [ 9.67504738e-01 -2.52403554e-01 -1.50674234e-02 1.68424361e+02] [ 1.54826249e-02 -3.41134512e-04 9.99880079e-01 5.04787007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:168.45, Z:5.05 [[-2.53120703e-01 -9.67427938e-01 3.61871504e-03 9.50177660e+01] [ 9.67308381e-01 -2.53146326e-01 -1.52129329e-02 1.68450595e+02] [ 1.56334807e-02 -3.50294862e-04 9.99877728e-01 5.04840496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:168.48, Z:5.05 [[-2.53847778e-01 -9.67236461e-01 3.86450063e-03 9.50123303e+01] [ 9.67100585e-01 -2.53876910e-01 -1.62164575e-02 1.68476091e+02] [ 1.66662564e-02 -3.79150883e-04 9.99861036e-01 5.04800559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:168.50, Z:5.05 [[-2.53945103e-01 -9.67210733e-01 3.90931085e-03 9.50071438e+01] [ 9.67072163e-01 -2.53974911e-01 -1.63760774e-02 1.68500537e+02] [ 1.68319847e-02 -3.78038967e-04 9.99858261e-01 5.04793803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:168.53, Z:5.05 [[-2.52958576e-01 -9.67468333e-01 4.12114246e-03 9.49991103e+01] [ 9.67314938e-01 -2.52991870e-01 -1.72315216e-02 1.68526096e+02] [ 1.77135670e-02 -3.72418509e-04 9.99843033e-01 5.04805085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:168.55, Z:5.05 [[-2.52583781e-01 -9.67566073e-01 4.16275453e-03 9.49922565e+01] [ 9.67410104e-01 -2.52617822e-01 -1.73760541e-02 1.68550591e+02] [ 1.78640664e-02 -3.61818659e-04 9.99840359e-01 5.04858937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:168.58, Z:5.05 [[-2.52219258e-01 -9.67661287e-01 4.13274410e-03 9.49851441e+01] [ 9.67508096e-01 -2.52252879e-01 -1.72212150e-02 1.68575633e+02] [ 1.77067997e-02 -3.45058711e-04 9.99843163e-01 5.04898001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:168.60, Z:5.05 [[-2.51927572e-01 -9.67737032e-01 4.18746565e-03 9.49782181e+01] [ 9.67580288e-01 -2.51962146e-01 -1.74202095e-02 1.68600734e+02] [ 1.79132647e-02 -3.36921873e-04 9.99839488e-01 5.04935389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:168.63, Z:5.05 [[-2.51629512e-01 -9.67814258e-01 4.26044557e-03 9.49712640e+01] [ 9.67652547e-01 -2.51665361e-01 -1.76944635e-02 1.68626488e+02] [ 1.81971607e-02 -3.29818227e-04 9.99834364e-01 5.05002778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:168.65, Z:5.05 [[-2.50748780e-01 -9.68042783e-01 4.26839180e-03 9.49645090e+01] [ 9.67881029e-01 -2.50784919e-01 -1.76985335e-02 1.68651020e+02] [ 1.82033859e-02 -3.06590238e-04 9.99834258e-01 5.05043790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:168.68, Z:5.05 [[-2.50437697e-01 -9.68123251e-01 4.28136866e-03 9.49565491e+01] [ 9.67961074e-01 -2.50474118e-01 -1.77221672e-02 1.68675662e+02] [ 1.82296142e-02 -2.94100550e-04 9.99833784e-01 5.05102711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:168.70, Z:5.05 [[-2.49509704e-01 -9.68362333e-01 4.39322722e-03 9.49484546e+01] [ 9.68192216e-01 -2.49548226e-01 -1.81525707e-02 1.68699915e+02] [ 1.86745877e-02 -2.75754141e-04 9.99825577e-01 5.05116597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:168.72, Z:5.05 [[-2.49312490e-01 -9.68413126e-01 4.39308865e-03 9.49415832e+01] [ 9.68243622e-01 -2.49351053e-01 -1.81201760e-02 1.68723508e+02] [ 1.86432375e-02 -2.64006132e-04 9.99826165e-01 5.05161321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:168.75, Z:5.05 [[-2.49359577e-01 -9.68400832e-01 4.43060583e-03 9.49333333e+01] [ 9.68229032e-01 -2.49398801e-01 -1.82422716e-02 1.68748849e+02] [ 1.87708188e-02 -2.59043938e-04 9.99823779e-01 5.05215086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:168.77, Z:5.05 [[-2.48875373e-01 -9.68525246e-01 4.46065561e-03 9.49248372e+01] [ 9.68351694e-01 -2.48915225e-01 -1.83359747e-02 1.68774252e+02] [ 1.88691795e-02 -2.43889137e-04 9.99821931e-01 5.05257681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:168.80, Z:5.05 [[-2.49109063e-01 -9.68465012e-01 4.49398539e-03 9.49179556e+01] [ 9.68289429e-01 -2.49149478e-01 -1.84423424e-02 1.68799198e+02] [ 1.89804374e-02 -2.42676077e-04 9.99819826e-01 5.05285351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:168.82, Z:5.05 [[-2.49570854e-01 -9.68345768e-01 4.56752085e-03 9.49110836e+01] [ 9.68164988e-01 -2.49612523e-01 -1.87121200e-02 1.68824684e+02] [ 1.92599126e-02 -2.47885989e-04 9.99814480e-01 5.05328487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:168.85, Z:5.05 [[-2.51115525e-01 -9.67945954e-01 4.65007655e-03 9.49051887e+01] [ 9.67759119e-01 -2.51158424e-01 -1.90192784e-02 1.68849988e+02] [ 1.95775395e-02 -2.75882090e-04 9.99808304e-01 5.05411782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:168.87, Z:5.05 [[-2.52519718e-01 -9.67580304e-01 4.70613814e-03 9.48999575e+01] [ 9.67389493e-01 -2.52563389e-01 -1.92172805e-02 1.68874396e+02] [ 1.97828603e-02 -3.00073665e-04 9.99804255e-01 5.05442408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:168.90, Z:5.06 [[-2.54954042e-01 -9.66942651e-01 4.51078337e-03 9.48921413e+01] [ 9.66767811e-01 -2.54993732e-01 -1.83901263e-02 1.68900784e+02] [ 1.89324189e-02 -3.27756859e-04 9.99820712e-01 5.05667717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:168.93, Z:5.06 [[-2.55304996e-01 -9.66850015e-01 4.51746244e-03 9.48855661e+01] [ 9.66675190e-01 -2.55344749e-01 -1.83884857e-02 1.68926718e+02] [ 1.89324180e-02 -3.27753394e-04 9.99820712e-01 5.05709426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:168.95, Z:5.06 [[-2.56487290e-01 -9.66536948e-01 4.53851466e-03 9.48813342e+01] [ 9.66360985e-01 -2.56527209e-01 -1.84455569e-02 1.68952199e+02] [ 1.89925648e-02 -3.45207415e-04 9.99819565e-01 5.05754806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:168.98, Z:5.06 [[-2.57859097e-01 -9.66172373e-01 4.43066950e-03 9.48754612e+01] [ 9.66005106e-01 -2.57896913e-01 -1.79810513e-02 1.68977840e+02] [ 1.85154510e-02 -3.56528293e-04 9.99828511e-01 5.05844826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:169.00, Z:5.06 [[-2.59236435e-01 -9.65803441e-01 4.49280472e-03 9.48678575e+01] [ 9.65631962e-01 -2.59275085e-01 -1.82028631e-02 1.69004209e+02] [ 1.87452601e-02 -3.80449488e-04 9.99824220e-01 5.05915643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:169.03, Z:5.06 [[-2.59633988e-01 -9.65696178e-01 4.59180938e-03 9.48629605e+01] [ 9.65517622e-01 -2.59674299e-01 -1.85736643e-02 1.69029451e+02] [ 1.91288915e-02 -3.88881655e-04 9.99816950e-01 5.05891501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:169.05, Z:5.06 [[-2.59593616e-01 -9.65706445e-01 4.71352046e-03 9.48618399e+01] [ 9.65518978e-01 -2.59636113e-01 -1.90313479e-02 1.69054919e+02] [ 1.96024955e-02 -3.89422974e-04 9.99807777e-01 5.05767350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:169.08, Z:5.06 [[-2.58743984e-01 -9.65933196e-01 4.96107916e-03 9.48471825e+01] [ 9.65726286e-01 -2.58791258e-01 -1.99956445e-02 1.69078437e+02] [ 2.05983407e-02 -3.82708181e-04 9.99787758e-01 5.05807303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:169.10, Z:5.06 [[-2.58111022e-01 -9.66101397e-01 5.17597283e-03 9.48404073e+01] [ 9.65876980e-01 -2.58162641e-01 -2.08256959e-02 1.69102580e+02] [ 2.14559767e-02 -3.75988653e-04 9.99769723e-01 5.05778206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:169.13, Z:5.06 [[-2.57464943e-01 -9.66273430e-01 5.24034281e-03 9.48317919e+01] [ 9.66044224e-01 -2.57518021e-01 -2.10481855e-02 1.69127739e+02] [ 2.16877851e-02 -3.56766988e-04 9.99764729e-01 5.05793152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:169.15, Z:5.06 [[-2.55874952e-01 -9.66694782e-01 5.40436719e-03 9.48237339e+01] [ 9.66451943e-01 -2.55931817e-01 -2.16690152e-02 1.69151834e+02] [ 2.23304734e-02 -3.21497052e-04 9.99750592e-01 5.05752612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:169.18, Z:5.06 [[-2.55405232e-01 -9.66818806e-01 5.43724404e-03 9.48172165e+01] [ 9.66573893e-01 -2.55462922e-01 -2.17624702e-02 1.69176083e+02] [ 2.24293797e-02 -3.02750611e-04 9.99748384e-01 5.05744487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:169.20, Z:5.06 [[-2.54388430e-01 -9.67086275e-01 5.53743385e-03 9.48083686e+01] [ 9.66833189e-01 -2.54448543e-01 -2.21251765e-02 1.69201371e+02] [ 2.28059465e-02 -2.74614068e-04 9.99739873e-01 5.05757474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:169.23, Z:5.06 [[-2.54295923e-01 -9.67110618e-01 5.53494315e-03 9.48006648e+01] [ 9.66858592e-01 -2.54356016e-01 -2.20789655e-02 1.69226582e+02] [ 2.27606481e-02 -2.63083572e-04 9.99740908e-01 5.05806059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:169.25, Z:5.06 [[-2.54301462e-01 -9.67108890e-01 5.58222468e-03 9.47932893e+01] [ 9.66853381e-01 -2.54362594e-01 -2.22308413e-02 1.69251892e+02] [ 2.29195534e-02 -2.56142659e-04 9.99737280e-01 5.05856260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:169.28, Z:5.06 [[-2.54566338e-01 -9.67039795e-01 5.47848460e-03 9.47854972e+01] [ 9.66794479e-01 -2.54625161e-01 -2.17821869e-02 1.69276665e+02] [ 2.24592016e-02 -2.48442910e-04 9.99747729e-01 5.05935261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:169.30, Z:5.06 [[-2.55012040e-01 -9.66922665e-01 5.42392715e-03 9.47787341e+01] [ 9.66682998e-01 -2.55069596e-01 -2.15286646e-02 1.69300957e+02] [ 2.22000327e-02 -2.46850534e-04 9.99753518e-01 5.05996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:169.33, Z:5.06 [[-2.55541101e-01 -9.66783443e-01 5.34033432e-03 9.47721412e+01] [ 9.66551868e-01 -2.55596779e-01 -2.11606679e-02 1.69326165e+02] [ 2.18227556e-02 -2.45710259e-04 9.99761825e-01 5.06072805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:169.35, Z:5.06 [[-2.56310156e-01 -9.66580978e-01 5.13012127e-03 9.47664761e+01] [ 9.66367883e-01 -2.56361374e-01 -2.02968048e-02 1.69350946e+02] [ 2.09336704e-02 -2.44692776e-04 9.99780837e-01 5.06203225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:169.38, Z:5.06 [[-2.56898771e-01 -9.66425029e-01 5.06798523e-03 9.47602481e+01] [ 9.66217613e-01 -2.56948636e-01 -2.00230295e-02 1.69375726e+02] [ 2.06529688e-02 -2.47115082e-04 9.99786674e-01 5.06263815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:169.40, Z:5.06 [[-2.57552809e-01 -9.66252067e-01 4.84697020e-03 9.47546213e+01] [ 9.66062935e-01 -2.57598300e-01 -1.91186177e-02 1.69400549e+02] [ 1.97219752e-02 -2.41575432e-04 9.99805474e-01 5.06358129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:169.43, Z:5.06 [[-2.58112069e-01 -9.66103068e-01 4.79805980e-03 9.47461684e+01] [ 9.65918319e-01 -2.58156548e-01 -1.88944153e-02 1.69425804e+02] [ 1.94926032e-02 -2.42342785e-04 9.99809972e-01 5.06483738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:169.45, Z:5.07 [[-2.58451937e-01 -9.66011696e-01 4.89898863e-03 9.47385573e+01] [ 9.65819708e-01 -2.58498246e-01 -1.92600326e-02 1.69451916e+02] [ 1.98717967e-02 -2.46252984e-04 9.99802506e-01 5.06556702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:169.48, Z:5.07 [[-2.59013269e-01 -9.65861855e-01 4.79626583e-03 9.47326351e+01] [ 9.65678346e-01 -2.59057557e-01 -1.88285287e-02 1.69476335e+02] [ 1.94282666e-02 -2.45188717e-04 9.99811223e-01 5.06592775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:169.50, Z:5.07 [[-2.60802899e-01 -9.65380466e-01 4.73315408e-03 9.47274230e+01] [ 9.65202165e-01 -2.60845705e-01 -1.85552759e-02 1.69501888e+02] [ 1.91475238e-02 -2.70819170e-04 9.99816633e-01 5.06640393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:169.53, Z:5.07 [[-2.61957133e-01 -9.65068233e-01 4.66550994e-03 9.47214402e+01] [ 9.64895478e-01 -2.61998525e-01 -1.82616881e-02 1.69527272e+02] [ 1.88461318e-02 -2.82050017e-04 9.99822356e-01 5.06673812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:169.55, Z:5.07 [[-2.64001313e-01 -9.64511263e-01 4.61853021e-03 9.47162765e+01] [ 9.64342413e-01 -2.64041526e-01 -1.80494843e-02 1.69553146e+02] [ 1.86284147e-02 -3.11242991e-04 9.99826428e-01 5.06696699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:169.58, Z:5.07 [[-2.65442531e-01 -9.64115876e-01 4.56512153e-03 9.47100950e+01] [ 9.63951341e-01 -2.65481581e-01 -1.78140885e-02 1.69579169e+02] [ 1.83868013e-02 -3.28061712e-04 9.99830895e-01 5.06746682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:169.60, Z:5.07 [[-2.66708404e-01 -9.63766921e-01 4.46650976e-03 9.47032095e+01] [ 9.63609852e-01 -2.66745588e-01 -1.74024260e-02 1.69604202e+02] [ 1.79633043e-02 -3.37400466e-04 9.99838590e-01 5.06815083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:169.63, Z:5.07 [[-2.68679506e-01 -9.63219773e-01 4.35790794e-03 9.46970265e+01] [ 9.63070646e-01 -2.68714607e-01 -1.69526148e-02 1.69630839e+02] [ 1.75001273e-02 -3.57846956e-04 9.99846797e-01 5.06911341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:169.66, Z:5.07 [[-2.69520942e-01 -9.62984756e-01 4.33839887e-03 9.46916638e+01] [ 9.62837373e-01 -2.69555610e-01 -1.68513014e-02 1.69657018e+02] [ 1.73969861e-02 -3.64606046e-04 9.99848595e-01 5.06978005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:169.68, Z:5.07 [[-2.70419829e-01 -9.62733275e-01 4.21396024e-03 9.46847290e+01] [ 9.62594617e-01 -2.70452416e-01 -1.63429788e-02 1.69683805e+02] [ 1.68736052e-02 -3.63130091e-04 9.99857565e-01 5.07013133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:169.71, Z:5.07 [[-2.71099779e-01 -9.62541997e-01 4.22066293e-03 9.46781536e+01] [ 9.62403290e-01 -2.71132381e-01 -1.63444270e-02 1.69709800e+02] [ 1.68765558e-02 -3.68990653e-04 9.99857513e-01 5.07080987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:169.73, Z:5.07 [[-2.71824480e-01 -9.62338093e-01 4.10446011e-03 9.46727972e+01] [ 9.62207314e-01 -2.71855222e-01 -1.58689281e-02 1.69734634e+02] [ 1.63870929e-02 -3.64221585e-04 9.99865656e-01 5.07131359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:169.76, Z:5.07 [[-2.71984863e-01 -9.62292790e-01 4.10143379e-03 9.46654453e+01] [ 9.62162640e-01 -2.72015548e-01 -1.58302339e-02 1.69759977e+02] [ 1.63489737e-02 -3.59337632e-04 9.99866282e-01 5.07164778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:169.78, Z:5.07 [[-2.72049056e-01 -9.62274257e-01 4.19119978e-03 9.46596691e+01] [ 9.62138791e-01 -2.72081099e-01 -1.61499741e-02 1.69784414e+02] [ 1.66810506e-02 -3.61069327e-04 9.99860796e-01 5.07162320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:169.81, Z:5.07 [[-2.72168129e-01 -9.62240214e-01 4.27543718e-03 9.46517319e+01] [ 9.62099723e-01 -2.72201466e-01 -1.64464544e-02 1.69809874e+02] [ 1.69892201e-02 -3.62803800e-04 9.99855607e-01 5.07179731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:169.83, Z:5.07 [[-2.72191666e-01 -9.62232674e-01 4.46960082e-03 9.46481263e+01] [ 9.62079652e-01 -2.72228107e-01 -1.71639704e-02 1.69834723e+02] [ 1.77324841e-02 -3.71777688e-04 9.99842698e-01 5.07178826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.64, Y:169.86, Z:5.07 [[-2.71833824e-01 -9.62332848e-01 4.67570142e-03 9.46395633e+01] [ 9.62165982e-01 -2.71873777e-01 -1.79240928e-02 1.69859389e+02] [ 1.85201439e-02 -3.73573858e-04 9.99828418e-01 5.07149910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:169.88, Z:5.07 [[-2.71742289e-01 -9.62358670e-01 4.68178439e-03 9.46310423e+01] [ 9.62191896e-01 -2.71782372e-01 -1.79191839e-02 1.69884802e+02] [ 1.85171085e-02 -3.64625054e-04 9.99828477e-01 5.07212183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:169.91, Z:5.07 [[-2.71352837e-01 -9.62468556e-01 4.68148588e-03 9.46254435e+01] [ 9.62302359e-01 -2.71392993e-01 -1.78889372e-02 1.69909188e+02] [ 1.84880621e-02 -3.49208967e-04 9.99829020e-01 5.07294476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:169.93, Z:5.07 [[-2.71476996e-01 -9.62433488e-01 4.69269669e-03 9.46185917e+01] [ 9.62267040e-01 -2.71517333e-01 -1.79020103e-02 1.69934912e+02] [ 1.85036427e-02 -3.44356636e-04 9.99828734e-01 5.07384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.61, Y:169.96, Z:5.07 [[-2.71748925e-01 -9.62357230e-01 4.59166907e-03 9.46102294e+01] [ 9.62198344e-01 -2.71787508e-01 -1.74899410e-02 1.69960361e+02] [ 1.80795295e-02 -3.34776298e-04 9.99836496e-01 5.07497515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:169.99, Z:5.08 [[-2.72337914e-01 -9.62191031e-01 4.52560348e-03 9.46042729e+01] [ 9.62037154e-01 -2.72375309e-01 -1.72106363e-02 1.69985602e+02] [ 1.77925826e-02 -3.33310106e-04 9.99841644e-01 5.07600276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.60, Y:170.01, Z:5.08 [[-2.73476092e-01 -9.61868941e-01 4.35510364e-03 9.45985179e+01] [ 9.61726838e-01 -2.73510564e-01 -1.65366216e-02 1.70012414e+02] [ 1.70972295e-02 -3.33950586e-04 9.99853776e-01 5.07761420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:170.04, Z:5.08 [[-2.74433676e-01 -9.61596355e-01 4.31376090e-03 9.45927236e+01] [ 9.61457311e-01 -2.74467365e-01 -1.63555439e-02 1.70037481e+02] [ 1.69114180e-02 -3.41015077e-04 9.99856934e-01 5.07809666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:170.06, Z:5.08 [[-2.75737928e-01 -9.61223425e-01 4.25711969e-03 9.45858863e+01] [ 9.61088412e-01 -2.75770564e-01 -1.61139820e-02 1.70064292e+02] [ 1.66631253e-02 -3.51767596e-04 9.99861099e-01 5.07898384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.58, Y:170.09, Z:5.08 [[-2.76207700e-01 -9.61088968e-01 4.15965071e-03 9.45804256e+01] [ 9.60960418e-01 -2.76238805e-01 -1.57225523e-02 1.70089515e+02] [ 1.62598285e-02 -3.45430339e-04 9.99867741e-01 5.07946928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:170.11, Z:5.08 [[-2.76640309e-01 -9.60964381e-01 4.19499356e-03 9.45738746e+01] [ 9.60834061e-01 -2.76671894e-01 -1.58293906e-02 1.70114290e+02] [ 1.63721173e-02 -3.48354801e-04 9.99865907e-01 5.07959298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54275509600006 meters Centerline goodness [0,1] 0.999913517253308 Centerline is valid? [True, True] Translation: X:94.56, Y:170.14, Z:5.08 [[-2.76248474e-01 -9.61076736e-01 4.27643351e-03 9.45646457e+01] [ 9.60941763e-01 -2.76281362e-01 -1.61101762e-02 1.70139628e+02] [ 1.66646144e-02 -3.41008021e-04 9.99861078e-01 5.07895568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.56, Y:170.16, Z:5.08 [[-2.75738630e-01 -9.61223770e-01 4.13180684e-03 9.45576136e+01] [ 9.61098178e-01 -2.75769406e-01 -1.55411676e-02 1.70164352e+02] [ 1.60779656e-02 -3.14228228e-04 9.99870692e-01 5.08103196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.55, Y:170.19, Z:5.08 [[-2.74101598e-01 -9.61692131e-01 4.06928446e-03 9.45476403e+01] [ 9.61570668e-01 -2.74131663e-01 -1.52866613e-02 1.70190180e+02] [ 1.58165816e-02 -2.77193711e-04 9.99874872e-01 5.08129496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63275509600004 meters Centerline goodness [0,1] 0.9999137596481393 Centerline is valid? [True, True] Translation: X:94.54, Y:170.22, Z:5.08 [[-2.73204378e-01 -9.61946546e-01 4.26742295e-03 9.45399484e+01] [ 9.61813400e-01 -2.73237572e-01 -1.60066586e-02 1.70215242e+02] [ 1.65635703e-02 -2.68624636e-04 9.99862779e-01 5.08028909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:170.24, Z:5.08 [[-2.72611800e-01 -9.62115157e-01 4.15096865e-03 9.45317919e+01] [ 9.61989589e-01 -2.72643291e-01 -1.55456164e-02 1.70239363e+02] [ 1.60884069e-02 -2.44729840e-04 9.99870543e-01 5.08193351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:170.26, Z:5.08 [[-2.70970385e-01 -9.62578348e-01 4.23959843e-03 9.45228388e+01] [ 9.62447858e-01 -2.71003464e-01 -1.58506746e-02 1.70263052e+02] [ 1.64064620e-02 -2.14670960e-04 9.99865382e-01 5.08116669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:170.29, Z:5.08 [[-2.70475373e-01 -9.62716962e-01 4.37313568e-03 9.45145255e+01] [ 9.62578600e-01 -2.70510646e-01 -1.63226814e-02 1.70287947e+02] [ 1.68971020e-02 -2.05396533e-04 9.99857213e-01 5.08086537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.51, Y:170.31, Z:5.08 [[-2.70273338e-01 -9.62772500e-01 4.62982694e-03 9.45065919e+01] [ 9.62617922e-01 -2.70312912e-01 -1.72530006e-02 1.70312869e+02] [ 1.78622166e-02 -2.06271692e-04 9.99840437e-01 5.08062490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:170.34, Z:5.08 [[-2.70154483e-01 -9.62805147e-01 4.77549436e-03 9.44983871e+01] [ 9.62641211e-01 -2.70196611e-01 -1.77676742e-02 1.70337888e+02] [ 1.83971306e-02 -2.02929157e-04 9.99830738e-01 5.08009120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:170.36, Z:5.08 [[-2.70722978e-01 -9.62644962e-01 4.87298704e-03 9.44922857e+01] [ 9.62474783e-01 -2.70766750e-01 -1.81013641e-02 1.70362480e+02] [ 1.87446298e-02 -2.10328051e-04 9.99824282e-01 5.08023622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:170.39, Z:5.08 [[-2.72449090e-01 -9.62157011e-01 5.03786344e-03 9.44857006e+01] [ 9.61975637e-01 -2.72495554e-01 -1.86828040e-02 1.70387833e+02] [ 1.93485862e-02 -2.43811047e-04 9.99812769e-01 5.08103820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:170.41, Z:5.08 [[-2.74022930e-01 -9.61710353e-01 4.96292867e-03 9.44810875e+01] [ 9.61534805e-01 -2.74067742e-01 -1.83763856e-02 1.70413284e+02] [ 1.90329389e-02 -2.63522358e-04 9.99818822e-01 5.08125512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:170.44, Z:5.08 [[-2.75811914e-01 -9.61199059e-01 4.91493107e-03 9.44754626e+01] [ 9.61027350e-01 -2.75855551e-01 -1.81699553e-02 1.70439573e+02] [ 1.88207550e-02 -2.88106957e-04 9.99822832e-01 5.08200260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:170.46, Z:5.08 [[-2.78823349e-01 -9.60329996e-01 4.88248906e-03 9.44718393e+01] [ 9.60160902e-01 -2.78865891e-01 -1.80237808e-02 1.70464530e+02] [ 1.86703370e-02 -3.37475838e-04 9.99825637e-01 5.08330844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:170.49, Z:5.08 [[-2.80451111e-01 -9.59856522e-01 4.75716338e-03 9.44632911e+01] [ 9.59696397e-01 -2.80491234e-01 -1.75355126e-02 1.70490263e+02] [ 1.81659187e-02 -3.52421436e-04 9.99834924e-01 5.08442249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:170.52, Z:5.08 [[-2.80826060e-01 -9.59746859e-01 4.76342109e-03 9.44562528e+01] [ 9.59586746e-01 -2.80866235e-01 -1.75338127e-02 1.70515218e+02] [ 1.81659058e-02 -3.53035800e-04 9.99834924e-01 5.08482671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:170.54, Z:5.09 [[-2.83228952e-01 -9.59040680e-01 4.72605433e-03 9.44535631e+01] [ 9.58883446e-01 -2.83268114e-01 -1.73698591e-02 1.70542146e+02] [ 1.79971420e-02 -3.87911730e-04 9.99837963e-01 5.08525970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:170.57, Z:5.09 [[-2.84218957e-01 -9.58748167e-01 4.64081835e-03 9.44449789e+01] [ 9.58596946e-01 -2.84256572e-01 -1.70322060e-02 1.70567506e+02] [ 1.76487794e-02 -3.92201536e-04 9.99844171e-01 5.08596463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:170.59, Z:5.09 [[-2.85161966e-01 -9.58467856e-01 4.69281201e-03 9.44352344e+01] [ 9.58313646e-01 -2.85200287e-01 -1.71974622e-02 1.70593096e+02] [ 1.78216060e-02 -4.06876331e-04 9.99841100e-01 5.08642661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:170.62, Z:5.09 [[-2.85910097e-01 -9.58244760e-01 4.73255074e-03 9.44307221e+01] [ 9.58088345e-01 -2.85948958e-01 -1.73180734e-02 1.70619414e+02] [ 1.79482210e-02 -4.17210336e-04 9.99838831e-01 5.08633728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.42, Y:170.64, Z:5.09 [[-2.86743381e-01 -9.57993597e-01 5.14800085e-03 9.44217349e+01] [ 9.57809061e-01 -2.86789217e-01 -1.88081631e-02 1.70644312e+02] [ 1.94944909e-02 -4.62314412e-04 9.99809857e-01 5.08597561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.42, Y:170.67, Z:5.09 [[-2.87330524e-01 -9.57817141e-01 5.24346380e-03 9.44179322e+01] [ 9.57626238e-01 -2.87377972e-01 -1.91282184e-02 1.70669915e+02] [ 1.98281914e-02 -4.74842505e-04 9.99803289e-01 5.08525964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:170.69, Z:5.09 [[-2.87591655e-01 -9.57738065e-01 5.37024287e-03 9.44068616e+01] [ 9.57538329e-01 -2.87641382e-01 -1.95648855e-02 1.70694423e+02] [ 2.02827397e-02 -4.84484432e-04 9.99794167e-01 5.08570169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.40, Y:170.72, Z:5.08 [[-2.86952471e-01 -9.57928485e-01 5.59434567e-03 9.44017246e+01] [ 9.57712453e-01 -2.87006595e-01 -2.03487364e-02 1.70719487e+02] [ 2.10982483e-02 -4.81345667e-04 9.99777291e-01 5.08493856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.39, Y:170.74, Z:5.09 [[-2.86868570e-01 -9.57953533e-01 5.60815432e-03 9.43898676e+01] [ 9.57737123e-01 -2.86922996e-01 -2.03665623e-02 1.70743793e+02] [ 2.11193288e-02 -4.71389033e-04 9.99776851e-01 5.08645745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.39, Y:170.77, Z:5.09 [[-2.86047798e-01 -9.58198096e-01 5.75024993e-03 9.43858369e+01] [ 9.57971349e-01 -2.86105227e-01 -2.08492927e-02 1.70769253e+02] [ 2.16229292e-02 -4.55319600e-04 9.99766093e-01 5.08577795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:170.79, Z:5.09 [[-2.85894916e-01 -9.58243694e-01 5.75492462e-03 9.43751972e+01] [ 9.58017299e-01 -2.85952489e-01 -2.08333526e-02 1.70793714e+02] [ 2.16090638e-02 -4.42832259e-04 9.99766399e-01 5.08734552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.37, Y:170.82, Z:5.09 [[-2.85735120e-01 -9.58291617e-01 5.71125061e-03 9.43669038e+01] [ 9.58069311e-01 -2.85791873e-01 -2.06446248e-02 1.70818458e+02] [ 2.14157998e-02 -4.27120388e-04 9.99770564e-01 5.08825434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:170.84, Z:5.09 [[-2.85057986e-01 -9.58493371e-01 5.69227615e-03 9.43584413e+01] [ 9.58273241e-01 -2.85114531e-01 -2.05450689e-02 1.70843376e+02] [ 2.13152630e-02 -4.01780062e-04 9.99772723e-01 5.08934500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:170.87, Z:5.09 [[-2.84663637e-01 -9.58610515e-01 5.70042358e-03 9.43511631e+01] [ 9.58390449e-01 -2.84720448e-01 -2.05429617e-02 1.70867514e+02] [ 2.13157262e-02 -3.84602683e-04 9.99772720e-01 5.08985681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:170.89, Z:5.09 [[-2.84784137e-01 -9.58575209e-01 5.61823974e-03 9.43423840e+01] [ 9.58362095e-01 -2.84839306e-01 -2.02154550e-02 1.70892815e+02] [ 2.09783295e-02 -3.72732892e-04 9.99779861e-01 5.09089929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.34, Y:170.92, Z:5.09 [[-2.83863961e-01 -9.58848371e-01 5.57251634e-03 9.43353375e+01] [ 9.58639368e-01 -2.83918447e-01 -2.00219215e-02 1.70916977e+02] [ 2.07801270e-02 -3.41468412e-04 9.99784012e-01 5.09221492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:170.94, Z:5.09 [[-2.83459247e-01 -9.58968300e-01 5.53672892e-03 9.43260746e+01] [ 9.58762525e-01 -2.83513131e-01 -1.98676997e-02 1.70941877e+02] [ 2.06222295e-02 -3.23274984e-04 9.99787287e-01 5.09354340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:170.97, Z:5.10 [[-2.82363817e-01 -9.59291327e-01 5.55207680e-03 9.43171600e+01] [ 9.59085107e-01 -2.82418246e-01 -1.98920066e-02 1.70966420e+02] [ 2.06502372e-02 -2.91868739e-04 9.99786719e-01 5.09500351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.31, Y:170.99, Z:5.09 [[-2.82020814e-01 -9.59392384e-01 5.52392112e-03 9.43109581e+01] [ 9.59188904e-01 -2.82074774e-01 -1.97602821e-02 1.70991011e+02] [ 2.05160230e-02 -2.74327008e-04 9.99789487e-01 5.09479742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5927550960001 meters Centerline goodness [0,1] 0.999935608499678 Centerline is valid? [True, True] Translation: X:94.30, Y:171.02, Z:5.09 [[-2.81972132e-01 -9.59406113e-01 5.62382422e-03 9.43019054e+01] [ 9.59195879e-01 -2.82028080e-01 -2.00854902e-02 1.71016218e+02] [ 2.08562184e-02 -2.69199481e-04 9.99782449e-01 5.09429124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.29, Y:171.04, Z:5.10 [[-2.81583733e-01 -9.59520035e-01 5.64837142e-03 9.42918837e+01] [ 9.59308619e-01 -2.81640264e-01 -2.01428549e-02 1.71041205e+02] [ 2.09182816e-02 -2.53368874e-04 9.99781157e-01 5.09575923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:171.07, Z:5.10 [[-2.82136121e-01 -9.59357378e-01 5.71239344e-03 9.42840208e+01] [ 9.59141761e-01 -2.82193825e-01 -2.03402779e-02 1.71067033e+02] [ 2.11255978e-02 -2.59731986e-04 9.99776796e-01 5.09599189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:171.09, Z:5.10 [[-2.83070837e-01 -9.59081935e-01 5.72225591e-03 9.42785669e+01] [ 9.58866099e-01 -2.83128537e-01 -2.03478635e-02 1.71091904e+02] [ 2.11354023e-02 -2.73009560e-04 9.99776585e-01 5.09565423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:171.12, Z:5.10 [[-2.84817754e-01 -9.58564596e-01 5.72386797e-03 9.42707080e+01] [ 9.58349080e-01 -2.84875101e-01 -2.03277781e-02 1.71117928e+02] [ 2.11160759e-02 -3.04248508e-04 9.99776985e-01 5.09662701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:171.14, Z:5.10 [[-2.86299274e-01 -9.58122896e-01 5.76555703e-03 9.42645197e+01] [ 9.57904760e-01 -2.86357131e-01 -2.04466342e-02 1.71143197e+02] [ 2.12413968e-02 -3.31002013e-04 9.99774321e-01 5.09732984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.772755096 meters Centerline goodness [0,1] 0.999914159405983 Centerline is valid? [True, True] Translation: X:94.26, Y:171.17, Z:5.10 [[-2.89512384e-01 -9.57156383e-01 5.85130046e-03 9.42596129e+01] [ 9.56932181e-01 -2.89571233e-01 -2.07195964e-02 1.71169929e+02] [ 2.15262622e-02 -3.99282034e-04 9.99768203e-01 5.09638929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:171.20, Z:5.10 [[-2.91082070e-01 -9.56680425e-01 5.81321581e-03 9.42545751e+01] [ 9.56459647e-01 -2.91139804e-01 -2.05562012e-02 1.71196127e+02] [ 2.13581739e-02 -4.23435261e-04 9.99771799e-01 5.09801828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:171.22, Z:5.10 [[-2.92940186e-01 -9.56112971e-01 5.83389504e-03 9.42482402e+01] [ 9.55891129e-01 -2.92997914e-01 -2.06003172e-02 1.71222873e+02] [ 2.14055496e-02 -4.58092263e-04 9.99770770e-01 5.09851931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:171.25, Z:5.10 [[-2.96093970e-01 -9.55141923e-01 5.68042128e-03 9.42425096e+01] [ 9.54931959e-01 -2.96148019e-01 -2.00326097e-02 1.71249513e+02] [ 2.08162309e-02 -5.07119125e-04 9.99783190e-01 5.09950827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:171.28, Z:5.10 [[-2.97650512e-01 -9.54658751e-01 5.55360044e-03 9.42352520e+01] [ 9.54458492e-01 -2.97701861e-01 -1.95598977e-02 1.71275458e+02] [ 2.03263447e-02 -5.21332477e-04 9.99793263e-01 5.10048725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.23, Y:171.30, Z:5.10 [[-2.99941650e-01 -9.53942479e-01 5.36228200e-03 9.42288133e+01] [ 9.53756146e-01 -2.99989087e-01 -1.88616227e-02 1.71301579e+02] [ 1.96015292e-02 -5.43076828e-04 9.99807724e-01 5.10154021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:171.33, Z:5.10 [[-3.00960038e-01 -9.53622415e-01 5.22921870e-03 9.42197713e+01] [ 9.53445630e-01 -3.01004974e-01 -1.83694589e-02 1.71327416e+02] [ 1.90915486e-02 -5.42697316e-04 9.99817593e-01 5.10222199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98275509600006 meters Centerline goodness [0,1] 0.9998928533161898 Centerline is valid? [True, True] Translation: X:94.21, Y:171.35, Z:5.10 [[-3.01921230e-01 -9.53318492e-01 5.23679572e-03 9.42121155e+01] [ 9.53141630e-01 -3.01966132e-01 -1.83708330e-02 1.71353719e+02] [ 1.90945898e-02 -5.55136494e-04 9.99817528e-01 5.10057462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.20, Y:171.38, Z:5.10 [[-3.01758699e-01 -9.53368658e-01 5.46720338e-03 9.42038454e+01] [ 9.53176449e-01 -3.01807687e-01 -1.91513976e-02 1.71378299e+02] [ 1.99083863e-02 -5.67891325e-04 9.99801647e-01 5.10183057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:171.40, Z:5.10 [[-3.01415242e-01 -9.53476613e-01 5.58570646e-03 9.41930139e+01] [ 9.53276560e-01 -3.01466465e-01 -1.95389607e-02 1.71404052e+02] [ 2.03138453e-02 -5.64617536e-04 9.99793493e-01 5.10183934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:171.43, Z:5.10 [[-3.00663490e-01 -9.53713452e-01 5.66714928e-03 9.41834296e+01] [ 9.53508006e-01 -3.00716392e-01 -1.98023803e-02 1.71429619e+02] [ 2.05900011e-02 -5.50180558e-04 9.99787852e-01 5.10160098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.18, Y:171.45, Z:5.10 [[-2.99676425e-01 -9.54022626e-01 5.90494915e-03 9.41753894e+01] [ 9.53800281e-01 -2.99734106e-01 -2.06031596e-02 1.71454248e+02] [ 2.14257951e-02 -5.42139061e-04 9.99770294e-01 5.10139644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:171.48, Z:5.10 [[-2.96598046e-01 -9.54981819e-01 6.27089782e-03 9.41631296e+01] [ 9.54732016e-01 -2.96663921e-01 -2.18470827e-02 1.71479701e+02] [ 2.27239159e-02 -4.92775113e-04 9.99741657e-01 5.10081651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16275509600007 meters Centerline goodness [0,1] 0.9998500878057138 Centerline is valid? [True, True] Translation: X:94.15, Y:171.51, Z:5.10 [[-2.95656301e-01 -9.55273162e-01 6.36695290e-03 9.41541818e+01] [ 9.55016409e-01 -2.95724478e-01 -2.21515575e-02 1.71505078e+02] [ 2.30436522e-02 -4.68703045e-04 9.99734350e-01 5.09823122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19275509600004 meters Centerline goodness [0,1] 0.9999571174339072 Centerline is valid? [True, True] Translation: X:94.14, Y:171.53, Z:5.10 [[-2.94049430e-01 -9.55768750e-01 6.40547141e-03 9.41449693e+01] [ 9.55509750e-01 -2.94118885e-01 -2.22530691e-02 1.71530287e+02] [ 2.31527581e-02 -4.23011904e-04 9.99731849e-01 5.09967622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:171.56, Z:5.10 [[-2.91087322e-01 -9.56674882e-01 6.42975984e-03 9.41329546e+01] [ 9.56414817e-01 -2.91158123e-01 -2.23079492e-02 1.71555639e+02] [ 2.32135315e-02 -3.44043613e-04 9.99730470e-01 5.10138680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25275509600004 meters Centerline goodness [0,1] 0.9999144037148787 Centerline is valid? [True, True] Translation: X:94.13, Y:171.58, Z:5.10 [[-2.90323470e-01 -9.56908194e-01 6.24428204e-03 9.41254608e+01] [ 9.56663564e-01 -2.90390450e-01 -2.16381936e-02 1.71579877e+02] [ 2.25190446e-02 -3.08398327e-04 9.99746367e-01 5.09980341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:171.60, Z:5.10 [[-2.88614760e-01 -9.57426103e-01 6.06454515e-03 9.41147849e+01] [ 9.57196035e-01 -2.88678358e-01 -2.09894544e-02 1.71604487e+02] [ 2.18465544e-02 -2.52907763e-04 9.99761304e-01 5.10301757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:171.63, Z:5.10 [[-2.88492833e-01 -9.57463327e-01 5.98853646e-03 9.41068449e+01] [ 9.57239649e-01 -2.88554883e-01 -2.06962173e-02 1.71628723e+02] [ 2.15438905e-02 -2.38245834e-04 9.99767875e-01 5.10375326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3427550960001 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:94.10, Y:171.65, Z:5.10 [[-2.88434357e-01 -9.57482082e-01 5.80379041e-03 9.40977180e+01] [ 9.57272602e-01 -2.88492658e-01 -2.00287934e-02 1.71654636e+02] [ 2.08515617e-02 -2.21182589e-04 9.99782558e-01 5.10447851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37275509600005 meters Centerline goodness [0,1] 0.9999786602932076 Centerline is valid? [True, True] Translation: X:94.09, Y:171.68, Z:5.11 [[-2.88488252e-01 -9.57467139e-01 5.58628281e-03 9.40904749e+01] [ 9.57273556e-01 -2.88542259e-01 -1.92536689e-02 1.71679989e+02] [ 2.00466339e-02 -2.06856473e-04 9.99799025e-01 5.10548268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:171.70, Z:5.11 [[-2.88855369e-01 -9.57356947e-01 5.50021482e-03 9.40840368e+01] [ 9.57169696e-01 -2.88907658e-01 -1.89351020e-02 1.71704812e+02] [ 1.97167056e-02 -2.04866914e-04 9.99805586e-01 5.10650465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43275509600005 meters Centerline goodness [0,1] 0.9999573114768094 Centerline is valid? [True, True] Translation: X:94.08, Y:171.73, Z:5.11 [[-2.89493153e-01 -9.57165094e-01 5.35701229e-03 9.40768075e+01] [ 9.56987971e-01 -2.89542642e-01 -1.84141645e-02 1.71730050e+02] [ 1.91764790e-02 -2.04178223e-04 9.99816094e-01 5.10629678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.07, Y:171.76, Z:5.11 [[-2.90358986e-01 -9.56904432e-01 5.05637417e-03 9.40710914e+01] [ 9.56747029e-01 -2.90402938e-01 -1.73567471e-02 1.71755268e+02] [ 1.80771341e-02 -2.02016506e-04 9.99836575e-01 5.10805483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49275509600005 meters Centerline goodness [0,1] 0.9999358151476252 Centerline is valid? [True, True] Translation: X:94.06, Y:171.78, Z:5.11 [[-2.91051591e-01 -9.56694600e-01 4.94104709e-03 9.40622429e+01] [ 9.56544704e-01 -2.91093458e-01 -1.69360018e-02 1.71780005e+02] [ 1.76408880e-02 -2.02917844e-04 9.99844367e-01 5.10793889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:171.81, Z:5.11 [[-2.92014590e-01 -9.56402019e-01 4.76001405e-03 9.40544446e+01] [ 9.56263260e-01 -2.92053310e-01 -1.62923959e-02 1.71805692e+02] [ 1.69722582e-02 -2.05790751e-04 9.99855940e-01 5.11025224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:171.83, Z:5.11 [[-2.92913113e-01 -9.56127185e-01 4.76598022e-03 9.40472778e+01] [ 9.55988452e-01 -2.92951805e-01 -1.62886516e-02 1.71831428e+02] [ 1.69702251e-02 -2.14937606e-04 9.99855972e-01 5.11063295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:171.86, Z:5.11 [[-2.93929269e-01 -9.55815295e-01 4.76524629e-03 9.40402342e+01] [ 9.55676970e-01 -2.93967807e-01 -1.62621337e-02 1.71857396e+02] [ 1.69444252e-02 -2.25880939e-04 9.99856407e-01 5.11070681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:171.88, Z:5.11 [[-2.94928018e-01 -9.55506040e-01 5.06679735e-03 9.40343865e+01] [ 9.55350091e-01 -2.94971431e-01 -1.72643422e-02 1.71881943e+02] [ 1.79907437e-02 -2.51172912e-04 9.99838122e-01 5.10995934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.03, Y:171.91, Z:5.11 [[-2.95164363e-01 -9.55432075e-01 5.24871499e-03 9.40270941e+01] [ 9.55265216e-01 -2.95210915e-01 -1.78572891e-02 1.71906405e+02] [ 1.86109048e-02 -2.56920512e-04 9.99826769e-01 5.10961425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:171.93, Z:5.11 [[-2.95421556e-01 -9.55351885e-01 5.37410258e-03 9.40187842e+01] [ 9.55177361e-01 -2.95470317e-01 -1.82619943e-02 1.71931339e+02] [ 1.90345185e-02 -2.61765659e-04 9.99818793e-01 5.10955242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:171.96, Z:5.11 [[-2.95558874e-01 -9.55307951e-01 5.62768718e-03 9.40107963e+01] [ 9.55117121e-01 -2.95612325e-01 -1.90954902e-02 1.71956120e+02] [ 1.99056873e-02 -2.68741209e-04 9.99801826e-01 5.10839146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:171.98, Z:5.11 [[-2.95428806e-01 -9.55347002e-01 5.82461123e-03 9.40030343e+01] [ 9.55143187e-01 -2.95486098e-01 -1.97347008e-02 1.71981166e+02] [ 2.05745789e-02 -2.66861380e-04 9.99788285e-01 5.10830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:172.01, Z:5.11 [[-2.95007844e-01 -9.55475299e-01 6.10944869e-03 9.39966083e+01] [ 9.55251760e-01 -2.95070983e-01 -2.06685870e-02 1.72006252e+02] [ 2.15510453e-02 -2.61333671e-04 9.99767715e-01 5.10814907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:172.03, Z:5.11 [[-2.94895661e-01 -9.55509306e-01 6.20602723e-03 9.39899521e+01] [ 9.55279343e-01 -2.94960847e-01 -2.09636563e-02 1.72030916e+02] [ 2.18615037e-02 -2.53601646e-04 9.99760977e-01 5.10830969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:172.06, Z:5.11 [[-2.95024561e-01 -9.55469248e-01 6.24695055e-03 9.39837718e+01] [ 9.55236919e-01 -2.95090586e-01 -2.10707217e-02 1.72055244e+02] [ 2.19758429e-02 -2.49062621e-04 9.99758471e-01 5.10830542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:172.08, Z:5.11 [[-2.95140558e-01 -9.55433149e-01 6.28877490e-03 9.39761793e+01] [ 9.55198366e-01 -2.95207449e-01 -2.11812351e-02 1.72080327e+02] [ 2.20937473e-02 -2.44414032e-04 9.99755874e-01 5.10870274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:172.11, Z:5.11 [[-2.95009820e-01 -9.55472872e-01 6.38720807e-03 9.39702473e+01] [ 9.55231324e-01 -2.95078861e-01 -2.14844986e-02 1.72105459e+02] [ 2.24125857e-02 -2.36876866e-04 9.99748778e-01 5.10909036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:172.13, Z:5.11 [[-2.95365304e-01 -9.55362995e-01 6.39413469e-03 9.39625997e+01] [ 9.55121466e-01 -2.95434411e-01 -2.14824373e-02 1.72130219e+02] [ 2.24125731e-02 -2.37991327e-04 9.99748778e-01 5.10949465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:172.16, Z:5.11 [[-2.95416742e-01 -9.55347171e-01 6.38206253e-03 9.39555325e+01] [ 9.55107199e-01 -2.95485582e-01 -2.14128186e-02 1.72155636e+02] [ 2.23424831e-02 -2.30151230e-04 9.99750349e-01 5.11027853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:172.18, Z:5.11 [[-2.95399056e-01 -9.55354065e-01 6.16507264e-03 9.39495175e+01] [ 9.55130725e-01 -2.95463305e-01 -2.06575417e-02 1.72180899e+02] [ 2.15568192e-02 -2.13768021e-04 9.99767602e-01 5.11192769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:172.21, Z:5.11 [[-2.95695967e-01 -9.55263073e-01 6.02964231e-03 9.39420776e+01] [ 9.55049987e-01 -2.95757364e-01 -2.01768144e-02 1.72205887e+02] [ 2.10574769e-02 -2.07592840e-04 9.99778245e-01 5.11375877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:172.23, Z:5.11 [[-2.96004931e-01 -9.55168727e-01 5.81239936e-03 9.39359265e+01] [ 9.54971241e-01 -2.96061925e-01 -1.94233076e-02 1.72230939e+02] [ 2.02733661e-02 -1.98720580e-04 9.99794454e-01 5.11447704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:172.26, Z:5.12 [[-2.96519681e-01 -9.55010289e-01 5.60593860e-03 9.39310941e+01] [ 9.54827076e-01 -2.96572605e-01 -1.87067964e-02 1.72255258e+02] [ 1.95277508e-02 -1.94231326e-04 9.99809296e-01 5.11551838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:172.28, Z:5.12 [[-2.97215008e-01 -9.54794402e-01 5.55784164e-03 9.39247974e+01] [ 9.54614815e-01 -2.97266902e-01 -1.85187473e-02 1.72280437e+02] [ 1.93337586e-02 -1.98451660e-04 9.99813066e-01 5.11645653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:172.31, Z:5.12 [[-2.98167895e-01 -9.54497973e-01 5.43380647e-03 9.39168440e+01] [ 9.54326741e-01 -2.98217333e-01 -1.80801827e-02 1.72305845e+02] [ 1.88779530e-02 -2.05303192e-04 9.99821775e-01 5.11786058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:172.33, Z:5.12 [[-2.99236294e-01 -9.54165092e-01 5.15914459e-03 9.39109127e+01] [ 9.54011101e-01 -2.99280693e-01 -1.71431239e-02 1.72332038e+02] [ 1.79014028e-02 -2.07963672e-04 9.99839735e-01 5.11951552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:172.36, Z:5.12 [[-3.00023777e-01 -9.53918030e-01 5.11138246e-03 9.39049828e+01] [ 9.53767271e-01 -3.00067238e-01 -1.69601367e-02 1.72356293e+02] [ 1.77123386e-02 -2.13374971e-04 9.99843101e-01 5.11998283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:172.38, Z:5.12 [[-3.01020123e-01 -9.53605046e-01 4.92977134e-03 9.38993936e+01] [ 9.53465169e-01 -3.01060409e-01 -1.63340553e-02 1.72381779e+02] [ 1.70603966e-02 -2.16514074e-04 9.99854437e-01 5.12062181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:172.41, Z:5.12 [[-3.01761527e-01 -9.53371148e-01 4.84105001e-03 9.38927214e+01] [ 9.53236603e-01 -3.01800277e-01 -1.60178299e-02 1.72406960e+02] [ 1.67319671e-02 -2.18898741e-04 9.99859987e-01 5.12082944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:172.43, Z:5.12 [[-3.02348347e-01 -9.53185611e-01 4.76116411e-03 9.38860438e+01] [ 9.53055807e-01 -3.02385753e-01 -1.57316525e-02 1.72432271e+02] [ 1.64348930e-02 -2.18784031e-04 9.99864914e-01 5.12128364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:172.46, Z:5.12 [[-3.02900858e-01 -9.53010006e-01 4.79568382e-03 9.38795876e+01] [ 9.52878661e-01 -3.02938737e-01 -1.58233495e-02 1.72456774e+02] [ 1.65326088e-02 -2.23201365e-04 9.99863302e-01 5.12151430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:172.48, Z:5.12 [[-3.03757166e-01 -9.52737082e-01 4.86169707e-03 9.38735275e+01] [ 9.52602456e-01 -3.03795979e-01 -1.60176240e-02 1.72482886e+02] [ 1.67375484e-02 -2.34203496e-04 9.99859890e-01 5.12083613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36275509600006 meters Centerline goodness [0,1] 0.9998919502971367 Centerline is valid? [True, True] Translation: X:93.87, Y:172.51, Z:5.12 [[-3.04478850e-01 -9.52505144e-01 5.15559897e-03 9.38670257e+01] [ 9.52354150e-01 -3.04522389e-01 -1.69613732e-02 1.72508216e+02] [ 1.77257906e-02 -2.54423342e-04 9.99842853e-01 5.11857482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:172.53, Z:5.12 [[-3.04202896e-01 -9.52593631e-01 5.09635886e-03 9.38598482e+01] [ 9.52446496e-01 -3.04245489e-01 -1.67437927e-02 1.72533937e+02] [ 1.75005744e-02 -2.39501072e-04 9.99846825e-01 5.12064457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:172.56, Z:5.12 [[-3.03974581e-01 -9.52666458e-01 5.10622694e-03 9.38525591e+01] [ 9.52519165e-01 -3.04017380e-01 -1.67533135e-02 1.72558262e+02] [ 1.75127015e-02 -2.28802429e-04 9.99846615e-01 5.12071746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:172.58, Z:5.12 [[-3.03795484e-01 -9.52723380e-01 5.14444243e-03 9.38443412e+01] [ 9.52574302e-01 -3.03838959e-01 -1.68548471e-02 1.72583728e+02] [ 1.76210889e-02 -2.19962783e-04 9.99844712e-01 5.12101728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:172.61, Z:5.12 [[-3.02092343e-01 -9.53264506e-01 5.19600841e-03 9.38365209e+01] [ 9.53112917e-01 -3.02136969e-01 -1.70005521e-02 1.72608045e+02] [ 1.77759291e-02 -1.83353871e-04 9.99841979e-01 5.12138771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51275509600003 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:93.83, Y:172.63, Z:5.12 [[-3.01689676e-01 -9.53391573e-01 5.27708269e-03 9.38284467e+01] [ 9.53235675e-01 -3.01735777e-01 -1.72414758e-02 1.72632886e+02] [ 1.80301624e-02 -1.71271779e-04 9.99837429e-01 5.12095647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:172.66, Z:5.12 [[-2.99183037e-01 -9.54181096e-01 5.28650573e-03 9.38196972e+01] [ 9.54025170e-01 -2.99229716e-01 -1.72496866e-02 1.72656106e+02] [ 1.80412045e-02 -1.17354094e-04 9.99837237e-01 5.12197321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.81, Y:172.68, Z:5.12 [[-2.98617296e-01 -9.54358053e-01 5.33070508e-03 9.38110046e+01] [ 9.54199929e-01 -2.98664855e-01 -1.73723686e-02 1.72681091e+02] [ 1.81715542e-02 -1.01131345e-04 9.99834879e-01 5.12259623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60275509600007 meters Centerline goodness [0,1] 0.9998913964247703 Centerline is valid? [True, True] Translation: X:93.80, Y:172.71, Z:5.12 [[-2.98459156e-01 -9.54407172e-01 5.39282280e-03 9.38037538e+01] [ 9.54245786e-01 -2.98507859e-01 -1.75510349e-02 1.72705374e+02] [ 1.83606336e-02 -9.21886298e-05 9.99831425e-01 5.12077954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.80, Y:172.73, Z:5.12 [[-2.97830170e-01 -9.54604871e-01 5.17009120e-03 9.37964736e+01] [ 9.54456969e-01 -2.97875032e-01 -1.68035345e-02 1.72728728e+02] [ 1.75807770e-02 -6.99699570e-05 9.99845444e-01 5.12391076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:172.75, Z:5.12 [[-2.98452090e-01 -9.54411022e-01 5.09426630e-03 9.37895690e+01] [ 9.54267810e-01 -2.98495555e-01 -1.65333254e-02 1.72753412e+02] [ 1.73002038e-02 -7.31111649e-05 9.99850338e-01 5.12473125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:172.78, Z:5.13 [[-3.00461305e-01 -9.53781517e-01 4.88084080e-03 9.37839231e+01] [ 9.53650320e-01 -3.00500929e-01 -1.58195825e-02 1.72778888e+02] [ 1.65551226e-02 -9.85570057e-05 9.99862950e-01 5.12588500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.78, Y:172.81, Z:5.13 [[-3.02219003e-01 -9.53226708e-01 4.74529094e-03 9.37765772e+01] [ 9.53102950e-01 -3.02256231e-01 -1.53602381e-02 1.72805106e+02] [ 1.60760829e-02 -1.19405032e-04 9.99870764e-01 5.12665785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:172.83, Z:5.13 [[-3.04051882e-01 -9.52644186e-01 4.63756271e-03 9.37708892e+01] [ 9.52526214e-01 -3.04087215e-01 -1.49925947e-02 1.72830445e+02] [ 1.56928317e-02 -1.41126579e-04 9.99876850e-01 5.12753292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:172.86, Z:5.13 [[-3.06096027e-01 -9.51989932e-01 4.51568307e-03 9.37651456e+01] [ 9.51878299e-01 -3.06129290e-01 -1.45794756e-02 1.72855666e+02] [ 1.52618968e-02 -1.64338826e-04 9.99883517e-01 5.12833180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:172.88, Z:5.13 [[-3.10094154e-01 -9.50695438e-01 4.44977790e-03 9.37605067e+01] [ 9.50587217e-01 -3.10126002e-01 -1.43459143e-02 1.72882371e+02] [ 1.50185871e-02 -2.18682172e-04 9.99887191e-01 5.12924279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:172.91, Z:5.13 [[-3.11855303e-01 -9.50119888e-01 4.29751682e-03 9.37536958e+01] [ 9.50019134e-01 -3.11884826e-01 -1.38383542e-02 1.72907712e+02] [ 1.44884258e-02 -2.32840940e-04 9.99895010e-01 5.13027322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:172.93, Z:5.13 [[-3.13671979e-01 -9.49521887e-01 4.25162749e-03 9.37468950e+01] [ 9.49423479e-01 -3.13700690e-01 -1.36724102e-02 1.72933591e+02] [ 1.43159912e-02 -2.52056995e-04 9.99897489e-01 5.13051901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:172.96, Z:5.13 [[-3.15798680e-01 -9.48815459e-01 4.51869133e-03 9.37388560e+01] [ 9.48704450e-01 -3.15830867e-01 -1.45165732e-02 1.72959817e+02] [ 1.52006913e-02 -2.97412086e-04 9.99884419e-01 5.13068540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:172.98, Z:5.13 [[-3.16822221e-01 -9.48473299e-01 4.69919309e-03 9.37313764e+01] [ 9.48353510e-01 -3.16856907e-01 -1.50771553e-02 1.72984371e+02] [ 1.57892510e-02 -3.20281545e-04 9.99875291e-01 5.13057187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.72, Y:173.01, Z:5.13 [[-3.17841215e-01 -9.48130448e-01 5.06125766e-03 9.37223912e+01] [ 9.47991862e-01 -3.17881311e-01 -1.62142660e-02 1.73009043e+02] [ 1.69821185e-02 -3.55530929e-04 9.99855730e-01 5.12962019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:173.03, Z:5.13 [[-3.18629507e-01 -9.47864038e-01 5.38544102e-03 9.37139123e+01] [ 9.47707533e-01 -3.18674783e-01 -1.72282869e-02 1.73034122e+02] [ 1.80462779e-02 -3.85617547e-04 9.99837078e-01 5.12929979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:173.06, Z:5.13 [[-3.19649766e-01 -9.47519075e-01 5.62412359e-03 9.37052237e+01] [ 9.47348809e-01 -3.19698970e-01 -1.79666983e-02 1.73058852e+02] [ 1.88218159e-02 -4.15044121e-04 9.99822768e-01 5.12874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:173.08, Z:5.13 [[-3.21646654e-01 -9.46840811e-01 5.99246015e-03 9.36991601e+01] [ 9.46647936e-01 -3.21702118e-01 -1.91162865e-02 1.73084875e+02] [ 2.00278673e-02 -4.75939547e-04 9.99799309e-01 5.12733896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:173.11, Z:5.13 [[-3.23016851e-01 -9.46373769e-01 6.06653002e-03 9.36889334e+01] [ 9.46176517e-01 -3.23073421e-01 -1.93277778e-02 1.73110024e+02] [ 2.02512365e-02 -5.03189666e-04 9.99794796e-01 5.12798472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:173.14, Z:5.13 [[-3.24682517e-01 -9.45803654e-01 6.05892744e-03 9.36819488e+01] [ 9.45607279e-01 -3.24738612e-01 -1.92797367e-02 1.73135292e+02] [ 2.02024131e-02 -5.30427547e-04 9.99795770e-01 5.12798367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:173.16, Z:5.13 [[-3.27815335e-01 -9.44723020e-01 5.96003910e-03 9.36724788e+01] [ 9.44533297e-01 -3.27868998e-01 -1.89412754e-02 1.73160590e+02] [ 1.98483709e-02 -5.79785142e-04 9.99802834e-01 5.12955529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.67, Y:173.19, Z:5.13 [[-3.29224402e-01 -9.44234532e-01 5.69581232e-03 9.36662811e+01] [ 9.44061602e-01 -3.29273167e-01 -1.80796301e-02 1.73186311e+02] [ 1.89468893e-02 -5.75057721e-04 9.99820326e-01 5.13033767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:173.21, Z:5.13 [[-3.30677176e-01 -9.43728767e-01 5.34976195e-03 9.36563772e+01] [ 9.43576517e-01 -3.30719973e-01 -1.69604413e-02 1.73211493e+02] [ 1.77753295e-02 -5.60521087e-04 9.99841849e-01 5.13177148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.65, Y:173.24, Z:5.13 [[-3.32561830e-01 -9.43068556e-01 4.93244437e-03 9.36506231e+01] [ 9.42939352e-01 -3.32597962e-01 -1.56196624e-02 1.73237321e+02] [ 1.63709334e-02 -5.43507612e-04 9.99865840e-01 5.13375340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:173.26, Z:5.13 [[-3.33397393e-01 -9.42774430e-01 4.74897024e-03 9.36379425e+01] [ 9.42654923e-01 -3.33430791e-01 -1.50200965e-02 1.73261102e+02] [ 1.57440158e-02 -5.31020822e-04 9.99875914e-01 5.13458071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:173.29, Z:5.14 [[-3.34131237e-01 -9.42515342e-01 4.59847644e-03 9.36288165e+01] [ 9.42403560e-01 -3.34162475e-01 -1.45248416e-02 1.73285640e+02] [ 1.52265244e-02 -5.19582734e-04 9.99883935e-01 5.13522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:173.31, Z:5.14 [[-3.34048503e-01 -9.42545371e-01 4.45206645e-03 9.36186600e+01] [ 9.42440868e-01 -3.34077802e-01 -1.40439352e-02 1.73309021e+02] [ 1.47243827e-02 -4.95546171e-04 9.99891468e-01 5.13621982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:173.33, Z:5.14 [[-3.33949697e-01 -9.42581411e-01 4.22894240e-03 9.36098218e+01] [ 9.42487381e-01 -3.33976151e-01 -1.33217023e-02 1.73333038e+02] [ 1.39691549e-02 -4.63053608e-04 9.99902319e-01 5.13702493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:173.36, Z:5.14 [[-3.33489767e-01 -9.42745188e-01 4.01069896e-03 9.35995232e+01] [ 9.42660785e-01 -3.33513608e-01 -1.26221400e-02 1.73357875e+02] [ 1.32370844e-02 -4.28625904e-04 9.99912294e-01 5.13840315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.58, Y:173.38, Z:5.14 [[-3.31392113e-01 -9.43485787e-01 3.71990572e-03 9.35829845e+01] [ 9.43413398e-01 -3.31412788e-01 -1.16929353e-02 1.73381206e+02] [ 1.22649426e-02 -3.65537645e-04 9.99924716e-01 5.13945372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:173.41, Z:5.14 [[-3.30213437e-01 -9.43899286e-01 3.63648880e-03 9.35746526e+01] [ 9.43830299e-01 -3.30233287e-01 -1.14167617e-02 1.73406557e+02] [ 1.19771629e-02 -3.37739813e-04 9.99928214e-01 5.14091557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:173.43, Z:5.14 [[-3.28747874e-01 -9.44411774e-01 3.35219455e-03 9.35639629e+01] [ 9.44353322e-01 -3.28764837e-01 -1.05111672e-02 1.73430737e+02] [ 1.10289538e-02 -2.89867821e-04 9.99939137e-01 5.14155840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:173.45, Z:5.14 [[-3.25076205e-01 -9.45682160e-01 3.27312057e-03 9.35471471e+01] [ 9.45626583e-01 -3.25092595e-01 -1.02552293e-02 1.73454379e+02] [ 1.07622547e-02 -2.38581207e-04 9.99942057e-01 5.14153832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:173.48, Z:5.14 [[-3.23423245e-01 -9.46248999e-01 3.19945717e-03 9.35366502e+01] [ 9.46196050e-01 -3.23439002e-01 -1.00123882e-02 1.73478089e+02] [ 1.05090415e-02 -2.10925340e-04 9.99944756e-01 5.14141712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:173.50, Z:5.14 [[-3.20533547e-01 -9.47231241e-01 3.34973224e-03 9.35245843e+01] [ 9.47173366e-01 -3.20550997e-01 -1.04724913e-02 1.73501437e+02] [ 1.09936309e-02 -1.84007623e-04 9.99939551e-01 5.14149194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:173.53, Z:5.14 [[-3.19606416e-01 -9.47543920e-01 3.50122408e-03 9.35153052e+01] [ 9.47480877e-01 -3.19625544e-01 -1.09315456e-02 1.73525149e+02] [ 1.14772002e-02 -1.76449245e-04 9.99934119e-01 5.14179899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:173.55, Z:5.14 [[-3.19015608e-01 -9.47742753e-01 3.56590145e-03 9.35031594e+01] [ 9.47677553e-01 -3.19035492e-01 -1.11180115e-02 1.73549025e+02] [ 1.16746639e-02 -1.67494415e-04 9.99931835e-01 5.14132070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.49, Y:173.57, Z:5.14 [[-3.18291150e-01 -9.47986232e-01 3.58447349e-03 9.34934818e+01] [ 9.47920542e-01 -3.18311296e-01 -1.11608981e-02 1.73572132e+02] [ 1.17213562e-02 -1.54619052e-04 9.99931291e-01 5.14185480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.48, Y:173.60, Z:5.14 [[-3.18488826e-01 -9.47920039e-01 3.53094344e-03 9.34845595e+01] [ 9.47856470e-01 -3.18508363e-01 -1.09788404e-02 1.73596223e+02] [ 1.15316978e-02 -1.49810395e-04 9.99933497e-01 5.14232510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:173.62, Z:5.14 [[-3.18848714e-01 -9.47798929e-01 3.56201164e-03 9.34746962e+01] [ 9.47734406e-01 -3.18868574e-01 -1.10602401e-02 1.73620515e+02] [ 1.16186973e-02 -1.50702345e-04 9.99932489e-01 5.14259973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:173.64, Z:5.14 [[-3.20304070e-01 -9.47309083e-01 3.28712218e-03 9.34652871e+01] [ 9.47254233e-01 -3.20320900e-01 -1.01950091e-02 1.73644937e+02] [ 1.07107586e-02 -1.51762497e-04 9.99942627e-01 5.14299062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.46, Y:173.67, Z:5.14 [[-3.21717108e-01 -9.46829756e-01 3.39344975e-03 9.34569781e+01] [ 9.46771439e-01 -3.21734961e-01 -1.05098497e-02 1.73669928e+02] [ 1.10428299e-02 -1.68377155e-04 9.99939012e-01 5.14331849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.45, Y:173.69, Z:5.14 [[-3.22098260e-01 -9.46700146e-01 3.39770434e-03 9.34487665e+01] [ 9.46641837e-01 -3.22116136e-01 -1.05084737e-02 1.73694511e+02] [ 1.10428290e-02 -1.68352003e-04 9.99939012e-01 5.14372250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:173.72, Z:5.14 [[-3.23605752e-01 -9.46186193e-01 3.31757696e-03 9.34409519e+01] [ 9.46130721e-01 -3.23622709e-01 -1.02470135e-02 1.73719766e+02] [ 1.07692260e-02 -1.77131037e-04 9.99941995e-01 5.14441036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:173.75, Z:5.14 [[-3.27688745e-01 -9.44780525e-01 3.13779109e-03 9.34343792e+01] [ 9.44730969e-01 -3.27703702e-01 -9.67886247e-03 1.73746084e+02] [ 1.01726665e-02 -2.07285880e-04 9.99948236e-01 5.14498750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:173.77, Z:5.15 [[-3.29893938e-01 -9.44012824e-01 3.12688369e-03 9.34276225e+01] [ 9.43963692e-01 -3.29908679e-01 -9.63390946e-03 1.73771904e+02] [ 1.01261201e-02 -2.26503654e-04 9.99948704e-01 5.14569732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:173.80, Z:5.15 [[-3.32140737e-01 -9.43224759e-01 3.09599647e-03 9.34196255e+01] [ 9.43176680e-01 -3.32155076e-01 -9.52657400e-03 1.73798234e+02] [ 1.00140514e-02 -2.44091627e-04 9.99949828e-01 5.14577543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:173.82, Z:5.15 [[-3.35999280e-01 -9.41856971e-01 3.15128238e-03 9.34140087e+01] [ 9.41807218e-01 -3.36013936e-01 -9.68503910e-03 1.73823999e+02] [ 1.01807964e-02 -2.86265674e-04 9.99948133e-01 5.14645987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:173.85, Z:5.15 [[-3.37617918e-01 -9.41278120e-01 3.10515340e-03 9.34053561e+01] [ 9.41229906e-01 -3.37632068e-01 -9.53154138e-03 1.73849339e+02] [ 1.00202307e-02 -2.95355908e-04 9.99949753e-01 5.14733537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:173.88, Z:5.15 [[-3.38782841e-01 -9.40859406e-01 3.12472035e-03 9.33987549e+01] [ 9.40810688e-01 -3.38797114e-01 -9.57946547e-03 1.73875225e+02] [ 1.00715764e-02 -3.05588229e-04 9.99949234e-01 5.14837919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.39, Y:173.90, Z:5.15 [[-3.39899419e-01 -9.40456848e-01 3.04982153e-03 9.33890373e+01] [ 9.40410534e-01 -3.39912963e-01 -9.33836491e-03 1.73900536e+02] [ 9.81900311e-03 -3.06020515e-04 9.99951746e-01 5.14935991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:173.92, Z:5.15 [[-3.40135181e-01 -9.40371705e-01 3.01906797e-03 9.33776254e+01] [ 9.40326409e-01 -3.40148445e-01 -9.23471420e-03 1.73924709e+02] [ 9.71099522e-03 -3.02141842e-04 9.99952802e-01 5.14992871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:173.95, Z:5.15 [[-3.38682936e-01 -9.40896135e-01 2.88665351e-03 9.33694959e+01] [ 9.40854855e-01 -3.38695129e-01 -8.81770043e-03 1.73950140e+02] [ 9.27423573e-03 -2.70482697e-04 9.99956957e-01 5.15155646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.36, Y:173.98, Z:5.15 [[-3.37503941e-01 -9.41319954e-01 2.79891005e-03 9.33585599e+01] [ 9.41281251e-01 -3.37515455e-01 -8.53957163e-03 1.73975046e+02] [ 8.98314458e-03 -2.47577531e-04 9.99959620e-01 5.15218265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:174.00, Z:5.15 [[-3.36333194e-01 -9.41738877e-01 2.80551249e-03 9.33474244e+01] [ 9.41700095e-01 -3.36344814e-01 -8.54974624e-03 1.74000290e+02] [ 8.99524799e-03 -2.33612081e-04 9.99959515e-01 5.15264992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:174.03, Z:5.15 [[-3.33333123e-01 -9.42804880e-01 2.82613834e-03 9.33342725e+01] [ 9.42765660e-01 -3.33345041e-01 -8.60195485e-03 1.74025042e+02] [ 9.05204422e-03 -2.02930293e-04 9.99959009e-01 5.15297422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.32, Y:174.05, Z:5.15 [[-3.31835849e-01 -9.43332855e-01 2.84517441e-03 9.33246865e+01] [ 9.43293207e-01 -3.31847993e-01 -8.65073534e-03 1.74049105e+02] [ 9.10468828e-03 -1.86790412e-04 9.99958534e-01 5.15346087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:174.07, Z:5.15 [[-3.30541811e-01 -9.43786797e-01 2.93145571e-03 9.33141667e+01] [ 9.43744839e-01 -3.30554763e-01 -8.90095928e-03 1.74074543e+02] [ 9.36961449e-03 -1.75593002e-04 9.99956089e-01 5.15362302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:174.10, Z:5.15 [[-3.28606818e-01 -9.44462655e-01 2.80241123e-03 9.33042714e+01] [ 9.44424415e-01 -3.28618735e-01 -8.50012927e-03 1.74099101e+02] [ 8.94897949e-03 -1.46534843e-04 9.99959946e-01 5.15455685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.30, Y:174.12, Z:5.15 [[-3.28009446e-01 -9.44670162e-01 2.84402547e-03 9.32951581e+01] [ 9.44630883e-01 -3.28021746e-01 -8.61563446e-03 1.74123661e+02] [ 9.07183500e-03 -1.39455200e-04 9.99958840e-01 5.15476410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:174.15, Z:5.15 [[-3.27153825e-01 -9.44966603e-01 2.91437293e-03 9.32848992e+01] [ 9.44925477e-01 -3.27166780e-01 -8.81708066e-03 1.74148488e+02] [ 9.28533277e-03 -1.30676436e-04 9.99956882e-01 5.15471148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:174.17, Z:5.16 [[-3.27271455e-01 -9.44925408e-01 3.06058829e-03 9.32770114e+01] [ 9.44880173e-01 -3.27285739e-01 -9.24680518e-03 1.74172353e+02] [ 9.73922805e-03 -1.34326198e-04 9.99952564e-01 5.15506775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:174.20, Z:5.15 [[-3.27437086e-01 -9.44867797e-01 3.13071589e-03 9.32681908e+01] [ 9.44820598e-01 -3.27452025e-01 -9.44504656e-03 1.74196919e+02] [ 9.94947959e-03 -1.34693664e-04 9.99950494e-01 5.15469803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:174.22, Z:5.15 [[-3.28027573e-01 -9.44663279e-01 3.03327831e-03 9.32588842e+01] [ 9.44619066e-01 -3.28041571e-01 -9.14043317e-03 1.74222162e+02] [ 9.62967295e-03 -1.33021586e-04 9.99953625e-01 5.15461401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:174.25, Z:5.15 [[-3.29131809e-01 -9.44278319e-01 3.27225709e-03 9.32517645e+01] [ 9.44226996e-01 -3.29148041e-01 -9.84618329e-03 1.74247884e+02] [ 1.03745944e-02 -1.50938641e-04 9.99946171e-01 5.15405572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:174.27, Z:5.15 [[-3.30246913e-01 -9.43888929e-01 3.26580518e-03 9.32450111e+01] [ 9.43837918e-01 -3.30263022e-01 -9.81428532e-03 1.74272462e+02] [ 1.03421700e-02 -1.58746667e-04 9.99946506e-01 5.15449734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:174.30, Z:5.15 [[-3.31422428e-01 -9.43476672e-01 3.30796594e-03 9.32378257e+01] [ 9.43424462e-01 -3.31438893e-01 -9.92691019e-03 1.74297745e+02] [ 1.04621968e-02 -1.69184693e-04 9.99945255e-01 5.15469633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:174.32, Z:5.15 [[-3.33662162e-01 -9.42686393e-01 3.45357128e-03 9.32313959e+01] [ 9.42629602e-01 -3.33679976e-01 -1.03492568e-02 1.74324536e+02] [ 1.09084912e-02 -1.97716883e-04 9.99940481e-01 5.15392608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:174.35, Z:5.15 [[-3.34720880e-01 -9.42310186e-01 3.66691553e-03 9.32239695e+01] [ 9.42246294e-01 -3.34740894e-01 -1.09751951e-02 1.74350374e+02] [ 1.15695048e-02 -2.18489407e-04 9.99933047e-01 5.15380009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:174.38, Z:5.15 [[-3.36649644e-01 -9.41622019e-01 3.87175447e-03 9.32182551e+01] [ 9.41550942e-01 -3.36671814e-01 -1.15720507e-02 1.74375702e+02] [ 1.22000083e-02 -2.50272675e-04 9.99925546e-01 5.15327344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:174.40, Z:5.15 [[-3.37301494e-01 -9.41387470e-01 4.16349589e-03 9.32107314e+01] [ 9.41305473e-01 -3.37327079e-01 -1.24277494e-02 1.74401556e+02] [ 1.31037875e-02 -2.72776988e-04 9.99914104e-01 5.15326712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:174.43, Z:5.15 [[-3.37314169e-01 -9.41381456e-01 4.48399191e-03 9.32040394e+01] [ 9.41286613e-01 -3.37343848e-01 -1.33656528e-02 1.74425858e+02] [ 1.40948248e-02 -2.87702502e-04 9.99900622e-01 5.15260458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:174.45, Z:5.15 [[-3.37157566e-01 -9.41436657e-01 4.66875329e-03 9.31949879e+01] [ 9.41334052e-01 -3.37189763e-01 -1.39020270e-02 1.74450526e+02] [ 1.46621336e-02 -2.92317135e-04 9.99892462e-01 5.15225559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:174.48, Z:5.15 [[-3.36574519e-01 -9.41644109e-01 4.89539174e-03 9.31851111e+01] [ 9.41531619e-01 -3.36609993e-01 -1.45575626e-02 1.74475289e+02] [ 1.53558808e-02 -2.90538524e-04 9.99882049e-01 5.15194602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:174.50, Z:5.15 [[-3.35749964e-01 -9.41937772e-01 5.01944440e-03 9.31763286e+01] [ 9.41819855e-01 -3.35787368e-01 -1.49065337e-02 1.74499984e+02] [ 1.57264931e-02 -2.77455753e-04 9.99876293e-01 5.15128759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:174.52, Z:5.15 [[-3.33780991e-01 -9.42634731e-01 5.47860438e-03 9.31686398e+01] [ 9.42494736e-01 -3.33825849e-01 -1.62473335e-02 1.74524961e+02] [ 1.71442006e-02 -2.59495273e-04 9.99852994e-01 5.14996132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:174.55, Z:5.15 [[-3.32890882e-01 -9.42948856e-01 5.57820674e-03 9.31584004e+01] [ 9.42804130e-01 -3.32937528e-01 -1.65219584e-02 1.74548994e+02] [ 1.74365561e-02 -2.40852949e-04 9.99847943e-01 5.14999345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:174.57, Z:5.15 [[-3.30780811e-01 -9.43689941e-01 5.77495215e-03 9.31489882e+01] [ 9.43535344e-01 -3.30831157e-01 -1.70821511e-02 1.74573388e+02] [ 1.80307882e-02 -2.01576323e-04 9.99837412e-01 5.14938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.14, Y:174.60, Z:5.15 [[-3.30561672e-01 -9.43765904e-01 5.90760352e-03 9.31410051e+01] [ 9.43604569e-01 -3.30614399e-01 -1.74509773e-02 1.74597174e+02] [ 1.84227762e-02 -1.94182562e-04 9.99830267e-01 5.14950601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:174.62, Z:5.15 [[-3.29989536e-01 -9.43966179e-01 5.89565338e-03 9.31331825e+01] [ 9.43805964e-01 -3.30042152e-01 -1.73919871e-02 1.74621371e+02] [ 1.83632618e-02 -1.74820944e-04 9.99831366e-01 5.14952911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:174.65, Z:5.15 [[-3.29498329e-01 -9.44136759e-01 6.05241577e-03 9.31255674e+01] [ 9.43968392e-01 -3.29553872e-01 -1.78303157e-02 1.74646708e+02] [ 1.88288535e-02 -1.61770054e-04 9.99822708e-01 5.14942759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:174.67, Z:5.15 [[-3.29964592e-01 -9.43974852e-01 5.90318445e-03 9.31173431e+01] [ 9.43815054e-01 -3.30017354e-01 -1.73691953e-02 1.74671476e+02] [ 1.83442369e-02 -1.59705109e-04 9.99831718e-01 5.15009267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:174.70, Z:5.15 [[-3.30268812e-01 -9.43868731e-01 5.85922534e-03 9.31105939e+01] [ 9.43711696e-01 -3.30320744e-01 -1.72174574e-02 1.74696222e+02] [ 1.81864433e-02 -1.56969709e-04 9.99834601e-01 5.15024978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:174.72, Z:5.15 [[-3.31075883e-01 -9.43585997e-01 5.85038139e-03 9.31046411e+01] [ 9.43429809e-01 -3.31127528e-01 -1.71684458e-02 1.74722214e+02] [ 1.81371274e-02 -1.64634164e-04 9.99835495e-01 5.15096319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:174.75, Z:5.15 [[-3.31901963e-01 -9.43295269e-01 5.92636860e-03 9.30969213e+01] [ 9.43135363e-01 -3.31954822e-01 -1.73690472e-02 1.74747540e+02] [ 1.83514267e-02 -1.75453048e-04 9.99831583e-01 5.15134855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:174.77, Z:5.15 [[-3.32022651e-01 -9.43252246e-01 6.01324725e-03 9.30898682e+01] [ 9.43088045e-01 -3.32077054e-01 -1.76002702e-02 1.74773353e+02] [ 1.85983558e-02 -1.72666772e-04 9.99827021e-01 5.15139031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:174.80, Z:5.15 [[-3.32449995e-01 -9.43102145e-01 5.94520928e-03 9.30813836e+01] [ 9.42942023e-01 -3.32503105e-01 -1.73789091e-02 1.74799217e+02] [ 1.83668870e-02 -1.71630574e-04 9.99831300e-01 5.15178717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.152755096 meters Centerline goodness [0,1] 0.9998488349493597 Centerline is valid? [True, True] Translation: X:93.07, Y:174.82, Z:5.15 [[-3.32790235e-01 -9.42981102e-01 6.10738341e-03 9.30745873e+01] [ 9.42812526e-01 -3.32846225e-01 -1.78306461e-02 1.74824284e+02] [ 1.88467818e-02 -1.75747309e-04 9.99822368e-01 5.14889848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:174.85, Z:5.15 [[-3.32771841e-01 -9.42988449e-01 5.97391268e-03 9.30660261e+01] [ 9.42827592e-01 -3.32825419e-01 -1.74176145e-02 1.74849533e+02] [ 1.84128792e-02 -1.63721937e-04 9.99830455e-01 5.15207188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:174.88, Z:5.15 [[-3.33469927e-01 -9.42741247e-01 6.06205473e-03 9.30595698e+01] [ 9.42575994e-01 -3.33524978e-01 -1.76517854e-02 1.74876041e+02] [ 1.86629129e-02 -1.72392322e-04 9.99825818e-01 5.15232240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:174.90, Z:5.15 [[-3.34178033e-01 -9.42490495e-01 6.05872747e-03 9.30532612e+01] [ 9.42325763e-01 -3.34232904e-01 -1.76216221e-02 1.74900773e+02] [ 1.86332375e-02 -1.79464045e-04 9.99826370e-01 5.15248665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:174.93, Z:5.15 [[-3.35283478e-01 -9.42098564e-01 5.94016239e-03 9.30469452e+01] [ 9.41940490e-01 -3.35336040e-01 -1.72584531e-02 1.74926217e+02] [ 1.82511144e-02 -1.91194702e-04 9.99833416e-01 5.15277543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:174.95, Z:5.15 [[-3.36518301e-01 -9.41657312e-01 6.07780413e-03 9.30401729e+01] [ 9.41492191e-01 -3.36573114e-01 -1.76350073e-02 1.74951026e+02] [ 1.86517590e-02 -2.12297559e-04 9.99826018e-01 5.15283238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:174.98, Z:5.15 [[-3.37391932e-01 -9.41345198e-01 5.99194140e-03 9.30319357e+01] [ 9.41185080e-01 -3.37445064e-01 -1.73629825e-02 1.74976087e+02] [ 1.83665113e-02 -2.18604381e-04 9.99831298e-01 5.15359189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:175.00, Z:5.15 [[-3.38860306e-01 -9.40817222e-01 6.05382044e-03 9.30273080e+01] [ 9.40654123e-01 -3.38914292e-01 -1.75192531e-02 1.75001579e+02] [ 1.85341413e-02 -2.42028308e-04 9.99828199e-01 5.15416857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:175.03, Z:5.15 [[-3.39848263e-01 -9.40460464e-01 6.10530359e-03 9.30196999e+01] [ 9.40294966e-01 -3.39903003e-01 -1.76444243e-02 1.75027356e+02] [ 1.86690944e-02 -2.55640705e-04 9.99825685e-01 5.15497658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:175.05, Z:5.16 [[-3.40860215e-01 -9.40092886e-01 6.29912643e-03 9.30158485e+01] [ 9.39917100e-01 -3.40918302e-01 -1.81812187e-02 1.75052752e+02] [ 1.92395218e-02 -2.76597458e-04 9.99814865e-01 5.15512033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45275509600003 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:93.01, Y:175.08, Z:5.15 [[-3.41404117e-01 -9.39895091e-01 6.35974259e-03 9.30082538e+01] [ 9.39716258e-01 -3.41463229e-01 -1.83362396e-02 1.75078056e+02] [ 1.94057598e-02 -2.83714182e-04 9.99811650e-01 5.15351694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:175.10, Z:5.16 [[-3.41959404e-01 -9.39692725e-01 6.43023343e-03 9.30001423e+01] [ 9.39510335e-01 -3.42019733e-01 -1.85157586e-02 1.75103450e+02] [ 1.95983904e-02 -2.90367028e-04 9.99807891e-01 5.15555067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:175.13, Z:5.15 [[-3.42661764e-01 -9.39435605e-01 6.60754717e-03 9.29949953e+01] [ 9.39243467e-01 -3.42725329e-01 -1.90015229e-02 1.75128916e+02] [ 2.01152810e-02 -3.04999856e-04 9.99797621e-01 5.15498673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:175.15, Z:5.16 [[-3.42994840e-01 -9.39313498e-01 6.68515883e-03 9.29859928e+01] [ 9.39117312e-01 -3.43059845e-01 -1.91993890e-02 1.75153369e+02] [ 2.03276548e-02 -3.07142985e-04 9.99793325e-01 5.15626212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:175.18, Z:5.16 [[-3.42017999e-01 -9.39671935e-01 6.35166646e-03 9.29777440e+01] [ 9.39495309e-01 -3.42076870e-01 -1.82202749e-02 1.75177467e+02] [ 1.92938392e-02 -2.64301116e-04 9.99813822e-01 5.15740132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:175.20, Z:5.16 [[-3.41784144e-01 -9.39758040e-01 6.19887766e-03 9.29686106e+01] [ 9.39590169e-01 -3.41840264e-01 -1.77636842e-02 1.75202639e+02] [ 1.88125910e-02 -2.46941094e-04 9.99822997e-01 5.15866578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63275509600004 meters Centerline goodness [0,1] 0.9998702422145329 Centerline is valid? [True, True] Translation: X:92.96, Y:175.23, Z:5.16 [[-3.41464836e-01 -9.39874148e-01 6.19291942e-03 9.29598548e+01] [ 9.39707036e-01 -3.41520910e-01 -1.77244175e-02 1.75227497e+02] [ 1.87737333e-02 -2.32735362e-04 9.99823731e-01 5.15699927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:175.25, Z:5.16 [[-3.41113336e-01 -9.40002301e-01 6.11277688e-03 9.29498384e+01] [ 9.39839911e-01 -3.41168034e-01 -1.74732587e-02 1.75251988e+02] [ 1.85103875e-02 -2.15329885e-04 9.99828645e-01 5.16047381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69275509600004 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:92.94, Y:175.28, Z:5.16 [[-3.40702390e-01 -9.40152509e-01 5.92803351e-03 9.29416256e+01] [ 9.40000189e-01 -3.40753903e-01 -1.69240284e-02 1.75276553e+02] [ 1.79311683e-02 -1.93704310e-04 9.99839205e-01 5.16102179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72275509600007 meters Centerline goodness [0,1] 0.999978390993366 Centerline is valid? [True, True] Translation: X:92.93, Y:175.30, Z:5.16 [[-3.41064769e-01 -9.40021063e-01 5.93498257e-03 9.29328026e+01] [ 9.39868765e-01 -3.41116349e-01 -1.69215913e-02 1.75300933e+02] [ 1.79311719e-02 -1.93253909e-04 9.99839205e-01 5.16142564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.92, Y:175.32, Z:5.16 [[-3.41041955e-01 -9.40029465e-01 5.91529454e-03 9.29247384e+01] [ 9.39878549e-01 -3.41093200e-01 -1.68446357e-02 1.75324759e+02] [ 1.78521206e-02 -1.85069029e-04 9.99840621e-01 5.16201481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.92, Y:175.35, Z:5.16 [[-3.41750117e-01 -9.39773811e-01 5.66058346e-03 9.29150695e+01] [ 9.39635917e-01 -3.41796945e-01 -1.60994717e-02 1.75349811e+02] [ 1.70646320e-02 -1.83108816e-04 9.99854372e-01 5.16340851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:175.38, Z:5.16 [[-3.42649338e-01 -9.39447108e-01 5.52829393e-03 9.29055764e+01] [ 9.39315868e-01 -3.42693880e-01 -1.57036556e-02 1.75375671e+02] [ 1.66472663e-02 -1.88032978e-04 9.99861407e-01 5.16358218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:175.40, Z:5.16 [[-3.43807407e-01 -9.39024168e-01 5.48450529e-03 9.28970398e+01] [ 9.38895242e-01 -3.43851091e-01 -1.55612451e-02 1.75399906e+02] [ 1.64982384e-02 -2.00695405e-04 9.99863875e-01 5.16443111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:175.42, Z:5.17 [[-3.45795783e-01 -9.38295379e-01 5.20181707e-03 9.28881300e+01] [ 9.38179611e-01 -3.45834839e-01 -1.47404810e-02 1.75424973e+02] [ 1.56298947e-02 -2.16957456e-04 9.99877822e-01 5.16547129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:175.45, Z:5.17 [[-3.46940151e-01 -9.37873437e-01 5.09390781e-03 9.28793409e+01] [ 9.37762652e-01 -3.46977471e-01 -1.44167657e-02 1.75449619e+02] [ 1.52885729e-02 -2.24878385e-04 9.99883098e-01 5.16599388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:175.47, Z:5.17 [[-3.47930766e-01 -9.37506840e-01 5.01063200e-03 9.28709396e+01] [ 9.37399876e-01 -3.47966767e-01 -1.41634131e-02 1.75474133e+02] [ 1.50218300e-02 -2.30921342e-04 9.99887139e-01 5.16634871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters Centerline goodness [0,1] 0.9999783287101248 Centerline is valid? [True, True] Translation: X:92.86, Y:175.50, Z:5.17 [[-3.49153386e-01 -9.37052218e-01 5.00532434e-03 9.28625319e+01] [ 9.36945713e-01 -3.49189177e-01 -1.41297253e-02 1.75499467e+02] [ 1.49880955e-02 -2.43724240e-04 9.99887642e-01 5.16665155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:175.52, Z:5.17 [[-3.49548842e-01 -9.36904443e-01 5.06670881e-03 9.28531605e+01] [ 9.36795568e-01 -3.49585474e-01 -1.42849450e-02 1.75524318e+02] [ 1.51548762e-02 -2.46815621e-04 9.99885128e-01 5.16787458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.84, Y:175.55, Z:5.17 [[-3.50012006e-01 -9.36730637e-01 5.22591523e-03 9.28426599e+01] [ 9.36615087e-01 -3.50050923e-01 -1.47149409e-02 1.75548518e+02] [ 1.56132724e-02 -2.55734945e-04 9.99878073e-01 5.16744390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05275509600006 meters Centerline goodness [0,1] 0.9999133542727174 Centerline is valid? [True, True] Translation: X:92.83, Y:175.57, Z:5.17 [[-3.50711804e-01 -9.36468555e-01 5.27969468e-03 9.28345751e+01] [ 9.36350882e-01 -3.50751444e-01 -1.48475637e-02 1.75572242e+02] [ 1.57561371e-02 -2.63569083e-04 9.99875830e-01 5.16521312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:175.60, Z:5.17 [[-3.50775981e-01 -9.36443676e-01 5.42705212e-03 9.28244813e+01] [ 9.36319593e-01 -3.50817860e-01 -1.52462637e-02 1.75596479e+02] [ 1.61811740e-02 -2.66567877e-04 9.99869041e-01 5.16742601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:175.62, Z:5.17 [[-3.51208056e-01 -9.36281608e-01 5.44536565e-03 9.28146615e+01] [ 9.36156970e-01 -3.51250165e-01 -1.52790506e-02 1.75621310e+02] [ 1.62181796e-02 -2.68408644e-04 9.99868441e-01 5.16769404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:175.65, Z:5.17 [[-3.52322798e-01 -9.35862545e-01 5.47203421e-03 9.28062136e+01] [ 9.35736940e-01 -3.52365176e-01 -1.53349961e-02 1.75646184e+02] [ 1.62796027e-02 -2.82484168e-04 9.99867439e-01 5.16771629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:175.67, Z:5.17 [[-3.53250855e-01 -9.35512997e-01 5.40978913e-03 9.27989108e+01] [ 9.35390484e-01 -3.53292158e-01 -1.51424534e-02 1.75670055e+02] [ 1.60771980e-02 -2.88819325e-04 9.99870712e-01 5.16810940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:175.70, Z:5.17 [[-3.54460540e-01 -9.35056398e-01 5.22099540e-03 9.27908777e+01] [ 9.34942448e-01 -3.54498867e-01 -1.46004299e-02 1.75695599e+02] [ 1.55030624e-02 -2.93946067e-04 9.99879777e-01 5.16875462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:175.72, Z:5.17 [[-3.55301790e-01 -9.34737714e-01 5.10330041e-03 9.27815695e+01] [ 9.34629062e-01 -3.55338316e-01 -1.42547314e-02 1.75720178e+02] [ 1.51378332e-02 -2.95038699e-04 9.99885373e-01 5.16907952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:175.75, Z:5.17 [[-3.56594212e-01 -9.34245980e-01 5.00171152e-03 9.27725372e+01] [ 9.34141808e-01 -3.56629159e-01 -1.39544075e-02 1.75745102e+02] [ 1.48206053e-02 -3.03753108e-04 9.99890123e-01 5.16954806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:175.77, Z:5.17 [[-3.57192714e-01 -9.34017227e-01 5.01854167e-03 9.27632477e+01] [ 9.33912585e-01 -3.57227834e-01 -1.39841940e-02 1.75770363e+02] [ 1.48542409e-02 -3.08172968e-04 9.99889622e-01 5.16990146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:175.79, Z:5.17 [[-3.57600743e-01 -9.33861401e-01 4.95911490e-03 9.27530813e+01] [ 9.33759452e-01 -3.57634997e-01 -1.38019701e-02 1.75794982e+02] [ 1.46626801e-02 -3.04974334e-04 9.99892451e-01 5.17011217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:175.82, Z:5.17 [[-3.57967472e-01 -9.33721159e-01 4.90784983e-03 9.27453155e+01] [ 9.33621540e-01 -3.58000987e-01 -1.36423607e-02 1.75818713e+02] [ 1.44951759e-02 -3.01447050e-04 9.99894894e-01 5.17034201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:175.84, Z:5.17 [[-3.58345144e-01 -9.33575815e-01 4.99558074e-03 9.27366834e+01] [ 9.33472862e-01 -3.58379833e-01 -1.38676552e-02 1.75843577e+02] [ 1.47368228e-02 -3.06167843e-04 9.99891360e-01 5.17052003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41275509600007 meters Centerline goodness [0,1] 0.9999566160520608 Centerline is valid? [True, True] Translation: X:92.73, Y:175.87, Z:5.17 [[-3.58746696e-01 -9.33422178e-01 4.88311660e-03 9.27281549e+01] [ 9.33324027e-01 -3.58779803e-01 -1.35393411e-02 1.75867810e+02] [ 1.43898849e-02 -2.99663851e-04 9.99896415e-01 5.17095965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.72, Y:175.89, Z:5.17 [[-3.58713829e-01 -9.33435012e-01 4.84429869e-03 9.27187303e+01] [ 9.33338658e-01 -3.58746420e-01 -1.34147155e-02 1.75892486e+02] [ 1.42596399e-02 -2.90672720e-04 9.99898284e-01 5.17126427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:175.92, Z:5.17 [[-3.58848605e-01 -9.33382944e-01 4.89477891e-03 9.27081800e+01] [ 9.33284805e-01 -3.58881869e-01 -1.35379611e-02 1.75916379e+02] [ 1.43927494e-02 -2.89855674e-04 9.99896377e-01 5.17188976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:175.94, Z:5.17 [[-3.58721053e-01 -9.33432437e-01 4.80546800e-03 9.26997592e+01] [ 9.33338081e-01 -3.58753132e-01 -1.32747110e-02 1.75940629e+02] [ 1.41150225e-02 -2.76792023e-04 9.99900340e-01 5.17246500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:175.96, Z:5.17 [[-3.58183221e-01 -9.33637444e-01 5.08947624e-03 9.26883721e+01] [ 9.33531916e-01 -3.58219271e-01 -1.40397739e-02 1.75964880e+02] [ 1.49312071e-02 -2.77622936e-04 9.99888485e-01 5.17240623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:175.99, Z:5.17 [[-3.57921391e-01 -9.33737418e-01 5.16836830e-03 9.26787420e+01] [ 9.33628875e-01 -3.57958602e-01 -1.42394936e-02 1.75988673e+02] [ 1.51460098e-02 -2.71281465e-04 9.99885256e-01 5.17234752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:176.01, Z:5.17 [[-3.57497762e-01 -9.33898653e-01 5.35319081e-03 9.26692962e+01] [ 9.33782534e-01 -3.57537739e-01 -1.47290384e-02 1.76012352e+02] [ 1.56693969e-02 -2.66882175e-04 9.99877192e-01 5.17229382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62275509600005 meters Centerline goodness [0,1] 0.9999352806661777 Centerline is valid? [True, True] Translation: X:92.66, Y:176.04, Z:5.17 [[-3.57319228e-01 -9.33965808e-01 5.55330349e-03 9.26588539e+01] [ 9.33841178e-01 -3.57362279e-01 -1.52595926e-02 1.76036783e+02] [ 1.62364790e-02 -2.66642383e-04 9.99868144e-01 5.17046969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:176.06, Z:5.17 [[-3.56763865e-01 -9.34178133e-01 5.54616658e-03 9.26481031e+01] [ 9.34054143e-01 -3.56806885e-01 -1.52218362e-02 1.76061475e+02] [ 1.61988170e-02 -2.50181261e-04 9.99868759e-01 5.17257081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:176.09, Z:5.17 [[-3.56833376e-01 -9.34150381e-01 5.74524190e-03 9.26374117e+01] [ 9.34017641e-01 -3.56879533e-01 -1.57494285e-02 1.76086186e+02] [ 1.67626939e-02 -2.53764458e-04 9.99859464e-01 5.17282806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:176.11, Z:5.17 [[-3.57075776e-01 -9.34056901e-01 5.88182295e-03 9.26287030e+01] [ 9.33918115e-01 -3.57124124e-01 -1.61032482e-02 1.76110291e+02] [ 1.71418910e-02 -2.56938843e-04 9.99853034e-01 5.17297710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:176.13, Z:5.17 [[-3.57491427e-01 -9.33895644e-01 6.22940212e-03 9.26199198e+01] [ 9.33740365e-01 -3.57545594e-01 -1.70317268e-02 1.76134252e+02] [ 1.81331508e-02 -2.72052130e-04 9.99835544e-01 5.17232846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:176.16, Z:5.17 [[-3.57691466e-01 -9.33818592e-01 6.29712077e-03 9.26102477e+01] [ 9.33660301e-01 -3.57746788e-01 -1.71952977e-02 1.76158883e+02] [ 1.83100634e-02 -2.71239558e-04 9.99832320e-01 5.17252494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:176.18, Z:5.17 [[-3.58134219e-01 -9.33648066e-01 6.41634444e-03 9.25993588e+01] [ 9.33484083e-01 -3.58191585e-01 -1.75001421e-02 1.76182906e+02] [ 1.86372544e-02 -2.77844299e-04 9.99826273e-01 5.17308662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:176.21, Z:5.17 [[-3.58042754e-01 -9.33683865e-01 6.31081554e-03 9.25888980e+01] [ 9.33525617e-01 -3.58098269e-01 -1.71916470e-02 1.76207257e+02] [ 1.83114556e-02 -2.64036674e-04 9.99832296e-01 5.17352691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86275509600006 meters Centerline goodness [0,1] 0.9998919643050064 Centerline is valid? [True, True] Translation: X:92.58, Y:176.23, Z:5.17 [[-3.58716859e-01 -9.33424158e-01 6.44633669e-03 9.25805989e+01] [ 9.33259413e-01 -3.58774671e-01 -1.75386296e-02 1.76231195e+02] [ 1.86837629e-02 -2.75297742e-04 9.99825405e-01 5.17155873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:176.25, Z:5.17 [[-3.58463589e-01 -9.33522368e-01 6.31217589e-03 9.25696522e+01] [ 9.33364818e-01 -3.58519068e-01 -1.71521058e-02 1.76254970e+02] [ 1.82749099e-02 -2.56842525e-04 9.99832967e-01 5.17495340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:176.28, Z:5.18 [[-3.59068046e-01 -9.33290369e-01 6.26305475e-03 9.25598317e+01] [ 9.33135602e-01 -3.59122571e-01 -1.69978522e-02 1.76279680e+02] [ 1.81131361e-02 -2.59106230e-04 9.99835910e-01 5.17545290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:176.30, Z:5.18 [[-3.59488884e-01 -9.33129204e-01 6.13442732e-03 9.25506305e+01] [ 9.32981055e-01 -3.59541130e-01 -1.66291085e-02 1.76303829e+02] [ 1.77226857e-02 -2.54675185e-04 9.99842908e-01 5.17604473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:176.33, Z:5.18 [[-3.60007056e-01 -9.32930317e-01 5.99519456e-03 9.25418294e+01] [ 9.32789059e-01 -3.60056883e-01 -1.62361389e-02 1.76327764e+02] [ 1.73057973e-02 -2.52872677e-04 9.99850212e-01 5.17673819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01275509600003 meters Centerline goodness [0,1] 0.9999137391904424 Centerline is valid? [True, True] Translation: X:92.53, Y:176.35, Z:5.18 [[-3.61581821e-01 -9.32321484e-01 5.93603418e-03 9.25336069e+01] [ 9.32183187e-01 -3.61630440e-01 -1.60602054e-02 1.76353321e+02] [ 1.71199252e-02 -2.73607047e-04 9.99853406e-01 5.17596575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:176.38, Z:5.18 [[-3.62270945e-01 -9.32055248e-01 5.72511422e-03 9.25244313e+01] [ 9.31926868e-01 -3.62316080e-01 -1.54716034e-02 1.76377554e+02] [ 1.64946901e-02 -2.69524613e-04 9.99863917e-01 5.17917188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:176.40, Z:5.18 [[-3.64253817e-01 -9.31283640e-01 5.47162452e-03 9.25164026e+01] [ 9.31166560e-01 -3.64294800e-01 -1.47694470e-02 1.76403233e+02] [ 1.57478287e-02 -2.84833666e-04 9.99875955e-01 5.18064190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:176.43, Z:5.18 [[-3.65628619e-01 -9.30745315e-01 5.37325725e-03 9.25067355e+01] [ 9.30632590e-01 -3.65667979e-01 -1.44883468e-02 1.76428732e+02] [ 1.54497890e-02 -2.96825906e-04 9.99880601e-01 5.18137925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13275509600004 meters Centerline goodness [0,1] 0.9998707147320562 Centerline is valid? [True, True] Translation: X:92.50, Y:176.45, Z:5.18 [[-3.67312608e-01 -9.30081211e-01 5.51267851e-03 9.25011929e+01] [ 9.29962754e-01 -3.67353828e-01 -1.48472360e-02 1.76454827e+02] [ 1.58342388e-02 -3.26991277e-04 9.99874577e-01 5.17872958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:176.48, Z:5.18 [[-3.69660382e-01 -9.29151775e-01 5.30861567e-03 9.24904082e+01] [ 9.29042010e-01 -3.69698333e-01 -1.42858481e-02 1.76479694e+02] [ 1.52363075e-02 -3.48985108e-04 9.99883860e-01 5.18200655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:176.51, Z:5.18 [[-3.71118758e-01 -9.28569891e-01 5.36888441e-03 9.24820005e+01] [ 9.28457807e-01 -3.71157406e-01 -1.44319352e-02 1.76505607e+02] [ 1.53937617e-02 -3.71179208e-04 9.99881440e-01 5.18225726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:176.53, Z:5.18 [[-3.72988612e-01 -9.27818440e-01 5.69533408e-03 9.24750567e+01] [ 9.27692513e-01 -3.73031855e-01 -1.52917269e-02 1.76530839e+02] [ 1.63124872e-02 -4.20121200e-04 9.99866854e-01 5.18216238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:176.56, Z:5.18 [[-3.73987396e-01 -9.27414689e-01 5.95162750e-03 9.24655953e+01] [ 9.27277446e-01 -3.74034479e-01 -1.59607785e-02 1.76555503e+02] [ 1.70283743e-02 -4.50320048e-04 9.99854905e-01 5.18226916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:176.58, Z:5.18 [[-3.74753684e-01 -9.27103719e-01 6.19445815e-03 9.24567776e+01] [ 9.26955375e-01 -3.74804574e-01 -1.65910732e-02 1.76579556e+02] [ 1.77033569e-02 -4.75579534e-04 9.99843170e-01 5.18220917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:176.60, Z:5.18 [[-3.75158703e-01 -9.26935985e-01 6.75475921e-03 9.24486050e+01] [ 9.26760033e-01 -3.75219151e-01 -1.80673834e-02 1.76603655e+02] [ 1.92818228e-02 -5.18095251e-04 9.99813954e-01 5.18109610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:176.63, Z:5.18 [[-3.75339008e-01 -9.26862077e-01 6.87895986e-03 9.24369944e+01] [ 9.26680034e-01 -3.75401675e-01 -1.83765266e-02 1.76627396e+02] [ 1.96148787e-02 -5.22832493e-04 9.99807473e-01 5.18098193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:176.65, Z:5.18 [[-3.75087788e-01 -9.26961188e-01 7.21859923e-03 9.24271287e+01] [ 9.26761234e-01 -3.75156863e-01 -1.92598970e-02 1.76651664e+02] [ 2.05612840e-02 -5.34234231e-04 9.99788452e-01 5.18123443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:176.68, Z:5.18 [[-3.74778617e-01 -9.27085800e-01 7.27378238e-03 9.24176060e+01] [ 9.26883287e-01 -3.74848832e-01 -1.93836166e-02 1.76675442e+02] [ 2.06968446e-02 -5.22617721e-04 9.99785661e-01 5.18115413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:176.70, Z:5.18 [[-3.73240201e-01 -9.27704134e-01 7.53606277e-03 9.24050682e+01] [ 9.27487407e-01 -3.73315942e-01 -2.00578349e-02 1.76699871e+02] [ 2.14210687e-02 -4.96786992e-04 9.99770419e-01 5.18212475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:176.72, Z:5.18 [[-3.72696750e-01 -9.27923682e-01 7.40095038e-03 9.23947558e+01] [ 9.27715155e-01 -3.72769933e-01 -1.96765962e-02 1.76723755e+02] [ 2.10172313e-02 -4.67429606e-04 9.99779004e-01 5.18266215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:176.75, Z:5.18 [[-3.70691406e-01 -9.28726241e-01 7.44659181e-03 9.23821458e+01] [ 9.28515784e-01 -3.70765960e-01 -1.97747597e-02 1.76748286e+02] [ 2.11262810e-02 -4.16055434e-04 9.99776729e-01 5.18355417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:176.77, Z:5.18 [[-3.70047527e-01 -9.28983196e-01 7.41949879e-03 9.23709246e+01] [ 9.28774778e-01 -3.70121693e-01 -1.96810359e-02 1.76772348e+02] [ 2.10294691e-02 -3.91875338e-04 9.99778779e-01 5.18420228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55275509600006 meters Centerline goodness [0,1] 0.999978397995334 Centerline is valid? [True, True] Translation: X:92.36, Y:176.80, Z:5.18 [[-3.69419250e-01 -9.29232837e-01 7.46677154e-03 9.23610434e+01] [ 9.29022318e-01 -3.69494516e-01 -1.97821858e-02 1.76796242e+02] [ 2.11411878e-02 -3.71122830e-04 9.99776431e-01 5.18412987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:176.82, Z:5.19 [[-3.67517401e-01 -9.29986861e-01 7.44298486e-03 9.23486092e+01] [ 9.29778334e-01 -3.67592623e-01 -1.96954857e-02 1.76820736e+02] [ 2.10525292e-02 -3.18107642e-04 9.99778320e-01 5.18581467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:176.84, Z:5.19 [[-3.67880972e-01 -9.29843044e-01 7.45010620e-03 9.23392024e+01] [ 9.29634542e-01 -3.67956264e-01 -1.96927919e-02 1.76844895e+02] [ 2.10525188e-02 -3.18727379e-04 9.99778320e-01 5.18621886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:176.87, Z:5.19 [[-3.67344667e-01 -9.30054786e-01 7.48263473e-03 9.23284753e+01] [ 9.29844998e-01 -3.67420746e-01 -1.97553842e-02 1.76869147e+02] [ 2.11228648e-02 -2.99344555e-04 9.99776843e-01 5.18650855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:176.89, Z:5.19 [[-3.66735665e-01 -9.30293733e-01 7.65000665e-03 9.23186663e+01] [ 9.30074997e-01 -3.66815335e-01 -2.01744847e-02 1.76892462e+02] [ 2.15743364e-02 -2.83623139e-04 9.99767207e-01 5.18714249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:176.92, Z:5.19 [[-3.65748612e-01 -9.30683001e-01 7.55677113e-03 9.23068822e+01] [ 9.30470065e-01 -3.65826583e-01 -1.99090213e-02 1.76916251e+02] [ 2.12934554e-02 -2.50347571e-04 9.99773237e-01 5.18796468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:176.94, Z:5.19 [[-3.65835090e-01 -9.30650572e-01 7.36202183e-03 9.22969180e+01] [ 9.30448923e-01 -3.65909081e-01 -1.93738335e-02 1.76939377e+02] [ 2.07240999e-02 -2.37642846e-04 9.99785205e-01 5.18869499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:92.29, Y:176.96, Z:5.19 [[-3.66704107e-01 -9.30308077e-01 7.41485493e-03 9.22873999e+01] [ 9.30103936e-01 -3.66778979e-01 -1.94897262e-02 1.76964471e+02] [ 2.08510626e-02 -2.50376894e-04 9.99782562e-01 5.18845992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:176.99, Z:5.19 [[-3.67793086e-01 -9.29877503e-01 7.48831794e-03 9.22780270e+01] [ 9.29669677e-01 -3.67869211e-01 -1.96604833e-02 1.76989503e+02] [ 2.10365628e-02 -2.69327714e-04 9.99778671e-01 5.18980843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:177.01, Z:5.19 [[-3.68837096e-01 -9.29464736e-01 7.38243093e-03 9.22696707e+01] [ 9.29263089e-01 -3.68910863e-01 -1.93620073e-02 1.77013520e+02] [ 2.07197620e-02 -2.81205971e-04 9.99785283e-01 5.19023047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85275509600007 meters Centerline goodness [0,1] 0.9999135546334716 Centerline is valid? [True, True] Translation: X:92.26, Y:177.04, Z:5.19 [[-3.71323448e-01 -9.28473500e-01 7.47376333e-03 9.22639383e+01] [ 9.28267005e-01 -3.71398504e-01 -1.95836539e-02 1.77037986e+02] [ 2.09586482e-02 -3.34222013e-04 9.99780288e-01 5.18894501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:177.06, Z:5.19 [[-3.72545101e-01 -9.27984387e-01 7.42461980e-03 9.22549578e+01] [ 9.27780906e-01 -3.72618911e-01 -1.94354628e-02 1.77062226e+02] [ 2.08023598e-02 -3.52165972e-04 9.99783545e-01 5.19170864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.25, Y:177.09, Z:5.19 [[-3.74653868e-01 -9.27135391e-01 7.37877095e-03 9.22476159e+01] [ 9.26934719e-01 -3.74726321e-01 -1.92927887e-02 1.77087022e+02] [ 2.06520469e-02 -3.88478926e-04 9.99786648e-01 5.19218223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:177.11, Z:5.19 [[-3.75571716e-01 -9.26765496e-01 7.18342301e-03 9.22385372e+01] [ 9.26575663e-01 -3.75640204e-01 -1.87610601e-02 1.77111136e+02] [ 2.00854857e-02 -3.90138607e-04 9.99798190e-01 5.19288243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97275509600007 meters Centerline goodness [0,1] 0.999913972944491 Centerline is valid? [True, True] Translation: X:92.23, Y:177.14, Z:5.19 [[-3.76620486e-01 -9.26339674e-01 7.19841484e-03 9.22299746e+01] [ 9.26149415e-01 -3.76689054e-01 -1.87781119e-02 1.77135449e+02] [ 2.01064741e-02 -4.05413940e-04 9.99797762e-01 5.19145899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00275509600004 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:92.22, Y:177.16, Z:5.19 [[-3.76885543e-01 -9.26232518e-01 7.11411855e-03 9.22208666e+01] [ 9.26047100e-01 -3.76952470e-01 -1.85365825e-02 1.77158297e+02] [ 1.98508701e-02 -3.98161107e-04 9.99802873e-01 5.19184411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:177.18, Z:5.19 [[-3.76527095e-01 -9.26377859e-01 7.17003698e-03 9.22105028e+01] [ 9.26189990e-01 -3.76595160e-01 -1.86598072e-02 1.77181698e+02] [ 1.99862334e-02 -3.85106514e-04 9.99800181e-01 5.19390288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:177.21, Z:5.19 [[-3.74802823e-01 -9.27074796e-01 7.42742626e-03 9.21988038e+01] [ 9.26873791e-01 -3.74876245e-01 -1.93074441e-02 1.77205633e+02] [ 2.06838104e-02 -3.52197825e-04 9.99786005e-01 5.19341219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0927550960001 meters Centerline goodness [0,1] 0.9999784403768622 Centerline is valid? [True, True] Translation: X:92.19, Y:177.23, Z:5.19 [[-3.74131781e-01 -9.27343378e-01 7.72462996e-03 9.21883779e+01] [ 9.27126491e-01 -3.74211360e-01 -2.00581349e-02 1.77228748e+02] [ 2.14914229e-02 -3.42676673e-04 9.99768974e-01 5.19225190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.18, Y:177.25, Z:5.19 [[-3.73190497e-01 -9.27720863e-01 7.92805017e-03 9.21774200e+01] [ 9.27493006e-01 -3.73274561e-01 -2.05627308e-02 1.77252334e+02] [ 2.20358138e-02 -3.20604631e-04 9.99757131e-01 5.19225338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.152755096 meters Centerline goodness [0,1] 0.9998271988940729 Centerline is valid? [True, True] Translation: X:92.17, Y:177.27, Z:5.19 [[-3.71048247e-01 -9.28573323e-01 8.64762431e-03 9.21653752e+01] [ 9.28303098e-01 -3.71148895e-01 -2.24021359e-02 1.77273985e+02] [ 2.40115820e-02 -2.84656834e-04 9.99711640e-01 5.18742867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18275509600005 meters Centerline goodness [0,1] 0.9998493100553247 Centerline is valid? [True, True] Translation: X:92.15, Y:177.30, Z:5.19 [[-3.69809787e-01 -9.29065683e-01 8.81358203e-03 9.21514486e+01] [ 9.28785784e-01 -3.69914715e-01 -2.28050771e-02 1.77296954e+02] [ 2.44476882e-02 -2.47611024e-04 9.99701080e-01 5.18998633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.14, Y:177.32, Z:5.19 [[-3.67479948e-01 -9.29988734e-01 8.91304521e-03 9.21403991e+01] [ 9.29703436e-01 -3.67587980e-01 -2.30347060e-02 1.77319741e+02] [ 2.46983453e-02 -1.78303791e-04 9.99694933e-01 5.19265142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24275509600005 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:92.13, Y:177.34, Z:5.19 [[-3.67367044e-01 -9.30033703e-01 8.87503607e-03 9.21325237e+01] [ 9.29751530e-01 -3.67474195e-01 -2.29087094e-02 1.77344124e+02] [ 2.45672186e-02 -1.64326500e-04 9.99698167e-01 5.18986759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:177.37, Z:5.19 [[-3.67314384e-01 -9.30055817e-01 8.73618498e-03 9.21210119e+01] [ 9.29783047e-01 -3.67418229e-01 -2.25239996e-02 1.77367659e+02] [ 2.41584105e-02 -1.50632355e-04 9.99708132e-01 5.19447886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:177.39, Z:5.20 [[-3.67873345e-01 -9.29838949e-01 8.29043534e-03 9.21117748e+01] [ 9.29593797e-01 -3.67966721e-01 -2.13509708e-02 1.77392731e+02] [ 2.29035685e-02 -1.47715781e-04 9.99737668e-01 5.19681253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.332755096 meters Centerline goodness [0,1] 0.9999137503503892 Centerline is valid? [True, True] Translation: X:92.10, Y:177.42, Z:5.20 [[-3.69261304e-01 -9.29289870e-01 8.15021764e-03 9.21034904e+01] [ 9.29053354e-01 -3.69351199e-01 -2.09656284e-02 1.77417967e+02] [ 2.24934388e-02 -1.69808257e-04 9.99746976e-01 5.19618721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36275509600006 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:92.10, Y:177.44, Z:5.20 [[-3.71711637e-01 -9.28317405e-01 7.56666625e-03 9.20973627e+01] [ 9.28113802e-01 -3.71788587e-01 -1.94426480e-02 1.77442722e+02] [ 2.08621487e-02 -2.04331122e-04 9.99782341e-01 5.19937682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39275509600003 meters Centerline goodness [0,1] 0.9999353977346139 Centerline is valid? [True, True] Translation: X:92.09, Y:177.47, Z:5.20 [[-3.73346983e-01 -9.27661593e-01 7.48329461e-03 9.20895391e+01] [ 9.27462792e-01 -3.73421901e-01 -1.92055482e-02 1.77468160e+02] [ 2.06106755e-02 -2.29856146e-04 9.99787551e-01 5.19943809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:177.49, Z:5.20 [[-3.75128175e-01 -9.26945665e-01 7.11241038e-03 9.20817617e+01] [ 9.26766344e-01 -3.75195512e-01 -1.82338153e-02 1.77493188e+02] [ 1.95703005e-02 -2.48475283e-04 9.99808452e-01 5.20197774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45275509600003 meters Centerline goodness [0,1] 0.9999139174037489 Centerline is valid? [True, True] Translation: X:92.07, Y:177.52, Z:5.20 [[-3.77481686e-01 -9.25989609e-01 7.12890509e-03 9.20744814e+01] [ 9.25809681e-01 -3.77548884e-01 -1.82558023e-02 1.77519991e+02] [ 1.95961934e-02 -2.91221675e-04 9.99807934e-01 5.20152273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48275509600006 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:92.07, Y:177.54, Z:5.20 [[-3.78853572e-01 -9.25428997e-01 7.15139954e-03 9.20663622e+01] [ 9.25248216e-01 -3.78920932e-01 -1.82938587e-02 1.77544804e+02] [ 1.96394823e-02 -3.13874054e-04 9.99807078e-01 5.20161047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51275509600003 meters Centerline goodness [0,1] 0.9998070408644569 Centerline is valid? [True, True] Translation: X:92.06, Y:177.57, Z:5.20 [[-3.80935469e-01 -9.24571658e-01 7.44430033e-03 9.20596358e+01] [ 9.24376056e-01 -3.81008027e-01 -1.90208088e-02 1.77570236e+02] [ 2.04224389e-02 -3.64367734e-04 9.99791374e-01 5.20149909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54275509600006 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:92.05, Y:177.59, Z:5.20 [[-3.81797278e-01 -9.24219557e-01 7.00345350e-03 9.20515159e+01] [ 9.24046739e-01 -3.81861343e-01 -1.78756501e-02 1.77594469e+02] [ 1.91953735e-02 -3.53356171e-04 9.99815689e-01 5.20470412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57275509600004 meters Centerline goodness [0,1] 0.9999137484905986 Centerline is valid? [True, True] Translation: X:92.04, Y:177.62, Z:5.20 [[-3.82911991e-01 -9.23756692e-01 7.20981149e-03 9.20411507e+01] [ 9.23573894e-01 -3.82979674e-01 -1.83802204e-02 1.77618786e+02] [ 1.97400628e-02 -3.79213118e-04 9.99805074e-01 5.20442209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:177.64, Z:5.21 [[-3.84107474e-01 -9.23261279e-01 7.07529434e-03 9.20332924e+01] [ 9.23085560e-01 -3.84172435e-01 -1.80163682e-02 1.77643475e+02] [ 1.93519482e-02 -3.89119655e-04 9.99812658e-01 5.20648964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:177.67, Z:5.21 [[-3.85433426e-01 -9.22708698e-01 7.05214434e-03 9.20240448e+01] [ 9.22534451e-01 -3.85497721e-01 -1.79358436e-02 1.77668263e+02] [ 1.92681445e-02 -4.07227536e-04 9.99814269e-01 5.20729600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66275509600007 meters Centerline goodness [0,1] 0.9998488806372919 Centerline is valid? [True, True] Translation: X:92.02, Y:177.69, Z:5.20 [[-3.85937807e-01 -9.22492952e-01 7.66573003e-03 9.20160699e+01] [ 9.22287527e-01 -3.86013673e-01 -1.94720600e-02 1.77692953e+02] [ 2.09219147e-02 -4.44996944e-04 9.99781014e-01 5.20449401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:177.72, Z:5.21 [[-3.86527312e-01 -9.22251008e-01 7.05091265e-03 9.20052620e+01] [ 9.22077562e-01 -3.86591395e-01 -1.78903035e-02 1.77717368e+02] [ 1.92251726e-02 -4.13602576e-04 9.99815094e-01 5.20780313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:177.74, Z:5.21 [[-3.86748556e-01 -9.22158307e-01 7.04351058e-03 9.19945612e+01] [ 9.21985600e-01 -3.86812472e-01 -1.78512107e-02 1.77742116e+02] [ 1.91861600e-02 -4.09914628e-04 9.99815845e-01 5.20833222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:177.77, Z:5.21 [[-3.87066362e-01 -9.22024765e-01 7.06849710e-03 9.19851128e+01] [ 9.21851184e-01 -3.87130681e-01 -1.78949769e-02 1.77765565e+02] [ 1.92360440e-02 -4.10441189e-04 9.99814886e-01 5.20853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:177.79, Z:5.21 [[-3.86226463e-01 -9.22375835e-01 7.20683720e-03 9.19744240e+01] [ 9.22195889e-01 -3.86293497e-01 -1.82229706e-02 1.77790290e+02] [ 1.95923821e-02 -3.92077856e-04 9.99807974e-01 5.20817675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:177.81, Z:5.21 [[-3.85473768e-01 -9.22691229e-01 7.13235064e-03 9.19648366e+01] [ 9.22515426e-01 -3.85539574e-01 -1.80146126e-02 1.77814396e+02] [ 1.93717285e-02 -3.64457111e-04 9.99812284e-01 5.20815488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:177.84, Z:5.21 [[-3.84723323e-01 -9.23003173e-01 7.28748335e-03 9.19558383e+01] [ 9.22820103e-01 -3.84792180e-01 -1.83857451e-02 1.77838046e+02] [ 1.97742677e-02 -3.48388824e-04 9.99804409e-01 5.20773995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:177.86, Z:5.21 [[-3.82563322e-01 -9.23899681e-01 7.39488468e-03 9.19409582e+01] [ 9.23711694e-01 -3.82634668e-01 -1.86391385e-02 1.77861648e+02] [ 2.00502334e-02 -2.99909286e-04 9.99798929e-01 5.20807626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:177.88, Z:5.21 [[-3.81287493e-01 -9.24427106e-01 7.37391607e-03 9.19308771e+01] [ 9.24240676e-01 -3.81358699e-01 -1.85665134e-02 1.77884804e+02] [ 1.99754953e-02 -2.63906187e-04 9.99800435e-01 5.20775399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:177.91, Z:5.21 [[-3.79404589e-01 -9.25202977e-01 7.18395952e-03 9.19167388e+01] [ 9.25026575e-01 -3.79472539e-01 -1.80673227e-02 1.77907470e+02] [ 1.94420561e-02 -2.09471696e-04 9.99810963e-01 5.20871899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.91, Y:177.93, Z:5.21 [[-3.78841560e-01 -9.25433692e-01 7.18017398e-03 9.19063676e+01] [ 9.25257917e-01 -3.78909549e-01 -1.80372011e-02 1.77930543e+02] [ 1.94128701e-02 -1.89728574e-04 9.99811534e-01 5.20891775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:177.95, Z:5.21 [[-3.78671682e-01 -9.25505595e-01 6.86663093e-03 9.18955034e+01] [ 9.25345210e-01 -3.78733897e-01 -1.72301420e-02 1.77954874e+02] [ 1.85472187e-02 -1.70562825e-04 9.99827971e-01 5.20950999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:177.98, Z:5.21 [[-3.78947795e-01 -9.25394002e-01 6.67157296e-03 9.18856523e+01] [ 9.25242913e-01 -3.79006483e-01 -1.67223463e-02 1.77978121e+02] [ 1.80033284e-02 -1.64070658e-04 9.99837914e-01 5.21033111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:178.00, Z:5.21 [[-3.79293729e-01 -9.25254041e-01 6.42078692e-03 9.18738755e+01] [ 9.25114391e-01 -3.79348039e-01 -1.60757265e-02 1.78001827e+02] [ 1.73098439e-02 -1.57459879e-04 9.99850161e-01 5.21132042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.86, Y:178.02, Z:5.21 [[-3.80282514e-01 -9.24850560e-01 6.05402061e-03 9.18636044e+01] [ 9.24726625e-01 -3.80330667e-01 -1.51410671e-02 1.78024556e+02] [ 1.63057541e-02 -1.59569006e-04 9.99867040e-01 5.21167644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:178.05, Z:5.21 [[-3.80884385e-01 -9.24603451e-01 5.96194749e-03 9.18519406e+01] [ 9.24483457e-01 -3.80931008e-01 -1.48964710e-02 1.78048201e+02] [ 1.60444191e-02 -1.62111356e-04 9.99871267e-01 5.21214434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:178.07, Z:5.21 [[-3.81816271e-01 -9.24219700e-01 5.85510021e-03 9.18414748e+01] [ 9.24104180e-01 -3.81861124e-01 -1.46132008e-02 1.78072193e+02] [ 1.57416432e-02 -1.68835263e-04 9.99876078e-01 5.21283845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:178.10, Z:5.21 [[-3.83857102e-01 -9.23374621e-01 5.74758397e-03 9.18324468e+01] [ 9.23263461e-01 -3.83900081e-01 -1.43286121e-02 1.78097104e+02] [ 1.54371748e-02 -1.93605261e-04 9.99880821e-01 5.21327262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:178.12, Z:5.21 [[-3.85283874e-01 -9.22780375e-01 5.71988718e-03 9.18229753e+01] [ 9.22670391e-01 -3.85326271e-01 -1.42483327e-02 1.78121244e+02] [ 1.53521046e-02 -2.12082261e-04 9.99882127e-01 5.21383041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:178.15, Z:5.21 [[-3.86737981e-01 -9.22171806e-01 5.73532364e-03 9.18137848e+01] [ 9.22061416e-01 -3.86780437e-01 -1.42701905e-02 1.78145513e+02] [ 1.53778783e-02 -2.30504010e-04 9.99881727e-01 5.21423947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:178.17, Z:5.21 [[-3.89561930e-01 -9.20982044e-01 5.79457886e-03 9.18045282e+01] [ 9.20869463e-01 -3.89604927e-01 -1.44025104e-02 1.78170783e+02] [ 1.55220499e-02 -2.74619017e-04 9.99879488e-01 5.21421748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:178.19, Z:5.21 [[-3.90944936e-01 -9.20395556e-01 5.83756222e-03 9.17953650e+01] [ 9.20281456e-01 -3.90988406e-01 -1.44951289e-02 1.78194052e+02] [ 1.56236713e-02 -2.94596978e-04 9.99877900e-01 5.21419493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:178.22, Z:5.21 [[-3.93695643e-01 -9.19221609e-01 5.94759448e-03 9.17838189e+01] [ 9.19103301e-01 -3.93740418e-01 -1.47514609e-02 1.78218686e+02] [ 1.59016700e-02 -3.41132185e-04 9.99873502e-01 5.21352770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:178.24, Z:5.21 [[-3.95189561e-01 -9.18579971e-01 6.00400634e-03 9.17744333e+01] [ 9.18459575e-01 -3.95234999e-01 -1.48762991e-02 1.78243616e+02] [ 1.60380638e-02 -3.64521004e-04 9.99871316e-01 5.21325955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:178.27, Z:5.21 [[-3.96502426e-01 -9.18013180e-01 6.13410547e-03 9.17670858e+01] [ 9.17887708e-01 -3.96549681e-01 -1.51824166e-02 1.78268716e+02] [ 1.63701361e-02 -3.89445028e-04 9.99865925e-01 5.21303539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:178.29, Z:5.21 [[-3.98448001e-01 -9.17169265e-01 6.30322634e-03 9.17544705e+01] [ 9.17036952e-01 -3.98497623e-01 -1.55843590e-02 1.78292425e+02] [ 1.68053158e-02 -4.29265209e-04 9.99858689e-01 5.21264572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:178.32, Z:5.21 [[-3.99374372e-01 -9.16765266e-01 6.44656875e-03 9.17433205e+01] [ 9.16627114e-01 -3.99426145e-01 -1.59213102e-02 1.78316763e+02] [ 1.71710322e-02 -4.49463542e-04 9.99852466e-01 5.21262175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:178.34, Z:5.21 [[-3.99643461e-01 -9.16647872e-01 6.46388947e-03 9.17339605e+01] [ 9.16509277e-01 -3.99695480e-01 -1.59457585e-02 1.78340378e+02] [ 1.72002330e-02 -4.48403469e-04 9.99851965e-01 5.21208264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.72, Y:178.36, Z:5.21 [[-3.99637082e-01 -9.16649648e-01 6.60502587e-03 9.17242009e+01] [ 9.16505270e-01 -3.99691407e-01 -1.62748238e-02 1.78363810e+02] [ 1.75582835e-02 -4.50482061e-04 9.99845740e-01 5.21168553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:178.39, Z:5.21 [[-3.99982870e-01 -9.16498778e-01 6.61011555e-03 9.17142019e+01] [ 9.16354414e-01 -4.00037231e-01 -1.62727564e-02 1.78387731e+02] [ 1.75582537e-02 -4.51615258e-04 9.99845740e-01 5.21208994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:178.41, Z:5.21 [[-4.00124020e-01 -9.16436579e-01 6.69077808e-03 9.17018027e+01] [ 9.16288981e-01 -4.00179701e-01 -1.64532606e-02 1.78411393e+02] [ 1.77558834e-02 -4.52658519e-04 9.99842249e-01 5.21205950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.69, Y:178.44, Z:5.21 [[-3.99831423e-01 -9.16562254e-01 6.96188552e-03 9.16906628e+01] [ 9.16402839e-01 -3.99891767e-01 -1.71000236e-02 1.78435761e+02] [ 1.84572369e-02 -4.57235099e-04 9.99829546e-01 5.21202324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:178.46, Z:5.21 [[-3.98926106e-01 -9.16954324e-01 7.26151539e-03 9.16808721e+01] [ 9.16781343e-01 -3.98991936e-01 -1.78158643e-02 1.78459571e+02] [ 1.92336199e-02 -4.49991518e-04 9.99814916e-01 5.21128502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:178.48, Z:5.21 [[-3.98529408e-01 -9.17126447e-01 7.30687791e-03 9.16718618e+01] [ 9.16951656e-01 -3.98596147e-01 -1.79101268e-02 1.78483432e+02] [ 1.93383444e-02 -4.37658459e-04 9.99812901e-01 5.21107034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:178.51, Z:5.21 [[-3.97090698e-01 -9.17749885e-01 7.35697608e-03 9.16581928e+01] [ 9.17573188e-01 -3.97158641e-01 -1.80127430e-02 1.78507260e+02] [ 1.94530794e-02 -4.02128698e-04 9.99810690e-01 5.21139030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.65, Y:178.53, Z:5.21 [[-3.96408048e-01 -9.18046982e-01 7.09920467e-03 9.16473562e+01] [ 9.17882815e-01 -3.96471442e-01 -1.73647136e-02 1.78531138e+02] [ 1.87562549e-02 -3.67274267e-04 9.99824019e-01 5.21211457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:178.55, Z:5.21 [[-3.95829366e-01 -9.18298130e-01 6.90337938e-03 9.16375574e+01] [ 9.18143263e-01 -3.95889416e-01 -1.68677154e-02 1.78554202e+02] [ 1.82225663e-02 -3.38445830e-04 9.99833898e-01 5.21269603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.63, Y:178.58, Z:5.21 [[-3.94569173e-01 -9.18841921e-01 6.68522581e-03 9.16261501e+01] [ 9.18697077e-01 -3.94625692e-01 -1.63169780e-02 1.78578611e+02] [ 1.76308853e-02 -2.96479108e-04 9.99844520e-01 5.21408586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:178.60, Z:5.22 [[-3.94373700e-01 -9.18927700e-01 6.42391202e-03 9.16148908e+01] [ 9.18794231e-01 -3.94425920e-01 -1.56638310e-02 1.78602932e+02] [ 1.69276856e-02 -2.75149675e-04 9.99856679e-01 5.21511586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:178.63, Z:5.22 [[-3.94123056e-01 -9.19038532e-01 5.93241055e-03 9.16054393e+01] [ 9.18924948e-01 -3.94167626e-01 -1.44506948e-02 1.78627456e+02] [ 1.56191095e-02 -2.43911951e-04 9.99877985e-01 5.21646772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:178.65, Z:5.22 [[-3.94530658e-01 -9.18865188e-01 5.68556969e-03 9.15967897e+01] [ 9.18761059e-01 -3.94571553e-01 -1.38349500e-02 1.78651673e+02] [ 1.49558180e-02 -2.34631896e-04 9.99888128e-01 5.21722691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.59, Y:178.68, Z:5.22 [[-3.94901041e-01 -9.18707596e-01 5.43326361e-03 9.15863764e+01] [ 9.18612695e-01 -3.94938352e-01 -1.32066030e-02 1.78675592e+02] [ 1.42788106e-02 -2.24236332e-04 9.99898027e-01 5.21799252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:178.70, Z:5.22 [[-3.96022493e-01 -9.18227175e-01 5.00393564e-03 9.15776088e+01] [ 9.18146796e-01 -3.96054045e-01 -1.21512731e-02 1.78699985e+02] [ 1.31394581e-02 -2.17829972e-04 9.99913650e-01 5.21900362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:178.72, Z:5.22 [[-3.96748793e-01 -9.17913749e-01 4.97433898e-03 9.15684492e+01] [ 9.17834472e-01 -3.96779913e-01 -1.20657368e-02 1.78724547e+02] [ 1.30490235e-02 -2.21446730e-04 9.99914833e-01 5.21936337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:178.75, Z:5.22 [[-3.97731451e-01 -9.17488670e-01 4.92280213e-03 9.15609227e+01] [ 9.17411163e-01 -3.97761850e-01 -1.19276426e-02 1.78748619e+02] [ 1.29015798e-02 -2.27764962e-04 9.99916745e-01 5.21967766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:178.77, Z:5.22 [[-3.98530126e-01 -9.17142280e-01 4.87617638e-03 9.15518176e+01] [ 9.17066328e-01 -3.98559888e-01 -1.18053540e-02 1.78773647e+02] [ 1.27706376e-02 -2.33012051e-04 9.99918425e-01 5.21989783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:178.80, Z:5.22 [[-3.99264954e-01 -9.16822517e-01 4.89585081e-03 9.15406515e+01] [ 9.16746083e-01 -3.99294898e-01 -1.18407405e-02 1.78797967e+02] [ 1.28107457e-02 -2.39340646e-04 9.99917910e-01 5.21972299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:178.82, Z:5.22 [[-4.00888695e-01 -9.16114385e-01 4.76319081e-03 9.15318494e+01] [ 9.16042145e-01 -4.00916914e-01 -1.15072271e-02 1.78824259e+02] [ 1.24515801e-02 -2.49833736e-04 9.99922445e-01 5.21967547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:178.85, Z:5.22 [[-4.01729318e-01 -9.15745887e-01 4.79849080e-03 9.15258143e+01] [ 9.15672687e-01 -4.01757891e-01 -1.15812898e-02 1.78849275e+02] [ 1.25333500e-02 -2.58696668e-04 9.99921421e-01 5.22061679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:178.87, Z:5.22 [[-4.02651711e-01 -9.15339970e-01 4.93356333e-03 9.15140977e+01] [ 9.15262745e-01 -4.02681841e-01 -1.18929658e-02 1.78873097e+02] [ 1.28727633e-02 -2.73216302e-04 9.99917105e-01 5.22021760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:178.90, Z:5.22 [[-4.02849627e-01 -9.15251489e-01 5.18549736e-03 9.15049535e+01] [ 9.15166363e-01 -4.02882899e-01 -1.24858733e-02 1.78896592e+02] [ 1.35168624e-02 -2.84336648e-04 9.99908603e-01 5.22012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:178.92, Z:5.22 [[-4.03087399e-01 -9.15146243e-01 5.28224320e-03 9.14948455e+01] [ 9.15058107e-01 -4.03121906e-01 -1.27039388e-02 1.78921209e+02] [ 1.37553498e-02 -2.87238186e-04 9.99905349e-01 5.21997580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:178.95, Z:5.22 [[-4.03279123e-01 -9.15060746e-01 5.45707879e-03 9.14838852e+01] [ 9.14966879e-01 -4.03315936e-01 -1.31097484e-02 1.78945523e+02] [ 1.41971430e-02 -2.93841475e-04 9.99899172e-01 5.21998488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:178.97, Z:5.22 [[-4.03184765e-01 -9.15099370e-01 5.93202473e-03 9.14758694e+01] [ 9.14988723e-01 -4.03228281e-01 -1.42334362e-02 1.78969590e+02] [ 1.54169686e-02 -3.10968890e-04 9.99881103e-01 5.21952253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:178.99, Z:5.22 [[-4.03179892e-01 -9.15099330e-01 6.26027693e-03 9.14645580e+01] [ 9.14976396e-01 -4.03228364e-01 -1.50027175e-02 1.78993022e+02] [ 1.62532979e-02 -3.20788378e-04 9.99867855e-01 5.21941010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:179.02, Z:5.22 [[-4.02438047e-01 -9.15423206e-01 6.63114370e-03 9.14538111e+01] [ 9.15285635e-01 -4.02492550e-01 -1.58730511e-02 1.79017069e+02] [ 1.71995453e-02 -3.18529130e-04 9.99852026e-01 5.21911429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3427550960001 meters Centerline goodness [0,1] 0.9999568919064554 Centerline is valid? [True, True] Translation: X:91.44, Y:179.04, Z:5.22 [[-4.02397907e-01 -9.15440817e-01 6.63582870e-03 9.14439263e+01] [ 9.15303355e-01 -4.02452498e-01 -1.58667873e-02 1.79040782e+02] [ 1.71957106e-02 -3.10965733e-04 9.99852094e-01 5.21948269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:179.06, Z:5.22 [[-4.01860822e-01 -9.15676344e-01 6.68685098e-03 9.14316651e+01] [ 9.15537109e-01 -4.01916343e-01 -1.59704855e-02 1.79064793e+02] [ 1.73113504e-02 -2.95852197e-04 9.99850104e-01 5.21997012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:179.09, Z:5.22 [[-4.01066321e-01 -9.16024768e-01 6.66555450e-03 9.14204132e+01] [ 9.15886768e-01 -4.01121614e-01 -1.59021903e-02 1.79088713e+02] [ 1.72404982e-02 -2.72939791e-04 9.99851334e-01 5.22081364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:179.11, Z:5.22 [[-4.01092924e-01 -9.16012876e-01 6.69912673e-03 9.14105773e+01] [ 9.15873783e-01 -4.01148776e-01 -1.59647337e-02 1.79112131e+02] [ 1.73112481e-02 -2.67787155e-04 9.99850113e-01 5.22191757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:179.14, Z:5.22 [[-4.00972746e-01 -9.16066956e-01 6.49537129e-03 9.14011576e+01] [ 9.15936485e-01 -4.01025273e-01 -1.54624003e-02 1.79135257e+02] [ 1.67694021e-02 -2.50653578e-04 9.99859352e-01 5.22285774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:179.16, Z:5.22 [[-4.01168682e-01 -9.15981931e-01 6.38683185e-03 9.13904910e+01] [ 9.15855986e-01 -4.01219445e-01 -1.51910872e-02 1.79158940e+02] [ 1.64772825e-02 -2.44770256e-04 9.99864210e-01 5.22465192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:179.18, Z:5.23 [[-4.01437257e-01 -9.15866477e-01 6.06010648e-03 9.13799412e+01] [ 9.15753307e-01 -4.01482930e-01 -1.43992094e-02 1.79183228e+02] [ 1.56207825e-02 -2.30816573e-04 9.99877962e-01 5.22576376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:179.21, Z:5.23 [[-4.02155734e-01 -9.15553744e-01 5.66641851e-03 9.13685004e+01] [ 9.15454968e-01 -4.02195591e-01 -1.34502431e-02 1.79207477e+02] [ 1.45934290e-02 -2.21741430e-04 9.99893486e-01 5.22725813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:179.23, Z:5.23 [[-4.02756462e-01 -9.15290472e-01 5.53022504e-03 9.13577737e+01] [ 9.15196567e-01 -4.02794368e-01 -1.31126421e-02 1.79232152e+02] [ 1.42294199e-02 -2.19958363e-04 9.99898733e-01 5.22824455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:179.26, Z:5.23 [[-4.03115444e-01 -9.15132632e-01 5.49587640e-03 9.13483038e+01] [ 9.15040084e-01 -4.03152847e-01 -1.30163836e-02 1.79255566e+02] [ 1.41273956e-02 -2.18158058e-04 9.99900180e-01 5.22889840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:179.28, Z:5.23 [[-4.04286592e-01 -9.14616340e-01 5.41321650e-03 9.13372232e+01] [ 9.14526660e-01 -4.04322766e-01 -1.28097473e-02 1.79279924e+02] [ 1.39046909e-02 -2.28278290e-04 9.99903299e-01 5.22953887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:179.30, Z:5.23 [[-4.05217186e-01 -9.14204473e-01 5.40492092e-03 9.13278577e+01] [ 9.14115224e-01 -4.05253161e-01 -1.27762412e-02 1.79304021e+02] [ 1.38704581e-02 -2.36431992e-04 9.99903773e-01 5.22991320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:179.33, Z:5.23 [[-4.06227230e-01 -9.13756300e-01 5.37235542e-03 9.13166357e+01] [ 9.13668282e-01 -4.06262680e-01 -1.26848564e-02 1.79327827e+02] [ 1.37734550e-02 -2.44383335e-04 9.99905112e-01 5.22994008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:179.35, Z:5.23 [[-4.08357576e-01 -9.12805372e-01 5.51758287e-03 9.13054882e+01] [ 9.12712652e-01 -4.08394755e-01 -1.30130225e-02 1.79352324e+02] [ 1.41317088e-02 -2.77998639e-04 9.99900104e-01 5.22959779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:179.38, Z:5.23 [[-4.09801844e-01 -9.12157548e-01 5.57282491e-03 9.12955187e+01] [ 9.12063092e-01 -4.09839626e-01 -1.31300092e-02 1.79377248e+02] [ 1.42606015e-02 -2.97934061e-04 9.99898268e-01 5.22956493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:179.40, Z:5.23 [[-4.12724216e-01 -9.10836255e-01 6.00326373e-03 9.12873175e+01] [ 9.10726737e-01 -4.12767713e-01 -1.41288851e-02 1.79401948e+02] [ 1.53470542e-02 -3.64000219e-04 9.99882161e-01 5.22900578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:179.43, Z:5.23 [[-4.14422237e-01 -9.10064758e-01 6.02868267e-03 9.12774125e+01] [ 9.09954398e-01 -4.14465902e-01 -1.41777986e-02 1.79427817e+02] [ 1.54013982e-02 -3.89768687e-04 9.99881315e-01 5.22880373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:179.45, Z:5.23 [[-4.16207272e-01 -9.09249164e-01 6.12085517e-03 9.12674083e+01] [ 9.09135538e-01 -4.16252065e-01 -1.43802935e-02 1.79453526e+02] [ 1.56230885e-02 -4.20495797e-04 9.99877864e-01 5.22861575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.26, Y:179.48, Z:5.23 [[-4.17729542e-01 -9.08550935e-01 6.10147963e-03 9.12575425e+01] [ 9.08438170e-01 -4.17773868e-01 -1.43208305e-02 1.79478550e+02] [ 1.55602427e-02 -4.39416985e-04 9.99878836e-01 5.22878150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:179.50, Z:5.23 [[-4.19960506e-01 -9.07522244e-01 6.04566221e-03 9.12469232e+01] [ 9.07411637e-01 -4.20003760e-01 -1.41761669e-02 1.79503115e+02] [ 1.54043876e-02 -4.67525977e-04 9.99881236e-01 5.22864982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:179.53, Z:5.23 [[-4.20991851e-01 -9.07044687e-01 5.98302815e-03 9.12381233e+01] [ 9.06936533e-01 -4.21034097e-01 -1.40147666e-02 1.79527882e+02] [ 1.52310784e-02 -4.73875731e-04 9.99883888e-01 5.22899279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:179.55, Z:5.23 [[-4.21757618e-01 -9.06687860e-01 6.13485183e-03 9.12266500e+01] [ 9.06574348e-01 -4.21801946e-01 -1.43551178e-02 1.79551869e+02] [ 1.56033034e-02 -4.92680963e-04 9.99878140e-01 5.22857028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:179.58, Z:5.23 [[-4.22077425e-01 -9.06538816e-01 6.16624097e-03 9.12159920e+01] [ 9.06424369e-01 -4.22122176e-01 -1.44129293e-02 1.79576469e+02] [ 1.56687870e-02 -4.94141026e-04 9.99877115e-01 5.22859313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:179.60, Z:5.23 [[-4.21654679e-01 -9.06735029e-01 6.23855481e-03 9.12047863e+01] [ 9.06618152e-01 -4.21700548e-01 -1.45661838e-02 1.79600230e+02] [ 1.58384711e-02 -4.85912526e-04 9.99874445e-01 5.22869369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:179.62, Z:5.23 [[-4.19944160e-01 -9.07528008e-01 6.31011084e-03 9.11942628e+01] [ 9.07408778e-01 -4.19991320e-01 -1.47173891e-02 1.79624600e+02] [ 1.60066346e-02 -4.54631657e-04 9.99871782e-01 5.22839715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:179.65, Z:5.23 [[-4.18766554e-01 -9.08072472e-01 6.24170990e-03 9.11809313e+01] [ 9.07956102e-01 -4.18812854e-01 -1.45434199e-02 1.79648143e+02] [ 1.58205876e-02 -4.23099241e-04 9.99874757e-01 5.22842988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:179.67, Z:5.23 [[-4.17489731e-01 -9.08659412e-01 6.35582406e-03 9.11678068e+01] [ 9.08539045e-01 -4.17537915e-01 -1.47950102e-02 1.79672431e+02] [ 1.60974228e-02 -4.02250505e-04 9.99870347e-01 5.22873523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:179.70, Z:5.23 [[-4.15280278e-01 -9.09670840e-01 6.42293816e-03 9.11547661e+01] [ 9.09548274e-01 -4.15329789e-01 -1.49366777e-02 1.79695116e+02] [ 1.62550977e-02 -3.60935367e-04 9.99867812e-01 5.22873184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.14, Y:179.72, Z:5.23 [[-4.14480048e-01 -9.10036949e-01 6.24831483e-03 9.11427410e+01] [ 9.09921224e-01 -4.14527010e-01 -1.45163547e-02 1.79719210e+02] [ 1.58005144e-02 -3.31265106e-04 9.99875109e-01 5.22937436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:179.74, Z:5.23 [[-4.13838968e-01 -9.10330071e-01 6.03900477e-03 9.11320194e+01] [ 9.10222206e-01 -4.13882917e-01 -1.40166782e-02 1.79741888e+02] [ 1.52592446e-02 -3.03811392e-04 9.99883525e-01 5.23056379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:179.77, Z:5.23 [[-4.14126188e-01 -9.10200142e-01 5.93313114e-03 9.11213365e+01] [ 9.10096232e-01 -4.14168581e-01 -1.37562894e-02 1.79765213e+02] [ 1.49782931e-02 -2.97119407e-04 9.99887775e-01 5.23151361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:179.79, Z:5.23 [[-4.14199356e-01 -9.10167461e-01 5.83833099e-03 9.11109261e+01] [ 9.10067059e-01 -4.14240401e-01 -1.35218050e-02 1.79788789e+02] [ 1.47255795e-02 -2.87450185e-04 9.99891531e-01 5.23260393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:179.81, Z:5.23 [[-4.14878949e-01 -9.09860466e-01 5.42124284e-03 9.10979436e+01] [ 9.09774045e-01 -4.14914279e-01 -1.25430921e-02 1.79812193e+02] [ 1.36618147e-02 -2.71758867e-04 9.99906636e-01 5.23419646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:179.84, Z:5.24 [[-4.15273798e-01 -9.09681416e-01 5.23399147e-03 9.10879590e+01] [ 9.09601010e-01 -4.15306697e-01 -1.20975420e-02 1.79835628e+02] [ 1.31786208e-02 -2.62948281e-04 9.99913124e-01 5.23523872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:179.86, Z:5.24 [[-4.16088673e-01 -9.09311170e-01 4.83862167e-03 9.10773603e+01] [ 9.09242567e-01 -4.16116732e-01 -1.11723283e-02 1.79859369e+02] [ 1.21725544e-02 -2.49198477e-04 9.99925881e-01 5.23636558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:179.88, Z:5.24 [[-4.17246698e-01 -9.08781121e-01 4.69762708e-03 9.10673575e+01] [ 9.08716556e-01 -4.17273065e-01 -1.08355899e-02 1.79883686e+02] [ 1.18073728e-02 -2.52302608e-04 9.99930259e-01 5.23745674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:179.91, Z:5.24 [[-4.17591116e-01 -9.08622890e-01 4.70148608e-03 9.10567960e+01] [ 9.08558334e-01 -4.17617505e-01 -1.08339150e-02 1.79907360e+02] [ 1.18073660e-02 -2.52572298e-04 9.99930259e-01 5.23786086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.05, Y:179.93, Z:5.24 [[-4.18463474e-01 -9.08220880e-01 4.81176808e-03 9.10467504e+01] [ 9.08153377e-01 -4.18491054e-01 -1.10761856e-02 1.79931647e+02] [ 1.20733049e-02 -2.65155675e-04 9.99927080e-01 5.23826087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:179.96, Z:5.24 [[-4.19692623e-01 -9.07652782e-01 4.95275950e-03 9.10362646e+01] [ 9.07581375e-01 -4.19721749e-01 -1.13886242e-02 1.79955639e+02] [ 1.24156973e-02 -2.84689276e-04 9.99922882e-01 5.23830177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:179.98, Z:5.24 [[-4.20361413e-01 -9.07341265e-01 5.30201193e-03 9.10266741e+01] [ 9.07259589e-01 -4.20394735e-01 -1.21780753e-02 1.79978674e+02] [ 1.32786081e-02 -3.08891770e-04 9.99911788e-01 5.23799885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:180.00, Z:5.24 [[-4.20895196e-01 -9.07094290e-01 5.21382697e-03 9.10165771e+01] [ 9.07015463e-01 -4.20927377e-01 -1.19621462e-02 1.80002246e+02] [ 1.30454370e-02 -3.05788181e-04 9.99914858e-01 5.23834930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:180.03, Z:5.24 [[-4.21285273e-01 -9.06913822e-01 5.10270863e-03 9.10056151e+01] [ 9.06838420e-01 -4.21316067e-01 -1.16983912e-02 1.80026644e+02] [ 1.27592858e-02 -3.01027692e-04 9.99918552e-01 5.23889283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:180.05, Z:5.24 [[-4.21739307e-01 -9.06702223e-01 5.19959603e-03 9.09932447e+01] [ 9.06624073e-01 -4.21771246e-01 -1.19082899e-02 1.80049871e+02] [ 1.29903130e-02 -3.08115016e-04 9.99915575e-01 5.23896987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:180.07, Z:5.24 [[-4.21881193e-01 -9.06636225e-01 5.19756402e-03 9.09840415e+01] [ 9.06558291e-01 -4.21913098e-01 -1.18912568e-02 1.80073271e+02] [ 1.29739645e-02 -3.04802826e-04 9.99915788e-01 5.23950218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:180.10, Z:5.24 [[-4.21863848e-01 -9.06641937e-01 5.59382398e-03 9.09705546e+01] [ 9.06551880e-01 -4.21900811e-01 -1.27826324e-02 1.80096057e+02] [ 1.39493095e-02 -3.21438842e-04 9.99902652e-01 5.23931155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:180.12, Z:5.24 [[-4.21887838e-01 -9.06630622e-01 5.61858550e-03 9.09614402e+01] [ 9.06539954e-01 -4.21925130e-01 -1.28256255e-02 1.80119369e+02] [ 1.39987272e-02 -3.17503154e-04 9.99901963e-01 5.23979872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.95, Y:180.14, Z:5.24 [[-4.21880241e-01 -9.06633731e-01 5.68688589e-03 9.09522088e+01] [ 9.06541056e-01 -4.21918451e-01 -1.29666577e-02 1.80143386e+02] [ 1.41554114e-02 -3.14981150e-04 9.99899758e-01 5.24016285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:180.17, Z:5.24 [[-4.21492786e-01 -9.06811694e-01 6.03179065e-03 9.09367087e+01] [ 9.06707630e-01 -4.21535819e-01 -1.37414305e-02 1.80165693e+02] [ 1.50035057e-02 -3.22843229e-04 9.99887389e-01 5.23968642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:180.19, Z:5.24 [[-4.21497533e-01 -9.06808686e-01 6.15123398e-03 9.09276904e+01] [ 9.06700696e-01 -4.21542292e-01 -1.39979838e-02 1.80189779e+02] [ 1.52864985e-02 -3.22787493e-04 9.99883103e-01 5.24015866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:180.21, Z:5.24 [[-4.20476408e-01 -9.07282709e-01 6.13812954e-03 9.09149097e+01] [ 9.07175471e-01 -4.20521102e-01 -1.39523445e-02 1.80212651e+02] [ 1.52399339e-02 -2.98271129e-04 9.99883821e-01 5.24115252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:180.24, Z:5.24 [[-4.20059672e-01 -9.07475674e-01 6.14608929e-03 9.09017797e+01] [ 9.07368398e-01 -4.20104535e-01 -1.39559657e-02 1.80235625e+02] [ 1.52466993e-02 -2.85571171e-04 9.99883722e-01 5.24153561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:180.26, Z:5.24 [[-4.19710693e-01 -9.07637004e-01 6.16469422e-03 9.08911876e+01] [ 9.07529329e-01 -4.19755875e-01 -1.39829661e-02 1.80259178e+02] [ 1.52791241e-02 -2.74159586e-04 9.99883230e-01 5.24242812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.88, Y:180.28, Z:5.24 [[-4.18501924e-01 -9.08197887e-01 5.72175849e-03 9.08791314e+01] [ 9.08105374e-01 -4.18540973e-01 -1.29647115e-02 1.80281515e+02] [ 1.41693139e-02 -2.29797070e-04 9.99899584e-01 5.24396816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:180.31, Z:5.25 [[-4.18141584e-01 -9.08366985e-01 5.19955082e-03 9.08672426e+01] [ 9.08290751e-01 -4.18173864e-01 -1.17699574e-02 1.80305622e+02] [ 1.28657569e-02 -1.98804702e-04 9.99917213e-01 5.24523279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.86, Y:180.33, Z:5.25 [[-4.17038926e-01 -9.08876012e-01 4.78844988e-03 9.08552482e+01] [ 9.08811509e-01 -4.17066383e-01 -1.08293064e-02 1.80328792e+02] [ 1.18395983e-02 -1.64443958e-04 9.99929896e-01 5.24647828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:180.35, Z:5.25 [[-4.16621804e-01 -9.09066899e-01 4.86271971e-03 9.08437885e+01] [ 9.09000531e-01 -4.16650152e-01 -1.09856575e-02 1.80352373e+02] [ 1.20127505e-02 -1.56649663e-04 9.99927832e-01 5.24691949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:180.38, Z:5.25 [[-4.16707072e-01 -9.09027799e-01 4.86584592e-03 9.08322119e+01] [ 9.08961479e-01 -4.16735452e-01 -1.09814624e-02 1.80376498e+02] [ 1.20102251e-02 -1.53186530e-04 9.99927863e-01 5.24701117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:180.40, Z:5.25 [[-4.16496240e-01 -9.09124260e-01 4.89516196e-03 9.08214248e+01] [ 9.09057292e-01 -4.16524980e-01 -1.10354582e-02 1.80399791e+02] [ 1.20715600e-02 -1.46244155e-04 9.99927125e-01 5.24718854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:180.42, Z:5.25 [[-4.16914235e-01 -9.08932708e-01 4.88407558e-03 9.08100256e+01] [ 9.08866130e-01 -4.16942815e-01 -1.10021538e-02 1.80423822e+02] [ 1.20365976e-02 -1.47983646e-04 9.99927547e-01 5.24670346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:180.45, Z:5.25 [[-4.17103276e-01 -9.08845776e-01 4.92070242e-03 9.07990567e+01] [ 9.08778327e-01 -4.17132275e-01 -1.10732565e-02 1.80447568e+02] [ 1.21164662e-02 -1.46863837e-04 9.99926582e-01 5.24680837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:180.47, Z:5.25 [[-4.18296793e-01 -9.08295776e-01 5.15530355e-03 9.07884342e+01] [ 9.08221858e-01 -4.18328527e-01 -1.15888183e-02 1.80471585e+02] [ 1.26826852e-02 -1.65406159e-04 9.99919558e-01 5.24622858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:180.50, Z:5.25 [[-4.19447338e-01 -9.07763825e-01 5.36371804e-03 9.07782523e+01] [ 9.07683939e-01 -4.19481591e-01 -1.20441711e-02 1.80495471e+02] [ 1.31832438e-02 -1.83334773e-04 9.99913080e-01 5.24620871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:180.52, Z:5.25 [[-4.21067207e-01 -9.07013462e-01 5.38401046e-03 9.07688235e+01] [ 9.06933081e-01 -4.21101579e-01 -1.20767352e-02 1.80519980e+02] [ 1.32209767e-02 -2.02179968e-04 9.99912579e-01 5.24643647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:180.55, Z:5.25 [[-4.24260238e-01 -9.05522790e-01 5.63264432e-03 9.07638465e+01] [ 9.05434879e-01 -4.24297551e-01 -1.26201368e-02 1.80546672e+02] [ 1.38177387e-02 -2.54229623e-04 9.99904498e-01 5.24633937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.75, Y:180.57, Z:5.25 [[-4.26367710e-01 -9.04532248e-01 5.65583245e-03 9.07510025e+01] [ 9.04443702e-01 -4.26405128e-01 -1.26592319e-02 1.80570902e+02] [ 1.38623595e-02 -2.82105686e-04 9.99903873e-01 5.24609647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:180.60, Z:5.25 [[-4.28144885e-01 -9.03692015e-01 5.71835400e-03 9.07415812e+01] [ 9.03601601e-01 -4.28182961e-01 -1.27866386e-02 1.80596799e+02] [ 1.40036849e-02 -3.07420077e-04 9.99901896e-01 5.24625376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:180.62, Z:5.25 [[-4.32064441e-01 -9.01824688e-01 5.70535903e-03 9.07349646e+01] [ 9.01734696e-01 -4.32101957e-01 -1.27451094e-02 1.80623278e+02] [ 1.39591511e-02 -3.61988373e-04 9.99902501e-01 5.24679815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:180.65, Z:5.25 [[-4.34292350e-01 -9.00753901e-01 5.70655033e-03 9.07257899e+01] [ 9.00663905e-01 -4.34329663e-01 -1.27386820e-02 1.80649061e+02] [ 1.39529416e-02 -3.92628249e-04 9.99902576e-01 5.24727153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:180.68, Z:5.25 [[-4.36447264e-01 -8.99712178e-01 5.63762670e-03 9.07166748e+01] [ 8.99624418e-01 -4.36483475e-01 -1.25731035e-02 1.80675164e+02] [ 1.37729052e-02 -4.15749973e-04 9.99905063e-01 5.24777605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:180.70, Z:5.25 [[-4.39235750e-01 -8.98351197e-01 6.08949547e-03 9.07072044e+01] [ 8.98248877e-01 -4.39277687e-01 -1.35671871e-02 1.80700448e+02] [ 1.48630783e-02 -4.89311133e-04 9.99889419e-01 5.24801841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:180.73, Z:5.25 [[-4.40523087e-01 -8.97720313e-01 6.13599256e-03 9.06969944e+01] [ 8.97616559e-01 -4.40565525e-01 -1.36576492e-02 1.80725272e+02] [ 1.49640558e-02 -5.08741233e-04 9.99887903e-01 5.24804561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.69, Y:180.75, Z:5.25 [[-4.41003215e-01 -8.97481922e-01 6.50878718e-03 9.06886054e+01] [ 8.97365383e-01 -4.41050911e-01 -1.44728310e-02 1.80748987e+02] [ 1.58598107e-02 -5.41804713e-04 9.99874079e-01 5.24789106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:180.77, Z:5.25 [[-4.41110690e-01 -8.97427261e-01 6.75794468e-03 9.06761058e+01] [ 8.97301903e-01 -4.41162102e-01 -1.50098390e-02 1.80771998e+02] [ 1.64515878e-02 -5.57083821e-04 9.99864508e-01 5.24810996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:180.80, Z:5.25 [[-4.40785917e-01 -8.97585479e-01 6.93424908e-03 9.06661710e+01] [ 8.97453795e-01 -4.40840103e-01 -1.53847396e-02 1.80795347e+02] [ 1.68660139e-02 -5.58208397e-04 9.99857603e-01 5.24833096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:180.82, Z:5.25 [[-4.39267477e-01 -8.98329635e-01 6.92460763e-03 9.06522034e+01] [ 8.98198688e-01 -4.39321743e-01 -1.53467318e-02 1.80819358e+02] [ 1.68285547e-02 -5.21646672e-04 9.99858254e-01 5.24820121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.64, Y:180.84, Z:5.25 [[-4.38827928e-01 -8.98543933e-01 6.98933111e-03 9.06401620e+01] [ 8.98410792e-01 -4.38883287e-01 -1.54761172e-02 1.80843078e+02] [ 1.69734718e-02 -5.12061951e-04 9.99855809e-01 5.24858018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:180.87, Z:5.25 [[-4.38088507e-01 -8.98905134e-01 6.92960782e-03 9.06267928e+01] [ 8.98774570e-01 -4.38143039e-01 -1.53281112e-02 1.80867397e+02] [ 1.68146773e-02 -4.86914080e-04 9.99858505e-01 5.24950611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:180.89, Z:5.25 [[-4.36148137e-01 -8.99849983e-01 6.69405810e-03 9.06150178e+01] [ 8.99728476e-01 -4.36199293e-01 -1.47934282e-02 1.80891359e+02] [ 1.62318095e-02 -4.29291435e-04 9.99868163e-01 5.25052820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:180.91, Z:5.25 [[-4.35337208e-01 -9.00242289e-01 6.73327670e-03 9.06022486e+01] [ 9.00119632e-01 -4.35389082e-01 -1.48659071e-02 1.80914375e+02] [ 1.63145133e-02 -4.10927925e-04 9.99866825e-01 5.25123500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:180.94, Z:5.25 [[-4.33853004e-01 -9.00958645e-01 6.71506235e-03 9.05897400e+01] [ 9.00836986e-01 -4.33904804e-01 -1.48103459e-02 1.80938413e+02] [ 1.62572070e-02 -3.76336532e-04 9.99867772e-01 5.25245353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:180.96, Z:5.25 [[-4.33167702e-01 -9.01288891e-01 6.63911200e-03 9.05794733e+01] [ 9.01170225e-01 -4.33218433e-01 -1.46292304e-02 1.80961478e+02] [ 1.60613486e-02 -3.53940072e-04 9.99870946e-01 5.25284850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.57, Y:180.98, Z:5.25 [[-4.32925393e-01 -9.01405603e-01 6.59874973e-03 9.05666954e+01] [ 9.01288639e-01 -4.32975546e-01 -1.45246882e-02 1.80984558e+02] [ 1.59497326e-02 -3.40728186e-04 9.99872737e-01 5.25326782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:181.01, Z:5.25 [[-4.31316541e-01 -9.02178246e-01 6.36034451e-03 9.05532008e+01] [ 9.02069879e-01 -4.31363333e-01 -1.39859909e-02 1.81008026e+02] [ 1.53614761e-02 -2.94913999e-04 9.99881962e-01 5.25457806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:181.03, Z:5.26 [[-4.30822155e-01 -9.02416836e-01 6.01045720e-03 9.05403751e+01] [ 9.02320252e-01 -4.30863997e-01 -1.32052324e-02 1.81031495e+02] [ 1.45063137e-02 -2.65749425e-04 9.99894743e-01 5.25527925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:181.05, Z:5.26 [[-4.29658870e-01 -9.02972860e-01 5.76799092e-03 9.05281784e+01] [ 9.02884141e-01 -4.29697522e-01 -1.26596536e-02 1.81053561e+02] [ 1.39098150e-02 -2.31504909e-04 9.99903227e-01 5.25631394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:181.08, Z:5.26 [[-4.29538254e-01 -9.03031325e-01 5.59591230e-03 9.05160056e+01] [ 9.02947953e-01 -4.29574647e-01 -1.22725943e-02 1.81077473e+02] [ 1.34863992e-02 -2.18731190e-04 9.99909030e-01 5.25696087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:181.10, Z:5.26 [[-4.29716033e-01 -9.02946573e-01 5.62292540e-03 9.05050795e+01] [ 9.02862555e-01 -4.29752765e-01 -1.23193799e-02 1.81100613e+02] [ 1.35402096e-02 -2.17106240e-04 9.99908304e-01 5.25741634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:181.12, Z:5.26 [[-4.30076282e-01 -9.02776067e-01 5.45571351e-03 9.04943338e+01] [ 9.02697118e-01 -4.30110833e-01 -1.19408639e-02 1.81124057e+02] [ 1.31264876e-02 -2.10625483e-04 9.99913822e-01 5.25848057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:181.15, Z:5.26 [[-4.30702825e-01 -9.02476818e-01 5.53805376e-03 9.04825365e+01] [ 9.02395615e-01 -4.30738373e-01 -1.21081699e-02 1.81147924e+02] [ 1.33127949e-02 -2.17507538e-04 9.99911357e-01 5.25858137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:181.17, Z:5.26 [[-4.31364324e-01 -9.02160435e-01 5.60088101e-03 9.04703753e+01] [ 9.02077515e-01 -4.31400626e-01 -1.22334757e-02 1.81171914e+02] [ 1.34527814e-02 -2.24656169e-04 9.99909482e-01 5.25865703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:181.20, Z:5.26 [[-4.31897618e-01 -9.01905753e-01 5.51901700e-03 9.04578364e+01] [ 9.01825375e-01 -4.31932821e-01 -1.20429233e-02 1.81195517e+02] [ 1.32454264e-02 -2.24120314e-04 9.99912250e-01 5.25887340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:181.22, Z:5.26 [[-4.33124613e-01 -9.01316987e-01 5.54604811e-03 9.04456545e+01] [ 9.01235940e-01 -4.33160054e-01 -1.20891628e-02 1.81219699e+02] [ 1.32984943e-02 -2.37816061e-04 9.99911543e-01 5.25897980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:181.24, Z:5.26 [[-4.33785694e-01 -9.00998531e-01 5.62306813e-03 9.04361455e+01] [ 9.00915346e-01 -4.33822068e-01 -1.22454899e-02 1.81243685e+02] [ 1.34725795e-02 -2.46009990e-04 9.99909210e-01 5.25943093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:181.27, Z:5.26 [[-4.35151447e-01 -9.00340955e-01 5.42054306e-03 9.04226266e+01] [ 9.00263771e-01 -4.35185134e-01 -1.17915981e-02 1.81267566e+02] [ 1.29753984e-02 -2.51212434e-04 9.99915784e-01 5.25983692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:181.29, Z:5.26 [[-4.35720590e-01 -9.00066004e-01 5.36249174e-03 9.04125516e+01] [ 8.99990585e-01 -4.35753515e-01 -1.16542262e-02 1.81291969e+02] [ 1.28262974e-02 -2.51794222e-04 9.99917708e-01 5.26072272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:181.32, Z:5.26 [[-4.36279538e-01 -8.99795127e-01 5.37525259e-03 9.04010659e+01] [ 8.99719482e-01 -4.36312576e-01 -1.16700832e-02 1.81316217e+02] [ 1.28459743e-02 -2.55199030e-04 9.99917455e-01 5.26132640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:181.34, Z:5.26 [[-4.36074378e-01 -8.99894372e-01 5.40884716e-03 9.03896113e+01] [ 8.99817942e-01 -4.36107850e-01 -1.17308988e-02 1.81339077e+02] [ 1.29154105e-02 -2.48566653e-04 9.99916562e-01 5.26188252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:181.36, Z:5.26 [[-4.35784976e-01 -9.00033865e-01 5.52236151e-03 9.03766486e+01] [ 8.99954380e-01 -4.35819896e-01 -1.19638088e-02 1.81362652e+02] [ 1.31745881e-02 -2.43774690e-04 9.99913182e-01 5.26218044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:181.39, Z:5.26 [[-4.35369591e-01 -9.00235326e-01 5.44773874e-03 9.03639802e+01] [ 9.00158145e-01 -4.35403613e-01 -1.17901313e-02 1.81385848e+02] [ 1.29858578e-02 -2.29238246e-04 9.99915654e-01 5.26273971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:181.41, Z:5.26 [[-4.34334603e-01 -9.00735347e-01 5.41169789e-03 9.03526279e+01] [ 9.00659387e-01 -4.34368267e-01 -1.16994446e-02 1.81408710e+02] [ 1.28887731e-02 -2.07377126e-04 9.99916915e-01 5.26342697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:181.43, Z:5.26 [[-4.34679774e-01 -9.00568803e-01 5.41523139e-03 9.03415040e+01] [ 9.00492851e-01 -4.34713454e-01 -1.16978087e-02 1.81432119e+02] [ 1.28887555e-02 -2.08423700e-04 9.99916915e-01 5.26383126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:181.46, Z:5.26 [[-4.32534173e-01 -9.01600672e-01 5.51519810e-03 9.03264375e+01] [ 9.01522136e-01 -4.32569298e-01 -1.19013201e-02 1.81455436e+02] [ 1.31159435e-02 -1.75654464e-04 9.99913967e-01 5.26455621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:181.48, Z:5.26 [[-4.31720456e-01 -9.01991301e-01 5.39814266e-03 9.03135103e+01] [ 9.01916223e-01 -4.31754175e-01 -1.16386663e-02 1.81478465e+02] [ 1.28286464e-02 -1.55977887e-04 9.99917697e-01 5.26497994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:181.50, Z:5.27 [[-4.30091283e-01 -9.02770110e-01 5.25520899e-03 9.02985127e+01] [ 9.02699153e-01 -4.30123371e-01 -1.13192649e-02 1.81502030e+02] [ 1.24790822e-02 -1.24444461e-04 9.99922125e-01 5.26555629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:181.53, Z:5.27 [[-4.29602320e-01 -9.03002704e-01 5.28796174e-03 9.02871956e+01] [ 9.02931015e-01 -4.29634849e-01 -1.13788827e-02 1.81525949e+02] [ 1.25470545e-02 -1.13729732e-04 9.99921276e-01 5.26689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:181.55, Z:5.27 [[-4.29401350e-01 -9.03099014e-01 5.16259915e-03 9.02753093e+01] [ 9.03030823e-01 -4.29432370e-01 -1.10982533e-02 1.81549160e+02] [ 1.22398088e-02 -1.03618783e-04 9.99925085e-01 5.26793548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:181.57, Z:5.27 [[-4.29123277e-01 -9.03233277e-01 4.78118625e-03 9.02622782e+01] [ 9.03174902e-01 -4.29149903e-01 -1.02692331e-02 1.81571984e+02] [ 1.13273587e-02 -8.85195565e-05 9.99935840e-01 5.26888878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:181.60, Z:5.27 [[-4.29748567e-01 -9.02936321e-01 4.70846375e-03 9.02517478e+01] [ 9.02879805e-01 -4.29774351e-01 -1.01027574e-02 1.81595323e+02] [ 1.11457236e-02 -9.04686950e-05 9.99937880e-01 5.26976589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:181.62, Z:5.27 [[-4.30910652e-01 -9.02383043e-01 4.56669175e-03 9.02401969e+01] [ 9.02329964e-01 -4.30934838e-01 -9.78781629e-03 1.81619573e+02] [ 1.08003060e-02 -9.70114939e-05 9.99941670e-01 5.27010383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:181.64, Z:5.27 [[-4.31944089e-01 -9.01889386e-01 4.45409134e-03 9.02287446e+01] [ 9.01838961e-01 -4.31967041e-01 -9.53753076e-03 1.81643764e+02] [ 1.05258184e-02 -1.02806933e-04 9.99944597e-01 5.27038798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:181.67, Z:5.27 [[-4.33487893e-01 -9.01148919e-01 4.34429438e-03 9.02183894e+01] [ 9.01101006e-01 -4.33509646e-01 -9.29318420e-03 1.81667784e+02] [ 1.02578364e-02 -1.13834798e-04 9.99947381e-01 5.27097923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:181.69, Z:5.27 [[-4.35010591e-01 -9.00414060e-01 4.50622500e-03 9.02087961e+01] [ 9.00362580e-01 -4.35033910e-01 -9.62925656e-03 1.81691462e+02] [ 1.06306787e-02 -1.31592223e-04 9.99943484e-01 5.27139639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:181.72, Z:5.27 [[-4.38718889e-01 -8.98612345e-01 4.64657204e-03 9.02012575e+01] [ 8.98557635e-01 -4.38743459e-01 -9.91730550e-03 1.81716401e+02] [ 1.09504662e-02 -1.75696469e-04 9.99940026e-01 5.27102985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:181.74, Z:5.27 [[-4.40881644e-01 -8.97552900e-01 4.70830525e-03 9.01918230e+01] [ 8.97496770e-01 -4.40906738e-01 -1.00397222e-02 1.81742112e+02] [ 1.10871053e-02 -2.00640486e-04 9.99938516e-01 5.27132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:181.77, Z:5.27 [[-4.43016885e-01 -8.96501315e-01 4.62956119e-03 9.01816105e+01] [ 8.96447082e-01 -4.43041019e-01 -9.86326151e-03 1.81767060e+02] [ 1.08935124e-02 -2.19434764e-04 9.99940640e-01 5.27167229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:181.79, Z:5.27 [[-4.46999171e-01 -8.94522273e-01 4.65240892e-03 9.01762365e+01] [ 8.94467495e-01 -4.47023303e-01 -9.90284353e-03 1.81793665e+02] [ 1.09380493e-02 -2.65134290e-04 9.99940143e-01 5.27218972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:90.17, Y:181.82, Z:5.27 [[-4.48578501e-01 -8.93728451e-01 5.17545040e-03 9.01655620e+01] [ 8.93660763e-01 -4.48608248e-01 -1.10036686e-02 1.81819218e+02] [ 1.21560414e-02 -3.10912199e-04 9.99926064e-01 5.26951304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:181.84, Z:5.27 [[-4.50883991e-01 -8.92568550e-01 5.00111699e-03 9.01573366e+01] [ 8.92505380e-01 -4.50911607e-01 -1.06240114e-02 1.81844578e+02] [ 1.17377201e-02 -3.26672833e-04 9.99931057e-01 5.27177737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:181.87, Z:5.27 [[-4.51540364e-01 -8.92237261e-01 4.89586482e-03 9.01455708e+01] [ 8.92176810e-01 -4.51566788e-01 -1.03911304e-02 1.81868521e+02] [ 1.14821637e-02 -3.24037734e-04 9.99934025e-01 5.27224434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:181.89, Z:5.27 [[-4.51796352e-01 -8.92107084e-01 5.00080518e-03 9.01355091e+01] [ 8.92044131e-01 -4.51823907e-01 -1.06030858e-02 1.81892221e+02] [ 1.17185713e-02 -3.29496570e-04 9.99931281e-01 5.27257717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:181.91, Z:5.27 [[-4.51863160e-01 -8.92073270e-01 4.99649527e-03 9.01215588e+01] [ 8.92010553e-01 -4.51890667e-01 -1.05829120e-02 1.81914621e+02] [ 1.16986025e-02 -3.25101541e-04 9.99931516e-01 5.27254706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:181.94, Z:5.27 [[-4.50618020e-01 -8.92701673e-01 5.20804131e-03 9.01109531e+01] [ 8.92633721e-01 -4.50648004e-01 -1.10189088e-02 1.81938902e+02] [ 1.21835917e-02 -3.16445554e-04 9.99925727e-01 5.27309663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:181.96, Z:5.27 [[-4.49870295e-01 -8.93077947e-01 5.33834745e-03 9.00967395e+01] [ 8.93006717e-01 -4.49901862e-01 -1.12835201e-02 1.81961862e+02] [ 1.24787955e-02 -3.08940414e-04 9.99922089e-01 5.27312750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:181.99, Z:5.27 [[-4.48786622e-01 -8.93622311e-01 5.45275862e-03 9.00835773e+01] [ 8.93548189e-01 -4.48819649e-01 -1.15133212e-02 1.81985355e+02] [ 1.27358659e-02 -2.94721949e-04 9.99918852e-01 5.27337475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:182.01, Z:5.27 [[-4.46131664e-01 -8.94948839e-01 5.75448956e-03 9.00711195e+01] [ 8.94866551e-01 -4.46168696e-01 -1.21387849e-02 1.82009128e+02] [ 1.34310646e-02 -2.65996105e-04 9.99909764e-01 5.27339805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:182.03, Z:5.27 [[-4.45224364e-01 -8.95400794e-01 5.71689374e-03 9.00555302e+01] [ 8.95319754e-01 -4.45260999e-01 -1.20491040e-02 1.82030467e+02] [ 1.33342871e-02 -2.46106750e-04 9.99911064e-01 5.27338190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:182.05, Z:5.27 [[-4.42949327e-01 -8.96526455e-01 6.01741483e-03 9.00392541e+01] [ 8.96436962e-01 -4.42990145e-01 -1.26690408e-02 1.82052764e+02] [ 1.40237857e-02 -2.17510039e-04 9.99901638e-01 5.27282522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:182.08, Z:5.27 [[-4.42330864e-01 -8.96831066e-01 6.11924370e-03 9.00279221e+01] [ 8.96738726e-01 -4.42373141e-01 -1.28709657e-02 1.82075419e+02] [ 1.42500710e-02 -2.05862604e-04 9.99898441e-01 5.27331526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.02, Y:182.10, Z:5.27 [[-4.42398288e-01 -8.96797120e-01 6.21939959e-03 9.00174723e+01] [ 8.96701885e-01 -4.42441955e-01 -1.30708315e-02 1.82098494e+02] [ 1.44736074e-02 -2.05566150e-04 9.99895231e-01 5.27349876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:182.12, Z:5.27 [[-4.42712158e-01 -8.96640993e-01 6.39336645e-03 9.00048093e+01] [ 8.96540554e-01 -4.42758270e-01 -1.34219303e-02 1.82121282e+02] [ 1.48653687e-02 -2.10139408e-04 9.99889482e-01 5.27381854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:182.15, Z:5.27 [[-4.43454729e-01 -8.96274781e-01 6.27864775e-03 8.99933611e+01] [ 8.96178063e-01 -4.43499124e-01 -1.31683784e-02 1.82145417e+02] [ 1.45870603e-02 -2.12793302e-04 9.99893581e-01 5.27424464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:182.17, Z:5.27 [[-4.44346885e-01 -8.95832225e-01 6.36163844e-03 8.99822592e+01] [ 8.95733086e-01 -4.44392365e-01 -1.33291104e-02 1.82169114e+02] [ 1.47677102e-02 -2.24418664e-04 9.99890926e-01 5.27491305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:182.19, Z:5.28 [[-4.46742632e-01 -8.94638751e-01 6.52122233e-03 8.99721453e+01] [ 8.94534657e-01 -4.46790147e-01 -1.36495914e-02 1.82193981e+02] [ 1.51250713e-02 -2.64395007e-04 9.99885575e-01 5.27523795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:182.22, Z:5.28 [[-4.48409950e-01 -8.93804422e-01 6.49403725e-03 8.99615280e+01] [ 8.93701297e-01 -4.48456881e-01 -1.35800340e-02 1.82218509e+02] [ 1.50501902e-02 -2.85692872e-04 9.99886699e-01 5.27598261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:182.24, Z:5.28 [[-4.49699748e-01 -8.93155909e-01 6.53136258e-03 8.99515611e+01] [ 8.93051722e-01 -4.49747074e-01 -1.36452173e-02 1.82242229e+02] [ 1.51247677e-02 -3.03406207e-04 9.99885568e-01 5.27633083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:182.27, Z:5.28 [[-4.51206284e-01 -8.92397393e-01 6.30736875e-03 8.99422445e+01] [ 8.92300286e-01 -4.51250258e-01 -1.31682815e-02 1.82266001e+02] [ 1.45975419e-02 -3.13544425e-04 9.99893401e-01 5.27706646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:182.29, Z:5.28 [[-4.53359266e-01 -8.91305121e-01 6.36848746e-03 8.99313231e+01] [ 8.91206215e-01 -4.53403862e-01 -1.32823312e-02 1.82290496e+02] [ 1.47261066e-02 -3.46032313e-04 9.99891505e-01 5.27748046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:182.31, Z:5.28 [[-4.54530432e-01 -8.90708533e-01 6.35570473e-03 8.99194203e+01] [ 8.90610152e-01 -4.54574724e-01 -1.32430071e-02 1.82314619e+02] [ 1.46848022e-02 -3.58894581e-04 9.99892108e-01 5.27760327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:182.34, Z:5.28 [[-4.55513585e-01 -8.90206280e-01 6.33665243e-03 8.99065158e+01] [ 8.90108605e-01 -4.55557508e-01 -1.31919958e-02 1.82337376e+02] [ 1.46303071e-02 -3.68824460e-04 9.99892903e-01 5.27781342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:182.36, Z:5.28 [[-4.57001375e-01 -8.89441752e-01 6.56601499e-03 8.98954474e+01] [ 8.89337016e-01 -4.57048366e-01 -1.36551717e-02 1.82361767e+02] [ 1.51464663e-02 -4.01032089e-04 9.99885205e-01 5.27767272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:182.39, Z:5.28 [[-4.57634578e-01 -8.89116477e-01 6.51788175e-03 8.98838501e+01] [ 8.89013430e-01 -4.57680814e-01 -1.35422768e-02 1.82385327e+02] [ 1.50237709e-02 -4.02929736e-04 9.99887056e-01 5.27758996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:182.41, Z:5.28 [[-4.58207412e-01 -8.88817079e-01 7.08291085e-03 8.98736576e+01] [ 8.88695618e-01 -4.58261940e-01 -1.47000877e-02 1.82408941e+02] [ 1.63115174e-02 -4.41137278e-04 9.99866861e-01 5.27724233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:182.43, Z:5.28 [[-4.58402446e-01 -8.88713477e-01 7.45346162e-03 8.98633247e+01] [ 8.88579253e-01 -4.58462806e-01 -1.54520804e-02 1.82432159e+02] [ 1.71496070e-02 -4.60280112e-04 9.99852829e-01 5.27719399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:182.46, Z:5.28 [[-4.57814347e-01 -8.89014963e-01 7.64325723e-03 8.98502696e+01] [ 8.88874153e-01 -4.57877921e-01 -1.58287710e-02 1.82455455e+02] [ 1.75716930e-02 -4.52744688e-04 9.99845503e-01 5.27714667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:182.48, Z:5.28 [[-4.57473277e-01 -8.89188356e-01 7.89105907e-03 8.98381508e+01] [ 8.89038594e-01 -4.57541105e-01 -1.63252698e-02 1.82478681e+02] [ 1.81267237e-02 -4.52918598e-04 9.99835595e-01 5.27707509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:182.50, Z:5.28 [[-4.56019980e-01 -8.89931284e-01 8.25145836e-03 8.98260659e+01] [ 8.89767964e-01 -4.56094420e-01 -1.70543672e-02 1.82501788e+02] [ 1.89406590e-02 -4.35248888e-04 9.99820515e-01 5.27669513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:182.53, Z:5.28 [[-4.55725752e-01 -8.90080729e-01 8.38656420e-03 8.98137423e+01] [ 8.89912289e-01 -4.55802710e-01 -1.73207286e-02 1.82525359e+02] [ 1.92394655e-02 -4.30195536e-04 9.99814812e-01 5.27701894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:182.55, Z:5.28 [[-4.55270263e-01 -8.90313117e-01 8.45825283e-03 8.98019880e+01] [ 8.90142154e-01 -4.55348637e-01 -1.74518062e-02 1.82549187e+02] [ 1.93890259e-02 -4.16241025e-04 9.99811929e-01 5.27772800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:182.57, Z:5.28 [[-4.54493613e-01 -8.90712235e-01 8.20188176e-03 8.97913969e+01] [ 8.90551844e-01 -4.54567454e-01 -1.69068854e-02 1.82571894e+02] [ 1.87874782e-02 -3.79870516e-04 9.99823428e-01 5.27869171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:182.59, Z:5.28 [[-4.54528220e-01 -8.90696878e-01 7.94787953e-03 8.97776181e+01] [ 8.90546556e-01 -4.54597559e-01 -1.63673520e-02 1.82594131e+02] [ 1.81914360e-02 -3.61466626e-04 9.99834457e-01 5.28010733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:182.62, Z:5.28 [[-4.54710865e-01 -8.90607545e-01 7.49865629e-03 8.97689531e+01] [ 8.90473974e-01 -4.54772566e-01 -1.54277316e-02 1.82617667e+02] [ 1.71502373e-02 -3.37798899e-04 9.99852867e-01 5.28128264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:182.64, Z:5.28 [[-4.55070078e-01 -8.90423894e-01 7.51757913e-03 8.97571647e+01] [ 8.90289840e-01 -4.55132040e-01 -1.54540067e-02 1.82641074e+02] [ 1.71821079e-02 -3.39831686e-04 9.99852319e-01 5.28230154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:182.66, Z:5.28 [[-4.55461824e-01 -8.90225130e-01 7.33103295e-03 8.97473258e+01] [ 8.90097862e-01 -4.55520699e-01 -1.50561928e-02 1.82664050e+02] [ 1.67428385e-02 -3.32184283e-04 9.99859774e-01 5.28327332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:182.69, Z:5.28 [[-4.56568227e-01 -8.89661424e-01 6.92853556e-03 8.97370176e+01] [ 8.89547898e-01 -4.56620678e-01 -1.42159737e-02 1.82688550e+02] [ 1.58111160e-02 -3.27297686e-04 9.99874943e-01 5.28464242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:182.71, Z:5.29 [[-4.57528883e-01 -8.89168009e-01 6.89726543e-03 8.97262663e+01] [ 8.89055666e-01 -4.57580745e-01 -1.41380598e-02 1.82713050e+02] [ 1.57271663e-02 -3.36517805e-04 9.99876264e-01 5.28534699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:182.74, Z:5.29 [[-4.58424129e-01 -8.88707487e-01 6.80591891e-03 8.97156130e+01] [ 8.88598257e-01 -4.58474520e-01 -1.39374257e-02 1.82737559e+02] [ 1.55066350e-02 -3.41524550e-04 9.99879707e-01 5.28618872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:182.76, Z:5.29 [[-4.59339958e-01 -8.88235962e-01 6.60902551e-03 8.97039784e+01] [ 8.88133102e-01 -4.59387374e-01 -1.35215883e-02 1.82760721e+02] [ 1.50464638e-02 -3.41311453e-04 9.99886737e-01 5.28674445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:182.79, Z:5.29 [[-4.60876052e-01 -8.87439330e-01 6.68575683e-03 8.96950482e+01] [ 8.87334205e-01 -4.60924399e-01 -1.36640989e-02 1.82785432e+02] [ 1.52076872e-02 -3.64955244e-04 9.99884290e-01 5.28718074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.68, Y:182.81, Z:5.29 [[-4.61678044e-01 -8.87022104e-01 6.72095218e-03 8.96842293e+01] [ 8.86916021e-01 -4.61726810e-01 -1.37231396e-02 1.82809455e+02] [ 1.52759720e-02 -3.74752087e-04 9.99883245e-01 5.28767194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:182.83, Z:5.29 [[-4.62658487e-01 -8.86510908e-01 6.74793985e-03 8.96748626e+01] [ 8.86404124e-01 -4.62707533e-01 -1.37647391e-02 1.82834509e+02] [ 1.53249139e-02 -3.86971642e-04 9.99882492e-01 5.28782762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:182.86, Z:5.29 [[-4.63553912e-01 -8.86041722e-01 6.91648537e-03 8.96631215e+01] [ 8.85929694e-01 -4.63605330e-01 -1.40952689e-02 1.82858380e+02] [ 1.56955158e-02 -4.06397276e-04 9.99876735e-01 5.28758937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.65, Y:182.88, Z:5.29 [[-4.64571828e-01 -8.85507678e-01 7.01198276e-03 8.96533895e+01] [ 8.85392696e-01 -4.64624549e-01 -1.42759276e-02 1.82883263e+02] [ 1.58993828e-02 -4.23835462e-04 9.99873507e-01 5.28757951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:182.91, Z:5.29 [[-4.64741847e-01 -8.85418862e-01 6.96086146e-03 8.96432955e+01] [ 8.85305754e-01 -4.64793786e-01 -1.41583399e-02 1.82906486e+02] [ 1.57714264e-02 -4.17482344e-04 9.99875536e-01 5.28780589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:182.93, Z:5.29 [[-4.65073073e-01 -8.85244884e-01 6.96645928e-03 8.96316106e+01] [ 8.85131797e-01 -4.65125060e-01 -1.41555850e-02 1.82929632e+02] [ 1.57714340e-02 -4.17146821e-04 9.99875536e-01 5.28820988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:182.95, Z:5.29 [[-4.64998436e-01 -8.85283427e-01 7.05040486e-03 8.96170126e+01] [ 8.85167821e-01 -4.65051698e-01 -1.43125073e-02 1.82952842e+02] [ 1.59494283e-02 -4.14502008e-04 9.99872714e-01 5.28811290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:182.98, Z:5.29 [[-4.64980615e-01 -8.85293040e-01 7.01854974e-03 8.96092018e+01] [ 8.85178675e-01 -4.65033405e-01 -1.42353501e-02 1.82977832e+02] [ 1.58663164e-02 -4.06491273e-04 9.99874039e-01 5.28820046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:183.00, Z:5.29 [[-4.64743620e-01 -8.85416712e-01 7.11440055e-03 8.95985248e+01] [ 8.85299446e-01 -4.64797898e-01 -1.44154446e-02 1.82999893e+02] [ 1.60704340e-02 -4.01111050e-04 9.99870782e-01 5.28834325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:183.02, Z:5.29 [[-4.63628623e-01 -8.86002421e-01 6.94340092e-03 8.95823895e+01] [ 8.85890975e-01 -4.63680468e-01 -1.40571631e-02 1.83021836e+02] [ 1.56741999e-02 -3.66206938e-04 9.99877085e-01 5.28859744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:183.05, Z:5.29 [[-4.63140104e-01 -8.86256771e-01 7.08385447e-03 8.95741369e+01] [ 8.86141011e-01 -4.63194136e-01 -1.43283220e-02 1.83046080e+02] [ 1.59797722e-02 -3.58726575e-04 9.99872251e-01 5.28879610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:183.07, Z:5.29 [[-4.61970449e-01 -8.86870453e-01 6.64102709e-03 8.95572515e+01] [ 8.86768927e-01 -4.62018075e-01 -1.34226611e-02 1.83068319e+02] [ 1.49724360e-02 -3.11816285e-04 9.99887858e-01 5.28922157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:183.09, Z:5.29 [[-4.61372937e-01 -8.87181865e-01 6.58426412e-03 8.95445817e+01] [ 8.87082276e-01 -4.61419823e-01 -1.32959727e-02 1.83092301e+02] [ 1.48340559e-02 -2.93617988e-04 9.99889926e-01 5.28958689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:183.12, Z:5.29 [[-4.61087504e-01 -8.87328530e-01 6.81128826e-03 8.95330257e+01] [ 8.87222170e-01 -4.61137717e-01 -1.37414618e-02 1.83115180e+02] [ 1.53341330e-02 -2.92890373e-04 9.99882382e-01 5.28968188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:183.14, Z:5.29 [[-4.60771953e-01 -8.87493311e-01 6.69547354e-03 8.95200850e+01] [ 8.87390766e-01 -4.60820514e-01 -1.34937782e-02 1.83137831e+02] [ 1.50610495e-02 -2.76053165e-04 9.99886538e-01 5.29018672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:183.16, Z:5.29 [[-4.59668233e-01 -8.88065821e-01 6.64935308e-03 8.95072506e+01] [ 8.87964944e-01 -4.59716256e-01 -1.33873964e-02 1.83160758e+02] [ 1.49457049e-02 -2.49368419e-04 9.99888276e-01 5.29053850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:183.18, Z:5.29 [[-4.59382526e-01 -8.88215109e-01 6.45101097e-03 8.94951315e+01] [ 8.88120359e-01 -4.59427760e-01 -1.29754165e-02 1.83184213e+02] [ 1.44887345e-02 -2.31405444e-04 9.99895006e-01 5.29117596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:183.21, Z:5.29 [[-4.59363368e-01 -8.88226607e-01 6.22819746e-03 8.94833671e+01] [ 8.88138459e-01 -4.59405536e-01 -1.25152223e-02 1.83207538e+02] [ 1.39776219e-02 -2.17532984e-04 9.99902285e-01 5.29158662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:183.23, Z:5.29 [[-4.59233454e-01 -8.88296170e-01 5.87781050e-03 8.94713839e+01] [ 8.88217811e-01 -4.59271025e-01 -1.18002361e-02 1.83230727e+02] [ 1.31816126e-02 -1.98287233e-04 9.99913099e-01 5.29251543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:183.25, Z:5.29 [[-4.59478936e-01 -8.88168134e-01 6.03931589e-03 8.94607540e+01] [ 8.88085566e-01 -4.59518580e-01 -1.21120932e-02 1.83253816e+02] [ 1.35327531e-02 -2.01822411e-04 9.99908408e-01 5.29278215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:183.28, Z:5.29 [[-4.59711391e-01 -8.88048384e-01 5.95858367e-03 8.94489159e+01] [ 8.87968163e-01 -4.59749964e-01 -1.19378533e-02 1.83277524e+02] [ 1.33408500e-02 -1.96934566e-04 9.99910988e-01 5.29269358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:183.30, Z:5.29 [[-4.60225786e-01 -8.87782314e-01 5.89831463e-03 8.94382310e+01] [ 8.87703832e-01 -4.60263539e-01 -1.18059707e-02 1.83300381e+02] [ 1.31959112e-02 -1.97455665e-04 9.99912911e-01 5.29288438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:183.32, Z:5.29 [[-4.60792109e-01 -8.87489006e-01 5.82202631e-03 8.94259541e+01] [ 8.87412669e-01 -4.60828845e-01 -1.16417705e-02 1.83323655e+02] [ 1.30149010e-02 -1.97896083e-04 9.99915283e-01 5.29323444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.41, Y:183.35, Z:5.29 [[-4.61599225e-01 -8.87070516e-01 5.66170021e-03 8.94141662e+01] [ 8.86998429e-01 -4.61633903e-01 -1.13104934e-02 1.83347707e+02] [ 1.26468380e-02 -1.98995808e-04 9.99920006e-01 5.29366006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:183.37, Z:5.29 [[-4.63104612e-01 -8.86286045e-01 5.58262404e-03 8.94045247e+01] [ 8.86216045e-01 -4.63138211e-01 -1.11408803e-02 1.83372671e+02] [ 1.24595333e-02 -2.11982072e-04 9.99922355e-01 5.29415326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:183.40, Z:5.29 [[-4.64078022e-01 -8.85777147e-01 5.51676410e-03 8.93938078e+01] [ 8.85708835e-01 -4.64110759e-01 -1.10028746e-02 1.83397270e+02] [ 1.23064844e-02 -2.19945562e-04 9.99924248e-01 5.29415926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:183.42, Z:5.29 [[-4.65393462e-01 -8.85087451e-01 5.39723011e-03 8.93829904e+01] [ 8.85022143e-01 -4.65424701e-01 -1.07542457e-02 1.83421919e+02] [ 1.20304521e-02 -2.28287470e-04 9.99927605e-01 5.29475019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:183.45, Z:5.30 [[-4.66528714e-01 -8.84489502e-01 5.41099718e-03 8.93722335e+01] [ 8.84423939e-01 -4.66560031e-01 -1.07719060e-02 1.83446433e+02] [ 1.20521928e-02 -2.39788011e-04 9.99927341e-01 5.29509430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:183.47, Z:5.30 [[-4.67070837e-01 -8.84204540e-01 5.21208001e-03 8.93590492e+01] [ 8.84143791e-01 -4.67099858e-01 -1.03672595e-02 1.83469869e+02] [ 1.16013398e-02 -2.34016392e-04 9.99932675e-01 5.29545435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:183.49, Z:5.30 [[-4.67333872e-01 -8.84066721e-01 5.00847041e-03 8.93460991e+01] [ 8.84010721e-01 -4.67360656e-01 -9.95298227e-03 1.83493462e+02] [ 1.11398624e-02 -2.23824206e-04 9.99937925e-01 5.29593201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:183.52, Z:5.30 [[-4.67236627e-01 -8.84118308e-01 4.97509589e-03 8.93346764e+01] [ 8.84063161e-01 -4.67263063e-01 -9.87708710e-03 1.83515936e+02] [ 1.10571921e-02 -2.16637862e-04 9.99938844e-01 5.29647568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:183.54, Z:5.30 [[-4.67417505e-01 -8.84023827e-01 4.76960118e-03 8.93233739e+01] [ 8.83973247e-01 -4.67441795e-01 -9.45874322e-03 1.83538256e+02] [ 1.05912653e-02 -2.04982324e-04 9.99943890e-01 5.29676993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:183.56, Z:5.30 [[-4.67885712e-01 -8.83774240e-01 5.10430196e-03 8.93108813e+01] [ 8.83716385e-01 -4.67913500e-01 -1.01146724e-02 1.83561733e+02] [ 1.13274587e-02 -2.21755405e-04 9.99935818e-01 5.29603184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:183.59, Z:5.30 [[-4.68370225e-01 -8.83517142e-01 5.17609843e-03 8.92978176e+01] [ 8.83457746e-01 -4.68398771e-01 -1.02470706e-02 1.83585179e+02] [ 1.14779407e-02 -2.26558510e-04 9.99934101e-01 5.29542114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:183.61, Z:5.30 [[-4.69103077e-01 -8.83127745e-01 5.26199972e-03 8.92865795e+01] [ 8.83066458e-01 -4.69132529e-01 -1.04067992e-02 1.83608522e+02] [ 1.16591084e-02 -2.35166073e-04 9.99932003e-01 5.29554023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:183.63, Z:5.30 [[-4.70011365e-01 -8.82645744e-01 5.08012178e-03 8.92728100e+01] [ 8.82588707e-01 -4.70038761e-01 -1.00368105e-02 1.83631615e+02] [ 1.12468022e-02 -2.33756886e-04 9.99936725e-01 5.29570602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16275509600007 meters Centerline goodness [0,1] 0.9999137745203708 Centerline is valid? [True, True] Translation: X:89.26, Y:183.65, Z:5.30 [[-4.70542658e-01 -8.82363873e-01 4.85814775e-03 8.92604864e+01] [ 8.82311779e-01 -4.70567682e-01 -9.59065522e-03 1.83654821e+02] [ 1.07485350e-02 -2.26411421e-04 9.99942207e-01 5.29625304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:183.68, Z:5.30 [[-4.70814859e-01 -8.82218817e-01 4.82976105e-03 8.92485893e+01] [ 8.82167420e-01 -4.70839578e-01 -9.52548181e-03 1.83677257e+02] [ 1.06776020e-02 -2.24080532e-04 9.99942968e-01 5.29682985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:183.70, Z:5.30 [[-4.71165862e-01 -8.82031608e-01 4.79306564e-03 8.92357075e+01] [ 8.81981081e-01 -4.71190189e-01 -9.44347923e-03 1.83699481e+02] [ 1.05878927e-02 -2.22051821e-04 9.99943922e-01 5.29689856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:183.72, Z:5.30 [[-4.71266788e-01 -8.81976896e-01 4.93652153e-03 8.92229085e+01] [ 8.81923410e-01 -4.71292588e-01 -9.71572611e-03 1.83722247e+02] [ 1.08955920e-02 -2.25065131e-04 9.99940616e-01 5.29686709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:183.75, Z:5.30 [[-4.70551484e-01 -8.82357753e-01 5.10853136e-03 8.92088266e+01] [ 8.82300610e-01 -4.70579162e-01 -1.00441855e-02 1.83745242e+02] [ 1.12665334e-02 -2.19046063e-04 9.99936507e-01 5.29658337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:183.77, Z:5.30 [[-4.70549272e-01 -8.82359156e-01 5.06980827e-03 8.91975022e+01] [ 8.82302981e-01 -4.70576534e-01 -9.95868691e-03 1.83767806e+02] [ 1.11728714e-02 -2.12945928e-04 9.99937559e-01 5.29705843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:183.79, Z:5.30 [[-4.70293113e-01 -8.82495117e-01 5.17276847e-03 8.91847364e+01] [ 8.82436768e-01 -4.70321513e-01 -1.01501543e-02 1.83790754e+02] [ 1.13903259e-02 -2.08906598e-04 9.99935106e-01 5.29749752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:183.81, Z:5.30 [[-4.70086129e-01 -8.82605000e-01 5.23885099e-03 8.91718667e+01] [ 8.82545269e-01 -4.70115276e-01 -1.02701005e-02 1.83813872e+02] [ 1.15273060e-02 -2.04308651e-04 9.99933538e-01 5.29814388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:183.84, Z:5.30 [[-4.69882310e-01 -8.82714258e-01 5.11400556e-03 8.91577203e+01] [ 8.82657447e-01 -4.69910099e-01 -1.00164939e-02 1.83836773e+02] [ 1.12448249e-02 -1.92658221e-04 9.99936756e-01 5.29860901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:183.86, Z:5.30 [[-4.70088805e-01 -8.82604426e-01 5.09332867e-03 8.91448789e+01] [ 8.82548173e-01 -4.70116359e-01 -9.96653267e-03 1.83860429e+02] [ 1.11909630e-02 -1.90047521e-04 9.99937361e-01 5.29921545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:183.88, Z:5.30 [[-4.69826229e-01 -8.82744187e-01 5.10047425e-03 8.91321587e+01] [ 8.82687891e-01 -4.69853879e-01 -9.97095696e-03 1.83883453e+02] [ 1.11982819e-02 -1.82490254e-04 9.99937281e-01 5.29996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:183.91, Z:5.30 [[-4.69765445e-01 -8.82776402e-01 5.12349981e-03 8.91218421e+01] [ 8.82719705e-01 -4.69793350e-01 -1.00065509e-02 1.83906380e+02] [ 1.12405332e-02 -1.78117605e-04 9.99936807e-01 5.30089014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:183.93, Z:5.30 [[-4.69985543e-01 -8.82658686e-01 5.21856201e-03 8.91076686e+01] [ 8.82599977e-01 -4.70014481e-01 -1.01817515e-02 1.83929076e+02] [ 1.14398111e-02 -1.79373301e-04 9.99934547e-01 5.30077267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:183.95, Z:5.30 [[-4.70026966e-01 -8.82636722e-01 5.20267236e-03 8.90944685e+01] [ 8.82578477e-01 -4.70055727e-01 -1.01412498e-02 1.83952180e+02] [ 1.13965854e-02 -1.74894231e-04 9.99935042e-01 5.30064110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:183.98, Z:5.30 [[-4.70165300e-01 -8.82562381e-01 5.31364805e-03 8.90841431e+01] [ 8.82501740e-01 -4.70195292e-01 -1.03472490e-02 1.83975899e+02] [ 1.16305450e-02 -1.75613753e-04 9.99932348e-01 5.30131483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:184.00, Z:5.30 [[-4.70318016e-01 -8.82480813e-01 5.34588043e-03 8.90702720e+01] [ 8.82419556e-01 -4.70348365e-01 -1.03991425e-02 1.83998203e+02] [ 1.16914699e-02 -1.73594634e-04 9.99931637e-01 5.30127168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.06, Y:184.02, Z:5.30 [[-4.70772637e-01 -8.82238193e-01 5.37548247e-03 8.90584515e+01] [ 8.82176361e-01 -4.70803293e-01 -1.04464111e-02 1.84021297e+02] [ 1.17470177e-02 -1.75760953e-04 9.99930986e-01 5.30130220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:184.04, Z:5.30 [[-4.71482643e-01 -8.81857842e-01 5.55559167e-03 8.90496708e+01] [ 8.81791902e-01 -4.71515337e-01 -1.07856254e-02 1.84044810e+02] [ 1.21309350e-02 -1.86359437e-04 9.99926400e-01 5.30175589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:184.07, Z:5.30 [[-4.72067071e-01 -8.81545503e-01 5.49610357e-03 8.90357054e+01] [ 8.81481076e-01 -4.72099027e-01 -1.06593589e-02 1.84067323e+02] [ 1.19914151e-02 -1.87221055e-04 9.99928083e-01 5.30180792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:184.09, Z:5.30 [[-4.73064244e-01 -8.81011947e-01 5.30758261e-03 8.90249155e+01] [ 8.80951939e-01 -4.73093980e-01 -1.02843500e-02 1.84090079e+02] [ 1.15716206e-02 -1.89433066e-04 9.99933029e-01 5.30264093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:184.11, Z:5.30 [[-4.73454614e-01 -8.80802369e-01 5.28362168e-03 8.90125931e+01] [ 8.80743009e-01 -4.73484057e-01 -1.02273979e-02 1.84113308e+02] [ 1.15100269e-02 -1.88695878e-04 9.99933740e-01 5.30323152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:184.14, Z:5.30 [[-4.73624241e-01 -8.80711891e-01 5.16165637e-03 8.90024884e+01] [ 8.80655336e-01 -4.73652332e-01 -9.98236272e-03 1.84136774e+02] [ 1.12364161e-02 -1.82248739e-04 9.99936853e-01 5.30425537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:184.16, Z:5.30 [[-4.73885429e-01 -8.80573242e-01 4.83381678e-03 8.89875012e+01] [ 8.80523725e-01 -4.73910051e-01 -9.33985075e-03 1.84159153e+02] [ 1.05152170e-02 -1.69728817e-04 9.99944699e-01 5.30425365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.97, Y:184.18, Z:5.30 [[-4.73777632e-01 -8.80630586e-01 4.95235485e-03 8.89743788e+01] [ 8.80578714e-01 -4.73803485e-01 -9.55960429e-03 1.84182439e+02] [ 1.07649229e-02 -1.68188425e-04 9.99942042e-01 5.30478941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:184.20, Z:5.30 [[-4.73073843e-01 -8.81008261e-01 5.05792963e-03 8.89594977e+01] [ 8.80954276e-01 -4.73100855e-01 -9.75419646e-03 1.84204953e+02] [ 1.09864385e-02 -1.58650472e-04 9.99939635e-01 5.30410540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:184.23, Z:5.30 [[-4.73181916e-01 -8.80948923e-01 5.27905928e-03 8.89472341e+01] [ 8.80890228e-01 -4.73211336e-01 -1.01704493e-02 1.84226739e+02] [ 1.14577571e-02 -1.62200958e-04 9.99934345e-01 5.30414930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.93, Y:184.25, Z:5.30 [[-4.72868607e-01 -8.81115701e-01 5.51380811e-03 8.89333432e+01] [ 8.81051816e-01 -4.72900726e-01 -1.06113357e-02 1.84249567e+02] [ 1.19572983e-02 -1.59816884e-04 9.99928496e-01 5.30411523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:184.27, Z:5.30 [[-4.72364725e-01 -8.81383064e-01 5.95487854e-03 8.89187106e+01] [ 8.81308724e-01 -4.72402232e-01 -1.14483338e-02 1.84271656e+02] [ 1.29034655e-02 -1.59702646e-04 9.99916734e-01 5.30309357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.91, Y:184.29, Z:5.30 [[-4.72649457e-01 -8.81229118e-01 6.14273418e-03 8.89062825e+01] [ 8.81150160e-01 -4.72689344e-01 -1.17974689e-02 1.84293829e+02] [ 1.32998781e-02 -1.63396085e-04 9.99911539e-01 5.30297293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:184.32, Z:5.30 [[-4.72857471e-01 -8.81115371e-01 6.44324302e-03 8.88923550e+01] [ 8.81028621e-01 -4.72901337e-01 -1.23650559e-02 1.84316271e+02] [ 1.39420590e-02 -1.70227541e-04 9.99902790e-01 5.30242934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.88, Y:184.34, Z:5.30 [[-4.73436357e-01 -8.80802984e-01 6.64220403e-03 8.88803812e+01] [ 8.80710939e-01 -4.73482915e-01 -1.27346169e-02 1.84338416e+02] [ 1.43616587e-02 -1.79168886e-04 9.99896850e-01 5.30262484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:184.36, Z:5.30 [[-4.74240024e-01 -8.80370080e-01 6.70242796e-03 8.88697035e+01] [ 8.80276498e-01 -4.74287347e-01 -1.28374643e-02 1.84361288e+02] [ 1.44805963e-02 -1.88049581e-04 9.99895133e-01 5.30286333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:184.38, Z:5.30 [[-4.74796486e-01 -8.80070985e-01 6.58465485e-03 8.88558536e+01] [ 8.79980804e-01 -4.74842106e-01 -1.25999498e-02 1.84384244e+02] [ 1.42155216e-02 -1.88041992e-04 9.99898937e-01 5.30328347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:184.41, Z:5.30 [[-4.75126860e-01 -8.79892634e-01 6.58938916e-03 8.88436063e+01] [ 8.79802470e-01 -4.75172513e-01 -1.25974733e-02 1.84407083e+02] [ 1.42155205e-02 -1.88037050e-04 9.99898937e-01 5.30368746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:184.43, Z:5.30 [[-4.76111908e-01 -8.79361551e-01 6.38069348e-03 8.88305922e+01] [ 8.79277108e-01 -4.76154624e-01 -1.21877649e-02 1.84430214e+02] [ 1.37556485e-02 -1.92342291e-04 9.99905368e-01 5.30429891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:184.45, Z:5.31 [[-4.76910313e-01 -8.78929978e-01 6.21665062e-03 8.88191685e+01] [ 8.78849925e-01 -4.76950790e-01 -1.18639510e-02 1.84452458e+02] [ 1.33926186e-02 -1.94537658e-04 9.99910296e-01 5.30516493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.81, Y:184.48, Z:5.31 [[-4.77620105e-01 -8.78545239e-01 6.10726884e-03 8.88071078e+01] [ 8.78468089e-01 -4.77659110e-01 -1.16443628e-02 1.84475072e+02] [ 1.31472921e-02 -1.96540991e-04 9.99913551e-01 5.30556789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:184.50, Z:5.31 [[-4.79452908e-01 -8.77546193e-01 6.13086135e-03 8.87959654e+01] [ 8.77468518e-01 -4.79492055e-01 -1.16777287e-02 1.84497866e+02] [ 1.31874457e-02 -2.19283179e-04 9.99913018e-01 5.30580835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:184.52, Z:5.31 [[-4.80289869e-01 -8.77087800e-01 6.21545752e-03 8.87819249e+01] [ 8.77008076e-01 -4.80330030e-01 -1.18277784e-02 1.84520087e+02] [ 1.33594710e-02 -2.29755678e-04 9.99910732e-01 5.30586228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:184.54, Z:5.31 [[-4.81954958e-01 -8.76173273e-01 6.30982110e-03 8.87695481e+01] [ 8.76091190e-01 -4.81996194e-01 -1.19956407e-02 1.84544129e+02] [ 1.35515695e-02 -2.53379820e-04 9.99908141e-01 5.30631696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:184.57, Z:5.31 [[-4.82769274e-01 -8.75723769e-01 6.45817655e-03 8.87572749e+01] [ 8.75637891e-01 -4.82812395e-01 -1.22668692e-02 1.84568037e+02] [ 1.38604766e-02 -2.67043439e-04 9.99903903e-01 5.30659859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:184.59, Z:5.31 [[-4.83433575e-01 -8.75356227e-01 6.59201094e-03 8.87447646e+01] [ 8.75266895e-01 -4.83478437e-01 -1.25085518e-02 1.84591970e+02] [ 1.41365338e-02 -2.77284951e-04 9.99900036e-01 5.30681874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:184.62, Z:5.31 [[-4.84651429e-01 -8.74679825e-01 6.94241131e-03 8.87377921e+01] [ 8.74580855e-01 -4.84701053e-01 -1.31612494e-02 1.84616454e+02] [ 1.48768734e-02 -3.06918298e-04 9.99889286e-01 5.30673131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:184.64, Z:5.31 [[-4.85288921e-01 -8.74323474e-01 7.28874187e-03 8.87208783e+01] [ 8.74214528e-01 -4.85343544e-01 -1.38059281e-02 1.84636976e+02] [ 1.56083908e-02 -3.27939921e-04 9.99878128e-01 5.30633116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.71, Y:184.66, Z:5.31 [[-4.85924765e-01 -8.73968687e-01 7.47376628e-03 8.87085528e+01] [ 8.73854321e-01 -4.85982117e-01 -1.41423799e-02 1.84660701e+02] [ 1.59921139e-02 -3.41149658e-04 9.99872060e-01 5.30649719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:184.68, Z:5.31 [[-4.86635709e-01 -8.73570538e-01 7.75902972e-03 8.86976566e+01] [ 8.73447467e-01 -4.86697427e-01 -1.46675765e-02 1.84683819e+02] [ 1.65894625e-02 -3.60661615e-04 9.99862320e-01 5.30629210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.69, Y:184.71, Z:5.31 [[-4.86848032e-01 -8.73450154e-01 7.98890220e-03 8.86898540e+01] [ 8.73319924e-01 -4.86913435e-01 -1.50869835e-02 1.84708966e+02] [ 1.70676319e-02 -3.68200776e-04 9.99854270e-01 5.30616749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.67, Y:184.73, Z:5.31 [[-4.86235702e-01 -8.73791748e-01 7.92609656e-03 8.86689826e+01] [ 8.73663792e-01 -4.86300175e-01 -1.49572225e-02 1.84727396e+02] [ 1.69239598e-02 -3.47992025e-04 9.99856719e-01 5.30794223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.65, Y:184.75, Z:5.31 [[-4.85756704e-01 -8.74058328e-01 7.90338975e-03 8.86539632e+01] [ 8.73931375e-01 -4.85820882e-01 -1.49004488e-02 1.84748979e+02] [ 1.68634932e-02 -3.30972629e-04 9.99857746e-01 5.30829147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:184.77, Z:5.31 [[-4.85410723e-01 -8.74248339e-01 8.14071438e-03 8.86399511e+01] [ 8.74113932e-01 -4.85478871e-01 -1.53329524e-02 1.84770917e+02] [ 1.73569530e-02 -3.26867676e-04 9.99849303e-01 5.30819226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:184.79, Z:5.31 [[-4.84756799e-01 -8.74606911e-01 8.57881875e-03 8.86268162e+01] [ 8.74457998e-01 -4.84832596e-01 -1.61420049e-02 1.84792379e+02] [ 1.82772000e-02 -3.23129983e-04 9.99832906e-01 5.30803653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:184.82, Z:5.31 [[-4.84604500e-01 -8.74689412e-01 8.76986087e-03 8.86132902e+01] [ 8.74534113e-01 -4.84683743e-01 -1.64850068e-02 1.84815401e+02] [ 1.86698699e-02 -3.19166000e-04 9.99825652e-01 5.30819637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.60, Y:184.84, Z:5.31 [[-4.84814024e-01 -8.74573743e-01 8.72529859e-03 8.86002273e+01] [ 8.74420282e-01 -4.84892431e-01 -1.63859894e-02 1.84838812e+02] [ 1.85615873e-02 -3.14579409e-04 9.99827669e-01 5.30874934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:184.86, Z:5.31 [[-4.85013146e-01 -8.74463691e-01 8.68915111e-03 8.85866630e+01] [ 8.74311762e-01 -4.85090875e-01 -1.63029352e-02 1.84860947e+02] [ 1.84713528e-02 -3.10110875e-04 9.99829342e-01 5.30944374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:184.88, Z:5.31 [[-4.84915199e-01 -8.74517962e-01 8.69393057e-03 8.85721873e+01] [ 8.74366162e-01 -4.84993035e-01 -1.62963264e-02 1.84881537e+02] [ 1.84679259e-02 -3.00657622e-04 9.99829408e-01 5.30951699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:184.90, Z:5.31 [[-4.85042792e-01 -8.74446594e-01 8.75467083e-03 8.85578595e+01] [ 8.74292954e-01 -4.85121702e-01 -1.63940379e-02 1.84904319e+02] [ 1.85827914e-02 -2.97662914e-04 9.99827281e-01 5.30980334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:184.93, Z:5.31 [[-4.85121826e-01 -8.74402261e-01 8.80345494e-03 8.85435994e+01] [ 8.74247186e-01 -4.85201608e-01 -1.64698890e-02 1.84926360e+02] [ 1.86727586e-02 -2.93506903e-04 9.99825606e-01 5.31017352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:184.95, Z:5.31 [[-4.85272790e-01 -8.74316598e-01 8.98922697e-03 8.85322437e+01] [ 8.74155197e-01 -4.85355952e-01 -1.68015120e-02 1.84948835e+02] [ 1.90528156e-02 -2.95337132e-04 9.99818435e-01 5.31118406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:184.97, Z:5.31 [[-4.85759493e-01 -8.74047839e-01 8.83684527e-03 8.85192067e+01] [ 8.73892064e-01 -4.85839776e-01 -1.65037094e-02 1.84972021e+02] [ 1.87183225e-02 -2.94384577e-04 9.99824754e-01 5.31213853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:185.00, Z:5.31 [[-4.86506798e-01 -8.73632825e-01 8.76485714e-03 8.85066683e+01] [ 8.73479798e-01 -4.86585652e-01 -1.63537714e-02 1.84995700e+02] [ 1.85520452e-02 -3.00295312e-04 9.99827851e-01 5.31319718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:185.02, Z:5.31 [[-4.87426860e-01 -8.73121211e-01 8.62597249e-03 8.84945689e+01] [ 8.72973184e-01 -4.87503084e-01 -1.60799366e-02 1.85018469e+02] [ 1.82449219e-02 -3.07550327e-04 9.99833500e-01 5.31398466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.48, Y:185.04, Z:5.31 [[-4.88151680e-01 -8.72719200e-01 8.31476182e-03 8.84813481e+01] [ 8.72581809e-01 -4.88222393e-01 -1.54881258e-02 1.85041773e+02] [ 1.75762376e-02 -3.05244699e-04 9.99845479e-01 5.31471884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:185.07, Z:5.32 [[-4.89892104e-01 -8.71744621e-01 8.18790949e-03 8.84672921e+01] [ 8.71611496e-01 -4.89960415e-01 -1.52378312e-02 1.85065527e+02] [ 1.72952489e-02 -3.28217168e-04 9.99850372e-01 5.31637570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:185.09, Z:5.32 [[-4.90697764e-01 -8.71293373e-01 7.97264918e-03 8.84557729e+01] [ 8.71167305e-01 -4.90762417e-01 -1.48248778e-02 1.85088651e+02] [ 1.68294944e-02 -3.29023104e-04 9.99858320e-01 5.31742058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:185.11, Z:5.32 [[-4.91674268e-01 -8.70745131e-01 7.70261251e-03 8.84435065e+01] [ 8.70627564e-01 -4.91734488e-01 -1.43121533e-02 1.85112184e+02] [ 1.62498780e-02 -3.30810715e-04 9.99867907e-01 5.31844564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:185.14, Z:5.32 [[-4.93375122e-01 -8.69784940e-01 7.42614622e-03 8.84303250e+01] [ 8.69675744e-01 -4.93430888e-01 -1.37861883e-02 1.85136269e+02] [ 1.56553089e-02 -3.43423081e-04 9.99877389e-01 5.32024401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.42, Y:185.16, Z:5.32 [[-4.94487139e-01 -8.69154137e-01 7.31820429e-03 8.84204280e+01] [ 8.69048202e-01 -4.94541163e-01 -1.35742743e-02 1.85160689e+02] [ 1.54172899e-02 -3.52431765e-04 9.99881084e-01 5.32135923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17275509600006 meters Centerline goodness [0,1] 0.9999786539159391 Centerline is valid? [True, True] Translation: X:88.40, Y:185.18, Z:5.32 [[-4.95604810e-01 -8.68518316e-01 7.19773825e-03 8.84049293e+01] [ 8.68415952e-01 -4.95656943e-01 -1.33389766e-02 1.85183028e+02] [ 1.51527545e-02 -3.60230268e-04 9.99885126e-01 5.32179409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.39, Y:185.21, Z:5.32 [[-4.96448169e-01 -8.68037887e-01 7.03152503e-03 8.83928683e+01] [ 8.67940310e-01 -4.96497831e-01 -1.30200608e-02 1.85205074e+02] [ 1.47930430e-02 -3.60841322e-04 9.99890512e-01 5.32258497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:185.23, Z:5.32 [[-4.96910818e-01 -8.67771791e-01 7.19429270e-03 8.83810286e+01] [ 8.67669823e-01 -4.96962757e-01 -1.33077596e-02 1.85227472e+02] [ 1.51233939e-02 -3.70499051e-04 9.99885566e-01 5.32306299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:185.25, Z:5.32 [[-4.97314250e-01 -8.67539757e-01 7.30120895e-03 8.83675643e+01] [ 8.67434918e-01 -4.97367700e-01 -1.34920049e-02 1.85250312e+02] [ 1.53362362e-02 -3.76442724e-04 9.99882322e-01 5.32318302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:185.27, Z:5.32 [[-4.97551398e-01 -8.67399774e-01 7.76133525e-03 8.83562252e+01] [ 8.67281517e-01 -4.97611770e-01 -1.43281583e-02 1.85273687e+02] [ 1.62903730e-02 -3.97732557e-04 9.99867224e-01 5.32287562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:185.29, Z:5.32 [[-4.97378934e-01 -8.67498332e-01 7.80000557e-03 8.83400244e+01] [ 8.67379132e-01 -4.97439938e-01 -1.43857027e-02 1.85294970e+02] [ 1.63596074e-02 -3.89583411e-04 9.99866097e-01 5.32312641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35275509600007 meters Centerline goodness [0,1] 0.9999145956102143 Centerline is valid? [True, True] Translation: X:88.33, Y:185.32, Z:5.32 [[-4.96817907e-01 -8.67815013e-01 8.31087586e-03 8.83273365e+01] [ 8.67680017e-01 -4.96887257e-01 -1.53114832e-02 1.85316711e+02] [ 1.74171033e-02 -3.95838135e-04 9.99848232e-01 5.32321623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.31, Y:185.34, Z:5.32 [[-4.96167805e-01 -8.68185129e-01 8.49066389e-03 8.83135306e+01] [ 8.68044558e-01 -4.96240300e-01 -1.56272429e-02 1.85339084e+02] [ 1.77807495e-02 -3.83460225e-04 9.99841836e-01 5.32371940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:185.36, Z:5.32 [[-4.94203686e-01 -8.69302631e-01 8.69790631e-03 8.82989696e+01] [ 8.69155548e-01 -4.94280100e-01 -1.59942456e-02 1.85360985e+02] [ 1.82030417e-02 -3.44581574e-04 9.99834252e-01 5.32402123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.29, Y:185.38, Z:5.32 [[-4.93382422e-01 -8.69767444e-01 8.85322405e-03 8.82855610e+01] [ 8.69615347e-01 -4.93461737e-01 -1.62684576e-02 1.85382609e+02] [ 1.85185021e-02 -3.27671526e-04 9.99828464e-01 5.32456106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:185.40, Z:5.33 [[-4.92457680e-01 -8.70290485e-01 8.93898544e-03 8.82702171e+01] [ 8.70135807e-01 -4.92538709e-01 -1.64102906e-02 1.85404077e+02] [ 1.86845161e-02 -3.03242302e-04 9.99825383e-01 5.32524187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:185.43, Z:5.33 [[-4.91579980e-01 -8.70786496e-01 8.94434617e-03 8.82583582e+01] [ 8.70631997e-01 -4.91661267e-01 -1.64050217e-02 1.85426115e+02] [ 1.86828599e-02 -2.77146264e-04 9.99825422e-01 5.32528389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:185.45, Z:5.33 [[-4.90001234e-01 -8.71679485e-01 8.58292229e-03 8.82441262e+01] [ 8.71537561e-01 -4.90076345e-01 -1.57307483e-02 1.85447095e+02] [ 1.79184578e-02 -2.27746928e-04 9.99839426e-01 5.32608144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.23, Y:185.47, Z:5.33 [[-4.89742554e-01 -8.71826350e-01 8.42893214e-03 8.82293665e+01] [ 8.71689691e-01 -4.89815037e-01 -1.54373753e-02 1.85469445e+02] [ 1.75873282e-02 -2.12926329e-04 9.99845308e-01 5.32746077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:185.49, Z:5.33 [[-4.89864206e-01 -8.71765582e-01 7.60460994e-03 8.82159992e+01] [ 8.71654525e-01 -4.89923193e-01 -1.39159472e-02 1.85492717e+02] [ 1.58571186e-02 -1.88331773e-04 9.99874250e-01 5.32896622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62275509600005 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:88.20, Y:185.52, Z:5.33 [[-4.90279424e-01 -8.71534992e-01 7.26946042e-03 8.82034933e+01] [ 8.71433663e-01 -4.90333280e-01 -1.32907771e-02 1.85515451e+02] [ 1.51478357e-02 -1.81342021e-04 9.99885249e-01 5.33003573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:185.54, Z:5.33 [[-4.90908610e-01 -8.71182661e-01 7.03620398e-03 8.81913063e+01] [ 8.71087867e-01 -4.90958999e-01 -1.28525964e-02 1.85538427e+02] [ 1.46514468e-02 -1.80298333e-04 9.99892646e-01 5.33095243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:185.56, Z:5.33 [[-4.92394006e-01 -8.70345478e-01 6.84775472e-03 8.81793189e+01] [ 8.70255775e-01 -4.92441581e-01 -1.24969977e-02 1.85562028e+02] [ 1.42488246e-02 -1.94148674e-04 9.99898462e-01 5.33140153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:185.58, Z:5.33 [[-4.93304667e-01 -8.69829846e-01 6.82229558e-03 8.81669672e+01] [ 8.69740924e-01 -4.93351799e-01 -1.24390016e-02 1.85584867e+02] [ 1.41856066e-02 -2.02587882e-04 9.99899359e-01 5.33186084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74275509600005 meters Centerline goodness [0,1] 0.9999787161586923 Centerline is valid? [True, True] Translation: X:88.15, Y:185.61, Z:5.33 [[-4.94417602e-01 -8.69199478e-01 6.59562718e-03 8.81549991e+01] [ 8.69116457e-01 -4.94461549e-01 -1.20150244e-02 1.85607536e+02] [ 1.37047370e-02 -2.08071414e-04 9.99906064e-01 5.33214008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:185.63, Z:5.33 [[-4.95852860e-01 -8.68384264e-01 6.22184581e-03 8.81424995e+01] [ 8.68310458e-01 -4.95891849e-01 -1.13235660e-02 1.85632087e+02] [ 1.29185691e-02 -2.12328808e-04 9.99916529e-01 5.33289233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.13, Y:185.66, Z:5.33 [[-4.96525965e-01 -8.67999931e-01 6.17142897e-03 8.81302189e+01] [ 8.67927401e-01 -4.96564270e-01 -1.12228797e-02 1.85655126e+02] [ 1.28059699e-02 -2.16098847e-04 9.99917977e-01 5.33346016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:185.68, Z:5.33 [[-4.97475095e-01 -8.67456009e-01 6.21307040e-03 8.81177814e+01] [ 8.67382588e-01 -4.97513840e-01 -1.12882868e-02 1.85678279e+02] [ 1.28831807e-02 -2.26532460e-04 9.99916983e-01 5.33314874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.10, Y:185.70, Z:5.33 [[-4.98029364e-01 -8.67135183e-01 6.58226716e-03 8.81045674e+01] [ 8.67052908e-01 -4.98072801e-01 -1.19473842e-02 1.85700815e+02] [ 1.36384455e-02 -2.42974285e-04 9.99906963e-01 5.33297524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:185.72, Z:5.33 [[-4.98411469e-01 -8.66911073e-01 7.15536417e-03 8.80936118e+01] [ 8.66814020e-01 -4.98462759e-01 -1.29743300e-02 1.85723439e+02] [ 1.48142729e-02 -2.64184881e-04 9.99890228e-01 5.33251833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:185.75, Z:5.33 [[-4.98621116e-01 -8.66783334e-01 7.97715969e-03 8.80798045e+01] [ 8.66662948e-01 -4.98684838e-01 -1.44487900e-02 1.85745782e+02] [ 1.65020589e-02 -2.90963036e-04 9.99863789e-01 5.33121551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:185.77, Z:5.33 [[-4.98881119e-01 -8.66633148e-01 8.03836583e-03 8.80673231e+01] [ 8.66511119e-01 -4.98945790e-01 -1.45457466e-02 1.85768737e+02] [ 1.66165349e-02 -2.91264950e-04 9.99861893e-01 5.33120621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.06, Y:185.79, Z:5.33 [[-4.99140632e-01 -8.66479753e-01 8.45381281e-03 8.80560940e+01] [ 8.66345024e-01 -4.99212124e-01 -1.52825100e-02 1.85791318e+02] [ 1.74622314e-02 -3.04203055e-04 9.99847477e-01 5.33095458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:185.81, Z:5.33 [[-4.99541998e-01 -8.66246954e-01 8.60269231e-03 8.80435933e+01] [ 8.66107673e-01 -4.99615971e-01 -1.55364260e-02 1.85814874e+02] [ 1.77564242e-02 -3.10239474e-04 9.99842294e-01 5.33111527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:185.84, Z:5.33 [[-4.99874025e-01 -8.66055339e-01 8.60864774e-03 8.80308078e+01] [ 8.65916087e-01 -4.99948050e-01 -1.55331256e-02 1.85837411e+02] [ 1.77564230e-02 -3.10239454e-04 9.99842294e-01 5.33151929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:185.86, Z:5.33 [[-5.00428973e-01 -8.65736935e-01 8.39060195e-03 8.80187398e+01] [ 8.65604834e-01 -5.00499216e-01 -1.51263373e-02 1.85860389e+02] [ 1.72949186e-02 -3.06711857e-04 9.99850385e-01 5.33207249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:185.88, Z:5.33 [[-5.01543227e-01 -8.65095333e-01 8.02847375e-03 8.80099583e+01] [ 8.64974514e-01 -5.01607387e-01 -1.44609823e-02 1.85884023e+02] [ 1.65372701e-02 -3.08382576e-04 9.99863202e-01 5.33308835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:185.91, Z:5.33 [[-5.02145864e-01 -8.64746373e-01 7.95247773e-03 8.79961684e+01] [ 8.64628006e-01 -5.02208736e-01 -1.43107045e-02 1.85906998e+02] [ 1.63689336e-02 -3.10126083e-04 9.99865972e-01 5.33345385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:185.93, Z:5.33 [[-5.02967609e-01 -8.64269452e-01 7.86757158e-03 8.79854468e+01] [ 8.64153743e-01 -5.03029039e-01 -1.41454539e-02 1.85929599e+02] [ 1.61831007e-02 -3.15913689e-04 9.99868995e-01 5.33421398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:185.95, Z:5.33 [[-5.03962270e-01 -8.63690542e-01 7.78959032e-03 8.79750234e+01] [ 8.63577252e-01 -5.04022363e-01 -1.39924043e-02 1.85952308e+02] [ 1.60112349e-02 -3.24730819e-04 9.99871759e-01 5.33412190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:185.97, Z:5.33 [[-5.04519771e-01 -8.63364687e-01 7.82414464e-03 8.79630274e+01] [ 8.63250576e-01 -5.04580329e-01 -1.40404907e-02 1.85974603e+02] [ 1.60699734e-02 -3.29507809e-04 9.99870815e-01 5.33407922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:186.00, Z:5.33 [[-5.05146087e-01 -8.62999702e-01 7.67760759e-03 8.79486834e+01] [ 8.62889984e-01 -5.05204322e-01 -1.37647370e-02 1.85996423e+02] [ 1.57577244e-02 -3.28272332e-04 9.99875785e-01 5.33454856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:186.02, Z:5.33 [[-5.05509335e-01 -8.62787609e-01 7.60617733e-03 8.79400144e+01] [ 8.62680094e-01 -5.05566450e-01 -1.36242519e-02 1.86020482e+02] [ 1.56002638e-02 -3.25488765e-04 9.99878256e-01 5.33461135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:186.04, Z:5.34 [[-5.05530915e-01 -8.62775453e-01 7.55060381e-03 8.79276066e+01] [ 8.62669701e-01 -5.05587201e-01 -1.35118542e-02 1.86042459e+02] [ 1.54751848e-02 -3.16982891e-04 9.99880202e-01 5.33512294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:186.06, Z:5.34 [[-5.04458751e-01 -8.63405797e-01 7.19718636e-03 8.79113788e+01] [ 8.63309944e-01 -5.04510013e-01 -1.28680898e-02 1.86064236e+02] [ 1.47414359e-02 -2.78017943e-04 9.99891300e-01 5.33575897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:186.09, Z:5.34 [[-5.03688955e-01 -8.63855870e-01 7.10439179e-03 8.78971758e+01] [ 8.63762675e-01 -5.03738990e-01 -1.26914100e-02 1.86087130e+02] [ 1.45423081e-02 -2.56014565e-04 9.99894222e-01 5.33661266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:186.11, Z:5.34 [[-5.02962290e-01 -8.64282305e-01 6.71067165e-03 8.78831253e+01] [ 8.64199328e-01 -5.03007005e-01 -1.19780295e-02 1.86110062e+02] [ 1.37279138e-02 -2.25139204e-04 9.99905742e-01 5.33737054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.87, Y:186.13, Z:5.34 [[-5.02189474e-01 -8.64733124e-01 6.50819557e-03 8.78702273e+01] [ 8.64655223e-01 -5.02231603e-01 -1.16087185e-02 1.86131956e+02] [ 1.33070649e-02 -2.02430954e-04 9.99911437e-01 5.33791810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:186.15, Z:5.34 [[-5.00024613e-01 -8.65986532e-01 6.53555018e-03 8.78552716e+01] [ 8.65908235e-01 -5.00067295e-01 -1.16459904e-02 1.86154489e+02] [ 1.33534857e-02 -1.64095113e-04 9.99910825e-01 5.33784253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:186.18, Z:5.34 [[-4.99352853e-01 -8.66374679e-01 6.45318446e-03 8.78420611e+01] [ 8.66298499e-01 -4.99394527e-01 -1.14898483e-02 1.86177185e+02] [ 1.31771986e-02 -1.47104510e-04 9.99913166e-01 5.33820122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:186.20, Z:5.34 [[-4.98669110e-01 -8.66767957e-01 6.51369628e-03 8.78303223e+01] [ 8.66690519e-01 -4.98711632e-01 -1.15867470e-02 1.86199719e+02] [ 1.32914771e-02 -1.32593990e-04 9.99911656e-01 5.33790148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.82, Y:186.22, Z:5.34 [[-4.98830602e-01 -8.66674978e-01 6.52028011e-03 8.78183615e+01] [ 8.66597526e-01 -4.98873197e-01 -1.15871063e-02 1.86222749e+02] [ 1.32950481e-02 -1.29544613e-04 9.99911609e-01 5.33837199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:186.25, Z:5.34 [[-4.99352833e-01 -8.66375602e-01 6.32962537e-03 8.78056143e+01] [ 8.66302720e-01 -4.99392931e-01 -1.12382444e-02 1.86246503e+02] [ 1.28975109e-02 -1.28477505e-04 9.99916815e-01 5.33912936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:186.27, Z:5.34 [[-5.00657828e-01 -8.65624961e-01 5.93013098e-03 8.77947758e+01] [ 8.65561035e-01 -5.00692929e-01 -1.05207390e-02 1.86271792e+02] [ 1.20761890e-02 -1.34400050e-04 9.99927071e-01 5.34020737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.78, Y:186.29, Z:5.34 [[-5.01752491e-01 -8.64991204e-01 5.88680751e-03 8.77844097e+01] [ 8.64928265e-01 -5.01787002e-01 -1.04355670e-02 1.86294594e+02] [ 1.19805971e-02 -1.44405525e-04 9.99928220e-01 5.34103599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.77, Y:186.32, Z:5.34 [[-5.03960575e-01 -8.63711320e-01 5.14732726e-03 8.77739139e+01] [ 8.63663212e-01 -5.03986839e-01 -9.11709389e-03 1.86319450e+02] [ 1.04687224e-02 -1.49098689e-04 9.99945190e-01 5.34178954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters Centerline goodness [0,1] 0.9999569503637694 Centerline is valid? [True, True] Translation: X:87.76, Y:186.34, Z:5.34 [[-5.05118244e-01 -8.63033720e-01 5.32514288e-03 8.77644250e+01] [ 8.62982286e-01 -5.05146287e-01 -9.42352240e-03 1.86343734e+02] [ 1.08227937e-02 -1.64489113e-04 9.99941418e-01 5.34195367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.75, Y:186.37, Z:5.34 [[-5.06440743e-01 -8.62259153e-01 5.18903462e-03 8.77515025e+01] [ 8.62210368e-01 -5.06467297e-01 -9.17378126e-03 1.86366864e+02] [ 1.05382532e-02 -1.71937146e-04 9.99944456e-01 5.34255090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:186.39, Z:5.34 [[-5.07800299e-01 -8.61458278e-01 5.33772071e-03 8.77413642e+01] [ 8.61406714e-01 -5.07828316e-01 -9.42731302e-03 1.86391064e+02] [ 1.08318826e-02 -1.89243907e-04 9.99941316e-01 5.34221399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:186.41, Z:5.34 [[-5.08160623e-01 -8.61244497e-01 5.54052687e-03 8.77291353e+01] [ 8.61189027e-01 -5.08190789e-01 -9.77660478e-03 1.86413998e+02] [ 1.12356918e-02 -1.96644630e-04 9.99936858e-01 5.34202796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:186.44, Z:5.34 [[-5.08517153e-01 -8.61033607e-01 5.60650052e-03 8.77166437e+01] [ 8.60976897e-01 -5.08548020e-01 -9.88405510e-03 1.86436771e+02] [ 1.13616783e-02 -1.99144146e-04 9.99935434e-01 5.34167944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:186.46, Z:5.34 [[-5.08466461e-01 -8.61061989e-01 5.84023664e-03 8.77036645e+01] [ 8.61000567e-01 -5.08499961e-01 -1.02865642e-02 1.86460121e+02] [ 1.18271296e-02 -2.01925859e-04 9.99930037e-01 5.34084674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:186.48, Z:5.34 [[-5.08597831e-01 -8.60982781e-01 6.07440753e-03 8.76914043e+01] [ 8.60916450e-01 -5.08634062e-01 -1.06891515e-02 1.86482902e+02] [ 1.22928259e-02 -2.06921887e-04 9.99924419e-01 5.34080826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.68, Y:186.51, Z:5.34 [[-5.08804435e-01 -8.60859384e-01 6.25848120e-03 8.76808573e+01] [ 8.60789096e-01 -5.08842880e-01 -1.10024886e-02 1.86505953e+02] [ 1.26561791e-02 -2.10882593e-04 9.99919885e-01 5.34035227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:186.53, Z:5.34 [[-5.08990558e-01 -8.60748283e-01 6.40349912e-03 8.76664537e+01] [ 8.60674828e-01 -5.09030793e-01 -1.12468711e-02 1.86528305e+02] [ 1.29403032e-02 -2.13220703e-04 9.99916248e-01 5.34002608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.65, Y:186.55, Z:5.34 [[-5.08993826e-01 -8.60745806e-01 6.47628057e-03 8.76537726e+01] [ 8.60670810e-01 -5.09034982e-01 -1.13641546e-02 1.86551337e+02] [ 1.30783017e-02 -2.10338867e-04 9.99914453e-01 5.34018356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:186.57, Z:5.34 [[-5.07897698e-01 -8.61393670e-01 6.39327987e-03 8.76420802e+01] [ 8.61320771e-01 -5.07937901e-01 -1.12079546e-02 1.86573442e+02] [ 1.29018503e-02 -1.85829587e-04 9.99916750e-01 5.34090276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:186.59, Z:5.34 [[-5.07040452e-01 -8.61901940e-01 5.91820664e-03 8.76251197e+01] [ 8.61839583e-01 -5.07074966e-01 -1.03688398e-02 1.86594239e+02] [ 1.19378975e-02 -1.56876462e-04 9.99928728e-01 5.34113475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:186.62, Z:5.34 [[-5.06295450e-01 -8.62340115e-01 5.86891228e-03 8.76103797e+01] [ 8.62278928e-01 -5.06329445e-01 -1.02734194e-02 1.86616455e+02] [ 1.18307848e-02 -1.40746119e-04 9.99930004e-01 5.34137800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:186.64, Z:5.34 [[-5.05151920e-01 -8.63007984e-01 6.22554084e-03 8.75948546e+01] [ 8.62939323e-01 -5.05190265e-01 -1.08867613e-02 1.86638549e+02] [ 1.25404446e-02 -1.27204391e-04 9.99921357e-01 5.34117475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:186.66, Z:5.34 [[-5.04277015e-01 -8.63519926e-01 6.16688025e-03 8.75797998e+01] [ 8.63452679e-01 -5.04314709e-01 -1.07770672e-02 1.86659131e+02] [ 1.24162607e-02 -1.09818015e-04 9.99922909e-01 5.34222568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:186.68, Z:5.34 [[-5.03225313e-01 -8.64134259e-01 6.02217716e-03 8.75633595e+01] [ 8.64070292e-01 -5.03261338e-01 -1.05145412e-02 1.86680567e+02] [ 1.21167042e-02 -8.75989192e-05 9.99926586e-01 5.34329303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.55, Y:186.70, Z:5.34 [[-5.03010394e-01 -8.64259408e-01 6.01823309e-03 8.75488257e+01] [ 8.64195647e-01 -5.03046388e-01 -1.04982890e-02 1.86702852e+02] [ 1.21006954e-02 -7.98176330e-05 9.99926781e-01 5.34373253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:186.73, Z:5.34 [[-5.03358213e-01 -8.64056383e-01 6.08906216e-03 8.75353597e+01] [ 8.63991216e-01 -5.03395034e-01 -1.06121424e-02 1.86725094e+02] [ 1.22346930e-02 -8.08127868e-05 9.99925150e-01 5.34425219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:186.75, Z:5.34 [[-5.04514694e-01 -8.63381657e-01 6.08580832e-03 8.75215693e+01] [ 8.63316627e-01 -5.04551390e-01 -1.05970382e-02 1.86747847e+02] [ 1.22198914e-02 -9.23819553e-05 9.99925330e-01 5.34476029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:186.77, Z:5.35 [[-5.05643619e-01 -8.62722718e-01 5.83458567e-03 8.75094286e+01] [ 8.62663004e-01 -5.05677271e-01 -1.01508228e-02 1.86769688e+02] [ 1.17077628e-02 -9.94175711e-05 9.99931457e-01 5.34581909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:186.79, Z:5.35 [[-5.06876628e-01 -8.62000672e-01 5.56113128e-03 8.74970775e+01] [ 8.61946479e-01 -5.06907122e-01 -9.66628307e-03 1.86791554e+02] [ 1.11513195e-02 -1.06215443e-04 9.99937816e-01 5.34703118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:186.82, Z:5.35 [[-5.09475590e-01 -8.60467225e-01 5.54775418e-03 8.74832362e+01] [ 8.60413308e-01 -5.09505776e-01 -9.63345243e-03 1.86815256e+02] [ 1.11158829e-02 -1.34647335e-04 9.99938208e-01 5.34754859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:186.84, Z:5.35 [[-5.11397535e-01 -8.59326520e-01 5.52216376e-03 8.74706939e+01] [ 8.59273114e-01 -5.11427325e-01 -9.58156926e-03 1.86838789e+02] [ 1.10578820e-02 -1.54944045e-04 9.99938848e-01 5.34785318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:186.86, Z:5.35 [[-5.13254014e-01 -8.58219863e-01 5.38368640e-03 8.74577570e+01] [ 8.58169123e-01 -5.13282221e-01 -9.33371923e-03 1.86862669e+02] [ 1.07737337e-02 -1.70455423e-04 9.99941947e-01 5.34799123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:186.89, Z:5.35 [[-5.16631155e-01 -8.56187304e-01 5.96239237e-03 8.74475770e+01] [ 8.56125047e-01 -5.16665508e-01 -1.03274274e-02 1.86887908e+02] [ 1.19227747e-02 -2.30917287e-04 9.99928895e-01 5.34750074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:186.91, Z:5.35 [[-5.18019264e-01 -8.55346741e-01 6.16406207e-03 8.74378966e+01] [ 8.55280261e-01 -5.18055875e-01 -1.06670631e-02 1.86912787e+02] [ 1.23173662e-02 -2.53743573e-04 9.99924106e-01 5.34787520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:186.93, Z:5.35 [[-5.18354959e-01 -8.55143924e-01 6.08328380e-03 8.74223866e+01] [ 8.55079231e-01 -5.18390592e-01 -1.05215027e-02 1.86934378e+02] [ 1.21509162e-02 -2.52183443e-04 9.99926143e-01 5.34802997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:186.96, Z:5.35 [[-5.18253504e-01 -8.55203888e-01 6.29414471e-03 8.74094160e+01] [ 8.55134762e-01 -5.18291661e-01 -1.08762268e-02 1.86956138e+02] [ 1.25635941e-02 -2.54300696e-04 9.99921043e-01 5.34843206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:186.98, Z:5.35 [[-5.17833984e-01 -8.55457361e-01 6.37709616e-03 8.73952718e+01] [ 8.55386555e-01 -5.17873191e-01 -1.10090900e-02 1.86978365e+02] [ 1.27203342e-02 -2.45998607e-04 9.99919063e-01 5.34825497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:187.00, Z:5.35 [[-5.17571032e-01 -8.55613486e-01 6.76683643e-03 8.73803595e+01] [ 8.55533918e-01 -5.17615205e-01 -1.16710918e-02 1.87000335e+02] [ 1.34885610e-02 -2.51360962e-04 9.99908994e-01 5.34799817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:187.02, Z:5.35 [[-5.16545851e-01 -8.56232692e-01 6.77939865e-03 8.73652744e+01] [ 8.56153022e-01 -5.16590286e-01 -1.16824388e-02 1.87022564e+02] [ 1.35050575e-02 -2.30312670e-04 9.99908776e-01 5.34823212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63275509600004 meters Centerline goodness [0,1] 0.9999785587169536 Centerline is valid? [True, True] Translation: X:87.35, Y:187.05, Z:5.35 [[-5.16175536e-01 -8.56456490e-01 6.71545588e-03 8.73507404e+01] [ 8.56378473e-01 -5.16219172e-01 -1.15618683e-02 1.87045008e+02] [ 1.33688842e-02 -2.16981714e-04 9.99910609e-01 5.34874193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:187.07, Z:5.35 [[-5.15518188e-01 -8.56849931e-01 7.01378806e-03 8.73361984e+01] [ 8.56765025e-01 -5.15565855e-01 -1.20640118e-02 1.87066915e+02] [ 1.39531173e-02 -2.10049202e-04 9.99902628e-01 5.34890326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:187.09, Z:5.35 [[-5.15879529e-01 -8.56629595e-01 7.35175307e-03 8.73222496e+01] [ 8.56536462e-01 -5.15931864e-01 -1.26333020e-02 1.87089870e+02] [ 1.46150641e-02 -2.20217341e-04 9.99893170e-01 5.34868597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:187.11, Z:5.35 [[-5.16135569e-01 -8.56473632e-01 7.54933792e-03 8.73085675e+01] [ 8.56375589e-01 -5.16190728e-01 -1.29608095e-02 1.87112585e+02] [ 1.49974898e-02 -2.24466063e-04 9.99887506e-01 5.34886004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:187.13, Z:5.35 [[-5.17218978e-01 -8.55821499e-01 7.35459503e-03 8.72954948e+01] [ 8.55728548e-01 -5.17271213e-01 -1.26152598e-02 1.87134938e+02] [ 1.46007308e-02 -2.31314827e-04 9.99893377e-01 5.34962925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.28, Y:187.16, Z:5.35 [[-5.17850491e-01 -8.55440300e-01 7.26380352e-03 8.72823288e+01] [ 8.55349719e-01 -5.17901380e-01 -1.24507015e-02 1.87158182e+02] [ 1.44127657e-02 -2.34509577e-04 9.99896103e-01 5.35022515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:187.18, Z:5.35 [[-5.18650857e-01 -8.54955111e-01 7.28330662e-03 8.72688709e+01] [ 8.54864159e-01 -5.18701937e-01 -1.24727825e-02 1.87181107e+02] [ 1.44415344e-02 -2.42781562e-04 9.99895686e-01 5.35098300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:187.20, Z:5.35 [[-5.19471629e-01 -8.54456542e-01 7.29695065e-03 8.72557659e+01] [ 8.54365364e-01 -5.19522815e-01 -1.24848038e-02 1.87203508e+02] [ 1.44586547e-02 -2.51239488e-04 9.99895437e-01 5.35147986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:187.23, Z:5.35 [[-5.20656937e-01 -8.53734558e-01 7.32512521e-03 8.72426904e+01] [ 8.53642768e-01 -5.20708395e-01 -1.25216486e-02 1.87225902e+02] [ 1.45044183e-02 -2.66443031e-04 9.99894770e-01 5.35154759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:187.25, Z:5.35 [[-5.21669157e-01 -8.53112876e-01 7.72728941e-03 8.72280962e+01] [ 8.53010842e-01 -5.21726302e-01 -1.31973384e-02 1.87248197e+02] [ 1.52903494e-02 -2.93182748e-04 9.99883053e-01 5.35116843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:187.27, Z:5.35 [[-5.22329603e-01 -8.52707622e-01 7.84204509e-03 8.72144492e+01] [ 8.52602679e-01 -5.22388381e-01 -1.33810350e-02 1.87270957e+02] [ 1.55067038e-02 -3.03162047e-04 9.99879718e-01 5.35137215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:187.29, Z:5.35 [[-5.22665193e-01 -8.52501916e-01 7.84731437e-03 8.72011202e+01] [ 8.52396996e-01 -5.22724011e-01 -1.33779441e-02 1.87293189e+02] [ 1.55067026e-02 -3.03158534e-04 9.99879718e-01 5.35177618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:187.32, Z:5.35 [[-5.23399261e-01 -8.52050804e-01 7.91467388e-03 8.71897908e+01] [ 8.51944215e-01 -5.23459005e-01 -1.34805192e-02 1.87315573e+02] [ 1.56290946e-02 -3.12833172e-04 9.99877809e-01 5.35261786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.18, Y:187.34, Z:5.35 [[-5.24192467e-01 -8.51564182e-01 7.79113873e-03 8.71752012e+01] [ 8.51461030e-01 -5.24250269e-01 -1.32578615e-02 1.87337288e+02] [ 1.53744265e-02 -3.15820105e-04 9.99881757e-01 5.35349061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:187.36, Z:5.35 [[-5.24883568e-01 -8.51138041e-01 7.82781764e-03 8.71619650e+01] [ 8.51034054e-01 -5.24941835e-01 -1.33082637e-02 1.87360150e+02] [ 1.54363185e-02 -3.23549563e-04 9.99880801e-01 5.35419749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:87.15, Y:187.38, Z:5.35 [[-5.25238312e-01 -8.50917216e-01 8.03785090e-03 8.71495455e+01] [ 8.50807746e-01 -5.25299706e-01 -1.36527854e-02 1.87382571e+02] [ 1.58396708e-02 -3.32300121e-04 9.99874489e-01 5.35420793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.13, Y:187.40, Z:5.35 [[-5.25227390e-01 -8.50924955e-01 7.93153752e-03 8.71341077e+01] [ 8.50818511e-01 -5.25287175e-01 -1.34627282e-02 1.87403634e+02] [ 1.56221063e-02 -3.22694658e-04 9.99877915e-01 5.35490482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:187.43, Z:5.36 [[-5.25164893e-01 -8.50960471e-01 8.25297786e-03 8.71207331e+01] [ 8.50845442e-01 -5.25229635e-01 -1.39951609e-02 1.87425551e+02] [ 1.62440372e-02 -3.27758567e-04 9.99868003e-01 5.35501708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17275509600006 meters Centerline goodness [0,1] 0.9999785527388153 Centerline is valid? [True, True] Translation: X:87.11, Y:187.45, Z:5.35 [[-5.24856023e-01 -8.51149431e-01 8.41439559e-03 8.71078453e+01] [ 8.51030059e-01 -5.24923369e-01 -1.42582069e-02 1.87447317e+02] [ 1.65527775e-02 -3.22602186e-04 9.99862941e-01 5.35456784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:187.47, Z:5.35 [[-5.23532416e-01 -8.51960081e-01 8.82206624e-03 8.70934179e+01] [ 8.51829228e-01 -5.23606653e-01 -1.49345067e-02 1.87470098e+02] [ 1.73428961e-02 -3.03804496e-04 9.99849555e-01 5.35481262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:187.49, Z:5.36 [[-5.23087044e-01 -8.52232408e-01 8.93686871e-03 8.70804935e+01] [ 8.52098388e-01 -5.23163299e-01 -1.51161833e-02 1.87491747e+02] [ 1.75579431e-02 -2.91988229e-04 9.99845805e-01 5.35511775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:187.51, Z:5.36 [[-5.22280415e-01 -8.52727321e-01 8.90412046e-03 8.70671365e+01] [ 8.52594544e-01 -5.22356242e-01 -1.50499245e-02 1.87514092e+02] [ 1.74846047e-02 -2.68676304e-04 9.99847097e-01 5.35571007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:187.54, Z:5.36 [[-5.22436384e-01 -8.52631549e-01 8.92557032e-03 8.70532707e+01] [ 8.52498353e-01 -5.22512556e-01 -1.50727159e-02 1.87537129e+02] [ 1.75151957e-02 -2.65501221e-04 9.99846562e-01 5.35616955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:187.56, Z:5.36 [[-5.22323167e-01 -8.52701096e-01 8.90786669e-03 8.70412015e+01] [ 8.52568677e-01 -5.22399057e-01 -1.50291495e-02 1.87559757e+02] [ 1.74688334e-02 -2.55504823e-04 9.99847376e-01 5.35658601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:187.58, Z:5.36 [[-5.22372070e-01 -8.52673925e-01 8.63706949e-03 8.70280203e+01] [ 8.52549657e-01 -5.22443413e-01 -1.45589556e-02 1.87582152e+02] [ 1.69264219e-02 -2.41661171e-04 9.99856709e-01 5.35767009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:187.60, Z:5.36 [[-5.21443475e-01 -8.53245128e-01 8.33391056e-03 8.70130166e+01] [ 8.53129705e-01 -5.21510027e-01 -1.40356267e-02 1.87603978e+02] [ 1.63220480e-02 -2.08879323e-04 9.99866765e-01 5.35919263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:187.63, Z:5.36 [[-5.19978257e-01 -8.54141694e-01 8.03614155e-03 8.69997789e+01] [ 8.54034663e-01 -5.20040324e-01 -1.35223984e-02 1.87625308e+02] [ 1.57291619e-02 -1.68209692e-04 9.99876275e-01 5.36034586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:187.65, Z:5.36 [[-5.19759520e-01 -8.54274688e-01 8.04978277e-03 8.69850117e+01] [ 8.54167510e-01 -5.19821828e-01 -1.35326590e-02 1.87647652e+02] [ 1.57450608e-02 -1.57865429e-04 9.99876026e-01 5.36060424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:187.67, Z:5.36 [[-5.19803791e-01 -8.54246066e-01 8.22661600e-03 8.69720003e+01] [ 8.54134332e-01 -5.19868862e-01 -1.38169974e-02 1.87669780e+02] [ 1.60798772e-02 -1.55492448e-04 9.99870698e-01 5.36072543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:187.69, Z:5.36 [[-5.19732977e-01 -8.54289504e-01 8.18996327e-03 8.69584081e+01] [ 8.54178977e-01 -5.19797481e-01 -1.37424275e-02 1.87692062e+02] [ 1.59971338e-02 -1.46698301e-04 9.99872027e-01 5.36104157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:187.71, Z:5.36 [[-5.20044892e-01 -8.54100498e-01 8.10243132e-03 8.69454926e+01] [ 8.53992484e-01 -5.20107987e-01 -1.35837729e-02 1.87714168e+02] [ 1.58160464e-02 -1.44756235e-04 9.99874908e-01 5.36149017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:187.74, Z:5.36 [[-5.20686860e-01 -8.53708588e-01 8.17559809e-03 8.69311658e+01] [ 8.53598767e-01 -5.20751019e-01 -1.36938511e-02 1.87736426e+02] [ 1.59480093e-02 -1.51527888e-04 9.99872811e-01 5.36155613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:187.76, Z:5.36 [[-5.21366260e-01 -8.53291559e-01 8.41065180e-03 8.69169484e+01] [ 8.53175489e-01 -5.21434070e-01 -1.40746532e-02 1.87757975e+02] [ 1.63953832e-02 -1.62287353e-04 9.99865574e-01 5.36119579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:187.78, Z:5.36 [[-5.21711548e-01 -8.53082952e-01 8.15705277e-03 8.69021092e+01] [ 8.52973946e-01 -5.21775289e-01 -1.36380140e-02 1.87779927e+02] [ 1.58905058e-02 -1.57355932e-04 9.99873726e-01 5.36168743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:187.80, Z:5.36 [[-5.21873095e-01 -8.52983248e-01 8.24935499e-03 8.68892490e+01] [ 8.52871947e-01 -5.21938267e-01 -1.37799536e-02 1.87802228e+02] [ 1.60597236e-02 -1.55743569e-04 9.99871022e-01 5.36190628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:187.82, Z:5.36 [[-5.22547547e-01 -8.52570230e-01 8.25009602e-03 8.68748633e+01] [ 8.52459016e-01 -5.22612644e-01 -1.37713685e-02 1.87823884e+02] [ 1.60526633e-02 -1.63326096e-04 9.99871134e-01 5.36192756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.712755096 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:86.86, Y:187.85, Z:5.36 [[-5.23206926e-01 -8.52160417e-01 8.78270883e-03 8.68614936e+01] [ 8.52034552e-01 -5.23280604e-01 -1.46468981e-02 1.87847001e+02] [ 1.70773280e-02 -1.80187146e-04 9.99854156e-01 5.35965238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:187.87, Z:5.36 [[-5.24004539e-01 -8.51671146e-01 8.68916027e-03 8.68485062e+01] [ 8.51548092e-01 -5.24076544e-01 -1.44783720e-02 1.87869322e+02] [ 1.68845968e-02 -1.87494806e-04 9.99857427e-01 5.36141677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:187.89, Z:5.36 [[-5.24996131e-01 -8.51058127e-01 8.89531681e-03 8.68338088e+01] [ 8.50929313e-01 -5.25071444e-01 -1.48082060e-02 1.87890954e+02] [ 1.72733209e-02 -2.04965043e-04 9.99850784e-01 5.36163852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80275509600006 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:86.82, Y:187.91, Z:5.36 [[-5.26474554e-01 -8.50140242e-01 9.27968637e-03 8.68211597e+01] [ 8.50000168e-01 -5.26556276e-01 -1.54338311e-02 1.87913768e+02] [ 1.80071980e-02 -2.37784350e-04 9.99837829e-01 5.36039609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:187.94, Z:5.36 [[-5.27681951e-01 -8.49391275e-01 9.28551404e-03 8.68073415e+01] [ 8.49251144e-01 -5.27763580e-01 -1.54304544e-02 1.87936305e+02] [ 1.80070495e-02 -2.56638859e-04 9.99837827e-01 5.36079633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:187.96, Z:5.36 [[-5.29363083e-01 -8.48344676e-01 9.27558226e-03 8.67943831e+01] [ 8.48204920e-01 -5.29444265e-01 -1.54007745e-02 1.87959894e+02] [ 1.79760689e-02 -2.85006962e-04 9.99838377e-01 5.36127457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:187.98, Z:5.36 [[-5.30490183e-01 -8.47638728e-01 9.42086741e-03 8.67833263e+01] [ 8.47494679e-01 -5.30573739e-01 -1.56293327e-02 1.87982425e+02] [ 1.82464925e-02 -3.07072564e-04 9.99833472e-01 5.36146577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:188.01, Z:5.36 [[-5.32221309e-01 -8.46551892e-01 9.50641588e-03 8.67682918e+01] [ 8.46405301e-01 -5.32306094e-01 -1.57571591e-02 1.88005493e+02] [ 1.83995760e-02 -3.40015060e-04 9.99830656e-01 5.36228977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:188.03, Z:5.36 [[-5.33192444e-01 -8.45939794e-01 9.57509212e-03 8.67562190e+01] [ 8.45791217e-01 -5.33278293e-01 -1.58581232e-02 1.88028101e+02] [ 1.85212062e-02 -3.56902637e-04 9.99828404e-01 5.36254916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:188.05, Z:5.36 [[-5.33872582e-01 -8.45511108e-01 9.54113353e-03 8.67428291e+01] [ 8.45363776e-01 -5.33957709e-01 -1.57877091e-02 1.88050639e+02] [ 1.84432452e-02 -3.62896351e-04 9.99829843e-01 5.36299287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:188.07, Z:5.36 [[-5.34389264e-01 -8.45186925e-01 9.33686208e-03 8.67269750e+01] [ 8.45046017e-01 -5.34470704e-01 -1.54368351e-02 1.88071809e+02] [ 1.80372904e-02 -3.59200854e-04 9.99837250e-01 5.36414863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:188.09, Z:5.36 [[-5.34381509e-01 -8.45191776e-01 9.34158804e-03 8.67140371e+01] [ 8.45050974e-01 -5.34463038e-01 -1.54308886e-02 1.88093502e+02] [ 1.80347937e-02 -3.51863468e-04 9.99837298e-01 5.36467485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:188.11, Z:5.37 [[-5.34291991e-01 -8.45252075e-01 8.99988857e-03 8.66986297e+01] [ 8.45121625e-01 -5.34367683e-01 -1.48532440e-02 1.88114723e+02] [ 1.73639849e-02 -3.29968863e-04 9.99849180e-01 5.36534756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:188.14, Z:5.37 [[-5.33761768e-01 -8.45585066e-01 9.17991968e-03 8.66847821e+01] [ 8.45449638e-01 -5.33840608e-01 -1.51365558e-02 1.88135821e+02] [ 1.76998594e-02 -3.18155000e-04 9.99843295e-01 5.36560135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:188.16, Z:5.37 [[-5.33424921e-01 -8.45794508e-01 9.46061374e-03 8.66698924e+01] [ 8.45650972e-01 -5.33508718e-01 -1.55846695e-02 1.88157268e+02] [ 1.82287478e-02 -3.12873900e-04 9.99833794e-01 5.36575990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:188.18, Z:5.37 [[-5.33046155e-01 -8.46034221e-01 9.37520225e-03 8.66551636e+01] [ 8.45893541e-01 -5.33128512e-01 -1.54307067e-02 1.88179044e+02] [ 1.80530935e-02 -2.94855830e-04 9.99836986e-01 5.36589449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:188.20, Z:5.37 [[-5.32240316e-01 -8.46535691e-01 9.87773584e-03 8.66401182e+01] [ 8.46379890e-01 -5.32331891e-01 -1.62431571e-02 1.88199952e+02] [ 1.90086460e-02 -2.84946074e-04 9.99819279e-01 5.36552640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:188.22, Z:5.37 [[-5.32034330e-01 -8.46663195e-01 1.00452264e-02 8.66242653e+01] [ 8.46502376e-01 -5.32129080e-01 -1.65036451e-02 1.88220868e+02] [ 1.93183859e-02 -2.77197744e-04 9.99813344e-01 5.36591628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:188.24, Z:5.37 [[-5.32033816e-01 -8.46659542e-01 1.03748837e-02 8.66101022e+01] [ 8.46488302e-01 -5.32134891e-01 -1.70297393e-02 1.88242770e+02] [ 1.99392289e-02 -2.78179451e-04 9.99801155e-01 5.36584231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:188.27, Z:5.37 [[-5.31599221e-01 -8.46926562e-01 1.08474162e-02 8.65958893e+01] [ 8.46739764e-01 -5.31709812e-01 -1.77889564e-02 1.88265008e+02] [ 2.08336173e-02 -2.71656732e-04 9.99782920e-01 5.36598557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:188.29, Z:5.37 [[-5.31719447e-01 -8.46849923e-01 1.09379280e-02 8.65828619e+01] [ 8.46660318e-01 -5.31831868e-01 -1.79212027e-02 1.88287106e+02] [ 2.09937079e-02 -2.68342358e-04 9.99779572e-01 5.36573093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:188.31, Z:5.37 [[-5.31742381e-01 -8.46832638e-01 1.11590065e-02 8.65675229e+01] [ 8.46635650e-01 -5.31859392e-01 -1.82664504e-02 1.88309242e+02] [ 2.14036488e-02 -2.65433092e-04 9.99770880e-01 5.36535584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:188.33, Z:5.36 [[-5.32026013e-01 -8.46650363e-01 1.14666980e-02 8.65552212e+01] [ 8.46442696e-01 -5.32149500e-01 -1.87529223e-02 1.88331338e+02] [ 2.19791661e-02 -2.71139699e-04 9.99758392e-01 5.36472826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:188.35, Z:5.36 [[-5.32615679e-01 -8.46279062e-01 1.15016407e-02 8.65411997e+01] [ 8.46070417e-01 -5.32739778e-01 -1.87930334e-02 1.88353954e+02] [ 2.20315322e-02 -2.78266260e-04 9.99757238e-01 5.36480442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:188.38, Z:5.36 [[-5.33407721e-01 -8.45776887e-01 1.17329441e-02 8.65279751e+01] [ 8.45560019e-01 -5.33536663e-01 -1.91542292e-02 1.88377285e+02] [ 2.24601602e-02 -2.96105329e-04 9.99747695e-01 5.36497923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:188.40, Z:5.37 [[-5.33344355e-01 -8.45819460e-01 1.15429437e-02 8.65153002e+01] [ 8.45609935e-01 -5.33469176e-01 -1.88275025e-02 1.88398904e+02] [ 2.20824726e-02 -2.80714271e-04 9.99756113e-01 5.36500533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:188.42, Z:5.37 [[-5.32573946e-01 -8.46315386e-01 1.07359220e-02 8.64997098e+01] [ 8.46134544e-01 -5.32682094e-01 -1.74963062e-02 1.88419898e+02] [ 2.05262266e-02 -2.34042413e-04 9.99789287e-01 5.36615613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:188.44, Z:5.37 [[-5.32952485e-01 -8.46077785e-01 1.06785344e-02 8.64851416e+01] [ 8.45899125e-01 -5.33059403e-01 -1.73880410e-02 1.88442160e+02] [ 2.04039284e-02 -2.34036736e-04 9.99791791e-01 5.36737017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:188.46, Z:5.37 [[-5.33872707e-01 -8.45503990e-01 1.01457216e-02 8.64714204e+01] [ 8.45342876e-01 -5.33969051e-01 -1.65068397e-02 1.88464896e+02] [ 1.93741002e-02 -2.35937682e-04 9.99812277e-01 5.36854132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:188.49, Z:5.37 [[-5.34783398e-01 -8.44929699e-01 1.00260212e-02 8.64592934e+01] [ 8.44772538e-01 -5.34877316e-01 -1.62976990e-02 1.88486891e+02] [ 1.91331012e-02 -2.46031434e-04 9.99816915e-01 5.36904459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:188.51, Z:5.37 [[-5.35609748e-01 -8.44410388e-01 9.65894186e-03 8.64452824e+01] [ 8.44264697e-01 -5.35696776e-01 -1.56870926e-02 1.88509232e+02] [ 1.84206080e-02 -2.47456103e-04 9.99830296e-01 5.36981226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:188.53, Z:5.37 [[-5.36337997e-01 -8.43947574e-01 9.69769279e-03 8.64321523e+01] [ 8.43800897e-01 -5.36425602e-01 -1.57359576e-02 1.88531182e+02] [ 1.84824139e-02 -2.56870105e-04 9.99829153e-01 5.37012078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.42, Y:188.55, Z:5.37 [[-5.37049793e-01 -8.43498219e-01 9.39546487e-03 8.64176629e+01] [ 8.43360716e-01 -5.37131910e-01 -1.52319840e-02 1.88553002e+02] [ 1.78947554e-02 -2.56567865e-04 9.99839843e-01 5.37042956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:188.57, Z:5.37 [[-5.37799329e-01 -8.43022056e-01 9.25716786e-03 8.64028908e+01] [ 8.42888731e-01 -5.37878932e-01 -1.49947006e-02 1.88573859e+02] [ 1.76200989e-02 -2.61377460e-04 9.99844720e-01 5.36974826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:188.60, Z:5.37 [[-5.38039739e-01 -8.42866107e-01 9.48496803e-03 8.63909954e+01] [ 8.42726375e-01 -5.38123271e-01 -1.53493688e-02 1.88596643e+02] [ 1.80415448e-02 -2.65337667e-04 9.99837203e-01 5.36899306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:188.62, Z:5.37 [[-5.37949066e-01 -8.42923898e-01 9.49236407e-03 8.63780859e+01] [ 8.42784205e-01 -5.38032747e-01 -1.53475276e-02 1.88616997e+02] [ 1.80440005e-02 -2.56173640e-04 9.99837161e-01 5.36891174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:188.64, Z:5.37 [[-5.37977811e-01 -8.42905115e-01 9.53112172e-03 8.63620361e+01] [ 8.42764525e-01 -5.38062176e-01 -1.53964227e-02 1.88637788e+02] [ 1.81060595e-02 -2.50442492e-04 9.99836041e-01 5.36954483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:188.66, Z:5.37 [[-5.38100959e-01 -8.42828407e-01 9.36130773e-03 8.63486130e+01] [ 8.42692996e-01 -5.38182328e-01 -1.51094921e-02 1.88659990e+02] [ 1.77727995e-02 -2.41723731e-04 9.99842022e-01 5.36978260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:188.68, Z:5.37 [[-5.38416875e-01 -8.42626565e-01 9.36697451e-03 8.63347335e+01] [ 8.42491185e-01 -5.38498294e-01 -1.51059784e-02 1.88681869e+02] [ 1.77727985e-02 -2.41720222e-04 9.99842022e-01 5.37018658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:188.70, Z:5.37 [[-5.38830298e-01 -8.42363336e-01 9.26931778e-03 8.63205004e+01] [ 8.42230942e-01 -5.38909967e-01 -1.49361109e-02 1.88704493e+02] [ 1.75769599e-02 -2.41122845e-04 9.99845484e-01 5.37035913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:188.73, Z:5.37 [[-5.39435835e-01 -8.41974551e-01 9.37209754e-03 8.63074017e+01] [ 8.41839373e-01 -5.39517186e-01 -1.50889716e-02 1.88725779e+02] [ 1.77609378e-02 -2.49731284e-04 9.99842231e-01 5.37050026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:188.75, Z:5.37 [[-5.39976511e-01 -8.41628409e-01 9.32681539e-03 8.62918985e+01] [ 8.41494711e-01 -5.40056995e-01 -1.50030873e-02 1.88747633e+02] [ 1.76640364e-02 -2.52848910e-04 9.99843947e-01 5.37058843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:188.77, Z:5.37 [[-5.41149359e-01 -8.40879056e-01 8.93221220e-03 8.62793133e+01] [ 8.40756538e-01 -5.41223009e-01 -1.43561375e-02 1.88770520e+02] [ 1.69060941e-02 -2.58998802e-04 9.99857048e-01 5.37141445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:188.79, Z:5.37 [[-5.41986923e-01 -8.40341146e-01 8.77116323e-03 8.62675635e+01] [ 8.40223136e-01 -5.42057828e-01 -1.40852314e-02 1.88793368e+02] [ 1.65908772e-02 -2.64276963e-04 9.99862327e-01 5.37210407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:188.82, Z:5.37 [[-5.43725103e-01 -8.39221141e-01 8.41955350e-03 8.62557208e+01] [ 8.39112413e-01 -5.43790214e-01 -1.35115022e-02 1.88817660e+02] [ 1.59176091e-02 -2.81591091e-04 9.99873267e-01 5.37340117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:188.84, Z:5.37 [[-5.44665736e-01 -8.38614090e-01 8.10210001e-03 8.62435115e+01] [ 8.38513486e-01 -5.44725920e-01 -1.29925319e-02 1.88840127e+02] [ 1.53091442e-02 -2.82866839e-04 9.99882768e-01 5.37455915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:188.86, Z:5.38 [[-5.46079481e-01 -8.37699690e-01 7.51200063e-03 8.62304243e+01] [ 8.37613224e-01 -5.46131074e-01 -1.20390152e-02 1.88863551e+02] [ 1.41876163e-02 -2.82108131e-04 9.99899311e-01 5.37569822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:188.89, Z:5.38 [[-5.47182553e-01 -8.36985097e-01 6.87028793e-03 8.62161055e+01] [ 8.36912825e-01 -5.47225615e-01 -1.10022541e-02 1.88887172e+02] [ 1.29683202e-02 -2.70409394e-04 9.99915871e-01 5.37757975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:188.91, Z:5.38 [[-5.47541362e-01 -8.36751873e-01 6.69026322e-03 8.62012340e+01] [ 8.36683418e-01 -5.47582170e-01 -1.07062948e-02 1.88909526e+02] [ 1.26219811e-02 -2.64506945e-04 9.99920305e-01 5.37834679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:188.93, Z:5.38 [[-5.47528614e-01 -8.36760124e-01 6.70171410e-03 8.61864492e+01] [ 8.36691552e-01 -5.47569565e-01 -1.07153334e-02 1.88931864e+02] [ 1.26358184e-02 -2.59684087e-04 9.99920131e-01 5.37896143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:188.95, Z:5.38 [[-5.47254754e-01 -8.36941980e-01 6.35267835e-03 8.61733256e+01] [ 8.36880484e-01 -5.47291573e-01 -1.01484338e-02 1.88953042e+02] [ 1.19704176e-02 -2.37346124e-04 9.99928324e-01 5.37981117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:188.97, Z:5.38 [[-5.47198843e-01 -8.36978056e-01 6.41560581e-03 8.61588938e+01] [ 8.36915419e-01 -5.47236401e-01 -1.02422432e-02 1.88974751e+02] [ 1.20833858e-02 -2.35224207e-04 9.99926966e-01 5.38030980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:189.00, Z:5.38 [[-5.46675449e-01 -8.37318561e-01 6.60158566e-03 8.61431171e+01] [ 8.37252379e-01 -5.46715259e-01 -1.05299236e-02 1.88995589e+02] [ 1.24260881e-02 -2.29257416e-04 9.99922767e-01 5.38012910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:189.02, Z:5.38 [[-5.46509596e-01 -8.37427223e-01 6.55033852e-03 8.61295981e+01] [ 8.37362183e-01 -5.46548806e-01 -1.04392100e-02 1.89017534e+02] [ 1.23221583e-02 -2.20122677e-04 9.99924055e-01 5.38053778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:189.04, Z:5.38 [[-5.46506751e-01 -8.37428517e-01 6.62191279e-03 8.61157390e+01] [ 8.37362170e-01 -5.46546825e-01 -1.05434473e-02 1.89038722e+02] [ 1.24485688e-02 -2.17125864e-04 9.99922490e-01 5.38091758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:189.06, Z:5.38 [[-5.46270450e-01 -8.37582160e-01 6.68731545e-03 8.61003755e+01] [ 8.37514627e-01 -5.46311341e-01 -1.06380618e-02 1.89060224e+02] [ 1.25636070e-02 -2.10534283e-04 9.99921053e-01 5.38173651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:189.08, Z:5.38 [[-5.46445062e-01 -8.37467000e-01 6.84242542e-03 8.60858744e+01] [ 8.37396412e-01 -5.46487858e-01 -1.08752108e-02 1.89082816e+02] [ 1.28469326e-02 -2.12882759e-04 9.99917452e-01 5.38205476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:189.11, Z:5.38 [[-5.46913371e-01 -8.37161166e-01 6.85179898e-03 8.60711629e+01] [ 8.37090480e-01 -5.46956247e-01 -1.08807950e-02 1.89105333e+02] [ 1.28566133e-02 -2.15276584e-04 9.99917327e-01 5.38247711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:189.13, Z:5.38 [[-5.47882105e-01 -8.36528978e-01 6.66848118e-03 8.60570206e+01] [ 8.36462084e-01 -5.47922642e-01 -1.05811163e-02 1.89127070e+02] [ 1.25052223e-02 -2.19272626e-04 9.99921783e-01 5.38337356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:189.15, Z:5.38 [[-5.48715748e-01 -8.35981949e-01 6.72372319e-03 8.60441077e+01] [ 8.35914023e-01 -5.48756894e-01 -1.06591361e-02 1.89149091e+02] [ 1.26005348e-02 -2.28381326e-04 9.99920584e-01 5.38410574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:189.17, Z:5.39 [[-5.50674176e-01 -8.34695778e-01 6.39614207e-03 8.60311970e+01] [ 8.34634328e-01 -5.50711268e-01 -1.01310128e-02 1.89172707e+02] [ 1.19787411e-02 -2.40447389e-04 9.99928223e-01 5.38548555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:189.20, Z:5.39 [[-5.52189826e-01 -8.33696362e-01 6.06403247e-03 8.60174574e+01] [ 8.33641143e-01 -5.52223068e-01 -9.59831057e-03 1.89196685e+02] [ 1.13507752e-02 -2.44862482e-04 9.99935548e-01 5.38642496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:189.22, Z:5.39 [[-5.53589073e-01 -8.32768543e-01 5.97435803e-03 8.60039928e+01] [ 8.32714969e-01 -5.53621250e-01 -9.44940020e-03 1.89220817e+02] [ 1.11766948e-02 -2.56147327e-04 9.99937506e-01 5.38745421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:189.24, Z:5.39 [[-5.56194442e-01 -8.31029997e-01 6.07349181e-03 8.59914463e+01] [ 8.30974610e-01 -5.56227525e-01 -9.59885543e-03 1.89244875e+02] [ 1.13551801e-02 -2.91912544e-04 9.99935485e-01 5.38783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:189.27, Z:5.39 [[-5.57433636e-01 -8.30199320e-01 6.06883861e-03 8.59771272e+01] [ 8.30144050e-01 -5.57466588e-01 -9.58436363e-03 1.89268546e+02] [ 1.13401069e-02 -3.04636402e-04 9.99935653e-01 5.38820592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:189.29, Z:5.39 [[-5.58372887e-01 -8.29567930e-01 6.06369357e-03 8.59631768e+01] [ 8.29512795e-01 -5.58405723e-01 -9.56930794e-03 1.89290957e+02] [ 1.13243922e-02 -3.13330701e-04 9.99935828e-01 5.38877073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:189.31, Z:5.39 [[-5.59489020e-01 -8.28813758e-01 6.30799210e-03 8.59494748e+01] [ 8.28754144e-01 -5.59524477e-01 -9.94631103e-03 1.89313746e+02] [ 1.17731154e-02 -3.37077219e-04 9.99930638e-01 5.38887701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:189.33, Z:5.39 [[-5.60044823e-01 -8.28437768e-01 6.37648921e-03 8.59328427e+01] [ 8.28376920e-01 -5.60081017e-01 -1.00465837e-02 1.89333941e+02] [ 1.18943199e-02 -3.44400684e-04 9.99929201e-01 5.38850257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:189.36, Z:5.39 [[-5.59603925e-01 -8.28732761e-01 6.74226581e-03 8.59183133e+01] [ 8.28664877e-01 -5.59644429e-01 -1.06129486e-02 1.89355656e+02] [ 1.25685697e-02 -3.51968801e-04 9.99920950e-01 5.38852333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:189.38, Z:5.39 [[-5.59300598e-01 -8.28936785e-01 6.82988207e-03 8.59045489e+01] [ 8.28867260e-01 -5.59342190e-01 -1.07415175e-02 1.89377212e+02] [ 1.27242802e-02 -3.46671511e-04 9.99918983e-01 5.38870757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:189.40, Z:5.39 [[-5.58522479e-01 -8.29459395e-01 7.05356140e-03 8.58926468e+01] [ 8.29385421e-01 -5.58566914e-01 -1.10827264e-02 1.89400883e+02] [ 1.31325576e-02 -3.39830861e-04 9.99913707e-01 5.38914609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:189.42, Z:5.39 [[-5.58010169e-01 -8.29801806e-01 7.32211361e-03 8.58744067e+01] [ 8.29722251e-01 -5.58058104e-01 -1.14951685e-02 1.89421057e+02] [ 1.36248764e-02 -3.39100319e-04 9.99907120e-01 5.38885509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:189.44, Z:5.39 [[-5.55828895e-01 -8.31261560e-01 7.64579477e-03 8.58577385e+01] [ 8.31175104e-01 -5.55881392e-01 -1.19926581e-02 1.89442866e+02] [ 1.42191907e-02 -3.10871620e-04 9.99898854e-01 5.38915141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:189.46, Z:5.39 [[-5.54156801e-01 -8.32373976e-01 7.98773598e-03 8.58402769e+01] [ 8.32279875e-01 -5.54214291e-01 -1.25191819e-02 1.89464249e+02] [ 1.48475586e-02 -2.89557886e-04 9.99889727e-01 5.38905131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:189.49, Z:5.39 [[-5.53800546e-01 -8.32609712e-01 8.12543771e-03 8.58250391e+01] [ 8.32512515e-01 -5.53860080e-01 -1.27249653e-02 1.89486360e+02] [ 1.50952853e-02 -2.82564143e-04 9.99886020e-01 5.38953325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:189.51, Z:5.39 [[-5.53880397e-01 -8.32557591e-01 8.02264992e-03 8.58118991e+01] [ 8.32462993e-01 -5.53938428e-01 -1.25532119e-02 1.89508358e+02] [ 1.48953259e-02 -2.74418822e-04 9.99889021e-01 5.39011349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:189.53, Z:5.39 [[-5.54101615e-01 -8.32410523e-01 8.00765078e-03 8.57983834e+01] [ 8.32316432e-01 -5.54159407e-01 -1.25183673e-02 1.89531300e+02] [ 1.48579356e-02 -2.71548191e-04 9.99889578e-01 5.39075247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:189.55, Z:5.39 [[-5.54578962e-01 -8.32095359e-01 7.71291575e-03 8.57840375e+01] [ 8.32008177e-01 -5.54632531e-01 -1.20477800e-02 1.89553959e+02] [ 1.43027358e-02 -2.64236326e-04 9.99897676e-01 5.39175293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:189.58, Z:5.39 [[-5.55629911e-01 -8.31399837e-01 7.05076982e-03 8.57730079e+01] [ 8.31327046e-01 -5.55674588e-01 -1.10043003e-02 1.89578048e+02] [ 1.30669071e-02 -2.52822746e-04 9.99914592e-01 5.39443490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:189.60, Z:5.40 [[-5.56255186e-01 -8.30984893e-01 6.65401901e-03 8.57588601e+01] [ 8.30920098e-01 -5.56294929e-01 -1.03799438e-02 1.89600581e+02] [ 1.23271735e-02 -2.44939451e-04 9.99923988e-01 5.39556533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.75, Y:189.62, Z:5.40 [[-5.56727133e-01 -8.30672977e-01 6.10770931e-03 8.57462811e+01] [ 8.30618447e-01 -5.56760589e-01 -9.52062085e-03 1.89622581e+02] [ 1.13090543e-02 -2.27211930e-04 9.99936025e-01 5.39698690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:189.65, Z:5.40 [[-5.57448240e-01 -8.30191671e-01 5.76616669e-03 8.57339512e+01] [ 8.30143123e-01 -5.57478018e-01 -8.98081954e-03 1.89645124e+02] [ 1.06703128e-02 -2.19598420e-04 9.99943046e-01 5.39841089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:189.67, Z:5.40 [[-5.57942258e-01 -8.29859525e-01 5.79703751e-03 8.57187821e+01] [ 8.29810523e-01 -5.57972328e-01 -9.02087491e-03 1.89666882e+02] [ 1.07206455e-02 -2.22684585e-04 9.99942507e-01 5.39840032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:189.69, Z:5.40 [[-5.58306227e-01 -8.29615094e-01 5.74051713e-03 8.57063761e+01] [ 8.29567109e-01 -5.58335694e-01 -8.92551556e-03 1.89689056e+02] [ 1.06098780e-02 -2.21026719e-04 9.99943689e-01 5.39931143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.69, Y:189.71, Z:5.40 [[-5.58304525e-01 -8.29616668e-01 5.67811282e-03 8.56905475e+01] [ 8.29569804e-01 -5.58333357e-01 -8.82060007e-03 1.89710338e+02] [ 1.04879966e-02 -2.14189995e-04 9.99944977e-01 5.39970757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:189.73, Z:5.40 [[-5.57389672e-01 -8.30231811e-01 5.64746709e-03 8.56771271e+01] [ 8.30185568e-01 -5.57418247e-01 -8.76471950e-03 1.89732300e+02] [ 1.04247501e-02 -1.96918449e-04 9.99945641e-01 5.40013561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:189.75, Z:5.40 [[-5.56661906e-01 -8.30718797e-01 5.81393693e-03 8.56601821e+01] [ 8.30669879e-01 -5.56692234e-01 -9.01715873e-03 1.89753368e+02] [ 1.07272968e-02 -1.90046489e-04 9.99942443e-01 5.39982115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:189.78, Z:5.40 [[-5.55142498e-01 -8.31733160e-01 6.06269490e-03 8.56446097e+01] [ 8.31680117e-01 -5.55175576e-01 -9.39489152e-03 1.89775035e+02] [ 1.11799029e-02 -1.73280751e-04 9.99937488e-01 5.39960935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:189.80, Z:5.40 [[-5.54691622e-01 -8.32031901e-01 6.33407416e-03 8.56296116e+01] [ 8.31974117e-01 -5.54727760e-01 -9.80719889e-03 1.89796292e+02] [ 1.16735891e-02 -1.70185307e-04 9.99931847e-01 5.39938373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.62, Y:189.82, Z:5.40 [[-5.54229807e-01 -8.32337683e-01 6.58050829e-03 8.56150156e+01] [ 8.32275445e-01 -5.54268847e-01 -1.01798122e-02 1.89818053e+02] [ 1.21204121e-02 -1.65159915e-04 9.99926531e-01 5.39914259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.60, Y:189.84, Z:5.40 [[-5.54074528e-01 -8.32440597e-01 6.63844897e-03 8.56021442e+01] [ 8.32377370e-01 -5.54114272e-01 -1.02609583e-02 1.89839544e+02] [ 1.22200976e-02 -1.59640922e-04 9.99925319e-01 5.39877989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.59, Y:189.86, Z:5.40 [[-5.54606857e-01 -8.32083802e-01 6.91231323e-03 8.55876512e+01] [ 8.32015346e-01 -5.54649906e-01 -1.06745344e-02 1.89861808e+02] [ 1.27160210e-02 -1.69019270e-04 9.99919134e-01 5.39862084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:189.88, Z:5.40 [[-5.55276871e-01 -8.31636680e-01 6.93034493e-03 8.55753667e+01] [ 8.31567945e-01 -5.55320090e-01 -1.06934494e-02 1.89884000e+02] [ 1.27416245e-02 -1.74772426e-04 9.99918807e-01 5.39900162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:189.91, Z:5.40 [[-5.56706575e-01 -8.30682865e-01 6.61559683e-03 8.55639828e+01] [ 8.30620268e-01 -5.56745852e-01 -1.01993159e-02 1.89907445e+02] [ 1.21556031e-02 -1.82977435e-04 9.99926101e-01 5.40021699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:189.93, Z:5.40 [[-5.57889927e-01 -8.29889929e-01 6.44471146e-03 8.55510904e+01] [ 8.29830566e-01 -5.57927118e-01 -9.92789706e-03 1.89929646e+02] [ 1.18347411e-02 -1.90655207e-04 9.99929949e-01 5.40074675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:189.95, Z:5.40 [[-5.60191410e-01 -8.28338774e-01 6.36080726e-03 8.55373969e+01] [ 8.28280948e-01 -5.60227480e-01 -9.78988408e-03 1.89953316e+02] [ 1.16728396e-02 -2.15673494e-04 9.99931847e-01 5.40072574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:189.98, Z:5.40 [[-5.61556875e-01 -8.27414101e-01 6.30725669e-03 8.55234611e+01] [ 8.27357269e-01 -5.61592247e-01 -9.70032708e-03 1.89976149e+02] [ 1.15682939e-02 -2.28930680e-04 9.99933059e-01 5.40106137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:190.00, Z:5.40 [[-5.62389109e-01 -8.26850032e-01 6.12488663e-03 8.55106312e+01] [ 8.26796486e-01 -5.62422414e-01 -9.41266957e-03 1.89997843e+02] [ 1.12276397e-02 -2.29548107e-04 9.99936942e-01 5.40169114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:190.02, Z:5.40 [[-5.63410294e-01 -8.26156938e-01 5.79267198e-03 8.54970643e+01] [ 8.26109090e-01 -5.63440026e-01 -8.89429218e-03 1.90020399e+02] [ 1.06119044e-02 -2.25756795e-04 9.99943667e-01 5.40237878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:190.04, Z:5.40 [[-5.63768478e-01 -8.25913258e-01 5.69149338e-03 8.54821114e+01] [ 8.25867125e-01 -5.63797162e-01 -8.73224241e-03 1.90042341e+02] [ 1.04209226e-02 -2.22545736e-04 9.99945676e-01 5.40282427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:190.06, Z:5.40 [[-5.63626116e-01 -8.26012090e-01 5.44323246e-03 8.54654516e+01] [ 8.25969962e-01 -5.63652361e-01 -8.34493979e-03 1.90062914e+02] [ 9.96111198e-03 -2.07479485e-04 9.99950365e-01 5.40256059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:190.08, Z:5.40 [[-5.63781630e-01 -8.25905585e-01 5.49903426e-03 8.54497813e+01] [ 8.25862658e-01 -5.63808409e-01 -8.42307385e-03 1.90084278e+02] [ 1.00570655e-02 -2.07327255e-04 9.99949405e-01 5.40267364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.44, Y:190.11, Z:5.40 [[-5.64110835e-01 -8.25680743e-01 5.50238821e-03 8.54353896e+01] [ 8.25637827e-01 -5.64137632e-01 -8.42088178e-03 1.90105845e+02] [ 1.00570642e-02 -2.07330805e-04 9.99949405e-01 5.40307767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.42, Y:190.13, Z:5.40 [[-5.63280112e-01 -8.26245638e-01 5.80179036e-03 8.54186359e+01] [ 8.26198042e-01 -5.63309954e-01 -8.87075706e-03 1.90126173e+02] [ 1.05976306e-02 -2.03293198e-04 9.99943823e-01 5.40232789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:190.15, Z:5.40 [[-5.63032689e-01 -8.26412816e-01 6.00408354e-03 8.54028525e+01] [ 8.26361945e-01 -5.63064665e-01 -9.17165295e-03 1.90147462e+02] [ 1.09602588e-02 -2.02394276e-04 9.99939914e-01 5.40197997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:190.17, Z:5.40 [[-5.62684964e-01 -8.26647116e-01 6.33843787e-03 8.53892634e+01] [ 8.26590540e-01 -5.62720626e-01 -9.67350055e-03 1.90169480e+02] [ 1.15633411e-02 -2.03840534e-04 9.99933122e-01 5.40189988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:190.19, Z:5.40 [[-5.61597688e-01 -8.27383258e-01 6.70677089e-03 8.53692465e+01] [ 8.27320089e-01 -5.61637700e-01 -1.02256241e-02 1.90188348e+02] [ 1.22272856e-02 -1.94040557e-04 9.99925225e-01 5.40006233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:190.21, Z:5.40 [[-5.61200656e-01 -8.27646930e-01 7.37449277e-03 8.53553488e+01] [ 8.27570724e-01 -5.61249070e-01 -1.12328681e-02 1.90209895e+02] [ 1.34357760e-02 -2.00978603e-04 9.99909716e-01 5.39971338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:190.23, Z:5.40 [[-5.61183937e-01 -8.27658550e-01 7.34262930e-03 8.53383255e+01] [ 8.27583138e-01 -5.61231937e-01 -1.11741576e-02 1.90230365e+02] [ 1.33693052e-02 -1.94121553e-04 9.99910608e-01 5.39909641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.32, Y:190.25, Z:5.40 [[-5.60973690e-01 -8.27794094e-01 8.09060639e-03 8.53216984e+01] [ 8.27702716e-01 -5.61031993e-01 -1.23010931e-02 1.90250979e+02] [ 1.47218612e-02 -2.03972702e-04 9.99891607e-01 5.39744009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:190.27, Z:5.40 [[-5.61390151e-01 -8.27510518e-01 8.21225135e-03 8.53049753e+01] [ 8.27416500e-01 -5.61450176e-01 -1.24754157e-02 1.90272577e+02] [ 1.49343077e-02 -2.08623265e-04 9.99888455e-01 5.39695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:190.29, Z:5.40 [[-5.61374710e-01 -8.27517708e-01 8.53681694e-03 8.52904754e+01] [ 8.27416277e-01 -5.61439577e-01 -1.29578661e-02 1.90293357e+02] [ 1.55157705e-02 -2.10717040e-04 9.99879601e-01 5.39666397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:190.31, Z:5.40 [[-5.62403953e-01 -8.26820866e-01 8.30959692e-03 8.52767127e+01] [ 8.26724856e-01 -5.62465295e-01 -1.26017953e-02 1.90314941e+02] [ 1.50932872e-02 -2.17549158e-04 9.99886066e-01 5.39696807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:190.34, Z:5.40 [[-5.62710839e-01 -8.26612932e-01 8.22025876e-03 8.52612289e+01] [ 8.26519119e-01 -5.62770837e-01 -1.24551728e-02 1.90337155e+02] [ 1.49217288e-02 -2.14459742e-04 9.99888642e-01 5.39739118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:190.36, Z:5.40 [[-5.63470727e-01 -8.26097990e-01 7.92786634e-03 8.52472795e+01] [ 8.26010812e-01 -5.63526455e-01 -1.20030746e-02 1.90359555e+02] [ 1.43832782e-02 -2.14877843e-04 9.99896532e-01 5.39809696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:190.38, Z:5.40 [[-5.64201870e-01 -8.25600174e-01 7.78479812e-03 8.52343726e+01] [ 8.25516200e-01 -5.64255532e-01 -1.17770181e-02 1.90381795e+02] [ 1.41157236e-02 -2.18138659e-04 9.99900344e-01 5.39916517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.22, Y:190.40, Z:5.40 [[-5.65545956e-01 -8.24683456e-01 7.41411007e-03 8.52194134e+01] [ 8.24607337e-01 -5.65594508e-01 -1.12068228e-02 1.90403536e+02] [ 1.34354613e-02 -2.24243748e-04 9.99909715e-01 5.40003912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:190.43, Z:5.40 [[-5.66616968e-01 -8.23952410e-01 6.90200285e-03 8.52057846e+01] [ 8.23886491e-01 -5.66658960e-01 -1.04246067e-02 1.90425361e+02] [ 1.25004616e-02 -2.20292135e-04 9.99921842e-01 5.40112722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:190.45, Z:5.40 [[-5.68250853e-01 -8.22829884e-01 6.47690599e-03 8.51933825e+01] [ 8.22771842e-01 -5.68287719e-01 -9.77574097e-03 1.90447924e+02] [ 1.17245179e-02 -2.26057272e-04 9.99931240e-01 5.40238891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:190.47, Z:5.40 [[-5.69247573e-01 -8.22141709e-01 6.34123762e-03 8.51775891e+01] [ 8.22086091e-01 -5.69282845e-01 -9.56565753e-03 1.90469682e+02] [ 1.14742838e-02 -2.32184083e-04 9.99934141e-01 5.40267057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:190.49, Z:5.40 [[-5.70396092e-01 -8.21346871e-01 6.13320694e-03 8.51648498e+01] [ 8.21294883e-01 -5.70429016e-01 -9.24410313e-03 1.90492814e+02] [ 1.10911744e-02 -2.35628820e-04 9.99938463e-01 5.40351869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:190.52, Z:5.40 [[-5.71494671e-01 -8.20582539e-01 6.17561955e-03 8.51512729e+01] [ 8.20529867e-01 -5.71527984e-01 -9.30058035e-03 1.90515359e+02] [ 1.11614332e-02 -2.47951822e-04 9.99937679e-01 5.40353969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:190.54, Z:5.40 [[-5.72077150e-01 -8.20174316e-01 6.46726914e-03 8.51374055e+01] [ 8.20116628e-01 -5.72113644e-01 -9.73115181e-03 1.90538053e+02] [ 1.16812537e-02 -2.63054635e-04 9.99931737e-01 5.40329306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:190.56, Z:5.40 [[-5.72058728e-01 -8.20181656e-01 7.13181557e-03 8.51229431e+01] [ 8.20111631e-01 -5.72103111e-01 -1.07211430e-02 1.90560128e+02] [ 1.28734187e-02 -2.84238519e-04 9.99917094e-01 5.40253828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:190.58, Z:5.40 [[-5.71882651e-01 -8.20300683e-01 7.55134380e-03 8.51103803e+01] [ 8.20222327e-01 -5.71932430e-01 -1.13415121e-02 1.90582815e+02] [ 1.36223085e-02 -2.92233229e-04 9.99907169e-01 5.40253306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:190.60, Z:5.40 [[-5.69372181e-01 -8.22037347e-01 8.36180734e-03 8.50917062e+01] [ 8.21941642e-01 -5.69433514e-01 -1.25463000e-02 1.90603161e+02] [ 1.50750205e-02 -2.70596556e-04 9.99886329e-01 5.40168309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:190.62, Z:5.40 [[-5.67853762e-01 -8.23082589e-01 8.78386305e-03 8.50763439e+01] [ 8.22977272e-01 -5.67921640e-01 -1.31689192e-02 1.90624460e+02] [ 1.58276540e-02 -2.49100649e-04 9.99874704e-01 5.40104225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:190.65, Z:5.40 [[-5.65746156e-01 -8.24531683e-01 8.87636875e-03 8.50586811e+01] [ 8.24424486e-01 -5.65815749e-01 -1.32967954e-02 1.90645008e+02] [ 1.59860183e-02 -2.04715121e-04 9.99872195e-01 5.40104051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:190.66, Z:5.40 [[-5.61322352e-01 -8.27540893e-01 9.65853375e-03 8.50394514e+01] [ 8.27414621e-01 -5.61405428e-01 -1.44565082e-02 1.90663889e+02] [ 1.73857050e-02 -1.23149139e-04 9.99848850e-01 5.40013637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:190.68, Z:5.40 [[-5.59646270e-01 -8.28671329e-01 9.99405548e-03 8.50223517e+01] [ 8.28536533e-01 -5.59735492e-01 -1.49463048e-02 1.90684222e+02] [ 1.79796019e-02 -8.42036597e-05 9.99838350e-01 5.40026476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:190.71, Z:5.40 [[-5.58225493e-01 -8.29630102e-01 9.90925610e-03 8.50051117e+01] [ 8.29497954e-01 -5.58313436e-01 -1.48071378e-02 1.90705071e+02] [ 1.78169181e-02 -4.60141373e-05 9.99841265e-01 5.40014339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.99, Y:190.73, Z:5.40 [[-5.57356049e-01 -8.30214242e-01 9.92713942e-03 8.49893115e+01] [ 8.30081924e-01 -5.57444448e-01 -1.48218292e-02 1.90725024e+02] [ 1.78391225e-02 -2.06971937e-05 9.99840870e-01 5.40045868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:190.75, Z:5.40 [[-5.58096217e-01 -8.29716510e-01 9.95616068e-03 8.49747947e+01] [ 8.29583571e-01 -5.58185016e-01 -1.48521646e-02 1.90747107e+02] [ 1.78804659e-02 -2.94695820e-05 9.99840131e-01 5.40118958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:190.77, Z:5.40 [[-5.59372472e-01 -8.28856817e-01 9.94058042e-03 8.49615786e+01] [ 8.28724372e-01 -5.59460790e-01 -1.48168932e-02 1.90768234e+02] [ 1.78424479e-02 -5.01609241e-05 9.99840810e-01 5.40173655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:190.79, Z:5.40 [[-5.61218011e-01 -8.27609680e-01 9.82656678e-03 8.49486394e+01] [ 8.27480240e-01 -5.61304026e-01 -1.46370381e-02 1.90789928e+02] [ 1.76294459e-02 -8.32795766e-05 9.99844586e-01 5.40237080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:190.81, Z:5.40 [[-5.64584652e-01 -8.25319047e-01 9.62506244e-03 8.49375051e+01] [ 8.25194732e-01 -5.64666671e-01 -1.43249753e-02 1.90813850e+02] [ 1.72576269e-02 -1.45110366e-04 9.99851066e-01 5.40373286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:190.84, Z:5.40 [[-5.66295220e-01 -8.24148977e-01 9.39078469e-03 8.49244136e+01] [ 8.24030665e-01 -5.66373052e-01 -1.39652846e-02 1.90836683e+02] [ 1.68281624e-02 -1.70179371e-04 9.99858382e-01 5.40465174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:190.86, Z:5.41 [[-5.69136441e-01 -8.22188952e-01 9.43600920e-03 8.49130554e+01] [ 8.22069419e-01 -5.69214615e-01 -1.40211693e-02 1.90859777e+02] [ 1.68991648e-02 -2.22903778e-04 9.99857174e-01 5.40561469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:190.88, Z:5.41 [[-5.70061905e-01 -8.21546258e-01 9.54833642e-03 8.48993974e+01] [ 8.21423977e-01 -5.70141815e-01 -1.41760375e-02 1.90881689e+02] [ 1.70901764e-02 -2.37986475e-04 9.99853924e-01 5.40573619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:190.90, Z:5.41 [[-5.70697998e-01 -8.21102145e-01 9.74997545e-03 8.48855357e+01] [ 8.20974803e-01 -5.70781224e-01 -1.44626174e-02 1.90903241e+02] [ 1.74403891e-02 -2.49302621e-04 9.99847874e-01 5.40600280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:190.92, Z:5.41 [[-5.70913755e-01 -8.20950301e-01 9.90398640e-03 8.48698256e+01] [ 8.20819108e-01 -5.70999598e-01 -1.46782689e-02 1.90924739e+02] [ 1.77053015e-02 -2.50644314e-04 9.99843217e-01 5.40646273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:190.95, Z:5.41 [[-5.70034831e-01 -8.21553613e-01 1.04858576e-02 8.48539504e+01] [ 8.21406904e-01 -5.70131217e-01 -1.55271950e-02 1.90946407e+02] [ 1.87347379e-02 -2.37886161e-04 9.99824461e-01 5.40630142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97275509600007 meters Centerline goodness [0,1] 0.9999568165133653 Centerline is valid? [True, True] Translation: X:84.84, Y:190.97, Z:5.41 [[-5.69405752e-01 -8.21986998e-01 1.06988478e-02 8.48382019e+01] [ 8.21834603e-01 -5.69506213e-01 -1.58290170e-02 1.90967750e+02] [ 1.91043065e-02 -2.20449991e-04 9.99817472e-01 5.40652044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00275509600004 meters Centerline goodness [0,1] 0.9998275118585597 Centerline is valid? [True, True] Translation: X:84.82, Y:190.99, Z:5.40 [[-5.68616102e-01 -8.22527638e-01 1.11360988e-02 8.48237983e+01] [ 8.22362928e-01 -5.68725103e-01 -1.64611995e-02 1.90988999e+02] [ 1.98731705e-02 -2.02188304e-04 9.99802489e-01 5.40471865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:191.01, Z:5.41 [[-5.67794291e-01 -8.23092730e-01 1.13137599e-02 8.48084151e+01] [ 8.22923138e-01 -5.67906970e-01 -1.67087552e-02 1.91009125e+02] [ 2.01780180e-02 -1.76781017e-04 9.99796387e-01 5.40673761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:191.03, Z:5.41 [[-5.65908851e-01 -8.24383862e-01 1.17651950e-02 8.47924082e+01] [ 8.24201070e-01 -5.66031123e-01 -1.73598628e-02 1.91029134e+02] [ 2.09706573e-02 -1.27213659e-04 9.99780084e-01 5.40598273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:191.05, Z:5.41 [[-5.65381693e-01 -8.24743145e-01 1.19283650e-02 8.47760269e+01] [ 8.24555650e-01 -5.65507500e-01 -1.75854050e-02 1.91049970e+02] [ 2.12490221e-02 -1.06865307e-04 9.99774208e-01 5.40662640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:191.07, Z:5.41 [[-5.64636457e-01 -8.25251235e-01 1.20859828e-02 8.47596877e+01] [ 8.25059194e-01 -5.64765786e-01 -1.78026174e-02 1.91070960e+02] [ 2.15173816e-02 -8.03556307e-05 9.99768471e-01 5.40712398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:191.09, Z:5.41 [[-5.65283741e-01 -8.24805095e-01 1.22820232e-02 8.47451862e+01] [ 8.24607009e-01 -5.65417145e-01 -1.80757588e-02 1.91092805e+02] [ 2.18534445e-02 -9.00901388e-05 9.99761181e-01 5.40801200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18275509600005 meters Centerline goodness [0,1] 0.99991370941646 Centerline is valid? [True, True] Translation: X:84.73, Y:191.11, Z:5.41 [[-5.66138939e-01 -8.24217761e-01 1.23200332e-02 8.47323256e+01] [ 8.24018652e-01 -5.66272965e-01 -1.81160193e-02 1.91114324e+02] [ 2.19080466e-02 -1.04246841e-04 9.99759985e-01 5.40653761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:191.14, Z:5.41 [[-5.69177912e-01 -8.22127451e-01 1.19565572e-02 8.47185891e+01] [ 8.21939768e-01 -5.69303456e-01 -1.75668215e-02 1.91137995e+02] [ 2.12490755e-02 -1.71076929e-04 9.99774198e-01 5.41028422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:191.16, Z:5.41 [[-5.71155166e-01 -8.20756405e-01 1.18616798e-02 8.47055443e+01] [ 8.20571686e-01 -5.71278284e-01 -1.74135074e-02 1.91159646e+02] [ 2.10685678e-02 -2.12456077e-04 9.99778011e-01 5.41100096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:191.18, Z:5.41 [[-5.73034343e-01 -8.19449047e-01 1.16146528e-02 8.46919402e+01] [ 8.19271973e-01 -5.73151985e-01 -1.70363145e-02 1.91182234e+02] [ 2.06173530e-02 -2.46833807e-04 9.99787409e-01 5.41181705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.68, Y:191.21, Z:5.41 [[-5.76173483e-01 -8.17248710e-01 1.13429707e-02 8.46779243e+01] [ 8.17079655e-01 -5.76285041e-01 -1.66249361e-02 1.91205102e+02] [ 2.01234919e-02 -3.10736735e-04 9.99797454e-01 5.41299437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.332755096 meters Centerline goodness [0,1] 0.9999353434341257 Centerline is valid? [True, True] Translation: X:84.66, Y:191.23, Z:5.41 [[-5.77378094e-01 -8.16398819e-01 1.12917945e-02 8.46646112e+01] [ 8.16231390e-01 -5.77488406e-01 -1.65366038e-02 1.91226810e+02] [ 2.00213442e-02 -3.31155687e-04 9.99799498e-01 5.41191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:191.25, Z:5.42 [[-5.79174018e-01 -8.15128412e-01 1.10963168e-02 8.46474117e+01] [ 8.14966764e-01 -5.79280192e-01 -1.62367676e-02 1.91247736e+02] [ 1.96629271e-02 -3.60784558e-04 9.99806601e-01 5.41505043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:191.27, Z:5.42 [[-5.79624674e-01 -8.14805879e-01 1.12524306e-02 8.46323532e+01] [ 8.14639854e-01 -5.79733769e-01 -1.64519183e-02 1.91268028e+02] [ 1.99285338e-02 -3.69259347e-04 9.99801339e-01 5.41548765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.62, Y:191.29, Z:5.42 [[-5.80002186e-01 -8.14536769e-01 1.12834833e-02 8.46168437e+01] [ 8.14370069e-01 -5.80111813e-01 -1.64826047e-02 1.91288087e+02] [ 1.99713695e-02 -3.71015706e-04 9.99800483e-01 5.41555112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:191.31, Z:5.42 [[-5.79505841e-01 -8.14890302e-01 1.12594392e-02 8.45977008e+01] [ 8.14724660e-01 -5.79615107e-01 -1.64333791e-02 1.91307938e+02] [ 1.99175423e-02 -3.49896372e-04 9.99801565e-01 5.41593733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48275509600006 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:84.58, Y:191.33, Z:5.42 [[-5.79381801e-01 -8.14973712e-01 1.16007635e-02 8.45837840e+01] [ 8.14798177e-01 -5.79497823e-01 -1.69175721e-02 1.91329014e+02] [ 2.05099937e-02 -3.49452487e-04 9.99789587e-01 5.41573824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:191.35, Z:5.42 [[-5.79278473e-01 -8.15042668e-01 1.19121884e-02 8.45676296e+01] [ 8.14857922e-01 -5.79400836e-01 -1.73562230e-02 1.91350079e+02] [ 2.10479942e-02 -3.47345250e-04 9.99778406e-01 5.41596157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54275509600006 meters Centerline goodness [0,1] 0.9998496369807106 Centerline is valid? [True, True] Translation: X:84.55, Y:191.37, Z:5.41 [[-5.79374407e-01 -8.14963466e-01 1.26430260e-02 8.45529237e+01] [ 8.14755656e-01 -5.79512224e-01 -1.84065967e-02 1.91371077e+02] [ 2.23274919e-02 -3.63334085e-04 9.99750644e-01 5.41153753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.53, Y:191.39, Z:5.42 [[-5.79713471e-01 -8.14725539e-01 1.24333030e-02 8.45339988e+01] [ 8.14524788e-01 -5.79846675e-01 -1.80887487e-02 1.91390086e+02] [ 2.19467749e-02 -3.59057823e-04 9.99759076e-01 5.41720713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:191.41, Z:5.42 [[-5.80400137e-01 -8.14235542e-01 1.24965364e-02 8.45200686e+01] [ 8.14032954e-01 -5.80534534e-01 -1.81660355e-02 1.91410875e+02] [ 2.20461027e-02 -3.70977057e-04 9.99756886e-01 5.41734721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:191.43, Z:5.42 [[-5.81997086e-01 -8.13097161e-01 1.23449792e-02 8.45038908e+01] [ 8.12899475e-01 -5.82127860e-01 -1.79331823e-02 1.91432632e+02] [ 2.17677759e-02 -4.01832721e-04 9.99762973e-01 5.41876894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:191.45, Z:5.42 [[-5.82320735e-01 -8.12865302e-01 1.23516056e-02 8.44889877e+01] [ 8.12667660e-01 -5.82451576e-01 -1.79286176e-02 1.91453839e+02] [ 2.17677633e-02 -4.02455334e-04 9.99762973e-01 5.41917312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:191.48, Z:5.42 [[-5.83459264e-01 -8.12052053e-01 1.21140567e-02 8.44761371e+01] [ 8.11862085e-01 -5.83584861e-01 -1.75688439e-02 1.91475241e+02] [ 2.13363959e-02 -4.15761362e-04 9.99772267e-01 5.41945101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:191.50, Z:5.42 [[-5.84404719e-01 -8.11369717e-01 1.22599459e-02 8.44609382e+01] [ 8.11175337e-01 -5.84533139e-01 -1.77646200e-02 1.91496434e+02] [ 2.15800194e-02 -4.36761988e-04 9.99767029e-01 5.42062712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:191.52, Z:5.42 [[-5.86119814e-01 -8.10129583e-01 1.23944289e-02 8.44464233e+01] [ 8.09930960e-01 -5.86250654e-01 -1.79446625e-02 1.91519881e+02] [ 2.18037440e-02 -4.79090594e-04 9.99762155e-01 5.42155474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.43, Y:191.54, Z:5.42 [[-5.86747546e-01 -8.09673661e-01 1.24852327e-02 8.44310951e+01] [ 8.09472324e-01 -5.86880160e-01 -1.80619755e-02 1.91541812e+02] [ 2.19516412e-02 -4.91369482e-04 9.99758913e-01 5.42186713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:191.56, Z:5.42 [[-5.87323091e-01 -8.09258625e-01 1.23314538e-02 8.44160262e+01] [ 8.09062450e-01 -5.87452326e-01 -1.78245859e-02 1.91563250e+02] [ 2.16688411e-02 -4.91874633e-04 9.99765082e-01 5.42234145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:191.58, Z:5.42 [[-5.87298960e-01 -8.09279971e-01 1.20772825e-02 8.44007863e+01] [ 8.09092115e-01 -5.87422936e-01 -1.74425931e-02 1.91584254e+02] [ 2.12104140e-02 -4.72382751e-04 9.99774922e-01 5.42338319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87275509600005 meters Centerline goodness [0,1] 0.9999144494824194 Centerline is valid? [True, True] Translation: X:84.39, Y:191.61, Z:5.42 [[-5.87358806e-01 -8.09238335e-01 1.19562151e-02 8.43874707e+01] [ 8.09054507e-01 -5.87480302e-01 -1.72539779e-02 1.91606293e+02] [ 2.09866212e-02 -4.61046107e-04 9.99779650e-01 5.42119561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:191.63, Z:5.42 [[-5.86095477e-01 -8.10157649e-01 1.16908419e-02 8.43702444e+01] [ 8.09982309e-01 -5.86211919e-01 -1.68595729e-02 1.91626951e+02] [ 2.05122228e-02 -4.11944252e-04 9.99789517e-01 5.42472973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93275509600005 meters Centerline goodness [0,1] 0.9998283519642972 Centerline is valid? [True, True] Translation: X:84.35, Y:191.65, Z:5.42 [[-5.84546258e-01 -8.11274389e-01 1.18125867e-02 8.43530266e+01] [ 8.11095873e-01 -5.84665485e-01 -1.70222366e-02 1.91647810e+02] [ 2.07161163e-02 -3.69144425e-04 9.99785330e-01 5.42177659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:191.67, Z:5.43 [[-5.82935472e-01 -8.12436814e-01 1.15177490e-02 8.43360049e+01] [ 8.12267580e-01 -5.83049162e-01 -1.65847180e-02 1.91668344e+02] [ 2.01894493e-02 -3.12326319e-04 9.99796124e-01 5.42616898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:191.69, Z:5.43 [[-5.80792981e-01 -8.13965464e-01 1.18210132e-02 8.43174769e+01] [ 8.13787800e-01 -5.80913209e-01 -1.70076473e-02 1.91688926e+02] [ 2.07106203e-02 -2.58125829e-04 9.99785479e-01 5.42624793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:191.71, Z:5.43 [[-5.79883789e-01 -8.14609863e-01 1.20649611e-02 8.43021688e+01] [ 8.14425201e-01 -5.80009239e-01 -1.73457443e-02 1.91708822e+02] [ 2.11278033e-02 -2.32507577e-04 9.99776756e-01 5.42587974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:191.73, Z:5.43 [[-5.79097893e-01 -8.15166441e-01 1.22189870e-02 8.42847023e+01] [ 8.14977421e-01 -5.79226752e-01 -1.75548655e-02 1.91729700e+02] [ 2.13877013e-02 -2.07787126e-04 9.99771235e-01 5.42658517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:191.75, Z:5.43 [[-5.78680772e-01 -8.15460952e-01 1.23288771e-02 8.42699763e+01] [ 8.15268894e-01 -5.78812060e-01 -1.76983132e-02 1.91750813e+02] [ 2.15683861e-02 -1.90323498e-04 9.99767357e-01 5.42596363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11275509600006 meters Centerline goodness [0,1] 0.9999570142068046 Centerline is valid? [True, True] Translation: X:84.25, Y:191.77, Z:5.42 [[-5.77511723e-01 -8.16282734e-01 1.27556849e-02 8.42535390e+01] [ 8.16077714e-01 -5.77652554e-01 -1.82945796e-02 1.91771067e+02] [ 2.23019035e-02 -1.55704037e-04 9.99751270e-01 5.42490885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:191.79, Z:5.43 [[-5.77201676e-01 -8.16505347e-01 1.25396710e-02 8.42373126e+01] [ 8.16307589e-01 -5.77337856e-01 -1.79699857e-02 1.91791855e+02] [ 2.19122162e-02 -1.36077313e-04 9.99759889e-01 5.42733645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:191.81, Z:5.43 [[-5.77187226e-01 -8.16513198e-01 1.26926483e-02 8.42219832e+01] [ 8.16310939e-01 -5.77326754e-01 -1.81733192e-02 1.91812362e+02] [ 2.21665604e-02 -1.28260075e-04 9.99754283e-01 5.42726627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:191.83, Z:5.43 [[-5.77623084e-01 -8.16206293e-01 1.26039789e-02 8.42061958e+01] [ 8.16007123e-01 -5.77760565e-01 -1.80306717e-02 1.91833933e+02] [ 2.19988297e-02 -1.29995564e-04 9.99757988e-01 5.42835364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:191.86, Z:5.43 [[-5.78332930e-01 -8.15704291e-01 1.25511523e-02 8.41915589e+01] [ 8.15506999e-01 -5.78469091e-01 -1.79400172e-02 1.91855184e+02] [ 2.18942027e-02 -1.39750188e-04 9.99760283e-01 5.42849861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:191.88, Z:5.43 [[-5.79194098e-01 -8.15093920e-01 1.24939371e-02 8.41755470e+01] [ 8.14898608e-01 -5.79328817e-01 -1.78432389e-02 1.91876826e+02] [ 2.17820133e-02 -1.53406702e-04 9.99762732e-01 5.42996251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:191.90, Z:5.43 [[-5.80669249e-01 -8.14044757e-01 1.24240411e-02 8.41623349e+01] [ 8.13851663e-01 -5.80802117e-01 -1.77305200e-02 1.91899341e+02] [ 2.16493462e-02 -1.84241191e-04 9.99765608e-01 5.43062084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:191.92, Z:5.43 [[-5.81867861e-01 -8.13190018e-01 1.23202086e-02 8.41468986e+01] [ 8.13000189e-01 -5.81998241e-01 -1.75710049e-02 1.91921642e+02] [ 2.14589055e-02 -2.07671114e-04 9.99769710e-01 5.43216922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:191.94, Z:5.43 [[-5.83828625e-01 -8.11786750e-01 1.20999773e-02 8.41341306e+01] [ 8.11603619e-01 -5.83953947e-01 -1.72439335e-02 1.91944147e+02] [ 2.10642262e-02 -2.47116628e-04 9.99778094e-01 5.43296475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:191.97, Z:5.43 [[-5.85223193e-01 -8.10783143e-01 1.20211937e-02 8.41187517e+01] [ 8.10602441e-01 -5.85346581e-01 -1.71190902e-02 1.91966149e+02] [ 2.09164344e-02 -2.74079672e-04 9.99781190e-01 5.43371046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:191.99, Z:5.43 [[-5.86320667e-01 -8.09990129e-01 1.20027812e-02 8.41035059e+01] [ 8.09810089e-01 -5.86443437e-01 -1.70796532e-02 1.91988590e+02] [ 2.08733027e-02 -2.94180345e-04 9.99782086e-01 5.43495557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:192.01, Z:5.44 [[-5.88104695e-01 -8.08697142e-01 1.19079763e-02 8.40907185e+01] [ 8.08519945e-01 -5.88225147e-01 -1.69314674e-02 1.92012107e+02] [ 2.06970004e-02 -3.29639112e-04 9.99785740e-01 5.43550083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:192.03, Z:5.44 [[-5.88921720e-01 -8.08103953e-01 1.17987033e-02 8.40748137e+01] [ 8.07930149e-01 -5.89039800e-01 -1.67627205e-02 1.92034294e+02] [ 2.04959265e-02 -3.39402058e-04 9.99789879e-01 5.43637390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:192.06, Z:5.44 [[-5.90029626e-01 -8.07291407e-01 1.20675048e-02 8.40618285e+01] [ 8.07109685e-01 -5.90152902e-01 -1.71320636e-02 1.92056814e+02] [ 2.09522408e-02 -3.68625066e-04 9.99780410e-01 5.43659761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:192.08, Z:5.44 [[-5.90730272e-01 -8.06780043e-01 1.19877911e-02 8.40474121e+01] [ 8.06600824e-01 -5.90851774e-01 -1.70085839e-02 1.92078316e+02] [ 2.08051938e-02 -3.78123226e-04 9.99783477e-01 5.43726945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:192.10, Z:5.44 [[-5.91296191e-01 -8.06363312e-01 1.21253607e-02 8.40336064e+01] [ 8.06180130e-01 -5.91420373e-01 -1.71912800e-02 1.92100258e+02] [ 2.10336028e-02 -3.89913462e-04 9.99778693e-01 5.43760610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:192.12, Z:5.44 [[-5.91638115e-01 -8.06113894e-01 1.20304500e-02 8.40181827e+01] [ 8.05933822e-01 -5.91760290e-01 -1.70421290e-02 1.92122113e+02] [ 2.08570395e-02 -3.87026545e-04 9.99782393e-01 5.43925019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:192.14, Z:5.44 [[-5.91455867e-01 -8.06248770e-01 1.19531288e-02 8.40028200e+01] [ 8.06071323e-01 -5.91576523e-01 -1.69186368e-02 1.92143128e+02] [ 2.07118205e-02 -3.71552697e-04 9.99785418e-01 5.44015693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:192.16, Z:5.44 [[-5.91281560e-01 -8.06377290e-01 1.19072940e-02 8.39871008e+01] [ 8.06201515e-01 -5.91401335e-01 -1.68397595e-02 1.92164493e+02] [ 2.06211892e-02 -3.57360785e-04 9.99787297e-01 5.44143993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:192.19, Z:5.44 [[-5.90300466e-01 -8.07096926e-01 1.18284430e-02 8.39717187e+01] [ 8.06923902e-01 -5.90418876e-01 -1.67142963e-02 1.92185752e+02] [ 2.04737932e-02 -3.21803509e-04 9.99790338e-01 5.44300828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:192.21, Z:5.44 [[-5.89873904e-01 -8.07406555e-01 1.19763208e-02 8.39574150e+01] [ 8.07229522e-01 -5.89995390e-01 -1.69097202e-02 1.92206356e+02] [ 2.07189930e-02 -3.06962896e-04 9.99785292e-01 5.44354186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:192.23, Z:5.44 [[-5.89727839e-01 -8.07514098e-01 1.19187776e-02 8.39419523e+01] [ 8.07339026e-01 -5.89848196e-01 -1.68167691e-02 1.92227326e+02] [ 2.06100475e-02 -2.94822587e-04 9.99787547e-01 5.44463913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:192.25, Z:5.44 [[-5.89190761e-01 -8.07904647e-01 1.20136765e-02 8.39265634e+01] [ 8.07727143e-01 -5.89313164e-01 -1.69368729e-02 1.92248389e+02] [ 2.07631961e-02 -2.75276444e-04 9.99784384e-01 5.44483695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:192.27, Z:5.45 [[-5.88488337e-01 -8.08411456e-01 1.23448606e-02 8.39102212e+01] [ 8.08224447e-01 -5.88617747e-01 -1.73893851e-02 1.92269402e+02] [ 2.13241822e-02 -2.56032168e-04 9.99772581e-01 5.44538046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.90, Y:192.29, Z:5.45 [[-5.88190566e-01 -8.08624685e-01 1.25688986e-02 8.38951712e+01] [ 8.08431200e-01 -5.88324791e-01 -1.76900085e-02 1.92290314e+02] [ 2.16991722e-02 -2.44006321e-04 9.99764515e-01 5.44597406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:192.31, Z:5.45 [[-5.87321694e-01 -8.09251415e-01 1.28598251e-02 8.38800507e+01] [ 8.09049363e-01 -5.87462424e-01 -1.80839206e-02 1.92311659e+02] [ 2.21891023e-02 -2.16845583e-04 9.99753768e-01 5.44662817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:192.33, Z:5.45 [[-5.87209044e-01 -8.09330308e-01 1.30380811e-02 8.38644466e+01] [ 8.09122975e-01 -5.87353734e-01 -1.83194300e-02 1.92333169e+02] [ 2.24844355e-02 -2.07924003e-04 9.99747172e-01 5.44784576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.85, Y:192.35, Z:5.45 [[-5.86718046e-01 -8.09688828e-01 1.28816289e-02 8.38498765e+01] [ 8.09486864e-01 -5.86859411e-01 -1.80844776e-02 1.92354328e+02] [ 2.22025046e-02 -1.82980031e-04 9.99753477e-01 5.44894684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:192.38, Z:5.45 [[-5.86584444e-01 -8.09786273e-01 1.28406324e-02 8.38342995e+01] [ 8.09585957e-01 -5.86724946e-01 -1.80115509e-02 1.92375705e+02] [ 2.21194260e-02 -1.69699876e-04 9.99755321e-01 5.44985508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:192.40, Z:5.45 [[-5.85939446e-01 -8.10250301e-01 1.30159894e-02 8.38186938e+01] [ 8.10044932e-01 -5.86083978e-01 -1.82422321e-02 1.92397204e+02] [ 2.24092369e-02 -1.45307193e-04 9.99748871e-01 5.45018291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.80, Y:192.42, Z:5.45 [[-5.86021258e-01 -8.10191990e-01 1.29623982e-02 8.38034546e+01] [ 8.09988633e-01 -5.86164584e-01 -1.81519645e-02 1.92418817e+02] [ 2.23046750e-02 -1.38041910e-04 9.99751210e-01 5.45076974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:192.44, Z:5.45 [[-5.86289980e-01 -8.09990964e-01 1.33678157e-02 8.37889255e+01] [ 8.09775005e-01 -5.86442341e-01 -1.87035204e-02 1.92440280e+02] [ 2.29891356e-02 -1.40763545e-04 9.99735705e-01 5.45028523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:192.46, Z:5.45 [[-5.86779081e-01 -8.09638144e-01 1.32810244e-02 8.37751817e+01] [ 8.09425252e-01 -5.86929344e-01 -1.85662773e-02 1.92461908e+02] [ 2.28269892e-02 -1.44306598e-04 9.99739420e-01 5.45096836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:192.48, Z:5.45 [[-5.87214236e-01 -8.09325598e-01 1.30964282e-02 8.37601727e+01] [ 8.09118840e-01 -5.87360243e-01 -1.82933815e-02 1.92483370e+02] [ 2.24976232e-02 -1.45567245e-04 9.99746886e-01 5.45191874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:192.50, Z:5.45 [[-5.87927970e-01 -8.08804908e-01 1.32409684e-02 8.37454188e+01] [ 8.08593772e-01 -5.88077032e-01 -1.84801623e-02 1.92504845e+02] [ 2.27335553e-02 -1.58439685e-04 9.99741547e-01 5.45273563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:192.53, Z:5.45 [[-5.88552307e-01 -8.08348107e-01 1.33985122e-02 8.37313718e+01] [ 8.08132157e-01 -5.88704773e-01 -1.86843960e-02 1.92525968e+02] [ 2.29912642e-02 -1.68975810e-04 9.99735652e-01 5.45279771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:192.55, Z:5.45 [[-5.89413492e-01 -8.07711238e-01 1.39388390e-02 8.37159018e+01] [ 8.07477732e-01 -5.89578255e-01 -1.94214570e-02 1.92548523e+02] [ 2.39049655e-02 -1.91966687e-04 9.99714217e-01 5.45357470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:192.57, Z:5.45 [[-5.89795394e-01 -8.07427287e-01 1.42327049e-02 8.37015974e+01] [ 8.07184092e-01 -5.89967064e-01 -1.98167670e-02 1.92570137e+02] [ 2.43974255e-02 -1.99424924e-04 9.99702319e-01 5.45308683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:192.59, Z:5.45 [[-5.90121280e-01 -8.07180214e-01 1.47301346e-02 8.36865828e+01] [ 8.06920004e-01 -5.90305055e-01 -2.04950962e-02 1.92592461e+02] [ 2.52385091e-02 -2.08552104e-04 9.99681436e-01 5.45347796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:192.61, Z:5.45 [[-5.90633605e-01 -8.06805230e-01 1.47399489e-02 8.36710204e+01] [ 8.06544973e-01 -5.90817463e-01 -2.04922339e-02 1.92614238e+02] [ 2.52418607e-02 -2.14970302e-04 9.99681350e-01 5.45407879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:192.64, Z:5.45 [[-5.90975034e-01 -8.06550369e-01 1.50004298e-02 8.36553265e+01] [ 8.06281159e-01 -5.91165336e-01 -2.08384008e-02 1.92636113e+02] [ 2.56749540e-02 -2.20410629e-04 9.99670320e-01 5.45433207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:192.66, Z:5.45 [[-5.91512758e-01 -8.06150700e-01 1.52874639e-02 8.36410265e+01] [ 8.05871406e-01 -5.91710229e-01 -2.12198580e-02 1.92656546e+02] [ 2.61521521e-02 -2.32086684e-04 9.99657947e-01 5.45397259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:192.68, Z:5.45 [[-5.91910704e-01 -8.05853286e-01 1.55627688e-02 8.36254609e+01] [ 8.05564232e-01 -5.92115212e-01 -2.15834075e-02 1.92678352e+02] [ 2.66080120e-02 -2.38640025e-04 9.99645916e-01 5.45414129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.61, Y:192.70, Z:5.45 [[-5.92294864e-01 -8.05568486e-01 1.56910125e-02 8.36101146e+01] [ 8.05275023e-01 -5.92502620e-01 -2.17435569e-02 1.92699709e+02] [ 2.68128903e-02 -2.43016607e-04 9.99640440e-01 5.45446376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:192.72, Z:5.46 [[-5.92841946e-01 -8.05169102e-01 1.55288030e-02 8.35940526e+01] [ 8.04882004e-01 -5.93045239e-01 -2.15012817e-02 1.92721109e+02] [ 2.65214504e-02 -2.48007632e-04 9.99648214e-01 5.45621873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:192.74, Z:5.46 [[-5.93396612e-01 -8.04760517e-01 1.55232305e-02 8.35790087e+01] [ 8.04473968e-01 -5.93599566e-01 -2.14753167e-02 1.92741804e+02] [ 2.64970699e-02 -2.55345324e-04 9.99648858e-01 5.45626940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:192.76, Z:5.46 [[-5.94356689e-01 -8.04042514e-01 1.59925668e-02 8.35635979e+01] [ 8.03738622e-01 -5.94571740e-01 -2.21059441e-02 1.92763526e+02] [ 2.72828471e-02 -2.84972120e-04 9.99627713e-01 5.45608703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:192.78, Z:5.46 [[-5.95167219e-01 -8.03439777e-01 1.61401793e-02 8.35477767e+01] [ 8.03130516e-01 -5.95385952e-01 -2.22922202e-02 1.92784492e+02] [ 2.75200924e-02 -3.04928208e-04 9.99621204e-01 5.45677484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:192.81, Z:5.46 [[-5.95904807e-01 -8.02886432e-01 1.64571666e-02 8.35334140e+01] [ 8.02565226e-01 -5.96131924e-01 -2.27109463e-02 1.92805117e+02] [ 2.80449530e-02 -3.25612397e-04 9.99606610e-01 5.45643861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:192.83, Z:5.46 [[-5.96210929e-01 -8.02658953e-01 1.64661107e-02 8.35179886e+01] [ 8.02337839e-01 -5.96438177e-01 -2.27044608e-02 1.92825947e+02] [ 2.80449558e-02 -3.25263972e-04 9.99606610e-01 5.45684251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:192.85, Z:5.46 [[-5.97287378e-01 -8.01848913e-01 1.69147314e-02 8.35020652e+01] [ 8.01510256e-01 -5.97526727e-01 -2.33049367e-02 1.92848429e+02] [ 2.87940423e-02 -3.62413826e-04 9.99585300e-01 5.45678506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.49, Y:192.87, Z:5.46 [[-5.97856358e-01 -8.01416305e-01 1.73113149e-02 8.34861715e+01] [ 8.01061939e-01 -5.98106814e-01 -2.38329311e-02 1.92869133e+02] [ 2.94541150e-02 -3.81233872e-04 9.99566061e-01 5.45708557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:192.89, Z:5.46 [[-5.98088165e-01 -8.01236742e-01 1.76133474e-02 8.34709973e+01] [ 8.00870429e-01 -5.98347337e-01 -2.42284929e-02 1.92890153e+02] [ 2.99516582e-02 -3.84765818e-04 9.99551274e-01 5.45656361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:192.91, Z:5.46 [[-5.98290029e-01 -8.01076502e-01 1.80410129e-02 8.34538873e+01] [ 8.00692744e-01 -5.98561848e-01 -2.47960477e-02 1.92910930e+02] [ 3.06621932e-02 -3.89919970e-04 9.99529728e-01 5.45723954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:192.93, Z:5.46 [[-5.98185459e-01 -8.01152340e-01 1.81407183e-02 8.34375886e+01] [ 8.00764994e-01 -5.98460347e-01 -2.49125901e-02 1.92931032e+02] [ 3.08152804e-02 -3.75896918e-04 9.99525026e-01 5.45632566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:192.95, Z:5.46 [[-5.98076274e-01 -8.01229604e-01 1.83273761e-02 8.34210557e+01] [ 8.00834913e-01 -5.98356909e-01 -2.51486146e-02 1.92952092e+02] [ 3.11161266e-02 -3.63587094e-04 9.99515710e-01 5.45682692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:192.97, Z:5.46 [[-5.97505986e-01 -8.01656910e-01 1.82426761e-02 8.34044258e+01] [ 8.01266659e-01 -5.97784318e-01 -2.50130211e-02 1.92972244e+02] [ 3.09570469e-02 -3.28181686e-04 9.99520662e-01 5.45866742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:192.99, Z:5.46 [[-5.97340897e-01 -8.01783151e-01 1.81005752e-02 8.33871143e+01] [ 8.01399600e-01 -5.97614996e-01 -2.47991612e-02 1.92993189e+02] [ 3.07007248e-02 -3.07759437e-04 9.99528574e-01 5.46183805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:193.01, Z:5.46 [[-5.97138404e-01 -8.01941186e-01 1.77780900e-02 8.33723251e+01] [ 8.01571845e-01 -5.97402924e-01 -2.43377046e-02 1.93013602e+02] [ 3.01380907e-02 -2.82561696e-04 9.99545705e-01 5.46209806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:193.03, Z:5.46 [[-5.96258027e-01 -8.02600042e-01 1.75936964e-02 8.33567484e+01] [ 8.02239225e-01 -5.96517491e-01 -2.40646732e-02 1.93033518e+02] [ 2.98092554e-02 -2.34401181e-04 9.99555578e-01 5.46214879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:193.05, Z:5.46 [[-5.96069741e-01 -8.02745841e-01 1.73198657e-02 8.33394204e+01] [ 8.02396806e-01 -5.96321280e-01 -2.36705676e-02 1.93053469e+02] [ 2.93296542e-02 -2.11904149e-04 9.99569771e-01 5.46469300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:193.07, Z:5.47 [[-5.96020566e-01 -8.02780161e-01 1.74211758e-02 8.33224635e+01] [ 8.02427600e-01 -5.96275081e-01 -2.37902085e-02 1.93074877e+02] [ 2.94861204e-02 -2.00221226e-04 9.99565170e-01 5.46584862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:193.10, Z:5.47 [[-5.96496797e-01 -8.02431994e-01 1.71600239e-02 8.33075297e+01] [ 8.02090327e-01 -5.96743541e-01 -2.34148068e-02 1.93095986e+02] [ 2.90289235e-02 -2.02968108e-04 9.99578551e-01 5.46640865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:193.12, Z:5.47 [[-5.97405944e-01 -8.01760698e-01 1.69092145e-02 8.32932202e+01] [ 8.01429240e-01 -5.97645158e-01 -2.30529642e-02 1.93116748e+02] [ 2.85886708e-02 -2.20438883e-04 9.99591236e-01 5.46686050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:193.14, Z:5.47 [[-5.98219058e-01 -8.01154831e-01 1.68788394e-02 8.32785004e+01] [ 8.00824860e-01 -5.98457083e-01 -2.29926821e-02 1.93138263e+02] [ 2.85219594e-02 -2.37666422e-04 9.99593138e-01 5.46782331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:193.16, Z:5.47 [[-5.99904655e-01 -7.99902571e-01 1.64402151e-02 8.32658165e+01] [ 7.99589557e-01 -6.00129818e-01 -2.23772677e-02 1.93160254e+02] [ 2.77658973e-02 -2.78802763e-04 9.99614414e-01 5.46886496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:193.18, Z:5.47 [[-6.00860639e-01 -7.99181874e-01 1.65778343e-02 8.32504443e+01] [ 7.98863844e-01 -6.01089211e-01 -2.25459393e-02 1.93182106e+02] [ 2.79830634e-02 -3.03535080e-04 9.99608351e-01 5.47021628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:193.20, Z:5.47 [[-6.01716117e-01 -7.98538101e-01 1.65715642e-02 8.32363594e+01] [ 7.98220588e-01 -6.01944182e-01 -2.25187611e-02 1.93203289e+02] [ 2.79572454e-02 -3.22137747e-04 9.99609068e-01 5.47007467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:193.22, Z:5.47 [[-6.02437879e-01 -7.97997467e-01 1.63903527e-02 8.32209998e+01] [ 7.97687162e-01 -6.02660710e-01 -2.22544227e-02 1.93224651e+02] [ 2.76367946e-02 -3.32533324e-04 9.99617976e-01 5.47048027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:193.25, Z:5.47 [[-6.03512367e-01 -7.97192130e-01 1.60478045e-02 8.32044672e+01] [ 7.96894823e-01 -6.03725588e-01 -2.17728294e-02 1.93245989e+02] [ 2.70455984e-02 -3.51759471e-04 9.99634139e-01 5.47263624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:193.27, Z:5.47 [[-6.04368150e-01 -7.96543560e-01 1.60466915e-02 8.31902092e+01] [ 7.96246535e-01 -6.04581028e-01 -2.17539935e-02 1.93266819e+02] [ 2.70295286e-02 -3.70298330e-04 9.99634567e-01 5.47292296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:193.29, Z:5.47 [[-6.05930073e-01 -7.95367121e-01 1.54883835e-02 8.31769540e+01] [ 7.95090483e-01 -6.06127862e-01 -2.09794811e-02 1.93288023e+02] [ 2.60743303e-02 -3.97432168e-04 9.99659928e-01 5.47371937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:193.31, Z:5.48 [[-6.06879711e-01 -7.94645554e-01 1.53447041e-02 8.31602250e+01] [ 7.94374226e-01 -6.07073531e-01 -2.07681601e-02 1.93310047e+02] [ 2.58186898e-02 -4.14337579e-04 9.99666556e-01 5.47533871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:193.33, Z:5.48 [[-6.08240752e-01 -7.93608924e-01 1.51017716e-02 8.31459408e+01] [ 7.93346200e-01 -6.08428041e-01 -2.04236738e-02 1.93332558e+02] [ 2.53967511e-02 -4.41577590e-04 9.99677353e-01 5.47627016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:193.35, Z:5.48 [[-6.09253387e-01 -7.92832074e-01 1.50868484e-02 8.31323688e+01] [ 7.92570062e-01 -6.09439979e-01 -2.03864571e-02 1.93353950e+02] [ 2.53575657e-02 -4.63133641e-04 9.99678338e-01 5.47638623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:193.37, Z:5.48 [[-6.10467345e-01 -7.91898549e-01 1.50435528e-02 8.31171622e+01] [ 7.91638186e-01 -6.10652477e-01 -2.03109799e-02 1.93374993e+02] [ 2.52706183e-02 -4.90139146e-04 9.99680527e-01 5.47695869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:193.40, Z:5.48 [[-6.12281289e-01 -7.90501355e-01 1.48064897e-02 8.31020483e+01] [ 7.90249106e-01 -6.12460062e-01 -1.99755684e-02 1.93397569e+02] [ 2.48590975e-02 -5.29851541e-04 9.99690824e-01 5.47803931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:193.42, Z:5.48 [[-6.12970677e-01 -7.89970976e-01 1.45878840e-02 8.30855731e+01] [ 7.89726320e-01 -6.13144006e-01 -1.96663987e-02 1.93418879e+02] [ 2.44803578e-02 -5.34489757e-04 9.99700168e-01 5.47914200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:193.44, Z:5.48 [[-6.13843738e-01 -7.89299575e-01 1.42142910e-02 8.30695665e+01] [ 7.89067445e-01 -6.14008054e-01 -1.91487927e-02 1.93440577e+02] [ 2.38418231e-02 -5.38332206e-04 9.99715598e-01 5.47995765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:193.46, Z:5.48 [[-6.15119112e-01 -7.88311618e-01 1.39022257e-02 8.30543872e+01] [ 7.88089636e-01 -6.15275942e-01 -1.87147305e-02 1.93462925e+02] [ 2.33067445e-02 -5.55588394e-04 9.99728207e-01 5.48066250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:193.49, Z:5.48 [[-6.15845251e-01 -7.87748181e-01 1.36905277e-02 8.30382909e+01] [ 7.87533078e-01 -6.15997151e-01 -1.84163058e-02 1.93485144e+02] [ 2.29407374e-02 -5.59851064e-04 9.99736670e-01 5.48152260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:193.51, Z:5.48 [[-6.16534437e-01 -7.87212994e-01 1.34532665e-02 8.30215839e+01] [ 7.87005455e-01 -6.16680944e-01 -1.80839065e-02 1.93506874e+02] [ 2.25322593e-02 -5.61557023e-04 9.99745959e-01 5.48261280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:193.53, Z:5.48 [[-6.17326091e-01 -7.86600423e-01 1.29720155e-02 8.30065361e+01] [ 7.86407590e-01 -6.17462118e-01 -1.74251442e-02 1.93528287e+02] [ 2.17163539e-02 -5.55704690e-04 9.99764018e-01 5.48347611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60275509600007 meters Centerline goodness [0,1] 0.9999354088619041 Centerline is valid? [True, True] Translation: X:82.99, Y:193.55, Z:5.48 [[-6.17691710e-01 -7.86315386e-01 1.28477731e-02 8.29938988e+01] [ 7.86126409e-01 -6.17825063e-01 -1.72470641e-02 1.93550019e+02] [ 2.14993080e-02 -5.53394774e-04 9.99768710e-01 5.48312494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:193.57, Z:5.48 [[-6.18177298e-01 -7.85929893e-01 1.30778876e-02 8.29756506e+01] [ 7.85734327e-01 -6.18315357e-01 -1.75410021e-02 1.93568879e+02] [ 2.18722566e-02 -5.67704047e-04 9.99760612e-01 5.48432123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:193.59, Z:5.48 [[-6.18619327e-01 -7.85583501e-01 1.29880864e-02 8.29584678e+01] [ 7.85390836e-01 -6.18755396e-01 -1.74067225e-02 1.93590114e+02] [ 2.17108825e-02 -5.67410943e-04 9.99764130e-01 5.48478705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:193.61, Z:5.48 [[-6.18979103e-01 -7.85307504e-01 1.25297447e-02 8.29446286e+01] [ 7.85128402e-01 -6.19105663e-01 -1.67800294e-02 1.93612222e+02] [ 2.09347190e-02 -5.49029095e-04 9.99780694e-01 5.48490178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:193.63, Z:5.49 [[-6.18862972e-01 -7.85406681e-01 1.20402606e-02 8.29256553e+01] [ 7.85241564e-01 -6.18979869e-01 -1.61123554e-02 1.93632560e+02] [ 2.01074305e-02 -5.16827099e-04 9.99797692e-01 5.48652360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:193.65, Z:5.49 [[-6.18383867e-01 -7.85786982e-01 1.18411179e-02 8.29097100e+01] [ 7.85627573e-01 -6.18497033e-01 -1.58346886e-02 1.93653595e+02] [ 1.97663884e-02 -4.89207247e-04 9.99804506e-01 5.48692402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:193.67, Z:5.49 [[-6.18070306e-01 -7.86033330e-01 1.18617255e-02 8.28936862e+01] [ 7.85873611e-01 -6.18183935e-01 -1.58521545e-02 1.93673475e+02] [ 1.97930499e-02 -4.75928966e-04 9.99803985e-01 5.48741019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:193.69, Z:5.49 [[-6.17469306e-01 -7.86516072e-01 1.11411223e-02 8.28755976e+01] [ 7.86375463e-01 -6.17569662e-01 -1.48776063e-02 1.93693588e+02] [ 1.85818956e-02 -4.25360064e-04 9.99827251e-01 5.48797823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:193.71, Z:5.49 [[-6.15601817e-01 -7.87983631e-01 1.07795818e-02 8.28591649e+01] [ 7.87852393e-01 -6.15696082e-01 -1.43854524e-02 1.93714785e+02] [ 1.79724473e-02 -3.62991318e-04 9.99838417e-01 5.48841511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.84, Y:193.73, Z:5.49 [[-6.14843843e-01 -7.88573565e-01 1.08986928e-02 8.28407652e+01] [ 7.88439701e-01 -6.14940335e-01 -1.45335113e-02 1.93734584e+02] [ 1.81627886e-02 -3.42877852e-04 9.99834984e-01 5.48913818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:193.75, Z:5.49 [[-6.12805290e-01 -7.90156692e-01 1.10489281e-02 8.28232383e+01] [ 7.90019583e-01 -6.12904818e-01 -1.47221868e-02 1.93754668e+02] [ 1.84047757e-02 -2.92964356e-04 9.99830575e-01 5.48884811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.81, Y:193.77, Z:5.49 [[-6.11852810e-01 -7.90891513e-01 1.12584782e-02 8.28068533e+01] [ 7.90749500e-01 -6.11956324e-01 -1.49894968e-02 1.93774781e+02] [ 1.87447627e-02 -2.68729680e-04 9.99824265e-01 5.48876227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:193.80, Z:5.49 [[-6.10972747e-01 -7.91574167e-01 1.10743503e-02 8.27894829e+01] [ 7.91437090e-01 -6.11073059e-01 -1.47325984e-02 1.93795069e+02] [ 1.84291814e-02 -2.36564531e-04 9.99830140e-01 5.48919488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:193.81, Z:5.49 [[-6.08733066e-01 -7.93298677e-01 1.10119801e-02 8.27721118e+01] [ 7.93163638e-01 -6.08832636e-01 -1.46377779e-02 1.93814340e+02] [ 1.83165827e-02 -1.76197272e-04 9.99832222e-01 5.48910846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:193.83, Z:5.49 [[-6.06922487e-01 -7.94687351e-01 1.08216950e-02 8.27537250e+01] [ 7.94557358e-01 -6.07018944e-01 -1.43738045e-02 1.93833753e+02] [ 1.79916545e-02 -1.25327786e-04 9.99838129e-01 5.48922408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.74, Y:193.85, Z:5.49 [[-6.06510816e-01 -7.94999303e-01 1.09881436e-02 8.27382500e+01] [ 7.94865554e-01 -6.06610333e-01 -1.45826533e-02 1.93854178e+02] [ 1.82587207e-02 -1.10440096e-04 9.99833290e-01 5.48917895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:193.87, Z:5.49 [[-6.06246820e-01 -7.95204906e-01 1.06747472e-02 8.27214435e+01] [ 7.95078920e-01 -6.06340786e-01 -1.41549698e-02 1.93874247e+02] [ 1.77286361e-02 -9.41389706e-05 9.99842831e-01 5.48995520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.70, Y:193.89, Z:5.49 [[-6.05852642e-01 -7.95506900e-01 1.05522220e-02 8.27048666e+01] [ 7.95384034e-01 -6.05944524e-01 -1.39811341e-02 1.93894638e+02] [ 1.75161498e-02 -7.74380845e-05 9.99846577e-01 5.49031780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:193.91, Z:5.49 [[-6.04982588e-01 -7.96177107e-01 9.90364269e-03 8.26881710e+01] [ 7.96069138e-01 -6.05063642e-01 -1.31116807e-02 1.93914925e+02] [ 1.64315541e-02 -4.83542266e-05 9.99864992e-01 5.49136874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:193.94, Z:5.49 [[-6.04627709e-01 -7.96448948e-01 9.71627710e-03 8.26721277e+01] [ 7.96345229e-01 -6.04705773e-01 -1.28532062e-02 1.93935568e+02] [ 1.61124114e-02 -3.38937247e-05 9.99870186e-01 5.49219110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:193.96, Z:5.49 [[-6.04452929e-01 -7.96588198e-01 9.15964141e-03 8.26565719e+01] [ 7.96496181e-01 -6.04522325e-01 -1.21075425e-02 1.93956153e+02] [ 1.51819332e-02 -2.28201429e-05 9.99884748e-01 5.49318090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:193.98, Z:5.49 [[-6.04392673e-01 -7.96635107e-01 9.05559309e-03 8.26406192e+01] [ 7.96545324e-01 -6.04460509e-01 -1.19599227e-02 1.93977137e+02] [ 1.50014427e-02 -1.52992980e-05 9.99887472e-01 5.49406356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:194.00, Z:5.50 [[-6.04779116e-01 -7.96347483e-01 8.53852858e-03 8.26261663e+01] [ 7.96267755e-01 -6.04839389e-01 -1.12683522e-02 1.93998579e+02] [ 1.41379623e-02 -1.59091091e-05 9.99900054e-01 5.49529740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:194.02, Z:5.50 [[-6.05173084e-01 -7.96050986e-01 8.26832652e-03 8.26107277e+01] [ 7.95976322e-01 -6.05229565e-01 -1.09026776e-02 1.94020485e+02] [ 1.36833229e-02 -1.66148828e-05 9.99906379e-01 5.49616936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:194.04, Z:5.50 [[-6.06256093e-01 -7.95234126e-01 7.49901741e-03 8.25973564e+01] [ 7.95172733e-01 -6.06302470e-01 -9.88129917e-03 1.94042340e+02] [ 1.24046191e-02 -2.75836567e-05 9.99923059e-01 5.49786542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:194.06, Z:5.50 [[-6.07343430e-01 -7.94408812e-01 6.97119670e-03 8.25825443e+01] [ 7.94355785e-01 -6.07383436e-01 -9.17875418e-03 1.94064177e+02] [ 1.15258726e-02 -3.70456232e-05 9.99933574e-01 5.49873630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:194.09, Z:5.50 [[-6.08261806e-01 -7.93706885e-01 6.85239654e-03 8.25673618e+01] [ 7.93655689e-01 -6.08300401e-01 -9.01490528e-03 1.94086925e+02] [ 1.13235080e-02 -4.49790684e-05 9.99935886e-01 5.49939182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.55, Y:194.11, Z:5.50 [[-6.09236774e-01 -7.92963291e-01 6.30653160e-03 8.25536325e+01] [ 7.92919952e-01 -6.09269412e-01 -8.29055551e-03 1.94108848e+02] [ 1.04164830e-02 -5.03365578e-05 9.99945746e-01 5.50110315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:194.13, Z:5.50 [[-6.10683855e-01 -7.91855306e-01 5.51394478e-03 8.25405921e+01] [ 7.91822150e-01 -6.10708745e-01 -7.24655210e-03 1.94132293e+02] [ 9.10563502e-03 -5.92887663e-05 9.99958541e-01 5.50263698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:194.15, Z:5.50 [[-6.10996353e-01 -7.91614187e-01 5.51680702e-03 8.25246805e+01] [ 7.91581041e-01 -6.11021256e-01 -7.24437177e-03 1.94152760e+02] [ 9.10563382e-03 -5.92848876e-05 9.99958541e-01 5.50304094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.51, Y:194.18, Z:5.50 [[-6.11848022e-01 -7.90957966e-01 5.24343799e-03 8.25097396e+01] [ 7.90928044e-01 -6.11870486e-01 -6.88025994e-03 1.94175189e+02] [ 8.65030136e-03 -6.24912808e-05 9.99962584e-01 5.50426134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:194.20, Z:5.51 [[-6.12554874e-01 -7.90413370e-01 4.81989757e-03 8.24941184e+01] [ 7.90388107e-01 -6.12573833e-01 -6.31975376e-03 1.94198052e+02] [ 7.94776099e-03 -6.16062552e-05 9.99968414e-01 5.50503982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:194.22, Z:5.51 [[-6.13088454e-01 -7.90002212e-01 4.36490856e-03 8.24792002e+01] [ 7.89981506e-01 -6.13103989e-01 -5.72001285e-03 1.94219303e+02] [ 7.19496565e-03 -5.86767952e-05 9.99974114e-01 5.50623130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:194.24, Z:5.51 [[-6.12949704e-01 -7.90112997e-01 3.75680852e-03 8.24631761e+01] [ 7.90097672e-01 -6.12961215e-01 -4.92117299e-03 1.94238996e+02] [ 6.19106065e-03 -4.81858561e-05 9.99980834e-01 5.50791933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:194.26, Z:5.51 [[-6.13309031e-01 -7.89835126e-01 3.53634876e-03 8.24461893e+01] [ 7.89821564e-01 -6.13319225e-01 -4.62876032e-03 1.94259875e+02] [ 5.82486817e-03 -4.57759986e-05 9.99983034e-01 5.50836527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:194.28, Z:5.51 [[-6.13604763e-01 -7.89607243e-01 3.09794261e-03 8.24303012e+01] [ 7.89596841e-01 -6.13612581e-01 -4.05315700e-03 1.94279544e+02] [ 5.10133869e-03 -4.09107409e-05 9.99986987e-01 5.50931001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:194.30, Z:5.51 [[-6.14280901e-01 -7.89084337e-01 2.20966347e-03 8.24138166e+01] [ 7.89079044e-01 -6.14284875e-01 -2.89061677e-03 1.94299613e+02] [ 3.63830327e-03 -3.20515385e-05 9.99993381e-01 5.51077696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:194.32, Z:5.51 [[-6.14976876e-01 -7.88542435e-01 2.06656340e-03 8.23966455e+01] [ 7.88537806e-01 -6.14980347e-01 -2.70209437e-03 1.94320376e+02] [ 3.40161195e-03 -3.21621858e-05 9.99994214e-01 5.50987592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:194.34, Z:5.51 [[-6.16777312e-01 -7.87136136e-01 1.56548576e-03 8.23813241e+01] [ 7.87133474e-01 -6.16779298e-01 -2.04715427e-03 1.94343096e+02] [ 2.57694831e-03 -3.03920645e-05 9.99996679e-01 5.51135814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:194.36, Z:5.51 [[-6.18098780e-01 -7.86098273e-01 1.84510725e-03 8.23644799e+01] [ 7.86094580e-01 -6.18101532e-01 -2.40981326e-03 1.94364450e+02] [ 3.03481366e-03 -3.90738216e-05 9.99995394e-01 5.51021268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:194.39, Z:5.51 [[-6.19385424e-01 -7.85085009e-01 1.79584020e-03 8.23481940e+01] [ 7.85081511e-01 -6.19388026e-01 -2.34395957e-03 1.94386207e+02] [ 2.95252944e-03 -4.19334513e-05 9.99995640e-01 5.50983266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:194.41, Z:5.51 [[-6.21495524e-01 -7.83415297e-01 1.94592682e-03 8.23326487e+01] [ 7.83411195e-01 -6.21498568e-01 -2.53553318e-03 1.94407526e+02] [ 3.19576621e-03 -5.13616660e-05 9.99994892e-01 5.50882219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:194.43, Z:5.51 [[-6.22871622e-01 -7.82321002e-01 2.18915936e-03 8.23163709e+01] [ 7.82315805e-01 -6.22875466e-01 -2.85223545e-03 1.94428810e+02] [ 3.59493735e-03 -6.39625525e-05 9.99993536e-01 5.50805265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:194.45, Z:5.50 [[-6.26129472e-01 -7.79711888e-01 3.35511281e-03 8.22990694e+01] [ 7.79699699e-01 -6.26138450e-01 -4.36130863e-03 1.94451299e+02] [ 5.50132932e-03 -1.14763423e-04 9.99984861e-01 5.50477948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:194.47, Z:5.50 [[-6.27889989e-01 -7.78293565e-01 3.64533177e-03 8.22824877e+01] [ 7.78279173e-01 -6.27900556e-01 -4.73499644e-03 1.94473366e+02] [ 5.97412310e-03 -1.35971066e-04 9.99982146e-01 5.50361096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:194.50, Z:5.50 [[-6.29775909e-01 -7.76766044e-01 4.10085937e-03 8.22677321e+01] [ 7.76747842e-01 -6.29789239e-01 -5.32025327e-03 1.94495561e+02] [ 6.71526918e-03 -1.65233672e-04 9.99977439e-01 5.50291778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:194.52, Z:5.50 [[-6.31784693e-01 -7.75129649e-01 4.70406327e-03 8.22513568e+01] [ 7.75105671e-01 -6.31802171e-01 -6.10043335e-03 1.94517472e+02] [ 7.70066415e-03 -2.08014294e-04 9.99970328e-01 5.50172077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:194.54, Z:5.50 [[-6.34558522e-01 -7.72853116e-01 5.79158124e-03 8.22370559e+01] [ 7.72816745e-01 -6.34584887e-01 -7.50327493e-03 1.94539527e+02] [ 9.47417934e-03 -2.85436081e-04 9.99955078e-01 5.49894424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:194.56, Z:5.50 [[-6.35631823e-01 -7.71963165e-01 6.71242608e-03 8.22187292e+01] [ 7.71914351e-01 -6.35667173e-01 -8.68789374e-03 1.94560126e+02] [ 1.09736029e-02 -3.40883719e-04 9.99939730e-01 5.49703035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:194.58, Z:5.49 [[-6.36247192e-01 -7.71439731e-01 8.38165903e-03 8.22009647e+01] [ 7.71363712e-01 -6.36302252e-01 -1.08382405e-02 1.94580073e+02] [ 1.36943179e-02 -4.30492476e-04 9.99906136e-01 5.49309627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:194.60, Z:5.49 [[-6.36187389e-01 -7.71479164e-01 9.24698183e-03 8.21812768e+01] [ 7.71386795e-01 -6.36254416e-01 -1.19470308e-02 1.94599762e+02] [ 1.51003184e-02 -4.67550675e-04 9.99885874e-01 5.49064334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:194.62, Z:5.49 [[-6.35803844e-01 -7.71779368e-01 1.04918627e-02 8.21647666e+01] [ 7.71660687e-01 -6.35890196e-01 -1.35441275e-02 1.94619069e+02] [ 1.71247508e-02 -5.15250354e-04 9.99853228e-01 5.48856615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:194.63, Z:5.48 [[-6.32672001e-01 -7.74320749e-01 1.23901907e-02 8.21397167e+01] [ 7.74156018e-01 -6.32793102e-01 -1.59797025e-02 1.94633965e+02] [ 2.02138424e-02 -5.17969684e-04 9.99795545e-01 5.48408341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:194.65, Z:5.48 [[-6.31287243e-01 -7.75429569e-01 1.36161646e-02 8.21218888e+01] [ 7.75231185e-01 -6.31433854e-01 -1.75470364e-02 1.94653084e+02] [ 2.22041982e-02 -5.21544859e-04 9.99753320e-01 5.48188851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:194.67, Z:5.48 [[-6.29658973e-01 -7.76729734e-01 1.48491690e-02 8.21021975e+01] [ 7.76494515e-01 -6.29833836e-01 -1.91208715e-02 1.94671803e+02] [ 2.42042585e-02 -5.09330076e-04 9.99706904e-01 5.47998226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:194.69, Z:5.48 [[-6.26582741e-01 -7.79177083e-01 1.66475724e-02 8.20793219e+01] [ 7.78882742e-01 -6.26803690e-01 -2.14198014e-02 1.94687624e+02] [ 2.71245782e-02 -4.54771072e-04 9.99631958e-01 5.47611875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:194.71, Z:5.48 [[-6.25138761e-01 -7.80324694e-01 1.71726847e-02 8.20588619e+01] [ 7.80012404e-01 -6.25374453e-01 -2.20781224e-02 1.94705252e+02] [ 2.79674624e-02 -4.06983019e-04 9.99608751e-01 5.47524424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:194.72, Z:5.47 [[-6.23677231e-01 -7.81482035e-01 1.76788135e-02 8.20378818e+01] [ 7.81152056e-01 -6.23927643e-01 -2.27103960e-02 1.94722926e+02] [ 2.87780669e-02 -3.54115409e-04 9.99585763e-01 5.47468766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:194.74, Z:5.47 [[-6.21310633e-01 -7.83360719e-01 1.78628401e-02 8.20132369e+01] [ 7.83025147e-01 -6.21567307e-01 -2.29281827e-02 1.94737112e+02] [ 2.90639951e-02 -2.58470752e-04 9.99577519e-01 5.47385088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:194.75, Z:5.47 [[-6.20570674e-01 -7.83951823e-01 1.76515684e-02 8.19946509e+01] [ 7.83624915e-01 -6.20821627e-01 -2.26384591e-02 1.94754508e+02] [ 2.87059367e-02 -2.16554993e-04 9.99587876e-01 5.47361324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.98, Y:194.77, Z:5.47 [[-6.20012213e-01 -7.84395049e-01 1.75858748e-02 8.19759290e+01] [ 7.84071279e-01 -6.20261537e-01 -2.25356598e-02 1.94773085e+02] [ 2.85847018e-02 -1.83804965e-04 9.99591357e-01 5.47408074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:194.79, Z:5.47 [[-6.19230736e-01 -7.85017497e-01 1.73442765e-02 8.19549715e+01] [ 7.84703307e-01 -6.19473574e-01 -2.22083540e-02 1.94790180e+02] [ 2.81782675e-02 -1.41984271e-04 9.99602904e-01 5.47451429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:194.81, Z:5.48 [[-6.19329088e-01 -7.84946428e-01 1.70465516e-02 8.19357836e+01] [ 7.84643394e-01 -6.19563626e-01 -2.18095510e-02 1.94809238e+02] [ 2.76807525e-02 -1.31825220e-04 9.99616806e-01 5.47547005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:194.83, Z:5.48 [[-6.20147820e-01 -7.84302578e-01 1.69158912e-02 8.19151634e+01] [ 7.84004423e-01 -6.20378468e-01 -2.16245473e-02 1.94826397e+02] [ 2.74544429e-02 -1.48282331e-04 9.99623045e-01 5.47563395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:194.85, Z:5.47 [[-6.21163260e-01 -7.83496217e-01 1.70259278e-02 8.18972284e+01] [ 7.83194338e-01 -6.21396530e-01 -2.17481258e-02 1.94846338e+02] [ 2.76194268e-02 -1.74526495e-04 9.99618496e-01 5.47480562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:194.87, Z:5.48 [[-6.23895671e-01 -7.81328184e-01 1.67469529e-02 8.18777226e+01] [ 7.81035791e-01 -6.24120344e-01 -2.13749897e-02 1.94865090e+02] [ 2.71529958e-02 -2.55793951e-04 9.99631257e-01 5.47630111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:194.89, Z:5.48 [[-6.25567804e-01 -7.79989621e-01 1.67664697e-02 8.18614137e+01] [ 7.79696570e-01 -6.25792378e-01 -2.13812698e-02 1.94886087e+02] [ 2.71694974e-02 -3.02675105e-04 9.99630795e-01 5.47584123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:194.91, Z:5.48 [[-6.27278383e-01 -7.78612520e-01 1.68634144e-02 8.18453009e+01] [ 7.78316070e-01 -6.27504916e-01 -2.14866384e-02 1.94906685e+02] [ 2.73116411e-02 -3.53037318e-04 9.99626905e-01 5.47608044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:194.93, Z:5.47 [[-6.28892085e-01 -7.77308048e-01 1.69394548e-02 8.18318727e+01] [ 7.77008960e-01 -6.29120052e-01 -2.15646986e-02 1.94928234e+02] [ 2.74193645e-02 -3.99760107e-04 9.99623939e-01 5.47446626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:194.95, Z:5.48 [[-6.30589708e-01 -7.75934201e-01 1.68147672e-02 8.18132088e+01] [ 7.75639520e-01 -6.30813696e-01 -2.13873061e-02 1.94947469e+02] [ 2.72021277e-02 -4.44417150e-04 9.99629855e-01 5.47790931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:194.97, Z:5.48 [[-6.33632806e-01 -7.73446437e-01 1.70316251e-02 8.17995709e+01] [ 7.73143728e-01 -6.33861428e-01 -2.16440488e-02 1.94968995e+02] [ 2.75362027e-02 -5.46485255e-04 9.99620658e-01 5.47811445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:194.99, Z:5.48 [[-6.34976874e-01 -7.72340045e-01 1.71820951e-02 8.17826863e+01] [ 7.72032105e-01 -6.35209028e-01 -2.18155760e-02 1.94989016e+02] [ 2.77632649e-02 -5.87257199e-04 9.99614354e-01 5.47916211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:195.01, Z:5.48 [[-6.36124156e-01 -7.71398456e-01 1.70434936e-02 8.17655198e+01] [ 7.71095642e-01 -6.36352142e-01 -2.16208683e-02 1.95009041e+02] [ 2.75239680e-02 -6.11392957e-04 9.99620957e-01 5.48011800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:195.03, Z:5.48 [[-6.37601646e-01 -7.70176490e-01 1.70972397e-02 8.17484199e+01] [ 7.69871840e-01 -6.37830499e-01 -2.16703426e-02 1.95029532e+02] [ 2.75951293e-02 -6.54362657e-04 9.99618968e-01 5.48175027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.73, Y:195.05, Z:5.48 [[-6.38157423e-01 -7.69711579e-01 1.72970840e-02 8.17319656e+01] [ 7.69400127e-01 -6.38391444e-01 -2.19045434e-02 1.95050194e+02] [ 2.79024911e-02 -6.70168359e-04 9.99610425e-01 5.48240159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:195.07, Z:5.48 [[-6.37863396e-01 -7.69950699e-01 1.74988459e-02 8.17170166e+01] [ 7.69632599e-01 -6.38103042e-01 -2.21397840e-02 1.95070306e+02] [ 2.82126090e-02 -6.54475520e-04 9.99601731e-01 5.48267560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:195.09, Z:5.48 [[-6.37811172e-01 -7.69989295e-01 1.77029833e-02 8.16992938e+01] [ 7.69664332e-01 -6.38056477e-01 -2.23774057e-02 1.95089626e+02] [ 2.85258659e-02 -6.47204540e-04 9.99592845e-01 5.48427083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:195.11, Z:5.48 [[-6.37317979e-01 -7.70396731e-01 1.77389500e-02 8.16826100e+01] [ 7.70071181e-01 -6.37564503e-01 -2.24026868e-02 1.95109603e+02] [ 2.85686815e-02 -6.17380923e-04 9.99591641e-01 5.48487027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:195.13, Z:5.49 [[-6.35477385e-01 -7.71924249e-01 1.73622043e-02 8.16662889e+01] [ 7.71613491e-01 -6.35714305e-01 -2.19076085e-02 1.95129612e+02] [ 2.79484159e-02 -5.24878711e-04 9.99609229e-01 5.48654236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.65, Y:195.15, Z:5.49 [[-6.34426320e-01 -7.72797657e-01 1.69418507e-02 8.16485488e+01] [ 7.72502566e-01 -6.34652320e-01 -2.13592642e-02 1.95150577e+02] [ 2.72585742e-02 -4.63256268e-04 9.99628309e-01 5.48940524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:195.17, Z:5.49 [[-6.33450725e-01 -7.73613190e-01 1.62114750e-02 8.16316487e+01] [ 7.73343686e-01 -6.33658010e-01 -2.04223050e-02 1.95172153e+02] [ 2.60714955e-02 -3.99482078e-04 9.99660001e-01 5.49145403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.62, Y:195.19, Z:5.49 [[-6.31259089e-01 -7.75421995e-01 1.52542347e-02 8.16158673e+01] [ 7.75184283e-01 -6.31443300e-01 -1.92011758e-02 1.95193438e+02] [ 2.45211984e-02 -2.96073732e-04 9.99699266e-01 5.49415524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:195.21, Z:5.50 [[-6.30262782e-01 -7.76237730e-01 1.49603703e-02 8.15983060e+01] [ 7.76009704e-01 -6.30440263e-01 -1.88152819e-02 1.95213766e+02] [ 2.40367515e-02 -2.49179379e-04 9.99711045e-01 5.49590365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:195.23, Z:5.50 [[-6.27528253e-01 -7.78454705e-01 1.47161292e-02 8.15815195e+01] [ 7.78235053e-01 -6.27700765e-01 -1.84919614e-02 1.95234533e+02] [ 2.36324799e-02 -1.51620627e-04 9.99720702e-01 5.49737938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:195.25, Z:5.50 [[-6.26196488e-01 -7.79528915e-01 1.45817962e-02 8.15652213e+01] [ 7.79313894e-01 -6.26366235e-01 -1.83083081e-02 1.95254173e+02] [ 2.34054004e-02 -1.00801837e-04 9.99726051e-01 5.49901258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:195.27, Z:5.50 [[-6.24734388e-01 -7.80706038e-01 1.43187879e-02 8.15489918e+01] [ 7.80499311e-01 -6.24898456e-01 -1.79651223e-02 1.95274582e+02] [ 2.29732679e-02 -4.76255977e-05 9.99736079e-01 5.50037331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:195.30, Z:5.50 [[-6.22000816e-01 -7.82893373e-01 1.38906970e-02 8.15335659e+01] [ 7.82699672e-01 -6.22155901e-01 -1.74142994e-02 1.95296183e+02] [ 2.22757187e-02 4.05355924e-05 9.99751865e-01 5.50271586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:195.32, Z:5.50 [[-6.21219626e-01 -7.83517438e-01 1.36601650e-02 8.15183235e+01] [ 7.83330565e-01 -6.21369793e-01 -1.71115939e-02 1.95316880e+02] [ 2.18952460e-02 7.03667912e-05 9.99760268e-01 5.50346769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:195.34, Z:5.51 [[-6.20323556e-01 -7.84232132e-01 1.33659776e-02 8.15045481e+01] [ 7.84053678e-01 -6.20467528e-01 -1.67295042e-02 1.95339600e+02] [ 2.14129698e-02 1.01938346e-04 9.99770711e-01 5.50535352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:195.36, Z:5.51 [[-6.20423905e-01 -7.84161625e-01 1.28344947e-02 8.14898328e+01] [ 7.83997325e-01 -6.20556634e-01 -1.60517569e-02 1.95361918e+02] [ 2.05517026e-02 1.03315812e-04 9.99788786e-01 5.50679779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.48, Y:195.38, Z:5.51 [[-6.20927563e-01 -7.83769042e-01 1.24519020e-02 8.14758184e+01] [ 7.83614564e-01 -6.21052397e-01 -1.55606855e-02 1.95383601e+02] [ 1.99292671e-02 9.54332040e-05 9.99801388e-01 5.50808967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:195.41, Z:5.51 [[-6.22169475e-01 -7.82795736e-01 1.16610347e-02 8.14647835e+01] [ 7.82660306e-01 -6.22278741e-01 -1.45607040e-02 1.95408217e+02] [ 1.86544710e-02 6.74033552e-05 9.99825988e-01 5.51097983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:195.43, Z:5.51 [[-6.23179820e-01 -7.81996953e-01 1.12993936e-02 8.14510701e+01] [ 7.81869863e-01 -6.23282249e-01 -1.40980347e-02 1.95430953e+02] [ 1.80673317e-02 4.90445477e-05 9.99836771e-01 5.51236501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:195.45, Z:5.51 [[-6.23490536e-01 -7.81749159e-01 1.13050101e-02 8.14346651e+01] [ 7.81622110e-01 -6.23593016e-01 -1.40935297e-02 1.95451005e+02] [ 1.80673304e-02 4.90634827e-05 9.99836771e-01 5.51276894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:195.47, Z:5.51 [[-6.24581755e-01 -7.80881621e-01 1.10238253e-02 8.14215078e+01] [ 7.80760872e-01 -6.24679032e-01 -1.37320024e-02 1.95472753e+02] [ 1.76094208e-02 3.02133020e-05 9.99844942e-01 5.51376799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:195.50, Z:5.52 [[-6.26225201e-01 -7.79566371e-01 1.08752174e-02 8.14106165e+01] [ 7.79448853e-01 -6.26319625e-01 -1.35356091e-02 1.95497643e+02] [ 1.73632677e-02 3.36188970e-07 9.99849247e-01 5.51503032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:195.52, Z:5.52 [[-6.26775113e-01 -7.79122595e-01 1.09972774e-02 8.13971072e+01] [ 7.79002552e-01 -6.26871584e-01 -1.36763187e-02 1.95519067e+02] [ 1.75494096e-02 -5.06901401e-06 9.99845997e-01 5.51565855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:195.54, Z:5.52 [[-6.26771689e-01 -7.79123087e-01 1.11563753e-02 8.13842114e+01] [ 7.78999755e-01 -6.26870972e-01 -1.38624338e-02 1.95542340e+02] [ 1.77941500e-02 2.23258627e-06 9.99841672e-01 5.51656503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:195.56, Z:5.52 [[-6.26373187e-01 -7.79441990e-01 1.12612022e-02 8.13690271e+01] [ 7.79316585e-01 -6.26474408e-01 -1.39813209e-02 1.95564128e+02] [ 1.79524836e-02 1.85170776e-05 9.99838841e-01 5.51721140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:195.59, Z:5.52 [[-6.25952415e-01 -7.79775269e-01 1.15803385e-02 8.13538864e+01] [ 7.79642929e-01 -6.26059525e-01 -1.43657354e-02 1.95585577e+02] [ 1.84520264e-02 3.62622759e-05 9.99829746e-01 5.51801388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:195.61, Z:5.52 [[-6.25518807e-01 -7.80123065e-01 1.15855705e-02 8.13399452e+01] [ 7.79990877e-01 -6.25626087e-01 -1.43607403e-02 1.95608233e+02] [ 1.84513798e-02 5.37261598e-05 9.99829757e-01 5.51915859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:195.63, Z:5.52 [[-6.25552767e-01 -7.80092239e-01 1.18251384e-02 8.13245593e+01] [ 7.79954746e-01 -6.25664522e-01 -1.46457902e-02 1.95629062e+02] [ 1.88236368e-02 6.13582227e-05 9.99822818e-01 5.51985193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:195.65, Z:5.52 [[-6.25806514e-01 -7.79891043e-01 1.16691669e-02 8.13092445e+01] [ 7.79757336e-01 -6.25915296e-01 -1.44408993e-02 1.95651078e+02] [ 1.85662381e-02 6.19096351e-05 9.99827631e-01 5.52075043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:195.68, Z:5.52 [[-6.26253479e-01 -7.79526696e-01 1.20295785e-02 8.12963820e+01] [ 7.79384764e-01 -6.26369003e-01 -1.48749084e-02 1.95675216e+02] [ 1.91303433e-02 6.02070507e-05 9.99816996e-01 5.52150858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:195.70, Z:5.52 [[-6.26997029e-01 -7.78928144e-01 1.20694587e-02 8.12821758e+01] [ 7.78785383e-01 -6.27113182e-01 -1.49125159e-02 1.95697181e+02] [ 1.91846950e-02 4.94148159e-05 9.99815956e-01 5.52234216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.27, Y:195.72, Z:5.52 [[-6.28025522e-01 -7.78095195e-01 1.23211685e-02 8.12683156e+01] [ 7.77946494e-01 -6.28146374e-01 -1.52113541e-02 1.95718714e+02] [ 1.95753788e-02 3.20912061e-05 9.99808383e-01 5.52334082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:195.74, Z:5.52 [[-6.29945134e-01 -7.76547350e-01 1.19725096e-02 8.12566882e+01] [ 7.76406889e-01 -6.30058896e-01 -1.47692259e-02 1.95741446e+02] [ 1.90123895e-02 -8.26304796e-06 9.99819248e-01 5.52437559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:195.76, Z:5.53 [[-6.31294793e-01 -7.75450000e-01 1.20075954e-02 8.12420752e+01] [ 7.75308742e-01 -6.31408977e-01 -1.48006225e-02 1.95763261e+02] [ 1.90588462e-02 -3.39621987e-05 9.99818363e-01 5.52539506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:195.79, Z:5.53 [[-6.32730804e-01 -7.74280140e-01 1.19161795e-02 8.12284310e+01] [ 7.74141038e-01 -6.32842999e-01 -1.46762092e-02 1.95785013e+02] [ 1.89045681e-02 -6.12860131e-05 9.99821291e-01 5.52590356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:195.81, Z:5.53 [[-6.36044203e-01 -7.71558616e-01 1.20447003e-02 8.12168647e+01] [ 7.71416240e-01 -6.36158223e-01 -1.48223071e-02 1.95810198e+02] [ 1.90986139e-02 -1.36165088e-04 9.99817596e-01 5.52777474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:195.83, Z:5.53 [[-6.37444017e-01 -7.70402131e-01 1.20699245e-02 8.12021496e+01] [ 7.70259165e-01 -6.37558256e-01 -1.48421234e-02 1.95831784e+02] [ 1.91296835e-02 -1.64052824e-04 9.99816997e-01 5.52939085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:195.85, Z:5.53 [[-6.37638660e-01 -7.70251063e-01 1.14122190e-02 8.11864229e+01] [ 7.70123423e-01 -6.37740759e-01 -1.40227474e-02 1.95850689e+02] [ 1.80790733e-02 -1.52628663e-04 9.99836549e-01 5.53186113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.17, Y:195.87, Z:5.53 [[-6.38754903e-01 -7.69319768e-01 1.18012161e-02 8.11696854e+01] [ 7.69183311e-01 -6.38863884e-01 -1.44903810e-02 1.95872210e+02] [ 1.86871073e-02 -1.78503403e-04 9.99825365e-01 5.53308797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:195.89, Z:5.53 [[-6.40178586e-01 -7.68131555e-01 1.20537227e-02 8.11546067e+01] [ 7.67989195e-01 -6.40292019e-01 -1.47894231e-02 1.95893692e+02] [ 1.90781250e-02 -2.10743171e-04 9.99817974e-01 5.53356768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:195.92, Z:5.53 [[-6.42115636e-01 -7.66517175e-01 1.17868521e-02 8.11393125e+01] [ 7.66380976e-01 -6.42223761e-01 -1.44513406e-02 1.95916328e+02] [ 1.86469973e-02 -2.46212551e-04 9.99826099e-01 5.53455564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:195.94, Z:5.54 [[-6.43453627e-01 -7.65396999e-01 1.16130970e-02 8.11238327e+01] [ 7.65264789e-01 -6.43558360e-01 -1.42281867e-02 1.95937464e+02] [ 1.83639171e-02 -2.68084151e-04 9.99831333e-01 5.53541345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:195.96, Z:5.54 [[-6.44721490e-01 -7.64332473e-01 1.14048943e-02 8.11066168e+01] [ 7.64204987e-01 -6.44822293e-01 -1.39623887e-02 1.95958863e+02] [ 1.80260372e-02 -2.86174910e-04 9.99837477e-01 5.53641060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:195.98, Z:5.54 [[-6.46908751e-01 -7.62482079e-01 1.14081911e-02 8.10901864e+01] [ 7.62354416e-01 -6.47009250e-01 -1.39561569e-02 1.95978956e+02] [ 1.80225247e-02 -3.31275104e-04 9.99837526e-01 5.53637982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:196.00, Z:5.54 [[-6.47846327e-01 -7.61680481e-01 1.17465284e-02 8.10716931e+01] [ 7.61545209e-01 -6.47952712e-01 -1.43588761e-02 1.95999445e+02] [ 1.85480706e-02 -3.56832665e-04 9.99827906e-01 5.53623745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.06, Y:196.02, Z:5.54 [[-6.49074377e-01 -7.60624707e-01 1.23494533e-02 8.10550881e+01] [ 7.60475222e-01 -6.49191725e-01 -1.50844412e-02 1.96020348e+02] [ 1.94907615e-02 -3.99471039e-04 9.99809957e-01 5.53596457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:196.04, Z:5.54 [[-6.49335333e-01 -7.60394911e-01 1.27751854e-02 8.10383778e+01] [ 7.60235125e-01 -6.49460860e-01 -1.55931504e-02 1.96040442e+02] [ 2.01539351e-02 -4.13038844e-04 9.99796804e-01 5.53609532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.02, Y:196.06, Z:5.54 [[-6.49449013e-01 -7.60293427e-01 1.30339843e-02 8.10213206e+01] [ 7.60127333e-01 -6.49579658e-01 -1.58967362e-02 1.96060153e+02] [ 2.05527951e-02 -4.16631924e-04 9.99788682e-01 5.53618401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:196.08, Z:5.54 [[-6.49599431e-01 -7.60156477e-01 1.35170442e-02 8.10032138e+01] [ 7.59978088e-01 -6.49739908e-01 -1.64729357e-02 1.96079038e+02] [ 2.13045718e-02 -4.28152310e-04 9.99772940e-01 5.53634656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:196.10, Z:5.54 [[-6.49238197e-01 -7.60457330e-01 1.39431845e-02 8.09839774e+01] [ 7.60267886e-01 -6.49387766e-01 -1.69785376e-02 1.96097974e+02] [ 2.19659868e-02 -4.22559681e-04 9.99758629e-01 5.53579362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:196.12, Z:5.54 [[-6.49286309e-01 -7.60412595e-01 1.41412160e-02 8.09668857e+01] [ 7.60218029e-01 -6.49440150e-01 -1.72058335e-02 1.96116667e+02] [ 2.22674060e-02 -4.21104784e-04 9.99751962e-01 5.53530288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:196.13, Z:5.53 [[-6.49145363e-01 -7.60527352e-01 1.44376119e-02 8.09474642e+01] [ 7.60324897e-01 -6.49305762e-01 -1.75521383e-02 1.96134840e+02] [ 2.27233058e-02 -4.16613407e-04 9.99741706e-01 5.53476245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:196.15, Z:5.53 [[-6.49545803e-01 -7.60180823e-01 1.46753279e-02 8.09297632e+01] [ 7.59971879e-01 -6.49711423e-01 -1.78272132e-02 1.96154560e+02] [ 2.30866338e-02 -4.26754975e-04 9.99733377e-01 5.53499095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:196.17, Z:5.54 [[-6.50399560e-01 -7.59448861e-01 1.47594195e-02 8.09137840e+01] [ 7.59237654e-01 -6.50566852e-01 -1.79152306e-02 1.96174403e+02] [ 2.32076905e-02 -4.46151000e-04 9.99730566e-01 5.53525625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:196.19, Z:5.54 [[-6.51230636e-01 -7.58729561e-01 1.51033827e-02 8.08950782e+01] [ 7.58508543e-01 -6.51405579e-01 -1.83183306e-02 1.96193821e+02] [ 2.37370867e-02 -4.73413250e-04 9.99718124e-01 5.53605558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:196.21, Z:5.54 [[-6.53715405e-01 -7.56582483e-01 1.54633625e-02 8.08802702e+01] [ 7.56350509e-01 -6.53898033e-01 -1.87422286e-02 1.96214860e+02] [ 2.42915042e-02 -5.56361420e-04 9.99704763e-01 5.53552682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50275509600004 meters Centerline goodness [0,1] 0.999956655541589 Centerline is valid? [True, True] Translation: X:80.86, Y:196.24, Z:5.54 [[-6.55248655e-01 -7.55258059e-01 1.53122245e-02 8.08612026e+01] [ 7.55030506e-01 -6.55427276e-01 -1.85478294e-02 1.96235165e+02] [ 2.40444472e-02 -5.92243694e-04 9.99710715e-01 5.53749371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:196.26, Z:5.54 [[-6.58189535e-01 -7.52708216e-01 1.47267702e-02 8.08449735e+01] [ 7.52497353e-01 -6.58353945e-01 -1.78274432e-02 1.96257867e+02] [ 2.31142902e-02 -6.51980967e-04 9.99732617e-01 5.53943799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.83, Y:196.28, Z:5.54 [[-6.59711626e-01 -7.51375290e-01 1.46882008e-02 8.08303202e+01] [ 7.51165453e-01 -6.59874759e-01 -1.77697884e-02 1.96279870e+02] [ 2.30441529e-02 -6.89667032e-04 9.99734210e-01 5.53976320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:196.30, Z:5.54 [[-6.61120791e-01 -7.50137446e-01 1.45983549e-02 8.08175069e+01] [ 7.49930089e-01 -6.61281552e-01 -1.76513785e-02 1.96303066e+02] [ 2.28945827e-02 -7.21947732e-04 9.99737624e-01 5.53981594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:196.32, Z:5.54 [[-6.63298671e-01 -7.48217408e-01 1.43381954e-02 8.07955665e+01] [ 7.48017148e-01 -6.63453179e-01 -1.73270294e-02 1.96321180e+02] [ 2.24771063e-02 -7.67779504e-04 9.99747063e-01 5.54183065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:196.34, Z:5.54 [[-6.64159815e-01 -7.47450535e-01 1.44719858e-02 8.07781690e+01] [ 7.47246596e-01 -6.64316994e-01 -1.74772955e-02 1.96342881e+02] [ 2.26774000e-02 -7.93575212e-04 9.99742520e-01 5.54226526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.76, Y:196.36, Z:5.54 [[-6.64943250e-01 -7.46752694e-01 1.45219891e-02 8.07602735e+01] [ 7.46547435e-01 -6.65101311e-01 -1.75263540e-02 1.96364857e+02] [ 2.27464460e-02 -8.12677121e-04 9.99740936e-01 5.54217230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.74, Y:196.39, Z:5.54 [[-6.65681471e-01 -7.46086253e-01 1.49493148e-02 8.07438994e+01] [ 7.45868859e-01 -6.65848765e-01 -1.80296166e-02 1.96385836e+02] [ 2.34056319e-02 -8.51753364e-04 9.99725688e-01 5.54168866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.73, Y:196.41, Z:5.54 [[-6.65920129e-01 -7.45865501e-01 1.53308518e-02 8.07253321e+01] [ 7.45637146e-01 -6.66096009e-01 -1.84757335e-02 1.96405227e+02] [ 2.39922314e-02 -8.72110205e-04 9.99711765e-01 5.54184376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.71, Y:196.43, Z:5.54 [[-6.65949501e-01 -7.45831501e-01 1.57045951e-02 8.07075187e+01] [ 7.45592211e-01 -6.66134062e-01 -1.89120520e-02 1.96425802e+02] [ 2.45665698e-02 -8.85247840e-04 9.99697804e-01 5.54189503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:196.45, Z:5.54 [[-6.65352726e-01 -7.46347342e-01 1.64740899e-02 8.06896189e+01] [ 7.46084567e-01 -6.65556036e-01 -1.98237513e-02 1.96446469e+02] [ 2.57598341e-02 -8.98722680e-04 9.99667756e-01 5.54139581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:196.47, Z:5.54 [[-6.65150871e-01 -7.46528387e-01 1.64221194e-02 8.06730669e+01] [ 7.46267699e-01 -6.65352985e-01 -1.97465871e-02 1.96466720e+02] [ 2.56678940e-02 -8.79162313e-04 9.99670139e-01 5.54098986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:196.49, Z:5.54 [[-6.65073906e-01 -7.46593576e-01 1.65750274e-02 8.06552355e+01] [ 7.46328415e-01 -6.65279841e-01 -1.99155897e-02 1.96487738e+02] [ 2.58958830e-02 -8.74925091e-04 9.99664263e-01 5.54115397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:196.51, Z:5.54 [[-6.64256553e-01 -7.47319308e-01 1.66458108e-02 8.06385333e+01] [ 7.47052440e-01 -6.64464554e-01 -1.99877009e-02 1.96507661e+02] [ 2.59977460e-02 -8.41667712e-04 9.99661647e-01 5.54114077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:196.53, Z:5.54 [[-6.63724778e-01 -7.47786633e-01 1.68692466e-02 8.06191331e+01] [ 7.47513034e-01 -6.63938604e-01 -2.02433728e-02 1.96527009e+02] [ 2.63378676e-02 -8.26046417e-04 9.99652757e-01 5.54148876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.60, Y:196.55, Z:5.54 [[-6.63335323e-01 -7.48120241e-01 1.73883300e-02 8.06008990e+01] [ 7.47830073e-01 -6.63562672e-01 -2.08509447e-02 1.96547798e+02] [ 2.71372605e-02 -8.27652002e-04 9.99631374e-01 5.54139129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98275509600006 meters Centerline goodness [0,1] 0.9999563366444711 Centerline is valid? [True, True] Translation: X:80.58, Y:196.57, Z:5.54 [[-6.62020435e-01 -7.49275304e-01 1.77612969e-02 8.05833714e+01] [ 7.48973405e-01 -6.62258183e-01 -2.12823303e-02 1.96567723e+02] [ 2.77088887e-02 -7.86598561e-04 9.99615726e-01 5.53974553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:196.59, Z:5.54 [[-6.61339256e-01 -7.49878745e-01 1.76707900e-02 8.05648814e+01] [ 7.49580561e-01 -6.61574871e-01 -2.11582541e-02 1.96587320e+02] [ 2.75566756e-02 -7.47103339e-04 9.99619964e-01 5.54075282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.55, Y:196.61, Z:5.54 [[-6.60732988e-01 -7.50410571e-01 1.77734167e-02 8.05472805e+01] [ 7.50109532e-01 -6.60971602e-01 -2.12657444e-02 1.96607858e+02] [ 2.77057631e-02 -7.18969588e-04 9.99615863e-01 5.54102809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:196.63, Z:5.54 [[-6.59398391e-01 -7.51584559e-01 1.77317152e-02 8.05304486e+01] [ 7.51285783e-01 -6.59636429e-01 -2.12003117e-02 1.96627902e+02] [ 2.76303122e-02 -6.57865891e-04 9.99617994e-01 5.54098961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.51, Y:196.65, Z:5.54 [[-6.59019854e-01 -7.51913903e-01 1.78413731e-02 8.05117344e+01] [ 7.51611979e-01 -6.59261007e-01 -2.13156653e-02 1.96648245e+02] [ 2.77896667e-02 -6.37656882e-04 9.99613589e-01 5.54208593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13275509600004 meters Centerline goodness [0,1] 0.9999346675668024 Centerline is valid? [True, True] Translation: X:80.49, Y:196.67, Z:5.54 [[-6.58493643e-01 -7.52365308e-01 1.82363750e-02 8.04935637e+01] [ 7.52050485e-01 -6.58745821e-01 -2.17717957e-02 1.96668913e+02] [ 2.83934796e-02 -6.21914442e-04 9.99596630e-01 5.54161825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:196.69, Z:5.54 [[-6.58444958e-01 -7.52422916e-01 1.76066099e-02 8.04754207e+01] [ 7.52129892e-01 -6.58680051e-01 -2.10051642e-02 1.96689279e+02] [ 2.74018896e-02 -5.88286864e-04 9.99624325e-01 5.54341655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:196.71, Z:5.54 [[-6.58926523e-01 -7.52006443e-01 1.73823913e-02 8.04576395e+01] [ 7.51721094e-01 -6.59155493e-01 -2.07227566e-02 1.96709359e+02] [ 2.70413452e-02 -5.88063753e-04 9.99634143e-01 5.54482373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:196.73, Z:5.55 [[-6.60279088e-01 -7.50845520e-01 1.62028003e-02 8.04431133e+01] [ 7.50597574e-01 -6.60477603e-01 -1.93033150e-02 1.96730766e+02] [ 2.51953943e-02 -5.83792650e-04 9.99682375e-01 5.54681193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:196.75, Z:5.55 [[-6.61396940e-01 -7.49862666e-01 1.61267032e-02 8.04263051e+01] [ 7.49617084e-01 -6.61593237e-01 -1.91993615e-02 1.96752749e+02] [ 2.50662022e-02 -6.09546684e-04 9.99685608e-01 5.54759606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:196.77, Z:5.55 [[-6.61662646e-01 -7.49628076e-01 1.61335118e-02 8.04089308e+01] [ 7.49382564e-01 -6.61859031e-01 -1.91936392e-02 1.96773104e+02] [ 2.50662013e-02 -6.09541598e-04 9.99685608e-01 5.54801319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:196.80, Z:5.55 [[-6.63036732e-01 -7.48418844e-01 1.58595956e-02 8.03951518e+01] [ 7.48181590e-01 -6.63226078e-01 -1.88541134e-02 1.96795823e+02] [ 2.46292711e-02 -6.35112298e-04 9.99696452e-01 5.54783144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:196.82, Z:5.55 [[-6.65714810e-01 -7.46048772e-01 1.53304160e-02 8.03785461e+01] [ 7.45826779e-01 -6.65890948e-01 -1.82115919e-02 1.96816794e+02] [ 2.37951210e-02 -6.89891664e-04 9.99716618e-01 5.55001535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:196.84, Z:5.55 [[-6.67059653e-01 -7.44852094e-01 1.50591153e-02 8.03618190e+01] [ 7.44637890e-01 -6.67229235e-01 -1.78762397e-02 1.96838642e+02] [ 2.33630365e-02 -7.10930400e-04 9.99726794e-01 5.55042082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:196.86, Z:5.55 [[-6.68530024e-01 -7.43538153e-01 1.47858989e-02 8.03457842e+01] [ 7.43331617e-01 -6.68693110e-01 -1.75394380e-02 1.96859638e+02] [ 2.29284701e-02 -7.34814762e-04 9.99736838e-01 5.55162626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:196.88, Z:5.55 [[-6.69579492e-01 -7.42598406e-01 1.45227809e-02 8.03290285e+01] [ 7.42399215e-01 -6.69736554e-01 -1.72149169e-02 1.96881115e+02] [ 2.25102071e-02 -7.45054209e-04 9.99746336e-01 5.55243803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:196.90, Z:5.55 [[-6.70428518e-01 -7.41836726e-01 1.42784090e-02 8.03120482e+01] [ 7.41644269e-01 -6.70580129e-01 -1.69135761e-02 1.96902485e+02] [ 2.21219293e-02 -7.49843529e-04 9.99754999e-01 5.55327141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:196.92, Z:5.55 [[-6.71697012e-01 -7.40676945e-01 1.48589472e-02 8.02966373e+01] [ 7.40468527e-01 -6.71860853e-01 -1.75885010e-02 1.96923950e+02] [ 2.30105421e-02 -8.11560818e-04 9.99734893e-01 5.55311985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:196.94, Z:5.55 [[-6.72064809e-01 -7.40331953e-01 1.54107730e-02 8.02799498e+01] [ 7.40108004e-01 -6.72240943e-01 -1.82279153e-02 1.96944185e+02] [ 2.38544607e-02 -8.44704001e-04 9.99715085e-01 5.55277472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:196.96, Z:5.55 [[-6.72487232e-01 -7.39937904e-01 1.59003395e-02 8.02603598e+01] [ 7.39699745e-01 -6.72674609e-01 -1.87924819e-02 1.96962664e+02] [ 2.46010243e-02 -8.76227064e-04 9.99696965e-01 5.55337828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:196.98, Z:5.55 [[-6.72237847e-01 -7.40154585e-01 1.63543961e-02 8.02449849e+01] [ 7.39903028e-01 -6.72436174e-01 -1.93158316e-02 1.96984539e+02] [ 2.52939889e-02 -8.84165837e-04 9.99679665e-01 5.55202743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61275509600006 meters Centerline goodness [0,1] 0.9998909178174837 Centerline is valid? [True, True] Translation: X:80.23, Y:197.00, Z:5.55 [[-6.72289023e-01 -7.40098721e-01 1.67735571e-02 8.02272897e+01] [ 7.39834409e-01 -6.72497637e-01 -1.97983701e-02 1.97004589e+02] [ 2.59329259e-02 -9.00572124e-04 9.99663279e-01 5.55069831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:197.02, Z:5.55 [[-6.71420589e-01 -7.40893740e-01 1.64577857e-02 8.02091571e+01] [ 7.40639891e-01 -6.71621734e-01 -1.94112804e-02 1.97022383e+02] [ 2.54351027e-02 -8.43840736e-04 9.99676119e-01 5.55217556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67275509600006 meters Centerline goodness [0,1] 0.9999128881919944 Centerline is valid? [True, True] Translation: X:80.19, Y:197.04, Z:5.55 [[-6.71012231e-01 -7.41255832e-01 1.68040504e-02 8.01913659e+01] [ 7.40991692e-01 -6.71222087e-01 -1.98046150e-02 1.97042194e+02] [ 2.59595362e-02 -8.37477196e-04 9.99662644e-01 5.55168427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters Centerline goodness [0,1] 0.9999564469414864 Centerline is valid? [True, True] Translation: X:80.18, Y:197.06, Z:5.55 [[-6.71006522e-01 -7.41263033e-01 1.67141693e-02 8.01752945e+01] [ 7.41002102e-01 -6.71214153e-01 -1.96836464e-02 1.97060746e+02] [ 2.58095464e-02 -8.22620585e-04 9.99666540e-01 5.55251119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73275509600006 meters Centerline goodness [0,1] 0.999912836939705 Centerline is valid? [True, True] Translation: X:80.15, Y:197.08, Z:5.55 [[-6.70492227e-01 -7.41734642e-01 1.64285066e-02 8.01545534e+01] [ 7.41483071e-01 -6.70693009e-01 -1.93324560e-02 1.97078972e+02] [ 2.53580369e-02 -7.80801936e-04 9.99678128e-01 5.55473009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:197.10, Z:5.56 [[-6.70478169e-01 -7.41758826e-01 1.59018829e-02 8.01392421e+01] [ 7.41523460e-01 -6.70666302e-01 -1.86994811e-02 1.97099807e+02] [ 2.45353622e-02 -7.45974588e-04 9.99698684e-01 5.55616639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:197.12, Z:5.56 [[-6.70363031e-01 -7.41877513e-01 1.52040613e-02 8.01221342e+01] [ 7.41662705e-01 -6.70535060e-01 -1.78652054e-02 1.97118922e+02] [ 2.34486503e-02 -6.99887979e-04 9.99724798e-01 5.55741370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:197.14, Z:5.56 [[-6.69805031e-01 -7.42400611e-01 1.42321002e-02 8.01044231e+01] [ 7.42212763e-01 -6.69955920e-01 -1.67116670e-02 1.97137341e+02] [ 2.19416316e-02 -6.30312204e-04 9.99759055e-01 5.56000505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:197.15, Z:5.56 [[-6.69509422e-01 -7.42680339e-01 1.35294916e-02 8.00794953e+01] [ 7.42510835e-01 -6.69645856e-01 -1.58772878e-02 1.97152359e+02] [ 2.08517175e-02 -5.84199719e-04 9.99782409e-01 5.56282677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:197.18, Z:5.56 [[-6.69347670e-01 -7.42832379e-01 1.31815366e-02 8.00684759e+01] [ 7.42671743e-01 -6.69477219e-01 -1.54575709e-02 1.97177434e+02] [ 2.03071226e-02 -5.56934341e-04 9.99793634e-01 5.56233402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91275509600007 meters Centerline goodness [0,1] 0.9998913445031185 Centerline is valid? [True, True] Translation: X:80.05, Y:197.19, Z:5.56 [[-6.68952704e-01 -7.43185459e-01 1.33286360e-02 8.00451072e+01] [ 7.43021534e-01 -6.69085254e-01 -1.56180183e-02 1.97192752e+02] [ 2.05250779e-02 -5.44251959e-04 9.99789190e-01 5.56300175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters Centerline goodness [0,1] 0.9998696530598944 Centerline is valid? [True, True] Translation: X:80.03, Y:197.21, Z:5.56 [[-6.68663176e-01 -7.43448753e-01 1.31722584e-02 8.00273188e+01] [ 7.43288929e-01 -6.68792703e-01 -1.54236546e-02 1.97212855e+02] [ 2.02762071e-02 -5.22436042e-04 9.99794280e-01 5.56364384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:197.23, Z:5.57 [[-6.68582005e-01 -7.43524933e-01 1.29914054e-02 8.00099463e+01] [ 7.43369705e-01 -6.68708022e-01 -1.52007502e-02 1.97232489e+02] [ 1.99895938e-02 -5.05530826e-04 9.99800060e-01 5.56591414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00275509600004 meters Centerline goodness [0,1] 0.999956490525812 Centerline is valid? [True, True] Translation: X:80.00, Y:197.26, Z:5.56 [[-6.68566301e-01 -7.43535875e-01 1.31721324e-02 7.99994591e+01] [ 7.43376541e-01 -6.68695857e-01 -1.54003049e-02 1.97257851e+02] [ 2.02588295e-02 -5.04270711e-04 9.99794642e-01 5.56405395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:197.27, Z:5.57 [[-6.68642471e-01 -7.43478659e-01 1.25192155e-02 7.99747993e+01] [ 7.43334924e-01 -6.68759493e-01 -1.46263902e-02 1.97271942e+02] [ 1.92467532e-02 -4.73855629e-04 9.99814652e-01 5.56728440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.96, Y:197.29, Z:5.57 [[-6.69070522e-01 -7.43096446e-01 1.23413808e-02 7.99581187e+01] [ 7.42956897e-01 -6.69184168e-01 -1.44082606e-02 1.97291973e+02] [ 1.89653839e-02 -4.71028475e-04 9.99820030e-01 5.56788599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.94, Y:197.31, Z:5.57 [[-6.69635115e-01 -7.42590138e-01 1.21942510e-02 7.99404302e+01] [ 7.42454011e-01 -6.69745970e-01 -1.42259612e-02 1.97312326e+02] [ 1.87311090e-02 -4.72532565e-04 9.99824446e-01 5.56842774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.92, Y:197.33, Z:5.57 [[-6.70658270e-01 -7.41665469e-01 1.22400089e-02 7.99229905e+01] [ 7.41528354e-01 -6.70769774e-01 -1.42692168e-02 1.97333478e+02] [ 1.87932134e-02 -4.93454608e-04 9.99823270e-01 5.56877450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:197.36, Z:5.57 [[-6.72700334e-01 -7.39812173e-01 1.23372830e-02 7.99072837e+01] [ 7.39672752e-01 -6.72813239e-01 -1.43723989e-02 1.97356289e+02] [ 1.89335631e-02 -5.42765482e-04 9.99820597e-01 5.56917608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:197.38, Z:5.57 [[-6.74220743e-01 -7.38427102e-01 1.23208744e-02 7.98902557e+01] [ 7.38288013e-01 -6.74333067e-01 -1.43431006e-02 1.97377004e+02] [ 1.88997072e-02 -5.74062053e-04 9.99821220e-01 5.56991689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:197.40, Z:5.57 [[-6.76597268e-01 -7.36243114e-01 1.27363046e-02 7.98767698e+01] [ 7.36094323e-01 -6.76716821e-01 -1.48152442e-02 1.97399675e+02] [ 1.95264931e-02 -6.48832231e-04 9.99809129e-01 5.56990755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24275509600005 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:79.86, Y:197.42, Z:5.57 [[-6.77600247e-01 -7.35315377e-01 1.30077965e-02 7.98611421e+01] [ 7.35160231e-01 -6.77724746e-01 -1.51196189e-02 1.97420549e+02] [ 1.99333938e-02 -6.82242815e-04 9.99801077e-01 5.56962784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:197.44, Z:5.57 [[-6.78326779e-01 -7.34642450e-01 1.31624903e-02 7.98431095e+01] [ 7.34483690e-01 -6.78454108e-01 -1.52883323e-02 1.97440535e+02] [ 2.01616035e-02 -7.02850786e-04 9.99796487e-01 5.57036278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:197.46, Z:5.57 [[-6.78745066e-01 -7.34235259e-01 1.42730350e-02 7.98271500e+01] [ 7.34048764e-01 -6.78894687e-01 -1.65654861e-02 1.97460009e+02] [ 2.18528516e-02 -7.66638222e-04 9.99760904e-01 5.56954791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.332755096 meters Centerline goodness [0,1] 0.9998261285344809 Centerline is valid? [True, True] Translation: X:79.81, Y:197.48, Z:5.57 [[-6.79120112e-01 -7.33862450e-01 1.55491773e-02 7.98094476e+01] [ 7.33641362e-01 -6.79297579e-01 -1.80319522e-02 1.97481072e+02] [ 2.37954912e-02 -8.38341824e-04 9.99716496e-01 5.56700123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:197.50, Z:5.57 [[-6.78834974e-01 -7.34133916e-01 1.51813055e-02 7.97926543e+01] [ 7.33923519e-01 -6.79004236e-01 -1.75930725e-02 1.97500782e+02] [ 2.32238420e-02 -8.00875785e-04 9.99729969e-01 5.56887785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:197.52, Z:5.57 [[-6.78826237e-01 -7.34129873e-01 1.57565702e-02 7.97739115e+01] [ 7.33903564e-01 -6.79008582e-01 -1.82456966e-02 1.97520043e+02] [ 2.40935573e-02 -8.21854548e-04 9.99709370e-01 5.56910360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:197.54, Z:5.57 [[-6.79133577e-01 -7.33842281e-01 1.59088727e-02 7.97532847e+01] [ 7.33611824e-01 -6.79319378e-01 -1.84085505e-02 1.97538860e+02] [ 2.43161781e-02 -8.30927624e-04 9.99703973e-01 5.57024203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:197.56, Z:5.57 [[-6.79599910e-01 -7.33408550e-01 1.59956706e-02 7.97351523e+01] [ 7.33175773e-01 -6.79787607e-01 -1.84958350e-02 1.97558631e+02] [ 2.44386621e-02 -8.42129651e-04 9.99700977e-01 5.57112254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:197.58, Z:5.57 [[-6.80136480e-01 -7.32900763e-01 1.64572211e-02 7.97207856e+01] [ 7.32654561e-01 -6.80334994e-01 -1.90155228e-02 1.97581095e+02] [ 2.51329146e-02 -8.75692665e-04 9.99683735e-01 5.57072194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:197.60, Z:5.57 [[-6.80773953e-01 -7.32309064e-01 1.64395610e-02 7.97035052e+01] [ 7.32063570e-01 -6.80971841e-01 -1.89810940e-02 1.97601099e+02] [ 2.50949053e-02 -8.87030619e-04 9.99684680e-01 5.57130596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:197.62, Z:5.57 [[-6.81274765e-01 -7.31847683e-01 1.62377291e-02 7.96875049e+01] [ 7.31608363e-01 -6.81467671e-01 -1.87354167e-02 1.97620924e+02] [ 2.47769588e-02 -8.84308203e-04 9.99692613e-01 5.57189018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:197.64, Z:5.57 [[-6.82347849e-01 -7.30856989e-01 1.57947737e-02 7.96703956e+01] [ 7.30630558e-01 -6.82530054e-01 -1.82129968e-02 1.97641154e+02] [ 2.40915037e-02 -8.87454855e-04 9.99709364e-01 5.57317021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:197.66, Z:5.58 [[-6.82999942e-01 -7.30256129e-01 1.53969034e-02 7.96477653e+01] [ 7.30041107e-01 -6.83172903e-01 -1.77416380e-02 1.97657285e+02] [ 2.34746871e-02 -8.77165320e-04 9.99724047e-01 5.57577718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63275509600004 meters Centerline goodness [0,1] 0.999978379313327 Centerline is valid? [True, True] Translation: X:79.63, Y:197.68, Z:5.58 [[-6.83775130e-01 -7.29534518e-01 1.51973035e-02 7.96294718e+01] [ 7.29325137e-01 -6.83943425e-01 -1.74995695e-02 1.97678027e+02] [ 2.31606358e-02 -8.81994925e-04 9.99731367e-01 5.57677188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66275509600007 meters Centerline goodness [0,1] 0.9999135658412205 Centerline is valid? [True, True] Translation: X:79.61, Y:197.70, Z:5.58 [[-6.84490081e-01 -7.28863505e-01 1.52092307e-02 7.96135666e+01] [ 7.28653896e-01 -6.84658445e-01 -1.75018235e-02 1.97699528e+02] [ 2.31695687e-02 -8.97559406e-04 9.99731147e-01 5.57661351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:197.72, Z:5.58 [[-6.84976681e-01 -7.28416288e-01 1.47193096e-02 7.95956821e+01] [ 7.28220119e-01 -6.85134253e-01 -1.69267069e-02 1.97719725e+02] [ 2.24143922e-02 -8.75502137e-04 9.99748383e-01 5.57813860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:197.74, Z:5.58 [[-6.85398211e-01 -7.28019335e-01 1.47357136e-02 7.95769943e+01] [ 7.27822906e-01 -6.85556031e-01 -1.69335872e-02 1.97739785e+02] [ 2.24301363e-02 -8.81260471e-04 9.99748024e-01 5.57883645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:197.76, Z:5.58 [[-6.85797397e-01 -7.27645336e-01 1.46354407e-02 7.95595764e+01] [ 7.27451756e-01 -6.85952981e-01 -1.68062671e-02 1.97759395e+02] [ 2.22682260e-02 -8.79117159e-04 9.99751646e-01 5.57887681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.54, Y:197.78, Z:5.58 [[-6.85912067e-01 -7.27539820e-01 1.45067732e-02 7.95409116e+01] [ 7.27349869e-01 -6.86064909e-01 -1.66465829e-02 1.97779951e+02] [ 2.20636400e-02 -8.66592457e-04 9.99756193e-01 5.57912083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.52, Y:197.80, Z:5.58 [[-6.85751783e-01 -7.27690457e-01 1.45290009e-02 7.95205866e+01] [ 7.27500209e-01 -6.85905145e-01 -1.66606921e-02 1.97797868e+02] [ 2.20893431e-02 -8.55248133e-04 9.99755635e-01 5.57982506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.51, Y:197.82, Z:5.58 [[-6.85662083e-01 -7.27776912e-01 1.44317034e-02 7.95050398e+01] [ 7.27589492e-01 -6.85813432e-01 -1.65368744e-02 1.97818940e+02] [ 2.19326115e-02 -8.38351991e-04 9.99759100e-01 5.57969189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:197.84, Z:5.58 [[-6.85725582e-01 -7.27705117e-01 1.50229571e-02 7.94889956e+01] [ 7.27502312e-01 -6.85889578e-01 -1.72009583e-02 1.97839428e+02] [ 2.28213151e-02 -8.65901074e-04 9.99739185e-01 5.57923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:197.86, Z:5.58 [[-6.85143995e-01 -7.28252282e-01 1.50439618e-02 7.94677165e+01] [ 7.28049328e-01 -6.85308623e-01 -1.72124338e-02 1.97857096e+02] [ 2.28447509e-02 -8.40249373e-04 9.99738672e-01 5.57990318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:197.88, Z:5.58 [[-6.85199986e-01 -7.28205197e-01 1.47706100e-02 7.94489668e+01] [ 7.28009807e-01 -6.85358681e-01 -1.68878321e-02 1.97876432e+02] [ 2.24209728e-02 -8.18393407e-04 9.99748283e-01 5.58010793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:197.90, Z:5.58 [[-6.84728890e-01 -7.28649200e-01 1.47204242e-02 7.94310319e+01] [ 7.28455509e-01 -6.84886644e-01 -1.68183504e-02 1.97896109e+02] [ 2.23364995e-02 -7.92836275e-04 9.99750195e-01 5.58018977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.41, Y:197.92, Z:5.58 [[-6.83787208e-01 -7.29528340e-01 1.49484183e-02 7.94115311e+01] [ 7.29329098e-01 -6.83950153e-01 -1.70661848e-02 1.97915212e+02] [ 2.26742385e-02 -7.67322404e-04 9.99742612e-01 5.58076401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:197.94, Z:5.58 [[-6.83093558e-01 -7.30178024e-01 1.49413329e-02 7.93955894e+01] [ 7.29979404e-01 -6.83256547e-01 -1.70458177e-02 1.97935805e+02] [ 2.26552450e-02 -7.37022991e-04 9.99743065e-01 5.58097268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:197.96, Z:5.58 [[-6.82510688e-01 -7.30720356e-01 1.50639698e-02 7.93771032e+01] [ 7.30518879e-01 -6.82676533e-01 -1.71732234e-02 1.97955951e+02] [ 2.28326426e-02 -7.16394208e-04 9.99739045e-01 5.58117366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:197.98, Z:5.58 [[-6.81530141e-01 -7.31633094e-01 1.51552686e-02 7.93571555e+01] [ 7.31429665e-01 -6.81698284e-01 -1.72654071e-02 1.97975163e+02] [ 2.29632638e-02 -6.81882315e-04 9.99736077e-01 5.58170558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:197.99, Z:5.58 [[-6.79194190e-01 -7.33783396e-01 1.60368016e-02 7.93381183e+01] [ 7.33556502e-01 -6.79383192e-01 -1.82575123e-02 1.97993127e+02] [ 2.42921929e-02 -6.36496197e-04 9.99704699e-01 5.58080116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:198.01, Z:5.58 [[-6.78481035e-01 -7.34437793e-01 1.62669377e-02 7.93197421e+01] [ 7.34204811e-01 -6.78675733e-01 -1.85079703e-02 1.98012480e+02] [ 2.46329288e-02 -6.14042925e-04 9.99696375e-01 5.58060368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:198.03, Z:5.58 [[-6.76785232e-01 -7.36004672e-01 1.60894976e-02 7.93017683e+01] [ 7.35777516e-01 -6.76976240e-01 -1.82925691e-02 1.98031094e+02] [ 2.43556239e-02 -5.41849997e-04 9.99703211e-01 5.58080640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:198.05, Z:5.58 [[-6.77058932e-01 -7.35752757e-01 1.60961000e-02 7.92844391e+01] [ 7.35525667e-01 -6.77250018e-01 -1.82867584e-02 1.98050382e+02] [ 2.43556169e-02 -5.42118384e-04 9.99703211e-01 5.58121052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:198.07, Z:5.58 [[-6.76513259e-01 -7.36260953e-01 1.57993298e-02 7.92666369e+01] [ 7.36042618e-01 -6.76697535e-01 -1.79363152e-02 1.98070413e+02] [ 2.38971761e-02 -5.05174970e-04 9.99714294e-01 5.58220121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:198.09, Z:5.58 [[-6.76546106e-01 -7.36238369e-01 1.54411992e-02 7.92505335e+01] [ 7.36030121e-01 -6.76722120e-01 -1.75166568e-02 1.98089902e+02] [ 2.33458359e-02 -4.85638248e-04 9.99727331e-01 5.58335080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:198.11, Z:5.59 [[-6.76342411e-01 -7.36445003e-01 1.44810387e-02 7.92351718e+01] [ 7.36262161e-01 -6.76497276e-01 -1.64154256e-02 1.98110813e+02] [ 2.18854414e-02 -4.40607680e-04 9.99760388e-01 5.58562540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:198.13, Z:5.59 [[-6.76509360e-01 -7.36295788e-01 1.42688145e-02 7.92191641e+01] [ 7.36118490e-01 -6.76659683e-01 -1.61629694e-02 1.98130400e+02] [ 2.15558577e-02 -4.30861913e-04 9.99767553e-01 5.58648432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:198.15, Z:5.59 [[-6.77098317e-01 -7.35756320e-01 1.41600566e-02 7.92021901e+01] [ 7.35581854e-01 -6.77246223e-01 -1.60277768e-02 1.98150993e+02] [ 2.13823829e-02 -4.36500023e-04 9.99771275e-01 5.58765472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:198.17, Z:5.59 [[-6.77980755e-01 -7.34950651e-01 1.37708548e-02 7.91850264e+01] [ 7.34785712e-01 -6.78120451e-01 -1.55760038e-02 1.98170621e+02] [ 2.07858924e-02 -4.41603460e-04 9.99783852e-01 5.58972424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:198.19, Z:5.59 [[-6.78758115e-01 -7.34240832e-01 1.33349576e-02 7.91670193e+01] [ 7.34086258e-01 -6.78888949e-01 -1.50718490e-02 1.98190763e+02] [ 2.01193222e-02 -4.41130698e-04 9.99797489e-01 5.59101852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:198.21, Z:5.59 [[-6.79390933e-01 -7.33658800e-01 1.31425303e-02 7.91498151e+01] [ 7.33508754e-01 -6.79517894e-01 -1.48438464e-02 1.98211595e+02] [ 1.98209030e-02 -4.44613588e-04 9.99803448e-01 5.59182465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:198.23, Z:5.59 [[-6.80960930e-01 -7.32197756e-01 1.33662810e-02 7.91344419e+01] [ 7.32042495e-01 -6.81091923e-01 -1.50856819e-02 1.98234632e+02] [ 2.01493685e-02 -4.88074297e-04 9.99796862e-01 5.59214514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:198.25, Z:5.59 [[-6.81637675e-01 -7.31559324e-01 1.38215936e-02 7.91191777e+01] [ 7.31393408e-01 -6.81777595e-01 -1.55882435e-02 1.98254656e+02] [ 2.08269777e-02 -5.16511562e-04 9.99782962e-01 5.59193900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:198.28, Z:5.59 [[-6.83518290e-01 -7.29793726e-01 1.42781504e-02 7.91022471e+01] [ 7.29616558e-01 -6.83667157e-01 -1.60902953e-02 1.98276375e+02] [ 2.15040990e-02 -5.80436179e-04 9.99768592e-01 5.59192291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.09, Y:198.30, Z:5.59 [[-6.84653832e-01 -7.28718617e-01 1.47752192e-02 7.90863001e+01] [ 7.28528918e-01 -6.84812955e-01 -1.66382700e-02 1.98296794e+02] [ 2.22428786e-02 -6.27280841e-04 9.99752400e-01 5.59165096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.07, Y:198.32, Z:5.59 [[-6.85486456e-01 -7.27928734e-01 1.51022076e-02 7.90676267e+01] [ 7.27730639e-01 -6.85652481e-01 -1.69939261e-02 1.98316548e+02] [ 2.27252332e-02 -6.58767038e-04 9.99741532e-01 5.59209611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:198.34, Z:5.59 [[-6.86617690e-01 -7.26851426e-01 1.55933773e-02 7.90509380e+01] [ 7.26640258e-01 -6.86794368e-01 -1.75337606e-02 1.98336958e+02] [ 2.34538826e-02 -7.08214519e-04 9.99724669e-01 5.59181737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:198.36, Z:5.59 [[-6.87493033e-01 -7.26014803e-01 1.59948779e-02 7.90323620e+01] [ 7.25792701e-01 -6.87678667e-01 -1.79723822e-02 1.98357628e+02] [ 2.40475519e-02 -7.46921906e-04 9.99710537e-01 5.59241762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:198.38, Z:5.59 [[-6.88218195e-01 -7.25327378e-01 1.59971947e-02 7.90140846e+01] [ 7.25105311e-01 -6.88403670e-01 -1.79631725e-02 1.98377768e+02] [ 2.40417083e-02 -7.62931319e-04 9.99710665e-01 5.59295234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.00, Y:198.40, Z:5.59 [[-6.88407908e-01 -7.25146786e-01 1.60215855e-02 7.89969026e+01] [ 7.24924303e-01 -6.88593900e-01 -1.79776303e-02 1.98397130e+02] [ 2.40687868e-02 -7.61506157e-04 9.99710015e-01 5.59339709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:198.42, Z:5.59 [[-6.88472406e-01 -7.25079983e-01 1.62715843e-02 7.89766766e+01] [ 7.24850814e-01 -6.88664237e-01 -1.82446332e-02 1.98416176e+02] [ 2.44344765e-02 -7.66455362e-04 9.99701140e-01 5.59409833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:198.44, Z:5.59 [[-6.88691330e-01 -7.24872859e-01 1.62354331e-02 7.89595256e+01] [ 7.24644975e-01 -6.88882251e-01 -1.81907616e-02 1.98436555e+02] [ 2.43702910e-02 -7.62894809e-04 9.99702709e-01 5.59403774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:198.45, Z:5.60 [[-6.88690438e-01 -7.24872080e-01 1.63079492e-02 7.89382903e+01] [ 7.24642489e-01 -6.88883078e-01 -1.82583524e-02 1.98453625e+02] [ 2.44692401e-02 -7.56919852e-04 9.99700297e-01 5.59527773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:198.47, Z:5.60 [[-6.88817362e-01 -7.24751160e-01 1.63216914e-02 7.89206518e+01] [ 7.24521480e-01 -6.89010297e-01 -1.82602019e-02 1.98473328e+02] [ 2.44799159e-02 -7.52528083e-04 9.99700039e-01 5.59573970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:198.49, Z:5.60 [[-6.88710763e-01 -7.24856263e-01 1.61518702e-02 7.89009462e+01] [ 7.24631691e-01 -6.88899748e-01 -1.80568348e-02 1.98492328e+02] [ 2.42156291e-02 -7.31779483e-04 9.99706491e-01 5.59725682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:198.51, Z:5.60 [[-6.88815968e-01 -7.24754512e-01 1.62314437e-02 7.88818875e+01] [ 7.24528012e-01 -6.89006796e-01 -1.81327353e-02 1.98511562e+02] [ 2.43253568e-02 -7.29981986e-04 9.99703828e-01 5.59808959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:198.53, Z:5.60 [[-6.88929537e-01 -7.24653058e-01 1.59385825e-02 7.88641663e+01] [ 7.24434939e-01 -6.89113517e-01 -1.77926780e-02 1.98531428e+02] [ 2.38770111e-02 -7.11435352e-04 9.99714650e-01 5.59861531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:198.55, Z:5.60 [[-6.89235660e-01 -7.24370294e-01 1.55525578e-02 7.88446416e+01] [ 7.24162839e-01 -6.89410759e-01 -1.73490257e-02 1.98550153e+02] [ 2.32892195e-02 -6.94982794e-04 9.99728528e-01 5.60011153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:198.57, Z:5.60 [[-6.89721503e-01 -7.23914318e-01 1.52416700e-02 7.88310919e+01] [ 7.23715245e-01 -6.89889547e-01 -1.69898826e-02 1.98572778e+02] [ 2.28142881e-02 -6.87658421e-04 9.99739484e-01 5.59925016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01275509600003 meters Centerline goodness [0,1] 0.999978310378484 Centerline is valid? [True, True] Translation: X:78.81, Y:198.59, Z:5.60 [[-6.90482917e-01 -7.23187447e-01 1.52727899e-02 7.88078874e+01] [ 7.22987665e-01 -6.90651446e-01 -1.70122486e-02 1.98589339e+02] [ 2.28512191e-02 -7.04628328e-04 9.99738629e-01 5.60027820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:198.61, Z:5.60 [[-6.91001228e-01 -7.22689232e-01 1.54135360e-02 7.87889998e+01] [ 7.22485895e-01 -6.91172740e-01 -1.71573851e-02 1.98609258e+02] [ 2.30528734e-02 -7.19711861e-04 9.99733988e-01 5.60083129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:198.63, Z:5.60 [[-6.91648150e-01 -7.22068065e-01 1.55095443e-02 7.87705407e+01] [ 7.21862325e-01 -6.91821630e-01 -1.72515502e-02 1.98629956e+02] [ 2.31866317e-02 -7.36247062e-04 9.99730883e-01 5.60080571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:198.65, Z:5.60 [[-6.93207648e-01 -7.20564517e-01 1.58093010e-02 7.87543208e+01] [ 7.20350656e-01 -6.93387445e-01 -1.75722511e-02 1.98651868e+02] [ 2.36239114e-02 -7.92978555e-04 9.99720602e-01 5.60076281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:198.67, Z:5.60 [[-6.94149717e-01 -7.19654241e-01 1.59356374e-02 7.87350155e+01] [ 7.19436992e-01 -6.94332124e-01 -1.77007407e-02 1.98672223e+02] [ 2.38030380e-02 -8.22277104e-04 9.99716329e-01 5.60139475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:198.70, Z:5.60 [[-6.95301491e-01 -7.18531836e-01 1.63657525e-02 7.87203692e+01] [ 7.18302687e-01 -6.95493519e-01 -1.81663205e-02 1.98695002e+02] [ 2.44353544e-02 -8.75505726e-04 9.99701029e-01 5.59965933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.70, Y:198.71, Z:5.60 [[-6.95439305e-01 -7.18396039e-01 1.64713355e-02 7.86989280e+01] [ 7.18164199e-01 -6.95633785e-01 -1.82707743e-02 1.98712852e+02] [ 2.45836693e-02 -8.77091122e-04 9.99697391e-01 5.60075184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:198.73, Z:5.60 [[-6.95623592e-01 -7.18215629e-01 1.65568608e-02 7.86818092e+01] [ 7.17981656e-01 -6.95820048e-01 -1.83521756e-02 1.98733344e+02] [ 2.47014150e-02 -8.78684001e-04 9.99694487e-01 5.60064295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:198.75, Z:5.60 [[-6.95578973e-01 -7.18257390e-01 1.66197119e-02 7.86627001e+01] [ 7.18021985e-01 -6.95776949e-01 -1.84083164e-02 1.98753139e+02] [ 2.47855217e-02 -8.71119317e-04 9.99692412e-01 5.60078413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:198.77, Z:5.60 [[-6.95594184e-01 -7.18245076e-01 1.65148752e-02 7.86430826e+01] [ 7.18012943e-01 -6.95789678e-01 -1.82794292e-02 1.98771932e+02] [ 2.46199897e-02 -8.57170507e-04 9.99696515e-01 5.60034710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:198.79, Z:5.60 [[-6.95582570e-01 -7.18253904e-01 1.66198088e-02 7.86255312e+01] [ 7.18019141e-01 -6.95780570e-01 -1.83823708e-02 1.98791403e+02] [ 2.47669496e-02 -8.53115845e-04 9.99692888e-01 5.60059456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:198.81, Z:5.60 [[-6.95344233e-01 -7.18485433e-01 1.65855387e-02 7.86069769e+01] [ 7.18252042e-01 -6.95541507e-01 -1.83307544e-02 1.98809726e+02] [ 2.47063105e-02 -8.33587356e-04 9.99694405e-01 5.60036174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:198.83, Z:5.60 [[-6.95187496e-01 -7.18630328e-01 1.68759587e-02 7.85885258e+01] [ 7.18389097e-01 -6.95391802e-01 -1.86372241e-02 1.98829121e+02] [ 2.51286778e-02 -8.32860404e-04 9.99683878e-01 5.60029748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.57, Y:198.85, Z:5.60 [[-6.95438961e-01 -7.18397268e-01 1.64321899e-02 7.85700946e+01] [ 7.18168823e-01 -6.95632597e-01 -1.81337324e-02 1.98848745e+02] [ 2.44579907e-02 -8.09817502e-04 9.99700531e-01 5.60074445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:198.87, Z:5.60 [[-6.95420048e-01 -7.18430785e-01 1.57532247e-02 7.85519147e+01] [ 7.18221132e-01 -6.95598030e-01 -1.73719705e-02 1.98868509e+02] [ 2.34384705e-02 -7.66517629e-04 9.99724987e-01 5.60221155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.54, Y:198.89, Z:5.60 [[-6.95522950e-01 -7.18335521e-01 1.55532829e-02 7.85352888e+01] [ 7.18131439e-01 -6.95696425e-01 -1.71383028e-02 1.98887897e+02] [ 2.31314150e-02 -7.50781498e-04 9.99732151e-01 5.60303284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:198.91, Z:5.60 [[-6.95325061e-01 -7.18534166e-01 1.52221024e-02 7.85149056e+01] [ 7.18339017e-01 -6.95491291e-01 -1.67606948e-02 1.98906587e+02] [ 2.26299714e-02 -7.19501059e-04 9.99743651e-01 5.60427208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:198.93, Z:5.60 [[-6.94335612e-01 -7.19498646e-01 1.48242081e-02 7.84947072e+01] [ 7.19314035e-01 -6.94493528e-01 -1.63113130e-02 1.98925096e+02] [ 2.20312842e-02 -6.62264574e-04 9.99757062e-01 5.60484857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:198.95, Z:5.60 [[-6.93621789e-01 -7.20186866e-01 1.48220261e-02 7.84790649e+01] [ 7.20002710e-01 -6.93779849e-01 -1.62978090e-02 1.98945612e+02] [ 2.20206910e-02 -6.32616468e-04 9.99757315e-01 5.60434705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:198.96, Z:5.61 [[-6.92149542e-01 -7.21613136e-01 1.42650905e-02 7.84566883e+01] [ 7.21443071e-01 -6.92296302e-01 -1.56756462e-02 1.98961993e+02] [ 2.11874216e-02 -5.58440697e-04 9.99775365e-01 5.60588593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:198.98, Z:5.61 [[-6.91416472e-01 -7.22325302e-01 1.37630201e-02 7.84373259e+01] [ 7.22167348e-01 -6.91553250e-01 -1.51137187e-02 1.98980968e+02] [ 2.04348827e-02 -5.10670295e-04 9.99791056e-01 5.60649082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:199.00, Z:5.61 [[-6.90558031e-01 -7.23154080e-01 1.33334953e-02 7.84168728e+01] [ 7.23006183e-01 -6.90686587e-01 -1.46321013e-02 1.98999497e+02] [ 1.97905301e-02 -4.64115499e-04 9.99804041e-01 5.60789629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.40, Y:199.02, Z:5.61 [[-6.89906036e-01 -7.23784321e-01 1.28809626e-02 7.83978654e+01] [ 7.23646590e-01 -6.90026143e-01 -1.41257173e-02 1.99019137e+02] [ 1.91121737e-02 -4.24152984e-04 9.99817256e-01 5.60933548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:199.04, Z:5.61 [[-6.88502609e-01 -7.25137827e-01 1.18020948e-02 7.83778061e+01] [ 7.25022549e-01 -6.88603668e-01 -1.29341391e-02 1.99038321e+02] [ 1.75059993e-02 -3.48403668e-04 9.99846698e-01 5.61176995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.36, Y:199.06, Z:5.61 [[-6.87785864e-01 -7.25827105e-01 1.12079732e-02 7.83588669e+01] [ 7.25723366e-01 -6.87877109e-01 -1.22751102e-02 1.99056359e+02] [ 1.66193159e-02 -3.08759234e-04 9.99861842e-01 5.61290476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters Centerline goodness [0,1] 0.9999352904380837 Centerline is valid? [True, True] Translation: X:78.34, Y:199.08, Z:5.61 [[-6.88032438e-01 -7.25595797e-01 1.10500950e-02 7.83428510e+01] [ 7.25495083e-01 -6.88121100e-01 -1.20928467e-02 1.99075969e+02] [ 1.63783223e-02 -3.03481194e-04 9.99865820e-01 5.61253227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:199.09, Z:5.61 [[-6.88205937e-01 -7.25439231e-01 1.05123990e-02 7.83240099e+01] [ 7.25348201e-01 -6.88286162e-01 -1.14954968e-02 1.99094553e+02] [ 1.55748231e-02 -2.86119399e-04 9.99878664e-01 5.61456128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:199.11, Z:5.62 [[-6.88686267e-01 -7.24995901e-01 9.60051275e-03 7.83052083e+01] [ 7.24920040e-01 -6.88753130e-01 -1.04910153e-02 1.99114636e+02] [ 1.42183263e-02 -2.65414071e-04 9.99898879e-01 5.61628362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:199.14, Z:5.62 [[-6.89187318e-01 -7.24523570e-01 9.29712660e-03 7.82866170e+01] [ 7.24452480e-01 -6.89249975e-01 -1.01526426e-02 1.99135109e+02] [ 1.37638731e-02 -2.61746109e-04 9.99905239e-01 5.61698530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:199.16, Z:5.62 [[-6.90163178e-01 -7.23595816e-01 9.15875483e-03 7.82694547e+01] [ 7.23526837e-01 -6.90223892e-01 -9.99471016e-03 1.99155194e+02] [ 1.35537219e-02 -2.71376016e-04 9.99908107e-01 5.61762256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:199.18, Z:5.62 [[-6.91804383e-01 -7.22035791e-01 8.42682275e-03 7.82518083e+01] [ 7.21977359e-01 -6.91855651e-01 -9.18979516e-03 1.99176396e+02] [ 1.24655060e-02 -2.73565349e-04 9.99922265e-01 5.61859539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:199.20, Z:5.62 [[-6.93072102e-01 -7.20824115e-01 7.97854719e-03 7.82328887e+01] [ 7.20771718e-01 -6.93117969e-01 -8.69545748e-03 1.99195667e+02] [ 1.17979699e-02 -2.75867824e-04 9.99930363e-01 5.61920608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:199.22, Z:5.62 [[-6.95141340e-01 -7.18832952e-01 7.59632535e-03 7.82167976e+01] [ 7.18785397e-01 -6.95182783e-01 -8.27352011e-03 1.99216637e+02] [ 1.12281135e-02 -2.91138127e-04 9.99936920e-01 5.61998192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:199.24, Z:5.62 [[-6.96002778e-01 -7.17996281e-01 7.84051631e-03 7.82010851e+01] [ 7.17945643e-01 -6.96046870e-01 -8.53283749e-03 1.99238394e+02] [ 1.15839124e-02 -3.09814073e-04 9.99932856e-01 5.62064153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:199.26, Z:5.62 [[-6.96567470e-01 -7.17445129e-01 8.13921125e-03 7.81827643e+01] [ 7.17390602e-01 -6.96614944e-01 -8.85115716e-03 1.99257714e+02] [ 1.20201158e-02 -3.26434488e-04 9.99927703e-01 5.62028172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:199.28, Z:5.62 [[-6.97558894e-01 -7.16473911e-01 8.75920319e-03 7.81670326e+01] [ 7.16410792e-01 -6.97613792e-01 -9.51709625e-03 1.99279198e+02] [ 1.29292921e-02 -3.63547453e-04 9.99916347e-01 5.62019808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:199.30, Z:5.62 [[-6.97814561e-01 -7.16224878e-01 8.76149017e-03 7.81492626e+01] [ 7.16161765e-01 -6.97869466e-01 -9.51499029e-03 1.99298081e+02] [ 1.29292492e-02 -3.65054507e-04 9.99916347e-01 5.62060262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:199.31, Z:5.62 [[-6.98166937e-01 -7.15877307e-01 9.08897298e-03 7.81277193e+01] [ 7.15809456e-01 -6.98225992e-01 -9.86336169e-03 1.99314516e+02] [ 1.34071140e-02 -3.80300211e-04 9.99910048e-01 5.62016052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:199.33, Z:5.62 [[-6.98644035e-01 -7.15412803e-01 9.00183418e-03 7.81088511e+01] [ 7.15346308e-01 -6.98701922e-01 -9.76130767e-03 1.99332992e+02] [ 1.32729633e-02 -3.80250528e-04 9.99911838e-01 5.61953193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:199.35, Z:5.62 [[-6.99180497e-01 -7.14886452e-01 9.16476564e-03 7.80913753e+01] [ 7.14817587e-01 -6.99240450e-01 -9.93023547e-03 1.99351736e+02] [ 1.35073656e-02 -3.91891315e-04 9.99908695e-01 5.61967418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:199.37, Z:5.62 [[-6.99726486e-01 -7.14355443e-01 8.89637511e-03 7.80709649e+01] [ 7.14290610e-01 -6.99782932e-01 -9.63185179e-03 1.99369949e+02] [ 1.31060972e-02 -3.85064613e-04 9.99914037e-01 5.61990752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:199.39, Z:5.62 [[-7.00218245e-01 -7.13872985e-01 8.93141500e-03 7.80559657e+01] [ 7.13807692e-01 -7.00275095e-01 -9.66281019e-03 1.99391346e+02] [ 1.31524666e-02 -3.90763271e-04 9.99913426e-01 5.62099080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:199.41, Z:5.62 [[-7.01056364e-01 -7.13059827e-01 8.10290513e-03 7.80348595e+01] [ 7.13006106e-01 -7.01103096e-01 -8.76029049e-03 1.99409528e+02] [ 1.19275831e-02 -3.64036567e-04 9.99928798e-01 5.62216376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:199.43, Z:5.62 [[-7.01761968e-01 -7.12370391e-01 7.65287105e-03 7.80175718e+01] [ 7.12322485e-01 -7.01803607e-01 -8.26893789e-03 1.99430544e+02] [ 1.12613590e-02 -3.51514006e-04 9.99936527e-01 5.62357875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:199.45, Z:5.62 [[-7.03162396e-01 -7.10992709e-01 7.21198444e-03 7.79979932e+01] [ 7.10950145e-01 -7.03199293e-01 -7.78757133e-03 1.99450722e+02] [ 1.06083688e-02 -3.48565925e-04 9.99943669e-01 5.62451907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:199.47, Z:5.63 [[-7.03579939e-01 -7.10582478e-01 6.91452963e-03 7.79802933e+01] [ 7.10543381e-01 -7.03613835e-01 -7.46157699e-03 1.99470726e+02] [ 1.01672246e-02 -3.36742625e-04 9.99948256e-01 5.62507486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:199.49, Z:5.63 [[-7.04189854e-01 -7.09977991e-01 6.92112941e-03 7.79609881e+01] [ 7.09938826e-01 -7.04223781e-01 -7.46522130e-03 1.99489735e+02] [ 1.01741668e-02 -3.43354607e-04 9.99948183e-01 5.62540849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:199.51, Z:5.63 [[-7.05240853e-01 -7.08935117e-01 6.80729541e-03 7.79419189e+01] [ 7.08897235e-01 -7.05273620e-01 -7.33697240e-03 1.99510631e+02] [ 1.00024433e-02 -3.48659784e-04 9.99949914e-01 5.62617384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:199.54, Z:5.63 [[-7.05784512e-01 -7.08398166e-01 6.34506876e-03 7.79282237e+01] [ 7.08365277e-01 -7.05812957e-01 -6.83412966e-03 1.99535355e+02] [ 9.31971666e-03 -3.28796481e-04 9.99956516e-01 5.62826419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:199.55, Z:5.63 [[-7.07001391e-01 -7.07185195e-01 6.17522609e-03 7.79031122e+01] [ 7.07154015e-01 -7.07028280e-01 -6.64908975e-03 1.99550242e+02] [ 9.06819731e-03 -3.34079785e-04 9.99958827e-01 5.62733773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:199.57, Z:5.63 [[-7.07376056e-01 -7.06804920e-01 6.77642880e-03 7.78859337e+01] [ 7.06767412e-01 -7.07408418e-01 -7.29075499e-03 1.99570241e+02] [ 9.94684427e-03 -3.67946462e-04 9.99950461e-01 5.62720145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:199.59, Z:5.63 [[-7.07667827e-01 -7.06507226e-01 7.33391638e-03 7.78667662e+01] [ 7.06463321e-01 -7.07705715e-01 -7.88646382e-03 1.99588787e+02] [ 1.07620982e-02 -3.99853789e-04 9.99942007e-01 5.62655814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:199.61, Z:5.63 [[-7.08049981e-01 -7.06111159e-01 8.50031117e-03 7.78472747e+01] [ 7.06052257e-01 -7.08100851e-01 -9.13210704e-03 1.99608235e+02] [ 1.24673603e-02 -4.64324325e-04 9.99922172e-01 5.62603355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:199.63, Z:5.63 [[-7.08406416e-01 -7.05751452e-01 8.67395928e-03 7.78292123e+01] [ 7.05690174e-01 -7.08459358e-01 -9.31217598e-03 1.99627013e+02] [ 1.27172293e-02 -4.75677382e-04 9.99919020e-01 5.62594316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:199.65, Z:5.63 [[-7.08393114e-01 -7.05760183e-01 9.04217385e-03 7.78107549e+01] [ 7.05693697e-01 -7.08450651e-01 -9.69960129e-03 1.99645266e+02] [ 1.32515263e-02 -4.90125672e-04 9.99912075e-01 5.62586034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:199.66, Z:5.63 [[-7.08402227e-01 -7.05750315e-01 9.09824173e-03 7.77941407e+01] [ 7.05683101e-01 -7.08460482e-01 -9.75226831e-03 1.99664719e+02] [ 1.33284112e-02 -4.88053143e-04 9.99911054e-01 5.62656809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:199.68, Z:5.63 [[-7.08208535e-01 -7.05943237e-01 9.20965702e-03 7.77745852e+01] [ 7.05874490e-01 -7.08268248e-01 -9.86367749e-03 1.99682448e+02] [ 1.34861041e-02 -4.84678630e-04 9.99908941e-01 5.62693887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:199.70, Z:5.63 [[-7.08034504e-01 -7.06118450e-01 9.15842913e-03 7.77516176e+01] [ 7.06050578e-01 -7.08093575e-01 -9.80156800e-03 1.99697829e+02] [ 1.34060928e-02 -4.73534158e-04 9.99910022e-01 5.62713378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:199.72, Z:5.63 [[-7.07728047e-01 -7.06423138e-01 9.34668967e-03 7.77362608e+01] [ 7.06352575e-01 -7.07789606e-01 -9.99567842e-03 1.99719276e+02] [ 1.36766683e-02 -4.72163661e-04 9.99906359e-01 5.62775071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:199.74, Z:5.63 [[-7.07573184e-01 -7.06574561e-01 9.62182795e-03 7.77188826e+01] [ 7.06499909e-01 -7.07638440e-01 -1.02818922e-02 1.99737385e+02] [ 1.40736988e-02 -4.77370609e-04 9.99900847e-01 5.62792459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:199.75, Z:5.63 [[-7.06819455e-01 -7.07325276e-01 9.85957376e-03 7.77007760e+01] [ 7.07247082e-01 -7.06888064e-01 -1.05276320e-02 1.99754706e+02] [ 1.44160752e-02 -4.67980323e-04 9.99895973e-01 5.62811590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:199.77, Z:5.63 [[-7.06666067e-01 -7.07479219e-01 9.80936037e-03 7.76802367e+01] [ 7.07401947e-01 -7.06733999e-01 -1.04660917e-02 1.99771741e+02] [ 1.43371509e-02 -4.56871267e-04 9.99897113e-01 5.62800700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.66, Y:199.79, Z:5.63 [[-7.06704418e-01 -7.07438032e-01 1.00148567e-02 7.76641008e+01] [ 7.07357604e-01 -7.06775225e-01 -1.06771802e-02 1.99791158e+02] [ 1.46316960e-02 -4.61525366e-04 9.99892845e-01 5.62819733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:199.81, Z:5.63 [[-7.06399619e-01 -7.07743018e-01 9.96986393e-03 7.76403558e+01] [ 7.07663462e-01 -7.06469830e-01 -1.06209144e-02 1.99806471e+02] [ 1.45602861e-02 -4.47301438e-04 9.99893893e-01 5.62810028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:199.83, Z:5.63 [[-7.06651050e-01 -7.07490309e-01 1.00874562e-02 7.76251205e+01] [ 7.07408956e-01 -7.06722901e-01 -1.07382579e-02 1.99827536e+02] [ 1.47262498e-02 -4.52244353e-04 9.99891461e-01 5.62886443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:199.85, Z:5.63 [[-7.07025319e-01 -7.07118628e-01 9.92194190e-03 7.76053650e+01] [ 7.07039968e-01 -7.07094792e-01 -1.05564516e-02 1.99845993e+02] [ 1.44804170e-02 -4.48469061e-04 9.99895053e-01 5.62955341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:199.87, Z:5.63 [[-7.06969693e-01 -7.07173552e-01 9.97102802e-03 7.75926912e+01] [ 7.07094228e-01 -7.07039865e-01 -1.06010865e-02 1.99869578e+02] [ 1.45467223e-02 -4.44190525e-04 9.99894092e-01 5.63059593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:199.88, Z:5.63 [[-7.06723495e-01 -7.07419427e-01 9.98275473e-03 7.75674685e+01] [ 7.07340057e-01 -7.06793864e-01 -1.06055583e-02 1.99883618e+02] [ 1.45583278e-02 -4.33994931e-04 9.99893928e-01 5.63060375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:199.90, Z:5.63 [[-7.05955753e-01 -7.08184416e-01 1.00651585e-02 7.75479227e+01] [ 7.08103921e-01 -7.06027379e-01 -1.06854121e-02 1.99901882e+02] [ 1.46735198e-02 -4.16250011e-04 9.99892251e-01 5.63059469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.53, Y:199.92, Z:5.63 [[-7.05978816e-01 -7.08165029e-01 9.80835159e-03 7.75284070e+01] [ 7.08088689e-01 -7.06046833e-01 -1.04056632e-02 1.99920356e+02] [ 1.42940824e-02 -4.00994959e-04 9.99897754e-01 5.63089408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.51, Y:199.94, Z:5.63 [[-7.06144713e-01 -7.07999564e-01 9.81129325e-03 7.75083781e+01] [ 7.07923279e-01 -7.06212757e-01 -1.04006050e-02 1.99939496e+02] [ 1.42924843e-02 -3.98689373e-04 9.99897778e-01 5.63114192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.49, Y:199.96, Z:5.63 [[-7.06341545e-01 -7.07805658e-01 9.63180398e-03 7.74918794e+01] [ 7.07732221e-01 -7.06407105e-01 -1.02032080e-02 1.99958289e+02] [ 1.40258631e-02 -3.90211719e-04 9.99901557e-01 5.63168749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:199.98, Z:5.63 [[-7.07059053e-01 -7.07087091e-01 9.76426407e-03 7.74755997e+01] [ 7.07011645e-01 -7.07126354e-01 -1.03369863e-02 1.99977552e+02] [ 1.42137180e-02 -4.05411329e-04 9.99898898e-01 5.63229864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:200.00, Z:5.63 [[-7.07611963e-01 -7.06532993e-01 9.82031031e-03 7.74583617e+01] [ 7.06456713e-01 -7.07679982e-01 -1.03901776e-02 1.99996021e+02] [ 1.42906403e-02 -4.14589805e-04 9.99897798e-01 5.63279918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:200.01, Z:5.63 [[-7.08601330e-01 -7.05541679e-01 9.75165650e-03 7.74364481e+01] [ 7.05466483e-01 -7.08668299e-01 -1.03093415e-02 2.00014341e+02] [ 1.41843599e-02 -4.25746264e-04 9.99899306e-01 5.63275062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:200.03, Z:5.63 [[-7.08896993e-01 -7.05241342e-01 9.98514728e-03 7.74193389e+01] [ 7.05162574e-01 -7.08967177e-01 -1.05492156e-02 2.00034716e+02] [ 1.45188846e-02 -4.37155046e-04 9.99894500e-01 5.63310124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.40, Y:200.05, Z:5.63 [[-7.09197024e-01 -7.04937302e-01 1.01479660e-02 7.74033706e+01] [ 7.04856002e-01 -7.09269484e-01 -1.07152387e-02 2.00054507e+02] [ 1.47512141e-02 -4.46360630e-04 9.99891095e-01 5.63340997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:200.07, Z:5.63 [[-7.08957351e-01 -7.05177617e-01 1.01981324e-02 7.73817885e+01] [ 7.05095633e-01 -7.09030560e-01 -1.07616307e-02 2.00072017e+02] [ 1.48196487e-02 -4.38878609e-04 9.99890087e-01 5.63307990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.37, Y:200.09, Z:5.63 [[-7.08528073e-01 -7.05607314e-01 1.03095986e-02 7.73669510e+01] [ 7.05523689e-01 -7.08602945e-01 -1.08715372e-02 2.00092781e+02] [ 1.49764481e-02 -4.29123238e-04 9.99887755e-01 5.63339398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:200.11, Z:5.63 [[-7.08014823e-01 -7.06118086e-01 1.05952243e-02 7.73472952e+01] [ 7.06029964e-01 -7.08093969e-01 -1.11633431e-02 2.00110163e+02] [ 1.53850529e-02 -4.23266567e-04 9.99881553e-01 5.63356635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:200.13, Z:5.63 [[-7.07026333e-01 -7.07106666e-01 1.06736803e-02 7.73282861e+01] [ 7.07017477e-01 -7.07106784e-01 -1.12375829e-02 2.00128459e+02] [ 1.54936015e-02 -3.98788482e-04 9.99879887e-01 5.63366105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.31, Y:200.15, Z:5.63 [[-7.06579090e-01 -7.07545552e-01 1.11929106e-02 7.73085474e+01] [ 7.07447671e-01 -7.06667624e-01 -1.17755222e-02 2.00145713e+02] [ 1.62413859e-02 -4.01939204e-04 9.99868019e-01 5.63349373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:200.16, Z:5.63 [[-7.05979953e-01 -7.08133100e-01 1.18244783e-02 7.72916724e+01] [ 7.08024114e-01 -7.06078855e-01 -1.24299969e-02 2.00164327e+02] [ 1.71511063e-02 -4.03312800e-04 9.99852828e-01 5.63330093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:200.18, Z:5.63 [[-7.06056304e-01 -7.08060223e-01 1.16282209e-02 7.72733649e+01] [ 7.07954975e-01 -7.06151943e-01 -1.22142015e-02 2.00183482e+02] [ 1.68596810e-02 -3.91657156e-04 9.99857789e-01 5.63409069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:200.20, Z:5.63 [[-7.06263459e-01 -7.07849526e-01 1.18732610e-02 7.72566392e+01] [ 7.07739931e-01 -7.06363143e-01 -1.24619496e-02 2.00202717e+02] [ 1.72080190e-02 -3.98238726e-04 9.99851852e-01 5.63443774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.24, Y:200.22, Z:5.64 [[-7.07286759e-01 -7.06841588e-01 1.09732034e-02 7.72392673e+01] [ 7.06747991e-01 -7.07371771e-01 -1.15089194e-02 2.00223216e+02] [ 1.58971172e-02 -3.84816819e-04 9.99873559e-01 5.63570486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:200.24, Z:5.64 [[-7.08062054e-01 -7.06070582e-01 1.06047266e-02 7.72214053e+01] [ 7.05983190e-01 -7.08141360e-01 -1.11153168e-02 2.00242510e+02] [ 1.53578437e-02 -3.83575294e-04 9.99881988e-01 5.63678441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:200.26, Z:5.64 [[-7.08964615e-01 -7.05166973e-01 1.04266526e-02 7.72018336e+01] [ 7.05082514e-01 -7.09041175e-01 -1.09206578e-02 2.00261680e+02] [ 1.50938132e-02 -3.90709514e-04 9.99886006e-01 5.63765350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:200.28, Z:5.64 [[-7.10970288e-01 -7.03151594e-01 9.95419931e-03 7.71846401e+01] [ 7.03074518e-01 -7.11039850e-01 -1.04189008e-02 2.00282579e+02] [ 1.44038991e-02 -4.08984996e-04 9.99896175e-01 5.63839437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:200.30, Z:5.64 [[-7.12223483e-01 -7.01883072e-01 9.89254837e-03 7.71654548e+01] [ 7.01806931e-01 -7.12292054e-01 -1.03470340e-02 2.00303642e+02] [ 1.43087916e-02 -4.26741600e-04 9.99897533e-01 5.63859680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:200.33, Z:5.64 [[-7.14644853e-01 -6.99417670e-01 9.88218927e-03 7.71495019e+01] [ 6.99341548e-01 -7.14713020e-01 -1.03294582e-02 2.00326083e+02] [ 1.42875349e-02 -4.70868581e-04 9.99897817e-01 5.63871000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.14, Y:200.35, Z:5.64 [[-7.16096970e-01 -6.97929327e-01 9.98922526e-03 7.71384896e+01] [ 6.97851470e-01 -7.16166463e-01 -1.04366740e-02 2.00351246e+02] [ 1.44380089e-02 -5.02675066e-04 9.99895640e-01 5.63912481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:200.37, Z:5.64 [[-7.17628951e-01 -6.96353855e-01 9.99990152e-03 7.71166449e+01] [ 6.96275785e-01 -7.17698424e-01 -1.04404282e-02 2.00368122e+02] [ 1.44471460e-02 -5.29664271e-04 9.99895494e-01 5.63935464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:200.39, Z:5.64 [[-7.20269067e-01 -6.93621806e-01 1.00628512e-02 7.71013327e+01] [ 6.93542590e-01 -7.20339122e-01 -1.04988445e-02 2.00389910e+02] [ 1.45308929e-02 -5.82977020e-04 9.99894251e-01 5.63903290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:200.41, Z:5.64 [[-7.20975134e-01 -6.92879187e-01 1.06437091e-02 7.70831028e+01] [ 6.92790612e-01 -7.21053424e-01 -1.10963184e-02 2.00410737e+02] [ 1.53630910e-02 -6.26307864e-04 9.99881785e-01 5.63898243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:200.43, Z:5.64 [[-7.21837447e-01 -6.91977643e-01 1.08462568e-02 7.70648488e+01] [ 6.91885686e-01 -7.21918635e-01 -1.12995931e-02 2.00431463e+02] [ 1.56491807e-02 -6.52099594e-04 9.99877331e-01 5.63862679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:200.45, Z:5.64 [[-7.21903592e-01 -6.91904646e-01 1.10979461e-02 7.70445003e+01] [ 6.91808492e-01 -7.21988588e-01 -1.15537588e-02 2.00449969e+02] [ 1.60066898e-02 -6.63046615e-04 9.99871665e-01 5.63874174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92275509600006 meters Centerline goodness [0,1] 0.9999572813875005 Centerline is valid? [True, True] Translation: X:77.03, Y:200.47, Z:5.64 [[-7.21776901e-01 -6.92033152e-01 1.13235094e-02 7.70276987e+01] [ 6.91933204e-01 -7.21865411e-01 -1.17800820e-02 2.00470359e+02] [ 1.63262570e-02 -6.67478919e-04 9.99866495e-01 5.63935019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:200.49, Z:5.64 [[-7.21533455e-01 -6.92286497e-01 1.13525244e-02 7.70097415e+01] [ 6.92186210e-01 -7.21622460e-01 -1.18015124e-02 2.00489842e+02] [ 1.63622643e-02 -6.57125135e-04 9.99865913e-01 5.64017683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:200.51, Z:5.64 [[-7.20155100e-01 -6.93719579e-01 1.13919773e-02 7.69921016e+01] [ 6.93618921e-01 -7.20244931e-01 -1.18334752e-02 2.00509972e+02] [ 1.64141273e-02 -6.20246502e-04 9.99865087e-01 5.64067261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:200.53, Z:5.64 [[-7.20415935e-01 -6.93448636e-01 1.13960317e-02 7.69739149e+01] [ 6.93348006e-01 -7.20505797e-01 -1.18295694e-02 2.00528476e+02] [ 1.64141057e-02 -6.20794502e-04 9.99865087e-01 5.64107699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:200.55, Z:5.64 [[-7.19401634e-01 -6.94497890e-01 1.15745375e-02 7.69541372e+01] [ 6.94394370e-01 -7.19494490e-01 -1.20057811e-02 2.00547910e+02] [ 1.66658056e-02 -5.99684872e-04 9.99860936e-01 5.64137787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:200.57, Z:5.64 [[-7.16812177e-01 -6.97168831e-01 1.16586911e-02 7.69355107e+01] [ 6.97064281e-01 -7.16906782e-01 -1.20852613e-02 2.00566137e+02] [ 1.67836622e-02 -5.36005277e-04 9.99859001e-01 5.64154150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:200.58, Z:5.64 [[-7.15461537e-01 -6.98556267e-01 1.15728653e-02 7.69152458e+01] [ 6.98453571e-01 -7.15554958e-01 -1.19879922e-02 2.00584244e+02] [ 1.66553082e-02 -4.93838207e-04 9.99861169e-01 5.64221557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:200.60, Z:5.64 [[-7.14152520e-01 -6.99893132e-01 1.16525523e-02 7.68962022e+01] [ 6.99789329e-01 -7.14247431e-01 -1.20624102e-02 2.00603438e+02] [ 1.67652036e-02 -4.60068892e-04 9.99859348e-01 5.64245807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:200.62, Z:5.64 [[-7.12867236e-01 -7.01201320e-01 1.17052543e-02 7.68779615e+01] [ 7.01096889e-01 -7.12963203e-01 -1.21088472e-02 2.00621941e+02] [ 1.68361552e-02 -4.25483122e-04 9.99858171e-01 5.64310415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:200.64, Z:5.64 [[-7.09749914e-01 -7.04358327e-01 1.15934110e-02 7.68582978e+01] [ 7.04256439e-01 -7.09844512e-01 -1.19848381e-02 2.00639411e+02] [ 1.66711397e-02 -3.41503466e-04 9.99860969e-01 5.64375557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:200.66, Z:5.64 [[-7.08224694e-01 -7.05892256e-01 1.15717571e-02 7.68388275e+01] [ 7.05791098e-01 -7.08319161e-01 -1.19537455e-02 2.00657488e+02] [ 1.66345537e-02 -2.98694613e-04 9.99861592e-01 5.64450381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:200.67, Z:5.64 [[-7.04865413e-01 -7.09246329e-01 1.15928253e-02 7.68183820e+01] [ 7.09145391e-01 -7.04960707e-01 -1.19673207e-02 2.00673465e+02] [ 1.66602646e-02 -2.14351811e-04 9.99861185e-01 5.64464501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:200.69, Z:5.64 [[-7.04054710e-01 -7.10050009e-01 1.16597851e-02 7.67989416e+01] [ 7.09948128e-01 -7.04151226e-01 -1.20294057e-02 2.00692116e+02] [ 1.67517316e-02 -1.91517146e-04 9.99859662e-01 5.64438332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:200.71, Z:5.64 [[-7.03422807e-01 -7.10671477e-01 1.19334027e-02 7.67815893e+01] [ 7.10564997e-01 -7.03524002e-01 -1.23029831e-02 2.00710103e+02] [ 1.71388144e-02 -1.74740670e-04 9.99853104e-01 5.64414214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:200.73, Z:5.65 [[-7.03076620e-01 -7.11015579e-01 1.18369110e-02 7.67661403e+01] [ 7.10911031e-01 -7.03176238e-01 -1.21936284e-02 2.00730522e+02] [ 1.69932943e-02 -1.58064469e-04 9.99855591e-01 5.64522837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:200.75, Z:5.65 [[-7.03353171e-01 -7.10744524e-01 1.16849233e-02 7.67504189e+01] [ 7.10642762e-01 -7.03450209e-01 -1.20278271e-02 2.00749868e+02] [ 1.67684740e-02 -1.56004111e-04 9.99859387e-01 5.64575159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4027550960001 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:76.73, Y:200.77, Z:5.65 [[-7.03699387e-01 -7.10401751e-01 1.16844177e-02 7.67342943e+01] [ 7.10300111e-01 -7.03796368e-01 -1.20176740e-02 2.00769362e+02] [ 1.67608274e-02 -1.57386681e-04 9.99859515e-01 5.64582034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:200.79, Z:5.65 [[-7.03765555e-01 -7.10348122e-01 1.09356882e-02 7.67173650e+01] [ 7.10259211e-01 -7.03850499e-01 -1.12395640e-02 2.00787155e+02] [ 1.56810928e-02 -1.42844727e-04 9.99877034e-01 5.64718301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:200.81, Z:5.65 [[-7.04006008e-01 -7.10116569e-01 1.04880726e-02 7.66990283e+01] [ 7.10034885e-01 -7.04084115e-01 -1.07713309e-02 2.00805050e+02] [ 1.50333858e-02 -1.36184210e-04 9.99886983e-01 5.64814405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:200.82, Z:5.65 [[-7.04223419e-01 -7.09906606e-01 1.00988994e-02 7.66793833e+01] [ 7.09830958e-01 -7.04295815e-01 -1.03641838e-02 2.00822976e+02] [ 1.44702151e-02 -1.30189452e-04 9.99895292e-01 5.64903336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:200.84, Z:5.65 [[-7.04380690e-01 -7.09747223e-01 1.03307312e-02 7.66602981e+01] [ 7.09668164e-01 -7.04456431e-01 -1.05940872e-02 2.00841953e+02] [ 1.47966740e-02 -1.30879381e-04 9.99890515e-01 5.64909732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:200.86, Z:5.65 [[-7.04608031e-01 -7.09519104e-01 1.04959450e-02 7.66423284e+01] [ 7.09437566e-01 -7.04686188e-01 -1.07571322e-02 2.00859965e+02] [ 1.50287382e-02 -1.33344075e-04 9.99887053e-01 5.64893753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.62, Y:200.88, Z:5.65 [[-7.05042827e-01 -7.09082174e-01 1.08205041e-02 7.66248032e+01] [ 7.08995599e-01 -7.05125840e-01 -1.10810671e-02 2.00879045e+02] [ 1.54872042e-02 -1.40937109e-04 9.99880056e-01 5.64887531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:200.90, Z:5.65 [[-7.05962886e-01 -7.08163872e-01 1.09696653e-02 7.66066137e+01] [ 7.08074885e-01 -7.06048090e-01 -1.12272912e-02 2.00898030e+02] [ 1.56958732e-02 -1.58706471e-04 9.99876800e-01 5.64910159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.59, Y:200.92, Z:5.65 [[-7.07053005e-01 -7.07070816e-01 1.12653821e-02 7.65899877e+01] [ 7.06976964e-01 -7.07142721e-01 -1.15214917e-02 2.00915813e+02] [ 1.61127435e-02 -1.81939677e-04 9.99870165e-01 5.64900714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:200.93, Z:5.65 [[-7.09288468e-01 -7.04819014e-01 1.18333112e-02 7.65701090e+01] [ 7.04715288e-01 -7.09387131e-01 -1.20938789e-02 2.00933832e+02] [ 1.69183945e-02 -2.38933474e-04 9.99856845e-01 5.64874222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:200.95, Z:5.65 [[-7.10883016e-01 -7.03204720e-01 1.21843644e-02 7.65513216e+01] [ 7.03094637e-01 -7.10987372e-01 -1.24454567e-02 2.00953485e+02] [ 1.74146331e-02 -2.80502541e-04 9.99848314e-01 5.64829116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:200.97, Z:5.65 [[-7.13728257e-01 -7.00304125e-01 1.28882610e-02 7.65317037e+01] [ 7.00180656e-01 -7.13844520e-01 -1.31548442e-02 2.00973658e+02] [ 1.84126061e-02 -3.64873008e-04 9.99830407e-01 5.64787471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:200.99, Z:5.65 [[-7.15312983e-01 -6.98682870e-01 1.30224608e-02 7.65137283e+01] [ 6.98556708e-01 -7.15431397e-01 -1.32831261e-02 2.00993942e+02] [ 1.85973700e-02 -4.04665198e-04 9.99826972e-01 5.64860711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:201.01, Z:5.65 [[-7.16824452e-01 -6.97136430e-01 1.27868526e-02 7.64956224e+01] [ 6.97014705e-01 -7.16938361e-01 -1.30341376e-02 2.01014715e+02] [ 1.82539573e-02 -4.30564226e-04 9.99833290e-01 5.64976957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.48, Y:201.03, Z:5.65 [[-7.18842856e-01 -6.95062099e-01 1.23946414e-02 7.64753315e+01] [ 6.94947563e-01 -7.18949557e-01 -1.26261695e-02 2.01033587e+02] [ 1.76870938e-02 -4.62605930e-04 9.99843464e-01 5.65130116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:201.05, Z:5.65 [[-7.19436135e-01 -6.94446768e-01 1.24633086e-02 7.64570691e+01] [ 6.94331022e-01 -7.19543926e-01 -1.26874062e-02 2.01052934e+02] [ 1.77786262e-02 -4.74116717e-04 9.99841835e-01 5.65149266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:201.07, Z:5.65 [[-7.19956129e-01 -6.93903438e-01 1.26960739e-02 7.64356108e+01] [ 6.93783421e-01 -7.20067899e-01 -1.29145930e-02 2.01070460e+02] [ 1.81035157e-02 -4.89614832e-04 9.99835998e-01 5.65224491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.42, Y:201.09, Z:5.65 [[-7.20026421e-01 -6.93830131e-01 1.27162139e-02 7.64171174e+01] [ 6.93709887e-01 -7.20138537e-01 -1.29259575e-02 2.01088862e+02] [ 1.81258544e-02 -4.85667592e-04 9.99835595e-01 5.65292444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.40, Y:201.11, Z:5.65 [[-7.20023790e-01 -6.93833876e-01 1.26607872e-02 7.63982349e+01] [ 6.93714813e-01 -7.20134935e-01 -1.28621120e-02 2.01106968e+02] [ 1.80416442e-02 -4.78051013e-04 9.99837122e-01 5.65331533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:201.12, Z:5.65 [[-7.18674929e-01 -6.95232044e-01 1.25996647e-02 7.63755579e+01] [ 6.95114509e-01 -7.18785237e-01 -1.27907145e-02 2.01124518e+02] [ 1.79489675e-02 -4.34156067e-04 9.99838810e-01 5.65428482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:201.14, Z:5.65 [[-7.17866526e-01 -6.96062573e-01 1.28275210e-02 7.63550361e+01] [ 6.95941037e-01 -7.17981004e-01 -1.30135186e-02 2.01142859e+02] [ 1.82681397e-02 -4.14771129e-04 9.99833038e-01 5.65499262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.34, Y:201.16, Z:5.66 [[-7.17295644e-01 -6.96655710e-01 1.25610634e-02 7.63355214e+01] [ 6.96539421e-01 -7.17405515e-01 -1.27342811e-02 2.01161124e+02] [ 1.78827858e-02 -3.84968537e-04 9.99840016e-01 5.65573311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:201.18, Z:5.66 [[-7.16518719e-01 -6.97462197e-01 1.21411935e-02 7.63147087e+01] [ 6.97353814e-01 -7.16621492e-01 -1.23001994e-02 2.01179268e+02] [ 1.72795643e-02 -3.46615509e-04 9.99850637e-01 5.65676475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:201.20, Z:5.66 [[-7.14930181e-01 -6.99108911e-01 1.10257252e-02 7.62933813e+01] [ 6.99019836e-01 -7.15015143e-01 -1.11630303e-02 2.01195951e+02] [ 1.56877345e-02 -2.73586648e-04 9.99876903e-01 5.65891412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:201.21, Z:5.66 [[-7.14434766e-01 -6.99618432e-01 1.08173573e-02 7.62751894e+01] [ 6.99532866e-01 -7.14516610e-01 -1.09445115e-02 2.01213144e+02] [ 1.53861635e-02 -2.52042551e-04 9.99881594e-01 5.65957798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.25, Y:201.23, Z:5.66 [[-7.13610315e-01 -7.00453983e-01 1.11595853e-02 7.62544977e+01] [ 7.00363135e-01 -7.13697528e-01 -1.12835334e-02 2.01231651e+02] [ 1.58681643e-02 -2.36283714e-04 9.99874065e-01 5.66030191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.24, Y:201.25, Z:5.66 [[-7.13819801e-01 -7.00243495e-01 1.09699165e-02 7.62356078e+01] [ 7.00155797e-01 -7.13904051e-01 -1.10844741e-02 2.01250643e+02] [ 1.55932987e-02 -2.31666506e-04 9.99878390e-01 5.66070410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:201.27, Z:5.66 [[-7.14552110e-01 -6.99497539e-01 1.08846474e-02 7.62165719e+01] [ 6.99411231e-01 -7.14634966e-01 -1.09906576e-02 2.01270090e+02] [ 1.54664875e-02 -2.40552930e-04 9.99880358e-01 5.66087681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.20, Y:201.29, Z:5.66 [[-7.15274350e-01 -6.98755150e-01 1.11285557e-02 7.61976304e+01] [ 6.98664970e-01 -7.15360870e-01 -1.12287889e-02 2.01290365e+02] [ 1.58071074e-02 -2.56532689e-04 9.99875027e-01 5.66114536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:201.31, Z:5.66 [[-7.16056534e-01 -6.97950561e-01 1.13161092e-02 7.61786391e+01] [ 6.97857346e-01 -7.16145893e-01 -1.14098579e-02 2.01310427e+02] [ 1.60675018e-02 -2.73073359e-04 9.99870872e-01 5.66066589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.16, Y:201.33, Z:5.66 [[-7.16834966e-01 -6.97135640e-01 1.22283030e-02 7.61613336e+01] [ 6.97026834e-01 -7.16939191e-01 -1.23202516e-02 2.01330901e+02] [ 1.73558362e-02 -3.08131780e-04 9.99849329e-01 5.65997541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:201.35, Z:5.66 [[-7.17615731e-01 -6.96321101e-01 1.28291317e-02 7.61423252e+01] [ 6.96201389e-01 -7.17730319e-01 -1.29157177e-02 2.01350453e+02] [ 1.82013436e-02 -3.36862875e-04 9.99834285e-01 5.65949140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.13, Y:201.37, Z:5.66 [[-7.18718939e-01 -6.95159227e-01 1.40262370e-02 7.61251384e+01] [ 6.95016117e-01 -7.18855684e-01 -1.41103526e-02 2.01372395e+02] [ 1.98917820e-02 -3.92916866e-04 9.99802062e-01 5.65952208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:201.39, Z:5.66 [[-7.19607211e-01 -6.94231440e-01 1.44280616e-02 7.61087939e+01] [ 6.94080024e-01 -7.19751713e-01 -1.45049068e-02 2.01394526e+02] [ 2.04543844e-02 -4.23606181e-04 9.99790697e-01 5.65911841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:201.41, Z:5.66 [[-7.20777827e-01 -6.92990637e-01 1.55981339e-02 7.60916266e+01] [ 6.92813624e-01 -7.20946419e-01 -1.56698321e-02 2.01414656e+02] [ 2.21044657e-02 -4.87867920e-04 9.99755547e-01 5.65752779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:201.43, Z:5.66 [[-7.21447141e-01 -6.92284099e-01 1.60234148e-02 7.60714196e+01] [ 6.92097389e-01 -7.21624876e-01 -1.60855011e-02 2.01433351e+02] [ 2.26986314e-02 -5.15075254e-04 9.99742220e-01 5.65772209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:201.45, Z:5.66 [[-7.22310246e-01 -6.91382007e-01 1.60881567e-02 7.60530593e+01] [ 6.91193823e-01 -7.22489191e-01 -1.61390334e-02 2.01453284e+02] [ 2.27817566e-02 -5.37354685e-04 9.99740318e-01 5.65793222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.04, Y:201.48, Z:5.66 [[-7.24228687e-01 -6.89372160e-01 1.60883162e-02 7.60374089e+01] [ 6.89183714e-01 -7.24407119e-01 -1.61286792e-02 2.01475108e+02] [ 2.27731532e-02 -5.93046667e-04 9.99740482e-01 5.65902096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:201.50, Z:5.66 [[-7.25223035e-01 -6.88331740e-01 1.58418727e-02 7.60189795e+01] [ 6.88148969e-01 -7.25395784e-01 -1.58730366e-02 2.01496758e+02] [ 2.24175426e-02 -6.09923373e-04 9.99748509e-01 5.65990677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:201.52, Z:5.66 [[-7.26706741e-01 -6.86767623e-01 1.57335477e-02 7.60037570e+01] [ 6.86587205e-01 -7.26876753e-01 -1.57542157e-02 2.01518456e+02] [ 2.22558353e-02 -6.46242193e-04 9.99752099e-01 5.66072285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:201.54, Z:5.66 [[-7.27351059e-01 -6.86078130e-01 1.60385820e-02 7.59850751e+01] [ 6.85890746e-01 -7.27527559e-01 -1.60479290e-02 2.01538689e+02] [ 2.26786435e-02 -6.71763202e-04 9.99742581e-01 5.66143070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:201.56, Z:5.66 [[-7.27792970e-01 -6.85609282e-01 1.60407351e-02 7.59672732e+01] [ 6.85421990e-01 -7.27969403e-01 -1.60388078e-02 2.01558583e+02] [ 2.26735199e-02 -6.78259011e-04 9.99742693e-01 5.66182522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:201.54, Z:5.66 [[-6.80143535e-01 -7.32919761e-01 1.52772961e-02 7.59578644e+01] [ 7.32741102e-01 -6.80315066e-01 -1.61829914e-02 2.01539205e+02] [ 2.22542089e-02 1.87545855e-04 9.99752327e-01 5.66250242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:201.56, Z:5.66 [[-6.79924376e-01 -7.33154485e-01 1.36873744e-02 7.59425669e+01] [ 7.32987571e-01 -6.80061855e-01 -1.56554628e-02 2.01558991e+02] [ 2.07861340e-02 -6.11855399e-04 9.99783758e-01 5.66483677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72275509600007 meters Centerline goodness [0,1] 0.9999126370506268 Centerline is valid? [True, True] Translation: X:75.92, Y:201.58, Z:5.66 [[-6.79989068e-01 -7.33107892e-01 1.29493670e-02 7.59246108e+01] [ 7.32958710e-01 -6.80112117e-01 -1.47999511e-02 2.01577993e+02] [ 1.96569824e-02 -5.72453582e-04 9.99806619e-01 5.66447524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:201.60, Z:5.67 [[-6.77918709e-01 -7.35033186e-01 1.23466420e-02 7.59065171e+01] [ 7.34898081e-01 -6.78030957e-01 -1.41007805e-02 2.01597833e+02] [ 1.87359471e-02 -4.85659435e-04 9.99824349e-01 5.66728238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:201.62, Z:5.67 [[-6.77144141e-01 -7.35748635e-01 1.22375559e-02 7.58863562e+01] [ 7.35616202e-01 -6.77254559e-01 -1.39665900e-02 2.01615925e+02] [ 1.85638400e-02 -4.55250216e-04 9.99827573e-01 5.66802056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:201.64, Z:5.67 [[-6.76531511e-01 -7.36307072e-01 1.25303662e-02 7.58702933e+01] [ 7.36168518e-01 -6.76647396e-01 -1.42903871e-02 2.01636374e+02] [ 1.90007528e-02 -4.43436054e-04 9.99819371e-01 5.66817392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:201.65, Z:5.67 [[-6.75279626e-01 -7.37453390e-01 1.26461006e-02 7.58500819e+01] [ 7.37312676e-01 -6.75397906e-01 -1.44113689e-02 2.01654572e+02] [ 1.91688627e-02 -4.07573468e-04 9.99816177e-01 5.66814456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:201.67, Z:5.67 [[-6.74817790e-01 -7.37871681e-01 1.28970022e-02 7.58317804e+01] [ 7.37725609e-01 -6.74940905e-01 -1.46867332e-02 2.01674326e+02] [ 1.95416388e-02 -3.96420079e-04 9.99808965e-01 5.66829893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:201.69, Z:5.67 [[-6.75101657e-01 -7.37611876e-01 1.29024268e-02 7.58144667e+01] [ 7.37465848e-01 -6.75224824e-01 -1.46819664e-02 2.01693641e+02] [ 1.95416317e-02 -3.96720699e-04 9.99808965e-01 5.66870247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:201.71, Z:5.67 [[-6.74406617e-01 -7.38248988e-01 1.28119881e-02 7.57965151e+01] [ 7.38105332e-01 -6.74528203e-01 -1.45678288e-02 2.01713000e+02] [ 1.93967321e-02 -3.68043400e-04 9.99811798e-01 5.66924250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:201.73, Z:5.67 [[-6.72707583e-01 -7.39802530e-01 1.25189812e-02 7.57776182e+01] [ 7.39665840e-01 -6.72823990e-01 -1.42240348e-02 2.01731182e+02] [ 1.89460478e-02 -3.08753280e-04 9.99820460e-01 5.67032832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:201.75, Z:5.67 [[-6.72000294e-01 -7.40448260e-01 1.23279801e-02 7.57589364e+01] [ 7.40316007e-01 -6.72113306e-01 -1.39969283e-02 2.01749396e+02] [ 1.86498006e-02 -2.79338938e-04 9.99826038e-01 5.67063959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:201.77, Z:5.67 [[-6.70736750e-01 -7.41600449e-01 1.18737574e-02 7.57381149e+01] [ 7.41478120e-01 -6.70841800e-01 -1.34713750e-02 2.01767405e+02] [ 1.79557905e-02 -2.31614938e-04 9.99838755e-01 5.67171572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:201.79, Z:5.67 [[-6.70646675e-01 -7.41682909e-01 1.18110188e-02 7.57209146e+01] [ 7.41562054e-01 -6.70750635e-01 -1.33905541e-02 2.01786826e+02] [ 1.78537935e-02 -2.21727255e-04 9.99840584e-01 5.67223032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:201.81, Z:5.67 [[-6.70540790e-01 -7.41778882e-01 1.17957394e-02 7.57028045e+01] [ 7.41658534e-01 -6.70644500e-01 -1.33631422e-02 2.01806430e+02] [ 1.78232445e-02 -2.12121140e-04 9.99841131e-01 5.67268955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:201.83, Z:5.67 [[-6.70688225e-01 -7.41643053e-01 1.19534870e-02 7.56839114e+01] [ 7.41519633e-01 -6.70794705e-01 -1.35313518e-02 2.01826360e+02] [ 1.80537688e-02 -2.11572996e-04 9.99836995e-01 5.67296538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:201.85, Z:5.67 [[-6.71142138e-01 -7.41227593e-01 1.22427899e-02 7.56683587e+01] [ 7.41098244e-01 -6.71253757e-01 -1.38487005e-02 2.01846983e+02] [ 1.84830576e-02 -2.21336359e-04 9.99829149e-01 5.67314835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:201.87, Z:5.67 [[-6.71519130e-01 -7.40885872e-01 1.22549462e-02 7.56500926e+01] [ 7.40756381e-01 -6.71630907e-01 -1.38531475e-02 2.01867484e+02] [ 1.84944018e-02 -2.24723955e-04 9.99828939e-01 5.67327132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.63, Y:201.89, Z:5.67 [[-6.72381809e-01 -7.40100437e-01 1.24115576e-02 7.56324029e+01] [ 7.39967668e-01 -6.72496308e-01 -1.40201866e-02 2.01887755e+02] [ 1.87230729e-02 -2.42767120e-04 9.99824678e-01 5.67361441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:201.91, Z:5.67 [[-6.73248085e-01 -7.39313915e-01 1.23268599e-02 7.56156808e+01] [ 7.39183005e-01 -6.73360876e-01 -1.39145622e-02 2.01907408e+02] [ 1.85876546e-02 -2.56146951e-04 9.99827202e-01 5.67390884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:201.93, Z:5.67 [[-6.74244343e-01 -7.38402613e-01 1.24958694e-02 7.55982581e+01] [ 7.38268149e-01 -6.74360070e-01 -1.40938609e-02 2.01927264e+02] [ 1.88336591e-02 -2.77403657e-04 9.99822592e-01 5.67425977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29275509600006 meters Centerline goodness [0,1] 0.9999562937062937 Centerline is valid? [True, True] Translation: X:75.58, Y:201.95, Z:5.67 [[-6.76096133e-01 -7.36708168e-01 1.24536536e-02 7.55825234e+01] [ 7.36574524e-01 -6.76210747e-01 -1.40355435e-02 2.01948657e+02] [ 1.87613940e-02 -3.16332701e-04 9.99823940e-01 5.67360813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:201.97, Z:5.68 [[-6.76678192e-01 -7.36177154e-01 1.22402114e-02 7.55644380e+01] [ 7.36048146e-01 -6.76788812e-01 -1.37851609e-02 2.01969291e+02] [ 1.84323587e-02 -3.18732839e-04 9.99830059e-01 5.67595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:201.99, Z:5.68 [[-6.78010843e-01 -7.34947565e-01 1.23844141e-02 7.55466291e+01] [ 7.34815476e-01 -6.78123849e-01 -1.39377748e-02 2.01991470e+02] [ 1.86417001e-02 -3.49703298e-04 9.99826167e-01 5.67716315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:202.01, Z:5.68 [[-6.79217289e-01 -7.33832428e-01 1.24032839e-02 7.55294230e+01] [ 7.33699920e-01 -6.79330426e-01 -1.39499053e-02 2.02012424e+02] [ 1.86628210e-02 -3.74728436e-04 9.99825764e-01 5.67717668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:202.03, Z:5.68 [[-6.80521627e-01 -7.32621315e-01 1.25029524e-02 7.55109210e+01] [ 7.32486644e-01 -6.80636353e-01 -1.40524718e-02 2.02033925e+02] [ 1.88051043e-02 -4.04765343e-04 9.99823086e-01 5.67740781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.49, Y:202.06, Z:5.68 [[-6.81763760e-01 -7.31470093e-01 1.22343424e-02 7.54927378e+01] [ 7.31341120e-01 -6.81873395e-01 -1.37419090e-02 2.02055515e+02] [ 1.83940681e-02 -4.21257871e-04 9.99830726e-01 5.67784676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:202.08, Z:5.68 [[-6.83739461e-01 -7.29640245e-01 1.12009805e-02 7.54761926e+01] [ 7.29532020e-01 -6.83831069e-01 -1.25737718e-02 2.02076680e+02] [ 1.68339084e-02 -4.25710072e-04 9.99858209e-01 5.67984175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:202.10, Z:5.68 [[-6.84710635e-01 -7.28740543e-01 1.04195462e-02 7.54579477e+01] [ 7.28646903e-01 -6.84789786e-01 -1.16892551e-02 2.02097594e+02] [ 1.56536329e-02 -4.11587209e-04 9.99877390e-01 5.68120992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.44, Y:202.12, Z:5.68 [[-6.85702114e-01 -7.27816451e-01 9.78901906e-03 7.54413437e+01] [ 7.27733805e-01 -6.85771866e-01 -1.09753149e-02 2.02117979e+02] [ 1.47010486e-02 -4.01996570e-04 9.99891853e-01 5.68259146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.42, Y:202.14, Z:5.68 [[-6.86847596e-01 -7.26740856e-01 9.38664288e-03 7.54225309e+01] [ 7.26664840e-01 -6.86911614e-01 -1.05187522e-02 2.02138634e+02] [ 1.40922010e-02 -4.03836300e-04 9.99900618e-01 5.68394762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5927550960001 meters Centerline goodness [0,1] 0.9999123076248521 Centerline is valid? [True, True] Translation: X:75.40, Y:202.16, Z:5.68 [[-6.87789482e-01 -7.25851945e-01 9.19688569e-03 7.54037051e+01] [ 7.25778981e-01 -6.87850846e-01 -1.02996828e-02 2.02159468e+02] [ 1.38021304e-02 -4.09107143e-04 9.99904662e-01 5.68255426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.39, Y:202.18, Z:5.69 [[-6.88252917e-01 -7.25419097e-01 8.66346207e-03 7.53856484e+01] [ 7.25354390e-01 -6.88307331e-01 -9.69672954e-03 2.02178448e+02] [ 1.29973172e-02 -3.89722148e-04 9.99915455e-01 5.68523982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.37, Y:202.20, Z:5.69 [[-6.88564367e-01 -7.25127571e-01 8.31374483e-03 7.53667975e+01] [ 7.25068047e-01 -6.88614453e-01 -9.29853615e-03 2.02197867e+02] [ 1.24675898e-02 -3.74609933e-04 9.99922206e-01 5.68571153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.35, Y:202.22, Z:5.69 [[-6.88819793e-01 -7.24884613e-01 8.34207132e-03 7.53485837e+01] [ 7.24824747e-01 -6.88870203e-01 -9.32361378e-03 2.02217187e+02] [ 1.25051485e-02 -3.75749978e-04 9.99921737e-01 5.68604226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.33, Y:202.24, Z:5.69 [[-6.88615141e-01 -7.25081373e-01 8.13572058e-03 7.53304773e+01] [ 7.25024526e-01 -6.88663106e-01 -9.08639390e-03 2.02235647e+02] [ 1.21911456e-02 -3.58431457e-04 9.99925621e-01 5.68623635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:202.25, Z:5.69 [[-6.88303813e-01 -7.25379042e-01 7.94394804e-03 7.53094567e+01] [ 7.25324939e-01 -6.88349569e-01 -8.86583724e-03 2.02253336e+02] [ 1.18993057e-02 -3.40445948e-04 9.99929143e-01 5.68668069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.29, Y:202.27, Z:5.69 [[-6.88166340e-01 -7.25515391e-01 7.38277689e-03 7.52901993e+01] [ 7.25468730e-01 -6.88205871e-01 -8.23413930e-03 2.02272988e+02] [ 1.10548652e-02 -3.10483739e-04 9.99938845e-01 5.68733799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.27, Y:202.29, Z:5.69 [[-6.87132715e-01 -7.26492326e-01 7.58505027e-03 7.52721305e+01] [ 7.26443208e-01 -6.87174513e-01 -8.45309027e-03 2.02293760e+02] [ 1.13533584e-02 -2.98286614e-04 9.99935504e-01 5.68731545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:202.31, Z:5.69 [[-6.86630412e-01 -7.26965686e-01 7.71800408e-03 7.52504902e+01] [ 7.26914931e-01 -6.86673726e-01 -8.59521432e-03 2.02311619e+02] [ 1.15481765e-02 -2.91403156e-04 9.99933275e-01 5.68706970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:202.33, Z:5.69 [[-6.85631431e-01 -7.27911405e-01 7.38422867e-03 7.52291445e+01] [ 7.27865036e-01 -6.85671144e-01 -8.22015444e-03 2.02330298e+02] [ 1.10466967e-02 -2.61274391e-04 9.99938949e-01 5.68780502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:202.35, Z:5.69 [[-6.85457364e-01 -7.28078735e-01 7.03974484e-03 7.52110698e+01] [ 7.28036644e-01 -6.85493470e-01 -7.83248106e-03 2.02349669e+02] [ 1.05283620e-02 -2.43639614e-04 9.99944546e-01 5.68913291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:202.37, Z:5.69 [[-6.85611577e-01 -7.27934438e-01 6.94408481e-03 7.51924048e+01] [ 7.27893533e-01 -6.85646700e-01 -7.72053575e-03 2.02368766e+02] [ 1.03812327e-02 -2.38734263e-04 9.99946085e-01 5.68992327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:202.39, Z:5.69 [[-6.85845978e-01 -7.27716162e-01 6.66959538e-03 7.51753303e+01] [ 7.27678470e-01 -6.85878368e-01 -7.41006668e-03 2.02387162e+02] [ 9.96695647e-03 -2.28843465e-04 9.99950302e-01 5.69063687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.16, Y:202.41, Z:5.69 [[-6.86247648e-01 -7.27335721e-01 6.84941126e-03 7.51561839e+01] [ 7.27296019e-01 -6.86281789e-01 -7.60308051e-03 2.02406163e+02] [ 1.02306183e-02 -2.36046569e-04 9.99947638e-01 5.69058503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.14, Y:202.43, Z:5.69 [[-6.86469249e-01 -7.27127600e-01 6.73975436e-03 7.51375325e+01] [ 7.27089202e-01 -6.86502294e-01 -7.47609701e-03 2.02426353e+02] [ 1.00629333e-02 -2.31708075e-04 9.99949341e-01 5.69101707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:202.45, Z:5.69 [[-6.86465412e-01 -7.27130564e-01 6.81040665e-03 7.51182774e+01] [ 7.27091414e-01 -6.86499155e-01 -7.54888556e-03 2.02445314e+02] [ 1.01643638e-02 -2.30260633e-04 9.99948315e-01 5.69138195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:202.46, Z:5.69 [[-6.86377090e-01 -7.27213207e-01 6.88786206e-03 7.51002021e+01] [ 7.27173230e-01 -6.86411611e-01 -7.62846873e-03 2.02464595e+02] [ 1.02754317e-02 -2.27337266e-04 9.99947181e-01 5.69140972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.08, Y:202.48, Z:5.69 [[-6.86676252e-01 -7.26928728e-01 7.09573607e-03 7.50802045e+01] [ 7.26886327e-01 -6.86712872e-01 -7.85479584e-03 2.02483412e+02] [ 1.05826100e-02 -2.35908233e-04 9.99943975e-01 5.69092019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.06, Y:202.50, Z:5.69 [[-6.87313976e-01 -7.26322111e-01 7.46256098e-03 7.50625319e+01] [ 7.26275257e-01 -6.87354441e-01 -8.25372737e-03 2.02502740e+02] [ 1.11242891e-02 -2.53028790e-04 9.99938091e-01 5.69096630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:202.52, Z:5.69 [[-6.87776545e-01 -7.25884367e-01 7.43702748e-03 7.50453977e+01] [ 7.25837860e-01 -6.87816705e-01 -8.22078211e-03 2.02522490e+02] [ 1.10826490e-02 -2.55985008e-04 9.99938553e-01 5.69157704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.03, Y:202.54, Z:5.69 [[-6.88589877e-01 -7.25112786e-01 7.44507641e-03 7.50298004e+01] [ 7.25066177e-01 -6.88630073e-01 -8.22565674e-03 2.02543328e+02] [ 1.10914324e-02 -2.65930873e-04 9.99938453e-01 5.69226188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:202.56, Z:5.69 [[-6.90140618e-01 -7.23637506e-01 7.39510031e-03 7.50108272e+01] [ 7.23591508e-01 -6.90180179e-01 -8.16391373e-03 2.02564299e+02] [ 1.10116658e-02 -2.83216672e-04 9.99939330e-01 5.69244407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:202.58, Z:5.69 [[-6.90893762e-01 -7.22918013e-01 7.44020569e-03 7.49921754e+01] [ 7.22871467e-01 -6.90933760e-01 -8.20867860e-03 2.02584567e+02] [ 1.10748909e-02 -2.93012436e-04 9.99938629e-01 5.69279738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2827550960001 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:74.97, Y:202.60, Z:5.69 [[-6.91580546e-01 -7.22261898e-01 7.35524669e-03 7.49749085e+01] [ 7.22216433e-01 -6.91619595e-01 -8.10930334e-03 2.02604300e+02] [ 1.09440735e-02 -2.96156407e-04 9.99940068e-01 5.69298916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:202.62, Z:5.69 [[-6.92261693e-01 -7.21604443e-01 7.79589602e-03 7.49566551e+01] [ 7.21553408e-01 -6.92305515e-01 -8.58798884e-03 2.02624277e+02] [ 1.15942727e-02 -3.19980357e-04 9.99932733e-01 5.69261464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:202.64, Z:5.69 [[-6.92677152e-01 -7.21201719e-01 8.15131778e-03 7.49399082e+01] [ 7.21145977e-01 -6.92725030e-01 -8.97288940e-03 2.02644236e+02] [ 1.21178851e-02 -3.37025451e-04 9.99926519e-01 5.69277478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:202.66, Z:5.69 [[-6.93732221e-01 -7.20178593e-01 8.85433502e-03 7.49201491e+01] [ 7.20112845e-01 -6.93788620e-01 -9.73862990e-03 2.02664455e+02] [ 1.31565897e-02 -3.79880972e-04 9.99913376e-01 5.69233125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.90, Y:202.68, Z:5.69 [[-6.94440300e-01 -7.19490551e-01 9.27448555e-03 7.49036821e+01] [ 7.19418445e-01 -6.94502110e-01 -1.01940957e-02 2.02684534e+02] [ 1.37757053e-02 -4.06954873e-04 9.99905028e-01 5.69280781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:202.70, Z:5.69 [[-6.95033315e-01 -7.18922400e-01 8.90356451e-03 7.48846237e+01] [ 7.18855992e-01 -6.95090228e-01 -9.77939804e-03 2.02704516e+02] [ 1.32194090e-02 -3.96626742e-04 9.99912541e-01 5.69335026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:202.72, Z:5.69 [[-6.95683068e-01 -7.18293984e-01 8.87814623e-03 7.48660691e+01] [ 7.18227995e-01 -6.95739599e-01 -9.74458582e-03 2.02724069e+02] [ 1.31763553e-02 -4.02610185e-04 9.99913107e-01 5.69394731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:202.74, Z:5.69 [[-6.96561926e-01 -7.17444726e-01 8.63411036e-03 7.48478277e+01] [ 7.17382336e-01 -6.96615319e-01 -9.47005008e-03 2.02744078e+02] [ 1.28088910e-02 -4.02518068e-04 9.99917882e-01 5.69451563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:202.76, Z:5.69 [[-6.96924851e-01 -7.17091281e-01 8.70900664e-03 7.48286615e+01] [ 7.17027859e-01 -6.96979144e-01 -9.54578191e-03 2.02764066e+02] [ 1.29151930e-02 -4.08092241e-04 9.99916512e-01 5.69497284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:202.78, Z:5.70 [[-6.97058210e-01 -7.16962130e-01 8.66932670e-03 7.48105422e+01] [ 7.16899361e-01 -6.97112001e-01 -9.49553566e-03 2.02784742e+02] [ 1.28514312e-02 -4.03906317e-04 9.99917335e-01 5.69530041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:202.80, Z:5.70 [[-6.97403300e-01 -7.16631738e-01 8.22122319e-03 7.47931061e+01] [ 7.16575339e-01 -6.97451650e-01 -8.99883819e-03 2.02804571e+02] [ 1.21827587e-02 -3.84693653e-04 9.99925713e-01 5.69623409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:202.82, Z:5.70 [[-6.97430361e-01 -7.16604670e-01 8.28484677e-03 7.47744179e+01] [ 7.16547478e-01 -6.97479462e-01 -9.06156253e-03 2.02824836e+02] [ 1.22720685e-02 -3.83322775e-04 9.99924622e-01 5.69670501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:202.84, Z:5.70 [[-6.96782226e-01 -7.17234631e-01 8.30746274e-03 7.47535636e+01] [ 7.17177252e-01 -6.96831650e-01 -9.07974862e-03 2.02843947e+02] [ 1.23012131e-02 -3.68684151e-04 9.99924269e-01 5.69706707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:202.86, Z:5.70 [[-6.96530032e-01 -7.17483854e-01 7.92681449e-03 7.47355252e+01] [ 7.17431693e-01 -6.96575051e-01 -8.65824325e-03 2.02862720e+02] [ 1.17337709e-02 -3.43778508e-04 9.99931098e-01 5.69779938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:202.88, Z:5.70 [[-6.96378610e-01 -7.17629712e-01 8.02673750e-03 7.47180433e+01] [ 7.17576291e-01 -6.96424784e-01 -8.76282400e-03 2.02883002e+02] [ 1.18784818e-02 -3.42446668e-04 9.99929390e-01 5.69846108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:202.90, Z:5.70 [[-6.95673951e-01 -7.18314057e-01 7.91642511e-03 7.46959612e+01] [ 7.18262211e-01 -6.95718918e-01 -8.63622220e-03 2.02900704e+02] [ 1.17111265e-02 -3.21925823e-04 9.99931371e-01 5.69878252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:202.92, Z:5.70 [[-6.95486401e-01 -7.18495803e-01 7.90234327e-03 7.46783251e+01] [ 7.18444215e-01 -6.95531223e-01 -8.61557224e-03 2.02920601e+02] [ 1.16865790e-02 -3.14620526e-04 9.99931660e-01 5.69880728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:202.94, Z:5.70 [[-6.94567463e-01 -7.19375201e-01 8.68100526e-03 7.46583131e+01] [ 7.19313122e-01 -6.94621635e-01 -9.45608142e-03 2.02939809e+02] [ 1.28324845e-02 -3.23525489e-04 9.99917608e-01 5.69786000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:202.96, Z:5.70 [[-6.94826869e-01 -7.19124615e-01 8.68394438e-03 7.46400584e+01] [ 7.19062549e-01 -6.94881057e-01 -9.45338134e-03 2.02959381e+02] [ 1.28324677e-02 -3.24164174e-04 9.99917608e-01 5.69827673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:202.98, Z:5.70 [[-6.94518881e-01 -7.19417422e-01 9.06070199e-03 7.46226881e+01] [ 7.19349984e-01 -6.94577905e-01 -9.85575337e-03 2.02978816e+02] [ 1.33837641e-02 -3.27190978e-04 9.99910380e-01 5.69817455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:203.00, Z:5.70 [[-6.94294639e-01 -7.19627555e-01 9.54660513e-03 7.46067061e+01] [ 7.19552792e-01 -6.94360187e-01 -1.03783536e-02 2.02999558e+02] [ 1.40973318e-02 -3.36348895e-04 9.99900571e-01 5.69767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:203.02, Z:5.70 [[-6.94682593e-01 -7.19255265e-01 9.37863724e-03 7.45853209e+01] [ 7.19183179e-01 -6.94745819e-01 -1.01883322e-02 2.03016945e+02] [ 1.38437806e-02 -3.32698897e-04 9.99904115e-01 5.69783317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:203.04, Z:5.70 [[-6.94872041e-01 -7.19075213e-01 9.14791321e-03 7.45676575e+01] [ 7.19006708e-01 -6.94932179e-01 -9.93083376e-03 2.03036822e+02] [ 1.34981957e-02 -3.23247765e-04 9.99908843e-01 5.69844068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:203.06, Z:5.70 [[-6.95527121e-01 -7.18444179e-01 8.94352524e-03 7.45500120e+01] [ 7.18378742e-01 -6.95584544e-01 -9.70179799e-03 2.03057165e+02] [ 1.31911782e-02 -3.23025208e-04 9.99912940e-01 5.69926950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:203.08, Z:5.70 [[-6.96127702e-01 -7.17865580e-01 8.67362060e-03 7.45325846e+01] [ 7.17804070e-01 -6.96181663e-01 -9.40263180e-03 2.03078042e+02] [ 1.27882413e-02 -3.19472302e-04 9.99918176e-01 5.70064262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:203.10, Z:5.70 [[-6.96587827e-01 -7.17421393e-01 8.48205478e-03 7.45153882e+01] [ 7.17362615e-01 -6.96639394e-01 -9.18875659e-03 2.03098090e+02] [ 1.25011441e-02 -3.16066982e-04 9.99921808e-01 5.70137810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:203.12, Z:5.70 [[-6.96914088e-01 -7.17099658e-01 8.87886489e-03 7.44982482e+01] [ 7.17035323e-01 -6.96970566e-01 -9.61121900e-03 2.03118554e+02] [ 1.30805094e-02 -3.31734174e-04 9.99914391e-01 5.70150871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:203.14, Z:5.70 [[-6.96968080e-01 -7.17048222e-01 8.79450671e-03 7.44800657e+01] [ 7.16985193e-01 -6.97023488e-01 -9.51269109e-03 2.03137940e+02] [ 1.29510360e-02 -3.24510961e-04 9.99916079e-01 5.70204062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:203.16, Z:5.70 [[-6.96863482e-01 -7.17149834e-01 8.79788029e-03 7.44619786e+01] [ 7.17086859e-01 -6.96918944e-01 -9.50907851e-03 2.03156604e+02] [ 1.29508435e-02 -3.17685222e-04 9.99916084e-01 5.70230916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:203.17, Z:5.70 [[-6.96234773e-01 -7.17757770e-01 8.99580515e-03 7.44444601e+01] [ 7.17692079e-01 -6.96292818e-01 -9.71549038e-03 2.03174682e+02] [ 1.32370832e-02 -3.08044141e-04 9.99912339e-01 5.70219653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:203.19, Z:5.70 [[-6.95982229e-01 -7.18000796e-01 9.14299814e-03 7.44264112e+01] [ 7.17933066e-01 -6.96042215e-01 -9.86644546e-03 2.03194128e+02] [ 1.34480284e-02 -3.02810009e-04 9.99909525e-01 5.70262182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:203.21, Z:5.70 [[-6.94965479e-01 -7.18981884e-01 9.38262029e-03 7.44092455e+01] [ 7.18910757e-01 -6.95028754e-01 -1.01170498e-02 2.03213102e+02] [ 1.37951664e-02 -2.85733712e-04 9.99904801e-01 5.70263896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:203.23, Z:5.70 [[-6.94597537e-01 -7.19332805e-01 9.72509735e-03 7.43908752e+01] [ 7.19256515e-01 -6.94665556e-01 -1.04800148e-02 2.03232265e+02] [ 1.42943086e-02 -2.84552852e-04 9.99897791e-01 5.70256957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:203.25, Z:5.70 [[-6.94305347e-01 -7.19612436e-01 9.90088376e-03 7.43722669e+01] [ 7.19533505e-01 -6.94375882e-01 -1.06615905e-02 2.03251349e+02] [ 1.45471480e-02 -2.78381732e-04 9.99894146e-01 5.70264433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:203.27, Z:5.70 [[-6.93473426e-01 -7.20404735e-01 1.05653339e-02 7.43543276e+01] [ 7.20315082e-01 -6.93553851e-01 -1.13683088e-02 2.03269716e+02] [ 1.55174115e-02 -2.73250675e-04 9.99879560e-01 5.70182361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:203.29, Z:5.70 [[-6.93189951e-01 -7.20679026e-01 1.04610608e-02 7.43356466e+01] [ 7.20591295e-01 -6.93268833e-01 -1.12477102e-02 2.03288518e+02] [ 1.53583163e-02 -2.58650380e-04 9.99882021e-01 5.70228523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:203.31, Z:5.70 [[-6.93274020e-01 -7.20595985e-01 1.06094189e-02 7.43146069e+01] [ 7.20505867e-01 -6.93355147e-01 -1.13989313e-02 2.03306775e+02] [ 1.55701194e-02 -2.58434351e-04 9.99878745e-01 5.70224419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:203.33, Z:5.70 [[-6.93272404e-01 -7.20597489e-01 1.06128653e-02 7.42981386e+01] [ 7.20507438e-01 -6.93353586e-01 -1.13946065e-02 2.03326657e+02] [ 1.55693930e-02 -2.52917889e-04 9.99878758e-01 5.70293650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:203.35, Z:5.70 [[-6.93973689e-01 -7.19922930e-01 1.05590437e-02 7.42797314e+01] [ 7.19833854e-01 -6.94053966e-01 -1.13276225e-02 2.03346320e+02] [ 1.54835614e-02 -2.60314849e-04 9.99880089e-01 5.70377174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:203.37, Z:5.70 [[-6.95279506e-01 -7.18666978e-01 1.02069948e-02 7.42645234e+01] [ 7.18583721e-01 -6.95354370e-01 -1.09424399e-02 2.03367958e+02] [ 1.49614487e-02 -2.73473904e-04 9.99888034e-01 5.70454555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48275509600006 meters Centerline goodness [0,1] 0.9999565037732977 Centerline is valid? [True, True] Translation: X:74.25, Y:203.39, Z:5.70 [[-6.96220991e-01 -7.17758289e-01 9.96843070e-03 7.42483112e+01] [ 7.17678898e-01 -6.96292294e-01 -1.06789616e-02 2.03388219e+02] [ 1.46058547e-02 -2.80784843e-04 9.99893289e-01 5.70441257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.23, Y:203.41, Z:5.71 [[-6.96604741e-01 -7.17385216e-01 1.00143423e-02 7.42319639e+01] [ 7.17305179e-01 -6.96676662e-01 -1.07195661e-02 2.03407273e+02] [ 1.46668168e-02 -2.83960905e-04 9.99892396e-01 5.70555273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:203.43, Z:5.71 [[-6.97259276e-01 -7.16756164e-01 9.49226383e-03 7.42145646e+01] [ 7.16684300e-01 -6.97323830e-01 -1.01532813e-02 2.03426893e+02] [ 1.38966087e-02 -2.76513097e-04 9.99903399e-01 5.70596203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:203.45, Z:5.71 [[-6.98182321e-01 -7.15862520e-01 9.07192896e-03 7.41970642e+01] [ 7.15796894e-01 -6.98241202e-01 -9.69689767e-03 2.03447046e+02] [ 1.32760402e-02 -2.76543942e-04 9.99911831e-01 5.70657399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.18, Y:203.47, Z:5.71 [[-6.98775877e-01 -7.15282555e-01 9.11810799e-03 7.41798394e+01] [ 7.15216309e-01 -6.98835307e-01 -9.73882215e-03 2.03466869e+02] [ 1.33380654e-02 -2.83834452e-04 9.99911004e-01 5.70689313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:203.49, Z:5.71 [[-6.99385272e-01 -7.14684082e-01 9.32223845e-03 7.41638982e+01] [ 7.14614892e-01 -6.99447335e-01 -9.94893561e-03 2.03486651e+02] [ 1.36307608e-02 -2.96328611e-04 9.99907053e-01 5.70666734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.15, Y:203.51, Z:5.71 [[-6.99735099e-01 -7.14342495e-01 9.25155222e-03 7.41460975e+01] [ 7.14274397e-01 -6.99796193e-01 -9.86786768e-03 2.03506607e+02] [ 1.35232382e-02 -2.96746481e-04 9.99908513e-01 5.70685275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:203.52, Z:5.71 [[-6.99342217e-01 -7.14725311e-01 9.39108402e-03 7.41288254e+01] [ 7.14655281e-01 -6.99405209e-01 -1.00091955e-02 2.03524827e+02] [ 1.37219985e-02 -2.88465199e-04 9.99905807e-01 5.70655120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:203.54, Z:5.71 [[-6.98785737e-01 -7.15269594e-01 9.37558810e-03 7.41110608e+01] [ 7.15199952e-01 -6.98848578e-01 -9.98472783e-03 2.03542444e+02] [ 1.36938886e-02 -2.71765241e-04 9.99906197e-01 5.70677370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.09, Y:203.56, Z:5.71 [[-6.98548208e-01 -7.15499136e-01 9.55968194e-03 7.40912298e+01] [ 7.15426836e-01 -6.98613565e-01 -1.01748972e-02 2.03560272e+02] [ 1.39586537e-02 -2.68403200e-04 9.99902537e-01 5.70668267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.07, Y:203.58, Z:5.71 [[-6.97712701e-01 -7.16310588e-01 9.80447631e-03 7.40720513e+01] [ 7.16234728e-01 -6.97781540e-01 -1.04277194e-02 2.03578044e+02] [ 1.43108684e-02 -2.53245860e-04 9.99897562e-01 5.70685467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:203.60, Z:5.71 [[-6.97589588e-01 -7.16434182e-01 9.53048913e-03 7.40519863e+01] [ 7.16362611e-01 -6.97654647e-01 -1.01293604e-02 2.03595176e+02] [ 1.39060101e-02 -2.38850290e-04 9.99903278e-01 5.70760421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:203.61, Z:5.71 [[-6.97033219e-01 -7.16976789e-01 9.43264843e-03 7.40323447e+01] [ 7.16906834e-01 -6.97097006e-01 -1.00177984e-02 2.03612772e+02] [ 1.37579999e-02 -2.20408117e-04 9.99905330e-01 5.70787813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.02, Y:203.63, Z:5.71 [[-6.96646714e-01 -7.17352541e-01 9.41746890e-03 7.40157818e+01] [ 7.17282950e-01 -6.96710334e-01 -9.99399212e-03 2.03632068e+02] [ 1.37304635e-02 -2.07291893e-04 9.99905711e-01 5.70793207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.99, Y:203.65, Z:5.71 [[-6.96702683e-01 -7.17298886e-01 9.36367189e-03 7.39936275e+01] [ 7.17230194e-01 -6.96765575e-01 -9.92883408e-03 2.03649192e+02] [ 1.36462259e-02 -2.01537138e-04 9.99906866e-01 5.70783621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:203.67, Z:5.71 [[-6.96961183e-01 -7.17047672e-01 9.36725094e-03 7.39751128e+01] [ 7.16979002e-01 -6.97024100e-01 -9.92545614e-03 2.03668513e+02] [ 1.36462249e-02 -2.01535427e-04 9.99906866e-01 5.70825266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.96, Y:203.69, Z:5.71 [[-6.96995115e-01 -7.17015976e-01 9.26817674e-03 7.39570886e+01] [ 7.16948843e-01 -6.97056706e-01 -9.81353023e-03 2.03687433e+02] [ 1.34969027e-02 -1.95174045e-04 9.99908894e-01 5.70879527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.94, Y:203.71, Z:5.71 [[-6.97345806e-01 -7.16682995e-01 8.62043102e-03 7.39375804e+01] [ 7.16624972e-01 -6.97399062e-01 -9.12127790e-03 2.03706492e+02] [ 1.25489453e-02 -1.83068750e-04 9.99921242e-01 5.70955488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:203.73, Z:5.71 [[-6.97455509e-01 -7.16580643e-01 8.24590021e-03 7.39192677e+01] [ 7.16527621e-01 -6.97504231e-01 -8.71871609e-03 2.03725886e+02] [ 1.19992135e-02 -1.72501312e-04 9.99927992e-01 5.71026945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.90, Y:203.75, Z:5.71 [[-6.97958433e-01 -7.16099838e-01 7.41945543e-03 7.39005630e+01] [ 7.16056919e-01 -6.97997848e-01 -7.84174183e-03 2.03745339e+02] [ 1.07942340e-02 -1.60457441e-04 9.99941728e-01 5.71155359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:203.76, Z:5.71 [[-6.98375653e-01 -7.15694813e-01 7.23756916e-03 7.38830638e+01] [ 7.15654008e-01 -6.98413137e-01 -7.64405351e-03 2.03763375e+02] [ 1.05256228e-02 -1.58825488e-04 9.99944592e-01 5.71171313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:203.78, Z:5.71 [[-6.98796846e-01 -7.15279519e-01 7.62739889e-03 7.38647894e+01] [ 7.15234229e-01 -6.98838451e-01 -8.05092463e-03 2.03782203e+02] [ 1.10889811e-02 -1.70583971e-04 9.99938501e-01 5.71132787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:203.80, Z:5.71 [[-6.99342442e-01 -7.14743248e-01 7.88911784e-03 7.38464480e+01] [ 7.14694838e-01 -6.99386915e-01 -8.32054149e-03 2.03801441e+02] [ 1.14645966e-02 -1.80596011e-04 9.99934263e-01 5.71073976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:203.82, Z:5.71 [[-7.00078060e-01 -7.14019903e-01 8.14183627e-03 7.38295124e+01] [ 7.13968372e-01 -7.00125375e-01 -8.58033201e-03 2.03820492e+02] [ 1.18268340e-02 -1.93888596e-04 9.99930042e-01 5.71036247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:203.84, Z:5.71 [[-7.00445940e-01 -7.13660960e-01 7.96998866e-03 7.38118493e+01] [ 7.13611634e-01 -7.00491255e-01 -8.39270931e-03 2.03838244e+02] [ 1.15724563e-02 -1.91162530e-04 9.99933019e-01 5.71057787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:203.86, Z:5.71 [[-7.01163645e-01 -7.12956021e-01 7.95338630e-03 7.37950154e+01] [ 7.12906931e-01 -7.01208723e-01 -8.36866291e-03 2.03856948e+02] [ 1.15434725e-02 -1.97777971e-04 9.99933352e-01 5.71044899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:203.88, Z:5.71 [[-7.01371531e-01 -7.12754032e-01 7.72433207e-03 7.37747071e+01] [ 7.12707787e-01 -7.01414038e-01 -8.12135886e-03 2.03875900e+02] [ 1.12064862e-02 -1.90898280e-04 9.99937187e-01 5.71099479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:203.90, Z:5.71 [[-7.02516219e-01 -7.11628277e-01 7.49385170e-03 7.37579951e+01] [ 7.11584743e-01 -7.02556159e-01 -7.87388659e-03 2.03896214e+02] [ 1.08681320e-02 -1.99022502e-04 9.99940920e-01 5.71165295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.74, Y:203.91, Z:5.71 [[-7.03417576e-01 -7.10735191e-01 7.69432692e-03 7.37376733e+01] [ 7.10689312e-01 -7.03459624e-01 -8.07829216e-03 2.03914814e+02] [ 1.11541748e-02 -2.14136785e-04 9.99937767e-01 5.71101052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:203.93, Z:5.71 [[-7.04454925e-01 -7.09705030e-01 7.87581050e-03 7.37183428e+01] [ 7.09656964e-01 -7.04498911e-01 -8.26298246e-03 2.03933773e+02] [ 1.14127801e-02 -2.31774921e-04 9.99934845e-01 5.71050639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:203.95, Z:5.71 [[-7.05568216e-01 -7.08602662e-01 7.46724934e-03 7.37001227e+01] [ 7.08559450e-01 -7.05607691e-01 -7.82892624e-03 2.03954353e+02] [ 1.08165465e-02 -2.32851439e-04 9.99941472e-01 5.71083781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:203.98, Z:5.71 [[-7.07632626e-01 -7.06551026e-01 6.45860464e-03 7.36842468e+01] [ 7.06518648e-01 -7.07662064e-01 -6.76783676e-03 2.03976635e+02] [ 9.35233149e-03 -2.26017483e-04 9.99956240e-01 5.71292577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:204.00, Z:5.71 [[-7.08710745e-01 -7.05475713e-01 5.75307911e-03 7.36641610e+01] [ 7.05450016e-01 -7.08734064e-01 -6.02512394e-03 2.03996295e+02] [ 8.32798174e-03 -2.11560330e-04 9.99965299e-01 5.71312921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:204.02, Z:5.71 [[-7.10361308e-01 -7.03813971e-01 5.71890829e-03 7.36473833e+01] [ 7.03788554e-01 -7.10384292e-01 -5.98575074e-03 2.04017743e+02] [ 8.27547761e-03 -2.27143529e-04 9.99965732e-01 5.71304890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:204.04, Z:5.71 [[-7.11155905e-01 -7.03009662e-01 5.89022694e-03 7.36288500e+01] [ 7.02982707e-01 -7.11180257e-01 -6.16090453e-03 2.04037197e+02] [ 8.52018852e-03 -2.40635961e-04 9.99963674e-01 5.71268691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:204.06, Z:5.71 [[-7.11886745e-01 -7.02271839e-01 5.61486855e-03 7.36101634e+01] [ 7.02247354e-01 -7.11908849e-01 -5.86890612e-03 2.04057471e+02] [ 8.11884210e-03 -2.34969892e-04 9.99967014e-01 5.71279483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.59, Y:204.07, Z:5.72 [[-7.11417701e-01 -7.02757567e-01 4.08142261e-03 7.35904663e+01] [ 7.02744639e-01 -7.11429389e-01 -4.26579306e-03 2.04074585e+02] [ 5.90146234e-03 -1.66562836e-04 9.99982572e-01 5.71507443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:204.09, Z:5.71 [[-7.11273638e-01 -7.02902938e-01 4.15580575e-03 7.35704273e+01] [ 7.02889560e-01 -7.11285760e-01 -4.33990193e-03 2.04093526e+02] [ 6.00649527e-03 -1.65785361e-04 9.99981947e-01 5.71491040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:204.11, Z:5.71 [[-7.10999996e-01 -7.03178423e-01 4.37150077e-03 7.35510409e+01] [ 7.03163648e-01 -7.11013415e-01 -4.56161059e-03 2.04113041e+02] [ 6.31582183e-03 -1.69424688e-04 9.99980041e-01 5.71473502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:204.13, Z:5.71 [[-7.10027049e-01 -7.04156201e-01 5.06295358e-03 7.35311549e+01] [ 7.04136443e-01 -7.10045076e-01 -5.27814396e-03 2.04132116e+02] [ 7.31156306e-03 -1.82614855e-04 9.99973254e-01 5.71416275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:204.15, Z:5.71 [[-7.09456969e-01 -7.04728758e-01 5.30907581e-03 7.35128689e+01] [ 7.04707079e-01 -7.09476810e-01 -5.53066003e-03 2.04150864e+02] [ 7.66428134e-03 -1.82421996e-04 9.99970612e-01 5.71417385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:204.17, Z:5.71 [[-7.09725054e-01 -7.04458757e-01 5.31101413e-03 7.34947057e+01] [ 7.04437085e-01 -7.09744902e-01 -5.52879739e-03 2.04169382e+02] [ 7.66427494e-03 -1.82650716e-04 9.99970612e-01 5.71457741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.47, Y:204.19, Z:5.71 [[-7.08401753e-01 -7.05786750e-01 5.65862251e-03 7.34724529e+01] [ 7.05762237e-01 -7.08424331e-01 -5.88492345e-03 2.04186483e+02] [ 8.16220686e-03 -1.75248014e-04 9.99966673e-01 5.71339054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:204.20, Z:5.71 [[-7.07542571e-01 -7.06647749e-01 5.69812978e-03 7.34511939e+01] [ 7.06622948e-01 -7.07565496e-01 -5.92261305e-03 2.04204379e+02] [ 8.21700120e-03 -1.64071603e-04 9.99966226e-01 5.71323235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:204.22, Z:5.71 [[-7.06893035e-01 -7.07298777e-01 5.53862104e-03 7.34310006e+01] [ 7.07275395e-01 -7.06914717e-01 -5.75316019e-03 2.04221817e+02] [ 7.98453590e-03 -1.49538486e-04 9.99968112e-01 5.71321826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:204.24, Z:5.71 [[-7.05944501e-01 -7.08249456e-01 5.00697754e-03 7.34100831e+01] [ 7.08230393e-01 -7.05962246e-01 -5.19778363e-03 2.04239900e+02] [ 7.21606454e-03 -1.23253098e-04 9.99973956e-01 5.71379566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:204.26, Z:5.71 [[-7.05817570e-01 -7.08378584e-01 4.61943900e-03 7.33922685e+01] [ 7.08362378e-01 -7.05832678e-01 -4.79285685e-03 2.04259330e+02] [ 6.65570814e-03 -1.10645782e-04 9.99977844e-01 5.71495996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.38, Y:204.28, Z:5.72 [[-7.05979699e-01 -7.08219386e-01 4.23865859e-03 7.33759926e+01] [ 7.08205756e-01 -7.05992416e-01 -4.39506842e-03 2.04280093e+02] [ 6.10513348e-03 -1.00986667e-04 9.99981358e-01 5.71747817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.36, Y:204.30, Z:5.72 [[-7.06339028e-01 -7.07862653e-01 3.95509861e-03 7.33568774e+01] [ 7.07850793e-01 -7.06350095e-01 -4.09870138e-03 2.04298177e+02] [ 5.69500190e-03 -9.54530635e-05 9.99983779e-01 5.71696452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:204.32, Z:5.72 [[-7.06694392e-01 -7.07510880e-01 3.37521342e-03 7.33388831e+01] [ 7.07502246e-01 -7.06702447e-01 -3.49631660e-03 2.04316979e+02] [ 4.85895361e-03 -8.28562638e-05 9.99988192e-01 5.71776691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:204.34, Z:5.72 [[-7.06964092e-01 -7.07242354e-01 3.16620635e-03 7.33188341e+01] [ 7.07234765e-01 -7.06971178e-01 -3.27736342e-03 2.04335856e+02] [ 4.55630686e-03 -7.77270521e-05 9.99989617e-01 5.71763886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:204.35, Z:5.72 [[-7.07212295e-01 -7.06993773e-01 3.25193910e-03 7.32998092e+01] [ 7.06985773e-01 -7.07219767e-01 -3.36415190e-03 2.04354635e+02] [ 4.67827005e-03 -8.00949071e-05 9.99989054e-01 5.71706313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:204.37, Z:5.72 [[-7.06914203e-01 -7.07293086e-01 2.96644742e-03 7.32809111e+01] [ 7.07286438e-01 -7.06920423e-01 -3.06745132e-03 2.04372250e+02] [ 4.26662937e-03 -7.02968779e-05 9.99990895e-01 5.71781679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.26, Y:204.39, Z:5.72 [[-7.06257944e-01 -7.07949839e-01 2.59659707e-03 7.32624183e+01] [ 7.07944754e-01 -7.06262715e-01 -2.68390886e-03 2.04390101e+02] [ 3.73395254e-03 -5.72846812e-05 9.99993027e-01 5.71875141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:204.41, Z:5.72 [[-7.05942313e-01 -7.08264053e-01 2.73519996e-03 7.32436578e+01] [ 7.08258425e-01 -7.05947610e-01 -2.82407405e-03 2.04408096e+02] [ 3.93109800e-03 -5.64049544e-05 9.99992272e-01 5.71863792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:204.43, Z:5.72 [[-7.06033835e-01 -7.08170907e-01 3.19231650e-03 7.32232600e+01] [ 7.08163259e-01 -7.06041049e-01 -3.29184860e-03 2.04426140e+02] [ 4.58509790e-03 -6.34752401e-05 9.99989486e-01 5.71679411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:204.45, Z:5.72 [[-7.06235440e-01 -7.07966396e-01 3.88397118e-03 7.32054229e+01] [ 7.07955096e-01 -7.06246116e-01 -4.00071063e-03 2.04445841e+02] [ 5.57540825e-03 -7.57664452e-05 9.99984454e-01 5.71772982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:204.46, Z:5.71 [[-7.06954842e-01 -7.07242359e-01 4.80590431e-03 7.31843811e+01] [ 7.07225081e-01 -7.06971171e-01 -4.94452284e-03 2.04463797e+02] [ 6.89461180e-03 -9.66982972e-05 9.99976227e-01 5.71399312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:204.48, Z:5.71 [[-7.07796285e-01 -7.06398002e-01 5.12655974e-03 7.31663723e+01] [ 7.06378350e-01 -7.07814843e-01 -5.27023354e-03 2.04482678e+02] [ 7.35153751e-03 -1.08960914e-04 9.99972971e-01 5.71377250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:204.50, Z:5.71 [[-7.09111901e-01 -7.05075081e-01 5.42604281e-03 7.31478875e+01] [ 7.05053067e-01 -7.09132649e-01 -5.57309091e-03 2.04502254e+02] [ 7.77723164e-03 -1.26296963e-04 9.99969749e-01 5.71343262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:204.52, Z:5.71 [[-7.09973485e-01 -7.04205072e-01 5.73294309e-03 7.31296043e+01] [ 7.04180507e-01 -7.09996617e-01 -5.88363407e-03 2.04522308e+02] [ 8.21365516e-03 -1.40197413e-04 9.99966258e-01 5.71333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:204.54, Z:5.71 [[-7.10961853e-01 -7.03202317e-01 6.30435553e-03 7.31107124e+01] [ 7.03172619e-01 -7.10989786e-01 -6.46470534e-03 2.04542407e+02] [ 9.02832816e-03 -1.63108701e-04 9.99959231e-01 5.71315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:204.56, Z:5.71 [[-7.12665788e-01 -7.01470796e-01 6.79685592e-03 7.30906123e+01] [ 7.01436254e-01 -7.12698172e-01 -6.96396357e-03 2.04562455e+02] [ 9.72912386e-03 -1.95417434e-04 9.99952652e-01 5.71198263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:204.58, Z:5.71 [[-7.13655781e-01 -7.00463545e-01 6.80066276e-03 7.30725010e+01] [ 7.00428961e-01 -7.13688153e-01 -6.96351185e-03 2.04582838e+02] [ 9.73123864e-03 -2.06169337e-04 9.99952629e-01 5.71243483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:204.60, Z:5.71 [[-7.14391420e-01 -6.99709192e-01 7.20738096e-03 7.30550111e+01] [ 6.99670368e-01 -7.14427740e-01 -7.37425462e-03 2.04600885e+02] [ 1.03089866e-02 -2.25313343e-04 9.99946836e-01 5.71240665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:204.62, Z:5.71 [[-7.15070207e-01 -6.99007128e-01 7.97710895e-03 7.30341693e+01] [ 6.98959587e-01 -7.15114655e-01 -8.15639726e-03 2.04618049e+02] [ 1.14059273e-02 -2.56719898e-04 9.99934917e-01 5.71077320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:204.64, Z:5.71 [[-7.15402012e-01 -6.98661511e-01 8.48852889e-03 7.30142050e+01] [ 6.98607736e-01 -7.15452317e-01 -8.67255697e-03 2.04637317e+02] [ 1.21323194e-02 -2.74212752e-04 9.99926363e-01 5.71027874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:204.66, Z:5.71 [[-7.16080555e-01 -6.97957608e-01 9.15513452e-03 7.29967297e+01] [ 6.97895092e-01 -7.16139013e-01 -9.34637152e-03 2.04656758e+02] [ 1.30797201e-02 -3.03431460e-04 9.99914411e-01 5.70997646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.98, Y:204.67, Z:5.71 [[-7.16416518e-01 -6.97612331e-01 9.18743907e-03 7.29761776e+01] [ 6.97549438e-01 -7.16475361e-01 -9.37224927e-03 2.04674781e+02] [ 1.31207704e-02 -3.05741227e-04 9.99913872e-01 5.71005414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:204.69, Z:5.71 [[-7.16698070e-01 -6.97322469e-01 9.23314963e-03 7.29568967e+01] [ 6.97259014e-01 -7.16757477e-01 -9.41210778e-03 2.04693450e+02] [ 1.31812033e-02 -3.07742678e-04 9.99913077e-01 5.71001001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:204.71, Z:5.71 [[-7.17127328e-01 -6.96872496e-01 9.85494392e-03 7.29378589e+01] [ 6.96800272e-01 -7.17194963e-01 -1.00382654e-02 2.04711576e+02] [ 1.40633072e-02 -3.31786858e-04 9.99901052e-01 5.70980729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:204.73, Z:5.71 [[-7.17194550e-01 -6.96801686e-01 9.96937458e-03 7.29177008e+01] [ 6.96727878e-01 -7.17263760e-01 -1.01470793e-02 2.04729445e+02] [ 1.42211731e-02 -3.31488797e-04 9.99898819e-01 5.71017685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:204.75, Z:5.71 [[-7.17331781e-01 -6.96659646e-01 1.00226468e-02 7.28977494e+01] [ 6.96585136e-01 -7.17401721e-01 -1.01941220e-02 2.04747407e+02] [ 1.42920974e-02 -3.30940906e-04 9.99897808e-01 5.71028931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:204.76, Z:5.71 [[-7.17065465e-01 -6.96934276e-01 9.98665749e-03 7.28781433e+01] [ 6.96860431e-01 -7.17134933e-01 -1.01502431e-02 2.04764462e+02] [ 1.42358333e-02 -3.19082331e-04 9.99898614e-01 5.71046502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:204.78, Z:5.71 [[-7.17311847e-01 -6.96682616e-01 9.85124088e-03 7.28577313e+01] [ 6.96610809e-01 -7.17379420e-01 -1.00074329e-02 2.04782172e+02] [ 1.40390820e-02 -3.15969275e-04 9.99901397e-01 5.71126516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:204.80, Z:5.71 [[-7.16764409e-01 -6.97252791e-01 9.34493131e-03 7.28371906e+01] [ 6.97188311e-01 -7.16825268e-01 -9.48654194e-03 2.04798406e+02] [ 1.33132007e-02 -2.84438749e-04 9.99911335e-01 5.71238453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:204.82, Z:5.71 [[-7.17019628e-01 -6.96985168e-01 9.72256862e-03 7.28177761e+01] [ 6.96915421e-01 -7.17085481e-01 -9.86455178e-03 2.04816992e+02] [ 1.38473591e-02 -2.97269242e-04 9.99904077e-01 5.71254137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:204.83, Z:5.71 [[-7.16996433e-01 -6.97005184e-01 9.99447198e-03 7.27973476e+01] [ 6.96931594e-01 -7.17066025e-01 -1.01325539e-02 2.04833770e+02] [ 1.42291389e-02 -2.99541729e-04 9.99898716e-01 5.71276918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.78, Y:204.85, Z:5.71 [[-7.17488643e-01 -6.96496819e-01 1.01108376e-02 7.27786252e+01] [ 6.96421568e-01 -7.17559814e-01 -1.02427068e-02 2.04851262e+02] [ 1.43891434e-02 -3.07620406e-04 9.99896424e-01 5.71219946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.76, Y:204.87, Z:5.71 [[-7.18280724e-01 -6.95679602e-01 1.01337542e-02 7.27600953e+01] [ 6.95604045e-01 -7.18352135e-01 -1.02577822e-02 2.04869940e+02] [ 1.44157338e-02 -3.18886844e-04 9.99896037e-01 5.71265770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:204.89, Z:5.71 [[-7.19250469e-01 -6.94676004e-01 1.01986780e-02 7.27400496e+01] [ 6.94599488e-01 -7.19322693e-01 -1.03157423e-02 2.04888932e+02] [ 1.45022391e-02 -3.35605946e-04 9.99894781e-01 5.71277501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.72, Y:204.91, Z:5.71 [[-7.20893302e-01 -6.92967072e-01 1.04634627e-02 7.27212375e+01] [ 6.92886463e-01 -7.20969137e-01 -1.05760258e-02 2.04907777e+02] [ 1.48726713e-02 -3.74194477e-04 9.99889326e-01 5.71242267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:204.93, Z:5.71 [[-7.21735699e-01 -6.92092025e-01 1.03058666e-02 7.26999200e+01] [ 6.92013847e-01 -7.21809175e-01 -1.04092111e-02 2.04926359e+02] [ 1.46430011e-02 -3.80896891e-04 9.99892713e-01 5.71283051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:204.95, Z:5.71 [[-7.22327831e-01 -6.91475981e-01 1.01721331e-02 7.26812382e+01] [ 6.91399850e-01 -7.22399349e-01 -1.02677993e-02 2.04945118e+02] [ 1.44482789e-02 -3.83705870e-04 9.99895545e-01 5.71387827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:204.96, Z:5.71 [[-7.22627760e-01 -6.91157151e-01 1.05315744e-02 7.26614836e+01] [ 6.91075633e-01 -7.22704390e-01 -1.06223686e-02 2.04964148e+02] [ 1.49529411e-02 -3.97903954e-04 9.99888119e-01 5.71403249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:204.98, Z:5.71 [[-7.22590575e-01 -6.91195216e-01 1.05846196e-02 7.26409341e+01] [ 6.91112992e-01 -7.22667987e-01 -1.06683418e-02 2.04982658e+02] [ 1.50230726e-02 -3.93675140e-04 9.99887070e-01 5.71382949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.62, Y:205.00, Z:5.71 [[-7.22660510e-01 -6.91117034e-01 1.09102003e-02 7.26223823e+01] [ 6.91029792e-01 -7.22742751e-01 -1.09882995e-02 2.05001991e+02] [ 1.54794691e-02 -4.01536705e-04 9.99880105e-01 5.71439455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:205.02, Z:5.72 [[-7.22164569e-01 -6.91636836e-01 1.08084457e-02 7.26041494e+01] [ 6.91551391e-01 -7.22245347e-01 -1.08780315e-02 2.05021771e+02] [ 1.53299969e-02 -3.81133322e-04 9.99882416e-01 5.71553462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.59, Y:205.04, Z:5.72 [[-7.21825911e-01 -6.91989744e-01 1.08419567e-02 7.25852957e+01] [ 6.91903930e-01 -7.21907236e-01 -1.09038386e-02 2.05040033e+02] [ 1.53722315e-02 -3.69080726e-04 9.99881772e-01 5.71621770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.56, Y:205.06, Z:5.72 [[-7.20971759e-01 -6.92880649e-01 1.07763218e-02 7.25631302e+01] [ 6.92796061e-01 -7.21052209e-01 -1.08318652e-02 2.05057072e+02] [ 1.52754804e-02 -3.43675601e-04 9.99883264e-01 5.71699368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.54, Y:205.08, Z:5.72 [[-7.20826792e-01 -6.93037047e-01 1.04108677e-02 7.25435613e+01] [ 6.92958217e-01 -7.20901898e-01 -1.04577188e-02 2.05075503e+02] [ 1.47528008e-02 -3.23907581e-04 9.99891119e-01 5.71798230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.53, Y:205.09, Z:5.72 [[-7.20682402e-01 -6.93185178e-01 1.05444325e-02 7.25251445e+01] [ 6.93104443e-01 -7.20759466e-01 -1.05841660e-02 2.05093749e+02] [ 1.49367865e-02 -3.19429151e-04 9.99888389e-01 5.71888579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:205.11, Z:5.72 [[-7.20484320e-01 -6.93388184e-01 1.07317993e-02 7.25080765e+01] [ 6.93304703e-01 -7.20564173e-01 -1.07638964e-02 2.05113226e+02] [ 1.51965087e-02 -3.14811676e-04 9.99884477e-01 5.72033852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:205.13, Z:5.72 [[-7.21091810e-01 -6.92757496e-01 1.06608505e-02 7.24880992e+01] [ 6.92675133e-01 -7.21170541e-01 -1.06869549e-02 2.05132083e+02] [ 1.50917594e-02 -3.21769615e-04 9.99886061e-01 5.72157735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:205.15, Z:5.72 [[-7.21658562e-01 -6.92165551e-01 1.07596524e-02 7.24694259e+01] [ 6.92081706e-01 -7.21738692e-01 -1.07783330e-02 2.05152513e+02] [ 1.52260483e-02 -3.31717666e-04 9.99884022e-01 5.72289663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:205.17, Z:5.72 [[-7.22679202e-01 -6.91103987e-01 1.04904498e-02 7.24502844e+01] [ 6.91024279e-01 -7.22755258e-01 -1.05015292e-02 2.05172286e+02] [ 1.48396765e-02 -3.40081201e-04 9.99889828e-01 5.72398828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:205.19, Z:5.72 [[-7.24905434e-01 -6.88759635e-01 1.10578815e-02 7.24332524e+01] [ 6.88670926e-01 -7.24989657e-01 -1.10613331e-02 2.05193312e+02] [ 1.56354494e-02 -4.03179035e-04 9.99877678e-01 5.72450090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:204.79, Z:6.93 [[-7.37311888e-01 6.75467020e-01 -1.07464326e-02 7.20635646e+01] [ 6.75381307e-01 7.37389874e-01 1.07825890e-02 2.04790582e+02] [ 1.52075938e-02 6.92191348e-04 -9.99884118e-01 6.92689850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:204.80, Z:6.93 [[-7.80400360e-01 6.25192415e-01 -1.04748543e-02 7.20732853e+01] [ 6.25124566e-01 7.80470378e-01 9.23395628e-03 2.04798040e+02] [ 1.39483130e-02 6.58094029e-04 -9.99902501e-01 6.92657532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:205.26, Z:5.73 [[-7.79712553e-01 -6.25983949e-01 1.38719353e-02 7.24059111e+01] [ 6.25888032e-01 -7.79835929e-01 -1.09587761e-02 2.05255802e+02] [ 1.76778514e-02 1.37583015e-04 9.99843725e-01 5.72632559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:204.81, Z:6.93 [[-7.79995121e-01 6.25712357e-01 -9.57384811e-03 7.20522843e+01] [ 6.25654985e-01 7.80053614e-01 8.49702924e-03 2.04805731e+02] [ 1.27848110e-02 6.37715548e-04 -9.99918068e-01 6.92583738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:205.28, Z:5.73 [[-7.83902017e-01 -6.20709749e-01 1.47321475e-02 7.23828876e+01] [ 6.20600508e-01 -7.84040438e-01 -1.16448010e-02 2.05278730e+02] [ 1.87786408e-02 1.43952131e-05 9.99823666e-01 5.72729269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.38, Y:205.26, Z:5.73 [[-7.40557137e-01 -6.71834976e-01 1.45908314e-02 7.23794925e+01] [ 6.71703815e-01 -7.40700860e-01 -1.32747862e-02 2.05258509e+02] [ 1.97259071e-02 -3.00205690e-05 9.99805425e-01 5.72712516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:205.24, Z:5.73 [[-6.93186029e-01 -7.20620803e-01 1.40992243e-02 7.23687573e+01] [ 7.20473915e-01 -6.93329397e-01 -1.45493865e-02 2.05239798e+02] [ 2.02599973e-02 7.26918585e-05 9.99794743e-01 5.72801982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:205.26, Z:5.73 [[-6.91284435e-01 -7.22434916e-01 1.46158166e-02 7.23516900e+01] [ 7.22249918e-01 -6.91438515e-01 -1.63656855e-02 2.05260489e+02] [ 2.19290811e-02 -7.57071331e-04 9.99759242e-01 5.72840512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.33, Y:205.28, Z:5.73 [[-6.91551142e-01 -7.22179499e-01 1.46215078e-02 7.23342036e+01] [ 7.21994553e-01 -6.91705282e-01 -1.63605997e-02 2.05279650e+02] [ 2.19290639e-02 -7.57542447e-04 9.99759242e-01 5.72880424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:205.30, Z:5.73 [[-6.90377762e-01 -7.23295449e-01 1.49076772e-02 7.23151323e+01] [ 7.23103722e-01 -6.90538314e-01 -1.66686601e-02 2.05298831e+02] [ 2.23506883e-02 -7.27875377e-04 9.99749927e-01 5.72920624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:205.32, Z:5.73 [[-6.89147144e-01 -7.24463326e-01 1.51361417e-02 7.22974377e+01] [ 7.24266222e-01 -6.89312998e-01 -1.69124250e-02 2.05317805e+02] [ 2.26859709e-02 -6.92553228e-04 9.99742400e-01 5.72958896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.27, Y:205.33, Z:5.73 [[-6.86206061e-01 -7.27236760e-01 1.57460479e-02 7.22732737e+01] [ 7.27024480e-01 -6.86386419e-01 -1.75809396e-02 2.05332852e+02] [ 2.35933789e-02 -6.16385000e-04 9.99721447e-01 5.73149514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.25, Y:205.35, Z:5.73 [[-6.84841012e-01 -7.28516822e-01 1.60008452e-02 7.22539507e+01] [ 7.28298268e-01 -6.85027672e-01 -1.78527934e-02 2.05351599e+02] [ 2.39670821e-02 -5.72937280e-04 9.99712584e-01 5.73221715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:205.37, Z:5.73 [[-6.83812163e-01 -7.29478873e-01 1.61709359e-02 7.22347870e+01] [ 7.29256224e-01 -6.84003133e-01 -1.80297969e-02 2.05370538e+02] [ 2.42133267e-02 -5.36238723e-04 9.99706671e-01 5.73325339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.21, Y:205.39, Z:5.73 [[-6.82556597e-01 -7.30654507e-01 1.61394926e-02 7.22144961e+01] [ 7.30433355e-01 -6.82747212e-01 -1.79821727e-02 2.05389493e+02] [ 2.41579491e-02 -4.85026901e-04 9.99708037e-01 5.73443177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.20, Y:205.41, Z:5.74 [[-6.80283728e-01 -7.32768807e-01 1.62457538e-02 7.21956384e+01] [ 7.32545627e-01 -6.80477561e-01 -1.80884665e-02 2.05408839e+02] [ 2.43095349e-02 -4.04533491e-04 9.99704398e-01 5.73516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.18, Y:205.43, Z:5.74 [[-6.79293726e-01 -7.33672509e-01 1.68725568e-02 7.21772222e+01] [ 7.33432384e-01 -6.79503132e-01 -1.87731580e-02 2.05427684e+02] [ 2.52383051e-02 -3.77608825e-04 9.99681392e-01 5.73573596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:205.45, Z:5.74 [[-6.77904288e-01 -7.34948349e-01 1.72249914e-02 7.21578962e+01] [ 7.34698877e-01 -6.78123011e-01 -1.91505126e-02 2.05446857e+02] [ 2.57553007e-02 -3.27032743e-04 9.99668224e-01 5.73597429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.14, Y:205.47, Z:5.74 [[-6.77692523e-01 -7.35146992e-01 1.70805394e-02 7.21397292e+01] [ 7.34902102e-01 -6.77907668e-01 -1.89761512e-02 2.05466770e+02] [ 2.55292891e-02 -3.07471465e-04 9.99674027e-01 5.73683290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.12, Y:205.49, Z:5.74 [[-6.77794027e-01 -7.35057346e-01 1.69102060e-02 7.21226084e+01] [ 7.34817639e-01 -6.78004874e-01 -1.87730790e-02 2.05487096e+02] [ 2.52644917e-02 -2.98363159e-04 9.99680757e-01 5.73742168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:205.51, Z:5.74 [[-6.78588041e-01 -7.34323656e-01 1.69422262e-02 7.21059096e+01] [ 7.34083164e-01 -6.78799431e-01 -1.87946923e-02 2.05508712e+02] [ 2.53017607e-02 -3.16850376e-04 9.99679809e-01 5.73821900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.09, Y:205.53, Z:5.74 [[-6.79428929e-01 -7.33540749e-01 1.71551834e-02 7.20886588e+01] [ 7.33294269e-01 -6.79645388e-01 -1.90173982e-02 2.05529877e+02] [ 2.56094778e-02 -3.41172807e-04 9.99671965e-01 5.73817839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:205.55, Z:5.74 [[-6.80612521e-01 -7.32432758e-01 1.75741693e-02 7.20710081e+01] [ 7.32174087e-01 -6.80839268e-01 -1.94678801e-02 2.05551050e+02] [ 2.62240976e-02 -3.82731567e-04 9.99656016e-01 5.73825732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:205.57, Z:5.74 [[-6.82446636e-01 -7.30732418e-01 1.72256443e-02 7.20580213e+01] [ 7.30483677e-01 -6.82663862e-01 -1.90695965e-02 2.05574233e+02] [ 2.56940973e-02 -4.30929998e-04 9.99669759e-01 5.73838188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.04, Y:205.59, Z:5.74 [[-6.83593057e-01 -7.29673497e-01 1.66469119e-02 7.20409322e+01] [ 7.29441162e-01 -6.83795574e-01 -1.84174884e-02 2.05593758e+02] [ 2.48218379e-02 -4.47124455e-04 9.99691791e-01 5.73998316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:205.62, Z:5.74 [[-6.85099862e-01 -7.28247737e-01 1.71293050e-02 7.20231983e+01] [ 7.28001645e-01 -6.85313782e-01 -1.89373906e-02 2.05615548e+02] [ 2.55300607e-02 -5.03841468e-04 9.99673928e-01 5.74108061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:205.64, Z:5.74 [[-6.85510416e-01 -7.27848572e-01 1.76614108e-02 7.20064776e+01] [ 7.27587176e-01 -6.85737690e-01 -1.95120701e-02 2.05635806e+02] [ 2.63129275e-02 -5.25511265e-04 9.99653617e-01 5.74071190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.99, Y:205.66, Z:5.74 [[-6.86124060e-01 -7.27270132e-01 1.76615227e-02 7.19880793e+01] [ 7.27008922e-01 -6.86351124e-01 -1.94977464e-02 2.05655795e+02] [ 2.63021345e-02 -5.37788333e-04 9.99653894e-01 5.74135348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:205.68, Z:5.74 [[-6.86750573e-01 -7.26686457e-01 1.73333202e-02 7.19711313e+01] [ 7.26435001e-01 -6.86969068e-01 -1.91229661e-02 2.05676019e+02] [ 2.58038553e-02 -5.41177491e-04 9.99666879e-01 5.74101396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.95, Y:205.70, Z:5.74 [[-6.87205785e-01 -7.26249222e-01 1.76146584e-02 7.19539361e+01] [ 7.25989720e-01 -6.87431274e-01 -1.94208851e-02 2.05696452e+02] [ 2.62132697e-02 -5.58083661e-04 9.99656217e-01 5.74040288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:205.72, Z:5.74 [[-6.87608641e-01 -7.25862798e-01 1.78200941e-02 7.19367096e+01] [ 7.25597465e-01 -6.87839280e-01 -1.96327365e-02 2.05716743e+02] [ 2.65080337e-02 -5.69424149e-04 9.99648438e-01 5.74010366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:205.74, Z:5.74 [[-6.88367143e-01 -7.25138366e-01 1.80285061e-02 7.19198529e+01] [ 7.24866926e-01 -6.88602931e-01 -1.98480026e-02 2.05738298e+02] [ 2.68070303e-02 -5.94445071e-04 9.99640450e-01 5.73927347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:205.76, Z:5.74 [[-6.88571864e-01 -7.24936381e-01 1.83311847e-02 7.19015540e+01] [ 7.24656066e-01 -6.88815564e-01 -2.01669309e-02 2.05758155e+02] [ 2.72465473e-02 -6.02577025e-04 9.99628562e-01 5.73978760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:205.78, Z:5.74 [[-6.89077973e-01 -7.24451620e-01 1.84769669e-02 7.18849409e+01] [ 7.24167060e-01 -6.89325374e-01 -2.03124989e-02 2.05777954e+02] [ 2.74520648e-02 -6.16484752e-04 9.99622931e-01 5.73965610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:205.80, Z:5.74 [[-6.89194488e-01 -7.24323851e-01 1.91289553e-02 7.18668980e+01] [ 7.24019244e-01 -6.89459614e-01 -2.10136811e-02 2.05798473e+02] [ 2.84093526e-02 -6.32781412e-04 9.99596173e-01 5.73909302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.85, Y:205.82, Z:5.74 [[-6.89272336e-01 -7.24256350e-01 1.88781755e-02 7.18495820e+01] [ 7.23960071e-01 -6.89530535e-01 -2.07233702e-02 2.05818003e+02] [ 2.80261109e-02 -6.17000519e-04 9.99607001e-01 5.73899687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:205.84, Z:5.74 [[-6.88180192e-01 -7.25307348e-01 1.83650096e-02 7.18294477e+01] [ 7.25027721e-01 -6.88424977e-01 -2.01458286e-02 2.05836320e+02] [ 2.72548488e-02 -5.48819099e-04 9.99628367e-01 5.73958280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:205.86, Z:5.74 [[-6.87619548e-01 -7.25836577e-01 1.84558924e-02 7.18106693e+01] [ 7.25554767e-01 -6.87866987e-01 -2.02308528e-02 2.05855011e+02] [ 2.73794920e-02 -5.20369143e-04 9.99624976e-01 5.73976654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:205.87, Z:5.74 [[-6.87353539e-01 -7.26082583e-01 1.86867772e-02 7.17908421e+01] [ 7.25794190e-01 -6.87607320e-01 -2.04686624e-02 2.05874035e+02] [ 2.77111040e-02 -5.06453217e-04 9.99615845e-01 5.74033247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:205.89, Z:5.74 [[-6.86589979e-01 -7.26801591e-01 1.88055012e-02 7.17713881e+01] [ 7.26510202e-01 -6.86847309e-01 -2.05840094e-02 2.05893753e+02] [ 2.78769987e-02 -4.70386142e-04 9.99611250e-01 5.74111859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:205.91, Z:5.74 [[-6.86334460e-01 -7.27042025e-01 1.88388752e-02 7.17534587e+01] [ 7.26750109e-01 -6.86592813e-01 -2.06055227e-02 2.05913400e+02] [ 2.79157173e-02 -4.51125642e-04 9.99610179e-01 5.74137552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:205.93, Z:5.74 [[-6.86657721e-01 -7.26750149e-01 1.83138064e-02 7.17342321e+01] [ 7.26474568e-01 -6.86901760e-01 -2.00168454e-02 2.05933197e+02] [ 2.71270312e-02 -4.40206859e-04 9.99631897e-01 5.74279159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:205.95, Z:5.74 [[-6.86829513e-01 -7.26594242e-01 1.80562312e-02 7.17157026e+01] [ 7.26326675e-01 -6.87066680e-01 -1.97215158e-02 2.05952656e+02] [ 2.67353747e-02 -4.30596720e-04 9.99642453e-01 5.74365870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.70, Y:205.97, Z:5.74 [[-6.87240565e-01 -7.26216709e-01 1.75982168e-02 7.16973970e+01] [ 7.25962793e-01 -6.87465716e-01 -1.92070963e-02 2.05970504e+02] [ 2.60466849e-02 -4.24245110e-04 9.99660638e-01 5.74446002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:205.99, Z:5.75 [[-6.87602586e-01 -7.25880095e-01 1.73427534e-02 7.16788841e+01] [ 7.25633773e-01 -6.87821133e-01 -1.89133878e-02 2.05989260e+02] [ 2.56575640e-02 -4.20406726e-04 9.99670702e-01 5.74509106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:206.01, Z:5.75 [[-6.87649089e-01 -7.25855068e-01 1.65272931e-02 7.16590224e+01] [ 7.25631679e-01 -6.87847561e-01 -1.80110907e-02 2.06007693e+02] [ 2.44416997e-02 -3.92582646e-04 9.99701180e-01 5.74678883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:206.03, Z:5.75 [[-6.87900945e-01 -7.25621961e-01 1.62806497e-02 7.16422158e+01] [ 7.25405413e-01 -6.88093467e-01 -1.77304169e-02 2.06026244e+02] [ 2.40681886e-02 -3.86699099e-04 9.99710244e-01 5.74696944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:206.04, Z:5.75 [[-6.88179548e-01 -7.25373927e-01 1.55426911e-02 7.16225716e+01] [ 7.25176759e-01 -6.88354944e-01 -1.69156601e-02 2.06044296e+02] [ 2.29690670e-02 -3.69813003e-04 9.99736108e-01 5.74821316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.60, Y:206.06, Z:5.75 [[-6.88548392e-01 -7.25026395e-01 1.54220184e-02 7.16045281e+01] [ 7.24832489e-01 -6.88720982e-01 -1.67711771e-02 2.06062095e+02] [ 2.27810137e-02 -3.69387054e-04 9.99740411e-01 5.74839777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.58, Y:206.08, Z:5.75 [[-6.88956969e-01 -7.24648871e-01 1.49099887e-02 7.15834710e+01] [ 7.24467813e-01 -6.89118193e-01 -1.62020113e-02 2.06080215e+02] [ 2.20155137e-02 -3.60681739e-04 9.99757564e-01 5.74854583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:206.10, Z:5.75 [[-6.89213360e-01 -7.24402681e-01 1.50233026e-02 7.15653956e+01] [ 7.24219064e-01 -6.89376982e-01 -1.63133156e-02 2.06099178e+02] [ 2.21741286e-02 -3.63192959e-04 9.99754058e-01 5.74854235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:206.12, Z:5.75 [[-6.89285915e-01 -7.24336345e-01 1.48924739e-02 7.15455669e+01] [ 7.24156156e-01 -6.89446687e-01 -1.61594393e-02 2.06118218e+02] [ 2.19724360e-02 -3.53997279e-04 9.99758514e-01 5.74844456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:206.14, Z:5.75 [[-6.89648256e-01 -7.23985528e-01 1.51736333e-02 7.15269986e+01] [ 7.23798651e-01 -6.89815065e-01 -1.64526239e-02 2.06137683e+02] [ 2.23784624e-02 -3.63868107e-04 9.99749505e-01 5.74866276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:206.16, Z:5.75 [[-6.90191218e-01 -7.23475504e-01 1.48080305e-02 7.15073574e+01] [ 7.23297655e-01 -6.90349957e-01 -1.60449143e-02 2.06157255e+02] [ 2.18308257e-02 -3.63445220e-04 9.99761613e-01 5.74923493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.49, Y:206.18, Z:5.75 [[-6.90810278e-01 -7.22867234e-01 1.56244118e-02 7.14902040e+01] [ 7.22669338e-01 -6.90986835e-01 -1.69180984e-02 2.06177626e+02] [ 2.30258018e-02 -3.95912935e-04 9.99734793e-01 5.74780752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.47, Y:206.20, Z:5.75 [[-6.91157332e-01 -7.22533048e-01 1.57333158e-02 7.14701562e+01] [ 7.22332519e-01 -6.91336265e-01 -1.70264399e-02 2.06196258e+02] [ 2.31791773e-02 -4.03263147e-04 9.99731245e-01 5.74857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:206.22, Z:5.75 [[-6.92649403e-01 -7.21121849e-01 1.48352449e-02 7.14516983e+01] [ 7.20943483e-01 -6.92808130e-01 -1.60433221e-02 2.06216078e+02] [ 2.18471684e-02 -4.17024344e-04 9.99761235e-01 5.74991907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.44, Y:206.24, Z:5.75 [[-6.93692754e-01 -7.20127446e-01 1.43813722e-02 7.14357418e+01] [ 7.19959856e-01 -6.93841682e-01 -1.55411184e-02 2.06236921e+02] [ 2.11699814e-02 -4.26750604e-04 9.99775800e-01 5.75038808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:206.26, Z:5.75 [[-6.94793026e-01 -7.19076731e-01 1.38313273e-02 7.14185185e+01] [ 7.18921737e-01 -6.94930548e-01 -1.49355093e-02 2.06256934e+02] [ 2.03515891e-02 -4.33445820e-04 9.99792791e-01 5.75144036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:206.28, Z:5.75 [[-6.96153975e-01 -7.17776615e-01 1.28985940e-02 7.14005071e+01] [ 7.17641789e-01 -6.96273325e-01 -1.39182961e-02 2.06277451e+02] [ 1.89711744e-02 -4.32707058e-04 9.99819937e-01 5.75229766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:206.30, Z:5.75 [[-6.98332891e-01 -7.15662557e-01 1.25808053e-02 7.13823805e+01] [ 7.15534121e-01 -6.98446048e-01 -1.35661279e-02 2.06299036e+02] [ 1.84957835e-02 -4.71677922e-04 9.99828827e-01 5.75294163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:206.32, Z:5.75 [[-6.99386922e-01 -7.14635464e-01 1.24131573e-02 7.13651943e+01] [ 7.14510424e-01 -6.99496903e-01 -1.33767441e-02 2.06319769e+02] [ 1.82424608e-02 -4.86189571e-04 9.99833474e-01 5.75324731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:206.34, Z:5.75 [[-7.00490526e-01 -7.13560694e-01 1.20066219e-02 7.13462503e+01] [ 7.13443702e-01 -7.00593245e-01 -1.29301893e-02 2.06340212e+02] [ 1.76382330e-02 -4.91426306e-04 9.99844314e-01 5.75373331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:206.36, Z:5.75 [[-7.01577665e-01 -7.12491455e-01 1.20294118e-02 7.13286485e+01] [ 7.12374008e-01 -7.01680599e-01 -1.29464099e-02 2.06361346e+02] [ 1.76650113e-02 -5.13471722e-04 9.99843830e-01 5.75387398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:206.38, Z:5.75 [[-7.02203654e-01 -7.11884200e-01 1.14417548e-02 7.13105644e+01] [ 7.11777999e-01 -7.02296688e-01 -1.23061874e-02 2.06381039e+02] [ 1.67960869e-02 -4.97460414e-04 9.99858812e-01 5.75437029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.29, Y:206.40, Z:5.76 [[-7.02811856e-01 -7.11284271e-01 1.14097036e-02 7.12923492e+01] [ 7.11178701e-01 -7.02904282e-01 -1.22648029e-02 2.06401491e+02] [ 1.67436909e-02 -5.05510730e-04 9.99859687e-01 5.75544994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:206.42, Z:5.76 [[-7.03193333e-01 -7.10916515e-01 1.08094826e-02 7.12728268e+01] [ 7.10821842e-01 -7.03276245e-01 -1.16117265e-02 2.06421005e+02] [ 1.58570204e-02 -4.81672346e-04 9.99874154e-01 5.75645452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.26, Y:206.44, Z:5.76 [[-7.02992712e-01 -7.11111415e-01 1.10363957e-02 7.12565073e+01] [ 7.11012891e-01 -7.03079173e-01 -1.18467456e-02 2.06442142e+02] [ 1.61838159e-02 -4.81156211e-04 9.99868918e-01 5.75653064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.24, Y:206.46, Z:5.76 [[-7.02824159e-01 -7.11284165e-01 1.06319790e-02 7.12350713e+01] [ 7.11192845e-01 -7.02904425e-01 -1.14064259e-02 2.06460018e+02] [ 1.55864752e-02 -4.55324299e-04 9.99878420e-01 5.75719266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:206.48, Z:5.76 [[-7.01385973e-01 -7.12708440e-01 1.02174462e-02 7.12147917e+01] [ 7.12624368e-01 -7.01460276e-01 -1.09540970e-02 2.06478608e+02] [ 1.49742100e-02 -4.01848826e-04 9.99887799e-01 5.75783696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.20, Y:206.50, Z:5.76 [[-7.00647663e-01 -7.13432664e-01 1.03289169e-02 7.11958080e+01] [ 7.13346930e-01 -7.00723687e-01 -1.10667393e-02 2.06497035e+02] [ 1.51330901e-02 -3.85783844e-04 9.99885414e-01 5.75805119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.18, Y:206.52, Z:5.76 [[-7.00897428e-01 -7.13187229e-01 1.03330145e-02 7.11773906e+01] [ 7.13101525e-01 -7.00973486e-01 -1.10629120e-02 2.06516446e+02] [ 1.51330968e-02 -3.85478162e-04 9.99885414e-01 5.75846285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.15, Y:206.53, Z:5.76 [[-6.98838495e-01 -7.15202021e-01 1.05274440e-02 7.11545876e+01] [ 7.15113412e-01 -6.98917700e-01 -1.12630186e-02 2.06533762e+02] [ 1.54131506e-02 -3.42714613e-04 9.99881152e-01 5.75856183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:206.55, Z:5.76 [[-6.98211429e-01 -7.15814512e-01 1.05064140e-02 7.11363452e+01] [ 7.15726436e-01 -6.98290398e-01 -1.12333580e-02 2.06552939e+02] [ 1.53775287e-02 -3.23540761e-04 9.99881706e-01 5.75888313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:206.57, Z:5.76 [[-6.97700970e-01 -7.16308188e-01 1.07673778e-02 7.11158719e+01] [ 7.16215881e-01 -6.97783979e-01 -1.15035052e-02 2.06571183e+02] [ 1.57533587e-02 -3.14239775e-04 9.99875859e-01 5.75890476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:206.59, Z:5.76 [[-6.96549198e-01 -7.17423092e-01 1.11050412e-02 7.10973774e+01] [ 7.17325188e-01 -6.96637654e-01 -1.18554913e-02 2.06589283e+02] [ 1.62415931e-02 -2.92007165e-04 9.99868054e-01 5.75854013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.08, Y:206.61, Z:5.76 [[-6.96472711e-01 -7.17494607e-01 1.12806481e-02 7.10807501e+01] [ 7.17393740e-01 -6.96564000e-01 -1.20339260e-02 2.06607953e+02] [ 1.64919703e-02 -2.88634692e-04 9.99863957e-01 5.75856901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:206.63, Z:5.76 [[-6.96519106e-01 -7.17448973e-01 1.13184143e-02 7.10619937e+01] [ 7.17347550e-01 -6.96611003e-01 -1.20665909e-02 2.06626901e+02] [ 1.65416952e-02 -2.85374353e-04 9.99863136e-01 5.75900757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.04, Y:206.65, Z:5.76 [[-6.96790620e-01 -7.17176447e-01 1.18648650e-02 7.10427151e+01] [ 7.17065128e-01 -6.96891566e-01 -1.26391206e-02 2.06646414e+02] [ 1.73330039e-02 -2.98939799e-04 9.99849728e-01 5.75905745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.02, Y:206.67, Z:5.76 [[-6.97156218e-01 -7.16819598e-01 1.19528535e-02 7.10244645e+01] [ 7.16706729e-01 -6.97258611e-01 -1.27237098e-02 2.06666103e+02] [ 1.74548346e-02 -3.03722828e-04 9.99847607e-01 5.75978281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:206.69, Z:5.76 [[-6.97884022e-01 -7.16120417e-01 1.13771994e-02 7.10060439e+01] [ 7.16018203e-01 -6.97976689e-01 -1.21026695e-02 2.06685936e+02] [ 1.66079887e-02 -2.99977823e-04 9.99862033e-01 5.76104033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.99, Y:206.71, Z:5.76 [[-6.98727165e-01 -7.15300892e-01 1.11795997e-02 7.09889924e+01] [ 7.15202230e-01 -6.98816527e-01 -1.18840781e-02 2.06706272e+02] [ 1.63131806e-02 -3.08053564e-04 9.99866884e-01 5.76189286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.97, Y:206.73, Z:5.76 [[-6.99079184e-01 -7.14965012e-01 1.06454537e-02 7.09705042e+01] [ 7.14875639e-01 -6.99160171e-01 -1.13082120e-02 2.06725651e+02] [ 1.55278532e-02 -2.95160124e-04 9.99879392e-01 5.76311572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:70.95, Y:206.74, Z:5.76 [[-6.98726937e-01 -7.15312991e-01 1.03919644e-02 7.09522309e+01] [ 7.15227977e-01 -6.98804157e-01 -1.10313967e-02 2.06743864e+02] [ 1.51528493e-02 -2.75310374e-04 9.99885151e-01 5.76433708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.93, Y:206.76, Z:5.76 [[-6.98668014e-01 -7.15366687e-01 1.06541061e-02 7.09334967e+01] [ 7.15277482e-01 -6.98749188e-01 -1.13002479e-02 2.06762692e+02] [ 1.55283689e-02 -2.74479564e-04 9.99879390e-01 5.76459121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:206.78, Z:5.76 [[-6.98974563e-01 -7.15060674e-01 1.10812391e-02 7.09156834e+01] [ 7.14964287e-01 -6.99062337e-01 -1.17438055e-02 2.06782362e+02] [ 1.61440104e-02 -2.85931069e-04 9.99869636e-01 5.76475773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.90, Y:206.80, Z:5.76 [[-6.99447151e-01 -7.14592456e-01 1.14588370e-02 7.08971974e+01] [ 7.14489487e-01 -6.99540943e-01 -1.21343194e-02 2.06801854e+02] [ 1.66870187e-02 -3.00096574e-04 9.99860717e-01 5.76462118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:206.82, Z:5.76 [[-7.00134664e-01 -7.13915326e-01 1.16773211e-02 7.08804778e+01] [ 7.13808449e-01 -7.00231967e-01 -1.23567876e-02 2.06821542e+02] [ 1.69985336e-02 -3.16044920e-04 9.99855465e-01 5.76473846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:206.84, Z:5.76 [[-7.01280857e-01 -7.12794191e-01 1.13842494e-02 7.08613618e+01] [ 7.12692620e-01 -7.01373177e-01 -1.20372757e-02 2.06841494e+02] [ 1.65647074e-02 -3.28040509e-04 9.99862742e-01 5.76494581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:206.86, Z:5.77 [[-7.01894667e-01 -7.12189892e-01 1.13769189e-02 7.08445977e+01] [ 7.12088507e-01 -7.01986784e-01 -1.20213355e-02 2.06860189e+02] [ 1.65479204e-02 -3.36338097e-04 9.99863017e-01 5.76512592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:206.88, Z:5.77 [[-7.02358420e-01 -7.11727917e-01 1.16628338e-02 7.08260412e+01] [ 7.11621441e-01 -7.02455158e-01 -1.23156506e-02 2.06878514e+02] [ 1.69580101e-02 -3.50478295e-04 9.99856141e-01 5.76500657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:206.90, Z:5.77 [[-7.03438345e-01 -7.10659149e-01 1.17502395e-02 7.08059400e+01] [ 7.10551080e-01 -7.03536378e-01 -1.23987111e-02 2.06896282e+02] [ 1.70779784e-02 -3.72583473e-04 9.99854091e-01 5.76509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:206.92, Z:5.77 [[-7.03776490e-01 -7.10321203e-01 1.19348735e-02 7.07899115e+01] [ 7.10209827e-01 -7.03877578e-01 -1.25840091e-02 2.06916415e+02] [ 1.73393783e-02 -3.80065273e-04 9.99849589e-01 5.76504962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:206.93, Z:5.77 [[-7.04221261e-01 -7.09874319e-01 1.22827866e-02 7.07701965e+01] [ 7.09756477e-01 -7.04328259e-01 -1.29401755e-02 2.06933538e+02] [ 1.78370120e-02 -3.94959436e-04 9.99840830e-01 5.76524347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:206.95, Z:5.76 [[-7.04508840e-01 -7.09577969e-01 1.28995952e-02 7.07524102e+01] [ 7.09448148e-01 -7.04626804e-01 -1.35790742e-02 2.06952341e+02] [ 1.87248124e-02 -4.14983832e-04 9.99824589e-01 5.76449830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:206.97, Z:5.76 [[-7.04659883e-01 -7.09430281e-01 1.27720672e-02 7.07341199e+01] [ 7.09303186e-01 -7.04775503e-01 -1.34342745e-02 2.06971136e+02] [ 1.85321212e-02 -4.07326337e-04 9.99828183e-01 5.76467427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.272755096 meters Centerline goodness [0,1] 0.9999136665803332 Centerline is valid? [True, True] Translation: X:70.72, Y:206.99, Z:5.76 [[-7.05199747e-01 -7.08888140e-01 1.30736838e-02 7.07159298e+01] [ 7.08755079e-01 -7.05320796e-01 -1.37409289e-02 2.06990331e+02] [ 1.89619226e-02 -4.24059838e-04 9.99820117e-01 5.76317323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:207.01, Z:5.77 [[-7.05224847e-01 -7.08870259e-01 1.26834566e-02 7.06947716e+01] [ 7.08745200e-01 -7.05338778e-01 -1.33210540e-02 2.07008383e+02] [ 1.83890328e-02 -4.04999251e-04 9.99830825e-01 5.76587351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:207.03, Z:5.77 [[-7.05287871e-01 -7.08810263e-01 1.25311454e-02 7.06766215e+01] [ 7.08688351e-01 -7.05399075e-01 -1.31516927e-02 2.07027616e+02] [ 1.81615132e-02 -3.95052587e-04 9.99834988e-01 5.76646424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:207.05, Z:5.77 [[-7.04792505e-01 -7.09311535e-01 1.20279220e-02 7.06590270e+01] [ 7.09199445e-01 -7.04895039e-01 -1.26147209e-02 2.07047358e+02] [ 1.74261896e-02 -3.60565115e-04 9.99848087e-01 5.76737628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:207.07, Z:5.77 [[-7.04685748e-01 -7.09425559e-01 1.15486831e-02 7.06412394e+01] [ 7.09322349e-01 -7.04780293e-01 -1.21055190e-02 2.07066003e+02] [ 1.67272488e-02 -3.38847679e-04 9.99860032e-01 5.76836732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:207.08, Z:5.77 [[-7.04666000e-01 -7.09453846e-01 1.10031558e-02 7.06224559e+01] [ 7.09360297e-01 -7.04751829e-01 -1.15251186e-02 2.07084649e+02] [ 1.59310338e-02 -3.16157345e-04 9.99873043e-01 5.76948946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:207.10, Z:5.77 [[-7.04655288e-01 -7.09471440e-01 1.05451628e-02 7.06037647e+01] [ 7.09385638e-01 -7.04734125e-01 -1.10376750e-02 2.07103557e+02] [ 1.52624513e-02 -2.97169077e-04 9.99883478e-01 5.77063986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:207.12, Z:5.77 [[-7.04520440e-01 -7.09618200e-01 9.64161089e-03 7.05832146e+01] [ 7.09546578e-01 -7.04586361e-01 -1.00852678e-02 2.07121601e+02] [ 1.39500371e-02 -2.64105299e-04 9.99902659e-01 5.77231674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.57, Y:207.14, Z:5.77 [[-7.04741207e-01 -7.09398405e-01 9.68159948e-03 7.05660523e+01] [ 7.09326267e-01 -7.04807656e-01 -1.01200283e-02 2.07140910e+02] [ 1.40027974e-02 -2.64588177e-04 9.99901921e-01 5.77294334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:207.16, Z:5.77 [[-7.05281325e-01 -7.08862828e-01 9.57833571e-03 7.05488440e+01] [ 7.08792283e-01 -7.05346312e-01 -1.00039420e-02 2.07161074e+02] [ 1.38474664e-02 -2.66543034e-04 9.99904084e-01 5.77355151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:207.18, Z:5.77 [[-7.05849201e-01 -7.08298552e-01 9.49037230e-03 7.05301073e+01] [ 7.08229351e-01 -7.05912947e-01 -9.90441751e-03 2.07181107e+02] [ 1.37146613e-02 -2.69664975e-04 9.99905913e-01 5.77403092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:207.20, Z:5.77 [[-7.06351557e-01 -7.07803049e-01 9.07313628e-03 7.05150037e+01] [ 7.07739838e-01 -7.06409778e-01 -9.46294066e-03 2.07201945e+02] [ 1.31072504e-02 -2.62742865e-04 9.99914062e-01 5.77476698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:207.22, Z:5.77 [[-7.07213686e-01 -7.06941152e-01 9.11094133e-03 7.04950404e+01] [ 7.06877443e-01 -7.07272318e-01 -9.49464794e-03 2.07218900e+02] [ 1.31560739e-02 -2.74426048e-04 9.99913417e-01 5.77422686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:207.24, Z:5.77 [[-7.07783703e-01 -7.06372049e-01 8.98651567e-03 7.04755501e+01] [ 7.06310115e-01 -7.07840697e-01 -9.35788685e-03 2.07238375e+02] [ 1.29711712e-02 -2.76092895e-04 9.99915833e-01 5.77441435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:207.26, Z:5.78 [[-7.08946981e-01 -7.05209748e-01 8.56679021e-03 7.04576834e+01] [ 7.05153452e-01 -7.08998684e-01 -8.91491991e-03 2.07259139e+02] [ 1.23607314e-02 -2.79303869e-04 9.99923564e-01 5.77517860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:207.28, Z:5.78 [[-7.09686465e-01 -7.04464693e-01 8.63811226e-03 7.04381419e+01] [ 7.04407478e-01 -7.09738974e-01 -8.98293852e-03 2.07277461e+02] [ 1.24589680e-02 -2.90319010e-04 9.99922342e-01 5.77530132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:207.30, Z:5.78 [[-7.10442335e-01 -7.03705412e-01 8.38941391e-03 7.04222235e+01] [ 7.03651470e-01 -7.10491808e-01 -8.71781890e-03 2.07298562e+02] [ 1.20953862e-02 -2.90284184e-04 9.99926806e-01 5.77594988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:207.32, Z:5.78 [[-7.11620675e-01 -7.02515662e-01 8.23160011e-03 7.04049851e+01] [ 7.02463728e-01 -7.11668220e-01 -8.54729830e-03 2.07317976e+02] [ 1.18627791e-02 -3.00033687e-04 9.99929590e-01 5.77632787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.39, Y:207.34, Z:5.78 [[-7.12239971e-01 -7.01887104e-01 8.28953552e-03 7.03867665e+01] [ 7.01834466e-01 -7.12288143e-01 -8.60140706e-03 2.07337071e+02] [ 1.19417545e-02 -3.08384178e-04 9.99928647e-01 5.77659034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:207.36, Z:5.78 [[-7.12699225e-01 -7.01419359e-01 8.40818539e-03 7.03663659e+01] [ 7.01365252e-01 -7.12748752e-01 -8.71784539e-03 2.07355675e+02] [ 1.21077892e-02 -3.15992589e-04 9.99926648e-01 5.77673134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:207.37, Z:5.78 [[-7.12882411e-01 -7.01226624e-01 8.93814524e-03 7.03489105e+01] [ 7.01165552e-01 -7.12938363e-01 -9.26060007e-03 2.07374753e+02] [ 1.28661260e-02 -3.34599356e-04 9.99917172e-01 5.77647270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:207.39, Z:5.78 [[-7.12718358e-01 -7.01384309e-01 9.62249865e-03 7.03283892e+01] [ 7.01313664e-01 -7.12783226e-01 -9.96078369e-03 2.07393536e+02] [ 1.38450930e-02 -3.50843616e-04 9.99904091e-01 5.77631877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:207.41, Z:5.78 [[-7.11915768e-01 -7.02187337e-01 1.04347141e-02 7.03074988e+01] [ 7.02104464e-01 -7.11992146e-01 -1.07938050e-02 2.07411892e+02] [ 1.50087077e-02 -3.58020637e-04 9.99887299e-01 5.77529143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:207.43, Z:5.78 [[-7.11530183e-01 -7.02566631e-01 1.11771031e-02 7.02889475e+01] [ 7.02471725e-01 -7.11617870e-01 -1.15534648e-02 2.07430508e+02] [ 1.60709052e-02 -3.69039986e-04 9.99870787e-01 5.77516760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:207.45, Z:5.78 [[-7.10974430e-01 -7.03126706e-01 1.13223805e-02 7.02682399e+01] [ 7.03029493e-01 -7.11064490e-01 -1.16971190e-02 2.07449028e+02] [ 1.62754994e-02 -3.56385061e-04 9.99867482e-01 5.77534764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:207.47, Z:5.78 [[-7.09738687e-01 -7.04372416e-01 1.14234586e-02 7.02472348e+01] [ 7.04273721e-01 -7.09830538e-01 -1.17955027e-02 2.07468237e+02] [ 1.64171465e-02 -3.26482920e-04 9.99865176e-01 5.77594960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:207.49, Z:5.78 [[-7.09503916e-01 -7.04613343e-01 1.11458284e-02 7.02294157e+01] [ 7.04519531e-01 -7.09591391e-01 -1.15016728e-02 2.07487286e+02] [ 1.60132160e-02 -3.08028078e-04 9.99871733e-01 5.77682876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:207.51, Z:5.78 [[-7.09359465e-01 -7.04755961e-01 1.13219022e-02 7.02107317e+01] [ 7.04659323e-01 -7.09449747e-01 -1.16745170e-02 2.07506157e+02] [ 1.62600061e-02 -3.03345163e-04 9.99867751e-01 5.77825860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:207.52, Z:5.78 [[-7.09771518e-01 -7.04342190e-01 1.12459613e-02 7.01924810e+01] [ 7.04246936e-01 -7.09860541e-01 -1.15873301e-02 2.07524767e+02] [ 1.61445097e-02 -3.04423119e-04 9.99869623e-01 5.77877957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:207.54, Z:5.78 [[-7.10244945e-01 -7.03864038e-01 1.12931215e-02 7.01736369e+01] [ 7.03768068e-01 -7.10334654e-01 -1.16269663e-02 2.07543951e+02] [ 1.62056990e-02 -3.10255720e-04 9.99868631e-01 5.77943398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.16, Y:207.56, Z:5.78 [[-7.11477540e-01 -7.02625603e-01 1.08153701e-02 7.01571556e+01] [ 7.02537556e-01 -7.11559668e-01 -1.11275440e-02 2.07564355e+02] [ 1.55142785e-02 -3.18793946e-04 9.99879596e-01 5.78059758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:207.58, Z:5.78 [[-7.12369837e-01 -7.01721239e-01 1.07943626e-02 7.01380738e+01] [ 7.01633524e-01 -7.12451536e-01 -1.10998661e-02 2.07583698e+02] [ 1.54794721e-02 -3.33523128e-04 9.99880130e-01 5.78137179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:207.60, Z:5.78 [[-7.13353566e-01 -7.00719044e-01 1.09321457e-02 7.01215305e+01] [ 7.00629081e-01 -7.13437241e-01 -1.12336381e-02 2.07604004e+02] [ 1.56710240e-02 -3.54176603e-04 9.99877139e-01 5.78181770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.10, Y:207.62, Z:5.78 [[-7.14037955e-01 -7.00023040e-01 1.08417188e-02 7.01028172e+01] [ 6.99934571e-01 -7.14120167e-01 -1.11347505e-02 2.07622565e+02] [ 1.55368720e-02 -3.62140643e-04 9.99879230e-01 5.78244050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:207.64, Z:5.78 [[-7.14598580e-01 -6.99448988e-01 1.09536997e-02 7.00844102e+01] [ 6.99358751e-01 -7.14682430e-01 -1.12411245e-02 2.07641682e+02] [ 1.56910099e-02 -3.72325832e-04 9.99876819e-01 5.78316379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.07, Y:207.66, Z:5.78 [[-7.15427202e-01 -6.98605748e-01 1.06737437e-02 7.00658086e+01] [ 6.98520094e-01 -7.15506722e-01 -1.09457565e-02 2.07659576e+02] [ 1.52839038e-02 -3.75067529e-04 9.99883124e-01 5.78360636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:207.68, Z:5.78 [[-7.15807775e-01 -6.98211214e-01 1.09694755e-02 7.00471484e+01] [ 6.98120831e-01 -7.15891717e-01 -1.12407974e-02 2.07678143e+02] [ 1.57014075e-02 -3.88230853e-04 9.99876650e-01 5.78394452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:207.70, Z:5.78 [[-7.16168976e-01 -6.97831084e-01 1.15661258e-02 7.00256107e+01] [ 6.97730704e-01 -7.16262248e-01 -1.18429868e-02 2.07695440e+02] [ 1.65487835e-02 -4.11538624e-04 9.99862975e-01 5.78428517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.01, Y:207.72, Z:5.78 [[-7.16392027e-01 -6.97587693e-01 1.24046046e-02 7.00101213e+01] [ 6.97472366e-01 -7.16499279e-01 -1.26918068e-02 2.07716644e+02] [ 1.77415385e-02 -4.40440236e-04 9.99842510e-01 5.78412275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:207.73, Z:5.78 [[-7.16645073e-01 -6.97327647e-01 1.24093451e-02 6.99917973e+01] [ 6.97212361e-01 -7.16752369e-01 -1.26871704e-02 2.07734987e+02] [ 1.77415422e-02 -4.40249385e-04 9.99842510e-01 5.78452154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.97, Y:207.75, Z:5.78 [[-7.16630610e-01 -6.97337573e-01 1.26837754e-02 6.99730956e+01] [ 6.97217306e-01 -7.16742711e-01 -1.29581694e-02 2.07753742e+02] [ 1.81272220e-02 -4.42873126e-04 9.99835590e-01 5.78422175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:207.77, Z:5.78 [[-7.16258325e-01 -6.97710869e-01 1.31740169e-02 6.99530664e+01] [ 6.97581376e-01 -7.16379332e-01 -1.34490182e-02 2.07771657e+02] [ 1.88211196e-02 -4.43022449e-04 9.99822769e-01 5.78370255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:207.79, Z:5.78 [[-7.15974924e-01 -6.97999678e-01 1.32800003e-02 6.99302303e+01] [ 6.97868329e-01 -7.16097942e-01 -1.35474366e-02 2.07786761e+02] [ 1.89658873e-02 -4.31933213e-04 9.99820038e-01 5.78433617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:207.81, Z:5.78 [[-7.15494254e-01 -6.98488883e-01 1.34629909e-02 6.99142525e+01] [ 6.98354158e-01 -7.15620783e-01 -1.37245899e-02 2.07808071e+02] [ 1.92208696e-02 -4.17929504e-04 9.99815175e-01 5.78385186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:207.82, Z:5.78 [[-7.14197438e-01 -6.99800949e-01 1.41651908e-02 6.98924311e+01] [ 6.99652236e-01 -7.14337788e-01 -1.44316686e-02 2.07824561e+02] [ 2.02180265e-02 -3.96353284e-04 9.99795516e-01 5.78462603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.87, Y:207.84, Z:5.79 [[-7.13952704e-01 -7.00048507e-01 1.42697013e-02 6.98717719e+01] [ 6.99897847e-01 -7.14095190e-01 -1.45280186e-02 2.07842520e+02] [ 2.03602428e-02 -3.84984964e-04 9.99792635e-01 5.78546492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.85, Y:207.86, Z:5.79 [[-7.13022171e-01 -7.00999600e-01 1.41047868e-02 6.98530211e+01] [ 7.00852797e-01 -7.13161581e-01 -1.43498007e-02 2.07860936e+02] [ 2.01181966e-02 -3.46346774e-04 9.99797549e-01 5.78552712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:207.88, Z:5.79 [[-7.12732624e-01 -7.01290290e-01 1.42876063e-02 6.98348826e+01] [ 7.01139942e-01 -7.12875737e-01 -1.45246163e-02 2.07878978e+02] [ 2.03712603e-02 -3.34556452e-04 9.99792428e-01 5.78621795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.82, Y:207.90, Z:5.79 [[-7.12309022e-01 -7.01723656e-01 1.41339375e-02 6.98173398e+01] [ 7.01576839e-01 -7.12449166e-01 -1.43570152e-02 2.07897442e+02] [ 2.01443692e-02 -3.10588291e-04 9.99797033e-01 5.78665491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:207.91, Z:5.79 [[-7.12172610e-01 -7.01871149e-01 1.36770944e-02 6.97956697e+01] [ 7.01733901e-01 -7.12303872e-01 -1.38825891e-02 2.07914980e+02] [ 1.94860360e-02 -2.89118926e-04 9.99810087e-01 5.78864091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.78, Y:207.93, Z:5.79 [[-7.12411211e-01 -7.01635334e-01 1.33463665e-02 6.97774058e+01] [ 7.01504776e-01 -7.12536160e-01 -1.35377578e-02 2.07933671e+02] [ 1.90083380e-02 -2.81910604e-04 9.99819285e-01 5.78913950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:207.95, Z:5.79 [[-7.13301329e-01 -7.00729386e-01 1.33992960e-02 6.97593790e+01] [ 7.00597825e-01 -7.13427107e-01 -1.35812243e-02 2.07953462e+02] [ 1.90761840e-02 -2.99987688e-04 9.99817988e-01 5.79050681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.74, Y:207.97, Z:5.79 [[-7.14051986e-01 -6.99970916e-01 1.30567620e-02 6.97418139e+01] [ 6.99846053e-01 -7.14171285e-01 -1.32241510e-02 2.07972994e+02] [ 1.85812855e-02 -3.05007930e-04 9.99827307e-01 5.79134715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:207.99, Z:5.79 [[-7.15118318e-01 -6.98883937e-01 1.29241673e-02 6.97234389e+01] [ 6.98761597e-01 -7.15235023e-01 -1.30802026e-02 2.07993518e+02] [ 1.83853606e-02 -3.22980763e-04 9.99830923e-01 5.79181359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.71, Y:208.01, Z:5.79 [[-7.16594359e-01 -6.97378837e-01 1.24612583e-02 6.97052003e+01] [ 6.97265023e-01 -7.16702617e-01 -1.26034653e-02 2.08013578e+02] [ 1.77204064e-02 -3.42772567e-04 9.99842923e-01 5.79304596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:208.03, Z:5.79 [[-7.17361465e-01 -6.96592554e-01 1.23021123e-02 6.96877584e+01] [ 6.96481665e-01 -7.17466856e-01 -1.24338298e-02 2.08033687e+02] [ 1.74876711e-02 -3.51354701e-04 9.99847017e-01 5.79384668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:208.05, Z:5.80 [[-7.18125782e-01 -6.95813452e-01 1.17898680e-02 6.96680962e+01] [ 6.95711641e-01 -7.18222471e-01 -1.19077345e-02 2.08052821e+02] [ 1.67533100e-02 -3.48902726e-04 9.99859593e-01 5.79527296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:208.07, Z:5.80 [[-7.18436770e-01 -6.95489859e-01 1.19358264e-02 6.96481662e+01] [ 6.95385610e-01 -7.18535824e-01 -1.20466926e-02 2.08071653e+02] [ 1.69546714e-02 -3.54785009e-04 9.99856196e-01 5.79578002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01275509600003 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:69.63, Y:208.09, Z:5.80 [[-7.18870611e-01 -6.95037851e-01 1.21420939e-02 6.96290499e+01] [ 6.94930053e-01 -7.18973054e-01 -1.22461713e-02 2.08090612e+02] [ 1.72413909e-02 -3.65506740e-04 9.99851289e-01 5.79561033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:208.11, Z:5.80 [[-7.18906983e-01 -6.95007514e-01 1.17177285e-02 6.96089476e+01] [ 6.94907249e-01 -7.19002388e-01 -1.18101902e-02 2.08109656e+02] [ 1.66332457e-02 -3.47693711e-04 9.99861598e-01 5.79718055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:208.13, Z:5.80 [[-7.18848308e-01 -6.95062904e-01 1.20278719e-02 6.95910620e+01] [ 6.94957419e-01 -7.18948842e-01 -1.21140085e-02 2.08128262e+02] [ 1.70674225e-02 -3.49275709e-04 9.99854280e-01 5.79751677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:208.15, Z:5.80 [[-7.18118767e-01 -6.95809650e-01 1.24245107e-02 6.95720256e+01] [ 6.95697371e-01 -7.18226161e-01 -1.25039840e-02 2.08145871e+02] [ 1.76240013e-02 -3.35646152e-04 9.99844629e-01 5.79713594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.55, Y:208.16, Z:5.80 [[-7.17711789e-01 -6.96224208e-01 1.27138282e-02 6.95503596e+01] [ 6.96106879e-01 -7.17824315e-01 -1.27853985e-02 2.08163012e+02] [ 1.80277989e-02 -3.26047939e-04 9.99837433e-01 5.79756089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:208.18, Z:5.80 [[-7.17075990e-01 -6.96866477e-01 1.33842361e-02 6.95313255e+01] [ 6.96736752e-01 -7.17200817e-01 -1.34494541e-02 2.08181169e+02] [ 1.89716588e-02 -3.18991469e-04 9.99819971e-01 5.79751750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:208.20, Z:5.80 [[-7.16911083e-01 -6.97040605e-01 1.31488951e-02 6.95137643e+01] [ 6.96915612e-01 -7.17031592e-01 -1.32032525e-02 2.08200253e+02] [ 1.86313763e-02 -3.01887779e-04 9.99826375e-01 5.79748673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.49, Y:208.22, Z:5.80 [[-7.16744236e-01 -6.97211690e-01 1.31741925e-02 6.94939421e+01] [ 6.97086428e-01 -7.16865241e-01 -1.32188343e-02 2.08217907e+02] [ 1.86604465e-02 -2.90972446e-04 9.99825836e-01 5.79830097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:208.24, Z:5.80 [[-7.16074662e-01 -6.97907112e-01 1.27570161e-02 6.94731331e+01] [ 6.97789936e-01 -7.16188242e-01 -1.27909097e-02 2.08236160e+02] [ 1.80632918e-02 -2.57528880e-04 9.99836812e-01 5.79964943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:208.25, Z:5.80 [[-7.15964021e-01 -6.98024657e-01 1.25339323e-02 6.94550786e+01] [ 6.97911720e-01 -7.16073683e-01 -1.25583323e-02 2.08254568e+02] [ 1.77412447e-02 -2.43735809e-04 9.99842582e-01 5.80064743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:208.27, Z:5.80 [[-7.16315263e-01 -6.97675431e-01 1.18927410e-02 6.94373560e+01] [ 6.97573850e-01 -7.16413944e-01 -1.19073334e-02 2.08273158e+02] [ 1.68275794e-02 -2.33339581e-04 9.99858379e-01 5.80210970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:208.29, Z:5.80 [[-7.16812265e-01 -6.97168598e-01 1.16672078e-02 6.94178851e+01] [ 6.97070919e-01 -7.16907171e-01 -1.16723120e-02 2.08292904e+02] [ 1.65018744e-02 -2.33985168e-04 9.99863807e-01 5.80297762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:207.89, Z:6.98 [[-7.45997482e-01 6.65863956e-01 -1.06277479e-02 6.90393039e+01] [ 6.65779129e-01 7.46072662e-01 1.06645796e-02 2.07885528e+02] [ 1.50302313e-02 8.80016807e-04 -9.99886652e-01 6.98164650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:207.90, Z:6.98 [[-7.90586134e-01 6.12227876e-01 -1.22715983e-02 6.90542252e+01] [ 6.12137244e-01 7.90680920e-01 1.05677693e-02 2.07896548e+02] [ 1.61728016e-02 8.42829549e-04 -9.99868856e-01 6.98014337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:207.91, Z:6.98 [[-8.31757335e-01 5.54992194e-01 -1.27828263e-02 6.90723641e+01] [ 5.54910883e-01 8.31855132e-01 9.53683431e-03 2.07906843e+02] [ 1.59263283e-02 8.39002445e-04 -9.99872816e-01 6.98022397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:207.92, Z:6.98 [[-8.68599455e-01 4.95344462e-01 -1.29942735e-02 6.90824222e+01] [ 4.95274469e-01 8.68696247e-01 8.36843368e-03 2.07921734e+02] [ 1.54333339e-02 8.33085052e-04 -9.99880552e-01 6.98131615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:207.94, Z:6.98 [[-9.01258038e-01 4.33080630e-01 -1.32331370e-02 6.90960481e+01] [ 4.33020271e-01 9.01354803e-01 7.27766432e-03 2.07935587e+02] [ 1.50795670e-02 8.28836916e-04 -9.99885953e-01 6.98133477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:207.95, Z:6.98 [[-9.29391652e-01 3.68818045e-01 -1.42971249e-02 6.91080725e+01] [ 3.68760954e-01 9.29501265e-01 6.53892443e-03 2.07949992e+02] [ 1.57008690e-02 8.05000381e-04 -9.99876410e-01 6.98051622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:207.97, Z:6.98 [[-9.53093831e-01 3.02296836e-01 -1.51251906e-02 6.91174849e+01] [ 3.02245523e-01 9.53213512e-01 5.62541108e-03 2.07966483e+02] [ 1.61180800e-02 7.90023454e-04 -9.99869783e-01 6.98050161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:207.98, Z:6.98 [[-9.72184391e-01 2.33739205e-01 -1.49497114e-02 6.91247905e+01] [ 2.33698823e-01 9.72298998e-01 4.41794308e-03 2.07984410e+02] [ 1.55682359e-02 8.01325343e-04 -9.99878487e-01 6.98127877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:208.54, Z:5.81 [[-9.63942496e-01 -2.65681269e-01 1.51105341e-02 6.92353997e+01] [ 2.65658617e-01 -9.64060725e-01 -3.52380721e-03 2.08540187e+02] [ 1.55036820e-02 6.17496066e-04 9.99879620e-01 5.80686290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:207.99, Z:6.98 [[-9.73364285e-01 2.28829806e-01 -1.41028015e-02 6.90931784e+01] [ 2.28793277e-01 9.73466087e-01 4.17303371e-03 2.07991924e+02] [ 1.46835135e-02 8.35255800e-04 -9.99891843e-01 6.98314033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:208.01, Z:6.98 [[-9.87187231e-01 1.58945917e-01 -1.40558022e-02 6.90934402e+01] [ 1.58917692e-01 9.87286937e-01 3.10984112e-03 2.08012511e+02] [ 1.43714064e-02 8.36279798e-04 -9.99896376e-01 6.98369107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:208.57, Z:5.81 [[-9.80824340e-01 -1.94271776e-01 1.55592757e-02 6.91692303e+01] [ 1.94257264e-01 -9.80947551e-01 -2.45317368e-03 2.08571407e+02] [ 1.57394158e-02 6.16369878e-04 9.99875938e-01 5.80690003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:208.02, Z:6.98 [[-9.88092564e-01 1.53167328e-01 -1.45895100e-02 6.90640330e+01] [ 1.53137746e-01 9.88199895e-01 3.13033583e-03 2.08018684e+02] [ 1.48968174e-02 8.58856886e-04 -9.99888667e-01 6.98423949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:208.57, Z:5.81 [[-9.81345007e-01 -1.91658472e-01 1.51330073e-02 6.91286919e+01] [ 1.91645567e-01 -9.81461477e-01 -2.31197571e-03 2.08574858e+02] [ 1.52955734e-02 6.31327932e-04 9.99882817e-01 5.80820382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.02, Y:208.02, Z:6.98 [[-9.88816706e-01 1.48412017e-01 -1.46763537e-02 6.90244300e+01] [ 1.48382637e-01 9.88925237e-01 3.07696385e-03 2.08024430e+02] [ 1.49704750e-02 8.64837190e-04 -9.99887562e-01 6.98406355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.04, Y:208.04, Z:6.98 [[-9.96887759e-01 7.72352567e-02 -1.57959000e-02 6.90362552e+01] [ 7.72119832e-02 9.97012532e-01 2.07888826e-03 2.08043077e+02] [ 1.59092737e-02 8.52785498e-04 -9.99873076e-01 6.98380804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:208.60, Z:5.81 [[-9.92760543e-01 -1.19315826e-01 1.37926563e-02 6.90582031e+01] [ 1.19313861e-01 -9.92856115e-01 -9.68207703e-04 2.08599470e+02] [ 1.38096456e-02 6.84456669e-04 9.99904408e-01 5.80925700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:208.05, Z:6.99 [[-9.97245303e-01 7.25986844e-02 -1.52064529e-02 6.89941839e+01] [ 7.25768259e-02 9.97360849e-01 1.98513145e-03 2.08045552e+02] [ 1.53104387e-02 8.76026930e-04 -9.99882405e-01 6.98538628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.00, Y:208.07, Z:6.99 [[-9.99892872e-01 2.00370867e-03 -1.44992691e-02 6.89974542e+01] [ 1.99091069e-03 9.99997616e-01 8.97043911e-04 2.08065040e+02] [ 1.45010320e-02 8.68081063e-04 -9.99894478e-01 6.98652469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:208.62, Z:5.81 [[-9.98944678e-01 -4.34230260e-02 1.49656515e-02 6.89825305e+01] [ 4.34281624e-02 -9.99056552e-01 1.82510668e-05 2.08622085e+02] [ 1.49507396e-02 6.68162549e-04 9.99888008e-01 5.80860901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:208.06, Z:6.99 [[-9.99876148e-01 -8.56265911e-04 -1.57148131e-02 6.89450050e+01] [-8.69257360e-04 9.99999286e-01 8.19888817e-04 2.08061538e+02] [ 1.57140998e-02 8.33447489e-04 -9.99876179e-01 6.98642260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:208.08, Z:6.99 [[-9.97358520e-01 -7.08475735e-02 -1.60188600e-02 6.89465739e+01] [-7.08509873e-02 9.97486848e-01 -3.55009691e-04 2.08080060e+02] [ 1.60037538e-02 7.80880108e-04 -9.99871627e-01 6.98642568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:208.64, Z:5.81 [[-9.99195835e-01 3.77942761e-02 1.33893747e-02 6.88858453e+01] [-3.77821471e-02 -9.99285329e-01 1.15774910e-03 2.08643083e+02] [ 1.34235620e-02 6.50938760e-04 9.99909688e-01 5.81116366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:208.07, Z:6.99 [[-9.97145955e-01 -7.37763699e-02 -1.60309390e-02 6.88794547e+01] [-7.37790657e-02 9.97274521e-01 -4.23990786e-04 2.08069785e+02] [ 1.60185275e-02 7.59967004e-04 -9.99871406e-01 6.98759094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:208.09, Z:6.99 [[-9.89518316e-01 -1.43586420e-01 -1.53766775e-02 6.88764857e+01] [-1.43580271e-01 9.89637524e-01 -1.50891924e-03 2.08086580e+02] [ 1.54339974e-02 7.14684285e-04 -9.99880633e-01 6.98792008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:208.10, Z:6.99 [[-9.76923485e-01 -2.13005408e-01 -1.57861064e-02 6.88681748e+01] [-2.12988917e-01 9.77050779e-01 -2.73818687e-03 2.08104795e+02] [ 1.60070761e-02 6.87266626e-04 -9.99871642e-01 6.98823514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.85, Y:208.12, Z:6.99 [[-9.59499057e-01 -2.81261474e-01 -1.59230142e-02 6.88452303e+01] [-2.81233998e-01 9.59630948e-01 -3.98534488e-03 2.08115084e+02] [ 1.64011412e-02 6.54158303e-04 -9.99865278e-01 6.98887199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:208.12, Z:6.99 [[-9.36432227e-01 -3.50484412e-01 -1.59800255e-02 6.88075475e+01] [-3.50445013e-01 9.36568345e-01 -5.29424444e-03 2.08120423e+02] [ 1.68219362e-02 6.42419132e-04 -9.99858295e-01 6.98921231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:208.12, Z:6.99 [[-9.07982877e-01 -4.18715178e-01 -1.56427598e-02 6.87641968e+01] [-4.18665087e-01 9.08117388e-01 -6.50804787e-03 2.08123337e+02] [ 1.69304806e-02 6.39881377e-04 -9.99856464e-01 6.99056721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:208.12, Z:6.99 [[-8.73944528e-01 -4.85792023e-01 -1.50689092e-02 6.87125576e+01] [-4.85732636e-01 8.74074184e-01 -7.62414494e-03 2.08115395e+02] [ 1.68750933e-02 6.56381227e-04 -9.99857390e-01 6.99156816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.65, Y:208.10, Z:6.99 [[-8.34882919e-01 -5.50248347e-01 -1.40451858e-02 6.86503791e+01] [-5.50183936e-01 8.35000778e-01 -8.44614377e-03 2.08100819e+02] [ 1.63752177e-02 6.75894433e-04 -9.99865689e-01 6.99335313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.60, Y:208.08, Z:7.00 [[-7.89897473e-01 -6.13103577e-01 -1.28835794e-02 6.85967273e+01] [-6.13036707e-01 7.90002203e-01 -9.08374712e-03 2.08084218e+02] [ 1.57473340e-02 7.22878203e-04 -9.99875742e-01 6.99559072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.54, Y:208.06, Z:7.00 [[-7.41046613e-01 -6.71344075e-01 -1.21264441e-02 6.85363407e+01] [-6.71269869e-01 7.41145471e-01 -1.00076734e-02 2.08057040e+02] [ 1.57060514e-02 7.23964104e-04 -9.99876390e-01 6.99683573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:208.02, Z:7.00 [[-6.86967667e-01 -7.26609602e-01 -1.06729097e-02 6.84750846e+01] [-7.26538720e-01 6.87050147e-01 -1.01775641e-02 2.08021226e+02] [ 1.47279400e-02 7.62624674e-04 -9.99891247e-01 6.99871891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:207.98, Z:7.00 [[-6.27898821e-01 -7.78245801e-01 -8.74898092e-03 6.84139563e+01] [-7.78187967e-01 6.27959224e-01 -9.52370504e-03 2.07979038e+02] [ 1.29057867e-02 8.28428515e-04 -9.99916374e-01 7.00180941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:207.93, Z:7.00 [[-5.65677525e-01 -8.24590060e-01 -7.75698043e-03 6.83532434e+01] [-8.24532150e-01 5.65730073e-01 -9.80909853e-03 2.07927682e+02] [ 1.24768422e-02 8.47093183e-04 -9.99921802e-01 7.00420106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:207.88, Z:7.01 [[-4.99770657e-01 -8.66133918e-01 -6.42858187e-03 6.83011613e+01] [-8.66083579e-01 4.99811226e-01 -9.37933403e-03 2.07880128e+02] [ 1.13368367e-02 8.80173267e-04 -9.99935349e-01 7.00624357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:207.82, Z:7.01 [[-4.29001730e-01 -9.03281929e-01 -6.26677219e-03 6.82463812e+01] [-9.03213899e-01 4.29046578e-01 -1.11214120e-02 2.07820863e+02] [ 1.27345076e-02 8.89130763e-04 -9.99918518e-01 7.00696090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:207.76, Z:7.01 [[-3.57297892e-01 -9.33974395e-01 -5.48145915e-03 6.81986019e+01] [-9.33900035e-01 3.57338813e-01 -1.18193699e-02 2.07755756e+02] [ 1.29977270e-02 8.96098928e-04 -9.99915124e-01 7.00774437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:207.68, Z:7.01 [[-2.83549223e-01 -9.58948044e-01 -4.29965069e-03 6.81555187e+01] [-9.58881723e-01 2.83580345e-01 -1.13150203e-02 2.07682011e+02] [ 1.20698131e-02 9.14491244e-04 -9.99926739e-01 7.00968868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.12, Y:207.62, Z:7.01 [[-2.08943024e-01 -9.77921862e-01 -3.41247790e-03 6.81210621e+01] [-9.77853197e-01 2.08968915e-01 -1.16240417e-02 2.07615215e+02] [ 1.20805063e-02 9.08139995e-04 -9.99926616e-01 7.01090051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.09, Y:207.54, Z:7.01 [[-1.34001073e-01 -9.90977643e-01 -2.65024594e-03 6.80899697e+01] [-9.90891255e-01 1.34024462e-01 -1.31134975e-02 2.07537419e+02] [ 1.33503806e-02 8.68882796e-04 -9.99910502e-01 7.01075734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:207.46, Z:7.01 [[-5.75781321e-02 -9.98339667e-01 -1.63318133e-03 6.80653768e+01] [-9.98249110e-01 5.75949506e-02 -1.34735202e-02 2.07460957e+02] [ 1.35452127e-02 8.54541678e-04 -9.99907894e-01 7.01170184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:207.38, Z:7.01 [[ 1.91435004e-02 -9.99816583e-01 -5.71642074e-04 6.80459016e+01] [-9.99721348e-01 -1.91337727e-02 -1.38248124e-02 2.07379358e+02] [ 1.38113390e-02 8.36138086e-04 -9.99904269e-01 7.01335627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69275509600004 meters Centerline goodness [0,1] 0.9998907103825136 Centerline is valid? [True, True] Translation: X:68.03, Y:207.30, Z:7.02 [[ 9.51590467e-02 -9.95461968e-01 4.76449138e-04 6.80334061e+01] [-9.95369429e-01 -9.51567089e-02 -1.35978216e-02 2.07297073e+02] [ 1.35814515e-02 8.19712832e-04 -9.99907432e-01 7.01716000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:207.22, Z:7.02 [[ 1.71365255e-01 -9.85206188e-01 1.64809208e-03 6.80254594e+01] [-9.85105013e-01 -1.71371314e-01 -1.41416225e-02 2.07224988e+02] [ 1.42148497e-02 7.99838979e-04 -9.99898644e-01 7.01508910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:207.14, Z:7.02 [[ 2.46545680e-01 -9.69126459e-01 3.02228156e-03 6.80236052e+01] [-9.69010880e-01 -2.46563013e-01 -1.49865147e-02 2.07138687e+02] [ 1.52690108e-02 7.66236746e-04 -9.99883128e-01 7.01568892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:207.06, Z:7.02 [[ 3.21021122e-01 -9.47062750e-01 4.19376824e-03 6.80274575e+01] [-9.46948104e-01 -3.21047601e-01 -1.47555287e-02 2.07059300e+02] [ 1.53208108e-02 7.65555482e-04 -9.99882336e-01 7.01715775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:206.98, Z:7.02 [[ 3.93580859e-01 -9.19275767e-01 5.11578580e-03 6.80391442e+01] [-9.19170660e-01 -3.93613337e-01 -1.39226262e-02 2.06976678e+02] [ 1.48123744e-02 7.77398983e-04 -9.99889989e-01 7.01871659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:206.90, Z:7.02 [[ 4.64778073e-01 -8.85405783e-01 6.15970330e-03 6.80558496e+01] [-8.85303971e-01 -4.64818203e-01 -1.34505427e-02 2.06899172e+02] [ 1.47723305e-02 7.98307514e-04 -9.99890565e-01 7.02051930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:206.82, Z:7.02 [[ 5.32326493e-01 -8.46510196e-01 6.99956765e-03 6.80762129e+01] [-8.46416038e-01 -5.32371893e-01 -1.26513916e-02 2.06821899e+02] [ 1.44359050e-02 8.10124573e-04 -9.99895469e-01 7.02247371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:206.75, Z:7.02 [[ 5.97290691e-01 -8.01988646e-01 7.61846653e-03 6.81056798e+01] [-8.01904714e-01 -5.97338687e-01 -1.16328237e-02 2.06746647e+02] [ 1.38801974e-02 8.38893110e-04 -9.99903314e-01 7.02482582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:206.68, Z:7.03 [[ 6.57598139e-01 -7.53326248e-01 8.01574771e-03 6.81365414e+01] [-7.53253864e-01 -6.57646439e-01 -1.04774807e-02 2.06677741e+02] [ 1.31644892e-02 8.52078904e-04 -9.99912981e-01 7.02739971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:206.61, Z:7.03 [[ 7.13579700e-01 -7.00523432e-01 8.42216585e-03 6.81709935e+01] [-7.00459954e-01 -7.13628886e-01 -9.46926196e-03 2.06610230e+02] [ 1.26437407e-02 8.57683205e-04 -9.99919697e-01 7.02965855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:206.15, Z:5.84 [[ 7.32313806e-01 6.80887011e-01 -1.04579426e-02 6.77967704e+01] [-6.80813728e-01 7.32388449e-01 9.99143552e-03 2.06153932e+02] [ 1.44623150e-02 -1.96955283e-04 9.99895396e-01 5.84332152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.82, Y:206.13, Z:5.84 [[ 7.32461416e-01 6.80732259e-01 -1.01914647e-02 6.78171890e+01] [-6.80662669e-01 7.32532289e-01 9.73534319e-03 2.06133619e+02] [ 1.40927391e-02 -1.93813711e-04 9.99900674e-01 5.84380800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:206.11, Z:5.84 [[ 7.33127352e-01 6.80018354e-01 -9.96613318e-03 6.78364636e+01] [-6.79951762e-01 7.33195061e-01 9.51862031e-03 2.06113549e+02] [ 1.37799561e-02 -2.01871087e-04 9.99905032e-01 5.84447214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.86, Y:206.09, Z:5.84 [[ 7.33425345e-01 6.79693414e-01 -1.02042351e-02 6.78573522e+01] [-6.79623598e-01 7.33496297e-01 9.74410641e-03 2.06093718e+02] [ 1.41077736e-02 -2.11535622e-04 9.99900458e-01 5.84493918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.88, Y:206.07, Z:5.84 [[ 7.33921800e-01 6.79158283e-01 -1.01399638e-02 6.78760411e+01] [-6.79089313e-01 7.33991811e-01 9.68120781e-03 2.06073210e+02] [ 1.40177229e-02 -2.19308392e-04 9.99901723e-01 5.84492428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.90, Y:206.05, Z:5.85 [[ 7.35064482e-01 6.77925129e-01 -9.88566372e-03 6.78960563e+01] [-6.77859488e-01 7.35130916e-01 9.43663389e-03 2.06052876e+02] [ 1.36645883e-02 -2.35443452e-04 9.99906607e-01 5.84562631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:206.03, Z:5.85 [[ 7.35579963e-01 6.77368103e-01 -9.72473835e-03 6.79143368e+01] [-6.77304553e-01 7.35644204e-01 9.28161958e-03 2.06032182e+02] [ 1.34410205e-02 -2.40763832e-04 9.99909636e-01 5.84623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.94, Y:206.01, Z:5.85 [[ 7.36249239e-01 6.76636512e-01 -1.00044492e-02 6.79354108e+01] [-6.76569211e-01 7.36317162e-01 9.54672673e-03 2.06013150e+02] [ 1.38261115e-02 -2.60067971e-04 9.99904381e-01 5.84579680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:205.99, Z:5.85 [[ 7.36516951e-01 6.76342509e-01 -1.01779955e-02 6.79539314e+01] [-6.76272851e-01 7.36587224e-01 9.71045355e-03 2.05992006e+02] [ 1.40645740e-02 -2.68811599e-04 9.99901053e-01 5.84589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.97, Y:205.97, Z:5.85 [[ 7.37057559e-01 6.75762960e-01 -9.51717867e-03 6.79732904e+01] [-6.75702027e-01 7.37118955e-01 9.07838947e-03 2.05972069e+02] [ 1.31501321e-02 -2.60518660e-04 9.99913499e-01 5.84705118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.00, Y:205.95, Z:5.85 [[ 7.37117909e-01 6.75702253e-01 -9.14628272e-03 6.79998242e+01] [-6.75645996e-01 7.37174609e-01 8.72268540e-03 2.05952841e+02] [ 1.26363456e-02 -2.49998325e-04 9.99920127e-01 5.84782898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:205.93, Z:5.85 [[ 7.37560488e-01 6.75222761e-01 -8.87417275e-03 6.80202893e+01] [-6.75169700e-01 7.37613828e-01 8.46858005e-03 2.05929045e+02] [ 1.22638905e-02 -2.54517473e-04 9.99924763e-01 5.84874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:205.91, Z:5.85 [[ 7.37986015e-01 6.74758038e-01 -8.84486097e-03 6.80407185e+01] [-6.74705234e-01 7.38038969e-01 8.44552966e-03 2.05909230e+02] [ 1.22265411e-02 -2.65008790e-04 9.99925218e-01 5.84885926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.06, Y:205.89, Z:5.85 [[ 7.38190881e-01 6.74534151e-01 -8.82623939e-03 6.80623726e+01] [-6.74481570e-01 7.38243597e-01 8.42633063e-03 2.05887718e+02] [ 1.21997625e-02 -2.67104631e-04 9.99925544e-01 5.84943847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.09, Y:205.87, Z:5.85 [[ 7.37845261e-01 6.74905326e-01 -9.33658862e-03 6.80859026e+01] [-6.74846521e-01 7.37904279e-01 8.91337283e-03 2.05865551e+02] [ 1.29051915e-02 -2.75925560e-04 9.99916686e-01 5.84938200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:205.85, Z:5.85 [[ 7.37314012e-01 6.75480214e-01 -9.72257753e-03 6.81071581e+01] [-6.75416425e-01 7.37378059e-01 9.28717404e-03 2.05846674e+02] [ 1.34425177e-02 -2.80774996e-04 9.99909606e-01 5.84885606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.13, Y:205.83, Z:5.85 [[ 7.35549400e-01 6.77392282e-01 -1.03332304e-02 6.81303548e+01] [-6.77320434e-01 7.35621933e-01 9.86925661e-03 2.05828505e+02] [ 1.42867092e-02 -2.60417689e-04 9.99897906e-01 5.84782656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:205.81, Z:5.85 [[ 7.34858501e-01 6.78139212e-01 -1.04972865e-02 6.81524435e+01] [-6.78065157e-01 7.34933431e-01 1.00247370e-02 2.05809188e+02] [ 1.45129740e-02 -2.48918979e-04 9.99894650e-01 5.84784436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:205.79, Z:5.85 [[ 7.34397683e-01 6.78637420e-01 -1.05496658e-02 6.81737176e+01] [-6.78562698e-01 7.34473414e-01 1.00731995e-02 2.05789674e+02] [ 1.45844992e-02 -2.39124668e-04 9.99893612e-01 5.84803166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:205.77, Z:5.85 [[ 7.33989452e-01 6.79077807e-01 -1.06215128e-02 6.81939642e+01] [-6.79002133e-01 7.34066263e-01 1.01402331e-02 2.05769854e+02] [ 1.46829015e-02 -2.30794218e-04 9.99892174e-01 5.84852454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:205.75, Z:5.85 [[ 7.33895165e-01 6.79176609e-01 -1.08176111e-02 6.82177267e+01] [-6.79098138e-01 7.33974850e-01 1.03266149e-02 2.05748786e+02] [ 1.49534498e-02 -2.32433196e-04 9.99888164e-01 5.84941407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:205.73, Z:5.85 [[ 7.33742563e-01 6.79351810e-01 -1.01474362e-02 6.82409421e+01] [-6.79282709e-01 7.33812695e-01 9.69175644e-03 2.05727086e+02] [ 1.40304298e-02 -2.18276268e-04 9.99901545e-01 5.85101711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:205.71, Z:5.85 [[ 7.33776346e-01 6.79319859e-01 -9.83885259e-03 6.82618525e+01] [-6.79254885e-01 7.33842275e-01 9.39773165e-03 2.05707127e+02] [ 1.36042317e-02 -2.12744504e-04 9.99907436e-01 5.85212357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:205.69, Z:5.85 [[ 7.33823052e-01 6.79271441e-01 -9.69730432e-03 6.82850121e+01] [-6.79208334e-01 7.33887093e-01 9.26144331e-03 2.05686582e+02] [ 1.34077604e-02 -2.09770688e-04 9.99910090e-01 5.85283927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:205.67, Z:5.85 [[ 7.34165690e-01 6.78907357e-01 -9.24885153e-03 6.83064961e+01] [-6.78849922e-01 7.34223916e-01 8.83319620e-03 2.05667421e+02] [ 1.27876499e-02 -2.06447446e-04 9.99918213e-01 5.85318031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:205.65, Z:5.85 [[ 7.34364612e-01 6.78692658e-01 -9.21368281e-03 6.83262281e+01] [-6.78635655e-01 7.34422380e-01 8.79860243e-03 2.05648237e+02] [ 1.27382817e-02 -2.08648590e-04 9.99918843e-01 5.85387885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:205.63, Z:5.86 [[ 7.34514765e-01 6.78537123e-01 -8.68517707e-03 6.83470244e+01] [-6.78486479e-01 7.34566085e-01 8.29242020e-03 2.05629792e+02] [ 1.20065515e-02 -1.98129867e-04 9.99927899e-01 5.85509226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.37, Y:205.61, Z:5.86 [[ 7.34337684e-01 6.78729841e-01 -8.60051759e-03 6.83684256e+01] [-6.78680216e-01 7.34388022e-01 8.20963432e-03 2.05611054e+02] [ 1.18882409e-02 -1.91642719e-04 9.99929314e-01 5.85534680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:205.59, Z:5.86 [[ 7.33947988e-01 6.79143565e-01 -9.18526336e-03 6.83894091e+01] [-6.79087013e-01 7.34005436e-01 8.76636933e-03 2.05593290e+02] [ 1.26956565e-02 -1.96466080e-04 9.99919388e-01 5.85518367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86275509600006 meters Centerline goodness [0,1] 0.9999353308902781 Centerline is valid? [True, True] Translation: X:68.41, Y:205.57, Z:5.85 [[ 7.33752770e-01 6.79351217e-01 -9.42316301e-03 6.84093097e+01] [-6.79291737e-01 7.33813249e-01 8.99170848e-03 2.05574749e+02] [ 1.30233700e-02 -1.96614230e-04 9.99915173e-01 5.85362154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:205.56, Z:5.86 [[ 7.32935306e-01 6.80228808e-01 -9.72657618e-03 6.84320059e+01] [-6.80165566e-01 7.32999819e-01 9.27725978e-03 2.05556826e+02] [ 1.34402379e-02 -1.83949038e-04 9.99909659e-01 5.85510681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:205.54, Z:5.86 [[ 7.32726508e-01 6.80448039e-01 -1.01158475e-02 6.84532220e+01] [-6.80379676e-01 7.32796310e-01 9.64701047e-03 2.05537256e+02] [ 1.39771451e-02 -1.86003273e-04 9.99902298e-01 5.85508958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95275509600003 meters Centerline goodness [0,1] 0.9999137187230371 Centerline is valid? [True, True] Translation: X:68.48, Y:205.52, Z:5.85 [[ 7.32669190e-01 6.80506352e-01 -1.03422752e-02 6.84750764e+01] [-6.80434922e-01 7.32742158e-01 9.86140655e-03 2.05517647e+02] [ 1.42889709e-02 -1.87903511e-04 9.99897890e-01 5.85290373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98275509600006 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:68.50, Y:205.50, Z:5.85 [[ 7.32307562e-01 6.80883864e-01 -1.10814353e-02 6.84962028e+01] [-6.80801929e-01 7.32391375e-01 1.05644257e-02 2.05497659e+02] [ 1.53090946e-02 -1.92146306e-04 9.99882790e-01 5.85249829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.52, Y:205.48, Z:5.85 [[ 7.32341787e-01 6.80843201e-01 -1.13155694e-02 6.85163983e+01] [-6.80757791e-01 7.32429175e-01 1.07857828e-02 2.05478069e+02] [ 1.56312801e-02 -1.95717379e-04 9.99877805e-01 5.85478250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.54, Y:205.46, Z:5.85 [[ 7.33296202e-01 6.79806113e-01 -1.18460922e-02 6.85352119e+01] [-6.79712415e-01 7.33391845e-01 1.12887070e-02 2.05457436e+02] [ 1.63619595e-02 -2.26030032e-04 9.99866109e-01 5.85458909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:205.44, Z:5.85 [[ 7.33731203e-01 6.79331068e-01 -1.21581712e-02 6.85552047e+01] [-6.79232346e-01 7.33831889e-01 1.15835642e-02 2.05436696e+02] [ 1.67911288e-02 -2.40999412e-04 9.99858990e-01 5.85440945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:205.42, Z:5.85 [[ 7.34724811e-01 6.78256454e-01 -1.21505113e-02 6.85738200e+01] [-6.78157743e-01 7.34825226e-01 1.15741843e-02 2.05415864e+02] [ 1.67787674e-02 -2.63877002e-04 9.99859192e-01 5.85417511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:205.40, Z:5.85 [[ 7.35178353e-01 6.77764662e-01 -1.21594697e-02 6.85938015e+01] [-6.77665788e-01 7.35278851e-01 1.15797604e-02 2.05395440e+02] [ 1.67889533e-02 -2.73132531e-04 9.99859018e-01 5.85416046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:205.38, Z:5.85 [[ 7.35741201e-01 6.77155658e-01 -1.20457706e-02 6.86140553e+01] [-6.77058572e-01 7.35839748e-01 1.14697482e-02 2.05375321e+02] [ 1.66305617e-02 -2.83074146e-04 9.99861663e-01 5.85486365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.63, Y:205.35, Z:5.86 [[ 7.36704042e-01 6.76117703e-01 -1.14894416e-02 6.86306027e+01] [-6.76029279e-01 7.36793572e-01 1.09383244e-02 2.05352924e+02] [ 1.58609415e-02 -2.91108897e-04 9.99874165e-01 5.85589212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22275509600007 meters Centerline goodness [0,1] 0.9999348491758421 Centerline is valid? [True, True] Translation: X:68.65, Y:205.33, Z:5.85 [[ 7.37310914e-01 6.75457727e-01 -1.13787175e-02 6.86504643e+01] [-6.75370952e-01 7.37398650e-01 1.08309145e-02 2.05332310e+02] [ 1.57064758e-02 -3.00896169e-04 9.99876600e-01 5.85493703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25275509600004 meters Centerline goodness [0,1] 0.9999348491758421 Centerline is valid? [True, True] Translation: X:68.67, Y:205.31, Z:5.86 [[ 7.37385586e-01 6.75376194e-01 -1.13795741e-02 6.86704966e+01] [-6.75289423e-01 7.37473326e-01 1.08300144e-02 2.05313425e+02] [ 1.57064663e-02 -3.01390547e-04 9.99876600e-01 5.85530540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.69, Y:205.30, Z:5.86 [[ 7.37082796e-01 6.75711156e-01 -1.11079142e-02 6.86934481e+01] [-6.75628550e-01 7.37166434e-01 1.05693251e-02 2.05295032e+02] [ 1.53301923e-02 -2.85643730e-04 9.99882445e-01 5.85771293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.71, Y:205.28, Z:5.86 [[ 7.36441514e-01 6.76403231e-01 -1.15136988e-02 6.87132212e+01] [-6.76314586e-01 7.36531459e-01 1.09540068e-02 2.05275368e+02] [ 1.58895270e-02 -2.80102883e-04 9.99873714e-01 5.85665261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:205.26, Z:5.86 [[ 7.36339031e-01 6.76509676e-01 -1.18105914e-02 6.87344260e+01] [-6.76416462e-01 7.36433689e-01 1.12335072e-02 2.05256533e+02] [ 1.62972937e-02 -2.82791390e-04 9.99867150e-01 5.85652856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:205.24, Z:5.86 [[ 7.35415866e-01 6.77509829e-01 -1.19973234e-02 6.87560554e+01] [-6.77413873e-01 7.35513673e-01 1.14052952e-02 2.05238548e+02] [ 1.65513951e-02 -2.60481719e-04 9.99862982e-01 5.85636917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:205.22, Z:5.86 [[ 7.34932211e-01 6.78030114e-01 -1.22396791e-02 6.87774355e+01] [-6.77930362e-01 7.35034082e-01 1.16328047e-02 2.05219515e+02] [ 1.68839732e-02 -2.51672752e-04 9.99857424e-01 5.85664059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.80, Y:205.20, Z:5.86 [[ 7.34495588e-01 6.78499650e-01 -1.24280423e-02 6.87987391e+01] [-6.78396974e-01 7.34600686e-01 1.18058806e-02 2.05200221e+02] [ 1.71399342e-02 -2.40220931e-04 9.99853072e-01 5.85689585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.82, Y:205.18, Z:5.86 [[ 7.32530126e-01 6.80611837e-01 -1.29283493e-02 6.88230273e+01] [-6.80501167e-01 7.32644177e-01 1.22748861e-02 2.05184285e+02] [ 1.78263126e-02 -1.93967043e-04 9.99841080e-01 5.85633874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:205.17, Z:5.86 [[ 7.31920349e-01 6.81259479e-01 -1.33463280e-02 6.88444607e+01] [-6.81141741e-01 7.32042000e-01 1.26664296e-02 2.05166047e+02] [ 1.83991979e-02 -1.80076509e-04 9.99830704e-01 5.85579261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.87, Y:205.15, Z:5.86 [[ 7.30721276e-01 6.82542893e-01 -1.34765188e-02 6.88683011e+01] [-6.82423105e-01 7.30845522e-01 1.27878105e-02 2.05149816e+02] [ 1.85774826e-02 -1.47637398e-04 9.99827413e-01 5.85683902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:205.13, Z:5.86 [[ 7.30183088e-01 6.83122761e-01 -1.32646745e-02 6.88902471e+01] [-6.83006840e-01 7.30303551e-01 1.25848747e-02 2.05131385e+02] [ 1.82842533e-02 -1.29399238e-04 9.99832821e-01 5.85790222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters Centerline goodness [0,1] 0.999956547244009 Centerline is valid? [True, True] Translation: X:68.91, Y:205.11, Z:5.86 [[ 7.30129426e-01 6.83184481e-01 -1.30378764e-02 6.89107396e+01] [-6.83072542e-01 7.30245814e-01 1.23674345e-02 2.05113509e+02] [ 1.79700940e-02 -1.24012514e-04 9.99838517e-01 5.85712163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.93, Y:205.10, Z:5.86 [[ 7.30399720e-01 6.82900927e-01 -1.27503985e-02 6.89324777e+01] [-6.82793882e-01 7.30510991e-01 1.20916159e-02 2.05095790e+02] [ 1.75716819e-02 -1.25818737e-04 9.99845598e-01 5.85893999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:205.08, Z:5.86 [[ 7.31897181e-01 6.81306008e-01 -1.21918314e-02 6.89508205e+01] [-6.81207958e-01 7.31998702e-01 1.15593513e-02 2.05075270e+02] [ 1.67998603e-02 -1.55084050e-04 9.99858860e-01 5.85912023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.97, Y:205.05, Z:5.86 [[ 7.33134700e-01 6.79974929e-01 -1.21494430e-02 6.89707478e+01] [-6.79877426e-01 7.33235340e-01 1.15161540e-02 2.05053649e+02] [ 1.67390969e-02 -1.82760073e-04 9.99859875e-01 5.85967000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:205.03, Z:5.86 [[ 7.34553892e-01 6.78444213e-01 -1.20012738e-02 6.89902334e+01] [-6.78348955e-01 7.34651894e-01 1.13705392e-02 2.05032992e+02] [ 1.65310350e-02 -2.11222255e-04 9.99863331e-01 5.86062071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:205.01, Z:5.86 [[ 7.37339701e-01 6.75424249e-01 -1.14999768e-02 6.90097578e+01] [-6.75336445e-01 7.37429327e-01 1.08937505e-02 2.05010037e+02] [ 1.58383234e-02 -2.66041260e-04 9.99874531e-01 5.86179686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:69.03, Y:204.99, Z:5.86 [[ 7.38734726e-01 6.73898288e-01 -1.14935615e-02 6.90292210e+01] [-6.73810411e-01 7.38824072e-01 1.08867664e-02 2.04988904e+02] [ 1.58282931e-02 -2.97951058e-04 9.99874680e-01 5.86128640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79275509600006 meters Centerline goodness [0,1] 0.9998487042600558 Centerline is valid? [True, True] Translation: X:69.05, Y:204.97, Z:5.86 [[ 7.40620147e-01 6.71820019e-01 -1.18178259e-02 6.90490593e+01] [-6.71726867e-01 7.40714344e-01 1.11927222e-02 2.04967228e+02] [ 1.62731280e-02 -3.51204390e-04 9.99867522e-01 5.85852947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:204.95, Z:5.86 [[ 7.41160076e-01 6.71236979e-01 -1.10752088e-02 6.90689746e+01] [-6.71155122e-01 7.41242742e-01 1.04881116e-02 2.04947980e+02] [ 1.52494265e-02 -3.40186480e-04 9.99883663e-01 5.86173672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:204.93, Z:5.86 [[ 7.41361529e-01 6.71018971e-01 -1.07992335e-02 6.90935502e+01] [-6.70941137e-01 7.41440104e-01 1.02256101e-02 2.04926048e+02] [ 1.48685632e-02 -3.35223906e-04 9.99889401e-01 5.86270919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:204.90, Z:5.86 [[ 7.41857987e-01 6.70469358e-01 -1.08428450e-02 6.91153732e+01] [-6.70390737e-01 7.41937137e-01 1.02734890e-02 2.04903405e+02] [ 1.49327690e-02 -3.52527002e-04 9.99888438e-01 5.86300870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:204.88, Z:5.86 [[ 7.41428450e-01 6.70935575e-01 -1.13713315e-02 6.91366754e+01] [-6.70849065e-01 7.41515557e-01 1.07800962e-02 2.04881274e+02] [ 1.56647693e-02 -3.64222911e-04 9.99877234e-01 5.86270253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.16, Y:204.86, Z:5.86 [[ 7.40507070e-01 6.71937469e-01 -1.22195376e-02 6.91617967e+01] [-6.71837598e-01 7.40607790e-01 1.15906644e-02 2.04861351e+02] [ 1.68380864e-02 -3.73424144e-04 9.99858160e-01 5.86181176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.18, Y:204.84, Z:5.86 [[ 7.40144628e-01 6.72330410e-01 -1.25598246e-02 6.91837292e+01] [-6.72224860e-01 7.40251090e-01 1.19189221e-02 2.04840640e+02] [ 1.73108776e-02 -3.78699812e-04 9.99850084e-01 5.86174293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:204.82, Z:5.86 [[ 7.39275975e-01 6.73279516e-01 -1.28734621e-02 6.92050042e+01] [-6.73168770e-01 7.39387963e-01 1.22166973e-02 2.04820718e+02] [ 1.77437349e-02 -3.65498193e-04 9.99842501e-01 5.86070860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:204.80, Z:5.86 [[ 7.38449745e-01 6.74179729e-01 -1.31782777e-02 6.92302426e+01] [-6.74063837e-01 7.38567242e-01 1.25049493e-02 2.04804100e+02] [ 1.81636275e-02 -3.51276214e-04 9.99834966e-01 5.86063190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:204.78, Z:5.86 [[ 7.38510453e-01 6.74110680e-01 -1.33079642e-02 6.92504677e+01] [-6.73992511e-01 7.38630263e-01 1.26265812e-02 2.04784443e+02] [ 1.83413783e-02 -3.55393984e-04 9.99831720e-01 5.86072084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:204.77, Z:5.86 [[ 7.38626962e-01 6.73972124e-01 -1.38487008e-02 6.92720611e+01] [-6.73844180e-01 7.38756684e-01 1.31370953e-02 2.04765587e+02] [ 1.90848563e-02 -3.71546408e-04 9.99817799e-01 5.86106642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:204.75, Z:5.86 [[ 7.38953427e-01 6.73611443e-01 -1.39805595e-02 6.92927131e+01] [-6.73481030e-01 7.39085568e-01 1.32598954e-02 2.04746154e+02] [ 1.92648471e-02 -3.82803519e-04 9.99814342e-01 5.86151928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:204.73, Z:5.86 [[ 7.40254429e-01 6.72183729e-01 -1.38713637e-02 6.93131545e+01] [-6.72055141e-01 7.40384267e-01 1.31538988e-02 2.04725743e+02] [ 1.91119762e-02 -4.14910526e-04 9.99817263e-01 5.86162936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18275509600005 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:69.33, Y:204.71, Z:5.86 [[ 7.40912707e-01 6.71448228e-01 -1.43400762e-02 6.93323388e+01] [-6.71310711e-01 7.41051333e-01 1.35960204e-02 2.04705986e+02] [ 1.97557564e-02 -4.46817585e-04 9.99804736e-01 5.86150654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2127550960001 meters Centerline goodness [0,1] 0.9999135340783813 Centerline is valid? [True, True] Translation: X:69.35, Y:204.69, Z:5.86 [[ 7.42227967e-01 6.69997852e-01 -1.41606136e-02 6.93518429e+01] [-6.69863539e-01 7.42362883e-01 1.34234498e-02 2.04685154e+02] [ 1.95059965e-02 -4.77581143e-04 9.99809626e-01 5.86086343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:204.67, Z:5.86 [[ 7.42625246e-01 6.69564446e-01 -1.38273545e-02 6.93724752e+01] [-6.69436344e-01 7.42753812e-01 1.31055497e-02 2.04665664e+02] [ 1.90453304e-02 -4.75978386e-04 9.99818508e-01 5.86324320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.272755096 meters Centerline goodness [0,1] 0.9998701944919196 Centerline is valid? [True, True] Translation: X:69.39, Y:204.65, Z:5.86 [[ 7.43115776e-01 6.69016062e-01 -1.40161748e-02 6.93929961e+01] [-6.68884379e-01 7.43247781e-01 1.32824440e-02 2.04645102e+02] [ 1.93036592e-02 -4.95193310e-04 9.99813544e-01 5.86152683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30275509600006 meters Centerline goodness [0,1] 0.999913532209252 Centerline is valid? [True, True] Translation: X:69.41, Y:204.62, Z:5.86 [[ 7.43465048e-01 6.68639410e-01 -1.34558959e-02 6.94134445e+01] [-6.68518020e-01 7.43586650e-01 1.27495838e-02 2.04624874e+02] [ 1.85304987e-02 -4.83361029e-04 9.99828179e-01 5.86350610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:204.61, Z:5.87 [[ 7.43519441e-01 6.68582123e-01 -1.32960799e-02 6.94353484e+01] [-6.68463625e-01 7.43638163e-01 1.25962213e-02 2.04606185e+02] [ 1.83090808e-02 -4.77589685e-04 9.99832261e-01 5.86603022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:204.59, Z:5.87 [[ 7.42766086e-01 6.69423157e-01 -1.30835450e-02 6.94590036e+01] [-6.69308569e-01 7.42881172e-01 1.23936972e-02 2.04585106e+02] [ 1.80161471e-02 -4.48689175e-04 9.99837595e-01 5.86708878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.48, Y:204.56, Z:5.87 [[ 7.42164897e-01 6.70092120e-01 -1.29543750e-02 6.94789952e+01] [-6.69979879e-01 7.42277823e-01 1.22717034e-02 2.04564359e+02] [ 1.78389170e-02 -4.28456923e-04 9.99840782e-01 5.86747681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:204.54, Z:5.87 [[ 7.41370407e-01 6.70975440e-01 -1.27231196e-02 6.94987262e+01] [-6.70867328e-01 7.41479467e-01 1.20511172e-02 2.04543958e+02] [ 1.75199356e-02 -3.98816442e-04 9.99846435e-01 5.86791870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.52, Y:204.53, Z:5.87 [[ 7.39374843e-01 6.73178292e-01 -1.24831414e-02 6.95202565e+01] [-6.73074564e-01 7.39480136e-01 1.18219616e-02 2.04526259e+02] [ 1.71893230e-02 -3.38776038e-04 9.99852195e-01 5.86915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:204.51, Z:5.87 [[ 7.38188512e-01 6.74481823e-01 -1.23284538e-02 6.95416128e+01] [-6.74380867e-01 7.38291391e-01 1.16733683e-02 2.04507985e+02] [ 1.69754661e-02 -3.03073026e-04 9.99855860e-01 5.86956730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51275509600003 meters Centerline goodness [0,1] 0.9998704607280107 Centerline is valid? [True, True] Translation: X:69.57, Y:204.49, Z:5.87 [[ 7.35788605e-01 6.77088171e-01 -1.29126677e-02 6.95661068e+01] [-6.76977857e-01 7.35901858e-01 1.22244428e-02 2.04491168e+02] [ 1.77794818e-02 -2.53015617e-04 9.99841901e-01 5.86776702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:204.47, Z:5.87 [[ 7.34686351e-01 6.78292336e-01 -1.24688622e-02 6.95859781e+01] [-6.78189675e-01 7.34792121e-01 1.18027286e-02 2.04471821e+02] [ 1.71677220e-02 -2.15050012e-04 9.99852601e-01 5.87037833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57275509600004 meters Centerline goodness [0,1] 0.9998488904239703 Centerline is valid? [True, True] Translation: X:69.61, Y:204.45, Z:5.87 [[ 7.33145545e-01 6.79952598e-01 -1.27308180e-02 6.96083069e+01] [-6.79845867e-01 7.33256048e-01 1.20484083e-02 2.04452846e+02] [ 1.75272958e-02 -1.78242814e-04 9.99846369e-01 5.86843172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60275509600007 meters Centerline goodness [0,1] 0.999870737014456 Centerline is valid? [True, True] Translation: X:69.63, Y:204.43, Z:5.87 [[ 7.32036259e-01 6.81138909e-01 -1.31416295e-02 6.96296889e+01] [-6.81025405e-01 7.32154194e-01 1.24352334e-02 2.04433088e+02] [ 1.80918205e-02 -1.53258161e-04 9.99836318e-01 5.86842669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63275509600004 meters Centerline goodness [0,1] 0.999978342790315 Centerline is valid? [True, True] Translation: X:69.65, Y:204.41, Z:5.87 [[ 7.31695988e-01 6.81507641e-01 -1.29736433e-02 6.96508932e+01] [-6.81397112e-01 7.31810983e-01 1.22743955e-02 2.04413966e+02] [ 1.78593490e-02 -1.40922852e-04 9.99840499e-01 5.87078657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:204.39, Z:5.87 [[ 7.31643648e-01 6.81559905e-01 -1.31783295e-02 6.96710937e+01] [-6.81445910e-01 7.31762308e-01 1.24658001e-02 2.04394505e+02] [ 1.81395944e-02 -1.40204778e-04 9.99835454e-01 5.87100668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69275509600004 meters Centerline goodness [0,1] 0.9998485536877177 Centerline is valid? [True, True] Translation: X:69.69, Y:204.38, Z:5.87 [[ 7.31909896e-01 6.81257721e-01 -1.39936150e-02 6.96905471e+01] [-6.81129187e-01 7.32043642e-01 1.32339165e-02 2.04375165e+02] [ 1.92596447e-02 -1.54574893e-04 9.99814504e-01 5.86826374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72275509600007 meters Centerline goodness [0,1] 0.9999132584464587 Centerline is valid? [True, True] Translation: X:69.71, Y:204.36, Z:5.87 [[ 7.31921116e-01 6.81260714e-01 -1.32408610e-02 6.97118706e+01] [-6.81145678e-01 7.32040859e-01 1.25198214e-02 2.04355237e+02] [ 1.82221137e-02 -1.44566415e-04 9.99833953e-01 5.87004873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:204.34, Z:5.87 [[ 7.32335980e-01 6.80817225e-01 -1.31117775e-02 6.97306599e+01] [-6.80704392e-01 7.32453332e-01 1.23955015e-02 2.04336375e+02] [ 1.80428360e-02 -1.52427192e-04 9.99837203e-01 5.87286042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7827550960001 meters Centerline goodness [0,1] 0.9998486257379495 Centerline is valid? [True, True] Translation: X:69.75, Y:204.32, Z:5.87 [[ 7.33033137e-01 6.80058682e-01 -1.35133095e-02 6.97504720e+01] [-6.79938768e-01 7.33157663e-01 1.27715381e-02 2.04317034e+02] [ 1.85927818e-02 -1.73737582e-04 9.99827124e-01 5.87072473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81275509600005 meters Centerline goodness [0,1] 0.9997412845223466 Centerline is valid? [True, True] Translation: X:69.77, Y:204.30, Z:5.87 [[ 7.33798825e-01 6.79218230e-01 -1.42084511e-02 6.97713676e+01] [-6.79085601e-01 7.33936343e-01 1.34235409e-02 2.04296548e+02] [ 1.95456123e-02 -2.01424004e-04 9.99808946e-01 5.86930009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:204.28, Z:5.87 [[ 7.33980121e-01 6.79043399e-01 -1.31622344e-02 6.97926575e+01] [-6.78929672e-01 7.34098105e-01 1.24287003e-02 2.04278042e+02] [ 1.81019982e-02 -1.86187468e-04 9.99836128e-01 5.87341346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87275509600005 meters Centerline goodness [0,1] 0.9999783942615159 Centerline is valid? [True, True] Translation: X:69.81, Y:204.26, Z:5.87 [[ 7.34402824e-01 6.78575666e-01 -1.36951958e-02 6.98140558e+01] [-6.78452579e-01 7.34530480e-01 1.29256632e-02 2.04258437e+02] [ 1.88305793e-02 -2.01102640e-04 9.99822669e-01 5.87328323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9027550960001 meters Centerline goodness [0,1] 0.9998706785067678 Centerline is valid? [True, True] Translation: X:69.83, Y:204.24, Z:5.87 [[ 7.35831658e-01 6.77008906e-01 -1.45159370e-02 6.98328266e+01] [-6.76870365e-01 7.35974780e-01 1.36978891e-02 2.04238078e+02] [ 1.99569565e-02 -2.53932876e-04 9.99800808e-01 5.87074128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93275509600005 meters Centerline goodness [0,1] 0.9998706785067678 Centerline is valid? [True, True] Translation: X:69.85, Y:204.22, Z:5.87 [[ 7.36030611e-01 6.76792556e-01 -1.45181503e-02 6.98530037e+01] [-6.76654019e-01 7.36173737e-01 1.36955430e-02 2.04219292e+02] [ 1.99569225e-02 -2.56574168e-04 9.99800808e-01 5.87111008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9627550960001 meters Centerline goodness [0,1] 0.9999567314973066 Centerline is valid? [True, True] Translation: X:69.87, Y:204.20, Z:5.87 [[ 7.37148352e-01 6.75579893e-01 -1.42869259e-02 6.98745650e+01] [-6.75445623e-01 7.37286735e-01 1.34714334e-02 2.04200078e+02] [ 1.96345904e-02 -2.80403342e-04 9.99807184e-01 5.87319987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.89, Y:204.18, Z:5.87 [[ 7.38477643e-01 6.74132582e-01 -1.40011908e-02 6.98946880e+01] [-6.74003411e-01 7.38610294e-01 1.31998466e-02 2.04180444e+02] [ 1.92398703e-02 -3.10941278e-04 9.99814848e-01 5.87486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters Centerline goodness [0,1] 0.9999350874156137 Centerline is valid? [True, True] Translation: X:69.92, Y:204.16, Z:5.87 [[ 7.39692449e-01 6.72796980e-01 -1.41174945e-02 6.99169823e+01] [-6.72665446e-01 7.39827076e-01 1.33077194e-02 2.04160034e+02] [ 1.93978982e-02 -3.47268839e-04 9.99811783e-01 5.87465737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:204.14, Z:5.88 [[ 7.40551868e-01 6.71857707e-01 -1.37896193e-02 6.99366532e+01] [-6.71732055e-01 7.40680154e-01 1.29982838e-02 2.04139388e+02] [ 1.89466945e-02 -3.62974076e-04 9.99820429e-01 5.87651885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:204.12, Z:5.88 [[ 7.41507114e-01 6.70796317e-01 -1.41244832e-02 6.99562746e+01] [-6.70664329e-01 7.41641519e-01 1.33122204e-02 2.04119419e+02] [ 1.94050916e-02 -3.98319045e-04 9.99811624e-01 5.87671422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:204.10, Z:5.88 [[ 7.43260254e-01 6.68839125e-01 -1.47790147e-02 6.99763218e+01] [-6.68694289e-01 7.43407025e-01 1.39263123e-02 2.04099212e+02] [ 2.03012859e-02 -4.68231699e-04 9.99793798e-01 5.87584048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:204.08, Z:5.88 [[ 7.43338278e-01 6.68752378e-01 -1.47804620e-02 6.99964479e+01] [-6.68607555e-01 7.43485062e-01 1.39247762e-02 2.04080421e+02] [ 2.03012799e-02 -4.68490624e-04 9.99793798e-01 5.87620882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17275509600006 meters Centerline goodness [0,1] 0.9997836855653378 Centerline is valid? [True, True] Translation: X:70.02, Y:204.06, Z:5.87 [[ 7.45228965e-01 6.66640203e-01 -1.49876400e-02 7.00162778e+01] [-6.66490929e-01 7.45379472e-01 1.41168189e-02 2.04060174e+02] [ 2.05823182e-02 -5.31136255e-04 9.99788021e-01 5.87350719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.04, Y:204.04, Z:5.88 [[ 7.45250971e-01 6.66641224e-01 -1.38010273e-02 7.00376117e+01] [-6.66514696e-01 7.45378589e-01 1.29969029e-02 2.04040722e+02] [ 1.89512615e-02 -4.87367002e-04 9.99820290e-01 5.87817666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:204.02, Z:5.88 [[ 7.45544766e-01 6.66319796e-01 -1.34511069e-02 7.00584351e+01] [-6.66199586e-01 7.45665943e-01 1.26654311e-02 2.04020542e+02] [ 1.84692597e-02 -4.81524007e-04 9.99829313e-01 5.87918850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:204.00, Z:5.88 [[ 7.45648465e-01 6.66208407e-01 -1.32183766e-02 7.00787557e+01] [-6.66092341e-01 7.45765468e-01 1.24442665e-02 2.04000931e+02] [ 1.81482837e-02 -4.74388794e-04 9.99835194e-01 5.88034396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29275509600006 meters Centerline goodness [0,1] 0.9998279384880094 Centerline is valid? [True, True] Translation: X:70.10, Y:203.98, Z:5.88 [[ 7.46066885e-01 6.65732051e-01 -1.36029413e-02 7.00997332e+01] [-6.65609098e-01 7.46190718e-01 1.28039378e-02 2.03981561e+02] [ 1.86743803e-02 -4.98352486e-04 9.99825494e-01 5.87778772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.12, Y:203.96, Z:5.88 [[ 7.44708238e-01 6.67266777e-01 -1.28331044e-02 7.01225342e+01] [-6.67157606e-01 7.44818677e-01 1.20775529e-02 2.03964481e+02] [ 1.76172856e-02 -4.32549939e-04 9.99844710e-01 5.88120466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35275509600007 meters Centerline goodness [0,1] 0.9999570760183715 Centerline is valid? [True, True] Translation: X:70.14, Y:203.95, Z:5.88 [[ 7.44474377e-01 6.67528609e-01 -1.27850908e-02 7.01429752e+01] [-6.67420331e-01 7.44584030e-01 1.20301694e-02 2.03945944e+02] [ 1.75500567e-02 -4.23123333e-04 9.99845896e-01 5.88039295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:203.93, Z:5.88 [[ 7.43662085e-01 6.68436528e-01 -1.26219004e-02 7.01652988e+01] [-6.68331178e-01 7.43769086e-01 1.18736507e-02 2.03927049e+02] [ 1.73245612e-02 -3.94374213e-04 9.99849841e-01 5.88261189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.19, Y:203.91, Z:5.88 [[ 7.42848688e-01 6.69346399e-01 -1.22973800e-02 7.01888405e+01] [-6.69246550e-01 7.42950380e-01 1.15666535e-02 2.03909945e+02] [ 1.68784410e-02 -3.62294191e-04 9.99857483e-01 5.88415627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44275509600004 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:70.21, Y:203.89, Z:5.88 [[ 7.42610160e-01 6.69612429e-01 -1.22207259e-02 7.02101008e+01] [-6.69513888e-01 7.42710624e-01 1.14927520e-02 2.03890839e+02] [ 1.67721526e-02 -3.52688719e-04 9.99859275e-01 5.88334985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:203.87, Z:5.89 [[ 7.41800935e-01 6.70515700e-01 -1.18350677e-02 7.02293205e+01] [-6.70423425e-01 7.41895271e-01 1.11282280e-02 2.03871178e+02] [ 1.62420323e-02 -3.20423281e-04 9.99868038e-01 5.88511807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.25, Y:203.85, Z:5.89 [[ 7.41796090e-01 6.70520418e-01 -1.18714036e-02 7.02502130e+01] [-6.70427628e-01 7.41891008e-01 1.11592051e-02 2.03852483e+02] [ 1.62897624e-02 -3.18937707e-04 9.99867262e-01 5.88543854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:203.84, Z:5.89 [[ 7.41711322e-01 6.70614640e-01 -1.18456675e-02 7.02736674e+01] [-6.70522355e-01 7.41805842e-01 1.11294203e-02 2.03835044e+02] [ 1.62507376e-02 -3.12032160e-04 9.99867899e-01 5.88577648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:203.81, Z:5.89 [[ 7.41775530e-01 6.70548218e-01 -1.15823685e-02 7.02915032e+01] [-6.70460011e-01 7.41865887e-01 1.08801880e-02 2.03814374e+02] [ 1.58882548e-02 -3.05142302e-04 9.99873727e-01 5.88577389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:203.79, Z:5.89 [[ 7.41988271e-01 6.70310199e-01 -1.17321320e-02 7.03115756e+01] [-6.70219724e-01 7.42080953e-01 1.10173075e-02 2.03794808e+02] [ 1.60912053e-02 -3.11606705e-04 9.99870480e-01 5.88600152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.33, Y:203.77, Z:5.89 [[ 7.42275692e-01 6.69987824e-01 -1.19629605e-02 7.03309731e+01] [-6.69893806e-01 7.42372018e-01 1.12283317e-02 2.03774813e+02] [ 1.64038127e-02 -3.20604522e-04 9.99865397e-01 5.88585083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6527550960001 meters Centerline goodness [0,1] 0.9998923828587417 Centerline is valid? [True, True] Translation: X:70.35, Y:203.76, Z:5.88 [[ 7.42717350e-01 6.69488559e-01 -1.24902998e-02 7.03533881e+01] [-6.69386034e-01 7.42822288e-01 1.17211987e-02 2.03756060e+02] [ 1.71252815e-02 -3.44705394e-04 9.99853292e-01 5.88413746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:203.74, Z:5.89 [[ 7.42432788e-01 6.69807651e-01 -1.22990164e-02 7.03748123e+01] [-6.69708316e-01 7.42534579e-01 1.15399503e-02 2.03737401e+02] [ 1.68619920e-02 -3.30883882e-04 9.99857772e-01 5.88731414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.39, Y:203.72, Z:5.89 [[ 7.42515637e-01 6.69712541e-01 -1.24756138e-02 7.03949602e+01] [-6.69610353e-01 7.42620360e-01 1.17036721e-02 2.03717620e+02] [ 1.71027408e-02 -3.36359440e-04 9.99853681e-01 5.88716027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:203.70, Z:5.89 [[ 7.42711627e-01 6.69496279e-01 -1.24165757e-02 7.04160374e+01] [-6.69395063e-01 7.42815332e-01 1.16461001e-02 2.03698346e+02] [ 1.70202435e-02 -3.38099478e-04 9.99855088e-01 5.88723111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.772755096 meters Centerline goodness [0,1] 0.9999567474048443 Centerline is valid? [True, True] Translation: X:70.44, Y:203.68, Z:5.89 [[ 7.43288625e-01 6.68842418e-01 -1.31087372e-02 7.04352308e+01] [-6.68729539e-01 7.43404118e-01 1.22931723e-02 2.03677676e+02] [ 1.79672843e-02 -3.71175337e-04 9.99838506e-01 5.88633881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:203.66, Z:5.89 [[ 7.43576033e-01 6.68524533e-01 -1.30242978e-02 7.04554157e+01] [-6.68413095e-01 7.43689995e-01 1.22117307e-02 2.03657422e+02] [ 1.78498815e-02 -3.74739019e-04 9.99840608e-01 5.88776913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.832755096 meters Centerline goodness [0,1] 0.9997835076097075 Centerline is valid? [True, True] Translation: X:70.47, Y:203.64, Z:5.88 [[ 7.44804744e-01 6.67138608e-01 -1.38553668e-02 7.04738421e+01] [-6.67012296e-01 7.44933481e-01 1.29886880e-02 2.03635932e+02] [ 1.89865818e-02 -4.32336456e-04 9.99819645e-01 5.88458870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:203.62, Z:5.89 [[ 7.44486483e-01 6.67509081e-01 -1.30959678e-02 7.04951171e+01] [-6.67396333e-01 7.44601550e-01 1.22746332e-02 2.03617062e+02] [ 1.79447070e-02 -3.98097637e-04 9.99838902e-01 5.88858779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:203.60, Z:5.89 [[ 7.44104065e-01 6.67941505e-01 -1.27783360e-02 7.05173131e+01] [-6.67834256e-01 7.44213681e-01 1.19751025e-02 2.03598300e+02] [ 1.75084805e-02 -3.76911901e-04 9.99846644e-01 5.88885467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:203.58, Z:5.89 [[ 7.42578223e-01 6.69629196e-01 -1.32031320e-02 7.05393747e+01] [-6.69515001e-01 7.42695509e-01 1.23711217e-02 2.03581274e+02] [ 1.80899712e-02 -3.46830596e-04 9.99836303e-01 5.88844682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:203.56, Z:5.89 [[ 7.41987444e-01 6.70273916e-01 -1.36934588e-02 7.05611367e+01] [-6.70151234e-01 7.42113712e-01 1.28281786e-02 2.03562475e+02] [ 1.87604971e-02 -3.41659085e-04 9.99823948e-01 5.88803528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:203.54, Z:5.89 [[ 7.41656260e-01 6.70633777e-01 -1.40117292e-02 7.05828997e+01] [-6.70505429e-01 7.41788529e-01 1.31242970e-02 2.03543922e+02] [ 1.91953369e-02 -3.38776503e-04 9.99815695e-01 5.88835057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:203.52, Z:5.89 [[ 7.41329813e-01 6.70983037e-01 -1.45558211e-02 7.06021404e+01] [-6.70844642e-01 7.41472621e-01 1.36315649e-02 2.03523022e+02] [ 1.99392916e-02 -3.40790852e-04 9.99801134e-01 5.88761702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:203.50, Z:5.89 [[ 7.41107908e-01 6.71230065e-01 -1.44661158e-02 7.06238582e+01] [-6.71093504e-01 7.41249008e-01 1.35431622e-02 2.03504905e+02] [ 1.98135716e-02 -3.28828269e-04 9.99803638e-01 5.88847622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:203.49, Z:5.89 [[ 7.40844222e-01 6.71522844e-01 -1.43843217e-02 7.06448734e+01] [-6.71388001e-01 7.40983786e-01 1.34603561e-02 2.03486400e+02] [ 1.96974858e-02 -3.14566017e-04 9.99805936e-01 5.88861554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:203.47, Z:5.89 [[ 7.40992959e-01 6.71349466e-01 -1.48097593e-02 7.06661435e+01] [-6.71206546e-01 7.41140869e-01 1.38558669e-02 2.03468408e+02] [ 2.02782467e-02 -3.26692446e-04 9.99794322e-01 5.88856747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13275509600004 meters Centerline goodness [0,1] 0.9999136442141624 Centerline is valid? [True, True] Translation: X:70.69, Y:203.45, Z:5.89 [[ 7.41627751e-01 6.70644197e-01 -1.49880154e-02 7.06875103e+01] [-6.70497756e-01 7.41779105e-01 1.40184944e-02 2.03448432e+02] [ 2.05192186e-02 -3.47073796e-04 9.99789398e-01 5.88757672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:203.43, Z:5.89 [[ 7.42490042e-01 6.69707553e-01 -1.41538078e-02 7.07072320e+01] [-6.69576890e-01 7.42624853e-01 1.32331509e-02 2.03428525e+02] [ 1.93733106e-02 -3.48420111e-04 9.99812259e-01 5.89080255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:203.41, Z:5.89 [[ 7.43257725e-01 6.68853718e-01 -1.42357994e-02 7.07279196e+01] [-6.68721452e-01 7.43393952e-01 1.33060972e-02 2.03408033e+02] [ 1.94826397e-02 -3.70075088e-04 9.99810127e-01 5.89132031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:203.39, Z:5.89 [[ 7.44079348e-01 6.67941340e-01 -1.41523770e-02 7.07486045e+01] [-6.67810582e-01 7.44213824e-01 1.32215981e-02 2.03387805e+02] [ 1.93636466e-02 -3.86811013e-04 9.99812432e-01 5.89178001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:203.37, Z:5.89 [[ 7.46173974e-01 6.65599418e-01 -1.42061739e-02 7.07668246e+01] [-6.65467351e-01 7.46309062e-01 1.32660666e-02 2.03367230e+02] [ 1.94320825e-02 -4.45048718e-04 9.99811080e-01 5.89181774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:203.35, Z:5.89 [[ 7.47217566e-01 6.64430246e-01 -1.40839461e-02 7.07908220e+01] [-6.64300299e-01 7.47350138e-01 1.31485181e-02 2.03350878e+02] [ 1.92619122e-02 -4.68834062e-04 9.99814362e-01 5.89368933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:203.33, Z:5.89 [[ 7.48220256e-01 6.63301457e-01 -1.40579304e-02 7.08090516e+01] [-6.63171834e-01 7.48352144e-01 1.31220092e-02 2.03330110e+02] [ 1.92241302e-02 -4.95329620e-04 9.99815077e-01 5.89363406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:203.31, Z:5.89 [[ 7.50049680e-01 6.61229960e-01 -1.41569006e-02 7.08286821e+01] [-6.61098185e-01 7.50183069e-01 1.32118167e-02 2.03309724e+02] [ 1.93563162e-02 -5.50417644e-04 9.99812497e-01 5.89450975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:203.29, Z:5.89 [[ 7.50864998e-01 6.60304908e-01 -1.41132574e-02 7.08442535e+01] [-6.60173829e-01 7.50997405e-01 1.31686036e-02 2.03285264e+02] [ 1.92943133e-02 -5.70640328e-04 9.99813685e-01 5.89372769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4027550960001 meters Centerline goodness [0,1] 0.9999783516983093 Centerline is valid? [True, True] Translation: X:70.87, Y:203.27, Z:5.90 [[ 7.52009524e-01 6.58991419e-01 -1.45597217e-02 7.08691911e+01] [-6.58851718e-01 7.52150200e-01 1.35827339e-02 2.03269318e+02] [ 1.99020027e-02 -6.21647658e-04 9.99801742e-01 5.89530574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:203.25, Z:5.90 [[ 7.52426258e-01 6.58514685e-01 -1.45991874e-02 7.08900641e+01] [-6.58374178e-01 7.52567609e-01 1.36174608e-02 2.03249411e+02] [ 1.99541735e-02 -6.34407059e-04 9.99800694e-01 5.89652535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4627550960001 meters Centerline goodness [0,1] 0.9998700004333319 Centerline is valid? [True, True] Translation: X:70.91, Y:203.23, Z:5.90 [[ 7.52887377e-01 6.57980776e-01 -1.48961666e-02 7.09109456e+01] [-6.57834432e-01 7.53034437e-01 1.38923230e-02 2.03229332e+02] [ 2.03582079e-02 -6.60143334e-04 9.99792532e-01 5.89506892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49275509600005 meters Centerline goodness [0,1] 0.9999350846063964 Centerline is valid? [True, True] Translation: X:70.93, Y:203.21, Z:5.90 [[ 7.52460502e-01 6.58461291e-01 -1.52289937e-02 7.09335363e+01] [-6.58308474e-01 7.52614306e-01 1.42007306e-02 2.03210516e+02] [ 2.08121899e-02 -6.60113235e-04 9.99783185e-01 5.89613180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:203.19, Z:5.90 [[ 7.51997347e-01 6.58978694e-01 -1.57184762e-02 7.09552147e+01] [-6.58816048e-01 7.52161311e-01 1.46552550e-02 2.03191355e+02] [ 2.14803304e-02 -6.65128475e-04 9.99769050e-01 5.89753354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55275509600006 meters Centerline goodness [0,1] 0.999805059781667 Centerline is valid? [True, True] Translation: X:70.98, Y:203.17, Z:5.90 [[ 7.51472097e-01 6.59560114e-01 -1.64360440e-02 7.09750491e+01] [-6.59382475e-01 7.51651514e-01 1.53216722e-02 2.03171985e+02] [ 2.24597412e-02 -6.76169740e-04 9.99747520e-01 5.89513757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:203.15, Z:5.90 [[ 7.50518930e-01 6.60656278e-01 -1.59567900e-02 7.09955620e+01] [-6.60489155e-01 7.50688281e-01 1.48721768e-02 2.03152674e+02] [ 2.18039722e-02 -6.22563490e-04 9.99762071e-01 5.89845047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61275509600006 meters Centerline goodness [0,1] 0.999891777234259 Centerline is valid? [True, True] Translation: X:71.02, Y:203.13, Z:5.90 [[ 7.50307628e-01 6.60883778e-01 -1.64649867e-02 7.10169517e+01] [-6.60706014e-01 7.50487997e-01 1.53404760e-02 2.03133867e+02] [ 2.24950466e-02 -6.31560409e-04 9.99746755e-01 5.89658241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.04, Y:203.12, Z:5.90 [[ 7.48872996e-01 6.62519719e-01 -1.60268132e-02 7.10398213e+01] [-6.62351843e-01 7.49044263e-01 1.49241035e-02 2.03116590e+02] [ 2.18923054e-02 -5.60868854e-04 9.99760177e-01 5.89924587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:203.10, Z:5.90 [[ 7.48376772e-01 6.63078860e-01 -1.60820511e-02 7.10608942e+01] [-6.62910080e-01 7.48549351e-01 1.49697901e-02 2.03097775e+02] [ 2.19643603e-02 -5.42089405e-04 9.99758607e-01 5.89979324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters Centerline goodness [0,1] 0.9999135789132548 Centerline is valid? [True, True] Translation: X:71.08, Y:203.08, Z:5.90 [[ 7.47080530e-01 6.64530387e-01 -1.64330855e-02 7.10827399e+01] [-6.64354615e-01 7.47261071e-01 1.52917431e-02 2.03079433e+02] [ 2.24416330e-02 -5.06767329e-04 9.99748026e-01 5.89932038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.10, Y:203.06, Z:5.90 [[ 7.46481241e-01 6.65224791e-01 -1.55478354e-02 7.11042958e+01] [-6.65067748e-01 7.46643001e-01 1.44609472e-02 2.03060902e+02] [ 2.12284631e-02 -4.54461942e-04 9.99774548e-01 5.90192111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.13, Y:203.04, Z:5.90 [[ 7.46134050e-01 6.65617126e-01 -1.54214842e-02 7.11257101e+01] [-6.65462859e-01 7.46293276e-01 1.43362954e-02 2.03042053e+02] [ 2.10514337e-02 -4.34373128e-04 9.99778300e-01 5.90217310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79275509600006 meters Centerline goodness [0,1] 0.9999568909772816 Centerline is valid? [True, True] Translation: X:71.15, Y:203.02, Z:5.90 [[ 7.46116163e-01 6.65641915e-01 -1.52155117e-02 7.11462293e+01] [-6.65491900e-01 7.46271172e-01 1.41375007e-02 2.03023539e+02] [ 2.07654108e-02 -4.22417967e-04 9.99784286e-01 5.90187728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:203.01, Z:5.90 [[ 7.46154203e-01 6.65611970e-01 -1.46496257e-02 7.11682966e+01] [-6.65473053e-01 7.46297892e-01 1.36040877e-02 2.03005757e+02] [ 1.99880284e-02 -4.01816060e-04 9.99800139e-01 5.90422876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:202.99, Z:5.90 [[ 7.46590386e-01 6.65118080e-01 -1.48571488e-02 7.11893852e+01] [-6.64975227e-01 7.46738084e-01 1.37906279e-02 2.02986420e+02] [ 2.02667948e-02 -4.16314298e-04 9.99794521e-01 5.90453787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters Centerline goodness [0,1] 0.9999140431932954 Centerline is valid? [True, True] Translation: X:71.21, Y:202.97, Z:5.90 [[ 7.47694291e-01 6.63869577e-01 -1.51799648e-02 7.12087377e+01] [-6.63720248e-01 7.47848230e-01 1.40874742e-02 2.02966072e+02] [ 2.07045553e-02 -4.57874083e-04 9.99785533e-01 5.90313631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.23, Y:202.94, Z:5.90 [[ 7.49283433e-01 6.62080050e-01 -1.49781276e-02 7.12258374e+01] [-6.61934378e-01 7.49432959e-01 1.38967621e-02 2.02943845e+02] [ 2.04258714e-02 -4.98076003e-04 9.99791246e-01 5.90431579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:202.92, Z:5.91 [[ 7.50298406e-01 6.60930774e-01 -1.49269215e-02 7.12499577e+01] [-6.60785903e-01 7.50446690e-01 1.38475711e-02 2.02924714e+02] [ 2.03541447e-02 -5.26311212e-04 9.99792694e-01 5.90631044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:202.90, Z:5.91 [[ 7.50976477e-01 6.60163816e-01 -1.47670903e-02 7.12709143e+01] [-6.60021883e-01 7.51121457e-01 1.36992971e-02 2.02902747e+02] [ 2.01356586e-02 -5.41247139e-04 9.99797111e-01 5.90693082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.29, Y:202.88, Z:5.91 [[ 7.51751156e-01 6.59274461e-01 -1.50792518e-02 7.12886981e+01] [-6.59126289e-01 7.51902156e-01 1.39886932e-02 2.02879012e+02] [ 2.05605101e-02 -5.76885028e-04 9.99788444e-01 5.90650056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:202.86, Z:5.91 [[ 7.51752505e-01 6.59263962e-01 -1.54660566e-02 7.13109526e+01] [-6.59108121e-01 7.51911351e-01 1.43459382e-02 2.02862021e+02] [ 2.10868635e-02 -5.90791495e-04 9.99777473e-01 5.90684361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.33, Y:202.84, Z:5.91 [[ 7.51828928e-01 6.59176769e-01 -1.54677171e-02 7.13312289e+01] [-6.59020946e-01 7.51987792e-01 1.43441476e-02 2.02843389e+02] [ 2.10868633e-02 -5.90795526e-04 9.99777473e-01 5.90721192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:202.82, Z:5.91 [[ 7.50819498e-01 6.60311413e-01 -1.60909450e-02 7.13506146e+01] [-6.60143107e-01 7.50991679e-01 1.49190080e-02 2.02822539e+02] [ 2.19353571e-02 -5.79155651e-04 9.99759223e-01 5.90533450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:202.81, Z:5.91 [[ 7.50015374e-01 6.61209709e-01 -1.66930992e-02 7.13759637e+01] [-6.61028835e-01 7.50200902e-01 1.54753447e-02 2.02806916e+02] [ 2.27556263e-02 -5.72126521e-04 9.99740894e-01 5.90680121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:202.79, Z:5.91 [[ 7.48918526e-01 6.62441641e-01 -1.70913254e-02 7.13952133e+01] [-6.62252404e-01 7.49113326e-01 1.58423317e-02 2.02786644e+02] [ 2.32979598e-02 -5.45844409e-04 9.99728417e-01 5.90585484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18275509600005 meters Centerline goodness [0,1] 0.9999783545098379 Centerline is valid? [True, True] Translation: X:71.42, Y:202.77, Z:5.91 [[ 7.46756347e-01 6.64867074e-01 -1.75137749e-02 7.14192213e+01] [-6.64669121e-01 7.46961542e-01 1.62300449e-02 2.02769359e+02] [ 2.38729388e-02 -4.79023695e-04 9.99714886e-01 5.90616340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2127550960001 meters Centerline goodness [0,1] 0.999978428284833 Centerline is valid? [True, True] Translation: X:71.44, Y:202.75, Z:5.91 [[ 7.45628561e-01 6.66133300e-01 -1.74492198e-02 7.14408979e+01] [-6.65937233e-01 7.45832580e-01 1.61667419e-02 2.02750496e+02] [ 2.37834017e-02 -4.34299376e-04 9.99717041e-01 5.90668055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24275509600005 meters Centerline goodness [0,1] 0.9999568584309412 Centerline is valid? [True, True] Translation: X:71.46, Y:202.73, Z:5.91 [[ 7.43389009e-01 6.68635733e-01 -1.72927084e-02 7.14638844e+01] [-6.68443901e-01 7.43590031e-01 1.60192475e-02 2.02732869e+02] [ 2.35697269e-02 -3.49327127e-04 9.99722134e-01 5.90728673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.272755096 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:71.48, Y:202.72, Z:5.91 [[ 7.42115091e-01 6.70051233e-01 -1.72202462e-02 7.14848870e+01] [-6.69861451e-01 7.42314794e-01 1.59493879e-02 2.02715206e+02] [ 2.34697505e-02 -3.01102303e-04 9.99724502e-01 5.90837956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.51, Y:202.70, Z:5.91 [[ 7.40920452e-01 6.71383658e-01 -1.67591446e-02 7.15079781e+01] [-6.71204326e-01 7.41109926e-01 1.55186939e-02 2.02696895e+02] [ 2.28393659e-02 -2.49307312e-04 9.99739117e-01 5.90991310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:202.68, Z:5.91 [[ 7.38605003e-01 6.73926561e-01 -1.69008774e-02 7.15301482e+01] [-6.73744939e-01 7.38798323e-01 1.56459299e-02 2.02679677e+02] [ 2.30305476e-02 -1.69281448e-04 9.99734747e-01 5.91002217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36275509600006 meters Centerline goodness [0,1] 0.9999567997235183 Centerline is valid? [True, True] Translation: X:71.55, Y:202.66, Z:5.91 [[ 7.37872734e-01 6.74729533e-01 -1.68488976e-02 7.15512963e+01] [-6.74549368e-01 7.38065064e-01 1.55920716e-02 2.02661729e+02] [ 2.29560138e-02 -1.39551241e-04 9.99736466e-01 5.91009714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:202.64, Z:5.91 [[ 7.36769437e-01 6.75931483e-01 -1.69536779e-02 7.15732866e+01] [-6.75749540e-01 7.36964464e-01 1.56824201e-02 2.02642958e+02] [ 2.30944997e-02 -9.78877986e-05 9.99733282e-01 5.91204168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:202.63, Z:5.91 [[ 7.35705108e-01 6.77086445e-01 -1.70862574e-02 7.15941305e+01] [-6.76902031e-01 7.35903487e-01 1.58018328e-02 2.02625780e+02] [ 2.32730432e-02 -5.97668056e-05 9.99729144e-01 5.91224595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.62, Y:202.61, Z:5.91 [[ 7.35653239e-01 6.77146144e-01 -1.69532232e-02 7.16151435e+01] [-6.76964698e-01 7.35848556e-01 1.56748273e-02 2.02607129e+02] [ 2.30891537e-02 -5.45038626e-05 9.99733408e-01 5.91325706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:202.59, Z:5.91 [[ 7.35892189e-01 6.76880710e-01 -1.71811174e-02 7.16349183e+01] [-6.76694362e-01 7.36092726e-01 1.58820564e-02 2.02587974e+02] [ 2.33971532e-02 -6.11159804e-05 9.99726247e-01 5.91310031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51275509600003 meters Centerline goodness [0,1] 0.9999567221344643 Centerline is valid? [True, True] Translation: X:71.66, Y:202.57, Z:5.91 [[ 7.36423863e-01 6.76298894e-01 -1.73118269e-02 7.16551240e+01] [-6.76109606e-01 7.36627314e-01 1.60000247e-02 2.02568004e+02] [ 2.35731636e-02 -7.81074736e-05 9.99722111e-01 5.91388481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54275509600006 meters Centerline goodness [0,1] 0.9998486650091882 Centerline is valid? [True, True] Translation: X:71.67, Y:202.55, Z:5.91 [[ 7.37667987e-01 6.74926708e-01 -1.78851801e-02 7.16742893e+01] [-6.74724333e-01 7.37884763e-01 1.65273003e-02 2.02546412e+02] [ 2.43519182e-02 -1.24094118e-04 9.99703440e-01 5.91345786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57275509600004 meters Centerline goodness [0,1] 0.9998484979655441 Centerline is valid? [True, True] Translation: X:71.69, Y:202.53, Z:5.91 [[ 7.38548771e-01 6.73957329e-01 -1.80895204e-02 7.16939517e+01] [-6.73750102e-01 7.38770258e-01 1.67124635e-02 2.02526262e+02] [ 2.46274869e-02 -1.55153178e-04 9.99696685e-01 5.91398084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:202.51, Z:5.92 [[ 7.39743901e-01 6.72671781e-01 -1.70773558e-02 7.17130372e+01] [-6.72486849e-01 7.39940972e-01 1.57732986e-02 2.02505874e+02] [ 2.32464881e-02 -1.83904265e-04 9.99729747e-01 5.91797451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.73, Y:202.49, Z:5.92 [[ 7.40503640e-01 6.71834601e-01 -1.71063801e-02 7.17338360e+01] [-6.71648889e-01 7.40701171e-01 1.57969677e-02 2.02485830e+02] [ 2.32836653e-02 -2.08230910e-04 9.99728877e-01 5.91875198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:202.47, Z:5.92 [[ 7.41133105e-01 6.71143638e-01 -1.69687541e-02 7.17537086e+01] [-6.70960783e-01 7.41327300e-01 1.56672300e-02 2.02466388e+02] [ 2.30943624e-02 -2.26134267e-04 9.99733264e-01 5.91882286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69275509600004 meters Centerline goodness [0,1] 0.9999138599362564 Centerline is valid? [True, True] Translation: X:71.77, Y:202.45, Z:5.92 [[ 7.42663440e-01 6.69434149e-01 -1.75765640e-02 7.17726672e+01] [-6.69237553e-01 7.42871347e-01 1.62252827e-02 2.02445996e+02] [ 2.39188841e-02 -2.87027563e-04 9.99713861e-01 5.91745364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72275509600007 meters Centerline goodness [0,1] 0.9999355337802991 Centerline is valid? [True, True] Translation: X:71.79, Y:202.43, Z:5.92 [[ 7.43580802e-01 6.68427098e-01 -1.71115580e-02 7.17928058e+01] [-6.68240634e-01 7.43777601e-01 1.57903430e-02 2.02425829e+02] [ 2.32818867e-02 -3.06757589e-04 9.99728893e-01 5.91873788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75275509600004 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:71.81, Y:202.41, Z:5.92 [[ 7.44521142e-01 6.67375461e-01 -1.72703129e-02 7.18119499e+01] [-6.67185396e-01 7.44721344e-01 1.59300748e-02 2.02405744e+02] [ 2.34929116e-02 -3.37776955e-04 9.99723946e-01 5.91895414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:202.39, Z:5.92 [[ 7.46066845e-01 6.65654325e-01 -1.69876978e-02 7.18303284e+01] [-6.65470064e-01 7.46260124e-01 1.56659300e-02 2.02385011e+02] [ 2.31053355e-02 -3.83026643e-04 9.99732963e-01 5.92181382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81275509600005 meters Centerline goodness [0,1] 0.9998068876729964 Centerline is valid? [True, True] Translation: X:71.85, Y:202.37, Z:5.92 [[ 7.47033397e-01 6.64552858e-01 -1.76239299e-02 7.18524397e+01] [-6.64354317e-01 7.47241135e-01 1.62489354e-02 2.02366280e+02] [ 2.39676019e-02 -4.29963559e-04 9.99712643e-01 5.92084158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8427550960001 meters Centerline goodness [0,1] 0.9999354088619041 Centerline is valid? [True, True] Translation: X:71.87, Y:202.35, Z:5.92 [[ 7.47311892e-01 6.64261485e-01 -1.67813930e-02 7.18732958e+01] [-6.64081457e-01 7.47500171e-01 1.54697439e-02 2.02346637e+02] [ 2.28200492e-02 -4.16511620e-04 9.99739502e-01 5.92436144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87275509600005 meters Centerline goodness [0,1] 0.9999784077904692 Centerline is valid? [True, True] Translation: X:71.89, Y:202.33, Z:5.92 [[ 7.47863864e-01 6.63641297e-01 -1.67293126e-02 7.18939746e+01] [-6.63462285e-01 7.48050829e-01 1.54193024e-02 2.02326667e+02] [ 2.27472620e-02 -4.32271102e-04 9.99741154e-01 5.92466917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:202.31, Z:5.93 [[ 7.48278873e-01 6.63187892e-01 -1.61415223e-02 7.19163385e+01] [-6.63021174e-01 7.48452828e-01 1.48756970e-02 2.02306731e+02] [ 2.19465501e-02 -4.28998682e-04 9.99759053e-01 5.92700479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93275509600005 meters Centerline goodness [0,1] 0.9997852279804987 Centerline is valid? [True, True] Translation: X:71.94, Y:202.29, Z:5.92 [[ 7.48391889e-01 6.63061301e-01 -1.61025185e-02 7.19366483e+01] [-6.62895390e-01 7.48564978e-01 1.48383418e-02 2.02286865e+02] [ 2.18925116e-02 -4.30609422e-04 9.99760238e-01 5.92476569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9627550960001 meters Centerline goodness [0,1] 0.9999569299681281 Centerline is valid? [True, True] Translation: X:71.96, Y:202.27, Z:5.93 [[ 7.47903557e-01 6.63645367e-01 -1.46661797e-02 7.19568202e+01] [-6.63507886e-01 7.48047248e-01 1.35129176e-02 2.02268173e+02] [ 1.99387806e-02 -3.75233216e-04 9.99801132e-01 5.92844893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99275509600005 meters Centerline goodness [0,1] 0.9998059173639265 Centerline is valid? [True, True] Translation: X:71.98, Y:202.25, Z:5.93 [[ 7.47798426e-01 6.63755852e-01 -1.50227694e-02 7.19819430e+01] [-6.63611599e-01 7.47949212e-01 1.38427572e-02 2.02247407e+02] [ 2.04244796e-02 -3.82308002e-04 9.99791325e-01 5.92800174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.00, Y:202.23, Z:5.93 [[ 7.47371804e-01 6.64260369e-01 -1.39122131e-02 7.20030418e+01] [-6.64136644e-01 7.47501200e-01 1.28247528e-02 2.02226559e+02] [ 1.89183710e-02 -3.45248149e-04 9.99820972e-01 5.93165120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.02, Y:202.21, Z:5.93 [[ 7.47324633e-01 6.64321928e-01 -1.35007175e-02 7.20240339e+01] [-6.64205441e-01 7.47446496e-01 1.24445434e-02 2.02207471e+02] [ 1.83582471e-02 -3.32863812e-04 9.99831418e-01 5.93315315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.04, Y:202.19, Z:5.93 [[ 7.47455449e-01 6.64178836e-01 -1.32975973e-02 7.20438476e+01] [-6.64065846e-01 7.47573652e-01 1.22550669e-02 2.02188844e+02] [ 1.80804894e-02 -3.29636311e-04 9.99836480e-01 5.93373691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:202.17, Z:5.93 [[ 7.47544080e-01 6.64086128e-01 -1.29407528e-02 7.20674411e+01] [-6.63979150e-01 7.47656011e-01 1.19238182e-02 2.02168855e+02] [ 1.75936739e-02 -3.21189682e-04 9.99845168e-01 5.93475525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters Centerline goodness [0,1] 0.9998706589924335 Centerline is valid? [True, True] Translation: X:72.09, Y:202.15, Z:5.93 [[ 7.47912248e-01 6.63674424e-01 -1.27878634e-02 7.20898001e+01] [-6.63569898e-01 7.48021492e-01 1.17829435e-02 2.02147547e+02] [ 1.73856349e-02 -3.26966517e-04 9.99848805e-01 5.93379669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.11, Y:202.13, Z:5.94 [[ 7.47975567e-01 6.63615201e-01 -1.21414970e-02 7.21109626e+01] [-6.63520972e-01 7.48074039e-01 1.11871195e-02 2.02128188e+02] [ 1.65066812e-02 -3.11554108e-04 9.99863707e-01 5.93718900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters Centerline goodness [0,1] 0.999978427819484 Centerline is valid? [True, True] Translation: X:72.13, Y:202.11, Z:5.94 [[ 7.48462883e-01 6.63074068e-01 -1.16658848e-02 7.21320791e+01] [-6.62987032e-01 7.48553729e-01 1.07475927e-02 2.02108767e+02] [ 1.58589916e-02 -3.09843890e-04 9.99874190e-01 5.93718450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.15, Y:202.09, Z:5.94 [[ 7.49107387e-01 6.62344178e-01 -1.17606069e-02 7.21533856e+01] [-6.62255661e-01 7.49199628e-01 1.08331493e-02 2.02089938e+02] [ 1.59863156e-02 -3.26663698e-04 9.99872157e-01 5.93820050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters Centerline goodness [0,1] 0.9998277235824881 Centerline is valid? [True, True] Translation: X:72.17, Y:202.07, Z:5.94 [[ 7.50063025e-01 6.61258001e-01 -1.19713857e-02 7.21740572e+01] [-6.61166172e-01 7.50158470e-01 1.10255453e-02 2.02070328e+02] [ 1.62711665e-02 -3.54778608e-04 9.99867553e-01 5.93566070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.19, Y:202.05, Z:5.94 [[ 7.50533284e-01 6.60738089e-01 -1.11788808e-02 7.21945153e+01] [-6.60657983e-01 7.50616454e-01 1.02940761e-02 2.02051296e+02] [ 1.51927401e-02 -3.40629869e-04 9.99884526e-01 5.93897903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:202.03, Z:5.94 [[ 7.51891095e-01 6.59190861e-01 -1.12778723e-02 7.22158384e+01] [-6.59109186e-01 7.51975577e-01 1.03832658e-02 2.02031041e+02] [ 1.53252384e-02 -3.73735865e-04 9.99882492e-01 5.93940210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35275509600007 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:72.24, Y:202.01, Z:5.94 [[ 7.52668585e-01 6.58299896e-01 -1.14563528e-02 7.22359337e+01] [-6.58215527e-01 7.52755664e-01 1.05465820e-02 2.02011670e+02] [ 1.55666483e-02 -3.97331710e-04 9.99878753e-01 5.93865087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters Centerline goodness [0,1] 0.9998495917490331 Centerline is valid? [True, True] Translation: X:72.26, Y:201.99, Z:5.94 [[ 7.53553233e-01 6.57293463e-01 -1.10828299e-02 7.22575071e+01] [-6.57214426e-01 7.53634621e-01 1.02008457e-02 2.01993104e+02] [ 1.50573535e-02 -4.03084550e-04 9.99886550e-01 5.93782740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41275509600007 meters Centerline goodness [0,1] 0.9998282893324748 Centerline is valid? [True, True] Translation: X:72.28, Y:201.97, Z:5.94 [[ 7.53820403e-01 6.56986839e-01 -1.10947637e-02 7.22782384e+01] [-6.56907623e-01 7.53901934e-01 1.02101895e-02 2.01974618e+02] [ 1.50723240e-02 -4.08414276e-04 9.99886323e-01 5.93807075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.30, Y:201.96, Z:5.94 [[ 7.53535901e-01 6.57324089e-01 -1.04253247e-02 7.22991361e+01] [-6.57254203e-01 7.53607922e-01 9.59232819e-03 2.01956332e+02] [ 1.41618756e-02 -3.76075219e-04 9.99899645e-01 5.94138130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:201.94, Z:5.94 [[ 7.53356590e-01 6.57529885e-01 -1.04066253e-02 7.23219325e+01] [-6.57460295e-01 7.53428373e-01 9.57331825e-03 2.01938081e+02] [ 1.41353896e-02 -3.70179432e-04 9.99900022e-01 5.94175696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50275509600004 meters Centerline goodness [0,1] 0.9999571807827353 Centerline is valid? [True, True] Translation: X:72.35, Y:201.92, Z:5.94 [[ 7.52171879e-01 6.58878014e-01 -1.08271059e-02 7.23481083e+01] [-6.58802846e-01 7.52249716e-01 9.95869626e-03 2.01921790e+02] [ 1.47062534e-02 -3.57723092e-04 9.99891793e-01 5.94040497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5327550960001 meters Centerline goodness [0,1] 0.9997860642235201 Centerline is valid? [True, True] Translation: X:72.37, Y:201.90, Z:5.94 [[ 7.51706727e-01 6.59401332e-01 -1.12641023e-02 7.23685550e+01] [-6.59320034e-01 7.51791030e-01 1.03604880e-02 2.01901512e+02] [ 1.52999706e-02 -3.61400191e-04 9.99882883e-01 5.93817903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56275509600005 meters Centerline goodness [0,1] 0.9998928969239996 Centerline is valid? [True, True] Translation: X:72.39, Y:201.89, Z:5.94 [[ 7.50649467e-01 6.60611447e-01 -1.08579102e-02 7.23940281e+01] [-6.60536050e-01 7.50727921e-01 9.98576506e-03 2.01885968e+02] [ 1.47480471e-02 -3.23768094e-04 9.99891189e-01 5.94000044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:201.87, Z:5.94 [[ 7.50223239e-01 6.61103616e-01 -1.03488918e-02 7.24162278e+01] [-6.61035181e-01 7.50294555e-01 9.51686502e-03 2.01867350e+02] [ 1.40563511e-02 -2.98791722e-04 9.99901160e-01 5.94244372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62275509600005 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:72.44, Y:201.85, Z:5.94 [[ 7.50058008e-01 6.61283857e-01 -1.08002666e-02 7.24380962e+01] [-6.61209364e-01 7.50135699e-01 9.93030078e-03 2.01848170e+02] [ 1.46684131e-02 -3.07064247e-04 9.99892366e-01 5.94017500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.46, Y:201.83, Z:5.94 [[ 7.49964978e-01 6.61383698e-01 -1.11416393e-02 7.24576270e+01] [-6.61304458e-01 7.50047669e-01 1.02424519e-02 2.01827943e+02] [ 1.51309513e-02 -3.13464439e-04 9.99885471e-01 5.94131682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:201.81, Z:5.94 [[ 7.50212556e-01 6.61100301e-01 -1.12921439e-02 7.24815847e+01] [-6.61018905e-01 7.50297467e-01 1.03787814e-02 2.01811766e+02] [ 1.53338825e-02 -3.21971529e-04 9.99882377e-01 5.94153044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7127550960001 meters Centerline goodness [0,1] 0.9998296603853933 Centerline is valid? [True, True] Translation: X:72.50, Y:201.79, Z:5.94 [[ 7.50786802e-01 6.60432317e-01 -1.21791748e-02 7.25020863e+01] [-6.60337574e-01 7.50885494e-01 1.11921429e-02 2.01792023e+02] [ 1.65368186e-02 -3.60546420e-04 9.99863192e-01 5.93889047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:201.77, Z:5.94 [[ 7.51218967e-01 6.59960832e-01 -1.10346974e-02 7.25229226e+01] [-6.59883031e-01 7.51299932e-01 1.01389159e-02 2.01772699e+02] [ 1.49816548e-02 -3.34936328e-04 9.99887713e-01 5.94253296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.772755096 meters Centerline goodness [0,1] 0.9998930549911236 Centerline is valid? [True, True] Translation: X:72.54, Y:201.75, Z:5.94 [[ 7.52598303e-01 6.58386130e-01 -1.11129680e-02 7.25423716e+01] [-6.58307074e-01 7.52680256e-01 1.02092243e-02 2.01751588e+02] [ 1.50861232e-02 -3.67699413e-04 9.99886130e-01 5.94051606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.56, Y:201.73, Z:5.94 [[ 7.53190909e-01 6.57719607e-01 -1.04102586e-02 7.25620743e+01] [-6.57650185e-01 7.53262764e-01 9.56253832e-03 2.01731750e+02] [ 1.41311291e-02 -3.56108427e-04 9.99900087e-01 5.94315539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:201.71, Z:5.94 [[ 7.54274562e-01 6.56481795e-01 -1.00765545e-02 7.25815659e+01] [-6.56416668e-01 7.54341778e-01 9.25412902e-03 2.01710446e+02] [ 1.36763332e-02 -3.65735803e-04 9.99906408e-01 5.94351770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.60, Y:201.69, Z:5.94 [[ 7.54821333e-01 6.55856209e-01 -9.86856235e-03 7.26020897e+01] [-6.55793704e-01 7.54885751e-01 9.06206907e-03 2.01690020e+02] [ 1.33930514e-02 -3.68501993e-04 9.99910241e-01 5.94383487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89275509600003 meters Centerline goodness [0,1] 0.9999142697929615 Centerline is valid? [True, True] Translation: X:72.62, Y:201.67, Z:5.94 [[ 7.55422806e-01 6.55157305e-01 -1.02611059e-02 7.26221786e+01] [-6.55089685e-01 7.55492389e-01 9.42099730e-03 2.01669579e+02] [ 1.39244226e-02 -3.94891599e-04 9.99902973e-01 5.94207041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92275509600006 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:72.64, Y:201.65, Z:5.94 [[ 7.55079362e-01 6.55560748e-01 -9.76028367e-03 7.26418657e+01] [-6.55499619e-01 7.55142351e-01 8.95983917e-03 2.01649665e+02] [ 1.32441224e-02 -3.67527413e-04 9.99912225e-01 5.94287154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95275509600003 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:72.66, Y:201.63, Z:5.94 [[ 7.55154946e-01 6.55473666e-01 -9.76115323e-03 7.26622370e+01] [-6.55412542e-01 7.55217941e-01 8.95889174e-03 2.01631139e+02] [ 1.32441157e-02 -3.67769159e-04 9.99912225e-01 5.94323991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98275509600006 meters Centerline goodness [0,1] 0.999849604675146 Centerline is valid? [True, True] Translation: X:72.68, Y:201.61, Z:5.94 [[ 7.54706493e-01 6.55973098e-01 -1.08353526e-02 7.26845147e+01] [-6.55897866e-01 7.54784166e-01 9.94240714e-03 2.01611330e+02] [ 1.47003042e-02 -3.96714536e-04 9.99891866e-01 5.94132809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.70, Y:201.59, Z:5.94 [[ 7.52112470e-01 6.58962351e-01 -9.76997372e-03 7.27048519e+01] [-6.58901447e-01 7.52175862e-01 8.96419982e-03 2.01592630e+02] [ 1.32558086e-02 -3.04636652e-04 9.99912092e-01 5.94402867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.73, Y:201.57, Z:5.94 [[ 7.50629682e-01 6.60653207e-01 -9.61359548e-03 7.27253615e+01] [-6.60594397e-01 7.50691194e-01 8.81902005e-03 2.01574219e+02] [ 1.30431553e-02 -2.69130904e-04 9.99914898e-01 5.94396501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:201.56, Z:5.94 [[ 7.48786575e-01 6.62740243e-01 -9.69718254e-03 7.27478902e+01] [-6.62680603e-01 7.48849328e-01 8.89398411e-03 2.01556375e+02] [ 1.31561298e-02 -2.33561129e-04 9.99913427e-01 5.94421627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:201.54, Z:5.94 [[ 7.44113184e-01 6.67984987e-01 -9.57218335e-03 7.27716340e+01] [-6.67927322e-01 7.44174737e-01 8.77804873e-03 2.01538868e+02] [ 1.29869818e-02 -1.38339002e-04 9.99915656e-01 5.94489056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13275509600004 meters Centerline goodness [0,1] 0.9999784436300927 Centerline is valid? [True, True] Translation: X:72.79, Y:201.52, Z:5.94 [[ 7.41607142e-01 6.70764547e-01 -9.68346615e-03 7.27940524e+01] [-6.70705800e-01 7.41670355e-01 8.87779653e-03 2.01520954e+02] [ 1.31368509e-02 -8.90804082e-05 9.99913704e-01 5.94489912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:201.50, Z:5.95 [[ 7.38785692e-01 6.73874513e-01 -9.42556273e-03 7.28155365e+01] [-6.73819123e-01 7.38845816e-01 8.64005572e-03 2.01503770e+02] [ 1.27863509e-02 -3.20251371e-05 9.99918251e-01 5.94564124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:201.49, Z:5.95 [[ 7.33376262e-01 6.79761903e-01 -9.11121443e-03 7.28387470e+01] [-6.79710616e-01 7.33432854e-01 8.35032292e-03 2.01486191e+02] [ 1.23586954e-02 6.90605590e-05 9.99923626e-01 5.94612576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:201.47, Z:5.95 [[ 7.31051891e-01 6.82265675e-01 -8.75679645e-03 7.28597414e+01] [-6.82218494e-01 7.31104327e-01 8.02431442e-03 2.01467834e+02] [ 1.18768461e-02 1.07858255e-04 9.99929462e-01 5.94723241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:201.45, Z:5.95 [[ 7.29482506e-01 6.83947429e-01 -8.43726779e-03 7.28806214e+01] [-6.83903758e-01 7.29531286e-01 7.72999306e-03 2.01447815e+02] [ 1.14421597e-02 1.31384440e-04 9.99934528e-01 5.94788961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:201.43, Z:5.95 [[ 7.27703170e-01 6.85855212e-01 -7.12210562e-03 7.28994766e+01] [-6.85824193e-01 7.27738009e-01 6.52435140e-03 2.01427231e+02] [ 9.65778737e-03 1.36721140e-04 9.99953353e-01 5.95024827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:201.40, Z:5.95 [[ 7.27597063e-01 6.85971152e-01 -6.78918077e-03 7.29176077e+01] [-6.85942982e-01 7.27628725e-01 6.21810257e-03 2.01404558e+02] [ 9.20544193e-03 1.32717732e-04 9.99957620e-01 5.95143604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3427550960001 meters Centerline goodness [0,1] 0.9998474712919182 Centerline is valid? [True, True] Translation: X:72.94, Y:201.38, Z:5.95 [[ 7.28573752e-01 6.84929206e-01 -7.22988491e-03 7.29361946e+01] [-6.84897219e-01 7.28609612e-01 6.62066192e-03 2.01383038e+02] [ 9.80244835e-03 1.28087566e-04 9.99951947e-01 5.95091406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37275509600005 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:72.96, Y:201.36, Z:5.95 [[ 7.29593987e-01 6.83865079e-01 -4.60092879e-03 7.29574460e+01] [-6.83852093e-01 7.29608490e-01 4.21501598e-03 2.01364205e+02] [ 6.23937894e-03 7.11044697e-05 9.99980532e-01 5.95480496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.98, Y:201.34, Z:5.96 [[ 7.30591429e-01 6.82809738e-01 -2.65042281e-03 7.29762182e+01] [-6.82805429e-01 7.30596236e-01 2.42599333e-03 2.01342741e+02] [ 3.59288080e-03 3.73131437e-05 9.99993545e-01 5.95716110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:201.32, Z:5.96 [[ 7.32290426e-01 6.80989961e-01 -1.84532571e-03 7.29955219e+01] [-6.80987866e-01 7.32292751e-01 1.68923878e-03 2.01321797e+02] [ 2.50167329e-03 1.96310338e-05 9.99996871e-01 5.95837733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:201.30, Z:5.96 [[ 7.36558287e-01 6.76373672e-01 -7.39505291e-04 7.30134699e+01] [-6.76373332e-01 7.36558658e-01 6.78023958e-04 2.01299900e+02] [ 1.00328658e-03 7.77492923e-07 9.99999497e-01 5.96013206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49275509600005 meters Centerline goodness [0,1] 0.999825479930192 Centerline is valid? [True, True] Translation: X:73.03, Y:201.28, Z:5.96 [[ 7.39177168e-01 6.73510388e-01 -9.33509991e-04 7.30323705e+01] [-6.73509846e-01 7.39177757e-01 8.54933520e-04 2.01278520e+02] [ 1.26583643e-03 -3.21916753e-06 9.99999199e-01 5.95935525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters Centerline goodness [0,1] 0.999934553546107 Centerline is valid? [True, True] Translation: X:73.05, Y:201.26, Z:5.96 [[ 7.40594145e-01 6.71951676e-01 1.12154317e-03 7.30522373e+01] [-6.71950896e-01 7.40594994e-01 -1.02388323e-03 2.01257050e+02] [-1.51860931e-03 4.65998818e-06 9.99998847e-01 5.96357930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:201.23, Z:5.97 [[ 7.43342432e-01 6.68898866e-01 4.04176486e-03 7.30728780e+01] [-6.68888651e-01 7.43353419e-01 -3.69687979e-03 2.01231573e+02] [-5.47729843e-03 4.45569678e-05 9.99984999e-01 5.96736253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:201.21, Z:5.97 [[ 7.44495281e-01 6.67613714e-01 4.32514405e-03 7.30940969e+01] [-6.67601965e-01 7.44507841e-01 -3.96114401e-03 2.01209019e+02] [-5.86461772e-03 6.15783523e-05 9.99982801e-01 5.96970795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61275509600006 meters Centerline goodness [0,1] 0.9999347528219404 Centerline is valid? [True, True] Translation: X:73.11, Y:201.19, Z:5.97 [[ 7.46143822e-01 6.65770658e-01 4.33918551e-03 7.31144920e+01] [-6.65758840e-01 7.46156436e-01 -3.96744416e-03 2.01188224e+02] [-5.87911910e-03 7.14328366e-05 9.99982715e-01 5.96922608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:201.17, Z:5.97 [[ 7.46657225e-01 6.65183245e-01 5.85146005e-03 7.31358095e+01] [-6.65161735e-01 7.46680146e-01 -5.35037630e-03 2.01168416e+02] [-7.92814972e-03 1.02729802e-04 9.99968566e-01 5.97131347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:201.15, Z:5.97 [[ 7.46930049e-01 6.64861479e-01 7.39701798e-03 7.31598655e+01] [-6.64826997e-01 7.46966662e-01 -6.77275945e-03 2.01147972e+02] [-1.00282727e-02 1.41040290e-04 9.99949706e-01 5.97133459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:201.13, Z:5.97 [[ 7.47446120e-01 6.64281587e-01 7.36682583e-03 7.31837211e+01] [-6.64247315e-01 7.47482408e-01 -6.74940051e-03 2.01126576e+02] [-9.99007519e-03 1.51418951e-04 9.99950087e-01 5.96938952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:201.10, Z:5.97 [[ 7.49352171e-01 6.62130323e-01 7.39995851e-03 7.32057710e+01] [-6.62095641e-01 7.49388686e-01 -6.77933197e-03 2.01104330e+02] [-1.00342465e-02 1.80626858e-04 9.99949639e-01 5.96862681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters Centerline goodness [0,1] 0.9999133336222212 Centerline is valid? [True, True] Translation: X:73.23, Y:201.08, Z:5.97 [[ 7.50556505e-01 6.60766812e-01 7.22170098e-03 7.32288043e+01] [-6.60733658e-01 7.50591221e-01 -6.62206715e-03 2.01081969e+02] [-9.79618756e-03 1.98614674e-04 9.99951996e-01 5.96715721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:201.06, Z:5.97 [[ 7.52201335e-01 6.58880460e-01 8.34812610e-03 7.32501842e+01] [-6.58836091e-01 7.52247615e-01 -7.65051650e-03 2.01060128e+02] [-1.13206338e-02 2.54681955e-04 9.99935887e-01 5.96874789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:201.04, Z:5.97 [[ 7.52834638e-01 6.58155384e-01 8.45566005e-03 7.32735799e+01] [-6.58109724e-01 7.52882072e-01 -7.75738704e-03 2.01037787e+02] [-1.14716809e-02 2.75277564e-04 9.99934160e-01 5.96873217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:201.02, Z:5.97 [[ 7.53607732e-01 6.57271105e-01 8.37142130e-03 7.32965881e+01] [-6.57226249e-01 7.53654172e-01 -7.68423923e-03 2.01015198e+02] [-1.13597850e-02 2.88984282e-04 9.99935434e-01 5.96876409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:200.99, Z:5.97 [[ 7.55195072e-01 6.55449077e-01 8.17991675e-03 7.33173209e+01] [-6.55406104e-01 7.55239307e-01 -7.51187367e-03 2.00991971e+02] [-1.11014453e-02 3.11762610e-04 9.99938328e-01 5.96816308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:200.97, Z:5.97 [[ 7.55783284e-01 6.54773790e-01 7.93172718e-03 7.33428214e+01] [-6.54733297e-01 7.55824837e-01 -7.28871215e-03 2.00971589e+02] [-1.07674541e-02 3.15520920e-04 9.99941980e-01 5.96515847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.36, Y:200.95, Z:5.97 [[ 7.56381817e-01 6.54085039e-01 7.70120838e-03 7.33639152e+01] [-6.54046794e-01 7.56420955e-01 -7.08024633e-03 2.00948661e+02] [-1.04564386e-02 3.18418932e-04 9.99945279e-01 5.96566524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:200.93, Z:5.96 [[ 7.58001478e-01 6.52218531e-01 6.68932067e-03 7.33883931e+01] [-6.52189564e-01 7.58030934e-01 -6.15429711e-03 2.00927504e+02] [-9.08465861e-03 3.02261176e-04 9.99958688e-01 5.96148338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:200.90, Z:5.96 [[ 7.58463757e-01 6.51683609e-01 6.41898405e-03 7.34082633e+01] [-6.51656893e-01 7.58490860e-01 -5.90837315e-03 2.00903824e+02] [-8.71913067e-03 2.98311692e-04 9.99961943e-01 5.96335341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:200.88, Z:5.96 [[ 7.59454044e-01 6.50539231e-01 5.31626351e-03 7.34295444e+01] [-6.50520914e-01 7.59472609e-01 -4.88840484e-03 2.00884111e+02] [-7.21765564e-03 2.54178231e-04 9.99973920e-01 5.96109693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:200.87, Z:5.96 [[ 7.59638901e-01 6.50332692e-01 4.01624188e-03 7.34511606e+01] [-6.50322242e-01 7.59649494e-01 -3.69174713e-03 2.00865432e+02] [-5.45179996e-03 1.92543307e-04 9.99985120e-01 5.95893761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:200.85, Z:5.95 [[ 7.59797564e-01 6.50155661e-01 2.29743503e-03 7.34793405e+01] [-6.50152218e-01 7.59801029e-01 -2.11880688e-03 2.00848293e+02] [-3.12314779e-03 1.16181829e-04 9.99995116e-01 5.95358547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:200.83, Z:5.95 [[ 7.59776649e-01 6.50184055e-01 3.71164137e-04 7.35032221e+01] [-6.50183963e-01 7.59776740e-01 -3.46726928e-04 2.00826354e+02] [-5.07438198e-04 2.21100542e-05 9.99999871e-01 5.95116527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:200.81, Z:5.95 [[ 7.59681723e-01 6.50291582e-01 -2.13039677e-03 7.35275155e+01] [-6.50288645e-01 7.59684703e-01 1.95718515e-03 2.00805894e+02] [ 2.89117087e-03 -1.01464958e-04 9.99995815e-01 5.94725303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:200.78, Z:5.95 [[ 7.59702333e-01 6.50263446e-01 -3.13294973e-03 7.35524498e+01] [-6.50257078e-01 7.59708778e-01 2.88174574e-03 2.00783939e+02] [ 4.25402333e-03 -1.52046231e-04 9.99990940e-01 5.94627277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:200.77, Z:5.94 [[ 7.59603613e-01 6.50367011e-01 -5.01018457e-03 7.35775240e+01] [-6.50350681e-01 7.59620096e-01 4.61537944e-03 2.00765867e+02] [ 6.80752742e-03 -2.47481956e-04 9.99976798e-01 5.94278118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:200.75, Z:5.94 [[ 7.59407432e-01 6.50588675e-01 -5.89305959e-03 7.36044115e+01] [-6.50566064e-01 7.59430242e-01 5.43182799e-03 2.00746292e+02] [ 8.00925344e-03 -2.91145961e-04 9.99967883e-01 5.94089718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:200.73, Z:5.94 [[ 7.58760154e-01 6.51334879e-01 -6.77521698e-03 7.36289485e+01] [-6.51304975e-01 7.58790331e-01 6.25007430e-03 2.00727392e+02] [ 9.21186053e-03 -3.29574814e-04 9.99957516e-01 5.93897920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:200.71, Z:5.94 [[ 7.56986598e-01 6.53380068e-01 -8.11030990e-03 7.36583795e+01] [-6.53337282e-01 7.57029954e-01 7.48629353e-03 2.00711712e+02] [ 1.10311425e-02 -3.68256041e-04 9.99939087e-01 5.93583219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.332755096 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:73.68, Y:200.69, Z:5.93 [[ 7.56154270e-01 6.54335977e-01 -8.66887120e-03 7.36832265e+01] [-6.54287093e-01 7.56203863e-01 8.00728078e-03 2.00693945e+02] [ 1.17948858e-02 -3.82809012e-04 9.99930365e-01 5.93483664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.71, Y:200.68, Z:5.93 [[ 7.54893932e-01 6.55779648e-01 -9.39180185e-03 7.37092812e+01] [-6.55722382e-01 7.54952251e-01 8.67502239e-03 2.00676554e+02] [ 1.27792651e-02 -3.90307076e-04 9.99918266e-01 5.93361363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.74, Y:200.66, Z:5.93 [[ 7.52446804e-01 6.58564789e-01 -1.07807895e-02 7.37362841e+01] [-6.58489612e-01 7.52523929e-01 9.95825845e-03 2.00664961e+02] [ 1.46709605e-02 -3.94021836e-04 9.99892298e-01 5.93041266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:200.65, Z:5.93 [[ 7.51464266e-01 6.59667868e-01 -1.18220528e-02 7.37604099e+01] [-6.59577638e-01 7.51557143e-01 1.09179303e-02 2.00649323e+02] [ 1.60871560e-02 -4.06872857e-04 9.99870511e-01 5.92891175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:200.63, Z:5.93 [[ 7.50642422e-01 6.60584675e-01 -1.28000721e-02 7.37858520e+01] [-6.60479063e-01 7.50751432e-01 1.18192781e-02 2.00633586e+02] [ 1.74173064e-02 -4.17871867e-04 9.99848220e-01 5.92746845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:200.62, Z:5.93 [[ 7.49602848e-01 6.61733276e-01 -1.43052990e-02 7.38129497e+01] [-6.61601607e-01 7.49739209e-01 1.32073006e-02 2.00620546e+02] [ 1.94649539e-02 -4.35821368e-04 9.99810445e-01 5.92524550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:200.60, Z:5.93 [[ 7.49336228e-01 6.62027763e-01 -1.46443963e-02 7.38344030e+01] [-6.61889880e-01 7.49479186e-01 1.35180011e-02 2.00603337e+02] [ 1.99249622e-02 -4.36550250e-04 9.99801383e-01 5.92501013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:200.59, Z:5.93 [[ 7.49155007e-01 6.62235643e-01 -1.45164989e-02 7.38596887e+01] [-6.62100280e-01 7.49295518e-01 1.33957657e-02 2.00588289e+02] [ 1.97483011e-02 -4.24126976e-04 9.99804893e-01 5.92607137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:200.57, Z:5.93 [[ 7.48836581e-01 6.62590104e-01 -1.47691947e-02 7.38831035e+01] [-6.62450173e-01 7.48982096e-01 1.36231046e-02 2.00571850e+02] [ 2.00883967e-02 -4.17623453e-04 9.99798121e-01 5.92668601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.90, Y:200.55, Z:5.93 [[ 7.48829569e-01 6.62599657e-01 -1.46959525e-02 7.39031577e+01] [-6.62461203e-01 7.48973648e-01 1.35510113e-02 2.00553115e+02] [ 1.99857765e-02 -4.11899586e-04 9.99800180e-01 5.92592718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:200.54, Z:5.93 [[ 7.48806945e-01 6.62634086e-01 -1.42907811e-02 7.39284603e+01] [-6.62503336e-01 7.48943198e-01 1.31687623e-02 2.00538438e+02] [ 1.94290540e-02 -3.93170530e-04 9.99811161e-01 5.92731477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:200.90, Z:7.17 [[ 7.73801840e-01 -6.33404921e-01 5.37752952e-03 7.42524740e+01] [-6.33381161e-01 -7.73820008e-01 -5.55883593e-03 2.00900498e+02] [ 7.68223396e-03 8.95411583e-04 -9.99970090e-01 7.16995762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:200.52, Z:5.93 [[ 7.98853255e-01 6.01354522e-01 -1.43602368e-02 7.40067558e+01] [-6.01248845e-01 7.98982226e-01 1.12796101e-02 2.00515958e+02] [ 1.82566184e-02 -3.76677454e-04 9.99833263e-01 5.92861067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:200.50, Z:5.93 [[ 7.99442115e-01 6.00580827e-01 -1.39633496e-02 7.40317840e+01] [-6.00480922e-01 7.99563961e-01 1.09606369e-02 2.00501419e+02] [ 1.77473395e-02 -3.77669742e-04 9.99842432e-01 5.93064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:200.48, Z:5.93 [[ 8.00099214e-01 5.99735237e-01 -1.26052783e-02 7.40547125e+01] [-5.99653794e-01 8.00198426e-01 9.88973785e-03 2.00484109e+02] [ 1.60179481e-02 -3.53968517e-04 9.99871642e-01 5.93341867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.07, Y:200.46, Z:5.93 [[ 8.00445771e-01 5.99288584e-01 -1.18220437e-02 7.40737224e+01] [-5.99216929e-01 8.00532996e-01 9.27325407e-03 2.00464784e+02] [ 1.50212914e-02 -3.38768273e-04 9.99887117e-01 5.93493906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.10, Y:200.45, Z:5.94 [[ 8.01132853e-01 5.98388086e-01 -1.08558968e-02 7.40955065e+01] [-5.98327656e-01 8.01206337e-01 8.51009091e-03 2.00447687e+02] [ 1.37901503e-02 -3.22330151e-04 9.99904859e-01 5.93850278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:200.43, Z:5.94 [[ 8.01585313e-01 5.97789806e-01 -1.04083750e-02 7.41177772e+01] [-5.97734228e-01 8.01652822e-01 8.15759241e-03 2.00428842e+02] [ 1.32204287e-02 -3.17564285e-04 9.99912556e-01 5.94006143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:200.41, Z:5.94 [[ 8.01654848e-01 5.97696543e-01 -1.04090012e-02 7.41395223e+01] [-5.97640967e-01 8.01722359e-01 8.15679326e-03 2.00411963e+02] [ 1.32204161e-02 -3.18087322e-04 9.99912556e-01 5.94042868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:200.39, Z:5.94 [[ 8.02053627e-01 5.97165435e-01 -1.01697415e-02 7.41595538e+01] [-5.97112366e-01 8.02118035e-01 7.96745366e-03 2.00392763e+02] [ 1.29152210e-02 -3.17846722e-04 9.99916545e-01 5.94157778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.18, Y:200.37, Z:5.94 [[ 8.02714563e-01 5.96287539e-01 -9.51324569e-03 7.41801590e+01] [-5.96241065e-01 8.02770874e-01 7.45095824e-03 2.00371954e+02] [ 1.20798701e-02 -3.08804944e-04 9.99926988e-01 5.94394564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:200.35, Z:5.95 [[ 8.02827294e-01 5.96140167e-01 -9.23242010e-03 7.42028456e+01] [-5.96096399e-01 8.02880322e-01 7.22992411e-03 2.00353477e+02] [ 1.17225766e-02 -3.00968031e-04 9.99931243e-01 5.94512357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:200.33, Z:5.95 [[ 8.02822227e-01 5.96149589e-01 -9.06304277e-03 7.42227042e+01] [-5.96107426e-01 8.02873328e-01 7.09619033e-03 2.00333779e+02] [ 1.15068663e-02 -2.94432227e-04 9.99933750e-01 5.94615626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:200.31, Z:5.95 [[ 8.02226771e-01 5.96941443e-01 -9.64994936e-03 7.42435455e+01] [-5.96893720e-01 8.02284752e-01 7.55404535e-03 2.00313878e+02] [ 1.22513300e-02 -3.00063239e-04 9.99924905e-01 5.94644586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:200.29, Z:5.95 [[ 8.01770606e-01 5.97548381e-01 -9.99143585e-03 7.42636321e+01] [-5.97497283e-01 8.01832802e-01 7.82008801e-03 2.00294826e+02] [ 1.26843419e-02 -3.00060927e-04 9.99919505e-01 5.94667460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:200.28, Z:5.95 [[ 8.01297973e-01 5.98180100e-01 -1.01057837e-02 7.42873531e+01] [-5.98127897e-01 8.01361643e-01 7.90794997e-03 2.00275610e+02] [ 1.28287657e-02 -2.92073129e-04 9.99917665e-01 5.94736222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:200.25, Z:5.95 [[ 8.00033941e-01 5.99869469e-01 -1.01150077e-02 7.43055995e+01] [-5.99817306e-01 8.00097837e-01 7.91514231e-03 2.00249059e+02] [ 1.28410480e-02 -2.65225849e-04 9.99917515e-01 5.94916087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:200.23, Z:5.95 [[ 7.99378922e-01 6.00742544e-01 -1.00863930e-02 7.43290161e+01] [-6.00690736e-01 7.99442514e-01 7.89345194e-03 2.00231491e+02] [ 1.28054238e-02 -2.51056240e-04 9.99917976e-01 5.94982411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:200.21, Z:5.95 [[ 7.97868536e-01 6.02739232e-01 -1.05460299e-02 7.43476154e+01] [-6.02682778e-01 7.97938197e-01 8.25245256e-03 2.00209175e+02] [ 1.33891570e-02 -2.28461669e-04 9.99910335e-01 5.95119203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:200.19, Z:5.95 [[ 7.97121391e-01 6.03725934e-01 -1.06058342e-02 7.43687090e+01] [-6.03668939e-01 7.97191916e-01 8.29822850e-03 2.00188756e+02] [ 1.34647410e-02 -2.12282775e-04 9.99909324e-01 5.95215536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:200.17, Z:5.95 [[ 7.96347823e-01 6.04742444e-01 -1.08037664e-02 7.43895670e+01] [-6.04683414e-01 7.96421081e-01 8.45173349e-03 2.00169146e+02] [ 1.37154693e-02 -1.97661235e-04 9.99905919e-01 5.95318830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:200.15, Z:5.95 [[ 7.95552066e-01 6.05784446e-01 -1.10505976e-02 7.44092932e+01] [-6.05722808e-01 7.95628790e-01 8.64340692e-03 2.00148809e+02] [ 1.40282150e-02 -1.82681249e-04 9.99901583e-01 5.95387781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:200.13, Z:5.96 [[ 7.93702925e-01 6.08208586e-01 -1.08619903e-02 7.44321327e+01] [-6.08149283e-01 7.93777234e-01 8.49431019e-03 2.00126719e+02] [ 1.37883130e-02 -1.36247261e-04 9.99904927e-01 5.95601882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:200.11, Z:5.96 [[ 7.93131691e-01 6.08958113e-01 -1.05894770e-02 7.44533865e+01] [-6.08901805e-01 7.93202372e-01 8.28184061e-03 2.00106308e+02] [ 1.34428923e-02 -1.20638595e-04 9.99909633e-01 5.95725689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:200.08, Z:5.96 [[ 7.91721283e-01 6.10782896e-01 -1.10301462e-02 7.44744926e+01] [-6.10721986e-01 7.91798109e-01 8.62613864e-03 2.00083906e+02] [ 1.40023468e-02 -9.31447905e-05 9.99901958e-01 5.95816932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:200.06, Z:5.96 [[ 7.91254993e-01 6.11377052e-01 -1.15601416e-02 7.44969690e+01] [-6.11310211e-01 7.91339430e-01 9.04062219e-03 2.00063182e+02] [ 1.46752248e-02 -8.66048467e-05 9.99892309e-01 5.95845697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:200.04, Z:5.96 [[ 7.91111481e-01 6.11552755e-01 -1.20769476e-02 7.45181042e+01] [-6.11479827e-01 7.91203653e-01 9.44464737e-03 2.00043136e+02] [ 1.53312252e-02 -8.69591224e-05 9.99882466e-01 5.95864527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:200.02, Z:5.96 [[ 7.90916771e-01 6.11790947e-01 -1.27475009e-02 7.45370263e+01] [-6.11709745e-01 7.91019488e-01 9.96782392e-03 2.00020879e+02] [ 1.61817461e-02 -8.59485569e-05 9.99869063e-01 5.95907093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:200.00, Z:5.96 [[ 7.91379414e-01 6.11196019e-01 -1.25717459e-02 7.45581666e+01] [-6.11116985e-01 7.91479259e-01 9.82921343e-03 2.00000826e+02] [ 1.59578522e-02 -9.58297190e-05 9.99872661e-01 5.96009857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:199.98, Z:5.96 [[ 7.90800980e-01 6.11958239e-01 -1.18711616e-02 7.45816225e+01] [-6.11887874e-01 7.90890074e-01 9.28013719e-03 1.99983634e+02] [ 1.50678403e-02 -7.49217263e-05 9.99886471e-01 5.96233264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:199.96, Z:5.96 [[ 7.90999979e-01 6.11720682e-01 -1.08092454e-02 7.46019549e+01] [-6.11662338e-01 7.91073828e-01 8.44880963e-03 1.99964947e+02] [ 1.37192227e-02 -7.13999390e-05 9.99905885e-01 5.96472046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:199.94, Z:5.97 [[ 7.90972856e-01 6.11761857e-01 -1.04581060e-02 7.46283952e+01] [-6.11707266e-01 7.91041988e-01 8.17280992e-03 1.99944989e+02] [ 1.32726143e-02 -6.71713960e-05 9.99911913e-01 5.96651571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:199.92, Z:5.97 [[ 7.91504850e-01 6.11080057e-01 -1.00616523e-02 7.46524453e+01] [-6.11029408e-01 7.91568795e-01 7.86800481e-03 1.99924037e+02] [ 1.27724708e-02 -7.95985378e-05 9.99918426e-01 5.96786955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:199.91, Z:5.97 [[ 7.92483762e-01 6.09817187e-01 -9.61698352e-03 7.46737093e+01] [-6.09770782e-01 7.92542106e-01 7.52356701e-03 1.99905118e+02] [ 1.22098648e-02 -9.81491253e-05 9.99925452e-01 5.96893437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:199.88, Z:5.97 [[ 7.94228296e-01 6.07548019e-01 -9.31760548e-03 7.46976572e+01] [-6.07504323e-01 7.94282940e-01 7.28765429e-03 1.99883419e+02] [ 1.18284150e-02 -1.27575639e-04 9.99930034e-01 5.97059459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:199.86, Z:5.97 [[ 7.95051843e-01 6.06477059e-01 -8.83991495e-03 7.47224201e+01] [-6.06437621e-01 7.95100973e-01 6.91769076e-03 1.99862867e+02] [ 1.12240457e-02 -1.39065799e-04 9.99936999e-01 5.97139579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:199.84, Z:5.97 [[ 7.97259732e-01 6.03565578e-01 -9.24734697e-03 7.47454539e+01] [-6.03522172e-01 7.97313336e-01 7.24094074e-03 1.99841167e+02] [ 1.17434156e-02 -1.91931532e-04 9.99931025e-01 5.97161054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:199.82, Z:5.97 [[ 7.98196223e-01 6.02319262e-01 -9.71066089e-03 7.47699676e+01] [-6.02271253e-01 7.98255258e-01 7.60793840e-03 1.99820931e+02] [ 1.23339940e-02 -2.24175790e-04 9.99923908e-01 5.97136988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:199.80, Z:5.97 [[ 7.99273139e-01 6.00892087e-01 -9.54718744e-03 7.47946499e+01] [-6.00845530e-01 7.99330119e-01 7.48401094e-03 1.99800565e+02] [ 1.21284374e-02 -2.45384019e-04 9.99926418e-01 5.97177415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:199.78, Z:5.97 [[ 8.02011968e-01 5.97234981e-01 -9.33706816e-03 7.48179331e+01] [-5.97190154e-01 8.02066262e-01 7.32336528e-03 1.99779099e+02] [ 1.18627173e-02 -2.97421432e-04 9.99929591e-01 5.97218406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.84, Y:199.76, Z:5.97 [[ 8.03161026e-01 5.95692447e-01 -9.10359584e-03 7.48420010e+01] [-5.95649692e-01 8.03212556e-01 7.14385550e-03 1.99758080e+02] [ 1.15676632e-02 -3.15112260e-04 9.99933043e-01 5.97274401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:199.74, Z:5.97 [[ 8.04451696e-01 5.93947632e-01 -9.14767857e-03 7.48648154e+01] [-5.93904299e-01 8.04503630e-01 7.18281605e-03 1.99736763e+02] [ 1.16255572e-02 -3.45382918e-04 9.99932361e-01 5.97362090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:199.72, Z:5.97 [[ 8.06566028e-01 5.91068594e-01 -9.44248831e-03 7.48869664e+01] [-5.91022196e-01 8.06621198e-01 7.41669976e-03 1.99715182e+02] [ 1.20002895e-02 -4.01337886e-04 9.99927913e-01 5.97391241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:199.70, Z:5.97 [[ 8.07024145e-01 5.90434562e-01 -9.95274480e-03 7.49142175e+01] [-5.90382960e-01 8.07085399e-01 7.81793045e-03 1.99697676e+02] [ 1.26486913e-02 -4.33327700e-04 9.99919908e-01 5.97356760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:199.68, Z:5.97 [[ 8.06996282e-01 5.90454908e-01 -1.09545413e-02 7.49396229e+01] [-5.90392321e-01 8.07070487e-01 8.61025023e-03 1.99679032e+02] [ 1.39250515e-02 -4.80962871e-04 9.99902926e-01 5.97246052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.97, Y:199.66, Z:5.97 [[ 8.06563590e-01 5.91043182e-01 -1.10965497e-02 7.49661168e+01] [-5.90978944e-01 8.06639775e-01 8.72704256e-03 1.99659957e+02] [ 1.41089774e-02 -4.81087532e-04 9.99900348e-01 5.97257866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:199.64, Z:5.97 [[ 8.05855590e-01 5.92004968e-01 -1.12643515e-02 7.49932080e+01] [-5.91938837e-01 8.05934175e-01 8.86104724e-03 1.99642034e+02] [ 1.43241098e-02 -4.72917319e-04 9.99897293e-01 5.97260040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.02, Y:199.62, Z:5.97 [[ 8.04184937e-01 5.94268022e-01 -1.14937325e-02 7.50174273e+01] [-5.94199327e-01 8.04266946e-01 9.04654014e-03 1.99622679e+02] [ 1.46200987e-02 -4.45523178e-04 9.99893021e-01 5.97213695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:199.61, Z:5.97 [[ 8.02908812e-01 5.95985230e-01 -1.17917563e-02 7.50461820e+01] [-5.95913061e-01 8.02995282e-01 9.28442833e-03 1.99607332e+02] [ 1.50021068e-02 -4.27687747e-04 9.99887371e-01 5.97257772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:199.59, Z:5.97 [[ 8.01677491e-01 5.97630422e-01 -1.22913871e-02 7.50733579e+01] [-5.97552121e-01 8.01771603e-01 9.68291007e-03 1.99589213e+02] [ 1.56416868e-02 -4.17826589e-04 9.99877574e-01 5.97280519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:199.57, Z:5.97 [[ 8.00560392e-01 5.99128289e-01 -1.21799854e-02 7.51002531e+01] [-5.99051536e-01 8.00652949e-01 9.59754633e-03 1.99570960e+02] [ 1.55021027e-02 -3.86976504e-04 9.99879760e-01 5.97293047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:199.55, Z:5.97 [[ 7.98551660e-01 6.01798757e-01 -1.23896138e-02 7.51277201e+01] [-6.01719572e-01 7.98647693e-01 9.76831491e-03 1.99554162e+02] [ 1.57734962e-02 -3.45430976e-04 9.99875531e-01 5.97407967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:199.54, Z:5.97 [[ 7.97603615e-01 6.03058738e-01 -1.21914576e-02 7.51538850e+01] [-6.02982129e-01 7.97696719e-01 9.61747824e-03 1.99535949e+02] [ 1.55249901e-02 -3.19704328e-04 9.99879429e-01 5.97492724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.18, Y:199.52, Z:5.98 [[ 7.96434715e-01 6.04603180e-01 -1.21136141e-02 7.51801209e+01] [-6.04527640e-01 7.96526779e-01 9.56152662e-03 1.99517175e+02] [ 1.54297474e-02 -2.92117177e-04 9.99880912e-01 5.97540253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.21, Y:199.50, Z:5.98 [[ 7.96347425e-01 6.04710068e-01 -1.25104853e-02 7.52053013e+01] [-6.04629417e-01 7.96445630e-01 9.88066026e-03 1.99496948e+02] [ 1.59388561e-02 -3.04230921e-04 9.99872922e-01 5.97579678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:199.48, Z:5.98 [[ 7.96165493e-01 6.04952402e-01 -1.23733212e-02 7.52316686e+01] [-6.04873445e-01 7.96261578e-01 9.77832135e-03 1.99476526e+02] [ 1.57678193e-02 -3.00868597e-04 9.99875635e-01 5.97653741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.25, Y:199.46, Z:5.98 [[ 7.96913700e-01 6.03973946e-01 -1.20011833e-02 7.52544623e+01] [-6.03899464e-01 7.97003999e-01 9.49020897e-03 1.99455765e+02] [ 1.52968300e-02 -3.15369391e-04 9.99882947e-01 5.97760157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.28, Y:199.44, Z:5.98 [[ 7.97220224e-01 6.03573003e-01 -1.18128935e-02 7.52790764e+01] [-6.03500722e-01 7.97307674e-01 9.34625578e-03 1.99435701e+02] [ 1.50596583e-02 -3.21934379e-04 9.99886545e-01 5.97818906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.30, Y:199.42, Z:5.98 [[ 7.97601601e-01 6.03063834e-01 -1.20705604e-02 7.53039682e+01] [-6.02988223e-01 7.97692857e-01 9.55552924e-03 1.99415821e+02] [ 1.53911939e-02 -3.43099677e-04 9.99881490e-01 5.97853721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.33, Y:199.39, Z:5.98 [[ 7.98357328e-01 6.02057771e-01 -1.23295540e-02 7.53281245e+01] [-6.01978673e-01 7.98452441e-01 9.76614511e-03 1.99394523e+02] [ 1.57243460e-02 -3.74744951e-04 9.99876295e-01 5.97850218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.35, Y:199.37, Z:5.98 [[ 7.98310953e-01 6.02111750e-01 -1.26910952e-02 7.53535318e+01] [-6.02027855e-01 7.98411729e-01 1.00584369e-02 1.99374093e+02] [ 1.61890223e-02 -3.89367499e-04 9.99868873e-01 5.97902978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.38, Y:199.35, Z:5.98 [[ 7.98257838e-01 6.02180352e-01 -1.27768772e-02 7.53792320e+01] [-6.02095221e-01 7.98359986e-01 1.01330069e-02 1.99352782e+02] [ 1.63024452e-02 -3.95855458e-04 9.99867028e-01 5.97945039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:199.33, Z:5.98 [[ 7.98144520e-01 6.02315354e-01 -1.34736438e-02 7.54051276e+01] [-6.02220579e-01 7.98258127e-01 1.06928162e-02 1.99332699e+02] [ 1.71958931e-02 -4.20307101e-04 9.99852051e-01 5.97990508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:199.31, Z:5.98 [[ 7.97803431e-01 6.02759410e-01 -1.38122905e-02 7.54284041e+01] [-6.02659750e-01 7.97922873e-01 1.09688086e-02 1.99310752e+02] [ 1.76326951e-02 -4.26841622e-04 9.99844441e-01 5.97974767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:199.29, Z:5.98 [[ 7.97430482e-01 6.03249130e-01 -1.39683152e-02 7.54546678e+01] [-6.03147157e-01 7.97552698e-01 1.10996178e-02 1.99290477e+02] [ 1.78363023e-02 -4.26223983e-04 9.99840830e-01 5.98012498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:199.27, Z:5.98 [[ 7.96536248e-01 6.04395096e-01 -1.53809332e-02 7.54795392e+01] [-6.04271510e-01 7.96684610e-01 1.22300457e-02 1.99270200e+02] [ 1.96455324e-02 -4.47415020e-04 9.99806908e-01 5.97925567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:199.25, Z:5.98 [[ 7.95737460e-01 6.05431573e-01 -1.59532256e-02 7.55050075e+01] [-6.05298680e-01 7.95897238e-01 1.26922692e-02 1.99251064e+02] [ 2.03814287e-02 -4.43247623e-04 9.99792179e-01 5.97926769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:199.23, Z:5.98 [[ 7.94147738e-01 6.07483349e-01 -1.71274852e-02 7.55285969e+01] [-6.07330478e-01 7.94332298e-01 1.36342120e-02 1.99230836e+02] [ 2.18874714e-02 -4.25534871e-04 9.99760350e-01 5.97768085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:199.21, Z:5.98 [[ 7.93325503e-01 6.08551682e-01 -1.73059364e-02 7.55547111e+01] [-6.08395699e-01 7.93514137e-01 1.37836197e-02 1.99211915e+02] [ 2.21205502e-02 -4.06039761e-04 9.99755228e-01 5.97839294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.58, Y:199.19, Z:5.98 [[ 7.92393348e-01 6.09751842e-01 -1.77615891e-02 7.55773705e+01] [-6.09587661e-01 7.92592292e-01 1.41542575e-02 1.99190879e+02] [ 2.27082832e-02 -3.88493876e-04 9.99742058e-01 5.97727724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:199.17, Z:5.98 [[ 7.92017294e-01 6.10233959e-01 -1.79755691e-02 7.55998979e+01] [-6.10065844e-01 7.92221162e-01 1.43281691e-02 1.99173367e+02] [ 2.29841616e-02 -3.81876934e-04 9.99735756e-01 5.97804461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:199.16, Z:5.98 [[ 7.92062618e-01 6.10175097e-01 -1.79766336e-02 7.56221250e+01] [-6.10006998e-01 7.92266499e-01 1.43268335e-02 1.99155763e+02] [ 2.29841616e-02 -3.81876933e-04 9.99735756e-01 5.97842284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:199.13, Z:5.98 [[ 7.91821458e-01 6.10473819e-01 -1.84525279e-02 7.56464309e+01] [-6.10296729e-01 7.92036343e-01 1.47083015e-02 1.99134115e+02] [ 2.35941057e-02 -3.84831269e-04 9.99721546e-01 5.97926165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters Centerline goodness [0,1] 0.9999565103940158 Centerline is valid? [True, True] Translation: X:75.67, Y:199.11, Z:5.98 [[ 7.91458938e-01 6.10939387e-01 -1.85960882e-02 7.56721573e+01] [-6.10759450e-01 7.91677283e-01 1.48314898e-02 1.99113052e+02] [ 2.37832418e-02 -3.80778532e-04 9.99717066e-01 5.98010608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:199.09, Z:5.98 [[ 7.90929645e-01 6.11623771e-01 -1.86187828e-02 7.56952020e+01] [-6.11443378e-01 7.91148676e-01 1.48582937e-02 1.99091971e+02] [ 2.38179110e-02 -3.67533526e-04 9.99716246e-01 5.97982106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:199.07, Z:5.98 [[ 7.90613606e-01 6.12035424e-01 -1.85139296e-02 7.57179815e+01] [-6.11857091e-01 7.90830268e-01 1.47779060e-02 1.99073947e+02] [ 2.36859778e-02 -3.55734455e-04 9.99719385e-01 5.98034747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:199.06, Z:5.98 [[ 7.90195758e-01 6.12583815e-01 -1.82135703e-02 7.57431251e+01] [-6.12411386e-01 7.90405566e-01 1.45373987e-02 1.99055371e+02] [ 2.33014825e-02 -3.33192896e-04 9.99728428e-01 5.98175179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:199.04, Z:5.98 [[ 7.89294628e-01 6.13753394e-01 -1.79098175e-02 7.57658313e+01] [-6.13586971e-01 7.89497742e-01 1.42949000e-02 1.99038463e+02] [ 2.29133038e-02 -2.93657098e-04 9.99737413e-01 5.98230539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:199.02, Z:5.98 [[ 7.88763466e-01 6.14444736e-01 -1.76028499e-02 7.57894800e+01] [-6.14284173e-01 7.88959818e-01 1.40484974e-02 1.99021295e+02] [ 2.25199666e-02 -2.67789395e-04 9.99746358e-01 5.98347509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:199.00, Z:5.98 [[ 7.88650750e-01 6.14588854e-01 -1.76219876e-02 7.58120426e+01] [-6.14428007e-01 7.88847559e-01 1.40624597e-02 1.99002992e+02] [ 2.25436929e-02 -2.62926669e-04 9.99745824e-01 5.98375207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:198.99, Z:5.98 [[ 7.89019725e-01 6.14135046e-01 -1.69121156e-02 7.58331687e+01] [-6.13986835e-01 7.89200910e-01 1.34940752e-02 1.98985169e+02] [ 2.16342415e-02 -2.63275177e-04 9.99765918e-01 5.98481947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:198.97, Z:5.99 [[ 7.89320013e-01 6.13765494e-01 -1.63044689e-02 7.58566159e+01] [-6.13627704e-01 7.89488347e-01 1.30073570e-02 1.98967236e+02] [ 2.08556551e-02 -2.62093329e-04 9.99782463e-01 5.98608489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:198.95, Z:5.99 [[ 7.90495938e-01 6.12257396e-01 -1.60328899e-02 7.58780302e+01] [-6.12123871e-01 7.90658456e-01 1.27895545e-02 1.98947663e+02] [ 2.05070393e-02 -2.95976201e-04 9.99789665e-01 5.98640510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:198.93, Z:5.99 [[ 7.91428594e-01 6.11050243e-01 -1.60742414e-02 7.58992809e+01] [-6.10915817e-01 7.91591747e-01 1.28207397e-02 1.98928974e+02] [ 2.05583530e-02 -3.26691652e-04 9.99788601e-01 5.98674266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:198.91, Z:5.99 [[ 7.92323164e-01 6.09887035e-01 -1.61805081e-02 7.59223822e+01] [-6.09750622e-01 7.92488282e-01 1.29035756e-02 1.98910131e+02] [ 2.06925866e-02 -3.57726976e-04 9.99785822e-01 5.98732506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.94, Y:198.89, Z:5.99 [[ 7.93806436e-01 6.07949515e-01 -1.63929807e-02 7.59444406e+01] [-6.07809107e-01 7.93975577e-01 1.30718402e-02 1.98891277e+02] [ 2.09626452e-02 -4.12707917e-04 9.99780174e-01 5.98676397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:198.87, Z:5.99 [[ 7.94420812e-01 6.07136870e-01 -1.67449488e-02 7.59687361e+01] [-6.06990207e-01 7.94597146e-01 1.33515404e-02 1.98873170e+02] [ 2.14117010e-02 -4.42721580e-04 9.99770645e-01 5.98729165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:198.85, Z:5.99 [[ 7.94773325e-01 6.06674685e-01 -1.67687076e-02 7.59903889e+01] [-6.06527514e-01 7.94950074e-01 1.33699107e-02 1.98854149e+02] [ 2.14414717e-02 -4.55365846e-04 9.99770002e-01 5.98703063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:198.84, Z:5.99 [[ 7.95262951e-01 6.05998672e-01 -1.79568162e-02 7.60176890e+01] [-6.05829678e-01 7.95465493e-01 1.43195927e-02 1.98836767e+02] [ 2.29616818e-02 -5.09069361e-04 9.99736216e-01 5.98822006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.04, Y:198.82, Z:5.99 [[ 7.95313680e-01 6.05933083e-01 -1.79234271e-02 7.60420100e+01] [-6.05764509e-01 7.95515451e-01 1.43012843e-02 1.98816153e+02] [ 2.29239845e-02 -5.16630996e-04 9.99737077e-01 5.98770501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:198.80, Z:5.99 [[ 7.95366950e-01 6.05854302e-01 -1.82203327e-02 7.60684731e+01] [-6.05679863e-01 7.95575439e-01 1.45473297e-02 1.98797298e+02] [ 2.33092115e-02 -5.34776630e-04 9.99728160e-01 5.98906339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36275509600006 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:76.09, Y:198.78, Z:5.99 [[ 7.95240617e-01 6.06030987e-01 -1.78550725e-02 7.60927752e+01] [-6.05863314e-01 7.95440863e-01 1.42645723e-02 1.98775880e+02] [ 2.28474271e-02 -5.26033899e-04 9.99738825e-01 5.98849871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.12, Y:198.76, Z:5.99 [[ 7.94969669e-01 6.06376643e-01 -1.81822046e-02 7.61201246e+01] [-6.06202649e-01 7.95177391e-01 1.45350082e-02 1.98757699e+02] [ 2.32717675e-02 -5.32790073e-04 9.99729034e-01 5.98980834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:198.74, Z:5.99 [[ 7.94865391e-01 6.06514486e-01 -1.81435836e-02 7.61437075e+01] [-6.06341084e-01 7.95072257e-01 1.45119113e-02 1.98736638e+02] [ 2.32271443e-02 -5.33815901e-04 9.99730071e-01 5.98906952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.17, Y:198.72, Z:5.99 [[ 7.95213509e-01 6.06050843e-01 -1.83807241e-02 7.61702256e+01] [-6.05872594e-01 7.95425711e-01 1.47084368e-02 1.98719067e+02] [ 2.35345610e-02 -5.59970708e-04 9.99722867e-01 5.99016103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:198.70, Z:5.99 [[ 7.95575182e-01 6.05578711e-01 -1.82908413e-02 7.61934141e+01] [-6.05401925e-01 7.95785205e-01 1.46429534e-02 1.98697981e+02] [ 2.34230417e-02 -5.76259788e-04 9.99725477e-01 5.98992914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:198.68, Z:5.99 [[ 7.96023224e-01 6.04988970e-01 -1.83131998e-02 7.62160576e+01] [-6.04811560e-01 7.96233628e-01 1.46624125e-02 1.98679773e+02] [ 2.34521834e-02 -5.95585931e-04 9.99724782e-01 5.99021727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.24, Y:198.66, Z:5.99 [[ 7.97261987e-01 6.03351468e-01 -1.84480583e-02 7.62373020e+01] [-6.03171053e-01 7.97475134e-01 1.47679567e-02 1.98661244e+02] [ 2.36221361e-02 -6.46595708e-04 9.99720749e-01 5.98999735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57275509600004 meters Centerline goodness [0,1] 0.9999783727669882 Centerline is valid? [True, True] Translation: X:76.26, Y:198.64, Z:5.99 [[ 7.97762347e-01 6.02681898e-01 -1.87020433e-02 7.62594970e+01] [-6.02496357e-01 7.97981250e-01 1.49687545e-02 1.98642264e+02] [ 2.39452773e-02 -6.73595738e-04 9.99713044e-01 5.98986293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.29, Y:198.63, Z:5.99 [[ 7.98178891e-01 6.02129902e-01 -1.87093099e-02 7.62866837e+01] [-6.01944012e-01 7.98397834e-01 1.49768121e-02 1.98625619e+02] [ 2.39554589e-02 -6.92218263e-04 9.99712787e-01 5.99216200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:198.60, Z:5.99 [[ 7.99207929e-01 6.00793739e-01 -1.77078738e-02 7.63090760e+01] [-6.00626739e-01 7.99403775e-01 1.41818381e-02 1.98604499e+02] [ 2.26761007e-02 -6.98414995e-04 9.99742620e-01 5.99309409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:198.58, Z:5.99 [[ 7.99740111e-01 6.00085128e-01 -1.77085912e-02 7.63343818e+01] [-5.99917783e-01 7.99935819e-01 1.41893924e-02 1.98584149e+02] [ 2.26805798e-02 -7.24127444e-04 9.99742500e-01 5.99400642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.36, Y:198.56, Z:5.99 [[ 8.01219914e-01 5.98122428e-01 -1.72107671e-02 7.63554732e+01] [-5.97963743e-01 8.01404379e-01 1.37979459e-02 1.98560155e+02] [ 2.20456450e-02 -7.63774295e-04 9.99756674e-01 5.99386766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.38, Y:198.54, Z:6.00 [[ 8.01960016e-01 5.97133768e-01 -1.70703335e-02 7.63815127e+01] [-5.96977278e-01 8.02141284e-01 1.36927421e-02 1.98541742e+02] [ 2.18692179e-02 -7.90430435e-04 9.99760528e-01 5.99563361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75275509600004 meters Centerline goodness [0,1] 0.9999784570973093 Centerline is valid? [True, True] Translation: X:76.40, Y:198.52, Z:6.00 [[ 8.02271515e-01 5.96735841e-01 -1.63325525e-02 7.64026097e+01] [-5.96592356e-01 8.02437375e-01 1.31080254e-02 1.98518236e+02] [ 2.09278791e-02 -7.72319453e-04 9.99780690e-01 5.99593612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:198.50, Z:6.00 [[ 8.02752810e-01 5.96099164e-01 -1.59283548e-02 7.64290236e+01] [-5.95962430e-01 8.02910447e-01 1.27904582e-02 1.98500224e+02] [ 2.04134239e-02 -7.74875220e-04 9.99791324e-01 5.99798960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:198.48, Z:6.00 [[ 8.03236895e-01 5.95459871e-01 -1.54283233e-02 7.64509888e+01] [-5.95331337e-01 8.03384682e-01 1.23956930e-02 1.98478327e+02] [ 1.97760163e-02 -7.71713603e-04 9.99804138e-01 5.99922809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8427550960001 meters Centerline goodness [0,1] 0.9999783755730474 Centerline is valid? [True, True] Translation: X:76.47, Y:198.45, Z:6.00 [[ 8.03368236e-01 5.95287689e-01 -1.52329899e-02 7.64714005e+01] [-5.95162234e-01 8.03512273e-01 1.22451077e-02 1.98454079e+02] [ 1.95292562e-02 -7.71230283e-04 9.99808988e-01 5.99892262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87275509600005 meters Centerline goodness [0,1] 0.9999783853885227 Centerline is valid? [True, True] Translation: X:76.50, Y:198.44, Z:6.00 [[ 8.03240238e-01 5.95463573e-01 -1.51080512e-02 7.64998842e+01] [-5.95340069e-01 8.03381943e-01 1.21513765e-02 1.98437439e+02] [ 1.93732376e-02 -7.66046279e-04 9.99812028e-01 6.00029335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:198.42, Z:6.00 [[ 8.02563013e-01 5.96379007e-01 -1.49896322e-02 7.65237349e+01] [-5.96257452e-01 8.02702639e-01 1.20633445e-02 1.98417169e+02] [ 1.92265428e-02 -7.43914206e-04 9.99814876e-01 6.00057701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:198.40, Z:6.00 [[ 8.01701493e-01 5.97532150e-01 -1.51672459e-02 7.65491465e+01] [-5.97407777e-01 8.01844621e-01 1.22127559e-02 1.98397258e+02] [ 1.94592888e-02 -7.29953957e-04 9.99810384e-01 6.00050966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:198.38, Z:6.00 [[ 7.99773396e-01 6.00085610e-01 -1.61175911e-02 7.65756390e+01] [-5.99945568e-01 7.99935467e-01 1.29832540e-02 1.98380195e+02] [ 2.06840966e-02 -7.13983785e-04 9.99785806e-01 6.00055668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:198.36, Z:6.00 [[ 7.98694687e-01 6.01516285e-01 -1.62774911e-02 7.65997496e+01] [-6.01373699e-01 7.98860244e-01 1.31142790e-02 1.98360240e+02] [ 2.08918929e-02 -6.85449971e-04 9.99781506e-01 6.00075361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters Centerline goodness [0,1] 0.9999350382191811 Centerline is valid? [True, True] Translation: X:76.62, Y:198.34, Z:6.00 [[ 7.97534024e-01 6.03028469e-01 -1.72088673e-02 7.66236052e+01] [-6.02869323e-01 7.97719370e-01 1.38703387e-02 1.98339887e+02] [ 2.20920559e-02 -6.87368843e-04 9.99755704e-01 5.99973686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:198.32, Z:6.00 [[ 7.95238073e-01 6.06036245e-01 -1.77898142e-02 7.66507243e+01] [-6.05866802e-01 7.95436783e-01 1.43437350e-02 1.98322897e+02] [ 2.28434959e-02 -6.28426329e-04 9.99738856e-01 6.00089658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:198.30, Z:6.00 [[ 7.94091182e-01 6.07533463e-01 -1.79523077e-02 7.66738832e+01] [-6.07361197e-01 7.94293862e-01 1.44788631e-02 1.98302323e+02] [ 2.30558017e-02 -5.94002428e-04 9.99734003e-01 6.00023773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:198.28, Z:6.00 [[ 7.93208265e-01 6.08686506e-01 -1.79272288e-02 7.67006212e+01] [-6.08514838e-01 7.93410623e-01 1.44663196e-02 1.98284816e+02] [ 2.30291073e-02 -5.65819565e-04 9.99734635e-01 6.00203197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:198.27, Z:6.00 [[ 7.91709022e-01 6.10643325e-01 -1.76508889e-02 7.67244318e+01] [-6.10477220e-01 7.91905596e-01 1.42510047e-02 1.98265094e+02] [ 2.26801185e-02 -5.07183424e-04 9.99742644e-01 6.00321555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:198.24, Z:6.00 [[ 7.90937659e-01 6.11629641e-01 -1.80776942e-02 7.67498380e+01] [-6.11455477e-01 7.91144068e-01 1.46035324e-02 1.98244810e+02] [ 2.32340138e-02 -4.96778560e-04 9.99729930e-01 6.00386112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:198.22, Z:6.00 [[ 7.90506184e-01 6.12170332e-01 -1.86401985e-02 7.67723581e+01] [-6.11985130e-01 7.90725763e-01 1.50654495e-02 1.98221345e+02] [ 2.39619065e-02 -5.01806701e-04 9.99712746e-01 6.00261523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:198.20, Z:6.00 [[ 7.90181488e-01 6.12579706e-01 -1.89557271e-02 7.68001934e+01] [-6.12388106e-01 7.90408660e-01 1.53283505e-02 1.98203429e+02] [ 2.43726073e-02 -5.03916994e-04 9.99702817e-01 6.00469283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:198.18, Z:6.00 [[ 7.89582246e-01 6.13353354e-01 -1.89087505e-02 7.68243298e+01] [-6.13162704e-01 7.89808475e-01 1.52993636e-02 1.98183809e+02] [ 2.43182074e-02 -4.85965289e-04 9.99704151e-01 6.00496486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:198.16, Z:6.01 [[ 7.89512209e-01 6.13460563e-01 -1.83469197e-02 7.68492088e+01] [-6.13280910e-01 7.89725213e-01 1.48530821e-02 1.98162887e+02] [ 2.36008052e-02 -4.74874108e-04 9.99721349e-01 6.00730743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:198.14, Z:6.01 [[ 7.89419437e-01 6.13597554e-01 -1.77480935e-02 7.68751537e+01] [-6.13429269e-01 7.89618787e-01 1.43772060e-02 1.98142193e+02] [ 2.28360465e-02 -4.62445842e-04 9.99739117e-01 6.00908767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:198.12, Z:6.01 [[ 7.89673185e-01 6.13275728e-01 -1.75824432e-02 7.68988993e+01] [-6.13110293e-01 7.89868759e-01 1.42517449e-02 1.98121469e+02] [ 2.26280718e-02 -4.74243838e-04 9.99743840e-01 6.00931655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:198.10, Z:6.01 [[ 7.90771445e-01 6.11838545e-01 -1.82788669e-02 7.69228241e+01] [-6.11659161e-01 7.90982490e-01 1.48246620e-02 1.98100895e+02] [ 2.35285633e-02 -5.42482959e-04 9.99723018e-01 6.00998566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:198.08, Z:6.01 [[ 7.91301381e-01 6.11134357e-01 -1.88923707e-02 7.69461921e+01] [-6.10942334e-01 7.91526658e-01 1.53301544e-02 1.98080088e+02] [ 2.43225991e-02 -5.88623337e-04 9.99703989e-01 6.00963257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:198.06, Z:6.01 [[ 7.92647089e-01 6.09370961e-01 -1.94325703e-02 7.69704927e+01] [-6.09167058e-01 7.92884977e-01 1.57768599e-02 1.98059270e+02] [ 2.50217533e-02 -6.67800440e-04 9.99686684e-01 6.00983571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:198.04, Z:6.01 [[ 7.93284959e-01 6.08537115e-01 -1.95334025e-02 7.69973141e+01] [-6.08330614e-01 7.93525099e-01 1.58675984e-02 1.98040969e+02] [ 2.51562678e-02 -7.04760421e-04 9.99683283e-01 6.01166677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:198.02, Z:6.01 [[ 7.93649103e-01 6.08054479e-01 -1.97699644e-02 7.70206334e+01] [-6.07842568e-01 7.93894961e-01 1.60687213e-02 1.98019738e+02] [ 2.54659331e-02 -7.35900300e-04 9.99675420e-01 6.01141440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:198.00, Z:6.01 [[ 7.94236325e-01 6.07262160e-01 -2.05263109e-02 7.70472303e+01] [-6.07033211e-01 7.94501122e-01 1.66927631e-02 1.98000906e+02] [ 2.64450604e-02 -7.97846443e-04 9.99649950e-01 6.01127321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:197.98, Z:6.01 [[ 7.94294710e-01 6.07170547e-01 -2.09723585e-02 7.70731654e+01] [-6.06931241e-01 7.94571107e-01 1.70653205e-02 1.97981831e+02] [ 2.70255901e-02 -8.26114233e-04 9.99634401e-01 6.01168844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:197.96, Z:6.01 [[ 7.94391716e-01 6.07030027e-01 -2.13622888e-02 7.70958637e+01] [-6.06781420e-01 7.94678436e-01 1.73922760e-02 1.97960336e+02] [ 2.75337840e-02 -8.54040010e-04 9.99620509e-01 6.01050195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:197.94, Z:6.01 [[ 7.94194873e-01 6.07291730e-01 -2.12428719e-02 7.71236564e+01] [-6.07045710e-01 7.94478468e-01 1.73052091e-02 1.97941786e+02] [ 2.73863147e-02 -8.48314102e-04 9.99624565e-01 6.01193720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:197.92, Z:6.01 [[ 7.93902960e-01 6.07668325e-01 -2.13845092e-02 7.71486566e+01] [-6.07418849e-01 7.94190459e-01 1.74314759e-02 1.97921235e+02] [ 2.75759290e-02 -8.49546361e-04 9.99619351e-01 6.01251576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:197.90, Z:6.01 [[ 7.93712935e-01 6.07916694e-01 -2.13792114e-02 7.71736964e+01] [-6.07667133e-01 7.94000360e-01 1.74379723e-02 1.97900607e+02] [ 2.75759360e-02 -8.49300077e-04 9.99619351e-01 6.01295002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:197.88, Z:6.01 [[ 7.93242529e-01 6.08532780e-01 -2.13107204e-02 7.71975952e+01] [-6.08284764e-01 7.93528300e-01 1.73920759e-02 1.97880445e+02] [ 2.74943081e-02 -8.33147769e-04 9.99621613e-01 6.01381677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.22, Y:197.86, Z:6.02 [[ 7.92984548e-01 6.08885695e-01 -2.08259033e-02 7.72242034e+01] [-6.08648713e-01 7.93257560e-01 1.70055345e-02 1.97862515e+02] [ 2.68747319e-02 -8.09466809e-04 9.99638481e-01 6.01582392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:197.84, Z:6.02 [[ 7.92657843e-01 6.09321226e-01 -2.05228402e-02 7.72481008e+01] [-6.09090997e-01 7.92923085e-01 1.67671938e-02 1.97841906e+02] [ 2.64896408e-02 -7.90370515e-04 9.99648775e-01 6.01587616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:197.82, Z:6.02 [[ 7.92344888e-01 6.09741440e-01 -2.01234726e-02 7.72736476e+01] [-6.09519992e-01 7.92600017e-01 1.64497332e-02 1.97822334e+02] [ 2.59799487e-02 -7.68203191e-04 9.99662169e-01 6.01685406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:197.80, Z:6.02 [[ 7.92060103e-01 6.10149462e-01 -1.89321901e-02 7.72977228e+01] [-6.09953379e-01 7.92286010e-01 1.54839902e-02 1.97803356e+02] [ 2.44472576e-02 -7.16497562e-04 9.99700864e-01 6.01831576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:197.78, Z:6.02 [[ 7.91655869e-01 6.10696514e-01 -1.81865957e-02 7.73225358e+01] [-6.10515537e-01 7.91864450e-01 1.48819258e-02 1.97782524e+02] [ 2.34896588e-02 -6.78164643e-04 9.99723850e-01 6.01957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:197.76, Z:6.02 [[ 7.91131796e-01 6.11404653e-01 -1.71706866e-02 7.73459521e+01] [-6.11243362e-01 7.91317862e-01 1.40567917e-02 1.97761746e+02] [ 2.21818589e-02 -6.25306637e-04 9.99753757e-01 6.02134712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.37, Y:197.74, Z:6.02 [[ 7.90943057e-01 6.11669961e-01 -1.63993908e-02 7.73699397e+01] [-6.11522831e-01 7.91112829e-01 1.34282959e-02 1.97742317e+02] [ 2.11874537e-02 -5.92415555e-04 9.99775345e-01 6.02198433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:197.73, Z:6.02 [[ 7.90037069e-01 6.12873422e-01 -1.50863571e-02 7.73934463e+01] [-6.12749123e-01 7.90180931e-01 1.23535044e-02 1.97725452e+02] [ 1.94920862e-02 -5.15574334e-04 9.99809878e-01 6.02307486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98275509600006 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:77.42, Y:197.71, Z:6.02 [[ 7.89801409e-01 6.13187192e-01 -1.46697441e-02 7.74166840e+01] [-6.13069733e-01 7.89937481e-01 1.20115767e-02 1.97707318e+02] [ 1.89535257e-02 -4.93184051e-04 9.99820244e-01 6.02360072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:197.69, Z:6.02 [[ 7.89424339e-01 6.13678252e-01 -1.44297106e-02 7.74391725e+01] [-6.13564709e-01 7.89556065e-01 1.18138922e-02 1.97689780e+02] [ 1.86429942e-02 -4.72612848e-04 9.99826093e-01 6.02399895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:197.67, Z:6.02 [[ 7.88953171e-01 6.14291763e-01 -1.40898487e-02 7.74615368e+01] [-6.14183637e-01 7.89078850e-01 1.15338051e-02 1.97672443e+02] [ 1.82031231e-02 -4.45877596e-04 9.99834210e-01 6.02376835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:197.65, Z:6.02 [[ 7.88914288e-01 6.14347700e-01 -1.38257053e-02 7.74835886e+01] [-6.14243635e-01 7.89035306e-01 1.13155944e-02 1.97654617e+02] [ 1.78606790e-02 -4.34682561e-04 9.99840391e-01 6.02411019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10275509600007 meters Centerline goodness [0,1] 0.9999571908645305 Centerline is valid? [True, True] Translation: X:77.51, Y:197.64, Z:6.02 [[ 7.88835809e-01 6.14456363e-01 -1.34701217e-02 7.75068366e+01] [-6.14357626e-01 7.88950697e-01 1.10229599e-02 1.97637787e+02] [ 1.74003898e-02 -4.19833484e-04 9.99848514e-01 6.02497118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13275509600004 meters Centerline goodness [0,1] 0.9999143798963996 Centerline is valid? [True, True] Translation: X:77.53, Y:197.62, Z:6.02 [[ 7.89319909e-01 6.13846185e-01 -1.29206121e-02 7.75276122e+01] [-6.13755286e-01 7.89425544e-01 1.05716367e-02 1.97619784e+02] [ 1.66892201e-02 -4.14309312e-04 9.99860639e-01 6.02482347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:197.60, Z:6.02 [[ 7.89635316e-01 6.13438166e-01 -1.30263005e-02 7.75508850e+01] [-6.13345751e-01 7.89742640e-01 1.06561142e-02 1.97602740e+02] [ 1.68242921e-02 -4.24818005e-04 9.99858371e-01 6.02479589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:197.59, Z:6.02 [[ 7.90098403e-01 6.12838631e-01 -1.31653369e-02 7.75736639e+01] [-6.12744179e-01 7.90207959e-01 1.07681322e-02 1.97585794e+02] [ 1.70024814e-02 -4.40900541e-04 9.99855350e-01 6.02468735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:197.57, Z:6.02 [[ 7.91218220e-01 6.11389896e-01 -1.32711638e-02 7.75989334e+01] [-6.11293721e-01 7.91329368e-01 1.08543705e-02 1.97565386e+02] [ 1.71381141e-02 -4.75596642e-04 9.99853019e-01 6.02477927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25275509600004 meters Centerline goodness [0,1] 0.999914350563145 Centerline is valid? [True, True] Translation: X:77.62, Y:197.54, Z:6.02 [[ 7.91837121e-01 6.10594548e-01 -1.29719675e-02 7.76203739e+01] [-6.10502468e-01 7.91943219e-01 1.06148509e-02 1.97541845e+02] [ 1.67544318e-02 -4.85814775e-04 9.99859517e-01 6.02459302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2827550960001 meters Centerline goodness [0,1] 0.9999142330288606 Centerline is valid? [True, True] Translation: X:77.64, Y:197.52, Z:6.03 [[ 7.92379197e-01 6.09900003e-01 -1.25377452e-02 7.76431094e+01] [-6.09813861e-01 7.92478233e-01 1.02618048e-02 1.97523375e+02] [ 1.61945649e-02 -4.85549836e-04 9.99868742e-01 6.02524290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31275509600005 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:77.67, Y:197.51, Z:6.03 [[ 7.92979367e-01 6.09124062e-01 -1.23126307e-02 7.76704179e+01] [-6.09040897e-01 7.93074798e-01 1.00772382e-02 1.97506372e+02] [ 1.59031254e-02 -4.92146291e-04 9.99873416e-01 6.02642518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:197.49, Z:6.03 [[ 7.92993405e-01 6.09108568e-01 -1.21742654e-02 7.76965960e+01] [-6.09027173e-01 7.93086698e-01 9.96951583e-03 1.97486306e+02] [ 1.57277654e-02 -4.91301888e-04 9.99876190e-01 6.02699401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:197.46, Z:6.03 [[ 7.92714509e-01 6.09476532e-01 -1.19191165e-02 7.77190115e+01] [-6.09398462e-01 7.92803966e-01 9.76655453e-03 1.97463689e+02] [ 1.54020087e-02 -4.78598181e-04 9.99881268e-01 6.02678423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:197.45, Z:6.03 [[ 7.91409683e-01 6.11177189e-01 -1.15394031e-02 7.77495090e+01] [-6.11104116e-01 7.91493685e-01 9.46075985e-03 1.97450893e+02] [ 1.49155653e-02 -4.35560215e-04 9.99888662e-01 6.02747734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:197.43, Z:6.03 [[ 7.90423199e-01 6.12457367e-01 -1.12756591e-02 7.77749972e+01] [-6.12387658e-01 7.90503516e-01 9.24920449e-03 1.97432529e+02] [ 1.45781916e-02 -4.05711340e-04 9.99893650e-01 6.02820969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:197.42, Z:6.03 [[ 7.88642454e-01 6.14765959e-01 -1.02905095e-02 7.78017894e+01] [-6.14708087e-01 7.88709519e-01 8.44171739e-03 1.97417169e+02] [ 1.33059033e-02 -3.31837330e-04 9.99911418e-01 6.02951514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:197.40, Z:6.03 [[ 7.87884939e-01 6.15748520e-01 -9.54374599e-03 7.78262161e+01] [-6.15698813e-01 7.87942685e-01 7.82916839e-03 1.97400210e+02] [ 1.23407237e-02 -2.92410780e-04 9.99923808e-01 6.03030999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:197.38, Z:6.03 [[ 7.87030068e-01 6.16843642e-01 -9.35912724e-03 7.78510136e+01] [-6.16795926e-01 7.87085668e-01 7.67705246e-03 1.97382710e+02] [ 1.21019759e-02 -2.69399568e-04 9.99926732e-01 6.03078485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:197.37, Z:6.03 [[ 7.86561077e-01 6.17439011e-01 -9.52576332e-03 7.78733700e+01] [-6.17389623e-01 7.86618711e-01 7.81386910e-03 1.97365553e+02] [ 1.23177313e-02 -2.64977867e-04 9.99924099e-01 6.03112635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:197.35, Z:6.03 [[ 7.86152292e-01 6.17967513e-01 -8.98479610e-03 7.78984428e+01] [-6.17923626e-01 7.86203596e-01 7.36871207e-03 1.97350104e+02] [ 1.16175037e-02 -2.41012102e-04 9.99932485e-01 6.03207941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:197.33, Z:6.03 [[ 7.86215001e-01 6.17889799e-01 -8.84127766e-03 7.79223136e+01] [-6.17847312e-01 7.86264676e-01 7.24977305e-03 1.97332918e+02] [ 1.14311451e-02 -2.37320694e-04 9.99934634e-01 6.03233703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:197.32, Z:6.03 [[ 7.87011535e-01 6.16869852e-01 -9.18860733e-03 7.79443230e+01] [-6.16823897e-01 7.87065129e-01 7.53405528e-03 1.97315682e+02] [ 1.18795640e-02 -2.61635825e-04 9.99929401e-01 6.03221935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:197.30, Z:6.03 [[ 7.87570000e-01 6.16151458e-01 -9.53287409e-03 7.79667467e+01] [-6.16101963e-01 7.87627642e-01 7.81467630e-03 1.97297445e+02] [ 1.23233793e-02 -2.81382170e-04 9.99924025e-01 6.03194085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:197.28, Z:6.03 [[ 7.88361210e-01 6.15135926e-01 -9.71571999e-03 7.79890180e+01] [-6.15084454e-01 7.88421018e-01 7.96328892e-03 1.97279423e+02] [ 1.25585829e-02 -3.01959766e-04 9.99921092e-01 6.03186227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:197.26, Z:6.03 [[ 7.89911875e-01 6.13144490e-01 -9.64693656e-03 7.80106831e+01] [-6.13093611e-01 7.89970711e-01 7.90567670e-03 1.97260341e+02] [ 1.24681194e-02 -3.30312744e-04 9.99922215e-01 6.03180483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:197.24, Z:6.03 [[ 7.90882268e-01 6.11889568e-01 -9.81810656e-03 7.80310768e+01] [-6.11836786e-01 7.90943127e-01 8.04467690e-03 1.97241051e+02] [ 1.26880178e-02 -3.55313545e-04 9.99919441e-01 6.03226248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:197.68, Z:7.20 [[ 8.02444694e-01 -5.96627436e-01 1.08727218e-02 7.83785100e+01] [-5.96562258e-01 -8.02518121e-01 -8.83955671e-03 1.97682183e+02] [ 1.39994784e-02 6.06999880e-04 -9.99901818e-01 7.20494030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:197.22, Z:6.03 [[ 8.39143748e-01 5.43805266e-01 -1.06584652e-02 7.81090172e+01] [-5.43754855e-01 8.39211326e-01 7.41668670e-03 1.97217234e+02] [ 1.29779380e-02 -4.28074069e-04 9.99915691e-01 6.03222761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:197.20, Z:6.03 [[ 8.40155639e-01 5.42228984e-01 -1.12353120e-02 7.81334474e+01] [-5.42172848e-01 8.40230625e-01 7.81663380e-03 1.97203337e+02] [ 1.36786586e-02 -4.75707866e-04 9.99906330e-01 6.03183628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:197.18, Z:6.03 [[ 8.42001565e-01 5.39335422e-01 -1.22747033e-02 7.81578479e+01] [-5.39268137e-01 8.42090837e-01 8.53803376e-03 1.97183194e+02] [ 1.49412792e-02 -5.69681416e-04 9.99888211e-01 6.03154774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:197.16, Z:6.03 [[ 8.42758642e-01 5.38134367e-01 -1.30105577e-02 7.81832113e+01] [-5.38058606e-01 8.42858831e-01 9.05133466e-03 1.97162947e+02] [ 1.58368977e-02 -6.27647953e-04 9.99874391e-01 6.03172589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:197.14, Z:6.03 [[ 8.43642156e-01 5.36742846e-01 -1.32299169e-02 7.82010861e+01] [-5.36664273e-01 8.43745620e-01 9.20798219e-03 1.97139949e+02] [ 1.61050030e-02 -6.68218193e-04 9.99870083e-01 6.03146152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:197.13, Z:6.03 [[ 8.44339280e-01 5.35623769e-01 -1.40839745e-02 7.82290982e+01] [-5.35534599e-01 8.44456418e-01 9.80063700e-03 1.97129163e+02] [ 1.71427568e-02 -7.32607148e-04 9.99852784e-01 6.03167781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:197.11, Z:6.03 [[ 8.44285802e-01 5.35695090e-01 -1.45689810e-02 7.82497666e+01] [-5.35599712e-01 8.44411156e-01 1.01364414e-02 1.97108608e+02] [ 1.77322520e-02 -7.54911578e-04 9.99842486e-01 6.03117730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:197.10, Z:6.03 [[ 8.43189806e-01 5.37409494e-01 -1.48992300e-02 7.82772265e+01] [-5.37310032e-01 8.43321111e-01 1.03649554e-02 1.97095724e+02] [ 1.81350606e-02 -7.34118967e-04 9.99835277e-01 6.03216977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06275509600005 meters Centerline goodness [0,1] 0.999978747369987 Centerline is valid? [True, True] Translation: X:78.30, Y:197.07, Z:6.03 [[ 8.42568280e-01 5.38377348e-01 -1.51169985e-02 7.82978804e+01] [-5.38275131e-01 8.42703571e-01 1.05154880e-02 1.97074277e+02] [ 1.84004492e-02 -7.22912299e-04 9.99830436e-01 6.03137323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:197.06, Z:6.03 [[ 8.41747803e-01 5.39654629e-01 -1.52812816e-02 7.83252852e+01] [-5.39550409e-01 8.41886209e-01 1.06285885e-02 1.97063474e+02] [ 1.86008672e-02 -7.01569294e-04 9.99826743e-01 6.03247699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:197.05, Z:6.03 [[ 8.39457163e-01 5.43222178e-01 -1.48774304e-02 7.83486241e+01] [-5.43123975e-01 8.39588768e-01 1.03464016e-02 1.97046321e+02] [ 1.81113183e-02 -6.05071812e-04 9.99835794e-01 6.03345538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.38, Y:197.04, Z:6.04 [[ 8.38287087e-01 5.45039567e-01 -1.43746120e-02 7.83805094e+01] [-5.44948168e-01 8.38410145e-01 9.99611251e-03 1.97040780e+02] [ 1.75000974e-02 -5.46193550e-04 9.99846712e-01 6.03617392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.40, Y:197.02, Z:6.04 [[ 8.36937816e-01 5.47104818e-01 -1.45399452e-02 7.84008583e+01] [-5.47011639e-01 8.37063952e-01 1.01097341e-02 1.97020462e+02] [ 1.77019482e-02 -5.07699506e-04 9.99843179e-01 6.03553116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.43, Y:197.01, Z:6.04 [[ 8.34534468e-01 5.50771820e-01 -1.42345903e-02 7.84312497e+01] [-5.50683067e-01 8.34655753e-01 9.89614405e-03 1.97012547e+02] [ 1.73315000e-02 -4.19925450e-04 9.99849710e-01 6.03768806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:197.00, Z:6.04 [[ 8.33419481e-01 5.52473988e-01 -1.35816459e-02 7.84546605e+01] [-5.52393439e-01 8.33530059e-01 9.44087831e-03 1.96997000e+02] [ 1.65365498e-02 -3.65799816e-04 9.99863195e-01 6.03825038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:196.98, Z:6.04 [[ 8.31729937e-01 5.55011064e-01 -1.37124277e-02 7.84820154e+01] [-5.54929328e-01 8.31842905e-01 9.53007771e-03 1.96984248e+02] [ 1.66958843e-02 -3.17022621e-04 9.99860564e-01 6.03896512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:196.97, Z:6.04 [[ 8.30874729e-01 5.56294131e-01 -1.35655582e-02 7.85044446e+01] [-5.56214323e-01 8.30985414e-01 9.42702033e-03 1.96968325e+02] [ 1.65169771e-02 -2.87315203e-04 9.99863544e-01 6.03886042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:196.95, Z:6.04 [[ 8.30296154e-01 5.57162745e-01 -1.33405795e-02 7.85298619e+01] [-5.57085705e-01 8.30403279e-01 9.26889471e-03 1.96954659e+02] [ 1.62423437e-02 -2.64081528e-04 9.99868050e-01 6.03950136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:196.94, Z:6.04 [[ 8.29921279e-01 5.57730391e-01 -1.29415004e-02 7.85524002e+01] [-5.57657983e-01 8.30022139e-01 8.99014656e-03 1.96938451e+02] [ 1.57558098e-02 -2.44182914e-04 9.99875840e-01 6.03995747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:196.92, Z:6.04 [[ 8.29893927e-01 5.57793113e-01 -1.19546334e-02 7.85782315e+01] [-5.57731356e-01 8.29979996e-01 8.30306864e-03 1.96924366e+02] [ 1.45535011e-02 -2.23192327e-04 9.99894067e-01 6.04151486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:196.91, Z:6.04 [[ 8.30296444e-01 5.57199977e-01 -1.16619464e-02 7.86002696e+01] [-5.57141168e-01 8.30378308e-01 8.09845940e-03 1.96907834e+02] [ 1.41962887e-02 -2.26771623e-04 9.99899202e-01 6.04208413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:196.89, Z:6.04 [[ 8.31752177e-01 5.55030652e-01 -1.13706167e-02 7.86216838e+01] [-5.54974563e-01 8.31829856e-01 7.89459735e-03 1.96888709e+02] [ 1.38401620e-02 -2.55945516e-04 9.99904188e-01 6.04193911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:196.87, Z:6.04 [[ 8.32606747e-01 5.53745133e-01 -1.15035909e-02 7.86443005e+01] [-5.53687615e-01 8.32686165e-01 7.98592921e-03 1.96871249e+02] [ 1.40010504e-02 -2.79742733e-04 9.99901941e-01 6.04194007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:196.85, Z:6.04 [[ 8.33451239e-01 5.52471296e-01 -1.15973493e-02 7.86663202e+01] [-5.52412733e-01 8.33531868e-01 8.04969017e-03 1.96853711e+02] [ 1.41139829e-02 -3.02500854e-04 9.99900347e-01 6.04169266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.69, Y:196.83, Z:6.04 [[ 8.34880930e-01 5.50306272e-01 -1.16978384e-02 7.86919404e+01] [-5.50246493e-01 8.34962808e-01 8.11821947e-03 1.96834619e+02] [ 1.42347671e-02 -3.41052076e-04 9.99898622e-01 6.04154503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:196.82, Z:6.04 [[ 8.34708624e-01 5.50567640e-01 -1.16955963e-02 7.87184987e+01] [-5.50507842e-01 8.34790487e-01 8.12144832e-03 1.96815978e+02] [ 1.42347792e-02 -3.40525464e-04 9.99898622e-01 6.04197778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:196.80, Z:6.04 [[ 8.35162777e-01 5.49869332e-01 -1.21183360e-02 7.87439231e+01] [-5.49804975e-01 8.35250610e-01 8.42073755e-03 1.96796204e+02] [ 1.47521528e-02 -3.69965163e-04 9.99891113e-01 6.04240944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:196.77, Z:6.04 [[ 8.36596266e-01 5.47678557e-01 -1.24452994e-02 7.87631003e+01] [-5.47610372e-01 8.36688723e-01 8.65228910e-03 1.96774898e+02] [ 1.51515149e-02 -4.23297727e-04 9.99885120e-01 6.04240474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:196.76, Z:6.04 [[ 8.37186828e-01 5.46764926e-01 -1.28969614e-02 7.87851544e+01] [-5.46691619e-01 8.37286038e-01 8.96459696e-03 1.96757653e+02] [ 1.56999729e-02 -4.54381776e-04 9.99876645e-01 6.04215175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:196.74, Z:6.04 [[ 8.37480493e-01 5.46317181e-01 -1.28047544e-02 7.88088023e+01] [-5.46244896e-01 8.37578252e-01 8.89860349e-03 1.96740613e+02] [ 1.55864438e-02 -4.57875082e-04 9.99878419e-01 6.04246599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:196.72, Z:6.04 [[ 8.37859513e-01 5.45717272e-01 -1.35681768e-02 7.88314506e+01] [-5.45636062e-01 8.37969220e-01 9.42732230e-03 1.96723484e+02] [ 1.65143672e-02 -4.95485093e-04 9.99863506e-01 6.04198120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:196.71, Z:6.04 [[ 8.37971216e-01 5.45544955e-01 -1.35994053e-02 7.88562092e+01] [-5.45463384e-01 8.38081412e-01 9.44687005e-03 1.96710151e+02] [ 1.65511011e-02 -4.98227552e-04 9.99862897e-01 6.04292524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:196.69, Z:6.04 [[ 8.37312346e-01 5.46555403e-01 -1.36098293e-02 7.88800541e+01] [-5.46473866e-01 8.37422811e-01 9.45252833e-03 1.96691905e+02] [ 1.65635120e-02 -4.77302612e-04 9.99862702e-01 6.04344178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:196.68, Z:6.04 [[ 8.36627320e-01 5.47607950e-01 -1.34261293e-02 7.89085840e+01] [-5.47528692e-01 8.36734921e-01 9.32757629e-03 1.96676133e+02] [ 1.63419662e-02 -4.52514125e-04 9.99866359e-01 6.04467234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:196.66, Z:6.04 [[ 8.36002264e-01 5.48570937e-01 -1.30438503e-02 7.89286691e+01] [-5.48496180e-01 8.36103909e-01 9.06609216e-03 1.96656617e+02] [ 1.58794089e-02 -4.24771481e-04 9.99873824e-01 6.04499522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:196.64, Z:6.05 [[ 8.34942575e-01 5.50194821e-01 -1.25121942e-02 7.89552944e+01] [-5.50126239e-01 8.35036237e-01 8.69506674e-03 1.96644242e+02] [ 1.52321162e-02 -3.76595107e-04 9.99883914e-01 6.04632760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:196.63, Z:6.05 [[ 8.32446328e-01 5.53978026e-01 -1.18935908e-02 7.89795738e+01] [-5.53916462e-01 8.32531238e-01 8.26383081e-03 1.96628818e+02] [ 1.44797665e-02 -2.91139893e-04 9.99895120e-01 6.04741124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:196.61, Z:6.05 [[ 8.30802785e-01 5.56440923e-01 -1.18419038e-02 7.90052407e+01] [-5.56380157e-01 8.30887139e-01 8.22692223e-03 1.96614258e+02] [ 1.44170817e-02 -2.46349624e-04 9.99896038e-01 6.04800418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:196.60, Z:6.05 [[ 8.27303103e-01 5.61628446e-01 -1.19609441e-02 7.90323779e+01] [-5.61567006e-01 8.27389548e-01 8.30864674e-03 1.96601964e+02] [ 1.45627324e-02 -1.56897686e-04 9.99893945e-01 6.04823198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:196.59, Z:6.05 [[ 8.25525395e-01 5.64233989e-01 -1.21584455e-02 7.90575100e+01] [-5.64170796e-01 8.25614918e-01 8.44509313e-03 1.96586781e+02] [ 1.48032026e-02 -1.12198976e-04 9.99890420e-01 6.04821575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:196.57, Z:6.05 [[ 8.23856192e-01 5.66671378e-01 -1.20218026e-02 7.90841968e+01] [-5.66609869e-01 8.23943897e-01 8.34932343e-03 1.96570706e+02] [ 1.46366135e-02 -6.69698202e-05 9.99892877e-01 6.04869333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:196.56, Z:6.05 [[ 8.21034635e-01 5.70760870e-01 -1.15826079e-02 7.91091101e+01] [-5.70704171e-01 8.21116331e-01 8.04486272e-03 1.96555960e+02] [ 1.41023613e-02 5.13171538e-06 9.99900557e-01 6.04897610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:196.54, Z:6.05 [[ 8.19911360e-01 5.72377714e-01 -1.13628701e-02 7.91334137e+01] [-5.72323315e-01 8.19990093e-01 7.89125000e-03 1.96539759e+02] [ 1.38342166e-02 3.31099765e-05 9.99904302e-01 6.04934888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:196.52, Z:6.05 [[ 8.18014860e-01 5.75081840e-01 -1.15137191e-02 7.91571422e+01] [-5.75026273e-01 8.18095881e-01 7.99468065e-03 1.96522997e+02] [ 1.40169218e-02 8.09233991e-05 9.99901755e-01 6.04970039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:196.51, Z:6.05 [[ 8.17303843e-01 5.76092047e-01 -1.15057128e-02 7.91807498e+01] [-5.76036675e-01 8.17384820e-01 7.98779648e-03 1.96506035e+02] [ 1.40063010e-02 9.92558093e-05 9.99901902e-01 6.05006844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:196.49, Z:6.05 [[ 8.16836200e-01 5.76747873e-01 -1.18538276e-02 7.92029317e+01] [-5.76689190e-01 8.16922198e-01 8.22805560e-03 1.96488928e+02] [ 1.44291685e-02 1.15000594e-04 9.99895888e-01 6.04983695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:196.47, Z:6.05 [[ 8.16951573e-01 5.76583016e-01 -1.19228431e-02 7.92248088e+01] [-5.76523654e-01 8.17038563e-01 8.27423543e-03 1.96471956e+02] [ 1.45122062e-02 1.14151433e-04 9.99894686e-01 6.04941288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:196.45, Z:6.05 [[ 8.17293850e-01 5.76098723e-01 -1.18753652e-02 7.92472366e+01] [-5.76039810e-01 8.17380113e-01 8.23935547e-03 1.96453384e+02] [ 1.44533695e-02 1.06708568e-04 9.99895539e-01 6.04934128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:196.44, Z:6.05 [[ 8.17846349e-01 5.75309541e-01 -1.20947291e-02 7.92681155e+01] [-5.75248366e-01 8.17935770e-01 8.39013261e-03 1.96435305e+02] [ 1.47196349e-02 9.56338479e-05 9.99891656e-01 6.04941566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:196.41, Z:6.05 [[ 8.19413227e-01 5.73080308e-01 -1.18711053e-02 7.92888065e+01] [-5.73021163e-01 8.19499211e-01 8.23347225e-03 1.96412219e+02] [ 1.44468023e-02 5.57785146e-05 9.99895638e-01 6.04984550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:196.39, Z:6.05 [[ 8.20458196e-01 5.71582994e-01 -1.18839826e-02 7.93107579e+01] [-5.71523568e-01 8.20544259e-01 8.24201064e-03 1.96392927e+02] [ 1.44623268e-02 2.97509541e-05 9.99895415e-01 6.05019267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:196.37, Z:6.05 [[ 8.22314984e-01 5.68907364e-01 -1.19364658e-02 7.93310691e+01] [-5.68847144e-01 8.22401612e-01 8.27742034e-03 1.96370556e+02] [ 1.45256541e-02 -1.66222628e-05 9.99894497e-01 6.04967426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:196.35, Z:6.05 [[ 8.23303047e-01 5.67472853e-01 -1.21100757e-02 7.93560741e+01] [-5.67410714e-01 8.23392106e-01 8.39774048e-03 1.96348931e+02] [ 1.47368305e-02 -4.24986299e-05 9.99891406e-01 6.04997568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:196.33, Z:6.05 [[ 8.24032788e-01 5.66422611e-01 -1.16356959e-02 7.93809459e+01] [-5.66365067e-01 8.24114932e-01 8.07399450e-03 1.96327023e+02] [ 1.41624438e-02 -6.31845161e-05 9.99899706e-01 6.05053200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:196.30, Z:6.05 [[ 8.25620741e-01 5.64117987e-01 -1.10131253e-02 7.94025587e+01] [-5.64066166e-01 8.25694184e-01 7.64681297e-03 1.96302503e+02] [ 1.34071782e-02 -1.01236033e-04 9.99910115e-01 6.05155760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:196.28, Z:6.05 [[ 8.26347046e-01 5.63058763e-01 -1.07419090e-02 7.94258340e+01] [-5.63009318e-01 8.26416853e-01 7.46275724e-03 1.96281904e+02] [ 1.30792655e-02 -1.19032536e-04 9.99914456e-01 6.05255006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:196.26, Z:6.05 [[ 8.27069685e-01 5.61996874e-01 -1.07354511e-02 7.94484968e+01] [-5.61947368e-01 8.27139344e-01 7.46061761e-03 1.96259339e+02] [ 1.30725578e-02 -1.37692147e-04 9.99914541e-01 6.05249521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:196.24, Z:6.05 [[ 8.26967629e-01 5.62147454e-01 -1.07135711e-02 7.94744264e+01] [-5.62098112e-01 8.27037013e-01 7.44932110e-03 1.96238794e+02] [ 1.30481367e-02 -1.38269353e-04 9.99914860e-01 6.05237827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:196.22, Z:6.05 [[ 8.26656929e-01 5.62597829e-01 -1.10455889e-02 7.95007624e+01] [-5.62545352e-01 8.26730708e-01 7.68528725e-03 1.96218271e+02] [ 1.34554535e-02 -1.39451259e-04 9.99909462e-01 6.05227358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:196.20, Z:6.05 [[ 8.26214163e-01 5.63235438e-01 -1.16618118e-02 7.95258775e+01] [-5.63176928e-01 8.26296449e-01 8.11950956e-03 1.96198094e+02] [ 1.42093092e-02 -1.40790434e-04 9.99899033e-01 6.05157194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:196.18, Z:6.05 [[ 8.25991806e-01 5.63560242e-01 -1.17213801e-02 7.95521416e+01] [-5.63501095e-01 8.26074957e-01 8.16590641e-03 1.96177625e+02] [ 1.42847188e-02 -1.39961256e-04 9.99897958e-01 6.05146915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:196.16, Z:6.05 [[ 8.25523932e-01 5.64237512e-01 -1.20941314e-02 7.95781677e+01] [-5.64174535e-01 8.25612507e-01 8.43107000e-03 1.96157225e+02] [ 1.47421921e-02 -1.36849068e-04 9.99891319e-01 6.05186046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:196.14, Z:6.05 [[ 8.24222437e-01 5.66137280e-01 -1.20811765e-02 7.96039469e+01] [-5.66074567e-01 8.24310966e-01 8.42708572e-03 1.96137128e+02] [ 1.47295337e-02 -1.06946366e-04 9.99891509e-01 6.05264455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:196.12, Z:6.05 [[ 8.23280471e-01 5.67517641e-01 -1.15323119e-02 7.96310754e+01] [-5.67460597e-01 8.23361234e-01 8.04676968e-03 1.96118776e+02] [ 1.40619423e-02 -8.06157157e-05 9.99901123e-01 6.05407024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:196.10, Z:6.06 [[ 8.21229542e-01 5.70514573e-01 -9.75503061e-03 7.96584236e+01] [-5.70473923e-01 8.21287478e-01 6.81048514e-03 1.96102889e+02] [ 1.18971655e-02 -2.79810178e-05 9.99929226e-01 6.05633610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:196.09, Z:6.06 [[ 8.20060797e-01 5.72202348e-01 -9.20667264e-03 7.96862333e+01] [-5.72166211e-01 8.20112476e-01 6.43068445e-03 1.96085470e+02] [ 1.12301598e-02 -5.80521591e-06 9.99936940e-01 6.05743654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.71, Y:196.07, Z:6.06 [[ 8.18840791e-01 5.73954245e-01 -8.73402908e-03 7.97132554e+01] [-5.73921782e-01 8.18887370e-01 6.10441245e-03 1.96068511e+02] [ 1.06558395e-02 1.41076198e-05 9.99943225e-01 6.05856038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:196.05, Z:6.06 [[ 8.17862884e-01 5.75353299e-01 -8.29962457e-03 7.97407135e+01] [-5.75324024e-01 8.17904995e-01 5.80402574e-03 1.96050784e+02] [ 1.01276697e-02 2.80761771e-05 9.99948713e-01 6.05933449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:196.03, Z:6.06 [[ 8.16637645e-01 5.77093972e-01 -8.09349123e-03 7.97675369e+01] [-5.77066181e-01 8.16677749e-01 5.66369463e-03 1.96033552e+02] [ 9.87825822e-03 4.52938304e-05 9.99951208e-01 6.06050292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:196.01, Z:6.06 [[ 8.16264601e-01 5.77620626e-01 -8.15555911e-03 7.97943562e+01] [-5.77592398e-01 8.16305341e-01 5.71071834e-03 1.96014238e+02] [ 9.95605516e-03 4.91317170e-05 9.99950436e-01 6.06113334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.82, Y:195.99, Z:6.06 [[ 8.16508191e-01 5.77272371e-01 -8.42515037e-03 7.98202597e+01] [-5.77242185e-01 8.16551656e-01 5.90359547e-03 1.95994712e+02] [ 1.02875530e-02 4.30181480e-05 9.99947081e-01 6.06171527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:195.98, Z:6.06 [[ 8.16846522e-01 5.76787082e-01 -8.85559368e-03 7.98459605e+01] [-5.76753652e-01 8.16894523e-01 6.20992297e-03 1.95975825e+02] [ 1.08158893e-02 3.49420144e-05 9.99941506e-01 6.06150033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:195.96, Z:6.06 [[ 8.17228465e-01 5.76242427e-01 -9.07197274e-03 7.98722627e+01] [-5.76207285e-01 8.17278817e-01 6.36401339e-03 1.95955777e+02] [ 1.10815457e-02 2.64838786e-05 9.99938597e-01 6.06091059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.90, Y:195.94, Z:6.06 [[ 8.18416200e-01 5.74525229e-01 -1.07557058e-02 7.98970637e+01] [-5.74475605e-01 8.18486873e-01 7.55103232e-03 1.95935829e+02] [ 1.31416626e-02 -9.96572591e-07 9.99913645e-01 6.05944082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.92, Y:195.92, Z:6.06 [[ 8.19047484e-01 5.73615118e-01 -1.12656420e-02 7.99228756e+01] [-5.73560521e-01 8.19124958e-01 7.91407306e-03 1.95915849e+02] [ 1.37676005e-02 -2.04741205e-05 9.99905222e-01 6.05922331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:195.89, Z:6.06 [[ 8.20762528e-01 5.71158332e-01 -1.12709205e-02 7.99481913e+01] [-5.71103382e-01 8.20839909e-01 7.92283250e-03 1.95894244e+02] [ 1.37768131e-02 -6.59032184e-05 9.99905093e-01 6.05969967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:195.87, Z:6.06 [[ 8.21610815e-01 5.69948672e-01 -1.06854648e-02 7.99745646e+01] [-5.69899121e-01 8.21680293e-01 7.51587346e-03 1.95873714e+02] [ 1.30636979e-02 -8.54859369e-05 9.99914663e-01 6.06111677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:195.85, Z:6.06 [[ 8.22817225e-01 5.68215643e-01 -1.01388945e-02 7.99996791e+01] [-5.68170846e-01 8.22879682e-01 7.13578269e-03 1.95854201e+02] [ 1.23977536e-02 -1.10820652e-04 9.99923139e-01 6.06230291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:195.84, Z:6.06 [[ 8.23814895e-01 5.66776206e-01 -9.68252938e-03 8.00257746e+01] [-5.66735209e-01 8.23871784e-01 6.81817510e-03 1.95835187e+02] [ 1.18415422e-02 -1.29483893e-04 9.99929878e-01 6.06337763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:195.81, Z:6.06 [[ 8.26021830e-01 5.63557046e-01 -9.55987435e-03 8.00491091e+01] [-5.63516820e-01 8.26077130e-01 6.73568109e-03 1.95813643e+02] [ 1.16931341e-02 -1.76669629e-04 9.99931617e-01 6.06470160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:195.79, Z:6.07 [[ 8.27975935e-01 5.60686877e-01 -9.27775972e-03 8.00751446e+01] [-5.60648772e-01 8.28027886e-01 6.54023121e-03 1.95794847e+02] [ 1.13492656e-02 -2.13589462e-04 9.99935572e-01 6.06549835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:195.78, Z:6.07 [[ 8.28714342e-01 5.59595636e-01 -9.23382608e-03 8.01016918e+01] [-5.59557782e-01 8.28765752e-01 6.51286641e-03 1.95776218e+02] [ 1.12972504e-02 -2.30446561e-04 9.99936157e-01 6.06615992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:195.76, Z:6.07 [[ 8.29130681e-01 5.58979908e-01 -9.15299470e-03 8.01283107e+01] [-5.58942636e-01 8.29181166e-01 6.45942933e-03 1.95758171e+02] [ 1.12001820e-02 -2.39712057e-04 9.99937247e-01 6.06671067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31275509600005 meters Centerline goodness [0,1] 0.999978265594436 Centerline is valid? [True, True] Translation: X:80.16, Y:195.74, Z:6.07 [[ 8.29237387e-01 5.58817130e-01 -9.42186182e-03 8.01559020e+01] [-5.58777582e-01 8.29290873e-01 6.65300496e-03 1.95739528e+02] [ 1.15312772e-02 -2.52195283e-04 9.99933481e-01 6.06666757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:195.72, Z:6.07 [[ 8.28790163e-01 5.59467598e-01 -1.01426025e-02 8.01831274e+01] [-5.59421752e-01 8.28852180e-01 7.16702865e-03 1.95723649e+02] [ 1.24164385e-02 -2.65970398e-04 9.99922878e-01 6.06634503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:195.70, Z:6.07 [[ 8.28221954e-01 5.60300621e-01 -1.05645096e-02 8.02075088e+01] [-5.60250898e-01 8.28289287e-01 7.46921922e-03 1.95704202e+02] [ 1.29354783e-02 -2.67395331e-04 9.99916297e-01 6.06652898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:195.69, Z:6.07 [[ 8.27142232e-01 5.61890612e-01 -1.07083369e-02 8.02371031e+01] [-5.61839606e-01 8.27211508e-01 7.57487847e-03 1.95690904e+02] [ 1.31143126e-02 -2.49134081e-04 9.99913973e-01 6.06739023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:195.68, Z:6.07 [[ 8.26442530e-01 5.62913929e-01 -1.09842120e-02 8.02658605e+01] [-5.62860292e-01 8.26515487e-01 7.77439800e-03 1.95675113e+02] [ 1.34549383e-02 -2.42516374e-04 9.99909449e-01 6.06801951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:195.66, Z:6.07 [[ 8.25444199e-01 5.64377452e-01 -1.09529504e-02 8.02931323e+01] [-5.64324216e-01 8.25516834e-01 7.75471459e-03 1.95658570e+02] [ 1.34184310e-02 -2.20069001e-04 9.99909945e-01 6.06866526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:195.64, Z:6.07 [[ 8.25267389e-01 5.64636004e-01 -1.09508278e-02 8.03194973e+01] [-5.64582751e-01 8.25340012e-01 7.75771089e-03 1.95639689e+02] [ 1.34184392e-02 -2.19537305e-04 9.99909945e-01 6.06909792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:195.62, Z:6.07 [[ 8.22679031e-01 5.68386302e-01 -1.16715266e-02 8.03465461e+01] [-5.68326103e-01 8.22761801e-01 8.27401787e-03 1.95623513e+02] [ 1.43057246e-02 -1.73627794e-04 9.99897653e-01 6.07064637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:195.61, Z:6.07 [[ 8.21584301e-01 5.69961581e-01 -1.19596259e-02 8.03747239e+01] [-5.69898471e-01 8.21671329e-01 8.48290686e-03 1.95607508e+02] [ 1.46618127e-02 -1.53650572e-04 9.99892498e-01 6.07178332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:195.59, Z:6.07 [[ 8.20337948e-01 5.71751708e-01 -1.20679556e-02 8.04021505e+01] [-5.71687571e-01 8.20426699e-01 8.56461787e-03 1.95591459e+02] [ 1.47977079e-02 -1.26780811e-04 9.99890500e-01 6.07245126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:195.57, Z:6.07 [[ 8.19317480e-01 5.73208557e-01 -1.22808066e-02 8.04300902e+01] [-5.73142223e-01 8.19409507e-01 8.72079929e-03 1.95574557e+02] [ 1.50618465e-02 -1.06454467e-04 9.99886558e-01 6.07293932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:195.56, Z:6.07 [[ 8.18080283e-01 5.74970066e-01 -1.24126480e-02 8.04575431e+01] [-5.74902426e-01 8.18174441e-01 8.81955090e-03 1.95559133e+02] [ 1.52266891e-02 -7.90392343e-05 9.99884064e-01 6.07391573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:195.54, Z:6.07 [[ 8.17295726e-01 5.76077460e-01 -1.27458204e-02 8.04851214e+01] [-5.76006193e-01 8.17395104e-01 9.06141598e-03 1.95540822e+02] [ 1.56384487e-02 -6.41850502e-05 9.99877710e-01 6.07471132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters Centerline goodness [0,1] 0.9999786853099156 Centerline is valid? [True, True] Translation: X:80.51, Y:195.52, Z:6.08 [[ 8.16715701e-01 5.76903185e-01 -1.25769258e-02 8.05111764e+01] [-5.76833803e-01 8.16812532e-01 8.94716898e-03 1.95523174e+02] [ 1.54346409e-02 -5.24974359e-05 9.99880877e-01 6.07622670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:195.50, Z:6.08 [[ 8.16662283e-01 5.76976833e-01 -1.26668619e-02 8.05380025e+01] [-5.76906375e-01 8.16760510e-01 9.01683127e-03 1.95504394e+02] [ 1.55482953e-02 -5.61126292e-05 9.99879116e-01 6.07717635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:195.49, Z:6.08 [[ 8.16700084e-01 5.76925073e-01 -1.25870487e-02 8.05636458e+01] [-5.76855402e-01 8.16797072e-01 8.96596132e-03 1.95485768e+02] [ 1.54537524e-02 -6.15943273e-05 9.99880582e-01 6.07787453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:195.47, Z:6.08 [[ 8.16811686e-01 5.76771666e-01 -1.23739882e-02 8.05898968e+01] [-5.76704233e-01 8.16905405e-01 8.81967486e-03 1.95466688e+02] [ 1.51953164e-02 -6.78821171e-05 9.99884542e-01 6.07919196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:195.45, Z:6.08 [[ 8.16987898e-01 5.76514232e-01 -1.27324039e-02 8.06154104e+01] [-5.76442709e-01 8.17087103e-01 9.08127827e-03 1.95447371e+02] [ 1.56389692e-02 -7.97930426e-05 9.99877701e-01 6.07980028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.64, Y:195.43, Z:6.08 [[ 8.17211734e-01 5.76177897e-01 -1.35651557e-02 8.06421210e+01] [-5.76096559e-01 8.17324306e-01 9.68160744e-03 1.95428010e+02] [ 1.66654597e-02 -9.70836938e-05 9.99861117e-01 6.08022014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.67, Y:195.41, Z:6.08 [[ 8.17220405e-01 5.76144066e-01 -1.44507631e-02 8.06684001e+01] [-5.76051631e-01 8.17348153e-01 1.03206323e-02 1.95408971e+02] [ 1.77574756e-02 -1.09845673e-04 9.99842318e-01 6.08030908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:195.39, Z:6.08 [[ 8.17193828e-01 5.76167504e-01 -1.50084877e-02 8.06951275e+01] [-5.76067673e-01 8.17331630e-01 1.07258322e-02 1.95389653e+02] [ 1.84467876e-02 -1.19179298e-04 9.99829836e-01 6.08023181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:195.37, Z:6.08 [[ 8.17464027e-01 5.75744806e-01 -1.64463838e-02 8.07210106e+01] [-5.75624684e-01 8.17629437e-01 1.17612598e-02 1.95370590e+02] [ 2.02185318e-02 -1.47462287e-04 9.99795574e-01 6.07999064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:195.35, Z:6.08 [[ 8.17694404e-01 5.75403654e-01 -1.69262254e-02 8.07467273e+01] [-5.75276195e-01 8.17869554e-01 1.21116847e-02 1.95351341e+02] [ 2.08125521e-02 -1.66402296e-04 9.99783382e-01 6.08020966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.77, Y:195.33, Z:6.08 [[ 8.18552162e-01 5.74154354e-01 -1.78643883e-02 8.07712542e+01] [-5.74011906e-01 8.18747050e-01 1.27906446e-02 1.95331833e+02] [ 2.19702195e-02 -2.15438203e-04 9.99758602e-01 6.08028896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.80, Y:195.31, Z:6.08 [[ 8.19131551e-01 5.73321116e-01 -1.80665394e-02 8.07975313e+01] [-5.73175065e-01 8.19330725e-01 1.29424920e-02 1.95312886e+02] [ 2.22226748e-02 -2.46313633e-04 9.99753016e-01 6.08159184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:195.29, Z:6.08 [[ 8.19792697e-01 5.72369531e-01 -1.82497559e-02 8.08215851e+01] [-5.72220126e-01 8.19995757e-01 1.30799750e-02 1.95293236e+02] [ 2.24513016e-02 -2.79990390e-04 9.99747899e-01 6.08143357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:195.27, Z:6.08 [[ 8.20994031e-01 5.70641065e-01 -1.83732725e-02 8.08460780e+01] [-5.70489072e-01 8.21199527e-01 1.31740399e-02 1.95273053e+02] [ 2.26057708e-02 -3.34056901e-04 9.99744401e-01 6.08334078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:195.25, Z:6.09 [[ 8.21633176e-01 5.69728603e-01 -1.81174774e-02 8.08714643e+01] [-5.69580427e-01 8.21832823e-01 1.29980006e-02 1.95254038e+02] [ 2.22948703e-02 -3.60228006e-04 9.99751374e-01 6.08512202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:195.23, Z:6.09 [[ 8.22831963e-01 5.68015345e-01 -1.74965312e-02 8.08951346e+01] [-5.67876616e-01 8.23017867e-01 1.25594340e-02 1.95234367e+02] [ 2.15339090e-02 -3.98432740e-04 9.99768039e-01 6.08626627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:195.22, Z:6.09 [[ 8.22998628e-01 5.67792748e-01 -1.68716585e-02 8.09206374e+01] [-5.67663568e-01 8.23171452e-01 1.21175363e-02 1.95215552e+02] [ 2.07685168e-02 -3.95289925e-04 9.99784233e-01 6.08695421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:195.20, Z:6.09 [[ 8.22956454e-01 5.67847115e-01 -1.70976404e-02 8.09472155e+01] [-5.67714300e-01 8.23133944e-01 1.22875496e-02 1.95196599e+02] [ 2.10510978e-02 -4.05543302e-04 9.99778319e-01 6.08740859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:195.18, Z:6.09 [[ 8.22568857e-01 5.68409944e-01 -1.70473458e-02 8.09742917e+01] [-5.68277865e-01 8.22745391e-01 1.22592784e-02 1.95177439e+02] [ 2.09939210e-02 -3.96471333e-04 9.99779525e-01 6.08820706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:195.16, Z:6.09 [[ 8.22108517e-01 5.69094011e-01 -1.64192822e-02 8.10015772e+01] [-5.68971478e-01 8.22272381e-01 1.18147503e-02 1.95161137e+02] [ 2.02248259e-02 -3.70903634e-04 9.99795389e-01 6.08951908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:195.14, Z:6.09 [[ 8.21564708e-01 5.69881722e-01 -1.63172569e-02 8.10267598e+01] [-5.69760731e-01 8.21726656e-01 1.17479002e-02 1.95142267e+02] [ 2.01032385e-02 -3.54727980e-04 9.99797847e-01 6.08965041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.05, Y:195.13, Z:6.09 [[ 8.20714814e-01 5.71121040e-01 -1.57465252e-02 8.10520748e+01] [-5.71008520e-01 8.20865798e-01 1.13407015e-02 1.95126645e+02] [ 1.94026972e-02 -3.16081603e-04 9.99811700e-01 6.09103722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:195.11, Z:6.09 [[ 8.19793762e-01 5.72445065e-01 -1.56472344e-02 8.10787398e+01] [-5.72334175e-01 8.19943027e-01 1.12705353e-02 1.95109451e+02] [ 1.92816031e-02 -2.84067499e-04 9.99814052e-01 6.09158304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:195.09, Z:6.09 [[ 8.18564517e-01 5.74197429e-01 -1.57937862e-02 8.11042217e+01] [-5.74084696e-01 8.18716832e-01 1.13803269e-02 1.95093593e+02] [ 1.94651931e-02 -2.48560905e-04 9.99810504e-01 6.09140176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:195.08, Z:6.09 [[ 8.18010749e-01 5.74988557e-01 -1.57026934e-02 8.11283223e+01] [-5.74877282e-01 8.18161419e-01 1.13138437e-02 1.95078364e+02] [ 1.93526685e-02 -2.27724037e-04 9.99812694e-01 6.09163530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:195.06, Z:6.09 [[ 8.17482537e-01 5.75753498e-01 -1.51726782e-02 8.11527022e+01] [-5.75649771e-01 8.17623305e-01 1.09303400e-02 1.95062884e+02] [ 1.86987168e-02 -2.01213397e-04 9.99825143e-01 6.09226178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:195.05, Z:6.09 [[ 8.16479939e-01 5.77195014e-01 -1.43674945e-02 8.11782657e+01] [-5.77102255e-01 8.16606325e-01 1.03487643e-02 1.95049607e+02] [ 1.77058421e-02 -1.58044995e-04 9.99843227e-01 6.09433979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:195.03, Z:6.09 [[ 8.16004874e-01 5.77880071e-01 -1.38082716e-02 8.12034894e+01] [-5.77794514e-01 8.16121685e-01 9.94460218e-03 1.95033442e+02] [ 1.70160173e-02 -1.36500287e-04 9.99855208e-01 6.09479841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:195.02, Z:6.10 [[ 8.15795082e-01 5.78192328e-01 -1.31154727e-02 8.12275153e+01] [-5.78115197e-01 8.15900494e-01 9.44473373e-03 1.95019624e+02] [ 1.61617933e-02 -1.22713228e-04 9.99869382e-01 6.09522688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:195.00, Z:6.10 [[ 8.16027948e-01 5.77878135e-01 -1.24598886e-02 8.12522471e+01] [-5.77808510e-01 8.16123058e-01 8.97107554e-03 1.95002867e+02] [ 1.53529908e-02 -1.21218685e-04 9.99882129e-01 6.09597622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:194.99, Z:6.10 [[ 8.16525211e-01 5.77182472e-01 -1.21232378e-02 8.12758730e+01] [-5.77116492e-01 8.16615195e-01 8.72800514e-03 1.94985354e+02] [ 1.49376718e-02 -1.30115782e-04 9.99888418e-01 6.09653068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.30, Y:194.97, Z:6.10 [[ 8.17188694e-01 5.76247479e-01 -1.18946252e-02 8.12995402e+01] [-5.76183874e-01 8.17275243e-01 8.56274646e-03 1.94967399e+02] [ 1.46554438e-02 -1.43888339e-04 9.99892593e-01 6.09716766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:194.95, Z:6.10 [[ 8.19196231e-01 5.73395867e-01 -1.16067222e-02 8.13223314e+01] [-5.73335027e-01 8.19278429e-01 8.35481649e-03 1.94949032e+02] [ 1.42997544e-02 -1.89693796e-04 9.99897735e-01 6.09752622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:194.93, Z:6.10 [[ 8.19988792e-01 5.72270014e-01 -1.11987739e-02 8.13483276e+01] [-5.72213281e-01 8.20065236e-01 8.06043585e-03 1.94930476e+02] [ 1.37964709e-02 -2.01379923e-04 9.99904804e-01 6.09808478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:194.91, Z:6.10 [[ 8.21881075e-01 5.69560970e-01 -1.05735806e-02 8.13724398e+01] [-5.69510117e-01 8.21949053e-01 7.61452378e-03 1.94910426e+02] [ 1.30278801e-02 -2.36471889e-04 9.99915106e-01 6.09837894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:194.89, Z:6.10 [[ 8.22808656e-01 5.68230548e-01 -9.99803410e-03 8.13966906e+01] [-5.68184939e-01 8.22869360e-01 7.20358789e-03 1.94890201e+02] [ 1.23203746e-02 -2.46442081e-04 9.99924071e-01 6.09919363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:194.87, Z:6.10 [[ 8.23818299e-01 5.66765594e-01 -1.00086384e-02 8.14230779e+01] [-5.66719734e-01 8.23879049e-01 7.21492621e-03 1.94871894e+02] [ 1.23350795e-02 -2.71695326e-04 9.99923883e-01 6.09933050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:194.85, Z:6.10 [[ 8.25596919e-01 5.64177347e-01 -9.67719877e-03 8.14472496e+01] [-5.64134251e-01 8.25653577e-01 6.97983607e-03 1.94852111e+02] [ 1.19278792e-02 -3.03291874e-04 9.99928814e-01 6.09908637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:194.83, Z:6.10 [[ 8.26404764e-01 5.62996422e-01 -9.49709897e-03 8.14731034e+01] [-5.62954797e-01 8.26459272e-01 6.85334702e-03 1.94832992e+02] [ 1.17073754e-02 -3.17201202e-04 9.99931416e-01 6.09912761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:194.81, Z:6.10 [[ 8.27437248e-01 5.61480835e-01 -9.32057834e-03 8.14970165e+01] [-5.61440605e-01 8.27489674e-01 6.72957803e-03 1.94812437e+02] [ 1.14912114e-02 -3.35352385e-04 9.99933918e-01 6.09955120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:194.79, Z:6.10 [[ 8.29260499e-01 5.58786053e-01 -9.22889031e-03 8.15189146e+01] [-5.58746396e-01 8.29311768e-01 6.66756945e-03 1.94791930e+02] [ 1.13793721e-02 -3.72542769e-04 9.99935183e-01 6.10017265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:194.78, Z:6.10 [[ 8.30176367e-01 5.57433429e-01 -8.67021832e-03 8.15429045e+01] [-5.57398353e-01 8.30221559e-01 6.26412650e-03 1.94775355e+02] [ 1.06900357e-02 -3.67564370e-04 9.99942792e-01 6.10042267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:194.76, Z:6.10 [[ 8.31241165e-01 5.55851573e-01 -8.19477137e-03 8.15642573e+01] [-5.55820168e-01 8.31281478e-01 5.91999000e-03 1.94756187e+02] [ 1.01027974e-02 -3.66120190e-04 9.99948898e-01 6.10170423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.59, Y:194.74, Z:6.10 [[ 8.31616241e-01 5.55296196e-01 -7.78213829e-03 8.15881080e+01] [-5.55267855e-01 8.31652577e-01 5.62134689e-03 1.94739341e+02] [ 9.59354791e-03 -3.53632127e-04 9.99953918e-01 6.10215742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:194.72, Z:6.10 [[ 8.31670002e-01 5.55219531e-01 -7.50199218e-03 8.16103151e+01] [-5.55193196e-01 8.31703767e-01 5.41842340e-03 1.94723636e+02] [ 9.24784966e-03 -3.41285184e-04 9.99957180e-01 6.10295320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:194.71, Z:6.10 [[ 8.31503614e-01 5.55472408e-01 -7.22113936e-03 8.16351644e+01] [-5.55448032e-01 8.31534906e-01 5.21383046e-03 1.94709636e+02] [ 8.90076840e-03 -3.24351221e-04 9.99960335e-01 6.10383572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:194.70, Z:6.10 [[ 8.30544493e-01 5.56921995e-01 -5.80835781e-03 8.16658954e+01] [-5.56906282e-01 8.30564766e-01 4.19074366e-03 1.94696954e+02] [ 7.15813466e-03 -2.45888116e-04 9.99974350e-01 6.10409499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:194.68, Z:6.11 [[ 8.29865853e-01 5.57932970e-01 -5.78511347e-03 8.16863902e+01] [-5.57917372e-01 8.29885982e-01 4.17891140e-03 1.94678114e+02] [ 7.13253702e-03 -2.40320571e-04 9.99974534e-01 6.10520098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:194.67, Z:6.10 [[ 8.28288705e-01 5.60268268e-01 -6.10647035e-03 8.17154766e+01] [-5.60250959e-01 8.28311182e-01 4.41008400e-03 1.94668411e+02] [ 7.52888780e-03 -2.31666895e-04 9.99971631e-01 6.10391612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:194.65, Z:6.10 [[ 8.27466679e-01 5.61484322e-01 -5.85253494e-03 8.17380793e+01] [-5.61468456e-01 8.27487348e-01 4.22619606e-03 1.94650385e+02] [ 7.21584145e-03 -2.11022656e-04 9.99973943e-01 6.10491399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:194.64, Z:6.10 [[ 8.26685064e-01 5.62638480e-01 -5.45393488e-03 8.17632914e+01] [-5.62624728e-01 8.26703034e-01 3.93825759e-03 1.94637976e+02] [ 6.72459977e-03 -1.87180103e-04 9.99977372e-01 6.10495442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:194.62, Z:6.11 [[ 8.25438378e-01 5.64462942e-01 -5.75077762e-03 8.17887009e+01] [-5.64447707e-01 8.25458391e-01 4.15106435e-03 1.94621853e+02] [ 7.09014963e-03 -1.80434592e-04 9.99974848e-01 6.10537636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:194.61, Z:6.11 [[ 8.24757635e-01 5.65458690e-01 -5.59587268e-03 8.18142849e+01] [-5.65444285e-01 8.24776601e-01 4.03958187e-03 1.94607495e+02] [ 6.89956153e-03 -1.67521763e-04 9.99976184e-01 6.10515011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:194.59, Z:6.11 [[ 8.23527191e-01 5.67248518e-01 -5.66426717e-03 8.18358323e+01] [-5.67233807e-01 8.23546656e-01 4.08819300e-03 1.94589160e+02] [ 6.98380971e-03 -1.53774273e-04 9.99975601e-01 6.10687895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:194.58, Z:6.10 [[ 8.22916434e-01 5.68134284e-01 -5.65487225e-03 8.18647625e+01] [-5.68119650e-01 8.22935851e-01 4.08039457e-03 1.94578740e+02] [ 6.97180916e-03 -1.45179706e-04 9.99975686e-01 6.10494072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35275509600007 meters Centerline goodness [0,1] 0.999936440677966 Centerline is valid? [True, True] Translation: X:81.89, Y:194.56, Z:6.10 [[ 8.22061025e-01 5.69374149e-01 -5.36184532e-03 8.18894302e+01] [-5.69361037e-01 8.22078502e-01 3.86611320e-03 1.94559704e+02] [ 6.60912268e-03 -1.25355172e-04 9.99978152e-01 6.10392947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters Centerline goodness [0,1] 0.999936440677966 Centerline is valid? [True, True] Translation: X:81.91, Y:194.54, Z:6.10 [[ 8.22082629e-01 5.69342976e-01 -5.35965812e-03 8.19131118e+01] [-5.69329844e-01 8.22100091e-01 3.86914323e-03 1.94542659e+02] [ 6.60904495e-03 -1.29342116e-04 9.99978152e-01 6.10431867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:194.53, Z:6.11 [[ 8.21501067e-01 5.70190206e-01 -4.37339820e-03 8.19408207e+01] [-5.70181493e-01 8.21512702e-01 3.15354182e-03 1.94525543e+02] [ 5.39092083e-03 -9.70072485e-05 9.99985464e-01 6.10724889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:194.50, Z:6.11 [[ 8.21465372e-01 5.70244844e-01 -3.93189691e-03 8.19652795e+01] [-5.70237790e-01 8.21474777e-01 2.83782567e-03 1.94504854e+02] [ 4.84820960e-03 -8.90593153e-05 9.99988243e-01 6.10871933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:194.49, Z:6.11 [[ 8.21838063e-01 5.69706298e-01 -4.11489981e-03 8.19902315e+01] [-5.69698560e-01 8.21848359e-01 2.97075028e-03 1.94485391e+02] [ 5.07427880e-03 -9.72231541e-05 9.99987121e-01 6.10845557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.02, Y:194.47, Z:6.11 [[ 8.22005139e-01 5.69462800e-01 -4.43523596e-03 8.20173714e+01] [-5.69453800e-01 8.22017097e-01 3.20337141e-03 1.94465894e+02] [ 5.47004064e-03 -1.07525785e-04 9.99985033e-01 6.10785686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:194.45, Z:6.11 [[ 8.22271971e-01 5.69074339e-01 -4.81681789e-03 8.20416640e+01] [-5.69063700e-01 8.22286070e-01 3.48198413e-03 1.94445699e+02] [ 5.94231007e-03 -1.22061745e-04 9.99982337e-01 6.10830687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:194.43, Z:6.11 [[ 8.22361023e-01 5.68940826e-01 -5.35585126e-03 8.20675575e+01] [-5.68927650e-01 8.22378451e-01 3.87452997e-03 1.94425966e+02] [ 6.60891494e-03 -1.39170558e-04 9.99978151e-01 6.10835078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:194.41, Z:6.11 [[ 8.23192703e-01 5.67729335e-01 -6.09717785e-03 8.20931148e+01] [-5.67712197e-01 8.23215265e-01 4.41459489e-03 1.94406998e+02] [ 7.52558490e-03 -1.72620070e-04 9.99971668e-01 6.10757099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:194.39, Z:6.11 [[ 8.23446793e-01 5.67357328e-01 -6.40638327e-03 8.21171882e+01] [-5.67338372e-01 8.23471692e-01 4.64156739e-03 1.94387336e+02] [ 7.90890254e-03 -1.87496723e-04 9.99968707e-01 6.10761199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:194.37, Z:6.11 [[ 8.24461560e-01 5.65871374e-01 -7.26113753e-03 8.21398425e+01] [-5.65846929e-01 8.24493501e-01 5.26489947e-03 1.94366238e+02] [ 8.96601661e-03 -2.32014855e-04 9.99959778e-01 6.10753821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:194.35, Z:6.11 [[ 8.24766261e-01 5.65420924e-01 -7.73264195e-03 8.21608945e+01] [-5.65393155e-01 8.24802470e-01 5.60944524e-03 1.94346427e+02] [ 9.54959989e-03 -2.54498352e-04 9.99954369e-01 6.10811076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:194.33, Z:6.11 [[ 8.25318242e-01 5.64614899e-01 -7.73397376e-03 8.21837517e+01] [-5.64587092e-01 8.25354437e-01 5.60978103e-03 1.94328706e+02] [ 9.55063551e-03 -2.63352862e-04 9.99954357e-01 6.10877567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:194.31, Z:6.11 [[ 8.26140806e-01 5.63401684e-01 -8.36129299e-03 8.22050426e+01] [-5.63369131e-01 8.26183063e-01 6.06369294e-03 1.94311027e+02] [ 1.03242535e-02 -2.98969804e-04 9.99946659e-01 6.10869845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:194.29, Z:6.11 [[ 8.26257476e-01 5.63221306e-01 -8.96352783e-03 8.22269310e+01] [-5.63183902e-01 8.26306031e-01 6.49888891e-03 1.94293093e+02] [ 1.10669298e-02 -3.21640972e-04 9.99938708e-01 6.10874897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:194.28, Z:6.11 [[ 8.26436593e-01 5.62954417e-01 -9.21312451e-03 8.22517723e+01] [-5.62914903e-01 8.26487879e-01 6.67821599e-03 1.94276464e+02] [ 1.13740669e-02 -3.32916983e-04 9.99935258e-01 6.10856932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:194.26, Z:6.11 [[ 8.26325589e-01 5.63110848e-01 -9.60179966e-03 8.22744212e+01] [-5.63067946e-01 8.26381301e-01 6.95941085e-03 1.94260470e+02] [ 1.18536674e-02 -3.44273654e-04 9.99929684e-01 6.10902120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:194.24, Z:6.11 [[ 8.25510355e-01 5.64305898e-01 -9.56592822e-03 8.23015498e+01] [-5.64263422e-01 8.25565715e-01 6.93117708e-03 1.94243612e+02] [ 1.18086065e-02 -3.24055060e-04 9.99930223e-01 6.11005731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:194.22, Z:6.11 [[ 8.24907607e-01 5.65190916e-01 -9.30954164e-03 8.23254891e+01] [-5.65150700e-01 8.24960081e-01 6.74923327e-03 1.94223735e+02] [ 1.14946056e-02 -3.06199901e-04 9.99933888e-01 6.11087089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:194.21, Z:6.11 [[ 8.23473748e-01 5.67286679e-01 -8.76417661e-03 8.23507130e+01] [-5.67251111e-01 8.23520343e-01 6.35788263e-03 1.94207772e+02] [ 1.08242198e-02 -2.64060523e-04 9.99941382e-01 6.11209483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:194.19, Z:6.11 [[ 8.22662328e-01 5.68469038e-01 -8.34551589e-03 8.23740529e+01] [-5.68436851e-01 8.22704623e-01 6.05386329e-03 1.94191639e+02] [ 1.03073283e-02 -2.36386488e-04 9.99946850e-01 6.11286791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:194.18, Z:6.11 [[ 8.20780802e-01 5.71183385e-01 -8.27139714e-03 8.24018995e+01] [-5.71151928e-01 8.20822454e-01 5.99786620e-03 1.94175777e+02] [ 1.02152300e-02 -1.98709004e-04 9.99947803e-01 6.11323852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:194.16, Z:6.11 [[ 8.19775772e-01 5.72624791e-01 -8.27842659e-03 8.24274101e+01] [-5.72593318e-01 8.19817550e-01 6.00641712e-03 1.94156602e+02] [ 1.02262228e-02 -1.83743484e-04 9.99947694e-01 6.11398425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:194.14, Z:6.12 [[ 8.18966508e-01 5.73782509e-01 -8.21531421e-03 8.24510443e+01] [-5.73751533e-01 8.19007694e-01 5.96444308e-03 1.94136970e+02] [ 1.01506987e-02 -1.71129997e-04 9.99948466e-01 6.11536028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07275509600004 meters Centerline goodness [0,1] 0.9999787550456767 Centerline is valid? [True, True] Translation: X:82.48, Y:194.12, Z:6.12 [[ 8.18255998e-01 5.74797697e-01 -8.04541709e-03 8.24784512e+01] [-5.74768025e-01 8.18295535e-01 5.84245130e-03 1.94119807e+02] [ 9.94175644e-03 -1.56372329e-04 9.99950567e-01 6.11525890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10275509600007 meters Centerline goodness [0,1] 0.9999788355309107 Centerline is valid? [True, True] Translation: X:82.50, Y:194.10, Z:6.11 [[ 8.17116056e-01 5.76409476e-01 -8.57128112e-03 8.25038516e+01] [-5.76375838e-01 8.17160996e-01 6.22894462e-03 1.94101744e+02] [ 1.05945393e-02 -1.49491323e-04 9.99943865e-01 6.11494310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13275509600004 meters Centerline goodness [0,1] 0.999957644168661 Centerline is valid? [True, True] Translation: X:82.53, Y:194.08, Z:6.12 [[ 8.16446165e-01 5.77355385e-01 -8.74184896e-03 8.25286182e+01] [-5.77320442e-01 8.16492952e-01 6.35354456e-03 1.94083964e+02] [ 1.08059112e-02 -1.40478987e-04 9.99941605e-01 6.11518724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.55, Y:194.07, Z:6.12 [[ 8.15177260e-01 5.79155659e-01 -8.04719100e-03 8.25519905e+01] [-5.79126132e-01 8.15216972e-01 5.84906432e-03 1.94068019e+02] [ 9.94772538e-03 -1.07685627e-04 9.99950514e-01 6.11635222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19275509600004 meters Centerline goodness [0,1] 0.9999151553717255 Centerline is valid? [True, True] Translation: X:82.58, Y:194.05, Z:6.12 [[ 8.14453077e-01 5.80175366e-01 -7.92019110e-03 8.25793900e+01] [-5.80146832e-01 8.14491581e-01 5.75477530e-03 1.94050206e+02] [ 9.78970784e-03 -9.21206783e-05 9.99952075e-01 6.11652064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:194.03, Z:6.12 [[ 8.13659905e-01 5.81284627e-01 -8.10817623e-03 8.26034955e+01] [-5.81254770e-01 8.13700299e-01 5.89200883e-03 1.94031116e+02] [ 1.00225596e-02 -8.11752311e-05 9.99949770e-01 6.11761194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25275509600004 meters Centerline goodness [0,1] 0.9999574268806676 Centerline is valid? [True, True] Translation: X:82.63, Y:194.01, Z:6.12 [[ 8.12824685e-01 5.82447391e-01 -8.43014735e-03 8.26272014e+01] [-5.82415129e-01 8.12868397e-01 6.13072886e-03 1.94014312e+02] [ 1.04234274e-02 -7.33623940e-05 9.99945672e-01 6.11682081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2827550960001 meters Centerline goodness [0,1] 0.9999575596816976 Centerline is valid? [True, True] Translation: X:82.65, Y:194.00, Z:6.12 [[ 8.12464209e-01 5.82943095e-01 -8.90263036e-03 8.26512196e+01] [-5.82907157e-01 8.12512980e-01 6.47323946e-03 1.93997577e+02] [ 1.10070330e-02 -6.98684269e-05 9.99939418e-01 6.11703785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31275509600005 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:82.68, Y:193.98, Z:6.12 [[ 8.12140043e-01 5.83395111e-01 -8.87100801e-03 8.26783231e+01] [-5.83359479e-01 8.12188488e-01 6.44808548e-03 1.93978121e+02] [ 1.09667121e-02 -6.17618134e-05 9.99939862e-01 6.11681895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3427550960001 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:82.70, Y:193.96, Z:6.12 [[ 8.12121707e-01 5.83413571e-01 -9.32407000e-03 8.27038941e+01] [-5.83374153e-01 8.12175227e-01 6.78215411e-03 1.93957346e+02] [ 1.15295794e-02 -6.85131346e-05 9.99933530e-01 6.11627689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:193.94, Z:6.12 [[ 8.12524699e-01 5.82846417e-01 -9.67818070e-03 8.27296249e+01] [-5.82803849e-01 8.12582332e-01 7.04462239e-03 1.93936385e+02] [ 1.19702516e-02 -8.34487260e-05 9.99928351e-01 6.11625066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:193.91, Z:6.12 [[ 8.13793151e-01 5.81059847e-01 -1.04957916e-02 8.27532391e+01] [-5.81009562e-01 8.13860823e-01 7.64527445e-03 1.93914104e+02] [ 1.29844756e-02 -1.23516707e-04 9.99915691e-01 6.11591967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:193.89, Z:6.12 [[ 8.14590457e-01 5.79938953e-01 -1.06394130e-02 8.27755355e+01] [-5.79887127e-01 8.14659922e-01 7.75443588e-03 1.93892565e+02] [ 1.31646028e-02 -1.47030844e-04 9.99913332e-01 6.11636757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:193.87, Z:6.12 [[ 8.15354665e-01 5.78863475e-01 -1.06698995e-02 8.28005240e+01] [-5.78811205e-01 8.15424459e-01 7.78080070e-03 1.93873121e+02] [ 1.32045184e-02 -1.68254743e-04 9.99912802e-01 6.11684803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:193.85, Z:6.12 [[ 8.16851217e-01 5.76748601e-01 -1.07303374e-02 8.28225975e+01] [-5.76695494e-01 8.16921666e-01 7.82937337e-03 1.93851327e+02] [ 1.32814253e-02 -2.07295920e-04 9.99911777e-01 6.11715836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:193.83, Z:6.12 [[ 8.17665098e-01 5.75593481e-01 -1.07672014e-02 8.28473786e+01] [-5.75539861e-01 8.17735955e-01 7.85979838e-03 1.93830278e+02] [ 1.33287765e-02 -2.29729188e-04 9.99911142e-01 6.11749004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:193.81, Z:6.12 [[ 8.18244050e-01 5.74775619e-01 -1.04719641e-02 8.28727851e+01] [-5.74724779e-01 8.18311023e-01 7.64845084e-03 1.93810259e+02] [ 1.29654667e-02 -2.39802148e-04 9.99915916e-01 6.11830675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.89, Y:193.79, Z:6.12 [[ 8.19576117e-01 5.72870751e-01 -1.06813597e-02 8.28944480e+01] [-5.72817633e-01 8.19645670e-01 7.80602732e-03 1.93787100e+02] [ 1.32267749e-02 -2.79162390e-04 9.99912483e-01 6.11923943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:193.77, Z:6.12 [[ 8.20112802e-01 5.72104642e-01 -1.05484888e-02 8.29194345e+01] [-5.72052745e-01 8.20180586e-01 7.71121358e-03 1.93767369e+02] [ 1.30632868e-02 -2.89772984e-04 9.99914630e-01 6.11990049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:193.75, Z:6.12 [[ 8.20822719e-01 5.71091374e-01 -1.02325879e-02 8.29429300e+01] [-5.71042408e-01 8.20886443e-01 7.48440801e-03 1.93746732e+02] [ 1.26740736e-02 -3.00130485e-04 9.99919636e-01 6.12052638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:193.73, Z:6.12 [[ 8.20860503e-01 5.71033155e-01 -1.04484660e-02 8.29691701e+01] [-5.70982043e-01 8.20926939e-01 7.64636095e-03 1.93726438e+02] [ 1.29437528e-02 -3.10709254e-04 9.99916178e-01 6.12113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:193.71, Z:6.12 [[ 8.20616403e-01 5.71378447e-01 -1.07420017e-02 8.29954263e+01] [-5.71324383e-01 8.20686645e-01 7.86640232e-03 1.93706919e+02] [ 1.33105101e-02 -3.18131292e-04 9.99911361e-01 6.12130632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:193.69, Z:6.12 [[ 8.20389746e-01 5.71701659e-01 -1.08571346e-02 8.30223391e+01] [-5.71646387e-01 8.20461523e-01 7.95597932e-03 1.93687111e+02] [ 1.34563077e-02 -3.20562096e-04 9.99909408e-01 6.12176121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:193.67, Z:6.12 [[ 8.19782245e-01 5.72569089e-01 -1.10321850e-02 8.30473658e+01] [-5.72512025e-01 8.19856413e-01 8.08970060e-03 1.93667427e+02] [ 1.36767201e-02 -3.15734354e-04 9.99906419e-01 6.12185314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:193.65, Z:6.12 [[ 8.19425605e-01 5.73078016e-01 -1.11025233e-02 8.30720212e+01] [-5.73020202e-01 8.19500757e-01 8.14602733e-03 1.93647191e+02] [ 1.37668354e-02 -3.13093208e-04 9.99905184e-01 6.12251933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:193.63, Z:6.12 [[ 8.18469900e-01 5.74437376e-01 -1.13456711e-02 8.30987359e+01] [-5.74377060e-01 8.18548478e-01 8.32964218e-03 1.93628624e+02] [ 1.40718396e-02 -3.00868202e-04 9.99900942e-01 6.12306744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:193.61, Z:6.12 [[ 8.18043730e-01 5.75035130e-01 -1.17921985e-02 8.31233065e+01] [-5.74969959e-01 8.18128661e-01 8.66260513e-03 1.93607908e+02] [ 1.46288378e-02 -3.06229928e-04 9.99892946e-01 6.12310672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:193.59, Z:6.12 [[ 8.17512786e-01 5.75781393e-01 -1.21914447e-02 8.31496503e+01] [-5.75711733e-01 8.17603628e-01 8.96143331e-03 1.93589072e+02] [ 1.51275960e-02 -3.07328531e-04 9.99885524e-01 6.12284885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:193.57, Z:6.12 [[ 8.17006616e-01 5.76497748e-01 -1.22693511e-02 8.31721899e+01] [-5.76427199e-01 8.17098682e-01 9.02370905e-03 1.93567632e+02] [ 1.52274186e-02 -3.00042302e-04 9.99884011e-01 6.12309146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:193.55, Z:6.12 [[ 8.16812825e-01 5.76769713e-01 -1.23897750e-02 8.32001614e+01] [-5.76697729e-01 8.16906731e-01 9.11714165e-03 1.93549322e+02] [ 1.53797818e-02 -3.01843101e-04 9.99881679e-01 6.12395117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:193.53, Z:6.13 [[ 8.16364243e-01 5.77415892e-01 -1.18452724e-02 8.32259671e+01] [-5.77350088e-01 8.16450126e-01 8.72167018e-03 1.93530236e+02] [ 1.47071051e-02 -2.81190598e-04 9.99891805e-01 6.12502983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:193.51, Z:6.13 [[ 8.16246017e-01 5.77581902e-01 -1.18989885e-02 8.32510311e+01] [-5.77515442e-01 8.16332693e-01 8.76631181e-03 1.93509742e+02] [ 1.47767964e-02 -2.83617473e-04 9.99890777e-01 6.12545333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:193.49, Z:6.13 [[ 8.16011439e-01 5.77913485e-01 -1.18884550e-02 8.32778629e+01] [-5.77847098e-01 8.16097987e-01 8.76394772e-03 1.93490353e+02] [ 1.47669478e-02 -2.81772385e-04 9.99890923e-01 6.12586768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:193.47, Z:6.13 [[ 8.15836251e-01 5.78155750e-01 -1.21300993e-02 8.33041359e+01] [-5.78086573e-01 8.15926373e-01 8.94810461e-03 1.93469812e+02] [ 1.50706660e-02 -2.87940593e-04 9.99886390e-01 6.12621366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:193.45, Z:6.13 [[ 8.15485681e-01 5.78659635e-01 -1.16675470e-02 8.33292658e+01] [-5.78595605e-01 8.15569097e-01 8.61239245e-03 1.93449222e+02] [ 1.44993347e-02 -2.72491283e-04 9.99894842e-01 6.12719332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:193.43, Z:6.13 [[ 8.15300907e-01 5.78921165e-01 -1.16067354e-02 8.33536366e+01] [-5.78857747e-01 8.15383475e-01 8.57305003e-03 1.93427919e+02] [ 1.44270604e-02 -2.70966749e-04 9.99895888e-01 6.12800886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:193.41, Z:6.13 [[ 8.14936695e-01 5.79428488e-01 -1.18663666e-02 8.33790549e+01] [-5.79362197e-01 8.15023039e-01 8.76873874e-03 1.93407342e+02] [ 1.47522192e-02 -2.71042709e-04 9.99891143e-01 6.12816820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:193.39, Z:6.13 [[ 8.14619504e-01 5.79866035e-01 -1.22656456e-02 8.34052408e+01] [-5.79795165e-01 8.14711793e-01 9.06983197e-03 1.93387400e+02] [ 1.52522536e-02 -2.76900015e-04 9.99883639e-01 6.12790223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:193.37, Z:6.13 [[ 8.14480875e-01 5.80055357e-01 -1.25174931e-02 8.34298865e+01] [-5.79981474e-01 8.14577009e-01 9.26213770e-03 1.93367451e+02] [ 1.55690147e-02 -2.83919894e-04 9.99878755e-01 6.12788759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:193.35, Z:6.13 [[ 8.14814157e-01 5.79583022e-01 -1.27047036e-02 8.34533423e+01] [-5.79506766e-01 8.14913142e-01 9.40635966e-03 1.93345543e+02] [ 1.58049963e-02 -3.01973323e-04 9.99875048e-01 6.12794653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:193.33, Z:6.13 [[ 8.15078023e-01 5.79212944e-01 -1.26562871e-02 8.34786395e+01] [-5.79137140e-01 8.15176219e-01 9.37577754e-03 1.93325533e+02] [ 1.57476760e-02 -3.12264311e-04 9.99875949e-01 6.12892863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:193.31, Z:6.13 [[ 8.14894097e-01 5.79471740e-01 -1.26536280e-02 8.35045935e+01] [-5.79395911e-01 8.14992274e-01 9.37936513e-03 1.93306096e+02] [ 1.57476860e-02 -3.11728974e-04 9.99875949e-01 6.12936131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:193.28, Z:6.13 [[ 8.14819330e-01 5.79574582e-01 -1.27578871e-02 8.35297235e+01] [-5.79497411e-01 8.14919139e-01 9.46296152e-03 1.93284795e+02] [ 1.58811383e-02 -3.17441438e-04 9.99873836e-01 6.12982767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:193.26, Z:6.13 [[ 8.15065825e-01 5.79238716e-01 -1.22560902e-02 8.35546566e+01] [-5.79167370e-01 8.15157905e-01 9.09655634e-03 1.93262967e+02] [ 1.52597265e-02 -3.15964637e-04 9.99883514e-01 6.13011343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:193.24, Z:6.13 [[ 8.14960814e-01 5.79393663e-01 -1.19102776e-02 8.35804872e+01] [-5.79326218e-01 8.15047783e-01 8.84562483e-03 1.93242093e+02] [ 1.48325443e-02 -3.08901568e-04 9.99889944e-01 6.13044518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:193.22, Z:6.13 [[ 8.14895927e-01 5.79487090e-01 -1.18042834e-02 8.36027627e+01] [-5.79420766e-01 8.14981360e-01 8.77265025e-03 1.93217891e+02] [ 1.47039085e-02 -3.09150064e-04 9.99891844e-01 6.13060914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45275509600003 meters Centerline goodness [0,1] 0.9999126980662622 Centerline is valid? [True, True] Translation: X:83.63, Y:193.20, Z:6.13 [[ 8.14707791e-01 5.79757123e-01 -1.15279610e-02 8.36290515e+01] [-5.79693820e-01 8.14789291e-01 8.57246908e-03 1.93197830e+02] [ 1.43628092e-02 -3.01369611e-04 9.99896804e-01 6.13128386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:193.18, Z:6.13 [[ 8.14611234e-01 5.79899273e-01 -1.11969110e-02 8.36569487e+01] [-5.79839498e-01 8.14688129e-01 8.33126365e-03 1.93179871e+02] [ 1.39532842e-02 -2.94329740e-04 9.99902605e-01 6.13207666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:193.16, Z:6.13 [[ 8.14382099e-01 5.80214107e-01 -1.15493508e-02 8.36807081e+01] [-5.80150455e-01 8.14463933e-01 8.59947551e-03 1.93158183e+02] [ 1.43960666e-02 -3.02897820e-04 9.99896325e-01 6.13253484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:193.14, Z:6.13 [[ 8.14142278e-01 5.80549408e-01 -1.16076020e-02 8.37059021e+01] [-5.80485067e-01 8.14224965e-01 8.64831774e-03 1.93137847e+02] [ 1.44719751e-02 -3.02921471e-04 9.99895230e-01 6.13256538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:193.12, Z:6.13 [[ 8.13770437e-01 5.81066229e-01 -1.18200168e-02 8.37326652e+01] [-5.80999484e-01 8.13856219e-01 8.81218895e-03 1.93117920e+02] [ 1.47402596e-02 -3.03675186e-04 9.99891310e-01 6.13306767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:193.10, Z:6.13 [[ 8.12889215e-01 5.82304181e-01 -1.15310453e-02 8.37571321e+01] [-5.82240704e-01 8.12970948e-01 8.60232809e-03 1.93098355e+02] [ 1.43835765e-02 -2.78895776e-04 9.99896512e-01 6.13343069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:193.08, Z:6.13 [[ 8.12318723e-01 5.83097450e-01 -1.16471050e-02 8.37829943e+01] [-5.83032701e-01 8.12402173e-01 8.69368807e-03 1.93078875e+02] [ 1.45314008e-02 -2.71402500e-04 9.99894377e-01 6.13393595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:193.06, Z:6.13 [[ 8.11097042e-01 5.84804261e-01 -1.12056072e-02 8.38072283e+01] [-5.84744425e-01 8.11174409e-01 8.36877262e-03 1.93058937e+02] [ 1.39837957e-02 -2.35470388e-04 9.99902194e-01 6.13490451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:193.04, Z:6.14 [[ 8.10354678e-01 5.85839933e-01 -1.08105753e-02 8.38333485e+01] [-5.85784277e-01 8.10426757e-01 8.07789140e-03 1.93040172e+02] [ 1.34935308e-02 -2.13292060e-04 9.99908935e-01 6.13551467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.86, Y:193.02, Z:6.14 [[ 8.09719483e-01 5.86714474e-01 -1.09765187e-02 8.38572354e+01] [-5.86657113e-01 8.09793853e-01 8.20658747e-03 1.93020396e+02] [ 1.37036410e-02 -2.05580972e-04 9.99906080e-01 6.13625203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:193.00, Z:6.14 [[ 8.08597630e-01 5.88262351e-01 -1.08295892e-02 8.38829947e+01] [-5.88206619e-01 8.08670127e-01 8.09933474e-03 1.93000737e+02] [ 1.35220990e-02 -1.79066818e-04 9.99908556e-01 6.13688295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:192.98, Z:6.14 [[ 8.07834020e-01 5.89313929e-01 -1.06437545e-02 8.39087643e+01] [-5.89260127e-01 8.07904120e-01 7.96471274e-03 1.92982416e+02] [ 1.32928493e-02 -1.62225794e-04 9.99911633e-01 6.13743438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:192.96, Z:6.14 [[ 8.06742795e-01 5.90814508e-01 -1.02117628e-02 8.39346985e+01] [-5.90765051e-01 8.06807411e-01 7.64563364e-03 1.92963933e+02] [ 1.27560772e-02 -1.35307280e-04 9.99918629e-01 6.13809121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:192.95, Z:6.14 [[ 8.04910256e-01 5.93312718e-01 -9.97495557e-03 8.39604458e+01] [-5.93265666e-01 8.04972055e-01 7.47261490e-03 1.92945803e+02] [ 1.24631579e-02 -9.69857094e-05 9.99922327e-01 6.13943512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.99, Y:192.93, Z:6.14 [[ 8.03958033e-01 5.94605352e-01 -9.79573205e-03 8.39859722e+01] [-5.94560025e-01 8.04017704e-01 7.34222631e-03 1.92927353e+02] [ 1.22416691e-02 -7.86911350e-05 9.99925065e-01 6.14004712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:192.91, Z:6.14 [[ 8.02753837e-01 5.96227705e-01 -9.93988249e-03 8.40128395e+01] [-5.96181106e-01 8.02815371e-01 7.45441060e-03 1.92908829e+02] [ 1.24244166e-02 -5.80865731e-05 9.99922812e-01 6.14017665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:192.89, Z:6.14 [[ 8.02199027e-01 5.96966489e-01 -1.03794244e-02 8.40385050e+01] [-5.96915707e-01 8.02266171e-01 7.78653119e-03 1.92889072e+02] [ 1.29753593e-02 -5.07062793e-05 9.99915815e-01 6.14010814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:192.87, Z:6.14 [[ 8.01629139e-01 5.97727746e-01 -1.05955399e-02 8.40646739e+01] [-5.97674851e-01 8.01699158e-01 7.95192116e-03 1.92869596e+02] [ 1.32475193e-02 -4.18039718e-05 9.99912247e-01 6.14036812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:192.85, Z:6.14 [[ 8.01264732e-01 5.98216975e-01 -1.05489639e-02 8.40907721e+01] [-5.98164519e-01 8.01334169e-01 7.92202049e-03 1.92849743e+02] [ 1.31923323e-02 -3.76197240e-05 9.99912977e-01 6.14056033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:192.83, Z:6.14 [[ 8.00762774e-01 5.98891903e-01 -1.03666610e-02 8.41170713e+01] [-5.98841238e-01 8.00829874e-01 7.79000322e-03 1.92831271e+02] [ 1.29673017e-02 -2.99604676e-05 9.99915921e-01 6.14137178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:192.81, Z:6.14 [[ 8.00789235e-01 5.98848772e-01 -1.08050818e-02 8.41427718e+01] [-5.98793658e-01 8.00862128e-01 8.12447899e-03 1.92810904e+02] [ 1.35187150e-02 -3.59808733e-05 9.99908617e-01 6.14166884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:192.79, Z:6.14 [[ 8.01704456e-01 5.97611702e-01 -1.14113893e-02 8.41680928e+01] [-5.97550019e-01 8.01785663e-01 8.58631842e-03 1.92789264e+02] [ 1.42807727e-02 -6.48138503e-05 9.99898022e-01 6.14170359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11275509600006 meters Centerline goodness [0,1] 0.9999563737893726 Centerline is valid? [True, True] Translation: X:84.19, Y:192.77, Z:6.14 [[ 8.02119893e-01 5.97056286e-01 -1.12902030e-02 8.41925463e+01] [-5.96995773e-01 8.02199343e-01 8.50063915e-03 1.92769111e+02] [ 1.41323535e-02 -7.83282926e-05 9.99900130e-01 6.14164902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:192.75, Z:6.14 [[ 8.03328960e-01 5.95425648e-01 -1.14402324e-02 8.42171959e+01] [-5.95363276e-01 8.03410409e-01 8.61888796e-03 1.92748538e+02] [ 1.43231087e-02 -1.12708096e-04 9.99897413e-01 6.14173343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:192.73, Z:6.14 [[ 8.03940073e-01 5.94599360e-01 -1.14873569e-02 8.42413187e+01] [-5.94536318e-01 8.04022129e-01 8.65925564e-03 1.92728249e+02] [ 1.43848770e-02 -1.31871750e-04 9.99896524e-01 6.14203681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:192.71, Z:6.14 [[ 8.04393765e-01 5.93984861e-01 -1.15176078e-02 8.42675543e+01] [-5.93921349e-01 8.04476204e-01 8.68725931e-03 1.92709103e+02] [ 1.44257419e-02 -1.47424059e-04 9.99895933e-01 6.14237899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:192.69, Z:6.14 [[ 8.05044303e-01 5.93101916e-01 -1.15666182e-02 8.42914634e+01] [-5.93037690e-01 8.05127374e-01 8.72981516e-03 1.92689947e+02] [ 1.44902711e-02 -1.68447401e-04 9.99894996e-01 6.14268247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:192.67, Z:6.14 [[ 8.06255828e-01 5.91446648e-01 -1.19332655e-02 8.43166182e+01] [-5.91378040e-01 8.06344107e-01 9.01081339e-03 1.92669780e+02] [ 1.49517337e-02 -2.07949643e-04 9.99888195e-01 6.14324164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:192.65, Z:6.14 [[ 8.06777404e-01 5.90726754e-01 -1.23337949e-02 8.43409329e+01] [-5.90653295e-01 8.06871643e-01 9.31867424e-03 1.92650078e+02] [ 1.54565795e-02 -2.33099241e-04 9.99880513e-01 6.14328931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:192.63, Z:6.14 [[ 8.07139119e-01 5.90229151e-01 -1.24897120e-02 8.43666824e+01] [-5.90153683e-01 8.07235707e-01 9.44154653e-03 1.92630269e+02] [ 1.56548175e-02 -2.49792009e-04 9.99877425e-01 6.14360362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:192.61, Z:6.14 [[ 8.08125428e-01 5.88856906e-01 -1.34475850e-02 8.43908958e+01] [-5.88769127e-01 8.08237251e-01 1.01716238e-02 1.92611332e+02] [ 1.68584700e-02 -3.02424955e-04 9.99857840e-01 6.14327574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:192.59, Z:6.14 [[ 8.08630079e-01 5.88155534e-01 -1.38008403e-02 8.44150535e+01] [-5.88062885e-01 8.08747772e-01 1.04443315e-02 1.92591611e+02] [ 1.73042902e-02 -3.29838611e-04 9.99850215e-01 6.14345117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:192.57, Z:6.14 [[ 8.09802535e-01 5.86546440e-01 -1.35325105e-02 8.44395937e+01] [-5.86457046e-01 8.09915516e-01 1.02464834e-02 1.92571163e+02] [ 1.69702285e-02 -3.61392083e-04 9.99855930e-01 6.14478444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:192.55, Z:6.15 [[ 8.10103530e-01 5.86130388e-01 -1.35439770e-02 8.44650048e+01] [-5.86040689e-01 8.10216655e-01 1.02607321e-02 1.92551503e+02] [ 1.69876827e-02 -3.74933684e-04 9.99855629e-01 6.14575590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:192.53, Z:6.15 [[ 8.10570106e-01 5.85484900e-01 -1.35475169e-02 8.44901564e+01] [-5.85394970e-01 8.10683216e-01 1.02689871e-02 1.92531895e+02] [ 1.69950814e-02 -3.93085697e-04 9.99855496e-01 6.14614443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:192.51, Z:6.15 [[ 8.10968772e-01 5.84935164e-01 -1.34352139e-02 8.45161029e+01] [-5.84846550e-01 8.11079953e-01 1.01893473e-02 1.92513077e+02] [ 1.68571402e-02 -4.05703970e-04 9.99857826e-01 6.14644365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:192.50, Z:6.15 [[ 8.11378940e-01 5.84358146e-01 -1.37757745e-02 8.45418742e+01] [-5.84264801e-01 8.11495761e-01 1.04533430e-02 1.92495357e+02] [ 1.72874787e-02 -4.32922251e-04 9.99850467e-01 6.14595404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:192.48, Z:6.15 [[ 8.11413179e-01 5.84306224e-01 -1.39602776e-02 8.45675420e+01] [-5.84210266e-01 8.11533141e-01 1.05984181e-02 1.92475727e+02] [ 1.75219496e-02 -4.43958609e-04 9.99846380e-01 6.14589036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:192.46, Z:6.15 [[ 8.10941586e-01 5.84960323e-01 -1.39701394e-02 8.45952892e+01] [-5.84864247e-01 8.11061793e-01 1.06104077e-02 1.92459688e+02] [ 1.75373139e-02 -4.33785824e-04 9.99846115e-01 6.14717256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62275509600005 meters Centerline goodness [0,1] 0.9999127951339685 Centerline is valid? [True, True] Translation: X:84.62, Y:192.44, Z:6.15 [[ 8.10572176e-01 5.85475585e-01 -1.38234364e-02 8.46208937e+01] [-5.85381490e-01 8.10689929e-01 1.05047672e-02 1.92440854e+02] [ 1.73568054e-02 -4.22888226e-04 9.99849270e-01 6.14788873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:192.42, Z:6.15 [[ 8.10066979e-01 5.86176276e-01 -1.37427505e-02 8.46473325e+01] [-5.86083278e-01 8.10183439e-01 1.04492244e-02 1.92422636e+02] [ 1.72592363e-02 -4.10175408e-04 9.99850964e-01 6.14856459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:192.40, Z:6.15 [[ 8.09116162e-01 5.87479101e-01 -1.41188957e-02 8.46709230e+01] [-5.87381042e-01 8.09239241e-01 1.07407315e-02 1.92402924e+02] [ 1.77355198e-02 -3.97327777e-04 9.99842634e-01 6.14863796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:192.39, Z:6.15 [[ 8.08350016e-01 5.88533569e-01 -1.40886495e-02 8.46960675e+01] [-5.88436048e-01 8.08472694e-01 1.07201001e-02 1.92386984e+02] [ 1.76994272e-02 -3.75323838e-04 9.99843282e-01 6.14900024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:192.37, Z:6.15 [[ 8.06652105e-01 5.90860931e-01 -1.39907768e-02 8.47270311e+01] [-5.90765093e-01 8.06773361e-01 1.06465187e-02 1.92374167e+02] [ 1.75779980e-02 -3.22774195e-04 9.99845443e-01 6.15049374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:192.36, Z:6.15 [[ 8.05593346e-01 5.92296032e-01 -1.43098360e-02 8.47536124e+01] [-5.92195886e-01 8.05720373e-01 1.08955890e-02 1.92355596e+02] [ 1.79831405e-02 -3.03187974e-04 9.99838244e-01 6.15069266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.78, Y:192.34, Z:6.15 [[ 8.04786026e-01 5.93386916e-01 -1.45403251e-02 8.47806901e+01] [-5.93283594e-01 8.04917316e-01 1.10766361e-02 1.92337311e+02] [ 1.82764904e-02 -2.87785611e-04 9.99832930e-01 6.15116508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:192.32, Z:6.15 [[ 8.03725452e-01 5.94814970e-01 -1.48509186e-02 8.48039232e+01] [-5.94707363e-01 8.03862601e-01 1.13168507e-02 1.92316306e+02] [ 1.86695303e-02 -2.63690289e-04 9.99825674e-01 6.14968209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:192.30, Z:6.15 [[ 8.03173833e-01 5.95555783e-01 -1.50034182e-02 8.48329285e+01] [-5.95445991e-01 8.03313914e-01 1.14379400e-02 1.92299444e+02] [ 1.88643859e-02 -2.52928877e-04 9.99822020e-01 6.15183896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:192.28, Z:6.15 [[ 8.02572164e-01 5.96351545e-01 -1.55806557e-02 8.48576838e+01] [-5.96233136e-01 8.02723348e-01 1.18859107e-02 1.92279741e+02] [ 1.95951373e-02 -2.49597907e-04 9.99807966e-01 6.15185182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:192.26, Z:6.15 [[ 8.02505505e-01 5.96431853e-01 -1.59360795e-02 8.48827834e+01] [-5.96307845e-01 8.02663676e-01 1.21645915e-02 1.92259619e+02] [ 2.00466620e-02 -2.59342433e-04 9.99799012e-01 6.15164236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:192.24, Z:6.15 [[ 8.02531159e-01 5.96391159e-01 -1.61655360e-02 8.49082943e+01] [-5.96263390e-01 8.02693910e-01 1.23473531e-02 1.92238790e+02] [ 2.03398295e-02 -2.70218273e-04 9.99793088e-01 6.15222228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.93, Y:192.22, Z:6.15 [[ 8.03143320e-01 5.95572496e-01 -1.59439568e-02 8.49308587e+01] [-5.95447902e-01 8.03301510e-01 1.21852361e-02 1.92216917e+02] [ 2.00649961e-02 -2.92695349e-04 9.99798635e-01 6.15245694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:192.20, Z:6.15 [[ 8.03530195e-01 5.95050366e-01 -1.59463769e-02 8.49552520e+01] [-5.94925504e-01 8.03688351e-01 1.21934299e-02 1.92196588e+02] [ 2.00716223e-02 -3.10882803e-04 9.99798496e-01 6.15359507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:192.17, Z:6.15 [[ 8.04436395e-01 5.93837422e-01 -1.54661516e-02 8.49781641e+01] [-5.93719621e-01 8.04584988e-01 1.18325090e-02 1.92174060e+02] [ 1.94704200e-02 -3.35943219e-04 9.99810377e-01 6.15480465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:192.15, Z:6.16 [[ 8.04593442e-01 5.93623519e-01 -1.55084276e-02 8.50037302e+01] [-5.93504901e-01 8.04742815e-01 1.18716244e-02 1.92153830e+02] [ 1.95275711e-02 -3.47503354e-04 9.99809258e-01 6.15555279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:192.13, Z:6.16 [[ 8.04473686e-01 5.93780621e-01 -1.57055116e-02 8.50286171e+01] [-5.93658851e-01 8.04626900e-01 1.20299639e-02 1.92133723e+02] [ 1.97802365e-02 -3.54073478e-04 9.99804289e-01 6.15566185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:192.11, Z:6.16 [[ 8.04206373e-01 5.94136751e-01 -1.59258106e-02 8.50552056e+01] [-5.94011460e-01 8.04363969e-01 1.22061815e-02 1.92114433e+02] [ 2.00622892e-02 -3.56175003e-04 9.99798669e-01 6.15642235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:192.09, Z:6.16 [[ 8.03450468e-01 5.95153736e-01 -1.61051843e-02 8.50806635e+01] [-5.95025654e-01 8.03611794e-01 1.23513810e-02 1.92094661e+02] [ 2.02932866e-02 -3.40725002e-04 9.99794012e-01 6.15662080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:192.07, Z:6.16 [[ 8.03264040e-01 5.95405425e-01 -1.61016351e-02 8.51062865e+01] [-5.95277301e-01 8.03425332e-01 1.23560065e-02 1.92074794e+02] [ 2.02932949e-02 -3.40197840e-04 9.99794012e-01 6.15705345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:192.06, Z:6.16 [[ 8.02390578e-01 5.96569342e-01 -1.65644311e-02 8.51312089e+01] [-5.96433827e-01 8.02561470e-01 1.27191430e-02 1.92055014e+02] [ 2.08818250e-02 -3.26133443e-04 9.99781898e-01 6.15717511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:192.04, Z:6.16 [[ 8.01538792e-01 5.97705359e-01 -1.68483807e-02 8.51566069e+01] [-5.97565251e-01 8.01715791e-01 1.29445656e-02 1.92036062e+02] [ 2.12446491e-02 -3.07564616e-04 9.99774260e-01 6.15776295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:192.02, Z:6.16 [[ 8.00889805e-01 5.98573519e-01 -1.68897139e-02 8.51809164e+01] [-5.98432762e-01 8.01067824e-01 1.29835138e-02 1.92016833e+02] [ 2.13013939e-02 -2.91005693e-04 9.99773057e-01 6.15810133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:192.00, Z:6.16 [[ 8.00281263e-01 5.99392298e-01 -1.66965128e-02 8.52069593e+01] [-5.99254775e-01 8.00455370e-01 1.28419189e-02 1.91998068e+02] [ 2.10621606e-02 -2.71682096e-04 9.99778131e-01 6.15944723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:191.98, Z:6.16 [[ 7.99184721e-01 6.00868718e-01 -1.61420063e-02 8.52322234e+01] [-6.00740342e-01 7.99347690e-01 1.24222128e-02 1.91979381e+02] [ 2.03671945e-02 -2.30488337e-04 9.99792541e-01 6.16101849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:191.96, Z:6.16 [[ 7.98635603e-01 6.01606977e-01 -1.58182919e-02 8.52585048e+01] [-6.01483706e-01 7.98792213e-01 1.21799881e-02 1.91960362e+02] [ 1.99630942e-02 -2.12927292e-04 9.99800695e-01 6.16209038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:191.94, Z:6.16 [[ 7.97999694e-01 6.02470280e-01 -1.50349387e-02 8.52833328e+01] [-6.02358938e-01 7.98141295e-01 1.15837546e-02 1.91942014e+02] [ 1.89788733e-02 -1.87402891e-04 9.99819867e-01 6.16325609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:191.92, Z:6.16 [[ 7.97540644e-01 6.03081460e-01 -1.48887002e-02 8.53092626e+01] [-6.02972259e-01 7.97679585e-01 1.14775550e-02 1.91922012e+02] [ 1.87983128e-02 -1.76343453e-04 9.99823281e-01 6.16421816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:191.90, Z:6.16 [[ 7.97525873e-01 6.03108248e-01 -1.45918942e-02 8.53337873e+01] [-6.03003242e-01 7.97659332e-01 1.12552225e-02 1.91901645e+02] [ 1.84274781e-02 -1.77371643e-04 9.99830184e-01 6.16485245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:191.88, Z:6.17 [[ 7.97975805e-01 6.02508857e-01 -1.47543847e-02 8.53590772e+01] [-6.02401296e-01 7.98112171e-01 1.13860235e-02 1.91880581e+02] [ 1.86358341e-02 -1.97710781e-04 9.99826318e-01 6.16569311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:191.86, Z:6.17 [[ 7.98332555e-01 6.02036575e-01 -1.47341412e-02 8.53836141e+01] [-6.01929091e-01 7.98468482e-01 1.13777078e-02 1.91860162e+02] [ 1.86145436e-02 -2.14286321e-04 9.99826711e-01 6.16599740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.41, Y:191.84, Z:6.17 [[ 7.98770304e-01 6.01457430e-01 -1.46615617e-02 8.54091362e+01] [-6.01350775e-01 7.98904817e-01 1.13287249e-02 1.91839985e+02] [ 1.85269381e-02 -2.32307548e-04 9.99828335e-01 6.16701559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:191.82, Z:6.17 [[ 7.99977998e-01 5.99867860e-01 -1.39195038e-02 8.54319453e+01] [-5.99771373e-01 8.00099045e-01 1.07618729e-02 1.91819251e+02] [ 1.75926833e-02 -2.60741666e-04 9.99845203e-01 6.16791660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:191.80, Z:6.17 [[ 8.00403430e-01 5.99295361e-01 -1.41215881e-02 8.54564931e+01] [-5.99195856e-01 8.00527945e-01 1.09240700e-02 1.91799217e+02] [ 1.78514704e-02 -2.82066046e-04 9.99840610e-01 6.16846191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:191.78, Z:6.17 [[ 8.01565632e-01 5.97744935e-01 -1.39115044e-02 8.54811886e+01] [-5.97648030e-01 8.01686281e-01 1.07675473e-02 1.91778430e+02] [ 1.75889091e-02 -3.16712645e-04 9.99845253e-01 6.16943172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:191.76, Z:6.17 [[ 8.02092242e-01 5.97043753e-01 -1.36672198e-02 8.55056443e+01] [-5.96950015e-01 8.02208606e-01 1.05845030e-02 1.91757686e+02] [ 1.72833727e-02 -3.31100629e-04 9.99850577e-01 6.17022407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:191.74, Z:6.17 [[ 8.02386379e-01 5.96650192e-01 -1.35884938e-02 8.55284832e+01] [-5.96557373e-01 8.02501359e-01 1.05294621e-02 1.91735976e+02] [ 1.71871903e-02 -3.42380766e-04 9.99852231e-01 6.17013858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:191.72, Z:6.17 [[ 8.02776044e-01 5.96123906e-01 -1.36716069e-02 8.55548473e+01] [-5.96029772e-01 8.02892371e-01 1.05996077e-02 1.91718211e+02] [ 1.72955084e-02 -3.60426352e-04 9.99850357e-01 6.17033595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:191.70, Z:6.17 [[ 8.02405553e-01 5.96614189e-01 -1.40299182e-02 8.55807918e+01] [-5.96515015e-01 8.02528116e-01 1.08839618e-02 1.91698410e+02] [ 1.77529299e-02 -3.64294510e-04 9.99842338e-01 6.17049426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:191.68, Z:6.17 [[ 8.02344869e-01 5.96709780e-01 -1.34219713e-02 8.56072172e+01] [-5.96618917e-01 8.02457049e-01 1.04188763e-02 1.91678976e+02] [ 1.69876009e-02 -3.51729947e-04 9.99855638e-01 6.17073991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.63, Y:191.66, Z:6.17 [[ 8.01906764e-01 5.97297961e-01 -1.34420203e-02 8.56320251e+01] [-5.97206799e-01 8.02019343e-01 1.04409209e-02 1.91660218e+02] [ 1.70171010e-02 -3.44979232e-04 9.99855139e-01 6.17119600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.66, Y:191.64, Z:6.17 [[ 8.01776021e-01 5.97484827e-01 -1.29264749e-02 8.56584630e+01] [-5.97400461e-01 8.01880148e-01 1.00457594e-02 1.91639812e+02] [ 1.63676724e-02 -3.32166929e-04 9.99865986e-01 6.17170022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:191.62, Z:6.17 [[ 8.01223966e-01 5.98232676e-01 -1.25626768e-02 8.56844509e+01] [-5.98152990e-01 8.01322387e-01 9.76896317e-03 1.91620241e+02] [ 1.59108671e-02 -3.12724747e-04 9.99873365e-01 6.17231064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.71, Y:191.60, Z:6.17 [[ 8.00777359e-01 5.98833945e-01 -1.23906375e-02 8.57106534e+01] [-5.98756413e-01 8.00873158e-01 9.64062745e-03 1.91600533e+02] [ 1.56964639e-02 -3.01022533e-04 9.99876758e-01 6.17271534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:191.58, Z:6.17 [[ 8.00363912e-01 5.99391539e-01 -1.21404909e-02 8.57360893e+01] [-5.99317080e-01 8.00455932e-01 9.45193270e-03 1.91580469e+02] [ 1.53833364e-02 -2.88982300e-04 9.99881628e-01 6.17300482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:191.56, Z:6.17 [[ 7.99365924e-01 6.00724920e-01 -1.19871256e-02 8.57625265e+01] [-6.00652396e-01 7.99455753e-01 9.33801865e-03 1.91562270e+02] [ 1.51927571e-02 -2.64398179e-04 9.99884548e-01 6.17270762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:191.54, Z:6.17 [[ 7.98965951e-01 6.01259808e-01 -1.18343751e-02 8.57899650e+01] [-6.01189102e-01 7.99053551e-01 9.22417901e-03 1.91543920e+02] [ 1.50024276e-02 -2.55107612e-04 9.99887425e-01 6.17282300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:191.52, Z:6.17 [[ 7.98350573e-01 6.02085853e-01 -1.13572441e-02 8.58144145e+01] [-6.02020738e-01 7.98431318e-01 8.85779396e-03 1.91524448e+02] [ 1.44011318e-02 -2.34328409e-04 9.99896271e-01 6.17236490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:191.50, Z:6.17 [[ 7.98187728e-01 6.02309000e-01 -1.09644634e-02 8.58400803e+01] [-6.02248292e-01 7.98263001e-01 8.55431144e-03 1.91504369e+02] [ 1.39048642e-02 -2.24617061e-04 9.99903297e-01 6.17266384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:191.48, Z:6.17 [[ 7.97936347e-01 6.02647443e-01 -1.06605144e-02 8.58659512e+01] [-6.02590013e-01 7.98007527e-01 8.32247712e-03 1.91484613e+02] [ 1.35226903e-02 -2.16887490e-04 9.99908541e-01 6.17318814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:191.46, Z:6.17 [[ 7.97501605e-01 6.03232357e-01 -1.00951911e-02 8.58908752e+01] [-6.03180840e-01 7.97565473e-01 7.88611599e-03 1.91464548e+02] [ 1.28087362e-02 -1.99964340e-04 9.99917945e-01 6.17350691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:191.44, Z:6.17 [[ 7.97031984e-01 6.03861922e-01 -9.52865263e-03 8.59146531e+01] [-6.03816018e-01 7.97088919e-01 7.44788582e-03 1.91443333e+02] [ 1.20926781e-02 -1.82650124e-04 9.99926864e-01 6.17336835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:191.43, Z:6.17 [[ 7.96767253e-01 6.04205752e-01 -9.86677778e-03 8.59424036e+01] [-6.04156498e-01 7.96828322e-01 7.71701667e-03 1.91426024e+02] [ 1.25247938e-02 -1.87588267e-04 9.99921544e-01 6.17302537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:191.41, Z:6.17 [[ 7.96165196e-01 6.05004321e-01 -9.52638910e-03 8.59668328e+01] [-6.04958405e-01 7.96222168e-01 7.45565026e-03 1.91407054e+02] [ 1.20958228e-02 -1.72860089e-04 9.99926828e-01 6.17319637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:191.39, Z:6.17 [[ 7.95981887e-01 6.05257163e-01 -8.75229943e-03 8.59921159e+01] [-6.05218386e-01 7.96029988e-01 6.85296555e-03 1.91386645e+02] [ 1.11148993e-02 -1.57783920e-04 9.99938215e-01 6.17413863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:191.37, Z:6.18 [[ 7.95947298e-01 6.05308525e-01 -8.33600763e-03 8.60178827e+01] [-6.05273310e-01 7.95990934e-01 6.53102956e-03 1.91365804e+02] [ 1.05886744e-02 -1.52792398e-04 9.99943927e-01 6.17510309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:191.35, Z:6.18 [[ 7.96479231e-01 6.04615466e-01 -7.80851085e-03 8.60419391e+01] [-6.04584495e-01 7.96517491e-01 6.12168183e-03 1.91345880e+02] [ 9.92087898e-03 -1.54887852e-04 9.99950775e-01 6.17568274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:191.33, Z:6.18 [[ 7.96904186e-01 6.04057585e-01 -7.62573850e-03 8.60673488e+01] [-6.04027993e-01 7.96940655e-01 5.98133947e-03 1.91325835e+02] [ 9.69033451e-03 -1.60394938e-04 9.99953035e-01 6.17579347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:191.31, Z:6.18 [[ 7.98339396e-01 6.02165749e-01 -7.11477736e-03 8.60914239e+01] [-6.02139882e-01 7.98371079e-01 5.58411645e-03 1.91305290e+02] [ 9.04279615e-03 -1.73928954e-04 9.99959098e-01 6.17647933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:191.28, Z:6.18 [[ 7.99117943e-01 6.01137272e-01 -6.67038656e-03 8.61158773e+01] [-6.01114494e-01 7.99145763e-01 5.23599392e-03 1.91284076e+02] [ 8.47816226e-03 -1.74510653e-04 9.99964045e-01 6.17694775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:191.26, Z:6.18 [[ 8.00056780e-01 5.99886751e-01 -6.71084875e-03 8.61386175e+01] [-5.99863618e-01 8.00084901e-01 5.27164068e-03 1.91263497e+02] [ 8.53163616e-03 -1.92017853e-04 9.99963587e-01 6.17735128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:191.24, Z:6.18 [[ 8.01829018e-01 5.97506321e-01 -7.51147138e-03 8.61600562e+01] [-5.97477222e-01 8.01864163e-01 5.90197413e-03 1.91240557e+02] [ 9.54964657e-03 -2.44441068e-04 9.99954371e-01 6.17736680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:191.22, Z:6.18 [[ 8.02494381e-01 5.96607662e-01 -7.87822831e-03 8.61851859e+01] [-5.96575575e-01 8.02533005e-01 6.19344859e-03 1.91220878e+02] [ 1.00175971e-02 -2.70249105e-04 9.99949786e-01 6.17702311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:191.20, Z:6.18 [[ 8.03616472e-01 5.95088249e-01 -8.39887558e-03 8.62096231e+01] [-5.95051655e-01 8.03660300e-01 6.60675572e-03 1.91200003e+02] [ 1.06814456e-02 -3.11532908e-04 9.99942903e-01 6.17681038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:191.18, Z:6.18 [[ 8.04033845e-01 5.94518476e-01 -8.79535630e-03 8.62328820e+01] [-5.94478261e-01 8.04081879e-01 6.92313169e-03 1.91180015e+02] [ 1.11881163e-02 -3.37784071e-04 9.99937354e-01 6.17658093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:191.16, Z:6.18 [[ 8.04198876e-01 5.94291887e-01 -9.01779926e-03 8.62569269e+01] [-5.94249575e-01 8.04249358e-01 7.10024736e-03 1.91159456e+02] [ 1.14721787e-02 -3.51187570e-04 9.99934131e-01 6.17615681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:191.14, Z:6.18 [[ 8.04144841e-01 5.94363548e-01 -9.11304269e-03 8.62853387e+01] [-5.94320320e-01 8.04196398e-01 7.17705459e-03 1.91142098e+02] [ 1.15944557e-02 -3.55324975e-04 9.99932719e-01 6.17583834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:191.12, Z:6.18 [[ 8.03578544e-01 5.95126326e-01 -9.28330177e-03 8.63071285e+01] [-5.95081459e-01 8.03632087e-01 7.31618148e-03 1.91118942e+02] [ 1.18144114e-02 -3.54805708e-04 9.99930144e-01 6.17667092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.33, Y:191.10, Z:6.18 [[ 8.03010193e-01 5.95891178e-01 -9.39859512e-03 8.63342394e+01] [-5.95845195e-01 8.03065116e-01 7.41098561e-03 1.91102172e+02] [ 1.19638248e-02 -3.50989244e-04 9.99928369e-01 6.17707762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:191.08, Z:6.18 [[ 8.01797671e-01 5.97505180e-01 -1.03949411e-02 8.63570842e+01] [-5.97448997e-01 8.01864967e-01 8.20182005e-03 1.91080506e+02] [ 1.32359691e-02 -3.65753056e-04 9.99912334e-01 6.17625722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:191.06, Z:6.18 [[ 8.00890062e-01 5.98722315e-01 -1.03294650e-02 8.63827223e+01] [-5.98666882e-01 8.00956597e-01 8.15442340e-03 1.91061100e+02] [ 1.31556884e-02 -3.46888039e-04 9.99913400e-01 6.17686239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:191.04, Z:6.18 [[ 7.99955054e-01 5.99977588e-01 -9.94008934e-03 8.64104076e+01] [-5.99926303e-01 8.00016746e-01 7.85098056e-03 1.91044217e+02] [ 1.26626503e-02 -3.17110527e-04 9.99919775e-01 6.17783771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:191.03, Z:6.18 [[ 7.98082330e-01 6.02483431e-01 -8.84933329e-03 8.64369921e+01] [-6.02442899e-01 7.98131351e-01 6.99287079e-03 1.91025950e+02] [ 1.12760191e-02 -2.49668612e-04 9.99936393e-01 6.18062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:191.01, Z:6.18 [[ 7.97016372e-01 6.03900244e-01 -8.33049622e-03 8.64618598e+01] [-6.03864366e-01 7.97059877e-01 6.58638277e-03 1.91006680e+02] [ 1.06174225e-02 -2.18965083e-04 9.99943610e-01 6.18179960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:190.99, Z:6.18 [[ 7.96126423e-01 6.05079997e-01 -7.80484062e-03 8.64873529e+01] [-6.05048532e-01 7.96164656e-01 6.17361505e-03 1.90987313e+02] [ 9.94946922e-03 -1.92670707e-04 9.99950484e-01 6.18333735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:190.97, Z:6.19 [[ 7.94298356e-01 6.07493581e-01 -6.45531405e-03 8.65121256e+01] [-6.07472118e-01 7.94324575e-01 5.10835376e-03 1.90968467e+02] [ 8.23090671e-03 -1.36133697e-04 9.99966116e-01 6.18583591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:190.95, Z:6.19 [[ 7.93380059e-01 6.08693855e-01 -6.31446512e-03 8.65381324e+01] [-6.08673338e-01 7.93405178e-01 4.99922576e-03 1.90950059e+02] [ 8.05292732e-03 -1.22839472e-04 9.99967567e-01 6.18655321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:190.93, Z:6.19 [[ 7.91634967e-01 6.10963663e-01 -6.12218920e-03 8.65631817e+01] [-6.10944422e-01 7.91658634e-01 4.84975198e-03 1.90931163e+02] [ 7.80970617e-03 -9.89159072e-05 9.99969499e-01 6.18685512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.59, Y:190.91, Z:6.19 [[ 7.90937574e-01 6.11866848e-01 -6.05923467e-03 8.65887448e+01] [-6.11848009e-01 7.90960778e-01 4.80225682e-03 1.90911353e+02] [ 7.73095871e-03 -9.09546910e-05 9.99970112e-01 6.18743858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:190.89, Z:6.19 [[ 7.90325640e-01 6.12659680e-01 -5.78782897e-03 8.66152286e+01] [-6.12642499e-01 7.90346829e-01 4.58907235e-03 1.90891522e+02] [ 7.38593187e-03 -8.09915418e-05 9.99972720e-01 6.18751287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.64, Y:190.87, Z:6.19 [[ 7.89653493e-01 6.13526631e-01 -5.69504709e-03 8.66397746e+01] [-6.13509996e-01 7.89674026e-01 4.51852674e-03 1.90870442e+02] [ 7.26946726e-03 -7.41021063e-05 9.99973574e-01 6.18857811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:190.85, Z:6.19 [[ 7.89144874e-01 6.14177555e-01 -6.02485104e-03 8.66665120e+01] [-6.14158934e-01 7.89167869e-01 4.78317576e-03 1.90850709e+02] [ 7.69233805e-03 -7.44025389e-05 9.99970411e-01 6.18693416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:190.83, Z:6.19 [[ 7.88960660e-01 6.14407023e-01 -6.71475669e-03 8.66910945e+01] [-6.14383864e-01 7.88989229e-01 5.33519273e-03 1.90829769e+02] [ 8.57585059e-03 -8.38190176e-05 9.99963223e-01 6.18703365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:190.81, Z:6.19 [[ 7.88770957e-01 6.14650560e-01 -6.71318659e-03 8.67163625e+01] [-6.14627393e-01 7.88799520e-01 5.33716731e-03 1.90809454e+02] [ 8.57585123e-03 -8.36941943e-05 9.99963223e-01 6.18746638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:190.79, Z:6.19 [[ 7.88851410e-01 6.14540538e-01 -7.30617219e-03 8.67417789e+01] [-6.14513054e-01 7.88885238e-01 5.81275016e-03 1.90787768e+02] [ 9.33590200e-03 -9.56579714e-05 9.99956415e-01 6.18673720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:190.77, Z:6.19 [[ 7.88848098e-01 6.14543156e-01 -7.44230563e-03 8.67670466e+01] [-6.14514602e-01 7.88883198e-01 5.92491127e-03 1.90766748e+02] [ 9.51222353e-03 -1.00449504e-04 9.99954753e-01 6.18636829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:190.75, Z:6.19 [[ 7.89279690e-01 6.13982975e-01 -7.90426238e-03 8.67920229e+01] [-6.13950695e-01 7.89319259e-01 6.29700697e-03 1.90745823e+02] [ 1.01052416e-02 -1.17272328e-04 9.99948934e-01 6.18627491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:190.72, Z:6.19 [[ 7.90802806e-01 6.12017050e-01 -8.12727435e-03 8.68140991e+01] [-6.11982771e-01 7.90844553e-01 6.47926957e-03 1.90724175e+02] [ 1.03928341e-02 -1.50072678e-04 9.99945982e-01 6.18637899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:190.70, Z:6.19 [[ 7.91024151e-01 6.11734684e-01 -7.84022741e-03 8.68400747e+01] [-6.11702741e-01 7.91062990e-01 6.25329361e-03 1.90703890e+02] [ 1.00274703e-02 -1.50617673e-04 9.99949712e-01 6.18705818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:190.68, Z:6.19 [[ 7.92443556e-01 6.09898469e-01 -7.55441830e-03 8.68645232e+01] [-6.09868691e-01 7.92479545e-01 6.02918879e-03 1.90683246e+02] [ 9.66391498e-03 -1.70588601e-04 9.99953289e-01 6.18701145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:190.66, Z:6.19 [[ 7.93132246e-01 6.08994147e-01 -8.20790421e-03 8.68869561e+01] [-6.08958896e-01 7.93174690e-01 6.55541710e-03 1.90662058e+02] [ 1.05025125e-02 -2.01036400e-04 9.99944827e-01 6.18734993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:190.64, Z:6.19 [[ 7.94148119e-01 6.07666418e-01 -8.38389164e-03 8.69123559e+01] [-6.07629547e-01 7.94192341e-01 6.69771899e-03 1.90642466e+02] [ 1.07284014e-02 -2.24680659e-04 9.99942424e-01 6.18700009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:190.62, Z:6.19 [[ 7.94311065e-01 6.07447002e-01 -8.83587612e-03 8.69358172e+01] [-6.07405983e-01 7.94360171e-01 7.06335649e-03 1.90620089e+02] [ 1.13094828e-02 -2.43538197e-04 9.99936016e-01 6.18751507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:190.60, Z:6.19 [[ 7.94577054e-01 6.07094588e-01 -9.13601623e-03 8.69611380e+01] [-6.07050678e-01 7.94629532e-01 7.30625418e-03 1.90600978e+02] [ 1.16953357e-02 -2.59357076e-04 9.99931574e-01 6.18812135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:190.58, Z:6.19 [[ 7.94819030e-01 6.06782887e-01 -8.78846359e-03 8.69862132e+01] [-6.06742192e-01 7.94867575e-01 7.03212672e-03 1.90580647e+02] [ 1.12526389e-02 -2.56936473e-04 9.99936654e-01 6.18865153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:190.56, Z:6.19 [[ 7.94651705e-01 6.07001550e-01 -8.81958791e-03 8.70114421e+01] [-6.06960535e-01 7.94700605e-01 7.06103387e-03 1.90561825e+02] [ 1.12949904e-02 -2.57920809e-04 9.99936176e-01 6.18926440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:190.54, Z:6.19 [[ 7.94511235e-01 6.07190230e-01 -8.48068813e-03 8.70372416e+01] [-6.07152274e-01 7.94556457e-01 6.79359735e-03 1.90541395e+02] [ 1.08633914e-02 -2.48520343e-04 9.99940961e-01 6.18998663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.06, Y:190.52, Z:6.19 [[ 7.94264603e-01 6.07515489e-01 -8.28678312e-03 8.70634042e+01] [-6.07479223e-01 7.94307794e-01 6.64238858e-03 1.90521172e+02] [ 1.06176104e-02 -2.41765557e-04 9.99943602e-01 6.19101745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:190.50, Z:6.19 [[ 7.94046853e-01 6.07800258e-01 -8.27301465e-03 8.70894808e+01] [-6.07764083e-01 7.94089912e-01 6.63554935e-03 1.90501621e+02] [ 1.06026061e-02 -2.40895915e-04 9.99943762e-01 6.19190529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:190.48, Z:6.19 [[ 7.93658147e-01 6.08309099e-01 -8.17221408e-03 8.71161588e+01] [-6.08273785e-01 7.93700186e-01 6.55881572e-03 1.90482049e+02] [ 1.04760751e-02 -2.34513950e-04 9.99945097e-01 6.19258868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:190.46, Z:6.19 [[ 7.93183366e-01 6.08934750e-01 -7.65625829e-03 8.71406783e+01] [-6.08903744e-01 7.93220288e-01 6.14863849e-03 1.90463369e+02] [ 9.81721904e-03 -2.15073438e-04 9.99951787e-01 6.19407885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:190.44, Z:6.19 [[ 7.92751287e-01 6.09498106e-01 -7.57997841e-03 8.71672443e+01] [-6.09467713e-01 7.92787497e-01 6.09020342e-03 1.90444334e+02] [ 9.72127956e-03 -2.08264488e-04 9.99952726e-01 6.19484097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:190.43, Z:6.20 [[ 7.91960087e-01 6.10525987e-01 -7.56576352e-03 8.71932335e+01] [-6.10495715e-01 7.91996200e-01 6.08293831e-03 1.90425534e+02] [ 9.70584787e-03 -1.98578140e-04 9.99952877e-01 6.19554593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:190.41, Z:6.20 [[ 7.91509453e-01 6.11107446e-01 -7.77651091e-03 8.72173402e+01] [-6.11075455e-01 7.91547629e-01 6.25615402e-03 1.90405622e+02] [ 9.97866109e-03 -1.99770107e-04 9.99950192e-01 6.19592369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:190.39, Z:6.20 [[ 7.91248317e-01 6.11444183e-01 -7.88107840e-03 8.72444222e+01] [-6.11411311e-01 7.91287540e-01 6.34339197e-03 1.90386131e+02] [ 1.01148293e-02 -2.00617747e-04 9.99948824e-01 6.19640354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:190.37, Z:6.20 [[ 7.90544264e-01 6.12343344e-01 -8.68302381e-03 8.72695908e+01] [-6.12303436e-01 7.90591920e-01 6.99413949e-03 1.90368021e+02] [ 1.11475432e-02 -2.12531546e-04 9.99937842e-01 6.19617088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.30, Y:190.35, Z:6.20 [[ 7.90387205e-01 6.12542241e-01 -8.94815530e-03 8.72956813e+01] [-6.12499829e-01 7.90437825e-01 7.21145307e-03 1.90348629e+02] [ 1.14902800e-02 -2.19096650e-04 9.99933961e-01 6.19576721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:190.33, Z:6.20 [[ 7.90579743e-01 6.12283692e-01 -9.60991124e-03 8.73190329e+01] [-6.12234687e-01 7.90638110e-01 7.75026910e-03 1.90327065e+02] [ 1.23433254e-02 -2.43684750e-04 9.99923789e-01 6.19543275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:190.31, Z:6.20 [[ 7.90701140e-01 6.12123227e-01 -9.84186798e-03 8.73452268e+01] [-6.12071753e-01 7.90762347e-01 7.94227133e-03 1.90307125e+02] [ 1.26442274e-02 -2.56033610e-04 9.99920026e-01 6.19571774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:190.29, Z:6.20 [[ 7.90754137e-01 6.12054201e-01 -9.87671703e-03 8.73709296e+01] [-6.12002292e-01 7.90815772e-01 7.97552969e-03 1.90285842e+02] [ 1.26921201e-02 -2.62109640e-04 9.99919417e-01 6.19591076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:190.27, Z:6.20 [[ 7.91345222e-01 6.11279470e-01 -1.04951773e-02 8.73944438e+01] [-6.11220709e-01 7.91414760e-01 8.48072400e-03 1.90265369e+02] [ 1.34901307e-02 -2.96310711e-04 9.99908960e-01 6.19611657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:190.25, Z:6.20 [[ 7.91570713e-01 6.10979645e-01 -1.09398132e-02 8.74178387e+01] [-6.10915704e-01 7.91646242e-01 8.84477543e-03 1.90245518e+02] [ 1.40644398e-02 -3.17961484e-04 9.99901040e-01 6.19617978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.44, Y:190.22, Z:6.20 [[ 7.92372273e-01 6.09926663e-01 -1.16467687e-02 8.74413951e+01] [-6.09854001e-01 7.92457781e-01 9.42141599e-03 1.90224930e+02] [ 1.49759453e-02 -3.62440302e-04 9.99887789e-01 6.19564905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:190.20, Z:6.20 [[ 7.92691410e-01 6.09508026e-01 -1.18446112e-02 8.74655376e+01] [-6.09432754e-01 7.92779806e-01 9.58633629e-03 1.90204534e+02] [ 1.52331175e-02 -3.80512392e-04 9.99883897e-01 6.19583736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:190.18, Z:6.20 [[ 7.93252356e-01 6.08782540e-01 -1.15982439e-02 8.74895947e+01] [-6.08710220e-01 7.93337045e-01 9.39158383e-03 1.90183106e+02] [ 1.49187488e-02 -3.89926387e-04 9.99888633e-01 6.19675635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:190.16, Z:6.20 [[ 7.94339356e-01 6.07364240e-01 -1.15614577e-02 8.75117518e+01] [-6.07292154e-01 7.94423378e-01 9.36676551e-03 1.90161027e+02] [ 1.48737307e-02 -4.19207928e-04 9.99889292e-01 6.19776953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:190.14, Z:6.20 [[ 7.94686251e-01 6.06911088e-01 -1.15192347e-02 8.75356428e+01] [-6.06839411e-01 7.94769618e-01 9.33719210e-03 1.90139779e+02] [ 1.48219832e-02 -4.29812609e-04 9.99890056e-01 6.19835208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.56, Y:190.12, Z:6.20 [[ 7.94896534e-01 6.06633434e-01 -1.16351812e-02 8.75594058e+01] [-6.06560202e-01 7.94981560e-01 9.43619546e-03 1.90118807e+02] [ 1.49740661e-02 -4.43361235e-04 9.99887784e-01 6.19888818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.58, Y:190.10, Z:6.20 [[ 7.94655515e-01 6.06954564e-01 -1.13476312e-02 8.75828261e+01] [-6.06884874e-01 7.94736417e-01 9.20751352e-03 1.90098501e+02] [ 1.46069181e-02 -4.30095709e-04 9.99893221e-01 6.19906349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:190.08, Z:6.20 [[ 7.94229790e-01 6.07516880e-01 -1.10580818e-02 8.76085952e+01] [-6.07450717e-01 7.94306661e-01 8.97527472e-03 1.90079276e+02] [ 1.42361389e-02 -4.11190865e-04 9.99898577e-01 6.19957633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:190.06, Z:6.20 [[ 7.93022969e-01 6.09092549e-01 -1.09926127e-02 8.76361181e+01] [-6.09027253e-01 7.93099060e-01 8.92673672e-03 1.90062525e+02] [ 1.41554397e-02 -3.84306520e-04 9.99899733e-01 6.20057818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.66, Y:190.04, Z:6.20 [[ 7.92354669e-01 6.09962105e-01 -1.09684957e-02 8.76585861e+01] [-6.09897110e-01 7.92430497e-01 8.91195652e-03 1.90041063e+02] [ 1.41277262e-02 -3.71776534e-04 9.99900130e-01 6.20106804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:190.03, Z:6.20 [[ 7.90560053e-01 6.12284942e-01 -1.10432006e-02 8.76868520e+01] [-6.12219220e-01 7.90637108e-01 8.97719963e-03 1.90025528e+02] [ 1.42277683e-02 -3.36155760e-04 9.99898724e-01 6.20162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:190.01, Z:6.20 [[ 7.89594816e-01 6.13529850e-01 -1.10067958e-02 8.77104077e+01] [-6.13464612e-01 7.89671465e-01 8.95250377e-03 1.90005488e+02] [ 1.41843809e-02 -3.16570827e-04 9.99899347e-01 6.20225552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:189.98, Z:6.20 [[ 7.88562131e-01 6.14847560e-01 -1.14997440e-02 8.77336197e+01] [-6.14776413e-01 7.88645917e-01 9.35837440e-03 1.89984134e+02] [ 1.48231998e-02 -3.09888296e-04 9.99890082e-01 6.20245088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:189.97, Z:6.20 [[ 7.87968724e-01 6.15612285e-01 -1.12607772e-02 8.77568765e+01] [-6.15544086e-01 7.88049129e-01 9.16781851e-03 1.89966670e+02] [ 1.45178674e-02 -2.92449415e-04 9.99894567e-01 6.20320397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:189.95, Z:6.20 [[ 7.86720862e-01 6.17218134e-01 -1.05858139e-02 8.77851236e+01] [-6.17158026e-01 7.86792040e-01 8.61723690e-03 1.89949693e+02] [ 1.36475490e-02 -2.46240007e-04 9.99906838e-01 6.20480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:189.93, Z:6.21 [[ 7.85632072e-01 6.18607029e-01 -1.03725953e-02 8.78106107e+01] [-6.18549417e-01 7.85700513e-01 8.44527117e-03 1.89930211e+02] [ 1.33740575e-02 -2.18913126e-04 9.99910539e-01 6.20588340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:189.91, Z:6.21 [[ 7.85290334e-01 6.19043472e-01 -1.02113744e-02 8.78340644e+01] [-6.18987616e-01 7.85356693e-01 8.31840439e-03 1.89910893e+02] [ 1.31690251e-02 -2.11648282e-04 9.99913262e-01 6.20633908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:189.89, Z:6.21 [[ 7.85269391e-01 6.19067937e-01 -1.03379650e-02 8.78570323e+01] [-6.19010669e-01 7.85337407e-01 8.42309242e-03 1.89891857e+02] [ 1.33332571e-02 -2.15085990e-04 9.99911085e-01 6.20658869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.88, Y:189.87, Z:6.21 [[ 7.85116237e-01 6.19261267e-01 -1.03912391e-02 8.78795108e+01] [-6.19203432e-01 7.85184971e-01 8.46586140e-03 1.89872998e+02] [ 1.34016248e-02 -2.12394345e-04 9.99910172e-01 6.20708553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55275509600006 meters Centerline goodness [0,1] 0.9999784101213351 Centerline is valid? [True, True] Translation: X:87.91, Y:189.85, Z:6.21 [[ 7.85130704e-01 6.19239992e-01 -1.05645401e-02 8.79060323e+01] [-6.19180222e-01 7.85201748e-01 8.60623186e-03 1.89853168e+02] [ 1.36246183e-02 -2.15662569e-04 9.99907157e-01 6.20711981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:189.83, Z:6.21 [[ 7.85000952e-01 6.19403477e-01 -1.06225214e-02 8.79288664e+01] [-6.19342987e-01 7.85072790e-01 8.65905916e-03 1.89831110e+02] [ 1.37029039e-02 -2.18385555e-04 9.99906087e-01 6.20817475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:189.81, Z:6.21 [[ 7.85006131e-01 6.19394060e-01 -1.07876158e-02 8.79540195e+01] [-6.19331626e-01 7.85080217e-01 8.79711154e-03 1.89811921e+02] [ 1.39180224e-02 -2.24674839e-04 9.99903114e-01 6.20812147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.98, Y:189.79, Z:6.21 [[ 7.85067181e-01 6.19313462e-01 -1.09707844e-02 8.79760659e+01] [-6.19248873e-01 7.85143798e-01 8.94711154e-03 1.89792774e+02] [ 1.41547100e-02 -2.30437747e-04 9.99899791e-01 6.20807296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.00, Y:189.77, Z:6.21 [[ 7.85429676e-01 6.18851545e-01 -1.10900999e-02 8.80010247e+01] [-6.18785496e-01 7.85507930e-01 9.04445318e-03 1.89772152e+02] [ 1.43085353e-02 -2.41388944e-04 9.99897599e-01 6.20888701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.03, Y:189.75, Z:6.21 [[ 7.85335522e-01 6.18971191e-01 -1.10807589e-02 8.80263875e+01] [-6.18905193e-01 7.85413653e-01 9.04194655e-03 1.89750723e+02] [ 1.42996838e-02 -2.43022574e-04 9.99897725e-01 6.20944002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:189.73, Z:6.21 [[ 7.85325484e-01 6.18980913e-01 -1.12478032e-02 8.80489981e+01] [-6.18912824e-01 7.85405988e-01 9.18423997e-03 1.89728284e+02] [ 1.45189612e-02 -2.51208047e-04 9.99894563e-01 6.20936569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:189.71, Z:6.21 [[ 7.85827218e-01 6.18326397e-01 -1.21675749e-02 8.80746089e+01] [-6.18246539e-01 7.85921359e-01 9.94156660e-03 1.89708530e+02] [ 1.57098901e-02 -2.89792549e-04 9.99876550e-01 6.20815108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.10, Y:189.69, Z:6.21 [[ 7.86007317e-01 6.18090606e-01 -1.25100339e-02 8.80999740e+01] [-6.18006065e-01 7.86106805e-01 1.02272038e-02 1.89686919e+02] [ 1.61555614e-02 -3.07380207e-04 9.99869443e-01 6.20817831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:189.67, Z:6.21 [[ 7.86305706e-01 6.17709137e-01 -1.25999715e-02 8.81240022e+01] [-6.17623225e-01 7.86406586e-01 1.03069807e-02 1.89665538e+02] [ 1.62754167e-02 -3.22402709e-04 9.99867495e-01 6.20833093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:189.65, Z:6.21 [[ 7.86517419e-01 6.17439747e-01 -1.25899998e-02 8.81495063e+01] [-6.17353843e-01 7.86618109e-01 1.03045265e-02 1.89645452e+02] [ 1.62659460e-02 -3.32204881e-04 9.99867646e-01 6.20922379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:189.62, Z:6.21 [[ 7.86611010e-01 6.17321920e-01 -1.25206179e-02 8.81737335e+01] [-6.17236848e-01 7.86710578e-01 1.02538101e-02 1.89624401e+02] [ 1.61800043e-02 -3.37573229e-04 9.99869038e-01 6.20996473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.20, Y:189.60, Z:6.21 [[ 7.86914846e-01 6.16947648e-01 -1.18585148e-02 8.81985638e+01] [-6.16871234e-01 7.87004124e-01 9.71546007e-03 1.89604189e+02] [ 1.53266303e-02 -3.30063133e-04 9.99882486e-01 6.21085521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:189.58, Z:6.21 [[ 7.86748226e-01 6.17164357e-01 -1.16355544e-02 8.82225019e+01] [-6.17090734e-01 7.86834196e-01 9.53807210e-03 1.89582536e+02] [ 1.50418103e-02 -3.23868467e-04 9.99886813e-01 6.21169354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97275509600007 meters Centerline goodness [0,1] 0.999848166062946 Centerline is valid? [True, True] Translation: X:88.25, Y:189.56, Z:6.21 [[ 7.86610869e-01 6.17349119e-01 -1.11088381e-02 8.82473919e+01] [-6.17281954e-01 7.86689246e-01 9.11150623e-03 1.89560888e+02] [ 1.43641838e-02 -3.09924519e-04 9.99896782e-01 6.20924926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00275509600004 meters Centerline goodness [0,1] 0.999848166062946 Centerline is valid? [True, True] Translation: X:88.27, Y:189.54, Z:6.21 [[ 7.86425513e-01 6.17585271e-01 -1.11061024e-02 8.82723482e+01] [-6.17518083e-01 7.86503870e-01 9.11483972e-03 1.89540178e+02] [ 1.43641833e-02 -3.09923458e-04 9.99896782e-01 6.20968211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:189.52, Z:6.21 [[ 7.85569579e-01 6.18680586e-01 -1.07130031e-02 8.82984599e+01] [-6.18618102e-01 7.85642573e-01 8.79727496e-03 1.89520647e+02] [ 1.38592946e-02 -2.83613934e-04 9.99903915e-01 6.21354202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:189.50, Z:6.21 [[ 7.84977078e-01 6.19424547e-01 -1.11452812e-02 8.83232852e+01] [-6.19356963e-01 7.85056145e-01 9.15431350e-03 1.89500962e+02] [ 1.44200780e-02 -2.83018731e-04 9.99895985e-01 6.21360242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:189.48, Z:6.21 [[ 7.83885350e-01 6.20808541e-01 -1.09778487e-02 8.83496288e+01] [-6.20743040e-01 7.83962173e-01 9.02158570e-03 1.89481965e+02] [ 1.42068956e-02 -2.57465707e-04 9.99899044e-01 6.21298179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:189.46, Z:6.21 [[ 7.83393179e-01 6.21430099e-01 -1.09434868e-02 8.83724215e+01] [-6.21364999e-01 7.83469572e-01 8.99822617e-03 1.89461359e+02] [ 1.41656575e-02 -2.49249354e-04 9.99899631e-01 6.21284705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1527550960001 meters Centerline goodness [0,1] 0.9998695311820475 Centerline is valid? [True, True] Translation: X:88.40, Y:189.44, Z:6.21 [[ 7.82546824e-01 6.22495182e-01 -1.09643769e-02 8.83982419e+01] [-6.22429895e-01 7.82623597e-01 9.01837592e-03 1.89442607e+02] [ 1.41948757e-02 -2.32745452e-04 9.99899221e-01 6.21012719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.42, Y:189.42, Z:6.21 [[ 7.81247524e-01 6.24128146e-01 -1.07872063e-02 8.84232021e+01] [-6.24065040e-01 7.81321967e-01 8.87747609e-03 1.89424082e+02] [ 1.39689639e-02 -2.03587883e-04 9.99902409e-01 6.21297250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:189.40, Z:6.21 [[ 7.80743732e-01 6.24767149e-01 -1.02583766e-02 8.84468585e+01] [-6.24710080e-01 7.80811100e-01 8.44636838e-03 1.89402052e+02] [ 1.32868678e-02 -1.85937907e-04 9.99911708e-01 6.21370207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:189.38, Z:6.22 [[ 7.80583577e-01 6.24978794e-01 -9.52820649e-03 8.84713079e+01] [-6.24929520e-01 7.80641709e-01 7.84970066e-03 1.89383228e+02] [ 1.23440118e-02 -1.72889914e-04 9.99923795e-01 6.21532310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:189.36, Z:6.22 [[ 7.80784971e-01 6.24732529e-01 -9.17041266e-03 8.84947378e+01] [-6.24686863e-01 7.80838804e-01 7.55548684e-03 1.89363067e+02] [ 1.18807725e-02 -1.70574254e-04 9.99929407e-01 6.21641443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:189.34, Z:6.22 [[ 7.80995722e-01 6.24480730e-01 -8.33668805e-03 8.85208120e+01] [-6.24442980e-01 7.81040200e-01 6.86814698e-03 1.89343081e+02] [ 1.08003139e-02 -1.58207084e-04 9.99941662e-01 6.21677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.54, Y:189.32, Z:6.22 [[ 7.81694382e-01 6.23602902e-01 -8.56234874e-03 8.85428166e+01] [-6.23562975e-01 7.81741255e-01 7.05888179e-03 1.89321324e+02] [ 1.10954804e-02 -1.78724588e-04 9.99938427e-01 6.21707699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:189.30, Z:6.22 [[ 7.82325148e-01 6.22814144e-01 -8.36090203e-03 8.85655319e+01] [-6.22775982e-01 7.82369801e-01 6.89710327e-03 1.89301678e+02] [ 1.08369307e-02 -1.88808359e-04 9.99941261e-01 6.21718006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39275509600003 meters Centerline goodness [0,1] 0.9999565103940158 Centerline is valid? [True, True] Translation: X:88.59, Y:189.28, Z:6.22 [[ 7.83382736e-01 6.21490015e-01 -7.85174844e-03 8.85900925e+01] [-6.21456307e-01 7.83422060e-01 6.47570197e-03 1.89280573e+02] [ 1.01758171e-02 -1.93434544e-04 9.99948206e-01 6.21579960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:189.26, Z:6.22 [[ 7.83856868e-01 6.20889752e-01 -8.02040794e-03 8.86121147e+01] [-6.20854509e-01 7.83897871e-01 6.61860636e-03 1.89258207e+02] [ 1.03966056e-02 -2.08533620e-04 9.99945932e-01 6.21785443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:189.24, Z:6.22 [[ 7.84016530e-01 6.20683167e-01 -8.39565616e-03 8.86377061e+01] [-6.20644498e-01 7.84061449e-01 6.93184058e-03 1.89238260e+02] [ 1.08851871e-02 -2.23959790e-04 9.99940730e-01 6.21745385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:189.22, Z:6.22 [[ 7.84190828e-01 6.20456860e-01 -8.83349144e-03 8.86612374e+01] [-6.20413984e-01 7.84240541e-01 7.29810470e-03 1.89217312e+02] [ 1.14557412e-02 -2.42685149e-04 9.99934351e-01 6.21678813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51275509600003 meters Centerline goodness [0,1] 0.9998261323133095 Centerline is valid? [True, True] Translation: X:88.69, Y:189.20, Z:6.21 [[ 7.83784774e-01 6.20965122e-01 -9.15119612e-03 8.86865181e+01] [-6.20919112e-01 7.83838157e-01 7.56307145e-03 1.89196716e+02] [ 1.18694603e-02 -2.45667689e-04 9.99929525e-01 6.21304748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.71, Y:189.18, Z:6.22 [[ 7.82825194e-01 6.22173581e-01 -9.20600940e-03 8.87132610e+01] [-6.22127045e-01 7.82879289e-01 7.61308514e-03 1.89179204e+02] [ 1.19438545e-02 -2.32407427e-04 9.99928643e-01 6.21581939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:189.16, Z:6.22 [[ 7.81915594e-01 6.23309571e-01 -9.65313470e-03 8.87394625e+01] [-6.23258433e-01 7.81975144e-01 7.98741178e-03 1.89160425e+02] [ 1.25271416e-02 -2.29084213e-04 9.99921506e-01 6.21556722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:189.14, Z:6.22 [[ 7.81057855e-01 6.24377532e-01 -1.00659821e-02 8.87649978e+01] [-6.24321951e-01 7.81122684e-01 8.33393418e-03 1.89140677e+02] [ 1.30662882e-02 -2.24871175e-04 9.99914607e-01 6.21544193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63275509600004 meters Centerline goodness [0,1] 0.9998699891657639 Centerline is valid? [True, True] Translation: X:88.79, Y:189.12, Z:6.21 [[ 7.80218756e-01 6.25413148e-01 -1.08206370e-02 8.87883363e+01] [-6.25348945e-01 7.80293754e-01 8.96406507e-03 1.89120342e+02] [ 1.40495196e-02 -2.27257768e-04 9.99901275e-01 6.21229445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66275509600007 meters Centerline goodness [0,1] 0.9998483206933911 Centerline is valid? [True, True] Translation: X:88.81, Y:189.10, Z:6.21 [[ 7.78259641e-01 6.27845831e-01 -1.10246480e-02 8.88139395e+01] [-6.27779383e-01 7.78337701e-01 9.13616897e-03 1.89101884e+02] [ 1.43170048e-02 -1.89264875e-04 9.99897489e-01 6.21447584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.84, Y:189.09, Z:6.21 [[ 7.77040033e-01 6.29359524e-01 -1.07413222e-02 8.88383982e+01] [-6.29296535e-01 7.77114254e-01 8.90546315e-03 1.89085423e+02] [ 1.39519727e-02 -1.60424513e-04 9.99902654e-01 6.21486210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72275509600007 meters Centerline goodness [0,1] 0.9999351112841477 Centerline is valid? [True, True] Translation: X:88.87, Y:189.07, Z:6.22 [[ 7.76736816e-01 6.29741057e-01 -1.03014611e-02 8.88650578e+01] [-6.29683167e-01 7.76805110e-01 8.53991763e-03 1.89066224e+02] [ 1.33801644e-02 -1.46611745e-04 9.99910471e-01 6.21571531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75275509600004 meters Centerline goodness [0,1] 0.9998918989038549 Centerline is valid? [True, True] Translation: X:88.89, Y:189.05, Z:6.22 [[ 7.76510819e-01 6.30019533e-01 -1.03119557e-02 8.88906449e+01] [-6.29961477e-01 7.76579272e-01 8.55404886e-03 1.89045103e+02] [ 1.33972689e-02 -1.46176619e-04 9.99910242e-01 6.21611665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7827550960001 meters Centerline goodness [0,1] 0.9999134536327837 Centerline is valid? [True, True] Translation: X:88.92, Y:189.02, Z:6.22 [[ 7.76447315e-01 6.30104826e-01 -9.87300299e-03 8.89152668e+01] [-6.30051549e-01 7.76510070e-01 8.19492458e-03 1.89023278e+02] [ 1.28301478e-02 -1.42426357e-04 9.99917680e-01 6.21706382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.94, Y:189.00, Z:6.22 [[ 7.76757598e-01 6.29725763e-01 -9.64876116e-03 8.89378565e+01] [-6.29674787e-01 7.76817509e-01 8.01376785e-03 1.89000555e+02] [ 1.25418027e-02 -1.49173432e-04 9.99921337e-01 6.21834310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:188.98, Z:6.22 [[ 7.76964660e-01 6.29473697e-01 -9.42245461e-03 8.89631282e+01] [-6.29425012e-01 7.77021777e-01 7.83026484e-03 1.88979922e+02] [ 1.22503982e-02 -1.53110453e-04 9.99924949e-01 6.21929993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:188.96, Z:6.22 [[ 7.77937627e-01 6.28275051e-01 -9.13830448e-03 8.89857334e+01] [-6.28229118e-01 7.77991280e-01 7.59896752e-03 1.88957702e+02] [ 1.18837629e-02 -1.70573804e-04 9.99929371e-01 6.22006750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9027550960001 meters Centerline goodness [0,1] 0.9999783037903278 Centerline is valid? [True, True] Translation: X:89.01, Y:188.94, Z:6.22 [[ 7.78421606e-01 6.27676662e-01 -9.04494473e-03 8.90099352e+01] [-6.27631578e-01 7.78474133e-01 7.52513097e-03 1.88936529e+02] [ 1.17646046e-02 -1.80831605e-04 9.99930778e-01 6.22072273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93275509600005 meters Centerline goodness [0,1] 0.9999782807002302 Centerline is valid? [True, True] Translation: X:89.03, Y:188.91, Z:6.22 [[ 7.79483631e-01 6.26356160e-01 -9.12304720e-03 8.90322523e+01] [-6.26310150e-01 7.79536990e-01 7.59454283e-03 1.88914210e+02] [ 1.18686414e-02 -2.05964758e-04 9.99929544e-01 6.22158724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9627550960001 meters Centerline goodness [0,1] 0.999978339506574 Centerline is valid? [True, True] Translation: X:89.05, Y:188.89, Z:6.22 [[ 7.79879489e-01 6.25863603e-01 -9.09578969e-03 8.90548084e+01] [-6.25817788e-01 7.79932499e-01 7.57583605e-03 1.88893237e+02] [ 1.18355420e-02 -2.15932164e-04 9.99929934e-01 6.22140589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:188.87, Z:6.22 [[ 7.80222800e-01 6.25434170e-01 -9.19134806e-03 8.90786939e+01] [-6.25387309e-01 7.80276904e-01 7.65940461e-03 1.88871179e+02] [ 1.19622500e-02 -2.27889689e-04 9.99928424e-01 6.22157205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:188.85, Z:6.22 [[ 7.80692790e-01 6.24844707e-01 -9.37335542e-03 8.91019947e+01] [-6.24795875e-01 7.80749020e-01 7.81550623e-03 1.88849278e+02] [ 1.22017158e-02 -2.45075555e-04 9.99925526e-01 6.22142990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.13, Y:188.83, Z:6.22 [[ 7.80705732e-01 6.24828443e-01 -9.37956916e-03 8.91253675e+01] [-6.24779492e-01 7.80762035e-01 7.82504431e-03 1.88828234e+02] [ 1.22125218e-02 -2.48894487e-04 9.99925393e-01 6.22220646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:188.81, Z:6.22 [[ 7.80200629e-01 6.25464350e-01 -9.01802273e-03 8.91512298e+01] [-6.25419097e-01 7.80252711e-01 7.52732334e-03 1.88807521e+02] [ 1.17444091e-02 -2.32778780e-04 9.99931005e-01 6.22253559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:188.79, Z:6.22 [[ 7.79761310e-01 6.26013973e-01 -8.87722416e-03 8.91766999e+01] [-6.25970105e-01 7.79811808e-01 7.41437421e-03 1.88786349e+02] [ 1.15640661e-02 -2.24565212e-04 9.99933109e-01 6.22309502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:188.77, Z:6.22 [[ 7.79261160e-01 6.26636040e-01 -8.90606855e-03 8.92025438e+01] [-6.26591873e-01 7.79312020e-01 7.44312576e-03 1.88765892e+02] [ 1.16047371e-02 -2.19668646e-04 9.99932639e-01 6.22382057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:188.75, Z:6.22 [[ 7.78241520e-01 6.27902000e-01 -8.90025762e-03 8.92279311e+01] [-6.27857917e-01 7.78292385e-01 7.44312769e-03 1.88746924e+02] [ 1.16005575e-02 -2.04453802e-04 9.99932690e-01 6.22397828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:188.73, Z:6.22 [[ 7.77540814e-01 6.28770648e-01 -8.81785261e-03 8.92526380e+01] [-6.28727385e-01 7.77590789e-01 7.37835262e-03 1.88727128e+02] [ 1.14959725e-02 -1.92944898e-04 9.99933901e-01 6.22419545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.28, Y:188.71, Z:6.22 [[ 7.76948327e-01 6.29503053e-01 -8.78650027e-03 8.92764364e+01] [-6.29460096e-01 7.76997987e-01 7.35630818e-03 1.88707081e+02] [ 1.14579115e-02 -1.84720033e-04 9.99934339e-01 6.22460102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:188.69, Z:6.23 [[ 7.75962984e-01 6.30716298e-01 -8.85431400e-03 8.92999262e+01] [-6.30672710e-01 7.76013480e-01 7.41694176e-03 1.88685939e+02] [ 1.15490531e-02 -1.71098058e-04 9.99933293e-01 6.22572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:188.67, Z:6.23 [[ 7.75267422e-01 6.31572859e-01 -8.72629315e-03 8.93263341e+01] [-6.31530531e-01 7.75316515e-01 7.31363719e-03 1.88667224e+02] [ 1.13847339e-02 -1.59104098e-04 9.99935179e-01 6.22605333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:188.65, Z:6.23 [[ 7.74408621e-01 6.32618201e-01 -9.24660154e-03 8.93505551e+01] [-6.32570695e-01 7.74463806e-01 7.75425399e-03 1.88647167e+02] [ 1.20666404e-02 -1.55831971e-04 9.99927183e-01 6.22612820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:188.63, Z:6.23 [[ 7.73925880e-01 6.33208013e-01 -9.29217743e-03 8.93762303e+01] [-6.33160032e-01 7.73981647e-01 7.79638151e-03 1.88627611e+02] [ 1.21287060e-02 -1.50386058e-04 9.99926433e-01 6.22636347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters Centerline goodness [0,1] 0.9998916764157892 Centerline is valid? [True, True] Translation: X:89.40, Y:188.61, Z:6.22 [[ 7.73619256e-01 6.33570411e-01 -1.00886283e-02 8.94013474e+01] [-6.33513819e-01 7.73685019e-01 8.46956484e-03 1.88606861e+02] [ 1.31714863e-02 -1.60933009e-04 9.99913239e-01 6.22469329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:188.59, Z:6.23 [[ 7.73012262e-01 6.34319796e-01 -9.50993286e-03 8.94272506e+01] [-6.34269508e-01 7.73070744e-01 7.98849888e-03 1.88585955e+02] [ 1.24191139e-02 -1.43347158e-04 9.99922870e-01 6.22789123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:188.56, Z:6.23 [[ 7.72969968e-01 6.34368960e-01 -9.66699777e-03 8.94524233e+01] [-6.34316935e-01 7.73030400e-01 8.12564618e-03 1.88564413e+02] [ 1.26275409e-02 -1.48940066e-04 9.99920258e-01 6.22872218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47275509600007 meters Centerline goodness [0,1] 0.9999566433263241 Centerline is valid? [True, True] Translation: X:89.48, Y:188.54, Z:6.23 [[ 7.73032491e-01 6.34288755e-01 -9.92685734e-03 8.94760247e+01] [-6.34233818e-01 7.73096210e-01 8.34951391e-03 1.88543550e+02] [ 1.29704186e-02 -1.58496908e-04 9.99915868e-01 6.22912990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:188.52, Z:6.23 [[ 7.73880870e-01 6.33260426e-01 -9.46746453e-03 8.94995514e+01] [-6.33210343e-01 7.73938760e-01 7.96597472e-03 1.88521110e+02] [ 1.23717743e-02 -1.69818980e-04 9.99923452e-01 6.23026384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.52, Y:188.50, Z:6.23 [[ 7.74536287e-01 6.32462883e-01 -9.17837664e-03 8.95224901e+01] [-6.32415707e-01 7.74590647e-01 7.72683199e-03 1.88499575e+02] [ 1.19964191e-02 -1.80162211e-04 9.99928024e-01 6.23142920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:188.48, Z:6.23 [[ 7.74829982e-01 6.32106241e-01 -8.95537201e-03 8.95470927e+01] [-6.32061265e-01 7.74881711e-01 7.54264179e-03 1.88477925e+02] [ 1.17071049e-02 -1.83921243e-04 9.99931453e-01 6.23240510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.57, Y:188.46, Z:6.23 [[ 7.76020191e-01 6.30653403e-01 -8.30351211e-03 8.95698583e+01] [-6.30614608e-01 7.76064590e-01 6.99779101e-03 1.88456017e+02] [ 1.08572424e-02 -1.94111081e-04 9.99941040e-01 6.23352890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:188.43, Z:6.23 [[ 7.76618454e-01 6.29915015e-01 -8.41733541e-03 8.95928556e+01] [-6.29875065e-01 7.76664040e-01 7.09735349e-03 1.88434747e+02] [ 1.10081712e-02 -2.10066005e-04 9.99939386e-01 6.23420679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:188.41, Z:6.24 [[ 7.77584239e-01 6.28719778e-01 -8.61351177e-03 8.96153664e+01] [-6.28677829e-01 7.77631909e-01 7.26647998e-03 1.88412629e+02] [ 1.12667213e-02 -2.35176426e-04 9.99936501e-01 6.23513081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:188.39, Z:6.24 [[ 7.77942565e-01 6.28278455e-01 -8.45863993e-03 8.96413157e+01] [-6.28237938e-01 7.77988513e-01 7.13914306e-03 1.88393506e+02] [ 1.10660945e-02 -2.39804755e-04 9.99938740e-01 6.23535642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:188.37, Z:6.24 [[ 7.78241427e-01 6.27909534e-01 -8.36053188e-03 8.96628826e+01] [-6.27869886e-01 7.78286295e-01 7.06033756e-03 1.88370269e+02] [ 1.09401406e-02 -2.45320981e-04 9.99940125e-01 6.23629558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:188.35, Z:6.24 [[ 7.78430576e-01 6.27672540e-01 -8.54521675e-03 8.96890472e+01] [-6.27631066e-01 7.78477435e-01 7.22003927e-03 1.88351028e+02] [ 1.11840788e-02 -2.57055826e-04 9.99937423e-01 6.23664564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:188.33, Z:6.24 [[ 7.78403922e-01 6.27703536e-01 -8.69511499e-03 8.97122433e+01] [-6.27660544e-01 7.78452439e-01 7.35123321e-03 1.88329197e+02] [ 1.13831286e-02 -2.64648152e-04 9.99935175e-01 6.23726421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:188.31, Z:6.24 [[ 7.78114351e-01 6.28057392e-01 -9.05371935e-03 8.97390548e+01] [-6.28010748e-01 7.78166973e-01 7.65918949e-03 1.88309392e+02] [ 1.18557160e-02 -2.73892194e-04 9.99929681e-01 6.23727162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:188.29, Z:6.24 [[ 7.77218629e-01 6.29161728e-01 -9.31245222e-03 8.97655709e+01] [-6.29112396e-01 7.77274371e-01 7.88325380e-03 1.88290712e+02] [ 1.21981720e-02 -2.68432586e-04 9.99925564e-01 6.23722700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:188.27, Z:6.24 [[ 7.76769548e-01 6.29707790e-01 -9.85743901e-03 8.97909096e+01] [-6.29652494e-01 7.76832042e-01 8.34955928e-03 1.88270084e+02] [ 1.29153570e-02 -2.78922322e-04 9.99916554e-01 6.23699836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:188.25, Z:6.24 [[ 7.75782693e-01 6.30909495e-01 -1.06968313e-02 8.98140367e+01] [-6.30844408e-01 7.75856384e-01 9.06672968e-03 1.88249380e+02] [ 1.40194907e-02 -2.85775744e-04 9.99901681e-01 6.23689617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:188.23, Z:6.24 [[ 7.75617060e-01 6.31113133e-01 -1.06953482e-02 8.98380572e+01] [-6.31048041e-01 7.75690746e-01 9.06847888e-03 1.88228840e+02] [ 1.40195188e-02 -2.84388388e-04 9.99901681e-01 6.23731745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:188.21, Z:6.24 [[ 7.75074310e-01 6.31778134e-01 -1.07797537e-02 8.98635869e+01] [-6.31712006e-01 7.75149219e-01 9.14495929e-03 1.88209421e+02] [ 1.41335030e-02 -2.78323199e-04 9.99900078e-01 6.23752421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.89, Y:188.19, Z:6.24 [[ 7.74580921e-01 6.32377348e-01 -1.11034760e-02 8.98877310e+01] [-6.32307171e-01 7.74660450e-01 9.42490909e-03 1.88189083e+02] [ 1.45615227e-02 -2.79547243e-04 9.99893936e-01 6.23781622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:188.17, Z:6.24 [[ 7.73606085e-01 6.33555978e-01 -1.18510266e-02 8.99134699e+01] [-6.33476087e-01 7.73696804e-01 1.00649304e-02 1.88170286e+02] [ 1.55457982e-02 -2.78949409e-04 9.99879118e-01 6.23770962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:188.15, Z:6.24 [[ 7.73130016e-01 6.34136880e-01 -1.18488721e-02 8.99393440e+01] [-6.34056998e-01 7.73220760e-01 1.00687823e-02 1.88149914e+02] [ 1.55467801e-02 -2.71617512e-04 9.99879105e-01 6.23837007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:188.13, Z:6.24 [[ 7.72591555e-01 6.34794972e-01 -1.17317355e-02 8.99645418e+01] [-6.34716639e-01 7.72680578e-01 9.97556282e-03 1.88129084e+02] [ 1.53973213e-02 -2.60707879e-04 9.99881420e-01 6.23852581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:188.11, Z:6.24 [[ 7.72672546e-01 6.34695457e-01 -1.17819384e-02 8.99901782e+01] [-6.34616342e-01 7.72762321e-01 1.00246764e-02 1.88107803e+02] [ 1.54672546e-02 -2.68781597e-04 9.99880339e-01 6.23923767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:188.09, Z:6.24 [[ 7.72684542e-01 6.34684281e-01 -1.15957936e-02 9.00146784e+01] [-6.34607548e-01 7.72771500e-01 9.87263597e-03 1.88085612e+02] [ 1.52269056e-02 -2.69655079e-04 9.99884028e-01 6.24016865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:188.06, Z:6.24 [[ 7.72871029e-01 6.34465641e-01 -1.11230666e-02 9.00380977e+01] [-6.34394929e-01 7.72951020e-01 9.47608314e-03 1.88062923e+02] [ 1.46098348e-02 -2.67373095e-04 9.99893235e-01 6.24139666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:188.04, Z:6.24 [[ 7.72732662e-01 6.34636159e-01 -1.10081116e-02 9.00631162e+01] [-6.34566831e-01 7.72811021e-01 9.38416445e-03 1.88041136e+02] [ 1.44627201e-02 -2.66067865e-04 9.99895374e-01 6.24235098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:188.02, Z:6.24 [[ 7.72699455e-01 6.34682350e-01 -1.06708003e-02 9.00867495e+01] [-6.34617130e-01 7.72773088e-01 9.10232009e-03 1.88020196e+02] [ 1.40231892e-02 -2.61485108e-04 9.99901636e-01 6.24265521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:188.00, Z:6.24 [[ 7.72799813e-01 6.34565042e-01 -1.03757757e-02 9.01123256e+01] [-6.34503297e-01 7.72869420e-01 8.85586636e-03 1.87999493e+02] [ 1.36387429e-02 -2.60347999e-04 9.99906954e-01 6.24320592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:187.98, Z:6.24 [[ 7.72764729e-01 6.34608406e-01 -1.03365727e-02 9.01368803e+01] [-6.34547055e-01 7.72833813e-01 8.82796205e-03 1.87978033e+02] [ 1.35907518e-02 -2.62895937e-04 9.99907607e-01 6.24371649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:187.96, Z:6.24 [[ 7.72653228e-01 6.34751650e-01 -9.86570726e-03 9.01620552e+01] [-6.34695708e-01 7.72716169e-01 8.43085617e-03 1.87956279e+02] [ 1.29748914e-02 -2.52406169e-04 9.99915791e-01 6.24460543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:187.94, Z:6.25 [[ 7.72480124e-01 6.34961749e-01 -9.90126328e-03 9.01870634e+01] [-6.34905351e-01 7.72543535e-01 8.46655949e-03 1.87935004e+02] [ 1.30250983e-02 -2.53883890e-04 9.99915138e-01 6.24530899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:187.92, Z:6.25 [[ 7.71968366e-01 6.35583900e-01 -9.89690309e-03 9.02105206e+01] [-6.35527532e-01 7.72031764e-01 8.46820655e-03 1.87915252e+02] [ 1.30229793e-02 -2.47433172e-04 9.99915167e-01 6.24537475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:187.90, Z:6.25 [[ 7.71624707e-01 6.36002802e-01 -9.78506124e-03 9.02339606e+01] [-6.35947700e-01 7.71686710e-01 8.37516845e-03 1.87896384e+02] [ 1.28776323e-02 -2.39699713e-04 9.99917051e-01 6.24521018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.26, Y:187.88, Z:6.24 [[ 7.71083458e-01 6.36654929e-01 -1.00400097e-02 9.02573331e+01] [-6.36596983e-01 7.71148784e-01 8.59271034e-03 1.87878494e+02] [ 1.32129326e-02 -2.34256929e-04 9.99912678e-01 6.24458200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.28, Y:187.86, Z:6.24 [[ 7.70787699e-01 6.37016021e-01 -9.84444031e-03 9.02798967e+01] [-6.36960348e-01 7.70850530e-01 8.42472428e-03 1.87860316e+02] [ 1.29552764e-02 -2.23155717e-04 9.99916052e-01 6.24469882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:187.84, Z:6.24 [[ 7.70531662e-01 6.37323704e-01 -9.97270897e-03 9.03014151e+01] [-6.37266614e-01 7.70596164e-01 8.53318860e-03 1.87842483e+02] [ 1.31233346e-02 -2.19817516e-04 9.99913861e-01 6.24490862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:187.83, Z:6.24 [[ 7.69958732e-01 6.38014639e-01 -1.00434685e-02 9.03231450e+01] [-6.37956816e-01 7.70024205e-01 8.59211118e-03 1.87825256e+02] [ 1.32156066e-02 -2.08271816e-04 9.99912648e-01 6.24440387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:187.81, Z:6.24 [[ 7.70123971e-01 6.37817878e-01 -9.87036315e-03 9.03434545e+01] [-6.37762041e-01 7.70187193e-01 8.44203335e-03 1.87807555e+02] [ 1.29865071e-02 -2.06469299e-04 9.99915650e-01 6.24417119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:187.79, Z:6.24 [[ 7.70075242e-01 6.37879152e-01 -9.71133139e-03 9.03650651e+01] [-6.37825131e-01 7.70136448e-01 8.30390099e-03 1.87789334e+02] [ 1.27759356e-02 -2.00497348e-04 9.99918364e-01 6.24435987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:187.77, Z:6.24 [[ 7.70070014e-01 6.37886866e-01 -9.61875641e-03 9.03921915e+01] [-6.37833898e-01 7.70130059e-01 8.22258617e-03 1.87769911e+02] [ 1.26527732e-02 -1.96798154e-04 9.99919931e-01 6.24466489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:187.75, Z:6.24 [[ 7.69939115e-01 6.38047053e-01 -9.47192115e-03 9.04163285e+01] [-6.37995637e-01 7.69997350e-01 8.10231082e-03 1.87749277e+02] [ 1.24630097e-02 -1.95241648e-04 9.99922315e-01 6.24448177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:187.73, Z:6.24 [[ 7.69859291e-01 6.38142811e-01 -9.50919901e-03 9.04383706e+01] [-6.38090934e-01 7.69917992e-01 8.13917822e-03 1.87726336e+02] [ 1.25152615e-02 -1.98288297e-04 9.99921661e-01 6.24489427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:187.71, Z:6.24 [[ 7.70392477e-01 6.37506346e-01 -9.00499299e-03 9.04641096e+01] [-6.37459730e-01 7.70445078e-01 7.71197356e-03 1.87707159e+02] [ 1.18542846e-02 -2.00926015e-04 9.99929715e-01 6.24475471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:187.69, Z:6.25 [[ 7.70719115e-01 6.37111531e-01 -8.99679576e-03 9.04868163e+01] [-6.37064921e-01 7.70771596e-01 7.70934410e-03 1.87685824e+02] [ 1.18461866e-02 -2.10195883e-04 9.99929809e-01 6.24541076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.51, Y:187.67, Z:6.25 [[ 7.71139911e-01 6.36609866e-01 -8.43306450e-03 9.05106926e+01] [-6.36568845e-01 7.71185993e-01 7.22974982e-03 1.87665140e+02] [ 1.11059913e-02 -2.06922497e-04 9.99938305e-01 6.24576240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79275509600006 meters Centerline goodness [0,1] 0.9999352904380837 Centerline is valid? [True, True] Translation: X:90.53, Y:187.64, Z:6.25 [[ 7.72638923e-01 6.34802638e-01 -7.39632794e-03 9.05328327e+01] [-6.34770974e-01 7.72674296e-01 6.34373965e-03 1.87643101e+02] [ 9.74197516e-03 -2.06445883e-04 9.99952525e-01 6.24523475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:187.62, Z:6.25 [[ 7.72524764e-01 6.34944557e-01 -7.13438650e-03 9.05572142e+01] [-6.34915076e-01 7.72557681e-01 6.12182862e-03 1.87621415e+02] [ 9.39874685e-03 -1.99534662e-04 9.99955811e-01 6.24748608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:187.60, Z:6.25 [[ 7.72956598e-01 6.34421255e-01 -6.91151685e-03 9.05816924e+01] [-6.34393532e-01 7.72987471e-01 5.93438736e-03 1.87600288e+02] [ 9.10741741e-03 -2.02402279e-04 9.99958506e-01 6.24772675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:187.58, Z:6.25 [[ 7.73626242e-01 6.33603234e-01 -7.02708181e-03 9.06051821e+01] [-6.33574510e-01 7.73658125e-01 6.03707015e-03 1.87578811e+02] [ 9.26166611e-03 -2.18255981e-04 9.99957086e-01 6.24700066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:187.56, Z:6.25 [[ 7.73776207e-01 6.33423034e-01 -6.75582287e-03 9.06279581e+01] [-6.33396445e-01 7.73805669e-01 5.80778308e-03 1.87556892e+02] [ 8.90647762e-03 -2.14810172e-04 9.99960313e-01 6.24733610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:187.54, Z:6.25 [[ 7.73773183e-01 6.33426229e-01 -6.80242423e-03 9.06533971e+01] [-6.33399264e-01 7.73803053e-01 5.84871699e-03 1.87536250e+02] [ 8.96846738e-03 -2.16929857e-04 9.99959759e-01 6.24743606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:187.52, Z:6.25 [[ 7.73069348e-01 6.34285992e-01 -6.71292682e-03 9.06789027e+01] [-6.34259730e-01 7.73098466e-01 5.77556130e-03 1.87516777e+02] [ 8.85311106e-03 -2.07170258e-04 9.99960789e-01 6.24702345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:187.50, Z:6.25 [[ 7.72579822e-01 6.34882989e-01 -6.63393073e-03 9.07018087e+01] [-6.34857329e-01 7.72608277e-01 5.71149659e-03 1.87496344e+02] [ 8.75156182e-03 -2.00987476e-04 9.99961684e-01 6.24699122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:187.48, Z:6.25 [[ 7.71960666e-01 6.35635828e-01 -6.62005209e-03 9.07264719e+01] [-6.35610294e-01 7.71989026e-01 5.70067224e-03 1.87475812e+02] [ 8.73415909e-03 -1.92921485e-04 9.99961838e-01 6.24685735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.75, Y:187.46, Z:6.25 [[ 7.71336594e-01 6.36390689e-01 -6.83741162e-03 9.07512082e+01] [-6.36363449e-01 7.71366874e-01 5.89118579e-03 1.87456041e+02] [ 9.02324860e-03 -1.93008340e-04 9.99959271e-01 6.24653942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:187.44, Z:6.25 [[ 7.70172564e-01 6.37802696e-01 -6.47630966e-03 9.07745335e+01] [-6.37778277e-01 7.70199774e-01 5.58366396e-03 1.87435478e+02] [ 8.54932816e-03 -1.69935171e-04 9.99963439e-01 6.24706338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.80, Y:187.42, Z:6.25 [[ 7.69296777e-01 6.38858440e-01 -6.50863830e-03 9.08002277e+01] [-6.38833806e-01 7.69324293e-01 5.61257247e-03 1.87416481e+02] [ 8.59289285e-03 -1.59795739e-04 9.99963068e-01 6.24732116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:187.40, Z:6.25 [[ 7.67735439e-01 6.40737271e-01 -6.16811038e-03 9.08233110e+01] [-6.40715178e-01 7.67760205e-01 5.32250359e-03 1.87396094e+02] [ 8.14595611e-03 -1.34272691e-04 9.99966812e-01 6.24772538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:187.38, Z:6.25 [[ 7.67147084e-01 6.41442787e-01 -6.04169866e-03 9.08462548e+01] [-6.41421589e-01 7.67170864e-01 5.21643011e-03 1.87377465e+02] [ 7.98105665e-03 -1.26493197e-04 9.99968143e-01 6.24788382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:187.36, Z:6.25 [[ 7.66752127e-01 6.41918086e-01 -5.68748380e-03 9.08691489e+01] [-6.41899315e-01 7.66773212e-01 4.91026195e-03 1.87358448e+02] [ 7.51299616e-03 -1.14161836e-04 9.99971771e-01 6.24848637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.89, Y:187.34, Z:6.25 [[ 7.66381381e-01 6.42366216e-01 -5.02235834e-03 9.08920741e+01] [-6.42351590e-01 7.66397831e-01 4.33577552e-03 1.87339369e+02] [ 6.63428026e-03 -9.67377596e-05 9.99977988e-01 6.24917854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:187.32, Z:6.25 [[ 7.66165737e-01 6.42625323e-01 -4.77042739e-03 9.09171996e+01] [-6.42612156e-01 7.66180584e-01 4.11472868e-03 1.87318201e+02] [ 6.29923768e-03 -8.70295030e-05 9.99980156e-01 6.24917259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:187.30, Z:6.25 [[ 7.66311481e-01 6.42453284e-01 -4.52684319e-03 9.09400481e+01] [-6.42441409e-01 7.66324847e-01 3.90704893e-03 1.87295721e+02] [ 5.97912883e-03 -8.57849300e-05 9.99982121e-01 6.24979105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:187.27, Z:6.25 [[ 7.66888897e-01 6.41761912e-01 -4.80287252e-03 9.09640673e+01] [-6.41748513e-01 7.66903930e-01 4.14819833e-03 1.87274403e+02] [ 6.34549751e-03 -9.89709443e-05 9.99979862e-01 6.24900725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:187.25, Z:6.25 [[ 7.67171902e-01 6.41427915e-01 -4.18364233e-03 9.09875114e+01] [-6.41417735e-01 7.67183304e-01 3.61479594e-03 1.87252521e+02] [ 5.52825157e-03 -8.97074875e-05 9.99984715e-01 6.24940199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.01, Y:187.23, Z:6.25 [[ 7.67570792e-01 6.40952513e-01 -3.86712784e-03 9.10092757e+01] [-6.40943801e-01 7.67580529e-01 3.34307145e-03 1.87230762e+02] [ 5.11108208e-03 -8.74323838e-05 9.99986935e-01 6.25013021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:187.21, Z:6.25 [[ 7.67464395e-01 6.41080995e-01 -3.68248611e-03 9.10338593e+01] [-6.41073092e-01 7.67473225e-01 3.18422356e-03 1.87208845e+02] [ 4.86755470e-03 -8.30354515e-05 9.99988150e-01 6.25025568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:187.19, Z:6.25 [[ 7.67382639e-01 6.41176891e-01 -4.01006348e-03 9.10554213e+01] [-6.41167505e-01 7.67393111e-01 3.47041482e-03 1.87185243e+02] [ 5.30244487e-03 -9.20136813e-05 9.99985938e-01 6.25173553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:187.17, Z:6.25 [[ 7.67252138e-01 6.41336191e-01 -3.47090675e-03 9.10807648e+01] [-6.41329142e-01 7.67259985e-01 3.00784289e-03 1.87166057e+02] [ 4.59212636e-03 -8.17802383e-05 9.99989453e-01 6.25055048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.11, Y:187.14, Z:6.25 [[ 7.67002782e-01 6.41634789e-01 -3.39548925e-03 9.11065780e+01] [-6.41628051e-01 7.67010294e-01 2.94152565e-03 1.87144736e+02] [ 4.49176040e-03 -7.75172073e-05 9.99989909e-01 6.25026140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:187.12, Z:6.25 [[ 7.66650574e-01 6.42055364e-01 -3.43610122e-03 9.11317747e+01] [-6.42048474e-01 7.66658270e-01 2.97545189e-03 1.87123141e+02] [ 4.54472026e-03 -7.49883575e-05 9.99989670e-01 6.24996513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:187.10, Z:6.25 [[ 7.65802551e-01 6.43062687e-01 -4.10282488e-03 9.11544306e+01] [-6.43052856e-01 7.65813537e-01 3.55685102e-03 1.87102202e+02] [ 5.42927701e-03 -8.55123257e-05 9.99985258e-01 6.24929073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:187.08, Z:6.25 [[ 7.65337180e-01 6.43615558e-01 -4.24447298e-03 9.11789277e+01] [-6.43605036e-01 7.65348945e-01 3.68112478e-03 1.87080601e+02] [ 5.61773209e-03 -8.55374751e-05 9.99984217e-01 6.24888927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:187.06, Z:6.25 [[ 7.64771314e-01 6.44285402e-01 -4.59971185e-03 9.12030429e+01] [-6.44273037e-01 7.64785141e-01 3.99263064e-03 1.87058784e+02] [ 6.09018491e-03 -8.99790604e-05 9.99981451e-01 6.24890779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:187.04, Z:6.25 [[ 7.64387475e-01 6.44739891e-01 -4.71808892e-03 9.12276870e+01] [-6.44726877e-01 7.64402031e-01 4.09743395e-03 1.87036715e+02] [ 6.24829587e-03 -9.01484569e-05 9.99980475e-01 6.24893078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:187.02, Z:6.25 [[ 7.63391206e-01 6.45917087e-01 -4.99846815e-03 9.12532741e+01] [-6.45902482e-01 7.63407565e-01 4.34436941e-03 1.87016572e+02] [ 6.62197083e-03 -8.79304187e-05 9.99978071e-01 6.24842189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:187.00, Z:6.25 [[ 7.62971198e-01 6.46413653e-01 -4.93360547e-03 9.12764908e+01] [-6.46399420e-01 7.62987144e-01 4.29046798e-03 1.86996233e+02] [ 6.53769462e-03 -8.44237799e-05 9.99978625e-01 6.24852778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:186.98, Z:6.25 [[ 7.62432167e-01 6.47046280e-01 -5.31999012e-03 9.12998494e+01] [-6.47029710e-01 7.62450722e-01 4.63153576e-03 1.86977520e+02] [ 7.05304829e-03 -8.90401810e-05 9.99975123e-01 6.24820017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:186.96, Z:6.25 [[ 7.62267187e-01 6.47237682e-01 -5.66729760e-03 9.13206222e+01] [-6.47218883e-01 7.62288249e-01 4.93390850e-03 1.86959366e+02] [ 7.51352586e-03 -9.29745361e-05 9.99971769e-01 6.24834940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:186.94, Z:6.25 [[ 7.62339150e-01 6.47152917e-01 -5.66769626e-03 9.13414728e+01] [-6.47134119e-01 7.62360212e-01 4.93345048e-03 1.86941393e+02] [ 7.51352299e-03 -9.32028141e-05 9.99971769e-01 6.24871538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:186.92, Z:6.25 [[ 7.61952575e-01 6.47607417e-01 -5.73644429e-03 9.13668880e+01] [-6.47588206e-01 7.61974164e-01 4.98893336e-03 1.86920754e+02] [ 7.60189258e-03 -8.64769604e-05 9.99971101e-01 6.24843563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:186.90, Z:6.25 [[ 7.61958785e-01 6.47600605e-01 -5.68032204e-03 9.13897524e+01] [-6.47581743e-01 7.61979953e-01 4.94337348e-03 1.86898949e+02] [ 7.52962318e-03 -8.81739981e-05 9.99971648e-01 6.24953144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:186.88, Z:6.25 [[ 7.61585802e-01 6.48042631e-01 -5.27393732e-03 9.14164364e+01] [-6.48026368e-01 7.61604059e-01 4.59184040e-03 1.86878695e+02] [ 6.99236040e-03 -7.94300079e-05 9.99975550e-01 6.24918202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:186.86, Z:6.25 [[ 7.61466157e-01 6.48184294e-01 -5.13933263e-03 9.14405946e+01] [-6.48168834e-01 7.61483496e-01 4.47755964e-03 1.86857764e+02] [ 6.81580081e-03 -7.83548941e-05 9.99976769e-01 6.24983471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:186.84, Z:6.25 [[ 7.61293434e-01 6.48388715e-01 -4.93782358e-03 9.14657605e+01] [-6.48374430e-01 7.61309444e-01 4.30455212e-03 1.86837603e+02] [ 6.55023474e-03 -7.54687118e-05 9.99978544e-01 6.24966680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:186.82, Z:6.25 [[ 7.61919858e-01 6.47653317e-01 -4.82825129e-03 9.14887298e+01] [-6.47639616e-01 7.61935151e-01 4.21355229e-03 1.86817737e+02] [ 6.40773549e-03 -8.34223489e-05 9.99979467e-01 6.25032109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:186.80, Z:6.25 [[ 7.62371327e-01 6.47125162e-01 -4.35711102e-03 9.15093433e+01] [-6.47113987e-01 7.62383774e-01 3.80379114e-03 1.86798674e+02] [ 5.78331969e-03 -8.03538119e-05 9.99983273e-01 6.25157236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:186.78, Z:6.25 [[ 7.62765268e-01 6.46661148e-01 -4.30183761e-03 9.15358490e+01] [-6.46650277e-01 7.62777395e-01 3.75041610e-03 1.86778613e+02] [ 5.70659287e-03 -7.89026619e-05 9.99983714e-01 6.25079896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:186.76, Z:6.25 [[ 7.62726840e-01 6.46704711e-01 -4.55891280e-03 9.15605409e+01] [-6.46692486e-01 7.62740460e-01 3.97746254e-03 1.86757369e+02] [ 6.04951101e-03 -8.55027804e-05 9.99981698e-01 6.25079648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.59, Y:186.74, Z:6.25 [[ 7.62820942e-01 6.46593558e-01 -4.58056310e-03 9.15851302e+01] [-6.46581197e-01 7.62834689e-01 3.99914324e-03 1.86736249e+02] [ 6.08003268e-03 -8.89242402e-05 9.99981512e-01 6.25078617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:186.72, Z:6.25 [[ 7.62845581e-01 6.46561742e-01 -4.95325250e-03 9.16111235e+01] [-6.46547268e-01 7.62861655e-01 4.32731192e-03 1.86715585e+02] [ 6.57652073e-03 -9.85589053e-05 9.99978370e-01 6.25028853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:186.69, Z:6.25 [[ 7.62878500e-01 6.46521178e-01 -5.17300834e-03 9.16359283e+01] [-6.46505369e-01 7.62896032e-01 4.52243879e-03 1.86693908e+02] [ 6.87031999e-03 -1.05693655e-04 9.99976394e-01 6.25019734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:186.67, Z:6.25 [[ 7.63345403e-01 6.45969405e-01 -5.22717630e-03 9.16602767e+01] [-6.45953228e-01 7.63363291e-01 4.57311927e-03 1.86672501e+02] [ 6.94432964e-03 -1.14358164e-04 9.99975881e-01 6.24983260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:186.65, Z:6.25 [[ 7.63413832e-01 6.45886029e-01 -5.52800832e-03 9.16838715e+01] [-6.45867912e-01 7.63433836e-01 4.83921706e-03 1.86650467e+02] [ 7.34585128e-03 -1.23962050e-04 9.99973011e-01 6.25006804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:186.63, Z:6.25 [[ 7.63615505e-01 6.45646450e-01 -5.65879004e-03 9.17082568e+01] [-6.45627437e-01 7.63636461e-01 4.95670051e-03 1.86628044e+02] [ 7.52153449e-03 -1.31543251e-04 9.99971704e-01 6.24999623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:186.61, Z:6.25 [[ 7.63726510e-01 6.45512585e-01 -5.94312141e-03 9.17313611e+01] [-6.45491579e-01 7.63749620e-01 5.20956099e-03 1.86605390e+02] [ 7.90189391e-03 -1.42445011e-04 9.99968769e-01 6.25044567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:186.58, Z:6.25 [[ 7.64087202e-01 6.45085416e-01 -5.96265547e-03 9.17533551e+01] [-6.45064217e-01 7.64110452e-01 5.23195625e-03 1.86584564e+02] [ 7.93118604e-03 -1.51375138e-04 9.99968536e-01 6.25042156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:186.56, Z:6.25 [[ 7.63913788e-01 6.45288808e-01 -6.17079909e-03 9.17778191e+01] [-6.45266125e-01 7.63938695e-01 5.41275892e-03 1.86563141e+02] [ 8.20690496e-03 -1.53073554e-04 9.99966311e-01 6.25071762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.80, Y:186.54, Z:6.25 [[ 7.63697392e-01 6.45545189e-01 -6.14014346e-03 9.17991806e+01] [-6.45522699e-01 7.63722060e-01 5.39076307e-03 1.86543096e+02] [ 8.16934418e-03 -1.53309719e-04 9.99966619e-01 6.25169586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41275509600007 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:91.83, Y:186.52, Z:6.25 [[ 7.62988073e-01 6.46388527e-01 -5.57424388e-03 9.18251632e+01] [-6.46370032e-01 7.63008424e-01 4.89147617e-03 1.86523364e+02] [ 7.41498912e-03 -1.29113789e-04 9.99972500e-01 6.24969167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:186.50, Z:6.25 [[ 7.62309139e-01 6.47189816e-01 -5.48803654e-03 9.18495140e+01] [-6.47171876e-01 7.62328884e-01 4.82029092e-03 1.86503003e+02] [ 7.30333196e-03 -1.22848918e-04 9.99973323e-01 6.25260922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:186.48, Z:6.25 [[ 7.61595735e-01 6.48028467e-01 -5.57153348e-03 9.18720527e+01] [-6.48009993e-01 7.61616105e-01 4.89462711e-03 1.86484154e+02] [ 7.41522733e-03 -1.17317762e-04 9.99972500e-01 6.25292221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:186.47, Z:6.25 [[ 7.59881620e-01 6.50035701e-01 -5.78894745e-03 9.18952666e+01] [-6.50015815e-01 7.59903663e-01 5.08548933e-03 1.86466648e+02] [ 7.70479199e-03 -1.01462475e-04 9.99970313e-01 6.25322683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:186.45, Z:6.25 [[ 7.59212805e-01 6.50818371e-01 -5.60047383e-03 9.19161155e+01] [-6.50799785e-01 7.59233456e-01 4.91934659e-03 1.86448808e+02] [ 7.45366823e-03 -9.00437627e-05 9.99972217e-01 6.25402356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:186.43, Z:6.25 [[ 7.58687888e-01 6.51431385e-01 -5.46258377e-03 9.19386003e+01] [-6.51413726e-01 7.58707549e-01 4.79719161e-03 1.86431077e+02] [ 7.26954471e-03 -8.11691164e-05 9.99973573e-01 6.25406171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:186.41, Z:6.25 [[ 7.57779383e-01 6.52485315e-01 -5.77239654e-03 9.19616737e+01] [-6.52465633e-01 7.57801365e-01 5.06843187e-03 1.86413116e+02] [ 7.68140734e-03 -7.44628171e-05 9.99970495e-01 6.25364201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.99, Y:186.39, Z:6.25 [[ 7.57263565e-01 6.53080960e-01 -6.09525238e-03 9.19867747e+01] [-6.53059064e-01 7.57288092e-01 5.34828365e-03 1.86392273e+02] [ 8.10872426e-03 -6.95005300e-05 9.99967121e-01 6.25345780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.01, Y:186.37, Z:6.25 [[ 7.57060386e-01 6.53312355e-01 -6.52215669e-03 9.20110906e+01] [-6.53287255e-01 7.57088477e-01 5.72720297e-03 1.86370766e+02] [ 8.67950213e-03 -7.49966533e-05 9.99962330e-01 6.25333802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:186.35, Z:6.25 [[ 7.57704009e-01 6.52560001e-01 -7.07678976e-03 9.20322352e+01] [-6.52530368e-01 7.57737050e-01 6.21947492e-03 1.86349540e+02] [ 9.42092635e-03 -9.47008481e-05 9.99955618e-01 6.25321626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:186.33, Z:6.25 [[ 7.58264037e-01 6.51907902e-01 -7.19288240e-03 9.20565262e+01] [-6.51877258e-01 7.58298145e-01 6.32166205e-03 1.86329326e+02] [ 9.57549082e-03 -1.04612533e-04 9.99954148e-01 6.25268281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:186.31, Z:6.25 [[ 7.58720289e-01 6.51378308e-01 -7.05850644e-03 9.20805078e+01] [-6.51348783e-01 7.58753114e-01 6.20280745e-03 1.86307319e+02] [ 9.39603796e-03 -1.08646278e-04 9.99955850e-01 6.25328008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:186.28, Z:6.26 [[ 7.60280520e-01 6.49562942e-01 -6.44325011e-03 9.21024658e+01] [-6.49538250e-01 7.60307812e-01 5.66500988e-03 1.86284989e+02] [ 8.57863388e-03 -1.21859249e-04 9.99963195e-01 6.25504639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.12, Y:186.27, Z:6.26 [[ 7.60984123e-01 6.48740641e-01 -6.22463507e-03 9.21246882e+01] [-6.48717530e-01 7.61009569e-01 5.47741672e-03 1.86265273e+02] [ 8.29042968e-03 -1.30197265e-04 9.99965625e-01 6.25564154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:186.24, Z:6.26 [[ 7.62255289e-01 6.47241436e-01 -6.73772117e-03 9.21479870e+01] [-6.47214309e-01 7.62285050e-01 5.92794569e-03 1.86244782e+02] [ 8.97287620e-03 -1.57858406e-04 9.99959730e-01 6.25534970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:186.22, Z:6.26 [[ 7.62696161e-01 6.46720132e-01 -6.90190074e-03 9.21711272e+01] [-6.46691639e-01 7.62727371e-01 6.07309959e-03 1.86224482e+02] [ 9.19186438e-03 -1.68528240e-04 9.99957740e-01 6.25552731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:186.20, Z:6.26 [[ 7.63093676e-01 6.46250927e-01 -6.91234128e-03 9.21934699e+01] [-6.46222326e-01 7.63124963e-01 6.08249744e-03 1.86204289e+02] [ 9.20579979e-03 -1.74606075e-04 9.99957611e-01 6.25538007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:186.19, Z:6.26 [[ 7.63560361e-01 6.45698219e-01 -7.02750346e-03 9.22145538e+01] [-6.45668637e-01 7.63592677e-01 6.18343981e-03 1.86185165e+02] [ 9.35878625e-03 -1.83990956e-04 9.99956189e-01 6.25505977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:186.17, Z:6.26 [[ 7.63966107e-01 6.45214620e-01 -7.34037392e-03 9.22363813e+01] [-6.45182330e-01 7.64001345e-01 6.45802478e-03 1.86166015e+02] [ 9.77486755e-03 -1.97832508e-04 9.99952205e-01 6.25500370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:186.15, Z:6.25 [[ 7.64169095e-01 6.44971923e-01 -7.53738541e-03 9.22573433e+01] [-6.44937874e-01 7.64206239e-01 6.63040940e-03 1.86147615e+02] [ 1.00365449e-02 -2.05608629e-04 9.99949611e-01 6.25473473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:186.13, Z:6.25 [[ 7.64313618e-01 6.44799278e-01 -7.65405597e-03 9.22789345e+01] [-6.44764174e-01 7.64351913e-01 6.73154993e-03 1.86128879e+02] [ 1.01908909e-02 -2.09954207e-04 9.99948049e-01 6.25476456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:186.11, Z:6.25 [[ 7.64227288e-01 6.44895610e-01 -8.14275517e-03 9.23002572e+01] [-6.44855897e-01 7.64270635e-01 7.16024450e-03 1.86110866e+02] [ 1.08408789e-02 -2.21150543e-04 9.99941212e-01 6.25411194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:186.09, Z:6.25 [[ 7.63967903e-01 6.45199184e-01 -8.42948343e-03 9.23225592e+01] [-6.45156660e-01 7.64014374e-01 7.41088189e-03 1.86092706e+02] [ 1.12217415e-02 -2.23338522e-04 9.99937009e-01 6.25404356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:186.08, Z:6.25 [[ 7.63182117e-01 6.46123590e-01 -8.79563336e-03 9.23500760e+01] [-6.46077375e-01 7.63232769e-01 7.73083242e-03 1.86075463e+02] [ 1.17081888e-02 -2.17373338e-04 9.99931433e-01 6.25377105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:186.05, Z:6.25 [[ 7.62555962e-01 6.46862987e-01 -8.75677959e-03 9.23722107e+01] [-6.46817177e-01 7.62606211e-01 7.70105975e-03 1.86052840e+02] [ 1.16595050e-02 -2.08453569e-04 9.99932004e-01 6.25415191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:186.04, Z:6.25 [[ 7.62424453e-01 6.47014948e-01 -8.97830470e-03 9.23942989e+01] [-6.46966740e-01 7.62477285e-01 7.90108705e-03 1.86035317e+02] [ 1.19578748e-02 -2.15317449e-04 9.99928479e-01 6.25415668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:186.02, Z:6.25 [[ 7.61870327e-01 6.47661842e-01 -9.36714373e-03 9.24217935e+01] [-6.47609486e-01 7.61927880e-01 8.23762808e-03 1.86017236e+02] [ 1.24722853e-02 -2.09753261e-04 9.99922196e-01 6.25364783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22275509600007 meters Centerline goodness [0,1] 0.9999784761084805 Centerline is valid? [True, True] Translation: X:92.44, Y:186.00, Z:6.25 [[ 7.61793770e-01 6.47750633e-01 -9.45350416e-03 9.24442867e+01] [-6.47697252e-01 7.61852395e-01 8.31858232e-03 1.85997485e+02] [ 1.25905418e-02 -2.14035526e-04 9.99920713e-01 6.25378124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.47, Y:185.98, Z:6.25 [[ 7.62024047e-01 6.47479177e-01 -9.49040083e-03 9.24672570e+01] [-6.47425352e-01 7.62083111e-01 8.35144977e-03 1.85977140e+02] [ 1.26398640e-02 -2.19679457e-04 9.99920090e-01 6.25424901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.49, Y:185.96, Z:6.25 [[ 7.62558066e-01 6.46857102e-01 -9.00476326e-03 9.24895464e+01] [-6.46808600e-01 7.62611200e-01 7.92416298e-03 1.85957195e+02] [ 1.19929344e-02 -2.18276073e-04 9.99928058e-01 6.25484783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:185.94, Z:6.26 [[ 7.62957073e-01 6.46389278e-01 -8.79810409e-03 9.25110420e+01] [-6.46342952e-01 7.63007768e-01 7.74174414e-03 1.85937679e+02] [ 1.17172022e-02 -2.20025877e-04 9.99931327e-01 6.25580688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:185.92, Z:6.26 [[ 7.63278876e-01 6.46013264e-01 -8.49823071e-03 9.25323370e+01] [-6.45970029e-01 7.63326153e-01 7.47702729e-03 1.85917721e+02] [ 1.13171806e-02 -2.17454651e-04 9.99935935e-01 6.25665149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:185.90, Z:6.26 [[ 7.63378046e-01 6.45891471e-01 -8.84116921e-03 9.25524222e+01] [-6.45844678e-01 7.63429208e-01 7.77787387e-03 1.85898073e+02] [ 1.17732692e-02 -2.27436076e-04 9.99930667e-01 6.25745573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:185.88, Z:6.26 [[ 7.63247904e-01 6.46044322e-01 -8.90899569e-03 9.25779701e+01] [-6.45996846e-01 7.63299864e-01 7.83528059e-03 1.85877800e+02] [ 1.18621737e-02 -2.25078368e-04 9.99929617e-01 6.25729570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.60, Y:185.86, Z:6.26 [[ 7.62821074e-01 6.46554862e-01 -8.41537328e-03 9.25992963e+01] [-6.46512479e-01 7.62867463e-01 7.40597091e-03 1.85858970e+02] [ 1.12081810e-02 -2.08786850e-04 9.99937165e-01 6.25786342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:185.84, Z:6.26 [[ 7.62357176e-01 6.47100490e-01 -8.51419691e-03 9.26211129e+01] [-6.47057149e-01 7.62404692e-01 7.49207948e-03 1.85840487e+02] [ 1.13393920e-02 -2.02468579e-04 9.99935687e-01 6.25830034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:185.82, Z:6.26 [[ 7.62134280e-01 6.47362140e-01 -8.57900054e-03 9.26424304e+01] [-6.47318166e-01 7.62182537e-01 7.54797606e-03 1.85821843e+02] [ 1.14250383e-02 -1.99228406e-04 9.99934712e-01 6.25852718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:185.80, Z:6.26 [[ 7.62092000e-01 6.47414340e-01 -8.39383182e-03 9.26639309e+01] [-6.47372261e-01 7.62138200e-01 7.38373881e-03 1.85803161e+02] [ 1.11775983e-02 -1.93154391e-04 9.99937510e-01 6.25902611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:185.78, Z:6.26 [[ 7.61938882e-01 6.47592647e-01 -8.53840689e-03 9.26846393e+01] [-6.47549139e-01 7.61986697e-01 7.50905996e-03 1.85783258e+02] [ 1.13689645e-02 -1.92406718e-04 9.99935353e-01 6.25938257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:185.76, Z:6.26 [[ 7.61721595e-01 6.47852115e-01 -8.23704383e-03 9.27096304e+01] [-6.47811663e-01 7.61766109e-01 7.24185875e-03 1.85762354e+02] [ 1.09663543e-02 -1.80227135e-04 9.99939852e-01 6.26001690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:185.74, Z:6.26 [[ 7.61324880e-01 6.48310592e-01 -8.82062523e-03 9.27313760e+01] [-6.48264175e-01 7.61375952e-01 7.76003771e-03 1.85740587e+02] [ 1.17467266e-02 -1.89814445e-04 9.99930987e-01 6.25994318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:185.72, Z:6.26 [[ 7.60948516e-01 6.48745026e-01 -9.34064522e-03 9.27535352e+01] [-6.48692983e-01 7.61005817e-01 8.21953273e-03 1.85721343e+02] [ 1.24406663e-02 -1.95430214e-04 9.99922593e-01 6.25974886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:185.70, Z:6.26 [[ 7.60525755e-01 6.49241425e-01 -9.28161334e-03 9.27757477e+01] [-6.49190086e-01 7.60582368e-01 8.16668628e-03 1.85702488e+02] [ 1.23615825e-02 -1.85443891e-04 9.99923576e-01 6.25994545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:185.69, Z:6.26 [[ 7.58820869e-01 6.51240989e-01 -8.72137301e-03 9.28012271e+01] [-6.51195805e-01 7.58870973e-01 7.67266888e-03 1.85687609e+02] [ 1.16151533e-02 -1.42859749e-04 9.99932532e-01 6.26055372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:185.67, Z:6.26 [[ 7.58872286e-01 6.51181066e-01 -8.72197847e-03 9.28225698e+01] [-6.51135886e-01 7.58922393e-01 7.67198055e-03 1.85668947e+02] [ 1.16151532e-02 -1.42860237e-04 9.99932532e-01 6.26093075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.84, Y:185.65, Z:6.26 [[ 7.57996316e-01 6.52199306e-01 -8.81192257e-03 9.28446956e+01] [-6.52153272e-01 7.58047524e-01 7.74990242e-03 1.85652128e+02] [ 1.17343371e-02 -1.27673346e-04 9.99931142e-01 6.26112676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:185.63, Z:6.26 [[ 7.57093295e-01 6.53244633e-01 -9.01063269e-03 9.28663346e+01] [-6.53196594e-01 7.57146905e-01 7.92293200e-03 1.85634909e+02] [ 1.19979855e-02 -1.12684108e-04 9.99928015e-01 6.26099660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:185.62, Z:6.26 [[ 7.55574195e-01 6.54999003e-01 -9.16197586e-03 9.28907483e+01] [-6.54949485e-01 7.55629737e-01 8.05439630e-03 1.85619193e+02] [ 1.21986829e-02 -8.50626318e-05 9.99925590e-01 6.26113448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:185.60, Z:6.26 [[ 7.54965642e-01 6.55694916e-01 -9.54236880e-03 9.29134970e+01] [-6.55641273e-01 7.55025941e-01 8.38741165e-03 1.85600776e+02] [ 1.27043192e-02 -7.58367929e-05 9.99919294e-01 6.26154947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters Centerline goodness [0,1] 0.9999567633006896 Centerline is valid? [True, True] Translation: X:92.93, Y:185.58, Z:6.26 [[ 7.54710075e-01 6.55991652e-01 -9.36249300e-03 9.29348778e+01] [-6.55940052e-01 7.54768142e-01 8.22802878e-03 1.85582237e+02] [ 1.24640296e-02 -6.85420725e-05 9.99922319e-01 6.26189771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.96, Y:185.56, Z:6.26 [[ 7.54591449e-01 6.56125882e-01 -9.51699387e-03 9.29569421e+01] [-6.56072597e-01 7.54651458e-01 8.36209686e-03 1.85563746e+02] [ 1.26686015e-02 -6.61279041e-05 9.99919748e-01 6.26240225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:185.55, Z:6.26 [[ 7.54657345e-01 6.56041886e-01 -1.00665711e-02 9.29795213e+01] [-6.55982282e-01 7.54724479e-01 8.84346563e-03 1.85545413e+02] [ 1.33991715e-02 -7.02940349e-05 9.99910225e-01 6.26187918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:185.53, Z:6.26 [[ 7.54920771e-01 6.55735143e-01 -1.02981609e-02 9.30011910e+01] [-6.55672757e-01 7.54991004e-01 9.04541873e-03 1.85526866e+02] [ 1.37064178e-02 -7.63509209e-05 9.99906060e-01 6.26187578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:185.51, Z:6.26 [[ 7.55985740e-01 6.54509636e-01 -1.01339695e-02 9.30220051e+01] [-6.54449132e-01 7.56053654e-01 8.89978794e-03 1.85507443e+02] [ 1.34868217e-02 -9.59452104e-05 9.99909044e-01 6.26208234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:185.49, Z:6.26 [[ 7.57142643e-01 6.53166650e-01 -1.04089314e-02 9.30425530e+01] [-6.53102712e-01 7.57214179e-01 9.13974302e-03 1.85488209e+02] [ 1.38515658e-02 -1.21987832e-04 9.99904055e-01 6.26250362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06275509600005 meters Centerline goodness [0,1] 0.9999568528466335 Centerline is valid? [True, True] Translation: X:93.06, Y:185.47, Z:6.26 [[ 7.58219543e-01 6.51910563e-01 -1.07583682e-02 9.30640096e+01] [-6.51842160e-01 7.58295850e-01 9.44471388e-03 1.85468259e+02] [ 1.43151347e-02 -1.48408657e-04 9.99897522e-01 6.26184604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.08, Y:185.45, Z:6.26 [[ 7.61063240e-01 6.48590740e-01 -1.06205917e-02 9.30831813e+01] [-6.48523764e-01 7.61137313e-01 9.32299016e-03 1.85446612e+02] [ 1.41305337e-02 -2.07679020e-04 9.99900137e-01 6.26328392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.10, Y:185.43, Z:6.26 [[ 7.62558232e-01 6.46828459e-01 -1.08576115e-02 9.31036618e+01] [-6.46758298e-01 7.62635487e-01 9.52987645e-03 1.85425651e+02] [ 1.44445951e-02 -2.44835438e-04 9.99895641e-01 6.26391728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:185.40, Z:6.26 [[ 7.63888059e-01 6.45255305e-01 -1.09829465e-02 9.31267561e+01] [-6.45183361e-01 7.63966959e-01 9.63930679e-03 1.85402657e+02] [ 1.46104221e-02 -2.77337009e-04 9.99893224e-01 6.26482383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:185.38, Z:6.26 [[ 7.66274847e-01 6.42413934e-01 -1.12780830e-02 9.31460714e+01] [-6.42337682e-01 7.66357761e-01 9.90377431e-03 1.85378132e+02] [ 1.50053690e-02 -3.44675496e-04 9.99887354e-01 6.26493740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:185.36, Z:6.27 [[ 7.67014016e-01 6.41527373e-01 -1.14947379e-02 9.31678295e+01] [-6.41448027e-01 7.67100054e-01 1.00963455e-02 1.85358604e+02] [ 1.52946960e-02 -3.70761562e-04 9.99882961e-01 6.26600990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:185.34, Z:6.27 [[ 7.67073898e-01 6.41461923e-01 -1.11461339e-02 9.31933641e+01] [-6.41387320e-01 7.67154790e-01 9.78947008e-03 1.85337559e+02] [ 1.48303823e-02 -3.60258042e-04 9.99889959e-01 6.26714082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:185.32, Z:6.27 [[ 7.67361230e-01 6.41113475e-01 -1.14128934e-02 9.32151982e+01] [-6.41035132e-01 7.67446003e-01 1.00295876e-02 1.85316320e+02] [ 1.51888832e-02 -3.80251008e-04 9.99884570e-01 6.26758749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.24, Y:185.30, Z:6.27 [[ 7.67135754e-01 6.41382195e-01 -1.14723503e-02 9.32378466e+01] [-6.41303061e-01 7.67221440e-01 1.00819882e-02 1.85298128e+02] [ 1.52682408e-02 -3.77000274e-04 9.99883363e-01 6.26833146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.26, Y:185.28, Z:6.27 [[ 7.66473043e-01 6.42168445e-01 -1.17797945e-02 9.32611879e+01] [-6.42085131e-01 7.66563469e-01 1.03505225e-02 1.85280373e+02] [ 1.56767390e-02 -3.69765581e-04 9.99877044e-01 6.26889496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:185.26, Z:6.27 [[ 7.66157698e-01 6.42543882e-01 -1.18212113e-02 9.32823221e+01] [-6.42460052e-01 7.66248803e-01 1.03852171e-02 1.85261973e+02] [ 1.57309467e-02 -3.62057966e-04 9.99876195e-01 6.26916145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:185.24, Z:6.27 [[ 7.65595546e-01 6.43213012e-01 -1.18525022e-02 9.33050562e+01] [-6.43128848e-01 7.65687208e-01 1.04107354e-02 1.85244450e+02] [ 1.57716298e-02 -3.47726537e-04 9.99875560e-01 6.26959310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:185.23, Z:6.27 [[ 7.65138552e-01 6.43751413e-01 -1.21290903e-02 9.33267882e+01] [-6.43663372e-01 7.65234605e-01 1.06519052e-02 1.85226488e+02] [ 1.61387786e-02 -3.43132114e-04 9.99869703e-01 6.27011614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:185.21, Z:6.27 [[ 7.64184052e-01 6.44880229e-01 -1.23379453e-02 9.33525856e+01] [-6.44789305e-01 7.64283576e-01 1.08335884e-02 1.85209544e+02] [ 1.64160559e-02 -3.23480358e-04 9.99865195e-01 6.27014069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.37, Y:185.19, Z:6.27 [[ 7.64112728e-01 6.44964509e-01 -1.23499437e-02 9.33747516e+01] [-6.44873422e-01 7.64212456e-01 1.08439436e-02 1.85190810e+02] [ 1.64319396e-02 -3.21844887e-04 9.99864935e-01 6.27046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:185.17, Z:6.27 [[ 7.64199784e-01 6.44872755e-01 -1.17397222e-02 9.33984630e+01] [-6.44790450e-01 7.64289890e-01 1.03072826e-02 1.85172767e+02] [ 1.56194367e-02 -3.07162347e-04 9.99877962e-01 6.27152939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:185.15, Z:6.27 [[ 7.64354688e-01 6.44695080e-01 -1.14089512e-02 9.34202811e+01] [-6.44617342e-01 7.64439771e-01 1.00159851e-02 1.85154211e+02] [ 1.51787123e-02 -3.01357355e-04 9.99884751e-01 6.27248104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:185.14, Z:6.27 [[ 7.64734409e-01 6.44250812e-01 -1.10532817e-02 9.34412554e+01] [-6.44177822e-01 7.64814227e-01 9.70219363e-03 1.85135293e+02] [ 1.47043532e-02 -2.99322403e-04 9.99891840e-01 6.27337845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:185.11, Z:6.27 [[ 7.64793881e-01 6.44184634e-01 -1.07924746e-02 9.34666173e+01] [-6.44115059e-01 7.64869971e-01 9.47202012e-03 1.85113809e+02] [ 1.43565695e-02 -2.92547630e-04 9.99896896e-01 6.27417580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.49, Y:185.09, Z:6.27 [[ 7.64966812e-01 6.43984829e-01 -1.04554330e-02 9.34885507e+01] [-6.43919434e-01 7.65038205e-01 9.18189464e-03 1.85092797e+02] [ 1.39118065e-02 -2.91388172e-04 9.99903184e-01 6.27464600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:185.07, Z:6.27 [[ 7.65219848e-01 6.43687412e-01 -1.02518374e-02 9.35095246e+01] [-6.43624491e-01 7.65288463e-01 9.00467507e-03 1.85073997e+02] [ 1.36418088e-02 -2.92222485e-04 9.99906904e-01 6.27496663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:185.05, Z:6.28 [[ 7.65348428e-01 6.43529875e-01 -1.05395934e-02 9.35321568e+01] [-6.43463383e-01 7.65420936e-01 9.25560834e-03 1.85054108e+02] [ 1.40234859e-02 -3.01922874e-04 9.99901621e-01 6.27517835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.55, Y:185.03, Z:6.28 [[ 7.65270603e-01 6.43628968e-01 -1.01318957e-02 9.35538168e+01] [-6.43567538e-01 7.65337618e-01 8.89689279e-03 1.85034533e+02] [ 1.34806188e-02 -2.87971330e-04 9.99909091e-01 6.27582811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:185.02, Z:6.28 [[ 7.64470551e-01 6.44572278e-01 -1.05524938e-02 9.35747649e+01] [-6.44505743e-01 7.64543327e-01 9.26541096e-03 1.85015489e+02] [ 1.40400658e-02 -2.81990967e-04 9.99901394e-01 6.27683035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:185.00, Z:6.28 [[ 7.63876846e-01 6.45277805e-01 -1.04268234e-02 9.35972703e+01] [-6.45212931e-01 7.63947960e-01 9.15362768e-03 1.84997006e+02] [ 1.38721832e-02 -2.64722957e-04 9.99903742e-01 6.27747504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.62, Y:184.98, Z:6.28 [[ 7.63105637e-01 6.46191037e-01 -1.03407625e-02 9.36181838e+01] [-6.46127333e-01 7.63175657e-01 9.07662727e-03 1.84977928e+02] [ 1.37570534e-02 -2.44976150e-04 9.99905337e-01 6.27798780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.64, Y:184.96, Z:6.28 [[ 7.61627310e-01 6.47927863e-01 -1.06454323e-02 9.36396409e+01] [-6.47860546e-01 7.61701672e-01 9.34218761e-03 1.84960708e+02] [ 1.41617072e-02 -2.18509654e-04 9.99899694e-01 6.27795937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:184.94, Z:6.28 [[ 7.60911350e-01 6.48758356e-01 -1.12477868e-02 9.36617927e+01] [-6.48683324e-01 7.60994448e-01 9.86884749e-03 1.84942227e+02] [ 1.49620005e-02 -2.13066363e-04 9.99888040e-01 6.27784523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.68, Y:184.92, Z:6.28 [[ 7.60223772e-01 6.49559741e-01 -1.14873116e-02 9.36840768e+01] [-6.49481596e-01 7.60310530e-01 1.00774191e-02 1.84924127e+02] [ 1.52798097e-02 -2.00296128e-04 9.99883237e-01 6.27793322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:184.90, Z:6.28 [[ 7.58637459e-01 6.51412111e-01 -1.14659311e-02 9.37045566e+01] [-6.51334493e-01 7.58724084e-01 1.00569720e-02 1.84904988e+02] [ 1.52507114e-02 -1.61439227e-04 9.99883688e-01 6.27881525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:184.89, Z:6.28 [[ 7.58110466e-01 6.52017483e-01 -1.19047829e-02 9.37262719e+01] [-6.51933920e-01 7.58203916e-01 1.04395912e-02 1.84886434e+02] [ 1.58330490e-02 -1.53231546e-04 9.99874638e-01 6.27883616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:184.87, Z:6.28 [[ 7.57444012e-01 6.52783917e-01 -1.23177127e-02 9.37464253e+01] [-6.52694588e-01 7.57544149e-01 1.07998609e-02 1.84867747e+02] [ 1.63811867e-02 -1.40585525e-04 9.99865809e-01 6.27833288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:184.85, Z:6.28 [[ 7.56723215e-01 6.53598780e-01 -1.33645681e-02 9.37669085e+01] [-6.53493794e-01 7.56841211e-01 1.17150843e-02 1.84849612e+02] [ 1.77718207e-02 -1.31413874e-04 9.99842060e-01 6.27686637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:184.83, Z:6.28 [[ 7.56883440e-01 6.53401434e-01 -1.39292417e-02 9.37881692e+01] [-6.53287437e-01 7.57011589e-01 1.22056834e-02 1.84830582e+02] [ 1.85198084e-02 -1.38481036e-04 9.99828484e-01 6.27633184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:93.81, Y:184.81, Z:6.27 [[ 7.57111833e-01 6.53111415e-01 -1.50715845e-02 9.38083367e+01] [-6.52978021e-01 7.57261815e-01 1.32002929e-02 1.84811489e+02] [ 2.00343974e-02 -1.52684598e-04 9.99799280e-01 6.27445632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.83, Y:184.79, Z:6.28 [[ 7.56457795e-01 6.53873077e-01 -1.48863580e-02 9.38313886e+01] [-6.53743134e-01 7.56604244e-01 1.30358332e-02 1.84794803e+02] [ 1.97868620e-02 -1.29203350e-04 9.99804213e-01 6.27730350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:184.78, Z:6.28 [[ 7.56358062e-01 6.53985924e-01 -1.49964558e-02 9.38520910e+01] [-6.53854124e-01 7.56506706e-01 1.31297204e-02 1.84776690e+02] [ 1.99315717e-02 -1.25275365e-04 9.99801339e-01 6.27679749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:184.76, Z:6.28 [[ 7.55981306e-01 6.54405306e-01 -1.56831432e-02 9.38744221e+01] [-6.54261323e-01 7.56143956e-01 1.37273042e-02 1.84760263e+02] [ 2.08419347e-02 -1.16711334e-04 9.99782776e-01 6.27792253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:184.74, Z:6.28 [[ 7.56610278e-01 6.53662377e-01 -1.63212861e-02 9.38945834e+01] [-6.53506346e-01 7.56786283e-01 1.42820940e-02 1.84740642e+02] [ 2.16873929e-02 -1.39915108e-04 9.99764791e-01 6.27555993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:184.72, Z:6.28 [[ 7.57525465e-01 6.52595355e-01 -1.65672126e-02 9.39153274e+01] [-6.52434421e-01 7.57706588e-01 1.44932078e-02 1.84721293e+02] [ 2.20112862e-02 -1.69954204e-04 9.99757708e-01 6.27542189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:184.70, Z:6.28 [[ 7.58553649e-01 6.51400908e-01 -1.65292955e-02 9.39373813e+01] [-6.51240495e-01 7.58733692e-01 1.44568730e-02 1.84702626e+02] [ 2.19585536e-02 -2.01767182e-04 9.99758862e-01 6.27746364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:184.68, Z:6.28 [[ 7.61460526e-01 6.48003756e-01 -1.64012379e-02 9.39560732e+01] [-6.47845092e-01 7.61637083e-01 1.43419320e-02 1.84681270e+02] [ 2.17854167e-02 -2.95353582e-04 9.99762626e-01 6.27789643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:184.66, Z:6.28 [[ 7.63008047e-01 6.46193417e-01 -1.58993204e-02 9.39768604e+01] [-6.46043992e-01 7.63173608e-01 1.38998186e-02 1.84661762e+02] [ 2.11159130e-02 -3.34013030e-04 9.99776978e-01 6.27895426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:184.64, Z:6.28 [[ 7.65898430e-01 6.42789420e-01 -1.48780612e-02 9.39950322e+01] [-6.42657973e-01 7.66042820e-01 1.30049086e-02 1.84639732e+02] [ 1.97566497e-02 -3.98934444e-04 9.99804739e-01 6.28031864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:184.62, Z:6.28 [[ 7.66860520e-01 6.41657012e-01 -1.41852691e-02 9.40183255e+01] [-6.41537367e-01 7.66991600e-01 1.23973034e-02 1.84622050e+02] [ 1.88347989e-02 -4.06622294e-04 9.99822527e-01 6.28247742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:184.60, Z:6.28 [[ 7.67718413e-01 6.40638120e-01 -1.38288749e-02 9.40407253e+01] [-6.40524270e-01 7.67842838e-01 1.20845488e-02 1.84601992e+02] [ 1.83602251e-02 -4.19800623e-04 9.99831349e-01 6.28344923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:184.58, Z:6.28 [[ 7.68749846e-01 6.39407580e-01 -1.34766838e-02 9.40613934e+01] [-6.39299290e-01 7.68867840e-01 1.17755105e-02 1.84583537e+02] [ 1.78911395e-02 -4.36787510e-04 9.99839845e-01 6.28374616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:184.56, Z:6.28 [[ 7.68855998e-01 6.39279540e-01 -1.34953569e-02 9.40841079e+01] [-6.39170964e-01 7.68974302e-01 1.17898636e-02 1.84563855e+02] [ 1.79146012e-02 -4.38867033e-04 9.99839424e-01 6.28392247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:184.55, Z:6.28 [[ 7.68966660e-01 6.39141977e-01 -1.37043201e-02 9.41055669e+01] [-6.39030013e-01 7.69088638e-01 1.19712087e-02 1.84545150e+02] [ 1.81911389e-02 -4.47988479e-04 9.99834427e-01 6.28408404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:184.53, Z:6.28 [[ 7.68487092e-01 6.39714200e-01 -1.39043565e-02 9.41293882e+01] [-6.39599063e-01 7.68612743e-01 1.21445447e-02 1.84525634e+02] [ 1.84561033e-02 -4.39712467e-04 9.99829575e-01 6.28394076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.15, Y:184.51, Z:6.28 [[ 7.68016821e-01 6.40278960e-01 -1.38930330e-02 9.41496079e+01] [-6.40164107e-01 7.68142352e-01 1.21343843e-02 1.84505864e+02] [ 1.84412180e-02 -4.25590194e-04 9.99829856e-01 6.28370223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:184.49, Z:6.28 [[ 7.66756602e-01 6.41789893e-01 -1.37857336e-02 9.41731563e+01] [-6.41677071e-01 7.66880424e-01 1.20395855e-02 1.84488313e+02] [ 1.82988935e-02 -3.85442516e-04 9.99832487e-01 6.28442382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:184.47, Z:6.28 [[ 7.66806618e-01 6.41730117e-01 -1.37865016e-02 9.41945688e+01] [-6.41617301e-01 7.66930446e-01 1.20387060e-02 1.84469724e+02] [ 1.82988880e-02 -3.85701425e-04 9.99832487e-01 6.28480098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.22, Y:184.45, Z:6.28 [[ 7.66306433e-01 6.42324802e-01 -1.39031887e-02 9.42169547e+01] [-6.42210202e-01 7.66432456e-01 1.21386798e-02 1.84450856e+02] [ 1.84528302e-02 -3.73178766e-04 9.99829662e-01 6.28497111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:184.43, Z:6.29 [[ 7.65727957e-01 6.43023889e-01 -1.34526471e-02 9.42401701e+01] [-6.42916732e-01 7.65846042e-01 1.17437480e-02 1.84432963e+02] [ 1.78541671e-02 -3.43584212e-04 9.99840543e-01 6.28584021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:184.41, Z:6.29 [[ 7.65060467e-01 6.43823374e-01 -1.31887918e-02 9.42614654e+01] [-6.43720518e-01 7.65174073e-01 1.15122780e-02 1.84414275e+02] [ 1.75035953e-02 -3.17692882e-04 9.99846750e-01 6.28638511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.28, Y:184.40, Z:6.29 [[ 7.64316073e-01 6.44723110e-01 -1.23714526e-02 9.42833503e+01] [-6.44632752e-01 7.64416140e-01 1.07972004e-02 1.84395817e+02] [ 1.64181427e-02 -2.77430278e-04 9.99865175e-01 6.28740242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:184.38, Z:6.29 [[ 7.64090517e-01 6.45002039e-01 -1.17495163e-02 9.43041238e+01] [-6.44920597e-01 7.64180806e-01 1.02527849e-02 1.84376919e+02] [ 1.55918220e-02 -2.56550671e-04 9.99878407e-01 6.28846463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:184.36, Z:6.29 [[ 7.63821943e-01 6.45343473e-01 -1.03846900e-02 9.43255502e+01] [-6.45279907e-01 7.63892502e-01 9.06024459e-03 1.84357970e+02] [ 1.37797565e-02 -2.19381828e-04 9.99905031e-01 6.29008122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.35, Y:184.34, Z:6.29 [[ 7.64020315e-01 6.45117356e-01 -9.82629364e-03 9.43460905e+01] [-6.45060440e-01 7.64083473e-01 8.57179525e-03 1.84338721e+02] [ 1.30379225e-02 -2.10472409e-04 9.99914981e-01 6.29080484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.37, Y:184.32, Z:6.29 [[ 7.64140510e-01 6.44976597e-01 -9.71960344e-03 9.43665482e+01] [-6.44920921e-01 7.64202294e-01 8.47702518e-03 1.84320211e+02] [ 1.28952261e-02 -2.09262742e-04 9.99916831e-01 6.29117218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.39, Y:184.30, Z:6.29 [[ 7.64343478e-01 6.44740570e-01 -9.41512517e-03 9.43863487e+01] [-6.44688333e-01 7.64401436e-01 8.20966371e-03 1.84301073e+02] [ 1.24900385e-02 -2.05181569e-04 9.99921975e-01 6.29106075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:184.28, Z:6.29 [[ 7.64341961e-01 6.44745352e-01 -9.20859738e-03 9.44095280e+01] [-6.44695409e-01 7.64397404e-01 8.02735369e-03 1.84282100e+02] [ 1.22146269e-02 -1.98902806e-04 9.99925379e-01 6.29118186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.43, Y:184.26, Z:6.29 [[ 7.63999726e-01 6.45152260e-01 -9.10938391e-03 9.44293697e+01] [-6.45103422e-01 7.64054007e-01 7.94033780e-03 1.84262387e+02] [ 1.20827882e-02 -1.89921169e-04 9.99926982e-01 6.29161448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:184.24, Z:6.29 [[ 7.63691472e-01 6.45518133e-01 -9.03748477e-03 9.44529493e+01] [-6.45470108e-01 7.63744923e-01 7.87602738e-03 1.84244379e+02] [ 1.19864516e-02 -1.81428670e-04 9.99928143e-01 6.29150867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.48, Y:184.22, Z:6.29 [[ 7.63152915e-01 6.46152724e-01 -9.18077292e-03 9.44779724e+01] [-6.46103224e-01 7.63208116e-01 7.99977365e-03 1.84224071e+02] [ 1.21759159e-02 -1.73323600e-04 9.99925856e-01 6.29149893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:184.20, Z:6.29 [[ 7.62320255e-01 6.47124236e-01 -9.90217767e-03 9.45010652e+01] [-6.47066662e-01 7.62384544e-01 8.63373799e-03 1.84204909e+02] [ 1.31363683e-02 -1.74304288e-04 9.99913699e-01 6.29082596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:184.19, Z:6.29 [[ 7.62224518e-01 6.47236748e-01 -9.91844925e-03 9.45241244e+01] [-6.47178995e-01 7.62289028e-01 8.64794061e-03 1.84186890e+02] [ 1.31579900e-02 -1.72660348e-04 9.99913415e-01 6.29076888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.54, Y:184.17, Z:6.29 [[ 7.62427693e-01 6.46992150e-01 -1.02552409e-02 9.45445033e+01] [-6.46930406e-01 7.62496639e-01 8.94012696e-03 1.84167704e+02] [ 1.36037787e-02 -1.81773228e-04 9.99907448e-01 6.29047886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:184.15, Z:6.29 [[ 7.62964608e-01 6.46358988e-01 -1.02501187e-02 9.45675271e+01] [-6.46297271e-01 7.63033434e-01 8.93393897e-03 1.84149084e+02] [ 1.35957150e-02 -1.91655510e-04 9.99907556e-01 6.29100208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:184.13, Z:6.29 [[ 7.63523125e-01 6.45699633e-01 -1.02187078e-02 9.45875302e+01] [-6.45638245e-01 7.63591476e-01 8.90584117e-03 1.84129044e+02] [ 1.35534166e-02 -2.02227110e-04 9.99908128e-01 6.29150262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.61, Y:184.11, Z:6.29 [[ 7.64408388e-01 6.44650486e-01 -1.02745924e-02 9.46083488e+01] [-6.44588344e-01 7.64477405e-01 8.95346270e-03 1.84109251e+02] [ 1.36265478e-02 -2.21219517e-04 9.99907130e-01 6.29189017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:184.09, Z:6.29 [[ 7.66519441e-01 6.42140861e-01 -1.01519143e-02 9.46286647e+01] [-6.42079992e-01 7.66586620e-01 8.84522806e-03 1.84088346e+02] [ 1.34622040e-02 -2.61698206e-04 9.99909346e-01 6.29244751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.65, Y:184.07, Z:6.29 [[ 7.67508787e-01 6.40962630e-01 -9.85739312e-03 9.46502527e+01] [-6.40905161e-01 7.67572037e-01 8.58734759e-03 1.84069424e+02] [ 1.30704282e-02 -2.73210607e-04 9.99914541e-01 6.29316786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.67, Y:184.05, Z:6.29 [[ 7.69322660e-01 6.38788270e-01 -9.60162426e-03 9.46725857e+01] [-6.38733592e-01 7.69382516e-01 8.36320111e-03 1.84049145e+02] [ 1.27296366e-02 -3.01120181e-04 9.99918930e-01 6.29360220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.70, Y:184.03, Z:6.29 [[ 7.69865454e-01 6.38132059e-01 -9.72924178e-03 9.46964480e+01] [-6.38075865e-01 7.69926864e-01 8.47433739e-03 1.84028404e+02] [ 1.28985510e-02 -3.16105236e-04 9.99916760e-01 6.29364859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:184.01, Z:6.29 [[ 7.70306048e-01 6.37596218e-01 -9.98273697e-03 9.47178170e+01] [-6.37537004e-01 7.70370659e-01 8.69584084e-03 1.84008798e+02] [ 1.32348429e-02 -3.34094578e-04 9.99912360e-01 6.29384792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:183.99, Z:6.29 [[ 7.70641594e-01 6.37187231e-01 -1.01963930e-02 9.47380680e+01] [-6.37125405e-01 7.70708966e-01 8.88298896e-03 1.83988673e+02] [ 1.35185787e-02 -3.49219735e-04 9.99908559e-01 6.29453654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:183.97, Z:6.30 [[ 7.70688920e-01 6.37134082e-01 -9.93734123e-03 9.47594606e+01] [-6.37075366e-01 7.70752908e-01 8.65633305e-03 1.83970856e+02] [ 1.31744795e-02 -3.40504668e-04 9.99913155e-01 6.29526284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.78, Y:183.95, Z:6.30 [[ 7.70437016e-01 6.37442107e-01 -9.71413145e-03 9.47816603e+01] [-6.37386048e-01 7.70498186e-01 8.46002051e-03 1.83952655e+02] [ 1.28774940e-02 -3.26261107e-04 9.99917028e-01 6.29591189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:183.94, Z:6.30 [[ 7.69421809e-01 6.38667635e-01 -9.68147783e-03 9.48070063e+01] [-6.38612065e-01 7.69482657e-01 8.43033725e-03 1.83938127e+02] [ 1.28339128e-02 -3.03776786e-04 9.99917596e-01 6.29664307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:183.92, Z:6.30 [[ 7.68725675e-01 6.39505634e-01 -9.66336206e-03 9.48305959e+01] [-6.39450355e-01 7.68786356e-01 8.41321833e-03 1.83920696e+02] [ 1.28093614e-02 -2.88216631e-04 9.99917915e-01 6.29698182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:183.90, Z:6.30 [[ 7.66893065e-01 6.41697210e-01 -9.98586424e-03 9.48549537e+01] [-6.41638374e-01 7.66958033e-01 8.69328450e-03 1.83903732e+02] [ 1.32371952e-02 -2.59505900e-04 9.99912351e-01 6.29683144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:183.89, Z:6.30 [[ 7.65717550e-01 6.43093979e-01 -1.03328978e-02 9.48764263e+01] [-6.43031120e-01 7.65787226e-01 8.99462773e-03 1.83886260e+02] [ 1.36971921e-02 -2.42969475e-04 9.99906160e-01 6.29716235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:183.87, Z:6.30 [[ 7.64570523e-01 6.44455716e-01 -1.04280791e-02 9.48991977e+01] [-6.44391845e-01 7.64641604e-01 9.07569253e-03 1.83869071e+02] [ 1.38226250e-02 -2.19237866e-04 9.99904439e-01 6.29703518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:183.85, Z:6.30 [[ 7.62500349e-01 6.46897114e-01 -1.08324009e-02 9.49217853e+01] [-6.46828462e-01 7.62577269e-01 9.42602223e-03 1.83853125e+02] [ 1.43582093e-02 -1.80640018e-04 9.99896899e-01 6.29657476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:183.84, Z:6.30 [[ 7.61463905e-01 6.48111755e-01 -1.11298797e-02 9.49449089e+01] [-6.48039437e-01 7.61545223e-01 9.68298913e-03 1.83835331e+02] [ 1.47515658e-02 -1.60645769e-04 9.99891177e-01 6.29636903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:183.82, Z:6.30 [[ 7.60745384e-01 6.48953321e-01 -1.12271552e-02 9.49666776e+01] [-6.48879848e-01 7.60828211e-01 9.76607023e-03 1.83818050e+02] [ 1.48796601e-02 -1.44418078e-04 9.99889281e-01 6.29619834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:183.80, Z:6.30 [[ 7.59905098e-01 6.49927700e-01 -1.17570054e-02 9.49886074e+01] [-6.49847275e-01 7.59996032e-01 1.02249979e-02 1.83799491e+02] [ 1.55807868e-02 -1.29770129e-04 9.99878604e-01 6.29586652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:183.78, Z:6.30 [[ 7.59781915e-01 6.50076085e-01 -1.15120099e-02 9.50094119e+01] [-6.49999026e-01 7.59869113e-01 1.00098488e-02 1.83780604e+02] [ 1.52547841e-02 -1.22506860e-04 9.99883632e-01 6.29631766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:183.76, Z:6.30 [[ 7.60053816e-01 6.49774662e-01 -1.05397222e-02 9.50296273e+01] [-6.49710111e-01 7.60126881e-01 9.15947108e-03 1.83760770e+02] [ 1.39631184e-02 -1.13926839e-04 9.99902504e-01 6.29792563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:183.74, Z:6.30 [[ 7.60320546e-01 6.49469174e-01 -1.01222274e-02 9.50489912e+01] [-6.49409635e-01 7.60387914e-01 8.79469507e-03 1.83741776e+02] [ 1.34087027e-02 -1.13315363e-04 9.99910093e-01 6.29903562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:183.72, Z:6.30 [[ 7.60795261e-01 6.48918392e-01 -9.77196821e-03 9.50679674e+01] [-6.48862885e-01 7.60858007e-01 8.48821726e-03 1.83722926e+02] [ 1.29432405e-02 -1.17127980e-04 9.99916226e-01 6.30021640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:183.70, Z:6.30 [[ 7.61333435e-01 6.48293110e-01 -9.35116846e-03 9.50883036e+01] [-6.48242274e-01 7.61390852e-01 8.11941747e-03 1.83703107e+02] [ 1.23836565e-02 -1.19761295e-04 9.99923312e-01 6.30126205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:183.68, Z:6.30 [[ 7.62700447e-01 6.46688347e-01 -9.06695567e-03 9.51080413e+01] [-6.46640459e-01 7.62754326e-01 7.87119806e-03 1.83681647e+02] [ 1.20060717e-02 -1.40305903e-04 9.99927915e-01 6.30150260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:183.66, Z:6.30 [[ 7.63461552e-01 6.45789728e-01 -9.06010719e-03 9.51290319e+01] [-6.45741863e-01 7.63515293e-01 7.86404201e-03 1.83661098e+02] [ 1.19960480e-02 -1.53403225e-04 9.99928033e-01 6.30136981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:183.64, Z:6.30 [[ 7.62876560e-01 6.46488389e-01 -8.49218140e-03 9.51509825e+01] [-6.46446391e-01 7.62923813e-01 7.37008935e-03 1.83643835e+02] [ 1.12435646e-02 -1.32728387e-04 9.99936780e-01 6.30219062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:183.63, Z:6.30 [[ 7.62538062e-01 6.46889044e-01 -8.38263275e-03 9.51736134e+01] [-6.46848163e-01 7.62584126e-01 7.27359672e-03 1.83626367e+02] [ 1.10976727e-02 -1.24103744e-04 9.99938411e-01 6.30212562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:183.61, Z:6.30 [[ 7.62079373e-01 6.47424422e-01 -8.75477797e-03 9.51957971e+01] [-6.47379880e-01 7.62129650e-01 7.59525782e-03 1.83607338e+02] [ 1.15896313e-02 -1.20522202e-04 9.99932831e-01 6.30200301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.22, Y:183.59, Z:6.30 [[ 7.62043042e-01 6.47463818e-01 -9.00031446e-03 9.52164624e+01] [-6.47416760e-01 7.62096181e-01 7.80706902e-03 1.83588673e+02] [ 1.19139000e-02 -1.22368206e-04 9.99929020e-01 6.30195389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:183.57, Z:6.30 [[ 7.62228080e-01 6.47244594e-01 -9.09894370e-03 9.52378667e+01] [-6.47196504e-01 7.62282376e-01 7.89078877e-03 1.83570722e+02] [ 1.20432348e-02 -1.25776218e-04 9.99927470e-01 6.30212682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:183.55, Z:6.30 [[ 7.62461306e-01 6.46964870e-01 -9.44535277e-03 9.52606447e+01] [-6.46913053e-01 7.62519796e-01 8.18913575e-03 1.83551240e+02] [ 1.25003516e-02 -1.33577134e-04 9.99921859e-01 6.30193277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:183.53, Z:6.30 [[ 7.63220963e-01 6.46062562e-01 -9.84517168e-03 9.52823989e+01] [-6.46006200e-01 7.63284444e-01 8.53508037e-03 1.83532803e+02] [ 1.30288623e-02 -1.54110316e-04 9.99915109e-01 6.30096927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.31, Y:183.51, Z:6.30 [[ 7.63630986e-01 6.45572855e-01 -1.01688618e-02 9.53050595e+01] [-6.45512702e-01 7.63698671e-01 8.81425308e-03 1.83514172e+02] [ 1.34561887e-02 -1.66707332e-04 9.99909448e-01 6.30045204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:183.50, Z:6.30 [[ 7.64188145e-01 6.44901415e-01 -1.08924291e-02 9.53273025e+01] [-6.44832340e-01 7.64265745e-01 9.44056861e-03 1.83496092e+02] [ 1.44129465e-02 -1.90580091e-04 9.99896110e-01 6.29983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:183.48, Z:6.30 [[ 7.64497435e-01 6.44532515e-01 -1.10230858e-02 9.53488294e+01] [-6.44461757e-01 7.64576875e-01 9.55226379e-03 1.83477443e+02] [ 1.45847411e-02 -1.98723918e-04 9.99893617e-01 6.30017594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:183.46, Z:6.30 [[ 7.64607720e-01 6.44403449e-01 -1.09192226e-02 9.53704367e+01] [-6.44334028e-01 7.64685658e-01 9.46071455e-03 1.83459595e+02] [ 1.44462900e-02 -1.98108708e-04 9.99895627e-01 6.30067577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.39, Y:183.44, Z:6.30 [[ 7.64922698e-01 6.44030370e-01 -1.08695831e-02 9.53929922e+01] [-6.43961572e-01 7.64999896e-01 9.41554984e-03 1.83441260e+02] [ 1.43791300e-02 -2.02573943e-04 9.99896594e-01 6.30118848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.41, Y:183.42, Z:6.30 [[ 7.65102844e-01 6.43814912e-01 -1.09542913e-02 9.54135102e+01] [-6.43745038e-01 7.65181231e-01 9.48734805e-03 1.83423674e+02] [ 1.44901142e-02 -2.07026332e-04 9.99894991e-01 6.30165537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:183.40, Z:6.30 [[ 7.65542633e-01 6.43296859e-01 -1.06596569e-02 9.54357630e+01] [-6.43230676e-01 7.65616816e-01 9.22979612e-03 1.83404801e+02] [ 1.40987114e-02 -2.09184097e-04 9.99900586e-01 6.30256680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:183.39, Z:6.30 [[ 7.65667999e-01 6.43151231e-01 -1.04407269e-02 9.54570205e+01] [-6.43087745e-01 7.65739154e-01 9.03882964e-03 1.83387521e+02] [ 1.38082078e-02 -2.06439110e-04 9.99904641e-01 6.30389797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.48, Y:183.37, Z:6.30 [[ 7.65825031e-01 6.42968649e-01 -1.01655346e-02 9.54792134e+01] [-6.42908481e-01 7.65892470e-01 8.79829800e-03 1.83369852e+02] [ 1.34427361e-02 -2.02448465e-04 9.99909622e-01 6.30449766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.50, Y:183.35, Z:6.31 [[ 7.65775801e-01 6.43033104e-01 -9.79034910e-03 9.55006873e+01] [-6.42977325e-01 7.65838358e-01 8.47167761e-03 1.83351855e+02] [ 1.29453940e-02 -1.92433234e-04 9.99916186e-01 6.30578711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:183.33, Z:6.31 [[ 7.65649490e-01 6.43194698e-01 -9.02433845e-03 9.55212032e+01] [-6.43147337e-01 7.65702651e-01 7.80722781e-03 1.83334431e+02] [ 1.19315274e-02 -1.73620746e-04 9.99928802e-01 6.30755615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:183.32, Z:6.31 [[ 7.65707807e-01 6.43133315e-01 -8.43169900e-03 9.55433747e+01] [-6.43091987e-01 7.65754212e-01 7.29266358e-03 1.83317162e+02] [ 1.11467639e-02 -1.61691368e-04 9.99937860e-01 6.30836050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:183.30, Z:6.31 [[ 7.65778744e-01 6.43056681e-01 -7.81151170e-03 9.55640843e+01] [-6.43021216e-01 7.65818570e-01 6.75523284e-03 1.83299313e+02] [ 1.03261983e-02 -1.50045963e-04 9.99946672e-01 6.31017240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:183.28, Z:6.31 [[ 7.65968263e-01 6.42830912e-01 -7.81270630e-03 9.55850574e+01] [-6.42795450e-01 7.66008091e-01 6.75385091e-03 1.83281428e+02] [ 1.03261804e-02 -1.51263390e-04 9.99946672e-01 6.31053850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.61, Y:183.26, Z:6.31 [[ 7.66103503e-01 6.42675099e-01 -7.35795763e-03 9.56052796e+01] [-6.42643679e-01 7.66138824e-01 6.35645668e-03 1.83262985e+02] [ 9.72235342e-03 -1.41158771e-04 9.99952727e-01 6.31182800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.63, Y:183.25, Z:6.31 [[ 7.66249149e-01 6.42501690e-01 -7.33623112e-03 9.56271518e+01] [-6.42470456e-01 7.66284254e-01 6.33685342e-03 1.83246001e+02] [ 9.69307743e-03 -1.42296789e-04 9.99953011e-01 6.31235911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:183.23, Z:6.31 [[ 7.66327838e-01 6.42406911e-01 -7.41658557e-03 9.56491547e+01] [-6.42375022e-01 7.66363713e-01 6.40239237e-03 1.83227983e+02] [ 9.79674316e-03 -1.42102189e-04 9.99952001e-01 6.31262194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:183.21, Z:6.31 [[ 7.65772610e-01 6.43071023e-01 -7.20903574e-03 9.56726316e+01] [-6.43040967e-01 7.65806532e-01 6.21861108e-03 1.83211752e+02] [ 9.51973525e-03 -1.26336722e-04 9.99954678e-01 6.31309886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:183.19, Z:6.31 [[ 7.65369538e-01 6.43554225e-01 -6.88686132e-03 9.56952386e+01] [-6.43526823e-01 7.65400514e-01 5.93985726e-03 1.83194463e+02] [ 9.09382743e-03 -1.14305816e-04 9.99958644e-01 6.31344874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:183.18, Z:6.31 [[ 7.64416097e-01 6.44686829e-01 -6.85007256e-03 9.57166771e+01] [-6.44659771e-01 7.64446782e-01 5.90731860e-03 1.83177049e+02] [ 9.04488642e-03 -9.96832176e-05 9.99959089e-01 6.31402419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:183.16, Z:6.31 [[ 7.64220387e-01 6.44912590e-01 -7.41291177e-03 9.57391258e+01] [-6.44880918e-01 7.64256332e-01 6.39225022e-03 1.83159591e+02] [ 9.78780740e-03 -1.04642588e-04 9.99952093e-01 6.31387987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.76, Y:183.14, Z:6.31 [[ 7.63959847e-01 6.45215744e-01 -7.87377320e-03 9.57621533e+01] [-6.45180082e-01 7.64000414e-01 6.78446792e-03 1.83142736e+02] [ 1.03930115e-02 -1.03059435e-04 9.99945986e-01 6.31292958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:183.12, Z:6.31 [[ 7.64116611e-01 6.45025882e-01 -8.21071504e-03 9.57822655e+01] [-6.44987103e-01 7.64160715e-01 7.07379181e-03 1.83124727e+02] [ 1.08370847e-02 -1.09396522e-04 9.99941271e-01 6.31295611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:183.11, Z:6.31 [[ 7.64255302e-01 6.44857284e-01 -8.53914491e-03 9.58045244e+01] [-6.44815353e-01 7.64302997e-01 7.35455262e-03 1.83107389e+02] [ 1.12691309e-02 -1.14584096e-04 9.99936495e-01 6.31240205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:183.09, Z:6.31 [[ 7.64447914e-01 6.44624094e-01 -8.89744114e-03 9.58258935e+01] [-6.44578578e-01 7.64499681e-01 7.66124374e-03 1.83089180e+02] [ 1.17407132e-02 -1.21521838e-04 9.99931068e-01 6.31219870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:183.07, Z:6.31 [[ 7.64898159e-01 6.44087518e-01 -9.05960630e-03 9.58480675e+01] [-6.44040313e-01 7.64951797e-01 7.79892983e-03 1.83069981e+02] [ 1.19533555e-02 -1.30635386e-04 9.99928548e-01 6.31199126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:183.05, Z:6.31 [[ 7.65094607e-01 6.43854829e-01 -9.01125511e-03 9.58681449e+01] [-6.43808123e-01 7.65147660e-01 7.75620513e-03 1.83051217e+02] [ 1.18888109e-02 -1.32711479e-04 9.99929317e-01 6.31204236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:183.03, Z:6.31 [[ 7.65414051e-01 6.43473625e-01 -9.11175075e-03 9.58909567e+01] [-6.43425872e-01 7.65468272e-01 7.84044826e-03 1.83033136e+02] [ 1.20198778e-02 -1.38453092e-04 9.99927749e-01 6.31225001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:183.01, Z:6.31 [[ 7.66016235e-01 6.42761580e-01 -8.75661793e-03 9.59094459e+01] [-6.42717442e-01 7.66066270e-01 7.53390181e-03 1.83011579e+02] [ 1.15506523e-02 -1.43060029e-04 9.99933279e-01 6.31297147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.93, Y:183.00, Z:6.31 [[ 7.66365670e-01 6.42341231e-01 -9.02240119e-03 9.59336575e+01] [-6.42294371e-01 7.66418763e-01 7.76019320e-03 1.82996245e+02] [ 1.18996296e-02 -1.52108159e-04 9.99929185e-01 6.31291290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:182.98, Z:6.31 [[ 7.66604464e-01 6.42052610e-01 -9.27585253e-03 9.59542525e+01] [-6.42003083e-01 7.66660564e-01 7.97624856e-03 1.82978032e+02] [ 1.22326015e-02 -1.59501825e-04 9.99925166e-01 6.31328235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:182.96, Z:6.31 [[ 7.67616317e-01 6.40837379e-01 -9.62521137e-03 9.59745213e+01] [-6.40783977e-01 7.67676638e-01 8.27496498e-03 1.82959678e+02] [ 1.26919568e-02 -1.84316923e-04 9.99919437e-01 6.31341509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:182.94, Z:6.31 [[ 7.67960864e-01 6.40427609e-01 -9.41213599e-03 9.59951273e+01] [-6.40376538e-01 7.68018517e-01 8.08989167e-03 1.82940901e+02] [ 1.24096847e-02 -1.85409136e-04 9.99922980e-01 6.31348193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.02, Y:182.92, Z:6.31 [[ 7.68534817e-01 6.39736759e-01 -9.54537700e-03 9.60176098e+01] [-6.39684199e-01 7.68594067e-01 8.20277711e-03 1.82922148e+02] [ 1.25841382e-02 -1.98092967e-04 9.99920797e-01 6.31356436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:182.90, Z:6.31 [[ 7.69405369e-01 6.38690704e-01 -9.46379220e-03 9.60385711e+01] [-6.38638975e-01 7.69463540e-01 8.13137791e-03 1.82902517e+02] [ 1.24754785e-02 -2.12379271e-04 9.99922156e-01 6.31431775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:182.88, Z:6.31 [[ 7.69783887e-01 6.38234843e-01 -9.43675672e-03 9.60604101e+01] [-6.38183391e-01 7.69841697e-01 8.10686489e-03 1.82882942e+02] [ 1.24388924e-02 -2.18152568e-04 9.99922610e-01 6.31495762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:182.86, Z:6.32 [[ 7.69930976e-01 6.38055203e-01 -9.58380839e-03 9.60813079e+01] [-6.38002138e-01 7.69990589e-01 8.23190473e-03 1.82864719e+02] [ 1.26318519e-02 -2.23508198e-04 9.99920190e-01 6.31510008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:182.85, Z:6.32 [[ 7.69730766e-01 6.38289729e-01 -1.00384528e-02 9.61017493e+01] [-6.38231557e-01 7.69796187e-01 8.62028003e-03 1.82845653e+02] [ 1.32297989e-02 -2.28437376e-04 9.99912456e-01 6.31501382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:182.83, Z:6.31 [[ 7.69571398e-01 6.38474806e-01 -1.04778558e-02 9.61251544e+01] [-6.38411472e-01 7.69642688e-01 8.99578758e-03 1.82828632e+02] [ 1.38077888e-02 -2.33717492e-04 9.99904641e-01 6.31462299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:182.81, Z:6.31 [[ 7.69437880e-01 6.38621322e-01 -1.13205784e-02 9.61470037e+01] [-6.38547433e-01 7.69521114e-01 9.71756900e-03 1.82810406e+02] [ 1.49172709e-02 -2.48339413e-04 9.99888701e-01 6.31392764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:182.79, Z:6.31 [[ 7.69501446e-01 6.38532947e-01 -1.19666051e-02 9.61681324e+01] [-6.38450413e-01 7.69594443e-01 1.02695641e-02 1.82792561e+02] [ 1.57668878e-02 -2.62360494e-04 9.99875660e-01 6.31369546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:182.77, Z:6.31 [[ 7.69823121e-01 6.38138496e-01 -1.23134937e-02 9.61899107e+01] [-6.38051095e-01 7.69921544e-01 1.05648390e-02 1.82773364e+02] [ 1.62222545e-02 -2.76419194e-04 9.99868372e-01 6.31359885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.21, Y:182.75, Z:6.31 [[ 7.70601259e-01 6.37194937e-01 -1.25025244e-02 9.62111702e+01] [-6.37104736e-01 7.70702617e-01 1.07253181e-02 1.82753432e+02] [ 1.64698467e-02 -2.99526096e-04 9.99864318e-01 6.31419451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:182.73, Z:6.31 [[ 7.71029541e-01 6.36681288e-01 -1.22630978e-02 9.62326985e+01] [-6.36594471e-01 7.71126997e-01 1.05182958e-02 1.82734539e+02] [ 1.61532079e-02 -3.03296538e-04 9.99869482e-01 6.31473841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:182.72, Z:6.32 [[ 7.71642599e-01 6.35937159e-01 -1.23137686e-02 9.62540169e+01] [-6.35849555e-01 7.71740778e-01 1.05600704e-02 1.82715044e+02] [ 1.62185785e-02 -3.18895882e-04 9.99868419e-01 6.31547833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.27, Y:182.70, Z:6.32 [[ 7.72186958e-01 6.35276691e-01 -1.22812297e-02 9.62737401e+01] [-6.35189494e-01 7.72284544e-01 1.05304200e-02 1.82695602e+02] [ 1.61743342e-02 -3.30544866e-04 9.99869132e-01 6.31603024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:182.68, Z:6.32 [[ 7.73397465e-01 6.33818399e-01 -1.14279935e-02 9.62930598e+01] [-6.33742766e-01 7.73481820e-01 9.79700966e-03 1.82675349e+02] [ 1.50488702e-02 -3.34574206e-04 9.99886703e-01 6.31718378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.31, Y:182.66, Z:6.32 [[ 7.73833647e-01 6.33289564e-01 -1.12167273e-02 9.63141958e+01] [-6.33216672e-01 7.73914863e-01 9.61411468e-03 1.82656423e+02] [ 1.47693104e-02 -3.37106702e-04 9.99890871e-01 6.31829667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:182.64, Z:6.32 [[ 7.74322792e-01 6.32704001e-01 -1.04814839e-02 9.63352502e+01] [-6.32640317e-01 7.74393661e-01 8.98261669e-03 1.82637068e+02] [ 1.38001322e-02 -3.24435529e-04 9.99904721e-01 6.31970526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:182.62, Z:6.32 [[ 7.74319984e-01 6.32711777e-01 -1.02161678e-02 9.63559487e+01] [-6.32651295e-01 7.74387312e-01 8.75389805e-03 1.82618610e+02] [ 1.34499651e-02 -3.15046425e-04 9.99909496e-01 6.32064769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:182.60, Z:6.32 [[ 7.73463151e-01 6.33773251e-01 -9.28543725e-03 9.63788368e+01] [-6.33723386e-01 7.73518839e-01 7.95463643e-03 1.82600343e+02] [ 1.22238964e-02 -2.68219424e-04 9.99925249e-01 6.32248116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.40, Y:182.58, Z:6.32 [[ 7.72771850e-01 6.34620387e-01 -8.97961056e-03 9.64003153e+01] [-6.34573818e-01 7.72823980e-01 7.69185735e-03 1.82582356e+02] [ 1.18210679e-02 -2.45825067e-04 9.99930099e-01 6.32351584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:182.57, Z:6.32 [[ 7.71900381e-01 6.35681095e-01 -8.90768795e-03 9.64235455e+01] [-6.35635358e-01 7.71951743e-01 7.62876414e-03 1.82565420e+02] [ 1.17257664e-02 -2.26604532e-04 9.99931225e-01 6.32410153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.45, Y:182.55, Z:6.32 [[ 7.70799620e-01 6.37016162e-01 -8.85185455e-03 9.64459091e+01] [-6.36971097e-01 7.70850418e-01 7.57983966e-03 1.82548828e+02] [ 1.16519362e-02 -2.04162025e-04 9.99932093e-01 6.32465473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.47, Y:182.53, Z:6.33 [[ 7.68473388e-01 6.39818371e-01 -9.00576638e-03 9.64713781e+01] [-6.39771931e-01 7.68526139e-01 7.71043199e-03 1.82533281e+02] [ 1.18544429e-02 -1.63625246e-04 9.99929720e-01 6.32517887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:182.52, Z:6.33 [[ 7.67169830e-01 6.41380347e-01 -9.03896605e-03 9.64947405e+01] [-6.41333717e-01 7.67223065e-01 7.73507011e-03 1.82516290e+02] [ 1.18960252e-02 -1.37118730e-04 9.99929230e-01 6.32574940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:182.50, Z:6.33 [[ 7.66014716e-01 6.42759983e-01 -9.00331941e-03 9.65169231e+01] [-6.42713866e-01 7.66067616e-01 7.70029812e-03 1.82499620e+02] [ 1.18465949e-02 -1.11983443e-04 9.99929820e-01 6.32607895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.54, Y:182.48, Z:6.33 [[ 7.63708316e-01 6.45491933e-01 -9.47484073e-03 9.65414862e+01] [-6.45441099e-01 7.63767085e-01 8.10113099e-03 1.82484293e+02] [ 1.24657862e-02 -7.14494967e-05 9.99922297e-01 6.32585417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:182.47, Z:6.33 [[ 7.63058452e-01 6.46251685e-01 -1.00278262e-02 9.65642077e+01] [-6.46194828e-01 7.63124338e-01 8.57256996e-03 1.82466903e+02] [ 1.31925160e-02 -6.14425366e-05 9.99912973e-01 6.32544098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.59, Y:182.45, Z:6.32 [[ 7.62291868e-01 6.47152403e-01 -1.02408602e-02 9.65869960e+01] [-6.47093255e-01 7.62360653e-01 8.74950393e-03 1.82449455e+02] [ 1.34694913e-02 -4.28841500e-05 9.99909281e-01 6.32499736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.61, Y:182.43, Z:6.33 [[ 7.62178006e-01 6.47285791e-01 -1.02855408e-02 9.66081655e+01] [-6.47226157e-01 7.62247403e-01 8.78629404e-03 1.82431603e+02] [ 1.35273701e-02 -3.96490065e-05 9.99908500e-01 6.32539714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.63, Y:182.41, Z:6.33 [[ 7.62521360e-01 6.46888443e-01 -9.82437673e-03 9.66294051e+01] [-6.46834028e-01 7.62584645e-01 8.39041866e-03 1.82413022e+02] [ 1.29195837e-02 -4.31322751e-05 9.99916538e-01 6.32644376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:182.39, Z:6.33 [[ 7.64125810e-01 6.44998659e-01 -9.40619799e-03 9.66489231e+01] [-6.44948658e-01 7.64183699e-01 8.03141421e-03 1.82392852e+02] [ 1.23683146e-02 -7.04961279e-05 9.99923507e-01 6.32810767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:182.37, Z:6.33 [[ 7.65576641e-01 6.43280086e-01 -9.11803530e-03 9.66693205e+01] [-6.43232998e-01 7.65630931e-01 7.78387823e-03 1.82373082e+02] [ 1.19882637e-02 -9.41341624e-05 9.99928134e-01 6.32885750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:182.35, Z:6.33 [[ 7.67312978e-01 6.41211952e-01 -8.83329018e-03 9.66895008e+01] [-6.41167638e-01 7.67363811e-01 7.53932582e-03 1.82352890e+02] [ 1.16126530e-02 -1.21402742e-04 9.99932564e-01 6.32941348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:182.33, Z:6.33 [[ 7.71044215e-01 6.36729410e-01 -8.15327910e-03 9.67070689e+01] [-6.36691414e-01 7.71087302e-01 6.95816976e-03 1.82330845e+02] [ 1.07173613e-02 -1.73933749e-04 9.99942552e-01 6.33099875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.73, Y:182.31, Z:6.33 [[ 7.72955128e-01 6.34412802e-01 -7.79528634e-03 9.67275690e+01] [-6.34377972e-01 7.72994410e-01 6.65057994e-03 1.82310894e+02] [ 1.02449258e-02 -1.95441920e-04 9.99947500e-01 6.33145127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:182.29, Z:6.33 [[ 7.76084122e-01 6.30584004e-01 -7.56635022e-03 9.67489502e+01] [-6.30551018e-01 7.76120968e-01 6.45416240e-03 1.82290200e+02] [ 9.94229463e-03 -2.38003128e-04 9.99950546e-01 6.33158563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:182.27, Z:6.33 [[ 7.77446062e-01 6.28906616e-01 -7.35448954e-03 9.67710083e+01] [-6.28875381e-01 7.77480807e-01 6.27297501e-03 1.82270786e+02] [ 9.66308994e-03 -2.51842304e-04 9.99953280e-01 6.33212750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:182.25, Z:6.33 [[ 7.78719401e-01 6.27330315e-01 -7.26433465e-03 9.67903294e+01] [-6.27299778e-01 7.78753237e-01 6.19549548e-03 1.82248356e+02] [ 9.54374625e-03 -2.67637009e-04 9.99954422e-01 6.33310718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:182.23, Z:6.33 [[ 7.80907958e-01 6.24600337e-01 -7.56173921e-03 9.68126208e+01] [-6.24567122e-01 7.80944506e-01 6.44895190e-03 1.82229044e+02] [ 9.93331622e-03 -3.13224166e-04 9.99950614e-01 6.33316226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:182.21, Z:6.33 [[ 7.81911194e-01 6.23342273e-01 -7.70034272e-03 9.68365053e+01] [-6.23307774e-01 7.81949038e-01 6.56657581e-03 1.82210762e+02] [ 1.01144999e-02 -3.34795645e-04 9.99948791e-01 6.33320468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:182.19, Z:6.33 [[ 7.82779733e-01 6.22254195e-01 -7.45702522e-03 9.68549687e+01] [-6.22221795e-01 7.82815178e-01 6.35884283e-03 1.82187499e+02] [ 9.79428915e-03 -3.37649678e-04 9.99951978e-01 6.33383865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:182.17, Z:6.33 [[ 7.83744668e-01 6.21032367e-01 -7.94321990e-03 9.68828338e+01] [-6.20995556e-01 7.83784829e-01 6.77209778e-03 1.82171558e+02] [ 1.04314672e-02 -3.74891272e-04 9.99945521e-01 6.33394264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:182.15, Z:6.33 [[ 7.83856319e-01 6.20889779e-01 -8.07174582e-03 9.69071462e+01] [-6.20851720e-01 7.83897783e-01 6.88531322e-03 1.82150470e+02] [ 1.06024443e-02 -3.85738999e-04 9.99943718e-01 6.33465001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:182.13, Z:6.33 [[ 7.83417284e-01 6.21437848e-01 -8.50654889e-03 9.69336987e+01] [-6.21395562e-01 7.83463362e-01 7.26052374e-03 1.82131739e+02] [ 1.11765336e-02 -4.02088053e-04 9.99937460e-01 6.33473161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:182.11, Z:6.34 [[ 7.83216031e-01 6.21691500e-01 -8.50454986e-03 9.69582743e+01] [-6.21649204e-01 7.83262100e-01 7.26286442e-03 1.82110547e+02] [ 1.11765527e-02 -4.01545194e-04 9.99937460e-01 6.33516450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:182.09, Z:6.34 [[ 7.82611065e-01 6.22445505e-01 -9.02854778e-03 9.69835066e+01] [-6.22397817e-01 7.82663030e-01 7.71618605e-03 1.82089853e+02] [ 1.18692159e-02 -4.19424147e-04 9.99929470e-01 6.33568144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:182.07, Z:6.34 [[ 7.82035185e-01 6.23168068e-01 -9.08452587e-03 9.70047562e+01] [-6.23119820e-01 7.82087840e-01 7.76533530e-03 1.82067328e+02] [ 1.19440062e-02 -4.12017293e-04 9.99928583e-01 6.33600428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:182.05, Z:6.34 [[ 7.81752735e-01 6.23523550e-01 -9.00242668e-03 9.70282346e+01] [-6.23476139e-01 7.81804462e-01 7.69978132e-03 1.82050576e+02] [ 1.18391323e-02 -4.06526874e-04 9.99929832e-01 6.33633857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.05, Y:182.03, Z:6.34 [[ 7.81295284e-01 6.24089173e-01 -9.50702753e-03 9.70534450e+01] [-6.24036357e-01 7.81353012e-01 8.13000321e-03 1.82034073e+02] [ 1.25021916e-02 -4.19202342e-04 9.99921757e-01 6.33653260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:182.02, Z:6.34 [[ 7.81225539e-01 6.24168548e-01 -1.00140662e-02 9.70776269e+01] [-6.24109963e-01 7.81289595e-01 8.56288014e-03 1.82016446e+02] [ 1.31685662e-02 -4.39662172e-04 9.99913194e-01 6.33640511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:182.00, Z:6.34 [[ 7.81226750e-01 6.24166431e-01 -1.00514463e-02 9.70988671e+01] [-6.24107418e-01 7.81291285e-01 8.59415102e-03 1.81998955e+02] [ 1.32172879e-02 -4.40798502e-04 9.99912551e-01 6.33672954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:181.98, Z:6.34 [[ 7.80923045e-01 6.24544953e-01 -1.01390287e-02 9.71229400e+01] [-6.24484961e-01 7.80988740e-01 8.66728168e-03 1.81980809e+02] [ 1.33315742e-02 -4.36809079e-04 9.99911035e-01 6.33717765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:181.96, Z:6.34 [[ 7.80748315e-01 6.24766578e-01 -9.93942059e-03 9.71440022e+01] [-6.24708952e-01 7.80811465e-01 8.49599764e-03 1.81962595e+02] [ 1.30688289e-02 -4.23990823e-04 9.99914509e-01 6.33743817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.17, Y:181.95, Z:6.34 [[ 7.79864938e-01 6.25871361e-01 -9.78352168e-03 9.71677006e+01] [-6.25815637e-01 7.79926202e-01 8.36109084e-03 1.81946320e+02] [ 1.28633922e-02 -3.97840738e-04 9.99917184e-01 6.33827440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:181.93, Z:6.34 [[ 7.79373127e-01 6.26486722e-01 -9.58727250e-03 9.71896700e+01] [-6.26433273e-01 7.79432001e-01 8.19209763e-03 1.81928393e+02] [ 1.26048674e-02 -3.78914256e-04 9.99920484e-01 6.33892360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:181.91, Z:6.34 [[ 7.78632450e-01 6.27410307e-01 -9.37097517e-03 9.72125410e+01] [-6.27359324e-01 7.78688758e-01 8.00604281e-03 1.81910700e+02] [ 1.23201468e-02 -3.54796076e-04 9.99924041e-01 6.33954209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:181.90, Z:6.34 [[ 7.76522159e-01 6.30019682e-01 -9.40937501e-03 9.72364310e+01] [-6.29968488e-01 7.76579102e-01 8.03757812e-03 1.81895298e+02] [ 1.23709564e-02 -3.13747773e-04 9.99923428e-01 6.33962111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:181.88, Z:6.34 [[ 7.75368010e-01 6.31434388e-01 -9.74996245e-03 9.72598138e+01] [-6.31379549e-01 7.75429251e-01 8.32716520e-03 1.81878420e+02] [ 1.28184645e-02 -3.00690613e-04 9.99917795e-01 6.33933470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:181.86, Z:6.34 [[ 7.73059412e-01 6.34256109e-01 -9.91637508e-03 9.72824381e+01] [-6.34199631e-01 7.73122967e-01 8.46796587e-03 1.81862593e+02] [ 1.30374364e-02 -2.57279304e-04 9.99914976e-01 6.33917069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:181.84, Z:6.34 [[ 7.72059456e-01 6.35471115e-01 -1.00328873e-02 9.73043760e+01] [-6.35413426e-01 7.72124605e-01 8.56580288e-03 1.81844786e+02] [ 1.31899594e-02 -2.38277837e-04 9.99912980e-01 6.33942014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:181.83, Z:6.34 [[ 7.71277653e-01 6.36414148e-01 -1.03833430e-02 9.73257731e+01] [-6.36352478e-01 7.71347510e-01 8.86243808e-03 1.81827347e+02] [ 1.36493467e-02 -2.27934414e-04 9.99906817e-01 6.33950492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:181.81, Z:6.34 [[ 7.69833426e-01 6.38148078e-01 -1.11143116e-02 9.73485178e+01] [-6.38077631e-01 7.69913623e-01 9.48415455e-03 1.81809368e+02] [ 1.46093549e-02 -2.09425573e-04 9.99893256e-01 6.33896481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.37, Y:181.79, Z:6.34 [[ 7.69440144e-01 6.38619843e-01 -1.12499064e-02 9.73701492e+01] [-6.38547793e-01 7.69522356e-01 9.59479257e-03 1.81790882e+02] [ 1.47844794e-02 -1.99015690e-04 9.99890684e-01 6.33879168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:181.77, Z:6.34 [[ 7.69026714e-01 6.39105358e-01 -1.19270952e-02 9.73916452e+01] [-6.39024519e-01 7.69119174e-01 1.01666530e-02 1.81772479e+02] [ 1.56709200e-02 -1.96721458e-04 9.99877184e-01 6.33856060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:181.75, Z:6.34 [[ 7.69159879e-01 6.38947777e-01 -1.17821485e-02 9.74108397e+01] [-6.38868960e-01 7.69250090e-01 1.00375395e-02 1.81753570e+02] [ 1.54768823e-02 -1.93223677e-04 9.99880207e-01 6.33908628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.43, Y:181.73, Z:6.34 [[ 7.69509221e-01 6.38526862e-01 -1.17900663e-02 9.74332044e+01] [-6.38447928e-01 7.69599510e-01 1.00417800e-02 1.81734909e+02] [ 1.54855755e-02 -1.99898927e-04 9.99880071e-01 6.33994546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.45, Y:181.71, Z:6.34 [[ 7.70362859e-01 6.37501063e-01 -1.15524882e-02 9.74507301e+01] [-6.37425188e-01 7.70449446e-01 9.83772246e-03 1.81712614e+02] [ 1.51721666e-02 -2.14769065e-04 9.99884873e-01 6.34107943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:181.69, Z:6.34 [[ 7.71105371e-01 6.36605489e-01 -1.13999082e-02 9.74711343e+01] [-6.36531546e-01 7.71189601e-01 9.70520927e-03 1.81692308e+02] [ 1.49698802e-02 -2.27337780e-04 9.99887919e-01 6.34157411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:181.67, Z:6.34 [[ 7.71798847e-01 6.35765630e-01 -1.13403298e-02 9.74914908e+01] [-6.35692390e-01 7.71882119e-01 9.65300159e-03 1.81672061e+02] [ 1.48904444e-02 -2.41214145e-04 9.99889102e-01 6.34182674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:181.65, Z:6.34 [[ 7.73051663e-01 6.34244026e-01 -1.12090587e-02 9.75107286e+01] [-6.34172332e-01 7.73132877e-01 9.53980107e-03 1.81650596e+02] [ 1.47166536e-02 -2.66284168e-04 9.99891669e-01 6.34207112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.53, Y:181.63, Z:6.34 [[ 7.73713512e-01 6.33436833e-01 -1.11884336e-02 9.75291350e+01] [-6.33365342e-01 7.73794353e-01 9.52068397e-03 1.81628519e+02] [ 1.46882987e-02 -2.79915738e-04 9.99892082e-01 6.34221251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:181.61, Z:6.34 [[ 7.74487674e-01 6.32487055e-01 -1.13564482e-02 9.75495012e+01] [-6.32413331e-01 7.74570872e-01 9.66148732e-03 1.81608028e+02] [ 1.49071397e-02 -3.00733597e-04 9.99888837e-01 6.34293053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:181.59, Z:6.34 [[ 7.74875655e-01 6.32011634e-01 -1.13584395e-02 9.75707663e+01] [-6.31937854e-01 7.74958837e-01 9.66174179e-03 1.81587975e+02] [ 1.49086563e-02 -3.08820628e-04 9.99888812e-01 6.34312184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:181.57, Z:6.34 [[ 7.75221985e-01 6.31584729e-01 -1.14718979e-02 9.75902370e+01] [-6.31509435e-01 7.75306796e-01 9.75731008e-03 1.81567160e+02] [ 1.50568084e-02 -3.19469553e-04 9.99886589e-01 6.34316253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.61, Y:181.55, Z:6.34 [[ 7.75515594e-01 6.31210794e-01 -1.21859625e-02 9.76113242e+01] [-6.31125808e-01 7.75611252e-01 1.03634230e-02 1.81545642e+02] [ 1.59930740e-02 -3.46120683e-04 9.99872043e-01 6.34266891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:181.53, Z:6.34 [[ 7.75392340e-01 6.31354422e-01 -1.25822957e-02 9.76314204e+01] [-6.31263852e-01 7.75494339e-01 1.06995272e-02 1.81525036e+02] [ 1.65126929e-02 -3.53582926e-04 9.99863594e-01 6.34195993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:181.51, Z:6.34 [[ 7.75172270e-01 6.31617581e-01 -1.29299475e-02 9.76528873e+01] [-6.31521998e-01 7.75280016e-01 1.09937394e-02 1.81505352e+02] [ 1.69681691e-02 -3.56495658e-04 9.99855967e-01 6.34160698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:181.49, Z:6.34 [[ 7.74092374e-01 6.32927079e-01 -1.35760659e-02 9.76725410e+01] [-6.32821940e-01 7.74211338e-01 1.15411171e-02 1.81485079e+02] [ 1.78154296e-02 -3.42658415e-04 9.99841234e-01 6.34055999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:181.47, Z:6.34 [[ 7.73044688e-01 6.34207391e-01 -1.35238969e-02 9.76955927e+01] [-6.34103289e-01 7.73162912e-01 1.14947703e-02 1.81466844e+02] [ 1.77462438e-02 -3.10423579e-04 9.99842475e-01 6.34133475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.72, Y:181.45, Z:6.34 [[ 7.70292247e-01 6.37552330e-01 -1.32996838e-02 9.77222069e+01] [-6.37452161e-01 7.70407019e-01 1.13034424e-02 1.81449977e+02] [ 1.74527058e-02 -2.29041829e-04 9.99847664e-01 6.34250999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:181.43, Z:6.34 [[ 7.68987015e-01 6.39115608e-01 -1.37916714e-02 9.77469675e+01] [-6.39008097e-01 7.69110654e-01 1.17240924e-02 1.81429274e+02] [ 1.81003719e-02 -2.02685109e-04 9.99836154e-01 6.34268005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:181.41, Z:6.34 [[ 7.68085015e-01 6.40187674e-01 -1.43231120e-02 9.77697564e+01] [-6.40071784e-01 7.68218528e-01 1.21821697e-02 1.81407526e+02] [ 1.88021549e-02 -1.89122121e-04 9.99823206e-01 6.34194248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:181.39, Z:6.34 [[ 7.67235711e-01 6.41190720e-01 -1.49607597e-02 9.77913111e+01] [-6.41064425e-01 7.67381542e-01 1.27268356e-02 1.81387774e+02] [ 1.96409397e-02 -1.73671941e-04 9.99807083e-01 6.34205828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:181.37, Z:6.34 [[ 7.67261972e-01 6.41163991e-01 -1.47581715e-02 9.78131038e+01] [-6.41041125e-01 7.67403876e-01 1.25525964e-02 1.81368777e+02] [ 1.93737508e-02 -1.70535004e-04 9.99812297e-01 6.34380577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:181.35, Z:6.35 [[ 7.67229127e-01 6.41206356e-01 -1.46245091e-02 9.78346462e+01] [-6.41085752e-01 7.67368478e-01 1.24369439e-02 1.81349151e+02] [ 1.91970348e-02 -1.66421260e-04 9.99815706e-01 6.34502738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:181.33, Z:6.35 [[ 7.67814870e-01 6.40523972e-01 -1.37611027e-02 9.78575602e+01] [-6.40417107e-01 7.67938157e-01 1.17011579e-02 1.81330414e+02] [ 1.80625480e-02 -1.71477460e-04 9.99836844e-01 6.34678811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.88, Y:181.31, Z:6.35 [[ 7.68071765e-01 6.40219614e-01 -1.35871168e-02 9.78813094e+01] [-6.40115399e-01 7.68191913e-01 1.15525329e-02 1.81310600e+02] [ 1.78336714e-02 -1.75851641e-04 9.99840952e-01 6.34737555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.90, Y:181.29, Z:6.35 [[ 7.68967967e-01 6.39160313e-01 -1.27420306e-02 9.79024072e+01] [-6.39068516e-01 7.69073507e-01 1.08339046e-02 1.81290143e+02] [ 1.67241600e-02 -1.87895058e-04 9.99860124e-01 6.34872235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:181.27, Z:6.35 [[ 7.69590720e-01 6.38415407e-01 -1.24856591e-02 9.79234317e+01] [-6.38327179e-01 7.69691970e-01 1.06152784e-02 1.81270963e+02] [ 1.63870689e-02 -1.99484184e-04 9.99865703e-01 6.34990733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:181.25, Z:6.35 [[ 7.69899778e-01 6.38048089e-01 -1.22052343e-02 9.79471965e+01] [-6.37963753e-01 7.69996490e-01 1.03756951e-02 1.81250134e+02] [ 1.60181800e-02 -2.01748249e-04 9.99871680e-01 6.35090530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.97, Y:181.23, Z:6.35 [[ 7.70490431e-01 6.37338621e-01 -1.19991149e-02 9.79686270e+01] [-6.37256999e-01 7.70583828e-01 1.02019677e-02 1.81227909e+02] [ 1.57484319e-02 -2.13998488e-04 9.99875963e-01 6.35176728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:181.21, Z:6.35 [[ 7.70800819e-01 6.36965825e-01 -1.18589748e-02 9.79905963e+01] [-6.36885990e-01 7.70892009e-01 1.00869861e-02 1.81208648e+02] [ 1.55670543e-02 -2.22242216e-04 9.99878801e-01 6.35234464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.01, Y:181.19, Z:6.35 [[ 7.71522311e-01 6.36090857e-01 -1.19057153e-02 9.80113993e+01] [-6.36010312e-01 7.71614129e-01 1.01251071e-02 1.81190425e+02] [ 1.56271062e-02 -2.39588340e-04 9.99877861e-01 6.35215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:181.17, Z:6.35 [[ 7.71979203e-01 6.35529173e-01 -1.22793010e-02 9.80333586e+01] [-6.35443455e-01 7.72076812e-01 1.04408253e-02 1.81172404e+02] [ 1.61160126e-02 -2.57298539e-04 9.99870096e-01 6.35220756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:181.15, Z:6.35 [[ 7.72368243e-01 6.35050290e-01 -1.25868009e-02 9.80540859e+01] [-6.34960190e-01 7.72470747e-01 1.07005213e-02 1.81153745e+02] [ 1.65183047e-02 -2.72625337e-04 9.99863526e-01 6.35203244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:181.13, Z:6.35 [[ 7.73175019e-01 6.34057135e-01 -1.31125837e-02 9.80754988e+01] [-6.33959244e-01 7.73286141e-01 1.11454087e-02 1.81134375e+02] [ 1.72066051e-02 -3.04507938e-04 9.99851909e-01 6.35195233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:181.12, Z:6.35 [[ 7.73156279e-01 6.34074148e-01 -1.33919421e-02 9.80959527e+01] [-6.33972079e-01 7.73272190e-01 1.13808132e-02 1.81116076e+02] [ 1.75718959e-02 -3.09029791e-04 9.99845555e-01 6.35214284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.12, Y:181.10, Z:6.35 [[ 7.73365787e-01 6.33814719e-01 -1.35742960e-02 9.81177233e+01] [-6.33709861e-01 7.73484842e-01 1.15330722e-02 1.81097377e+02] [ 1.78093431e-02 -3.17118177e-04 9.99841351e-01 6.35268379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:181.08, Z:6.35 [[ 7.73570498e-01 6.33574450e-01 -1.31187157e-02 9.81375208e+01] [-6.33476510e-01 7.73681666e-01 1.11441169e-02 1.81079689e+02] [ 1.72103376e-02 -3.10361779e-04 9.99851843e-01 6.35362578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:181.06, Z:6.35 [[ 7.73598835e-01 6.33540494e-01 -1.30875917e-02 9.81607490e+01] [-6.33443058e-01 7.73709472e-01 1.11150866e-02 1.81061921e+02] [ 1.71678511e-02 -3.08373887e-04 9.99852574e-01 6.35431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:181.04, Z:6.35 [[ 7.73736462e-01 6.33366784e-01 -1.33567986e-02 9.81807778e+01] [-6.33265305e-01 7.73851676e-01 1.13418477e-02 1.81042244e+02] [ 1.75197306e-02 -3.17204008e-04 9.99846467e-01 6.35382625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:181.02, Z:6.35 [[ 7.73737642e-01 6.33365343e-01 -1.33567973e-02 9.82026619e+01] [-6.33263903e-01 7.73852856e-01 1.13395918e-02 1.81024850e+02] [ 1.75183002e-02 -3.15491466e-04 9.99846493e-01 6.35450252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:181.01, Z:6.35 [[ 7.73947880e-01 6.33109424e-01 -1.33092240e-02 9.82258650e+01] [-6.33008705e-01 7.74062243e-01 1.12970649e-02 1.81006599e+02] [ 1.74544460e-02 -3.18484749e-04 9.99847609e-01 6.35484613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.25, Y:180.99, Z:6.35 [[ 7.73872946e-01 6.33195525e-01 -1.35679918e-02 9.82515478e+01] [-6.33090844e-01 7.73991810e-01 1.15178964e-02 1.80985752e+02] [ 1.77945950e-02 -3.23617062e-04 9.99841611e-01 6.35498560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:180.96, Z:6.35 [[ 7.73845390e-01 6.33224272e-01 -1.37961744e-02 9.82730272e+01] [-6.33115919e-01 7.73968288e-01 1.17184734e-02 1.80961903e+02] [ 1.80982232e-02 -3.33708976e-04 9.99836158e-01 6.35399714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.30, Y:180.95, Z:6.35 [[ 7.73782571e-01 6.33298585e-01 -1.39080500e-02 9.82959866e+01] [-6.33188430e-01 7.73907480e-01 1.18162690e-02 1.80945204e+02] [ 1.82467704e-02 -3.36806636e-04 9.99833457e-01 6.35445796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.32, Y:180.93, Z:6.36 [[ 7.73213249e-01 6.33979564e-01 -1.45321699e-02 9.83222665e+01] [-6.33859451e-01 7.73349727e-01 1.23448517e-02 1.80928371e+02] [ 1.90648333e-02 -3.33849697e-04 9.99818194e-01 6.35516822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:180.91, Z:6.35 [[ 7.72889192e-01 6.34372780e-01 -1.46107074e-02 9.83436863e+01] [-6.34251425e-01 7.73027211e-01 1.24121055e-02 1.80907423e+02] [ 1.91683763e-02 -3.26320136e-04 9.99816217e-01 6.35458468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.36, Y:180.89, Z:6.35 [[ 7.72957058e-01 6.34290074e-01 -1.46112805e-02 9.83647520e+01] [-6.34168717e-01 7.73095075e-01 1.24114308e-02 1.80889703e+02] [ 1.91683564e-02 -3.27485982e-04 9.99816217e-01 6.35495096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.39, Y:180.87, Z:6.36 [[ 7.72836743e-01 6.34431568e-01 -1.48308611e-02 9.83887955e+01] [-6.34306611e-01 7.72978964e-01 1.25954324e-02 1.80873423e+02] [ 1.94548836e-02 -3.26899703e-04 9.99810682e-01 6.35593947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:180.86, Z:6.36 [[ 7.72690890e-01 6.34607326e-01 -1.49107441e-02 9.84102675e+01] [-6.34481093e-01 7.72834677e-01 1.26611344e-02 1.80855661e+02] [ 1.95583888e-02 -3.22558023e-04 9.99808664e-01 6.35572317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:180.84, Z:6.36 [[ 7.72406765e-01 6.34943698e-01 -1.53065140e-02 9.84346764e+01] [-6.34810782e-01 7.72558346e-01 1.29951312e-02 1.80838361e+02] [ 2.00763518e-02 -3.20787116e-04 9.99798398e-01 6.35593656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.46, Y:180.82, Z:6.36 [[ 7.72219644e-01 6.35172074e-01 -1.52727568e-02 9.84599100e+01] [-6.35039753e-01 7.72370595e-01 1.29682477e-02 1.80818143e+02] [ 2.00332970e-02 -3.15527975e-04 9.99799264e-01 6.35663211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.48, Y:180.80, Z:6.36 [[ 7.72501471e-01 6.34837614e-01 -1.49225367e-02 9.84826699e+01] [-6.34711140e-01 7.72645521e-01 1.26754619e-02 1.80799650e+02] [ 1.95766911e-02 -3.20312717e-04 9.99808307e-01 6.35679329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:180.78, Z:6.36 [[ 7.72793393e-01 6.34485958e-01 -1.47628101e-02 9.85068063e+01] [-6.34362114e-01 7.72934320e-01 1.25397615e-02 1.80779507e+02] [ 1.93669852e-02 -3.25677364e-04 9.99812389e-01 6.35705296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:180.76, Z:6.36 [[ 7.73807015e-01 6.33247869e-01 -1.48270272e-02 9.85278155e+01] [-6.33122700e-01 7.73948970e-01 1.25951606e-02 1.80757260e+02] [ 1.94512210e-02 -3.58896157e-04 9.99810743e-01 6.35726458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:180.74, Z:6.36 [[ 7.74099023e-01 6.32889358e-01 -1.48916904e-02 9.85524095e+01] [-6.32762978e-01 7.74242160e-01 1.26527010e-02 1.80737106e+02] [ 1.95375344e-02 -3.71533070e-04 9.99809055e-01 6.35844471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.58, Y:180.72, Z:6.36 [[ 7.74298489e-01 6.32643097e-01 -1.49853798e-02 9.85774746e+01] [-6.32514927e-01 7.74443389e-01 1.27398708e-02 1.80715486e+02] [ 1.96651196e-02 -3.85986292e-04 9.99806548e-01 6.35878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:180.69, Z:6.36 [[ 7.74662373e-01 6.32199935e-01 -1.48812134e-02 9.86019084e+01] [-6.32073304e-01 7.74805190e-01 1.26592351e-02 1.80694055e+02] [ 1.95332089e-02 -4.00615352e-04 9.99809128e-01 6.35877448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:180.67, Z:6.36 [[ 7.74620446e-01 6.32248376e-01 -1.50051988e-02 9.86256274e+01] [-6.32119487e-01 7.74765658e-01 1.27722282e-02 1.80672348e+02] [ 1.97007333e-02 -4.08550517e-04 9.99805838e-01 6.35884879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:180.65, Z:6.36 [[ 7.74673576e-01 6.32183006e-01 -1.50165937e-02 9.86506023e+01] [-6.32053752e-01 7.74818994e-01 1.27898614e-02 1.80650419e+02] [ 1.97206750e-02 -4.16673266e-04 9.99805442e-01 6.35938169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:180.63, Z:6.36 [[ 7.74522916e-01 6.32368780e-01 -1.49659481e-02 9.86761000e+01] [-6.32240270e-01 7.74667382e-01 1.27549092e-02 1.80629117e+02] [ 1.96594381e-02 -4.16894391e-04 9.99806648e-01 6.36014457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.70, Y:180.61, Z:6.36 [[ 7.74044518e-01 6.32952143e-01 -1.50555159e-02 9.86991178e+01] [-6.32822046e-01 7.74190814e-01 1.28390573e-02 1.80608179e+02] [ 1.97823509e-02 -4.10539526e-04 9.99804226e-01 6.36065003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:180.59, Z:6.36 [[ 7.73677455e-01 6.33406287e-01 -1.48212920e-02 9.87229034e+01] [-6.33280205e-01 7.73819306e-01 1.26437440e-02 1.80589268e+02] [ 1.94776288e-02 -3.96148827e-04 9.99810215e-01 6.36119284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:180.57, Z:6.36 [[ 7.73178739e-01 6.34020284e-01 -1.45916604e-02 9.87452121e+01] [-6.33898196e-01 7.73316325e-01 1.24474009e-02 1.80571590e+02] [ 1.91758739e-02 -3.74438534e-04 9.99816056e-01 6.36177007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:180.55, Z:6.36 [[ 7.72950620e-01 6.34302522e-01 -1.44100500e-02 9.87658330e+01] [-6.34183538e-01 7.73084846e-01 1.22906794e-02 1.80552134e+02] [ 1.89362002e-02 -3.61471812e-04 9.99820629e-01 6.36148674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:180.53, Z:6.36 [[ 7.72645173e-01 6.34672064e-01 -1.45192317e-02 9.87907431e+01] [-6.34551370e-01 7.72781500e-01 1.23819129e-02 1.80534296e+02] [ 1.90786479e-02 -3.53626871e-04 9.99817924e-01 6.36258493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.81, Y:180.52, Z:6.36 [[ 7.72505156e-01 6.34837821e-01 -1.47215874e-02 9.88122951e+01] [-6.34713779e-01 7.72645336e-01 1.25540163e-02 1.80515097e+02] [ 1.93443302e-02 -3.54047941e-04 9.99812818e-01 6.36239309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:180.50, Z:6.36 [[ 7.72668059e-01 6.34649974e-01 -1.42646870e-02 9.88352070e+01] [-6.34533505e-01 7.72799644e-01 1.21631179e-02 1.80496915e+02] [ 1.87430675e-02 -3.46630829e-04 9.99824273e-01 6.36295289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:180.48, Z:6.36 [[ 7.72730347e-01 6.34570614e-01 -1.44203292e-02 9.88566224e+01] [-6.34451596e-01 7.72864809e-01 1.22947063e-02 1.80477896e+02] [ 1.89468243e-02 -3.51491831e-04 9.99820431e-01 6.36309293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:180.46, Z:6.36 [[ 7.72978806e-01 6.34266086e-01 -1.45016246e-02 9.88773470e+01] [-6.34145702e-01 7.73114741e-01 1.23622740e-02 1.80459587e+02] [ 1.90523909e-02 -3.59632887e-04 9.99818422e-01 6.36316174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:180.44, Z:6.36 [[ 7.73966415e-01 6.33068564e-01 -1.41485771e-02 9.88988932e+01] [-6.32953811e-01 7.74095634e-01 1.20591555e-02 1.80440384e+02] [ 1.85866240e-02 -3.77985516e-04 9.99827182e-01 6.36358378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:180.42, Z:6.36 [[ 7.74343857e-01 6.32605009e-01 -1.42300315e-02 9.89219018e+01] [-6.32488882e-01 7.74474500e-01 1.21269758e-02 1.80421436e+02] [ 1.86923822e-02 -3.90112511e-04 9.99825206e-01 6.36413996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:180.40, Z:6.36 [[ 7.75391027e-01 6.31317394e-01 -1.43911133e-02 9.89442192e+01] [-6.31198414e-01 7.75524447e-01 1.22635656e-02 1.80400748e+02] [ 1.89028624e-02 -4.25410862e-04 9.99821234e-01 6.36455688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:180.38, Z:6.36 [[ 7.75778953e-01 6.30837181e-01 -1.45419213e-02 9.89646292e+01] [-6.30715618e-01 7.75915109e-01 1.23916378e-02 1.80380580e+02] [ 1.91004023e-02 -4.41354887e-04 9.99817473e-01 6.36478743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:180.36, Z:6.37 [[ 7.76214386e-01 6.30297603e-01 -1.47023308e-02 9.89882310e+01] [-6.30173273e-01 7.76353477e-01 1.25270004e-02 1.80362418e+02] [ 1.93099440e-02 -4.58622013e-04 9.99813440e-01 6.36545579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:180.34, Z:6.37 [[ 7.76284301e-01 6.30212929e-01 -1.46406002e-02 9.90109675e+01] [-6.30089644e-01 7.76422214e-01 1.24734315e-02 1.80343562e+02] [ 1.92282050e-02 -4.58038442e-04 9.99815016e-01 6.36552567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.03, Y:180.33, Z:6.37 [[ 7.76081882e-01 6.30472736e-01 -1.41789212e-02 9.90324479e+01] [-6.30357172e-01 7.76211272e-01 1.20787733e-02 1.80325262e+02] [ 1.86211757e-02 -4.36332413e-04 9.99826516e-01 6.36596021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:180.31, Z:6.37 [[ 7.75984661e-01 6.30596660e-01 -1.39878261e-02 9.90553713e+01] [-6.30484250e-01 7.76110605e-01 1.19138245e-02 1.80307408e+02] [ 1.83689181e-02 -4.25840991e-04 9.99831187e-01 6.36650897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:180.29, Z:6.37 [[ 7.75273344e-01 6.31473771e-01 -1.38606740e-02 9.90790125e+01] [-6.31363569e-01 7.75397135e-01 1.18036952e-02 1.80290020e+02] [ 1.82012508e-02 -3.99965644e-04 9.99834264e-01 6.36695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:180.27, Z:6.37 [[ 7.74859195e-01 6.31979317e-01 -1.39775190e-02 9.91016872e+01] [-6.31867366e-01 7.74985155e-01 1.19013274e-02 1.80271632e+02] [ 1.83537625e-02 -3.89914849e-04 9.99831480e-01 6.36694982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:180.25, Z:6.37 [[ 7.74255917e-01 6.32720347e-01 -1.38830155e-02 9.91227078e+01] [-6.32610059e-01 7.74380286e-01 1.18188760e-02 1.80253972e+02] [ 1.82287769e-02 -3.68299404e-04 9.99833774e-01 6.36629178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:180.24, Z:6.37 [[ 7.74135465e-01 6.32856072e-01 -1.44039882e-02 9.91450111e+01] [-6.32737425e-01 7.74269366e-01 1.22597356e-02 1.80236664e+02] [ 1.89112149e-02 -3.76753701e-04 9.99821096e-01 6.36680231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:180.22, Z:6.37 [[ 7.73931892e-01 6.33103585e-01 -1.44664444e-02 9.91685768e+01] [-6.32983993e-01 7.74066996e-01 1.23106179e-02 1.80218589e+02] [ 1.89918935e-02 -3.70552104e-04 9.99819569e-01 6.36743010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:180.20, Z:6.37 [[ 7.73655597e-01 6.33442137e-01 -1.44248933e-02 9.91885046e+01] [-6.33323308e-01 7.73789978e-01 1.22742710e-02 1.80197481e+02] [ 1.89368784e-02 -3.60437321e-04 9.99820616e-01 6.36736219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:180.18, Z:6.37 [[ 7.73592631e-01 6.33524568e-01 -1.41796680e-02 9.92116428e+01] [-6.33409783e-01 7.73722494e-01 1.20643676e-02 1.80180154e+02] [ 1.86142014e-02 -3.51365458e-04 9.99826679e-01 6.36870612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:180.16, Z:6.37 [[ 7.73160554e-01 6.34050111e-01 -1.42553258e-02 9.92372128e+01] [-6.33934169e-01 7.73291886e-01 1.21296725e-02 1.80159924e+02] [ 1.87143480e-02 -3.41246226e-04 9.99824813e-01 6.36983717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:180.14, Z:6.37 [[ 7.72755478e-01 6.34558193e-01 -1.35966968e-02 9.92620910e+01] [-6.34452671e-01 7.72875021e-01 1.15762842e-02 1.80139437e+02] [ 1.78543733e-02 -3.19176378e-04 9.99840547e-01 6.37082102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:180.12, Z:6.37 [[ 7.72221038e-01 6.35220060e-01 -1.30438931e-02 9.92865937e+01] [-6.35122934e-01 7.72331138e-01 1.11117866e-02 1.80118708e+02] [ 1.71326345e-02 -2.96279761e-04 9.99853182e-01 6.37129311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.31, Y:180.10, Z:6.37 [[ 7.71918682e-01 6.35596993e-01 -1.25702655e-02 9.93087764e+01] [-6.35506753e-01 7.72020973e-01 1.07137254e-02 1.80096286e+02] [ 1.65141203e-02 -2.81636161e-04 9.99863593e-01 6.37194766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:180.08, Z:6.37 [[ 7.71958701e-01 6.35555797e-01 -1.21898403e-02 9.93337827e+01] [-6.35470887e-01 7.72054889e-01 1.03923014e-02 1.80077106e+02] [ 1.60161132e-02 -2.76138851e-04 9.99871696e-01 6.37294018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:180.05, Z:6.37 [[ 7.72583153e-01 6.34800238e-01 -1.19970611e-02 9.93541044e+01] [-6.34717885e-01 7.72676242e-01 1.02289186e-02 1.80054572e+02] [ 1.57631640e-02 -2.87941001e-04 9.99875712e-01 6.37361309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.38, Y:180.03, Z:6.37 [[ 7.72810422e-01 6.34533389e-01 -1.14642778e-02 9.93791418e+01] [-6.34458126e-01 7.72895400e-01 9.77686631e-03 1.80033329e+02] [ 1.50644357e-02 -2.82059944e-04 9.99886485e-01 6.37450229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.40, Y:180.01, Z:6.37 [[ 7.72791210e-01 6.34551879e-01 -1.17328128e-02 9.94033860e+01] [-6.34472950e-01 7.72880215e-01 1.00124382e-02 1.80011126e+02] [ 1.54214703e-02 -2.93371882e-04 9.99881039e-01 6.37499947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:179.99, Z:6.38 [[ 7.73084167e-01 6.34196496e-01 -1.16479772e-02 9.94266632e+01] [-6.34118569e-01 7.73171852e-01 9.94624964e-03 1.79989739e+02] [ 1.53137648e-02 -3.03089473e-04 9.99882692e-01 6.37527648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.45, Y:179.97, Z:6.38 [[ 7.72964279e-01 6.34343844e-01 -1.15806640e-02 9.94501864e+01] [-6.34266755e-01 7.73050966e-01 9.89378328e-03 1.79968136e+02] [ 1.52285040e-02 -3.02310911e-04 9.99883994e-01 6.37550316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:179.95, Z:6.38 [[ 7.72531707e-01 6.34867168e-01 -1.17660783e-02 9.94754661e+01] [-6.34787583e-01 7.72621245e-01 1.00566365e-02 1.79946697e+02] [ 1.54753505e-02 -3.00110161e-04 9.99880205e-01 6.37585362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:179.93, Z:6.38 [[ 7.71978214e-01 6.35541655e-01 -1.16808277e-02 9.94983039e+01] [-6.35463199e-01 7.72066526e-01 9.99009738e-03 1.79926056e+02] [ 1.53674991e-02 -2.89401381e-04 9.99881871e-01 6.37611577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.52, Y:179.91, Z:6.38 [[ 7.71324058e-01 6.36336628e-01 -1.16143518e-02 9.95235320e+01] [-6.36259072e-01 7.71411447e-01 9.93849447e-03 1.79905466e+02] [ 1.52836720e-02 -2.76063163e-04 9.99883160e-01 6.37627450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:179.88, Z:6.38 [[ 7.70607393e-01 6.37199559e-01 -1.18729861e-02 9.95487937e+01] [-6.37118521e-01 7.70698806e-01 1.01656404e-02 1.79884967e+02] [ 1.56280378e-02 -2.69218333e-04 9.99877839e-01 6.37653349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:179.86, Z:6.38 [[ 7.69140233e-01 6.38955252e-01 -1.26288149e-02 9.95741797e+01] [-6.38863710e-01 7.69243864e-01 1.08184262e-02 1.79864449e+02] [ 1.66271286e-02 -2.52795344e-04 9.99861728e-01 6.37595341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:179.84, Z:6.38 [[ 7.68317415e-01 6.39940019e-01 -1.28500013e-02 9.95986197e+01] [-6.39845327e-01 7.68424828e-01 1.10110037e-02 1.79844241e+02] [ 1.69206420e-02 -2.37932575e-04 9.99856807e-01 6.37624891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:179.82, Z:6.38 [[ 7.67579367e-01 6.40819086e-01 -1.31458551e-02 9.96214175e+01] [-6.40720027e-01 7.67691896e-01 1.12694112e-02 1.79824833e+02] [ 1.73136203e-02 -2.27354891e-04 9.99850082e-01 6.37621733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:179.81, Z:6.38 [[ 7.66104604e-01 6.42573707e-01 -1.35191583e-02 9.96443802e+01] [-6.42469228e-01 7.66223854e-01 1.15886187e-02 1.79808093e+02] [ 1.78052433e-02 -1.92450929e-04 9.99841456e-01 6.37652468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.67, Y:179.79, Z:6.38 [[ 7.65392155e-01 6.43419177e-01 -1.36605621e-02 9.96673035e+01] [-6.43312669e-01 7.65514032e-01 1.17079974e-02 1.79790922e+02] [ 1.79905021e-02 -1.73196721e-04 9.99838143e-01 6.37680041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:179.77, Z:6.38 [[ 7.64360199e-01 6.44638803e-01 -1.39391426e-02 9.96907177e+01] [-6.44528143e-01 7.64487274e-01 1.19448727e-02 1.79774404e+02] [ 1.83564256e-02 -1.46015618e-04 9.99831496e-01 6.37688322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:179.76, Z:6.38 [[ 7.64100323e-01 6.44945027e-01 -1.40216845e-02 9.97126436e+01] [-6.44833144e-01 7.64228953e-01 1.20134588e-02 1.79757399e+02] [ 1.84637978e-02 -1.37840798e-04 9.99829520e-01 6.37789018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:179.74, Z:6.38 [[ 7.63900180e-01 6.45176130e-01 -1.42925095e-02 9.97342440e+01] [-6.45059979e-01 7.64033863e-01 1.22425588e-02 1.79739688e+02] [ 1.88185680e-02 -1.32566983e-04 9.99822906e-01 6.37853660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:179.72, Z:6.38 [[ 7.64142893e-01 6.44888904e-01 -1.42807498e-02 9.97552437e+01] [-6.44772950e-01 7.64276313e-01 1.22294790e-02 1.79722182e+02] [ 1.88010941e-02 -1.37228306e-04 9.99823234e-01 6.37865523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:179.70, Z:6.38 [[ 7.64761525e-01 6.44156908e-01 -1.42017119e-02 9.97777223e+01] [-6.44042161e-01 7.64893362e-01 1.21589106e-02 1.79703374e+02] [ 1.86950414e-02 -1.52165747e-04 9.99825221e-01 6.37963661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.80, Y:179.68, Z:6.38 [[ 7.65207905e-01 6.43633174e-01 -1.38996116e-02 9.97995700e+01] [-6.43523205e-01 7.65334118e-01 1.18984625e-02 1.79684402e+02] [ 1.82960921e-02 -1.60074983e-04 9.99832600e-01 6.38029523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.82, Y:179.67, Z:6.38 [[ 7.65280939e-01 6.43546313e-01 -1.39006332e-02 9.98205650e+01] [-6.43436351e-01 7.65407158e-01 1.18972689e-02 1.79666602e+02] [ 1.82960877e-02 -1.60580417e-04 9.99832600e-01 6.38066127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:179.65, Z:6.38 [[ 7.66542696e-01 6.42048970e-01 -1.36167244e-02 9.98413607e+01] [-6.41943263e-01 7.66663605e-01 1.16517578e-02 1.79647290e+02] [ 1.79204461e-02 -1.90405318e-04 9.99839398e-01 6.38204334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.86, Y:179.63, Z:6.38 [[ 7.67141494e-01 6.41335288e-01 -1.35268822e-02 9.98616430e+01] [-6.41230899e-01 7.67260716e-01 1.15726900e-02 1.79628883e+02] [ 1.78006198e-02 -2.04035829e-04 9.99841536e-01 6.38261699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.88, Y:179.61, Z:6.38 [[ 7.67787064e-01 6.40566388e-01 -1.33314299e-02 9.98832159e+01] [-6.40464914e-01 7.67902764e-01 1.14034548e-02 1.79609551e+02] [ 1.75419117e-02 -2.17111986e-04 9.99846105e-01 6.38326946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:179.59, Z:6.38 [[ 7.69359217e-01 6.38686400e-01 -1.28870860e-02 9.99032839e+01] [-6.38591342e-01 7.69467101e-01 1.10216835e-02 1.79590401e+02] [ 1.69555881e-02 -2.50052270e-04 9.99856212e-01 6.38417416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.92, Y:179.57, Z:6.38 [[ 7.70018183e-01 6.37891371e-01 -1.29072654e-02 9.99246609e+01] [-6.37795936e-01 7.70126307e-01 1.10369860e-02 1.79571084e+02] [ 1.69806227e-02 -2.66478469e-04 9.99855783e-01 6.38454620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:179.55, Z:6.38 [[ 7.71796740e-01 6.35727669e-01 -1.34209724e-02 9.99444110e+01] [-6.35624191e-01 7.71913353e-01 1.14744199e-02 1.79551035e+02] [ 1.76544340e-02 -3.25225190e-04 9.99844095e-01 6.38460802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:179.53, Z:6.39 [[ 7.72539633e-01 6.34818099e-01 -1.37294002e-02 9.99678530e+01] [-6.34709700e-01 7.72661541e-01 1.17362568e-02 1.79533200e+02] [ 1.80585677e-02 -3.52540024e-04 9.99836869e-01 6.38554657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:179.51, Z:6.39 [[ 7.73078930e-01 6.34162398e-01 -1.36755969e-02 9.99921334e+01] [-6.34054725e-01 7.73199792e-01 1.16913081e-02 1.79511638e+02] [ 1.79881567e-02 -3.67227133e-04 9.99838133e-01 6.38653157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:179.49, Z:6.39 [[ 7.73552933e-01 6.33581943e-01 -1.37761395e-02 1.00015626e+02] [-6.33472468e-01 7.73675495e-01 1.17839602e-02 1.79489643e+02] [ 1.81243659e-02 -3.88711880e-04 9.99835665e-01 6.38750482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:179.47, Z:6.39 [[ 7.74482984e-01 6.32458425e-01 -1.31319322e-02 1.00038655e+02] [-6.32358684e-01 7.74594204e-01 1.12389925e-02 1.79467380e+02] [ 1.72801141e-02 -4.00317108e-04 9.99850608e-01 6.38896104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:179.45, Z:6.39 [[ 7.74628968e-01 6.32280960e-01 -1.30670832e-02 1.00062566e+02] [-6.32182070e-01 7.74739067e-01 1.11897000e-02 1.79445799e+02] [ 1.71986141e-02 -4.07090039e-04 9.99852010e-01 6.38952638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:179.42, Z:6.39 [[ 7.74748524e-01 6.32135495e-01 -1.30169575e-02 1.00086300e+02] [-6.32037235e-01 7.74857758e-01 1.11529415e-02 1.79424809e+02] [ 1.71364607e-02 -4.13523118e-04 9.99853075e-01 6.39028668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:179.40, Z:6.39 [[ 7.75010585e-01 6.31816418e-01 -1.29076555e-02 1.00110437e+02] [-6.31719653e-01 7.75117950e-01 1.10654236e-02 1.79404155e+02] [ 1.69962717e-02 -4.21800734e-04 9.99855464e-01 6.39193492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:179.38, Z:6.39 [[ 7.74741540e-01 6.32147886e-01 -1.28295198e-02 1.00133928e+02] [-6.32052228e-01 7.74847648e-01 1.10047026e-02 1.79382722e+02] [ 1.68975228e-02 -4.16873674e-04 9.99857140e-01 6.39235372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:179.36, Z:6.39 [[ 7.74425898e-01 6.32520802e-01 -1.34893408e-02 1.00157870e+02] [-6.32415012e-01 7.74543250e-01 1.15761258e-02 1.79363184e+02] [ 1.77702182e-02 -4.33990039e-04 9.99842003e-01 6.39253460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:179.34, Z:6.39 [[ 7.74170634e-01 6.32829544e-01 -1.36600876e-02 1.00179495e+02] [-6.32721110e-01 7.74291019e-01 1.17224041e-02 1.79344826e+02] [ 1.79951668e-02 -4.32115212e-04 9.99837981e-01 6.39289849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:179.33, Z:6.39 [[ 7.73621420e-01 6.33501796e-01 -1.36151775e-02 1.00203887e+02] [-6.33394191e-01 7.73741108e-01 1.16831544e-02 1.79326136e+02] [ 1.79359218e-02 -4.14564127e-04 9.99839052e-01 6.39370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:179.31, Z:6.39 [[ 7.72142613e-01 6.35293908e-01 -1.40511692e-02 1.00228651e+02] [-6.35179596e-01 7.72270356e-01 1.20572779e-02 1.79307636e+02] [ 1.85112166e-02 -3.84922083e-04 9.99828579e-01 6.39389821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:179.29, Z:6.39 [[ 7.71317889e-01 6.36291255e-01 -1.42180442e-02 1.00250085e+02] [-6.36174389e-01 7.71448835e-01 1.22000542e-02 1.79288864e+02] [ 1.87312814e-02 -3.64964487e-04 9.99824488e-01 6.39415254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:179.27, Z:6.39 [[ 7.70338609e-01 6.37472527e-01 -1.43946520e-02 1.00271811e+02] [-6.37352978e-01 7.70473013e-01 1.23498562e-02 1.79271421e+02] [ 1.89633849e-02 -3.39096733e-04 9.99820121e-01 6.39442615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:179.26, Z:6.40 [[ 7.67903372e-01 6.40406662e-01 -1.42730128e-02 1.00297668e+02] [-6.40289668e-01 7.68035962e-01 1.22434371e-02 1.79256508e+02] [ 1.88029658e-02 -2.62914020e-04 9.99823174e-01 6.39600312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:179.24, Z:6.40 [[ 7.66872009e-01 6.41646831e-01 -1.40237571e-02 1.00320082e+02] [-6.41534128e-01 7.67000191e-01 1.20278579e-02 1.79239667e+02] [ 1.84738613e-02 -2.27108754e-04 9.99829318e-01 6.39698338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:179.22, Z:6.40 [[ 7.65475703e-01 6.43338931e-01 -1.27266425e-02 1.00342866e+02] [-6.43246388e-01 7.65581473e-01 1.09129861e-02 1.79223440e+02] [ 1.67640306e-02 -1.67258863e-04 9.99859460e-01 6.39893682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:179.21, Z:6.40 [[ 7.65379123e-01 6.43463329e-01 -1.22369017e-02 1.00365168e+02] [-6.43377828e-01 7.65476923e-01 1.04904982e-02 1.79205634e+02] [ 1.61173168e-02 -1.56257133e-04 9.99870095e-01 6.40019568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:179.19, Z:6.40 [[ 7.65481481e-01 6.43348827e-01 -1.18486199e-02 1.00385888e+02] [-6.43268678e-01 7.65573160e-01 1.01559535e-02 1.79186316e+02] [ 1.56048062e-02 -1.52348251e-04 9.99878226e-01 6.40097289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.41, Y:179.17, Z:6.40 [[ 7.66026089e-01 6.42698877e-01 -1.19240699e-02 1.00407958e+02] [-6.42617662e-01 7.66118872e-01 1.02183442e-02 1.79167569e+02] [ 1.57025733e-02 -1.64900266e-04 9.99876693e-01 6.40217761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.43, Y:179.15, Z:6.40 [[ 7.67408321e-01 6.41055673e-01 -1.14931516e-02 1.00427351e+02] [-6.40980061e-01 7.67494357e-01 9.84750833e-03 1.79147514e+02] [ 1.51337301e-02 -1.90178817e-04 9.99885460e-01 6.40348102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:179.13, Z:6.40 [[ 7.68320200e-01 6.39971092e-01 -1.10032491e-02 1.00448705e+02] [-6.39901703e-01 7.68398959e-01 9.42599860e-03 1.79128688e+02] [ 1.44872518e-02 -2.01187284e-04 9.99895034e-01 6.40416007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:179.11, Z:6.41 [[ 7.70748761e-01 6.37062128e-01 -9.90921919e-03 1.00467616e+02] [-6.37005627e-01 7.70812424e-01 8.48757771e-03 1.79107311e+02] [ 1.30452636e-02 -2.29561625e-04 9.99914881e-01 6.40519532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:179.09, Z:6.41 [[ 7.72148726e-01 6.35374315e-01 -9.26418435e-03 1.00488925e+02] [-6.35324820e-01 7.72204262e-01 7.93417419e-03 1.79087601e+02] [ 1.21950131e-02 -2.40596239e-04 9.99925609e-01 6.40633492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:179.07, Z:6.41 [[ 7.73264364e-01 6.34021438e-01 -8.89047203e-03 1.00514566e+02] [-6.33975819e-01 7.73315431e-01 7.60957662e-03 1.79068828e+02] [ 1.16997739e-02 -2.47870133e-04 9.99931525e-01 6.40710443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:179.05, Z:6.41 [[ 7.75559183e-01 6.31222935e-01 -8.09690158e-03 1.00537230e+02] [-6.31184920e-01 7.75601403e-01 6.93259131e-03 1.79045807e+02] [ 1.06559789e-02 -2.65992686e-04 9.99943188e-01 6.40807786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.56, Y:179.02, Z:6.41 [[ 7.76405316e-01 6.30184291e-01 -7.90853004e-03 1.00561102e+02] [-6.30147967e-01 7.76445545e-01 6.77160684e-03 1.79023994e+02] [ 1.04079032e-02 -2.73967427e-04 9.99945799e-01 6.40876242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:179.00, Z:6.41 [[ 7.77637649e-01 6.28668809e-01 -7.43072441e-03 1.00583805e+02] [-6.28636640e-01 7.77673100e-01 6.36584731e-03 1.79002631e+02] [ 9.78068414e-03 -2.79096905e-04 9.99952129e-01 6.40976995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:178.98, Z:6.41 [[ 7.77871886e-01 6.28380610e-01 -7.28961501e-03 1.00608750e+02] [-6.28349610e-01 7.77905991e-01 6.24795805e-03 1.78982890e+02] [ 9.59673088e-03 -2.79684163e-04 9.99953911e-01 6.40976374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.63, Y:178.96, Z:6.41 [[ 7.77751948e-01 6.28525072e-01 -7.62497172e-03 1.00633935e+02] [-6.28491124e-01 7.77789269e-01 6.53912534e-03 1.78962094e+02] [ 1.00406254e-02 -2.93590429e-04 9.99949549e-01 6.40961305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:178.94, Z:6.41 [[ 7.77588919e-01 6.28723650e-01 -7.87692805e-03 1.00658337e+02] [-6.28687378e-01 7.77628754e-01 6.76030007e-03 1.78941994e+02] [ 1.03756863e-02 -3.04609182e-04 9.99946125e-01 6.40911152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:178.93, Z:6.41 [[ 7.77000429e-01 6.29437429e-01 -8.88009395e-03 1.00681101e+02] [-6.29391338e-01 7.77051099e-01 7.62456116e-03 1.78925072e+02] [ 1.16994709e-02 -3.35233084e-04 9.99931503e-01 6.40794107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:178.91, Z:6.41 [[ 7.76664648e-01 6.29852534e-01 -8.82101458e-03 1.00703528e+02] [-6.29807098e-01 7.76714670e-01 7.57233103e-03 1.78907524e+02] [ 1.16208633e-02 -3.25624217e-04 9.99932422e-01 6.40769161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:178.89, Z:6.41 [[ 7.75430049e-01 6.31361075e-01 -9.56207039e-03 1.00728334e+02] [-6.31307815e-01 7.75488934e-01 8.20712239e-03 1.78892594e+02] [ 1.25969374e-02 -3.27439556e-04 9.99920602e-01 6.40701859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.75, Y:178.88, Z:6.41 [[ 7.74745859e-01 6.32196601e-01 -9.81382697e-03 1.00750882e+02] [-6.32140584e-01 7.74807947e-01 8.42187576e-03 1.78875964e+02] [ 1.29281124e-02 -3.21095067e-04 9.99916377e-01 6.40713048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:178.86, Z:6.41 [[ 7.73287949e-01 6.33975369e-01 -1.00488758e-02 1.00774129e+02] [-6.33916808e-01 7.73353182e-01 8.62189278e-03 1.78860214e+02] [ 1.32373977e-02 -2.97054510e-04 9.99912338e-01 6.40653005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:178.84, Z:6.41 [[ 7.72666645e-01 6.34728790e-01 -1.02770518e-02 1.00798619e+02] [-6.34667639e-01 7.72734935e-01 8.81522269e-03 1.78843761e+02] [ 1.35367126e-02 -2.88716320e-04 9.99908333e-01 6.40678130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:178.83, Z:6.41 [[ 7.72151945e-01 6.35356871e-01 -1.01498944e-02 1.00820774e+02] [-6.35297295e-01 7.72218604e-01 8.70485751e-03 1.78827079e+02] [ 1.33686283e-02 -2.73272207e-04 9.99910599e-01 6.40703958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.84, Y:178.81, Z:6.41 [[ 7.71212469e-01 6.36496254e-01 -1.01904689e-02 1.00844236e+02] [-6.36436323e-01 7.71279751e-01 8.73801903e-03 1.78811197e+02] [ 1.34214187e-02 -2.53284666e-04 9.99909897e-01 6.40755481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.87, Y:178.79, Z:6.41 [[ 7.71403868e-01 6.36268100e-01 -9.94876465e-03 1.00866361e+02] [-6.36210978e-01 7.71467979e-01 8.52928094e-03 1.78794060e+02] [ 1.31020627e-02 -2.50007009e-04 9.99914133e-01 6.40850830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:178.78, Z:6.41 [[ 7.71356789e-01 6.36334379e-01 -9.34139510e-03 1.00890642e+02] [-6.36284081e-01 7.71413317e-01 8.00392216e-03 1.78778642e+02] [ 1.22992474e-02 -2.30098707e-04 9.99924335e-01 6.40934674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.91, Y:178.76, Z:6.41 [[ 7.71441268e-01 6.36240282e-01 -8.75632727e-03 1.00913201e+02] [-6.36196101e-01 7.71490931e-01 7.50088835e-03 1.78762192e+02] [ 1.15277944e-02 -2.15753553e-04 9.99933530e-01 6.41072578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.94, Y:178.74, Z:6.41 [[ 7.71522937e-01 6.36143976e-01 -8.55570806e-03 1.00935759e+02] [-6.36101806e-01 7.71570345e-01 7.32766026e-03 1.78744972e+02] [ 1.12627776e-02 -2.11156614e-04 9.99936551e-01 6.41117886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:178.73, Z:6.41 [[ 7.71742508e-01 6.35887409e-01 -7.79136457e-03 1.00959189e+02] [-6.35852440e-01 7.71781812e-01 6.67146035e-03 1.78727258e+02] [ 1.02555311e-02 -1.94491366e-04 9.99947392e-01 6.41205143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:178.71, Z:6.41 [[ 7.71827966e-01 6.35784266e-01 -7.74325921e-03 1.00981109e+02] [-6.35749732e-01 7.71866782e-01 6.62938598e-03 1.78709069e+02] [ 1.01916239e-02 -1.93970526e-04 9.99948045e-01 6.41286240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.00, Y:178.69, Z:6.41 [[ 7.71926735e-01 6.35668378e-01 -7.40473527e-03 1.01003645e+02] [-6.35636807e-01 7.71962227e-01 6.33796758e-03 1.78691321e+02] [ 9.74502149e-03 -1.85724335e-04 9.99952499e-01 6.41353972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:178.67, Z:6.41 [[ 7.71863823e-01 6.35746519e-01 -7.25282260e-03 1.01026066e+02] [-6.35716241e-01 7.71897876e-01 6.20717371e-03 1.78674811e+02] [ 9.54462744e-03 -1.80355710e-04 9.99954433e-01 6.41421211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.05, Y:178.66, Z:6.41 [[ 7.71911862e-01 6.35691104e-01 -6.99259890e-03 1.01045904e+02] [-6.35662970e-01 7.71943515e-01 5.98319704e-03 1.78657084e+02] [ 9.20135651e-03 -1.73564583e-04 9.99957652e-01 6.41491452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:178.64, Z:6.42 [[ 7.72083839e-01 6.35484364e-01 -6.79477652e-03 1.01069365e+02] [-6.35457808e-01 7.72113719e-01 5.81203264e-03 1.78639392e+02] [ 8.93979604e-03 -1.69582682e-04 9.99960025e-01 6.41537147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:178.62, Z:6.42 [[ 7.72274225e-01 6.35251927e-01 -6.89278112e-03 1.01089910e+02] [-6.35224593e-01 7.72304965e-01 5.89550775e-03 1.78621491e+02] [ 9.06846174e-03 -1.74484599e-04 9.99958865e-01 6.41534886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:178.60, Z:6.41 [[ 7.72217085e-01 6.35319487e-01 -7.06567467e-03 1.01112130e+02] [-6.35290795e-01 7.72249389e-01 6.04039853e-03 1.78603607e+02] [ 9.29404584e-03 -1.75740864e-04 9.99956794e-01 6.41474659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:178.58, Z:6.41 [[ 7.72283810e-01 6.35230904e-01 -7.70814766e-03 1.01133499e+02] [-6.35196763e-01 7.72322253e-01 6.58862365e-03 1.78584960e+02] [ 1.01384713e-02 -1.92096926e-04 9.99948586e-01 6.41405564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:178.57, Z:6.41 [[ 7.72467806e-01 6.34990507e-01 -8.97465586e-03 1.01153075e+02] [-6.34944235e-01 7.72519906e-01 7.66904112e-03 1.78565747e+02] [ 1.18028686e-02 -2.25681372e-04 9.99930318e-01 6.41241704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.17, Y:178.55, Z:6.41 [[ 7.72527201e-01 6.34915307e-01 -9.18020008e-03 1.01172632e+02] [-6.34866912e-01 7.72581711e-01 7.84243636e-03 1.78547100e+02] [ 1.20717376e-02 -2.30290131e-04 9.99927107e-01 6.41185911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.19, Y:178.53, Z:6.41 [[ 7.72570700e-01 6.34845773e-01 -1.02644397e-02 1.01193278e+02] [-6.34785301e-01 7.72638841e-01 8.76601090e-03 1.78527897e+02] [ 1.34957697e-02 -2.56647748e-04 9.99908895e-01 6.41109082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:178.51, Z:6.41 [[ 7.72809302e-01 6.34553873e-01 -1.03520564e-02 1.01214707e+02] [-6.34492366e-01 7.72878589e-01 8.83878501e-03 1.78509122e+02] [ 1.36095680e-02 -2.62394502e-04 9.99907351e-01 6.41105633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:178.49, Z:6.41 [[ 7.72821775e-01 6.34533636e-01 -1.06568724e-02 1.01235762e+02] [-6.34468472e-01 7.72895202e-01 9.09755171e-03 1.78490402e+02] [ 1.40093481e-02 -2.69336501e-04 9.99901828e-01 6.41140417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.26, Y:178.47, Z:6.41 [[ 7.72894942e-01 6.34444495e-01 -1.06579219e-02 1.01256782e+02] [-6.34379340e-01 7.72968376e-01 9.09632202e-03 1.78472629e+02] [ 1.40093480e-02 -2.69335803e-04 9.99901828e-01 6.41177012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:178.45, Z:6.41 [[ 7.73341632e-01 6.33896798e-01 -1.08429353e-02 1.01276349e+02] [-6.33829338e-01 7.73417591e-01 9.25205606e-03 1.78452074e+02] [ 1.42509656e-02 -2.82429665e-04 9.99898410e-01 6.41205512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.30, Y:178.43, Z:6.41 [[ 7.73586409e-01 6.33600548e-01 -1.06963811e-02 1.01297500e+02] [-6.33534896e-01 7.73660304e-01 9.12528483e-03 1.78432600e+02] [ 1.40571509e-02 -2.82665645e-04 9.99901153e-01 6.41282374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:178.41, Z:6.41 [[ 7.73788523e-01 6.33357962e-01 -1.04409785e-02 1.01316677e+02] [-6.33295404e-01 7.73858911e-01 8.90605299e-03 1.78412235e+02] [ 1.37205638e-02 -2.79177918e-04 9.99905830e-01 6.41418747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:178.39, Z:6.42 [[ 7.73819513e-01 6.33325947e-01 -1.00800072e-02 1.01338173e+02] [-6.33267658e-01 7.73885116e-01 8.59658434e-03 1.78393691e+02] [ 1.32452075e-02 -2.68862146e-04 9.99912242e-01 6.41501192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.36, Y:178.38, Z:6.42 [[ 7.73725653e-01 6.33441004e-01 -1.00552788e-02 1.01358505e+02] [-6.33383078e-01 7.73790944e-01 8.57032426e-03 1.78376150e+02] [ 1.32094785e-02 -2.62236272e-04 9.99912717e-01 6.41551056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.38, Y:178.36, Z:6.42 [[ 7.73510452e-01 6.33707793e-01 -9.79868146e-03 1.01382221e+02] [-6.33652835e-01 7.73572473e-01 8.34947878e-03 1.78359695e+02] [ 1.28711200e-02 -2.49446817e-04 9.99917133e-01 6.41630333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:178.34, Z:6.42 [[ 7.72666597e-01 6.34740790e-01 -9.51097230e-03 1.01401821e+02] [-6.34689106e-01 7.72725099e-01 8.10307730e-03 1.78339766e+02] [ 1.24927207e-02 -2.24466659e-04 9.99921938e-01 6.41725407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:178.32, Z:6.42 [[ 7.71999262e-01 6.35558545e-01 -9.08156844e-03 1.01425497e+02] [-6.35511497e-01 7.72052651e-01 7.73572735e-03 1.78322385e+02] [ 1.19279566e-02 -2.00534653e-04 9.99928839e-01 6.41793835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.45, Y:178.30, Z:6.42 [[ 7.71565325e-01 6.36085124e-01 -9.09198779e-03 1.01445686e+02] [-6.36038019e-01 7.71618869e-01 7.74339986e-03 1.78302696e+02] [ 1.19410108e-02 -1.91688931e-04 9.99928685e-01 6.41844937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:178.28, Z:6.42 [[ 7.71009460e-01 6.36755774e-01 -9.30031379e-03 1.01467431e+02] [-6.36706555e-01 7.71065529e-01 7.91918981e-03 1.78283444e+02] [ 1.22137412e-02 -1.84199510e-04 9.99925393e-01 6.41890436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:178.27, Z:6.42 [[ 7.69356364e-01 6.38753852e-01 -9.18158309e-03 1.01489753e+02] [-6.38706037e-01 7.69411134e-01 7.81691899e-03 1.78265465e+02] [ 1.20574994e-02 -1.49663820e-04 9.99927295e-01 6.41941434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.51, Y:178.25, Z:6.42 [[ 7.68392088e-01 6.39913896e-01 -9.15452643e-03 1.01512238e+02] [-6.39866459e-01 7.68446608e-01 7.79265908e-03 1.78246709e+02] [ 1.20213956e-02 -1.30143162e-04 9.99927732e-01 6.41995024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:178.23, Z:6.42 [[ 7.67620831e-01 6.40835815e-01 -9.36581584e-03 1.01534382e+02] [-6.40786248e-01 7.67677956e-01 7.97122720e-03 1.78228314e+02] [ 1.22981782e-02 -1.17394051e-04 9.99924368e-01 6.42029792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:178.21, Z:6.42 [[ 7.66016831e-01 6.42758508e-01 -8.92838369e-03 1.01555109e+02] [-6.42713606e-01 7.66068857e-01 7.59783149e-03 1.78209863e+02] [ 1.17233275e-02 -8.16731217e-05 9.99931276e-01 6.42101628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:178.19, Z:6.42 [[ 7.65482408e-01 6.43393421e-01 -9.03265666e-03 1.01576292e+02] [-6.43347527e-01 7.65535695e-01 7.68500160e-03 1.78190835e+02] [ 1.18593006e-02 -7.15962066e-05 9.99929673e-01 6.42183403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.60, Y:178.17, Z:6.42 [[ 7.65142448e-01 6.43799605e-01 -8.89401211e-03 1.01596076e+02] [-6.43755148e-01 7.65194135e-01 7.56601184e-03 1.78172305e+02] [ 1.16766413e-02 -6.35107399e-05 9.99931824e-01 6.42277754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:178.15, Z:6.42 [[ 7.65184109e-01 6.43745514e-01 -9.21913761e-03 1.01615036e+02] [-6.43697771e-01 7.65239641e-01 7.84036639e-03 1.78151919e+02] [ 1.21020502e-02 -6.49854394e-05 9.99926765e-01 6.42330066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.64, Y:178.13, Z:6.42 [[ 7.65517886e-01 6.43344798e-01 -9.47824961e-03 1.01636032e+02] [-6.43294327e-01 7.65576557e-01 8.05879423e-03 1.78132310e+02] [ 1.24409091e-02 -7.18469262e-05 9.99922606e-01 6.42324694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:178.11, Z:6.42 [[ 7.66156811e-01 6.42585635e-01 -9.35110229e-03 1.01655573e+02] [-6.42536467e-01 7.66213870e-01 7.94944742e-03 1.78112138e+02] [ 1.22731450e-02 -8.20990509e-05 9.99924679e-01 6.42357900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:178.09, Z:6.42 [[ 7.67333326e-01 6.41179498e-01 -9.40316529e-03 1.01674274e+02] [-6.41129695e-01 7.67390931e-01 7.99206221e-03 1.78090097e+02] [ 1.23402502e-02 -1.03927177e-04 9.99923851e-01 6.42369768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:178.07, Z:6.42 [[ 7.67914104e-01 6.40478198e-01 -9.77786706e-03 1.01694612e+02] [-6.40424307e-01 7.67976343e-01 8.30924095e-03 1.78070155e+02] [ 1.28310583e-02 -1.18799577e-04 9.99917672e-01 6.42372890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:178.05, Z:6.42 [[ 7.69022550e-01 6.39144332e-01 -9.94188988e-03 1.01713608e+02] [-6.39088522e-01 7.69086798e-01 8.44734445e-03 1.78048934e+02] [ 1.30452486e-02 -1.42450655e-04 9.99914897e-01 6.42383372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:178.03, Z:6.42 [[ 7.69687425e-01 6.38338579e-01 -1.02531381e-02 1.01733065e+02] [-6.38279171e-01 7.69755697e-01 8.71013375e-03 1.78029012e+02] [ 1.34524259e-02 -1.59715925e-04 9.99909499e-01 6.42388998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.75, Y:178.01, Z:6.42 [[ 7.70271696e-01 6.37632851e-01 -1.02889324e-02 1.01753073e+02] [-6.37572987e-01 7.70340391e-01 8.73887657e-03 1.78009557e+02] [ 1.34981750e-02 -1.71363920e-04 9.99908881e-01 6.42413016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:177.99, Z:6.42 [[ 7.70836997e-01 6.36940374e-01 -1.08297955e-02 1.01776804e+02] [-6.36874053e-01 7.70913046e-01 9.19332004e-03 1.77987319e+02] [ 1.42044274e-02 -1.89335438e-04 9.99899094e-01 6.42413018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.80, Y:177.97, Z:6.42 [[ 7.70750047e-01 6.37039901e-01 -1.11592766e-02 1.01801169e+02] [-6.36969414e-01 7.70830802e-01 9.47843472e-03 1.77965917e+02] [ 1.46400552e-02 -1.97386134e-04 9.99892809e-01 6.42496254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.82, Y:177.95, Z:6.43 [[ 7.69402547e-01 6.38675697e-01 -1.06336710e-02 1.01824360e+02] [-6.38611787e-01 7.69476008e-01 9.03649056e-03 1.77950055e+02] [ 1.39537416e-02 -1.61911224e-04 9.99902629e-01 6.42576743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.85, Y:177.93, Z:6.43 [[ 7.68749928e-01 6.39452696e-01 -1.11264078e-02 1.01846014e+02] [-6.39382835e-01 7.68830427e-01 9.45327512e-03 1.77932376e+02] [ 1.45992431e-02 -1.53170392e-04 9.99893414e-01 6.42537944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.87, Y:177.91, Z:6.42 [[ 7.67804767e-01 6.40562877e-01 -1.24515281e-02 1.01868519e+02] [-6.40475564e-01 7.67905710e-01 1.05769685e-02 1.77914764e+02] [ 1.63368129e-02 -1.46147360e-04 9.99866535e-01 6.42422245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:177.90, Z:6.42 [[ 7.67140371e-01 6.41353330e-01 -1.27104959e-02 1.01891020e+02] [-6.41262484e-01 7.67245651e-01 1.07952333e-02 1.77897165e+02] [ 1.66756315e-02 -1.30695070e-04 9.99860943e-01 6.42447926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:177.88, Z:6.43 [[ 7.66863233e-01 6.41687432e-01 -1.25707010e-02 1.01913570e+02] [-6.41598646e-01 7.66966248e-01 1.06748516e-02 1.77878870e+02] [ 1.64912215e-02 -1.20806468e-04 9.99864003e-01 6.42506619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:177.86, Z:6.43 [[ 7.66438986e-01 6.42195905e-01 -1.24779706e-02 1.01936069e+02] [-6.42108518e-01 7.66540546e-01 1.05944611e-02 1.77861314e+02] [ 1.63685899e-02 -1.07796816e-04 9.99866020e-01 6.42560172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.96, Y:177.84, Z:6.43 [[ 7.66635316e-01 6.41953956e-01 -1.28612324e-02 1.01959714e+02] [-6.41861114e-01 7.66743181e-01 1.09181248e-02 1.77844494e+02] [ 1.68701956e-02 -1.15095070e-04 9.99857682e-01 6.42502878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:177.83, Z:6.43 [[ 7.67055612e-01 6.41450288e-01 -1.29311898e-02 1.01981240e+02] [-6.41356392e-01 7.67164593e-01 1.09756959e-02 1.77826453e+02] [ 1.69607142e-02 -1.25467901e-04 9.99856149e-01 6.42518701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:177.81, Z:6.43 [[ 7.67744529e-01 6.40626840e-01 -1.28682054e-02 1.02004144e+02] [-6.40533772e-01 7.67852350e-01 1.09203843e-02 1.77807509e+02] [ 1.68767730e-02 -1.41545139e-04 9.99857567e-01 6.42574370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.02, Y:177.79, Z:6.43 [[ 7.69829389e-01 6.38125047e-01 -1.26148906e-02 1.02023846e+02] [-6.38035286e-01 7.69932716e-01 1.07044827e-02 1.77786219e+02] [ 1.65434155e-02 -1.91880007e-04 9.99863130e-01 6.42621162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:177.77, Z:6.43 [[ 7.71078954e-01 6.36610818e-01 -1.28028624e-02 1.02043762e+02] [-6.36518178e-01 7.71185202e-01 1.08625043e-02 1.77765920e+02] [ 1.67885657e-02 -2.26593813e-04 9.99859036e-01 6.42629088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:177.75, Z:6.43 [[ 7.72286237e-01 6.35150746e-01 -1.25497999e-02 1.02065450e+02] [-6.35061572e-01 7.72388158e-01 1.06458366e-02 1.77747433e+02] [ 1.64550278e-02 -2.51737462e-04 9.99864575e-01 6.42667718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:177.73, Z:6.43 [[ 7.74401863e-01 6.32574307e-01 -1.23085673e-02 1.02085164e+02] [-6.32488227e-01 7.74499617e-01 1.04396650e-02 1.77725998e+02] [ 1.61368446e-02 -2.99472122e-04 9.99869748e-01 6.42715603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.11, Y:177.71, Z:6.43 [[ 7.75125568e-01 6.31687442e-01 -1.23015664e-02 1.02111542e+02] [-6.31601348e-01 7.75223113e-01 1.04337647e-02 1.77706901e+02] [ 1.61273367e-02 -3.17791885e-04 9.99869896e-01 6.42780076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:177.69, Z:6.43 [[ 7.76132918e-01 6.30451935e-01 -1.21676493e-02 1.02135778e+02] [-6.30367459e-01 7.76228214e-01 1.03260043e-02 1.77685955e+02] [ 1.59549221e-02 -3.44261609e-04 9.99872653e-01 6.42757963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:177.66, Z:6.43 [[ 7.76086431e-01 6.30503605e-01 -1.24521569e-02 1.02159733e+02] [-6.30415039e-01 7.76186239e-01 1.05736257e-02 1.77664341e+02] [ 1.63319020e-02 -3.56020471e-04 9.99866562e-01 6.42810461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.18, Y:177.65, Z:6.43 [[ 7.76154272e-01 6.30427803e-01 -1.20553531e-02 1.02182909e+02] [-6.30344705e-01 7.76247810e-01 1.02415856e-02 1.77645057e+02] [ 1.58145217e-02 -3.50022400e-04 9.99874881e-01 6.42861268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.21, Y:177.62, Z:6.43 [[ 7.76047003e-01 6.30566022e-01 -1.17277536e-02 1.02206785e+02] [-6.30487404e-01 7.76135541e-01 9.96272296e-03 1.77624828e+02] [ 1.53844810e-02 -3.37340401e-04 9.99881595e-01 6.42929167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:177.61, Z:6.43 [[ 7.75558407e-01 6.31171032e-01 -1.15015118e-02 1.02232313e+02] [-6.31095465e-01 7.75643620e-01 9.77184931e-03 1.77605303e+02] [ 1.50887825e-02 -3.20087928e-04 9.99886107e-01 6.42995699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:177.58, Z:6.43 [[ 7.75190450e-01 6.31624026e-01 -1.14392138e-02 1.02255667e+02] [-6.31549247e-01 7.75274784e-01 9.72410618e-03 1.77584721e+02] [ 1.50105131e-02 -3.13607389e-04 9.99887287e-01 6.43011421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.28, Y:177.57, Z:6.43 [[ 7.74895090e-01 6.31986618e-01 -1.14242518e-02 1.02279385e+02] [-6.31912032e-01 7.74979238e-01 9.71410512e-03 1.77565914e+02] [ 1.49927424e-02 -3.08290179e-04 9.99887555e-01 6.43004504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:177.55, Z:6.43 [[ 7.74619078e-01 6.32322351e-01 -1.15641150e-02 1.02304970e+02] [-6.32245953e-01 7.74705332e-01 9.83381752e-03 1.77545344e+02] [ 1.51769242e-02 -3.06097753e-04 9.99884777e-01 6.43038161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:177.52, Z:6.43 [[ 7.74480193e-01 6.32496770e-01 -1.13254911e-02 1.02328621e+02] [-6.32423421e-01 7.74562939e-01 9.63698051e-03 1.77523682e+02] [ 1.48676647e-02 -3.01144703e-04 9.99889425e-01 6.43074210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.35, Y:177.50, Z:6.43 [[ 7.74518991e-01 6.32456081e-01 -1.09379111e-02 1.02349204e+02] [-6.32387593e-01 7.74596165e-01 9.31207331e-03 1.77504485e+02] [ 1.43619414e-02 -2.95378339e-04 9.99896818e-01 6.43156276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.37, Y:177.49, Z:6.43 [[ 7.74333997e-01 6.32689573e-01 -1.05244972e-02 1.02372660e+02] [-6.32626208e-01 7.74405467e-01 8.95847363e-03 1.77486680e+02] [ 1.38181610e-02 -2.78777935e-04 9.99904486e-01 6.43242536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.40, Y:177.47, Z:6.43 [[ 7.74013050e-01 6.33088699e-01 -1.01241359e-02 1.02396382e+02] [-6.33030106e-01 7.74079215e-01 8.61703375e-03 1.77467526e+02] [ 1.32922299e-02 -2.60813728e-04 9.99911620e-01 6.43300819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:177.45, Z:6.43 [[ 7.73811050e-01 6.33338217e-01 -9.95799792e-03 1.02417798e+02] [-6.33281552e-01 7.73875080e-01 8.47564511e-03 1.77448851e+02] [ 1.30741964e-02 -2.52331467e-04 9.99914497e-01 6.43362975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:177.43, Z:6.43 [[ 7.73013117e-01 6.34305500e-01 -1.03562906e-02 1.02442066e+02] [-6.34244312e-01 7.73082449e-01 8.81360239e-03 1.77429580e+02] [ 1.35967830e-02 -2.44611839e-04 9.99907530e-01 6.43405541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.47, Y:177.41, Z:6.43 [[ 7.71876627e-01 6.35688490e-01 -1.03255175e-02 1.02465678e+02] [-6.35627779e-01 7.71945656e-01 8.78809810e-03 1.77410076e+02] [ 1.35572312e-02 -2.20141791e-04 9.99908072e-01 6.43353247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.49, Y:177.39, Z:6.43 [[ 7.71121020e-01 6.36597080e-01 -1.07949280e-02 1.02487671e+02] [-6.36530813e-01 7.71196546e-01 9.18754918e-03 1.77391030e+02] [ 1.41737781e-02 -2.13408010e-04 9.99899524e-01 6.43332278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:177.37, Z:6.43 [[ 7.69949591e-01 6.38005330e-01 -1.12617484e-02 1.02513224e+02] [-6.37933366e-01 7.70031922e-01 9.58434947e-03 1.77370893e+02] [ 1.47867718e-02 -1.95220881e-04 9.99890651e-01 6.43349152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:177.35, Z:6.43 [[ 7.69035741e-01 6.39105309e-01 -1.13328311e-02 1.02536819e+02] [-6.39032470e-01 7.69119218e-01 9.65039776e-03 1.77350166e+02] [ 1.48839186e-02 -1.79453755e-04 9.99889212e-01 6.43316998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.56, Y:177.33, Z:6.43 [[ 7.67281382e-01 6.41199679e-01 -1.19269886e-02 1.02559683e+02] [-6.41119182e-01 7.67374061e-01 1.01609326e-02 1.77332059e+02] [ 1.56676484e-02 -1.49673226e-04 9.99877244e-01 6.43257192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.58, Y:177.31, Z:6.43 [[ 7.66536205e-01 6.42090979e-01 -1.18920595e-02 1.02582360e+02] [-6.42011086e-01 7.66628435e-01 1.01295659e-02 1.77313510e+02] [ 1.56208938e-02 -1.29844975e-04 9.99877978e-01 6.43282746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:177.29, Z:6.43 [[ 7.65281120e-01 6.43593792e-01 -1.14820563e-02 1.02604858e+02] [-6.43519505e-01 7.65367246e-01 9.77881188e-03 1.77294955e+02] [ 1.50815725e-02 -9.46129142e-05 9.99886262e-01 6.43417019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:177.28, Z:6.43 [[ 7.64867901e-01 6.44091595e-01 -1.10955674e-02 1.02625608e+02] [-6.44022299e-01 7.64948371e-01 9.44815473e-03 1.77276741e+02] [ 1.45730133e-02 -8.07974336e-05 9.99893805e-01 6.43493205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:177.26, Z:6.44 [[ 7.64942162e-01 6.44003382e-01 -1.10965383e-02 1.02646649e+02] [-6.43934093e-01 7.65022639e-01 9.44701439e-03 1.77258995e+02] [ 1.45730122e-02 -8.09803070e-05 9.99893805e-01 6.43529800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:177.24, Z:6.44 [[ 7.64440171e-01 6.44601712e-01 -1.09479297e-02 1.02671252e+02] [-6.44534351e-01 7.64518560e-01 9.31890478e-03 1.77237685e+02] [ 1.43768775e-02 -6.74283703e-05 9.99896645e-01 6.43621178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.69, Y:177.21, Z:6.44 [[ 7.64231565e-01 6.44860982e-01 -1.02190335e-02 1.02694592e+02] [-6.44802253e-01 7.64299882e-01 8.70311731e-03 1.77213721e+02] [ 1.34227069e-02 -6.19411432e-05 9.99909910e-01 6.43826645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.72, Y:177.19, Z:6.44 [[ 7.64252185e-01 6.44834961e-01 -1.03184292e-02 1.02717119e+02] [-6.44775003e-01 7.64321836e-01 8.79358870e-03 1.77191556e+02] [ 1.35570142e-02 -6.74541622e-05 9.99908097e-01 6.43901689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.74, Y:177.17, Z:6.44 [[ 7.64208518e-01 6.44890856e-01 -1.00560900e-02 1.02741399e+02] [-6.44833845e-01 7.64274676e-01 8.57511201e-03 1.77169646e+02] [ 1.32156263e-02 -6.86664314e-05 9.99912667e-01 6.44023877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.77, Y:177.15, Z:6.44 [[ 7.64014723e-01 6.45131438e-01 -9.32368394e-03 1.02765124e+02] [-6.45082383e-01 7.64071609e-01 7.95580417e-03 1.77151476e+02] [ 1.22565016e-02 -6.38072702e-05 9.99924884e-01 6.44102815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:177.13, Z:6.44 [[ 7.63771348e-01 6.45419359e-01 -9.33700282e-03 1.02789240e+02] [-6.45370190e-01 7.63828415e-01 7.96676675e-03 1.77131832e+02] [ 1.22737736e-02 -5.89648897e-05 9.99924673e-01 6.44129376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:177.11, Z:6.44 [[ 7.63733278e-01 6.45459593e-01 -9.66403551e-03 1.02811681e+02] [-6.45406914e-01 7.63794416e-01 8.24654604e-03 1.77112252e+02] [ 1.27041486e-02 -6.09263117e-05 9.99919297e-01 6.44093067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.83, Y:177.09, Z:6.44 [[ 7.63882057e-01 6.45283488e-01 -9.66551073e-03 1.02834355e+02] [-6.45230783e-01 7.63943202e-01 8.24748933e-03 1.77093309e+02] [ 1.27058699e-02 -6.36240625e-05 9.99919275e-01 6.44114304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.86, Y:177.07, Z:6.44 [[ 7.64432576e-01 6.44634484e-01 -9.44559448e-03 1.02856006e+02] [-6.44584108e-01 7.64490926e-01 8.05923005e-03 1.77074041e+02] [ 1.24163289e-02 -7.22578948e-05 9.99922912e-01 6.44209403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:177.05, Z:6.44 [[ 7.64492358e-01 6.44566162e-01 -9.26812140e-03 1.02880485e+02] [-6.44517673e-01 7.64548532e-01 7.90638409e-03 1.77053382e+02] [ 1.21821163e-02 -7.09021779e-05 9.99925793e-01 6.44292851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.90, Y:177.03, Z:6.44 [[ 7.64951402e-01 6.44024172e-01 -9.06743932e-03 1.02902463e+02] [-6.43977665e-01 7.65005136e-01 7.74000732e-03 1.77034327e+02] [ 1.19213895e-02 -8.15010459e-05 9.99928934e-01 6.44370887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.92, Y:177.02, Z:6.44 [[ 7.65708698e-01 6.43122404e-01 -9.15225280e-03 1.02924855e+02] [-6.43074961e-01 7.65763387e-01 7.81218591e-03 1.77015653e+02] [ 1.20326519e-02 -9.62740892e-05 9.99927600e-01 6.44359155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.95, Y:177.00, Z:6.44 [[ 7.67542146e-01 6.40928123e-01 -9.49708079e-03 1.02945005e+02] [-6.40876886e-01 7.67600888e-01 8.10521376e-03 1.76996557e+02] [ 1.24848271e-02 -1.34633607e-04 9.99922052e-01 6.44342474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:176.98, Z:6.44 [[ 7.68658546e-01 6.39590181e-01 -9.40428058e-03 1.02965271e+02] [-6.39539859e-01 7.68716058e-01 8.02447868e-03 1.76977574e+02] [ 1.23615993e-02 -1.53671844e-04 9.99923581e-01 6.44380638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:176.96, Z:6.44 [[ 7.71068415e-01 6.36679500e-01 -9.62879316e-03 1.02989079e+02] [-6.36626547e-01 7.71128506e-01 8.21381698e-03 1.76955666e+02] [ 1.26546058e-02 -2.03469496e-04 9.99919907e-01 6.44332622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:176.93, Z:6.44 [[ 7.72300973e-01 6.35180576e-01 -9.84092248e-03 1.03011365e+02] [-6.35125079e-01 7.72363632e-01 8.39964346e-03 1.76934270e+02] [ 1.29360610e-02 -2.36836153e-04 9.99916298e-01 6.44328605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.03, Y:176.91, Z:6.44 [[ 7.73379555e-01 6.33868196e-01 -9.75569922e-03 1.03034456e+02] [-6.33813497e-01 7.73441040e-01 8.33117855e-03 1.76911918e+02] [ 1.28263273e-02 -2.59869318e-04 9.99917706e-01 6.44343612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.06, Y:176.89, Z:6.44 [[ 7.75220542e-01 6.31612872e-01 -9.91416956e-03 1.03058111e+02] [-6.31556135e-01 7.75283875e-01 8.47128330e-03 1.76890175e+02] [ 1.30368674e-02 -3.05758227e-04 9.99914970e-01 6.44373634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.08, Y:176.87, Z:6.44 [[ 7.75566439e-01 6.31183425e-01 -1.02069993e-02 1.03082339e+02] [-6.31123181e-01 7.75633533e-01 8.72656408e-03 1.76869296e+02] [ 1.34249535e-02 -3.26156367e-04 9.99909828e-01 6.44395470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.11, Y:176.85, Z:6.44 [[ 7.75568565e-01 6.31180986e-01 -1.01962716e-02 1.03107566e+02] [-6.31120803e-01 7.75635516e-01 8.72228789e-03 1.76847992e+02] [ 1.34139327e-02 -3.29653190e-04 9.99909975e-01 6.44421890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:176.83, Z:6.44 [[ 7.74955581e-01 6.31931687e-01 -1.03049303e-02 1.03131060e+02] [-6.31870203e-01 7.75024024e-01 8.82091146e-03 1.76827091e+02] [ 1.35607820e-02 -3.24436176e-04 9.99907996e-01 6.44473657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:176.81, Z:6.44 [[ 7.74368103e-01 6.32643360e-01 -1.07898465e-02 1.03156368e+02] [-6.32575977e-01 7.74443201e-01 9.23919661e-03 1.76806580e+02] [ 1.42012396e-02 -3.29141486e-04 9.99899103e-01 6.44485507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.18, Y:176.79, Z:6.45 [[ 7.73290077e-01 6.33964925e-01 -1.05323671e-02 1.03179803e+02] [-6.33900774e-01 7.73361741e-01 9.02360896e-03 1.76785811e+02] [ 1.38659813e-02 -3.01391602e-04 9.99903817e-01 6.44568103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.21, Y:176.77, Z:6.45 [[ 7.72565553e-01 6.34857176e-01 -9.94149252e-03 1.03205608e+02] [-6.34800041e-01 7.72629466e-01 8.52148194e-03 1.76766082e+02] [ 1.30910140e-02 -2.72543543e-04 9.99914272e-01 6.44648064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:176.75, Z:6.45 [[ 7.71783038e-01 6.35809859e-01 -9.83696324e-03 1.03230545e+02] [-6.35753937e-01 7.71845682e-01 8.43649136e-03 1.76745862e+02] [ 1.29566220e-02 -2.57252818e-04 9.99916026e-01 6.44736142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:176.73, Z:6.45 [[ 7.71038339e-01 6.36715938e-01 -9.62774322e-03 1.03255784e+02] [-6.36662384e-01 7.71098409e-01 8.26152369e-03 1.76726015e+02] [ 1.26841813e-02 -2.40329553e-04 9.99919524e-01 6.44792875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:176.71, Z:6.45 [[ 7.69542500e-01 6.38526581e-01 -9.38865811e-03 1.03278895e+02] [-6.38475729e-01 7.69599741e-01 8.06109789e-03 1.76707966e+02] [ 1.23727341e-02 -2.08927087e-04 9.99923433e-01 6.44866098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:176.69, Z:6.45 [[ 7.68948471e-01 6.39246901e-01 -9.03597162e-03 1.03300300e+02] [-6.39199850e-01 7.69001537e-01 7.75812705e-03 1.76689555e+02] [ 1.19080347e-02 -1.89808233e-04 9.99929079e-01 6.44960669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:176.67, Z:6.45 [[ 7.67755341e-01 6.40672404e-01 -9.51874319e-03 1.03322905e+02] [-6.40620321e-01 7.67814326e-01 8.17095032e-03 1.76671592e+02] [ 1.25435298e-02 -1.75390431e-04 9.99921311e-01 6.45013185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:176.65, Z:6.45 [[ 7.67263911e-01 6.41257615e-01 -9.73457713e-03 1.03344697e+02] [-6.41203207e-01 7.67325643e-01 8.35494802e-03 1.76653611e+02] [ 1.28272647e-02 -1.68608030e-04 9.99917713e-01 6.45027696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.37, Y:176.64, Z:6.45 [[ 7.66604889e-01 6.42039799e-01 -1.00915772e-02 1.03366699e+02] [-6.41981417e-01 7.66671293e-01 8.65967608e-03 1.76635568e+02] [ 1.32967792e-02 -1.59945022e-04 9.99911581e-01 6.45047407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:176.62, Z:6.45 [[ 7.66554581e-01 6.42099008e-01 -1.01458452e-02 1.03388565e+02] [-6.42040018e-01 7.66621706e-01 8.70493867e-03 1.76617334e+02] [ 1.33674576e-02 -1.58771997e-04 9.99910639e-01 6.45078591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.41, Y:176.60, Z:6.45 [[ 7.66778476e-01 6.41829290e-01 -1.02922783e-02 1.03410282e+02] [-6.41768588e-01 7.66847531e-01 8.82855885e-03 1.76598336e+02] [ 1.35590359e-02 -1.64287963e-04 9.99908059e-01 6.45092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:176.58, Z:6.45 [[ 7.67519553e-01 6.40938868e-01 -1.05405483e-02 1.03429902e+02] [-6.40875138e-01 7.67591906e-01 9.04010960e-03 1.76577734e+02] [ 1.38849972e-02 -1.83285537e-04 9.99903582e-01 6.45066891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:176.56, Z:6.45 [[ 7.68185417e-01 6.40134201e-01 -1.09256920e-02 1.03451682e+02] [-6.40065672e-01 7.68263083e-01 9.36863883e-03 1.76558513e+02] [ 1.43909920e-02 -2.03691319e-04 9.99896424e-01 6.45044004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.47, Y:176.54, Z:6.45 [[ 7.69833933e-01 6.38142225e-01 -1.14112216e-02 1.03469966e+02] [-6.38067275e-01 7.69918462e-01 9.78338385e-03 1.76536711e+02] [ 1.50289005e-02 -2.50453790e-04 9.99887028e-01 6.44990956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:176.52, Z:6.45 [[ 7.70549301e-01 6.37279745e-01 -1.13270217e-02 1.03494520e+02] [-6.37205819e-01 7.70632505e-01 9.71015077e-03 1.76516467e+02] [ 1.49170535e-02 -2.64505735e-04 9.99888700e-01 6.45011285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:176.49, Z:6.45 [[ 7.71070221e-01 6.36640690e-01 -1.18045392e-02 1.03515310e+02] [-6.36560235e-01 7.71160519e-01 1.01252309e-02 1.76493000e+02] [ 1.55493285e-02 -2.92963738e-04 9.99879059e-01 6.44994126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:176.47, Z:6.45 [[ 7.71493549e-01 6.36124456e-01 -1.19741256e-02 1.03540221e+02] [-6.36041527e-01 7.71586404e-01 1.02760420e-02 1.76473415e+02] [ 1.57759141e-02 -3.11859004e-04 9.99875504e-01 6.45041497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.56, Y:176.45, Z:6.45 [[ 7.72327926e-01 6.35101777e-01 -1.24622814e-02 1.03561702e+02] [-6.35011732e-01 7.72428385e-01 1.07000029e-02 1.76452109e+02] [ 1.64218108e-02 -3.50216178e-04 9.99865092e-01 6.45062731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.58, Y:176.43, Z:6.45 [[ 7.72446423e-01 6.34959165e-01 -1.23847796e-02 1.03584347e+02] [-6.34870215e-01 7.72545620e-01 1.06336433e-02 1.76433231e+02] [ 1.63197365e-02 -3.51192060e-04 9.99866763e-01 6.45097131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:176.41, Z:6.45 [[ 7.72517748e-01 6.34877607e-01 -1.21141470e-02 1.03605152e+02] [-6.34792506e-01 7.72612649e-01 1.04004201e-02 1.76413128e+02] [ 1.59625370e-02 -3.44539335e-04 9.99872531e-01 6.45128037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.63, Y:176.40, Z:6.45 [[ 7.72279661e-01 6.35168350e-01 -1.20537298e-02 1.03628428e+02] [-6.35084151e-01 7.72373649e-01 1.03473007e-02 1.76395312e+02] [ 1.58822612e-02 -3.35877140e-04 9.99873813e-01 6.45212917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:176.38, Z:6.45 [[ 7.71975678e-01 6.35536061e-01 -1.21436501e-02 1.03650124e+02] [-6.35450672e-01 7.72071115e-01 1.04229023e-02 1.76376922e+02] [ 1.59998918e-02 -3.29536462e-04 9.99871939e-01 6.45237304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:176.36, Z:6.45 [[ 7.70980636e-01 6.36734228e-01 -1.25850120e-02 1.03671286e+02] [-6.36642707e-01 7.71083280e-01 1.07999655e-02 1.76358835e+02] [ 1.65808000e-02 -3.14408166e-04 9.99862480e-01 6.45256169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.69, Y:176.34, Z:6.45 [[ 7.70362427e-01 6.37474862e-01 -1.29434196e-02 1.03693833e+02] [-6.37378193e-01 7.70471094e-01 1.11055058e-02 1.76340513e+02] [ 1.70520114e-02 -3.05410949e-04 9.99854557e-01 6.45255359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.72, Y:176.32, Z:6.45 [[ 7.68697055e-01 6.39475093e-01 -1.32831961e-02 1.03719981e+02] [-6.39373602e-01 7.68811768e-01 1.13957227e-02 1.76323553e+02] [ 1.74995583e-02 -2.66933508e-04 9.99846835e-01 6.45293130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.74, Y:176.30, Z:6.45 [[ 7.67768141e-01 6.40590986e-01 -1.32389710e-02 1.03744379e+02] [-6.40490336e-01 7.67882238e-01 1.13577817e-02 1.76304862e+02] [ 1.74416633e-02 -2.40709970e-04 9.99847854e-01 6.45341888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:176.29, Z:6.45 [[ 7.66992578e-01 6.41522856e-01 -1.30694187e-02 1.03766225e+02] [-6.41424908e-01 7.67103890e-01 1.12120210e-02 1.76286597e+02] [ 1.72183697e-02 -2.16486200e-04 9.99851729e-01 6.45380334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.79, Y:176.27, Z:6.46 [[ 7.66124859e-01 6.42570688e-01 -1.24744109e-02 1.03790959e+02] [-6.42481608e-01 7.66226388e-01 1.07007606e-02 1.76267780e+02] [ 1.64342179e-02 -1.83539123e-04 9.99864932e-01 6.45590891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.81, Y:176.25, Z:6.46 [[ 7.65841094e-01 6.42909791e-01 -1.24265284e-02 1.03812373e+02] [-6.42821426e-01 7.65941884e-01 1.06604700e-02 1.76247796e+02] [ 1.63717191e-02 -1.76187273e-04 9.99865959e-01 6.45667688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:176.23, Z:6.46 [[ 7.66104939e-01 6.42610561e-01 -1.16141834e-02 1.03833977e+02] [-6.42533335e-01 7.66192950e-01 9.96374892e-03 1.76228122e+02] [ 1.53015157e-02 -1.70777285e-04 9.99882910e-01 6.45864535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:176.21, Z:6.46 [[ 7.66433954e-01 6.42217011e-01 -1.16749701e-02 1.03856830e+02] [-6.42138949e-01 7.66522850e-01 1.00145392e-02 1.76207420e+02] [ 1.53806388e-02 -1.78529843e-04 9.99881695e-01 6.45990590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.88, Y:176.19, Z:6.46 [[ 7.66786625e-01 6.41797188e-01 -1.16035193e-02 1.03879275e+02] [-6.41720031e-01 7.66874393e-01 9.95325022e-03 1.76186791e+02] [ 1.52864098e-02 -1.85808380e-04 9.99883139e-01 6.46060026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:176.17, Z:6.46 [[ 7.67460475e-01 6.40994964e-01 -1.13962697e-02 1.03902478e+02] [-6.40920441e-01 7.67545058e-01 9.77610527e-03 1.76165122e+02] [ 1.50135848e-02 -1.98672186e-04 9.99887270e-01 6.46219759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:176.14, Z:6.46 [[ 7.67635255e-01 6.40783398e-01 -1.15218146e-02 1.03925771e+02] [-6.40707117e-01 7.67721690e-01 9.88925314e-03 1.76143416e+02] [ 1.51824162e-02 -2.09230768e-04 9.99884719e-01 6.46271967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.95, Y:176.12, Z:6.46 [[ 7.68450388e-01 6.39802821e-01 -1.16769645e-02 1.03945960e+02] [-6.39724304e-01 7.68539066e-01 1.00258990e-02 1.76121657e+02] [ 1.53888018e-02 -2.34367996e-04 9.99881558e-01 6.46337998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.97, Y:176.10, Z:6.46 [[ 7.68833192e-01 6.39338240e-01 -1.19221308e-02 1.03966163e+02] [-6.39256346e-01 7.68925584e-01 1.02357670e-02 1.76101858e+02] [ 1.57113486e-02 -2.48299698e-04 9.99876538e-01 6.46397850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:176.08, Z:6.47 [[ 7.68829044e-01 6.39334578e-01 -1.23773082e-02 1.03993131e+02] [-6.39246317e-01 7.68928625e-01 1.06261879e-02 1.76083051e+02] [ 1.63109559e-02 -2.57573180e-04 9.99866934e-01 6.46548929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.02, Y:176.06, Z:6.47 [[ 7.68855719e-01 6.39292184e-01 -1.28991006e-02 1.04017933e+02] [-6.39196191e-01 7.68963866e-01 1.10816223e-02 1.76060934e+02] [ 1.70033368e-02 -2.75112732e-04 9.99855395e-01 6.46608119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.04, Y:176.04, Z:6.47 [[ 7.68738707e-01 6.39418331e-01 -1.36013743e-02 1.04042508e+02] [-6.39311478e-01 7.68858967e-01 1.16928250e-02 1.76038756e+02] [ 1.79341453e-02 -2.93212458e-04 9.99839127e-01 6.46656939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.07, Y:176.02, Z:6.47 [[ 7.68648014e-01 6.39512136e-01 -1.42988958e-02 1.04066561e+02] [-6.39393918e-01 7.68780938e-01 1.22998578e-02 1.76017054e+02] [ 1.88586268e-02 -3.11634286e-04 9.99822112e-01 6.46674132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:176.00, Z:6.47 [[ 7.67806645e-01 6.40475695e-01 -1.62431518e-02 1.04091678e+02] [-6.40323195e-01 7.67978368e-01 1.39797184e-02 1.75995591e+02] [ 2.14280591e-02 -3.32853858e-04 9.99770337e-01 6.46662102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:175.97, Z:6.47 [[ 7.67600856e-01 6.40722430e-01 -1.62386585e-02 1.04116148e+02] [-6.40569875e-01 7.67772529e-01 1.39849366e-02 1.75974314e+02] [ 2.14280584e-02 -3.32853848e-04 9.99770337e-01 6.46705383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.14, Y:175.95, Z:6.47 [[ 7.67008375e-01 6.41417107e-01 -1.68002174e-02 1.04139890e+02] [-6.41253776e-01 7.67192274e-01 1.44778950e-02 1.75953578e+02] [ 2.21753665e-02 -3.31463854e-04 9.99754041e-01 6.46691209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.17, Y:175.93, Z:6.47 [[ 7.66178910e-01 6.42387782e-01 -1.75446907e-02 1.04165594e+02] [-6.42209684e-01 7.66379692e-01 1.51290664e-02 1.75932238e+02] [ 2.31646220e-02 -3.24201306e-04 9.99731612e-01 6.46715364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:175.91, Z:6.47 [[ 7.64948683e-01 6.43816648e-01 -1.88052173e-02 1.04189928e+02] [-6.43612311e-01 7.65179737e-01 1.62223097e-02 1.75912995e+02] [ 2.48335643e-02 -3.05965091e-04 9.99691553e-01 6.46716630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:175.89, Z:6.47 [[ 7.64408292e-01 6.44443807e-01 -1.92909868e-02 1.04214397e+02] [-6.44228949e-01 7.64651616e-01 1.66423509e-02 1.75892741e+02] [ 2.54759442e-02 -2.93738844e-04 9.99675392e-01 6.46793935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.24, Y:175.87, Z:6.47 [[ 7.63867972e-01 6.45067085e-01 -1.98538974e-02 1.04238647e+02] [-6.44839569e-01 7.64125890e-01 1.71334468e-02 1.75872160e+02] [ 2.62230995e-02 -2.85112604e-04 9.99656075e-01 6.46846090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.26, Y:175.85, Z:6.47 [[ 7.63582026e-01 6.45394346e-01 -2.02145631e-02 1.04260119e+02] [-6.45158459e-01 7.63849500e-01 1.74500675e-02 1.75852423e+02] [ 2.67030588e-02 -2.82961497e-04 9.99643370e-01 6.46900478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:175.83, Z:6.47 [[ 7.63599524e-01 6.45371605e-01 -2.02794868e-02 1.04281776e+02] [-6.45134201e-01 7.63868713e-01 1.75057995e-02 1.75832646e+02] [ 2.67886114e-02 -2.84429673e-04 9.99641080e-01 6.46978340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:175.81, Z:6.47 [[ 7.64168960e-01 6.44708692e-01 -1.99123751e-02 1.04303722e+02] [-6.44479599e-01 7.64428290e-01 1.71882221e-02 1.75812000e+02] [ 2.63029791e-02 -3.01586302e-04 9.99653971e-01 6.47066706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:175.79, Z:6.47 [[ 7.64776280e-01 6.43999919e-01 -1.95280747e-02 1.04325294e+02] [-6.43779379e-01 7.65025491e-01 1.68555306e-02 1.75792559e+02] [ 2.57944353e-02 -3.18938245e-04 9.99667217e-01 6.47102502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:175.77, Z:6.47 [[ 7.65141051e-01 6.43567242e-01 -1.95032729e-02 1.04347797e+02] [-6.43347164e-01 7.65389505e-01 1.68324556e-02 1.75773168e+02] [ 2.57604174e-02 -3.31827466e-04 9.99668090e-01 6.47187866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.37, Y:175.75, Z:6.47 [[ 7.66089076e-01 6.42466250e-01 -1.85646206e-02 1.04373010e+02] [-6.42266427e-01 7.66313899e-01 1.60264003e-02 1.75751639e+02] [ 2.45227481e-02 -3.54217658e-04 9.99699209e-01 6.47291638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:175.73, Z:6.47 [[ 7.66582064e-01 6.41886386e-01 -1.82703522e-02 1.04395736e+02] [-6.41692462e-01 7.66799666e-01 1.57815177e-02 1.75730617e+02] [ 2.41396413e-02 -3.73881132e-04 9.99708527e-01 6.47308023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.42, Y:175.71, Z:6.47 [[ 7.67799307e-01 6.40430132e-01 -1.82611585e-02 1.04420361e+02] [-6.40235785e-01 7.68016318e-01 1.57821024e-02 1.75709821e+02] [ 2.41322016e-02 -4.26040110e-04 9.99708685e-01 6.47435312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:175.69, Z:6.47 [[ 7.68244562e-01 6.39900526e-01 -1.80999907e-02 1.04442884e+02] [-6.39709244e-01 7.68457623e-01 1.56513762e-02 1.75688330e+02] [ 2.39243997e-02 -4.45353251e-04 9.99713671e-01 6.47340530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:175.67, Z:6.47 [[ 7.68713780e-01 6.39338877e-01 -1.80256892e-02 1.04464404e+02] [-6.39148924e-01 7.68924954e-01 1.55906173e-02 1.75669724e+02] [ 2.38280900e-02 -4.63622520e-04 9.99715963e-01 6.47332847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:175.65, Z:6.47 [[ 7.69226241e-01 6.38712371e-01 -1.83710897e-02 1.04487745e+02] [-6.38514922e-01 7.69445428e-01 1.58879957e-02 1.75650282e+02] [ 2.42834103e-02 -4.91248311e-04 9.99704994e-01 6.47371582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.51, Y:175.63, Z:6.47 [[ 7.70089638e-01 6.37659818e-01 -1.87591479e-02 1.04512548e+02] [-6.37453521e-01 7.70317900e-01 1.62278229e-02 1.75630501e+02] [ 2.47983380e-02 -5.38793413e-04 9.99692329e-01 6.47354119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:175.61, Z:6.47 [[ 7.70505599e-01 6.37160050e-01 -1.86599417e-02 1.04536910e+02] [-6.36955561e-01 7.70731314e-01 1.61510161e-02 1.75608949e+02] [ 2.46725836e-02 -5.58894708e-04 9.99695429e-01 6.47358103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:175.59, Z:6.47 [[ 7.70963632e-01 6.36609496e-01 -1.85317857e-02 1.04561346e+02] [-6.36407429e-01 7.71186108e-01 1.60490192e-02 1.75588692e+02] [ 2.45084137e-02 -5.79444082e-04 9.99699456e-01 6.47372946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:175.57, Z:6.47 [[ 7.70770771e-01 6.36840548e-01 -1.86154548e-02 1.04586911e+02] [-6.36636481e-01 7.70995316e-01 1.61311483e-02 1.75568099e+02] [ 2.46253978e-02 -5.82139984e-04 9.99696579e-01 6.47420192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.61, Y:175.55, Z:6.47 [[ 7.70815842e-01 6.36777663e-01 -1.88982976e-02 1.04611041e+02] [-6.36567070e-01 7.71047240e-01 1.63865325e-02 1.75546584e+02] [ 2.50060581e-02 -6.00964885e-04 9.99687119e-01 6.47353624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.64, Y:175.53, Z:6.47 [[ 7.70967472e-01 6.36588073e-01 -1.90992744e-02 1.04635894e+02] [-6.36372673e-01 7.71203760e-01 1.65704952e-02 1.75525667e+02] [ 2.52780118e-02 -6.21056555e-04 9.99680267e-01 6.47403369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:175.50, Z:6.47 [[ 7.71573896e-01 6.35852546e-01 -1.91118357e-02 1.04657752e+02] [-6.35636410e-01 7.71810283e-01 1.65903988e-02 1.75503660e+02] [ 2.52997586e-02 -6.52540070e-04 9.99679697e-01 6.47321898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:175.48, Z:6.47 [[ 7.72165331e-01 6.35133368e-01 -1.91391377e-02 1.04680197e+02] [-6.34916293e-01 7.72402189e-01 1.66180188e-02 1.75483951e+02] [ 2.53377701e-02 -6.80107595e-04 9.99678716e-01 6.47386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.71, Y:175.46, Z:6.48 [[ 7.72681818e-01 6.34524287e-01 -1.84861207e-02 1.04705225e+02] [-6.34321515e-01 7.72902625e-01 1.60545034e-02 1.75463644e+02] [ 2.44749436e-02 -6.78878797e-04 9.99700213e-01 6.47523350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:175.44, Z:6.48 [[ 7.72939258e-01 6.34227800e-01 -1.78885628e-02 1.04728770e+02] [-6.34037638e-01 7.73145940e-01 1.55444143e-02 1.75442028e+02] [ 2.36891694e-02 -6.72865959e-04 9.99719146e-01 6.47616035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:175.42, Z:6.48 [[ 7.72683172e-01 6.34552599e-01 -1.74274294e-02 1.04751695e+02] [-6.34372005e-01 7.72879405e-01 1.51520955e-02 1.75420998e+02] [ 2.30841028e-02 -6.52295832e-04 9.99733314e-01 6.47702504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.77, Y:175.40, Z:6.48 [[ 7.72493550e-01 6.34793350e-01 -1.70621878e-02 1.04774558e+02] [-6.34620218e-01 7.72681694e-01 1.48384216e-02 1.75401878e+02] [ 2.26029715e-02 -6.34575609e-04 9.99744319e-01 6.47808711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.80, Y:175.38, Z:6.48 [[ 7.71839808e-01 6.35600245e-01 -1.66023865e-02 1.04799937e+02] [-6.35436451e-01 7.72018117e-01 1.44410466e-02 1.75381828e+02] [ 2.19960759e-02 -5.96413077e-04 9.99757879e-01 6.47917967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.83, Y:175.36, Z:6.48 [[ 7.70581587e-01 6.37130954e-01 -1.63757278e-02 1.04825974e+02] [-6.36971777e-01 7.70755372e-01 1.42517514e-02 1.75363297e+02] [ 2.17019122e-02 -5.51260822e-04 9.99764334e-01 6.47980449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:175.35, Z:6.48 [[ 7.69181617e-01 6.38820800e-01 -1.63592822e-02 1.04849831e+02] [-6.38662222e-01 7.69355398e-01 1.42421019e-02 1.75346354e+02] [ 2.16842531e-02 -5.06707448e-04 9.99764741e-01 6.47923496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:175.33, Z:6.48 [[ 7.68400412e-01 6.39749582e-01 -1.67713555e-02 1.04874581e+02] [-6.39583142e-01 7.68583261e-01 1.46004909e-02 1.75327683e+02] [ 2.22308410e-02 -4.92346952e-04 9.99752743e-01 6.47951475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:175.31, Z:6.48 [[ 7.67880689e-01 6.40369496e-01 -1.69161439e-02 1.04896972e+02] [-6.40200335e-01 7.68066847e-01 1.47258289e-02 1.75309142e+02] [ 2.24227009e-02 -4.77958673e-04 9.99748465e-01 6.47894794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:175.29, Z:6.48 [[ 7.67381234e-01 6.40960825e-01 -1.71832120e-02 1.04920862e+02] [-6.40786464e-01 7.67573451e-01 1.49567726e-02 1.75291084e+02] [ 2.27760827e-02 -4.66776939e-04 9.99740482e-01 6.47939004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:175.27, Z:6.48 [[ 7.66529961e-01 6.41982379e-01 -1.70424156e-02 1.04943148e+02] [-6.41811158e-01 7.66719270e-01 1.48323352e-02 1.75274834e+02] [ 2.25888463e-02 -4.31416789e-04 9.99744746e-01 6.47917403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05275509600006 meters Centerline goodness [0,1] 0.9999135097733957 Centerline is valid? [True, True] Translation: X:104.96, Y:175.26, Z:6.48 [[ 7.66425838e-01 6.42093280e-01 -1.75401062e-02 1.04964631e+02] [-6.41912017e-01 7.66626394e-01 1.52621868e-02 1.75257470e+02] [ 2.32464559e-02 -4.38129353e-04 9.99729669e-01 6.47854562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.99, Y:175.24, Z:6.48 [[ 7.66082867e-01 6.42524652e-01 -1.67066676e-02 1.04987071e+02] [-6.42360379e-01 7.66264908e-01 1.45339066e-02 1.75240549e+02] [ 2.21401264e-02 -4.02475492e-04 9.99754796e-01 6.48023810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:175.22, Z:6.48 [[ 7.66213760e-01 6.42373163e-01 -1.65285963e-02 1.05008684e+02] [-6.42212403e-01 7.66391910e-01 1.43760092e-02 1.75222207e+02] [ 2.19021450e-02 -4.00226528e-04 9.99760039e-01 6.48089390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.03, Y:175.20, Z:6.48 [[ 7.66365870e-01 6.42201598e-01 -1.61387660e-02 1.05029717e+02] [-6.42048364e-01 7.66535683e-01 1.40337359e-02 1.75204030e+02] [ 2.13834276e-02 -3.93107921e-04 9.99771271e-01 6.48186903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.05, Y:175.18, Z:6.48 [[ 7.66538304e-01 6.42008474e-01 -1.56252681e-02 1.05051776e+02] [-6.41864845e-01 7.66697445e-01 1.35848538e-02 1.75184688e+02] [ 2.07014444e-02 -3.84000550e-04 9.99785628e-01 6.48357770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:175.16, Z:6.48 [[ 7.66561213e-01 6.41987049e-01 -1.53797504e-02 1.05071374e+02] [-6.41847920e-01 7.66715389e-01 1.33701511e-02 1.75164008e+02] [ 2.03753551e-02 -3.77578459e-04 9.99792330e-01 6.48319807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.09, Y:175.15, Z:6.48 [[ 7.66961876e-01 6.41513219e-01 -1.51746879e-02 1.05093061e+02] [-6.41377721e-01 7.67111884e-01 1.31899730e-02 1.75145743e+02] [ 2.01022255e-02 -3.83499649e-04 9.99797856e-01 6.48421578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.11, Y:175.13, Z:6.48 [[ 7.67127195e-01 6.41324296e-01 -1.47991012e-02 1.05112292e+02] [-6.41195438e-01 7.67269839e-01 1.28610201e-02 1.75126052e+02] [ 1.96029886e-02 -3.76922069e-04 9.99807772e-01 6.48395882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:175.11, Z:6.49 [[ 7.67383537e-01 6.41016549e-01 -1.48421965e-02 1.05134666e+02] [-6.40886928e-01 7.67526961e-01 1.28961121e-02 1.75108405e+02] [ 1.96584073e-02 -3.84094419e-04 9.99806681e-01 6.48501780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:175.09, Z:6.49 [[ 7.67780523e-01 6.40539290e-01 -1.49159704e-02 1.05155556e+02] [-6.40408327e-01 7.67925296e-01 1.29582053e-02 1.75089165e+02] [ 1.97545906e-02 -3.96746034e-04 9.99804780e-01 6.48525486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.18, Y:175.07, Z:6.49 [[ 7.69036549e-01 6.39035008e-01 -1.47324603e-02 1.05175489e+02] [-6.38907009e-01 7.69177532e-01 1.27968298e-02 1.75068031e+02] [ 1.95094997e-02 -4.28557687e-04 9.99809580e-01 6.48637893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.19, Y:175.05, Z:6.49 [[ 7.70320482e-01 6.37494623e-01 -1.43861255e-02 1.05193562e+02] [-6.37372342e-01 7.70454670e-01 1.24939624e-02 1.75045796e+02] [ 1.90486914e-02 -4.55036675e-04 9.99818454e-01 6.48741726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.22, Y:175.03, Z:6.49 [[ 7.70752281e-01 6.36966552e-01 -1.46469054e-02 1.05217344e+02] [-6.36839735e-01 7.70891293e-01 1.27187431e-02 1.75026158e+02] [ 1.93925858e-02 -4.75268945e-04 9.99811833e-01 6.48859820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.24, Y:175.01, Z:6.49 [[ 7.70908070e-01 6.36783662e-01 -1.43984734e-02 1.05238559e+02] [-6.36661082e-01 7.71042376e-01 1.25028682e-02 1.75005359e+02] [ 1.90634554e-02 -4.71614312e-04 9.99818165e-01 6.48863485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:174.98, Z:6.49 [[ 7.71189123e-01 6.36442464e-01 -1.44335506e-02 1.05258339e+02] [-6.36319246e-01 7.71324030e-01 1.25322605e-02 1.74984936e+02] [ 1.91090072e-02 -4.80396997e-04 9.99817291e-01 6.48826670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.28, Y:174.97, Z:6.49 [[ 7.71093052e-01 6.36562812e-01 -1.42580577e-02 1.05284723e+02] [-6.36442580e-01 7.71224717e-01 1.23805581e-02 1.74965844e+02] [ 1.88771694e-02 -4.72127307e-04 9.99821699e-01 6.48904128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.31, Y:174.94, Z:6.49 [[ 7.70639051e-01 6.37106008e-01 -1.45391505e-02 1.05306000e+02] [-6.36980939e-01 7.70776044e-01 1.26322638e-02 1.74942896e+02] [ 1.92545201e-02 -4.73754038e-04 9.99814502e-01 6.48851065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.33, Y:174.93, Z:6.49 [[ 7.70773971e-01 6.36948801e-01 -1.42727183e-02 1.05330445e+02] [-6.36828170e-01 7.70905962e-01 1.24048560e-02 1.74926401e+02] [ 1.89041818e-02 -4.72071014e-04 9.99821189e-01 6.48949344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.36, Y:174.91, Z:6.49 [[ 7.70784371e-01 6.36930255e-01 -1.45362676e-02 1.05355082e+02] [-6.36805089e-01 7.70921278e-01 1.26357234e-02 1.74905136e+02] [ 1.92543925e-02 -4.82648962e-04 9.99814501e-01 6.49015531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.38, Y:174.88, Z:6.49 [[ 7.70621417e-01 6.37139351e-01 -1.40028680e-02 1.05378660e+02] [-6.37023099e-01 7.70748488e-01 1.21795075e-02 1.74882848e+02] [ 1.85527328e-02 -4.65638922e-04 9.99827775e-01 6.49100001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.40, Y:174.86, Z:6.49 [[ 7.70616217e-01 6.37152877e-01 -1.36696028e-02 1.05404451e+02] [-6.37041967e-01 7.70737309e-01 1.18967473e-02 1.74862174e+02] [ 1.81157196e-02 -4.59715755e-04 9.99835791e-01 6.49227935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:174.84, Z:6.49 [[ 7.70863942e-01 6.36852109e-01 -1.37176913e-02 1.05426861e+02] [-6.36740237e-01 7.70985841e-01 1.19458861e-02 1.74840438e+02] [ 1.81839085e-02 -4.74046869e-04 9.99834547e-01 6.49279484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:174.82, Z:6.49 [[ 7.71362932e-01 6.36255019e-01 -1.33707537e-02 1.05449013e+02] [-6.36148551e-01 7.71478658e-01 1.16490749e-02 1.74818832e+02] [ 1.77270335e-02 -4.79879019e-04 9.99842749e-01 6.49330208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.47, Y:174.80, Z:6.49 [[ 7.72657104e-01 6.34695937e-01 -1.27305954e-02 1.05473678e+02] [-6.34599142e-01 7.72761816e-01 1.10952644e-02 1.74798635e+02] [ 1.68798373e-02 -4.94009929e-04 9.99857403e-01 6.49394054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.50, Y:174.78, Z:6.49 [[ 7.73353821e-01 6.33852174e-01 -1.24615318e-02 1.05497331e+02] [-6.33759220e-01 7.73454049e-01 1.08667204e-02 1.74777504e+02] [ 1.65263166e-02 -5.06209015e-04 9.99863303e-01 6.49492115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:174.76, Z:6.50 [[ 7.74131960e-01 6.32918521e-01 -1.15695506e-02 1.05520979e+02] [-6.32838213e-01 7.74218253e-01 1.00941576e-02 1.74755926e+02] [ 1.53461366e-02 -4.92556279e-04 9.99882120e-01 6.49608743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:174.73, Z:6.50 [[ 7.75558093e-01 6.31186564e-01 -1.06380004e-02 1.05544565e+02] [-6.31118441e-01 7.75630894e-01 9.28600383e-03 1.74734706e+02] [ 1.41123626e-02 -4.87997183e-04 9.99900297e-01 6.49720763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:174.71, Z:6.50 [[ 7.75361058e-01 6.31428613e-01 -1.06365923e-02 1.05568897e+02] [-6.31360490e-01 7.75433860e-01 9.28761653e-03 1.74713245e+02] [ 1.41124406e-02 -4.85732080e-04 9.99900297e-01 6.49763997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89275509600003 meters Centerline goodness [0,1] 0.9999568323584641 Centerline is valid? [True, True] Translation: X:105.59, Y:174.69, Z:6.50 [[ 7.75909472e-01 6.30752249e-01 -1.07746170e-02 1.05590989e+02] [-6.30682198e-01 7.75984112e-01 9.41400733e-03 1.74691934e+02] [ 1.42988379e-02 -5.09058305e-04 9.99897637e-01 6.49723263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.62, Y:174.67, Z:6.50 [[ 7.75672657e-01 6.31046700e-01 -1.05825805e-02 1.05615307e+02] [-6.30979096e-01 7.75744684e-01 9.25019160e-03 1.74671516e+02] [ 1.40466834e-02 -4.97733643e-04 9.99901217e-01 6.49907016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:174.65, Z:6.50 [[ 7.75133679e-01 6.31711455e-01 -1.04123643e-02 1.05642122e+02] [-6.31646001e-01 7.75203461e-01 9.10625843e-03 1.74653939e+02] [ 1.38242286e-02 -4.81639315e-04 9.99904325e-01 6.49965247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.66, Y:174.63, Z:6.50 [[ 7.74694190e-01 6.32247681e-01 -1.05726701e-02 1.05663723e+02] [-6.32180172e-01 7.74766181e-01 9.25171187e-03 1.74631086e+02] [ 1.40407206e-02 -4.83415057e-04 9.99901307e-01 6.49966339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.69, Y:174.62, Z:6.50 [[ 7.73248921e-01 6.34018776e-01 -1.03101251e-02 1.05693019e+02] [-6.33954695e-01 7.73317526e-01 9.02488363e-03 1.74615944e+02] [ 1.36949461e-02 -4.42329307e-04 9.99906122e-01 6.49971771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.72, Y:174.60, Z:6.50 [[ 7.72332535e-01 6.35140813e-01 -9.92990975e-03 1.05718553e+02] [-6.35081401e-01 7.72396258e-01 8.69682995e-03 1.74596146e+02] [ 1.31935368e-02 -4.10543727e-04 9.99912877e-01 6.50017408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.75, Y:174.58, Z:6.50 [[ 7.70926532e-01 6.36853391e-01 -9.48893933e-03 1.05745089e+02] [-6.36799209e-01 7.70984839e-01 8.31531820e-03 1.74576981e+02] [ 1.26114670e-02 -3.67950360e-04 9.99920405e-01 6.50051593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:174.56, Z:6.50 [[ 7.70117725e-01 6.37826949e-01 -9.77100319e-03 1.05768627e+02] [-6.37769553e-01 7.70179623e-01 8.56422288e-03 1.74556335e+02] [ 1.29879197e-02 -3.63811508e-04 9.99915587e-01 6.50061670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.79, Y:174.54, Z:6.50 [[ 7.69632139e-01 6.38414200e-01 -9.67884959e-03 1.05792563e+02] [-6.38357870e-01 7.69692915e-01 8.48800429e-03 1.74537788e+02] [ 1.28686044e-02 -3.54071086e-04 9.99917133e-01 6.50077337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.81, Y:174.52, Z:6.50 [[ 7.68741649e-01 6.39489682e-01 -9.44586525e-03 1.05812399e+02] [-6.39436111e-01 7.68799609e-01 8.28374349e-03 1.74517181e+02] [ 1.25593460e-02 -3.28031287e-04 9.99921075e-01 6.50178604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.84, Y:174.50, Z:6.50 [[ 7.68330574e-01 6.39986612e-01 -9.23395132e-03 1.05836536e+02] [-6.39935465e-01 7.68385996e-01 8.09699061e-03 1.74500402e+02] [ 1.22772045e-02 -3.12032507e-04 9.99924584e-01 6.50240145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:174.48, Z:6.50 [[ 7.67750747e-01 6.40683852e-01 -9.10999324e-03 1.05859795e+02] [-6.40634134e-01 7.67804737e-01 7.98700350e-03 1.74481379e+02] [ 1.21118401e-02 -2.95855276e-04 9.99926605e-01 6.50262930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:174.46, Z:6.50 [[ 7.67564864e-01 6.40903750e-01 -9.30390985e-03 1.05882345e+02] [-6.40851917e-01 7.67621192e-01 8.15635386e-03 1.74462113e+02] [ 1.23693161e-02 -2.98102180e-04 9.99923453e-01 6.50251073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.90, Y:174.44, Z:6.50 [[ 7.67354673e-01 6.41147696e-01 -9.82031280e-03 1.05902919e+02] [-6.41089978e-01 7.67417446e-01 8.60835893e-03 1.74443217e+02] [ 1.30555089e-02 -3.09960331e-04 9.99914725e-01 6.50163063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:174.42, Z:6.50 [[ 7.67403959e-01 6.41088691e-01 -9.82115784e-03 1.05924300e+02] [-6.41030981e-01 7.67466739e-01 8.60739473e-03 1.74424591e+02] [ 1.30555154e-02 -3.09682353e-04 9.99914725e-01 6.50200765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:174.41, Z:6.50 [[ 7.67515756e-01 6.40944027e-01 -1.05033107e-02 1.05944794e+02] [-6.40878029e-01 7.67587548e-01 9.20368734e-03 1.74405211e+02] [ 1.39612589e-02 -3.32633984e-04 9.99902482e-01 6.50075423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.97, Y:174.38, Z:6.50 [[ 7.67488508e-01 6.40972285e-01 -1.07666230e-02 1.05970330e+02] [-6.40902963e-01 7.67563949e-01 9.43276453e-03 1.74383797e+02] [ 1.43102123e-02 -3.39177796e-04 9.99897546e-01 6.50052122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:174.36, Z:6.50 [[ 7.68133470e-01 6.40195167e-01 -1.10055185e-02 1.05991548e+02] [-6.40122565e-01 7.68212220e-01 9.64815933e-03 1.74360797e+02] [ 1.46312788e-02 -3.66193346e-04 9.99892890e-01 6.50029159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:174.34, Z:6.50 [[ 7.68431673e-01 6.39834414e-01 -1.11662917e-02 1.06013022e+02] [-6.39759596e-01 7.68512705e-01 9.79188376e-03 1.74340275e+02] [ 1.48466212e-02 -3.80651372e-04 9.99889710e-01 6.50077047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.04, Y:174.32, Z:6.50 [[ 7.68301053e-01 6.39993029e-01 -1.10641079e-02 1.06037030e+02] [-6.39919593e-01 7.68380624e-01 9.70211043e-03 1.74318492e+02] [ 1.47107292e-02 -3.74002212e-04 9.99891721e-01 6.50106007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.06, Y:174.30, Z:6.50 [[ 7.68155960e-01 6.40165272e-01 -1.11734444e-02 1.06058699e+02] [-6.40090314e-01 7.68237126e-01 9.80348455e-03 1.74296148e+02] [ 1.48597052e-02 -3.78591554e-04 9.99889517e-01 6.50098679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.08, Y:174.28, Z:6.50 [[ 7.68087562e-01 6.40248214e-01 -1.11229925e-02 1.06079095e+02] [-6.40173877e-01 7.68168003e-01 9.76353760e-03 1.74277099e+02] [ 1.47954145e-02 -3.78602535e-04 9.99890470e-01 6.50098351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:174.26, Z:6.50 [[ 7.67769650e-01 6.40629845e-01 -1.10980128e-02 1.06100753e+02] [-6.40555908e-01 7.67849767e-01 9.73977060e-03 1.74258694e+02] [ 1.47611943e-02 -3.69002598e-04 9.99890980e-01 6.50125007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.12, Y:174.24, Z:6.50 [[ 7.66836088e-01 6.41740275e-01 -1.14819310e-02 1.06122623e+02] [-6.41661282e-01 7.66921959e-01 1.00750847e-02 1.74239550e+02] [ 1.52713326e-02 -3.58427949e-04 9.99883322e-01 6.50120491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.14, Y:174.22, Z:6.50 [[ 7.66089491e-01 6.42626222e-01 -1.17655986e-02 1.06144593e+02] [-6.42543408e-01 7.66179755e-01 1.03223604e-02 1.74220670e+02] [ 1.56479829e-02 -3.47944026e-04 9.99877502e-01 6.50089420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.17, Y:174.20, Z:6.50 [[ 7.65173541e-01 6.43714698e-01 -1.18675946e-02 1.06165247e+02] [-6.43630599e-01 7.65265497e-01 1.04101634e-02 1.74202353e+02] [ 1.57830358e-02 -3.27234520e-04 9.99875387e-01 6.50095284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.19, Y:174.18, Z:6.50 [[ 7.63310847e-01 6.45911571e-01 -1.24416229e-02 1.06188424e+02] [-6.45819464e-01 7.63412180e-01 1.09116034e-02 1.74184943e+02] [ 1.65460173e-02 -2.93902944e-04 9.99863062e-01 6.50048955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:174.17, Z:6.50 [[ 7.62296065e-01 6.47112444e-01 -1.22553941e-02 1.06209399e+02] [-6.47023257e-01 7.62394528e-01 1.07465696e-02 1.74166255e+02] [ 1.62976843e-02 -2.62542685e-04 9.99867149e-01 6.50067550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.23, Y:174.15, Z:6.50 [[ 7.61435775e-01 6.48127165e-01 -1.21135962e-02 1.06232089e+02] [-6.48040189e-01 7.61532089e-01 1.06202863e-02 1.74148710e+02] [ 1.61081883e-02 -2.36568776e-04 9.99870227e-01 6.50160333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.25, Y:174.13, Z:6.50 [[ 7.60069168e-01 6.49737933e-01 -1.16395372e-02 1.06252930e+02] [-6.49657846e-01 7.60158260e-01 1.02030795e-02 1.74130011e+02] [ 1.54772181e-02 -1.93329459e-04 9.99880202e-01 6.50230625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.28, Y:174.11, Z:6.50 [[ 7.59490510e-01 6.50410550e-01 -1.18440774e-02 1.06275259e+02] [-6.50327736e-01 7.59582835e-01 1.03803982e-02 1.74112448e+02] [ 1.57480784e-02 -1.81281877e-04 9.99875975e-01 6.50327336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:174.09, Z:6.50 [[ 7.58731723e-01 6.51305467e-01 -1.12854288e-02 1.06295979e+02] [-6.51230404e-01 7.58815633e-01 9.88922770e-03 1.74093582e+02] [ 1.50044678e-02 -1.53856444e-04 9.99887415e-01 6.50418537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.32, Y:174.07, Z:6.50 [[ 7.58841453e-01 6.51188665e-01 -1.06288272e-02 1.06317811e+02] [-6.51122096e-01 7.58915872e-01 9.31213535e-03 1.74074343e+02] [ 1.41303427e-02 -1.45770071e-04 9.99900151e-01 6.50497912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:174.05, Z:6.51 [[ 7.59009356e-01 6.50996963e-01 -1.03803300e-02 1.06339424e+02] [-6.50933471e-01 7.59080321e-01 9.09300884e-03 1.74054701e+02] [ 1.37990254e-02 -1.44774535e-04 9.99904778e-01 6.50543310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.36, Y:174.03, Z:6.51 [[ 7.59694941e-01 6.50201749e-01 -1.00638887e-02 1.06360940e+02] [-6.50142018e-01 7.59761582e-01 8.81445628e-03 1.74034825e+02] [ 1.33773309e-02 -1.53340932e-04 9.99910508e-01 6.50650788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.38, Y:174.02, Z:6.51 [[ 7.59872444e-01 6.50004308e-01 -9.39512617e-03 1.06382855e+02] [-6.49952252e-01 7.59930509e-01 8.22751274e-03 1.74016686e+02] [ 1.24875617e-02 -1.45476808e-04 9.99922017e-01 6.50737957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:174.00, Z:6.51 [[ 7.60338242e-01 6.49468961e-01 -8.70780604e-03 1.06404266e+02] [-6.49424220e-01 7.60388091e-01 7.62455441e-03 1.73998437e+02] [ 1.15732234e-02 -1.42180154e-04 9.99933018e-01 6.50865053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:173.98, Z:6.51 [[ 7.60578178e-01 6.49185577e-01 -8.88381077e-03 1.06425741e+02] [-6.49139009e-01 7.60630044e-01 7.77707030e-03 1.73979284e+02] [ 1.18060552e-02 -1.48241841e-04 9.99930295e-01 6.50926257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.45, Y:173.96, Z:6.51 [[ 7.60982340e-01 6.48715273e-01 -8.62397894e-03 1.06446532e+02] [-6.48671371e-01 7.61031190e-01 7.54852330e-03 1.73960959e+02] [ 1.14599593e-02 -1.50164676e-04 9.99934321e-01 6.50987263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.47, Y:173.94, Z:6.51 [[ 7.61505313e-01 6.48099245e-01 -8.77646909e-03 1.06468481e+02] [-6.48053754e-01 7.61555870e-01 7.68044942e-03 1.73941769e+02] [ 1.16614650e-02 -1.61079298e-04 9.99931990e-01 6.50982877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.49, Y:173.92, Z:6.51 [[ 7.62327502e-01 6.47127720e-01 -9.08261394e-03 1.06488921e+02] [-6.47078945e-01 7.62381585e-01 7.94720080e-03 1.73923518e+02] [ 1.20672715e-02 -1.81201487e-04 9.99927171e-01 6.50957684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.51, Y:173.91, Z:6.51 [[ 7.62380915e-01 6.47068460e-01 -8.81746261e-03 1.06510515e+02] [-6.47022512e-01 7.62431884e-01 7.71306948e-03 1.73906092e+02] [ 1.17135986e-02 -1.75200165e-04 9.99931378e-01 6.50950621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.53, Y:173.89, Z:6.51 [[ 7.62491172e-01 6.46926644e-01 -9.65037756e-03 1.06533217e+02] [-6.46871621e-01 7.62552215e-01 8.43955724e-03 1.73888786e+02] [ 1.28186912e-02 -1.92532524e-04 9.99917819e-01 6.50807379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:173.87, Z:6.51 [[ 7.62680748e-01 6.46695817e-01 -1.01290247e-02 1.06553649e+02] [-6.46635208e-01 7.62747979e-01 8.85603097e-03 1.73871743e+02] [ 1.34530513e-02 -2.04540324e-04 9.99909483e-01 6.50745300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:173.85, Z:6.51 [[ 7.63027107e-01 6.46277964e-01 -1.06970706e-02 1.06576156e+02] [-6.46210361e-01 7.63102054e-01 9.35016158e-03 1.73854311e+02] [ 1.42057600e-02 -2.21868865e-04 9.99899069e-01 6.50677756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.60, Y:173.84, Z:6.51 [[ 7.63098648e-01 6.46193479e-01 -1.06977828e-02 1.06596968e+02] [-6.46125878e-01 7.63173597e-01 9.34934669e-03 1.73836295e+02] [ 1.42057523e-02 -2.22359484e-04 9.99899069e-01 6.50714363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.62, Y:173.82, Z:6.51 [[ 7.63764126e-01 6.45394774e-01 -1.13993842e-02 1.06617890e+02] [-6.45317962e-01 7.63849149e-01 9.96020514e-03 1.73817787e+02] [ 1.51356742e-02 -2.51020025e-04 9.99885418e-01 6.50692955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:173.80, Z:6.51 [[ 7.64346070e-01 6.44696618e-01 -1.18893301e-02 1.06639474e+02] [-6.44613016e-01 7.64438483e-01 1.03857750e-02 1.73799203e+02] [ 1.57843355e-02 -2.74309325e-04 9.99875382e-01 6.50710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.66, Y:173.78, Z:6.51 [[ 7.65150916e-01 6.43736830e-01 -1.21231094e-02 1.06660645e+02] [-6.43649868e-01 7.65246893e-01 1.05849343e-02 1.73780608e+02] [ 1.60910838e-02 -2.96034380e-04 9.99870486e-01 6.50777172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.68, Y:173.76, Z:6.51 [[ 7.65690519e-01 6.43100346e-01 -1.18310825e-02 1.06682043e+02] [-6.43017497e-01 7.65781859e-01 1.03268521e-02 1.73761723e+02] [ 1.57012305e-02 -2.99579679e-04 9.99876683e-01 6.50848053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:173.74, Z:6.51 [[ 7.65881997e-01 6.42869961e-01 -1.19574127e-02 1.06702998e+02] [-6.42785380e-01 7.65975275e-01 1.04323568e-02 1.73743432e+02] [ 1.58657313e-02 -3.03904148e-04 9.99874085e-01 6.50880738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:173.73, Z:6.51 [[ 7.66036248e-01 6.42683054e-01 -1.21226247e-02 1.06723826e+02] [-6.42596129e-01 7.66132101e-01 1.05744591e-02 1.73725931e+02] [ 1.60835576e-02 -3.10467243e-04 9.99870603e-01 6.50923832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:173.71, Z:6.51 [[ 7.65961517e-01 6.42778306e-01 -1.17900027e-02 1.06748185e+02] [-6.42696133e-01 7.66052192e-01 1.02819769e-02 1.73709619e+02] [ 1.56407891e-02 -2.98209537e-04 9.99877631e-01 6.51031118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.77, Y:173.69, Z:6.51 [[ 7.65819533e-01 6.42951685e-01 -1.15574334e-02 1.06770121e+02] [-6.42872767e-01 7.65906684e-01 1.00775798e-02 1.73691819e+02] [ 1.53313124e-02 -2.87648292e-04 9.99882427e-01 6.51123780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:173.67, Z:6.51 [[ 7.65641996e-01 6.43171511e-01 -1.10788694e-02 1.06791278e+02] [-6.43099044e-01 7.65722100e-01 9.65843096e-03 1.73673250e+02] [ 1.46953628e-02 -2.70090031e-04 9.99891981e-01 6.51195239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:173.66, Z:6.51 [[ 7.65664081e-01 6.43149230e-01 -1.08435710e-02 1.06813517e+02] [-6.43079843e-01 7.65740817e-01 9.45069211e-03 1.73655453e+02] [ 1.43815703e-02 -2.62773538e-04 9.99896545e-01 6.51289623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.84, Y:173.64, Z:6.51 [[ 7.65677539e-01 6.43130717e-01 -1.09903497e-02 1.06836388e+02] [-6.43059469e-01 7.65756365e-01 9.57645374e-03 1.73637362e+02] [ 1.45748418e-02 -2.65027068e-04 9.99893746e-01 6.51345776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.86, Y:173.62, Z:6.51 [[ 7.65817965e-01 6.42960532e-01 -1.11623890e-02 1.06855622e+02] [-6.42887042e-01 7.65899263e-01 9.72475471e-03 1.73616306e+02] [ 1.48018989e-02 -2.71236641e-04 9.99890409e-01 6.51357820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:173.60, Z:6.51 [[ 7.66235543e-01 6.42465131e-01 -1.10293947e-02 1.06876988e+02] [-6.42393358e-01 7.66314869e-01 9.60702964e-03 1.73597661e+02] [ 1.46241707e-02 -2.76037698e-04 9.99893023e-01 6.51438949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:173.58, Z:6.51 [[ 7.66409535e-01 6.42258810e-01 -1.09565742e-02 1.06895597e+02] [-6.42187985e-01 7.66487798e-01 9.54186396e-03 1.73576948e+02] [ 1.45264267e-02 -2.76795176e-04 9.99894448e-01 6.51458137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:173.56, Z:6.52 [[ 7.66551959e-01 6.42086788e-01 -1.10747873e-02 1.06921796e+02] [-6.42014434e-01 7.66631905e-01 9.64306324e-03 1.73562672e+02] [ 1.46819688e-02 -2.81735695e-04 9.99892174e-01 6.51531121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.94, Y:173.54, Z:6.52 [[ 7.66860808e-01 6.41714131e-01 -1.12905180e-02 1.06942119e+02] [-6.41638915e-01 7.66943863e-01 9.82925704e-03 1.73543439e+02] [ 1.49667666e-02 -2.93236287e-04 9.99887949e-01 6.51552263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.96, Y:173.52, Z:6.52 [[ 7.67178842e-01 6.41328696e-01 -1.15813413e-02 1.06964035e+02] [-6.41249542e-01 7.67266192e-01 1.00804521e-02 1.73524040e+02] [ 1.53508549e-02 -3.06979764e-04 9.99882122e-01 6.51551292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.98, Y:173.51, Z:6.52 [[ 7.67253407e-01 6.41239474e-01 -1.15821755e-02 1.06984884e+02] [-6.41160324e-01 7.67340760e-01 1.00794936e-02 1.73506062e+02] [ 1.53508445e-02 -3.07494435e-04 9.99882122e-01 6.51587902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:173.49, Z:6.52 [[ 7.67854132e-01 6.40515713e-01 -1.18175086e-02 1.07006466e+02] [-6.40433265e-01 7.67944995e-01 1.02819610e-02 1.73486197e+02] [ 1.56609541e-02 -3.26720658e-04 9.99877306e-01 6.51558365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.03, Y:173.47, Z:6.51 [[ 7.68975951e-01 6.39157385e-01 -1.24026094e-02 1.07026191e+02] [-6.39066423e-01 7.69075874e-01 1.07892138e-02 1.73466286e+02] [ 1.64345533e-02 -3.70554731e-04 9.99864875e-01 6.51498159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.05, Y:173.45, Z:6.51 [[ 7.69687605e-01 6.38292115e-01 -1.28127575e-02 1.07046923e+02] [-6.38194953e-01 7.69794139e-01 1.11439002e-02 1.73446598e+02] [ 1.69762493e-02 -4.00284661e-04 9.99855813e-01 6.51471252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:173.43, Z:6.51 [[ 7.70898442e-01 6.36810022e-01 -1.37327550e-02 1.07071102e+02] [-6.36698162e-01 7.71020610e-01 1.19444607e-02 1.73425961e+02] [ 1.81945894e-02 -4.64346244e-04 9.99834357e-01 6.51464663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:173.40, Z:6.51 [[ 7.71286522e-01 6.36333900e-01 -1.40095803e-02 1.07091676e+02] [-6.36217279e-01 7.71413590e-01 1.21920853e-02 1.73401696e+02] [ 1.85654178e-02 -4.90454008e-04 9.99827528e-01 6.51414763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.12, Y:173.38, Z:6.52 [[ 7.71215750e-01 6.36416141e-01 -1.41690686e-02 1.07117981e+02] [-6.36296738e-01 7.71345737e-01 1.23375107e-02 1.73382725e+02] [ 1.87810416e-02 -4.99150413e-04 9.99823496e-01 6.51536004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.14, Y:173.36, Z:6.52 [[ 7.70613584e-01 6.37148343e-01 -1.40247494e-02 1.07140631e+02] [-6.37031399e-01 7.70741045e-01 1.22163104e-02 1.73364915e+02] [ 1.85930519e-02 -4.79848971e-04 9.99827019e-01 6.51603489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:173.35, Z:6.52 [[ 7.69676715e-01 6.38280460e-01 -1.39931421e-02 1.07164359e+02] [-6.38164258e-01 7.69803775e-01 1.21871973e-02 1.73347848e+02] [ 1.85508235e-02 -4.50278804e-04 9.99827817e-01 6.51636832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:173.33, Z:6.52 [[ 7.68808112e-01 6.39317081e-01 -1.44137582e-02 1.07188454e+02] [-6.39193999e-01 7.68943092e-01 1.25519686e-02 1.73330369e+02] [ 1.91080477e-02 -4.36867580e-04 9.99817329e-01 6.51653671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.21, Y:173.31, Z:6.52 [[ 7.67941886e-01 6.40347076e-01 -1.48621126e-02 1.07210516e+02] [-6.40216431e-01 7.68085570e-01 1.29413661e-02 1.73312434e+02] [ 1.97023402e-02 -4.23248382e-04 9.99805800e-01 6.51673006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:173.30, Z:6.52 [[ 7.66632752e-01 6.41913975e-01 -1.48550232e-02 1.07234823e+02] [-6.41783789e-01 7.66776567e-01 1.29330991e-02 1.73295808e+02] [ 1.96924208e-02 -3.81224295e-04 9.99806013e-01 6.51752625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:173.28, Z:6.52 [[ 7.66373316e-01 6.42221624e-01 -1.49440869e-02 1.07255918e+02] [-6.42089978e-01 7.66518914e-01 1.30082343e-02 1.73277151e+02] [ 1.98090946e-02 -3.73715211e-04 9.99803711e-01 6.51748958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:173.26, Z:6.52 [[ 7.66309798e-01 6.42299404e-01 -1.48582846e-02 1.07279218e+02] [-6.42169332e-01 7.66453743e-01 1.29308848e-02 1.73260480e+02] [ 1.96936874e-02 -3.67529057e-04 9.99805993e-01 6.51822402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:173.24, Z:6.52 [[ 7.66453556e-01 6.42130599e-01 -1.47390775e-02 1.07299916e+02] [-6.42002624e-01 7.66595173e-01 1.28246340e-02 1.73243361e+02] [ 1.95339956e-02 -3.66959922e-04 9.99809126e-01 6.51850764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:173.23, Z:6.52 [[ 7.66907052e-01 6.41590682e-01 -1.46618956e-02 1.07323113e+02] [-6.41464004e-01 7.67047101e-01 1.27544347e-02 1.73225786e+02] [ 1.94294910e-02 -3.76387654e-04 9.99811159e-01 6.51906969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.34, Y:173.20, Z:6.52 [[ 7.67776789e-01 6.40551384e-01 -1.45851402e-02 1.07341152e+02] [-6.40425887e-01 7.67915207e-01 1.26853554e-02 1.73204748e+02] [ 1.93257729e-02 -3.98820140e-04 9.99813160e-01 6.51906470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:173.19, Z:6.52 [[ 7.68354506e-01 6.39856269e-01 -1.46733746e-02 1.07364098e+02] [-6.39729174e-01 7.68494490e-01 1.27594166e-02 1.73186917e+02] [ 1.94406002e-02 -4.16769422e-04 9.99810927e-01 6.52045493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.38, Y:173.17, Z:6.52 [[ 7.69011511e-01 6.39062724e-01 -1.48368428e-02 1.07384418e+02] [-6.38932683e-01 7.69154498e-01 1.28990139e-02 1.73167403e+02] [ 1.96551033e-02 -4.39746433e-04 9.99806723e-01 6.52077700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.41, Y:173.15, Z:6.52 [[ 7.70209260e-01 6.37620593e-01 -1.47538139e-02 1.07405520e+02] [-6.37491799e-01 7.70350412e-01 1.28237922e-02 1.73147330e+02] [ 1.95423207e-02 -4.71568137e-04 9.99808919e-01 6.52175132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.43, Y:173.13, Z:6.52 [[ 7.70890404e-01 6.36809183e-01 -1.42144198e-02 1.07427101e+02] [-6.36689532e-01 7.71021297e-01 1.23531072e-02 1.73128065e+02] [ 1.88261925e-02 -4.72719487e-04 9.99822660e-01 6.52225679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:173.11, Z:6.52 [[ 7.71524298e-01 6.36048429e-01 -1.38799605e-02 1.07448889e+02] [-6.35934253e-01 7.71648992e-01 1.20606285e-02 1.73109512e+02] [ 1.83816013e-02 -4.78325688e-04 9.99830930e-01 6.52297511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:173.09, Z:6.52 [[ 7.72626855e-01 6.34726320e-01 -1.30476941e-02 1.07469729e+02] [-6.34625268e-01 7.72736870e-01 1.13357064e-02 1.73091123e+02] [ 1.72775055e-02 -4.77874795e-04 9.99850619e-01 6.52431155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:173.07, Z:6.53 [[ 7.73113699e-01 6.34137378e-01 -1.28450280e-02 1.07489591e+02] [-6.34039400e-01 7.73220249e-01 1.11573285e-02 1.73072052e+02] [ 1.70073147e-02 -4.81629654e-04 9.99855249e-01 6.52545825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:173.05, Z:6.53 [[ 7.73357309e-01 6.33858065e-01 -1.19342272e-02 1.07508733e+02] [-6.33773499e-01 7.73449255e-01 1.03635044e-02 1.73053556e+02] [ 1.57995100e-02 -4.51094939e-04 9.99875078e-01 6.52833631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:173.04, Z:6.53 [[ 7.73246807e-01 6.34001167e-01 -1.14845954e-02 1.07531966e+02] [-6.33922906e-01 7.73331970e-01 9.97067450e-03 1.73036795e+02] [ 1.52028240e-02 -4.29444137e-04 9.99884338e-01 6.52945832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:173.02, Z:6.53 [[ 7.72689627e-01 6.34683404e-01 -1.13011751e-02 1.07554720e+02] [-6.34607718e-01 7.72772159e-01 9.80994296e-03 1.73019303e+02] [ 1.49594415e-02 -4.08228214e-04 9.99888018e-01 6.53054817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:173.00, Z:6.53 [[ 7.72075981e-01 6.35429130e-01 -1.13358387e-02 1.07577990e+02] [-6.35353082e-01 7.72159094e-01 9.83849257e-03 1.73002583e+02] [ 1.50047357e-02 -3.93803718e-04 9.99887345e-01 6.53095412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62275509600005 meters Centerline goodness [0,1] 0.999850647549553 Centerline is valid? [True, True] Translation: X:107.60, Y:172.99, Z:6.53 [[ 7.70309183e-01 6.37570658e-01 -1.12880114e-02 1.07601034e+02] [-6.37495503e-01 7.70391805e-01 9.79542850e-03 1.72985926e+02] [ 1.49414693e-02 -3.49452024e-04 9.99888309e-01 6.52960452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:172.97, Z:6.53 [[ 7.66991513e-01 6.41572384e-01 -1.04352760e-02 1.07625885e+02] [-6.41508542e-01 7.67062457e-01 9.05412348e-03 1.72971093e+02] [ 1.38133840e-02 -2.50117180e-04 9.99904559e-01 6.53223678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:172.95, Z:6.53 [[ 7.65749990e-01 6.43052402e-01 -1.05148349e-02 1.07647552e+02] [-6.42987742e-01 7.65822145e-01 9.12171034e-03 1.72953701e+02] [ 1.39182311e-02 -2.24039677e-04 9.99903112e-01 6.53222073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:172.94, Z:6.53 [[ 7.64686088e-01 6.44310518e-01 -1.09153099e-02 1.07671289e+02] [-6.44240993e-01 7.64763960e-01 9.46726329e-03 1.72937527e+02] [ 1.44474930e-02 -2.07394417e-04 9.99895608e-01 6.53233796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:172.92, Z:6.53 [[ 7.63935360e-01 6.45196932e-01 -1.11213572e-02 1.07693923e+02] [-6.45124874e-01 7.64016284e-01 9.64440665e-03 1.72919126e+02] [ 1.47194396e-02 -1.93039103e-04 9.99891645e-01 6.53232782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:172.90, Z:6.53 [[ 7.63040115e-01 6.46250827e-01 -1.13864533e-02 1.07715602e+02] [-6.46175436e-01 7.63125047e-01 9.87264450e-03 1.72901210e+02] [ 1.50694924e-02 -1.75577376e-04 9.99886433e-01 6.53212509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:172.88, Z:6.53 [[ 7.63189100e-01 6.46074196e-01 -1.14250278e-02 1.07737372e+02] [-6.45998303e-01 7.63274591e-01 9.90407965e-03 1.72883029e+02] [ 1.51192037e-02 -1.78137054e-04 9.99885682e-01 6.53272747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:172.86, Z:6.53 [[ 7.64024209e-01 6.45081162e-01 -1.17176096e-02 1.07757747e+02] [-6.45001252e-01 7.64114032e-01 1.01553258e-02 1.72863651e+02] [ 1.55045993e-02 -2.01041859e-04 9.99879776e-01 6.53282578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.78, Y:172.84, Z:6.53 [[ 7.64683300e-01 6.44298411e-01 -1.17901951e-02 1.07779679e+02] [-6.44217445e-01 7.64774157e-01 1.02162894e-02 1.72844315e+02] [ 1.55991755e-02 -2.16776528e-04 9.99878302e-01 6.53365480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:172.82, Z:6.53 [[ 7.65786387e-01 6.42994967e-01 -1.13438484e-02 1.07799733e+02] [-6.42919895e-01 7.65870367e-01 9.82799007e-03 1.72824985e+02] [ 1.50072655e-02 -2.32955162e-04 9.99887358e-01 6.53419329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.82, Y:172.80, Z:6.54 [[ 7.68049041e-01 6.40310987e-01 -1.01247490e-02 1.07820493e+02] [-6.40250972e-01 7.68115731e-01 8.77027010e-03 1.72804474e+02] [ 1.33926793e-02 -2.53617133e-04 9.99910282e-01 6.53574328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.84, Y:172.79, Z:6.54 [[ 7.69293224e-01 6.38829889e-01 -9.18201632e-03 1.07842769e+02] [-6.38780439e-01 7.69347977e-01 7.95247260e-03 1.72785399e+02] [ 1.21444429e-02 -2.52490873e-04 9.99926222e-01 6.53671715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.86, Y:172.76, Z:6.54 [[ 7.71847666e-01 6.35754334e-01 -8.22238058e-03 1.07862127e+02] [-6.35714511e-01 7.71891414e-01 7.12076365e-03 1.72762957e+02] [ 1.08738413e-02 -2.69058152e-04 9.99940842e-01 6.53857447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:172.74, Z:6.54 [[ 7.72798135e-01 6.34599953e-01 -8.12045188e-03 1.07881985e+02] [-6.34561048e-01 7.72840747e-01 7.03247133e-03 1.72742889e+02] [ 1.07386221e-02 -2.81758269e-04 9.99942300e-01 6.53941503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:172.72, Z:6.54 [[ 7.73890136e-01 6.33273745e-01 -7.64340866e-03 1.07902951e+02] [-6.33239225e-01 7.73927829e-01 6.61805724e-03 1.72723301e+02] [ 1.01064886e-02 -2.81543040e-04 9.99948889e-01 6.54003400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:172.71, Z:6.54 [[ 7.73843735e-01 6.33330860e-01 -7.60884826e-03 1.07925677e+02] [-6.33296665e-01 7.73881091e-01 6.58710861e-03 1.72705399e+02] [ 1.00601630e-02 -2.78734497e-04 9.99949356e-01 6.54033413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:172.69, Z:6.54 [[ 7.73601345e-01 6.33629525e-01 -7.38815531e-03 1.07947105e+02] [-6.33597308e-01 7.73636578e-01 6.39505388e-03 1.72686816e+02] [ 9.76784215e-03 -2.66106964e-04 9.99952258e-01 6.54053067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.97, Y:172.67, Z:6.54 [[ 7.72158972e-01 6.35382267e-01 -7.73930113e-03 1.07971655e+02] [-6.35347016e-01 7.72197714e-01 6.69771391e-03 1.72670192e+02] [ 1.02318793e-02 -2.54558009e-04 9.99947621e-01 6.54018296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.00, Y:172.65, Z:6.54 [[ 7.71267746e-01 6.36461193e-01 -7.95069756e-03 1.07995586e+02] [-6.36424055e-01 7.71308686e-01 6.87993399e-03 1.72651299e+02] [ 1.05112531e-02 -2.46255995e-04 9.99944725e-01 6.54010558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:172.63, Z:6.54 [[ 7.70277465e-01 6.37652596e-01 -8.47316065e-03 1.08017249e+02] [-6.37610485e-01 7.70324027e-01 7.33225817e-03 1.72633093e+02] [ 1.12025127e-02 -2.45297164e-04 9.99937220e-01 6.54028692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:172.62, Z:6.54 [[ 7.69234558e-01 6.38907174e-01 -8.70738509e-03 1.08040797e+02] [-6.38862799e-01 7.69283803e-01 7.53362954e-03 1.72615441e+02] [ 1.15117403e-02 -2.32303783e-04 9.99933711e-01 6.54007365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:172.60, Z:6.54 [[ 7.68284042e-01 6.40045346e-01 -9.03247761e-03 1.08063643e+02] [-6.39997685e-01 7.68337104e-01 7.81394944e-03 1.72598158e+02] [ 1.19412697e-02 -2.22567902e-04 9.99928676e-01 6.53991809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:172.58, Z:6.54 [[ 7.66550857e-01 6.42109378e-01 -9.76376613e-03 1.08085591e+02] [-6.42053873e-01 7.66613009e-01 8.44510683e-03 1.72581205e+02] [ 1.29077124e-02 -2.04740017e-04 9.99916671e-01 6.53918697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31275509600005 meters Centerline goodness [0,1] 0.999957285949213 Centerline is valid? [True, True] Translation: X:108.11, Y:172.56, Z:6.54 [[ 7.66007961e-01 6.42761214e-01 -9.47760924e-03 1.08109021e+02] [-6.42708985e-01 7.66066568e-01 8.19598673e-03 1.72563561e+02] [ 1.25285420e-02 -1.86846482e-04 9.99921497e-01 6.53945661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.13, Y:172.55, Z:6.54 [[ 7.65614892e-01 6.43225303e-01 -9.74920407e-03 1.08130182e+02] [-6.43170093e-01 7.65676940e-01 8.42945180e-03 1.72545074e+02] [ 1.28867774e-02 -1.83317347e-04 9.99916945e-01 6.53933229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:172.53, Z:6.54 [[ 7.65519040e-01 6.43320815e-01 -1.09054305e-02 1.08151891e+02] [-6.43251773e-01 7.65596688e-01 9.42702002e-03 1.72526705e+02] [ 1.44137596e-02 -2.01625836e-04 9.99896096e-01 6.53840130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:172.51, Z:6.54 [[ 7.65736008e-01 6.43059984e-01 -1.10554886e-02 1.08171715e+02] [-6.42989035e-01 7.65815783e-01 9.55441374e-03 1.72507619e+02] [ 1.46105288e-02 -2.07600706e-04 9.99893239e-01 6.53821472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:172.49, Z:6.54 [[ 7.66144200e-01 6.42571266e-01 -1.11907173e-02 1.08192912e+02] [-6.42498547e-01 7.66225894e-01 9.66935901e-03 1.72488137e+02] [ 1.47878696e-02 -2.18103732e-04 9.99890630e-01 6.53840410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:172.47, Z:6.54 [[ 7.66971218e-01 6.41595645e-01 -1.04966074e-02 1.08211985e+02] [-6.41531595e-01 7.67043010e-01 9.06827708e-03 1.72467705e+02] [ 1.38695164e-02 -2.21202262e-04 9.99903789e-01 6.53962811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:172.45, Z:6.54 [[ 7.67690927e-01 6.40740774e-01 -1.00946647e-02 1.08233728e+02] [-6.40681482e-01 7.67757260e-01 8.71942090e-03 1.72448284e+02] [ 1.33371406e-02 -2.26355559e-04 9.99911031e-01 6.54042035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:172.43, Z:6.54 [[ 7.68712971e-01 6.39522132e-01 -9.58174321e-03 1.08252503e+02] [-6.39468634e-01 7.68772650e-01 8.27518078e-03 1.72428106e+02] [ 1.26583434e-02 -2.34014560e-04 9.99919853e-01 6.54150843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:172.41, Z:6.54 [[ 7.69352377e-01 6.38750931e-01 -9.70406262e-03 1.08274483e+02] [-6.38696018e-01 7.69413534e-01 8.37918211e-03 1.72409636e+02] [ 1.28186475e-02 -2.48597519e-04 9.99917807e-01 6.54151551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.29, Y:172.39, Z:6.54 [[ 7.69779504e-01 6.38236127e-01 -9.70368654e-03 1.08293770e+02] [-6.38181193e-01 7.69840620e-01 8.37756580e-03 1.72389112e+02] [ 1.28171572e-02 -2.56168192e-04 9.99917824e-01 6.54168040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:172.37, Z:6.54 [[ 7.70429565e-01 6.37450263e-01 -9.76974727e-03 1.08314848e+02] [-6.37394536e-01 7.70491460e-01 8.43296249e-03 1.72370168e+02] [ 1.29031010e-02 -2.69820089e-04 9.99916715e-01 6.54169617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:172.35, Z:6.54 [[ 7.70465790e-01 6.37404376e-01 -9.90598015e-03 1.08336384e+02] [-6.37347103e-01 7.70529420e-01 8.54891127e-03 1.72351974e+02] [ 1.30819626e-02 -2.73095928e-04 9.99914390e-01 6.54150770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:172.33, Z:6.54 [[ 7.70539866e-01 6.37314810e-01 -9.90696979e-03 1.08357310e+02] [-6.37257544e-01 7.70603503e-01 8.54776426e-03 1.72334087e+02] [ 1.30819624e-02 -2.73101893e-04 9.99914390e-01 6.54187367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:172.32, Z:6.54 [[ 7.70664656e-01 6.37162478e-01 -9.99817575e-03 1.08378567e+02] [-6.37104167e-01 7.70729460e-01 8.62441167e-03 1.72316217e+02] [ 1.32010401e-02 -2.76649819e-04 9.99912824e-01 6.54208026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:172.30, Z:6.54 [[ 7.70505538e-01 6.37352005e-01 -1.01802954e-02 1.08399260e+02] [-6.37291595e-01 7.70572738e-01 8.77937503e-03 1.72297490e+02] [ 1.34402104e-02 -2.76740357e-04 9.99909638e-01 6.54206768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.42, Y:172.28, Z:6.54 [[ 7.69659481e-01 6.38365554e-01 -1.06631772e-02 1.08421199e+02] [-6.38299400e-01 7.69733296e-01 9.19393522e-03 1.72279350e+02] [ 1.40768941e-02 -2.69899798e-04 9.99900879e-01 6.54126432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:172.26, Z:6.54 [[ 7.68919231e-01 6.39254675e-01 -1.08016983e-02 1.08443066e+02] [-6.39186900e-01 7.68995055e-01 9.31190549e-03 1.72261063e+02] [ 1.42591317e-02 -2.55799174e-04 9.99898301e-01 6.54128934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:172.24, Z:6.54 [[ 7.68240557e-01 6.40071277e-01 -1.07334615e-02 1.08465822e+02] [-6.40004456e-01 7.68315497e-01 9.25165823e-03 1.72242573e+02] [ 1.41684055e-02 -2.38035872e-04 9.99899595e-01 6.54132154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.49, Y:172.22, Z:6.54 [[ 7.66936488e-01 6.41633430e-01 -1.07222196e-02 1.08488151e+02] [-6.41566921e-01 7.67011407e-01 9.24053081e-03 1.72223998e+02] [ 1.41530982e-02 -2.07878845e-04 9.99899818e-01 6.54152950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:172.21, Z:6.54 [[ 7.66380448e-01 6.42294373e-01 -1.09062853e-02 1.08509494e+02] [-6.42225649e-01 7.66458022e-01 9.39765729e-03 1.72205196e+02] [ 1.43952722e-02 -1.97884670e-04 9.99896363e-01 6.54202295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:172.19, Z:6.54 [[ 7.66135539e-01 6.42590541e-01 -1.06645174e-02 1.08530121e+02] [-6.42524880e-01 7.66209737e-01 9.18788681e-03 1.72185793e+02] [ 1.40753063e-02 -1.86948835e-04 9.99900921e-01 6.54236249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.55, Y:172.17, Z:6.54 [[ 7.65647319e-01 6.43177479e-01 -1.03399229e-02 1.08551505e+02] [-6.43115831e-01 7.65717116e-01 8.90654573e-03 1.72166309e+02] [ 1.36459456e-02 -1.69504771e-04 9.99906875e-01 6.54272908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:172.15, Z:6.54 [[ 7.65729602e-01 6.43085907e-01 -9.93441374e-03 1.08572683e+02] [-6.43029009e-01 7.65794026e-01 8.55597801e-03 1.72147209e+02] [ 1.31099436e-02 -1.63449421e-04 9.99914048e-01 6.54332234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:172.13, Z:6.54 [[ 7.65844143e-01 6.42953108e-01 -9.69790925e-03 1.08593369e+02] [-6.42898901e-01 7.65905526e-01 8.35038749e-03 1.72127641e+02] [ 1.27965899e-02 -1.60320157e-04 9.99918107e-01 6.54398009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:172.11, Z:6.54 [[ 7.65922974e-01 6.42859117e-01 -9.70332042e-03 1.08612658e+02] [-6.42804866e-01 7.65984419e-01 8.35312544e-03 1.72109327e+02] [ 1.28024751e-02 -1.60509099e-04 9.99918032e-01 6.54458323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:172.09, Z:6.55 [[ 7.66043455e-01 6.42720923e-01 -9.34023652e-03 1.08633121e+02] [-6.42670671e-01 7.66100379e-01 8.03847734e-03 1.72090841e+02] [ 1.23220563e-02 -1.55126880e-04 9.99924069e-01 6.54532830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:172.07, Z:6.55 [[ 7.66294597e-01 6.42421690e-01 -9.32538042e-03 1.08652830e+02] [-6.42371599e-01 7.66351321e-01 8.02377909e-03 1.72071296e+02] [ 1.23011673e-02 -1.58219029e-04 9.99924325e-01 6.54564479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.67, Y:172.05, Z:6.55 [[ 7.66416317e-01 6.42276721e-01 -9.30817850e-03 1.08673237e+02] [-6.42226824e-01 7.66472823e-01 8.00739746e-03 1.72051510e+02] [ 1.22774308e-02 -1.59038147e-04 9.99924617e-01 6.54590156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:172.03, Z:6.55 [[ 7.66547036e-01 6.42121324e-01 -9.26536612e-03 1.08694528e+02] [-6.42071889e-01 7.66603013e-01 7.96932065e-03 1.72031457e+02] [ 1.22201283e-02 -1.59827993e-04 9.99925319e-01 6.54571019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:172.01, Z:6.55 [[ 7.66628101e-01 6.42025412e-01 -9.20456965e-03 1.08715634e+02] [-6.41976632e-01 7.66683341e-01 7.91578718e-03 1.72012321e+02] [ 1.21391267e-02 -1.59346272e-04 9.99926305e-01 6.54579920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.74, Y:171.99, Z:6.55 [[ 7.67001658e-01 6.41572901e-01 -9.62643935e-03 1.08735731e+02] [-6.41519528e-01 7.67062046e-01 8.27722300e-03 1.71992606e+02] [ 1.26945182e-02 -1.73094939e-04 9.99919406e-01 6.54586327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:171.97, Z:6.55 [[ 7.66955857e-01 6.41625124e-01 -9.79361577e-03 1.08757127e+02] [-6.41569907e-01 7.67018364e-01 8.41926731e-03 1.71973480e+02] [ 1.29138966e-02 -1.73917206e-04 9.99916597e-01 6.54560597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.78, Y:171.95, Z:6.54 [[ 7.67002062e-01 6.41555788e-01 -1.06774750e-02 1.08775826e+02] [-6.41490170e-01 7.67076356e-01 9.17750782e-03 1.71953052e+02] [ 1.40783219e-02 -1.89672142e-04 9.99900878e-01 6.54477493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:171.93, Z:6.54 [[ 7.67139673e-01 6.41385547e-01 -1.10137347e-02 1.08797300e+02] [-6.41315741e-01 7.67218705e-01 9.46462033e-03 1.71933382e+02] [ 1.45204139e-02 -1.97404330e-04 9.99894554e-01 6.54454161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:171.91, Z:6.54 [[ 7.66699952e-01 6.41897787e-01 -1.17649535e-02 1.08821639e+02] [-6.41818202e-01 7.66790187e-01 1.01096501e-02 1.71911289e+02] [ 1.55106129e-02 -2.00106994e-04 9.99879683e-01 6.54425158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.84, Y:171.89, Z:6.54 [[ 7.66200555e-01 6.42497764e-01 -1.15469787e-02 1.08844670e+02] [-6.42421084e-01 7.66287536e-01 9.92792355e-03 1.71891252e+02] [ 1.52269746e-02 -1.88757929e-04 9.99884045e-01 6.54463382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.87, Y:171.87, Z:6.55 [[ 7.65842860e-01 6.42927116e-01 -1.13770112e-02 1.08866703e+02] [-6.42852722e-01 7.65927341e-01 9.78195984e-03 1.71873261e+02] [ 1.50030512e-02 -1.77701495e-04 9.99887432e-01 6.54520506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:171.85, Z:6.55 [[ 7.65524817e-01 6.43311686e-01 -1.10376646e-02 1.08887054e+02] [-6.43241724e-01 7.65604368e-01 9.48872833e-03 1.71854347e+02] [ 1.45546940e-02 -1.63970642e-04 9.99894061e-01 6.54631954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:171.84, Z:6.55 [[ 7.65411665e-01 6.43446911e-01 -1.10025464e-02 1.08908021e+02] [-6.43377434e-01 7.65490724e-01 9.45669498e-03 1.71836386e+02] [ 1.45072283e-02 -1.59474606e-04 9.99894752e-01 6.54701793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.93, Y:171.82, Z:6.55 [[ 7.65257997e-01 6.43629860e-01 -1.09909545e-02 1.08930253e+02] [-6.43560579e-01 7.65336906e-01 9.44462417e-03 1.71817779e+02] [ 1.44906253e-02 -1.54229107e-04 9.99894994e-01 6.54773082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:171.80, Z:6.55 [[ 7.65250748e-01 6.43636790e-01 -1.10894460e-02 1.08952217e+02] [-6.43566285e-01 7.65331078e-01 9.52775864e-03 1.71799483e+02] [ 1.46195136e-02 -1.54330892e-04 9.99893117e-01 6.54821220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.97, Y:171.78, Z:6.55 [[ 7.65061328e-01 6.43867231e-01 -1.07774504e-02 1.08974736e+02] [-6.43800680e-01 7.65137222e-01 9.25827534e-03 1.71780796e+02] [ 1.42073285e-02 -1.44618549e-04 9.99899060e-01 6.54865959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.00, Y:171.76, Z:6.55 [[ 7.64849265e-01 6.44120806e-01 -1.06765454e-02 1.08997281e+02] [-6.44055541e-01 7.64923766e-01 9.17016020e-03 1.71763101e+02] [ 1.40734343e-02 -1.37502047e-04 9.99900955e-01 6.54949053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:171.75, Z:6.55 [[ 7.64194919e-01 6.44903854e-01 -1.02540061e-02 1.09020090e+02] [-6.44843741e-01 7.64263701e-01 8.80590701e-03 1.71747033e+02] [ 1.35157281e-02 -1.17197712e-04 9.99908652e-01 6.54988158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.04, Y:171.73, Z:6.55 [[ 7.63774260e-01 6.45409284e-01 -9.78450048e-03 1.09043984e+02] [-6.45354611e-01 7.63836924e-01 8.40114113e-03 1.71729859e+02] [ 1.28959372e-02 -1.02102851e-04 9.99916839e-01 6.55083946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.07, Y:171.71, Z:6.55 [[ 7.62748153e-01 6.46613633e-01 -1.02988062e-02 1.09067271e+02] [-6.46553191e-01 7.62817674e-01 8.84130644e-03 1.71712998e+02] [ 1.35730207e-02 -8.49641263e-05 9.99907879e-01 6.55078794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.09, Y:171.70, Z:6.55 [[ 7.62488509e-01 6.46918218e-01 -1.03967957e-02 1.09089394e+02] [-6.46856668e-01 7.62559383e-01 8.92403495e-03 1.71696076e+02] [ 1.37012949e-02 -7.92375016e-05 9.99906130e-01 6.55066156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:171.68, Z:6.55 [[ 7.62435435e-01 6.46976993e-01 -1.06291097e-02 1.09110615e+02] [-6.46912698e-01 7.62509518e-01 9.12121176e-03 1.71679417e+02] [ 1.40060115e-02 -7.82290250e-05 9.99901908e-01 6.55060015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:171.66, Z:6.55 [[ 7.62594259e-01 6.46789300e-01 -1.06581902e-02 1.09133024e+02] [-6.46724670e-01 7.62668732e-01 9.14366577e-03 1.71662773e+02] [ 1.40426936e-02 -7.99924933e-05 9.99901393e-01 6.55150467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:171.65, Z:6.55 [[ 7.62932418e-01 6.46391735e-01 -1.05759364e-02 1.09154906e+02] [-6.46328090e-01 7.63005713e-01 9.07097463e-03 1.71645097e+02] [ 1.39329029e-02 -8.50158528e-05 9.99902929e-01 6.55178051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:171.63, Z:6.55 [[ 7.63420724e-01 6.45819104e-01 -1.03190695e-02 1.09177121e+02] [-6.45758488e-01 7.63490456e-01 8.84864653e-03 1.71626176e+02] [ 1.35931360e-02 -9.16134375e-05 9.99907605e-01 6.55253060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.20, Y:171.61, Z:6.55 [[ 7.64255238e-01 6.44829161e-01 -1.04539075e-02 1.09197882e+02] [-6.44766878e-01 7.64326724e-01 8.96283473e-03 1.71608217e+02] [ 1.37696981e-02 -1.09560106e-04 9.99905187e-01 6.55307328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.22, Y:171.59, Z:6.55 [[ 7.66312869e-01 6.42383584e-01 -1.03883808e-02 1.09218054e+02] [-6.42321877e-01 7.66383264e-01 8.90494281e-03 1.71587623e+02] [ 1.36818702e-02 -1.51288028e-04 9.99906387e-01 6.55270552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:171.57, Z:6.55 [[ 7.67655199e-01 6.40780605e-01 -1.02816122e-02 1.09239116e+02] [-6.40720034e-01 7.67724029e-01 8.81207464e-03 1.71567977e+02] [ 1.35400472e-02 -1.77000016e-04 9.99908314e-01 6.55299512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.26, Y:171.55, Z:6.55 [[ 7.69917422e-01 6.38063490e-01 -1.01067284e-02 1.09258863e+02] [-6.38004745e-01 7.69983724e-01 8.66084045e-03 1.71546020e+02] [ 1.33081824e-02 -2.19991283e-04 9.99911418e-01 6.55338527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:171.52, Z:6.55 [[ 7.70754363e-01 6.37050487e-01 -1.02170822e-02 1.09277987e+02] [-6.36990373e-01 7.70822041e-01 8.75470317e-03 1.71523837e+02] [ 1.34527401e-02 -2.39542663e-04 9.99909479e-01 6.55368766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:171.51, Z:6.55 [[ 7.71593331e-01 6.36036124e-01 -1.00886936e-02 1.09300176e+02] [-6.35977435e-01 7.71659242e-01 8.64388205e-03 1.71505306e+02] [ 1.32828549e-02 -2.53380245e-04 9.99911747e-01 6.55397480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:171.49, Z:6.55 [[ 7.72010016e-01 6.35526597e-01 -1.03188932e-02 1.09321872e+02] [-6.35465174e-01 7.72078929e-01 8.83970842e-03 1.71486432e+02] [ 1.35848698e-02 -2.67046204e-04 9.99907686e-01 6.55438838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:171.47, Z:6.55 [[ 7.71912693e-01 6.35646174e-01 -1.02340489e-02 1.09343594e+02] [-6.35585785e-01 7.71980487e-01 8.76567604e-03 1.71467316e+02] [ 1.34723545e-02 -2.61720617e-04 9.99909209e-01 6.55479224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:171.45, Z:6.56 [[ 7.71657592e-01 6.35959360e-01 -1.00126250e-02 1.09365942e+02] [-6.35901600e-01 7.71722508e-01 8.57472629e-03 1.71449129e+02] [ 1.31801456e-02 -2.49708360e-04 9.99913107e-01 6.55547157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.39, Y:171.43, Z:6.56 [[ 7.70740510e-01 6.37069522e-01 -1.00742239e-02 1.09388556e+02] [-6.37011161e-01 7.70806312e-01 8.62613110e-03 1.71431487e+02] [ 1.32607206e-02 -2.31115599e-04 9.99912046e-01 6.55628939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:171.41, Z:6.56 [[ 7.70182059e-01 6.37741517e-01 -1.02641442e-02 1.09413066e+02] [-6.37681013e-01 7.70250419e-01 8.78739765e-03 1.71411942e+02] [ 1.35100497e-02 -2.22646138e-04 9.99908710e-01 6.55676151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:171.39, Z:6.56 [[ 7.68425301e-01 6.39853112e-01 -1.05143431e-02 1.09435889e+02] [-6.39789810e-01 7.68497208e-01 9.00227030e-03 1.71394328e+02] [ 1.38403740e-02 -1.90602700e-04 9.99904199e-01 6.55725749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:171.37, Z:6.56 [[ 7.67588438e-01 6.40850369e-01 -1.08993230e-02 1.09461471e+02] [-6.40782459e-01 7.67665795e-01 9.33095187e-03 1.71374004e+02] [ 1.43467814e-02 -1.78235749e-04 9.99897064e-01 6.55746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:171.36, Z:6.56 [[ 7.67054875e-01 6.41481431e-01 -1.13310311e-02 1.09484228e+02] [-6.41408077e-01 7.67138543e-01 9.70233161e-03 1.71355244e+02] [ 1.49163363e-02 -1.74405893e-04 9.99888730e-01 6.55744993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.51, Y:171.34, Z:6.56 [[ 7.66122670e-01 6.42582071e-01 -1.20140077e-02 1.09506693e+02] [-6.42499754e-01 7.66216846e-01 1.02864428e-02 1.71338445e+02] [ 1.58152188e-02 -1.61680000e-04 9.99874919e-01 6.55671024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:171.32, Z:6.56 [[ 7.66093239e-01 6.42610043e-01 -1.23887883e-02 1.09529456e+02] [-6.42522546e-01 7.66193387e-01 1.06052424e-02 1.71320092e+02] [ 1.63072430e-02 -1.64528721e-04 9.99867015e-01 6.55688646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:171.30, Z:6.56 [[ 7.66052627e-01 6.42656589e-01 -1.24852994e-02 1.09550936e+02] [-6.42567759e-01 7.66154346e-01 1.06860767e-02 1.71301648e+02] [ 1.64331440e-02 -1.63446310e-04 9.99864953e-01 6.55702279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.57, Y:171.28, Z:6.56 [[ 7.66103568e-01 6.42587492e-01 -1.29088638e-02 1.09573716e+02] [-6.42492559e-01 7.66212299e-01 1.10464623e-02 1.71284115e+02] [ 1.69892487e-02 -1.68885224e-04 9.99855658e-01 6.55794154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:171.27, Z:6.56 [[ 7.66217810e-01 6.42457113e-01 -1.26144941e-02 1.09594498e+02] [-6.42366473e-01 7.66321623e-01 1.07927917e-02 1.71265923e+02] [ 1.66006654e-02 -1.66501137e-04 9.99862186e-01 6.55844352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.62, Y:171.25, Z:6.56 [[ 7.66587417e-01 6.42011715e-01 -1.28331619e-02 1.09616874e+02] [-6.41917878e-01 7.66694807e-01 1.09777668e-02 1.71247584e+02] [ 1.68869734e-02 -1.77581870e-04 9.99857389e-01 6.56000667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.64, Y:171.23, Z:6.56 [[ 7.66797024e-01 6.41764580e-01 -1.26707712e-02 1.09637441e+02] [-6.41673100e-01 7.66901683e-01 1.08370411e-02 1.71228972e+02] [ 1.66720649e-02 -1.79317786e-04 9.99860995e-01 6.56057424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:171.21, Z:6.56 [[ 7.67285360e-01 6.41180739e-01 -1.26663542e-02 1.09659435e+02] [-6.41089277e-01 7.67389878e-01 1.08312041e-02 1.71209843e+02] [ 1.66647914e-02 -1.90360491e-04 9.99861115e-01 6.56137550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.68, Y:171.19, Z:6.56 [[ 7.68330150e-01 6.39928828e-01 -1.26441660e-02 1.09680731e+02] [-6.39837547e-01 7.68434153e-01 1.08104629e-02 1.71191110e+02] [ 1.66341359e-02 -2.15792397e-04 9.99861620e-01 6.56240366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:171.17, Z:6.56 [[ 7.68785936e-01 6.39382871e-01 -1.25590400e-02 1.09702831e+02] [-6.39292772e-01 7.68888480e-01 1.07358061e-02 1.71171941e+02] [ 1.65207917e-02 -2.24633186e-04 9.99863497e-01 6.56312885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:171.15, Z:6.56 [[ 7.69231343e-01 6.38841857e-01 -1.28149400e-02 1.09723413e+02] [-6.38747993e-01 7.69338043e-01 1.09533859e-02 1.71153102e+02] [ 1.68565022e-02 -2.40170598e-04 9.99857890e-01 6.56328699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:171.13, Z:6.56 [[ 7.69281180e-01 6.38781822e-01 -1.28159713e-02 1.09745021e+02] [-6.38687971e-01 7.69387891e-01 1.09521792e-02 1.71134747e+02] [ 1.68565061e-02 -2.39898632e-04 9.99857890e-01 6.56366395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.77, Y:171.12, Z:6.56 [[ 7.69824842e-01 6.38129559e-01 -1.26641026e-02 1.09766158e+02] [-6.38037858e-01 7.69928960e-01 1.08207013e-02 1.71115666e+02] [ 1.66554687e-02 -2.49867718e-04 9.99861257e-01 6.56413301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:171.10, Z:6.56 [[ 7.70106503e-01 6.37792164e-01 -1.25350982e-02 1.09788058e+02] [-6.37702306e-01 7.70208473e-01 1.07087892e-02 1.71096321e+02] [ 1.64846206e-02 -2.53247176e-04 9.99864087e-01 6.56461729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.81, Y:171.08, Z:6.57 [[ 7.70716292e-01 6.37053810e-01 -1.26031596e-02 1.09807880e+02] [-6.36962904e-01 7.70819285e-01 1.07651408e-02 1.71076873e+02] [ 1.65727325e-02 -2.69124225e-04 9.99862627e-01 6.56506254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:171.06, Z:6.57 [[ 7.71166434e-01 6.36502832e-01 -1.29025430e-02 1.09829587e+02] [-6.36407514e-01 7.71274311e-01 1.10187499e-02 1.71057514e+02] [ 1.69648655e-02 -2.86014807e-04 9.99856045e-01 6.56534794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:171.04, Z:6.57 [[ 7.71291683e-01 6.36342492e-01 -1.33181468e-02 1.09853133e+02] [-6.36240935e-01 7.71406601e-01 1.13722649e-02 1.71037377e+02] [ 1.75103618e-02 -2.97783162e-04 9.99846638e-01 6.56550738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:171.02, Z:6.57 [[ 7.71504919e-01 6.36079076e-01 -1.35487541e-02 1.09876825e+02] [-6.35973927e-01 7.71623816e-01 1.15694140e-02 1.71016799e+02] [ 1.78136035e-02 -3.09205485e-04 9.99841277e-01 6.56586797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:171.00, Z:6.57 [[ 7.71479839e-01 6.36110605e-01 -1.34965421e-02 1.09898581e+02] [-6.36006259e-01 7.71597825e-01 1.15254066e-02 1.70996569e+02] [ 1.77453359e-02 -3.07733509e-04 9.99842492e-01 6.56622823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:170.98, Z:6.57 [[ 7.71202196e-01 6.36445099e-01 -1.35944403e-02 1.09921719e+02] [-6.36339296e-01 7.71321947e-01 1.16084239e-02 1.70977326e+02] [ 1.78738147e-02 -3.01765442e-04 9.99840205e-01 6.56689253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:170.96, Z:6.57 [[ 7.70653765e-01 6.37098410e-01 -1.40851297e-02 1.09945755e+02] [-6.36984917e-01 7.70782412e-01 1.20286293e-02 1.70956039e+02] [ 1.85199909e-02 -2.97893284e-04 9.99828446e-01 6.56690399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:170.94, Z:6.57 [[ 7.70462558e-01 6.37322958e-01 -1.43838474e-02 1.09967133e+02] [-6.37204547e-01 7.70596753e-01 1.22885742e-02 1.70936106e+02] [ 1.89159366e-02 -3.02433377e-04 9.99821032e-01 6.56680733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:170.92, Z:6.57 [[ 7.70589272e-01 6.37150783e-01 -1.52004715e-02 1.09989374e+02] [-6.37018532e-01 7.70739110e-01 1.29851898e-02 1.70917275e+02] [ 1.99891217e-02 -3.23265924e-04 9.99800145e-01 6.56681630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:170.90, Z:6.57 [[ 7.70814034e-01 6.36877217e-01 -1.52688057e-02 1.10010288e+02] [-6.36743764e-01 7.70965176e-01 1.30413311e-02 1.70899052e+02] [ 2.00774441e-02 -3.30124156e-04 9.99798373e-01 6.56666674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:170.88, Z:6.57 [[ 7.71054475e-01 6.36587919e-01 -1.51927033e-02 1.10032498e+02] [-6.36455785e-01 7.71204065e-01 1.29739642e-02 1.70881182e+02] [ 1.99757434e-02 -3.34149222e-04 9.99800409e-01 6.56723211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:170.86, Z:6.57 [[ 7.71400249e-01 6.36173832e-01 -1.49837002e-02 1.10055356e+02] [-6.36045264e-01 7.71545683e-01 1.27938098e-02 1.70862058e+02] [ 1.96996962e-02 -3.38836555e-04 9.99805885e-01 6.56810984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:170.84, Z:6.57 [[ 7.71520954e-01 6.36026171e-01 -1.50375641e-02 1.10078319e+02] [-6.35896669e-01 7.71667410e-01 1.28387780e-02 1.70842560e+02] [ 1.97697970e-02 -3.43049292e-04 9.99804500e-01 6.56902457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:170.82, Z:6.57 [[ 7.71331556e-01 6.36256983e-01 -1.49894058e-02 1.10103706e+02] [-6.36128313e-01 7.71477114e-01 1.27996750e-02 1.70821425e+02] [ 1.97078661e-02 -3.37607785e-04 9.99805724e-01 6.57025036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:170.80, Z:6.57 [[ 7.71250081e-01 6.36365740e-01 -1.45587749e-02 1.10125289e+02] [-6.36244259e-01 7.71387410e-01 1.24381207e-02 1.70800750e+02] [ 1.91456496e-02 -3.29964622e-04 9.99816651e-01 6.57042727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:170.78, Z:6.57 [[ 7.70773107e-01 6.36947776e-01 -1.43648051e-02 1.10152755e+02] [-6.36829535e-01 7.70906889e-01 1.22764505e-02 1.70782030e+02] [ 1.88933851e-02 -3.14425766e-04 9.99821455e-01 6.57257410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:170.76, Z:6.57 [[ 7.70663947e-01 6.37079825e-01 -1.43658317e-02 1.10176696e+02] [-6.36961438e-01 7.70797766e-01 1.22853853e-02 1.70760504e+02] [ 1.88999221e-02 -3.17422669e-04 9.99821330e-01 6.57261800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:170.74, Z:6.57 [[ 7.70797411e-01 6.36913236e-01 -1.45904759e-02 1.10197801e+02] [-6.36790991e-01 7.70935419e-01 1.24825091e-02 1.70741686e+02] [ 1.91985899e-02 -3.30402083e-04 9.99815636e-01 6.57231980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:170.72, Z:6.57 [[ 7.71287855e-01 6.36318577e-01 -1.46189288e-02 1.10219253e+02] [-6.36195780e-01 7.71426309e-01 1.25052123e-02 1.70723100e+02] [ 1.92347251e-02 -3.44617545e-04 9.99814936e-01 6.57254007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:170.70, Z:6.57 [[ 7.71880579e-01 6.35595582e-01 -1.47860799e-02 1.10241019e+02] [-6.35469866e-01 7.72022100e-01 1.26461936e-02 1.70703941e+02] [ 1.94530452e-02 -3.65243059e-04 9.99810705e-01 6.57266700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:170.68, Z:6.57 [[ 7.72631797e-01 6.34681941e-01 -1.47966438e-02 1.10260966e+02] [-6.34555920e-01 7.72773372e-01 1.26530816e-02 1.70683966e+02] [ 1.94651347e-02 -3.86875232e-04 9.99810461e-01 6.57309361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:170.67, Z:6.57 [[ 7.72803957e-01 6.34476438e-01 -1.46182827e-02 1.10283020e+02] [-6.34353444e-01 7.72942107e-01 1.24982920e-02 1.70665655e+02] [ 1.92289580e-02 -3.85571587e-04 9.99815032e-01 6.57367033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:170.65, Z:6.57 [[ 7.72787559e-01 6.34495365e-01 -1.46635865e-02 1.10305527e+02] [-6.34371648e-01 7.72926571e-01 1.25350719e-02 1.70646950e+02] [ 1.92873207e-02 -3.84784079e-04 9.99813908e-01 6.57436035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:170.63, Z:6.58 [[ 7.72521225e-01 6.34842003e-01 -1.36597198e-02 1.10329730e+02] [-6.34734719e-01 7.72641902e-01 1.16759071e-02 1.70627501e+02] [ 1.79664281e-02 -3.49587691e-04 9.99838530e-01 6.57592644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:170.61, Z:6.58 [[ 7.72366068e-01 6.35030596e-01 -1.36674070e-02 1.10351144e+02] [-6.34923207e-01 7.72486907e-01 1.16832924e-02 1.70605400e+02] [ 1.79771411e-02 -3.46024747e-04 9.99838338e-01 6.57605425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:170.59, Z:6.58 [[ 7.71956969e-01 6.35533126e-01 -1.34195062e-02 1.10378068e+02] [-6.35429635e-01 7.72073531e-01 1.14735465e-02 1.70586906e+02] [ 1.76526644e-02 -3.29932291e-04 9.99844125e-01 6.57724140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.40, Y:170.57, Z:6.58 [[ 7.71409614e-01 6.36198908e-01 -1.33475461e-02 1.10401405e+02] [-6.36096523e-01 7.71525015e-01 1.14177017e-02 1.70566893e+02] [ 1.75618950e-02 -3.17397166e-04 9.99845728e-01 6.57685393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.43, Y:170.55, Z:6.58 [[ 7.71163695e-01 6.36499037e-01 -1.32487966e-02 1.10425231e+02] [-6.36398200e-01 7.71277434e-01 1.13335734e-02 1.70547329e+02] [ 1.74323064e-02 -3.08530047e-04 9.99847998e-01 6.57732225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:170.53, Z:6.58 [[ 7.70779189e-01 6.36967157e-01 -1.31256646e-02 1.10446890e+02] [-6.36868259e-01 7.70890883e-01 1.12279349e-02 1.70528204e+02] [ 1.72702809e-02 -2.94939355e-04 9.99850814e-01 6.57741735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:170.51, Z:6.58 [[ 7.70180998e-01 6.37693410e-01 -1.29747799e-02 1.10470070e+02] [-6.37596896e-01 7.70290231e-01 1.10976546e-02 1.70509639e+02] [ 1.70712474e-02 -2.74523282e-04 9.99854238e-01 6.57816707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.49, Y:170.49, Z:6.58 [[ 7.69910675e-01 6.38017083e-01 -1.31055397e-02 1.10491107e+02] [-6.37918683e-01 7.70022162e-01 1.12082354e-02 1.70492125e+02] [ 1.72426017e-02 -2.69071403e-04 9.99851299e-01 6.57847537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:170.47, Z:6.58 [[ 7.69635788e-01 6.38347738e-01 -1.31499304e-02 1.10513093e+02] [-6.38248758e-01 7.69748074e-01 1.12438708e-02 1.70474167e+02] [ 1.72996331e-02 -2.60758629e-04 9.99850316e-01 6.57882314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:170.46, Z:6.58 [[ 7.69390895e-01 6.38638003e-01 -1.33847567e-02 1.10536143e+02] [-6.38535533e-01 7.69507268e-01 1.14428316e-02 1.70457430e+02] [ 1.76074947e-02 -2.57367703e-04 9.99844943e-01 6.57835446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.56, Y:170.44, Z:6.58 [[ 7.69345180e-01 6.38687954e-01 -1.36268897e-02 1.10557523e+02] [-6.38581786e-01 7.69465808e-01 1.16478357e-02 1.70438793e+02] [ 1.79247580e-02 -2.59322634e-04 9.99839305e-01 6.57791580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.58, Y:170.42, Z:6.58 [[ 7.69644437e-01 6.38321412e-01 -1.39001820e-02 1.10581369e+02] [-6.38210915e-01 7.69769901e-01 1.18796921e-02 1.70419304e+02] [ 1.82830036e-02 -2.71891088e-04 9.99832815e-01 6.57778461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:170.40, Z:6.58 [[ 7.70156016e-01 6.37701292e-01 -1.40276188e-02 1.10601735e+02] [-6.37588664e-01 7.70283700e-01 1.19882042e-02 1.70399665e+02] [ 1.84501394e-02 -2.88936869e-04 9.99829740e-01 6.57787451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.62, Y:170.38, Z:6.58 [[ 7.70638800e-01 6.37118246e-01 -1.40064202e-02 1.10624425e+02] [-6.37005886e-01 7.70766015e-01 1.19687864e-02 1.70380139e+02] [ 1.84212049e-02 -3.01439073e-04 9.99830270e-01 6.57879353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.65, Y:170.36, Z:6.58 [[ 7.71841304e-01 6.35678213e-01 -1.31989318e-02 1.10645665e+02] [-6.35578239e-01 7.71954086e-01 1.12779095e-02 1.70359175e+02] [ 1.73580906e-02 -3.15802530e-04 9.99849287e-01 6.57995975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.67, Y:170.34, Z:6.58 [[ 7.71968869e-01 6.35532490e-01 -1.27482961e-02 1.10670500e+02] [-6.35439195e-01 7.72074063e-01 1.08935823e-02 1.70338341e+02] [ 1.67658543e-02 -3.08739447e-04 9.99859396e-01 6.58095911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:170.32, Z:6.58 [[ 7.71941834e-01 6.35568783e-01 -1.25748583e-02 1.10693108e+02] [-6.35477907e-01 7.72044187e-01 1.07519078e-02 1.70315822e+02] [ 1.65419232e-02 -3.08802779e-04 9.99863125e-01 6.58100649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:170.30, Z:6.58 [[ 7.72057778e-01 6.35433423e-01 -1.22944062e-02 1.10715793e+02] [-6.35346459e-01 7.72155600e-01 1.05169754e-02 1.70298340e+02] [ 1.61760323e-02 -3.08505259e-04 9.99869112e-01 6.58148803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.74, Y:170.28, Z:6.58 [[ 7.71803797e-01 6.35742514e-01 -1.22619297e-02 1.10738590e+02] [-6.35656072e-01 7.71901137e-01 1.04876997e-02 1.70279410e+02] [ 1.61324740e-02 -3.00076418e-04 9.99869818e-01 6.58189982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.76, Y:170.26, Z:6.58 [[ 7.71457175e-01 6.36156498e-01 -1.25991177e-02 1.10762227e+02] [-6.36065301e-01 7.71559991e-01 1.07755641e-02 1.70259560e+02] [ 1.65759203e-02 -2.99024584e-04 9.99862565e-01 6.58264718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:170.24, Z:6.58 [[ 7.70379266e-01 6.37469291e-01 -1.21938341e-02 1.10784430e+02] [-6.37384024e-01 7.70475719e-01 1.04293973e-02 1.70241037e+02] [ 1.60434736e-02 -2.62436350e-04 9.99871261e-01 6.58293871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.81, Y:170.22, Z:6.58 [[ 7.69805252e-01 6.38161176e-01 -1.22550731e-02 1.10805885e+02] [-6.38075160e-01 7.69902755e-01 1.04803805e-02 1.70223249e+02] [ 1.61233864e-02 -2.48194219e-04 9.99869979e-01 6.58322291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:170.21, Z:6.58 [[ 7.68292961e-01 6.39981395e-01 -1.22368500e-02 1.10829669e+02] [-6.39895897e-01 7.68390377e-01 1.04628179e-02 1.70207130e+02] [ 1.60986866e-02 -2.08199267e-04 9.99870386e-01 6.58336170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06275509600005 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:110.85, Y:170.19, Z:6.58 [[ 7.67931678e-01 6.40417786e-01 -1.20829270e-02 1.10850782e+02] [-6.40334507e-01 7.68026706e-01 1.03295217e-02 1.70189041e+02] [ 1.58952200e-02 -1.95251885e-04 9.99873644e-01 6.58325879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.87, Y:170.17, Z:6.58 [[ 7.67610859e-01 6.40800408e-01 -1.21822079e-02 1.10873441e+02] [-6.40715833e-01 7.67707498e-01 1.04124068e-02 1.70170588e+02] [ 1.60246469e-02 -1.87343066e-04 9.99871580e-01 6.58347465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:170.15, Z:6.58 [[ 7.67321970e-01 6.41151238e-01 -1.19198723e-02 1.10894983e+02] [-6.41070334e-01 7.67414529e-01 1.01866421e-02 1.70152134e+02] [ 1.56786614e-02 -1.74957789e-04 9.99877067e-01 6.58399140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:170.13, Z:6.58 [[ 7.67186373e-01 6.41312641e-01 -1.19651915e-02 1.10914461e+02] [-6.41231167e-01 7.67279654e-01 1.02236190e-02 1.70133530e+02] [ 1.57371841e-02 -1.70967467e-04 9.99876148e-01 6.58420008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.93, Y:170.12, Z:6.59 [[ 7.67528816e-01 6.40908199e-01 -1.16703057e-02 1.10934317e+02] [-6.40830689e-01 7.67617516e-01 9.96886628e-03 1.70115666e+02] [ 1.53474592e-02 -1.72702117e-04 9.99882206e-01 6.58532502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.95, Y:170.10, Z:6.59 [[ 7.67560805e-01 6.40875067e-01 -1.13823881e-02 1.10954738e+02] [-6.40801386e-01 7.67645179e-01 9.71919996e-03 1.70098164e+02] [ 1.49664283e-02 -1.66226856e-04 9.99887983e-01 6.58602066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.98, Y:170.08, Z:6.59 [[ 7.67840866e-01 6.40544532e-01 -1.10953415e-02 1.10975669e+02] [-6.40474521e-01 7.67921008e-01 9.47171650e-03 1.70080837e+02] [ 1.45874021e-02 -1.66487473e-04 9.99893584e-01 6.58687741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:170.06, Z:6.59 [[ 7.67990167e-01 6.40373236e-01 -1.06405280e-02 1.10998852e+02] [-6.40308862e-01 7.68063859e-01 9.08128200e-03 1.70064073e+02] [ 1.39880149e-02 -1.61110920e-04 9.99902150e-01 6.58775330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.02, Y:170.05, Z:6.59 [[ 7.68422899e-01 6.39863946e-01 -1.00188874e-02 1.11019824e+02] [-6.39806847e-01 7.68488194e-01 8.54945498e-03 1.70045693e+02] [ 1.31698847e-02 -1.59444230e-04 9.99913261e-01 6.58912059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.04, Y:170.03, Z:6.59 [[ 7.68652443e-01 6.39591435e-01 -9.80907210e-03 1.11042395e+02] [-6.39536702e-01 7.68715013e-01 8.36873544e-03 1.70027545e+02] [ 1.28929525e-02 -1.59387318e-04 9.99916870e-01 6.59003920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.06, Y:170.01, Z:6.59 [[ 7.68876807e-01 6.39326698e-01 -9.47776437e-03 1.11062442e+02] [-6.39275595e-01 7.68935204e-01 8.08486170e-03 1.70008353e+02] [ 1.24566546e-02 -1.57359194e-04 9.99922401e-01 6.59091728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:169.99, Z:6.59 [[ 7.69655313e-01 6.38396775e-01 -8.95858493e-03 1.11084827e+02] [-6.38351072e-01 7.69707432e-01 7.64053471e-03 1.69990255e+02] [ 1.17731821e-02 -1.61855847e-04 9.99930681e-01 6.59248727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:169.97, Z:6.59 [[ 7.69963765e-01 6.38031728e-01 -8.44483027e-03 1.11110707e+02] [-6.37991119e-01 7.70010058e-01 7.20018550e-03 1.69969798e+02] [ 1.10965510e-02 -1.56155227e-04 9.99938419e-01 6.59307836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.13, Y:169.95, Z:6.59 [[ 7.70354769e-01 6.37563354e-01 -8.15478635e-03 1.11134287e+02] [-6.37525405e-01 7.70397913e-01 6.95801761e-03 1.69950691e+02] [ 1.07186074e-02 -1.61258575e-04 9.99942541e-01 6.59405171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:169.93, Z:6.59 [[ 7.70379899e-01 6.37532999e-01 -8.15393653e-03 1.11156506e+02] [-6.37495038e-01 7.70423032e-01 6.95901337e-03 1.69931782e+02] [ 1.07185812e-02 -1.62989931e-04 9.99942541e-01 6.59444034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.18, Y:169.91, Z:6.59 [[ 7.70399452e-01 6.37511361e-01 -7.99678105e-03 1.11179499e+02] [-6.37474854e-01 7.70440938e-01 6.82435668e-03 1.69912986e+02] [ 1.05116524e-02 -1.59733822e-04 9.99944738e-01 6.59484091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.20, Y:169.90, Z:6.60 [[ 7.70507708e-01 6.37384452e-01 -7.67669840e-03 1.11200770e+02] [-6.37350805e-01 7.70545934e-01 6.55095321e-03 1.69895526e+02] [ 1.00907245e-02 -1.54810041e-04 9.99949075e-01 6.59551355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.22, Y:169.88, Z:6.60 [[ 7.70099703e-01 6.37875830e-01 -7.80217063e-03 1.11223003e+02] [-6.37841112e-01 7.70139211e-01 6.65670512e-03 1.69878054e+02] [ 1.02549088e-02 -1.49781447e-04 9.99947406e-01 6.59596455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:169.86, Z:6.60 [[ 7.69778590e-01 6.38263302e-01 -7.80248322e-03 1.11245615e+02] [-6.38228618e-01 7.69818119e-01 6.65546485e-03 1.69860263e+02] [ 1.02544319e-02 -1.43466272e-04 9.99947412e-01 6.59643732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:169.84, Z:6.60 [[ 7.69432435e-01 6.38676747e-01 -8.10813952e-03 1.11268089e+02] [-6.38639326e-01 7.69475141e-01 6.91506284e-03 1.69842612e+02] [ 1.06555016e-02 -1.42496874e-04 9.99943218e-01 6.59647203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:169.83, Z:6.60 [[ 7.69320322e-01 6.38812192e-01 -8.07616755e-03 1.11289296e+02] [-6.38775083e-01 7.69362700e-01 6.88693075e-03 1.69825633e+02] [ 1.06129574e-02 -1.39401187e-04 9.99943671e-01 6.59656047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.31, Y:169.81, Z:6.60 [[ 7.69078930e-01 6.39096571e-01 -8.55408670e-03 1.11311273e+02] [-6.39054982e-01 7.69126487e-01 7.29226710e-03 1.69808436e+02] [ 1.12396376e-02 -1.41797251e-04 9.99936823e-01 6.59684342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:169.79, Z:6.60 [[ 7.69135330e-01 6.39029798e-01 -8.47121330e-03 1.11333150e+02] [-6.38989021e-01 7.69181967e-01 7.22032393e-03 1.69790680e+02] [ 1.11299067e-02 -1.40393937e-04 9.99938051e-01 6.59729304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:169.77, Z:6.60 [[ 7.69306332e-01 6.38827848e-01 -8.16990953e-03 1.11355462e+02] [-6.38789927e-01 7.69349700e-01 6.96186010e-03 1.69772699e+02] [ 1.07329476e-02 -1.36947143e-04 9.99942391e-01 6.59860982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.38, Y:169.75, Z:6.60 [[ 7.69530987e-01 6.38561651e-01 -7.81528279e-03 1.11377969e+02] [-6.38526946e-01 7.69570660e-01 6.65868782e-03 1.69754230e+02] [ 1.02663950e-02 -1.33797954e-04 9.99947290e-01 6.59961924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.40, Y:169.74, Z:6.60 [[ 7.69862170e-01 6.38166419e-01 -7.47400305e-03 1.11398133e+02] [-6.38134670e-01 7.69898437e-01 6.36705059e-03 1.69735415e+02] [ 9.81746115e-03 -1.32330914e-04 9.99951799e-01 6.60079327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.42, Y:169.72, Z:6.60 [[ 7.70642569e-01 6.37230206e-01 -6.90619660e-03 1.11421326e+02] [-6.37203070e-01 7.70673502e-01 5.88220146e-03 1.69718239e+02] [ 9.07073916e-03 -1.32425166e-04 9.99958851e-01 6.60140723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:169.70, Z:6.60 [[ 7.71279577e-01 6.36463076e-01 -6.52438319e-03 1.11441850e+02] [-6.36438836e-01 7.71307160e-01 5.55632797e-03 1.69699144e+02] [ 8.56870106e-03 -1.33111438e-04 9.99963279e-01 6.60298139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:169.68, Z:6.60 [[ 7.72035444e-01 6.35549382e-01 -6.18513922e-03 1.11465587e+02] [-6.35527576e-01 7.72060208e-01 5.26638575e-03 1.69682163e+02] [ 8.12234808e-03 -1.35009930e-04 9.99967004e-01 6.60302605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:169.66, Z:6.60 [[ 7.73687891e-01 6.33536861e-01 -6.17199982e-03 1.11487452e+02] [-6.33515090e-01 7.73712493e-01 5.25435941e-03 1.69662701e+02] [ 8.10418373e-03 -1.55179229e-04 9.99967149e-01 6.60402757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:169.64, Z:6.60 [[ 7.74477707e-01 6.32572260e-01 -6.05124357e-03 1.11508916e+02] [-6.32551310e-01 7.74501330e-01 5.15077119e-03 1.69644063e+02] [ 7.94493117e-03 -1.61435409e-04 9.99968426e-01 6.60454143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:169.63, Z:6.60 [[ 7.75767063e-01 6.30987037e-01 -6.38933252e-03 1.11531490e+02] [-6.30963634e-01 7.75793352e-01 5.43761487e-03 1.69625761e+02] [ 8.38786618e-03 -1.86886049e-04 9.99964804e-01 6.60485971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:169.61, Z:6.61 [[ 7.76388101e-01 6.30224036e-01 -6.25951241e-03 1.11555234e+02] [-6.30201559e-01 7.76413310e-01 5.32607297e-03 1.69607794e+02] [ 8.21658795e-03 -1.90345192e-04 9.99966225e-01 6.60533162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:169.59, Z:6.61 [[ 7.77612544e-01 6.28707547e-01 -6.74915647e-03 1.11578126e+02] [-6.28681362e-01 7.77641801e-01 5.74229911e-03 1.69590679e+02] [ 8.85865298e-03 -2.22214942e-04 9.99960737e-01 6.60529009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:169.57, Z:6.61 [[ 7.78173284e-01 6.28009545e-01 -7.09585545e-03 1.11603279e+02] [-6.27980583e-01 7.78205598e-01 6.03609447e-03 1.69572620e+02] [ 9.31275938e-03 -2.41068015e-04 9.99956606e-01 6.60508787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:169.55, Z:6.60 [[ 7.78563600e-01 6.27521845e-01 -7.41987723e-03 1.11628345e+02] [-6.27490153e-01 7.78598913e-01 6.31190347e-03 1.69553060e+02] [ 9.73796566e-03 -2.58318388e-04 9.99952552e-01 6.60485694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:169.54, Z:6.60 [[ 7.79044160e-01 6.26920062e-01 -7.83785205e-03 1.11650614e+02] [-6.26884659e-01 7.79083536e-01 6.66839417e-03 1.69535134e+02] [ 1.02868916e-02 -2.81544327e-04 9.99947049e-01 6.60445424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:169.52, Z:6.60 [[ 7.79682700e-01 6.26112091e-01 -8.86209135e-03 1.11675486e+02] [-6.26066788e-01 7.79732994e-01 7.53891970e-03 1.69518071e+02] [ 1.16302738e-02 -3.29704202e-04 9.99932312e-01 6.60376746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:169.50, Z:6.60 [[ 7.79936955e-01 6.25793108e-01 -9.01842028e-03 1.11697429e+02] [-6.25746175e-01 7.79989019e-01 7.67166399e-03 1.69499566e+02] [ 1.18351432e-02 -3.40172257e-04 9.99929904e-01 6.60377554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:169.48, Z:6.60 [[ 7.79971186e-01 6.25744965e-01 -9.39087326e-03 1.11718968e+02] [-6.25694080e-01 7.80027636e-01 7.98781686e-03 1.69482079e+02] [ 1.23234768e-02 -3.54453187e-04 9.99924000e-01 6.60327870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:169.47, Z:6.60 [[ 7.79853706e-01 6.25888946e-01 -9.55110899e-03 1.11742079e+02] [-6.25836391e-01 7.79912112e-01 8.11850612e-03 1.69465476e+02] [ 1.25303088e-02 -3.53815515e-04 9.99921430e-01 6.60360463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.76, Y:169.45, Z:6.60 [[ 7.79844103e-01 6.25899121e-01 -9.66774140e-03 1.11762000e+02] [-6.25845293e-01 7.79903944e-01 8.21623157e-03 1.69447806e+02] [ 1.26824418e-02 -3.56869291e-04 9.99919511e-01 6.60422415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:169.43, Z:6.61 [[ 7.79795629e-01 6.25964718e-01 -9.32461211e-03 1.11787131e+02] [-6.25914678e-01 7.79851303e-01 7.92220145e-03 1.69433406e+02] [ 1.22308295e-02 -3.41286481e-04 9.99925142e-01 6.60532489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:169.42, Z:6.61 [[ 7.80029204e-01 6.25676616e-01 -9.12211317e-03 1.11809843e+02] [-6.25628718e-01 7.80082469e-01 7.74908294e-03 1.69418521e+02] [ 1.19644206e-02 -3.37455032e-04 9.99928367e-01 6.60625638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:169.40, Z:6.61 [[ 7.80043809e-01 6.25662251e-01 -8.85455967e-03 1.11830124e+02] [-6.25617163e-01 7.80093996e-01 7.51824284e-03 1.69398500e+02] [ 1.16112696e-02 -3.24994284e-04 9.99932534e-01 6.60747977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.85, Y:169.38, Z:6.61 [[ 7.80299912e-01 6.25346746e-01 -8.57289761e-03 1.11853661e+02] [-6.25304491e-01 7.80346940e-01 7.27646077e-03 1.69382919e+02] [ 1.12401455e-02 -3.17150322e-04 9.99936777e-01 6.60854028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:169.37, Z:6.61 [[ 7.80473890e-01 6.25131583e-01 -8.42675680e-03 1.11878566e+02] [-6.25090797e-01 7.80519319e-01 7.14762386e-03 1.69368619e+02] [ 1.10454519e-02 -3.11045670e-04 9.99938949e-01 6.60846245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:169.35, Z:6.61 [[ 7.80530550e-01 6.25056572e-01 -8.73743553e-03 1.11899965e+02] [-6.25012779e-01 7.80579387e-01 7.40584014e-03 1.69351044e+02] [ 1.14493311e-02 -3.19475606e-04 9.99934403e-01 6.60871959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:169.33, Z:6.61 [[ 7.80644944e-01 6.24909015e-01 -9.06611880e-03 1.11923306e+02] [-6.24861915e-01 7.80697518e-01 7.67938471e-03 1.69334967e+02] [ 1.18768132e-02 -3.29800492e-04 9.99929414e-01 6.60881061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:169.32, Z:6.61 [[ 7.80557754e-01 6.25014184e-01 -9.31999206e-03 1.11943724e+02] [-6.24964490e-01 7.80613323e-01 7.88837416e-03 1.69316669e+02] [ 1.22056557e-02 -3.32667534e-04 9.99925453e-01 6.60900597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:169.70, Z:7.80 [[ 7.95535992e-01 -6.05799573e-01 1.13738313e-02 1.12260420e+02] [-6.05725879e-01 -7.95617032e-01 -9.47086254e-03 1.69701985e+02] [ 1.47866584e-02 6.44988075e-04 -9.99890463e-01 7.79826613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.28, Y:169.72, Z:7.80 [[ 8.41153049e-01 -5.40668016e-01 1.18171664e-02 1.12283643e+02] [-5.40603363e-01 -8.41235789e-01 -8.38760146e-03 1.69718842e+02] [ 1.44759312e-02 6.66856618e-04 -9.99894996e-01 7.79870675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:169.31, Z:6.61 [[ 8.67548418e-01 4.97242978e-01 -1.04480859e-02 1.12084920e+02] [-4.97202632e-01 8.67611276e-01 6.34161403e-03 1.69305078e+02] [ 1.22182002e-02 -3.06841407e-04 9.99925308e-01 6.60988310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:169.29, Z:6.61 [[ 8.66677510e-01 4.98745907e-01 -1.10731582e-02 1.12111501e+02] [-4.98700728e-01 8.66748193e-01 6.71965519e-03 1.69292910e+02] [ 1.29490403e-02 -3.01581983e-04 9.99916112e-01 6.60924981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:169.28, Z:6.61 [[ 8.66131701e-01 4.99683934e-01 -1.14822985e-02 1.12137569e+02] [-4.99635456e-01 8.66207757e-01 6.96656994e-03 1.69280333e+02] [ 1.34271391e-02 -2.97003607e-04 9.99909808e-01 6.60920370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:169.27, Z:6.61 [[ 8.64947454e-01 5.01727108e-01 -1.16537797e-02 1.12161460e+02] [-5.01677375e-01 8.65025917e-01 7.06920580e-03 1.69266051e+02] [ 1.36276336e-02 -2.68053967e-04 9.99907104e-01 6.60919099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:169.26, Z:6.61 [[ 8.64356553e-01 5.02744933e-01 -1.16310792e-02 1.12188847e+02] [-5.02695510e-01 8.64434769e-01 7.05369147e-03 1.69255538e+02] [ 1.36005169e-02 -2.50013171e-04 9.99907477e-01 6.60963343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:169.24, Z:6.61 [[ 8.64009797e-01 5.03346908e-01 -1.13560817e-02 1.12214280e+02] [-5.03299864e-01 8.64084392e-01 6.88561710e-03 1.69241969e+02] [ 1.32784670e-02 -2.33726269e-04 9.99911810e-01 6.60988044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:169.23, Z:6.61 [[ 8.63678961e-01 5.03916506e-01 -1.12608958e-02 1.12239170e+02] [-5.03870312e-01 8.63752341e-01 6.82660178e-03 1.69228042e+02] [ 1.31666624e-02 -2.21961235e-04 9.99913291e-01 6.60974819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:169.21, Z:6.61 [[ 8.63273076e-01 5.04609938e-01 -1.13316979e-02 1.12262532e+02] [-5.04563239e-01 8.63347419e-01 6.86818897e-03 1.69213338e+02] [ 1.32489485e-02 -2.11564432e-04 9.99912206e-01 6.60980169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:169.20, Z:6.61 [[ 8.63404779e-01 5.04390645e-01 -1.10573512e-02 1.12285390e+02] [-5.04346189e-01 8.63475555e-01 6.69986352e-03 1.69198067e+02] [ 1.29271010e-02 -2.07961244e-04 9.99916420e-01 6.61048844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.31, Y:169.18, Z:6.61 [[ 8.63573534e-01 5.04115188e-01 -1.04224718e-02 1.12309646e+02] [-5.04075695e-01 8.63636404e-01 6.31315824e-03 1.69181863e+02] [ 1.21837850e-02 -1.98161662e-04 9.99925755e-01 6.61144440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:169.17, Z:6.61 [[ 8.63949767e-01 5.03474801e-01 -1.01943994e-02 1.12332447e+02] [-5.03436986e-01 8.64009887e-01 6.17386817e-03 1.69165480e+02] [ 1.19164489e-02 -2.01674261e-04 9.99928976e-01 6.61221080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:169.15, Z:6.61 [[ 8.64410106e-01 5.02692815e-01 -9.75207752e-03 1.12357076e+02] [-5.02658177e-01 8.64465091e-01 5.90459904e-03 1.69149905e+02] [ 1.13985301e-02 -2.02033576e-04 9.99935014e-01 6.61235303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:169.13, Z:6.61 [[ 8.65230926e-01 5.01281286e-01 -9.61855663e-03 1.12379329e+02] [-5.01247515e-01 8.65284361e-01 5.82268533e-03 1.69133005e+02] [ 1.12415898e-02 -2.16689814e-04 9.99936788e-01 6.61294822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:169.12, Z:6.61 [[ 8.65475666e-01 5.00865326e-01 -9.26264632e-03 1.12404235e+02] [-5.00834001e-01 8.65525205e-01 5.60570200e-03 1.69116317e+02] [ 1.08247556e-02 -2.12550461e-04 9.99941388e-01 6.61339704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:169.10, Z:6.61 [[ 8.65691306e-01 5.00494920e-01 -9.13221202e-03 1.12428524e+02] [-5.00464450e-01 8.65739446e-01 5.52675715e-03 1.69102439e+02] [ 1.06722301e-02 -2.14118145e-04 9.99943027e-01 6.61363408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:169.08, Z:6.61 [[ 8.65687241e-01 5.00503534e-01 -9.04512451e-03 1.12451683e+02] [-5.00473658e-01 8.65734468e-01 5.47260631e-03 1.69084216e+02] [ 1.05697349e-02 -2.10718909e-04 9.99944117e-01 6.61392585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:169.07, Z:6.61 [[ 8.65535296e-01 5.00762001e-01 -9.27739260e-03 1.12476978e+02] [-5.00730594e-01 8.65584989e-01 5.61239533e-03 1.69069588e+02] [ 1.08408461e-02 -2.12251943e-04 9.99941214e-01 6.61381072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:169.06, Z:6.61 [[ 8.65228278e-01 5.01298945e-01 -8.91042607e-03 1.12502479e+02] [-5.01270012e-01 8.65274135e-01 5.38941027e-03 1.69056145e+02] [ 1.04116669e-02 -1.96540782e-04 9.99945778e-01 6.61343395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:169.04, Z:6.61 [[ 8.64826034e-01 5.01990508e-01 -9.02554158e-03 1.12529820e+02] [-5.01960884e-01 8.64873109e-01 5.45684872e-03 1.69039632e+02] [ 1.05452345e-02 -1.88756002e-04 9.99944380e-01 6.61355225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:169.02, Z:6.61 [[ 8.64407445e-01 5.02710822e-01 -9.03315925e-03 1.12556079e+02] [-5.02681147e-01 8.64454623e-01 5.46525698e-03 1.69022299e+02] [ 1.05562001e-02 -1.83409968e-04 9.99944265e-01 6.61407914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:169.01, Z:6.61 [[ 8.63705524e-01 5.03917284e-01 -8.95199052e-03 1.12583361e+02] [-5.03888188e-01 8.63751899e-01 5.41765690e-03 1.69005550e+02] [ 1.04623498e-02 -1.68457908e-04 9.99945254e-01 6.61441030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:168.99, Z:6.61 [[ 8.63423700e-01 5.04399401e-01 -8.98652799e-03 1.12611054e+02] [-5.04370071e-01 8.63470449e-01 5.44192506e-03 1.68988339e+02] [ 1.05045051e-02 -1.66151308e-04 9.99944812e-01 6.61451331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:168.97, Z:6.62 [[ 8.63257588e-01 5.04686270e-01 -8.83778814e-03 1.12636236e+02] [-5.04657879e-01 8.63302810e-01 5.35567823e-03 1.68972295e+02] [ 1.03326246e-02 -1.63270453e-04 9.99946604e-01 6.61503537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:168.95, Z:6.62 [[ 8.63215675e-01 5.04763847e-01 -8.49453724e-03 1.12662305e+02] [-5.04737619e-01 8.63257456e-01 5.14798921e-03 1.68953516e+02] [ 9.93149144e-03 -1.56312481e-04 9.99950669e-01 6.61545189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:168.94, Z:6.62 [[ 8.63522041e-01 5.04239323e-01 -8.50826671e-03 1.12688070e+02] [-5.04212945e-01 8.63563940e-01 5.16030281e-03 1.68935524e+02] [ 9.94945991e-03 -1.66057004e-04 9.99950489e-01 6.61615624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:168.92, Z:6.62 [[ 8.63591191e-01 5.04135815e-01 -7.57198762e-03 1.12710626e+02] [-5.04114908e-01 8.63624373e-01 4.59366027e-03 1.68916809e+02] [ 8.85518173e-03 -1.49892702e-04 9.99960781e-01 6.61739340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:168.90, Z:6.62 [[ 8.63631916e-01 5.04066035e-01 -7.57272947e-03 1.12734919e+02] [-5.04045136e-01 8.63665103e-01 4.59243691e-03 1.68902194e+02] [ 8.85519364e-03 -1.49177637e-04 9.99960781e-01 6.61776797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.76, Y:168.89, Z:6.62 [[ 8.63475350e-01 5.04332663e-01 -7.67364156e-03 1.12760694e+02] [-5.04311221e-01 8.63509435e-01 4.65278211e-03 1.68888966e+02] [ 8.97281187e-03 -1.47659113e-04 9.99959733e-01 6.61717077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.79, Y:168.87, Z:6.62 [[ 8.63214633e-01 5.04778538e-01 -7.68930607e-03 1.12787168e+02] [-5.04757051e-01 8.63248868e-01 4.65955427e-03 1.68871773e+02] [ 8.98982775e-03 -1.40963970e-04 9.99959581e-01 6.61751414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:168.85, Z:6.62 [[ 8.62783480e-01 5.05516248e-01 -7.61508287e-03 1.12814270e+02] [-5.05495178e-01 8.62817075e-01 4.61746159e-03 1.68853456e+02] [ 8.90462538e-03 -1.34481913e-04 9.99960344e-01 6.61743919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.84, Y:168.84, Z:6.62 [[ 8.62436597e-01 5.06108441e-01 -7.57372923e-03 1.12842114e+02] [-5.06087593e-01 8.62469842e-01 4.59552638e-03 1.68835688e+02] [ 8.85794775e-03 -1.30379732e-04 9.99960759e-01 6.61834394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:168.82, Z:6.62 [[ 8.61788899e-01 5.07218220e-01 -7.04065625e-03 1.12867359e+02] [-5.07200216e-01 8.61817651e-01 4.27510949e-03 1.68816952e+02] [ 8.23617526e-03 -1.13219533e-04 9.99966076e-01 6.61952950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:168.80, Z:6.62 [[ 8.61359873e-01 5.07942954e-01 -7.28868897e-03 1.12895043e+02] [-5.07923665e-01 8.61390703e-01 4.42805926e-03 1.68799045e+02] [ 8.52761041e-03 -1.12054944e-04 9.99963633e-01 6.61990792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:168.78, Z:6.62 [[ 8.60951590e-01 5.08634479e-01 -7.30256705e-03 1.12923629e+02] [-5.08615115e-01 8.60982552e-01 4.43951908e-03 1.68781984e+02] [ 8.54547529e-03 -1.08015024e-04 9.99963481e-01 6.62029553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:168.76, Z:6.62 [[ 8.60507642e-01 5.09389368e-01 -7.00498003e-03 1.12950760e+02] [-5.09371550e-01 8.60536148e-01 4.26165207e-03 1.68764354e+02] [ 8.19887878e-03 -9.90466353e-05 9.99966384e-01 6.62092252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:168.75, Z:6.62 [[ 8.59609974e-01 5.10906456e-01 -6.72947214e-03 1.12977815e+02] [-5.10890037e-01 8.59636310e-01 4.09681244e-03 1.68747144e+02] [ 7.87798653e-03 -8.36405637e-05 9.99968965e-01 6.62130760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:168.73, Z:6.62 [[ 8.59081986e-01 5.11788413e-01 -7.12470319e-03 1.13005460e+02] [-5.11770017e-01 8.59111526e-01 4.34012483e-03 1.68729851e+02] [ 8.34214023e-03 -8.23135887e-05 9.99965200e-01 6.62113161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:168.71, Z:6.62 [[ 8.58302545e-01 5.13086261e-01 -7.69609285e-03 1.13030956e+02] [-5.13064811e-01 8.58337045e-01 4.69227243e-03 1.68711823e+02] [ 9.01338211e-03 -7.87949529e-05 9.99959376e-01 6.62074434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:168.69, Z:6.62 [[ 8.57847169e-01 5.13842671e-01 -7.99653678e-03 1.13058552e+02] [-5.13819521e-01 8.57884435e-01 4.87814604e-03 1.68693937e+02] [ 9.36670403e-03 -7.59270734e-05 9.99956129e-01 6.62045237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:168.67, Z:6.62 [[ 8.57419687e-01 5.14549745e-01 -8.36897513e-03 1.13085147e+02] [-5.14524383e-01 8.57460527e-01 5.10923615e-03 1.68674968e+02] [ 9.80502198e-03 -7.47178909e-05 9.99951927e-01 6.62008762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:168.66, Z:6.62 [[ 8.57356375e-01 5.14644665e-01 -8.99525878e-03 1.13111391e+02] [-5.14615324e-01 8.57403559e-01 5.49597027e-03 1.68656880e+02] [ 1.05410387e-02 -8.29071369e-05 9.99944438e-01 6.61999370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:168.64, Z:6.62 [[ 8.57424220e-01 5.14528978e-01 -9.14535934e-03 1.13138504e+02] [-5.14498604e-01 8.57472987e-01 5.59144023e-03 1.68638265e+02] [ 1.07188566e-02 -8.89616716e-05 9.99942547e-01 6.62002265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:168.62, Z:6.62 [[ 8.58093943e-01 5.13408777e-01 -9.28509935e-03 1.13162285e+02] [-5.13377355e-01 8.58144170e-01 5.68113828e-03 1.68618067e+02] [ 1.08847001e-02 -1.08190602e-04 9.99940754e-01 6.62029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:168.60, Z:6.62 [[ 8.58453293e-01 5.12811035e-01 -9.09862294e-03 1.13187997e+02] [-5.12780798e-01 8.58501502e-01 5.57001404e-03 1.68598822e+02] [ 1.06675461e-02 -1.15997770e-04 9.99943093e-01 6.62101828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:168.58, Z:6.62 [[ 8.58744866e-01 5.12319521e-01 -9.27169116e-03 1.13214845e+02] [-5.12288052e-01 8.58794907e-01 5.67968886e-03 1.68578726e+02] [ 1.08722966e-02 -1.27627040e-04 9.99940887e-01 6.62142771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:168.56, Z:6.62 [[ 8.59352881e-01 5.11299713e-01 -9.23197054e-03 1.13238216e+02] [-5.11268411e-01 8.59402457e-01 5.65939047e-03 1.68557994e+02] [ 1.08276229e-02 -1.43398591e-04 9.99941369e-01 6.62202727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.26, Y:168.54, Z:6.62 [[ 8.59390297e-01 5.11236424e-01 -9.25392911e-03 1.13264260e+02] [-5.11204937e-01 8.59440107e-01 5.67589720e-03 1.68539219e+02] [ 1.08549232e-02 -1.47156743e-04 9.99941073e-01 6.62230782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.29, Y:168.52, Z:6.62 [[ 8.59317601e-01 5.11356239e-01 -9.38390553e-03 1.13290084e+02] [-5.11323828e-01 8.59368823e-01 5.75931382e-03 1.68519754e+02] [ 1.10092969e-02 -1.50865246e-04 9.99939384e-01 6.62238085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.32, Y:168.50, Z:6.62 [[ 8.58996744e-01 5.11897270e-01 -9.26173132e-03 1.13317643e+02] [-5.11865690e-01 8.59046660e-01 5.68777205e-03 1.68501015e+02] [ 1.08678143e-02 -1.45015177e-04 9.99940933e-01 6.62281315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:168.48, Z:6.62 [[ 8.58824497e-01 5.12182553e-01 -9.46130829e-03 1.13345151e+02] [-5.12149571e-01 8.58876598e-01 5.81428630e-03 1.68482012e+02] [ 1.11040723e-02 -1.47846518e-04 9.99938337e-01 6.62292696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:168.46, Z:6.62 [[ 8.58684281e-01 5.12414417e-01 -9.63174998e-03 1.13371638e+02] [-5.12380206e-01 8.58738285e-01 5.92304616e-03 1.68463014e+02] [ 1.13062067e-02 -1.50908593e-04 9.99936071e-01 6.62318639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:168.44, Z:6.62 [[ 8.58428495e-01 5.12833967e-01 -1.00916450e-02 1.13396353e+02] [-5.12796388e-01 8.58487797e-01 6.21021594e-03 1.68442178e+02] [ 1.18483638e-02 -1.56067198e-04 9.99929794e-01 6.62341559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:168.42, Z:6.62 [[ 8.58279166e-01 5.13085042e-01 -1.00306088e-02 1.13423985e+02] [-5.13047889e-01 8.58337763e-01 6.17639689e-03 1.68424112e+02] [ 1.17786671e-02 -1.54890126e-04 9.99930617e-01 6.62383574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:168.40, Z:6.62 [[ 8.57754056e-01 5.13968911e-01 -9.69214834e-03 1.13448337e+02] [-5.13934235e-01 8.57808800e-01 5.97197464e-03 1.68404646e+02] [ 1.13834194e-02 -1.41358628e-04 9.99935197e-01 6.62449926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:168.39, Z:6.62 [[ 8.57227677e-01 5.14837973e-01 -1.01278050e-02 1.13475296e+02] [-5.14800127e-01 8.57287491e-01 6.24392906e-03 1.68387619e+02] [ 1.18970523e-02 -1.38673505e-04 9.99929218e-01 6.62430874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.50, Y:168.37, Z:6.62 [[ 8.56578746e-01 5.15908238e-01 -1.05613365e-02 1.13502709e+02] [-5.15867115e-01 8.56643842e-01 6.51514484e-03 1.68371303e+02] [ 1.24085208e-02 -1.32488395e-04 9.99923003e-01 6.62410676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:168.35, Z:6.62 [[ 8.55409364e-01 5.17830928e-01 -1.12227500e-02 1.13527214e+02] [-5.17784597e-01 8.55482973e-01 6.92777168e-03 1.68351830e+02] [ 1.31882859e-02 -1.15113695e-04 9.99913024e-01 6.62394030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.56, Y:168.33, Z:6.62 [[ 8.54856371e-01 5.18745571e-01 -1.11183099e-02 1.13555072e+02] [-5.18700145e-01 8.54928665e-01 6.86568410e-03 1.68334589e+02] [ 1.30669051e-02 -1.02104827e-04 9.99914619e-01 6.62427328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.58, Y:168.32, Z:6.63 [[ 8.53961402e-01 5.20224687e-01 -1.07795266e-02 1.13582616e+02] [-5.20182052e-01 8.54029430e-01 6.66071666e-03 1.68318764e+02] [ 1.26711022e-02 -8.06786664e-05 9.99919715e-01 6.62516772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.61, Y:168.31, Z:6.63 [[ 8.51998208e-01 5.23441629e-01 -1.03882133e-02 1.13611932e+02] [-5.23402228e-01 8.52061536e-01 6.42239211e-03 1.68305525e+02] [ 1.22131443e-02 -3.46525847e-05 9.99925416e-01 6.62565610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.64, Y:168.29, Z:6.63 [[ 8.51079375e-01 5.24927945e-01 -1.07027743e-02 1.13639948e+02] [-5.24886188e-01 8.51146669e-01 6.62104618e-03 1.68288999e+02] [ 1.25852029e-02 -1.72974249e-05 9.99920803e-01 6.62571944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.67, Y:168.27, Z:6.63 [[ 8.50131087e-01 5.26440880e-01 -1.17104425e-02 1.13668418e+02] [-5.26390956e-01 8.50211738e-01 7.24994682e-03 1.68272249e+02] [ 1.37730241e-02 8.65862152e-07 9.99905147e-01 6.62568883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.70, Y:168.25, Z:6.63 [[ 8.49965072e-01 5.26698691e-01 -1.21599859e-02 1.13696041e+02] [-5.26644809e-01 8.50052051e-01 7.53371806e-03 1.68254680e+02] [ 1.43046204e-02 5.96241839e-07 9.99897684e-01 6.62549360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.72, Y:168.24, Z:6.63 [[ 8.49914109e-01 5.26773660e-01 -1.24706944e-02 1.13723627e+02] [-5.26716915e-01 8.50005595e-01 7.73171863e-03 1.68237032e+02] [ 1.46730257e-02 -2.77106097e-06 9.99892345e-01 6.62588281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.75, Y:168.22, Z:6.63 [[ 8.50580207e-01 5.25689658e-01 -1.27943153e-02 1.13750622e+02] [-5.25629724e-01 8.50676426e-01 7.93797484e-03 1.68219258e+02] [ 1.50567337e-02 -2.68118806e-05 9.99886641e-01 6.62581174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.78, Y:168.20, Z:6.63 [[ 8.51292123e-01 5.24530847e-01 -1.30042679e-02 1.13777956e+02] [-5.24468712e-01 8.51391442e-01 8.07358462e-03 1.68201108e+02] [ 1.53065666e-02 -5.26473792e-05 9.99882846e-01 6.62604270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.81, Y:168.18, Z:6.63 [[ 8.52213633e-01 5.23022066e-01 -1.34105202e-02 1.13805465e+02] [-5.22955708e-01 8.52319137e-01 8.33166944e-03 1.68182268e+02] [ 1.57876900e-02 -8.72541811e-05 9.99875363e-01 6.62597794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.83, Y:168.16, Z:6.63 [[ 8.54253688e-01 5.19678153e-01 -1.36108168e-02 1.13829379e+02] [-5.19609281e-01 8.54362097e-01 8.46180143e-03 1.68162110e+02] [ 1.60259793e-02 -1.56218336e-04 9.99871564e-01 6.62625268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.86, Y:168.14, Z:6.63 [[ 8.55098135e-01 5.18278726e-01 -1.39406466e-02 1.13855797e+02] [-5.18206208e-01 8.55211743e-01 8.67183685e-03 1.68144166e+02] [ 1.64166332e-02 -1.91141909e-04 9.99865220e-01 6.62686077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.88, Y:168.13, Z:6.63 [[ 8.56427869e-01 5.16082351e-01 -1.37953891e-02 1.13882535e+02] [-5.16010966e-01 8.56538938e-01 8.58668668e-03 1.68126634e+02] [ 1.62477253e-02 -2.35305750e-04 9.99867969e-01 6.62746710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:168.11, Z:6.63 [[ 8.57141208e-01 5.14896129e-01 -1.38176101e-02 1.13908147e+02] [-5.14824275e-01 8.57252535e-01 8.60571882e-03 1.68108862e+02] [ 1.62762326e-02 -2.62675140e-04 9.99867499e-01 6.62779633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:168.09, Z:6.63 [[ 8.57642536e-01 5.14059442e-01 -1.38625889e-02 1.13935489e+02] [-5.13986929e-01 8.57754516e-01 8.63868468e-03 1.68091514e+02] [ 1.63314957e-02 -2.83713927e-04 9.99866592e-01 6.62851253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:168.07, Z:6.63 [[ 8.58589317e-01 5.12475642e-01 -1.38960484e-02 1.13960143e+02] [-5.12402487e-01 8.58701703e-01 8.66472241e-03 1.68071593e+02] [ 1.63730196e-02 -3.19068342e-04 9.99865902e-01 6.62852392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:168.05, Z:6.63 [[ 8.58673041e-01 5.12328727e-01 -1.41380291e-02 1.13988745e+02] [-5.12252895e-01 8.58789360e-01 8.82080084e-03 1.68054610e+02] [ 1.66607386e-02 -3.31937557e-04 9.99861145e-01 6.62942640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:168.04, Z:6.63 [[ 8.58499514e-01 5.12619346e-01 -1.41418107e-02 1.14017620e+02] [-5.12543413e-01 8.58615919e-01 8.82914051e-03 1.68038132e+02] [ 1.66683720e-02 -3.31520928e-04 9.99861018e-01 6.63043326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.05, Y:168.02, Z:6.63 [[ 8.57799618e-01 5.13788390e-01 -1.41881928e-02 1.14045939e+02] [-5.13712016e-01 8.57916890e-01 8.86416485e-03 1.68022954e+02] [ 1.67265953e-02 -3.15032078e-04 9.99860051e-01 6.63087690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.07, Y:168.01, Z:6.63 [[ 8.57014914e-01 5.15090836e-01 -1.43828921e-02 1.14074617e+02] [-5.15012440e-01 8.57135545e-01 8.99134750e-03 1.68008026e+02] [ 1.69594488e-02 -2.98350526e-04 9.99856134e-01 6.63103579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:167.99, Z:6.63 [[ 8.55402070e-01 5.17769152e-01 -1.42268957e-02 1.14103735e+02] [-5.17692726e-01 8.55520335e-01 8.89928674e-03 1.67994280e+02] [ 1.67791747e-02 -2.47307870e-04 9.99859189e-01 6.63170134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:167.98, Z:6.63 [[ 8.54400099e-01 5.19429198e-01 -1.39204282e-02 1.14130801e+02] [-5.19356164e-01 8.54513465e-01 8.71276787e-03 1.67978532e+02] [ 1.64208594e-02 -2.14529536e-04 9.99865146e-01 6.63221650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:167.96, Z:6.63 [[ 8.53329984e-01 5.21188565e-01 -1.37992018e-02 1.14158870e+02] [-5.21116947e-01 8.53441530e-01 8.64182947e-03 1.67963519e+02] [ 1.62808346e-02 -1.83334282e-04 9.99867442e-01 6.63295543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:167.95, Z:6.63 [[ 8.52391264e-01 5.22722679e-01 -1.37888969e-02 1.14185352e+02] [-5.22651283e-01 8.52502772e-01 8.64059247e-03 1.67946331e+02] [ 1.62717065e-02 -1.58380872e-04 9.99867594e-01 6.63296980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05275509600006 meters Centerline goodness [0,1] 0.9999784858329209 Centerline is valid? [True, True] Translation: X:114.21, Y:167.93, Z:6.63 [[ 8.51268984e-01 5.24542323e-01 -1.40167180e-02 1.14213829e+02] [-5.24468710e-01 8.51384364e-01 8.78847888e-03 1.67932185e+02] [ 1.65435437e-02 -1.30029444e-04 9.99863138e-01 6.63404797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:167.92, Z:6.63 [[ 8.50848000e-01 5.25232029e-01 -1.37476236e-02 1.14240488e+02] [-5.25161219e-01 8.50959048e-01 8.62505860e-03 1.67915171e+02] [ 1.62288217e-02 -1.18895100e-04 9.99868297e-01 6.63439068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.27, Y:167.90, Z:6.63 [[ 8.50866622e-01 5.25208768e-01 -1.34811586e-02 1.14266946e+02] [-5.25140587e-01 8.50973405e-01 8.46332685e-03 1.67898143e+02] [ 1.59171209e-02 -1.21658800e-04 9.99873307e-01 6.63486579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.29, Y:167.88, Z:6.64 [[ 8.51042840e-01 5.24933295e-01 -1.30812644e-02 1.14294538e+02] [-5.24868988e-01 8.51143360e-01 8.21745883e-03 1.67880196e+02] [ 1.54476491e-02 -1.27459500e-04 9.99880670e-01 6.63531599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:167.86, Z:6.64 [[ 8.51939852e-01 5.23486572e-01 -1.26608278e-02 1.14320484e+02] [-5.23426094e-01 8.52033911e-01 7.95858035e-03 1.67861588e+02] [ 1.49536646e-02 -1.53224107e-04 9.99888176e-01 6.63591307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:167.84, Z:6.64 [[ 8.52537075e-01 5.22522416e-01 -1.22825338e-02 1.14346725e+02] [-5.22465332e-01 8.52625531e-01 7.72529587e-03 1.67842985e+02] [ 1.45090422e-02 -1.68903047e-04 9.99894724e-01 6.63678643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:167.82, Z:6.64 [[ 8.52993151e-01 5.21778404e-01 -1.22467145e-02 1.14372531e+02] [-5.21721509e-01 8.53081042e-01 7.70737525e-03 1.67824530e+02] [ 1.44689820e-02 -1.84963901e-04 9.99895302e-01 6.63727085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:167.81, Z:6.64 [[ 8.53584385e-01 5.20815863e-01 -1.20222807e-02 1.14399093e+02] [-5.20760876e-01 8.53669020e-01 7.57055512e-03 1.67805726e+02] [ 1.42059138e-02 -2.01374188e-04 9.99899071e-01 6.63795062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:167.79, Z:6.64 [[ 8.53425582e-01 5.21076088e-01 -1.20202407e-02 1.14426440e+02] [-5.21021082e-01 8.53510205e-01 7.57379283e-03 1.67788291e+02] [ 1.42059205e-02 -2.00869720e-04 9.99899071e-01 6.63838060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.45, Y:167.77, Z:6.64 [[ 8.54513439e-01 5.19293955e-01 -1.18562880e-02 1.14450906e+02] [-5.19240198e-01 8.54595656e-01 7.47541918e-03 1.67769476e+02] [ 1.40142722e-02 -2.31584827e-04 9.99901768e-01 6.63866667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:167.75, Z:6.64 [[ 8.55027631e-01 5.18442302e-01 -1.20553080e-02 1.14477896e+02] [-5.18386580e-01 8.55112575e-01 7.60513779e-03 1.67752676e+02] [ 1.42514706e-02 -2.53293035e-04 9.99898411e-01 6.63871010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:167.73, Z:6.64 [[ 8.55506843e-01 5.17650811e-01 -1.20697824e-02 1.14502193e+02] [-5.17594811e-01 8.55591938e-01 7.61886037e-03 1.67733813e+02] [ 1.42707178e-02 -2.70730424e-04 9.99898131e-01 6.63853027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.53, Y:167.72, Z:6.64 [[ 8.55918563e-01 5.16948346e-01 -1.29545833e-02 1.14527975e+02] [-5.16883689e-01 8.56016538e-01 8.18160094e-03 1.67715730e+02] [ 1.53188026e-02 -3.06771314e-04 9.99882613e-01 6.63748848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.56, Y:167.70, Z:6.64 [[ 8.55959255e-01 5.16866545e-01 -1.35177290e-02 1.14557460e+02] [-5.16796055e-01 8.56065925e-01 8.54218709e-03 1.67699879e+02] [ 1.59872379e-02 -3.25855086e-04 9.99872143e-01 6.63777984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.59, Y:167.68, Z:6.64 [[ 8.55658482e-01 5.17350906e-01 -1.40215337e-02 1.14585278e+02] [-5.17275022e-01 8.55773293e-01 8.86695699e-03 1.67683174e+02] [ 1.65865823e-02 -3.34097790e-04 9.99862377e-01 6.63740275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.61, Y:167.67, Z:6.64 [[ 8.55615781e-01 5.17412922e-01 -1.43354071e-02 1.14611490e+02] [-5.17333502e-01 8.55735794e-01 9.07190810e-03 1.67665231e+02] [ 1.69612435e-02 -3.45881351e-04 9.99856088e-01 6.63728041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.64, Y:167.65, Z:6.64 [[ 8.55671024e-01 5.17326007e-01 -1.41739900e-02 1.14638774e+02] [-5.17248253e-01 8.55788339e-01 8.97571592e-03 1.67647405e+02] [ 1.67733066e-02 -3.48788449e-04 9.99859257e-01 6.63795121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.67, Y:167.63, Z:6.64 [[ 8.55930341e-01 5.16891639e-01 -1.43625902e-02 1.14665308e+02] [-5.16811634e-01 8.56050757e-01 9.10145984e-03 1.67629836e+02] [ 1.69995747e-02 -3.67461896e-04 9.99855429e-01 6.63844507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.69, Y:167.61, Z:6.64 [[ 8.56509018e-01 5.15930534e-01 -1.44217236e-02 1.14689509e+02] [-5.15849637e-01 8.56630334e-01 9.14453447e-03 1.67610344e+02] [ 1.70720304e-02 -3.92935361e-04 9.99854185e-01 6.63932850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.72, Y:167.59, Z:6.64 [[ 8.56626261e-01 5.15749660e-01 -1.39189878e-02 1.14718160e+02] [-5.15674196e-01 8.56739248e-01 8.83089636e-03 1.67593363e+02] [ 1.64794750e-02 -3.87114868e-04 9.99864129e-01 6.64024311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:167.58, Z:6.64 [[ 8.56566732e-01 5.15852767e-01 -1.37606712e-02 1.14744295e+02] [-5.15778926e-01 8.56677170e-01 8.73646236e-03 1.67575584e+02] [ 1.62951811e-02 -3.85898806e-04 9.99867150e-01 6.64090854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:167.56, Z:6.64 [[ 8.56179310e-01 5.16507401e-01 -1.33076647e-02 1.14771229e+02] [-5.16438338e-01 8.56282646e-01 8.45415748e-03 1.67558321e+02] [ 1.57617573e-02 -3.65686452e-04 9.99875709e-01 6.64207574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:167.54, Z:6.64 [[ 8.55531379e-01 5.17592851e-01 -1.27945520e-02 1.14798660e+02] [-5.17529061e-01 8.55626979e-01 8.13290291e-03 1.67541011e+02] [ 1.51568963e-02 -3.36401171e-04 9.99885071e-01 6.64283953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.83, Y:167.52, Z:6.64 [[ 8.54175312e-01 5.19840152e-01 -1.22781779e-02 1.14825976e+02] [-5.19781573e-01 8.54263504e-01 7.80915698e-03 1.67524987e+02] [ 1.45483126e-02 -2.88418464e-04 9.99894126e-01 6.64459829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:167.51, Z:6.65 [[ 8.53303542e-01 5.21268291e-01 -1.23464043e-02 1.14854580e+02] [-5.21209140e-01 8.53392815e-01 7.85723935e-03 1.67509549e+02] [ 1.46320624e-02 -2.69551400e-04 9.99892909e-01 6.64524119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:167.49, Z:6.65 [[ 8.51767934e-01 5.23777737e-01 -1.21765930e-02 1.14881400e+02] [-5.23720390e-01 8.51854935e-01 7.75382673e-03 1.67493991e+02] [ 1.44339727e-02 -2.27330922e-04 9.99895799e-01 6.64597336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:167.48, Z:6.65 [[ 8.50802787e-01 5.25347122e-01 -1.20424039e-02 1.14909698e+02] [-5.25291128e-01 8.50887984e-01 7.67267458e-03 1.67478147e+02] [ 1.42775543e-02 -2.02164974e-04 9.99898050e-01 6.64645083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:167.46, Z:6.65 [[ 8.49998738e-01 5.26648863e-01 -1.19633359e-02 1.14936302e+02] [-5.26593667e-01 8.50082903e-01 7.62677879e-03 1.67462308e+02] [ 1.41864617e-02 -1.82935423e-04 9.99899350e-01 6.64706982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:167.45, Z:6.65 [[ 8.49064031e-01 5.28154507e-01 -1.19619248e-02 1.14964260e+02] [-5.28099414e-01 8.49148274e-01 7.63007090e-03 1.67445886e+02] [ 1.41873041e-02 -1.61333302e-04 9.99899342e-01 6.64771020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:167.43, Z:6.65 [[ 8.48333596e-01 5.29331669e-01 -1.17513610e-02 1.14992207e+02] [-5.29278551e-01 8.48414972e-01 7.50007662e-03 1.67429273e+02] [ 1.39400586e-02 -1.42823662e-04 9.99902822e-01 6.64866823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:167.41, Z:6.65 [[ 8.47355888e-01 5.30898820e-01 -1.15948925e-02 1.15019196e+02] [-5.30847196e-01 8.47435206e-01 7.40448279e-03 1.67412917e+02] [ 1.37569513e-02 -1.19115919e-04 9.99905362e-01 6.64952096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:167.40, Z:6.65 [[ 8.46890185e-01 5.31638852e-01 -1.17109100e-02 1.15046743e+02] [-5.31586203e-01 8.46971144e-01 7.48268319e-03 1.67395741e+02] [ 1.38968880e-02 -1.11652752e-04 9.99903427e-01 6.64987157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:167.38, Z:6.65 [[ 8.46865824e-01 5.31665026e-01 -1.22709684e-02 1.15075164e+02] [-5.31607146e-01 8.46954713e-01 7.84582271e-03 1.67378653e+02] [ 1.45643041e-02 -1.21024594e-04 9.99893928e-01 6.65005005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:167.36, Z:6.65 [[ 8.47018211e-01 5.31422769e-01 -1.22471101e-02 1.15101288e+02] [-5.31365011e-01 8.47106737e-01 7.83584459e-03 1.67360827e+02] [ 1.45387557e-02 -1.29417281e-04 9.99894298e-01 6.64994420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:167.34, Z:6.65 [[ 8.48083894e-01 5.29700521e-01 -1.30792360e-02 1.15127125e+02] [-5.29634357e-01 8.48184725e-01 8.37380387e-03 1.67340980e+02] [ 1.55292164e-02 -1.74475457e-04 9.99879399e-01 6.65009497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:167.32, Z:6.65 [[ 8.48733808e-01 5.28657666e-01 -1.31146794e-02 1.15151448e+02] [-5.28590941e-01 8.48835103e-01 8.40148074e-03 1.67321980e+02] [ 1.55737074e-02 -1.98320037e-04 9.99878703e-01 6.65022011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:167.30, Z:6.65 [[ 8.49448049e-01 5.27505101e-01 -1.32808682e-02 1.15177935e+02] [-5.27436456e-01 8.49551833e-01 8.51276343e-03 1.67304076e+02] [ 1.57733121e-02 -2.26336219e-04 9.99875568e-01 6.65083358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:167.29, Z:6.65 [[ 8.50235853e-01 5.26223074e-01 -1.37211365e-02 1.15202871e+02] [-5.26149548e-01 8.50346522e-01 8.80036294e-03 1.67285484e+02] [ 1.62986747e-02 -2.63014333e-04 9.99867133e-01 6.65134455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:167.27, Z:6.65 [[ 8.51773635e-01 5.23717323e-01 -1.42070762e-02 1.15228327e+02] [-5.23638059e-01 8.51892047e-01 9.11726570e-03 1.67266773e+02] [ 1.68777652e-02 -3.26480744e-04 9.99857507e-01 6.65131816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:167.25, Z:6.65 [[ 8.52278301e-01 5.22890417e-01 -1.43982811e-02 1.15253416e+02] [-5.22808797e-01 8.52399841e-01 9.24520616e-03 1.67247708e+02] [ 1.71073222e-02 -3.51940604e-04 9.99853597e-01 6.65136133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:167.23, Z:6.65 [[ 8.52613260e-01 5.22341126e-01 -1.45043356e-02 1.15280556e+02] [-5.22258128e-01 8.52736542e-01 9.31862802e-03 1.67231129e+02] [ 1.72358797e-02 -3.70178635e-04 9.99851383e-01 6.65222895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.31, Y:167.21, Z:6.65 [[ 8.53139985e-01 5.21483222e-01 -1.44019188e-02 1.15305310e+02] [-5.21401184e-01 8.53261448e-01 9.25783339e-03 1.67211484e+02] [ 1.71164069e-02 -3.89050335e-04 9.99853428e-01 6.65337107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:167.19, Z:6.65 [[ 8.53132036e-01 5.21484924e-01 -1.48054981e-02 1.15333111e+02] [-5.21398152e-01 8.53260401e-01 9.52134675e-03 1.67193207e+02] [ 1.75981840e-02 -4.03406617e-04 9.99845059e-01 6.65468622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:167.18, Z:6.66 [[ 8.52603478e-01 5.22337719e-01 -1.51860948e-02 1.15358162e+02] [-5.22246443e-01 8.52738616e-01 9.77274831e-03 1.67175134e+02] [ 1.80544445e-02 -4.01395187e-04 9.99836925e-01 6.65576237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:167.16, Z:6.66 [[ 8.52142837e-01 5.23068695e-01 -1.58658959e-02 1.15386298e+02] [-5.22969070e-01 8.52290428e-01 1.02165733e-02 1.67158578e+02] [ 1.88663208e-02 -4.08606916e-04 9.99821932e-01 6.65624302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:167.14, Z:6.66 [[ 8.51552925e-01 5.24016932e-01 -1.62441256e-02 1.15414176e+02] [-5.23912560e-01 8.51707751e-01 1.04659307e-02 1.67141568e+02] [ 1.93195726e-02 -4.01792472e-04 9.99813279e-01 6.65617254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:167.13, Z:6.66 [[ 8.50208719e-01 5.26145784e-01 -1.77692787e-02 1.15442459e+02] [-5.26021264e-01 8.50394298e-01 1.14528599e-02 1.67125851e+02] [ 2.11367672e-02 -3.90302903e-04 9.99776517e-01 6.65691464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4627550960001 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:115.47, Y:167.11, Z:6.66 [[ 8.49598422e-01 5.27125288e-01 -1.79290968e-02 1.15470311e+02] [-5.26998585e-01 8.49787497e-01 1.15629498e-02 1.67109440e+02] [ 2.13310455e-02 -3.75255287e-04 9.99772397e-01 6.65813070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:167.09, Z:6.66 [[ 8.48818575e-01 5.28377341e-01 -1.80114308e-02 1.15496080e+02] [-5.28249600e-01 8.49009577e-01 1.16231937e-02 1.67091154e+02] [ 2.14333095e-02 -3.51451613e-04 9.99770218e-01 6.65878027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:167.07, Z:6.66 [[ 8.47915293e-01 5.29800871e-01 -1.87268103e-02 1.15524158e+02] [-5.29662960e-01 8.48121999e-01 1.20922736e-02 1.67074827e+02] [ 2.22891169e-02 -3.34325937e-04 9.99751511e-01 6.66076006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:167.06, Z:6.66 [[ 8.47303045e-01 5.30793399e-01 -1.83280666e-02 1.15552075e+02] [-5.30661379e-01 8.47501194e-01 1.18417413e-02 1.67058434e+02] [ 2.18185765e-02 -3.07546372e-04 9.99761899e-01 6.66234194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:167.04, Z:6.66 [[ 8.46941934e-01 5.31384200e-01 -1.78939447e-02 1.15578644e+02] [-5.31258350e-01 8.47130892e-01 1.15679515e-02 1.67042754e+02] [ 2.13055399e-02 -2.91075664e-04 9.99772969e-01 6.66392980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:167.03, Z:6.66 [[ 8.46688630e-01 5.31807627e-01 -1.72919376e-02 1.15605166e+02] [-5.31690060e-01 8.46865144e-01 1.11851829e-02 1.67025334e+02] [ 2.05923048e-02 -2.76415840e-04 9.99787918e-01 6.66470232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:167.01, Z:6.67 [[ 8.46630305e-01 5.31905836e-01 -1.71262305e-02 1.15633572e+02] [-5.31790386e-01 8.46803463e-01 1.10851694e-02 1.67007969e+02] [ 2.03988176e-02 -2.77475567e-04 9.99791884e-01 6.66631909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:166.99, Z:6.67 [[ 8.46849824e-01 5.31573506e-01 -1.65825846e-02 1.15661445e+02] [-5.31465065e-01 8.47012118e-01 1.07404637e-02 1.66989610e+02] [ 1.97549960e-02 -2.82495440e-04 9.99804811e-01 6.66831324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:166.97, Z:6.67 [[ 8.46980310e-01 5.31377893e-01 -1.61829788e-02 1.15687234e+02] [-5.31274446e-01 8.47134850e-01 1.04885408e-02 1.66971471e+02] [ 1.92825440e-02 -2.85984444e-04 9.99814034e-01 6.66926555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.71, Y:166.95, Z:6.67 [[ 8.47035200e-01 5.31300503e-01 -1.58475762e-02 1.15714333e+02] [-5.31201163e-01 8.47183388e-01 1.02776794e-02 1.66953327e+02] [ 1.88863395e-02 -2.87305292e-04 9.99821596e-01 6.67037412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.74, Y:166.94, Z:6.67 [[ 8.47730948e-01 5.30200664e-01 -1.54756476e-02 1.15740439e+02] [-5.30105635e-01 8.47872137e-01 1.00426628e-02 1.66935519e+02] [ 1.84459969e-02 -3.09748038e-04 9.99829810e-01 6.67148825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:166.92, Z:6.67 [[ 8.48026642e-01 5.29722924e-01 -1.56345093e-02 1.15767562e+02] [-5.29625749e-01 8.48170688e-01 1.01513717e-02 1.66917642e+02] [ 1.86381468e-02 -3.28194979e-04 9.99826241e-01 6.67192349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.79, Y:166.90, Z:6.67 [[ 8.48755634e-01 5.28568084e-01 -1.51543489e-02 1.15793659e+02] [-5.28476504e-01 8.48890841e-01 9.84504070e-03 1.66900033e+02] [ 1.80681623e-02 -3.47316416e-04 9.99836697e-01 6.67219225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:166.88, Z:6.67 [[ 8.49019138e-01 5.28137677e-01 -1.53979832e-02 1.15821923e+02] [-5.28042955e-01 8.49158677e-01 1.00089154e-02 1.66883814e+02] [ 1.83614164e-02 -3.66964194e-04 9.99831348e-01 6.67295837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:166.87, Z:6.67 [[ 8.49336044e-01 5.27630140e-01 -1.53205606e-02 1.15848203e+02] [-5.27536175e-01 8.49474126e-01 9.96462541e-03 1.66866001e+02] [ 1.82720565e-02 -3.81165588e-04 9.99832979e-01 6.67315762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.87, Y:166.85, Z:6.67 [[ 8.49636858e-01 5.27134256e-01 -1.57062305e-02 1.15873575e+02] [-5.27035301e-01 8.49781919e-01 1.02216277e-02 1.66848010e+02] [ 1.87350408e-02 -4.06933722e-04 9.99824401e-01 6.67309917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:166.83, Z:6.67 [[ 8.50731284e-01 5.25357662e-01 -1.59877742e-02 1.15896863e+02] [-5.25254701e-01 8.50881376e-01 1.04107072e-02 1.66827099e+02] [ 1.90730442e-02 -4.59060775e-04 9.99817988e-01 6.67249954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:166.81, Z:6.67 [[ 8.51121649e-01 5.24725901e-01 -1.59582746e-02 1.15922951e+02] [-5.24623100e-01 8.51271109e-01 1.03972069e-02 1.66808494e+02] [ 1.90405018e-02 -4.77208414e-04 9.99818599e-01 6.67275159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:166.79, Z:6.67 [[ 8.51780831e-01 5.23659389e-01 -1.58196025e-02 1.15952054e+02] [-5.23558073e-01 8.51927575e-01 1.03126988e-02 1.66794147e+02] [ 1.88774972e-02 -5.01678579e-04 9.99821678e-01 6.67336458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:166.78, Z:6.67 [[ 8.51644409e-01 5.23871659e-01 -1.61333555e-02 1.15979155e+02] [-5.23766190e-01 8.51797055e-01 1.05240474e-02 1.66775886e+02] [ 1.92555949e-02 -5.12639991e-04 9.99814462e-01 6.67342306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:166.76, Z:6.67 [[ 8.51441816e-01 5.24202981e-01 -1.60645228e-02 1.16005357e+02] [-5.24098333e-01 8.51593199e-01 1.04862612e-02 1.66756990e+02] [ 1.91773678e-02 -5.09051646e-04 9.99815968e-01 6.67304239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:166.74, Z:6.67 [[ 8.50350682e-01 5.25946377e-01 -1.68560400e-02 1.16033586e+02] [-5.25831389e-01 8.50517584e-01 1.10086361e-02 1.66740632e+02] [ 2.01263107e-02 -4.97766295e-04 9.99797321e-01 6.67244789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:166.72, Z:6.67 [[ 8.49534895e-01 5.27249307e-01 -1.72809382e-02 1.16061219e+02] [-5.27128634e-01 8.49710501e-01 1.12901421e-02 1.66724966e+02] [ 2.06365143e-02 -4.82092337e-04 9.99786928e-01 6.67237968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.09, Y:166.71, Z:6.67 [[ 8.48574868e-01 5.28780235e-01 -1.76679422e-02 1.16089033e+02] [-5.28654279e-01 8.48758653e-01 1.15500097e-02 1.66708460e+02] [ 2.11032356e-02 -4.60814708e-04 9.99777196e-01 6.67188837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:166.69, Z:6.67 [[ 8.47735389e-01 5.30122286e-01 -1.77502769e-02 1.16115193e+02] [-5.29995323e-01 8.47921089e-01 1.16096750e-02 1.66692033e+02] [ 2.12053816e-02 -4.34368608e-04 9.99775046e-01 6.67137012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:166.67, Z:6.67 [[ 8.47572577e-01 5.30382637e-01 -1.77478040e-02 1.16142243e+02] [-5.30255652e-01 8.47758262e-01 1.16134545e-02 1.66674133e+02] [ 2.12054220e-02 -4.32372189e-04 9.99775046e-01 6.67179974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:166.66, Z:6.67 [[ 8.45723693e-01 5.33307039e-01 -1.83040366e-02 1.16170218e+02] [-5.33172481e-01 8.45921663e-01 1.19852224e-02 1.66658861e+02] [ 2.18755845e-02 -3.76977965e-04 9.99760630e-01 6.67202828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:166.64, Z:6.67 [[ 8.44791416e-01 5.34770656e-01 -1.86496574e-02 1.16197395e+02] [-5.34631162e-01 8.44997173e-01 1.22187722e-02 1.66641879e+02] [ 2.22931486e-02 -3.51625840e-04 9.99751415e-01 6.67244945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.22, Y:166.63, Z:6.67 [[ 8.43636452e-01 5.36591648e-01 -1.86263458e-02 1.16223485e+02] [-5.36452792e-01 8.43841992e-01 1.22103985e-02 1.66625186e+02] [ 2.22696905e-02 -3.08982036e-04 9.99751952e-01 6.67294753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.25, Y:166.61, Z:6.67 [[ 8.43317538e-01 5.37097036e-01 -1.85014394e-02 1.16251683e+02] [-5.36960000e-01 8.43520411e-01 1.21356643e-02 1.66607482e+02] [ 2.21243711e-02 -2.99685585e-04 9.99755181e-01 6.67422485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:166.59, Z:6.67 [[ 8.43066896e-01 5.37494586e-01 -1.83787594e-02 1.16279361e+02] [-5.37359279e-01 8.43267148e-01 1.20632461e-02 1.66589224e+02] [ 2.19821335e-02 -2.94126578e-04 9.99758320e-01 6.67473558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:166.57, Z:6.68 [[ 8.43037678e-01 5.37527693e-01 -1.87470748e-02 1.16306971e+02] [-5.37386726e-01 8.43246041e-01 1.23134493e-02 1.66571299e+02] [ 2.24272166e-02 -3.06272571e-04 9.99748431e-01 6.67582311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.33, Y:166.55, Z:6.68 [[ 8.43128969e-01 5.37388171e-01 -1.86412066e-02 1.16331895e+02] [-5.37248576e-01 8.43334960e-01 1.22520980e-02 1.66551703e+02] [ 2.23049137e-02 -3.15137111e-04 9.99751165e-01 6.67503047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.36, Y:166.53, Z:6.68 [[ 8.43905398e-01 5.36170148e-01 -1.85809224e-02 1.16358215e+02] [-5.36030992e-01 8.44109855e-01 1.22199767e-02 1.66532751e+02] [ 2.22363264e-02 -3.52554076e-04 9.99752680e-01 6.67645158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:166.51, Z:6.68 [[ 8.44333446e-01 5.35502421e-01 -1.83899013e-02 1.16382378e+02] [-5.35365806e-01 8.44533610e-01 1.21010620e-02 1.66512844e+02] [ 2.20110377e-02 -3.72007063e-04 9.99757659e-01 6.67665274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:166.50, Z:6.68 [[ 8.44613963e-01 5.35081515e-01 -1.77489704e-02 1.16410843e+02] [-5.34954022e-01 8.44800350e-01 1.16860189e-02 1.66495463e+02] [ 2.12473092e-02 -3.75291647e-04 9.99774180e-01 6.67891272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:166.48, Z:6.68 [[ 8.44969340e-01 5.34534941e-01 -1.72977413e-02 1.16437669e+02] [-5.34413577e-01 8.45146288e-01 1.13964792e-02 1.66476345e+02] [ 2.07109381e-02 -3.85527691e-04 9.99785431e-01 6.67996880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.46, Y:166.46, Z:6.68 [[ 8.45977605e-01 5.32958658e-01 -1.66421747e-02 1.16463587e+02] [-5.32845878e-01 8.46141181e-01 1.09714524e-02 1.66457904e+02] [ 1.99289599e-02 -4.13888866e-04 9.99801313e-01 6.68133361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:166.44, Z:6.68 [[ 8.46326906e-01 5.32413681e-01 -1.63229896e-02 1.16488264e+02] [-5.32304965e-01 8.46484195e-01 1.07671852e-02 1.66439410e+02] [ 1.95497495e-02 -4.23750134e-04 9.99808796e-01 6.68138439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:166.42, Z:6.68 [[ 8.47231425e-01 5.30991090e-01 -1.57281520e-02 1.16514104e+02] [-5.30889802e-01 8.47377286e-01 1.03804358e-02 1.66419860e+02] [ 1.88395977e-02 -4.44715937e-04 9.99822420e-01 6.68177629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:166.40, Z:6.68 [[ 8.47595929e-01 5.30408773e-01 -1.57376730e-02 1.16541187e+02] [-5.30307148e-01 8.47741894e-01 1.03927578e-02 1.66402123e+02] [ 1.88538947e-02 -4.63058674e-04 9.99822142e-01 6.68234967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:166.38, Z:6.68 [[ 8.47672049e-01 5.30284806e-01 -1.58152782e-02 1.16566549e+02] [-5.30182034e-01 8.47819439e-01 1.04503337e-02 1.66382790e+02] [ 1.89501534e-02 -4.73479437e-04 9.99820318e-01 6.68226025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:166.37, Z:6.68 [[ 8.47315196e-01 5.30861234e-01 -1.55983721e-02 1.16594525e+02] [-5.30761242e-01 8.47458636e-01 1.03133567e-02 1.66367474e+02] [ 1.86939364e-02 -4.59652503e-04 9.99825147e-01 6.68288864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:166.35, Z:6.68 [[ 8.46399637e-01 5.32315064e-01 -1.57584325e-02 1.16620738e+02] [-5.32213141e-01 8.46546208e-01 1.04254842e-02 1.66349732e+02] [ 1.88898836e-02 -4.37281200e-04 9.99821475e-01 6.68294343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:166.33, Z:6.68 [[ 8.45570030e-01 5.33629128e-01 -1.58517549e-02 1.16648534e+02] [-5.33526107e-01 8.45718500e-01 1.04934486e-02 1.66333315e+02] [ 1.90057322e-02 -4.15620611e-04 9.99819288e-01 6.68288284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:166.32, Z:6.68 [[ 8.43845822e-01 5.36356425e-01 -1.56848314e-02 1.16677815e+02] [-5.36255919e-01 8.43991504e-01 1.03889660e-02 1.66319663e+02] [ 1.88100531e-02 -3.55601868e-04 9.99823012e-01 6.68266201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:166.30, Z:6.68 [[ 8.42786903e-01 5.38008279e-01 -1.60414644e-02 1.16703361e+02] [-5.37903329e-01 8.42939489e-01 1.06314070e-02 1.66302211e+02] [ 1.92417688e-02 -3.31253498e-04 9.99814805e-01 6.68170869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:166.29, Z:6.68 [[ 8.41072357e-01 5.40669362e-01 -1.65508748e-02 1.16733054e+02] [-5.40558030e-01 8.41235140e-01 1.09752509e-02 1.66288352e+02] [ 1.98571594e-02 -2.84271863e-04 9.99802787e-01 6.68197183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:166.27, Z:6.68 [[ 8.40302736e-01 5.41864391e-01 -1.65618209e-02 1.16759044e+02] [-5.41753020e-01 8.40465891e-01 1.09887354e-02 1.66271988e+02] [ 1.98740500e-02 -2.61447891e-04 9.99802457e-01 6.68206712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:166.26, Z:6.68 [[ 8.39815857e-01 5.42627118e-01 -1.62830018e-02 1.16786239e+02] [-5.42519493e-01 8.39973661e-01 1.08096934e-02 1.66255760e+02] [ 1.95429255e-02 -2.44306044e-04 9.99808989e-01 6.68307461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.81, Y:166.24, Z:6.68 [[ 8.39387391e-01 5.43301621e-01 -1.58794503e-02 1.16811216e+02] [-5.43199282e-01 8.39537550e-01 1.05471678e-02 1.66236637e+02] [ 1.90616881e-02 -2.27453670e-04 9.99818284e-01 6.68258397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.84, Y:166.22, Z:6.68 [[ 8.39209403e-01 5.43584741e-01 -1.55951040e-02 1.16839898e+02] [-5.43486002e-01 8.39354264e-01 1.03626762e-02 1.66219775e+02] [ 1.87228097e-02 -2.20734621e-04 9.99824688e-01 6.68392604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:166.20, Z:6.69 [[ 8.39356974e-01 5.43379188e-01 -1.47962402e-02 1.16867580e+02] [-5.43290165e-01 8.39487350e-01 9.83797782e-03 1.66202097e+02] [ 1.77670088e-02 -2.18923515e-04 9.99842130e-01 6.68500819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:166.18, Z:6.69 [[ 8.40235969e-01 5.42033059e-01 -1.42716266e-02 1.16893858e+02] [-5.41949940e-01 8.40357129e-01 9.49518243e-03 1.66182836e+02] [ 1.71399659e-02 -2.43686652e-04 9.99853070e-01 6.68560660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:166.16, Z:6.69 [[ 8.40790867e-01 5.41187785e-01 -1.36565227e-02 1.16920059e+02] [-5.41111479e-01 8.40901729e-01 9.09118678e-03 1.66164215e+02] [ 1.64038328e-02 -2.54085621e-04 9.99865416e-01 6.68688596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.94, Y:166.14, Z:6.69 [[ 8.41303964e-01 5.40395497e-01 -1.34292961e-02 1.16944245e+02] [-5.40321523e-01 8.41411097e-01 8.94526226e-03 1.66144521e+02] [ 1.61335382e-02 -2.69546855e-04 9.99869810e-01 6.68765551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.97, Y:166.12, Z:6.69 [[ 8.42211892e-01 5.39016665e-01 -1.18390874e-02 1.16966839e+02] [-5.38958981e-01 8.42295058e-01 7.88997776e-03 1.66122595e+02] [ 1.42248343e-02 -2.64250599e-04 9.99898787e-01 6.68956140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.00, Y:166.11, Z:6.69 [[ 8.42533586e-01 5.38524935e-01 -1.13159692e-02 1.16995256e+02] [-5.38472139e-01 8.42609533e-01 7.54526240e-03 1.66107204e+02] [ 1.35982555e-02 -2.63802840e-04 9.99907505e-01 6.69083769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.02, Y:166.09, Z:6.69 [[ 8.42551974e-01 5.38504177e-01 -1.09280906e-02 1.17021319e+02] [-5.38454880e-01 8.42622801e-01 7.29087030e-03 1.66088799e+02] [ 1.31344224e-02 -2.58653419e-04 9.99913706e-01 6.69178070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.05, Y:166.07, Z:6.69 [[ 8.42658999e-01 5.38355339e-01 -9.96694176e-03 1.17046600e+02] [-5.38314276e-01 8.42717907e-01 6.65350803e-03 1.66070050e+02] [ 1.19812719e-02 -2.41291384e-04 9.99928193e-01 6.69273438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:166.05, Z:6.69 [[ 8.42665704e-01 5.38357528e-01 -9.25657713e-03 1.17074265e+02] [-5.38322074e-01 8.42716513e-01 6.18256003e-03 1.66051658e+02] [ 1.11290981e-02 -2.26811496e-04 9.99938044e-01 6.69355152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:166.03, Z:6.69 [[ 8.42634784e-01 5.38411076e-01 -8.95178950e-03 1.17100999e+02] [-5.38377881e-01 8.42682303e-01 5.98275038e-03 1.66032842e+02] [ 1.07646937e-02 -2.21828119e-04 9.99942034e-01 6.69424780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:166.01, Z:6.69 [[ 8.42730824e-01 5.38258450e-01 -9.08837742e-03 1.17127934e+02] [-5.38224182e-01 8.42779798e-01 6.07806296e-03 1.66013775e+02] [ 1.09310696e-02 -2.30586510e-04 9.99940228e-01 6.69458535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:166.00, Z:6.69 [[ 8.42649560e-01 5.38381528e-01 -9.32997886e-03 1.17155228e+02] [-5.38345373e-01 8.42701177e-01 6.24394672e-03 1.65995242e+02] [ 1.12240097e-02 -2.38708010e-04 9.99936980e-01 6.69427726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:165.98, Z:6.69 [[ 8.42543453e-01 5.38537943e-01 -9.86987732e-03 1.17182114e+02] [-5.38497436e-01 8.42601222e-01 6.61000186e-03 1.65976959e+02] [ 1.18761075e-02 -2.54310158e-04 9.99929444e-01 6.69325586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:165.96, Z:6.69 [[ 8.42456896e-01 5.38658951e-01 -1.06260390e-02 1.17207892e+02] [-5.38611941e-01 8.42523862e-01 7.12174091e-03 1.65957955e+02] [ 1.27888809e-02 -2.76448252e-04 9.99918181e-01 6.69290977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:165.94, Z:6.69 [[ 8.42259226e-01 5.38959146e-01 -1.10650338e-02 1.17235351e+02] [-5.38908153e-01 8.42331857e-01 7.41925897e-03 1.65939027e+02] [ 1.33191079e-02 -2.85902406e-04 9.99911256e-01 6.69266899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:165.92, Z:6.69 [[ 8.42129900e-01 5.39156846e-01 -1.12750802e-02 1.17262215e+02] [-5.39103846e-01 8.42205325e-01 7.56529781e-03 1.65920812e+02] [ 1.35748147e-02 -2.92524383e-04 9.99907815e-01 6.69267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:165.90, Z:6.69 [[ 8.41863666e-01 5.39561460e-01 -1.17897554e-02 1.17288776e+02] [-5.39503470e-01 8.41946161e-01 7.91624073e-03 1.65902498e+02] [ 1.41976377e-02 -3.03781478e-04 9.99899162e-01 6.69296079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:165.88, Z:6.69 [[ 8.41557342e-01 5.40037539e-01 -1.18615537e-02 1.17316333e+02] [-5.39978815e-01 8.41640877e-01 7.96955835e-03 1.65883988e+02] [ 1.42870291e-02 -3.01852661e-04 9.99897890e-01 6.69326119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.34, Y:165.87, Z:6.69 [[ 8.40670261e-01 5.41413705e-01 -1.20296336e-02 1.17343639e+02] [-5.41353367e-01 8.40756277e-01 8.08792981e-03 1.65867892e+02] [ 1.44929060e-02 -2.86999392e-04 9.99894931e-01 6.69373944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.37, Y:165.85, Z:6.69 [[ 8.40113441e-01 5.42275674e-01 -1.21037119e-02 1.17370276e+02] [-5.42214611e-01 8.40200581e-01 8.14247915e-03 1.65851104e+02] [ 1.45850141e-02 -2.77796758e-04 9.99893594e-01 6.69419423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.40, Y:165.84, Z:6.69 [[ 8.39003408e-01 5.43978447e-01 -1.26779344e-02 1.17398835e+02] [-5.43911579e-01 8.39099148e-01 8.53316706e-03 1.65835037e+02] [ 1.52799029e-02 -2.63680949e-04 9.99883221e-01 6.69425670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.42, Y:165.82, Z:6.69 [[ 8.38368131e-01 5.44947302e-01 -1.30887182e-02 1.17424779e+02] [-5.44876116e-01 8.38470258e-01 8.81168694e-03 1.65818468e+02] [ 1.57764059e-02 -2.55707611e-04 9.99875512e-01 6.69445564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.45, Y:165.80, Z:6.69 [[ 8.37960277e-01 5.45568177e-01 -1.33393399e-02 1.17451635e+02] [-5.45494262e-01 8.38066406e-01 8.98382562e-03 1.65801054e+02] [ 1.60805420e-02 -2.51555609e-04 9.99870668e-01 6.69423783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.48, Y:165.78, Z:6.69 [[ 8.37368856e-01 5.46459515e-01 -1.39784569e-02 1.17478007e+02] [-5.46378374e-01 8.37485484e-01 9.42001501e-03 1.65784767e+02] [ 1.68544116e-02 -2.50500613e-04 9.99857923e-01 6.69416436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.51, Y:165.77, Z:6.69 [[ 8.37217584e-01 5.46686365e-01 -1.41681189e-02 1.17505288e+02] [-5.46602950e-01 8.37337419e-01 9.55310295e-03 1.65766930e+02] [ 1.70860472e-02 -2.53690188e-04 9.99853991e-01 6.69437923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:165.75, Z:6.70 [[ 8.36937055e-01 5.47120315e-01 -1.39902444e-02 1.17533241e+02] [-5.47038940e-01 8.37053941e-01 9.43916968e-03 1.65749421e+02] [ 1.68749507e-02 -2.46782406e-04 9.99857577e-01 6.69525830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.56, Y:165.73, Z:6.70 [[ 8.36748909e-01 5.47410425e-01 -1.38957020e-02 1.17560776e+02] [-5.47330084e-01 8.36864247e-01 9.38146300e-03 1.65732062e+02] [ 1.67643268e-02 -2.44393171e-04 9.99859439e-01 6.69633779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.59, Y:165.71, Z:6.70 [[ 8.36457667e-01 5.47869072e-01 -1.33435632e-02 1.17587000e+02] [-5.47794957e-01 8.36564060e-01 9.01434456e-03 1.65714324e+02] [ 1.61014260e-02 -2.30580970e-04 9.99870337e-01 6.69696410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:165.70, Z:6.70 [[ 8.36445760e-01 5.47887392e-01 -1.33378078e-02 1.17610706e+02] [-5.47813273e-01 8.36552061e-01 9.01478441e-03 1.65698655e+02] [ 1.60968573e-02 -2.33750060e-04 9.99870410e-01 6.69716730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:165.68, Z:6.70 [[ 8.36413336e-01 5.47930598e-01 -1.35938082e-02 1.17639012e+02] [-5.47853608e-01 8.36523761e-01 9.18809455e-03 1.65681766e+02] [ 1.64059817e-02 -2.37627923e-04 9.99865385e-01 6.69756205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:165.66, Z:6.70 [[ 8.36255045e-01 5.48167691e-01 -1.37725057e-02 1.17666595e+02] [-5.48088593e-01 8.36368414e-01 9.31500533e-03 1.65663053e+02] [ 1.66250737e-02 -2.41166920e-04 9.99861765e-01 6.69794822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:165.64, Z:6.70 [[ 8.36145909e-01 5.48340001e-01 -1.35374445e-02 1.17692163e+02] [-5.48263508e-01 8.36255455e-01 9.16183495e-03 1.65644103e+02] [ 1.63445624e-02 -2.38544008e-04 9.99866390e-01 6.69796528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:165.63, Z:6.70 [[ 8.36469407e-01 5.47844842e-01 -1.36000412e-02 1.17715786e+02] [-5.47767504e-01 8.36579922e-01 9.20850792e-03 1.65627167e+02] [ 1.64223549e-02 -2.52974560e-04 9.99865112e-01 6.69828325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:165.61, Z:6.70 [[ 8.36597258e-01 5.47641743e-01 -1.39122215e-02 1.17741239e+02] [-5.47560800e-01 8.36712885e-01 9.41900289e-03 1.65610475e+02] [ 1.67987741e-02 -2.62124870e-04 9.99858856e-01 6.69861540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:165.59, Z:6.70 [[ 8.36746834e-01 5.47402710e-01 -1.43181649e-02 1.17768488e+02] [-5.47316913e-01 8.36869283e-01 9.69532143e-03 1.65592709e+02] [ 1.72896776e-02 -2.75955704e-04 9.99850484e-01 6.69879456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:165.57, Z:6.70 [[ 8.36624803e-01 5.47592243e-01 -1.42012086e-02 1.17795084e+02] [-5.47507765e-01 8.36745278e-01 9.62225279e-03 1.65574137e+02] [ 1.71518652e-02 -2.74943353e-04 9.99852858e-01 6.69941862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:165.56, Z:6.70 [[ 8.36459488e-01 5.47844805e-01 -1.41984419e-02 1.17821835e+02] [-5.47760294e-01 8.36579939e-01 9.62633384e-03 1.65555791e+02] [ 1.71518687e-02 -2.74695552e-04 9.99852858e-01 6.69984870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:165.54, Z:6.70 [[ 8.36294277e-01 5.48097780e-01 -1.41670747e-02 1.17847837e+02] [-5.48013573e-01 8.36414221e-01 9.61120206e-03 1.65537057e+02] [ 1.71174212e-02 -2.74044071e-04 9.99853449e-01 6.70019536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:165.52, Z:6.70 [[ 8.36235665e-01 5.48186925e-01 -1.41777242e-02 1.17873260e+02] [-5.48102508e-01 8.36355797e-01 9.62404184e-03 1.65519321e+02] [ 1.71333957e-02 -2.77120826e-04 9.99853174e-01 6.70097603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:165.50, Z:6.70 [[ 8.36020095e-01 5.48523533e-01 -1.38684918e-02 1.17897345e+02] [-5.48442744e-01 8.36135074e-01 9.41777130e-03 1.65502778e+02] [ 1.67618016e-02 -2.67372343e-04 9.99859475e-01 6.70182254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:165.49, Z:6.70 [[ 8.35709439e-01 5.49002955e-01 -1.36194669e-02 1.17926131e+02] [-5.48925089e-01 8.35820370e-01 9.24962098e-03 1.65486254e+02] [ 1.64614971e-02 -2.53928498e-04 9.99864468e-01 6.70315334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:165.47, Z:6.70 [[ 8.35499148e-01 5.49331706e-01 -1.32608908e-02 1.17952244e+02] [-5.49257832e-01 8.35604342e-01 9.01203327e-03 1.65467966e+02] [ 1.60314536e-02 -2.45897958e-04 9.99871458e-01 6.70369277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:165.45, Z:6.70 [[ 8.35457040e-01 5.49389589e-01 -1.35134513e-02 1.17978229e+02] [-5.49312792e-01 8.35566284e-01 9.18920832e-03 1.65449608e+02] [ 1.63398396e-02 -2.54077139e-04 9.99866464e-01 6.70363690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.00, Y:165.43, Z:6.70 [[ 8.35782360e-01 5.48872506e-01 -1.43812134e-02 1.18003195e+02] [-5.48785382e-01 8.35906030e-01 9.78333532e-03 1.65430719e+02] [ 1.73911467e-02 -2.84539420e-04 9.99848722e-01 6.70239910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:165.41, Z:6.70 [[ 8.35862360e-01 5.48731046e-01 -1.51114023e-02 1.18030386e+02] [-5.48634746e-01 8.35998891e-01 1.02844335e-02 1.65412209e+02] [ 1.82765035e-02 -3.05730431e-04 9.99832924e-01 6.70197769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:165.39, Z:6.70 [[ 8.35754252e-01 5.48885731e-01 -1.54688468e-02 1.18055007e+02] [-5.48784717e-01 8.35897335e-01 1.05346574e-02 1.65391044e+02] [ 1.87126910e-02 -3.15318011e-04 9.99824853e-01 6.70060859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:165.38, Z:6.70 [[ 8.35169175e-01 5.49767983e-01 -1.57357973e-02 1.18084056e+02] [-5.49663482e-01 8.35317348e-01 1.07230863e-02 1.65376453e+02] [ 1.90395940e-02 -3.06197993e-04 9.99818684e-01 6.70199360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:165.36, Z:6.70 [[ 8.34765055e-01 5.50380025e-01 -1.57838884e-02 1.18110191e+02] [-5.50274888e-01 8.34914211e-01 1.07614515e-02 1.65358717e+02] [ 1.91010807e-02 -2.97806275e-04 9.99817513e-01 6.70215387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:165.34, Z:6.70 [[ 8.33790373e-01 5.51850854e-01 -1.59451725e-02 1.18136765e+02] [-5.51743741e-01 8.33942781e-01 1.08758057e-02 1.65341653e+02] [ 1.92991842e-02 -2.70492985e-04 9.99813717e-01 6.70245669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:165.32, Z:6.70 [[ 8.32916513e-01 5.53172652e-01 -1.58145375e-02 1.18164409e+02] [-5.53067427e-01 8.33066599e-01 1.07917889e-02 1.65324296e+02] [ 1.91442854e-02 -2.42153604e-04 9.99816702e-01 6.70340008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.19, Y:165.31, Z:6.70 [[ 8.32274984e-01 5.54133623e-01 -1.59461538e-02 1.18190096e+02] [-5.54026747e-01 8.32427701e-01 1.08851181e-02 1.65307017e+02] [ 1.93058301e-02 -2.24815739e-04 9.99813600e-01 6.70417796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.22, Y:165.29, Z:6.70 [[ 8.30790903e-01 5.56358190e-01 -1.58758031e-02 1.18215999e+02] [-5.56252579e-01 8.30942558e-01 1.08413296e-02 1.65290046e+02] [ 1.92235430e-02 -1.75921520e-04 9.99815195e-01 6.70484985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:165.27, Z:6.71 [[ 8.30030911e-01 5.57492600e-01 -1.58331522e-02 1.18242858e+02] [-5.57387650e-01 8.30181894e-01 1.08180669e-02 1.65272049e+02] [ 1.91753886e-02 -1.54126440e-04 9.99816123e-01 6.70530683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:165.25, Z:6.71 [[ 8.29361294e-01 5.58483694e-01 -1.59939747e-02 1.18269830e+02] [-5.58376664e-01 8.29515488e-01 1.09341913e-02 1.65253911e+02] [ 1.93738173e-02 -1.37732813e-04 9.99812301e-01 6.70571970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.30, Y:165.24, Z:6.71 [[ 8.28134838e-01 5.60320715e-01 -1.52769836e-02 1.18295288e+02] [-5.60223304e-01 8.28275732e-01 1.04480622e-02 1.65237323e+02] [ 1.85078204e-02 -9.38820732e-05 9.99828711e-01 6.70714388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:165.22, Z:6.71 [[ 8.27680809e-01 5.61004407e-01 -1.47829287e-02 1.18319798e+02] [-5.60913308e-01 8.27812811e-01 1.01099622e-02 1.65221071e+02] [ 1.79092311e-02 -7.58802260e-05 9.99839614e-01 6.70810452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.34, Y:165.20, Z:6.71 [[ 8.27557855e-01 5.61210532e-01 -1.38107237e-02 1.18343038e+02] [-5.61131064e-01 8.27673085e-01 9.44428254e-03 1.65204417e+02] [ 1.67309951e-02 -6.60641335e-05 9.99860025e-01 6.70989736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.37, Y:165.19, Z:6.71 [[ 8.27578670e-01 5.61196281e-01 -1.31255258e-02 1.18368661e+02] [-5.61124502e-01 8.27682747e-01 8.97572660e-03 1.65185816e+02] [ 1.59009156e-02 -6.30657739e-05 9.99873570e-01 6.71116436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:165.17, Z:6.71 [[ 8.27621640e-01 5.61144117e-01 -1.26372537e-02 1.18394935e+02] [-5.61077499e-01 8.27718113e-01 8.64666316e-03 1.65166440e+02] [ 1.53121079e-02 -6.56868723e-05 9.99882761e-01 6.71221548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:165.15, Z:6.71 [[ 8.28420461e-01 5.59973216e-01 -1.22285278e-02 1.18419529e+02] [-5.59910634e-01 8.28510706e-01 8.37211049e-03 1.65146148e+02] [ 1.48196238e-02 -8.87448749e-05 9.99890179e-01 6.71295747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:165.13, Z:6.71 [[ 8.28970006e-01 5.59156631e-01 -1.23527740e-02 1.18442101e+02] [-5.59092636e-01 8.29062031e-01 8.46013207e-03 1.65128862e+02] [ 1.49717549e-02 -1.06850744e-04 9.99887911e-01 6.71291822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:165.11, Z:6.71 [[ 8.29987489e-01 5.57637422e-01 -1.26993672e-02 1.18466883e+02] [-5.57569610e-01 8.30084626e-01 8.69727427e-03 1.65109062e+02] [ 1.53914751e-02 -1.37847608e-04 9.99881535e-01 6.71325944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.49, Y:165.09, Z:6.71 [[ 8.30410967e-01 5.57014078e-01 -1.23670043e-02 1.18491862e+02] [-5.56949632e-01 8.30503037e-01 8.47424357e-03 1.65089440e+02] [ 1.49911076e-02 -1.49306289e-04 9.99887616e-01 6.71360788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.52, Y:165.07, Z:6.71 [[ 8.31069502e-01 5.56032989e-01 -1.22799638e-02 1.18517087e+02] [-5.55969263e-01 8.31160205e-01 8.41975246e-03 1.65070292e+02] [ 1.48882773e-02 -1.70117076e-04 9.99889149e-01 6.71389675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.54, Y:165.05, Z:6.71 [[ 8.32491276e-01 5.53912308e-01 -1.18080320e-02 1.18540669e+02] [-5.53853114e-01 8.32574990e-01 8.10028905e-03 1.65049798e+02] [ 1.43179220e-02 -2.03504651e-04 9.99897473e-01 6.71428178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.57, Y:165.03, Z:6.71 [[ 8.32933520e-01 5.53243311e-01 -1.19828905e-02 1.18566090e+02] [-5.53182240e-01 8.33019682e-01 8.22305891e-03 1.65030189e+02] [ 1.45313360e-02 -2.20539177e-04 9.99894390e-01 6.71435088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:165.01, Z:6.71 [[ 8.33308202e-01 5.52688736e-01 -1.15152967e-02 1.18591288e+02] [-5.52632225e-01 8.33387732e-01 7.90653647e-03 1.65011041e+02] [ 1.39665607e-02 -2.24857630e-04 9.99902438e-01 6.71472215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:164.99, Z:6.71 [[ 8.33991435e-01 5.51659122e-01 -1.14236282e-02 1.18615738e+02] [-5.51603354e-01 8.34069634e-01 7.84766532e-03 1.64990961e+02] [ 1.38573375e-02 -2.43574030e-04 9.99903953e-01 6.71483470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.64, Y:164.97, Z:6.72 [[ 8.34024139e-01 5.51614539e-01 -1.11864374e-02 1.18642013e+02] [-5.51561027e-01 8.34099120e-01 7.68712167e-03 1.64971913e+02] [ 1.35709257e-02 -2.41242140e-04 9.99907882e-01 6.71521162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.67, Y:164.95, Z:6.72 [[ 8.33866568e-01 5.51852775e-01 -1.11830564e-02 1.18669073e+02] [-5.51799254e-01 8.33941519e-01 7.68943063e-03 1.64953517e+02] [ 1.35694487e-02 -2.41156944e-04 9.99907902e-01 6.71562634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:164.94, Z:6.72 [[ 8.33431338e-01 5.52502421e-01 -1.15446690e-02 1.18696389e+02] [-5.52445371e-01 8.33511257e-01 7.94328660e-03 1.64935985e+02] [ 1.40112966e-02 -2.42385041e-04 9.99901808e-01 6.71524197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.72, Y:164.92, Z:6.72 [[ 8.32946972e-01 5.53227637e-01 -1.17695884e-02 1.18723132e+02] [-5.53168341e-01 8.33030086e-01 8.10319980e-03 1.64918704e+02] [ 1.42873353e-02 -2.38972036e-04 9.99897902e-01 6.71533191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.75, Y:164.90, Z:6.72 [[ 8.31959139e-01 5.54713157e-01 -1.17177262e-02 1.18750239e+02] [-5.54654467e-01 8.32041626e-01 8.07187542e-03 1.64902534e+02] [ 1.42272115e-02 -2.16181333e-04 9.99898765e-01 6.71520984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.78, Y:164.89, Z:6.71 [[ 8.31490931e-01 5.55411485e-01 -1.18707184e-02 1.18775641e+02] [-5.55351269e-01 8.31575636e-01 8.18110418e-03 1.64886214e+02] [ 1.44152794e-02 -2.10095387e-04 9.99896072e-01 6.71499142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:164.87, Z:6.72 [[ 8.31144133e-01 5.55928561e-01 -1.19526092e-02 1.18804391e+02] [-5.55867557e-01 8.31230049e-01 8.23802766e-03 1.64869728e+02] [ 1.45151228e-02 -2.02920677e-04 9.99894629e-01 6.71515469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:164.85, Z:6.71 [[ 8.30776307e-01 5.56467581e-01 -1.24321875e-02 1.18830216e+02] [-5.56401555e-01 8.30869297e-01 8.57439799e-03 1.64851540e+02] [ 1.51008974e-02 -2.06118229e-04 9.99885954e-01 6.71490963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:164.84, Z:6.71 [[ 8.30466345e-01 5.56926868e-01 -1.25743138e-02 1.18858627e+02] [-5.56859293e-01 8.30561510e-01 8.67788699e-03 1.64835162e+02] [ 1.52766895e-02 -2.04569576e-04 9.99883284e-01 6.71443390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:164.82, Z:6.71 [[ 8.30373051e-01 5.57059245e-01 -1.28683367e-02 1.18885995e+02] [-5.56988393e-01 8.30472729e-01 8.88692236e-03 1.64816283e+02] [ 1.56373449e-02 -2.11946687e-04 9.99877707e-01 6.71424552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:164.80, Z:6.71 [[ 8.29944810e-01 5.57695599e-01 -1.29317948e-02 1.18912673e+02] [-5.57624030e-01 8.30045527e-01 8.93670933e-03 1.64798124e+02] [ 1.57179419e-02 -2.05895970e-04 9.99876444e-01 6.71448042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:164.78, Z:6.72 [[ 8.29696105e-01 5.58075835e-01 -1.24794588e-02 1.18939879e+02] [-5.58009148e-01 8.29789928e-01 8.62939223e-03 1.64780023e+02] [ 1.51711845e-02 -1.96120938e-04 9.99884892e-01 6.71517119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:164.76, Z:6.72 [[ 8.29565340e-01 5.58266161e-01 -1.26585896e-02 1.18966271e+02] [-5.58197477e-01 8.29661891e-01 8.75915468e-03 1.64761515e+02] [ 1.53922890e-02 -2.00298359e-04 9.99881512e-01 6.71555171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.99, Y:164.74, Z:6.72 [[ 8.29371375e-01 5.58560440e-01 -1.23837468e-02 1.18993057e+02] [-5.58494659e-01 8.29463801e-01 8.57427658e-03 1.64743114e+02] [ 1.50611214e-02 -1.95003120e-04 9.99886556e-01 6.71642090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.02, Y:164.72, Z:6.72 [[ 8.29699622e-01 5.58072514e-01 -1.23937818e-02 1.19019798e+02] [-5.58006486e-01 8.29792158e-01 8.58699910e-03 1.64723583e+02] [ 1.50764311e-02 -2.08819276e-04 9.99886322e-01 6.71709203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.05, Y:164.70, Z:6.72 [[ 8.30213565e-01 5.57320140e-01 -1.18193718e-02 1.19045066e+02] [-5.57259941e-01 8.30297667e-01 8.19409647e-03 1.64704677e+02] [ 1.43803318e-02 -2.16387608e-04 9.99896574e-01 6.71728153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.07, Y:164.68, Z:6.72 [[ 8.31533135e-01 5.55346456e-01 -1.19565901e-02 1.19070053e+02] [-5.55284604e-01 8.31619053e-01 8.29212990e-03 1.64684196e+02] [ 1.45483331e-02 -2.55870375e-04 9.99894135e-01 6.71771873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.10, Y:164.66, Z:6.72 [[ 8.32104910e-01 5.54507322e-01 -1.10926953e-02 1.19095536e+02] [-5.54453956e-01 8.32178806e-01 7.69715933e-03 1.64664597e+02] [ 1.34992372e-02 -2.54455269e-04 9.99908849e-01 6.71853701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.12, Y:164.64, Z:6.72 [[ 8.32634830e-01 5.53722534e-01 -1.05164715e-02 1.19119473e+02] [-5.53674454e-01 8.32701201e-01 7.30133756e-03 1.64644839e+02] [ 1.27999936e-02 -2.56646341e-04 9.99918044e-01 6.71914557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.15, Y:164.63, Z:6.72 [[ 8.33571202e-01 5.52323360e-01 -9.89734415e-03 1.19145570e+02] [-5.52280635e-01 8.33629916e-01 6.87489039e-03 1.64625955e+02] [ 1.20478847e-02 -2.64599135e-04 9.99927387e-01 6.72002130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.17, Y:164.61, Z:6.72 [[ 8.33864866e-01 5.51886911e-01 -9.49854744e-03 1.19171006e+02] [-5.51847489e-01 8.33918922e-01 6.60160088e-03 1.64606880e+02] [ 1.15643556e-02 -2.63093487e-04 9.99933096e-01 6.72024846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:164.59, Z:6.72 [[ 8.34239429e-01 5.51325928e-01 -9.18134888e-03 1.19195109e+02] [-5.51289020e-01 8.34289908e-01 6.38480680e-03 1.64586244e+02] [ 1.11800162e-02 -2.64880754e-04 9.99937467e-01 6.72084495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:164.57, Z:6.72 [[ 8.34004303e-01 5.51678974e-01 -9.33450222e-03 1.19222763e+02] [-5.51640806e-01 8.34056496e-01 6.49477018e-03 1.64568170e+02] [ 1.13685304e-02 -2.67373946e-04 9.99935340e-01 6.72101936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:164.55, Z:6.72 [[ 8.33665815e-01 5.52192635e-01 -9.19804507e-03 1.19248642e+02] [-5.52155559e-01 8.33716515e-01 6.40406646e-03 1.64548639e+02] [ 1.12048404e-02 -2.60099567e-04 9.99937190e-01 6.72138461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:164.53, Z:6.72 [[ 8.32506509e-01 5.53945051e-01 -8.82006308e-03 1.19276338e+02] [-5.53911019e-01 8.32553198e-01 6.14454148e-03 1.64532754e+02] [ 1.07469101e-02 -2.29840651e-04 9.99942224e-01 6.72162896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:164.51, Z:6.72 [[ 8.31795798e-01 5.55012956e-01 -8.73901833e-03 1.19301641e+02] [-5.54979566e-01 8.31841675e-01 6.09172398e-03 1.64514948e+02] [ 1.06504654e-02 -2.17093807e-04 9.99943259e-01 6.72157553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.33, Y:164.50, Z:6.72 [[ 8.30540086e-01 5.56887715e-01 -8.90158468e-03 1.19328792e+02] [-5.56853142e-01 8.30587764e-01 6.20846318e-03 1.64498368e+02] [ 1.08509642e-02 -1.99502153e-04 9.99941107e-01 6.72056408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.35, Y:164.48, Z:6.72 [[ 8.29894764e-01 5.57846705e-01 -9.04072461e-03 1.19353741e+02] [-5.57811058e-01 8.29943984e-01 6.30929698e-03 1.64479641e+02] [ 1.10229155e-02 -1.93036377e-04 9.99939227e-01 6.72048167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.38, Y:164.46, Z:6.72 [[ 8.29496481e-01 5.58437211e-01 -9.13619387e-03 1.19380959e+02] [-5.58400805e-01 8.29546771e-01 6.37926186e-03 1.64461151e+02] [ 1.11413173e-02 -1.89917247e-04 9.99937916e-01 6.72034639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.41, Y:164.44, Z:6.72 [[ 8.29058540e-01 5.59088065e-01 -9.08144331e-03 1.19408398e+02] [-5.59052090e-01 8.29108257e-01 6.34497056e-03 1.64443437e+02] [ 1.10768969e-02 -1.83352172e-04 9.99938633e-01 6.72010238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:164.42, Z:6.72 [[ 8.28824621e-01 5.59433409e-01 -9.16560374e-03 1.19435820e+02] [-5.59396738e-01 8.28875279e-01 6.40793273e-03 1.64424555e+02] [ 1.11819540e-02 -1.83843586e-04 9.99937463e-01 6.72018784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.46, Y:164.40, Z:6.72 [[ 8.28834667e-01 5.59426069e-01 -8.69295624e-03 1.19460713e+02] [-5.59393041e-01 8.28880234e-01 6.08142212e-03 1.64403998e+02] [ 1.06075257e-02 -1.77714244e-04 9.99943723e-01 6.72105534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.49, Y:164.39, Z:6.72 [[ 8.28664650e-01 5.59677909e-01 -8.69116760e-03 1.19487181e+02] [-5.59644868e-01 8.28710207e-01 6.08397705e-03 1.64385254e+02] [ 1.06075269e-02 -1.77609372e-04 9.99943723e-01 6.72148545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:164.37, Z:6.72 [[ 8.28928569e-01 5.59291473e-01 -8.39505265e-03 1.19512449e+02] [-5.59260586e-01 8.28971059e-01 5.88046805e-03 1.64365429e+02] [ 1.02481513e-02 -1.79465892e-04 9.99947470e-01 6.72258441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.54, Y:164.35, Z:6.72 [[ 8.29099003e-01 5.59045306e-01 -7.94912246e-03 1.19538842e+02] [-5.59017576e-01 8.29137091e-01 5.57085941e-03 1.64346338e+02] [ 9.70527508e-03 -1.75094812e-04 9.99952887e-01 6.72313654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.57, Y:164.33, Z:6.72 [[ 8.29139238e-01 5.58988905e-01 -7.71540029e-03 1.19565618e+02] [-5.58962748e-01 8.29175117e-01 5.41039591e-03 1.64327438e+02] [ 9.42176922e-03 -1.73350194e-04 9.99955599e-01 6.72377897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:164.31, Z:6.73 [[ 8.29536164e-01 5.58408572e-01 -7.04408664e-03 1.19591712e+02] [-5.58386722e-01 8.29566055e-01 4.94262176e-03 1.64308167e+02] [ 8.60353752e-03 -1.66759042e-04 9.99962975e-01 6.72505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:164.29, Z:6.73 [[ 8.29913084e-01 5.57855716e-01 -6.42447181e-03 1.19616446e+02] [-5.57837506e-01 8.29937935e-01 4.51018729e-03 1.64288699e+02] [ 7.84794663e-03 -1.59252106e-04 9.99969192e-01 6.72620855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:164.27, Z:6.73 [[ 8.30192142e-01 5.57446620e-01 -5.85427956e-03 1.19642939e+02] [-5.57431477e-01 8.30212770e-01 4.11151115e-03 1.64270542e+02] [ 7.15224564e-03 -1.49984544e-04 9.99974411e-01 6.72698539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:164.25, Z:6.73 [[ 8.31024064e-01 5.56220892e-01 -4.16231928e-03 1.19667442e+02] [-5.56213219e-01 8.31034480e-01 2.92385525e-03 1.64250474e+02] [ 5.08534022e-03 -1.14657069e-04 9.99987063e-01 6.72923572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:164.23, Z:6.73 [[ 8.31409915e-01 5.55650425e-01 -3.18730456e-03 1.19693584e+02] [-5.55645922e-01 8.31416019e-01 2.23894682e-03 1.64231532e+02] [ 3.89404782e-03 -9.04698047e-05 9.99992414e-01 6.73031190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:164.21, Z:6.73 [[ 8.31933471e-01 5.54872776e-01 -1.70347937e-03 1.19719007e+02] [-5.54871491e-01 8.31935214e-01 1.19527774e-03 1.64212575e+02] [ 2.08041156e-03 -4.91794228e-05 9.99997835e-01 6.73218902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:164.19, Z:6.73 [[ 8.31906496e-01 5.54913826e-01 -1.49244253e-03 1.19745698e+02] [-5.54912841e-01 8.31907834e-01 1.04666945e-03 1.64193632e+02] [ 1.82238598e-03 -4.25555883e-05 9.99998339e-01 6.73265759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:164.17, Z:6.73 [[ 8.31755663e-01 5.55141113e-01 -9.28523571e-04 1.19772531e+02] [-5.55140733e-01 8.31756181e-01 6.49703285e-04 1.64174149e+02] [ 1.13298222e-03 -2.49331310e-05 9.99999358e-01 6.73374893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:164.16, Z:6.73 [[ 8.31282587e-01 5.55849305e-01 -9.00693515e-04 1.19797946e+02] [-5.55848947e-01 8.31283074e-01 6.31413143e-04 1.64155620e+02] [ 1.09970183e-03 -2.42332085e-05 9.99999395e-01 6.73460995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.83, Y:164.14, Z:6.73 [[ 8.30827887e-01 5.56529243e-01 -4.73374242e-04 1.19826178e+02] [-5.56529146e-01 8.30828022e-01 3.29034738e-04 1.64138087e+02] [ 5.76410038e-04 -9.92467316e-06 9.99999834e-01 6.73447507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:164.12, Z:6.74 [[ 8.29839253e-01 5.58002077e-01 -7.04009446e-04 1.19851108e+02] [-5.58001860e-01 8.29839552e-01 4.93155421e-04 1.64120160e+02] [ 8.59396632e-04 -1.64011461e-05 9.99999631e-01 6.73557261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.88, Y:164.10, Z:6.73 [[ 8.29204300e-01 5.58945086e-01 -7.87533297e-04 1.19879022e+02] [-5.58944813e-01 8.29204674e-01 5.52160862e-04 1.64104042e+02] [ 9.61653891e-04 -1.76665090e-05 9.99999537e-01 6.73445033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:164.09, Z:6.73 [[ 8.28281419e-01 5.60310519e-01 -1.41885311e-03 1.19905459e+02] [-5.60309629e-01 8.28282634e-01 9.99323725e-04 1.64087209e+02] [ 1.73514299e-03 -3.27242119e-05 9.99998494e-01 6.73405782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:164.07, Z:6.73 [[ 8.27962330e-01 5.60780943e-01 -1.76467712e-03 1.19932641e+02] [-5.60779565e-01 8.27964210e-01 1.24369198e-03 1.64069418e+02] [ 2.15852826e-03 -4.01352428e-05 9.99997670e-01 6.73353818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:164.05, Z:6.73 [[ 8.27577740e-01 5.61348426e-01 -1.74046106e-03 1.19959849e+02] [-5.61347086e-01 8.27579569e-01 1.22739086e-03 1.64050500e+02] [ 2.12936394e-03 -3.87586144e-05 9.99997732e-01 6.73387005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.99, Y:164.03, Z:6.73 [[ 8.27401388e-01 5.61607688e-01 -1.93589404e-03 1.19986125e+02] [-5.61606023e-01 8.27403652e-01 1.36835693e-03 1.64031646e+02] [ 2.37024557e-03 -4.49706733e-05 9.99997190e-01 6.73448305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.01, Y:164.01, Z:6.73 [[ 8.27049459e-01 5.62125723e-01 -1.96564964e-03 1.20014004e+02] [-5.62124010e-01 8.27051794e-01 1.38849757e-03 1.64014396e+02] [ 2.40620426e-03 -4.34173051e-05 9.99997104e-01 6.73446790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.04, Y:164.00, Z:6.73 [[ 8.26964527e-01 5.62250944e-01 -1.88334720e-03 1.20040422e+02] [-5.62249369e-01 8.26966671e-01 1.33133273e-03 1.63996432e+02] [ 2.30600845e-03 -4.20541619e-05 9.99997340e-01 6.73459617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.07, Y:163.98, Z:6.73 [[ 8.27236009e-01 5.61847991e-01 -2.72388246e-03 1.20067585e+02] [-5.61844680e-01 8.27240491e-01 1.93003782e-03 1.63979008e+02] [ 3.33769374e-03 -6.61979179e-05 9.99994428e-01 6.73367741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:163.96, Z:6.73 [[ 8.27396774e-01 5.61609076e-01 -3.13426726e-03 1.20094962e+02] [-5.61604691e-01 8.27402707e-01 2.22079660e-03 1.63961397e+02] [ 3.84052075e-03 -7.72607458e-05 9.99992622e-01 6.73308458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:163.94, Z:6.73 [[ 8.27812046e-01 5.60994779e-01 -3.47482054e-03 1.20119780e+02] [-5.60989366e-01 8.27819334e-01 2.46612252e-03 1.63942597e+02] [ 4.26000548e-03 -9.21485534e-05 9.99990922e-01 6.73347499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.15, Y:163.92, Z:6.73 [[ 8.28075535e-01 5.60604164e-01 -3.72562629e-03 1.20146933e+02] [-5.60597938e-01 8.28083910e-01 2.64388344e-03 1.63924626e+02] [ 4.56730325e-03 -1.00756777e-04 9.99989565e-01 6.73286478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.17, Y:163.91, Z:6.73 [[ 8.28404697e-01 5.60112268e-01 -4.46154620e-03 1.20174606e+02] [-5.60103320e-01 8.28416702e-01 3.16842734e-03 1.63906385e+02] [ 5.47069441e-03 -1.25813250e-04 9.99985028e-01 6.73203481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:163.89, Z:6.73 [[ 8.28460352e-01 5.60026372e-01 -4.88963296e-03 1.20199939e+02] [-5.60015606e-01 8.28474769e-01 3.47539136e-03 1.63886198e+02] [ 5.99724835e-03 -1.40953183e-04 9.99982006e-01 6.73262081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:163.87, Z:6.73 [[ 8.28657825e-01 5.59730337e-01 -5.30653683e-03 1.20228535e+02] [-5.59717634e-01 8.28674800e-01 3.77432786e-03 1.63869168e+02] [ 6.50999916e-03 -1.57464076e-04 9.99978797e-01 6.73164852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:163.85, Z:6.73 [[ 8.28495793e-01 5.59967266e-01 -5.60190148e-03 1.20255207e+02] [-5.59953089e-01 8.28514715e-01 3.98809617e-03 1.63851152e+02] [ 6.87446112e-03 -1.67318862e-04 9.99976357e-01 6.73197172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.28, Y:163.84, Z:6.73 [[ 8.28122396e-01 5.60517524e-01 -5.77944849e-03 1.20284579e+02] [-5.60502440e-01 8.28142546e-01 4.11555252e-03 1.63836970e+02] [ 7.09304649e-03 -1.68786234e-04 9.99974830e-01 6.73166419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.31, Y:163.82, Z:6.73 [[ 8.27537359e-01 5.61378787e-01 -5.98131285e-03 1.20309872e+02] [-5.61362634e-01 8.27558958e-01 4.26207925e-03 1.63818593e+02] [ 7.34252991e-03 -1.69344271e-04 9.99973029e-01 6.73250083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.33, Y:163.80, Z:6.73 [[ 8.27025504e-01 5.62130686e-01 -6.15698655e-03 1.20333879e+02] [-5.62113571e-01 8.27048405e-01 4.38979707e-03 1.63798112e+02] [ 7.55976554e-03 -1.69548437e-04 9.99971410e-01 6.73408990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.36, Y:163.79, Z:6.73 [[ 8.26318892e-01 5.63163153e-01 -6.65975915e-03 1.20361247e+02] [-5.63143123e-01 8.26345710e-01 4.75293923e-03 1.63786823e+02] [ 8.17994365e-03 -1.77045911e-04 9.99966528e-01 6.73305681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.39, Y:163.77, Z:6.73 [[ 8.25821093e-01 5.63891561e-01 -6.76982432e-03 1.20385690e+02] [-5.63870894e-01 8.25848823e-01 4.83073602e-03 1.63771757e+02] [ 8.31486272e-03 -1.72016811e-04 9.99965416e-01 6.73341766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:163.76, Z:6.73 [[ 8.25529110e-01 5.64315837e-01 -7.02317529e-03 1.20409577e+02] [-5.64293618e-01 8.25558966e-01 5.01069892e-03 1.63756302e+02] [ 8.62566208e-03 -1.73344831e-04 9.99962783e-01 6.73409816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:163.74, Z:6.73 [[ 8.25023876e-01 5.65059292e-01 -6.60313189e-03 1.20438247e+02] [-5.65039699e-01 8.25050285e-01 4.70797642e-03 1.63739776e+02] [ 8.10820167e-03 -1.53161298e-04 9.99967116e-01 6.73450587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.46, Y:163.72, Z:6.74 [[ 8.24775188e-01 5.65422281e-01 -6.59800804e-03 1.20464105e+02] [-5.65402705e-01 8.24801564e-01 4.70750926e-03 1.63720626e+02] [ 8.10377797e-03 -1.52105238e-04 9.99967152e-01 6.73550979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.49, Y:163.70, Z:6.74 [[ 8.24563077e-01 5.65730404e-01 -6.69640035e-03 1.20489516e+02] [-5.65710209e-01 8.24590253e-01 4.78264706e-03 1.63704419e+02] [ 8.22747531e-03 -1.55372130e-04 9.99966142e-01 6.73623543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.51, Y:163.69, Z:6.74 [[ 8.24592256e-01 5.65690023e-01 -6.51224632e-03 1.20513450e+02] [-5.65670925e-01 8.24617957e-01 4.65076988e-03 1.63687718e+02] [ 8.00100938e-03 -1.51200430e-04 9.99967980e-01 6.73699245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:163.67, Z:6.74 [[ 8.24425164e-01 5.65933346e-01 -6.52657298e-03 1.20540924e+02] [-5.65914192e-01 8.24450985e-01 4.65841886e-03 1.63669179e+02] [ 8.01719409e-03 -1.47037454e-04 9.99967851e-01 6.73713756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.57, Y:163.65, Z:6.74 [[ 8.24489735e-01 5.65837300e-01 -6.69523054e-03 1.20567686e+02] [-5.65817114e-01 8.24516905e-01 4.78205588e-03 1.63649641e+02] [ 8.22619635e-03 -1.54479970e-04 9.99966152e-01 6.73782595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:163.63, Z:6.74 [[ 8.24797444e-01 5.65390168e-01 -6.56773061e-03 1.20594291e+02] [-5.65370703e-01 8.24823577e-01 4.69416581e-03 1.63630974e+02] [ 8.07125425e-03 -1.58533489e-04 9.99967414e-01 6.73815092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:163.61, Z:6.74 [[ 8.24916662e-01 5.65218266e-01 -6.38848227e-03 1.20620731e+02] [-5.65199826e-01 8.24941384e-01 4.56829876e-03 1.63612094e+02] [ 7.85220931e-03 -1.57696701e-04 9.99969159e-01 6.73842758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:163.59, Z:6.74 [[ 8.25081868e-01 5.64971638e-01 -6.85265394e-03 1.20645886e+02] [-5.64950376e-01 8.25110306e-01 4.90457640e-03 1.63592916e+02] [ 8.42514195e-03 -1.75267635e-04 9.99964493e-01 6.73884456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.67, Y:163.57, Z:6.74 [[ 8.25600070e-01 5.64213025e-01 -6.94163484e-03 1.20671536e+02] [-5.64191167e-01 8.25629231e-01 4.96992855e-03 1.63573624e+02] [ 8.53531506e-03 -1.86764302e-04 9.99963556e-01 6.73911056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.70, Y:163.55, Z:6.74 [[ 8.25638938e-01 5.64155436e-01 -6.99916823e-03 1.20698031e+02] [-5.64133188e-01 8.25668582e-01 5.01389577e-03 1.63554918e+02] [ 8.60760986e-03 -1.91204492e-04 9.99962936e-01 6.73933427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.72, Y:163.54, Z:6.74 [[ 8.25927776e-01 5.63723560e-01 -7.68485743e-03 1.20723372e+02] [-5.63696682e-01 8.25963498e-01 5.50908879e-03 1.63535743e+02] [ 9.45301487e-03 -2.18180813e-04 9.99955295e-01 6.73887597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:163.52, Z:6.74 [[ 8.25868744e-01 5.63804099e-01 -8.10897056e-03 1.20750362e+02] [-5.63774142e-01 8.25908520e-01 5.81655895e-03 1.63516304e+02] [ 9.97666765e-03 -2.32086311e-04 9.99950205e-01 6.73847379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:163.50, Z:6.74 [[ 8.25639793e-01 5.64131451e-01 -8.63938979e-03 1.20774830e+02] [-5.64097416e-01 8.25684955e-01 6.20159172e-03 1.63495809e+02] [ 1.06319271e-02 -2.46823447e-04 9.99943449e-01 6.73852027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:163.48, Z:6.74 [[ 8.25515166e-01 5.64300152e-01 -9.48938937e-03 1.20801196e+02] [-5.64259047e-01 8.25569660e-01 6.81645007e-03 1.63475854e+02] [ 1.16806758e-02 -2.72609109e-04 9.99931741e-01 6.73784952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.83, Y:163.46, Z:6.74 [[ 8.25411402e-01 5.64445335e-01 -9.87328007e-03 1.20825946e+02] [-5.64400787e-01 8.25470401e-01 7.09714881e-03 1.63455427e+02] [ 1.21560530e-02 -2.85580504e-04 9.99926072e-01 6.73781919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.85, Y:163.44, Z:6.74 [[ 8.25154168e-01 5.64817522e-01 -1.00879290e-02 1.20847582e+02] [-5.64771003e-01 8.25215780e-01 7.25469700e-03 1.63438144e+02] [ 1.24222982e-02 -2.88873683e-04 9.99922799e-01 6.73804299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.88, Y:163.42, Z:6.74 [[ 8.24904324e-01 5.65173971e-01 -1.05469841e-02 1.20875049e+02] [-5.65123172e-01 8.24971694e-01 7.58318447e-03 1.63419792e+02] [ 1.29867818e-02 -2.95056540e-04 9.99915625e-01 6.73846023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:163.40, Z:6.74 [[ 8.24808776e-01 5.65306896e-01 -1.08901536e-02 1.20900497e+02] [-5.65252680e-01 8.24880609e-01 7.83513484e-03 1.63399592e+02] [ 1.34123323e-02 -3.06799506e-04 9.99910004e-01 6.73868724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:163.38, Z:6.74 [[ 8.24727720e-01 5.65421691e-01 -1.10679418e-02 1.20927296e+02] [-5.65365628e-01 8.24801923e-01 7.96836861e-03 1.63379716e+02] [ 1.36343481e-02 -3.14300624e-04 9.99906999e-01 6.73896505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.95, Y:163.36, Z:6.74 [[ 8.24830736e-01 5.65269117e-01 -1.11840167e-02 1.20951312e+02] [-5.65211781e-01 8.24906492e-01 8.05743656e-03 1.63358733e+02] [ 1.37803880e-02 -3.24683343e-04 9.99904993e-01 6.73932863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:163.34, Z:6.74 [[ 8.24738737e-01 5.65399641e-01 -1.13692905e-02 1.20976716e+02] [-5.65340329e-01 8.24817031e-01 8.19617066e-03 1.63337976e+02] [ 1.40116964e-02 -3.32181006e-04 9.99901776e-01 6.73959277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:163.32, Z:6.74 [[ 8.24819314e-01 5.65283790e-01 -1.12843263e-02 1.21002234e+02] [-5.65225277e-01 8.24896432e-01 8.14022043e-03 1.63316990e+02] [ 1.39099352e-02 -3.36024548e-04 9.99903196e-01 6.74062391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:163.30, Z:6.74 [[ 8.24416929e-01 5.65872482e-01 -1.11830782e-02 1.21028478e+02] [-5.65814995e-01 8.24492709e-01 8.07249445e-03 1.63297010e+02] [ 1.37883689e-02 -3.27547766e-04 9.99904882e-01 6.74101477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.05, Y:163.28, Z:6.74 [[ 8.24043631e-01 5.66422085e-01 -1.08680869e-02 1.21052325e+02] [-5.66367769e-01 8.24115237e-01 7.85029306e-03 1.63277025e+02] [ 1.34031353e-02 -3.13649892e-04 9.99910125e-01 6.74181366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:163.26, Z:6.74 [[ 8.23532734e-01 5.67165189e-01 -1.08390237e-02 1.21076949e+02] [-5.67111170e-01 8.23604004e-01 7.83354816e-03 1.63257776e+02] [ 1.33699791e-02 -3.04251930e-04 9.99910572e-01 6.74246211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:163.24, Z:6.74 [[ 8.22707142e-01 5.68367733e-01 -1.05393875e-02 1.21103830e+02] [-5.68316728e-01 8.22774600e-01 7.61935380e-03 1.63239984e+02] [ 1.30021352e-02 -2.78786590e-04 9.99915430e-01 6.74350382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:163.22, Z:6.74 [[ 8.22526975e-01 5.68628474e-01 -1.05372759e-02 1.21130017e+02] [-5.68577453e-01 8.22594421e-01 7.62227294e-03 1.63220842e+02] [ 1.30021458e-02 -2.78267640e-04 9.99915430e-01 6.74393386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:163.20, Z:6.75 [[ 8.20798956e-01 5.71123969e-01 -1.03191889e-02 1.21157135e+02] [-5.71075172e-01 8.20863786e-01 7.46941448e-03 1.63202911e+02] [ 1.27366101e-02 -2.37855042e-04 9.99918858e-01 6.74524221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:163.18, Z:6.75 [[ 8.20019983e-01 5.72244072e-01 -1.01955611e-02 1.21181736e+02] [-5.72196468e-01 8.20083333e-01 7.38436887e-03 1.63184445e+02] [ 1.25868710e-02 -2.21465989e-04 9.99920758e-01 6.74549938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:163.17, Z:6.75 [[ 8.18202828e-01 5.74839965e-01 -1.01561478e-02 1.21208371e+02] [-5.74792898e-01 8.18265838e-01 7.35820244e-03 1.63166926e+02] [ 1.25402176e-02 -1.82820425e-04 9.99921352e-01 6.74606791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:163.15, Z:6.75 [[ 8.17277012e-01 5.76154545e-01 -1.02091164e-02 1.21234437e+02] [-5.76107034e-01 8.17340756e-01 7.40087369e-03 1.63148786e+02] [ 1.26083740e-02 -1.67020149e-04 9.99920497e-01 6.74653794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:163.13, Z:6.75 [[ 8.16521482e-01 5.77220140e-01 -1.04679616e-02 1.21259847e+02] [-5.77170217e-01 8.16588565e-01 7.59313773e-03 1.63130113e+02] [ 1.29309298e-02 -1.58164389e-04 9.99916380e-01 6.74696689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:163.11, Z:6.75 [[ 8.15070079e-01 5.79245767e-01 -1.16235608e-02 1.21286143e+02] [-5.79184375e-01 8.15152943e-01 8.43436735e-03 1.63110755e+02] [ 1.43605514e-02 -1.42415679e-04 9.99896872e-01 6.74645719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12275509600005 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:121.31, Y:163.09, Z:6.75 [[ 8.14380165e-01 5.80213443e-01 -1.17178487e-02 1.21311535e+02] [-5.80151121e-01 8.14464452e-01 8.50485813e-03 1.63091278e+02] [ 1.44784043e-02 -1.28064691e-04 9.99895174e-01 6.74580696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:163.07, Z:6.75 [[ 8.13610153e-01 5.81295410e-01 -1.15829331e-02 1.21338299e+02] [-5.81234551e-01 8.13692592e-01 8.41207592e-03 1.63071495e+02] [ 1.43148480e-02 -1.11749459e-04 9.99897531e-01 6.74747916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:163.05, Z:6.75 [[ 8.13091638e-01 5.82021550e-01 -1.15283999e-02 1.21362839e+02] [-5.81961262e-01 8.13173355e-01 8.37767260e-03 1.63051699e+02] [ 1.42505736e-02 -1.02733370e-04 9.99898450e-01 6.74749432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:163.03, Z:6.75 [[ 8.12589077e-01 5.82724864e-01 -1.14334602e-02 1.21388954e+02] [-5.82665594e-01 8.12669505e-01 8.31151612e-03 1.63032304e+02] [ 1.41349515e-02 -9.19633455e-05 9.99900092e-01 6.74821559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.41, Y:163.01, Z:6.75 [[ 8.12258034e-01 5.83194164e-01 -1.10205618e-02 1.21413530e+02] [-5.83139071e-01 8.12332789e-01 8.01645133e-03 1.63011575e+02] [ 1.36275114e-02 -8.49068098e-05 9.99907138e-01 6.74867864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.44, Y:162.99, Z:6.75 [[ 8.12248561e-01 5.83214457e-01 -1.06382518e-02 1.21439101e+02] [-5.83163062e-01 8.12318220e-01 7.74293575e-03 1.62991142e+02] [ 1.31574378e-02 -8.53529471e-05 9.99913434e-01 6.74962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:162.97, Z:6.75 [[ 8.12066426e-01 5.83479063e-01 -1.00151467e-02 1.21465196e+02] [-5.83433478e-01 8.12128177e-01 7.29383327e-03 1.62970613e+02] [ 1.23893818e-02 -7.99052498e-05 9.99923245e-01 6.75051176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:162.95, Z:6.75 [[ 8.12707835e-01 5.82589066e-01 -9.79568660e-03 1.21488259e+02] [-5.82545336e-01 8.12766861e-01 7.13865682e-03 1.62948703e+02] [ 1.21205129e-02 -9.52107867e-05 9.99926539e-01 6.75153818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:162.93, Z:6.75 [[ 8.12930737e-01 5.82283900e-01 -9.43804596e-03 1.21514223e+02] [-5.82243237e-01 8.12985517e-01 6.88205962e-03 1.62927881e+02] [ 1.16803072e-02 -9.93993616e-05 9.99931778e-01 6.75224463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.54, Y:162.91, Z:6.75 [[ 8.13739806e-01 5.81150290e-01 -9.58481328e-03 1.21538234e+02] [-5.81108218e-01 8.13796244e-01 6.99376983e-03 1.62906937e+02] [ 1.18645164e-02 -1.21295138e-04 9.99929607e-01 6.75192402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:162.89, Z:6.75 [[ 8.13859036e-01 5.80975649e-01 -1.00381605e-02 1.21562701e+02] [-5.80929435e-01 8.13920928e-01 7.32898983e-03 1.62886303e+02] [ 1.24282335e-02 -1.33301700e-04 9.99922758e-01 6.75168781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:162.87, Z:6.75 [[ 8.13864818e-01 5.80964859e-01 -1.01927191e-02 1.21589622e+02] [-5.80917151e-01 8.13928629e-01 7.44646653e-03 1.62867370e+02] [ 1.26222813e-02 -1.39291762e-04 9.99920326e-01 6.75135501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:162.85, Z:6.75 [[ 8.13795761e-01 5.81050233e-01 -1.08206596e-02 1.21616422e+02] [-5.80996400e-01 8.13867682e-01 7.91071848e-03 1.62847921e+02] [ 1.34031100e-02 -1.50944887e-04 9.99910163e-01 6.75073059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.64, Y:162.83, Z:6.75 [[ 8.13376789e-01 5.81634182e-01 -1.09488100e-02 1.21643434e+02] [-5.81579047e-01 8.13450463e-01 8.00971686e-03 1.62829091e+02] [ 1.35650396e-02 -1.47319318e-04 9.99907980e-01 6.75100260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.67, Y:162.81, Z:6.75 [[ 8.12915566e-01 5.82274269e-01 -1.11784270e-02 1.21669030e+02] [-5.82216781e-01 8.12992408e-01 8.18324229e-03 1.62809932e+02] [ 1.38528677e-02 -1.44017246e-04 9.99904034e-01 6.75123015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.70, Y:162.79, Z:6.75 [[ 8.12606148e-01 5.82699861e-01 -1.14943432e-02 1.21695678e+02] [-5.82639043e-01 8.12687425e-01 8.41987959e-03 1.62790982e+02] [ 1.42475709e-02 -1.44992770e-04 9.99898488e-01 6.75149773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:162.77, Z:6.75 [[ 8.12540328e-01 5.82782238e-01 -1.19615219e-02 1.21722515e+02] [-5.82716300e-01 8.12628353e-01 8.76782265e-03 1.62771838e+02] [ 1.48300031e-02 -1.54035741e-04 9.99890018e-01 6.75136699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:162.75, Z:6.75 [[ 8.12361717e-01 5.83018071e-01 -1.25845118e-02 1.21749369e+02] [-5.82945017e-01 8.12459170e-01 9.23066659e-03 1.62752613e+02] [ 1.56060474e-02 -1.62561739e-04 9.99878205e-01 6.75106628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:162.73, Z:6.75 [[ 8.12130735e-01 5.83332991e-01 -1.28953794e-02 1.21775987e+02] [-5.83256222e-01 8.12233091e-01 9.46500044e-03 1.62732842e+02] [ 1.59953009e-02 -1.65507473e-04 9.99872053e-01 6.75087733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.80, Y:162.71, Z:6.75 [[ 8.11975973e-01 5.83536146e-01 -1.34382431e-02 1.21802476e+02] [-5.83452692e-01 8.12087148e-01 9.87016468e-03 1.62712899e+02] [ 1.66726223e-02 -1.73757479e-04 9.99860987e-01 6.75132694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.83, Y:162.69, Z:6.75 [[ 8.12063979e-01 5.83408136e-01 -1.36763129e-02 1.21827624e+02] [-5.83321576e-01 8.12179114e-01 1.00511820e-02 1.62693572e+02] [ 1.69715571e-02 -1.84514503e-04 9.99855956e-01 6.75135759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.85, Y:162.67, Z:6.75 [[ 8.11910424e-01 5.83619116e-01 -1.37909225e-02 1.21853019e+02] [-5.83531051e-01 8.12027520e-01 1.01400259e-02 1.62674053e+02] [ 1.71165215e-02 -1.85361290e-04 9.99853484e-01 6.75149455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.88, Y:162.65, Z:6.75 [[ 8.12167745e-01 5.83256358e-01 -1.39848008e-02 1.21878208e+02] [-5.83165637e-01 8.12288114e-01 1.02888059e-02 1.62654646e+02] [ 1.73606989e-02 -2.00781058e-04 9.99849272e-01 6.75180922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:162.64, Z:6.75 [[ 8.12416988e-01 5.82909802e-01 -1.39570918e-02 1.21901526e+02] [-5.82819312e-01 8.12536841e-01 1.02728428e-02 1.62636912e+02] [ 1.73287920e-02 -2.11369312e-04 9.99849823e-01 6.75251440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.93, Y:162.62, Z:6.75 [[ 8.12909887e-01 5.82232151e-01 -1.35365388e-02 1.21927358e+02] [-5.82146926e-01 8.13022555e-01 9.96405051e-03 1.62617093e+02] [ 1.68069019e-02 -2.19620753e-04 9.99858730e-01 6.75348391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:162.60, Z:6.75 [[ 8.14037707e-01 5.80664956e-01 -1.30698259e-02 1.21950370e+02] [-5.80585213e-01 8.14142584e-01 9.62617004e-03 1.62596208e+02] [ 1.62302814e-02 -2.47917737e-04 9.99868250e-01 6.75442139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.98, Y:162.58, Z:6.76 [[ 8.14420042e-01 5.80130319e-01 -1.29926185e-02 1.21976809e+02] [-5.80051368e-01 8.14523630e-01 9.57425475e-03 1.62578448e+02] [ 1.61371103e-02 -2.61078819e-04 9.99869754e-01 6.75563531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:162.56, Z:6.76 [[ 8.15185165e-01 5.79065692e-01 -1.24928324e-02 1.22002346e+02] [-5.78992492e-01 8.15280840e-01 9.21116554e-03 1.62558409e+02] [ 1.55190369e-02 -2.75549299e-04 9.99879535e-01 6.75687916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:162.54, Z:6.76 [[ 8.15699161e-01 5.78349246e-01 -1.21255296e-02 1.22026275e+02] [-5.78280135e-01 8.15789231e-01 8.94521308e-03 1.62539255e+02] [ 1.50653337e-02 -2.84649939e-04 9.99886471e-01 6.75752180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:162.52, Z:6.76 [[ 8.16003947e-01 5.77923424e-01 -1.19194922e-02 1.22049417e+02] [-5.77856555e-01 8.16090946e-01 8.79600510e-03 1.62517568e+02] [ 1.48108071e-02 -2.89818165e-04 9.99890272e-01 6.75798911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.08, Y:162.50, Z:6.76 [[ 8.16598484e-01 5.77100904e-01 -1.10210220e-02 1.22076277e+02] [-5.77043606e-01 8.16672802e-01 8.13702284e-03 1.62499291e+02] [ 1.36964522e-02 -2.85070235e-04 9.99906159e-01 6.75946228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:162.48, Z:6.76 [[ 8.16547846e-01 5.77171987e-01 -1.10504825e-02 1.22102756e+02] [-5.77114326e-01 8.16622565e-01 8.16338220e-03 1.62479643e+02] [ 1.37357489e-02 -2.88400395e-04 9.99905619e-01 6.75985587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.13, Y:162.46, Z:6.76 [[ 8.16258402e-01 5.77578568e-01 -1.11901007e-02 1.22129132e+02] [-5.77519404e-01 8.16335050e-01 8.27192775e-03 1.62460312e+02] [ 1.39125596e-02 -2.89530238e-04 9.99903174e-01 6.76012756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:162.44, Z:6.76 [[ 8.15669131e-01 5.78411529e-01 -1.11342323e-02 1.22155308e+02] [-5.78352959e-01 8.15745074e-01 8.23588660e-03 1.62441356e+02] [ 1.38464269e-02 -2.78242267e-04 9.99904095e-01 6.76024778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.18, Y:162.42, Z:6.76 [[ 8.15080027e-01 5.79237389e-01 -1.13400565e-02 1.22180301e+02] [-5.79176645e-01 8.15158864e-01 8.39291715e-03 1.62423283e+02] [ 1.41054390e-02 -2.73003255e-04 9.99900476e-01 6.76028226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.21, Y:162.40, Z:6.76 [[ 8.14308080e-01 5.80317149e-01 -1.15912752e-02 1.22206629e+02] [-5.80253727e-01 8.14390531e-01 8.58341187e-03 1.62404805e+02] [ 1.44209259e-02 -2.63661002e-04 9.99895978e-01 6.76040827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.23, Y:162.39, Z:6.76 [[ 8.12588988e-01 5.82713407e-01 -1.20092791e-02 1.22234107e+02] [-5.82645513e-01 8.12677692e-01 8.89805998e-03 1.62388124e+02] [ 1.49446921e-02 -2.33312965e-04 9.99888295e-01 6.76009454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.26, Y:162.37, Z:6.76 [[ 8.11898409e-01 5.83677845e-01 -1.18805248e-02 1.22260752e+02] [-5.83611429e-01 8.11985299e-01 8.80760489e-03 1.62369858e+02] [ 1.47876153e-02 -2.17270342e-04 9.99890634e-01 6.76005465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.29, Y:162.35, Z:6.76 [[ 8.10643118e-01 5.85410160e-01 -1.23563230e-02 1.22287829e+02] [-5.85338436e-01 8.10737260e-01 9.16571583e-03 1.62352142e+02] [ 1.53834347e-02 -1.97493660e-04 9.99881648e-01 6.76034387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.31, Y:162.33, Z:6.76 [[ 8.10187732e-01 5.86039817e-01 -1.23762718e-02 1.22314855e+02] [-5.85967852e-01 8.10282233e-01 9.18584433e-03 1.62333016e+02] [ 1.54115437e-02 -1.90160955e-04 9.99881217e-01 6.76075210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:162.31, Z:6.76 [[ 8.09657983e-01 5.86773644e-01 -1.22735922e-02 1.22341104e+02] [-5.86702861e-01 8.09750985e-01 9.11560052e-03 1.62313642e+02] [ 1.52873475e-02 -1.79567060e-04 9.99883126e-01 6.76170650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:162.29, Z:6.76 [[ 8.09293082e-01 5.87271897e-01 -1.25070547e-02 1.22366052e+02] [-5.87198359e-01 8.09389701e-01 9.29516206e-03 1.62293599e+02] [ 1.55818687e-02 -1.78388352e-04 9.99878579e-01 6.76199081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.39, Y:162.27, Z:6.76 [[ 8.09239614e-01 5.87346480e-01 -1.24643505e-02 1.22392215e+02] [-5.87273364e-01 8.09335579e-01 9.26912902e-03 1.62273761e+02] [ 1.55320327e-02 -1.80965317e-04 9.99879354e-01 6.76239786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:162.25, Z:6.76 [[ 8.08993017e-01 5.87683962e-01 -1.25642258e-02 1.22418897e+02] [-5.87609615e-01 8.09090557e-01 9.34942423e-03 1.62254635e+02] [ 1.56601031e-02 -1.80759010e-04 9.99877357e-01 6.76351735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:162.24, Z:6.76 [[ 8.08976874e-01 5.87708511e-01 -1.24548090e-02 1.22444327e+02] [-5.87635369e-01 8.09072724e-01 9.27368520e-03 1.62235260e+02] [ 1.55270700e-02 -1.83310596e-04 9.99879431e-01 6.76413074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:162.22, Z:6.76 [[ 8.08847632e-01 5.87881160e-01 -1.26983992e-02 1.22471398e+02] [-5.87805082e-01 8.08947283e-01 9.45934547e-03 1.62215975e+02] [ 1.58333066e-02 -1.86985578e-04 9.99874628e-01 6.76446202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.50, Y:162.20, Z:6.76 [[ 8.08605813e-01 5.88213842e-01 -1.26931409e-02 1.22498201e+02] [-5.88137770e-01 8.08705411e-01 9.46160081e-03 1.62197031e+02] [ 1.58304563e-02 -1.85389818e-04 9.99874673e-01 6.76491801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.52, Y:162.18, Z:6.77 [[ 8.08421897e-01 5.88464778e-01 -1.27765755e-02 1.22523434e+02] [-5.88387634e-01 8.08522832e-01 9.53005771e-03 1.62177560e+02] [ 1.59382563e-02 -1.86728299e-04 9.99872961e-01 6.76535518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.55, Y:162.16, Z:6.77 [[ 8.08376684e-01 5.88523953e-01 -1.29110245e-02 1.22550036e+02] [-5.88445087e-01 8.08479759e-01 9.63636360e-03 1.62158911e+02] [ 1.61095328e-02 -1.92382722e-04 9.99870215e-01 6.76620109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.58, Y:162.14, Z:6.77 [[ 8.08155308e-01 5.88831120e-01 -1.27636090e-02 1.22576836e+02] [-5.88753987e-01 8.08256071e-01 9.53242580e-03 1.62140089e+02] [ 1.59292534e-02 -1.89054812e-04 9.99873104e-01 6.76687753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:162.12, Z:6.77 [[ 8.07991346e-01 5.89059834e-01 -1.25895940e-02 1.22603533e+02] [-5.88984720e-01 8.08089399e-01 9.40862812e-03 1.62121002e+02] [ 1.57157623e-02 -1.87011616e-04 9.99876482e-01 6.76757504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.63, Y:162.10, Z:6.77 [[ 8.08213631e-01 5.88752106e-01 -1.27155476e-02 1.22629514e+02] [-5.88675342e-01 8.08313626e-01 9.50917946e-03 1.62101932e+02] [ 1.58766998e-02 -2.00119142e-04 9.99873937e-01 6.76810335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:162.08, Z:6.77 [[ 8.08714769e-01 5.88070701e-01 -1.23803820e-02 1.22655753e+02] [-5.87997763e-01 8.08809499e-01 9.26416151e-03 1.62083463e+02] [ 1.54613525e-02 -2.12427300e-04 9.99880444e-01 6.76938855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.68, Y:162.06, Z:6.77 [[ 8.09006379e-01 5.87673497e-01 -1.21877080e-02 1.22682205e+02] [-5.87602686e-01 8.09098148e-01 9.12526347e-03 1.62064406e+02] [ 1.52237275e-02 -2.20866370e-04 9.99884088e-01 6.77011071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.71, Y:162.04, Z:6.77 [[ 8.09409133e-01 5.87121890e-01 -1.20308783e-02 1.22706424e+02] [-5.87052746e-01 8.09498507e-01 9.01339251e-03 1.62044846e+02] [ 1.50309381e-02 -2.32762072e-04 9.99887002e-01 6.77054836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.73, Y:162.03, Z:6.77 [[ 8.09926882e-01 5.86406788e-01 -1.20633857e-02 1.22732761e+02] [-5.86337143e-01 8.10016677e-01 9.04091425e-03 1.62025980e+02] [ 1.50731971e-02 -2.49268367e-04 9.99886362e-01 6.77121412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:162.01, Z:6.77 [[ 8.11021250e-01 5.84896879e-01 -1.18394458e-02 1.22758425e+02] [-5.84829561e-01 8.11107616e-01 8.87805172e-03 1.62006862e+02] [ 1.47958094e-02 -2.76230709e-04 9.99890498e-01 6.77254335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.78, Y:161.99, Z:6.77 [[ 8.10837967e-01 5.85150986e-01 -1.18369777e-02 1.22784270e+02] [-5.85083647e-01 8.10924317e-01 8.88134124e-03 1.61987265e+02] [ 1.47958187e-02 -2.75706574e-04 9.99890498e-01 6.77297336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:161.97, Z:6.77 [[ 8.11433656e-01 5.84326205e-01 -1.17604476e-02 1.22808938e+02] [-5.84259565e-01 8.11518823e-01 8.82953510e-03 1.61968622e+02] [ 1.47031533e-02 -2.93427963e-04 9.99891860e-01 6.77335606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.84, Y:161.95, Z:6.77 [[ 8.12224955e-01 5.83218183e-01 -1.21315081e-02 1.22835638e+02] [-5.83147072e-01 8.12315483e-01 9.11308109e-03 1.61950281e+02] [ 1.51695264e-02 -3.27418471e-04 9.99884883e-01 6.77356127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.86, Y:161.93, Z:6.77 [[ 8.12325570e-01 5.83083812e-01 -1.18505748e-02 1.22861065e+02] [-5.83015869e-01 8.12411941e-01 8.90700390e-03 1.61930545e+02] [ 1.48210783e-02 -3.26313850e-04 9.99890109e-01 6.77400425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.89, Y:161.91, Z:6.77 [[ 8.12127068e-01 5.83358584e-01 -1.19325912e-02 1.22888529e+02] [-5.83289646e-01 8.12214660e-01 8.97412068e-03 1.61912909e+02] [ 1.49269558e-02 -3.27969429e-04 9.99888533e-01 6.77480302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.92, Y:161.90, Z:6.78 [[ 8.11888023e-01 5.83694536e-01 -1.17697347e-02 1.22915351e+02] [-5.83627418e-01 8.11973266e-01 8.85730425e-03 1.61896254e+02] [ 1.47266700e-02 -3.21999384e-04 9.99891505e-01 6.77505520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:161.88, Z:6.78 [[ 8.11538263e-01 5.84182948e-01 -1.16589842e-02 1.22943076e+02] [-5.84117059e-01 8.11621947e-01 8.77929332e-03 1.61878453e+02] [ 1.45914009e-02 -3.14520896e-04 9.99893490e-01 6.77567916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:161.86, Z:6.78 [[ 8.11297127e-01 5.84519436e-01 -1.15758439e-02 1.22969892e+02] [-5.84454436e-01 8.11379647e-01 8.72235789e-03 1.61861471e+02] [ 1.44907919e-02 -3.10870571e-04 9.99894955e-01 6.77605769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:161.84, Z:6.78 [[ 8.11055665e-01 5.84854683e-01 -1.15632359e-02 1.22996901e+02] [-5.84789781e-01 8.11138031e-01 8.71822550e-03 1.61842769e+02] [ 1.44782754e-02 -3.08904000e-04 9.99895137e-01 6.77630289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.02, Y:161.82, Z:6.78 [[ 8.10939625e-01 5.85015031e-01 -1.15904297e-02 1.23024070e+02] [-5.84949757e-01 8.11022390e-01 8.74444321e-03 1.61824880e+02] [ 1.45157287e-02 -3.11396465e-04 9.99894593e-01 6.77691169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.05, Y:161.81, Z:6.78 [[ 8.10844712e-01 5.85156626e-01 -1.10713683e-02 1.23050976e+02] [-5.85097008e-01 8.10920239e-01 8.35813553e-03 1.61807871e+02] [ 1.38688150e-02 -2.99325564e-04 9.99903779e-01 6.77769815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.08, Y:161.79, Z:6.78 [[ 8.10828626e-01 5.85180682e-01 -1.09776256e-02 1.23077571e+02] [-5.85122002e-01 8.10902879e-01 8.29243506e-03 1.61789994e+02] [ 1.37543610e-02 -3.00493484e-04 9.99905359e-01 6.77833105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.10, Y:161.78, Z:6.78 [[ 8.11091652e-01 5.84810339e-01 -1.12782692e-02 1.23103031e+02] [-5.84748299e-01 8.11169998e-01 8.52415655e-03 1.61776100e+02] [ 1.41336085e-02 -3.18923465e-04 9.99900065e-01 6.77833358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:161.76, Z:6.78 [[ 8.11468326e-01 5.84290978e-01 -1.10999569e-02 1.23126834e+02] [-5.84230850e-01 8.11544176e-01 8.38835219e-03 1.61760813e+02] [ 1.39093439e-02 -3.21944853e-04 9.99903209e-01 6.77818742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:161.74, Z:6.78 [[ 8.11985661e-01 5.83567072e-01 -1.13472119e-02 1.23149575e+02] [-5.83504193e-01 8.12064872e-01 8.57323867e-03 1.61742478e+02] [ 1.42177320e-02 -3.40201138e-04 9.99898865e-01 6.77838536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.17, Y:161.73, Z:6.78 [[ 8.13437022e-01 5.81547316e-01 -1.10874149e-02 1.23174845e+02] [-5.81487156e-01 8.13512500e-01 8.37259594e-03 1.61729160e+02] [ 1.38888113e-02 -3.63390125e-04 9.99903480e-01 6.77883098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.20, Y:161.71, Z:6.78 [[ 8.14446519e-01 5.80138010e-01 -1.08054464e-02 1.23196153e+02] [-5.80080771e-01 8.14518108e-01 8.15793018e-03 1.61709316e+02] [ 1.35339571e-02 -3.76166158e-04 9.99908341e-01 6.77947973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:161.69, Z:6.78 [[ 8.15431952e-01 5.78751704e-01 -1.08257504e-02 1.23220256e+02] [-5.78694186e-01 8.15503714e-01 8.16889071e-03 1.61693847e+02] [ 1.35561991e-02 -3.96375659e-04 9.99908032e-01 6.78016798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.24, Y:161.68, Z:6.78 [[ 8.17091305e-01 5.76403894e-01 -1.09704067e-02 1.23243162e+02] [-5.76344637e-01 8.17164829e-01 8.27659293e-03 1.61677397e+02] [ 1.37352909e-02 -4.39997076e-04 9.99905570e-01 6.78071348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.27, Y:161.66, Z:6.78 [[ 8.17649961e-01 5.75617729e-01 -1.06194252e-02 1.23267915e+02] [-5.75562159e-01 8.17718802e-01 8.01015150e-03 1.61663195e+02] [ 1.32944889e-02 -4.37360777e-04 9.99911529e-01 6.78113582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.30, Y:161.65, Z:6.78 [[ 8.17978451e-01 5.75157485e-01 -1.02528584e-02 1.23295531e+02] [-5.75105670e-01 8.18042593e-01 7.73205562e-03 1.61651390e+02] [ 1.28344245e-02 -4.28177911e-04 9.99917544e-01 6.78230015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.32, Y:161.64, Z:6.78 [[ 8.17812680e-01 5.75390271e-01 -1.04142129e-02 1.23318239e+02] [-5.75336849e-01 8.17878873e-01 7.85233537e-03 1.61635311e+02] [ 1.30357220e-02 -4.30059025e-04 9.99914939e-01 6.78284762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:161.62, Z:6.78 [[ 8.17724956e-01 5.75513398e-01 -1.04988479e-02 1.23344134e+02] [-5.75459136e-01 8.17792238e-01 7.91442299e-03 1.61622443e+02] [ 1.31407328e-02 -4.30163260e-04 9.99913564e-01 6.78310753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:161.61, Z:6.78 [[ 8.17423456e-01 5.75944901e-01 -1.03133091e-02 1.23369598e+02] [-5.75892635e-01 8.17488411e-01 7.76990748e-03 1.61607690e+02] [ 1.29060493e-02 -4.11945879e-04 9.99916629e-01 6.78368662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:161.60, Z:6.78 [[ 8.16351006e-01 5.77446320e-01 -1.12597800e-02 1.23395775e+02] [-5.77384239e-01 8.16428547e-01 8.47750770e-03 1.61596497e+02] [ 1.40881115e-02 -4.19402407e-04 9.99900670e-01 6.78333730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.42, Y:161.58, Z:6.78 [[ 8.15756181e-01 5.78279172e-01 -1.16212298e-02 1.23421191e+02] [-5.78213171e-01 8.15838849e-01 8.74656992e-03 1.61581525e+02] [ 1.45390100e-02 -4.15520338e-04 9.99894217e-01 6.78315137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.45, Y:161.57, Z:6.78 [[ 8.14538077e-01 5.79981956e-01 -1.21923172e-02 1.23447500e+02] [-5.79909578e-01 8.14629223e-01 9.17119164e-03 1.61569920e+02] [ 1.52513436e-02 -3.99843256e-04 9.99883612e-01 6.78315147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.47, Y:161.56, Z:6.78 [[ 8.13965722e-01 5.80787919e-01 -1.20497856e-02 1.23471617e+02] [-5.80717339e-01 8.14054820e-01 9.06209443e-03 1.61555255e+02] [ 1.50723410e-02 -3.78714826e-04 9.99886334e-01 6.78376899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:161.54, Z:6.78 [[ 8.13729965e-01 5.81113127e-01 -1.22913297e-02 1.23496540e+02] [-5.81039764e-01 8.13822702e-01 9.24131554e-03 1.61539911e+02] [ 1.53732129e-02 -3.78184077e-04 9.99881754e-01 6.78441597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:161.53, Z:6.79 [[ 8.13335257e-01 5.81676171e-01 -1.17724977e-02 1.23522879e+02] [-5.81609002e-01 8.13420378e-01 8.84632162e-03 1.61526548e+02] [ 1.47216840e-02 -3.48034623e-04 9.99891570e-01 6.78587576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:161.51, Z:6.79 [[ 8.13506848e-01 5.81437649e-01 -1.16990703e-02 1.23548016e+02] [-5.81371366e-01 8.13590893e-01 8.78601953e-03 1.61513256e+02] [ 1.46267796e-02 -3.45982595e-04 9.99892963e-01 6.78686439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.57, Y:161.50, Z:6.79 [[ 8.13595415e-01 5.81322446e-01 -1.12567466e-02 1.23569202e+02] [-5.81261146e-01 8.13673218e-01 8.44837486e-03 1.61496664e+02] [ 1.40705432e-02 -3.30449601e-04 9.99900950e-01 6.78754115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:161.48, Z:6.79 [[ 8.14188976e-01 5.80498662e-01 -1.08450360e-02 1.23595432e+02] [-5.80441724e-01 8.14261134e-01 8.13695532e-03 1.61483096e+02] [ 1.35541830e-02 -3.30107923e-04 9.99908083e-01 6.78886018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:161.47, Z:6.79 [[ 8.14423467e-01 5.80166331e-01 -1.10202252e-02 1.23618053e+02] [-5.80107578e-01 8.14497953e-01 8.26335764e-03 1.61467312e+02] [ 1.37700728e-02 -3.36956203e-04 9.99905131e-01 6.78955403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:161.45, Z:6.79 [[ 8.14705817e-01 5.79777709e-01 -1.05943904e-02 1.23641323e+02] [-5.79723445e-01 8.14774633e-01 7.93886664e-03 1.61452270e+02] [ 1.32348184e-02 -3.26024350e-04 9.99912363e-01 6.79030006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:161.44, Z:6.79 [[ 8.15135957e-01 5.79178582e-01 -1.02733806e-02 1.23666859e+02] [-5.79127538e-01 8.15200629e-01 7.69600610e-03 1.61438702e+02] [ 1.28322282e-02 -3.23693682e-04 9.99917611e-01 6.79143720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.69, Y:161.42, Z:6.79 [[ 8.15271539e-01 5.78990263e-01 -1.01288162e-02 1.23687850e+02] [-5.78940692e-01 8.15334394e-01 7.58287767e-03 1.61421139e+02] [ 1.26487846e-02 -3.18120467e-04 9.99919950e-01 6.79215545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:161.41, Z:6.79 [[ 8.15252155e-01 5.79012617e-01 -1.04073860e-02 1.23712247e+02] [-5.78960316e-01 8.15318517e-01 7.78897966e-03 1.61407013e+02] [ 1.29952521e-02 -3.24518935e-04 9.99915506e-01 6.79251160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:161.39, Z:6.79 [[ 8.15056994e-01 5.79285959e-01 -1.04821000e-02 1.23738056e+02] [-5.79232995e-01 8.15124332e-01 7.83966848e-03 1.61394059e+02] [ 1.30856247e-02 -3.18198438e-04 9.99914329e-01 6.79317336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.76, Y:161.38, Z:6.79 [[ 8.14087253e-01 5.80639091e-01 -1.09631835e-02 1.23762108e+02] [-5.80581350e-01 8.14161012e-01 8.19409298e-03 1.61378964e+02] [ 1.36836073e-02 -3.05686735e-04 9.99906328e-01 6.79362361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.79, Y:161.36, Z:6.79 [[ 8.13390359e-01 5.81609288e-01 -1.12587721e-02 1.23786889e+02] [-5.81548559e-01 8.13468224e-01 8.40968182e-03 1.61363084e+02] [ 1.40498024e-02 -2.92831405e-04 9.99901254e-01 6.79424754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:161.35, Z:6.80 [[ 8.12636922e-01 5.82667071e-01 -1.09688941e-02 1.23811584e+02] [-5.82609587e-01 8.12710905e-01 8.18867337e-03 1.61348560e+02] [ 1.36858101e-02 -2.63835488e-04 9.99906310e-01 6.79520392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:161.33, Z:6.80 [[ 8.10788784e-01 5.85244623e-01 -1.05014204e-02 1.23837823e+02] [-5.85192210e-01 8.10856762e-01 7.83511071e-03 1.61334814e+02] [ 1.31006042e-02 -2.07270440e-04 9.99914162e-01 6.79668517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:161.32, Z:6.80 [[ 8.10027278e-01 5.86299828e-01 -1.04076922e-02 1.23860878e+02] [-5.86248466e-01 8.10094116e-01 7.76274218e-03 1.61319129e+02] [ 1.29825046e-02 -1.86539325e-04 9.99915706e-01 6.79703858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:161.30, Z:6.80 [[ 8.09299208e-01 5.87305576e-01 -1.03418268e-02 1.23885080e+02] [-5.87254963e-01 8.09365265e-01 7.71205222e-03 1.61303218e+02] [ 1.28996467e-02 -1.68068614e-04 9.99916782e-01 6.79743602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:161.29, Z:6.80 [[ 8.07782827e-01 5.89385396e-01 -1.05716113e-02 1.23908652e+02] [-5.89332750e-01 8.07851989e-01 7.87866347e-03 1.61287546e+02] [ 1.31838664e-02 -1.34052302e-04 9.99913080e-01 6.79833298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:161.27, Z:6.80 [[ 8.07315297e-01 5.90022087e-01 -1.07679247e-02 1.23931424e+02] [-5.89967547e-01 8.07387095e-01 8.02321896e-03 1.61271475e+02] [ 1.34277598e-02 -1.24541298e-04 9.99909836e-01 6.79878928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:161.26, Z:6.80 [[ 8.07068005e-01 5.90359527e-01 -1.08104008e-02 1.23954505e+02] [-5.90304656e-01 8.07140394e-01 8.04963642e-03 1.61255463e+02] [ 1.34776907e-02 -1.15174062e-04 9.99909165e-01 6.79951000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.98, Y:161.24, Z:6.80 [[ 8.06609046e-01 5.90996517e-01 -1.02452104e-02 1.23977762e+02] [-5.90947346e-01 8.06674103e-01 7.62407610e-03 1.61240293e+02] [ 1.27703484e-02 -9.52688405e-05 9.99918451e-01 6.80075768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:161.22, Z:6.80 [[ 8.06417527e-01 5.91265371e-01 -9.79967202e-03 1.23999012e+02] [-5.91220467e-01 8.06477063e-01 7.28737208e-03 1.61223265e+02] [ 1.22119815e-02 -8.28978957e-05 9.99925428e-01 6.80230868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3327550960001 meters Centerline goodness [0,1] 0.9999789756959044 Centerline is valid? [True, True] Translation: X:124.02, Y:161.21, Z:6.80 [[ 8.06503207e-01 5.91151028e-01 -9.64568795e-03 1.24020886e+02] [-5.91107538e-01 8.06560881e-01 7.17099208e-03 1.61205928e+02] [ 1.20189739e-02 -8.17892494e-05 9.99927766e-01 6.80332203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:161.19, Z:6.80 [[ 8.06413201e-01 5.91279162e-01 -9.31139574e-03 1.24042186e+02] [-5.91238700e-01 8.06466954e-01 6.91754652e-03 1.61189310e+02] [ 1.15995341e-02 -7.31433279e-05 9.99932720e-01 6.80404654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:161.17, Z:6.80 [[ 8.06518924e-01 5.91138689e-01 -9.07060500e-03 1.24064993e+02] [-5.91100300e-01 8.06569926e-01 6.73722034e-03 1.61172640e+02] [ 1.12987088e-02 -7.20583562e-05 9.99936165e-01 6.80489668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.09, Y:161.16, Z:6.81 [[ 8.06833552e-01 5.90713437e-01 -8.78945071e-03 1.24085526e+02] [-5.90677422e-01 8.06881423e-01 6.52324198e-03 1.61155037e+02] [ 1.09454112e-02 -7.14404127e-05 9.99940095e-01 6.80556752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:161.14, Z:6.81 [[ 8.07457754e-01 5.89862494e-01 -8.61474187e-03 1.24107059e+02] [-5.89827871e-01 8.07503704e-01 6.39148070e-03 1.61137145e+02] [ 1.07265307e-02 -7.96357916e-05 9.99942466e-01 6.80612988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48275509600006 meters Centerline goodness [0,1] 0.9999790965530216 Centerline is valid? [True, True] Translation: X:124.13, Y:161.12, Z:6.81 [[ 8.08945336e-01 5.87818838e-01 -8.74396313e-03 1.24127863e+02] [-5.87783059e-01 8.08992585e-01 6.48645561e-03 1.61117388e+02] [ 1.08866621e-02 -1.07634617e-04 9.99940733e-01 6.80613873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.15, Y:161.10, Z:6.81 [[ 8.10046369e-01 5.86302845e-01 -8.59385901e-03 1.24148292e+02] [-5.86268244e-01 8.10091945e-01 6.37072548e-03 1.61098609e+02] [ 1.06969904e-02 -1.22276410e-04 9.99942778e-01 6.80640486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:161.08, Z:6.81 [[ 8.11203588e-01 5.84696823e-01 -8.85240116e-03 1.24169535e+02] [-5.84660034e-01 8.11251875e-01 6.56049936e-03 1.61079457e+02] [ 1.10174302e-02 -1.46255457e-04 9.99939296e-01 6.80679926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.19, Y:161.06, Z:6.81 [[ 8.13537093e-01 5.81441597e-01 -9.11417126e-03 1.24187988e+02] [-5.81402450e-01 8.13588122e-01 6.74972646e-03 1.61058009e+02] [ 1.13397532e-02 -1.92151338e-04 9.99935684e-01 6.80672917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:161.04, Z:6.81 [[ 8.14483827e-01 5.80113342e-01 -9.19812704e-03 1.24208949e+02] [-5.80073403e-01 8.14535736e-01 6.81038980e-03 1.61038827e+02] [ 1.14430012e-02 -2.11363498e-04 9.99934504e-01 6.80700490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:161.02, Z:6.81 [[ 8.15564554e-01 5.78581047e-01 -9.92120155e-03 1.24231163e+02] [-5.78534487e-01 8.15624858e-01 7.34425626e-03 1.61020746e+02] [ 1.23412261e-02 -2.49957826e-04 9.99923813e-01 6.80649244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66275509600007 meters Centerline goodness [0,1] 0.9998526129616373 Centerline is valid? [True, True] Translation: X:124.25, Y:161.00, Z:6.80 [[ 8.17161515e-01 5.76293297e-01 -1.15366834e-02 1.24248404e+02] [-5.76230197e-01 8.17242883e-01 8.53409216e-03 1.60997738e+02] [ 1.43464125e-02 -3.25946313e-04 9.99897032e-01 6.80182658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:160.98, Z:6.81 [[ 8.17799226e-01 5.75400484e-01 -1.08953661e-02 1.24271683e+02] [-5.75344161e-01 8.17871738e-01 8.05706548e-03 1.60981223e+02] [ 1.35470514e-02 -3.20476665e-04 9.99908183e-01 6.80608104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:160.97, Z:6.81 [[ 8.17995978e-01 5.75120699e-01 -1.08977878e-02 1.24293980e+02] [-5.75064395e-01 8.18068505e-01 8.05378862e-03 1.60965028e+02] [ 1.35470375e-02 -3.21036962e-04 9.99908183e-01 6.80644474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.31, Y:160.95, Z:6.81 [[ 8.18533116e-01 5.74341868e-01 -1.16170989e-02 1.24313934e+02] [-5.74277896e-01 8.18615475e-01 8.57922616e-03 1.60945090e+02] [ 1.44373457e-02 -3.50937618e-04 9.99895715e-01 6.80532085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.33, Y:160.93, Z:6.80 [[ 8.18494160e-01 5.74379290e-01 -1.24796400e-02 1.24334679e+02] [-5.74305504e-01 8.18589208e-01 9.21393460e-03 1.60927431e+02] [ 1.55079918e-02 -3.74425705e-04 9.99879674e-01 6.80493212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.36, Y:160.91, Z:6.81 [[ 8.18277004e-01 5.74683342e-01 -1.27201053e-02 1.24359042e+02] [-5.74606776e-01 8.18375780e-01 9.38806811e-03 1.60912135e+02] [ 1.58049925e-02 -3.72981549e-04 9.99875024e-01 6.80508164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:160.89, Z:6.80 [[ 8.17658977e-01 5.75551395e-01 -1.32056716e-02 1.24379118e+02] [-5.75469076e-01 8.17765528e-01 9.74084660e-03 1.60892655e+02] [ 1.64055008e-02 -3.65235050e-04 9.99865354e-01 6.80454208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.40, Y:160.88, Z:6.81 [[ 8.16426107e-01 5.77285900e-01 -1.37623274e-02 1.24404993e+02] [-5.77196796e-01 8.16542022e-01 1.01481650e-02 1.60878987e+02] [ 1.70959112e-02 -3.41655559e-04 9.99853796e-01 6.80505603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9027550960001 meters Centerline goodness [0,1] 0.999915636731767 Centerline is valid? [True, True] Translation: X:124.43, Y:160.86, Z:6.80 [[ 8.15751514e-01 5.78227292e-01 -1.42361266e-02 1.24426701e+02] [-5.78132191e-01 8.15875659e-01 1.04918086e-02 1.60860763e+02] [ 1.76815592e-02 -3.28345738e-04 9.99843615e-01 6.80291893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.45, Y:160.85, Z:6.81 [[ 8.14144113e-01 5.80490862e-01 -1.41323293e-02 1.24451257e+02] [-5.80397543e-01 8.14266715e-01 1.04119602e-02 1.60845284e+02] [ 1.75515331e-02 -2.74466933e-04 9.99845922e-01 6.80635302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:160.83, Z:6.81 [[ 8.13523490e-01 5.81369321e-01 -1.37566091e-02 1.24473568e+02] [-5.81281114e-01 8.13639757e-01 1.01298329e-02 1.60828243e+02] [ 1.70820982e-02 -2.44399916e-04 9.99854060e-01 6.80663979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:160.81, Z:6.81 [[ 8.13076458e-01 5.81996631e-01 -1.36599722e-02 1.24495268e+02] [-5.81909785e-01 8.13191164e-01 1.00564552e-02 1.60811285e+02] [ 1.69609917e-02 -2.27795490e-04 9.99856126e-01 6.80759846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.52, Y:160.79, Z:6.81 [[ 8.12461565e-01 5.82868431e-01 -1.30612799e-02 1.24516052e+02] [-5.82789180e-01 8.12566522e-01 9.61346876e-03 1.60791967e+02] [ 1.62165463e-02 -1.98601255e-04 9.99868483e-01 6.80934317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.54, Y:160.77, Z:6.81 [[ 8.12535545e-01 5.82778330e-01 -1.24661858e-02 1.24537935e+02] [-5.82706178e-01 8.12631148e-01 9.17210330e-03 1.60774155e+02] [ 1.54757139e-02 -1.88536464e-04 9.99880226e-01 6.81074942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:160.76, Z:6.81 [[ 8.12496327e-01 5.82839680e-01 -1.21501833e-02 1.24558526e+02] [-5.82771231e-01 8.12587150e-01 8.93399265e-03 1.60756414e+02] [ 1.50801683e-02 -1.78058912e-04 9.99886272e-01 6.81164471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:160.74, Z:6.81 [[ 8.12696527e-01 5.82575184e-01 -1.14240508e-02 1.24578802e+02] [-5.82514684e-01 8.12776799e-01 8.39747906e-03 1.60736909e+02] [ 1.41773664e-02 -1.69924710e-04 9.99899482e-01 6.81304949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.60, Y:160.72, Z:6.81 [[ 8.12817557e-01 5.82413934e-01 -1.10285247e-02 1.24599590e+02] [-5.82357606e-01 8.12892356e-01 8.10155507e-03 1.60718928e+02] [ 1.36834620e-02 -1.62540950e-04 9.99906364e-01 6.81378052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:160.70, Z:6.81 [[ 8.13377084e-01 5.81641195e-01 -1.05469752e-02 1.24620012e+02] [-5.81589643e-01 8.13445445e-01 7.74564040e-03 1.60699805e+02] [ 1.30845725e-02 -1.66114879e-04 9.99914380e-01 6.81446550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.64, Y:160.68, Z:6.81 [[ 8.13670029e-01 5.81228651e-01 -1.06929554e-02 1.24642209e+02] [-5.81175648e-01 8.13740269e-01 7.85121056e-03 1.60681265e+02] [ 1.32646369e-02 -1.73809435e-04 9.99912006e-01 6.81452673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.66, Y:160.66, Z:6.81 [[ 8.14061473e-01 5.80674567e-01 -1.09984259e-02 1.24663743e+02] [-5.80618459e-01 8.14135746e-01 8.07416863e-03 1.60661864e+02] [ 1.36426760e-02 -1.86980512e-04 9.99906917e-01 6.81408553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.68, Y:160.64, Z:6.81 [[ 8.14671764e-01 5.79811389e-01 -1.13432695e-02 1.24683603e+02] [-5.79751643e-01 8.14750705e-01 8.32595820e-03 1.60640197e+02] [ 1.40694222e-02 -2.06643923e-04 9.99900999e-01 6.81376749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.70, Y:160.62, Z:6.81 [[ 8.15016282e-01 5.79321782e-01 -1.16074197e-02 1.24703776e+02] [-5.79259188e-01 8.15098905e-01 8.51868929e-03 1.60620914e+02] [ 1.43962574e-02 -2.19165934e-04 9.99896345e-01 6.81382083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.72, Y:160.60, Z:6.81 [[ 8.15166349e-01 5.79108771e-01 -1.16984520e-02 1.24724235e+02] [-5.79045196e-01 8.15250257e-01 8.58371663e-03 1.60600534e+02] [ 1.45080716e-02 -2.23224536e-04 9.99894727e-01 6.81375711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:160.58, Z:6.81 [[ 8.15035560e-01 5.79283903e-01 -1.21324146e-02 1.24746192e+02] [-5.79215565e-01 8.15125824e-01 8.90064129e-03 1.60582451e+02] [ 1.50454426e-02 -2.27055817e-04 9.99886785e-01 6.81405196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:160.56, Z:6.81 [[ 8.14565824e-01 5.79941291e-01 -1.22726207e-02 1.24768705e+02] [-5.79871461e-01 8.14658243e-01 9.00200634e-03 1.60563873e+02] [ 1.52186268e-02 -2.16184188e-04 9.99884167e-01 6.81447970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.79, Y:160.54, Z:6.81 [[ 8.13201754e-01 5.81846112e-01 -1.25701514e-02 1.24789996e+02] [-5.81773107e-01 8.13298880e-01 9.21870149e-03 1.60544899e+02] [ 1.55871557e-02 -1.83688166e-04 9.99878496e-01 6.81446765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:160.53, Z:6.81 [[ 8.12431953e-01 5.82901741e-01 -1.34120090e-02 1.24812975e+02] [-5.82818801e-01 8.12542633e-01 9.83441837e-03 1.60526898e+02] [ 1.66303287e-02 -1.73024695e-04 9.99861692e-01 6.81442484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.84, Y:160.51, Z:6.81 [[ 8.11595573e-01 5.84065479e-01 -1.34216744e-02 1.24836445e+02] [-5.83982601e-01 8.11706532e-01 9.84007946e-03 1.60509184e+02] [ 1.66417115e-02 -1.48140628e-04 9.99861506e-01 6.81477889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:160.49, Z:6.81 [[ 8.10151644e-01 5.86053608e-01 -1.39814775e-02 1.24857346e+02] [-5.85963988e-01 8.10272273e-01 1.02493207e-02 1.60491002e+02] [ 1.73354549e-02 -1.10861733e-04 9.99849724e-01 6.81431386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:160.47, Z:6.81 [[ 8.09607268e-01 5.86796972e-01 -1.43312674e-02 1.24880097e+02] [-5.86702965e-01 8.09734095e-01 1.05036471e-02 1.60473278e+02] [ 1.77680241e-02 -9.56319444e-05 9.99842132e-01 6.81419968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:160.45, Z:6.81 [[ 8.08956561e-01 5.87675066e-01 -1.50764568e-02 1.24902110e+02] [-5.87571210e-01 8.09097034e-01 1.10481855e-02 1.60453853e+02] [ 1.86910596e-02 -7.90101204e-05 9.99825304e-01 6.81390061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:160.43, Z:6.81 [[ 8.08889102e-01 5.87769257e-01 -1.50240235e-02 1.24923723e+02] [-5.87666158e-01 8.09028612e-01 1.10087221e-02 1.60434975e+02] [ 1.86254533e-02 -7.57252217e-05 9.99826528e-01 6.81430231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.95, Y:160.41, Z:6.82 [[ 8.08988666e-01 5.87642161e-01 -1.46297040e-02 1.24947551e+02] [-5.87544395e-01 8.09120933e-01 1.07190909e-02 1.60413994e+02] [ 1.81361895e-02 -7.60225004e-05 9.99835523e-01 6.81537860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.97, Y:160.39, Z:6.82 [[ 8.09080984e-01 5.87512640e-01 -1.47261575e-02 1.24969017e+02] [-5.87413514e-01 8.09214984e-01 1.07922607e-02 1.60389755e+02] [ 1.82572168e-02 -8.14689957e-05 9.99833320e-01 6.81622735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:160.37, Z:6.82 [[ 8.09194920e-01 5.87355447e-01 -1.47363334e-02 1.24993779e+02] [-5.87256032e-01 8.09329087e-01 1.08065796e-02 1.60368360e+02] [ 1.82738466e-02 -9.06286182e-05 9.99833015e-01 6.81754257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.02, Y:160.35, Z:6.82 [[ 8.09164663e-01 5.87406714e-01 -1.43492158e-02 1.25017504e+02] [-5.87312341e-01 8.09291878e-01 1.05295143e-02 1.60347109e+02] [ 1.77978112e-02 -9.26393658e-05 9.99841602e-01 6.81847792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.04, Y:160.33, Z:6.82 [[ 8.09768641e-01 5.86587301e-01 -1.37871410e-02 1.25039133e+02] [-5.86499978e-01 8.09885996e-01 1.01217646e-02 1.60325442e+02] [ 1.71033110e-02 -1.10129624e-04 9.99853722e-01 6.81991703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:160.30, Z:6.82 [[ 8.09941580e-01 5.86357641e-01 -1.33922941e-02 1.25064195e+02] [-5.86275195e-01 8.10052285e-01 9.83318935e-03 1.60303621e+02] [ 1.66142241e-02 -1.12739094e-04 9.99861968e-01 6.82067620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:160.28, Z:6.82 [[ 8.10784312e-01 5.85188808e-01 -1.35225411e-02 1.25086423e+02] [-5.85104483e-01 8.10897058e-01 9.93508308e-03 1.60280465e+02] [ 1.67792882e-02 -1.43110091e-04 9.99859208e-01 6.82168726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.11, Y:160.26, Z:6.82 [[ 8.11099682e-01 5.84757172e-01 -1.32798708e-02 1.25110430e+02] [-5.84675707e-01 8.11208374e-01 9.76174796e-03 1.60258374e+02] [ 1.64809946e-02 -1.53332798e-04 9.99864167e-01 6.82233102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:160.24, Z:6.82 [[ 8.11414249e-01 5.84324639e-01 -1.31009006e-02 1.25135288e+02] [-5.84245227e-01 8.11519988e-01 9.63458497e-03 1.60236547e+02] [ 1.62613681e-02 -1.63500902e-04 9.99867762e-01 6.82331062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.16, Y:160.22, Z:6.82 [[ 8.11139586e-01 5.84716647e-01 -1.26101436e-02 1.25160590e+02] [-5.84643028e-01 8.11237585e-01 9.27960079e-03 1.60216452e+02] [ 1.56557595e-02 -1.54618983e-04 9.99877429e-01 6.82484537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:160.20, Z:6.83 [[ 8.10578100e-01 5.85514674e-01 -1.16494899e-02 1.25187419e+02] [-5.85451856e-01 8.10661797e-01 8.57764286e-03 1.60197214e+02] [ 1.44661322e-02 -1.32633987e-04 9.99895351e-01 6.82648679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:160.18, Z:6.83 [[ 8.10442945e-01 5.85693752e-01 -1.20442113e-02 1.25213163e+02] [-5.85626534e-01 8.10532424e-01 8.87425794e-03 1.60177314e+02] [ 1.49598212e-02 -1.38670000e-04 9.99888086e-01 6.82673783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:160.16, Z:6.83 [[ 8.10410435e-01 5.85748040e-01 -1.15827468e-02 1.25238685e+02] [-5.85685804e-01 8.10493192e-01 8.53958217e-03 1.60158823e+02] [ 1.43897810e-02 -1.36716109e-04 9.99896452e-01 6.82730329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:160.14, Z:6.83 [[ 8.10263217e-01 5.85953742e-01 -1.14774523e-02 1.25265477e+02] [-5.85892580e-01 8.10344491e-01 8.46706171e-03 1.60139428e+02] [ 1.42619968e-02 -1.35994499e-04 9.99898283e-01 6.82796634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:160.12, Z:6.83 [[ 8.10001771e-01 5.86313798e-01 -1.15438716e-02 1.25291313e+02] [-5.86251884e-01 8.10084015e-01 8.52155220e-03 1.60120683e+02] [ 1.43478095e-02 -1.34855916e-04 9.99897056e-01 6.82838994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.32, Y:160.10, Z:6.83 [[ 8.09742679e-01 5.86667498e-01 -1.17490934e-02 1.25318109e+02] [-5.86603322e-01 8.09827901e-01 8.67835527e-03 1.60101474e+02] [ 1.46060526e-02 -1.35177430e-04 9.99893317e-01 6.82863383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.34, Y:160.08, Z:6.83 [[ 8.09560352e-01 5.86919277e-01 -1.17387710e-02 1.25344726e+02] [-5.86855160e-01 8.09645444e-01 8.67619661e-03 1.60082590e+02] [ 1.45964695e-02 -1.34946431e-04 9.99893457e-01 6.82845747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.37, Y:160.06, Z:6.83 [[ 8.09460615e-01 5.87047755e-01 -1.21838414e-02 1.25370113e+02] [-5.86978612e-01 8.09552292e-01 9.01088033e-03 1.60064339e+02] [ 1.51532738e-02 -1.42298439e-04 9.99885172e-01 6.82829271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:160.05, Z:6.83 [[ 8.09154305e-01 5.87451233e-01 -1.30522023e-02 1.25397219e+02] [-5.87371846e-01 8.09259555e-01 9.65854888e-03 1.60045842e+02] [ 1.62365459e-02 -1.48760214e-04 9.99868168e-01 6.82766836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:160.03, Z:6.83 [[ 8.08878994e-01 5.87823937e-01 -1.33338826e-02 1.25423029e+02] [-5.87741030e-01 8.08988873e-01 9.87347917e-03 1.60026424e+02] [ 1.65908301e-02 -1.49579997e-04 9.99862352e-01 6.82759133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:160.01, Z:6.83 [[ 8.08520551e-01 5.88313412e-01 -1.34851059e-02 1.25450665e+02] [-5.88228577e-01 8.08632987e-01 9.99167062e-03 1.60008147e+02] [ 1.67827353e-02 -1.46146405e-04 9.99859149e-01 6.82762027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:159.99, Z:6.83 [[ 8.08223503e-01 5.88703296e-01 -1.42547995e-02 1.25478390e+02] [-5.88608434e-01 8.08349186e-01 1.05690552e-02 1.59989653e+02] [ 1.77448932e-02 -1.51663569e-04 9.99842536e-01 6.82770304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.50, Y:159.97, Z:6.83 [[ 8.08292136e-01 5.88604882e-01 -1.44262005e-02 1.25503972e+02] [-5.88507614e-01 8.08420848e-01 1.07014588e-02 1.59971578e+02] [ 1.79613721e-02 -1.59976196e-04 9.99838669e-01 6.82786024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.53, Y:159.95, Z:6.83 [[ 8.08823952e-01 5.87875503e-01 -1.43599032e-02 1.25529385e+02] [-5.87778997e-01 8.08951396e-01 1.06531201e-02 1.59953979e+02] [ 1.78791721e-02 -1.76049178e-04 9.99840139e-01 6.82851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:159.94, Z:6.83 [[ 8.09167095e-01 5.87406510e-01 -1.42198843e-02 1.25552527e+02] [-5.87311795e-01 8.09292010e-01 1.05497576e-02 1.59936089e+02] [ 1.77050351e-02 -1.85010939e-04 9.99843236e-01 6.82880446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:159.92, Z:6.83 [[ 8.09621054e-01 5.86797537e-01 -1.35055233e-02 1.25579214e+02] [-5.86711997e-01 8.09733669e-01 1.00208836e-02 1.59917282e+02] [ 1.68161068e-02 -1.89265798e-04 9.99858581e-01 6.83048025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.60, Y:159.90, Z:6.83 [[ 8.10697406e-01 5.85325809e-01 -1.27832800e-02 1.25604038e+02] [-5.85248898e-01 8.10798157e-01 9.49083733e-03 1.59897063e+02] [ 1.59198919e-02 -2.12796684e-04 9.99873248e-01 6.83183129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.63, Y:159.88, Z:6.83 [[ 8.11444795e-01 5.84285249e-01 -1.29650386e-02 1.25627272e+02] [-5.84205910e-01 8.11548329e-01 9.63143997e-03 1.59875549e+02] [ 1.61492637e-02 -2.41129642e-04 9.99869563e-01 6.83177825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.65, Y:159.85, Z:6.83 [[ 8.12595300e-01 5.82686508e-01 -1.28573773e-02 1.25651912e+02] [-5.82608199e-01 8.12696965e-01 9.55662113e-03 1.59854702e+02] [ 1.60176657e-02 -2.74852001e-04 9.99871671e-01 6.83224130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.67, Y:159.83, Z:6.83 [[ 8.15118277e-01 5.79153776e-01 -1.27709546e-02 1.25674907e+02] [-5.79076008e-01 8.15218243e-01 9.49701790e-03 1.59832161e+02] [ 1.59113490e-02 -3.45839441e-04 9.99873347e-01 6.83300026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.70, Y:159.81, Z:6.83 [[ 8.15953158e-01 5.77978807e-01 -1.26863334e-02 1.25699139e+02] [-5.77901890e-01 8.16051691e-01 9.43625698e-03 1.59811299e+02] [ 1.58066604e-02 -3.68087654e-04 9.99874999e-01 6.83361656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.72, Y:159.79, Z:6.83 [[ 8.17150170e-01 5.76281078e-01 -1.28731936e-02 1.25722056e+02] [-5.76201585e-01 8.17251461e-01 9.58031755e-03 1.59790585e+02] [ 1.60415920e-02 -4.11003532e-04 9.99871241e-01 6.83372625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5827550960001 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:125.75, Y:159.77, Z:6.83 [[ 8.16931511e-01 5.76598989e-01 -1.25104727e-02 1.25750125e+02] [-5.76523901e-01 8.17027202e-01 9.31358865e-03 1.59772360e+02] [ 1.55916023e-02 -3.95977527e-04 9.99878365e-01 6.83314253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61275509600006 meters Centerline goodness [0,1] 0.9999136292969425 Centerline is valid? [True, True] Translation: X:125.78, Y:159.75, Z:6.83 [[ 8.16177332e-01 5.77663528e-01 -1.26258489e-02 1.25776545e+02] [-5.77587079e-01 8.16274893e-01 9.40555865e-03 1.59753693e+02] [ 1.57394117e-02 -3.84076558e-04 9.99876054e-01 6.83337889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters Centerline goodness [0,1] 0.9999136292969425 Centerline is valid? [True, True] Translation: X:125.80, Y:159.73, Z:6.83 [[ 8.15997541e-01 5.77917526e-01 -1.26232313e-02 1.25802453e+02] [-5.77841053e-01 8.16095084e-01 9.40907063e-03 1.59734178e+02] [ 1.57394238e-02 -3.83557232e-04 9.99876054e-01 6.83380895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.83, Y:159.72, Z:6.83 [[ 8.13827815e-01 5.80959863e-01 -1.30355368e-02 1.25828391e+02] [-5.80878600e-01 8.13932136e-01 9.72264438e-03 1.59717053e+02] [ 1.62585084e-02 -3.40494059e-04 9.99867764e-01 6.83417525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.85, Y:159.70, Z:6.83 [[ 8.12762451e-01 5.82442146e-01 -1.33546192e-02 1.25854990e+02] [-5.82356966e-01 8.12872095e-01 9.96601182e-03 1.59699707e+02] [ 1.66602226e-02 -3.22844690e-04 9.99861157e-01 6.83388194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.88, Y:159.68, Z:6.83 [[ 8.11640211e-01 5.83990447e-01 -1.39758831e-02 1.25882235e+02] [-5.83897293e-01 8.11760471e-01 1.04350241e-02 1.59681725e+02] [ 1.74390238e-02 -3.09004831e-04 9.99847881e-01 6.83384095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.91, Y:159.66, Z:6.83 [[ 8.09706258e-01 5.86669819e-01 -1.39391215e-02 1.25908386e+02] [-5.86577484e-01 8.09826191e-01 1.04113090e-02 1.59664058e+02] [ 1.73962665e-02 -2.53727247e-04 9.99848641e-01 6.83308789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.94, Y:159.65, Z:6.83 [[ 8.08633232e-01 5.88155146e-01 -1.36315766e-02 1.25936184e+02] [-5.88066962e-01 8.08748091e-01 1.01869228e-02 1.59646946e+02] [ 1.70160026e-02 -2.21204525e-04 9.99855193e-01 6.83377475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:159.63, Z:6.83 [[ 8.07754014e-01 5.89359805e-01 -1.37285712e-02 1.25961796e+02] [-5.89270437e-01 8.07870645e-01 1.02651433e-02 1.59629335e+02] [ 1.71407725e-02 -2.01869539e-04 9.99853066e-01 6.83416421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:159.61, Z:6.83 [[ 8.06522760e-01 5.91055554e-01 -1.32049445e-02 1.25989174e+02] [-5.90973016e-01 8.06630836e-01 9.87869355e-03 1.59613034e+02] [ 1.64903721e-02 -1.63625317e-04 9.99864011e-01 6.83479151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.01, Y:159.59, Z:6.84 [[ 8.05958807e-01 5.91831530e-01 -1.28779667e-02 1.26014926e+02] [-5.91753041e-01 8.06061672e-01 9.63949343e-03 1.59593773e+02] [ 1.60853915e-02 -1.48458668e-04 9.99870611e-01 6.83531852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.04, Y:159.58, Z:6.84 [[ 8.05412414e-01 5.92585358e-01 -1.23869345e-02 1.26039172e+02] [-5.92512759e-01 8.05507651e-01 9.27654235e-03 1.59575983e+02] [ 1.54749136e-02 -1.32025661e-04 9.99880248e-01 6.83650045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:159.56, Z:6.84 [[ 8.05328840e-01 5.92705352e-01 -1.20758469e-02 1.26063195e+02] [-5.92636369e-01 8.05419363e-01 9.04348138e-03 1.59558066e+02] [ 1.50862407e-02 -1.26390341e-04 9.99886188e-01 6.83732957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:159.54, Z:6.84 [[ 8.05672770e-01 5.92244540e-01 -1.17385180e-02 1.26086061e+02] [-5.92179319e-01 8.05758269e-01 8.79014775e-03 1.59540161e+02] [ 1.46643250e-02 -1.30675093e-04 9.99892464e-01 6.83804856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.11, Y:159.52, Z:6.84 [[ 8.05845024e-01 5.92014839e-01 -1.14990737e-02 1.26107981e+02] [-5.91952243e-01 8.05927052e-01 8.60979250e-03 1.59523033e+02] [ 1.43645394e-02 -1.31255999e-04 9.99896816e-01 6.83869204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.13, Y:159.51, Z:6.84 [[ 8.06899592e-01 5.90589743e-01 -1.08075622e-02 1.26130852e+02] [-5.90534343e-01 8.06971954e-01 8.09049779e-03 1.59505144e+02] [ 1.34995646e-02 -1.45982757e-04 9.99908866e-01 6.83951768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.16, Y:159.49, Z:6.84 [[ 8.07329923e-01 5.90004972e-01 -1.06079836e-02 1.26157375e+02] [-5.89951564e-01 8.07399598e-01 7.93989853e-03 1.59485969e+02] [ 1.32494613e-02 -1.51921164e-04 9.99912211e-01 6.83946800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.18, Y:159.47, Z:6.84 [[ 8.08422514e-01 5.88507217e-01 -1.05969204e-02 1.26182106e+02] [-5.88453723e-01 8.08491944e-01 7.93682156e-03 1.59465363e+02] [ 1.32384016e-02 -1.80507964e-04 9.99912352e-01 6.83925969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.20, Y:159.44, Z:6.84 [[ 8.08868700e-01 5.87897929e-01 -1.03659091e-02 1.26204715e+02] [-5.87846635e-01 8.08935096e-01 7.76814989e-03 1.59444330e+02] [ 1.29522269e-02 -1.89848510e-04 9.99916098e-01 6.83991778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.23, Y:159.43, Z:6.84 [[ 8.09279067e-01 5.87330220e-01 -1.05168731e-02 1.26230573e+02] [-5.87277319e-01 8.09347373e-01 7.88549025e-03 1.59425413e+02] [ 1.31431903e-02 -2.05241158e-04 9.99913603e-01 6.84036575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:159.41, Z:6.84 [[ 8.09580658e-01 5.86926802e-01 -9.80238459e-03 1.26254741e+02] [-5.86880768e-01 8.09639975e-01 7.35360056e-03 1.59405096e+02] [ 1.22524277e-02 -2.00501783e-04 9.99924916e-01 6.84127747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:159.39, Z:6.84 [[ 8.09963060e-01 5.86413383e-01 -8.89859296e-03 1.26278599e+02] [-5.86375372e-01 8.10011918e-01 6.67954020e-03 1.59385303e+02] [ 1.11249381e-02 -1.92265067e-04 9.99938097e-01 6.84320849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.30, Y:159.37, Z:6.84 [[ 8.09900647e-01 5.86505087e-01 -8.52791512e-03 1.26304837e+02] [-5.86470168e-01 8.09945522e-01 6.40264022e-03 1.59365405e+02] [ 1.06623277e-02 -1.84134644e-04 9.99943139e-01 6.84422293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:159.35, Z:6.84 [[ 8.09802469e-01 5.86653150e-01 -7.61863761e-03 1.26332148e+02] [-5.86625258e-01 8.09838289e-01 5.72295267e-03 1.59347650e+02] [ 9.52725266e-03 -1.65175952e-04 9.99954601e-01 6.84449792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.36, Y:159.33, Z:6.84 [[ 8.09500540e-01 5.87067163e-01 -7.81169007e-03 1.26357339e+02] [-5.87037818e-01 8.09538213e-01 5.87213544e-03 1.59328003e+02] [ 9.77119951e-03 -1.67739316e-04 9.99952247e-01 6.84468118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:159.31, Z:6.84 [[ 8.09051792e-01 5.87675241e-01 -8.54449622e-03 1.26380735e+02] [-5.87640113e-01 8.09096891e-01 6.42792296e-03 1.59308101e+02] [ 1.06908565e-02 -1.79433865e-04 9.99942835e-01 6.84436869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:159.29, Z:6.84 [[ 8.08619231e-01 5.88269466e-01 -8.60088879e-03 1.26408570e+02] [-5.88233890e-01 8.08664953e-01 6.47191329e-03 1.59291103e+02] [ 1.07624663e-02 -1.73979279e-04 9.99942068e-01 6.84393642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.43, Y:159.27, Z:6.84 [[ 8.08195972e-01 5.88846877e-01 -8.86714402e-03 1.26432120e+02] [-5.88809047e-01 8.08244595e-01 6.67696491e-03 1.59269539e+02] [ 1.10985312e-02 -1.75241528e-04 9.99938394e-01 6.84440571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.46, Y:159.25, Z:6.84 [[ 8.07664773e-01 5.89569467e-01 -9.24436664e-03 1.26458842e+02] [-5.89528343e-01 8.07717657e-01 6.96562410e-03 1.59252414e+02] [ 1.15735574e-02 -1.76073063e-04 9.99933009e-01 6.84413292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:159.23, Z:6.84 [[ 8.07203729e-01 5.90199655e-01 -9.30090880e-03 1.26484490e+02] [-5.90158022e-01 8.07257294e-01 7.01220226e-03 1.59232955e+02] [ 1.16468258e-02 -1.71269876e-04 9.99932159e-01 6.84463182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.51, Y:159.21, Z:6.84 [[ 8.06740227e-01 5.90833568e-01 -9.26833700e-03 1.26511523e+02] [-5.90792219e-01 8.06793448e-01 6.99179451e-03 1.59214047e+02] [ 1.16086205e-02 -1.64900503e-04 9.99932604e-01 6.84493790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:159.20, Z:6.85 [[ 8.06121497e-01 5.91681823e-01 -8.98620212e-03 1.26536864e+02] [-5.91642956e-01 8.06171568e-01 6.78345033e-03 1.59195588e+02] [ 1.12580649e-02 -1.51661951e-04 9.99936614e-01 6.84530782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.56, Y:159.18, Z:6.85 [[ 8.05882406e-01 5.92007973e-01 -8.95025972e-03 1.26563441e+02] [-5.91969398e-01 8.05932093e-01 6.75976631e-03 1.59176033e+02] [ 1.12151371e-02 -1.49296879e-04 9.99937097e-01 6.84570994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:159.16, Z:6.85 [[ 8.05546003e-01 5.92476917e-01 -8.16946077e-03 1.26588907e+02] [-5.92444766e-01 8.05587416e-01 6.17366201e-03 1.59157118e+02] [ 1.02389670e-02 -1.33214488e-04 9.99947572e-01 6.84707690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.61, Y:159.14, Z:6.85 [[ 8.05431187e-01 5.92634292e-01 -8.07458676e-03 1.26614408e+02] [-5.92602854e-01 8.05471649e-01 6.10564416e-03 1.59137312e+02] [ 1.01222648e-02 -1.32653063e-04 9.99948760e-01 6.84792577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.64, Y:159.12, Z:6.85 [[ 8.05178864e-01 5.92986553e-01 -7.34474521e-03 1.26641186e+02] [-5.92960534e-01 8.05212353e-01 5.55618821e-03 1.59117735e+02] [ 9.20882447e-03 -1.18581271e-04 9.99957591e-01 6.84866204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:159.10, Z:6.85 [[ 8.04729171e-01 5.93599566e-01 -7.10752922e-03 1.26666558e+02] [-5.93575193e-01 8.04760550e-01 5.38021026e-03 1.59098156e+02] [ 8.91354960e-03 -1.10759107e-04 9.99960267e-01 6.84958160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.69, Y:159.08, Z:6.85 [[ 8.04311080e-01 5.94172429e-01 -6.54300570e-03 1.26693658e+02] [-5.94151773e-01 8.04337687e-01 4.95533704e-03 1.59078775e+02] [ 8.20711072e-03 -9.80940500e-05 9.99966316e-01 6.84955429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.72, Y:159.06, Z:6.85 [[ 8.03345679e-01 5.95476648e-01 -6.57885596e-03 1.26719378e+02] [-5.95455779e-01 8.03372612e-01 4.98608973e-03 1.59060252e+02] [ 8.25437269e-03 -8.81358433e-05 9.99965928e-01 6.84967750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.75, Y:159.04, Z:6.85 [[ 8.02886782e-01 5.96093877e-01 -6.70110128e-03 1.26745745e+02] [-5.96072223e-01 8.02914742e-01 5.08152225e-03 1.59040705e+02] [ 8.40947731e-03 -8.55467113e-05 9.99964636e-01 6.84977393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.77, Y:159.02, Z:6.85 [[ 8.02223791e-01 5.96984144e-01 -6.84993990e-03 1.26772255e+02] [-5.96961512e-01 8.02253031e-01 5.19885304e-03 1.59021676e+02] [ 8.59901787e-03 -8.14931230e-05 9.99963024e-01 6.85004391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:159.00, Z:6.85 [[ 8.01574555e-01 5.97854453e-01 -6.94881859e-03 1.26799011e+02] [-5.97831189e-01 8.01604670e-01 5.27471340e-03 1.59002103e+02] [ 8.72371633e-03 -7.38555620e-05 9.99961945e-01 6.84961836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.82, Y:158.98, Z:6.85 [[ 8.00653148e-01 5.99087111e-01 -7.01222716e-03 1.26824979e+02] [-5.99063433e-01 8.00683851e-01 5.32660594e-03 1.58983941e+02] [ 8.80567801e-03 -6.39949317e-05 9.99961227e-01 6.84909687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.85, Y:158.96, Z:6.85 [[ 8.00140957e-01 5.99772727e-01 -6.86472386e-03 1.26851345e+02] [-5.99750038e-01 8.00170402e-01 5.21721087e-03 1.58963649e+02] [ 8.62208964e-03 -5.73857117e-05 9.99962827e-01 6.84936255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:158.94, Z:6.85 [[ 7.99600885e-01 6.00488713e-01 -7.19244456e-03 1.26875306e+02] [-6.00463793e-01 7.99633230e-01 5.47089498e-03 1.58944243e+02] [ 9.03652836e-03 -5.57299241e-05 9.99959168e-01 6.84909232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:158.93, Z:6.85 [[ 7.99441648e-01 6.00699509e-01 -7.29053969e-03 1.26899533e+02] [-6.00673889e-01 7.99474889e-01 5.54812091e-03 1.58925942e+02] [ 9.16135691e-03 -5.61620922e-05 9.99958032e-01 6.84896041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.92, Y:158.91, Z:6.85 [[ 7.99117087e-01 6.01125577e-01 -7.74093245e-03 1.26923897e+02] [-6.01096714e-01 7.99154577e-01 5.89087104e-03 1.58907606e+02] [ 9.72735485e-03 -5.44466536e-05 9.99952687e-01 6.84863765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.95, Y:158.89, Z:6.85 [[ 7.98773446e-01 6.01579519e-01 -7.94127474e-03 1.26947059e+02] [-6.01549163e-01 7.98812919e-01 6.04356525e-03 1.58890768e+02] [ 9.97927794e-03 -5.03722710e-05 9.99950205e-01 6.84839627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.97, Y:158.87, Z:6.85 [[ 7.98461202e-01 6.01990760e-01 -8.17517942e-03 1.26970639e+02] [-6.01958618e-01 7.98503051e-01 6.22087837e-03 1.58873514e+02] [ 1.02728170e-02 -4.60103160e-05 9.99947232e-01 6.84821291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.00, Y:158.85, Z:6.85 [[ 7.98435236e-01 6.02017327e-01 -8.73566473e-03 1.26995848e+02] [-6.01980651e-01 7.98483022e-01 6.64525918e-03 1.58854143e+02] [ 1.09758411e-02 -4.71079446e-05 9.99939763e-01 6.84729855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.02, Y:158.84, Z:6.85 [[ 7.98681189e-01 6.01689209e-01 -8.85744572e-03 1.27019085e+02] [-6.01651433e-01 7.98730301e-01 6.74243174e-03 1.58835397e+02] [ 1.11315587e-02 -5.59584938e-05 9.99938041e-01 6.84768662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.04, Y:158.82, Z:6.85 [[ 7.99198592e-01 6.00996557e-01 -9.20598647e-03 1.27040362e+02] [-6.00955697e-01 7.99251609e-01 7.00827597e-03 1.58818030e+02] [ 1.15698492e-02 -6.86142691e-05 9.99933065e-01 6.84852713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.07, Y:158.80, Z:6.85 [[ 7.99748048e-01 6.00280493e-01 -8.14790490e-03 1.27066866e+02] [-6.00248476e-01 7.99789550e-01 6.20022121e-03 1.58798448e+02] [ 1.02384810e-02 -6.78473147e-05 9.99947583e-01 6.84966093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17275509600006 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:127.09, Y:158.78, Z:6.85 [[ 7.99725181e-01 6.00314738e-01 -7.86442483e-03 1.27093390e+02] [-6.00284875e-01 7.99763847e-01 5.98819948e-03 1.58779568e+02] [ 9.88448705e-03 -6.80186427e-05 9.99951145e-01 6.85006676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:158.76, Z:6.85 [[ 7.99667740e-01 6.00393773e-01 -7.66955665e-03 1.27120647e+02] [-6.00365339e-01 7.99704516e-01 5.84354136e-03 1.58761569e+02] [ 9.64180493e-03 -6.83555419e-05 9.99953514e-01 6.85081884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:158.74, Z:6.85 [[ 7.99358709e-01 6.00802272e-01 -7.89206221e-03 1.27146011e+02] [-6.00772142e-01 7.99397664e-01 6.01735295e-03 1.58741858e+02] [ 9.92413542e-03 -6.86923636e-05 9.99950752e-01 6.85161114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.17, Y:158.72, Z:6.85 [[ 7.99163749e-01 6.01061728e-01 -7.88046565e-03 1.27171639e+02] [-6.01031649e-01 7.99202599e-01 6.01349869e-03 1.58724998e+02] [ 9.91257254e-03 -6.93608934e-05 9.99950867e-01 6.85140850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.20, Y:158.71, Z:6.85 [[ 7.98952505e-01 6.01339301e-01 -8.12033112e-03 1.27196440e+02] [-6.01307377e-01 7.98993767e-01 6.19668383e-03 1.58707832e+02] [ 1.02144035e-02 -6.80410654e-05 9.99947829e-01 6.85179848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:158.69, Z:6.85 [[ 7.98762254e-01 6.01587155e-01 -8.47092952e-03 1.27221636e+02] [-6.01552434e-01 7.98807167e-01 6.46368263e-03 1.58691627e+02] [ 1.06551077e-02 -6.72374394e-05 9.99943230e-01 6.85157745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:158.67, Z:6.85 [[ 7.98810232e-01 6.01522037e-01 -8.57039062e-03 1.27245713e+02] [-6.01486497e-01 7.98856204e-01 6.53904272e-03 1.58674965e+02] [ 1.07798880e-02 -6.84799964e-05 9.99941893e-01 6.85138116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.27, Y:158.66, Z:6.85 [[ 7.98892964e-01 6.01410530e-01 -8.68368620e-03 1.27270620e+02] [-6.01374043e-01 7.98940154e-01 6.62505542e-03 1.58659721e+02] [ 1.09221237e-02 -7.05666869e-05 9.99940349e-01 6.85115227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.29, Y:158.64, Z:6.85 [[ 7.99092769e-01 6.01146432e-01 -8.58563483e-03 1.27293276e+02] [-6.01110760e-01 7.99138888e-01 6.54926669e-03 1.58643826e+02] [ 1.07981830e-02 -7.25541780e-05 9.99941695e-01 6.85134960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.32, Y:158.63, Z:6.85 [[ 7.99291444e-01 6.00877226e-01 -8.93011596e-03 1.27316313e+02] [-6.00838632e-01 7.99341324e-01 6.81066740e-03 1.58627161e+02] [ 1.12305857e-02 -7.81495215e-05 9.99936932e-01 6.85165167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:158.61, Z:6.85 [[ 7.99636578e-01 6.00422205e-01 -8.63246657e-03 1.27339613e+02] [-6.00386132e-01 7.99683168e-01 6.58205079e-03 1.58609506e+02] [ 1.08552477e-02 -8.04353591e-05 9.99941077e-01 6.85198512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.36, Y:158.59, Z:6.85 [[ 8.00303075e-01 5.99531404e-01 -8.77969483e-03 1.27362553e+02] [-5.99494048e-01 8.00351227e-01 6.69323439e-03 1.58591755e+02] [ 1.10396437e-02 -9.32412680e-05 9.99939057e-01 6.85290051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:158.58, Z:6.85 [[ 8.00370391e-01 5.99441529e-01 -8.78014652e-03 1.27384520e+02] [-5.99404174e-01 8.00418544e-01 6.69264182e-03 1.58575174e+02] [ 1.10396395e-02 -9.37358788e-05 9.99939057e-01 6.85326428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:158.56, Z:6.85 [[ 8.00544654e-01 5.99214833e-01 -8.35710309e-03 1.27407203e+02] [-5.99180995e-01 8.00588269e-01 6.36865807e-03 1.58558027e+02] [ 1.05067931e-02 -9.09778318e-05 9.99944798e-01 6.85410258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.43, Y:158.54, Z:6.86 [[ 8.00709113e-01 5.98999221e-01 -8.05291503e-03 1.27428808e+02] [-5.98967797e-01 8.00749602e-01 6.13615075e-03 1.58541124e+02] [ 1.01239180e-02 -8.98350465e-05 9.99948748e-01 6.85550524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.45, Y:158.52, Z:6.86 [[ 8.00902589e-01 5.98739614e-01 -8.11899918e-03 1.27451373e+02] [-5.98707677e-01 8.00943735e-01 6.18473580e-03 1.58524649e+02] [ 1.02059079e-02 -9.24637660e-05 9.99947914e-01 6.85610937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:158.51, Z:6.86 [[ 8.00945042e-01 5.98681928e-01 -8.18470011e-03 1.27472866e+02] [-5.98649483e-01 8.00986854e-01 6.23339823e-03 1.58508458e+02] [ 1.02876601e-02 -9.28429177e-05 9.99947076e-01 6.85660555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.50, Y:158.49, Z:6.86 [[ 8.00674668e-01 5.99044093e-01 -8.13940444e-03 1.27495470e+02] [-5.99012044e-01 8.00716034e-01 6.19711980e-03 1.58492330e+02] [ 1.02296997e-02 -8.62755527e-05 9.99947672e-01 6.85751188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7127550960001 meters Centerline goodness [0,1] 0.9999362353341269 Centerline is valid? [True, True] Translation: X:127.52, Y:158.48, Z:6.86 [[ 8.00436239e-01 5.99360821e-01 -8.27247137e-03 1.27518996e+02] [-5.99327745e-01 8.00478981e-01 6.29717872e-03 1.58476220e+02] [ 1.03962217e-02 -8.25684346e-05 9.99945954e-01 6.85735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.55, Y:158.46, Z:6.86 [[ 7.99914340e-01 6.00052349e-01 -8.61555826e-03 1.27546083e+02] [-6.00016537e-01 7.99960732e-01 6.55605250e-03 1.58457049e+02] [ 1.08260830e-02 -7.48029736e-05 9.99941393e-01 6.85751947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.57, Y:158.44, Z:6.86 [[ 7.99209759e-01 6.00987284e-01 -8.83434192e-03 1.27571515e+02] [-6.00949634e-01 7.99258582e-01 6.72729825e-03 1.58438154e+02] [ 1.11039443e-02 -6.75278665e-05 9.99938347e-01 6.85802128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.59, Y:158.42, Z:6.86 [[ 7.99070158e-01 6.01175636e-01 -8.64501179e-03 1.27594684e+02] [-6.01139546e-01 7.99116919e-01 6.58762481e-03 1.58420405e+02] [ 1.08686947e-02 -6.71159428e-05 9.99940932e-01 6.85932078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.62, Y:158.40, Z:6.86 [[ 7.98793850e-01 6.01545992e-01 -8.41454680e-03 1.27621039e+02] [-6.01511820e-01 7.98838166e-01 6.41203496e-03 1.58401150e+02] [ 1.05789951e-02 -6.04447340e-05 9.99944039e-01 6.86032436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.65, Y:158.38, Z:6.86 [[ 7.98727644e-01 6.01629673e-01 -8.71131497e-03 1.27645902e+02] [-6.01593037e-01 7.98775146e-01 6.63964944e-03 1.58383106e+02] [ 1.09529920e-02 -6.26051235e-05 9.99940012e-01 6.86138250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.67, Y:158.37, Z:6.86 [[ 7.98984459e-01 6.01284533e-01 -8.98576560e-03 1.27668726e+02] [-6.01245511e-01 7.99034984e-01 6.85058515e-03 1.58366436e+02] [ 1.12990920e-02 -7.08598470e-05 9.99936161e-01 6.86172138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.69, Y:158.35, Z:6.86 [[ 7.99163465e-01 6.01042492e-01 -9.25631448e-03 1.27691729e+02] [-6.01001078e-01 7.99217065e-01 7.05599020e-03 1.58349283e+02] [ 1.16387544e-02 -7.58345853e-05 9.99932265e-01 6.86210738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.71, Y:158.33, Z:6.86 [[ 7.99995453e-01 5.99927494e-01 -9.70965441e-03 1.27713954e+02] [-5.99881857e-01 8.00054369e-01 7.40032167e-03 1.58332259e+02] [ 1.22079079e-02 -9.55781585e-05 9.99925476e-01 6.86216329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.74, Y:158.31, Z:6.86 [[ 8.00589279e-01 5.99133442e-01 -9.79413974e-03 1.27735798e+02] [-5.99086967e-01 8.00649179e-01 7.46319308e-03 1.58314952e+02] [ 1.23131185e-02 -1.07410896e-04 9.99924185e-01 6.86278872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:158.29, Z:6.86 [[ 8.01927086e-01 5.97340847e-01 -9.84179646e-03 1.27760214e+02] [-5.97293804e-01 8.01987465e-01 7.49785945e-03 1.58294859e+02] [ 1.23717751e-02 -1.34292535e-04 9.99923458e-01 6.86403202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.78, Y:158.28, Z:6.86 [[ 8.02937013e-01 5.95988514e-01 -9.47867180e-03 1.27782272e+02] [-5.95944775e-01 8.02992945e-01 7.22188532e-03 1.58275726e+02] [ 1.19154673e-02 -1.49954090e-04 9.99928997e-01 6.86487269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.80, Y:158.26, Z:6.87 [[ 8.03734864e-01 5.94907824e-01 -9.74422356e-03 1.27804059e+02] [-5.94861523e-01 8.03793912e-01 7.42399201e-03 1.58257719e+02] [ 1.22489385e-02 -1.70457536e-04 9.99924964e-01 6.86530985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.83, Y:158.24, Z:6.87 [[ 8.05645898e-01 5.92317488e-01 -9.73045235e-03 1.27826097e+02] [-5.92271147e-01 8.05704630e-01 7.41201517e-03 1.58238618e+02] [ 1.22301367e-02 -2.08393439e-04 9.99925187e-01 6.86553514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.85, Y:158.22, Z:6.87 [[ 8.06472170e-01 5.91185720e-01 -1.01036378e-02 1.27847513e+02] [-5.91135683e-01 8.06535424e-01 7.69503732e-03 1.58220881e+02] [ 1.26981380e-02 -2.33212609e-04 9.99919348e-01 6.86595401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.87, Y:158.20, Z:6.87 [[ 8.07346994e-01 5.89983441e-01 -1.05057842e-02 1.27870013e+02] [-5.89929261e-01 8.07415303e-01 7.99969295e-03 1.58202425e+02] [ 1.32022173e-02 -2.60858530e-04 9.99912813e-01 6.86601124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.89, Y:158.19, Z:6.87 [[ 8.07421026e-01 5.89879843e-01 -1.06328578e-02 1.27892986e+02] [-5.89824353e-01 8.07490991e-01 8.09517946e-03 1.58185382e+02] [ 1.33611201e-02 -2.64699604e-04 9.99910701e-01 6.86612663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.91, Y:158.17, Z:6.87 [[ 8.07314458e-01 5.90018076e-01 -1.10469609e-02 1.27914717e+02] [-5.89958212e-01 8.07389990e-01 8.40906984e-03 1.58167688e+02] [ 1.38807088e-02 -2.71518379e-04 9.99903621e-01 6.86609834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.94, Y:158.15, Z:6.87 [[ 8.06580235e-01 5.91011517e-01 -1.15633436e-02 1.27942124e+02] [-5.90946044e-01 8.06663075e-01 8.80098050e-03 1.58151122e+02] [ 1.45292032e-02 -2.65384750e-04 9.99894410e-01 6.86602985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.97, Y:158.13, Z:6.87 [[ 8.06056270e-01 5.91719824e-01 -1.18718183e-02 1.27968705e+02] [-5.91650805e-01 8.06143648e-01 9.04124526e-03 1.58131382e+02] [ 1.49202750e-02 -2.63781564e-04 9.99888652e-01 6.86621043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.99, Y:158.11, Z:6.87 [[ 8.05666792e-01 5.92243714e-01 -1.21820961e-02 1.27993572e+02] [-5.92171004e-01 8.05758843e-01 9.28383020e-03 1.58112005e+02] [ 1.53141217e-02 -2.65789627e-04 9.99882697e-01 6.86627337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.02, Y:158.09, Z:6.87 [[ 8.05236773e-01 5.92825188e-01 -1.23302500e-02 1.28017635e+02] [-5.92750689e-01 8.05331129e-01 9.40177402e-03 1.58093078e+02] [ 1.55035426e-02 -2.61890018e-04 9.99879779e-01 6.86594454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:158.08, Z:6.87 [[ 8.05030220e-01 5.93093508e-01 -1.29009698e-02 1.28039778e+02] [-5.93011989e-01 8.05133541e-01 9.83678701e-03 1.58075146e+02] [ 1.62211380e-02 -2.68481038e-04 9.99868393e-01 6.86607378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.06, Y:158.06, Z:6.87 [[ 8.04809365e-01 5.93388499e-01 -1.31139586e-02 1.28063156e+02] [-5.93304321e-01 8.04916157e-01 9.99815718e-03 1.58057575e+02] [ 1.64884286e-02 -2.66042220e-04 9.99864021e-01 6.86622763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:158.04, Z:6.87 [[ 8.04741731e-01 5.93473548e-01 -1.34124459e-02 1.28086120e+02] [-5.93385535e-01 8.04853449e-01 1.02240604e-02 1.58040152e+02] [ 1.68627627e-02 -2.68976702e-04 9.99857777e-01 6.86588442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.11, Y:158.02, Z:6.87 [[ 8.04589328e-01 5.93674133e-01 -1.36761235e-02 1.28109926e+02] [-5.93582680e-01 8.04705506e-01 1.04235663e-02 1.58023042e+02] [ 1.71934535e-02 -2.68780160e-04 9.99852146e-01 6.86624428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.13, Y:158.01, Z:6.87 [[ 8.04514785e-01 5.93776858e-01 -1.36016156e-02 1.28131900e+02] [-5.93686432e-01 8.04629712e-01 1.03656634e-02 1.58006622e+02] [ 1.70991550e-02 -2.64234836e-04 9.99853764e-01 6.86631795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.16, Y:157.99, Z:6.87 [[ 8.04079738e-01 5.94360873e-01 -1.38176155e-02 1.28156386e+02] [-5.94267679e-01 8.04198413e-01 1.05279807e-02 1.57990292e+02] [ 1.73695242e-02 -2.53973633e-04 9.99849106e-01 6.86640204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.18, Y:157.97, Z:6.87 [[ 8.04056951e-01 5.94398347e-01 -1.35286667e-02 1.28178454e+02] [-5.94309057e-01 8.04170719e-01 1.03053125e-02 1.57972844e+02] [ 1.70048183e-02 -2.45848988e-04 9.99855377e-01 6.86696294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.20, Y:157.96, Z:6.87 [[ 8.03937894e-01 5.94561297e-01 -1.34434892e-02 1.28201905e+02] [-5.94473183e-01 8.04050252e-01 1.02385072e-02 1.57955357e+02] [ 1.68966610e-02 -2.39330084e-04 9.99857213e-01 6.86741458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:157.94, Z:6.87 [[ 8.04012371e-01 5.94467150e-01 -1.31497046e-02 1.28226931e+02] [-5.94382854e-01 8.04119862e-01 1.00135423e-02 1.57937086e+02] [ 1.65266606e-02 -2.35052972e-04 9.99863398e-01 6.86855001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.25, Y:157.92, Z:6.87 [[ 8.04237620e-01 5.94163631e-01 -1.30931679e-02 1.28248939e+02] [-5.94080022e-01 8.04344157e-01 9.97025095e-03 1.57917926e+02] [ 1.64553736e-02 -2.40061399e-04 9.99864572e-01 6.86840665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.27, Y:157.90, Z:6.87 [[ 8.04406439e-01 5.93940108e-01 -1.28619182e-02 1.28274527e+02] [-5.93859411e-01 8.04509223e-01 9.79334479e-03 1.57900331e+02] [ 1.61641921e-02 -2.39658455e-04 9.99869322e-01 6.86902345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.30, Y:157.88, Z:6.87 [[ 8.04439706e-01 5.93897112e-01 -1.27663077e-02 1.28297060e+02] [-5.93817596e-01 8.04540964e-01 9.72112730e-03 1.57880655e+02] [ 1.60443669e-02 -2.39202645e-04 9.99871252e-01 6.86904412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.32, Y:157.86, Z:6.87 [[ 8.04257610e-01 5.94141804e-01 -1.28535504e-02 1.28323567e+02] [-5.94061217e-01 8.04360280e-01 9.78826016e-03 1.57861838e+02] [ 1.61544999e-02 -2.36486932e-04 9.99869480e-01 6.86968550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.35, Y:157.84, Z:6.87 [[ 8.04289204e-01 5.94099623e-01 -1.28263393e-02 1.28347982e+02] [-5.94019294e-01 8.04391435e-01 9.77231437e-03 1.57842226e+02] [ 1.61231258e-02 -2.40673912e-04 9.99869985e-01 6.86991358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:157.82, Z:6.87 [[ 8.04254373e-01 5.94157027e-01 -1.23422584e-02 1.28369858e+02] [-5.94082645e-01 8.04349038e-01 9.40407187e-03 1.57822256e+02] [ 1.55149790e-02 -2.30944421e-04 9.99879609e-01 6.87031901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.39, Y:157.80, Z:6.87 [[ 8.04211836e-01 5.94207631e-01 -1.26733792e-02 1.28394738e+02] [-5.94129216e-01 8.04311653e-01 9.65603204e-03 1.57804059e+02] [ 1.59310345e-02 -2.35870377e-04 9.99873065e-01 6.87058228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.42, Y:157.78, Z:6.87 [[ 8.03827335e-01 5.94722185e-01 -1.29282016e-02 1.28419246e+02] [-5.94640649e-01 8.03931259e-01 9.85033541e-03 1.57784355e+02] [ 1.62515984e-02 -2.30334680e-04 9.99867908e-01 6.87092411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.44, Y:157.77, Z:6.87 [[ 8.03557054e-01 5.95083490e-01 -1.31034308e-02 1.28441787e+02] [-5.94999767e-01 8.03663853e-01 9.98443338e-03 1.57766023e+02] [ 1.64723251e-02 -2.26523624e-04 9.99864296e-01 6.87098731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.47, Y:157.75, Z:6.87 [[ 8.03355375e-01 5.95352529e-01 -1.32479269e-02 1.28465427e+02] [-5.95266994e-01 8.03464571e-01 1.00940372e-02 1.57747420e+02] [ 1.66537505e-02 -2.23045448e-04 9.99861292e-01 6.87141981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.49, Y:157.73, Z:6.87 [[ 8.03012371e-01 5.95811731e-01 -1.33982626e-02 1.28489368e+02] [-5.95724315e-01 8.03124110e-01 1.02081072e-02 1.57727848e+02] [ 1.68425777e-02 -2.15565517e-04 9.99858131e-01 6.87170911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.51, Y:157.71, Z:6.87 [[ 8.02891534e-01 5.95970615e-01 -1.35724708e-02 1.28511954e+02] [-5.95880920e-01 8.03006214e-01 1.03416063e-02 1.57709085e+02] [ 1.70620719e-02 -2.15611740e-04 9.99854409e-01 6.87188298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:157.69, Z:6.87 [[ 8.03091494e-01 5.95696963e-01 -1.37543178e-02 1.28534855e+02] [-5.95604806e-01 8.03209237e-01 1.04803423e-02 1.57690210e+02] [ 1.72907032e-02 -2.24535965e-04 9.99850479e-01 6.87228124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0327550960001 meters Centerline goodness [0,1] 0.9999357133673338 Centerline is valid? [True, True] Translation: X:128.56, Y:157.67, Z:6.87 [[ 8.03197904e-01 5.95548570e-01 -1.39652223e-02 1.28556437e+02] [-5.95453558e-01 8.03319269e-01 1.06401586e-02 1.57670461e+02] [ 1.75552634e-02 -2.30511736e-04 9.99845868e-01 6.87139211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.58, Y:157.65, Z:6.87 [[ 8.03259349e-01 5.95484502e-01 -1.31387544e-02 1.28579062e+02] [-5.95400411e-01 8.03366766e-01 1.00094821e-02 1.57652508e+02] [ 1.65157300e-02 -2.17390279e-04 9.99863582e-01 6.87345600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.60, Y:157.63, Z:6.87 [[ 8.03389024e-01 5.95313380e-01 -1.29636063e-02 1.28600465e+02] [-5.95231520e-01 8.03493580e-01 9.87443102e-03 1.57634575e+02] [ 1.62945553e-02 -2.16662431e-04 9.99867211e-01 6.87370851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.62, Y:157.61, Z:6.87 [[ 8.03382270e-01 5.95322666e-01 -1.29557432e-02 1.28621930e+02] [-5.95240937e-01 8.03486700e-01 9.86658291e-03 1.57614934e+02] [ 1.62835678e-02 -2.14849061e-04 9.99867391e-01 6.87456525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.65, Y:157.60, Z:6.88 [[ 8.03534842e-01 5.95113345e-01 -1.31097233e-02 1.28645837e+02] [-5.95029655e-01 8.03641747e-01 9.98259124e-03 1.57595986e+02] [ 1.64762942e-02 -2.20685715e-04 9.99864232e-01 6.87512970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.67, Y:157.58, Z:6.88 [[ 8.03679423e-01 5.94922095e-01 -1.29261899e-02 1.28667782e+02] [-5.94840710e-01 8.03783337e-01 9.84262106e-03 1.57576930e+02] [ 1.62454488e-02 -2.21288059e-04 9.99868010e-01 6.87505481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.69, Y:157.56, Z:6.87 [[ 8.04022363e-01 5.94463150e-01 -1.27122981e-02 1.28687845e+02] [-5.94384400e-01 8.04122821e-01 9.67850859e-03 1.57557992e+02] [ 1.59757657e-02 -2.25745694e-04 9.99872354e-01 6.87492519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.71, Y:157.54, Z:6.88 [[ 8.04178787e-01 5.94248381e-01 -1.28584951e-02 1.28708276e+02] [-5.94167813e-01 8.04281548e-01 9.78781654e-03 1.57540415e+02] [ 1.61582445e-02 -2.31050545e-04 9.99869420e-01 6.87511128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:157.52, Z:6.88 [[ 8.04686154e-01 5.93574676e-01 -1.22187462e-02 1.28729376e+02] [-5.93501883e-01 8.04778883e-01 9.29866001e-03 1.57520660e+02] [ 1.53528380e-02 -2.30654091e-04 9.99882112e-01 6.87518247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:157.50, Z:6.88 [[ 8.04723360e-01 5.93522863e-01 -1.22851403e-02 1.28755511e+02] [-5.93449275e-01 8.04817095e-01 9.34884345e-03 1.57501010e+02] [ 1.54360432e-02 -2.32625129e-04 9.99880830e-01 6.87560833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.78, Y:157.48, Z:6.88 [[ 8.04891659e-01 5.93304957e-01 -1.17747992e-02 1.28779284e+02] [-5.93237253e-01 8.04977748e-01 8.96590431e-03 1.57480148e+02] [ 1.47979668e-02 -2.31332044e-04 9.99890477e-01 6.87600739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.80, Y:157.46, Z:6.88 [[ 8.05064037e-01 5.93067731e-01 -1.19399734e-02 1.28801895e+02] [-5.92998011e-01 8.05152537e-01 9.09678972e-03 1.57458281e+02] [ 1.50085123e-02 -2.43117756e-04 9.99887336e-01 6.87596426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.83, Y:157.44, Z:6.88 [[ 8.04833694e-01 5.93375619e-01 -1.21696373e-02 1.28827503e+02] [-5.93303176e-01 8.04925658e-01 9.27502003e-03 1.57437539e+02] [ 1.52992241e-02 -2.44564157e-04 9.99882930e-01 6.87616144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.85, Y:157.42, Z:6.88 [[ 8.04546077e-01 5.93761313e-01 -1.23738975e-02 1.28850965e+02] [-5.93686371e-01 8.04641189e-01 9.43663687e-03 1.57415136e+02] [ 1.55596575e-02 -2.45994890e-04 9.99878911e-01 6.87598054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.87, Y:157.40, Z:6.88 [[ 8.04607896e-01 5.93677584e-01 -1.23717893e-02 1.28872929e+02] [-5.93602589e-01 8.04702966e-01 9.43939990e-03 1.57398544e+02] [ 1.55595756e-02 -2.51089547e-04 9.99878911e-01 6.87634571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.90, Y:157.38, Z:6.88 [[ 8.03017648e-01 5.95831322e-01 -1.21529081e-02 1.28901258e+02] [-5.95759219e-01 8.03109578e-01 9.27140082e-03 1.57383004e+02] [ 1.52843079e-02 -2.04891451e-04 9.99883167e-01 6.87748353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.93, Y:157.36, Z:6.88 [[ 8.02020061e-01 5.97166102e-01 -1.25087118e-02 1.28927526e+02] [-5.97089791e-01 8.02117579e-01 9.54835851e-03 1.57364033e+02] [ 1.57354136e-02 -1.89150975e-04 9.99876173e-01 6.87781629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:157.35, Z:6.88 [[ 7.99969579e-01 5.99918196e-01 -1.21173313e-02 1.28954104e+02] [-5.99846823e-01 8.00061335e-01 9.25472718e-03 1.57346572e+02] [ 1.52466875e-02 -1.34957527e-04 9.99883753e-01 6.87873536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:157.33, Z:6.88 [[ 7.98920015e-01 6.01318332e-01 -1.19613463e-02 1.28977949e+02] [-6.01248863e-01 7.99009544e-01 9.14074224e-03 1.57326908e+02] [ 1.50537257e-02 -1.10976072e-04 9.99886680e-01 6.87864162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:157.31, Z:6.88 [[ 7.97834195e-01 6.02763625e-01 -1.16880116e-02 1.29005261e+02] [-6.02697381e-01 7.97919799e-01 8.93654361e-03 1.57310342e+02] [ 1.47127193e-02 -8.55460804e-05 9.99891758e-01 6.88006684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.03, Y:157.29, Z:6.88 [[ 7.96977018e-01 6.03901549e-01 -1.14259166e-02 1.29031444e+02] [-6.03838288e-01 7.97058916e-01 8.74114369e-03 1.57291092e+02] [ 1.43859189e-02 -6.70847272e-05 9.99896515e-01 6.88081710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.06, Y:157.27, Z:6.88 [[ 7.96293414e-01 6.04811387e-01 -1.09537691e-02 1.29056591e+02] [-6.04753258e-01 7.96368749e-01 8.38528126e-03 1.57271898e+02] [ 1.37947530e-02 -5.28166961e-05 9.99904846e-01 6.88175537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:157.25, Z:6.88 [[ 7.96146213e-01 6.05000033e-01 -1.12324368e-02 1.29082598e+02] [-6.04938850e-01 7.96225444e-01 8.60407532e-03 1.57252211e+02] [ 1.41490178e-02 -5.51646084e-05 9.99899896e-01 6.88216132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:157.23, Z:6.88 [[ 7.96559225e-01 6.04461452e-01 -1.09431790e-02 1.29107398e+02] [-6.04403258e-01 7.96634388e-01 8.38771848e-03 1.57232426e+02] [ 1.37877652e-02 -6.72215051e-05 9.99904942e-01 6.88257583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.13, Y:157.21, Z:6.88 [[ 7.97174630e-01 6.03652018e-01 -1.08097538e-02 1.29131209e+02] [-6.03595115e-01 7.97247913e-01 8.28872650e-03 1.57212768e+02] [ 1.36215601e-02 -8.28479182e-05 9.99907219e-01 6.88348375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.15, Y:157.19, Z:6.88 [[ 7.97781261e-01 6.02848700e-01 -1.08859590e-02 1.29154076e+02] [-6.02790882e-01 7.97855523e-01 8.34972166e-03 1.57194035e+02] [ 1.37190414e-02 -9.92946530e-05 9.99905885e-01 6.88357013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.18, Y:157.17, Z:6.88 [[ 7.99257759e-01 6.00887749e-01 -1.09976021e-02 1.29178399e+02] [-6.00828559e-01 7.99333406e-01 8.43493932e-03 1.57172852e+02] [ 1.38592024e-02 -1.34017285e-04 9.99903948e-01 6.88430860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.20, Y:157.15, Z:6.89 [[ 7.99986575e-01 5.99916978e-01 -1.10044920e-02 1.29203026e+02] [-5.99857555e-01 8.00062245e-01 8.44497045e-03 1.57152618e+02] [ 1.38705597e-02 -1.54735325e-04 9.99903787e-01 6.88530118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.23, Y:157.13, Z:6.89 [[ 8.00664424e-01 5.99012562e-01 -1.09740997e-02 1.29225824e+02] [-5.98953317e-01 8.00739608e-01 8.42641170e-03 1.57132041e+02] [ 1.38349227e-02 -1.73754687e-04 9.99904278e-01 6.88556426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.25, Y:157.11, Z:6.89 [[ 8.02384788e-01 5.96708687e-01 -1.08348849e-02 1.29250326e+02] [-5.96650673e-01 8.02457910e-01 8.32323613e-03 1.57111212e+02] [ 1.36610864e-02 -2.13796699e-04 9.99906660e-01 6.88597685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:157.09, Z:6.89 [[ 8.02892808e-01 5.96028700e-01 -1.06267628e-02 1.29274022e+02] [-5.95972774e-01 8.02963099e-01 8.16793301e-03 1.57091219e+02] [ 1.34012209e-02 -2.24713350e-04 9.99910174e-01 6.88669276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:157.07, Z:6.89 [[ 8.04092003e-01 5.94421364e-01 -9.96460158e-03 1.29300158e+02] [-5.94372019e-01 8.04153707e-01 7.66272708e-03 1.57071895e+02] [ 1.25679600e-02 -2.38857202e-04 9.99920992e-01 6.88728293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:157.05, Z:6.89 [[ 8.04732410e-01 5.93556910e-01 -9.79501331e-03 1.29325041e+02] [-5.93509114e-01 8.04791980e-01 7.53661707e-03 1.57051638e+02] [ 1.23563593e-02 -2.51530358e-04 9.99923626e-01 6.88786445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.35, Y:157.03, Z:6.89 [[ 8.05692783e-01 5.92256325e-01 -9.57003217e-03 1.29348557e+02] [-5.92210556e-01 8.05749573e-01 7.36771937e-03 1.57031583e+02] [ 1.20746277e-02 -2.68644245e-04 9.99927063e-01 6.88851063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.37, Y:157.01, Z:6.89 [[ 8.06144904e-01 5.91640076e-01 -9.61328302e-03 1.29373955e+02] [-5.91593801e-01 8.06202172e-01 7.40497092e-03 1.57011253e+02] [ 1.21313272e-02 -2.82320925e-04 9.99926373e-01 6.88884194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.40, Y:156.99, Z:6.89 [[ 8.06256144e-01 5.91486051e-01 -9.76125583e-03 1.29397183e+02] [-5.91438275e-01 8.06315178e-01 7.52336735e-03 1.56988845e+02] [ 1.23206156e-02 -2.92580843e-04 9.99924056e-01 6.88927532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.42, Y:156.97, Z:6.89 [[ 8.06167204e-01 5.91605965e-01 -9.83983039e-03 1.29423634e+02] [-5.91557366e-01 8.06227198e-01 7.58864960e-03 1.56969877e+02] [ 1.24226292e-02 -2.96896273e-04 9.99922792e-01 6.88982441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.45, Y:156.95, Z:6.89 [[ 8.05513632e-01 5.92491546e-01 -1.00775405e-02 1.29448946e+02] [-5.92440576e-01 8.05576614e-01 7.77705429e-03 1.56951080e+02] [ 1.27260699e-02 -2.94179349e-04 9.99918977e-01 6.88964885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.48, Y:156.93, Z:6.89 [[ 8.04911690e-01 5.93306276e-01 -1.02388183e-02 1.29475921e+02] [-5.93253675e-01 8.04976757e-01 7.90559452e-03 1.56933952e+02] [ 1.29324496e-02 -2.89088893e-04 9.99916331e-01 6.88967379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.50, Y:156.92, Z:6.89 [[ 8.04225058e-01 5.94234916e-01 -1.03402210e-02 1.29500984e+02] [-5.94181284e-01 8.04291480e-01 7.98849729e-03 1.56915794e+02] [ 1.30635957e-02 -2.80583908e-04 9.99914628e-01 6.88992625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.53, Y:156.90, Z:6.89 [[ 8.02657390e-01 5.96331642e-01 -1.13880150e-02 1.29528687e+02] [-5.96266753e-01 8.02738125e-01 8.80126138e-03 1.56898452e+02] [ 1.43900645e-02 -2.74102748e-04 9.99896420e-01 6.88921565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.55, Y:156.88, Z:6.89 [[ 8.01751924e-01 5.97541018e-01 -1.17722283e-02 1.29554351e+02] [-5.97471726e-01 8.01838302e-01 9.10355327e-03 1.56879451e+02] [ 1.48791700e-02 -2.65217803e-04 9.99889264e-01 6.88900084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.58, Y:156.86, Z:6.89 [[ 8.00100689e-01 5.99733581e-01 -1.25904556e-02 1.29580053e+02] [-5.99654501e-01 8.00199707e-01 9.74207087e-03 1.56861290e+02] [ 1.59175259e-02 -2.44714267e-04 9.99873278e-01 6.88877173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.61, Y:156.84, Z:6.89 [[ 7.99344985e-01 6.00746009e-01 -1.23218078e-02 1.29606054e+02] [-6.00670311e-01 7.99439918e-01 9.53915223e-03 1.56843113e+02] [ 1.55811527e-02 -2.23729374e-04 9.99878581e-01 6.88933376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:156.82, Z:6.89 [[ 7.98654402e-01 6.01664764e-01 -1.22743174e-02 1.29630759e+02] [-6.01589674e-01 7.98748689e-01 9.50763985e-03 1.56824842e+02] [ 1.55245068e-02 -2.09215824e-04 9.99879466e-01 6.88985015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:156.81, Z:6.89 [[ 7.98078400e-01 6.02433678e-01 -1.20220820e-02 1.29656089e+02] [-6.02361667e-01 7.98168921e-01 9.31645803e-03 1.56806661e+02] [ 1.52082003e-02 -1.93622595e-04 9.99884330e-01 6.89015875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.68, Y:156.79, Z:6.89 [[ 7.97363711e-01 6.03378551e-01 -1.20597326e-02 1.29681560e+02] [-6.03306184e-01 7.97454885e-01 9.34637455e-03 1.56788551e+02] [ 1.52564946e-02 -1.76748655e-04 9.99883597e-01 6.89093785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.71, Y:156.77, Z:6.89 [[ 7.97212883e-01 6.03577446e-01 -1.20782776e-02 1.29705821e+02] [-6.03504870e-01 7.97304356e-01 9.36138884e-03 1.56769815e+02] [ 1.52803865e-02 -1.73720432e-04 9.99883233e-01 6.89148574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.73, Y:156.75, Z:6.89 [[ 7.97066050e-01 6.03768346e-01 -1.22268853e-02 1.29728548e+02] [-6.03693998e-01 7.97159805e-01 9.47640708e-03 1.56751716e+02] [ 1.54683361e-02 -1.72025088e-04 9.99880343e-01 6.89177042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.75, Y:156.73, Z:6.89 [[ 7.97284210e-01 6.03480096e-01 -1.22336729e-02 1.29751215e+02] [-6.03405649e-01 7.97378043e-01 9.48049845e-03 1.56733072e+02] [ 1.54761543e-02 -1.76784358e-04 9.99880222e-01 6.89230496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.77, Y:156.71, Z:6.89 [[ 7.97611930e-01 6.03043881e-01 -1.23809395e-02 1.29774932e+02] [-6.02967598e-01 7.97707994e-01 9.59333802e-03 1.56714009e+02] [ 1.56615782e-02 -1.86455484e-04 9.99877333e-01 6.89284441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.80, Y:156.69, Z:6.89 [[ 7.98139714e-01 6.02345614e-01 -1.23595661e-02 1.29798050e+02] [-6.02269511e-01 7.98235380e-01 9.57677688e-03 1.56693547e+02] [ 1.56343725e-02 -1.99816128e-04 9.99877756e-01 6.89363598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.82, Y:156.67, Z:6.89 [[ 7.98203821e-01 6.02262445e-01 -1.22722300e-02 1.29823865e+02] [-6.02187390e-01 7.98298132e-01 9.51002148e-03 1.56673334e+02] [ 1.55244271e-02 -2.00753313e-04 9.99879469e-01 6.89465322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:156.65, Z:6.90 [[ 7.98200602e-01 6.02269378e-01 -1.21406597e-02 1.29848332e+02] [-6.02195832e-01 7.98292901e-01 9.41407246e-03 1.56652967e+02] [ 1.53616100e-02 -2.03263666e-04 9.99881983e-01 6.89544773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.87, Y:156.63, Z:6.90 [[ 7.98563219e-01 6.01804489e-01 -1.13200085e-02 1.29872421e+02] [-6.01740432e-01 7.98643423e-01 8.78270141e-03 1.56631973e+02] [ 1.43261195e-02 -2.01835503e-04 9.99897356e-01 6.89682845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.90, Y:156.61, Z:6.90 [[ 7.98335926e-01 6.02117308e-01 -1.07003236e-02 1.29897894e+02] [-6.02060037e-01 7.98407610e-01 8.30663634e-03 1.56611513e+02] [ 1.35447893e-02 -1.89248986e-04 9.99908247e-01 6.89787078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.92, Y:156.59, Z:6.90 [[ 7.98126436e-01 6.02401857e-01 -1.03050353e-02 1.29923256e+02] [-6.02348700e-01 7.98192940e-01 8.00464865e-03 1.56591163e+02] [ 1.30474216e-02 -1.81497110e-04 9.99914862e-01 6.89874466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.95, Y:156.57, Z:6.90 [[ 7.97615218e-01 6.03073132e-01 -1.06189201e-02 1.29949088e+02] [-6.03016673e-01 7.97685882e-01 8.25384945e-03 1.56570880e+02] [ 1.34482374e-02 -1.80010084e-04 9.99909552e-01 6.89881983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.98, Y:156.55, Z:6.90 [[ 7.96952284e-01 6.03944591e-01 -1.08622255e-02 1.29975731e+02] [-6.03885521e-01 7.97026286e-01 8.44843462e-03 1.56551845e+02] [ 1.37598656e-02 -1.73458585e-04 9.99905314e-01 6.89886824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.00, Y:156.53, Z:6.90 [[ 7.96019068e-01 6.05170177e-01 -1.10770561e-02 1.30002083e+02] [-6.05108786e-01 7.96096120e-01 8.62125032e-03 1.56533193e+02] [ 1.40357250e-02 -1.59855676e-04 9.99901482e-01 6.89897923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.03, Y:156.51, Z:6.90 [[ 7.95543901e-01 6.05797722e-01 -1.09096957e-02 1.30028428e+02] [-6.05738163e-01 7.95618689e-01 8.49586448e-03 1.56513461e+02] [ 1.38267332e-02 -1.50414114e-04 9.99904395e-01 6.89902256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:156.49, Z:6.90 [[ 7.95018439e-01 6.06480405e-01 -1.12782697e-02 1.30053966e+02] [-6.06416740e-01 7.95098419e-01 8.78869599e-03 1.56493803e+02] [ 1.42975064e-02 -1.47843795e-04 9.99897775e-01 6.89892221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.08, Y:156.47, Z:6.90 [[ 7.94595138e-01 6.07017375e-01 -1.21849079e-02 1.30080141e+02] [-6.06943056e-01 7.94688544e-01 9.49967930e-03 1.56474530e+02] [ 1.54496771e-02 -1.52853770e-04 9.99880635e-01 6.89850941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.11, Y:156.45, Z:6.90 [[ 7.94346707e-01 6.07340367e-01 -1.22876908e-02 1.30105989e+02] [-6.07264730e-01 7.94441726e-01 9.58607676e-03 1.56454541e+02] [ 1.55838656e-02 -1.52787300e-04 9.99878553e-01 6.89876404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.13, Y:156.43, Z:6.90 [[ 7.93971564e-01 6.07819695e-01 -1.28208499e-02 1.30132357e+02] [-6.07737304e-01 7.94075056e-01 1.00087440e-02 1.56434985e+02] [ 1.62642288e-02 -1.54949414e-04 9.99867717e-01 6.89857145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.16, Y:156.41, Z:6.90 [[ 7.93876804e-01 6.07942529e-01 -1.28647341e-02 1.30158798e+02] [-6.07859483e-01 7.93981017e-01 1.00495319e-02 1.56414678e+02] [ 1.63238925e-02 -1.58139670e-04 9.99866744e-01 6.89890897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.19, Y:156.39, Z:6.90 [[ 7.93881513e-01 6.07934275e-01 -1.29638123e-02 1.30185304e+02] [-6.07849835e-01 7.93987337e-01 1.01335073e-02 1.56394918e+02] [ 1.64536092e-02 -1.64752933e-04 9.99864617e-01 6.89906911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.21, Y:156.37, Z:6.90 [[ 7.94289748e-01 6.07401560e-01 -1.29283108e-02 1.30210054e+02] [-6.07317404e-01 7.94394935e-01 1.01122474e-02 1.56374846e+02] [ 1.64123794e-02 -1.80466309e-04 9.99865292e-01 6.89908186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.24, Y:156.35, Z:6.90 [[ 7.94602288e-01 6.06988350e-01 -1.31281360e-02 1.30235911e+02] [-6.06901410e-01 7.94710705e-01 1.02749284e-02 1.56354458e+02] [ 1.66698320e-02 -1.96997410e-04 9.99861029e-01 6.89962073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.26, Y:156.33, Z:6.90 [[ 7.95102496e-01 6.06341347e-01 -1.27354441e-02 1.30261378e+02] [-6.06259347e-01 7.95204456e-01 9.97384207e-03 1.56333385e+02] [ 1.61748348e-02 -2.09244684e-04 9.99869157e-01 6.90021102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.29, Y:156.31, Z:6.90 [[ 7.95730807e-01 6.05513655e-01 -1.28723099e-02 1.30286203e+02] [-6.05429669e-01 7.95834882e-01 1.00874395e-02 1.56312326e+02] [ 1.63523156e-02 -2.33608100e-04 9.99866265e-01 6.90077958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.31, Y:156.29, Z:6.90 [[ 7.97258477e-01 6.03510442e-01 -1.24123921e-02 1.30308484e+02] [-6.03432025e-01 7.97355049e-01 9.73230058e-03 1.56289961e+02] [ 1.57706286e-02 -2.69124215e-04 9.99875600e-01 6.90197980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:156.27, Z:6.90 [[ 7.97870124e-01 6.02706303e-01 -1.21810646e-02 1.30332855e+02] [-6.02630611e-01 7.97963052e-01 9.55586732e-03 1.56269279e+02] [ 1.54794210e-02 -2.83658627e-04 9.99880146e-01 6.90289392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.36, Y:156.25, Z:6.90 [[ 7.98935932e-01 6.01290263e-01 -1.23043362e-02 1.30356919e+02] [-6.01212778e-01 7.99030612e-01 9.65798326e-03 1.56248439e+02] [ 1.56387926e-02 -3.18585711e-04 9.99877656e-01 6.90372467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.38, Y:156.23, Z:6.90 [[ 7.99269955e-01 6.00845080e-01 -1.23583354e-02 1.30380255e+02] [-6.00766776e-01 7.99365423e-01 9.70578034e-03 1.56228404e+02] [ 1.57104964e-02 -3.33061279e-04 9.99876527e-01 6.90416716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.41, Y:156.21, Z:6.91 [[ 7.99069467e-01 6.01115252e-01 -1.21836605e-02 1.30406952e+02] [-6.01039098e-01 7.99162279e-01 9.57367789e-03 1.56208357e+02] [ 1.54916057e-02 -3.27177365e-04 9.99879944e-01 6.90519323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.43, Y:156.19, Z:6.91 [[ 7.98501199e-01 6.01880651e-01 -1.16412078e-02 1.30430204e+02] [-6.01811126e-01 7.98585995e-01 9.15300189e-03 1.56187659e+02] [ 1.48055203e-02 -3.02874577e-04 9.99890346e-01 6.90582576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.45, Y:156.17, Z:6.91 [[ 7.98501203e-01 6.01880685e-01 -1.16391379e-02 1.30453785e+02] [-6.01811123e-01 7.98585967e-01 9.15563328e-03 1.56169107e+02] [ 1.48054511e-02 -3.06221520e-04 9.99890346e-01 6.90622359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.48, Y:156.15, Z:6.91 [[ 7.98339855e-01 6.02091450e-01 -1.18051418e-02 1.30477958e+02] [-6.02019912e-01 7.98427073e-01 9.28621604e-03 1.56150456e+02] [ 1.50166961e-02 -3.06625921e-04 9.99887196e-01 6.90668367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.50, Y:156.13, Z:6.91 [[ 7.97643014e-01 6.03017560e-01 -1.16380606e-02 1.30504401e+02] [-6.02948123e-01 7.97727862e-01 9.15533275e-03 1.56131578e+02] [ 1.48048316e-02 -2.85540431e-04 9.99890362e-01 6.90752036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.53, Y:156.11, Z:6.91 [[ 7.96889884e-01 6.04005622e-01 -1.19883521e-02 1.30530231e+02] [-6.03931971e-01 7.96980006e-01 9.43630887e-03 1.56112055e+02] [ 1.52540605e-02 -2.79549985e-04 9.99883611e-01 6.90778769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.56, Y:156.09, Z:6.91 [[ 7.96130752e-01 6.05004141e-01 -1.20753808e-02 1.30556341e+02] [-6.04929449e-01 7.96222279e-01 9.51016461e-03 1.56092949e+02] [ 1.53683762e-02 -2.66581041e-04 9.99881864e-01 6.90848594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.58, Y:156.07, Z:6.91 [[ 7.94891815e-01 6.06635717e-01 -1.18367843e-02 1.30580385e+02] [-6.06564050e-01 7.94979907e-01 9.32742329e-03 1.56073617e+02] [ 1.50683538e-02 -2.34524582e-04 9.99886438e-01 6.90876159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.61, Y:156.06, Z:6.91 [[ 7.94056464e-01 6.07730858e-01 -1.17275860e-02 1.30606926e+02] [-6.07660555e-01 7.94143034e-01 9.24621438e-03 1.56055498e+02] [ 1.49325905e-02 -2.15624892e-04 9.99888479e-01 6.90930261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:156.04, Z:6.91 [[ 7.93608262e-01 6.08318392e-01 -1.16043541e-02 1.30631030e+02] [-6.08249552e-01 7.93693071e-01 9.15375145e-03 1.56037203e+02] [ 1.47786908e-02 -2.06149614e-04 9.99890768e-01 6.90975897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:156.02, Z:6.91 [[ 7.93105295e-01 6.08973384e-01 -1.16365507e-02 1.30655671e+02] [-6.08904207e-01 7.93190633e-01 9.18083032e-03 1.56019193e+02] [ 1.48208843e-02 -1.95820456e-04 9.99890146e-01 6.91011306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.68, Y:156.00, Z:6.91 [[ 7.92844085e-01 6.09314305e-01 -1.15902688e-02 1.30679241e+02] [-6.09245714e-01 7.92928775e-01 9.14424099e-03 1.56001929e+02] [ 1.47619745e-02 -1.88635761e-04 9.99891018e-01 6.90975907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.70, Y:155.98, Z:6.91 [[ 7.92642367e-01 6.09578466e-01 -1.14966005e-02 1.30702820e+02] [-6.09511018e-01 7.92725716e-01 9.06963598e-03 1.55983804e+02] [ 1.46423057e-02 -1.81673049e-04 9.99892779e-01 6.91011813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:155.97, Z:6.91 [[ 7.92456984e-01 6.09818696e-01 -1.15363642e-02 1.30724418e+02] [-6.09750818e-01 7.92540931e-01 9.10016509e-03 1.55966857e+02] [ 1.46924916e-02 -1.77181876e-04 9.99892044e-01 6.90978033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:155.95, Z:6.91 [[ 7.92380479e-01 6.09917825e-01 -1.15509200e-02 1.30747159e+02] [-6.09849815e-01 7.92464647e-01 9.10971301e-03 1.55949650e+02] [ 1.47098721e-02 -1.74032333e-04 9.99891789e-01 6.90996583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:155.93, Z:6.91 [[ 7.92328968e-01 6.09988389e-01 -1.13565326e-02 1.30772837e+02] [-6.09922673e-01 7.92410333e-01 8.95523267e-03 1.55931169e+02] [ 1.44616218e-02 -1.68883524e-04 9.99895411e-01 6.91013348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.80, Y:155.91, Z:6.91 [[ 7.92357969e-01 6.09957422e-01 -1.09905380e-02 1.30796256e+02] [-6.09895862e-01 7.92434172e-01 8.66719953e-03 1.55914529e+02] [ 1.39959005e-02 -1.64440989e-04 9.99902039e-01 6.91021532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.82, Y:155.90, Z:6.91 [[ 7.92554539e-01 6.09704187e-01 -1.08677270e-02 1.30818298e+02] [-6.09643987e-01 7.92629028e-01 8.56931845e-03 1.55896796e+02] [ 1.38388253e-02 -1.66207787e-04 9.99904225e-01 6.91022183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.84, Y:155.88, Z:6.91 [[ 7.92879711e-01 6.09289794e-01 -1.03783628e-02 1.30842050e+02] [-6.09234878e-01 7.92947615e-01 8.18192572e-03 1.55880788e+02] [ 1.32146618e-02 -1.64422335e-04 9.99912669e-01 6.91050345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.86, Y:155.86, Z:6.91 [[ 7.93024858e-01 6.09101614e-01 -1.03342930e-02 1.30862844e+02] [-6.09047164e-01 7.93092174e-01 8.14593338e-03 1.55862612e+02] [ 1.31577481e-02 -1.65855803e-04 9.99913419e-01 6.91105651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.89, Y:155.85, Z:6.91 [[ 7.93311704e-01 6.08727638e-01 -1.03539067e-02 1.30886991e+02] [-6.08672969e-01 7.93379250e-01 8.15982953e-03 1.55846592e+02] [ 1.31816885e-02 -1.71145132e-04 9.99913103e-01 6.91178810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:155.83, Z:6.91 [[ 7.93919501e-01 6.07931719e-01 -1.05285447e-02 1.30909969e+02] [-6.07875139e-01 7.93989288e-01 8.29613888e-03 1.55828389e+02] [ 1.34030376e-02 -1.86425897e-04 9.99910158e-01 6.91226977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:155.81, Z:6.91 [[ 7.94031452e-01 6.07783521e-01 -1.06416730e-02 1.30936014e+02] [-6.07725720e-01 7.94102736e-01 8.38410288e-03 1.55809010e+02] [ 1.35463012e-02 -1.90022990e-04 9.99908227e-01 6.91233879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.96, Y:155.79, Z:6.91 [[ 7.94206945e-01 6.07541134e-01 -1.13621564e-02 1.30963578e+02] [-6.07475138e-01 7.94288188e-01 8.95715688e-03 1.55790747e+02] [ 1.44666679e-02 -2.11608650e-04 9.99895330e-01 6.91168048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.99, Y:155.77, Z:6.91 [[ 7.94115804e-01 6.07654626e-01 -1.16595767e-02 1.30988461e+02] [-6.07585054e-01 7.94201364e-01 9.19757158e-03 1.55771267e+02] [ 1.48489986e-02 -2.19752411e-04 9.99889723e-01 6.91133026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.02, Y:155.75, Z:6.91 [[ 7.93896951e-01 6.07932883e-01 -1.20516184e-02 1.31015660e+02] [-6.07858518e-01 7.93988388e-01 9.51115940e-03 1.55752636e+02] [ 1.53509916e-02 -2.25201574e-04 9.99882141e-01 6.91131509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:155.73, Z:6.91 [[ 7.93656781e-01 6.08245469e-01 -1.20980783e-02 1.31040713e+02] [-6.08170472e-01 7.93748952e-01 9.55396078e-03 1.55733919e+02] [ 1.54139903e-02 -2.24871766e-04 9.99881172e-01 6.91149006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.06, Y:155.72, Z:6.91 [[ 7.93660605e-01 6.08235331e-01 -1.23541940e-02 1.31063596e+02] [-6.08157054e-01 7.93756719e-01 9.76057121e-03 1.55715054e+02] [ 1.57429487e-02 -2.33290626e-04 9.99876045e-01 6.91154474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:155.70, Z:6.91 [[ 7.93614812e-01 6.08294927e-01 -1.23616784e-02 1.31084543e+02] [-6.08216575e-01 7.93711048e-01 9.76574320e-03 1.55698188e+02] [ 1.57520528e-02 -2.31660759e-04 9.99875902e-01 6.91181754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.11, Y:155.68, Z:6.91 [[ 7.93562350e-01 6.08377178e-01 -1.16621790e-02 1.31110438e+02] [-6.08307483e-01 7.93648010e-01 9.21102269e-03 1.55682625e+02] [ 1.48594412e-02 -2.15330049e-04 9.99889569e-01 6.91316580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.13, Y:155.66, Z:6.91 [[ 7.93461057e-01 6.08511126e-01 -1.15655378e-02 1.31134693e+02] [-6.08442605e-01 7.93545314e-01 9.13404185e-03 1.55664392e+02] [ 1.47359444e-02 -2.10540573e-04 9.99891398e-01 6.91368775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.16, Y:155.65, Z:6.91 [[ 7.93339895e-01 6.08682164e-01 -1.08551469e-02 1.31160224e+02] [-6.08621818e-01 7.93414132e-01 8.57303194e-03 1.55645553e+02] [ 1.38308786e-02 -1.94648991e-04 9.99904330e-01 6.91453795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.18, Y:155.63, Z:6.92 [[ 7.93136087e-01 6.08961739e-01 -1.00372793e-02 1.31184122e+02] [-6.08910159e-01 7.93199577e-01 7.92772086e-03 1.55627049e+02] [ 1.27892444e-02 -1.75960163e-04 9.99918199e-01 6.91551782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.21, Y:155.61, Z:6.92 [[ 7.92835615e-01 6.09358201e-01 -9.70932214e-03 1.31210298e+02] [-6.09309967e-01 7.92895047e-01 7.66866510e-03 1.55607304e+02] [ 1.23714374e-02 -1.64004052e-04 9.99923457e-01 6.91628455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:155.59, Z:6.92 [[ 7.92867327e-01 6.09321217e-01 -9.43699341e-03 1.31233239e+02] [-6.09275585e-01 7.92923469e-01 7.45879451e-03 1.55588023e+02] [ 1.20276153e-02 -1.64104777e-04 9.99927652e-01 6.91709375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.26, Y:155.57, Z:6.92 [[ 7.92864670e-01 6.09321218e-01 -9.65755851e-03 1.31258290e+02] [-6.09273424e-01 7.92923467e-01 7.63346642e-03 1.55570180e+02] [ 1.23089378e-02 -1.68212098e-04 9.99924228e-01 6.91718466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.28, Y:155.55, Z:6.92 [[ 7.92964757e-01 6.09193413e-01 -9.50159492e-03 1.31283136e+02] [-6.09147142e-01 7.93021663e-01 7.51013398e-03 1.55551092e+02] [ 1.21100948e-02 -1.67402181e-04 9.99926656e-01 6.91718600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.31, Y:155.53, Z:6.92 [[ 7.92941250e-01 6.09225353e-01 -9.41510615e-03 1.31307033e+02] [-6.09179915e-01 7.92997126e-01 7.44243924e-03 1.55532305e+02] [ 1.20002748e-02 -1.65923512e-04 9.99927980e-01 6.91745458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:155.51, Z:6.92 [[ 7.92874316e-01 6.09324079e-01 -8.63050691e-03 1.31330623e+02] [-6.09285903e-01 7.92921272e-01 6.82234149e-03 1.55514035e+02] [ 1.10003295e-02 -1.50813147e-04 9.99939483e-01 6.91850577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.35, Y:155.50, Z:6.92 [[ 7.92910575e-01 6.09275997e-01 -8.69360509e-03 1.31352848e+02] [-6.09237263e-01 7.92958218e-01 6.87181985e-03 1.55496818e+02] [ 1.10805005e-02 -1.52270459e-04 9.99938598e-01 6.91904325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.38, Y:155.48, Z:6.92 [[ 7.92758513e-01 6.09480725e-01 -8.19669098e-03 1.31376950e+02] [-6.09446318e-01 7.92800874e-01 6.47763371e-03 1.55480017e+02] [ 1.04463367e-02 -1.39756126e-04 9.99945426e-01 6.91985828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.40, Y:155.46, Z:6.92 [[ 7.92910439e-01 6.09285645e-01 -8.00242146e-03 1.31399084e+02] [-6.09252843e-01 7.92950808e-01 6.32368449e-03 1.55462048e+02] [ 1.01984567e-02 -1.38617416e-04 9.99947985e-01 6.92053056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:155.45, Z:6.92 [[ 7.92761534e-01 6.09479176e-01 -8.01775893e-03 1.31421977e+02] [-6.09446266e-01 7.92802066e-01 6.33510391e-03 1.55445126e+02] [ 1.02176098e-02 -1.35833453e-04 9.99947790e-01 6.92118127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.45, Y:155.43, Z:6.92 [[ 7.92810760e-01 6.09420191e-01 -7.62433191e-03 1.31445176e+02] [-6.09390437e-01 7.92847409e-01 6.02336921e-03 1.55428712e+02] [ 9.71569461e-03 -1.29196964e-04 9.99952793e-01 6.92262913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:155.41, Z:6.92 [[ 7.92746894e-01 6.09505999e-01 -7.40262153e-03 1.31467084e+02] [-6.09477962e-01 7.92781446e-01 5.84740842e-03 1.55412136e+02] [ 9.43269152e-03 -1.23780177e-04 9.99955504e-01 6.92363213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.49, Y:155.40, Z:6.92 [[ 7.92699184e-01 6.09571777e-01 -7.08884982e-03 1.31490358e+02] [-6.09546079e-01 7.92730872e-01 5.59841442e-03 1.55395596e+02] [ 9.03218552e-03 -1.16877930e-04 9.99959202e-01 6.92452215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.51, Y:155.38, Z:6.93 [[ 7.92574851e-01 6.09735018e-01 -6.95076483e-03 1.31514019e+02] [-6.09710325e-01 7.92605321e-01 5.48861723e-03 1.55380369e+02] [ 8.85581532e-03 -1.12186901e-04 9.99960780e-01 6.92525243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.54, Y:155.36, Z:6.93 [[ 7.92597416e-01 6.09703510e-01 -7.13910537e-03 1.31537530e+02] [-6.09677470e-01 7.92629559e-01 5.63609412e-03 1.55363763e+02] [ 9.09501230e-03 -1.14601933e-04 9.99958633e-01 6.92586572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:155.35, Z:6.93 [[ 7.92889627e-01 6.09327040e-01 -6.82619799e-03 1.31561019e+02] [-6.09303226e-01 7.92919003e-01 5.38825331e-03 1.55346201e+02] [ 8.69583054e-03 -1.13065700e-04 9.99962184e-01 6.92692666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:155.33, Z:6.93 [[ 7.93120376e-01 6.09029800e-01 -6.54000764e-03 1.31583812e+02] [-6.09007936e-01 7.93147332e-01 5.16168717e-03 1.55329652e+02] [ 8.33081092e-03 -1.10922717e-04 9.99965292e-01 6.92857256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.61, Y:155.31, Z:6.93 [[ 7.93473318e-01 6.08571379e-01 -6.40079771e-03 1.31606824e+02] [-6.08550431e-01 7.93499126e-01 5.05070635e-03 1.55312237e+02] [ 8.15274272e-03 -1.12392522e-04 9.99966760e-01 6.92938956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.63, Y:155.30, Z:6.93 [[ 7.93813421e-01 6.08129952e-01 -6.18176851e-03 1.31630346e+02] [-6.08110404e-01 7.93837483e-01 4.87717102e-03 1.55295212e+02] [ 7.87327332e-03 -1.12366064e-04 9.99968999e-01 6.93017662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.65, Y:155.28, Z:6.93 [[ 7.94243397e-01 6.07570283e-01 -5.98151208e-03 1.31652766e+02] [-6.07551970e-01 7.94265912e-01 4.71858756e-03 1.55279282e+02] [ 7.61778473e-03 -1.13627560e-04 9.99970978e-01 6.93161863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.68, Y:155.26, Z:6.93 [[ 7.94526370e-01 6.07198195e-01 -6.18063014e-03 1.31676132e+02] [-6.07178641e-01 7.94550400e-01 4.87448803e-03 1.55263068e+02] [ 7.87060248e-03 -1.20162671e-04 9.99969019e-01 6.93165917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.70, Y:155.25, Z:6.93 [[ 7.94786718e-01 6.06854730e-01 -6.43505505e-03 1.31697703e+02] [-6.06833526e-01 7.94812758e-01 5.07464911e-03 1.55246742e+02] [ 8.19423867e-03 -1.28256560e-04 9.99966418e-01 6.93196227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.72, Y:155.23, Z:6.93 [[ 7.95356877e-01 6.06097502e-01 -7.29768955e-03 1.31722577e+02] [-6.06070219e-01 7.95390341e-01 5.75275024e-03 1.55231895e+02] [ 9.29123933e-03 -1.52577163e-04 9.99956824e-01 6.93177817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.75, Y:155.22, Z:6.93 [[ 7.95711448e-01 6.05634602e-01 -7.07246306e-03 1.31745705e+02] [-6.05608968e-01 7.95742864e-01 5.57435278e-03 1.55215068e+02] [ 9.00388294e-03 -1.52429276e-04 9.99959453e-01 6.93243458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.77, Y:155.20, Z:6.93 [[ 7.95981567e-01 6.05279713e-01 -7.05788100e-03 1.31768375e+02] [-6.05254177e-01 7.96012842e-01 5.56208257e-03 1.55198534e+02] [ 8.98477965e-03 -1.55503248e-04 9.99959624e-01 6.93308693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.79, Y:155.18, Z:6.93 [[ 7.96554602e-01 6.04525302e-01 -7.06580742e-03 1.31792376e+02] [-6.04499689e-01 7.96585923e-01 5.56713025e-03 1.55182911e+02] [ 8.99399382e-03 -1.63244831e-04 9.99959540e-01 6.93423795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.82, Y:155.17, Z:6.94 [[ 7.96904615e-01 6.04067216e-01 -6.77003502e-03 1.31816863e+02] [-6.04043692e-01 7.96933356e-01 5.33332415e-03 1.55166702e+02] [ 8.61695300e-03 -1.60753673e-04 9.99962860e-01 6.93508609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:155.15, Z:6.94 [[ 7.97571861e-01 6.03187493e-01 -6.63139954e-03 1.31840018e+02] [-6.03164898e-01 7.97599412e-01 5.22341080e-03 1.55151303e+02] [ 8.43989643e-03 -1.66218043e-04 9.99964370e-01 6.93612073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.86, Y:155.13, Z:6.94 [[ 7.98078108e-01 6.02514314e-01 -6.91633851e-03 1.31863754e+02] [-6.02489713e-01 7.98108056e-01 5.44764552e-03 1.55133983e+02] [ 8.80226988e-03 -1.80623827e-04 9.99961243e-01 6.93655841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:155.12, Z:6.94 [[ 7.98387020e-01 6.02102629e-01 -7.11269870e-03 1.31886434e+02] [-6.02076631e-01 7.98418681e-01 5.59826123e-03 1.55118067e+02] [ 9.04963931e-03 -1.87189428e-04 9.99959034e-01 6.93697016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.91, Y:155.10, Z:6.94 [[ 7.98899781e-01 6.01423431e-01 -6.99980980e-03 1.31908686e+02] [-6.01398236e-01 7.98930423e-01 5.50827875e-03 1.55100857e+02] [ 8.90516890e-03 -1.90889421e-04 9.99960330e-01 6.93766762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:155.09, Z:6.94 [[ 8.00092890e-01 5.99838478e-01 -6.72062398e-03 1.31934989e+02] [-5.99815196e-01 8.00121091e-01 5.28873513e-03 1.55088001e+02] [ 8.54969982e-03 -2.00346983e-04 9.99963431e-01 6.93778912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.96, Y:155.07, Z:6.94 [[ 8.00432486e-01 5.99379581e-01 -7.20786644e-03 1.31955380e+02] [-5.99352820e-01 8.00464909e-01 5.66794234e-03 1.55070339e+02] [ 9.16689306e-03 -2.16750093e-04 9.99957960e-01 6.93834444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.98, Y:155.05, Z:6.94 [[ 8.00623817e-01 5.99123972e-01 -7.20897779e-03 1.31977200e+02] [-5.99097214e-01 8.00656242e-01 5.66652840e-03 1.55053499e+02] [ 9.16686607e-03 -2.17879088e-04 9.99957960e-01 6.93870828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.00, Y:155.04, Z:6.94 [[ 8.01482323e-01 5.97981156e-01 -6.68001648e-03 1.32002157e+02] [-5.97958178e-01 8.01510133e-01 5.24639539e-03 1.55039377e+02] [ 8.49134648e-03 -2.10522677e-04 9.99963926e-01 6.93924208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:155.02, Z:6.94 [[ 8.01998689e-01 5.97286250e-01 -6.87306471e-03 1.32025768e+02] [-5.97261900e-01 8.02028108e-01 5.39787453e-03 1.55023221e+02] [ 8.73646732e-03 -2.24068607e-04 9.99961811e-01 6.93960975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.05, Y:155.01, Z:6.94 [[ 8.02403953e-01 5.96740007e-01 -7.01849933e-03 1.32048514e+02] [-5.96714635e-01 8.02434614e-01 5.50765573e-03 1.55007197e+02] [ 8.91852532e-03 -2.31323470e-04 9.99960202e-01 6.93961637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.07, Y:154.99, Z:6.94 [[ 8.03179673e-01 5.95689119e-01 -7.54236744e-03 1.32072205e+02] [-5.95659784e-01 8.03215044e-01 5.91736464e-03 1.54991777e+02] [ 9.58305272e-03 -2.60022036e-04 9.99954048e-01 6.93916336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:154.98, Z:6.94 [[ 8.03394017e-01 5.95398964e-01 -7.62404405e-03 1.32094882e+02] [-5.95368990e-01 8.03430148e-01 5.98016793e-03 1.54975196e+02] [ 9.68597264e-03 -2.65311730e-04 9.99953055e-01 6.93955130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.12, Y:154.96, Z:6.94 [[ 8.03887154e-01 5.94728525e-01 -7.96398835e-03 1.32118642e+02] [-5.94695792e-01 8.03926552e-01 6.24615789e-03 1.54957944e+02] [ 1.01172300e-02 -2.85055731e-04 9.99948779e-01 6.93967416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.14, Y:154.94, Z:6.94 [[ 8.04541235e-01 5.93836630e-01 -8.45324547e-03 1.32143498e+02] [-5.93799747e-01 8.04585583e-01 6.62575988e-03 1.54943290e+02] [ 1.07359784e-02 -3.11162011e-04 9.99942319e-01 6.93944713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:154.93, Z:6.94 [[ 8.04799690e-01 5.93480529e-01 -8.84988980e-03 1.32166965e+02] [-5.93440130e-01 8.04848280e-01 6.93239592e-03 1.54927228e+02] [ 1.12370606e-02 -3.27310340e-04 9.99936809e-01 6.93941612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.19, Y:154.92, Z:6.94 [[ 8.04896770e-01 5.93342474e-01 -9.26813032e-03 1.32193073e+02] [-5.93298217e-01 8.04950056e-01 7.25486500e-03 1.54915669e+02] [ 1.17650016e-02 -3.40652215e-04 9.99930732e-01 6.93916927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.21, Y:154.90, Z:6.94 [[ 8.04746970e-01 5.93544574e-01 -9.33558109e-03 1.32214059e+02] [-5.93499750e-01 8.04801048e-01 7.30206697e-03 1.54896601e+02] [ 1.18473877e-02 -3.35651221e-04 9.99929761e-01 6.93964546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.24, Y:154.88, Z:6.94 [[ 8.04811990e-01 5.93457617e-01 -9.25835031e-03 1.32239542e+02] [-5.93413551e-01 8.04865173e-01 7.23960365e-03 1.54884365e+02] [ 1.17481217e-02 -3.32489293e-04 9.99930933e-01 6.94001832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.26, Y:154.87, Z:6.94 [[ 8.04452538e-01 5.93948289e-01 -9.03024780e-03 1.32263333e+02] [-5.93906459e-01 8.04503159e-01 7.05585373e-03 1.54869144e+02] [ 1.14556751e-02 -3.12976936e-04 9.99934333e-01 6.94080542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.29, Y:154.85, Z:6.94 [[ 8.04469394e-01 5.93925569e-01 -9.02288718e-03 1.32286711e+02] [-5.93883818e-01 8.04519932e-01 7.04908868e-03 1.54853445e+02] [ 1.14457266e-02 -3.12229412e-04 9.99934447e-01 6.94099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:154.84, Z:6.94 [[ 8.04123040e-01 5.94386386e-01 -9.53734046e-03 1.32309610e+02] [-5.94339842e-01 8.04179534e-01 7.44507264e-03 1.54837327e+02] [ 1.20949838e-02 -3.18333026e-04 9.99926802e-01 6.94104245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.33, Y:154.82, Z:6.94 [[ 8.03117520e-01 5.95741867e-01 -9.68903440e-03 1.32334178e+02] [-5.95693950e-01 8.03175907e-01 7.56180644e-03 1.54823212e+02] [ 1.22868837e-02 -3.01320058e-04 9.99924468e-01 6.94077242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.36, Y:154.81, Z:6.94 [[ 8.02363638e-01 5.96750139e-01 -1.00927920e-02 1.32358867e+02] [-5.96698246e-01 8.02427058e-01 7.87526530e-03 1.54807289e+02] [ 1.27982951e-02 -2.96475218e-04 9.99918055e-01 6.94076773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.38, Y:154.79, Z:6.94 [[ 8.00009219e-01 5.99899750e-01 -1.02732594e-02 1.32384553e+02] [-5.99846307e-01 8.00075140e-01 8.01119081e-03 1.54794702e+02] [ 1.30252908e-02 -2.46649801e-04 9.99915137e-01 6.94084449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.41, Y:154.78, Z:6.94 [[ 7.98576694e-01 6.01804318e-01 -1.03357352e-02 1.32409902e+02] [-6.01750403e-01 7.98643548e-01 8.05823705e-03 1.54779990e+02] [ 1.31040501e-02 -2.15587482e-04 9.99914115e-01 6.94098433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.44, Y:154.76, Z:6.94 [[ 7.97077010e-01 6.03788929e-01 -1.03522416e-02 1.32435087e+02] [-6.03735072e-01 7.97144213e-01 8.06634579e-03 1.54764721e+02] [ 1.31225998e-02 -1.79487459e-04 9.99913879e-01 6.94153530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.46, Y:154.75, Z:6.94 [[ 7.95447733e-01 6.05928813e-01 -1.06384963e-02 1.32459059e+02] [-6.05872194e-01 7.95518858e-01 8.28445759e-03 1.54749903e+02] [ 1.34829160e-02 -1.44283905e-04 9.99909091e-01 6.94165610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.48, Y:154.74, Z:6.94 [[ 7.92646470e-01 6.09593636e-01 -1.03524357e-02 1.32484114e+02] [-6.09540354e-01 7.92714067e-01 8.06007455e-03 1.54736349e+02] [ 1.31198916e-02 -7.85623159e-05 9.99913927e-01 6.94207563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.51, Y:154.72, Z:6.94 [[ 7.91638680e-01 6.10905797e-01 -1.01146883e-02 1.32507447e+02] [-6.10855060e-01 7.91703293e-01 7.87351008e-03 1.54720331e+02] [ 1.28178050e-02 -5.43665945e-05 9.99917847e-01 6.94300870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.53, Y:154.70, Z:6.94 [[ 7.89980230e-01 6.13056206e-01 -9.66049521e-03 1.32530029e+02] [-6.13010143e-01 7.90039296e-01 7.51506638e-03 1.54704296e+02] [ 1.22393289e-02 -1.47723139e-05 9.99925097e-01 6.94398755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.55, Y:154.69, Z:6.94 [[ 7.89674454e-01 6.13450033e-01 -9.65987843e-03 1.32552102e+02] [-6.13404021e-01 7.89733536e-01 7.51334096e-03 1.54687538e+02] [ 1.22377892e-02 -7.68516031e-06 9.99925115e-01 6.94419597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.57, Y:154.67, Z:6.94 [[ 7.89529734e-01 6.13636486e-01 -9.64689512e-03 1.32573921e+02] [-6.13590669e-01 7.89588667e-01 7.49850444e-03 1.54670550e+02] [ 1.22184350e-02 -1.04738594e-06 9.99925352e-01 6.94477810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.59, Y:154.65, Z:6.95 [[ 7.89616848e-01 6.13529300e-01 -9.32903576e-03 1.32594769e+02] [-6.13486501e-01 7.89671956e-01 7.24672810e-03 1.54652588e+02] [ 1.18129579e-02 1.09890737e-06 9.99930225e-01 6.94536060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.62, Y:154.63, Z:6.95 [[ 7.90416610e-01 6.12501588e-01 -9.13161220e-03 1.32615881e+02] [-6.12460531e-01 7.90469357e-01 7.09183920e-03 1.54633675e+02] [ 1.15620224e-02 -1.27554483e-05 9.99933158e-01 6.94598114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.63, Y:154.61, Z:6.95 [[ 7.92390553e-01 6.09955669e-01 -8.44357689e-03 1.32634753e+02] [-6.09920458e-01 7.92435537e-01 6.55395439e-03 1.54611700e+02] [ 1.06886120e-02 -4.33812576e-05 9.99942874e-01 6.94691107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.66, Y:154.59, Z:6.95 [[ 7.93819505e-01 6.08097156e-01 -8.27303043e-03 1.32655126e+02] [-6.08063300e-01 7.93862611e-01 6.41705635e-03 1.54591456e+02] [ 1.04698432e-02 -6.34583120e-05 9.99945188e-01 6.94716007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.67, Y:154.57, Z:6.95 [[ 7.95153399e-01 6.06353425e-01 -8.16064291e-03 1.32674387e+02] [-6.06320435e-01 7.95195270e-01 6.32561522e-03 1.54570529e+02] [ 1.03248631e-02 -8.18698842e-05 9.99946694e-01 6.94839031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.70, Y:154.55, Z:6.95 [[ 7.96611104e-01 6.04441955e-01 -7.78925222e-03 1.32696085e+02] [-6.04411820e-01 7.96649178e-01 6.03651549e-03 1.54550727e+02] [ 9.85402460e-03 -1.00839159e-04 9.99951443e-01 6.94828008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:154.53, Z:6.95 [[ 7.99348325e-01 6.00814228e-01 -8.03233511e-03 1.32712293e+02] [-6.00782046e-01 7.99388668e-01 6.22024830e-03 1.54526766e+02] [ 1.01581713e-02 -1.46462342e-04 9.99948394e-01 6.94917902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.73, Y:154.51, Z:6.95 [[ 8.00703848e-01 5.99010448e-01 -7.73501090e-03 1.32734746e+02] [-5.98980524e-01 8.00741192e-01 5.98958080e-03 1.54508032e+02] [ 9.78156333e-03 -1.62759513e-04 9.99952146e-01 6.94925679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.75, Y:154.49, Z:6.95 [[ 8.02849200e-01 5.96126759e-01 -8.12700891e-03 1.32754210e+02] [-5.96093623e-01 8.02890307e-01 6.28867447e-03 1.54486963e+02] [ 1.02739438e-02 -2.04399086e-04 9.99947201e-01 6.94894237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.77, Y:154.47, Z:6.95 [[ 8.03975184e-01 5.94604615e-01 -8.32198377e-03 1.32774439e+02] [-5.94569813e-01 8.04018222e-01 6.43718013e-03 1.54466911e+02] [ 1.05186036e-02 -2.27332750e-04 9.99944652e-01 6.94884482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.80, Y:154.45, Z:6.95 [[ 8.05084818e-01 5.93094618e-01 -8.78693038e-03 1.32795432e+02] [-5.93055740e-01 8.05132726e-01 6.79574665e-03 1.54446953e+02] [ 1.11051660e-02 -2.60012956e-04 9.99938302e-01 6.94826754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.82, Y:154.43, Z:6.95 [[ 8.06826439e-01 5.90709645e-01 -9.65462300e-03 1.32815188e+02] [-5.90662600e-01 8.06884139e-01 7.46182247e-03 1.54425247e+02] [ 1.21979327e-02 -3.17770928e-04 9.99925552e-01 6.94707982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.84, Y:154.41, Z:6.95 [[ 8.07481417e-01 5.89815293e-01 -9.57504517e-03 1.32835578e+02] [-5.89769014e-01 8.07538120e-01 7.39560681e-03 1.54405826e+02] [ 1.20942560e-02 -3.24750117e-04 9.99926809e-01 6.94718216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.86, Y:154.39, Z:6.95 [[ 8.08192734e-01 5.88830916e-01 -1.01319814e-02 1.32857456e+02] [-5.88779041e-01 8.08256163e-01 7.82409874e-03 1.54386168e+02] [ 1.27963076e-02 -3.57881456e-04 9.99918060e-01 6.94712304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.88, Y:154.37, Z:6.95 [[ 8.08766232e-01 5.88040787e-01 -1.02573809e-02 1.32878236e+02] [-5.87987619e-01 8.08831191e-01 7.91614964e-03 1.54365701e+02] [ 1.29515085e-02 -3.71101521e-04 9.99916057e-01 6.94706240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.90, Y:154.35, Z:6.95 [[ 8.08799035e-01 5.87996657e-01 -1.02006327e-02 1.32899853e+02] [-5.87944131e-01 8.08863275e-01 7.86773974e-03 1.54347748e+02] [ 1.28771218e-02 -3.66018173e-04 9.99917019e-01 6.94740812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.92, Y:154.33, Z:6.95 [[ 8.08372265e-01 5.88591788e-01 -9.69473802e-03 1.32920530e+02] [-5.88544447e-01 8.08430328e-01 7.47254645e-03 1.54329370e+02] [ 1.22357997e-02 -3.34815066e-04 9.99925084e-01 6.94874129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:154.31, Z:6.95 [[ 8.07637123e-01 5.89600098e-01 -9.69541560e-03 1.32942381e+02] [-5.89552852e-01 8.07695254e-01 7.47067818e-03 1.54312050e+02] [ 1.22356538e-02 -3.17637112e-04 9.99925091e-01 6.94934353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:154.30, Z:6.95 [[ 8.06889420e-01 5.90629320e-01 -9.29894966e-03 1.32965767e+02] [-5.90585940e-01 8.06942949e-01 7.16411280e-03 1.54295137e+02] [ 1.17350569e-02 -2.88817898e-04 9.99931100e-01 6.95025795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.99, Y:154.28, Z:6.95 [[ 8.05932955e-01 5.91942064e-01 -8.75586292e-03 1.32989860e+02] [-5.91903724e-01 8.05980478e-01 6.74176428e-03 1.54278233e+02] [ 1.10477884e-02 -2.50782137e-04 9.99938940e-01 6.95125136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.02, Y:154.26, Z:6.95 [[ 8.03276579e-01 5.95548063e-01 -8.32125483e-03 1.33015650e+02] [-5.95513642e-01 8.03319656e-01 6.40569222e-03 1.54263728e+02] [ 1.04995252e-02 -1.90121755e-04 9.99944860e-01 6.95214554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.04, Y:154.25, Z:6.95 [[ 8.01871366e-01 5.97442770e-01 -8.02809369e-03 1.33037798e+02] [-5.97410863e-01 8.01911537e-01 6.17642189e-03 1.54247373e+02] [ 1.01278795e-02 -1.56625472e-04 9.99948699e-01 6.95322180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.06, Y:154.23, Z:6.95 [[ 7.99200973e-01 6.01020956e-01 -7.18439123e-03 1.33063311e+02] [-6.00995554e-01 7.99233258e-01 5.52657406e-03 1.54233384e+02] [ 9.06359123e-03 -9.90561717e-05 9.99958920e-01 6.95427431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.09, Y:154.22, Z:6.96 [[ 7.97975878e-01 6.02650076e-01 -6.88363645e-03 1.33086801e+02] [-6.02626842e-01 7.98005564e-01 5.29236938e-03 1.54216920e+02] [ 8.68262700e-03 -7.49190065e-05 9.99962302e-01 6.95524701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.11, Y:154.20, Z:6.96 [[ 7.95442913e-01 6.05993851e-01 -6.48257979e-03 1.33110219e+02] [-6.05973376e-01 7.95469328e-01 4.98160828e-03 1.54200768e+02] [ 8.17551737e-03 -3.43142442e-05 9.99966579e-01 6.95617431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.13, Y:154.18, Z:6.96 [[ 7.94403375e-01 6.07357923e-01 -6.29539239e-03 1.33131396e+02] [-6.07338683e-01 7.94428319e-01 4.83434151e-03 1.54184740e+02] [ 7.93741361e-03 -1.69818874e-05 9.99968498e-01 6.95784876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.15, Y:154.17, Z:6.96 [[ 7.93524463e-01 6.08509279e-01 -5.94834680e-03 1.33154402e+02] [-6.08492144e-01 7.93546758e-01 4.56661972e-03 1.54167891e+02] [ 7.49912180e-03 -4.20216554e-06 9.99971881e-01 6.95753297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:154.15, Z:6.96 [[ 7.92982946e-01 6.09218131e-01 -5.59610372e-03 1.33175379e+02] [-6.09202988e-01 7.93002692e-01 4.29541326e-03 1.54151561e+02] [ 7.05456895e-03 2.97364159e-06 9.99975116e-01 6.95847439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88275509600004 meters Centerline goodness [0,1] 0.99997897657991 Centerline is valid? [True, True] Translation: X:133.20, Y:154.13, Z:6.96 [[ 7.92573070e-01 6.09752653e-01 -5.44342104e-03 1.33195641e+02] [-6.09738346e-01 7.92591762e-01 4.17706664e-03 1.54133422e+02] [ 6.86138814e-03 8.43201144e-06 9.99976460e-01 6.95944209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.22, Y:154.12, Z:6.96 [[ 7.93036523e-01 6.09149265e-01 -5.49972990e-03 1.33215677e+02] [-6.09134653e-01 7.93055593e-01 4.21906907e-03 1.54115448e+02] [ 6.93163438e-03 4.20019647e-06 9.99975976e-01 6.95959658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.24, Y:154.10, Z:6.96 [[ 7.93857136e-01 6.08077072e-01 -5.75520543e-03 1.33236614e+02] [-6.08061044e-01 7.93877997e-01 4.41500958e-03 1.54095929e+02] [ 7.25359706e-03 -5.37063337e-06 9.99973692e-01 6.95941120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.25, Y:154.07, Z:6.96 [[ 7.96215649e-01 6.04974100e-01 -6.85409896e-03 1.33253965e+02] [-6.04951297e-01 7.96245149e-01 5.25264511e-03 1.54073180e+02] [ 8.63525729e-03 -3.58421795e-05 9.99962715e-01 6.95792956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.27, Y:154.05, Z:6.96 [[ 7.97739888e-01 6.02958499e-01 -7.21944058e-03 1.33274627e+02] [-6.02933134e-01 7.97772552e-01 5.53093228e-03 1.54052506e+02] [ 9.09439416e-03 -5.94053629e-05 9.99958643e-01 6.95741808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:154.03, Z:6.96 [[ 8.00629090e-01 5.99109660e-01 -7.78942205e-03 1.33292079e+02] [-5.99079961e-01 8.00666974e-01 5.96640884e-03 1.54027765e+02] [ 9.81126615e-03 -1.10393833e-04 9.99951862e-01 6.95710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.31, Y:154.01, Z:6.96 [[ 8.01719010e-01 5.97645544e-01 -8.15061604e-03 1.33313452e+02] [-5.97612960e-01 8.01760429e-01 6.24217325e-03 1.54006690e+02] [ 1.02654484e-02 -1.33555176e-04 9.99947300e-01 6.95712689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.34, Y:153.98, Z:6.96 [[ 8.02812393e-01 5.96174044e-01 -8.29280466e-03 1.33336121e+02] [-5.96140243e-01 8.02855208e-01 6.35024925e-03 1.53984545e+02] [ 1.04437752e-02 -1.54384218e-04 9.99945450e-01 6.95766458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.36, Y:153.96, Z:6.96 [[ 8.04443598e-01 5.93967668e-01 -8.53855875e-03 1.33355647e+02] [-5.93931711e-01 8.04488890e-01 6.53831851e-03 1.53958856e+02] [ 1.07527255e-02 -1.88387665e-04 9.99942170e-01 6.95789359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.38, Y:153.94, Z:6.96 [[ 8.04443593e-01 5.93967704e-01 -8.53646693e-03 1.33379460e+02] [-5.93931718e-01 8.04488862e-01 6.54104846e-03 1.53940606e+02] [ 1.07526641e-02 -1.91826059e-04 9.99942170e-01 6.95829129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:153.92, Z:6.96 [[ 8.04842140e-01 5.93417118e-01 -9.23328550e-03 1.33403411e+02] [-5.93374987e-01 8.04895072e-01 7.07441960e-03 1.53918438e+02] [ 1.16299077e-02 -2.14990345e-04 9.99932347e-01 6.95795342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:153.89, Z:6.96 [[ 8.05499943e-01 5.92500864e-01 -1.06097903e-02 1.33424136e+02] [-5.92445082e-01 8.05569770e-01 8.13451036e-03 1.53894402e+02] [ 1.33666307e-02 -2.66629578e-04 9.99910627e-01 6.95702493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:153.87, Z:6.96 [[ 8.05356819e-01 5.92686008e-01 -1.11216169e-02 1.33446329e+02] [-5.92624663e-01 8.05433559e-01 8.53173773e-03 1.53870913e+02] [ 1.40143651e-02 -2.80148673e-04 9.99901755e-01 6.95678524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.47, Y:153.85, Z:6.96 [[ 8.04856210e-01 5.93353051e-01 -1.17744576e-02 1.33471210e+02] [-5.93284279e-01 8.04942279e-01 9.03832020e-03 1.53850936e+02] [ 1.48406736e-02 -2.88947549e-04 9.99889829e-01 6.95695660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.49, Y:153.83, Z:6.96 [[ 8.03864187e-01 5.94676782e-01 -1.27237678e-02 1.33492642e+02] [-5.94596545e-01 8.03964825e-01 9.77285064e-03 1.53828286e+02] [ 1.60411492e-02 -2.90536235e-04 9.99871290e-01 6.95670644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:153.81, Z:6.96 [[ 8.03168056e-01 5.95605566e-01 -1.32319005e-02 1.33513907e+02] [-5.95518852e-01 8.03276993e-01 1.01670901e-02 1.53809993e+02] [ 1.66844567e-02 -2.86035797e-04 9.99860764e-01 6.95664839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:153.79, Z:6.96 [[ 8.02115494e-01 5.97014830e-01 -1.35656268e-02 1.33537226e+02] [-5.96923918e-01 8.02230156e-01 1.04217222e-02 1.53791291e+02] [ 1.71046776e-02 -2.61777758e-04 9.99853670e-01 6.95720513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.56, Y:153.77, Z:6.96 [[ 8.01002133e-01 5.98502529e-01 -1.37951219e-02 1.33560185e+02] [-5.98408749e-01 8.01120883e-01 1.05971875e-02 1.53772657e+02] [ 1.73940037e-02 -2.33248146e-04 9.99848686e-01 6.95767084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:153.75, Z:6.96 [[ 7.99043957e-01 6.01126921e-01 -1.32355587e-02 1.33581840e+02] [-6.01040970e-01 7.99153550e-01 1.01664000e-02 1.53753666e+02] [ 1.66885404e-02 -1.68287471e-04 9.99860722e-01 6.95930916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.60, Y:153.74, Z:6.96 [[ 7.98357356e-01 6.02044829e-01 -1.29443514e-02 1.33603470e+02] [-6.01962765e-01 7.98462274e-01 9.94111970e-03 1.53735347e+02] [ 1.63205759e-02 -1.44548511e-04 9.99866800e-01 6.96056091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.63, Y:153.71, Z:6.96 [[ 7.97130870e-01 6.03683988e-01 -1.21662930e-02 1.33627060e+02] [-6.03611696e-01 7.97223703e-01 9.34284873e-03 1.53713301e+02] [ 1.53393853e-02 -1.03756418e-04 9.99882339e-01 6.96293087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.65, Y:153.69, Z:6.96 [[ 7.96855016e-01 6.04057814e-01 -1.16722322e-02 1.33650322e+02] [-6.03991241e-01 7.96940492e-01 8.96844623e-03 1.53691339e+02] [ 1.47195345e-02 -9.66253756e-05 9.99891657e-01 6.96399130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54275509600006 meters Centerline goodness [0,1] 0.9999133824166305 Centerline is valid? [True, True] Translation: X:133.67, Y:153.67, Z:6.97 [[ 7.96583045e-01 6.04443848e-01 -1.01531932e-02 1.33673950e+02] [-6.04393455e-01 7.96647744e-01 7.80541208e-03 1.53668108e+02] [ 1.28064517e-02 -8.11354273e-05 9.99917991e-01 6.96779657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57275509600004 meters Centerline goodness [0,1] 0.9999783268313828 Centerline is valid? [True, True] Translation: X:133.70, Y:153.65, Z:6.97 [[ 7.96079051e-01 6.05129094e-01 -8.77065520e-03 1.33699839e+02] [-6.05091492e-01 7.96127361e-01 6.74619119e-03 1.53647111e+02] [ 1.10648751e-02 -6.34526406e-05 9.99938780e-01 6.97037395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.72, Y:153.63, Z:6.97 [[ 7.95619189e-01 6.05748084e-01 -7.70481165e-03 1.33724868e+02] [-6.05719064e-01 7.95656494e-01 5.92961133e-03 1.53627112e+02] [ 9.72223413e-03 -5.07612579e-05 9.99952737e-01 6.97275929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.75, Y:153.61, Z:6.97 [[ 7.95088056e-01 6.06454238e-01 -6.94549327e-03 1.33750618e+02] [-6.06430658e-01 7.95118391e-01 5.34806222e-03 1.53607445e+02] [ 8.76584443e-03 -4.02203384e-05 9.99961578e-01 6.97451199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.78, Y:153.59, Z:6.98 [[ 7.94155169e-01 6.07678758e-01 -6.64040541e-03 1.33777231e+02] [-6.07657225e-01 7.94182930e-01 5.11572754e-03 1.53588623e+02] [ 8.38241558e-03 -2.75911434e-05 9.99964867e-01 6.97559120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:153.57, Z:6.98 [[ 7.93959775e-01 6.07930571e-01 -6.94949735e-03 1.33801400e+02] [-6.07906963e-01 7.93990189e-01 5.35765622e-03 1.53569310e+02] [ 8.77491572e-03 -2.91156990e-05 9.99961499e-01 6.97638626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:153.55, Z:6.98 [[ 7.93781871e-01 6.08157287e-01 -7.41989942e-03 1.33829303e+02] [-6.08130367e-01 7.93816549e-01 5.72226478e-03 1.53550666e+02] [ 9.37007597e-03 -2.99638846e-05 9.99956099e-01 6.97588377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75275509600004 meters Centerline goodness [0,1] 0.9999784171109145 Centerline is valid? [True, True] Translation: X:133.86, Y:153.53, Z:6.98 [[ 7.93694126e-01 6.08267015e-01 -7.80212140e-03 1.33855605e+02] [-6.08237243e-01 7.93732473e-01 6.01812991e-03 1.53530626e+02] [ 9.85342702e-03 -3.10135509e-05 9.99951453e-01 6.97588235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.88, Y:153.51, Z:6.98 [[ 7.93906212e-01 6.07987415e-01 -8.01438209e-03 1.33880642e+02] [-6.07955945e-01 7.93946662e-01 6.18608934e-03 1.53511469e+02] [ 1.01240564e-02 -3.87835169e-05 9.99948750e-01 6.97584342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.91, Y:153.49, Z:6.97 [[ 7.94705837e-01 6.06929266e-01 -8.91621425e-03 1.33906779e+02] [-6.06890196e-01 7.94755851e-01 6.88679458e-03 1.53491905e+02] [ 1.12660106e-02 -6.18128363e-05 9.99936535e-01 6.97477642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.93, Y:153.47, Z:6.97 [[ 7.95354559e-01 6.06075530e-01 -9.14212636e-03 1.33931649e+02] [-6.06034340e-01 7.95407095e-01 7.06626337e-03 1.53471160e+02] [ 1.15544015e-02 -7.97422657e-05 9.99933243e-01 6.97495437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.96, Y:153.45, Z:6.97 [[ 7.97136939e-01 6.03713795e-01 -1.01170460e-02 1.33955630e+02] [-6.03663091e-01 7.97201127e-01 7.82529330e-03 1.53450283e+02] [ 1.27895580e-02 -1.30543083e-04 9.99918202e-01 6.97365956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:153.43, Z:6.97 [[ 7.98331295e-01 6.02120659e-01 -1.08561333e-02 1.33980129e+02] [-6.02062059e-01 7.98405087e-01 8.40209167e-03 1.53430116e+02] [ 1.37266651e-02 -1.71586728e-04 9.99905770e-01 6.97325617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:153.41, Z:6.97 [[ 7.99527710e-01 6.00524660e-01 -1.12059540e-02 1.34002978e+02] [-6.00461992e-01 7.99606208e-01 8.67800128e-03 1.53409005e+02] [ 1.41717042e-02 -2.09553028e-04 9.99899554e-01 6.97254712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:153.39, Z:6.97 [[ 8.02479322e-01 5.96551274e-01 -1.23901425e-02 1.34026840e+02] [-5.96474097e-01 8.02574906e-01 9.60062925e-03 1.53388071e+02] [ 1.56712850e-02 -3.13907411e-04 9.99877149e-01 6.97093284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:153.37, Z:6.97 [[ 8.03647979e-01 5.94968266e-01 -1.27549292e-02 1.34051630e+02] [-5.94886191e-01 8.03749111e-01 9.88871304e-03 1.53367122e+02] [ 1.61352334e-02 -3.59313029e-04 9.99869754e-01 6.97075418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.07, Y:153.35, Z:6.97 [[ 8.05372522e-01 5.92609549e-01 -1.37485384e-02 1.34074268e+02] [-5.92513754e-01 8.05489743e-01 1.06642125e-02 1.53346312e+02] [ 1.73940209e-02 -4.42465609e-04 9.99848615e-01 6.96981922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.10, Y:153.33, Z:6.97 [[ 8.05635343e-01 5.92245301e-01 -1.40427066e-02 1.34101085e+02] [-5.92145265e-01 8.05757588e-01 1.08946991e-02 1.53328093e+02] [ 1.77673518e-02 -4.61832421e-04 9.99842042e-01 6.97028242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.13, Y:153.31, Z:6.97 [[ 8.05635077e-01 5.92234716e-01 -1.44970479e-02 1.34125080e+02] [-5.92127974e-01 8.05765356e-01 1.12540821e-02 1.53307666e+02] [ 1.83462771e-02 -4.82575729e-04 9.99831576e-01 6.96995867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.15, Y:153.29, Z:6.97 [[ 8.04969904e-01 5.93116871e-01 -1.53568011e-02 1.34151403e+02] [-5.92997105e-01 8.05116222e-01 1.19290751e-02 1.53289083e+02] [ 1.94393453e-02 -4.96007850e-04 9.99810915e-01 6.96951861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.18, Y:153.27, Z:6.97 [[ 8.04337527e-01 5.93968312e-01 -1.55816181e-02 1.34176312e+02] [-5.93845037e-01 8.04488288e-01 1.21105473e-02 1.53269899e+02] [ 1.97285106e-02 -4.87901127e-04 9.99805255e-01 6.96913007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.20, Y:153.25, Z:6.97 [[ 8.02482530e-01 5.96468621e-01 -1.57153742e-02 1.34204971e+02] [-5.96343566e-01 8.02636278e-01 1.22211703e-02 1.53254233e+02] [ 1.99032740e-02 -4.35513432e-04 9.99801815e-01 6.96890557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.23, Y:153.24, Z:6.97 [[ 8.01289425e-01 5.98063135e-01 -1.59920037e-02 1.34231621e+02] [-5.97933809e-01 8.01448888e-01 1.24434756e-02 1.53236602e+02] [ 2.02587576e-02 -4.08665712e-04 9.99794687e-01 6.96930017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.26, Y:153.22, Z:6.97 [[ 8.00278030e-01 5.99420478e-01 -1.58166326e-02 1.34257053e+02] [-5.99294102e-01 8.00434226e-01 1.23138258e-02 1.53218898e+02] [ 2.00413334e-02 -3.75669621e-04 9.99799082e-01 6.96989746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.28, Y:153.20, Z:6.97 [[ 7.98246628e-01 6.02132247e-01 -1.54621154e-02 1.34281844e+02] [-6.02011859e-01 7.98396307e-01 1.20440480e-02 1.53200027e+02] [ 1.95970055e-02 -3.05743828e-04 9.99807914e-01 6.96873829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.31, Y:153.19, Z:6.97 [[ 7.97657048e-01 6.02915830e-01 -1.53537035e-02 1.34306925e+02] [-6.02797198e-01 7.97804750e-01 1.19632049e-02 1.53185847e+02] [ 1.94620632e-02 -2.87365304e-04 9.99810555e-01 6.97016230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.33, Y:153.17, Z:6.97 [[ 7.96624899e-01 6.04292232e-01 -1.48212533e-02 1.34334873e+02] [-6.04181934e-01 7.96762725e-01 1.15478158e-02 1.53168616e+02] [ 1.87872775e-02 -2.44544149e-04 9.99823474e-01 6.97122078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.36, Y:153.15, Z:6.97 [[ 7.96176867e-01 6.04883710e-01 -1.47679976e-02 1.34360432e+02] [-6.04774236e-01 7.96313784e-01 1.15100446e-02 1.53148872e+02] [ 1.87221985e-02 -2.32726812e-04 9.99824697e-01 6.97112447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.39, Y:153.13, Z:6.97 [[ 7.95694106e-01 6.05529216e-01 -1.43268286e-02 1.34386813e+02] [-6.05426171e-01 7.95823047e-01 1.11727303e-02 1.53131030e+02] [ 1.81670350e-02 -2.16238667e-04 9.99834942e-01 6.97163244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.41, Y:153.11, Z:6.97 [[ 7.95434433e-01 6.05867198e-01 -1.44568771e-02 1.34411569e+02] [-6.05762240e-01 7.95565769e-01 1.12790387e-02 1.53112513e+02] [ 1.83349961e-02 -2.14305473e-04 9.99831877e-01 6.97136508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.44, Y:153.10, Z:6.97 [[ 7.95263307e-01 6.06087873e-01 -1.46206358e-02 1.34435365e+02] [-6.05980553e-01 7.95397665e-01 1.14071998e-02 1.53095472e+02] [ 1.85429851e-02 -2.11906464e-04 9.99828042e-01 6.97097673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:153.08, Z:6.97 [[ 7.95490290e-01 6.05788380e-01 -1.46845825e-02 1.34457780e+02] [-6.05680093e-01 7.95625785e-01 1.14557839e-02 1.53078115e+02] [ 1.86232133e-02 -2.18805518e-04 9.99826549e-01 6.97096578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.48, Y:153.06, Z:6.97 [[ 7.95561428e-01 6.05688010e-01 -1.49682759e-02 1.34483766e+02] [-6.05575467e-01 7.95702195e-01 1.16777635e-02 1.53058329e+02] [ 1.89833713e-02 -2.25957593e-04 9.99819774e-01 6.97141015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.51, Y:153.04, Z:6.97 [[ 7.96343297e-01 6.04653853e-01 -1.52010691e-02 1.34507842e+02] [-6.04537484e-01 7.96488325e-01 1.18650540e-02 1.53038249e+02] [ 1.92817246e-02 -2.59040178e-04 9.99814057e-01 6.97094265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.53, Y:153.02, Z:6.97 [[ 7.96897728e-01 6.03910973e-01 -1.56699923e-02 1.34530891e+02] [-6.03787153e-01 7.97051727e-01 1.22319081e-02 1.53019015e+02] [ 1.98767779e-02 -2.86239747e-04 9.99802396e-01 6.97033382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.55, Y:153.00, Z:6.97 [[ 7.98096371e-01 6.02318652e-01 -1.59507128e-02 1.34554248e+02] [-6.02190030e-01 7.98255681e-01 1.24513680e-02 1.52999015e+02] [ 2.02324383e-02 -3.32031429e-04 9.99795248e-01 6.96984265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.58, Y:152.98, Z:6.97 [[ 7.98775577e-01 6.01412211e-01 -1.61533394e-02 1.34575542e+02] [-6.01280113e-01 7.98938811e-01 1.26096123e-02 1.52980484e+02] [ 2.04891045e-02 -3.59568555e-04 9.99790012e-01 6.96969653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.60, Y:152.96, Z:6.97 [[ 7.99445726e-01 6.00527506e-01 -1.59137328e-02 1.34598570e+02] [-6.00399127e-01 7.99604010e-01 1.24223612e-02 1.52961971e+02] [ 2.01846542e-02 -3.76412316e-04 9.99796198e-01 6.97049713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68275509600005 meters Centerline goodness [0,1] 0.999956861222553 Centerline is valid? [True, True] Translation: X:134.62, Y:152.94, Z:6.97 [[ 8.00665181e-01 5.98913920e-01 -1.54073028e-02 1.34620983e+02] [-5.98793302e-01 8.00813308e-01 1.20261170e-02 1.52942116e+02] [ 1.95409820e-02 -4.03103476e-04 9.99808976e-01 6.97079249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:152.92, Z:6.97 [[ 8.01288541e-01 5.98081932e-01 -1.53191593e-02 1.34644066e+02] [-5.97962556e-01 8.01434854e-01 1.19563886e-02 1.52923589e+02] [ 1.94282082e-02 -4.20233493e-04 9.99811166e-01 6.97190162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:152.90, Z:6.97 [[ 8.02456865e-01 5.96521464e-01 -1.50040945e-02 1.34667490e+02] [-5.96406688e-01 8.02596998e-01 1.17098636e-02 1.52904277e+02] [ 1.90274262e-02 -4.48118149e-04 9.99818862e-01 6.97223480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.69, Y:152.89, Z:6.97 [[ 8.02821700e-01 5.96034062e-01 -1.48565124e-02 1.34689167e+02] [-5.95921455e-01 8.02959022e-01 1.15943720e-02 1.52885757e+02] [ 1.88398112e-02 -4.54898940e-04 9.99822412e-01 6.97259470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.72, Y:152.87, Z:6.97 [[ 8.02914539e-01 5.95918318e-01 -1.44775785e-02 1.34716271e+02] [-5.95811340e-01 8.03044929e-01 1.12999663e-02 1.52866843e+02] [ 1.83600029e-02 -4.47001776e-04 9.99831341e-01 6.97418639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:152.85, Z:6.98 [[ 8.02790012e-01 5.96104860e-01 -1.36818670e-02 1.34742682e+02] [-5.96009230e-01 8.02906481e-01 1.06855324e-02 1.52846914e+02] [ 1.73549575e-02 -4.23719662e-04 9.99849302e-01 6.97606584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:152.83, Z:6.98 [[ 8.02423505e-01 5.96604449e-01 -1.34033286e-02 1.34768492e+02] [-5.96512629e-01 8.02535335e-01 1.04747549e-02 1.52826670e+02] [ 1.70059302e-02 -4.09934807e-04 9.99855305e-01 6.97708619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.79, Y:152.81, Z:6.98 [[ 8.02021313e-01 5.97148165e-01 -1.32620559e-02 1.34794299e+02] [-5.97058248e-01 8.02130856e-01 1.03700535e-02 1.52806723e+02] [ 1.68303626e-02 -3.98784067e-04 9.99858280e-01 6.97781733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.82, Y:152.79, Z:6.98 [[ 8.00681717e-01 5.98941652e-01 -1.33299015e-02 1.34821503e+02] [-5.98851020e-01 8.00792585e-01 1.04254883e-02 1.52788663e+02] [ 1.69187455e-02 -3.64872762e-04 9.99856801e-01 6.97847610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.85, Y:152.77, Z:6.98 [[ 7.99511834e-01 6.00499348e-01 -1.34670064e-02 1.34846245e+02] [-6.00406996e-01 7.99625174e-01 1.05365949e-02 1.52770222e+02] [ 1.70957757e-02 -3.38447504e-04 9.99853799e-01 6.97889611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.87, Y:152.75, Z:6.98 [[ 7.97462538e-01 6.03232125e-01 -1.28258781e-02 1.34873079e+02] [-6.03148627e-01 7.97565627e-01 1.00401214e-02 1.52752534e+02] [ 1.62860032e-02 -2.70709916e-04 9.99867338e-01 6.98017896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.90, Y:152.73, Z:6.98 [[ 7.96295916e-01 6.04771417e-01 -1.28197814e-02 1.34897160e+02] [-6.04688121e-01 7.96399067e-01 1.00400393e-02 1.52734208e+02] [ 1.62815907e-02 -2.42872749e-04 9.99867417e-01 6.98109935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:152.72, Z:6.98 [[ 7.95253956e-01 6.06156558e-01 -1.20570476e-02 1.34922663e+02] [-6.06083034e-01 7.95345325e-01 9.44299783e-03 1.52717256e+02] [ 1.53134515e-02 -2.02009391e-04 9.99882722e-01 6.98209042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.95, Y:152.70, Z:6.98 [[ 7.95230320e-01 6.06187568e-01 -1.20569974e-02 1.34946905e+02] [-6.06114046e-01 7.95321691e-01 9.44306198e-03 1.52698217e+02] [ 1.53134583e-02 -2.01493729e-04 9.99882722e-01 6.98249813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:152.68, Z:6.98 [[ 7.93312791e-01 6.08713830e-01 -1.10583989e-02 1.34970582e+02] [-6.08652221e-01 7.93389850e-01 8.66145783e-03 1.52682842e+02] [ 1.40459706e-02 -1.40526244e-04 9.99901341e-01 6.98370110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.99, Y:152.67, Z:6.98 [[ 7.92397389e-01 6.09903441e-01 -1.11431729e-02 1.34993640e+02] [-6.09841026e-01 7.92475727e-01 8.72612896e-03 1.52666214e+02] [ 1.41527901e-02 -1.18997817e-04 9.99899837e-01 6.98437364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16275509600007 meters Centerline goodness [0,1] 0.9999784969358133 Centerline is valid? [True, True] Translation: X:135.02, Y:152.65, Z:6.99 [[ 7.91594541e-01 6.10952659e-01 -1.07205831e-02 1.35015857e+02] [-6.10895002e-01 7.91667126e-01 8.39391209e-03 1.52649743e+02] [ 1.36154162e-02 -9.54243369e-05 9.99907301e-01 6.98511977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.04, Y:152.63, Z:6.99 [[ 7.90647642e-01 6.12179014e-01 -1.06377142e-02 1.35039150e+02] [-6.12122378e-01 7.90719197e-01 8.32741903e-03 1.52631922e+02] [ 1.35093160e-02 -7.24713274e-05 9.99908742e-01 6.98590331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.06, Y:152.61, Z:6.99 [[ 7.90483424e-01 6.12389830e-01 -1.07075533e-02 1.35061946e+02] [-6.12332480e-01 7.90555938e-01 8.38109240e-03 1.52613950e+02] [ 1.35974156e-02 -6.85319277e-05 9.99907549e-01 6.98632249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:152.59, Z:6.99 [[ 7.90193601e-01 6.12768381e-01 -1.04395683e-02 1.35087026e+02] [-6.12713915e-01 7.90262556e-01 8.17007644e-03 1.52593102e+02] [ 1.32563644e-02 -5.94733773e-05 9.99912129e-01 6.98728819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.11, Y:152.57, Z:6.99 [[ 7.90220529e-01 6.12734952e-01 -1.03630715e-02 1.35112694e+02] [-6.12681209e-01 7.90288475e-01 8.11556318e-03 1.52571897e+02] [ 1.31625052e-02 -6.38254362e-05 9.99913368e-01 6.98831295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.14, Y:152.55, Z:6.99 [[ 7.90241694e-01 6.12713112e-01 -1.00353587e-02 1.35136910e+02] [-6.12662647e-01 7.90305408e-01 7.86401995e-03 1.52551429e+02] [ 1.27493864e-02 -6.61870334e-05 9.99918721e-01 6.98903640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.16, Y:152.53, Z:6.99 [[ 7.90843069e-01 6.11945518e-01 -9.48286016e-03 1.35159500e+02] [-6.11900363e-01 7.90899916e-01 7.43428342e-03 1.52532508e+02] [ 1.20493697e-02 -7.67859398e-05 9.99927401e-01 6.99021415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.18, Y:152.51, Z:6.99 [[ 7.91271877e-01 6.11400571e-01 -8.84076450e-03 1.35181329e+02] [-6.11361295e-01 7.91321260e-01 6.93043769e-03 1.52513641e+02] [ 1.12331585e-02 -7.89592071e-05 9.99936903e-01 6.99127805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.21, Y:152.49, Z:6.99 [[ 7.92263055e-01 6.10115866e-01 -8.82508936e-03 1.35205280e+02] [-6.10076668e-01 7.92312199e-01 6.91648482e-03 1.52491912e+02] [ 1.12120831e-02 -9.56942836e-05 9.99937138e-01 6.99247648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:152.47, Z:6.99 [[ 7.92631027e-01 6.09640173e-01 -8.65536282e-03 1.35230027e+02] [-6.09602400e-01 7.92678276e-01 6.78706959e-03 1.52470605e+02] [ 1.09985884e-02 -1.03311985e-04 9.99939508e-01 6.99291453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.25, Y:152.45, Z:6.99 [[ 7.93910170e-01 6.07977804e-01 -8.34456360e-03 1.35252201e+02] [-6.07942558e-01 7.93954013e-01 6.54762039e-03 1.52448836e+02] [ 1.06060076e-02 -1.25207076e-04 9.99943747e-01 6.99335056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.28, Y:152.43, Z:6.99 [[ 7.94544000e-01 6.07143017e-01 -8.78566897e-03 1.35276350e+02] [-6.07103854e-01 7.94592559e-01 6.89751441e-03 1.52427931e+02] [ 1.11688049e-02 -1.46565203e-04 9.99937616e-01 6.99378945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.30, Y:152.41, Z:6.99 [[ 7.94909718e-01 6.06664104e-01 -8.78670757e-03 1.35299815e+02] [-6.06624858e-01 7.94958264e-01 6.90223292e-03 1.52407284e+02] [ 1.11724027e-02 -1.56416794e-04 9.99937575e-01 6.99406464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.32, Y:152.39, Z:7.00 [[ 7.96034042e-01 6.05191970e-01 -8.51371980e-03 1.35323187e+02] [-6.05155006e-01 7.96079549e-01 6.69104598e-03 1.52385689e+02] [ 1.08269655e-02 -1.74180214e-04 9.99941372e-01 6.99500485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.35, Y:152.37, Z:7.00 [[ 7.96652663e-01 6.04375850e-01 -8.62364782e-03 1.35345656e+02] [-6.04337828e-01 7.96699313e-01 6.78191502e-03 1.52365871e+02] [ 1.09692799e-02 -1.91234065e-04 9.99939817e-01 6.99562036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.37, Y:152.34, Z:7.00 [[ 7.97992179e-01 6.02605324e-01 -8.67790714e-03 1.35368741e+02] [-6.02566721e-01 7.98039333e-01 6.82416885e-03 1.52343797e+02] [ 1.10375917e-02 -2.16615318e-04 9.99939060e-01 6.99650241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.39, Y:152.32, Z:7.00 [[ 7.98575576e-01 6.01830754e-01 -8.76315639e-03 1.35391736e+02] [-6.01791300e-01 7.98623622e-01 6.89506073e-03 1.52322513e+02] [ 1.11481233e-02 -2.32635826e-04 9.99937831e-01 6.99688977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.41, Y:152.30, Z:7.00 [[ 7.99404910e-01 6.00728328e-01 -8.79011753e-03 1.35413716e+02] [-6.00688517e-01 7.99453196e-01 6.92048453e-03 1.52302750e+02] [ 1.11846187e-02 -2.52146650e-04 9.99937418e-01 6.99732665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:152.28, Z:7.00 [[ 8.00783711e-01 5.98887508e-01 -8.89952256e-03 1.35438801e+02] [-5.98846601e-01 8.00833113e-01 7.00532053e-03 1.52282865e+02] [ 1.13224313e-02 -2.80297740e-04 9.99935860e-01 6.99773750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.46, Y:152.26, Z:7.00 [[ 8.01210116e-01 5.98316740e-01 -8.91233554e-03 1.35459830e+02] [-5.98275633e-01 8.01259629e-01 7.01948970e-03 1.52259254e+02] [ 1.13409729e-02 -2.92052963e-04 9.99935646e-01 6.99894279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.49, Y:152.24, Z:7.00 [[ 8.01903512e-01 5.97395438e-01 -8.33354675e-03 1.35487210e+02] [-5.97359415e-01 8.01946761e-01 6.56674691e-03 1.52241442e+02] [ 1.06060055e-02 -2.87774802e-04 9.99943713e-01 7.00039306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.51, Y:152.22, Z:7.00 [[ 8.01731132e-01 5.97631782e-01 -7.96529430e-03 1.35512772e+02] [-5.97598851e-01 8.01770652e-01 6.27977471e-03 1.52220930e+02] [ 1.01393322e-02 -2.74640161e-04 9.99948558e-01 7.00111083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.54, Y:152.20, Z:7.00 [[ 8.01380268e-01 5.98108207e-01 -7.49928326e-03 1.35538121e+02] [-5.98079003e-01 8.01415315e-01 5.91598144e-03 1.52200807e+02] [ 9.54843751e-03 -2.55786937e-04 9.99954380e-01 7.00234833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.56, Y:152.18, Z:7.00 [[ 8.00926997e-01 5.98713978e-01 -7.58402264e-03 1.35564467e+02] [-5.98684102e-01 8.00962863e-01 5.98657381e-03 1.52181657e+02] [ 9.65876591e-03 -2.54374810e-04 9.99953321e-01 7.00271125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.59, Y:152.16, Z:7.00 [[ 7.99649332e-01 6.00419477e-01 -7.57610656e-03 1.35590827e+02] [-6.00389706e-01 7.99685186e-01 5.98368200e-03 1.52163655e+02] [ 9.65121940e-03 -2.36230923e-04 9.99953398e-01 7.00319787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:152.15, Z:7.00 [[ 7.98636475e-01 6.01765237e-01 -7.64068189e-03 1.35616897e+02] [-6.01734985e-01 7.98672992e-01 6.03810251e-03 1.52145096e+02] [ 9.73592646e-03 -2.24583301e-04 9.99952580e-01 7.00388972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94275509600004 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:135.65, Y:152.13, Z:7.00 [[ 7.96228048e-01 6.04945575e-01 -7.85788662e-03 1.35645061e+02] [-6.04913690e-01 7.96266798e-01 6.21406686e-03 1.52128055e+02] [ 1.00161465e-02 -1.94471139e-04 9.99949818e-01 7.00453132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.67, Y:152.11, Z:7.01 [[ 7.94811460e-01 6.06802872e-01 -8.06332924e-03 1.35671558e+02] [-6.06769386e-01 7.94852341e-01 6.37720021e-03 1.52109760e+02] [ 1.02788595e-02 -1.76090480e-04 9.99947156e-01 7.00508255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:152.09, Z:7.01 [[ 7.93209579e-01 6.08893260e-01 -8.21958506e-03 1.35697213e+02] [-6.08858533e-01 7.93252150e-01 6.50488629e-03 1.52091583e+02] [ 1.04809849e-02 -1.55173613e-04 9.99945061e-01 7.00565014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.72, Y:152.07, Z:7.01 [[ 7.91608932e-01 6.10973688e-01 -8.15181127e-03 1.35724732e+02] [-6.10939624e-01 7.91650893e-01 6.45282043e-03 1.52074430e+02] [ 1.03958922e-02 -1.27845775e-04 9.99945953e-01 7.00603354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.75, Y:152.06, Z:7.01 [[ 7.89008979e-01 6.14326737e-01 -8.21536384e-03 1.35751252e+02] [-6.14292281e-01 7.89051743e-01 6.50696042e-03 1.52057722e+02] [ 1.04797469e-02 -8.74156001e-05 9.99945082e-01 7.00713633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.78, Y:152.04, Z:7.01 [[ 7.88088353e-01 6.15512588e-01 -7.81037224e-03 1.35776948e+02] [-6.15481465e-01 7.88127051e-01 6.19013540e-03 1.52040398e+02] [ 9.96567191e-03 -7.12342611e-05 9.99950339e-01 7.00776446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.80, Y:152.02, Z:7.01 [[ 7.87387274e-01 6.16406064e-01 -8.05268362e-03 1.35800007e+02] [-6.16373017e-01 7.87428448e-01 6.38307938e-03 1.52023780e+02] [ 1.02754810e-02 -6.24985775e-05 9.99947204e-01 7.00863563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.82, Y:152.01, Z:7.01 [[ 7.87143388e-01 6.16719319e-01 -7.91002952e-03 1.35824211e+02] [-6.16687455e-01 7.87183129e-01 6.26934554e-03 1.52007339e+02] [ 1.00930683e-02 -5.68579191e-05 9.99949062e-01 7.00909173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.85, Y:151.99, Z:7.01 [[ 7.87445137e-01 6.16332123e-01 -8.05421725e-03 1.35848025e+02] [-6.16299080e-01 7.87486324e-01 6.38230259e-03 1.51989017e+02] [ 1.02762040e-02 -6.19064535e-05 9.99947197e-01 7.00942394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.87, Y:151.97, Z:7.01 [[ 7.89328057e-01 6.13917510e-01 -8.15529514e-03 1.35869524e+02] [-6.13883502e-01 7.89370181e-01 6.46256785e-03 1.51969601e+02] [ 1.04050304e-02 -9.46849946e-05 9.99945862e-01 7.00975054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.89, Y:151.95, Z:7.01 [[ 7.90493196e-01 6.12413718e-01 -8.36335926e-03 1.35891596e+02] [-6.12377874e-01 7.90537428e-01 6.62687808e-03 1.51950437e+02] [ 1.06699396e-02 -1.16965869e-04 9.99943068e-01 7.01019806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.91, Y:151.93, Z:7.01 [[ 7.93311184e-01 6.08756381e-01 -8.54595569e-03 1.35910921e+02] [-6.08718752e-01 7.93357196e-01 6.77059018e-03 1.51930735e+02] [ 1.09016354e-02 -1.69101425e-04 9.99940561e-01 7.01042078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.93, Y:151.91, Z:7.01 [[ 7.94656258e-01 6.06999072e-01 -8.57659752e-03 1.35933553e+02] [-6.06961090e-01 7.94702516e-01 6.79306998e-03 1.51911976e+02] [ 1.09392308e-02 -1.92494594e-04 9.99940146e-01 7.01044517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:151.89, Z:7.01 [[ 7.95963515e-01 6.05283588e-01 -8.59429571e-03 1.35954781e+02] [-6.05245354e-01 7.96009882e-01 6.80660903e-03 1.51892286e+02] [ 1.09610730e-02 -2.16154896e-04 9.99939902e-01 7.01075553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.98, Y:151.87, Z:7.01 [[ 7.97823242e-01 6.02825176e-01 -8.93767192e-03 1.35977561e+02] [-6.02783682e-01 7.97873260e-01 7.07765676e-03 1.51873648e+02] [ 1.13977191e-02 -2.59236273e-04 9.99935010e-01 7.01065544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.00, Y:151.85, Z:7.01 [[ 7.98407225e-01 6.02053306e-01 -8.81585241e-03 1.36003564e+02] [-6.02012903e-01 7.98455851e-01 6.97988087e-03 1.51854516e+02] [ 1.12413293e-02 -2.65530422e-04 9.99936779e-01 7.01109415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.03, Y:151.83, Z:7.01 [[ 7.99182011e-01 6.01019778e-01 -9.12912737e-03 1.36027300e+02] [-6.00976335e-01 7.99234096e-01 7.23215537e-03 1.51833892e+02] [ 1.16429783e-02 -2.93418963e-04 9.99932175e-01 7.01119820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.05, Y:151.81, Z:7.01 [[ 7.99362854e-01 6.00779075e-01 -9.13946900e-03 1.36052800e+02] [-6.00735475e-01 7.99415044e-01 7.24404063e-03 1.51813731e+02] [ 1.16582970e-02 -3.00213744e-04 9.99931995e-01 7.01144981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:151.79, Z:7.01 [[ 7.99573284e-01 6.00489344e-01 -9.75246310e-03 1.36079350e+02] [-6.00439621e-01 7.99632690e-01 7.73445823e-03 1.51794910e+02] [ 1.24428481e-02 -3.28500917e-04 9.99922531e-01 7.01135525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.10, Y:151.77, Z:7.01 [[ 7.99435985e-01 6.00665727e-01 -1.01385287e-02 1.36104017e+02] [-6.00611943e-01 7.99500198e-01 8.04532051e-03 1.51774915e+02] [ 1.29383040e-02 -3.42397302e-04 9.99916238e-01 7.01113878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.13, Y:151.76, Z:7.01 [[ 7.99471495e-01 6.00613568e-01 -1.04245345e-02 1.36128094e+02] [-6.00556635e-01 7.99539376e-01 8.27731513e-03 1.51757036e+02] [ 1.33062936e-02 -3.56954128e-04 9.99911404e-01 7.01149391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:151.74, Z:7.01 [[ 7.99398179e-01 6.00709115e-01 -1.05409226e-02 1.36154004e+02] [-6.00650916e-01 7.99467592e-01 8.36941903e-03 1.51739327e+02] [ 1.34547123e-02 -3.59083501e-04 9.99909417e-01 7.01211212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:151.72, Z:7.01 [[ 7.99055009e-01 6.01174842e-01 -9.99511799e-03 1.36181127e+02] [-6.01122545e-01 7.99117450e-01 7.93649547e-03 1.51720200e+02] [ 1.27584946e-02 -3.33405693e-04 9.99918552e-01 7.01353969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:151.70, Z:7.01 [[ 7.98754867e-01 6.01578653e-01 -9.68440122e-03 1.36207419e+02] [-6.01529527e-01 7.98813509e-01 7.69455237e-03 1.51700962e+02] [ 1.23649090e-02 -3.20607868e-04 9.99923500e-01 7.01459393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.23, Y:151.68, Z:7.02 [[ 7.98371615e-01 6.02093051e-01 -9.31244193e-03 1.36229980e+02] [-6.02047605e-01 7.98425867e-01 7.40385279e-03 1.51680008e+02] [ 1.18931028e-02 -3.04492553e-04 9.99929228e-01 7.01546602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.26, Y:151.66, Z:7.02 [[ 7.97698486e-01 6.02991526e-01 -8.85129000e-03 1.36259032e+02] [-6.02950503e-01 7.97747543e-01 7.03900953e-03 1.51664814e+02] [ 1.13055579e-02 -2.78117489e-04 9.99936051e-01 7.01589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.28, Y:151.65, Z:7.02 [[ 7.97308213e-01 6.03509383e-01 -8.71995754e-03 1.36282516e+02] [-6.03469553e-01 7.97355850e-01 6.93886607e-03 1.51645411e+02] [ 1.11405799e-02 -2.70186031e-04 9.99937905e-01 7.01707775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:151.63, Z:7.02 [[ 7.96661556e-01 6.04366146e-01 -8.48100826e-03 1.36307657e+02] [-6.04328497e-01 7.96706657e-01 6.75051404e-03 1.51629024e+02] [ 1.08366579e-02 -2.52560036e-04 9.99941250e-01 7.01765830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.33, Y:151.61, Z:7.02 [[ 7.96316989e-01 6.04823544e-01 -8.23011645e-03 1.36331700e+02] [-6.04788119e-01 7.96359482e-01 6.55031665e-03 1.51611278e+02] [ 1.05159170e-02 -2.38651777e-04 9.99944678e-01 7.01832769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.36, Y:151.59, Z:7.02 [[ 7.95799442e-01 6.05505426e-01 -8.15035499e-03 1.36358333e+02] [-6.05470737e-01 7.95841145e-01 6.48517886e-03 1.51592976e+02] [ 1.04131988e-02 -2.26100276e-04 9.99945756e-01 7.01891614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:151.57, Z:7.02 [[ 7.95514673e-01 6.05879016e-01 -8.18677529e-03 1.36383199e+02] [-6.05843988e-01 7.95556766e-01 6.51885589e-03 1.51574829e+02] [ 1.04626825e-02 -2.25936922e-04 9.99945239e-01 7.01952277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:151.56, Z:7.02 [[ 7.95185540e-01 6.06313904e-01 -7.96280689e-03 1.36408759e+02] [-6.06280787e-01 7.95225379e-01 6.34061115e-03 1.51555870e+02] [ 1.01766268e-02 -2.14265469e-04 9.99948194e-01 7.01989432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.43, Y:151.54, Z:7.02 [[ 7.94864869e-01 6.06735333e-01 -7.87888832e-03 1.36433941e+02] [-6.06702922e-01 7.94903889e-01 6.27462298e-03 1.51537273e+02] [ 1.00699944e-02 -2.07332809e-04 9.99949275e-01 7.02037998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.46, Y:151.52, Z:7.02 [[ 7.94423832e-01 6.07312187e-01 -7.91724955e-03 1.36457502e+02] [-6.07279481e-01 7.94463257e-01 6.30593070e-03 1.51519308e+02] [ 1.01196324e-02 -2.01598429e-04 9.99948775e-01 7.02103998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.48, Y:151.50, Z:7.02 [[ 7.94471050e-01 6.07250416e-01 -7.91726195e-03 1.36479732e+02] [-6.07217707e-01 7.94510473e-01 6.30591515e-03 1.51501710e+02] [ 1.01196171e-02 -2.02365389e-04 9.99948775e-01 7.02141492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:151.48, Z:7.02 [[ 7.94408651e-01 6.07335157e-01 -7.67485898e-03 1.36502593e+02] [-6.07304433e-01 7.94445700e-01 6.11191503e-03 1.51484620e+02] [ 9.80923959e-03 -1.94382285e-04 9.99951869e-01 7.02161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.52, Y:151.47, Z:7.02 [[ 7.94573975e-01 6.07122952e-01 -7.34296536e-03 1.36523651e+02] [-6.07094827e-01 7.94607882e-01 5.84681740e-03 1.51466913e+02] [ 9.38451519e-03 -1.87852655e-04 9.99955947e-01 7.02204312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.55, Y:151.45, Z:7.02 [[ 7.95006999e-01 6.06550731e-01 -7.75127878e-03 1.36545682e+02] [-6.06519378e-01 7.95044759e-01 6.17052248e-03 1.51448300e+02] [ 9.90534849e-03 -2.04307775e-04 9.99950920e-01 7.02210838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.57, Y:151.43, Z:7.02 [[ 7.95381218e-01 6.06056485e-01 -8.01589066e-03 1.36569417e+02] [-6.06022942e-01 7.95421580e-01 6.37999411e-03 1.51430507e+02] [ 1.02426492e-02 -2.16713850e-04 9.99947519e-01 7.02189245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.59, Y:151.41, Z:7.02 [[ 7.96069667e-01 6.05153641e-01 -7.88395447e-03 1.36591064e+02] [-6.05121153e-01 7.96108674e-01 6.27451876e-03 1.51411664e+02] [ 1.00735324e-02 -2.24206445e-04 9.99949236e-01 7.02208888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.62, Y:151.39, Z:7.02 [[ 7.96983913e-01 6.03950562e-01 -7.76928526e-03 1.36615874e+02] [-6.03918975e-01 7.97021746e-01 6.18128575e-03 1.51391424e+02] [ 9.92548031e-03 -2.34366512e-04 9.99950714e-01 7.02215093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:151.37, Z:7.02 [[ 7.97539090e-01 6.03219907e-01 -7.55933257e-03 1.36639075e+02] [-6.03189938e-01 7.97574878e-01 6.01768241e-03 1.51370615e+02] [ 9.65911957e-03 -2.39623615e-04 9.99953321e-01 7.02284963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:151.35, Z:7.02 [[ 7.97749004e-01 6.02943155e-01 -7.48852001e-03 1.36662533e+02] [-6.02913690e-01 7.97784114e-01 5.96582103e-03 1.51352402e+02] [ 9.57127325e-03 -2.44296556e-04 9.99954164e-01 7.02314475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:151.33, Z:7.02 [[ 7.97744619e-01 6.02948030e-01 -7.56279254e-03 1.36686250e+02] [-6.02917984e-01 7.97780428e-01 6.02432824e-03 1.51333901e+02] [ 9.66580472e-03 -2.46131804e-04 9.99953255e-01 7.02351413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.71, Y:151.32, Z:7.02 [[ 7.97284279e-01 6.03552884e-01 -7.85459016e-03 1.36708941e+02] [-6.03520500e-01 7.97322930e-01 6.25708342e-03 1.51316937e+02] [ 1.00391256e-02 -2.48268060e-04 9.99949576e-01 7.02308763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.73, Y:151.30, Z:7.02 [[ 7.96899091e-01 6.04058050e-01 -8.10625088e-03 1.36731684e+02] [-6.04023595e-01 7.96940280e-01 6.45655254e-03 1.51300046e+02] [ 1.03603304e-02 -2.48854054e-04 9.99946299e-01 7.02285447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:151.28, Z:7.02 [[ 7.95338554e-01 6.06106792e-01 -8.43454206e-03 1.36756284e+02] [-6.06069619e-01 7.95383243e-01 6.71658737e-03 1.51284526e+02] [ 1.07796626e-02 -2.30041196e-04 9.99941871e-01 7.02207166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.78, Y:151.27, Z:7.02 [[ 7.94375382e-01 6.07360656e-01 -8.98808480e-03 1.36779526e+02] [-6.07318538e-01 7.94426197e-01 7.15618829e-03 1.51267892e+02] [ 1.14867572e-02 -2.26069287e-04 9.99933999e-01 7.02148409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.80, Y:151.25, Z:7.02 [[ 7.93564226e-01 6.08413978e-01 -9.39421848e-03 1.36802251e+02] [-6.08368055e-01 7.93619798e-01 7.47836058e-03 1.51251302e+02] [ 1.20053769e-02 -2.19416991e-04 9.99927909e-01 7.02118516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:151.24, Z:7.02 [[ 7.92164278e-01 6.10234466e-01 -9.46854423e-03 1.36826096e+02] [-6.10187961e-01 7.92220840e-01 7.53604505e-03 1.51235221e+02] [ 1.20999325e-02 -1.92193980e-04 9.99926775e-01 7.02113641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.85, Y:151.22, Z:7.02 [[ 7.91494678e-01 6.11100318e-01 -9.62161850e-03 1.36849269e+02] [-6.11052377e-01 7.91553137e-01 7.65669115e-03 1.51217467e+02] [ 1.22950287e-02 -1.80917451e-04 9.99924397e-01 7.02143931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.87, Y:151.20, Z:7.02 [[ 7.90314737e-01 6.12627889e-01 -9.47029505e-03 1.36871322e+02] [-6.12581566e-01 7.90371461e-01 7.53523992e-03 1.51201025e+02] [ 1.21013491e-02 -1.53882984e-04 9.99926764e-01 7.02212661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.90, Y:151.18, Z:7.02 [[ 7.89894048e-01 6.13177920e-01 -8.95719561e-03 1.36895364e+02] [-6.13136538e-01 7.89944821e-01 7.12498917e-03 1.51184791e+02] [ 1.14445763e-02 -1.36002624e-04 9.99934499e-01 7.02264923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:151.17, Z:7.02 [[ 7.89400233e-01 6.13814189e-01 -8.91147708e-03 1.36916434e+02] [-6.13773281e-01 7.89450522e-01 7.08759855e-03 1.51167048e+02] [ 1.13856388e-02 -1.25325418e-04 9.99935174e-01 7.02358943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.94, Y:151.15, Z:7.02 [[ 7.88846576e-01 6.14535439e-01 -8.20210037e-03 1.36938951e+02] [-6.14500834e-01 7.88889208e-01 6.52244074e-03 1.51150780e+02] [ 1.04788194e-02 -1.05007525e-04 9.99945090e-01 7.02420157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.96, Y:151.13, Z:7.02 [[ 7.88766423e-01 6.14644532e-01 -7.72207119e-03 1.36961806e+02] [-6.14613904e-01 7.88804216e-01 6.13662105e-03 1.51134747e+02] [ 9.86304289e-03 -9.42683134e-05 9.99951355e-01 7.02454668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:151.12, Z:7.03 [[ 7.88646170e-01 6.14800380e-01 -7.59680129e-03 1.36983510e+02] [-6.14770759e-01 7.88682753e-01 6.03565752e-03 1.51117271e+02] [ 9.70219069e-03 -8.97068876e-05 9.99952929e-01 7.02508969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.00, Y:151.10, Z:7.03 [[ 7.89283743e-01 6.13986366e-01 -7.20517290e-03 1.37003916e+02] [-6.13959699e-01 7.89316624e-01 5.72314800e-03 1.51098648e+02] [ 9.20109759e-03 -9.35018945e-05 9.99957665e-01 7.02548305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.03, Y:151.08, Z:7.03 [[ 7.89583770e-01 6.13596882e-01 -7.50573023e-03 1.37025492e+02] [-6.13567939e-01 7.89619437e-01 5.96055460e-03 1.51080041e+02] [ 9.58404820e-03 -1.01081749e-04 9.99954067e-01 7.02543752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.05, Y:151.06, Z:7.03 [[ 7.90690771e-01 6.12174520e-01 -7.10365771e-03 1.37045931e+02] [-6.12148544e-01 7.90722672e-01 5.64054430e-03 1.51060249e+02] [ 9.07002071e-03 -1.11432599e-04 9.99958860e-01 7.02576151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.07, Y:151.04, Z:7.03 [[ 7.91359939e-01 6.11306703e-01 -7.31855235e-03 1.37067610e+02] [-6.11279106e-01 7.91393770e-01 5.80991493e-03 1.51041091e+02] [ 9.34349668e-03 -1.24055784e-04 9.99956341e-01 7.02566665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.09, Y:151.02, Z:7.03 [[ 7.92008622e-01 6.10465502e-01 -7.36293669e-03 1.37088883e+02] [-6.10437542e-01 7.92042835e-01 5.84424641e-03 1.51021969e+02] [ 9.39947207e-03 -1.34080573e-04 9.99955815e-01 7.02563671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:151.00, Z:7.03 [[ 7.92748890e-01 6.09509008e-01 -6.92577253e-03 1.37110691e+02] [-6.09484240e-01 7.92779131e-01 5.49650743e-03 1.51002468e+02] [ 8.84077872e-03 -1.36200962e-04 9.99960910e-01 7.02625604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.13, Y:150.98, Z:7.03 [[ 7.92914008e-01 6.09294212e-01 -6.92384612e-03 1.37131841e+02] [-6.09269455e-01 7.92944225e-01 5.49421242e-03 1.50983916e+02] [ 8.83781563e-03 -1.37950040e-04 9.99960936e-01 7.02652667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.16, Y:150.96, Z:7.03 [[ 7.92681610e-01 6.09593125e-01 -7.21718092e-03 1.37155934e+02] [-6.09566256e-01 7.92714452e-01 5.72510202e-03 1.50963971e+02] [ 9.21114645e-03 -1.38833138e-04 9.99957567e-01 7.02596865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.18, Y:150.94, Z:7.03 [[ 7.92207668e-01 6.10204387e-01 -7.59056629e-03 1.37178886e+02] [-6.10174687e-01 7.92244020e-01 6.02199976e-03 1.50944660e+02] [ 9.68823142e-03 -1.39102974e-04 9.99953058e-01 7.02561407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.20, Y:150.93, Z:7.03 [[ 7.91873179e-01 6.10632453e-01 -8.05452684e-03 1.37203240e+02] [-6.10599035e-01 7.91914129e-01 6.38993474e-03 1.50925197e+02] [ 1.02803951e-02 -1.41931619e-04 9.99947145e-01 7.02505726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:150.90, Z:7.02 [[ 7.90645799e-01 6.12210043e-01 -8.83644894e-03 1.37224755e+02] [-6.12169911e-01 7.90695166e-01 7.01104694e-03 1.50904449e+02] [ 1.12791708e-02 -1.33846655e-04 9.99936379e-01 7.02462583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.25, Y:150.89, Z:7.03 [[ 7.89855042e-01 6.13230554e-01 -8.79213755e-03 1.37246635e+02] [-6.13190888e-01 7.89903965e-01 6.97575373e-03 1.50886287e+02] [ 1.12226896e-02 -1.18575622e-04 9.99937017e-01 7.02502626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.27, Y:150.87, Z:7.03 [[ 7.89094965e-01 6.14208094e-01 -8.80641325e-03 1.37270248e+02] [-6.14168375e-01 7.89144098e-01 6.98577830e-03 1.50867294e+02] [ 1.12402506e-02 -1.03821974e-04 9.99936821e-01 7.02537369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.29, Y:150.85, Z:7.03 [[ 7.88041326e-01 6.15561482e-01 -8.65625590e-03 1.37291383e+02] [-6.15523185e-01 7.88088862e-01 6.86682771e-03 1.50847710e+02] [ 1.10488535e-02 -8.32178079e-05 9.99938956e-01 7.02625622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.31, Y:150.83, Z:7.03 [[ 7.87687914e-01 6.16012204e-01 -8.75864805e-03 1.37313227e+02] [-6.15973033e-01 7.87736605e-01 6.94725235e-03 1.50829102e+02] [ 1.11790999e-02 -7.71757150e-05 9.99937509e-01 7.02663965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.33, Y:150.81, Z:7.03 [[ 7.87310641e-01 6.16502108e-01 -8.19173870e-03 1.37333335e+02] [-6.16467879e-01 7.87353254e-01 6.49674508e-03 1.50809285e+02] [ 1.04550492e-02 -6.50127559e-05 9.99945342e-01 7.02754275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.35, Y:150.79, Z:7.03 [[ 7.87266261e-01 6.16564933e-01 -7.71482484e-03 1.37354927e+02] [-6.16534590e-01 7.87304058e-01 6.11710649e-03 1.50789813e+02] [ 9.84550625e-03 -5.93351858e-05 9.99951530e-01 7.02830873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.38, Y:150.77, Z:7.03 [[ 7.87364675e-01 6.16440094e-01 -7.64711293e-03 1.37378428e+02] [-6.16410290e-01 7.87401808e-01 6.06196779e-03 1.50768682e+02] [ 9.75819054e-03 -5.92202022e-05 9.99952386e-01 7.02880767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.40, Y:150.74, Z:7.03 [[ 7.87909835e-01 6.15745444e-01 -7.45926649e-03 1.37400005e+02] [-6.15717057e-01 7.87945141e-01 5.91278318e-03 1.50744554e+02] [ 9.51826209e-03 -6.59424035e-05 9.99954698e-01 7.02968540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.42, Y:150.72, Z:7.03 [[ 7.88234203e-01 6.15332051e-01 -7.30122172e-03 1.37424078e+02] [-6.15304822e-01 7.88268014e-01 5.78917297e-03 1.50721878e+02] [ 9.31758322e-03 -7.07472174e-05 9.99956588e-01 7.03027718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.45, Y:150.70, Z:7.03 [[ 7.88595567e-01 6.14869643e-01 -7.23554401e-03 1.37448481e+02] [-6.14842848e-01 7.88628757e-01 5.74075224e-03 1.50699001e+02] [ 9.23597236e-03 -7.84092789e-05 9.99957344e-01 7.03075473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.47, Y:150.67, Z:7.03 [[ 7.89269893e-01 6.14004270e-01 -7.19668880e-03 1.37469135e+02] [-6.13977690e-01 7.89302698e-01 5.71385628e-03 1.50674723e+02] [ 9.18869804e-03 -9.11683776e-05 9.99957779e-01 7.03140806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.49, Y:150.65, Z:7.03 [[ 7.89484092e-01 6.13727752e-01 -7.28794562e-03 1.37493016e+02] [-6.13700456e-01 7.89517724e-01 5.78905503e-03 1.50652023e+02] [ 9.30686597e-03 -9.77513000e-05 9.99956685e-01 7.03200827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.51, Y:150.63, Z:7.03 [[ 7.89386641e-01 6.13851878e-01 -7.38940148e-03 1.37514615e+02] [-6.13823786e-01 7.89421219e-01 5.87351718e-03 1.50627641e+02] [ 9.43881988e-03 -1.00685601e-04 9.99955448e-01 7.03268225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.54, Y:150.61, Z:7.03 [[ 7.89247270e-01 6.14026103e-01 -7.79051137e-03 1.37539297e+02] [-6.13994849e-01 7.89285711e-01 6.19615858e-03 1.50605256e+02] [ 9.95354241e-03 -1.06967395e-04 9.99950457e-01 7.03285344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.56, Y:150.58, Z:7.03 [[ 7.89155430e-01 6.14141440e-01 -7.99987449e-03 1.37561838e+02] [-6.14108446e-01 7.89195970e-01 6.36696721e-03 1.50584260e+02] [ 1.02236871e-02 -1.11736264e-04 9.99947731e-01 7.03257489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.59, Y:150.57, Z:7.03 [[ 7.88032879e-01 6.15585044e-01 -7.69643305e-03 1.37585077e+02] [-6.15554535e-01 7.88070457e-01 6.12940313e-03 1.50565290e+02] [ 9.83850041e-03 -9.25969260e-05 9.99951597e-01 7.03328937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:150.55, Z:7.03 [[ 7.87179163e-01 6.16680716e-01 -7.33895192e-03 1.37611233e+02] [-6.16653024e-01 7.87213370e-01 5.84452350e-03 1.50547758e+02] [ 9.38152600e-03 -7.51002223e-05 9.99955990e-01 7.03352312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.64, Y:150.53, Z:7.03 [[ 7.85420146e-01 6.18911482e-01 -7.98574111e-03 1.37639096e+02] [-6.18878808e-01 7.85460740e-01 6.35970238e-03 1.50530351e+02] [ 1.02085789e-02 -5.28324261e-05 9.99947890e-01 7.03254485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.66, Y:150.51, Z:7.03 [[ 7.84739890e-01 6.19766136e-01 -8.55812539e-03 1.37664372e+02] [-6.19728637e-01 7.84786554e-01 6.81773008e-03 1.50510393e+02] [ 1.09417000e-02 -4.64293612e-05 9.99940137e-01 7.03248474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:150.49, Z:7.03 [[ 7.84682334e-01 6.19829454e-01 -9.22400978e-03 1.37685882e+02] [-6.19785851e-01 7.84736545e-01 7.35209651e-03 1.50494411e+02] [ 1.17954635e-02 -5.21495008e-05 9.99930430e-01 7.03202794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.71, Y:150.48, Z:7.03 [[ 7.84993082e-01 6.19432751e-01 -9.43019353e-03 1.37707105e+02] [-6.19387173e-01 7.85049721e-01 7.51441872e-03 1.50476657e+02] [ 1.20578479e-02 -5.78257975e-05 9.99927300e-01 7.03159332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.73, Y:150.46, Z:7.03 [[ 7.85258814e-01 6.19098370e-01 -9.26302549e-03 1.37733157e+02] [-6.19054398e-01 7.85313444e-01 7.37884727e-03 1.50456290e+02] [ 1.18426108e-02 -5.99881928e-05 9.99929872e-01 7.03178695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.76, Y:150.44, Z:7.03 [[ 7.86531506e-01 6.17477449e-01 -9.47571923e-03 1.37757002e+02] [-6.17431251e-01 7.86588578e-01 7.55372737e-03 1.50435888e+02] [ 1.21177488e-02 -9.06393853e-05 9.99926573e-01 7.03156304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.78, Y:150.41, Z:7.03 [[ 7.87280988e-01 6.16517556e-01 -9.73387295e-03 1.37781976e+02] [-6.16468703e-01 7.87341153e-01 7.76193638e-03 1.50414972e+02] [ 1.24492488e-02 -1.10196909e-04 9.99922499e-01 7.03143229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.81, Y:150.39, Z:7.03 [[ 7.87895761e-01 6.15736945e-01 -9.39599840e-03 1.37806482e+02] [-6.15691312e-01 7.87951775e-01 7.49722119e-03 1.50394690e+02] [ 1.20199097e-02 -1.21994205e-04 9.99927751e-01 7.03181880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.83, Y:150.37, Z:7.03 [[ 7.89192373e-01 6.14070896e-01 -9.60905655e-03 1.37831264e+02] [-6.14022988e-01 7.89250854e-01 7.67198460e-03 1.50374159e+02] [ 1.22950986e-02 -1.54490119e-04 9.99924401e-01 7.03200376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:150.35, Z:7.03 [[ 7.90044104e-01 6.12970663e-01 -9.86309218e-03 1.37856532e+02] [-6.12920046e-01 7.90105648e-01 7.87931331e-03 1.50353754e+02] [ 1.26226727e-02 -1.79718111e-04 9.99920315e-01 7.03218824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.88, Y:150.33, Z:7.03 [[ 7.91599101e-01 6.10949722e-01 -1.05499324e-02 1.37880069e+02] [-6.10891561e-01 7.91669366e-01 8.43307120e-03 1.50332912e+02] [ 1.35042408e-02 -2.30746908e-04 9.99908787e-01 7.03206119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.90, Y:150.31, Z:7.03 [[ 7.92118154e-01 6.10274165e-01 -1.06898328e-02 1.37904437e+02] [-6.10214354e-01 7.92190243e-01 8.54757395e-03 1.50312527e+02] [ 1.36847448e-02 -2.47599112e-04 9.99906329e-01 7.03222084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.93, Y:150.29, Z:7.03 [[ 7.92592793e-01 6.09658164e-01 -1.06577405e-02 1.37929403e+02] [-6.09598591e-01 7.92664402e-01 8.52660652e-03 1.50292123e+02] [ 1.36463268e-02 -2.61183286e-04 9.99906850e-01 7.03268568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.95, Y:150.27, Z:7.03 [[ 7.92403959e-01 6.09903622e-01 -1.06554227e-02 1.37954614e+02] [-6.09844032e-01 7.92475554e-01 8.52950200e-03 1.50271725e+02] [ 1.36463362e-02 -2.60665201e-04 9.99906850e-01 7.03311568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.98, Y:150.25, Z:7.03 [[ 7.93032860e-01 6.09082018e-01 -1.08617702e-02 1.37978231e+02] [-6.09019945e-01 7.93107190e-01 8.70015944e-03 1.50252068e+02] [ 1.39136587e-02 -2.84477667e-04 9.99903160e-01 7.03372152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.00, Y:150.23, Z:7.03 [[ 7.93060211e-01 6.09051196e-01 -1.05897582e-02 1.38003828e+02] [-6.08992155e-01 7.93130861e-01 8.48483938e-03 1.50231883e+02] [ 1.35667656e-02 -2.79908850e-04 9.99907928e-01 7.03445111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.03, Y:150.21, Z:7.03 [[ 7.93112166e-01 6.08983956e-01 -1.05656902e-02 1.38030440e+02] [-6.08925106e-01 7.93182489e-01 8.47081918e-03 1.50211964e+02] [ 1.35391135e-02 -2.84595701e-04 9.99908302e-01 7.03498646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.05, Y:150.19, Z:7.04 [[ 7.93074251e-01 6.09032108e-01 -1.06359759e-02 1.38054865e+02] [-6.08972404e-01 7.93145514e-01 8.53256245e-03 1.50191115e+02] [ 1.36324811e-02 -2.89939752e-04 9.99907031e-01 7.03503385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.08, Y:150.17, Z:7.04 [[ 7.93099667e-01 6.09003447e-01 -1.03788330e-02 1.38081014e+02] [-6.08946528e-01 7.93167523e-01 8.33103331e-03 1.50171516e+02] [ 1.33057812e-02 -2.87185443e-04 9.99911433e-01 7.03506020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.11, Y:150.15, Z:7.04 [[ 7.93021931e-01 6.09099556e-01 -1.06746302e-02 1.38105514e+02] [-6.09039281e-01 7.93093716e-01 8.57394216e-03 1.50150824e+02] [ 1.36883665e-02 -2.98055039e-04 9.99906266e-01 7.03578842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.13, Y:150.13, Z:7.04 [[ 7.92816828e-01 6.09367579e-01 -1.06128084e-02 1.38131516e+02] [-6.09307956e-01 7.92887802e-01 8.52920914e-03 1.50129909e+02] [ 1.36121898e-02 -2.95631947e-04 9.99907306e-01 7.03614773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.16, Y:150.11, Z:7.04 [[ 7.92524454e-01 6.09740632e-01 -1.10159697e-02 1.38157682e+02] [-6.09676349e-01 7.92600952e-01 8.85894835e-03 1.50109234e+02] [ 1.41329288e-02 -3.04757007e-04 9.99900079e-01 7.03700527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.18, Y:150.09, Z:7.04 [[ 7.92202782e-01 6.10155330e-01 -1.11904172e-02 1.38183249e+02] [-6.10088952e-01 7.92281755e-01 9.00509647e-03 1.50088483e+02] [ 1.43604710e-02 -3.06712577e-04 9.99896836e-01 7.03739640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.21, Y:150.07, Z:7.04 [[ 7.92132892e-01 6.10241425e-01 -1.14404618e-02 1.38208810e+02] [-6.10171967e-01 7.92215440e-01 9.21236690e-03 1.50067272e+02] [ 1.46850784e-02 -3.16769747e-04 9.99892118e-01 7.03731733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.23, Y:150.05, Z:7.04 [[ 7.91994647e-01 6.10416366e-01 -1.16764465e-02 1.38234459e+02] [-6.10343941e-01 7.92080649e-01 9.40851743e-03 1.50046196e+02] [ 1.49918004e-02 -3.24847067e-04 9.99887564e-01 7.03743571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.26, Y:150.03, Z:7.04 [[ 7.91894167e-01 6.10531259e-01 -1.24583549e-02 1.38259556e+02] [-6.10448713e-01 7.91992083e-01 1.00453277e-02 1.50025298e+02] [ 1.59999050e-02 -3.49649654e-04 9.99871932e-01 7.03714685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:150.00, Z:7.04 [[ 7.91771762e-01 6.10691191e-01 -1.23994375e-02 1.38283101e+02] [-6.10609343e-01 7.91868769e-01 1.00041539e-02 1.50004326e+02] [ 1.59281759e-02 -3.49794138e-04 9.99873077e-01 7.03713247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:149.98, Z:7.04 [[ 7.91631447e-01 6.10867414e-01 -1.26749799e-02 1.38309147e+02] [-6.10781808e-01 7.91732830e-01 1.02327843e-02 1.49983998e+02] [ 1.62860722e-02 -3.58946713e-04 9.99867309e-01 7.03741465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.33, Y:149.96, Z:7.04 [[ 7.91309649e-01 6.11275903e-01 -1.30694194e-02 1.38333280e+02] [-6.11184825e-01 7.91417485e-01 1.05581014e-02 1.49963816e+02] [ 1.67972800e-02 -3.66896695e-04 9.99858848e-01 7.03706076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.36, Y:149.94, Z:7.04 [[ 7.90896960e-01 6.11809703e-01 -1.30723670e-02 1.38358920e+02] [-6.11718549e-01 7.91004904e-01 1.05669104e-02 1.49943724e+02] [ 1.68052448e-02 -3.60727954e-04 9.99858717e-01 7.03711769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.38, Y:149.92, Z:7.04 [[ 7.90107732e-01 6.12813699e-01 -1.37529261e-02 1.38382700e+02] [-6.12712833e-01 7.90227334e-01 1.11240651e-02 1.49924006e+02] [ 1.76849176e-02 -3.62615532e-04 9.99843544e-01 7.03611992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.41, Y:149.90, Z:7.04 [[ 7.89639390e-01 6.13404015e-01 -1.43229859e-02 1.38406327e+02] [-6.13294594e-01 7.89769193e-01 1.15915112e-02 1.49903015e+02] [ 1.84221325e-02 -3.68904024e-04 9.99830230e-01 7.03574041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.43, Y:149.89, Z:7.04 [[ 7.88488415e-01 6.14867533e-01 -1.49645102e-02 1.38433077e+02] [-6.14748214e-01 7.88630326e-01 1.21178547e-02 1.49885069e+02] [ 1.92523420e-02 -3.55382156e-04 9.99814593e-01 7.03624696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.46, Y:149.87, Z:7.04 [[ 7.87851695e-01 6.15679582e-01 -1.51115412e-02 1.38458785e+02] [-6.15557922e-01 7.87996532e-01 1.22438159e-02 1.49866084e+02] [ 1.94461095e-02 -3.44282249e-04 9.99810847e-01 7.03676912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:149.85, Z:7.04 [[ 7.87088489e-01 6.16658563e-01 -1.49641990e-02 1.38484498e+02] [-6.16539307e-01 7.87230661e-01 1.21313304e-02 1.49846477e+02] [ 1.92611651e-02 -3.22413671e-04 9.99814435e-01 7.03708374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:149.83, Z:7.04 [[ 7.86198027e-01 6.17788673e-01 -1.51597696e-02 1.38507431e+02] [-6.17666354e-01 7.86344112e-01 1.22968290e-02 1.49825943e+02] [ 1.95176372e-02 -3.04063061e-04 9.99809467e-01 7.03660696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.53, Y:149.81, Z:7.04 [[ 7.85302751e-01 6.18939633e-01 -1.46054968e-02 1.38533774e+02] [-6.18826178e-01 7.85438513e-01 1.18534468e-02 1.49807878e+02] [ 1.88082877e-02 -2.70280610e-04 9.99823072e-01 7.03849953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.56, Y:149.79, Z:7.04 [[ 7.84842735e-01 6.19532735e-01 -1.41799991e-02 1.38559552e+02] [-6.19425771e-01 7.84970780e-01 1.15147030e-02 1.49788063e+02] [ 1.82646204e-02 -2.53774103e-04 9.99833156e-01 7.03976344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.58, Y:149.77, Z:7.04 [[ 7.84455452e-01 6.20040330e-01 -1.34027401e-02 1.38584166e+02] [-6.19944735e-01 7.84569904e-01 1.08899654e-02 1.49769121e+02] [ 1.72676043e-02 -2.33734588e-04 9.99850877e-01 7.04109052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.61, Y:149.75, Z:7.04 [[ 7.84317042e-01 6.20226204e-01 -1.28931300e-02 1.38609848e+02] [-6.20137674e-01 7.84422976e-01 1.04814416e-02 1.49748787e+02] [ 1.66145321e-02 -2.25257655e-04 9.99861944e-01 7.04197045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.64, Y:149.73, Z:7.04 [[ 7.84458046e-01 6.20053757e-01 -1.26060649e-02 1.38635197e+02] [-6.19968998e-01 7.84559294e-01 1.02545255e-02 1.49728269e+02] [ 1.62485624e-02 -2.28875581e-04 9.99867957e-01 7.04280853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.66, Y:149.71, Z:7.04 [[ 7.85304419e-01 6.18985844e-01 -1.23892988e-02 1.38659523e+02] [-6.18903742e-01 7.85402102e-01 1.00844771e-02 1.49707385e+02] [ 1.59727299e-02 -2.51601087e-04 9.99872396e-01 7.04325873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.68, Y:149.69, Z:7.04 [[ 7.85826917e-01 6.18321809e-01 -1.24176493e-02 1.38682509e+02] [-6.18239157e-01 7.85924976e-01 1.01132072e-02 1.49685998e+02] [ 1.60125573e-02 -2.70153397e-04 9.99871754e-01 7.04337160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.70, Y:149.67, Z:7.04 [[ 7.86821957e-01 6.17051767e-01 -1.25827463e-02 1.38703921e+02] [-6.16966672e-01 7.86922502e-01 1.02518560e-02 1.49666615e+02] [ 1.62275720e-02 -3.03250257e-04 9.99868278e-01 7.04350576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.73, Y:149.65, Z:7.04 [[ 7.88803807e-01 6.14529735e-01 -1.19062377e-02 1.38728129e+02] [-6.14453259e-01 7.88893587e-01 9.70050745e-03 1.49645034e+02] [ 1.53540048e-02 -3.35970651e-04 9.99882064e-01 7.04475116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:149.62, Z:7.05 [[ 7.89721540e-01 6.13359892e-01 -1.13812540e-02 1.38752956e+02] [-6.13289818e-01 7.89803471e-01 9.27773222e-03 1.49624403e+02] [ 1.46795428e-02 -3.46817747e-04 9.99892190e-01 7.04610937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:149.60, Z:7.05 [[ 7.91241092e-01 6.11405999e-01 -1.09653229e-02 1.38775452e+02] [-6.11340698e-01 7.91316982e-01 8.94343913e-03 1.49602373e+02] [ 1.41451186e-02 -3.72868385e-04 9.99899883e-01 7.04690033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.80, Y:149.58, Z:7.05 [[ 7.91822143e-01 6.10658968e-01 -1.06451344e-02 1.38799748e+02] [-6.10597323e-01 7.91893606e-01 8.68485192e-03 1.49581055e+02] [ 1.37332966e-02 -3.76967487e-04 9.99905623e-01 7.04744272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.82, Y:149.56, Z:7.05 [[ 7.92279176e-01 6.10064554e-01 -1.07212985e-02 1.38822794e+02] [-6.10001903e-01 7.92351617e-01 8.75179265e-03 1.49560749e+02] [ 1.38341967e-02 -3.93850556e-04 9.99904225e-01 7.04789804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.85, Y:149.54, Z:7.05 [[ 7.93256964e-01 6.08793151e-01 -1.06905335e-02 1.38847676e+02] [-6.08730706e-01 7.93328888e-01 8.72940049e-03 1.49540120e+02] [ 1.37955083e-02 -4.17001748e-04 9.99904751e-01 7.04772863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.87, Y:149.52, Z:7.05 [[ 7.93468135e-01 6.08513851e-01 -1.09184624e-02 1.38871970e+02] [-6.08448616e-01 7.93543133e-01 8.92062459e-03 1.49519886e+02] [ 1.40925945e-02 -4.34908030e-04 9.99900600e-01 7.04778872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.89, Y:149.50, Z:7.05 [[ 7.93696949e-01 6.08213152e-01 -1.10415350e-02 1.38893691e+02] [-6.08146340e-01 7.93773620e-01 9.02599247e-03 1.49497824e+02] [ 1.42542065e-02 -4.49033605e-04 9.99898303e-01 7.04784050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.92, Y:149.48, Z:7.05 [[ 7.93822694e-01 6.08048576e-01 -1.10661388e-02 1.38919610e+02] [-6.07981383e-01 7.93899691e-01 9.05088262e-03 1.49478645e+02] [ 1.42887805e-02 -4.56789674e-04 9.99897806e-01 7.04796535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:149.46, Z:7.05 [[ 7.93286371e-01 6.08742274e-01 -1.13832262e-02 1.38943463e+02] [-6.08671169e-01 7.93367904e-01 9.31540847e-03 1.49458614e+02] [ 1.47017692e-02 -4.61144999e-04 9.99891817e-01 7.04774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.97, Y:149.44, Z:7.05 [[ 7.92861649e-01 6.09293662e-01 -1.14734111e-02 1.38967428e+02] [-6.09221435e-01 7.92944528e-01 9.39244374e-03 1.49438637e+02] [ 1.48205350e-02 -4.57060452e-04 9.99890065e-01 7.04788914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.99, Y:149.42, Z:7.05 [[ 7.91294852e-01 6.11314986e-01 -1.21014704e-02 1.38993074e+02] [-6.11234786e-01 7.91387256e-01 9.91198206e-03 1.49419394e+02] [ 1.56362926e-02 -4.46460690e-04 9.99877646e-01 7.04771691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:149.40, Z:7.05 [[ 7.90192342e-01 6.12735484e-01 -1.22999738e-02 1.39018420e+02] [-6.12652713e-01 7.90287949e-01 1.00802332e-02 1.49399782e+02] [ 1.58970377e-02 -4.29710768e-04 9.99873542e-01 7.04775451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.04, Y:149.38, Z:7.05 [[ 7.89062510e-01 6.14190417e-01 -1.22673083e-02 1.39044447e+02] [-6.14108179e-01 7.89157759e-01 1.00586020e-02 1.49380110e+02] [ 1.58587385e-02 -4.03411366e-04 9.99874161e-01 7.04785836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.07, Y:149.36, Z:7.05 [[ 7.87144151e-01 6.16647693e-01 -1.22355296e-02 1.39068869e+02] [-6.16566128e-01 7.87239161e-01 1.00356001e-02 1.49361204e+02] [ 1.58207176e-02 -3.55450800e-04 9.99874781e-01 7.04840678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.10, Y:149.34, Z:7.05 [[ 7.86201261e-01 6.17849201e-01 -1.22451270e-02 1.39095220e+02] [-6.17767596e-01 7.86296543e-01 1.00470693e-02 1.49342661e+02] [ 1.58358747e-02 -3.34375838e-04 9.99874549e-01 7.04909593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.12, Y:149.32, Z:7.05 [[ 7.85092631e-01 6.19257541e-01 -1.22335568e-02 1.39117672e+02] [-6.19176172e-01 7.85187877e-01 1.00431939e-02 1.49321480e+02] [ 1.58249641e-02 -3.10110632e-04 9.99874729e-01 7.04990796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.14, Y:149.30, Z:7.05 [[ 7.84858510e-01 6.19566634e-01 -1.15890241e-02 1.39144633e+02] [-6.19493574e-01 7.84944012e-01 9.51894569e-03 1.49301907e+02] [ 1.49943562e-02 -2.91699580e-04 9.99887536e-01 7.05117147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.17, Y:149.28, Z:7.05 [[ 7.84696153e-01 6.19774108e-01 -1.14891935e-02 1.39167257e+02] [-6.19702234e-01 7.84780205e-01 9.44299209e-03 1.49279148e+02] [ 1.48690136e-02 -2.90000704e-04 9.99889408e-01 7.05176360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:149.26, Z:7.05 [[ 7.84778127e-01 6.19676974e-01 -1.11238151e-02 1.39189098e+02] [-6.19609520e-01 7.84856908e-01 9.14748916e-03 1.49260394e+02] [ 1.43990915e-02 -2.86327695e-04 9.99896287e-01 7.05309787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:149.24, Z:7.06 [[ 7.85320776e-01 6.19005052e-01 -1.01992857e-02 1.39209802e+02] [-6.18948303e-01 7.85386957e-01 8.38607436e-03 1.49241535e+02] [ 1.32014083e-02 -2.72927834e-04 9.99912820e-01 7.05512906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.24, Y:149.22, Z:7.06 [[ 7.85667869e-01 6.18572166e-01 -9.71984433e-03 1.39236867e+02] [-6.18520617e-01 7.85727946e-01 7.99003519e-03 1.49223388e+02] [ 1.25795667e-02 -2.65589809e-04 9.99920839e-01 7.05617164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.26, Y:149.20, Z:7.06 [[ 7.86348302e-01 6.17714315e-01 -9.23979630e-03 1.39259077e+02] [-6.17667624e-01 7.86402539e-01 7.59956032e-03 1.49201988e+02] [ 1.19605565e-02 -2.68778322e-04 9.99928434e-01 7.05737406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.28, Y:149.18, Z:7.06 [[ 7.86699045e-01 6.17275873e-01 -8.66655435e-03 1.39280298e+02] [-6.17234730e-01 7.86746738e-01 7.13157536e-03 1.49178153e+02] [ 1.12205328e-02 -2.61105191e-04 9.99937014e-01 7.05862418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.31, Y:149.16, Z:7.06 [[ 7.86996793e-01 6.16899644e-01 -8.41893092e-03 1.39308013e+02] [-6.16860761e-01 7.87041779e-01 6.93113143e-03 1.49161082e+02] [ 1.09018629e-02 -2.61470072e-04 9.99940539e-01 7.05895734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:149.14, Z:7.06 [[ 7.87228181e-01 6.16604770e-01 -8.38738984e-03 1.39332159e+02] [-6.16566119e-01 7.87272815e-01 6.90908519e-03 1.49140043e+02] [ 1.08633389e-02 -2.67646172e-04 9.99940956e-01 7.05975249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5927550960001 meters Centerline goodness [0,1] 0.9999350128891104 Centerline is valid? [True, True] Translation: X:139.35, Y:149.12, Z:7.06 [[ 7.87955068e-01 6.15680438e-01 -8.02551579e-03 1.39354897e+02] [-6.15644963e-01 7.87995891e-01 6.61475044e-03 1.49119525e+02] [ 1.03966459e-02 -2.71257761e-04 9.99945917e-01 7.06004348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:149.10, Z:7.06 [[ 7.88055026e-01 6.15549726e-01 -8.23471171e-03 1.39379390e+02] [-6.15512336e-01 7.88097999e-01 6.79035227e-03 1.49098595e+02] [ 1.06695593e-02 -2.82604591e-04 9.99943039e-01 7.06030586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:149.08, Z:7.06 [[ 7.88196390e-01 6.15371388e-01 -8.03158763e-03 1.39405451e+02] [-6.15335788e-01 7.88237259e-01 6.62508794e-03 1.49079717e+02] [ 1.04076862e-02 -2.79747094e-04 9.99945799e-01 7.06063709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.43, Y:149.06, Z:7.06 [[ 7.88102989e-01 6.15486047e-01 -8.40264133e-03 1.39429767e+02] [-6.15447042e-01 7.88147727e-01 6.93534655e-03 1.49059439e+02] [ 1.08911317e-02 -2.94386602e-04 9.99940647e-01 7.06081142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.46, Y:149.04, Z:7.06 [[ 7.87859396e-01 6.15792283e-01 -8.79980869e-03 1.39455418e+02] [-6.15749469e-01 7.87908478e-01 7.26785258e-03 1.49038388e+02] [ 1.14089314e-02 -3.07568412e-04 9.99934869e-01 7.06135495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.48, Y:149.02, Z:7.06 [[ 7.87325473e-01 6.16471459e-01 -9.02999684e-03 1.39479462e+02] [-6.16426361e-01 7.87377194e-01 7.46301761e-03 1.49018786e+02] [ 1.17107509e-02 -3.09495778e-04 9.99931379e-01 7.06194932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.50, Y:149.00, Z:7.06 [[ 7.87136482e-01 6.16712779e-01 -9.02815624e-03 1.39504349e+02] [-6.16667671e-01 7.87188195e-01 7.46524349e-03 1.48997985e+02] [ 1.17107691e-02 -3.08793416e-04 9.99931379e-01 7.06237933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.53, Y:148.98, Z:7.06 [[ 7.86642836e-01 6.17340026e-01 -9.18371094e-03 1.39530852e+02] [-6.17293335e-01 7.86696382e-01 7.59874962e-03 1.48979374e+02] [ 1.19158045e-02 -3.08458397e-04 9.99928957e-01 7.06303680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.56, Y:148.96, Z:7.06 [[ 7.85922626e-01 6.18255517e-01 -9.25969059e-03 1.39556163e+02] [-6.18208061e-01 7.85977116e-01 7.66600460e-03 1.48960076e+02] [ 1.20174545e-02 -3.00471107e-04 9.99927743e-01 7.06333058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:148.94, Z:7.06 [[ 7.85138451e-01 6.19253474e-01 -9.09657093e-03 1.39580044e+02] [-6.19207690e-01 7.85191094e-01 7.53537784e-03 1.48940228e+02] [ 1.18088554e-02 -2.83648212e-04 9.99930233e-01 7.06417649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.61, Y:148.92, Z:7.06 [[ 7.83595651e-01 6.21206514e-01 -8.96231575e-03 1.39607642e+02] [-6.21162174e-01 7.83646862e-01 7.42628214e-03 1.48922750e+02] [ 1.16365454e-02 -2.52150848e-04 9.99932261e-01 7.06499083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.63, Y:148.90, Z:7.07 [[ 7.82022795e-01 6.23186040e-01 -8.91665975e-03 1.39634042e+02] [-6.23142233e-01 7.82073595e-01 7.39252424e-03 1.48904901e+02] [ 1.15804021e-02 -2.24775208e-04 9.99932920e-01 7.06585483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.66, Y:148.89, Z:7.07 [[ 7.81207770e-01 6.24206103e-01 -9.00894226e-03 1.39657817e+02] [-6.24161401e-01 7.81259685e-01 7.47329385e-03 1.48885415e+02] [ 1.17031990e-02 -2.15161198e-04 9.99931492e-01 7.06672501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.68, Y:148.87, Z:7.07 [[ 7.80524861e-01 6.25056487e-01 -9.23737153e-03 1.39684060e+02] [-6.25009501e-01 7.80579492e-01 7.66680114e-03 1.48866237e+02] [ 1.20026866e-02 -2.10683928e-04 9.99927943e-01 7.06747565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:148.85, Z:7.07 [[ 7.79949732e-01 6.25770250e-01 -9.48738763e-03 1.39709414e+02] [-6.25720683e-01 7.80007404e-01 7.87884305e-03 1.48845880e+02] [ 1.23305782e-02 -2.08646852e-04 9.99923954e-01 7.06784617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.73, Y:148.83, Z:7.07 [[ 7.79447981e-01 6.26391826e-01 -9.70178886e-03 1.39732718e+02] [-6.26339984e-01 7.79508330e-01 8.06148282e-03 1.48825990e+02] [ 1.26122722e-02 -2.06888227e-04 9.99920441e-01 7.06850358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.76, Y:148.81, Z:7.07 [[ 7.78801722e-01 6.27192881e-01 -9.84723432e-03 1.39759132e+02] [-6.27139483e-01 7.78863948e-01 8.18656241e-03 1.48808176e+02] [ 1.28042095e-02 -2.00119462e-04 9.99918003e-01 7.06945980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.78, Y:148.79, Z:7.07 [[ 7.78526301e-01 6.27534504e-01 -9.86125212e-03 1.39783831e+02] [-6.27480921e-01 7.78588728e-01 8.20289191e-03 1.48787448e+02] [ 1.28254574e-02 -1.98419535e-04 9.99917731e-01 7.07023566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.81, Y:148.77, Z:7.07 [[ 7.78773132e-01 6.27224466e-01 -1.00934818e-02 1.39805548e+02] [-6.27168234e-01 7.78838509e-01 8.40132595e-03 1.48767293e+02] [ 1.31307095e-02 -2.12415738e-04 9.99913766e-01 7.07096496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.83, Y:148.75, Z:7.07 [[ 7.79157018e-01 6.26747740e-01 -1.00803081e-02 1.39828953e+02] [-6.26691619e-01 7.79222191e-01 8.39003503e-03 1.48749164e+02] [ 1.31132353e-02 -2.19910048e-04 9.99913994e-01 7.07125365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.85, Y:148.73, Z:7.07 [[ 7.79559270e-01 6.26239232e-01 -1.05720948e-02 1.39853472e+02] [-6.26177461e-01 7.79630917e-01 8.79885408e-03 1.48728629e+02] [ 1.37525196e-02 -2.39220747e-04 9.99905401e-01 7.07162807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:148.71, Z:7.07 [[ 7.80535480e-01 6.25017727e-01 -1.08261518e-02 1.39877577e+02] [-6.24952761e-01 7.80610510e-01 9.01544296e-03 1.48707334e+02] [ 1.40858195e-02 -2.71039658e-04 9.99900753e-01 7.07216890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:148.69, Z:7.07 [[ 7.81218206e-01 6.24165940e-01 -1.07234875e-02 1.39901874e+02] [-6.24102052e-01 7.81291748e-01 8.93492740e-03 1.48686997e+02] [ 1.39550497e-02 -2.87577378e-04 9.99902582e-01 7.07282803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:148.67, Z:7.07 [[ 7.81700438e-01 6.23563052e-01 -1.06558129e-02 1.39926023e+02] [-6.23499841e-01 7.81773005e-01 8.88357816e-03 1.48665836e+02] [ 1.38698980e-02 -3.00399282e-04 9.99903763e-01 7.07340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.95, Y:148.65, Z:7.07 [[ 7.83184260e-01 6.21696538e-01 -1.07624627e-02 1.39948867e+02] [-6.21631807e-01 7.83258131e-01 8.97759205e-03 1.48645051e+02] [ 1.40111243e-02 -3.40819650e-04 9.99901781e-01 7.07382823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.97, Y:148.62, Z:7.07 [[ 7.83937179e-01 6.20742777e-01 -1.09956800e-02 1.39972760e+02] [-6.20675047e-01 7.84014202e-01 9.17703514e-03 1.48623700e+02] [ 1.43173475e-02 -3.69474857e-04 9.99897433e-01 7.07421651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.00, Y:148.60, Z:7.07 [[ 7.84789617e-01 6.19659514e-01 -1.12847270e-02 1.39997444e+02] [-6.19587985e-01 7.84870642e-01 9.42359884e-03 1.48602685e+02] [ 1.46964736e-02 -4.03661273e-04 9.99891920e-01 7.07464207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:148.58, Z:7.07 [[ 7.87001046e-01 6.16839653e-01 -1.17557155e-02 1.40020102e+02] [-6.16761633e-01 7.87088695e-01 9.82219188e-03 1.48580830e+02] [ 1.53115082e-02 -4.79601020e-04 9.99882657e-01 7.07497904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.04, Y:148.56, Z:7.08 [[ 7.87789371e-01 6.15828871e-01 -1.19460709e-02 1.40044070e+02] [-6.15748145e-01 7.87879777e-01 9.98398595e-03 1.48560220e+02] [ 1.55604945e-02 -5.09506995e-04 9.99878798e-01 7.07518089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.07, Y:148.54, Z:7.07 [[ 7.89176578e-01 6.14039475e-01 -1.24840571e-02 1.40067348e+02] [-6.13951040e-01 7.89275108e-01 1.04367169e-02 1.48539733e+02] [ 1.62619117e-02 -5.71812718e-04 9.99867603e-01 7.07489164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:148.52, Z:7.07 [[ 7.89612475e-01 6.13473749e-01 -1.27317594e-02 1.40090891e+02] [-6.13381660e-01 7.89714887e-01 1.06459893e-02 1.48522281e+02] [ 1.65854949e-02 -5.96778234e-04 9.99862273e-01 7.07494529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.11, Y:148.50, Z:7.07 [[ 7.89955337e-01 6.13022524e-01 -1.31890419e-02 1.40113306e+02] [-6.12923653e-01 7.90065182e-01 1.10274514e-02 1.48504072e+02] [ 1.71802789e-02 -6.27318343e-04 9.99852211e-01 7.07482138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.14, Y:148.49, Z:7.07 [[ 7.90035596e-01 6.12900045e-01 -1.40460828e-02 1.40135467e+02] [-6.12787910e-01 7.90160165e-01 1.17427113e-02 1.48487377e+02] [ 1.82957634e-02 -6.69890234e-04 9.99832394e-01 7.07408172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.16, Y:148.47, Z:7.07 [[ 7.89986613e-01 6.12948985e-01 -1.46524264e-02 1.40160206e+02] [-6.12827004e-01 7.90122179e-01 1.22477051e-02 1.48471999e+02] [ 1.90844255e-02 -6.96120457e-04 9.99817633e-01 7.07406932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.19, Y:148.45, Z:7.07 [[ 7.89666876e-01 6.13341761e-01 -1.54307956e-02 1.40186165e+02] [-6.13206528e-01 7.89817295e-01 1.28993726e-02 1.48453644e+02] [ 2.00992331e-02 -7.23942691e-04 9.99797728e-01 7.07401298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.21, Y:148.43, Z:7.07 [[ 7.89308774e-01 6.13775515e-01 -1.64704833e-02 1.40207866e+02] [-6.13621425e-01 7.89480229e-01 1.37736987e-02 1.48432682e+02] [ 2.14570799e-02 -7.65059818e-04 9.99769478e-01 7.07266143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.24, Y:148.42, Z:7.07 [[ 7.89124671e-01 6.14005139e-01 -1.67314977e-02 1.40236235e+02] [-6.13846160e-01 7.89301650e-01 1.39927507e-02 1.48418563e+02] [ 2.17978196e-02 -7.71459176e-04 9.99762102e-01 7.07399837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.26, Y:148.40, Z:7.07 [[ 7.88745749e-01 6.14485994e-01 -1.69442300e-02 1.40258641e+02] [-6.14323057e-01 7.88927357e-01 1.41706720e-02 1.48401372e+02] [ 2.20754461e-02 -7.67826075e-04 9.99756013e-01 7.07446201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.28, Y:148.39, Z:7.08 [[ 7.88194326e-01 6.15201171e-01 -1.66500608e-02 1.40281625e+02] [-6.15044046e-01 7.88369826e-01 1.39226053e-02 1.48386110e+02] [ 2.16916086e-02 -7.33197732e-04 9.99764441e-01 7.07533385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:148.37, Z:7.08 [[ 7.87999933e-01 6.15457216e-01 -1.63866263e-02 1.40306919e+02] [-6.15305124e-01 7.88169974e-01 1.37002731e-02 1.48370131e+02] [ 2.13473788e-02 -7.13039184e-04 9.99771864e-01 7.07675455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.33, Y:148.35, Z:7.08 [[ 7.87900880e-01 6.15593586e-01 -1.60231106e-02 1.40329243e+02] [-6.15448233e-01 7.88063486e-01 1.33945938e-02 1.48353335e+02] [ 2.08728544e-02 -6.92217190e-04 9.99781899e-01 7.07787633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:148.34, Z:7.08 [[ 7.88037340e-01 6.15421527e-01 -1.59215416e-02 1.40352814e+02] [-6.15278031e-01 7.88197861e-01 1.33070388e-02 1.48336675e+02] [ 2.07387632e-02 -6.90268689e-04 9.99784690e-01 7.07888760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:148.32, Z:7.08 [[ 7.88076232e-01 6.15375319e-01 -1.57819377e-02 1.40373933e+02] [-6.15234366e-01 7.88233944e-01 1.31880656e-02 1.48318834e+02] [ 2.05554691e-02 -6.83610614e-04 9.99788480e-01 7.07922384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.39, Y:148.30, Z:7.08 [[ 7.88117117e-01 6.15319942e-01 -1.58990230e-02 1.40391911e+02] [-6.15176939e-01 7.88277169e-01 1.32829967e-02 1.48297416e+02] [ 2.07061296e-02 -6.87844757e-04 9.99785369e-01 7.07852537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.42, Y:148.28, Z:7.08 [[ 7.87617722e-01 6.15958093e-01 -1.59358841e-02 1.40418221e+02] [-6.15814618e-01 7.87778635e-01 1.33108076e-02 1.48284502e+02] [ 2.07528487e-02 -6.70277595e-04 9.99784412e-01 7.08011891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.44, Y:148.27, Z:7.08 [[ 7.87227125e-01 6.16463863e-01 -1.56767242e-02 1.40442242e+02] [-6.16325168e-01 7.87382938e-01 1.30918814e-02 1.48270086e+02] [ 2.04142569e-02 -6.44324493e-04 9.99791400e-01 7.08126105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.46, Y:148.25, Z:7.08 [[ 7.86133131e-01 6.17857706e-01 -1.57021108e-02 1.40464573e+02] [-6.17718927e-01 7.86289698e-01 1.31087322e-02 1.48252231e+02] [ 2.04457391e-02 -6.05717655e-04 9.99790781e-01 7.08147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.49, Y:148.24, Z:7.08 [[ 7.85920013e-01 6.18129646e-01 -1.56676230e-02 1.40487418e+02] [-6.17991678e-01 7.86075945e-01 1.30726546e-02 1.48235250e+02] [ 2.03965369e-02 -5.91600249e-04 9.99791794e-01 7.08188224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.51, Y:148.22, Z:7.08 [[ 7.85878523e-01 6.18191166e-01 -1.53176159e-02 1.40510023e+02] [-6.18059453e-01 7.86027580e-01 1.27732478e-02 1.48217701e+02] [ 1.99363775e-02 -5.71023814e-04 9.99801088e-01 7.08282680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.53, Y:148.20, Z:7.08 [[ 7.85600676e-01 6.18543097e-01 -1.53627467e-02 1.40532336e+02] [-6.18410792e-01 7.85750676e-01 1.28050335e-02 1.48200423e+02] [ 1.99917537e-02 -5.59154619e-04 9.99799989e-01 7.08361117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:148.18, Z:7.08 [[ 7.85798901e-01 6.18293370e-01 -1.52772807e-02 1.40555038e+02] [-6.18162577e-01 7.85947197e-01 1.27291729e-02 1.48184266e+02] [ 1.98774991e-02 -5.58726896e-04 9.99802267e-01 7.08445277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.58, Y:148.17, Z:7.09 [[ 7.85979806e-01 6.18060658e-01 -1.53872655e-02 1.40579278e+02] [-6.17928105e-01 7.86130211e-01 1.28120795e-02 1.48169927e+02] [ 2.00150365e-02 -5.61811897e-04 9.99799521e-01 7.08570429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:148.15, Z:7.09 [[ 7.86018195e-01 6.18001258e-01 -1.58064089e-02 1.40601964e+02] [-6.17861509e-01 7.86176899e-01 1.31544460e-02 1.48151829e+02] [ 2.05560977e-02 -5.73462295e-04 9.99788537e-01 7.08573915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:148.13, Z:7.09 [[ 7.86137256e-01 6.17847055e-01 -1.59132476e-02 1.40625385e+02] [-6.17705422e-01 7.86298086e-01 1.32412830e-02 1.48134245e+02] [ 2.06936438e-02 -5.79766612e-04 9.99785696e-01 7.08588575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.64, Y:148.11, Z:7.09 [[ 7.86740344e-01 6.17079423e-01 -1.58939131e-02 1.40643571e+02] [-6.16938063e-01 7.86900648e-01 1.32210623e-02 1.48112306e+02] [ 2.06653760e-02 -5.95983204e-04 9.99786271e-01 7.08500097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.67, Y:148.09, Z:7.09 [[ 7.87194529e-01 6.16494078e-01 -1.61191018e-02 1.40666108e+02] [-6.16348728e-01 7.87359305e-01 1.34003592e-02 1.48094283e+02] [ 2.09527669e-02 -6.13701535e-04 9.99780278e-01 7.08556007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:148.08, Z:7.09 [[ 7.87788432e-01 6.15732288e-01 -1.62215061e-02 1.40688391e+02] [-6.15585098e-01 7.87955171e-01 1.34772588e-02 1.48075706e+02] [ 2.10802030e-02 -6.31511166e-04 9.99777588e-01 7.08562748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.71, Y:148.06, Z:7.09 [[ 7.88309216e-01 6.15064680e-01 -1.62486499e-02 1.40708619e+02] [-6.14916993e-01 7.88476393e-01 1.34932726e-02 1.48057200e+02] [ 2.11109123e-02 -6.45300150e-04 9.99776932e-01 7.08575426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.73, Y:148.04, Z:7.09 [[ 7.88733924e-01 6.14526582e-01 -1.59961402e-02 1.40729834e+02] [-6.14383407e-01 7.88895850e-01 1.32803675e-02 1.48038622e+02] [ 2.07804274e-02 -6.46913236e-04 9.99783854e-01 7.08598939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:148.02, Z:7.09 [[ 7.89020592e-01 6.14159275e-01 -1.59653078e-02 1.40751564e+02] [-6.14016681e-01 7.89181830e-01 1.32496965e-02 1.48020601e+02] [ 2.07369548e-02 -6.51318002e-04 9.99784754e-01 7.08605817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.77, Y:148.00, Z:7.09 [[ 7.89171922e-01 6.13967270e-01 -1.58704173e-02 1.40773721e+02] [-6.13826511e-01 7.89331220e-01 1.31620105e-02 1.48003738e+02] [ 2.06080595e-02 -6.45406265e-04 9.99787423e-01 7.08699134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:147.99, Z:7.09 [[ 7.89197430e-01 6.13935338e-01 -1.58372340e-02 1.40795014e+02] [-6.13795346e-01 7.89356063e-01 1.31255095e-02 1.47985766e+02] [ 2.05594307e-02 -6.37797837e-04 9.99788429e-01 7.08711438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.82, Y:147.97, Z:7.09 [[ 7.89378743e-01 6.13706357e-01 -1.56750574e-02 1.40817395e+02] [-6.13569353e-01 7.89534110e-01 1.29822314e-02 1.47969405e+02] [ 2.03432704e-02 -6.30162631e-04 9.99792856e-01 7.08792872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.84, Y:147.95, Z:7.09 [[ 7.89295322e-01 6.13810324e-01 -1.58044764e-02 1.40838333e+02] [-6.13671212e-01 7.89453288e-01 1.30824358e-02 1.47951261e+02] [ 2.05070301e-02 -6.27153204e-04 9.99789512e-01 7.08792118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.86, Y:147.93, Z:7.09 [[ 7.88964818e-01 6.14240847e-01 -1.55787589e-02 1.40860501e+02] [-6.14105821e-01 7.89118379e-01 1.28928386e-02 1.47934204e+02] [ 2.02127930e-02 -6.04989542e-04 9.99795518e-01 7.08847889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.88, Y:147.92, Z:7.09 [[ 7.89029792e-01 6.14168078e-01 -1.51512532e-02 1.40882260e+02] [-6.14040437e-01 7.89175030e-01 1.25345040e-02 1.47917225e+02] [ 1.96552829e-02 -5.86614988e-04 9.99806644e-01 7.08902792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:147.90, Z:7.09 [[ 7.88531069e-01 6.14827307e-01 -1.43574164e-02 1.40906054e+02] [-6.14712940e-01 7.88661586e-01 1.18702928e-02 1.47900953e+02] [ 1.86213229e-02 -5.34405000e-04 9.99826465e-01 7.09062578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.93, Y:147.88, Z:7.09 [[ 7.87981960e-01 6.15536652e-01 -1.41088549e-02 1.40926596e+02] [-6.15426429e-01 7.88108099e-01 1.16591121e-02 1.47882775e+02] [ 1.82959137e-02 -5.04207802e-04 9.99832489e-01 7.09099658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.95, Y:147.87, Z:7.09 [[ 7.87515426e-01 6.16138245e-01 -1.38966623e-02 1.40953621e+02] [-6.16031469e-01 7.87637882e-01 1.14802806e-02 1.47869390e+02] [ 1.80189776e-02 -4.80116743e-04 9.99837530e-01 7.09283523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.98, Y:147.85, Z:7.09 [[ 7.85664958e-01 6.18506985e-01 -1.34045936e-02 1.40976526e+02] [-6.18408070e-01 7.85779195e-01 1.10686947e-02 1.47853157e+02] [ 1.73791158e-02 -4.06776675e-04 9.99848889e-01 7.09386700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:147.84, Z:7.09 [[ 7.85736129e-01 6.18416545e-01 -1.34057116e-02 1.40997834e+02] [-6.18317639e-01 7.85850375e-01 1.10673406e-02 1.47835729e+02] [ 1.73791100e-02 -4.07021453e-04 9.99848889e-01 7.09423079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.02, Y:147.82, Z:7.09 [[ 7.84776820e-01 6.19631920e-01 -1.34769088e-02 1.41021802e+02] [-6.19532182e-01 7.84892438e-01 1.11237043e-02 1.47819097e+02] [ 1.74705260e-02 -3.80246558e-04 9.99847306e-01 7.09464831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.04, Y:147.80, Z:7.10 [[ 7.83799378e-01 6.20871781e-01 -1.32953529e-02 1.41044942e+02] [-6.20774919e-01 7.83912056e-01 1.09721228e-02 1.47801894e+02] [ 1.72346689e-02 -3.46521388e-04 9.99851412e-01 7.09520033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.07, Y:147.79, Z:7.10 [[ 7.81651267e-01 6.23569365e-01 -1.35108718e-02 1.41067347e+02] [-6.23469773e-01 7.81767972e-01 1.11480824e-02 1.47785608e+02] [ 1.75139695e-02 -2.90292597e-04 9.99846577e-01 7.09506904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.09, Y:147.77, Z:7.10 [[ 7.80465823e-01 6.25037394e-01 -1.41899841e-02 1.41090950e+02] [-6.24927822e-01 7.80594763e-01 1.17061546e-02 1.47768272e+02] [ 1.83934117e-02 -2.68537732e-04 9.99830791e-01 7.09552288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.11, Y:147.75, Z:7.10 [[ 7.79260942e-01 6.26530484e-01 -1.45580450e-02 1.41112232e+02] [-6.26415452e-01 7.79396880e-01 1.20076957e-02 1.47750658e+02] [ 1.88696822e-02 -2.37743973e-04 9.99821923e-01 7.09560028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.13, Y:147.73, Z:7.10 [[ 7.78851035e-01 6.27040718e-01 -1.45259803e-02 1.41134517e+02] [-6.26926323e-01 7.78986450e-01 1.19790261e-02 1.47732177e+02] [ 1.88268789e-02 -2.23157436e-04 9.99822734e-01 7.09603899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.16, Y:147.71, Z:7.10 [[ 7.78435675e-01 6.27545592e-01 -1.49809680e-02 1.41156894e+02] [-6.27424050e-01 7.78579786e-01 1.23522538e-02 1.47713556e+02] [ 1.94154812e-02 -2.16015371e-04 9.99811478e-01 7.09609384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.18, Y:147.70, Z:7.10 [[ 7.78393361e-01 6.27601028e-01 -1.48568524e-02 1.41178242e+02] [-6.27481573e-01 7.78535103e-01 1.22462194e-02 1.47695772e+02] [ 1.92523210e-02 -2.09974793e-04 9.99814635e-01 7.09614668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.20, Y:147.68, Z:7.10 [[ 7.78147721e-01 6.27891285e-01 -1.54485620e-02 1.41200026e+02] [-6.27762343e-01 7.78301029e-01 1.27259290e-02 1.47677317e+02] [ 2.00141316e-02 -2.04627179e-04 9.99799676e-01 7.09662278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.22, Y:147.66, Z:7.10 [[ 7.78121661e-01 6.27917887e-01 -1.56782750e-02 1.41221236e+02] [-6.27785211e-01 7.78279568e-01 1.29090080e-02 1.47658579e+02] [ 2.03078781e-02 -2.02189579e-04 9.99793753e-01 7.09681062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.24, Y:147.64, Z:7.10 [[ 7.78103611e-01 6.27942538e-01 -1.55865239e-02 1.41242522e+02] [-6.27811477e-01 7.78259680e-01 1.28304371e-02 1.47639682e+02] [ 2.01871404e-02 -1.98010793e-04 9.99796199e-01 7.09750624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:147.62, Z:7.10 [[ 7.78338521e-01 6.27659879e-01 -1.52388670e-02 1.41261616e+02] [-6.27534606e-01 7.78487660e-01 1.25411696e-02 1.47620949e+02] [ 1.97348589e-02 -1.98359021e-04 9.99805229e-01 7.09805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.28, Y:147.60, Z:7.10 [[ 7.78555517e-01 6.27392456e-01 -1.51661891e-02 1.41282969e+02] [-6.27268389e-01 7.78703195e-01 1.24781079e-02 1.47602548e+02] [ 1.96386307e-02 -2.01628795e-04 9.99807123e-01 7.09850496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.31, Y:147.58, Z:7.10 [[ 7.78976751e-01 6.26871666e-01 -1.50709959e-02 1.41305064e+02] [-6.26749105e-01 7.79122500e-01 1.23971918e-02 1.47583318e+02] [ 1.95136003e-02 -2.11390997e-04 9.99809569e-01 7.09902412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.32, Y:147.56, Z:7.10 [[ 7.79928930e-01 6.25683545e-01 -1.51975896e-02 1.41324446e+02] [-6.25558732e-01 7.80076947e-01 1.24991720e-02 1.47562690e+02] [ 1.96758156e-02 -2.41480913e-04 9.99806383e-01 7.09892197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.35, Y:147.54, Z:7.10 [[ 7.80723982e-01 6.24696176e-01 -1.49917608e-02 1.41346079e+02] [-6.24574611e-01 7.80867864e-01 1.23261647e-02 1.47542932e+02] [ 1.94066922e-02 -2.59859243e-04 9.99811639e-01 7.09934349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:147.52, Z:7.10 [[ 7.81422245e-01 6.23826814e-01 -1.48115496e-02 1.41367641e+02] [-6.23708122e-01 7.81562558e-01 1.21715487e-02 1.47523019e+02] [ 1.91690910e-02 -2.73035142e-04 9.99816219e-01 7.09964323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.39, Y:147.50, Z:7.10 [[ 7.82888900e-01 6.21994295e-01 -1.44245308e-02 1.41388634e+02] [-6.21881506e-01 7.83021713e-01 1.18485889e-02 1.47502570e+02] [ 1.86644755e-02 -3.05779790e-04 9.99825757e-01 7.10133531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.41, Y:147.48, Z:7.10 [[ 7.83636865e-01 6.21057470e-01 -1.41733037e-02 1.41411207e+02] [-6.20948452e-01 7.83764962e-01 1.16406299e-02 1.47482980e+02] [ 1.83380390e-02 -3.21135686e-04 9.99831792e-01 7.10203233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:147.46, Z:7.10 [[ 7.84691268e-01 6.19732007e-01 -1.38510990e-02 1.41429612e+02] [-6.19627699e-01 7.84813431e-01 1.13750811e-02 1.47459600e+02] [ 1.79200303e-02 -3.43402214e-04 9.99839364e-01 7.10145070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.45, Y:147.44, Z:7.10 [[ 7.85160440e-01 6.19133716e-01 -1.40187319e-02 1.41452453e+02] [-6.19026797e-01 7.85285497e-01 1.15114402e-02 1.47442735e+02] [ 1.81358276e-02 -3.60356742e-04 9.99835467e-01 7.10236387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.47, Y:147.42, Z:7.10 [[ 7.85510370e-01 6.18689853e-01 -1.40115878e-02 1.41474150e+02] [-6.18583011e-01 7.85635240e-01 1.15034358e-02 1.47422963e+02] [ 1.81250561e-02 -3.68737922e-04 9.99835660e-01 7.10276546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.50, Y:147.40, Z:7.10 [[ 7.85753184e-01 6.18376162e-01 -1.42427786e-02 1.41495336e+02] [-6.18265745e-01 7.85882165e-01 1.16915219e-02 1.47403009e+02] [ 1.84229042e-02 -3.80828415e-04 9.99830211e-01 7.10287897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.52, Y:147.38, Z:7.10 [[ 7.86104359e-01 6.17928867e-01 -1.42777011e-02 1.41515177e+02] [-6.17817864e-01 7.86233911e-01 1.17185594e-02 1.47383320e+02] [ 1.84668489e-02 -3.90991821e-04 9.99829397e-01 7.10258461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.54, Y:147.36, Z:7.10 [[ 7.86187403e-01 6.17819280e-01 -1.44466062e-02 1.41536261e+02] [-6.17705662e-01 7.86320024e-01 1.18547459e-02 1.47364254e+02] [ 1.86837463e-02 -3.96301414e-04 9.99825365e-01 7.10270171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.56, Y:147.34, Z:7.10 [[ 7.85948628e-01 6.18124119e-01 -1.43988628e-02 1.41556193e+02] [-6.18011350e-01 7.86080418e-01 1.18130112e-02 1.47344627e+02] [ 1.86205713e-02 -3.85759271e-04 9.99826548e-01 7.10285832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.58, Y:147.33, Z:7.10 [[ 7.85565176e-01 6.18616759e-01 -1.41654798e-02 1.41578099e+02] [-6.18507733e-01 7.85692797e-01 1.16194989e-02 1.47326050e+02] [ 1.83177322e-02 -3.66414894e-04 9.99832149e-01 7.10306430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.60, Y:147.31, Z:7.10 [[ 7.84921874e-01 6.19440235e-01 -1.38364456e-02 1.41600139e+02] [-6.19336374e-01 7.85043744e-01 1.13479373e-02 1.47307488e+02] [ 1.78915840e-02 -3.37830139e-04 9.99839876e-01 7.10395877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.62, Y:147.29, Z:7.11 [[ 7.83351317e-01 6.21446336e-01 -1.28517261e-02 1.41623182e+02] [-6.21357025e-01 7.83456686e-01 1.05389149e-02 1.47289452e+02] [ 1.66181408e-02 -2.70162585e-04 9.99861873e-01 7.10596439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:147.27, Z:7.11 [[ 7.82336913e-01 6.22731534e-01 -1.24254003e-02 1.41644455e+02] [-6.22648232e-01 7.82435545e-01 1.01881005e-02 1.47270782e+02] [ 1.60665263e-02 -2.33873564e-04 9.99870898e-01 7.10690427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.67, Y:147.25, Z:7.11 [[ 7.81588559e-01 6.23681819e-01 -1.18453925e-02 1.41666714e+02] [-6.23606244e-01 7.81678289e-01 9.71110875e-03 1.47252063e+02] [ 1.53159281e-02 -2.03230776e-04 9.99882684e-01 7.10790942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.69, Y:147.23, Z:7.11 [[ 7.80837059e-01 6.24631397e-01 -1.13624375e-02 1.41688840e+02] [-6.24561979e-01 7.80919706e-01 9.31382624e-03 1.47233556e+02] [ 1.46908596e-02 -1.76034259e-04 9.99892068e-01 7.10905377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:147.22, Z:7.11 [[ 7.79346913e-01 6.26510929e-01 -1.01215273e-02 1.41711072e+02] [-6.26456019e-01 7.79412625e-01 8.29553747e-03 1.47215009e+02] [ 1.30860910e-02 -1.24409827e-04 9.99914366e-01 7.11061192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.73, Y:147.20, Z:7.11 [[ 7.78931799e-01 6.27039659e-01 -9.30156022e-03 1.41734613e+02] [-6.26993338e-01 7.78987326e-01 7.62231629e-03 1.47195683e+02] [ 1.20252921e-02 -1.05248251e-04 9.99927688e-01 7.11157118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.76, Y:147.17, Z:7.11 [[ 7.78249597e-01 6.27891082e-01 -8.96406018e-03 1.41755132e+02] [-6.27848117e-01 7.78301215e-01 7.34578781e-03 1.47174206e+02] [ 1.15890936e-02 -8.87880994e-05 9.99932840e-01 7.11212633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.78, Y:147.16, Z:7.11 [[ 7.78286946e-01 6.27847791e-01 -8.75108772e-03 1.41775440e+02] [-6.27806841e-01 7.78336138e-01 7.17121106e-03 1.47155200e+02] [ 1.13137168e-02 -8.72672124e-05 9.99935994e-01 7.11251993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:147.14, Z:7.11 [[ 7.78421276e-01 6.27682592e-01 -8.65334524e-03 1.41795228e+02] [-6.27642559e-01 7.78469368e-01 7.08957082e-03 1.47136371e+02] [ 1.11863644e-02 -8.74650196e-05 9.99937427e-01 7.11341842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.81, Y:147.12, Z:7.11 [[ 7.78834211e-01 6.27172386e-01 -8.48943174e-03 1.41813174e+02] [-6.27133843e-01 7.78880472e-01 6.95367516e-03 1.47115729e+02] [ 1.09734056e-02 -9.17501521e-05 9.99939786e-01 7.11399502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:147.10, Z:7.11 [[ 7.78888527e-01 6.27104965e-01 -8.48673544e-03 1.41833872e+02] [-6.27066475e-01 7.78934756e-01 6.94851333e-03 1.47096687e+02] [ 1.09680604e-02 -9.03700441e-05 9.99939845e-01 7.11406878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.85, Y:147.08, Z:7.11 [[ 7.79187608e-01 6.26731739e-01 -8.60224805e-03 1.41854147e+02] [-6.26692189e-01 7.79235086e-01 7.04141566e-03 1.47075726e+02] [ 1.11162522e-02 -9.56221641e-05 9.99938208e-01 7.11396624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.87, Y:147.06, Z:7.11 [[ 7.79413042e-01 6.26442895e-01 -9.19836615e-03 1.41873623e+02] [-6.26397667e-01 7.79467310e-01 7.52828742e-03 1.47057575e+02] [ 1.18858679e-02 -1.05810301e-04 9.99929355e-01 7.11390283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.89, Y:147.04, Z:7.11 [[ 7.79779385e-01 6.25985301e-01 -9.30125915e-03 1.41894470e+02] [-6.25939055e-01 7.79834848e-01 7.60985481e-03 1.47038088e+02] [ 1.20171033e-02 -1.11986546e-04 9.99927786e-01 7.11386767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.91, Y:147.02, Z:7.11 [[ 7.81046372e-01 6.24400661e-01 -9.50680380e-03 1.41912267e+02] [-6.24352244e-01 7.81104216e-01 7.77683758e-03 1.47015662e+02] [ 1.22816671e-02 -1.38476497e-04 9.99924568e-01 7.11367001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.93, Y:146.99, Z:7.11 [[ 7.81827155e-01 6.23413148e-01 -1.01166888e-02 1.41934111e+02] [-6.23358259e-01 7.81892589e-01 8.27406889e-03 1.46994485e+02] [ 1.30683273e-02 -1.62570226e-04 9.99914593e-01 7.11361496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.95, Y:146.97, Z:7.11 [[ 7.82961467e-01 6.21980380e-01 -1.05711040e-02 1.41953361e+02] [-6.21920319e-01 7.83032802e-01 8.64570813e-03 1.46972113e+02] [ 1.36549820e-02 -1.94871954e-04 9.99906747e-01 7.11347397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:146.95, Z:7.11 [[ 7.82734004e-01 6.22280339e-01 -9.72929279e-03 1.41976897e+02] [-6.22229490e-01 7.82794449e-01 7.95696273e-03 1.46954424e+02] [ 1.25674979e-02 -1.74332406e-04 9.99921011e-01 7.11413523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.00, Y:146.94, Z:7.11 [[ 7.82605708e-01 6.22442838e-01 -9.65502158e-03 1.41999714e+02] [-6.22392781e-01 7.82665244e-01 7.89566966e-03 1.46936159e+02] [ 1.24712529e-02 -1.69980404e-04 9.99922216e-01 7.11470600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.02, Y:146.92, Z:7.12 [[ 7.82384713e-01 6.22719872e-01 -9.70158841e-03 1.42021197e+02] [-6.22669367e-01 7.82444844e-01 7.93257866e-03 1.46918544e+02] [ 1.25307322e-02 -1.65446362e-04 9.99921474e-01 7.11508358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.05, Y:146.90, Z:7.11 [[ 7.81720432e-01 6.23547539e-01 -1.00813336e-02 1.42046801e+02] [-6.23493093e-01 7.81785420e-01 8.24140207e-03 1.46899818e+02] [ 1.30203456e-02 -1.56830496e-04 9.99915219e-01 7.11489076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.07, Y:146.88, Z:7.12 [[ 7.81575695e-01 6.23727556e-01 -1.01670058e-02 1.42070796e+02] [-6.23672136e-01 7.81641804e-01 8.31602757e-03 1.46879007e+02] [ 1.31338923e-02 -1.58726801e-04 9.99913734e-01 7.11523464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.09, Y:146.86, Z:7.12 [[ 7.81452365e-01 6.23881411e-01 -1.02071983e-02 1.42093260e+02] [-6.23825522e-01 7.81519008e-01 8.35217099e-03 1.46861464e+02] [ 1.31878837e-02 -1.59312977e-04 9.99913023e-01 7.11596347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.12, Y:146.84, Z:7.12 [[ 7.81305963e-01 6.24060160e-01 -1.04837434e-02 1.42118364e+02] [-6.24001230e-01 7.81376280e-01 8.57749685e-03 1.46841929e+02] [ 1.35446225e-02 -1.59780654e-04 9.99908255e-01 7.11609155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.14, Y:146.82, Z:7.12 [[ 7.81894419e-01 6.23318287e-01 -1.07438776e-02 1.42140374e+02] [-6.23256318e-01 7.81968210e-01 8.79093977e-03 1.46823614e+02] [ 1.38809243e-02 -1.77397116e-04 9.99903640e-01 7.11573927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.16, Y:146.80, Z:7.12 [[ 7.83179163e-01 6.21691401e-01 -1.14105103e-02 1.42164582e+02] [-6.21621345e-01 7.83262251e-01 9.33542203e-03 1.46804493e+02] [ 1.47411736e-02 -2.18291287e-04 9.99891319e-01 7.11537819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.19, Y:146.78, Z:7.12 [[ 7.84038158e-01 6.20614135e-01 -1.10572275e-02 1.42187948e+02] [-6.20548237e-01 7.84116090e-01 9.04669596e-03 1.46784679e+02] [ 1.42846574e-02 -2.31411828e-04 9.99897942e-01 7.11625264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.21, Y:146.77, Z:7.12 [[ 7.84956049e-01 6.19458621e-01 -1.07246472e-02 1.42209462e+02] [-6.19396521e-01 7.85029272e-01 8.77454348e-03 1.46765786e+02] [ 1.38546286e-02 -2.44821836e-04 9.99903990e-01 7.11720373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.23, Y:146.75, Z:7.12 [[ 7.86535488e-01 6.17459823e-01 -1.02612209e-02 1.42231188e+02] [-6.17402816e-01 7.86602375e-01 8.39447686e-03 1.46746709e+02] [ 1.32547529e-02 -2.67247306e-04 9.99912116e-01 7.11879888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.25, Y:146.73, Z:7.12 [[ 7.87309023e-01 6.16482203e-01 -9.70545950e-03 1.42253217e+02] [-6.16431141e-01 7.87368796e-01 7.93900186e-03 1.46728026e+02] [ 1.25360293e-02 -2.67700325e-04 9.99921385e-01 7.12001247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.27, Y:146.71, Z:7.12 [[ 7.88915339e-01 6.14426545e-01 -9.62331401e-03 1.42273803e+02] [-6.14376204e-01 7.88973975e-01 7.87068249e-03 1.46708681e+02] [ 1.24285006e-02 -2.96967013e-04 9.99922719e-01 7.12164921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.30, Y:146.69, Z:7.12 [[ 7.89253491e-01 6.13997917e-01 -9.24582341e-03 1.42300808e+02] [-6.13951441e-01 7.89307591e-01 7.56003381e-03 1.46690719e+02] [ 1.19396436e-02 -2.90296462e-04 9.99928678e-01 7.12239903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.33, Y:146.67, Z:7.12 [[ 7.89489214e-01 6.13695026e-01 -9.23011737e-03 1.42326792e+02] [-6.13648639e-01 7.89543112e-01 7.55131748e-03 1.46671287e+02] [ 1.19217816e-02 -2.97634753e-04 9.99928889e-01 7.12307558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:146.65, Z:7.12 [[ 7.89677719e-01 6.13455095e-01 -9.05249643e-03 1.42347483e+02] [-6.13410410e-01 7.89729547e-01 7.41019125e-03 1.46647957e+02] [ 1.16948435e-02 -2.98767377e-04 9.99931568e-01 7.12353789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.37, Y:146.63, Z:7.12 [[ 7.89721505e-01 6.13398758e-01 -9.05026464e-03 1.42369477e+02] [-6.13354039e-01 7.89773304e-01 7.41291605e-03 1.46630055e+02] [ 1.16947309e-02 -3.03122852e-04 9.99931568e-01 7.12391402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.40, Y:146.61, Z:7.12 [[ 7.90049087e-01 6.12972180e-01 -9.35669036e-03 1.42397105e+02] [-6.12924371e-01 7.90104427e-01 7.66224401e-03 1.46612677e+02] [ 1.20895049e-02 -3.18605327e-04 9.99926869e-01 7.12353113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.42, Y:146.59, Z:7.12 [[ 7.89870998e-01 6.13183317e-01 -1.04893926e-02 1.42417216e+02] [-6.13123178e-01 7.89940563e-01 8.59516583e-03 1.46587354e+02] [ 1.35564090e-02 -3.57782518e-04 9.99908044e-01 7.12227614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.45, Y:146.57, Z:7.12 [[ 7.89657293e-01 6.13451511e-01 -1.08905056e-02 1.42446669e+02] [-6.13386633e-01 7.89732300e-01 8.92933667e-03 1.46571046e+02] [ 1.40782991e-02 -3.71025286e-04 9.99900827e-01 7.12215178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:146.55, Z:7.12 [[ 7.89284393e-01 6.13925658e-01 -1.11997154e-02 1.42471882e+02] [-6.13857004e-01 7.89363759e-01 9.18884629e-03 1.46549364e+02] [ 1.44819180e-02 -3.77589213e-04 9.99895060e-01 7.12244088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:146.53, Z:7.12 [[ 7.88892039e-01 6.14424149e-01 -1.15028886e-02 1.42495769e+02] [-6.14351690e-01 7.88975804e-01 9.44363752e-03 1.46528664e+02] [ 1.48778997e-02 -3.83191403e-04 9.99889245e-01 7.12262388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:146.51, Z:7.12 [[ 7.88698002e-01 6.14670383e-01 -1.16525363e-02 1.42520214e+02] [-6.14595972e-01 7.88783982e-01 9.57193804e-03 1.46507486e+02] [ 1.50749208e-02 -3.87766540e-04 9.99886292e-01 7.12282016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:146.49, Z:7.12 [[ 7.88551967e-01 6.14854818e-01 -1.18046002e-02 1.42545372e+02] [-6.14778410e-01 7.88640221e-01 9.70093484e-03 1.46485663e+02] [ 1.52742491e-02 -3.92477880e-04 9.99883265e-01 7.12340128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.57, Y:146.46, Z:7.12 [[ 7.88327990e-01 6.15143006e-01 -1.17500242e-02 1.42568675e+02] [-6.15067246e-01 7.88415456e-01 9.66191841e-03 1.46463013e+02] [ 1.52073622e-02 -3.89705679e-04 9.99884285e-01 7.12401796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.59, Y:146.44, Z:7.12 [[ 7.88231821e-01 6.15269205e-01 -1.15931672e-02 1.42593384e+02] [-6.15195395e-01 7.88316978e-01 9.53774108e-03 1.46443388e+02] [ 1.50073689e-02 -3.85887964e-04 9.99887309e-01 7.12469851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.62, Y:146.42, Z:7.13 [[ 7.88395493e-01 6.15060099e-01 -1.15595086e-02 1.42616312e+02] [-6.14986686e-01 7.88480135e-01 9.51067643e-03 1.46423537e+02] [ 1.49640805e-02 -3.89230558e-04 9.99887956e-01 7.12518341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.64, Y:146.40, Z:7.13 [[ 7.88380978e-01 6.15077847e-01 -1.16049481e-02 1.42637207e+02] [-6.15003859e-01 7.88466289e-01 9.54797254e-03 1.46404259e+02] [ 1.50228568e-02 -3.90352064e-04 9.99887074e-01 7.12576003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:146.38, Z:7.13 [[ 7.88428310e-01 6.15015172e-01 -1.17105879e-02 1.42664518e+02] [-6.14939822e-01 7.88515176e-01 9.63500375e-03 1.46384891e+02] [ 1.51596498e-02 -3.95202870e-04 9.99885008e-01 7.12640754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.97275509600007 meters Centerline goodness [0,1] 0.9999353267079139 Centerline is valid? [True, True] Translation: X:142.69, Y:146.36, Z:7.13 [[ 7.88095923e-01 6.15433885e-01 -1.20809289e-02 1.42685942e+02] [-6.15353643e-01 7.88188410e-01 9.94609615e-03 1.46360404e+02] [ 1.56432127e-02 -4.04434232e-04 9.99877556e-01 7.12635736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.71, Y:146.34, Z:7.13 [[ 7.87869469e-01 6.15722841e-01 -1.21278011e-02 1.42713590e+02] [-6.15641915e-01 7.87962702e-01 9.99064214e-03 1.46342058e+02] [ 1.57077215e-02 -4.04939240e-04 9.99876544e-01 7.12696597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.73, Y:146.32, Z:7.13 [[ 7.87758064e-01 6.15863848e-01 -1.22046356e-02 1.42734909e+02] [-6.15781817e-01 7.87852494e-01 1.00598889e-02 1.46317889e+02] [ 1.58109745e-02 -4.09365941e-04 9.99874915e-01 7.12681171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.76, Y:146.30, Z:7.13 [[ 7.87492084e-01 6.16194319e-01 -1.26798314e-02 1.42763833e+02] [-6.16105740e-01 7.87594047e-01 1.04563004e-02 1.46300989e+02] [ 1.64296726e-02 -4.22136897e-04 9.99864935e-01 7.12781653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.78, Y:146.27, Z:7.13 [[ 7.87494072e-01 6.16202030e-01 -1.21714491e-02 1.42783322e+02] [-6.16120315e-01 7.87588021e-01 1.00432571e-02 1.46274984e+02] [ 1.57747629e-02 -4.09928357e-04 9.99875487e-01 7.12812084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.81, Y:146.26, Z:7.13 [[ 7.87754748e-01 6.15872016e-01 -1.20049106e-02 1.42811927e+02] [-6.15792393e-01 7.87846107e-01 9.91165351e-03 1.46258636e+02] [ 1.55623321e-02 -4.15419511e-04 9.99878813e-01 7.12974470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.84, Y:146.24, Z:7.13 [[ 7.87857716e-01 6.15745639e-01 -1.17272228e-02 1.42836857e+02] [-6.15669561e-01 7.87944883e-01 9.68783048e-03 1.46236655e+02] [ 1.52056446e-02 -4.12537893e-04 9.99884302e-01 7.13081007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.86, Y:146.22, Z:7.13 [[ 7.88391040e-01 6.15070181e-01 -1.13243089e-02 1.42859321e+02] [-6.14999088e-01 7.88472257e-01 9.36069629e-03 1.46215240e+02] [ 1.46863886e-02 -4.15449439e-04 9.99892063e-01 7.13235770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.88, Y:146.19, Z:7.13 [[ 7.88583308e-01 6.14830172e-01 -1.09647669e-02 1.42881555e+02] [-6.14763434e-01 7.88659427e-01 9.06803884e-03 1.46192904e+02] [ 1.42227706e-02 -4.10166340e-04 9.99898767e-01 7.13304467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.90, Y:146.17, Z:7.13 [[ 7.89120765e-01 6.14141417e-01 -1.08967282e-02 1.42904782e+02] [-6.14075374e-01 7.89195882e-01 9.01633131e-03 1.46170705e+02] [ 1.41369555e-02 -4.23561808e-04 9.99899979e-01 7.13386761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.93, Y:146.15, Z:7.13 [[ 7.89103242e-01 6.14165593e-01 -1.08026722e-02 1.42932137e+02] [-6.14100621e-01 7.89177069e-01 8.94323879e-03 1.46151394e+02] [ 1.40178507e-02 -4.23211014e-04 9.99901656e-01 7.13450679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.96, Y:146.13, Z:7.13 [[ 7.88862480e-01 6.14475184e-01 -1.07812642e-02 1.42956265e+02] [-6.14410419e-01 7.88936037e-01 8.93120584e-03 1.46130053e+02] [ 1.39937322e-02 -4.21372129e-04 9.99901994e-01 7.13469397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.98, Y:146.11, Z:7.14 [[ 7.88274288e-01 6.15235920e-01 -1.04120161e-02 1.42980933e+02] [-6.15175514e-01 7.88342949e-01 8.63027646e-03 1.46109740e+02] [ 1.35178956e-02 -3.97807656e-04 9.99908550e-01 7.13588941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.00, Y:146.09, Z:7.14 [[ 7.87647176e-01 6.16042392e-01 -1.01831817e-02 1.43004566e+02] [-6.15984620e-01 7.87712909e-01 8.44515827e-03 1.46088870e+02] [ 1.32239992e-02 -3.79121736e-04 9.99912487e-01 7.13672423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.03, Y:146.07, Z:7.14 [[ 7.86955006e-01 6.16928249e-01 -1.00675196e-02 1.43030317e+02] [-6.16871799e-01 7.87019316e-01 8.35342394e-03 1.46069577e+02] [ 1.30767956e-02 -3.63399827e-04 9.99914429e-01 7.13785328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.05, Y:146.05, Z:7.14 [[ 7.85982614e-01 6.18169543e-01 -9.88666604e-03 1.43054752e+02] [-6.18115145e-01 7.86044719e-01 8.20774624e-03 1.46049644e+02] [ 1.28451404e-02 -3.40047836e-04 9.99917440e-01 7.13837741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.08, Y:146.03, Z:7.14 [[ 7.85456699e-01 6.18834683e-01 -1.00702541e-02 1.43079522e+02] [-6.18778240e-01 7.85521178e-01 8.36475223e-03 1.46029809e+02] [ 1.30867967e-02 -3.38896567e-04 9.99914307e-01 7.13889393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:146.01, Z:7.14 [[ 7.84859472e-01 6.19589232e-01 -1.02368682e-02 1.43102482e+02] [-6.19530908e-01 7.84926157e-01 8.50778842e-03 1.46008925e+02] [ 1.33065197e-02 -3.35362091e-04 9.99911408e-01 7.13960873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.13, Y:145.99, Z:7.14 [[ 7.84423068e-01 6.20143782e-01 -1.01064510e-02 1.43127737e+02] [-6.20086948e-01 7.84488103e-01 8.40192159e-03 1.45989173e+02] [ 1.31387900e-02 -3.23782721e-04 9.99913630e-01 7.13976953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.15, Y:145.97, Z:7.14 [[ 7.84104058e-01 6.20543886e-01 -1.03010609e-02 1.43153381e+02] [-6.20484815e-01 7.84171651e-01 8.56830268e-03 1.45968084e+02] [ 1.33948077e-02 -3.26789054e-04 9.99910232e-01 7.14019748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:145.95, Z:7.14 [[ 7.83914243e-01 6.20787277e-01 -1.00805441e-02 1.43179632e+02] [-6.20730663e-01 7.83978989e-01 8.38980167e-03 1.45947549e+02] [ 1.31112169e-02 -3.19582199e-04 9.99913993e-01 7.14054150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.21, Y:145.93, Z:7.14 [[ 7.83806722e-01 6.20927401e-01 -9.80744099e-03 1.43205689e+02] [-6.20873763e-01 7.83868015e-01 8.16733933e-03 1.45926952e+02] [ 1.27590641e-02 -3.12432676e-04 9.99918551e-01 7.14178979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.23, Y:145.91, Z:7.14 [[ 7.83850263e-01 6.20877500e-01 -9.48128671e-03 1.43230857e+02] [-6.20827308e-01 7.83907543e-01 7.90047853e-03 1.45906348e+02] [ 1.23376815e-02 -3.06550469e-04 9.99923841e-01 7.14254036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.25, Y:145.88, Z:7.14 [[ 7.84118649e-01 6.20545836e-01 -8.98947407e-03 1.43251241e+02] [-6.20500640e-01 7.84170120e-01 7.49529862e-03 1.45881518e+02] [ 1.17004533e-02 -2.99229018e-04 9.99931503e-01 7.14412468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.27, Y:145.86, Z:7.14 [[ 7.84196811e-01 6.20447725e-01 -8.94331764e-03 1.43273635e+02] [-6.20402933e-01 7.84247748e-01 7.46129493e-03 1.45863273e+02] [ 1.16431202e-02 -3.02663188e-04 9.99932171e-01 7.14498864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:145.85, Z:7.15 [[ 7.84147517e-01 6.20514679e-01 -8.61417984e-03 1.43302809e+02] [-6.20473151e-01 7.84194778e-01 7.18469208e-03 1.45846740e+02] [ 1.12134017e-02 -2.88991152e-04 9.99937086e-01 7.14544774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:145.83, Z:7.15 [[ 7.83878460e-01 6.20853066e-01 -8.71957131e-03 1.43327580e+02] [-6.20810480e-01 7.83926901e-01 7.27748728e-03 1.45825875e+02] [ 1.13537568e-02 -2.91464262e-04 9.99935502e-01 7.14643830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.35, Y:145.81, Z:7.15 [[ 7.83771924e-01 6.20986730e-01 -8.77790312e-03 1.43352036e+02] [-6.20943530e-01 7.83821022e-01 7.33068866e-03 1.45805563e+02] [ 1.14325654e-02 -2.95005810e-04 9.99934603e-01 7.14687131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.38, Y:145.79, Z:7.15 [[ 7.83568621e-01 6.21248134e-01 -8.42450124e-03 1.43378159e+02] [-6.21208314e-01 7.83613857e-01 7.03944725e-03 1.45786044e+02] [ 1.09747994e-02 -2.82519759e-04 9.99939735e-01 7.14731942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.40, Y:145.77, Z:7.15 [[ 7.83245088e-01 6.21649134e-01 -8.91546216e-03 1.43402719e+02] [-6.21604504e-01 7.83295772e-01 7.45490203e-03 1.45765023e+02] [ 1.16177772e-02 -2.97123965e-04 9.99932467e-01 7.14764660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.43, Y:145.74, Z:7.15 [[ 7.83066198e-01 6.21872292e-01 -9.06538901e-03 1.43425592e+02] [-6.21826108e-01 7.83118612e-01 7.58493154e-03 1.45742572e+02] [ 1.18161336e-02 -3.02407943e-04 9.99930141e-01 7.14810003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:145.72, Z:7.15 [[ 7.82364544e-01 6.22740778e-01 -9.98222038e-03 1.43452182e+02] [-6.22684778e-01 7.82428156e-01 8.35751311e-03 1.45723836e+02] [ 1.30149345e-02 -3.22845250e-04 9.99915250e-01 7.14783673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.48, Y:145.70, Z:7.15 [[ 7.81896398e-01 6.23326425e-01 -1.01089715e-02 1.43477392e+02] [-6.23268980e-01 7.81961678e-01 8.46835993e-03 1.45703882e+02] [ 1.31833808e-02 -3.20771763e-04 9.99913044e-01 7.14763840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.50, Y:145.68, Z:7.15 [[ 7.81364053e-01 6.23993067e-01 -1.01424572e-02 1.43502411e+02] [-6.23935234e-01 7.81429814e-01 8.50115043e-03 1.45683669e+02] [ 1.32302774e-02 -3.14256949e-04 9.99912427e-01 7.14783140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:145.66, Z:7.15 [[ 7.80524259e-01 6.25041773e-01 -1.02304891e-02 1.43525913e+02] [-6.24982958e-01 7.80591244e-01 8.57973202e-03 1.45663196e+02] [ 1.33485211e-02 -3.02807627e-04 9.99910859e-01 7.14816747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.55, Y:145.64, Z:7.15 [[ 7.79855650e-01 6.25878099e-01 -1.00881815e-02 1.43552196e+02] [-6.25820944e-01 7.79920845e-01 8.46301303e-03 1.45643894e+02] [ 1.31647975e-02 -2.86533269e-04 9.99913299e-01 7.14908420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:145.62, Z:7.15 [[ 7.79338832e-01 6.26523593e-01 -9.95853933e-03 1.43577109e+02] [-6.26467890e-01 7.79402406e-01 8.35891168e-03 1.45623157e+02] [ 1.29987649e-02 -2.75719341e-04 9.99915474e-01 7.14953739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.60, Y:145.60, Z:7.15 [[ 7.78596964e-01 6.27446745e-01 -9.86659696e-03 1.43602450e+02] [-6.27392079e-01 7.78659434e-01 8.28643738e-03 1.45602568e+02] [ 1.28820170e-02 -2.61570207e-04 9.99916989e-01 7.15012140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.63, Y:145.58, Z:7.15 [[ 7.77943972e-01 6.28256856e-01 -9.82339077e-03 1.43626844e+02] [-6.28202713e-01 7.78005952e-01 8.25170712e-03 1.45581986e+02] [ 1.28268481e-02 -2.48285085e-04 9.99917702e-01 7.15014365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.65, Y:145.56, Z:7.15 [[ 7.77300508e-01 6.29042055e-01 -1.04887419e-02 1.43650138e+02] [-6.28980329e-01 7.77371229e-01 8.81580882e-03 1.45561504e+02] [ 1.36991607e-02 -2.55320328e-04 9.99906130e-01 7.14979919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.68, Y:145.54, Z:7.15 [[ 7.76971374e-01 6.29447140e-01 -1.05726610e-02 1.43675247e+02] [-6.29384395e-01 7.77043264e-01 8.89097333e-03 1.45540660e+02] [ 1.38118127e-02 -2.53763946e-04 9.99904580e-01 7.14971668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:145.52, Z:7.15 [[ 7.76731243e-01 6.29736836e-01 -1.09587775e-02 1.43699838e+02] [-6.29669365e-01 7.76808502e-01 9.22177953e-03 1.45519422e+02] [ 1.43201658e-02 -2.62437797e-04 9.99897427e-01 7.14992157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.72, Y:145.50, Z:7.15 [[ 7.76729473e-01 6.29736575e-01 -1.10982814e-02 1.43722527e+02] [-6.29667288e-01 7.76808711e-01 9.34519151e-03 1.45496599e+02] [ 1.45062505e-02 -2.70460947e-04 9.99894742e-01 7.14955337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.75, Y:145.48, Z:7.15 [[ 7.76832158e-01 6.29606656e-01 -1.12808701e-02 1.43747938e+02] [-6.29534972e-01 7.76914010e-01 9.50472087e-03 1.45476227e+02] [ 1.47485016e-02 -2.81870565e-04 9.99891195e-01 7.15006226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:145.45, Z:7.15 [[ 7.76892085e-01 6.29542227e-01 -1.07364856e-02 1.43772651e+02] [-6.29477212e-01 7.76966222e-01 9.05152762e-03 1.45454539e+02] [ 1.40402055e-02 -2.73687165e-04 9.99901394e-01 7.15112170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.79, Y:145.43, Z:7.15 [[ 7.77500291e-01 6.28795190e-01 -1.04836496e-02 1.43794417e+02] [-6.28733058e-01 7.77570915e-01 8.84386756e-03 1.45432053e+02] [ 1.37127624e-02 -2.84692539e-04 9.99905935e-01 7.15242052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.82, Y:145.41, Z:7.15 [[ 7.77575763e-01 6.28706068e-01 -1.02280445e-02 1.43819328e+02] [-6.28646863e-01 7.77642977e-01 8.63259387e-03 1.45410077e+02] [ 1.33811311e-02 -2.82667680e-04 9.99910429e-01 7.15315311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.84, Y:145.39, Z:7.15 [[ 7.77676751e-01 6.28575969e-01 -1.05414528e-02 1.43840884e+02] [-6.28512989e-01 7.77748135e-01 8.90286940e-03 1.45386569e+02] [ 1.37947250e-02 -2.98114572e-04 9.99904804e-01 7.15335570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.87, Y:145.37, Z:7.15 [[ 7.77470196e-01 6.28830598e-01 -1.05911993e-02 1.43867070e+02] [-6.28766972e-01 7.77542275e-01 8.95015788e-03 1.45366648e+02] [ 1.38632383e-02 -2.99084698e-04 9.99903856e-01 7.15380683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:145.35, Z:7.15 [[ 7.77373839e-01 6.28939320e-01 -1.11913747e-02 1.43892329e+02] [-6.28868199e-01 7.77454327e-01 9.46347874e-03 1.45345772e+02] [ 1.46527365e-02 -3.18761150e-04 9.99892592e-01 7.15388978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.92, Y:145.33, Z:7.15 [[ 7.76859226e-01 6.29557943e-01 -1.21053925e-02 1.43915300e+02] [-6.29474699e-01 7.76953463e-01 1.02430289e-02 1.45325385e+02] [ 1.58539068e-02 -3.37353221e-04 9.99874262e-01 7.15276049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.94, Y:145.30, Z:7.15 [[ 7.76669987e-01 6.29791437e-01 -1.21027561e-02 1.43939938e+02] [-6.29708174e-01 7.76764206e-01 1.02461432e-02 1.45304299e+02] [ 1.58539210e-02 -3.36667443e-04 9.99874262e-01 7.15319044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.97, Y:145.28, Z:7.15 [[ 7.76388949e-01 6.30136466e-01 -1.21751651e-02 1.43965650e+02] [-6.30052145e-01 7.76484334e-01 1.03137742e-02 1.45283127e+02] [ 1.59529102e-02 -3.36511403e-04 9.99872688e-01 7.15320947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.99, Y:145.26, Z:7.15 [[ 7.76003277e-01 6.30607087e-01 -1.23941918e-02 1.43990492e+02] [-6.30519658e-01 7.76102176e-01 1.05059042e-02 1.45262148e+02] [ 1.62442569e-02 -3.37834471e-04 9.99867996e-01 7.15315932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.01, Y:145.24, Z:7.15 [[ 7.76110358e-01 6.30461977e-01 -1.30540400e-02 1.44013589e+02] [-6.30364848e-01 7.76220048e-01 1.10722998e-02 1.45239433e+02] [ 1.71134716e-02 -3.64518604e-04 9.99853487e-01 7.15326981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.04, Y:145.22, Z:7.15 [[ 7.76280731e-01 6.30252979e-01 -1.30156806e-02 1.44037040e+02] [-6.30156284e-01 7.76389749e-01 1.10460243e-02 1.45218167e+02] [ 1.70670307e-02 -3.72902905e-04 9.99854278e-01 7.15392392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:145.20, Z:7.15 [[ 7.77182229e-01 6.29136244e-01 -1.32427473e-02 1.44061906e+02] [-6.29035877e-01 7.77294937e-01 1.12448114e-02 1.45197343e+02] [ 1.73680388e-02 -4.09104391e-04 9.99849081e-01 7.15433603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:145.18, Z:7.15 [[ 7.77576729e-01 6.28659380e-01 -1.27206018e-02 1.44085155e+02] [-6.28566612e-01 7.77680666e-01 1.08072273e-02 1.45175734e+02] [ 1.66866309e-02 -4.07702892e-04 9.99860685e-01 7.15479513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.11, Y:145.15, Z:7.16 [[ 7.78112428e-01 6.27999455e-01 -1.25592339e-02 1.44105711e+02] [-6.27908846e-01 7.78213664e-01 1.06758469e-02 1.45152473e+02] [ 1.64781934e-02 -4.20955088e-04 9.99864137e-01 7.15528847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.13, Y:145.13, Z:7.16 [[ 7.78345193e-01 6.27718366e-01 -1.21825116e-02 1.44130841e+02] [-6.27632995e-01 7.78440414e-01 1.03607827e-02 1.45132704e+02] [ 1.59870130e-02 -4.18119165e-04 9.99872112e-01 7.15605609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:145.11, Z:7.16 [[ 7.79117910e-01 6.26768641e-01 -1.16770257e-02 1.44154563e+02] [-6.26690027e-01 7.79205295e-01 9.93568353e-03 1.45111828e+02] [ 1.53261751e-02 -4.23193446e-04 9.99882458e-01 7.15729067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:145.09, Z:7.16 [[ 7.79418164e-01 6.26396593e-01 -1.16032178e-02 1.44175813e+02] [-6.26318881e-01 7.79504409e-01 9.87605609e-03 1.45088671e+02] [ 1.52310874e-02 -4.30263086e-04 9.99883908e-01 7.15779221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.20, Y:145.07, Z:7.16 [[ 7.79849075e-01 6.25871475e-01 -1.09689534e-02 1.44201193e+02] [-6.25801910e-01 7.79926100e-01 9.34068692e-03 1.45068960e+02] [ 1.44010426e-02 -4.19934039e-04 9.99896211e-01 7.15855574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.23, Y:145.05, Z:7.16 [[ 7.79872726e-01 6.25844539e-01 -1.08233581e-02 1.44227570e+02] [-6.25776736e-01 7.79947715e-01 9.22166602e-03 1.45049217e+02] [ 1.42129827e-02 -4.18720131e-04 9.99898903e-01 7.15928138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:145.03, Z:7.16 [[ 7.79910384e-01 6.25795824e-01 -1.09261178e-02 1.44251251e+02] [-6.25726639e-01 7.79986797e-01 9.31508451e-03 1.45028202e+02] [ 1.43515686e-02 -4.28168149e-04 9.99896919e-01 7.15979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.28, Y:145.01, Z:7.16 [[ 7.79892585e-01 6.25821299e-01 -1.07358222e-02 1.44276968e+02] [-6.25754452e-01 7.79966360e-01 9.15658590e-03 1.45007276e+02] [ 1.41039667e-02 -4.23164884e-04 9.99900445e-01 7.15975659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.30, Y:144.99, Z:7.16 [[ 7.79526645e-01 6.26273104e-01 -1.09640220e-02 1.44302095e+02] [-6.26203341e-01 7.79603627e-01 9.35735499e-03 1.44985541e+02] [ 1.44078511e-02 -4.28600312e-04 9.99896110e-01 7.15995630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.33, Y:144.97, Z:7.16 [[ 7.79189921e-01 6.26691606e-01 -1.09862886e-02 1.44327683e+02] [-6.26621514e-01 7.79267251e-01 9.38236664e-03 1.44965475e+02] [ 1.44411054e-02 -4.26400690e-04 9.99895631e-01 7.16041510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:144.95, Z:7.16 [[ 7.78220895e-01 6.27909397e-01 -1.01009055e-02 1.44351858e+02] [-6.27850182e-01 7.78286354e-01 8.63140340e-03 1.44945976e+02] [ 1.32811363e-02 -3.75283100e-04 9.99911731e-01 7.16157022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:144.93, Z:7.16 [[ 7.77737282e-01 6.28511595e-01 -9.89424686e-03 1.44375704e+02] [-6.28454769e-01 7.77800132e-01 8.45917127e-03 1.44925288e+02] [ 1.30124337e-02 -3.60926240e-04 9.99915270e-01 7.16219083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.40, Y:144.91, Z:7.16 [[ 7.76203949e-01 6.30407692e-01 -9.67327517e-03 1.44402039e+02] [-6.30353491e-01 7.76264155e-01 8.27274166e-03 1.44906386e+02] [ 1.27242167e-02 -3.23751970e-04 9.99918991e-01 7.16274941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.43, Y:144.89, Z:7.16 [[ 7.75402391e-01 6.31395544e-01 -9.52890057e-03 1.44427822e+02] [-6.31342969e-01 7.75460878e-01 8.15362746e-03 1.44887064e+02] [ 1.25374537e-02 -3.06337840e-04 9.99921356e-01 7.16305785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.45, Y:144.87, Z:7.16 [[ 7.74739826e-01 6.32214490e-01 -9.11263549e-03 1.44453341e+02] [-6.32166417e-01 7.74793365e-01 7.80153450e-03 1.44868161e+02] [ 1.19926527e-02 -2.83457359e-04 9.99928045e-01 7.16317260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:144.85, Z:7.16 [[ 7.73877620e-01 6.33263451e-01 -9.53051143e-03 1.44476850e+02] [-6.33210885e-01 7.73936251e-01 8.16420090e-03 1.44847562e+02] [ 1.25460983e-02 -2.83268787e-04 9.99921255e-01 7.16327546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.50, Y:144.83, Z:7.16 [[ 7.73560769e-01 6.33651201e-01 -9.48115752e-03 1.44501368e+02] [-6.33599154e-01 7.73618820e-01 8.12614927e-03 1.44826777e+02] [ 1.24839461e-02 -2.78816905e-04 9.99922034e-01 7.16333364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.53, Y:144.81, Z:7.16 [[ 7.72985033e-01 6.34354684e-01 -9.39539640e-03 1.44527542e+02] [-6.34303566e-01 7.73042083e-01 8.05749357e-03 1.44807207e+02] [ 1.23743456e-02 -2.68788489e-04 9.99923399e-01 7.16404166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.55, Y:144.78, Z:7.16 [[ 7.72725090e-01 6.34668699e-01 -9.56965365e-03 1.44550157e+02] [-6.34615672e-01 7.72784297e-01 8.20846056e-03 1.44784755e+02] [ 1.26049311e-02 -2.69831234e-04 9.99920518e-01 7.16454101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.57, Y:144.77, Z:7.16 [[ 7.72854889e-01 6.34510463e-01 -9.58088261e-03 1.44572528e+02] [-6.34457234e-01 7.72914223e-01 8.22328158e-03 1.44765655e+02] [ 1.26229586e-02 -2.76743097e-04 9.99920289e-01 7.16471202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:144.75, Z:7.16 [[ 7.73073832e-01 6.34244321e-01 -9.53895837e-03 1.44598674e+02] [-6.34191547e-01 7.73132630e-01 8.18641705e-03 1.44747048e+02] [ 1.25670685e-02 -2.79178029e-04 9.99920992e-01 7.16481092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.62, Y:144.73, Z:7.17 [[ 7.73218557e-01 6.34068523e-01 -9.49589012e-03 1.44623695e+02] [-6.34016155e-01 7.73276812e-01 8.15398748e-03 1.44725069e+02] [ 1.25131384e-02 -2.84266683e-04 9.99921667e-01 7.16529231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.65, Y:144.70, Z:7.17 [[ 7.73432049e-01 6.33810396e-01 -9.34070538e-03 1.44646722e+02] [-6.33759643e-01 7.73488397e-01 8.02587358e-03 1.44704286e+02] [ 1.23118093e-02 -2.87705733e-04 9.99924165e-01 7.16556155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.67, Y:144.68, Z:7.17 [[ 7.74661203e-01 6.32303131e-01 -9.63178293e-03 1.44667352e+02] [-6.32248994e-01 7.74721011e-01 8.28039688e-03 1.44680506e+02] [ 1.26976655e-02 -3.24817151e-04 9.99919329e-01 7.16550257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.69, Y:144.66, Z:7.17 [[ 7.75267882e-01 6.31560400e-01 -9.54842154e-03 1.44693720e+02] [-6.31507087e-01 7.75326607e-01 8.21288142e-03 1.44661371e+02] [ 1.25900759e-02 -3.37287318e-04 9.99920685e-01 7.16574565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.72, Y:144.64, Z:7.17 [[ 7.76346157e-01 6.30236097e-01 -9.43964220e-03 1.44717359e+02] [-6.30183839e-01 7.76403461e-01 8.12374009e-03 1.44639085e+02] [ 1.24488451e-02 -3.58124437e-04 9.99922446e-01 7.16613455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.74, Y:144.62, Z:7.17 [[ 7.76830224e-01 6.29639962e-01 -9.39797146e-03 1.44740075e+02] [-6.29588065e-01 7.76886982e-01 8.09239264e-03 1.44617196e+02] [ 1.23964555e-02 -3.69564529e-04 9.99923093e-01 7.16679993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.76, Y:144.60, Z:7.17 [[ 7.77100808e-01 6.29310336e-01 -9.10134769e-03 1.44764054e+02] [-6.29261595e-01 7.77154018e-01 7.84083129e-03 1.44595939e+02] [ 1.20074651e-02 -3.65987773e-04 9.99927841e-01 7.16737475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.79, Y:144.57, Z:7.17 [[ 7.77423508e-01 6.28914908e-01 -8.87286372e-03 1.44786282e+02] [-6.28868508e-01 7.77474054e-01 7.64813290e-03 1.44574435e+02] [ 1.17084461e-02 -3.65973736e-04 9.99931387e-01 7.16795935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.81, Y:144.55, Z:7.17 [[ 7.77407456e-01 6.28932418e-01 -9.03661467e-03 1.44812170e+02] [-6.28884245e-01 7.77459885e-01 7.79321198e-03 1.44553652e+02] [ 1.19270091e-02 -3.75516513e-04 9.99928800e-01 7.16818230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.84, Y:144.53, Z:7.17 [[ 7.77164900e-01 6.29233499e-01 -8.93990904e-03 1.44837818e+02] [-6.29186314e-01 7.77216229e-01 7.71460146e-03 1.44533049e+02] [ 1.18025281e-02 -3.70649059e-04 9.99930279e-01 7.16846521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.86, Y:144.51, Z:7.17 [[ 7.76190714e-01 6.30435984e-01 -8.85697514e-03 1.44863415e+02] [-6.30389692e-01 7.76241165e-01 7.64791176e-03 1.44513914e+02] [ 1.16966675e-02 -3.52892262e-04 9.99931529e-01 7.16860185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.89, Y:144.49, Z:7.17 [[ 7.75317458e-01 6.31502370e-01 -9.35927033e-03 1.44888510e+02] [-6.31450695e-01 7.75373863e-01 8.08657873e-03 1.44493154e+02] [ 1.23636272e-02 -3.59747911e-04 9.99923503e-01 7.16858133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.91, Y:144.47, Z:7.17 [[ 7.74450478e-01 6.32565929e-01 -9.31679113e-03 1.44913421e+02] [-6.32514771e-01 7.74506441e-01 8.05213339e-03 1.44473289e+02] [ 1.23094200e-02 -3.42970543e-04 9.99924177e-01 7.16880783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.94, Y:144.46, Z:7.17 [[ 7.72097032e-01 6.35428061e-01 -9.86669181e-03 1.44939576e+02] [-6.35370852e-01 7.72160008e-01 8.53244560e-03 1.44455069e+02] [ 1.30404202e-02 -3.18867543e-04 9.99914919e-01 7.16868895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.97, Y:144.44, Z:7.17 [[ 7.70847767e-01 6.36946874e-01 -9.61242939e-03 1.44965007e+02] [-6.36892683e-01 7.70907645e-01 8.31338675e-03 1.44435302e+02] [ 1.27054810e-02 -2.86269670e-04 9.99919241e-01 7.16914902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:144.42, Z:7.17 [[ 7.68622887e-01 6.39634078e-01 -9.33290185e-03 1.44990496e+02] [-6.39583137e-01 7.68679510e-01 8.07601238e-03 1.44416523e+02] [ 1.23397032e-02 -2.38241318e-04 9.99923835e-01 7.16973592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.02, Y:144.40, Z:7.17 [[ 7.67359345e-01 6.41148398e-01 -9.40033865e-03 1.45015645e+02] [-6.41096775e-01 7.67416890e-01 8.13891469e-03 1.44396579e+02] [ 1.24322308e-02 -2.18945457e-04 9.99922693e-01 7.17036796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:144.38, Z:7.17 [[ 7.65281332e-01 6.43635101e-01 -8.85096828e-03 1.45040447e+02] [-6.43589455e-01 7.65332494e-01 7.66727589e-03 1.44378062e+02] [ 1.17088615e-02 -1.71233253e-04 9.99931434e-01 7.17073815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.06, Y:144.36, Z:7.17 [[ 7.64411544e-01 6.44666295e-01 -8.96435113e-03 1.45064383e+02] [-6.44619489e-01 7.64464088e-01 7.76998054e-03 1.44358560e+02] [ 1.18619691e-02 -1.60867380e-04 9.99929631e-01 7.17101112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.09, Y:144.34, Z:7.17 [[ 7.63643343e-01 6.45575486e-01 -9.00758698e-03 1.45086522e+02] [-6.45528289e-01 7.63696451e-01 7.80758803e-03 1.44340494e+02] [ 1.19194497e-02 -1.47560410e-04 9.99928950e-01 7.17137872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.11, Y:144.32, Z:7.17 [[ 7.62139355e-01 6.47346168e-01 -9.30279724e-03 1.45112088e+02] [-6.47295979e-01 7.62196119e-01 8.06174791e-03 1.44320783e+02] [ 1.23092976e-02 -1.22512104e-04 9.99924230e-01 7.17115183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.14, Y:144.30, Z:7.17 [[ 7.61479587e-01 6.48113748e-01 -9.86954720e-03 1.45135842e+02] [-6.48057255e-01 7.61543535e-01 8.55801870e-03 1.44299093e+02] [ 1.30626594e-02 -1.20724883e-04 9.99914673e-01 7.17133736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.16, Y:144.28, Z:7.17 [[ 7.61536881e-01 6.48046714e-01 -9.85069634e-03 1.45156215e+02] [-6.47990362e-01 7.61600579e-01 8.54690778e-03 1.44281325e+02] [ 1.30410915e-02 -1.25629209e-04 9.99914953e-01 7.17172349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.18, Y:144.26, Z:7.17 [[ 7.61282650e-01 6.48350493e-01 -9.50600018e-03 1.45179132e+02] [-6.48298068e-01 7.61341989e-01 8.24565740e-03 1.44262042e+02] [ 1.25833931e-02 -1.14554372e-04 9.99920819e-01 7.17210306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:144.24, Z:7.17 [[ 7.61153291e-01 6.48503743e-01 -9.41078291e-03 1.45203572e+02] [-6.48452386e-01 7.61211458e-01 8.16211063e-03 1.44240632e+02] [ 1.24567551e-02 -1.10172733e-04 9.99922406e-01 7.17275784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:144.22, Z:7.17 [[ 7.61140529e-01 6.48517526e-01 -9.49285051e-03 1.45227773e+02] [-6.48465212e-01 7.61199715e-01 8.23787564e-03 1.44218523e+02] [ 1.25683618e-02 -1.14397697e-04 9.99921008e-01 7.17298308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.25, Y:144.20, Z:7.17 [[ 7.61226723e-01 6.48414483e-01 -9.61947411e-03 1.45251409e+02] [-6.48360687e-01 7.61287491e-01 8.35322198e-03 1.44196551e+02] [ 1.27395354e-02 -1.21806953e-04 9.99918841e-01 7.17306532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.28, Y:144.17, Z:7.17 [[ 7.61414295e-01 6.48190939e-01 -9.83754514e-03 1.45276075e+02] [-6.48134590e-01 7.61477832e-01 8.54781028e-03 1.44174121e+02] [ 1.30316857e-02 -1.32371658e-04 9.99915075e-01 7.17319977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.30, Y:144.15, Z:7.17 [[ 7.61552803e-01 6.48020384e-01 -1.03397497e-02 1.45299921e+02] [-6.47958035e-01 7.61622978e-01 8.99020358e-03 1.44151774e+02] [ 1.37008261e-02 -1.46790845e-04 9.99906129e-01 7.17327345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.32, Y:144.13, Z:7.17 [[ 7.63164223e-01 6.46116381e-01 -1.06766364e-02 1.45322846e+02] [-6.46049632e-01 7.63238878e-01 9.28915983e-03 1.44128750e+02] [ 1.41507023e-02 -1.91517455e-04 9.99899855e-01 7.17311823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.34, Y:144.11, Z:7.17 [[ 7.64040054e-01 6.45077485e-01 -1.08551872e-02 1.45344614e+02] [-6.45008300e-01 7.64117132e-01 9.44993109e-03 1.44106187e+02] [ 1.43905723e-02 -2.18440036e-04 9.99896427e-01 7.17327542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.37, Y:144.08, Z:7.17 [[ 7.66599268e-01 6.42030249e-01 -1.10779896e-02 1.45366000e+02] [-6.41957801e-01 7.66679254e-01 9.64903495e-03 1.44082413e+02] [ 1.46882371e-02 -2.85341308e-04 9.99892081e-01 7.17358381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:144.06, Z:7.17 [[ 7.68084884e-01 6.40248790e-01 -1.12737872e-02 1.45386390e+02] [-6.40173492e-01 7.68167546e-01 9.82455363e-03 1.44058802e+02] [ 1.49503160e-02 -3.28911420e-04 9.99888184e-01 7.17387895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.41, Y:144.04, Z:7.17 [[ 7.69415987e-01 6.38642413e-01 -1.16149744e-02 1.45408890e+02] [-6.38562252e-01 7.69503560e-01 1.01253194e-02 1.44035572e+02] [ 1.54042226e-02 -3.73698433e-04 9.99881278e-01 7.17432342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.43, Y:144.01, Z:7.17 [[ 7.72060251e-01 6.35437407e-01 -1.19276940e-02 1.45427857e+02] [-6.35352409e-01 7.72152249e-01 1.04029316e-02 1.44010663e+02] [ 1.58204077e-02 -4.53400901e-04 9.99874747e-01 7.17453057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.45, Y:143.99, Z:7.17 [[ 7.71866793e-01 6.35672404e-01 -1.19268382e-02 1.45452187e+02] [-6.35587418e-01 7.71958802e-01 1.04039127e-02 1.43989216e+02] [ 1.58205079e-02 -4.49886445e-04 9.99874747e-01 7.17495971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:143.97, Z:7.18 [[ 7.72854693e-01 6.34467529e-01 -1.21069419e-02 1.45475432e+02] [-6.34379706e-01 7.72949363e-01 1.05674035e-02 1.43967879e+02] [ 1.60627274e-02 -4.86669196e-04 9.99870868e-01 7.17553415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.50, Y:143.95, Z:7.18 [[ 7.73476100e-01 6.33713384e-01 -1.19193072e-02 1.45499617e+02] [-6.33628089e-01 7.73567772e-01 1.04089735e-02 1.43946155e+02] [ 1.58166977e-02 -4.98684357e-04 9.99874784e-01 7.17607673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.52, Y:143.92, Z:7.18 [[ 7.73318570e-01 6.33900549e-01 -1.21853989e-02 1.45524031e+02] [-6.33811326e-01 7.73414400e-01 1.06475247e-02 1.43924584e+02] [ 1.61738347e-02 -5.10684734e-04 9.99869065e-01 7.17638404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:143.90, Z:7.18 [[ 7.72753987e-01 6.34585989e-01 -1.23247352e-02 1.45549112e+02] [-6.34494690e-01 7.72852098e-01 1.07760089e-02 1.43904031e+02] [ 1.63635017e-02 -5.07224784e-04 9.99865980e-01 7.17670199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:143.88, Z:7.18 [[ 7.71227677e-01 6.36434429e-01 -1.26130243e-02 1.45572956e+02] [-6.36338960e-01 7.71330658e-01 1.10337845e-02 1.43883955e+02] [ 1.67510926e-02 -4.83401198e-04 9.99859574e-01 7.17640517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.60, Y:143.86, Z:7.18 [[ 7.70405905e-01 6.37419495e-01 -1.30816184e-02 1.45597484e+02] [-6.37316866e-01 7.70516810e-01 1.14480687e-02 1.43862667e+02] [ 1.73768290e-02 -4.82523668e-04 9.99848895e-01 7.17654991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.62, Y:143.84, Z:7.18 [[ 7.69435759e-01 6.38586106e-01 -1.32814671e-02 1.45622295e+02] [-6.38480377e-01 7.69550236e-01 1.16294013e-02 1.43842645e+02] [ 1.76471303e-02 -4.68121049e-04 9.99844168e-01 7.17689543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.65, Y:143.82, Z:7.18 [[ 7.68135152e-01 6.40143715e-01 -1.35798246e-02 1.45647530e+02] [-6.40033304e-01 7.68255051e-01 1.18973166e-02 1.43822654e+02] [ 1.80487613e-02 -4.47207138e-04 9.99837008e-01 7.17720260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.67, Y:143.80, Z:7.18 [[ 7.67265037e-01 6.41181574e-01 -1.38040542e-02 1.45672710e+02] [-6.41067530e-01 7.67389080e-01 1.21005084e-02 1.43802732e+02] [ 1.83517035e-02 -4.34966094e-04 9.99831499e-01 7.17781553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.70, Y:143.78, Z:7.18 [[ 7.66028009e-01 6.42660685e-01 -1.37234958e-02 1.45699115e+02] [-6.42548098e-01 7.66150823e-01 1.20357167e-02 1.43783406e+02] [ 1.82491496e-02 -4.01689945e-04 9.99833390e-01 7.17909280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.72, Y:143.76, Z:7.18 [[ 7.65364591e-01 6.43455703e-01 -1.34833950e-02 1.45723578e+02] [-6.43347067e-01 7.65483256e-01 1.18294851e-02 1.43762968e+02] [ 1.79330628e-02 -3.79366423e-04 9.99839118e-01 7.17996383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.75, Y:143.74, Z:7.18 [[ 7.64918274e-01 6.43992595e-01 -1.31746791e-02 1.45748193e+02] [-6.43888845e-01 7.65031637e-01 1.15649922e-02 1.43741962e+02] [ 1.75268157e-02 -3.63244933e-04 9.99846328e-01 7.18122986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.77, Y:143.72, Z:7.18 [[ 7.64311881e-01 6.44722270e-01 -1.26705888e-02 1.45771683e+02] [-6.44626309e-01 7.64416824e-01 1.11284050e-02 1.43721206e+02] [ 1.68603417e-02 -3.37777262e-04 9.99857797e-01 7.18281923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.80, Y:143.70, Z:7.18 [[ 7.64268377e-01 6.44782181e-01 -1.22387762e-02 1.45797111e+02] [-6.44692565e-01 7.64366294e-01 1.07547944e-02 1.43700463e+02] [ 1.62894078e-02 -3.29301263e-04 9.99867265e-01 7.18388014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.82, Y:143.68, Z:7.18 [[ 7.64341429e-01 6.44699969e-01 -1.20053765e-02 1.45819627e+02] [-6.44613628e-01 7.64435636e-01 1.05559977e-02 1.43678198e+02] [ 1.59827890e-02 -3.29557092e-04 9.99872213e-01 7.18410146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.84, Y:143.66, Z:7.19 [[ 7.65176389e-01 6.43720899e-01 -1.13357226e-02 1.45843862e+02] [-6.43643754e-01 7.65260278e-01 9.97121478e-03 1.43656900e+02] [ 1.50934575e-02 -3.33571099e-04 9.99886032e-01 7.18529178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.87, Y:143.63, Z:7.19 [[ 7.65837399e-01 6.42939260e-01 -1.10538258e-02 1.45866152e+02] [-6.42865744e-01 7.65917091e-01 9.72859248e-03 1.43634991e+02] [ 1.47212081e-02 -3.44394036e-04 9.99891578e-01 7.18583972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.89, Y:143.61, Z:7.19 [[ 7.67466633e-01 6.40998986e-01 -1.07362910e-02 1.45887366e+02] [-6.40929375e-01 7.67541634e-01 9.45391559e-03 1.43611963e+02] [ 1.43005007e-02 -3.74360457e-04 9.99897673e-01 7.18620361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.91, Y:143.59, Z:7.19 [[ 7.68041684e-01 6.40309191e-01 -1.07755184e-02 1.45908462e+02] [-6.40238933e-01 7.68117170e-01 9.49326595e-03 1.43589574e+02] [ 1.43554862e-02 -3.92317530e-04 9.99896878e-01 7.18659017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.93, Y:143.57, Z:7.19 [[ 7.68501496e-01 6.39759675e-01 -1.06305678e-02 1.45932725e+02] [-6.39691186e-01 7.68574914e-01 9.36958013e-03 1.43568288e+02] [ 1.41646672e-02 -4.00255851e-04 9.99899596e-01 7.18723717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.96, Y:143.55, Z:7.19 [[ 7.68680431e-01 6.39537581e-01 -1.10488483e-02 1.45957158e+02] [-6.39463492e-01 7.68759717e-01 9.74370883e-03 1.43546930e+02] [ 1.47253775e-02 -4.24463184e-04 9.99891486e-01 7.18738239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.98, Y:143.52, Z:7.19 [[ 7.68265234e-01 6.40035484e-01 -1.10954889e-02 1.45981586e+02] [-6.39960739e-01 7.68345236e-01 9.79035709e-03 1.43524768e+02] [ 1.47913420e-02 -4.20913719e-04 9.99890514e-01 7.18736797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.01, Y:143.50, Z:7.19 [[ 7.67703155e-01 6.40707485e-01 -1.12153495e-02 1.46005902e+02] [-6.40631095e-01 7.67784960e-01 9.90233358e-03 1.43503587e+02] [ 1.49554759e-02 -4.17151116e-04 9.99888074e-01 7.18722350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.03, Y:143.48, Z:7.19 [[ 7.66078027e-01 6.42635949e-01 -1.19789285e-02 1.46030318e+02] [-6.42548939e-01 7.66171567e-01 1.05825843e-02 1.43483925e+02] [ 1.59786635e-02 -4.10037541e-04 9.99872249e-01 7.18662617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.06, Y:143.46, Z:7.19 [[ 7.65166229e-01 6.43714336e-01 -1.23488974e-02 1.46056173e+02] [-6.43621923e-01 7.65265765e-01 1.09146374e-02 1.43463844e+02] [ 1.64760970e-02 -4.03490849e-04 9.99864179e-01 7.18631539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:143.44, Z:7.19 [[ 7.63184739e-01 6.46058876e-01 -1.25293012e-02 1.46079995e+02] [-6.45963994e-01 7.63287494e-01 1.10779294e-02 1.43443313e+02] [ 1.67204536e-02 -3.61029212e-04 9.99860138e-01 7.18603107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.11, Y:143.42, Z:7.19 [[ 7.62114117e-01 6.47315700e-01 -1.28241379e-02 1.46105090e+02] [-6.47216374e-01 7.62221927e-01 1.13445760e-02 1.43423312e+02] [ 1.71183612e-02 -3.45869522e-04 9.99853410e-01 7.18651827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.13, Y:143.40, Z:7.19 [[ 7.61163753e-01 6.48428646e-01 -1.30396754e-02 1.46127987e+02] [-6.48326008e-01 7.61275365e-01 1.15414800e-02 1.43402298e+02] [ 1.74106098e-02 -3.30995526e-04 9.99848369e-01 7.18684107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.15, Y:143.38, Z:7.19 [[ 7.59137165e-01 6.50785642e-01 -1.37409087e-02 1.46154134e+02] [-6.50671933e-01 7.59261457e-01 1.21686311e-02 1.43383075e+02] [ 1.83521128e-02 -2.96836491e-04 9.99831542e-01 7.18750571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.18, Y:143.36, Z:7.19 [[ 7.58057102e-01 6.52045647e-01 -1.36346908e-02 1.46176463e+02] [-6.51933808e-01 7.58179664e-01 1.20791980e-02 1.43363423e+02] [ 1.82137338e-02 -2.67805940e-04 9.99834080e-01 7.18746990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:143.34, Z:7.19 [[ 7.57172765e-01 6.53069360e-01 -1.37773292e-02 1.46202511e+02] [-6.52955310e-01 7.57298059e-01 1.22071208e-02 1.43343962e+02] [ 1.84056413e-02 -2.46919183e-04 9.99830571e-01 7.18859914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:143.33, Z:7.19 [[ 7.55731145e-01 6.54739614e-01 -1.36555147e-02 1.46226400e+02] [-6.54627756e-01 7.55854479e-01 1.21039979e-02 1.43325316e+02] [ 1.82465489e-02 -2.08089300e-04 9.99833496e-01 7.18930400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.25, Y:143.31, Z:7.19 [[ 7.55377449e-01 6.55151880e-01 -1.34507770e-02 1.46248866e+02] [-6.55043421e-01 7.55497171e-01 1.19222765e-02 1.43305860e+02] [ 1.79729258e-02 -1.94975826e-04 9.99838455e-01 7.18984558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.27, Y:143.29, Z:7.19 [[ 7.55123624e-01 6.55453238e-01 -1.30140868e-02 1.46270026e+02] [-6.55351773e-01 7.55235739e-01 1.15340131e-02 1.43287843e+02] [ 1.73887096e-02 -1.80800921e-04 9.99848789e-01 7.19064403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:143.27, Z:7.19 [[ 7.55340883e-01 6.55198527e-01 -1.32303082e-02 1.46291646e+02] [-6.55093661e-01 7.55456720e-01 1.17234658e-02 1.43268496e+02] [ 1.76761228e-02 -1.88121912e-04 9.99843747e-01 7.19110720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.32, Y:143.25, Z:7.19 [[ 7.55634334e-01 6.54866279e-01 -1.29193491e-02 1.46316401e+02] [-6.54766230e-01 7.55744745e-01 1.14483303e-02 1.43246728e+02] [ 1.72608556e-02 -1.91597953e-04 9.99851002e-01 7.19186251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.34, Y:143.22, Z:7.19 [[ 7.57033627e-01 6.53264117e-01 -1.20864326e-02 1.46339160e+02] [-6.53176246e-01 7.57130072e-01 1.07166022e-02 1.43223675e+02] [ 1.61517732e-02 -2.18257546e-04 9.99869528e-01 7.19311562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:143.20, Z:7.19 [[ 7.57881714e-01 6.52279691e-01 -1.21042144e-02 1.46360413e+02] [-6.52191347e-01 7.57978327e-01 1.07379056e-02 1.43200039e+02] [ 1.61788499e-02 -2.43798405e-04 9.99869084e-01 7.19370235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.38, Y:143.18, Z:7.20 [[ 7.59601707e-01 6.50280391e-01 -1.18600564e-02 1.46383203e+02] [-6.50195273e-01 7.59694237e-01 1.05249023e-02 1.43177844e+02] [ 1.58541541e-02 -2.83381113e-04 9.99874275e-01 7.19506725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.40, Y:143.16, Z:7.20 [[ 7.60550048e-01 6.49166953e-01 -1.20785830e-02 1.46404611e+02] [-6.49078433e-01 7.60645888e-01 1.07248036e-02 1.43155615e+02] [ 1.61497126e-02 -3.16802203e-04 9.99869535e-01 7.19520709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.43, Y:143.13, Z:7.20 [[ 7.61418251e-01 6.48145943e-01 -1.22100071e-02 1.46427572e+02] [-6.48055262e-01 7.61516065e-01 1.08471850e-02 1.43133037e+02] [ 1.63286755e-02 -3.46485298e-04 9.99866618e-01 7.19532280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.45, Y:143.11, Z:7.20 [[ 7.62363980e-01 6.47035788e-01 -1.20768529e-02 1.46450552e+02] [-6.46946840e-01 7.62459541e-01 1.07347731e-02 1.43111123e+02] [ 1.61538941e-02 -3.70722559e-04 9.99869449e-01 7.19567343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.47, Y:143.09, Z:7.20 [[ 7.64177122e-01 6.44903761e-01 -1.15093717e-02 1.46470023e+02] [-6.44822659e-01 7.64263685e-01 1.02351898e-02 1.43086774e+02] [ 1.53969072e-02 -3.99994206e-04 9.99881381e-01 7.19631298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.49, Y:143.07, Z:7.20 [[ 7.64753265e-01 6.44221681e-01 -1.14398231e-02 1.46493395e+02] [-6.44141458e-01 7.64838712e-01 1.01748018e-02 1.43065080e+02] [ 1.53044475e-02 -4.12348592e-04 9.99882795e-01 7.19665296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:143.04, Z:7.20 [[ 7.65243282e-01 6.43639643e-01 -1.14337240e-02 1.46513669e+02] [-6.43559356e-01 7.65328575e-01 1.01748875e-02 1.43041549e+02] [ 1.52995166e-02 -4.27984300e-04 9.99882864e-01 7.19705248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.54, Y:143.02, Z:7.20 [[ 7.64862074e-01 6.44097749e-01 -1.11399586e-02 1.46540624e+02] [-6.44021508e-01 7.64943083e-01 9.91847867e-03 1.43022025e+02] [ 1.49099041e-02 -4.11895199e-04 9.99888756e-01 7.19798541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:143.00, Z:7.20 [[ 7.64166382e-01 6.44925500e-01 -1.09927345e-02 1.46565033e+02] [-6.44851260e-01 7.64245342e-01 9.79332431e-03 1.43001869e+02] [ 1.47171107e-02 -3.95050504e-04 9.99891619e-01 7.19829484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.59, Y:142.98, Z:7.20 [[ 7.62501003e-01 6.46882219e-01 -1.16453902e-02 1.46590963e+02] [-6.46799036e-01 7.62589829e-01 1.03807068e-02 1.42982381e+02] [ 1.55957508e-02 -3.83072221e-04 9.99878306e-01 7.19858432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:142.96, Z:7.20 [[ 7.61459968e-01 6.48097195e-01 -1.21960044e-02 1.46613163e+02] [-6.48006014e-01 7.61557536e-01 1.08776984e-02 1.42960815e+02] [ 1.63377649e-02 -3.79847631e-04 9.99866458e-01 7.19833619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:142.94, Z:7.20 [[ 7.59429534e-01 6.50462427e-01 -1.28612989e-02 1.46636846e+02] [-6.50361288e-01 7.59538352e-01 1.14755271e-02 1.42943289e+02] [ 1.72330490e-02 -3.50363340e-04 9.99851439e-01 7.19796302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92275509600006 meters Centerline goodness [0,1] 0.9999565132308496 Centerline is valid? [True, True] Translation: X:146.66, Y:142.93, Z:7.20 [[ 7.58691656e-01 6.51333185e-01 -1.23309843e-02 1.46660641e+02] [-6.51240348e-01 7.58791791e-01 1.10012476e-02 1.42925908e+02] [ 1.65221273e-02 -3.16120256e-04 9.99863450e-01 7.19861855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:142.91, Z:7.20 [[ 7.56934900e-01 6.53371211e-01 -1.24747339e-02 1.46685728e+02] [-6.53276486e-01 7.57037638e-01 1.11286352e-02 1.42910101e+02] [ 1.67149730e-02 -2.74202027e-04 9.99860257e-01 7.19888452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.71, Y:142.89, Z:7.20 [[ 7.56295994e-01 6.54107510e-01 -1.26386656e-02 1.46707086e+02] [-6.54010403e-01 7.56401545e-01 1.12736628e-02 1.42891606e+02] [ 1.69340937e-02 -2.60407283e-04 9.99856574e-01 7.19862695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.73, Y:142.88, Z:7.20 [[ 7.55760391e-01 6.54726670e-01 -1.26182524e-02 1.46730757e+02] [-6.54630000e-01 7.55865682e-01 1.12532064e-02 1.42875528e+02] [ 1.69054783e-02 -2.44441079e-04 9.99857062e-01 7.19942074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.76, Y:142.86, Z:7.20 [[ 7.54618692e-01 6.56052375e-01 -1.20793962e-02 1.46755528e+02] [-6.55963976e-01 7.54715337e-01 1.07713455e-02 1.42857192e+02] [ 1.61830724e-02 -2.04609892e-04 9.99869025e-01 7.20106379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.78, Y:142.84, Z:7.20 [[ 7.54239002e-01 6.56493199e-01 -1.18409368e-02 1.46776943e+02] [-6.56408315e-01 7.54331918e-01 1.05585029e-02 1.42837742e+02] [ 1.58635819e-02 -1.91145325e-04 9.99874147e-01 7.20210851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:142.82, Z:7.20 [[ 7.54250500e-01 6.56479898e-01 -1.18460007e-02 1.46800187e+02] [-6.56394957e-01 7.54343494e-01 1.05618508e-02 1.42818980e+02] [ 1.58695963e-02 -1.90626110e-04 9.99874052e-01 7.20309610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.82, Y:142.80, Z:7.20 [[ 7.54452207e-01 6.56242365e-01 -1.21583477e-02 1.46822309e+02] [-6.56152869e-01 7.54550143e-01 1.08394709e-02 1.42799749e+02] [ 1.62874030e-02 -2.00127993e-04 9.99867331e-01 7.20374096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.84, Y:142.78, Z:7.20 [[ 7.55132819e-01 6.55460316e-01 -1.20913259e-02 1.46842815e+02] [-6.55371719e-01 7.55229586e-01 1.07788009e-02 1.42779582e+02] [ 1.61968033e-02 -2.15113236e-04 9.99868800e-01 7.20391981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:142.76, Z:7.20 [[ 7.55777149e-01 6.54717898e-01 -1.20571318e-02 1.46864629e+02] [-6.54629728e-01 7.55873284e-01 1.07470083e-02 1.42759983e+02] [ 1.61499225e-02 -2.29386335e-04 9.99869555e-01 7.20454802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:142.74, Z:7.21 [[ 7.57482937e-01 6.52753408e-01 -1.15147125e-02 1.46888879e+02] [-6.52672773e-01 7.57570407e-01 1.02630687e-02 1.42739622e+02] [ 1.54224586e-02 -2.58760072e-04 9.99881033e-01 7.20590215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.91, Y:142.72, Z:7.21 [[ 7.58353968e-01 6.51741200e-01 -1.15181363e-02 1.46911428e+02] [-6.51660316e-01 7.58441381e-01 1.02715461e-02 1.42717454e+02] [ 1.54302210e-02 -2.83555420e-04 9.99880907e-01 7.20682103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.93, Y:142.69, Z:7.21 [[ 7.59521947e-01 6.50384955e-01 -1.12170979e-02 1.46933088e+02] [-6.50308018e-01 7.59604711e-01 1.00082318e-02 1.42694802e+02] [ 1.50297638e-02 -3.06903015e-04 9.99887000e-01 7.20768356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.96, Y:142.67, Z:7.21 [[ 7.59316727e-01 6.50624580e-01 -1.12144382e-02 1.46957172e+02] [-6.50547626e-01 7.59399474e-01 1.00112112e-02 1.42673086e+02] [ 1.50297786e-02 -3.06153949e-04 9.99887000e-01 7.20811349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:142.65, Z:7.21 [[ 7.61296198e-01 6.48318823e-01 -1.05263013e-02 1.46978446e+02] [-6.48250724e-01 7.61368894e-01 9.40246135e-03 1.42649607e+02] [ 1.41101910e-02 -3.34375655e-04 9.99900390e-01 7.20968650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.00, Y:142.63, Z:7.21 [[ 7.62113631e-01 6.47368708e-01 -9.82697050e-03 1.47001597e+02] [-6.47309224e-01 7.62176912e-01 8.78199353e-03 1.42626930e+02] [ 1.31750778e-02 -3.31788327e-04 9.99913150e-01 7.21083296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:142.60, Z:7.21 [[ 7.63200075e-01 6.46094419e-01 -9.36201063e-03 1.47024293e+02] [-6.46040279e-01 7.63257418e-01 8.37095041e-03 1.42604916e+02] [ 1.25540484e-02 -3.40474030e-04 9.99921137e-01 7.21213923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:142.58, Z:7.21 [[ 7.63190859e-01 6.46108137e-01 -9.16452286e-03 1.47048799e+02] [-6.46056231e-01 7.63245808e-01 8.19650440e-03 1.42582455e+02] [ 1.22906118e-02 -3.34700144e-04 9.99924412e-01 7.21267709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.07, Y:142.56, Z:7.21 [[ 7.63035479e-01 6.46293337e-01 -9.04322439e-03 1.47073240e+02] [-6.46242748e-01 7.63088994e-01 8.09302826e-03 1.42560480e+02] [ 1.21312552e-02 -3.31149515e-04 9.99926359e-01 7.21312202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.10, Y:142.54, Z:7.21 [[ 7.62082743e-01 6.47419998e-01 -8.78858174e-03 1.47096835e+02] [-6.47372235e-01 7.62133355e-01 7.87004762e-03 1.42539862e+02] [ 1.17932975e-02 -3.08143665e-04 9.99930409e-01 7.21349843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.12, Y:142.52, Z:7.21 [[ 7.61128352e-01 6.48539339e-01 -8.96416741e-03 1.47122446e+02] [-6.48489677e-01 7.61181079e-01 8.03139769e-03 1.42519910e+02] [ 1.20320320e-02 -2.99754462e-04 9.99927568e-01 7.21354618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.14, Y:142.50, Z:7.21 [[ 7.60028911e-01 6.49824555e-01 -9.17071482e-03 1.47144196e+02] [-6.49772613e-01 7.60084182e-01 8.22117229e-03 1.42498219e+02] [ 1.23128349e-02 -2.89449295e-04 9.99924152e-01 7.21378114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.17, Y:142.48, Z:7.21 [[ 7.57788963e-01 6.52427830e-01 -9.68576645e-03 1.47171793e+02] [-6.52370040e-01 7.57850814e-01 8.68760036e-03 1.42480677e+02] [ 1.30083982e-02 -2.64663814e-04 9.99915352e-01 7.21366502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.19, Y:142.46, Z:7.21 [[ 7.56681655e-01 6.53709037e-01 -9.86754202e-03 1.47194277e+02] [-6.53649101e-01 7.56745950e-01 8.85554764e-03 1.42462242e+02] [ 1.32561740e-02 -2.50920472e-04 9.99912102e-01 7.21368571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.22, Y:142.45, Z:7.21 [[ 7.54391621e-01 6.56341832e-01 -1.04250299e-02 1.47219078e+02] [-6.56275198e-01 7.54463620e-01 9.35473876e-03 1.42445394e+02] [ 1.40052121e-02 -2.15448009e-04 9.99901899e-01 7.21350773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:142.43, Z:7.21 [[ 7.53314047e-01 6.57576789e-01 -1.05220337e-02 1.47241466e+02] [-6.57509041e-01 7.53387503e-01 9.44099722e-03 1.42427733e+02] [ 1.41353493e-02 -1.93703541e-04 9.99900072e-01 7.21379470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:142.41, Z:7.21 [[ 7.52089677e-01 6.58976626e-01 -1.05320944e-02 1.47266434e+02] [-6.58908900e-01 7.52163399e-01 9.44898905e-03 1.42407916e+02] [ 1.41485189e-02 -1.66796380e-04 9.99899891e-01 7.21419195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.29, Y:142.39, Z:7.21 [[ 7.50368450e-01 6.60930148e-01 -1.08871101e-02 1.47288446e+02] [-6.60857911e-01 7.50447413e-01 9.77250720e-03 1.42390179e+02] [ 1.46291482e-02 -1.38148256e-04 9.99892979e-01 7.21407977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.31, Y:142.37, Z:7.21 [[ 7.49853366e-01 6.61512642e-01 -1.09978971e-02 1.47311122e+02] [-6.61439007e-01 7.49934003e-01 9.87072791e-03 1.42371593e+02] [ 1.47773083e-02 -1.27160419e-04 9.99890802e-01 7.21441355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:142.35, Z:7.21 [[ 7.49418549e-01 6.61996613e-01 -1.15031534e-02 1.47332821e+02] [-6.61916139e-01 7.49506818e-01 1.03225363e-02 1.42352933e+02] [ 1.54551760e-02 -1.21777342e-04 9.99880554e-01 7.21456809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.35, Y:142.33, Z:7.22 [[ 7.49675919e-01 6.61710370e-01 -1.11983220e-02 1.47352412e+02] [-6.61634100e-01 7.49759542e-01 1.00472404e-02 1.42334717e+02] [ 1.50444119e-02 -1.22982468e-04 9.99886819e-01 7.21511534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.37, Y:142.32, Z:7.22 [[ 7.49943858e-01 6.61406436e-01 -1.12132608e-02 1.47373212e+02] [-6.61329978e-01 7.50027673e-01 1.00573398e-02 1.42315388e+02] [ 1.50622451e-02 -1.26774698e-04 9.99886550e-01 7.21621188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.39, Y:142.30, Z:7.22 [[ 7.50892173e-01 6.60330693e-01 -1.11499012e-02 1.47392312e+02] [-6.60255012e-01 7.50974936e-01 9.99826240e-03 1.42295661e+02] [ 1.49754558e-02 -1.45838856e-04 9.99887851e-01 7.21696295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.41, Y:142.28, Z:7.22 [[ 7.51287978e-01 6.59883083e-01 -1.09859620e-02 1.47413508e+02] [-6.59809589e-01 7.51368282e-01 9.84943870e-03 1.42275729e+02] [ 1.47539814e-02 -1.51121787e-04 9.99891143e-01 7.21773135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:142.26, Z:7.22 [[ 7.52411139e-01 6.58604227e-01 -1.08604876e-02 1.47433015e+02] [-6.58532291e-01 7.52489497e-01 9.73542756e-03 1.42256412e+02] [ 1.45841966e-02 -1.73062364e-04 9.99893630e-01 7.21850221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.45, Y:142.24, Z:7.22 [[ 7.52957079e-01 6.57983161e-01 -1.06675392e-02 1.47453149e+02] [-6.57913723e-01 7.53032620e-01 9.56067336e-03 1.42237122e+02] [ 1.43237671e-02 -1.80456281e-04 9.99897393e-01 7.21916351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.48, Y:142.22, Z:7.22 [[ 7.53318455e-01 6.57573122e-01 -1.04352134e-02 1.47475113e+02] [-6.57506660e-01 7.53390706e-01 9.35074626e-03 1.42218324e+02] [ 1.40105922e-02 -1.82867420e-04 9.99901830e-01 7.21999479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.50, Y:142.20, Z:7.22 [[ 7.53852056e-01 6.56968656e-01 -9.96304874e-03 1.47495710e+02] [-6.56908038e-01 7.53917867e-01 8.92633256e-03 1.42198912e+02] [ 1.33756412e-02 -1.84327358e-04 9.99910525e-01 7.22101263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.52, Y:142.18, Z:7.22 [[ 7.53797460e-01 6.57030718e-01 -1.00012976e-02 1.47518359e+02] [-6.56969661e-01 7.53863783e-01 8.95889940e-03 1.42180468e+02] [ 1.34258881e-02 -1.82646519e-04 9.99909852e-01 7.22184945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.54, Y:142.16, Z:7.22 [[ 7.53762017e-01 6.57071817e-01 -9.97244737e-03 1.47538747e+02] [-6.57011125e-01 7.53827961e-01 8.93234656e-03 1.42162026e+02] [ 1.33867029e-02 -1.80854696e-04 9.99910378e-01 7.22213054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:142.15, Z:7.22 [[ 7.53578045e-01 6.57281185e-01 -1.00783682e-02 1.47561774e+02] [-6.57219240e-01 7.53645415e-01 9.02545960e-03 1.42145208e+02] [ 1.35277808e-02 -1.77690716e-04 9.99908480e-01 7.22213454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:142.13, Z:7.22 [[ 7.53366980e-01 6.57517817e-01 -1.04169691e-02 1.47582979e+02] [-6.57451683e-01 7.53438974e-01 9.32718394e-03 1.42126727e+02] [ 1.39813401e-02 -1.78138531e-04 9.99902240e-01 7.22211754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.61, Y:142.11, Z:7.22 [[ 7.52962952e-01 6.57973777e-01 -1.08306523e-02 1.47606051e+02] [-6.57902359e-01 7.53040821e-01 9.69570656e-03 1.42109159e+02] [ 1.45354439e-02 -1.74996140e-04 9.99894340e-01 7.22201834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.63, Y:142.09, Z:7.22 [[ 7.53106933e-01 6.57804007e-01 -1.11281684e-02 1.47627019e+02] [-6.57728618e-01 7.53189123e-01 9.96042994e-03 1.42091298e+02] [ 1.49336261e-02 -1.81954030e-04 9.99888471e-01 7.22183208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:142.07, Z:7.22 [[ 7.53183931e-01 6.57708251e-01 -1.15682079e-02 1.47647481e+02] [-6.57626808e-01 7.53272740e-01 1.03518255e-02 1.42073274e+02] [ 1.55224967e-02 -1.89264995e-04 9.99879501e-01 7.22191481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.67, Y:142.05, Z:7.22 [[ 7.53390275e-01 6.57464649e-01 -1.19720471e-02 1.47669250e+02] [-6.57377432e-01 7.53485366e-01 1.07105367e-02 1.42054184e+02] [ 1.60625615e-02 -1.99060616e-04 9.99870969e-01 7.22175692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:142.04, Z:7.22 [[ 7.53985193e-01 6.56783267e-01 -1.19192577e-02 1.47689724e+02] [-6.56696759e-01 7.54079370e-01 1.06616647e-02 1.42035513e+02] [ 1.59904693e-02 -2.11399445e-04 9.99872122e-01 7.22205706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:142.02, Z:7.22 [[ 7.54651928e-01 6.56013644e-01 -1.21064567e-02 1.47711363e+02] [-6.55924330e-01 7.54748996e-01 1.08271675e-02 1.42016066e+02] [ 1.62401057e-02 -2.29823353e-04 9.99868094e-01 7.22194203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.73, Y:142.00, Z:7.22 [[ 7.56068021e-01 6.54383656e-01 -1.19657062e-02 1.47733614e+02] [-6.54296225e-01 7.56162656e-01 1.06998648e-02 1.41996566e+02] [ 1.60498368e-02 -2.60709188e-04 9.99871159e-01 7.22220626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.76, Y:141.98, Z:7.22 [[ 7.56994855e-01 6.53312125e-01 -1.19187556e-02 1.47755169e+02] [-6.53225260e-01 7.57088626e-01 1.06570421e-02 1.41975583e+02] [ 1.59859291e-02 -2.81693880e-04 9.99872177e-01 7.22237644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.77, Y:141.95, Z:7.22 [[ 7.58488048e-01 6.51585472e-01 -1.15002188e-02 1.47774312e+02] [-6.51504415e-01 7.58575164e-01 1.02819152e-02 1.41954625e+02] [ 1.54233269e-02 -3.06266482e-04 9.99881007e-01 7.22288753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.80, Y:141.93, Z:7.22 [[ 7.59110481e-01 6.50860464e-01 -1.14862540e-02 1.47798063e+02] [-6.50779529e-01 7.59197309e-01 1.02688667e-02 1.41932996e+02] [ 1.54039325e-02 -3.20185356e-04 9.99881301e-01 7.22341289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.82, Y:141.91, Z:7.22 [[ 7.59177262e-01 6.50790294e-01 -1.10398153e-02 1.47821391e+02] [-6.50715444e-01 7.59257463e-01 9.87503679e-03 1.41910926e+02] [ 1.48086402e-02 -3.13125106e-04 9.99890297e-01 7.22405953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.85, Y:141.89, Z:7.23 [[ 7.59089666e-01 6.50896946e-01 -1.07723754e-02 1.47846388e+02] [-6.50825613e-01 7.59166037e-01 9.64109896e-03 1.41889220e+02] [ 1.44533834e-02 -3.07520750e-04 9.99895497e-01 7.22501805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.87, Y:141.87, Z:7.23 [[ 7.58165596e-01 6.51992995e-01 -9.49014669e-03 1.47872068e+02] [-6.51937658e-01 7.58224946e-01 8.49831605e-03 1.41869390e+02] [ 1.27365085e-02 -2.56146839e-04 9.99918855e-01 7.22694108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.90, Y:141.85, Z:7.23 [[ 7.57669731e-01 6.52578766e-01 -8.80521359e-03 1.47897480e+02] [-6.52531122e-01 7.57720859e-01 7.88893702e-03 1.41848702e+02] [ 1.18200468e-02 -2.31532898e-04 9.99930114e-01 7.22812078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:141.83, Z:7.23 [[ 7.56749876e-01 6.53655374e-01 -8.01730959e-03 1.47920928e+02] [-6.53615888e-01 7.56792318e-01 7.18737986e-03 1.41828192e+02] [ 1.07655078e-02 -1.98807883e-04 9.99942030e-01 7.22939665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:141.81, Z:7.23 [[ 7.55734030e-01 6.54835678e-01 -7.50400754e-03 1.47942777e+02] [-6.54801097e-01 7.55771265e-01 6.73192863e-03 1.41810399e+02] [ 1.00796203e-02 -1.73915183e-04 9.99949184e-01 7.23095025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.97, Y:141.79, Z:7.23 [[ 7.55588200e-01 6.55007204e-01 -7.21346702e-03 1.47965072e+02] [-6.54975270e-01 7.55622615e-01 6.46998629e-03 1.41791373e+02] [ 9.68854644e-03 -1.64002793e-04 9.99953052e-01 7.23151851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.99, Y:141.77, Z:7.23 [[ 7.55244237e-01 6.55405330e-01 -7.07080023e-03 1.47987039e+02] [-6.55374673e-01 7.55277319e-01 6.34105716e-03 1.41772348e+02] [ 9.49637771e-03 -1.55023482e-04 9.99954896e-01 7.23155750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.01, Y:141.75, Z:7.23 [[ 7.54844243e-01 6.55865935e-01 -7.07419323e-03 1.48009146e+02] [-6.55835278e-01 7.54877376e-01 6.34311496e-03 1.41753629e+02] [ 9.50038145e-03 -1.48558328e-04 9.99954859e-01 7.23165407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.03, Y:141.74, Z:7.23 [[ 7.54561118e-01 6.56192757e-01 -6.97032253e-03 1.48030577e+02] [-6.56163014e-01 7.54593298e-01 6.24928417e-03 1.41735701e+02] [ 9.36049367e-03 -1.41799005e-04 9.99956180e-01 7.23196470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.05, Y:141.72, Z:7.23 [[ 7.53027077e-01 6.57953080e-01 -6.92578467e-03 1.48054885e+02] [-6.57923807e-01 7.53058916e-01 6.20755006e-03 1.41719245e+02] [ 9.29980058e-03 -1.17814651e-04 9.99956749e-01 7.23172673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.08, Y:141.70, Z:7.23 [[ 7.52207674e-01 6.58888990e-01 -6.99384427e-03 1.48077109e+02] [-6.58859187e-01 7.52240180e-01 6.26766834e-03 1.41701900e+02] [ 9.39074833e-03 -1.06629678e-04 9.99955900e-01 7.23165928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.10, Y:141.68, Z:7.23 [[ 7.51058834e-01 6.60195018e-01 -7.29158399e-03 1.48100189e+02] [-6.60162699e-01 7.51094222e-01 6.53308737e-03 1.41684487e+02] [ 9.78977833e-03 -9.31012118e-05 9.99952075e-01 7.23169143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.12, Y:141.67, Z:7.23 [[ 7.48724164e-01 6.62841394e-01 -7.30836984e-03 1.48124391e+02] [-6.62809062e-01 7.48759830e-01 6.54714028e-03 1.41668048e+02] [ 9.81192935e-03 -5.79483769e-05 9.99951860e-01 7.23126204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.15, Y:141.65, Z:7.23 [[ 7.47550142e-01 6.64164665e-01 -7.35408096e-03 1.48146692e+02] [-6.64132001e-01 7.47586313e-01 6.58704551e-03 1.41650378e+02] [ 9.87269315e-03 -4.00663043e-05 9.99951263e-01 7.23187719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93275509600005 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:148.17, Y:141.63, Z:7.23 [[ 7.45752792e-01 6.66185655e-01 -7.03183410e-03 1.48169223e+02] [-6.66155889e-01 7.45785943e-01 6.29756248e-03 1.41634197e+02] [ 9.43958881e-03 -1.21271035e-05 9.99955446e-01 7.23265394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.19, Y:141.62, Z:7.23 [[ 7.45267271e-01 6.66728618e-01 -7.04588508e-03 1.48190737e+02] [-6.66698767e-01 7.45300577e-01 6.30899082e-03 1.41616773e+02] [ 9.45768694e-03 -4.40147726e-06 9.99955275e-01 7.23290725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.21, Y:141.60, Z:7.23 [[ 7.45212250e-01 6.66789553e-01 -7.09893777e-03 1.48211240e+02] [-6.66759264e-01 7.45246062e-01 6.35545114e-03 1.41599687e+02] [ 9.52820384e-03 -2.87752495e-06 9.99954606e-01 7.23340514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.23, Y:141.58, Z:7.23 [[ 7.45623213e-01 6.66332085e-01 -6.89761657e-03 1.48232549e+02] [-6.66303499e-01 7.45655116e-01 6.17215153e-03 1.41581046e+02] [ 9.25594568e-03 -6.19340551e-06 9.99957163e-01 7.23370856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05275509600006 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:148.25, Y:141.56, Z:7.23 [[ 7.46469626e-01 6.65385243e-01 -6.75091945e-03 1.48252785e+02] [-6.65357833e-01 7.46500153e-01 6.03954775e-03 1.41562058e+02] [ 9.05818834e-03 -1.65618197e-05 9.99958974e-01 7.23383713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.27, Y:141.54, Z:7.23 [[ 7.48767671e-01 6.62800633e-01 -6.50356593e-03 1.48273090e+02] [-6.62775112e-01 7.48795913e-01 5.81648864e-03 1.41540093e+02] [ 8.72501594e-03 -4.47970073e-05 9.99961935e-01 7.23454407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:141.52, Z:7.24 [[ 7.50447496e-01 6.60903969e-01 -5.87364780e-03 1.48292273e+02] [-6.60883096e-01 7.50470480e-01 5.25290084e-03 1.41518833e+02] [ 7.87966229e-03 -6.02317453e-05 9.99968953e-01 7.23566454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.31, Y:141.50, Z:7.24 [[ 7.52150747e-01 6.58965410e-01 -5.81736662e-03 1.48313841e+02] [-6.58944883e-01 7.52173239e-01 5.20179805e-03 1.41497871e+02] [ 7.80347249e-03 -7.92123207e-05 9.99969549e-01 7.23534006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.33, Y:141.47, Z:7.24 [[ 7.55699931e-01 6.54891040e-01 -5.94478719e-03 1.48332573e+02] [-6.54869482e-01 7.55723303e-01 5.31514807e-03 1.41474762e+02] [ 7.97345706e-03 -1.23597325e-04 9.99968204e-01 7.23528603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.35, Y:141.46, Z:7.24 [[ 7.55725852e-01 6.54861128e-01 -5.94482383e-03 1.48354351e+02] [-6.54839569e-01 7.55749223e-01 5.31510710e-03 1.41455346e+02] [ 7.97345302e-03 -1.23857959e-04 9.99968204e-01 7.23567186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:141.43, Z:7.24 [[ 7.57517808e-01 6.52786289e-01 -6.06895754e-03 1.48375132e+02] [-6.52763757e-01 7.57542104e-01 5.42564289e-03 1.41433436e+02] [ 8.13927615e-03 -1.48425581e-04 9.99966865e-01 7.23578603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.40, Y:141.41, Z:7.24 [[ 7.59018793e-01 6.51038478e-01 -6.27472460e-03 1.48397494e+02] [-6.51014354e-01 7.59044709e-01 5.60709101e-03 1.41410604e+02] [ 8.41322851e-03 -1.70951661e-04 9.99964594e-01 7.23554374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.42, Y:141.39, Z:7.24 [[ 7.61862083e-01 6.47712897e-01 -5.84548053e-03 1.48419149e+02] [-6.47691831e-01 7.61884483e-01 5.22752224e-03 1.41386856e+02] [ 7.83951448e-03 -1.96580994e-04 9.99969251e-01 7.23527319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:141.36, Z:7.24 [[ 7.62914996e-01 6.46470450e-01 -6.05528379e-03 1.48442657e+02] [-6.46447810e-01 7.62938995e-01 5.41468769e-03 1.41364955e+02] [ 8.12024772e-03 -2.16521489e-04 9.99967007e-01 7.23540926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.46, Y:141.34, Z:7.24 [[ 7.65074682e-01 6.43915479e-01 -5.79547283e-03 1.48464250e+02] [-6.43894644e-01 7.65096596e-01 5.18523800e-03 1.41342135e+02] [ 7.77295154e-03 -2.35420400e-04 9.99969762e-01 7.23560704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.49, Y:141.32, Z:7.24 [[ 7.65798613e-01 6.43052389e-01 -6.00921799e-03 1.48485755e+02] [-6.43029938e-01 7.65822147e-01 5.37945945e-03 1.41319038e+02] [ 8.06126646e-03 -2.55475513e-04 9.99967475e-01 7.23607351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.51, Y:141.30, Z:7.24 [[ 7.66794173e-01 6.41867737e-01 -5.70127717e-03 1.48509507e+02] [-6.41847478e-01 7.66815325e-01 5.10604683e-03 1.41297002e+02] [ 7.64923343e-03 -2.55936580e-04 9.99970711e-01 7.23647345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.53, Y:141.27, Z:7.24 [[ 7.67578006e-01 6.40930665e-01 -5.64689403e-03 1.48530669e+02] [-6.40910744e-01 7.67598731e-01 5.06023604e-03 1.41274003e+02] [ 7.57780914e-03 -2.64970837e-04 9.99971253e-01 7.23693504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.55, Y:141.25, Z:7.24 [[ 7.68974724e-01 6.39255438e-01 -5.50986523e-03 1.48550777e+02] [-6.39236397e-01 7.68994414e-01 4.94177558e-03 1.41252208e+02] [ 7.39611249e-03 -2.77994114e-04 9.99972610e-01 7.23689922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.57, Y:141.23, Z:7.24 [[ 7.69583715e-01 6.38520654e-01 -5.68158598e-03 1.48574688e+02] [-6.38500403e-01 7.69604631e-01 5.09380195e-03 1.41231355e+02] [ 7.62507264e-03 -2.92412086e-04 9.99970886e-01 7.23628965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.60, Y:141.21, Z:7.24 [[ 7.70077262e-01 6.37921757e-01 -6.06975952e-03 1.48596780e+02] [-6.37898598e-01 7.70101116e-01 5.44522252e-03 1.41209474e+02] [ 8.14795450e-03 -3.21350958e-04 9.99966753e-01 7.23590979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.62, Y:141.19, Z:7.24 [[ 7.70005899e-01 6.38006920e-01 -6.17131074e-03 1.48621951e+02] [-6.37982962e-01 7.70030560e-01 5.53874695e-03 1.41188355e+02] [ 8.28585674e-03 -3.27676723e-04 9.99965618e-01 7.23599240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.65, Y:141.17, Z:7.24 [[ 7.68948194e-01 6.39279721e-01 -6.33341777e-03 1.48645785e+02] [-6.39254483e-01 7.68974207e-01 5.68984559e-03 1.41168733e+02] [ 8.50763781e-03 -3.26530790e-04 9.99963756e-01 7.23597962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.67, Y:141.15, Z:7.24 [[ 7.68078552e-01 6.40326884e-01 -6.06796246e-03 1.48671557e+02] [-6.40303765e-01 7.68102462e-01 5.44950508e-03 1.41149140e+02] [ 8.15028151e-03 -3.00308765e-04 9.99966741e-01 7.23596334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.70, Y:141.13, Z:7.24 [[ 7.66987488e-01 6.41628792e-01 -6.53345882e-03 1.48695779e+02] [-6.41602005e-01 7.67015252e-01 5.87115918e-03 1.41128494e+02] [ 8.77836734e-03 -3.11225350e-04 9.99961421e-01 7.23617133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:141.11, Z:7.24 [[ 7.64849187e-01 6.44173322e-01 -6.81559896e-03 1.48719432e+02] [-6.44144226e-01 7.64879496e-01 6.12974056e-03 1.41109908e+02] [ 9.16172723e-03 -2.98098373e-04 9.99957986e-01 7.23556579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.75, Y:141.09, Z:7.24 [[ 7.63305117e-01 6.45997103e-01 -7.28292426e-03 1.48745409e+02] [-6.45963975e-01 7.63339804e-01 6.54876008e-03 1.41091082e+02] [ 9.78982602e-03 -2.94195371e-04 9.99952035e-01 7.23520388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.77, Y:141.07, Z:7.23 [[ 7.60630177e-01 6.49133696e-01 -8.19630126e-03 1.48768471e+02] [-6.49091857e-01 7.60674280e-01 7.37566869e-03 1.41072813e+02] [ 1.10225106e-02 -2.90003774e-04 9.99939208e-01 7.23429323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.79, Y:141.05, Z:7.23 [[ 7.59462820e-01 6.50499094e-01 -8.19473208e-03 1.48790305e+02] [-6.50457352e-01 7.59506982e-01 7.37413597e-03 1.41054498e+02] [ 1.10208250e-02 -2.70058368e-04 9.99939232e-01 7.23446649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.81, Y:141.04, Z:7.23 [[ 7.58477431e-01 6.51643292e-01 -8.54440684e-03 1.48810926e+02] [-6.51597998e-01 7.58525511e-01 7.68758704e-03 1.41036066e+02] [ 1.14907151e-02 -2.63342880e-04 9.99933945e-01 7.23487893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.83, Y:141.02, Z:7.24 [[ 7.57415847e-01 6.52878221e-01 -8.44172883e-03 1.48833364e+02] [-6.52834102e-01 7.57462851e-01 7.59372066e-03 1.41017881e+02] [ 1.13520708e-02 -2.40555906e-04 9.99935534e-01 7.23503391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.86, Y:141.00, Z:7.24 [[ 7.55470043e-01 6.55130066e-01 -8.34334965e-03 1.48859024e+02] [-6.55087130e-01 7.55516086e-01 7.50309757e-03 1.40998116e+02] [ 1.12190397e-02 -2.02744466e-04 9.99937044e-01 7.23552723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:140.98, Z:7.24 [[ 7.54583609e-01 6.56155185e-01 -7.99687874e-03 1.48880830e+02] [-6.56115748e-01 7.54625960e-01 7.19627505e-03 1.40976726e+02] [ 1.07565255e-02 -1.83313126e-04 9.99942130e-01 7.23638087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.90, Y:140.96, Z:7.24 [[ 7.54440078e-01 6.56322518e-01 -7.80522050e-03 1.48903258e+02] [-6.56284954e-01 7.54480431e-01 7.02415226e-03 1.40955716e+02] [ 1.04989954e-02 -1.76853201e-04 9.99944868e-01 7.23708456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.92, Y:140.93, Z:7.24 [[ 7.54488502e-01 6.56269657e-01 -7.56547284e-03 1.48923558e+02] [-6.56234362e-01 7.54526412e-01 6.80847704e-03 1.40934365e+02] [ 1.01765460e-02 -1.72194399e-04 9.99948203e-01 7.23792484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.94, Y:140.91, Z:7.24 [[ 7.54632289e-01 6.56103682e-01 -7.62018396e-03 1.48944865e+02] [-6.56067868e-01 7.54670741e-01 6.85751741e-03 1.40913924e+02] [ 1.02499723e-02 -1.75546221e-04 9.99947452e-01 7.23855801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:140.89, Z:7.24 [[ 7.55045098e-01 6.55635435e-01 -7.00544695e-03 1.48966943e+02] [-6.55605166e-01 7.55077578e-01 6.30223385e-03 1.40890385e+02] [ 9.42162375e-03 -1.65663560e-04 9.99955602e-01 7.23962580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.99, Y:140.87, Z:7.24 [[ 7.55083515e-01 6.55592916e-01 -6.84213075e-03 1.48990482e+02] [-6.55564010e-01 7.55114496e-01 6.15843097e-03 1.40867434e+02] [ 9.20401583e-03 -1.64675026e-04 9.99957629e-01 7.24047271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.01, Y:140.84, Z:7.24 [[ 7.55406986e-01 6.55219628e-01 -6.89374971e-03 1.49011820e+02] [-6.55190229e-01 7.55438422e-01 6.20928692e-03 1.40844604e+02] [ 9.27625006e-03 -1.73821274e-04 9.99956960e-01 7.24105260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.04, Y:140.82, Z:7.24 [[ 7.55396348e-01 6.55227948e-01 -7.25902998e-03 1.49035810e+02] [-6.55195319e-01 7.55431202e-01 6.54164039e-03 1.40821995e+02] [ 9.76996335e-03 -1.85448794e-04 9.99952256e-01 7.24112519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:140.80, Z:7.24 [[ 7.55486171e-01 6.55121496e-01 -7.51475072e-03 1.49058050e+02] [-6.55086474e-01 7.55523518e-01 6.77677447e-03 1.40799370e+02] [ 1.01171815e-02 -1.96947837e-04 9.99948801e-01 7.24108112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:140.77, Z:7.24 [[ 7.55356185e-01 6.55260986e-01 -8.37105879e-03 1.49079387e+02] [-6.55217478e-01 7.55402536e-01 7.55415560e-03 1.40774947e+02] [ 1.12734625e-02 -2.21214123e-04 9.99936428e-01 7.24073686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.10, Y:140.75, Z:7.24 [[ 7.55239239e-01 6.55390105e-01 -8.80347781e-03 1.49100206e+02] [-6.55341929e-01 7.55290510e-01 7.94989799e-03 1.40753036e+02] [ 1.18594677e-02 -2.34786778e-04 9.99929646e-01 7.24069238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.12, Y:140.73, Z:7.24 [[ 7.54866489e-01 6.55810902e-01 -9.41510752e-03 1.49123288e+02] [-6.55755828e-01 7.54925162e-01 8.50256451e-03 1.40732059e+02] [ 1.26837761e-02 -2.44289392e-04 9.99919528e-01 7.24018323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:140.71, Z:7.24 [[ 7.53723401e-01 6.57106716e-01 -1.05735163e-02 1.49144253e+02] [-6.57037372e-01 7.53797520e-01 9.54939292e-03 1.40712063e+02] [ 1.42452606e-02 -2.50405556e-04 9.99898500e-01 7.23890096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:140.69, Z:7.24 [[ 7.52802661e-01 6.58154329e-01 -1.10014810e-02 1.49168448e+02] [-6.58079376e-01 7.52883006e-01 9.93543974e-03 1.40691022e+02] [ 1.48218808e-02 -2.39577728e-04 9.99890121e-01 7.23856840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.19, Y:140.67, Z:7.24 [[ 7.51311636e-01 6.59846393e-01 -1.15569450e-02 1.49189941e+02] [-6.59763785e-01 7.51400485e-01 1.04431374e-02 1.40668118e+02] [ 1.55747607e-02 -2.21196891e-04 9.99878682e-01 7.23826191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.21, Y:140.65, Z:7.24 [[ 7.50653249e-01 6.60584725e-01 -1.21458546e-02 1.49212781e+02] [-6.60493503e-01 7.50751472e-01 1.09799593e-02 1.40648548e+02] [ 1.63717116e-02 -2.19884045e-04 9.99865950e-01 7.23862451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.24, Y:140.63, Z:7.24 [[ 7.49961211e-01 6.61369432e-01 -1.21924869e-02 1.49235222e+02] [-6.61277624e-01 7.50060287e-01 1.10213377e-02 1.40628408e+02] [ 1.64342761e-02 -2.02956982e-04 9.99864928e-01 7.23884273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.26, Y:140.61, Z:7.24 [[ 7.48494662e-01 6.63029787e-01 -1.21343477e-02 1.49256547e+02] [-6.62939082e-01 7.48592996e-01 1.09681129e-02 1.40608965e+02] [ 1.63558733e-02 -1.65240602e-04 9.99866220e-01 7.23957045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.28, Y:140.59, Z:7.24 [[ 7.47768195e-01 6.63856674e-01 -1.17065438e-02 1.49279278e+02] [-6.63772377e-01 7.47859811e-01 1.05799629e-02 1.40589749e+02] [ 1.57784326e-02 -1.40879373e-04 9.99875503e-01 7.24100069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:140.57, Z:7.24 [[ 7.47052225e-01 6.64671149e-01 -1.11908835e-02 1.49301107e+02] [-6.64594218e-01 7.47136031e-01 1.01131638e-02 1.40569708e+02] [ 1.50830405e-02 -1.17665061e-04 9.99886238e-01 7.24213886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.32, Y:140.55, Z:7.24 [[ 7.47021131e-01 6.64706495e-01 -1.11671925e-02 1.49321953e+02] [-6.64629907e-01 7.47104586e-01 1.00908220e-02 1.40550690e+02] [ 1.50504956e-02 -1.16007148e-04 9.99886728e-01 7.24306079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.34, Y:140.53, Z:7.24 [[ 7.47110679e-01 6.64612003e-01 -1.07943997e-02 1.49341651e+02] [-6.64540461e-01 7.47188646e-01 9.75212076e-03 1.40531568e+02] [ 1.45468294e-02 -1.12598206e-04 9.99894183e-01 7.24390837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:140.51, Z:7.25 [[ 7.47725961e-01 6.63925766e-01 -1.04146433e-02 1.49363042e+02] [-6.63859127e-01 7.47798478e-01 9.40727292e-03 1.40512159e+02] [ 1.40337853e-02 -1.20206150e-04 9.99901514e-01 7.24571315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.39, Y:140.49, Z:7.25 [[ 7.47938692e-01 6.63699983e-01 -9.48926005e-03 1.49385201e+02] [-6.63644657e-01 7.47998877e-01 8.57019425e-03 1.40493457e+02] [ 1.27859936e-02 -1.12483147e-04 9.99918250e-01 7.24717743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.41, Y:140.47, Z:7.25 [[ 7.48841310e-01 6.62684892e-01 -9.24269344e-03 1.49409822e+02] [-6.62632347e-01 7.48898337e-01 8.34587781e-03 1.40472479e+02] [ 1.24525249e-02 -1.25230423e-04 9.99922456e-01 7.24809214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.43, Y:140.45, Z:7.25 [[ 7.49407697e-01 6.62040511e-01 -9.51132485e-03 1.49432647e+02] [-6.61984752e-01 7.49468039e-01 8.59344635e-03 1.40451181e+02] [ 1.28176436e-02 -1.43642814e-04 9.99917840e-01 7.24832173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.46, Y:140.43, Z:7.25 [[ 7.50483643e-01 6.60813585e-01 -9.98540871e-03 1.49455598e+02] [-6.60751981e-01 7.50550049e-01 9.02463921e-03 1.40429951e+02] [ 1.34581532e-02 -1.74965523e-04 9.99909420e-01 7.24817565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.48, Y:140.41, Z:7.25 [[ 7.52829077e-01 6.58136218e-01 -1.02517828e-02 1.49477275e+02] [-6.58071022e-01 7.52898842e-01 9.26630049e-03 1.40406716e+02] [ 1.38170433e-02 -2.29539294e-04 9.99904514e-01 7.24868163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.50, Y:140.38, Z:7.25 [[ 7.54245450e-01 6.56510891e-01 -1.03562448e-02 1.49499032e+02] [-6.56444139e-01 7.54316498e-01 9.36554922e-03 1.40384108e+02] [ 1.39604714e-02 -2.65626675e-04 9.99902513e-01 7.24889554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:140.36, Z:7.25 [[ 7.55418740e-01 6.55160128e-01 -1.03794497e-02 1.49522958e+02] [-6.55092882e-01 7.55489986e-01 9.39132563e-03 1.40362458e+02] [ 1.39943924e-02 -2.94879770e-04 9.99902030e-01 7.24940383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.54, Y:140.34, Z:7.25 [[ 7.58211535e-01 6.51925751e-01 -1.03962837e-02 1.49543797e+02] [-6.51857909e-01 7.58282722e-01 9.41173313e-03 1.40338621e+02] [ 1.40190735e-02 -3.59184858e-04 9.99901663e-01 7.24966156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.57, Y:140.32, Z:7.25 [[ 7.59230933e-01 6.50735934e-01 -1.05419853e-02 1.49567073e+02] [-6.50666023e-01 7.59304019e-01 9.54642701e-03 1.40317129e+02] [ 1.42167749e-02 -3.88631016e-04 9.99898861e-01 7.24973059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:140.30, Z:7.25 [[ 7.60688368e-01 6.49024964e-01 -1.09454802e-02 1.49588627e+02] [-6.48949346e-01 7.60766983e-01 9.91689137e-03 1.40295387e+02] [ 1.47632700e-02 -4.40601706e-04 9.99890920e-01 7.24920177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.61, Y:140.27, Z:7.25 [[ 7.60618826e-01 6.49103766e-01 -1.11041849e-02 1.49613454e+02] [-6.49025899e-01 7.60699744e-01 1.00639245e-02 1.40273363e+02] [ 1.49794820e-02 -4.47906850e-04 9.99887701e-01 7.24955588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.64, Y:140.25, Z:7.25 [[ 7.60446454e-01 6.49307295e-01 -1.10103457e-02 1.49638840e+02] [-6.49230667e-01 7.60526028e-01 9.98512076e-03 1.40252828e+02] [ 1.48570662e-02 -4.44895613e-04 9.99889529e-01 7.24980060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.66, Y:140.23, Z:7.25 [[ 7.59669156e-01 6.50196378e-01 -1.21426071e-02 1.49661353e+02] [-6.50103170e-01 7.59766045e-01 1.10193552e-02 1.40231747e+02] [ 1.63902854e-02 -4.77116943e-04 9.99865556e-01 7.24884066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.69, Y:140.21, Z:7.25 [[ 7.59046871e-01 6.50914707e-01 -1.25654872e-02 1.49686083e+02] [-6.50814888e-01 7.59150717e-01 1.14092549e-02 1.40210623e+02] [ 1.69655504e-02 -4.82353071e-04 9.99855958e-01 7.24887941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.71, Y:140.19, Z:7.25 [[ 7.57681830e-01 6.52487804e-01 -1.33383245e-02 1.49711506e+02] [-6.52375444e-01 7.57799074e-01 1.21179294e-02 1.40191120e+02] [ 1.80145711e-02 -4.79939558e-04 9.99837609e-01 7.24838469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.74, Y:140.17, Z:7.25 [[ 7.56711424e-01 6.53611139e-01 -1.34276261e-02 1.49736355e+02] [-6.53497324e-01 7.56830408e-01 1.22057915e-02 1.40170269e+02] [ 1.81402770e-02 -4.61344147e-04 9.99835345e-01 7.24867067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.76, Y:140.15, Z:7.25 [[ 7.55831223e-01 6.54622111e-01 -1.37497091e-02 1.49762093e+02] [-6.54502806e-01 7.55956141e-01 1.25055768e-02 1.40150576e+02] [ 1.85806041e-02 -4.52882200e-04 9.99827263e-01 7.24916814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.79, Y:140.13, Z:7.25 [[ 7.54440665e-01 6.56228896e-01 -1.35247539e-02 1.49788261e+02] [-6.56113596e-01 7.54561772e-01 1.23078103e-02 1.40131041e+02] [ 1.82820030e-02 -4.11737645e-04 9.99832785e-01 7.25006021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.81, Y:140.11, Z:7.25 [[ 7.54230006e-01 6.56471078e-01 -1.35211636e-02 1.49812135e+02] [-6.56355747e-01 7.54351082e-01 1.23117536e-02 1.40109094e+02] [ 1.82820145e-02 -4.11200555e-04 9.99832785e-01 7.25049023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.84, Y:140.09, Z:7.25 [[ 7.53452533e-01 6.57366793e-01 -1.33484469e-02 1.49835550e+02] [-6.57254396e-01 7.53570666e-01 1.21618427e-02 1.40088269e+02] [ 1.80537896e-02 -3.90045820e-04 9.99836941e-01 7.25108247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.86, Y:140.07, Z:7.25 [[ 7.52434507e-01 6.58543354e-01 -1.27657457e-02 1.49860550e+02] [-6.58440624e-01 7.52542709e-01 1.16368842e-02 1.40067577e+02] [ 1.72701616e-02 -3.50507657e-04 9.99850798e-01 7.25316461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:140.05, Z:7.25 [[ 7.51897503e-01 6.59161877e-01 -1.24805692e-02 1.49882681e+02] [-6.59063667e-01 7.52001003e-01 1.13830724e-02 1.40046244e+02] [ 1.68886880e-02 -3.33413964e-04 9.99857320e-01 7.25424353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.90, Y:140.03, Z:7.26 [[ 7.51685563e-01 6.59405686e-01 -1.23674990e-02 1.49904319e+02] [-6.59309208e-01 7.51787226e-01 1.12843054e-02 1.40026482e+02] [ 1.67386629e-02 -3.28243488e-04 9.99859845e-01 7.25511793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.93, Y:140.00, Z:7.26 [[ 7.51363675e-01 6.59777352e-01 -1.21026579e-02 1.49928963e+02] [-6.59684999e-01 7.51461075e-01 1.10433376e-02 1.40004378e+02] [ 1.63808204e-02 -3.13620842e-04 9.99865776e-01 7.25632795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.95, Y:139.98, Z:7.26 [[ 7.51397396e-01 6.59740598e-01 -1.20123788e-02 1.49952083e+02] [-6.59649518e-01 7.51493342e-01 1.09667659e-02 1.39982559e+02] [ 1.62624434e-02 -3.16439419e-04 9.99867708e-01 7.25701012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3327550960001 meters Centerline goodness [0,1] 0.9999352079823766 Centerline is valid? [True, True] Translation: X:149.97, Y:139.96, Z:7.26 [[ 7.51882808e-01 6.59184108e-01 -1.21883497e-02 1.49973267e+02] [-6.59090256e-01 7.51981516e-01 1.11280475e-02 1.39961970e+02] [ 1.65008457e-02 -3.33765056e-04 9.99863796e-01 7.25604465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:139.94, Z:7.26 [[ 7.51443366e-01 6.59695598e-01 -1.16011037e-02 1.49997399e+02] [-6.59610625e-01 7.51532849e-01 1.05924869e-02 1.39940484e+02] [ 1.57064275e-02 -3.07442768e-04 9.99876599e-01 7.25877172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.02, Y:139.92, Z:7.26 [[ 7.51339966e-01 6.59821864e-01 -1.11069004e-02 1.50019114e+02] [-6.59743917e-01 7.51421999e-01 1.01460948e-02 1.39918571e+02] [ 1.50405845e-02 -2.95456541e-04 9.99886840e-01 7.25936474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:139.90, Z:7.26 [[ 7.51771968e-01 6.59332347e-01 -1.09436965e-02 1.50040132e+02] [-6.59256613e-01 7.51851558e-01 9.99761649e-03 1.39897262e+02] [ 1.48197872e-02 -3.01223543e-04 9.99890136e-01 7.26038418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.06, Y:139.88, Z:7.26 [[ 7.51853535e-01 6.59239562e-01 -1.09298646e-02 1.50060135e+02] [-6.59164022e-01 7.51932915e-01 9.98416535e-03 1.39876603e+02] [ 1.48004817e-02 -3.02056501e-04 9.99890421e-01 7.26066750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:139.86, Z:7.26 [[ 7.52024344e-01 6.59041918e-01 -1.10966603e-02 1.50081438e+02] [-6.58964051e-01 7.52106146e-01 1.01352970e-02 1.39856588e+02] [ 1.50254520e-02 -3.09689860e-04 9.99887064e-01 7.26088598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.10, Y:139.84, Z:7.26 [[ 7.51837609e-01 6.59257204e-01 -1.09612118e-02 1.50102315e+02] [-6.59181273e-01 7.51917448e-01 1.00100680e-02 1.39836491e+02] [ 1.48411358e-02 -3.00520060e-04 9.99889819e-01 7.26060048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.12, Y:139.82, Z:7.26 [[ 7.51468821e-01 6.59670582e-01 -1.13725235e-02 1.50122622e+02] [-6.59588918e-01 7.51554810e-01 1.03839971e-02 1.39817402e+02] [ 1.53970922e-02 -3.02059624e-04 9.99881412e-01 7.26049806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:139.80, Z:7.26 [[ 7.50602675e-01 6.60649976e-01 -1.17146482e-02 1.50142850e+02] [-6.60563476e-01 7.50694029e-01 1.06943102e-02 1.39798526e+02] [ 1.58593122e-02 -2.88909167e-04 9.99874191e-01 7.26008887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:139.78, Z:7.26 [[ 7.50245101e-01 6.61054077e-01 -1.18235036e-02 1.50163168e+02] [-6.60966045e-01 7.50338209e-01 1.07916483e-02 1.39778886e+02] [ 1.60054896e-02 -2.81446895e-04 9.99871864e-01 7.25999923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:139.76, Z:7.26 [[ 7.49835478e-01 6.61513384e-01 -1.21160380e-02 1.50185536e+02] [-6.61421034e-01 7.49933308e-01 1.10566401e-02 1.39760560e+02] [ 1.64003359e-02 -2.76858587e-04 9.99865467e-01 7.26025641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.21, Y:139.74, Z:7.26 [[ 7.49252205e-01 6.62170134e-01 -1.23226267e-02 1.50206554e+02] [-6.62074725e-01 7.49353484e-01 1.12434370e-02 1.39740379e+02] [ 1.66790715e-02 -2.65670294e-04 9.99860859e-01 7.26018604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.23, Y:139.72, Z:7.26 [[ 7.49224079e-01 6.62205224e-01 -1.21458238e-02 1.50229250e+02] [-6.62112560e-01 7.49322476e-01 1.10807959e-02 1.39720366e+02] [ 1.64388997e-02 -2.60096608e-04 9.99864838e-01 7.26086661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.25, Y:139.70, Z:7.26 [[ 7.49149774e-01 6.62291315e-01 -1.20345270e-02 1.50249387e+02] [-6.62200357e-01 7.49246387e-01 1.09790177e-02 1.39699306e+02] [ 1.62881340e-02 -2.55660579e-04 9.99867307e-01 7.26071033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.27, Y:139.68, Z:7.26 [[ 7.49281044e-01 6.62139469e-01 -1.22163934e-02 1.50268273e+02] [-6.62045748e-01 7.49380581e-01 1.11433046e-02 1.39680118e+02] [ 1.65331498e-02 -2.61655609e-04 9.99863284e-01 7.26091236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.29, Y:139.66, Z:7.26 [[ 7.49327752e-01 6.62088453e-01 -1.21161121e-02 1.50290209e+02] [-6.61996300e-01 7.49425656e-01 1.10492258e-02 1.39661493e+02] [ 1.63956901e-02 -2.58670174e-04 9.99865548e-01 7.26186878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.31, Y:139.64, Z:7.26 [[ 7.49609745e-01 6.61777394e-01 -1.16580752e-02 1.50310275e+02] [-6.61692066e-01 7.49700351e-01 1.06298740e-02 1.39641519e+02] [ 1.57746734e-02 -2.54201229e-04 9.99875540e-01 7.26269551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:139.62, Z:7.26 [[ 7.49738487e-01 6.61636664e-01 -1.13633516e-02 1.50329972e+02] [-6.61555609e-01 7.49824555e-01 1.03592177e-02 1.39621094e+02] [ 1.53745583e-02 -2.49215228e-04 9.99881773e-01 7.26345982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.35, Y:139.60, Z:7.26 [[ 7.50107382e-01 6.61225148e-01 -1.09644702e-02 1.50353455e+02] [-6.61149664e-01 7.50187471e-01 9.99397329e-03 1.39601859e+02] [ 1.48336746e-02 -2.47397355e-04 9.99889944e-01 7.26458902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.38, Y:139.58, Z:7.27 [[ 7.50890698e-01 6.60338373e-01 -1.07885121e-02 1.50376091e+02] [-6.60265194e-01 7.50968151e-01 9.83409622e-03 1.39578973e+02] [ 1.45956601e-02 -2.61052331e-04 9.99893444e-01 7.26587958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.40, Y:139.56, Z:7.27 [[ 7.50975116e-01 6.60244382e-01 -1.06644662e-02 1.50400249e+02] [-6.60172789e-01 7.51050788e-01 9.72637030e-03 1.39555944e+02] [ 1.44313371e-02 -2.63871661e-04 9.99895828e-01 7.26700116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:139.53, Z:7.27 [[ 7.51208675e-01 6.59982922e-01 -1.03956425e-02 1.50421614e+02] [-6.59914784e-01 7.51280555e-01 9.48710147e-03 1.39531940e+02] [ 1.40713690e-02 -2.66554770e-04 9.99900958e-01 7.26779539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.44, Y:139.51, Z:7.27 [[ 7.51752075e-01 6.59370086e-01 -9.99537022e-03 1.50443857e+02] [-6.59306972e-01 7.51818473e-01 9.12693880e-03 1.39510037e+02] [ 1.35327344e-02 -2.71177901e-04 9.99908392e-01 7.26909092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:139.49, Z:7.27 [[ 7.51515396e-01 6.59643554e-01 -9.74632801e-03 1.50468440e+02] [-6.59583560e-01 7.51578548e-01 8.90018604e-03 1.39488703e+02] [ 1.31960814e-02 -2.60109116e-04 9.99912894e-01 7.26984508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.49, Y:139.47, Z:7.27 [[ 7.51422685e-01 6.59757754e-01 -9.14630156e-03 1.50491898e+02] [-6.59704865e-01 7.51478307e-01 8.35731029e-03 1.39466498e+02] [ 1.23870475e-02 -2.46012896e-04 9.99923247e-01 7.27092712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.52, Y:139.44, Z:7.27 [[ 7.51101305e-01 6.60130380e-01 -8.64361163e-03 1.50517027e+02] [-6.60083139e-01 7.51151003e-01 7.90063401e-03 1.39444958e+02] [ 1.17081061e-02 -2.28674221e-04 9.99931432e-01 7.27168541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:139.42, Z:7.27 [[ 7.50994785e-01 6.60254673e-01 -8.40236449e-03 1.50540454e+02] [-6.60209983e-01 7.51041755e-01 7.68515225e-03 1.39422516e+02] [ 1.13846843e-02 -2.24184349e-04 9.99935167e-01 7.27260865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:139.40, Z:7.27 [[ 7.50764107e-01 6.60522581e-01 -7.94832325e-03 1.50564641e+02] [-6.60482581e-01 7.50806151e-01 7.27215308e-03 1.39400909e+02] [ 1.07710713e-02 -2.09942459e-04 9.99941968e-01 7.27358196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.59, Y:139.38, Z:7.27 [[ 7.50456946e-01 6.60873541e-01 -7.78036856e-03 1.50588176e+02] [-6.60835186e-01 7.50497249e-01 7.12296018e-03 1.39379093e+02] [ 1.05465211e-02 -2.03933640e-04 9.99944363e-01 7.27420684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.61, Y:139.36, Z:7.27 [[ 7.49693714e-01 6.61739841e-01 -7.72778156e-03 1.50612683e+02] [-6.61702004e-01 7.49733517e-01 7.07902628e-03 1.39358500e+02] [ 1.04782506e-02 -1.93612957e-04 9.99945083e-01 7.27450945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:139.34, Z:7.27 [[ 7.49125945e-01 6.62382060e-01 -7.76691545e-03 1.50635872e+02] [-6.62343831e-01 7.49166184e-01 7.11887505e-03 1.39337404e+02] [ 1.05341255e-02 -1.88565472e-04 9.99944497e-01 7.27482750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:139.32, Z:7.27 [[ 7.48771755e-01 6.62778893e-01 -8.06209943e-03 1.50658348e+02] [-6.62737673e-01 7.48815132e-01 7.39434440e-03 1.39318951e+02] [ 1.09378374e-02 -1.93619219e-04 9.99940161e-01 7.27481156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.68, Y:139.30, Z:7.27 [[ 7.48483970e-01 6.63104480e-01 -8.01221992e-03 1.50681544e+02] [-6.63063800e-01 7.48526829e-01 7.34736778e-03 1.39299792e+02] [ 1.08694341e-02 -1.86774020e-04 9.99940909e-01 7.27454725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:139.28, Z:7.27 [[ 7.48147927e-01 6.63478442e-01 -8.42826627e-03 1.50703706e+02] [-6.63433457e-01 7.48195376e-01 7.72835353e-03 1.39281373e+02] [ 1.14335858e-02 -1.90357850e-04 9.99934616e-01 7.27418453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.72, Y:139.26, Z:7.27 [[ 7.48357240e-01 6.63240268e-01 -8.59003219e-03 1.50724047e+02] [-6.63193538e-01 7.48406513e-01 7.87550235e-03 1.39262688e+02] [ 1.16521863e-02 -1.96835362e-04 9.99932092e-01 7.27433238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.74, Y:139.24, Z:7.27 [[ 7.48581908e-01 6.62983774e-01 -8.81148941e-03 1.50743941e+02] [-6.62934603e-01 7.48633738e-01 8.07711500e-03 1.39244926e+02] [ 1.19515744e-02 -2.04940923e-04 9.99928556e-01 7.27427125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41275509600007 meters Centerline goodness [0,1] 0.9999568816833391 Centerline is valid? [True, True] Translation: X:150.77, Y:139.22, Z:7.27 [[ 7.48527034e-01 6.63040484e-01 -9.19756845e-03 1.50769284e+02] [-6.62986958e-01 7.48583511e-01 8.42741925e-03 1.39223499e+02] [ 1.24728682e-02 -2.10283212e-04 9.99922189e-01 7.27371786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:139.20, Z:7.28 [[ 7.49148417e-01 6.62341594e-01 -8.95890396e-03 1.50790391e+02] [-6.62290697e-01 7.49201952e-01 8.21390081e-03 1.39201200e+02] [ 1.21524365e-02 -2.20032037e-04 9.99926132e-01 7.27517782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.81, Y:139.18, Z:7.28 [[ 7.50465599e-01 6.60849493e-01 -8.90692115e-03 1.50811035e+02] [-6.60799032e-01 7.50518413e-01 8.17017800e-03 1.39180616e+02] [ 1.20840663e-02 -2.45752658e-04 9.99926955e-01 7.27581198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.83, Y:139.16, Z:7.28 [[ 7.51117247e-01 6.60106056e-01 -9.10363431e-03 1.50830912e+02] [-6.60053302e-01 7.51172368e-01 8.34938413e-03 1.39160418e+02] [ 1.23498776e-02 -2.62482537e-04 9.99923703e-01 7.27627568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:139.14, Z:7.28 [[ 7.52064700e-01 6.59031598e-01 -8.72009036e-03 1.50852326e+02] [-6.58983141e-01 7.52115205e-01 7.99620114e-03 1.39141666e+02] [ 1.18282618e-02 -2.67268073e-04 9.99930008e-01 7.27724097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.87, Y:139.12, Z:7.28 [[ 7.52295667e-01 6.58765917e-01 -8.87110087e-03 1.50873708e+02] [-6.58715763e-01 7.52347919e-01 8.13342687e-03 1.39121698e+02] [ 1.20321787e-02 -2.75207809e-04 9.99927573e-01 7.27768085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:139.10, Z:7.28 [[ 7.52403165e-01 6.58640757e-01 -9.04606447e-03 1.50894324e+02] [-6.58588611e-01 7.52457490e-01 8.29262262e-03 1.39103418e+02] [ 1.22686382e-02 -2.81760470e-04 9.99924698e-01 7.27776360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:139.08, Z:7.28 [[ 7.52089535e-01 6.58997231e-01 -9.16413692e-03 1.50920933e+02] [-6.58943770e-01 7.52145314e-01 8.39850749e-03 1.39083825e+02] [ 1.24273558e-02 -2.77778657e-04 9.99922739e-01 7.27740419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.94, Y:139.06, Z:7.28 [[ 7.51830633e-01 6.59288913e-01 -9.42490831e-03 1.50942382e+02] [-6.59232318e-01 7.51889651e-01 8.64308877e-03 1.39061335e+02] [ 1.27847836e-02 -2.84934748e-04 9.99918231e-01 7.27777307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.96, Y:139.04, Z:7.28 [[ 7.51724697e-01 6.59412734e-01 -9.21012470e-03 1.50963654e+02] [-6.59358643e-01 7.51781064e-01 8.45058560e-03 1.39041968e+02] [ 1.24964211e-02 -2.79738574e-04 9.99921878e-01 7.27804727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.98, Y:139.02, Z:7.28 [[ 7.51540730e-01 6.59608692e-01 -1.01441839e-02 1.50983662e+02] [-6.59543111e-01 7.51609128e-01 9.30611748e-03 1.39022851e+02] [ 1.37628572e-02 -3.03399734e-04 9.99905241e-01 7.27781644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74275509600005 meters Centerline goodness [0,1] 0.9999566433263241 Centerline is valid? [True, True] Translation: X:151.01, Y:139.00, Z:7.28 [[ 7.51296022e-01 6.59885206e-01 -1.02859898e-02 1.51010826e+02] [-6.59817823e-01 7.51366371e-01 9.43489546e-03 1.39003138e+02] [ 1.39544947e-02 -3.01520065e-04 9.99902586e-01 7.27733899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.03, Y:138.98, Z:7.28 [[ 7.50956274e-01 6.60264346e-01 -1.07549027e-02 1.51034147e+02] [-6.60190620e-01 7.51033219e-01 9.87166284e-03 1.38981358e+02] [ 1.45951962e-02 -3.12901243e-04 9.99893436e-01 7.27852212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.06, Y:138.96, Z:7.28 [[ 7.50494764e-01 6.60785521e-01 -1.09591860e-02 1.51057846e+02] [-6.60708931e-01 7.50574711e-01 1.00653464e-02 1.38959771e+02] [ 1.48767230e-02 -3.13157686e-04 9.99889286e-01 7.27858087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:138.94, Z:7.28 [[ 7.49680356e-01 6.61705406e-01 -1.11946245e-02 1.51082788e+02] [-6.61625498e-01 7.49763871e-01 1.02877785e-02 1.38940071e+02] [ 1.52008036e-02 -3.05896476e-04 9.99884414e-01 7.27867398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:138.92, Z:7.28 [[ 7.49026143e-01 6.62449002e-01 -1.10071147e-02 1.51105940e+02] [-6.62371745e-01 7.49106959e-01 1.01210228e-02 1.38919177e+02] [ 1.49501677e-02 -2.90108896e-04 9.99888198e-01 7.27896619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:138.90, Z:7.28 [[ 7.48607320e-01 6.62920848e-01 -1.10918961e-02 1.51128419e+02] [-6.62842377e-01 7.48689434e-01 1.02037064e-02 1.38899361e+02] [ 1.50686351e-02 -2.86390508e-04 9.99886421e-01 7.27978049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.15, Y:138.88, Z:7.28 [[ 7.47572938e-01 6.64091106e-01 -1.08492323e-02 1.51153653e+02] [-6.64016141e-01 7.47651615e-01 9.98138812e-03 1.38879541e+02] [ 1.47399971e-02 -2.57750310e-04 9.99891327e-01 7.28051883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.18, Y:138.86, Z:7.28 [[ 7.47227968e-01 6.64482592e-01 -1.06418691e-02 1.51175216e+02] [-6.64410435e-01 7.47303702e-01 9.79546185e-03 1.38859966e+02] [ 1.44616221e-02 -2.48874163e-04 9.99895394e-01 7.28148410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:138.84, Z:7.28 [[ 7.46515268e-01 6.65298183e-01 -9.65830131e-03 1.51196931e+02] [-6.65238820e-01 7.46577714e-01 8.88981637e-03 1.38842581e+02] [ 1.31250512e-02 -2.11306677e-04 9.99913840e-01 7.28304431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.22, Y:138.82, Z:7.28 [[ 7.46591237e-01 6.65212917e-01 -9.65919665e-03 1.51217275e+02] [-6.65153559e-01 7.46653689e-01 8.88884344e-03 1.38824033e+02] [ 1.31250483e-02 -2.11483583e-04 9.99913840e-01 7.28340804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.24, Y:138.81, Z:7.28 [[ 7.46370839e-01 6.65460910e-01 -9.60974200e-03 1.51239499e+02] [-6.65402206e-01 7.46432673e-01 8.84130848e-03 1.38805757e+02] [ 1.30565706e-02 -2.04551307e-04 9.99914738e-01 7.28400662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.26, Y:138.79, Z:7.28 [[ 7.46092100e-01 6.65771357e-01 -9.75085081e-03 1.51260543e+02] [-6.65710961e-01 7.46155788e-01 8.96973097e-03 1.38787953e+02] [ 1.32474437e-02 -2.00997156e-04 9.99912229e-01 7.28397780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.29, Y:138.77, Z:7.28 [[ 7.45097459e-01 6.66881789e-01 -9.92251539e-03 1.51286043e+02] [-6.66819369e-01 7.45163503e-01 9.12591829e-03 1.38770064e+02] [ 1.34798050e-02 -1.83173078e-04 9.99909127e-01 7.28377353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:138.75, Z:7.28 [[ 7.44762276e-01 6.67253461e-01 -1.00980815e-02 1.51306648e+02] [-6.67188837e-01 7.44830710e-01 9.28809219e-03 1.38750475e+02] [ 1.37188729e-02 -1.80093394e-04 9.99905876e-01 7.28397199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:138.73, Z:7.28 [[ 7.44059497e-01 6.68034757e-01 -1.02483669e-02 1.51330990e+02] [-6.67968281e-01 7.44130053e-01 9.42547906e-03 1.38733967e+02] [ 1.39226655e-02 -1.67533160e-04 9.99903061e-01 7.28396277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.35, Y:138.72, Z:7.28 [[ 7.43783827e-01 6.68340353e-01 -1.03339708e-02 1.51352957e+02] [-6.68272813e-01 7.43855595e-01 9.50271515e-03 1.38715503e+02] [ 1.40380300e-02 -1.62054086e-04 9.99901449e-01 7.28436346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.37, Y:138.70, Z:7.28 [[ 7.43881336e-01 6.68236682e-01 -1.00147015e-02 1.51374336e+02] [-6.68173261e-01 7.43948729e-01 9.20770835e-03 1.38696887e+02] [ 1.36033529e-02 -1.57886647e-04 9.99907458e-01 7.28461721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.40, Y:138.68, Z:7.29 [[ 7.44184039e-01 6.67901957e-01 -9.85352872e-03 1.51395214e+02] [-6.67840559e-01 7.44249253e-01 9.05743988e-03 1.38678242e+02] [ 1.33829632e-02 -1.59816071e-04 9.99910431e-01 7.28540302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.41, Y:138.66, Z:7.29 [[ 7.44556345e-01 6.67487390e-01 -9.82006152e-03 1.51414439e+02] [-6.67426396e-01 7.44621083e-01 9.02492111e-03 1.38659913e+02] [ 1.33362459e-02 -1.65394010e-04 9.99911055e-01 7.28638712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:138.64, Z:7.29 [[ 7.45282404e-01 6.66686845e-01 -9.09887331e-03 1.51434869e+02] [-6.66634462e-01 7.45337926e-01 8.35884018e-03 1.38639938e+02] [ 1.23544641e-02 -1.64073985e-04 9.99923667e-01 7.28789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:138.62, Z:7.29 [[ 7.45788792e-01 6.66119504e-01 -9.15879283e-03 1.51456259e+02] [-6.66066403e-01 7.45845008e-01 8.41257523e-03 1.38620221e+02] [ 1.24348203e-02 -1.73640123e-04 9.99922670e-01 7.28838625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.48, Y:138.60, Z:7.29 [[ 7.46221715e-01 6.65633483e-01 -9.23136036e-03 1.51475924e+02] [-6.65579516e-01 7.46278790e-01 8.47789308e-03 1.38600998e+02] [ 1.25323379e-02 -1.82183546e-04 9.99921451e-01 7.28895412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:138.58, Z:7.29 [[ 7.46782879e-01 6.65004241e-01 -9.20277552e-03 1.51494929e+02] [-6.64950581e-01 7.46839556e-01 8.44998632e-03 1.38580957e+02] [ 1.24922735e-02 -1.90914177e-04 9.99921950e-01 7.28919659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.51, Y:138.56, Z:7.29 [[ 7.47534164e-01 6.64159172e-01 -9.23408149e-03 1.51514693e+02] [-6.64105102e-01 7.47591167e-01 8.47707766e-03 1.38560619e+02] [ 1.25334466e-02 -2.04504532e-04 9.99921432e-01 7.28934346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.53, Y:138.54, Z:7.29 [[ 7.47972205e-01 6.63668560e-01 -9.03453664e-03 1.51534942e+02] [-6.63616781e-01 7.48026737e-01 8.29266041e-03 1.38541680e+02] [ 1.22616530e-02 -2.07209366e-04 9.99924802e-01 7.28963767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:138.52, Z:7.29 [[ 7.48390471e-01 6.63201018e-01 -8.72425015e-03 1.51554794e+02] [-6.63152761e-01 7.48441293e-01 8.00296168e-03 1.38521499e+02] [ 1.18371614e-02 -2.03829693e-04 9.99929918e-01 7.29052078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:138.50, Z:7.29 [[ 7.48607578e-01 6.62959298e-01 -8.46543116e-03 1.51577583e+02] [-6.62913862e-01 7.48655415e-01 7.76415257e-03 1.38504124e+02] [ 1.14850080e-02 -2.00451790e-04 9.99934025e-01 7.29088837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.60, Y:138.48, Z:7.29 [[ 7.48807719e-01 6.62733935e-01 -8.41020536e-03 1.51598843e+02] [-6.62689089e-01 7.48854920e-01 7.71229994e-03 1.38484346e+02] [ 1.14092265e-02 -2.01678391e-04 9.99934892e-01 7.29117145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:138.47, Z:7.29 [[ 7.49132771e-01 6.62365474e-01 -8.48944692e-03 1.51619200e+02] [-6.62319770e-01 7.49180843e-01 7.78378140e-03 1.38465789e+02] [ 1.15158391e-02 -2.08357192e-04 9.99933669e-01 7.29127266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:138.45, Z:7.29 [[ 7.49303647e-01 6.62170690e-01 -8.60362906e-03 1.51640717e+02] [-6.62123754e-01 7.49353009e-01 7.88688398e-03 1.38446241e+02] [ 1.16696187e-02 -2.13003759e-04 9.99931885e-01 7.29175323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.66, Y:138.43, Z:7.29 [[ 7.50006285e-01 6.61378384e-01 -8.31896426e-03 1.51660282e+02] [-6.61334466e-01 7.50052389e-01 7.62484311e-03 1.38426230e+02] [ 1.12825654e-02 -2.17062466e-04 9.99936326e-01 7.29251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:138.41, Z:7.29 [[ 7.50414536e-01 6.60911374e-01 -8.61280828e-03 1.51681995e+02] [-6.60864287e-01 7.50463925e-01 7.89254617e-03 1.38407120e+02] [ 1.16798754e-02 -2.30783966e-04 9.99931761e-01 7.29320606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.70, Y:138.39, Z:7.29 [[ 7.51461913e-01 6.59726628e-01 -8.10981313e-03 1.51703052e+02] [-6.59684823e-01 7.51505636e-01 7.43055229e-03 1.38386946e+02] [ 1.09967035e-02 -2.33856406e-04 9.99939507e-01 7.29390011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.72, Y:138.37, Z:7.29 [[ 7.52271408e-01 6.58806240e-01 -7.87820480e-03 1.51722533e+02] [-6.58766748e-01 7.52312622e-01 7.21741128e-03 1.38367753e+02] [ 1.06817485e-02 -2.39552786e-04 9.99942920e-01 7.29464780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters Centerline goodness [0,1] 0.9999569679626482 Centerline is valid? [True, True] Translation: X:151.74, Y:138.35, Z:7.29 [[ 7.53254075e-01 6.57683996e-01 -7.74979593e-03 1.51744304e+02] [-6.57645740e-01 7.53293899e-01 7.09806214e-03 1.38348394e+02] [ 1.05061559e-02 -2.50023960e-04 9.99944778e-01 7.29412019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.76, Y:138.33, Z:7.30 [[ 7.55169704e-01 6.55481994e-01 -7.87868680e-03 1.51763669e+02] [-6.55442345e-01 7.55210748e-01 7.21510426e-03 1.38328072e+02] [ 1.06794399e-02 -2.84603191e-04 9.99942933e-01 7.29519259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.78, Y:138.31, Z:7.30 [[ 7.56332640e-01 6.54135139e-01 -8.25573062e-03 1.51784363e+02] [-6.54091545e-01 7.56377630e-01 7.55851539e-03 1.38307351e+02] [ 1.11887405e-02 -3.16748302e-04 9.99937354e-01 7.29517259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.80, Y:138.29, Z:7.30 [[ 7.57531344e-01 6.52746033e-01 -8.29931488e-03 1.51804929e+02] [-6.52701907e-01 7.57576730e-01 7.59727552e-03 1.38287095e+02] [ 1.12464593e-02 -3.38195686e-04 9.99936699e-01 7.29536506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.82, Y:138.27, Z:7.30 [[ 7.59495058e-01 6.50457839e-01 -8.47680411e-03 1.51823578e+02] [-6.50411677e-01 7.59542267e-01 7.75856308e-03 1.38265807e+02] [ 1.14851092e-02 -3.79177938e-04 9.99933972e-01 7.29564355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.84, Y:138.25, Z:7.30 [[ 7.60140053e-01 6.49700279e-01 -8.75486883e-03 1.51844389e+02] [-6.49651002e-01 7.60190362e-01 8.01183594e-03 1.38246074e+02] [ 1.18606589e-02 -4.02508083e-04 9.99929579e-01 7.29611002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.87, Y:138.23, Z:7.30 [[ 7.60490296e-01 6.49294973e-01 -8.39927325e-03 1.51867040e+02] [-6.49249605e-01 7.60536577e-01 7.68535460e-03 1.38227443e+02] [ 1.13780166e-02 -3.91412754e-04 9.99935192e-01 7.29719208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.89, Y:138.21, Z:7.30 [[ 7.60319184e-01 6.49499699e-01 -8.05475338e-03 1.51890662e+02] [-6.49458000e-01 7.60361758e-01 7.36910684e-03 1.38210235e+02] [ 1.09107591e-02 -3.71649282e-04 9.99940407e-01 7.29751698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.91, Y:138.19, Z:7.30 [[ 7.59794293e-01 6.50109900e-01 -8.35162807e-03 1.51910634e+02] [-6.50065119e-01 7.59840100e-01 7.63965770e-03 1.38190983e+02] [ 1.13125190e-02 -3.75466225e-04 9.99935941e-01 7.29802442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.94, Y:138.18, Z:7.30 [[ 7.58301740e-01 6.51845974e-01 -8.67736149e-03 1.51937405e+02] [-6.51797771e-01 7.58351301e-01 7.93537543e-03 1.38176633e+02] [ 1.17531309e-02 -3.61524118e-04 9.99930864e-01 7.29756734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.96, Y:138.16, Z:7.30 [[ 7.57237263e-01 6.53082443e-01 -8.66315467e-03 1.51958750e+02] [-6.53034488e-01 7.57286739e-01 7.92156948e-03 1.38159141e+02] [ 1.17339301e-02 -3.41168807e-04 9.99931097e-01 7.29797840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.98, Y:138.14, Z:7.30 [[ 7.55078279e-01 6.55577943e-01 -8.62291397e-03 1.51983822e+02] [-6.55530612e-01 7.55127454e-01 7.88327442e-03 1.38144008e+02] [ 1.16794999e-02 -2.99905209e-04 9.99931747e-01 7.29839021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.01, Y:138.13, Z:7.30 [[ 7.54153635e-01 6.56642562e-01 -8.53463365e-03 1.52007083e+02] [-6.56596277e-01 7.54201875e-01 7.80142236e-03 1.38126074e+02] [ 1.15595827e-02 -2.79662360e-04 9.99933147e-01 7.29882809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.03, Y:138.11, Z:7.30 [[ 7.53158733e-01 6.57777764e-01 -8.96302348e-03 1.52029138e+02] [-6.57726810e-01 7.53212014e-01 8.19182394e-03 1.38109541e+02] [ 1.21394566e-02 -2.74522897e-04 9.99926276e-01 7.29911832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.06, Y:138.10, Z:7.30 [[ 7.51287039e-01 6.59911778e-01 -9.17768666e-03 1.52055158e+02] [-6.59858542e-01 7.51343054e-01 8.38562483e-03 1.38095274e+02] [ 1.24293637e-02 -2.44036303e-04 9.99922723e-01 7.29895016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:138.08, Z:7.30 [[ 7.50772024e-01 6.60498352e-01 -9.12656304e-03 1.52079146e+02] [-6.60445767e-01 7.50827459e-01 8.33765929e-03 1.38078812e+02] [ 1.23594844e-02 -2.32081418e-04 9.99923592e-01 7.29930673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.10, Y:138.06, Z:7.30 [[ 7.49790299e-01 6.61606483e-01 -9.55876411e-03 1.52102207e+02] [-6.61548907e-01 7.49851193e-01 8.73104692e-03 1.38062910e+02] [ 1.29441679e-02 -2.22864325e-04 9.99916196e-01 7.29915620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.12, Y:138.04, Z:7.30 [[ 7.49694581e-01 6.61712295e-01 -9.74029249e-03 1.52124530e+02] [-6.61652544e-01 7.49757820e-01 8.89505746e-03 1.38044637e+02] [ 1.31888294e-02 -2.23887068e-04 9.99912999e-01 7.29941979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:138.03, Z:7.30 [[ 7.49781651e-01 6.61609182e-01 -1.00382486e-02 1.52145199e+02] [-6.61545731e-01 7.49848809e-01 9.16560756e-03 1.38026520e+02] [ 1.35912188e-02 -2.31443886e-04 9.99907608e-01 7.29955481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.17, Y:138.01, Z:7.30 [[ 7.50396347e-01 6.60907305e-01 -1.03371552e-02 1.52167000e+02] [-6.60840009e-01 7.50467503e-01 9.43453067e-03 1.38007631e+02] [ 1.39930493e-02 -2.48431625e-04 9.99902062e-01 7.29989033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.19, Y:137.99, Z:7.30 [[ 7.51038649e-01 6.60178748e-01 -1.02454089e-02 1.52188569e+02] [-6.60112595e-01 7.51108484e-01 9.34920468e-03 1.37988197e+02] [ 1.38675598e-02 -2.58490605e-04 9.99903807e-01 7.30014537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:137.97, Z:7.30 [[ 7.51655322e-01 6.59475986e-01 -1.02810897e-02 1.52210051e+02] [-6.59409374e-01 7.51725582e-01 9.37689375e-03 1.37969012e+02] [ 1.39123944e-02 -2.68745144e-04 9.99903182e-01 7.30029633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.23, Y:137.95, Z:7.30 [[ 7.53004975e-01 6.57925585e-01 -1.08366676e-02 1.52229642e+02] [-6.57851443e-01 7.53082882e-01 9.88186744e-03 1.37949009e+02] [ 1.46624423e-02 -3.12177935e-04 9.99892452e-01 7.30065148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.25, Y:137.93, Z:7.30 [[ 7.53824255e-01 6.56980613e-01 -1.12011549e-02 1.52250961e+02] [-6.56901339e-01 7.53907394e-01 1.02113769e-02 1.37929020e+02] [ 1.51533102e-02 -3.39529943e-04 9.99885124e-01 7.30075645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.27, Y:137.91, Z:7.30 [[ 7.55552323e-01 6.54992536e-01 -1.12011156e-02 1.52269764e+02] [-6.54913068e-01 7.55635253e-01 1.02097206e-02 1.37908561e+02] [ 1.51512486e-02 -3.78221112e-04 9.99885142e-01 7.30063798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.29, Y:137.89, Z:7.30 [[ 7.56428788e-01 6.53970987e-01 -1.17233373e-02 1.52290151e+02] [-6.53883857e-01 7.56519514e-01 1.06830001e-02 1.37888508e+02] [ 1.58553055e-02 -4.15227803e-04 9.99874211e-01 7.30086851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.31, Y:137.87, Z:7.30 [[ 7.57415075e-01 6.52825659e-01 -1.18769725e-02 1.52310733e+02] [-6.52736182e-01 7.57508063e-01 1.08172071e-02 1.37867951e+02] [ 1.60586528e-02 -4.40586056e-04 9.99870954e-01 7.30089671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:137.85, Z:7.30 [[ 7.58780490e-01 6.51226674e-01 -1.24894875e-02 1.52330713e+02] [-6.51127618e-01 7.58883110e-01 1.13688544e-02 1.37846360e+02] [ 1.68817623e-02 -4.94214676e-04 9.99857371e-01 7.30050164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.35, Y:137.83, Z:7.30 [[ 7.59269834e-01 6.50652116e-01 -1.26942198e-02 1.52349975e+02] [-6.50549795e-01 7.59375771e-01 1.15499933e-02 1.37826246e+02] [ 1.71547106e-02 -5.11339394e-04 9.99852716e-01 7.30019976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.37, Y:137.81, Z:7.30 [[ 7.59969104e-01 6.49827975e-01 -1.30599961e-02 1.52368516e+02] [-6.49719590e-01 7.60081119e-01 1.18805616e-02 1.37805055e+02] [ 1.76469777e-02 -5.43524446e-04 9.99844132e-01 7.29994642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.39, Y:137.79, Z:7.30 [[ 7.60163450e-01 6.49598975e-01 -1.31415621e-02 1.52388682e+02] [-6.49489257e-01 7.60276837e-01 1.19513742e-02 1.37785747e+02] [ 1.77548257e-02 -5.49694459e-04 9.99842220e-01 7.29982916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.41, Y:137.77, Z:7.30 [[ 7.60239345e-01 6.49514218e-01 -1.29390602e-02 1.52409434e+02] [-6.49407961e-01 7.60349256e-01 1.17605135e-02 1.37766592e+02] [ 1.74768255e-02 -5.38076371e-04 9.99847124e-01 7.30016740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:137.75, Z:7.30 [[ 7.59800678e-01 6.50028679e-01 -1.28703820e-02 1.52429151e+02] [-6.49923722e-01 7.59909499e-01 1.16922418e-02 1.37746680e+02] [ 1.73806180e-02 -5.19006609e-04 9.99848811e-01 7.30046493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.45, Y:137.73, Z:7.30 [[ 7.59219894e-01 6.50711545e-01 -1.26347812e-02 1.52449197e+02] [-6.50610538e-01 7.59324860e-01 1.14754298e-02 1.37727785e+02] [ 1.70610981e-02 -4.92052767e-04 9.99854328e-01 7.30101913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.47, Y:137.71, Z:7.30 [[ 7.57180750e-01 6.53097224e-01 -1.18881091e-02 1.52471061e+02] [-6.53008124e-01 7.57273958e-01 1.07955315e-02 1.37709358e+02] [ 1.60530871e-02 -4.11136844e-04 9.99871056e-01 7.30252984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:137.69, Z:7.30 [[ 7.55838370e-01 6.54653131e-01 -1.17318393e-02 1.52493436e+02] [-6.54566578e-01 7.55929322e-01 1.06515354e-02 1.37690713e+02] [ 1.58415024e-02 -3.71569253e-04 9.99874447e-01 7.30301726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.52, Y:137.67, Z:7.30 [[ 7.54329152e-01 6.56389848e-01 -1.18278376e-02 1.52515274e+02] [-6.56302160e-01 7.54421803e-01 1.07339933e-02 1.37672900e+02] [ 1.59688628e-02 -3.34328676e-04 9.99872434e-01 7.30309404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.54, Y:137.66, Z:7.30 [[ 7.52633216e-01 6.58334536e-01 -1.17847272e-02 1.52541203e+02] [-6.58247752e-01 7.52725417e-01 1.06931178e-02 1.37657925e+02] [ 1.59103124e-02 -2.90725469e-04 9.99873381e-01 7.30417060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:137.64, Z:7.30 [[ 7.49419654e-01 6.61993028e-01 -1.16366985e-02 1.52563896e+02] [-6.61908871e-01 7.49509964e-01 1.05574944e-02 1.37640227e+02] [ 1.57108092e-02 -2.09559831e-04 9.99876556e-01 7.30395289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.58, Y:137.62, Z:7.30 [[ 7.49498250e-01 6.61904026e-01 -1.16375994e-02 1.52584366e+02] [-6.61819872e-01 7.49588565e-01 1.05565013e-02 1.37621824e+02] [ 1.57108022e-02 -2.10084747e-04 9.99876556e-01 7.30431669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.60, Y:137.60, Z:7.30 [[ 7.48154011e-01 6.63420444e-01 -1.17851404e-02 1.52604125e+02] [-6.63334371e-01 7.48246806e-01 1.06878336e-02 1.37601550e+02] [ 1.59087210e-02 -1.78656905e-04 9.99873432e-01 7.30399039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.63, Y:137.58, Z:7.31 [[ 7.45707868e-01 6.66168381e-01 -1.18094506e-02 1.52627123e+02] [-6.66082328e-01 7.45801364e-01 1.07078326e-02 1.37584166e+02] [ 1.59407239e-02 -1.18848705e-04 9.99872932e-01 7.30507446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:137.57, Z:7.31 [[ 7.44579162e-01 6.67431283e-01 -1.17198288e-02 1.52647306e+02] [-6.67346716e-01 7.44671387e-01 1.06248115e-02 1.37565596e+02] [ 1.58187527e-02 -8.98239448e-05 9.99874872e-01 7.30545590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:137.55, Z:7.31 [[ 7.43056673e-01 6.69139039e-01 -1.09419803e-02 1.52668893e+02] [-6.69065537e-01 7.43137231e-01 9.91782719e-03 1.37546100e+02] [ 1.47677983e-02 -4.86057749e-05 9.99890949e-01 7.30596224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.69, Y:137.53, Z:7.31 [[ 7.42737030e-01 6.69495507e-01 -1.08383828e-02 1.52689056e+02] [-6.69423451e-01 7.42816105e-01 9.82231964e-03 1.37527050e+02] [ 1.46269242e-02 -3.99328912e-05 9.99893020e-01 7.30654740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:137.51, Z:7.31 [[ 7.42727135e-01 6.69511661e-01 -1.05137328e-02 1.52708672e+02] [-6.69443890e-01 7.42801544e-01 9.52593000e-03 1.37507543e+02] [ 1.41873382e-02 -3.68124903e-05 9.99899354e-01 7.30706184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:137.48, Z:7.31 [[ 7.43697060e-01 6.68443632e-01 -9.88909380e-03 1.52726853e+02] [-6.68383607e-01 7.43762804e-01 8.95799807e-03 1.37484943e+02] [ 1.33430569e-02 -5.23286436e-05 9.99910976e-01 7.30771627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:137.46, Z:7.31 [[ 7.44686961e-01 6.67343760e-01 -9.67656058e-03 1.52745657e+02] [-6.67286213e-01 7.44749824e-01 8.76410472e-03 1.37463754e+02] [ 1.30552874e-02 -6.94790527e-05 9.99914774e-01 7.30837346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.76, Y:137.44, Z:7.31 [[ 7.47210873e-01 6.64522273e-01 -9.27681023e-03 1.52762668e+02] [-6.64469184e-01 7.47268450e-01 8.40044129e-03 1.37440163e+02] [ 1.25145479e-02 -1.12746549e-04 9.99921684e-01 7.30884122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:137.42, Z:7.31 [[ 7.48708120e-01 6.62835074e-01 -9.26371970e-03 1.52782327e+02] [-6.62782022e-01 7.48765414e-01 8.38720320e-03 1.37418070e+02] [ 1.24956854e-02 -1.39740262e-04 9.99921916e-01 7.30917744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:137.39, Z:7.31 [[ 7.50201227e-01 6.61148834e-01 -8.96315691e-03 1.52802890e+02] [-6.61099057e-01 7.50254752e-01 8.11439451e-03 1.37394920e+02] [ 1.20894735e-02 -1.61894143e-04 9.99926907e-01 7.30955239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.82, Y:137.37, Z:7.31 [[ 7.52728775e-01 6.58274167e-01 -8.63203991e-03 1.52822762e+02] [-6.58227818e-01 7.52778241e-01 7.81402495e-03 1.37368975e+02] [ 1.16417826e-02 -1.99992630e-04 9.99932212e-01 7.30986690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:137.34, Z:7.31 [[ 7.53642073e-01 6.57226622e-01 -8.76319307e-03 1.52842086e+02] [-6.57178727e-01 7.53692987e-01 7.93741227e-03 1.37344451e+02] [ 1.18214358e-02 -2.22983765e-04 9.99930100e-01 7.31011745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.86, Y:137.32, Z:7.31 [[ 7.55072491e-01 6.55574228e-01 -9.37891798e-03 1.52860590e+02] [-6.55519175e-01 7.55130690e-01 8.50017680e-03 1.37321919e+02] [ 1.26548056e-02 -2.70189093e-04 9.99919888e-01 7.30895770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.88, Y:137.30, Z:7.31 [[ 7.54924680e-01 6.55741791e-01 -9.56199387e-03 1.52884612e+02] [-6.55684600e-01 7.54985185e-01 8.66459366e-03 1.37300055e+02] [ 1.29008999e-02 -2.71463474e-04 9.99916743e-01 7.30862315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.91, Y:137.28, Z:7.31 [[ 7.54265456e-01 6.56499236e-01 -9.61124782e-03 1.52906428e+02] [-6.56441444e-01 7.54326643e-01 8.71474099e-03 1.37278496e+02] [ 1.29712411e-02 -2.64006678e-04 9.99915835e-01 7.30885886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:137.26, Z:7.31 [[ 7.53265548e-01 6.57650561e-01 -9.31415062e-03 1.52930103e+02] [-6.57596320e-01 7.53323093e-01 8.44976948e-03 1.37261536e+02] [ 1.25735604e-02 -2.39969070e-04 9.99920921e-01 7.30917280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:137.25, Z:7.31 [[ 7.50383291e-01 6.60935156e-01 -9.46769270e-03 1.52955409e+02] [-6.60879389e-01 7.50442992e-01 8.58769457e-03 1.37245245e+02] [ 1.27808729e-02 -1.87059546e-04 9.99918304e-01 7.30851297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:137.23, Z:7.31 [[ 7.48793820e-01 6.62732160e-01 -9.69016602e-03 1.52976654e+02] [-6.62673901e-01 7.48856500e-01 8.78879574e-03 1.37227287e+02] [ 1.30811614e-02 -1.59575813e-04 9.99914425e-01 7.30860039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:137.21, Z:7.31 [[ 7.45728366e-01 6.66174192e-01 -1.00573329e-02 1.53000270e+02] [-6.66111770e-01 7.45796176e-01 9.11998250e-03 1.37211022e+02] [ 1.35762174e-02 -1.01721822e-04 9.99907834e-01 7.30821551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.02, Y:137.19, Z:7.31 [[ 7.44384653e-01 6.67675647e-01 -1.00358841e-02 1.53022163e+02] [-6.67613646e-01 7.44452299e-01 9.09915037e-03 1.37193836e+02] [ 1.35465181e-02 -7.31747117e-05 9.99908239e-01 7.30816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.05, Y:137.18, Z:7.31 [[ 7.43091219e-01 6.69115539e-01 -9.99178727e-03 1.53045207e+02] [-6.69054246e-01 7.43158390e-01 9.05668458e-03 1.37176084e+02] [ 1.34854489e-02 -4.48950852e-05 9.99909066e-01 7.30833768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62275509600005 meters Centerline goodness [0,1] 0.9999783441973277 Centerline is valid? [True, True] Translation: X:153.07, Y:137.16, Z:7.31 [[ 7.41458717e-01 6.70933423e-01 -9.34413392e-03 1.53068180e+02] [-6.70879977e-01 7.41517593e-01 8.46849307e-03 1.37160522e+02] [ 1.26106347e-02 -1.02456575e-05 9.99920483e-01 7.30834673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:137.14, Z:7.31 [[ 7.41194467e-01 6.71228674e-01 -9.10104655e-03 1.53090150e+02] [-6.71178030e-01 7.41250340e-01 8.24532673e-03 1.37143036e+02] [ 1.22806536e-02 -2.96805413e-06 9.99924590e-01 7.30879762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.11, Y:137.13, Z:7.31 [[ 7.41174896e-01 6.71261995e-01 -8.19194939e-03 1.53112038e+02] [-6.71221013e-01 7.41220166e-01 7.41740908e-03 1.37125805e+02] [ 1.10510629e-02 1.01116839e-06 9.99938935e-01 7.30951274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:137.11, Z:7.31 [[ 7.41484873e-01 6.70918593e-01 -8.27194592e-03 1.53132487e+02] [-6.70876804e-01 7.41531012e-01 7.48809829e-03 1.37107971e+02] [ 1.11578088e-02 -2.85496719e-06 9.99937750e-01 7.31032812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:137.09, Z:7.31 [[ 7.42025592e-01 6.70327734e-01 -7.66483952e-03 1.53153659e+02] [-6.70291841e-01 7.42065179e-01 6.93672465e-03 1.37089037e+02] [ 1.03376894e-02 -9.54781823e-06 9.99946565e-01 7.31080572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.17, Y:137.07, Z:7.31 [[ 7.43479863e-01 6.68721773e-01 -6.99171837e-03 1.53172735e+02] [-6.68691848e-01 7.43512737e-01 6.32629179e-03 1.37069281e+02] [ 9.42896072e-03 -2.81654726e-05 9.99955546e-01 7.31147556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.19, Y:137.05, Z:7.31 [[ 7.44310453e-01 6.67798808e-01 -6.83387286e-03 1.53192243e+02] [-6.67770196e-01 7.44341824e-01 6.18175730e-03 1.37049429e+02] [ 9.21490755e-03 -3.76899528e-05 9.99957541e-01 7.31200652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:137.03, Z:7.31 [[ 7.46495418e-01 6.65356204e-01 -6.76111757e-03 1.53211270e+02] [-6.65328110e-01 7.46526032e-01 6.11468731e-03 1.37027567e+02] [ 9.11579541e-03 -6.62244835e-05 9.99958448e-01 7.31180677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.23, Y:137.01, Z:7.31 [[ 7.47595938e-01 6.64121825e-01 -6.52037283e-03 1.53231390e+02] [-6.64095656e-01 7.47624368e-01 5.89609040e-03 1.37006906e+02] [ 8.79051193e-03 -7.77419577e-05 9.99961360e-01 7.31202455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.25, Y:136.99, Z:7.31 [[ 7.48678705e-01 6.62896979e-01 -6.91319844e-03 1.53250502e+02] [-6.62867518e-01 7.48710616e-01 6.25041720e-03 1.36986618e+02] [ 9.31936774e-03 -9.70195580e-05 9.99956569e-01 7.31193561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:136.97, Z:7.31 [[ 7.50478501e-01 6.60859352e-01 -6.85099994e-03 1.53268369e+02] [-6.60830349e-01 7.50509762e-01 6.19258408e-03 1.36965582e+02] [ 9.23416944e-03 -1.20052544e-04 9.99957357e-01 7.31158831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.29, Y:136.95, Z:7.31 [[ 7.51480164e-01 6.59718773e-01 -6.97882262e-03 1.53289920e+02] [-6.59688638e-01 7.51512556e-01 6.30704492e-03 1.36945054e+02] [ 9.40554877e-03 -1.35769162e-04 9.99955758e-01 7.31136339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.31, Y:136.92, Z:7.31 [[ 7.51920922e-01 6.59210145e-01 -7.54404811e-03 1.53314098e+02] [-6.59174926e-01 7.51958750e-01 6.81580455e-03 1.36923239e+02] [ 1.01658605e-02 -1.52098684e-04 9.99948315e-01 7.31112924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:136.90, Z:7.31 [[ 7.52483937e-01 6.58571581e-01 -7.16915392e-03 1.53336639e+02] [-6.58539706e-01 7.52518072e-01 6.48127195e-03 1.36901271e+02] [ 9.66329940e-03 -1.55880523e-04 9.99953297e-01 7.31151117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.36, Y:136.88, Z:7.31 [[ 7.52698888e-01 6.58323515e-01 -7.38472939e-03 1.53359960e+02] [-6.58289633e-01 7.52735094e-01 6.68104390e-03 1.36882424e+02] [ 9.95703327e-03 -1.67523516e-04 9.99950414e-01 7.31109371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.39, Y:136.86, Z:7.31 [[ 7.52823551e-01 6.58179664e-01 -7.49871018e-03 1.53385212e+02] [-6.58144742e-01 7.52860878e-01 6.78212909e-03 1.36860958e+02] [ 1.01093450e-02 -1.70509829e-04 9.99948885e-01 7.31100296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.41, Y:136.84, Z:7.31 [[ 7.53176809e-01 6.57766469e-01 -8.24420441e-03 1.53408116e+02] [-6.57724172e-01 7.53221902e-01 7.46187921e-03 1.36840232e+02] [ 1.11178893e-02 -1.97701848e-04 9.99938175e-01 7.31026396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:136.82, Z:7.31 [[ 7.53290436e-01 6.57631205e-01 -8.64394063e-03 1.53433486e+02] [-6.57584650e-01 7.53339999e-01 7.82779331e-03 1.36818888e+02] [ 1.16596274e-02 -2.12479160e-04 9.99932002e-01 7.30988888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.45, Y:136.80, Z:7.31 [[ 7.53460543e-01 6.57431612e-01 -8.99363934e-03 1.53454575e+02] [-6.57381133e-01 7.53514183e-01 8.14998027e-03 1.36796138e+02] [ 1.21348895e-02 -2.28439739e-04 9.99926343e-01 7.30978028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.48, Y:136.78, Z:7.31 [[ 7.53824932e-01 6.57004978e-01 -9.61414154e-03 1.53481677e+02] [-6.56947196e-01 7.53886195e-01 8.71703957e-03 1.36777951e+02] [ 1.29751070e-02 -2.55138430e-04 9.99915787e-01 7.30877673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.50, Y:136.76, Z:7.31 [[ 7.54130196e-01 6.56652380e-01 -9.76211995e-03 1.53504479e+02] [-6.56592710e-01 7.54193330e-01 8.85626804e-03 1.36756838e+02] [ 1.31780152e-02 -2.69042357e-04 9.99913130e-01 7.30870805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.53, Y:136.74, Z:7.31 [[ 7.54870919e-01 6.55798190e-01 -9.93129301e-03 1.53527897e+02] [-6.55736297e-01 7.54936189e-01 9.01441542e-03 1.36738071e+02] [ 1.34091298e-02 -2.92410743e-04 9.99910051e-01 7.30854124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:136.72, Z:7.31 [[ 7.54958551e-01 6.55692362e-01 -1.02524522e-02 1.53553115e+02] [-6.55626398e-01 7.55028102e-01 9.30543582e-03 1.36717619e+02] [ 1.38423928e-02 -3.03440008e-04 9.99904143e-01 7.30855158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:136.70, Z:7.31 [[ 7.55047278e-01 6.55591861e-01 -1.01449539e-02 1.53575686e+02] [-6.55527197e-01 7.55115368e-01 9.21277824e-03 1.36698745e+02] [ 1.37004330e-02 -3.05789920e-04 9.99906098e-01 7.30881134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.60, Y:136.68, Z:7.31 [[ 7.55021342e-01 6.55620522e-01 -1.02227434e-02 1.53595439e+02] [-6.55554871e-01 7.55090483e-01 9.28301867e-03 1.36678178e+02] [ 1.38052338e-02 -3.07307991e-04 9.99904656e-01 7.30932788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.62, Y:136.66, Z:7.31 [[ 7.55034170e-01 6.55606975e-01 -1.01437498e-02 1.53620411e+02] [-6.55542349e-01 7.55102246e-01 9.21020023e-03 1.36662492e+02] [ 1.36978398e-02 -3.04358334e-04 9.99906134e-01 7.31030670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:136.64, Z:7.31 [[ 7.54908903e-01 6.55753081e-01 -1.00222797e-02 1.53640707e+02] [-6.55690024e-01 7.54975370e-01 9.09850897e-03 1.36643132e+02] [ 1.35329496e-02 -2.97036581e-04 9.99908381e-01 7.31093721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.66, Y:136.63, Z:7.31 [[ 7.54954326e-01 6.55699966e-01 -1.00756833e-02 1.53662632e+02] [-6.55636256e-01 7.55021500e-01 9.14521533e-03 1.36625504e+02] [ 1.36038749e-02 -2.98236611e-04 9.99907419e-01 7.31131900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.68, Y:136.61, Z:7.31 [[ 7.54873790e-01 6.55791996e-01 -1.01202184e-02 1.53684167e+02] [-6.55727758e-01 7.54941567e-01 9.18353149e-03 1.36606694e+02] [ 1.36626600e-02 -2.96299072e-04 9.99906618e-01 7.31163639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:136.59, Z:7.31 [[ 7.54540250e-01 6.56185838e-01 -9.44232854e-03 1.53707732e+02] [-6.56129964e-01 7.54599280e-01 8.56715571e-03 1.36589413e+02] [ 1.27468206e-02 -2.68869121e-04 9.99918720e-01 7.31227823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.73, Y:136.57, Z:7.31 [[ 7.54305146e-01 6.56456217e-01 -9.43298433e-03 1.53729952e+02] [-6.56400493e-01 7.54364080e-01 8.55733217e-03 1.36570981e+02] [ 1.27334185e-02 -2.63024131e-04 9.99918892e-01 7.31299581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.75, Y:136.55, Z:7.31 [[ 7.54128467e-01 6.56666651e-01 -8.89745723e-03 1.53752825e+02] [-6.56617103e-01 7.54180913e-01 8.07033697e-03 1.36552657e+02] [ 1.20098136e-02 -2.43848262e-04 9.99927850e-01 7.31386512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:136.53, Z:7.31 [[ 7.53994795e-01 6.56824340e-01 -8.58117140e-03 1.53774844e+02] [-6.56778275e-01 7.54043588e-01 7.78228115e-03 1.36533955e+02] [ 1.15821690e-02 -2.31872522e-04 9.99932898e-01 7.31472516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:136.52, Z:7.32 [[ 7.53988807e-01 6.56839567e-01 -7.91599320e-03 1.53795074e+02] [-6.56800377e-01 7.54030330e-01 7.17821310e-03 1.36515583e+02] [ 1.06838333e-02 -2.13065016e-04 9.99942904e-01 7.31646684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.81, Y:136.49, Z:7.32 [[ 7.54551259e-01 6.56194360e-01 -7.83324826e-03 1.53813153e+02] [-6.56155971e-01 7.54591886e-01 7.10114589e-03 1.36493549e+02] [ 1.05706375e-02 -2.18345954e-04 9.99944105e-01 7.31822701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.84, Y:136.48, Z:7.32 [[ 7.54861601e-01 6.55839961e-01 -7.60985207e-03 1.53835567e+02] [-6.55803727e-01 7.54899927e-01 6.89728478e-03 1.36475213e+02] [ 1.02681917e-02 -2.15926081e-04 9.99947257e-01 7.31870780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:136.46, Z:7.32 [[ 7.55406354e-01 6.55216169e-01 -7.28096154e-03 1.53856538e+02] [-6.55182980e-01 7.55441412e-01 6.59823541e-03 1.36455379e+02] [ 9.82361039e-03 -2.13986871e-04 9.99951724e-01 7.31960138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.87, Y:136.43, Z:7.32 [[ 7.55765441e-01 6.54803464e-01 -7.14295481e-03 1.53874850e+02] [-6.54771511e-01 7.55799165e-01 6.47229830e-03 1.36434835e+02] [ 9.63672263e-03 -2.14536068e-04 9.99953543e-01 7.32092176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.90, Y:136.42, Z:7.32 [[ 7.56093727e-01 6.54425924e-01 -6.99899641e-03 1.53900344e+02] [-6.54395244e-01 7.56126090e-01 6.34041716e-03 1.36418546e+02] [ 9.44145715e-03 -2.13839681e-04 9.99955406e-01 7.32108484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:136.40, Z:7.32 [[ 7.56270796e-01 6.54226042e-01 -6.53985388e-03 1.53920723e+02] [-6.54199248e-01 7.56299045e-01 5.92441818e-03 1.36399792e+02] [ 8.82199389e-03 -2.02096963e-04 9.99961065e-01 7.32191212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:136.38, Z:7.32 [[ 7.56321916e-01 6.54166936e-01 -6.54051991e-03 1.53941797e+02] [-6.54140147e-01 7.56350169e-01 5.92368275e-03 1.36380819e+02] [ 8.82200074e-03 -2.01794429e-04 9.99961065e-01 7.32228680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:136.36, Z:7.32 [[ 7.56215478e-01 6.54285301e-01 -6.99247277e-03 1.53962882e+02] [-6.54254697e-01 7.56247776e-01 6.33191795e-03 1.36361425e+02] [ 9.43092283e-03 -2.13436209e-04 9.99955505e-01 7.32276198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.98, Y:136.34, Z:7.32 [[ 7.55977030e-01 6.54557878e-01 -7.26049145e-03 1.53984207e+02] [-6.54524905e-01 7.56011863e-01 6.57354265e-03 1.36342423e+02] [ 9.79178179e-03 -2.17274773e-04 9.99952036e-01 7.32288415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.00, Y:136.32, Z:7.32 [[ 7.55776122e-01 6.54784891e-01 -7.69417354e-03 1.54003706e+02] [-6.54747884e-01 7.55815252e-01 6.96511847e-03 1.36321988e+02] [ 1.03760281e-02 -2.26326380e-04 9.99946142e-01 7.32351070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.03, Y:136.31, Z:7.32 [[ 7.54714640e-01 6.56004094e-01 -8.02753407e-03 1.54026746e+02] [-6.55963898e-01 7.54757300e-01 7.26519734e-03 1.36305010e+02] [ 1.08248391e-02 -2.17378257e-04 9.99941386e-01 7.32412708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:136.29, Z:7.32 [[ 7.54167564e-01 6.56634599e-01 -7.89229331e-03 1.54048868e+02] [-6.56595792e-01 7.54208831e-01 7.14172779e-03 1.36287030e+02] [ 1.06419429e-02 -2.04012872e-04 9.99943352e-01 7.32430732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.07, Y:136.27, Z:7.32 [[ 7.53503793e-01 6.57394564e-01 -8.02630335e-03 1.54070183e+02] [-6.57354483e-01 7.53546514e-01 7.26188652e-03 1.36268440e+02] [ 1.08221176e-02 -1.95732548e-04 9.99941420e-01 7.32461572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.09, Y:136.25, Z:7.32 [[ 7.52549451e-01 6.58474838e-01 -8.95609054e-03 1.54091037e+02] [-6.58425031e-01 7.52602716e-01 8.10133547e-03 1.36250348e+02] [ 1.20749036e-02 -1.99741370e-04 9.99927076e-01 7.32446673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:136.23, Z:7.32 [[ 7.52208099e-01 6.58864932e-01 -8.94300098e-03 1.54114068e+02] [-6.58815316e-01 7.52261234e-01 8.08791688e-03 1.36232643e+02] [ 1.20563178e-02 -1.92010562e-04 9.99927302e-01 7.32426349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.13, Y:136.21, Z:7.32 [[ 7.52161782e-01 6.58913608e-01 -9.24719531e-03 1.54133655e+02] [-6.58860579e-01 7.52218598e-01 8.36174168e-03 1.36214254e+02] [ 1.24655777e-02 -1.96770065e-04 9.99922282e-01 7.32425720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.16, Y:136.20, Z:7.32 [[ 7.52485960e-01 6.58545882e-01 -9.06654758e-03 1.54155688e+02] [-6.58494905e-01 7.52540552e-01 8.19615584e-03 1.36195172e+02] [ 1.22204894e-02 -1.97216804e-04 9.99925308e-01 7.32485043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.18, Y:136.18, Z:7.33 [[ 7.53126439e-01 6.57810544e-01 -9.26584529e-03 1.54176613e+02] [-6.57757262e-01 7.53183406e-01 8.37502339e-03 1.36176020e+02] [ 1.24880596e-02 -2.12774513e-04 9.99921999e-01 7.32564044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:136.16, Z:7.33 [[ 7.53663074e-01 6.57197853e-01 -9.10788140e-03 1.54196902e+02] [-6.57146347e-01 7.53718074e-01 8.23063457e-03 1.36156275e+02] [ 1.22739302e-02 -2.17914360e-04 9.99924649e-01 7.32641139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.22, Y:136.14, Z:7.33 [[ 7.54140439e-01 6.56649896e-01 -9.11660966e-03 1.54218633e+02] [-6.56598272e-01 7.54195507e-01 8.23686921e-03 1.36137502e+02] [ 1.22844454e-02 -2.25806009e-04 9.99924518e-01 7.32689614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.24, Y:136.12, Z:7.33 [[ 7.54765569e-01 6.55931524e-01 -9.09788345e-03 1.54238745e+02] [-6.55880076e-01 7.54820363e-01 8.21866951e-03 1.36118452e+02] [ 1.22581521e-02 -2.36048285e-04 9.99924838e-01 7.32757033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.26, Y:136.10, Z:7.33 [[ 7.56126653e-01 6.54370060e-01 -8.50351597e-03 1.54257918e+02] [-6.54325032e-01 7.56174428e-01 7.68033653e-03 1.36098350e+02] [ 1.14559236e-02 -2.43243797e-04 9.99934349e-01 7.32885591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.28, Y:136.08, Z:7.33 [[ 7.56816883e-01 6.53572054e-01 -8.47204150e-03 1.54280413e+02] [-6.53527325e-01 7.56864259e-01 7.65038840e-03 1.36080536e+02] [ 1.14122655e-02 -2.53232485e-04 9.99934846e-01 7.32923892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.30, Y:136.06, Z:7.33 [[ 7.58027527e-01 6.52179369e-01 -7.50587796e-03 1.54297769e+02] [-6.52144200e-01 7.58064649e-01 6.77718051e-03 1.36058879e+02] [ 1.01098781e-02 -2.42374606e-04 9.99948865e-01 7.33124177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.32, Y:136.04, Z:7.33 [[ 7.58718513e-01 6.51376386e-01 -7.41767047e-03 1.54319589e+02] [-6.51342018e-01 7.58754731e-01 6.69581787e-03 1.36040629e+02] [ 9.98969021e-03 -2.48800520e-04 9.99950071e-01 7.33173421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.34, Y:136.02, Z:7.33 [[ 7.59257670e-01 6.50750016e-01 -7.22543562e-03 1.54340348e+02] [-6.50717387e-01 7.59292009e-01 6.52133038e-03 1.36020579e+02] [ 9.72997138e-03 -2.49653523e-04 9.99952632e-01 7.33243865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.36, Y:136.00, Z:7.33 [[ 7.59835775e-01 6.50074377e-01 -7.27318993e-03 1.54361896e+02] [-6.50041295e-01 7.59870539e-01 6.56342945e-03 1.36001086e+02] [ 9.79340007e-03 -2.59254701e-04 9.99952010e-01 7.33270053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:135.98, Z:7.33 [[ 7.59971985e-01 6.49913759e-01 -7.39517904e-03 1.54385299e+02] [-6.49879561e-01 7.60007919e-01 6.67231391e-03 1.35982774e+02] [ 9.95682324e-03 -2.64795939e-04 9.99950395e-01 7.33243269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.41, Y:135.96, Z:7.33 [[ 7.59507420e-01 6.50447748e-01 -8.13666356e-03 1.54405840e+02] [-6.50406384e-01 7.59550951e-01 7.34092969e-03 1.35963200e+02] [ 1.09551017e-02 -2.83352651e-04 9.99939951e-01 7.33171893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.43, Y:135.95, Z:7.33 [[ 7.59234071e-01 6.50761868e-01 -8.52154762e-03 1.54426719e+02] [-6.50716540e-01 7.59281837e-01 7.68615593e-03 1.35945107e+02] [ 1.14721135e-02 -2.90479479e-04 9.99934151e-01 7.33153635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.45, Y:135.93, Z:7.33 [[ 7.58954011e-01 6.51088971e-01 -8.48297073e-03 1.54448773e+02] [-6.51044100e-01 7.59001365e-01 7.64903183e-03 1.35926597e+02] [ 1.14187866e-02 -2.82475344e-04 9.99934764e-01 7.33189080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.47, Y:135.91, Z:7.33 [[ 7.58119025e-01 6.52053601e-01 -9.03579979e-03 1.54471660e+02] [-6.52002777e-01 7.58172817e-01 8.14610160e-03 1.35907435e+02] [ 1.21623927e-02 -2.84348047e-04 9.99925995e-01 7.33192608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.49, Y:135.89, Z:7.33 [[ 7.57764334e-01 6.52459664e-01 -9.46577515e-03 1.54492165e+02] [-6.52403927e-01 7.57823398e-01 8.53306245e-03 1.35887944e+02] [ 1.27408650e-02 -2.90541505e-04 9.99918790e-01 7.33214235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.51, Y:135.87, Z:7.33 [[ 7.57156762e-01 6.53162388e-01 -9.61939967e-03 1.54512843e+02] [-6.53104907e-01 7.57217812e-01 8.66979247e-03 1.35869231e+02] [ 1.29467631e-02 -2.81914866e-04 9.99916147e-01 7.33232600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.53, Y:135.85, Z:7.33 [[ 7.56057433e-01 6.54427283e-01 -1.01038984e-02 1.54533484e+02] [-6.54364003e-01 7.56124895e-01 9.10463471e-03 1.35850700e+02] [ 1.35981305e-02 -2.71999350e-04 9.99907504e-01 7.33246438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.56, Y:135.83, Z:7.33 [[ 7.55657128e-01 6.54891540e-01 -9.96868037e-03 1.54557942e+02] [-6.54830005e-01 7.55722835e-01 8.98112697e-03 1.35834643e+02] [ 1.34152235e-02 -2.58861590e-04 9.99909978e-01 7.33298750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.58, Y:135.82, Z:7.33 [[ 7.54722468e-01 6.55959629e-01 -1.05338450e-02 1.54580098e+02] [-6.55891045e-01 7.54795934e-01 9.48870172e-03 1.35816745e+02] [ 1.41751087e-02 -2.52281745e-04 9.99899496e-01 7.33295620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.60, Y:135.80, Z:7.33 [[ 7.54259032e-01 6.56491435e-01 -1.05975584e-02 1.54602248e+02] [-6.56422093e-01 7.54333439e-01 9.54455785e-03 1.35797575e+02] [ 1.42600132e-02 -2.42597489e-04 9.99898291e-01 7.33298752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.62, Y:135.78, Z:7.33 [[ 7.54007423e-01 6.56775369e-01 -1.09050668e-02 1.54622677e+02] [-6.56701999e-01 7.54086239e-01 9.81986030e-03 1.35778831e+02] [ 1.46728032e-02 -2.42868392e-04 9.99892319e-01 7.33307549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:135.76, Z:7.33 [[ 7.53733018e-01 6.57086937e-01 -1.11038234e-02 1.54644320e+02] [-6.57010930e-01 7.53814765e-01 9.99686992e-03 1.35759755e+02] [ 1.49390387e-02 -2.39637607e-04 9.99888378e-01 7.33341517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.67, Y:135.74, Z:7.33 [[ 7.53897510e-01 6.56896004e-01 -1.12331580e-02 1.54665596e+02] [-6.56818221e-01 7.53981154e-01 1.01116152e-02 1.35741054e+02] [ 1.51118691e-02 -2.44978690e-04 9.99885779e-01 7.33365530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.69, Y:135.72, Z:7.33 [[ 7.54129558e-01 6.56621842e-01 -1.16775859e-02 1.54686692e+02] [-6.56537787e-01 7.54219922e-01 1.05092452e-02 1.35721808e+02] [ 1.57080678e-02 -2.58556077e-04 9.99876587e-01 7.33400232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.71, Y:135.70, Z:7.33 [[ 7.54728784e-01 6.55929572e-01 -1.18684674e-02 1.54707689e+02] [-6.55842687e-01 7.54822046e-01 1.06793403e-02 1.35702617e+02] [ 1.59634760e-02 -2.76157965e-04 9.99872537e-01 7.33372915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.73, Y:135.68, Z:7.33 [[ 7.55088918e-01 6.55503096e-01 -1.25066599e-02 1.54728304e+02] [-6.55406590e-01 7.55192427e-01 1.12516676e-02 1.35683249e+02] [ 1.68204378e-02 -2.99062155e-04 9.99858482e-01 7.33362382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.75, Y:135.66, Z:7.33 [[ 7.55756331e-01 6.54727302e-01 -1.28268935e-02 1.54747569e+02] [-6.54625717e-01 7.55865105e-01 1.15374915e-02 1.35662893e+02] [ 1.72493118e-02 -3.22717894e-04 9.99851167e-01 7.33327921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.77, Y:135.64, Z:7.33 [[ 7.56154031e-01 6.54260947e-01 -1.31793394e-02 1.54768554e+02] [-6.54153672e-01 7.56268799e-01 1.18523095e-02 1.35643299e+02] [ 1.77216264e-02 -3.40858352e-04 9.99842902e-01 7.33351076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.79, Y:135.62, Z:7.33 [[ 7.56571746e-01 6.53777849e-01 -1.31802006e-02 1.54788394e+02] [-6.53670520e-01 7.56686462e-01 1.18511539e-02 1.35623496e+02] [ 1.77213012e-02 -3.50739675e-04 9.99842904e-01 7.33352284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.81, Y:135.60, Z:7.33 [[ 7.57145320e-01 6.53105876e-01 -1.35528412e-02 1.54809471e+02] [-6.52992325e-01 7.57266514e-01 1.21839779e-02 1.35603206e+02] [ 1.82205404e-02 -3.75140588e-04 9.99833922e-01 7.33400388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.83, Y:135.58, Z:7.33 [[ 7.57277163e-01 6.52949072e-01 -1.37407429e-02 1.54830003e+02] [-6.52832360e-01 7.57401719e-01 1.23509574e-02 1.35583573e+02] [ 1.84718085e-02 -3.82696391e-04 9.99829308e-01 7.33436106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.85, Y:135.56, Z:7.33 [[ 7.57641924e-01 6.52521574e-01 -1.39395110e-02 1.54848273e+02] [-6.52401429e-01 7.57770043e-01 1.25275080e-02 1.35561867e+02] [ 1.87374131e-02 -3.97208412e-04 9.99824360e-01 7.33433423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.87, Y:135.54, Z:7.34 [[ 7.57587141e-01 6.52591157e-01 -1.36567091e-02 1.54873857e+02] [-6.52475875e-01 7.57710124e-01 1.22719573e-02 1.35543061e+02] [ 1.83563976e-02 -3.86403853e-04 9.99831432e-01 7.33584796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.89, Y:135.52, Z:7.34 [[ 7.57428511e-01 6.52771547e-01 -1.38332586e-02 1.54892571e+02] [-6.52653278e-01 7.57554722e-01 1.24314769e-02 1.35519209e+02] [ 1.85943648e-02 -3.87633510e-04 9.99827035e-01 7.33539383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.92, Y:135.50, Z:7.34 [[ 7.57203443e-01 6.53037393e-01 -1.36054903e-02 1.54916146e+02] [-6.52923034e-01 7.57325572e-01 1.22266022e-02 1.35502079e+02] [ 1.82882142e-02 -3.74687252e-04 9.99832686e-01 7.33704764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.94, Y:135.48, Z:7.34 [[ 7.56276625e-01 6.54115922e-01 -1.33427191e-02 1.54937690e+02] [-6.54006138e-01 7.56394239e-01 1.19885852e-02 1.35482328e+02] [ 1.79342803e-02 -3.40466520e-04 9.99839110e-01 7.33826171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.96, Y:135.46, Z:7.34 [[ 7.55680451e-01 6.54800567e-01 -1.35378287e-02 1.54959475e+02] [-6.54687695e-01 7.55801634e-01 1.21619344e-02 1.35462949e+02] [ 1.81955546e-02 -3.27486262e-04 9.99834394e-01 7.33855972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.98, Y:135.44, Z:7.34 [[ 7.54008591e-01 6.56724140e-01 -1.35811644e-02 1.54981780e+02] [-6.56610888e-01 7.54130841e-01 1.21990567e-02 1.35443827e+02] [ 1.82533900e-02 -2.80653161e-04 9.99833354e-01 7.33883667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.01, Y:135.42, Z:7.34 [[ 7.52786936e-01 6.58125933e-01 -1.34938873e-02 1.55005742e+02] [-6.58014371e-01 7.52907827e-01 1.21198887e-02 1.35424013e+02] [ 1.81360665e-02 -2.44522143e-04 9.99835498e-01 7.33938978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.03, Y:135.40, Z:7.34 [[ 7.51739197e-01 6.59325453e-01 -1.33463924e-02 1.55027325e+02] [-6.59216489e-01 7.51857634e-01 1.19882960e-02 1.35403937e+02] [ 1.79387757e-02 -2.13910078e-04 9.99839064e-01 7.33956423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.05, Y:135.39, Z:7.34 [[ 7.50014460e-01 6.61288303e-01 -1.32699196e-02 1.55048937e+02] [-6.61180891e-01 7.50131824e-01 1.19195890e-02 1.35385355e+02] [ 1.78364738e-02 -1.66046845e-04 9.99840904e-01 7.34028135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.07, Y:135.37, Z:7.34 [[ 7.49256286e-01 6.62143798e-01 -1.34390730e-02 1.55070704e+02] [-6.62033802e-01 7.49376788e-01 1.20695987e-02 1.35366506e+02] [ 1.80627393e-02 -1.46102106e-04 9.99836845e-01 7.34056839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.09, Y:135.35, Z:7.34 [[ 7.48605767e-01 6.62880535e-01 -1.33716885e-02 1.55091707e+02] [-6.62771793e-01 7.48725171e-01 1.20070480e-02 1.35347519e+02] [ 1.79709581e-02 -1.26167396e-04 9.99838501e-01 7.34082861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.11, Y:135.33, Z:7.34 [[ 7.47281340e-01 6.64372414e-01 -1.34124873e-02 1.55113911e+02] [-6.64263288e-01 7.47401691e-01 1.20414138e-02 1.35328853e+02] [ 1.80244989e-02 -8.89009358e-05 9.99837542e-01 7.34096102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.13, Y:135.31, Z:7.34 [[ 7.46663456e-01 6.65054520e-01 -1.40060006e-02 1.55134166e+02] [-6.64935684e-01 7.46794804e-01 1.25720388e-02 1.35310225e+02] [ 1.88206997e-02 -7.39923645e-05 9.99822872e-01 7.34048077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.15, Y:135.29, Z:7.34 [[ 7.45740311e-01 6.66087506e-01 -1.41004575e-02 1.55154084e+02] [-6.65967299e-01 7.45873604e-01 1.26540313e-02 1.35291806e+02] [ 1.89458512e-02 -4.61776430e-05 9.99820510e-01 7.34006779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.17, Y:135.27, Z:7.34 [[ 7.45450623e-01 6.66411029e-01 -1.41318488e-02 1.55174970e+02] [-6.66290406e-01 7.45584562e-01 1.26789192e-02 1.35272564e+02] [ 1.89858598e-02 -3.55929545e-05 9.99819752e-01 7.34068938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:135.25, Z:7.34 [[ 7.45761939e-01 6.66071964e-01 -1.36846285e-02 1.55194667e+02] [-6.65958850e-01 7.45887483e-01 1.22748877e-02 1.35251974e+02] [ 1.83831517e-02 -4.07446055e-05 9.99831015e-01 7.34182741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.21, Y:135.23, Z:7.34 [[ 7.46221440e-01 6.65559392e-01 -1.35741738e-02 1.55214261e+02] [-6.65448064e-01 7.46344889e-01 1.21729899e-02 1.35232596e+02] [ 1.82328630e-02 -5.08383697e-05 9.99833766e-01 7.34311795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.23, Y:135.21, Z:7.34 [[ 7.46879256e-01 6.64824333e-01 -1.34157764e-02 1.55234296e+02] [-6.64715520e-01 7.46999734e-01 1.20281205e-02 1.35212566e+02] [ 1.80181686e-02 -6.58788632e-05 9.99837657e-01 7.34360472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.25, Y:135.19, Z:7.34 [[ 7.47690344e-01 6.63913314e-01 -1.33514518e-02 1.55254872e+02] [-6.63805443e-01 7.47809537e-01 1.19678703e-02 1.35191781e+02] [ 1.79299714e-02 -8.54946850e-05 9.99839242e-01 7.34444074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.27, Y:135.17, Z:7.34 [[ 7.49488400e-01 6.61884371e-01 -1.32746934e-02 1.55272493e+02] [-6.61777449e-01 7.49605938e-01 1.18972997e-02 1.35169140e+02] [ 1.78254257e-02 -1.31995391e-04 9.99841106e-01 7.34425595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.29, Y:135.15, Z:7.34 [[ 7.49564461e-01 6.61798215e-01 -1.32755670e-02 1.55293077e+02] [-6.61691297e-01 7.49682002e-01 1.18963249e-02 1.35150864e+02] [ 1.78254202e-02 -1.32735238e-04 9.99841106e-01 7.34461980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.31, Y:135.13, Z:7.35 [[ 7.50412677e-01 6.60839921e-01 -1.30924698e-02 1.55312763e+02] [-6.60735830e-01 7.50526865e-01 1.17297899e-02 1.35130304e+02] [ 1.75777637e-02 -1.51519141e-04 9.99845488e-01 7.34547222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.33, Y:135.11, Z:7.35 [[ 7.51858910e-01 6.59197761e-01 -1.29031938e-02 1.55332017e+02] [-6.59096446e-01 7.51969599e-01 1.15584472e-02 1.35108548e+02] [ 1.73221120e-02 -1.85872348e-04 9.99849944e-01 7.34632715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.35, Y:135.09, Z:7.35 [[ 7.52504882e-01 6.58464089e-01 -1.27061261e-02 1.55351644e+02] [-6.58365772e-01 7.52612121e-01 1.13800679e-02 1.35088270e+02] [ 1.70561505e-02 -1.98278158e-04 9.99854514e-01 7.34667956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.38, Y:135.07, Z:7.35 [[ 7.52599079e-01 6.58354331e-01 -1.28140990e-02 1.55375987e+02] [-6.58254320e-01 7.52708133e-01 1.14767577e-02 1.35066419e+02] [ 1.72010496e-02 -2.02461218e-04 9.99852031e-01 7.34736283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.40, Y:135.04, Z:7.35 [[ 7.52823140e-01 6.58098352e-01 -1.28015017e-02 1.55399762e+02] [-6.57998374e-01 7.52931945e-01 1.14728257e-02 1.35043165e+02] [ 1.71889072e-02 -2.13641383e-04 9.99852237e-01 7.34733259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.42, Y:135.02, Z:7.35 [[ 7.52391335e-01 6.58590866e-01 -1.28588636e-02 1.55424730e+02] [-6.58489934e-01 7.52501181e-01 1.15316405e-02 1.35021690e+02] [ 1.72709431e-02 -2.08874185e-04 9.99850824e-01 7.34807346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.45, Y:135.00, Z:7.35 [[ 7.51318972e-01 6.59822658e-01 -1.24041731e-02 1.55448821e+02] [-6.59728794e-01 7.51421339e-01 1.11305627e-02 1.35002643e+02] [ 1.66649578e-02 -1.79212821e-04 9.99861114e-01 7.34805141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.47, Y:134.99, Z:7.35 [[ 7.50527838e-01 6.60726107e-01 -1.22055876e-02 1.55473678e+02] [-6.60635272e-01 7.50627062e-01 1.09567909e-02 1.34985176e+02] [ 1.64012821e-02 -1.59934897e-04 9.99865477e-01 7.34857336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.50, Y:134.97, Z:7.35 [[ 7.49828236e-01 6.61515523e-01 -1.24430597e-02 1.55495619e+02] [-6.61421241e-01 7.49931459e-01 1.11691547e-02 1.34968353e+02] [ 1.67200111e-02 -1.44843529e-04 9.99860200e-01 7.34892852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:134.95, Z:7.35 [[ 7.48679916e-01 6.62816101e-01 -1.23773901e-02 1.55520052e+02] [-6.62723023e-01 7.48782214e-01 1.11081347e-02 1.34952202e+02] [ 1.66306201e-02 -1.13655914e-04 9.99861695e-01 7.34908293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:134.93, Z:7.35 [[ 7.48121619e-01 6.63448546e-01 -1.22502733e-02 1.55541766e+02] [-6.63357485e-01 7.48221904e-01 1.09922694e-02 1.34934669e+02] [ 1.64587280e-02 -9.72439043e-05 9.99864541e-01 7.34958184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:134.92, Z:7.35 [[ 7.47609841e-01 6.64030558e-01 -1.19558981e-02 1.55565011e+02] [-6.63943927e-01 7.47705431e-01 1.07261554e-02 1.34918095e+02] [ 1.60619848e-02 -8.09333811e-05 9.99870995e-01 7.35013348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.59, Y:134.90, Z:7.35 [[ 7.47439929e-01 6.64221935e-01 -1.19487895e-02 1.55587534e+02] [-6.64135456e-01 7.47535427e-01 1.07182215e-02 1.34899366e+02] [ 1.60514213e-02 -7.56119191e-05 9.99871165e-01 7.35036785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.61, Y:134.88, Z:7.35 [[ 7.47409496e-01 6.64253724e-01 -1.20844878e-02 1.55608734e+02] [-6.64165293e-01 7.47507180e-01 1.08388211e-02 1.34881689e+02] [ 1.62329686e-02 -7.49404451e-05 9.99868234e-01 7.35054075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:134.86, Z:7.35 [[ 7.47490252e-01 6.64170530e-01 -1.16546592e-02 1.55633443e+02] [-6.64088292e-01 7.47581101e-01 1.04517261e-02 1.34862155e+02] [ 1.56545314e-02 -7.28406392e-05 9.99877458e-01 7.35057025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:134.84, Z:7.35 [[ 7.47741757e-01 6.63879994e-01 -1.20672083e-02 1.55655684e+02] [-6.63791782e-01 7.47839118e-01 1.08223651e-02 1.34842556e+02] [ 1.62090821e-02 -8.22206556e-05 9.99868621e-01 7.35068543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.68, Y:134.82, Z:7.35 [[ 7.47930433e-01 6.63671309e-01 -1.18516317e-02 1.55676615e+02] [-6.63586206e-01 7.48024322e-01 1.06283162e-02 1.34823858e+02] [ 1.59190172e-02 -8.46618120e-05 9.99873281e-01 7.35093876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.70, Y:134.80, Z:7.35 [[ 7.48353927e-01 6.63194533e-01 -1.18072776e-02 1.55698091e+02] [-6.63110038e-01 7.48447061e-01 1.05865133e-02 1.34804465e+02] [ 1.58580399e-02 -9.29344636e-05 9.99874249e-01 7.35147082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.72, Y:134.78, Z:7.35 [[ 7.48765762e-01 6.62737186e-01 -1.13690863e-02 1.55719465e+02] [-6.62658818e-01 7.48852063e-01 1.01920639e-02 1.34784819e+02] [ 1.52684235e-02 -9.76431588e-05 9.99883426e-01 7.35211548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.74, Y:134.77, Z:7.35 [[ 7.49211177e-01 6.62246712e-01 -1.05784534e-02 1.55739351e+02] [-6.62178838e-01 7.49285848e-01 9.48182420e-03 1.34765276e+02] [ 1.42055923e-02 -9.90607274e-05 9.99899091e-01 7.35294399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.76, Y:134.75, Z:7.35 [[ 7.49483722e-01 6.61934680e-01 -1.07995362e-02 1.55760241e+02] [-6.61863939e-01 7.49561517e-01 9.67772501e-03 1.34745810e+02] [ 1.45009386e-02 -1.05473788e-04 9.99894850e-01 7.35365770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.78, Y:134.73, Z:7.35 [[ 7.49610721e-01 6.61796122e-01 -1.04718715e-02 1.55781145e+02] [-6.61729615e-01 7.49683855e-01 9.38265362e-03 1.34726561e+02] [ 1.40599967e-02 -1.03790279e-04 9.99901148e-01 7.35427321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.80, Y:134.71, Z:7.35 [[ 7.49927134e-01 6.61443426e-01 -1.00939780e-02 1.55801771e+02] [-6.61381620e-01 7.49995055e-01 9.04268518e-03 1.34706439e+02] [ 1.35516582e-02 -1.05383487e-04 9.99908167e-01 7.35473479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:134.69, Z:7.36 [[ 7.50105319e-01 6.61237291e-01 -1.03564008e-02 1.55822025e+02] [-6.61172231e-01 7.50176801e-01 9.27624709e-03 1.34687414e+02] [ 1.39029321e-02 -1.10797654e-04 9.99903343e-01 7.35511478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.84, Y:134.67, Z:7.36 [[ 7.50451622e-01 6.60842367e-01 -1.04751576e-02 1.55841584e+02] [-6.60775799e-01 7.50524718e-01 9.38037649e-03 1.34668329e+02] [ 1.40608149e-02 -1.17788122e-04 9.99901135e-01 7.35523682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.86, Y:134.65, Z:7.36 [[ 7.51347519e-01 6.59823554e-01 -1.04777002e-02 1.55862129e+02] [-6.59756889e-01 7.51420561e-01 9.38021997e-03 1.34646653e+02] [ 1.40624495e-02 -1.35070099e-04 9.99901110e-01 7.35508009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.88, Y:134.63, Z:7.36 [[ 7.51839208e-01 6.59258183e-01 -1.07913463e-02 1.55881755e+02] [-6.59187421e-01 7.51916635e-01 9.66012924e-03 1.34626268e+02] [ 1.44827120e-02 -1.49344204e-04 9.99895109e-01 7.35526669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.90, Y:134.60, Z:7.36 [[ 7.52068914e-01 6.58997393e-01 -1.07137341e-02 1.55903878e+02] [-6.58927644e-01 7.52145207e-01 9.58893588e-03 1.34604908e+02] [ 1.43773675e-02 -1.51965000e-04 9.99896629e-01 7.35569719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.92, Y:134.58, Z:7.36 [[ 7.52178603e-01 6.58870850e-01 -1.07959778e-02 1.55923736e+02] [-6.58800013e-01 7.52256060e-01 9.66244541e-03 1.34584599e+02] [ 1.44876433e-02 -1.55494397e-04 9.99895037e-01 7.35597534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.94, Y:134.57, Z:7.36 [[ 7.52458769e-01 6.58552212e-01 -1.07137847e-02 1.55942900e+02] [-6.58482435e-01 7.52535022e-01 9.58764659e-03 1.34566101e+02] [ 1.43764640e-02 -1.59469736e-04 9.99896641e-01 7.35633318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.97, Y:134.55, Z:7.36 [[ 7.52705384e-01 6.58268338e-01 -1.08351300e-02 1.55966429e+02] [-6.58196977e-01 7.52783347e-01 9.69390546e-03 1.34546076e+02] [ 1.45376964e-02 -1.65005042e-04 9.99894309e-01 7.35647807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.99, Y:134.52, Z:7.36 [[ 7.52610702e-01 6.58370472e-01 -1.12005513e-02 1.55989003e+02] [-6.58294226e-01 7.52694024e-01 1.00209338e-02 1.34524299e+02] [ 1.50280750e-02 -1.68603755e-04 9.99887058e-01 7.35646356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.01, Y:134.50, Z:7.36 [[ 7.52465195e-01 6.58533013e-01 -1.14193492e-02 1.56012585e+02] [-6.58453754e-01 7.52551820e-01 1.02181786e-02 1.34502057e+02] [ 1.53226600e-02 -1.69710415e-04 9.99882587e-01 7.35704379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.03, Y:134.48, Z:7.36 [[ 7.52219436e-01 6.58805452e-01 -1.18868307e-02 1.56033581e+02] [-6.58719527e-01 7.52313330e-01 1.06413683e-02 1.34481845e+02] [ 1.59532126e-02 -1.74556613e-04 9.99872724e-01 7.35759106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.06, Y:134.46, Z:7.36 [[ 7.51688467e-01 6.59412974e-01 -1.17888871e-02 1.56058372e+02] [-6.59328533e-01 7.51780888e-01 1.05537689e-02 1.34460534e+02] [ 1.58219522e-02 -1.60396675e-04 9.99874812e-01 7.35819739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.08, Y:134.44, Z:7.36 [[ 7.51111988e-01 6.60067008e-01 -1.19300966e-02 1.56083100e+02] [-6.59980503e-01 7.51206710e-01 1.06871250e-02 1.34439354e+02] [ 1.60161872e-02 -1.53596577e-04 9.99871721e-01 7.35861619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.11, Y:134.42, Z:7.36 [[ 7.50402888e-01 6.60859019e-01 -1.26831807e-02 1.56106611e+02] [-6.60761259e-01 7.50510050e-01 1.13676627e-02 1.34420673e+02] [ 1.70312770e-02 -1.49772511e-04 9.99854946e-01 7.35817197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.13, Y:134.40, Z:7.36 [[ 7.50190175e-01 6.61094927e-01 -1.29691416e-02 1.56130016e+02] [-6.60992750e-01 7.50302256e-01 1.16236056e-02 1.34401433e+02] [ 1.74150829e-02 -1.47406126e-04 9.99848335e-01 7.35835461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:134.38, Z:7.36 [[ 7.50277929e-01 6.60994149e-01 -1.30293769e-02 1.56151620e+02] [-6.60891012e-01 7.50391040e-01 1.16772529e-02 1.34382780e+02] [ 1.74957235e-02 -1.50186981e-04 9.99846927e-01 7.35829108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.17, Y:134.36, Z:7.36 [[ 7.50806315e-01 6.60398680e-01 -1.27851836e-02 1.56173302e+02] [-6.60299312e-01 7.50915147e-01 1.14568746e-02 1.34364886e+02] [ 1.71666929e-02 -1.59845857e-04 9.99852629e-01 7.35900513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.19, Y:134.35, Z:7.36 [[ 7.51105534e-01 6.60066361e-01 -1.23643104e-02 1.56194750e+02] [-6.59973418e-01 7.51207278e-01 1.10776035e-02 1.34346274e+02] [ 1.66001134e-02 -1.60333100e-04 9.99862196e-01 7.35979255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.22, Y:134.33, Z:7.36 [[ 7.52545203e-01 6.58439158e-01 -1.15582688e-02 1.56216244e+02] [-6.58357779e-01 7.52633937e-01 1.03533294e-02 1.34327693e+02] [ 1.55161828e-02 -1.81872187e-04 9.99879600e-01 7.36143130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.24, Y:134.31, Z:7.36 [[ 7.53502153e-01 6.57350330e-01 -1.11824839e-02 1.56236694e+02] [-6.57274062e-01 7.53585101e-01 1.00151454e-02 1.34308207e+02] [ 1.50104124e-02 -1.96477044e-04 9.99887318e-01 7.36233285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.26, Y:134.29, Z:7.36 [[ 7.54263373e-01 6.56478152e-01 -1.10995801e-02 1.56259768e+02] [-6.56402941e-01 7.54345009e-01 9.93919002e-03 1.34287616e+02] [ 1.48977739e-02 -2.10970003e-04 9.99889000e-01 7.36283426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.28, Y:134.27, Z:7.36 [[ 7.55845857e-01 6.54654298e-01 -1.11709711e-02 1.56280006e+02] [-6.54577919e-01 7.55928362e-01 1.00029787e-02 1.34267757e+02] [ 1.49929469e-02 -2.48439042e-04 9.99887569e-01 7.36325881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.30, Y:134.25, Z:7.36 [[ 7.56574989e-01 6.53819153e-01 -1.07145237e-02 1.56301043e+02] [-6.53748821e-01 7.56650812e-01 9.59314073e-03 1.34248061e+02] [ 1.43793322e-02 -2.53323140e-04 9.99896580e-01 7.36386767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.32, Y:134.23, Z:7.36 [[ 7.57211381e-01 6.53083559e-01 -1.06201940e-02 1.56320977e+02] [-6.53014409e-01 7.57285808e-01 9.50717046e-03 1.34228900e+02] [ 1.42514989e-02 -2.63797958e-04 9.99898407e-01 7.36442963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.35, Y:134.21, Z:7.36 [[ 7.57561983e-01 6.52677446e-01 -1.05827295e-02 1.56345256e+02] [-6.52608766e-01 7.57635849e-01 9.47203452e-03 1.34207389e+02] [ 1.42000385e-02 -2.69271216e-04 9.99899138e-01 7.36492386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.37, Y:134.19, Z:7.37 [[ 7.57434435e-01 6.52827013e-01 -1.04865202e-02 1.56367832e+02] [-6.52759518e-01 7.57506976e-01 9.39109408e-03 1.34185492e+02] [ 1.40743721e-02 -2.67962178e-04 9.99900915e-01 7.36535565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.39, Y:134.17, Z:7.37 [[ 7.57291692e-01 6.52994355e-01 -1.03761899e-02 1.56389213e+02] [-6.52928227e-01 7.57362728e-01 9.29671080e-03 1.34166869e+02] [ 1.39292392e-02 -2.65414591e-04 9.99902948e-01 7.36612032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.41, Y:134.15, Z:7.37 [[ 7.57063953e-01 6.53264831e-01 -9.96155013e-03 1.56412118e+02] [-6.53203923e-01 7.57129447e-01 8.92389404e-03 1.34148448e+02] [ 1.33718491e-02 -2.49034871e-04 9.99910562e-01 7.36651544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.44, Y:134.13, Z:7.37 [[ 7.56500501e-01 6.53923671e-01 -9.53023617e-03 1.56436901e+02] [-6.53868005e-01 7.56560495e-01 8.53519802e-03 1.34128461e+02] [ 1.27915682e-02 -2.25365061e-04 9.99918159e-01 7.36694438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.46, Y:134.11, Z:7.37 [[ 7.55521271e-01 6.55056062e-01 -9.44266026e-03 1.56458645e+02] [-6.55001444e-01 7.55580249e-01 8.46147026e-03 1.34106701e+02] [ 1.26774250e-02 -2.07864665e-04 9.99919617e-01 7.36765414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.48, Y:134.09, Z:7.37 [[ 7.54997588e-01 6.55656875e-01 -9.62832025e-03 1.56480457e+02] [-6.55600076e-01 7.55058951e-01 8.63250593e-03 1.34088242e+02] [ 1.29299113e-02 -2.05193659e-04 9.99916384e-01 7.36787695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.50, Y:134.07, Z:7.37 [[ 7.54421145e-01 6.56319655e-01 -9.65638021e-03 1.56502087e+02] [-6.56262595e-01 7.54482918e-01 8.65639361e-03 1.34069825e+02] [ 1.29669352e-02 -1.93445240e-04 9.99915907e-01 7.36809956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.53, Y:134.05, Z:7.37 [[ 7.53269208e-01 6.57632018e-01 -1.02776603e-02 1.56525376e+02] [-6.57567520e-01 7.53339297e-01 9.21190602e-03 1.34052479e+02] [ 1.38006098e-02 -1.80789525e-04 9.99904751e-01 7.36807048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.55, Y:134.03, Z:7.37 [[ 7.52804272e-01 6.58164421e-01 -1.02627316e-02 1.56547883e+02] [-6.58100180e-01 7.52874204e-01 9.19713056e-03 1.34034242e+02] [ 1.37797700e-02 -1.69733663e-04 9.99905040e-01 7.36833069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:134.02, Z:7.37 [[ 7.52232774e-01 6.58809041e-01 -1.07936023e-02 1.56571610e+02] [-6.58738068e-01 7.52310189e-01 9.67145022e-03 1.34015015e+02] [ 1.44917758e-02 -1.65025123e-04 9.99894975e-01 7.36773430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:134.00, Z:7.37 [[ 7.52375897e-01 6.58637708e-01 -1.12641064e-02 1.56593228e+02] [-6.58560395e-01 7.52460191e-01 1.00929381e-02 1.33995150e+02] [ 1.51233813e-02 -1.75588983e-04 9.99885620e-01 7.36773171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.61, Y:133.98, Z:7.37 [[ 7.52552614e-01 6.58430114e-01 -1.15908463e-02 1.56612509e+02] [-6.58348242e-01 7.52641848e-01 1.03846784e-02 1.33975518e+02] [ 1.55613410e-02 -1.84203546e-04 9.99878898e-01 7.36738109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.63, Y:133.95, Z:7.37 [[ 7.53482184e-01 6.57360862e-01 -1.18867954e-02 1.56634597e+02] [-6.57274651e-01 7.53575911e-01 1.06480489e-02 1.33954576e+02] [ 1.59572132e-02 -2.10225843e-04 9.99872653e-01 7.36780918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.66, Y:133.93, Z:7.37 [[ 7.54128383e-01 6.56616885e-01 -1.20270254e-02 1.56656373e+02] [-6.56528535e-01 7.54224247e-01 1.07735114e-02 1.33933728e+02] [ 1.61451437e-02 -2.28525370e-04 9.99869633e-01 7.36784685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.68, Y:133.91, Z:7.37 [[ 7.54154110e-01 6.56587328e-01 -1.20274479e-02 1.56678134e+02] [-6.56498982e-01 7.54249977e-01 1.07730397e-02 1.33914293e+02] [ 1.61451437e-02 -2.28524891e-04 9.99869633e-01 7.36823260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.70, Y:133.89, Z:7.37 [[ 7.55153511e-01 6.55429164e-01 -1.24814531e-02 1.56699852e+02] [-6.55333878e-01 7.55256607e-01 1.11787868e-02 1.33893810e+02] [ 1.67536028e-02 -2.62180978e-04 9.99859614e-01 7.36854390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.72, Y:133.87, Z:7.37 [[ 7.57335320e-01 6.52907908e-01 -1.24288907e-02 1.56719674e+02] [-6.52813099e-01 7.57437235e-01 1.11307734e-02 1.33872604e+02] [ 1.66814746e-02 -3.15985159e-04 9.99860805e-01 7.36846334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.74, Y:133.85, Z:7.37 [[ 7.58503765e-01 6.51546529e-01 -1.26158714e-02 1.56739056e+02] [-6.51448681e-01 7.58608594e-01 1.12967706e-02 1.33852882e+02] [ 1.69308802e-02 -3.50050262e-04 9.99856601e-01 7.36913681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.76, Y:133.83, Z:7.37 [[ 7.60921162e-01 6.48726052e-01 -1.23893158e-02 1.56757739e+02] [-6.48631346e-01 7.61021910e-01 1.10918768e-02 1.33830399e+02] [ 1.66241302e-02 -4.03945173e-04 9.99861728e-01 7.37044030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.78, Y:133.81, Z:7.37 [[ 7.61806218e-01 6.47694365e-01 -1.19705882e-02 1.56781308e+02] [-6.47605825e-01 7.61900151e-01 1.07170730e-02 1.33809059e+02] [ 1.60617808e-02 -4.12110176e-04 9.99870916e-01 7.37167730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:133.79, Z:7.37 [[ 7.62745001e-01 6.46587654e-01 -1.20195341e-02 1.56803024e+02] [-6.46498156e-01 7.62839571e-01 1.07667736e-02 1.33786528e+02] [ 1.61306391e-02 -4.41696142e-04 9.99869795e-01 7.37293760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:133.76, Z:7.37 [[ 7.63581747e-01 6.45601909e-01 -1.18781439e-02 1.56826203e+02] [-6.45514299e-01 7.63673990e-01 1.06455579e-02 1.33764537e+02] [ 1.59438221e-02 -4.61241961e-04 9.99872783e-01 7.37353086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.85, Y:133.74, Z:7.37 [[ 7.64909710e-01 6.44037340e-01 -1.13595719e-02 1.56847371e+02] [-6.43956959e-01 7.64993907e-01 1.01861423e-02 1.33741470e+02] [ 1.52502593e-02 -4.76403776e-04 9.99883595e-01 7.37460510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:133.72, Z:7.38 [[ 7.65310036e-01 6.43563953e-01 -1.12244470e-02 1.56869868e+02] [-6.43485354e-01 7.65392190e-01 1.00694571e-02 1.33720416e+02] [ 1.50714437e-02 -4.83489300e-04 9.99886302e-01 7.37534430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:133.70, Z:7.38 [[ 7.65063474e-01 6.43863785e-01 -1.08308310e-02 1.56895445e+02] [-6.43790620e-01 7.65139996e-01 9.71722328e-03 1.33699828e+02] [ 1.45436702e-02 -4.61505188e-04 9.99894129e-01 7.37668439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.92, Y:133.68, Z:7.38 [[ 7.64600785e-01 6.44408248e-01 -1.11197829e-02 1.56918139e+02] [-6.44331094e-01 7.64681496e-01 9.98251366e-03 1.33679223e+02] [ 1.49359064e-02 -4.67815910e-04 9.99888344e-01 7.37706776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.94, Y:133.66, Z:7.38 [[ 7.63747564e-01 6.45416142e-01 -1.12987521e-02 1.56942616e+02] [-6.45336541e-01 7.63830998e-01 1.01466618e-02 1.33657785e+02] [ 1.51791564e-02 -4.57990593e-04 9.99884685e-01 7.37742686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.97, Y:133.64, Z:7.38 [[ 7.61413690e-01 6.48159666e-01 -1.17575365e-02 1.56968261e+02] [-6.48073714e-01 7.61504345e-01 1.05637578e-02 1.33639455e+02] [ 1.58004169e-02 -4.23639426e-04 9.99875076e-01 7.37844591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.99, Y:133.62, Z:7.38 [[ 7.60067938e-01 6.49738068e-01 -1.17120283e-02 1.56993892e+02] [-6.49652942e-01 7.60158069e-01 1.05244846e-02 1.33619757e+02] [ 1.57411511e-02 -3.90569672e-04 9.99876024e-01 7.37906972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.02, Y:133.60, Z:7.38 [[ 7.58829212e-01 6.51179577e-01 -1.19743932e-02 1.57015776e+02] [-6.51090691e-01 7.58923593e-01 1.07652945e-02 1.33598980e+02] [ 1.60977894e-02 -3.72604031e-04 9.99870353e-01 7.37919174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.04, Y:133.58, Z:7.38 [[ 7.56353009e-01 6.54056148e-01 -1.18609154e-02 1.57043722e+02] [-6.53969284e-01 7.56445940e-01 1.06637614e-02 1.33583547e+02] [ 1.59468400e-02 -3.08893677e-04 9.99872793e-01 7.38052899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.07, Y:133.57, Z:7.38 [[ 7.55288878e-01 6.55288482e-01 -1.16497366e-02 1.57066104e+02] [-6.55204823e-01 7.55378665e-01 1.04743953e-02 1.33565042e+02] [ 1.56637130e-02 -2.78230666e-04 9.99877278e-01 7.38132025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.09, Y:133.55, Z:7.38 [[ 7.53478171e-01 6.57366436e-01 -1.18328112e-02 1.57087742e+02] [-6.57280404e-01 7.53571040e-01 1.06375872e-02 1.33547487e+02] [ 1.59096566e-02 -2.37714800e-04 9.99873405e-01 7.38230019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.11, Y:133.53, Z:7.38 [[ 7.52670890e-01 6.58291283e-01 -1.17947877e-02 1.57109594e+02] [-6.58205948e-01 7.52763269e-01 1.06014141e-02 1.33529192e+02] [ 1.58575014e-02 -2.15976358e-04 9.99874239e-01 7.38284987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:133.51, Z:7.38 [[ 7.52127871e-01 6.58907119e-01 -1.20446666e-02 1.57131905e+02] [-6.58818236e-01 7.52224279e-01 1.08243164e-02 1.33511287e+02] [ 1.61925098e-02 -2.06024059e-04 9.99868872e-01 7.38354494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.15, Y:133.49, Z:7.38 [[ 7.51350667e-01 6.59791502e-01 -1.21387686e-02 1.57154848e+02] [-6.59701368e-01 7.51448694e-01 1.09071682e-02 1.33492980e+02] [ 1.63181187e-02 -1.87145893e-04 9.99866833e-01 7.38372330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.17, Y:133.47, Z:7.38 [[ 7.51325693e-01 6.59813573e-01 -1.24800347e-02 1.57174973e+02] [-6.59718334e-01 7.51429313e-01 1.12119205e-02 1.33473822e+02] [ 1.67756412e-02 -1.90496292e-04 9.99859261e-01 7.38350392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.20, Y:133.45, Z:7.38 [[ 7.51496856e-01 6.59613777e-01 -1.27334464e-02 1.57197113e+02] [-6.59514639e-01 7.51604701e-01 1.14374232e-02 1.33454677e+02] [ 1.71148001e-02 -1.97293243e-04 9.99853512e-01 7.38397504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.22, Y:133.43, Z:7.38 [[ 7.52205326e-01 6.58800234e-01 -1.30153946e-02 1.57216652e+02] [-6.58696569e-01 7.52317888e-01 1.16887196e-02 1.33434372e+02] [ 1.74922454e-02 -2.19121362e-04 9.99846975e-01 7.38371728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.24, Y:133.41, Z:7.38 [[ 7.52912786e-01 6.57990222e-01 -1.30845414e-02 1.57235988e+02] [-6.57885370e-01 7.53026435e-01 1.17485548e-02 1.33414227e+02] [ 1.75834398e-02 -2.37508804e-04 9.99845371e-01 7.38374604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.26, Y:133.39, Z:7.38 [[ 7.54491216e-01 6.56176619e-01 -1.32381820e-02 1.57257016e+02] [-6.56069049e-01 7.54607292e-01 1.18843375e-02 1.33394894e+02] [ 1.77878531e-02 -2.81466763e-04 9.99841744e-01 7.38493327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.28, Y:133.37, Z:7.38 [[ 7.55256998e-01 6.55296603e-01 -1.31616306e-02 1.57275685e+02] [-6.55190175e-01 7.55371612e-01 1.18136525e-02 1.33373572e+02] [ 1.76833685e-02 -2.98972714e-04 9.99843592e-01 7.38476088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.30, Y:133.36, Z:7.39 [[ 7.55982100e-01 6.54463888e-01 -1.29647179e-02 1.57299188e+02] [-6.54360532e-01 7.56093196e-01 1.16349920e-02 1.33355255e+02] [ 1.74172171e-02 -3.12245968e-04 9.99848260e-01 7.38562504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.32, Y:133.33, Z:7.39 [[ 7.57153193e-01 6.53104769e-01 -1.31606393e-02 1.57321023e+02] [-6.52998072e-01 7.57267482e-01 1.18101129e-02 1.33334000e+02] [ 1.76793653e-02 -3.48192612e-04 9.99843647e-01 7.38601483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.35, Y:133.31, Z:7.39 [[ 7.57311360e-01 6.52921284e-01 -1.31643912e-02 1.57345782e+02] [-6.52814463e-01 7.57425688e-01 1.18154260e-02 1.33311590e+02] [ 1.76855912e-02 -3.54051392e-04 9.99843535e-01 7.38632794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:133.29, Z:7.39 [[ 7.58040736e-01 6.52070327e-01 -1.33615662e-02 1.57367017e+02] [-6.51960020e-01 7.58158387e-01 1.19996601e-02 1.33289376e+02] [ 1.79548058e-02 -3.85024239e-04 9.99838725e-01 7.38656496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.39, Y:133.27, Z:7.39 [[ 7.58208278e-01 6.51875915e-01 -1.33415959e-02 1.57390177e+02] [-6.51765803e-01 7.58325548e-01 1.19875370e-02 1.33267033e+02] [ 1.79316597e-02 -3.93453780e-04 9.99839137e-01 7.38686672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.41, Y:133.25, Z:7.39 [[ 7.58189991e-01 6.51892416e-01 -1.35725876e-02 1.57414757e+02] [-6.51778324e-01 7.58311356e-01 1.22026094e-02 1.33245130e+02] [ 1.82470359e-02 -4.05577922e-04 9.99833427e-01 7.38729667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.44, Y:133.22, Z:7.39 [[ 7.58311400e-01 6.51744408e-01 -1.38941670e-02 1.57437116e+02] [-6.51624689e-01 7.58438559e-01 1.24986734e-02 1.33224147e+02] [ 1.86838125e-02 -4.24104262e-04 9.99825352e-01 7.38742835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.46, Y:133.20, Z:7.39 [[ 7.58372600e-01 6.51674795e-01 -1.38188771e-02 1.57459742e+02] [-6.51556304e-01 7.58498372e-01 1.24339446e-02 1.33202959e+02] [ 1.85844841e-02 -4.25786374e-04 9.99827203e-01 7.38768269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.48, Y:133.18, Z:7.39 [[ 7.58516761e-01 6.51507598e-01 -1.37903274e-02 1.57482653e+02] [-6.51389550e-01 7.58641987e-01 1.24092292e-02 1.33182023e+02] [ 1.85466285e-02 -4.29733223e-04 9.99827904e-01 7.38813929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.50, Y:133.16, Z:7.39 [[ 7.58647456e-01 6.51357764e-01 -1.36784742e-02 1.57504649e+02] [-6.51241586e-01 7.58770636e-01 1.23092663e-02 1.33161349e+02] [ 1.83965607e-02 -4.30402353e-04 9.99830676e-01 7.38925220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.53, Y:133.14, Z:7.39 [[ 7.58830487e-01 6.51159758e-01 -1.29329692e-02 1.57526573e+02] [-6.51055875e-01 7.58940578e-01 1.16381702e-02 1.33141136e+02] [ 1.73936632e-02 -4.11312756e-04 9.99848634e-01 7.39037198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.55, Y:133.12, Z:7.39 [[ 7.59519467e-01 6.50367083e-01 -1.23627411e-02 1.57547180e+02] [-6.50272070e-01 7.59619964e-01 1.11241153e-02 1.33121013e+02] [ 1.66257434e-02 -4.09836937e-04 9.99861699e-01 7.39177787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.57, Y:133.10, Z:7.39 [[ 7.59931768e-01 6.49887560e-01 -1.22420451e-02 1.57567959e+02] [-6.49794354e-01 7.60030254e-01 1.10140930e-02 1.33101745e+02] [ 1.64622466e-02 -4.15147385e-04 9.99864402e-01 7.39234063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.59, Y:133.08, Z:7.39 [[ 7.60244875e-01 6.49521368e-01 -1.22361255e-02 1.57588067e+02] [-6.49428239e-01 7.60343222e-01 1.10066828e-02 1.33082885e+02] [ 1.64527308e-02 -4.21288762e-04 9.99864556e-01 7.39266409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.61, Y:133.06, Z:7.39 [[ 7.60656987e-01 6.49044640e-01 -1.19165503e-02 1.57609658e+02] [-6.48956284e-01 7.60750209e-01 1.07173186e-02 1.33063813e+02] [ 1.60215363e-02 -4.18883068e-04 9.99871559e-01 7.39374819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.63, Y:133.05, Z:7.39 [[ 7.60656891e-01 6.49053982e-01 -1.14027461e-02 1.57631155e+02] [-6.48973105e-01 7.60742249e-01 1.02537553e-02 1.33045100e+02] [ 1.53297914e-02 -3.99514034e-04 9.99882412e-01 7.39479045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.66, Y:133.03, Z:7.40 [[ 7.60591638e-01 6.49134799e-01 -1.11522431e-02 1.57656009e+02] [-6.49057465e-01 7.60673295e-01 1.00272133e-02 1.33026866e+02] [ 1.49922266e-02 -3.88167926e-04 9.99887535e-01 7.39543148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.68, Y:133.01, Z:7.40 [[ 7.60504856e-01 6.49245613e-01 -1.06065155e-02 1.57678136e+02] [-6.49175676e-01 7.60578726e-01 9.53640436e-03 1.33009210e+02] [ 1.42585587e-02 -3.66989964e-04 9.99898274e-01 7.39662006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.70, Y:132.99, Z:7.40 [[ 7.60230487e-01 6.49570030e-01 -1.04106839e-02 1.57697640e+02] [-6.49502707e-01 7.60301684e-01 9.35855821e-03 1.32989718e+02] [ 1.39942995e-02 -3.52893876e-04 9.99902013e-01 7.39703352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.73, Y:132.97, Z:7.40 [[ 7.59418430e-01 6.50516627e-01 -1.05719791e-02 1.57726634e+02] [-6.50447311e-01 7.59491937e-01 9.50222194e-03 1.32974194e+02] [ 1.42106862e-02 -3.39647090e-04 9.99898965e-01 7.39758425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.75, Y:132.95, Z:7.40 [[ 7.58654983e-01 6.51408917e-01 -1.04421899e-02 1.57750041e+02] [-6.51341304e-01 7.58726774e-01 9.39079047e-03 1.32954285e+02] [ 1.40400137e-02 -3.22940414e-04 9.99901382e-01 7.39815875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.78, Y:132.93, Z:7.40 [[ 7.57688238e-01 6.52534929e-01 -1.03295625e-02 1.57775720e+02] [-6.52468805e-01 7.57758586e-01 9.29431274e-03 1.32934345e+02] [ 1.38921784e-02 -3.02474156e-04 9.99903453e-01 7.39863067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.80, Y:132.91, Z:7.40 [[ 7.56939032e-01 6.53409180e-01 -9.98728908e-03 1.57799336e+02] [-6.53347375e-01 7.57004865e-01 8.99126217e-03 1.32914466e+02] [ 1.34353997e-02 -2.80668181e-04 9.99909702e-01 7.39884145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.82, Y:132.90, Z:7.40 [[ 7.55148821e-01 6.55477982e-01 -9.94353276e-03 1.57822492e+02] [-6.55416835e-01 7.55214244e-01 8.95644337e-03 1.32898969e+02] [ 1.33802490e-02 -2.46288879e-04 9.99910450e-01 7.39965569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.85, Y:132.88, Z:7.40 [[ 7.53263923e-01 6.57642561e-01 -9.98615968e-03 1.57846357e+02] [-6.57581102e-01 7.53330086e-01 8.99306100e-03 1.32883344e+02] [ 1.34370942e-02 -2.07438521e-04 9.99909697e-01 7.39954380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.87, Y:132.86, Z:7.40 [[ 7.52179007e-01 6.58876346e-01 -1.04260210e-02 1.57866960e+02] [-6.58809510e-01 7.52251237e-01 9.38646452e-03 1.32864019e+02] [ 1.40275067e-02 -1.91539742e-04 9.99901591e-01 7.39942066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.89, Y:132.85, Z:7.40 [[ 7.51239423e-01 6.59947831e-01 -1.04014172e-02 1.57892018e+02] [-6.59881448e-01 7.51311408e-01 9.36175242e-03 1.32849331e+02] [ 1.39929716e-02 -1.69215242e-04 9.99902079e-01 7.39972095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.92, Y:132.83, Z:7.40 [[ 7.50211341e-01 6.61115655e-01 -1.04419567e-02 1.57915089e+02] [-6.61048888e-01 7.50283993e-01 9.39674908e-03 1.32831731e+02] [ 1.40467709e-02 -1.46903900e-04 9.99901328e-01 7.39982466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.94, Y:132.82, Z:7.40 [[ 7.48447269e-01 6.63104748e-01 -1.08986070e-02 1.57937709e+02] [-6.63032248e-01 7.48526606e-01 9.80602221e-03 1.32815758e+02] [ 1.46603172e-02 -1.13162640e-04 9.99892525e-01 7.39955747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.96, Y:132.80, Z:7.40 [[ 7.47973960e-01 6.63645750e-01 -1.04533588e-02 1.57959871e+02] [-6.63579131e-01 7.48046996e-01 9.40364094e-03 1.32797890e+02] [ 1.40602900e-02 -9.70478328e-05 9.99901145e-01 7.40012601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.98, Y:132.78, Z:7.40 [[ 7.47905254e-01 6.63727812e-01 -1.01549396e-02 1.57980834e+02] [-6.63664969e-01 7.47974186e-01 9.13378061e-03 1.32780717e+02] [ 1.36579769e-02 -9.17248652e-05 9.99906721e-01 7.40067500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.00, Y:132.76, Z:7.40 [[ 7.48173854e-01 6.63426833e-01 -1.00360521e-02 1.58001171e+02] [-6.63365458e-01 7.48241157e-01 9.02442494e-03 1.32762643e+02] [ 1.34964329e-02 -9.42684939e-05 9.99908915e-01 7.40092648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:132.74, Z:7.40 [[ 7.49210542e-01 6.62249643e-01 -1.04390575e-02 1.58022327e+02] [-6.62183180e-01 7.49283256e-01 9.38290867e-03 1.32742830e+02] [ 1.40356389e-02 -1.17205792e-04 9.99901489e-01 7.40104261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.04, Y:132.72, Z:7.40 [[ 7.49908747e-01 6.61458964e-01 -1.04359790e-02 1.58042166e+02] [-6.61392485e-01 7.49981348e-01 9.37864927e-03 1.32723722e+02] [ 1.40303812e-02 -1.30853027e-04 9.99901561e-01 7.40124685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.06, Y:132.70, Z:7.40 [[ 7.50696221e-01 6.60567239e-01 -1.03007405e-02 1.58062944e+02] [-6.60502413e-01 7.50766876e-01 9.25535158e-03 1.32703892e+02] [ 1.38472368e-02 -1.44293488e-04 9.99904112e-01 7.40198971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:132.68, Z:7.40 [[ 7.51639939e-01 6.59497255e-01 -1.00385985e-02 1.58083048e+02] [-6.59435609e-01 7.51706955e-01 9.01844308e-03 1.32684361e+02] [ 1.34937228e-02 -1.58812682e-04 9.99908943e-01 7.40238486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.10, Y:132.67, Z:7.40 [[ 7.51715287e-01 6.59411356e-01 -1.00394634e-02 1.58103610e+02] [-6.59349715e-01 7.51782308e-01 9.01748017e-03 1.32666063e+02] [ 1.34937198e-02 -1.59060363e-04 9.99908943e-01 7.40274857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.12, Y:132.65, Z:7.40 [[ 7.53594121e-01 6.57269798e-01 -9.60799704e-03 1.58124402e+02] [-6.57213192e-01 7.53655344e-01 8.62802445e-03 1.32645786e+02] [ 1.29120582e-02 -1.87526102e-04 9.99916618e-01 7.40380709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.14, Y:132.63, Z:7.40 [[ 7.55807699e-01 6.54726877e-01 -9.35083208e-03 1.58143560e+02] [-6.54673082e-01 7.55865508e-01 8.39582550e-03 1.32625023e+02] [ 1.25649441e-02 -2.23891500e-04 9.99921033e-01 7.40430380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.16, Y:132.60, Z:7.41 [[ 7.56789773e-01 6.53598571e-01 -8.84005005e-03 1.58162521e+02] [-6.53550432e-01 7.56841367e-01 7.93584208e-03 1.32604579e+02] [ 1.18773706e-02 -2.28345596e-04 9.99929435e-01 7.40504319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.18, Y:132.59, Z:7.41 [[ 7.57694044e-01 6.52547198e-01 -9.04932090e-03 1.58183722e+02] [-6.52496707e-01 7.57748040e-01 8.12125400e-03 1.32585016e+02] [ 1.21566067e-02 -2.48773690e-04 9.99926075e-01 7.40540893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.20, Y:132.56, Z:7.41 [[ 7.58481615e-01 6.51634353e-01 -8.84924622e-03 1.58204763e+02] [-6.51586022e-01 7.58533192e-01 7.94050843e-03 1.32564683e+02] [ 1.18867551e-02 -2.56684514e-04 9.99929317e-01 7.40589880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.22, Y:132.54, Z:7.41 [[ 7.59899638e-01 6.49974827e-01 -9.23386798e-03 1.58224250e+02] [-6.49922097e-01 7.59955681e-01 8.28436727e-03 1.32544997e+02] [ 1.24019606e-02 -2.93992851e-04 9.99923050e-01 7.40561296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.24, Y:132.53, Z:7.41 [[ 7.60669620e-01 6.49074252e-01 -9.18393119e-03 1.58244009e+02] [-6.49022052e-01 7.60724998e-01 8.23734541e-03 1.32525310e+02] [ 1.23330948e-02 -3.05324541e-04 9.99923898e-01 7.40558773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.26, Y:132.50, Z:7.41 [[ 7.61688533e-01 6.47878388e-01 -9.17456960e-03 1.58264913e+02] [-6.47826237e-01 7.61743717e-01 8.22659430e-03 1.32504777e+02] [ 1.23185034e-02 -3.22575639e-04 9.99924072e-01 7.40551687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.28, Y:132.49, Z:7.41 [[ 7.61825240e-01 6.47715880e-01 -9.29740511e-03 1.58284313e+02] [-6.47662326e-01 7.61881901e-01 8.33553387e-03 1.32486507e+02] [ 1.24825823e-02 -3.28641081e-04 9.99922036e-01 7.40560044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:132.47, Z:7.41 [[ 7.62103780e-01 6.47385157e-01 -9.50194559e-03 1.58304760e+02] [-6.47329223e-01 7.62162938e-01 8.51663971e-03 1.32467645e+02] [ 1.27555769e-02 -3.39676257e-04 9.99918587e-01 7.40553710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:132.45, Z:7.41 [[ 7.61943371e-01 6.47576325e-01 -9.33828687e-03 1.58326204e+02] [-6.47522333e-01 7.62000522e-01 8.36859795e-03 1.32448483e+02] [ 1.25350854e-02 -3.29648429e-04 9.99921378e-01 7.40568885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.35, Y:132.43, Z:7.41 [[ 7.61663995e-01 6.47905429e-01 -9.30124866e-03 1.58351577e+02] [-6.47851944e-01 7.61720718e-01 8.33098944e-03 1.32432681e+02] [ 1.24826471e-02 -3.19582675e-04 9.99922038e-01 7.40586033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.37, Y:132.41, Z:7.41 [[ 7.61082984e-01 6.48588255e-01 -9.27184658e-03 1.58370400e+02] [-6.48535166e-01 7.61139397e-01 8.30401597e-03 1.32410729e+02] [ 1.24430549e-02 -3.06926688e-04 9.99922535e-01 7.40621915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:132.39, Z:7.41 [[ 7.59680478e-01 6.50231460e-01 -9.19887688e-03 1.58392040e+02] [-6.50179335e-01 7.59736120e-01 8.23778234e-03 1.32393319e+02] [ 1.23451843e-02 -2.77162782e-04 9.99923757e-01 7.40640701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.41, Y:132.37, Z:7.41 [[ 7.59104309e-01 6.50906066e-01 -9.05216928e-03 1.58414531e+02] [-6.50855661e-01 7.59158235e-01 8.10448365e-03 1.32374897e+02] [ 1.21472864e-02 -2.60492835e-04 9.99926185e-01 7.40669538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.44, Y:132.36, Z:7.41 [[ 7.57728233e-01 6.52509756e-01 -8.88495734e-03 1.58440789e+02] [-6.52461356e-01 7.57780289e-01 7.95065763e-03 1.32360416e+02] [ 1.19207272e-02 -2.27346449e-04 9.99928920e-01 7.40684594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.46, Y:132.34, Z:7.41 [[ 7.57151250e-01 6.53179004e-01 -8.89798421e-03 1.58462241e+02] [-6.53130522e-01 7.57203501e-01 7.96110979e-03 1.32342050e+02] [ 1.19376146e-02 -2.16219150e-04 9.99928721e-01 7.40718686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.49, Y:132.32, Z:7.41 [[ 7.56457349e-01 6.53987422e-01 -8.52828370e-03 1.58485644e+02] [-6.53942957e-01 7.56505396e-01 7.62853715e-03 1.32324360e+02] [ 1.14406600e-02 -1.93651923e-04 9.99934535e-01 7.40775202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.51, Y:132.31, Z:7.41 [[ 7.54508304e-01 6.56243238e-01 -7.87601109e-03 1.58507753e+02] [-6.56205441e-01 7.54549396e-01 7.04470306e-03 1.32306652e+02] [ 1.05658782e-02 -1.47005624e-04 9.99944169e-01 7.40923779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:132.29, Z:7.41 [[ 7.53557892e-01 6.57339071e-01 -7.47321474e-03 1.58529592e+02] [-6.57305104e-01 7.53594938e-01 6.68348693e-03 1.32289067e+02] [ 1.00250939e-02 -1.24212130e-04 9.99949740e-01 7.40996995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.55, Y:132.27, Z:7.41 [[ 7.51136965e-01 6.60108741e-01 -7.05047406e-03 1.58553686e+02] [-6.60078642e-01 7.51170050e-01 6.30418898e-03 1.32272556e+02] [ 9.45755520e-03 -8.14420293e-05 9.99955273e-01 7.41086400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.58, Y:132.25, Z:7.41 [[ 7.50280934e-01 6.61083253e-01 -6.88859504e-03 1.58575719e+02] [-6.61054570e-01 7.50312554e-01 6.15850161e-03 1.32254626e+02] [ 9.23988162e-03 -6.68691086e-05 9.99957309e-01 7.41141160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.60, Y:132.24, Z:7.41 [[ 7.49665037e-01 6.61782561e-01 -6.79522688e-03 1.58597744e+02] [-6.61754687e-01 7.49695831e-01 6.07409086e-03 1.32236363e+02] [ 9.11408067e-03 -5.67603038e-05 9.99958464e-01 7.41175615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.62, Y:132.22, Z:7.41 [[ 7.48724589e-01 6.62852561e-01 -6.16212806e-03 1.58618408e+02] [-6.62829679e-01 7.48749945e-01 5.50782665e-03 1.32219151e+02] [ 8.26477005e-03 -3.94038823e-05 9.99965845e-01 7.41244513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:132.20, Z:7.41 [[ 7.48794710e-01 6.62772612e-01 -6.24076955e-03 1.58638092e+02] [-6.62749148e-01 7.48820715e-01 5.57705777e-03 1.32201251e+02] [ 8.36953866e-03 -4.00066539e-05 9.99964974e-01 7.41270667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.66, Y:132.18, Z:7.41 [[ 7.48906622e-01 6.62649953e-01 -5.82332418e-03 1.58658205e+02] [-6.62629541e-01 7.48929262e-01 5.20124555e-03 1.32182362e+02] [ 7.80786299e-03 -3.65406111e-05 9.99969518e-01 7.41353559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.68, Y:132.16, Z:7.41 [[ 7.49705193e-01 6.61749415e-01 -5.46222339e-03 1.58678287e+02] [-6.61731438e-01 7.49725090e-01 4.87789414e-03 1.32162297e+02] [ 7.32310951e-03 -4.24576251e-05 9.99973185e-01 7.41393033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.70, Y:132.14, Z:7.41 [[ 7.50491568e-01 6.60857463e-01 -5.46076732e-03 1.58698461e+02] [-6.60839467e-01 7.50511433e-01 4.87729425e-03 1.32142712e+02] [ 7.32156461e-03 -5.16776450e-05 9.99973196e-01 7.41419247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42275509600006 meters Centerline goodness [0,1] 0.9999574558604553 Centerline is valid? [True, True] Translation: X:158.72, Y:132.12, Z:7.41 [[ 7.51736773e-01 6.59435454e-01 -6.05856803e-03 1.58718451e+02] [-6.59413299e-01 7.51761184e-01 5.40586841e-03 1.32121757e+02] [ 8.11941756e-03 -6.86897490e-05 9.99967035e-01 7.41319719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.74, Y:132.10, Z:7.41 [[ 7.52615346e-01 6.58435016e-01 -5.78543169e-03 1.58738822e+02] [-6.58414789e-01 7.52637578e-01 5.16156391e-03 1.32102011e+02] [ 7.75288771e-03 -7.54584244e-05 9.99969943e-01 7.41335219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:132.08, Z:7.41 [[ 7.53402210e-01 6.57532996e-01 -5.95560487e-03 1.58759601e+02] [-6.57511543e-01 7.53425744e-01 5.31219092e-03 1.32082187e+02] [ 7.98004684e-03 -8.63374339e-05 9.99968155e-01 7.41309609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:132.06, Z:7.41 [[ 7.54870011e-01 6.55844879e-01 -6.22582999e-03 1.58779065e+02] [-6.55821385e-01 7.54895677e-01 5.55228842e-03 1.32060558e+02] [ 8.34129207e-03 -1.08223577e-04 9.99965205e-01 7.41278177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.80, Y:132.04, Z:7.41 [[ 7.55947963e-01 6.54602435e-01 -6.19111599e-03 1.58799620e+02] [-6.54579168e-01 7.55973305e-01 5.52048658e-03 1.32040631e+02] [ 8.29404237e-03 -1.20625037e-04 9.99965597e-01 7.41281549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.82, Y:132.02, Z:7.41 [[ 7.57697938e-01 6.52576894e-01 -6.10182163e-03 1.58816458e+02] [-6.52554233e-01 7.57722494e-01 5.44015737e-03 1.32017789e+02] [ 8.17360850e-03 -1.40226485e-04 9.99966586e-01 7.41364022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:132.00, Z:7.41 [[ 7.58331778e-01 6.51843350e-01 -5.75858110e-03 1.58842591e+02] [-6.51823174e-01 7.58353630e-01 5.13043699e-03 1.31998349e+02] [ 7.71128212e-03 -1.36996794e-04 9.99970258e-01 7.41290925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.86, Y:131.98, Z:7.41 [[ 7.58873160e-01 6.51209489e-01 -6.14236191e-03 1.58863091e+02] [-6.51186469e-01 7.58898001e-01 5.47782917e-03 1.31976631e+02] [ 8.22864051e-03 -1.57154571e-04 9.99966132e-01 7.41371386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.89, Y:131.96, Z:7.41 [[ 7.59796300e-01 6.50127677e-01 -6.60199840e-03 1.58885877e+02] [-6.50101045e-01 7.59824961e-01 5.88735416e-03 1.31956864e+02] [ 8.84389506e-03 -1.81223847e-04 9.99960876e-01 7.41298262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.91, Y:131.94, Z:7.41 [[ 7.59900465e-01 6.50002208e-01 -6.95798096e-03 1.58908416e+02] [-6.49972620e-01 7.59932295e-01 6.20480279e-03 1.31936135e+02] [ 9.32072995e-03 -1.92535413e-04 9.99956543e-01 7.41295066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.93, Y:131.92, Z:7.41 [[ 7.59696203e-01 6.50231684e-01 -7.77410619e-03 1.58928997e+02] [-6.50194759e-01 7.59735949e-01 6.93280720e-03 1.31916207e+02] [ 1.04141988e-02 -2.12144213e-04 9.99945748e-01 7.41207757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.95, Y:131.90, Z:7.41 [[ 7.59431712e-01 6.50539173e-01 -7.89046587e-03 1.58950738e+02] [-6.50501159e-01 7.59472673e-01 7.03579104e-03 1.31897717e+02] [ 1.05696509e-02 -2.10445647e-04 9.99944118e-01 7.41220611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.97, Y:131.88, Z:7.41 [[ 7.58461994e-01 6.51663223e-01 -8.39332408e-03 1.58973788e+02] [-6.51620292e-01 7.58508405e-01 7.48291952e-03 1.31879550e+02] [ 1.12427503e-02 -2.06249769e-04 9.99936777e-01 7.41181150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.00, Y:131.86, Z:7.41 [[ 7.57586635e-01 6.52680590e-01 -8.39868378e-03 1.58996434e+02] [-6.52637680e-01 7.57633164e-01 7.48651408e-03 1.31861108e+02] [ 1.12494238e-02 -1.90385518e-04 9.99936705e-01 7.41225941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.02, Y:131.84, Z:7.41 [[ 7.56607368e-01 6.53818540e-01 -8.16135776e-03 1.59017415e+02] [-6.53778098e-01 7.56651366e-01 7.27390304e-03 1.31843381e+02] [ 1.09311152e-02 -1.67771682e-04 9.99940240e-01 7.41320908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.04, Y:131.83, Z:7.41 [[ 7.55511660e-01 6.55085814e-01 -8.04417929e-03 1.59038833e+02] [-6.55046612e-01 7.55554469e-01 7.16807705e-03 1.31825416e+02] [ 1.07735212e-02 -1.46253401e-04 9.99941953e-01 7.41429318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.06, Y:131.81, Z:7.42 [[ 7.53152296e-01 6.57807526e-01 -7.13286466e-03 1.59061193e+02] [-6.57776835e-01 7.53186066e-01 6.35487595e-03 1.31807828e+02] [ 9.55265950e-03 -9.43562667e-05 9.99954368e-01 7.41608224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.08, Y:131.79, Z:7.42 [[ 7.51931731e-01 6.59202316e-01 -7.13994961e-03 1.59083585e+02] [-6.59171637e-01 7.51965625e-01 6.36020285e-03 1.31789342e+02] [ 9.56165712e-03 -7.59860584e-05 9.99954283e-01 7.41686208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.11, Y:131.77, Z:7.42 [[ 7.50202912e-01 6.61175361e-01 -6.53708251e-03 1.59105651e+02] [-6.61149725e-01 7.50231391e-01 5.82249876e-03 1.31772125e+02] [ 8.75401722e-03 -4.60652196e-05 9.99961682e-01 7.41755639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.13, Y:131.75, Z:7.42 [[ 7.49543695e-01 6.61924378e-01 -6.35359606e-03 1.59127748e+02] [-6.61900197e-01 7.49570622e-01 5.65791528e-03 1.31753458e+02] [ 8.50758100e-03 -3.54082369e-05 9.99963809e-01 7.41813613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.15, Y:131.74, Z:7.42 [[ 7.49041057e-01 6.62497023e-01 -5.93209905e-03 1.59148958e+02] [-6.62475966e-01 7.49064546e-01 5.28213955e-03 1.31735188e+02] [ 7.94292681e-03 -2.66663481e-05 9.99968454e-01 7.41881394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.17, Y:131.72, Z:7.42 [[ 7.48622085e-01 6.62977064e-01 -5.13684914e-03 1.59168388e+02] [-6.62961292e-01 7.48639708e-01 4.57303435e-03 1.31715794e+02] [ 6.87746613e-03 -1.79423655e-05 9.99976350e-01 7.42043188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.19, Y:131.70, Z:7.42 [[ 7.48743566e-01 6.62842177e-01 -4.82912934e-03 1.59187825e+02] [-6.62828239e-01 7.48759139e-01 4.29864635e-03 1.31697246e+02] [ 6.46517883e-03 -1.77004981e-05 9.99979100e-01 7.42139795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.21, Y:131.68, Z:7.42 [[ 7.48969099e-01 6.62587212e-01 -4.84504500e-03 1.59207773e+02] [-6.62573183e-01 7.48984770e-01 4.31168783e-03 1.31678251e+02] [ 6.48573413e-03 -1.91240652e-05 9.99978967e-01 7.42157646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.23, Y:131.66, Z:7.42 [[ 7.50192454e-01 6.61201481e-01 -4.88705666e-03 1.59226579e+02] [-6.61187189e-01 7.50208372e-01 4.34753165e-03 1.31657228e+02] [ 6.54090518e-03 -3.02261790e-05 9.99978608e-01 7.42205308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.25, Y:131.64, Z:7.42 [[ 7.51040827e-01 6.60237984e-01 -4.84574126e-03 1.59247064e+02] [-6.60223918e-01 7.51056458e-01 4.30980496e-03 1.31636910e+02] [ 6.48492220e-03 -3.75651983e-05 9.99978972e-01 7.42190861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.27, Y:131.62, Z:7.42 [[ 7.52458459e-01 6.58620005e-01 -5.09479503e-03 1.59266177e+02] [-6.58604424e-01 7.52475705e-01 4.53055706e-03 1.31615151e+02] [ 6.81762499e-03 -5.36014395e-05 9.99976758e-01 7.42143325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.29, Y:131.59, Z:7.42 [[ 7.53245579e-01 6.57716969e-01 -5.43017379e-03 1.59285518e+02] [-6.57699251e-01 7.53265149e-01 4.82815436e-03 1.31594297e+02] [ 7.26591972e-03 -6.53646923e-05 9.99973601e-01 7.42205045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.31, Y:131.57, Z:7.42 [[ 7.54023672e-01 6.56823394e-01 -5.59740431e-03 1.59305502e+02] [-6.56804553e-01 7.54044444e-01 4.97551856e-03 1.31573679e+02] [ 7.48872861e-03 -7.52581343e-05 9.99971956e-01 7.42201946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:131.55, Z:7.42 [[ 7.54916503e-01 6.55794257e-01 -5.91327655e-03 1.59326247e+02] [-6.55773204e-01 7.54939656e-01 5.25546532e-03 1.31553311e+02] [ 7.91067094e-03 -8.96691867e-05 9.99968706e-01 7.42162512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.35, Y:131.53, Z:7.42 [[ 7.56934343e-01 6.53454774e-01 -6.87443769e-03 1.59345640e+02] [-6.53426237e-01 7.56965548e-01 6.10833406e-03 1.31530290e+02] [ 9.19523255e-03 -1.31669881e-04 9.99957714e-01 7.42068344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.37, Y:131.51, Z:7.42 [[ 7.57981234e-01 6.52235763e-01 -7.27733539e-03 1.59366771e+02] [-6.52203732e-01 7.58016152e-01 6.46579242e-03 1.31508767e+02] [ 9.73355881e-03 -1.54644016e-04 9.99952616e-01 7.42005980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.39, Y:131.49, Z:7.42 [[ 7.60039920e-01 6.49819692e-01 -8.58419826e-03 1.59385759e+02] [-6.49774977e-01 7.60088363e-01 7.62620753e-03 1.31485527e+02] [ 1.14804090e-02 -2.18424926e-04 9.99934074e-01 7.41903144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.41, Y:131.46, Z:7.42 [[ 7.60968419e-01 6.48729367e-01 -8.79055603e-03 1.59406115e+02] [-6.48682410e-01 7.61019153e-01 7.80892039e-03 1.31463959e+02] [ 1.17556575e-02 -2.40062728e-04 9.99930871e-01 7.41872143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.43, Y:131.44, Z:7.42 [[ 7.60993004e-01 6.48700524e-01 -8.79085182e-03 1.59427959e+02] [-6.48653569e-01 7.61043739e-01 7.80858738e-03 1.31444612e+02] [ 1.17556575e-02 -2.40062952e-04 9.99930871e-01 7.41910722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.45, Y:131.42, Z:7.42 [[ 7.61622585e-01 6.47953935e-01 -9.31324856e-03 1.59447246e+02] [-6.47901186e-01 7.61679478e-01 8.27196077e-03 1.31423598e+02] [ 1.24535598e-02 -2.66047350e-04 9.99922416e-01 7.41900414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.47, Y:131.40, Z:7.42 [[ 7.62383093e-01 6.47047412e-01 -1.00829367e-02 1.59465937e+02] [-6.46985520e-01 7.62449706e-01 8.95448666e-03 1.31401025e+02] [ 1.34817096e-02 -3.03235178e-04 9.99909072e-01 7.41875632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.49, Y:131.38, Z:7.42 [[ 7.62727924e-01 6.46638117e-01 -1.02596085e-02 1.59485937e+02] [-6.46574018e-01 7.62796858e-01 9.11000191e-03 1.31380695e+02] [ 1.37168716e-02 -3.14856575e-04 9.99905870e-01 7.41907752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.50, Y:131.36, Z:7.42 [[ 7.62780443e-01 6.46564355e-01 -1.09786559e-02 1.59504781e+02] [-6.46490972e-01 7.62859372e-01 9.74690475e-03 1.31359762e+02] [ 1.46771717e-02 -3.37146422e-04 9.99892228e-01 7.41909329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.53, Y:131.34, Z:7.42 [[ 7.62411000e-01 6.46995609e-01 -1.12316181e-02 1.59525451e+02] [-6.46918880e-01 7.62493652e-01 9.96963025e-03 1.31340006e+02] [ 1.50143445e-02 -3.35010002e-04 9.99887222e-01 7.41923608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.55, Y:131.32, Z:7.42 [[ 7.62013453e-01 6.47464189e-01 -1.12081074e-02 1.59546686e+02] [-6.47387852e-01 7.62095807e-01 9.94736384e-03 1.31319772e+02] [ 1.49822135e-02 -3.24032479e-04 9.99887708e-01 7.42000352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.57, Y:131.30, Z:7.42 [[ 7.60649371e-01 6.49061229e-01 -1.14915311e-02 1.59567751e+02] [-6.48981182e-01 7.60736112e-01 1.01977227e-02 1.31300285e+02] [ 1.53609691e-02 -2.99103898e-04 9.99881969e-01 7.42115140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.59, Y:131.28, Z:7.42 [[ 7.59345201e-01 6.50596038e-01 -1.09389981e-02 1.59590395e+02] [-6.50523683e-01 7.59423947e-01 9.70603991e-03 1.31282821e+02] [ 1.46220482e-02 -2.54157463e-04 9.99893060e-01 7.42216414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.62, Y:131.26, Z:7.42 [[ 7.57831363e-01 6.52359490e-01 -1.08959105e-02 1.59617111e+02] [-6.52287897e-01 7.57909657e-01 9.66701899e-03 1.31264294e+02] [ 1.45644874e-02 -2.18699642e-04 9.99893908e-01 7.42298688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.64, Y:131.25, Z:7.42 [[ 7.54332088e-01 6.56405781e-01 -1.07029241e-02 1.59642274e+02] [-6.56337032e-01 7.54408000e-01 9.50101832e-03 1.31245131e+02] [ 1.43108949e-02 -1.42197525e-04 9.99897584e-01 7.42398962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.66, Y:131.23, Z:7.42 [[ 7.52856753e-01 6.58099930e-01 -1.05447386e-02 1.59663337e+02] [-6.58033299e-01 7.52930587e-01 9.36528010e-03 1.31227177e+02] [ 1.41027464e-02 -1.11925275e-04 9.99900545e-01 7.42446607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.69, Y:131.21, Z:7.43 [[ 7.50587833e-01 6.60687651e-01 -1.04753226e-02 1.59690815e+02] [-6.60622165e-01 7.50660924e-01 9.30226006e-03 1.31209176e+02] [ 1.40093037e-02 -6.19329292e-05 9.99901863e-01 7.42538965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8327550960001 meters Centerline goodness [0,1] 0.9999781935540145 Centerline is valid? [True, True] Translation: X:159.72, Y:131.19, Z:7.43 [[ 7.49628029e-01 6.61779888e-01 -1.02566357e-02 1.59715837e+02] [-6.61717140e-01 7.49698192e-01 9.11310421e-03 1.31187389e+02] [ 1.37202503e-02 -4.44467354e-05 9.99905872e-01 7.42586008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.74, Y:131.17, Z:7.43 [[ 7.48974416e-01 6.62518980e-01 -1.02920060e-02 1.59740610e+02] [-6.62455787e-01 7.49045126e-01 9.15041484e-03 1.31165712e+02] [ 1.37715004e-02 -3.54276888e-05 9.99905168e-01 7.42660621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:131.14, Z:7.43 [[ 7.48847865e-01 6.62653825e-01 -1.08065958e-02 1.59763773e+02] [-6.62584080e-01 7.48925835e-01 9.61407669e-03 1.31144874e+02] [ 1.44641435e-02 -3.92024684e-05 9.99895388e-01 7.42643051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:131.13, Z:7.43 [[ 7.49314850e-01 6.62122006e-01 -1.10319741e-02 1.59785548e+02] [-6.62049222e-01 7.49396055e-01 9.81735095e-03 1.31125036e+02] [ 1.47676019e-02 -5.25770103e-05 9.99890952e-01 7.42658579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.81, Y:131.10, Z:7.43 [[ 7.50924424e-01 6.60293849e-01 -1.11598695e-02 1.59806882e+02] [-6.60219178e-01 7.51007340e-01 9.93038209e-03 1.31103802e+02] [ 1.49381141e-02 -8.90066077e-05 9.99888416e-01 7.42712771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.83, Y:131.08, Z:7.43 [[ 7.52039793e-01 6.59027335e-01 -1.09143027e-02 1.59827085e+02] [-6.58955792e-01 7.52118979e-01 9.71109547e-03 1.31083834e+02] [ 1.46087315e-02 -1.11087279e-04 9.99893281e-01 7.42778869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.85, Y:131.06, Z:7.43 [[ 7.53282934e-01 6.57606991e-01 -1.08566297e-02 1.59850127e+02] [-6.57536062e-01 7.53361153e-01 9.65924826e-03 1.31061438e+02] [ 1.45309522e-02 -1.37521357e-04 9.99894411e-01 7.42838543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.87, Y:131.04, Z:7.43 [[ 7.56187249e-01 6.54265024e-01 -1.08684027e-02 1.59870497e+02] [-6.54193518e-01 7.56265321e-01 9.67501206e-03 1.31037485e+02] [ 1.45494181e-02 -2.06082155e-04 9.99894130e-01 7.42881704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.89, Y:131.01, Z:7.43 [[ 7.57700888e-01 6.52510293e-01 -1.09398934e-02 1.59892766e+02] [-6.52437590e-01 7.57779821e-01 9.74341500e-03 1.31014851e+02] [ 1.46477090e-02 -2.44996538e-04 9.99892687e-01 7.42917883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.91, Y:130.99, Z:7.43 [[ 7.60985301e-01 6.48673727e-01 -1.11251073e-02 1.59913716e+02] [-6.48598082e-01 7.61066547e-01 9.91154782e-03 1.30990559e+02] [ 1.48963077e-02 -3.26818915e-04 9.99888990e-01 7.42907401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.94, Y:130.97, Z:7.43 [[ 7.62450824e-01 6.46947990e-01 -1.12711806e-02 1.59935120e+02] [-6.46870080e-01 7.62534040e-01 1.00467594e-02 1.30967523e+02] [ 1.50943897e-02 -3.69170442e-04 9.99886005e-01 7.42902916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.96, Y:130.95, Z:7.43 [[ 7.63896655e-01 6.45241226e-01 -1.12098953e-02 1.59957790e+02] [-6.45163903e-01 7.63978794e-01 9.99705172e-03 1.30945601e+02] [ 1.50146322e-02 -4.04494532e-04 9.99887192e-01 7.42958792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.98, Y:130.92, Z:7.43 [[ 7.65753457e-01 6.43033190e-01 -1.13999587e-02 1.59981109e+02] [-6.42952908e-01 7.65838172e-01 1.01711623e-02 1.30923157e+02] [ 1.52709184e-02 -4.58966095e-04 9.99883287e-01 7.42904699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.00, Y:130.90, Z:7.43 [[ 7.66048602e-01 6.42667561e-01 -1.21632956e-02 1.60004553e+02] [-6.42576088e-01 7.66144997e-01 1.08542253e-02 1.30901914e+02] [ 1.62945066e-02 -4.99021188e-04 9.99867111e-01 7.42891031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.03, Y:130.88, Z:7.43 [[ 7.65564633e-01 6.43224758e-01 -1.31416555e-02 1.60027447e+02] [-6.43118012e-01 7.65677237e-01 1.17299042e-02 1.30882699e+02] [ 1.76072312e-02 -5.28364469e-04 9.99844841e-01 7.42782635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.05, Y:130.87, Z:7.43 [[ 7.64847756e-01 6.44061656e-01 -1.38741620e-02 1.60049943e+02] [-6.43942832e-01 7.64973395e-01 1.23828516e-02 1.30865051e+02] [ 1.85886847e-02 -5.36829127e-04 9.99827071e-01 7.42747841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.08, Y:130.85, Z:7.43 [[ 7.63938299e-01 6.45136128e-01 -1.40588535e-02 1.60077019e+02] [-6.45014286e-01 7.64067476e-01 1.25484149e-02 1.30847048e+02] [ 1.88373485e-02 -5.18053369e-04 9.99822427e-01 7.42789392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.10, Y:130.83, Z:7.43 [[ 7.61869750e-01 6.47569249e-01 -1.44413601e-02 1.60102763e+02] [-6.47440986e-01 7.62006458e-01 1.28967869e-02 1.30828951e+02] [ 1.93559722e-02 -4.75743348e-04 9.99812542e-01 7.42768899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.13, Y:130.81, Z:7.43 [[ 7.60949399e-01 6.48652044e-01 -1.43714548e-02 1.60126962e+02] [-6.48525129e-01 7.61084965e-01 1.28387444e-02 1.30810493e+02] [ 1.92657759e-02 -4.49385235e-04 9.99814297e-01 7.42802994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.15, Y:130.79, Z:7.43 [[ 7.59458780e-01 6.50397486e-01 -1.43342848e-02 1.60149086e+02] [-6.50271551e-01 7.59593936e-01 1.28047807e-02 1.30793716e+02] [ 1.92164330e-02 -4.03525534e-04 9.99815266e-01 7.42723947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.17, Y:130.78, Z:7.43 [[ 7.58827561e-01 6.51136203e-01 -1.42259684e-02 1.60173257e+02] [-6.51012337e-01 7.58960803e-01 1.27057767e-02 1.30777776e+02] [ 1.90701436e-02 -3.80212601e-04 9.99818076e-01 7.42855394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.20, Y:130.76, Z:7.43 [[ 7.58401726e-01 6.51641429e-01 -1.37938504e-02 1.60195172e+02] [-6.51525093e-01 7.58527075e-01 1.23178941e-02 1.30760104e+02] [ 1.84898591e-02 -3.54872474e-04 9.99828985e-01 7.42950925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.22, Y:130.74, Z:7.43 [[ 7.57630463e-01 6.52558926e-01 -1.27643808e-02 1.60220966e+02] [-6.52459461e-01 7.57737919e-01 1.13972608e-02 1.30742467e+02] [ 1.71094396e-02 -3.06670919e-04 9.99853576e-01 7.43163787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.24, Y:130.72, Z:7.43 [[ 7.57276199e-01 6.52981441e-01 -1.21653905e-02 1.60242937e+02] [-6.52891137e-01 7.57373856e-01 1.08630050e-02 1.30722247e+02] [ 1.63070894e-02 -2.83619483e-04 9.99866990e-01 7.43257754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.27, Y:130.70, Z:7.43 [[ 7.56649793e-01 6.53722404e-01 -1.13185194e-02 1.60268890e+02] [-6.53644314e-01 7.56734402e-01 1.01071997e-02 1.30702946e+02] [ 1.51724159e-02 -2.49324751e-04 9.99884861e-01 7.43438975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.29, Y:130.68, Z:7.44 [[ 7.56111261e-01 6.54352370e-01 -1.08966225e-02 1.60293413e+02] [-6.54279981e-01 7.56189740e-01 9.73569320e-03 1.30682586e+02] [ 1.46104880e-02 -2.31825321e-04 9.99893234e-01 7.43522412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.32, Y:130.66, Z:7.44 [[ 7.55534472e-01 6.55023477e-01 -1.05785595e-02 1.60317515e+02] [-6.54955248e-01 7.55608495e-01 9.45651326e-03 1.30662394e+02] [ 1.41874876e-02 -2.16238684e-04 9.99899329e-01 7.43580693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.34, Y:130.64, Z:7.44 [[ 7.55257277e-01 6.55349419e-01 -1.01776496e-02 1.60338407e+02] [-6.55286256e-01 7.55325822e-01 9.10079437e-03 1.30642280e+02] [ 1.36516418e-02 -2.04167278e-04 9.99906791e-01 7.43643541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.36, Y:130.63, Z:7.44 [[ 7.54747065e-01 6.55945041e-01 -9.64210089e-03 1.60363444e+02] [-6.55888413e-01 7.54808631e-01 8.62094316e-03 1.30625284e+02] [ 1.29328059e-02 -1.82489307e-04 9.99916351e-01 7.43720063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.38, Y:130.61, Z:7.44 [[ 7.54518146e-01 6.56202626e-01 -1.00240123e-02 1.60384095e+02] [-6.56141455e-01 7.54584707e-01 8.96165161e-03 1.30607094e+02] [ 1.34446257e-02 -1.84558768e-04 9.99909600e-01 7.43702378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.41, Y:130.59, Z:7.44 [[ 7.54244081e-01 6.56519423e-01 -9.90521445e-03 1.60406340e+02] [-6.56459746e-01 7.54309099e-01 8.85351664e-03 1.30588962e+02] [ 1.32840990e-02 -1.75337952e-04 9.99911747e-01 7.43693693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.43, Y:130.57, Z:7.44 [[ 7.54202192e-01 6.56568830e-01 -9.81962231e-03 1.60430366e+02] [-6.56510202e-01 7.54266095e-01 8.77563751e-03 1.30568125e+02] [ 1.31684182e-02 -1.71922821e-04 9.99913278e-01 7.43761895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.45, Y:130.55, Z:7.44 [[ 7.54252103e-01 6.56507999e-01 -1.00504854e-02 1.60452522e+02] [-6.56446568e-01 7.54319041e-01 8.98266358e-03 1.30548648e+02] [ 1.34784630e-02 -1.77586215e-04 9.99909146e-01 7.43759395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.47, Y:130.53, Z:7.44 [[ 7.54370833e-01 6.56375103e-01 -9.81683951e-03 1.60474803e+02] [-6.56316493e-01 7.54434684e-01 8.77316548e-03 1.30529636e+02] [ 1.31646516e-02 -1.75266477e-04 9.99913327e-01 7.43775669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.50, Y:130.51, Z:7.44 [[ 7.54446161e-01 6.56294097e-01 -9.43656273e-03 1.60496679e+02] [-6.56239949e-01 7.54505156e-01 8.43204583e-03 1.30510224e+02] [ 1.26538371e-02 -1.68875156e-04 9.99919923e-01 7.43829512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88275509600004 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:160.52, Y:130.49, Z:7.44 [[ 7.54385869e-01 6.56364389e-01 -9.36744143e-03 1.60517447e+02] [-6.56311053e-01 7.54444008e-01 8.36897570e-03 1.30490728e+02] [ 1.25603077e-02 -1.65481660e-04 9.99921103e-01 7.43977491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.54, Y:130.47, Z:7.44 [[ 7.54587808e-01 6.56132399e-01 -9.35494307e-03 1.60539650e+02] [-6.56079204e-01 7.54645776e-01 8.35647375e-03 1.30470377e+02] [ 1.25426214e-02 -1.68109614e-04 9.99921324e-01 7.44024709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:130.45, Z:7.44 [[ 7.54771812e-01 6.55920826e-01 -9.34785112e-03 1.60561250e+02] [-6.55867704e-01 7.54829677e-01 8.34951631e-03 1.30450625e+02] [ 1.25326571e-02 -1.71025904e-04 9.99921449e-01 7.44077099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.58, Y:130.43, Z:7.44 [[ 7.54912681e-01 6.55752645e-01 -9.76279120e-03 1.60583822e+02] [-6.55694707e-01 7.54975785e-01 8.71869021e-03 1.30430141e+02] [ 1.30879751e-02 -1.80439290e-04 9.99914333e-01 7.44067589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.61, Y:130.41, Z:7.44 [[ 7.54649274e-01 6.56055420e-01 -9.78567842e-03 1.60608575e+02] [-6.55997235e-01 7.54712698e-01 8.73908456e-03 1.30408921e+02] [ 1.31186995e-02 -1.75565832e-04 9.99913931e-01 7.44057294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.63, Y:130.39, Z:7.44 [[ 7.54893302e-01 6.55769783e-01 -1.01041550e-02 1.60631093e+02] [-6.55707645e-01 7.54960897e-01 9.02936014e-03 1.30388665e+02] [ 1.35494234e-02 -1.90831846e-04 9.99908184e-01 7.44037313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.65, Y:130.37, Z:7.44 [[ 7.55329945e-01 6.55264781e-01 -1.02343113e-02 1.60653133e+02] [-6.55200981e-01 7.55399249e-01 9.14600038e-03 1.30368710e+02] [ 1.37240430e-02 -2.02717137e-04 9.99905800e-01 7.43985540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.67, Y:130.35, Z:7.44 [[ 7.55693961e-01 6.54843492e-01 -1.03265433e-02 1.60673277e+02] [-6.54778508e-01 7.55764485e-01 9.22764019e-03 1.30349331e+02] [ 1.38470948e-02 -2.11673379e-04 9.99904102e-01 7.44015849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.70, Y:130.33, Z:7.44 [[ 7.56760243e-01 6.53607718e-01 -1.05301995e-02 1.60696346e+02] [-6.53540046e-01 7.56833466e-01 9.40820568e-03 1.30326641e+02] [ 1.41188832e-02 -2.37848979e-04 9.99900295e-01 7.44046454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:130.30, Z:7.44 [[ 7.57479959e-01 6.52773116e-01 -1.05532860e-02 1.60716962e+02] [-6.52704994e-01 7.57553426e-01 9.43389144e-03 1.30303699e+02] [ 1.41528686e-02 -2.57801243e-04 9.99899810e-01 7.44076553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.74, Y:130.28, Z:7.44 [[ 7.58518929e-01 6.51565882e-01 -1.05326308e-02 1.60737534e+02] [-6.51497901e-01 7.58592001e-01 9.41604845e-03 1.30283686e+02] [ 1.41251453e-02 -2.80264155e-04 9.99900196e-01 7.44109061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.76, Y:130.26, Z:7.44 [[ 7.60710117e-01 6.49005669e-01 -1.05716337e-02 1.60759722e+02] [-6.48936954e-01 7.60783500e-01 9.44958315e-03 1.30262231e+02] [ 1.41755575e-02 -3.28069757e-04 9.99899468e-01 7.44172890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:130.24, Z:7.44 [[ 7.61930450e-01 6.47578141e-01 -1.02244966e-02 1.60782749e+02] [-6.47513735e-01 7.61998972e-01 9.13946870e-03 1.30239861e+02] [ 1.37095760e-02 -3.43137537e-04 9.99905960e-01 7.44236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.81, Y:130.22, Z:7.44 [[ 7.63074093e-01 6.46232180e-01 -1.00944441e-02 1.60806181e+02] [-6.46169218e-01 7.63140771e-01 9.02810035e-03 1.30217836e+02] [ 1.35377308e-02 -3.66390424e-04 9.99908294e-01 7.44302056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:130.19, Z:7.44 [[ 7.65334887e-01 6.43563953e-01 -9.37816016e-03 1.60827419e+02] [-6.43509354e-01 7.65392245e-01 8.39184087e-03 1.30194244e+02] [ 1.25786573e-02 -3.87634788e-04 9.99920810e-01 7.44425805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.85, Y:130.17, Z:7.45 [[ 7.65993277e-01 6.42785330e-01 -9.01771380e-03 1.60850029e+02] [-6.42734746e-01 7.66046258e-01 8.07327935e-03 1.30171820e+02] [ 1.20973714e-02 -3.88079716e-04 9.99926749e-01 7.44546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.87, Y:130.15, Z:7.45 [[ 7.65790085e-01 6.43027422e-01 -9.01551344e-03 1.60874082e+02] [-6.42976826e-01 7.65843055e-01 8.07573570e-03 1.30150056e+02] [ 1.20973879e-02 -3.87552122e-04 9.99926749e-01 7.44589657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.90, Y:130.13, Z:7.45 [[ 7.66565291e-01 6.42108628e-01 -8.61182917e-03 1.60896035e+02] [-6.42062348e-01 7.66613566e-01 7.71892705e-03 1.30127734e+02] [ 1.15583347e-02 -3.87730306e-04 9.99933125e-01 7.44699925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.92, Y:130.11, Z:7.45 [[ 7.66281289e-01 6.42450321e-01 -8.40067106e-03 1.60922303e+02] [-6.42406263e-01 7.66327244e-01 7.53322883e-03 1.30107117e+02] [ 1.12773884e-02 -3.75928601e-04 9.99936338e-01 7.44757102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.94, Y:130.08, Z:7.45 [[ 7.65576623e-01 6.43283702e-01 -8.86073992e-03 1.60943773e+02] [-6.43234676e-01 7.65627800e-01 7.95136285e-03 1.30084926e+02] [ 1.18990109e-02 -3.87842351e-04 9.99929129e-01 7.44811148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:130.07, Z:7.45 [[ 7.63495465e-01 6.45745403e-01 -9.35674280e-03 1.60968826e+02] [-6.45690857e-01 7.63552706e-01 8.40130055e-03 1.30066287e+02] [ 1.25694675e-02 -3.72791592e-04 9.99920932e-01 7.44793587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.00, Y:130.05, Z:7.45 [[ 7.61642937e-01 6.47928908e-01 -9.38975871e-03 1.60995062e+02] [-6.47874139e-01 7.61700740e-01 8.43106510e-03 1.30046932e+02] [ 1.26149170e-02 -3.38079338e-04 9.99920372e-01 7.44834005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.02, Y:130.03, Z:7.45 [[ 7.59787489e-01 6.50103210e-01 -9.42276784e-03 1.61021372e+02] [-6.50048162e-01 7.59845855e-01 8.46546233e-03 1.30027516e+02] [ 1.26632753e-02 -3.06699449e-04 9.99919770e-01 7.44885923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.05, Y:130.01, Z:7.45 [[ 7.56325364e-01 6.54122771e-01 -9.76445614e-03 1.61046350e+02] [-6.54063968e-01 7.56388351e-01 8.77425749e-03 1.30010791e+02] [ 1.31251625e-02 -2.49614560e-04 9.99913830e-01 7.44970298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.07, Y:129.99, Z:7.45 [[ 7.54972541e-01 6.55686372e-01 -9.58357508e-03 1.61067707e+02] [-6.55629857e-01 7.55033333e-01 8.61141389e-03 1.29992257e+02] [ 1.28823054e-02 -2.18103068e-04 9.99916996e-01 7.45046681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.09, Y:129.98, Z:7.45 [[ 7.52852161e-01 6.58120071e-01 -9.57061256e-03 1.61091401e+02] [-6.58063922e-01 7.52912971e-01 8.59843578e-03 1.29976028e+02] [ 1.28646415e-02 -1.75276126e-04 9.99917232e-01 7.45205668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.11, Y:129.96, Z:7.45 [[ 7.52231887e-01 6.58830617e-01 -9.45543023e-03 1.61112327e+02] [-6.58775884e-01 7.52291295e-01 8.49366989e-03 1.29957202e+02] [ 1.27091276e-02 -1.60199922e-04 9.99919223e-01 7.45283055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:129.94, Z:7.45 [[ 7.51465662e-01 6.59704360e-01 -9.46129527e-03 1.61134487e+02] [-6.59649649e-01 7.51525207e-01 8.49729596e-03 1.29938604e+02] [ 1.27161051e-02 -1.44286027e-04 9.99919137e-01 7.45374063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.16, Y:129.92, Z:7.45 [[ 7.51512586e-01 6.59648447e-01 -9.63115309e-03 1.61156088e+02] [-6.59591767e-01 7.51574284e-01 8.64847438e-03 1.29919408e+02] [ 1.29434797e-02 -1.46808056e-04 9.99916219e-01 7.45451274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.18, Y:129.90, Z:7.46 [[ 7.51543332e-01 6.59613839e-01 -9.60222017e-03 1.61180087e+02] [-6.59557514e-01 7.51604658e-01 8.62110527e-03 1.29898725e+02] [ 1.29036737e-02 -1.45917715e-04 9.99916734e-01 7.45505784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.20, Y:129.88, Z:7.46 [[ 7.51558903e-01 6.59597705e-01 -9.49114213e-03 1.61201742e+02] [-6.59542666e-01 7.51618817e-01 8.52209099e-03 1.29877987e+02] [ 1.27548727e-02 -1.45040177e-04 9.99918643e-01 7.45581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.22, Y:129.86, Z:7.46 [[ 7.52270071e-01 6.58785110e-01 -9.58745929e-03 1.61222360e+02] [-6.58728885e-01 7.52331146e-01 8.60825344e-03 1.29857178e+02] [ 1.28839334e-02 -1.60195056e-04 9.99916986e-01 7.45712206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.24, Y:129.84, Z:7.46 [[ 7.52989537e-01 6.57957910e-01 -9.90683930e-03 1.61242907e+02] [-6.57897825e-01 7.53054683e-01 8.89359774e-03 1.29837188e+02] [ 1.33120047e-02 -1.79098019e-04 9.99911375e-01 7.45761461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.26, Y:129.82, Z:7.46 [[ 7.54204109e-01 6.56553968e-01 -1.06324788e-02 1.61261560e+02] [-6.56484640e-01 7.54279020e-01 9.54343345e-03 1.29816333e+02] [ 1.42856348e-02 -2.17637741e-04 9.99897931e-01 7.45764465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.29, Y:129.80, Z:7.46 [[ 7.54644575e-01 6.56039958e-01 -1.10967828e-02 1.61286187e+02] [-6.55964404e-01 7.54726121e-01 9.95906296e-03 1.29795554e+02] [ 1.49085751e-02 -2.36458285e-04 9.99888833e-01 7.45764798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.31, Y:129.77, Z:7.46 [[ 7.55018776e-01 6.55604267e-01 -1.13882839e-02 1.61309247e+02] [-6.55524552e-01 7.55104615e-01 1.02265606e-02 1.29773463e+02] [ 1.53039225e-02 -2.55945532e-04 9.99882855e-01 7.45807380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.33, Y:129.75, Z:7.46 [[ 7.55597431e-01 6.54934434e-01 -1.15503146e-02 1.61329573e+02] [-6.54852271e-01 7.55685656e-01 1.03775378e-02 1.29749306e+02] [ 1.55250139e-02 -2.77491147e-04 9.99879441e-01 7.45769296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.35, Y:129.73, Z:7.46 [[ 7.56764761e-01 6.53578092e-01 -1.19488001e-02 1.61353449e+02] [-6.53489948e-01 7.56859020e-01 1.07382989e-02 1.29730378e+02] [ 1.60618740e-02 -3.17945464e-04 9.99870949e-01 7.45831729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.37, Y:129.71, Z:7.46 [[ 7.57561399e-01 6.52652186e-01 -1.20768928e-02 1.61374768e+02] [-6.52562027e-01 7.57657580e-01 1.08532581e-02 1.29709585e+02] [ 1.62335520e-02 -3.41087740e-04 9.99868169e-01 7.45874746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.40, Y:129.69, Z:7.46 [[ 7.59191906e-01 6.50754583e-01 -1.20881428e-02 1.61396725e+02] [-6.50664008e-01 7.59288039e-01 1.08637862e-02 1.29686093e+02] [ 1.62480409e-02 -3.82379097e-04 9.99867919e-01 7.46011594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.42, Y:129.66, Z:7.46 [[ 7.60025153e-01 6.49782439e-01 -1.20228232e-02 1.61419176e+02] [-6.49692624e-01 7.60120134e-01 1.08109643e-02 1.29663460e+02] [ 1.61635647e-02 -4.05465257e-04 9.99869279e-01 7.46078075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.44, Y:129.64, Z:7.46 [[ 7.60551233e-01 6.49163970e-01 -1.21639628e-02 1.61442538e+02] [-6.49071856e-01 7.60648379e-01 1.09439159e-02 1.29641910e+02] [ 1.63568945e-02 -4.28122807e-04 9.99866125e-01 7.46175915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.47, Y:129.62, Z:7.46 [[ 7.61502236e-01 6.48037330e-01 -1.27264748e-02 1.61465377e+02] [-6.47936228e-01 7.61608423e-01 1.14566471e-02 1.29619635e+02] [ 1.71169254e-02 -4.78318343e-04 9.99853380e-01 7.46196660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.49, Y:129.60, Z:7.46 [[ 7.61498165e-01 6.48029222e-01 -1.33668460e-02 1.61488056e+02] [-6.47917558e-01 7.61615303e-01 1.20402953e-02 1.29596513e+02] [ 1.79828577e-02 -5.08048560e-04 9.99838166e-01 7.46157890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.51, Y:129.58, Z:7.46 [[ 7.61170693e-01 6.48401412e-01 -1.39565102e-02 1.61513492e+02] [-6.48279592e-01 7.61298450e-01 1.25793585e-02 1.29575667e+02] [ 1.87815434e-02 -5.27318323e-04 9.99823472e-01 7.46154242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.54, Y:129.56, Z:7.46 [[ 7.59812292e-01 6.49964908e-01 -1.51953375e-02 1.61539193e+02] [-6.49820630e-01 7.59964031e-01 1.37047985e-02 1.29556583e+02] [ 2.04555480e-02 -5.38830544e-04 9.99790618e-01 7.46124300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.56, Y:129.54, Z:7.46 [[ 7.58706224e-01 6.51251499e-01 -1.53736761e-02 1.61564071e+02] [-6.51103915e-01 7.58861791e-01 1.38735051e-02 1.29535632e+02] [ 2.07016364e-02 -5.16054003e-04 9.99785565e-01 7.46177862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.59, Y:129.52, Z:7.46 [[ 7.56529729e-01 6.53759365e-01 -1.61697809e-02 1.61589904e+02] [-6.53596484e-01 7.56702362e-01 1.46003516e-02 1.29516327e+02] [ 2.17808280e-02 -4.77088053e-04 9.99762656e-01 7.46191993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.61, Y:129.50, Z:7.46 [[ 7.55194257e-01 6.55294782e-01 -1.64433237e-02 1.61612276e+02] [-6.55126595e-01 7.55373120e-01 1.48523782e-02 1.29496335e+02] [ 2.21535306e-02 -4.43972048e-04 9.99754482e-01 7.46178056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.64, Y:129.48, Z:7.46 [[ 7.53822533e-01 6.56869044e-01 -1.65724847e-02 1.61638105e+02] [-6.56698507e-01 7.54004573e-01 1.49724958e-02 1.29477352e+02] [ 2.23306983e-02 -4.03478764e-04 9.99750557e-01 7.46305831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.66, Y:129.46, Z:7.46 [[ 7.52912458e-01 6.57911174e-01 -1.66047657e-02 1.61660689e+02] [-6.57740106e-01 7.53095442e-01 1.50069307e-02 1.29457721e+02] [ 2.23782008e-02 -3.77284700e-04 9.99749506e-01 7.46282368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.68, Y:129.44, Z:7.46 [[ 7.51053546e-01 6.60038663e-01 -1.63565095e-02 1.61683983e+02] [-6.59873188e-01 7.51231568e-01 1.47819821e-02 1.29440788e+02] [ 2.20442059e-02 -3.08837993e-04 9.99756949e-01 7.46431165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.71, Y:129.42, Z:7.47 [[ 7.50443040e-01 6.60734171e-01 -1.62972245e-02 1.61705870e+02] [-6.60570108e-01 7.50619927e-01 1.47260958e-02 1.29422403e+02] [ 2.19630562e-02 -2.85636797e-04 9.99758742e-01 7.46504672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.73, Y:129.40, Z:7.47 [[ 7.50109395e-01 6.61121330e-01 -1.59525111e-02 1.61727949e+02] [-6.60964266e-01 7.50278959e-01 1.44126090e-02 1.29403088e+02] [ 2.14973166e-02 -2.66993575e-04 9.99768870e-01 7.46611675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.75, Y:129.38, Z:7.47 [[ 7.50135132e-01 6.61105911e-01 -1.53706752e-02 1.61749683e+02] [-6.60960131e-01 7.50292548e-01 1.38851535e-02 1.29383667e+02] [ 2.07120602e-02 -2.56337964e-04 9.99785449e-01 7.46723376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.77, Y:129.36, Z:7.47 [[ 7.50592761e-01 6.60588971e-01 -1.52551467e-02 1.61769666e+02] [-6.60445314e-01 7.50747721e-01 1.37784561e-02 1.29364443e+02] [ 2.05546627e-02 -2.66819235e-04 9.99788695e-01 7.46805034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.79, Y:129.35, Z:7.47 [[ 7.50958403e-01 6.60181499e-01 -1.48951146e-02 1.61789316e+02] [-6.60044523e-01 7.51106062e-01 1.34503636e-02 1.29346202e+02] [ 2.00674921e-02 -2.69224740e-04 9.99798591e-01 7.46796631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.81, Y:129.33, Z:7.47 [[ 7.51504951e-01 6.59562005e-01 -1.47739748e-02 1.61811010e+02] [-6.59427189e-01 7.51650106e-01 1.33379243e-02 1.29326804e+02] [ 1.99020479e-02 -2.81155469e-04 9.99801895e-01 7.46893025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.83, Y:129.31, Z:7.47 [[ 7.52514237e-01 6.58426028e-01 -1.40530761e-02 1.61832007e+02] [-6.58303886e-01 7.52645388e-01 1.26852030e-02 1.29306717e+02] [ 1.89292507e-02 -2.94601208e-04 9.99820782e-01 7.46968076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.85, Y:129.29, Z:7.47 [[ 7.53125983e-01 6.57726206e-01 -1.40531515e-02 1.61851987e+02] [-6.57603987e-01 7.53257022e-01 1.26828769e-02 1.29286646e+02] [ 1.89274955e-02 -3.10395692e-04 9.99820811e-01 7.46960963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.87, Y:129.27, Z:7.47 [[ 7.54484202e-01 6.56156207e-01 -1.45815587e-02 1.61871571e+02] [-6.56024393e-01 7.54625008e-01 1.31564874e-02 1.29266021e+02] [ 1.96363197e-02 -3.60503697e-04 9.99807124e-01 7.46919105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.89, Y:129.25, Z:7.47 [[ 7.55130272e-01 6.55400574e-01 -1.51115713e-02 1.61892602e+02] [-6.55258901e-01 7.55281361e-01 1.36322820e-02 1.29245788e+02] [ 2.03480936e-02 -3.92157172e-04 9.99792879e-01 7.46941324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.92, Y:129.23, Z:7.47 [[ 7.55585969e-01 6.54869963e-01 -1.53353921e-02 1.61917080e+02] [-6.54723923e-01 7.55741464e-01 1.38356269e-02 1.29225399e+02] [ 2.06501282e-02 -4.13557511e-04 9.99786678e-01 7.47010655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.94, Y:129.20, Z:7.47 [[ 7.56675831e-01 6.53604524e-01 -1.55824629e-02 1.61939008e+02] [-6.53453361e-01 7.56836122e-01 1.40637672e-02 1.29204271e+02] [ 2.09855126e-02 -4.59299974e-04 9.99779674e-01 7.46946085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.96, Y:129.18, Z:7.47 [[ 7.56986062e-01 6.53246425e-01 -1.55309827e-02 1.61961717e+02] [-6.53096168e-01 7.57145224e-01 1.40180616e-02 1.29183325e+02] [ 2.09164580e-02 -4.68251947e-04 9.99781117e-01 7.46967462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.98, Y:129.16, Z:7.47 [[ 7.57248170e-01 6.52927635e-01 -1.61465843e-02 1.61981595e+02] [-6.52765136e-01 7.57420132e-01 1.45746489e-02 1.29159742e+02] [ 2.17459390e-02 -4.96698921e-04 9.99763406e-01 7.46819345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.01, Y:129.14, Z:7.47 [[ 7.57502500e-01 6.52613556e-01 -1.68970079e-02 1.62006878e+02] [-6.52435432e-01 7.57690744e-01 1.52559246e-02 1.29140233e+02] [ 2.27589297e-02 -5.32194373e-04 9.99740840e-01 7.46851456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.03, Y:129.12, Z:7.47 [[ 7.57366114e-01 6.52759060e-01 -1.73832987e-02 1.62026784e+02] [-6.52570373e-01 7.57565382e-01 1.57035349e-02 1.29115835e+02] [ 2.34196100e-02 -5.49499516e-04 9.99725572e-01 7.46678195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.05, Y:129.10, Z:7.47 [[ 7.56954738e-01 6.53215912e-01 -1.81244884e-02 1.62050784e+02] [-6.53010819e-01 7.57171485e-01 1.63772363e-02 1.29098717e+02] [ 2.44212171e-02 -5.61339576e-04 9.99701600e-01 7.46795502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.07, Y:129.08, Z:7.47 [[ 7.56903489e-01 6.53284438e-01 -1.77918876e-02 1.62072378e+02] [-6.53086853e-01 7.57112371e-01 1.60754518e-02 1.29078892e+02] [ 2.39723007e-02 -5.47917674e-04 9.99712473e-01 7.46842592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.09, Y:129.06, Z:7.47 [[ 7.56875754e-01 6.53321876e-01 -1.75959905e-02 1.62093099e+02] [-6.53128671e-01 7.57080072e-01 1.58966730e-02 1.29059252e+02] [ 2.37072180e-02 -5.39360436e-04 9.99718799e-01 7.46898214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.11, Y:129.04, Z:7.47 [[ 7.56879503e-01 6.53329194e-01 -1.71575824e-02 1.62114959e+02] [-6.53145543e-01 7.57073767e-01 1.54987401e-02 1.29039603e+02] [ 2.31153350e-02 -5.24280196e-04 9.99732667e-01 7.46962677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.13, Y:129.02, Z:7.47 [[ 7.56634027e-01 6.53632447e-01 -1.64186896e-02 1.62134367e+02] [-6.53464387e-01 7.56811986e-01 1.48294632e-02 1.29020156e+02] [ 2.21188794e-02 -4.91447559e-04 9.99755227e-01 7.47077735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.16, Y:129.00, Z:7.47 [[ 7.56455952e-01 6.53846195e-01 -1.61104243e-02 1.62155528e+02] [-6.53684490e-01 7.56627338e-01 1.45484807e-02 1.29000360e+02] [ 2.17020563e-02 -4.74150329e-04 9.99764370e-01 7.47190403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.18, Y:128.98, Z:7.47 [[ 7.56296799e-01 6.54045421e-01 -1.54835450e-02 1.62175391e+02] [-6.53896146e-01 7.56455145e-01 1.39801113e-02 1.28980531e+02] [ 2.08562350e-02 -4.48483004e-04 9.99782385e-01 7.47336344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.20, Y:128.96, Z:7.47 [[ 7.56035274e-01 6.54355442e-01 -1.51532124e-02 1.62198435e+02] [-6.54212565e-01 7.56186995e-01 1.36802139e-02 1.28960999e+02] [ 2.04103846e-02 -4.29302267e-04 9.99791594e-01 7.47475829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.22, Y:128.94, Z:7.48 [[ 7.55659838e-01 6.54790394e-01 -1.50913651e-02 1.62221265e+02] [-6.54648768e-01 7.55810404e-01 1.36243785e-02 1.28940610e+02] [ 2.03273229e-02 -4.15852106e-04 9.99793292e-01 7.47521675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:128.92, Z:7.48 [[ 7.54536872e-01 6.56098077e-01 -1.44714465e-02 1.62246333e+02] [-6.55968042e-01 7.54675545e-01 1.30671003e-02 1.28920512e+02] [ 1.94945462e-02 -3.66802554e-04 9.99809896e-01 7.47662687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.27, Y:128.90, Z:7.48 [[ 7.53660248e-01 6.57110607e-01 -1.42084880e-02 1.62270621e+02] [-6.56985297e-01 7.53794093e-01 1.28368217e-02 1.28898938e+02] [ 1.91454860e-02 -3.39834466e-04 9.99816651e-01 7.47723298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.29, Y:128.88, Z:7.48 [[ 7.53449690e-01 6.57352105e-01 -1.42047332e-02 1.62294571e+02] [-6.57226760e-01 7.53583502e-01 1.28409757e-02 1.28877077e+02] [ 1.91454950e-02 -3.39298412e-04 9.99816651e-01 7.47766296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.32, Y:128.86, Z:7.48 [[ 7.52604406e-01 6.58325384e-01 -1.39390623e-02 1.62317485e+02] [-6.58204709e-01 7.52733413e-01 1.26083534e-02 1.28855957e+02] [ 1.87927970e-02 -3.14345839e-04 9.99823350e-01 7.47835222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.34, Y:128.84, Z:7.48 [[ 7.51580966e-01 6.59506995e-01 -1.32881712e-02 1.62338363e+02] [-6.59397444e-01 7.51698376e-01 1.20233722e-02 1.28837924e+02] [ 1.79181948e-02 -2.74351589e-04 9.99839419e-01 7.47921205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.36, Y:128.82, Z:7.48 [[ 7.51215356e-01 6.59932955e-01 -1.28056088e-02 1.62361690e+02] [-6.59831308e-01 7.51324451e-01 1.15850872e-02 1.28817769e+02] [ 1.72665478e-02 -2.53353802e-04 9.99850890e-01 7.48036527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.38, Y:128.80, Z:7.48 [[ 7.50968948e-01 6.60211182e-01 -1.29164061e-02 1.62382489e+02] [-6.60107815e-01 7.51079978e-01 1.16849929e-02 1.28797822e+02] [ 1.74158169e-02 -2.48846235e-04 9.99848302e-01 7.48053070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.40, Y:128.78, Z:7.48 [[ 7.50433590e-01 6.60824938e-01 -1.26422975e-02 1.62404480e+02] [-6.60726022e-01 7.50540038e-01 1.14356958e-02 1.28778418e+02] [ 1.70455434e-02 -2.28635348e-04 9.99854688e-01 7.48095744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.43, Y:128.76, Z:7.48 [[ 7.50274940e-01 6.61007423e-01 -1.25180306e-02 1.62426275e+02] [-6.60910491e-01 7.50379330e-01 1.13218863e-02 1.28758912e+02] [ 1.68771223e-02 -2.21229861e-04 9.99857547e-01 7.48107157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.45, Y:128.74, Z:7.48 [[ 7.49939221e-01 6.61388937e-01 -1.24835664e-02 1.62446890e+02] [-6.61292622e-01 7.50043085e-01 1.12888749e-02 1.28740067e+02] [ 1.68295496e-02 -2.10679693e-04 9.99858351e-01 7.48064930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.47, Y:128.72, Z:7.48 [[ 7.49657211e-01 6.61711646e-01 -1.23192542e-02 1.62468224e+02] [-6.61617927e-01 7.49758400e-01 1.11382530e-02 1.28720797e+02] [ 1.66067760e-02 -1.99232302e-04 9.99862078e-01 7.48082066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:128.70, Z:7.48 [[ 7.49594445e-01 6.61778431e-01 -1.25489395e-02 1.62488910e+02] [-6.61681226e-01 7.49699452e-01 1.13440605e-02 1.28701528e+02] [ 1.69151876e-02 -2.00047076e-04 9.99856908e-01 7.48083313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.51, Y:128.68, Z:7.48 [[ 7.49744966e-01 6.61597228e-01 -1.30993830e-02 1.62509688e+02] [-6.61491318e-01 7.49859363e-01 1.18394424e-02 1.28681915e+02] [ 1.76556373e-02 -2.11434198e-04 9.99844105e-01 7.47982464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.53, Y:128.66, Z:7.48 [[ 7.49814236e-01 6.61514693e-01 -1.33012019e-02 1.62531047e+02] [-6.61405515e-01 7.49932173e-01 1.20200019e-02 1.28662728e+02] [ 1.79264071e-02 -2.15280270e-04 9.99839286e-01 7.47997627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.55, Y:128.64, Z:7.48 [[ 7.49968249e-01 6.61340820e-01 -1.32644506e-02 1.62550476e+02] [-6.61232253e-01 7.50085510e-01 1.19848090e-02 1.28643400e+02] [ 1.78755156e-02 -2.17343661e-04 9.99840197e-01 7.47987077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.57, Y:128.62, Z:7.48 [[ 7.50269108e-01 6.61005314e-01 -1.29707866e-02 1.62569184e+02] [-6.60901493e-01 7.50381188e-01 1.17170317e-02 1.28624274e+02] [ 1.74780545e-02 -2.18514646e-04 9.99847223e-01 7.47990882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.59, Y:128.60, Z:7.48 [[ 7.50477008e-01 6.60759792e-01 -1.34445891e-02 1.62590342e+02] [-6.60648261e-01 7.50597391e-01 1.21421611e-02 1.28604643e+02] [ 1.81145253e-02 -2.30268370e-04 9.99835892e-01 7.48022093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.61, Y:128.59, Z:7.48 [[ 7.50687874e-01 6.60521001e-01 -1.34060792e-02 1.62611198e+02] [-6.60410126e-01 7.50807534e-01 1.21042311e-02 1.28585993e+02] [ 1.80604841e-02 -2.32989032e-04 9.99836869e-01 7.48027110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.63, Y:128.57, Z:7.48 [[ 7.50757238e-01 6.60453842e-01 -1.28176593e-02 1.62634292e+02] [-6.60352565e-01 7.50866616e-01 1.15678508e-02 1.28567715e+02] [ 1.72643840e-02 -2.20473573e-04 9.99850935e-01 7.48153809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.65, Y:128.55, Z:7.48 [[ 7.51015266e-01 6.60166817e-01 -1.24837296e-02 1.62654300e+02] [-6.60070729e-01 7.51118982e-01 1.12653456e-02 1.28548975e+02] [ 1.68137736e-02 -2.20302047e-04 9.99858614e-01 7.48155146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.68, Y:128.53, Z:7.48 [[ 7.51312274e-01 6.59843063e-01 -1.17046701e-02 1.62678683e+02] [-6.59758563e-01 7.51403412e-01 1.05618131e-02 1.28527340e+02] [ 1.57640681e-02 -2.12963479e-04 9.99875717e-01 7.48257672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.70, Y:128.50, Z:7.48 [[ 7.51444221e-01 6.59691070e-01 -1.18014670e-02 1.62702076e+02] [-6.59605045e-01 7.51536853e-01 1.06556258e-02 1.28504903e+02] [ 1.58986586e-02 -2.22801277e-04 9.99873584e-01 7.48336798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.73, Y:128.48, Z:7.48 [[ 7.51460658e-01 6.59676390e-01 -1.15732301e-02 1.62725661e+02] [-6.59593591e-01 7.51549740e-01 1.04538979e-02 1.28482694e+02] [ 1.55940477e-02 -2.22064610e-04 9.99878381e-01 7.48357644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.75, Y:128.46, Z:7.48 [[ 7.51128034e-01 6.60061184e-01 -1.12209953e-02 1.62750597e+02] [-6.59983307e-01 7.51211814e-01 1.01412838e-02 1.28460462e+02] [ 1.51232120e-02 -2.11733011e-04 9.99885615e-01 7.48444891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.77, Y:128.44, Z:7.49 [[ 7.51114823e-01 6.60074690e-01 -1.13104629e-02 1.62774832e+02] [-6.59995468e-01 7.51199944e-01 1.02287262e-02 1.28438221e+02] [ 1.52481424e-02 -2.18093637e-04 9.99883717e-01 7.48504366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.80, Y:128.42, Z:7.49 [[ 7.51026029e-01 6.60180739e-01 -1.10134924e-02 1.62799243e+02] [-6.60105542e-01 7.51106748e-01 9.96632975e-03 1.28415730e+02] [ 1.48518874e-02 -2.14905668e-04 9.99889682e-01 7.48600175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.82, Y:128.39, Z:7.49 [[ 7.50948553e-01 6.60270757e-01 -1.08994951e-02 1.62821112e+02] [-6.60197035e-01 7.51027617e-01 9.86877406e-03 1.28394836e+02] [ 1.47018847e-02 -2.15127268e-04 9.99891898e-01 7.48699415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.84, Y:128.37, Z:7.49 [[ 7.51053137e-01 6.60149859e-01 -1.10158383e-02 1.62842754e+02] [-6.60074538e-01 7.51133887e-01 9.97438187e-03 1.28374572e+02] [ 1.48589562e-02 -2.20016416e-04 9.99889575e-01 7.48761931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.86, Y:128.36, Z:7.49 [[ 7.50686704e-01 6.60564915e-01 -1.11115251e-02 1.62863624e+02] [-6.60488339e-01 7.50768905e-01 1.00601017e-02 1.28355437e+02] [ 1.49875377e-02 -2.12951812e-04 9.99887658e-01 7.48818769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.88, Y:128.34, Z:7.49 [[ 7.50581014e-01 6.60682150e-01 -1.12800086e-02 1.62884861e+02] [-6.60603277e-01 7.50665739e-01 1.02107097e-02 1.28336589e+02] [ 1.52135496e-02 -2.12354235e-04 9.99884245e-01 7.48836089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.91, Y:128.32, Z:7.49 [[ 7.50360055e-01 6.60934792e-01 -1.11798666e-02 1.62905981e+02] [-6.60857365e-01 7.50443309e-01 1.01184866e-02 1.28317897e+02] [ 1.50775160e-02 -2.04210984e-04 9.99886307e-01 7.48913120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.93, Y:128.30, Z:7.49 [[ 7.49787649e-01 6.61582925e-01 -1.12478760e-02 1.62928794e+02] [-6.61504654e-01 7.49871987e-01 1.01781599e-02 1.28299666e+02] [ 1.51681639e-02 -1.90936257e-04 9.99884939e-01 7.48955531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.95, Y:128.28, Z:7.49 [[ 7.49835643e-01 6.61523966e-01 -1.15130785e-02 1.62948700e+02] [-6.61441981e-01 7.49923999e-01 1.04163793e-02 1.28281982e+02] [ 1.55246184e-02 -1.95338986e-04 9.99879467e-01 7.48927427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.97, Y:128.26, Z:7.49 [[ 7.49948162e-01 6.61391859e-01 -1.17713180e-02 1.62969502e+02] [-6.61306182e-01 7.50040512e-01 1.06472703e-02 1.28263114e+02] [ 1.58709833e-02 -2.00455402e-04 9.99874028e-01 7.48903950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.99, Y:128.24, Z:7.49 [[ 7.49950565e-01 6.61375521e-01 -1.25127760e-02 1.62993334e+02] [-6.61278721e-01 7.50054915e-01 1.13171945e-02 1.28242301e+02] [ 1.68701846e-02 -2.12903893e-04 9.99857666e-01 7.48894491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.01, Y:128.22, Z:7.49 [[ 7.50173590e-01 6.61114586e-01 -1.29262757e-02 1.63013278e+02] [-6.61011157e-01 7.50284913e-01 1.16961310e-02 1.28221018e+02] [ 1.74308724e-02 -2.29716134e-04 9.99848044e-01 7.48842039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.04, Y:128.20, Z:7.49 [[ 7.50713803e-01 6.60500364e-01 -1.29635675e-02 1.63037954e+02] [-6.60396224e-01 7.50825684e-01 1.17311308e-02 1.28200411e+02] [ 1.74817956e-02 -2.45630822e-04 9.99847152e-01 7.48951466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:128.18, Z:7.49 [[ 7.50771803e-01 6.60433051e-01 -1.30339672e-02 1.63059498e+02] [-6.60327647e-01 7.50884892e-01 1.18015970e-02 1.28176695e+02] [ 1.75811738e-02 -2.53617338e-04 9.99845407e-01 7.48918875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3327550960001 meters Centerline goodness [0,1] 0.9999350789872322 Centerline is valid? [True, True] Translation: X:163.08, Y:128.16, Z:7.49 [[ 7.50993953e-01 6.60177415e-01 -1.31857124e-02 1.63082278e+02] [-6.60069416e-01 7.51109652e-01 1.19438942e-02 1.28158804e+02] [ 1.77890051e-02 -2.66306784e-04 9.99841728e-01 7.49054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.10, Y:128.14, Z:7.49 [[ 7.51531058e-01 6.59556997e-01 -1.36248826e-02 1.63102838e+02] [-6.59441619e-01 7.51654498e-01 1.23396458e-02 1.28139935e+02] [ 1.83799041e-02 -2.88812426e-04 9.99831034e-01 7.49106523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.13, Y:128.12, Z:7.49 [[ 7.51807850e-01 6.59235352e-01 -1.39178435e-02 1.63125664e+02] [-6.59114942e-01 7.51936606e-01 1.26029641e-02 1.28120579e+02] [ 1.87736555e-02 -3.01548787e-04 9.99823714e-01 7.49175195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.15, Y:128.10, Z:7.49 [[ 7.52131159e-01 6.58865529e-01 -1.39619126e-02 1.63145920e+02] [-6.58744319e-01 7.52260672e-01 1.26413519e-02 1.28100823e+02] [ 1.88319487e-02 -3.10624018e-04 9.99822615e-01 7.49146547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.17, Y:128.08, Z:7.49 [[ 7.52692967e-01 6.58219557e-01 -1.41531595e-02 1.63168236e+02] [-6.58094939e-01 7.52825947e-01 1.28119243e-02 1.28083157e+02] [ 1.90879248e-02 -3.29322733e-04 9.99817755e-01 7.49257674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.19, Y:128.06, Z:7.49 [[ 7.52950177e-01 6.57921862e-01 -1.43127139e-02 1.63188721e+02] [-6.57794406e-01 7.53086123e-01 1.29541961e-02 1.28063859e+02] [ 1.93015551e-02 -3.39041095e-04 9.99813650e-01 7.49302310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.21, Y:128.05, Z:7.49 [[ 7.53500366e-01 6.57297918e-01 -1.40230237e-02 1.63210488e+02] [-6.57175504e-01 7.53630763e-01 1.26897653e-02 1.28045202e+02] [ 1.89091384e-02 -3.46155133e-04 9.99821146e-01 7.49391848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.23, Y:128.03, Z:7.49 [[ 7.53736357e-01 6.57024154e-01 -1.41691732e-02 1.63232192e+02] [-6.56899163e-01 7.53869442e-01 1.28200669e-02 1.28026041e+02] [ 1.91048003e-02 -3.55232547e-04 9.99817424e-01 7.49451918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.26, Y:128.01, Z:7.50 [[ 7.53857693e-01 6.56881642e-01 -1.43208184e-02 1.63255221e+02] [-6.56753966e-01 7.53993619e-01 1.29557579e-02 1.28006777e+02] [ 1.93082052e-02 -3.61543507e-04 9.99813514e-01 7.49525839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.28, Y:127.99, Z:7.50 [[ 7.54498535e-01 6.56142898e-01 -1.44380788e-02 1.63275878e+02] [-6.56013002e-01 7.54636569e-01 1.30610049e-02 1.27986225e+02] [ 1.94653878e-02 -3.82941615e-04 9.99810458e-01 7.49565491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.30, Y:127.97, Z:7.50 [[ 7.54488453e-01 6.56152484e-01 -1.45290094e-02 1.63301459e+02] [-6.56020916e-01 7.54628232e-01 1.31449601e-02 1.27965070e+02] [ 1.95890988e-02 -3.86386548e-04 9.99808041e-01 7.49694051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.33, Y:127.94, Z:7.50 [[ 7.54395222e-01 6.56256739e-01 -1.46608940e-02 1.63325278e+02] [-6.56122621e-01 7.54537566e-01 1.32728308e-02 1.27942983e+02] [ 1.97725800e-02 -3.93615953e-04 9.99804426e-01 7.49759854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.35, Y:127.92, Z:7.50 [[ 7.54841808e-01 6.55747283e-01 -1.44688315e-02 1.63346735e+02] [-6.55616411e-01 7.54980354e-01 1.31067445e-02 1.27920909e+02] [ 1.95183956e-02 -4.07515362e-04 9.99809415e-01 7.49823823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.37, Y:127.90, Z:7.50 [[ 7.55006268e-01 6.55556268e-01 -1.45435551e-02 1.63370386e+02] [-6.55423869e-01 7.55146213e-01 1.31814000e-02 1.27899886e+02] [ 1.96236599e-02 -4.19846498e-04 9.99807349e-01 7.49910364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.40, Y:127.88, Z:7.50 [[ 7.55004052e-01 6.55557690e-01 -1.45944079e-02 1.63395582e+02] [-6.55424211e-01 7.55144975e-01 1.32352239e-02 1.27878262e+02] [ 1.96973465e-02 -4.27119376e-04 9.99805897e-01 7.49976752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.42, Y:127.86, Z:7.50 [[ 7.54771728e-01 6.55826644e-01 -1.45275784e-02 1.63418574e+02] [-6.55694271e-01 7.54911407e-01 1.31829640e-02 1.27856715e+02] [ 1.96127737e-02 -4.24478559e-04 9.99807561e-01 7.50027256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.44, Y:127.84, Z:7.50 [[ 7.54292736e-01 6.56378975e-01 -1.44606402e-02 1.63442383e+02] [-6.56247769e-01 7.54431223e-01 1.31299269e-02 1.27835166e+02] [ 1.95277664e-02 -4.14045623e-04 9.99809229e-01 7.50119994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.46, Y:127.81, Z:7.50 [[ 7.53761420e-01 6.56986702e-01 -1.45669221e-02 1.63463191e+02] [-6.56853533e-01 7.53902054e-01 1.32336248e-02 1.27811592e+02] [ 1.96763480e-02 -4.06661540e-04 9.99806319e-01 7.50106915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.49, Y:127.79, Z:7.50 [[ 7.52456685e-01 6.58481664e-01 -1.45201718e-02 1.63490948e+02] [-6.58349490e-01 7.52596678e-01 1.31981118e-02 1.27793965e+02] [ 1.96185477e-02 -3.71659808e-04 9.99807469e-01 7.50302474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.51, Y:127.77, Z:7.50 [[ 7.51637600e-01 6.59413308e-01 -1.46631335e-02 1.63513692e+02] [-6.59278548e-01 7.51780528e-01 1.33354229e-02 1.27773327e+02] [ 1.98170136e-02 -3.56315872e-04 9.99803560e-01 7.50297942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.54, Y:127.75, Z:7.50 [[ 7.50584710e-01 6.60603385e-01 -1.50253755e-02 1.63538190e+02] [-6.60462018e-01 7.50735010e-01 1.36699775e-02 1.27754131e+02] [ 2.03105088e-02 -3.36786278e-04 9.99793664e-01 7.50370473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.56, Y:127.74, Z:7.50 [[ 7.48511366e-01 6.62945782e-01 -1.52847819e-02 1.63561027e+02] [-6.62799979e-01 7.48667358e-01 1.39059138e-02 1.27737003e+02] [ 2.06620842e-02 -2.77981470e-04 9.99786478e-01 7.50294696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.58, Y:127.72, Z:7.50 [[ 7.47419693e-01 6.64177134e-01 -1.52492005e-02 1.63583921e+02] [-6.64032310e-01 7.47575198e-01 1.38713699e-02 1.27719943e+02] [ 2.06129708e-02 -2.41773158e-04 9.99787501e-01 7.50378184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.61, Y:127.70, Z:7.50 [[ 7.45382085e-01 6.66462374e-01 -1.52791156e-02 1.63608074e+02] [-6.66317505e-01 7.45538646e-01 1.38964101e-02 1.27704041e+02] [ 2.06526056e-02 -1.77392958e-04 9.99786696e-01 7.50423289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.63, Y:127.69, Z:7.50 [[ 7.44419399e-01 6.67536900e-01 -1.53050593e-02 1.63629588e+02] [-6.67391815e-01 7.44576702e-01 1.39176324e-02 1.27686270e+02] [ 2.06863238e-02 -1.46084299e-04 9.99786004e-01 7.50424671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:127.67, Z:7.50 [[ 7.43820874e-01 6.68202410e-01 -1.53638180e-02 1.63652347e+02] [-6.68056402e-01 7.43979518e-01 1.39685435e-02 1.27667867e+02] [ 2.07641804e-02 -1.26197241e-04 9.99784393e-01 7.50477568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:127.65, Z:7.51 [[ 7.42937149e-01 6.69182305e-01 -1.54737166e-02 1.63675162e+02] [-6.69034459e-01 7.43098266e-01 1.40662628e-02 1.27650119e+02] [ 2.09113861e-02 -9.78995735e-05 9.99781328e-01 7.50534563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.70, Y:127.63, Z:7.51 [[ 7.42841184e-01 6.69284698e-01 -1.56514581e-02 1.63696695e+02] [-6.69133516e-01 7.43006046e-01 1.42251409e-02 1.27631818e+02] [ 2.11497971e-02 -9.41052662e-05 9.99776314e-01 7.50589050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.72, Y:127.61, Z:7.51 [[ 7.42920887e-01 6.69196185e-01 -1.56531540e-02 1.63717150e+02] [-6.69045022e-01 7.43085767e-01 1.42232746e-02 1.27613397e+02] [ 2.11497970e-02 -9.41030501e-05 9.99776314e-01 7.50625413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.74, Y:127.60, Z:7.51 [[ 7.43078778e-01 6.69024624e-01 -1.54913812e-02 1.63737785e+02] [-6.68876606e-01 7.43240233e-01 1.40727387e-02 1.27595339e+02] [ 2.09288265e-02 -9.53309421e-05 9.99780964e-01 7.50656321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.23275509600006 meters Centerline goodness [0,1] 0.9999570668040529 Centerline is valid? [True, True] Translation: X:163.76, Y:127.58, Z:7.51 [[ 7.44024673e-01 6.67976796e-01 -1.53064136e-02 1.63757541e+02] [-6.67832164e-01 7.44182092e-01 1.39002016e-02 1.27576210e+02] [ 2.06757710e-02 -1.19977623e-04 9.99786226e-01 7.50603307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.78, Y:127.56, Z:7.51 [[ 7.44751849e-01 6.67178591e-01 -1.47448563e-02 1.63777842e+02] [-6.67044313e-01 7.44897785e-01 1.33856403e-02 1.27557323e+02] [ 1.99140234e-02 -1.33507833e-04 9.99801687e-01 7.50773162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.29275509600006 meters Centerline goodness [0,1] 0.9999354213755247 Centerline is valid? [True, True] Translation: X:163.80, Y:127.54, Z:7.51 [[ 7.47110849e-01 6.64536638e-01 -1.47117531e-02 1.63799317e+02] [-6.64402486e-01 7.47255656e-01 1.33537063e-02 1.27535125e+02] [ 1.98674678e-02 -2.02173561e-04 9.99802602e-01 7.50789379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.82, Y:127.51, Z:7.51 [[ 7.48388620e-01 6.63107390e-01 -1.42500388e-02 1.63819388e+02] [-6.62981267e-01 7.48524239e-01 1.29345761e-02 1.27514963e+02] [ 1.92435124e-02 -2.32580759e-04 9.99814799e-01 7.50970119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.84, Y:127.49, Z:7.51 [[ 7.50015183e-01 6.61269510e-01 -1.41371915e-02 1.63839660e+02] [-6.61145079e-01 7.50148358e-01 1.28306742e-02 1.27494517e+02] [ 1.90895246e-02 -2.76465869e-04 9.99817740e-01 7.51017627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:127.47, Z:7.51 [[ 7.52925598e-01 6.57959351e-01 -1.38757475e-02 1.63859809e+02] [-6.57838942e-01 7.53053363e-01 1.25920038e-02 1.27471830e+02] [ 1.87342049e-02 -3.52834948e-04 9.99824437e-01 7.51079250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.88, Y:127.45, Z:7.51 [[ 7.54072747e-01 6.56642663e-01 -1.39536783e-02 1.63882725e+02] [-6.56520632e-01 7.54201738e-01 1.26648388e-02 1.27449400e+02] [ 1.88401619e-02 -3.89332081e-04 9.99822433e-01 7.51111410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.90, Y:127.43, Z:7.51 [[ 7.55294142e-01 6.55238047e-01 -1.39233704e-02 1.63904604e+02] [-6.55116177e-01 7.55422344e-01 1.26442308e-02 1.27427222e+02] [ 1.88030062e-02 -4.28688246e-04 9.99823116e-01 7.51131146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.93, Y:127.41, Z:7.51 [[ 7.56871206e-01 6.53411318e-01 -1.41289734e-02 1.63927763e+02] [-6.53285372e-01 7.57002915e-01 1.28378196e-02 1.27405425e+02] [ 1.90840507e-02 -4.86324327e-04 9.99817765e-01 7.51118352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.95, Y:127.38, Z:7.51 [[ 7.57399631e-01 6.52799869e-01 -1.40758397e-02 1.63950289e+02] [-6.52674646e-01 7.57530248e-01 1.27957295e-02 1.27384344e+02] [ 1.90159249e-02 -5.04537074e-04 9.99819054e-01 7.51135187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:127.36, Z:7.51 [[ 7.57838971e-01 6.52279673e-01 -1.45369259e-02 1.63972493e+02] [-6.52145932e-01 7.57978192e-01 1.32190576e-02 1.27363099e+02] [ 1.96411953e-02 -5.37719913e-04 9.99806949e-01 7.51099219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:127.34, Z:7.51 [[ 7.57882712e-01 6.52227783e-01 -1.45847291e-02 1.63998410e+02] [-6.52093041e-01 7.58022838e-01 1.32681474e-02 1.27342974e+02] [ 1.97094121e-02 -5.45099199e-04 9.99805602e-01 7.51164878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.02, Y:127.32, Z:7.51 [[ 7.57626376e-01 6.52524816e-01 -1.46164246e-02 1.64022702e+02] [-6.52389381e-01 7.57767160e-01 1.33051468e-02 1.27322013e+02] [ 1.97577850e-02 -5.44729957e-04 9.99804648e-01 7.51228237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.05, Y:127.30, Z:7.51 [[ 7.57223072e-01 6.53000274e-01 -1.42780208e-02 1.64045136e+02] [-6.52871036e-01 7.57357490e-01 1.30016235e-02 1.27303361e+02] [ 1.93036297e-02 -5.23423044e-04 9.99813531e-01 7.51255005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.07, Y:127.28, Z:7.51 [[ 7.56834552e-01 6.53447519e-01 -1.44153145e-02 1.64068310e+02] [-6.53315885e-01 7.56971646e-01 1.31256010e-02 1.27284303e+02] [ 1.94888758e-02 -5.16154396e-04 9.99809941e-01 7.51326213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.09, Y:127.26, Z:7.51 [[ 7.56059939e-01 6.54342843e-01 -1.44503649e-02 1.64092937e+02] [-6.54210738e-01 7.56197858e-01 1.31571514e-02 1.27264937e+02] [ 1.95366228e-02 -4.94011236e-04 9.99809020e-01 7.51415576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.11, Y:127.25, Z:7.51 [[ 7.55558915e-01 6.54923199e-01 -1.43641895e-02 1.64114311e+02] [-6.54792766e-01 7.55695293e-01 1.30788996e-02 1.27245975e+02] [ 1.94206252e-02 -4.76311760e-04 9.99811288e-01 7.51467872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.14, Y:127.23, Z:7.52 [[ 7.54763802e-01 6.55841425e-01 -1.42698424e-02 1.64136813e+02] [-6.55712897e-01 7.54898552e-01 1.29912923e-02 1.27227800e+02] [ 1.92925110e-02 -4.48437518e-04 9.99813782e-01 7.51532015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.16, Y:127.21, Z:7.52 [[ 7.53030199e-01 6.57838026e-01 -1.39517258e-02 1.64159532e+02] [-6.57715543e-01 7.53159334e-01 1.26997023e-02 1.27210552e+02] [ 1.88622196e-02 -3.86992475e-04 9.99822018e-01 7.51597216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.18, Y:127.19, Z:7.52 [[ 7.52117314e-01 6.58883193e-01 -1.38738647e-02 1.64181787e+02] [-6.58762288e-01 7.52245179e-01 1.26268651e-02 1.27192799e+02] [ 1.87561771e-02 -3.57304988e-04 9.99824024e-01 7.51632673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.20, Y:127.18, Z:7.52 [[ 7.51176942e-01 6.59962616e-01 -1.35110190e-02 1.64203230e+02] [-6.59848163e-01 7.51298372e-01 1.22946486e-02 1.27175356e+02] [ 1.82648150e-02 -3.20235511e-04 9.99833133e-01 7.51703189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.23, Y:127.16, Z:7.52 [[ 7.49477289e-01 6.61899803e-01 -1.31318266e-02 1.64227080e+02] [-6.61792019e-01 7.49592277e-01 1.19474772e-02 1.27158388e+02] [ 1.77515486e-02 -2.63824737e-04 9.99842394e-01 7.51782538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.25, Y:127.14, Z:7.52 [[ 7.48872509e-01 6.62580575e-01 -1.33021403e-02 1.64250221e+02] [-6.62470118e-01 7.48990601e-01 1.21005560e-02 1.27140369e+02] [ 1.79807714e-02 -2.49503245e-04 9.99838302e-01 7.51833161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.27, Y:127.12, Z:7.52 [[ 7.47778938e-01 6.63809660e-01 -1.35423402e-02 1.64273415e+02] [-6.63695414e-01 7.47901522e-01 1.23171041e-02 1.27123082e+02] [ 1.83045496e-02 -2.22481916e-04 9.99832433e-01 7.51885281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9527550960001 meters Centerline goodness [0,1] 0.9999786898521076 Centerline is valid? [True, True] Translation: X:164.30, Y:127.10, Z:7.52 [[ 7.47336278e-01 6.64304326e-01 -1.37203868e-02 1.64295486e+02] [-6.64187177e-01 7.47462184e-01 1.24770455e-02 1.27104328e+02] [ 1.85440256e-02 -2.11643784e-04 9.99828022e-01 7.51853032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98275509600006 meters Centerline goodness [0,1] 0.9999573597134572 Centerline is valid? [True, True] Translation: X:164.32, Y:127.09, Z:7.52 [[ 7.46955921e-01 6.64719244e-01 -1.43241045e-02 1.64316331e+02] [-6.64591681e-01 7.47093223e-01 1.30235916e-02 1.27086233e+02] [ 1.93584734e-02 -2.08368195e-04 9.99812586e-01 7.51821674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.34, Y:127.07, Z:7.52 [[ 7.47094185e-01 6.64568967e-01 -1.40842875e-02 1.64336351e+02] [-6.64445685e-01 7.47226903e-01 1.28018338e-02 1.27068740e+02] [ 1.90318600e-02 -2.05931482e-04 9.99818857e-01 7.51911119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.36, Y:127.05, Z:7.52 [[ 7.47112640e-01 6.64527417e-01 -1.50338019e-02 1.64356959e+02] [-6.64387051e-01 7.47263852e-01 1.36595202e-02 1.27049457e+02] [ 2.03113424e-02 -2.16936842e-04 9.99793680e-01 7.51869763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.38, Y:127.03, Z:7.52 [[ 7.47527970e-01 6.64058595e-01 -1.51035665e-02 1.64378648e+02] [-6.63916895e-01 7.47680501e-01 1.37195130e-02 1.27030013e+02] [ 2.04032027e-02 -2.28206673e-04 9.99791807e-01 7.51967776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.40, Y:127.01, Z:7.52 [[ 7.48446017e-01 6.63018729e-01 -1.53207429e-02 1.64399053e+02] [-6.62872766e-01 7.48602764e-01 1.39139335e-02 1.27010405e+02] [ 2.06943490e-02 -2.58124924e-04 9.99785816e-01 7.52024106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.42, Y:126.99, Z:7.52 [[ 7.48873816e-01 6.62538236e-01 -1.52017255e-02 1.64420343e+02] [-6.62394501e-01 7.49028046e-01 1.38025859e-02 1.26991200e+02] [ 2.05312596e-02 -2.66855821e-04 9.99789176e-01 7.52066856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16275509600007 meters Centerline goodness [0,1] 0.9999573569859918 Centerline is valid? [True, True] Translation: X:164.44, Y:126.97, Z:7.52 [[ 7.49520791e-01 6.61804280e-01 -1.52865489e-02 1.64441448e+02] [-6.61658829e-01 7.49676605e-01 1.38773825e-02 1.26971340e+02] [ 2.06440792e-02 -2.86906673e-04 9.99786847e-01 7.52060473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.46, Y:126.95, Z:7.52 [[ 7.50958869e-01 6.60172712e-01 -1.52567262e-02 1.64460946e+02] [-6.60027540e-01 7.51113761e-01 1.38478981e-02 1.26950877e+02] [ 2.06015415e-02 -3.29342434e-04 9.99787711e-01 7.52144658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.48, Y:126.93, Z:7.52 [[ 7.52073072e-01 6.58903210e-01 -1.52529973e-02 1.64479450e+02] [-6.58757908e-01 7.52227644e-01 1.38415951e-02 1.26930516e+02] [ 2.05939976e-02 -3.61858355e-04 9.99787856e-01 7.52127470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.50, Y:126.91, Z:7.52 [[ 7.53135288e-01 6.57687549e-01 -1.53077223e-02 1.64502005e+02] [-6.57541011e-01 7.53290736e-01 1.38883801e-02 1.26912370e+02] [ 2.06653801e-02 -3.94373991e-04 9.99786370e-01 7.52288954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.52, Y:126.89, Z:7.52 [[ 7.55453969e-01 6.55039775e-01 -1.45668980e-02 1.64520193e+02] [-6.54906628e-01 7.55594268e-01 1.32140335e-02 1.26891850e+02] [ 1.96623822e-02 -4.42635982e-04 9.99806579e-01 7.52376906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.54, Y:126.87, Z:7.52 [[ 7.56462557e-01 6.53874903e-01 -1.45605878e-02 1.64539489e+02] [-6.53741707e-01 7.56602531e-01 1.32057185e-02 1.26871694e+02] [ 1.96514654e-02 -4.70768068e-04 9.99806780e-01 7.52443730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.56, Y:126.85, Z:7.53 [[ 7.57897318e-01 6.52217751e-01 -1.42709888e-02 1.64560191e+02] [-6.52089552e-01 7.58031499e-01 1.29407222e-02 1.26851361e+02] [ 1.92580277e-02 -5.01775904e-04 9.99814421e-01 7.52535872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.58, Y:126.83, Z:7.53 [[ 7.58268380e-01 6.51791197e-01 -1.40463184e-02 1.64579466e+02] [-6.51666971e-01 7.58398301e-01 1.27348540e-02 1.26831340e+02] [ 1.89531697e-02 -5.02915308e-04 9.99820246e-01 7.52564095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.60, Y:126.81, Z:7.53 [[ 7.58339981e-01 6.51710299e-01 -1.39341159e-02 1.64602968e+02] [-6.51588074e-01 7.58467822e-01 1.26311014e-02 1.26813394e+02] [ 1.88003973e-02 -4.99365440e-04 9.99823132e-01 7.52647098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.63, Y:126.80, Z:7.53 [[ 7.57538196e-01 6.52640433e-01 -1.40123593e-02 1.64625859e+02] [-6.52517010e-01 7.57667629e-01 1.27010055e-02 1.26795031e+02] [ 1.89059008e-02 -4.78193959e-04 9.99821153e-01 7.52646318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.65, Y:126.78, Z:7.53 [[ 7.56960719e-01 6.53310455e-01 -1.39971194e-02 1.64646742e+02] [-6.53187442e-01 7.57089980e-01 1.26857233e-02 1.26777025e+02] [ 1.88847944e-02 -4.59851607e-04 9.99821561e-01 7.52667004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.67, Y:126.76, Z:7.53 [[ 7.56298233e-01 6.54078303e-01 -1.39483471e-02 1.64668607e+02] [-6.53956321e-01 7.56426720e-01 1.26391645e-02 1.26758382e+02] [ 1.88179057e-02 -4.37368046e-04 9.99822832e-01 7.52710638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.69, Y:126.74, Z:7.53 [[ 7.54965885e-01 6.55621848e-01 -1.36566858e-02 1.64690689e+02] [-6.55505201e-01 7.55089293e-01 1.23729490e-02 1.26740594e+02] [ 1.84239929e-02 -3.89125763e-04 9.99830188e-01 7.52841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.71, Y:126.72, Z:7.53 [[ 7.54192634e-01 6.56526162e-01 -1.29177687e-02 1.64713341e+02] [-6.56421961e-01 7.54303174e-01 1.17017150e-02 1.26722523e+02] [ 1.74263960e-02 -3.45840197e-04 9.99848089e-01 7.52934845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.74, Y:126.70, Z:7.53 [[ 7.52526058e-01 6.58441421e-01 -1.26264519e-02 1.64737085e+02] [-6.58342165e-01 7.52631922e-01 1.14361273e-02 1.26704979e+02] [ 1.70330907e-02 -2.93458106e-04 9.99854883e-01 7.53047186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:126.69, Z:7.53 [[ 7.51728058e-01 6.59355859e-01 -1.24409837e-02 1.64757878e+02] [-6.59259648e-01 7.51830952e-01 1.12666082e-02 1.26686611e+02] [ 1.67822208e-02 -2.67586977e-04 9.99859133e-01 7.53063088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.78, Y:126.67, Z:7.53 [[ 7.51133023e-01 6.60032211e-01 -1.25164846e-02 1.64778899e+02] [-6.59934965e-01 7.51237258e-01 1.13324807e-02 1.26668799e+02] [ 1.68826518e-02 -2.52134730e-04 9.99857446e-01 7.53108245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.80, Y:126.65, Z:7.53 [[ 7.49992628e-01 6.61340520e-01 -1.18226358e-02 1.64801195e+02] [-6.61253963e-01 7.50085778e-01 1.07015342e-02 1.26650838e+02] [ 1.59453491e-02 -2.08306977e-04 9.99872843e-01 7.53222639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.82, Y:126.63, Z:7.53 [[ 7.49536713e-01 6.61860322e-01 -1.16460665e-02 1.64822542e+02] [-6.61776419e-01 7.49627159e-01 1.05400815e-02 1.26632042e+02] [ 1.57062694e-02 -1.93085848e-04 9.99876630e-01 7.53287033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.73275509600006 meters Centerline goodness [0,1] 0.9999357629223588 Centerline is valid? [True, True] Translation: X:164.84, Y:126.61, Z:7.53 [[ 7.48570811e-01 6.62959263e-01 -1.12586650e-02 1.64844106e+02] [-6.62880997e-01 7.48655454e-01 1.01879256e-02 1.26612346e+02] [ 1.51830406e-02 -1.63228683e-04 9.99884718e-01 7.53307812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.87, Y:126.59, Z:7.54 [[ 7.48190761e-01 6.63402961e-01 -1.03487323e-02 1.64866526e+02] [-6.63336898e-01 7.48262314e-01 9.36317617e-03 1.26593504e+02] [ 1.39551252e-02 -1.40745899e-04 9.99902613e-01 7.53556272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.89, Y:126.57, Z:7.54 [[ 7.47658422e-01 6.64006161e-01 -1.01341950e-02 1.64887141e+02] [-6.63942884e-01 7.47727091e-01 9.16760892e-03 1.26574306e+02] [ 1.36649610e-02 -1.25713349e-04 9.99906622e-01 7.53621141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82275509600004 meters Centerline goodness [0,1] 0.9999142293507162 Centerline is valid? [True, True] Translation: X:164.91, Y:126.55, Z:7.53 [[ 7.47212198e-01 6.64496489e-01 -1.08787170e-02 1.64907528e+02] [-6.64423667e-01 7.47291376e-01 9.83818849e-03 1.26554441e+02] [ 1.46670131e-02 -1.23137436e-04 9.99892426e-01 7.53451719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.93, Y:126.54, Z:7.54 [[ 7.46842114e-01 6.64925756e-01 -1.00296921e-02 1.64929652e+02] [-6.64863914e-01 7.46909451e-01 9.06908866e-03 1.26535441e+02] [ 1.35215425e-02 -1.04797012e-04 9.99908574e-01 7.53674683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.95, Y:126.52, Z:7.54 [[ 7.46626812e-01 6.65175363e-01 -9.49420703e-03 1.64949134e+02] [-6.65119984e-01 7.46687169e-01 8.58368065e-03 1.26515982e+02] [ 1.27988555e-02 -9.40192940e-05 9.99918087e-01 7.53693264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.97, Y:126.50, Z:7.54 [[ 7.46452110e-01 6.65368996e-01 -9.66163393e-03 1.64969926e+02] [-6.65311694e-01 7.46514629e-01 8.73268397e-03 1.26496580e+02] [ 1.30230082e-02 -9.05323368e-05 9.99915193e-01 7.53715477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.99, Y:126.48, Z:7.54 [[ 7.46582177e-01 6.65225163e-01 -9.51499464e-03 1.64989942e+02] [-6.65169600e-01 7.46642802e-01 8.59815721e-03 1.26476720e+02] [ 1.28240128e-02 -9.01457509e-05 9.99917765e-01 7.53737242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.01, Y:126.46, Z:7.54 [[ 7.46986681e-01 6.64769020e-01 -9.64616892e-03 1.65007369e+02] [-6.64711903e-01 7.47048955e-01 8.71464976e-03 1.26456316e+02] [ 1.29993896e-02 -9.78040003e-05 9.99915500e-01 7.53694377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.03, Y:126.44, Z:7.54 [[ 7.47338603e-01 6.64371903e-01 -9.74608803e-03 1.65027746e+02] [-6.64313612e-01 7.47402143e-01 8.80123508e-03 1.26435105e+02] [ 1.31315404e-02 -1.03043794e-04 9.99913772e-01 7.53696783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.05, Y:126.41, Z:7.54 [[ 7.48245502e-01 6.63344128e-01 -1.01605606e-02 1.65045553e+02] [-6.63280698e-01 7.48314475e-01 9.17405170e-03 1.26412590e+02] [ 1.36888479e-02 -1.25139189e-04 9.99906296e-01 7.53657917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.07, Y:126.39, Z:7.54 [[ 7.48320015e-01 6.63260055e-01 -1.01614325e-02 1.65066071e+02] [-6.63196631e-01 7.48388992e-01 9.17308593e-03 1.26394242e+02] [ 1.36888457e-02 -1.25376028e-04 9.99906296e-01 7.53694288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.09, Y:126.37, Z:7.54 [[ 7.49083493e-01 6.62395879e-01 -1.02771294e-02 1.65088700e+02] [-6.62330948e-01 7.49153976e-01 9.27553897e-03 1.26372019e+02] [ 1.38432311e-02 -1.41292295e-04 9.99904168e-01 7.53705692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.11, Y:126.35, Z:7.54 [[ 7.50210943e-01 6.61115393e-01 -1.04870259e-02 1.65108356e+02] [-6.61047647e-01 7.50284218e-01 9.46573654e-03 1.26348783e+02] [ 1.41261942e-02 -1.68875327e-04 9.99900206e-01 7.53688856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.12, Y:126.32, Z:7.54 [[ 7.52634515e-01 6.58350653e-01 -1.07565646e-02 1.65124052e+02] [-6.58279093e-01 7.52711343e-01 9.70922967e-03 1.26324236e+02] [ 1.44886659e-02 -2.26679745e-04 9.99895008e-01 7.53700949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.15, Y:126.30, Z:7.54 [[ 7.53845202e-01 6.56959617e-01 -1.10214633e-02 1.65147329e+02] [-6.56884357e-01 7.53925722e-01 9.94721277e-03 1.26301848e+02] [ 1.48442818e-02 -2.58831773e-04 9.99889784e-01 7.53772877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.17, Y:126.28, Z:7.54 [[ 7.55268635e-01 6.55320343e-01 -1.11595847e-02 1.65166574e+02] [-6.55242926e-01 7.55351017e-01 1.00772137e-02 1.26276466e+02] [ 1.50332068e-02 -2.98764549e-04 9.99886950e-01 7.53784373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.19, Y:126.25, Z:7.54 [[ 7.55662724e-01 6.54866564e-01 -1.11189591e-02 1.65187869e+02] [-6.54789620e-01 7.55744460e-01 1.00431358e-02 1.26254355e+02] [ 1.49800056e-02 -3.08644385e-04 9.99887746e-01 7.53794216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.21, Y:126.23, Z:7.54 [[ 7.55610994e-01 6.54924285e-01 -1.12341441e-02 1.65211206e+02] [-6.54845734e-01 7.55694438e-01 1.01479834e-02 1.26231249e+02] [ 1.51357410e-02 -3.11296484e-04 9.99885400e-01 7.53833463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.23, Y:126.21, Z:7.54 [[ 7.55098906e-01 6.55508059e-01 -1.16115063e-02 1.65230962e+02] [-6.55424106e-01 7.55188113e-01 1.04954531e-02 1.26207121e+02] [ 1.56487257e-02 -3.14644011e-04 9.99877502e-01 7.53813605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.26, Y:126.19, Z:7.54 [[ 7.54595847e-01 6.56083626e-01 -1.18060515e-02 1.65255249e+02] [-6.55996817e-01 7.54688133e-01 1.06770195e-02 1.26185167e+02] [ 1.59149046e-02 -3.12102390e-04 9.99873301e-01 7.53879660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.28, Y:126.16, Z:7.54 [[ 7.53922944e-01 6.56854453e-01 -1.19340791e-02 1.65278172e+02] [-6.56765737e-01 7.54017331e-01 1.07996009e-02 1.26162196e+02] [ 1.60922684e-02 -3.04172697e-04 9.99870465e-01 7.53921963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:126.14, Z:7.54 [[ 7.52495324e-01 6.58485465e-01 -1.21523592e-02 1.65298235e+02] [-6.58393586e-01 7.52593393e-01 1.10032393e-02 1.26137884e+02] [ 1.63912584e-02 -2.78850731e-04 9.99865615e-01 7.53903985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.32, Y:126.12, Z:7.54 [[ 7.51780863e-01 6.59304041e-01 -1.19881649e-02 1.65323106e+02] [-6.59214642e-01 7.51876395e-01 1.08601670e-02 1.26117664e+02] [ 1.61737701e-02 -2.61691879e-04 9.99869162e-01 7.54002284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.35, Y:126.10, Z:7.54 [[ 7.48988198e-01 6.62465575e-01 -1.24916449e-02 1.65346445e+02] [-6.62368837e-01 7.49092330e-01 1.13227561e-02 1.26096897e+02] [ 1.68583315e-02 -2.06534343e-04 9.99857867e-01 7.53975514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.37, Y:126.08, Z:7.54 [[ 7.47486597e-01 6.64162434e-01 -1.23308063e-02 1.65371146e+02] [-6.64068305e-01 7.47588277e-01 1.11827899e-02 1.26076921e+02] [ 1.66455552e-02 -1.70487938e-04 9.99861439e-01 7.54029442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.39, Y:126.06, Z:7.54 [[ 7.46325076e-01 6.65468816e-01 -1.22529501e-02 1.65394906e+02] [-6.65375964e-01 7.46425638e-01 1.11172210e-02 1.26056347e+02] [ 1.65440800e-02 -1.44242377e-04 9.99863127e-01 7.54050109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.42, Y:126.04, Z:7.54 [[ 7.44542034e-01 6.67459173e-01 -1.24664109e-02 1.65416484e+02] [-6.67363330e-01 7.44646387e-01 1.13112262e-02 1.26037539e+02] [ 1.68328495e-02 -1.02057852e-04 9.99858312e-01 7.54092156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.44, Y:126.02, Z:7.54 [[ 7.43895744e-01 6.68179147e-01 -1.24799743e-02 1.65440438e+02] [-6.68083215e-01 7.44000417e-01 1.13224442e-02 1.26016588e+02] [ 1.68505272e-02 -8.50566315e-05 9.99858016e-01 7.54141478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.46, Y:126.00, Z:7.54 [[ 7.43287992e-01 6.68859700e-01 -1.22337224e-02 1.65464823e+02] [-6.68767568e-01 7.43388658e-01 1.11014795e-02 1.25995122e+02] [ 1.65197427e-02 -7.00795926e-05 9.99863537e-01 7.54250091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.49, Y:125.97, Z:7.54 [[ 7.43114637e-01 6.69062567e-01 -1.16584162e-02 1.65488268e+02] [-6.68978820e-01 7.43206080e-01 1.05858629e-02 1.25972859e+02] [ 1.57472104e-02 -6.72762016e-05 9.99876003e-01 7.54335055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.51, Y:125.95, Z:7.54 [[ 7.43419563e-01 6.68724839e-01 -1.15949745e-02 1.65509874e+02] [-6.68641882e-01 7.43509976e-01 1.05332744e-02 1.25953023e+02] [ 1.56648414e-02 -7.77566544e-05 9.99877296e-01 7.54379294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.69275509600004 meters Centerline goodness [0,1] 0.9999338055206196 Centerline is valid? [True, True] Translation: X:165.53, Y:125.93, Z:7.54 [[ 7.45308044e-01 6.66620131e-01 -1.15550723e-02 1.65532042e+02] [-6.66537498e-01 7.45397603e-01 1.04965676e-02 1.25930204e+02] [ 1.56103465e-02 -1.21287287e-04 9.99878144e-01 7.54373498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72275509600007 meters Centerline goodness [0,1] 0.9998675057966214 Centerline is valid? [True, True] Translation: X:165.55, Y:125.91, Z:7.54 [[ 7.46196866e-01 6.65624672e-01 -1.15773182e-02 1.65553834e+02] [-6.65541509e-01 7.46286658e-01 1.05225730e-02 1.25908479e+02] [ 1.56440822e-02 -1.46725159e-04 9.99877613e-01 7.54363211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.58, Y:125.89, Z:7.55 [[ 7.46121467e-01 6.65719630e-01 -1.09604306e-02 1.65578077e+02] [-6.65645032e-01 7.46201953e-01 9.96678676e-03 1.25886980e+02] [ 1.48137803e-02 -1.40677397e-04 9.99890260e-01 7.54574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.60, Y:125.87, Z:7.55 [[ 7.46497740e-01 6.65303666e-01 -1.05903666e-02 1.65600090e+02] [-6.65233912e-01 7.46572843e-01 9.63494231e-03 1.25867139e+02] [ 1.43166425e-02 -1.47391654e-04 9.99897501e-01 7.54631600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.62, Y:125.85, Z:7.55 [[ 7.47362794e-01 6.64334731e-01 -1.04028488e-02 1.65624244e+02] [-6.64267332e-01 7.47435173e-01 9.46431059e-03 1.25846018e+02] [ 1.40629254e-02 -1.63000959e-04 9.99901099e-01 7.54593315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.65, Y:125.83, Z:7.55 [[ 7.47839263e-01 6.63793959e-01 -1.06778878e-02 1.65646126e+02] [-6.63722821e-01 7.47915468e-01 9.71953719e-03 1.25825591e+02] [ 1.44379275e-02 -1.81493715e-04 9.99895751e-01 7.54581237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.67, Y:125.81, Z:7.54 [[ 7.48523205e-01 6.63010544e-01 -1.14030635e-02 1.65668102e+02] [-6.62929320e-01 7.48610029e-01 1.03798872e-02 1.25805786e+02] [ 1.54184223e-02 -2.10161276e-04 9.99881107e-01 7.54480625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.69, Y:125.79, Z:7.54 [[ 7.48826055e-01 6.62666599e-01 -1.15116170e-02 1.65691209e+02] [-6.62583792e-01 7.48914501e-01 1.04780154e-02 1.25785710e+02] [ 1.55646477e-02 -2.18800124e-04 9.99878840e-01 7.54472480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.71, Y:125.77, Z:7.54 [[ 7.49256560e-01 6.62177341e-01 -1.16522626e-02 1.65712611e+02] [-6.62092441e-01 7.49347126e-01 1.06058843e-02 1.25767138e+02] [ 1.57545658e-02 -2.31653414e-04 9.99875862e-01 7.54426437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.74, Y:125.75, Z:7.54 [[ 7.49391267e-01 6.62033063e-01 -1.11782073e-02 1.65737836e+02] [-6.61954914e-01 7.49474598e-01 1.01744534e-02 1.25745290e+02] [ 1.51136070e-02 -2.25177240e-04 9.99885758e-01 7.54482029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.99275509600005 meters Centerline goodness [0,1] 0.9999781463755764 Centerline is valid? [True, True] Translation: X:165.76, Y:125.72, Z:7.55 [[ 7.49610860e-01 6.61785906e-01 -1.10893658e-02 1.65761573e+02] [-6.61708874e-01 7.49692844e-01 1.00997816e-02 1.25723638e+02] [ 1.49975113e-02 -2.32974187e-04 9.99887504e-01 7.54561058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.78, Y:125.70, Z:7.55 [[ 7.50430352e-01 6.60864179e-01 -1.06218314e-02 1.65782797e+02] [-6.60793348e-01 7.50505481e-01 9.67858194e-03 1.25702524e+02] [ 1.43679708e-02 -2.44266111e-04 9.99896746e-01 7.54680509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.81, Y:125.68, Z:7.55 [[ 7.50850287e-01 6.60396026e-01 -1.00466405e-02 1.65805588e+02] [-6.60332621e-01 7.50917460e-01 9.15414520e-03 1.25682119e+02] [ 1.35895589e-02 -2.39268071e-04 9.99907629e-01 7.54796760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.83, Y:125.66, Z:7.55 [[ 7.51715129e-01 6.59419052e-01 -9.53306631e-03 1.65829464e+02] [-6.59361887e-01 7.51775535e-01 8.68607413e-03 1.25660749e+02] [ 1.28944888e-02 -2.43712747e-04 9.99916833e-01 7.54940145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.85, Y:125.64, Z:7.55 [[ 7.51872580e-01 6.59239674e-01 -9.52233982e-03 1.65852344e+02] [-6.59182562e-01 7.51932836e-01 8.68102663e-03 1.25639370e+02] [ 1.28830372e-02 -2.50065532e-04 9.99916979e-01 7.55039503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:125.62, Z:7.55 [[ 7.52639743e-01 6.58368328e-01 -9.19575203e-03 1.65873297e+02] [-6.58314947e-01 7.52695873e-01 8.38762516e-03 1.25618203e+02] [ 1.24437514e-02 -2.59159034e-04 9.99922540e-01 7.55118090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.89, Y:125.60, Z:7.55 [[ 7.53859696e-01 6.56974562e-01 -8.94336680e-03 1.65893705e+02] [-6.56923975e-01 7.53912694e-01 8.15722852e-03 1.25598826e+02] [ 1.21016094e-02 -2.74293740e-04 9.99926735e-01 7.55191457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.92, Y:125.58, Z:7.55 [[ 7.54162382e-01 6.56628368e-01 -8.84803407e-03 1.65917467e+02] [-6.56578850e-01 7.54214234e-01 8.06864792e-03 1.25579274e+02] [ 1.19714164e-02 -2.75638701e-04 9.99928302e-01 7.55237082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.94, Y:125.56, Z:7.55 [[ 7.55135432e-01 6.55510879e-01 -8.71593705e-03 1.65940078e+02] [-6.55462755e-01 7.55185676e-01 7.94811337e-03 1.25557057e+02] [ 1.17922256e-02 -2.88929914e-04 9.99930428e-01 7.55324878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.96, Y:125.54, Z:7.55 [[ 7.55644943e-01 6.54925527e-01 -8.55997210e-03 1.65962066e+02] [-6.54879065e-01 7.55693369e-01 7.80655498e-03 1.25535780e+02] [ 1.15814263e-02 -2.93237269e-04 9.99932890e-01 7.55388070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.98, Y:125.52, Z:7.55 [[ 7.56446283e-01 6.53999478e-01 -8.58511434e-03 1.65982987e+02] [-6.53952682e-01 7.56494936e-01 7.82960645e-03 1.25515726e+02] [ 1.16151541e-02 -3.08418150e-04 9.99932494e-01 7.55461002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.01, Y:125.50, Z:7.55 [[ 7.56942010e-01 6.53426993e-01 -8.48286477e-03 1.66005221e+02] [-6.53381279e-01 7.56989476e-01 7.73544911e-03 1.25495626e+02] [ 1.14759906e-02 -3.12741364e-04 9.99934100e-01 7.55499047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.03, Y:125.47, Z:7.56 [[ 7.57164580e-01 6.53167177e-01 -8.62775324e-03 1.66029789e+02] [-6.53119886e-01 7.57213666e-01 7.86633526e-03 1.25474483e+02] [ 1.16710847e-02 -3.21153220e-04 9.99931839e-01 7.55557274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.05, Y:125.45, Z:7.56 [[ 7.57097942e-01 6.53246144e-01 -8.49601374e-03 1.66050854e+02] [-6.53200239e-01 7.57145544e-01 7.75070138e-03 1.25453028e+02] [ 1.14958347e-02 -3.18441851e-04 9.99933870e-01 7.55643576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.07, Y:125.43, Z:7.56 [[ 7.57100451e-01 6.53244365e-01 -8.40877749e-03 1.66073373e+02] [-6.53199378e-01 7.57147080e-01 7.67285078e-03 1.25434166e+02] [ 1.13789279e-02 -3.16510555e-04 9.99935208e-01 7.55662331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.10, Y:125.41, Z:7.56 [[ 7.56807267e-01 6.53584500e-01 -8.37032831e-03 1.66098972e+02] [-6.53539965e-01 7.56853491e-01 7.63598387e-03 1.25412831e+02] [ 1.13258729e-02 -3.08624010e-04 9.99935813e-01 7.55683842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.12, Y:125.39, Z:7.56 [[ 7.56596066e-01 6.53829788e-01 -8.30663905e-03 1.66121184e+02] [-6.53785890e-01 7.56641602e-01 7.58257622e-03 1.25390236e+02] [ 1.12428629e-02 -3.06183936e-04 9.99936750e-01 7.55759629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.14, Y:125.37, Z:7.56 [[ 7.56701465e-01 6.53708785e-01 -8.22906222e-03 1.66142993e+02] [-6.53665638e-01 7.56746145e-01 7.51703688e-03 1.25371081e+02] [ 1.11412642e-02 -3.09097612e-04 9.99937886e-01 7.55794556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5327550960001 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:166.16, Y:125.35, Z:7.56 [[ 7.56361167e-01 6.54107076e-01 -7.85613395e-03 1.66163246e+02] [-6.54067782e-01 7.56401910e-01 7.17543705e-03 1.25351435e+02] [ 1.06358989e-02 -2.88777830e-04 9.99943396e-01 7.55916036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.19, Y:125.33, Z:7.56 [[ 7.55672077e-01 6.54908124e-01 -7.42030070e-03 1.66189726e+02] [-6.54873135e-01 7.55708463e-01 6.77465524e-03 1.25333043e+02] [ 1.00443608e-02 -2.60062215e-04 9.99949520e-01 7.55985723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.21, Y:125.31, Z:7.56 [[ 7.54894951e-01 6.55803136e-01 -7.47388951e-03 1.66211305e+02] [-6.55767644e-01 7.54931906e-01 6.82742758e-03 1.25310055e+02] [ 1.01197261e-02 -2.52855689e-04 9.99948762e-01 7.56083626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:125.29, Z:7.56 [[ 7.52975442e-01 6.58007956e-01 -7.31532193e-03 1.66234504e+02] [-6.57974012e-01 7.53010943e-01 6.68719652e-03 1.25292103e+02] [ 9.90874598e-03 -2.22003028e-04 9.99950883e-01 7.56134500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.26, Y:125.27, Z:7.56 [[ 7.52109737e-01 6.58991316e-01 -7.83513403e-03 1.66255760e+02] [-6.58952438e-01 7.52150514e-01 7.16165604e-03 1.25273887e+02] [ 1.06126692e-02 -2.23370568e-04 9.99943659e-01 7.56122161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.28, Y:125.26, Z:7.56 [[ 7.50614711e-01 6.60697641e-01 -7.49551426e-03 1.66283627e+02] [-6.60662173e-01 7.50652111e-01 6.84852951e-03 1.25256502e+02] [ 1.01513309e-02 -1.88604266e-04 9.99948456e-01 7.56095814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.31, Y:125.24, Z:7.56 [[ 7.47924139e-01 6.63743216e-01 -7.37730905e-03 1.66309045e+02] [-6.63708968e-01 7.47960508e-01 6.74424692e-03 1.25237211e+02] [ 9.99438396e-03 -1.47798895e-04 9.99950044e-01 7.56088893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.33, Y:125.22, Z:7.56 [[ 7.46361301e-01 6.65498669e-01 -7.50536762e-03 1.66333477e+02] [-6.65463269e-01 7.46399026e-01 6.86529953e-03 1.25216570e+02] [ 1.01708468e-02 -1.29447414e-04 9.99948267e-01 7.56130379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.36, Y:125.20, Z:7.56 [[ 7.43735645e-01 6.68435467e-01 -7.16360440e-03 1.66357176e+02] [-6.68403319e-01 7.43770139e-01 6.55625468e-03 1.25197015e+02] [ 9.71050819e-03 -8.79433510e-05 9.99952848e-01 7.56187304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.38, Y:125.18, Z:7.56 [[ 7.42934239e-01 6.69325201e-01 -7.24511218e-03 1.66379796e+02] [-6.69292312e-01 7.42969561e-01 6.63571972e-03 1.25177435e+02] [ 9.82435225e-03 -8.08055016e-05 9.99951737e-01 7.56259144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:125.16, Z:7.56 [[ 7.42241823e-01 6.70095541e-01 -7.00302675e-03 1.66402888e+02] [-6.70064854e-01 7.42274856e-01 6.41331232e-03 1.25156906e+02] [ 9.49570266e-03 -6.77465300e-05 9.99954913e-01 7.56300951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.43, Y:125.14, Z:7.56 [[ 7.41588673e-01 6.70817651e-01 -7.06537497e-03 1.66425354e+02] [-6.70786445e-01 7.41622327e-01 6.47060627e-03 1.25136893e+02] [ 9.58043672e-03 -5.91705568e-05 9.99954105e-01 7.56378001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8927550960001 meters Centerline goodness [0,1] 0.999891490700753 Centerline is valid? [True, True] Translation: X:166.45, Y:125.11, Z:7.56 [[ 7.41433974e-01 6.70979900e-01 -7.85082327e-03 1.66447716e+02] [-6.70941399e-01 7.41475535e-01 7.18816980e-03 1.25113867e+02] [ 1.06443108e-02 -6.21109528e-05 9.99943346e-01 7.56318876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.47, Y:125.09, Z:7.57 [[ 7.41693751e-01 6.70697060e-01 -7.47218475e-03 1.66468659e+02] [-6.70662118e-01 7.41731386e-01 6.84649503e-03 1.25093879e+02] [ 1.01342780e-02 -6.66913262e-05 9.99948645e-01 7.56507901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.49, Y:125.07, Z:7.57 [[ 7.42035583e-01 6.70319181e-01 -7.44238645e-03 1.66489491e+02] [-6.70284505e-01 7.42072901e-01 6.81846123e-03 1.25073286e+02] [ 1.00933387e-02 -7.10245380e-05 9.99949058e-01 7.56509561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.51, Y:125.05, Z:7.57 [[ 7.42087160e-01 6.70262075e-01 -7.44291109e-03 1.66510454e+02] [-6.70227402e-01 7.42124481e-01 6.81788848e-03 1.25054199e+02] [ 1.00933386e-02 -7.10245373e-05 9.99949058e-01 7.56547029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.53, Y:125.03, Z:7.57 [[ 7.42602497e-01 6.69688869e-01 -7.63876745e-03 1.66531034e+02] [-6.69652328e-01 7.42641780e-01 6.99617933e-03 1.25033649e+02] [ 1.03581313e-02 -8.00618331e-05 9.99946350e-01 7.56605044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.55, Y:125.01, Z:7.57 [[ 7.43799650e-01 6.68356255e-01 -7.87381253e-03 1.66551347e+02] [-6.68317370e-01 7.43841318e-01 7.21016935e-03 1.25011546e+02] [ 1.06758289e-02 -1.00715753e-04 9.99943007e-01 7.56546994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.57, Y:124.99, Z:7.57 [[ 7.45386963e-01 6.66581372e-01 -8.21883342e-03 1.66569081e+02] [-6.66538903e-01 7.45432262e-01 7.52554654e-03 1.24988808e+02] [ 1.11429727e-02 -1.31272071e-04 9.99937907e-01 7.56557346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.59, Y:124.97, Z:7.57 [[ 7.46210096e-01 6.65657944e-01 -8.36621186e-03 1.66589197e+02] [-6.65613890e-01 7.46256980e-01 7.65963470e-03 1.24968550e+02] [ 1.13420407e-02 -1.47029930e-04 9.99935666e-01 7.56535888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:124.95, Z:7.57 [[ 7.47083459e-01 6.64673334e-01 -8.69856350e-03 1.66609596e+02] [-6.64625659e-01 7.47134079e-01 7.96256680e-03 1.24946962e+02] [ 1.17914990e-02 -1.67413446e-04 9.99930464e-01 7.56556349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.63, Y:124.93, Z:7.57 [[ 7.47885205e-01 6.63770580e-01 -8.73715441e-03 1.66629325e+02] [-6.63722426e-01 7.47936217e-01 7.99728612e-03 1.24925772e+02] [ 1.18431975e-02 -1.82006637e-04 9.99929850e-01 7.56573056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.65, Y:124.90, Z:7.57 [[ 7.48541898e-01 6.63025841e-01 -9.04217815e-03 1.66647712e+02] [-6.62974221e-01 7.48596483e-01 8.27572706e-03 1.24903784e+02] [ 1.22559637e-02 -1.99997431e-04 9.99924873e-01 7.56606428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.67, Y:124.88, Z:7.57 [[ 7.49673607e-01 6.61743357e-01 -9.23106593e-03 1.66667929e+02] [-6.61689472e-01 7.49730405e-01 8.44764244e-03 1.24882557e+02] [ 1.25109821e-02 -2.24875436e-04 9.99921709e-01 7.56589502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.69, Y:124.86, Z:7.57 [[ 7.49890403e-01 6.61489098e-01 -9.82630346e-03 1.66686866e+02] [-6.61428038e-01 7.49954742e-01 8.99092848e-03 1.24862190e+02] [ 1.33166840e-02 -2.42818376e-04 9.99911300e-01 7.56512906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.71, Y:124.84, Z:7.57 [[ 7.49371906e-01 6.62073847e-01 -9.99840961e-03 1.66708872e+02] [-6.62010704e-01 7.49438567e-01 9.14668115e-03 1.24842983e+02] [ 1.35489721e-02 -2.35211700e-04 9.99908181e-01 7.56551008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.73, Y:124.82, Z:7.57 [[ 7.48703077e-01 6.62832390e-01 -9.84509538e-03 1.66733381e+02] [-6.62771252e-01 7.48767771e-01 9.00514331e-03 1.24824323e+02] [ 1.33405908e-02 -2.17132312e-04 9.99910987e-01 7.56560275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.76, Y:124.81, Z:7.57 [[ 7.48042408e-01 6.63575261e-01 -1.00214029e-02 1.66755206e+02] [-6.63511980e-01 7.48109504e-01 9.16639071e-03 1.24805408e+02] [ 1.35796969e-02 -2.07528104e-04 9.99907770e-01 7.56580024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.78, Y:124.79, Z:7.57 [[ 7.46607225e-01 6.65185492e-01 -1.02914326e-02 1.66780658e+02] [-6.65118913e-01 7.46678129e-01 9.41296384e-03 1.24786343e+02] [ 1.39457546e-02 -1.82760324e-04 9.99902737e-01 7.56574521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.80, Y:124.76, Z:7.57 [[ 7.46261161e-01 6.65570345e-01 -1.05068943e-02 1.66803426e+02] [-6.65500908e-01 7.46335100e-01 9.61555239e-03 1.24764285e+02] [ 1.42414905e-02 -1.83365602e-04 9.99898568e-01 7.56609910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.83, Y:124.74, Z:7.57 [[ 7.46191095e-01 6.65653445e-01 -1.02147435e-02 1.66826924e+02] [-6.65587749e-01 7.46260985e-01 9.35363743e-03 1.24741332e+02] [ 1.38491455e-02 -1.80792835e-04 9.99904080e-01 7.56733142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.85, Y:124.72, Z:7.57 [[ 7.46157035e-01 6.65697243e-01 -9.84173642e-03 1.66851202e+02] [-6.65636188e-01 7.46221917e-01 9.01755567e-03 1.24718538e+02] [ 1.33470814e-02 -1.77496688e-04 9.99910908e-01 7.56814886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.87, Y:124.70, Z:7.57 [[ 7.46164346e-01 6.65694443e-01 -9.46978106e-03 1.66874051e+02] [-6.65637848e-01 7.46224415e-01 8.68202630e-03 1.24696802e+02] [ 1.28461585e-02 -1.74773794e-04 9.99917469e-01 7.56916118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.90, Y:124.67, Z:7.57 [[ 7.46285287e-01 6.65558830e-01 -9.47178233e-03 1.66898482e+02] [-6.65502135e-01 7.46345370e-01 8.68894889e-03 1.24674915e+02] [ 1.28522275e-02 -1.80943360e-04 9.99917390e-01 7.56987399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.92, Y:124.65, Z:7.57 [[ 7.46245642e-01 6.65606912e-01 -9.21306112e-03 1.66921520e+02] [-6.65553208e-01 7.46302490e-01 8.45699657e-03 1.24652925e+02] [ 1.25047658e-02 -1.79214462e-04 9.99921796e-01 7.57043368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.95, Y:124.63, Z:7.57 [[ 7.45970623e-01 6.65910702e-01 -9.52717276e-03 1.66947247e+02] [-6.65853252e-01 7.46031436e-01 8.74889536e-03 1.24631656e+02] [ 1.29335534e-02 -1.82719965e-04 9.99916341e-01 7.57033155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.97, Y:124.61, Z:7.57 [[ 7.45620862e-01 6.66301760e-01 -9.56527505e-03 1.66971717e+02] [-6.66243809e-01 7.45682192e-01 8.78952050e-03 1.24609371e+02] [ 1.29891282e-02 -1.80844570e-04 9.99915621e-01 7.57055616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.00, Y:124.59, Z:7.57 [[ 7.44966454e-01 6.67033632e-01 -9.54551317e-03 1.66996525e+02] [-6.66975907e-01 7.45027587e-01 8.77696158e-03 1.24588172e+02] [ 1.29661992e-02 -1.71914644e-04 9.99915921e-01 7.57103885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.02, Y:124.57, Z:7.57 [[ 7.44348143e-01 6.67724442e-01 -9.48213617e-03 1.67021301e+02] [-6.67667506e-01 7.44408519e-01 8.72114917e-03 1.24566116e+02] [ 1.28819074e-02 -1.60656987e-04 9.99917012e-01 7.57125518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.05, Y:124.54, Z:7.57 [[ 7.43651008e-01 6.68502866e-01 -9.33257454e-03 1.67046150e+02] [-6.68447704e-01 7.43709551e-01 8.58894887e-03 1.24543871e+02] [ 1.26824618e-02 -1.48842461e-04 9.99919563e-01 7.57166345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.07, Y:124.52, Z:7.57 [[ 7.42724627e-01 6.69537848e-01 -8.89936910e-03 1.67070787e+02] [-6.69487700e-01 7.42777930e-01 8.19550481e-03 1.24522447e+02] [ 1.20974556e-02 -1.28985097e-04 9.99926815e-01 7.57238462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.09, Y:124.50, Z:7.57 [[ 7.42370754e-01 6.69934105e-01 -8.59996868e-03 1.67092685e+02] [-6.69887280e-01 7.42420556e-01 7.92152317e-03 1.24502890e+02] [ 1.16916921e-02 -1.19697497e-04 9.99931643e-01 7.57293435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.12, Y:124.48, Z:7.57 [[ 7.41579763e-01 6.70811294e-01 -8.46537567e-03 1.67116535e+02] [-6.70765992e-01 7.41628072e-01 7.79656482e-03 1.24481763e+02] [ 1.15081840e-02 -1.03488580e-04 9.99933773e-01 7.57303956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.14, Y:124.46, Z:7.57 [[ 7.41293512e-01 6.71127450e-01 -8.47792180e-03 1.67138530e+02] [-6.71081977e-01 7.41341983e-01 7.81310881e-03 1.24461948e+02] [ 1.15286312e-02 -1.02426351e-04 9.99933538e-01 7.57318148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.16, Y:124.44, Z:7.57 [[ 7.41087981e-01 6.71355192e-01 -8.41490597e-03 1.67158882e+02] [-6.71310408e-01 7.41135748e-01 7.75491814e-03 1.24443593e+02] [ 1.14428922e-02 -9.80626706e-05 9.99934523e-01 7.57282387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.18, Y:124.42, Z:7.57 [[ 7.41273813e-01 6.71146581e-01 -8.68339107e-03 1.67179100e+02] [-6.71098898e-01 7.41324664e-01 8.00079876e-03 1.24424579e+02] [ 1.18069207e-02 -1.03368431e-04 9.99930291e-01 7.57288734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.20, Y:124.41, Z:7.57 [[ 7.41656090e-01 6.70723470e-01 -8.73334594e-03 1.67199312e+02] [-6.70675230e-01 7.41707500e-01 8.04495192e-03 1.24405166e+02] [ 1.18735262e-02 -1.09348784e-04 9.99929501e-01 7.57295903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.22, Y:124.39, Z:7.57 [[ 7.41990666e-01 6.70353012e-01 -8.75731992e-03 1.67220804e+02] [-6.70304499e-01 7.42042334e-01 8.06548418e-03 1.24385310e+02] [ 1.19050237e-02 -1.14443033e-04 9.99929126e-01 7.57314387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.24, Y:124.37, Z:7.57 [[ 7.42310188e-01 6.69997620e-01 -8.87548605e-03 1.67242093e+02] [-6.69947779e-01 7.42363236e-01 8.17307357e-03 1.24365495e+02] [ 1.20647744e-02 -1.20843614e-04 9.99927211e-01 7.57289587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.26, Y:124.35, Z:7.57 [[ 7.43220071e-01 6.68977057e-01 -9.67592094e-03 1.67262937e+02] [-6.68917752e-01 7.43283039e-01 8.90871823e-03 1.24345761e+02] [ 1.31516760e-02 -1.48742915e-04 9.99913502e-01 7.57195353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.28, Y:124.33, Z:7.57 [[ 7.43714050e-01 6.68422748e-01 -1.00220511e-02 1.67282848e+02] [-6.68359094e-01 7.43781556e-01 9.22597077e-03 1.24326419e+02] [ 1.36210655e-02 -1.63155079e-04 9.99907216e-01 7.57149219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.30, Y:124.31, Z:7.57 [[ 7.44469973e-01 6.67573082e-01 -1.05185812e-02 1.67303535e+02] [-6.67502905e-01 7.44544254e-01 9.68121689e-03 1.24306582e+02] [ 1.42944690e-02 -1.86191775e-04 9.99897812e-01 7.57070830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.32, Y:124.29, Z:7.57 [[ 7.45070176e-01 6.66900441e-01 -1.06880045e-02 1.67324336e+02] [-6.66827937e-01 7.45146805e-01 9.83570744e-03 1.24286884e+02] [ 1.45235701e-02 -2.01232250e-04 9.99894507e-01 7.57027540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.35, Y:124.27, Z:7.57 [[ 7.46137591e-01 6.65694825e-01 -1.13620247e-02 1.67345544e+02] [-6.65612772e-01 7.46224057e-01 1.04543897e-02 1.24267022e+02] [ 1.54380493e-02 -2.37704449e-04 9.99880798e-01 7.56864210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.37, Y:124.25, Z:7.57 [[ 7.46831729e-01 6.64910295e-01 -1.16905250e-02 1.67365928e+02] [-6.64823358e-01 7.46923177e-01 1.07550059e-02 1.24247568e+02] [ 1.58830382e-02 -2.60045588e-04 9.99873823e-01 7.56764926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.39, Y:124.23, Z:7.57 [[ 7.48763744e-01 6.62718921e-01 -1.25094624e-02 1.67386455e+02] [-6.62619121e-01 7.48868163e-01 1.15054441e-02 1.24227178e+02] [ 1.69928136e-02 -3.25850446e-04 9.99855559e-01 7.56552100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.41, Y:124.21, Z:7.56 [[ 7.49800286e-01 6.61538586e-01 -1.28930504e-02 1.67407036e+02] [-6.61432501e-01 7.49911042e-01 1.18522656e-02 1.24207171e+02] [ 1.75093719e-02 -3.58949564e-04 9.99846635e-01 7.56479877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.43, Y:124.19, Z:7.56 [[ 7.50996295e-01 6.60178168e-01 -1.30135503e-02 1.67426264e+02] [-6.60069975e-01 7.51108937e-01 1.19579675e-02 1.24187629e+02] [ 1.76689830e-02 -3.90535476e-04 9.99843815e-01 7.56450163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.45, Y:124.17, Z:7.56 [[ 7.52873396e-01 6.58024544e-01 -1.36142920e-02 1.67446264e+02] [-6.57905847e-01 7.52996341e-01 1.25062996e-02 1.24166476e+02] [ 1.84809641e-02 -4.58737936e-04 9.99829107e-01 7.56393648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.47, Y:124.15, Z:7.56 [[ 7.53796337e-01 6.56965152e-01 -1.37066464e-02 1.67466663e+02] [-6.56844756e-01 7.53920788e-01 1.25861521e-02 1.24146966e+02] [ 1.86023889e-02 -4.84256559e-04 9.99826843e-01 7.56395452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.49, Y:124.13, Z:7.56 [[ 7.54678526e-01 6.55953200e-01 -1.36279650e-02 1.67487910e+02] [-6.55834078e-01 7.54801395e-01 1.25106784e-02 1.24127232e+02] [ 1.84928265e-02 -5.03856482e-04 9.99828866e-01 7.56415275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.51, Y:124.11, Z:7.56 [[ 7.55285271e-01 6.55255736e-01 -1.35676038e-02 1.67509084e+02] [-6.55137648e-01 7.55406947e-01 1.24501370e-02 1.24109479e+02] [ 1.84070858e-02 -5.14757107e-04 9.99830443e-01 7.56452300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.53, Y:124.09, Z:7.56 [[ 7.55728102e-01 6.54749519e-01 -1.33455386e-02 1.67530729e+02] [-6.54635255e-01 7.55845753e-01 1.22425894e-02 1.24090788e+02] [ 1.81029982e-02 -5.15608839e-04 9.99835994e-01 7.56475196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.55, Y:124.07, Z:7.57 [[ 7.55944514e-01 6.54497334e-01 -1.34585113e-02 1.67552553e+02] [-6.54381175e-01 7.56064129e-01 1.23414166e-02 1.24073007e+02] [ 1.82529219e-02 -5.22429713e-04 9.99833265e-01 7.56502168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.57, Y:124.05, Z:7.57 [[ 7.55956750e-01 6.54479465e-01 -1.36389958e-02 1.67573884e+02] [-6.54360229e-01 7.56079594e-01 1.25035231e-02 1.24054956e+02] [ 1.84954655e-02 -5.27306285e-04 9.99828805e-01 7.56541494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.60, Y:124.04, Z:7.57 [[ 7.55755414e-01 6.54712396e-01 -1.36173991e-02 1.67595118e+02] [-6.54593674e-01 7.55877908e-01 1.24784240e-02 1.24036936e+02] [ 1.84628700e-02 -5.16773211e-04 9.99829413e-01 7.56594353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.63, Y:124.03, Z:7.57 [[ 7.54738909e-01 6.55889337e-01 -1.33550178e-02 1.67626028e+02] [-6.55775356e-01 7.54856907e-01 1.22365531e-02 1.24025788e+02] [ 1.81069522e-02 -4.77511200e-04 9.99835942e-01 7.56848746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.65, Y:124.01, Z:7.57 [[ 7.53953566e-01 6.56793264e-01 -1.32901815e-02 1.67649795e+02] [-6.56680527e-01 7.54070556e-01 1.21771468e-02 1.24007163e+02] [ 1.80196026e-02 -4.53599840e-04 9.99837531e-01 7.56906504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.67, Y:123.99, Z:7.57 [[ 7.52465561e-01 6.58503097e-01 -1.30096763e-02 1.67672186e+02] [-6.58395330e-01 7.52577909e-01 1.19197857e-02 1.23989729e+02] [ 1.76400108e-02 -4.03718078e-04 9.99844321e-01 7.56947902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.70, Y:123.97, Z:7.57 [[ 7.51929270e-01 6.59123960e-01 -1.25689267e-02 1.67695869e+02] [-6.59023482e-01 7.52034218e-01 1.15145517e-02 1.23973213e+02] [ 1.70417799e-02 -3.74910632e-04 9.99854708e-01 7.57060999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.72, Y:123.95, Z:7.57 [[ 7.51341253e-01 6.59793634e-01 -1.25968962e-02 1.67718352e+02] [-6.59692833e-01 7.51446759e-01 1.15383723e-02 1.23954751e+02] [ 1.70788414e-02 -3.59172952e-04 9.99854081e-01 7.57112516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.74, Y:123.94, Z:7.57 [[ 7.50075505e-01 6.61231368e-01 -1.26417556e-02 1.67740227e+02] [-6.61130085e-01 7.50181959e-01 1.15775558e-02 1.23937850e+02] [ 1.71390600e-02 -3.26196117e-04 9.99853062e-01 7.57168088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.76, Y:123.92, Z:7.57 [[ 7.49749398e-01 6.61604869e-01 -1.24433732e-02 1.67762735e+02] [-6.61506826e-01 7.49852586e-01 1.13937991e-02 1.23919110e+02] [ 1.68688885e-02 -3.11117686e-04 9.99857662e-01 7.57238803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.78, Y:123.90, Z:7.57 [[ 7.49258655e-01 6.62155782e-01 -1.26959687e-02 1.67784824e+02] [-6.62053828e-01 7.49366151e-01 1.16232738e-02 1.23900560e+02] [ 1.72103471e-02 -3.03423812e-04 9.99851845e-01 7.57304943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.81, Y:123.88, Z:7.57 [[ 7.48746326e-01 6.62739283e-01 -1.24732731e-02 1.67806984e+02] [-6.62640985e-01 7.48850160e-01 1.14176593e-02 1.23881964e+02] [ 1.69075439e-02 -2.83628465e-04 9.99857017e-01 7.57413863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.83, Y:123.86, Z:7.57 [[ 7.48769794e-01 6.62712080e-01 -1.25097794e-02 1.67826441e+02] [-6.62613236e-01 7.48874235e-01 1.14490308e-02 1.23863432e+02] [ 1.69556624e-02 -2.83543040e-04 9.99856202e-01 7.57448557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.85, Y:123.84, Z:7.57 [[ 7.49115711e-01 6.62313017e-01 -1.29274189e-02 1.67846311e+02] [-6.62207456e-01 7.49227186e-01 1.18282640e-02 1.23843863e+02] [ 1.75195869e-02 -3.00105183e-04 9.99846475e-01 7.57494270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.87, Y:123.83, Z:7.58 [[ 7.49270006e-01 6.62136355e-01 -1.30348119e-02 1.67868808e+02] [-6.62029044e-01 7.49383316e-01 1.19243860e-02 1.23825642e+02] [ 1.76636400e-02 -3.05160743e-04 9.99843939e-01 7.57605751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.89, Y:123.81, Z:7.58 [[ 7.49322180e-01 6.62077291e-01 -1.30357519e-02 1.67889786e+02] [-6.61969989e-01 7.49435499e-01 1.19233583e-02 1.23806566e+02] [ 1.76636400e-02 -3.05160258e-04 9.99843939e-01 7.57643223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.91, Y:123.79, Z:7.58 [[ 7.49605165e-01 6.61756558e-01 -1.30520321e-02 1.67911658e+02] [-6.61648968e-01 7.49718721e-01 1.19365949e-02 1.23786010e+02] [ 1.76844728e-02 -3.11869597e-04 9.99843569e-01 7.57732626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.93, Y:123.76, Z:7.58 [[ 7.50433103e-01 6.60813676e-01 -1.32455615e-02 1.67930033e+02] [-6.60702743e-01 7.50549913e-01 1.21125571e-02 1.23763926e+02] [ 1.79455984e-02 -3.38284942e-04 9.99838908e-01 7.57751715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.95, Y:123.74, Z:7.58 [[ 7.50962247e-01 6.60208188e-01 -1.34481239e-02 1.67950494e+02] [-6.60093764e-01 7.51082566e-01 1.22964212e-02 1.23743187e+02] [ 1.82188493e-02 -3.57125375e-04 9.99833959e-01 7.57787767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.97, Y:123.72, Z:7.58 [[ 7.52328024e-01 6.58651777e-01 -1.34306183e-02 1.67970084e+02] [-6.58537436e-01 7.52447794e-01 1.22785684e-02 1.23722494e+02] [ 1.81931400e-02 -3.92946182e-04 9.99834414e-01 7.57900594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.99, Y:123.70, Z:7.58 [[ 7.52884790e-01 6.58011878e-01 -1.35963538e-02 1.67989939e+02] [-6.57894629e-01 7.53007436e-01 1.24281434e-02 1.23701958e+02] [ 1.84160215e-02 -4.11991950e-04 9.99830326e-01 7.57957604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.01, Y:123.68, Z:7.58 [[ 7.53611839e-01 6.57180036e-01 -1.35497784e-02 1.68010860e+02] [-6.57063485e-01 7.53733517e-01 1.23839237e-02 1.23680562e+02] [ 1.83513896e-02 -4.29606930e-04 9.99831507e-01 7.58049185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.03, Y:123.66, Z:7.58 [[ 7.54420048e-01 6.56241763e-01 -1.40406543e-02 1.68030106e+02] [-6.56116470e-01 7.54550548e-01 1.28315420e-02 1.23658128e+02] [ 1.90149772e-02 -4.68067982e-04 9.99819089e-01 7.58172295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.05, Y:123.64, Z:7.58 [[ 7.54602179e-01 6.56028514e-01 -1.42176184e-02 1.68050409e+02] [-6.55900027e-01 7.54735954e-01 1.29920989e-02 1.23637139e+02] [ 1.92537352e-02 -4.78529831e-04 9.99814515e-01 7.58185808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.07, Y:123.62, Z:7.58 [[ 7.53807322e-01 6.56914519e-01 -1.54219162e-02 1.68074009e+02] [-6.56763488e-01 7.53964899e-01 1.40943930e-02 1.23615988e+02] [ 2.08863949e-02 -4.95905202e-04 9.99781732e-01 7.58263632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.10, Y:123.59, Z:7.58 [[ 7.53009231e-01 6.57817673e-01 -1.59061981e-02 1.68097621e+02] [-6.57657027e-01 7.53177049e-01 1.45453458e-02 1.23593604e+02] [ 2.15483689e-02 -4.91956684e-04 9.99767686e-01 7.58294376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.12, Y:123.57, Z:7.58 [[ 7.52387925e-01 6.58519655e-01 -1.62565204e-02 1.68121710e+02] [-6.58351819e-01 7.52563370e-01 1.48746956e-02 1.23571208e+02] [ 2.20293411e-02 -4.89031575e-04 9.99757205e-01 7.58328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.14, Y:123.55, Z:7.58 [[ 7.51164465e-01 6.59901573e-01 -1.67886773e-02 1.68143800e+02] [-6.59722700e-01 7.51351910e-01 1.53709654e-02 1.23548698e+02] [ 2.27575290e-02 -4.70251463e-04 9.99740903e-01 7.58352439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.17, Y:123.53, Z:7.58 [[ 7.50443484e-01 6.60716369e-01 -1.69839974e-02 1.68167780e+02] [-6.60533378e-01 7.50635512e-01 1.55558369e-02 1.23526534e+02] [ 2.30267877e-02 -4.55279253e-04 9.99734745e-01 7.58440277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.19, Y:123.50, Z:7.59 [[ 7.50120612e-01 6.61082078e-01 -1.70162704e-02 1.68191114e+02] [-6.60898346e-01 7.50313457e-01 1.55914320e-02 1.23503557e+02] [ 2.30747529e-02 -4.49429589e-04 9.99733641e-01 7.58540094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.21, Y:123.48, Z:7.59 [[ 7.49874608e-01 6.61353765e-01 -1.72994076e-02 1.68211231e+02] [-6.61163706e-01 7.50073990e-01 1.58607591e-02 1.23478183e+02] [ 2.34654084e-02 -4.55840087e-04 9.99724545e-01 7.58552612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.24, Y:123.46, Z:7.59 [[ 7.49998219e-01 6.61216703e-01 -1.71797486e-02 1.68235093e+02] [-6.61029019e-01 7.50194813e-01 1.57600496e-02 1.23457387e+02] [ 2.33089663e-02 -4.63696721e-04 9.99728202e-01 7.58782851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.26, Y:123.43, Z:7.59 [[ 7.50359061e-01 6.60817425e-01 -1.67812772e-02 1.68257399e+02] [-6.60638046e-01 7.50546540e-01 1.54033481e-02 1.23433326e+02] [ 2.27739304e-02 -4.71691618e-04 9.99740529e-01 7.58957233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.28, Y:123.41, Z:7.59 [[ 7.50550347e-01 6.60606791e-01 -1.65179895e-02 1.68279698e+02] [-6.60432746e-01 7.50731936e-01 1.51706154e-02 1.23410787e+02] [ 2.24223939e-02 -4.77289483e-04 9.99748473e-01 7.59075946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.30, Y:123.39, Z:7.59 [[ 7.50780229e-01 6.60357503e-01 -1.60317149e-02 1.68303712e+02] [-6.60193315e-01 7.50951224e-01 1.47324733e-02 1.23388552e+02] [ 2.17677352e-02 -4.76818675e-04 9.99762941e-01 7.59236000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.33, Y:123.36, Z:7.59 [[ 7.50794099e-01 6.60349326e-01 -1.57159102e-02 1.68325642e+02] [-6.60191351e-01 7.50958416e-01 1.44512103e-02 1.23364659e+02] [ 2.13448421e-02 -4.74375439e-04 9.99772060e-01 7.59298794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.35, Y:123.34, Z:7.60 [[ 7.51433127e-01 6.59635079e-01 -1.51597854e-02 1.68347812e+02] [-6.59487778e-01 7.51585876e-01 1.39478156e-02 1.23341714e+02] [ 2.05943490e-02 -4.83157446e-04 9.99787797e-01 7.59526754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.37, Y:123.32, Z:7.60 [[ 7.51618167e-01 6.59426666e-01 -1.50533266e-02 1.68369710e+02] [-6.59281223e-01 7.51768735e-01 1.38577916e-02 1.23318583e+02] [ 2.04548176e-02 -4.91392319e-04 9.99790658e-01 7.59622897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.39, Y:123.30, Z:7.60 [[ 7.52043673e-01 6.58943485e-01 -1.49598574e-02 1.68390975e+02] [-6.58799589e-01 7.52192280e-01 1.37795287e-02 1.23296084e+02] [ 2.03326200e-02 -5.07259459e-04 9.99793142e-01 7.59680328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.42, Y:123.27, Z:7.60 [[ 7.51923065e-01 6.59079381e-01 -1.50357616e-02 1.68415389e+02] [-6.58933890e-01 7.52073207e-01 1.38571275e-02 1.23273572e+02] [ 2.04409404e-02 -5.11920879e-04 9.99790931e-01 7.59742899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.44, Y:123.25, Z:7.60 [[ 7.50932151e-01 6.60214155e-01 -1.47706869e-02 1.68440929e+02] [-6.60073805e-01 7.51077253e-01 1.36209951e-02 1.23253575e+02] [ 2.00867007e-02 -4.78699653e-04 9.99798127e-01 7.59948631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.47, Y:123.23, Z:7.60 [[ 7.49842517e-01 6.61448009e-01 -1.49242013e-02 1.68465077e+02] [-6.61304812e-01 7.49990883e-01 1.37703383e-02 1.23232635e+02] [ 2.03013778e-02 -4.56138941e-04 9.99793802e-01 7.60020381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.49, Y:123.21, Z:7.60 [[ 7.48995757e-01 6.62400166e-01 -1.52110669e-02 1.68489085e+02] [-6.62251442e-01 7.49150067e-01 1.40429567e-02 1.23210728e+02] [ 2.06974286e-02 -4.44564024e-04 9.99785686e-01 7.60039641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:123.19, Z:7.60 [[ 7.47467992e-01 6.64102496e-01 -1.61082682e-02 1.68513700e+02] [-6.63935914e-01 7.47641420e-01 1.48798246e-02 1.23189801e+02] [ 2.19249372e-02 -4.27334840e-04 9.99759528e-01 7.60091998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.54, Y:123.17, Z:7.60 [[ 7.46508762e-01 6.65178002e-01 -1.62140208e-02 1.68538253e+02] [-6.65009295e-01 7.46684714e-01 1.49858377e-02 1.23168479e+02] [ 2.20750110e-02 -4.04584577e-04 9.99756235e-01 7.60142976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.56, Y:123.15, Z:7.60 [[ 7.45547809e-01 6.66254552e-01 -1.62276701e-02 1.68563526e+02] [-6.66085630e-01 7.45724298e-01 1.50068491e-02 1.23148027e+02] [ 2.20997494e-02 -3.79305566e-04 9.99755699e-01 7.60232419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.59, Y:123.13, Z:7.60 [[ 7.43593029e-01 6.68428177e-01 -1.65281361e-02 1.68588182e+02] [-6.68253313e-01 7.43776623e-01 1.52919558e-02 1.23128775e+02] [ 2.25148154e-02 -3.26010015e-04 9.99746456e-01 7.60239230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.61, Y:123.11, Z:7.60 [[ 7.42344569e-01 6.69813054e-01 -1.65835447e-02 1.68611183e+02] [-6.69637219e-01 7.42529723e-01 1.53494421e-02 1.23108186e+02] [ 2.25950316e-02 -2.89616218e-04 9.99744658e-01 7.60186013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.64, Y:123.09, Z:7.60 [[ 7.41121529e-01 6.71163558e-01 -1.66840670e-02 1.68636289e+02] [-6.70985736e-01 7.41309256e-01 1.54508502e-02 1.23088694e+02] [ 2.27381009e-02 -2.56186802e-04 9.99741423e-01 7.60312044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.66, Y:123.07, Z:7.60 [[ 7.38822085e-01 6.73685517e-01 -1.70220787e-02 1.68660201e+02] [-6.73500880e-01 7.39018125e-01 1.57726396e-02 1.23068830e+02] [ 2.32054235e-02 -1.88789451e-04 9.99730700e-01 7.60174360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.68, Y:123.05, Z:7.60 [[ 7.37882730e-01 6.74717206e-01 -1.69046816e-02 1.68682794e+02] [-6.74535294e-01 7.38076329e-01 1.56674888e-02 1.23051167e+02] [ 2.30480696e-02 -1.57965085e-04 9.99734345e-01 7.60282210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9527550960001 meters Centerline goodness [0,1] 0.999934854834857 Centerline is valid? [True, True] Translation: X:168.71, Y:123.03, Z:7.60 [[ 7.35807751e-01 6.76975939e-01 -1.70449925e-02 1.68706602e+02] [-6.76791657e-01 7.36005143e-01 1.57950451e-02 1.23034607e+02] [ 2.32380676e-02 -8.62078828e-05 9.99729956e-01 7.60217360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.73, Y:123.02, Z:7.60 [[ 7.34664506e-01 6.78229435e-01 -1.65196296e-02 1.68729468e+02] [-6.78056708e-01 7.34850211e-01 1.53058404e-02 1.23017209e+02] [ 2.25203248e-02 -4.34119643e-05 9.99746384e-01 7.60402987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.75, Y:123.00, Z:7.60 [[ 7.33946515e-01 6.79020707e-01 -1.59183386e-02 1.68751635e+02] [-6.78860577e-01 7.34119118e-01 1.47457706e-02 1.22999781e+02] [ 2.16986403e-02 -1.62743897e-05 9.99764557e-01 7.60415220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.77, Y:122.98, Z:7.60 [[ 7.32941173e-01 6.80110859e-01 -1.56989260e-02 1.68774780e+02] [-6.79955444e-01 7.33109282e-01 1.45387494e-02 1.22982849e+02] [ 2.13969897e-02 1.85221438e-05 9.99771058e-01 7.60488400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.80, Y:122.96, Z:7.61 [[ 7.32740569e-01 6.80332792e-01 -1.54450725e-02 1.68796386e+02] [-6.80182483e-01 7.32903330e-01 1.43002931e-02 1.22964243e+02] [ 2.10487034e-02 2.70628450e-05 9.99778451e-01 7.60547209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:122.95, Z:7.61 [[ 7.32870424e-01 6.80189961e-01 -1.55743225e-02 1.68816993e+02] [-6.80037171e-01 7.33035891e-01 1.44163090e-02 1.22945987e+02] [ 2.12223660e-02 2.58317494e-05 9.99774780e-01 7.60555494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.84, Y:122.93, Z:7.61 [[ 7.33571918e-01 6.79445797e-01 -1.50216647e-02 1.68838088e+02] [-6.79303568e-01 7.33725705e-01 1.39015697e-02 1.22926815e+02] [ 2.04671446e-02 6.46922839e-06 9.99790526e-01 7.60714234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.86, Y:122.91, Z:7.61 [[ 7.34445832e-01 6.78510131e-01 -1.46055583e-02 1.68858595e+02] [-6.78375537e-01 7.34591044e-01 1.35140169e-02 1.22907793e+02] [ 1.98985097e-02 -1.72598905e-05 9.99802005e-01 7.60781848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.88, Y:122.89, Z:7.61 [[ 7.36406760e-01 6.76390757e-01 -1.41642997e-02 1.68879779e+02] [-6.76263833e-01 7.36542965e-01 1.31030062e-02 1.22887928e+02] [ 1.92953676e-02 -7.03387006e-05 9.99813825e-01 7.60857970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.90, Y:122.87, Z:7.61 [[ 7.37388797e-01 6.75323373e-01 -1.40036939e-02 1.68900339e+02] [-6.75199158e-01 7.37521751e-01 1.29523846e-02 1.22868312e+02] [ 1.90750769e-02 -9.56609865e-05 9.99818050e-01 7.60934234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.92, Y:122.85, Z:7.61 [[ 7.39897319e-01 6.72573450e-01 -1.40325308e-02 1.68919303e+02] [-6.72448269e-01 7.40030355e-01 1.29768332e-02 1.22848344e+02] [ 1.91123722e-02 -1.65373013e-04 9.99817328e-01 7.60957090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.94, Y:122.83, Z:7.61 [[ 7.41128343e-01 6.71216258e-01 -1.40539598e-02 1.68939930e+02] [-6.71090497e-01 7.41261556e-01 1.29942421e-02 1.22828648e+02] [ 1.91396067e-02 -1.98922292e-04 9.99816801e-01 7.60994163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.96, Y:122.81, Z:7.61 [[ 7.43231394e-01 6.68872727e-01 -1.47095119e-02 1.68959356e+02] [-6.68734546e-01 7.43376891e-01 1.35979836e-02 1.22808694e+02] [ 2.00300316e-02 -2.69689528e-04 9.99799342e-01 7.60915278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.98, Y:122.79, Z:7.61 [[ 7.44338552e-01 6.67631773e-01 -1.50975605e-02 1.68980114e+02] [-6.67486001e-01 7.44491585e-01 1.39541446e-02 1.22788836e+02] [ 2.05562371e-02 -3.09197495e-04 9.99788650e-01 7.60890937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.00, Y:122.77, Z:7.61 [[ 7.46457707e-01 6.65236474e-01 -1.61655662e-02 1.68999199e+02] [-6.65068846e-01 7.46632624e-01 1.49383838e-02 1.22768948e+02] [ 2.20072969e-02 -3.99657232e-04 9.99757730e-01 7.60780680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4027550960001 meters Centerline goodness [0,1] 0.999913926665519 Centerline is valid? [True, True] Translation: X:169.02, Y:122.75, Z:7.61 [[ 7.47548297e-01 6.63984900e-01 -1.71929148e-02 1.69022923e+02] [-6.63794917e-01 7.47745836e-01 1.58893749e-02 1.22747608e+02] [ 2.34062354e-02 -4.65505663e-04 9.99725928e-01 7.60659372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.05, Y:122.73, Z:7.61 [[ 7.47988934e-01 6.63482444e-01 -1.74241799e-02 1.69046195e+02] [-6.63286963e-01 7.48191688e-01 1.61121862e-02 1.22725457e+02] [ 2.37267792e-02 -4.94505630e-04 9.99718358e-01 7.60766669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.07, Y:122.70, Z:7.61 [[ 7.48798094e-01 6.62559053e-01 -1.78021387e-02 1.69067580e+02] [-6.62354606e-01 7.49009486e-01 1.64671194e-02 1.22703700e+02] [ 2.42444098e-02 -5.39219024e-04 9.99705916e-01 7.60726068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.09, Y:122.68, Z:7.61 [[ 7.49366681e-01 6.61897043e-01 -1.84900491e-02 1.69091277e+02] [-6.61676162e-01 7.49594531e-01 1.71083417e-02 1.22681732e+02] [ 2.51840005e-02 -5.85996476e-04 9.99682661e-01 7.60759068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.11, Y:122.66, Z:7.61 [[ 7.49382151e-01 6.61871397e-01 -1.87788603e-02 1.69112186e+02] [-6.61643431e-01 7.49617165e-01 1.73803251e-02 1.22661249e+02] [ 2.55804961e-02 -5.99595834e-04 9.99672586e-01 7.60722539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.14, Y:122.64, Z:7.61 [[ 7.49171555e-01 6.62095925e-01 -1.92605180e-02 1.69135468e+02] [-6.61856197e-01 7.49418853e-01 1.78257481e-02 1.22641388e+02] [ 2.62365505e-02 -6.06850253e-04 9.99655578e-01 7.60821331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5827550960001 meters Centerline goodness [0,1] 0.9999139988389844 Centerline is valid? [True, True] Translation: X:169.16, Y:122.62, Z:7.61 [[ 7.48666989e-01 6.62638788e-01 -2.01885014e-02 1.69158692e+02] [-6.62375573e-01 7.48938887e-01 1.86853790e-02 1.22620293e+02] [ 2.75016106e-02 -6.16756248e-04 9.99621569e-01 7.60842441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.18, Y:122.60, Z:7.61 [[ 7.47774254e-01 6.63634450e-01 -2.05665308e-02 1.69181592e+02] [-6.63361639e-01 7.48056794e-01 1.90359939e-02 1.22600069e+02] [ 2.80178744e-02 -5.91578556e-04 9.99607247e-01 7.61046873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.20, Y:122.58, Z:7.61 [[ 7.46841717e-01 6.64668472e-01 -2.10540259e-02 1.69202014e+02] [-6.64383041e-01 7.47138209e-01 1.94851344e-02 1.22581596e+02] [ 2.86814217e-02 -5.64373495e-04 9.99588444e-01 7.61118365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.22, Y:122.56, Z:7.61 [[ 7.46395688e-01 6.65161874e-01 -2.12875237e-02 1.69223472e+02] [-6.64870377e-01 7.46698989e-01 1.96977556e-02 1.22561623e+02] [ 2.89975685e-02 -5.48875952e-04 9.99579331e-01 7.61230507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7027550960001 meters Centerline goodness [0,1] 0.9998923179635173 Centerline is valid? [True, True] Translation: X:169.24, Y:122.54, Z:7.61 [[ 7.46459399e-01 6.65088338e-01 -2.13510854e-02 1.69244338e+02] [-6.64795157e-01 7.46764487e-01 1.97534633e-02 1.22541740e+02] [ 2.90820304e-02 -5.51060214e-04 9.99576876e-01 7.61190212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.26, Y:122.52, Z:7.62 [[ 7.45589215e-01 6.66065977e-01 -2.12799498e-02 1.69264694e+02] [-6.65775246e-01 7.45892657e-01 1.96841648e-02 1.22522682e+02] [ 2.89835108e-02 -5.08637100e-04 9.99579760e-01 7.61516484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.29, Y:122.50, Z:7.62 [[ 7.45304018e-01 6.66384559e-01 -2.12964981e-02 1.69287307e+02] [-6.66093581e-01 7.45608057e-01 1.96968700e-02 1.22503442e+02] [ 2.90045306e-02 -4.94695662e-04 9.99579158e-01 7.61755415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.31, Y:122.48, Z:7.62 [[ 7.45330553e-01 6.66354854e-01 -2.12972828e-02 1.69308758e+02] [-6.66063888e-01 7.45634604e-01 1.96960215e-02 1.22483658e+02] [ 2.90045306e-02 -4.94695602e-04 9.99579158e-01 7.61793996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.33, Y:122.46, Z:7.62 [[ 7.45313734e-01 6.66382289e-01 -2.10257677e-02 1.69328538e+02] [-6.66098775e-01 7.45610092e-01 1.94425544e-02 1.22463305e+02] [ 2.86331985e-02 -4.85564747e-04 9.99589868e-01 7.61855848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.35, Y:122.44, Z:7.62 [[ 7.45369147e-01 6.66337473e-01 -2.04745506e-02 1.69349479e+02] [-6.66068696e-01 7.45650152e-01 1.89299376e-02 1.22443615e+02] [ 2.78805786e-02 -4.72334212e-04 9.99611150e-01 7.62088948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.37, Y:122.42, Z:7.62 [[ 7.45603641e-01 6.66070603e-01 -2.06194681e-02 1.69371228e+02] [-6.65797989e-01 7.45888543e-01 1.90609552e-02 1.22424654e+02] [ 2.80757669e-02 -4.83517254e-04 9.99605681e-01 7.62258877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.91275509600007 meters Centerline goodness [0,1] 0.9999355032893322 Centerline is valid? [True, True] Translation: X:169.39, Y:122.40, Z:7.62 [[ 7.46955847e-01 6.64564742e-01 -2.02648900e-02 1.69391299e+02] [-6.64300951e-01 7.47230502e-01 1.87302682e-02 1.22403402e+02] [ 2.75900198e-02 -5.28697618e-04 9.99619183e-01 7.62290365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94275509600004 meters Centerline goodness [0,1] 0.9998275155774994 Centerline is valid? [True, True] Translation: X:169.41, Y:122.38, Z:7.62 [[ 7.47882823e-01 6.63519547e-01 -2.03246992e-02 1.69411694e+02] [-6.63253891e-01 7.48158733e-01 1.87826184e-02 1.22382784e+02] [ 2.76687356e-02 -5.66761879e-04 9.99616987e-01 7.62251280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.43, Y:122.36, Z:7.62 [[ 7.48575027e-01 6.62758713e-01 -1.96549461e-02 1.69430649e+02] [-6.62510101e-01 7.48832798e-01 1.81605640e-02 1.22362011e+02] [ 2.67543404e-02 -5.72944386e-04 9.99641874e-01 7.62443485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00275509600004 meters Centerline goodness [0,1] 0.9998273331606665 Centerline is valid? [True, True] Translation: X:169.45, Y:122.34, Z:7.62 [[ 7.49649836e-01 6.61549742e-01 -1.94180799e-02 1.69452215e+02] [-6.61306763e-01 7.49901041e-01 1.79386269e-02 1.22343078e+02] [ 2.64289323e-02 -6.06381141e-04 9.99650511e-01 7.62315583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.47, Y:122.32, Z:7.63 [[ 7.49479691e-01 6.61743908e-01 -1.93699026e-02 1.69471450e+02] [-6.61502285e-01 7.49729715e-01 1.78907899e-02 1.22323135e+02] [ 2.63613128e-02 -5.95548817e-04 9.99652303e-01 7.62504911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.49, Y:122.30, Z:7.63 [[ 7.50066117e-01 6.61097628e-01 -1.87282254e-02 1.69493759e+02] [-6.60871631e-01 7.50299655e-01 1.72949380e-02 1.22304945e+02] [ 2.54854235e-02 -5.95394139e-04 9.99675017e-01 7.62596055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0927550960001 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:169.51, Y:122.29, Z:7.62 [[ 7.50192017e-01 6.60953082e-01 -1.87872581e-02 1.69513714e+02] [-6.60725688e-01 7.50426988e-01 1.73465020e-02 1.22286104e+02] [ 2.55636894e-02 -5.99983315e-04 9.99673015e-01 7.62492938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.53, Y:122.27, Z:7.62 [[ 7.49483217e-01 6.61748932e-01 -1.90593270e-02 1.69534273e+02] [-6.61515266e-01 7.49725294e-01 1.75936372e-02 1.22267394e+02] [ 2.59318302e-02 -5.78100078e-04 9.99663546e-01 7.62421894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.56, Y:122.25, Z:7.62 [[ 7.48973751e-01 6.62329241e-01 -1.89287178e-02 1.69556648e+02] [-6.62099047e-01 7.49212701e-01 1.74693871e-02 1.22249060e+02] [ 2.57521217e-02 -5.51426367e-04 9.99668207e-01 7.62440208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.58, Y:122.23, Z:7.62 [[ 7.48239949e-01 6.63149362e-01 -1.92328783e-02 1.69577296e+02] [-6.62912057e-01 7.48486903e-01 1.77471476e-02 1.22230976e+02] [ 2.61645671e-02 -5.29417893e-04 9.99657509e-01 7.62330633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2127550960001 meters Centerline goodness [0,1] 0.9998277680897328 Centerline is valid? [True, True] Translation: X:169.60, Y:122.21, Z:7.62 [[ 7.46947480e-01 6.64600201e-01 -1.93916047e-02 1.69602170e+02] [-6.64359561e-01 7.47198998e-01 1.78894027e-02 1.22214526e+02] [ 2.63786883e-02 -4.79446293e-04 9.99651907e-01 7.62164622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.62, Y:122.20, Z:7.62 [[ 7.45346999e-01 6.66397036e-01 -1.93091340e-02 1.69624147e+02] [-6.66159151e-01 7.45596957e-01 1.78090907e-02 1.22196729e+02] [ 2.62647568e-02 -4.10995986e-04 9.99654937e-01 7.62392582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.65, Y:122.18, Z:7.63 [[ 7.43889877e-01 6.68038487e-01 -1.87731389e-02 1.69646868e+02] [-6.67814225e-01 7.44126645e-01 1.73117674e-02 1.22179354e+02] [ 2.55345197e-02 -3.41079287e-04 9.99673883e-01 7.62591681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.67, Y:122.16, Z:7.63 [[ 7.43369654e-01 6.68626222e-01 -1.84535374e-02 1.69668124e+02] [-6.68409779e-01 7.43598600e-01 1.70143904e-02 1.22159767e+02] [ 2.50982921e-02 -3.13456695e-04 9.99684939e-01 7.62668014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.69, Y:122.14, Z:7.63 [[ 7.42783063e-01 6.69301964e-01 -1.75557001e-02 1.69687819e+02] [-6.69106328e-01 7.42990448e-01 1.61838308e-02 1.22140676e+02] [ 2.38755872e-02 -2.74445348e-04 9.99714900e-01 7.62790996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.71, Y:122.12, Z:7.63 [[ 7.43090679e-01 6.68973651e-01 -1.70439891e-02 1.69707706e+02] [-6.68789250e-01 7.43286069e-01 1.57085932e-02 1.22121761e+02] [ 2.31771946e-02 -2.74072541e-04 9.99731335e-01 7.62840190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.73, Y:122.10, Z:7.63 [[ 7.43033671e-01 6.69046468e-01 -1.66669755e-02 1.69728489e+02] [-6.68870230e-01 7.43220529e-01 1.53577732e-02 1.22102440e+02] [ 2.26623023e-02 -2.63298805e-04 9.99743142e-01 7.62944751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.75, Y:122.08, Z:7.63 [[ 7.43361705e-01 6.68702864e-01 -1.58067958e-02 1.69748860e+02] [-6.68544318e-01 7.43529699e-01 1.45630070e-02 1.22082727e+02] [ 2.14911466e-02 -2.58038208e-04 9.99769005e-01 7.63095978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4527550960001 meters Centerline goodness [0,1] 0.9998921065124509 Centerline is valid? [True, True] Translation: X:169.77, Y:122.06, Z:7.63 [[ 7.44085535e-01 6.67896931e-01 -1.58241947e-02 1.69769949e+02] [-6.67737902e-01 7.44253727e-01 1.45768029e-02 1.22063181e+02] [ 2.15130178e-02 -2.79973597e-04 9.99768529e-01 7.63076884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.79, Y:122.04, Z:7.63 [[ 7.43920550e-01 6.68096329e-01 -1.51496412e-02 1.69791161e+02] [-6.67950655e-01 7.44074746e-01 1.39533075e-02 1.22044063e+02] [ 2.05946189e-02 -2.60939385e-04 9.99787874e-01 7.63325471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.81, Y:122.02, Z:7.64 [[ 7.44346124e-01 6.67639628e-01 -1.43587680e-02 1.69813572e+02] [-6.67508663e-01 7.44484559e-01 1.32259542e-02 1.22021036e+02] [ 1.95200522e-02 -2.60085751e-04 9.99809432e-01 7.63509394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.84, Y:122.00, Z:7.64 [[ 7.44495856e-01 6.67471899e-01 -1.43939126e-02 1.69835009e+02] [-6.67340124e-01 7.44634938e-01 1.32652857e-02 1.21999120e+02] [ 1.95724157e-02 -2.70314813e-04 9.99808405e-01 7.63579457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.86, Y:121.98, Z:7.64 [[ 7.45591297e-01 6.66240719e-01 -1.47282502e-02 1.69855222e+02] [-6.66102444e-01 7.45736687e-01 1.35767391e-02 1.21978212e+02] [ 2.00287730e-02 -3.12175069e-04 9.99799355e-01 7.63524899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.88, Y:121.96, Z:7.63 [[ 7.46078010e-01 6.65684105e-01 -1.52405898e-02 1.69875649e+02] [-6.65535971e-01 7.46233582e-01 1.40467892e-02 1.21958269e+02] [ 2.07237643e-02 -3.36839805e-04 9.99785183e-01 7.63477727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.90, Y:121.94, Z:7.63 [[ 7.46495882e-01 6.65197507e-01 -1.60054872e-02 1.69896369e+02] [-6.65034068e-01 7.46667358e-01 1.47494156e-02 1.21937878e+02] [ 2.17620493e-02 -3.66183791e-04 9.99763112e-01 7.63437821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.92, Y:121.92, Z:7.63 [[ 7.47170686e-01 6.64421850e-01 -1.67203906e-02 1.69918089e+02] [-6.64243322e-01 7.47357639e-01 1.54067651e-02 1.21916772e+02] [ 2.27327030e-02 -4.05075502e-04 9.99741497e-01 7.63400605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.69275509600004 meters Centerline goodness [0,1] 0.9999564516831424 Centerline is valid? [True, True] Translation: X:169.94, Y:121.89, Z:7.63 [[ 7.48437124e-01 6.62962266e-01 -1.79695765e-02 1.69936827e+02] [-6.62755637e-01 7.48652657e-01 1.65579060e-02 1.21893274e+02] [ 2.44302381e-02 -4.83113426e-04 9.99701420e-01 7.63214572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.96, Y:121.87, Z:7.63 [[ 7.49000789e-01 6.62315122e-01 -1.83438762e-02 1.69957375e+02] [-6.62099621e-01 7.49225210e-01 1.69019968e-02 1.21872555e+02] [ 2.49381426e-02 -5.14135503e-04 9.99688864e-01 7.63314816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.98, Y:121.85, Z:7.63 [[ 7.50793004e-01 6.60258613e-01 -1.91944869e-02 1.69975448e+02] [-6.60022023e-01 7.51038077e-01 1.76843266e-02 1.21848659e+02] [ 2.60920195e-02 -6.08484621e-04 9.99659360e-01 7.63153476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.00, Y:121.83, Z:7.63 [[ 7.51531322e-01 6.59407879e-01 -1.95427761e-02 1.69999472e+02] [-6.59162212e-01 7.51785090e-01 1.80098790e-02 1.21827541e+02] [ 2.65678238e-02 -6.53128693e-04 9.99646800e-01 7.63316138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.02, Y:121.80, Z:7.63 [[ 7.53366026e-01 6.57292781e-01 -2.01452546e-02 1.70016499e+02] [-6.57030699e-01 7.53634942e-01 1.85751248e-02 1.21800530e+02] [ 2.73914633e-02 -7.57817244e-04 9.99624496e-01 7.63136705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:121.78, Z:7.63 [[ 7.54075028e-01 6.56480277e-01 -2.01121268e-02 1.70041480e+02] [-6.56218506e-01 7.54342771e-01 1.85541260e-02 1.21780976e+02] [ 2.73518552e-02 -7.93253329e-04 9.99625553e-01 7.63440146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.06, Y:121.76, Z:7.63 [[ 7.54977659e-01 6.55431530e-01 -2.04510232e-02 1.70061662e+02] [-6.55160268e-01 7.55254120e-01 1.88742543e-02 1.21757618e+02] [ 2.78165009e-02 -8.50942451e-04 9.99612684e-01 7.63408491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9027550960001 meters Centerline goodness [0,1] 0.9999127761181011 Centerline is valid? [True, True] Translation: X:170.08, Y:121.73, Z:7.63 [[ 7.56548880e-01 6.53611774e-01 -2.06262523e-02 1.70078892e+02] [-6.53335019e-01 7.56829429e-01 1.90412298e-02 1.21731084e+02] [ 2.80561267e-02 -9.29768091e-04 9.99605917e-01 7.63218976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.11, Y:121.71, Z:7.64 [[ 7.56225523e-01 6.53990338e-01 -2.04840410e-02 1.70106231e+02] [-6.53717284e-01 7.56502346e-01 1.89186086e-02 1.21712680e+02] [ 2.78688123e-02 -9.15963012e-04 9.99611170e-01 7.63625103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.13, Y:121.69, Z:7.64 [[ 7.55804429e-01 6.54460569e-01 -2.10006997e-02 1.70130970e+02] [-6.54173394e-01 7.56095561e-01 1.94080737e-02 1.21691564e+02] [ 2.85803548e-02 -9.30609017e-04 9.99591065e-01 7.63665351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.16, Y:121.67, Z:7.64 [[ 7.55452556e-01 6.54867862e-01 -2.09647053e-02 1.70155248e+02] [-6.54581482e-01 7.55742835e-01 1.93868759e-02 1.21668829e+02] [ 2.85397677e-02 -9.22757060e-04 9.99592232e-01 7.63719134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0227550960001 meters Centerline goodness [0,1] 0.9999783291797595 Centerline is valid? [True, True] Translation: X:170.18, Y:121.65, Z:7.64 [[ 7.55021083e-01 6.55359426e-01 -2.11468164e-02 1.70177852e+02] [-6.55067986e-01 7.55316609e-01 1.95641156e-02 1.21646932e+02] [ 2.87940692e-02 -9.18717299e-04 9.99584943e-01 7.63704265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.20, Y:121.63, Z:7.64 [[ 7.54341187e-01 6.56150656e-01 -2.08731980e-02 1.70202156e+02] [-6.55866778e-01 7.54629404e-01 1.93192172e-02 1.21626249e+02] [ 2.84278460e-02 -8.83244179e-04 9.99595457e-01 7.63845518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.23, Y:121.61, Z:7.64 [[ 7.52917231e-01 6.57783378e-01 -2.08966778e-02 1.70227394e+02] [-6.57499190e-01 7.53206704e-01 1.93514152e-02 1.21606659e+02] [ 2.84685570e-02 -8.30465227e-04 9.99594344e-01 7.64011390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.11275509600006 meters Centerline goodness [0,1] 0.9999351897859102 Centerline is valid? [True, True] Translation: X:170.25, Y:121.59, Z:7.64 [[ 7.51140838e-01 6.59819698e-01 -2.06254077e-02 1.70250218e+02] [-6.59543482e-01 7.51423587e-01 1.91046375e-02 1.21588379e+02] [ 2.81040340e-02 -7.46920225e-04 9.99604725e-01 7.64005310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1427550960001 meters Centerline goodness [0,1] 0.9999784431654056 Centerline is valid? [True, True] Translation: X:170.27, Y:121.57, Z:7.64 [[ 7.50203912e-01 6.60890574e-01 -2.04386690e-02 1.70274162e+02] [-6.60619776e-01 7.50481952e-01 1.89301869e-02 1.21571004e+02] [ 2.78496343e-02 -6.99311349e-04 9.99611879e-01 7.64148144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.17275509600006 meters Centerline goodness [0,1] 0.9999566733822924 Centerline is valid? [True, True] Translation: X:170.30, Y:121.55, Z:7.64 [[ 7.49258956e-01 6.61977579e-01 -1.99173607e-02 1.70300039e+02] [-6.61720690e-01 7.49523361e-01 1.84515629e-02 1.21551117e+02] [ 2.71430481e-02 -6.45269065e-04 9.99631351e-01 7.64259291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2027550960001 meters Centerline goodness [0,1] 0.9999139396286495 Centerline is valid? [True, True] Translation: X:170.32, Y:121.53, Z:7.64 [[ 7.48476818e-01 6.62872825e-01 -1.95466523e-02 1.70321574e+02] [-6.62625596e-01 7.48731763e-01 1.81126376e-02 1.21531122e+02] [ 2.66415747e-02 -6.04777248e-04 9.99644867e-01 7.64265756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.23275509600006 meters Centerline goodness [0,1] 0.9999784166450834 Centerline is valid? [True, True] Translation: X:170.34, Y:121.51, Z:7.65 [[ 7.47515225e-01 6.63984678e-01 -1.85831995e-02 1.70343520e+02] [-6.63761607e-01 7.47745986e-01 1.72182785e-02 1.21512866e+02] [ 2.53281859e-02 -5.36110945e-04 9.99679046e-01 7.64554659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters Centerline goodness [0,1] 0.9999567333693888 Centerline is valid? [True, True] Translation: X:170.36, Y:121.49, Z:7.65 [[ 7.47529854e-01 6.63963553e-01 -1.87488277e-02 1.70363606e+02] [-6.63736564e-01 7.47764742e-01 1.73684500e-02 1.21494006e+02] [ 2.55517301e-02 -5.39152367e-04 9.99673356e-01 7.64614299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.29275509600006 meters Centerline goodness [0,1] 0.9999568332901666 Centerline is valid? [True, True] Translation: X:170.38, Y:121.47, Z:7.65 [[ 7.47736648e-01 6.63724721e-01 -1.89578539e-02 1.70384274e+02] [-6.63492653e-01 7.47976732e-01 1.75587172e-02 1.21473650e+02] [ 2.58341882e-02 -5.50899546e-04 9.99666090e-01 7.64612653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.40, Y:121.45, Z:7.65 [[ 7.48035720e-01 6.63395412e-01 -1.86839561e-02 1.70404716e+02] [-6.63169973e-01 7.48268818e-01 1.73021253e-02 1.21454287e+02] [ 2.54587723e-02 -5.51969080e-04 9.99675721e-01 7.64741941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.42, Y:121.44, Z:7.65 [[ 7.48252824e-01 6.63158473e-01 -1.83997475e-02 1.70424876e+02] [-6.62939857e-01 7.48478816e-01 1.70354795e-02 1.21435420e+02] [ 2.50690438e-02 -5.48919713e-04 9.99685571e-01 7.64809714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.45, Y:121.42, Z:7.65 [[ 7.48395165e-01 6.63023677e-01 -1.74436244e-02 1.70448127e+02] [-6.62827210e-01 7.48598243e-01 1.61480760e-02 1.21416181e+02] [ 2.37648233e-02 -5.23033089e-04 9.99717440e-01 7.65032111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.47, Y:121.39, Z:7.65 [[ 7.48745323e-01 6.62635956e-01 -1.71473307e-02 1.70467933e+02] [-6.62446032e-01 7.48941463e-01 1.58726539e-02 1.21394936e+02] [ 2.33601382e-02 -5.25394187e-04 9.99726977e-01 7.65018831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.49, Y:121.38, Z:7.65 [[ 7.48917172e-01 6.62459546e-01 -1.64444090e-02 1.70489752e+02] [-6.62284877e-01 7.49097518e-01 1.52200436e-02 1.21376269e+02] [ 2.24011291e-02 -5.07668627e-04 9.99748934e-01 7.65132329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:121.36, Z:7.65 [[ 7.48692302e-01 6.62718807e-01 -1.62363793e-02 1.70511214e+02] [-6.62548640e-01 7.48868174e-01 1.50252319e-02 1.21356674e+02] [ 2.21164115e-02 -4.91884468e-04 9.99755281e-01 7.65173355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.53, Y:121.34, Z:7.65 [[ 7.48346455e-01 6.63119810e-01 -1.58019203e-02 1.70531718e+02] [-6.62958771e-01 7.48513127e-01 1.46207915e-02 1.21337963e+02] [ 2.15232812e-02 -4.65395838e-04 9.99768239e-01 7.65150344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.55, Y:121.32, Z:7.65 [[ 7.47902230e-01 6.63622279e-01 -1.57392666e-02 1.70553350e+02] [-6.63462680e-01 7.48067691e-01 1.45603102e-02 1.21318893e+02] [ 2.14365831e-02 -4.47272525e-04 9.99770110e-01 7.65122519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:121.30, Z:7.65 [[ 7.47511456e-01 6.64056295e-01 -1.59956612e-02 1.70574866e+02] [-6.63891600e-01 7.47682448e-01 1.47952826e-02 1.21300142e+02] [ 2.17845757e-02 -4.40258107e-04 9.99762591e-01 7.65054596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:121.28, Z:7.65 [[ 7.46242993e-01 6.65478671e-01 -1.61100771e-02 1.70600819e+02] [-6.65311898e-01 7.46416758e-01 1.49030714e-02 1.21281067e+02] [ 2.19425077e-02 -4.03086654e-04 9.99759153e-01 7.65079146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.62, Y:121.26, Z:7.65 [[ 7.45673859e-01 6.66114439e-01 -1.61879587e-02 1.70623429e+02] [-6.65946021e-01 7.45849449e-01 1.49832153e-02 1.21259239e+02] [ 2.20543161e-02 -3.92285235e-04 9.99756697e-01 7.65037204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.64, Y:121.24, Z:7.65 [[ 7.45395420e-01 6.66418721e-01 -1.64850261e-02 1.70642820e+02] [-6.66244061e-01 7.45577584e-01 1.52616561e-02 1.21238662e+02] [ 2.24615193e-02 -3.92917826e-04 9.99747631e-01 7.64896541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:121.22, Z:7.65 [[ 7.45467721e-01 6.66337805e-01 -1.64865668e-02 1.70663114e+02] [-6.66163162e-01 7.45649901e-01 1.52599916e-02 1.21220058e+02] [ 2.24615163e-02 -3.93087682e-04 9.99747631e-01 7.64932916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.68, Y:121.20, Z:7.65 [[ 7.45567448e-01 6.66234701e-01 -1.61401421e-02 1.70683006e+02] [-6.66067371e-01 7.45742030e-01 1.49359254e-02 1.21201454e+02] [ 2.19872141e-02 -3.85317731e-04 9.99758178e-01 7.64970774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.71, Y:121.18, Z:7.65 [[ 7.45611561e-01 6.66184753e-01 -1.61640053e-02 1.70705506e+02] [-6.66016987e-01 7.45786650e-01 1.49548162e-02 1.21183474e+02] [ 2.20175699e-02 -3.84981770e-04 9.99757510e-01 7.65125760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7727550960001 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:170.73, Y:121.16, Z:7.65 [[ 7.45665265e-01 6.66133039e-01 -1.58141345e-02 1.70729492e+02] [-6.65972408e-01 7.45832844e-01 1.46328875e-02 1.21161518e+02] [ 2.15421507e-02 -3.79458701e-04 9.99767869e-01 7.65170922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.75, Y:121.14, Z:7.65 [[ 7.45786921e-01 6.66011850e-01 -1.51685269e-02 1.70750831e+02] [-6.65863940e-01 7.45941069e-01 1.40405046e-02 1.21141084e+02] [ 2.06659696e-02 -3.71049568e-04 9.99786367e-01 7.65265018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.77, Y:121.12, Z:7.65 [[ 7.45920871e-01 6.65870971e-01 -1.47615771e-02 1.70772512e+02] [-6.65730863e-01 7.46066831e-01 1.36638493e-02 1.21121117e+02] [ 2.01114837e-02 -3.64912875e-04 9.99797677e-01 7.65317882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.80, Y:121.10, Z:7.65 [[ 7.46444381e-01 6.65308875e-01 -1.35973425e-02 1.70796486e+02] [-6.65189874e-01 7.46568134e-01 1.25878468e-02 1.21098529e+02] [ 1.85261488e-02 -3.51312941e-04 9.99828314e-01 7.65468551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.82, Y:121.08, Z:7.66 [[ 7.46603754e-01 6.65142407e-01 -1.29774555e-02 1.70820048e+02] [-6.65033854e-01 7.46716452e-01 1.20213743e-02 1.21075763e+02] [ 1.76864054e-02 -3.44755924e-04 9.99843524e-01 7.65558697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.84, Y:121.05, Z:7.66 [[ 7.46963110e-01 6.64748718e-01 -1.24601070e-02 1.70842308e+02] [-6.64648477e-01 7.47066946e-01 1.15490190e-02 1.21053557e+02] [ 1.69857297e-02 -3.45100070e-04 9.99855673e-01 7.65649381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.86, Y:121.03, Z:7.66 [[ 7.47921785e-01 6.63687172e-01 -1.15039737e-02 1.70864733e+02] [-6.63601513e-01 7.48010173e-01 1.06682895e-02 1.21030693e+02] [ 1.56854962e-02 -3.44991783e-04 9.99876916e-01 7.65805991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.89, Y:121.01, Z:7.66 [[ 7.48270605e-01 6.63300704e-01 -1.11030810e-02 1.70887157e+02] [-6.63220786e-01 7.48352896e-01 1.03020334e-02 1.21008164e+02] [ 1.51423689e-02 -3.44914676e-04 9.99885288e-01 7.65874361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.91, Y:120.99, Z:7.66 [[ 7.49108818e-01 6.62351097e-01 -1.12695321e-02 1.70909354e+02] [-6.62268574e-01 7.49193489e-01 1.04619183e-02 1.20985569e+02] [ 1.53725231e-02 -3.73658312e-04 9.99881766e-01 7.65869313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.93, Y:120.96, Z:7.66 [[ 7.49214176e-01 6.62232156e-01 -1.12556835e-02 1.70931663e+02] [-6.62149770e-01 7.49298625e-01 1.04524465e-02 1.20963230e+02] [ 1.53558144e-02 -3.78172904e-04 9.99882021e-01 7.65837504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.07275509600004 meters Centerline goodness [0,1] 0.9999784501336092 Centerline is valid? [True, True] Translation: X:170.95, Y:120.94, Z:7.66 [[ 7.49362602e-01 6.62062257e-01 -1.13691941e-02 1.70952695e+02] [-6.61978114e-01 7.49448742e-01 1.05621902e-02 1.20943922e+02] [ 1.55134557e-02 -3.88752682e-04 9.99879584e-01 7.65806236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.98, Y:120.92, Z:7.66 [[ 7.49545629e-01 6.61856590e-01 -1.12785182e-02 1.70975076e+02] [-6.61773783e-01 7.49630378e-01 1.04764959e-02 1.20924084e+02] [ 1.53886577e-02 -3.88784064e-04 9.99881512e-01 7.65717586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:120.90, Z:7.66 [[ 7.49499547e-01 6.61905508e-01 -1.14685808e-02 1.70999255e+02] [-6.61819887e-01 7.49587182e-01 1.06533717e-02 1.20902093e+02] [ 1.56482266e-02 -3.94562402e-04 9.99877481e-01 7.65667230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.02, Y:120.88, Z:7.66 [[ 7.49223469e-01 6.62221627e-01 -1.12565934e-02 1.71023583e+02] [-6.62139079e-01 7.49307927e-01 1.04628447e-02 1.20879920e+02] [ 1.53633767e-02 -3.85578386e-04 9.99881902e-01 7.65657914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.19275509600004 meters Centerline goodness [0,1] 0.9999785444558874 Centerline is valid? [True, True] Translation: X:171.05, Y:120.86, Z:7.66 [[ 7.49030431e-01 6.62433142e-01 -1.16510578e-02 1.71046308e+02] [-6.62344628e-01 7.49120934e-01 1.08360490e-02 1.20856986e+02] [ 1.59062093e-02 -3.99514867e-04 9.99873408e-01 7.65613433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:120.84, Z:7.66 [[ 7.48642706e-01 6.62876660e-01 -1.13416495e-02 1.71071299e+02] [-6.62792769e-01 7.48728514e-01 1.05526751e-02 1.20836068e+02] [ 1.54869384e-02 -3.83020022e-04 9.99879997e-01 7.65659129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.09, Y:120.81, Z:7.66 [[ 7.47688518e-01 6.63954086e-01 -1.12628227e-02 1.71093061e+02] [-6.63871379e-01 7.47773254e-01 1.04858189e-02 1.20813129e+02] [ 1.53841398e-02 -3.63060762e-04 9.99881591e-01 7.65663557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.11, Y:120.79, Z:7.66 [[ 7.47448922e-01 6.64225912e-01 -1.11376495e-02 1.71114490e+02] [-6.64144992e-01 7.47531812e-01 1.03739738e-02 1.20793988e+02] [ 1.52164095e-02 -3.57001405e-04 9.99884160e-01 7.65727662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.14, Y:120.77, Z:7.66 [[ 7.46636430e-01 6.65143304e-01 -1.08823898e-02 1.71137368e+02] [-6.65066168e-01 7.46715660e-01 1.01348812e-02 1.20773874e+02] [ 1.48671993e-02 -3.29562277e-04 9.99889423e-01 7.65818638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:120.75, Z:7.66 [[ 7.46006923e-01 6.65852207e-01 -1.07008666e-02 1.71161711e+02] [-6.65777688e-01 7.46083602e-01 9.96635115e-03 1.20752334e+02] [ 1.46198580e-02 -3.10568705e-04 9.99893076e-01 7.65898733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.18, Y:120.73, Z:7.66 [[ 7.45221107e-01 6.66733199e-01 -1.05992252e-02 1.71183447e+02] [-6.66660101e-01 7.45296421e-01 9.87703597e-03 1.20730285e+02] [ 1.44849124e-02 -2.94495120e-04 9.99895045e-01 7.65965067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.21, Y:120.71, Z:7.66 [[ 7.44154890e-01 6.67937154e-01 -9.66734080e-03 1.71208481e+02] [-6.67876391e-01 7.44217640e-01 9.01280832e-03 1.20710705e+02] [ 1.32145951e-02 -2.50336698e-04 9.99912652e-01 7.66076727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:120.69, Z:7.66 [[ 7.43654204e-01 6.68500800e-01 -9.22521365e-03 1.71229411e+02] [-6.68445503e-01 7.43711387e-01 8.60133568e-03 1.20691484e+02] [ 1.26108962e-02 -2.29866861e-04 9.99920453e-01 7.66166270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.25, Y:120.67, Z:7.66 [[ 7.42513873e-01 6.69772951e-01 -8.79444515e-03 1.71250799e+02] [-6.69722796e-01 7.42565926e-01 8.19885616e-03 1.20673126e+02] [ 1.20218274e-02 -1.97924048e-04 9.99927716e-01 7.66196146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.27, Y:120.65, Z:7.66 [[ 7.41901003e-01 6.70453204e-01 -8.68347749e-03 1.71272508e+02] [-6.70404372e-01 7.41951796e-01 8.09385318e-03 1.20653525e+02] [ 1.18692715e-02 -1.83396517e-04 9.99929541e-01 7.66213901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:120.63, Z:7.66 [[ 7.40899958e-01 6.71561792e-01 -8.48599479e-03 1.71294456e+02] [-6.71515242e-01 7.40948536e-01 7.90861606e-03 1.20634211e+02] [ 1.15988098e-02 -1.61018453e-04 9.99932719e-01 7.66229163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:120.61, Z:7.66 [[ 7.40280725e-01 6.72245375e-01 -8.40256341e-03 1.71319866e+02] [-6.72199804e-01 7.40328396e-01 7.82875896e-03 1.20613221e+02] [ 1.14835033e-02 -1.47277882e-04 9.99934052e-01 7.66208448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.34, Y:120.59, Z:7.66 [[ 7.39723361e-01 6.72861257e-01 -8.19012292e-03 1.71344453e+02] [-6.72817946e-01 7.39768687e-01 7.63554506e-03 1.20591135e+02] [ 1.11964589e-02 -1.37729370e-04 9.99937308e-01 7.66190734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.37, Y:120.57, Z:7.66 [[ 7.39385164e-01 6.73235444e-01 -7.97600545e-03 1.71366546e+02] [-6.73194337e-01 7.39428171e-01 7.44073754e-03 1.20569796e+02] [ 1.09070514e-02 -1.32169247e-04 9.99940508e-01 7.66146473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.39, Y:120.55, Z:7.66 [[ 7.39758343e-01 6.72830735e-01 -7.50974622e-03 1.71387869e+02] [-6.72794225e-01 7.39796448e-01 7.01045456e-03 1.20549917e+02] [ 1.02725329e-02 -1.33528368e-04 9.99947227e-01 7.66116054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.41, Y:120.53, Z:7.66 [[ 7.40641185e-01 6.71868220e-01 -6.61281303e-03 1.71410582e+02] [-6.71839897e-01 7.40670695e-01 6.17045591e-03 1.20527882e+02] [ 9.04365005e-03 -1.27342158e-04 9.99959097e-01 7.66097876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.43, Y:120.51, Z:7.66 [[ 7.41123584e-01 6.71341108e-01 -6.07867059e-03 1.71432570e+02] [-6.71317136e-01 7.41148502e-01 5.67461557e-03 1.20506007e+02] [ 8.31480030e-03 -1.24875700e-04 9.99965424e-01 7.66146050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.45, Y:120.48, Z:7.66 [[ 7.41876250e-01 6.70514822e-01 -5.43161743e-03 1.71453827e+02] [-6.70495631e-01 7.41896123e-01 5.07454746e-03 1.20484654e+02] [ 7.43225521e-03 -1.22810488e-04 9.99972373e-01 7.66208860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters Centerline goodness [0,1] 0.9999350227420403 Centerline is valid? [True, True] Translation: X:171.48, Y:120.46, Z:7.66 [[ 7.42796292e-01 6.69500938e-01 -4.70775816e-03 1.71476934e+02] [-6.69486515e-01 7.42811201e-01 4.39605066e-03 1.20462722e+02] [ 6.44013554e-03 -1.13589527e-04 9.99979256e-01 7.66143762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.50, Y:120.44, Z:7.66 [[ 7.43166712e-01 6.69094271e-01 -4.01176600e-03 1.71499908e+02] [-6.69083770e-01 7.43177533e-01 3.74993232e-03 1.20440938e+02] [ 5.49051260e-03 -1.02617355e-04 9.99984922e-01 7.66255685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.52, Y:120.42, Z:7.66 [[ 7.43361853e-01 6.68878820e-01 -3.77885905e-03 1.71519931e+02] [-6.68869496e-01 7.43371451e-01 3.53309861e-03 1.20419431e+02] [ 5.17231077e-03 -9.88071838e-05 9.99986619e-01 7.66386319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.54, Y:120.40, Z:7.66 [[ 7.42658761e-01 6.69664517e-01 -2.72014530e-03 1.71542626e+02] [-6.69659688e-01 7.42663740e-01 2.54397845e-03 1.20402165e+02] [ 3.72376538e-03 -6.77362333e-05 9.99993064e-01 7.66443693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88275509600004 meters Centerline goodness [0,1] 0.9998919596361201 Centerline is valid? [True, True] Translation: X:171.56, Y:120.38, Z:7.66 [[ 7.42281517e-01 6.70082193e-01 -2.82928366e-03 1.71564373e+02] [-6.70076973e-01 7.42286906e-01 2.64558297e-03 1.20383560e+02] [ 3.87289825e-03 -6.79295039e-05 9.99992498e-01 7.66379465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.59, Y:120.37, Z:7.66 [[ 7.40164196e-01 6.72420698e-01 -2.71438397e-03 1.71588674e+02] [-6.72415911e-01 7.40169171e-01 2.53781753e-03 1.20367298e+02] [ 3.71558436e-03 -5.32067012e-05 9.99993096e-01 7.66431514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.61, Y:120.35, Z:7.66 [[ 7.39227444e-01 6.73450197e-01 -2.76007950e-03 1.71610581e+02] [-6.73445255e-01 7.39232595e-01 2.58036086e-03 1.20349517e+02] [ 3.77808526e-03 -4.87111241e-05 9.99992862e-01 7.66393119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:120.33, Z:7.66 [[ 7.38188017e-01 6.74588125e-01 -3.05181714e-03 1.71632776e+02] [-6.74582097e-01 7.38194324e-01 2.85215071e-03 1.20331648e+02] [ 4.17686108e-03 -4.67222714e-05 9.99991276e-01 7.66368869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.65, Y:120.31, Z:7.66 [[ 7.36168906e-01 6.76788508e-01 -3.55771504e-03 1.71654987e+02] [-6.76780344e-01 7.36177502e-01 3.32443086e-03 1.20314814e+02] [ 4.86904637e-03 -3.95510211e-05 9.99988145e-01 7.66415286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.68, Y:120.30, Z:7.66 [[ 7.35402407e-01 6.77622745e-01 -3.27336886e-03 1.71677371e+02] [-6.77615845e-01 7.35409692e-01 3.05810663e-03 1.20296662e+02] [ 4.47950979e-03 -3.08523739e-05 9.99989966e-01 7.66416436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.70, Y:120.28, Z:7.67 [[ 7.34093311e-01 6.79042964e-01 -2.76832932e-03 1.71700458e+02] [-6.79038040e-01 7.34098530e-01 2.58610195e-03 1.20278758e+02] [ 3.78830082e-03 -1.86392240e-05 9.99992824e-01 7.66526066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.72, Y:120.26, Z:7.67 [[ 7.33854058e-01 6.79302004e-01 -2.64747640e-03 1.71721569e+02] [-6.79297502e-01 7.33858833e-01 2.47339796e-03 1.20260392e+02] [ 3.62305813e-03 -1.66890233e-05 9.99993437e-01 7.66602117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.74, Y:120.24, Z:7.67 [[ 7.33864722e-01 6.79290140e-01 -2.73408195e-03 1.71742824e+02] [-6.79285343e-01 7.33869815e-01 2.55313547e-03 1.20240761e+02] [ 3.74077996e-03 -1.64342570e-05 9.99993003e-01 7.66661071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.76, Y:120.22, Z:7.67 [[ 7.34436681e-01 6.78670134e-01 -3.10016752e-03 1.71762002e+02] [-6.78663961e-01 7.34443224e-01 2.89479613e-03 1.20221149e+02] [ 4.24150870e-03 -2.20724907e-05 9.99991005e-01 7.66767035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.78, Y:120.20, Z:7.67 [[ 7.34842818e-01 6.78230932e-01 -2.97255693e-03 1.71782162e+02] [-6.78225256e-01 7.34848830e-01 2.77482070e-03 1.20201379e+02] [ 4.06634921e-03 -2.29938748e-05 9.99991732e-01 7.66899377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.80, Y:120.18, Z:7.67 [[ 7.35785200e-01 6.77209990e-01 -2.60164632e-03 1.71803400e+02] [-6.77205638e-01 7.35789799e-01 2.42813449e-03 1.20181183e+02] [ 3.55862176e-03 -2.47358642e-05 9.99993668e-01 7.66893110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.82, Y:120.16, Z:7.67 [[ 7.37472357e-01 6.75372997e-01 -2.41595916e-03 1.71823031e+02] [-6.75369234e-01 7.37476314e-01 2.25483186e-03 1.20160822e+02] [ 3.30456521e-03 -3.12116844e-05 9.99994539e-01 7.67031010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2727550960001 meters Centerline goodness [0,1] 0.9999571348964807 Centerline is valid? [True, True] Translation: X:171.84, Y:120.14, Z:7.67 [[ 7.38549261e-01 6.74194819e-01 -2.51702313e-03 1.71842469e+02] [-6.74190729e-01 7.38553549e-01 2.34861226e-03 1.20141083e+02] [ 3.44237858e-03 -3.76121912e-05 9.99994074e-01 7.67091337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.86, Y:120.12, Z:7.67 [[ 7.39967829e-01 6.72637486e-01 -2.53469561e-03 1.71864681e+02] [-6.72633335e-01 7.39972169e-01 2.36336252e-03 1.20120012e+02] [ 3.46529043e-03 -4.38914729e-05 9.99993995e-01 7.67085273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.88, Y:120.10, Z:7.67 [[ 7.40854536e-01 6.71659778e-01 -2.77461607e-03 1.71884917e+02] [-6.71654795e-01 7.40859730e-01 2.58782420e-03 1.20099943e+02] [ 3.79373874e-03 -5.36171147e-05 9.99992802e-01 7.67104623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.90, Y:120.08, Z:7.67 [[ 7.42346453e-01 6.70010243e-01 -2.83164131e-03 1.71904340e+02] [-6.70005045e-01 7.42351851e-01 2.63984913e-03 1.20079451e+02] [ 3.87080012e-03 -6.24686746e-05 9.99992506e-01 7.67139025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3927550960001 meters Centerline goodness [0,1] 0.999914345060922 Centerline is valid? [True, True] Translation: X:171.93, Y:120.06, Z:7.67 [[ 7.43111603e-01 6.69159539e-01 -3.26440018e-03 1.71927624e+02] [-6.69152637e-01 7.43118770e-01 3.04011651e-03 1.20057545e+02] [ 4.46016001e-03 -7.47638659e-05 9.99990051e-01 7.67023142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.95, Y:120.04, Z:7.67 [[ 7.43638835e-01 6.68574033e-01 -3.16944759e-03 1.71947869e+02] [-6.68567500e-01 7.43645585e-01 2.95676554e-03 1.20035387e+02] [ 4.33376237e-03 -7.97760310e-05 9.99990606e-01 7.67229192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.97, Y:120.02, Z:7.67 [[ 7.44718494e-01 6.67370474e-01 -3.31883723e-03 1.71973532e+02] [-6.67363315e-01 7.44725884e-01 3.09237445e-03 1.20015634e+02] [ 4.53538339e-03 -8.80782259e-05 9.99989711e-01 7.67087566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.00, Y:119.99, Z:7.67 [[ 7.45041574e-01 6.67009904e-01 -3.29248141e-03 1.71995223e+02] [-6.67002847e-01 7.45048843e-01 3.06980482e-03 1.19993348e+02] [ 4.50064969e-03 -9.10377457e-05 9.99989868e-01 7.67183169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.02, Y:119.97, Z:7.67 [[ 7.46225961e-01 6.65682999e-01 -3.60006529e-03 1.72015211e+02] [-6.65674520e-01 7.46234637e-01 3.36155201e-03 1.19969901e+02] [ 4.92422144e-03 -1.12005646e-04 9.99987870e-01 7.67304880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.04, Y:119.95, Z:7.67 [[ 7.46771940e-01 6.65070362e-01 -3.61705035e-03 1.72039827e+02] [-6.65061795e-01 7.46780690e-01 3.37776389e-03 1.19951660e+02] [ 4.94759401e-03 -1.16857294e-04 9.99987754e-01 7.67188619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.06, Y:119.93, Z:7.67 [[ 7.47389857e-01 6.64374708e-01 -3.82729728e-03 1.72060334e+02] [-6.64365104e-01 7.47399646e-01 3.57473678e-03 1.19931292e+02] [ 5.23548533e-03 -1.28999255e-04 9.99986286e-01 7.67207308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.08, Y:119.91, Z:7.67 [[ 7.47440384e-01 6.64317864e-01 -3.82740698e-03 1.72081119e+02] [-6.64308259e-01 7.47450172e-01 3.57461933e-03 1.19911999e+02] [ 5.23547948e-03 -1.29236776e-04 9.99986286e-01 7.67244793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.11, Y:119.89, Z:7.67 [[ 7.47273703e-01 6.64503564e-01 -4.12625606e-03 1.72107058e+02] [-6.64492431e-01 7.47285083e-01 3.84889756e-03 1.19890964e+02] [ 5.64109575e-03 -1.34314012e-04 9.99984080e-01 7.67169393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.13, Y:119.87, Z:7.67 [[ 7.46864163e-01 6.64956890e-01 -5.12411330e-03 1.72129106e+02] [-6.64939696e-01 7.46881722e-01 4.78472927e-03 1.19869163e+02] [ 7.00874526e-03 -1.66316482e-04 9.99975425e-01 7.67126954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.15, Y:119.85, Z:7.67 [[ 7.46403681e-01 6.65472335e-01 -5.30251786e-03 1.72151628e+02] [-6.65453900e-01 7.46422496e-01 4.95618265e-03 1.19849084e+02] [ 7.25612106e-03 -1.70731785e-04 9.99973659e-01 7.67099349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.17, Y:119.83, Z:7.67 [[ 7.46021197e-01 6.65896602e-01 -5.83859919e-03 1.72174988e+02] [-6.65874267e-01 7.46044021e-01 5.45696771e-03 1.19828531e+02] [ 7.98962828e-03 -1.83240625e-04 9.99968066e-01 7.67089834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.20, Y:119.81, Z:7.67 [[ 7.44777016e-01 6.67283740e-01 -6.29347449e-03 1.72196881e+02] [-6.67257828e-01 7.44803583e-01 5.88324840e-03 1.19810221e+02] [ 8.61319834e-03 -1.82338066e-04 9.99962889e-01 7.67015486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.22, Y:119.79, Z:7.67 [[ 7.44028825e-01 6.68115149e-01 -6.57693965e-03 1.72217722e+02] [-6.68086888e-01 7.44057871e-01 6.14768757e-03 1.19791285e+02] [ 9.00098691e-03 -1.80089607e-04 9.99959474e-01 7.67042199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.24, Y:119.77, Z:7.67 [[ 7.43446126e-01 6.68761708e-01 -6.75547061e-03 1.72238150e+02] [-6.68731930e-01 7.43476797e-01 6.31336384e-03 1.19772376e+02] [ 9.24467163e-03 -1.76046985e-04 9.99957252e-01 7.67115328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.26, Y:119.75, Z:7.67 [[ 7.42066612e-01 6.70294002e-01 -6.56461774e-03 1.72260793e+02] [-6.70265956e-01 7.42095633e-01 6.13352769e-03 1.19753868e+02] [ 8.98284098e-03 -1.51446325e-04 9.99959642e-01 7.67238912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.28, Y:119.73, Z:7.67 [[ 7.41402067e-01 6.71025988e-01 -6.86278828e-03 1.72282086e+02] [-6.70995378e-01 7.41433815e-01 6.41106220e-03 1.19734317e+02] [ 9.39029264e-03 -1.48275552e-04 9.99955899e-01 7.67249883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.30, Y:119.72, Z:7.67 [[ 7.40341732e-01 6.72191440e-01 -7.26549453e-03 1.72302247e+02] [-6.72157199e-01 7.40377368e-01 6.78622310e-03 1.19715326e+02] [ 9.94084880e-03 -1.40569717e-04 9.99950579e-01 7.67296261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.32, Y:119.70, Z:7.67 [[ 7.39825439e-01 6.72758393e-01 -7.37999953e-03 1.72323308e+02] [-6.72723106e-01 7.39862235e-01 6.89175422e-03 1.19695622e+02] [ 1.00966684e-02 -1.33998887e-04 9.99949018e-01 7.67354671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9627550960001 meters Centerline goodness [0,1] 0.999957015130674 Centerline is valid? [True, True] Translation: X:172.34, Y:119.68, Z:7.67 [[ 7.39306220e-01 6.73326107e-01 -7.63330085e-03 1.72344515e+02] [-6.73288398e-01 7.39345614e-01 7.12716857e-03 1.19676006e+02] [ 1.04425562e-02 -1.29747162e-04 9.99945467e-01 7.67410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.36, Y:119.66, Z:7.67 [[ 7.39005413e-01 6.73651256e-01 -8.06132592e-03 1.72364339e+02] [-6.73609232e-01 7.39049368e-01 7.52562348e-03 1.19656396e+02] [ 1.10273635e-02 -1.31292927e-04 9.99939188e-01 7.67459518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.38, Y:119.64, Z:7.67 [[ 7.38659353e-01 6.74030053e-01 -8.11462949e-03 1.72384562e+02] [-6.73987505e-01 7.38703913e-01 7.57445774e-03 1.19636215e+02] [ 1.10997207e-02 -1.25785173e-04 9.99938388e-01 7.67495218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.40, Y:119.62, Z:7.68 [[ 7.38590053e-01 6.74099608e-01 -8.62855287e-03 1.72403581e+02] [-6.74051564e-01 7.38640442e-01 8.04901760e-03 1.19617264e+02] [ 1.17992377e-02 -1.28834782e-04 9.99930378e-01 7.67505717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0827550960001 meters Centerline goodness [0,1] 0.9999354463882254 Centerline is valid? [True, True] Translation: X:172.42, Y:119.60, Z:7.67 [[ 7.38406542e-01 6.74293385e-01 -9.17655067e-03 1.72423309e+02] [-6.74239091e-01 7.38463549e-01 8.55778242e-03 1.19595624e+02] [ 1.25470042e-02 -1.31933348e-04 9.99921275e-01 7.67480105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.44, Y:119.58, Z:7.68 [[ 7.38414756e-01 6.74283087e-01 -9.27182196e-03 1.72442896e+02] [-6.74227675e-01 7.38472952e-01 8.64534536e-03 1.19575327e+02] [ 1.26763999e-02 -1.32531628e-04 9.99919642e-01 7.67510587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.46, Y:119.56, Z:7.68 [[ 7.38566941e-01 6.74110081e-01 -9.71975044e-03 1.72462466e+02] [-6.74049198e-01 7.38630882e-01 9.06085347e-03 1.19555531e+02] [ 1.32873205e-02 -1.40456834e-04 9.99911710e-01 7.67525856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.48, Y:119.53, Z:7.68 [[ 7.39334097e-01 6.73261735e-01 -1.01847647e-02 1.72479401e+02] [-6.73194838e-01 7.39404226e-01 9.49207939e-03 1.19533440e+02] [ 1.39213119e-02 -1.61486910e-04 9.99903081e-01 7.67503992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.50, Y:119.51, Z:7.68 [[ 7.39693864e-01 6.72866225e-01 -1.01995156e-02 1.72499409e+02] [-6.72799122e-01 7.39764162e-01 9.50403570e-03 1.19512966e+02] [ 1.39401808e-02 -1.67851730e-04 9.99902817e-01 7.67525410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.52, Y:119.49, Z:7.68 [[ 7.41022728e-01 6.71400287e-01 -1.03427358e-02 1.72516024e+02] [-6.71331164e-01 7.41094877e-01 9.63595655e-03 1.19490697e+02] [ 1.41345325e-02 -1.97061938e-04 9.99900083e-01 7.67537848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.54, Y:119.47, Z:7.68 [[ 7.41714126e-01 6.70633564e-01 -1.05251295e-02 1.72537771e+02] [-6.70561934e-01 7.41788768e-01 9.80386730e-03 1.19467965e+02] [ 1.43822253e-02 -2.13915671e-04 9.99896548e-01 7.67592413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.56, Y:119.45, Z:7.68 [[ 7.42110059e-01 6.70197691e-01 -1.03785897e-02 1.72557572e+02] [-6.70127990e-01 7.42182596e-01 9.66803696e-03 1.19445615e+02] [ 1.41823047e-02 -2.19764018e-04 9.99899402e-01 7.67651351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.58, Y:119.42, Z:7.68 [[ 7.42860979e-01 6.69360680e-01 -1.06699085e-02 1.72575515e+02] [-6.69286926e-01 7.42937563e-01 9.93923024e-03 1.19421126e+02] [ 1.45800057e-02 -2.42236053e-04 9.99893677e-01 7.67695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.60, Y:119.40, Z:7.68 [[ 7.43303377e-01 6.68868574e-01 -1.07201068e-02 1.72595626e+02] [-6.68794049e-01 7.43380634e-01 9.98764874e-03 1.19399123e+02] [ 1.46495441e-02 -2.54309428e-04 9.99892657e-01 7.67720345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.62, Y:119.38, Z:7.68 [[ 7.43459644e-01 6.68688089e-01 -1.11354174e-02 1.72618878e+02] [-6.68607656e-01 7.43542983e-01 1.03747289e-02 1.19375619e+02] [ 1.52171191e-02 -2.67966936e-04 9.99884177e-01 7.67742121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.64, Y:119.35, Z:7.68 [[ 7.42161994e-01 6.70124391e-01 -1.13523505e-02 1.72641593e+02] [-6.70040863e-01 7.42248772e-01 1.05831221e-02 1.19354148e+02] [ 1.55182765e-02 -2.47852279e-04 9.99879554e-01 7.67801010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:119.33, Z:7.68 [[ 7.41352617e-01 6.71015802e-01 -1.15797630e-02 1.72664393e+02] [-6.70928959e-01 7.41443011e-01 1.07978696e-02 1.19334572e+02] [ 1.58312755e-02 -2.35830572e-04 9.99874650e-01 7.67830367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.69, Y:119.32, Z:7.68 [[ 7.39467122e-01 6.73072937e-01 -1.26963243e-02 1.72686040e+02] [-6.72968862e-01 7.39576080e-01 1.18377555e-02 1.19316830e+02] [ 1.73575706e-02 -2.09400085e-04 9.99849324e-01 7.67748623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.71, Y:119.30, Z:7.68 [[ 7.38754631e-01 6.73851599e-01 -1.28692339e-02 1.72707782e+02] [-6.73744827e-01 7.38866690e-01 1.19967955e-02 1.19298082e+02] [ 1.75927081e-02 -1.92108491e-04 9.99845218e-01 7.67725752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.73, Y:119.28, Z:7.68 [[ 7.38305952e-01 6.74338254e-01 -1.31240433e-02 1.72729072e+02] [-6.74227322e-01 7.38422566e-01 1.22324449e-02 1.19278048e+02] [ 1.79398953e-02 -1.82698298e-04 9.99839050e-01 7.67677972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.75, Y:119.26, Z:7.68 [[ 7.37235560e-01 6.75509907e-01 -1.30420342e-02 1.72753715e+02] [-6.75400533e-01 7.37350895e-01 1.21564137e-02 1.19256840e+02] [ 1.78283335e-02 -1.53543552e-04 9.99841051e-01 7.67799414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:119.24, Z:7.68 [[ 7.36627202e-01 6.76181280e-01 -1.26191102e-02 1.72778043e+02] [-6.76078868e-01 7.36735270e-01 1.17688634e-02 1.19235183e+02] [ 1.72548287e-02 -1.37751168e-04 9.99851115e-01 7.67861147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.80, Y:119.21, Z:7.68 [[ 7.36792192e-01 6.76005196e-01 -1.24193631e-02 1.72801382e+02] [-6.75905854e-01 7.36896841e-01 1.15898003e-02 1.19213866e+02] [ 1.69865546e-02 -1.44954156e-04 9.99855708e-01 7.67889081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.83, Y:119.19, Z:7.68 [[ 7.37170922e-01 6.75598885e-01 -1.20490089e-02 1.72825030e+02] [-6.75505215e-01 7.37269370e-01 1.12508023e-02 1.19190682e+02] [ 1.64843946e-02 -1.54595953e-04 9.99864111e-01 7.67939464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.85, Y:119.17, Z:7.68 [[ 7.37865549e-01 6.74847449e-01 -1.16341014e-02 1.72848401e+02] [-6.74759922e-01 7.37957242e-01 1.08700121e-02 1.19167054e+02] [ 1.59210693e-02 -1.70382137e-04 9.99873237e-01 7.67984907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.87, Y:119.14, Z:7.68 [[ 7.39707159e-01 6.72843222e-01 -1.07386158e-02 1.72869479e+02] [-6.72768355e-01 7.39785075e-01 1.00390617e-02 1.19143358e+02] [ 1.46989823e-02 -2.01364877e-04 9.99891944e-01 7.68118536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.89, Y:119.12, Z:7.68 [[ 7.40424316e-01 6.72058541e-01 -1.04474817e-02 1.72892134e+02] [-6.71987531e-01 7.40497989e-01 9.77170953e-03 1.19120149e+02] [ 1.43035000e-02 -2.14633911e-04 9.99897677e-01 7.68172551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.92, Y:119.10, Z:7.68 [[ 7.41994396e-01 6.70334464e-01 -9.79910144e-03 1.72915024e+02] [-6.70271783e-01 7.42059061e-01 9.16989370e-03 1.19097699e+02] [ 1.34184078e-02 -2.35948543e-04 9.99909941e-01 7.68185565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.94, Y:119.08, Z:7.68 [[ 7.42490227e-01 6.69792538e-01 -9.28545139e-03 1.72936651e+02] [-6.69736155e-01 7.42548248e-01 8.69375419e-03 1.19075234e+02] [ 1.27179073e-02 -2.36225011e-04 9.99919096e-01 7.68204226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.96, Y:119.05, Z:7.68 [[ 7.42632699e-01 6.69632955e-01 -9.40103168e-03 1.72961635e+02] [-6.69575090e-01 7.42692161e-01 8.80645199e-03 1.19053388e+02] [ 1.28791630e-02 -2.45262582e-04 9.99917030e-01 7.68215188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.98, Y:119.03, Z:7.68 [[ 7.42706529e-01 6.69554025e-01 -9.18796869e-03 1.72984993e+02] [-6.69498681e-01 7.42763319e-01 8.61210361e-03 1.19031788e+02] [ 1.25907548e-02 -2.44932660e-04 9.99920703e-01 7.68157513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8927550960001 meters Centerline goodness [0,1] 0.9999128255421161 Centerline is valid? [True, True] Translation: X:173.01, Y:119.01, Z:7.68 [[ 7.42569642e-01 6.69705946e-01 -9.18002216e-03 1.73009870e+02] [-6.69650647e-01 7.42626344e-01 8.60960540e-03 1.19009939e+02] [ 1.25832302e-02 -2.45823823e-04 9.99920798e-01 7.68135019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.03, Y:118.99, Z:7.68 [[ 7.42305530e-01 6.69999340e-01 -9.13156178e-03 1.73033432e+02] [-6.69944579e-01 7.42361654e-01 8.56947441e-03 1.18987881e+02] [ 1.25204635e-02 -2.43527929e-04 9.99921586e-01 7.68082328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.06, Y:118.97, Z:7.68 [[ 7.42317949e-01 6.69983703e-01 -9.26821941e-03 1.73058083e+02] [-6.69927224e-01 7.42375764e-01 8.70283789e-03 1.18966532e+02] [ 1.27112610e-02 -2.51240272e-04 9.99919177e-01 7.68079329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.08, Y:118.95, Z:7.68 [[ 7.42519092e-01 6.69766061e-01 -8.87820535e-03 1.73079006e+02] [-6.69714163e-01 7.42572126e-01 8.34128791e-03 1.18945813e+02] [ 1.21794194e-02 -2.47705648e-04 9.99925797e-01 7.68072631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:118.93, Z:7.68 [[ 7.43229812e-01 6.68973723e-01 -9.14358115e-03 1.73100916e+02] [-6.68918620e-01 7.43286006e-01 8.59033103e-03 1.18927069e+02] [ 1.25430016e-02 -2.68278433e-04 9.99921297e-01 7.67998099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.12, Y:118.91, Z:7.68 [[ 7.43750590e-01 6.68393589e-01 -9.22338997e-03 1.73122135e+02] [-6.68337492e-01 7.43807725e-01 8.66400107e-03 1.18908161e+02] [ 1.26513915e-02 -2.79518585e-04 9.99919929e-01 7.68002738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.15, Y:118.89, Z:7.68 [[ 7.43989328e-01 6.68133807e-01 -8.78045990e-03 1.73146383e+02] [-6.68082971e-01 7.44041090e-01 8.24620294e-03 1.18887534e+02] [ 1.20425899e-02 -2.69011247e-04 9.99927449e-01 7.68043204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.17, Y:118.87, Z:7.68 [[ 7.44468903e-01 6.67602403e-01 -8.54892833e-03 1.73168716e+02] [-6.67554127e-01 7.44517936e-01 8.03303902e-03 1.18866124e+02] [ 1.17277066e-02 -2.73475355e-04 9.99931191e-01 7.68033785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.19, Y:118.85, Z:7.68 [[ 7.44768329e-01 6.67267482e-01 -8.61650100e-03 1.73190070e+02] [-6.67218363e-01 7.44818117e-01 8.10117437e-03 1.18846204e+02] [ 1.18233763e-02 -2.84410405e-04 9.99930061e-01 7.68058130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.21, Y:118.83, Z:7.68 [[ 7.45379743e-01 6.66588824e-01 -8.26910050e-03 1.73209873e+02] [-6.66543549e-01 7.45425556e-01 7.77418391e-03 1.18827310e+02] [ 1.13461830e-02 -2.83003615e-04 9.99935590e-01 7.68066678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.23, Y:118.81, Z:7.68 [[ 7.45556940e-01 6.66397007e-01 -7.73813252e-03 1.73231518e+02] [-6.66357367e-01 7.45597048e-01 7.27335968e-03 1.18807792e+02] [ 1.06164739e-02 -2.66342170e-04 9.99943608e-01 7.68124979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.25, Y:118.79, Z:7.68 [[ 7.45835087e-01 6.66091170e-01 -7.25096560e-03 1.73252605e+02] [-6.66056359e-01 7.45870290e-01 6.81452004e-03 1.18788779e+02] [ 9.94737144e-03 -2.52956406e-04 9.99950492e-01 7.68170375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.27, Y:118.77, Z:7.68 [[ 7.45743398e-01 6.66194463e-01 -7.19181890e-03 1.73273497e+02] [-6.66160231e-01 7.45778034e-01 6.75801729e-03 1.18770449e+02] [ 9.86565426e-03 -2.48843038e-04 9.99951302e-01 7.68204328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.30, Y:118.75, Z:7.68 [[ 7.45559423e-01 6.66400368e-01 -7.19005276e-03 1.73295485e+02] [-6.66366175e-01 7.45594052e-01 6.75502498e-03 1.18751610e+02] [ 9.86241170e-03 -2.45064574e-04 9.99951335e-01 7.68230376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.31275509600005 meters Centerline goodness [0,1] 0.9999782030602903 Centerline is valid? [True, True] Translation: X:173.31, Y:118.73, Z:7.68 [[ 7.45202225e-01 6.66798317e-01 -7.32449871e-03 1.73314924e+02] [-6.66762863e-01 7.45238180e-01 6.88036161e-03 1.18731651e+02] [ 1.00463096e-02 -2.43557045e-04 9.99949505e-01 7.68280579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.34, Y:118.71, Z:7.68 [[ 7.43840503e-01 6.68320759e-01 -6.97634620e-03 1.73341198e+02] [-6.68288678e-01 7.43873188e-01 6.55162766e-03 1.18714301e+02] [ 9.56810566e-03 -2.11152837e-04 9.99954202e-01 7.68313459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.36, Y:118.69, Z:7.68 [[ 7.43315337e-01 6.68904756e-01 -6.98113364e-03 1.73361842e+02] [-6.68872651e-01 7.43348092e-01 6.55675993e-03 1.18694110e+02] [ 9.57526027e-03 -2.04250850e-04 9.99954135e-01 7.68332478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.38, Y:118.68, Z:7.68 [[ 7.42749838e-01 6.69533709e-01 -6.87683468e-03 1.73383915e+02] [-6.69502589e-01 7.42781647e-01 6.45815974e-03 1.18675619e+02] [ 9.43194223e-03 -1.92738479e-04 9.99955500e-01 7.68377319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.41, Y:118.66, Z:7.68 [[ 7.41628140e-01 6.70773958e-01 -7.07102921e-03 1.73407692e+02] [-6.70741123e-01 7.41661827e-01 6.63934436e-03 1.18657098e+02] [ 9.69781173e-03 -1.81094535e-04 9.99952959e-01 7.68368922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.43, Y:118.64, Z:7.68 [[ 7.41145889e-01 6.71309371e-01 -6.81903495e-03 1.73431130e+02] [-6.71278878e-01 7.41177240e-01 6.40060580e-03 1.18635303e+02] [ 9.35090016e-03 -1.66308549e-04 9.99956266e-01 7.68410329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.45, Y:118.61, Z:7.68 [[ 7.40935582e-01 6.71541500e-01 -6.81738810e-03 1.73454650e+02] [-6.71511000e-01 7.40966927e-01 6.40235923e-03 1.18612982e+02] [ 9.35090903e-03 -1.65784668e-04 9.99956266e-01 7.68453327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.48, Y:118.59, Z:7.69 [[ 7.40857212e-01 6.71623527e-01 -7.24082326e-03 1.73476527e+02] [-6.71589065e-01 7.40892574e-01 6.80605503e-03 1.18591337e+02] [ 9.93577887e-03 -1.79457229e-04 9.99950623e-01 7.68531034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.50, Y:118.57, Z:7.69 [[ 7.40831809e-01 6.71653243e-01 -7.08182643e-03 1.73499526e+02] [-6.71620292e-01 7.40865636e-01 6.65529076e-03 1.18569164e+02] [ 9.71672946e-03 -1.74152758e-04 9.99952776e-01 7.68579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.52, Y:118.55, Z:7.69 [[ 7.40787965e-01 6.71704837e-01 -6.76782385e-03 1.73522748e+02] [-6.71674715e-01 7.40818860e-01 6.36346522e-03 1.18546511e+02] [ 9.28810192e-03 -1.68202287e-04 9.99956851e-01 7.68647984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.55, Y:118.52, Z:7.69 [[ 7.41006631e-01 6.71463819e-01 -6.74625641e-03 1.73545329e+02] [-6.71433847e-01 7.41037320e-01 6.34664033e-03 1.18523871e+02] [ 9.26076712e-03 -1.73237683e-04 9.99957103e-01 7.68679384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.57, Y:118.50, Z:7.69 [[ 7.41659998e-01 6.70745746e-01 -6.37110996e-03 1.73565870e+02] [-6.70718961e-01 7.41687342e-01 5.99684769e-03 1.18500077e+02] [ 8.74773169e-03 -1.74397797e-04 9.99961723e-01 7.68769193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.58, Y:118.48, Z:7.69 [[ 7.42470850e-01 6.69851661e-01 -5.98244454e-03 1.73584756e+02] [-6.69827976e-01 7.42494930e-01 5.63567788e-03 1.18478145e+02] [ 8.21700293e-03 -1.77117825e-04 9.99966224e-01 7.68851616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.61, Y:118.46, Z:7.69 [[ 7.42904995e-01 6.69371693e-01 -5.80562061e-03 1.73605867e+02] [-6.69349379e-01 7.42927659e-01 5.46837304e-03 1.18456735e+02] [ 7.97353025e-03 -1.76493094e-04 9.99968195e-01 7.68876826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.62, Y:118.44, Z:7.69 [[ 7.43297253e-01 6.68933274e-01 -6.12120210e-03 1.73624914e+02] [-6.68908453e-01 7.43322433e-01 5.76560820e-03 1.18436569e+02] [ 8.40683400e-03 -1.91036908e-04 9.99964644e-01 7.68847284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.65, Y:118.42, Z:7.69 [[ 7.43597928e-01 6.68599045e-01 -6.11872193e-03 1.73645620e+02] [-6.68574246e-01 7.43623076e-01 5.76182412e-03 1.18416949e+02] [ 8.40237292e-03 -1.93660581e-04 9.99964681e-01 7.68876055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.67, Y:118.40, Z:7.69 [[ 7.43370316e-01 6.68855160e-01 -5.77487401e-03 1.73666127e+02] [-6.68833082e-01 7.43392725e-01 5.43742684e-03 1.18398439e+02] [ 7.92985032e-03 -1.79594932e-04 9.99968542e-01 7.68884035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.69, Y:118.38, Z:7.69 [[ 7.43119447e-01 6.69132126e-01 -5.97369587e-03 1.73687250e+02] [-6.69108521e-01 7.43143435e-01 5.62339881e-03 1.18378725e+02] [ 8.20210967e-03 -1.81806212e-04 9.99966346e-01 7.68908451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.71, Y:118.36, Z:7.69 [[ 7.43078055e-01 6.69180799e-01 -5.66241017e-03 1.73706580e+02] [-6.69159593e-01 7.43099609e-01 5.33006003e-03 1.18359971e+02] [ 7.77450861e-03 -1.71594550e-04 9.99969763e-01 7.69002048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.73, Y:118.34, Z:7.69 [[ 7.43129367e-01 6.69123369e-01 -5.71498398e-03 1.73727631e+02] [-6.69101778e-01 7.43151322e-01 5.37803454e-03 1.18341016e+02] [ 7.84566649e-03 -1.72669465e-04 9.99969207e-01 7.69093140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.75, Y:118.32, Z:7.69 [[ 7.42909872e-01 6.69370485e-01 -5.29867985e-03 1.73749060e+02] [-6.69351940e-01 7.42928752e-01 4.98504262e-03 1.18321166e+02] [ 7.27338200e-03 -1.56755742e-04 9.99973536e-01 7.69167317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.77, Y:118.30, Z:7.69 [[ 7.42676416e-01 6.69632109e-01 -4.95779644e-03 1.73773847e+02] [-6.69615890e-01 7.42692950e-01 4.66278761e-03 1.18302370e+02] [ 6.80447276e-03 -1.43123114e-04 9.99976839e-01 7.69201860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.79, Y:118.28, Z:7.69 [[ 7.42806293e-01 6.69488364e-01 -4.91336435e-03 1.73793690e+02] [-6.69472426e-01 7.42822529e-01 4.62185278e-03 1.18280065e+02] [ 6.74403438e-03 -1.43779381e-04 9.99977248e-01 7.69341612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.81, Y:118.26, Z:7.69 [[ 7.42894838e-01 6.69392828e-01 -4.52790434e-03 1.73814742e+02] [-6.69379275e-01 7.42908624e-01 4.26164053e-03 1.18261652e+02] [ 6.21653079e-03 -1.35065432e-04 9.99980668e-01 7.69433771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.84, Y:118.24, Z:7.69 [[ 7.42721116e-01 6.69585161e-01 -4.58872590e-03 1.73838068e+02] [-6.69571274e-01 7.42735279e-01 4.31444618e-03 1.18244397e+02] [ 6.29709775e-03 -1.31951237e-04 9.99980164e-01 7.69397592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.86, Y:118.23, Z:7.69 [[ 7.41524384e-01 6.70907810e-01 -4.92935658e-03 1.73860981e+02] [-6.70891817e-01 7.41540757e-01 4.63429676e-03 1.18225816e+02] [ 6.76450470e-03 -1.29379059e-04 9.99977112e-01 7.69408878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.88, Y:118.21, Z:7.69 [[ 7.40988472e-01 6.71500919e-01 -4.75403704e-03 1.73884033e+02] [-6.71486066e-01 7.41003713e-01 4.46776558e-03 1.18206449e+02] [ 6.52286779e-03 -1.18293156e-04 9.99978719e-01 7.69406797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.90, Y:118.19, Z:7.69 [[ 7.40328319e-01 6.72225349e-01 -5.20195396e-03 1.73904205e+02] [-6.72207586e-01 7.40346584e-01 4.88842576e-03 1.18185915e+02] [ 7.13737256e-03 -1.22247115e-04 9.99974521e-01 7.69464394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.93, Y:118.17, Z:7.69 [[ 7.39111699e-01 6.73564350e-01 -4.99624272e-03 1.73927252e+02] [-6.73547997e-01 7.39128578e-01 4.69475408e-03 1.18168074e+02] [ 6.85508476e-03 -1.04738392e-04 9.99976498e-01 7.69483758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.95, Y:118.15, Z:7.69 [[ 7.38733896e-01 6.73976163e-01 -5.32555501e-03 1.73949691e+02] [-6.73957600e-01 7.38753084e-01 5.00340281e-03 1.18149695e+02] [ 7.30644442e-03 -1.06984988e-04 9.99973302e-01 7.69425532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.97, Y:118.13, Z:7.69 [[ 7.38555240e-01 6.74172344e-01 -5.27346178e-03 1.73970120e+02] [-6.74154151e-01 7.38574059e-01 4.95387115e-03 1.18130520e+02] [ 7.23460499e-03 -1.03581345e-04 9.99973825e-01 7.69477719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.99, Y:118.11, Z:7.70 [[ 7.38529768e-01 6.74198355e-01 -5.51000510e-03 1.73988837e+02] [-6.74178499e-01 7.38550315e-01 5.17530445e-03 1.18111224e+02] [ 7.55859775e-03 -1.07389430e-04 9.99971428e-01 7.69537235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.01, Y:118.09, Z:7.70 [[ 7.38602708e-01 6.74122511e-01 -4.98795649e-03 1.74009983e+02] [-6.74106248e-01 7.38619544e-01 4.68350249e-03 1.18091557e+02] [ 6.84145660e-03 -9.68349903e-05 9.99976592e-01 7.69572262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:118.07, Z:7.70 [[ 7.38942527e-01 6.73753565e-01 -4.48060809e-03 1.74029743e+02] [-6.73740438e-01 7.38956105e-01 4.20680113e-03 1.18071711e+02] [ 6.14531996e-03 -8.98173950e-05 9.99981113e-01 7.69707529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3327550960001 meters Centerline goodness [0,1] 0.9998692639560727 Centerline is valid? [True, True] Translation: X:174.05, Y:118.05, Z:7.70 [[ 7.39425079e-01 6.73225958e-01 -4.16677082e-03 1.74049869e+02] [-6.73214602e-01 7.39436814e-01 3.91133154e-03 1.18051634e+02] [ 5.71427366e-03 -8.70056728e-05 9.99983670e-01 7.69580165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.07, Y:118.03, Z:7.70 [[ 7.39636184e-01 6.72994293e-01 -4.12264373e-03 1.74070310e+02] [-6.72983174e-01 7.39647669e-01 3.86953330e-03 1.18032877e+02] [ 5.65347765e-03 -8.75769765e-05 9.99984015e-01 7.69873179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.09, Y:118.01, Z:7.70 [[ 7.39882222e-01 6.72724539e-01 -3.99903120e-03 1.74091270e+02] [-6.72714077e-01 7.39893025e-01 3.75266474e-03 1.18012936e+02] [ 5.48336494e-03 -8.63253438e-05 9.99984963e-01 7.69918184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.11, Y:117.99, Z:7.70 [[ 7.40319127e-01 6.72241710e-01 -4.32136855e-03 1.74110620e+02] [-6.72229483e-01 7.40331733e-01 4.05570212e-03 1.17994279e+02] [ 5.92565839e-03 -9.75625035e-05 9.99982438e-01 7.69908887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.13, Y:117.97, Z:7.70 [[ 7.40614846e-01 6.71915338e-01 -4.40774366e-03 1.74131093e+02] [-6.71902629e-01 7.40627956e-01 4.13380091e-03 1.17974486e+02] [ 6.04206241e-03 -9.99797671e-05 9.99981742e-01 7.69915463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.15, Y:117.95, Z:7.70 [[ 7.41117951e-01 6.71356374e-01 -4.98014523e-03 1.74150645e+02] [-6.71340142e-01 7.41134675e-01 4.66993654e-03 1.17954462e+02] [ 6.82614998e-03 -1.17602397e-04 9.99976695e-01 7.69834053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51275509600003 meters Centerline goodness [0,1] 0.9998913397805064 Centerline is valid? [True, True] Translation: X:174.17, Y:117.93, Z:7.70 [[ 7.41483347e-01 6.70949869e-01 -5.35908891e-03 1.74171297e+02] [-6.70931071e-01 7.41502702e-01 5.02411148e-03 1.17934104e+02] [ 7.34470584e-03 -1.29715731e-04 9.99973019e-01 7.69621876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:117.92, Z:7.70 [[ 7.41935198e-01 6.70447701e-01 -5.66056933e-03 1.74193624e+02] [-6.70426720e-01 7.41956778e-01 5.30593944e-03 1.17915173e+02] [ 7.75725268e-03 -1.41666301e-04 9.99969902e-01 7.69745390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.22, Y:117.89, Z:7.70 [[ 7.42840452e-01 6.69441528e-01 -6.00860486e-03 1.74216401e+02] [-6.69417869e-01 7.42864735e-01 5.63047790e-03 1.17893603e+02] [ 8.23285639e-03 -1.60279292e-04 9.99966097e-01 7.69637316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60275509600007 meters Centerline goodness [0,1] 0.9998913303340505 Centerline is valid? [True, True] Translation: X:174.24, Y:117.87, Z:7.69 [[ 7.43557568e-01 6.68642688e-01 -6.25283830e-03 1.74237386e+02] [-6.68617032e-01 7.43583838e-01 5.86006619e-03 1.17871950e+02] [ 8.56779992e-03 -1.76542383e-04 9.99963280e-01 7.69448599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.26, Y:117.85, Z:7.70 [[ 7.44160884e-01 6.67966513e-01 -6.73174836e-03 1.74255821e+02] [-6.67936747e-01 7.44191305e-01 6.30899718e-03 1.17848706e+02] [ 9.22390744e-03 -1.98526815e-04 9.99957439e-01 7.69722717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.28, Y:117.83, Z:7.70 [[ 7.44316231e-01 6.67793332e-01 -6.73899007e-03 1.74278813e+02] [-6.67763494e-01 7.44346711e-01 6.31583587e-03 1.17831419e+02] [ 9.23381817e-03 -2.00927594e-04 9.99957347e-01 7.69724431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.30, Y:117.81, Z:7.70 [[ 7.45260669e-01 6.66733172e-01 -7.30833148e-03 1.74297507e+02] [-6.66698040e-01 7.45296467e-01 6.84840121e-03 1.17809999e+02] [ 1.00129299e-02 -2.31393795e-04 9.99949843e-01 7.69758643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.32, Y:117.79, Z:7.70 [[ 7.45680318e-01 6.66262525e-01 -7.42368758e-03 1.74318588e+02] [-6.66226258e-01 7.45717232e-01 6.95582710e-03 1.17790701e+02] [ 1.01703787e-02 -2.40967767e-04 9.99948251e-01 7.69786367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.75275509600004 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:174.34, Y:117.77, Z:7.70 [[ 7.46351364e-01 6.65508692e-01 -7.60418293e-03 1.74338456e+02] [-6.65470641e-01 7.46390057e-01 7.12108147e-03 1.17770516e+02] [ 1.04148281e-02 -2.54468376e-04 9.99945732e-01 7.69632525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.36, Y:117.76, Z:7.70 [[ 7.46794828e-01 6.65009026e-01 -7.77694349e-03 1.74364167e+02] [-6.64969220e-01 7.46835273e-01 7.28083923e-03 1.17755536e+02] [ 1.06499195e-02 -2.65865029e-04 9.99943253e-01 7.69750134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.38, Y:117.74, Z:7.70 [[ 7.47645805e-01 6.64051009e-01 -7.87452330e-03 1.74383952e+02] [-6.64010157e-01 7.47687220e-01 7.37112328e-03 1.17736020e+02] [ 1.07824823e-02 -2.82225950e-04 9.99941828e-01 7.69800350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.41, Y:117.72, Z:7.70 [[ 7.47954194e-01 6.63706387e-01 -7.63903993e-03 1.74406172e+02] [-6.63667939e-01 7.47993151e-01 7.14932797e-03 1.17717157e+02] [ 1.04590042e-02 -2.77583958e-04 9.99945265e-01 7.69847088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.43, Y:117.70, Z:7.70 [[ 7.48184635e-01 6.63445763e-01 -7.71177785e-03 1.74428382e+02] [-6.63406576e-01 7.48224325e-01 7.21632446e-03 1.17698220e+02] [ 1.05577797e-02 -2.83098950e-04 9.99944225e-01 7.69887682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.45, Y:117.68, Z:7.70 [[ 7.48140692e-01 6.63493911e-01 -7.83167174e-03 1.74449409e+02] [-6.63453510e-01 7.48181628e-01 7.32747666e-03 1.17680292e+02] [ 1.07212491e-02 -2.86033351e-04 9.99942485e-01 7.69913687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.47, Y:117.66, Z:7.70 [[ 7.47030448e-01 6.64738019e-01 -8.29919798e-03 1.74472116e+02] [-6.64692744e-01 7.47076493e-01 7.76338776e-03 1.17664268e+02] [ 1.13607547e-02 -2.83070359e-04 9.99935424e-01 7.69845664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.50, Y:117.65, Z:7.70 [[ 7.46131543e-01 6.65742441e-01 -8.64427997e-03 1.74495344e+02] [-6.65693404e-01 7.46181563e-01 8.08496732e-03 1.17646601e+02] [ 1.18327082e-02 -2.78008984e-04 9.99929952e-01 7.69828800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.52, Y:117.63, Z:7.70 [[ 7.44069526e-01 6.68040937e-01 -9.04689331e-03 1.74519331e+02] [-6.67987453e-01 7.44124482e-01 8.45688281e-03 1.17631039e+02] [ 1.23815587e-02 -2.49297569e-04 9.99923315e-01 7.69803090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.54, Y:117.61, Z:7.70 [[ 7.43227432e-01 6.68978710e-01 -8.97048958e-03 1.74542169e+02] [-6.68926209e-01 7.43281529e-01 8.38418700e-03 1.17613235e+02] [ 1.22764418e-02 -2.30762187e-04 9.99924615e-01 7.69829686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.05275509600006 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:174.56, Y:117.60, Z:7.70 [[ 7.42227736e-01 6.70082986e-01 -9.31551613e-03 1.74564572e+02] [-6.70026513e-01 7.42286161e-01 8.70219576e-03 1.17595444e+02] [ 1.27459720e-02 -2.17368274e-04 9.99918743e-01 7.69704508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.59, Y:117.58, Z:7.70 [[ 7.40120887e-01 6.72409158e-01 -9.32722106e-03 1.74589314e+02] [-6.72352781e-01 7.40179636e-01 8.70885180e-03 1.17580474e+02] [ 1.27597308e-02 -1.74420101e-04 9.99918576e-01 7.69859453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:117.56, Z:7.70 [[ 7.39393254e-01 6.73206945e-01 -9.48819427e-03 1.74611999e+02] [-6.73148727e-01 7.39454112e-01 8.85476692e-03 1.17562146e+02] [ 1.29771749e-02 -1.60189026e-04 9.99915780e-01 7.69906802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.63, Y:117.54, Z:7.70 [[ 7.38784322e-01 6.73877031e-01 -9.35274418e-03 1.74634519e+02] [-6.73820570e-01 7.38843507e-01 8.72420382e-03 1.17543475e+02] [ 1.27892549e-02 -1.43233584e-04 9.99918204e-01 7.69964510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.66, Y:117.53, Z:7.70 [[ 7.37825616e-01 6.74930719e-01 -9.04908566e-03 1.74656128e+02] [-6.74877995e-01 7.37881096e-01 8.43684708e-03 1.17525380e+02] [ 1.23714365e-02 -1.17893104e-04 9.99923464e-01 7.70028778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.68, Y:117.51, Z:7.70 [[ 7.37880725e-01 6.74871738e-01 -8.95396071e-03 1.74676702e+02] [-6.74820127e-01 7.37935041e-01 8.34699926e-03 1.17506617e+02] [ 1.22405953e-02 -1.16776961e-04 9.99925074e-01 7.70132311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.23275509600006 meters Centerline goodness [0,1] 0.999850001071421 Centerline is valid? [True, True] Translation: X:174.70, Y:117.49, Z:7.70 [[ 7.38281757e-01 6.74435334e-01 -8.77657217e-03 1.74696840e+02] [-6.74385769e-01 7.38333913e-01 8.17730302e-03 1.17486969e+02] [ 1.19951030e-02 -1.18358265e-04 9.99928049e-01 7.69881816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.72, Y:117.47, Z:7.70 [[ 7.39028450e-01 6.73615973e-01 -8.85839036e-03 1.74717229e+02] [-6.73565478e-01 7.39081528e-01 8.24877726e-03 1.17468119e+02] [ 1.21035808e-02 -1.29375144e-04 9.99926741e-01 7.70208655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.74, Y:117.45, Z:7.70 [[ 7.39848709e-01 6.72715112e-01 -8.84683381e-03 1.74739752e+02] [-6.72664701e-01 7.39901587e-01 8.23663855e-03 1.17449517e+02] [ 1.20866976e-02 -1.42913579e-04 9.99926943e-01 7.70225694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.76, Y:117.43, Z:7.70 [[ 7.41967847e-01 6.70381898e-01 -8.47500169e-03 1.74758112e+02] [-6.70335496e-01 7.42016227e-01 7.88934995e-03 1.17427589e+02] [ 1.15774662e-02 -1.72549541e-04 9.99932964e-01 7.70298302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.35275509600007 meters Centerline goodness [0,1] 0.9998288879857977 Centerline is valid? [True, True] Translation: X:174.78, Y:117.41, Z:7.70 [[ 7.43452740e-01 6.68730397e-01 -8.81360825e-03 1.74775818e+02] [-6.68680117e-01 7.43504952e-01 8.20292546e-03 1.17406216e+02] [ 1.20385070e-02 -2.05002809e-04 9.99927514e-01 7.70027503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.80, Y:117.39, Z:7.70 [[ 7.44339105e-01 6.67747912e-01 -8.48666356e-03 1.74796545e+02] [-6.67701246e-01 7.44387454e-01 7.89716398e-03 1.17385999e+02] [ 1.15906806e-02 -2.11612141e-04 9.99932803e-01 7.70398117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.82, Y:117.37, Z:7.70 [[ 7.44414337e-01 6.67664034e-01 -8.48721555e-03 1.74816788e+02] [-6.67617369e-01 7.44462687e-01 7.89657070e-03 1.17367341e+02] [ 1.15906715e-02 -2.12107917e-04 9.99932803e-01 7.70434499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44275509600004 meters Centerline goodness [0,1] 0.9998927613941019 Centerline is valid? [True, True] Translation: X:174.84, Y:117.35, Z:7.70 [[ 7.45455748e-01 6.66498057e-01 -8.72168621e-03 1.74835503e+02] [-6.66448721e-01 7.45506730e-01 8.11279964e-03 1.17346086e+02] [ 1.19092410e-02 -2.35176507e-04 9.99929055e-01 7.70227438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.47275509600007 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:174.86, Y:117.33, Z:7.70 [[ 7.46570803e-01 6.65243491e-01 -9.11778796e-03 1.74855972e+02] [-6.65189499e-01 7.46626431e-01 8.47956849e-03 1.17326270e+02] [ 1.24485592e-02 -2.65541446e-04 9.99922478e-01 7.70279413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.88, Y:117.31, Z:7.70 [[ 7.46847078e-01 6.64929428e-01 -9.39673060e-03 1.74878291e+02] [-6.64872074e-01 7.46906138e-01 8.73764070e-03 1.17307249e+02] [ 1.28283902e-02 -2.78057662e-04 9.99917674e-01 7.70412037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.90, Y:117.29, Z:7.70 [[ 7.47258916e-01 6.64469433e-01 -9.19159693e-03 1.74898312e+02] [-6.64414538e-01 7.47315392e-01 8.54561994e-03 1.17287291e+02] [ 1.25473251e-02 -2.78760067e-04 9.99921240e-01 7.70422454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.92, Y:117.27, Z:7.70 [[ 7.47284781e-01 6.64434579e-01 -9.59926455e-03 1.74918755e+02] [-6.64374726e-01 7.47346376e-01 8.92285404e-03 1.17268091e+02] [ 1.31026283e-02 -2.90404272e-04 9.99914115e-01 7.70417480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.94, Y:117.25, Z:7.70 [[ 7.47213807e-01 6.64507730e-01 -1.00501167e-02 1.74938380e+02] [-6.64442160e-01 7.47281330e-01 9.33966224e-03 1.17249137e+02] [ 1.37165423e-02 -3.01003337e-04 9.99905879e-01 7.70399306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62275509600005 meters Centerline goodness [0,1] 0.9998919386211368 Centerline is valid? [True, True] Translation: X:174.96, Y:117.23, Z:7.70 [[ 7.46708384e-01 6.65061560e-01 -1.09411991e-02 1.74959674e+02] [-6.64983961e-01 7.46788472e-01 1.01640850e-02 1.17229024e+02] [ 1.49305036e-02 -3.13885531e-04 9.99888485e-01 7.70087603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:117.21, Z:7.70 [[ 7.46192989e-01 6.65637111e-01 -1.11022703e-02 1.74980122e+02] [-6.65557300e-01 7.46275515e-01 1.03119821e-02 1.17210621e+02] [ 1.51493905e-02 -3.05531725e-04 9.99885195e-01 7.70318251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.00, Y:117.19, Z:7.70 [[ 7.45904266e-01 6.65953672e-01 -1.15122732e-02 1.75001337e+02] [-6.65867939e-01 7.45993038e-01 1.06899545e-02 1.17191448e+02] [ 1.57070901e-02 -3.08029057e-04 9.99876589e-01 7.70303177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.02, Y:117.17, Z:7.70 [[ 7.45406368e-01 6.66508073e-01 -1.16762488e-02 1.75023224e+02] [-6.66419975e-01 7.45497752e-01 1.08406015e-02 1.17173289e+02] [ 1.59299657e-02 -2.99367938e-04 9.99873065e-01 7.70374767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74275509600005 meters Centerline goodness [0,1] 0.9998484979655441 Centerline is valid? [True, True] Translation: X:175.04, Y:117.15, Z:7.70 [[ 7.45700451e-01 6.66171622e-01 -1.20916636e-02 1.75043981e+02] [-6.66077127e-01 7.45798412e-01 1.12245443e-02 1.17152881e+02] [ 1.64954164e-02 -3.16167167e-04 9.99863891e-01 7.70133409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.06, Y:117.13, Z:7.71 [[ 7.45277522e-01 6.66653291e-01 -1.16104985e-02 1.75064820e+02] [-6.66566255e-01 7.45367898e-01 1.07760911e-02 1.17133780e+02] [ 1.58380095e-02 -2.92011973e-04 9.99874528e-01 7.70562555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.09, Y:117.12, Z:7.71 [[ 7.45368161e-01 6.66546493e-01 -1.19196478e-02 1.75085183e+02] [-6.66454795e-01 7.45463401e-01 1.10599914e-02 1.17115238e+02] [ 1.62576597e-02 -2.99859026e-04 9.99867791e-01 7.70652757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.10, Y:117.10, Z:7.71 [[ 7.45603908e-01 6.66286123e-01 -1.17309522e-02 1.75104826e+02] [-6.66197317e-01 7.45696126e-01 1.08821948e-02 1.17096581e+02] [ 1.59983810e-02 -2.98678053e-04 9.99871973e-01 7.70710249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.13, Y:117.08, Z:7.71 [[ 7.46103944e-01 6.65731546e-01 -1.14199063e-02 1.75125658e+02] [-6.65647391e-01 7.46191275e-01 1.05892148e-02 1.17077484e+02] [ 1.55710088e-02 -2.99024125e-04 9.99878720e-01 7.70822874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.15, Y:117.06, Z:7.71 [[ 7.46164568e-01 6.65667887e-01 -1.11669885e-02 1.75146780e+02] [-6.65587502e-01 7.46248069e-01 1.03487694e-02 1.17058440e+02] [ 1.52221870e-02 -2.89277069e-04 9.99884094e-01 7.70917618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.17, Y:117.04, Z:7.71 [[ 7.45651593e-01 6.66253357e-01 -1.04960271e-02 1.75167599e+02] [-6.66182473e-01 7.45725418e-01 9.72184852e-03 1.17040014e+02] [ 1.43043684e-02 -2.56842518e-04 9.99897654e-01 7.71138151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.19, Y:117.02, Z:7.71 [[ 7.45381431e-01 6.66556378e-01 -1.04459122e-02 1.75189544e+02] [-6.66486238e-01 7.45454582e-01 9.67267486e-03 1.17020902e+02] [ 1.42343362e-02 -2.47775497e-04 9.99898656e-01 7.71225176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.21, Y:117.00, Z:7.71 [[ 7.45007404e-01 6.66979542e-01 -1.01122902e-02 1.75211471e+02] [-6.66913913e-01 7.45075995e-01 9.35919738e-03 1.17001859e+02] [ 1.37768179e-02 -2.28644316e-04 9.99905069e-01 7.71321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.23, Y:116.98, Z:7.71 [[ 7.44055838e-01 6.68040552e-01 -1.01356617e-02 1.75232742e+02] [-6.67974780e-01 7.44124841e-01 9.37626017e-03 1.16983598e+02] [ 1.38059196e-02 -2.06094736e-04 9.99904673e-01 7.71391422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.26, Y:116.97, Z:7.71 [[ 7.43792826e-01 6.68330326e-01 -1.03347416e-02 1.75255556e+02] [-6.68261998e-01 7.43864594e-01 9.55871740e-03 1.16966102e+02] [ 1.40760291e-02 -2.03390347e-04 9.99900907e-01 7.71435246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.28, Y:116.95, Z:7.71 [[ 7.43387038e-01 6.68784348e-01 -1.01590897e-02 1.75275249e+02] [-6.68718384e-01 7.43456428e-01 9.39485657e-03 1.16946609e+02] [ 1.38359735e-02 -1.90444585e-04 9.99904260e-01 7.71470165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.30, Y:116.93, Z:7.72 [[ 7.42840777e-01 6.69395534e-01 -9.85896849e-03 1.75298509e+02] [-6.69333485e-01 7.42906178e-01 9.11567460e-03 1.16929773e+02] [ 1.34262805e-02 -1.72557066e-04 9.99909849e-01 7.71530826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.32, Y:116.91, Z:7.72 [[ 7.42490235e-01 6.69781233e-01 -1.00673376e-02 1.75319469e+02] [-6.69716591e-01 7.42558464e-01 9.30676616e-03 1.16911239e+02] [ 1.37090840e-02 -1.67919987e-04 9.99906012e-01 7.71578835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.34, Y:116.89, Z:7.72 [[ 7.41578278e-01 6.70792413e-01 -9.95971934e-03 1.75341105e+02] [-6.70729309e-01 7.41645143e-01 9.20193633e-03 1.16893943e+02] [ 1.35591665e-02 -1.43680428e-04 9.99908060e-01 7.71609161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.36, Y:116.88, Z:7.72 [[ 7.41398648e-01 6.70996254e-01 -9.59542633e-03 1.75362740e+02] [-6.70937720e-01 7.41460727e-01 8.86382753e-03 1.16875913e+02] [ 1.30622268e-02 -1.33696279e-04 9.99914677e-01 7.71666064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.38, Y:116.86, Z:7.72 [[ 7.41185421e-01 6.71228557e-01 -9.81816449e-03 1.75383221e+02] [-6.71167366e-01 7.41250435e-01 9.06412245e-03 1.16858141e+02] [ 1.33618165e-02 -1.28563817e-04 9.99910719e-01 7.71672125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.40, Y:116.84, Z:7.72 [[ 7.41312962e-01 6.71091438e-01 -9.55899646e-03 1.75403330e+02] [-6.71033453e-01 7.41374578e-01 8.82267761e-03 1.16840447e+02] [ 1.30076204e-02 -1.25958870e-04 9.99915389e-01 7.71673776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.42, Y:116.82, Z:7.72 [[ 7.41600619e-01 6.70777508e-01 -9.27673107e-03 1.75424567e+02] [-6.70722914e-01 7.41658627e-01 8.55876900e-03 1.16821382e+02] [ 1.26211974e-02 -1.25072283e-04 9.99920342e-01 7.71700669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.44, Y:116.80, Z:7.72 [[ 7.42071673e-01 6.70256527e-01 -9.26389812e-03 1.75443921e+02] [-6.70202060e-01 7.42129483e-01 8.54564554e-03 1.16800993e+02] [ 1.26027866e-02 -1.32797876e-04 9.99920573e-01 7.71733530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.47, Y:116.78, Z:7.72 [[ 7.43321866e-01 6.68873408e-01 -8.99818061e-03 1.75466141e+02] [-6.68821938e-01 7.43376312e-01 8.29899274e-03 1.16781850e+02] [ 1.22400099e-02 -1.50642179e-04 9.99925077e-01 7.71724962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.49, Y:116.76, Z:7.72 [[ 7.43555766e-01 6.68617303e-01 -8.70197732e-03 1.75490187e+02] [-6.68569173e-01 7.43606670e-01 8.02380620e-03 1.16760006e+02] [ 1.18357040e-02 -1.48273588e-04 9.99929945e-01 7.71753437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.51, Y:116.74, Z:7.72 [[ 7.44189908e-01 6.67914548e-01 -8.45799848e-03 1.75512255e+02] [-6.67868968e-01 7.44237954e-01 7.80451400e-03 1.16739103e+02] [ 1.15075119e-02 -1.59205849e-04 9.99933774e-01 7.71782516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.53, Y:116.72, Z:7.72 [[ 7.44703484e-01 6.67342841e-01 -8.38169049e-03 1.75532543e+02] [-6.67298037e-01 7.44750632e-01 7.73470769e-03 1.16719771e+02] [ 1.14039711e-02 -1.66978155e-04 9.99934959e-01 7.71802729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.55, Y:116.70, Z:7.72 [[ 7.46230994e-01 6.65640618e-01 -7.86581626e-03 1.75552759e+02] [-6.65601079e-01 7.46272427e-01 7.25731183e-03 1.16700753e+02] [ 1.07008033e-02 -1.80135237e-04 9.99942729e-01 7.71775933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.57, Y:116.68, Z:7.72 [[ 7.47220278e-01 6.64533746e-01 -7.53370171e-03 1.75573344e+02] [-6.64497433e-01 7.47258232e-01 6.94953466e-03 1.16680768e+02] [ 1.02478209e-02 -1.86707774e-04 9.99947472e-01 7.71793749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.59, Y:116.66, Z:7.72 [[ 7.48891392e-01 6.62658787e-01 -6.70935026e-03 1.75593352e+02] [-6.62629918e-01 7.48921422e-01 6.18831340e-03 1.16660193e+02] [ 9.12551639e-03 -1.88558426e-04 9.99958344e-01 7.71859875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.61, Y:116.64, Z:7.72 [[ 7.49727534e-01 6.61715492e-01 -6.42125353e-03 1.75614147e+02] [-6.61689022e-01 7.49755007e-01 5.92171758e-03 1.16639630e+02] [ 8.73285925e-03 -1.90801743e-04 9.99961850e-01 7.71905894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.64, Y:116.62, Z:7.72 [[ 7.50290522e-01 6.61079788e-01 -6.13565797e-03 1.75637380e+02] [-6.61055613e-01 7.50315586e-01 5.65674096e-03 1.16618320e+02] [ 8.34323692e-03 -1.88187989e-04 9.99965177e-01 7.71906741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.66, Y:116.60, Z:7.72 [[ 7.51483490e-01 6.59726433e-01 -5.79633975e-03 1.75659008e+02] [-6.59704812e-01 7.51505819e-01 5.34458290e-03 1.16596482e+02] [ 7.88194566e-03 -1.92492585e-04 9.99968918e-01 7.71886213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.68, Y:116.58, Z:7.72 [[ 7.52094884e-01 6.59031187e-01 -5.58391343e-03 1.75679400e+02] [-6.59011099e-01 7.52115588e-01 5.14916146e-03 1.16576280e+02] [ 7.59320632e-03 -1.92797066e-04 9.99971153e-01 7.71876242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:116.56, Z:7.72 [[ 7.52415778e-01 6.58666979e-01 -5.32050068e-03 1.75699992e+02] [-6.58648735e-01 7.52434566e-01 4.90588290e-03 1.16556429e+02] [ 7.23467169e-03 -1.86922651e-04 9.99973812e-01 7.71860958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.72, Y:116.54, Z:7.72 [[ 7.52401285e-01 6.58684390e-01 -5.21354841e-03 1.75720090e+02] [-6.58666877e-01 7.52419325e-01 4.80670233e-03 1.16537420e+02] [ 7.08887436e-03 -1.82577358e-04 9.99974857e-01 7.71902295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.74, Y:116.52, Z:7.72 [[ 7.52343775e-01 6.58751210e-01 -5.06835539e-03 1.75741543e+02] [-6.58734667e-01 7.52360826e-01 4.67181983e-03 1.16517648e+02] [ 6.89079901e-03 -1.76113169e-04 9.99976243e-01 7.71903207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.76, Y:116.50, Z:7.72 [[ 7.51823946e-01 6.59347268e-01 -4.68346977e-03 1.75761812e+02] [-6.59333156e-01 7.51838517e-01 4.31666092e-03 1.16498250e+02] [ 6.36739155e-03 -1.57402144e-04 9.99979716e-01 7.71878536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.78, Y:116.48, Z:7.72 [[ 7.51510308e-01 6.59703101e-01 -4.90669511e-03 1.75783542e+02] [-6.59687627e-01 7.51526309e-01 4.52130384e-03 1.16479769e+02] [ 6.67022863e-03 -1.60920385e-04 9.99977741e-01 7.71842251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.80, Y:116.46, Z:7.72 [[ 7.50972329e-01 6.60314161e-01 -5.07641051e-03 1.75803170e+02] [-6.60297616e-01 7.50989469e-01 4.67707950e-03 1.16459782e+02] [ 6.90067266e-03 -1.60415521e-04 9.99976177e-01 7.71835016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:116.44, Z:7.72 [[ 7.50689375e-01 6.60635399e-01 -5.13148445e-03 1.75827222e+02] [-6.60618513e-01 7.50706897e-01 4.72609058e-03 1.16440799e+02] [ 6.97446351e-03 -1.57872359e-04 9.99975666e-01 7.71747407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.85, Y:116.42, Z:7.72 [[ 7.50584914e-01 6.60756339e-01 -4.83192992e-03 1.75845667e+02] [-6.60741367e-01 7.50600452e-01 4.45058804e-03 1.16419017e+02] [ 6.56760304e-03 -1.47888265e-04 9.99978422e-01 7.71852709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.86, Y:116.40, Z:7.72 [[ 7.50898455e-01 6.60403615e-01 -4.30996118e-03 1.75864958e+02] [-6.60391693e-01 7.50910812e-01 3.97047720e-03 1.16398766e+02] [ 5.85851394e-03 -1.35162635e-04 9.99982830e-01 7.71936833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.89, Y:116.38, Z:7.72 [[ 7.50908799e-01 6.60393154e-01 -4.10580412e-03 1.75887573e+02] [-6.60382343e-01 7.50920013e-01 3.78088235e-03 1.16380123e+02] [ 5.57999930e-03 -1.27697281e-04 9.99984424e-01 7.71903912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.91, Y:116.36, Z:7.72 [[ 7.50589295e-01 6.60757454e-01 -3.91108550e-03 1.75905986e+02] [-6.60747651e-01 7.50599476e-01 3.60128554e-03 1.16358654e+02] [ 5.31523499e-03 -1.18845818e-04 9.99985867e-01 7.72065307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.93, Y:116.34, Z:7.72 [[ 7.50174066e-01 6.61231954e-01 -3.34257580e-03 1.75932448e+02] [-6.61224810e-01 7.50181507e-01 3.07518287e-03 1.16339187e+02] [ 4.54094772e-03 -9.67283883e-05 9.99989685e-01 7.71988064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.96, Y:116.32, Z:7.72 [[ 7.49112003e-01 6.62437450e-01 -2.79845709e-03 1.75956148e+02] [-6.62432459e-01 7.49117227e-01 2.57249696e-03 1.16317587e+02] [ 3.80049074e-03 -7.32995383e-05 9.99992775e-01 7.72031195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.98, Y:116.29, Z:7.72 [[ 7.48347866e-01 6.63301917e-01 -2.45708888e-03 1.75977084e+02] [-6.63298067e-01 7.48351898e-01 2.26100181e-03 1.16293878e+02] [ 3.33849396e-03 -6.22335813e-05 9.99994425e-01 7.72217057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.00, Y:116.28, Z:7.72 [[ 7.47640016e-01 6.64097418e-01 -3.00437486e-03 1.75997512e+02] [-6.64091648e-01 7.47646049e-01 2.76920342e-03 1.16275240e+02] [ 4.08522984e-03 -7.51870373e-05 9.99991653e-01 7.72202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.02, Y:116.26, Z:7.72 [[ 7.46755848e-01 6.65089930e-01 -3.32992476e-03 1.76022791e+02] [-6.65082862e-01 7.46763269e-01 3.06701548e-03 1.16256185e+02] [ 4.52650661e-03 -7.56358563e-05 9.99989752e-01 7.72038465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.04, Y:116.24, Z:7.72 [[ 7.44227246e-01 6.67914582e-01 -3.98974984e-03 1.76044500e+02] [-6.67904469e-01 7.44237936e-01 3.67621505e-03 1.16237672e+02] [ 5.42472083e-03 -7.11676572e-05 9.99985284e-01 7.71974383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.07, Y:116.22, Z:7.72 [[ 7.43321198e-01 6.68917265e-01 -4.82582641e-03 1.76065070e+02] [-6.68902493e-01 7.43336859e-01 4.44618501e-03 1.16219105e+02] [ 6.56134456e-03 -7.69362543e-05 9.99978471e-01 7.71932124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.09, Y:116.20, Z:7.72 [[ 7.41652182e-01 6.70761847e-01 -5.53040772e-03 1.76087645e+02] [-6.70742510e-01 7.41672798e-01 5.09366294e-03 1.16199565e+02] [ 7.51838773e-03 -6.82466819e-05 9.99971734e-01 7.71775997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.11, Y:116.18, Z:7.72 [[ 7.41112070e-01 6.71356426e-01 -5.78345408e-03 1.76109000e+02] [-6.71335299e-01 7.41134633e-01 5.32655928e-03 1.16179832e+02] [ 7.86233792e-03 -6.49405037e-05 9.99969089e-01 7.71798815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.13, Y:116.16, Z:7.72 [[ 7.40955940e-01 6.71525808e-01 -6.11426944e-03 1.76130013e+02] [-6.71502208e-01 7.40981164e-01 5.63026324e-03 1.16159782e+02] [ 8.31142556e-03 -6.60315596e-05 9.99965457e-01 7.71811264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.15, Y:116.14, Z:7.72 [[ 7.41008617e-01 6.71467676e-01 -6.11471109e-03 1.76150927e+02] [-6.71444078e-01 7.41033843e-01 5.62978353e-03 1.16140641e+02] [ 8.31142551e-03 -6.60315596e-05 9.99965457e-01 7.71848732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.17, Y:116.12, Z:7.72 [[ 7.41139057e-01 6.71319582e-01 -6.55119505e-03 1.76170000e+02] [-6.71292497e-01 7.41168007e-01 6.03071236e-03 1.16119810e+02] [ 8.90407148e-03 -7.18283904e-05 9.99960355e-01 7.71838673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.19, Y:116.10, Z:7.72 [[ 7.41665395e-01 6.70738351e-01 -6.51967262e-03 1.76192101e+02] [-6.70711521e-01 7.41694047e-01 5.99971924e-03 1.16097007e+02] [ 8.85984416e-03 -7.69646053e-05 9.99960748e-01 7.71886200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.21, Y:116.07, Z:7.72 [[ 7.42400418e-01 6.69925418e-01 -6.44625417e-03 1.76213411e+02] [-6.69899154e-01 7.42428399e-01 5.93262272e-03 1.16073888e+02] [ 8.76029691e-03 -8.60413736e-05 9.99961624e-01 7.71969173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.23, Y:116.05, Z:7.72 [[ 7.44295358e-01 6.67825692e-01 -5.76762361e-03 1.76232429e+02] [-6.67804613e-01 7.44317698e-01 5.30683550e-03 1.16049087e+02] [ 7.83698541e-03 -9.82073733e-05 9.99969286e-01 7.72090111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.25, Y:116.03, Z:7.72 [[ 7.45566310e-01 6.66409330e-01 -5.42972467e-03 1.76252419e+02] [-6.66390581e-01 7.45586073e-01 5.00008838e-03 1.16026622e+02] [ 7.38043265e-03 -1.09580072e-04 9.99972758e-01 7.72212246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.27, Y:116.00, Z:7.72 [[ 7.46557830e-01 6.65298156e-01 -5.45617275e-03 1.76274710e+02] [-6.65279208e-01 7.46577759e-01 5.02259435e-03 1.16003290e+02] [ 7.41497998e-03 -1.19778859e-04 9.99972502e-01 7.72280641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.29, Y:115.98, Z:7.72 [[ 7.48690396e-01 6.62900763e-01 -5.02688964e-03 1.76293557e+02] [-6.62884609e-01 7.48707259e-01 4.62980965e-03 1.15977300e+02] [ 6.83277312e-03 -1.34046242e-04 9.99976647e-01 7.72424930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.31, Y:115.96, Z:7.73 [[ 7.49186225e-01 6.62344458e-01 -4.45194525e-03 1.76314084e+02] [-6.62331750e-01 7.49199442e-01 4.10491584e-03 1.15957288e+02] [ 6.05426316e-03 -1.26681715e-04 9.99981665e-01 7.72576062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.34, Y:115.94, Z:7.73 [[ 7.49317104e-01 6.62198223e-01 -4.17026755e-03 1.76335883e+02] [-6.62187071e-01 7.49328699e-01 3.84500985e-03 1.15938380e+02] [ 5.67105985e-03 -1.19634388e-04 9.99983912e-01 7.72667201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:115.92, Z:7.73 [[ 7.48773514e-01 6.62812177e-01 -4.27119551e-03 1.76361253e+02] [-6.62800512e-01 7.48785687e-01 3.93389977e-03 1.15919144e+02] [ 5.80564673e-03 -1.14649379e-04 9.99983141e-01 7.72586250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.38, Y:115.90, Z:7.73 [[ 7.48260282e-01 6.63385779e-01 -5.08516452e-03 1.76384203e+02] [-6.63369233e-01 7.48277549e-01 4.68733897e-03 1.15897911e+02] [ 6.91462846e-03 -1.34007896e-04 9.99976085e-01 7.72600016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.41, Y:115.88, Z:7.72 [[ 7.46765535e-01 6.65055819e-01 -6.48023903e-03 1.76409634e+02] [-6.65028974e-01 7.46793635e-01 5.97748170e-03 1.15878590e+02] [ 8.81476025e-03 -1.54230599e-04 9.99961137e-01 7.72448339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.43, Y:115.86, Z:7.72 [[ 7.46077226e-01 6.65821034e-01 -7.15011403e-03 1.76431857e+02] [-6.65788332e-01 7.46111469e-01 6.60096387e-03 1.15859633e+02] [ 9.72984267e-03 -1.64366313e-04 9.99952650e-01 7.72409276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.45, Y:115.84, Z:7.72 [[ 7.45168486e-01 6.66829771e-01 -7.87299377e-03 1.76452726e+02] [-6.66790184e-01 7.45210057e-01 7.26782064e-03 1.15840497e+02] [ 1.07134333e-02 -1.66115942e-04 9.99942596e-01 7.72377725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.48, Y:115.83, Z:7.72 [[ 7.44091378e-01 6.68013920e-01 -9.24247409e-03 1.76477905e+02] [-6.67959474e-01 7.44148757e-01 8.53049254e-03 1.15825302e+02] [ 1.25762634e-02 -1.73867820e-04 9.99920901e-01 7.72160966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.50, Y:115.81, Z:7.72 [[ 7.43913892e-01 6.68204072e-01 -9.76932260e-03 1.76500146e+02] [-6.68143277e-01 7.43978014e-01 9.01530282e-03 1.15807303e+02] [ 1.32922233e-02 -1.79301787e-04 9.99911638e-01 7.72128133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.52, Y:115.79, Z:7.72 [[ 7.43963260e-01 6.68141046e-01 -1.03058338e-02 1.76522062e+02] [-6.68073406e-01 7.44034614e-01 9.50883537e-03 1.15790014e+02] [ 1.40211403e-02 -1.89170706e-04 9.99901681e-01 7.72091597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.54, Y:115.77, Z:7.72 [[ 7.44398874e-01 6.67649691e-01 -1.06867370e-02 1.76542529e+02] [-6.67576941e-01 7.44475553e-01 9.85796522e-03 1.15771390e+02] [ 1.45376819e-02 -2.04038995e-04 9.99894302e-01 7.72089855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.56, Y:115.75, Z:7.72 [[ 7.44965262e-01 6.67018013e-01 -1.06643436e-02 1.76562025e+02] [-6.66945530e-01 7.45041559e-01 9.83543699e-03 1.15752140e+02] [ 1.45057928e-02 -2.14522614e-04 9.99894762e-01 7.72159749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.58, Y:115.73, Z:7.72 [[ 7.45770933e-01 6.66117238e-01 -1.06555838e-02 1.76581715e+02] [-6.66044810e-01 7.45847017e-01 9.82542599e-03 1.15732402e+02] [ 1.44923210e-02 -2.30420829e-04 9.99894954e-01 7.72229544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.60, Y:115.71, Z:7.72 [[ 7.47534218e-01 6.64148743e-01 -9.95189437e-03 1.76603360e+02] [-6.64085423e-01 7.47600418e-01 9.17422907e-03 1.15712516e+02] [ 1.35330931e-02 -2.49142168e-04 9.99908392e-01 7.72451173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.62, Y:115.69, Z:7.73 [[ 7.48694207e-01 6.62847553e-01 -9.49246119e-03 1.76623854e+02] [-6.62789847e-01 7.48754335e-01 8.75006573e-03 1.15692310e+02] [ 1.29074811e-02 -2.59616616e-04 9.99916661e-01 7.72543002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.64, Y:115.67, Z:7.73 [[ 7.50459987e-01 6.60864565e-01 -8.23624263e-03 1.76641614e+02] [-6.60821013e-01 7.50505138e-01 7.59121093e-03 1.15671123e+02] [ 1.11981047e-02 -2.54217854e-04 9.99937267e-01 7.72802905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.67, Y:115.65, Z:7.73 [[ 7.51179151e-01 6.60053780e-01 -7.67407157e-03 1.76665960e+02] [-6.60015948e-01 7.51218308e-01 7.07115512e-03 1.15652091e+02] [ 1.04322457e-02 -2.46694673e-04 9.99945552e-01 7.72888135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.69, Y:115.63, Z:7.73 [[ 7.52013434e-01 6.59112929e-01 -6.77805446e-03 1.76690425e+02] [-6.59083392e-01 7.52043945e-01 6.24402383e-03 1.15631213e+02] [ 9.21291165e-03 -2.28286672e-04 9.99957534e-01 7.73005084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.71, Y:115.61, Z:7.73 [[ 7.52217804e-01 6.58882741e-01 -6.47368572e-03 1.76712704e+02] [-6.58855755e-01 7.52245627e-01 5.96748151e-03 1.15609394e+02] [ 8.80167235e-03 -2.23620748e-04 9.99961240e-01 7.73102362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:115.59, Z:7.73 [[ 7.52265061e-01 6.58828643e-01 -6.48825049e-03 1.76732830e+02] [-6.58801506e-01 7.52293007e-01 5.98398759e-03 1.15588758e+02] [ 8.82348789e-03 -2.27075596e-04 9.99961047e-01 7.73181185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.76, Y:115.57, Z:7.73 [[ 7.51800616e-01 6.59359732e-01 -6.37009789e-03 1.76758657e+02] [-6.59333617e-01 7.51827572e-01 5.87228450e-03 1.15570092e+02] [ 8.66116316e-03 -2.14767418e-04 9.99962468e-01 7.73207426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.78, Y:115.55, Z:7.73 [[ 7.50281852e-01 6.61081615e-01 -6.94556561e-03 1.76782001e+02] [-6.61050603e-01 7.50313969e-01 6.40691717e-03 1.15549235e+02] [ 9.44685005e-03 -2.15623352e-04 9.99955354e-01 7.73216962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.81, Y:115.53, Z:7.73 [[ 7.49343953e-01 6.62137144e-01 -7.61858702e-03 1.76805969e+02] [-6.62099831e-01 7.49382647e-01 7.03294504e-03 1.15530800e+02] [ 1.03660111e-02 -2.25829656e-04 9.99946246e-01 7.73135231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.83, Y:115.51, Z:7.73 [[ 7.47035463e-01 6.64725549e-01 -8.82955643e-03 1.76829423e+02] [-6.64675619e-01 7.47087610e-01 8.15014516e-03 1.15513964e+02] [ 1.20140619e-02 -2.19656575e-04 9.99927804e-01 7.73022805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.85, Y:115.50, Z:7.73 [[ 7.45965277e-01 6.65919165e-01 -9.35259238e-03 1.76852747e+02] [-6.65863257e-01 7.46023874e-01 8.63147714e-03 1.15495178e+02] [ 1.27251233e-02 -2.11234618e-04 9.99919010e-01 7.73011473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.87, Y:115.48, Z:7.73 [[ 7.45046038e-01 6.66941692e-01 -9.75609394e-03 1.76874622e+02] [-6.66880953e-01 7.45109884e-01 9.00312017e-03 1.15476665e+02] [ 1.32739182e-02 -2.01585791e-04 9.99911877e-01 7.72923370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.89, Y:115.46, Z:7.73 [[ 7.44228150e-01 6.67849153e-01 -1.00979760e-02 1.76894967e+02] [-6.67784186e-01 7.44296629e-01 9.31708593e-03 1.15457359e+02] [ 1.37382974e-02 -1.90768962e-04 9.99905607e-01 7.72928429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:115.44, Z:7.73 [[ 7.43367931e-01 6.68786713e-01 -1.13336543e-02 1.76916858e+02] [-6.68705015e-01 7.43454300e-01 1.04550130e-02 1.15438029e+02] [ 1.54182278e-02 -1.93049956e-04 9.99881113e-01 7.72868198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.94, Y:115.42, Z:7.73 [[ 7.42930546e-01 6.69261202e-01 -1.19852930e-02 1.76936967e+02] [-6.69169930e-01 7.43027191e-01 1.10543328e-02 1.15417709e+02] [ 1.63036347e-02 -1.92403784e-04 9.99867068e-01 7.72854481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.96, Y:115.40, Z:7.73 [[ 7.43027411e-01 6.69155046e-01 -1.19075638e-02 1.76957282e+02] [-6.69064971e-01 7.43122794e-01 1.09807860e-02 1.15397883e+02] [ 1.61966305e-02 -1.92091122e-04 9.99868808e-01 7.72921291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.98, Y:115.38, Z:7.73 [[ 7.43285986e-01 6.68872690e-01 -1.16304537e-02 1.76976252e+02] [-6.68786764e-01 7.43376948e-01 1.07227183e-02 1.15378221e+02] [ 1.58179446e-02 -1.91752718e-04 9.99874870e-01 7.72977493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.00, Y:115.36, Z:7.73 [[ 7.43755369e-01 6.68344394e-01 -1.19883912e-02 1.76995569e+02] [-6.68253076e-01 7.43851953e-01 1.10498216e-02 1.15357750e+02] [ 1.63026745e-02 -2.07084824e-04 9.99867081e-01 7.73034241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.01, Y:115.34, Z:7.73 [[ 7.44703022e-01 6.67300236e-01 -1.13050549e-02 1.77014606e+02] [-6.67218940e-01 7.44788795e-01 1.04181570e-02 1.15336162e+02] [ 1.53719168e-02 -2.15486249e-04 9.99881822e-01 7.73129210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:115.32, Z:7.73 [[ 7.44955527e-01 6.67020964e-01 -1.11487916e-02 1.77035940e+02] [-6.66941892e-01 7.45038916e-01 1.02726259e-02 1.15317457e+02] [ 1.51583404e-02 -2.17053260e-04 9.99885082e-01 7.73267526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.06, Y:115.30, Z:7.73 [[ 7.45050255e-01 6.66924611e-01 -1.05679034e-02 1.77057539e+02] [-6.66853575e-01 7.45125171e-01 9.73594384e-03 1.15298622e+02] [ 1.43675514e-02 -2.06523300e-04 9.99896760e-01 7.73374523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.08, Y:115.28, Z:7.73 [[ 7.45142352e-01 6.66821939e-01 -1.05535382e-02 1.77077781e+02] [-6.66751109e-01 7.45217055e-01 9.72116617e-03 1.15278798e+02] [ 1.43469635e-02 -2.07069355e-04 9.99897056e-01 7.73396775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.10, Y:115.26, Z:7.73 [[ 7.45227240e-01 6.66712699e-01 -1.14253213e-02 1.77098152e+02] [-6.66629704e-01 7.45314784e-01 1.05219563e-02 1.15260037e+02] [ 1.55305827e-02 -2.24789881e-04 9.99879368e-01 7.73337600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.12, Y:115.24, Z:7.73 [[ 7.45170655e-01 6.66766344e-01 -1.19723579e-02 1.77118339e+02] [-6.66675260e-01 7.45266790e-01 1.10231025e-02 1.15240737e+02] [ 1.62724345e-02 -2.32417678e-04 9.99867568e-01 7.73310567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.14, Y:115.22, Z:7.73 [[ 7.45189962e-01 6.66739074e-01 -1.22852455e-02 1.77138456e+02] [-6.66643208e-01 7.45291185e-01 1.13085233e-02 1.15221753e+02] [ 1.66959196e-02 -2.37122543e-04 9.99860585e-01 7.73295230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.16, Y:115.20, Z:7.73 [[ 7.44998343e-01 6.66940795e-01 -1.29400300e-02 1.77158418e+02] [-6.66834519e-01 7.45110674e-01 1.19082925e-02 1.15203807e+02] [ 1.75838805e-02 -2.42799463e-04 9.99845362e-01 7.73185172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.18, Y:115.19, Z:7.73 [[ 7.44735530e-01 6.67222616e-01 -1.35266971e-02 1.77178849e+02] [-6.67106593e-01 7.44858323e-01 1.24447733e-02 1.15186404e+02] [ 1.83789071e-02 -2.44316067e-04 9.99831064e-01 7.73135628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.20, Y:115.17, Z:7.73 [[ 7.44372774e-01 6.67620848e-01 -1.38411495e-02 1.77201336e+02] [-6.67499492e-01 7.44501409e-01 1.27311068e-02 1.15167679e+02] [ 1.88043077e-02 -2.37729035e-04 9.99823155e-01 7.73105541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.22, Y:115.15, Z:7.73 [[ 7.43905628e-01 6.68136716e-01 -1.40622160e-02 1.77224134e+02] [-6.68011582e-01 7.44038492e-01 1.29324734e-02 1.15149977e+02] [ 1.91034903e-02 -2.26816562e-04 9.99817486e-01 7.73199715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:115.13, Z:7.73 [[ 7.43934243e-01 6.68109117e-01 -1.38582144e-02 1.77244234e+02] [-6.67987628e-01 7.44063276e-01 1.27425030e-02 1.15131309e+02] [ 1.88247708e-02 -2.22468504e-04 9.99822774e-01 7.73245694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.26, Y:115.11, Z:7.73 [[ 7.44341910e-01 6.67653591e-01 -1.39213139e-02 1.77264674e+02] [-6.67530978e-01 7.44472047e-01 1.27970521e-02 1.15112765e+02] [ 1.89080269e-02 -2.32473954e-04 9.99821200e-01 7.73318543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.29, Y:115.09, Z:7.73 [[ 7.44745926e-01 6.67207846e-01 -1.36819835e-02 1.77285190e+02] [-6.67089396e-01 7.44871556e-01 1.25739183e-02 1.15093423e+02] [ 1.85807372e-02 -2.37268348e-04 9.99827335e-01 7.73389761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.30, Y:115.07, Z:7.73 [[ 7.45399536e-01 6.66483959e-01 -1.33665516e-02 1.77304798e+02] [-6.66370831e-01 7.45519330e-01 1.22818398e-02 1.15073919e+02] [ 1.81506718e-02 -2.47797586e-04 9.99835232e-01 7.73452693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.33, Y:115.05, Z:7.74 [[ 7.47831686e-01 6.63763826e-01 -1.28589714e-02 1.77325381e+02] [-6.63658759e-01 7.47942173e-01 1.18134724e-02 1.15053178e+02] [ 1.74591226e-02 -3.00519991e-04 9.99847533e-01 7.73589642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.34, Y:115.03, Z:7.74 [[ 7.49203608e-01 6.62214364e-01 -1.28876166e-02 1.77343626e+02] [-6.62108632e-01 7.49314369e-01 1.18379106e-02 1.15031957e+02] [ 1.74961108e-02 -3.36003173e-04 9.99846875e-01 7.73609563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.36, Y:115.01, Z:7.74 [[ 7.50649534e-01 6.60584188e-01 -1.24019139e-02 1.77364567e+02] [-6.60486086e-01 7.50751891e-01 1.13898129e-02 1.15012005e+02] [ 1.68346906e-02 -3.58466167e-04 9.99858222e-01 7.73717214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.38, Y:114.99, Z:7.74 [[ 7.53111175e-01 6.57785138e-01 -1.19277517e-02 1.77383004e+02] [-6.57694069e-01 7.53205516e-01 1.09527092e-02 1.14990452e+02] [ 1.61885777e-02 -4.03796190e-04 9.99868875e-01 7.73802384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.40, Y:114.97, Z:7.74 [[ 7.54046366e-01 6.56711828e-01 -1.19854994e-02 1.77403886e+02] [-6.56619772e-01 7.54141493e-01 1.10037878e-02 1.14971011e+02] [ 1.62650800e-02 -4.27450336e-04 9.99867623e-01 7.73846420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.42, Y:114.95, Z:7.74 [[ 7.54850596e-01 6.55795619e-01 -1.15188494e-02 1.77424853e+02] [-6.55710508e-01 7.54938357e-01 1.05738525e-02 1.14950786e+02] [ 1.56303074e-02 -4.28648243e-04 9.99877747e-01 7.73911657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:114.93, Z:7.74 [[ 7.55470903e-01 6.55081925e-01 -1.14623962e-02 1.77444652e+02] [-6.54997590e-01 7.55557726e-01 1.05204422e-02 1.14930732e+02] [ 1.55522535e-02 -4.40046050e-04 9.99878960e-01 7.74026144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:114.91, Z:7.74 [[ 7.55499733e-01 6.55049973e-01 -1.13880034e-02 1.77465982e+02] [-6.54966755e-01 7.55585431e-01 1.04502249e-02 1.14912774e+02] [ 1.54500290e-02 -4.36378489e-04 9.99880546e-01 7.74074711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.49, Y:114.89, Z:7.74 [[ 7.54795271e-01 6.55857913e-01 -1.15972872e-02 1.77488446e+02] [-6.55771738e-01 7.54884240e-01 1.06400707e-02 1.14894924e+02] [ 1.57329839e-02 -4.25901915e-04 9.99876138e-01 7.74018670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.51, Y:114.88, Z:7.74 [[ 7.54865055e-01 6.55777579e-01 -1.15981020e-02 1.77508826e+02] [-6.55691408e-01 7.54954029e-01 1.06391825e-02 1.14876409e+02] [ 1.57329711e-02 -4.26371276e-04 9.99876138e-01 7.74055059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.53, Y:114.86, Z:7.74 [[ 7.54222310e-01 6.56513883e-01 -1.17570559e-02 1.77529383e+02] [-6.56425459e-01 7.54313827e-01 1.07827326e-02 1.14857886e+02] [ 1.59475235e-02 -4.14946686e-04 9.99872744e-01 7.74000272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.55, Y:114.84, Z:7.74 [[ 7.52930172e-01 6.57977031e-01 -1.27429806e-02 1.77554091e+02] [-6.57873399e-01 7.53037884e-01 1.16848334e-02 1.14842430e+02] [ 1.72842991e-02 -4.14595641e-04 9.99850529e-01 7.73945510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.58, Y:114.82, Z:7.74 [[ 7.52232936e-01 6.58770315e-01 -1.29337933e-02 1.77576276e+02] [-6.58663705e-01 7.52344011e-01 1.18580184e-02 1.14824017e+02] [ 1.75423725e-02 -4.00971738e-04 9.99846040e-01 7.73980859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:114.81, Z:7.74 [[ 7.51674939e-01 6.59402206e-01 -1.31725743e-02 1.77598154e+02] [-6.59291753e-01 7.51790248e-01 1.20751009e-02 1.14805405e+02] [ 1.78653611e-02 -3.91981127e-04 9.99840325e-01 7.74005336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.62, Y:114.79, Z:7.74 [[ 7.51243357e-01 6.59898172e-01 -1.29546071e-02 1.77620285e+02] [-6.59791448e-01 7.51354952e-01 1.18735171e-02 1.14787087e+02] [ 1.75688205e-02 -3.72561852e-04 9.99845587e-01 7.74052623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.64, Y:114.77, Z:7.74 [[ 7.50432906e-01 6.60827869e-01 -1.25292546e-02 1.77641010e+02] [-6.60728202e-01 7.50537417e-01 1.14816717e-02 1.14768619e+02] [ 1.69910830e-02 -3.37792414e-04 9.99855584e-01 7.74182330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.66, Y:114.75, Z:7.74 [[ 7.49988291e-01 6.61338642e-01 -1.21968679e-02 1.77662696e+02] [-6.61244305e-01 7.50087395e-01 1.11744647e-02 1.14749627e+02] [ 1.65388221e-02 -3.15608260e-04 9.99863175e-01 7.74305080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.68, Y:114.73, Z:7.74 [[ 7.49687948e-01 6.61693231e-01 -1.14038700e-02 1.77683876e+02] [-6.61610826e-01 7.49774624e-01 1.04464466e-02 1.14730716e+02] [ 1.54626753e-02 -2.86651296e-04 9.99880405e-01 7.74450748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.70, Y:114.71, Z:7.75 [[ 7.49675770e-01 6.61710152e-01 -1.12211247e-02 1.77704417e+02] [-6.61630395e-01 7.49759692e-01 1.02774069e-02 1.14711481e+02] [ 1.52138114e-02 -2.80485743e-04 9.99884224e-01 7.74534555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.72, Y:114.69, Z:7.75 [[ 7.49984596e-01 6.61362081e-01 -1.11042349e-02 1.77724034e+02] [-6.61283972e-01 7.50066743e-01 1.01681158e-02 1.14691545e+02] [ 1.50537235e-02 -2.82877721e-04 9.99886646e-01 7.74631158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.75, Y:114.67, Z:7.75 [[ 7.49896719e-01 6.61466364e-01 -1.08240652e-02 1.77745796e+02] [-6.61392184e-01 7.49974783e-01 9.90978532e-03 1.14672723e+02] [ 1.46727656e-02 -2.72363406e-04 9.99892312e-01 7.74690522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:114.65, Z:7.75 [[ 7.49858212e-01 6.61507740e-01 -1.09622883e-02 1.77764468e+02] [-6.61431682e-01 7.49938288e-01 1.00347250e-02 1.14652340e+02] [ 1.48590880e-02 -2.73816135e-04 9.99889560e-01 7.74665018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:114.63, Z:7.75 [[ 7.50058540e-01 6.61284677e-01 -1.07127217e-02 1.77786249e+02] [-6.61212046e-01 7.50134990e-01 9.80447337e-03 1.14633761e+02] [ 1.45195354e-02 -2.70548365e-04 9.99894549e-01 7.74719384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.80, Y:114.61, Z:7.75 [[ 7.50032078e-01 6.61319039e-01 -1.04408614e-02 1.77804476e+02] [-6.61250071e-01 7.50104700e-01 9.55418724e-03 1.14614205e+02] [ 1.41501051e-02 -2.61926566e-04 9.99899848e-01 7.74755199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.83, Y:114.59, Z:7.75 [[ 7.49941419e-01 6.61420120e-01 -1.05495267e-02 1.77827915e+02] [-6.61349754e-01 7.50015571e-01 9.65126689e-03 1.14594898e+02] [ 1.42958514e-02 -2.60957911e-04 9.99897775e-01 7.74828513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.85, Y:114.57, Z:7.75 [[ 7.49849388e-01 6.61515061e-01 -1.11229505e-02 1.77848093e+02] [-6.61436849e-01 7.49931830e-01 1.01757190e-02 1.14574941e+02] [ 1.50728460e-02 -2.73127312e-04 9.99886361e-01 7.74747229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.87, Y:114.56, Z:7.75 [[ 7.49670430e-01 6.61711466e-01 -1.14970200e-02 1.77867354e+02] [-6.61627950e-01 7.49758534e-01 1.05165442e-02 1.14555398e+02] [ 1.55789067e-02 -2.77192454e-04 9.99878603e-01 7.74738258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.89, Y:114.54, Z:7.75 [[ 7.49332878e-01 6.62084686e-01 -1.20044581e-02 1.77889114e+02] [-6.61993716e-01 7.49428976e-01 1.09785938e-02 1.14537085e+02] [ 1.62652475e-02 -2.79745437e-04 9.99867673e-01 7.74764022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.91, Y:114.52, Z:7.75 [[ 7.48721589e-01 6.62781871e-01 -1.16693557e-02 1.77909503e+02] [-6.62696020e-01 7.48812478e-01 1.06704502e-02 1.14517921e+02] [ 1.58103401e-02 -2.55960804e-04 9.99874976e-01 7.74776480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.93, Y:114.50, Z:7.75 [[ 7.48408871e-01 6.63129012e-01 -1.20031954e-02 1.77930921e+02] [-6.63038257e-01 7.48505077e-01 1.09736393e-02 1.14498803e+02] [ 1.62613912e-02 -2.54191243e-04 9.99867743e-01 7.74801289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.95, Y:114.48, Z:7.75 [[ 7.47845763e-01 6.63762743e-01 -1.20720888e-02 1.77952054e+02] [-6.63671055e-01 7.47943155e-01 1.10348555e-02 1.14479950e+02] [ 1.63537621e-02 -2.40474003e-04 9.99866239e-01 7.74753184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.97, Y:114.46, Z:7.75 [[ 7.47774721e-01 6.63841419e-01 -1.21464573e-02 1.77974403e+02] [-6.63748642e-01 7.47873327e-01 1.11008005e-02 1.14461585e+02] [ 1.64531826e-02 -2.38703476e-04 9.99864609e-01 7.74768097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.00, Y:114.44, Z:7.75 [[ 7.47816910e-01 6.63788885e-01 -1.24171323e-02 1.77995865e+02] [-6.63691949e-01 7.47919953e-01 1.13463859e-02 1.14442222e+02] [ 1.68186259e-02 -2.43868443e-04 9.99858527e-01 7.74790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.01, Y:114.42, Z:7.75 [[ 7.48913760e-01 6.62548747e-01 -1.25434526e-02 1.78014863e+02] [-6.62449688e-01 7.49018747e-01 1.14598218e-02 1.14422245e+02] [ 1.69879717e-02 -2.73012001e-04 9.99855657e-01 7.74818056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.04, Y:114.40, Z:7.75 [[ 7.49370844e-01 6.62031768e-01 -1.25409663e-02 1.78036760e+02] [-6.61932711e-01 7.49475722e-01 1.14555228e-02 1.14401269e+02] [ 1.69830697e-02 -2.83158984e-04 9.99855737e-01 7.74866888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.06, Y:114.38, Z:7.75 [[ 7.50526706e-01 6.60717852e-01 -1.27115752e-02 1.78056402e+02] [-6.60615893e-01 7.50634279e-01 1.16112600e-02 1.14379003e+02] [ 1.72135108e-02 -3.17092088e-04 9.99851786e-01 7.74888694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.08, Y:114.36, Z:7.75 [[ 7.50864628e-01 6.60333736e-01 -1.27148980e-02 1.78076605e+02] [-6.60231684e-01 7.50972204e-01 1.16134504e-02 1.14359236e+02] [ 1.72172881e-02 -3.25350572e-04 9.99851719e-01 7.74921059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.10, Y:114.34, Z:7.75 [[ 7.51003417e-01 6.60174948e-01 -1.27634264e-02 1.78103095e+02] [-6.60072091e-01 7.51111795e-01 1.16578818e-02 1.14339788e+02] [ 1.72830017e-02 -3.30327516e-04 9.99850583e-01 7.75006797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.13, Y:114.32, Z:7.75 [[ 7.51097719e-01 6.60061440e-01 -1.30809526e-02 1.78126952e+02] [-6.59953263e-01 7.51211538e-01 1.19547292e-02 1.14319296e+02] [ 1.77174182e-02 -3.46352479e-04 9.99842974e-01 7.74970260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.15, Y:114.30, Z:7.75 [[ 7.50989551e-01 6.60178254e-01 -1.33927991e-02 1.78149371e+02] [-6.60064832e-01 7.51108879e-01 1.22421231e-02 1.14300521e+02] [ 1.81414338e-02 -3.53590849e-04 9.99835368e-01 7.74955979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.17, Y:114.28, Z:7.75 [[ 7.50519535e-01 6.60709924e-01 -1.35212261e-02 1.78172224e+02] [-6.60594437e-01 7.50641245e-01 1.23575855e-02 1.14283226e+02] [ 1.83143694e-02 -3.42562572e-04 9.99832219e-01 7.74966408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.19, Y:114.26, Z:7.75 [[ 7.50342595e-01 6.60904908e-01 -1.38091429e-02 1.78191915e+02] [-6.60784523e-01 7.50469576e-01 1.26186022e-02 1.14262955e+02] [ 1.87030378e-02 -3.43406804e-04 9.99825024e-01 7.74895370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:114.25, Z:7.75 [[ 7.50324846e-01 6.60921784e-01 -1.39650133e-02 1.78214527e+02] [-6.60798718e-01 7.50454713e-01 1.27584351e-02 1.14245889e+02] [ 1.89124378e-02 -3.44907948e-04 9.99821084e-01 7.74976459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.24, Y:114.23, Z:7.75 [[ 7.50500243e-01 6.60722409e-01 -1.39744224e-02 1.78235104e+02] [-6.60599199e-01 7.50630254e-01 1.27640139e-02 1.14227725e+02] [ 1.89230943e-02 -3.47903329e-04 9.99820882e-01 7.74946479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:114.21, Z:7.75 [[ 7.50731874e-01 6.60459221e-01 -1.39739014e-02 1.78258014e+02] [-6.60336031e-01 7.50861833e-01 1.27606086e-02 1.14209347e+02] [ 1.89203308e-02 -3.52325051e-04 9.99820932e-01 7.75012432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.28, Y:114.19, Z:7.75 [[ 7.51041912e-01 6.60108475e-01 -1.38869669e-02 1.78278457e+02] [-6.59986793e-01 7.51170203e-01 1.26791031e-02 1.14190516e+02] [ 1.88010591e-02 -3.57323126e-04 9.99823181e-01 7.75029553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.30, Y:114.17, Z:7.75 [[ 7.51502150e-01 6.59598713e-01 -1.31930158e-02 1.78298467e+02] [-6.59488851e-01 7.51617865e-01 1.20432665e-02 1.14171501e+02] [ 1.78598294e-02 -3.49893837e-04 9.99840439e-01 7.75079234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:114.15, Z:7.75 [[ 7.51678328e-01 6.59405545e-01 -1.28069810e-02 1.78322290e+02] [-6.59302022e-01 7.51787344e-01 1.16889991e-02 1.14153592e+02] [ 1.73359170e-02 -3.42698847e-04 9.99849663e-01 7.75208865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.34, Y:114.13, Z:7.75 [[ 7.51795963e-01 6.59278446e-01 -1.24402607e-02 1.78342220e+02] [-6.59180766e-01 7.51898808e-01 1.13533937e-02 1.14132660e+02] [ 1.68388650e-02 -3.35054930e-04 9.99858160e-01 7.75229543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.36, Y:114.11, Z:7.75 [[ 7.52316115e-01 6.58693866e-01 -1.19521361e-02 1.78362018e+02] [-6.58603649e-01 7.52410978e-01 1.09066191e-02 1.14113317e+02] [ 1.61770415e-02 -3.33504851e-04 9.99869087e-01 7.75303098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.39, Y:114.09, Z:7.75 [[ 7.52517803e-01 6.58469637e-01 -1.16057433e-02 1.78385599e+02] [-6.58384586e-01 7.52607222e-01 1.05879939e-02 1.14094836e+02] [ 1.57064388e-02 -3.26611386e-04 9.99876593e-01 7.75376101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.40, Y:114.07, Z:7.75 [[ 7.53338908e-01 6.57543327e-01 -1.08287590e-02 1.78403299e+02] [-6.57469200e-01 7.53416663e-01 9.87840047e-03 1.14072130e+02] [ 1.46540438e-02 -3.22207935e-04 9.99892572e-01 7.75417329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.43, Y:114.05, Z:7.76 [[ 7.53853941e-01 6.56957944e-01 -1.05116605e-02 1.78426666e+02] [-6.56888051e-01 7.53927155e-01 9.58823240e-03 1.14054462e+02] [ 1.42240917e-02 -3.23142614e-04 9.99898780e-01 7.75557721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:114.03, Z:7.76 [[ 7.54166210e-01 6.56606754e-01 -1.00448151e-02 1.78444727e+02] [-6.56542914e-01 7.54233035e-01 9.16140292e-03 1.14032470e+02] [ 1.35915704e-02 -3.14368370e-04 9.99907581e-01 7.75641730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.47, Y:114.01, Z:7.76 [[ 7.54196232e-01 6.56584641e-01 -9.20072947e-03 1.78470446e+02] [-6.56531076e-01 7.54252296e-01 8.39167395e-03 1.14014148e+02] [ 1.24495156e-02 -2.88404049e-04 9.99922460e-01 7.75762279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:113.99, Z:7.76 [[ 7.53510176e-01 6.57377565e-01 -8.78360515e-03 1.78494512e+02] [-6.57328799e-01 7.53561323e-01 8.01140224e-03 1.13992346e+02] [ 1.18855012e-02 -2.62956491e-04 9.99929330e-01 7.75935553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.52, Y:113.97, Z:7.76 [[ 7.53077499e-01 6.57877812e-01 -8.43005490e-03 1.78516499e+02] [-6.57832869e-01 7.53124640e-01 7.69371919e-03 1.13971999e+02] [ 1.14104092e-02 -2.48399602e-04 9.99934868e-01 7.75963966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.54, Y:113.95, Z:7.76 [[ 7.51600603e-01 6.59567769e-01 -8.17869891e-03 1.78539465e+02] [-6.59525569e-01 7.51645070e-01 7.46409341e-03 1.13953005e+02] [ 1.10705542e-02 -2.15956055e-04 9.99938696e-01 7.76015373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.56, Y:113.93, Z:7.76 [[ 7.50682549e-01 6.60610798e-01 -8.31169683e-03 1.78560663e+02] [-6.60567283e-01 7.50728534e-01 7.58501785e-03 1.13934404e+02] [ 1.12505727e-02 -2.03505536e-04 9.99936690e-01 7.76052091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.58, Y:113.92, Z:7.76 [[ 7.49559849e-01 6.61881040e-01 -8.57452024e-03 1.78582670e+02] [-6.61834831e-01 7.49608867e-01 7.82324037e-03 1.13915910e+02] [ 1.16055909e-02 -1.89070712e-04 9.99932635e-01 7.76043008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.60, Y:113.90, Z:7.76 [[ 7.47949537e-01 6.63700329e-01 -8.56524459e-03 1.78604486e+02] [-6.63654352e-01 7.47998562e-01 7.81361491e-03 1.13898234e+02] [ 1.15926894e-02 -1.59827811e-04 9.99932790e-01 7.76068365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.63, Y:113.88, Z:7.76 [[ 7.47145312e-01 6.64602594e-01 -8.79064806e-03 1.78627976e+02] [-6.64554249e-01 7.47197009e-01 8.01748925e-03 1.13879183e+02] [ 1.18967901e-02 -1.48366984e-04 9.99929220e-01 7.76059548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.65, Y:113.86, Z:7.76 [[ 7.45995554e-01 6.65890125e-01 -8.99861649e-03 1.78648551e+02] [-6.65839557e-01 7.46049814e-01 8.20727808e-03 1.13859633e+02] [ 1.21785616e-02 -1.30958143e-04 9.99925830e-01 7.76079058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.67, Y:113.84, Z:7.76 [[ 7.45649790e-01 6.66276450e-01 -9.06000557e-03 1.78669871e+02] [-6.66225235e-01 7.45704819e-01 8.26194247e-03 1.13840226e+02] [ 1.22608275e-02 -1.24511331e-04 9.99924825e-01 7.76137527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.69, Y:113.82, Z:7.76 [[ 7.45616785e-01 6.66314586e-01 -8.97126027e-03 1.78689806e+02] [-6.66264385e-01 7.45670744e-01 8.17989428e-03 1.13821640e+02] [ 1.21399892e-02 -1.21835265e-04 9.99926300e-01 7.76196019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.71, Y:113.80, Z:7.76 [[ 7.45671683e-01 6.66250076e-01 -9.19661750e-03 1.78710682e+02] [-6.66197344e-01 7.45728383e-01 8.38314551e-03 1.13803418e+02] [ 1.24434500e-02 -1.24312071e-04 9.99922570e-01 7.76217354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.73, Y:113.78, Z:7.76 [[ 7.45897578e-01 6.66001052e-01 -8.91077434e-03 1.78730006e+02] [-6.65951551e-01 7.45950792e-01 8.12081362e-03 1.13783933e+02] [ 1.20554696e-02 -1.23151217e-04 9.99927323e-01 7.76287301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.75, Y:113.76, Z:7.76 [[ 7.46504370e-01 6.65334705e-01 -7.80749282e-03 1.78751287e+02] [-6.65296686e-01 7.46545188e-01 7.11354513e-03 1.13764283e+02] [ 1.05615346e-02 -1.15993426e-04 9.99944219e-01 7.76416758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.77, Y:113.74, Z:7.77 [[ 7.47161180e-01 6.64602434e-01 -7.33328137e-03 1.78771849e+02] [-6.64568867e-01 7.47197157e-01 6.68052770e-03 1.13743994e+02] [ 9.91930196e-03 -1.17960461e-04 9.99950796e-01 7.76528174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.79, Y:113.72, Z:7.77 [[ 7.47548318e-01 6.64168700e-01 -7.17283118e-03 1.78793729e+02] [-6.64136578e-01 7.47582720e-01 6.53320378e-03 1.13723379e+02] [ 9.70143410e-03 -1.20145952e-04 9.99952933e-01 7.76617843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:113.70, Z:7.77 [[ 7.48266148e-01 6.63359572e-01 -7.20069049e-03 1.78813563e+02] [-6.63327166e-01 7.48300783e-01 6.55814846e-03 1.13702571e+02] [ 9.73869289e-03 -1.30826873e-04 9.99952569e-01 7.76713153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:113.68, Z:7.77 [[ 7.48720607e-01 6.62849604e-01 -6.91772937e-03 1.78837013e+02] [-6.62819697e-01 7.48752553e-01 6.29798408e-03 1.13680975e+02] [ 9.35428378e-03 -1.30223180e-04 9.99956239e-01 7.76794185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.86, Y:113.66, Z:7.77 [[ 7.48537257e-01 6.63056667e-01 -6.91598498e-03 1.78860291e+02] [-6.63026751e-01 7.48569194e-01 6.29989884e-03 1.13659601e+02] [ 9.35428323e-03 -1.30225949e-04 9.99956239e-01 7.76836090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.88, Y:113.64, Z:7.77 [[ 7.49687422e-01 6.61760987e-01 -6.41599658e-03 1.78881392e+02] [-6.61735167e-01 7.49714863e-01 5.84747601e-03 1.13636062e+02] [ 8.67979950e-03 -1.38088652e-04 9.99962320e-01 7.76950306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.90, Y:113.62, Z:7.77 [[ 7.50271445e-01 6.61101288e-01 -6.15198517e-03 1.78903071e+02] [-6.61077487e-01 7.50296653e-01 5.61148647e-03 1.13615728e+02] [ 8.32557481e-03 -1.43199166e-04 9.99965332e-01 7.77000704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.92, Y:113.59, Z:7.77 [[ 7.51017928e-01 6.60256277e-01 -5.80699666e-03 1.78923735e+02] [-6.60235049e-01 7.51040364e-01 5.29643295e-03 1.13594481e+02] [ 7.85829198e-03 -1.43733373e-04 9.99969113e-01 7.77141852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.94, Y:113.57, Z:7.77 [[ 7.51279488e-01 6.59961734e-01 -5.44430645e-03 1.78944708e+02] [-6.59943069e-01 7.51299202e-01 4.96543780e-03 1.13574586e+02] [ 7.36730203e-03 -1.37499261e-04 9.99972852e-01 7.77233351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.96, Y:113.56, Z:7.77 [[ 7.51783175e-01 6.59390223e-01 -5.15669241e-03 1.78964756e+02] [-6.59373466e-01 7.51800848e-01 4.70294926e-03 1.13555300e+02] [ 6.97788449e-03 -1.35411982e-04 9.99975645e-01 7.77323612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.99, Y:113.54, Z:7.77 [[ 7.52004011e-01 6.59138614e-01 -5.12405478e-03 1.78985225e+02] [-6.59122068e-01 7.52021455e-01 4.67229735e-03 1.13535945e+02] [ 6.93309074e-03 -1.36208761e-04 9.99975957e-01 7.77369537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.01, Y:113.52, Z:7.77 [[ 7.51942803e-01 6.59207953e-01 -5.18617648e-03 1.79011060e+02] [-6.59191036e-01 7.51960675e-01 4.72456753e-03 1.13515543e+02] [ 7.01427326e-03 -1.33923505e-04 9.99975391e-01 7.77339647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.03, Y:113.49, Z:7.77 [[ 7.51927212e-01 6.59227590e-01 -4.94487564e-03 1.79032177e+02] [-6.59212186e-01 7.51943460e-01 4.50844175e-03 1.13492020e+02] [ 6.69035609e-03 -1.30297754e-04 9.99977611e-01 7.77447879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.06, Y:113.47, Z:7.77 [[ 7.51605874e-01 6.59590973e-01 -5.32527130e-03 1.79057910e+02] [-6.59573108e-01 7.51624727e-01 4.85652922e-03 1.13471087e+02] [ 7.20592842e-03 -1.37790147e-04 9.99974027e-01 7.77427261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.08, Y:113.45, Z:7.77 [[ 7.51392134e-01 6.59826221e-01 -6.26246748e-03 1.79080412e+02] [-6.59801468e-01 7.51418213e-01 5.71769561e-03 1.13450621e+02] [ 8.47841761e-03 -1.64246274e-04 9.99964044e-01 7.77373147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.10, Y:113.43, Z:7.77 [[ 7.51195242e-01 6.60045372e-01 -6.76868521e-03 1.79100002e+02] [-6.60016456e-01 7.51225716e-01 6.18077479e-03 1.13431159e+02] [ 9.16440218e-03 -1.75524990e-04 9.99957991e-01 7.77376633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.12, Y:113.41, Z:7.77 [[ 7.50618845e-01 6.60695717e-01 -7.24707135e-03 1.79124450e+02] [-6.60662615e-01 7.50653807e-01 6.61596493e-03 1.13413816e+02] [ 9.81118139e-03 -1.78198842e-04 9.99951853e-01 7.77296453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.15, Y:113.40, Z:7.77 [[ 7.49247285e-01 6.62240813e-01 -8.10010407e-03 1.79147433e+02] [-6.62199556e-01 7.49291048e-01 7.39417447e-03 1.13395979e+02] [ 1.09660596e-02 -1.76179826e-04 9.99939855e-01 7.77192802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.17, Y:113.38, Z:7.77 [[ 7.48690705e-01 6.62866574e-01 -8.37454658e-03 1.79167825e+02] [-6.62822526e-01 7.48737521e-01 7.64352014e-03 1.13377660e+02] [ 1.13369713e-02 -1.71794357e-04 9.99935720e-01 7.77247202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.19, Y:113.36, Z:7.77 [[ 7.48098251e-01 6.63532599e-01 -8.57306089e-03 1.79190957e+02] [-6.63486500e-01 7.48147354e-01 7.82312674e-03 1.13359679e+02] [ 1.16048124e-02 -1.64357266e-04 9.99932648e-01 7.77274798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.21, Y:113.34, Z:7.77 [[ 7.47481571e-01 6.64231679e-01 -8.22056716e-03 1.79214468e+02] [-6.64189348e-01 7.47526759e-01 7.50036929e-03 1.13341997e+02] [ 1.11270768e-02 -1.46374681e-04 9.99938081e-01 7.77336824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.24, Y:113.32, Z:7.77 [[ 7.47376890e-01 6.64345282e-01 -8.55160918e-03 1.79237269e+02] [-6.64299496e-01 7.47425798e-01 7.80104068e-03 1.13322708e+02] [ 1.15742779e-02 -1.49487859e-04 9.99933005e-01 7.77376453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.26, Y:113.30, Z:7.77 [[ 7.47678837e-01 6.64003836e-01 -8.67537686e-03 1.79258207e+02] [-6.63956698e-01 7.47729150e-01 7.91342432e-03 1.13303923e+02] [ 1.17413763e-02 -1.56625325e-04 9.99931055e-01 7.77434511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:113.29, Z:7.78 [[ 7.48003656e-01 6.63639939e-01 -8.51834502e-03 1.79278752e+02] [-6.63594486e-01 7.48052141e-01 7.76868200e-03 1.13285390e+02] [ 1.15277739e-02 -1.58275754e-04 9.99933540e-01 7.77503361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.30, Y:113.27, Z:7.78 [[ 7.48069869e-01 6.63562997e-01 -8.69599510e-03 1.79302444e+02] [-6.63515643e-01 7.48120393e-01 7.92895233e-03 1.13265601e+02] [ 1.17670106e-02 -1.61481544e-04 9.99930753e-01 7.77518534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.32, Y:113.25, Z:7.78 [[ 7.49054171e-01 6.62450819e-01 -8.76129279e-03 1.79322914e+02] [-6.62402674e-01 7.49105386e-01 7.98860002e-03 1.13245591e+02] [ 1.18551862e-02 -1.80390392e-04 9.99929709e-01 7.77595695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.34, Y:113.23, Z:7.78 [[ 7.49602453e-01 6.61831635e-01 -8.66317424e-03 1.79343127e+02] [-6.61784530e-01 7.49652488e-01 7.89828371e-03 1.13225996e+02] [ 1.17217041e-02 -1.87418138e-04 9.99931281e-01 7.77645968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.36, Y:113.21, Z:7.78 [[ 7.50466789e-01 6.60849412e-01 -8.81212174e-03 1.79364129e+02] [-6.60800625e-01 7.50518496e-01 8.03245425e-03 1.13206034e+02] [ 1.19219030e-02 -2.05034597e-04 9.99928911e-01 7.77693119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.38, Y:113.19, Z:7.78 [[ 7.51857415e-01 6.59268781e-01 -8.66609632e-03 1.79383735e+02] [-6.59221507e-01 7.51907324e-01 7.89818113e-03 1.13185888e+02] [ 1.17231255e-02 -2.25428977e-04 9.99931256e-01 7.77768197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.40, Y:113.17, Z:7.78 [[ 7.52632253e-01 6.58383570e-01 -8.70446936e-03 1.79403301e+02] [-6.58335835e-01 7.52682548e-01 7.93161453e-03 1.13165427e+02] [ 1.17737469e-02 -2.39124808e-04 9.99930658e-01 7.77859257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.43, Y:113.15, Z:7.78 [[ 7.53470375e-01 6.57426442e-01 -8.53621846e-03 1.79426547e+02] [-6.57380492e-01 7.53518687e-01 7.77673376e-03 1.13146613e+02] [ 1.15448305e-02 -2.47995021e-04 9.99933325e-01 7.77885200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.45, Y:113.13, Z:7.78 [[ 7.55013694e-01 6.55647975e-01 -8.94734073e-03 1.79446160e+02] [-6.55597374e-01 7.55066653e-01 8.15063478e-03 1.13125170e+02] [ 1.20997858e-02 -2.87987781e-04 9.99926753e-01 7.77899435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.47, Y:113.10, Z:7.78 [[ 7.55970727e-01 6.54543334e-01 -9.01576332e-03 1.79467282e+02] [-6.54491890e-01 7.56024424e-01 8.21197402e-03 1.13104501e+02] [ 1.21912301e-02 -3.07267987e-04 9.99925637e-01 7.77922189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.49, Y:113.08, Z:7.78 [[ 7.57674031e-01 6.52569807e-01 -9.09455171e-03 1.79486185e+02] [-6.52517325e-01 7.57728534e-01 8.28311508e-03 1.13083164e+02] [ 1.22965121e-02 -3.41548638e-04 9.99924337e-01 7.77955519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.51, Y:113.06, Z:7.78 [[ 7.58581599e-01 6.51517465e-01 -8.88541199e-03 1.79507009e+02] [-6.51467307e-01 7.58633555e-01 8.09181894e-03 1.13063266e+02] [ 1.20127330e-02 -3.49749528e-04 9.99927783e-01 7.77994581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.53, Y:113.04, Z:7.78 [[ 7.59228031e-01 6.50760967e-01 -9.10832200e-03 1.79526657e+02] [-6.50708222e-01 7.59282574e-01 8.29355688e-03 1.13043425e+02] [ 1.23129133e-02 -3.69840854e-04 9.99924125e-01 7.78033613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.55, Y:113.02, Z:7.78 [[ 7.59995747e-01 6.49867378e-01 -8.88003356e-03 1.79545931e+02] [-6.49817200e-01 7.60047532e-01 8.08421682e-03 1.13023824e+02] [ 1.20029164e-02 -3.73571860e-04 9.99927893e-01 7.78107123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.57, Y:113.01, Z:7.78 [[ 7.59812524e-01 6.50082773e-01 -8.79301117e-03 1.79570181e+02] [-6.50033607e-01 7.59863313e-01 8.00343194e-03 1.13005779e+02] [ 1.18843798e-02 -3.65355048e-04 9.99929312e-01 7.78112598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.59, Y:112.99, Z:7.78 [[ 7.58659953e-01 6.51427244e-01 -8.81036712e-03 1.79591661e+02] [-6.51377980e-01 7.58711030e-01 8.01871571e-03 1.12987663e+02] [ 1.19081326e-02 -3.44599341e-04 9.99929036e-01 7.78108075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.61, Y:112.97, Z:7.78 [[ 7.57569870e-01 6.52693187e-01 -8.91608271e-03 1.79612529e+02] [-6.52642839e-01 7.57622265e-01 8.11343534e-03 1.12969427e+02] [ 1.20506067e-02 -3.27476619e-04 9.99927335e-01 7.78073408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.64, Y:112.95, Z:7.78 [[ 7.56374189e-01 6.54070710e-01 -9.46538697e-03 1.79635891e+02] [-6.54014104e-01 7.56433343e-01 8.61094879e-03 1.12951616e+02] [ 1.27921037e-02 -3.22602822e-04 9.99918126e-01 7.78025815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.66, Y:112.94, Z:7.78 [[ 7.53115558e-01 6.57802769e-01 -1.06053752e-02 1.79662911e+02] [-6.57732149e-01 7.53190172e-01 9.64291545e-03 1.12938599e+02] [ 1.43310009e-02 -2.86733411e-04 9.99897265e-01 7.77884230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:112.92, Z:7.78 [[ 7.51461082e-01 6.59682348e-01 -1.12000857e-02 1.79685474e+02] [-6.59603818e-01 7.51544496e-01 1.01820099e-02 1.12921209e+02] [ 1.51342550e-02 -2.63764924e-04 9.99885436e-01 7.77835582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.71, Y:112.91, Z:7.78 [[ 7.48090809e-01 6.63502862e-01 -1.11397079e-02 1.79710454e+02] [-6.63425620e-01 7.48173722e-01 1.01256279e-02 1.12905228e+02] [ 1.50528198e-02 -1.84521584e-04 9.99886683e-01 7.77849357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.73, Y:112.89, Z:7.78 [[ 7.46566129e-01 6.65225126e-01 -1.07026753e-02 1.79733703e+02] [-6.65154019e-01 7.46642827e-01 9.72727616e-03 1.12887352e+02] [ 1.44619043e-02 -1.43127418e-04 9.99895411e-01 7.77949990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:112.87, Z:7.78 [[ 7.45219079e-01 6.66739996e-01 -1.03102572e-02 1.79755900e+02] [-6.66674172e-01 7.45290390e-01 9.36922512e-03 1.12869464e+02] [ 1.39309727e-02 -1.08543154e-04 9.99902953e-01 7.78025794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.78, Y:112.85, Z:7.78 [[ 7.44102254e-01 6.67987180e-01 -1.02451642e-02 1.79778334e+02] [-6.67922322e-01 7.44172776e-01 9.30863917e-03 1.12851223e+02] [ 1.38422239e-02 -8.36055454e-05 9.99904188e-01 7.78157458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:112.83, Z:7.78 [[ 7.42728022e-01 6.69525867e-01 -9.49733026e-03 1.79800714e+02] [-6.69470274e-01 7.42788739e-01 8.62790558e-03 1.12833662e+02] [ 1.28311159e-02 -5.00069513e-05 9.99917677e-01 7.78275560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.82, Y:112.82, Z:7.78 [[ 7.42431923e-01 6.69860898e-01 -9.01201521e-03 1.79820481e+02] [-6.69810881e-01 7.42486616e-01 8.18587865e-03 1.12815862e+02] [ 1.21747007e-02 -4.11117864e-05 9.99925885e-01 7.78374106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.84, Y:112.80, Z:7.78 [[ 7.43116810e-01 6.69109514e-01 -8.35852889e-03 1.79841653e+02] [-6.69066464e-01 7.43163815e-01 7.59023615e-03 1.12796208e+02] [ 1.12904554e-02 -4.80207050e-05 9.99936260e-01 7.78460192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.86, Y:112.78, Z:7.79 [[ 7.43937785e-01 6.68198936e-01 -8.17025153e-03 1.79862376e+02] [-6.68157761e-01 7.43982646e-01 7.41814832e-03 1.12775928e+02] [ 1.10353242e-02 -5.96238702e-05 9.99939107e-01 7.78535386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.88, Y:112.76, Z:7.79 [[ 7.45066907e-01 6.66941084e-01 -8.05565411e-03 1.79882392e+02] [-6.66900993e-01 7.45110451e-01 7.31306049e-03 1.12755779e+02] [ 1.08797326e-02 -7.63956325e-05 9.99940811e-01 7.78602802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.90, Y:112.73, Z:7.79 [[ 7.47657841e-01 6.64043081e-01 -7.38504440e-03 1.79901372e+02] [-6.64009258e-01 7.47694306e-01 6.70303909e-03 1.12733147e+02] [ 9.97286238e-03 -1.07841884e-04 9.99950264e-01 7.78713599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.92, Y:112.71, Z:7.79 [[ 7.48968069e-01 6.62564876e-01 -7.39033145e-03 1.79921561e+02] [-6.62530942e-01 7.49004519e-01 6.70682493e-03 1.12713065e+02] [ 9.97909828e-03 -1.26874458e-04 9.99950200e-01 7.78732618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.94, Y:112.69, Z:7.79 [[ 7.50980235e-01 6.60279276e-01 -7.74371781e-03 1.79939619e+02] [-6.60241911e-01 7.51020140e-01 7.02627084e-03 1.12689936e+02] [ 1.04549891e-02 -1.63863481e-04 9.99945332e-01 7.78736127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.96, Y:112.67, Z:7.79 [[ 7.51986014e-01 6.59128793e-01 -8.14057127e-03 1.79960097e+02] [-6.59087442e-01 7.52030052e-01 7.38547768e-03 1.12669367e+02] [ 1.09899352e-02 -1.88427635e-04 9.99939591e-01 7.78706777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.98, Y:112.65, Z:7.79 [[ 7.52882956e-01 6.58099010e-01 -8.54092415e-03 1.79982472e+02] [-6.58053440e-01 7.52931370e-01 7.74740827e-03 1.12649967e+02] [ 1.15292914e-02 -2.12507114e-04 9.99933513e-01 7.78651387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.00, Y:112.63, Z:7.79 [[ 7.54417566e-01 6.56333732e-01 -8.95369097e-03 1.80001368e+02] [-6.56283534e-01 7.54470655e-01 8.12117946e-03 1.12627766e+02] [ 1.20855011e-02 -2.50600479e-04 9.99926936e-01 7.78614813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.02, Y:112.61, Z:7.79 [[ 7.54983567e-01 6.55683477e-01 -8.88768659e-03 1.80019458e+02] [-6.55633982e-01 7.55035834e-01 8.06043032e-03 1.12606276e+02] [ 1.19956128e-02 -2.58423089e-04 9.99928017e-01 7.78632879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.04, Y:112.59, Z:7.79 [[ 7.55736793e-01 6.54813753e-01 -8.99156317e-03 1.80040203e+02] [-6.54763049e-01 7.55790231e-01 8.15329504e-03 1.12585593e+02] [ 1.21346253e-02 -2.74401732e-04 9.99926335e-01 7.78641192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.06, Y:112.57, Z:7.79 [[ 7.56919281e-01 6.53443398e-01 -9.21566165e-03 1.80062758e+02] [-6.53390089e-01 7.56975320e-01 8.35197301e-03 1.12565775e+02] [ 1.24335701e-02 -3.00347415e-04 9.99922655e-01 7.78592377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.08, Y:112.54, Z:7.79 [[ 7.57349138e-01 6.52941131e-01 -9.49546474e-03 1.80080473e+02] [-6.52884505e-01 7.57408595e-01 8.60486899e-03 1.12542383e+02] [ 1.28104195e-02 -3.17448314e-04 9.99917893e-01 7.78623458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.11, Y:112.52, Z:7.79 [[ 7.58355957e-01 6.51775957e-01 -9.18394931e-03 1.80105955e+02] [-6.51722914e-01 7.58411496e-01 8.32149241e-03 1.12522763e+02] [ 1.23889614e-02 -3.25263136e-04 9.99923201e-01 7.78647441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.13, Y:112.50, Z:7.79 [[ 7.58433210e-01 6.51687901e-01 -9.05241386e-03 1.80126723e+02] [-6.51636306e-01 7.58487162e-01 8.20670953e-03 1.12497856e+02] [ 1.22143530e-02 -3.25359516e-04 9.99925349e-01 7.78667408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.15, Y:112.48, Z:7.79 [[ 7.58231128e-01 6.51915629e-01 -9.56922295e-03 1.80152631e+02] [-6.51857924e-01 7.58291431e-01 8.68058316e-03 1.12477315e+02] [ 1.29152676e-02 -3.44114554e-04 9.99916535e-01 7.78688248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.18, Y:112.46, Z:7.79 [[ 7.57676119e-01 6.52562653e-01 -9.42774826e-03 1.80176571e+02] [-6.52506625e-01 7.57734699e-01 8.55753322e-03 1.12455898e+02] [ 1.27280586e-02 -3.32170364e-04 9.99918940e-01 7.78738373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.20, Y:112.43, Z:7.79 [[ 7.57036204e-01 6.53302726e-01 -9.57781410e-03 1.80197462e+02] [-6.53244894e-01 7.57096718e-01 8.69875679e-03 1.12432085e+02] [ 1.29342531e-02 -3.28615665e-04 9.99916295e-01 7.78736478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.22, Y:112.41, Z:7.79 [[ 7.55398205e-01 6.55191712e-01 -9.86773571e-03 1.80223299e+02] [-6.55130422e-01 7.55462590e-01 8.96688705e-03 1.12413228e+02] [ 1.33297353e-02 -3.08916533e-04 9.99911107e-01 7.78741190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.25, Y:112.39, Z:7.79 [[ 7.55219898e-01 6.55397270e-01 -9.86529543e-03 1.80246602e+02] [-6.55335963e-01 7.55284266e-01 8.96957103e-03 1.12391873e+02] [ 1.33297348e-02 -3.08915636e-04 9.99911107e-01 7.78783102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.27, Y:112.37, Z:7.79 [[ 7.54252469e-01 6.56510231e-01 -9.87569100e-03 1.80271088e+02] [-6.56448824e-01 7.54317062e-01 8.98394037e-03 1.12371738e+02] [ 1.33474510e-02 -2.93273461e-04 9.99910876e-01 7.78846027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.29, Y:112.35, Z:7.79 [[ 7.53098617e-01 6.57839609e-01 -9.46159274e-03 1.80294456e+02] [-6.57783289e-01 7.53158005e-01 8.61184195e-03 1.12350493e+02] [ 1.27912851e-02 -2.61888673e-04 9.99918154e-01 7.78905443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.32, Y:112.33, Z:7.79 [[ 7.51126539e-01 6.60088990e-01 -9.56279873e-03 1.80319579e+02] [-6.60031578e-01 7.51187375e-01 8.70883783e-03 1.12329980e+02] [ 1.29320616e-02 -2.29690084e-04 9.99916351e-01 7.78964856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.34, Y:112.31, Z:7.79 [[ 7.50055758e-01 6.61309709e-01 -9.26433691e-03 1.80341771e+02] [-6.61255860e-01 7.50112942e-01 8.44162022e-03 1.12308711e+02] [ 1.25318244e-02 -2.05588781e-04 9.99921452e-01 7.79040105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:112.29, Z:7.79 [[ 7.49308229e-01 6.62157497e-01 -9.19929872e-03 1.80361137e+02] [-6.62104407e-01 7.49364672e-01 8.38702352e-03 1.12289203e+02] [ 1.24471600e-02 -1.93569521e-04 9.99922512e-01 7.79089320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.38, Y:112.27, Z:7.79 [[ 7.48373404e-01 6.63211272e-01 -9.38387338e-03 1.80383006e+02] [-6.63156135e-01 7.48432213e-01 8.55359280e-03 1.12270639e+02] [ 1.26960323e-02 -1.78308158e-04 9.99919386e-01 7.79130863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.40, Y:112.25, Z:7.79 [[ 7.46853028e-01 6.64918611e-01 -9.68477626e-03 1.80404636e+02] [-6.64860043e-01 7.46915803e-01 8.82646123e-03 1.12251199e+02] [ 1.31025908e-02 -1.53048539e-04 9.99914146e-01 7.79131885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.43, Y:112.23, Z:7.79 [[ 7.46180180e-01 6.65670293e-01 -9.90956064e-03 1.80425744e+02] [-6.65609059e-01 7.46245965e-01 9.02990069e-03 1.12231596e+02] [ 1.34059063e-02 -1.42039582e-04 9.99910127e-01 7.79126686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.45, Y:112.21, Z:7.79 [[ 7.45080593e-01 6.66894531e-01 -1.03244717e-02 1.80446837e+02] [-6.66828200e-01 7.45152112e-01 9.40648499e-03 1.12211260e+02] [ 1.39664353e-02 -1.23940506e-04 9.99902457e-01 7.79093515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.47, Y:112.19, Z:7.79 [[ 7.44682776e-01 6.67338162e-01 -1.03605593e-02 1.80467918e+02] [-6.67271430e-01 7.44754835e-01 9.43791440e-03 1.12191432e+02] [ 1.40143571e-02 -1.14947084e-04 9.99901787e-01 7.79108363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.49, Y:112.17, Z:7.79 [[ 7.44483954e-01 6.67565423e-01 -1.00024334e-02 1.80488406e+02] [-6.67503264e-01 7.44551136e-01 9.11032007e-03 1.12171857e+02] [ 1.35290579e-02 -1.05830140e-04 9.99908473e-01 7.79137584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.51, Y:112.15, Z:7.79 [[ 7.43193861e-01 6.69011520e-01 -9.29895557e-03 1.80509293e+02] [-6.68957933e-01 7.43252031e-01 8.46778453e-03 1.12153093e+02] [ 1.25765130e-02 -7.25953885e-05 9.99920910e-01 7.79293903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.53, Y:112.13, Z:7.79 [[ 7.42536789e-01 6.69747371e-01 -8.80771850e-03 1.80532033e+02] [-6.69699365e-01 7.42589022e-01 8.01900206e-03 1.12134495e+02] [ 1.19112206e-02 -5.58805529e-05 9.99929057e-01 7.79352751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.55, Y:112.12, Z:7.79 [[ 7.41770854e-01 6.70598299e-01 -8.59777741e-03 1.80554389e+02] [-6.70552625e-01 7.41820679e-01 7.82672733e-03 1.12115910e+02] [ 1.16265991e-02 -4.03760028e-05 9.99932408e-01 7.79389236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.58, Y:112.10, Z:7.79 [[ 7.41162455e-01 6.71265877e-01 -8.96310098e-03 1.80575956e+02] [-6.71216302e-01 7.41216649e-01 8.15810578e-03 1.12098724e+02] [ 1.21198577e-02 -3.03022131e-05 9.99926551e-01 7.79366831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.60, Y:112.08, Z:7.79 [[ 7.41232129e-01 6.71182877e-01 -9.40620952e-03 1.80597392e+02] [-6.71128302e-01 7.41291808e-01 8.55905834e-03 1.12080008e+02] [ 1.27174395e-02 -3.14756175e-05 9.99919130e-01 7.79348545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.62, Y:112.06, Z:7.79 [[ 7.42058667e-01 6.70267000e-01 -9.54374975e-03 1.80620182e+02] [-6.70210755e-01 7.42120035e-01 8.68311483e-03 1.12059136e+02] [ 1.29026132e-02 -4.70568868e-05 9.99916757e-01 7.79313019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.64, Y:112.04, Z:7.79 [[ 7.42426110e-01 6.69854940e-01 -9.89093077e-03 1.80642925e+02] [-6.69794481e-01 7.42491991e-01 8.99980994e-03 1.12036906e+02] [ 1.33725040e-02 -5.68030420e-05 9.99910582e-01 7.79327188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.66, Y:112.02, Z:7.79 [[ 7.43914201e-01 6.68183874e-01 -1.10441129e-02 1.80664254e+02] [-6.68108223e-01 7.43996170e-01 1.00549451e-02 1.12017586e+02] [ 1.49353298e-02 -1.01353758e-04 9.99888457e-01 7.79218789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.69, Y:112.00, Z:7.79 [[ 7.44689902e-01 6.67311738e-01 -1.14888638e-02 1.80687006e+02] [-6.67229789e-01 7.44778511e-01 1.04584187e-02 1.11996811e+02] [ 1.55356845e-02 -1.22566635e-04 9.99879306e-01 7.79198445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.71, Y:111.98, Z:7.79 [[ 7.45174276e-01 6.66765803e-01 -1.17755048e-02 1.80708085e+02] [-6.66679649e-01 7.45267297e-01 1.07191873e-02 1.11977189e+02] [ 1.59230861e-02 -1.37173250e-04 9.99873210e-01 7.79208153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.73, Y:111.96, Z:7.79 [[ 7.45958444e-01 6.65882110e-01 -1.21250090e-02 1.80728589e+02] [-6.65790668e-01 7.46056962e-01 1.10361097e-02 1.11958344e+02] [ 1.63946954e-02 -1.59761323e-04 9.99865585e-01 7.79192268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.75, Y:111.94, Z:7.79 [[ 7.47115441e-01 6.64577910e-01 -1.24386190e-02 1.80750251e+02] [-6.64481533e-01 7.47218954e-01 1.13193475e-02 1.11940039e+02] [ 1.68169602e-02 -1.91626701e-04 9.99858567e-01 7.79149950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.77, Y:111.92, Z:7.79 [[ 7.48007836e-01 6.63570142e-01 -1.26073317e-02 1.80772686e+02] [-6.63471023e-01 7.48114042e-01 1.14709146e-02 1.11920046e+02] [ 1.70434783e-02 -2.15734685e-04 9.99854726e-01 7.79165581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.79, Y:111.90, Z:7.79 [[ 7.50009749e-01 6.61308617e-01 -1.25015669e-02 1.80792188e+02] [-6.61210856e-01 7.50113887e-01 1.13736968e-02 1.11898751e+02] [ 1.68991226e-02 -2.64211767e-04 9.99857165e-01 7.79203832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.82, Y:111.88, Z:7.79 [[ 7.50928419e-01 6.60272140e-01 -1.21330019e-02 1.80816217e+02] [-6.60179920e-01 7.51026380e-01 1.10385717e-02 1.11876949e+02] [ 1.64006658e-02 -2.79212929e-04 9.99865461e-01 7.79301169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.84, Y:111.85, Z:7.79 [[ 7.51763488e-01 6.59325022e-01 -1.19236928e-02 1.80838027e+02] [-6.59235742e-01 7.51857983e-01 1.08540643e-02 1.11854504e+02] [ 1.61212798e-02 -2.99164747e-04 9.99869999e-01 7.79359653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.86, Y:111.83, Z:7.79 [[ 7.53564324e-01 6.57270092e-01 -1.16977031e-02 1.80858418e+02] [-6.57183836e-01 7.53655034e-01 1.06534084e-02 1.11830807e+02] [ 1.58181995e-02 -3.40487041e-04 9.99874826e-01 7.79416172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.88, Y:111.81, Z:7.79 [[ 7.53946556e-01 6.56831049e-01 -1.17287662e-02 1.80882385e+02] [-6.56744222e-01 7.54037697e-01 1.06854609e-02 1.11810063e+02] [ 1.58624743e-02 -3.53467036e-04 9.99874121e-01 7.79491930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.91, Y:111.79, Z:7.80 [[ 7.54044748e-01 6.56725281e-01 -1.13323846e-02 1.80905989e+02] [-6.56644127e-01 7.54129819e-01 1.03298559e-02 1.11787836e+02] [ 1.53299667e-02 -3.47829822e-04 9.99882429e-01 7.79549334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.93, Y:111.77, Z:7.80 [[ 7.54044046e-01 6.56720139e-01 -1.16720095e-02 1.80928068e+02] [-6.56633966e-01 7.54134291e-01 1.06445320e-02 1.11766351e+02] [ 1.57927412e-02 -3.62208105e-04 9.99875221e-01 7.79591627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.95, Y:111.75, Z:7.80 [[ 7.53747913e-01 6.57056541e-01 -1.18653381e-02 1.80949407e+02] [-6.56967530e-01 7.53841212e-01 1.08209002e-02 1.11747551e+02] [ 1.60545241e-02 -3.61089077e-04 9.99871053e-01 7.79617645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.97, Y:111.73, Z:7.80 [[ 7.52698648e-01 6.58263126e-01 -1.15932126e-02 1.80972361e+02] [-6.58178319e-01 7.52787852e-01 1.05712017e-02 1.11729152e+02] [ 1.56858619e-02 -3.26528016e-04 9.99876916e-01 7.79657061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.99, Y:111.71, Z:7.80 [[ 7.52055282e-01 6.59000578e-01 -1.14495168e-02 1.80994379e+02] [-6.58917965e-01 7.52142370e-01 1.04389334e-02 1.11710903e+02] [ 1.54909299e-02 -3.06362647e-04 9.99879961e-01 7.79696190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.02, Y:111.69, Z:7.80 [[ 7.51242215e-01 6.59925119e-01 -1.15746421e-02 1.81017371e+02] [-6.59840825e-01 7.51331321e-01 1.05513931e-02 1.11693168e+02] [ 1.56595204e-02 -2.89230504e-04 9.99877340e-01 7.79739356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.04, Y:111.68, Z:7.80 [[ 7.50148345e-01 6.61165174e-01 -1.17504607e-02 1.81039734e+02] [-6.61078479e-01 7.50240323e-01 1.07099194e-02 1.11676642e+02] [ 1.58966951e-02 -2.66051595e-04 9.99873604e-01 7.79710648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.06, Y:111.66, Z:7.80 [[ 7.49698190e-01 6.61671745e-01 -1.19634931e-02 1.81061495e+02] [-6.61581976e-01 7.49793595e-01 1.09020377e-02 1.11658280e+02] [ 1.61837208e-02 -2.58406509e-04 9.99869002e-01 7.79742475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.08, Y:111.64, Z:7.80 [[ 7.49492512e-01 6.61900222e-01 -1.22094327e-02 1.81082332e+02] [-6.61806784e-01 7.49591909e-01 1.11243432e-02 1.11639206e+02] [ 1.65152972e-02 -2.57326520e-04 9.99863580e-01 7.79760625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.10, Y:111.62, Z:7.80 [[ 7.49540334e-01 6.61852795e-01 -1.18391586e-02 1.81103604e+02] [-6.61764966e-01 7.49633788e-01 1.07849126e-02 1.11621375e+02] [ 1.60130578e-02 -2.48986607e-04 9.99871752e-01 7.79884351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.13, Y:111.60, Z:7.80 [[ 7.49841087e-01 6.61516043e-01 -1.16133039e-02 1.81125495e+02] [-6.61431528e-01 7.49930972e-01 1.05769446e-02 1.11602408e+02] [ 1.57059948e-02 -2.49622316e-04 9.99876622e-01 7.79959896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.15, Y:111.58, Z:7.80 [[ 7.50651758e-01 6.60599150e-01 -1.14324844e-02 1.81146276e+02] [-6.60517164e-01 7.50738766e-01 1.04106479e-02 1.11583264e+02] [ 1.54600744e-02 -2.63418977e-04 9.99880451e-01 7.80052040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.17, Y:111.56, Z:7.80 [[ 7.51226369e-01 6.59954790e-01 -1.08911693e-02 1.81165573e+02] [-6.59880344e-01 7.51305268e-01 9.91593463e-03 1.11563341e+02] [ 1.47266614e-02 -2.62243016e-04 9.99891522e-01 7.80103944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.19, Y:111.54, Z:7.80 [[ 7.52690229e-01 6.58287183e-01 -1.07426001e-02 1.81186724e+02] [-6.58214610e-01 7.52766830e-01 9.77892417e-03 1.11544082e+02] [ 1.45240135e-02 -2.89564330e-04 9.99894479e-01 7.80205747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.21, Y:111.52, Z:7.80 [[ 7.53587328e-01 6.57261812e-01 -1.06324982e-02 1.81207467e+02] [-6.57190636e-01 7.53662270e-01 9.67730225e-03 1.11524666e+02] [ 1.43738339e-02 -3.05114117e-04 9.99896645e-01 7.80245054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.23, Y:111.50, Z:7.80 [[ 7.54066225e-01 6.56709333e-01 -1.08157569e-02 1.81228128e+02] [-6.56635647e-01 7.54143720e-01 9.84263850e-03 1.11504648e+02] [ 1.46203877e-02 -3.19989758e-04 9.99893065e-01 7.80284868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.25, Y:111.48, Z:7.80 [[ 7.54862264e-01 6.55788701e-01 -1.11418587e-02 1.81249013e+02] [-6.55710434e-01 7.54944408e-01 1.01374463e-02 1.11484739e+02] [ 1.50595067e-02 -3.46542681e-04 9.99886539e-01 7.80300108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.27, Y:111.46, Z:7.80 [[ 7.55491545e-01 6.55061640e-01 -1.12593526e-02 1.81268921e+02] [-6.54981707e-01 7.55575355e-01 1.02394419e-02 1.11464962e+02] [ 1.52147549e-02 -3.61141782e-04 9.99884184e-01 7.80332190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.30, Y:111.45, Z:7.80 [[ 7.55236951e-01 6.55351646e-01 -1.14616038e-02 1.81296046e+02] [-6.55268871e-01 7.55323831e-01 1.04219173e-02 1.11446272e+02] [ 1.54872431e-02 -3.60584914e-04 9.99880000e-01 7.80394340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.32, Y:111.43, Z:7.80 [[ 7.54490683e-01 6.56203831e-01 -1.18466140e-02 1.81320125e+02] [-6.56115396e-01 7.54583596e-01 1.07789093e-02 1.11425083e+02] [ 1.60124222e-02 -3.59840805e-04 9.99871728e-01 7.80401572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.34, Y:111.40, Z:7.80 [[ 7.53885166e-01 6.56898639e-01 -1.18884438e-02 1.81344176e+02] [-6.56809566e-01 7.53978816e-01 1.08230613e-02 1.11403828e+02] [ 1.60732890e-02 -3.50901731e-04 9.99870755e-01 7.80428580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.37, Y:111.38, Z:7.80 [[ 7.52480910e-01 6.58500367e-01 -1.22371041e-02 1.81366631e+02] [-6.58406121e-01 7.52580333e-01 1.11455279e-02 1.11384900e+02] [ 1.65487381e-02 -3.29812716e-04 9.99863006e-01 7.80460129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.39, Y:111.37, Z:7.80 [[ 7.51903089e-01 6.59155711e-01 -1.24696952e-02 1.81388285e+02] [-6.59057950e-01 7.52006413e-01 1.13566272e-02 1.11366186e+02] [ 1.68630764e-02 -3.20831355e-04 9.99857757e-01 7.80449994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:111.35, Z:7.81 [[ 7.51165099e-01 6.59997987e-01 -1.23956279e-02 1.81412573e+02] [-6.59901518e-01 7.51267308e-01 1.12879776e-02 1.11346434e+02] [ 1.67624725e-02 -2.99241166e-04 9.99859455e-01 7.80507516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.43, Y:111.33, Z:7.81 [[ 7.50114726e-01 6.61188105e-01 -1.25772289e-02 1.81434138e+02] [-6.61088949e-01 7.50220110e-01 1.14537726e-02 1.11327053e+02] [ 1.70087883e-02 -2.76976484e-04 9.99855302e-01 7.80517677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.46, Y:111.31, Z:7.81 [[ 7.49897684e-01 6.61436066e-01 -1.24817737e-02 1.81455953e+02] [-6.61338468e-01 7.50001506e-01 1.13653991e-02 1.11308192e+02] [ 1.68788340e-02 -2.68209396e-04 9.99857506e-01 7.80591007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.48, Y:111.29, Z:7.81 [[ 7.49358280e-01 6.62054055e-01 -1.21077002e-02 1.81477942e+02] [-6.61962322e-01 7.49456048e-01 1.10234137e-02 1.11287056e+02] [ 1.63722849e-02 -2.45644963e-04 9.99865935e-01 7.80662998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.50, Y:111.27, Z:7.81 [[ 7.49459206e-01 6.61937683e-01 -1.22230045e-02 1.81498073e+02] [-6.61844184e-01 7.49558831e-01 1.11281270e-02 1.11267296e+02] [ 1.65279876e-02 -2.50352765e-04 9.99863372e-01 7.80718455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.52, Y:111.25, Z:7.81 [[ 7.49723189e-01 6.61635114e-01 -1.24143516e-02 1.81517028e+02] [-6.61538649e-01 7.49825919e-01 1.13007862e-02 1.11246772e+02] [ 1.67855996e-02 -2.59888065e-04 9.99859078e-01 7.80708334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.54, Y:111.23, Z:7.81 [[ 7.50655824e-01 6.60575752e-01 -1.24703444e-02 1.81537312e+02] [-6.60478305e-01 7.50759346e-01 1.13496259e-02 1.11226100e+02] [ 1.68595153e-02 -2.83270894e-04 9.99857828e-01 7.80785193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.56, Y:111.21, Z:7.81 [[ 7.51131143e-01 6.60041220e-01 -1.21488614e-02 1.81557729e+02] [-6.59948689e-01 7.51229330e-01 1.10553722e-02 1.11206377e+02] [ 1.64235824e-02 -2.86409209e-04 9.99865083e-01 7.80860776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.58, Y:111.19, Z:7.81 [[ 7.51738014e-01 6.59350527e-01 -1.21178117e-02 1.81579545e+02] [-6.59258404e-01 7.51835616e-01 1.10255862e-02 1.11186469e+02] [ 1.63803285e-02 -2.99583089e-04 9.99865789e-01 7.80945458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.60, Y:111.17, Z:7.81 [[ 7.52352255e-01 6.58643731e-01 -1.24306315e-02 1.81599502e+02] [-6.58546709e-01 7.52454870e-01 1.13092725e-02 1.11166172e+02] [ 1.68022706e-02 -3.22405175e-04 9.99858780e-01 7.80947551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.62, Y:111.15, Z:7.81 [[ 7.52402981e-01 6.58585771e-01 -1.24312265e-02 1.81620533e+02] [-6.58488753e-01 7.52505600e-01 1.13086184e-02 1.11147153e+02] [ 1.68022627e-02 -3.22815336e-04 9.99858780e-01 7.80985036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.64, Y:111.13, Z:7.81 [[ 7.52450931e-01 6.58528006e-01 -1.25881808e-02 1.81641640e+02] [-6.58428544e-01 7.52556150e-01 1.14496116e-02 1.11127259e+02] [ 1.70132027e-02 -3.26853374e-04 9.99855212e-01 7.80995470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.66, Y:111.11, Z:7.81 [[ 7.52339631e-01 6.58647029e-01 -1.30065817e-02 1.81663027e+02] [-6.58540895e-01 7.52451979e-01 1.18283062e-02 1.11107833e+02] [ 1.75775069e-02 -3.33537529e-04 9.99845448e-01 7.81084000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.68, Y:111.09, Z:7.81 [[ 7.51896683e-01 6.59150289e-01 -1.31253498e-02 1.81684784e+02] [-6.59042318e-01 7.52011165e-01 1.19344819e-02 1.11088626e+02] [ 1.77370268e-02 -3.23336347e-04 9.99842634e-01 7.81115963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04275509600006 meters Centerline goodness [0,1] 0.9999350565008442 Centerline is valid? [True, True] Translation: X:181.71, Y:111.07, Z:7.81 [[ 7.51566977e-01 6.59525826e-01 -1.31439667e-02 1.81706311e+02] [-6.59417637e-01 7.51681839e-01 1.19495974e-02 1.11070049e+02] [ 1.77611492e-02 -3.13559330e-04 9.99842209e-01 7.81145535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.73, Y:111.05, Z:7.81 [[ 7.51326188e-01 6.59797033e-01 -1.32979278e-02 1.81728092e+02] [-6.59686370e-01 7.51443797e-01 1.20877358e-02 1.11051467e+02] [ 1.79680976e-02 -3.09370772e-04 9.99838513e-01 7.81167391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.75, Y:111.03, Z:7.81 [[ 7.50495519e-01 6.60740620e-01 -1.33532224e-02 1.81752208e+02] [-6.60629213e-01 7.50614249e-01 1.21364085e-02 1.11033384e+02] [ 1.80421371e-02 -2.86791436e-04 9.99837186e-01 7.81254886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.77, Y:111.01, Z:7.81 [[ 7.50213934e-01 6.61061071e-01 -1.33159339e-02 1.81771785e+02] [-6.60950361e-01 7.50332049e-01 1.21011136e-02 1.11013320e+02] [ 1.79909471e-02 -2.77252758e-04 9.99838111e-01 7.81257782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.79, Y:110.99, Z:7.81 [[ 7.49752802e-01 6.61583126e-01 -1.33605251e-02 1.81791938e+02] [-6.61471807e-01 7.49871788e-01 1.21387827e-02 1.10994051e+02] [ 1.80494947e-02 -2.63475683e-04 9.99837060e-01 7.81333102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:110.98, Z:7.81 [[ 7.49582229e-01 6.61777247e-01 -1.33175579e-02 1.81814605e+02] [-6.61666726e-01 7.49700481e-01 1.20968049e-02 1.10976107e+02] [ 1.79895698e-02 -2.55765044e-04 9.99838142e-01 7.81383384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.83, Y:110.96, Z:7.81 [[ 7.49489530e-01 6.61882001e-01 -1.33289450e-02 1.81834694e+02] [-6.61771344e-01 7.49608000e-01 1.21051377e-02 1.10957334e+02] [ 1.80036565e-02 -2.51960132e-04 9.99837889e-01 7.81357404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:110.94, Z:7.81 [[ 7.49581662e-01 6.61779127e-01 -1.32559456e-02 1.81856798e+02] [-6.61669702e-01 7.49698822e-01 1.20366404e-02 1.10938557e+02] [ 1.79035641e-02 -2.51387321e-04 9.99839687e-01 7.81447975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2827550960001 meters Centerline goodness [0,1] 0.9999564810583806 Centerline is valid? [True, True] Translation: X:181.88, Y:110.92, Z:7.81 [[ 7.49599463e-01 6.61761306e-01 -1.31384485e-02 1.81880393e+02] [-6.61653830e-01 7.49714554e-01 1.19288247e-02 1.10917423e+02] [ 1.77441207e-02 -2.48735797e-04 9.99842530e-01 7.81430446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.90, Y:110.90, Z:7.82 [[ 7.49671473e-01 6.61683051e-01 -1.29700363e-02 1.81901553e+02] [-6.61578291e-01 7.49783621e-01 1.17765047e-02 1.10896511e+02] [ 1.75170344e-02 -2.47815166e-04 9.99846534e-01 7.81515675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.92, Y:110.88, Z:7.82 [[ 7.49930430e-01 6.61391485e-01 -1.28706712e-02 1.81923209e+02] [-6.61288295e-01 7.50040825e-01 1.16854993e-02 1.10876972e+02] [ 1.73822186e-02 -2.52087295e-04 9.99848886e-01 7.81592336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.94, Y:110.86, Z:7.82 [[ 7.50332005e-01 6.60941937e-01 -1.25554371e-02 1.81944596e+02] [-6.60843703e-01 7.50437000e-01 1.13977481e-02 1.10856422e+02] [ 1.69553143e-02 -2.54913698e-04 9.99856216e-01 7.81717076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.96, Y:110.84, Z:7.82 [[ 7.50530798e-01 6.60728280e-01 -1.19021131e-02 1.81963783e+02] [-6.60639995e-01 7.50625126e-01 1.08036323e-02 1.10836785e+02] [ 1.60722905e-02 -2.45446791e-04 9.99870802e-01 7.81808353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.98, Y:110.82, Z:7.82 [[ 7.50744821e-01 6.60494500e-01 -1.13679053e-02 1.81984332e+02] [-6.60413965e-01 7.50830846e-01 1.03167602e-02 1.10818284e+02] [ 1.53495373e-02 -2.37730896e-04 9.99882161e-01 7.81920853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:110.80, Z:7.82 [[ 7.50874466e-01 6.60351968e-01 -1.10822148e-02 1.82006805e+02] [-6.60275446e-01 7.50956207e-01 1.00553732e-02 1.10800051e+02] [ 1.49623434e-02 -2.33008615e-04 9.99888031e-01 7.82113633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.03, Y:110.78, Z:7.82 [[ 7.50567976e-01 6.60706923e-01 -1.06806013e-02 1.82031753e+02] [-6.60635895e-01 7.50643933e-01 9.69015818e-03 1.10778895e+02] [ 1.44196832e-02 -2.17133808e-04 9.99896007e-01 7.82235048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.05, Y:110.76, Z:7.82 [[ 7.50185484e-01 6.61145897e-01 -1.03847040e-02 1.82054122e+02] [-6.61078714e-01 7.50257329e-01 9.42725411e-03 1.10758944e+02] [ 1.40239906e-02 -2.07082436e-04 9.99901638e-01 7.82317566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.08, Y:110.74, Z:7.82 [[ 7.50099011e-01 6.61237113e-01 -1.08144793e-02 1.82076395e+02] [-6.61164261e-01 7.50176935e-01 9.81762822e-03 1.10739916e+02] [ 1.46045531e-02 -2.14046000e-04 9.99893325e-01 7.82368495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:110.72, Z:7.82 [[ 7.50104034e-01 6.61231862e-01 -1.07871855e-02 1.82097492e+02] [-6.61159399e-01 7.50181564e-01 9.79130841e-03 1.10721078e+02] [ 1.45666728e-02 -2.12450846e-04 9.99893878e-01 7.82401168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.12, Y:110.70, Z:7.82 [[ 7.49863763e-01 6.61493837e-01 -1.14122718e-02 1.82119558e+02] [-6.61412794e-01 7.49950569e-01 1.03566589e-02 1.10702676e+02] [ 1.54095057e-02 -2.17860645e-04 9.99881243e-01 7.82448571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.14, Y:110.68, Z:7.83 [[ 7.49705256e-01 6.61676777e-01 -1.12192842e-02 1.82142475e+02] [-6.61598494e-01 7.49789170e-01 1.01800658e-02 1.10683141e+02] [ 1.51480109e-02 -2.09387291e-04 9.99885240e-01 7.82506963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.16, Y:110.66, Z:7.83 [[ 7.49507883e-01 6.61892031e-01 -1.16992347e-02 1.82162950e+02] [-6.61806950e-01 7.49599155e-01 1.06144890e-02 1.10664696e+02] [ 1.57953821e-02 -2.13008362e-04 9.99875222e-01 7.82565885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.18, Y:110.65, Z:7.83 [[ 7.49397153e-01 6.62022179e-01 -1.14255049e-02 1.82183166e+02] [-6.61941078e-01 7.49484218e-01 1.03641543e-02 1.10645008e+02] [ 1.54245357e-02 -2.03856704e-04 9.99881014e-01 7.82603355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.21, Y:110.63, Z:7.83 [[ 7.49326351e-01 6.62099360e-01 -1.15956010e-02 1.82205809e+02] [-6.62015867e-01 7.49416037e-01 1.05164475e-02 1.10626989e+02] [ 1.56528625e-02 -2.03779383e-04 9.99877466e-01 7.82669507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:110.61, Z:7.83 [[ 7.49217377e-01 6.62226931e-01 -1.13495695e-02 1.82227603e+02] [-6.62146983e-01 7.49303312e-01 1.02917368e-02 1.10607519e+02] [ 1.53197353e-02 -1.95664799e-04 9.99882627e-01 7.82730996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.25, Y:110.59, Z:7.83 [[ 7.48690643e-01 6.62827836e-01 -1.10263452e-02 1.82248132e+02] [-6.62752466e-01 7.48771813e-01 9.99701552e-03 1.10588764e+02] [ 1.48825166e-02 -1.76934529e-04 9.99889234e-01 7.82842263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.27, Y:110.57, Z:7.83 [[ 7.48174403e-01 6.63404286e-01 -1.13936564e-02 1.82270149e+02] [-6.63323916e-01 7.48261134e-01 1.03275065e-02 1.10570585e+02] [ 1.53767423e-02 -1.69091221e-04 9.99881757e-01 7.82872474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:110.55, Z:7.83 [[ 7.48079982e-01 6.63507142e-01 -1.16023058e-02 1.82291234e+02] [-6.63423840e-01 7.48169930e-01 1.05149554e-02 1.10551601e+02] [ 1.56572443e-02 -1.68781412e-04 9.99877404e-01 7.82871537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.31, Y:110.53, Z:7.83 [[ 7.48152236e-01 6.63420277e-01 -1.19066388e-02 1.82312997e+02] [-6.63332564e-01 7.48246955e-01 1.07890448e-02 1.10531965e+02] [ 1.60667774e-02 -1.73786754e-04 9.99870906e-01 7.82895530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.33, Y:110.51, Z:7.83 [[ 7.48560634e-01 6.62961597e-01 -1.17855277e-02 1.82334292e+02] [-6.62875629e-01 7.48653383e-01 1.06776502e-02 1.10512277e+02] [ 1.59021472e-02 -1.80529489e-04 9.99873537e-01 7.82947233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.35, Y:110.49, Z:7.83 [[ 7.50222036e-01 6.61087991e-01 -1.13826295e-02 1.82353906e+02] [-6.61007610e-01 7.50308352e-01 1.03109806e-02 1.10492275e+02] [ 1.53569474e-02 -2.11520122e-04 9.99882053e-01 7.83029692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.38, Y:110.47, Z:7.83 [[ 7.51129665e-01 6.60059662e-01 -1.12013186e-02 1.82376014e+02] [-6.59981736e-01 7.51213146e-01 1.01448507e-02 1.10471816e+02] [ 1.51107845e-02 -2.27432592e-04 9.99885800e-01 7.83102509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.40, Y:110.45, Z:7.83 [[ 7.53313261e-01 6.57579027e-01 -1.04381489e-02 1.82395577e+02] [-6.57511119e-01 7.53385530e-01 9.45363774e-03 1.10450028e+02] [ 1.40804642e-02 -2.58351731e-04 9.99900832e-01 7.83255340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.42, Y:110.43, Z:7.83 [[ 7.54254983e-01 6.56506174e-01 -9.95310498e-03 1.82419144e+02] [-6.56444341e-01 7.54320604e-01 9.01408655e-03 1.10428713e+02] [ 1.34256356e-02 -2.65260254e-04 9.99909837e-01 7.83369964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.44, Y:110.41, Z:7.83 [[ 7.55930775e-01 6.54580975e-01 -9.61305030e-03 1.82441527e+02] [-6.54523078e-01 7.55991840e-01 8.71083408e-03 1.10407190e+02] [ 1.29693338e-02 -2.92824287e-04 9.99915852e-01 7.83482909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.46, Y:110.39, Z:7.84 [[ 7.56541753e-01 6.53877559e-01 -9.41874609e-03 1.82463644e+02] [-6.53821868e-01 7.56600321e-01 8.53923912e-03 1.10387073e+02] [ 1.27098431e-02 -3.02108771e-04 9.99919181e-01 7.83546920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:110.37, Z:7.84 [[ 7.56798576e-01 6.53583302e-01 -9.20777277e-03 1.82487830e+02] [-6.53530056e-01 7.56854529e-01 8.34801248e-03 1.10366165e+02] [ 1.24250661e-02 -3.00207707e-04 9.99922761e-01 7.83590533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:110.35, Z:7.84 [[ 7.57520863e-01 6.52742606e-01 -9.44632227e-03 1.82510102e+02] [-6.52686435e-01 7.57579689e-01 8.56929874e-03 1.10347267e+02] [ 1.27498883e-02 -3.25936168e-04 9.99918664e-01 7.83590397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:110.33, Z:7.84 [[ 7.57577680e-01 6.52674183e-01 -9.61616902e-03 1.82532475e+02] [-6.52615973e-01 7.57638635e-01 8.72304983e-03 1.10328354e+02] [ 1.29788906e-02 -3.32722352e-04 9.99915715e-01 7.83615819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.55, Y:110.31, Z:7.84 [[ 7.57840336e-01 6.52369713e-01 -9.58031743e-03 1.82554604e+02] [-6.52311929e-01 7.57900815e-01 8.68921411e-03 1.10310984e+02] [ 1.29295105e-02 -3.35681595e-04 9.99916354e-01 7.83606292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.58, Y:110.29, Z:7.84 [[ 7.57934520e-01 6.52260321e-01 -9.57794321e-03 1.82576190e+02] [-6.52202578e-01 7.57994961e-01 8.68542471e-03 1.10293177e+02] [ 1.29251906e-02 -3.36223949e-04 9.99916410e-01 7.83632641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.60, Y:110.28, Z:7.84 [[ 7.57866034e-01 6.52335016e-01 -9.90461548e-03 1.82598612e+02] [-6.52273301e-01 7.57930675e-01 8.97957455e-03 1.10275231e+02] [ 1.33647028e-02 -3.44798312e-04 9.99910629e-01 7.83607355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.62, Y:110.26, Z:7.84 [[ 7.57474661e-01 6.52789425e-01 -9.90475525e-03 1.82620995e+02] [-6.52727765e-01 7.57539341e-01 8.97836006e-03 1.10257637e+02] [ 1.33642203e-02 -3.35771482e-04 9.99910638e-01 7.83581199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.64, Y:110.24, Z:7.84 [[ 7.56654169e-01 6.53736312e-01 -1.01637605e-02 1.82643531e+02] [-6.53671490e-01 7.56722358e-01 9.21172857e-03 1.10241342e+02] [ 1.37131863e-02 -3.26332337e-04 9.99905917e-01 7.83543874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.67, Y:110.22, Z:7.84 [[ 7.56311823e-01 6.54132143e-01 -1.01766815e-02 1.82666414e+02] [-6.54067215e-01 7.56380220e-01 9.22175447e-03 1.10223550e+02] [ 1.37296866e-02 -3.18288230e-04 9.99905693e-01 7.83571036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.69, Y:110.21, Z:7.84 [[ 7.55371493e-01 6.55224223e-01 -9.75325678e-03 1.82691677e+02] [-6.55164693e-01 7.55434403e-01 8.83680911e-03 1.10207959e+02] [ 1.31580371e-02 -2.85084208e-04 9.99913389e-01 7.83646565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.71, Y:110.19, Z:7.84 [[ 7.54868790e-01 6.55809576e-01 -9.32261007e-03 1.82714657e+02] [-6.55755247e-01 7.54926309e-01 8.44537279e-03 1.10189951e+02] [ 1.25764400e-02 -2.61797871e-04 9.99920879e-01 7.83715549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.74, Y:110.17, Z:7.84 [[ 7.54143214e-01 6.56651964e-01 -8.72988613e-03 1.82737226e+02] [-6.56604393e-01 7.54193705e-01 7.90730281e-03 1.10173513e+02] [ 1.17763711e-02 -2.31157175e-04 9.99930629e-01 7.83776312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.76, Y:110.16, Z:7.84 [[ 7.53831933e-01 6.57013925e-01 -8.37370335e-03 1.82760822e+02] [-6.56970197e-01 7.53878409e-01 7.58322772e-03 1.10156811e+02] [ 1.12950404e-02 -2.15205677e-04 9.99936186e-01 7.83765943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.78, Y:110.14, Z:7.84 [[ 7.53511769e-01 6.57380259e-01 -8.43856603e-03 1.82781447e+02] [-6.57335886e-01 7.53558990e-01 7.64078206e-03 1.10138747e+02] [ 1.13818566e-02 -2.10446925e-04 9.99935202e-01 7.83765577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.80, Y:110.12, Z:7.84 [[ 7.53427784e-01 6.57476537e-01 -8.43666856e-03 1.82804338e+02] [-6.57432208e-01 7.53474990e-01 7.63749964e-03 1.10121174e+02] [ 1.13782956e-02 -2.07766781e-04 9.99935244e-01 7.83725086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.83, Y:110.10, Z:7.84 [[ 7.53367793e-01 6.57545457e-01 -8.42265917e-03 1.82825885e+02] [-6.57501292e-01 7.53414846e-01 7.62371602e-03 1.10102899e+02] [ 1.13586963e-02 -2.05552817e-04 9.99935467e-01 7.83736297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.85, Y:110.08, Z:7.84 [[ 7.53192629e-01 6.57749422e-01 -8.15845112e-03 1.82848476e+02] [-6.57708017e-01 7.53236788e-01 7.38276804e-03 1.10084899e+02] [ 1.10012569e-02 -1.94767770e-04 9.99939465e-01 7.83789469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.87, Y:110.07, Z:7.84 [[ 7.53003064e-01 6.57965644e-01 -8.22175032e-03 1.82871077e+02] [-6.57923619e-01 7.53047923e-01 7.43886876e-03 1.10067134e+02] [ 1.10858921e-02 -1.92207243e-04 9.99938531e-01 7.83777918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.89, Y:110.05, Z:7.84 [[ 7.52816288e-01 6.58179286e-01 -8.22578940e-03 1.82893943e+02] [-6.58137246e-01 7.52861203e-01 7.44134669e-03 1.10049115e+02] [ 1.10906180e-02 -1.88268606e-04 9.99938479e-01 7.83773786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.91, Y:110.03, Z:7.84 [[ 7.52880937e-01 6.58099282e-01 -8.69650284e-03 1.82914388e+02] [-6.58052302e-01 7.52931136e-01 7.86595021e-03 1.10032005e+02] [ 1.17244439e-02 -1.99370250e-04 9.99931246e-01 7.83673060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.94, Y:110.01, Z:7.84 [[ 7.53339219e-01 6.57571084e-01 -8.96049773e-03 1.82935058e+02] [-6.57521199e-01 7.53392478e-01 8.10234232e-03 1.10012834e+02] [ 1.20786376e-02 -2.12095026e-04 9.99927028e-01 7.83640768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.96, Y:109.99, Z:7.84 [[ 7.54657074e-01 6.56050377e-01 -9.51861453e-03 1.82956000e+02] [-6.55993986e-01 7.54717060e-01 8.60523838e-03 1.09993296e+02] [ 1.28293307e-02 -2.49850134e-04 9.99917670e-01 7.83554516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.98, Y:109.97, Z:7.84 [[ 7.55578219e-01 6.54986849e-01 -9.68410887e-03 1.82975155e+02] [-6.54928411e-01 7.55640228e-01 8.75347063e-03 1.09973482e+02] [ 1.30511104e-02 -2.71533718e-04 9.99914794e-01 7.83541201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.00, Y:109.95, Z:7.84 [[ 7.56795744e-01 6.53579464e-01 -9.69980732e-03 1.82995722e+02] [-6.53520742e-01 7.56857845e-01 8.76596299e-03 1.09953537e+02] [ 1.30706287e-02 -2.95018207e-04 9.99914532e-01 7.83561961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.02, Y:109.94, Z:7.84 [[ 7.56872039e-01 6.53491099e-01 -9.70048386e-03 1.83016233e+02] [-6.53432380e-01 7.56934143e-01 8.76521427e-03 1.09935173e+02] [ 1.30706169e-02 -2.95535346e-04 9.99914532e-01 7.83598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:109.92, Z:7.84 [[ 7.57988156e-01 6.52196310e-01 -9.69165401e-03 1.83035769e+02] [-6.52137619e-01 7.58050047e-01 8.75517821e-03 1.09915015e+02] [ 1.30568537e-02 -3.16029218e-04 9.99914706e-01 7.83599315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.05, Y:109.89, Z:7.84 [[ 7.60142568e-01 6.49690232e-01 -9.26704624e-03 1.83054866e+02] [-6.49636404e-01 7.60198977e-01 8.37004981e-03 1.09893676e+02] [ 1.24827387e-02 -3.42220567e-04 9.99922029e-01 7.83607546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:109.87, Z:7.84 [[ 7.61900312e-01 6.47633752e-01 -8.85653970e-03 1.83077076e+02] [-6.47584468e-01 7.61951701e-01 7.99765328e-03 1.09872927e+02] [ 1.19278057e-02 -3.58056977e-04 9.99928797e-01 7.83625906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.10, Y:109.85, Z:7.84 [[ 7.62475319e-01 6.46961276e-01 -8.51441044e-03 1.83095562e+02] [-6.46915683e-01 7.62522775e-01 7.68874992e-03 1.09849677e+02] [ 1.14667553e-02 -3.54376397e-04 9.99934192e-01 7.83709117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.12, Y:109.83, Z:7.84 [[ 7.63221572e-01 6.46085568e-01 -8.14069112e-03 1.83115722e+02] [-6.46043841e-01 7.63264905e-01 7.35121533e-03 1.09829726e+02] [ 1.09630180e-02 -3.51362756e-04 9.99939843e-01 7.83779917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.14, Y:109.81, Z:7.84 [[ 7.63463983e-01 6.45801259e-01 -7.96744491e-03 1.83136607e+02] [-6.45761288e-01 7.63505477e-01 7.19339510e-03 1.09809413e+02] [ 1.07286914e-02 -3.46830589e-04 9.99942386e-01 7.83844951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.16, Y:109.79, Z:7.84 [[ 7.63305394e-01 6.45994488e-01 -7.48315166e-03 1.83159140e+02] [-6.45959247e-01 7.63342006e-01 6.75523004e-03 1.09790770e+02] [ 1.00760454e-02 -3.22492513e-04 9.99949183e-01 7.83887200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.18, Y:109.77, Z:7.84 [[ 7.61856363e-01 6.47706567e-01 -7.14739514e-03 1.83181987e+02] [-6.47674503e-01 7.61889835e-01 6.45109741e-03 1.09772307e+02] [ 9.62394586e-03 -2.85624011e-04 9.99953648e-01 7.83919811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.20, Y:109.75, Z:7.84 [[ 7.60890084e-01 6.48838328e-01 -7.42323446e-03 1.83204161e+02] [-6.48803803e-01 7.60926241e-01 6.69932954e-03 1.09753795e+02] [ 9.99531567e-03 -2.81230669e-04 9.99950006e-01 7.83928549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.23, Y:109.74, Z:7.84 [[ 7.59577152e-01 6.50368012e-01 -8.00001820e-03 1.83225448e+02] [-6.50328009e-01 7.59619227e-01 7.21869076e-03 1.09735447e+02] [ 1.07717732e-02 -2.80516655e-04 9.99941943e-01 7.83906069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.25, Y:109.72, Z:7.84 [[ 7.58106804e-01 6.52079757e-01 -8.12794541e-03 1.83246278e+02] [-6.52038580e-01 7.58150330e-01 7.33267248e-03 1.09717272e+02] [ 1.09436918e-02 -2.59214914e-04 9.99940082e-01 7.83908582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.27, Y:109.70, Z:7.84 [[ 7.54787139e-01 6.55909991e-01 -8.85761390e-03 1.83270043e+02] [-6.55861371e-01 7.54839079e-01 7.98919609e-03 1.09699815e+02] [ 1.19262667e-02 -2.20775668e-04 9.99928855e-01 7.83908295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:109.68, Z:7.84 [[ 7.53290008e-01 6.57626040e-01 -9.06395929e-03 1.83291573e+02] [-6.57575263e-01 7.53344512e-01 8.17436413e-03 1.09681358e+02] [ 1.22039587e-02 -1.97431408e-04 9.99925509e-01 7.83935965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.31, Y:109.66, Z:7.84 [[ 7.50536035e-01 6.60760876e-01 -9.52490902e-03 1.83314449e+02] [-6.60705073e-01 7.50596457e-01 8.58868477e-03 1.09663266e+02] [ 1.28244298e-02 -1.52961705e-04 9.99917752e-01 7.83929511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.34, Y:109.64, Z:7.84 [[ 7.49733943e-01 6.61669327e-01 -9.62896526e-03 1.83335880e+02] [-6.61612389e-01 7.49795761e-01 8.68123553e-03 1.09644432e+02] [ 1.29638646e-02 -1.37974232e-04 9.99915956e-01 7.83967157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.36, Y:109.63, Z:7.84 [[ 7.49231463e-01 6.62238467e-01 -9.61388806e-03 1.83356447e+02] [-6.62181815e-01 7.49293132e-01 8.66296896e-03 1.09625018e+02] [ 1.29405716e-02 -1.24427071e-04 9.99916260e-01 7.83998422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.38, Y:109.60, Z:7.84 [[ 7.48481344e-01 6.63083829e-01 -9.77310897e-03 1.83376721e+02] [-6.63025379e-01 7.48545138e-01 8.80476939e-03 1.09604329e+02] [ 1.31539134e-02 -1.10386352e-04 9.99913477e-01 7.84059617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.40, Y:109.58, Z:7.84 [[ 7.48593420e-01 6.62957961e-01 -9.72795873e-03 1.83397383e+02] [-6.62900099e-01 7.48656617e-01 8.75949199e-03 1.09584663e+02] [ 1.30900756e-02 -1.08633263e-04 9.99914315e-01 7.84110639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.42, Y:109.56, Z:7.84 [[ 7.49073977e-01 6.62416989e-01 -9.58696579e-03 1.83416655e+02] [-6.62360774e-01 7.49135315e-01 8.63051269e-03 1.09562288e+02] [ 1.28989329e-02 -1.14862381e-04 9.99916799e-01 7.84158840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.44, Y:109.54, Z:7.84 [[ 7.49754552e-01 6.61643922e-01 -9.76889783e-03 1.83436337e+02] [-6.61585507e-01 7.49818180e-01 8.79285946e-03 1.09541175e+02] [ 1.31426392e-02 -1.29525187e-04 9.99913623e-01 7.84154576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.45, Y:109.52, Z:7.84 [[ 7.50174934e-01 6.61163606e-01 -1.00127033e-02 1.83454809e+02] [-6.61102215e-01 7.50241739e-01 9.01083192e-03 1.09520452e+02] [ 1.34695821e-02 -1.40279910e-04 9.99909271e-01 7.84212739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.47, Y:109.50, Z:7.84 [[ 7.51199266e-01 6.60007305e-01 -9.48789500e-03 1.83473527e+02] [-6.59952109e-01 7.51259166e-01 8.53693407e-03 1.09498263e+02] [ 1.27623069e-02 -1.51382296e-04 9.99918547e-01 7.84305232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.49, Y:109.48, Z:7.84 [[ 7.52047822e-01 6.59038281e-01 -9.62382093e-03 1.83492156e+02] [-6.58981431e-01 7.52109377e-01 8.65787353e-03 1.09478020e+02] [ 1.29440361e-02 -1.69215645e-04 9.99916208e-01 7.84338362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.51, Y:109.46, Z:7.84 [[ 7.53323295e-01 6.57584870e-01 -9.28179095e-03 1.83508928e+02] [-6.57531898e-01 7.53380451e-01 8.34861944e-03 1.09455584e+02] [ 1.24826457e-02 -1.86135882e-04 9.99922071e-01 7.84409576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.53, Y:109.43, Z:7.84 [[ 7.54372350e-01 6.56385901e-01 -8.93905057e-03 1.83528964e+02] [-6.56336703e-01 7.54425284e-01 8.03883005e-03 1.09434396e+02] [ 1.20204205e-02 -1.97244140e-04 9.99927733e-01 7.84477591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:109.41, Z:7.85 [[ 7.55294390e-01 6.55329196e-01 -8.60399990e-03 1.83548299e+02] [-6.55283562e-01 7.55343367e-01 7.73639553e-03 1.09413070e+02] [ 1.15688601e-02 -2.05196449e-04 9.99933057e-01 7.84530189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.57, Y:109.39, Z:7.85 [[ 7.56999740e-01 6.53356556e-01 -8.75238435e-03 1.83565058e+02] [-6.53309215e-01 7.57050298e-01 7.86864187e-03 1.09390098e+02] [ 1.17670239e-02 -2.38546509e-04 9.99930738e-01 7.84601730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.59, Y:109.37, Z:7.85 [[ 7.57686845e-01 6.52561621e-01 -8.60091427e-03 1.83585003e+02] [-6.52515870e-01 7.57735621e-01 7.73100441e-03 1.09368545e+02] [ 1.15621759e-02 -2.45447282e-04 9.99933126e-01 7.84692535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.61, Y:109.35, Z:7.85 [[ 7.58078883e-01 6.52110602e-01 -8.25654710e-03 1.83607055e+02] [-6.52068437e-01 7.58123806e-01 7.41943851e-03 1.09345711e+02] [ 1.10977794e-02 -2.40685895e-04 9.99938389e-01 7.84768651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:109.32, Z:7.85 [[ 7.57680624e-01 6.52574080e-01 -8.19396702e-03 1.83629568e+02] [-6.52532532e-01 7.57724894e-01 7.36751861e-03 1.09323683e+02] [ 1.10166245e-02 -2.35396053e-04 9.99939287e-01 7.84830612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.65, Y:109.30, Z:7.85 [[ 7.56565630e-01 6.53869686e-01 -7.92985194e-03 1.83654791e+02] [-6.53830826e-01 7.56607157e-01 7.13171684e-03 1.09303313e+02] [ 1.06629962e-02 -2.10830197e-04 9.99943126e-01 7.84905272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.68, Y:109.28, Z:7.85 [[ 7.55177976e-01 6.55472779e-01 -7.85242652e-03 1.83676481e+02] [-6.55434711e-01 7.55218777e-01 7.06677841e-03 1.09282547e+02] [ 1.05623808e-02 -1.89922513e-04 9.99944198e-01 7.85014533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.70, Y:109.27, Z:7.85 [[ 7.52225732e-01 6.58849185e-01 -8.61392986e-03 1.83700041e+02] [-6.58803589e-01 7.52275034e-01 7.75275249e-03 1.09267440e+02] [ 1.15879390e-02 -1.56932014e-04 9.99932845e-01 7.84933929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.72, Y:109.25, Z:7.85 [[ 7.50580782e-01 6.60711693e-01 -9.41004656e-03 1.83723786e+02] [-6.60657454e-01 7.50639754e-01 8.46693200e-03 1.09250348e+02] [ 1.26577560e-02 -1.38299042e-04 9.99919878e-01 7.84819895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.75, Y:109.24, Z:7.85 [[ 7.47624421e-01 6.64040183e-01 -1.04096349e-02 1.83749829e+02] [-6.63974198e-01 7.47696883e-01 9.36140999e-03 1.09235316e+02] [ 1.39996040e-02 -8.70897499e-05 9.99901997e-01 7.84681029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.77, Y:109.22, Z:7.85 [[ 7.46434606e-01 6.65374567e-01 -1.05860443e-02 1.83772316e+02] [-6.65306477e-01 7.46509666e-01 9.51894513e-03 1.09217831e+02] [ 1.42362484e-02 -6.23062226e-05 9.99898658e-01 7.84667421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.79, Y:109.20, Z:7.85 [[ 7.45768041e-01 6.66114107e-01 -1.10465170e-02 1.83793789e+02] [-6.66040069e-01 7.45849847e-01 9.93134738e-03 1.09200999e+02] [ 1.48544536e-02 -4.90585116e-05 9.99889665e-01 7.84645639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.82, Y:109.18, Z:7.85 [[ 7.45862056e-01 6.66001387e-01 -1.14867903e-02 1.83816678e+02] [-6.65921367e-01 7.45950501e-01 1.03239349e-02 1.09184008e+02] [ 1.54443319e-02 -5.09321905e-05 9.99880728e-01 7.84590558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.84, Y:109.17, Z:7.85 [[ 7.46482719e-01 6.65305313e-01 -1.15060813e-02 1.83836762e+02] [-6.65225030e-01 7.46571387e-01 1.03355180e-02 1.09166400e+02] [ 1.54663861e-02 -6.11523220e-05 9.99880386e-01 7.84594380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.86, Y:109.15, Z:7.85 [[ 7.48700049e-01 6.62810365e-01 -1.14305348e-02 1.83856384e+02] [-6.62730898e-01 7.48787292e-01 1.02639284e-02 1.09146888e+02] [ 1.53620774e-02 -1.09235137e-04 9.99881990e-01 7.84661883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.88, Y:109.13, Z:7.85 [[ 7.50373302e-01 6.60917440e-01 -1.13157371e-02 1.83877315e+02] [-6.60839372e-01 7.50458605e-01 1.01590881e-02 1.09126812e+02] [ 1.52063107e-02 -1.45223894e-04 9.99884367e-01 7.84744787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.90, Y:109.11, Z:7.85 [[ 7.52263782e-01 6.58771066e-01 -1.09491921e-02 1.83897517e+02] [-6.58697768e-01 7.52343439e-01 9.82859515e-03 1.09106129e+02] [ 1.47123469e-02 -1.81487795e-04 9.99891751e-01 7.84859169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.92, Y:109.08, Z:7.85 [[ 7.56292175e-01 6.54145055e-01 -1.07885853e-02 1.83915513e+02] [-6.54073438e-01 7.56369074e-01 9.68304907e-03 1.09082819e+02] [ 1.44942709e-02 -2.66687170e-04 9.99894917e-01 7.84986435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.93, Y:109.06, Z:7.85 [[ 7.58308605e-01 6.51811202e-01 -1.04984184e-02 1.83934550e+02] [-6.51743177e-01 7.58381214e-01 9.42156694e-03 1.09062069e+02] [ 1.41028862e-02 -3.02182732e-04 9.99900504e-01 7.85055320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.96, Y:109.04, Z:7.85 [[ 7.61337826e-01 6.48270879e-01 -1.04681238e-02 1.83956229e+02] [-6.48202933e-01 7.61409702e-01 9.39274583e-03 1.09041522e+02] [ 1.40595746e-02 -3.65584134e-04 9.99901092e-01 7.85096019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.98, Y:109.02, Z:7.85 [[ 7.62446173e-01 6.46964289e-01 -1.06321536e-02 1.83977157e+02] [-6.46894081e-01 7.62520198e-01 9.53913722e-03 1.09021379e+02] [ 1.42787130e-02 -3.95201418e-04 9.99897976e-01 7.85131566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.00, Y:109.00, Z:7.85 [[ 7.63207410e-01 6.46068776e-01 -1.04683125e-02 1.83996947e+02] [-6.46000652e-01 7.63279092e-01 9.39072520e-03 1.09001849e+02] [ 1.40572984e-02 -4.04534368e-04 9.99901109e-01 7.85130871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.02, Y:108.98, Z:7.85 [[ 7.63220090e-01 6.46048815e-01 -1.07714027e-02 1.84023800e+02] [-6.45976703e-01 7.63295982e-01 9.66144650e-03 1.08982627e+02] [ 1.44635345e-02 -4.15734861e-04 9.99895311e-01 7.85122309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.05, Y:108.96, Z:7.85 [[ 7.62474482e-01 6.46922925e-01 -1.11082407e-02 1.84046491e+02] [-6.46846229e-01 7.62555281e-01 9.96994710e-03 1.08961196e+02] [ 1.49204349e-02 -4.16506649e-04 9.99888597e-01 7.85114359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.07, Y:108.94, Z:7.85 [[ 7.60580996e-01 6.49145835e-01 -1.12353816e-02 1.84072502e+02] [-6.49067536e-01 7.60663881e-01 1.00893263e-02 1.08942606e+02] [ 1.50957932e-02 -3.81228398e-04 9.99885979e-01 7.85134534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.09, Y:108.92, Z:7.85 [[ 7.59104327e-01 6.50868284e-01 -1.14498030e-02 1.84093974e+02] [-6.50787073e-01 7.59190588e-01 1.02876808e-02 1.08919691e+02] [ 1.53885079e-02 -3.58039211e-04 9.99881526e-01 7.85123795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.12, Y:108.90, Z:7.85 [[ 7.57848098e-01 6.52327172e-01 -1.16413476e-02 1.84117922e+02] [-6.52243325e-01 7.57937429e-01 1.04641863e-02 1.08903125e+02] [ 1.56494861e-02 -3.37272404e-04 9.99877482e-01 7.85196179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.14, Y:108.88, Z:7.85 [[ 7.56663467e-01 6.53702021e-01 -1.15786399e-02 1.84140330e+02] [-6.53619259e-01 7.56751990e-01 1.04062398e-02 1.08884915e+02] [ 1.55647388e-02 -3.05999471e-04 9.99878815e-01 7.85221799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.16, Y:108.87, Z:7.85 [[ 7.54487130e-01 6.56215889e-01 -1.13963945e-02 1.84163355e+02] [-6.56136021e-01 7.54573155e-01 1.02409095e-02 1.08867659e+02] [ 1.53196609e-02 -2.49049458e-04 9.99882616e-01 7.85257546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.19, Y:108.85, Z:7.85 [[ 7.53824193e-01 6.56967523e-01 -1.19482234e-02 1.84185735e+02] [-6.56879855e-01 7.53918838e-01 1.07350756e-02 1.08848857e+02] [ 1.60605867e-02 -2.43812466e-04 9.99870991e-01 7.85286034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.21, Y:108.83, Z:7.85 [[ 7.53645052e-01 6.57170826e-01 -1.20682285e-02 1.84206344e+02] [-6.57081441e-01 7.53741632e-01 1.08411896e-02 1.08828586e+02] [ 1.62208398e-02 -2.40599878e-04 9.99868405e-01 7.85321504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.23, Y:108.81, Z:7.85 [[ 7.53905220e-01 6.56872782e-01 -1.20444021e-02 1.84226766e+02] [-6.56783739e-01 7.54001385e-01 1.08181019e-02 1.08808086e+02] [ 1.61876126e-02 -2.45256021e-04 9.99868942e-01 7.85360390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.25, Y:108.79, Z:7.85 [[ 7.54371618e-01 6.56340205e-01 -1.18742215e-02 1.84247301e+02] [-6.56253621e-01 7.54465024e-01 1.06636116e-02 1.08787584e+02] [ 1.59576419e-02 -2.51825051e-04 9.99872637e-01 7.85440047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.27, Y:108.77, Z:7.86 [[ 7.54598694e-01 6.56092581e-01 -1.11056997e-02 1.84267281e+02] [-6.56016838e-01 7.54680375e-01 9.97194268e-03 1.08768128e+02] [ 1.49237713e-02 -2.39288887e-04 9.99888606e-01 7.85562613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.29, Y:108.75, Z:7.86 [[ 7.54776525e-01 6.55891417e-01 -1.09016879e-02 1.84287943e+02] [-6.55818438e-01 7.54855213e-01 9.78687475e-03 1.08749589e+02] [ 1.46483231e-02 -2.37375380e-04 9.99892679e-01 7.85591686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.31, Y:108.73, Z:7.86 [[ 7.55220687e-01 6.55374516e-01 -1.12230994e-02 1.84308021e+02] [-6.55297148e-01 7.55304031e-01 1.00731182e-02 1.08730404e+02] [ 1.50785172e-02 -2.52962216e-04 9.99886281e-01 7.85594791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.33, Y:108.71, Z:7.86 [[ 7.55389460e-01 6.55188520e-01 -1.07129278e-02 1.84328717e+02] [-6.55118033e-01 7.55465382e-01 9.61346139e-03 1.08711651e+02] [ 1.43918756e-02 -2.43675212e-04 9.99896402e-01 7.85667439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.35, Y:108.69, Z:7.86 [[ 7.55462612e-01 6.55104153e-01 -1.07140039e-02 1.84349295e+02] [-6.55033675e-01 7.55538542e-01 9.61226194e-03 1.08693364e+02] [ 1.43918756e-02 -2.43671156e-04 9.99896402e-01 7.85703805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.37, Y:108.67, Z:7.86 [[ 7.55699275e-01 6.54833395e-01 -1.05750154e-02 1.84370888e+02] [-6.54764736e-01 7.55773224e-01 9.48550961e-03 1.08673878e+02] [ 1.42037419e-02 -2.44045584e-04 9.99899092e-01 7.85787127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.39, Y:108.66, Z:7.86 [[ 7.55528313e-01 6.55039290e-01 -1.00248156e-02 1.84392390e+02] [-6.54977626e-01 7.55594784e-01 8.99071145e-03 1.08655607e+02] [ 1.34639676e-02 -2.26707133e-04 9.99909331e-01 7.85872697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.42, Y:108.64, Z:7.86 [[ 7.55273711e-01 6.55326625e-01 -1.04228596e-02 1.84415095e+02] [-6.55260019e-01 7.55345591e-01 9.34591641e-03 1.08637113e+02] [ 1.39974889e-02 -2.29041786e-04 9.99902004e-01 7.85876029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.44, Y:108.62, Z:7.86 [[ 7.55393033e-01 6.55185428e-01 -1.06499347e-02 1.84436003e+02] [-6.55115895e-01 7.55468067e-01 9.54802303e-03 1.08620110e+02] [ 1.43014111e-02 -2.35568564e-04 9.99897702e-01 7.85845512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.46, Y:108.60, Z:7.86 [[ 7.55515869e-01 6.55031505e-01 -1.13798125e-02 1.84459942e+02] [-6.54952136e-01 7.55601524e-01 1.01997738e-02 1.08603207e+02] [ 1.52797768e-02 -2.52858449e-04 9.99883225e-01 7.85787494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.48, Y:108.58, Z:7.86 [[ 7.55594820e-01 6.54929565e-01 -1.19888642e-02 1.84481874e+02] [-6.54841487e-01 7.55689880e-01 1.07439654e-02 1.08584647e+02] [ 1.60964039e-02 -2.67278913e-04 9.99870409e-01 7.85780055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.50, Y:108.57, Z:7.86 [[ 7.55856985e-01 6.54626013e-01 -1.20416446e-02 1.84503931e+02] [-6.54537147e-01 7.55952848e-01 1.07896163e-02 1.08565699e+02] [ 1.61660790e-02 -2.73703108e-04 9.99869283e-01 7.85842668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.52, Y:108.55, Z:7.86 [[ 7.56195748e-01 6.54233426e-01 -1.21084352e-02 1.84524122e+02] [-6.54143549e-01 7.56292631e-01 1.08477267e-02 1.08546671e+02] [ 1.62544657e-02 -2.82350029e-04 9.99867848e-01 7.85895774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:108.53, Z:7.86 [[ 7.56526037e-01 6.53856607e-01 -1.18276383e-02 1.84545244e+02] [-6.53770834e-01 7.56618436e-01 1.05942687e-02 1.08527689e+02] [ 1.58761418e-02 -2.82275120e-04 9.99873926e-01 7.85982349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.56, Y:108.51, Z:7.86 [[ 7.57519268e-01 6.52715227e-01 -1.12868002e-02 1.84564534e+02] [-6.52637015e-01 7.57603292e-01 1.01083215e-02 1.08507930e+02] [ 1.51487724e-02 -2.91064684e-04 9.99885208e-01 7.86089769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.59, Y:108.49, Z:7.86 [[ 7.58069724e-01 6.52077396e-01 -1.11965612e-02 1.84585650e+02] [-6.52000388e-01 7.58152346e-01 1.00256969e-02 1.08488291e+02] [ 1.50262295e-02 -3.00015082e-04 9.99887055e-01 7.86182162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.61, Y:108.47, Z:7.86 [[ 7.58842626e-01 6.51186340e-01 -1.06873697e-02 1.84607039e+02] [-6.51116108e-01 7.58917821e-01 9.56841906e-03 1.08468964e+02] [ 1.43416591e-02 -3.02205652e-04 9.99897107e-01 7.86300678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.63, Y:108.45, Z:7.87 [[ 7.60099337e-01 6.49732823e-01 -9.81110496e-03 1.84627680e+02] [-6.49673530e-01 7.60162593e-01 8.78270803e-03 1.08448174e+02] [ 1.31644487e-02 -3.01715353e-04 9.99913299e-01 7.86528191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.65, Y:108.43, Z:7.87 [[ 7.60622898e-01 6.49127591e-01 -9.28318765e-03 1.84647385e+02] [-6.49074477e-01 7.60679489e-01 8.30899413e-03 1.08428904e+02] [ 1.24551278e-02 -2.94531034e-04 9.99922389e-01 7.86681853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.67, Y:108.41, Z:7.87 [[ 7.60812185e-01 6.48917457e-01 -8.42335716e-03 1.84673391e+02] [-6.48873739e-01 7.60858766e-01 7.53723390e-03 1.08409493e+02] [ 1.13000278e-02 -2.68724135e-04 9.99936117e-01 7.86845862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.70, Y:108.39, Z:7.87 [[ 7.60666658e-01 6.49084796e-01 -8.66967403e-03 1.84695235e+02] [-6.49038436e-01 7.60716012e-01 7.76259040e-03 1.08387990e+02] [ 1.16337393e-02 -2.77792021e-04 9.99932287e-01 7.86947197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.72, Y:108.37, Z:7.87 [[ 7.60371564e-01 6.49433345e-01 -8.45075370e-03 1.84719697e+02] [-6.49389315e-01 7.60418477e-01 7.56690990e-03 1.08368990e+02] [ 1.13403129e-02 -2.65833955e-04 9.99935661e-01 7.86993936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.75, Y:108.35, Z:7.87 [[ 7.59314069e-01 6.50667147e-01 -8.62602045e-03 1.84745347e+02] [-6.50621358e-01 7.59363023e-01 7.72323807e-03 1.08350145e+02] [ 1.15755382e-02 -2.52090186e-04 9.99932969e-01 7.86982181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.77, Y:108.33, Z:7.87 [[ 7.58574508e-01 6.51525620e-01 -8.89276487e-03 1.84770035e+02] [-6.51476960e-01 7.58626590e-01 7.96662065e-03 1.08330173e+02] [ 1.19367453e-02 -2.49843919e-04 9.99928723e-01 7.86977350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.79, Y:108.31, Z:7.87 [[ 7.57337896e-01 6.52950276e-01 -9.75951785e-03 1.84792941e+02] [-6.52891714e-01 7.57400735e-01 8.74850474e-03 1.08312124e+02] [ 1.31042046e-02 -2.53665840e-04 9.99914104e-01 7.86900553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36275509600006 meters Centerline goodness [0,1] 0.9999571266265086 Centerline is valid? [True, True] Translation: X:184.82, Y:108.29, Z:7.87 [[ 7.56789382e-01 6.53580183e-01 -1.01377934e-02 1.84815635e+02] [-6.53517043e-01 7.56857239e-01 9.08811209e-03 1.08293784e+02] [ 1.36126723e-02 -2.52566000e-04 9.99907311e-01 7.86849469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.84, Y:108.27, Z:7.87 [[ 7.56249687e-01 6.54198257e-01 -1.05380416e-02 1.84840422e+02] [-6.54130113e-01 7.56323064e-01 9.44554075e-03 1.08274561e+02] [ 1.41494202e-02 -2.49936872e-04 9.99899861e-01 7.86813163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.86, Y:108.25, Z:7.87 [[ 7.55933422e-01 6.54553947e-01 -1.11262006e-02 1.84861405e+02] [-6.54478009e-01 7.56015254e-01 9.97352740e-03 1.08254390e+02] [ 1.49397891e-02 -2.57469051e-04 9.99888362e-01 7.86757707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.88, Y:108.24, Z:7.87 [[ 7.55948323e-01 6.54521827e-01 -1.19712631e-02 1.84884763e+02] [-6.54433906e-01 7.56043055e-01 1.07313402e-02 1.08236643e+02] [ 1.60746867e-02 -2.77938146e-04 9.99870755e-01 7.86715123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:108.22, Z:7.87 [[ 7.56246208e-01 6.54169072e-01 -1.24297394e-02 1.84904964e+02] [-6.54074259e-01 7.56348292e-01 1.11411455e-02 1.08218030e+02] [ 1.66894050e-02 -2.95476429e-04 9.99860679e-01 7.86662643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:108.20, Z:7.87 [[ 7.56532824e-01 6.53836791e-01 -1.24714620e-02 1.84927477e+02] [-6.53741328e-01 7.56635553e-01 1.11766106e-02 1.08198652e+02] [ 1.67440308e-02 -3.02362675e-04 9.99859763e-01 7.86739593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.95, Y:108.18, Z:7.87 [[ 7.56989943e-01 6.53308988e-01 -1.23932430e-02 1.84948330e+02] [-6.53214666e-01 7.57091321e-01 1.11054537e-02 1.08179323e+02] [ 1.66381094e-02 -3.11268730e-04 9.99861529e-01 7.86798216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.97, Y:108.16, Z:7.87 [[ 7.57487171e-01 6.52736214e-01 -1.21910141e-02 1.84967025e+02] [-6.52644900e-01 7.57585200e-01 1.09224553e-02 1.08159111e+02] [ 1.63652140e-02 -3.17216574e-04 9.99866031e-01 7.86821669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:108.14, Z:7.87 [[ 7.57947656e-01 6.52206715e-01 -1.19059636e-02 1.84991864e+02] [-6.52119583e-01 7.58041093e-01 1.06653783e-02 1.08141348e+02] [ 1.59812411e-02 -3.19686469e-04 9.99872241e-01 7.86950812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:108.12, Z:7.87 [[ 7.57931794e-01 6.52227829e-01 -1.17581484e-02 1.85014503e+02] [-6.52142852e-01 7.58022928e-01 1.05328286e-02 1.08121935e+02] [ 1.57827500e-02 -3.15173210e-04 9.99875395e-01 7.87027205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.04, Y:108.10, Z:7.87 [[ 7.57765809e-01 6.52420747e-01 -1.17535934e-02 1.85038608e+02] [-6.52335855e-01 7.57856894e-01 1.05290110e-02 1.08100916e+02] [ 1.57768870e-02 -3.11234124e-04 9.99875489e-01 7.87096998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.06, Y:108.08, Z:7.87 [[ 7.57539026e-01 6.52687595e-01 -1.15554464e-02 1.85059795e+02] [-6.52605495e-01 7.57627093e-01 1.03564995e-02 1.08079486e+02] [ 1.55142779e-02 -3.04304722e-04 9.99879600e-01 7.87132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.08, Y:108.06, Z:7.87 [[ 7.57054061e-01 6.53249938e-01 -1.15614307e-02 1.85082133e+02] [-6.53167817e-01 7.57142280e-01 1.03619797e-02 1.08061000e+02] [ 1.55226106e-02 -2.93024347e-04 9.99879474e-01 7.87225039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.10, Y:108.04, Z:7.87 [[ 7.56613112e-01 6.53757046e-01 -1.17611036e-02 1.85104502e+02] [-6.53672151e-01 7.56704462e-01 1.05392733e-02 1.08042666e+02] [ 1.57898038e-02 -2.86246486e-04 9.99875292e-01 7.87263076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.13, Y:108.02, Z:7.87 [[ 7.55960946e-01 6.54509181e-01 -1.18650801e-02 1.85126393e+02] [-6.54422897e-01 7.56054005e-01 1.06307625e-02 1.08024385e+02] [ 1.59285730e-02 -2.71661207e-04 9.99873095e-01 7.87282549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.15, Y:108.01, Z:7.87 [[ 7.54130442e-01 6.56614974e-01 -1.20021977e-02 1.85149650e+02] [-6.56526978e-01 7.54225910e-01 1.07519128e-02 1.08007183e+02] [ 1.61122354e-02 -2.28578193e-04 9.99870163e-01 7.87280348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8427550960001 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:185.17, Y:107.99, Z:7.87 [[ 7.53123626e-01 6.57766659e-01 -1.21583936e-02 1.85170734e+02] [-6.57676537e-01 7.53221734e-01 1.08900371e-02 1.07989399e+02] [ 1.63210696e-02 -2.05253980e-04 9.99866781e-01 7.87248709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.87275509600005 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:185.19, Y:107.97, Z:7.87 [[ 7.51059363e-01 6.60115969e-01 -1.25196097e-02 1.85193647e+02] [-6.60020773e-01 7.51163686e-01 1.12114406e-02 1.07972378e+02] [ 1.68051272e-02 -1.57254992e-04 9.99858772e-01 7.87225983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.22, Y:107.95, Z:7.87 [[ 7.50187612e-01 6.61097930e-01 -1.29643397e-02 1.85216223e+02] [-6.60996028e-01 7.50299612e-01 1.16078748e-02 1.07953870e+02] [ 1.74010811e-02 -1.38706819e-04 9.99848580e-01 7.87171227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.24, Y:107.94, Z:7.87 [[ 7.49439976e-01 6.61934382e-01 -1.35128198e-02 1.85238056e+02] [-6.61823848e-01 7.49561778e-01 1.20969399e-02 1.07935967e+02] [ 1.81360736e-02 -1.22823934e-04 9.99835520e-01 7.87147033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.26, Y:107.92, Z:7.87 [[ 7.48177941e-01 6.63343438e-01 -1.43266156e-02 1.85261221e+02] [-6.63219492e-01 7.48315091e-01 1.28230598e-02 1.07918231e+02] [ 1.92269152e-02 -9.22397311e-05 9.99815142e-01 7.87186759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.28, Y:107.90, Z:7.87 [[ 7.47865810e-01 6.63689864e-01 -1.45772077e-02 1.85281470e+02] [-6.63561660e-01 7.48007859e-01 1.30447780e-02 1.07900262e+02] [ 1.95615529e-02 -8.28673427e-05 9.99808651e-01 7.87255230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:107.88, Z:7.87 [[ 7.47946966e-01 6.63596433e-01 -1.46666443e-02 1.85301448e+02] [-6.63466703e-01 7.48090748e-01 1.31212153e-02 1.07881687e+02] [ 1.96791726e-02 -8.31430344e-05 9.99806343e-01 7.87250593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.32, Y:107.86, Z:7.87 [[ 7.48609402e-01 6.62853203e-01 -1.44773759e-02 1.85321651e+02] [-6.62726726e-01 7.48749372e-01 1.29485774e-02 1.07861666e+02] [ 1.94229321e-02 -9.88828137e-05 9.99811352e-01 7.87398244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.34, Y:107.84, Z:7.87 [[ 7.49226693e-01 6.62162044e-01 -1.41700234e-02 1.85341929e+02] [-6.62040811e-01 7.49360671e-01 1.26708122e-02 1.07842325e+02] [ 1.90085891e-02 -1.12176950e-04 9.99819314e-01 7.87492487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.36, Y:107.82, Z:7.88 [[ 7.51154593e-01 6.59991416e-01 -1.33457315e-02 1.85361221e+02] [-6.59883580e-01 7.51273124e-01 1.19312439e-02 1.07821416e+02] [ 1.79008079e-02 -1.55579585e-04 9.99839756e-01 7.87617313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.38, Y:107.80, Z:7.88 [[ 7.52130126e-01 6.58885432e-01 -1.30484157e-02 1.85381861e+02] [-6.58782236e-01 7.52243283e-01 1.16623121e-02 1.07800917e+02] [ 1.74997106e-02 -1.75511784e-04 9.99846853e-01 7.87672135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.40, Y:107.78, Z:7.88 [[ 7.53232464e-01 6.57626083e-01 -1.29919381e-02 1.85401811e+02] [-6.57523697e-01 7.53344473e-01 1.16057534e-02 1.07780587e+02] [ 1.74196509e-02 -1.99323034e-04 9.99848247e-01 7.87719516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.42, Y:107.76, Z:7.88 [[ 7.54328015e-01 6.56371947e-01 -1.28496699e-02 1.85422732e+02] [-6.56271694e-01 7.54437418e-01 1.14736897e-02 1.07760347e+02] [ 1.72252798e-02 -2.22050929e-04 9.99851609e-01 7.87826018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.44, Y:107.74, Z:7.88 [[ 7.55832282e-01 6.54651182e-01 -1.22225712e-02 1.85440430e+02] [-6.54560279e-01 7.55931061e-01 1.09120387e-02 1.07738039e+02] [ 1.63830003e-02 -2.47261460e-04 9.99865759e-01 7.87826881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:107.72, Z:7.88 [[ 7.56366535e-01 6.54035563e-01 -1.21304241e-02 1.85461413e+02] [-6.53945991e-01 7.56463757e-01 1.08270657e-02 1.07717961e+02] [ 1.62575122e-02 -2.56587978e-04 9.99867805e-01 7.87859355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.48, Y:107.70, Z:7.88 [[ 7.56450320e-01 6.53933973e-01 -1.23803429e-02 1.85484221e+02] [-6.53840736e-01 7.56551579e-01 1.10453853e-02 1.07699318e+02] [ 1.65893207e-02 -2.60512689e-04 9.99862354e-01 7.87871146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.51, Y:107.68, Z:7.88 [[ 7.56065245e-01 6.54371678e-01 -1.27692171e-02 1.85506120e+02] [-6.54272569e-01 7.56173023e-01 1.13914025e-02 1.07679314e+02] [ 1.71099486e-02 -2.58095019e-04 9.99853581e-01 7.87816354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.53, Y:107.66, Z:7.88 [[ 7.54939773e-01 6.55662426e-01 -1.31423509e-02 1.85527951e+02] [-6.55557657e-01 7.55054122e-01 1.17230923e-02 1.07660214e+02] [ 1.76095774e-02 -2.34659837e-04 9.99844912e-01 7.87726384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.55, Y:107.64, Z:7.88 [[ 7.54136190e-01 6.56583111e-01 -1.33125918e-02 1.85548972e+02] [-6.56475789e-01 7.54253652e-01 1.18729279e-02 1.07642012e+02] [ 1.78366349e-02 -2.14410353e-04 9.99840892e-01 7.87704383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:107.62, Z:7.88 [[ 7.53359620e-01 6.57471371e-01 -1.34417214e-02 1.85571520e+02] [-6.57362138e-01 7.53479502e-01 1.19858429e-02 1.07623624e+02] [ 1.80084101e-02 -1.93571347e-04 9.99837817e-01 7.87695708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.59, Y:107.60, Z:7.88 [[ 7.51793514e-01 6.59255424e-01 -1.37403808e-02 1.85594133e+02] [-6.59141613e-01 7.51919054e-01 1.22503395e-02 1.07604881e+02] [ 1.84077569e-02 -1.52869001e-04 9.99830551e-01 7.87628459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.47275509600007 meters Centerline goodness [0,1] 0.9999783094375637 Centerline is valid? [True, True] Translation: X:185.61, Y:107.59, Z:7.88 [[ 7.51494424e-01 6.59585744e-01 -1.42399817e-02 1.85614224e+02] [-6.59463615e-01 7.51629314e-01 1.26931033e-02 1.07586722e+02] [ 1.90753777e-02 -1.48046500e-04 9.99818037e-01 7.87641686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.63, Y:107.57, Z:7.88 [[ 7.51377461e-01 6.59718020e-01 -1.42844408e-02 1.85634102e+02] [-6.59595239e-01 7.51513216e-01 1.27282060e-02 1.07566423e+02] [ 1.91319729e-02 -1.41737936e-04 9.99816957e-01 7.87716100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.65, Y:107.55, Z:7.88 [[ 7.51698647e-01 6.59355952e-01 -1.41022258e-02 1.85653149e+02] [-6.59236277e-01 7.51830903e-01 1.25628060e-02 1.07547444e+02] [ 1.88858500e-02 -1.46745438e-04 9.99821636e-01 7.87789178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.67, Y:107.53, Z:7.88 [[ 7.52289807e-01 6.58683963e-01 -1.39815141e-02 1.85673835e+02] [-6.58566266e-01 7.52419704e-01 1.24523625e-02 1.07527171e+02] [ 1.87221382e-02 -1.60031881e-04 9.99824713e-01 7.87902428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:107.51, Z:7.88 [[ 7.53049440e-01 6.57824863e-01 -1.35273975e-02 1.85693474e+02] [-6.57714590e-01 7.53170910e-01 1.20456854e-02 1.07507881e+02] [ 1.81123937e-02 -1.73829920e-04 9.99835942e-01 7.87981951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.71, Y:107.49, Z:7.88 [[ 7.54256379e-01 6.56464311e-01 -1.23256786e-02 1.85712360e+02] [-6.56372624e-01 7.54357060e-01 1.09729105e-02 1.07486560e+02] [ 1.65012868e-02 -1.86149802e-04 9.99863827e-01 7.88185432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.73, Y:107.47, Z:7.88 [[ 7.54327806e-01 6.56382216e-01 -1.23267358e-02 1.85733009e+02] [-6.56290537e-01 7.54428494e-01 1.09717227e-02 1.07468357e+02] [ 1.65012844e-02 -1.86355414e-04 9.99863827e-01 7.88221802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.75, Y:107.45, Z:7.88 [[ 7.54810948e-01 6.55836951e-01 -1.17612439e-02 1.85754569e+02] [-6.55753458e-01 7.54902549e-01 1.04662936e-02 1.07449301e+02] [ 1.57427751e-02 -1.87596623e-04 9.99876057e-01 7.88372644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.78, Y:107.43, Z:7.89 [[ 7.55420595e-01 6.55155791e-01 -1.05173150e-02 1.85777253e+02] [-6.55088977e-01 7.55493784e-01 9.35814713e-03 1.07427063e+02] [ 1.40768104e-02 -1.79559982e-04 9.99900901e-01 7.88588585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.80, Y:107.41, Z:7.89 [[ 7.55543704e-01 6.55019230e-01 -1.01744598e-02 1.85798074e+02] [-6.54956680e-01 7.55612187e-01 9.05374373e-03 1.07405361e+02] [ 1.36183221e-02 -1.76668648e-04 9.99907251e-01 7.88677664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.82, Y:107.38, Z:7.89 [[ 7.55307979e-01 6.55292121e-01 -1.01041509e-02 1.85823094e+02] [-6.55230460e-01 7.55375541e-01 8.99094700e-03 1.07384782e+02] [ 1.35241252e-02 -1.70386576e-04 9.99908530e-01 7.88752771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.84, Y:107.37, Z:7.89 [[ 7.55036104e-01 6.55608334e-01 -9.90930168e-03 1.85844661e+02] [-6.55548992e-01 7.55101110e-01 8.82234516e-03 1.07365151e+02] [ 1.32665277e-02 -1.65156395e-04 9.99911982e-01 7.88802036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.86, Y:107.34, Z:7.89 [[ 7.54698273e-01 6.56000278e-01 -9.70318549e-03 1.85864989e+02] [-6.55943420e-01 7.54760632e-01 8.63817941e-03 1.07344960e+02] [ 1.29902305e-02 -1.54478414e-04 9.99915611e-01 7.88852574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.89, Y:107.33, Z:7.89 [[ 7.53859491e-01 6.56960293e-01 -9.95192830e-03 1.85888396e+02] [-6.56900580e-01 7.53925165e-01 8.85855772e-03 1.07327651e+02] [ 1.33227299e-02 -1.40680337e-04 9.99911239e-01 7.88887597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:107.31, Z:7.89 [[ 7.53369814e-01 6.57523797e-01 -9.81736107e-03 1.85910573e+02] [-6.57465753e-01 7.53433766e-01 8.73743595e-03 1.07308597e+02] [ 1.31418034e-02 -1.27941800e-04 9.99913635e-01 7.88949503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.93, Y:107.29, Z:7.89 [[ 7.52975384e-01 6.57975104e-01 -9.84038445e-03 1.85931383e+02] [-6.57916844e-01 7.53039673e-01 8.75656859e-03 1.07290560e+02] [ 1.31718040e-02 -1.19325916e-04 9.99913241e-01 7.88996589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.95, Y:107.27, Z:7.89 [[ 7.51730654e-01 6.59397302e-01 -9.80932244e-03 1.85953704e+02] [-6.59339552e-01 7.51794646e-01 8.72725549e-03 1.07272903e+02] [ 1.31293248e-02 -9.28712092e-05 9.99913802e-01 7.89049418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.98, Y:107.25, Z:7.89 [[ 7.51278605e-01 6.59912630e-01 -9.78665653e-03 1.85976980e+02] [-6.59855208e-01 7.51342341e-01 8.70576499e-03 1.07254082e+02] [ 1.30981737e-02 -8.26787018e-05 9.99914212e-01 7.89126114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.00, Y:107.24, Z:7.89 [[ 7.50848608e-01 6.60405799e-01 -9.51569279e-03 1.85997623e+02] [-6.60351560e-01 7.50908900e-01 8.46412287e-03 1.07236078e+02] [ 1.27351742e-02 -7.15722947e-05 9.99918902e-01 7.89186618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.02, Y:107.22, Z:7.89 [[ 7.50741029e-01 6.60527700e-01 -9.54280988e-03 1.86017796e+02] [-6.60473185e-01 7.50801674e-01 8.48636543e-03 1.07218655e+02] [ 1.27702371e-02 -6.82926777e-05 9.99918455e-01 7.89276148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:107.20, Z:7.89 [[ 7.50923284e-01 6.60327300e-01 -9.05975626e-03 1.86037514e+02] [-6.60278174e-01 7.50977931e-01 8.05479021e-03 1.07200593e+02] [ 1.21224749e-02 -6.65701877e-05 9.99926518e-01 7.89420594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.06, Y:107.18, Z:7.90 [[ 7.51747397e-01 6.59395571e-01 -8.56339381e-03 1.86057679e+02] [-6.59351637e-01 7.51796166e-01 7.61203967e-03 1.07181409e+02] [ 1.14572719e-02 -7.60432786e-05 9.99934360e-01 7.89565218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.08, Y:107.16, Z:7.90 [[ 7.52308023e-01 6.58761329e-01 -8.13329907e-03 1.86078642e+02] [-6.58721711e-01 7.52351983e-01 7.22506844e-03 1.07161829e+02] [ 1.08786994e-02 -7.78962741e-05 9.99940822e-01 7.89679354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.10, Y:107.14, Z:7.90 [[ 7.52802640e-01 6.58201888e-01 -7.64588441e-03 1.86101889e+02] [-6.58166860e-01 7.52841463e-01 6.79087885e-03 1.07141387e+02] [ 1.02259081e-02 -7.99237899e-05 9.99947711e-01 7.89751840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.12, Y:107.12, Z:7.90 [[ 7.53390546e-01 6.57533182e-01 -7.26634799e-03 1.86121959e+02] [-6.57501515e-01 7.53425582e-01 6.45371388e-03 1.07120282e+02] [ 9.71818349e-03 -8.45322057e-05 9.99952774e-01 7.89910779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.15, Y:107.10, Z:7.90 [[ 7.53987508e-01 6.56852985e-01 -6.85517618e-03 1.86146684e+02] [-6.56824784e-01 7.54018666e-01 6.08728403e-03 1.07099298e+02] [ 9.16738148e-03 -8.70865050e-05 9.99957975e-01 7.89942704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.17, Y:107.08, Z:7.90 [[ 7.54079650e-01 6.56749504e-01 -6.63106663e-03 1.86169213e+02] [-6.56723068e-01 7.54108800e-01 5.89321150e-03 1.07079765e+02] [ 8.87090942e-03 -8.91764439e-05 9.99960649e-01 7.89970587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.19, Y:107.06, Z:7.90 [[ 7.53710544e-01 6.57166416e-01 -7.26066826e-03 1.86192267e+02] [-6.57134747e-01 7.53745510e-01 6.45218411e-03 1.07061357e+02] [ 9.71285480e-03 -9.18417993e-05 9.99952825e-01 7.89932995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:107.04, Z:7.90 [[ 7.53472691e-01 6.57437601e-01 -7.39619436e-03 1.86213527e+02] [-6.57404755e-01 7.53508986e-01 6.57234764e-03 1.07043014e+02] [ 9.89400738e-03 -8.97911189e-05 9.99951049e-01 7.89937039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:107.02, Z:7.90 [[ 7.53019664e-01 6.57949351e-01 -8.00235756e-03 1.86236074e+02] [-6.57910946e-01 7.53062178e-01 7.10939975e-03 1.07024916e+02] [ 1.07038978e-02 -8.86791821e-05 9.99942708e-01 7.89864224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.26, Y:107.00, Z:7.90 [[ 7.52634262e-01 6.58386604e-01 -8.29138541e-03 1.86261171e+02] [-6.58345425e-01 7.52679927e-01 7.36398795e-03 1.07004546e+02] [ 1.10891104e-02 -8.37939906e-05 9.99938510e-01 7.89839210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:106.99, Z:7.90 [[ 7.52323222e-01 6.58737188e-01 -8.66528693e-03 1.86284089e+02] [-6.58692175e-01 7.52373119e-01 7.70127246e-03 1.06985578e+02] [ 1.15926435e-02 -8.60894201e-05 9.99932799e-01 7.89861757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.31, Y:106.97, Z:7.90 [[ 7.51144035e-01 6.60079603e-01 -8.80657111e-03 1.86310715e+02] [-6.60033214e-01 7.51195656e-01 7.82585865e-03 1.06966382e+02] [ 1.17811476e-02 -6.57176178e-05 9.99930598e-01 7.89894370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:106.95, Z:7.90 [[ 7.50472604e-01 6.60845275e-01 -8.62517364e-03 1.86334298e+02] [-6.60800763e-01 7.50522164e-01 7.67026679e-03 1.06947129e+02] [ 1.15422436e-02 -5.68037667e-05 9.99933384e-01 7.89989895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.36, Y:106.93, Z:7.90 [[ 7.49672532e-01 6.61755534e-01 -8.40882933e-03 1.86356704e+02] [-6.61713282e-01 7.49719689e-01 7.47803171e-03 1.06928561e+02] [ 1.12528938e-02 -4.18409158e-05 9.99936683e-01 7.90099007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.38, Y:106.91, Z:7.90 [[ 7.48294979e-01 6.63315047e-01 -8.23234994e-03 1.86379884e+02] [-6.63274653e-01 7.48340262e-01 7.32028803e-03 1.06910512e+02] [ 1.10162561e-02 -1.74257281e-05 9.99939319e-01 7.90226594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.40, Y:106.89, Z:7.90 [[ 7.47668891e-01 6.64022485e-01 -8.08511609e-03 1.86400806e+02] [-6.63983574e-01 7.47712605e-01 7.18853691e-03 1.06893204e+02] [ 1.08186934e-02 -6.26114443e-06 9.99941476e-01 7.90299787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5827550960001 meters Centerline goodness [0,1] 0.999935032591983 Centerline is valid? [True, True] Translation: X:186.42, Y:106.88, Z:7.90 [[ 7.46478431e-01 6.65363341e-01 -7.84705063e-03 1.86423702e+02] [-6.65326789e-01 7.46519674e-01 6.97424503e-03 1.06875017e+02] [ 1.04983847e-02 1.47295040e-05 9.99944890e-01 7.90328084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.45, Y:106.86, Z:7.90 [[ 7.46512805e-01 6.65325437e-01 -7.79067530e-03 1.86445000e+02] [-6.65289417e-01 7.46553456e-01 6.92310662e-03 1.06857014e+02] [ 1.04222745e-02 1.48660886e-05 9.99945687e-01 7.90341315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.47, Y:106.84, Z:7.90 [[ 7.46578606e-01 6.65255233e-01 -7.47393646e-03 1.86465184e+02] [-6.65222090e-01 7.46616015e-01 6.64054880e-03 1.06839769e+02] [ 9.99782050e-03 1.41359622e-05 9.99950020e-01 7.90389045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.49, Y:106.82, Z:7.90 [[ 7.47170537e-01 6.64593629e-01 -7.17618537e-03 1.86485552e+02] [-6.64563060e-01 7.47204998e-01 6.37423600e-03 1.06820335e+02] [ 9.59835821e-03 6.38637940e-06 9.99953935e-01 7.90430915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:106.80, Z:7.90 [[ 7.47967784e-01 6.63696539e-01 -7.14829031e-03 1.86505089e+02] [-6.63666180e-01 7.48001941e-01 6.34806454e-03 1.06801020e+02] [ 9.56012349e-03 -4.06924323e-06 9.99954301e-01 7.90484239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.52, Y:106.78, Z:7.90 [[ 7.49542474e-01 6.61920688e-01 -6.86168309e-03 1.86524312e+02] [-6.61892657e-01 7.49573881e-01 6.09166425e-03 1.06779340e+02] [ 9.17553701e-03 -2.42634402e-05 9.99957904e-01 7.90494899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.54, Y:106.76, Z:7.91 [[ 7.50490197e-01 6.60847125e-01 -6.74840013e-03 1.86544533e+02] [-6.60819977e-01 7.50520537e-01 5.99020804e-03 1.06759322e+02] [ 9.02342465e-03 -3.61148026e-05 9.99959287e-01 7.90511854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.57, Y:106.74, Z:7.90 [[ 7.51479462e-01 6.59717538e-01 -7.16853794e-03 1.86565250e+02] [-6.59686863e-01 7.51513650e-01 6.36205743e-03 1.06738901e+02] [ 9.58441498e-03 -5.19651930e-05 9.99954067e-01 7.90496016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.59, Y:106.72, Z:7.90 [[ 7.53254732e-01 6.57684736e-01 -7.62216461e-03 1.86586363e+02] [-6.57649964e-01 7.53293290e-01 6.76335775e-03 1.06717519e+02] [ 1.01898826e-02 -8.18149442e-05 9.99948078e-01 7.90387526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:106.70, Z:7.90 [[ 7.54075780e-01 6.56738841e-01 -7.98829326e-03 1.86606577e+02] [-6.56700600e-01 7.54118084e-01 7.08783795e-03 1.06698239e+02] [ 1.06789749e-02 -9.88499560e-05 9.99942973e-01 7.90382674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:106.68, Z:7.90 [[ 7.55029066e-01 6.55646442e-01 -7.67151929e-03 1.86626389e+02] [-6.55611129e-01 7.55068031e-01 6.80567059e-03 1.06679246e+02] [ 1.02546327e-02 -1.08945687e-04 9.99947414e-01 7.90454520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.65, Y:106.66, Z:7.90 [[ 7.55436774e-01 6.55179686e-01 -7.40673605e-03 1.86648452e+02] [-6.55146765e-01 7.55473075e-01 6.56875836e-03 1.06660528e+02] [ 9.89930670e-03 -1.09782454e-04 9.99950995e-01 7.90499167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.67, Y:106.64, Z:7.91 [[ 7.55871713e-01 6.54678808e-01 -7.32197044e-03 1.86670178e+02] [-6.54646623e-01 7.55907167e-01 6.49262291e-03 1.06641544e+02] [ 9.78531256e-03 -1.14286776e-04 9.99952116e-01 7.90520273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.69, Y:106.62, Z:7.91 [[ 7.56632334e-01 6.53796921e-01 -7.55626377e-03 1.86691336e+02] [-6.53762610e-01 7.56670053e-01 6.69929208e-03 1.06622033e+02] [ 1.00975750e-02 -1.28898273e-04 9.99949010e-01 7.90535738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:106.60, Z:7.91 [[ 7.56873744e-01 6.53516504e-01 -7.63641979e-03 1.86716098e+02] [-6.53481474e-01 7.56912255e-01 6.76770533e-03 1.06599918e+02] [ 1.02029068e-02 -1.32039613e-04 9.99947940e-01 7.90520186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.74, Y:106.58, Z:7.91 [[ 7.57124048e-01 6.53222271e-01 -7.99004423e-03 1.86740489e+02] [-6.53183853e-01 7.57166193e-01 7.08589844e-03 1.06577076e+02] [ 1.06784580e-02 -1.45936229e-04 9.99942973e-01 7.90558400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.76, Y:106.55, Z:7.91 [[ 7.57793599e-01 6.52441634e-01 -8.29307640e-03 1.86762003e+02] [-6.52400144e-01 7.57838958e-01 7.35974508e-03 1.06554773e+02] [ 1.10866205e-02 -1.66763471e-04 9.99938528e-01 7.90557430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.79, Y:106.53, Z:7.91 [[ 7.57913604e-01 6.52300503e-01 -8.42751263e-03 1.86786116e+02] [-6.52257606e-01 7.57960436e-01 7.48281115e-03 1.06532042e+02] [ 1.12687626e-02 -1.74415153e-04 9.99936490e-01 7.90612870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:106.51, Z:7.91 [[ 7.58629517e-01 6.51469278e-01 -8.30886161e-03 1.86807767e+02] [-6.51427473e-01 7.58674993e-01 7.38255888e-03 1.06509730e+02] [ 1.11132358e-02 -1.88006355e-04 9.99938228e-01 7.90696555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.83, Y:106.49, Z:7.91 [[ 7.58989290e-01 6.51052203e-01 -8.14160806e-03 1.86828502e+02] [-6.51012011e-01 7.59032932e-01 7.23668066e-03 1.06489376e+02] [ 1.08912055e-02 -1.92278482e-04 9.99940671e-01 7.90741535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.85, Y:106.47, Z:7.91 [[ 7.59614151e-01 6.50323730e-01 -8.08625402e-03 1.86849305e+02] [-6.50284046e-01 7.59657163e-01 7.18704492e-03 1.06469990e+02] [ 1.08166866e-02 -2.01019038e-04 9.99941478e-01 7.90806797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.87, Y:106.45, Z:7.91 [[ 7.60054240e-01 6.49809887e-01 -8.04134971e-03 1.86873057e+02] [-6.49770638e-01 7.60096750e-01 7.14489486e-03 1.06449051e+02] [ 1.07550271e-02 -2.05474707e-04 9.99942142e-01 7.90825840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.89, Y:106.43, Z:7.91 [[ 7.61005809e-01 6.48695860e-01 -7.98996841e-03 1.86894130e+02] [-6.48657007e-01 7.61047720e-01 7.10321005e-03 1.06426225e+02] [ 1.06885702e-02 -2.22835117e-04 9.99942851e-01 7.90917834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.92, Y:106.40, Z:7.91 [[ 7.61644451e-01 6.47945185e-01 -8.04782362e-03 1.86915340e+02] [-6.47905678e-01 7.61686931e-01 7.15908810e-03 1.06404349e+02] [ 1.07686187e-02 -2.38449112e-04 9.99941988e-01 7.91033445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.94, Y:106.38, Z:7.91 [[ 7.62739485e-01 6.46651572e-01 -8.37990394e-03 1.86938391e+02] [-6.46608663e-01 7.62785470e-01 7.45412231e-03 1.06381939e+02] [ 1.12122889e-02 -2.67034931e-04 9.99937105e-01 7.91093938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.96, Y:106.36, Z:7.91 [[ 7.63326250e-01 6.45959707e-01 -8.31226722e-03 1.86962249e+02] [-6.45917402e-01 7.63371456e-01 7.39792842e-03 1.06360203e+02] [ 1.11241112e-02 -2.77994901e-04 9.99938087e-01 7.91132746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.99, Y:106.34, Z:7.91 [[ 7.64497108e-01 6.44575918e-01 -8.12759296e-03 1.86986419e+02] [-6.44535352e-01 7.64540254e-01 7.23743507e-03 1.06338759e+02] [ 1.08789483e-02 -2.94477197e-04 9.99940779e-01 7.91211248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.01, Y:106.32, Z:7.91 [[ 7.64748165e-01 6.44281004e-01 -7.88869133e-03 1.87009416e+02] [-6.44242732e-01 7.64788796e-01 7.02851114e-03 1.06318188e+02] [ 1.05615190e-02 -2.92808950e-04 9.99944183e-01 7.91293247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.03, Y:106.30, Z:7.91 [[ 7.64929711e-01 6.44067560e-01 -7.71460556e-03 1.87033703e+02] [-6.44030914e-01 7.64968557e-01 6.87672102e-03 1.06297353e+02] [ 1.03305036e-02 -2.91763756e-04 9.99946596e-01 7.91357253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.06, Y:106.28, Z:7.91 [[ 7.65015161e-01 6.43967757e-01 -7.57174766e-03 1.87059339e+02] [-6.43932416e-01 7.65052576e-01 6.75280988e-03 1.06277308e+02] [ 1.01413769e-02 -2.90308172e-04 9.99948533e-01 7.91398573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.08, Y:106.26, Z:7.91 [[ 7.64812850e-01 6.44209061e-01 -7.48266995e-03 1.87083334e+02] [-6.44174515e-01 7.64849399e-01 6.67763016e-03 1.06256089e+02] [ 1.00249055e-02 -2.86992070e-04 9.99949708e-01 7.91438334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.11, Y:106.24, Z:7.91 [[ 7.64275820e-01 6.44847018e-01 -7.40239549e-03 1.87109020e+02] [-6.44813200e-01 7.64311616e-01 6.60992392e-03 1.06236081e+02] [ 9.92012658e-03 -2.78642701e-04 9.99950756e-01 7.91470481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.13, Y:106.21, Z:7.92 [[ 7.64074103e-01 6.45086037e-01 -7.40067599e-03 1.87133097e+02] [-6.45052212e-01 7.64109893e-01 6.61184841e-03 1.06214346e+02] [ 9.92014082e-03 -2.78119733e-04 9.99950756e-01 7.91513489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.16, Y:106.19, Z:7.92 [[ 7.63571398e-01 6.45681702e-01 -7.33886504e-03 1.87156518e+02] [-6.45648424e-01 7.63606617e-01 6.56098727e-03 1.06193849e+02] [ 9.84031534e-03 -2.71455571e-04 9.99951546e-01 7.91555233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.18, Y:106.17, Z:7.92 [[ 7.63195776e-01 6.46125832e-01 -7.32234593e-03 1.87180042e+02] [-6.46092681e-01 7.63230854e-01 6.55067341e-03 1.06174793e+02] [ 9.82119965e-03 -2.68532164e-04 9.99951735e-01 7.91594667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.20, Y:106.16, Z:7.92 [[ 7.62358042e-01 6.47114835e-01 -7.25297234e-03 1.87204814e+02] [-6.47082352e-01 7.62392501e-01 6.48878949e-03 1.06157710e+02] [ 9.72860366e-03 -2.53510453e-04 9.99952644e-01 7.91572983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.23, Y:106.14, Z:7.92 [[ 7.61771788e-01 6.47798335e-01 -7.81405932e-03 1.87227298e+02] [-6.47760672e-01 7.61811819e-01 6.99030918e-03 1.06140108e+02] [ 1.04811534e-02 -2.63380007e-04 9.99945037e-01 7.91589570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.25, Y:106.12, Z:7.92 [[ 7.60534180e-01 6.49246862e-01 -8.14077862e-03 1.87251170e+02] [-6.49206079e-01 7.60577707e-01 7.28147713e-03 1.06124555e+02] [ 1.09191709e-02 -2.52769281e-04 9.99940352e-01 7.91589949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.27, Y:106.11, Z:7.92 [[ 7.59848567e-01 6.50050045e-01 -8.06810894e-03 1.87274171e+02] [-6.50010047e-01 7.59891362e-01 7.21506537e-03 1.06106576e+02] [ 1.08210399e-02 -2.38005208e-04 9.99941423e-01 7.91635519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:106.09, Z:7.92 [[ 7.59246793e-01 6.50752039e-01 -8.12961674e-03 1.87296806e+02] [-6.50711481e-01 7.59290281e-01 7.26897312e-03 1.06088939e+02] [ 1.09030381e-02 -2.28909580e-04 9.99940534e-01 7.91673829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.32, Y:106.07, Z:7.92 [[ 7.58945750e-01 6.51102693e-01 -8.16286703e-03 1.87318920e+02] [-6.51061834e-01 7.58989613e-01 7.29761100e-03 1.06070759e+02] [ 1.09470255e-02 -2.23959665e-04 9.99940054e-01 7.91747879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.34, Y:106.05, Z:7.92 [[ 7.58823248e-01 6.51244443e-01 -8.24340326e-03 1.87340929e+02] [-6.51202794e-01 7.58867989e-01 7.36855963e-03 1.06053984e+02] [ 1.10543884e-02 -2.23307109e-04 9.99938873e-01 7.91793537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.36, Y:106.04, Z:7.92 [[ 7.59681446e-01 6.50239486e-01 -8.52707874e-03 1.87362735e+02] [-6.50194875e-01 7.59729261e-01 7.62067372e-03 1.06036084e+02] [ 1.14335342e-02 -2.45021533e-04 9.99934605e-01 7.91784540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:106.02, Z:7.92 [[ 7.60150796e-01 6.49689972e-01 -8.58531912e-03 1.87385673e+02] [-6.49644730e-01 7.60199234e-01 7.67128240e-03 1.06018551e+02] [ 1.15105083e-02 -2.53924103e-04 9.99933720e-01 7.91767529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.41, Y:106.00, Z:7.92 [[ 7.60587360e-01 6.49173883e-01 -8.95195693e-03 1.87410720e+02] [-6.49124675e-01 7.60639991e-01 7.99750892e-03 1.06000622e+02] [ 1.20009904e-02 -2.71868063e-04 9.99927949e-01 7.91765008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.43, Y:105.98, Z:7.92 [[ 7.61049446e-01 6.48634394e-01 -8.78429280e-03 1.87431547e+02] [-6.48586975e-01 7.61100090e-01 7.84783631e-03 1.05981176e+02] [ 1.17761026e-02 -2.75213581e-04 9.99930621e-01 7.91824304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.45, Y:105.96, Z:7.92 [[ 7.61967883e-01 6.47548236e-01 -9.28583870e-03 1.87454742e+02] [-6.47495180e-01 7.62024401e-01 8.29488079e-03 1.05963996e+02] [ 1.24473711e-02 -3.07896957e-04 9.99922481e-01 7.91804343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.48, Y:105.95, Z:7.92 [[ 7.62344728e-01 6.47103473e-01 -9.36011886e-03 1.87476870e+02] [-6.47049547e-01 7.62402122e-01 8.35989920e-03 1.05946040e+02] [ 1.25458943e-02 -3.16664412e-04 9.99921247e-01 7.91841092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.50, Y:105.93, Z:7.92 [[ 7.62453398e-01 6.46971430e-01 -9.63251082e-03 1.87499936e+02] [-6.46914327e-01 7.62514172e-01 8.60180186e-03 1.05930168e+02] [ 1.29100461e-02 -3.27063795e-04 9.99916608e-01 7.91804242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:105.91, Z:7.92 [[ 7.62476992e-01 6.46937817e-01 -1.00148930e-02 1.87521996e+02] [-6.46876118e-01 7.62542685e-01 8.94105978e-03 1.05912450e+02] [ 1.34210931e-02 -3.38957269e-04 9.99909876e-01 7.91824600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.54, Y:105.89, Z:7.92 [[ 7.62577737e-01 6.46813024e-01 -1.03974411e-02 1.87541764e+02] [-6.46746542e-01 7.62648535e-01 9.28025777e-03 1.05893543e+02] [ 1.39321848e-02 -3.52408889e-04 9.99902880e-01 7.91812576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:105.88, Z:7.92 [[ 7.62815635e-01 6.46518788e-01 -1.12144416e-02 1.87566568e+02] [-6.46441471e-01 7.62897968e-01 1.00057639e-02 1.05878057e+02] [ 1.50243891e-02 -3.83073003e-04 9.99887054e-01 7.91736823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.59, Y:105.86, Z:7.92 [[ 7.62966545e-01 6.46330279e-01 -1.17991959e-02 1.87588621e+02] [-6.46244692e-01 7.63057669e-01 1.05257969e-02 1.05859649e+02] [ 1.58066082e-02 -4.05663178e-04 9.99874985e-01 7.91715456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:105.84, Z:7.92 [[ 7.63561136e-01 6.45615779e-01 -1.24361121e-02 1.87610003e+02] [-6.45520639e-01 7.63662275e-01 1.10921013e-02 1.05841957e+02] [ 1.66582253e-02 -4.41730414e-04 9.99861145e-01 7.91663152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:105.82, Z:7.92 [[ 7.64060984e-01 6.45018621e-01 -1.27196793e-02 1.87632358e+02] [-6.44919046e-01 7.64166712e-01 1.13428991e-02 1.05824231e+02] [ 1.70363366e-02 -4.63503259e-04 9.99854764e-01 7.91684554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.99, Y:106.24, Z:9.11 [[ 7.79258915e-01 -6.26666060e-01 6.72261248e-03 1.87989873e+02] [-6.26633772e-01 -7.79287520e-01 -6.40914565e-03 1.06240819e+02] [ 9.25524205e-03 7.81767866e-04 -9.99956864e-01 9.10793460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:105.80, Z:7.92 [[ 8.13127227e-01 5.81936992e-01 -1.31700453e-02 1.87709881e+02] [-5.81851139e-01 8.13233738e-01 1.00069751e-02 1.05800788e+02] [ 1.65337541e-02 -4.73938051e-04 9.99863196e-01 7.91874740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:105.78, Z:7.92 [[ 8.13401659e-01 5.81556130e-01 -1.30464386e-02 1.87731474e+02] [-5.81471865e-01 8.13506141e-01 9.91101494e-03 1.05783424e+02] [ 1.63771694e-02 -4.75499003e-04 9.99865772e-01 7.91954161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.76, Y:105.77, Z:7.92 [[ 8.13565200e-01 5.81325980e-01 -1.31061551e-02 1.87759854e+02] [-5.81240919e-01 8.13670617e-01 9.95598870e-03 1.05767783e+02] [ 1.64517682e-02 -4.82012325e-04 9.99864544e-01 7.92078734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.78, Y:105.75, Z:7.92 [[ 8.14333993e-01 5.80250503e-01 -1.30193250e-02 1.87778795e+02] [-5.80166358e-01 8.14437905e-01 9.89429282e-03 1.05746221e+02] [ 1.63446001e-02 -5.03884636e-04 9.99866291e-01 7.92143123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:105.73, Z:7.92 [[ 8.14569502e-01 5.79923113e-01 -1.28728035e-02 1.87802785e+02] [-5.79840840e-01 8.14671056e-01 9.78115382e-03 1.05732150e+02] [ 1.61594176e-02 -5.03252419e-04 9.99869301e-01 7.92232789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.83, Y:105.71, Z:7.92 [[ 8.14448991e-01 5.80090262e-01 -1.29664462e-02 1.87830109e+02] [-5.80006816e-01 8.14552046e-01 9.85179464e-03 1.05713537e+02] [ 1.62767754e-02 -5.03157027e-04 9.99867398e-01 7.92330638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.85, Y:105.69, Z:7.92 [[ 8.14255759e-01 5.80366257e-01 -1.27501778e-02 1.87851979e+02] [-5.80285532e-01 8.14355429e-01 9.69205277e-03 1.05694030e+02] [ 1.60081169e-02 -4.93066053e-04 9.99871740e-01 7.92358243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.87, Y:105.68, Z:7.92 [[ 8.13836818e-01 5.80947217e-01 -1.30370552e-02 1.87873621e+02] [-5.80862948e-01 8.13941086e-01 9.90673789e-03 1.05676883e+02] [ 1.63666867e-02 -4.89725704e-04 9.99865937e-01 7.92373985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.90, Y:105.66, Z:7.92 [[ 8.13190187e-01 5.81847318e-01 -1.32445620e-02 1.87897650e+02] [-5.81760513e-01 8.13297898e-01 1.00615278e-02 1.05660629e+02] [ 1.66260474e-02 -4.76772518e-04 9.99861664e-01 7.92397668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.92, Y:105.65, Z:7.92 [[ 8.12770874e-01 5.82430459e-01 -1.33516294e-02 1.87922989e+02] [-5.82342347e-01 8.12880398e-01 1.01414658e-02 1.05646958e+02] [ 1.67599764e-02 -4.67468862e-04 9.99859432e-01 7.92442752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.94, Y:105.63, Z:7.92 [[ 8.12303829e-01 5.83076542e-01 -1.35733512e-02 1.87943422e+02] [-5.82985599e-01 8.12417094e-01 1.03080952e-02 1.05627131e+02] [ 1.70376311e-02 -4.60236964e-04 9.99854743e-01 7.92382172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.97, Y:105.61, Z:7.92 [[ 8.11208298e-01 5.84584010e-01 -1.42348823e-02 1.87969195e+02] [-5.84484273e-01 8.11333060e-01 1.08074134e-02 1.05613206e+02] [ 1.78670717e-02 -4.46998618e-04 9.99840271e-01 7.92406762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.99, Y:105.60, Z:7.92 [[ 8.10463429e-01 5.85619935e-01 -1.40827178e-02 1.87994033e+02] [-5.85522564e-01 8.10585664e-01 1.06868115e-02 1.05598250e+02] [ 1.76736590e-02 -4.15520870e-04 9.99843722e-01 7.92428945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.02, Y:105.58, Z:7.92 [[ 8.08678108e-01 5.88067864e-01 -1.46936951e-02 1.88019275e+02] [-5.87962293e-01 8.08811502e-01 1.11488409e-02 1.05582285e+02] [ 1.84407047e-02 -3.76484915e-04 9.99829885e-01 7.92420852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.04, Y:105.57, Z:7.92 [[ 8.07714132e-01 5.89384053e-01 -1.49773191e-02 1.88042006e+02] [-5.89274618e-01 8.07852904e-01 1.13626740e-02 1.05565521e+02] [ 1.87964496e-02 -3.52038403e-04 9.99823269e-01 7.92417138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.07, Y:105.55, Z:7.92 [[ 8.07134557e-01 5.90177993e-01 -1.49580848e-02 1.88065778e+02] [-5.90069016e-01 8.07273081e-01 1.13458931e-02 1.05549057e+02] [ 1.87713556e-02 -3.31360023e-04 9.99823748e-01 7.92436609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.09, Y:105.53, Z:7.92 [[ 8.06261752e-01 5.91353573e-01 -1.55865150e-02 1.88088187e+02] [-5.91235507e-01 8.06412334e-01 1.18204221e-02 1.05531977e+02] [ 1.95592068e-02 -3.15053136e-04 9.99808651e-01 7.92365595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.11, Y:105.51, Z:7.92 [[ 8.05950558e-01 5.91767378e-01 -1.59708392e-02 1.88111567e+02] [-5.91643546e-01 8.06108723e-01 1.21095506e-02 1.05514621e+02] [ 2.00402698e-02 -3.10655117e-04 9.99799125e-01 7.92393014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.13, Y:105.50, Z:7.92 [[ 8.05284582e-01 5.92651876e-01 -1.67480123e-02 1.88133275e+02] [-5.92515939e-01 8.05458666e-01 1.26964083e-02 1.05496414e+02] [ 2.10143819e-02 -3.00757602e-04 9.99779128e-01 7.92311014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:105.48, Z:7.92 [[ 8.05227098e-01 5.92725071e-01 -1.69207420e-02 1.88154473e+02] [-5.92586398e-01 8.05404805e-01 1.28242312e-02 1.05479509e+02] [ 2.12292903e-02 -2.99416942e-04 9.99774588e-01 7.92291491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.18, Y:105.46, Z:7.92 [[ 8.05126842e-01 5.92851107e-01 -1.72723303e-02 1.88176552e+02] [-5.92706714e-01 8.05312036e-01 1.30872454e-02 1.05461978e+02] [ 2.16684034e-02 -2.99466429e-04 9.99765168e-01 7.92293189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.20, Y:105.44, Z:7.92 [[ 8.05205860e-01 5.92738452e-01 -1.74542311e-02 1.88198077e+02] [-5.92591043e-01 8.05394956e-01 1.32219347e-02 1.05443934e+02] [ 2.18946988e-02 -3.03158292e-04 9.99760236e-01 7.92341213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.22, Y:105.43, Z:7.92 [[ 8.05449145e-01 5.92423158e-01 -1.69256092e-02 1.88218309e+02] [-5.92284553e-01 8.05626906e-01 1.28178194e-02 1.05426608e+02] [ 2.12292992e-02 -2.99324827e-04 9.99774588e-01 7.92398643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.24, Y:105.41, Z:7.92 [[ 8.05680796e-01 5.92110406e-01 -1.68440353e-02 1.88239793e+02] [-5.91973148e-01 8.05856796e-01 1.27521288e-02 1.05408362e+02] [ 2.11245485e-02 -3.02928698e-04 9.99776806e-01 7.92465556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.26, Y:105.39, Z:7.93 [[ 8.06066561e-01 5.91596248e-01 -1.64492967e-02 1.88261578e+02] [-5.91465287e-01 8.06234324e-01 1.24510733e-02 1.05388635e+02] [ 2.06279959e-02 -3.07205780e-04 9.99787173e-01 7.92653081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.28, Y:105.37, Z:7.93 [[ 8.06220035e-01 5.91389690e-01 -1.63551088e-02 1.88282181e+02] [-5.91260226e-01 8.06385850e-01 1.23776465e-02 1.05369268e+02] [ 2.05085409e-02 -3.08981225e-04 9.99789630e-01 7.92659339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.30, Y:105.35, Z:7.93 [[ 8.06370268e-01 5.91193719e-01 -1.60305126e-02 1.88301298e+02] [-5.91069357e-01 8.06529537e-01 1.21293532e-02 1.05350518e+02] [ 2.00998793e-02 -3.05605007e-04 9.99797930e-01 7.92723138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.32, Y:105.33, Z:7.93 [[ 8.06366231e-01 5.91200538e-01 -1.59820351e-02 1.88324365e+02] [-5.91076984e-01 8.06524539e-01 1.20899358e-02 1.05333386e+02] [ 2.00374800e-02 -3.02302895e-04 9.99799184e-01 7.92829974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.34, Y:105.31, Z:7.93 [[ 8.06407749e-01 5.91146377e-01 -1.58903742e-02 1.88344795e+02] [-5.91024266e-01 8.06564239e-01 1.20185534e-02 1.05314205e+02] [ 1.99213319e-02 -3.00257873e-04 9.99801506e-01 7.92811999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.37, Y:105.30, Z:7.93 [[ 8.06315136e-01 5.91276933e-01 -1.57318378e-02 1.88366521e+02] [-5.91157315e-01 8.06468538e-01 1.18964775e-02 1.05295789e+02] [ 1.97213449e-02 -2.92318926e-04 9.99805473e-01 7.92983417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.39, Y:105.28, Z:7.93 [[ 8.06268520e-01 5.91338248e-01 -1.58161389e-02 1.88387810e+02] [-5.91217397e-01 8.06423581e-01 1.19581704e-02 1.05277451e+02] [ 1.98258309e-02 -2.90719926e-04 9.99803407e-01 7.93027205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.41, Y:105.26, Z:7.93 [[ 8.06234187e-01 5.91383652e-01 -1.58685645e-02 1.88411873e+02] [-5.91262038e-01 8.06390286e-01 1.19962397e-02 1.05258143e+02] [ 1.98906363e-02 -2.89298766e-04 9.99802120e-01 7.93093544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.43, Y:105.24, Z:7.93 [[ 8.06401901e-01 5.91166408e-01 -1.54353853e-02 1.88433178e+02] [-5.91051307e-01 8.06549562e-01 1.16686180e-02 1.05237086e+02] [ 1.93474982e-02 -2.86491093e-04 9.99812779e-01 7.93127721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.46, Y:105.22, Z:7.93 [[ 8.06485319e-01 5.91054390e-01 -1.53667801e-02 1.88458083e+02] [-5.90940256e-01 8.06631653e-01 1.16185053e-02 1.05216893e+02] [ 1.92624998e-02 -2.89304973e-04 9.99814419e-01 7.93207379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.48, Y:105.19, Z:7.93 [[ 8.07081764e-01 5.90247595e-01 -1.50599909e-02 1.88481011e+02] [-5.90137713e-01 8.07222201e-01 1.13928871e-02 1.05194304e+02] [ 1.88813833e-02 -3.07522851e-04 9.99821684e-01 7.93251450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.51, Y:105.17, Z:7.93 [[ 8.07320425e-01 5.89915649e-01 -1.52728197e-02 1.88506107e+02] [-5.89802448e-01 8.07464811e-01 1.15607844e-02 1.05172226e+02] [ 1.91521521e-02 -3.25310931e-04 9.99816528e-01 7.93311067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.53, Y:105.15, Z:7.93 [[ 8.07697536e-01 5.89405672e-01 -1.50214804e-02 1.88530102e+02] [-5.89295946e-01 8.07837137e-01 1.13775175e-02 1.05150542e+02] [ 1.88408831e-02 -3.37495302e-04 9.99822438e-01 7.93372956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.55, Y:105.13, Z:7.93 [[ 8.08024315e-01 5.88968775e-01 -1.45769535e-02 1.88553030e+02] [-5.88865280e-01 8.08155718e-01 1.10461246e-02 1.05129397e+02] [ 1.82862708e-02 -3.41675447e-04 9.99832734e-01 7.93452561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:105.11, Z:7.93 [[ 8.08475301e-01 5.88341914e-01 -1.48822032e-02 1.88575079e+02] [-5.88233859e-01 8.08612180e-01 1.12813860e-02 1.05107841e+02] [ 1.86712430e-02 -3.66506101e-04 9.99825610e-01 7.93475711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.60, Y:105.09, Z:7.94 [[ 8.08398717e-01 5.88447129e-01 -1.48825489e-02 1.88600685e+02] [-5.88338983e-01 8.08535615e-01 1.12871811e-02 1.05086773e+02] [ 1.86749801e-02 -3.68559025e-04 9.99825539e-01 7.93518833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.63, Y:105.07, Z:7.94 [[ 8.08221287e-01 5.88690889e-01 -1.48791432e-02 1.88626418e+02] [-5.88582701e-01 8.08358152e-01 1.12916692e-02 1.05067027e+02] [ 1.86749795e-02 -3.68561110e-04 9.99825539e-01 7.93561716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.65, Y:105.05, Z:7.94 [[ 8.07604598e-01 5.89509050e-01 -1.59340295e-02 1.88651543e+02] [-5.89384977e-01 8.07761682e-01 1.21001302e-02 1.05045239e+02] [ 2.00040347e-02 -3.80843157e-04 9.99799827e-01 7.93509124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.68, Y:105.03, Z:7.94 [[ 8.06998855e-01 5.90322186e-01 -1.65095590e-02 1.88677840e+02] [-5.90188988e-01 8.07167624e-01 1.25453343e-02 1.05026072e+02] [ 2.07317707e-02 -3.80310529e-04 9.99785001e-01 7.93579741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.70, Y:105.00, Z:7.94 [[ 8.06168615e-01 5.91449772e-01 -1.67132246e-02 1.88701012e+02] [-5.91313346e-01 8.06341762e-01 1.27079128e-02 1.05004491e+02] [ 2.09926631e-02 -3.61967659e-04 9.99779564e-01 7.93510039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.73, Y:104.99, Z:7.94 [[ 8.04623091e-01 5.93543634e-01 -1.69598039e-02 1.88727612e+02] [-5.93403464e-01 8.04801748e-01 1.29025430e-02 1.04985914e+02] [ 2.13075021e-02 -3.17677718e-04 9.99772919e-01 7.93694815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.75, Y:104.97, Z:7.94 [[ 8.03612237e-01 5.94901879e-01 -1.72952520e-02 1.88752653e+02] [-5.94756255e-01 8.03798276e-01 1.31654836e-02 1.04966121e+02] [ 2.17340647e-02 -2.93484381e-04 9.99763744e-01 7.93738625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.78, Y:104.95, Z:7.94 [[ 8.01817844e-01 5.97326214e-01 -1.70158430e-02 1.88776729e+02] [-5.97185668e-01 8.01998343e-01 1.29590125e-02 1.04946534e+02] [ 2.13874357e-02 -2.29149863e-04 9.99771236e-01 7.93835744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.80, Y:104.93, Z:7.94 [[ 8.00868777e-01 5.98597805e-01 -1.70255614e-02 1.88802014e+02] [-5.98457268e-01 8.01049704e-01 1.29719231e-02 1.04926967e+02] [ 2.14032856e-02 -1.99737224e-04 9.99770904e-01 7.93912819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.83, Y:104.91, Z:7.94 [[ 8.00110555e-01 5.99607943e-01 -1.71293558e-02 1.88826999e+02] [-5.99465752e-01 8.00293872e-01 1.30587076e-02 1.04906673e+02] [ 2.15386233e-02 -1.79947680e-04 9.99768001e-01 7.93894002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.85, Y:104.89, Z:7.94 [[ 7.98891728e-01 6.01218787e-01 -1.75493038e-02 1.88852047e+02] [-6.01069738e-01 7.99084444e-01 1.33873636e-02 1.04885992e+02] [ 2.20721101e-02 -1.46698589e-04 9.99756371e-01 7.94057999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:104.86, Z:7.94 [[ 7.98381966e-01 6.01895902e-01 -1.75373539e-02 1.88877448e+02] [-6.01747027e-01 7.98574546e-01 1.33869402e-02 1.04864931e+02] [ 2.20624289e-02 -1.34841062e-04 9.99756586e-01 7.94154376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.90, Y:104.84, Z:7.94 [[ 7.98145206e-01 6.02209583e-01 -1.75455941e-02 1.88902452e+02] [-6.02060451e-01 7.98338024e-01 1.34019711e-02 1.04842722e+02] [ 2.20781103e-02 -1.33210698e-04 9.99756240e-01 7.94277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.93, Y:104.82, Z:7.94 [[ 7.98145931e-01 6.02201000e-01 -1.78052753e-02 1.88927058e+02] [-6.02047222e-01 7.98344496e-01 1.36090900e-02 1.04821877e+02] [ 2.24101511e-02 -1.42423258e-04 9.99748851e-01 7.94269728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:104.80, Z:7.94 [[ 7.97962055e-01 6.02440157e-01 -1.79559691e-02 1.88951651e+02] [-6.02283636e-01 7.98164041e-01 1.37326431e-02 1.04801091e+02] [ 2.26049045e-02 -1.43541762e-04 9.99744466e-01 7.94251509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.98, Y:104.78, Z:7.94 [[ 7.97121428e-01 6.03538152e-01 -1.84154413e-02 1.88977875e+02] [-6.03373605e-01 7.97334110e-01 1.40928892e-02 1.04781894e+02] [ 2.31888558e-02 -1.22352804e-04 9.99731095e-01 7.94350259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:104.76, Z:7.94 [[ 7.96574326e-01 6.04250554e-01 -1.87246141e-02 1.89004692e+02] [-6.04080410e-01 7.96794362e-01 1.43388607e-02 1.04762575e+02] [ 2.35839315e-02 -1.10795697e-04 9.99721854e-01 7.94367013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:104.74, Z:7.94 [[ 7.96013553e-01 6.04973909e-01 -1.92091794e-02 1.89030473e+02] [-6.04794825e-01 7.96245289e-01 1.47193768e-02 1.04743283e+02] [ 2.42000575e-02 -9.92111260e-05 9.99707131e-01 7.94340577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.06, Y:104.72, Z:7.94 [[ 7.95578924e-01 6.05514189e-01 -2.01678634e-02 1.89057731e+02] [-6.05316704e-01 7.95834505e-01 1.54638033e-02 1.04724187e+02] [ 2.54138339e-02 -9.47314089e-05 9.99677012e-01 7.94297189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:104.70, Z:7.94 [[ 7.95623882e-01 6.05430525e-01 -2.08930172e-02 1.89083017e+02] [-6.05218298e-01 7.95898152e-01 1.60294971e-02 1.04704504e+02] [ 2.63334606e-02 -1.08614442e-04 9.99653208e-01 7.94298560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:104.68, Z:7.94 [[ 7.95915524e-01 6.05040388e-01 -2.10857324e-02 1.89108515e+02] [-6.04823833e-01 7.96194770e-01 1.61870006e-02 1.04684036e+02] [ 2.65821389e-02 -1.30331571e-04 9.99646624e-01 7.94343156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.13, Y:104.66, Z:7.94 [[ 7.97077206e-01 6.03517605e-01 -2.08429557e-02 1.89132617e+02] [-6.03305232e-01 7.97349651e-01 1.60103532e-02 1.04663112e+02] [ 2.62816534e-02 -1.86823427e-04 9.99654560e-01 7.94483814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.16, Y:104.64, Z:7.95 [[ 7.97353986e-01 6.03167664e-01 -2.03811011e-02 1.89159120e+02] [-6.02964240e-01 7.97614398e-01 1.56651504e-02 1.04642930e+02] [ 2.57049719e-02 -2.01594947e-04 9.99669552e-01 7.94708450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.18, Y:104.62, Z:7.95 [[ 7.98461324e-01 6.01692459e-01 -2.06324818e-02 1.89184238e+02] [-6.01483240e-01 7.98727812e-01 1.58680136e-02 1.04623420e+02] [ 2.60274012e-02 -2.59903166e-04 9.99661196e-01 7.94726962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.21, Y:104.60, Z:7.95 [[ 7.99054797e-01 6.00888450e-01 -2.10831935e-02 1.89208477e+02] [-6.00669527e-01 7.99332835e-01 1.62215179e-02 1.04604614e+02] [ 2.65998116e-02 -2.97849800e-04 9.99646118e-01 7.94698330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:104.59, Z:7.95 [[ 7.99170960e-01 6.00719996e-01 -2.14770474e-02 1.89234935e+02] [-6.00492544e-01 7.99459434e-01 1.65323209e-02 1.04585629e+02] [ 2.71013239e-02 -3.15343962e-04 9.99632642e-01 7.94769669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:104.57, Z:7.95 [[ 7.99101062e-01 6.00768100e-01 -2.26976425e-02 1.89259963e+02] [-6.00513775e-01 7.99423277e-01 1.74823126e-02 1.04567749e+02] [ 2.86478394e-02 -3.39887620e-04 9.99589509e-01 7.94711055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:104.55, Z:7.95 [[ 7.98853289e-01 6.01092712e-01 -2.28248650e-02 1.89286664e+02] [-6.00835359e-01 7.99179227e-01 1.75907214e-02 1.04547925e+02] [ 2.88148124e-02 -3.38419682e-04 9.99584710e-01 7.94775781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:104.53, Z:7.95 [[ 7.98646192e-01 6.01351438e-01 -2.32531115e-02 1.89311732e+02] [-6.01084114e-01 7.98984561e-01 1.79320628e-02 1.04528573e+02] [ 2.93623488e-02 -3.44297810e-04 9.99568774e-01 7.94797804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:104.51, Z:7.95 [[ 7.98312909e-01 6.01776998e-01 -2.36842653e-02 1.89337572e+02] [-6.01499536e-01 7.98664089e-01 1.82751601e-02 1.04510068e+02] [ 2.99133431e-02 -3.43221655e-04 9.99552437e-01 7.94880317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.36, Y:104.49, Z:7.95 [[ 7.97806663e-01 6.02453227e-01 -2.35507497e-02 1.89364112e+02] [-6.02178852e-01 7.98154123e-01 1.81831293e-02 1.04490784e+02] [ 2.97516129e-02 -3.24858291e-04 9.99557270e-01 7.95049484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.39, Y:104.47, Z:7.95 [[ 7.96880999e-01 6.03671549e-01 -2.36924972e-02 1.89390630e+02] [-6.03394068e-01 7.97233076e-01 1.83036026e-02 1.04472054e+02] [ 2.99378066e-02 -2.89880892e-04 9.99551721e-01 7.95158522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.42, Y:104.45, Z:7.95 [[ 7.96327773e-01 6.04416126e-01 -2.33071761e-02 1.89416163e+02] [-6.04147621e-01 7.96668737e-01 1.80159873e-02 1.04452989e+02] [ 2.94572518e-02 -2.65656100e-04 9.99566006e-01 7.95243894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.44, Y:104.43, Z:7.95 [[ 7.95777902e-01 6.05143714e-01 -2.32081195e-02 1.89441277e+02] [-6.04877502e-01 7.96116214e-01 1.79494379e-02 1.04433675e+02] [ 2.93383497e-02 -2.45696720e-04 9.99569508e-01 7.95311499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:104.41, Z:7.96 [[ 7.95429674e-01 6.05637457e-01 -2.22464414e-02 1.89466011e+02] [-6.05392782e-01 7.95740674e-01 1.72150921e-02 1.04413621e+02] [ 2.81285029e-02 -2.25560036e-04 9.99604290e-01 7.95519561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.49, Y:104.39, Z:7.96 [[ 7.95303372e-01 6.05813671e-01 -2.19623145e-02 1.89491414e+02] [-6.05574991e-01 7.95606527e-01 1.70054285e-02 1.04393090e+02] [ 2.77754818e-02 -2.24646197e-04 9.99614162e-01 7.95671605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.52, Y:104.37, Z:7.96 [[ 7.95627924e-01 6.05441852e-01 -2.04051572e-02 1.89516236e+02] [-6.05235465e-01 7.95889510e-01 1.58088697e-02 1.04372029e+02] [ 2.58116019e-02 -2.28053330e-04 9.99666799e-01 7.95898847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.54, Y:104.35, Z:7.96 [[ 7.95785869e-01 6.05243441e-01 -2.01302797e-02 1.89541668e+02] [-6.05042278e-01 7.96040401e-01 1.56051563e-02 1.04350785e+02] [ 2.54694344e-02 -2.38692514e-04 9.99675573e-01 7.95991801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.57, Y:104.33, Z:7.96 [[ 7.96052909e-01 6.04911977e-01 -1.95260198e-02 1.89566944e+02] [-6.04722377e-01 7.96292307e-01 1.51462488e-02 1.04329862e+02] [ 2.47105666e-02 -2.49394342e-04 9.99694616e-01 7.96115715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.59, Y:104.31, Z:7.96 [[ 7.96957855e-01 6.03745626e-01 -1.86921299e-02 1.89590429e+02] [-6.03571378e-01 7.97176982e-01 1.45069188e-02 1.04308285e+02] [ 2.36594245e-02 -2.79368253e-04 9.99720038e-01 7.96195894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.62, Y:104.29, Z:7.96 [[ 7.97046738e-01 6.03640606e-01 -1.82897775e-02 1.89616382e+02] [-6.03473588e-01 7.97256508e-01 1.42017172e-02 1.04287251e+02] [ 2.31543773e-02 -2.82034748e-04 9.99731862e-01 7.96312964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66275509600007 meters Centerline goodness [0,1] 0.9999349988083115 Centerline is valid? [True, True] Translation: X:189.64, Y:104.27, Z:7.96 [[ 7.97284813e-01 6.03328380e-01 -1.82151823e-02 1.89640598e+02] [-6.03162438e-01 7.97492808e-01 1.41525638e-02 1.04266168e+02] [ 2.30651203e-02 -2.96910448e-04 9.99733921e-01 7.96236309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:104.25, Z:7.96 [[ 7.97385421e-01 6.03214191e-01 -1.75821065e-02 1.89664696e+02] [-6.03059380e-01 7.97579183e-01 1.36686215e-02 1.04245162e+02] [ 2.22682286e-02 -2.96105303e-04 9.99751988e-01 7.96340255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:104.23, Z:7.96 [[ 7.98412452e-01 6.01877975e-01 -1.67469206e-02 1.89687137e+02] [-6.01737142e-01 7.98588004e-01 1.30235093e-02 1.04225107e+02] [ 2.12124533e-02 -3.20887858e-04 9.99774939e-01 7.96453200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.71, Y:104.20, Z:7.97 [[ 7.98907935e-01 6.01232782e-01 -1.62866031e-02 1.89712714e+02] [-6.01099406e-01 7.99073859e-01 1.26677758e-02 1.04204428e+02] [ 2.06304809e-02 -3.30519146e-04 9.99787114e-01 7.96568628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:104.18, Z:7.97 [[ 7.99575472e-01 6.00340823e-01 -1.64304934e-02 1.89735729e+02] [-6.00204736e-01 7.99744187e-01 1.27870871e-02 1.04183720e+02] [ 2.08168019e-02 -3.62581231e-04 9.99783241e-01 7.96580668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.76, Y:104.16, Z:7.97 [[ 7.99523696e-01 6.00418077e-01 -1.61242955e-02 1.89761468e+02] [-6.00286895e-01 7.99686191e-01 1.25554773e-02 1.04163389e+02] [ 2.04329120e-02 -3.59198387e-04 9.99791162e-01 7.96656984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:104.14, Z:7.97 [[ 7.99381715e-01 6.00620910e-01 -1.56012011e-02 1.89786096e+02] [-6.00498006e-01 7.99533865e-01 1.21549624e-02 1.04144304e+02] [ 1.97742132e-02 -3.47964585e-04 9.99804411e-01 7.96713861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.81, Y:104.13, Z:7.97 [[ 7.99087695e-01 6.01011995e-01 -1.56024790e-02 1.89809064e+02] [-6.00889070e-01 7.99239929e-01 1.21598037e-02 1.04126552e+02] [ 1.97783120e-02 -3.41390407e-04 9.99804332e-01 7.96766419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.83, Y:104.11, Z:7.97 [[ 7.98729335e-01 6.01491156e-01 -1.54867186e-02 1.89832453e+02] [-6.01370149e-01 7.98879392e-01 1.20689898e-02 1.04109015e+02] [ 1.96314110e-02 -3.26605942e-04 9.99807232e-01 7.96805460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.86, Y:104.09, Z:7.97 [[ 7.97566282e-01 6.03038416e-01 -1.52543336e-02 1.89858531e+02] [-6.02921303e-01 7.97712096e-01 1.18875818e-02 1.04091578e+02] [ 1.93372349e-02 -2.83971721e-04 9.99812978e-01 7.96851952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:104.07, Z:7.97 [[ 7.96687960e-01 6.04202511e-01 -1.50871060e-02 1.89884477e+02] [-6.04088110e-01 7.96830761e-01 1.17598506e-02 1.04073305e+02] [ 1.91272014e-02 -2.54990090e-04 9.99817026e-01 7.96940683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.91, Y:104.05, Z:7.97 [[ 7.95878717e-01 6.05278681e-01 -1.46555957e-02 1.89910289e+02] [-6.05170801e-01 7.96013610e-01 1.14295617e-02 1.04054848e+02] [ 1.85841237e-02 -2.27406333e-04 9.99827274e-01 7.97011419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.93, Y:104.04, Z:7.97 [[ 7.94400123e-01 6.07238573e-01 -1.37753490e-02 1.89934200e+02] [-6.07143491e-01 7.94519531e-01 1.07468905e-02 1.04039572e+02] [ 1.74707103e-02 -1.73717592e-04 9.99847360e-01 7.97166936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.96, Y:104.02, Z:7.97 [[ 7.93711466e-01 6.08144669e-01 -1.34970225e-02 1.89961071e+02] [-6.08053511e-01 7.93826202e-01 1.05303987e-02 1.04020868e+02] [ 1.71182959e-02 -1.51186259e-04 9.99853460e-01 7.97283578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.99, Y:104.00, Z:7.97 [[ 7.93013636e-01 6.09058482e-01 -1.33093531e-02 1.89987656e+02] [-6.08969859e-01 7.93125304e-01 1.03905857e-02 1.04000849e+02] [ 1.68844591e-02 -1.34881268e-04 9.99857438e-01 7.97349675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.01, Y:103.98, Z:7.97 [[ 7.92110341e-01 6.10235071e-01 -1.32047321e-02 1.90012267e+02] [-6.10147893e-01 7.92220389e-01 1.03152089e-02 1.03982037e+02] [ 1.67557602e-02 -1.13944224e-04 9.99859606e-01 7.97357051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.04, Y:103.96, Z:7.97 [[ 7.91920505e-01 6.10489030e-01 -1.28474769e-02 1.90038383e+02] [-6.10406453e-01 7.92024705e-01 1.00414199e-02 1.03961378e+02] [ 1.63056958e-02 -1.09823509e-04 9.99867047e-01 7.97399092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.06, Y:103.94, Z:7.97 [[ 7.91427139e-01 6.11132730e-01 -1.26439769e-02 1.90063860e+02] [-6.11052731e-01 7.91528127e-01 9.88852897e-03 1.03940863e+02] [ 1.60512670e-02 -9.99136011e-05 9.99871165e-01 7.97433914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:103.92, Z:7.97 [[ 7.91336069e-01 6.11253379e-01 -1.25112818e-02 1.90088806e+02] [-6.11174969e-01 7.91434960e-01 9.79084725e-03 1.03920996e+02] [ 1.58865543e-02 -1.01268303e-04 9.99873796e-01 7.97490960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.11, Y:103.90, Z:7.98 [[ 7.91378497e-01 6.11209150e-01 -1.19770102e-02 1.90113899e+02] [-6.11137210e-01 7.91469118e-01 9.37797875e-03 1.03902063e+02] [ 1.52113402e-02 -1.01934111e-04 9.99884296e-01 7.97545234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.14, Y:103.88, Z:7.98 [[ 7.91044948e-01 6.11635668e-01 -1.22352197e-02 1.90140524e+02] [-6.11560563e-01 7.91139558e-01 9.58528780e-03 1.03882366e+02] [ 1.55424702e-02 -9.98156663e-05 9.99879204e-01 7.97556172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.17, Y:103.86, Z:7.98 [[ 7.90950077e-01 6.11755585e-01 -1.23725379e-02 1.90166822e+02] [-6.11678702e-01 7.91046834e-01 9.69910728e-03 1.03861868e+02] [ 1.57207399e-02 -1.03491753e-04 9.99876416e-01 7.97553545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:103.84, Z:7.98 [[ 7.91049613e-01 6.11618141e-01 -1.27968394e-02 1.90191931e+02] [-6.11535777e-01 7.91153106e-01 1.00378093e-02 1.03841707e+02] [ 1.62635655e-02 -1.14680063e-04 9.99867733e-01 7.97525010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:103.82, Z:7.98 [[ 7.91094480e-01 6.11560136e-01 -1.27954229e-02 1.90214287e+02] [-6.11477735e-01 7.91197944e-01 1.00396146e-02 1.03824275e+02] [ 1.62635403e-02 -1.18167484e-04 9.99867733e-01 7.97562464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:103.81, Z:7.98 [[ 7.91468369e-01 6.11070059e-01 -1.30845069e-02 1.90236957e+02] [-6.10983851e-01 7.91576507e-01 1.02648563e-02 1.03806965e+02] [ 1.66299346e-02 -1.29886634e-04 9.99861705e-01 7.97578729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:103.79, Z:7.98 [[ 7.91909820e-01 6.10500881e-01 -1.29426098e-02 1.90261238e+02] [-6.10416478e-01 7.92015565e-01 1.01523117e-02 1.03788963e+02] [ 1.64487436e-02 -1.39333095e-04 9.99864701e-01 7.97598245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.28, Y:103.77, Z:7.98 [[ 7.92248566e-01 6.10058004e-01 -1.30935421e-02 1.90284110e+02] [-6.09971563e-01 7.92356744e-01 1.02705401e-02 1.03770739e+02] [ 1.66403816e-02 -1.50132341e-04 9.99861528e-01 7.97615391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.31, Y:103.75, Z:7.98 [[ 7.93249104e-01 6.08746979e-01 -1.35268174e-02 1.90309313e+02] [-6.08654518e-01 7.93364406e-01 1.06111581e-02 1.03750541e+02] [ 1.71912059e-02 -1.84133127e-04 9.99852203e-01 7.97669089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.33, Y:103.73, Z:7.98 [[ 7.93901164e-01 6.07895185e-01 -1.35788580e-02 1.90333984e+02] [-6.07801781e-01 7.94017255e-01 1.06580656e-02 1.03730043e+02] [ 1.72608343e-02 -2.08196585e-04 9.99850999e-01 7.97717256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.36, Y:103.71, Z:7.98 [[ 7.95788181e-01 6.05424084e-01 -1.35221898e-02 1.90357452e+02] [-6.05330998e-01 7.95903014e-01 1.06195456e-02 1.03708812e+02] [ 1.71916803e-02 -2.65508239e-04 9.99852177e-01 7.97807696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.38, Y:103.69, Z:7.98 [[ 7.96789347e-01 6.04110647e-01 -1.33065091e-02 1.90381586e+02] [-6.04020229e-01 7.96900395e-01 1.04557523e-02 1.03687886e+02] [ 1.69203937e-02 -2.93631342e-04 9.99856797e-01 7.97839631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:103.67, Z:7.98 [[ 7.97876582e-01 6.02665166e-01 -1.36988091e-02 1.90405904e+02] [-6.02569017e-01 7.97994100e-01 1.07701806e-02 1.03667632e+02] [ 1.74223815e-02 -3.38796959e-04 9.99848161e-01 7.97871541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.43, Y:103.64, Z:7.98 [[ 8.00255614e-01 5.99487842e-01 -1.43275916e-02 1.90427841e+02] [-5.99382039e-01 8.00383746e-01 1.12707445e-02 1.03644730e+02] [ 1.82242457e-02 -4.31775491e-04 9.99833831e-01 7.97783093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:103.62, Z:7.98 [[ 8.01119851e-01 5.98334318e-01 -1.42488153e-02 1.90453115e+02] [-5.98229385e-01 8.01246424e-01 1.12147897e-02 1.03624950e+02] [ 1.81270058e-02 -4.60330692e-04 9.99835586e-01 7.97811247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:103.60, Z:7.98 [[ 8.02744447e-01 5.96154712e-01 -1.41743583e-02 1.90477480e+02] [-5.96050421e-01 8.02869415e-01 1.11623513e-02 1.03604887e+02] [ 1.80346470e-02 -5.11883276e-04 9.99837232e-01 7.97844567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:103.58, Z:7.98 [[ 8.02908156e-01 5.95932515e-01 -1.42453976e-02 1.90503140e+02] [-5.95827030e-01 8.03034347e-01 1.12244077e-02 1.03584974e+02] [ 1.81285331e-02 -5.24375520e-04 9.99835527e-01 7.97910350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.53, Y:103.56, Z:7.98 [[ 8.02894278e-01 5.95954720e-01 -1.40978849e-02 1.90528859e+02] [-5.95851294e-01 8.03017869e-01 1.11147406e-02 1.03564845e+02] [ 1.79447356e-02 -5.23718673e-04 9.99838843e-01 7.97966855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.55, Y:103.55, Z:7.98 [[ 8.02065592e-01 5.97074374e-01 -1.38916778e-02 1.90554219e+02] [-5.96974010e-01 8.02185731e-01 1.09583221e-02 1.03546336e+02] [ 1.76866390e-02 -4.96322491e-04 9.99843456e-01 7.98075842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.58, Y:103.53, Z:7.98 [[ 8.01350058e-01 5.98034456e-01 -1.38879339e-02 1.90580132e+02] [-5.97934216e-01 8.01470249e-01 1.09595864e-02 1.03527889e+02] [ 1.76849762e-02 -4.78394279e-04 9.99843494e-01 7.98148117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.61, Y:103.51, Z:7.98 [[ 7.99022349e-01 6.01160168e-01 -1.30283542e-02 1.90607837e+02] [-6.01072293e-01 7.99128464e-01 1.02857313e-02 1.03512501e+02] [ 1.65947007e-02 -3.87546480e-04 9.99862223e-01 7.98255861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.63, Y:103.49, Z:7.98 [[ 7.97327811e-01 6.03406335e-01 -1.30060330e-02 1.90633862e+02] [-6.03319029e-01 7.97433808e-01 1.02698567e-02 1.03494795e+02] [ 1.65683471e-02 -3.41655137e-04 9.99862677e-01 7.98329219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:103.48, Z:7.98 [[ 7.95470403e-01 6.05861388e-01 -1.26022352e-02 1.90660590e+02] [-6.05779646e-01 7.95570171e-01 9.95608571e-03 1.03477477e+02] [ 1.60579703e-02 -2.85593959e-04 9.99871022e-01 7.98419773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.69, Y:103.46, Z:7.99 [[ 7.92471025e-01 6.09792975e-01 -1.19248326e-02 1.90686294e+02] [-6.09720165e-01 7.92560716e-01 9.42508124e-03 1.03464072e+02] [ 1.51985022e-02 -1.98292876e-04 9.99884476e-01 7.98552853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.71, Y:103.45, Z:7.99 [[ 7.91195468e-01 6.11449970e-01 -1.17756890e-02 1.90709415e+02] [-6.11379162e-01 7.91283077e-01 9.30656408e-03 1.03448734e+02] [ 1.50084017e-02 -1.63900472e-04 9.99887354e-01 7.98624339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.74, Y:103.43, Z:7.99 [[ 7.89854144e-01 6.13184336e-01 -1.16361815e-02 1.90736681e+02] [-6.13115399e-01 7.89939842e-01 9.19534929e-03 1.03431339e+02] [ 1.48303275e-02 -1.28662718e-04 9.99890016e-01 7.98710121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.76, Y:103.41, Z:7.99 [[ 7.88138846e-01 6.15402971e-01 -1.07862546e-02 1.90762309e+02] [-6.15343882e-01 7.88212647e-01 8.52825746e-03 1.03414341e+02] [ 1.37501773e-02 -8.41951857e-05 9.99905458e-01 7.98840025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.79, Y:103.39, Z:7.99 [[ 7.87230946e-01 6.16570940e-01 -1.03785473e-02 1.90788476e+02] [-6.16516279e-01 7.87299354e-01 8.21009394e-03 1.03394342e+02] [ 1.32331289e-02 -6.46966527e-05 9.99912436e-01 7.98960680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.81, Y:103.37, Z:7.99 [[ 7.86602481e-01 6.17384440e-01 -9.64312540e-03 1.90814712e+02] [-6.17337256e-01 7.86661586e-01 7.63293475e-03 1.03374254e+02] [ 1.22983315e-02 -5.10248436e-05 9.99924371e-01 7.99118413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.84, Y:103.35, Z:7.99 [[ 7.86522942e-01 6.17487598e-01 -9.52515294e-03 1.90838801e+02] [-6.17441508e-01 7.86580615e-01 7.54457264e-03 1.03353693e+02] [ 1.21509807e-02 -5.27546717e-05 9.99926173e-01 7.99225895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.86, Y:103.34, Z:7.99 [[ 7.86507877e-01 6.17512169e-01 -9.16954055e-03 1.90862945e+02] [-6.17469421e-01 7.86561325e-01 7.26609722e-03 1.03335302e+02] [ 1.16993094e-02 -5.29318078e-05 9.99931559e-01 7.99235313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.89, Y:103.32, Z:7.99 [[ 7.86583835e-01 6.17410085e-01 -9.52147490e-03 1.90887622e+02] [-6.17363989e-01 7.86641459e-01 7.54461379e-03 1.03315089e+02] [ 1.21481075e-02 -5.62555278e-05 9.99926207e-01 7.99258822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.91, Y:103.29, Z:7.99 [[ 7.87238892e-01 6.16567719e-01 -9.95865215e-03 1.90909796e+02] [-6.16517164e-01 7.87301875e-01 7.89583196e-03 1.03293918e+02] [ 1.27087806e-02 -7.62260312e-05 9.99919237e-01 7.99193359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:103.28, Z:7.99 [[ 7.87748195e-01 6.15909774e-01 -1.03890648e-02 1.90930939e+02] [-6.15854693e-01 7.87816693e-01 8.23740368e-03 1.03276016e+02] [ 1.32581761e-02 -9.08455378e-05 9.99912102e-01 7.99199867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.95, Y:103.26, Z:7.99 [[ 7.88605091e-01 6.14811279e-01 -1.04451790e-02 1.90953129e+02] [-6.14755569e-01 7.88674254e-01 8.27715878e-03 1.03256842e+02] [ 1.33267343e-02 -1.06177606e-04 9.99911190e-01 7.99197798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.98, Y:103.24, Z:7.99 [[ 7.89934724e-01 6.13095665e-01 -1.08090940e-02 1.90976155e+02] [-6.13035902e-01 7.90008662e-01 8.56130466e-03 1.03237834e+02] [ 1.37881767e-02 -1.36509121e-04 9.99904929e-01 7.99229157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.00, Y:103.22, Z:7.99 [[ 7.90585782e-01 6.12249590e-01 -1.11606747e-02 1.90996636e+02] [-6.12185802e-01 7.90664540e-01 8.83903759e-03 1.03217173e+02] [ 1.42360469e-02 -1.55610828e-04 9.99898650e-01 7.99210526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.02, Y:103.20, Z:7.99 [[ 7.91901277e-01 6.10535429e-01 -1.17837409e-02 1.91021627e+02] [-6.10464135e-01 7.91988921e-01 9.33214133e-03 1.03197471e+02] [ 1.50301951e-02 -1.96583473e-04 9.99887021e-01 7.99199828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.37275509600005 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:191.05, Y:103.18, Z:7.99 [[ 7.92178313e-01 6.10169646e-01 -1.21046976e-02 1.91046290e+02] [-6.10094284e-01 7.92270761e-01 9.59200497e-03 1.03175849e+02] [ 1.54429483e-02 -2.13571490e-04 9.99880728e-01 7.99213449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.07, Y:103.16, Z:7.99 [[ 7.92833593e-01 6.09316761e-01 -1.21646330e-02 1.91069466e+02] [-6.09240457e-01 7.92926875e-01 9.64559169e-03 1.03155353e+02] [ 1.55228851e-02 -2.36162577e-04 9.99879485e-01 7.99218149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.09, Y:103.13, Z:7.99 [[ 7.93662847e-01 6.08229832e-01 -1.24802619e-02 1.91091829e+02] [-6.08149298e-01 7.93760921e-01 9.90112011e-03 1.03132876e+02] [ 1.59285008e-02 -2.68288646e-04 9.99873097e-01 7.99181108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:103.11, Z:7.99 [[ 7.93715605e-01 6.08157352e-01 -1.26559627e-02 1.91118178e+02] [-6.08074437e-01 7.93816451e-01 1.00459658e-02 1.03113451e+02] [ 1.61560393e-02 -2.77872395e-04 9.99869444e-01 7.99234540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.14, Y:103.09, Z:7.99 [[ 7.93689523e-01 6.08189507e-01 -1.27461893e-02 1.91144041e+02] [-6.08105304e-01 7.93791813e-01 1.01240469e-02 1.03092337e+02] [ 1.62751598e-02 -2.84324595e-04 9.99867510e-01 7.99253699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:103.07, Z:7.99 [[ 7.93150102e-01 6.08893292e-01 -1.27229703e-02 1.91169646e+02] [-6.08809385e-01 7.93252093e-01 1.01118181e-02 1.03072766e+02] [ 1.62495410e-02 -2.74325859e-04 9.99867930e-01 7.99256446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:103.05, Z:7.99 [[ 7.92419791e-01 6.09845103e-01 -1.26422232e-02 1.91195685e+02] [-6.09762290e-01 7.92520589e-01 1.00531420e-02 1.03053338e+02] [ 1.61500816e-02 -2.57557713e-04 9.99869546e-01 7.99335228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5827550960001 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:191.22, Y:103.03, Z:7.99 [[ 7.91120335e-01 6.11531212e-01 -1.25774718e-02 1.91220685e+02] [-6.11449368e-01 7.91220277e-01 1.00072081e-02 1.03034067e+02] [ 1.60712708e-02 -2.26418599e-04 9.99870823e-01 7.99359336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.25, Y:103.02, Z:7.99 [[ 7.90416369e-01 6.12440704e-01 -1.25836164e-02 1.91245564e+02] [-6.12358820e-01 7.90516501e-01 1.00167849e-02 1.03015272e+02] [ 1.60822432e-02 -2.11742233e-04 9.99870650e-01 7.99476164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.27, Y:103.00, Z:8.00 [[ 7.89413695e-01 6.13731222e-01 -1.26493311e-02 1.91271003e+02] [-6.13648620e-01 7.89515010e-01 1.00707709e-02 1.02996054e+02] [ 1.61675833e-02 -1.87759916e-04 9.99869278e-01 7.99539889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.30, Y:102.98, Z:8.00 [[ 7.87764825e-01 6.15860040e-01 -1.19579357e-02 1.91295106e+02] [-6.15786401e-01 7.87855565e-01 9.52451125e-03 1.02979506e+02] [ 1.52868921e-02 -1.39540746e-04 9.99883139e-01 7.99621869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:102.96, Z:8.00 [[ 7.87009623e-01 6.16821973e-01 -1.21040035e-02 1.91317422e+02] [-6.16746653e-01 7.87102686e-01 9.63992546e-03 1.02962789e+02] [ 1.54732115e-02 -1.21610476e-04 9.99880275e-01 7.99665134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.34, Y:102.95, Z:8.00 [[ 7.85400070e-01 6.18878831e-01 -1.16500080e-02 1.91341788e+02] [-6.18809306e-01 7.85486465e-01 9.27665320e-03 1.02946750e+02] [ 1.48920479e-02 -7.67506789e-05 9.99889104e-01 7.99778223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:102.93, Z:8.00 [[ 7.84806547e-01 6.19635552e-01 -1.14221864e-02 1.91364675e+02] [-6.19568820e-01 7.84889661e-01 9.09386708e-03 1.02929822e+02] [ 1.46000394e-02 -6.00958747e-05 9.99893412e-01 7.99854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:102.91, Z:8.00 [[ 7.84508265e-01 6.20017939e-01 -1.11595897e-02 1.91386565e+02] [-6.19954299e-01 7.84587632e-01 8.88338399e-03 1.02912431e+02] [ 1.42635335e-02 -5.06525381e-05 9.99898269e-01 7.99948885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:102.89, Z:8.00 [[ 7.84234959e-01 6.20366261e-01 -1.10105018e-02 1.91409053e+02] [-6.20304371e-01 7.84312247e-01 8.76282360e-03 1.02894094e+02] [ 1.40718315e-02 -4.22502297e-05 9.99900986e-01 8.00038934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.43, Y:102.88, Z:8.00 [[ 7.83877249e-01 6.20827055e-01 -1.04988711e-02 1.91430235e+02] [-6.20770841e-01 7.83947554e-01 8.35438473e-03 1.02875108e+02] [ 1.34171924e-02 -3.14190646e-05 9.99909985e-01 8.00135964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.45, Y:102.86, Z:8.00 [[ 7.83952322e-01 6.20730802e-01 -1.05843627e-02 1.91451540e+02] [-6.20673678e-01 7.84023769e-01 8.42108398e-03 1.02856372e+02] [ 1.35256181e-02 -3.22930269e-05 9.99908524e-01 8.00151879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.47, Y:102.84, Z:8.00 [[ 7.84410861e-01 6.20145846e-01 -1.08963766e-02 1.91471455e+02] [-6.20085272e-01 7.84486538e-01 8.66758878e-03 1.02836017e+02] [ 1.39232299e-02 -4.22681201e-05 9.99903066e-01 8.00136543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.49, Y:102.82, Z:8.00 [[ 7.84902470e-01 6.19518801e-01 -1.11609730e-02 1.91492752e+02] [-6.19455215e-01 7.84981817e-01 8.87604300e-03 1.02816986e+02] [ 1.42600364e-02 -5.31051229e-05 9.99898319e-01 8.00131146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.52, Y:102.79, Z:8.00 [[ 7.85628022e-01 6.18590551e-01 -1.15905454e-02 1.91516469e+02] [-6.18521884e-01 7.85713513e-01 9.21702864e-03 1.02793268e+02] [ 1.48084150e-02 -7.21499984e-05 9.99890347e-01 8.00051749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:102.77, Z:8.00 [[ 7.86032701e-01 6.18068467e-01 -1.19984806e-02 1.91540885e+02] [-6.17994724e-01 7.86124266e-01 9.54771660e-03 1.02770412e+02] [ 1.53334393e-02 -8.98197669e-05 9.99882432e-01 8.00045189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:102.75, Z:8.00 [[ 7.86557535e-01 6.17392901e-01 -1.23793984e-02 1.91564495e+02] [-6.17314217e-01 7.86654939e-01 9.85724243e-03 1.02747634e+02] [ 1.58241064e-02 -1.11309682e-04 9.99874785e-01 8.00019203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:102.72, Z:8.00 [[ 7.87649522e-01 6.15986790e-01 -1.29809842e-02 1.91585487e+02] [-6.15899972e-01 7.87756468e-01 1.03427645e-02 1.02723456e+02] [ 1.65968606e-02 -1.51485679e-04 9.99862251e-01 7.99944356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.61, Y:102.70, Z:8.00 [[ 7.88035974e-01 6.15492550e-01 -1.29701523e-02 1.91609647e+02] [-6.15405719e-01 7.88142686e-01 1.03396110e-02 1.02700472e+02] [ 1.65862842e-02 -1.66079547e-04 9.99862424e-01 7.99912024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:102.68, Z:8.00 [[ 7.89036153e-01 6.14210186e-01 -1.29536741e-02 1.91631449e+02] [-6.14123300e-01 7.89142452e-01 1.03326289e-02 1.02677240e+02] [ 1.65687001e-02 -1.97664688e-04 9.99862710e-01 7.99951623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.66, Y:102.66, Z:8.00 [[ 7.89192332e-01 6.14008932e-01 -1.29805628e-02 1.91655408e+02] [-6.13921571e-01 7.89299049e-01 1.03593225e-02 1.02655583e+02] [ 1.66062624e-02 -2.06450383e-04 9.99862085e-01 7.99990191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.68, Y:102.64, Z:8.00 [[ 7.89281946e-01 6.13905301e-01 -1.24214164e-02 1.91678786e+02] [-6.13825225e-01 7.89379655e-01 9.91732769e-03 1.02636506e+02] [ 1.58935135e-02 -2.02988966e-04 9.99873670e-01 8.00095529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.70, Y:102.62, Z:8.00 [[ 7.88380842e-01 6.15076899e-01 -1.16642951e-02 1.91701909e+02] [-6.15006413e-01 7.88467108e-01 9.31300707e-03 1.02619783e+02] [ 1.49251285e-02 -1.68580089e-04 9.99888600e-01 8.00255681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.72, Y:102.60, Z:8.00 [[ 7.87949924e-01 6.15636065e-01 -1.12761755e-02 1.91723804e+02] [-6.15570264e-01 7.88030591e-01 9.00207855e-03 1.02603014e+02] [ 1.44279754e-02 -1.51908798e-04 9.99895900e-01 8.00335505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:102.59, Z:8.00 [[ 7.87994174e-01 6.15579410e-01 -1.12770467e-02 1.91746017e+02] [-6.15513619e-01 7.88074849e-01 9.00098707e-03 1.02585398e+02] [ 1.44279791e-02 -1.51549575e-04 9.99895900e-01 8.00372846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.77, Y:102.57, Z:8.00 [[ 7.87489687e-01 6.16225365e-01 -1.12379928e-02 1.91768756e+02] [-6.16160113e-01 7.87569858e-01 8.96849768e-03 1.02567857e+02] [ 1.43773201e-02 -1.38196526e-04 9.99896631e-01 8.00444875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.79, Y:102.55, Z:8.01 [[ 7.86632110e-01 6.17328696e-01 -1.07333708e-02 1.91791426e+02] [-6.17269292e-01 7.86705326e-01 8.56455819e-03 1.02551203e+02] [ 1.37311475e-02 -1.11776310e-04 9.99905717e-01 8.00539867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.81, Y:102.53, Z:8.01 [[ 7.86586047e-01 6.17393612e-01 -1.03691178e-02 1.91813289e+02] [-6.17338200e-01 7.86654382e-01 8.27223826e-03 1.02534084e+02] [ 1.32641390e-02 -1.05574670e-04 9.99912022e-01 8.00579011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.84, Y:102.51, Z:8.01 [[ 7.86743131e-01 6.17192300e-01 -1.04359922e-02 1.91839465e+02] [-6.17136177e-01 7.86812337e-01 8.32386062e-03 1.02513838e+02] [ 1.33485901e-02 -1.08311874e-04 9.99910898e-01 8.00609975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.86, Y:102.49, Z:8.01 [[ 7.86766333e-01 6.17161720e-01 -1.04952057e-02 1.91863846e+02] [-6.17104885e-01 7.86836323e-01 8.37627883e-03 1.02492793e+02] [ 1.34275277e-02 -1.13531475e-04 9.99909840e-01 8.00629915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.89, Y:102.47, Z:8.01 [[ 7.86903946e-01 6.16982862e-01 -1.06924367e-02 1.91889935e+02] [-6.16923786e-01 7.86976577e-01 8.53866398e-03 1.02473342e+02] [ 1.36829066e-02 -1.22689828e-04 9.99906377e-01 8.00633109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.91, Y:102.45, Z:8.01 [[ 7.87041341e-01 6.16807798e-01 -1.06802251e-02 1.91913141e+02] [-6.16748781e-01 7.87113793e-01 8.53334615e-03 1.02454020e+02] [ 1.36699870e-02 -1.29080372e-04 9.99906553e-01 8.00677589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.94, Y:102.43, Z:8.01 [[ 7.87346392e-01 6.16426353e-01 -1.02083093e-02 1.91937773e+02] [-6.16372386e-01 7.87412556e-01 8.15767706e-03 1.02433554e+02] [ 1.30667580e-02 -1.30797647e-04 9.99914618e-01 8.00824352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:102.41, Z:8.01 [[ 7.87415921e-01 6.16348064e-01 -9.55156092e-03 1.91961256e+02] [-6.16300763e-01 7.87473840e-01 7.63684077e-03 1.02414754e+02] [ 1.22285564e-02 -1.26735722e-04 9.99925220e-01 8.00947202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.98, Y:102.40, Z:8.01 [[ 7.87958098e-01 6.15664569e-01 -8.89804220e-03 1.91983748e+02] [-6.15623459e-01 7.88008326e-01 7.11584372e-03 1.02397002e+02] [ 1.13927042e-02 -1.29143167e-04 9.99935093e-01 8.01112997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:102.38, Z:8.01 [[ 7.88525090e-01 6.14948812e-01 -8.13271127e-03 1.92005209e+02] [-6.14914437e-01 7.88567018e-01 6.50332395e-03 1.02378973e+02] [ 1.04123992e-02 -1.27112533e-04 9.99945781e-01 8.01231884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.03, Y:102.36, Z:8.01 [[ 7.89505796e-01 6.13696974e-01 -7.52472030e-03 1.92030598e+02] [-6.13667517e-01 7.89541643e-01 6.01431633e-03 1.02359338e+02] [ 9.63204776e-03 -1.30661180e-04 9.99953602e-01 8.01290799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.05, Y:102.34, Z:8.01 [[ 7.90157902e-01 6.12859900e-01 -7.29614703e-03 1.92053349e+02] [-6.12832137e-01 7.90191574e-01 5.83503355e-03 1.02338730e+02] [ 9.34141198e-03 -1.39284487e-04 9.99956358e-01 8.01357483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.08, Y:102.32, Z:8.01 [[ 7.90809760e-01 6.12022201e-01 -6.98212136e-03 1.92078544e+02] [-6.11996727e-01 7.90840569e-01 5.58582252e-03 1.02318418e+02] [ 8.94039222e-03 -1.44287551e-04 9.99960024e-01 8.01378483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:102.30, Z:8.01 [[ 7.91461674e-01 6.11181938e-01 -6.71250257e-03 1.92101966e+02] [-6.11158337e-01 7.91490124e-01 5.37315539e-03 1.02297206e+02] [ 8.59685502e-03 -1.50244654e-04 9.99963035e-01 8.01446526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:102.28, Z:8.01 [[ 7.92482974e-01 6.09860821e-01 -6.36518917e-03 1.92125592e+02] [-6.09839537e-01 7.92508520e-01 5.09748529e-03 1.02275687e+02] [ 8.15322321e-03 -1.57926288e-04 9.99966749e-01 8.01469686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.15, Y:102.25, Z:8.02 [[ 7.92459209e-01 6.09888293e-01 -6.68373513e-03 1.92149034e+02] [-6.09864800e-01 7.92487376e-01 5.35575814e-03 1.02254544e+02] [ 8.56318991e-03 -1.68045066e-04 9.99963321e-01 8.01505924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.18, Y:102.23, Z:8.01 [[ 7.92429713e-01 6.09924241e-01 -6.89717298e-03 1.92175054e+02] [-6.09899194e-01 7.92459709e-01 5.53020604e-03 1.02233972e+02] [ 8.83873841e-03 -1.75719344e-04 9.99960922e-01 8.01463290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:102.21, Z:8.01 [[ 7.92533605e-01 6.09775747e-01 -8.00145501e-03 1.92199105e+02] [-6.09741979e-01 7.92573968e-01 6.42062232e-03 1.02212393e+02] [ 1.02568847e-02 -2.09735944e-04 9.99947375e-01 8.01379910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.23, Y:102.19, Z:8.01 [[ 7.92384049e-01 6.09962204e-01 -8.58075952e-03 1.92225792e+02] [-6.09923333e-01 7.92430476e-01 6.88981086e-03 1.02193442e+02] [ 1.10021796e-02 -2.25770780e-04 9.99939449e-01 8.01297643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.25, Y:102.18, Z:8.01 [[ 7.91749313e-01 6.10778874e-01 -9.06605716e-03 1.92251018e+02] [-6.10735475e-01 7.91801184e-01 7.28460662e-03 1.02175130e+02] [ 1.16277986e-02 -2.30619565e-04 9.99932368e-01 8.01293440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:102.16, Z:8.01 [[ 7.91327414e-01 6.11322161e-01 -9.28117096e-03 1.92275997e+02] [-6.11276666e-01 7.91381806e-01 7.46159789e-03 1.02156352e+02] [ 1.19063900e-02 -2.31203722e-04 9.99929090e-01 8.01308322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:102.14, Z:8.01 [[ 7.90814346e-01 6.11979091e-01 -9.70883462e-03 1.92301064e+02] [-6.11929326e-01 7.90873907e-01 7.80785625e-03 1.02137004e+02] [ 1.24567087e-02 -2.33444107e-04 9.99922385e-01 8.01308703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:102.12, Z:8.01 [[ 7.90535142e-01 6.12320020e-01 -1.08803566e-02 1.92325408e+02] [-6.12257478e-01 7.90609971e-01 8.75524138e-03 1.02116835e+02] [ 1.39631280e-02 -2.59746284e-04 9.99902477e-01 8.01192260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.35, Y:102.10, Z:8.01 [[ 7.90533392e-01 6.12309817e-01 -1.15604875e-02 1.92352195e+02] [-6.12239150e-01 7.90617866e-01 9.30660018e-03 1.02097771e+02] [ 1.48384506e-02 -2.79395159e-04 9.99889865e-01 8.01154863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:102.08, Z:8.01 [[ 7.90349353e-01 6.12535708e-01 -1.21616979e-02 1.92376517e+02] [-6.12457426e-01 7.90442863e-01 9.79702968e-03 1.02077560e+02] [ 1.56141578e-02 -2.94553873e-04 9.99878048e-01 8.01091430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.40, Y:102.06, Z:8.01 [[ 7.90098830e-01 6.12850862e-01 -1.25562598e-02 1.92403495e+02] [-6.12767358e-01 7.90198538e-01 1.01211009e-02 1.02057824e+02] [ 1.61246636e-02 -3.02603810e-04 9.99869943e-01 8.01117271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.43, Y:102.04, Z:8.01 [[ 7.90035126e-01 6.12922998e-01 -1.30345098e-02 1.92427407e+02] [-6.12832906e-01 7.90142580e-01 1.05134109e-02 1.02035828e+02] [ 1.67430325e-02 -3.17987329e-04 9.99859775e-01 8.01052950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.46, Y:102.02, Z:8.01 [[ 7.90117652e-01 6.12812297e-01 -1.32357364e-02 1.92456051e+02] [-6.12719275e-01 7.90228435e-01 1.06822629e-02 1.02019314e+02] [ 1.70054773e-02 -3.30453655e-04 9.99855342e-01 8.01039284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.48, Y:102.00, Z:8.01 [[ 7.89998255e-01 6.12966988e-01 -1.31995841e-02 1.92481021e+02] [-6.12874380e-01 7.90108449e-01 1.06598711e-02 1.01998986e+02] [ 1.69632520e-02 -3.31592621e-04 9.99856059e-01 8.01070032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:101.98, Z:8.01 [[ 7.89899738e-01 6.13087423e-01 -1.34987637e-02 1.92504748e+02] [-6.12990471e-01 7.90014997e-01 1.09081393e-02 1.01977501e+02] [ 1.73518687e-02 -3.41722874e-04 9.99849387e-01 8.01037495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:101.96, Z:8.01 [[ 7.89902050e-01 6.13070501e-01 -1.41178006e-02 1.92532706e+02] [-6.12964320e-01 7.90028119e-01 1.14154977e-02 1.01959703e+02] [ 1.81519644e-02 -3.63416969e-04 9.99835173e-01 8.01069001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:101.94, Z:8.01 [[ 7.89818301e-01 6.13160256e-01 -1.48846182e-02 1.92556165e+02] [-6.13042091e-01 7.89958449e-01 1.20434521e-02 1.01937916e+02] [ 1.91427960e-02 -3.87241415e-04 9.99816685e-01 8.00985495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.58, Y:101.92, Z:8.01 [[ 7.89978276e-01 6.12933417e-01 -1.57146512e-02 1.92582726e+02] [-6.12801501e-01 7.90134450e-01 1.27228302e-02 1.01919129e+02] [ 2.02149351e-02 -4.20797655e-04 9.99795569e-01 8.00975461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.61, Y:101.90, Z:8.01 [[ 7.90139965e-01 6.12707152e-01 -1.63945823e-02 1.92607014e+02] [-6.12563361e-01 7.90309903e-01 1.32810568e-02 1.01898756e+02] [ 2.10941992e-02 -4.51173358e-04 9.99777391e-01 8.01005544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.63, Y:101.88, Z:8.01 [[ 7.90446914e-01 6.12303028e-01 -1.66936538e-02 1.92630166e+02] [-6.12153715e-01 7.90623030e-01 1.35297487e-02 1.01877945e+02] [ 2.14826932e-02 -4.75465896e-04 9.99769107e-01 8.00964296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.66, Y:101.86, Z:8.01 [[ 7.90743716e-01 6.11904175e-01 -1.72527180e-02 1.92655404e+02] [-6.11744466e-01 7.90931744e-01 1.39887294e-02 1.01858345e+02] [ 2.22054842e-02 -5.07245109e-04 9.99753299e-01 8.01051062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:101.84, Z:8.01 [[ 7.90846023e-01 6.11775080e-01 -1.71411788e-02 1.92680894e+02] [-6.11617217e-01 7.91031597e-01 1.39065789e-02 1.01837311e+02] [ 2.20669124e-02 -5.14122545e-04 9.99756364e-01 8.01110364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:101.81, Z:8.01 [[ 7.90968793e-01 6.11612935e-01 -1.72622832e-02 1.92703437e+02] [-6.11452598e-01 7.91156962e-01 1.40136560e-02 1.01813873e+02] [ 2.22281088e-02 -5.29296678e-04 9.99752785e-01 8.01043770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:101.80, Z:8.01 [[ 7.91519988e-01 6.10910186e-01 -1.68776011e-02 1.92730057e+02] [-6.10756586e-01 7.91699722e-01 1.37092147e-02 1.01795250e+02] [ 2.17370910e-02 -5.43011453e-04 9.99763574e-01 8.01284556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:101.78, Z:8.01 [[ 7.91783155e-01 6.10570825e-01 -1.68138140e-02 1.92755488e+02] [-6.10418143e-01 7.91961463e-01 1.36649933e-02 1.01775147e+02] [ 2.16593390e-02 -5.56254328e-04 9.99765254e-01 8.01414156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.78, Y:101.75, Z:8.02 [[ 7.92161962e-01 6.10097357e-01 -1.61443904e-02 1.92777735e+02] [-6.09956348e-01 7.92326265e-01 1.31279605e-02 1.01753726e+02] [ 2.08009586e-02 -5.52097512e-04 9.99783484e-01 8.01567690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.80, Y:101.73, Z:8.02 [[ 7.92021301e-01 6.10281434e-01 -1.60882101e-02 1.92804225e+02] [-6.10141289e-01 7.92184491e-01 1.30896879e-02 1.01734543e+02] [ 2.07332240e-02 -5.51230422e-04 9.99784892e-01 8.01713587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.83, Y:101.71, Z:8.02 [[ 7.91716619e-01 6.10684463e-01 -1.57886851e-02 1.92827647e+02] [-6.10549412e-01 7.91873853e-01 1.28536500e-02 1.01713353e+02] [ 2.03521712e-02 -5.36675906e-04 9.99792729e-01 8.01701554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.85, Y:101.69, Z:8.02 [[ 7.91407517e-01 6.11077718e-01 -1.60675057e-02 1.92854420e+02] [-6.10937781e-01 7.91570420e-01 1.30880927e-02 1.01694129e+02] [ 2.07164040e-02 -5.41768649e-04 9.99785246e-01 8.01763688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.88, Y:101.67, Z:8.02 [[ 7.90222188e-01 6.12603277e-01 -1.63131192e-02 1.92879378e+02] [-6.12459187e-01 7.90390384e-01 1.32960964e-02 1.01674989e+02] [ 2.10389648e-02 -5.15750656e-04 9.99778523e-01 8.01828434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:101.66, Z:8.02 [[ 7.89517001e-01 6.13508223e-01 -1.64488907e-02 1.92905043e+02] [-6.13361769e-01 7.89688172e-01 1.34138592e-02 1.01655422e+02] [ 2.12190074e-02 -5.01349151e-04 9.99774726e-01 8.01863321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:101.64, Z:8.02 [[ 7.87329575e-01 6.16303997e-01 -1.67786664e-02 1.92931849e+02] [-6.16152077e-01 7.87508215e-01 1.36904839e-02 1.01637471e+02] [ 2.16508375e-02 -4.40712725e-04 9.99765496e-01 8.01951836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.96, Y:101.62, Z:8.02 [[ 7.86075516e-01 6.17899483e-01 -1.68970915e-02 1.92955903e+02] [-6.17745613e-01 7.86256996e-01 1.37946889e-02 1.01618213e+02] [ 2.18091875e-02 -4.05563085e-04 9.99762069e-01 8.01937980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:101.60, Z:8.02 [[ 7.84592378e-01 6.19783629e-01 -1.68242138e-02 1.92982349e+02] [-6.19631398e-01 7.84772659e-01 1.37405915e-02 1.01599060e+02] [ 2.17193766e-02 -3.55952233e-04 9.99764043e-01 8.02039128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:101.58, Z:8.02 [[ 7.81798243e-01 6.23295207e-01 -1.71636651e-02 1.93009618e+02] [-6.23137551e-01 7.81986582e-01 1.40206689e-02 1.01580852e+02] [ 2.21607715e-02 -2.66010052e-04 9.99754385e-01 8.02098374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:101.56, Z:8.02 [[ 7.80521618e-01 6.24898559e-01 -1.69644851e-02 1.93035362e+02] [-6.24744815e-01 7.80705925e-01 1.38627053e-02 1.01561739e+02] [ 2.19070586e-02 -2.21667095e-04 9.99759987e-01 8.02177353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:101.54, Z:8.02 [[ 7.79453408e-01 6.26235107e-01 -1.67921096e-02 1.93059219e+02] [-6.26084621e-01 7.79634245e-01 1.37292571e-02 1.01541904e+02] [ 2.16894465e-02 -1.88034710e-04 9.99764739e-01 8.02203911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:101.52, Z:8.03 [[ 7.79186510e-01 6.26589818e-01 -1.59242954e-02 1.93082382e+02] [-6.26454475e-01 7.79349197e-01 1.30238175e-02 1.01522680e+02] [ 2.05711783e-02 -1.72136810e-04 9.99788376e-01 8.02521091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:101.50, Z:8.03 [[ 7.79511131e-01 6.26197311e-01 -1.54701136e-02 1.93103441e+02] [-6.26069509e-01 7.79664605e-01 1.26519913e-02 1.01503895e+02] [ 1.99841429e-02 -1.77001681e-04 9.99800281e-01 8.02643817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:101.48, Z:8.03 [[ 7.80424830e-01 6.25083422e-01 -1.44153040e-02 1.93124961e+02] [-6.24972278e-01 7.80557928e-01 1.17886638e-02 1.01482104e+02] [ 1.86208781e-02 -1.91000580e-04 9.99826598e-01 8.02935258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.15, Y:101.46, Z:8.03 [[ 7.81067912e-01 6.24300171e-01 -1.34986487e-02 1.93149829e+02] [-6.24202566e-01 7.81184522e-01 1.10407712e-02 1.01459809e+02] [ 1.74376908e-02 -1.97700977e-04 9.99847932e-01 8.03130284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.17, Y:101.44, Z:8.03 [[ 7.81648653e-01 6.23588552e-01 -1.27554364e-02 1.93174539e+02] [-6.23501199e-01 7.81752694e-01 1.04393200e-02 1.01437459e+02] [ 1.64814373e-02 -2.06850542e-04 9.99864151e-01 8.03262323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.20, Y:101.42, Z:8.03 [[ 7.82389376e-01 6.22664935e-01 -1.24596943e-02 1.93196914e+02] [-6.22581369e-01 7.82488548e-01 1.02034950e-02 1.01415703e+02] [ 1.61029267e-02 -2.25932545e-04 9.99870314e-01 8.03320793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.22, Y:101.39, Z:8.03 [[ 7.83642706e-01 6.21081603e-01 -1.27181689e-02 1.93220780e+02] [-6.20994233e-01 7.83745858e-01 1.04207553e-02 1.01393723e+02] [ 1.64399516e-02 -2.68239378e-04 9.99864819e-01 8.03428138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.24, Y:101.37, Z:8.03 [[ 7.84062869e-01 6.20552117e-01 -1.26683831e-02 1.93243902e+02] [-6.20465272e-01 7.84165155e-01 1.03853233e-02 1.01372168e+02] [ 1.63787390e-02 -2.82454604e-04 9.99865820e-01 8.03467395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.27, Y:101.35, Z:8.04 [[ 7.84615493e-01 6.19854809e-01 -1.25914368e-02 1.93266409e+02] [-6.19768868e-01 7.84716463e-01 1.03258428e-02 1.01350172e+02] [ 1.62812311e-02 -2.98035714e-04 9.99867408e-01 8.03534311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.29, Y:101.33, Z:8.04 [[ 7.84425299e-01 6.20095536e-01 -1.25887181e-02 1.93291370e+02] [-6.20009573e-01 7.84526251e-01 1.03291565e-02 1.01329473e+02] [ 1.62812436e-02 -2.97325925e-04 9.99867408e-01 8.03577170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:101.31, Z:8.04 [[ 7.84337899e-01 6.20210336e-01 -1.23773962e-02 1.93314689e+02] [-6.20127150e-01 7.84435499e-01 1.01619555e-02 1.01307671e+02] [ 1.60118188e-02 -2.94847418e-04 9.99871759e-01 8.03612656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.34, Y:101.29, Z:8.04 [[ 7.84157835e-01 6.20430839e-01 -1.27304432e-02 1.93341889e+02] [-6.20342764e-01 7.84261106e-01 1.04581624e-02 1.01288300e+02] [ 1.64725579e-02 -3.03611655e-04 9.99864272e-01 8.03679341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:101.27, Z:8.04 [[ 7.84292232e-01 6.20252696e-01 -1.31258285e-02 1.93365789e+02] [-6.20158921e-01 7.84401995e-01 1.07899776e-02 1.01267098e+02] [ 1.69884388e-02 -3.22395955e-04 9.99855634e-01 8.03713289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:101.25, Z:8.04 [[ 7.84369043e-01 6.20154088e-01 -1.31951370e-02 1.93390815e+02] [-6.20059193e-01 7.84479953e-01 1.08535584e-02 1.01245398e+02] [ 1.70821991e-02 -3.31429220e-04 9.99854034e-01 8.03773311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.41, Y:101.22, Z:8.04 [[ 7.84992315e-01 6.19348530e-01 -1.39450145e-02 1.93414227e+02] [-6.19242283e-01 7.85116079e-01 1.14776850e-02 1.01222876e+02] [ 1.80571425e-02 -3.74551932e-04 9.99836886e-01 8.03871142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.44, Y:101.20, Z:8.04 [[ 7.85417330e-01 6.18801589e-01 -1.42902514e-02 1.93437046e+02] [-6.18689805e-01 7.85547218e-01 1.17683088e-02 1.01201249e+02] [ 1.85079154e-02 -4.01800838e-04 9.99828633e-01 8.03949377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.37275509600005 meters Centerline goodness [0,1] 0.999956401368997 Centerline is valid? [True, True] Translation: X:193.46, Y:101.18, Z:8.04 [[ 7.86321464e-01 6.17633415e-01 -1.50837676e-02 1.93459086e+02] [-6.17508545e-01 7.86465991e-01 1.24274591e-02 1.01178482e+02] [ 1.95384842e-02 -4.57622499e-04 9.99809001e-01 8.03992821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:101.16, Z:8.04 [[ 7.86540521e-01 6.17348284e-01 -1.53331217e-02 1.93483643e+02] [-6.17219102e-01 7.86689818e-01 1.26376867e-02 1.01157875e+02] [ 1.98642649e-02 -4.76157039e-04 9.99802573e-01 8.04191283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.51, Y:101.14, Z:8.04 [[ 7.86439994e-01 6.17465112e-01 -1.57788478e-02 1.93508772e+02] [-6.17328177e-01 7.86598114e-01 1.30126323e-02 1.01135978e+02] [ 2.04464584e-02 -4.92927131e-04 9.99790828e-01 8.04236843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:101.12, Z:8.04 [[ 7.85918030e-01 6.18102352e-01 -1.68027838e-02 1.93533150e+02] [-6.17947022e-01 7.86097461e-01 1.38657778e-02 1.01115511e+02] [ 2.17790955e-02 -5.14134556e-04 9.99762675e-01 8.04304486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.56, Y:101.10, Z:8.04 [[ 7.85317255e-01 6.18854236e-01 -1.72117074e-02 1.93559214e+02] [-6.18691249e-01 7.85505679e-01 1.42114728e-02 1.01096955e+02] [ 2.23147240e-02 -5.11782062e-04 9.99750865e-01 8.04436558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5227550960001 meters Centerline goodness [0,1] 0.9999782476289916 Centerline is valid? [True, True] Translation: X:193.58, Y:101.08, Z:8.05 [[ 7.84583686e-01 6.19782043e-01 -1.72817617e-02 1.93584372e+02] [-6.19617769e-01 7.84773837e-01 1.42774160e-02 1.01077448e+02] [ 2.24111605e-02 -4.93741086e-04 9.99748716e-01 8.04555101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.61, Y:101.06, Z:8.05 [[ 7.82898900e-01 6.21908039e-01 -1.73119452e-02 1.93607960e+02] [-6.21743532e-01 7.83090159e-01 1.43102401e-02 1.01056636e+02] [ 2.24564673e-02 -4.39881234e-04 9.99747725e-01 8.04542609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5827550960001 meters Centerline goodness [0,1] 0.9999349339579673 Centerline is valid? [True, True] Translation: X:193.63, Y:101.04, Z:8.05 [[ 7.81892910e-01 6.23164253e-01 -1.76008890e-02 1.93634725e+02] [-6.22994345e-01 7.82090877e-01 1.45569726e-02 1.01038402e+02] [ 2.28368797e-02 -4.16739347e-04 9.99739118e-01 8.04591980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.66, Y:101.02, Z:8.05 [[ 7.80834568e-01 6.24494055e-01 -1.74514707e-02 1.93661043e+02] [-6.24327170e-01 7.81029469e-01 1.44413968e-02 1.01019229e+02] [ 2.26486794e-02 -3.80914503e-04 9.99743413e-01 8.04803148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.69, Y:101.00, Z:8.05 [[ 7.79446738e-01 6.26220993e-01 -1.76082592e-02 1.93687723e+02] [-6.26051399e-01 7.79645531e-01 1.45771230e-02 1.01000367e+02] [ 2.28567010e-02 -3.38415695e-04 9.99738694e-01 8.04928331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.67275509600006 meters Centerline goodness [0,1] 0.9999348972461535 Centerline is valid? [True, True] Translation: X:193.71, Y:100.98, Z:8.05 [[ 7.78790250e-01 6.27022521e-01 -1.81246804e-02 1.93713196e+02] [-6.26842908e-01 7.79001059e-01 1.50106244e-02 1.00980273e+02] [ 2.35311448e-02 -3.28800532e-04 9.99723050e-01 8.04915396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:100.96, Z:8.05 [[ 7.78482936e-01 6.27412241e-01 -1.78381348e-02 1.93737448e+02] [-6.27238153e-01 7.78687215e-01 1.47824688e-02 1.00959514e+02] [ 2.31650294e-02 -3.19140967e-04 9.99731604e-01 8.05023346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.73275509600006 meters Centerline goodness [0,1] 0.9999133974192431 Centerline is valid? [True, True] Translation: X:193.76, Y:100.94, Z:8.05 [[ 7.78901663e-01 6.26888688e-01 -1.79658650e-02 1.93761462e+02] [-6.26711757e-01 7.79108756e-01 1.48969758e-02 1.00938881e+02] [ 2.33361084e-02 -3.43860377e-04 9.99727617e-01 8.05006449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.79, Y:100.92, Z:8.05 [[ 7.79147815e-01 6.26586269e-01 -1.78417819e-02 1.93786775e+02] [-6.26411490e-01 7.79351987e-01 1.48028852e-02 1.00917929e+02] [ 2.31803128e-02 -3.57338498e-04 9.99731237e-01 8.05233519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:100.90, Z:8.05 [[ 7.79649045e-01 6.25973355e-01 -1.74563820e-02 1.93810343e+02] [-6.25805686e-01 7.79844356e-01 1.44922386e-02 1.00895670e+02] [ 2.26850162e-02 -3.74556875e-04 9.99742592e-01 8.05272399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.83, Y:100.87, Z:8.05 [[ 7.81091759e-01 6.24200193e-01 -1.64250935e-02 1.93832264e+02] [-6.24051199e-01 7.81264331e-01 1.36435818e-02 1.00873811e+02] [ 2.13486660e-02 -4.06789981e-04 9.99772009e-01 8.05351820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.86, Y:100.85, Z:8.05 [[ 7.81362175e-01 6.23866002e-01 -1.62592370e-02 1.93857629e+02] [-6.23719770e-01 7.81531213e-01 1.35133875e-02 1.00853261e+02] [ 2.11376443e-02 -4.17642291e-04 9.99776488e-01 8.05461861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.88, Y:100.83, Z:8.06 [[ 7.82371402e-01 6.22634991e-01 -1.48545574e-02 1.93882106e+02] [-6.22512575e-01 7.82512297e-01 1.23531471e-02 1.00831985e+02] [ 1.93153755e-02 -4.17600258e-04 9.99813354e-01 8.05533426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:100.81, Z:8.06 [[ 7.82900700e-01 6.21978586e-01 -1.44613859e-02 1.93905892e+02] [-6.21862344e-01 7.83034135e-01 1.20319861e-02 1.00811538e+02] [ 1.88073965e-02 -4.26859003e-04 9.99823034e-01 8.05604403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:100.79, Z:8.06 [[ 7.82939821e-01 6.21937404e-01 -1.41103810e-02 1.93931305e+02] [-6.21826644e-01 7.83066848e-01 1.17446526e-02 1.00790483e+02] [ 1.83538103e-02 -4.21145286e-04 9.99831466e-01 8.05660656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.97275509600007 meters Centerline goodness [0,1] 0.9999566311041721 Centerline is valid? [True, True] Translation: X:193.96, Y:100.77, Z:8.06 [[ 7.83146754e-01 6.21677907e-01 -1.40620574e-02 1.93956281e+02] [-6.21567728e-01 7.83272873e-01 1.17117487e-02 1.00769836e+02] [ 1.82953635e-02 -4.31496918e-04 9.99832533e-01 8.05597204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:100.75, Z:8.06 [[ 7.82972529e-01 6.21907845e-01 -1.35886368e-02 1.93981330e+02] [-6.21804880e-01 7.83090326e-01 1.13240090e-02 1.00749162e+02] [ 1.76836201e-02 -4.16907297e-04 9.99843546e-01 8.05767989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.00, Y:100.73, Z:8.06 [[ 7.82790127e-01 6.22139853e-01 -1.34766876e-02 1.94004859e+02] [-6.22038485e-01 7.82906018e-01 1.12379075e-02 1.00727511e+02] [ 1.75425300e-02 -4.13904702e-04 9.99846032e-01 8.05778014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06275509600005 meters Centerline goodness [0,1] 0.999935258319306 Centerline is valid? [True, True] Translation: X:194.03, Y:100.71, Z:8.06 [[ 7.82442242e-01 6.22580608e-01 -1.33238124e-02 1.94031124e+02] [-6.22481494e-01 7.82555572e-01 1.11160439e-02 1.00708036e+02] [ 1.73472570e-02 -4.03835690e-04 9.99849443e-01 8.05650211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.06, Y:100.69, Z:8.06 [[ 7.81533336e-01 6.23740055e-01 -1.24092212e-02 1.94056338e+02] [-6.23654185e-01 7.81631767e-01 1.03556119e-02 1.00688139e+02] [ 1.61586514e-02 -3.54193172e-04 9.99869378e-01 8.05758360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.08, Y:100.67, Z:8.06 [[ 7.80795638e-01 6.24667013e-01 -1.22186283e-02 1.94082014e+02] [-6.24583785e-01 7.80891165e-01 1.02021306e-02 1.00669486e+02] [ 1.59143533e-02 -3.34221972e-04 9.99873303e-01 8.05785051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.11, Y:100.65, Z:8.06 [[ 7.79292585e-01 6.26560788e-01 -1.11644999e-02 1.94107364e+02] [-6.26491426e-01 7.79372506e-01 9.32679284e-03 1.00651187e+02] [ 1.45451070e-02 -2.73837026e-04 9.99894177e-01 8.05753469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:100.63, Z:8.06 [[ 7.78196998e-01 6.27927991e-01 -1.07643448e-02 1.94132655e+02] [-6.27863579e-01 7.78271405e-01 8.99704853e-03 1.00631382e+02] [ 1.40270804e-02 -2.42936090e-04 9.99901586e-01 8.05751022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.16, Y:100.61, Z:8.06 [[ 7.77054548e-01 6.29342492e-01 -1.06891036e-02 1.94157726e+02] [-6.29279042e-01 7.77128033e-01 8.93908922e-03 1.00611791e+02] [ 1.39325507e-02 -2.19731076e-04 9.99902913e-01 8.05696419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:100.59, Z:8.06 [[ 7.75186128e-01 6.31642973e-01 -1.06593462e-02 1.94182793e+02] [-6.31580025e-01 7.75259390e-01 8.91911875e-03 1.00592502e+02] [ 1.38974569e-02 -1.81746960e-04 9.99903409e-01 8.05544673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:100.57, Z:8.06 [[ 7.74216045e-01 6.32835555e-01 -1.04247658e-02 1.94207560e+02] [-6.32775391e-01 7.74286210e-01 8.72751187e-03 1.00572338e+02] [ 1.35948322e-02 -1.60444497e-04 9.99907573e-01 8.05510716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30275509600006 meters Centerline goodness [0,1] 0.9999784617372762 Centerline is valid? [True, True] Translation: X:194.23, Y:100.55, Z:8.06 [[ 7.73486694e-01 6.33724495e-01 -1.05639852e-02 1.94232569e+02] [-6.33662730e-01 7.73558816e-01 8.84891577e-03 1.00552169e+02] [ 1.37796385e-02 -1.50514925e-04 9.99905045e-01 8.05519807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.26, Y:100.53, Z:8.05 [[ 7.73113962e-01 6.34197259e-01 -9.41477210e-03 1.94257849e+02] [-6.34148190e-01 7.73171275e-01 7.89007927e-03 1.00530950e+02] [ 1.22830980e-02 -1.29569765e-04 9.99924552e-01 8.05422539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:100.51, Z:8.05 [[ 7.72908730e-01 6.34449485e-01 -9.27072100e-03 1.94282839e+02] [-6.34401865e-01 7.72964317e-01 7.77420335e-03 1.00509135e+02] [ 1.20982758e-02 -1.27386944e-04 9.99926805e-01 8.05426648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:100.49, Z:8.05 [[ 7.72890209e-01 6.34478745e-01 -8.80039526e-03 1.94307736e+02] [-6.34435786e-01 7.72940299e-01 7.38420888e-03 1.00487103e+02] [ 1.14873037e-02 -1.23897051e-04 9.99934011e-01 8.05420928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:100.47, Z:8.05 [[ 7.73819595e-01 6.33361114e-01 -7.54541359e-03 1.94330698e+02] [-6.33329448e-01 7.73856371e-01 6.33459533e-03 1.00465187e+02] [ 9.85115274e-03 -1.23101367e-04 9.99951469e-01 8.05444366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:100.44, Z:8.06 [[ 7.74352849e-01 6.32714932e-01 -7.03423702e-03 1.94353546e+02] [-6.32687356e-01 7.74384788e-01 5.90852129e-03 1.00443867e+02] [ 9.18561578e-03 -1.24807474e-04 9.99957804e-01 8.05503297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:100.42, Z:8.06 [[ 7.75788133e-01 6.30963768e-01 -6.12333872e-03 1.94374556e+02] [-6.30942801e-01 7.75812288e-01 5.14548134e-03 1.00421075e+02] [ 7.99717372e-03 -1.28326887e-04 9.99968014e-01 8.05543606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.40, Y:100.40, Z:8.06 [[ 7.76601950e-01 6.29966772e-01 -5.59262073e-03 1.94398430e+02] [-6.29949242e-01 7.76622077e-01 4.70134893e-03 1.00399739e+02] [ 7.30504633e-03 -1.28009566e-04 9.99973310e-01 8.05556894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.42, Y:100.38, Z:8.06 [[ 7.77122039e-01 6.29327785e-01 -5.27975269e-03 1.94420556e+02] [-6.29312131e-01 7.77139963e-01 4.44070465e-03 1.00377292e+02] [ 6.89776563e-03 -1.28357033e-04 9.99976202e-01 8.05610846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.57275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.44, Y:100.36, Z:8.06 [[ 7.77665378e-01 6.28655975e-01 -5.31266834e-03 1.94442563e+02] [-6.28640080e-01 7.77683513e-01 4.47257575e-03 1.00356994e+02] [ 6.94328605e-03 -1.38411062e-04 9.99975886e-01 8.05629385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:100.34, Z:8.06 [[ 7.78439252e-01 6.27699379e-01 -5.08139585e-03 1.94464173e+02] [-6.27684814e-01 7.78455824e-01 4.27833036e-03 1.00336252e+02] [ 6.64114750e-03 -1.40905275e-04 9.99977937e-01 8.05603800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:100.32, Z:8.05 [[ 7.78562974e-01 6.27547119e-01 -4.93039657e-03 1.94491523e+02] [-6.27533424e-01 7.78578573e-01 4.14818230e-03 1.00316952e+02] [ 6.44188098e-03 -1.35632505e-04 9.99979242e-01 8.05490018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.51, Y:100.30, Z:8.05 [[ 7.78809590e-01 6.27244501e-01 -4.46751595e-03 1.94513979e+02] [-6.27233237e-01 7.78822393e-01 3.76116568e-03 1.00295479e+02] [ 5.83857195e-03 -1.27057413e-04 9.99982947e-01 8.05441544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:100.28, Z:8.05 [[ 7.78961506e-01 6.27058112e-01 -4.13476635e-03 1.94539734e+02] [-6.27048455e-01 7.78972470e-01 3.48222700e-03 1.00276308e+02] [ 5.40442785e-03 -1.19821937e-04 9.99985389e-01 8.05320869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:100.25, Z:8.05 [[ 7.79322827e-01 6.26602582e-01 -5.01367596e-03 1.94564652e+02] [-6.26588353e-01 7.79338939e-01 4.22534816e-03 1.00254775e+02] [ 6.55496697e-03 -1.51399305e-04 9.99978505e-01 8.05086648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.59, Y:100.23, Z:8.05 [[ 7.79761023e-01 6.26054937e-01 -5.28798173e-03 1.94587016e+02] [-6.26039066e-01 7.79778935e-01 4.46102757e-03 1.00232843e+02] [ 6.91630509e-03 -1.68052282e-04 9.99976068e-01 8.05056633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:100.21, Z:8.05 [[ 7.79801476e-01 6.26003192e-01 -5.44630257e-03 1.94612200e+02] [-6.25986352e-01 7.79820476e-01 4.59489449e-03 1.00211503e+02] [ 7.12355688e-03 -1.73794427e-04 9.99974612e-01 8.04980411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.81275509600005 meters Centerline goodness [0,1] 0.999978098512889 Centerline is valid? [True, True] Translation: X:194.64, Y:100.19, Z:8.05 [[ 7.79887656e-01 6.25896349e-01 -5.38560043e-03 1.94639022e+02] [-6.25879862e-01 7.79906232e-01 4.54622783e-03 1.00192709e+02] [ 7.04573073e-03 -1.74808115e-04 9.99975163e-01 8.04840528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:100.17, Z:8.05 [[ 7.80404911e-01 6.25250299e-01 -5.49895904e-03 1.94664030e+02] [-6.25233070e-01 7.80424262e-01 4.64533366e-03 1.00172913e+02] [ 7.19601731e-03 -1.87110160e-04 9.99974091e-01 8.04693564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:100.15, Z:8.05 [[ 7.80779226e-01 6.24785699e-01 -5.16040624e-03 1.94685801e+02] [-6.24770495e-01 7.80796258e-01 4.36254018e-03 1.00149810e+02] [ 6.75487860e-03 -1.82111189e-04 9.99977169e-01 8.04823006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:100.13, Z:8.05 [[ 7.81338736e-01 6.24091255e-01 -4.45928043e-03 1.94708190e+02] [-6.24079875e-01 7.81351444e-01 3.77239111e-03 1.00130719e+02] [ 5.83858150e-03 -1.64568129e-04 9.99982942e-01 8.04877264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.74, Y:100.11, Z:8.05 [[ 7.82795926e-01 6.22270693e-01 -3.11810880e-03 1.94735790e+02] [-6.22265120e-01 7.82802127e-01 2.63643492e-03 1.00113098e+02] [ 4.08143838e-03 -1.23500168e-04 9.99991663e-01 8.04843235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.76, Y:100.09, Z:8.05 [[ 7.83324942e-01 6.21607172e-01 -2.56102734e-03 1.94759089e+02] [-6.21603411e-01 7.83329122e-01 2.16463079e-03 1.00091918e+02] [ 3.35167732e-03 -1.03665955e-04 9.99994378e-01 8.04956250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.79, Y:100.07, Z:8.05 [[ 7.83856225e-01 6.20940486e-01 -1.52705379e-03 1.94785764e+02] [-6.20939153e-01 7.83857710e-01 1.28814166e-03 1.00073752e+02] [ 1.99685220e-03 -6.15103740e-05 9.99998004e-01 8.04992826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.81, Y:100.05, Z:8.05 [[ 7.84038602e-01 6.20711196e-01 -1.04059839e-03 1.94808698e+02] [-6.20710575e-01 7.84039291e-01 8.78930008e-04 1.00053387e+02] [ 1.36143172e-03 -4.32046305e-05 9.99999072e-01 8.05097154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:100.03, Z:8.05 [[ 7.83865247e-01 6.20930639e-01 -6.44941547e-04 1.94834674e+02] [-6.20930403e-01 7.83865512e-01 5.41207332e-04 1.00032936e+02] [ 8.41599650e-04 -2.37698043e-05 9.99999646e-01 8.05125494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:100.01, Z:8.05 [[ 7.83672387e-01 6.21174029e-01 -6.44779034e-04 1.94859313e+02] [-6.21173794e-01 7.83672652e-01 5.41400018e-04 1.00011833e+02] [ 8.41599325e-04 -2.37604056e-05 9.99999646e-01 8.05168394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:99.99, Z:8.05 [[ 7.82858216e-01 6.22200040e-01 -3.50542141e-04 1.94884856e+02] [-6.22199972e-01 7.82858295e-01 2.93088946e-04 9.99941615e+01] [ 4.56784777e-04 -1.13397793e-05 9.99999896e-01 8.05151594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:99.97, Z:8.05 [[ 7.82267449e-01 6.22942469e-01 5.64395848e-04 1.94911989e+02] [-6.22942281e-01 7.82267653e-01 -4.84512880e-04 9.99747595e+01] [-7.43332265e-04 2.74326182e-05 9.99999723e-01 8.05191656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.94, Y:99.96, Z:8.05 [[ 7.81416068e-01 6.24010287e-01 3.01285475e-04 1.94936328e+02] [-6.24010233e-01 7.81416126e-01 -2.58530208e-04 9.99559015e+01] [-3.96754838e-04 1.40144391e-05 9.99999921e-01 8.05254990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.96, Y:99.94, Z:8.05 [[ 7.79914287e-01 6.25886148e-01 4.85133070e-04 1.94961369e+02] [-6.25886010e-01 7.79914437e-01 -4.16795404e-04 9.99365886e+01] [-6.39228755e-04 2.14266887e-05 9.99999795e-01 8.05380529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:99.92, Z:8.05 [[ 7.79167510e-01 6.26815668e-01 3.30652536e-04 1.94988262e+02] [-6.26815604e-01 7.79167580e-01 -2.83511094e-04 9.99179072e+01] [-4.35342932e-04 1.36444643e-05 9.99999905e-01 8.05362173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:99.90, Z:8.05 [[ 7.77679498e-01 6.28660931e-01 -1.80541905e-04 1.95012106e+02] [-6.28660912e-01 7.77679519e-01 1.54394294e-04 9.99019534e+01] [ 2.37465403e-04 -6.56963847e-06 9.99999972e-01 8.05365912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:99.88, Z:8.05 [[ 7.77186185e-01 6.29270715e-01 3.91799727e-05 1.95035467e+02] [-6.29270714e-01 7.77186186e-01 -3.26514802e-05 9.98840800e+01] [-5.09967541e-05 7.21469869e-07 9.99999999e-01 8.05393823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:99.87, Z:8.05 [[ 7.76970274e-01 6.29537265e-01 1.61437580e-04 1.95058273e+02] [-6.29537250e-01 7.76970291e-01 -1.35886192e-04 9.98657458e+01] [-2.10977625e-04 3.94856227e-06 9.99999978e-01 8.05439202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:99.85, Z:8.05 [[ 7.76670482e-01 6.29907106e-01 3.22502705e-06 1.95080024e+02] [-6.29907106e-01 7.76670482e-01 -1.15701415e-06 9.98485580e+01] [-3.23359504e-06 -1.13284872e-06 1.00000000e+00 8.05451939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.10, Y:99.83, Z:8.05 [[ 7.76838359e-01 6.29699950e-01 -3.71197584e-04 1.95101142e+02] [-6.29699870e-01 7.76838447e-01 3.17142127e-04 9.98304263e+01] [ 4.88064936e-04 -1.26250987e-05 9.99999881e-01 8.05466849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.12, Y:99.81, Z:8.05 [[ 7.77001464e-01 6.29498727e-01 -2.80116780e-04 1.95122672e+02] [-6.29498681e-01 7.77001514e-01 2.39118048e-04 9.98112675e+01] [ 3.68175668e-04 -9.46192973e-06 9.99999932e-01 8.05465118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:99.79, Z:8.05 [[ 7.77745146e-01 6.28579498e-01 -5.50268824e-04 1.95142969e+02] [-6.28579323e-01 7.77745340e-01 4.69344691e-04 9.97925800e+01] [ 7.22989464e-04 -1.91429502e-05 9.99999738e-01 8.05470805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.16, Y:99.77, Z:8.06 [[ 7.78168170e-01 6.28055911e-01 -2.68034439e-04 1.95164791e+02] [-6.28055870e-01 7.78168216e-01 2.28743370e-04 9.97739128e+01] [ 3.52239506e-04 -9.66020721e-06 9.99999938e-01 8.05521760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:99.75, Z:8.06 [[ 7.79083048e-01 6.26919836e-01 -1.06001265e-03 1.95185352e+02] [-6.26919189e-01 7.79083768e-01 9.01129894e-04 9.97549020e+01] [ 1.39077485e-03 -3.75127559e-05 9.99999032e-01 8.05527615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:99.74, Z:8.06 [[ 7.79205996e-01 6.26766925e-01 -1.11197936e-03 1.95206664e+02] [-6.26766214e-01 7.79206789e-01 9.45318349e-04 9.97363679e+01] [ 1.45895614e-03 -3.96466331e-05 9.99998935e-01 8.05587279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.23, Y:99.72, Z:8.06 [[ 7.79515872e-01 6.26381245e-01 -1.24140899e-03 1.95228616e+02] [-6.26380360e-01 7.79516859e-01 1.05438129e-03 9.97175145e+01] [ 1.62814390e-03 -4.43127416e-05 9.99998674e-01 8.05601552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.25, Y:99.70, Z:8.06 [[ 7.79279072e-01 6.26674448e-01 -1.80662549e-03 1.95250082e+02] [-6.26672572e-01 7.79281164e-01 1.53451721e-03 9.96990789e+01] [ 2.36951194e-03 -6.36545008e-05 9.99997191e-01 8.05595760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.27, Y:99.68, Z:8.06 [[ 7.79219730e-01 6.26747334e-01 -2.09561842e-03 1.95272767e+02] [-6.26744809e-01 7.79222544e-01 1.78067095e-03 9.96804290e+01] [ 2.74898389e-03 -7.41159703e-05 9.99996219e-01 8.05558497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.30, Y:99.66, Z:8.06 [[ 7.79173306e-01 6.26803987e-01 -2.39175590e-03 1.95295377e+02] [-6.26800703e-01 7.79176973e-01 2.03072092e-03 9.96618314e+01] [ 3.13646509e-03 -8.31292525e-05 9.99995078e-01 8.05565286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.32, Y:99.64, Z:8.06 [[ 7.79027075e-01 6.26983022e-01 -3.01768299e-03 1.95318143e+02] [-6.26977804e-01 7.79032913e-01 2.55986727e-03 9.96438157e+01] [ 3.95586769e-03 -1.02185654e-04 9.99992170e-01 8.05515671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.35, Y:99.63, Z:8.05 [[ 7.78367258e-01 6.27798299e-01 -3.70218479e-03 1.95347971e+02] [-6.27790488e-01 7.78376054e-01 3.13385571e-03 9.96285133e+01] [ 4.84912128e-03 -1.15094286e-04 9.99988236e-01 8.05227566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.37, Y:99.61, Z:8.05 [[ 7.78008330e-01 6.28241524e-01 -3.95293063e-03 1.95370090e+02] [-6.28232619e-01 7.78018363e-01 3.34725683e-03 9.96068479e+01] [ 5.17833835e-03 -1.20833741e-04 9.99986585e-01 8.05324058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.39, Y:99.59, Z:8.05 [[ 7.77457966e-01 6.28913676e-01 -5.16712144e-03 1.95392048e+02] [-6.28898446e-01 7.77475122e-01 4.37957734e-03 9.95887343e+01] [ 6.77168445e-03 -1.55342652e-04 9.99977060e-01 8.05213705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:99.57, Z:8.05 [[ 7.77349468e-01 6.29040570e-01 -5.98046716e-03 1.95413009e+02] [-6.29020178e-01 7.77372453e-01 5.06818113e-03 9.95699032e+01] [ 7.83714197e-03 -1.77913393e-04 9.99969273e-01 8.05190679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:99.55, Z:8.05 [[ 7.76867319e-01 6.29627196e-01 -6.83838014e-03 1.95438320e+02] [-6.29600588e-01 7.76897391e-01 5.79164942e-03 9.95507715e+01] [ 8.95929967e-03 -1.93894994e-04 9.99959846e-01 8.05113813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:99.53, Z:8.05 [[ 7.76424050e-01 6.30169690e-01 -7.20113516e-03 1.95459335e+02] [-6.30140172e-01 7.76457418e-01 6.10263836e-03 9.95282061e+01] [ 9.43707253e-03 -2.00510637e-04 9.99955450e-01 8.05190843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:99.51, Z:8.05 [[ 7.75978770e-01 6.30709584e-01 -7.89747485e-03 1.95484074e+02] [-6.30674069e-01 7.76018927e-01 6.69654224e-03 9.95083067e+01] [ 1.03521633e-02 -2.15642007e-04 9.99946392e-01 8.05166950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.51, Y:99.49, Z:8.05 [[ 7.75533388e-01 6.31253809e-01 -8.16051961e-03 1.95508447e+02] [-6.31215878e-01 7.75576290e-01 6.92345525e-03 9.94863959e+01] [ 1.06995630e-02 -2.18321159e-04 9.99942734e-01 8.05194513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:99.46, Z:8.05 [[ 7.75117771e-01 6.31754345e-01 -8.88196889e-03 1.95531282e+02] [-6.31709382e-01 7.75168622e-01 7.54082739e-03 9.94631981e+01] [ 1.16489741e-02 -2.34206242e-04 9.99932121e-01 8.05245745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:99.44, Z:8.05 [[ 7.74956119e-01 6.31950552e-01 -9.02850869e-03 1.95555216e+02] [-6.31904048e-01 7.75008673e-01 7.67017210e-03 9.94410622e+01] [ 1.18443420e-02 -2.38895617e-04 9.99929825e-01 8.05302739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:99.42, Z:8.05 [[ 7.74903876e-01 6.32017946e-01 -8.79199758e-03 1.95575296e+02] [-6.31973798e-01 7.74953715e-01 7.47383210e-03 9.94155569e+01] [ 1.15369872e-02 -2.35189365e-04 9.99933419e-01 8.05447931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:99.40, Z:8.05 [[ 7.75041632e-01 6.31849894e-01 -8.72809592e-03 1.95599383e+02] [-6.31806319e-01 7.75090739e-01 7.42444864e-03 9.93966221e+01] [ 1.14562034e-02 -2.39790645e-04 9.99934347e-01 8.05496158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.07275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:99.38, Z:8.06 [[ 7.75030708e-01 6.31865762e-01 -8.54750599e-03 1.95622345e+02] [-6.31823973e-01 7.75077805e-01 7.27073463e-03 9.93751770e+01] [ 1.12191105e-02 -2.34523419e-04 9.99937036e-01 8.05564061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.64, Y:99.35, Z:8.06 [[ 7.75094472e-01 6.31794099e-01 -8.04830103e-03 1.95642879e+02] [-6.31757039e-01 7.75136225e-01 6.84664926e-03 9.93525851e+01] [ 1.05642023e-02 -2.22229170e-04 9.99944173e-01 8.05712685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.67, Y:99.33, Z:8.06 [[ 7.74844666e-01 6.32102059e-01 -7.92024357e-03 1.95667705e+02] [-6.32066194e-01 7.74885115e-01 6.73691962e-03 9.93308440e+01] [ 1.03956996e-02 -2.13948026e-04 9.99945940e-01 8.05768655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.69, Y:99.31, Z:8.06 [[ 7.74482311e-01 6.32551110e-01 -7.49951706e-03 1.95689858e+02] [-6.32518932e-01 7.74518594e-01 6.38338146e-03 9.93088051e+01] [ 9.84633044e-03 -2.00229506e-04 9.99951504e-01 8.05860906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:99.29, Z:8.06 [[ 7.74221390e-01 6.32865887e-01 -7.87455729e-03 1.95712556e+02] [-6.32830397e-01 7.74261407e-01 6.70543834e-03 9.92897964e+01] [ 1.03406090e-02 -2.08234577e-04 9.99946513e-01 8.05896558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:99.27, Z:8.06 [[ 7.72989727e-01 6.34369348e-01 -7.90011130e-03 1.95734081e+02] [-6.34333709e-01 7.73030074e-01 6.72689406e-03 9.92718356e+01] [ 1.03743590e-02 -1.88513101e-04 9.99946167e-01 8.05899997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.76, Y:99.25, Z:8.06 [[ 7.71379531e-01 6.36314139e-01 -8.82818078e-03 1.95758701e+02] [-6.36269781e-01 7.71430026e-01 7.51536809e-03 9.92531983e+01] [ 1.15924587e-02 -1.80096457e-04 9.99932789e-01 8.05869830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.78, Y:99.23, Z:8.06 [[ 7.70335452e-01 6.37569967e-01 -9.37169291e-03 1.95781136e+02] [-6.37520071e-01 7.70392438e-01 7.97814199e-03 9.92346732e+01] [ 1.23065051e-02 -1.71203289e-04 9.99924257e-01 8.05861059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:99.21, Z:8.06 [[ 7.69276222e-01 6.38845349e-01 -9.52437449e-03 1.95807044e+02] [-6.38793930e-01 7.69335165e-01 8.10672149e-03 9.92147440e+01] [ 1.25063775e-02 -1.52195478e-04 9.99921781e-01 8.05876666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:99.19, Z:8.06 [[ 7.67959368e-01 6.40422275e-01 -9.88525976e-03 1.95831664e+02] [-6.40366993e-01 7.68022976e-01 8.41556660e-03 9.91945212e+01] [ 1.29816229e-02 -1.32619142e-04 9.99915726e-01 8.05919793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.86, Y:99.18, Z:8.06 [[ 7.66182009e-01 6.42543750e-01 -1.01321120e-02 1.95855695e+02] [-6.42485793e-01 7.66248993e-01 8.63058035e-03 9.91754089e+01] [ 1.33092461e-02 -1.02857377e-04 9.99911423e-01 8.05992703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.88, Y:99.16, Z:8.06 [[ 7.65419178e-01 6.43454989e-01 -9.95788544e-03 1.95877715e+02] [-6.43399029e-01 7.65483945e-01 8.48643797e-03 9.91577886e+01] [ 1.30832423e-02 -8.87885481e-05 9.99914407e-01 8.06058842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:99.14, Z:8.06 [[ 7.64255669e-01 6.44831579e-01 -1.02716433e-02 1.95900644e+02] [-6.44772176e-01 7.64324689e-01 8.75278540e-03 9.91409357e+01] [ 1.34949430e-02 -6.64960387e-05 9.99908937e-01 8.06077173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.92, Y:99.12, Z:8.06 [[ 7.63756232e-01 6.45421555e-01 -1.03650362e-02 1.95923561e+02] [-6.45361139e-01 7.63826559e-01 8.83101493e-03 9.91228539e+01] [ 1.36168174e-02 -5.55510895e-05 9.99907285e-01 8.06133341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.95, Y:99.11, Z:8.06 [[ 7.63417102e-01 6.45826461e-01 -1.01247731e-02 1.95945789e+02] [-6.45768866e-01 7.63484237e-01 8.62501641e-03 9.91054431e+01] [ 1.33003685e-02 -4.62218207e-05 9.99911545e-01 8.06199287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.97, Y:99.09, Z:8.06 [[ 7.62921992e-01 6.46403167e-01 -1.06291997e-02 1.95967740e+02] [-6.46339772e-01 7.62996032e-01 9.05288805e-03 9.90899039e+01] [ 1.39618527e-02 -3.65728621e-05 9.99902528e-01 8.06194821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.55275509600006 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:195.99, Y:99.07, Z:8.06 [[ 7.63133223e-01 6.46151165e-01 -1.07868365e-02 1.95990248e+02] [-6.46085884e-01 7.63209454e-01 9.18479571e-03 9.90721952e+01] [ 1.41673820e-02 -3.99999524e-05 9.99899637e-01 8.06223736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:99.05, Z:8.06 [[ 7.63514640e-01 6.45696586e-01 -1.10142785e-02 1.96011833e+02] [-6.45628497e-01 7.63594079e-01 9.37695206e-03 9.90543407e+01] [ 1.44651038e-02 -4.83081139e-05 9.99895374e-01 8.06242602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.04, Y:99.03, Z:8.06 [[ 7.64306820e-01 6.44760963e-01 -1.08805431e-02 1.96036458e+02] [-6.44694440e-01 7.64384260e-01 9.26187871e-03 9.90330320e+01] [ 1.42886137e-02 -6.42914092e-05 9.99897910e-01 8.06277426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.06, Y:99.01, Z:8.06 [[ 7.65026489e-01 6.43906277e-01 -1.09167997e-02 1.96058242e+02] [-6.43839154e-01 7.65104371e-01 9.29755271e-03 9.90118129e+01] [ 1.43392437e-02 -8.42110281e-05 9.99897184e-01 8.06303707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.08, Y:98.99, Z:8.06 [[ 7.67103301e-01 6.41433417e-01 -1.07562748e-02 1.96081324e+02] [-6.41368000e-01 7.67178699e-01 9.16150851e-03 9.89894699e+01] [ 1.41284826e-02 -1.29092979e-04 9.99900180e-01 8.06396522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.10, Y:98.97, Z:8.06 [[ 7.67980209e-01 6.40381717e-01 -1.08468598e-02 1.96104588e+02] [-6.40315016e-01 7.68056790e-01 9.24380756e-03 9.89673949e+01] [ 1.42505696e-02 -1.53654088e-04 9.99898444e-01 8.06417704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.13, Y:98.95, Z:8.06 [[ 7.70236138e-01 6.37657210e-01 -1.13831024e-02 1.96126342e+02] [-6.37583369e-01 7.70320216e-01 9.70629766e-03 9.89454779e+01] [ 1.49579245e-02 -2.18464471e-04 9.99888100e-01 8.06382135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.15, Y:98.93, Z:8.06 [[ 7.71288008e-01 6.36383960e-01 -1.14133153e-02 1.96147894e+02] [-6.36309526e-01 7.71372409e-01 9.73620894e-03 9.89264760e+01] [ 1.49998837e-02 -2.47019967e-04 9.99887465e-01 8.06368856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.17, Y:98.91, Z:8.06 [[ 7.72357137e-01 6.35074834e-01 -1.20169455e-02 1.96169196e+02] [-6.34992184e-01 7.72450564e-01 1.02495282e-02 9.89074216e+01] [ 1.57917137e-02 -2.85629761e-04 9.99875262e-01 8.06372389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.19, Y:98.89, Z:8.06 [[ 7.73840252e-01 6.33265741e-01 -1.20733459e-02 1.96189052e+02] [-6.33182119e-01 7.73934362e-01 1.02960234e-02 9.88882258e+01] [ 1.58640961e-02 -3.22850635e-04 9.99874105e-01 8.06416894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.21, Y:98.87, Z:8.06 [[ 7.74345690e-01 6.32650666e-01 -1.19116366e-02 1.96210751e+02] [-6.32569224e-01 7.74437232e-01 1.01563124e-02 9.88696505e+01] [ 1.56502126e-02 -3.29562017e-04 9.99877474e-01 8.06491336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.24, Y:98.85, Z:8.07 [[ 7.74773953e-01 6.32140441e-01 -1.11258692e-02 1.96235532e+02] [-6.32069347e-01 7.74853769e-01 9.48564353e-03 9.88491715e+01] [ 1.46171806e-02 -3.16908654e-04 9.99893113e-01 8.06658102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.26, Y:98.83, Z:8.07 [[ 7.74913126e-01 6.31974309e-01 -1.08683518e-02 1.96259489e+02] [-6.31906382e-01 7.74989273e-01 9.27099510e-03 9.88282450e+01] [ 1.42818867e-02 -3.16434949e-04 9.99897959e-01 8.06759145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.28, Y:98.81, Z:8.07 [[ 7.75029443e-01 6.31838488e-01 -1.04636389e-02 1.96282135e+02] [-6.31775451e-01 7.75100012e-01 8.93027264e-03 9.88084308e+01] [ 1.37528566e-02 -3.10554048e-04 9.99905377e-01 8.06849997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.31, Y:98.79, Z:8.07 [[ 7.75005714e-01 6.31867606e-01 -1.04628713e-02 1.96305555e+02] [-6.31804561e-01 7.75076275e-01 8.93117189e-03 9.87883824e+01] [ 1.37528415e-02 -3.11219451e-04 9.99905377e-01 8.06890682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.33, Y:98.77, Z:8.07 [[ 7.75087933e-01 6.31767530e-01 -1.04155553e-02 1.96327386e+02] [-6.31705036e-01 7.75157849e-01 8.89139333e-03 9.87694195e+01] [ 1.36909931e-02 -3.12052929e-04 9.99906225e-01 8.06935201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.35, Y:98.75, Z:8.07 [[ 7.75011813e-01 6.31859640e-01 -1.04921240e-02 1.96349575e+02] [-6.31796247e-01 7.75082768e-01 8.95572187e-03 9.87512470e+01] [ 1.37910237e-02 -3.11905667e-04 9.99904851e-01 8.06977980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.37, Y:98.73, Z:8.07 [[ 7.74438265e-01 6.32553141e-01 -1.10406781e-02 1.96372638e+02] [-6.32483037e-01 7.74516898e-01 9.42247466e-03 9.87334096e+01] [ 1.45114077e-02 -3.14083340e-04 9.99894655e-01 8.06925236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.39, Y:98.72, Z:8.07 [[ 7.74276061e-01 6.32747430e-01 -1.12814480e-02 1.96394766e+02] [-6.32674277e-01 7.74358179e-01 9.62649939e-03 9.87153176e+01] [ 1.48270243e-02 -3.16086085e-04 9.99890024e-01 8.06920536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.42, Y:98.70, Z:8.07 [[ 7.74288992e-01 6.32725101e-01 -1.16405598e-02 1.96415299e+02] [-6.32647241e-01 7.74376421e-01 9.93117746e-03 9.86982207e+01] [ 1.52978803e-02 -3.25233360e-04 9.99882928e-01 8.06916039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.44, Y:98.68, Z:8.07 [[ 7.74369220e-01 6.32619788e-01 -1.20214100e-02 1.96436423e+02] [-6.32536788e-01 7.74462453e-01 1.02528624e-02 9.86805532e+01] [ 1.57962944e-02 -3.35516989e-04 9.99875174e-01 8.06883872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:98.66, Z:8.07 [[ 7.74572253e-01 6.32373288e-01 -1.19100875e-02 1.96457583e+02] [-6.32291822e-01 7.74663742e-01 1.01557704e-02 9.86624919e+01] [ 1.56485509e-02 -3.35727028e-04 9.99877498e-01 8.06917735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.48, Y:98.64, Z:8.07 [[ 7.74496692e-01 6.32470822e-01 -1.16418568e-02 1.96480881e+02] [-6.32393022e-01 7.74584117e-01 9.92533075e-03 9.86448866e+01] [ 1.52950795e-02 -3.24906815e-04 9.99882971e-01 8.07039886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.51, Y:98.63, Z:8.07 [[ 7.74177247e-01 6.32862475e-01 -1.16050811e-02 1.96507415e+02] [-6.32785216e-01 7.74264159e-01 9.89355446e-03 9.86250447e+01] [ 1.52466577e-02 -3.15841000e-04 9.99883713e-01 8.07144186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:98.60, Z:8.07 [[ 7.73719053e-01 6.33423506e-01 -1.15537276e-02 1.96530739e+02] [-6.33346898e-01 7.73805251e-01 9.85596780e-03 9.86024214e+01] [ 1.51833368e-02 -3.08232519e-04 9.99884679e-01 8.07217122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.56, Y:98.59, Z:8.07 [[ 7.72918007e-01 6.34399000e-01 -1.16474828e-02 1.96555959e+02] [-6.34321171e-01 7.73005706e-01 9.94134565e-03 9.85854815e+01] [ 1.53103504e-02 -2.95600140e-04 9.99882746e-01 8.07309019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.58, Y:98.57, Z:8.07 [[ 7.72540317e-01 6.34851205e-01 -1.20584167e-02 1.96576936e+02] [-6.34767845e-01 7.72634363e-01 1.02919456e-02 9.85665509e+01] [ 1.58506012e-02 -2.96647785e-04 9.99874327e-01 8.07284236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:98.55, Z:8.07 [[ 7.71937313e-01 6.35580836e-01 -1.22387296e-02 1.96601255e+02] [-6.35495071e-01 7.72034274e-01 1.04448555e-02 9.85501076e+01] [ 1.60872687e-02 -2.85121366e-04 9.99870551e-01 8.07308564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.62, Y:98.53, Z:8.07 [[ 7.70426656e-01 6.37391810e-01 -1.32079096e-02 1.96624140e+02] [-6.37292222e-01 7.70539817e-01 1.12700583e-02 9.85335757e+01] [ 1.73606631e-02 -2.65455234e-04 9.99849257e-01 8.07242792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:98.52, Z:8.07 [[ 7.69743158e-01 6.38203005e-01 -1.38706361e-02 1.96646311e+02] [-6.38093343e-01 7.69868078e-01 1.18333555e-02 9.85156400e+01] [ 1.82306430e-02 -2.57883865e-04 9.99833775e-01 8.07244799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.67, Y:98.50, Z:8.07 [[ 7.68853790e-01 6.39264205e-01 -1.43222049e-02 1.96667492e+02] [-6.39147507e-01 7.68987138e-01 1.22165765e-02 9.84973736e+01] [ 1.88232114e-02 -2.38759594e-04 9.99822799e-01 8.07236685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.69, Y:98.48, Z:8.07 [[ 7.68455322e-01 6.39734985e-01 -1.46822007e-02 1.96688553e+02] [-6.39612478e-01 7.68595535e-01 1.25212698e-02 9.84788591e+01] [ 1.92949682e-02 -2.31117626e-04 9.99813808e-01 8.07248423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:98.46, Z:8.07 [[ 7.68369273e-01 6.39832809e-01 -1.49209910e-02 1.96710061e+02] [-6.39706353e-01 7.68514101e-01 1.27223785e-02 9.84604724e+01] [ 1.96071872e-02 -2.30432032e-04 9.99807734e-01 8.07293240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.73, Y:98.44, Z:8.07 [[ 7.68314279e-01 6.39887549e-01 -1.53978391e-02 1.96730068e+02] [-6.39752954e-01 7.68468523e-01 1.31258086e-02 9.84415646e+01] [ 2.02317961e-02 -2.33933132e-04 9.99795289e-01 8.07282407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.75, Y:98.42, Z:8.07 [[ 7.68334471e-01 6.39860851e-01 -1.54994488e-02 1.96752190e+02] [-6.39724529e-01 7.68490753e-01 1.32094843e-02 9.84230025e+01] [ 2.03634149e-02 -2.33924570e-04 9.99792617e-01 8.07370043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.77, Y:98.40, Z:8.07 [[ 7.68183440e-01 6.40029039e-01 -1.60322174e-02 1.96774399e+02] [-6.39883265e-01 7.68350684e-01 1.36613833e-02 9.84042522e+01] [ 2.10620472e-02 -2.35700740e-04 9.99778143e-01 8.07405693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.80, Y:98.39, Z:8.07 [[ 7.66612766e-01 6.41923491e-01 -1.54628015e-02 1.96797586e+02] [-6.41788318e-01 7.66768675e-01 1.31739923e-02 9.83890707e+01] [ 2.03130869e-02 -1.75505291e-04 9.99793653e-01 8.07450669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:98.37, Z:8.08 [[ 7.65812612e-01 6.42887506e-01 -1.50565062e-02 1.96821086e+02] [-6.42759575e-01 7.65960595e-01 1.28255766e-02 9.83723799e+01] [ 1.97780934e-02 -1.44274798e-04 9.99804384e-01 8.07627574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:98.35, Z:8.08 [[ 7.65051812e-01 6.43800745e-01 -1.47080399e-02 1.96845209e+02] [-6.43678866e-01 7.65193170e-01 1.25271518e-02 9.83543691e+01] [ 1.93194813e-02 -1.16665728e-04 9.99813355e-01 8.07832674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.87, Y:98.34, Z:8.08 [[ 7.65150051e-01 6.43680738e-01 -1.48495151e-02 1.96866583e+02] [-6.43556503e-01 7.65294122e-01 1.26464686e-02 9.83358839e+01] [ 1.95045348e-02 -1.19944094e-04 9.99809761e-01 8.07854227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.89, Y:98.32, Z:8.08 [[ 7.65655027e-01 6.43079915e-01 -1.48527184e-02 1.96887933e+02] [-6.42955546e-01 7.65799063e-01 1.26475276e-02 9.83166639e+01] [ 1.95075688e-02 -1.34005379e-04 9.99809700e-01 8.07901836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:98.30, Z:8.08 [[ 7.67169439e-01 6.41275498e-01 -1.47236859e-02 1.96907421e+02] [-6.41152990e-01 7.67310696e-01 1.25355274e-02 9.82968031e+01] [ 1.93363682e-02 -1.76738272e-04 9.99813019e-01 8.07985412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:98.28, Z:8.08 [[ 7.68285602e-01 6.39938355e-01 -1.47015637e-02 1.96927872e+02] [-6.39816019e-01 7.68426222e-01 1.25141259e-02 9.82784760e+01] [ 1.93053362e-02 -2.08126823e-04 9.99813613e-01 8.07985132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.95, Y:98.26, Z:8.08 [[ 7.69477070e-01 6.38503438e-01 -1.47783102e-02 1.96949405e+02] [-6.38379606e-01 7.69618932e-01 1.25768939e-02 9.82599591e+01] [ 1.94040573e-02 -2.43459628e-04 9.99811694e-01 8.07998634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:98.24, Z:8.08 [[ 7.71700370e-01 6.35820656e-01 -1.45131640e-02 1.96969784e+02] [-6.35700791e-01 7.71836771e-01 1.23492150e-02 9.82406456e+01] [ 1.90536796e-02 -3.03863906e-04 9.99818416e-01 8.08072683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.99, Y:98.22, Z:8.08 [[ 7.72678385e-01 6.34632123e-01 -1.44976364e-02 1.96990350e+02] [-6.34512350e-01 7.72814311e-01 1.23336458e-02 9.82219845e+01] [ 1.90313087e-02 -3.31012143e-04 9.99818833e-01 8.08155402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:98.20, Z:8.08 [[ 7.73710210e-01 6.33375362e-01 -1.44277927e-02 1.97011853e+02] [-6.33256563e-01 7.73844637e-01 1.22720546e-02 9.82029630e+01] [ 1.89376871e-02 -3.58519536e-04 9.99820602e-01 8.08248801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:98.18, Z:8.08 [[ 7.74165635e-01 6.32825561e-01 -1.41201294e-02 1.97032983e+02] [-6.32711724e-01 7.74294309e-01 1.20081942e-02 9.81841424e+01] [ 1.85322281e-02 -3.62359892e-04 9.99828198e-01 8.08302869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:98.16, Z:8.08 [[ 7.74569515e-01 6.32328464e-01 -1.42401275e-02 1.97054752e+02] [-6.32212651e-01 7.74700312e-01 1.21074512e-02 9.81648433e+01] [ 1.86877173e-02 -3.75273818e-04 9.99825299e-01 8.08378146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.08, Y:98.15, Z:8.08 [[ 7.74969450e-01 6.31836189e-01 -1.43311333e-02 1.97076004e+02] [-6.31718841e-01 7.75101851e-01 1.21830205e-02 9.81459883e+01] [ 1.88057611e-02 -3.88221776e-04 9.99823081e-01 8.08409596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:98.13, Z:8.08 [[ 7.75552599e-01 6.31117037e-01 -1.44724587e-02 1.97097784e+02] [-6.30997273e-01 7.75687514e-01 1.23013453e-02 9.81275556e+01] [ 1.89896941e-02 -4.08258327e-04 9.99819596e-01 8.08430053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.12, Y:98.11, Z:8.09 [[ 7.75613909e-01 6.31035002e-01 -1.47611254e-02 1.97124199e+02] [-6.30910379e-01 7.75754246e-01 1.25476422e-02 9.81091021e+01] [ 1.93690072e-02 -4.19178557e-04 9.99812315e-01 8.08539583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:98.09, Z:8.09 [[ 7.75951680e-01 6.30620343e-01 -1.47300189e-02 1.97145344e+02] [-6.30496040e-01 7.76091358e-01 1.25279157e-02 9.80861369e+01] [ 1.93321988e-02 -4.33838702e-04 9.99813021e-01 8.08523424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:98.07, Z:8.09 [[ 7.76374946e-01 6.30102890e-01 -1.45702033e-02 1.97167036e+02] [-6.29981107e-01 7.76511526e-01 1.23957276e-02 9.80673801e+01] [ 1.91245146e-02 -4.44779477e-04 9.99817011e-01 8.08585950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:98.05, Z:8.09 [[ 7.76599184e-01 6.29820348e-01 -1.48335997e-02 1.97193252e+02] [-6.29694089e-01 7.76740702e-01 1.26188971e-02 9.80500868e+01] [ 1.94694988e-02 -4.59195105e-04 9.99810346e-01 8.08776749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.21, Y:98.03, Z:8.09 [[ 7.76899419e-01 6.29458472e-01 -1.44681000e-02 1.97214221e+02] [-6.29338247e-01 7.77033990e-01 1.23105248e-02 9.80270612e+01] [ 1.89911696e-02 -4.58710932e-04 9.99819546e-01 8.08849508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.24, Y:98.01, Z:8.09 [[ 7.76867042e-01 6.29497744e-01 -1.44979028e-02 1.97241028e+02] [-6.29376902e-01 7.77002172e-01 1.23426000e-02 9.80071617e+01] [ 1.90345408e-02 -4.63914053e-04 9.99818719e-01 8.09019811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:97.99, Z:8.09 [[ 7.77025118e-01 6.29314979e-01 -1.39507474e-02 1.97263142e+02] [-6.29202932e-01 7.77150210e-01 1.18836552e-02 9.79858518e+01] [ 1.83203885e-02 -4.56047378e-04 9.99832064e-01 8.09074910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.29, Y:97.97, Z:8.09 [[ 7.77251724e-01 6.29051766e-01 -1.31770104e-02 1.97286588e+02] [-6.28951699e-01 7.77363289e-01 1.12284485e-02 9.79673408e+01] [ 1.73065995e-02 -4.39627853e-04 9.99850133e-01 8.09243952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:97.95, Z:8.09 [[ 7.77184517e-01 6.29139213e-01 -1.29644599e-02 1.97307777e+02] [-6.29042376e-01 7.77292523e-01 1.10463963e-02 9.79478369e+01] [ 1.70268987e-02 -4.29893510e-04 9.99854939e-01 8.09303420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.34, Y:97.93, Z:8.09 [[ 7.76775584e-01 6.29654110e-01 -1.24656792e-02 1.97335005e+02] [-6.29564645e-01 7.76875498e-01 1.06216172e-02 9.79306076e+01] [ 1.63722256e-02 -4.02662068e-04 9.99865885e-01 8.09415021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.36, Y:97.91, Z:8.09 [[ 7.76326527e-01 6.30216690e-01 -1.20019628e-02 1.97358711e+02] [-6.30133738e-01 7.76419203e-01 1.02319252e-02 9.79109492e+01] [ 1.57668844e-02 -3.80473266e-04 9.99875623e-01 8.09454306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.38, Y:97.89, Z:8.09 [[ 7.75904145e-01 6.30737776e-01 -1.19422201e-02 1.97380019e+02] [-6.30655637e-01 7.75995954e-01 1.01856702e-02 9.78892769e+01] [ 1.56916015e-02 -3.71675284e-04 9.99876810e-01 8.09468629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.41, Y:97.87, Z:8.10 [[ 7.74880340e-01 6.32002619e-01 -1.15390116e-02 1.97407538e+02] [-6.31926045e-01 7.74966178e-01 9.84360755e-03 9.78725501e+01] [ 1.51635294e-02 -3.35816015e-04 9.99884971e-01 8.09607854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.43, Y:97.85, Z:8.10 [[ 7.74408139e-01 6.32582113e-01 -1.14849797e-02 1.97430460e+02] [-6.32506304e-01 7.74493232e-01 9.79842321e-03 9.78543440e+01] [ 1.50933463e-02 -3.23656594e-04 9.99886037e-01 8.09631576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.45, Y:97.84, Z:8.10 [[ 7.73710044e-01 6.33431264e-01 -1.17303712e-02 1.97451744e+02] [-6.33352294e-01 7.73798899e-01 1.00068149e-02 9.78367209e+01] [ 1.54155778e-02 -3.12915728e-04 9.99881124e-01 8.09699634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.48, Y:97.82, Z:8.10 [[ 7.72322289e-01 6.35128577e-01 -1.14005307e-02 1.97475912e+02] [-6.35054197e-01 7.72406381e-01 9.72364467e-03 9.78203076e+01] [ 1.49816073e-02 -2.69832659e-04 9.99887733e-01 8.09772242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.50, Y:97.80, Z:8.10 [[ 7.71578309e-01 6.36030611e-01 -1.14880446e-02 1.97497797e+02] [-6.35955208e-01 7.71663786e-01 9.79670874e-03 9.78029808e+01] [ 1.50959147e-02 -2.53046152e-04 9.99886018e-01 8.09815495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:97.79, Z:8.10 [[ 7.70243109e-01 6.37652080e-01 -1.11972612e-02 1.97521043e+02] [-6.37580643e-01 7.70324463e-01 9.54697893e-03 9.77865634e+01] [ 1.47131752e-02 -2.14337754e-04 9.99891732e-01 8.09790202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.54, Y:97.77, Z:8.10 [[ 7.69512029e-01 6.38533434e-01 -1.12378972e-02 1.97544786e+02] [-6.38461593e-01 7.69594058e-01 9.58019661e-03 9.77691673e+01] [ 1.47658948e-02 -1.97110783e-04 9.99890959e-01 8.09852500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:97.75, Z:8.10 [[ 7.69125627e-01 6.39000503e-01 -1.11412423e-02 1.97567062e+02] [-6.38929958e-01 7.69206294e-01 9.49666654e-03 9.77511659e+01] [ 1.46382884e-02 -1.85656107e-04 9.99892837e-01 8.09852757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.59, Y:97.73, Z:8.10 [[ 7.69052379e-01 6.39092569e-01 -1.09144948e-02 1.97587186e+02] [-6.39024897e-01 7.69129804e-01 9.30189818e-03 9.77338156e+01] [ 1.43394372e-02 -1.79013024e-04 9.99897169e-01 8.09834907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:97.71, Z:8.10 [[ 7.69503563e-01 6.38544179e-01 -1.12070570e-02 1.97608291e+02] [-6.38472809e-01 7.69585144e-01 9.54873679e-03 9.77144427e+01] [ 1.47220749e-02 -1.92385821e-04 9.99891606e-01 8.09820199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:97.69, Z:8.10 [[ 7.70221173e-01 6.37682096e-01 -1.09949701e-02 1.97629228e+02] [-6.37613334e-01 7.70299619e-01 9.36664028e-03 9.76943309e+01] [ 1.44423601e-02 -2.03845155e-04 9.99895683e-01 8.09848203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.65, Y:97.67, Z:8.10 [[ 7.71908853e-01 6.35642835e-01 -1.07195518e-02 1.97652178e+02] [-6.35577290e-01 7.71983246e-01 9.13107873e-03 9.76714738e+01] [ 1.40794192e-02 -2.35256817e-04 9.99900852e-01 8.09865058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:97.65, Z:8.10 [[ 7.72875213e-01 6.34468550e-01 -1.06566677e-02 1.97674913e+02] [-6.34403591e-01 7.72948635e-01 9.08255427e-03 9.76492908e+01] [ 1.39996518e-02 -2.59052818e-04 9.99901967e-01 8.09889461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.70, Y:97.63, Z:8.10 [[ 7.74457061e-01 6.32538085e-01 -1.05750352e-02 1.97696797e+02] [-6.32473867e-01 7.74529202e-01 9.01793585e-03 9.76260561e+01] [ 1.38948615e-02 -2.95570671e-04 9.99903418e-01 8.09862894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:97.60, Z:8.10 [[ 7.75072152e-01 6.31787526e-01 -1.03769046e-02 1.97718861e+02] [-6.31725560e-01 7.75141553e-01 8.85377092e-03 9.76042818e+01] [ 1.36372719e-02 -3.06955438e-04 9.99906961e-01 8.09870655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:97.58, Z:8.10 [[ 7.75047880e-01 6.31817338e-01 -1.03747428e-02 1.97742281e+02] [-6.31755341e-01 7.75117252e-01 8.85630335e-03 9.75842325e+01] [ 1.36372081e-02 -3.09759976e-04 9.99906961e-01 8.09911401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:97.56, Z:8.10 [[ 7.75402327e-01 6.31382824e-01 -1.03422136e-02 1.97765723e+02] [-6.31321165e-01 7.75471230e-01 8.82934645e-03 9.75624475e+01] [ 1.35947868e-02 -3.17037418e-04 9.99907536e-01 8.09953876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.79, Y:97.54, Z:8.10 [[ 7.75412038e-01 6.31374409e-01 -1.01255474e-02 1.97787390e+02] [-6.31315245e-01 7.75478083e-01 8.64900892e-03 9.75402464e+01] [ 1.33129030e-02 -3.14133199e-04 9.99911330e-01 8.09999254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:97.52, Z:8.10 [[ 7.74654263e-01 6.32304955e-01 -1.00606856e-02 1.97813369e+02] [-6.32246567e-01 7.74719533e-01 8.59791554e-03 9.75216573e+01] [ 1.32307142e-02 -2.99578003e-04 9.99912425e-01 8.10001118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:97.50, Z:8.10 [[ 7.73966878e-01 6.33143164e-01 -1.02472521e-02 1.97836787e+02] [-6.33082596e-01 7.74034655e-01 8.76236462e-03 9.75010836e+01] [ 1.34795595e-02 -2.94423032e-04 9.99909103e-01 8.09940379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.86, Y:97.48, Z:8.10 [[ 7.71976410e-01 6.35556947e-01 -1.09448857e-02 1.97861541e+02] [-6.35488018e-01 7.72053944e-01 9.36409091e-03 9.74809371e+01] [ 1.44014552e-02 -2.73513548e-04 9.99896256e-01 8.09812857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:97.46, Z:8.10 [[ 7.70774447e-01 6.37006610e-01 -1.13723714e-02 1.97886769e+02] [-6.36932266e-01 7.70858295e-01 9.73541739e-03 9.74607680e+01] [ 1.49680121e-02 -2.60380646e-04 9.99887939e-01 8.09802776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:97.44, Z:8.10 [[ 7.69579980e-01 6.38443470e-01 -1.16871834e-02 1.97910461e+02] [-6.38365029e-01 7.69668680e-01 1.00106655e-02 9.74402953e+01] [ 1.53865030e-02 -2.43318576e-04 9.99881591e-01 8.09767522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:97.42, Z:8.10 [[ 7.67836797e-01 6.40522300e-01 -1.25632845e-02 1.97932545e+02] [-6.40431853e-01 7.67939538e-01 1.07660348e-02 9.74212008e+01] [ 1.65437283e-02 -2.20630056e-04 9.99863119e-01 8.09665502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:97.40, Z:8.10 [[ 7.66943368e-01 6.41597737e-01 -1.22562290e-02 1.97957355e+02] [-6.41511768e-01 7.67041268e-01 1.05044815e-02 9.74001774e+01] [ 1.61406850e-02 -1.93827245e-04 9.99869712e-01 8.09728022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:97.38, Z:8.10 [[ 7.66417373e-01 6.42215249e-01 -1.28056082e-02 1.97980929e+02] [-6.42121379e-01 7.66524322e-01 1.09817056e-02 9.73787581e+01] [ 1.68684289e-02 -1.93815103e-04 9.99857699e-01 8.09740217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.00, Y:97.36, Z:8.10 [[ 7.66366861e-01 6.42286076e-01 -1.22650682e-02 1.98002824e+02] [-6.42199897e-01 7.66464977e-01 1.05228817e-02 9.73563141e+01] [ 1.61594456e-02 -1.87762289e-04 9.99869410e-01 8.09862393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:97.33, Z:8.10 [[ 7.66630545e-01 6.41976924e-01 -1.19681646e-02 1.98025506e+02] [-6.41894817e-01 7.66723935e-01 1.02689453e-02 9.73344467e+01] [ 1.57687041e-02 -1.90184317e-04 9.99875648e-01 8.09938703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:97.31, Z:8.10 [[ 7.67071724e-01 6.41453988e-01 -1.17368228e-02 1.98048242e+02] [-6.41374940e-01 7.67161484e-01 1.00719313e-02 9.73119923e+01] [ 1.54647189e-02 -1.98189689e-04 9.99880394e-01 8.10034990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.07, Y:97.29, Z:8.10 [[ 7.68198836e-01 6.40112109e-01 -1.12710322e-02 1.98069054e+02] [-6.40038991e-01 7.68281484e-01 9.67735554e-03 9.72873043e+01] [ 1.48539178e-02 -2.20233205e-04 9.99889650e-01 8.10213973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:97.26, Z:8.10 [[ 7.68435173e-01 6.39830223e-01 -1.11656026e-02 1.98092990e+02] [-6.39758358e-01 7.68516255e-01 9.59212374e-03 9.72649744e+01] [ 1.47182778e-02 -2.27637661e-04 9.99891654e-01 8.10278961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:97.24, Z:8.10 [[ 7.68404825e-01 6.39872013e-01 -1.08550495e-02 1.98115213e+02] [-6.39804012e-01 7.68481461e-01 9.33111990e-03 9.72421610e+01] [ 1.43126268e-02 -2.24973306e-04 9.99897544e-01 8.10343297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:97.22, Z:8.10 [[ 7.68084362e-01 6.40255972e-01 -1.08950398e-02 1.98140143e+02] [-6.40187427e-01 7.68161598e-01 9.37111927e-03 9.72203787e+01] [ 1.43690662e-02 -2.22942681e-04 9.99896735e-01 8.10406317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:97.20, Z:8.10 [[ 7.67495682e-01 6.40958669e-01 -1.10617570e-02 1.98163630e+02] [-6.40887995e-01 7.67575363e-01 9.52054829e-03 9.71992845e+01] [ 1.45930101e-02 -2.17632438e-04 9.99893493e-01 8.10395466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.19, Y:97.18, Z:8.10 [[ 7.66903255e-01 6.41662569e-01 -1.13377658e-02 1.98186824e+02] [-6.41588328e-01 7.66987029e-01 9.76297269e-03 9.71783418e+01] [ 1.49604534e-02 -2.13077344e-04 9.99888063e-01 8.10409330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.21, Y:97.16, Z:8.10 [[ 7.65050011e-01 6.43867529e-01 -1.15362968e-02 1.98212066e+02] [-6.43790862e-01 7.65136964e-01 9.93737487e-03 9.71586908e+01] [ 1.52252001e-02 -1.75626272e-04 9.99884075e-01 8.10456137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:97.14, Z:8.11 [[ 7.63976878e-01 6.45149526e-01 -1.10190307e-02 1.98234958e+02] [-6.45079640e-01 7.64056325e-01 9.49684608e-03 9.71372429e+01] [ 1.45460459e-02 -1.47218461e-04 9.99894190e-01 8.10506441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.26, Y:97.12, Z:8.11 [[ 7.61678774e-01 6.47867338e-01 -1.06469543e-02 1.98262325e+02] [-6.47802293e-01 7.61753177e-01 9.18076310e-03 9.71192413e+01] [ 1.40582678e-02 -9.56709919e-05 9.99901173e-01 8.10636130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:97.10, Z:8.11 [[ 7.60611897e-01 6.49124559e-01 -1.03367578e-02 1.98286776e+02] [-6.49063299e-01 7.60682129e-01 8.91815371e-03 9.70984350e+01] [ 1.36519795e-02 -7.40437149e-05 9.99906805e-01 8.10660179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:97.08, Z:8.11 [[ 7.59908593e-01 6.49943792e-01 -1.05828663e-02 1.98311677e+02] [-6.49879585e-01 7.59982278e-01 9.13579284e-03 9.70800600e+01] [ 1.39805427e-02 -6.47787139e-05 9.99902265e-01 8.10674747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.34, Y:97.06, Z:8.11 [[ 7.58627322e-01 6.51431028e-01 -1.10544762e-02 1.98335565e+02] [-6.51361120e-01 7.58707858e-01 9.54347753e-03 9.70635527e+01] [ 1.46040353e-02 -3.94868018e-05 9.99893355e-01 8.10583357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:97.05, Z:8.11 [[ 7.58389319e-01 6.51703079e-01 -1.13462479e-02 1.98357409e+02] [-6.51629486e-01 7.58474189e-01 9.79375942e-03 9.70460893e+01] [ 1.49884593e-02 -3.39328495e-05 9.99887666e-01 8.10573488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.38, Y:97.02, Z:8.11 [[ 7.58056200e-01 6.52090214e-01 -1.13644145e-02 1.98382422e+02] [-6.52016442e-01 7.58141380e-01 9.80853914e-03 9.70246781e+01] [ 1.50118853e-02 -2.56387749e-05 9.99887315e-01 8.10599503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:97.00, Z:8.11 [[ 7.58043633e-01 6.52103496e-01 -1.14403182e-02 1.98405933e+02] [-6.52028643e-01 7.58129956e-01 9.88028173e-03 9.70040920e+01] [ 1.51162142e-02 -3.02695273e-05 9.99885743e-01 8.10650186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:96.98, Z:8.11 [[ 7.58499338e-01 6.51575100e-01 -1.13421211e-02 1.98429460e+02] [-6.51501399e-01 7.58584133e-01 9.79998574e-03 9.69838144e+01] [ 1.49893798e-02 -4.38749375e-05 9.99887652e-01 8.10703832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:96.96, Z:8.11 [[ 7.59733815e-01 6.50144744e-01 -1.07861787e-02 1.98452169e+02] [-6.50077938e-01 7.59810376e-01 9.32028396e-03 9.69638437e+01] [ 1.42549841e-02 -6.90780986e-05 9.99898390e-01 8.10814371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:96.94, Z:8.11 [[ 7.60581858e-01 6.49154246e-01 -1.06771323e-02 1.98474276e+02] [-6.49088687e-01 7.60656793e-01 9.22601006e-03 9.69440609e+01] [ 1.41107368e-02 -8.67300760e-05 9.99900435e-01 8.10856479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.49, Y:96.92, Z:8.11 [[ 7.62241100e-01 6.47211782e-01 -1.02671611e-02 1.98494567e+02] [-6.47150994e-01 7.62310235e-01 8.87111244e-03 9.69245127e+01] [ 1.35682505e-02 -1.17523025e-04 9.99907940e-01 8.10966364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:96.91, Z:8.11 [[ 7.62908214e-01 6.46425317e-01 -1.02648179e-02 1.98514613e+02] [-6.46364483e-01 7.62977255e-01 8.86918408e-03 9.69052473e+01] [ 1.35650878e-02 -1.31559635e-04 9.99907981e-01 8.11033486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:96.89, Z:8.11 [[ 7.63388326e-01 6.45856769e-01 -1.03584803e-02 1.98536185e+02] [-6.45794791e-01 7.63458587e-01 8.94841088e-03 9.68861093e+01] [ 1.36876625e-02 -1.41659780e-04 9.99906310e-01 8.11034025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:96.87, Z:8.11 [[ 7.63722634e-01 6.45458128e-01 -1.05613877e-02 1.98558546e+02] [-6.45393679e-01 7.63795642e-01 9.12232622e-03 9.68682974e+01] [ 1.39548215e-02 -1.50674158e-04 9.99902615e-01 8.11042448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:96.85, Z:8.11 [[ 7.63971607e-01 6.45151154e-01 -1.12859698e-02 1.98580812e+02] [-6.45077549e-01 7.64054946e-01 9.74654782e-03 9.68520242e+01] [ 1.49110976e-02 -1.65760061e-04 9.99888810e-01 8.10935746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.61, Y:96.83, Z:8.11 [[ 7.63707963e-01 6.45458933e-01 -1.15288034e-02 1.98606809e+02] [-6.45382174e-01 7.63794959e-01 9.95543322e-03 9.68322745e+01] [ 1.52314652e-02 -1.62559410e-04 9.99883981e-01 8.10926022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.63, Y:96.81, Z:8.11 [[ 7.63088338e-01 6.46185426e-01 -1.18568035e-02 1.98633452e+02] [-6.46104219e-01 7.63180431e-01 1.02453674e-02 9.68126497e+01] [ 1.56692875e-02 -1.57389593e-04 9.99877217e-01 8.10902074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.66, Y:96.79, Z:8.11 [[ 7.62474884e-01 6.46903172e-01 -1.21793894e-02 1.98658856e+02] [-6.46817466e-01 7.62572137e-01 1.05310325e-02 9.67922761e+01] [ 1.61002213e-02 -1.51806023e-04 9.99870372e-01 8.10912965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:96.77, Z:8.11 [[ 7.62019131e-01 6.47433488e-01 -1.25188682e-02 1.98681716e+02] [-6.47342916e-01 7.62121943e-01 1.08301800e-02 9.67734003e+01] [ 1.65527254e-02 -1.48803661e-04 9.99862983e-01 8.10901843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:96.75, Z:8.11 [[ 7.61133558e-01 6.48463401e-01 -1.30738391e-02 1.98706659e+02] [-6.48364752e-01 7.61245821e-01 1.13114454e-02 9.67534823e+01] [ 1.72874637e-02 -1.32904265e-04 9.99850552e-01 8.10929340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:96.73, Z:8.11 [[ 7.61008526e-01 6.48605353e-01 -1.33086058e-02 1.98729290e+02] [-6.48503061e-01 7.61124877e-01 1.15196469e-02 9.67338651e+01] [ 1.76012156e-02 -1.35877951e-04 9.99845077e-01 8.10914393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.75, Y:96.72, Z:8.11 [[ 7.61213036e-01 6.48370333e-01 -1.30623362e-02 1.98751666e+02] [-6.48271758e-01 7.61325090e-01 1.13064382e-02 9.67163440e+01] [ 1.72754434e-02 -1.38664454e-04 9.99850759e-01 8.10938561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.77, Y:96.70, Z:8.11 [[ 7.61502693e-01 6.48029426e-01 -1.30962732e-02 1.98773659e+02] [-6.47930319e-01 7.61615285e-01 1.13340252e-02 9.66979211e+01] [ 1.73191036e-02 -1.45418232e-04 9.99850003e-01 8.10993374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.80, Y:96.68, Z:8.11 [[ 7.62078689e-01 6.47357149e-01 -1.28372214e-02 1.98796167e+02] [-6.47261854e-01 7.62186787e-01 1.11083006e-02 9.66783174e+01] [ 1.69753984e-02 -1.56355396e-04 9.99855895e-01 8.11061943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2727550960001 meters Centerline goodness [0,1] 0.9999568509848763 Centerline is valid? [True, True] Translation: X:198.82, Y:96.66, Z:8.11 [[ 7.62995395e-01 6.46289167e-01 -1.21795010e-02 1.98819165e+02] [-6.46203245e-01 7.63092578e-01 1.05395808e-02 9.66560273e+01] [ 1.61057037e-02 -1.71218528e-04 9.99870280e-01 8.11223418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.84, Y:96.63, Z:8.11 [[ 7.64688364e-01 6.44296731e-01 -1.15511161e-02 1.98839787e+02] [-6.44219139e-01 7.64775575e-01 1.00010930e-02 9.66327384e+01] [ 1.52776830e-02 -2.06269439e-04 9.99883268e-01 8.11335419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.86, Y:96.61, Z:8.11 [[ 7.65606111e-01 6.43211288e-01 -1.12481948e-02 1.98861284e+02] [-6.43137530e-01 7.65688702e-01 9.74315115e-03 9.66114963e+01] [ 1.48795205e-02 -2.25279826e-04 9.99889268e-01 8.11444171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.88, Y:96.59, Z:8.12 [[ 7.66302924e-01 6.42381991e-01 -1.11895729e-02 1.98884570e+02] [-6.42308903e-01 7.66384577e-01 9.69296216e-03 9.65892840e+01] [ 1.48021004e-02 -2.40582942e-04 9.99890414e-01 8.11532466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:96.57, Z:8.12 [[ 7.66960449e-01 6.41602038e-01 -1.08854983e-02 1.98906277e+02] [-6.41532717e-01 7.67037653e-01 9.43463275e-03 9.65667107e+01] [ 1.44028667e-02 -2.52586846e-04 9.99896241e-01 8.11624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:96.54, Z:8.12 [[ 7.68010272e-01 6.40343635e-01 -1.09659373e-02 1.98929754e+02] [-6.40273086e-01 7.68088504e-01 9.50927972e-03 9.65446239e+01] [ 1.45120171e-02 -2.82029975e-04 9.99894655e-01 8.11672894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.95, Y:96.52, Z:8.12 [[ 7.68406478e-01 6.39863246e-01 -1.12477534e-02 1.98953232e+02] [-6.39788890e-01 7.68488735e-01 9.75914744e-03 9.65232478e+01] [ 1.48882916e-02 -3.02804422e-04 9.99889117e-01 8.11670804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.98, Y:96.50, Z:8.12 [[ 7.68712571e-01 6.39491252e-01 -1.14857162e-02 1.98977423e+02] [-6.39413590e-01 7.68798306e-01 9.97122113e-03 9.65026887e+01] [ 1.52067078e-02 -3.20880023e-04 9.99884320e-01 8.11671027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.00, Y:96.48, Z:8.12 [[ 7.68185992e-01 6.40120129e-01 -1.16834433e-02 1.99002225e+02] [-6.40039751e-01 7.68274768e-01 1.01487849e-02 9.64815123e+01] [ 1.54725362e-02 -3.18286204e-04 9.99880243e-01 8.11681570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:96.46, Z:8.12 [[ 7.67425302e-01 6.41018692e-01 -1.23872323e-02 1.99025989e+02] [-6.40928340e-01 7.67525200e-01 1.07670905e-02 9.64608015e+01] [ 1.64094192e-02 -3.23609419e-04 9.99865304e-01 8.11662465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:96.44, Z:8.12 [[ 7.66879633e-01 6.41661825e-01 -1.28736468e-02 1.99051516e+02] [-6.41564222e-01 7.66987611e-01 1.11961440e-02 9.64400069e+01] [ 1.70580658e-02 -3.26823542e-04 9.99854447e-01 8.11678947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:96.42, Z:8.12 [[ 7.66220340e-01 6.42443034e-01 -1.31658110e-02 1.99075808e+02] [-6.42340939e-01 7.66333377e-01 1.14574571e-02 9.64194775e+01] [ 1.74501639e-02 -3.21997308e-04 9.99847682e-01 8.11680242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.63275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.10, Y:96.40, Z:8.12 [[ 7.65408593e-01 6.43398221e-01 -1.37264312e-02 1.99099200e+02] [-6.43287276e-01 7.65531598e-01 1.19521034e-02 9.63992528e+01] [ 1.81979789e-02 -3.18204061e-04 9.99834352e-01 8.11674112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:96.38, Z:8.12 [[ 7.65163370e-01 6.43693368e-01 -1.35596873e-02 1.99120606e+02] [-6.43585076e-01 7.65283445e-01 1.18109683e-02 9.63798728e+01] [ 1.79796462e-02 -3.10507918e-04 9.99838305e-01 8.11683207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.69275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.14, Y:96.36, Z:8.12 [[ 7.64961641e-01 6.43934450e-01 -1.34948485e-02 1.99144928e+02] [-6.43827247e-01 7.65080605e-01 1.17534880e-02 9.63608076e+01] [ 1.78931227e-02 -3.02616344e-04 9.99839859e-01 8.11800682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:96.34, Z:8.12 [[ 7.64726610e-01 6.44212261e-01 -1.35563431e-02 1.99170467e+02] [-6.44104085e-01 7.64846699e-01 1.18090754e-02 9.63397468e+01] [ 1.79760754e-02 -2.99018231e-04 9.99838373e-01 8.11891683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.75275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.19, Y:96.32, Z:8.12 [[ 7.64589961e-01 6.44374028e-01 -1.35758566e-02 1.99193962e+02] [-6.44265431e-01 7.64710417e-01 1.18335557e-02 9.63185661e+01] [ 1.80068349e-02 -3.01362784e-04 9.99837818e-01 8.11936710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.22, Y:96.30, Z:8.12 [[ 7.64413650e-01 6.44583246e-01 -1.35724224e-02 1.99217699e+02] [-6.44474612e-01 7.64534073e-01 1.18374935e-02 9.62977007e+01] [ 1.80068294e-02 -3.01659990e-04 9.99837818e-01 8.11978496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.81275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.24, Y:96.28, Z:8.12 [[ 7.64308694e-01 6.44705340e-01 -1.36837511e-02 1.99241898e+02] [-6.44594815e-01 7.64431116e-01 1.19412238e-02 9.62759086e+01] [ 1.81588558e-02 -3.06306160e-04 9.99835067e-01 8.12009392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.27, Y:96.25, Z:8.12 [[ 7.64889936e-01 6.44015702e-01 -1.36807138e-02 1.99265262e+02] [-6.43904996e-01 7.65012202e-01 1.19451723e-02 9.62537659e+01] [ 1.81587915e-02 -3.27662062e-04 9.99835062e-01 8.12106123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.87275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.29, Y:96.23, Z:8.12 [[ 7.65626972e-01 6.43146173e-01 -1.33544079e-02 1.99289133e+02] [-6.43040441e-01 7.65743352e-01 1.16666228e-02 9.62316106e+01] [ 1.77293929e-02 -3.44856764e-04 9.99842763e-01 8.12227735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:96.21, Z:8.12 [[ 7.65974643e-01 6.42738551e-01 -1.30384185e-02 1.99311841e+02] [-6.42637599e-01 7.66085525e-01 1.13966738e-02 9.62098096e+01] [ 1.73136253e-02 -3.50585188e-04 9.99850047e-01 8.12269047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.93275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:96.19, Z:8.12 [[ 7.66183404e-01 6.42494207e-01 -1.28134918e-02 1.99334230e+02] [-6.42396603e-01 7.66290460e-01 1.12042414e-02 9.61897876e+01] [ 1.70175167e-02 -3.53160226e-04 9.99855129e-01 8.12348125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.35, Y:96.17, Z:8.12 [[ 7.66470109e-01 6.42146054e-01 -1.31155256e-02 1.99354592e+02] [-6.42043764e-01 7.66582226e-01 1.14671266e-02 9.61713887e+01] [ 1.74176989e-02 -3.68468328e-04 9.99848232e-01 8.12392393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.99275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:96.15, Z:8.12 [[ 7.66655197e-01 6.41926835e-01 -1.30286992e-02 1.99379664e+02] [-6.41825863e-01 7.66765805e-01 1.13912778e-02 9.61503580e+01] [ 1.73023280e-02 -3.71026227e-04 9.99850235e-01 8.12487075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:96.13, Z:8.13 [[ 7.66687133e-01 6.41885057e-01 -1.32065638e-02 1.99404874e+02] [-6.41781172e-01 7.66800774e-01 1.15541957e-02 9.61292635e+01] [ 1.75432689e-02 -3.82729146e-04 9.99846032e-01 8.12553421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.05275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:96.11, Z:8.13 [[ 7.66358738e-01 6.42282829e-01 -1.29248958e-02 1.99428912e+02] [-6.42183263e-01 7.66467631e-01 1.13148713e-02 9.61075490e+01] [ 1.71738618e-02 -3.71098730e-04 9.99852450e-01 8.12632745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:96.09, Z:8.13 [[ 7.65989998e-01 6.42727144e-01 -1.26941161e-02 1.99452300e+02] [-6.42631052e-01 7.66095091e-01 1.11194459e-02 9.60858848e+01] [ 1.68716697e-02 -3.59751154e-04 9.99857599e-01 8.12696276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.11275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.48, Y:96.07, Z:8.13 [[ 7.65506168e-01 6.43303448e-01 -1.26877824e-02 1.99476811e+02] [-6.43207421e-01 7.65611226e-01 1.11204047e-02 9.60656123e+01] [ 1.68677033e-02 -3.51862604e-04 9.99857668e-01 8.12760035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.50, Y:96.05, Z:8.13 [[ 7.63997758e-01 6.45098946e-01 -1.24408908e-02 1.99502663e+02] [-6.45006760e-01 7.64098981e-01 1.09099356e-02 9.60458964e+01] [ 1.65440599e-02 -3.10707667e-04 9.99863089e-01 8.12793203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.17275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.53, Y:96.02, Z:8.13 [[ 7.63016317e-01 6.46252180e-01 -1.28148370e-02 1.99525576e+02] [-6.46154423e-01 7.63123863e-01 1.12441524e-02 9.60248403e+01] [ 1.70458659e-02 -2.99108147e-04 9.99854664e-01 8.12738516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:96.01, Z:8.13 [[ 7.61358686e-01 6.48193179e-01 -1.33624075e-02 1.99548478e+02] [-6.48087112e-01 7.61475889e-01 1.17287965e-02 9.60075644e+01] [ 1.77776771e-02 -2.69816970e-04 9.99841928e-01 8.12691686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.23275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.57, Y:95.99, Z:8.13 [[ 7.60565885e-01 6.49112961e-01 -1.38527227e-02 1.99573868e+02] [-6.48999109e-01 7.60691986e-01 1.21597788e-02 9.59883657e+01] [ 1.84307251e-02 -2.57908234e-04 9.99830107e-01 8.12756379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.60, Y:95.97, Z:8.13 [[ 7.59177461e-01 6.50727103e-01 -1.42765968e-02 1.99596170e+02] [-6.50606325e-01 7.59311652e-01 1.25389417e-02 9.59662998e+01] [ 1.89998155e-02 -2.30837761e-04 9.99819461e-01 8.12627192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.29275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.62, Y:95.95, Z:8.13 [[ 7.58760272e-01 6.51207565e-01 -1.45450085e-02 1.99618179e+02] [-6.51082213e-01 7.58899635e-01 1.27787064e-02 9.59473541e+01] [ 1.93597919e-02 -2.25978441e-04 9.99812556e-01 8.12672649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.64, Y:95.93, Z:8.13 [[ 7.58410151e-01 6.51620361e-01 -1.43160021e-02 1.99639092e+02] [-6.51499037e-01 7.58545227e-01 1.25755269e-02 9.59289326e+01] [ 1.90538044e-02 -2.10545657e-04 9.99818438e-01 8.12712045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.35275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:95.91, Z:8.13 [[ 7.57812746e-01 6.52322231e-01 -1.39838925e-02 1.99661555e+02] [-6.52206630e-01 7.57941734e-01 1.22817069e-02 9.59106117e+01] [ 1.86106062e-02 -1.86846596e-04 9.99826790e-01 8.12799700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.68, Y:95.89, Z:8.13 [[ 7.57443424e-01 6.52750466e-01 -1.40103250e-02 1.99683318e+02] [-6.52634536e-01 7.57572966e-01 1.23029915e-02 9.58925329e+01] [ 1.86446269e-02 -1.75198043e-04 9.99826159e-01 8.12833704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.41275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:95.88, Z:8.13 [[ 7.57186449e-01 6.53046630e-01 -1.40989388e-02 1.99705847e+02] [-6.52929321e-01 7.57317682e-01 1.23786458e-02 9.58750048e+01] [ 1.87612086e-02 -1.67332311e-04 9.99823979e-01 8.12931443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:95.86, Z:8.13 [[ 7.57229484e-01 6.52993242e-01 -1.42595744e-02 1.99726767e+02] [-6.52873277e-01 7.57363716e-01 1.25174298e-02 9.58563761e+01] [ 1.89734813e-02 -1.68871824e-04 9.99819973e-01 8.12987885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.47275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.75, Y:95.84, Z:8.13 [[ 7.57315697e-01 6.52889205e-01 -1.44437164e-02 1.99747587e+02] [-6.52766160e-01 7.57453402e-01 1.26761091e-02 9.58375650e+01] [ 1.92165369e-02 -1.71447131e-04 9.99815331e-01 8.13016450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.77, Y:95.82, Z:8.13 [[ 7.57572366e-01 6.52608033e-01 -1.36698890e-02 1.99768945e+02] [-6.52497818e-01 7.57695670e-01 1.19945613e-02 9.58178377e+01] [ 1.81853627e-02 -1.67175465e-04 9.99834619e-01 8.13157569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:95.80, Z:8.13 [[ 7.57882509e-01 6.52254773e-01 -1.33346922e-02 1.99789429e+02] [-6.52149877e-01 7.57999791e-01 1.16985449e-02 9.57994772e+01] [ 1.77381257e-02 -1.69904665e-04 9.99842653e-01 8.13221430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.81, Y:95.78, Z:8.13 [[ 7.58418948e-01 6.51643838e-01 -1.26888800e-02 1.99810731e+02] [-6.51548804e-01 7.58525068e-01 1.11300010e-02 9.57805312e+01] [ 1.68776301e-02 -1.73779032e-04 9.99857548e-01 8.13349597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:95.76, Z:8.13 [[ 7.58826305e-01 6.51174017e-01 -1.24514403e-02 1.99832511e+02] [-6.51082471e-01 7.58928434e-01 1.09200717e-02 9.57609196e+01] [ 1.65606191e-02 -1.79523130e-04 9.99862847e-01 8.13436411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:95.74, Z:8.14 [[ 7.59251604e-01 6.50679019e-01 -1.24022969e-02 1.99854703e+02] [-6.50588153e-01 7.59352869e-01 1.08754657e-02 9.57411726e+01] [ 1.64941571e-02 -1.88427316e-04 9.99863944e-01 8.13504416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.88, Y:95.72, Z:8.14 [[ 7.59882325e-01 6.49942979e-01 -1.23683670e-02 1.99878356e+02] [-6.49852503e-01 7.59982949e-01 1.08462443e-02 9.57189506e+01] [ 1.64491884e-02 -2.04255072e-04 9.99864682e-01 8.13572372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:95.70, Z:8.14 [[ 7.59817758e-01 6.50021480e-01 -1.22086285e-02 1.99900586e+02] [-6.49933239e-01 7.59915807e-01 1.07121953e-02 9.56964794e+01] [ 1.62406869e-02 -2.04522783e-04 9.99868090e-01 8.13569737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:95.68, Z:8.14 [[ 7.59589708e-01 6.50281564e-01 -1.25444429e-02 1.99926048e+02] [-6.50188322e-01 7.59693257e-01 1.10137154e-02 9.56762592e+01] [ 1.66919447e-02 -2.09654645e-04 9.99860658e-01 8.13626115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:95.65, Z:8.14 [[ 7.59474922e-01 6.50412933e-01 -1.26830308e-02 1.99949909e+02] [-6.50317515e-01 7.59580786e-01 1.11426573e-02 9.56547148e+01] [ 1.68811149e-02 -2.14571643e-04 9.99857481e-01 8.13592821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:95.64, Z:8.14 [[ 7.59457598e-01 6.50431598e-01 -1.27629448e-02 1.99972147e+02] [-6.50334887e-01 7.59564802e-01 1.12181066e-02 9.56353257e+01] [ 1.69908946e-02 -2.19488075e-04 9.99855620e-01 8.13584223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.99, Y:95.62, Z:8.14 [[ 7.59907113e-01 6.49913617e-01 -1.23883298e-02 1.99993123e+02] [-6.49822441e-01 7.60008053e-01 1.08883093e-02 9.56154049e+01] [ 1.64916909e-02 -2.23888989e-04 9.99863978e-01 8.13620625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:95.60, Z:8.14 [[ 7.60242521e-01 6.49530447e-01 -1.18956978e-02 2.00015844e+02] [-6.49446343e-01 7.60335550e-01 1.04545851e-02 9.55955623e+01] [ 1.58352932e-02 -2.22402663e-04 9.99874589e-01 8.13700894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:95.57, Z:8.14 [[ 7.60953805e-01 6.48706304e-01 -1.13770576e-02 2.00037801e+02] [-6.48629281e-01 7.61038815e-01 9.99887733e-03 9.55733434e+01] [ 1.51447172e-02 -2.29191038e-04 9.99885286e-01 8.13800361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:95.55, Z:8.14 [[ 7.61263756e-01 6.48344446e-01 -1.12682235e-02 2.00061001e+02] [-6.48268839e-01 7.61347111e-01 9.90399608e-03 9.55519260e+01] [ 1.50002303e-02 -2.34715088e-04 9.99887463e-01 8.13818726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:95.53, Z:8.14 [[ 7.61641794e-01 6.47898873e-01 -1.13502252e-02 2.00082567e+02] [-6.47822102e-01 7.61726322e-01 9.97670864e-03 9.55314687e+01] [ 1.51096636e-02 -2.45751533e-04 9.99885812e-01 8.13847249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.11, Y:95.51, Z:8.14 [[ 7.61776181e-01 6.47744317e-01 -1.11512262e-02 2.00107339e+02] [-6.47670193e-01 7.61857755e-01 9.80214949e-03 9.55097304e+01] [ 1.48449348e-02 -2.44727199e-04 9.99889778e-01 8.13857893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:95.49, Z:8.14 [[ 7.61733542e-01 6.47795582e-01 -1.10857812e-02 2.00130138e+02] [-6.47722248e-01 7.61814166e-01 9.75015155e-03 9.54889719e+01] [ 1.47614103e-02 -2.46510331e-04 9.99891014e-01 8.13853394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.16, Y:95.47, Z:8.14 [[ 7.61330164e-01 6.48266361e-01 -1.12742034e-02 2.00155188e+02] [-6.48190543e-01 7.61413598e-01 9.91734144e-03 9.54679559e+01] [ 1.50134106e-02 -2.42539168e-04 9.99887263e-01 8.13847915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.18, Y:95.45, Z:8.14 [[ 7.60852509e-01 6.48825441e-01 -1.13581459e-02 2.00177924e+02] [-6.48748454e-01 7.60937245e-01 9.99761420e-03 9.54460517e+01] [ 1.51295427e-02 -2.38130272e-04 9.99885514e-01 8.13859918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:95.43, Z:8.14 [[ 7.60314730e-01 6.49452305e-01 -1.15418902e-02 2.00203043e+02] [-6.49372784e-01 7.60402294e-01 1.01655762e-02 9.54253011e+01] [ 1.53785367e-02 -2.34047980e-04 9.99881716e-01 8.13915974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:95.41, Z:8.14 [[ 7.59857738e-01 6.49992300e-01 -1.12351509e-02 2.00225616e+02] [-6.49916928e-01 7.59940761e-01 9.90082660e-03 9.54057936e+01] [ 1.49735102e-02 -2.21304949e-04 9.99887866e-01 8.13968618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.13275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:95.39, Z:8.14 [[ 7.58817133e-01 6.51207016e-01 -1.12241109e-02 2.00251291e+02] [-6.51131908e-01 7.58900114e-01 9.89218221e-03 9.53867794e+01] [ 1.49598375e-02 -1.97980602e-04 9.99888076e-01 8.14047476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:95.37, Z:8.14 [[ 7.57241473e-01 6.53038094e-01 -1.12516853e-02 2.00275959e+02] [-6.52962734e-01 7.57325043e-01 9.92209832e-03 9.53669279e+01] [ 1.50006912e-02 -1.66493133e-04 9.99887469e-01 8.14075887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.19275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:95.35, Z:8.14 [[ 7.56371449e-01 6.54048497e-01 -1.10812576e-02 2.00299512e+02] [-6.53975440e-01 7.56452604e-01 9.77662055e-03 9.53471085e+01] [ 1.47768301e-02 -1.47886368e-04 9.99890806e-01 8.14135612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:95.33, Z:8.14 [[ 7.55612972e-01 6.54920117e-01 -1.13435911e-02 2.00321447e+02] [-6.54843659e-01 7.55698103e-01 1.00079626e-02 9.53284847e+01] [ 1.51267464e-02 -1.33867670e-04 9.99885575e-01 8.14179983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.25275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:95.31, Z:8.14 [[ 7.54031016e-01 6.56734006e-01 -1.17333896e-02 2.00346419e+02] [-6.56652432e-01 7.54122295e-01 1.03512519e-02 9.53101414e+01] [ 1.56464298e-02 -1.00406153e-04 9.99877582e-01 8.14146627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:95.29, Z:8.14 [[ 7.53217365e-01 6.57667250e-01 -1.17213153e-02 2.00371032e+02] [-6.57585931e-01 7.53308557e-01 1.03422138e-02 9.52896017e+01] [ 1.56315024e-02 -8.21629755e-05 9.99877817e-01 8.14149373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.31275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:95.27, Z:8.14 [[ 7.52622789e-01 6.58341300e-01 -1.20694293e-02 2.00394585e+02] [-6.58255084e-01 7.52719554e-01 1.06544430e-02 9.52694949e+01] [ 1.60991553e-02 -7.40134609e-05 9.99870397e-01 8.14167612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:95.25, Z:8.14 [[ 7.52794325e-01 6.58139349e-01 -1.23815086e-02 2.00416633e+02] [-6.58048592e-01 7.52896136e-01 1.09297594e-02 9.52493666e+01] [ 1.65152947e-02 -8.02265779e-05 9.99863610e-01 8.14182396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.37275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.44, Y:95.23, Z:8.14 [[ 7.54450573e-01 6.56239994e-01 -1.23856176e-02 2.00435781e+02] [-6.56148936e-01 7.54552222e-01 1.09324296e-02 9.52284242e+01] [ 1.65198928e-02 -1.21167998e-04 9.99863530e-01 8.14214102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:95.21, Z:8.14 [[ 7.55828045e-01 6.54652641e-01 -1.24051038e-02 2.00455526e+02] [-6.54561105e-01 7.55929822e-01 1.09482468e-02 9.52075840e+01] [ 1.65446866e-02 -1.55093558e-04 9.99863115e-01 8.14270379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.43275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:95.19, Z:8.14 [[ 7.57207603e-01 6.53051423e-01 -1.26682819e-02 2.00475976e+02] [-6.52955764e-01 7.57313543e-01 1.11789377e-02 9.51857200e+01] [ 1.68942827e-02 -1.92948935e-04 9.99857263e-01 8.14350185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.50, Y:95.16, Z:8.14 [[ 7.58518688e-01 6.51535075e-01 -1.23063320e-02 2.00496212e+02] [-6.51444621e-01 7.58618480e-01 1.08585551e-02 9.51646444e+01] [ 1.64105404e-02 -2.19523196e-04 9.99865314e-01 8.14447402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.49275509600005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:95.14, Z:8.15 [[ 7.60566052e-01 6.49151512e-01 -1.18993985e-02 2.00518569e+02] [-6.49066654e-01 7.60659087e-01 1.04991823e-02 9.51418328e+01] [ 1.58669456e-02 -2.61818818e-04 9.99874078e-01 8.14579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:95.12, Z:8.15 [[ 7.61718571e-01 6.47802504e-01 -1.16933385e-02 2.00540544e+02] [-6.47720314e-01 7.61808265e-01 1.03229388e-02 9.51197686e+01] [ 1.55953075e-02 -2.89161326e-04 9.99878344e-01 8.14656460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.55275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:95.10, Z:8.15 [[ 7.62033067e-01 6.47438164e-01 -1.13766581e-02 2.00563747e+02] [-6.47360259e-01 7.62117930e-01 1.00477019e-02 9.51000722e+01] [ 1.51756208e-02 -2.91884797e-04 9.99884801e-01 8.14707884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.59, Y:95.08, Z:8.15 [[ 7.62098459e-01 6.47365911e-01 -1.11047482e-02 2.00588341e+02] [-6.47291669e-01 7.62179306e-01 9.80818725e-03 9.50789343e+01] [ 1.48132954e-02 -2.86793391e-04 9.99890236e-01 8.14732736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.61275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.61, Y:95.06, Z:8.15 [[ 7.62107398e-01 6.47348949e-01 -1.14740115e-02 2.00611235e+02] [-6.47269600e-01 7.62193708e-01 1.01398681e-02 9.50583716e+01] [ 1.53094523e-02 -3.00889596e-04 9.99882758e-01 8.14752775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.63, Y:95.04, Z:8.15 [[ 7.62334514e-01 6.47080127e-01 -1.15498395e-02 2.00632360e+02] [-6.46999673e-01 7.62421940e-01 1.02082847e-02 9.50390134e+01] [ 1.54114292e-02 -3.09385393e-04 9.99881189e-01 8.14772036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.67275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.66, Y:95.02, Z:8.15 [[ 7.62393835e-01 6.47004903e-01 -1.18446347e-02 2.00655028e+02] [-6.46920299e-01 7.62485773e-01 1.04676844e-02 9.50203197e+01] [ 1.58040086e-02 -3.17963442e-04 9.99875058e-01 8.14721537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:95.00, Z:8.15 [[ 7.62418424e-01 6.46975921e-01 -1.18450324e-02 2.00676922e+02] [-6.46891320e-01 7.62510365e-01 1.04672343e-02 9.50010292e+01] [ 1.58040085e-02 -3.17963666e-04 9.99875058e-01 8.14759996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.73275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:94.98, Z:8.15 [[ 7.62264614e-01 6.47158997e-01 -1.17426826e-02 2.00702644e+02] [-6.47075869e-01 7.62354993e-01 1.03771572e-02 9.49798633e+01] [ 1.56677634e-02 -3.11733214e-04 9.99877204e-01 8.14812511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.72, Y:94.96, Z:8.15 [[ 7.62015737e-01 6.47451517e-01 -1.17707170e-02 2.00724599e+02] [-6.47367939e-01 7.62106578e-01 1.04074745e-02 9.49596114e+01] [ 1.57088760e-02 -3.10674568e-04 9.99876560e-01 8.14826971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.79275509600006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.75, Y:94.94, Z:8.15 [[ 7.61701898e-01 6.47820514e-01 -1.17813292e-02 2.00747608e+02] [-6.47736828e-01 7.61792944e-01 1.04169454e-02 9.49427894e+01] [ 1.57232443e-02 -3.03406297e-04 9.99876336e-01 8.14857360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.77, Y:94.92, Z:8.15 [[ 7.61134272e-01 6.48484614e-01 -1.19300229e-02 2.00773702e+02] [-6.48398888e-01 7.61227705e-01 1.05481209e-02 9.49244302e+01] [ 1.59217581e-02 -2.93122716e-04 9.99873198e-01 8.14922517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.85275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:94.90, Z:8.15 [[ 7.60282592e-01 6.49485931e-01 -1.17645740e-02 2.00796795e+02] [-6.49402596e-01 7.60373560e-01 1.04075953e-02 9.49028555e+01] [ 1.57050577e-02 -2.72768608e-04 9.99876631e-01 8.14945499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:94.89, Z:8.15 [[ 7.59940846e-01 6.49889511e-01 -1.15557043e-02 2.00822062e+02] [-6.49809081e-01 7.60028654e-01 1.02275850e-02 9.48851272e+01] [ 1.54294666e-02 -2.63358044e-04 9.99880924e-01 8.15054120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.91275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.84, Y:94.87, Z:8.15 [[ 7.59456802e-01 6.50457291e-01 -1.14314227e-02 2.00842462e+02] [-6.50378649e-01 7.59542790e-01 1.01174262e-02 9.48655677e+01] [ 1.52636083e-02 -2.48994920e-04 9.99883473e-01 8.15065699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94275509600004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:94.85, Z:8.15 [[ 7.58944512e-01 6.51054901e-01 -1.14342621e-02 2.00869899e+02] [-6.50976290e-01 7.59030605e-01 1.01198057e-02 9.48469417e+01] [ 1.52675040e-02 -2.36937422e-04 9.99883417e-01 8.15150157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.97275509600007 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:94.83, Z:8.15 [[ 7.57564056e-01 6.52664414e-01 -1.12189379e-02 2.00893490e+02] [-6.52588830e-01 7.57647096e-01 9.93469320e-03 9.48295132e+01] [ 1.49840164e-02 -2.04812919e-04 9.99887712e-01 8.15256978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:94.81, Z:8.15 [[ 7.56309698e-01 6.54130367e-01 -1.04453221e-02 2.00915857e+02] [-6.54064993e-01 7.56381806e-01 9.24921111e-03 9.48127462e+01] [ 1.39508414e-02 -1.63348533e-04 9.99902669e-01 8.15398618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:94.79, Z:8.15 [[ 7.55784125e-01 6.54737716e-01 -1.04345366e-02 2.00938701e+02] [-6.54672560e-01 7.55856138e-01 9.23787451e-03 9.47947964e+01] [ 1.39353934e-02 -1.50634137e-04 9.99902886e-01 8.15499637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.96, Y:94.78, Z:8.16 [[ 7.55396833e-01 6.55189379e-01 -1.01243890e-02 2.00961236e+02] [-6.55128098e-01 7.55464665e-01 8.96194742e-03 9.47769646e+01] [ 1.35203909e-02 -1.37055015e-04 9.99908586e-01 8.15570764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:94.76, Z:8.16 [[ 7.54625226e-01 6.56082111e-01 -9.85044218e-03 2.00984093e+02] [-6.56024195e-01 7.54689506e-01 8.71811074e-03 9.47595699e+01] [ 1.31538218e-02 -1.16777891e-04 9.99913478e-01 8.15667657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.01, Y:94.74, Z:8.16 [[ 7.54498893e-01 6.56226927e-01 -9.88140151e-03 2.01006619e+02] [-6.56168677e-01 7.54563588e-01 8.74412584e-03 9.47404771e+01] [ 1.31942766e-02 -1.13567107e-04 9.99912945e-01 8.15740235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:94.72, Z:8.16 [[ 7.54803721e-01 6.55893264e-01 -8.68158447e-03 2.01028282e+02] [-6.55848284e-01 7.54853639e-01 7.68194948e-03 9.47213945e+01] [ 1.15918645e-02 -1.04561771e-04 9.99932807e-01 8.15880133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:94.70, Z:8.16 [[ 7.54908205e-01 6.55775462e-01 -8.49386065e-03 2.01048992e+02] [-6.55732412e-01 7.54955981e-01 7.51471728e-03 9.47028137e+01] [ 1.13404581e-02 -1.03222003e-04 9.99935690e-01 8.15962206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.07, Y:94.68, Z:8.16 [[ 7.55111496e-01 6.55548265e-01 -7.94363616e-03 2.01070010e+02] [-6.55510613e-01 7.55153271e-01 7.02657206e-03 9.46837277e+01] [ 1.06049200e-02 -9.87075294e-05 9.99943761e-01 8.16059287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.09, Y:94.67, Z:8.16 [[ 7.55711204e-01 6.54863509e-01 -7.37293847e-03 2.01090781e+02] [-6.54831050e-01 7.55747163e-01 6.52091895e-03 9.46652366e+01] [ 9.84238920e-03 -9.99024756e-05 9.99951558e-01 8.16176512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:94.65, Z:8.16 [[ 7.55840718e-01 6.54713874e-01 -7.38596083e-03 2.01111932e+02] [-6.54681305e-01 7.55876797e-01 6.53123878e-03 9.46469813e+01] [ 9.85896906e-03 -1.01125730e-04 9.99951394e-01 8.16236578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:94.63, Z:8.16 [[ 7.56426149e-01 6.54035989e-01 -7.51042533e-03 2.01134002e+02] [-6.54002296e-01 7.56463425e-01 6.63957416e-03 9.46283382e+01] [ 1.00238825e-02 -1.10512108e-04 9.99949754e-01 8.16237746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.15, Y:94.61, Z:8.16 [[ 7.56705562e-01 6.53711851e-01 -7.58337954e-03 2.01154657e+02] [-6.53677494e-01 7.56743551e-01 6.70309411e-03 9.46093502e+01] [ 1.01205656e-02 -1.15184066e-04 9.99948779e-01 8.16258614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.18, Y:94.59, Z:8.16 [[ 7.57153870e-01 6.53187425e-01 -8.01279258e-03 2.01176032e+02] [-6.53149054e-01 7.57196257e-01 7.08114560e-03 9.45898915e+01] [ 1.06925718e-02 -1.27968901e-04 9.99942825e-01 8.16287810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:94.57, Z:8.16 [[ 7.58422280e-01 6.51704871e-01 -8.74113294e-03 2.01196575e+02] [-6.51659123e-01 7.58472633e-01 7.72349081e-03 9.45690955e+01] [ 1.16633467e-02 -1.61428482e-04 9.99931968e-01 8.16256083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.22, Y:94.55, Z:8.16 [[ 7.59000118e-01 6.51028049e-01 -9.01665681e-03 2.01217086e+02] [-6.50979338e-01 7.59053653e-01 7.96577693e-03 9.45496689e+01] [ 1.20300705e-02 -1.76368358e-04 9.99927621e-01 8.16269061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:94.53, Z:8.16 [[ 7.60292227e-01 6.49509758e-01 -9.63345277e-03 2.01236359e+02] [-6.49454065e-01 7.60353227e-01 8.50812401e-03 9.45297151e+01] [ 1.28509365e-02 -2.12175486e-04 9.99917401e-01 8.16307041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:94.51, Z:8.16 [[ 7.61034960e-01 6.48637323e-01 -9.76795130e-03 2.01257498e+02] [-6.48580013e-01 7.61097609e-01 8.62527605e-03 9.45103041e+01] [ 1.30290404e-02 -2.28838627e-04 9.99915092e-01 8.16358814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:94.49, Z:8.16 [[ 7.62144105e-01 6.47325680e-01 -1.02872039e-02 2.01277394e+02] [-6.47262016e-01 7.62213483e-01 9.08234477e-03 9.44914197e+01] [ 1.37202806e-02 -2.63539170e-04 9.99905838e-01 8.16410994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.30, Y:94.47, Z:8.16 [[ 7.62591902e-01 6.46795725e-01 -1.04346278e-02 2.01299056e+02] [-6.46730201e-01 7.62663238e-01 9.21047904e-03 9.44719304e+01] [ 1.39154055e-02 -2.75447806e-04 9.99903138e-01 8.16430829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:94.45, Z:8.17 [[ 7.63567100e-01 6.45638468e-01 -1.07820100e-02 2.01319185e+02] [-6.45568414e-01 7.63643160e-01 9.51565071e-03 9.44527309e+01] [ 1.43772783e-02 -3.05312747e-04 9.99896595e-01 8.16525293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.34, Y:94.43, Z:8.17 [[ 7.64106438e-01 6.44997031e-01 -1.09627498e-02 2.01340853e+02] [-6.44924572e-01 7.64185009e-01 9.67308253e-03 9.44332338e+01] [ 1.46166785e-02 -3.21117920e-04 9.99893119e-01 8.16566891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:94.42, Z:8.17 [[ 7.64433329e-01 6.44612392e-01 -1.07958239e-02 2.01366570e+02] [-6.44542147e-01 7.64509491e-01 9.52154399e-03 9.44156424e+01] [ 1.43912151e-02 -3.20222030e-04 9.99896390e-01 8.16650985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.39, Y:94.40, Z:8.17 [[ 7.64630690e-01 6.44366579e-01 -1.14725333e-02 2.01389118e+02] [-6.44287214e-01 7.64716674e-01 1.01190009e-02 9.43963389e+01] [ 1.52935835e-02 -3.45692086e-04 9.99882987e-01 8.16689388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:94.38, Z:8.17 [[ 7.64415571e-01 6.44619668e-01 -1.15895994e-02 2.01414595e+02] [-6.44538699e-01 7.64503345e-01 1.02225431e-02 9.43760515e+01] [ 1.54499399e-02 -3.44325841e-04 9.99880583e-01 8.16691618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:94.36, Z:8.17 [[ 7.63638549e-01 6.45527068e-01 -1.22870827e-02 2.01438540e+02] [-6.45436059e-01 7.63737312e-01 1.08449076e-02 9.43566841e+01] [ 1.63847850e-02 -3.51063264e-04 9.99865699e-01 8.16693012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:94.34, Z:8.17 [[ 7.63457930e-01 6.45740281e-01 -1.23076919e-02 2.01461995e+02] [-6.45648918e-01 7.63557049e-01 1.08677719e-02 9.43369071e+01] [ 1.64153830e-02 -3.50638675e-04 9.99865197e-01 8.16713784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.49, Y:94.32, Z:8.17 [[ 7.63176683e-01 6.46069201e-01 -1.24875453e-02 2.01485570e+02] [-6.45975185e-01 7.63278761e-01 1.10269377e-02 9.43171824e+01] [ 1.66556429e-02 -3.48857308e-04 9.99861224e-01 8.16729275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:94.30, Z:8.17 [[ 7.62831950e-01 6.46476903e-01 -1.24511246e-02 2.01509164e+02] [-6.46383493e-01 7.62933483e-01 1.09945956e-02 9.42987059e+01] [ 1.66071319e-02 -3.38827385e-04 9.99862035e-01 8.16795983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:94.28, Z:8.17 [[ 7.62963865e-01 6.46316511e-01 -1.26928104e-02 2.01529942e+02] [-6.46219434e-01 7.63069359e-01 1.12070036e-02 9.42784976e+01] [ 1.69287661e-02 -3.48198005e-04 9.99856638e-01 8.16814708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.55, Y:94.26, Z:8.17 [[ 7.63309123e-01 6.45911745e-01 -1.25379417e-02 2.01552403e+02] [-6.45816992e-01 7.63412008e-01 1.10688784e-02 9.42597583e+01] [ 1.67211338e-02 -3.51760084e-04 9.99860130e-01 8.16877142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:94.24, Z:8.17 [[ 7.63976608e-01 6.45121925e-01 -1.25476935e-02 2.01576176e+02] [-6.45026918e-01 7.64079554e-01 1.10774634e-02 9.42388116e+01] [ 1.67337506e-02 -3.69322893e-04 9.99859913e-01 8.16977613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:94.22, Z:8.17 [[ 7.64635223e-01 6.44343953e-01 -1.24034386e-02 2.01597894e+02] [-6.44250935e-01 7.64735720e-01 1.09549766e-02 9.42183253e+01] [ 1.65441255e-02 -3.85634029e-04 9.99863062e-01 8.17063434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:94.20, Z:8.17 [[ 7.65645155e-01 6.43146929e-01 -1.22280359e-02 2.01620595e+02] [-6.43056367e-01 7.65742688e-01 1.08002222e-02 9.41965156e+01] [ 1.63096588e-02 -4.05821463e-04 9.99866906e-01 8.17155894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.64, Y:94.18, Z:8.17 [[ 7.65926771e-01 6.42810253e-01 -1.22947325e-02 2.01642652e+02] [-6.42718646e-01 7.66025330e-01 1.08598296e-02 9.41760479e+01] [ 1.63988863e-02 -4.15780425e-04 9.99865443e-01 8.17268165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters Centerline goodness [0,1] 0.9999140948822026 Centerline is valid? [True, True] Translation: X:201.67, Y:94.15, Z:8.17 [[ 7.66085410e-01 6.42622610e-01 -1.22199192e-02 2.01665634e+02] [-6.42532072e-01 7.66182750e-01 1.07949011e-02 9.41539388e+01] [ 1.62997388e-02 -4.18126253e-04 9.99867063e-01 8.17130344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.69, Y:94.13, Z:8.17 [[ 7.65618304e-01 6.43178260e-01 -1.22612432e-02 2.01690520e+02] [-6.43087081e-01 7.65716368e-01 1.08374825e-02 9.41336192e+01] [ 1.63590677e-02 -4.12327856e-04 9.99866096e-01 8.17446084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.71, Y:94.11, Z:8.17 [[ 7.64935506e-01 6.43991886e-01 -1.21706001e-02 2.01714190e+02] [-6.43902070e-01 7.65032218e-01 1.07624088e-02 9.41131406e+01] [ 1.62418051e-02 -3.95873977e-04 9.99868015e-01 8.17472700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.74, Y:94.09, Z:8.17 [[ 7.63002184e-01 6.46269242e-01 -1.27958313e-02 2.01740745e+02] [-6.46170242e-01 7.63109384e-01 1.13175153e-02 9.40943150e+01] [ 1.70787810e-02 -3.67003550e-04 9.99854080e-01 8.17489326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.76, Y:94.07, Z:8.17 [[ 7.61636712e-01 6.47868069e-01 -1.32847177e-02 2.01763923e+02] [-6.47761481e-01 7.61752482e-01 1.17567259e-02 9.40739296e+01] [ 1.77364740e-02 -3.49025702e-04 9.99842635e-01 8.17468755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.79, Y:94.06, Z:8.17 [[ 7.59690460e-01 6.50139917e-01 -1.37292847e-02 2.01786291e+02] [-6.50026370e-01 7.59814446e-01 1.21542610e-02 9.40566462e+01] [ 1.83336791e-02 -3.09079012e-04 9.99831876e-01 8.17493258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:94.04, Z:8.18 [[ 7.58832589e-01 6.51136599e-01 -1.39366472e-02 2.01808263e+02] [-6.51019806e-01 7.58960504e-01 1.23355399e-02 9.40386060e+01] [ 1.86094863e-02 -2.87576272e-04 9.99826787e-01 8.17547863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.83, Y:94.02, Z:8.17 [[ 7.57510249e-01 6.52659111e-01 -1.46392678e-02 2.01830307e+02] [-6.52530568e-01 7.57651646e-01 1.29553240e-02 9.40205937e+01] [ 1.95468755e-02 -2.61220967e-04 9.99808907e-01 8.17494977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.85, Y:94.00, Z:8.17 [[ 7.57074410e-01 6.53159856e-01 -1.48505957e-02 2.01850973e+02] [-6.53027716e-01 7.57220008e-01 1.31400795e-02 9.40017949e+01] [ 1.98277407e-02 -2.50167364e-04 9.99803380e-01 8.17491430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.87, Y:93.98, Z:8.18 [[ 7.56543656e-01 6.53758950e-01 -1.55219830e-02 2.01872349e+02] [-6.53614770e-01 7.56702832e-01 1.37315865e-02 9.39823631e+01] [ 2.07226761e-02 -2.43147280e-04 9.99785233e-01 8.17516842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:93.96, Z:8.18 [[ 7.56486404e-01 6.53822327e-01 -1.56424238e-02 2.01893006e+02] [-6.53675967e-01 7.56648073e-01 1.38356147e-02 9.39637292e+01] [ 2.08818436e-02 -2.41377969e-04 9.99781921e-01 8.17599671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:93.94, Z:8.18 [[ 7.56644409e-01 6.53637164e-01 -1.57383502e-02 2.01914464e+02] [-6.53489023e-01 7.56808032e-01 1.39176006e-02 9.39447314e+01] [ 2.10079708e-02 -2.45835594e-04 9.99779278e-01 8.17717116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:93.92, Z:8.18 [[ 7.56834203e-01 6.53419120e-01 -1.56665950e-02 2.01935911e+02] [-6.53272327e-01 7.56996295e-01 1.38519389e-02 9.39248955e+01] [ 2.09106761e-02 -2.49068150e-04 9.99781317e-01 8.17771527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.96, Y:93.90, Z:8.18 [[ 7.57596612e-01 6.52534038e-01 -1.57067864e-02 2.01955329e+02] [-6.52386350e-01 7.57759365e-01 1.38850498e-02 9.39043418e+01] [ 2.09624321e-02 -2.72373643e-04 9.99780227e-01 8.17785172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.98, Y:93.88, Z:8.18 [[ 7.58717775e-01 6.51245316e-01 -1.50623914e-02 2.01975329e+02] [-6.51109286e-01 7.58867216e-01 1.33133675e-02 9.38823131e+01] [ 2.01006233e-02 -2.93825686e-04 9.99797919e-01 8.17924880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.00, Y:93.86, Z:8.18 [[ 7.59567105e-01 6.50254747e-01 -1.50525022e-02 2.01997251e+02] [-6.50118707e-01 7.59716172e-01 1.33042967e-02 9.38598176e+01] [ 2.00868114e-02 -3.19592860e-04 9.99798189e-01 8.18040271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.02, Y:93.84, Z:8.18 [[ 7.60352502e-01 6.49347176e-01 -1.45711665e-02 2.02017422e+02] [-6.49219522e-01 7.60492035e-01 1.28793768e-02 9.38375145e+01] [ 1.94444431e-02 -3.32980611e-04 9.99810884e-01 8.18076784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.04, Y:93.82, Z:8.18 [[ 7.61625370e-01 6.47868426e-01 -1.39032155e-02 2.02037289e+02] [-6.47751973e-01 7.61752176e-01 1.22883671e-02 9.38158734e+01] [ 1.85520497e-02 -3.53296882e-04 9.99827834e-01 8.18267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:93.79, Z:8.18 [[ 7.62032689e-01 6.47389329e-01 -1.39009484e-02 2.02060447e+02] [-6.47272811e-01 7.62159381e-01 1.22876552e-02 9.37935366e+01] [ 1.85496351e-02 -3.65889007e-04 9.99827874e-01 8.18345433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.08, Y:93.77, Z:8.18 [[ 7.61828175e-01 6.47630060e-01 -1.38974139e-02 2.02084634e+02] [-6.47513508e-01 7.61954836e-01 1.22916517e-02 9.37719317e+01] [ 1.85496449e-02 -3.65363369e-04 9.99827874e-01 8.18388301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.11, Y:93.75, Z:8.18 [[ 7.62516979e-01 6.46830342e-01 -1.33553440e-02 2.02105444e+02] [-6.46722460e-01 7.62633836e-01 1.18191368e-02 9.37486797e+01] [ 1.78302136e-02 -3.75091566e-04 9.99840959e-01 8.18496879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.13, Y:93.73, Z:8.19 [[ 7.62757382e-01 6.46552216e-01 -1.30922939e-02 2.02127365e+02] [-6.46448424e-01 7.62869642e-01 1.15907304e-02 9.37270648e+01] [ 1.74817259e-02 -3.77422427e-04 9.99847112e-01 8.18572884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:93.70, Z:8.19 [[ 7.62845235e-01 6.46449430e-01 -1.30492131e-02 2.02148327e+02] [-6.46346305e-01 7.62956743e-01 1.15525906e-02 9.37044231e+01] [ 1.74241507e-02 -3.78528002e-04 9.99848116e-01 8.18680467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:93.68, Z:8.19 [[ 7.62291622e-01 6.47099053e-01 -1.32022247e-02 2.02171885e+02] [-6.46993565e-01 7.62405849e-01 1.16896656e-02 9.36833063e+01] [ 1.76298249e-02 -3.69179703e-04 9.99844514e-01 8.18690164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.19, Y:93.66, Z:8.19 [[ 7.61098165e-01 6.48487458e-01 -1.39140282e-02 2.02194230e+02] [-6.48370424e-01 7.61225254e-01 1.23249769e-02 9.36618364e+01] [ 1.85843026e-02 -3.59072949e-04 9.99827232e-01 8.18618785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:93.64, Z:8.19 [[ 7.60039653e-01 6.49718087e-01 -1.43573568e-02 2.02214712e+02] [-6.49593709e-01 7.60175172e-01 1.27169609e-02 9.36435107e+01] [ 1.91765457e-02 -3.38945934e-04 9.99816056e-01 8.18625661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:93.63, Z:8.19 [[ 7.58880126e-01 6.51068294e-01 -1.45269103e-02 2.02236443e+02] [-6.50941253e-01 7.59019092e-01 1.28647937e-02 9.36250538e+01] [ 1.94020615e-02 -3.06671121e-04 9.99811715e-01 8.18676300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:93.61, Z:8.19 [[ 7.56059246e-01 6.54343163e-01 -1.44721013e-02 2.02260230e+02] [-6.54217705e-01 7.56197710e-01 1.28147511e-02 9.36065123e+01] [ 1.93290146e-02 -2.20806099e-04 9.99813153e-01 8.18652951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.28, Y:93.59, Z:8.19 [[ 7.54719659e-01 6.55884451e-01 -1.46226852e-02 2.02281355e+02] [-6.55756677e-01 7.54861281e-01 1.29470961e-02 9.35875739e+01] [ 1.95298979e-02 -1.82504527e-04 9.99809257e-01 8.18636818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.30, Y:93.57, Z:8.19 [[ 7.53630326e-01 6.57137457e-01 -1.45497396e-02 2.02303214e+02] [-6.57011226e-01 7.53770748e-01 1.28805479e-02 9.35681096e+01] [ 1.94314586e-02 -1.47829287e-04 9.99811180e-01 8.18656780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:93.55, Z:8.19 [[ 7.52591225e-01 6.58328140e-01 -1.45089202e-02 2.02323859e+02] [-6.58202874e-01 7.52731059e-01 1.28424724e-02 9.35477003e+01] [ 1.93758759e-02 -1.15319022e-04 9.99812263e-01 8.18799657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:93.53, Z:8.19 [[ 7.52690543e-01 6.58210911e-01 -1.46745476e-02 2.02343333e+02] [-6.58082792e-01 7.52833569e-01 1.29867693e-02 9.35280644e+01] [ 1.95955253e-02 -1.17951192e-04 9.99807982e-01 8.18837642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:93.50, Z:8.19 [[ 7.53361073e-01 6.57463877e-01 -1.37238705e-02 2.02365296e+02] [-6.57351691e-01 7.53486054e-01 1.21457989e-02 9.35027843e+01] [ 1.83261690e-02 -1.28762587e-04 9.99832053e-01 8.19046712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.39, Y:93.48, Z:8.19 [[ 7.53902474e-01 6.56857652e-01 -1.30032821e-02 2.02388199e+02] [-6.56756726e-01 7.54014592e-01 1.15150700e-02 9.34791081e+01] [ 1.73684263e-02 -1.41246800e-04 9.99849148e-01 8.19154533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:93.45, Z:8.19 [[ 7.55648899e-01 6.54872271e-01 -1.17068708e-02 2.02407945e+02] [-6.54790138e-01 7.55739558e-01 1.03728432e-02 9.34544514e+01] [ 1.56402327e-02 -1.72683934e-04 9.99877669e-01 8.19358095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:93.43, Z:8.19 [[ 7.56348827e-01 6.54070040e-01 -1.13505577e-02 2.02431025e+02] [-6.53992664e-01 7.56433968e-01 1.00621964e-02 9.34319403e+01] [ 1.51673286e-02 -1.87348994e-04 9.99884952e-01 8.19473795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.45, Y:93.41, Z:8.20 [[ 7.56839472e-01 6.53506827e-01 -1.10833543e-02 2.02452498e+02] [-6.53432914e-01 7.56920595e-01 9.83052010e-03 9.34095127e+01] [ 1.48135311e-02 -1.97897125e-04 9.99890254e-01 8.19526845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:93.39, Z:8.20 [[ 7.57769391e-01 6.52427269e-01 -1.11449120e-02 2.02472658e+02] [-6.52352367e-01 7.57851311e-01 9.88836950e-03 9.33861025e+01] [ 1.48976281e-02 -2.22694025e-04 9.99888999e-01 8.19510035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:93.37, Z:8.20 [[ 7.56942967e-01 6.53392999e-01 -1.07207217e-02 2.02495803e+02] [-6.53323729e-01 7.57018857e-01 9.51609315e-03 9.33650366e+01] [ 1.43335371e-02 -1.99037939e-04 9.99897250e-01 8.19598221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:93.35, Z:8.20 [[ 7.54516200e-01 6.56193481e-01 -1.07433388e-02 2.02522589e+02] [-6.56124131e-01 7.54592667e-01 9.54106146e-03 9.33471020e+01] [ 1.43676270e-02 -1.49921578e-04 9.99896769e-01 8.19622281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.55, Y:93.33, Z:8.20 [[ 7.53433011e-01 6.57435125e-01 -1.08515006e-02 2.02548221e+02] [-6.57364422e-01 7.53511141e-01 9.64243751e-03 9.33277221e+01] [ 1.45160037e-02 -1.31540313e-04 9.99894629e-01 8.19617631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:93.31, Z:8.20 [[ 7.52463157e-01 6.58540554e-01 -1.11146964e-02 2.02571888e+02] [-6.58466416e-01 7.52545232e-01 9.88198089e-03 9.33078048e+01] [ 1.48719969e-02 -1.17172253e-04 9.99889399e-01 8.19556265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:93.29, Z:8.19 [[ 7.51811845e-01 6.59277214e-01 -1.15110874e-02 2.02597776e+02] [-6.59197693e-01 7.51899955e-01 1.02400644e-02 9.32875135e+01] [ 1.54062273e-02 -1.10519483e-04 9.99881311e-01 8.19492027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:93.27, Z:8.19 [[ 7.51859670e-01 6.59212207e-01 -1.20955414e-02 2.02622408e+02] [-6.59124284e-01 7.51956947e-01 1.07669948e-02 9.32658052e+01] [ 1.61930608e-02 -1.22804152e-04 9.99868876e-01 8.19466478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:93.24, Z:8.19 [[ 7.52927873e-01 6.57994122e-01 -1.19730234e-02 2.02645330e+02] [-6.57907712e-01 7.53023049e-01 1.06644643e-02 9.32439768e+01] [ 1.60331174e-02 -1.52428030e-04 9.99871450e-01 8.19445336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.67, Y:93.22, Z:8.19 [[ 7.53546907e-01 6.57281798e-01 -1.21530493e-02 2.02668650e+02] [-6.57192582e-01 7.53644882e-01 1.08306367e-02 9.32226042e+01] [ 1.62778638e-02 -1.74498954e-04 9.99867492e-01 8.19444379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.69, Y:93.20, Z:8.19 [[ 7.54375715e-01 6.56334531e-01 -1.19274404e-02 2.02691228e+02] [-6.56248382e-01 7.54469976e-01 1.06356202e-02 9.32014067e+01] [ 1.59794205e-02 -1.95890097e-04 9.99872302e-01 8.19460747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:93.18, Z:8.19 [[ 7.56295975e-01 6.54127703e-01 -1.15475833e-02 2.02714528e+02] [-6.54046616e-01 7.56384090e-01 1.03020629e-02 9.31795948e+01] [ 1.54732730e-02 -2.38750900e-04 9.99880253e-01 8.19467684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.74, Y:93.16, Z:8.19 [[ 7.57243372e-01 6.53033084e-01 -1.14134480e-02 2.02736323e+02] [-6.52953661e-01 7.57329336e-01 1.01879409e-02 9.31568160e+01] [ 1.52968014e-02 -2.62298051e-04 9.99882963e-01 8.19446655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:93.14, Z:8.19 [[ 7.59126515e-01 6.50836960e-01 -1.17551955e-02 2.02760203e+02] [-6.50752359e-01 7.59217458e-01 1.04985316e-02 9.31356945e+01] [ 1.57575821e-02 -3.19992533e-04 9.99875790e-01 8.19455955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:93.12, Z:8.19 [[ 7.59790700e-01 6.50058969e-01 -1.18923728e-02 2.02785139e+02] [-6.49972194e-01 7.59883687e-01 1.06267894e-02 9.31153613e+01] [ 1.59448599e-02 -3.44424102e-04 9.99872813e-01 8.19488489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.81, Y:93.09, Z:8.19 [[ 7.60758861e-01 6.48927833e-01 -1.17738536e-02 2.02807782e+02] [-6.48842552e-01 7.60849875e-01 1.05266640e-02 9.30939643e+01] [ 1.57891803e-02 -3.68875670e-04 9.99875275e-01 8.19471894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:93.07, Z:8.19 [[ 7.61378938e-01 6.48192388e-01 -1.21958993e-02 2.02829127e+02] [-6.48100695e-01 7.61476504e-01 1.09097869e-02 9.30711784e+01] [ 1.63585316e-02 -4.02311129e-04 9.99866109e-01 8.19440831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:93.05, Z:8.19 [[ 7.62494990e-01 6.46873974e-01 -1.24680408e-02 2.02852683e+02] [-6.46777868e-01 7.62596790e-01 1.11590750e-02 9.30497366e+01] [ 1.67266031e-02 -4.44685969e-04 9.99860002e-01 8.19441535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:93.03, Z:8.19 [[ 7.62846682e-01 6.46466007e-01 -1.21095788e-02 2.02876249e+02] [-6.46375205e-01 7.62942661e-01 1.08438652e-02 9.30284209e+01] [ 1.62491045e-02 -4.44875059e-04 9.99867876e-01 8.19498294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:93.01, Z:8.20 [[ 7.63099671e-01 6.46160185e-01 -1.24862454e-02 2.02899595e+02] [-6.46063506e-01 7.63201673e-01 1.11871739e-02 9.30072957e+01] [ 1.67582297e-02 -4.70021241e-04 9.99859461e-01 8.19524924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:92.99, Z:8.20 [[ 7.63053595e-01 6.46210395e-01 -1.27018203e-02 2.02924857e+02] [-6.46110253e-01 7.63159154e-01 1.13862996e-02 9.29867814e+01] [ 1.70514556e-02 -4.81580552e-04 9.99854497e-01 8.19508226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:92.97, Z:8.20 [[ 7.62793370e-01 6.46519147e-01 -1.26201019e-02 2.02947972e+02] [-6.46420220e-01 7.62897611e-01 1.13196211e-02 9.29663311e+01] [ 1.69461974e-02 -4.76642873e-04 9.99856289e-01 8.19522075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:92.95, Z:8.20 [[ 7.62076192e-01 6.47369425e-01 -1.23574005e-02 2.02972945e+02] [-6.47274595e-01 7.62176242e-01 1.10894412e-02 9.29459839e+01] [ 1.65974822e-02 -4.52367770e-04 9.99862150e-01 8.19622269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:92.93, Z:8.20 [[ 7.61345617e-01 6.48231440e-01 -1.22004822e-02 2.02995040e+02] [-6.48139031e-01 7.61443244e-01 1.09536801e-02 9.29256651e+01] [ 1.63904946e-02 -4.31927644e-04 9.99865574e-01 8.19705180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:92.91, Z:8.20 [[ 7.59818211e-01 6.50023393e-01 -1.20778617e-02 2.03016526e+02] [-6.49933036e-01 7.59914098e-01 1.08449104e-02 9.29077738e+01] [ 1.62275828e-02 -3.90359034e-04 9.99868248e-01 8.19751851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:92.89, Z:8.20 [[ 7.58921352e-01 6.51075334e-01 -1.18021800e-02 2.03041703e+02] [-6.50989192e-01 7.59013031e-01 1.05967407e-02 9.28881737e+01] [ 1.58572849e-02 -3.59001168e-04 9.99874201e-01 8.19858378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:92.87, Z:8.20 [[ 7.57858333e-01 6.52313627e-01 -1.17337174e-02 2.03064109e+02] [-6.52228542e-01 7.57949088e-01 1.05408474e-02 9.28662738e+01] [ 1.57694988e-02 -3.35403627e-04 9.99875597e-01 8.19901050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:92.85, Z:8.20 [[ 7.56393678e-01 6.54015880e-01 -1.14818254e-02 2.03086752e+02] [-6.53934542e-01 7.56480760e-01 1.03186199e-02 9.28484487e+01] [ 1.54343213e-02 -2.96576651e-04 9.99880840e-01 8.20004982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:92.83, Z:8.20 [[ 7.55876699e-01 6.54616629e-01 -1.12909320e-02 2.03108361e+02] [-6.54538063e-01 7.55960972e-01 1.01455725e-02 9.28296857e+01] [ 1.51769644e-02 -2.78457122e-04 9.99884784e-01 8.20049891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.13, Y:92.81, Z:8.20 [[ 7.54314873e-01 6.56413943e-01 -1.13932836e-02 2.03133703e+02] [-6.56334159e-01 7.54400872e-01 1.02370022e-02 9.28095009e+01] [ 1.53148141e-02 -2.44121865e-04 9.99882692e-01 8.20107407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:92.79, Z:8.20 [[ 7.53329156e-01 6.57538858e-01 -1.17402238e-02 2.03155972e+02] [-6.57454183e-01 7.53420597e-01 1.05547143e-02 9.27870568e+01] [ 1.57854612e-02 -2.32514777e-04 9.99875375e-01 8.20127341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:92.77, Z:8.20 [[ 7.52454326e-01 6.58537473e-01 -1.18694257e-02 2.03178527e+02] [-6.58450974e-01 7.52547905e-01 1.06754835e-02 9.27686624e+01] [ 1.59625174e-02 -2.17378815e-04 9.99872567e-01 8.20185015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:92.75, Z:8.20 [[ 7.51099443e-01 6.60075307e-01 -1.22562569e-02 2.03200204e+02] [-6.59983311e-01 7.51199410e-01 1.10216398e-02 9.27512259e+01] [ 1.64820052e-02 -1.89422464e-04 9.99864145e-01 8.20153402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:92.73, Z:8.20 [[ 7.50667701e-01 6.60563605e-01 -1.23986461e-02 2.03222269e+02] [-6.60469558e-01 7.50770066e-01 1.11476980e-02 9.27323207e+01] [ 1.66722959e-02 -1.79288514e-04 9.99860992e-01 8.20187316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:92.71, Z:8.20 [[ 7.49959728e-01 6.61358351e-01 -1.28661353e-02 2.03245271e+02] [-6.61257225e-01 7.50070066e-01 1.15662860e-02 9.27141686e+01] [ 1.72999628e-02 -1.66423815e-04 9.99850331e-01 8.20140722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.27, Y:92.70, Z:8.20 [[ 7.49820021e-01 6.61504740e-01 -1.34690794e-02 2.03269124e+02] [-6.61393960e-01 7.49940965e-01 1.21069571e-02 9.26951980e+01] [ 1.81098239e-02 -1.69671067e-04 9.99835989e-01 8.20146638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:92.68, Z:8.20 [[ 7.49873447e-01 6.61434736e-01 -1.39249633e-02 2.03290597e+02] [-6.61316324e-01 7.50002706e-01 1.25164134e-02 9.26757305e+01] [ 1.87225508e-02 -1.76920486e-04 9.99824702e-01 8.20093528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.31, Y:92.66, Z:8.20 [[ 7.50375067e-01 6.60851833e-01 -1.45641116e-02 2.03314595e+02] [-6.60722200e-01 7.50516366e-01 1.30904391e-02 9.26550943e+01] [ 1.95814448e-02 -1.99907224e-04 9.99808245e-01 8.20063656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:92.63, Z:8.20 [[ 7.50968129e-01 6.60174403e-01 -1.47182252e-02 2.03336871e+02] [-6.60041875e-01 7.51112315e-01 1.32293146e-02 9.26347699e+01] [ 1.97886951e-02 -2.20148645e-04 9.99804160e-01 8.20061671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:92.61, Z:8.20 [[ 7.51419295e-01 6.59652306e-01 -1.50956553e-02 2.03360686e+02] [-6.59512748e-01 7.51570873e-01 1.35704883e-02 9.26129786e+01] [ 2.02972588e-02 -2.41349620e-04 9.99793960e-01 8.20072695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:92.59, Z:8.20 [[ 7.52217423e-01 6.58732118e-01 -1.55224159e-02 2.03382786e+02] [-6.58584237e-01 7.52377511e-01 1.39600380e-02 9.25916922e+01] [ 2.08746420e-02 -2.78165402e-04 9.99782062e-01 8.20085014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:92.57, Z:8.20 [[ 7.52493412e-01 6.58415355e-01 -1.55847683e-02 2.03407518e+02] [-6.58266114e-01 7.52654725e-01 1.40209684e-02 9.25694635e+01] [ 2.09615704e-02 -2.91761434e-04 9.99780240e-01 8.20142491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.43, Y:92.55, Z:8.20 [[ 7.52805965e-01 6.58054620e-01 -1.57256687e-02 2.03431726e+02] [-6.57902397e-01 7.52970132e-01 1.41568188e-02 9.25470554e+01] [ 2.11569189e-02 -3.11382508e-04 9.99776119e-01 8.20171957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:92.52, Z:8.20 [[ 7.52908614e-01 6.57941456e-01 -1.55453771e-02 2.03455918e+02] [-6.57792494e-01 7.53069014e-01 1.40033962e-02 9.25245997e+01] [ 2.09201567e-02 -3.17645309e-04 9.99781099e-01 8.20244565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:92.50, Z:8.20 [[ 7.52828920e-01 6.58030615e-01 -1.56309680e-02 2.03480161e+02] [-6.57879837e-01 7.52991106e-01 1.40895407e-02 9.25029483e+01] [ 2.10413290e-02 -3.23715077e-04 9.99778554e-01 8.20289375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:92.48, Z:8.20 [[ 7.53165337e-01 6.57653218e-01 -1.53042275e-02 2.03504279e+02] [-6.57508420e-01 7.53320737e-01 1.38038059e-02 9.24803700e+01] [ 2.06071093e-02 -3.33889658e-04 9.99787595e-01 8.20413265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:92.46, Z:8.20 [[ 7.52954614e-01 6.57894570e-01 -1.52997995e-02 2.03528243e+02] [-6.57749722e-01 7.53109968e-01 1.38087125e-02 9.24585306e+01] [ 2.06071085e-02 -3.33894933e-04 9.99787595e-01 8.20456145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:92.44, Z:8.20 [[ 7.52924476e-01 6.57928264e-01 -1.53340618e-02 2.03550617e+02] [-6.57782593e-01 7.53080529e-01 1.38483414e-02 9.24359937e+01] [ 2.06589986e-02 -3.40276227e-04 9.99786522e-01 8.20490109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:92.41, Z:8.21 [[ 7.52934444e-01 6.57919765e-01 -1.52087621e-02 2.03575557e+02] [-6.57776291e-01 7.53087953e-01 1.37435796e-02 9.24139430e+01] [ 2.04957082e-02 -3.44051379e-04 9.99789882e-01 8.20632944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:92.39, Z:8.21 [[ 7.52682311e-01 6.58212832e-01 -1.50069107e-02 2.03599521e+02] [-6.58073026e-01 7.52831823e-01 1.35697972e-02 9.23915063e+01] [ 2.02294945e-02 -3.38103168e-04 9.99795306e-01 8.20804717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.62, Y:92.37, Z:8.21 [[ 7.52427656e-01 6.58505348e-01 -1.49441801e-02 2.03624424e+02] [-6.58366591e-01 7.52575972e-01 1.35217368e-02 9.23695159e+01] [ 2.01507668e-02 -3.35379838e-04 9.99796896e-01 8.20904728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.65, Y:92.35, Z:8.21 [[ 7.52310918e-01 6.58638132e-01 -1.49697658e-02 2.03647636e+02] [-6.58498772e-01 7.52459764e-01 1.35525238e-02 9.23478352e+01] [ 2.01903554e-02 -3.38139263e-04 9.99796097e-01 8.20957234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:92.33, Z:8.21 [[ 7.52394932e-01 6.58532532e-01 -1.53873601e-02 2.03671807e+02] [-6.58385122e-01 7.52552176e-01 1.39374784e-02 9.23254665e+01] [ 2.07580743e-02 -3.55679103e-04 9.99784465e-01 8.20987865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:92.30, Z:8.21 [[ 7.52360910e-01 6.58563361e-01 -1.57277089e-02 2.03695599e+02] [-6.58409169e-01 7.52525191e-01 1.42549344e-02 9.23030126e+01] [ 2.12232746e-02 -3.69587659e-04 9.99774693e-01 8.20983384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:92.28, Z:8.21 [[ 7.52920353e-01 6.57922560e-01 -1.57748797e-02 2.03718618e+02] [-6.57767118e-01 7.53085485e-01 1.43062916e-02 9.22803183e+01] [ 2.12922649e-02 -3.95300984e-04 9.99773216e-01 8.21027203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:92.26, Z:8.21 [[ 7.53405509e-01 6.57365631e-01 -1.58292688e-02 2.03740440e+02] [-6.57208837e-01 7.53571664e-01 1.43628614e-02 9.22588293e+01] [ 2.13701398e-02 -4.17923606e-04 9.99771545e-01 8.21066985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:92.24, Z:8.21 [[ 7.53988482e-01 6.56705606e-01 -1.54633967e-02 2.03763137e+02] [-6.56555752e-01 7.54146911e-01 1.40350049e-02 9.22373927e+01] [ 2.08785392e-02 -4.29650007e-04 9.99781927e-01 8.21154182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.79, Y:92.22, Z:8.21 [[ 7.55124772e-01 6.55405213e-01 -1.51850459e-02 2.03785129e+02] [-6.55260430e-01 7.55277298e-01 1.37830382e-02 9.22164802e+01] [ 2.05023955e-02 -4.57753882e-04 9.99789699e-01 8.21226844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.81, Y:92.19, Z:8.21 [[ 7.55305238e-01 6.55202415e-01 -1.49596981e-02 2.03808827e+02] [-6.55061806e-01 7.55453232e-01 1.35810407e-02 9.21947847e+01] [ 2.01996829e-02 -4.58304363e-04 9.99795861e-01 8.21307570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.83, Y:92.17, Z:8.21 [[ 7.55464987e-01 6.55025389e-01 -1.46421729e-02 2.03831793e+02] [-6.54890554e-01 7.55606730e-01 1.32977965e-02 9.21731744e+01] [ 1.97741187e-02 -4.56998922e-04 9.99804369e-01 8.21376395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:92.15, Z:8.21 [[ 7.55494686e-01 6.54978254e-01 -1.52074340e-02 2.03854988e+02] [-6.54832775e-01 7.55647576e-01 1.38122452e-02 9.21520498e+01] [ 2.05381809e-02 -4.76751613e-04 9.99788956e-01 8.21373679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.88, Y:92.13, Z:8.21 [[ 7.55394636e-01 6.55071493e-01 -1.61332772e-02 2.03876759e+02] [-6.54907778e-01 7.55566732e-01 1.46532083e-02 9.21326463e+01] [ 2.17886666e-02 -5.03146232e-04 9.99762472e-01 8.21218674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.90, Y:92.11, Z:8.21 [[ 7.55412265e-01 6.55043427e-01 -1.64444271e-02 2.03898748e+02] [-6.54873372e-01 7.55591058e-01 1.49338672e-02 9.21134960e+01] [ 2.22075936e-02 -5.12209018e-04 9.99753250e-01 8.21189754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:92.09, Z:8.21 [[ 7.55443887e-01 6.55003377e-01 -1.65863996e-02 2.03920808e+02] [-6.54830414e-01 7.55625773e-01 1.50605231e-02 9.20942244e+01] [ 2.23978045e-02 -5.16101247e-04 9.99749005e-01 8.21169869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:92.08, Z:8.21 [[ 7.55158211e-01 6.55333039e-01 -1.65736310e-02 2.03942013e+02] [-6.55160476e-01 7.55339893e-01 1.50464540e-02 9.20758024e+01] [ 2.23791631e-02 -5.04065288e-04 9.99749428e-01 8.21142177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:92.06, Z:8.21 [[ 7.54388566e-01 6.56203150e-01 -1.71847945e-02 2.03963992e+02] [-6.56017932e-01 7.54584112e-01 1.55977938e-02 9.20580628e+01] [ 2.32026943e-02 -4.93263928e-04 9.99730660e-01 8.21099720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:92.04, Z:8.21 [[ 7.54000726e-01 6.56654456e-01 -1.69655345e-02 2.03985524e+02] [-6.56474124e-01 7.54191423e-01 1.53954898e-02 9.20394410e+01] [ 2.29047776e-02 -4.70776102e-04 9.99737540e-01 8.21159120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.01, Y:92.02, Z:8.21 [[ 7.53552288e-01 6.57178524e-01 -1.65933164e-02 2.04007445e+02] [-6.57006194e-01 7.53734829e-01 1.50555546e-02 9.20202322e+01] [ 2.24011476e-02 -4.43235933e-04 9.99748965e-01 8.21292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:92.00, Z:8.21 [[ 7.52532867e-01 6.58352497e-01 -1.63179155e-02 2.04028756e+02] [-6.58186167e-01 7.52709659e-01 1.48033423e-02 9.20028360e+01] [ 2.20284700e-02 -3.99775353e-04 9.99757264e-01 8.21401218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:91.98, Z:8.21 [[ 7.52254122e-01 6.58670468e-01 -1.63386060e-02 2.04050936e+02] [-6.58503893e-01 7.52431435e-01 1.48175237e-02 9.19838316e+01] [ 2.20535460e-02 -3.87507599e-04 9.99756716e-01 8.21406362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:91.97, Z:8.21 [[ 7.51934057e-01 6.59030455e-01 -1.65539782e-02 2.04071860e+02] [-6.58859725e-01 7.52116160e-01 1.50048347e-02 9.19654838e+01] [ 2.23391576e-02 -3.75896679e-04 9.99750379e-01 8.21420791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:91.95, Z:8.22 [[ 7.51424721e-01 6.59615862e-01 -1.63647092e-02 2.04098285e+02] [-6.59449190e-01 7.51602814e-01 1.48316072e-02 9.19464826e+01] [ 2.20829248e-02 -3.53142109e-04 9.99756080e-01 8.21638592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:91.92, Z:8.21 [[ 7.51329500e-01 6.59726782e-01 -1.62651503e-02 2.04118739e+02] [-6.59561985e-01 7.51505454e-01 1.47492696e-02 9.19229055e+01] [ 2.19538373e-02 -3.53686492e-04 9.99758923e-01 8.21482859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:91.91, Z:8.22 [[ 7.51200395e-01 6.59880957e-01 -1.59715115e-02 2.04143388e+02] [-6.59721996e-01 7.51370084e-01 1.44874395e-02 9.19053158e+01] [ 2.15605014e-02 -3.46212854e-04 9.99767485e-01 8.21766489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:91.89, Z:8.22 [[ 7.51110118e-01 6.59992848e-01 -1.55894394e-02 2.04165360e+02] [-6.59841435e-01 7.51271808e-01 1.41404558e-02 9.18852814e+01] [ 2.10445060e-02 -3.34481383e-04 9.99778484e-01 8.21842750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:91.87, Z:8.22 [[ 7.50890036e-01 6.60243633e-01 -1.55723922e-02 2.04186629e+02] [-6.60092636e-01 7.51051422e-01 1.41234826e-02 9.18660888e+01] [ 2.10206068e-02 -3.25960889e-04 9.99778990e-01 8.21920350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:91.85, Z:8.22 [[ 7.50637514e-01 6.60530802e-01 -1.55686540e-02 2.04207997e+02] [-6.60379985e-01 7.50798881e-01 1.41179073e-02 9.18472491e+01] [ 2.10142406e-02 -3.16203322e-04 9.99779126e-01 8.21964266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:91.83, Z:8.22 [[ 7.49893149e-01 6.61375350e-01 -1.55855921e-02 2.04229707e+02] [-6.61224437e-01 7.50055039e-01 1.41308933e-02 9.18293697e+01] [ 2.10358764e-02 -2.91085743e-04 9.99778679e-01 8.22006903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:91.81, Z:8.22 [[ 7.49127511e-01 6.62247412e-01 -1.53732806e-02 2.04251912e+02] [-6.62100817e-01 7.49285191e-01 1.39359540e-02 9.18104904e+01] [ 2.07480210e-02 -2.61144829e-04 9.99784703e-01 8.22064144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.27, Y:91.79, Z:8.22 [[ 7.48751337e-01 6.62676157e-01 -1.52232254e-02 2.04273313e+02] [-6.62532545e-01 7.48906036e-01 1.37976567e-02 9.17922232e+01] [ 2.05441435e-02 -2.45131626e-04 9.99788917e-01 8.22135231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.30, Y:91.77, Z:8.22 [[ 7.48191042e-01 6.63308420e-01 -1.52349814e-02 2.04298805e+02] [-6.63164686e-01 7.48346101e-01 1.38098373e-02 9.17710235e+01] [ 2.05612203e-02 -2.29094917e-04 9.99788570e-01 8.22280532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.32, Y:91.75, Z:8.22 [[ 7.48046622e-01 6.63469480e-01 -1.53134290e-02 2.04322582e+02] [-6.63324118e-01 7.48203312e-01 1.38895317e-02 9.17492260e+01] [ 2.06728386e-02 -2.32250463e-04 9.99786267e-01 8.22296790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:91.73, Z:8.22 [[ 7.48266208e-01 6.63201644e-01 -1.61636004e-02 2.04344017e+02] [-6.63039473e-01 7.48440721e-01 1.46677676e-02 9.17265569e+01] [ 2.18251843e-02 -2.58289732e-04 9.99761769e-01 8.22154260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:91.71, Z:8.22 [[ 7.48518216e-01 6.62911483e-01 -1.63965292e-02 2.04366990e+02] [-6.62744482e-01 7.48697731e-01 1.48815283e-02 9.17076675e+01] [ 2.21411802e-02 -2.72385773e-04 9.99754817e-01 8.22298577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.39, Y:91.69, Z:8.22 [[ 7.48727925e-01 6.62672031e-01 -1.65007094e-02 2.04389080e+02] [-6.62502859e-01 7.48909674e-01 1.49753775e-02 9.16869835e+01] [ 2.22813047e-02 -2.80716207e-04 9.99751702e-01 8.22324468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.41, Y:91.67, Z:8.22 [[ 7.48744100e-01 6.62644770e-01 -1.68576654e-02 2.04411510e+02] [-6.62468180e-01 7.48933792e-01 1.52998478e-02 9.16657332e+01] [ 2.27636395e-02 -2.88003861e-04 9.99740833e-01 8.22373057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:91.64, Z:8.22 [[ 7.48778939e-01 6.62597870e-01 -1.71511837e-02 2.04431392e+02] [-6.62415053e-01 7.48975284e-01 1.55666937e-02 9.16430970e+01] [ 2.31602708e-02 -2.94810115e-04 9.99731722e-01 8.22225786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:91.62, Z:8.22 [[ 7.48506274e-01 6.62896013e-01 -1.75280793e-02 2.04457533e+02] [-6.62705055e-01 7.48711419e-01 1.59129309e-02 9.16229848e+01] [ 2.36720916e-02 -2.94981830e-04 9.99719733e-01 8.22484285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:91.60, Z:8.23 [[ 7.48033382e-01 6.63415595e-01 -1.80501449e-02 2.04479517e+02] [-6.63213106e-01 7.48251070e-01 1.63924396e-02 9.16033028e+01] [ 2.43810403e-02 -2.90999369e-04 9.99702696e-01 8.22517763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:91.58, Z:8.23 [[ 7.47744069e-01 6.63736914e-01 -1.82240674e-02 2.04501787e+02] [-6.63530623e-01 7.47966062e-01 1.65494258e-02 9.15834621e+01] [ 2.46154487e-02 -2.82508203e-04 9.99696954e-01 8.22558676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:91.56, Z:8.23 [[ 7.47419825e-01 6.64095805e-01 -1.84490585e-02 2.04525147e+02] [-6.63884499e-01 7.47647435e-01 1.67536610e-02 9.15627490e+01] [ 2.49194273e-02 -2.73974410e-04 9.99689425e-01 8.22660394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:91.54, Z:8.23 [[ 7.46904868e-01 6.64672756e-01 -1.85268801e-02 2.04546769e+02] [-6.64459839e-01 7.47134568e-01 1.68244099e-02 9.15427905e+01] [ 2.50247994e-02 -2.55865871e-04 9.99686798e-01 8.22782012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:91.52, Z:8.23 [[ 7.46803393e-01 6.64787583e-01 -1.84976055e-02 2.04568121e+02] [-6.64575407e-01 7.47032400e-01 1.67964952e-02 9.15228722e+01] [ 2.49844121e-02 -2.50625901e-04 9.99687809e-01 8.22862665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:91.50, Z:8.23 [[ 7.46769408e-01 6.64825502e-01 -1.85068582e-02 2.04588723e+02] [-6.64613173e-01 7.46998655e-01 1.68029464e-02 9.15033758e+01] [ 2.49956254e-02 -2.48024582e-04 9.99687530e-01 8.22910386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:91.48, Z:8.23 [[ 7.46901670e-01 6.64679725e-01 -1.84054024e-02 2.04612396e+02] [-6.64469583e-01 7.47128369e-01 1.67144916e-02 9.14803527e+01] [ 2.48609820e-02 -2.54251664e-04 9.99690886e-01 8.23113575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:91.46, Z:8.23 [[ 7.47176718e-01 6.64373619e-01 -1.82933619e-02 2.04635575e+02] [-6.64165690e-01 7.47400576e-01 1.66227295e-02 9.14578294e+01] [ 2.47161722e-02 -2.70293130e-04 9.99694472e-01 8.23212909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:91.43, Z:8.23 [[ 7.47990702e-01 6.63460331e-01 -1.81741258e-02 2.04658004e+02] [-6.63254608e-01 7.48211398e-01 1.65235977e-02 9.14342809e+01] [ 2.45608397e-02 -3.05424773e-04 9.99698290e-01 8.23372741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:91.41, Z:8.23 [[ 7.48282531e-01 6.63139849e-01 -1.78548248e-02 2.04681171e+02] [-6.62940968e-01 7.48495451e-01 1.62429261e-02 9.14113630e+01] [ 2.41355867e-02 -3.17603034e-04 9.99708644e-01 8.23477631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:91.39, Z:8.24 [[ 7.48700418e-01 6.62668112e-01 -1.78509591e-02 2.04703402e+02] [-6.62468940e-01 7.48913117e-01 1.62494994e-02 9.13883455e+01] [ 2.41368425e-02 -3.40301004e-04 9.99708606e-01 8.23513196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:91.37, Z:8.24 [[ 7.49315186e-01 6.61978487e-01 -1.76418539e-02 2.04726004e+02] [-6.61783544e-01 7.49522747e-01 1.60683495e-02 9.13659497e+01] [ 2.38598725e-02 -3.65169752e-04 9.99715246e-01 8.23599978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:91.34, Z:8.24 [[ 7.50154451e-01 6.61032579e-01 -1.74421533e-02 2.04747668e+02] [-6.60841603e-01 7.50357097e-01 1.58934994e-02 9.13428649e+01] [ 2.35939644e-02 -3.96078797e-04 9.99721545e-01 8.23673033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:91.32, Z:8.24 [[ 7.50761791e-01 6.60353454e-01 -1.70308599e-02 2.04770268e+02] [-6.60171130e-01 7.50954824e-01 1.55219561e-02 9.13211370e+01] [ 2.30393837e-02 -4.10009494e-04 9.99734474e-01 8.23739391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:91.30, Z:8.24 [[ 7.51546160e-01 6.59477525e-01 -1.63634778e-02 2.04791120e+02] [-6.59308995e-01 7.51724163e-01 1.49141333e-02 9.12997742e+01] [ 2.21363573e-02 -4.20071478e-04 9.99754873e-01 8.23820843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:91.28, Z:8.24 [[ 7.51856974e-01 6.59134180e-01 -1.59130282e-02 2.04812739e+02] [-6.58974741e-01 7.52025238e-01 1.45028205e-02 9.12789831e+01] [ 2.15263035e-02 -4.17763047e-04 9.99768195e-01 8.23877752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:91.26, Z:8.24 [[ 7.51670166e-01 6.59356679e-01 -1.55155317e-02 2.04837198e+02] [-6.59205099e-01 7.51830172e-01 1.41431985e-02 9.12574893e+01] [ 2.09904573e-02 -4.03102751e-04 9.99779595e-01 8.23988349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:91.24, Z:8.24 [[ 7.51310797e-01 6.59776521e-01 -1.50674624e-02 2.04861027e+02] [-6.59633490e-01 7.51461771e-01 1.37428508e-02 9.12359025e+01] [ 2.03898323e-02 -3.86149411e-04 9.99792031e-01 8.24063676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:91.21, Z:8.24 [[ 7.50359043e-01 6.60889067e-01 -1.36728776e-02 2.04885404e+02] [-6.60771356e-01 7.50483533e-01 1.24772623e-02 9.12149761e+01] [ 1.85073557e-02 -3.27780778e-04 9.99828671e-01 8.24215347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:91.19, Z:8.24 [[ 7.49537418e-01 6.61836114e-01 -1.29080517e-02 2.04909912e+02] [-6.61731236e-01 7.49648500e-01 1.17855007e-02 9.11936499e+01] [ 1.74765716e-02 -2.92012764e-04 9.99847230e-01 8.24303837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:91.18, Z:8.24 [[ 7.48346578e-01 6.63206866e-01 -1.15781078e-02 2.04933463e+02] [-6.63122585e-01 7.48436101e-01 1.05754310e-02 9.11754388e+01] [ 1.56791723e-02 -2.36382856e-04 9.99877046e-01 8.24428096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:91.16, Z:8.24 [[ 7.48346577e-01 6.63206861e-01 -1.15784501e-02 2.04955615e+02] [-6.63122586e-01 7.48436105e-01 1.05750563e-02 9.11552068e+01] [ 1.56791800e-02 -2.35875422e-04 9.99877046e-01 8.24467638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:91.14, Z:8.25 [[ 7.47926500e-01 6.63692760e-01 -1.08568726e-02 2.04978088e+02] [-6.63618715e-01 7.48005265e-01 9.91593184e-03 9.11363810e+01] [ 1.47021300e-02 -2.11564360e-04 9.99891895e-01 8.24502836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:91.12, Z:8.25 [[ 7.47520113e-01 6.64153471e-01 -1.06699352e-02 2.05001677e+02] [-6.64082010e-01 7.47596233e-01 9.74458677e-03 9.11161811e+01] [ 1.44487045e-02 -1.98562596e-04 9.99895592e-01 8.24512158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:91.09, Z:8.25 [[ 7.47256146e-01 6.64455359e-01 -1.03599377e-02 2.05026490e+02] [-6.64388004e-01 7.47327934e-01 9.46250676e-03 9.10946608e+01] [ 1.40296842e-02 -1.87897979e-04 9.99901562e-01 8.24524921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:91.07, Z:8.25 [[ 7.47279128e-01 6.64436343e-01 -9.91221290e-03 2.05049538e+02] [-6.64374609e-01 7.47344842e-01 9.05902939e-03 9.10723986e+01] [ 1.34269895e-02 -1.84201009e-04 9.99909837e-01 8.24533862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:91.05, Z:8.25 [[ 7.47813451e-01 6.63839310e-01 -9.61315114e-03 2.05069814e+02] [-6.63781152e-01 7.47875212e-01 8.78911504e-03 9.10523187e+01] [ 1.30239975e-02 -1.91589912e-04 9.99915166e-01 8.24513625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:91.03, Z:8.24 [[ 7.48311796e-01 6.63274423e-01 -9.82326152e-03 2.05093975e+02] [-6.63213656e-01 7.48376241e-01 8.98046096e-03 9.10311201e+01] [ 1.33080056e-02 -2.05263679e-04 9.99911424e-01 8.24481313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:91.01, Z:8.24 [[ 7.49520493e-01 6.61911626e-01 -9.59327745e-03 2.05115599e+02] [-6.61853498e-01 7.49581849e-01 8.77492668e-03 9.10088161e+01] [ 1.29991726e-02 -2.27643128e-04 9.99915481e-01 8.24412579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:90.99, Z:8.24 [[ 7.50213486e-01 6.61134020e-01 -9.02958970e-03 2.05139490e+02] [-6.61082419e-01 7.50267789e-01 8.26321400e-03 9.09867458e+01] [ 1.22377022e-02 -2.29871586e-04 9.99925090e-01 8.24434515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:90.97, Z:8.24 [[ 7.51025379e-01 6.60223425e-01 -8.11846683e-03 2.05163438e+02] [-6.60181620e-01 7.51069224e-01 7.43296313e-03 9.09650296e+01] [ 1.10049470e-02 -2.22681367e-04 9.99939419e-01 8.24495473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:90.94, Z:8.25 [[ 7.51152446e-01 6.60086080e-01 -7.50803149e-03 2.05186837e+02] [-6.60050284e-01 7.51189938e-01 6.87741938e-03 9.09426082e+01] [ 1.01796465e-02 -2.10312073e-04 9.99948164e-01 8.24518567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:90.92, Z:8.25 [[ 7.51331765e-01 6.59884696e-01 -7.26404968e-03 2.05211147e+02] [-6.59851144e-01 7.51366851e-01 6.65758151e-03 9.09201078e+01] [ 9.85120229e-03 -2.08860978e-04 9.99951454e-01 8.24566123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:90.90, Z:8.25 [[ 7.51118712e-01 6.60130891e-01 -6.91999347e-03 2.05233804e+02] [-6.60100415e-01 7.51150562e-01 6.34623913e-03 9.08993916e+01] [ 9.38730548e-03 -1.98888397e-04 9.99955919e-01 8.24596218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:90.88, Z:8.25 [[ 7.50766311e-01 6.60536402e-01 -6.45041356e-03 2.05257921e+02] [-6.60509902e-01 7.50793999e-01 5.91951469e-03 9.08789098e+01] [ 8.75298672e-03 -1.83610178e-04 9.99961675e-01 8.24619530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:90.86, Z:8.25 [[ 7.49486407e-01 6.61991911e-01 -6.06914501e-03 2.05283723e+02] [-6.61968510e-01 7.49510964e-01 5.56841539e-03 9.08601926e+01] [ 8.23513668e-03 -1.55868770e-04 9.99966079e-01 8.24590271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:90.84, Z:8.25 [[ 7.48583073e-01 6.63012054e-01 -6.19668635e-03 2.05306191e+02] [-6.62987665e-01 7.48608705e-01 5.68883543e-03 9.08386763e+01] [ 8.41065981e-03 -1.50239290e-04 9.99964619e-01 8.24654430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:90.82, Z:8.25 [[ 7.47640492e-01 6.64075406e-01 -6.12785379e-03 2.05332299e+02] [-6.64051568e-01 7.47665591e-01 5.62834227e-03 9.08189871e+01] [ 8.31922910e-03 -1.38765664e-04 9.99965385e-01 8.24610406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:90.80, Z:8.25 [[ 7.46112319e-01 6.65787911e-01 -6.54718160e-03 2.05357780e+02] [-6.65760733e-01 7.46141033e-01 6.01712981e-03 9.07987477e+01] [ 8.89125313e-03 -1.30598248e-04 9.99960464e-01 8.24550819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:90.78, Z:8.25 [[ 7.45442976e-01 6.66533064e-01 -6.96018001e-03 2.05381920e+02] [-6.66502334e-01 7.45475457e-01 6.40172271e-03 9.07781689e+01] [ 9.45560323e-03 -1.33143002e-04 9.99955286e-01 8.24530080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:90.76, Z:8.25 [[ 7.45051711e-01 6.66968470e-01 -7.14203136e-03 2.05403791e+02] [-6.66936123e-01 7.45085930e-01 6.56997847e-03 9.07590472e+01] [ 9.70339557e-03 -1.31694989e-04 9.99952912e-01 8.24529237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:90.74, Z:8.24 [[ 7.44607405e-01 6.67463926e-01 -7.19164975e-03 2.05430166e+02] [-6.67431177e-01 7.44642123e-01 6.61307156e-03 9.07386103e+01] [ 9.76919205e-03 -1.24210793e-04 9.99952273e-01 8.24427429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:90.72, Z:8.24 [[ 7.44672303e-01 6.67394010e-01 -6.95674431e-03 2.05453655e+02] [-6.67363323e-01 7.44704787e-01 6.40114623e-03 9.07164004e+01] [ 9.45280744e-03 -1.24080303e-04 9.99955314e-01 8.24438299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:90.69, Z:8.24 [[ 7.44953815e-01 6.67086312e-01 -6.29803540e-03 2.05476576e+02] [-6.67061124e-01 7.44980428e-01 5.79818570e-03 9.06943857e+01] [ 8.55980342e-03 -1.18205987e-04 9.99963357e-01 8.24472851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:90.67, Z:8.25 [[ 7.46513909e-01 6.65344572e-01 -5.79513232e-03 2.05497332e+02] [-6.65323172e-01 7.46536391e-01 5.33791492e-03 9.06709071e+01] [ 7.87782988e-03 -1.29191915e-04 9.99968961e-01 8.24555334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:90.65, Z:8.25 [[ 7.47372105e-01 6.64385305e-01 -5.20607731e-03 2.05520386e+02] [-6.64367998e-01 7.47390227e-01 4.79712598e-03 9.06480757e+01] [ 7.07811131e-03 -1.26486980e-04 9.99974942e-01 8.24624867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:90.63, Z:8.25 [[ 7.48419485e-01 6.63207884e-01 -4.85573086e-03 2.05541825e+02] [-6.63192787e-01 7.48435225e-01 4.47666481e-03 9.06254226e+01] [ 6.60315941e-03 -1.30137484e-04 9.99978190e-01 8.24698384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:90.60, Z:8.25 [[ 7.50845982e-01 6.60466351e-01 -3.80924838e-03 2.05563968e+02] [-6.60457011e-01 7.50855634e-01 3.51462382e-03 9.06015099e+01] [ 5.18148638e-03 -1.23096370e-04 9.99986568e-01 8.24755193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.182755096 meters Centerline goodness [0,1] 0.9998920063068317 Centerline is valid? [True, True] Translation: X:205.59, Y:90.58, Z:8.25 [[ 7.51649428e-01 6.59551629e-01 -3.84538356e-03 2.05586633e+02] [-6.59542107e-01 7.51659253e-01 3.54644694e-03 9.05788085e+01] [ 5.22948299e-03 -1.29492438e-04 9.99986318e-01 8.24594397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:90.56, Z:8.25 [[ 7.52493766e-01 6.58591018e-01 -3.31695357e-03 2.05609998e+02] [-6.58583920e-01 7.52501068e-01 3.06003509e-03 9.05567482e+01] [ 4.51132273e-03 -1.18165044e-04 9.99989817e-01 8.24762511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:90.53, Z:8.25 [[ 7.52342609e-01 6.58764040e-01 -3.24645647e-03 2.05633768e+02] [-6.58757236e-01 7.52349604e-01 2.99610245e-03 9.05341915e+01] [ 4.41619479e-03 -1.15468841e-04 9.99990242e-01 8.24823296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:90.51, Z:8.25 [[ 7.52027660e-01 6.59124549e-01 -3.03781053e-03 2.05658848e+02] [-6.59118589e-01 7.52033788e-01 2.80487324e-03 9.05127101e+01] [ 4.13329697e-03 -1.07064870e-04 9.99991452e-01 8.24801607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.302755096 meters Centerline goodness [0,1] 0.999956766104626 Centerline is valid? [True, True] Translation: X:205.68, Y:90.49, Z:8.25 [[ 7.51300363e-01 6.59953927e-01 -2.92900573e-03 2.05682966e+02] [-6.59948385e-01 7.51306066e-01 2.70647903e-03 9.04911716e+01] [ 3.98673123e-03 -1.00386080e-04 9.99992048e-01 8.24753536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:90.47, Z:8.25 [[ 7.49754731e-01 6.61707058e-01 -3.40792483e-03 2.05707473e+02] [-6.61699560e-01 7.49762468e-01 3.15184519e-03 9.04722017e+01] [ 4.64073234e-03 -1.08088482e-04 9.99989226e-01 8.24758895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:90.45, Z:8.25 [[ 7.48546199e-01 6.63073624e-01 -3.45799953e-03 2.05732348e+02] [-6.63065912e-01 7.48554179e-01 3.19962397e-03 9.04522241e+01] [ 4.71008626e-03 -1.02184749e-04 9.99988902e-01 8.24732561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:90.43, Z:8.25 [[ 7.47481260e-01 6.64273391e-01 -3.55373766e-03 2.05755083e+02] [-6.64265248e-01 7.47489701e-01 3.29042275e-03 9.04305207e+01] [ 4.84212257e-03 -9.89049112e-05 9.99988272e-01 8.24792745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:90.41, Z:8.25 [[ 7.45827622e-01 6.66128258e-01 -3.78176903e-03 2.05779603e+02] [-6.66119034e-01 7.45837204e-01 3.50686356e-03 9.04132407e+01] [ 5.15660496e-03 -9.64073787e-05 9.99986700e-01 8.24754456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:90.39, Z:8.25 [[ 7.45434464e-01 6.66567293e-01 -3.93759892e-03 2.05801694e+02] [-6.66557301e-01 7.45444857e-01 3.65104707e-03 9.03928746e+01] [ 5.36893142e-03 -9.69810048e-05 9.99985582e-01 8.24776747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:90.37, Z:8.25 [[ 7.45423448e-01 6.66581505e-01 -3.60269383e-03 2.05822100e+02] [-6.66573139e-01 7.45432149e-01 3.34096051e-03 9.03735492e+01] [ 4.91258629e-03 -8.89713685e-05 9.99987929e-01 8.24856340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:90.35, Z:8.25 [[ 7.45409756e-01 6.66598496e-01 -3.27730837e-03 2.05842799e+02] [-6.66591574e-01 7.45416957e-01 3.03877241e-03 9.03542740e+01] [ 4.46860235e-03 -8.05044529e-05 9.99990013e-01 8.24982060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:90.33, Z:8.25 [[ 7.45437131e-01 6.66570508e-01 -2.69091541e-03 2.05865520e+02] [-6.66565847e-01 7.45441985e-01 2.49365430e-03 9.03343194e+01] [ 3.66811774e-03 -6.51901934e-05 9.99993270e-01 8.25035267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.89, Y:90.31, Z:8.25 [[ 7.46029158e-01 6.65910623e-01 -1.88090790e-03 2.05885861e+02] [-6.65908341e-01 7.46031528e-01 1.74386471e-03 9.03144466e+01] [ 2.56447463e-03 -4.84616647e-05 9.99996711e-01 8.25140795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.602755096 meters Centerline goodness [0,1] 0.9998272175546964 Centerline is valid? [True, True] Translation: X:205.90, Y:90.29, Z:8.25 [[ 7.46166199e-01 6.65755658e-01 -2.32549463e-03 2.05904828e+02] [-6.65752169e-01 7.46169820e-01 2.15607409e-03 9.02943119e+01] [ 3.17063244e-03 -6.05865116e-05 9.99994972e-01 8.24971398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:90.27, Z:8.25 [[ 7.46647278e-01 6.65218382e-01 -1.53156557e-03 2.05928458e+02] [-6.65216870e-01 7.46648848e-01 1.41885530e-03 9.02743322e+01] [ 2.08739029e-03 -4.05611906e-05 9.99997821e-01 8.25192331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.95, Y:90.25, Z:8.25 [[ 7.47150397e-01 6.64650938e-01 -2.32707010e-03 2.05948781e+02] [-6.64647444e-01 7.47154018e-01 2.15608063e-03 9.02523570e+01] [ 3.17172079e-03 -6.42353041e-05 9.99994968e-01 8.25178398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.97, Y:90.23, Z:8.25 [[ 7.47167642e-01 6.64629326e-01 -2.89369156e-03 2.05970791e+02] [-6.64623921e-01 7.47173241e-01 2.68160015e-03 9.02331197e+01] [ 3.94435900e-03 -8.03882301e-05 9.99992218e-01 8.25121849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:90.21, Z:8.25 [[ 7.47299681e-01 6.64479600e-01 -3.16990439e-03 2.05991925e+02] [-6.64473115e-01 7.47306399e-01 2.93698530e-03 9.02139492e+01] [ 4.32045665e-03 -8.84919301e-05 9.99990663e-01 8.25093888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.01, Y:90.19, Z:8.25 [[ 7.46998199e-01 6.64817507e-01 -3.37252222e-03 2.06011062e+02] [-6.64810171e-01 7.47005806e-01 3.12436241e-03 9.01941881e+01] [ 4.59642450e-03 -9.18060189e-05 9.99989432e-01 8.25240110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.03, Y:90.18, Z:8.25 [[ 7.47017536e-01 6.64796257e-01 -3.27685845e-03 2.06032278e+02] [-6.64789333e-01 7.47024718e-01 3.03536579e-03 9.01761116e+01] [ 4.46579407e-03 -8.90509285e-05 9.99990024e-01 8.25221386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:90.16, Z:8.25 [[ 7.46838213e-01 6.64995715e-01 -3.65829043e-03 2.06055098e+02] [-6.64987095e-01 7.46847166e-01 3.38737251e-03 9.01581869e+01] [ 4.98477204e-03 -9.71033031e-05 9.99987571e-01 8.25165259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.842755096 meters Centerline goodness [0,1] 0.9998924708058238 Centerline is valid? [True, True] Translation: X:206.08, Y:90.14, Z:8.25 [[ 7.46716731e-01 6.65128814e-01 -4.21729047e-03 2.06076050e+02] [-6.65117364e-01 7.46728632e-01 3.90416732e-03 9.01388697e+01] [ 5.74594572e-03 -1.10313939e-04 9.99983486e-01 8.25133438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.10, Y:90.12, Z:8.25 [[ 7.46880292e-01 6.64946463e-01 -4.00385296e-03 2.06097124e+02] [-6.64936144e-01 7.46891016e-01 3.70608185e-03 9.01189213e+01] [ 5.45478783e-03 -1.05692946e-04 9.99985117e-01 8.25185091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters Centerline goodness [0,1] 0.9994413287780142 Centerline is valid? [True, True] Translation: X:206.12, Y:90.10, Z:8.25 [[ 7.46330141e-01 6.65563589e-01 -4.05340456e-03 2.06118880e+02] [-6.65553024e-01 7.46341141e-01 3.75138520e-03 9.01000511e+01] [ 5.52200799e-03 -1.02016182e-04 9.99984748e-01 8.25174534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.932755096 meters Centerline goodness [0,1] 0.9993326731820726 Centerline is valid? [True, True] Translation: X:206.14, Y:90.08, Z:8.25 [[ 7.46043935e-01 6.65882831e-01 -4.30156973e-03 2.06141505e+02] [-6.65870945e-01 7.46056328e-01 3.97997922e-03 9.00805147e+01] [ 5.85941314e-03 -1.04949056e-04 9.99982828e-01 8.25188389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.962755096 meters Centerline goodness [0,1] 0.9988238816183389 Centerline is valid? [True, True] Translation: X:206.16, Y:90.06, Z:8.25 [[ 7.45480722e-01 6.66511492e-01 -4.57429081e-03 2.06163544e+02] [-6.66498063e-01 7.45494748e-01 4.23230303e-03 9.00612415e+01] [ 6.23098838e-03 -1.06344356e-04 9.99980582e-01 8.25232069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.992755096 meters Centerline goodness [0,1] 0.9990993502455343 Centerline is valid? [True, True] Translation: X:206.19, Y:90.04, Z:8.25 [[ 7.45216313e-01 6.66806296e-01 -4.69154248e-03 2.06186388e+02] [-6.66792182e-01 7.45231073e-01 4.33971631e-03 9.00415301e+01] [ 6.39003339e-03 -1.05743533e-04 9.99979578e-01 8.25248531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters Centerline goodness [0,1] 0.9994249691187119 Centerline is valid? [True, True] Translation: X:206.21, Y:90.02, Z:8.25 [[ 7.45029470e-01 6.67014463e-01 -4.77436438e-03 2.06207292e+02] [-6.66999850e-01 7.45044760e-01 4.41649455e-03 9.00233453e+01] [ 6.50298091e-03 -1.05918270e-04 9.99978850e-01 8.25299656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.052755096 meters Centerline goodness [0,1] 0.9990803122660677 Centerline is valid? [True, True] Translation: X:206.23, Y:90.00, Z:8.25 [[ 7.44905248e-01 6.67151551e-01 -4.99800461e-03 2.06228451e+02] [-6.67135547e-01 7.44922007e-01 4.62221675e-03 9.00040596e+01] [ 6.80684269e-03 -1.08766971e-04 9.99976827e-01 8.25342744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.082755096 meters Centerline goodness [0,1] 0.9991032730533552 Centerline is valid? [True, True] Translation: X:206.25, Y:89.99, Z:8.25 [[ 7.45168272e-01 6.66856499e-01 -5.16308686e-03 2.06249271e+02] [-6.66839418e-01 7.45186149e-01 4.77426521e-03 8.99850240e+01] [ 7.03121060e-03 -1.14681117e-04 9.99975274e-01 8.25385395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.112755096 meters Centerline goodness [0,1] 0.9992115245279802 Centerline is valid? [True, True] Translation: X:206.27, Y:89.97, Z:8.25 [[ 7.45707568e-01 6.66254049e-01 -5.07592165e-03 2.06270192e+02] [-6.66237533e-01 7.45724834e-01 4.69263751e-03 8.99655303e+01] [ 6.91172957e-03 -1.17565784e-04 9.99976107e-01 8.25406536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters Centerline goodness [0,1] 0.9992983500595339 Centerline is valid? [True, True] Translation: X:206.29, Y:89.95, Z:8.25 [[ 7.46047741e-01 6.65872086e-01 -5.20895923e-03 2.06291353e+02] [-6.65854689e-01 7.46065915e-01 4.81487074e-03 8.99457444e+01] [ 7.09231496e-03 -1.23713510e-04 9.99974842e-01 8.25432771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1727550960001 meters Centerline goodness [0,1] 0.9990193988488595 Centerline is valid? [True, True] Translation: X:206.31, Y:89.93, Z:8.25 [[ 7.46608776e-01 6.65239251e-01 -5.66343103e-03 2.06311994e+02] [-6.65218675e-01 7.46630242e-01 5.23405030e-03 8.99260442e+01] [ 7.71038458e-03 -1.40367798e-04 9.99970265e-01 8.25429588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.202755096 meters Centerline goodness [0,1] 0.9993189895507459 Centerline is valid? [True, True] Translation: X:206.33, Y:89.91, Z:8.25 [[ 7.47678546e-01 6.64030900e-01 -6.30526030e-03 2.06333480e+02] [-6.64005361e-01 7.47705113e-01 5.82619324e-03 8.99064576e+01] [ 8.58324770e-03 -1.69393045e-04 9.99963149e-01 8.25411457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.232755096 meters Centerline goodness [0,1] 0.9994244174891812 Centerline is valid? [True, True] Translation: X:206.35, Y:89.89, Z:8.25 [[ 7.48015085e-01 6.63648347e-01 -6.65622050e-03 2.06353468e+02] [-6.63619879e-01 7.48044677e-01 6.14959288e-03 8.98869487e+01] [ 9.06031746e-03 -1.82787994e-04 9.99958938e-01 8.25424735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters Centerline goodness [0,1] 0.9993201325741481 Centerline is valid? [True, True] Translation: X:206.37, Y:89.87, Z:8.25 [[ 7.48334290e-01 6.63282191e-01 -7.24745056e-03 2.06373817e+02] [-6.63248438e-01 7.48369357e-01 6.69442011e-03 8.98676103e+01] [ 9.86405955e-03 -2.02803860e-04 9.99951328e-01 8.25443832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2927550960001 meters Centerline goodness [0,1] 0.9991913173015535 Centerline is valid? [True, True] Translation: X:206.40, Y:89.85, Z:8.25 [[ 7.48496012e-01 6.63097328e-01 -7.46022772e-03 2.06398580e+02] [-6.63061571e-01 7.48533159e-01 6.88929800e-03 8.98489121e+01] [ 1.01525029e-02 -2.10021759e-04 9.99948440e-01 8.25412659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.322755096 meters Centerline goodness [0,1] 0.9991913173015535 Centerline is valid? [True, True] Translation: X:206.42, Y:89.83, Z:8.25 [[ 7.48496012e-01 6.63097328e-01 -7.46022772e-03 2.06420622e+02] [-6.63061571e-01 7.48533159e-01 6.88929800e-03 8.98285564e+01] [ 1.01525029e-02 -2.10021759e-04 9.99948440e-01 8.25452220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.352755096 meters Centerline goodness [0,1] 0.9992570894888776 Centerline is valid? [True, True] Translation: X:206.44, Y:89.81, Z:8.25 [[ 7.48133010e-01 6.63499073e-01 -8.12276587e-03 2.06441726e+02] [-6.63456706e-01 7.48177071e-01 7.50124871e-03 8.98087189e+01] [ 1.10543387e-02 -2.22828285e-04 9.99938874e-01 8.25448966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters Centerline goodness [0,1] 0.9991902834008097 Centerline is valid? [True, True] Translation: X:206.46, Y:89.79, Z:8.25 [[ 7.47935080e-01 6.63716744e-01 -8.55569967e-03 2.06463150e+02] [-6.63669762e-01 7.47983977e-01 7.90045833e-03 8.97897424e+01] [ 1.16431927e-02 -2.30870763e-04 9.99932189e-01 8.25430244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.412755096 meters Centerline goodness [0,1] 0.9993168232280103 Centerline is valid? [True, True] Translation: X:206.48, Y:89.77, Z:8.25 [[ 7.47494035e-01 6.64208716e-01 -8.91349073e-03 2.06483777e+02] [-6.64157772e-01 7.47547141e-01 8.22953814e-03 8.97709494e+01] [ 1.21293855e-02 -2.31566528e-04 9.99926410e-01 8.25419752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.442755096 meters Centerline goodness [0,1] 0.9991257622926351 Centerline is valid? [True, True] Translation: X:206.51, Y:89.75, Z:8.25 [[ 7.46304199e-01 6.65535612e-01 -9.61212122e-03 2.06508562e+02] [-6.65476504e-01 7.46366062e-01 8.87266408e-03 8.97506747e+01] [ 1.30792350e-02 -2.25065632e-04 9.99914438e-01 8.25345130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.472755096 meters Centerline goodness [0,1] 0.9989345607193846 Centerline is valid? [True, True] Translation: X:206.53, Y:89.73, Z:8.25 [[ 7.45530472e-01 6.66393417e-01 -1.02044266e-02 2.06529926e+02] [-6.66326805e-01 7.45600270e-01 9.42476955e-03 8.97297106e+01] [ 1.38890276e-02 -2.26969941e-04 9.99903517e-01 8.25317626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters Centerline goodness [0,1] 0.9992300782753754 Centerline is valid? [True, True] Translation: X:206.55, Y:89.71, Z:8.25 [[ 7.45110118e-01 6.66855516e-01 -1.07067030e-02 2.06552570e+02] [-6.66782228e-01 7.45187002e-01 9.88901363e-03 8.97116898e+01] [ 1.45730392e-02 -2.29364851e-04 9.99893781e-01 8.25261799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.532755096 meters Centerline goodness [0,1] 0.9992723381487426 Centerline is valid? [True, True] Translation: X:206.57, Y:89.69, Z:8.25 [[ 7.44099106e-01 6.67968758e-01 -1.15870311e-02 2.06574829e+02] [-6.67883085e-01 7.44189283e-01 1.07003127e-02 8.96927147e+01] [ 1.57704189e-02 -2.23311014e-04 9.99875614e-01 8.25189382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.562755096 meters Centerline goodness [0,1] 0.9992941931344241 Centerline is valid? [True, True] Translation: X:206.60, Y:89.67, Z:8.25 [[ 7.43872872e-01 6.68223220e-01 -1.14402266e-02 2.06595543e+02] [-6.68139759e-01 7.43960808e-01 1.05631032e-02 8.96733449e+01] [ 1.55695910e-02 -2.13935673e-04 9.99878764e-01 8.25237182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.592755096 meters Centerline goodness [0,1] 0.9992074542144158 Centerline is valid? [True, True] Translation: X:206.61, Y:89.65, Z:8.25 [[ 7.43515679e-01 6.68618973e-01 -1.15370849e-02 2.06614809e+02] [-6.68534169e-01 7.43605155e-01 1.06507406e-02 8.96535451e+01] [ 1.57003230e-02 -2.06057133e-04 9.99876721e-01 8.25310719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters Centerline goodness [0,1] 0.9993368132808489 Centerline is valid? [True, True] Translation: X:206.63, Y:89.63, Z:8.25 [[ 7.43367330e-01 6.68786703e-01 -1.13735563e-02 2.06634791e+02] [-6.68704341e-01 7.43454307e-01 1.04975018e-02 8.96340166e+01] [ 1.54763090e-02 -1.97953416e-04 9.99880215e-01 8.25356330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.652755096 meters Centerline goodness [0,1] 0.9993147751605995 Centerline is valid? [True, True] Translation: X:206.66, Y:89.61, Z:8.25 [[ 7.43489589e-01 6.68652203e-01 -1.12899050e-02 2.06656278e+02] [-6.68571063e-01 7.43575277e-01 1.04183657e-02 8.96143659e+01] [ 1.53611574e-02 -1.97842670e-04 9.99881991e-01 8.25471020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.682755096 meters Centerline goodness [0,1] 0.9992946607959646 Centerline is valid? [True, True] Translation: X:206.68, Y:89.59, Z:8.26 [[ 7.43754789e-01 6.68360414e-01 -1.10982541e-02 2.06675756e+02] [-6.68281997e-01 7.43837561e-01 1.02398629e-02 8.95942224e+01] [ 1.50992173e-02 -1.99183617e-04 9.99885980e-01 8.25532863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.712755096 meters Centerline goodness [0,1] 0.9994866200346532 Centerline is valid? [True, True] Translation: X:206.69, Y:89.57, Z:8.26 [[ 7.44535459e-01 6.67495989e-01 -1.07728883e-02 2.06694558e+02] [-6.67422040e-01 7.44613364e-01 9.93780572e-03 8.95724435e+01] [ 1.46550821e-02 -2.08985635e-04 9.99892587e-01 8.25670428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters Centerline goodness [0,1] 0.999353907781104 Centerline is valid? [True, True] Translation: X:206.71, Y:89.55, Z:8.26 [[ 7.45232028e-01 6.66720822e-01 -1.06098691e-02 2.06712845e+02] [-6.66649037e-01 7.45307519e-01 9.78590094e-03 8.95517154e+01] [ 1.44320792e-02 -2.19707763e-04 9.99895828e-01 8.25763285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.772755096 meters Centerline goodness [0,1] 0.9992214196115748 Centerline is valid? [True, True] Translation: X:206.73, Y:89.53, Z:8.26 [[ 7.46576445e-01 6.65222836e-01 -1.01089580e-02 2.06732767e+02] [-6.65157555e-01 7.46644844e-01 9.32222999e-03 8.95291167e+01] [ 1.37491617e-02 -2.35707504e-04 9.99905448e-01 8.25930276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.802755096 meters Centerline goodness [0,1] 0.999352177762422 Centerline is valid? [True, True] Translation: X:206.75, Y:89.51, Z:8.26 [[ 7.47229453e-01 6.64490943e-01 -9.99658562e-03 2.06751317e+02] [-6.64427050e-01 7.47296278e-01 9.21786336e-03 8.95084970e+01] [ 1.35955979e-02 -2.45857110e-04 9.99907545e-01 8.26018498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.832755096 meters Centerline goodness [0,1] 0.9994805194805195 Centerline is valid? [True, True] Translation: X:206.77, Y:89.49, Z:8.26 [[ 7.47780846e-01 6.63869527e-01 -1.00527509e-02 2.06772142e+02] [-6.63804881e-01 7.47848371e-01 9.26789981e-03 8.94873997e+01] [ 1.36706096e-02 -2.57292839e-04 9.99906520e-01 8.26099671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters Centerline goodness [0,1] 0.9996531842025405 Centerline is valid? [True, True] Translation: X:206.79, Y:89.46, Z:8.26 [[ 7.48276779e-01 6.63311451e-01 -9.98906993e-03 2.06792875e+02] [-6.63247582e-01 7.48343403e-01 9.20851628e-03 8.94644007e+01] [ 1.35833689e-02 -2.65292419e-04 9.99907707e-01 8.26132129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.892755096 meters Centerline goodness [0,1] 0.9995451394905562 Centerline is valid? [True, True] Translation: X:206.81, Y:89.44, Z:8.26 [[ 7.48157506e-01 6.63441770e-01 -1.02647580e-02 2.06814426e+02] [-6.63374333e-01 7.48227870e-01 9.46301838e-03 8.94429658e+01] [ 1.39585397e-02 -2.70451251e-04 9.99902538e-01 8.26138871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9227550960001 meters Centerline goodness [0,1] 0.9995667338229242 Centerline is valid? [True, True] Translation: X:206.83, Y:89.42, Z:8.26 [[ 7.47836580e-01 6.63800028e-01 -1.04867840e-02 2.06834949e+02] [-6.63729678e-01 7.47910055e-01 9.66764437e-03 8.94234678e+01] [ 1.42605538e-02 -2.69428305e-04 9.99898277e-01 8.26151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.952755096 meters Centerline goodness [0,1] 0.9994575005967493 Centerline is valid? [True, True] Translation: X:206.86, Y:89.41, Z:8.26 [[ 7.46073635e-01 6.65782734e-01 -1.03674315e-02 2.06858041e+02] [-6.65714178e-01 7.46145629e-01 9.55683735e-03 8.94051977e+01] [ 1.40983910e-02 -2.28358207e-04 9.99900587e-01 8.26106220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters Centerline goodness [0,1] 0.9995438550762413 Centerline is valid? [True, True] Translation: X:206.88, Y:89.39, Z:8.26 [[ 7.44963045e-01 6.67021392e-01 -1.06077161e-02 2.06880274e+02] [-6.66949764e-01 7.45038535e-01 9.77716841e-03 8.93867882e+01] [ 1.44247377e-02 -2.08815418e-04 9.99895936e-01 8.26088784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.012755096 meters Centerline goodness [0,1] 0.9996961277999653 Centerline is valid? [True, True] Translation: X:206.90, Y:89.37, Z:8.26 [[ 7.43830514e-01 6.68275788e-01 -1.11192688e-02 2.06901987e+02] [-6.68197248e-01 7.43913594e-01 1.02470582e-02 8.93682264e+01] [ 1.51196361e-02 -1.92209754e-04 9.99885673e-01 8.26051671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0427550960001 meters Centerline goodness [0,1] 0.9995673336938886 Centerline is valid? [True, True] Translation: X:206.92, Y:89.35, Z:8.26 [[ 7.42032282e-01 6.70255236e-01 -1.20835169e-02 2.06924885e+02] [-6.70162775e-01 7.42130643e-01 1.11338781e-02 8.93502538e+01] [ 1.64300883e-02 -1.63773736e-04 9.99865004e-01 8.25972687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.072755096 meters Centerline goodness [0,1] 0.9995872615892601 Centerline is valid? [True, True] Translation: X:206.95, Y:89.33, Z:8.26 [[ 7.41241135e-01 6.71122051e-01 -1.25208564e-02 2.06946981e+02] [-6.71022930e-01 7.41346862e-01 1.15350200e-02 8.93316792e+01] [ 1.70237039e-02 -1.48449617e-04 9.99855075e-01 8.25980473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.102755096 meters Centerline goodness [0,1] 0.999566968345386 Centerline is valid? [True, True] Translation: X:206.97, Y:89.31, Z:8.26 [[ 7.40068345e-01 6.72410329e-01 -1.27747516e-02 2.06969074e+02] [-6.72307374e-01 7.40178584e-01 1.17668694e-02 8.93144260e+01] [ 1.73677620e-02 -1.19727856e-04 9.99849162e-01 8.25948957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.132755096 meters Centerline goodness [0,1] 0.999588174093983 Centerline is valid? [True, True] Translation: X:206.99, Y:89.30, Z:8.26 [[ 7.40007629e-01 6.72480564e-01 -1.25936961e-02 2.06990881e+02] [-6.72380561e-01 7.40114774e-01 1.15975238e-02 8.92964146e+01] [ 1.71198899e-02 -1.14499603e-04 9.99853437e-01 8.25987529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters Centerline goodness [0,1] 0.9996539268487876 Centerline is valid? [True, True] Translation: X:207.01, Y:89.28, Z:8.26 [[ 7.40122936e-01 6.72362406e-01 -1.21175882e-02 2.07012089e+02] [-6.72269847e-01 7.40222118e-01 1.11565796e-02 8.92785928e+01] [ 1.64709715e-02 -1.10951245e-04 9.99864338e-01 8.26113457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.192755096 meters Centerline goodness [0,1] 0.9996748037982917 Centerline is valid? [True, True] Translation: X:207.03, Y:89.26, Z:8.26 [[ 7.40045799e-01 6.72463298e-01 -1.11950196e-02 2.07033682e+02] [-6.72384341e-01 7.40130464e-01 1.03050720e-02 8.92599458e+01] [ 1.52155578e-02 -9.88693763e-05 9.99884232e-01 8.26241309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.222755096 meters Centerline goodness [0,1] 0.999587897191194 Centerline is valid? [True, True] Translation: X:207.05, Y:89.24, Z:8.26 [[ 7.41087955e-01 6.71328935e-01 -1.03006517e-02 2.07053874e+02] [-6.71262000e-01 7.41159530e-01 9.48043274e-03 8.92400287e+01] [ 1.39989150e-02 -1.11398473e-04 9.99902004e-01 8.26478616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.252755096 meters Centerline goodness [0,1] 0.9995675114609462 Centerline is valid? [True, True] Translation: X:207.07, Y:89.22, Z:8.27 [[ 7.41787385e-01 6.70560639e-01 -9.99523753e-03 2.07073205e+02] [-6.70497568e-01 7.41854713e-01 9.19762398e-03 8.92205239e+01] [ 1.35825787e-02 -1.20898995e-04 9.99907745e-01 8.26575316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters Centerline goodness [0,1] 0.999588281182283 Centerline is valid? [True, True] Translation: X:207.09, Y:89.20, Z:8.27 [[ 7.43229389e-01 6.68968263e-01 -9.56761353e-03 2.07093062e+02] [-6.68910362e-01 7.43290955e-01 8.80251632e-03 8.91992868e+01] [ 1.30001246e-02 -1.42412994e-04 9.99915485e-01 8.26686772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.312755096 meters Centerline goodness [0,1] 0.9998698622709034 Centerline is valid? [True, True] Translation: X:207.11, Y:89.18, Z:8.27 [[ 7.43778526e-01 6.68362811e-01 -9.20097666e-03 2.07113936e+02] [-6.68309232e-01 7.43835420e-01 8.46397321e-03 8.91793938e+01] [ 1.25010173e-02 -1.46223870e-04 9.99921849e-01 8.26769264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.342755096 meters Centerline goodness [0,1] 0.9997395607257574 Centerline is valid? [True, True] Translation: X:207.13, Y:89.16, Z:8.27 [[ 7.44666092e-01 6.67370419e-01 -9.44110052e-03 2.07134584e+02] [-6.67313944e-01 7.44725920e-01 8.68352352e-03 8.91593901e+01] [ 1.28261590e-02 -1.66147498e-04 9.99917728e-01 8.26551457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.372755096 meters Centerline goodness [0,1] 0.9998918076773272 Centerline is valid? [True, True] Translation: X:207.15, Y:89.14, Z:8.27 [[ 7.45969418e-01 6.65926050e-01 -8.49257039e-03 2.07154695e+02] [-6.65880271e-01 7.46017739e-01 7.81009848e-03 8.91395843e+01] [ 1.15365562e-02 -1.71059547e-04 9.99933437e-01 8.26906231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters Centerline goodness [0,1] 0.9999134161652019 Centerline is valid? [True, True] Translation: X:207.18, Y:89.12, Z:8.27 [[ 7.46722546e-01 6.65083991e-01 -8.29008641e-03 2.07175696e+02] [-6.65040333e-01 7.46768541e-01 7.62244305e-03 8.91193174e+01] [ 1.12603406e-02 -1.78608250e-04 9.99936584e-01 8.26922052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.432755096 meters Centerline goodness [0,1] 0.9999783179029076 Centerline is valid? [True, True] Translation: X:207.19, Y:89.10, Z:8.27 [[ 7.47998548e-01 6.63641247e-01 -8.85817960e-03 2.07194757e+02] [-6.63591315e-01 7.48050968e-01 8.14351483e-03 8.90989423e+01] [ 1.20307422e-02 -2.13126227e-04 9.99927605e-01 8.26932527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.462755096 meters Centerline goodness [0,1] 0.999912928013235 Centerline is valid? [True, True] Translation: X:207.22, Y:89.08, Z:8.27 [[ 7.48552240e-01 6.63014891e-01 -8.98876096e-03 2.07215530e+02] [-6.62963450e-01 7.48606174e-01 8.26199308e-03 8.90792258e+01] [ 1.22068664e-02 -2.25313446e-04 9.99925468e-01 8.26948850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.492755096 meters Centerline goodness [0,1] 0.9999347159053816 Centerline is valid? [True, True] Translation: X:207.24, Y:89.06, Z:8.27 [[ 7.48431690e-01 6.63147217e-01 -9.26144611e-03 2.07241519e+02] [-6.63092637e-01 7.48488956e-01 8.51104557e-03 8.90585392e+01] [ 1.25761663e-02 -2.28739502e-04 9.99920891e-01 8.26941108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters Centerline goodness [0,1] 0.999934905721787 Centerline is valid? [True, True] Translation: X:207.26, Y:89.03, Z:8.27 [[ 7.48364752e-01 6.63211180e-01 -1.00562595e-02 2.07262508e+02] [-6.63146750e-01 7.48432273e-01 9.24777274e-03 8.90345192e+01] [ 1.36596555e-02 -2.51931327e-04 9.99906671e-01 8.26880863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.552755096 meters Centerline goodness [0,1] 0.9999564630589055 Centerline is valid? [True, True] Translation: X:207.28, Y:89.02, Z:8.27 [[ 7.48371482e-01 6.63199747e-01 -1.03063133e-02 2.07284112e+02] [-6.63131998e-01 7.48442400e-01 9.48297689e-03 8.90159531e+01] [ 1.40027898e-02 -2.62343330e-04 9.99901922e-01 8.26835416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.582755096 meters Centerline goodness [0,1] 0.9998913067107237 Centerline is valid? [True, True] Translation: X:207.31, Y:89.00, Z:8.27 [[ 7.47781306e-01 6.63856762e-01 -1.08313027e-02 2.07310527e+02] [-6.63782025e-01 7.47859700e-01 9.96458415e-03 8.89972302e+01] [ 1.47153514e-02 -2.61705723e-04 9.99891689e-01 8.26774730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.612755096 meters Centerline goodness [0,1] 0.9999783160222911 Centerline is valid? [True, True] Translation: X:207.33, Y:88.97, Z:8.27 [[ 7.47301820e-01 6.64388595e-01 -1.13042431e-02 2.07330957e+02] [-6.64307158e-01 7.47387265e-01 1.04055798e-02 8.89739585e+01] [ 1.53619959e-02 -2.66619160e-04 9.99881962e-01 8.26727487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters Centerline goodness [0,1] 0.9999348350240024 Centerline is valid? [True, True] Translation: X:207.36, Y:88.96, Z:8.27 [[ 7.46640563e-01 6.65133454e-01 -1.11963386e-02 2.07355930e+02] [-6.65053583e-01 7.46724464e-01 1.03105386e-02 8.89586615e+01] [ 1.52184641e-02 -2.52101219e-04 9.99884161e-01 8.26732969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6727550960001 meters Centerline goodness [0,1] 0.999934973447491 Centerline is valid? [True, True] Translation: X:207.38, Y:88.94, Z:8.27 [[ 7.46468720e-01 6.65323455e-01 -1.13644615e-02 2.07378045e+02] [-6.65241214e-01 7.46555181e-01 1.04637201e-02 8.89394210e+01] [ 1.54459560e-02 -2.50731605e-04 9.99880673e-01 8.26729767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.702755096 meters Centerline goodness [0,1] 0.9999347542409743 Centerline is valid? [True, True] Translation: X:207.40, Y:88.92, Z:8.27 [[ 7.46286035e-01 6.65522727e-01 -1.16898920e-02 2.07401376e+02] [-6.65435756e-01 7.46377543e-01 1.07619301e-02 8.89191702e+01] [ 1.58873820e-02 -2.52606055e-04 9.99873756e-01 8.26744797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.732755096 meters Centerline goodness [0,1] 0.999913026461699 Centerline is valid? [True, True] Translation: X:207.42, Y:88.90, Z:8.27 [[ 7.46246936e-01 6.65566981e-01 -1.16663776e-02 2.07422364e+02] [-6.65480371e-01 7.46338081e-01 1.07398807e-02 8.89002888e+01] [ 1.58551719e-02 -2.50857753e-04 9.99874267e-01 8.26716866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters Centerline goodness [0,1] 0.999978309908034 Centerline is valid? [True, True] Translation: X:207.44, Y:88.88, Z:8.27 [[ 7.46331995e-01 6.65465180e-01 -1.20269596e-02 2.07443019e+02] [-6.65373159e-01 7.46428850e-01 1.10693749e-02 8.88808875e+01] [ 1.63435532e-02 -2.59012566e-04 9.99866402e-01 8.26725799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7927550960001 meters Centerline goodness [0,1] 0.9999566461458423 Centerline is valid? [True, True] Translation: X:207.46, Y:88.86, Z:8.27 [[ 7.46529627e-01 6.65245460e-01 -1.19161531e-02 2.07464083e+02] [-6.65155132e-01 7.46624679e-01 1.09653877e-02 8.88617753e+01] [ 1.61915684e-02 -2.59896407e-04 9.99868874e-01 8.26753910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.822755096 meters Centerline goodness [0,1] 0.9999349551190322 Centerline is valid? [True, True] Translation: X:207.48, Y:88.84, Z:8.27 [[ 7.47097872e-01 6.64606401e-01 -1.19625365e-02 2.07484604e+02] [-6.64515317e-01 7.47193588e-01 1.10061463e-02 8.88425411e+01] [ 1.62530858e-02 -2.73379742e-04 9.99867873e-01 8.26743513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.852755096 meters Centerline goodness [0,1] 0.9999567108937036 Centerline is valid? [True, True] Translation: X:207.51, Y:88.82, Z:8.27 [[ 7.47606807e-01 6.64029409e-01 -1.22067872e-02 2.07505996e+02] [-6.63934538e-01 7.47706399e-01 1.12280881e-02 8.88231174e+01] [ 1.65828735e-02 -2.89687474e-04 9.99862453e-01 8.26737497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.53, Y:88.80, Z:8.27 [[ 7.48551234e-01 6.62959156e-01 -1.24983461e-02 2.07530230e+02] [-6.62859547e-01 7.48655498e-01 1.14963437e-02 8.88025844e+01] [ 1.69785618e-02 -3.20954234e-04 9.99855802e-01 8.26737941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.55, Y:88.78, Z:8.27 [[ 7.49017421e-01 6.62427966e-01 -1.27315576e-02 2.07550196e+02] [-6.62324415e-01 7.49125538e-01 1.17174270e-02 8.87788383e+01] [ 1.72994863e-02 -3.44135461e-04 9.99850293e-01 8.26716796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.57, Y:88.76, Z:8.27 [[ 7.49708419e-01 6.61640418e-01 -1.30094068e-02 2.07570700e+02] [-6.61532105e-01 7.49821191e-01 1.19773153e-02 8.87591893e+01] [ 1.76794048e-02 -3.73353882e-04 9.99843637e-01 8.26717112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.59, Y:88.74, Z:8.27 [[ 7.50208352e-01 6.61070150e-01 -1.31790300e-02 2.07594111e+02] [-6.60958935e-01 7.50324000e-01 1.21318353e-02 8.87402839e+01] [ 1.79085367e-02 -3.90606512e-04 9.99839553e-01 8.26804413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.61, Y:88.72, Z:8.27 [[ 7.51327328e-01 6.59786407e-01 -1.37529526e-02 2.07612553e+02] [-6.59665082e-01 7.51453062e-01 1.26600091e-02 8.87163577e+01] [ 1.86876003e-02 -4.39468239e-04 9.99825275e-01 8.26688293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.64, Y:88.70, Z:8.27 [[ 7.51736619e-01 6.59320526e-01 -1.37295067e-02 2.07638278e+02] [-6.59199505e-01 7.51861849e-01 1.26401200e-02 8.86963725e+01] [ 1.86565829e-02 -4.51557082e-04 9.99825849e-01 8.26825646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.66, Y:88.67, Z:8.27 [[ 7.51974806e-01 6.59048256e-01 -1.37581715e-02 2.07656989e+02] [-6.58926556e-01 7.52100512e-01 1.26733296e-02 8.86713579e+01] [ 1.86998636e-02 -4.64400015e-04 9.99825034e-01 8.26791097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.68, Y:88.65, Z:8.27 [[ 7.52501688e-01 6.58443350e-01 -1.39127533e-02 2.07683160e+02] [-6.58318669e-01 7.52630131e-01 1.28224367e-02 8.86529303e+01] [ 1.89140055e-02 -4.89880040e-04 9.99820994e-01 8.26933602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.71, Y:88.63, Z:8.27 [[ 7.52588016e-01 6.58343048e-01 -1.39896034e-02 2.07707346e+02] [-6.58216827e-01 7.52717862e-01 1.29006988e-02 8.86308823e+01] [ 1.90233097e-02 -5.00718919e-04 9.99818915e-01 8.26968433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:88.61, Z:8.27 [[ 7.52657817e-01 6.58276301e-01 -1.33612213e-02 2.07728627e+02] [-6.58161055e-01 7.52776246e-01 1.23267630e-02 8.86103741e+01] [ 1.81724259e-02 -4.83999046e-04 9.99834751e-01 8.27092801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.75, Y:88.59, Z:8.27 [[ 7.52627137e-01 6.58315153e-01 -1.31739581e-02 2.07748951e+02] [-6.58203124e-01 7.52742275e-01 1.21537735e-02 8.85911253e+01] [ 1.79176084e-02 -4.76119356e-04 9.99839353e-01 8.27181691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:88.57, Z:8.27 [[ 7.52677027e-01 6.58258088e-01 -1.31750533e-02 2.07769855e+02] [-6.58146072e-01 7.52792178e-01 1.21525861e-02 8.85719589e+01] [ 1.79176152e-02 -4.75862801e-04 9.99839353e-01 8.27219047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:88.55, Z:8.27 [[ 7.52364169e-01 6.58630518e-01 -1.24096215e-02 2.07794532e+02] [-6.58531189e-01 7.52466376e-01 1.14466541e-02 8.85508681e+01] [ 1.68769387e-02 -4.39929624e-04 9.99857478e-01 8.27381437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:88.53, Z:8.27 [[ 7.51919873e-01 6.59142440e-01 -1.21551698e-02 2.07818121e+02] [-6.59047110e-01 7.52017994e-01 1.12180069e-02 8.85288333e+01] [ 1.65351708e-02 -4.24212796e-04 9.99863195e-01 8.27445419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.84, Y:88.51, Z:8.27 [[ 7.51506456e-01 6.59616256e-01 -1.20183642e-02 2.07841690e+02] [-6.59523038e-01 7.51602438e-01 1.10967598e-02 8.85078372e+01] [ 1.63526350e-02 -4.12898621e-04 9.99866201e-01 8.27464509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.86, Y:88.49, Z:8.27 [[ 7.50622318e-01 6.60617682e-01 -1.22643392e-02 2.07864936e+02] [-6.60520730e-01 7.50722398e-01 1.13245861e-02 8.84875081e+01] [ 1.66883359e-02 -3.99636833e-04 9.99860660e-01 8.27479087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.89, Y:88.47, Z:8.27 [[ 7.48670279e-01 6.62826097e-01 -1.24249262e-02 2.07887337e+02] [-6.62726901e-01 7.48773289e-01 1.14723799e-02 8.84704581e+01] [ 1.69076456e-02 -3.54697022e-04 9.99856993e-01 8.27458584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.91, Y:88.45, Z:8.28 [[ 7.47596864e-01 6.64040439e-01 -1.22157502e-02 2.07909857e+02] [-6.63944750e-01 7.47696592e-01 1.12771863e-02 8.84517780e+01] [ 1.66221826e-02 -3.20205934e-04 9.99861791e-01 8.27525435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:88.43, Z:8.28 [[ 7.45438775e-01 6.66470587e-01 -1.17468842e-02 2.07933845e+02] [-6.66382431e-01 7.45531281e-01 1.08427424e-02 8.84347826e+01] [ 1.59840385e-02 -2.54683385e-04 9.99872215e-01 8.27550244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:88.42, Z:8.28 [[ 7.44543539e-01 6.67465213e-01 -1.20460946e-02 2.07956415e+02] [-6.67372666e-01 7.44640943e-01 1.11171767e-02 8.84170241e+01] [ 1.63903439e-02 -2.37987819e-04 9.99865641e-01 8.27592712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.98, Y:88.40, Z:8.28 [[ 7.43768140e-01 6.68322498e-01 -1.24093936e-02 2.07977262e+02] [-6.68224435e-01 7.43871621e-01 1.14506204e-02 8.83978441e+01] [ 1.68837029e-02 -2.24346582e-04 9.99857435e-01 8.27569954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.00, Y:88.38, Z:8.28 [[ 7.43465810e-01 6.68658534e-01 -1.24239837e-02 2.07998904e+02] [-6.68560316e-01 7.43569579e-01 1.14623095e-02 8.83786465e+01] [ 1.69024674e-02 -2.15652763e-04 9.99857120e-01 8.27589913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:88.36, Z:8.28 [[ 7.43466616e-01 6.68655759e-01 -1.25246165e-02 2.08018482e+02] [-6.68555978e-01 7.43572074e-01 1.15531260e-02 8.83599105e+01] [ 1.70380193e-02 -2.15956251e-04 9.99854819e-01 8.27596273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.04, Y:88.34, Z:8.28 [[ 7.43944659e-01 6.68124048e-01 -1.25140074e-02 2.08040178e+02] [-6.68024407e-01 7.44049868e-01 1.15406157e-02 8.83404645e+01] [ 1.70216084e-02 -2.25916990e-04 9.99855096e-01 8.27718873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.06, Y:88.32, Z:8.28 [[ 7.45029920e-01 6.66921073e-01 -1.21119854e-02 2.08058837e+02] [-6.66827603e-01 7.45128326e-01 1.11680888e-02 8.83198877e+01] [ 1.64732172e-02 -2.43954136e-04 9.99864278e-01 8.27780062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:88.30, Z:8.28 [[ 7.45733917e-01 6.66137029e-01 -1.19324249e-02 2.08078584e+02] [-6.66046243e-01 7.45829332e-01 1.10004326e-02 8.83000681e+01] [ 1.62273480e-02 -2.55848867e-04 9.99868295e-01 8.27861683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.10, Y:88.28, Z:8.28 [[ 7.46368839e-01 6.65426003e-01 -1.19076235e-02 2.08099693e+02] [-6.65335535e-01 7.46463772e-01 1.09755585e-02 8.82808730e+01] [ 1.61920316e-02 -2.69249772e-04 9.99868864e-01 8.27933504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.12, Y:88.26, Z:8.28 [[ 7.47321430e-01 6.64356599e-01 -1.18738825e-02 2.08118622e+02] [-6.64266538e-01 7.47415697e-01 1.09426759e-02 8.82601369e+01] [ 1.61445651e-02 -2.90273433e-04 9.99869626e-01 8.27944434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.14, Y:88.24, Z:8.28 [[ 7.47827327e-01 6.63788965e-01 -1.17685209e-02 2.08140006e+02] [-6.63700457e-01 7.47919862e-01 1.08435692e-02 8.82402827e+01] [ 1.59997521e-02 -2.98344698e-04 9.99871951e-01 8.27962901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:88.22, Z:8.28 [[ 7.48109613e-01 6.63471389e-01 -1.17355272e-02 2.08160106e+02] [-6.63383365e-01 7.48201593e-01 1.08114459e-02 8.82208025e+01] [ 1.59536252e-02 -3.02993133e-04 9.99872687e-01 8.27981419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:88.20, Z:8.28 [[ 7.48161881e-01 6.63413976e-01 -1.16489068e-02 2.08179694e+02] [-6.63327273e-01 7.48252502e-01 1.07294874e-02 8.82021272e+01] [ 1.58344156e-02 -3.00355864e-04 9.99874583e-01 8.28029345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:88.18, Z:8.28 [[ 7.47884556e-01 6.63727019e-01 -1.16248218e-02 2.08201094e+02] [-6.63640753e-01 7.47974839e-01 1.07046880e-02 8.81827086e+01] [ 1.58000648e-02 -2.91165309e-04 9.99875129e-01 8.28085209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:88.16, Z:8.28 [[ 7.47461113e-01 6.64209543e-01 -1.12946344e-02 2.08222707e+02] [-6.64128187e-01 7.47546393e-01 1.03991141e-02 8.81635853e+01] [ 1.53504540e-02 -2.71848279e-04 9.99882138e-01 8.28129709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:88.15, Z:8.28 [[ 7.46069224e-01 6.65779043e-01 -1.09077736e-02 2.08244271e+02] [-6.65703354e-01 7.46148922e-01 1.00414328e-02 8.81464946e+01] [ 1.48241990e-02 -2.30262509e-04 9.99890089e-01 8.28222169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.27, Y:88.13, Z:8.28 [[ 7.45457900e-01 6.66464827e-01 -1.08237450e-02 2.08265417e+02] [-6.66390400e-01 7.45536444e-01 9.96224770e-03 8.81285153e+01] [ 1.47089840e-02 -2.13596499e-04 9.99891794e-01 8.28298663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:88.11, Z:8.28 [[ 7.44110607e-01 6.67981712e-01 -9.99182386e-03 2.08288683e+02] [-6.67918446e-01 7.44177670e-01 9.19490140e-03 8.81104426e+01] [ 1.35777182e-02 -1.68300202e-04 9.99907804e-01 8.28478513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:88.09, Z:8.29 [[ 7.43598554e-01 6.68555394e-01 -9.74039402e-03 2.08309438e+02] [-6.68495375e-01 7.43662331e-01 8.95939698e-03 8.80922161e+01] [ 1.32334173e-02 -1.50786285e-04 9.99912423e-01 8.28539420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:88.07, Z:8.29 [[ 7.42866379e-01 6.69367227e-01 -9.85184795e-03 2.08334885e+02] [-6.69305919e-01 7.42931690e-01 9.06037143e-03 8.80719137e+01] [ 1.33839657e-02 -1.36745166e-04 9.99910421e-01 8.28581187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:88.05, Z:8.29 [[ 7.42055434e-01 6.70262006e-01 -1.01279828e-02 2.08355698e+02] [-6.70197214e-01 7.42124536e-01 9.32029478e-03 8.80499563e+01] [ 1.37632640e-02 -1.28429521e-04 9.99905274e-01 8.28617423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.38, Y:88.03, Z:8.29 [[ 7.41946972e-01 6.70379758e-01 -1.02796034e-02 2.08378289e+02] [-6.70313019e-01 7.42018169e-01 9.46010409e-03 8.80317957e+01] [ 1.39695148e-02 -1.28343611e-04 9.99902413e-01 8.28705758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.40, Y:88.01, Z:8.29 [[ 7.42100628e-01 6.70215526e-01 -9.88969800e-03 2.08397833e+02] [-6.70153758e-01 7.42166513e-01 9.09989203e-03 8.80114929e+01] [ 1.34386916e-02 -1.25417314e-04 9.99909689e-01 8.28794549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:87.99, Z:8.29 [[ 7.42266360e-01 6.70033925e-01 -9.75661432e-03 2.08417927e+02] [-6.69973815e-01 7.42330468e-01 8.97569905e-03 8.79931749e+01] [ 1.32566549e-02 -1.25683345e-04 9.99912119e-01 8.28910325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.44, Y:87.98, Z:8.29 [[ 7.42441396e-01 6.69840230e-01 -9.73857849e-03 2.08439713e+02] [-6.69780354e-01 7.42505253e-01 8.95692936e-03 8.79761759e+01] [ 1.32306573e-02 -1.27286589e-04 9.99912463e-01 8.28987314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.46, Y:87.96, Z:8.29 [[ 7.42707008e-01 6.69556065e-01 -8.99874607e-03 2.08458516e+02] [-6.69504941e-01 7.42761511e-01 8.27480218e-03 8.79562445e+01] [ 1.22243662e-02 -1.21048610e-04 9.99925272e-01 8.29189946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:88.41, Z:9.46 [[ 7.80677847e-01 -6.24845735e-01 1.04836468e-02 2.08862876e+02] [-6.24773669e-01 -7.80747728e-01 -9.53142626e-03 8.84135291e+01] [ 1.41407544e-02 8.91066863e-04 -9.99899618e-01 9.45599095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:88.42, Z:9.46 [[ 8.26869733e-01 -5.62274132e-01 1.15864177e-02 2.08877273e+02] [-5.62203801e-01 -8.26950443e-01 -8.93600591e-03 8.84178148e+01] [ 1.46058782e-02 8.74984782e-04 -9.99892946e-01 9.45600481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:88.43, Z:9.46 [[ 8.67801235e-01 -4.96749009e-01 1.27058739e-02 2.08892505e+02] [-4.96681166e-01 -8.67893828e-01 -8.25366755e-03 8.84265447e+01] [ 1.51273507e-02 8.51774627e-04 -9.99885212e-01 9.45593962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:88.44, Z:9.46 [[ 9.03860305e-01 -4.27633713e-01 1.28823922e-02 2.08908006e+02] [-4.27576703e-01 -9.03951705e-01 -7.03399764e-03 8.84376096e+01] [ 1.46530349e-02 8.49540454e-04 -9.99892278e-01 9.45639126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:88.45, Z:9.46 [[ 9.33847372e-01 -3.57394829e-01 1.40720513e-02 2.08923524e+02] [-3.57341065e-01 -9.33953040e-01 -6.25158879e-03 8.84509462e+01] [ 1.53769206e-02 8.09507950e-04 -9.99881440e-01 9.45597811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:88.47, Z:9.46 [[ 9.58610624e-01 -2.84353440e-01 1.44496422e-02 2.08937522e+02] [-2.84308617e-01 -9.58719196e-01 -5.11016112e-03 8.84652762e+01] [ 1.53062412e-02 7.90496949e-04 -9.99882540e-01 9.45598323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:88.48, Z:9.46 [[ 9.77666893e-01 -2.09660812e-01 1.44841243e-02 2.08950892e+02] [-2.09626001e-01 -9.77773871e-01 -3.89826604e-03 8.84798526e+01] [ 1.49795119e-02 7.74956605e-04 -9.99887501e-01 9.45631650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:88.49, Z:9.46 [[ 9.90841086e-01 -1.34231273e-01 1.46938050e-02 2.08960259e+02] [-1.34205295e-01 -9.90949750e-01 -2.74440802e-03 8.84930877e+01] [ 1.49292078e-02 7.47285787e-04 -9.99888274e-01 9.45701512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:88.51, Z:9.46 [[ 9.98284196e-01 -5.67668081e-02 1.43594086e-02 2.08967024e+02] [-5.67501878e-02 -9.98387187e-01 -1.56261901e-03 8.85077624e+01] [ 1.44249545e-02 7.45038727e-04 -9.99895677e-01 9.45728244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:88.53, Z:9.46 [[ 9.99676474e-01 2.09930097e-02 1.43611067e-02 2.08971915e+02] [ 2.10014002e-02 -9.99779352e-01 -4.33678491e-04 8.85254068e+01] [ 1.43488337e-02 7.35141534e-04 -9.99896780e-01 9.45790691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.54, Z:9.46 [[ 9.95063133e-01 9.83260327e-02 1.34667551e-02 2.08976039e+02] [ 9.83270176e-02 -9.95153983e-01 5.90554000e-04 8.85424878e+01] [ 1.34595618e-02 7.36507353e-04 -9.99909145e-01 9.45892628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.55, Z:9.46 [[ 9.84420965e-01 1.75313585e-01 1.34354334e-02 2.08980290e+02] [ 1.75307250e-01 -9.84512378e-01 1.65699244e-03 8.85546780e+01] [ 1.35178438e-02 7.24150795e-04 -9.99908368e-01 9.45958344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.57, Z:9.46 [[ 9.67723787e-01 2.51724646e-01 1.20571358e-02 2.08982015e+02] [ 2.51714622e-01 -9.67798609e-01 2.36659636e-03 8.85687476e+01] [ 1.22646099e-02 7.44745798e-04 -9.99924510e-01 9.46108925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.58, Z:9.46 [[ 9.44934718e-01 3.27063631e-01 1.13030695e-02 2.08984361e+02] [ 3.27049716e-01 -9.45002015e-01 3.11057222e-03 8.85814675e+01] [ 1.16987785e-02 7.57377980e-04 -9.99931280e-01 9.46189519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:88.59, Z:9.46 [[ 9.16260520e-01 4.00441620e-01 1.06380857e-02 2.08986292e+02] [ 4.00424210e-01 -9.16321953e-01 3.81200592e-03 8.85929761e+01] [ 1.12743972e-02 7.66956520e-04 -9.99936148e-01 9.46289305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.61, Z:9.46 [[ 8.81812468e-01 4.71492467e-01 1.00808789e-02 2.08984500e+02] [ 4.71471532e-01 -8.81869748e-01 4.51032212e-03 8.86082865e+01] [ 1.10166050e-02 7.75589143e-04 -9.99939015e-01 9.46389274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:88.62, Z:9.46 [[ 8.41652418e-01 5.39927067e-01 9.99848458e-03 2.08986450e+02] [ 5.39899700e-01 -8.41711447e-01 5.49129228e-03 8.86178107e+01] [ 1.13807363e-02 7.76419398e-04 -9.99934936e-01 9.46375750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.63, Z:9.46 [[ 7.96656312e-01 6.04358290e-01 9.47514789e-03 2.08983236e+02] [ 6.04326859e-01 -7.96712278e-01 6.21243647e-03 8.86327435e+01] [ 1.13035041e-02 7.76909641e-04 -9.99935812e-01 9.46378023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.65, Z:9.46 [[ 7.46955972e-01 6.64812349e-01 9.01750593e-03 2.08979213e+02] [ 6.64776024e-01 -7.47010003e-01 6.99234789e-03 8.86478403e+01] [ 1.13847664e-02 7.71645724e-04 -9.99934894e-01 9.46394628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:88.66, Z:9.46 [[ 6.93242875e-01 7.20659771e-01 7.98813663e-03 2.08978251e+02] [ 7.20624299e-01 -6.93288468e-01 7.19168371e-03 8.86580386e+01] [ 1.07208401e-02 7.70861868e-04 -9.99942233e-01 9.46468546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:88.67, Z:9.47 [[ 6.35176504e-01 7.72333207e-01 7.22673850e-03 2.08973036e+02] [ 7.72296391e-01 -6.35217152e-01 7.57989945e-03 8.86697168e+01] [ 1.04447563e-02 7.66610030e-04 -9.99945158e-01 9.46537408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:88.68, Z:9.47 [[ 5.74096089e-01 8.18761172e-01 6.62002317e-03 2.08969264e+02] [ 8.18721030e-01 -5.74133772e-01 8.14171777e-03 8.86808303e+01] [ 1.04669012e-02 7.45823858e-04 -9.99944942e-01 9.46609703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:88.69, Z:9.47 [[ 5.09034496e-01 8.60726176e-01 5.85929373e-03 2.08962967e+02] [ 8.60684923e-01 -5.09067683e-01 8.45915374e-03 8.86921366e+01] [ 1.02637921e-02 7.37004711e-04 -9.99947054e-01 9.46694398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:88.70, Z:9.47 [[ 4.40811964e-01 8.97585121e-01 5.07576685e-03 2.08954153e+02] [ 8.97543487e-01 -4.40840579e-01 8.67599842e-03 8.87032581e+01] [ 1.00250511e-02 7.31237581e-04 -9.99949481e-01 9.46770735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:88.71, Z:9.47 [[ 3.69966275e-01 9.29035855e-01 4.16345827e-03 2.08942610e+02] [ 9.28997533e-01 -3.69988973e-01 8.47013696e-03 8.87137997e+01] [ 9.40949459e-03 7.34177443e-04 -9.99955460e-01 9.46871662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:88.72, Z:9.47 [[ 2.98178261e-01 9.54504231e-01 3.37614776e-03 2.08935253e+02] [ 9.54467628e-01 -2.98196503e-01 8.38999388e-03 8.87224691e+01] [ 9.01504011e-03 7.20709958e-04 -9.99959104e-01 9.47006286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:88.73, Z:9.47 [[ 2.23700156e-01 9.74654534e-01 2.60383947e-03 2.08925099e+02] [ 9.74620969e-01 -2.23714147e-01 8.12083520e-03 8.87313061e+01] [ 8.49752457e-03 7.21124447e-04 -9.99963635e-01 9.47085656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:88.74, Z:9.47 [[ 1.49067154e-01 9.88825060e-01 1.99636928e-03 2.08912922e+02] [ 9.88787643e-01 -1.49078935e-01 8.62949896e-03 8.87390122e+01] [ 8.83068143e-03 6.87610432e-04 -9.99960772e-01 9.47166794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:88.75, Z:9.47 [[ 7.21764269e-02 9.97391028e-01 1.30377035e-03 2.08901814e+02] [ 9.97354362e-01 -7.21849883e-02 8.57933366e-03 8.87462342e+01] [ 8.65106307e-03 6.81095398e-04 -9.99962347e-01 9.47200412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.76, Z:8.30 [[ 8.32475727e-03 -9.99965187e-01 -5.68231111e-04 2.09424305e+02] [ 9.99870668e-01 8.33178726e-03 -1.37560170e-02 8.87648512e+01] [ 1.37602725e-02 -4.53642118e-04 9.99905220e-01 8.29787993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:88.79, Z:8.30 [[ 7.91168607e-03 -9.99968544e-01 -5.62938421e-04 2.09425029e+02] [ 9.99874022e-01 7.91868238e-03 -1.37562337e-02 8.87907783e+01] [ 1.37602587e-02 -4.54032501e-04 9.99905220e-01 8.29819152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.82, Z:8.30 [[ 6.98570296e-03 -9.99975473e-01 -5.04152161e-04 2.09419004e+02] [ 9.99898254e-01 6.99143224e-03 -1.24338673e-02 8.88175159e+01] [ 1.24370870e-02 -4.17241562e-04 9.99922569e-01 8.29994513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.84, Z:8.30 [[ 6.29375230e-03 -9.99980084e-01 -4.69812286e-04 2.09419394e+02] [ 9.99911666e-01 6.29882050e-03 -1.17040470e-02 8.88448376e+01] [ 1.17067732e-02 -3.96108413e-04 9.99931395e-01 8.30080665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.87, Z:8.30 [[ 6.36959837e-03 -9.99979623e-01 -4.26351439e-04 2.09417571e+02] [ 9.99922390e-01 6.37379783e-03 -1.07046183e-02 8.88703030e+01] [ 1.07071176e-02 -3.58134231e-04 9.99942613e-01 8.30098766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.90, Z:8.30 [[ 7.10377870e-03 -9.99974682e-01 -4.14014451e-04 2.09421176e+02] [ 9.99919579e-01 7.10773582e-03 -1.05031711e-02 8.88964982e+01] [ 1.05058479e-02 -3.39368952e-04 9.99944754e-01 8.30127911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.92, Z:8.30 [[ 8.17003302e-03 -9.99966535e-01 -4.24366883e-04 2.09416482e+02] [ 9.99907627e-01 8.17416014e-03 -1.08591641e-02 8.89242689e+01] [ 1.08622695e-02 -3.35607954e-04 9.99940948e-01 8.30084309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:88.95, Z:8.30 [[ 1.21423899e-02 -9.99926177e-01 -4.50309387e-04 2.09416514e+02] [ 9.99858434e-01 1.21468108e-02 -1.16433051e-02 8.89503447e+01] [ 1.16479154e-02 -3.08868088e-04 9.99932113e-01 8.30025342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:88.98, Z:8.30 [[ 1.44891708e-02 -9.99894927e-01 -4.45349120e-04 2.09412368e+02] [ 9.99827384e-01 1.44933699e-02 -1.16251947e-02 8.89761962e+01] [ 1.16304278e-02 -2.76832814e-04 9.99932326e-01 8.29984310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:89.00, Z:8.30 [[ 1.99673084e-02 -9.99800523e-01 -4.69301944e-04 2.09406861e+02] [ 9.99724146e-01 1.99715848e-02 -1.23599428e-02 8.90040868e+01] [ 1.23668500e-02 -2.22377695e-04 9.99923503e-01 8.29898773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.03, Z:8.30 [[ 2.26177934e-02 -9.99744075e-01 -4.70074968e-04 2.09402537e+02] [ 9.99666120e-01 2.26219006e-02 -1.24859045e-02 8.90319207e+01] [ 1.24933430e-02 -1.87514412e-04 9.99921938e-01 8.29897680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.06, Z:8.30 [[ 2.49954283e-02 -9.99687457e-01 -4.65853538e-04 2.09403245e+02] [ 9.99609544e-01 2.49992967e-02 -1.24818131e-02 8.90576911e+01] [ 1.24895580e-02 -1.53683378e-04 9.99921991e-01 8.29894777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.09, Z:8.30 [[ 2.70521744e-02 -9.99633917e-01 -4.60602303e-04 2.09401035e+02] [ 9.99556565e-01 2.70558112e-02 -1.24360578e-02 8.90854792e+01] [ 1.24439671e-02 -1.23975653e-04 9.99922563e-01 8.29929202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.11, Z:8.30 [[ 2.96518584e-02 -9.99560189e-01 -4.43401349e-04 2.09399800e+02] [ 9.99487219e-01 2.96550515e-02 -1.20779362e-02 8.91128564e+01] [ 1.20857733e-02 -8.50407264e-05 9.99926961e-01 8.29936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.14, Z:8.30 [[ 2.98804648e-02 -9.99553388e-01 -4.26809421e-04 2.09400991e+02] [ 9.99484470e-01 2.98834166e-02 -1.17377699e-02 8.91388476e+01] [ 1.17452822e-02 -7.58593692e-05 9.99931019e-01 8.29936683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:89.16, Z:8.30 [[ 2.90461839e-02 -9.99577993e-01 -3.92979026e-04 2.09404172e+02] [ 9.99518447e-01 2.90487431e-02 -1.09107669e-02 8.91643349e+01] [ 1.09175780e-02 -7.58736432e-05 9.99940399e-01 8.30027954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:89.19, Z:8.30 [[ 2.78450672e-02 -9.99612184e-01 -3.65323550e-04 2.09406789e+02] [ 9.99559619e-01 2.78473495e-02 -1.02515407e-02 8.91906962e+01] [ 1.02577383e-02 -7.97078283e-05 9.99947385e-01 8.30092988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:89.22, Z:8.30 [[ 2.64524179e-02 -9.99650011e-01 -3.54308962e-04 2.09409045e+02] [ 9.99599493e-01 2.64546432e-02 -1.00501982e-02 8.92183473e+01] [ 1.00560538e-02 -8.83150167e-05 9.99949433e-01 8.30152993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:89.25, Z:8.30 [[ 2.44451409e-02 -9.99701124e-01 -3.13619108e-04 2.09412779e+02] [ 9.99660857e-01 2.44469713e-02 -8.97314855e-03 8.92451302e+01] [ 8.97813372e-03 -9.41628656e-05 9.99959691e-01 8.30283627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:89.27, Z:8.30 [[ 2.35223135e-02 -9.99723277e-01 -2.66281351e-04 2.09415440e+02] [ 9.99693802e-01 2.35236649e-02 -7.67721624e-03 8.92723378e+01] [ 7.68135569e-03 -8.56139289e-05 9.99970494e-01 8.30344026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:89.30, Z:8.30 [[ 2.27925556e-02 -9.99740185e-01 -2.49216692e-04 2.09417342e+02] [ 9.99713886e-01 2.27937638e-02 -7.25198750e-03 8.92989183e+01] [ 7.25578391e-03 -8.38540592e-05 9.99973673e-01 8.30410579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:89.33, Z:8.30 [[ 2.23506774e-02 -9.99750160e-01 -2.54929519e-04 2.09418956e+02] [ 9.99721970e-01 2.23519617e-02 -7.50814193e-03 8.93256658e+01] [ 7.51196427e-03 -8.70465834e-05 9.99971781e-01 8.30439561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:89.35, Z:8.30 [[ 2.19311498e-02 -9.99759455e-01 -2.40271926e-04 2.09421632e+02] [ 9.99733936e-01 2.19323068e-02 -7.14363700e-03 8.93517537e+01] [ 7.14718835e-03 -8.35398256e-05 9.99974455e-01 8.30491224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:89.38, Z:8.30 [[ 2.14867749e-02 -9.99769107e-01 -2.28333619e-04 2.09423187e+02] [ 9.99745557e-01 2.14878361e-02 -6.86252866e-03 8.93791584e+01] [ 6.86585054e-03 -8.08219132e-05 9.99976427e-01 8.30480730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:89.41, Z:8.30 [[ 2.04213859e-02 -9.99791429e-01 -2.57016606e-04 2.09427036e+02] [ 9.99760806e-01 2.04227722e-02 -7.82566850e-03 8.94052557e+01] [ 7.82928528e-03 -9.71441326e-05 9.99969346e-01 8.30460216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:89.43, Z:8.30 [[ 1.99154956e-02 -9.99801635e-01 -2.52355800e-04 2.09429434e+02] [ 9.99771405e-01 1.99168560e-02 -7.77545143e-03 8.94320725e+01] [ 7.77893519e-03 -9.74461436e-05 9.99969739e-01 8.30470542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:89.46, Z:8.30 [[ 1.91832017e-02 -9.99815956e-01 -2.44246707e-04 2.09432024e+02] [ 9.99787077e-01 1.91845041e-02 -7.59975314e-03 8.94586803e+01] [ 7.60304020e-03 -9.84071044e-05 9.99971092e-01 8.30491570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:89.48, Z:8.30 [[ 1.83709458e-02 -9.99831209e-01 -2.49519240e-04 2.09437093e+02] [ 9.99800195e-01 1.83723414e-02 -7.87567510e-03 8.94835164e+01] [ 7.87893001e-03 -1.04785784e-04 9.99968955e-01 8.30469602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:89.51, Z:8.30 [[ 1.74660674e-02 -9.99847424e-01 -2.56154402e-04 2.09440184e+02] [ 9.99814129e-01 1.74675765e-02 -8.16040333e-03 8.95096924e+01] [ 8.16363265e-03 -1.13576635e-04 9.99966671e-01 8.30479149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:89.54, Z:8.30 [[ 1.65669395e-02 -9.99862724e-01 -2.64456372e-04 2.09443296e+02] [ 9.99826296e-01 1.65685936e-02 -8.53583658e-03 8.95359348e+01] [ 8.53904649e-03 -1.22997747e-04 9.99963534e-01 8.30480640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:89.56, Z:8.30 [[ 1.51155113e-02 -9.99885718e-01 -2.69686125e-04 2.09448450e+02] [ 9.99846851e-01 1.51173019e-02 -8.81714406e-03 8.95618803e+01] [ 8.82021334e-03 -1.36369182e-04 9.99961092e-01 8.30490840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:89.59, Z:8.31 [[ 1.41240708e-02 -9.99900216e-01 -2.64141025e-04 2.09452235e+02] [ 9.99862009e-01 1.41258404e-02 -8.74210975e-03 8.95870866e+01] [ 8.74496864e-03 -1.40630399e-04 9.99961752e-01 8.30518908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:89.61, Z:8.31 [[ 1.31158692e-02 -9.99913951e-01 -2.54406837e-04 2.09456766e+02] [ 9.99877575e-01 1.31175624e-02 -8.53020479e-03 8.96138038e+01] [ 8.53280797e-03 -1.42494641e-04 9.99963585e-01 8.30596289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:89.64, Z:8.31 [[ 1.25934863e-02 -9.99920669e-01 -2.46662104e-04 2.09460048e+02] [ 9.99885622e-01 1.25951104e-02 -8.37297172e-03 8.96392486e+01] [ 8.37541422e-03 -1.41188987e-04 9.99964916e-01 8.30643409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.092755096 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:209.46, Y:89.67, Z:8.31 [[ 1.21006485e-02 -9.99926754e-01 -2.47677245e-04 2.09462018e+02] [ 9.99890404e-01 1.21023208e-02 -8.52720730e-03 8.96652377e+01] [ 8.52958019e-03 -1.44465363e-04 9.99963612e-01 8.30606933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:89.69, Z:8.31 [[ 1.19586320e-02 -9.99928463e-01 -2.46840218e-04 2.09462621e+02] [ 9.99891352e-01 1.19603151e-02 -8.61598884e-03 8.96924650e+01] [ 8.61832476e-03 -1.43777959e-04 9.99962851e-01 8.30597459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:89.72, Z:8.31 [[ 1.23364788e-02 -9.99923868e-01 -2.64251565e-04 2.09468454e+02] [ 9.99880125e-01 1.23384111e-02 -9.35414995e-03 8.97188351e+01] [ 9.35669825e-03 -1.48822616e-04 9.99956214e-01 8.30591116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:89.75, Z:8.31 [[ 1.31089533e-02 -9.99914042e-01 -2.51720273e-04 2.09469556e+02] [ 9.99873318e-01 1.31106915e-02 -9.02544863e-03 8.97452951e+01] [ 9.02797305e-03 -1.33374200e-04 9.99959238e-01 8.30557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:89.77, Z:8.31 [[ 1.30894365e-02 -9.99914298e-01 -2.52490986e-04 2.09473230e+02] [ 9.99872137e-01 1.30912034e-02 -9.18313944e-03 8.97704459e+01] [ 9.18565783e-03 -1.32256581e-04 9.99957802e-01 8.30632123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:89.80, Z:8.31 [[ 1.30993594e-02 -9.99914167e-01 -2.56976716e-04 2.09473155e+02] [ 9.99869096e-01 1.31012090e-02 -9.49465305e-03 8.97967339e+01] [ 9.49720480e-03 -1.32569205e-04 9.99954892e-01 8.30603671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:89.82, Z:8.31 [[ 1.31147287e-02 -9.99913966e-01 -2.53504155e-04 2.09476785e+02] [ 9.99868828e-01 1.31165457e-02 -9.50178823e-03 8.98219013e+01] [ 9.50429585e-03 -1.28857527e-04 9.99954825e-01 8.30680957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:89.85, Z:8.31 [[ 1.29947583e-02 -9.99915525e-01 -2.79841089e-04 2.09480779e+02] [ 9.99858544e-01 1.29970056e-02 -1.06756580e-02 8.98469444e+01] [ 1.06783932e-02 -1.41073909e-04 9.99942974e-01 8.30656431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:89.87, Z:8.31 [[ 1.33261375e-02 -9.99911163e-01 -2.83180692e-04 2.09480577e+02] [ 9.99851054e-01 1.33284416e-02 -1.09646316e-02 8.98734377e+01] [ 1.09674318e-02 -1.37022326e-04 9.99939847e-01 8.30669274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:89.90, Z:8.31 [[ 1.39120562e-02 -9.99903181e-01 -2.88774425e-04 2.09484080e+02] [ 9.99838654e-01 1.39144393e-02 -1.13602012e-02 8.98990354e+01] [ 1.13631195e-02 -1.30684075e-04 9.99935429e-01 8.30695844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:89.93, Z:8.31 [[ 1.43696034e-02 -9.99896712e-01 -2.82790263e-04 2.09486034e+02] [ 9.99832794e-01 1.43718825e-02 -1.13063282e-02 8.99256772e+01] [ 1.13092246e-02 -1.20275527e-04 9.99936041e-01 8.30721794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:89.95, Z:8.31 [[ 1.50534324e-02 -9.99886647e-01 -2.94392262e-04 2.09489766e+02] [ 9.99815073e-01 1.50558774e-02 -1.19641537e-02 8.99507718e+01] [ 1.19672299e-02 -1.14236242e-04 9.99928384e-01 8.30751823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:89.98, Z:8.31 [[ 1.47799866e-02 -9.99890728e-01 -2.91434992e-04 2.09491645e+02] [ 9.99818240e-01 1.47824245e-02 -1.20402537e-02 8.99767510e+01] [ 1.20432462e-02 -1.13427232e-04 9.99927471e-01 8.30792047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:90.00, Z:8.31 [[ 1.43176762e-02 -9.99897457e-01 -2.83494447e-04 2.09494132e+02] [ 9.99826652e-01 1.43200362e-02 -1.18996536e-02 9.00027269e+01] [ 1.19024930e-02 -1.13069917e-04 9.99929156e-01 8.30834721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.03, Z:8.31 [[ 1.37467131e-02 -9.99905471e-01 -2.79185825e-04 2.09496391e+02] [ 9.99834525e-01 1.37490636e-02 -1.19115993e-02 9.00288249e+01] [ 1.19143118e-02 -1.15394288e-04 9.99929015e-01 8.30899649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.05, Z:8.31 [[ 1.34406334e-02 -9.99909631e-01 -2.83341301e-04 2.09501610e+02] [ 9.99833976e-01 1.34431021e-02 -1.23005792e-02 9.00537466e+01] [ 1.23032766e-02 -1.17966683e-04 9.99924305e-01 8.30940196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.08, Z:8.31 [[ 1.35195292e-02 -9.99908569e-01 -2.77275842e-04 2.09502184e+02] [ 9.99833506e-01 1.35219118e-02 -1.22522890e-02 9.00800641e+01] [ 1.22549181e-02 -1.11584498e-04 9.99924899e-01 8.31005776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.11, Z:8.31 [[ 1.44669304e-02 -9.99895318e-01 -2.47104842e-04 2.09499655e+02] [ 9.99833885e-01 1.44687807e-02 -1.10841064e-02 9.01075953e+01] [ 1.10865214e-02 -8.67107982e-05 9.99938539e-01 8.31138929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.13, Z:8.31 [[ 1.47256775e-02 -9.99891542e-01 -2.43527289e-04 2.09500354e+02] [ 9.99829884e-01 1.47274739e-02 -1.11042901e-02 9.01342767e+01] [ 1.11066723e-02 -7.99676665e-05 9.99938316e-01 8.31171936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.16, Z:8.31 [[ 1.49158627e-02 -9.99888725e-01 -2.35023441e-04 2.09499903e+02] [ 9.99829291e-01 1.49175386e-02 -1.09021546e-02 9.01612162e+01] [ 1.09044475e-02 -7.23682791e-05 9.99940542e-01 8.31171177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.19, Z:8.31 [[ 1.48994682e-02 -9.99888961e-01 -2.66139057e-04 2.09499493e+02] [ 9.99809636e-01 1.49016385e-02 -1.25949208e-02 9.01866478e+01] [ 1.25974882e-02 -7.84307722e-05 9.99920645e-01 8.31102164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.21, Z:8.31 [[ 1.43477083e-02 -9.99897032e-01 -2.63098793e-04 2.09500129e+02] [ 9.99816584e-01 1.43498914e-02 -1.26838393e-02 9.02128488e+01] [ 1.26863087e-02 -8.10665102e-05 9.99919522e-01 8.31096348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.24, Z:8.31 [[ 1.32645620e-02 -9.99911984e-01 -2.76835239e-04 2.09500456e+02] [ 9.99819571e-01 1.32670998e-02 -1.35944930e-02 9.02387468e+01] [ 1.35969692e-02 -9.64602952e-05 9.99907552e-01 8.31045523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.27, Z:8.31 [[ 1.24713348e-02 -9.99922189e-01 -2.86552350e-04 2.09500256e+02] [ 9.99820064e-01 1.24741566e-02 -1.42911059e-02 9.02655128e+01] [ 1.42935684e-02 -1.08271621e-04 9.99897836e-01 8.30989134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.29, Z:8.31 [[ 1.12521460e-02 -9.99936649e-01 -2.96812795e-04 2.09498948e+02] [ 9.99822886e-01 1.12553431e-02 -1.50835645e-02 9.02932220e+01] [ 1.50859497e-02 -1.27037756e-04 9.99886193e-01 8.31003556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.32, Z:8.31 [[ 9.06558436e-03 -9.99958858e-01 -3.12394271e-04 2.09499969e+02] [ 9.99827879e-01 9.06945325e-03 -1.61850933e-02 9.03197687e+01] [ 1.61872607e-02 -1.65613173e-04 9.99868964e-01 8.30945239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.872755096 meters Centerline goodness [0,1] 0.9999563833035285 Centerline is valid? [True, True] Translation: X:209.50, Y:90.35, Z:8.31 [[ 7.36699870e-03 -9.99972816e-01 -3.07756332e-04 2.09500781e+02] [ 9.99840609e-01 7.37102931e-03 -1.62611540e-02 9.03464556e+01] [ 1.62629805e-02 -1.87911378e-04 9.99867731e-01 8.30907528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.37, Z:8.31 [[ 5.73754265e-03 -9.99983494e-01 -3.05439997e-04 2.09501641e+02] [ 9.99847640e-01 5.74179818e-03 -1.64841930e-02 9.03720614e+01] [ 1.64856747e-02 -2.10814700e-04 9.99864080e-01 8.31050748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.40, Z:8.31 [[ 2.81535457e-03 -9.99995991e-01 -3.04581674e-04 2.09502705e+02] [ 9.99855004e-01 2.82007262e-03 -1.67934088e-02 9.03993561e+01] [ 1.67942005e-02 -2.57258111e-04 9.99858934e-01 8.31074167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.43, Z:8.31 [[ 1.23097698e-03 -9.99999198e-01 -2.99029443e-04 2.09504650e+02] [ 9.99857947e-01 1.23582964e-03 -1.68094893e-02 9.04255549e+01] [ 1.68098454e-02 -2.78294870e-04 9.99858666e-01 8.31112361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.45, Z:8.31 [[ 8.62448118e-04 -9.99999585e-01 -2.92953378e-04 2.09504833e+02] [ 9.99858333e-01 8.67250724e-04 -1.68095955e-02 9.04514863e+01] [ 1.68098426e-02 -2.78414472e-04 9.99858666e-01 8.31143501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.48, Z:8.31 [[-1.48340422e-03 -9.99998859e-01 -2.85790432e-04 2.09504907e+02] [ 9.99858657e-01 -1.47840995e-03 -1.67475254e-02 9.04790427e+01] [ 1.67470838e-02 -3.10593387e-04 9.99859710e-01 8.31273386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.51, Z:8.31 [[-2.69006812e-03 -9.99996342e-01 -2.82722585e-04 2.09505826e+02] [ 9.99853069e-01 -2.68489613e-03 -1.69302271e-02 9.05052731e+01] [ 1.69294061e-02 -3.28224508e-04 9.99856633e-01 8.31319106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.53, Z:8.31 [[-3.54968123e-03 -9.99993663e-01 -2.72512088e-04 2.09506444e+02] [ 9.99854212e-01 -3.54463442e-03 -1.67030083e-02 9.05320075e+01] [ 1.67019365e-02 -3.31762714e-04 9.99860458e-01 8.31367863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.56, Z:8.32 [[-4.04171005e-03 -9.99991799e-01 -2.56901516e-04 2.09506983e+02] [ 9.99861871e-01 -4.03704293e-03 -1.61226869e-02 9.05573031e+01] [ 1.61215176e-02 -3.22029256e-04 9.99869988e-01 8.31515215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.58, Z:8.32 [[-3.99118211e-03 -9.99992005e-01 -2.44832178e-04 2.09506912e+02] [ 9.99867994e-01 -3.98683074e-03 -1.57511608e-02 9.05836358e+01] [ 1.57500588e-02 -3.07665610e-04 9.99875913e-01 8.31596857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.61, Z:8.32 [[-3.66855926e-03 -9.99993242e-01 -2.38480266e-04 2.09506903e+02] [ 9.99869568e-01 -3.66435433e-03 -1.57295739e-02 9.06086811e+01] [ 1.57285937e-02 -2.96154034e-04 9.99876254e-01 8.31656135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.63, Z:8.32 [[-2.86710764e-03 -9.99995864e-01 -2.27465314e-04 2.09505667e+02] [ 9.99877434e-01 -2.86326689e-03 -1.53921618e-02 9.06347114e+01] [ 1.53914469e-02 -2.71568419e-04 9.99881508e-01 8.31722997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.66, Z:8.32 [[-2.48423844e-03 -9.99996889e-01 -2.23410696e-04 2.09504988e+02] [ 9.99876632e-01 -2.48047453e-03 -1.55102364e-02 9.06612178e+01] [ 1.55096340e-02 -2.61914260e-04 9.99879684e-01 8.31801262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.69, Z:8.32 [[-1.34377406e-03 -9.99999073e-01 -2.21155744e-04 2.09504550e+02] [ 9.99874765e-01 -1.34011963e-03 -1.57688789e-02 9.06864363e+01] [ 1.57685679e-02 -2.42317858e-04 9.99875639e-01 8.31830573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.71, Z:8.32 [[-1.24412977e-03 -9.99999202e-01 -2.18278475e-04 2.09504657e+02] [ 9.99871178e-01 -1.24047743e-03 -1.60027524e-02 9.07132040e+01] [ 1.60024689e-02 -2.38159857e-04 9.99871924e-01 8.31896721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:90.74, Z:8.32 [[-1.51868716e-03 -9.99998824e-01 -2.14191491e-04 2.09504897e+02] [ 9.99868682e-01 -1.51503363e-03 -1.61345239e-02 9.07401058e+01] [ 1.61341804e-02 -2.38666659e-04 9.99869807e-01 8.31888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.77, Z:8.32 [[-2.95945549e-03 -9.99995599e-01 -2.10211147e-04 2.09506410e+02] [ 9.99863026e-01 -2.95563989e-03 -1.62847803e-02 9.07658063e+01] [ 1.62840873e-02 -2.58376436e-04 9.99867372e-01 8.31914241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.79, Z:8.32 [[-4.14494050e-03 -9.99991388e-01 -2.06800076e-04 2.09507399e+02] [ 9.99855301e-01 -4.14096432e-03 -1.64993635e-02 9.07919025e+01] [ 1.64983651e-02 -2.75159032e-04 9.99863855e-01 8.31948960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.82, Z:8.32 [[-6.71182268e-03 -9.99977456e-01 -1.95669823e-04 2.09507893e+02] [ 9.99848537e-01 -6.70781494e-03 -1.60595562e-02 9.08193140e+01] [ 1.60578816e-02 -3.03429079e-04 9.99871018e-01 8.32122144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.84, Z:8.32 [[-8.01646221e-03 -9.99967850e-01 -1.88298145e-04 2.09510261e+02] [ 9.99841013e-01 -8.01244581e-03 -1.59295102e-02 9.08443349e+01] [ 1.59274894e-02 -3.15966525e-04 9.99873100e-01 8.32129359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.87, Z:8.32 [[-9.14816740e-03 -9.99958138e-01 -1.83554568e-04 2.09510632e+02] [ 9.99828918e-01 -9.14403381e-03 -1.60785780e-02 9.08704158e+01] [ 1.60762264e-02 -3.30612688e-04 9.99870714e-01 8.32161454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.90, Z:8.32 [[-1.00945504e-02 -9.99949032e-01 -1.82654403e-04 2.09512586e+02] [ 9.99811670e-01 -1.00901356e-02 -1.65775061e-02 9.08960059e+01] [ 1.65748181e-02 -3.49962473e-04 9.99862567e-01 8.32169226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.52, Y:90.92, Z:8.32 [[-1.03550083e-02 -9.99946370e-01 -1.77325077e-04 2.09515674e+02] [ 9.99807678e-01 -1.03506181e-02 -1.66574575e-02 9.09209990e+01] [ 1.66547288e-02 -3.49779085e-04 9.99861239e-01 8.32116025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:90.95, Z:8.32 [[-1.06427951e-02 -9.99943349e-01 -1.73248167e-04 2.09510545e+02] [ 9.99802554e-01 -1.06383888e-02 -1.67832431e-02 9.09473144e+01] [ 1.67804492e-02 -3.51834578e-04 9.99859136e-01 8.32238089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.592755096 meters Centerline goodness [0,1] 0.9999782158806231 Centerline is valid? [True, True] Translation: X:209.51, Y:90.97, Z:8.32 [[-1.00581925e-02 -9.99949401e-01 -1.66785360e-04 2.09511330e+02] [ 9.99808364e-01 -1.00539721e-02 -1.67974101e-02 9.09730973e+01] [ 1.67948833e-02 -3.35704982e-04 9.99858900e-01 8.32212969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:91.00, Z:8.32 [[-9.85180964e-03 -9.99951457e-01 -1.59251708e-04 2.09514370e+02] [ 9.99811931e-01 -9.84777425e-03 -1.67070096e-02 9.09988936e+01] [ 1.67046303e-02 -3.23816036e-04 9.99860416e-01 8.32166776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.652755096 meters Centerline goodness [0,1] 0.9999126694757985 Centerline is valid? [True, True] Translation: X:209.51, Y:91.02, Z:8.32 [[-8.86806400e-03 -9.99960666e-01 -1.54725184e-04 2.09513944e+02] [ 9.99817572e-01 -8.86417711e-03 -1.69188721e-02 9.10231202e+01] [ 1.69168351e-02 -3.04734598e-04 9.99856854e-01 8.32212975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.682755096 meters Centerline goodness [0,1] 0.9998250945582544 Centerline is valid? [True, True] Translation: X:209.51, Y:91.05, Z:8.32 [[-8.47432049e-03 -9.99964081e-01 -1.47632418e-04 2.09513652e+02] [ 9.99822902e-01 -8.47064297e-03 -1.68051539e-02 9.10475590e+01] [ 1.68032997e-02 -2.90018532e-04 9.99858773e-01 8.32241045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.712755096 meters Centerline goodness [0,1] 0.9996276910273537 Centerline is valid? [True, True] Translation: X:209.51, Y:91.08, Z:8.32 [[-8.15492521e-03 -9.99966738e-01 -1.43107898e-04 2.09507187e+02] [ 9.99823891e-01 -8.15134111e-03 -1.69039049e-02 9.10753446e+01] [ 1.69021762e-02 -2.80932776e-04 9.99857109e-01 8.32466330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters Centerline goodness [0,1] 0.9998251213220828 Centerline is valid? [True, True] Translation: X:209.51, Y:91.10, Z:8.32 [[-6.87226930e-03 -9.99976376e-01 -1.39525204e-04 2.09507347e+02] [ 9.99829572e-01 -6.86886942e-03 -1.71361209e-02 9.11014133e+01] [ 1.71347577e-02 -2.57265463e-04 9.99853156e-01 8.32496297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:91.13, Z:8.33 [[-6.45499458e-03 -9.99979158e-01 -1.32470542e-04 2.09507283e+02] [ 9.99836187e-01 -6.45183147e-03 -1.69107334e-02 9.11267905e+01] [ 1.69095263e-02 -2.41607534e-04 9.99856995e-01 8.32531625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.802755096 meters Centerline goodness [0,1] 0.9999127056872245 Centerline is valid? [True, True] Translation: X:209.51, Y:91.15, Z:8.33 [[-5.80824519e-03 -9.99983124e-01 -1.29497318e-04 2.09505882e+02] [ 9.99831316e-01 -5.80510687e-03 -1.74252835e-02 9.11530867e+01] [ 1.74242376e-02 -2.30685793e-04 9.99848160e-01 8.32610809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:91.18, Z:8.33 [[-5.68704240e-03 -9.99983821e-01 -1.25847972e-04 2.09505689e+02] [ 9.99823944e-01 -5.68388268e-03 -1.78822187e-02 9.11795992e+01] [ 1.78812141e-02 -2.27522752e-04 9.99840092e-01 8.32633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters Centerline goodness [0,1] 0.9999127209251581 Centerline is valid? [True, True] Translation: X:209.51, Y:91.20, Z:8.33 [[-5.45000874e-03 -9.99985141e-01 -1.19648531e-04 2.09506175e+02] [ 9.99824638e-01 -5.44699019e-03 -1.79171373e-02 9.12047480e+01] [ 1.79162194e-02 -2.17276104e-04 9.99839468e-01 8.32636706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.892755096 meters Centerline goodness [0,1] 0.9999563003911115 Centerline is valid? [True, True] Translation: X:209.50, Y:91.23, Z:8.33 [[-5.52668669e-03 -9.99984721e-01 -1.12435757e-04 2.09504701e+02] [ 9.99828403e-01 -5.52383464e-03 -1.76819655e-02 9.12317807e+01] [ 1.76810743e-02 -2.10139147e-04 9.99843656e-01 8.32780829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9227550960001 meters Centerline goodness [0,1] 0.99989092495637 Centerline is valid? [True, True] Translation: X:209.51, Y:91.26, Z:8.33 [[-5.92589874e-03 -9.99982436e-01 -1.08834750e-04 2.09505291e+02] [ 9.99818516e-01 -5.92295668e-03 -1.81067434e-02 9.12573982e+01] [ 1.81057807e-02 -2.16113726e-04 9.99836054e-01 8.32788717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.952755096 meters Centerline goodness [0,1] 0.9998907127713056 Centerline is valid? [True, True] Translation: X:209.51, Y:91.28, Z:8.33 [[-7.04985422e-03 -9.99975144e-01 -1.01184750e-04 2.09507304e+02] [ 9.99815967e-01 -7.04692653e-03 -1.78430044e-02 9.12824344e+01] [ 1.78418479e-02 -2.26956709e-04 9.99840796e-01 8.32819972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters Centerline goodness [0,1] 0.9999344204957811 Centerline is valid? [True, True] Translation: X:209.51, Y:91.31, Z:8.33 [[-7.89138981e-03 -9.99968858e-01 -9.38638865e-05 2.09507183e+02] [ 9.99810523e-01 -7.88846985e-03 -1.77957958e-02 9.13091884e+01] [ 1.77945011e-02 -2.34279663e-04 9.99841638e-01 8.32882908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.012755096 meters Centerline goodness [0,1] 0.9999561124399289 Centerline is valid? [True, True] Translation: X:209.51, Y:91.34, Z:8.33 [[-8.89447186e-03 -9.99960440e-01 -8.65713563e-05 2.09508003e+02] [ 9.99804466e-01 -8.89155536e-03 -1.76626674e-02 9.13363428e+01] [ 1.76611989e-02 -2.43654527e-04 9.99843999e-01 8.32980051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0427550960001 meters Centerline goodness [0,1] 0.9999344090253182 Centerline is valid? [True, True] Translation: X:209.51, Y:91.36, Z:8.33 [[-1.02825748e-02 -9.99947130e-01 -7.83915816e-05 2.09509361e+02] [ 9.99798307e-01 -1.02796919e-02 -1.72532115e-02 9.13629933e+01] [ 1.72514935e-02 -2.55783210e-04 9.99851149e-01 8.33104221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.072755096 meters Centerline goodness [0,1] 0.999978117204254 Centerline is valid? [True, True] Translation: X:209.51, Y:91.39, Z:8.33 [[-1.12529175e-02 -9.99936681e-01 -7.10588834e-05 2.09509618e+02] [ 9.99792302e-01 -1.12500851e-02 -1.69937556e-02 9.13885944e+01] [ 1.69918802e-02 -2.62273456e-04 9.99855593e-01 8.33160302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.102755096 meters Centerline goodness [0,1] 0.9999781047468909 Centerline is valid? [True, True] Translation: X:209.51, Y:91.41, Z:8.33 [[-1.17770341e-02 -9.99930646e-01 -6.41939333e-05 2.09509441e+02] [ 9.99792106e-01 -1.17743337e-02 -1.66466083e-02 9.14147127e+01] [ 1.66446980e-02 -2.60228262e-04 9.99861434e-01 8.33228932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.132755096 meters Centerline goodness [0,1] 0.99995629752644 Centerline is valid? [True, True] Translation: X:209.51, Y:91.44, Z:8.33 [[-1.30130398e-02 -9.99915325e-01 -5.65768194e-05 2.09509929e+02] [ 9.99782703e-01 -1.30103923e-02 -1.62872829e-02 9.14400674e+01] [ 1.62851677e-02 -2.68511586e-04 9.99867352e-01 8.33211320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters Centerline goodness [0,1] 0.9999782239449502 Centerline is valid? [True, True] Translation: X:209.51, Y:91.47, Z:8.33 [[-1.32414558e-02 -9.99912327e-01 -4.96243583e-05 2.09508601e+02] [ 9.99782392e-01 -1.32389351e-02 -1.61214119e-02 9.14668893e+01] [ 1.61193415e-02 -2.63084523e-04 9.99870040e-01 8.33382321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.192755096 meters Centerline goodness [0,1] 0.9999562478123907 Centerline is valid? [True, True] Translation: X:209.51, Y:91.49, Z:8.33 [[-1.30920310e-02 -9.99914295e-01 -4.27049645e-05 2.09507558e+02] [ 9.99789178e-01 -1.30897172e-02 -1.58195697e-02 9.14944044e+01] [ 1.58176549e-02 -2.49806258e-04 9.99874862e-01 8.33439923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.222755096 meters Centerline goodness [0,1] 0.9999562774632185 Centerline is valid? [True, True] Translation: X:209.51, Y:91.52, Z:8.33 [[-1.33873946e-02 -9.99910384e-01 -3.80059880e-05 2.09506893e+02] [ 9.99777872e-01 -1.33850016e-02 -1.62803047e-02 9.15216625e+01] [ 1.62783370e-02 -2.55948408e-04 9.99867466e-01 8.33432810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.252755096 meters Centerline goodness [0,1] 0.9998906434539172 Centerline is valid? [True, True] Translation: X:209.51, Y:91.55, Z:8.33 [[-1.36114154e-02 -9.99907360e-01 -3.21687026e-05 2.09506154e+02] [ 9.99775051e-01 -1.36090910e-02 -1.62677486e-02 9.15491548e+01] [ 1.62658038e-02 -2.53588550e-04 9.99867671e-01 8.33460474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters Centerline goodness [0,1] 0.999869007073618 Centerline is valid? [True, True] Translation: X:209.51, Y:91.58, Z:8.33 [[-1.37528595e-02 -9.99905425e-01 -2.70120530e-05 2.09505079e+02] [ 9.99761863e-01 -1.37504271e-02 -1.69453134e-02 9.15750335e+01] [ 1.69433393e-02 -2.60052134e-04 9.99856418e-01 8.33424322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.312755096 meters Centerline goodness [0,1] 0.9998906578026592 Centerline is valid? [True, True] Translation: X:209.50, Y:91.60, Z:8.33 [[-1.37601686e-02 -9.99905324e-01 -2.03346979e-05 2.09504442e+02] [ 9.99758067e-01 -1.37577931e-02 -1.71619057e-02 9.16012409e+01] [ 1.71600011e-02 -2.56480493e-04 9.99852723e-01 8.33397979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.342755096 meters Centerline goodness [0,1] 0.9999563880590505 Centerline is valid? [True, True] Translation: X:209.50, Y:91.63, Z:8.33 [[-1.41336883e-02 -9.99900114e-01 -1.37573746e-05 2.09503592e+02] [ 9.99754909e-01 -1.41314013e-02 -1.70418707e-02 9.16288248e+01] [ 1.70399740e-02 -2.54618491e-04 9.99854777e-01 8.33466479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.372755096 meters Centerline goodness [0,1] 0.9999562841530054 Centerline is valid? [True, True] Translation: X:209.50, Y:91.66, Z:8.34 [[-1.47190605e-02 -9.99891669e-01 -7.66424939e-06 2.09503451e+02] [ 9.99748966e-01 -1.47168303e-02 -1.68943828e-02 9.16562737e+01] [ 1.68924398e-02 -2.56331768e-04 9.99857280e-01 8.33530118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters Centerline goodness [0,1] 0.9999565415788444 Centerline is valid? [True, True] Translation: X:209.50, Y:91.68, Z:8.34 [[-1.50943683e-02 -9.99886074e-01 -1.39622775e-06 2.09503226e+02] [ 9.99742342e-01 -1.50921748e-02 -1.69550998e-02 9.16814381e+01] [ 1.69531471e-02 -2.57322389e-04 9.99856252e-01 8.33603468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.71, Z:8.34 [[-1.58150738e-02 -9.99874934e-01 5.13804017e-06 2.09502262e+02] [ 9.99735894e-01 -1.58129603e-02 -1.66761319e-02 9.17086454e+01] [ 1.66741276e-02 -2.58597575e-04 9.99860944e-01 8.33698836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.73, Z:8.34 [[-1.72359737e-02 -9.99851450e-01 1.03336492e-05 2.09502835e+02] [ 9.99726747e-01 -1.72339872e-02 -1.57930739e-02 9.17346119e+01] [ 1.57909059e-02 -2.61878180e-04 9.99875282e-01 8.33844807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.76, Z:8.34 [[-1.81271007e-02 -9.99835691e-01 1.52116698e-05 2.09503127e+02] [ 9.99723519e-01 -1.81252949e-02 -1.49786166e-02 9.17612902e+01] [ 1.49764312e-02 -2.56311427e-04 9.99887814e-01 8.33950805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.79, Z:8.34 [[-1.95834450e-02 -9.99808226e-01 2.04929749e-05 2.09504212e+02] [ 9.99701393e-01 -1.95816521e-02 -1.46179378e-02 9.17863501e+01] [ 1.46155357e-02 -2.65782726e-04 9.99893152e-01 8.34050036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.81, Z:8.34 [[-2.02815816e-02 -9.99794307e-01 2.64809124e-05 2.09503658e+02] [ 9.99686912e-01 -2.02797912e-02 -1.46563471e-02 9.18123996e+01] [ 1.46538694e-02 -2.70781278e-04 9.99892590e-01 8.34090460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.84, Z:8.34 [[-2.08763510e-02 -9.99782065e-01 3.26116710e-05 2.09502594e+02] [ 9.99671823e-01 -2.08745334e-02 -1.48492388e-02 9.18401434e+01] [ 1.48466834e-02 -2.77396953e-04 9.99889743e-01 8.34173148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.612755096 meters Centerline goodness [0,1] 0.9999781973575197 Centerline is valid? [True, True] Translation: X:209.50, Y:91.87, Z:8.34 [[-2.13294207e-02 -9.99772501e-01 3.76062106e-05 2.09503541e+02] [ 9.99664546e-01 -2.13276703e-02 -1.46944176e-02 9.18668877e+01] [ 1.46918767e-02 -2.75829820e-04 9.99892031e-01 8.34274114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.89, Z:8.34 [[-2.17522076e-02 -9.99763392e-01 4.37312594e-05 2.09503485e+02] [ 9.99653280e-01 -2.17504610e-02 -1.48403645e-02 9.18919264e+01] [ 1.48378043e-02 -2.79094592e-04 9.99889875e-01 8.34325120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.92, Z:8.34 [[-2.26500228e-02 -9.99743454e-01 5.12207871e-05 2.09502079e+02] [ 9.99626651e-01 -2.26481596e-02 -1.52846267e-02 9.19192238e+01] [ 1.52818656e-02 -2.94995480e-04 9.99883182e-01 8.34358149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:91.95, Z:8.34 [[-2.36653188e-02 -9.99719936e-01 5.64727857e-05 2.09503764e+02] [ 9.99604240e-01 -2.36634393e-02 -1.52120345e-02 9.19456761e+01] [ 1.52091105e-02 -3.03547210e-04 9.99884289e-01 8.34370363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:91.97, Z:8.34 [[-2.57947011e-02 -9.99667259e-01 6.55805330e-05 2.09505945e+02] [ 9.99539250e-01 -2.57924478e-02 -1.60011637e-02 9.19721755e+01] [ 1.59975309e-02 -3.47194918e-04 9.99871971e-01 8.34334968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:92.00, Z:8.34 [[-2.67306126e-02 -9.99642671e-01 7.03846544e-05 2.09505257e+02] [ 9.99517169e-01 -2.67283722e-02 -1.58436915e-02 9.19980747e+01] [ 1.58399113e-02 -3.53160908e-04 9.99874478e-01 8.34402572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:92.03, Z:8.34 [[-2.76529654e-02 -9.99617581e-01 7.59047024e-05 2.09504905e+02] [ 9.99490751e-01 -2.76506663e-02 -1.59273062e-02 9.20257769e+01] [ 1.59233141e-02 -3.64571200e-04 9.99873150e-01 8.34477337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.822755096 meters Centerline goodness [0,1] 0.9999781148097082 Centerline is valid? [True, True] Translation: X:209.51, Y:92.05, Z:8.35 [[-2.88820767e-02 -9.99582823e-01 7.97557064e-05 2.09508829e+02] [ 9.99461596e-01 -2.88798164e-02 -1.55715875e-02 9.20521625e+01] [ 1.55673947e-02 -3.70027018e-04 9.99878752e-01 8.34512554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:92.08, Z:8.35 [[-2.91762960e-02 -9.99574278e-01 8.42522011e-05 2.09504991e+02] [ 9.99456803e-01 -2.91741590e-02 -1.53286574e-02 9.20783508e+01] [ 1.53245896e-02 -3.63027009e-04 9.99882506e-01 8.34622381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:209.50, Y:92.10, Z:8.35 [[-2.90260009e-02 -9.99578653e-01 9.02286319e-05 2.09504488e+02] [ 9.99461428e-01 -2.90239790e-02 -1.53121834e-02 9.21036710e+01] [ 1.53083504e-02 -3.54271410e-04 9.99882758e-01 8.34641994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.912755096 meters Centerline goodness [0,1] 0.9999781525823648 Centerline is valid? [True, True] Translation: X:209.50, Y:92.13, Z:8.35 [[-2.94133534e-02 -9.99567329e-01 9.64275750e-05 2.09504074e+02] [ 9.99450103e-01 -2.94113811e-02 -1.53121446e-02 9.21296107e+01] [ 1.53083555e-02 -3.54006971e-04 9.99882758e-01 8.34673125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:92.16, Z:8.35 [[-2.85446637e-02 -9.99592513e-01 9.98918377e-05 2.09502424e+02] [ 9.99480622e-01 -2.85429635e-02 -1.49594949e-02 9.21557010e+01] [ 1.49562503e-02 -3.27173795e-04 9.99888096e-01 8.34707607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:92.18, Z:8.35 [[-2.77625042e-02 -9.99614542e-01 1.08074629e-04 2.09500192e+02] [ 9.99497500e-01 -2.77609077e-02 -1.52996669e-02 9.21826187e+01] [ 1.52967697e-02 -3.16736744e-04 9.99882947e-01 8.34692712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.50, Y:92.21, Z:8.35 [[-2.57015130e-02 -9.99669655e-01 1.13414605e-04 2.09497865e+02] [ 9.99552816e-01 -2.57002433e-02 -1.52860975e-02 9.22096116e+01] [ 1.52839626e-02 -2.79511946e-04 9.99883154e-01 8.34733839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.032755096 meters Centerline goodness [0,1] 0.999978225367447 Centerline is valid? [True, True] Translation: X:209.50, Y:92.24, Z:8.35 [[-2.50015619e-02 -9.99687405e-01 1.20352726e-04 2.09497342e+02] [ 9.99568049e-01 -2.50004369e-02 -1.54497002e-02 9.22352377e+01] [ 1.54478796e-02 -2.65965897e-04 9.99880639e-01 8.34768968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.062755096 meters Centerline goodness [0,1] 0.999978172134547 Centerline is valid? [True, True] Translation: X:209.50, Y:92.26, Z:8.35 [[-2.43959195e-02 -9.99702367e-01 1.28026897e-04 2.09496389e+02] [ 9.99580434e-01 -2.43949438e-02 -1.56154961e-02 9.22620712e+01] [ 1.56139716e-02 -2.52981206e-04 9.99878063e-01 8.34863817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.092755096 meters Centerline goodness [0,1] 0.9997817022855771 Centerline is valid? [True, True] Translation: X:209.49, Y:92.29, Z:8.35 [[-2.26100130e-02 -9.99744352e-01 1.32938847e-04 2.09492436e+02] [ 9.99624406e-01 -2.26093597e-02 -1.54875094e-02 9.22882326e+01] [ 1.54865557e-02 -2.17283873e-04 9.99880053e-01 8.34957593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters Centerline goodness [0,1] 0.999868946989057 Centerline is valid? [True, True] Translation: X:209.49, Y:92.32, Z:8.35 [[-2.17156676e-02 -9.99764178e-01 1.37094474e-04 2.09490008e+02] [ 9.99647281e-01 -2.17152251e-02 -1.52892808e-02 9.23157440e+01] [ 1.52886523e-02 -1.94970821e-04 9.99883103e-01 8.34997325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.152755096 meters Centerline goodness [0,1] 0.9998253122543453 Centerline is valid? [True, True] Translation: X:209.49, Y:92.34, Z:8.35 [[-2.01280908e-02 -9.99797399e-01 1.43679391e-04 2.09486552e+02] [ 9.99678755e-01 -2.01279158e-02 -1.54030458e-02 9.23429181e+01] [ 1.54028171e-02 -1.66400669e-04 9.99881356e-01 8.35086672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.182755096 meters Centerline goodness [0,1] 0.9998693095186234 Centerline is valid? [True, True] Translation: X:209.49, Y:92.37, Z:8.35 [[-1.99101432e-02 -9.99801762e-01 1.49179548e-04 2.09486665e+02] [ 9.99683273e-01 -1.99100804e-02 -1.53929208e-02 9.23689147e+01] [ 1.53928395e-02 -1.57342958e-04 9.99881511e-01 8.35065195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.212755096 meters Centerline goodness [0,1] 0.9999126847263757 Centerline is valid? [True, True] Translation: X:209.49, Y:92.39, Z:8.35 [[-1.99019869e-02 -9.99801924e-01 1.55326650e-04 2.09485756e+02] [ 9.99682939e-01 -1.99020148e-02 -1.54249989e-02 9.23940449e+01] [ 1.54250349e-02 -1.51710725e-04 9.99881016e-01 8.35088562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters Centerline goodness [0,1] 0.9999127437720867 Centerline is valid? [True, True] Translation: X:209.48, Y:92.42, Z:8.35 [[-2.02292655e-02 -9.99795354e-01 1.66338774e-04 2.09484102e+02] [ 9.99668963e-01 -2.02293531e-02 -1.58977265e-02 9.24208365e+01] [ 1.58978381e-02 -1.55315620e-04 9.99873609e-01 8.35169380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.272755096 meters Centerline goodness [0,1] 0.9998907485906569 Centerline is valid? [True, True] Translation: X:209.48, Y:92.45, Z:8.35 [[-2.04345503e-02 -9.99791178e-01 1.70433001e-04 2.09483832e+02] [ 9.99667824e-01 -2.04347064e-02 -1.57055829e-02 9.24468958e+01] [ 1.57057860e-02 -1.50560137e-04 9.99876645e-01 8.35239554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.302755096 meters Centerline goodness [0,1] 0.9999128103406936 Centerline is valid? [True, True] Translation: X:209.48, Y:92.47, Z:8.35 [[-2.19105166e-02 -9.99759921e-01 1.72787975e-04 2.09483559e+02] [ 9.99641321e-01 -2.19105790e-02 -1.53998736e-02 9.24723057e+01] [ 1.53999623e-02 -1.64693187e-04 9.99881400e-01 8.35277576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.332755096 meters Centerline goodness [0,1] 0.9998912310470099 Centerline is valid? [True, True] Translation: X:209.48, Y:92.50, Z:8.35 [[-2.29359178e-02 -9.99736921e-01 1.77819184e-04 2.09482622e+02] [ 9.99618233e-01 -2.29359350e-02 -1.54055310e-02 9.24999813e+01] [ 1.54055565e-02 -1.75588693e-04 9.99881312e-01 8.35299557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters Centerline goodness [0,1] 0.9998908749645343 Centerline is valid? [True, True] Translation: X:209.48, Y:92.53, Z:8.35 [[-2.40680684e-02 -9.99710305e-01 1.85310819e-04 2.09483093e+02] [ 9.99589269e-01 -2.40680382e-02 -1.55571052e-02 9.25259885e+01] [ 1.55570584e-02 -1.89194766e-04 9.99878964e-01 8.35233097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.392755096 meters Centerline goodness [0,1] 0.9998909273357911 Centerline is valid? [True, True] Translation: X:209.48, Y:92.55, Z:8.35 [[-2.64616547e-02 -9.99649808e-01 2.04012759e-04 2.09483278e+02] [ 9.99512294e-01 -2.64613988e-02 -1.65821913e-02 9.25531144e+01] [ 1.65817828e-02 -2.34878960e-04 9.99862485e-01 8.35170489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4227550960001 meters Centerline goodness [0,1] 0.999956455475724 Centerline is valid? [True, True] Translation: X:209.48, Y:92.58, Z:8.35 [[-2.79381747e-02 -9.99609629e-01 2.18617555e-04 2.09484134e+02] [ 9.99460845e-01 -2.79377885e-02 -1.72481809e-02 9.25790696e+01] [ 1.72475554e-02 -2.63383003e-04 9.99851215e-01 8.35143477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.61, Z:8.35 [[-3.09646142e-02 -9.99520455e-01 2.31968615e-04 2.09484392e+02] [ 9.99362411e-01 -3.09638438e-02 -1.77767381e-02 9.26060909e+01] [ 1.77753959e-02 -3.18629122e-04 9.99841954e-01 8.35068765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.63, Z:8.35 [[-3.26710331e-02 -9.99466131e-01 2.37378844e-04 2.09483867e+02] [ 9.99309241e-01 -3.26701112e-02 -1.77117204e-02 9.26331098e+01] [ 1.77100198e-02 -3.41445330e-04 9.99843107e-01 8.35093929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:92.66, Z:8.35 [[-3.45122248e-02 -9.99404245e-01 2.48627670e-04 2.09485152e+02] [ 9.99241234e-01 -3.45110870e-02 -1.80538257e-02 9.26590600e+01] [ 1.80516505e-02 -3.74638672e-04 9.99836986e-01 8.35115882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.69, Z:8.35 [[-3.72088638e-02 -9.99307478e-01 2.55700452e-04 2.09484611e+02] [ 9.99143965e-01 -3.72074022e-02 -1.80816524e-02 9.26860620e+01] [ 1.80786444e-02 -4.17316177e-04 9.99836481e-01 8.35147740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.71, Z:8.35 [[-3.84297747e-02 -9.99261269e-01 2.62712354e-04 2.09483429e+02] [ 9.99097108e-01 -3.84282245e-02 -1.81174130e-02 9.27135616e+01] [ 1.81141247e-02 -4.33772946e-04 9.99835832e-01 8.35157226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.74, Z:8.35 [[-4.02070736e-02 -9.99191331e-01 2.74758476e-04 2.09482897e+02] [ 9.99019832e-01 -4.02052646e-02 -1.85178629e-02 9.27401159e+01] [ 1.85139348e-02 -4.70059908e-04 9.99828492e-01 8.35148051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.632755096 meters Centerline goodness [0,1] 0.9999566405064388 Centerline is valid? [True, True] Translation: X:209.48, Y:92.77, Z:8.35 [[-4.09150451e-02 -9.99162588e-01 2.86314701e-04 2.09482318e+02] [ 9.98984341e-01 -4.09131558e-02 -1.88785427e-02 9.27659613e+01] [ 1.88744476e-02 -4.86392522e-04 9.99821743e-01 8.35090830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.79, Z:8.35 [[-4.13186631e-02 -9.99145977e-01 2.91228966e-04 2.09479627e+02] [ 9.98970673e-01 -4.13168706e-02 -1.87219069e-02 9.27930209e+01] [ 1.87179506e-02 -4.82634967e-04 9.99824687e-01 8.35223333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.82, Z:8.35 [[-4.15955210e-02 -9.99134485e-01 3.05119636e-04 2.09477710e+02] [ 9.98950801e-01 -4.15937263e-02 -1.91640054e-02 9.28201546e+01] [ 1.91601098e-02 -4.92337285e-04 9.99816307e-01 8.35217411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.85, Z:8.35 [[-4.17433055e-02 -9.99128317e-01 3.21704493e-04 2.09477166e+02] [ 9.98933376e-01 -4.17415176e-02 -1.97422373e-02 9.28466534e+01] [ 1.97384567e-02 -5.02744887e-04 9.99805051e-01 8.35210692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.48, Y:92.87, Z:8.35 [[-4.22002734e-02 -9.99109116e-01 3.33803248e-04 2.09476460e+02] [ 9.98908658e-01 -4.21984950e-02 -2.00194888e-02 9.28726322e+01] [ 2.00157398e-02 -5.11388948e-04 9.99799534e-01 8.35137573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:92.90, Z:8.35 [[-4.26041591e-02 -9.99091968e-01 3.52815566e-04 2.09472493e+02] [ 9.98877751e-01 -4.26023324e-02 -2.06949155e-02 9.28994190e+01] [ 2.06911546e-02 -5.29269855e-04 9.99785775e-01 8.35133501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:92.93, Z:8.35 [[-4.34037736e-02 -9.99057546e-01 3.62586536e-04 2.09471719e+02] [ 9.98840756e-01 -4.34019110e-02 -2.08186908e-02 9.29258528e+01] [ 2.08148071e-02 -5.41443532e-04 9.99783202e-01 8.35153082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:92.95, Z:8.35 [[-4.49783889e-02 -9.98987892e-01 3.68263652e-04 2.09474902e+02] [ 9.98773226e-01 -4.49763606e-02 -2.07163988e-02 9.29516767e+01] [ 2.07119948e-02 -5.63978367e-04 9.99785325e-01 8.35161204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:92.98, Z:8.35 [[-4.59088711e-02 -9.98945563e-01 3.70616284e-04 2.09471145e+02] [ 9.98736339e-01 -4.59068436e-02 -2.04520622e-02 9.29785683e+01] [ 2.04475106e-02 -5.68783138e-04 9.99790766e-01 8.35374047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters Centerline goodness [0,1] 0.9999135452914605 Centerline is valid? [True, True] Translation: X:209.47, Y:93.01, Z:8.35 [[-4.72219782e-02 -9.98884350e-01 3.75079858e-04 2.09471977e+02] [ 9.98678400e-01 -4.72198614e-02 -2.02913256e-02 9.30051388e+01] [ 2.02863988e-02 -5.83612384e-04 9.99794040e-01 8.35409620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:93.03, Z:8.36 [[-4.85082885e-02 -9.98822716e-01 3.57864236e-04 2.09471089e+02] [ 9.98642181e-01 -4.85063276e-02 -1.89981652e-02 9.30320698e+01] [ 1.89931577e-02 -5.64190161e-04 9.99819455e-01 8.35572948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.962755096 meters Centerline goodness [0,1] 0.9999567118306567 Centerline is valid? [True, True] Translation: X:209.47, Y:93.06, Z:8.36 [[-4.89741787e-02 -9.98799982e-01 3.54952757e-04 2.09469879e+02] [ 9.98628753e-01 -4.89723580e-02 -1.85019555e-02 9.30591144e+01] [ 1.84971357e-02 -5.51652045e-04 9.99828761e-01 8.35716670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:93.09, Z:8.36 [[-4.93266580e-02 -9.98782645e-01 3.31153136e-04 2.09468007e+02] [ 9.98638812e-01 -4.93251768e-02 -1.69572792e-02 9.30852791e+01] [ 1.69529704e-02 -5.05743538e-04 9.99856160e-01 8.35878385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:93.11, Z:8.36 [[-4.91850989e-02 -9.98789627e-01 3.27360293e-04 2.09464982e+02] [ 9.98654327e-01 -4.91838266e-02 -1.64464852e-02 9.31128093e+01] [ 1.64426796e-02 -4.82002228e-04 9.99864694e-01 8.35960376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.47, Y:93.14, Z:8.36 [[-4.87999218e-02 -9.98808519e-01 3.33086072e-04 2.09465535e+02] [ 9.98673136e-01 -4.87987935e-02 -1.64513044e-02 9.31389632e+01] [ 1.64479571e-02 -4.70178255e-04 9.99864613e-01 8.36007816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:93.17, Z:8.36 [[-4.77097391e-02 -9.98861186e-01 3.35024948e-04 2.09463884e+02] [ 9.98728153e-01 -4.77088546e-02 -1.63077441e-02 9.31665816e+01] [ 1.63051563e-02 -4.43439367e-04 9.99866964e-01 8.36099440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:93.19, Z:8.36 [[-4.69020449e-02 -9.98899436e-01 3.40033250e-04 2.09461184e+02] [ 9.98766968e-01 -4.69013645e-02 -1.62728622e-02 9.31937468e+01] [ 1.62709009e-02 -4.23616536e-04 9.99867530e-01 8.36165231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:93.22, Z:8.36 [[-4.46516666e-02 -9.99002556e-01 3.48606121e-04 2.09457056e+02] [ 9.98868030e-01 -4.46513761e-02 -1.63985530e-02 9.32205602e+01] [ 1.63977621e-02 -3.84011213e-04 9.99865474e-01 8.36180278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1727550960001 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:209.46, Y:93.25, Z:8.36 [[-4.36123326e-02 -9.99048466e-01 3.57643485e-04 2.09456010e+02] [ 9.98911663e-01 -4.36122805e-02 -1.65365911e-02 9.32465014e+01] [ 1.65364537e-02 -3.63945065e-04 9.99863197e-01 8.36165859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.202755096 meters Centerline goodness [0,1] 0.9999569475836831 Centerline is valid? [True, True] Translation: X:209.45, Y:93.27, Z:8.36 [[-4.28449838e-02 -9.99081667e-01 3.61783536e-04 2.09453238e+02] [ 9.98946363e-01 -4.28451366e-02 -1.64456314e-02 9.32740416e+01] [ 1.64460295e-02 -3.43210463e-04 9.99864696e-01 8.36178996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.232755096 meters Centerline goodness [0,1] 0.99997854997855 Centerline is valid? [True, True] Translation: X:209.45, Y:93.30, Z:8.36 [[-4.16369858e-02 -9.99132732e-01 3.81709566e-04 2.09451547e+02] [ 9.98987205e-01 -4.16374371e-02 -1.70554672e-02 9.32993553e+01] [ 1.70565690e-02 -3.28815274e-04 9.99854472e-01 8.36166450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters Centerline goodness [0,1] 0.9999138302455838 Centerline is valid? [True, True] Translation: X:209.45, Y:93.33, Z:8.36 [[-4.17561955e-02 -9.99127750e-01 3.99157863e-04 2.09450014e+02] [ 9.98974312e-01 -4.17567793e-02 -1.75127475e-02 9.33254514e+01] [ 1.75141395e-02 -3.32517257e-04 9.99846560e-01 8.36166640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:93.35, Z:8.36 [[-4.22307950e-02 -9.99107795e-01 4.16979956e-04 2.09449056e+02] [ 9.98945980e-01 -4.22314611e-02 -1.79842594e-02 9.33515951e+01] [ 1.79858234e-02 -3.42949120e-04 9.99838183e-01 8.36098544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.322755096 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:209.45, Y:93.38, Z:8.36 [[-4.30834025e-02 -9.99071384e-01 4.36559194e-04 2.09448228e+02] [ 9.98899864e-01 -4.30840965e-02 -1.85154549e-02 9.33780421e+01] [ 1.85170699e-02 -3.61629876e-04 9.99828479e-01 8.36096911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.352755096 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:209.45, Y:93.40, Z:8.36 [[-4.39320729e-02 -9.99034418e-01 4.51658883e-04 2.09448096e+02] [ 9.98856326e-01 -4.39327709e-02 -1.88667054e-02 9.34038123e+01] [ 1.88683307e-02 -3.77711144e-04 9.99821906e-01 8.36098601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:209.45, Y:93.43, Z:8.36 [[-4.65443590e-02 -9.98916123e-01 4.48797491e-04 2.09449720e+02] [ 9.98744817e-01 -4.65446904e-02 -1.85035835e-02 9.34310239e+01] [ 1.85044170e-02 -4.13003263e-04 9.99828693e-01 8.36165738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.412755096 meters Centerline goodness [0,1] 0.9998708177238083 Centerline is valid? [True, True] Translation: X:209.45, Y:93.46, Z:8.36 [[-4.85336655e-02 -9.98821450e-01 4.42077414e-04 2.09451447e+02] [ 9.98659824e-01 -4.85337668e-02 -1.79730280e-02 9.34576241e+01] [ 1.79733015e-02 -4.30811975e-04 9.99838374e-01 8.36223616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.442755096 meters Centerline goodness [0,1] 0.9999784329372183 Centerline is valid? [True, True] Translation: X:209.45, Y:93.48, Z:8.36 [[-5.14402696e-02 -9.98675978e-01 4.34538167e-04 2.09452128e+02] [ 9.98524139e-01 -5.14400284e-02 -1.74203413e-02 9.34845734e+01] [ 1.74196290e-02 -4.62210204e-04 9.99848160e-01 8.36371355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.472755096 meters Centerline goodness [0,1] 0.9999136926595606 Centerline is valid? [True, True] Translation: X:209.45, Y:93.51, Z:8.36 [[-5.29255247e-02 -9.98598365e-01 4.40376313e-04 2.09452637e+02] [ 9.98446709e-01 -5.29251646e-02 -1.74096713e-02 9.35110507e+01] [ 1.74085763e-02 -4.81723707e-04 9.99848343e-01 8.36408415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:209.45, Y:93.54, Z:8.36 [[-5.39134372e-02 -9.98545513e-01 4.46447515e-04 2.09454574e+02] [ 9.98393995e-01 -5.39130366e-02 -1.74015634e-02 9.35377309e+01] [ 1.74003224e-02 -4.92447576e-04 9.99848482e-01 8.36423357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.532755096 meters Centerline goodness [0,1] 0.9999567642353755 Centerline is valid? [True, True] Translation: X:209.45, Y:93.57, Z:8.36 [[-5.50817051e-02 -9.98481750e-01 4.47672210e-04 2.09451931e+02] [ 9.98333460e-01 -5.50812430e-02 -1.72151105e-02 9.35653107e+01] [ 1.72136320e-02 -5.01311492e-04 9.99851709e-01 8.36465402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:93.59, Z:8.36 [[-5.54841660e-02 -9.98459453e-01 4.76728606e-04 2.09450978e+02] [ 9.98295833e-01 -5.54837076e-02 -1.80828035e-02 9.35919551e+01] [ 1.80813968e-02 -5.27393091e-04 9.99836379e-01 8.36454516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.592755096 meters Centerline goodness [0,1] 0.9999567296250622 Centerline is valid? [True, True] Translation: X:209.45, Y:93.62, Z:8.37 [[-5.47994097e-02 -9.98497269e-01 4.77328690e-04 2.09449990e+02] [ 9.98337430e-01 -5.47991813e-02 -1.78725014e-02 9.36176536e+01] [ 1.78718011e-02 -5.02867429e-04 9.99840160e-01 8.36533475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.45, Y:93.64, Z:8.37 [[-5.44667072e-02 -9.98515468e-01 4.87502936e-04 2.09449066e+02] [ 9.98352732e-01 -5.44666348e-02 -1.80335174e-02 9.36428247e+01] [ 1.80332987e-02 -4.95526423e-04 9.99837264e-01 8.36581006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.652755096 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:209.45, Y:93.67, Z:8.37 [[-5.37779214e-02 -9.98552805e-01 4.79696888e-04 2.09446523e+02] [ 9.98399447e-01 -5.37780719e-02 -1.75061029e-02 9.36687346e+01] [ 1.75065653e-02 -4.62512715e-04 9.99846641e-01 8.36658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:93.70, Z:8.37 [[-5.15953819e-02 -9.98667955e-01 4.82023727e-04 2.09438465e+02] [ 9.98517090e-01 -5.15959681e-02 -1.73630838e-02 9.36955439e+01] [ 1.73648259e-02 -4.14546009e-04 9.99849134e-01 8.36786929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.712755096 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:209.44, Y:93.72, Z:8.37 [[-5.06165364e-02 -9.98718046e-01 4.80943556e-04 2.09435741e+02] [ 9.98571631e-01 -5.06173530e-02 -1.71050235e-02 9.37225034e+01] [ 1.71074397e-02 -3.85540453e-04 9.99853583e-01 8.36818142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:93.75, Z:8.37 [[-4.82672393e-02 -9.98834341e-01 4.82839901e-04 2.09435505e+02] [ 9.98690252e-01 -4.82684791e-02 -1.69686470e-02 9.37484391e+01] [ 1.69721733e-02 -3.36822242e-04 9.99855906e-01 8.36826850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:93.77, Z:8.37 [[-4.76655928e-02 -9.98863233e-01 4.82258172e-04 2.09436132e+02] [ 9.98722559e-01 -4.76669748e-02 -1.67663029e-02 9.37743413e+01] [ 1.67702313e-02 -3.17533652e-04 9.99859319e-01 8.36791191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.80, Z:8.37 [[-4.71075114e-02 -9.98889701e-01 4.97131555e-04 2.09431075e+02] [ 9.98744131e-01 -4.71091346e-02 -1.70554963e-02 9.38014189e+01] [ 1.70599790e-02 -3.06934762e-04 9.99854421e-01 8.36920983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.83, Z:8.37 [[-4.74641343e-02 -9.98872816e-01 5.03220297e-04 2.09430085e+02] [ 9.98727247e-01 -4.74658095e-02 -1.70553169e-02 9.38281552e+01] [ 1.70599782e-02 -3.06936033e-04 9.99854421e-01 8.36953126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.85, Z:8.37 [[-4.68790102e-02 -9.98900450e-01 4.98872460e-04 2.09432371e+02] [ 9.98760885e-01 -4.68808006e-02 -1.66998751e-02 9.38534489e+01] [ 1.67049003e-02 -2.84619318e-04 9.99860423e-01 8.36892336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.88, Z:8.37 [[-4.69617419e-02 -9.98896559e-01 5.09524190e-04 2.09429641e+02] [ 9.98754784e-01 -4.69636620e-02 -1.68313879e-02 9.38803998e+01] [ 1.68367445e-02 -2.81541570e-04 9.99858212e-01 8.36962946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.91, Z:8.37 [[-4.73855904e-02 -9.98876532e-01 5.29364605e-04 2.09429657e+02] [ 9.98727103e-01 -4.73876591e-02 -1.72795882e-02 9.39080328e+01] [ 1.72852604e-02 -2.90112708e-04 9.99850557e-01 8.36932318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.93, Z:8.37 [[-4.78918544e-02 -9.98852376e-01 5.49820649e-04 2.09434357e+02] [ 9.98694996e-01 -4.78940697e-02 -1.77331262e-02 9.39349506e+01] [ 1.77391084e-02 -3.00169169e-04 9.99842605e-01 8.36757385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.96, Z:8.37 [[-4.85160256e-02 -9.98822250e-01 5.55293868e-04 2.09434489e+02] [ 9.98665510e-01 -4.85182508e-02 -1.76968436e-02 9.39609502e+01] [ 1.77029430e-02 -3.04027681e-04 9.99843244e-01 8.36761486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:93.99, Z:8.37 [[-5.00169857e-02 -9.98748217e-01 5.47721718e-04 2.09431452e+02] [ 9.98599247e-01 -5.00189866e-02 -1.72524130e-02 9.39873156e+01] [ 1.72582132e-02 -3.15959201e-04 9.99851016e-01 8.36980635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:94.01, Z:8.37 [[-5.11630958e-02 -9.98690164e-01 5.43121132e-04 2.09437566e+02] [ 9.98547204e-01 -5.11649631e-02 -1.69005374e-02 9.40133806e+01] [ 1.69061893e-02 -3.22351727e-04 9.99857028e-01 8.36888190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:94.04, Z:8.37 [[-5.24574213e-02 -9.98623001e-01 5.66580117e-04 2.09439507e+02] [ 9.98471176e-01 -5.24593273e-02 -1.74163842e-02 9.40384957e+01] [ 1.74221243e-02 -3.47904689e-04 9.99848163e-01 8.36858462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.06, Z:8.37 [[-5.33313732e-02 -9.98576705e-01 5.73230923e-04 2.09433824e+02] [ 9.98424635e-01 -5.33332573e-02 -1.74302159e-02 9.40648378e+01] [ 1.74359798e-02 -3.57249473e-04 9.99847918e-01 8.37036778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.09, Z:8.37 [[-5.39344968e-02 -9.98544303e-01 5.87386139e-04 2.09434295e+02] [ 9.98388304e-01 -5.39364554e-02 -1.76537055e-02 9.40911362e+01] [ 1.76596886e-02 -3.65704271e-04 9.99843989e-01 8.37052114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.12, Z:8.37 [[-5.45676073e-02 -9.98509884e-01 6.22562517e-04 2.09433779e+02] [ 9.98338728e-01 -5.45697829e-02 -1.84911682e-02 9.41172759e+01] [ 1.84975873e-02 -3.87490533e-04 9.99828830e-01 8.37081372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.192755096 meters Centerline goodness [0,1] 0.9999348619072433 Centerline is valid? [True, True] Translation: X:209.43, Y:94.14, Z:8.37 [[-5.46323852e-02 -9.98506318e-01 6.59474588e-04 2.09434425e+02] [ 9.98318803e-01 -5.46349084e-02 -1.93544518e-02 9.41432355e+01] [ 1.93615728e-02 -3.99013988e-04 9.99812468e-01 8.36847075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.17, Z:8.37 [[-5.25801696e-02 -9.98616459e-01 7.02619118e-04 2.09432309e+02] [ 9.98408429e-01 -5.25835595e-02 -2.03857551e-02 9.41706882e+01] [ 2.03944968e-02 -3.70385611e-04 9.99791942e-01 8.36915144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.20, Z:8.37 [[-5.13307223e-02 -9.98681448e-01 7.23447145e-04 2.09431250e+02] [ 9.98465488e-01 -5.13346686e-02 -2.07706825e-02 9.41966678e+01] [ 2.07804331e-02 -3.43837126e-04 9.99784004e-01 8.36927902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.22, Z:8.37 [[-5.00015374e-02 -9.98748873e-01 7.31596305e-04 2.09429112e+02] [ 9.98532796e-01 -5.00059387e-02 -2.07764446e-02 9.42230406e+01] [ 2.07870348e-02 -3.08331267e-04 9.99783879e-01 8.36973252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.25, Z:8.37 [[-4.88226028e-02 -9.98807196e-01 7.34222611e-04 2.09426629e+02] [ 9.98594255e-01 -4.88273557e-02 -2.06252880e-02 9.42496621e+01] [ 2.06365362e-02 -2.73789760e-04 9.99787007e-01 8.37005538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:94.28, Z:8.37 [[-4.60180772e-02 -9.98940335e-01 7.36799229e-04 2.09425020e+02] [ 9.98730419e-01 -4.60235119e-02 -2.04789394e-02 9.42761598e+01] [ 2.04911487e-02 -2.06537612e-04 9.99790013e-01 8.36934608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.30, Z:8.37 [[-4.52109254e-02 -9.98977173e-01 7.62129748e-04 2.09422996e+02] [ 9.98757220e-01 -4.52169638e-02 -2.09628806e-02 9.43025188e+01] [ 2.09759004e-02 -1.86568643e-04 9.99779964e-01 8.36986421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.33, Z:8.37 [[-4.41058664e-02 -9.99026562e-01 7.74790613e-04 2.09422176e+02] [ 9.98804007e-01 -4.41123946e-02 -2.10867624e-02 9.43283448e+01] [ 2.11004136e-02 -1.56185954e-04 9.99777349e-01 8.36914942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.35, Z:8.37 [[-4.44092399e-02 -9.99013130e-01 7.64965219e-04 2.09420681e+02] [ 9.98800630e-01 -4.44155712e-02 -2.06048410e-02 9.43549281e+01] [ 2.06184831e-02 -1.50997585e-04 9.99787405e-01 8.37056013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.38, Z:8.37 [[-4.51238060e-02 -9.98981111e-01 7.62421262e-04 2.09421101e+02] [ 9.98774285e-01 -4.51299778e-02 -2.03276368e-02 9.43808651e+01] [ 2.03413333e-02 -1.55773591e-04 9.99793082e-01 8.37028297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.41, Z:8.37 [[-4.75692666e-02 -9.98867659e-01 7.51937680e-04 2.09422032e+02] [ 9.98670465e-01 -4.75748169e-02 -1.98479099e-02 9.44076659e+01] [ 1.98612086e-02 -1.93212567e-04 9.99802728e-01 8.37165141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.43, Z:8.37 [[-4.91076414e-02 -9.98793207e-01 7.54749347e-04 2.09422033e+02] [ 9.98598329e-01 -4.91129695e-02 -1.97305148e-02 9.44337037e+01] [ 1.97437721e-02 -2.15227608e-04 9.99805050e-01 8.37236004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.46, Z:8.37 [[-5.17246832e-02 -9.98661120e-01 7.24986778e-04 2.09421500e+02] [ 9.98484573e-01 -5.17291719e-02 -1.87790012e-02 9.44604922e+01] [ 1.87913613e-02 -2.47449775e-04 9.99823396e-01 8.37486637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.49, Z:8.38 [[-5.28998278e-02 -9.98599573e-01 7.07906792e-04 2.09420603e+02] [ 9.98434263e-01 -5.29039522e-02 -1.81712659e-02 9.44880253e+01] [ 1.81832695e-02 -2.54458443e-04 9.99834638e-01 8.37597865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.51, Z:8.38 [[-5.37650935e-02 -9.98553386e-01 6.71474711e-04 2.09419272e+02] [ 9.98407262e-01 -5.37687139e-02 -1.70840208e-02 9.45148483e+01] [ 1.70954111e-02 -2.48118749e-04 9.99853832e-01 8.37731150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.54, Z:8.38 [[-5.39576213e-02 -9.98543003e-01 6.68675720e-04 2.09417747e+02] [ 9.98400742e-01 -5.39612221e-02 -1.68566205e-02 9.45411666e+01] [ 1.68681430e-02 -2.41936809e-04 9.99857694e-01 8.37751368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.57, Z:8.38 [[-5.38246825e-02 -9.98550184e-01 6.59119719e-04 2.09415594e+02] [ 9.98414553e-01 -5.38282359e-02 -1.64590948e-02 9.45674627e+01] [ 1.64707114e-02 -2.27830831e-04 9.99864323e-01 8.37782427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.42, Y:94.59, Z:8.38 [[-5.28603313e-02 -9.98601678e-01 6.88674324e-04 2.09415103e+02] [ 9.98456602e-01 -5.28643913e-02 -1.70226234e-02 9.45930029e+01] [ 1.70352267e-02 -2.12210088e-04 9.99854867e-01 8.37596767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:94.62, Z:8.38 [[-5.26908029e-02 -9.98610625e-01 7.06729416e-04 2.09409703e+02] [ 9.98460824e-01 -5.26951404e-02 -1.72975597e-02 9.46204096e+01] [ 1.73107682e-02 -2.05780675e-04 9.99850136e-01 8.37683212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:94.65, Z:8.38 [[-5.19136892e-02 -9.98651307e-01 7.32346283e-04 2.09407720e+02] [ 9.98493350e-01 -5.19185037e-02 -1.77623099e-02 9.46465139e+01] [ 1.77763764e-02 -1.90864144e-04 9.99841970e-01 8.37672830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:94.67, Z:8.38 [[-5.19175885e-02 -9.98651095e-01 7.45021117e-04 2.09406236e+02] [ 9.98490622e-01 -5.19226021e-02 -1.79031190e-02 9.46724871e+01] [ 1.79176529e-02 -1.85590168e-04 9.99839449e-01 8.37689378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.70, Z:8.38 [[-5.17482927e-02 -9.98659861e-01 7.71714418e-04 2.09404627e+02] [ 9.98490905e-01 -5.17537333e-02 -1.83701810e-02 9.46991959e+01] [ 1.83855015e-02 -1.80075677e-04 9.99830956e-01 8.37732895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.73, Z:8.38 [[-5.16356085e-02 -9.98665698e-01 7.66198942e-04 2.09402457e+02] [ 9.98502162e-01 -5.16410190e-02 -1.80731454e-02 9.47256631e+01] [ 1.80885977e-02 -1.68166562e-04 9.99836374e-01 8.37820600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.75, Z:8.38 [[-5.24523558e-02 -9.98623119e-01 7.84867423e-04 2.09401733e+02] [ 9.98454719e-01 -5.24579246e-02 -1.83395686e-02 9.47513566e+01] [ 1.83554897e-02 -1.78298995e-04 9.99831508e-01 8.37782574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.78, Z:8.38 [[-5.40337076e-02 -9.98538796e-01 7.95017537e-04 2.09401051e+02] [ 9.98369116e-01 -5.40391823e-02 -1.84085499e-02 9.47783469e+01] [ 1.84246133e-02 -2.00961245e-04 9.99830232e-01 8.37879989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.80, Z:8.38 [[-5.55749517e-02 -9.98454223e-01 7.67322085e-04 2.09401920e+02] [ 9.98298764e-01 -5.55798397e-02 -1.76198339e-02 9.48034051e+01] [ 1.76352452e-02 -2.13204726e-04 9.99844464e-01 8.37899556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.83, Z:8.38 [[-5.72402973e-02 -9.98360146e-01 7.53381608e-04 2.09402014e+02] [ 9.98212961e-01 -5.72447958e-02 -1.71440186e-02 9.48291187e+01] [ 1.71590321e-02 -2.29293438e-04 9.99852747e-01 8.37993356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.86, Z:8.38 [[-6.06405063e-02 -9.98159395e-01 7.42167206e-04 2.09401516e+02] [ 9.98018942e-01 -6.06444251e-02 -1.67465137e-02 9.48565594e+01] [ 1.67606983e-02 -2.74820141e-04 9.99859492e-01 8.38201918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.88, Z:8.38 [[-6.25196388e-02 -9.98043467e-01 7.29487967e-04 2.09401600e+02] [ 9.97909921e-01 -6.25232083e-02 -1.63290814e-02 9.48831227e+01] [ 1.63427429e-02 -2.92924990e-04 9.99866406e-01 8.38269991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.91, Z:8.38 [[-6.51178830e-02 -9.97877322e-01 7.15263622e-04 2.09402168e+02] [ 9.97750979e-01 -6.51210222e-02 -1.58819441e-02 9.49107237e+01] [ 1.58948106e-02 -3.20543602e-04 9.99873618e-01 8.38346707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.94, Z:8.38 [[-6.64832433e-02 -9.97787289e-01 7.10079535e-04 2.09400560e+02] [ 9.97664683e-01 -6.64862078e-02 -1.56449677e-02 9.49382469e+01] [ 1.56575604e-02 -3.31706919e-04 9.99877358e-01 8.38460766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.96, Z:8.38 [[-6.72116483e-02 -9.97738495e-01 7.00349555e-04 2.09402223e+02] [ 9.97620982e-01 -6.72144832e-02 -1.53163445e-02 9.49645498e+01] [ 1.53287801e-02 -3.30753346e-04 9.99882453e-01 8.38491877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:94.99, Z:8.39 [[-6.76933350e-02 -9.97705924e-01 7.08538652e-04 2.09398980e+02] [ 9.97587232e-01 -6.76962134e-02 -1.53927622e-02 9.49905951e+01] [ 1.54054154e-02 -3.35158295e-04 9.99881273e-01 8.38577361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:95.02, Z:8.38 [[-6.76883114e-02 -9.97706216e-01 7.74472417e-04 2.09396556e+02] [ 9.97566957e-01 -6.76918059e-02 -1.66729325e-02 9.50161324e+01] [ 1.66871138e-02 -3.55974552e-04 9.99860697e-01 8.38475306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.04, Z:8.38 [[-6.69689431e-02 -9.97754722e-01 8.21335848e-04 2.09392024e+02] [ 9.97600767e-01 -6.69730405e-02 -1.75305996e-02 9.50436991e+01] [ 1.75462459e-02 -3.54640454e-04 9.99845990e-01 8.38452449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.07, Z:8.38 [[-6.70155035e-02 -9.97751576e-01 8.45997830e-04 2.09390268e+02] [ 9.97590728e-01 -6.70198931e-02 -1.79185380e-02 9.50696648e+01] [ 1.79349482e-02 -3.56860259e-04 9.99839092e-01 8.38423837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.10, Z:8.38 [[-6.73408247e-02 -9.97729647e-01 8.74798182e-04 2.09388577e+02] [ 9.97560549e-01 -6.73455200e-02 -1.83720230e-02 9.50959570e+01] [ 1.83892258e-02 -3.64523026e-04 9.99830837e-01 8.38448813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.12, Z:8.38 [[-6.79295682e-02 -9.97689711e-01 9.02798312e-04 2.09387266e+02] [ 9.97512596e-01 -6.79345229e-02 -1.88021830e-02 9.51219661e+01] [ 1.88200757e-02 -3.76671487e-04 9.99822816e-01 8.38458631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.15, Z:8.38 [[-6.91116778e-02 -9.97608506e-01 9.19532805e-04 2.09386289e+02] [ 9.97427726e-01 -6.91166624e-02 -1.89952284e-02 9.51485275e+01] [ 1.90133565e-02 -3.95624590e-04 9.99819152e-01 8.38487771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters Centerline goodness [0,1] 0.9999565830891132 Centerline is valid? [True, True] Translation: X:209.38, Y:95.18, Z:8.38 [[-7.03129763e-02 -9.97524555e-01 9.20202471e-04 2.09384412e+02] [ 9.97346280e-01 -7.03178108e-02 -1.88627646e-02 9.51756805e+01] [ 1.88807775e-02 -4.08536609e-04 9.99821659e-01 8.38494018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.20, Z:8.39 [[-7.20877086e-02 -9.97397890e-01 9.01287954e-04 2.09385478e+02] [ 9.97229102e-01 -7.20920942e-02 -1.83534318e-02 9.52022977e+01] [ 1.83706499e-02 -4.24266266e-04 9.99831155e-01 8.38648718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.39, Y:95.23, Z:8.39 [[-7.36107737e-02 -9.97286646e-01 8.94248257e-04 2.09386376e+02] [ 9.97122483e-01 -7.36148864e-02 -1.80998008e-02 9.52289672e+01] [ 1.81165196e-02 -4.40665298e-04 9.99835785e-01 8.38679979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:95.26, Z:8.39 [[-7.48818723e-02 -9.97192018e-01 8.85668348e-04 2.09381540e+02] [ 9.97033242e-01 -7.48857586e-02 -1.77999535e-02 9.52561223e+01] [ 1.78162955e-02 -4.49853059e-04 9.99841176e-01 8.38861192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:95.28, Z:8.39 [[-7.65406510e-02 -9.97066074e-01 8.79259350e-04 2.09380105e+02] [ 9.96911782e-01 -7.65442798e-02 -1.75463018e-02 9.52835262e+01] [ 1.75621245e-02 -4.66461360e-04 9.99845665e-01 8.38930091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:95.31, Z:8.39 [[-7.74062162e-02 -9.96999264e-01 8.63345057e-04 2.09382174e+02] [ 9.96852596e-01 -7.74096427e-02 -1.71069876e-02 9.53100238e+01] [ 1.71224853e-02 -4.63559417e-04 9.99853292e-01 8.38904584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:95.34, Z:8.39 [[-7.80278005e-02 -9.96950828e-01 8.42445576e-04 2.09376943e+02] [ 9.96813199e-01 -7.80310318e-02 -1.65711855e-02 9.53365755e+01] [ 1.65863940e-02 -4.53252289e-04 9.99862334e-01 8.39049006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:95.36, Z:8.39 [[-7.85438665e-02 -9.96910331e-01 8.08669873e-04 2.09373653e+02] [ 9.96785337e-01 -7.85468287e-02 -1.57919933e-02 9.53635035e+01] [ 1.58067197e-02 -4.34293945e-04 9.99874972e-01 8.39138717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:95.39, Z:8.39 [[-7.86867335e-02 -9.96899080e-01 7.88959364e-04 2.09370874e+02] [ 9.96781771e-01 -7.86895817e-02 -1.52987514e-02 9.53888621e+01] [ 1.53133941e-02 -4.17388465e-04 9.99882656e-01 8.39214751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:95.41, Z:8.39 [[-7.85630741e-02 -9.96908817e-01 8.08741872e-04 2.09368217e+02] [ 9.96787512e-01 -7.85661350e-02 -1.55569242e-02 9.54148201e+01] [ 1.55723746e-02 -4.16055990e-04 9.99878657e-01 8.39233416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:95.44, Z:8.39 [[-7.83973443e-02 -9.96921859e-01 8.14292568e-04 2.09365022e+02] [ 9.96800721e-01 -7.84005163e-02 -1.55461228e-02 9.54415139e+01] [ 1.55621106e-02 -4.07087327e-04 9.99878820e-01 8.39257184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:95.47, Z:8.39 [[-7.62818592e-02 -9.97085958e-01 8.18829404e-04 2.09360830e+02] [ 9.96965269e-01 -7.62853693e-02 -1.55175736e-02 9.54674373e+01] [ 1.55348194e-02 -3.67364885e-04 9.99879260e-01 8.39298924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.36, Y:95.49, Z:8.39 [[-7.66624904e-02 -9.97056760e-01 8.24615398e-04 2.09359199e+02] [ 9.96936072e-01 -7.66660444e-02 -1.55172663e-02 9.54933213e+01] [ 1.55348153e-02 -3.67503445e-04 9.99879260e-01 8.39330067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.752755096 meters Centerline goodness [0,1] 0.9999569364597464 Centerline is valid? [True, True] Translation: X:209.35, Y:95.52, Z:8.39 [[-7.56612363e-02 -9.97133222e-01 8.45160881e-04 2.09354670e+02] [ 9.97008285e-01 -7.56651381e-02 -1.57881806e-02 9.55197864e+01] [ 1.58068686e-02 -3.51920860e-04 9.99875002e-01 8.39246528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.35, Y:95.55, Z:8.39 [[-7.31145084e-02 -9.97323175e-01 8.67827049e-04 2.09349140e+02] [ 9.97193326e-01 -7.31189952e-02 -1.60960912e-02 9.55461787e+01] [ 1.61164595e-02 -3.11466457e-04 9.99870073e-01 8.39248785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.35, Y:95.57, Z:8.39 [[-7.23164292e-02 -9.97381337e-01 8.95475758e-04 2.09345805e+02] [ 9.97244924e-01 -7.23213507e-02 -1.64979959e-02 9.55723553e+01] [ 1.65195552e-02 -3.00067496e-04 9.99863498e-01 8.39232460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:95.60, Z:8.39 [[-7.19720932e-02 -9.97406233e-01 9.07848420e-04 2.09341399e+02] [ 9.97267948e-01 -7.19772339e-02 -1.66107530e-02 9.55995690e+01] [ 1.66330130e-02 -2.90142528e-04 9.99861620e-01 8.39296321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:95.63, Z:8.39 [[-7.11473874e-02 -9.97465416e-01 8.90797887e-04 2.09339922e+02] [ 9.97334046e-01 -7.11524760e-02 -1.61903313e-02 9.56250060e+01] [ 1.62126780e-02 -2.63476711e-04 9.99868531e-01 8.39284170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:95.65, Z:8.39 [[-7.11115756e-02 -9.97467973e-01 8.87393771e-04 2.09336974e+02] [ 9.97339502e-01 -7.11166604e-02 -1.60105474e-02 9.56511924e+01] [ 1.60331167e-02 -2.53502390e-04 9.99871429e-01 8.39420810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:95.68, Z:8.40 [[-7.08823426e-02 -9.97484316e-01 8.55685446e-04 2.09334135e+02] [ 9.97366478e-01 -7.08871228e-02 -1.53337515e-02 9.56770252e+01] [ 1.53558337e-02 -2.33460250e-04 9.99882065e-01 8.39538629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:95.70, Z:8.40 [[-7.09938340e-02 -9.97476405e-01 8.35161074e-04 2.09331806e+02] [ 9.97365679e-01 -7.09983983e-02 -1.48636940e-02 9.57030053e+01] [ 1.48854791e-02 -2.22269631e-04 9.99889180e-01 8.39614895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:95.73, Z:8.40 [[-7.11234891e-02 -9.97467179e-01 8.21964182e-04 2.09329141e+02] [ 9.97361378e-01 -7.11279180e-02 -1.45293019e-02 9.57291232e+01] [ 1.45509664e-02 -2.13579317e-04 9.99894106e-01 8.39663545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:95.75, Z:8.40 [[-7.13730893e-02 -9.97449389e-01 7.73816501e-04 2.09326402e+02] [ 9.97356835e-01 -7.13770090e-02 -1.35892245e-02 9.57543391e+01] [ 1.36097964e-02 -1.98133757e-04 9.99907363e-01 8.39701171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:95.78, Z:8.40 [[-7.21341900e-02 -9.97394634e-01 7.76570449e-04 2.09324028e+02] [ 9.97302721e-01 -7.21380863e-02 -1.35417467e-02 9.57811488e+01] [ 1.35624858e-02 -2.02347108e-04 9.99908005e-01 8.39740100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:95.81, Z:8.40 [[-7.33150605e-02 -9.97308556e-01 7.38367317e-04 2.09321913e+02] [ 9.97226500e-01 -7.33185010e-02 -1.27947130e-02 9.58071442e+01] [ 1.28144128e-02 -2.01725704e-04 9.99917872e-01 8.39861572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:95.83, Z:8.40 [[-7.41131334e-02 -9.97249590e-01 7.05793962e-04 2.09321191e+02] [ 9.97175558e-01 -7.41162326e-02 -1.21528345e-02 9.58324373e+01] [ 1.21717200e-02 -1.96884156e-04 9.99925903e-01 8.39956980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.32, Y:95.86, Z:8.40 [[-7.47104327e-02 -9.97205030e-01 6.92059992e-04 2.09317561e+02] [ 9.97134575e-01 -7.47133818e-02 -1.18553840e-02 9.58590036e+01] [ 1.18739547e-02 -1.95643925e-04 9.99929483e-01 8.40036446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.31, Y:95.89, Z:8.40 [[-7.55083863e-02 -9.97144933e-01 6.82211858e-04 2.09313746e+02] [ 9.97077368e-01 -7.55112127e-02 -1.16094531e-02 9.58857338e+01] [ 1.16278220e-02 -1.96393063e-04 9.99932375e-01 8.40064665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.31, Y:95.91, Z:8.40 [[-7.61529982e-02 -9.97095914e-01 6.77301436e-04 2.09314053e+02] [ 9.97030118e-01 -7.61557549e-02 -1.14562324e-02 9.59121011e+01] [ 1.14745429e-02 -1.97136513e-04 9.99934146e-01 8.40045121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.232755096 meters Centerline goodness [0,1] 0.9998721173110533 Centerline is valid? [True, True] Translation: X:209.31, Y:95.94, Z:8.40 [[-7.65331452e-02 -9.97066762e-01 7.42153434e-04 2.09311252e+02] [ 9.96988791e-01 -7.65364429e-02 -1.24708971e-02 9.59383352e+01] [ 1.24911188e-02 -2.14518327e-04 9.99921960e-01 8.39815997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.31, Y:95.97, Z:8.40 [[-7.66229072e-02 -9.97059889e-01 7.13383078e-04 2.09306637e+02] [ 9.96988692e-01 -7.66259621e-02 -1.19167599e-02 9.59651214e+01] [ 1.19363869e-02 -2.01861923e-04 9.99928738e-01 8.40152280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.30, Y:95.99, Z:8.40 [[-7.69264674e-02 -9.97036516e-01 7.10971645e-04 2.09304290e+02] [ 9.96966628e-01 -7.69294944e-02 -1.18065988e-02 9.59914907e+01] [ 1.18263048e-02 -1.99424933e-04 9.99930047e-01 8.40178146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.30, Y:96.02, Z:8.40 [[-7.68105476e-02 -9.97045421e-01 7.54029797e-04 2.09301187e+02] [ 9.96967895e-01 -7.68139793e-02 -1.24349882e-02 9.60163692e+01] [ 1.24561681e-02 -2.03394752e-04 9.99922398e-01 8.40095297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.30, Y:96.04, Z:8.40 [[-7.68206792e-02 -9.97044598e-01 8.08289569e-04 2.09297082e+02] [ 9.96956781e-01 -7.68246421e-02 -1.32345065e-02 9.60423360e+01] [ 1.32574898e-02 -2.10854015e-04 9.99912093e-01 8.39989216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:96.07, Z:8.40 [[-7.71070550e-02 -9.97022467e-01 8.38347774e-04 2.09294904e+02] [ 9.96929227e-01 -7.71113106e-02 -1.36367706e-02 9.60680348e+01] [ 1.36608127e-02 -2.15717821e-04 9.99906663e-01 8.39970124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:96.09, Z:8.40 [[-7.75799192e-02 -9.96985764e-01 8.61262723e-04 2.09292850e+02] [ 9.96888655e-01 -7.75843848e-02 -1.39166540e-02 9.60944826e+01] [ 1.39415265e-02 -2.21069858e-04 9.99902788e-01 8.40014870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:96.12, Z:8.40 [[-7.85145992e-02 -9.96912584e-01 8.70722681e-04 2.09291090e+02] [ 9.96814549e-01 -7.85190907e-02 -1.39823863e-02 9.61209060e+01] [ 1.40075852e-02 -2.29872421e-04 9.99901863e-01 8.40096005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:96.15, Z:8.40 [[-7.92732388e-02 -9.96852546e-01 8.69067531e-04 2.09288974e+02] [ 9.96756055e-01 -7.92776589e-02 -1.38715398e-02 9.61477048e+01] [ 1.38967774e-02 -2.33393562e-04 9.99903408e-01 8.40191772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:96.17, Z:8.40 [[-8.07749631e-02 -9.96732029e-01 8.17568686e-04 2.09284538e+02] [ 9.96647593e-01 -8.07787637e-02 -1.29756350e-02 9.61739948e+01] [ 1.29992732e-02 -2.33278574e-04 9.99915479e-01 8.40373055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:96.20, Z:8.40 [[-8.14379381e-02 -9.96678111e-01 7.77606520e-04 2.09282561e+02] [ 9.96602621e-01 -8.14413420e-02 -1.22688203e-02 9.61993991e+01] [ 1.22913939e-02 -2.24182731e-04 9.99924433e-01 8.40478001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:96.23, Z:8.41 [[-8.20979577e-02 -9.96624000e-01 7.26458540e-04 2.09278315e+02] [ 9.96558893e-01 -8.21008995e-02 -1.13936481e-02 9.62258369e+01] [ 1.14148261e-02 -2.11436524e-04 9.99934826e-01 8.40567858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:96.25, Z:8.41 [[-8.30583776e-02 -9.96544430e-01 7.10675990e-04 2.09277444e+02] [ 9.96482858e-01 -8.30611472e-02 -1.10796539e-02 9.62516512e+01] [ 1.11003970e-02 -2.12081636e-04 9.99938366e-01 8.40622365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.27, Y:96.28, Z:8.41 [[-8.36566492e-02 -9.96494453e-01 6.08463855e-04 2.09272000e+02] [ 9.96449803e-01 -8.36586618e-02 -9.43491877e-03 9.62777116e+01] [ 9.45274749e-03 -1.82990000e-04 9.99955305e-01 8.40775976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.27, Y:96.30, Z:8.41 [[-8.37088512e-02 -9.96490121e-01 5.17282156e-04 2.09265098e+02] [ 9.96458125e-01 -8.37103094e-02 -7.98683573e-03 9.63038669e+01] [ 8.00210475e-03 -1.53118836e-04 9.99967971e-01 8.40886536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.26, Y:96.33, Z:8.41 [[-8.35905459e-02 -9.96500080e-01 4.59031813e-04 2.09259113e+02] [ 9.96475127e-01 -8.35917018e-02 -7.05321467e-03 9.63306398e+01] [ 7.06690023e-03 -1.32168281e-04 9.99975020e-01 8.40895557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.712755096 meters Centerline goodness [0,1] 0.9999154798630774 Centerline is valid? [True, True] Translation: X:209.25, Y:96.36, Z:8.41 [[-8.25582263e-02 -9.96586140e-01 4.51723168e-04 2.09254168e+02] [ 9.96562230e-01 -8.25593752e-02 -6.90439861e-03 9.63578092e+01] [ 6.91812194e-03 -1.19844655e-04 9.99976062e-01 8.40735786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.25, Y:96.38, Z:8.41 [[-8.14174584e-02 -9.96680035e-01 3.25968799e-04 2.09247927e+02] [ 9.96667621e-01 -8.14180714e-02 -4.97508924e-03 9.63839369e+01] [ 4.98511187e-03 -8.01765738e-05 9.99987571e-01 8.40905491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:96.41, Z:8.41 [[-8.08289900e-02 -9.96727932e-01 3.21520632e-04 2.09242989e+02] [ 9.96715978e-01 -8.08295955e-02 -4.88211632e-03 9.64101893e+01] [ 4.89213009e-03 -7.41517802e-05 9.99988031e-01 8.40868748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:96.44, Z:8.41 [[-7.88733301e-02 -9.96884612e-01 2.62298061e-04 2.09236527e+02] [ 9.96876700e-01 -7.88737492e-02 -3.97202852e-03 9.64363660e+01] [ 3.98034254e-03 -5.18082907e-05 9.99992077e-01 8.40858167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.46, Z:8.41 [[-7.83987463e-02 -9.96922058e-01 2.15953100e-04 2.09233522e+02] [ 9.96916710e-01 -7.83990331e-02 -3.26569079e-03 9.64612401e+01] [ 3.27256970e-03 -4.07388101e-05 9.99994644e-01 8.40930835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.49, Z:8.41 [[-7.81237476e-02 -9.96943657e-01 1.58065891e-04 2.09230041e+02] [ 9.96940788e-01 -7.81239020e-02 -2.39208976e-03 9.64872866e+01] [ 2.39712744e-03 -2.92966824e-05 9.99997126e-01 8.40953453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.51, Z:8.41 [[-7.87652178e-02 -9.96893193e-01 4.02045592e-05 2.09227663e+02] [ 9.96892980e-01 -7.87652273e-02 -6.52263114e-04 9.65136300e+01] [ 6.53403379e-04 -1.12960034e-05 9.99999786e-01 8.41092700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.54, Z:8.41 [[-8.00153747e-02 -9.96793630e-01 1.03468690e-05 2.09225986e+02] [ 9.96793606e-01 -8.00153751e-02 -2.18094275e-04 9.65397573e+01] [ 2.18222892e-04 -7.13720234e-06 9.99999976e-01 8.41109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.57, Z:8.41 [[-8.14276629e-02 -9.96679254e-01 -3.95162384e-06 2.09224630e+02] [ 9.96679254e-01 -8.14276629e-02 -1.05176327e-05 9.65659941e+01] [ 1.01609346e-05 -4.79492775e-06 1.00000000e+00 8.41085852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.59, Z:8.41 [[-8.43205188e-02 -9.96438682e-01 5.17661855e-05 2.09225531e+02] [ 9.96438357e-01 -8.43205331e-02 -8.04862543e-04 9.65930339e+01] [ 8.06361124e-04 -1.62846143e-05 9.99999675e-01 8.40976724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.62, Z:8.41 [[-8.57695074e-02 -9.96315005e-01 5.41888817e-05 2.09225427e+02] [ 9.96314647e-01 -8.57695225e-02 -8.44195386e-04 9.66182578e+01] [ 8.45732284e-04 -1.84170459e-05 9.99999642e-01 8.40983097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.23, Y:96.65, Z:8.41 [[-8.80634934e-02 -9.96114863e-01 4.31163063e-05 2.09225609e+02] [ 9.96114636e-01 -8.80635024e-02 -6.71788505e-04 9.66454826e+01] [ 6.72975486e-04 -1.62112587e-05 9.99999773e-01 8.40955460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.67, Z:8.41 [[-8.90828371e-02 -9.96024219e-01 5.60074920e-05 2.09223071e+02] [ 9.96023849e-01 -8.90828523e-02 -8.59474827e-04 9.66721236e+01] [ 8.61047050e-04 -2.07796582e-05 9.99999629e-01 8.40866636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.70, Z:8.41 [[-9.10303847e-02 -9.95848113e-01 6.34821950e-05 2.09220222e+02] [ 9.95847655e-01 -9.10304038e-02 -9.55725065e-04 9.66994671e+01] [ 9.57535812e-04 -2.37814253e-05 9.99999541e-01 8.40742431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.73, Z:8.41 [[-9.19868163e-02 -9.95760224e-01 4.83228815e-05 2.09221301e+02] [ 9.95759948e-01 -9.19868268e-02 -7.41093744e-04 9.67256987e+01] [ 7.42396741e-04 -2.00528641e-05 9.99999724e-01 8.40895652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.75, Z:8.41 [[-9.25130555e-02 -9.95711470e-01 4.85878009e-05 2.09217968e+02] [ 9.95711195e-01 -9.25130660e-02 -7.41239148e-04 9.67520561e+01] [ 7.42555328e-04 -2.01948812e-05 9.99999724e-01 8.40815343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.22, Y:96.78, Z:8.41 [[-9.35816372e-02 -9.95611610e-01 1.67789136e-05 2.09216287e+02] [ 9.95611565e-01 -9.35816381e-02 -2.97905558e-04 9.67787708e+01] [ 2.98168430e-04 -1.11732094e-05 9.99999956e-01 8.40867510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.81, Z:8.41 [[-9.41350727e-02 -9.95559435e-01 -1.59927622e-05 2.09214119e+02] [ 9.95559422e-01 -9.41350741e-02 1.60994373e-04 9.68061360e+01] [-1.61784947e-04 -7.66528104e-07 9.99999987e-01 8.40877744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.83, Z:8.41 [[-9.46155708e-02 -9.95513884e-01 9.96689612e-07 2.09213692e+02] [ 9.95513881e-01 -9.46155706e-02 -8.21317985e-05 9.68314337e+01] [ 8.18576478e-05 -6.77872865e-06 9.99999997e-01 8.40951127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.86, Z:8.41 [[-9.50539182e-02 -9.95472123e-01 6.74291093e-05 2.09211995e+02] [ 9.95471638e-01 -9.50539385e-02 -9.83183375e-04 9.68575478e+01] [ 9.85141044e-04 -2.63316663e-05 9.99999514e-01 8.40831546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.88, Z:8.41 [[-9.51555157e-02 -9.95462415e-01 8.69130695e-05 2.09210740e+02] [ 9.95461655e-01 -9.51555505e-02 -1.23045831e-03 9.68830884e+01] [ 1.23314527e-03 -3.05662674e-05 9.99999239e-01 8.40794661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.91, Z:8.41 [[-9.50747396e-02 -9.95470128e-01 1.32486079e-04 2.09210503e+02] [ 9.95468411e-01 -9.50748218e-02 -1.84986384e-03 9.69091529e+01] [ 1.85408029e-03 -4.39896164e-05 9.99998280e-01 8.40774559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.94, Z:8.41 [[-9.48487338e-02 -9.95491687e-01 1.37865854e-04 2.09209654e+02] [ 9.95489845e-01 -9.48488235e-02 -1.91559640e-03 9.69350682e+01] [ 1.92003671e-03 -4.44478357e-05 9.99998156e-01 8.40815687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.96, Z:8.41 [[-9.47000008e-02 -9.95505844e-01 1.57060176e-04 2.09207090e+02] [ 9.95503497e-01 -9.47001186e-02 -2.16209317e-03 9.69611196e+01] [ 2.16725000e-03 -4.83962707e-05 9.99997650e-01 8.40757428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:96.99, Z:8.41 [[-9.27941463e-02 -9.95685299e-01 1.78553838e-04 2.09205334e+02] [ 9.95682333e-01 -9.27943058e-02 -2.43085349e-03 9.69881524e+01] [ 2.43693386e-03 -4.77860717e-05 9.99997030e-01 8.40785033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.20, Y:97.01, Z:8.41 [[-9.15293988e-02 -9.95802360e-01 1.71183524e-04 2.09202155e+02] [ 9.95799641e-01 -9.15295490e-02 -2.32727386e-03 9.70144086e+01] [ 2.33317315e-03 -4.25494850e-05 9.99997277e-01 8.40806578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.20, Y:97.04, Z:8.41 [[-8.78151497e-02 -9.96136771e-01 1.83632357e-04 2.09198734e+02] [ 9.96133693e-01 -8.78153349e-02 -2.47646978e-03 9.70400566e+01] [ 2.48302835e-03 -3.45491866e-05 9.99996917e-01 8.40821470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.20, Y:97.07, Z:8.41 [[-8.66562765e-02 -9.96238256e-01 1.63320939e-04 2.09196031e+02] [ 9.96235826e-01 -8.66564259e-02 -2.20050067e-03 9.70664580e+01] [ 2.20637576e-03 -2.79810242e-05 9.99997566e-01 8.40831350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.09, Z:8.41 [[-8.55478396e-02 -9.96334054e-01 1.45155061e-04 2.09193517e+02] [ 9.96332139e-01 -8.55479598e-02 -1.95342204e-03 9.70926209e+01] [ 1.95867862e-03 -2.24883836e-05 9.99998082e-01 8.40858854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.12, Z:8.41 [[-8.35574506e-02 -9.96502945e-01 1.80000562e-04 2.09191549e+02] [ 9.96500060e-01 -8.35576418e-02 -2.39813471e-03 9.71187904e+01] [ 2.40478872e-03 -2.10114515e-05 9.99997108e-01 8.40833771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.15, Z:8.41 [[-8.39140276e-02 -9.96472982e-01 1.81336405e-04 2.09189290e+02] [ 9.96470096e-01 -8.39142210e-02 -2.39803239e-03 9.71454354e+01] [ 2.40479118e-03 -2.05322504e-05 9.99997108e-01 8.40865899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters Centerline goodness [0,1] 0.9999145755472504 Centerline is valid? [True, True] Translation: X:209.19, Y:97.17, Z:8.41 [[-8.36679200e-02 -9.96493679e-01 1.61511798e-04 2.09187776e+02] [ 9.96491388e-01 -8.36680740e-02 -2.13699436e-03 9.71713659e+01] [ 2.14301475e-03 -1.78527570e-05 9.99997704e-01 8.40944090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.20, Z:8.41 [[-8.29275543e-02 -9.96555570e-01 1.25842078e-04 2.09187064e+02] [ 9.96554179e-01 -8.29276488e-02 -1.66558800e-03 9.71985989e+01] [ 1.67028679e-03 -1.27146910e-05 9.99998605e-01 8.40980484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.702755096 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:209.19, Y:97.23, Z:8.41 [[-8.30635729e-02 -9.96544242e-01 1.26941754e-04 2.09186253e+02] [ 9.96542836e-01 -8.30636690e-02 -1.67410753e-03 9.72250588e+01] [ 1.67886647e-03 -1.25544573e-05 9.99998591e-01 8.41115049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.732755096 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:209.19, Y:97.25, Z:8.41 [[-8.33071871e-02 -9.96523908e-01 1.16098746e-04 2.09185108e+02] [ 9.96522732e-01 -8.33072672e-02 -1.53104838e-03 9.72510607e+01] [ 1.53539818e-03 -1.18522945e-05 9.99998821e-01 8.41162561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.28, Z:8.41 [[-8.30328740e-02 -9.96546795e-01 1.66722131e-04 2.09185085e+02] [ 9.96544447e-01 -8.30330403e-02 -2.16317714e-03 9.72761871e+01] [ 2.16955069e-03 -1.34688010e-05 9.99997646e-01 8.41171675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.30, Z:8.41 [[-8.32102114e-02 -9.96531997e-01 1.99357861e-04 2.09183839e+02] [ 9.96528711e-01 -8.32104490e-02 -2.55917132e-03 9.73029633e+01] [ 2.56688476e-03 -1.42833539e-05 9.99996705e-01 8.41094475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.33, Z:8.41 [[-8.34169622e-02 -9.96514704e-01 2.34398361e-04 2.09182891e+02] [ 9.96510239e-01 -8.34172901e-02 -2.98334050e-03 9.73289557e+01] [ 2.99249555e-03 -1.52808350e-05 9.99995522e-01 8.41081118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.35, Z:8.41 [[-8.35550362e-02 -9.96503080e-01 4.09335822e-04 2.09183096e+02] [ 9.96489821e-01 -8.35560360e-02 -5.14062164e-03 9.73540384e+01] [ 5.15684777e-03 -2.16258466e-05 9.99986703e-01 8.40966355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.38, Z:8.41 [[-8.38897130e-02 -9.96474940e-01 4.57585814e-04 2.09182688e+02] [ 9.96458594e-01 -8.38909578e-02 -5.70775810e-03 9.73800661e+01] [ 5.72602522e-03 -2.28568719e-05 9.99983606e-01 8.40957061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.41, Z:8.41 [[-8.51354221e-02 -9.96369233e-01 5.57864625e-04 2.09185205e+02] [ 9.96345295e-01 -8.51372437e-02 -6.90669825e-03 9.74056082e+01] [ 6.92911670e-03 -3.21788762e-05 9.99975993e-01 8.40919603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.43, Z:8.41 [[-8.61893976e-02 -9.96278586e-01 6.06233874e-04 2.09185620e+02] [ 9.96250524e-01 -8.61915200e-02 -7.47762432e-03 9.74314051e+01] [ 7.50204921e-03 -4.05311210e-05 9.99971858e-01 8.40907637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.46, Z:8.41 [[-8.74484855e-02 -9.96168842e-01 6.33056114e-04 2.09186055e+02] [ 9.96138569e-01 -8.74507634e-02 -7.76625574e-03 9.74583198e+01] [ 7.79186322e-03 -4.85356904e-05 9.99969642e-01 8.40917378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.48, Z:8.41 [[-8.87251197e-02 -9.96055901e-01 7.03445532e-04 2.09186715e+02] [ 9.96018921e-01 -8.87278874e-02 -8.58321881e-03 9.74848060e+01] [ 8.61178099e-03 -6.09020577e-05 9.99962916e-01 8.40915370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.51, Z:8.41 [[-9.07665550e-02 -9.95871957e-01 6.91110802e-04 2.09190233e+02] [ 9.95836571e-01 -9.07691560e-02 -8.39552643e-03 9.75106939e+01] [ 8.42360088e-03 -7.37996005e-05 9.99964518e-01 8.40970212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.54, Z:8.41 [[-9.28563123e-02 -9.95679299e-01 6.62103448e-04 2.09193570e+02] [ 9.95647107e-01 -9.28586346e-02 -8.00698873e-03 9.75369453e+01] [ 8.03387495e-03 -8.42780641e-05 9.99967724e-01 8.41084207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.56, Z:8.41 [[-9.38865022e-02 -9.95582706e-01 6.32111723e-04 2.09193643e+02] [ 9.95553628e-01 -9.38885915e-02 -7.60959357e-03 9.75632275e+01] [ 7.63532784e-03 -8.51370041e-05 9.99970847e-01 8.41190599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.59, Z:8.41 [[-9.45732312e-02 -9.95517723e-01 6.05468416e-04 2.09192409e+02] [ 9.95491251e-01 -9.45751321e-02 -7.26036896e-03 9.75901239e+01] [ 7.28508823e-03 -8.38980408e-05 9.99973460e-01 8.41227855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.62, Z:8.41 [[-9.47860102e-02 -9.95497487e-01 6.05419176e-04 2.09191624e+02] [ 9.95471260e-01 -9.47879079e-02 -7.22653189e-03 9.76162402e+01] [ 7.25138075e-03 -8.22967353e-05 9.99973705e-01 8.41262849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.64, Z:8.41 [[-9.40546287e-02 -9.95566794e-01 6.97243819e-04 2.09192256e+02] [ 9.95532400e-01 -9.40571753e-02 -8.27578575e-03 9.76415237e+01] [ 8.30467827e-03 -8.42471438e-05 9.99965512e-01 8.41241607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.67, Z:8.41 [[-9.26386995e-02 -9.95699449e-01 8.24062683e-04 2.09191611e+02] [ 9.95651993e-01 -9.26423300e-02 -9.72152861e-03 9.76688434e+01] [ 9.75606376e-03 -8.01101148e-05 9.99952405e-01 8.41184121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.69, Z:8.41 [[-9.21570852e-02 -9.95744103e-01 8.68149563e-04 2.09190420e+02] [ 9.95691896e-01 -9.21611435e-02 -1.01966778e-02 9.76942008e+01] [ 1.02332914e-02 -7.52866179e-05 9.99947636e-01 8.41181541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.19, Y:97.72, Z:8.41 [[-9.17762973e-02 -9.95779234e-01 9.09878123e-04 2.09188443e+02] [ 9.95722496e-01 -9.17807811e-02 -1.06301504e-02 9.77190493e+01] [ 1.06687923e-02 -6.96097244e-05 9.99943084e-01 8.41199657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.75, Z:8.41 [[-9.04911661e-02 -9.95896823e-01 9.31119377e-04 2.09184116e+02] [ 9.95837838e-01 -9.04959405e-02 -1.08390717e-02 9.77455726e+01] [ 1.08788596e-02 -5.35963276e-05 9.99940822e-01 8.41232802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.77, Z:8.41 [[-8.73180410e-02 -9.96179972e-01 1.01189098e-03 2.09178979e+02] [ 9.96111016e-01 -8.73239026e-02 -1.17208933e-02 9.77713824e+01] [ 1.17644814e-02 -1.54896837e-05 9.99930796e-01 8.41191677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:97.80, Z:8.41 [[-8.57520563e-02 -9.96315870e-01 1.12765795e-03 2.09175240e+02] [ 9.96231086e-01 -8.57594700e-02 -1.29975521e-02 9.77970280e+01] [ 1.30463748e-02 8.84108797e-06 9.99914892e-01 8.41203577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.82, Z:8.41 [[-8.59784490e-02 -9.96296339e-01 1.14507191e-03 2.09172598e+02] [ 9.96209547e-01 -8.59860732e-02 -1.31504327e-02 9.78218536e+01] [ 1.32001882e-02 1.00777642e-05 9.99912874e-01 8.41217614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.85, Z:8.41 [[-8.67564687e-02 -9.96228885e-01 1.15027362e-03 2.09170580e+02] [ 9.96141930e-01 -8.67640938e-02 -1.31623507e-02 9.78471879e+01] [ 1.32125164e-02 3.91672252e-06 9.99912711e-01 8.41219455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.87, Z:8.41 [[-8.92325503e-02 -9.96010161e-01 1.14552162e-03 2.09169483e+02] [ 9.95924678e-01 -8.92398998e-02 -1.30489827e-02 9.78736278e+01] [ 1.30991456e-02 -2.35407581e-05 9.99914202e-01 8.41295893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.90, Z:8.41 [[-9.10025552e-02 -9.95849962e-01 1.17844946e-03 2.09167723e+02] [ 9.95760270e-01 -9.10101751e-02 -1.33653361e-02 9.78999148e+01] [ 1.34171203e-02 -4.28265863e-05 9.99909985e-01 8.41320163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.93, Z:8.41 [[-9.27820765e-02 -9.95685757e-01 1.16626325e-03 2.09166298e+02] [ 9.95598630e-01 -9.27893861e-02 -1.31718385e-02 9.79265324e+01] [ 1.32232288e-02 -6.09804319e-05 9.99912567e-01 8.41364867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.17, Y:97.95, Z:8.41 [[-9.64062415e-02 -9.95341385e-01 1.16774678e-03 2.09166280e+02] [ 9.95254742e-01 -9.64132575e-02 -1.31332579e-02 9.79517168e+01] [ 1.31846614e-02 -1.03922509e-04 9.99913073e-01 8.41457472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.16, Y:97.98, Z:8.42 [[-9.77899381e-02 -9.95206426e-01 1.13924797e-03 2.09164396e+02] [ 9.95124644e-01 -9.77965075e-02 -1.27587504e-02 9.79779612e+01] [ 1.28090049e-02 -1.13983681e-04 9.99917955e-01 8.41538810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.16, Y:98.00, Z:8.42 [[-1.00180859e-01 -9.94968616e-01 1.11740321e-03 2.09162499e+02] [ 9.94890551e-01 -1.00186996e-01 -1.24642150e-02 9.80034375e+01] [ 1.25134520e-02 -1.36981865e-04 9.99921694e-01 8.41604707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.16, Y:98.03, Z:8.42 [[-1.01228334e-01 -9.94862550e-01 1.15391791e-03 2.09159943e+02] [ 9.94780014e-01 -1.01234800e-01 -1.28156022e-02 9.80285707e+01] [ 1.28665793e-02 -1.49407582e-04 9.99917211e-01 8.41571213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:98.05, Z:8.42 [[-1.02131028e-01 -9.94770238e-01 1.19425474e-03 2.09154721e+02] [ 9.94682616e-01 -1.02137884e-01 -1.32040017e-02 9.80549816e+01] [ 1.32569266e-02 -1.60633846e-04 9.99912110e-01 8.41568535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:98.08, Z:8.41 [[-1.02653362e-01 -9.94716385e-01 1.26523086e-03 2.09151538e+02] [ 9.94618942e-01 -1.02661017e-01 -1.39239428e-02 9.80799890e+01] [ 1.39802639e-02 -1.70916962e-04 9.99902257e-01 8.41425820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:98.11, Z:8.41 [[-1.02940038e-01 -9.94686652e-01 1.34643391e-03 2.09148833e+02] [ 9.94577338e-01 -1.02948687e-01 -1.47474499e-02 9.81063866e+01] [ 1.48077052e-02 -1.78970400e-04 9.99890344e-01 8.41383632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:98.13, Z:8.41 [[-1.03480520e-01 -9.94630465e-01 1.42129053e-03 2.09146295e+02] [ 9.94509731e-01 -1.03490106e-01 -1.54981581e-02 9.81329260e+01] [ 1.55620297e-02 -1.90270204e-04 9.99878886e-01 8.41367525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.14, Y:98.16, Z:8.41 [[-1.04075896e-01 -9.94568317e-01 1.43904041e-03 2.09143958e+02] [ 9.94445603e-01 -1.04085661e-01 -1.56242524e-02 9.81585974e+01] [ 1.56891699e-02 -1.95060661e-04 9.99876898e-01 8.41392908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.14, Y:98.19, Z:8.41 [[-1.04526392e-01 -9.94521122e-01 1.40377866e-03 2.09140831e+02] [ 9.94405331e-01 -1.04535644e-01 -1.51768265e-02 9.81853090e+01] [ 1.52404194e-02 -1.90453929e-04 9.99883840e-01 8.41442607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.14, Y:98.21, Z:8.42 [[-1.04672829e-01 -9.94505748e-01 1.38428020e-03 2.09137448e+02] [ 9.94394027e-01 -1.04681820e-01 -1.49075866e-02 9.82103882e+01] [ 1.49705895e-02 -1.83899302e-04 9.99887918e-01 8.41514642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:98.24, Z:8.42 [[-1.05054909e-01 -9.94465517e-01 1.34213761e-03 2.09134891e+02] [ 9.94361156e-01 -1.05063329e-01 -1.44079231e-02 9.82354783e+01] [ 1.44691921e-02 -1.79053534e-04 9.99895300e-01 8.41572883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:98.26, Z:8.42 [[-1.05428622e-01 -9.94425960e-01 1.34769709e-03 2.09132103e+02] [ 9.94321433e-01 -1.05437081e-01 -1.44190854e-02 9.82612625e+01] [ 1.44808101e-02 -1.80140204e-04 9.99895131e-01 8.41631539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:98.29, Z:8.42 [[-1.06559208e-01 -9.94305421e-01 1.36583370e-03 2.09130781e+02] [ 9.94198882e-01 -1.06567786e-01 -1.45564365e-02 9.82865972e+01] [ 1.46190976e-02 -1.93212008e-04 9.99893117e-01 8.41623249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:98.31, Z:8.42 [[-1.07492260e-01 -9.94204949e-01 1.39049155e-03 2.09129200e+02] [ 9.94095255e-01 -1.07501057e-01 -1.47697887e-02 9.83125808e+01] [ 1.48336764e-02 -2.05356922e-04 9.99889954e-01 8.41614356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.13, Y:98.34, Z:8.42 [[-1.08872129e-01 -9.94054654e-01 1.48509785e-03 2.09128341e+02] [ 9.93930535e-01 -1.08882005e-01 -1.57099069e-02 9.83382266e+01] [ 1.57782064e-02 -2.34286897e-04 9.99875489e-01 8.41532428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters Centerline goodness [0,1] 0.999956531188872 Centerline is valid? [True, True] Translation: X:209.13, Y:98.36, Z:8.42 [[-1.09627441e-01 -9.93971565e-01 1.53373135e-03 2.09126182e+02] [ 9.93840272e-01 -1.09637892e-01 -1.61569368e-02 9.83635122e+01] [ 1.62276908e-02 -2.46959659e-04 9.99868292e-01 8.41520307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:98.39, Z:8.42 [[-1.10151061e-01 -9.93913648e-01 1.55036879e-03 2.09123726e+02] [ 9.93780609e-01 -1.10161686e-01 -1.62635729e-02 9.83890936e+01] [ 1.63353784e-02 -2.50723378e-04 9.99866537e-01 8.41526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:98.41, Z:8.42 [[-1.10408486e-01 -9.93885174e-01 1.49258133e-03 2.09120163e+02] [ 9.93762863e-01 -1.10418317e-01 -1.55938537e-02 9.84138825e+01] [ 1.56633083e-02 -2.38421875e-04 9.99877294e-01 8.41547475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:98.44, Z:8.42 [[-1.10399530e-01 -9.93886090e-01 1.54386858e-03 2.09113975e+02] [ 9.93756358e-01 -1.10410066e-01 -1.60598287e-02 9.84395303e+01] [ 1.61320990e-02 -2.38768320e-04 9.99869841e-01 8.41628968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:98.46, Z:8.42 [[-1.10163798e-01 -9.93912287e-01 1.51768912e-03 2.09110734e+02] [ 9.93787868e-01 -1.10174024e-01 -1.57276405e-02 9.84644759e+01] [ 1.57991050e-02 -2.24355577e-04 9.99875161e-01 8.41648462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.11, Y:98.49, Z:8.42 [[-1.09589175e-01 -9.93975897e-01 1.45930035e-03 2.09105846e+02] [ 9.93861612e-01 -1.09598706e-01 -1.50738021e-02 9.84910369e+01] [ 1.51429334e-02 -2.01582937e-04 9.99885319e-01 8.41746174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.10, Y:98.52, Z:8.42 [[-1.09545821e-01 -9.93980763e-01 1.39858809e-03 2.09102962e+02] [ 9.93876566e-01 -1.09554590e-01 -1.43931847e-02 9.85166335e+01] [ 1.44597704e-02 -1.86689315e-04 9.99895435e-01 8.41839819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.10, Y:98.54, Z:8.42 [[-1.09174592e-01 -9.94021705e-01 1.32636721e-03 2.09099462e+02] [ 9.93928725e-01 -1.09182523e-01 -1.35965957e-02 9.85426119e+01] [ 1.36601274e-02 -1.66088324e-04 9.99906682e-01 8.42013865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.10, Y:98.57, Z:8.42 [[-1.09018449e-01 -9.94038832e-01 1.33360569e-03 2.09096588e+02] [ 9.93945574e-01 -1.09026489e-01 -1.36169541e-02 9.85675704e+01] [ 1.36811795e-02 -1.58967743e-04 9.99906396e-01 8.42078735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:98.59, Z:8.42 [[-1.08617283e-01 -9.94082737e-01 1.34071725e-03 2.09092952e+02] [ 9.93989245e-01 -1.08625457e-01 -1.36341808e-02 9.85938119e+01] [ 1.36991398e-02 -1.48249146e-04 9.99906151e-01 8.42139397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:98.62, Z:8.42 [[-1.07089598e-01 -9.94248433e-01 1.36798615e-03 2.09088487e+02] [ 9.94151856e-01 -1.07098264e-01 -1.38581586e-02 9.86186371e+01] [ 1.39249615e-02 -1.24078674e-04 9.99903035e-01 8.42138715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.08, Y:98.64, Z:8.42 [[-1.06348802e-01 -9.94327977e-01 1.34416416e-03 2.09084410e+02] [ 9.94235323e-01 -1.06357242e-01 -1.35742629e-02 9.86434659e+01] [ 1.36402310e-02 -1.07191106e-04 9.99906962e-01 8.42166699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.08, Y:98.67, Z:8.42 [[-1.05755653e-01 -9.94391225e-01 1.35377451e-03 2.09080813e+02] [ 9.94297991e-01 -1.05764276e-01 -1.36170261e-02 9.86684091e+01] [ 1.36838323e-02 -9.40222129e-05 9.99906368e-01 8.42200533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.08, Y:98.69, Z:8.42 [[-1.04641186e-01 -9.94509135e-01 1.34273188e-03 2.09077023e+02] [ 9.94418129e-01 -1.04649775e-01 -1.34539731e-02 9.86949208e+01] [ 1.35206158e-02 -7.26027802e-05 9.99908590e-01 8.42213945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.07, Y:98.72, Z:8.42 [[-1.04563527e-01 -9.94517311e-01 1.33692962e-03 2.09073956e+02] [ 9.94427756e-01 -1.04572053e-01 -1.33463014e-02 9.87207948e+01] [ 1.34129333e-02 -6.60564273e-05 9.99910040e-01 8.42245291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.07, Y:98.75, Z:8.42 [[-1.04541734e-01 -9.94519427e-01 1.46100955e-03 2.09071293e+02] [ 9.94413347e-01 -1.04551922e-01 -1.45255491e-02 9.87465002e+01] [ 1.45986921e-02 -6.56786882e-05 9.99893431e-01 8.42159119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.07, Y:98.77, Z:8.42 [[-1.05432287e-01 -9.94425283e-01 1.54594193e-03 2.09069198e+02] [ 9.94307453e-01 -1.05443592e-01 -1.53081000e-02 9.87728734e+01] [ 1.53857713e-02 -7.68264078e-05 9.99881629e-01 8.42127774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.07, Y:98.80, Z:8.42 [[-1.05797840e-01 -9.94386449e-01 1.55156362e-03 2.09066312e+02] [ 9.94268623e-01 -1.05809188e-01 -1.53075304e-02 9.87986353e+01] [ 1.53857705e-02 -7.68326208e-05 9.99881629e-01 8.42158906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.82, Z:8.42 [[-1.06579952e-01 -9.94302896e-01 1.56994419e-03 2.09064271e+02] [ 9.94183138e-01 -1.06591481e-01 -1.54319527e-02 9.88247083e+01] [ 1.55113780e-02 -8.39247435e-05 9.99879688e-01 8.42168290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.85, Z:8.42 [[-1.08548371e-01 -9.94089958e-01 1.55125779e-03 2.09063064e+02] [ 9.93973858e-01 -1.08559402e-01 -1.51929729e-02 9.88501821e+01] [ 1.52715854e-02 -1.07262770e-04 9.99883377e-01 8.42178390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.88, Z:8.42 [[-1.09669572e-01 -9.93966908e-01 1.53970056e-03 2.09059918e+02] [ 9.93853376e-01 -1.09680317e-01 -1.50231778e-02 9.88764362e+01] [ 1.51014164e-02 -1.17348879e-04 9.99885960e-01 8.42281187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.90, Z:8.42 [[-1.11810531e-01 -9.93728440e-01 1.48113214e-03 2.09059629e+02] [ 9.93624139e-01 -1.11820255e-01 -1.43979290e-02 9.89018950e+01] [ 1.44732521e-02 -1.38151434e-04 9.99895247e-01 8.42379834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.93, Z:8.42 [[-1.12733687e-01 -9.93624131e-01 1.48384237e-03 2.09056925e+02] [ 9.93520261e-01 -1.12743358e-01 -1.43675191e-02 9.89279599e+01] [ 1.44432070e-02 -1.45475930e-04 9.99895681e-01 8.42437116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:98.95, Z:8.42 [[-1.13783094e-01 -9.93504516e-01 1.47826653e-03 2.09055169e+02] [ 9.93402166e-01 -1.13792592e-01 -1.42612653e-02 9.89536846e+01] [ 1.43368472e-02 -1.54177710e-04 9.99897210e-01 8.42475711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:98.98, Z:8.43 [[-1.14738424e-01 -9.93394659e-01 1.46481550e-03 2.09051652e+02] [ 9.93294774e-01 -1.14747661e-01 -1.40877925e-02 9.89798512e+01] [ 1.41628220e-02 -1.61417531e-04 9.99899689e-01 8.42535854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:99.01, Z:8.43 [[-1.16253905e-01 -9.93218459e-01 1.45655123e-03 2.09049988e+02] [ 9.93120427e-01 -1.16262896e-01 -1.39554993e-02 9.90055735e+01] [ 1.40302024e-02 -1.75850509e-04 9.99901556e-01 8.42547315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:99.03, Z:8.43 [[-1.17258706e-01 -9.93100322e-01 1.46500626e-03 2.09046900e+02] [ 9.93001905e-01 -1.17267712e-01 -1.39821148e-02 9.90318613e+01] [ 1.40574406e-02 -1.84770682e-04 9.99901172e-01 8.42559041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:99.06, Z:8.42 [[-1.18707407e-01 -9.92928112e-01 1.52154329e-03 2.09043217e+02] [ 9.92822711e-01 -1.18716978e-01 -1.44686940e-02 9.90577943e+01] [ 1.45470060e-02 -2.06918420e-04 9.99894165e-01 8.42486445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:99.08, Z:8.42 [[-1.19486357e-01 -9.92834629e-01 1.55229278e-03 2.09040671e+02] [ 9.92725713e-01 -1.19496244e-01 -1.47073751e-02 9.90834958e+01] [ 1.47874845e-02 -2.16329724e-04 9.99890636e-01 8.42462609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.04, Y:99.11, Z:8.42 [[-1.20278167e-01 -9.92738796e-01 1.68660419e-03 2.09035691e+02] [ 9.92611213e-01 -1.20289752e-01 -1.59171532e-02 9.91097802e+01] [ 1.60044567e-02 -2.40343789e-04 9.99871892e-01 8.42459267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:99.14, Z:8.42 [[-1.21257567e-01 -9.92619464e-01 1.78973390e-03 2.09031810e+02] [ 9.92476897e-01 -1.21270487e-01 -1.68249103e-02 9.91353918e+01] [ 1.69177754e-02 -2.63878145e-04 9.99856849e-01 8.42375117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:99.16, Z:8.42 [[-1.21989316e-01 -9.92529671e-01 1.85997520e-03 2.09027163e+02] [ 9.92376874e-01 -1.22003176e-01 -1.74173627e-02 9.91610317e+01] [ 1.75141721e-02 -2.78935795e-04 9.99846576e-01 8.42355075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:99.19, Z:8.42 [[-1.22930430e-01 -9.92413373e-01 1.95107915e-03 2.09022818e+02] [ 9.92246416e-01 -1.22945541e-01 -1.82056080e-02 9.91860277e+01] [ 1.83073654e-02 -3.02071936e-04 9.99832361e-01 8.42280547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:99.21, Z:8.42 [[-1.23426366e-01 -9.92351831e-01 1.94321924e-03 2.09018664e+02] [ 9.92187247e-01 -1.23441291e-01 -1.80752553e-02 9.92120843e+01] [ 1.81768861e-02 -3.02925730e-04 9.99834741e-01 8.42335234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:99.24, Z:8.42 [[-1.23728352e-01 -9.92314126e-01 1.99282690e-03 2.09016696e+02] [ 9.92142196e-01 -1.23744015e-01 -1.84738322e-02 9.92379219e+01] [ 1.85784450e-02 -3.08569156e-04 9.99827358e-01 8.42321469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.01, Y:99.26, Z:8.43 [[-1.23688850e-01 -9.92319128e-01 1.95342851e-03 2.09008832e+02] [ 9.92154943e-01 -1.23703923e-01 -1.80529462e-02 9.92634655e+01] [ 1.81559306e-02 -2.94844388e-04 9.99835124e-01 8.42516457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.00, Y:99.29, Z:8.43 [[-1.23403702e-01 -9.92354701e-01 1.91684149e-03 2.09003575e+02] [ 9.92197711e-01 -1.23418278e-01 -1.76530571e-02 9.92903763e+01] [ 1.77546674e-02 -2.76566848e-04 9.99842335e-01 8.42606506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.00, Y:99.32, Z:8.43 [[-1.23489316e-01 -9.92344139e-01 1.87022583e-03 2.08998846e+02] [ 9.92195700e-01 -1.23503195e-01 -1.71654699e-02 9.93169033e+01] [ 1.72650323e-02 -2.64122109e-04 9.99850913e-01 8.42676090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:99.34, Z:8.43 [[-1.22685447e-01 -9.92443981e-01 1.79591489e-03 2.08992130e+02] [ 9.92308087e-01 -1.22698370e-01 -1.64246985e-02 9.93429192e+01] [ 1.65209490e-02 -2.32970614e-04 9.99863493e-01 8.42779720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:99.37, Z:8.43 [[-1.22504346e-01 -9.92466362e-01 1.79062298e-03 2.08987742e+02] [ 9.92332257e-01 -1.22517231e-01 -1.63162275e-02 9.93677186e+01] [ 1.64126891e-02 -2.21915840e-04 9.99865278e-01 8.42855380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:99.39, Z:8.43 [[-1.21947156e-01 -9.92535039e-01 1.75696103e-03 2.08981406e+02] [ 9.92406866e-01 -1.21959645e-01 -1.59517114e-02 9.93943693e+01] [ 1.60469109e-02 -2.01645652e-04 9.99871220e-01 8.42946723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.98, Y:99.42, Z:8.43 [[-1.21880570e-01 -9.92543180e-01 1.77859654e-03 2.08980120e+02] [ 9.92412663e-01 -1.21893388e-01 -1.60968432e-02 9.94207173e+01] [ 1.61936111e-02 -1.96790693e-04 9.99868856e-01 8.42884729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:99.45, Z:8.43 [[-1.22117617e-01 -9.92513998e-01 1.80312060e-03 2.08974232e+02] [ 9.92380599e-01 -1.22130767e-01 -1.62733907e-02 9.94476317e+01] [ 1.63717845e-02 -1.97885783e-04 9.99865954e-01 8.42986067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:99.47, Z:8.43 [[-1.22447979e-01 -9.92473168e-01 1.87187984e-03 2.08970242e+02] [ 9.92330395e-01 -1.22462116e-01 -1.68350020e-02 9.94722956e+01] [ 1.69375222e-02 -2.03888710e-04 9.99856529e-01 8.42870603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:99.50, Z:8.43 [[-1.22962821e-01 -9.92409376e-01 1.94272807e-03 2.08966294e+02] [ 9.92256743e-01 -1.22977983e-01 -1.74060801e-02 9.94988752e+01] [ 1.75128699e-02 -2.12615690e-04 9.99846615e-01 8.42851233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:99.52, Z:8.43 [[-1.23678372e-01 -9.92320375e-01 1.98345981e-03 2.08962786e+02] [ 9.92162398e-01 -1.23694076e-01 -1.77074069e-02 9.95249347e+01] [ 1.78167629e-02 -2.22109022e-04 9.99841244e-01 8.42847126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:99.55, Z:8.43 [[-1.24220554e-01 -9.92252549e-01 2.03323771e-03 2.08958897e+02] [ 9.92087684e-01 -1.24236980e-01 -1.80887020e-02 9.95517569e+01] [ 1.82011639e-02 -2.29838484e-04 9.99834319e-01 8.42863552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:99.58, Z:8.43 [[-1.24879451e-01 -9.92169605e-01 2.14439060e-03 2.08956056e+02] [ 9.91987449e-01 -1.24897617e-01 -1.90128098e-02 9.95779778e+01] [ 1.91317612e-02 -2.47100688e-04 9.99816941e-01 8.42817260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:99.60, Z:8.43 [[-1.25744104e-01 -9.92060126e-01 2.26407027e-03 2.08953832e+02] [ 9.91858362e-01 -1.25764194e-01 -2.00089471e-02 9.96037619e+01] [ 2.01348176e-02 -2.70370092e-04 9.99797237e-01 8.42726789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:99.63, Z:8.43 [[-1.26574758e-01 -9.91954261e-01 2.36114496e-03 2.08950071e+02] [ 9.91736117e-01 -1.26596442e-01 -2.08042258e-02 9.96310864e+01] [ 2.09357530e-02 -2.91657099e-04 9.99780781e-01 8.42780207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:99.66, Z:8.43 [[-1.27731698e-01 -9.91805855e-01 2.40002766e-03 2.08948743e+02] [ 9.91581802e-01 -1.27753860e-01 -2.10827170e-02 9.96568313e+01] [ 2.12165750e-02 -3.13107486e-04 9.99774854e-01 8.42692271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:99.68, Z:8.43 [[-1.30114049e-01 -9.91495854e-01 2.51097880e-03 2.08945826e+02] [ 9.91252023e-01 -1.30137744e-01 -2.19907804e-02 9.96842997e+01] [ 2.21305407e-02 -3.72296675e-04 9.99755020e-01 8.42737685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:99.71, Z:8.43 [[-1.31458507e-01 -9.91318334e-01 2.57309837e-03 2.08943865e+02] [ 9.91063877e-01 -1.31483070e-01 -2.24631590e-02 9.97116846e+01] [ 2.26064602e-02 -4.02868509e-04 9.99744360e-01 8.42760576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:99.74, Z:8.43 [[-1.34271453e-01 -9.90941161e-01 2.60637208e-03 2.08943719e+02] [ 9.90681642e-01 -1.34295948e-01 -2.26822180e-02 9.97390147e+01] [ 2.28267686e-02 -4.63489397e-04 9.99739328e-01 8.42791990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.95, Y:99.76, Z:8.43 [[-1.35542406e-01 -9.90768214e-01 2.56962027e-03 2.08945007e+02] [ 9.90517392e-01 -1.35565922e-01 -2.22974546e-02 9.97643900e+01] [ 2.24399622e-02 -4.76997075e-04 9.99748079e-01 8.42701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:99.79, Z:8.43 [[-1.36663701e-01 -9.90614053e-01 2.61361631e-03 2.08940299e+02] [ 9.90356119e-01 -1.36687771e-01 -2.26099882e-02 9.97904140e+01] [ 2.27550215e-02 -5.01553772e-04 9.99740945e-01 8.42874389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.94, Y:99.82, Z:8.43 [[-1.36842204e-01 -9.90589530e-01 2.56801775e-03 2.08939408e+02] [ 9.90342196e-01 -1.36865433e-01 -2.21401772e-02 9.98163661e+01] [ 2.22833005e-02 -4.86494307e-04 9.99751578e-01 8.42856955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:99.84, Z:8.43 [[-1.36463512e-01 -9.90641746e-01 2.57716889e-03 2.08933904e+02] [ 9.90394356e-01 -1.36487039e-01 -2.21429186e-02 9.98418960e+01] [ 2.22874496e-02 -4.69286913e-04 9.99751494e-01 8.42945475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.93, Y:99.87, Z:8.43 [[-1.33630138e-01 -9.91027581e-01 2.70561915e-03 2.08930661e+02] [ 9.90756577e-01 -1.33656876e-01 -2.31785265e-02 9.98676729e+01] [ 2.33321836e-02 -4.16739735e-04 9.99727681e-01 8.42792467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:99.89, Z:8.43 [[-1.31632110e-01 -9.91294987e-01 2.69023015e-03 2.08922340e+02] [ 9.91028534e-01 -1.31659107e-01 -2.29853244e-02 9.98941862e+01] [ 2.31394302e-02 -3.59511906e-04 9.99732183e-01 8.42994596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.92, Y:99.92, Z:8.43 [[-1.29739921e-01 -9.91544409e-01 2.69030107e-03 2.08916942e+02] [ 9.91279617e-01 -1.29767450e-01 -2.29157254e-02 9.99207447e+01] [ 2.30710729e-02 -3.06243795e-04 9.99733780e-01 8.43030164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:99.95, Z:8.43 [[-1.25703530e-01 -9.92063912e-01 2.79578828e-03 2.08911235e+02] [ 9.91779881e-01 -1.25734439e-01 -2.37385373e-02 9.99462250e+01] [ 2.39016731e-02 -2.11211365e-04 9.99714292e-01 8.42965321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.91, Y:99.97, Z:8.43 [[-1.24314458e-01 -9.92239017e-01 2.76573726e-03 2.08906812e+02] [ 9.91962930e-01 -1.24345109e-01 -2.34059881e-02 9.99713488e+01] [ 2.35682405e-02 -1.66193893e-04 9.99722217e-01 8.42940884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:100.00, Z:8.43 [[-1.21280409e-01 -9.92614669e-01 2.67973688e-03 2.08900862e+02] [ 9.92357284e-01 -1.21309983e-01 -2.26032817e-02 9.99973744e+01] [ 2.27614278e-02 -8.20788337e-05 9.99740922e-01 8.43047083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:100.02, Z:8.43 [[-1.20559917e-01 -9.92702687e-01 2.58475696e-03 2.08896626e+02] [ 9.92464790e-01 -1.20587609e-01 -2.17317505e-02 1.00023756e+02] [ 2.18848568e-02 -5.46977548e-05 9.99760496e-01 8.43171065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.05, Z:8.43 [[-1.20292980e-01 -9.92735097e-01 2.57399122e-03 2.08893152e+02] [ 9.92500602e-01 -1.20320509e-01 -2.15761309e-02 1.00049042e+02] [ 2.17290864e-02 -4.07692526e-05 9.99763895e-01 8.43222502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.08, Z:8.43 [[-1.20710870e-01 -9.92684657e-01 2.46118841e-03 2.08890313e+02] [ 9.92471478e-01 -1.20735951e-01 -2.05717196e-02 1.00075678e+02] [ 2.07183843e-02 -4.05708751e-05 9.99785350e-01 8.43370484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.10, Z:8.43 [[-1.21601706e-01 -9.92575943e-01 2.45410858e-03 2.08888003e+02] [ 9.92365364e-01 -1.21626457e-01 -2.04447889e-02 1.00102428e+02] [ 2.05914902e-02 -5.07488567e-05 9.99787972e-01 8.43448506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.13, Z:8.44 [[-1.23852016e-01 -9.92298024e-01 2.30418354e-03 2.08888667e+02] [ 9.92113532e-01 -1.23873420e-01 -1.91341391e-02 1.00128059e+02] [ 1.92721955e-02 -8.37900348e-05 9.99814271e-01 8.43608366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.15, Z:8.44 [[-1.24972282e-01 -9.92157793e-01 2.20041023e-03 2.08887075e+02] [ 9.91990618e-01 -1.24991617e-01 -1.82129020e-02 1.00154940e+02] [ 1.83451055e-02 -9.33216266e-05 9.99831710e-01 8.43776393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.89, Y:100.18, Z:8.44 [[-1.27254994e-01 -9.91868035e-01 1.99190482e-03 2.08886903e+02] [ 9.91731833e-01 -1.27270529e-01 -1.64372438e-02 1.00181087e+02] [ 1.65570875e-02 -1.16285936e-04 9.99862915e-01 8.44019555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:100.21, Z:8.44 [[-1.28638622e-01 -9.91689711e-01 1.90328833e-03 2.08884312e+02] [ 9.91566103e-01 -1.28652639e-01 -1.56576270e-02 1.00208572e+02] [ 1.57723706e-02 -1.26939375e-04 9.99875600e-01 8.44180389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:100.23, Z:8.44 [[-1.29842461e-01 -9.91532974e-01 1.81567947e-03 2.08883114e+02] [ 9.91421131e-01 -1.29855087e-01 -1.48928983e-02 1.00234433e+02] [ 1.50025750e-02 -1.33627579e-04 9.99887446e-01 8.44230506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:100.26, Z:8.44 [[-1.30611807e-01 -9.91432071e-01 1.73316505e-03 2.08880575e+02] [ 9.91330774e-01 -1.30623238e-01 -1.41727607e-02 1.00260467e+02] [ 1.42777212e-02 -1.32990045e-04 9.99898059e-01 8.44305136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:100.29, Z:8.44 [[-1.31557261e-01 -9.91306985e-01 1.77440975e-03 2.08878835e+02] [ 9.91201488e-01 -1.31569148e-01 -1.44626656e-02 1.00287286e+02] [ 1.45703990e-02 -1.43871092e-04 9.99893836e-01 8.44293355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.88, Y:100.31, Z:8.44 [[-1.32181279e-01 -9.91223962e-01 1.77975381e-03 2.08877613e+02] [ 9.91118502e-01 -1.32193178e-01 -1.44595421e-02 1.00312468e+02] [ 1.45679159e-02 -1.47333837e-04 9.99893871e-01 8.44272728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:100.34, Z:8.44 [[-1.32451854e-01 -9.91187786e-01 1.81085664e-03 2.08874610e+02] [ 9.91079333e-01 -1.32464151e-01 -1.46630560e-02 1.00338633e+02] [ 1.47737156e-02 -1.47446363e-04 9.99890852e-01 8.44282160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:100.36, Z:8.44 [[-1.32747457e-01 -9.91148145e-01 1.86220975e-03 2.08872319e+02] [ 9.91034209e-01 -1.32760434e-01 -1.50287878e-02 1.00364352e+02] [ 1.51429829e-02 -1.49519795e-04 9.99885327e-01 8.44262720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:100.39, Z:8.44 [[-1.32754370e-01 -9.91147223e-01 1.85982144e-03 2.08868281e+02] [ 9.91034330e-01 -1.32767320e-01 -1.49597944e-02 1.00390137e+02] [ 1.50742822e-02 -1.42831182e-04 9.99886366e-01 8.44269457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:100.42, Z:8.44 [[-1.32291414e-01 -9.91209233e-01 1.79953334e-03 2.08864175e+02] [ 9.91104192e-01 -1.32303593e-01 -1.44305519e-02 1.00416859e+02] [ 1.45417810e-02 -1.25513078e-04 9.99894255e-01 8.44317248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:100.44, Z:8.44 [[-1.32049829e-01 -9.91241517e-01 1.76014614e-03 2.08861216e+02] [ 9.91141615e-01 -1.32061510e-01 -1.40732757e-02 1.00442149e+02] [ 1.41824627e-02 -1.13819552e-04 9.99899417e-01 8.44376271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:100.47, Z:8.44 [[-1.32438795e-01 -9.91189612e-01 1.76597130e-03 2.08857740e+02] [ 9.91089715e-01 -1.32450520e-01 -1.40725449e-02 1.00467844e+02] [ 1.41824641e-02 -1.13514889e-04 9.99899417e-01 8.44407394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.86, Y:100.49, Z:8.45 [[-1.31894034e-01 -9.91262421e-01 1.66652863e-03 2.08855040e+02] [ 9.91173996e-01 -1.31904528e-01 -1.32402984e-02 1.00493718e+02] [ 1.33444329e-02 -9.44965201e-05 9.99910955e-01 8.44527030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:100.52, Z:8.45 [[-1.31781315e-01 -9.91277459e-01 1.63861695e-03 2.08851654e+02] [ 9.91192501e-01 -1.31791474e-01 -1.29781661e-02 1.00519713e+02] [ 1.30809192e-02 -8.60949481e-05 9.99914437e-01 8.44584380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.85, Y:100.55, Z:8.45 [[-1.31848724e-01 -9.91268558e-01 1.60015984e-03 2.08847965e+02] [ 9.91188040e-01 -1.31858409e-01 -1.26344619e-02 1.00545995e+02] [ 1.27351394e-02 -7.97783848e-05 9.99918902e-01 8.44626964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:100.57, Z:8.45 [[-1.32076580e-01 -9.91238250e-01 1.58392379e-03 2.08844120e+02] [ 9.91159845e-01 -1.32086054e-01 -1.24674064e-02 1.00571693e+02] [ 1.25673843e-02 -7.67307322e-05 9.99921024e-01 8.44664126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:100.60, Z:8.45 [[-1.32719213e-01 -9.91152392e-01 1.59557288e-03 2.08840692e+02] [ 9.91073327e-01 -1.32728780e-01 -1.25192505e-02 1.00597157e+02] [ 1.26202635e-02 -8.02153607e-05 9.99920358e-01 8.44681560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.632755096 meters Centerline goodness [0,1] 0.999934929724102 Centerline is valid? [True, True] Translation: X:208.84, Y:100.62, Z:8.45 [[-1.34973575e-01 -9.90848087e-01 1.48382948e-03 2.08837674e+02] [ 9.90780104e-01 -1.34981697e-01 -1.16071934e-02 1.00623714e+02] [ 1.17012552e-02 -9.65156641e-05 9.99931533e-01 8.44607309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:100.65, Z:8.45 [[-1.36027734e-01 -9.90703986e-01 1.43764322e-03 2.08835079e+02] [ 9.90640538e-01 -1.36035294e-01 -1.12126166e-02 1.00649280e+02] [ 1.13039542e-02 -1.01039181e-04 9.99936103e-01 8.44839631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:100.68, Z:8.45 [[-1.37611898e-01 -9.90485303e-01 1.35283662e-03 2.08832350e+02] [ 9.90429446e-01 -1.37618505e-01 -1.05194713e-02 1.00675263e+02] [ 1.06055571e-02 -1.07715181e-04 9.99943754e-01 8.44915869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:100.70, Z:8.45 [[-1.40627871e-01 -9.90061704e-01 1.27412931e-03 2.08830712e+02] [ 9.90012409e-01 -1.40633585e-01 -9.88057779e-03 1.00701909e+02] [ 9.96156706e-03 -1.28080792e-04 9.99950374e-01 8.44985293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.83, Y:100.73, Z:8.45 [[-1.42728875e-01 -9.89761056e-01 1.23317094e-03 2.08828541e+02] [ 9.89715136e-01 -1.42734133e-01 -9.53504571e-03 1.00727606e+02] [ 9.61343250e-03 -1.40438408e-04 9.99953780e-01 8.45019713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:100.75, Z:8.45 [[-1.47325723e-01 -9.89087323e-01 1.18271862e-03 2.08823972e+02] [ 9.89045226e-01 -1.47330367e-01 -9.12714951e-03 1.00754059e+02] [ 9.20179825e-03 -1.74901695e-04 9.99957647e-01 8.44981127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:100.78, Z:8.45 [[-1.49881855e-01 -9.88703319e-01 1.08461289e-03 2.08821905e+02] [ 9.88668092e-01 -1.49885673e-01 -8.34800923e-03 1.00780419e+02] [ 8.41627237e-03 -1.78892959e-04 9.99964567e-01 8.45002944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:100.81, Z:8.45 [[-1.51962049e-01 -9.88385708e-01 1.10831483e-03 2.08822221e+02] [ 9.88349139e-01 -1.51965963e-01 -8.50440793e-03 1.00807077e+02] [ 8.57406138e-03 -1.96945247e-04 9.99963223e-01 8.45056973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.82, Y:100.83, Z:8.45 [[-1.54910669e-01 -9.87927826e-01 1.13818070e-03 2.08816431e+02] [ 9.87889479e-01 -1.54914688e-01 -8.70731596e-03 1.00833608e+02] [ 8.77852063e-03 -2.24459408e-04 9.99961443e-01 8.44996092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:100.86, Z:8.45 [[-1.55580853e-01 -9.87822514e-01 1.13078589e-03 2.08814260e+02] [ 9.87784878e-01 -1.55584799e-01 -8.62585282e-03 1.00858608e+02] [ 8.69674471e-03 -2.25044338e-04 9.99962157e-01 8.45055100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:100.88, Z:8.45 [[-1.55530491e-01 -9.87830415e-01 1.15684041e-03 2.08810157e+02] [ 9.87791203e-01 -1.55534628e-01 -8.80449962e-03 1.00884026e+02] [ 8.87728126e-03 -2.26651364e-04 9.99960570e-01 8.45090905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.80, Y:100.91, Z:8.45 [[-1.55234442e-01 -9.87876945e-01 1.18760290e-03 2.08803589e+02] [ 9.87835888e-01 -1.55238821e-01 -9.00923093e-03 1.00909405e+02] [ 9.08437360e-03 -2.25386168e-04 9.99958711e-01 8.45038839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.80, Y:100.94, Z:8.45 [[-1.54561210e-01 -9.87982482e-01 1.20315656e-03 2.08797025e+02] [ 9.87940609e-01 -1.54565740e-01 -9.09861423e-03 1.00936402e+02] [ 9.17523826e-03 -2.17645598e-04 9.99957883e-01 8.45004051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:100.96, Z:8.45 [[-1.52372977e-01 -9.88322256e-01 1.26244165e-03 2.08791474e+02] [ 9.88276434e-01 -1.52378072e-01 -9.51913933e-03 1.00961796e+02] [ 9.60034568e-03 -2.02818260e-04 9.99953895e-01 8.44997926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:100.99, Z:8.45 [[-1.51542985e-01 -9.88449799e-01 1.31079985e-03 2.08786718e+02] [ 9.88400713e-01 -1.51548525e-01 -9.85271108e-03 1.00986719e+02] [ 9.93756007e-03 -1.97513740e-04 9.99950602e-01 8.45000796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.082755096 meters Centerline goodness [0,1] 0.9999138135355843 Centerline is valid? [True, True] Translation: X:208.78, Y:101.01, Z:8.45 [[-1.49780267e-01 -9.88718324e-01 1.39546350e-03 2.08780239e+02] [ 9.88662977e-01 -1.49786650e-01 -1.04631125e-02 1.01013645e+02] [ 1.05540928e-02 -1.87524687e-04 9.99944286e-01 8.44843202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:101.04, Z:8.45 [[-1.48753950e-01 -9.88873286e-01 1.37376726e-03 2.08774264e+02] [ 9.88819921e-01 -1.48760196e-01 -1.02745860e-02 1.01039180e+02] [ 1.03646255e-02 -1.69976819e-04 9.99946271e-01 8.45040248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:101.06, Z:8.45 [[-1.47966147e-01 -9.88991443e-01 1.39434883e-03 2.08769456e+02] [ 9.88936815e-01 -1.47972631e-01 -1.03959777e-02 1.01064263e+02] [ 1.04878584e-02 -1.59329880e-04 9.99944988e-01 8.45046025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1727550960001 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:208.76, Y:101.09, Z:8.45 [[-1.47031740e-01 -9.89130657e-01 1.48665940e-03 2.08763121e+02] [ 9.89068871e-01 -1.47039174e-01 -1.10566887e-02 1.01090198e+02] [ 1.11551069e-02 -1.55275650e-04 9.99937768e-01 8.44943820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.76, Y:101.12, Z:8.45 [[-1.46645863e-01 -9.89187922e-01 1.49862556e-03 2.08758646e+02] [ 9.89125505e-01 -1.46653447e-01 -1.11131142e-02 1.01115024e+02] [ 1.12127369e-02 -1.47363460e-04 9.99937124e-01 8.45003486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:101.14, Z:8.45 [[-1.46759414e-01 -9.89171067e-01 1.50843371e-03 2.08754507e+02] [ 9.89108214e-01 -1.46767094e-01 -1.11517588e-02 1.01141257e+02] [ 1.12523856e-02 -1.44621407e-04 9.99936679e-01 8.45041048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.75, Y:101.17, Z:8.45 [[-1.47228466e-01 -9.89101446e-01 1.45191742e-03 2.08751273e+02] [ 9.89043526e-01 -1.47235559e-01 -1.07048555e-02 1.01166597e+02] [ 1.08019619e-02 -1.40049940e-04 9.99941647e-01 8.45129974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2927550960001 meters Centerline goodness [0,1] 0.9999783867900061 Centerline is valid? [True, True] Translation: X:208.75, Y:101.19, Z:8.45 [[-1.48204318e-01 -9.88955586e-01 1.52647051e-03 2.08747609e+02] [ 9.88891954e-01 -1.48212099e-01 -1.12194917e-02 1.01192653e+02] [ 1.13218204e-02 -1.53262707e-04 9.99935894e-01 8.45095344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:101.22, Z:8.45 [[-1.48988206e-01 -9.88837742e-01 1.56051406e-03 2.08743717e+02] [ 9.88771619e-01 -1.48996292e-01 -1.14363622e-02 1.01218606e+02] [ 1.15412174e-02 -1.60891081e-04 9.99933385e-01 8.45146250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.352755096 meters Centerline goodness [0,1] 0.9999784324720701 Centerline is valid? [True, True] Translation: X:208.74, Y:101.24, Z:8.45 [[-1.49723452e-01 -9.88726638e-01 1.58821412e-03 2.08740020e+02] [ 9.88658534e-01 -1.49731782e-01 -1.16059225e-02 1.01244327e+02] [ 1.17128909e-02 -1.67477336e-04 9.99931388e-01 8.45126988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters Centerline goodness [0,1] 0.9999140579679007 Centerline is valid? [True, True] Translation: X:208.74, Y:101.27, Z:8.45 [[-1.50901720e-01 -9.88547431e-01 1.62739970e-03 2.08737797e+02] [ 9.88476323e-01 -1.50910387e-01 -1.18580462e-02 1.01269604e+02] [ 1.19678326e-02 -1.80753502e-04 9.99928367e-01 8.45091621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:101.30, Z:8.45 [[-1.51627388e-01 -9.88436554e-01 1.52138418e-03 2.08733801e+02] [ 9.88374741e-01 -1.51634922e-01 -1.10553584e-02 1.01295627e+02] [ 1.11582153e-02 -1.72597421e-04 9.99937730e-01 8.45295813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:101.32, Z:8.45 [[-1.52459850e-01 -9.88308365e-01 1.60281644e-03 2.08732033e+02] [ 9.88240146e-01 -1.52468161e-01 -1.16134887e-02 1.01320762e+02] [ 1.17220865e-02 -1.86623194e-04 9.99931277e-01 8.45308902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:101.35, Z:8.45 [[-1.52843323e-01 -9.88249085e-01 1.63212941e-03 2.08726569e+02] [ 9.88178753e-01 -1.52851920e-01 -1.17916150e-02 1.01346688e+02] [ 1.19025268e-02 -1.89434006e-04 9.99929144e-01 8.45306031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:101.37, Z:8.45 [[-1.52298804e-01 -9.88333002e-01 1.71791039e-03 2.08722822e+02] [ 9.88255556e-01 -1.52308378e-01 -1.23739409e-02 1.01372895e+02] [ 1.24912263e-02 -1.86801911e-04 9.99921964e-01 8.45302791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.72, Y:101.40, Z:8.45 [[-1.51390302e-01 -9.88472444e-01 1.78968259e-03 2.08718039e+02] [ 9.88388897e-01 -1.51400777e-01 -1.28527748e-02 1.01398677e+02] [ 1.29755731e-02 -1.76883061e-04 9.99915798e-01 8.45296863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.562755096 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:208.71, Y:101.42, Z:8.45 [[-1.48902197e-01 -9.88849973e-01 1.96660925e-03 2.08712600e+02] [ 9.88749747e-01 -1.48915105e-01 -1.40793959e-02 1.01423794e+02] [ 1.42152681e-02 -1.51968584e-04 9.99898946e-01 8.45153460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.71, Y:101.45, Z:8.45 [[-1.47652828e-01 -9.89037251e-01 1.98951940e-03 2.08707278e+02] [ 9.88935301e-01 -1.47666175e-01 -1.42011229e-02 1.01449467e+02] [ 1.43392242e-02 -1.29329991e-04 9.99897180e-01 8.45205492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters Centerline goodness [0,1] 0.9999568509848763 Centerline is valid? [True, True] Translation: X:208.70, Y:101.48, Z:8.45 [[-1.46462954e-01 -9.89213975e-01 2.07722747e-03 2.08702394e+02] [ 9.89103498e-01 -1.46477641e-01 -1.47841762e-02 1.01475793e+02] [ 1.49289811e-02 -1.10741159e-04 9.99888550e-01 8.45131854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:101.50, Z:8.45 [[-1.43892771e-01 -9.89591182e-01 2.04029895e-03 2.08697680e+02] [ 9.89485202e-01 -1.43907220e-01 -1.44826228e-02 1.01500571e+02] [ 1.46254896e-02 -6.50991122e-05 9.99893040e-01 8.45272256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:101.53, Z:8.45 [[-1.42174310e-01 -9.89839640e-01 1.98836892e-03 2.08694201e+02] [ 9.89739466e-01 -1.42188209e-01 -1.40820355e-02 1.01526597e+02] [ 1.42216795e-02 -3.41364802e-05 9.99898866e-01 8.45382596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:101.55, Z:8.45 [[-1.41989756e-01 -9.89866290e-01 1.90727325e-03 2.08690342e+02] [ 9.89774617e-01 -1.42002563e-01 -1.34714098e-02 1.01552399e+02] [ 1.36057321e-02 -2.50315474e-05 9.99907437e-01 8.45457952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.69, Y:101.58, Z:8.46 [[-1.41740819e-01 -9.89902037e-01 1.86995879e-03 2.08686570e+02] [ 9.89814405e-01 -1.41753153e-01 -1.31714858e-02 1.01577545e+02] [ 1.33035531e-02 -1.60250342e-05 9.99911504e-01 8.45532244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:101.60, Z:8.46 [[-1.41860407e-01 -9.89885013e-01 1.81252418e-03 2.08682808e+02] [ 9.89803141e-01 -1.41871985e-01 -1.27311253e-02 1.01603442e+02] [ 1.28594965e-02 -1.20004864e-05 9.99917313e-01 8.45615804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:101.63, Z:8.46 [[-1.41994498e-01 -9.89866025e-01 1.67755147e-03 2.08680184e+02] [ 9.89796245e-01 -1.42004407e-01 -1.17534123e-02 1.01628545e+02] [ 1.18725232e-02 -8.48574464e-06 9.99929519e-01 8.45687175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:101.65, Z:8.46 [[-1.42688980e-01 -9.89766226e-01 1.63483941e-03 2.08677252e+02] [ 9.89700312e-01 -1.42698345e-01 -1.14225429e-02 1.01654596e+02] [ 1.15389360e-02 -1.18699144e-05 9.99933424e-01 8.45769825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:101.68, Z:8.46 [[-1.43830565e-01 -9.89601071e-01 1.57752062e-03 2.08675359e+02] [ 9.89540005e-01 -1.43839214e-01 -1.09936030e-02 1.01682166e+02] [ 1.11061906e-02 -2.01963630e-05 9.99938324e-01 8.45847260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:101.71, Z:8.46 [[-1.44635846e-01 -9.89483688e-01 1.58215473e-03 2.08672184e+02] [ 9.89422566e-01 -1.44644497e-01 -1.09979415e-02 1.01707905e+02] [ 1.11111336e-02 -2.52769743e-05 9.99938269e-01 8.45869180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:101.73, Z:8.46 [[-1.45403850e-01 -9.89371095e-01 1.59880920e-03 2.08668306e+02] [ 9.89309046e-01 -1.45412636e-01 -1.10804345e-02 1.01734470e+02] [ 1.11951487e-02 -2.94214328e-05 9.99937332e-01 8.45821110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.76, Z:8.46 [[-1.46096750e-01 -9.89268965e-01 1.62933069e-03 2.08664664e+02] [ 9.89204887e-01 -1.46105831e-01 -1.12595978e-02 1.01760951e+02] [ 1.13768253e-02 -3.32487577e-05 9.99935281e-01 8.45823387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.79, Z:8.46 [[-1.47276523e-01 -9.89093843e-01 1.73101277e-03 2.08661542e+02] [ 9.89021930e-01 -1.47286688e-01 -1.19270387e-02 1.01786085e+02] [ 1.20519157e-02 -4.45632048e-05 9.99927372e-01 8.45801436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.81, Z:8.46 [[-1.48147394e-01 -9.88963698e-01 1.77564804e-03 2.08658362e+02] [ 9.88888465e-01 -1.48158026e-01 -1.21985141e-02 1.01812758e+02] [ 1.23269642e-02 -5.12602205e-05 9.99924019e-01 8.45774946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.84, Z:8.46 [[-1.50847700e-01 -9.88555172e-01 1.90894101e-03 2.08658032e+02] [ 9.88468689e-01 -1.50859754e-01 -1.30761738e-02 1.01837901e+02] [ 1.32145016e-02 -8.55823302e-05 9.99912681e-01 8.45739498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.86, Z:8.46 [[-1.52751256e-01 -9.88262717e-01 1.96356370e-03 2.08656072e+02] [ 9.88171631e-01 -1.52763837e-01 -1.34177934e-02 1.01863864e+02] [ 1.35602665e-02 -1.09246852e-04 9.99908049e-01 8.45729151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.66, Y:101.89, Z:8.46 [[-1.56469588e-01 -9.87680672e-01 2.03899098e-03 2.08656531e+02] [ 9.87582941e-01 -1.56482790e-01 -1.38949682e-02 1.01889967e+02] [ 1.40428586e-02 -1.60467236e-04 9.99901381e-01 8.45719319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:101.92, Z:8.46 [[-1.58563855e-01 -9.87346573e-01 2.06126812e-03 2.08654228e+02] [ 9.87247146e-01 -1.58577142e-01 -1.40129598e-02 1.01916482e+02] [ 1.41625178e-02 -1.86967858e-04 9.99899689e-01 8.45736452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:101.94, Z:8.46 [[-1.60409296e-01 -9.87048324e-01 2.11293080e-03 2.08653020e+02] [ 9.86944389e-01 -1.60423071e-01 -1.43251960e-02 1.01943208e+02] [ 1.44786236e-02 -2.12549408e-04 9.99895157e-01 8.45710373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:101.97, Z:8.46 [[-1.62810332e-01 -9.86654972e-01 2.18224594e-03 2.08651186e+02] [ 9.86544634e-01 -1.62824764e-01 -1.47574359e-02 1.01970465e+02] [ 1.49158212e-02 -2.49780007e-04 9.99888722e-01 8.45751521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.65, Y:102.00, Z:8.46 [[-1.63463634e-01 -9.86547074e-01 2.12401976e-03 2.08646276e+02] [ 9.86443021e-01 -1.63477246e-01 -1.43302752e-02 1.01996746e+02] [ 1.44847199e-02 -2.47254386e-04 9.99895060e-01 8.45821984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.64, Y:102.02, Z:8.46 [[-1.63989621e-01 -9.86460022e-01 2.00752865e-03 2.08642154e+02] [ 9.86367532e-01 -1.64001739e-01 -1.35100409e-02 1.02023280e+02] [ 1.36563534e-02 -2.35345399e-04 9.99906720e-01 8.45887686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.64, Y:102.05, Z:8.46 [[-1.64068261e-01 -9.86447092e-01 1.93378310e-03 2.08637778e+02] [ 9.86361710e-01 -1.64079506e-01 -1.29804482e-02 1.02048778e+02] [ 1.31218196e-02 -2.22269960e-04 9.99913881e-01 8.46026650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.63, Y:102.07, Z:8.46 [[-1.63955784e-01 -9.86465893e-01 1.88218745e-03 2.08634528e+02] [ 9.86385438e-01 -1.63966454e-01 -1.26004020e-02 1.02074288e+02] [ 1.27384824e-02 -2.09346504e-04 9.99918840e-01 8.46104112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.63, Y:102.10, Z:8.46 [[-1.64346814e-01 -9.86400813e-01 1.88715896e-03 2.08630491e+02] [ 9.86320362e-01 -1.64357515e-01 -1.25996574e-02 1.02099065e+02] [ 1.27384811e-02 -2.09370251e-04 9.99918840e-01 8.46134240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:102.12, Z:8.46 [[-1.64167396e-01 -9.86430899e-01 1.77437798e-03 2.08623730e+02] [ 9.86360137e-01 -1.64176875e-01 -1.18166799e-02 1.02124681e+02] [ 1.19476500e-02 -1.89737853e-04 9.99928606e-01 8.46196220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.62, Y:102.15, Z:8.46 [[-1.63720468e-01 -9.86505155e-01 1.78533986e-03 2.08616287e+02] [ 9.86433885e-01 -1.63730103e-01 -1.18593542e-02 1.02151283e+02] [ 1.19916279e-02 -1.80499286e-04 9.99928082e-01 8.46218898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.61, Y:102.18, Z:8.46 [[-1.63157782e-01 -9.86598391e-01 1.77563981e-03 2.08611633e+02] [ 9.86528241e-01 -1.63167357e-01 -1.17662202e-02 1.02176174e+02] [ 1.18982604e-02 -1.68031570e-04 9.99929199e-01 8.46231895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.60, Y:102.20, Z:8.46 [[-1.61170390e-01 -9.86925050e-01 1.74659261e-03 2.08603597e+02] [ 9.86857572e-01 -1.61179796e-01 -1.15415001e-02 1.02201765e+02] [ 1.16721110e-02 -1.36509922e-04 9.99931869e-01 8.46255934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.60, Y:102.23, Z:8.46 [[-1.60017405e-01 -9.87112702e-01 1.71574570e-03 2.08597640e+02] [ 9.87047936e-01 -1.60026561e-01 -1.13080507e-02 1.02226915e+02] [ 1.14368853e-02 -1.15961672e-04 9.99934590e-01 8.46243097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.59, Y:102.25, Z:8.46 [[-1.57771923e-01 -9.87473987e-01 1.77354653e-03 2.08589192e+02] [ 9.87405202e-01 -1.57781867e-01 -1.16554565e-02 1.02252338e+02] [ 1.17892936e-02 -8.76947200e-05 9.99930500e-01 8.46187209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.552755096 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:208.58, Y:102.28, Z:8.46 [[-1.57076343e-01 -9.87584825e-01 1.79867193e-03 2.08583789e+02] [ 9.87514460e-01 -1.57086623e-01 -1.17891458e-02 1.02277032e+02] [ 1.19253288e-02 -7.55813832e-05 9.99928888e-01 8.46133907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:102.30, Z:8.46 [[-1.56877857e-01 -9.87616213e-01 1.88501906e-03 2.08578873e+02] [ 9.87539368e-01 -1.56889165e-01 -1.23201429e-02 1.02302316e+02] [ 1.24633120e-02 -7.12270929e-05 9.99922327e-01 8.46138274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:102.33, Z:8.46 [[-1.57007751e-01 -9.87595437e-01 1.95448633e-03 2.08574596e+02] [ 9.87513177e-01 -1.57019899e-01 -1.27466302e-02 1.02328147e+02] [ 1.28954071e-02 -7.12387308e-05 9.99916848e-01 8.46121096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:102.35, Z:8.46 [[-1.57935126e-01 -9.87447617e-01 1.92336904e-03 2.08571529e+02] [ 9.87368346e-01 -1.57946818e-01 -1.25121036e-02 1.02354313e+02] [ 1.26588369e-02 -7.70269536e-05 9.99919871e-01 8.46154337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:102.38, Z:8.46 [[-1.60133657e-01 -9.87093579e-01 1.86521030e-03 2.08570132e+02] [ 9.87019370e-01 -1.60144490e-01 -1.21039661e-02 1.02381243e+02] [ 1.22464503e-02 -9.72536648e-05 9.99925005e-01 8.46212025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.57, Y:102.41, Z:8.46 [[-1.61670118e-01 -9.86843174e-01 1.82306418e-03 2.08567226e+02] [ 9.86772614e-01 -1.61680360e-01 -1.18012574e-02 1.02407836e+02] [ 1.19407440e-02 -1.08960873e-04 9.99928701e-01 8.46265500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:102.43, Z:8.46 [[-1.63069553e-01 -9.86612989e-01 1.76934338e-03 2.08563886e+02] [ 9.86546835e-01 -1.63079110e-01 -1.14256818e-02 1.02434523e+02] [ 1.15612690e-02 -1.17640717e-04 9.99933159e-01 8.46301878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:102.46, Z:8.46 [[-1.65035552e-01 -9.86286060e-01 1.75325270e-03 2.08562759e+02] [ 9.86221406e-01 -1.65044810e-01 -1.12937518e-02 1.02459584e+02] [ 1.14282352e-02 -1.34775221e-04 9.99934687e-01 8.46317410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:102.49, Z:8.46 [[-1.66267549e-01 -9.86079161e-01 1.72940988e-03 2.08559105e+02] [ 9.86016568e-01 -1.66276482e-01 -1.11111923e-02 1.02486119e+02] [ 1.12440754e-02 -1.42203921e-04 9.99936773e-01 8.46317733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.56, Y:102.51, Z:8.46 [[-1.68292604e-01 -9.85735515e-01 1.75874933e-03 2.08557071e+02] [ 9.85671087e-01 -1.68301715e-01 -1.12712723e-02 1.02513316e+02] [ 1.14064939e-02 -1.63323399e-04 9.99934931e-01 8.46315313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:102.54, Z:8.46 [[-1.69287542e-01 -9.85565175e-01 1.73592010e-03 2.08552763e+02] [ 9.85502670e-01 -1.69296359e-01 -1.11009662e-02 1.02539295e+02] [ 1.12346106e-02 -1.68501390e-04 9.99936876e-01 8.46329743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:102.57, Z:8.46 [[-1.70085514e-01 -9.85427755e-01 1.74890765e-03 2.08548768e+02] [ 9.85364629e-01 -1.70094416e-01 -1.11551155e-02 1.02565039e+02] [ 1.12900399e-02 -1.74011818e-04 9.99936250e-01 8.46343178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:102.59, Z:8.46 [[-1.69620837e-01 -9.85507699e-01 1.82925534e-03 2.08542892e+02] [ 9.85439012e-01 -1.69630614e-01 -1.16365409e-02 1.02590891e+02] [ 1.17781983e-02 -1.71180231e-04 9.99930620e-01 8.46275133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.54, Y:102.62, Z:8.46 [[-1.69564594e-01 -9.85517327e-01 1.85656743e-03 2.08537616e+02] [ 9.85446934e-01 -1.69574675e-01 -1.17800625e-02 1.02616982e+02] [ 1.19242825e-02 -1.67932841e-04 9.99928889e-01 8.46222281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:102.64, Z:8.46 [[-1.68702101e-01 -9.85664815e-01 2.11524635e-03 2.08531681e+02] [ 9.85573972e-01 -1.68715273e-01 -1.33828864e-02 1.02643270e+02] [ 1.35479146e-02 -1.72989297e-04 9.99908208e-01 8.46089406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.53, Y:102.67, Z:8.46 [[-1.68224288e-01 -9.85746192e-01 2.24387591e-03 2.08526467e+02] [ 9.85644525e-01 -1.68239166e-01 -1.41581419e-02 1.02668126e+02] [ 1.43338423e-02 -1.70079329e-04 9.99897251e-01 8.46026700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.52, Y:102.69, Z:8.46 [[-1.67631569e-01 -9.85846997e-01 2.31407359e-03 2.08520964e+02] [ 9.85739464e-01 -1.67647465e-01 -1.45614542e-02 1.02693938e+02] [ 1.47433145e-02 -1.59885761e-04 9.99891299e-01 8.45997029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:102.72, Z:8.46 [[-1.66403838e-01 -9.86054819e-01 2.37857383e-03 2.08514687e+02] [ 9.85941818e-01 -1.66420779e-01 -1.49283422e-02 1.02718731e+02] [ 1.51160079e-02 -1.38998029e-04 9.99885737e-01 8.45928918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:102.74, Z:8.46 [[-1.66213206e-01 -9.86086869e-01 2.42008414e-03 2.08508443e+02] [ 9.85970509e-01 -1.66230772e-01 -1.51488090e-02 1.02744939e+02] [ 1.53403341e-02 -1.31800529e-04 9.99882321e-01 8.45923040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.50, Y:102.77, Z:8.46 [[-1.66112288e-01 -9.86103788e-01 2.45505089e-03 2.08503830e+02] [ 9.85984623e-01 -1.66130382e-01 -1.53303191e-02 1.02769942e+02] [ 1.55251443e-02 -1.25911971e-04 9.99879470e-01 8.45889769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.50, Y:102.80, Z:8.46 [[-1.66604588e-01 -9.86020305e-01 2.62081070e-03 2.08499702e+02] [ 9.85885095e-01 -1.66625145e-01 -1.63291599e-02 1.02795573e+02] [ 1.65375762e-02 -1.36694758e-04 9.99863236e-01 8.45826661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.50, Y:102.82, Z:8.46 [[-1.67242198e-01 -9.85912241e-01 2.66476894e-03 2.08496926e+02] [ 9.85773135e-01 -1.67263365e-01 -1.65617894e-02 1.02820732e+02] [ 1.67741892e-02 -1.42972433e-04 9.99859293e-01 8.45841061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:102.85, Z:8.46 [[-1.68185523e-01 -9.85751489e-01 2.76270946e-03 2.08494911e+02] [ 9.85602712e-01 -1.68208138e-01 -1.71264639e-02 1.02846347e+02] [ 1.73471475e-02 -1.57489336e-04 9.99849515e-01 8.45835977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:102.87, Z:8.46 [[-1.68949157e-01 -9.85620819e-01 2.78983986e-03 2.08490611e+02] [ 9.85469831e-01 -1.68972109e-01 -1.72521994e-02 1.02872097e+02] [ 1.74755320e-02 -1.65441538e-04 9.99847278e-01 8.45926445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:102.90, Z:8.46 [[-1.69905475e-01 -9.85456363e-01 2.80839986e-03 2.08487736e+02] [ 9.85304090e-01 -1.69928592e-01 -1.73241050e-02 1.02897441e+02] [ 1.75493769e-02 -1.76332406e-04 9.99845982e-01 8.45936944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:102.92, Z:8.46 [[-1.71222166e-01 -9.85228532e-01 2.77644812e-03 2.08483905e+02] [ 9.85080405e-01 -1.71244570e-01 -1.70849054e-02 1.02923437e+02] [ 1.73079879e-02 -1.90289872e-04 9.99850187e-01 8.46041328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:102.95, Z:8.46 [[-1.72140565e-01 -9.85068853e-01 2.64215744e-03 2.08479978e+02] [ 9.84935311e-01 -1.72160736e-01 -1.62208109e-02 1.02948478e+02] [ 1.64334914e-02 -1.89905392e-04 9.99864943e-01 8.46136189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:102.97, Z:8.46 [[-1.73532046e-01 -9.84825446e-01 2.33877480e-03 2.08475090e+02] [ 9.84721258e-01 -1.73547709e-01 -1.43260985e-02 1.02974320e+02] [ 1.45145954e-02 -1.82995917e-04 9.99894641e-01 8.46394148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.47, Y:103.00, Z:8.47 [[-1.74064431e-01 -9.84731806e-01 2.20091629e-03 2.08471146e+02] [ 9.84639969e-01 -1.74078258e-01 -1.34496156e-02 1.02999715e+02] [ 1.36273960e-02 -1.73989552e-04 9.99907128e-01 8.46549285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.47, Y:103.03, Z:8.47 [[-1.74723041e-01 -9.84615268e-01 2.15238468e-03 2.08466716e+02] [ 9.84527870e-01 -1.74736212e-01 -1.31198172e-02 1.03025594e+02] [ 1.32940719e-02 -1.73251663e-04 9.99911615e-01 8.46652572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.46, Y:103.05, Z:8.47 [[-1.75726730e-01 -9.84436802e-01 2.07357627e-03 2.08462785e+02] [ 9.84356060e-01 -1.75738877e-01 -1.26092776e-02 1.03051524e+02] [ 1.27774449e-02 -1.74649750e-04 9.99918350e-01 8.46738913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.46, Y:103.08, Z:8.47 [[-1.76309256e-01 -9.84332596e-01 2.09435536e-03 2.08458882e+02] [ 9.84250631e-01 -1.76321604e-01 -1.27038357e-02 1.03077201e+02] [ 1.28740797e-02 -1.78433241e-04 9.99917110e-01 8.46795138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.46, Y:103.10, Z:8.47 [[-1.77944123e-01 -9.84038185e-01 2.17688629e-03 2.08456512e+02] [ 9.83950053e-01 -1.77957324e-01 -1.31713331e-02 1.03102066e+02] [ 1.33484876e-02 -2.01813939e-04 9.99910885e-01 8.46794136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:103.13, Z:8.47 [[-1.78954970e-01 -9.83854694e-01 2.24950698e-03 2.08450815e+02] [ 9.83760973e-01 -1.78968975e-01 -1.35813681e-02 1.03128792e+02] [ 1.37646847e-02 -2.17476140e-04 9.99905239e-01 8.46788312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:103.16, Z:8.47 [[-1.80198977e-01 -9.83627335e-01 2.36544103e-03 2.08447136e+02] [ 9.83524176e-01 -1.80214340e-01 -1.42473725e-02 1.03155136e+02] [ 1.44403914e-02 -2.40893503e-04 9.99895703e-01 8.46708628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.44, Y:103.18, Z:8.47 [[-1.81895716e-01 -9.83314237e-01 2.65697585e-03 2.08442318e+02] [ 9.83184706e-01 -1.81914887e-01 -1.59627118e-02 1.03182200e+02] [ 1.61797052e-02 -2.91250880e-04 9.99869058e-01 8.46566107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.44, Y:103.21, Z:8.47 [[-1.82734104e-01 -9.83158449e-01 2.77696863e-03 2.08438050e+02] [ 9.83017594e-01 -1.82754938e-01 -1.66445927e-02 1.03208668e+02] [ 1.68717767e-02 -3.11725721e-04 9.99857613e-01 8.46524341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.43, Y:103.24, Z:8.46 [[-1.83957061e-01 -9.82929865e-01 2.94632618e-03 2.08434299e+02] [ 9.82772046e-01 -1.83980331e-01 -1.76165616e-02 1.03236094e+02] [ 1.78579106e-02 -3.45123903e-04 9.99840475e-01 8.46466085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.43, Y:103.26, Z:8.46 [[-1.84813918e-01 -9.82768951e-01 3.00072665e-03 2.08430199e+02] [ 9.82605968e-01 -1.84837927e-01 -1.79011848e-02 1.03262153e+02] [ 1.81473767e-02 -3.59856182e-04 9.99835258e-01 8.46487661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.43, Y:103.29, Z:8.47 [[-1.85395436e-01 -9.82659421e-01 2.99907059e-03 2.08426043e+02] [ 9.82497376e-01 -1.85419337e-01 -1.78487000e-02 1.03288191e+02] [ 1.80952788e-02 -3.62488515e-04 9.99836201e-01 8.46504431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:103.31, Z:8.47 [[-1.85720661e-01 -9.82598001e-01 3.00067496e-03 2.08422024e+02] [ 9.82436486e-01 -1.85744549e-01 -1.78188907e-02 1.03313780e+02] [ 1.80661654e-02 -3.61363595e-04 9.99836728e-01 8.46552117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:103.34, Z:8.47 [[-1.86063905e-01 -9.82533208e-01 2.95263393e-03 2.08416837e+02] [ 9.82377439e-01 -1.86086992e-01 -1.74985310e-02 1.03339699e+02] [ 1.77423345e-02 -3.55244044e-04 9.99842529e-01 8.46617529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.41, Y:103.37, Z:8.47 [[-1.85659577e-01 -9.82610093e-01 2.81560147e-03 2.08411343e+02] [ 9.82469089e-01 -1.85680642e-01 -1.66489961e-02 1.03365846e+02] [ 1.68822743e-02 -3.24804169e-04 9.99857432e-01 8.46728518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.41, Y:103.39, Z:8.47 [[-1.85479351e-01 -9.82644448e-01 2.70186424e-03 2.08406055e+02] [ 9.82515186e-01 -1.85498783e-01 -1.59408370e-02 1.03391679e+02] [ 1.61653675e-02 -3.02073460e-04 9.99869286e-01 8.46842095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.40, Y:103.42, Z:8.47 [[-1.85315368e-01 -9.82675700e-01 2.58532618e-03 2.08401241e+02] [ 9.82557878e-01 -1.85333189e-01 -1.52192612e-02 1.03416883e+02] [ 1.54347449e-02 -2.80130385e-04 9.99880838e-01 8.46965477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:103.44, Z:8.47 [[-1.84861869e-01 -9.82761531e-01 2.42137041e-03 2.08393244e+02] [ 9.82658650e-01 -1.84877558e-01 -1.42220153e-02 1.03442571e+02] [ 1.44245065e-02 -2.49727750e-04 9.99895930e-01 8.47156386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:103.47, Z:8.47 [[-1.84828671e-01 -9.82767615e-01 2.48536065e-03 2.08389942e+02] [ 9.82659730e-01 -1.84845212e-01 -1.45637835e-02 1.03468055e+02] [ 1.47722218e-02 -2.49540924e-04 9.99890854e-01 8.47132355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.38, Y:103.49, Z:8.47 [[-1.83789076e-01 -9.82962388e-01 2.55341081e-03 2.08381419e+02] [ 9.82848990e-01 -1.83806663e-01 -1.49323198e-02 1.03493559e+02] [ 1.51472426e-02 -2.34780022e-04 9.99885246e-01 8.47130350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.38, Y:103.52, Z:8.47 [[-1.83730644e-01 -9.82972950e-01 2.68879638e-03 2.08378897e+02] [ 9.82847793e-01 -1.83750162e-01 -1.56873954e-02 1.03519165e+02] [ 1.59143521e-02 -2.39577677e-04 9.99873330e-01 8.47051168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:103.54, Z:8.47 [[-1.83540886e-01 -9.83007702e-01 2.93280562e-03 2.08371990e+02] [ 9.82859424e-01 -1.83564144e-01 -1.70750650e-02 1.03544455e+02] [ 1.73232783e-02 -2.51436904e-04 9.99849909e-01 8.46948895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:103.57, Z:8.47 [[-1.83798860e-01 -9.82959281e-01 3.00526331e-03 2.08369045e+02] [ 9.82804298e-01 -1.83823250e-01 -1.74563540e-02 1.03569585e+02] [ 1.77113225e-02 -2.54872266e-04 9.99843110e-01 8.46864327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:103.59, Z:8.47 [[-1.84502795e-01 -9.82827143e-01 3.08625426e-03 2.08362131e+02] [ 9.82664447e-01 -1.84528412e-01 -1.78843253e-02 1.03594964e+02] [ 1.81467020e-02 -2.66955663e-04 9.99835299e-01 8.46938976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:103.62, Z:8.47 [[-1.86276559e-01 -9.82492254e-01 3.16453911e-03 2.08361765e+02] [ 9.82321931e-01 -1.86303197e-01 -1.82959730e-02 1.03621595e+02] [ 1.85652155e-02 -2.99514726e-04 9.99827607e-01 8.46796485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:103.65, Z:8.47 [[-1.87611957e-01 -9.82238138e-01 3.16129398e-03 2.08356716e+02] [ 9.82068860e-01 -1.87638322e-01 -1.82377133e-02 1.03647107e+02] [ 1.85069575e-02 -3.17004723e-04 9.99828681e-01 8.46913238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.35, Y:103.67, Z:8.47 [[-1.89854258e-01 -9.81807604e-01 3.03157184e-03 2.08353703e+02] [ 9.81652514e-01 -1.89878160e-01 -1.74535365e-02 1.03673895e+02] [ 1.77116442e-02 -3.37678101e-04 9.99843080e-01 8.47124062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.35, Y:103.70, Z:8.47 [[-1.91141126e-01 -9.81557986e-01 2.99840402e-03 2.08347494e+02] [ 9.81406849e-01 -1.91164321e-01 -1.72278392e-02 1.03700915e+02] [ 1.74833110e-02 -3.50294337e-04 9.99847094e-01 8.47276548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:103.73, Z:8.47 [[-1.91492930e-01 -9.81489394e-01 3.00458221e-03 2.08342700e+02] [ 9.81338266e-01 -1.91516180e-01 -1.72267620e-02 1.03727243e+02] [ 1.74833103e-02 -3.50291628e-04 9.99847094e-01 8.47308692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:103.75, Z:8.47 [[-1.92289538e-01 -9.81333870e-01 2.92726890e-03 2.08338551e+02] [ 9.81191012e-01 -1.92311503e-01 -1.67476369e-02 1.03753422e+02] [ 1.69979708e-02 -3.48185433e-04 9.99855463e-01 8.47391682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:103.78, Z:8.47 [[-1.92809409e-01 -9.81232068e-01 2.85675491e-03 2.08333486e+02] [ 9.81096619e-01 -1.92830269e-01 -1.63067989e-02 1.03779658e+02] [ 1.65516229e-02 -3.41351683e-04 9.99862954e-01 8.47462579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:103.81, Z:8.47 [[-1.93139072e-01 -9.81167245e-01 2.85250735e-03 2.08331504e+02] [ 9.81032826e-01 -1.93159838e-01 -1.62441118e-02 1.03805010e+02] [ 1.64891803e-02 -3.38969337e-04 9.99863987e-01 8.47443161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.32, Y:103.83, Z:8.48 [[-1.92734122e-01 -9.81246882e-01 2.84877144e-03 2.08322887e+02] [ 9.81113464e-01 -1.92754902e-01 -1.61838959e-02 1.03830702e+02] [ 1.64295120e-02 -3.24220951e-04 9.99864974e-01 8.47544465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.32, Y:103.86, Z:8.47 [[-1.92501019e-01 -9.81292296e-01 2.96445904e-03 2.08320097e+02] [ 9.81148520e-01 -1.92523569e-01 -1.68005054e-02 1.03856293e+02] [ 1.70569347e-02 -3.25539820e-04 9.99854467e-01 8.47490693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:103.88, Z:8.47 [[-1.91991179e-01 -9.81391750e-01 3.10151205e-03 2.08312677e+02] [ 9.81235148e-01 -1.92015957e-01 -1.75344630e-02 1.03881520e+02] [ 1.78037171e-02 -3.23149588e-04 9.99841449e-01 8.47468255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:103.91, Z:8.47 [[-1.91695975e-01 -9.81449332e-01 3.14052206e-03 2.08307000e+02] [ 9.81289484e-01 -1.91721441e-01 -1.77154514e-02 1.03907876e+02] [ 1.79889233e-02 -3.14219447e-04 9.99838137e-01 8.47442207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.30, Y:103.93, Z:8.47 [[-1.91383924e-01 -9.81510082e-01 3.18625851e-03 2.08299934e+02] [ 9.81346275e-01 -1.91410202e-01 -1.79338272e-02 1.03933868e+02] [ 1.82121145e-02 -3.05423299e-04 9.99834099e-01 8.47477959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:103.96, Z:8.47 [[-1.89857642e-01 -9.81806411e-01 3.20117469e-03 2.08293850e+02] [ 9.81641880e-01 -1.89884435e-01 -1.79755538e-02 1.03958162e+02] [ 1.82563672e-02 -2.70389110e-04 9.99833302e-01 8.47445280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.29, Y:103.98, Z:8.48 [[-1.89272608e-01 -9.81919319e-01 3.21433799e-03 2.08286855e+02] [ 9.81754232e-01 -1.89299731e-01 -1.80066842e-02 1.03983428e+02] [ 1.82895844e-02 -2.52482153e-04 9.99832700e-01 8.47511017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.28, Y:104.01, Z:8.47 [[-1.88117986e-01 -9.82140753e-01 3.34133932e-03 2.08279802e+02] [ 9.81963236e-01 -1.88147515e-01 -1.86739452e-02 1.04008643e+02] [ 1.89691073e-02 -2.31832599e-04 9.99820043e-01 8.47492361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.27, Y:104.03, Z:8.47 [[-1.88017534e-01 -9.82160049e-01 3.32339043e-03 2.08274132e+02] [ 9.81985252e-01 -1.88046775e-01 -1.85304053e-02 1.04033761e+02] [ 1.88247766e-02 -2.20520725e-04 9.99822774e-01 8.47491613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.27, Y:104.06, Z:8.48 [[-1.88074357e-01 -9.82149171e-01 3.32293229e-03 2.08268443e+02] [ 9.81975238e-01 -1.88103588e-01 -1.84843768e-02 1.04060043e+02] [ 1.87794708e-02 -2.13400038e-04 9.99823627e-01 8.47501695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.26, Y:104.09, Z:8.48 [[-1.88164673e-01 -9.82131704e-01 3.37235928e-03 2.08263338e+02] [ 9.81953369e-01 -1.88194773e-01 -1.87165454e-02 1.04085493e+02] [ 1.90167730e-02 -2.10293090e-04 9.99819143e-01 8.47526294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.26, Y:104.11, Z:8.48 [[-1.87995786e-01 -9.82164114e-01 3.35221127e-03 2.08257196e+02] [ 9.81988674e-01 -1.88025566e-01 -1.85642246e-02 1.04112334e+02] [ 1.88634167e-02 -1.98162505e-04 9.99822050e-01 8.47574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.25, Y:104.14, Z:8.48 [[-1.87454150e-01 -9.82267843e-01 3.29033008e-03 2.08252604e+02] [ 9.82099563e-01 -1.87482941e-01 -1.81822609e-02 1.04137633e+02] [ 1.84767310e-02 -1.76908525e-04 9.99829275e-01 8.47572889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.25, Y:104.16, Z:8.48 [[-1.87243571e-01 -9.82308219e-01 3.22613163e-03 2.08247531e+02] [ 9.82147185e-01 -1.87271291e-01 -1.77867863e-02 1.04163554e+02] [ 1.80762682e-02 -1.61925270e-04 9.99836598e-01 8.47620740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:104.19, Z:8.48 [[-1.87001090e-01 -9.82354335e-01 3.24837460e-03 2.08242169e+02] [ 9.82191796e-01 -1.87029241e-01 -1.78700485e-02 1.04189459e+02] [ 1.81622606e-02 -1.51191666e-04 9.99835041e-01 8.47720777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.24, Y:104.21, Z:8.48 [[-1.87101446e-01 -9.82335569e-01 3.14298258e-03 2.08237579e+02] [ 9.82184072e-01 -1.87127790e-01 -1.72522030e-02 1.04214701e+02] [ 1.75355920e-02 -1.40924697e-04 9.99846230e-01 8.47774389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.23, Y:104.24, Z:8.48 [[-1.87175449e-01 -9.82322004e-01 2.97197099e-03 2.08232934e+02] [ 9.82187134e-01 -1.87198998e-01 -1.62778659e-02 1.04240401e+02] [ 1.65464558e-02 -1.27785175e-04 9.99863090e-01 8.47935536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.23, Y:104.27, Z:8.48 [[-1.87699448e-01 -9.82222288e-01 2.87989733e-03 2.08228369e+02] [ 9.82096174e-01 -1.87721497e-01 -1.57399264e-02 1.04266053e+02] [ 1.60007251e-02 -1.26039342e-04 9.99871972e-01 8.48001687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:104.29, Z:8.48 [[-1.88584356e-01 -9.82053297e-01 2.69473994e-03 2.08224028e+02] [ 9.81943317e-01 -1.88603566e-01 -1.46975262e-02 1.04292394e+02] [ 1.49419916e-02 -1.25641634e-04 9.99888354e-01 8.48126718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:104.32, Z:8.48 [[-1.89698880e-01 -9.81838748e-01 2.64737172e-03 2.08219738e+02] [ 9.81733042e-01 -1.89717304e-01 -1.44076019e-02 1.04318700e+02] [ 1.46481940e-02 -1.34093652e-04 9.99892700e-01 8.48189847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:104.35, Z:8.48 [[-1.90490344e-01 -9.81685488e-01 2.65187545e-03 2.08215571e+02] [ 9.81579874e-01 -1.90508751e-01 -1.44002399e-02 1.04345142e+02] [ 1.46417120e-02 -1.40079077e-04 9.99892795e-01 8.48248507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:104.37, Z:8.48 [[-1.92565987e-01 -9.81280415e-01 2.66218687e-03 2.08212149e+02] [ 9.81174406e-01 -1.92584317e-01 -1.44244724e-02 1.04371546e+02] [ 1.46671478e-02 -1.65593154e-04 9.99892418e-01 8.48303572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:104.40, Z:8.48 [[-1.93722511e-01 -9.81052717e-01 2.67508876e-03 2.08208215e+02] [ 9.80946128e-01 -1.93740899e-01 -1.44622745e-02 1.04396468e+02] [ 1.47065278e-02 -1.77550175e-04 9.99891837e-01 8.48352757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:104.42, Z:8.48 [[-1.94726896e-01 -9.80853683e-01 2.73636233e-03 2.08203926e+02] [ 9.80742646e-01 -1.94746029e-01 -1.47596494e-02 1.04422398e+02] [ 1.50099522e-02 -1.90433486e-04 9.99887326e-01 8.48453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.20, Y:104.45, Z:8.49 [[-1.95321374e-01 -9.80735447e-01 2.74656495e-03 2.08198521e+02] [ 9.80624049e-01 -1.95340587e-01 -1.47827333e-02 1.04447946e+02] [ 1.50344661e-02 -1.94036123e-04 9.99886957e-01 8.48525689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.19, Y:104.47, Z:8.49 [[-1.95642709e-01 -9.80671411e-01 2.74114046e-03 2.08194190e+02] [ 9.80560930e-01 -1.95661817e-01 -1.47212855e-02 1.04473239e+02] [ 1.49730803e-02 -1.92256927e-04 9.99887879e-01 8.48570411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.19, Y:104.50, Z:8.49 [[-1.96057411e-01 -9.80588148e-01 2.89422375e-03 2.08189165e+02] [ 9.80465543e-01 -1.96078668e-01 -1.55072886e-02 1.04499027e+02] [ 1.57737590e-02 -2.02632197e-04 9.99875566e-01 8.48676725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:104.52, Z:8.49 [[-1.96393332e-01 -9.80520617e-01 2.99660709e-03 2.08184862e+02] [ 9.80389755e-01 -1.96416082e-01 -1.60203153e-02 1.04524564e+02] [ 1.62968313e-02 -2.08440226e-04 9.99867176e-01 8.48719695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.18, Y:104.55, Z:8.49 [[-1.96153997e-01 -9.80567789e-01 3.22826335e-03 2.08178741e+02] [ 9.80416602e-01 -1.96180445e-01 -1.72197250e-02 1.04550804e+02] [ 1.75184298e-02 -2.12674897e-04 9.99846518e-01 8.48851435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.17, Y:104.58, Z:8.49 [[-1.96326189e-01 -9.80532859e-01 3.36749320e-03 2.08174240e+02] [ 9.80369048e-01 -1.96354946e-01 -1.79238746e-02 1.04575777e+02] [ 1.82361719e-02 -2.17539877e-04 9.99833684e-01 8.48894842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.17, Y:104.60, Z:8.49 [[-1.96402021e-01 -9.80516894e-01 3.58714385e-03 2.08169621e+02] [ 9.80331888e-01 -1.96434649e-01 -1.90477935e-02 1.04601171e+02] [ 1.93813227e-02 -2.24433649e-04 9.99812139e-01 8.48970803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:104.63, Z:8.49 [[-1.96525140e-01 -9.80491673e-01 3.73479472e-03 2.08164126e+02] [ 9.80292025e-01 -1.96560493e-01 -1.97868086e-02 1.04626763e+02] [ 2.01349142e-02 -2.27415844e-04 9.99797246e-01 8.49053945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:104.65, Z:8.49 [[-1.96602080e-01 -9.80475726e-01 3.86938081e-03 2.08159045e+02] [ 9.80262367e-01 -1.96640021e-01 -2.04546724e-02 1.04652859e+02] [ 2.08161849e-02 -2.28422733e-04 9.99783294e-01 8.49103894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.15, Y:104.68, Z:8.49 [[-1.96604295e-01 -9.80475108e-01 3.91336737e-03 2.08153866e+02] [ 9.80257810e-01 -1.96643113e-01 -2.06424702e-02 1.04678938e+02] [ 2.10089650e-02 -2.22289385e-04 9.99779263e-01 8.49169346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.15, Y:104.70, Z:8.49 [[-1.96283586e-01 -9.80538977e-01 4.00863148e-03 2.08149014e+02] [ 9.80311882e-01 -1.96324400e-01 -2.11031563e-02 1.04703662e+02] [ 2.14794594e-02 -2.12494119e-04 9.99769267e-01 8.49310520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.14, Y:104.73, Z:8.49 [[-1.96161090e-01 -9.80563408e-01 4.02857046e-03 2.08143307e+02] [ 9.80334913e-01 -1.96202348e-01 -2.11683106e-02 1.04729005e+02] [ 2.15472857e-02 -2.03050611e-04 9.99767810e-01 8.49429072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.14, Y:104.75, Z:8.50 [[-1.95723842e-01 -9.80651579e-01 3.82859514e-03 2.08136483e+02] [ 9.80446074e-01 -1.95761206e-01 -2.00760109e-02 1.04753180e+02] [ 2.04370622e-02 -1.75622922e-04 9.99791126e-01 8.49633842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.13, Y:104.78, Z:8.50 [[-1.96143005e-01 -9.80568212e-01 3.72876618e-03 2.08130534e+02] [ 9.80374097e-01 -1.96178370e-01 -1.95109463e-02 1.04778412e+02] [ 1.98633170e-02 -1.71349860e-04 9.99802690e-01 8.49719948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.12, Y:104.80, Z:8.50 [[-1.96413728e-01 -9.80514209e-01 3.67886474e-03 2.08124481e+02] [ 9.80326030e-01 -1.96448107e-01 -1.92097737e-02 1.04803719e+02] [ 1.95581621e-02 -1.66576398e-04 9.99808707e-01 8.49814515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.12, Y:104.83, Z:8.50 [[-1.97307338e-01 -9.80335374e-01 3.51708177e-03 2.08116350e+02] [ 9.80164021e-01 -1.97338610e-01 -1.83293327e-02 1.04830001e+02] [ 1.86629492e-02 -1.69194831e-04 9.99825818e-01 8.50070819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:104.86, Z:8.50 [[-1.97941607e-01 -9.80207532e-01 3.50922185e-03 2.08111665e+02] [ 9.80037624e-01 -1.97972635e-01 -1.82507897e-02 1.04855493e+02] [ 1.85842914e-02 -1.73421202e-04 9.99827282e-01 8.50051869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:104.88, Z:8.50 [[-1.98205957e-01 -9.80154062e-01 3.52338173e-03 2.08105781e+02] [ 9.79983521e-01 -1.98237197e-01 -1.82842118e-02 1.04879831e+02] [ 1.86198098e-02 -1.71183651e-04 9.99826622e-01 8.50057472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.10, Y:104.90, Z:8.50 [[-1.98504379e-01 -9.80093758e-01 3.49811070e-03 2.08096607e+02] [ 9.79926342e-01 -1.98535128e-01 -1.81154065e-02 1.04904523e+02] [ 1.84492947e-02 -1.68096691e-04 9.99829783e-01 8.50184280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.09, Y:104.93, Z:8.50 [[-1.98533992e-01 -9.80087927e-01 3.45088585e-03 2.08089909e+02] [ 9.79925678e-01 -1.98563917e-01 -1.78335859e-02 1.04930508e+02] [ 1.81637037e-02 -1.58961347e-04 9.99835014e-01 8.50222131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:104.95, Z:8.50 [[-1.98746432e-01 -9.80044572e-01 3.53464613e-03 2.08082656e+02] [ 9.79875076e-01 -1.98777797e-01 -1.82269803e-02 1.04954888e+02] [ 1.85658622e-02 -1.59035639e-04 9.99827627e-01 8.50244603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:104.98, Z:8.50 [[-1.99111824e-01 -9.79970141e-01 3.60604644e-03 2.08076437e+02] [ 9.79794475e-01 -1.99144410e-01 -1.85550737e-02 1.04980731e+02] [ 1.89015422e-02 -1.61350183e-04 9.99821337e-01 8.50224934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.07, Y:105.01, Z:8.50 [[-1.99764880e-01 -9.79837117e-01 3.63557415e-03 2.08070224e+02] [ 9.79659273e-01 -1.99797889e-01 -1.86685142e-02 1.05006149e+02] [ 1.90184832e-02 -1.67689572e-04 9.99819118e-01 8.50244905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.06, Y:105.03, Z:8.50 [[-2.01066092e-01 -9.79570819e-01 3.66564319e-03 2.08064402e+02] [ 9.79390735e-01 -2.01099417e-01 -1.87833001e-02 1.05031155e+02] [ 1.91367314e-02 -1.86587770e-04 9.99816859e-01 8.50236612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.06, Y:105.06, Z:8.50 [[-2.01827214e-01 -9.79414089e-01 3.71723242e-03 2.08059161e+02] [ 9.79229669e-01 -2.01861348e-01 -1.90066294e-02 1.05056276e+02] [ 1.93657262e-02 -1.96030798e-04 9.99812448e-01 8.50226967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:105.08, Z:8.50 [[-2.03926574e-01 -9.78979168e-01 3.70701474e-03 2.08052507e+02] [ 9.78796449e-01 -2.03960136e-01 -1.89149012e-02 1.05082045e+02] [ 1.92733774e-02 -2.28838118e-04 9.99814225e-01 8.50237776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:105.11, Z:8.50 [[-2.05308540e-01 -9.78690285e-01 3.70520202e-03 2.08047730e+02] [ 9.78508394e-01 -2.05341821e-01 -1.88695167e-02 1.05106494e+02] [ 1.92282456e-02 -2.48501642e-04 9.99815089e-01 8.50256577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.04, Y:105.13, Z:8.50 [[-2.06808002e-01 -9.78374718e-01 3.65543941e-03 2.08042466e+02] [ 9.78198267e-01 -2.06840132e-01 -1.85825388e-02 1.05132261e+02] [ 1.89367777e-02 -2.67273212e-04 9.99820647e-01 8.50295476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.04, Y:105.16, Z:8.50 [[-2.08247704e-01 -9.78069392e-01 3.62731823e-03 2.08036071e+02] [ 9.77896297e-01 -2.08279097e-01 -1.84024711e-02 1.05158276e+02] [ 1.87543883e-02 -2.85131292e-04 9.99824080e-01 8.50366112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.03, Y:105.18, Z:8.50 [[-2.10573794e-01 -9.77571479e-01 3.56107438e-03 2.08030698e+02] [ 9.77405240e-01 -2.10603666e-01 -1.80303355e-02 1.05183539e+02] [ 1.83759171e-02 -3.16103390e-04 9.99831099e-01 8.50379195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:105.21, Z:8.50 [[-2.12021923e-01 -9.77258615e-01 3.50764554e-03 2.08024284e+02] [ 9.77097915e-01 -2.12050678e-01 -1.77249511e-02 1.05209542e+02] [ 1.80656598e-02 -3.30765077e-04 9.99836748e-01 8.50450811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:105.24, Z:8.51 [[-2.14165367e-01 -9.76791920e-01 3.27741723e-03 2.08017019e+02] [ 9.76652106e-01 -2.14190175e-01 -1.65297829e-02 1.05236064e+02] [ 1.68481490e-02 -3.39210589e-04 9.99858002e-01 8.50542053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.01, Y:105.26, Z:8.51 [[-2.15397971e-01 -9.76521057e-01 3.21536529e-03 2.08010918e+02] [ 9.76386967e-01 -2.15421689e-01 -1.61859695e-02 1.05261377e+02] [ 1.64985995e-02 -3.46984231e-04 9.99863829e-01 8.50575126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.00, Y:105.29, Z:8.51 [[-2.16372928e-01 -9.76305741e-01 3.13952416e-03 2.08004146e+02] [ 9.76178385e-01 -2.16395424e-01 -1.57727981e-02 1.05287628e+02] [ 1.60784520e-02 -3.48070894e-04 9.99870673e-01 8.50579170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.00, Y:105.31, Z:8.51 [[-2.17311833e-01 -9.76097502e-01 3.03886249e-03 2.07996714e+02] [ 9.75978606e-01 -2.17332805e-01 -1.52384968e-02 1.05313570e+02] [ 1.55347032e-02 -3.45640893e-04 9.99879269e-01 8.50551893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.99, Y:105.34, Z:8.51 [[-2.17850468e-01 -9.75977574e-01 2.99155673e-03 2.07989429e+02] [ 9.75862798e-01 -2.17870739e-01 -1.49713133e-02 1.05339709e+02] [ 1.52634387e-02 -3.42158694e-04 9.99883448e-01 8.50575385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.98, Y:105.37, Z:8.51 [[-2.18202858e-01 -9.75898832e-01 2.99695758e-03 2.07983984e+02] [ 9.75784064e-01 -2.18223170e-01 -1.49702323e-02 1.05365898e+02] [ 1.52634378e-02 -3.42164028e-04 9.99883448e-01 8.50607530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.98, Y:105.39, Z:8.51 [[-2.18229779e-01 -9.75893402e-01 2.79850851e-03 2.07976997e+02] [ 9.75793691e-01 -2.18247495e-01 -1.39536472e-02 1.05390027e+02] [ 1.42280397e-02 -3.14334389e-04 9.99898727e-01 8.50582684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.97, Y:105.42, Z:8.51 [[-2.18310576e-01 -9.75875547e-01 2.72196689e-03 2.07969870e+02] [ 9.75781607e-01 -2.18327337e-01 -1.35435961e-02 1.05415357e+02] [ 1.38111441e-02 -3.00665042e-04 9.99904576e-01 8.50601782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:105.44, Z:8.51 [[-2.18088619e-01 -9.75925492e-01 2.60557398e-03 2.07961420e+02] [ 9.75839754e-01 -2.18104004e-01 -1.29390125e-02 1.05441066e+02] [ 1.31957983e-02 -2.79228700e-04 9.99912893e-01 8.50587713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:105.47, Z:8.51 [[-2.18093432e-01 -9.75924535e-01 2.56050108e-03 2.07957509e+02] [ 9.75842072e-01 -2.18108297e-01 -1.26894014e-02 1.05466661e+02] [ 1.29423647e-02 -2.68830410e-04 9.99916208e-01 8.50551643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.95, Y:105.49, Z:8.51 [[-2.18496151e-01 -9.75834692e-01 2.46692676e-03 2.07949093e+02] [ 9.75758454e-01 -2.18509924e-01 -1.22005399e-02 1.05491521e+02] [ 1.24447581e-02 -2.58646373e-04 9.99922528e-01 8.50617580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:105.52, Z:8.51 [[-2.18775325e-01 -9.75772707e-01 2.23188222e-03 2.07942533e+02] [ 9.75710532e-01 -2.18786585e-01 -1.10175920e-02 1.05517636e+02] [ 1.12389715e-02 -2.32706284e-04 9.99936814e-01 8.50666938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:105.54, Z:8.51 [[-2.18926359e-01 -9.75738914e-01 2.19560702e-03 2.07936316e+02] [ 9.75678981e-01 -2.18937252e-01 -1.08169201e-02 1.05543554e+02] [ 1.10351900e-02 -2.25901316e-04 9.99939085e-01 8.50658873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:105.57, Z:8.51 [[-2.19676977e-01 -9.75570567e-01 2.02357836e-03 2.07929821e+02] [ 9.75519840e-01 -2.19686195e-01 -9.95076155e-03 1.05569693e+02] [ 1.01522223e-02 -2.11912385e-04 9.99948442e-01 8.50689937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:105.60, Z:8.51 [[-2.20327608e-01 -9.75423788e-01 2.04403293e-03 2.07924438e+02] [ 9.75372212e-01 -2.20336983e-01 -1.00330629e-02 1.05595213e+02] [ 1.02368643e-02 -2.16867842e-04 9.99947578e-01 8.50722120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:105.62, Z:8.51 [[-2.21412865e-01 -9.75178177e-01 1.96658203e-03 2.07922292e+02] [ 9.75130607e-01 -2.21421493e-01 -9.63443152e-03 1.05620909e+02] [ 9.83073089e-03 -2.15512752e-04 9.99951654e-01 8.50823149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.92, Y:105.65, Z:8.51 [[-2.23399793e-01 -9.74725068e-01 1.89052066e-03 2.07916650e+02] [ 9.74681272e-01 -2.23407682e-01 -9.24261563e-03 1.05647391e+02] [ 9.43136599e-03 -2.22143335e-04 9.99955499e-01 8.50907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.91, Y:105.67, Z:8.51 [[-2.24538928e-01 -9.74463232e-01 1.91794893e-03 2.07911155e+02] [ 9.74418322e-01 -2.24546999e-01 -9.35835057e-03 1.05673467e+02] [ 9.55003823e-03 -2.32429430e-04 9.99954370e-01 8.50937405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.90, Y:105.70, Z:8.51 [[-2.25543471e-01 -9.74231187e-01 1.93304404e-03 2.07904936e+02] [ 9.74185761e-01 -2.25551628e-01 -9.41095478e-03 1.05697974e+02] [ 9.60444688e-03 -2.39435434e-04 9.99953848e-01 8.50945159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.90, Y:105.72, Z:8.51 [[-2.25800481e-01 -9.74171337e-01 2.08525270e-03 2.07895962e+02] [ 9.74118749e-01 -2.25809966e-01 -1.01253163e-02 1.05724440e+02] [ 1.03346638e-02 -2.55017548e-04 9.99946563e-01 8.50969749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.89, Y:105.75, Z:8.51 [[-2.25795906e-01 -9.74172214e-01 2.16943066e-03 2.07892618e+02] [ 9.74115494e-01 -2.25806177e-01 -1.05154619e-02 1.05749867e+02] [ 1.07337417e-02 -2.61072230e-04 9.99942358e-01 8.50990259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:105.77, Z:8.51 [[-2.24815575e-01 -9.74398606e-01 2.30536392e-03 2.07884151e+02] [ 9.74334855e-01 -2.24827244e-01 -1.11490210e-02 1.05774982e+02] [ 1.13818992e-02 -2.60277146e-04 9.99935190e-01 8.50994352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:105.80, Z:8.51 [[-2.24263502e-01 -9.74525425e-01 2.46530785e-03 2.07881026e+02] [ 9.74452833e-01 -2.24276895e-01 -1.18974863e-02 1.05800619e+02] [ 1.21473145e-02 -2.65845735e-04 9.99926183e-01 8.51040469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.692755096 meters Centerline goodness [0,1] 0.9999577274264457 Centerline is valid? [True, True] Translation: X:207.87, Y:105.83, Z:8.51 [[-2.23497799e-01 -9.74701434e-01 2.41826069e-03 2.07871459e+02] [ 9.74631882e-01 -2.23510746e-01 -1.16465185e-02 1.05826106e+02] [ 1.18923856e-02 -2.46057280e-04 9.99929253e-01 8.51119954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.722755096 meters Centerline goodness [0,1] 0.9994099922034684 Centerline is valid? [True, True] Translation: X:207.87, Y:105.85, Z:8.51 [[-2.21067334e-01 -9.75255203e-01 2.55383982e-03 2.07865144e+02] [ 9.75177992e-01 -2.21081973e-01 -1.22737639e-02 1.05851145e+02] [ 1.25346601e-02 -2.22879875e-04 9.99921413e-01 8.51201099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.752755096 meters Centerline goodness [0,1] 0.9995579319636241 Centerline is valid? [True, True] Translation: X:207.86, Y:105.88, Z:8.51 [[-2.20253021e-01 -9.75439291e-01 2.60705444e-03 2.07860269e+02] [ 9.75359068e-01 -2.20268346e-01 -1.25117247e-02 1.05876664e+02] [ 1.27786794e-02 -2.12930967e-04 9.99918327e-01 8.51236910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters Centerline goodness [0,1] 0.9996410776116882 Centerline is valid? [True, True] Translation: X:207.85, Y:105.90, Z:8.51 [[-2.18992398e-01 -9.75722796e-01 2.71211073e-03 2.07852207e+02] [ 9.75636348e-01 -2.19009101e-01 -1.29896169e-02 1.05901300e+02] [ 1.32682423e-02 -1.98593546e-04 9.99911953e-01 8.51279395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.812755096 meters Centerline goodness [0,1] 0.9994301152433619 Centerline is valid? [True, True] Translation: X:207.85, Y:105.93, Z:8.51 [[-2.18839097e-01 -9.75757148e-01 2.72708001e-03 2.07846524e+02] [ 9.75670130e-01 -2.18856005e-01 -1.30325509e-02 1.05927139e+02] [ 1.33134426e-02 -1.91301177e-04 9.99911354e-01 8.51314886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.842755096 meters Centerline goodness [0,1] 0.9989477450175727 Centerline is valid? [True, True] Translation: X:207.84, Y:105.95, Z:8.51 [[-2.18803137e-01 -9.75764839e-01 2.85759729e-03 2.07841711e+02] [ 9.75669667e-01 -2.18821710e-01 -1.36293583e-02 1.05952062e+02] [ 1.39243529e-02 -1.94075350e-04 9.99903033e-01 8.51290378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.872755096 meters Centerline goodness [0,1] 0.9994729185553751 Centerline is valid? [True, True] Translation: X:207.83, Y:105.98, Z:8.51 [[-2.18403998e-01 -9.75854064e-01 2.92229558e-03 2.07834577e+02] [ 9.75754933e-01 -2.18423468e-01 -1.39103970e-02 1.05978732e+02] [ 1.42128153e-02 -1.86641979e-04 9.99898975e-01 8.51307758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters Centerline goodness [0,1] 0.9990263932101509 Centerline is valid? [True, True] Translation: X:207.83, Y:106.00, Z:8.51 [[-2.18396520e-01 -9.75855664e-01 2.94664869e-03 2.07829760e+02] [ 9.75755235e-01 -2.18416321e-01 -1.40011249e-02 1.06004050e+02] [ 1.43066732e-02 -1.82589057e-04 9.99897638e-01 8.51297712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.932755096 meters Centerline goodness [0,1] 0.9992583960165272 Centerline is valid? [True, True] Translation: X:207.82, Y:106.03, Z:8.51 [[-2.18668836e-01 -9.75794914e-01 2.86812502e-03 2.07824003e+02] [ 9.75700063e-01 -2.18687573e-01 -1.36063524e-02 1.06030332e+02] [ 1.39042328e-02 -1.76855479e-04 9.99903316e-01 8.51317687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.962755096 meters Centerline goodness [0,1] 0.999300803017141 Centerline is valid? [True, True] Translation: X:207.82, Y:106.06, Z:8.51 [[-2.18190022e-01 -9.75902662e-01 2.66608930e-03 2.07819221e+02] [ 9.75820990e-01 -2.18206256e-01 -1.26263671e-02 1.06055510e+02] [ 1.29038626e-02 -1.53321423e-04 9.99916730e-01 8.51334199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.992755096 meters Centerline goodness [0,1] 0.9993654822335025 Centerline is valid? [True, True] Translation: X:207.81, Y:106.08, Z:8.51 [[-2.18275292e-01 -9.75883876e-01 2.56069122e-03 2.07813930e+02] [ 9.75808832e-01 -2.18290265e-01 -1.21030098e-02 1.06080885e+02] [ 1.23701060e-02 -1.43042882e-04 9.99923477e-01 8.51403605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters Centerline goodness [0,1] 0.9995334633980829 Centerline is valid? [True, True] Translation: X:207.81, Y:106.11, Z:8.51 [[-2.18263216e-01 -9.75887381e-01 2.23329599e-03 2.07809685e+02] [ 9.75830488e-01 -2.18274608e-01 -1.05382383e-02 1.06105653e+02] [ 1.07716056e-02 -1.20791465e-04 9.99941977e-01 8.51480843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.052755096 meters Centerline goodness [0,1] 0.9994486385613708 Centerline is valid? [True, True] Translation: X:207.80, Y:106.13, Z:8.51 [[-2.18288815e-01 -9.75881767e-01 2.18402155e-03 2.07804290e+02] [ 9.75827569e-01 -2.18299711e-01 -1.02854934e-02 1.06131354e+02] [ 1.05141968e-02 -1.13979736e-04 9.99944718e-01 8.51474889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.082755096 meters Centerline goodness [0,1] 0.9995320443281646 Centerline is valid? [True, True] Translation: X:207.80, Y:106.16, Z:8.51 [[-2.18435020e-01 -9.75849347e-01 2.04777972e-03 2.07799178e+02] [ 9.75801868e-01 -2.18444593e-01 -9.62673415e-03 1.06157595e+02] [ 9.84156865e-03 -1.04588588e-04 9.99951565e-01 8.51494816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.112755096 meters Centerline goodness [0,1] 0.9993010991803799 Centerline is valid? [True, True] Translation: X:207.79, Y:106.18, Z:8.51 [[-2.18139283e-01 -9.75915525e-01 2.03514670e-03 2.07794635e+02] [ 9.75868818e-01 -2.18148755e-01 -9.54835156e-03 1.06182189e+02] [ 9.76234924e-03 -9.68343572e-05 9.99952342e-01 8.51462274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters Centerline goodness [0,1] 0.9991507250684728 Centerline is valid? [True, True] Translation: X:207.79, Y:106.21, Z:8.51 [[-2.18200036e-01 -9.75902007e-01 2.00446683e-03 2.07788601e+02] [ 9.75856824e-01 -2.18209223e-01 -9.39116173e-03 1.06207792e+02] [ 9.60224673e-03 -9.30791925e-05 9.99953893e-01 8.51445147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1727550960001 meters Centerline goodness [0,1] 0.9994252506545757 Centerline is valid? [True, True] Translation: X:207.78, Y:106.23, Z:8.51 [[-2.18127014e-01 -9.75918236e-01 2.05016807e-03 2.07783300e+02] [ 9.75871145e-01 -2.18136630e-01 -9.58747843e-03 1.06232369e+02] [ 9.80381179e-03 -9.05881780e-05 9.99951937e-01 8.51421829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.202755096 meters Centerline goodness [0,1] 0.9988902168345569 Centerline is valid? [True, True] Translation: X:207.78, Y:106.26, Z:8.51 [[-2.18149554e-01 -9.75913331e-01 1.98563058e-03 2.07778574e+02] [ 9.75869334e-01 -2.18158574e-01 -9.26713328e-03 1.06258851e+02] [ 9.47710124e-03 -8.39049972e-05 9.99955088e-01 8.51405938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.232755096 meters Centerline goodness [0,1] 0.9989990203177578 Centerline is valid? [True, True] Translation: X:207.77, Y:106.29, Z:8.51 [[-2.18382844e-01 -9.75861293e-01 1.91584071e-03 2.07773636e+02] [ 9.75820479e-01 -2.18391233e-01 -8.92540864e-03 1.06285084e+02] [ 9.12836363e-03 -7.96395227e-05 9.99958332e-01 8.51440098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters Centerline goodness [0,1] 0.9988672793331909 Centerline is valid? [True, True] Translation: X:207.77, Y:106.31, Z:8.51 [[-2.18705304e-01 -9.75789302e-01 1.79683727e-03 2.07771038e+02] [ 9.75753520e-01 -2.18712673e-01 -8.35679360e-03 1.06310214e+02] [ 8.54746088e-03 -7.44047934e-05 9.99963467e-01 8.51479625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2927550960001 meters Centerline goodness [0,1] 0.9991056218057922 Centerline is valid? [True, True] Translation: X:207.77, Y:106.34, Z:8.52 [[-2.19501337e-01 -9.75610576e-01 1.77944942e-03 2.07766691e+02] [ 9.75575617e-01 -2.19508536e-01 -8.25938894e-03 1.06336266e+02] [ 8.44855154e-03 -7.69594517e-05 9.99964307e-01 8.51506396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.322755096 meters Centerline goodness [0,1] 0.9989725587567961 Centerline is valid? [True, True] Translation: X:207.76, Y:106.36, Z:8.52 [[-2.20612102e-01 -9.75360187e-01 1.67492637e-03 2.07762616e+02] [ 9.75329312e-01 -2.20618446e-01 -7.76112074e-03 1.06361939e+02] [ 7.93940783e-03 -7.85923749e-05 9.99968479e-01 8.51565539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.352755096 meters Centerline goodness [0,1] 0.998977570451786 Centerline is valid? [True, True] Translation: X:207.76, Y:106.39, Z:8.52 [[-2.22044104e-01 -9.75035272e-01 1.62333188e-03 2.07760459e+02] [ 9.75006374e-01 -2.22050022e-01 -7.50721168e-03 1.06387705e+02] [ 7.68025706e-03 -8.41731633e-05 9.99970503e-01 8.51564012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters Centerline goodness [0,1] 0.9992535721902325 Centerline is valid? [True, True] Translation: X:207.76, Y:106.41, Z:8.52 [[-2.23240735e-01 -9.74762072e-01 1.57362416e-03 2.07755591e+02] [ 9.74734970e-01 -2.23246264e-01 -7.26933216e-03 1.06413705e+02] [ 7.43717499e-03 -8.89445619e-05 9.99972340e-01 8.51567970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.412755096 meters Centerline goodness [0,1] 0.9990787951497494 Centerline is valid? [True, True] Translation: X:207.75, Y:106.44, Z:8.52 [[-2.24426351e-01 -9.74489587e-01 1.69054042e-03 2.07753667e+02] [ 9.74458431e-01 -2.24432695e-01 -7.79302703e-03 1.06439515e+02] [ 7.97363624e-03 -1.01599260e-04 9.99968205e-01 8.51568558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.442755096 meters Centerline goodness [0,1] 0.999358755129959 Centerline is valid? [True, True] Translation: X:207.75, Y:106.47, Z:8.52 [[-2.26639650e-01 -9.73977684e-01 1.39292632e-03 2.07751757e+02] [ 9.73956588e-01 -2.26643910e-01 -6.41119320e-03 1.06466416e+02] [ 6.56005737e-03 -9.63808116e-05 9.99978478e-01 8.51717974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.472755096 meters Centerline goodness [0,1] 0.9993155519431908 Centerline is valid? [True, True] Translation: X:207.75, Y:106.49, Z:8.52 [[-2.27835955e-01 -9.73698564e-01 1.37293279e-03 2.07748162e+02] [ 9.73678127e-01 -2.27840070e-01 -6.30935988e-03 1.06492156e+02] [ 6.45622375e-03 -1.00704408e-04 9.99979153e-01 8.51783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters Centerline goodness [0,1] 0.9994226821758467 Centerline is valid? [True, True] Translation: X:207.74, Y:106.52, Z:8.52 [[-2.28779090e-01 -9.73477515e-01 1.28697427e-03 2.07744874e+02] [ 9.73459616e-01 -2.28782689e-01 -5.90404527e-03 1.06517632e+02] [ 6.04189275e-03 -9.79046307e-05 9.99981743e-01 8.51852186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.532755096 meters Centerline goodness [0,1] 0.9994195171242448 Centerline is valid? [True, True] Translation: X:207.74, Y:106.54, Z:8.52 [[-2.30056115e-01 -9.73176482e-01 1.31125711e-03 2.07741536e+02] [ 9.73157973e-01 -2.30059828e-01 -6.00289856e-03 1.06543742e+02] [ 6.14354729e-03 -1.04943216e-04 9.99981123e-01 8.51783632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.562755096 meters Centerline goodness [0,1] 0.9994841926540438 Centerline is valid? [True, True] Translation: X:207.74, Y:106.57, Z:8.52 [[-2.30501123e-01 -9.73071072e-01 1.38593795e-03 2.07737806e+02] [ 9.73050477e-01 -2.30505263e-01 -6.33199830e-03 1.06568884e+02] [ 6.48095036e-03 -1.10945129e-04 9.99978992e-01 8.51789636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.592755096 meters Centerline goodness [0,1] 0.999440198083755 Centerline is valid? [True, True] Translation: X:207.73, Y:106.59, Z:8.52 [[-2.31027602e-01 -9.72946058e-01 1.48864574e-03 2.07734884e+02] [ 9.72922401e-01 -2.31032367e-01 -6.78577575e-03 1.06594811e+02] [ 6.94611912e-03 -1.19364708e-04 9.99975868e-01 8.51756365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters Centerline goodness [0,1] 0.999375807145932 Centerline is valid? [True, True] Translation: X:207.73, Y:106.62, Z:8.52 [[-2.31645874e-01 -9.72799028e-01 1.49702364e-03 2.07730738e+02] [ 9.72775190e-01 -2.31650679e-01 -6.81122100e-03 1.06621339e+02] [ 6.97273571e-03 -1.21523789e-04 9.99975683e-01 8.51758968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.652755096 meters Centerline goodness [0,1] 0.9995039361587404 Centerline is valid? [True, True] Translation: X:207.73, Y:106.65, Z:8.52 [[-2.32605686e-01 -9.72569911e-01 1.53749904e-03 2.07727623e+02] [ 9.72544855e-01 -2.32610732e-01 -6.98230238e-03 1.06646959e+02] [ 7.14841598e-03 -1.28836457e-04 9.99974441e-01 8.51792759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.682755096 meters Centerline goodness [0,1] 0.999546004842615 Centerline is valid? [True, True] Translation: X:207.72, Y:106.67, Z:8.52 [[-2.33353763e-01 -9.72390690e-01 1.53890951e-03 2.07724687e+02] [ 9.72365682e-01 -2.33358800e-01 -6.97504857e-03 1.06673710e+02] [ 7.14159036e-03 -1.31271031e-04 9.99974490e-01 8.51722249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.712755096 meters Centerline goodness [0,1] 0.999525268654784 Centerline is valid? [True, True] Translation: X:207.72, Y:106.70, Z:8.52 [[-2.33644031e-01 -9.72320733e-01 1.69085153e-03 2.07721346e+02] [ 9.72290666e-01 -2.33650105e-01 -7.64784797e-03 1.06698875e+02] [ 7.83122878e-03 -1.42874868e-04 9.99969325e-01 8.51708082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters Centerline goodness [0,1] 0.9996329958334232 Centerline is valid? [True, True] Translation: X:207.72, Y:106.73, Z:8.52 [[-2.34052586e-01 -9.72222320e-01 1.77402840e-03 2.07717961e+02] [ 9.72189357e-01 -2.34059261e-01 -8.00725157e-03 1.06725134e+02] [ 8.20005648e-03 -1.49426408e-04 9.99966368e-01 8.51661648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.772755096 meters Centerline goodness [0,1] 0.9996305231357718 Centerline is valid? [True, True] Translation: X:207.71, Y:106.75, Z:8.52 [[-2.34307169e-01 -9.72160744e-01 1.90729741e-03 2.07713938e+02] [ 9.72122788e-01 -2.34314878e-01 -8.59200823e-03 1.06750195e+02] [ 8.79972128e-03 -1.59041845e-04 9.99961269e-01 8.51651146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.802755096 meters Centerline goodness [0,1] 0.9995882990249187 Centerline is valid? [True, True] Translation: X:207.71, Y:106.78, Z:8.52 [[-2.34435098e-01 -9.72129660e-01 2.02730685e-03 2.07710218e+02] [ 9.72086948e-01 -2.34443805e-01 -9.11412290e-03 1.06776812e+02] [ 9.33539872e-03 -1.65951769e-04 9.99956410e-01 8.51574718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.832755096 meters Centerline goodness [0,1] 0.9995864710747399 Centerline is valid? [True, True] Translation: X:207.71, Y:106.80, Z:8.52 [[-2.35004290e-01 -9.71992262e-01 2.00642052e-03 2.07707878e+02] [ 9.71950581e-01 -2.35012797e-01 -9.00297614e-03 1.06802412e+02] [ 9.22235765e-03 -1.65596426e-04 9.99957459e-01 8.51607756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters Centerline goodness [0,1] 0.9995217079374742 Centerline is valid? [True, True] Translation: X:207.70, Y:106.83, Z:8.52 [[-2.35391610e-01 -9.71898437e-01 2.05385344e-03 2.07701542e+02] [ 9.71854879e-01 -2.35400508e-01 -9.20301706e-03 1.06828215e+02] [ 9.42787604e-03 -1.70265515e-04 9.99955542e-01 8.51604988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.892755096 meters Centerline goodness [0,1] 0.999717967631362 Centerline is valid? [True, True] Translation: X:207.70, Y:106.85, Z:8.52 [[-2.36068347e-01 -9.71734111e-01 2.13394166e-03 2.07699136e+02] [ 9.71687267e-01 -2.36077924e-01 -9.54305585e-03 1.06853515e+02] [ 9.77708941e-03 -1.79289484e-04 9.99952187e-01 8.51663286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9227550960001 meters Centerline goodness [0,1] 0.999629556993746 Centerline is valid? [True, True] Translation: X:207.69, Y:106.88, Z:8.52 [[-2.37100412e-01 -9.71482889e-01 2.09542191e-03 2.07693681e+02] [ 9.71437827e-01 -2.37109601e-01 -9.35872657e-03 1.06879276e+02] [ 9.58868738e-03 -1.83385825e-04 9.99954011e-01 8.51695814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.952755096 meters Centerline goodness [0,1] 0.9995425135612052 Centerline is valid? [True, True] Translation: X:207.69, Y:106.91, Z:8.52 [[-2.37754236e-01 -9.71322941e-01 2.16055758e-03 2.07688600e+02] [ 9.71275208e-01 -2.37763975e-01 -9.63132111e-03 1.06905270e+02] [ 9.86882591e-03 -1.91391382e-04 9.99951284e-01 8.51718174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters Centerline goodness [0,1] 0.9995841176728101 Centerline is valid? [True, True] Translation: X:207.68, Y:106.93, Z:8.52 [[-2.37811127e-01 -9.71308820e-01 2.24579454e-03 2.07684187e+02] [ 9.71257441e-01 -2.37821651e-01 -9.99226739e-03 1.06930523e+02] [ 1.02396760e-02 -1.95027711e-04 9.99947554e-01 8.51720434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.012755096 meters Centerline goodness [0,1] 0.9996715496288511 Centerline is valid? [True, True] Translation: X:207.68, Y:106.96, Z:8.52 [[-2.37206881e-01 -9.71456445e-01 2.29594472e-03 2.07677341e+02] [ 9.71402962e-01 -2.37217918e-01 -1.01952978e-02 1.06955863e+02] [ 1.04489270e-02 -1.88107305e-04 9.99945391e-01 8.51748115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0427550960001 meters Centerline goodness [0,1] 0.9996937614839444 Centerline is valid? [True, True] Translation: X:207.67, Y:106.98, Z:8.52 [[-2.36136697e-01 -9.71717224e-01 2.25776362e-03 2.07669531e+02] [ 9.71665697e-01 -2.36147429e-01 -1.00082773e-02 1.06981022e+02] [ 1.02583805e-02 -1.69530076e-04 9.99947367e-01 8.51772996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.072755096 meters Centerline goodness [0,1] 0.9996937614839444 Centerline is valid? [True, True] Translation: X:207.66, Y:107.01, Z:8.52 [[-2.36510288e-01 -9.71626352e-01 2.26161010e-03 2.07663562e+02] [ 9.71574829e-01 -2.36521041e-01 -1.00074079e-02 1.07006262e+02] [ 1.02583796e-02 -1.69531476e-04 9.99947367e-01 8.51804131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.102755096 meters Centerline goodness [0,1] 0.9995834794808839 Centerline is valid? [True, True] Translation: X:207.65, Y:107.03, Z:8.52 [[-2.34126239e-01 -9.72203403e-01 2.33384470e-03 2.07654430e+02] [ 9.72148768e-01 -2.34137827e-01 -1.03078347e-02 1.07031842e+02] [ 1.05677533e-02 -1.44490322e-04 9.99944149e-01 8.51827767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.132755096 meters Centerline goodness [0,1] 0.9996719877542095 Centerline is valid? [True, True] Translation: X:207.65, Y:107.06, Z:8.52 [[-2.32814379e-01 -9.72518360e-01 2.34602489e-03 2.07646211e+02] [ 9.72463354e-01 -2.32826164e-01 -1.03441991e-02 1.07057523e+02] [ 1.06061395e-02 -1.26855065e-04 9.99943745e-01 8.51863811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters Centerline goodness [0,1] 0.999584263270754 Centerline is valid? [True, True] Translation: X:207.64, Y:107.08, Z:8.52 [[-2.31172607e-01 -9.72910066e-01 2.28677702e-03 2.07636905e+02] [ 9.72858001e-01 -2.31183895e-01 -1.00656247e-02 1.07081549e+02] [ 1.03216137e-02 -1.02187397e-04 9.99946726e-01 8.51855469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.192755096 meters Centerline goodness [0,1] 0.9994971468549815 Centerline is valid? [True, True] Translation: X:207.63, Y:107.11, Z:8.52 [[-2.31202358e-01 -9.72902964e-01 2.30074316e-03 2.07630504e+02] [ 9.72850457e-01 -2.31213784e-01 -1.01081256e-02 1.07106232e+02] [ 1.03661889e-02 -9.87434351e-05 9.99946265e-01 8.51907494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.222755096 meters Centerline goodness [0,1] 0.9996501661710687 Centerline is valid? [True, True] Translation: X:207.62, Y:107.13, Z:8.52 [[-2.31316874e-01 -9.72875588e-01 2.36526962e-03 2.07623809e+02] [ 9.72820303e-01 -2.31328945e-01 -1.03719515e-02 1.07131535e+02] [ 1.06377738e-02 -9.82250885e-05 9.99943412e-01 8.51925443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.252755096 meters Centerline goodness [0,1] 0.9996498905908097 Centerline is valid? [True, True] Translation: X:207.62, Y:107.16, Z:8.52 [[-2.32781289e-01 -9.72526350e-01 2.31721957e-03 2.07617762e+02] [ 9.72473451e-01 -2.32792797e-01 -1.01440038e-02 1.07157450e+02] [ 1.04047430e-02 -1.07899762e-04 9.99945863e-01 8.51959173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters Centerline goodness [0,1] 0.9996068838997118 Centerline is valid? [True, True] Translation: X:207.61, Y:107.18, Z:8.52 [[-2.34023370e-01 -9.72228264e-01 2.29444448e-03 2.07613419e+02] [ 9.72176564e-01 -2.34034588e-01 -1.00269812e-02 1.07182681e+02] [ 1.02854939e-02 -1.15942769e-04 9.99947096e-01 8.52002528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.312755096 meters Centerline goodness [0,1] 0.9996933455995094 Centerline is valid? [True, True] Translation: X:207.61, Y:107.21, Z:8.52 [[-2.35202650e-01 -9.71943987e-01 2.14470454e-03 2.07607869e+02] [ 9.71898957e-01 -2.35212399e-01 -9.35656355e-03 1.07208902e+02] [ 9.59851678e-03 -1.16252439e-04 9.99953926e-01 8.52050368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.342755096 meters Centerline goodness [0,1] 0.9997597518892238 Centerline is valid? [True, True] Translation: X:207.60, Y:107.23, Z:8.52 [[-2.37972883e-01 -9.71269528e-01 2.10024899e-03 2.07603813e+02] [ 9.71226459e-01 -2.37982111e-01 -9.14764132e-03 1.07234734e+02] [ 9.38464696e-03 -1.37073185e-04 9.99955954e-01 8.52021628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.372755096 meters Centerline goodness [0,1] 0.9997821255828141 Centerline is valid? [True, True] Translation: X:207.60, Y:107.26, Z:8.52 [[-2.40063464e-01 -9.70754701e-01 2.20096710e-03 2.07599860e+02] [ 9.70707558e-01 -2.40073500e-01 -9.56830578e-03 1.07260253e+02] [ 9.81687168e-03 -1.60505232e-04 9.99951800e-01 8.51980647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters Centerline goodness [0,1] 0.9999131322344561 Centerline is valid? [True, True] Translation: X:207.60, Y:107.29, Z:8.52 [[-2.43905115e-01 -9.69796320e-01 2.32204651e-03 2.07598010e+02] [ 9.69743947e-01 -2.43916080e-01 -1.00808320e-02 1.07286076e+02] [ 1.03427383e-02 -2.06975944e-04 9.99946491e-01 8.51912040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.432755096 meters Centerline goodness [0,1] 0.9999126370506268 Centerline is valid? [True, True] Translation: X:207.59, Y:107.31, Z:8.52 [[-2.45915216e-01 -9.69288699e-01 2.26366145e-03 2.07592829e+02] [ 9.69239070e-01 -2.45925538e-01 -9.81096494e-03 1.07312145e+02] [ 1.00663496e-02 -2.18636452e-04 9.99949309e-01 8.51970723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.462755096 meters Centerline goodness [0,1] 0.9999127171161735 Centerline is valid? [True, True] Translation: X:207.59, Y:107.34, Z:8.52 [[-2.47714534e-01 -9.68830359e-01 2.29034946e-03 2.07589147e+02] [ 9.68779703e-01 -2.47725009e-01 -9.90992980e-03 1.07337658e+02] [ 1.01684177e-02 -2.35989569e-04 9.99948272e-01 8.52000894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.492755096 meters Centerline goodness [0,1] 0.9999781873704875 Centerline is valid? [True, True] Translation: X:207.59, Y:107.36, Z:8.52 [[-2.49773475e-01 -9.68301614e-01 2.27961811e-03 2.07587137e+02] [ 9.68251581e-01 -2.49783750e-01 -9.84651577e-03 1.07362798e+02] [ 1.01038087e-02 -2.52154619e-04 9.99948923e-01 8.52098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters Centerline goodness [0,1] 0.9999562478123907 Centerline is valid? [True, True] Translation: X:207.58, Y:107.39, Z:8.52 [[-2.50904046e-01 -9.68009560e-01 2.15663472e-03 2.07576903e+02] [ 9.67964920e-01 -2.50913195e-01 -9.29954771e-03 1.07388830e+02] [ 9.54317920e-03 -2.45747392e-04 9.99954433e-01 8.52161972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.552755096 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:207.57, Y:107.41, Z:8.52 [[-2.50974169e-01 -9.67991331e-01 2.17945386e-03 2.07574068e+02] [ 9.67945879e-01 -2.50983512e-01 -9.38358272e-03 1.07414192e+02] [ 9.63023371e-03 -2.45443495e-04 9.99953598e-01 8.52244438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.582755096 meters Centerline goodness [0,1] 0.9999346234309623 Centerline is valid? [True, True] Translation: X:207.56, Y:107.44, Z:8.52 [[-2.49548265e-01 -9.68359994e-01 2.14146189e-03 2.07562661e+02] [ 9.68316288e-01 -2.49557354e-01 -9.20293739e-03 1.07439692e+02] [ 9.44617396e-03 -2.22964634e-04 9.99955359e-01 8.52190424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.612755096 meters Centerline goodness [0,1] 0.9999344806499519 Centerline is valid? [True, True] Translation: X:207.56, Y:107.46, Z:8.52 [[-2.48381962e-01 -9.68659615e-01 2.22520618e-03 2.07555253e+02] [ 9.68612580e-01 -2.48391835e-01 -9.54809115e-03 1.07464454e+02] [ 9.80157334e-03 -2.16210910e-04 9.99951940e-01 8.52177153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters Centerline goodness [0,1] 0.9999129772653106 Centerline is valid? [True, True] Translation: X:207.54, Y:107.49, Z:8.52 [[-2.44622136e-01 -9.69615700e-01 2.32492387e-03 2.07541742e+02] [ 9.69564590e-01 -2.44633116e-01 -9.95712481e-03 1.07488994e+02] [ 1.02233379e-02 -1.81569280e-04 9.99947724e-01 8.52160305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6727550960001 meters Centerline goodness [0,1] 0.9998478459331391 Centerline is valid? [True, True] Translation: X:207.53, Y:107.51, Z:8.52 [[-2.43228807e-01 -9.69965783e-01 2.47531058e-03 2.07533410e+02] [ 9.69908058e-01 -2.43241340e-01 -1.05834885e-02 1.07514370e+02] [ 1.08677196e-02 -1.73385593e-04 9.99940930e-01 8.52115987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.702755096 meters Centerline goodness [0,1] 0.9999131246877918 Centerline is valid? [True, True] Translation: X:207.53, Y:107.54, Z:8.52 [[-2.41487277e-01 -9.70400416e-01 2.63220184e-03 2.07525113e+02] [ 9.70335407e-01 -2.41501570e-01 -1.12334470e-02 1.07538859e+02] [ 1.15366225e-02 -1.58615882e-04 9.99933438e-01 8.52094224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.732755096 meters Centerline goodness [0,1] 0.9998480243161094 Centerline is valid? [True, True] Translation: X:207.51, Y:107.56, Z:8.52 [[-2.38545223e-01 -9.71127327e-01 2.80925509e-03 2.07514371e+02] [ 9.71053611e-01 -2.38561731e-01 -1.19659945e-02 1.07563977e+02] [ 1.22906850e-02 -1.26493533e-04 9.99924459e-01 8.52033268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters Centerline goodness [0,1] 0.9998043648378402 Centerline is valid? [True, True] Translation: X:207.51, Y:107.59, Z:8.52 [[-2.37952225e-01 -9.71272824e-01 2.79996429e-03 2.07506834e+02] [ 9.71199829e-01 -2.37968671e-01 -1.19081357e-02 1.07589443e+02] [ 1.22323524e-02 -1.14242543e-04 9.99925175e-01 8.52032318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7927550960001 meters Centerline goodness [0,1] 0.9998690156526295 Centerline is valid? [True, True] Translation: X:207.50, Y:107.61, Z:8.52 [[-2.37685948e-01 -9.71338045e-01 2.79137352e-03 2.07499627e+02] [ 9.71265750e-01 -2.37702315e-01 -1.18512318e-02 1.07614637e+02] [ 1.21750683e-02 -1.05705772e-04 9.99925876e-01 8.52091882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.822755096 meters Centerline goodness [0,1] 0.9998703711705483 Centerline is valid? [True, True] Translation: X:207.49, Y:107.64, Z:8.52 [[-2.37710074e-01 -9.71331861e-01 2.88740408e-03 2.07494198e+02] [ 9.71254785e-01 -2.37727587e-01 -1.22366860e-02 1.07639634e+02] [ 1.25722986e-02 -1.04378508e-04 9.99920960e-01 8.52122196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.852755096 meters Centerline goodness [0,1] 0.9998044116049114 Centerline is valid? [True, True] Translation: X:207.49, Y:107.67, Z:8.52 [[-2.37915986e-01 -9.71281335e-01 2.92434816e-03 2.07487627e+02] [ 9.71202562e-01 -2.37933935e-01 -1.23703884e-02 1.07665352e+02] [ 1.27109290e-02 -1.02978733e-04 9.99919208e-01 8.52185212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters Centerline goodness [0,1] 0.9998053591124375 Centerline is valid? [True, True] Translation: X:207.48, Y:107.69, Z:8.52 [[-2.38259192e-01 -9.71197594e-01 2.79121731e-03 2.07483681e+02] [ 9.71126065e-01 -2.38275521e-01 -1.17873369e-02 1.07690198e+02] [ 1.21129120e-02 -9.78174767e-05 9.99926631e-01 8.52311007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.912755096 meters Centerline goodness [0,1] 0.999870065183966 Centerline is valid? [True, True] Translation: X:207.48, Y:107.72, Z:8.52 [[-2.38262919e-01 -9.71196920e-01 2.70628948e-03 2.07476279e+02] [ 9.71129917e-01 -2.38278271e-01 -1.14083452e-02 1.07715643e+02] [ 1.17245997e-02 -9.00269413e-05 9.99931260e-01 8.52387620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.942755096 meters Centerline goodness [0,1] 0.9998699863485666 Centerline is valid? [True, True] Translation: X:207.47, Y:107.74, Z:8.52 [[-2.38239727e-01 -9.71202896e-01 2.60156973e-03 2.07470304e+02] [ 9.71141180e-01 -2.38253917e-01 -1.09489842e-02 1.07740128e+02] [ 1.12535193e-02 -8.19914995e-05 9.99936674e-01 8.52465241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.972755096 meters Centerline goodness [0,1] 0.9998919619706137 Centerline is valid? [True, True] Translation: X:207.46, Y:107.77, Z:8.53 [[-2.37909378e-01 -9.71284593e-01 2.31658105e-03 2.07462598e+02] [ 9.71235815e-01 -2.37920648e-01 -9.73432217e-03 1.07765710e+02] [ 1.00059596e-02 -6.59400555e-05 9.99949937e-01 8.52573984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters Centerline goodness [0,1] 0.9999350747722207 Centerline is valid? [True, True] Translation: X:207.46, Y:107.79, Z:8.53 [[-2.38110057e-01 -9.71235619e-01 2.23018018e-03 2.07455939e+02] [ 9.71190552e-01 -2.38120492e-01 -9.35643329e-03 1.07791392e+02] [ 9.61835288e-03 -6.19309371e-05 9.99953741e-01 8.52681510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.032755096 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:207.45, Y:107.82, Z:8.53 [[-2.38911481e-01 -9.71039177e-01 2.05452380e-03 2.07450555e+02] [ 9.71001035e-01 -2.38920307e-01 -8.60675062e-03 1.07816006e+02] [ 8.84835949e-03 -6.13068032e-05 9.99960851e-01 8.52812867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.062755096 meters Centerline goodness [0,1] 0.9999141667739582 Centerline is valid? [True, True] Translation: X:207.45, Y:107.84, Z:8.53 [[-2.39561214e-01 -9.70879223e-01 1.98986392e-03 2.07445268e+02] [ 9.70843559e-01 -2.39569470e-01 -8.32188810e-03 1.07840950e+02] [ 8.55625890e-03 -6.17550476e-05 9.99963393e-01 8.52910719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.092755096 meters Centerline goodness [0,1] 0.9998704830980443 Centerline is valid? [True, True] Translation: X:207.44, Y:107.87, Z:8.53 [[-2.40115454e-01 -9.70742509e-01 1.88418757e-03 2.07439050e+02] [ 9.70710631e-01 -2.40122839e-01 -7.86718940e-03 1.07866809e+02] [ 8.08945164e-03 -6.00328507e-05 9.99967278e-01 8.52990653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters Centerline goodness [0,1] 0.9998707620729763 Centerline is valid? [True, True] Translation: X:207.43, Y:107.89, Z:8.53 [[-2.40486024e-01 -9.70650912e-01 1.81081584e-03 2.07432896e+02] [ 9.70621570e-01 -2.40492834e-01 -7.54744973e-03 1.07891604e+02] [ 7.76142720e-03 -5.74392629e-05 9.99969878e-01 8.53056514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.152755096 meters Centerline goodness [0,1] 0.9998704271584676 Centerline is valid? [True, True] Translation: X:207.43, Y:107.92, Z:8.53 [[-2.40550607e-01 -9.70634705e-01 1.91713722e-03 2.07425580e+02] [ 9.70601901e-01 -2.40558239e-01 -7.98016194e-03 1.07917300e+02] [ 8.20700528e-03 -5.88557726e-05 9.99966320e-01 8.53047525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.182755096 meters Centerline goodness [0,1] 0.9998922135034923 Centerline is valid? [True, True] Translation: X:207.42, Y:107.94, Z:8.53 [[-2.40466796e-01 -9.70654987e-01 2.14874715e-03 2.07418210e+02] [ 9.70613932e-01 -2.40476389e-01 -8.92755590e-03 1.07941286e+02] [ 9.18229961e-03 -6.11768446e-05 9.99957840e-01 8.52959854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.212755096 meters Centerline goodness [0,1] 0.9998922181504635 Centerline is valid? [True, True] Translation: X:207.41, Y:107.97, Z:8.53 [[-2.40814453e-01 -9.70568499e-01 2.27793914e-03 2.07410870e+02] [ 9.70522522e-01 -2.40825218e-01 -9.44713989e-03 1.07966534e+02] [ 9.71768156e-03 -6.42165786e-05 9.99952780e-01 8.52911997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters Centerline goodness [0,1] 0.9999569420224332 Centerline is valid? [True, True] Translation: X:207.40, Y:107.99, Z:8.53 [[-2.41684472e-01 -9.70352090e-01 2.33173811e-03 2.07404446e+02] [ 9.70304075e-01 -2.41695710e-01 -9.65327224e-03 1.07991738e+02] [ 9.93064400e-03 -7.05510173e-05 9.99950687e-01 8.52932516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.40, Y:108.02, Z:8.53 [[-2.42527137e-01 -9.70141532e-01 2.44855443e-03 2.07398175e+02] [ 9.70088763e-01 -2.42539484e-01 -1.01187886e-02 1.08016226e+02] [ 1.04105282e-02 -7.87656814e-05 9.99945806e-01 8.52898826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.302755096 meters Centerline goodness [0,1] 0.9999354783207157 Centerline is valid? [True, True] Translation: X:207.39, Y:108.04, Z:8.53 [[-2.43213070e-01 -9.69969463e-01 2.57749094e-03 2.07391769e+02] [ 9.69911200e-01 -2.43226712e-01 -1.06316015e-02 1.08041668e+02] [ 1.09392435e-02 -8.58071138e-05 9.99940161e-01 8.52891848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.332755096 meters Centerline goodness [0,1] 0.9999567745142536 Centerline is valid? [True, True] Translation: X:207.39, Y:108.07, Z:8.53 [[-2.43913832e-01 -9.69793660e-01 2.50978118e-03 2.07385084e+02] [ 9.69738586e-01 -2.43926728e-01 -1.03356844e-02 1.08067575e+02] [ 1.06356839e-02 -8.71847183e-05 9.99943436e-01 8.52945512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:207.38, Y:108.09, Z:8.53 [[-2.44336276e-01 -9.69686998e-01 2.62863235e-03 2.07377526e+02] [ 9.69626787e-01 -2.44350398e-01 -1.08063275e-02 1.08092995e+02] [ 1.11210626e-02 -9.15854800e-05 9.99938155e-01 8.52963124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.392755096 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:207.37, Y:108.12, Z:8.53 [[-2.44605417e-01 -9.69618862e-01 2.72998946e-03 2.07370877e+02] [ 9.69554139e-01 -2.44620633e-01 -1.12035017e-02 1.08118039e+02] [ 1.15309383e-02 -9.35646323e-05 9.99933512e-01 8.53024786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4227550960001 meters Centerline goodness [0,1] 0.9999569058392588 Centerline is valid? [True, True] Translation: X:207.36, Y:108.14, Z:8.53 [[-2.44437600e-01 -9.69661181e-01 2.73028403e-03 2.07364133e+02] [ 9.69596670e-01 -2.44452832e-01 -1.11852417e-02 1.08142828e+02] [ 1.15133204e-02 -8.68193344e-05 9.99933716e-01 8.53111378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.452755096 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:207.36, Y:108.17, Z:8.53 [[-2.44652480e-01 -9.69606963e-01 2.73892854e-03 2.07356994e+02] [ 9.69542264e-01 -2.44667796e-01 -1.12012624e-02 1.08168276e+02] [ 1.15309496e-02 -8.49096523e-05 9.99933513e-01 8.53164189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:207.35, Y:108.19, Z:8.53 [[-2.44912569e-01 -9.69541182e-01 2.78043165e-03 2.07349870e+02] [ 9.69474722e-01 -2.44928336e-01 -1.13522498e-02 1.08193476e+02] [ 1.16874802e-02 -8.47504538e-05 9.99931695e-01 8.53192752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.512755096 meters Centerline goodness [0,1] 0.9999353838201086 Centerline is valid? [True, True] Translation: X:207.34, Y:108.22, Z:8.53 [[-2.45009242e-01 -9.69516713e-01 2.79544466e-03 2.07341937e+02] [ 9.69449750e-01 -2.45025175e-01 -1.13949987e-02 1.08217718e+02] [ 1.17325960e-02 -8.18368735e-05 9.99931167e-01 8.53195802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5427550960001 meters Centerline goodness [0,1] 0.9999350494706531 Centerline is valid? [True, True] Translation: X:207.33, Y:108.24, Z:8.53 [[-2.45583818e-01 -9.69371357e-01 2.78571388e-03 2.07334782e+02] [ 9.69305073e-01 -2.45599603e-01 -1.13362426e-02 1.08243154e+02] [ 1.16731991e-02 -8.37911475e-05 9.99931862e-01 8.53242608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.572755096 meters Centerline goodness [0,1] 0.9999784909231696 Centerline is valid? [True, True] Translation: X:207.33, Y:108.27, Z:8.53 [[-2.46341341e-01 -9.69178724e-01 2.92308433e-03 2.07328092e+02] [ 9.69105971e-01 -2.46358665e-01 -1.18753905e-02 1.08266684e+02] [ 1.22295030e-02 -9.26211453e-05 9.99925213e-01 8.53303053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.32, Y:108.29, Z:8.53 [[-2.47199538e-01 -9.68960014e-01 2.97979177e-03 2.07321304e+02] [ 9.68884673e-01 -2.47217477e-01 -1.20834670e-02 1.08291785e+02] [ 1.24450530e-02 -9.99529009e-05 9.99922552e-01 8.53326585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:108.32, Z:8.53 [[-2.48015749e-01 -9.68751044e-01 3.09876716e-03 2.07314922e+02] [ 9.68669839e-01 -2.48035082e-01 -1.25435546e-02 1.08316539e+02] [ 1.29201846e-02 -1.09316793e-04 9.99916525e-01 8.53361637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:108.34, Z:8.53 [[-2.49187705e-01 -9.68450216e-01 3.10912139e-03 2.07309053e+02] [ 9.68368722e-01 -2.49207072e-01 -1.25639882e-02 1.08341472e+02] [ 1.29424121e-02 -1.20015471e-04 9.99916236e-01 8.53401767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:108.37, Z:8.53 [[-2.51358108e-01 -9.67888840e-01 3.20863985e-03 2.07304448e+02] [ 9.67802299e-01 -2.51378543e-01 -1.29436628e-02 1.08366421e+02] [ 1.33346100e-02 -1.48165567e-04 9.99911079e-01 8.53463606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:108.39, Z:8.53 [[-2.52566429e-01 -9.67574112e-01 3.24602047e-03 2.07298600e+02] [ 9.67485803e-01 -2.52587236e-01 -1.30732113e-02 1.08391341e+02] [ 1.34692042e-02 -1.61375572e-04 9.99909273e-01 8.53480214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.29, Y:108.42, Z:8.53 [[-2.54500660e-01 -9.67066501e-01 3.43471912e-03 2.07293012e+02] [ 9.66967918e-01 -2.54523763e-01 -1.38093981e-02 1.08416224e+02] [ 1.42288240e-02 -1.93237750e-04 9.99898747e-01 8.53457442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.29, Y:108.44, Z:8.53 [[-2.55909102e-01 -9.66694323e-01 3.55210517e-03 2.07287489e+02] [ 9.66589192e-01 -2.55933662e-01 -1.42581491e-02 1.08440247e+02] [ 1.46923751e-02 -2.15363665e-04 9.99892038e-01 8.53468836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:108.47, Z:8.53 [[-2.57384420e-01 -9.66302229e-01 3.64184742e-03 2.07281526e+02] [ 9.66192047e-01 -2.57410074e-01 -1.45938921e-02 1.08465488e+02] [ 1.50395587e-02 -2.37516430e-04 9.99886871e-01 8.53447540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:108.49, Z:8.53 [[-2.60211313e-01 -9.65544249e-01 3.79165218e-03 2.07277238e+02] [ 9.65425110e-01 -2.60238778e-01 -1.51702197e-02 1.08490517e+02] [ 1.56342533e-02 -2.86906542e-04 9.99877736e-01 8.53435746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.27, Y:108.52, Z:8.53 [[-2.61621294e-01 -9.65162735e-01 3.89777323e-03 2.07271042e+02] [ 9.65037176e-01 -2.61650142e-01 -1.55708587e-02 1.08516547e+02] [ 1.60482655e-02 -3.12172131e-04 9.99871170e-01 8.53438583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.27, Y:108.54, Z:8.53 [[-2.62886888e-01 -9.64818471e-01 3.97516778e-03 2.07265538e+02] [ 9.64688223e-01 -2.62916729e-01 -1.58564141e-02 1.08541732e+02] [ 1.63436993e-02 -3.33645813e-04 9.99866377e-01 8.53401515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.26, Y:108.57, Z:8.53 [[-2.64651343e-01 -9.64335722e-01 4.03503722e-03 2.07261016e+02] [ 9.64201871e-01 -2.64681854e-01 -1.60707208e-02 1.08566558e+02] [ 1.65655713e-02 -3.62547410e-04 9.99862716e-01 8.53402786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.25, Y:108.59, Z:8.53 [[-2.65007323e-01 -9.64237933e-01 4.04079251e-03 2.07254564e+02] [ 9.64104092e-01 -2.65037880e-01 -1.60692739e-02 1.08590809e+02] [ 1.65655665e-02 -3.62730654e-04 9.99862716e-01 8.53432922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.25, Y:108.62, Z:8.53 [[-2.65854707e-01 -9.64004216e-01 4.14075822e-03 2.07248509e+02] [ 9.63864086e-01 -2.65886680e-01 -1.64407270e-02 1.08615462e+02] [ 1.69499026e-02 -3.79716511e-04 9.99856268e-01 8.53463993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.24, Y:108.64, Z:8.54 [[-2.66787170e-01 -9.63746769e-01 4.09533556e-03 2.07242601e+02] [ 9.63610090e-01 -2.66818323e-01 -1.62350455e-02 1.08639565e+02] [ 1.67391832e-02 -3.84995167e-04 9.99859816e-01 8.53531265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.24, Y:108.66, Z:8.54 [[-2.67162939e-01 -9.63642625e-01 4.10551638e-03 2.07235820e+02] [ 9.63505687e-01 -2.67194204e-01 -1.62495643e-02 1.08664048e+02] [ 1.67557430e-02 -3.85592978e-04 9.99859538e-01 8.53577802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.23, Y:108.69, Z:8.54 [[-2.67658731e-01 -9.63505638e-01 3.96090384e-03 2.07228853e+02] [ 9.63378538e-01 -2.67687775e-01 -1.56540111e-02 1.08688564e+02] [ 1.61430135e-02 -3.74082993e-04 9.99869623e-01 8.53652889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.21, Y:108.71, Z:8.54 [[-2.67590208e-01 -9.63525044e-01 3.86926684e-03 2.07214183e+02] [ 9.63404125e-01 -2.67617941e-01 -1.52686052e-02 1.08712380e+02] [ 1.57471687e-02 -3.58061610e-04 9.99875942e-01 8.53890802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.21, Y:108.74, Z:8.54 [[-2.67405787e-01 -9.63576162e-01 3.88912027e-03 2.07208294e+02] [ 9.63454409e-01 -2.67433838e-01 -1.53213446e-02 1.08736963e+02] [ 1.58033648e-02 -3.50026134e-04 9.99875058e-01 8.53987059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.20, Y:108.76, Z:8.54 [[-2.66992542e-01 -9.63690948e-01 3.83913209e-03 2.07201980e+02] [ 9.63572714e-01 -2.67019936e-01 -1.50989667e-02 1.08761910e+02] [ 1.55758624e-02 -3.32028576e-04 9.99878634e-01 8.54093476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:108.79, Z:8.54 [[-2.65217326e-01 -9.64180814e-01 3.88957165e-03 2.07193257e+02] [ 9.64059899e-01 -2.65245676e-01 -1.52722828e-02 1.08787856e+02] [ 1.57569341e-02 -3.00693971e-04 9.99875807e-01 8.54101792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.19, Y:108.81, Z:8.54 [[-2.63840062e-01 -9.64558077e-01 4.01720839e-03 2.07186195e+02] [ 9.64429507e-01 -2.63870493e-01 -1.57508589e-02 1.08811849e+02] [ 1.62526410e-02 -2.81393285e-04 9.99867878e-01 8.54073379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.18, Y:108.84, Z:8.54 [[-2.61571025e-01 -9.65175767e-01 4.04192889e-03 2.07175688e+02] [ 9.65046025e-01 -2.61602142e-01 -1.58268548e-02 1.08837482e+02] [ 1.63330740e-02 -2.39199218e-04 9.99866578e-01 8.54097393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.17, Y:108.86, Z:8.54 [[-2.60834414e-01 -9.65374763e-01 4.12007899e-03 2.07167652e+02] [ 9.65240391e-01 -2.60866855e-01 -1.61081224e-02 1.08862829e+02] [ 1.66251668e-02 -2.24685990e-04 9.99861767e-01 8.54126281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:108.89, Z:8.54 [[-2.60305159e-01 -9.65516834e-01 4.29748700e-03 2.07162213e+02] [ 9.65371160e-01 -2.60340540e-01 -1.67727815e-02 1.08887757e+02] [ 1.73132130e-02 -2.17371537e-04 9.99850091e-01 8.54087972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.15, Y:108.91, Z:8.54 [[-2.59612905e-01 -9.65702574e-01 4.43595487e-03 2.07154481e+02] [ 9.65547918e-01 -2.59650721e-01 -1.72835812e-02 1.08912907e+02] [ 1.78425978e-02 -2.03913747e-04 9.99840787e-01 8.54162373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.15, Y:108.94, Z:8.54 [[-2.59925898e-01 -9.65618403e-01 4.43036969e-03 2.07148119e+02] [ 9.65464611e-01 -2.59963574e-01 -1.72343872e-02 1.08938032e+02] [ 1.77935762e-02 -2.02298439e-04 9.99841661e-01 8.54248535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.412755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.14, Y:108.96, Z:8.54 [[-2.60843401e-01 -9.65370877e-01 4.44870083e-03 2.07141625e+02] [ 9.65216276e-01 -2.60881248e-01 -1.72775975e-02 1.08963254e+02] [ 1.78398721e-02 -2.12788835e-04 9.99840834e-01 8.54332115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.442755096 meters Centerline goodness [0,1] 0.9998922437016443 Centerline is valid? [True, True] Translation: X:207.14, Y:108.99, Z:8.54 [[-2.63523958e-01 -9.64642419e-01 4.48626646e-03 2.07136254e+02] [ 9.64485591e-01 -2.63562017e-01 -1.73956324e-02 1.08990452e+02] [ 1.79629744e-02 -2.57226552e-04 9.99838620e-01 8.54217299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.13, Y:109.02, Z:8.54 [[-2.64225676e-01 -9.64451146e-01 4.33347614e-03 2.07130988e+02] [ 9.64305197e-01 -2.64261087e-01 -1.67799217e-02 1.09015538e+02] [ 1.73285839e-02 -2.54892600e-04 9.99849816e-01 8.54491374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.12, Y:109.04, Z:8.55 [[-2.66016731e-01 -9.63958692e-01 4.32892172e-03 2.07124903e+02] [ 9.63813385e-01 -2.66051804e-01 -1.67390756e-02 1.09041622e+02] [ 1.72874949e-02 -2.80601483e-04 9.99850521e-01 8.54695187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.532755096 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:207.12, Y:109.07, Z:8.55 [[-2.66681602e-01 -9.63774846e-01 4.35535831e-03 2.07118287e+02] [ 9.63628194e-01 -2.66717010e-01 -1.68148593e-02 1.09067978e+02] [ 1.73673866e-02 -2.87267561e-04 9.99849134e-01 8.54725422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.11, Y:109.09, Z:8.55 [[-2.66852806e-01 -9.63727559e-01 4.33259315e-03 2.07113342e+02] [ 9.63582883e-01 -2.66887826e-01 -1.67007571e-02 1.09092937e+02] [ 1.72512962e-02 -2.81831293e-04 9.99851146e-01 8.54794187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.10, Y:109.12, Z:8.55 [[-2.65747634e-01 -9.64032120e-01 4.50186692e-03 2.07103831e+02] [ 9.63876500e-01 -2.65785631e-01 -1.73231223e-02 1.09117355e+02] [ 1.78965779e-02 -2.64335030e-04 9.99839809e-01 8.54933793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.10, Y:109.14, Z:8.55 [[-2.65186479e-01 -9.64186226e-01 4.58833251e-03 2.07096870e+02] [ 9.64025122e-01 -2.65226051e-01 -1.76268599e-02 1.09141772e+02] [ 1.82125208e-02 -2.51137097e-04 9.99834107e-01 8.54890053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.09, Y:109.17, Z:8.55 [[-2.63599334e-01 -9.64619406e-01 4.97915934e-03 2.07085190e+02] [ 9.64430399e-01 -2.63646254e-01 -1.90960414e-02 1.09167181e+02] [ 1.97331488e-02 -2.31651162e-04 9.99805256e-01 8.54934230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:109.19, Z:8.55 [[-2.63656181e-01 -9.64603021e-01 5.14104678e-03 2.07077990e+02] [ 9.64402143e-01 -2.63706196e-01 -1.96862612e-02 1.09192805e+02] [ 2.03451530e-02 -2.32367919e-04 9.99792989e-01 8.54880743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.07, Y:109.22, Z:8.55 [[-2.63672346e-01 -9.64598065e-01 5.24090143e-03 2.07069641e+02] [ 9.64389951e-01 -2.63724327e-01 -2.00375154e-02 1.09219295e+02] [ 2.07103018e-02 -2.29066024e-04 9.99785492e-01 8.54898504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:109.24, Z:8.55 [[-2.64836045e-01 -9.64278574e-01 5.35731443e-03 2.07062656e+02] [ 9.64061710e-01 -2.64890106e-01 -2.04511796e-02 1.09244399e+02] [ 2.11397339e-02 -2.51427802e-04 9.99776499e-01 8.54800341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:109.27, Z:8.55 [[-2.65813504e-01 -9.64009434e-01 5.38447055e-03 2.07055119e+02] [ 9.63791001e-01 -2.65867901e-01 -2.05222993e-02 1.09269916e+02] [ 2.12152480e-02 -2.65600037e-04 9.99774896e-01 8.54842117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.05, Y:109.29, Z:8.55 [[-2.66683419e-01 -9.63769586e-01 5.30462411e-03 2.07048312e+02] [ 9.63558224e-01 -2.66736032e-01 -2.01850955e-02 1.09294116e+02] [ 2.08687155e-02 -2.71716092e-04 9.99782188e-01 8.54832536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.04, Y:109.32, Z:8.55 [[-2.68108074e-01 -9.63375368e-01 5.09527618e-03 2.07040460e+02] [ 9.63180913e-01 -2.68156338e-01 -1.93573726e-02 1.09319174e+02] [ 2.00147466e-02 -2.82195136e-04 9.99799645e-01 8.54893906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.03, Y:109.34, Z:8.55 [[-2.69210755e-01 -9.63068732e-01 4.91810972e-03 2.07033779e+02] [ 9.62888087e-01 -2.69255522e-01 -1.86546646e-02 1.09343353e+02] [ 1.92899524e-02 -2.86447093e-04 9.99813891e-01 8.54927325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.03, Y:109.37, Z:8.55 [[-2.71131753e-01 -9.62531553e-01 4.53679483e-03 2.07026860e+02] [ 9.62378233e-01 -2.71169549e-01 -1.71817405e-02 1.09368694e+02] [ 1.77682080e-02 -2.92402828e-04 9.99842090e-01 8.54986993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.02, Y:109.39, Z:8.55 [[-2.72479978e-01 -9.62151672e-01 4.33848036e-03 2.07019167e+02] [ 9.62011832e-01 -2.72514353e-01 -1.64061961e-02 1.09394570e+02] [ 1.69675472e-02 -2.96690516e-04 9.99855997e-01 8.55042111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:109.42, Z:8.55 [[-2.74326226e-01 -9.61628053e-01 4.07541844e-03 2.07013630e+02] [ 9.61504946e-01 -2.74356329e-01 -1.53897221e-02 1.09419973e+02] [ 1.59173053e-02 -3.03269392e-04 9.99873266e-01 8.55083076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:109.45, Z:8.55 [[-2.75642219e-01 -9.61251999e-01 3.99519521e-03 2.07006542e+02] [ 9.61134009e-01 -2.75670994e-01 -1.50638811e-02 1.09445446e+02] [ 1.55815453e-02 -3.12323644e-04 9.99878552e-01 8.55115331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.00, Y:109.47, Z:8.55 [[-2.76729835e-01 -9.60939801e-01 3.91127953e-03 2.07000181e+02] [ 9.60827041e-01 -2.76757294e-01 -1.47240783e-02 1.09469613e+02] [ 1.52314280e-02 -3.16528631e-04 9.99883945e-01 8.55070935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.99, Y:109.49, Z:8.55 [[-2.77009249e-01 -9.60859693e-01 3.81132348e-03 2.06992388e+02] [ 9.60752959e-01 -2.77035298e-01 -1.43246539e-02 1.09494567e+02] [ 1.48198537e-02 -3.06321305e-04 9.99890133e-01 8.55069714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:109.52, Z:8.55 [[-2.75690343e-01 -9.61239053e-01 3.78393144e-03 2.06983750e+02] [ 9.61134207e-01 -2.75716169e-01 -1.41996534e-02 1.09520424e+02] [ 1.46925525e-02 -2.77841370e-04 9.99892020e-01 8.55057773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:109.54, Z:8.55 [[-2.75068273e-01 -9.61417518e-01 3.71508247e-03 2.06976926e+02] [ 9.61316758e-01 -2.75093239e-01 -1.39211931e-02 1.09544627e+02] [ 1.44060730e-02 -2.57907520e-04 9.99896194e-01 8.55041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.97, Y:109.57, Z:8.55 [[-2.72883163e-01 -9.62039623e-01 3.81370594e-03 2.06967608e+02] [ 9.61933849e-01 -2.72909718e-01 -1.42673279e-02 1.09570259e+02] [ 1.47665321e-02 -2.24780719e-04 9.99890944e-01 8.54962670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.96, Y:109.60, Z:8.55 [[-2.72129501e-01 -9.62252815e-01 3.87996397e-03 2.06959908e+02] [ 9.62143672e-01 -2.72157077e-01 -1.44941260e-02 1.09595250e+02] [ 1.50029732e-02 -2.11196483e-04 9.99887427e-01 8.54967691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:109.62, Z:8.55 [[-2.71633380e-01 -9.62393237e-01 3.81639033e-03 2.06953343e+02] [ 9.62287983e-01 -2.71660119e-01 -1.42343829e-02 1.09620284e+02] [ 1.47358349e-02 -1.94066998e-04 9.99891403e-01 8.54960373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:109.65, Z:8.55 [[-2.71296142e-01 -9.62487786e-01 3.95789342e-03 2.06946357e+02] [ 9.62374967e-01 -2.71324945e-01 -1.47376004e-02 1.09646095e+02] [ 1.52586356e-02 -1.89276575e-04 9.99883562e-01 8.54935246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.94, Y:109.67, Z:8.55 [[-2.71974971e-01 -9.62296075e-01 3.98487862e-03 2.06940974e+02] [ 9.62182053e-01 -2.72004092e-01 -1.48145130e-02 1.09671108e+02] [ 1.53398510e-02 -1.94998043e-04 9.99882319e-01 8.54916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.94, Y:109.70, Z:8.55 [[-2.73500589e-01 -9.61864267e-01 3.81568040e-03 2.06936267e+02] [ 9.61760006e-01 -2.73527129e-01 -1.41633610e-02 1.09696891e+02] [ 1.46669229e-02 -2.03918762e-04 9.99892414e-01 8.54955461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.93, Y:109.72, Z:8.55 [[-2.74500835e-01 -9.61579301e-01 3.81298301e-03 2.06931621e+02] [ 9.61475486e-01 -2.74527234e-01 -1.41311118e-02 1.09722256e+02] [ 1.46349522e-02 -2.12912288e-04 9.99892881e-01 8.54972360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.93, Y:109.75, Z:8.55 [[-2.76136386e-01 -9.61111306e-01 3.70862396e-03 2.06926623e+02] [ 9.61013360e-01 -2.76161198e-01 -1.37227883e-02 1.09748748e+02] [ 1.42133050e-02 -2.25323985e-04 9.99898961e-01 8.55045259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:109.78, Z:8.55 [[-2.78704319e-01 -9.60370391e-01 3.55182833e-03 2.06922578e+02] [ 9.60280752e-01 -2.78726842e-01 -1.31234855e-02 1.09775982e+02] [ 1.35933968e-02 -2.46819728e-04 9.99907575e-01 8.55150367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:109.80, Z:8.55 [[-2.80175760e-01 -9.59942275e-01 3.51752643e-03 2.06917657e+02] [ 9.59854572e-01 -2.80197719e-01 -1.29783912e-02 1.09802491e+02] [ 1.34441092e-02 -2.59916785e-04 9.99909590e-01 8.55183838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.91, Y:109.83, Z:8.55 [[-2.81695972e-01 -9.59496899e-01 3.61662212e-03 2.06912982e+02] [ 9.59404439e-01 -2.81719045e-01 -1.33229578e-02 1.09828476e+02] [ 1.38022080e-02 -2.83220234e-04 9.99904705e-01 8.55201877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.91, Y:109.86, Z:8.55 [[-2.83599944e-01 -9.58936155e-01 3.53869718e-03 2.06908775e+02] [ 9.58847844e-01 -2.83621863e-01 -1.30173609e-02 1.09856000e+02] [ 1.34864699e-02 -2.98650655e-04 9.99909009e-01 8.55255084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.90, Y:109.88, Z:8.55 [[-2.84684153e-01 -9.58614465e-01 3.63893990e-03 2.06902799e+02] [ 9.58521321e-01 -2.84707232e-01 -1.33667218e-02 1.09881589e+02] [ 1.38495654e-02 -3.17292397e-04 9.99904040e-01 8.55274181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.90, Y:109.91, Z:8.55 [[-2.85359345e-01 -9.58413698e-01 3.63693843e-03 2.06896450e+02] [ 9.58320926e-01 -2.85382340e-01 -1.33387980e-02 1.09908104e+02] [ 1.38220047e-02 -3.20996436e-04 9.99904420e-01 8.55313041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.89, Y:109.93, Z:8.55 [[-2.85652109e-01 -9.58326044e-01 3.75057594e-03 2.06892824e+02] [ 9.58227667e-01 -2.85676540e-01 -1.37351229e-02 1.09933475e+02] [ 1.42341776e-02 -3.29561193e-04 9.99898635e-01 8.55393150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.89, Y:109.96, Z:8.55 [[-2.85872322e-01 -9.58260590e-01 3.69563331e-03 2.06887738e+02] [ 9.58165364e-01 -2.85896027e-01 -1.35128501e-02 1.09958156e+02] [ 1.40053986e-02 -3.21921995e-04 9.99901868e-01 8.55421558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.88, Y:109.98, Z:8.55 [[-2.85851738e-01 -9.58266564e-01 3.73838369e-03 2.06880702e+02] [ 9.58169371e-01 -2.85876003e-01 -1.36516622e-02 1.09984097e+02] [ 1.41506456e-02 -3.20346614e-04 9.99899823e-01 8.55424628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.87, Y:110.01, Z:8.55 [[-2.84969827e-01 -9.58528413e-01 3.93433169e-03 2.06874329e+02] [ 9.58421130e-01 -2.84996809e-01 -1.43442183e-02 1.10009467e+02] [ 1.48706128e-02 -3.16922795e-04 9.99889376e-01 8.55368948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.87, Y:110.04, Z:8.55 [[-2.84573012e-01 -9.58645824e-01 4.04797457e-03 2.06868054e+02] [ 9.58532622e-01 -2.84601629e-01 -1.47351845e-02 1.10035021e+02] [ 1.52778832e-02 -3.13120147e-04 9.99883237e-01 8.55388033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:110.06, Z:8.55 [[-2.83581163e-01 -9.58938654e-01 4.28741469e-03 2.06863270e+02] [ 9.58812106e-01 -2.83613405e-01 -1.55814584e-02 1.10059817e+02] [ 1.61576310e-02 -3.07782985e-04 9.99869410e-01 8.55348338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.86, Y:110.08, Z:8.55 [[-2.83251154e-01 -9.59035823e-01 4.36743279e-03 2.06857587e+02] [ 9.58904940e-01 -2.83284663e-01 -1.58466156e-02 1.10084165e+02] [ 1.64346987e-02 -3.00619261e-04 9.99864896e-01 8.55345834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.85, Y:110.11, Z:8.55 [[-2.82690458e-01 -9.59201222e-01 4.37280953e-03 2.06850620e+02] [ 9.59070445e-01 -2.82724133e-01 -1.58412773e-02 1.10109731e+02] [ 1.64312714e-02 -2.84345565e-04 9.99864957e-01 8.55408363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.84, Y:110.14, Z:8.55 [[-2.81071159e-01 -9.59677288e-01 4.30191369e-03 2.06843234e+02] [ 9.59551141e-01 -2.81103971e-01 -1.55616500e-02 1.10135603e+02] [ 1.61434471e-02 -2.46024819e-04 9.99869656e-01 8.55471453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:110.16, Z:8.56 [[-2.80153436e-01 -9.59945862e-01 4.24191679e-03 2.06834924e+02] [ 9.59823577e-01 -2.80185461e-01 -1.53234333e-02 1.10160793e+02] [ 1.58981898e-02 -2.21420724e-04 9.99873591e-01 8.55548513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.83, Y:110.19, Z:8.56 [[-2.80527740e-01 -9.59836519e-01 4.24789087e-03 2.06827754e+02] [ 9.59714246e-01 -2.80559812e-01 -1.53217773e-02 1.10185718e+02] [ 1.58981888e-02 -2.21422166e-04 9.99873591e-01 8.55579646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.82, Y:110.21, Z:8.56 [[-2.79942316e-01 -9.60007965e-01 4.12388025e-03 2.06819599e+02] [ 9.59893086e-01 -2.79972618e-01 -1.48525223e-02 1.10210497e+02] [ 1.54131133e-02 -1.99365353e-04 9.99881191e-01 8.55611600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.912755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:110.24, Z:8.56 [[-2.79037550e-01 -9.60271457e-01 4.09559886e-03 2.06811313e+02] [ 9.60158515e-01 -2.79067549e-01 -1.47285013e-02 1.10235985e+02] [ 1.52863082e-02 -1.77380805e-04 9.99883142e-01 8.55737279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.942755096 meters Centerline goodness [0,1] 0.9999563223411225 Centerline is valid? [True, True] Translation: X:206.80, Y:110.26, Z:8.56 [[-2.79250438e-01 -9.60210001e-01 3.99328142e-03 2.06804693e+02] [ 9.60102947e-01 -2.79278936e-01 -1.43389983e-02 1.10260483e+02] [ 1.48836890e-02 -1.70210302e-04 9.99889217e-01 8.55804161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.80, Y:110.29, Z:8.56 [[-2.80554266e-01 -9.59830599e-01 3.81124157e-03 2.06797981e+02] [ 9.59733341e-01 -2.80580097e-01 -1.36646869e-02 1.10286101e+02] [ 1.41851432e-02 -1.75910600e-04 9.99899370e-01 8.55920227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.79, Y:110.31, Z:8.56 [[-2.81502098e-01 -9.59553529e-01 3.68706215e-03 2.06792523e+02] [ 9.59462748e-01 -2.81526187e-01 -1.32000254e-02 1.10311203e+02] [ 1.37041355e-02 -1.78236073e-04 9.99906078e-01 8.55973187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.79, Y:110.34, Z:8.56 [[-2.82865885e-01 -9.59152720e-01 3.59869538e-03 2.06785846e+02] [ 9.59066469e-01 -2.82888714e-01 -1.28640468e-02 1.10337255e+02] [ 1.33566158e-02 -1.87411907e-04 9.99910779e-01 8.56051422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.78, Y:110.36, Z:8.56 [[-2.85039056e-01 -9.58509527e-01 3.49630612e-03 2.06781200e+02] [ 9.58428295e-01 -2.85060423e-01 -1.24803586e-02 1.10362667e+02] [ 1.29592011e-02 -2.06430921e-04 9.99916005e-01 8.56081534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.77, Y:110.39, Z:8.56 [[-2.86230301e-01 -9.58154190e-01 3.57256536e-03 2.06772701e+02] [ 9.58069543e-01 -2.86252508e-01 -1.27378376e-02 1.10387826e+02] [ 1.32274682e-02 -2.23189017e-04 9.99912488e-01 8.56100483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.77, Y:110.41, Z:8.56 [[-2.88351790e-01 -9.57517865e-01 3.57555982e-03 2.06767327e+02] [ 9.57433273e-01 -2.88373851e-01 -1.27298928e-02 1.10413170e+02] [ 1.32201977e-02 -2.47327429e-04 9.99912579e-01 8.56103247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.76, Y:110.44, Z:8.56 [[-2.89538408e-01 -9.57159597e-01 3.60788862e-03 2.06757927e+02] [ 9.57073680e-01 -2.89560768e-01 -1.28269999e-02 1.10438069e+02] [ 1.33221891e-02 -2.60893898e-04 9.99911222e-01 8.56140402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:110.46, Z:8.56 [[-2.90416235e-01 -9.56893374e-01 3.67166432e-03 2.06752587e+02] [ 9.56804632e-01 -2.90439317e-01 -1.30345255e-02 1.10462595e+02] [ 1.35390468e-02 -2.72372403e-04 9.99908306e-01 8.56153329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.74, Y:110.49, Z:8.56 [[-2.91508811e-01 -9.56561066e-01 3.67977318e-03 2.06744701e+02] [ 9.56472119e-01 -2.91531897e-01 -1.30475781e-02 1.10487839e+02] [ 1.35535764e-02 -2.83883512e-04 9.99908106e-01 8.56181177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.74, Y:110.51, Z:8.56 [[-2.91900623e-01 -9.56441219e-01 3.77112837e-03 2.06735034e+02] [ 9.56348062e-01 -2.91924837e-01 -1.33518941e-02 1.10512908e+02] [ 1.38711879e-02 -2.90914910e-04 9.99903748e-01 8.56220180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.73, Y:110.54, Z:8.56 [[-2.92241504e-01 -9.56336783e-01 3.85497602e-03 2.06726658e+02] [ 9.56239725e-01 -2.92266778e-01 -1.36278638e-02 1.10537553e+02] [ 1.41595088e-02 -2.96346204e-04 9.99899705e-01 8.56207710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:110.56, Z:8.56 [[-2.92277009e-01 -9.56325688e-01 3.91522088e-03 2.06718263e+02] [ 9.56225872e-01 -2.92303082e-01 -1.38199272e-02 1.10562172e+02] [ 1.43607826e-02 -2.95411494e-04 9.99896835e-01 8.56255628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.332755096 meters Centerline goodness [0,1] 0.9998907485906569 Centerline is valid? [True, True] Translation: X:206.71, Y:110.59, Z:8.56 [[-2.91933683e-01 -9.56429942e-01 4.06093575e-03 2.06708448e+02] [ 9.56322893e-01 -2.91961777e-01 -1.43124199e-02 1.10588020e+02] [ 1.48744649e-02 -2.94711618e-04 9.99889326e-01 8.56069828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.70, Y:110.61, Z:8.56 [[-2.91531738e-01 -9.56552373e-01 4.09916582e-03 2.06700738e+02] [ 9.56443621e-01 -2.91560416e-01 -1.44264598e-02 1.10612695e+02] [ 1.49948189e-02 -2.85149915e-04 9.99887531e-01 8.56226333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:110.64, Z:8.56 [[-2.91553157e-01 -9.56544937e-01 4.30591564e-03 2.06690970e+02] [ 9.56425297e-01 -2.91584804e-01 -1.51311915e-02 1.10637847e+02] [ 1.57292042e-02 -2.93259990e-04 9.99876245e-01 8.56248361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.68, Y:110.66, Z:8.56 [[-2.91479998e-01 -9.56566608e-01 4.44240466e-03 2.06683643e+02] [ 9.56439630e-01 -2.91513700e-01 -1.55883792e-02 1.10662939e+02] [ 1.62063448e-02 -2.94808868e-04 9.99868625e-01 8.56216672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.68, Y:110.69, Z:8.56 [[-2.90979620e-01 -9.56718513e-01 4.53301517e-03 2.06677116e+02] [ 9.56586715e-01 -2.91014787e-01 -1.58824130e-02 1.10687558e+02] [ 1.65141730e-02 -2.85236414e-04 9.99863591e-01 8.56264939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.67, Y:110.71, Z:8.56 [[-2.91149866e-01 -9.56666513e-01 4.57594482e-03 2.06668101e+02] [ 9.56532614e-01 -2.91185686e-01 -1.60079847e-02 1.10712806e+02] [ 1.66467526e-02 -2.83682162e-04 9.99861393e-01 8.56320696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.66, Y:110.74, Z:8.56 [[-2.91654376e-01 -9.56512381e-01 4.66804773e-03 2.06660188e+02] [ 9.56373429e-01 -2.91691585e-01 -1.63059594e-02 1.10738132e+02] [ 1.69584823e-02 -2.91307616e-04 9.99856152e-01 8.56344470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.65, Y:110.76, Z:8.56 [[-2.92807728e-01 -9.56159851e-01 4.68765817e-03 2.06653648e+02] [ 9.56020097e-01 -2.92845089e-01 -1.63501822e-02 1.10763123e+02] [ 1.70061454e-02 -3.05964281e-04 9.99855338e-01 8.56380433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.65, Y:110.79, Z:8.56 [[-2.94029369e-01 -9.55784797e-01 4.70652676e-03 2.06646405e+02] [ 9.55644291e-01 -2.94066860e-01 -1.63912079e-02 1.10788151e+02] [ 1.70505008e-02 -3.21731088e-04 9.99854578e-01 8.56443638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.64, Y:110.81, Z:8.57 [[-2.95805827e-01 -9.55236783e-01 4.64777346e-03 2.06640850e+02] [ 9.55100086e-01 -2.95842140e-01 -1.61633796e-02 1.10814291e+02] [ 1.68148620e-02 -3.42133031e-04 9.99858562e-01 8.56546640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:110.84, Z:8.57 [[-2.96835242e-01 -9.54917971e-01 4.52848790e-03 2.06633061e+02] [ 9.54788521e-01 -2.96869583e-01 -1.57267861e-02 1.10839255e+02] [ 1.63621610e-02 -3.44516085e-04 9.99866072e-01 8.56641525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:110.86, Z:8.57 [[-2.96852886e-01 -9.54912764e-01 4.46967625e-03 2.06626427e+02] [ 9.54787000e-01 -2.96886346e-01 -1.55010669e-02 1.10863474e+02] [ 1.61291525e-02 -3.33947665e-04 9.99869861e-01 8.56704071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.62, Y:110.89, Z:8.57 [[-2.96901773e-01 -9.54897517e-01 4.47984109e-03 2.06618535e+02] [ 9.54771490e-01 -2.96935385e-01 -1.55170782e-02 1.10888543e+02] [ 1.61474428e-02 -3.29823474e-04 9.99869567e-01 8.56738377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.61, Y:110.91, Z:8.57 [[-2.96707743e-01 -9.54957783e-01 4.48869103e-03 2.06610225e+02] [ 9.54831624e-01 -2.96741521e-01 -1.55254711e-02 1.10913828e+02] [ 1.61581504e-02 -3.20583329e-04 9.99869397e-01 8.56769297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.60, Y:110.94, Z:8.57 [[-2.95413803e-01 -9.55358882e-01 4.48242404e-03 2.06602273e+02] [ 9.55233481e-01 -2.95447664e-01 -1.54814529e-02 1.10937962e+02] [ 1.61146652e-02 -2.91673355e-04 9.99870108e-01 8.56732185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:110.96, Z:8.57 [[-2.95010353e-01 -9.55483108e-01 4.57405123e-03 2.06593533e+02] [ 9.55352931e-01 -2.95045674e-01 -1.57742609e-02 1.10962648e+02] [ 1.64215938e-02 -2.83737018e-04 9.99865116e-01 8.56794505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.59, Y:110.99, Z:8.57 [[-2.93157951e-01 -9.56053110e-01 4.56802668e-03 2.06586331e+02] [ 9.55923697e-01 -2.93193436e-01 -1.57319673e-02 1.10987253e+02] [ 1.63799117e-02 -2.45266337e-04 9.99865810e-01 8.56800600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.58, Y:111.01, Z:8.57 [[-2.92251310e-01 -9.56331046e-01 4.48364089e-03 2.06577990e+02] [ 9.56206697e-01 -2.92285619e-01 -1.54230033e-02 1.11011868e+02] [ 1.60600006e-02 -2.20105466e-04 9.99871006e-01 8.56860955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.57, Y:111.04, Z:8.57 [[-2.91515668e-01 -9.56555433e-01 4.50762240e-03 2.06567732e+02] [ 9.56430130e-01 -2.91550446e-01 -1.54836519e-02 1.11036778e+02] [ 1.61251707e-02 -2.02501257e-04 9.99869960e-01 8.56930208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.56, Y:111.06, Z:8.57 [[-2.90379136e-01 -9.56901281e-01 4.46042075e-03 2.06559093e+02] [ 9.56778989e-01 -2.90413339e-01 -1.52989955e-02 1.11061577e+02] [ 1.59349941e-02 -1.74872242e-04 9.99873015e-01 8.56949174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.55, Y:111.09, Z:8.57 [[-2.90737242e-01 -9.56792822e-01 4.39912130e-03 2.06551513e+02] [ 9.56674197e-01 -2.90770471e-01 -1.50670068e-02 1.11087413e+02] [ 1.56951385e-02 -1.72014170e-04 9.99876809e-01 8.56967900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.55, Y:111.11, Z:8.57 [[-2.91388435e-01 -9.56594063e-01 4.53644792e-03 2.06545693e+02] [ 9.56468257e-01 -2.91423689e-01 -1.55147286e-02 1.11111798e+02] [ 1.61633256e-02 -1.81844039e-04 9.99869348e-01 8.56979402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.54, Y:111.14, Z:8.57 [[-2.93279820e-01 -9.56015957e-01 4.52067355e-03 2.06541077e+02] [ 9.55891330e-01 -2.93314587e-01 -1.54375908e-02 1.11137502e+02] [ 1.60845627e-02 -2.06261207e-04 9.99870614e-01 8.57025169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.54, Y:111.16, Z:8.57 [[-2.94598977e-01 -9.55610636e-01 4.44467003e-03 2.06535780e+02] [ 9.55490464e-01 -2.94632423e-01 -1.51561220e-02 1.11162436e+02] [ 1.57928953e-02 -2.18138218e-04 9.99875261e-01 8.57080530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.53, Y:111.19, Z:8.57 [[-2.96765913e-01 -9.54942073e-01 3.95341589e-03 2.06530317e+02] [ 9.54847193e-01 -2.96792163e-01 -1.34629570e-02 1.11189317e+02] [ 1.40296869e-02 -2.20438653e-04 9.99901555e-01 8.57242438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.53, Y:111.21, Z:8.57 [[-2.98062356e-01 -9.54538455e-01 3.89477029e-03 2.06525159e+02] [ 9.54446576e-01 -2.98087712e-01 -1.32457631e-02 1.11214002e+02] [ 1.38045734e-02 -2.30713194e-04 9.99904686e-01 8.57290680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.52, Y:111.24, Z:8.57 [[-2.99537130e-01 -9.54077018e-01 3.81474377e-03 2.06517644e+02] [ 9.53989096e-01 -2.99561324e-01 -1.29544541e-02 1.11239307e+02] [ 1.35022966e-02 -2.41116027e-04 9.99908811e-01 8.57336469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.51, Y:111.27, Z:8.57 [[-3.01001258e-01 -9.53616055e-01 3.82906731e-03 2.06512633e+02] [ 9.53527686e-01 -3.01025502e-01 -1.29845347e-02 1.11265284e+02] [ 1.35349076e-02 -2.57239582e-04 9.99908366e-01 8.57395776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.50, Y:111.29, Z:8.57 [[-3.03466156e-01 -9.52834917e-01 3.73005934e-03 2.06504647e+02] [ 9.52751218e-01 -3.03488950e-01 -1.26322386e-02 1.11291791e+02] [ 1.31684698e-02 -2.79638308e-04 9.99913253e-01 8.57434293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.50, Y:111.32, Z:8.57 [[-3.04260352e-01 -9.52581678e-01 3.71276147e-03 2.06498185e+02] [ 9.52498948e-01 -3.04282871e-01 -1.25574188e-02 1.11315952e+02] [ 1.30916968e-02 -2.84323272e-04 9.99914260e-01 8.57476074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:111.34, Z:8.57 [[-3.04069063e-01 -9.52642458e-01 3.78836486e-03 2.06489739e+02] [ 9.52556585e-01 -3.04092531e-01 -1.27939005e-02 1.11341397e+02] [ 1.33400263e-02 -2.81597446e-04 9.99910978e-01 8.57481993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.48, Y:111.37, Z:8.57 [[-3.03775089e-01 -9.52735729e-01 3.91491839e-03 2.06481711e+02] [ 9.52644296e-01 -3.03800185e-01 -1.32020371e-02 1.11365482e+02] [ 1.37674054e-02 -2.80925334e-04 9.99905185e-01 8.57493429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.47, Y:111.39, Z:8.57 [[-3.02926157e-01 -9.53005798e-01 3.96124293e-03 2.06474138e+02] [ 9.52912486e-01 -3.02951939e-01 -1.33385358e-02 1.11390004e+02] [ 1.39117682e-02 -2.65873534e-04 9.99903191e-01 8.57451765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.46, Y:111.41, Z:8.57 [[-3.01037682e-01 -9.53603846e-01 4.00235445e-03 2.06461351e+02] [ 9.53508909e-01 -3.01064195e-01 -1.34577381e-02 1.11414418e+02] [ 1.40383164e-02 -2.35005654e-04 9.99901430e-01 8.57405698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.45, Y:111.44, Z:8.57 [[-3.00324208e-01 -9.53828197e-01 4.14013732e-03 2.06452092e+02] [ 9.53726896e-01 -3.00352658e-01 -1.39028605e-02 1.11438524e+02] [ 1.45044416e-02 -2.26805250e-04 9.99894779e-01 8.57391197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.44, Y:111.46, Z:8.57 [[-2.98022416e-01 -9.54550093e-01 4.09383373e-03 2.06441130e+02] [ 9.54451391e-01 -2.98050476e-01 -1.37279191e-02 1.11462138e+02] [ 1.43241556e-02 -1.83862332e-04 9.99897387e-01 8.57432512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.43, Y:111.49, Z:8.57 [[-2.97259626e-01 -9.54788079e-01 4.05451738e-03 2.06431733e+02] [ 9.54691555e-01 -2.97287230e-01 -1.35771343e-02 1.11486581e+02] [ 1.41686422e-02 -1.65120367e-04 9.99899606e-01 8.57477239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.442755096 meters Centerline goodness [0,1] 0.9999566301637212 Centerline is valid? [True, True] Translation: X:206.42, Y:111.51, Z:8.57 [[-2.96867420e-01 -9.54910431e-01 3.97554415e-03 2.06423477e+02] [ 9.54817890e-01 -2.96894000e-01 -1.32947560e-02 1.11510262e+02] [ 1.38756164e-02 -1.50859235e-04 9.99903718e-01 8.57410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.42, Y:111.53, Z:8.58 [[-2.97031441e-01 -9.54859994e-01 3.83598997e-03 2.06415619e+02] [ 9.54774087e-01 -2.97056176e-01 -1.28090244e-02 1.11533519e+02] [ 1.33703294e-02 -1.42179143e-04 9.99910603e-01 8.57567989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters Centerline goodness [0,1] 0.9999783839868575 Centerline is valid? [True, True] Translation: X:206.41, Y:111.56, Z:8.58 [[-2.97652822e-01 -9.54666574e-01 3.81197784e-03 2.06408456e+02] [ 9.54581976e-01 -2.97677195e-01 -1.27097617e-02 1.11557769e+02] [ 1.32683235e-02 -1.44251091e-04 9.99911962e-01 8.57643863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.40, Y:111.58, Z:8.58 [[-2.98836327e-01 -9.54297947e-01 3.50413986e-03 2.06401991e+02] [ 9.54226624e-01 -2.98856837e-01 -1.16679567e-02 1.11581670e+02] [ 1.21819432e-02 -1.43065761e-04 9.99925787e-01 8.57764840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:111.61, Z:8.58 [[-2.99588352e-01 -9.54062457e-01 3.41286264e-03 2.06394658e+02] [ 9.53994982e-01 -2.99607757e-01 -1.13475760e-02 1.11606031e+02] [ 1.18488163e-02 -1.43747759e-04 9.99929790e-01 8.57824950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:111.63, Z:8.58 [[-3.01261367e-01 -9.53535936e-01 3.28757656e-03 2.06388133e+02] [ 9.53473462e-01 -3.01279265e-01 -1.09161094e-02 1.11629211e+02] [ 1.13993813e-02 -1.53985042e-04 9.99935013e-01 8.57868160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.38, Y:111.65, Z:8.58 [[-3.02263176e-01 -9.53218999e-01 3.24232685e-03 2.06380980e+02] [ 9.53158357e-01 -3.02280523e-01 -1.07532195e-02 1.11653659e+02] [ 1.12302654e-02 -1.59851341e-04 9.99936926e-01 8.57897031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.37, Y:111.68, Z:8.58 [[-3.03222664e-01 -9.52914646e-01 3.11337368e-03 2.06373927e+02] [ 9.52858863e-01 -3.03238605e-01 -1.03118930e-02 1.11678671e+02] [ 1.07704490e-02 -1.60193962e-04 9.99941984e-01 8.57960827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.37, Y:111.70, Z:8.58 [[-3.04120544e-01 -9.52628762e-01 3.02265475e-03 2.06366967e+02] [ 9.52576308e-01 -3.04135522e-01 -9.99810528e-03 1.11703234e+02] [ 1.04437793e-02 -1.61319917e-04 9.99945449e-01 8.58034985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.36, Y:111.73, Z:8.58 [[-3.04456648e-01 -9.52521560e-01 2.97116741e-03 2.06356001e+02] [ 9.52471007e-01 -3.04471104e-01 -9.81463792e-03 1.11727672e+02] [ 1.02532888e-02 -1.58180947e-04 9.99947421e-01 8.58053020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.35, Y:111.75, Z:8.58 [[-3.04910713e-01 -9.52376044e-01 3.05405425e-03 2.06351151e+02] [ 9.52322777e-01 -3.04925964e-01 -1.00739224e-02 1.11752875e+02] [ 1.05254228e-02 -1.63201432e-04 9.99944593e-01 8.58080988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:111.78, Z:8.58 [[-3.05267132e-01 -9.52261847e-01 3.05819019e-03 2.06343532e+02] [ 9.52208587e-01 -3.05282407e-01 -1.00726665e-02 1.11776786e+02] [ 1.05254277e-02 -1.62819064e-04 9.99944593e-01 8.58111103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.34, Y:111.80, Z:8.58 [[-3.05536442e-01 -9.52174773e-01 3.26862949e-03 2.06335984e+02] [ 9.52114100e-01 -3.05553877e-01 -1.07503006e-02 1.11800228e+02] [ 1.12349075e-02 -1.72500387e-04 9.99936872e-01 8.58034687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:111.82, Z:8.58 [[-3.05628734e-01 -9.52144400e-01 3.48124313e-03 2.06328150e+02] [ 9.52075778e-01 -3.05648507e-01 -1.14325910e-02 1.11823374e+02] [ 1.19495143e-02 -1.79721055e-04 9.99928586e-01 8.57959517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.32, Y:111.85, Z:8.58 [[-3.05318521e-01 -9.52243188e-01 3.67576593e-03 2.06315321e+02] [ 9.52166909e-01 -3.05340593e-01 -1.20540004e-02 1.11846819e+02] [ 1.26007003e-02 -1.80366876e-04 9.99920592e-01 8.57900749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.31, Y:111.87, Z:8.58 [[-3.04690544e-01 -9.52443102e-01 3.97625480e-03 2.06306196e+02] [ 9.52354119e-01 -3.04716434e-01 -1.30202436e-02 1.11871561e+02] [ 1.36126714e-02 -1.80342471e-04 9.99907327e-01 8.57860674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:111.90, Z:8.58 [[-3.04684164e-01 -9.52444914e-01 4.03057687e-03 2.06297655e+02] [ 9.52353736e-01 -3.04710771e-01 -1.31798029e-02 1.11896346e+02] [ 1.37811964e-02 -1.77142274e-04 9.99905019e-01 8.57838251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.29, Y:111.92, Z:8.58 [[-3.04724911e-01 -9.52431622e-01 4.09077948e-03 2.06289081e+02] [ 9.52337957e-01 -3.04752318e-01 -1.33581555e-02 1.11921548e+02] [ 1.39694042e-02 -1.74758165e-04 9.99902408e-01 8.57849916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.28, Y:111.95, Z:8.58 [[-3.04581884e-01 -9.52476996e-01 4.17709517e-03 2.06279509e+02] [ 9.52379611e-01 -3.04610478e-01 -1.36210598e-02 1.11945969e+02] [ 1.42461331e-02 -1.70547783e-04 9.99898504e-01 8.57859027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:111.97, Z:8.58 [[-3.04058685e-01 -9.52643963e-01 4.21858871e-03 2.06270916e+02] [ 9.52544922e-01 -3.04087907e-01 -1.37373946e-02 1.11969855e+02] [ 1.43696678e-02 -1.58578863e-04 9.99896738e-01 8.57877364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.26, Y:112.00, Z:8.58 [[-3.04067913e-01 -9.52641113e-01 4.19684904e-03 2.06262128e+02] [ 9.52543316e-01 -3.04096836e-01 -1.36508254e-02 1.11995271e+02] [ 1.42805860e-02 -1.53097487e-04 9.99898016e-01 8.57903188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.25, Y:112.02, Z:8.58 [[-3.03980805e-01 -9.52668094e-01 4.37882083e-03 2.06253766e+02] [ 9.52561933e-01 -3.04012303e-01 -1.42226207e-02 1.12020832e+02] [ 1.48806523e-02 -1.52305637e-04 9.99889265e-01 8.57936278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.25, Y:112.05, Z:8.58 [[-3.04684147e-01 -9.52443250e-01 4.40739209e-03 2.06245762e+02] [ 9.52335974e-01 -3.04715982e-01 -1.42955728e-02 1.12046243e+02] [ 1.49587247e-02 -1.58316384e-04 9.99888100e-01 8.58012346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.24, Y:112.07, Z:8.58 [[-3.05444827e-01 -9.52199822e-01 4.35402851e-03 2.06239048e+02] [ 9.52095395e-01 -3.05475815e-01 -1.41026637e-02 1.12070842e+02] [ 1.47586043e-02 -1.62135184e-04 9.99891073e-01 8.58014938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.23, Y:112.10, Z:8.58 [[-3.06636836e-01 -9.51815653e-01 4.56210874e-03 2.06231418e+02] [ 9.51701306e-01 -3.06670717e-01 -1.47544967e-02 1.12096242e+02] [ 1.54426261e-02 -1.82507350e-04 9.99880739e-01 8.58057998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.22, Y:112.12, Z:8.58 [[-3.07435804e-01 -9.51558212e-01 4.49396961e-03 2.06223075e+02] [ 9.51447529e-01 -3.07468591e-01 -1.45143230e-02 1.12121589e+02] [ 1.51929777e-02 -1.86446280e-04 9.99884563e-01 8.58103983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.21, Y:112.15, Z:8.58 [[-3.07931534e-01 -9.51398224e-01 4.42615860e-03 2.06213980e+02] [ 9.51291127e-01 -3.07963287e-01 -1.42760461e-02 1.12146897e+02] [ 1.49452993e-02 -1.85479380e-04 9.99888296e-01 8.58205538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.21, Y:112.17, Z:8.58 [[-3.08259966e-01 -9.51291199e-01 4.56589562e-03 2.06206105e+02] [ 9.51177513e-01 -3.08293720e-01 -1.47078534e-02 1.12170863e+02] [ 1.53990885e-02 -1.90865159e-04 9.99881409e-01 8.58233500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.20, Y:112.20, Z:8.58 [[-3.08393316e-01 -9.51247780e-01 4.60689251e-03 2.06197598e+02] [ 9.51132314e-01 -3.08427666e-01 -1.48221268e-02 1.12195991e+02] [ 1.55204083e-02 -1.89280504e-04 9.99879533e-01 8.58278814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.19, Y:112.22, Z:8.58 [[-3.08354776e-01 -9.51260694e-01 4.51930390e-03 2.06188928e+02] [ 9.51149883e-01 -3.08387841e-01 -1.45203533e-02 1.12220921e+02] [ 1.52063397e-02 -1.78884932e-04 9.99884361e-01 8.58312840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.18, Y:112.24, Z:8.58 [[-3.07757397e-01 -9.51454731e-01 4.39087883e-03 2.06180538e+02] [ 9.51350435e-01 -3.07788678e-01 -1.40882929e-02 1.12244745e+02] [ 1.47558357e-02 -1.58511859e-04 9.99891114e-01 8.58390823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.17, Y:112.27, Z:8.58 [[-3.07797850e-01 -9.51440770e-01 4.57647011e-03 2.06171796e+02] [ 9.51327806e-01 -3.07831830e-01 -1.46618876e-02 1.12269317e+02] [ 1.53587008e-02 -1.59174218e-04 9.99882036e-01 8.58400809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.16, Y:112.29, Z:8.58 [[-3.07210935e-01 -9.51630143e-01 4.63826412e-03 2.06163452e+02] [ 9.51514456e-01 -3.07245913e-01 -1.48387761e-02 1.12293566e+02] [ 1.55461143e-02 -1.45258913e-04 9.99879141e-01 8.58385426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:112.32, Z:8.58 [[-3.07208217e-01 -9.51630771e-01 4.68899223e-03 2.06154469e+02] [ 9.51512881e-01 -3.07243967e-01 -1.49793530e-02 1.12318045e+02] [ 1.56954778e-02 -1.40143801e-04 9.99876809e-01 8.58409333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:112.34, Z:8.58 [[-3.06882605e-01 -9.51735490e-01 4.75652414e-03 2.06146041e+02] [ 9.51614536e-01 -3.06919437e-01 -1.51734841e-02 1.12341708e+02] [ 1.59010130e-02 -1.30100820e-04 9.99873562e-01 8.58348682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.14, Y:112.37, Z:8.58 [[-3.07510573e-01 -9.51532740e-01 4.76364502e-03 2.06137928e+02] [ 9.51411745e-01 -3.07547439e-01 -1.51744943e-02 1.12366518e+02] [ 1.59040749e-02 -1.34129615e-04 9.99873513e-01 8.58381039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.13, Y:112.39, Z:8.58 [[-3.08266436e-01 -9.51288867e-01 4.61472694e-03 2.06129797e+02] [ 9.51175593e-01 -3.08300945e-01 -1.46805401e-02 1.12391500e+02] [ 1.53881590e-02 -1.36102140e-04 9.99881586e-01 8.58444218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.12, Y:112.42, Z:8.59 [[-3.10020458e-01 -9.50719695e-01 4.40192673e-03 2.06124345e+02] [ 9.50616848e-01 -3.10051671e-01 -1.39846439e-02 1.12416589e+02] [ 1.46603011e-02 -1.50980001e-04 9.99892521e-01 8.58526565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.12, Y:112.44, Z:8.59 [[-3.11359785e-01 -9.50282591e-01 4.25212707e-03 2.06116309e+02] [ 9.50186851e-01 -3.11388778e-01 -1.34898780e-02 1.12442115e+02] [ 1.41432608e-02 -1.59890271e-04 9.99899966e-01 8.58649564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.11, Y:112.47, Z:8.59 [[-3.13263761e-01 -9.49657902e-01 3.96061267e-03 2.06110525e+02] [ 9.49575000e-01 -3.13288750e-01 -1.25490220e-02 1.12467761e+02] [ 1.31580933e-02 -1.70255034e-04 9.99913414e-01 8.58774990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.10, Y:112.49, Z:8.59 [[-3.13984972e-01 -9.49419641e-01 3.97278491e-03 2.06103589e+02] [ 9.49336421e-01 -3.14010056e-01 -1.25715986e-02 1.12491855e+02] [ 1.31832171e-02 -1.75783647e-04 9.99913082e-01 8.58829587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:112.52, Z:8.59 [[-3.15419643e-01 -9.48944489e-01 3.84769722e-03 2.06094486e+02] [ 9.48866554e-01 -3.15443056e-01 -1.21630939e-02 1.12517481e+02] [ 1.27558303e-02 -1.85527534e-04 9.99918624e-01 8.58880591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:112.54, Z:8.59 [[-3.16277446e-01 -9.48659216e-01 3.77750379e-03 2.06088135e+02] [ 9.48584262e-01 -3.16299948e-01 -1.19264637e-02 1.12541837e+02] [ 1.25089739e-02 -1.88790832e-04 9.99921742e-01 8.58921156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.08, Y:112.57, Z:8.59 [[-3.17096071e-01 -9.48386352e-01 3.66188845e-03 2.06079526e+02] [ 9.48316094e-01 -3.17117159e-01 -1.15452650e-02 1.12566497e+02] [ 1.21106194e-02 -1.88330424e-04 9.99926646e-01 8.58966289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.07, Y:112.59, Z:8.59 [[-3.17720344e-01 -9.48177771e-01 3.56337612e-03 2.06070325e+02] [ 9.48111398e-01 -3.17740271e-01 -1.12204102e-02 1.12591390e+02] [ 1.17711716e-02 -1.86475065e-04 9.99930700e-01 8.59066081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:112.62, Z:8.59 [[-3.18168928e-01 -9.48027385e-01 3.55106712e-03 2.06062266e+02] [ 9.47961636e-01 -3.18188689e-01 -1.11667004e-02 1.12616719e+02] [ 1.17162471e-02 -1.86621686e-04 9.99931345e-01 8.59111799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.05, Y:112.64, Z:8.59 [[-3.18358144e-01 -9.47963669e-01 3.60198115e-03 2.06053544e+02] [ 9.47896199e-01 -3.18378465e-01 -1.13114657e-02 1.12641398e+02] [ 1.18696517e-02 -1.86792981e-04 9.99929536e-01 8.59166601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.05, Y:112.67, Z:8.59 [[-3.18653803e-01 -9.47864276e-01 3.61513681e-03 2.06046397e+02] [ 9.47796485e-01 -3.18674254e-01 -1.13376571e-02 1.12666031e+02] [ 1.18986112e-02 -1.86373579e-04 9.99929192e-01 8.59144468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.04, Y:112.69, Z:8.59 [[-3.18512713e-01 -9.47911095e-01 3.76921811e-03 2.06035566e+02] [ 9.47837617e-01 -3.18534960e-01 -1.18039030e-02 1.12690016e+02] [ 1.23896784e-02 -1.87086474e-04 9.99923228e-01 8.59132081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.03, Y:112.71, Z:8.59 [[-3.18610192e-01 -9.47878059e-01 3.83801416e-03 2.06025855e+02] [ 9.47802074e-01 -3.18633253e-01 -1.20032725e-02 1.12714606e+02] [ 1.26005576e-02 -1.86687179e-04 9.99920592e-01 8.59118859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.02, Y:112.74, Z:8.59 [[-3.19150637e-01 -9.47695468e-01 4.02126261e-03 2.06016370e+02] [ 9.47612270e-01 -3.19175909e-01 -1.25588989e-02 1.12739695e+02] [ 1.31855017e-02 -1.97582788e-04 9.99913048e-01 8.59105080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.01, Y:112.76, Z:8.59 [[-3.20526510e-01 -9.47230643e-01 4.10671451e-03 2.06009168e+02] [ 9.47144066e-01 -3.20552744e-01 -1.28084360e-02 1.12763846e+02] [ 1.34489617e-02 -2.15792995e-04 9.99909535e-01 8.59115449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.00, Y:112.79, Z:8.59 [[-3.21926030e-01 -9.46756290e-01 4.01973357e-03 2.06000698e+02] [ 9.46673526e-01 -3.21951046e-01 -1.25203402e-02 1.12788749e+02] [ 1.31478683e-02 -2.25248070e-04 9.99913538e-01 8.59166311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:112.81, Z:8.59 [[-3.23361079e-01 -9.46267303e-01 3.97546537e-03 2.05991975e+02] [ 9.46186522e-01 -3.23385428e-01 -1.23664654e-02 1.12813564e+02] [ 1.29875894e-02 -2.37301836e-04 9.99915630e-01 8.59233262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.98, Y:112.84, Z:8.59 [[-3.24885465e-01 -9.45745675e-01 3.81481423e-03 2.05984773e+02] [ 9.45671445e-01 -3.24907770e-01 -1.18515403e-02 1.12839164e+02] [ 1.24480057e-02 -2.42832290e-04 9.99922491e-01 8.59321259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.98, Y:112.87, Z:8.59 [[-3.27103046e-01 -9.44982179e-01 3.50398861e-03 2.05975588e+02] [ 9.44919652e-01 -3.27121721e-01 -1.08733947e-02 1.12865271e+02] [ 1.14213950e-02 -2.45732823e-04 9.99934744e-01 8.59488007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.97, Y:112.89, Z:8.60 [[-3.28765705e-01 -9.44406378e-01 3.11526504e-03 2.05969191e+02] [ 9.44357037e-01 -3.28780382e-01 -9.65644148e-03 1.12890760e+02] [ 1.01438430e-02 -2.32784329e-04 9.99948523e-01 8.59715924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.96, Y:112.92, Z:8.60 [[-3.29723324e-01 -9.44073249e-01 2.86898226e-03 2.05959659e+02] [ 9.44031449e-01 -3.29735731e-01 -8.88662444e-03 1.12915657e+02] [ 9.33563036e-03 -2.21717865e-04 9.99956397e-01 8.59816161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.95, Y:112.94, Z:8.60 [[-3.30263657e-01 -9.43884740e-01 2.74133983e-03 2.05951839e+02] [ 9.43846664e-01 -3.30274965e-01 -8.48070090e-03 1.12940334e+02] [ 8.91020008e-03 -2.13462837e-04 9.99960281e-01 8.59948649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.94, Y:112.96, Z:8.60 [[-3.30687124e-01 -9.43737793e-01 2.23693160e-03 2.05940740e+02] [ 9.43712488e-01 -3.30694643e-01 -6.91329027e-03 1.12964508e+02] [ 7.26407460e-03 -1.75115789e-04 9.99973601e-01 8.60077937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:112.99, Z:8.60 [[-3.30947138e-01 -9.43647116e-01 2.02786738e-03 2.05930180e+02] [ 9.43626367e-01 -3.30953313e-01 -6.25974151e-03 1.12989538e+02] [ 6.57811645e-03 -1.58094409e-04 9.99978351e-01 8.60129626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.92, Y:113.01, Z:8.60 [[-3.30342457e-01 -9.43859171e-01 1.93017010e-03 2.05920525e+02] [ 9.43840414e-01 -3.30348065e-01 -5.95218015e-03 1.13014432e+02] [ 6.25564778e-03 -1.44485272e-04 9.99980423e-01 8.60240715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.91, Y:113.04, Z:8.60 [[-3.29997841e-01 -9.43979662e-01 1.95524363e-03 2.05911470e+02] [ 9.43960470e-01 -3.30003603e-01 -6.02101984e-03 1.13039201e+02] [ 6.32895772e-03 -1.41250853e-04 9.99979962e-01 8.60298783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.90, Y:113.06, Z:8.60 [[-3.29769806e-01 -9.44059478e-01 1.89120669e-03 2.05902930e+02] [ 9.44041580e-01 -3.29775202e-01 -5.81478533e-03 1.13062792e+02] [ 6.11317627e-03 -1.32162879e-04 9.99981306e-01 8.60339410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.89, Y:113.09, Z:8.60 [[-3.29464565e-01 -9.44166180e-01 1.82339638e-03 2.05893509e+02] [ 9.44149567e-01 -3.29469588e-01 -5.60228510e-03 1.13087469e+02] [ 5.89024178e-03 -1.24195522e-04 9.99982645e-01 8.60354205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.88, Y:113.11, Z:8.60 [[-3.28901920e-01 -9.44361601e-01 2.16631282e-03 2.05882814e+02] [ 9.44338240e-01 -3.28909024e-01 -6.64398029e-03 1.13111414e+02] [ 6.98683970e-03 -1.39485837e-04 9.99975582e-01 8.60250139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:113.13, Z:8.60 [[-3.27660574e-01 -9.44792668e-01 2.31584776e-03 2.05872456e+02] [ 9.44766070e-01 -3.27668730e-01 -7.09059160e-03 1.13134366e+02] [ 7.45796985e-03 -1.35372924e-04 9.99972180e-01 8.60147194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.86, Y:113.16, Z:8.60 [[-3.27410100e-01 -9.44879483e-01 2.32158492e-03 2.05863347e+02] [ 9.44852802e-01 -3.27418304e-01 -7.10185150e-03 1.13158353e+02] [ 7.47052317e-03 -1.31661894e-04 9.99972087e-01 8.60136332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.85, Y:113.18, Z:8.60 [[-3.27168004e-01 -9.44963128e-01 2.40515164e-03 2.05853789e+02] [ 9.44934581e-01 -3.27176818e-01 -7.34630769e-03 1.13183098e+02] [ 7.72889975e-03 -1.30765867e-04 9.99970123e-01 8.60084229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:113.21, Z:8.60 [[-3.27361628e-01 -9.44895455e-01 2.63514387e-03 2.05844850e+02] [ 9.44861288e-01 -3.27372203e-01 -8.03654215e-03 1.13208399e+02] [ 8.45636501e-03 -1.41010095e-04 9.99964234e-01 8.59955780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:113.23, Z:8.60 [[-3.27894369e-01 -9.44710265e-01 2.79245175e-03 2.05838711e+02] [ 9.44672000e-01 -3.27906225e-01 -8.50410254e-03 1.13232877e+02] [ 8.94957527e-03 -1.50496356e-04 9.99959940e-01 8.59963442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.83, Y:113.26, Z:8.60 [[-3.28549999e-01 -9.44482364e-01 2.82185081e-03 2.05829870e+02] [ 9.44443392e-01 -3.28562081e-01 -8.58127120e-03 1.13257603e+02] [ 9.03201248e-03 -1.54298294e-04 9.99959199e-01 8.59947697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:113.28, Z:8.60 [[-3.29401489e-01 -9.44185342e-01 2.94940537e-03 2.05823293e+02] [ 9.44142881e-01 -3.29414651e-01 -8.95591611e-03 1.13282214e+02] [ 9.42762206e-03 -1.65432012e-04 9.99955545e-01 8.59920296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:113.31, Z:8.60 [[-3.29949354e-01 -9.43994031e-01 2.94830941e-03 2.05815523e+02] [ 9.43951677e-01 -3.29962484e-01 -8.94380582e-03 1.13307873e+02] [ 9.41573081e-03 -1.67941342e-04 9.99955657e-01 8.59963299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:113.33, Z:8.60 [[-3.30653245e-01 -9.43748263e-01 2.76535386e-03 2.05809763e+02] [ 9.43711080e-01 -3.30664770e-01 -8.37899045e-03 1.13332633e+02] [ 8.82206278e-03 -1.60845306e-04 9.99961072e-01 8.60040645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:113.36, Z:8.60 [[-3.31012587e-01 -9.43622277e-01 2.76879993e-03 2.05801379e+02] [ 9.43585099e-01 -3.31024128e-01 -8.37785127e-03 1.13357163e+02] [ 8.82206667e-03 -1.60575869e-04 9.99961072e-01 8.60071772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:113.38, Z:8.60 [[-3.31343901e-01 -9.43505500e-01 2.93112125e-03 2.05793757e+02] [ 9.43463944e-01 -3.31356822e-01 -8.85681650e-03 1.13382073e+02] [ 9.32770210e-03 -1.69244914e-04 9.99956482e-01 8.60093973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:113.41, Z:8.60 [[-3.31691176e-01 -9.43383266e-01 2.99634940e-03 2.05786150e+02] [ 9.43339947e-01 -3.31704665e-01 -9.04215640e-03 1.13407237e+02] [ 9.52412210e-03 -1.72627408e-04 9.99954630e-01 8.60091926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:113.43, Z:8.60 [[-3.31702742e-01 -9.43379349e-01 2.94875276e-03 2.05779042e+02] [ 9.43337497e-01 -3.31715807e-01 -8.88762151e-03 1.13432242e+02] [ 9.36254650e-03 -1.66379375e-04 9.99956157e-01 8.60113143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:113.46, Z:8.60 [[-3.31590819e-01 -9.43418443e-01 3.02824011e-03 2.05772616e+02] [ 9.43374422e-01 -3.31604605e-01 -9.11512701e-03 1.13457011e+02] [ 9.60355730e-03 -1.65728163e-04 9.99953871e-01 8.60171483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:113.48, Z:8.60 [[-3.31104006e-01 -9.43590281e-01 2.74215767e-03 2.05765025e+02] [ 9.43554276e-01 -3.31115330e-01 -8.24411397e-03 1.13482479e+02] [ 8.68703626e-03 -1.42284570e-04 9.99962257e-01 8.60221752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:113.51, Z:8.60 [[-3.31045789e-01 -9.43611228e-01 2.55671129e-03 2.05757778e+02] [ 9.43580000e-01 -3.31055636e-01 -7.67786701e-03 1.13508047e+02] [ 8.09133520e-03 -1.29263902e-04 9.99967256e-01 8.60274589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:113.53, Z:8.60 [[-3.31194564e-01 -9.43559493e-01 2.37571201e-03 2.05749583e+02] [ 9.43532587e-01 -3.31203063e-01 -7.12658048e-03 1.13533170e+02] [ 7.51119576e-03 -1.18723015e-04 9.99971784e-01 8.60332296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:113.56, Z:8.60 [[-3.31331992e-01 -9.43511674e-01 2.19801673e-03 2.05745731e+02] [ 9.43488692e-01 -3.31339265e-01 -6.58634206e-03 1.13558670e+02] [ 6.94257987e-03 -1.08461905e-04 9.99975894e-01 8.60480645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:113.58, Z:8.60 [[-3.30919537e-01 -9.43656600e-01 2.11684427e-03 2.05736596e+02] [ 9.43635344e-01 -3.30926292e-01 -6.33452741e-03 1.13584017e+02] [ 6.67813803e-03 -9.86898093e-05 9.99977696e-01 8.60450736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:113.61, Z:8.61 [[-3.30177128e-01 -9.43917221e-01 1.82870520e-03 2.05730796e+02] [ 9.43901386e-01 -3.30182183e-01 -5.46798932e-03 1.13610421e+02] [ 5.76513515e-03 -7.92876399e-05 9.99983378e-01 8.60551775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:113.64, Z:8.61 [[-3.29790193e-01 -9.44052577e-01 1.77767089e-03 2.05723589e+02] [ 9.44037653e-01 -3.29794976e-01 -5.30888733e-03 1.13636065e+02] [ 5.59813570e-03 -7.26307249e-05 9.99984328e-01 8.60586917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:113.66, Z:8.61 [[-3.29506561e-01 -9.44151542e-01 1.81434458e-03 2.05716305e+02] [ 9.44136039e-01 -3.29511549e-01 -5.41101104e-03 1.13661698e+02] [ 5.70666191e-03 -6.99755365e-05 9.99983714e-01 8.60641596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:113.69, Z:8.61 [[-3.28477271e-01 -9.44510408e-01 1.66478831e-03 2.05710963e+02] [ 9.44497386e-01 -3.28481484e-01 -4.95999455e-03 1.13686841e+02] [ 5.23161862e-03 -5.68572658e-05 9.99986313e-01 8.60774748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:113.71, Z:8.61 [[-3.28240927e-01 -9.44592556e-01 1.67221726e-03 2.05703732e+02] [ 9.44579459e-01 -3.28245182e-01 -4.97456467e-03 1.13711920e+02] [ 5.24783402e-03 -5.33136483e-05 9.99986229e-01 8.60832416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:113.74, Z:8.61 [[-3.27632617e-01 -9.44803546e-01 1.76866369e-03 2.05697690e+02] [ 9.44788938e-01 -3.27637387e-01 -5.25406497e-03 1.13737669e+02] [ 5.54353956e-03 -5.03891636e-05 9.99984633e-01 8.60872928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1727550960001 meters Centerline goodness [0,1] 0.99997810330859 Centerline is valid? [True, True] Translation: X:205.69, Y:113.76, Z:8.61 [[-3.26753665e-01 -9.45108467e-01 1.42425818e-03 2.05688390e+02] [ 9.45099017e-01 -3.26756768e-01 -4.22636844e-03 1.13761573e+02] [ 4.45976259e-03 -3.49163706e-05 9.99990055e-01 8.61034247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:113.79, Z:8.61 [[-3.25988536e-01 -9.45373026e-01 1.14713077e-03 2.05679194e+02] [ 9.45366894e-01 -3.25990553e-01 -3.40525119e-03 1.13785539e+02] [ 3.59318642e-03 -2.56133943e-05 9.99993544e-01 8.61158528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:113.81, Z:8.61 [[-3.25426074e-01 -9.45566934e-01 1.02179954e-03 2.05669797e+02] [ 9.45562078e-01 -3.25427677e-01 -3.03043583e-03 1.13810756e+02] [ 3.19800177e-03 -2.00079331e-05 9.99994886e-01 8.61238396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:113.83, Z:8.61 [[-3.25032590e-01 -9.45702573e-01 6.76659229e-04 2.05660398e+02] [ 9.45700438e-01 -3.25033294e-01 -2.00974851e-03 1.13834077e+02] [ 2.12056112e-03 -1.33168349e-05 9.99997752e-01 8.61464318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:113.86, Z:8.62 [[-3.27087100e-01 -9.44994046e-01 5.30367548e-04 2.05652888e+02] [ 9.44992733e-01 -3.27087530e-01 -1.57555173e-03 1.13859534e+02] [ 1.66236361e-03 -1.41491664e-05 9.99998618e-01 8.61548285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:113.89, Z:8.62 [[-3.29184820e-01 -9.44265453e-01 3.29111884e-04 2.05646006e+02] [ 9.44264943e-01 -3.29184984e-01 -9.81858253e-04 1.13885356e+02] [ 1.03547352e-03 -1.24440182e-05 9.99999464e-01 8.61652459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:113.91, Z:8.62 [[-3.31427228e-01 -9.43480785e-01 1.85665067e-05 2.05638388e+02] [ 9.43480783e-01 -3.31427229e-01 -6.74193800e-05 1.13911660e+02] [ 6.97623351e-05 -4.82747596e-06 9.99999998e-01 8.61766337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:113.94, Z:8.62 [[-3.35730022e-01 -9.41958190e-01 -3.48078609e-04 2.05632922e+02] [ 9.41957651e-01 -3.35730202e-01 1.00743314e-03 1.13937814e+02] [-1.06582040e-03 1.03502425e-05 9.99999432e-01 8.61912827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:113.96, Z:8.62 [[-3.37998121e-01 -9.41146639e-01 -5.23570088e-04 2.05624822e+02] [ 9.41145410e-01 -3.37998526e-01 1.52091045e-03 1.13963834e+02] [-1.60836568e-03 2.13092903e-05 9.99998706e-01 8.61880269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:113.99, Z:8.62 [[-3.41772763e-01 -9.39782010e-01 -1.07339160e-03 2.05617323e+02] [ 9.39776810e-01 -3.41774443e-01 3.12691095e-03 1.13989637e+02] [-3.30547247e-03 5.99444614e-05 9.99994535e-01 8.61885614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:114.02, Z:8.62 [[-3.44179321e-01 -9.38903397e-01 -1.00288257e-03 2.05609839e+02] [ 9.38898865e-01 -3.44180777e-01 2.91810428e-03 1.14015945e+02] [-3.08499092e-03 6.27458476e-05 9.99995239e-01 8.61889061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:114.04, Z:8.62 [[-3.46138363e-01 -9.38182897e-01 -1.04222452e-03 2.05601390e+02] [ 9.38178008e-01 -3.46139925e-01 3.02947800e-03 1.14042022e+02] [-3.20295996e-03 7.08264263e-05 9.99994868e-01 8.61850501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:114.07, Z:8.62 [[-3.50266197e-01 -9.36649921e-01 -7.18884686e-04 2.05594952e+02] [ 9.36647608e-01 -3.50266930e-01 2.08239276e-03 1.14067396e+02] [-2.20227455e-03 5.60501726e-05 9.99997573e-01 8.61699562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:114.09, Z:8.62 [[-3.52521145e-01 -9.35803624e-01 -6.47439933e-04 2.05585605e+02] [ 9.35801753e-01 -3.52521736e-01 1.87237421e-03 1.14092863e+02] [-1.98041122e-03 5.41760781e-05 9.99998038e-01 8.61567593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:114.12, Z:8.61 [[-3.55330468e-01 -9.34740671e-01 -3.69691100e-04 2.05578048e+02] [ 9.34740069e-01 -3.55330659e-01 1.06153231e-03 1.14117789e+02] [-1.12362001e-03 3.16296894e-05 9.99999368e-01 8.61415855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:114.14, Z:8.61 [[-3.56604545e-01 -9.34255377e-01 -2.97813082e-04 2.05568977e+02] [ 9.34254989e-01 -3.56604668e-01 8.52194695e-04 1.14143585e+02] [-9.02369012e-04 2.56631435e-05 9.99999593e-01 8.61318307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:114.17, Z:8.61 [[-3.57213480e-01 -9.34022766e-01 -5.20297680e-05 2.05560099e+02] [ 9.34022756e-01 -3.57213483e-01 1.36397033e-04 1.14168826e+02] [-1.45983669e-04 1.25871415e-07 9.99999989e-01 8.61230255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:114.19, Z:8.61 [[-3.57656037e-01 -9.33853199e-01 6.01169172e-04 2.05552332e+02] [ 9.33851548e-01 -3.57656536e-01 -1.75736181e-03 1.14192902e+02] [ 1.85613003e-03 -6.71282969e-05 9.99998275e-01 8.61074682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:114.22, Z:8.61 [[-3.57915395e-01 -9.33753582e-01 9.04547882e-04 2.05542287e+02] [ 9.33749877e-01 -3.57916524e-01 -2.63224793e-03 1.14217701e+02] [ 2.78162356e-03 -9.75005817e-05 9.99996127e-01 8.60915166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:114.24, Z:8.61 [[-3.57487264e-01 -9.33916551e-01 1.65283184e-03 2.05529068e+02] [ 9.33904275e-01 -3.57491045e-01 -4.79148608e-03 1.14242152e+02] [ 5.06572074e-03 -1.69308530e-04 9.99987155e-01 8.60554846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:114.27, Z:8.60 [[-3.57520438e-01 -9.33903484e-01 1.84896440e-03 2.05520160e+02] [ 9.33888159e-01 -3.57525170e-01 -5.35351134e-03 1.14265941e+02] [ 5.66071420e-03 -1.87263758e-04 9.99983961e-01 8.60429916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:114.29, Z:8.60 [[-3.57331145e-01 -9.33974949e-01 2.29063108e-03 2.05508804e+02] [ 9.33951517e-01 -3.57338415e-01 -6.61974370e-03 1.14290387e+02] [ 7.00120527e-03 -2.26102219e-04 9.99975466e-01 8.60274300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:114.32, Z:8.60 [[-3.56103592e-01 -9.34442383e-01 2.76870907e-03 2.05496074e+02] [ 9.34408275e-01 -3.56114262e-01 -7.98803128e-03 1.14315108e+02] [ 8.45033177e-03 -2.57461963e-04 9.99964262e-01 8.60091297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:114.34, Z:8.60 [[-3.55302003e-01 -9.34746700e-01 3.01573590e-03 2.05486907e+02] [ 9.34706351e-01 -3.55314700e-01 -8.68914307e-03 1.14339032e+02] [ 9.19368310e-03 -2.68442437e-04 9.99957701e-01 8.60040025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:114.36, Z:8.60 [[-3.52734888e-01 -9.35717066e-01 3.41626398e-03 2.05473824e+02] [ 9.35665452e-01 -3.52751327e-01 -9.83179351e-03 1.14362957e+02] [ 1.04048686e-02 -2.71536407e-04 9.99945831e-01 8.59892993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:114.39, Z:8.60 [[-3.51548547e-01 -9.36163153e-01 3.48846965e-03 2.05461802e+02] [ 9.36109479e-01 -3.51565759e-01 -1.00279474e-02 1.14387334e+02] [ 1.06142214e-02 -2.59720847e-04 9.99943634e-01 8.59837043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:114.41, Z:8.60 [[-3.50218554e-01 -9.36660827e-01 3.66864443e-03 2.05451158e+02] [ 9.36601647e-01 -3.50237678e-01 -1.05320821e-02 1.14411175e+02] [ 1.11498863e-02 -2.52472161e-04 9.99937806e-01 8.59770193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:114.44, Z:8.60 [[-3.47425843e-01 -9.37698388e-01 4.12516876e-03 2.05436642e+02] [ 9.37623799e-01 -3.47450248e-01 -1.18294934e-02 1.14435245e+02] [ 1.25257878e-02 -2.42015316e-04 9.99921520e-01 8.59592620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:114.46, Z:8.60 [[-3.46164508e-01 -9.38164213e-01 4.24771089e-03 2.05425137e+02] [ 9.38085345e-01 -3.46190494e-01 -1.21666154e-02 1.14458883e+02] [ 1.28848003e-02 -2.26935106e-04 9.99916962e-01 8.59561068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.41, Y:114.48, Z:8.59 [[-3.43538892e-01 -9.39127636e-01 4.50708313e-03 2.05412970e+02] [ 9.39039159e-01 -3.43568400e-01 -1.28923905e-02 1.14482124e+02] [ 1.36560915e-02 -1.96709984e-04 9.99906732e-01 8.59407184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:114.51, Z:8.59 [[-3.42792587e-01 -9.39399624e-01 4.64628442e-03 2.05400641e+02] [ 9.39305853e-01 -3.42824024e-01 -1.32741811e-02 1.14506097e+02] [ 1.40626187e-02 -1.86008735e-04 9.99901099e-01 8.59346382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.39, Y:114.53, Z:8.59 [[-3.40984240e-01 -9.40055986e-01 4.94899951e-03 2.05386277e+02] [ 9.39949926e-01 -3.41020113e-01 -1.41216116e-02 1.14530422e+02] [ 1.49628139e-02 -1.63435268e-04 9.99888037e-01 8.59219216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:114.55, Z:8.59 [[-3.40776940e-01 -9.40129852e-01 5.19017559e-03 2.05377046e+02] [ 9.40013438e-01 -3.40816423e-01 -1.47953129e-02 1.14553988e+02] [ 1.56784125e-02 -1.63066673e-04 9.99877073e-01 8.59121932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:114.58, Z:8.59 [[-3.40998964e-01 -9.40048878e-01 5.27384053e-03 2.05366207e+02] [ 9.39928994e-01 -3.41039705e-01 -1.50135400e-02 1.14578505e+02] [ 1.59120505e-02 -1.62565981e-04 9.99873382e-01 8.59091772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:114.60, Z:8.59 [[-3.41253084e-01 -9.39955185e-01 5.53010868e-03 2.05356062e+02] [ 9.39823697e-01 -3.41297848e-01 -1.57225385e-02 1.14602610e+02] [ 1.66658958e-02 -1.68037566e-04 9.99861100e-01 8.59048394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.35, Y:114.63, Z:8.59 [[-3.41805054e-01 -9.39755173e-01 5.43318330e-03 2.05347134e+02] [ 9.39628525e-01 -3.41848192e-01 -1.54288273e-02 1.14626699e+02] [ 1.63566442e-02 -1.68477139e-04 9.99866207e-01 8.59042238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:114.65, Z:8.59 [[-3.43132599e-01 -9.39271432e-01 5.40346470e-03 2.05337954e+02] [ 9.39146372e-01 -3.43175092e-01 -1.53280271e-02 1.14650008e+02] [ 1.62515124e-02 -1.84901502e-04 9.99867918e-01 8.59010494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:114.67, Z:8.59 [[-3.43627568e-01 -9.39089780e-01 5.52077632e-03 2.05328178e+02] [ 9.38959543e-01 -3.43671861e-01 -1.56406031e-02 1.14674159e+02] [ 1.65852660e-02 -1.90756782e-04 9.99862437e-01 8.59034085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:114.70, Z:8.59 [[-3.44293723e-01 -9.38845430e-01 5.57590558e-03 2.05318038e+02] [ 9.38712874e-01 -3.44338814e-01 -1.57772335e-02 1.14699038e+02] [ 1.67323843e-02 -1.97828101e-04 9.99859984e-01 8.59032201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:114.72, Z:8.59 [[-3.45153547e-01 -9.38529480e-01 5.60760751e-03 2.05307903e+02] [ 9.38395700e-01 -3.45199034e-01 -1.58473020e-02 1.14723033e+02] [ 1.68089008e-02 -2.07597700e-04 9.99858699e-01 8.59001096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:114.75, Z:8.59 [[-3.45762749e-01 -9.38303911e-01 5.82174734e-03 2.05299062e+02] [ 9.38160049e-01 -3.45811687e-01 -1.64316566e-02 1.14747556e+02] [ 1.74311159e-02 -2.19723989e-04 9.99848042e-01 8.59021801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:114.77, Z:8.59 [[-3.46383309e-01 -9.38074192e-01 5.95096251e-03 2.05291536e+02] [ 9.37924187e-01 -3.46434349e-01 -1.67768288e-02 1.14771583e+02] [ 1.77995279e-02 -2.29661807e-04 9.99841549e-01 8.59043735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:114.80, Z:8.59 [[-3.47033203e-01 -9.37833696e-01 5.99287411e-03 2.05284023e+02] [ 9.37681859e-01 -3.47084863e-01 -1.68768937e-02 1.14795397e+02] [ 1.79077554e-02 -2.37433123e-04 9.99839615e-01 8.59048524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:114.82, Z:8.59 [[-3.47432694e-01 -9.37685101e-01 6.09710479e-03 2.05276535e+02] [ 9.37528308e-01 -3.47486105e-01 -1.71487003e-02 1.14819665e+02] [ 1.81987400e-02 -2.41810796e-04 9.99834360e-01 8.59045534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.27, Y:114.84, Z:8.59 [[-3.47462895e-01 -9.37674223e-01 6.04882663e-03 2.05267097e+02] [ 9.37520274e-01 -3.47515464e-01 -1.69922787e-02 1.14843831e+02] [ 1.80352825e-02 -2.33288737e-04 9.99837324e-01 8.59154301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:114.87, Z:8.59 [[-3.47068384e-01 -9.37820600e-01 6.00494384e-03 2.05258254e+02] [ 9.37669259e-01 -3.47120261e-01 -1.68489127e-02 1.14867724e+02] [ 1.78856951e-02 -2.17073660e-04 9.99840015e-01 8.59208370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.25, Y:114.89, Z:8.59 [[-3.46194737e-01 -9.38143419e-01 6.01085618e-03 2.05250551e+02] [ 9.37992209e-01 -3.46246861e-01 -1.68441954e-02 1.14891104e+02] [ 1.78835111e-02 -1.93235518e-04 9.99840059e-01 8.59312593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:114.91, Z:8.59 [[-3.46572740e-01 -9.38003796e-01 6.01785724e-03 2.05241811e+02] [ 9.37852609e-01 -3.46624929e-01 -1.68416943e-02 1.14914625e+02] [ 1.78835125e-02 -1.93009035e-04 9.99840059e-01 8.59342713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:114.94, Z:8.60 [[-3.46557234e-01 -9.38010298e-01 5.89620574e-03 2.05232218e+02] [ 9.37865523e-01 -3.46607340e-01 -1.64806786e-02 1.14939636e+02] [ 1.75027144e-02 -1.81650311e-04 9.99846799e-01 8.59514817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:114.96, Z:8.60 [[-3.46150503e-01 -9.38160911e-01 5.82529173e-03 2.05225908e+02] [ 9.38019972e-01 -3.46199476e-01 -1.62620455e-02 1.14964094e+02] [ 1.72731284e-02 -1.64875247e-04 9.99850795e-01 8.59645249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.22, Y:114.99, Z:8.60 [[-3.46427651e-01 -9.38058371e-01 5.86306019e-03 2.05218480e+02] [ 9.37915927e-01 -3.46477222e-01 -1.63477539e-02 1.14988884e+02] [ 1.73665642e-02 -1.64256435e-04 9.99849176e-01 8.59731256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:115.01, Z:8.60 [[-3.46928347e-01 -9.37874368e-01 5.69137366e-03 2.05210584e+02] [ 9.37740392e-01 -3.46974990e-01 -1.58528532e-02 1.15013733e+02] [ 1.68427490e-02 -1.62773183e-04 9.99858138e-01 8.59833631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:115.04, Z:8.60 [[-3.48380452e-01 -9.37336878e-01 5.53524134e-03 2.05204134e+02] [ 9.37210383e-01 -3.48424377e-01 -1.53997273e-02 1.15039968e+02] [ 1.63633453e-02 -1.77278308e-04 9.99866096e-01 8.59941661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:115.07, Z:8.60 [[-3.49356897e-01 -9.36973996e-01 5.43043743e-03 2.05196693e+02] [ 9.36852490e-01 -3.49399052e-01 -1.50901887e-02 1.15065428e+02] [ 1.60365041e-02 -1.84342673e-04 9.99871390e-01 8.60023646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:115.09, Z:8.60 [[-3.51128129e-01 -9.36310590e-01 5.61397881e-03 2.05193781e+02] [ 9.36180966e-01 -3.51172940e-01 -1.55809465e-02 1.15092635e+02] [ 1.65600826e-02 -2.15208496e-04 9.99862849e-01 8.60128701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:115.12, Z:8.60 [[-3.51922277e-01 -9.36011749e-01 5.71983612e-03 2.05186298e+02] [ 9.35877465e-01 -3.51968683e-01 -1.58561078e-02 1.15118342e+02] [ 1.68547064e-02 -2.27051849e-04 9.99857924e-01 8.60210369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.18, Y:115.14, Z:8.60 [[-3.53742663e-01 -9.35325408e-01 5.70175221e-03 2.05179693e+02] [ 9.35192197e-01 -3.53788522e-01 -1.57872189e-02 1.15144288e+02] [ 1.67834015e-02 -2.52378685e-04 9.99859117e-01 8.60322656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:115.17, Z:8.60 [[-3.54161705e-01 -9.35166820e-01 5.70141820e-03 2.05173061e+02] [ 9.35033934e-01 -3.54207504e-01 -1.57666620e-02 1.15168469e+02] [ 1.67639443e-02 -2.52928413e-04 9.99859443e-01 8.60341393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:115.19, Z:8.60 [[-3.54670023e-01 -9.34974937e-01 5.57148655e-03 2.05163126e+02] [ 9.34848324e-01 -3.54713694e-01 -1.53885328e-02 1.15193863e+02] [ 1.63641750e-02 -2.49356416e-04 9.99866067e-01 8.60478221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:115.22, Z:8.61 [[-3.54745334e-01 -9.34946859e-01 5.48817470e-03 2.05155673e+02] [ 9.34824260e-01 -3.54787702e-01 -1.51422868e-02 1.15218729e+02] [ 1.61043704e-02 -2.41176740e-04 9.99870287e-01 8.60586389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.15, Y:115.24, Z:8.61 [[-3.55059442e-01 -9.34828800e-01 5.28283786e-03 2.05148384e+02] [ 9.34715406e-01 -3.55098664e-01 -1.45619051e-02 1.15243254e+02] [ 1.54888170e-02 -2.32391974e-04 9.99880014e-01 8.60657276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:115.27, Z:8.61 [[-3.55381292e-01 -9.34708609e-01 4.89420383e-03 2.05139413e+02] [ 9.34611508e-01 -3.55414926e-01 -1.34743655e-02 1.15267892e+02] [ 1.43340785e-02 -2.14358180e-04 9.99897239e-01 8.60843558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:115.29, Z:8.61 [[-3.56173800e-01 -9.34407839e-01 4.71333197e-03 2.05132039e+02] [ 9.34317965e-01 -3.56204922e-01 -1.29612755e-02 1.15292407e+02] [ 1.37900295e-02 -2.12716028e-04 9.99904890e-01 8.60893936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:115.32, Z:8.61 [[-3.56556149e-01 -9.34262404e-01 4.63387003e-03 2.05123335e+02] [ 9.34175736e-01 -3.56586198e-01 -1.27270772e-02 1.15315618e+02] [ 1.35428039e-02 -2.09068700e-04 9.99908270e-01 8.60963598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:115.34, Z:8.61 [[-3.57426969e-01 -9.33930643e-01 4.41773070e-03 2.05113038e+02] [ 9.33852037e-01 -3.57454210e-01 -1.21186303e-02 1.15340468e+02] [ 1.28970966e-02 -2.06018493e-04 9.99916808e-01 8.61129525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:115.37, Z:8.61 [[-3.57957452e-01 -9.33728169e-01 4.26246396e-03 2.05104057e+02] [ 9.33655145e-01 -3.57982773e-01 -1.16792100e-02 1.15365682e+02] [ 1.24310960e-02 -2.00988822e-04 9.99922711e-01 8.61228018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:115.39, Z:8.61 [[-3.58479978e-01 -9.33528450e-01 4.09125108e-03 2.05094378e+02] [ 9.33461315e-01 -3.58503270e-01 -1.11972494e-02 1.15390142e+02] [ 1.19196777e-02 -1.94965083e-04 9.99928939e-01 8.61338454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:115.41, Z:8.61 [[-3.58683897e-01 -9.33450120e-01 4.09101586e-03 2.05086940e+02] [ 9.33383147e-01 -3.58707175e-01 -1.11832075e-02 1.15414858e+02] [ 1.19064431e-02 -1.92751176e-04 9.99929097e-01 8.61395653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:115.44, Z:8.61 [[-3.59151541e-01 -9.33270182e-01 4.11551945e-03 2.05075275e+02] [ 9.33202562e-01 -3.59175068e-01 -1.12360781e-02 1.15438684e+02] [ 1.19644887e-02 -1.94841483e-04 9.99928404e-01 8.61463925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:115.46, Z:8.62 [[-3.59957962e-01 -9.32960581e-01 3.84961600e-03 2.05065163e+02] [ 9.32901528e-01 -3.59978498e-01 -1.04986043e-02 1.15463210e+02] [ 1.11805629e-02 -1.87743546e-04 9.99937478e-01 8.61553508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.06, Y:115.49, Z:8.62 [[-3.60776390e-01 -9.32644969e-01 3.70929707e-03 2.05055331e+02] [ 9.32590248e-01 -3.60795410e-01 -1.01045632e-02 1.15487232e+02] [ 1.07622674e-02 -1.86233568e-04 9.99942068e-01 8.61647637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:115.51, Z:8.62 [[-3.61860964e-01 -9.32225478e-01 3.50732802e-03 2.05046229e+02] [ 9.32176642e-01 -3.61877914e-01 -9.54373486e-03 1.15511557e+02] [ 1.01661373e-02 -1.84055838e-04 9.99948307e-01 8.61773482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:115.54, Z:8.62 [[-3.62737110e-01 -9.31885929e-01 3.22551908e-03 2.05037386e+02] [ 9.31844701e-01 -3.62751408e-01 -8.76754391e-03 1.15536245e+02] [ 9.34041239e-03 -1.74630675e-04 9.99956362e-01 8.61865567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:115.56, Z:8.62 [[-3.63753394e-01 -9.31489267e-01 3.34879539e-03 2.05028503e+02] [ 9.31444918e-01 -3.63768760e-01 -9.09143412e-03 1.15560713e+02] [ 9.68676045e-03 -1.87821565e-04 9.99953065e-01 8.61902038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:115.59, Z:8.62 [[-3.66794585e-01 -9.30295673e-01 3.41963431e-03 2.05020626e+02] [ 9.30249488e-01 -3.66810460e-01 -9.27239346e-03 1.15585810e+02] [ 9.88042515e-03 -2.19950648e-04 9.99951163e-01 8.61931636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:115.61, Z:8.62 [[-3.68433094e-01 -9.29648071e-01 3.39401001e-03 2.05013597e+02] [ 9.29602654e-01 -3.68448653e-01 -9.19216160e-03 1.15611589e+02] [ 9.79599372e-03 -2.31615827e-04 9.99951991e-01 8.62019310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:115.64, Z:8.62 [[-3.72324047e-01 -9.28097755e-01 3.05948273e-03 2.05003911e+02] [ 9.28060839e-01 -3.72336538e-01 -8.28139997e-03 1.15636488e+02] [ 8.82510593e-03 -2.43978241e-04 9.99961028e-01 8.62122917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:115.66, Z:8.62 [[-3.74352124e-01 -9.27282124e-01 2.88955962e-03 2.04995081e+02] [ 9.27249239e-01 -3.74363196e-01 -7.81326360e-03 1.15661132e+02] [ 8.32684444e-03 -2.45569866e-04 9.99965301e-01 8.62222758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:115.69, Z:8.62 [[-3.76137288e-01 -9.26560637e-01 2.47526293e-03 2.04989957e+02] [ 9.26536530e-01 -3.76145367e-01 -6.68745095e-03 1.15685996e+02] [ 7.12738749e-03 -2.21978142e-04 9.99974575e-01 8.62412123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:115.71, Z:8.63 [[-3.77885950e-01 -9.25849453e-01 2.23611609e-03 2.04978270e+02] [ 9.25829807e-01 -3.77892507e-01 -6.03510832e-03 1.15709698e+02] [ 6.43261325e-03 -2.10319712e-04 9.99979288e-01 8.62553635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.572755096 meters Centerline goodness [0,1] 0.9999349819032964 Centerline is valid? [True, True] Translation: X:204.96, Y:115.73, Z:8.62 [[-3.78286772e-01 -9.25686271e-01 2.01139471e-03 2.04964054e+02] [ 9.25670398e-01 -3.78292071e-01 -5.42428671e-03 1.15733011e+02] [ 5.78208241e-03 -1.90047365e-04 9.99983266e-01 8.62390179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:115.76, Z:8.62 [[-3.76847113e-01 -9.26272293e-01 2.42748797e-03 2.04947336e+02] [ 9.26249262e-01 -3.76854870e-01 -6.53540375e-03 1.15755469e+02] [ 6.96837409e-03 -2.14389092e-04 9.99975698e-01 8.62371981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:115.78, Z:8.62 [[-3.75573100e-01 -9.26789299e-01 2.53790733e-03 2.04933773e+02] [ 9.26764201e-01 -3.75581616e-01 -6.82396069e-03 1.15780512e+02] [ 7.27756508e-03 -2.10854416e-04 9.99973496e-01 8.62307133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:115.81, Z:8.62 [[-3.74251215e-01 -9.27323343e-01 2.72861008e-03 2.04924304e+02] [ 9.27294405e-01 -3.74261102e-01 -7.32900067e-03 1.15805492e+02] [ 7.81756602e-03 -2.12662546e-04 9.99969420e-01 8.62303949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:115.83, Z:8.62 [[-3.70247823e-01 -9.28926873e-01 3.37856266e-03 2.04907149e+02] [ 9.28882699e-01 -3.70263174e-01 -9.06160730e-03 1.15827954e+02] [ 9.66852787e-03 -2.16751975e-04 9.99953235e-01 8.62114595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:115.85, Z:8.62 [[-3.68705582e-01 -9.29539645e-01 3.49897457e-03 2.04894302e+02] [ 9.29492399e-01 -3.68722127e-01 -9.37402958e-03 1.15851335e+02] [ 1.00036815e-02 -2.03986758e-04 9.99949941e-01 8.62083083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:115.87, Z:8.62 [[-3.66330287e-01 -9.30476801e-01 3.87865511e-03 2.04879218e+02] [ 9.30418944e-01 -3.66350769e-01 -1.03779729e-02 1.15873176e+02] [ 1.10774113e-02 -1.92991593e-04 9.99938625e-01 8.62024900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:115.90, Z:8.62 [[-3.65877307e-01 -9.30655073e-01 3.86422792e-03 2.04865436e+02] [ 9.30597791e-01 -3.65897667e-01 -1.03271006e-02 1.15896374e+02] [ 1.10248806e-02 -1.82409799e-04 9.99939208e-01 8.62016516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:115.92, Z:8.62 [[-3.65865168e-01 -9.30659369e-01 3.97724280e-03 2.04853834e+02] [ 9.30598835e-01 -3.65886740e-01 -1.06161104e-02 1.15919759e+02] [ 1.13352030e-02 -1.82847492e-04 9.99935738e-01 8.62082344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:115.94, Z:8.62 [[-3.67290326e-01 -9.30097895e-01 3.96499474e-03 2.04842503e+02] [ 9.30037843e-01 -3.67311676e-01 -1.05708496e-02 1.15943693e+02] [ 1.12883138e-02 -1.94975634e-04 9.99936266e-01 8.62121726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:115.97, Z:8.62 [[-3.70258332e-01 -9.28920059e-01 4.03623608e-03 2.04834583e+02] [ 9.28857900e-01 -3.70280259e-01 -1.07485423e-02 1.15968898e+02] [ 1.14790750e-02 -2.30647557e-04 9.99934087e-01 8.62224889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:115.99, Z:8.62 [[-3.72378161e-01 -9.28072756e-01 3.93255611e-03 2.04822547e+02] [ 9.28013828e-01 -3.72398845e-01 -1.04611631e-02 1.15993501e+02] [ 1.11731998e-02 -2.46042218e-04 9.99937548e-01 8.62265712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:116.02, Z:8.62 [[-3.74713398e-01 -9.27132349e-01 3.93396722e-03 2.04811682e+02] [ 9.27073451e-01 -3.74733951e-01 -1.04537927e-02 1.16018120e+02] [ 1.11662404e-02 -2.70099600e-04 9.99937619e-01 8.62302213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:116.04, Z:8.62 [[-3.79258242e-01 -9.25283319e-01 3.73705804e-03 2.04802732e+02] [ 9.25230186e-01 -3.79276531e-01 -9.92045723e-03 1.16042764e+02] [ 1.05966120e-02 -3.04776262e-04 9.99943808e-01 8.62344739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:116.07, Z:8.62 [[-3.81411681e-01 -9.24397806e-01 3.71830048e-03 2.04792223e+02] [ 9.24345282e-01 -3.81429668e-01 -9.85942887e-03 1.16067903e+02] [ 1.05323045e-02 -3.23507837e-04 9.99944481e-01 8.62421805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:116.09, Z:8.63 [[-3.84370511e-01 -9.23172243e-01 3.50998866e-03 2.04784895e+02] [ 9.23125485e-01 -3.84386393e-01 -9.29733563e-03 1.16093111e+02] [ 9.93223406e-03 -3.33461668e-04 9.99950619e-01 8.62568050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:116.12, Z:8.63 [[-3.85501140e-01 -9.22701017e-01 3.42122042e-03 2.04776799e+02] [ 9.22656636e-01 -3.85516176e-01 -9.05595624e-03 1.16117758e+02] [ 9.67487584e-03 -3.34469724e-04 9.99953141e-01 8.62633517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.082755096 meters Centerline goodness [0,1] 0.9999576719576719 Centerline is valid? [True, True] Translation: X:204.76, Y:116.14, Z:8.63 [[-3.85936792e-01 -9.22519299e-01 3.30679968e-03 2.04762472e+02] [ 9.22477928e-01 -3.85950823e-01 -8.74272180e-03 1.16140011e+02] [ 9.34159165e-03 -3.23688294e-04 9.99956314e-01 8.62555932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:116.16, Z:8.63 [[-3.85307709e-01 -9.22781483e-01 3.50764072e-03 2.04747135e+02] [ 9.22735079e-01 -3.85323532e-01 -9.26009439e-03 1.16163360e+02] [ 9.89662015e-03 -3.31362610e-04 9.99950972e-01 8.62694056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters Centerline goodness [0,1] 0.999873109865708 Centerline is valid? [True, True] Translation: X:204.73, Y:116.19, Z:8.62 [[-3.82803816e-01 -9.23822889e-01 3.53676365e-03 2.04731961e+02] [ 9.23775856e-01 -3.82820034e-01 -9.32685204e-03 1.16186874e+02] [ 9.97030337e-03 -3.03177678e-04 9.99950249e-01 8.62393991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:116.21, Z:8.63 [[-3.81141647e-01 -9.24509055e-01 3.74856760e-03 2.04721328e+02] [ 9.24456375e-01 -3.81159964e-01 -9.87383567e-03 1.16212231e+02] [ 1.05572544e-02 -2.97942777e-04 9.99944226e-01 8.62654151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:116.23, Z:8.63 [[-3.79714441e-01 -9.25095935e-01 3.80191372e-03 2.04704825e+02] [ 9.25041861e-01 -3.79733368e-01 -1.00062542e-02 1.16234892e+02] [ 1.07004586e-02 -2.82589863e-04 9.99942709e-01 8.62665579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:116.26, Z:8.63 [[-3.75812048e-01 -9.26687699e-01 3.90034739e-03 2.04690368e+02] [ 9.26631009e-01 -3.75832211e-01 -1.02529074e-02 1.16258724e+02] [ 1.09671194e-02 -2.38983301e-04 9.99939831e-01 8.62661121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:116.28, Z:8.63 [[-3.74241786e-01 -9.27323146e-01 3.85614265e-03 2.04681293e+02] [ 9.27267885e-01 -3.74261591e-01 -1.01257692e-02 1.16284392e+02] [ 1.08330663e-02 -2.13808725e-04 9.99941298e-01 8.62761820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.67, Y:116.31, Z:8.63 [[-3.71793812e-01 -9.28305927e-01 4.17928959e-03 2.04669221e+02] [ 9.28241197e-01 -3.71817249e-01 -1.09642322e-02 1.16306979e+02] [ 1.17320937e-02 -1.97044921e-04 9.99931157e-01 8.62762919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:116.33, Z:8.63 [[-3.71328797e-01 -9.28491043e-01 4.39400728e-03 2.04657569e+02] [ 9.28419656e-01 -3.71354742e-01 -1.15151177e-02 1.16329945e+02] [ 1.23234191e-02 -1.96412065e-04 9.99924045e-01 8.62753439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:116.35, Z:8.63 [[-3.71291040e-01 -9.28505196e-01 4.58963798e-03 2.04647503e+02] [ 9.28427523e-01 -3.71319353e-01 -1.20113769e-02 1.16354059e+02] [ 1.28568473e-02 -1.98570402e-04 9.99917328e-01 8.62764342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:116.38, Z:8.63 [[-3.71416735e-01 -9.28454264e-01 4.72102639e-03 2.04639379e+02] [ 9.28372277e-01 -3.71446684e-01 -1.23400374e-02 1.16377624e+02] [ 1.32107699e-02 -2.00426369e-04 9.99912714e-01 8.62800312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:116.40, Z:8.63 [[-3.71745153e-01 -9.28323132e-01 4.65868797e-03 2.04630331e+02] [ 9.28243480e-01 -3.71774291e-01 -1.21622107e-02 1.16402363e+02] [ 1.30224419e-02 -1.96846134e-04 9.99915185e-01 8.62881351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:116.43, Z:8.63 [[-3.71879668e-01 -9.28270077e-01 4.49175793e-03 2.04622159e+02] [ 9.28196192e-01 -3.71906747e-01 -1.17132530e-02 1.16427434e+02] [ 1.25435774e-02 -1.86688045e-04 9.99921309e-01 8.63042374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:116.45, Z:8.63 [[-3.72241946e-01 -9.28124839e-01 4.49633589e-03 2.04612635e+02] [ 9.28050964e-01 -3.72269054e-01 -1.17114955e-02 1.16451526e+02] [ 1.25435766e-02 -1.86681004e-04 9.99921309e-01 8.63073506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:116.48, Z:8.63 [[-3.72850863e-01 -9.27880373e-01 4.49973891e-03 2.04605597e+02] [ 9.27806540e-01 -3.72877966e-01 -1.17066826e-02 1.16475636e+02] [ 1.25402545e-02 -1.89959521e-04 9.99921350e-01 8.63151224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:116.50, Z:8.63 [[-3.73522882e-01 -9.27609920e-01 4.52702198e-03 2.04596276e+02] [ 9.27535350e-01 -3.73550263e-01 -1.17633450e-02 1.16499880e+02] [ 1.26028657e-02 -1.94905606e-04 9.99920562e-01 8.63184659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:116.53, Z:8.63 [[-3.75305727e-01 -9.26888497e-01 4.82965028e-03 2.04589643e+02] [ 9.26803770e-01 -3.75336732e-01 -1.25343685e-02 1.16525543e+02] [ 1.34307071e-02 -2.28082191e-04 9.99909778e-01 8.63227473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:116.55, Z:8.63 [[-3.76306429e-01 -9.26481204e-01 5.10390667e-03 2.04582078e+02] [ 9.26386761e-01 -3.76340956e-01 -1.32308023e-02 1.16550218e+02] [ 1.41788988e-02 -2.50644389e-04 9.99899443e-01 8.63226150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:116.58, Z:8.63 [[-3.77538037e-01 -9.25977991e-01 5.45819940e-03 2.04574100e+02] [ 9.25870195e-01 -3.77577385e-01 -1.41315029e-02 1.16575409e+02] [ 1.51463533e-02 -2.81595707e-04 9.99885248e-01 8.63240702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:116.60, Z:8.63 [[-3.77674219e-01 -9.25920340e-01 5.80596143e-03 2.04566445e+02] [ 9.25798665e-01 -3.77718729e-01 -1.50131507e-02 1.16599524e+02] [ 1.60940019e-02 -2.94928610e-04 9.99870440e-01 8.63239962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:116.62, Z:8.63 [[-3.77715939e-01 -9.25902066e-01 6.00278807e-03 2.04556734e+02] [ 9.25772319e-01 -3.77763517e-01 -1.55028637e-02 1.16624399e+02] [ 1.66217679e-02 -2.98463684e-04 9.99861804e-01 8.63252593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.712755096 meters Centerline goodness [0,1] 0.9999366152545954 Centerline is valid? [True, True] Translation: X:204.55, Y:116.65, Z:8.63 [[-3.77068389e-01 -9.26161745e-01 6.62215555e-03 2.04549967e+02] [ 9.26004276e-01 -3.77126408e-01 -1.70807858e-02 1.16648715e+02] [ 1.83169601e-02 -3.08480025e-04 9.99832183e-01 8.63239255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters Centerline goodness [0,1] 0.9999150454506839 Centerline is valid? [True, True] Translation: X:204.54, Y:116.67, Z:8.63 [[-3.76496850e-01 -9.26391724e-01 6.96387437e-03 2.04541502e+02] [ 9.26218040e-01 -3.76561125e-01 -1.79405230e-02 1.16674350e+02] [ 1.92422764e-02 -3.04484337e-04 9.99814804e-01 8.63354548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.772755096 meters Centerline goodness [0,1] 0.9999149786383829 Centerline is valid? [True, True] Translation: X:204.53, Y:116.70, Z:8.63 [[-3.76874601e-01 -9.26235311e-01 7.32694238e-03 2.04533936e+02] [ 9.26043448e-01 -3.76945681e-01 -1.88543210e-02 1.16700058e+02] [ 2.02253971e-02 -3.20647710e-04 9.99795394e-01 8.63363305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.802755096 meters Centerline goodness [0,1] 0.9999576037647857 Centerline is valid? [True, True] Translation: X:204.53, Y:116.73, Z:8.63 [[-3.77474315e-01 -9.25990436e-01 7.40635465e-03 2.04526475e+02] [ 9.25794799e-01 -3.77546824e-01 -1.90364498e-02 1.16725202e+02] [ 2.04238161e-02 -3.29006236e-04 9.99791358e-01 8.63426270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.832755096 meters Centerline goodness [0,1] 0.9998941933299476 Centerline is valid? [True, True] Translation: X:204.52, Y:116.75, Z:8.63 [[-3.77882425e-01 -9.25822411e-01 7.59844417e-03 2.04519252e+02] [ 9.25616951e-01 -3.77958661e-01 -1.95066975e-02 1.16750507e+02] [ 2.09316355e-02 -3.37989443e-04 9.99780852e-01 8.63499261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters Centerline goodness [0,1] 0.9999575641841715 Centerline is valid? [True, True] Translation: X:204.51, Y:116.78, Z:8.64 [[-3.78820996e-01 -9.25434840e-01 8.06291392e-03 2.04514067e+02] [ 9.25203964e-01 -3.78906610e-01 -2.06737737e-02 1.16776689e+02] [ 2.21873219e-02 -3.71819635e-04 9.99753762e-01 8.63586698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.892755096 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:204.51, Y:116.80, Z:8.64 [[-3.79486412e-01 -9.25159525e-01 8.36166324e-03 2.04508591e+02] [ 9.24911761e-01 -3.79578319e-01 -2.14134334e-02 1.16801700e+02] [ 2.29847479e-02 -3.92306338e-04 9.99735739e-01 8.63585422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9227550960001 meters Centerline goodness [0,1] 0.9999573132990417 Centerline is valid? [True, True] Translation: X:204.50, Y:116.83, Z:8.64 [[-3.79458718e-01 -9.25171339e-01 8.31112047e-03 2.04500393e+02] [ 9.24927142e-01 -3.79549535e-01 -2.12586982e-02 1.16826987e+02] [ 2.28224202e-02 -3.79617452e-04 9.99739463e-01 8.63668416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:116.85, Z:8.64 [[-3.79142424e-01 -9.25302916e-01 8.09541285e-03 2.04491933e+02] [ 9.25071782e-01 -3.79228676e-01 -2.06835655e-02 1.16852435e+02] [ 2.22085762e-02 -3.53179182e-04 9.99753297e-01 8.63782976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.982755096 meters Centerline goodness [0,1] 0.9999143798963996 Centerline is valid? [True, True] Translation: X:204.48, Y:116.88, Z:8.64 [[-3.78905910e-01 -9.25399368e-01 8.14372835e-03 2.04482927e+02] [ 9.25166021e-01 -3.78993263e-01 -2.07831916e-02 1.16877452e+02] [ 2.23191706e-02 -3.40573377e-04 9.99750838e-01 8.63894392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:116.90, Z:8.64 [[-3.78297665e-01 -9.25651858e-01 7.71457942e-03 2.04474755e+02] [ 9.25442972e-01 -3.78376199e-01 -1.96661710e-02 1.16902394e+02] [ 2.11230410e-02 -3.00263271e-04 9.99776839e-01 8.64050805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0427550960001 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:204.47, Y:116.93, Z:8.64 [[-3.77293018e-01 -9.26061962e-01 7.69552349e-03 2.04467515e+02] [ 9.25854671e-01 -3.77371397e-01 -1.95948294e-02 1.16926692e+02] [ 2.10500966e-02 -2.68055968e-04 9.99778386e-01 8.64121627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.072755096 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:204.46, Y:116.95, Z:8.64 [[-3.77021101e-01 -9.26172560e-01 7.71222405e-03 2.04458363e+02] [ 9.25964872e-01 -3.77099887e-01 -1.96145714e-02 1.16951596e+02] [ 2.10747566e-02 -2.53858735e-04 9.99777870e-01 8.64139659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.102755096 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:204.45, Y:116.98, Z:8.64 [[-3.76358354e-01 -9.26442651e-01 7.64219644e-03 2.04448462e+02] [ 9.26239227e-01 -3.76435867e-01 -1.94147431e-02 1.16976548e+02] [ 2.08634429e-02 -2.28398649e-04 9.99782309e-01 8.64178580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.132755096 meters Centerline goodness [0,1] 0.999957128464556 Centerline is valid? [True, True] Translation: X:204.44, Y:117.00, Z:8.64 [[-3.74801004e-01 -9.27070718e-01 8.00574279e-03 2.04438517e+02] [ 9.26848139e-01 -3.74886445e-01 -2.03145533e-02 1.17001259e+02] [ 2.18342720e-02 -1.93807165e-04 9.99761585e-01 8.64115355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:117.03, Z:8.64 [[-3.74242729e-01 -9.27294617e-01 8.18978500e-03 2.04428685e+02] [ 9.27062284e-01 -3.74332288e-01 -2.07571553e-02 1.17025765e+02] [ 2.23136993e-02 -1.75773654e-04 9.99751003e-01 8.64113820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.42, Y:117.05, Z:8.64 [[-3.73652122e-01 -9.27529452e-01 8.55607641e-03 2.04419326e+02] [ 9.27276536e-01 -3.73750036e-01 -2.16595374e-02 1.17050107e+02] [ 2.32876927e-02 -1.59283207e-04 9.99728792e-01 8.64025645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.222755096 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:204.41, Y:117.07, Z:8.64 [[-3.74008370e-01 -9.27383889e-01 8.76713190e-03 2.04410666e+02] [ 9.27118939e-01 -3.74111075e-01 -2.21670049e-02 1.17074378e+02] [ 2.38372044e-02 -1.62471342e-04 9.99715840e-01 8.63882497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.40, Y:117.10, Z:8.64 [[-3.75263244e-01 -9.26873009e-01 9.16091100e-03 2.04403609e+02] [ 9.26584237e-01 -3.75374995e-01 -2.31357781e-02 1.17099768e+02] [ 2.48827052e-02 -1.93651392e-04 9.99690359e-01 8.63727919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters Centerline goodness [0,1] 0.9999568202426702 Centerline is valid? [True, True] Translation: X:204.39, Y:117.13, Z:8.64 [[-3.76344887e-01 -9.26429831e-01 9.60699971e-03 2.04394837e+02] [ 9.26112778e-01 -3.76467420e-01 -2.42364118e-02 1.17125447e+02] [ 2.60700573e-02 -2.24084466e-04 9.99660093e-01 8.63815390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.39, Y:117.15, Z:8.64 [[-3.77633962e-01 -9.25905218e-01 9.59781137e-03 2.04387462e+02] [ 9.25589311e-01 -3.77755827e-01 -2.41859955e-02 1.17149984e+02] [ 2.60195686e-02 -2.49821701e-04 9.99661403e-01 8.63825506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.38, Y:117.18, Z:8.64 [[-3.80136239e-01 -9.24881009e-01 9.56866117e-03 2.04381195e+02] [ 9.24567387e-01 -3.80256524e-01 -2.40857618e-02 1.17176829e+02] [ 2.59150095e-02 -3.08998852e-04 9.99664102e-01 8.63943015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:117.20, Z:8.64 [[-3.81636299e-01 -9.24263458e-01 9.52869718e-03 2.04373347e+02] [ 9.23952934e-01 -3.81755086e-01 -2.39589452e-02 1.17202213e+02] [ 2.57820061e-02 -3.39535450e-04 9.99667531e-01 8.64058469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters Centerline goodness [0,1] 0.999956389960969 Centerline is valid? [True, True] Translation: X:204.37, Y:117.23, Z:8.64 [[-3.83706050e-01 -9.23410939e-01 9.05009774e-03 2.04365976e+02] [ 9.23131186e-01 -3.83812587e-01 -2.27312767e-02 1.17228810e+02] [ 2.44638510e-02 -3.67700907e-04 9.99700648e-01 8.64239378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.432755096 meters Centerline goodness [0,1] 0.9999344792189923 Centerline is valid? [True, True] Translation: X:204.36, Y:117.25, Z:8.64 [[-3.84695820e-01 -9.23000905e-01 8.85750297e-03 2.04358259e+02] [ 9.22733418e-01 -3.84797594e-01 -2.22227496e-02 1.17252922e+02] [ 2.39199638e-02 -3.75884884e-04 9.99713806e-01 8.64275443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.462755096 meters Centerline goodness [0,1] 0.9999781564001747 Centerline is valid? [True, True] Translation: X:204.35, Y:117.28, Z:8.64 [[-3.85481271e-01 -9.22673847e-01 8.78417635e-03 2.04348953e+02] [ 9.22411298e-01 -3.85581153e-01 -2.20129783e-02 1.17278085e+02] [ 2.36978123e-02 -3.82967366e-04 9.99719094e-01 8.64380727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.492755096 meters Centerline goodness [0,1] 0.9999781138517432 Centerline is valid? [True, True] Translation: X:204.34, Y:117.30, Z:8.64 [[-3.85747040e-01 -9.22566107e-01 8.42607108e-03 2.04341443e+02] [ 9.22325054e-01 -3.85838884e-01 -2.10914834e-02 1.17302551e+02] [ 2.27093936e-02 -3.64400812e-04 9.99742042e-01 8.64448792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters Centerline goodness [0,1] 0.9999562554680665 Centerline is valid? [True, True] Translation: X:204.33, Y:117.33, Z:8.64 [[-3.85436988e-01 -9.22695891e-01 8.40363271e-03 2.04332103e+02] [ 9.22456711e-01 -3.85528433e-01 -2.10105679e-02 1.17326240e+02] [ 2.26262040e-02 -3.46262611e-04 9.99743935e-01 8.64406716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.552755096 meters Centerline goodness [0,1] 0.9999781157675894 Centerline is valid? [True, True] Translation: X:204.32, Y:117.35, Z:8.65 [[-3.82375773e-01 -9.23971663e-01 8.07059201e-03 2.04316192e+02] [ 9.23751818e-01 -3.82460851e-01 -2.01562897e-02 1.17349191e+02] [ 2.17105260e-02 -2.52052814e-04 9.99764267e-01 8.64519536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.582755096 meters Centerline goodness [0,1] 0.9999343012942645 Centerline is valid? [True, True] Translation: X:204.30, Y:117.37, Z:8.65 [[-3.80893432e-01 -9.24583999e-01 8.03885068e-03 2.04304032e+02] [ 9.24366436e-01 -3.80978196e-01 -2.00575518e-02 1.17373302e+02] [ 2.16075182e-02 -2.08945963e-04 9.99766509e-01 8.64585502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.612755096 meters Centerline goodness [0,1] 0.9999562229129274 Centerline is valid? [True, True] Translation: X:204.29, Y:117.40, Z:8.65 [[-3.78537805e-01 -9.25552300e-01 7.87848235e-03 2.04290378e+02] [ 9.25343960e-01 -3.78619757e-01 -1.96376215e-02 1.17396416e+02] [ 2.11585949e-02 -1.43276107e-04 9.99776122e-01 8.64658360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:117.42, Z:8.65 [[-3.77501175e-01 -9.25977454e-01 7.65622489e-03 2.04277684e+02] [ 9.25781233e-01 -3.77578791e-01 -1.90621413e-02 1.17419997e+02] [ 2.05419412e-02 -1.07991406e-04 9.99788986e-01 8.64694634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.27, Y:117.44, Z:8.65 [[-3.76692991e-01 -9.26306471e-01 7.66235152e-03 2.04266645e+02] [ 9.26110454e-01 -3.76770904e-01 -1.90555380e-02 1.17443947e+02] [ 2.05382193e-02 -8.19037652e-05 9.99789065e-01 8.64680125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:117.47, Z:8.65 [[-3.77347887e-01 -9.26038043e-01 7.88129329e-03 2.04257033e+02] [ 9.25831095e-01 -3.77430171e-01 -1.95767427e-02 1.17467176e+02] [ 2.11034464e-02 -9.04960947e-05 9.99777293e-01 8.64633757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.732755096 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:204.25, Y:117.49, Z:8.65 [[-3.78127182e-01 -9.25718375e-01 8.08236124e-03 2.04246965e+02] [ 9.25501175e-01 -3.78213538e-01 -2.00523197e-02 1.17491334e+02] [ 2.16196593e-02 -1.02092339e-04 9.99766263e-01 8.64608061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:117.51, Z:8.64 [[-3.79503477e-01 -9.25152839e-01 8.32684096e-03 2.04237714e+02] [ 9.24922705e-01 -3.79594795e-01 -2.06344625e-02 1.17514706e+02] [ 2.22508570e-02 -1.29165986e-04 9.99752411e-01 8.64466560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7927550960001 meters Centerline goodness [0,1] 0.9999782367407343 Centerline is valid? [True, True] Translation: X:204.23, Y:117.54, Z:8.64 [[-3.82673784e-01 -9.23844286e-01 8.51529407e-03 2.04229056e+02] [ 9.23603828e-01 -3.82768461e-01 -2.10777969e-02 1.17541031e+02] [ 2.27319883e-02 -2.01162103e-04 9.99741575e-01 8.64344406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.822755096 meters Centerline goodness [0,1] 0.999978167845603 Centerline is valid? [True, True] Translation: X:204.22, Y:117.57, Z:8.64 [[-3.86695103e-01 -9.22167234e-01 8.63075868e-03 2.04221027e+02] [ 9.21920290e-01 -3.86791294e-01 -2.13418475e-02 1.17566826e+02] [ 2.30190548e-02 -2.95916388e-04 9.99734983e-01 8.64195513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.852755096 meters Centerline goodness [0,1] 0.9999565500760373 Centerline is valid? [True, True] Translation: X:204.21, Y:117.59, Z:8.64 [[-3.88871137e-01 -9.21248731e-01 8.94508191e-03 2.04211888e+02] [ 9.20983767e-01 -3.88973842e-01 -2.20963977e-02 1.17592699e+02] [ 2.38356812e-02 -3.54376044e-04 9.99715827e-01 8.64147722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters Centerline goodness [0,1] 0.9999782106593454 Centerline is valid? [True, True] Translation: X:204.20, Y:117.62, Z:8.64 [[-3.91538411e-01 -9.20117337e-01 9.04202646e-03 2.04204547e+02] [ 9.19846854e-01 -3.91642579e-01 -2.23126873e-02 1.17618289e+02] [ 2.40715330e-02 -4.18994540e-04 9.99710151e-01 8.64131135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9127550960001 meters Centerline goodness [0,1] 0.9999782021100357 Centerline is valid? [True, True] Translation: X:204.20, Y:117.65, Z:8.64 [[-3.95894346e-01 -9.18248816e-01 9.31550028e-03 2.04199342e+02] [ 9.17961792e-01 -3.96003561e-01 -2.29636220e-02 1.17645686e+02] [ 2.47752900e-02 -5.39894794e-04 9.99692900e-01 8.64158526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.942755096 meters Centerline goodness [0,1] 0.9999564668495059 Centerline is valid? [True, True] Translation: X:204.19, Y:117.67, Z:8.64 [[-3.97402455e-01 -9.17595830e-01 9.44362009e-03 2.04191746e+02] [ 9.17301187e-01 -3.97514222e-01 -2.32588965e-02 1.17670709e+02] [ 2.50962397e-02 -5.80498635e-04 9.99684871e-01 8.64171877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.972755096 meters Centerline goodness [0,1] 0.9999563966163775 Centerline is valid? [True, True] Translation: X:204.18, Y:117.70, Z:8.64 [[-3.99116004e-01 -9.16852346e-01 9.39104379e-03 2.04183984e+02] [ 9.16561288e-01 -3.99225998e-01 -2.31086104e-02 1.17696076e+02] [ 2.49363325e-02 -6.15549043e-04 9.99688852e-01 8.64168476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:117.72, Z:8.64 [[-3.99536759e-01 -9.16669966e-01 9.30333752e-03 2.04172358e+02] [ 9.16384875e-01 -3.99644592e-01 -2.28683253e-02 1.17719550e+02] [ 2.46807355e-02 -6.11298766e-04 9.99695197e-01 8.64310952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.032755096 meters Centerline goodness [0,1] 0.9998476870185822 Centerline is valid? [True, True] Translation: X:204.16, Y:117.74, Z:8.64 [[-3.99334690e-01 -9.16760685e-01 9.03617007e-03 2.04163736e+02] [ 9.16492357e-01 -3.99436493e-01 -2.21866459e-02 1.17743736e+02] [ 2.39492208e-02 -5.78316544e-04 9.99713009e-01 8.64295562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.062755096 meters Centerline goodness [0,1] 0.9999565283543809 Centerline is valid? [True, True] Translation: X:204.15, Y:117.77, Z:8.64 [[-3.98162474e-01 -9.17272630e-01 8.80723156e-03 2.04152376e+02] [ 9.17018405e-01 -3.98259524e-01 -2.16008560e-02 1.17767206e+02] [ 2.33214379e-02 -5.24256841e-04 9.99727881e-01 8.64365959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:117.79, Z:8.64 [[-3.97423786e-01 -9.17594239e-01 8.66872409e-03 2.04141421e+02] [ 9.17348536e-01 -3.97518017e-01 -2.12388861e-02 1.17791677e+02] [ 2.29346536e-02 -4.88597193e-04 9.99736847e-01 8.64454202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters Centerline goodness [0,1] 0.9999564127710581 Centerline is valid? [True, True] Translation: X:204.13, Y:117.81, Z:8.65 [[-3.96676414e-01 -9.17919382e-01 8.47528857e-03 2.04132105e+02] [ 9.17685093e-01 -3.96766688e-01 -2.07428450e-02 1.17814940e+02] [ 2.24029716e-02 -4.50551378e-04 9.99748920e-01 8.64552860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:117.84, Z:8.65 [[-3.96327818e-01 -9.18069779e-01 8.49367875e-03 2.04118180e+02] [ 9.17835027e-01 -3.96418584e-01 -2.07646291e-02 1.17837558e+02] [ 2.24304305e-02 -4.33804259e-04 9.99748312e-01 8.64839908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.182755096 meters Centerline goodness [0,1] 0.999934796783308 Centerline is valid? [True, True] Translation: X:204.11, Y:117.86, Z:8.65 [[-3.95914177e-01 -9.18248773e-01 8.43532260e-03 2.04108945e+02] [ 9.18017806e-01 -3.96003815e-01 -2.05982452e-02 1.17861323e+02] [ 2.22547333e-02 -4.11360936e-04 9.99752248e-01 8.64839995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.212755096 meters Centerline goodness [0,1] 0.9999564374550761 Centerline is valid? [True, True] Translation: X:204.10, Y:117.88, Z:8.65 [[-3.95248125e-01 -9.18536167e-01 8.38036225e-03 2.04095891e+02] [ 9.18308784e-01 -3.95336773e-01 -2.04405025e-02 1.17884937e+02] [ 2.20884062e-02 -3.83310043e-04 9.99755948e-01 8.65041970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters Centerline goodness [0,1] 0.999652400608299 Centerline is valid? [True, True] Translation: X:204.09, Y:117.91, Z:8.65 [[-3.95488963e-01 -9.18430522e-01 8.59396948e-03 2.04086080e+02] [ 9.18191925e-01 -3.95582133e-01 -2.09371800e-02 1.17908763e+02] [ 2.26289660e-02 -3.89510227e-04 9.99743856e-01 8.65070861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.272755096 meters Centerline goodness [0,1] 0.9994548863983254 Centerline is valid? [True, True] Translation: X:204.08, Y:117.93, Z:8.65 [[-3.96791402e-01 -9.17867447e-01 8.71395054e-03 2.04075856e+02] [ 9.17622568e-01 -3.96886855e-01 -2.12049011e-02 1.17933086e+02] [ 2.29217408e-02 -4.17804753e-04 9.99737175e-01 8.65196901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.302755096 meters Centerline goodness [0,1] 0.9995430312261996 Centerline is valid? [True, True] Translation: X:204.07, Y:117.96, Z:8.65 [[-3.98026148e-01 -9.17332353e-01 8.74871965e-03 2.04066538e+02] [ 9.17085938e-01 -3.98122041e-01 -2.12655291e-02 1.17958291e+02] [ 2.29906160e-02 -4.40908852e-04 9.99735584e-01 8.65244786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.332755096 meters Centerline goodness [0,1] 0.9994088022772061 Centerline is valid? [True, True] Translation: X:204.06, Y:117.98, Z:8.65 [[-3.99481994e-01 -9.16699555e-01 8.72143648e-03 2.04056902e+02] [ 9.16455041e-01 -3.99576912e-01 -2.11766195e-02 1.17984018e+02] [ 2.28974823e-02 -4.66873749e-04 9.99737709e-01 8.65349706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters Centerline goodness [0,1] 0.9994999782599243 Centerline is valid? [True, True] Translation: X:204.05, Y:118.01, Z:8.65 [[-4.01719857e-01 -9.15722180e-01 8.60495215e-03 2.04049128e+02] [ 9.15484365e-01 -4.01811686e-01 -2.08745646e-02 1.18008601e+02] [ 2.25728721e-02 -5.08027952e-04 9.99745071e-01 8.65404153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.392755096 meters Centerline goodness [0,1] 0.9994999782599243 Centerline is valid? [True, True] Translation: X:204.04, Y:118.03, Z:8.65 [[-4.02076982e-01 -9.15565363e-01 8.61202053e-03 2.04039009e+02] [ 9.15327574e-01 -4.02168879e-01 -2.08716487e-02 1.18032484e+02] [ 2.25728452e-02 -5.09189645e-04 9.99745071e-01 8.65435327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4227550960001 meters Centerline goodness [0,1] 0.9993475991649269 Centerline is valid? [True, True] Translation: X:204.03, Y:118.06, Z:8.65 [[-4.03625576e-01 -9.14884073e-01 8.57479770e-03 2.04030235e+02] [ 9.14648682e-01 -4.03716293e-01 -2.07591536e-02 1.18057686e+02] [ 2.24540045e-02 -5.35997907e-04 9.99747733e-01 8.65466508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.452755096 meters Centerline goodness [0,1] 0.9994358373475676 Centerline is valid? [True, True] Translation: X:204.02, Y:118.08, Z:8.66 [[-4.06317929e-01 -9.13694503e-01 8.25199215e-03 2.04022131e+02] [ 9.13476686e-01 -4.06401314e-01 -1.99578610e-02 1.18083856e+02] [ 2.15890084e-02 -5.71234313e-04 9.99766767e-01 8.65550906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.482755096 meters Centerline goodness [0,1] 0.9994554919086097 Centerline is valid? [True, True] Translation: X:204.01, Y:118.11, Z:8.66 [[-4.07578197e-01 -9.13136374e-01 7.87243095e-03 2.04012692e+02] [ 9.12938422e-01 -4.07653827e-01 -1.90209207e-02 1.18108347e+02] [ 2.05779212e-02 -5.65467894e-04 9.99788092e-01 8.65633880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.512755096 meters Centerline goodness [0,1] 0.9995403204623062 Centerline is valid? [True, True] Translation: X:204.00, Y:118.13, Z:8.66 [[-4.08349122e-01 -9.12793947e-01 7.62921458e-03 2.04000766e+02] [ 9.12608359e-01 -4.08420005e-01 -1.84141859e-02 1.18132524e+02] [ 1.99242813e-02 -5.56931656e-04 9.99801337e-01 8.65766533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5427550960001 meters Centerline goodness [0,1] 0.9997165532879818 Centerline is valid? [True, True] Translation: X:203.99, Y:118.16, Z:8.66 [[-4.08316888e-01 -9.12812113e-01 7.16700706e-03 2.03991705e+02] [ 9.12648670e-01 -4.08379458e-01 -1.72807354e-02 1.18156293e+02] [ 1.87009230e-02 -5.15056619e-04 9.99824990e-01 8.65858928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.572755096 meters Centerline goodness [0,1] 0.9995194513007579 Centerline is valid? [True, True] Translation: X:203.98, Y:118.18, Z:8.66 [[-4.07572107e-01 -9.13146972e-01 6.89818953e-03 2.03978728e+02] [ 9.12995931e-01 -4.07630204e-01 -1.66146344e-02 1.18180871e+02] [ 1.79835135e-02 -4.73642573e-04 9.99838171e-01 8.65876582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.602755096 meters Centerline goodness [0,1] 0.9996958769605074 Centerline is valid? [True, True] Translation: X:203.97, Y:118.20, Z:8.66 [[-4.06951496e-01 -9.13422780e-01 7.02178729e-03 2.03966822e+02] [ 9.13266636e-01 -4.07011808e-01 -1.68949668e-02 1.18204830e+02] [ 1.82901979e-02 -4.62667964e-04 9.99832613e-01 8.65822404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.632755096 meters Centerline goodness [0,1] 0.999607791868218 Centerline is valid? [True, True] Translation: X:203.96, Y:118.23, Z:8.66 [[-4.06237097e-01 -9.13740206e-01 7.08922993e-03 2.03955760e+02] [ 9.13581441e-01 -4.06298705e-01 -1.70385620e-02 1.18228415e+02] [ 1.84491641e-02 -4.45107066e-04 9.99829701e-01 8.65791176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6627550960001 meters Centerline goodness [0,1] 0.9996954668058818 Centerline is valid? [True, True] Translation: X:203.94, Y:118.25, Z:8.66 [[-4.05376357e-01 -9.14119669e-01 7.43231427e-03 2.03944748e+02] [ 9.13945613e-01 -4.05444246e-01 -1.78431980e-02 1.18252420e+02] [ 1.93242073e-02 -4.40479584e-04 9.99813173e-01 8.65748439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.692755096 meters Centerline goodness [0,1] 0.9995887979916028 Centerline is valid? [True, True] Translation: X:203.93, Y:118.28, Z:8.66 [[-4.02823413e-01 -9.15246908e-01 7.50974521e-03 2.03931071e+02] [ 9.15069770e-01 -4.02893226e-01 -1.80101481e-02 1.18276185e+02] [ 1.95093578e-02 -3.82968503e-04 9.99809601e-01 8.65703288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.722755096 meters Centerline goodness [0,1] 0.9997821493148596 Centerline is valid? [True, True] Translation: X:203.92, Y:118.30, Z:8.66 [[-4.00873897e-01 -9.16101382e-01 7.64043312e-03 2.03918875e+02] [ 9.15918539e-01 -4.00946557e-01 -1.83054080e-02 1.18300106e+02] [ 1.98330149e-02 -3.40145897e-04 9.99803249e-01 8.65664264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.752755096 meters Centerline goodness [0,1] 0.999760348583878 Centerline is valid? [True, True] Translation: X:203.91, Y:118.32, Z:8.66 [[-4.00100120e-01 -9.16438808e-01 7.73331611e-03 2.03905263e+02] [ 9.16251928e-01 -4.00174722e-01 -1.85093454e-02 1.18323830e+02] [ 2.00573600e-02 -3.19925513e-04 9.99798780e-01 8.65719937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters Centerline goodness [0,1] 0.9998046026921407 Centerline is valid? [True, True] Translation: X:203.89, Y:118.35, Z:8.66 [[-3.99851995e-01 -9.16545124e-01 7.96346546e-03 2.03894742e+02] [ 9.16347349e-01 -3.99931162e-01 -1.90421167e-02 1.18347768e+02] [ 2.06377972e-02 -3.16727895e-04 9.99786968e-01 8.65637051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.812755096 meters Centerline goodness [0,1] 0.9999131058153933 Centerline is valid? [True, True] Translation: X:203.89, Y:118.37, Z:8.66 [[-4.00234965e-01 -9.16379907e-01 7.73552461e-03 2.03885566e+02] [ 9.16193604e-01 -4.00309593e-01 -1.84800161e-02 1.18371296e+02] [ 2.00313201e-02 -3.09110419e-04 9.99799305e-01 8.65690157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.842755096 meters Centerline goodness [0,1] 0.9998045687483714 Centerline is valid? [True, True] Translation: X:203.88, Y:118.40, Z:8.66 [[-4.01116406e-01 -9.15998861e-01 7.19128548e-03 2.03875777e+02] [ 9.15838135e-01 -4.01180754e-01 -1.71613767e-02 1.18395457e+02] [ 1.86048069e-02 -2.97656270e-04 9.99826871e-01 8.65872071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.872755096 meters Centerline goodness [0,1] 0.9996080224733782 Centerline is valid? [True, True] Translation: X:203.87, Y:118.42, Z:8.66 [[-4.02446843e-01 -9.15420379e-01 6.48601746e-03 2.03867276e+02] [ 9.15289824e-01 -4.02499004e-01 -1.54625412e-02 1.18420658e+02] [ 1.67653408e-02 -2.86265100e-04 9.99859411e-01 8.66154204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters Centerline goodness [0,1] 0.9995429516616972 Centerline is valid? [True, True] Translation: X:203.86, Y:118.44, Z:8.66 [[-4.03216085e-01 -9.15082796e-01 6.34549296e-03 2.03858483e+02] [ 9.14958054e-01 -4.03265910e-01 -1.51117473e-02 1.18444743e+02] [ 1.63874209e-02 -2.87439695e-04 9.99865676e-01 8.66245200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.932755096 meters Centerline goodness [0,1] 0.9996947962765146 Centerline is valid? [True, True] Translation: X:203.85, Y:118.47, Z:8.66 [[-4.03700671e-01 -9.14869269e-01 6.32360128e-03 2.03848527e+02] [ 9.14745587e-01 -4.03750091e-01 -1.50457617e-02 1.18469831e+02] [ 1.63180596e-02 -2.89497717e-04 9.99866810e-01 8.66321514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.962755096 meters Centerline goodness [0,1] 0.9996953011077981 Centerline is valid? [True, True] Translation: X:203.84, Y:118.49, Z:8.66 [[-4.04269852e-01 -9.14620869e-01 5.87821258e-03 2.03839782e+02] [ 9.14514179e-01 -4.04312493e-01 -1.39722509e-02 1.18494042e+02] [ 1.51559471e-02 -2.72851062e-04 9.99885105e-01 8.66375332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.992755096 meters Centerline goodness [0,1] 0.9994985720203188 Centerline is valid? [True, True] Translation: X:203.83, Y:118.52, Z:8.66 [[-4.04609307e-01 -9.14470707e-01 5.88514584e-03 2.03828863e+02] [ 9.14363995e-01 -4.04652013e-01 -1.39725474e-02 1.18518629e+02] [ 1.51589214e-02 -2.72257266e-04 9.99885060e-01 8.66356839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters Centerline goodness [0,1] 0.9993905226268475 Centerline is valid? [True, True] Translation: X:203.82, Y:118.54, Z:8.66 [[-4.04632024e-01 -9.14458944e-01 6.14539017e-03 2.03819539e+02] [ 9.14342850e-01 -4.04678592e-01 -1.45736045e-02 1.18541891e+02] [ 1.58138708e-02 -2.77953519e-04 9.99874914e-01 8.66274159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.052755096 meters Centerline goodness [0,1] 0.9996305632823366 Centerline is valid? [True, True] Translation: X:203.81, Y:118.57, Z:8.66 [[-4.04840129e-01 -9.14367146e-01 6.09859435e-03 2.03809986e+02] [ 9.14253060e-01 -4.04885970e-01 -1.44462393e-02 1.18565894e+02] [ 1.56784019e-02 -2.72758851e-04 9.99877049e-01 8.66303556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.082755096 meters Centerline goodness [0,1] 0.9997169729164852 Centerline is valid? [True, True] Translation: X:203.80, Y:118.59, Z:8.66 [[-4.04716580e-01 -9.14420700e-01 6.26686294e-03 2.03798425e+02] [ 9.14300507e-01 -4.04765006e-01 -1.48281158e-02 1.18589422e+02] [ 1.60957429e-02 -2.71388354e-04 9.99870418e-01 8.66343729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.112755096 meters Centerline goodness [0,1] 0.9996091035441279 Centerline is valid? [True, True] Translation: X:203.79, Y:118.61, Z:8.66 [[-4.05137652e-01 -9.14232325e-01 6.53753746e-03 2.03788824e+02] [ 9.14101788e-01 -4.05190296e-01 -1.54513895e-02 1.18613632e+02] [ 1.67751064e-02 -2.83964955e-04 9.99859248e-01 8.66310519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters Centerline goodness [0,1] 0.9995434087795969 Centerline is valid? [True, True] Translation: X:203.78, Y:118.64, Z:8.66 [[-4.05689177e-01 -9.13985884e-01 6.78931692e-03 2.03778904e+02] [ 9.13845372e-01 -4.05745874e-01 -1.60287912e-02 1.18637896e+02] [ 1.74048263e-02 -2.98321283e-04 9.99848480e-01 8.66284622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1727550960001 meters Centerline goodness [0,1] 0.9993272569444445 Centerline is valid? [True, True] Translation: X:203.77, Y:118.66, Z:8.66 [[-4.06958114e-01 -9.13418453e-01 7.19878898e-03 2.03768886e+02] [ 9.13260725e-01 -4.07021642e-01 -1.69773415e-02 1.18663126e+02] [ 1.84374799e-02 -3.34695625e-04 9.99829959e-01 8.66212920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.202755096 meters Centerline goodness [0,1] 0.9992182070882557 Centerline is valid? [True, True] Translation: X:203.76, Y:118.69, Z:8.66 [[-4.07849411e-01 -9.13019714e-01 7.33892249e-03 2.03758113e+02] [ 9.12856048e-01 -4.07915283e-01 -1.72904179e-02 1.18687327e+02] [ 1.87801510e-02 -3.52506985e-04 9.99823575e-01 8.66174551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.232755096 meters Centerline goodness [0,1] 0.9995450508026603 Centerline is valid? [True, True] Translation: X:203.75, Y:118.71, Z:8.66 [[-4.09401391e-01 -9.12324311e-01 7.40621590e-03 2.03748322e+02] [ 9.12157851e-01 -4.09468199e-01 -1.74312297e-02 1.18711180e+02] [ 1.89355446e-02 -3.80731728e-04 9.99820634e-01 8.66048491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters Centerline goodness [0,1] 0.9995225176342919 Centerline is valid? [True, True] Translation: X:203.74, Y:118.73, Z:8.66 [[-4.10223675e-01 -9.11954765e-01 7.41909531e-03 2.03737116e+02] [ 9.11787985e-01 -4.10290572e-01 -1.74446915e-02 1.18734857e+02] [ 1.89527544e-02 -3.91583501e-04 9.99820304e-01 8.66097869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2927550960001 meters Centerline goodness [0,1] 0.9992657380412483 Centerline is valid? [True, True] Translation: X:203.73, Y:118.76, Z:8.66 [[-4.10961017e-01 -9.11623598e-01 7.31155808e-03 2.03726669e+02] [ 9.11461901e-01 -4.11025864e-01 -1.71738969e-02 1.18759077e+02] [ 1.86613692e-02 -3.93595513e-04 9.99825784e-01 8.66123128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.322755096 meters Centerline goodness [0,1] 0.9994594010163261 Centerline is valid? [True, True] Translation: X:203.72, Y:118.78, Z:8.66 [[-4.11768481e-01 -9.11257559e-01 7.50858554e-03 2.03715680e+02] [ 9.11087332e-01 -4.11836727e-01 -1.76176882e-02 1.18782852e+02] [ 1.91465628e-02 -4.13431522e-04 9.99816602e-01 8.66167241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.352755096 meters Centerline goodness [0,1] 0.9993314643088204 Centerline is valid? [True, True] Translation: X:203.70, Y:118.81, Z:8.66 [[-4.12240227e-01 -9.11044041e-01 7.53324296e-03 2.03704169e+02] [ 9.10873027e-01 -4.12308842e-01 -1.76563950e-02 1.18807071e+02] [ 1.91917761e-02 -4.16848471e-04 9.99815734e-01 8.66167261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters Centerline goodness [0,1] 0.9994613694144008 Centerline is valid? [True, True] Translation: X:203.69, Y:118.83, Z:8.66 [[-4.12297011e-01 -9.11016472e-01 7.75639398e-03 2.03692545e+02] [ 9.10835572e-01 -4.12369748e-01 -1.81590725e-02 1.18829773e+02] [ 1.97417164e-02 -4.22131757e-04 9.99805024e-01 8.66083556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4127550960001 meters Centerline goodness [0,1] 0.9996777104550728 Centerline is valid? [True, True] Translation: X:203.68, Y:118.85, Z:8.66 [[-4.12228697e-01 -9.11048678e-01 7.60313830e-03 2.03679165e+02] [ 9.10875237e-01 -4.12298609e-01 -1.77808646e-02 1.18853285e+02] [ 1.93339965e-02 -4.04272227e-04 9.99812999e-01 8.66151938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.442755096 meters Centerline goodness [0,1] 0.9997217048787276 Centerline is valid? [True, True] Translation: X:203.67, Y:118.88, Z:8.66 [[-4.11778575e-01 -9.11252838e-01 7.52800660e-03 2.03666228e+02] [ 9.11083205e-01 -4.11847203e-01 -1.75862098e-02 1.18875631e+02] [ 1.91258721e-02 -3.82984030e-04 9.99817010e-01 8.66173575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.472755096 meters Centerline goodness [0,1] 0.9995936089662696 Centerline is valid? [True, True] Translation: X:203.65, Y:118.90, Z:8.66 [[-4.11569358e-01 -9.11348490e-01 7.38871798e-03 2.03653849e+02] [ 9.11185437e-01 -4.11635515e-01 -1.72424790e-02 1.18899584e+02] [ 1.87553660e-02 -3.63983799e-04 9.99824036e-01 8.66256591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters Centerline goodness [0,1] 0.9996570497706521 Centerline is valid? [True, True] Translation: X:203.64, Y:118.92, Z:8.66 [[-4.11693447e-01 -9.11292525e-01 7.37838850e-03 2.03644217e+02] [ 9.11130256e-01 -4.11759403e-01 -1.72002923e-02 1.18923323e+02] [ 1.87126186e-02 -3.58574599e-04 9.99824839e-01 8.66332470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.532755096 meters Centerline goodness [0,1] 0.9998497563907193 Centerline is valid? [True, True] Translation: X:203.63, Y:118.95, Z:8.67 [[-4.11286083e-01 -9.11481017e-01 6.79072254e-03 2.03632317e+02] [ 9.11343877e-01 -4.11342019e-01 -1.58139965e-02 1.18946567e+02] [ 1.72074672e-02 -3.15393281e-04 9.99851891e-01 8.66594856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.562755096 meters Centerline goodness [0,1] 0.9997645799892991 Centerline is valid? [True, True] Translation: X:203.62, Y:118.97, Z:8.67 [[-4.11405710e-01 -9.11428080e-01 6.64804318e-03 2.03622148e+02] [ 9.11296908e-01 -4.11459308e-01 -1.54655466e-02 1.18969404e+02] [ 1.68311327e-02 -3.04272987e-04 9.99858300e-01 8.66662275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.592755096 meters Centerline goodness [0,1] 0.9999356402720271 Centerline is valid? [True, True] Translation: X:203.61, Y:118.99, Z:8.67 [[-4.12050890e-01 -9.11139467e-01 6.23984452e-03 2.03608870e+02] [ 9.11024113e-01 -4.12098031e-01 -1.45010065e-02 1.18992802e+02] [ 1.57838670e-02 -2.90503811e-04 9.99875385e-01 8.66819417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters Centerline goodness [0,1] 0.9998930710008554 Centerline is valid? [True, True] Translation: X:203.60, Y:119.02, Z:8.67 [[-4.12698505e-01 -9.10848249e-01 5.95072257e-03 2.03598147e+02] [ 9.10743516e-01 -4.12741308e-01 -1.38152479e-02 1.19016431e+02] [ 1.50397034e-02 -2.81950162e-04 9.99886858e-01 8.66901415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.652755096 meters Centerline goodness [0,1] 0.9998289574959377 Centerline is valid? [True, True] Translation: X:203.59, Y:119.04, Z:8.67 [[-4.13678309e-01 -9.10404979e-01 5.74721214e-03 2.03587752e+02] [ 9.10307439e-01 -4.13718134e-01 -1.33293942e-02 1.19040377e+02] [ 1.45128727e-02 -2.82351279e-04 9.99894643e-01 8.66996150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.682755096 meters Centerline goodness [0,1] 0.9998718058285616 Centerline is valid? [True, True] Translation: X:203.58, Y:119.06, Z:8.67 [[-4.14651299e-01 -9.09962335e-01 5.73138874e-03 2.03578119e+02] [ 9.09865487e-01 -4.14690805e-01 -1.32790018e-02 1.19064157e+02] [ 1.44601457e-02 -2.91362521e-04 9.99895404e-01 8.67096473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.712755096 meters Centerline goodness [0,1] 0.9997015879782586 Centerline is valid? [True, True] Translation: X:203.57, Y:119.09, Z:8.67 [[-4.15509454e-01 -9.09571042e-01 5.69318445e-03 2.03567816e+02] [ 9.09475647e-01 -4.15548349e-01 -1.31764037e-02 1.19087602e+02] [ 1.43506686e-02 -2.97107686e-04 9.99896980e-01 8.67175752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters Centerline goodness [0,1] 0.9997229208406155 Centerline is valid? [True, True] Translation: X:203.56, Y:119.11, Z:8.67 [[-4.16226243e-01 -9.09244394e-01 5.50869991e-03 2.03558197e+02] [ 9.09155244e-01 -4.16262593e-01 -1.27356440e-02 1.19110315e+02] [ 1.38728786e-02 -2.92645852e-04 9.99903724e-01 8.67305694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.772755096 meters Centerline goodness [0,1] 0.9997644690919213 Centerline is valid? [True, True] Translation: X:203.55, Y:119.13, Z:8.67 [[-4.16376485e-01 -9.09177236e-01 5.23215523e-03 2.03546974e+02] [ 9.09096981e-01 -4.16409267e-01 -1.20831044e-02 1.19133768e+02] [ 1.31644014e-02 -2.74584022e-04 9.99913308e-01 8.67387726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.802755096 meters Centerline goodness [0,1] 0.9996371088246595 Centerline is valid? [True, True] Translation: X:203.54, Y:119.16, Z:8.67 [[-4.16789900e-01 -9.08988321e-01 5.13920560e-03 2.03536841e+02] [ 9.08911043e-01 -4.16821496e-01 -1.18556926e-02 1.19156132e+02] [ 1.29188175e-02 -2.70252227e-04 9.99916512e-01 8.67431939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.832755096 meters Centerline goodness [0,1] 0.9998081391630604 Centerline is valid? [True, True] Translation: X:203.52, Y:119.18, Z:8.67 [[-4.17211741e-01 -9.08795859e-01 4.94472309e-03 2.03524960e+02] [ 9.08724434e-01 -4.17240960e-01 -1.13966589e-02 1.19178345e+02] [ 1.24203774e-02 -2.61429222e-04 9.99922830e-01 8.67449957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters Centerline goodness [0,1] 0.9997223823862301 Centerline is valid? [True, True] Translation: X:203.52, Y:119.20, Z:8.67 [[-4.17913911e-01 -9.08473291e-01 4.92367120e-03 2.03515565e+02] [ 9.08402602e-01 -4.17942830e-01 -1.13359254e-02 1.19201551e+02] [ 1.23561985e-02 -2.64765182e-04 9.99923624e-01 8.67478119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.892755096 meters Centerline goodness [0,1] 0.9997644741349777 Centerline is valid? [True, True] Translation: X:203.50, Y:119.23, Z:8.67 [[-4.19104813e-01 -9.07924360e-01 4.95094849e-03 2.03504828e+02] [ 9.07852980e-01 -4.19133963e-01 -1.13880465e-02 1.19225416e+02] [ 1.24145955e-02 -2.78051744e-04 9.99922897e-01 8.67486946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9227550960001 meters Centerline goodness [0,1] 0.9997432331229271 Centerline is valid? [True, True] Translation: X:203.50, Y:119.25, Z:8.67 [[-4.20085441e-01 -9.07470526e-01 5.04646592e-03 2.03496067e+02] [ 9.07396478e-01 -4.20115650e-01 -1.15961875e-02 1.19248037e+02] [ 1.26432977e-02 -2.92244139e-04 9.99920028e-01 8.67488986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.952755096 meters Centerline goodness [0,1] 0.9998286350783995 Centerline is valid? [True, True] Translation: X:203.48, Y:119.27, Z:8.67 [[-4.21014279e-01 -9.07039016e-01 5.21538211e-03 2.03484986e+02] [ 9.06960074e-01 -4.21046467e-01 -1.19706848e-02 1.19270675e+02] [ 1.30537964e-02 -3.09685903e-04 9.99914748e-01 8.67467270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.982755096 meters Centerline goodness [0,1] 0.9997850895102189 Centerline is valid? [True, True] Translation: X:203.48, Y:119.30, Z:8.67 [[-4.22849791e-01 -9.06184699e-01 5.22924629e-03 2.03475083e+02] [ 9.06105436e-01 -4.22881994e-01 -1.19899231e-02 1.19295014e+02] [ 1.30764390e-02 -3.31688001e-04 9.99914445e-01 8.67439506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.012755096 meters Centerline goodness [0,1] 0.9996579588695541 Centerline is valid? [True, True] Translation: X:203.47, Y:119.32, Z:8.68 [[-4.23944273e-01 -9.05673285e-01 5.21104623e-03 2.03465763e+02] [ 9.05594682e-01 -4.23976161e-01 -1.19367957e-02 1.19319093e+02] [ 1.30201964e-02 -3.41440436e-04 9.99915175e-01 8.67579037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0427550960001 meters Centerline goodness [0,1] 0.9995926156221189 Centerline is valid? [True, True] Translation: X:203.46, Y:119.34, Z:8.68 [[-4.24409557e-01 -9.05455985e-01 5.09785811e-03 2.03455365e+02] [ 9.05380889e-01 -4.24440040e-01 -1.16661454e-02 1.19342417e+02] [ 1.27269163e-02 -3.35720298e-04 9.99918953e-01 8.67662288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.072755096 meters Centerline goodness [0,1] 0.9993554901497411 Centerline is valid? [True, True] Translation: X:203.44, Y:119.37, Z:8.68 [[-4.24459378e-01 -9.05433575e-01 4.92722865e-03 2.03444034e+02] [ 9.05363558e-01 -4.24487855e-01 -1.12644848e-02 1.19365407e+02] [ 1.22907915e-02 -3.20382950e-04 9.99924414e-01 8.67629341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.102755096 meters Centerline goodness [0,1] 0.9995721925133689 Centerline is valid? [True, True] Translation: X:203.43, Y:119.39, Z:8.68 [[-4.24332786e-01 -9.05492454e-01 5.01016867e-03 2.03432906e+02] [ 9.05420214e-01 -4.24362243e-01 -1.14421531e-02 1.19387147e+02] [ 1.24869097e-02 -3.18972707e-04 9.99921985e-01 8.67671661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.132755096 meters Centerline goodness [0,1] 0.9995942338494394 Centerline is valid? [True, True] Translation: X:203.42, Y:119.41, Z:8.68 [[-4.24014392e-01 -9.05640604e-01 5.18568169e-03 2.03420547e+02] [ 9.05563391e-01 -4.24045980e-01 -1.18301142e-02 1.19409730e+02] [ 1.29127993e-02 -3.20175205e-04 9.99916575e-01 8.67576762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1627550960001 meters Centerline goodness [0,1] 0.9996564016664519 Centerline is valid? [True, True] Translation: X:203.41, Y:119.43, Z:8.68 [[-4.24164596e-01 -9.05570543e-01 5.13687414e-03 2.03406955e+02] [ 9.05494915e-01 -4.24195584e-01 -1.17074925e-02 1.19431253e+02] [ 1.27809996e-02 -3.14490401e-04 9.99918270e-01 8.67586979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.192755096 meters Centerline goodness [0,1] 0.9998500139272782 Centerline is valid? [True, True] Translation: X:203.39, Y:119.45, Z:8.68 [[-4.23756117e-01 -9.05761008e-01 5.26773671e-03 2.03389446e+02] [ 9.05681663e-01 -4.23788743e-01 -1.19927518e-02 1.19452261e+02] [ 1.30949745e-02 -3.11109405e-04 9.99914209e-01 8.67592709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.222755096 meters Centerline goodness [0,1] 0.9997858305491305 Centerline is valid? [True, True] Translation: X:203.38, Y:119.48, Z:8.68 [[-4.23910034e-01 -9.05689118e-01 5.24448088e-03 2.03383116e+02] [ 9.05610632e-01 -4.23942364e-01 -1.19271033e-02 1.19477221e+02] [ 1.30256053e-02 -3.06561110e-04 9.99915116e-01 8.67612605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.252755096 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:203.37, Y:119.50, Z:8.68 [[-4.24000739e-01 -9.05647303e-01 5.13186578e-03 2.03368789e+02] [ 9.05572308e-01 -4.24031692e-01 -1.16584227e-02 1.19500091e+02] [ 1.27344928e-02 -2.95904293e-04 9.99918869e-01 8.67694985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters Centerline goodness [0,1] 0.99991440005136 Centerline is valid? [True, True] Translation: X:203.36, Y:119.52, Z:8.68 [[-4.24336655e-01 -9.05489935e-01 5.13618428e-03 2.03358091e+02] [ 9.05414952e-01 -4.24367635e-01 -1.16565199e-02 1.19523703e+02] [ 1.27344918e-02 -2.95910601e-04 9.99918869e-01 8.67726122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:119.55, Z:8.68 [[-4.23754334e-01 -9.05763365e-01 4.99919293e-03 2.03343081e+02] [ 9.05692485e-01 -4.23783732e-01 -1.13345037e-02 1.19545767e+02] [ 1.23849548e-02 -2.75313574e-04 9.99923266e-01 8.67808389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.342755096 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:203.33, Y:119.57, Z:8.68 [[-4.22732543e-01 -9.06239780e-01 5.16315452e-03 2.03333783e+02] [ 9.06164377e-01 -4.22763990e-01 -1.16931939e-02 1.19569169e+02] [ 1.27796332e-02 -2.64426889e-04 9.99918302e-01 8.67803983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.372755096 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:203.32, Y:119.59, Z:8.68 [[-4.22507202e-01 -9.06344616e-01 5.20588959e-03 2.03320477e+02] [ 9.06268138e-01 -4.22539194e-01 -1.17767256e-02 1.19592339e+02] [ 1.28734642e-02 -2.57819492e-04 9.99917100e-01 8.67842593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:203.31, Y:119.62, Z:8.68 [[-4.22201601e-01 -9.06486124e-01 5.35868699e-03 2.03309381e+02] [ 9.06405272e-01 -4.22235530e-01 -1.21095369e-02 1.19615987e+02] [ 1.32397552e-02 -2.55523730e-04 9.99912318e-01 8.67888087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.432755096 meters Centerline goodness [0,1] 0.999957471239926 Centerline is valid? [True, True] Translation: X:203.30, Y:119.64, Z:8.68 [[-4.21319603e-01 -9.06895506e-01 5.50763178e-03 2.03298249e+02] [ 9.06810310e-01 -4.21355529e-01 -1.24330089e-02 1.19639171e+02] [ 1.35961110e-02 -2.43893105e-04 9.99907539e-01 8.67898808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:119.66, Z:8.68 [[-4.21226753e-01 -9.06938725e-01 5.49293602e-03 2.03286660e+02] [ 9.06854165e-01 -4.21262500e-01 -1.23866889e-02 1.19662615e+02] [ 1.35479358e-02 -2.36312859e-04 9.99908195e-01 8.67957704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:119.69, Z:8.68 [[-4.21543761e-01 -9.06790685e-01 5.61348672e-03 2.03277027e+02] [ 9.06702540e-01 -4.21581067e-01 -1.26454784e-02 1.19686149e+02] [ 1.38333417e-02 -2.40859844e-04 9.99904286e-01 8.67940186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:203.27, Y:119.71, Z:8.68 [[-4.22498638e-01 -9.06345837e-01 5.66789594e-03 2.03267786e+02] [ 9.06256089e-01 -4.22536579e-01 -1.27570118e-02 1.19709660e+02] [ 1.39571579e-02 -2.53254912e-04 9.99902562e-01 8.67942409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.552755096 meters Centerline goodness [0,1] 0.9999575434648779 Centerline is valid? [True, True] Translation: X:203.26, Y:119.73, Z:8.68 [[-4.23462954e-01 -9.05894161e-01 5.90717802e-03 2.03258600e+02] [ 9.05796842e-01 -4.23504066e-01 -1.32810647e-02 1.19734304e+02] [ 1.45329529e-02 -2.73335691e-04 9.99894354e-01 8.67937288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.582755096 meters Centerline goodness [0,1] 0.9998504081719879 Centerline is valid? [True, True] Translation: X:203.25, Y:119.76, Z:8.68 [[-4.26200899e-01 -9.04608444e-01 6.02960324e-03 2.03253455e+02] [ 9.04507128e-01 -4.26243430e-01 -1.35423308e-02 1.19759607e+02] [ 1.48205856e-02 -3.17934449e-04 9.99890119e-01 8.67939909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.612755096 meters Centerline goodness [0,1] 0.9999785958904109 Centerline is valid? [True, True] Translation: X:203.25, Y:119.78, Z:8.68 [[-4.28108472e-01 -9.03706737e-01 6.10494425e-03 2.03245340e+02] [ 9.03602995e-01 -4.28151858e-01 -1.36971963e-02 1.19784735e+02] [ 1.49920917e-02 -3.47439855e-04 9.99887552e-01 8.67959569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters Centerline goodness [0,1] 0.9999570658824034 Centerline is valid? [True, True] Translation: X:203.24, Y:119.81, Z:8.68 [[-4.31443590e-01 -9.02120517e-01 5.91619985e-03 2.03240531e+02] [ 9.02023130e-01 -4.31483980e-01 -1.32607868e-02 1.19810243e+02] [ 1.45155733e-02 -3.84732379e-04 9.99894570e-01 8.68078002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6727550960001 meters Centerline goodness [0,1] 0.9999140579679007 Centerline is valid? [True, True] Translation: X:203.23, Y:119.84, Z:8.68 [[-4.32802555e-01 -9.01470137e-01 5.79146337e-03 2.03232455e+02] [ 9.01376940e-01 -4.32841124e-01 -1.29681559e-02 1.19835230e+02] [ 1.41971887e-02 -3.92359459e-04 9.99899138e-01 8.68168657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.702755096 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:203.22, Y:119.86, Z:8.68 [[-4.33894486e-01 -9.00945516e-01 5.72304867e-03 2.03223393e+02] [ 9.00854636e-01 -4.33932044e-01 -1.28025924e-02 1.19860300e+02] [ 1.40178525e-02 -3.99339332e-04 9.99901665e-01 8.68252156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.732755096 meters Centerline goodness [0,1] 0.9999355739289165 Centerline is valid? [True, True] Translation: X:203.21, Y:119.88, Z:8.68 [[-4.34472149e-01 -9.00665986e-01 5.89355609e-03 2.03214869e+02] [ 9.00569778e-01 -4.34511922e-01 -1.31705717e-02 1.19883455e+02] [ 1.44231063e-02 -4.14688087e-04 9.99895896e-01 8.68248301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters Centerline goodness [0,1] 0.9998707759901789 Centerline is valid? [True, True] Translation: X:203.20, Y:119.91, Z:8.68 [[-4.34701891e-01 -9.00554410e-01 6.00168015e-03 2.03204415e+02] [ 9.00454849e-01 -4.34743118e-01 -1.33972601e-02 1.19906693e+02] [ 1.46741508e-02 -4.19572305e-04 9.99892241e-01 8.68270059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7927550960001 meters Centerline goodness [0,1] 0.9999567707770453 Centerline is valid? [True, True] Translation: X:203.19, Y:119.93, Z:8.68 [[-4.35075643e-01 -9.00372722e-01 6.17630365e-03 2.03190356e+02] [ 9.00267489e-01 -4.35119266e-01 -1.37722054e-02 1.19928982e+02] [ 1.50875468e-02 -4.31625751e-04 9.99886083e-01 8.68327606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.822755096 meters Centerline goodness [0,1] 0.999935107073329 Centerline is valid? [True, True] Translation: X:203.18, Y:119.95, Z:8.68 [[-4.34693843e-01 -9.00556060e-01 6.32811396e-03 2.03181562e+02] [ 9.00445843e-01 -4.34739690e-01 -1.40955932e-02 1.19953359e+02] [ 1.54449542e-02 -4.29143687e-04 9.99880628e-01 8.68303167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.852755096 meters Centerline goodness [0,1] 0.9999349988083115 Centerline is valid? [True, True] Translation: X:203.17, Y:119.98, Z:8.68 [[-4.34821561e-01 -9.00493652e-01 6.43371597e-03 2.03172193e+02] [ 9.00379965e-01 -4.34868941e-01 -1.43151363e-02 1.19977152e+02] [ 1.56885126e-02 -4.31740934e-04 9.99876835e-01 8.68346639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters Centerline goodness [0,1] 0.9999350283709447 Centerline is valid? [True, True] Translation: X:203.16, Y:120.00, Z:8.68 [[-4.34084053e-01 -9.00848305e-01 6.58529276e-03 2.03163261e+02] [ 9.00729478e-01 -4.34133796e-01 -1.46374665e-02 1.20001259e+02] [ 1.60450350e-02 -4.22323470e-04 9.99871181e-01 8.68400429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9127550960001 meters Centerline goodness [0,1] 0.9999566452060437 Centerline is valid? [True, True] Translation: X:203.15, Y:120.03, Z:8.68 [[-4.33539755e-01 -9.01109994e-01 6.63773607e-03 2.03152164e+02] [ 9.00989501e-01 -4.33590372e-01 -1.47414132e-02 1.20025106e+02] [ 1.61616932e-02 -4.10458152e-04 9.99869307e-01 8.68394553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.942755096 meters Centerline goodness [0,1] 0.9999350860110354 Centerline is valid? [True, True] Translation: X:203.14, Y:120.05, Z:8.68 [[-4.32476209e-01 -9.01618788e-01 6.92025996e-03 2.03140521e+02] [ 9.01488148e-01 -4.32531387e-01 -1.53531440e-02 1.20049306e+02] [ 1.68359127e-02 -4.01337170e-04 9.99858185e-01 8.68368663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.972755096 meters Centerline goodness [0,1] 0.9999783357525076 Centerline is valid? [True, True] Translation: X:203.13, Y:120.07, Z:8.68 [[-4.29142054e-01 -9.03209037e-01 7.10862840e-03 2.03128750e+02] [ 9.03071682e-01 -4.29200790e-01 -1.57549435e-02 1.20072075e+02] [ 1.72810363e-02 -3.41507821e-04 9.99850613e-01 8.68356829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters Centerline goodness [0,1] 0.9999568202426702 Centerline is valid? [True, True] Translation: X:203.12, Y:120.10, Z:8.68 [[-4.27366261e-01 -9.04050203e-01 7.16312027e-03 2.03116299e+02] [ 9.03911133e-01 -4.27426180e-01 -1.58595524e-02 1.20095152e+02] [ 1.73995367e-02 -3.03013459e-04 9.99848571e-01 8.68390590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.032755096 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:203.10, Y:120.12, Z:8.68 [[-4.24631587e-01 -9.05338828e-01 7.04423131e-03 2.03102912e+02] [ 9.05204772e-01 -4.24689944e-01 -1.55811787e-02 1.20116771e+02] [ 1.70978602e-02 -2.39788834e-04 9.99853792e-01 8.68392622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:120.14, Z:8.68 [[-4.23962314e-01 -9.05652310e-01 7.06044665e-03 2.03091762e+02] [ 9.05517953e-01 -4.24021043e-01 -1.56010488e-02 1.20139723e+02] [ 1.71229039e-02 -2.20895564e-04 9.99853368e-01 8.68395722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:120.16, Z:8.69 [[-4.24199608e-01 -9.05540939e-01 7.09233496e-03 2.03079667e+02] [ 9.05405633e-01 -4.24258837e-01 -1.56550088e-02 1.20162923e+02] [ 1.71852371e-02 -2.19408569e-04 9.99852299e-01 8.68515194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:120.19, Z:8.69 [[-4.25857024e-01 -9.04764697e-01 6.82917928e-03 2.03072548e+02] [ 9.04639403e-01 -4.25911713e-01 -1.50586519e-02 1.20187500e+02] [ 1.65331641e-02 -2.34888032e-04 9.99863290e-01 8.68608142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:120.21, Z:8.69 [[-4.27486042e-01 -9.03997598e-01 6.63521833e-03 2.03065786e+02] [ 9.03879465e-01 -4.27537460e-01 -1.46162190e-02 1.20212715e+02] [ 1.60498312e-02 -2.50792004e-04 9.99871162e-01 8.68671294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:120.24, Z:8.69 [[-4.30608705e-01 -9.02517218e-01 6.23009133e-03 2.03056733e+02] [ 9.02413087e-01 -4.30653679e-01 -1.37123991e-02 1.20238784e+02] [ 1.50586880e-02 -2.82562468e-04 9.99886572e-01 8.68919035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:120.26, Z:8.69 [[-4.31824782e-01 -9.01935450e-01 6.30893185e-03 2.03048722e+02] [ 9.01828788e-01 -4.31870761e-01 -1.38738003e-02 1.20263628e+02] [ 1.52379155e-02 -3.01474426e-04 9.99883851e-01 8.69017155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:120.29, Z:8.69 [[-4.33097669e-01 -9.01326716e-01 6.04651091e-03 2.03037711e+02] [ 9.01228824e-01 -4.33139767e-01 -1.32871596e-02 1.20287989e+02] [ 1.45950563e-02 -3.05347951e-04 9.99893440e-01 8.69099725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:120.31, Z:8.69 [[-4.34453347e-01 -9.00676255e-01 5.70717058e-03 2.03028413e+02] [ 9.00589143e-01 -4.34490726e-01 -1.25301812e-02 1.20312708e+02] [ 1.37653494e-02 -3.03963310e-04 9.99905207e-01 8.69228134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:120.34, Z:8.69 [[-4.35359722e-01 -9.00239027e-01 5.62196071e-03 2.03019400e+02] [ 9.00154612e-01 -4.35395911e-01 -1.23318907e-02 1.20336079e+02] [ 1.35494280e-02 -3.08174653e-04 9.99908155e-01 8.69355597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:120.36, Z:8.69 [[-4.35872886e-01 -8.99991456e-01 5.49603615e-03 2.03009149e+02] [ 8.99910886e-01 -4.35907429e-01 -1.20461736e-02 1.20359348e+02] [ 1.32372163e-02 -3.04657719e-04 9.99912338e-01 8.69438503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:120.38, Z:8.70 [[-4.36322411e-01 -8.99772373e-01 5.69483719e-03 2.02999425e+02] [ 8.99686038e-01 -4.36359459e-01 -1.24681673e-02 1.20382353e+02] [ 1.37035086e-02 -3.16575321e-04 9.99906052e-01 8.69505801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.392755096 meters Centerline goodness [0,1] 0.9999782788131544 Centerline is valid? [True, True] Translation: X:202.99, Y:120.41, Z:8.70 [[-4.35977216e-01 -8.99938255e-01 5.91643624e-03 2.02988972e+02] [ 8.99845294e-01 -4.36017243e-01 -1.29387298e-02 1.20405964e+02] [ 1.42237262e-02 -3.17114097e-04 9.99898787e-01 8.69569744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:120.43, Z:8.70 [[-4.35564452e-01 -9.00138450e-01 5.86344973e-03 2.02978702e+02] [ 9.00047352e-01 -4.35603811e-01 -1.28095423e-02 1.20428493e+02] [ 1.40845026e-02 -3.01998863e-04 9.99900763e-01 8.69626929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:120.45, Z:8.70 [[-4.33934289e-01 -9.00925499e-01 5.85466704e-03 2.02965085e+02] [ 9.00834936e-01 -4.33973699e-01 -1.27767831e-02 1.20450831e+02] [ 1.40517012e-02 -2.70195686e-04 9.99901233e-01 8.69762540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:120.47, Z:8.70 [[-4.32952747e-01 -9.01398514e-01 5.71296108e-03 2.02953283e+02] [ 9.01312486e-01 -4.32990370e-01 -1.24556406e-02 1.20473279e+02] [ 1.37011531e-02 -2.43540670e-04 9.99906105e-01 8.69849491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.512755096 meters Centerline goodness [0,1] 0.9998696417320269 Centerline is valid? [True, True] Translation: X:202.94, Y:120.50, Z:8.70 [[-4.32492732e-01 -9.01616281e-01 6.17404630e-03 2.02941666e+02] [ 9.01516049e-01 -4.32536727e-01 -1.34459132e-02 1.20496657e+02] [ 1.47935560e-02 -2.49257906e-04 9.99890538e-01 8.69699237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.93, Y:120.52, Z:8.70 [[-4.29456876e-01 -9.03068448e-01 5.84559051e-03 2.02928757e+02] [ 9.02978901e-01 -4.29496618e-01 -1.27184522e-02 1.20518803e+02] [ 1.39962942e-02 -1.83581832e-04 9.99902030e-01 8.69940570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:120.54, Z:8.70 [[-4.28530998e-01 -9.03508182e-01 5.84369956e-03 2.02916069e+02] [ 9.03418912e-01 -4.28570809e-01 -1.27016538e-02 1.20541373e+02] [ 1.39804872e-02 -1.63743673e-04 9.99902255e-01 8.70002726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:120.56, Z:8.70 [[-4.26556873e-01 -9.04440776e-01 6.00969994e-03 2.02903491e+02] [ 9.04346654e-01 -4.26599186e-01 -1.30485360e-02 1.20562499e+02] [ 1.43653611e-02 -1.31090682e-04 9.99896804e-01 8.70056886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:120.58, Z:8.70 [[-4.25619097e-01 -9.04881034e-01 6.22089254e-03 2.02890939e+02] [ 9.04780446e-01 -4.25664542e-01 -1.34922995e-02 1.20584960e+02] [ 1.48569393e-02 -1.14038391e-04 9.99889623e-01 8.70045001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:120.61, Z:8.70 [[-4.24934721e-01 -9.05200652e-01 6.50091519e-03 2.02878731e+02] [ 9.05091073e-01 -4.24984433e-01 -1.40847955e-02 1.20607446e+02] [ 1.55123539e-02 -1.01198358e-04 9.99879671e-01 8.70051867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.87, Y:120.63, Z:8.70 [[-4.23874421e-01 -9.05697560e-01 6.51197237e-03 2.02866502e+02] [ 9.05587880e-01 -4.23924432e-01 -1.40949243e-02 1.20628509e+02] [ 1.55263227e-02 -7.73146235e-05 9.99879456e-01 8.70093474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:120.65, Z:8.70 [[-4.24074222e-01 -9.05602418e-01 6.73166915e-03 2.02854651e+02] [ 9.05485414e-01 -4.24127640e-01 -1.45571210e-02 1.20651496e+02] [ 1.60380509e-02 -7.78715187e-05 9.99871379e-01 8.70059680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.84, Y:120.67, Z:8.70 [[-4.24641085e-01 -9.05335381e-01 6.91349667e-03 2.02843085e+02] [ 9.05212186e-01 -4.24697352e-01 -1.49351297e-02 1.20674726e+02] [ 1.64574450e-02 -8.38882265e-05 9.99864564e-01 8.70029154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:120.70, Z:8.70 [[-4.26522378e-01 -9.04449672e-01 7.03227354e-03 2.02834426e+02] [ 9.04322332e-01 -4.26580331e-01 -1.51769868e-02 1.20697248e+02] [ 1.67266503e-02 -1.13882501e-04 9.99860093e-01 8.69958315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:120.72, Z:8.70 [[-4.28309352e-01 -9.03603865e-01 7.15226719e-03 2.02822998e+02] [ 9.03472265e-01 -4.28369041e-01 -1.54217965e-02 1.20721308e+02] [ 1.69990048e-02 -1.43424625e-04 9.99855496e-01 8.70083332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:120.75, Z:8.70 [[-4.29896055e-01 -9.02850146e-01 7.14110306e-03 2.02815549e+02] [ 9.02719106e-01 -4.29955330e-01 -1.53827828e-02 1.20745861e+02] [ 1.69587031e-02 -1.66587498e-04 9.99856177e-01 8.69981428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.81, Y:120.77, Z:8.70 [[-4.32816086e-01 -9.01456399e-01 6.82610493e-03 2.02805808e+02] [ 9.01336689e-01 -4.32869862e-01 -1.46920192e-02 1.20770808e+02] [ 1.61990299e-02 -2.06323453e-04 9.99868766e-01 8.70105951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:120.80, Z:8.70 [[-4.33881183e-01 -9.00946588e-01 6.50877574e-03 2.02794390e+02] [ 9.00837893e-01 -4.33929950e-01 -1.39960337e-02 1.20795648e+02] [ 1.54340315e-02 -2.09263838e-04 9.99880866e-01 8.70197322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.78, Y:120.82, Z:8.70 [[-4.34215241e-01 -9.00788532e-01 6.09470396e-03 2.02783978e+02] [ 9.00693385e-01 -4.34257968e-01 -1.30936414e-02 1.20818506e+02] [ 1.44412758e-02 -1.95999141e-04 9.99895700e-01 8.70190774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.77, Y:120.84, Z:8.70 [[-4.33780897e-01 -9.00998873e-01 5.92999738e-03 2.02771321e+02] [ 9.00909007e-01 -4.33821392e-01 -1.27263854e-02 1.20841777e+02] [ 1.40390186e-02 -1.78074835e-04 9.99901432e-01 8.70205479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:120.87, Z:8.70 [[-4.33022902e-01 -9.01364447e-01 5.77060674e-03 2.02758912e+02] [ 9.01279548e-01 -4.33061323e-01 -1.23720080e-02 1.20865045e+02] [ 1.36507148e-02 -1.56432996e-04 9.99906812e-01 8.70230407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.75, Y:120.89, Z:8.70 [[-4.30572204e-01 -9.02540108e-01 5.37871560e-03 2.02745258e+02] [ 9.02466579e-01 -4.30605785e-01 -1.15208783e-02 1.20888066e+02] [ 1.27141608e-02 -1.06458918e-04 9.99919166e-01 8.70282899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.73, Y:120.91, Z:8.70 [[-4.28216586e-01 -9.03663162e-01 4.84205311e-03 2.02731099e+02] [ 9.03603753e-01 -4.28243956e-01 -1.03620546e-02 1.20910666e+02] [ 1.14373870e-02 -6.19062825e-05 9.99934589e-01 8.70400150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.72, Y:120.93, Z:8.70 [[-4.27512284e-01 -9.03998796e-01 4.40726989e-03 2.02719387e+02] [ 9.03949684e-01 -4.27534998e-01 -9.42311576e-03 1.20933005e+02] [ 1.04027474e-02 -4.45475123e-05 9.99945889e-01 8.70478012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:120.96, Z:8.71 [[-4.26892534e-01 -9.04293918e-01 3.90817052e-03 2.02707370e+02] [ 9.04255382e-01 -4.26910422e-01 -8.34837269e-03 1.20956699e+02] [ 9.21782138e-03 -2.98737408e-05 9.99957515e-01 8.70615110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:120.98, Z:8.71 [[-4.26191802e-01 -9.04627479e-01 3.10990618e-03 2.02695074e+02] [ 9.04603118e-01 -4.26203148e-01 -6.63891073e-03 1.20979054e+02] [ 7.33119288e-03 -1.62185035e-05 9.99973126e-01 8.70816647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.68, Y:121.00, Z:8.71 [[-4.26372024e-01 -9.04543973e-01 2.66441266e-03 2.02683005e+02] [ 9.04526118e-01 -4.26380348e-01 -5.68332570e-03 1.21003067e+02] [ 6.27687120e-03 -1.31802420e-05 9.99980300e-01 8.70873698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.67, Y:121.03, Z:8.71 [[-4.26719362e-01 -9.04380161e-01 2.66659980e-03 2.02671748e+02] [ 9.04362310e-01 -4.26727694e-01 -5.68229884e-03 1.21026420e+02] [ 6.27687032e-03 -1.31745872e-05 9.99980300e-01 8.70904827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:121.05, Z:8.71 [[-4.27720080e-01 -9.03908387e-01 2.27186949e-03 2.02660722e+02] [ 9.03895439e-01 -4.27726113e-01 -4.83810568e-03 1.21050567e+02] [ 5.34494220e-03 -1.58224797e-05 9.99985716e-01 8.70938131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:121.07, Z:8.71 [[-4.28802534e-01 -9.03395430e-01 2.25458972e-03 2.02650566e+02] [ 9.03382696e-01 -4.28808461e-01 -4.79674658e-03 1.21074302e+02] [ 5.30014609e-03 -2.00997504e-05 9.99985954e-01 8.71016850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2927550960001 meters Centerline goodness [0,1] 0.99991336928508 Centerline is valid? [True, True] Translation: X:202.64, Y:121.10, Z:8.71 [[-4.30160246e-01 -9.02750301e-01 2.01404644e-03 2.02639195e+02] [ 9.02740149e-01 -4.30164960e-01 -4.28138830e-03 1.21098619e+02] [ 4.73139679e-03 -2.35224654e-05 9.99988807e-01 8.70777406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.63, Y:121.12, Z:8.71 [[-4.32461828e-01 -9.01650405e-01 1.82048119e-03 2.02628316e+02] [ 9.01642113e-01 -4.32465658e-01 -3.86703745e-03 1.21122941e+02] [ 4.27401148e-03 -3.09235784e-05 9.99990866e-01 8.70944691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:121.15, Z:8.71 [[-4.33374033e-01 -9.01212376e-01 1.78912103e-03 2.02616648e+02] [ 9.01204379e-01 -4.33377725e-01 -3.79675740e-03 1.21146647e+02] [ 4.19704995e-03 -3.30523599e-05 9.99991192e-01 8.70896919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.61, Y:121.17, Z:8.71 [[-4.35610685e-01 -9.00133005e-01 1.97627370e-03 2.02605440e+02] [ 9.00123261e-01 -4.35615165e-01 -4.18846988e-03 1.21170386e+02] [ 4.63107477e-03 -4.56523011e-05 9.99989275e-01 8.70790347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:121.19, Z:8.71 [[-4.36987543e-01 -8.99465048e-01 2.12493601e-03 2.02595163e+02] [ 8.99453801e-01 -4.36992706e-01 -4.49836480e-03 1.21193574e+02] [ 4.97470345e-03 -5.44476124e-05 9.99987625e-01 8.70764156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.59, Y:121.22, Z:8.71 [[-4.38351719e-01 -8.98800641e-01 2.27552302e-03 2.02585443e+02] [ 8.98787775e-01 -4.38357621e-01 -4.80961215e-03 1.21216695e+02] [ 5.32037535e-03 -6.30894842e-05 9.99985845e-01 8.70784424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.58, Y:121.24, Z:8.71 [[-4.40558343e-01 -8.97721174e-01 2.24495950e-03 2.02575643e+02] [ 8.97708652e-01 -4.40564057e-01 -4.74216914e-03 1.21241426e+02] [ 5.24619411e-03 -7.38826094e-05 9.99986236e-01 8.70763720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.56, Y:121.26, Z:8.71 [[-4.41712288e-01 -8.97153746e-01 2.32623909e-03 2.02564250e+02] [ 8.97140317e-01 -4.41718406e-01 -4.90932970e-03 1.21264955e+02] [ 5.43196615e-03 -8.15483766e-05 9.99985243e-01 8.70718693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.55, Y:121.29, Z:8.71 [[-4.42683047e-01 -8.96674932e-01 2.40553850e-03 2.02553361e+02] [ 8.96660595e-01 -4.42689574e-01 -5.07122711e-03 1.21288640e+02] [ 5.61214904e-03 -8.79946876e-05 9.99984248e-01 8.70684533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:121.31, Z:8.71 [[-4.43151229e-01 -8.96443533e-01 2.44547100e-03 2.02543413e+02] [ 8.96428743e-01 -4.43157967e-01 -5.15026168e-03 1.21312601e+02] [ 5.70064873e-03 -9.01542980e-05 9.99983747e-01 8.70771080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.53, Y:121.33, Z:8.71 [[-4.43103807e-01 -8.96466291e-01 2.68429349e-03 2.02532812e+02] [ 8.96448514e-01 -4.43111928e-01 -5.64639652e-03 1.21334500e+02] [ 6.25124661e-03 -9.56088861e-05 9.99980456e-01 8.70724941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:121.36, Z:8.71 [[-4.42331935e-01 -8.96846017e-01 3.11160909e-03 2.02521741e+02] [ 8.96822204e-01 -4.42342868e-01 -6.53621956e-03 1.21356994e+02] [ 7.23838056e-03 -1.00618518e-04 9.99973798e-01 8.70627173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:121.38, Z:8.71 [[-4.42067053e-01 -8.96976199e-01 3.22788204e-03 2.02508931e+02] [ 8.96950637e-01 -4.42078826e-01 -6.77242210e-03 1.21380408e+02] [ 7.50167974e-03 -9.86138242e-05 9.99971857e-01 8.70552820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:121.40, Z:8.71 [[-4.41626043e-01 -8.97192999e-01 3.34068741e-03 2.02500426e+02] [ 8.97165682e-01 -4.41638668e-01 -7.00183800e-03 1.21404619e+02] [ 7.75737677e-03 -9.50439151e-05 9.99969907e-01 8.70632917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.49, Y:121.43, Z:8.71 [[-4.41833145e-01 -8.97091760e-01 3.13798415e-03 2.02487609e+02] [ 8.97067701e-01 -4.41844280e-01 -6.57061396e-03 1.21428280e+02] [ 7.28094398e-03 -8.81308049e-05 9.99973490e-01 8.70610017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.48, Y:121.45, Z:8.71 [[-4.42105397e-01 -8.96958142e-01 2.98502998e-03 2.02476151e+02] [ 8.96936407e-01 -4.42115466e-01 -6.24469344e-03 1.21452200e+02] [ 6.92095654e-03 -8.34306065e-05 9.99976046e-01 8.70632543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:121.48, Z:8.71 [[-4.42697738e-01 -8.96666130e-01 2.92647212e-03 2.02467422e+02] [ 8.96645281e-01 -4.42707403e-01 -6.11522240e-03 1.21475843e+02] [ 6.77888368e-03 -8.31877063e-05 9.99977020e-01 8.70695477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:121.50, Z:8.71 [[-4.43589144e-01 -8.96225521e-01 2.91328368e-03 2.02457407e+02] [ 8.96204875e-01 -4.43598701e-01 -6.08389148e-03 1.21500394e+02] [ 6.74486767e-03 -8.78491786e-05 9.99977249e-01 8.70743288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.45, Y:121.52, Z:8.71 [[-4.44363674e-01 -8.95841775e-01 2.90491382e-03 2.02446787e+02] [ 8.95821282e-01 -4.44373160e-01 -6.06018613e-03 1.21524783e+02] [ 6.71983363e-03 -9.06429513e-05 9.99977418e-01 8.70779954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.44, Y:121.55, Z:8.71 [[-4.44934572e-01 -8.95558564e-01 2.84350493e-03 2.02436650e+02] [ 8.95538958e-01 -4.44943649e-01 -5.92647883e-03 1.21548433e+02] [ 6.57270833e-03 -9.04258754e-05 9.99978395e-01 8.70790824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:121.57, Z:8.71 [[-4.46144950e-01 -8.94955647e-01 3.01203026e-03 2.02427220e+02] [ 8.94933689e-01 -4.46155106e-01 -6.27010019e-03 1.21573042e+02] [ 6.95529425e-03 -1.01806189e-04 9.99975806e-01 8.70783769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.42, Y:121.60, Z:8.71 [[-4.46647058e-01 -8.94704591e-01 3.17826571e-03 2.02415629e+02] [ 8.94680190e-01 -4.46658352e-01 -6.60867062e-03 1.21597503e+02] [ 7.33240687e-03 -1.08211917e-04 9.99973112e-01 8.70757027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.40, Y:121.62, Z:8.71 [[-4.47351051e-01 -8.94352520e-01 3.25694899e-03 2.02404452e+02] [ 8.94326935e-01 -4.47362892e-01 -6.76577632e-03 1.21622713e+02] [ 7.50802721e-03 -1.13899940e-04 9.99971808e-01 8.70732084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.39, Y:121.65, Z:8.71 [[-4.48095211e-01 -8.93979124e-01 3.46534427e-03 2.02393376e+02] [ 8.93950207e-01 -4.48108593e-01 -7.19146687e-03 1.21647646e+02] [ 7.98187179e-03 -1.24616637e-04 9.99968137e-01 8.70795898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.38, Y:121.67, Z:8.71 [[-4.48186481e-01 -8.93933714e-01 3.37543315e-03 2.02382268e+02] [ 8.93906320e-01 -4.48199175e-01 -6.99926296e-03 1.21670106e+02] [ 7.76974349e-03 -1.19654006e-04 9.99969808e-01 8.70850741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:121.69, Z:8.71 [[-4.47636984e-01 -8.94206690e-01 3.94037609e-03 2.02369730e+02] [ 8.94169467e-01 -4.47654308e-01 -8.15994460e-03 1.21693528e+02] [ 9.06060338e-03 -1.29329001e-04 9.99958944e-01 8.70801942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.36, Y:121.72, Z:8.71 [[-4.47556245e-01 -8.94246150e-01 4.15115297e-03 2.02357119e+02] [ 8.94204927e-01 -4.47575476e-01 -8.58734843e-03 1.21717076e+02] [ 9.53715753e-03 -1.31339975e-04 9.99954512e-01 8.70775054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.35, Y:121.74, Z:8.71 [[-4.47604571e-01 -8.94220750e-01 4.40426830e-03 2.02345286e+02] [ 8.94174448e-01 -4.47626218e-01 -9.10086993e-03 1.21739614e+02] [ 1.01096527e-02 -1.35406814e-04 9.99948887e-01 8.70767773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.33, Y:121.76, Z:8.71 [[-4.47826286e-01 -8.94108799e-01 4.59047977e-03 2.02333002e+02] [ 8.94058573e-01 -4.47849791e-01 -9.47805020e-03 1.21763410e+02] [ 1.05302535e-02 -1.40362230e-04 9.99944546e-01 8.70752268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:121.79, Z:8.71 [[-4.49259301e-01 -8.93389036e-01 4.70227317e-03 2.02321001e+02] [ 8.93336399e-01 -4.49283881e-01 -9.69913619e-03 1.21787250e+02] [ 1.07777575e-02 -1.56715361e-04 9.99941906e-01 8.70729279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:121.81, Z:8.71 [[-4.51222556e-01 -8.92397618e-01 4.96944145e-03 2.02308359e+02] [ 8.92338889e-01 -4.51249882e-01 -1.02396816e-02 1.21810826e+02] [ 1.13803273e-02 -1.85949418e-04 9.99935225e-01 8.70709689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.30, Y:121.83, Z:8.71 [[-4.52307569e-01 -8.91848284e-01 4.94987220e-03 2.02295594e+02] [ 8.91790090e-01 -4.52334611e-01 -1.01899799e-02 1.21834480e+02] [ 1.13269146e-02 -1.94758080e-04 9.99935829e-01 8.70717767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:121.86, Z:8.71 [[-4.53186054e-01 -8.91402855e-01 4.83227267e-03 2.02285380e+02] [ 8.91347477e-01 -4.53211773e-01 -9.93802118e-03 1.21858203e+02] [ 1.10488233e-02 -1.96538550e-04 9.99938941e-01 8.70753132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.27, Y:121.88, Z:8.71 [[-4.54583493e-01 -8.90692036e-01 4.64165074e-03 2.02272141e+02] [ 8.90640979e-01 -4.54607145e-01 -9.53886985e-03 1.21882486e+02] [ 1.06063230e-02 -2.02168418e-04 9.99943731e-01 8.70900666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:121.91, Z:8.71 [[-4.55268490e-01 -8.90343747e-01 4.31428311e-03 2.02259938e+02] [ 8.90299691e-01 -4.55288891e-01 -8.85921430e-03 1.21906112e+02] [ 9.85199124e-03 -1.92316205e-04 9.99951449e-01 8.70986857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.25, Y:121.93, Z:8.71 [[-4.56014106e-01 -8.89962471e-01 4.23496921e-03 2.02247288e+02] [ 8.89920083e-01 -4.56033729e-01 -8.68809737e-03 1.21929105e+02] [ 9.66336941e-03 -1.93110801e-04 9.99953290e-01 8.71081562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:121.95, Z:8.71 [[-4.56005882e-01 -8.89966936e-01 4.18203169e-03 2.02235510e+02] [ 8.89925678e-01 -4.56025020e-01 -8.57142722e-03 1.21951780e+02] [ 9.53539790e-03 -1.86923838e-04 9.99954520e-01 8.71108520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.22, Y:121.97, Z:8.71 [[-4.54767646e-01 -8.90599490e-01 4.35169701e-03 2.02220375e+02] [ 8.90554940e-01 -4.54788432e-01 -8.90955759e-03 1.21974784e+02] [ 9.91394890e-03 -1.76353254e-04 9.99950840e-01 8.71115529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:122.00, Z:8.71 [[-4.53988426e-01 -8.90997374e-01 4.26479342e-03 2.02209687e+02] [ 8.90954675e-01 -4.54008429e-01 -8.72431151e-03 1.21998223e+02] [ 9.70959080e-03 -1.60998814e-04 9.99952848e-01 8.71195546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.19, Y:122.02, Z:8.71 [[-4.51623988e-01 -8.92199515e-01 3.97481398e-03 2.02193751e+02] [ 8.92162543e-01 -4.51641463e-01 -8.12319721e-03 1.22019717e+02] [ 9.04270341e-03 -1.22450573e-04 9.99959106e-01 8.71280065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.18, Y:122.04, Z:8.71 [[-4.50490930e-01 -8.92771509e-01 4.11752466e-03 2.02181716e+02] [ 8.92731937e-01 -4.50509733e-01 -8.40646917e-03 1.22040772e+02] [ 9.36004111e-03 -1.11192354e-04 9.99956188e-01 8.71342829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:122.06, Z:8.71 [[-4.49342586e-01 -8.93350265e-01 4.06754599e-03 2.02167872e+02] [ 8.93311734e-01 -4.49360986e-01 -8.29765794e-03 1.22062907e+02] [ 9.24051139e-03 -9.49045207e-05 9.99957301e-01 8.71355230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:122.09, Z:8.71 [[-4.48021405e-01 -8.94011620e-01 4.47710300e-03 2.02154087e+02] [ 8.93965071e-01 -4.48043767e-01 -9.12330663e-03 1.22085505e+02] [ 1.01622802e-02 -8.50629530e-05 9.99948359e-01 8.71302681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:122.11, Z:8.71 [[-4.48155248e-01 -8.93944178e-01 4.54759586e-03 2.02142001e+02] [ 8.93896241e-01 -4.48178313e-01 -9.25795300e-03 1.22108939e+02] [ 1.03142270e-02 -8.39213753e-05 9.99946803e-01 8.71320693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.13, Y:122.13, Z:8.71 [[-4.49064786e-01 -8.93486271e-01 4.80640534e-03 2.02131830e+02] [ 8.93432804e-01 -4.49090497e-01 -9.77504944e-03 1.22132530e+02] [ 1.08923834e-02 -9.54302833e-05 9.99940672e-01 8.71310221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.12, Y:122.16, Z:8.71 [[-4.50445298e-01 -8.92789887e-01 5.02508340e-03 2.02121894e+02] [ 8.92731520e-01 -4.50473312e-01 -1.02092771e-02 1.22156089e+02] [ 1.13784053e-02 -1.12670514e-04 9.99935258e-01 8.71292757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.11, Y:122.18, Z:8.71 [[-4.52125350e-01 -8.91940685e-01 4.94804900e-03 2.02112470e+02] [ 8.91884155e-01 -4.52152407e-01 -1.00426762e-02 1.22179500e+02] [ 1.11947437e-02 -1.27461982e-04 9.99937329e-01 8.71343545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.11, Y:122.20, Z:8.71 [[-4.55748612e-01 -8.90093587e-01 5.15845110e-03 2.02105507e+02] [ 8.90032157e-01 -4.55777771e-01 -1.04586449e-02 1.22203948e+02] [ 1.16602801e-02 -1.75325558e-04 9.99932001e-01 8.71376844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.10, Y:122.23, Z:8.71 [[-4.57984617e-01 -8.88944880e-01 5.20482179e-03 2.02095906e+02] [ 8.88882391e-01 -4.58014147e-01 -1.05420857e-02 1.22228486e+02] [ 1.17552151e-02 -2.01638657e-04 9.99930885e-01 8.71371122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:122.25, Z:8.71 [[-4.61508097e-01 -8.87121054e-01 5.14904241e-03 2.02088778e+02] [ 8.87059891e-01 -4.61536757e-01 -1.04198091e-02 1.22253573e+02] [ 1.16201044e-02 -2.41317296e-04 9.99932455e-01 8.71425384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.08, Y:122.28, Z:8.71 [[-4.63432504e-01 -8.86116991e-01 5.19545486e-03 2.02078935e+02] [ 8.86054774e-01 -4.63461551e-01 -1.05037505e-02 1.22278275e+02] [ 1.17154453e-02 -2.64321803e-04 9.99931337e-01 8.71447012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.07, Y:122.30, Z:8.71 [[-4.65261464e-01 -8.85157973e-01 5.20890717e-03 2.02069525e+02] [ 8.85095484e-01 -4.65290534e-01 -1.05215779e-02 1.22302894e+02] [ 1.17369137e-02 -2.84904508e-04 9.99931079e-01 8.71476016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:122.33, Z:8.71 [[-4.67743481e-01 -8.83846675e-01 5.57604926e-03 2.02055635e+02] [ 8.83775105e-01 -4.67776596e-01 -1.12525847e-02 1.22326147e+02] [ 1.25539049e-02 -3.35349604e-04 9.99921140e-01 8.71452480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.05, Y:122.35, Z:8.71 [[-4.68503680e-01 -8.83443356e-01 5.66918190e-03 2.02051285e+02] [ 8.83369480e-01 -4.68537850e-01 -1.14299921e-02 1.22353265e+02] [ 1.27539768e-02 -3.47011072e-04 9.99918605e-01 8.71474129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.03, Y:122.37, Z:8.71 [[-4.68470569e-01 -8.83457801e-01 6.13520985e-03 2.02034179e+02] [ 8.83371454e-01 -4.68510596e-01 -1.23569994e-02 1.22373946e+02] [ 1.37912983e-02 -3.69221278e-04 9.99904827e-01 8.71451319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.02, Y:122.40, Z:8.71 [[-4.68671119e-01 -8.83350214e-01 6.30720556e-03 2.02022140e+02] [ 8.83259130e-01 -4.68713406e-01 -1.26906427e-02 1.22397579e+02] [ 1.41665537e-02 -3.76840806e-04 9.99899578e-01 8.71443078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.01, Y:122.42, Z:8.71 [[-4.67114764e-01 -8.84172527e-01 6.53750021e-03 2.02010410e+02] [ 8.84074934e-01 -4.67160372e-01 -1.31414700e-02 1.22421296e+02] [ 1.46733877e-02 -3.58934571e-04 9.99892276e-01 8.71428831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.00, Y:122.44, Z:8.71 [[-4.66498499e-01 -8.84496536e-01 6.71037434e-03 2.01998195e+02] [ 8.84393898e-01 -4.66546626e-01 -1.34788698e-02 1.22444493e+02] [ 1.50527161e-02 -3.53258409e-04 9.99886639e-01 8.71397548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.99, Y:122.47, Z:8.71 [[-4.64313627e-01 -8.85641199e-01 7.24722236e-03 2.01985254e+02] [ 8.85521856e-01 -4.64370062e-01 -1.45426292e-02 1.22467147e+02] [ 1.62449447e-02 -3.34767113e-04 9.99867986e-01 8.71270869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.97, Y:122.49, Z:8.71 [[-4.63660656e-01 -8.85979658e-01 7.67086556e-03 2.01972638e+02] [ 8.85846252e-01 -4.63723985e-01 -1.53780260e-02 1.22490266e+02] [ 1.71817825e-02 -3.34978097e-04 9.99852326e-01 8.71279848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.96, Y:122.51, Z:8.71 [[-4.63999039e-01 -8.85802438e-01 7.67673693e-03 2.01960823e+02] [ 8.85669057e-01 -4.64062419e-01 -1.53750948e-02 1.22513358e+02] [ 1.71817816e-02 -3.34980872e-04 9.99852326e-01 8.71310983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.95, Y:122.54, Z:8.71 [[-4.63272810e-01 -8.86179350e-01 8.02884441e-03 2.01948485e+02] [ 8.86033792e-01 -4.63342261e-01 -1.60645118e-02 1.22537113e+02] [ 1.79561415e-02 -3.28424060e-04 9.99838722e-01 8.71295631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:122.56, Z:8.71 [[-4.62452257e-01 -8.86603303e-01 8.51428653e-03 2.01937121e+02] [ 8.86440005e-01 -4.62530517e-01 -1.70188024e-02 1.22559675e+02] [ 1.90270438e-02 -3.22979393e-04 9.99818917e-01 8.71209753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.92, Y:122.58, Z:8.71 [[-4.62197456e-01 -8.86735395e-01 8.59365902e-03 2.01923211e+02] [ 8.86569385e-01 -4.62277234e-01 -1.71605649e-02 1.22581923e+02] [ 1.91895333e-02 -3.12694471e-04 9.99815815e-01 8.71310386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:122.60, Z:8.71 [[-4.62068541e-01 -8.86804077e-01 8.43758375e-03 2.01912130e+02] [ 8.86644360e-01 -4.62145477e-01 -1.68326287e-02 1.22604400e+02] [ 1.88266349e-02 -2.96692128e-04 9.99822719e-01 8.71364666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters Centerline goodness [0,1] 0.9999128787053776 Centerline is valid? [True, True] Translation: X:201.90, Y:122.63, Z:8.71 [[-4.63091406e-01 -8.86272282e-01 8.23359175e-03 2.01900954e+02] [ 8.86120404e-01 -4.63164496e-01 -1.64097214e-02 1.22627239e+02] [ 1.83569886e-02 -3.03247311e-04 9.99831450e-01 8.71144545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:122.65, Z:8.72 [[-4.64510408e-01 -8.85535966e-01 7.49227526e-03 2.01888806e+02] [ 8.85410333e-01 -4.64570733e-01 -1.49189978e-02 1.22651050e+02] [ 1.66920009e-02 -2.96291819e-04 9.99860635e-01 8.71713700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.88, Y:122.67, Z:8.72 [[-4.65496410e-01 -8.85020695e-01 7.17373153e-03 2.01876975e+02] [ 8.84905662e-01 -4.65551590e-01 -1.42718840e-02 1.22674567e+02] [ 1.59706548e-02 -2.95435110e-04 9.99872417e-01 8.71858060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:122.70, Z:8.72 [[-4.66558312e-01 -8.84464337e-01 6.79541477e-03 2.01863236e+02] [ 8.84361242e-01 -4.66607705e-01 -1.35071738e-02 1.22697748e+02] [ 1.51174065e-02 -2.92282788e-04 9.99885683e-01 8.72011461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.85, Y:122.72, Z:8.72 [[-4.68440155e-01 -8.83472764e-01 6.30054842e-03 2.01851169e+02] [ 8.83384200e-01 -4.68482431e-01 -1.25126559e-02 1.22721432e+02] [ 1.40062869e-02 -2.95625531e-04 9.99901863e-01 8.72100375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:122.75, Z:8.72 [[-4.69814963e-01 -8.82743481e-01 6.15203308e-03 2.01838623e+02] [ 8.82659095e-01 -4.69855140e-01 -1.22093951e-02 1.22745609e+02] [ 1.36683283e-02 -3.06008562e-04 9.99906537e-01 8.72151285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.83, Y:122.77, Z:8.72 [[-4.72567823e-01 -8.81274592e-01 5.89459987e-03 2.01828094e+02] [ 8.81197131e-01 -4.72604470e-01 -1.16889084e-02 1.22769588e+02] [ 1.30869522e-02 -3.29497510e-04 9.99914308e-01 8.72176041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.82, Y:122.79, Z:8.72 [[-4.74189679e-01 -8.80403149e-01 5.86885640e-03 2.01816566e+02] [ 8.80326430e-01 -4.74225869e-01 -1.16276161e-02 1.22794229e+02] [ 1.30201534e-02 -3.47186170e-04 9.99915174e-01 8.72195702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.80, Y:122.82, Z:8.72 [[-4.75266924e-01 -8.79821792e-01 5.91307881e-03 2.01804281e+02] [ 8.79743997e-01 -4.75303570e-01 -1.17054178e-02 1.22818280e+02] [ 1.31091892e-02 -3.61202358e-04 9.99914006e-01 8.72208652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.79, Y:122.84, Z:8.72 [[-4.76238335e-01 -8.79296329e-01 5.91737406e-03 2.01793672e+02] [ 8.79218507e-01 -4.76274951e-01 -1.17041850e-02 1.22841870e+02] [ 1.31097440e-02 -3.71316790e-04 9.99913995e-01 8.72231346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.78, Y:122.86, Z:8.72 [[-4.76083062e-01 -8.79378366e-01 6.21354110e-03 2.01781100e+02] [ 8.79292687e-01 -4.76123454e-01 -1.22811941e-02 1.22864742e+02] [ 1.37582290e-02 -3.83347241e-04 9.99905278e-01 8.72212488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.77, Y:122.89, Z:8.72 [[-4.74940470e-01 -8.79994624e-01 6.40408269e-03 2.01767602e+02] [ 8.79903836e-01 -4.74983500e-01 -1.26457288e-02 1.22886860e+02] [ 1.41700070e-02 -3.70991469e-04 9.99899532e-01 8.72099752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.75, Y:122.91, Z:8.72 [[-4.74361630e-01 -8.80306015e-01 6.50876610e-03 2.01751481e+02] [ 8.80212445e-01 -4.74406144e-01 -1.28398832e-02 1.22908713e+02] [ 1.43908251e-02 -3.61651024e-04 9.99896381e-01 8.72055798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.74, Y:122.93, Z:8.72 [[-4.73946194e-01 -8.80529732e-01 6.51124720e-03 2.01738776e+02] [ 8.80436291e-01 -4.73990791e-01 -1.28322798e-02 1.22932014e+02] [ 1.43854751e-02 -3.49071854e-04 9.99896463e-01 8.72080017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.73, Y:122.96, Z:8.72 [[-4.73361786e-01 -8.80843720e-01 6.55441436e-03 2.01729161e+02] [ 8.80749250e-01 -4.73407042e-01 -1.29047141e-02 1.22955203e+02] [ 1.44699423e-02 -3.35802994e-04 9.99895249e-01 8.72067411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.72, Y:122.98, Z:8.72 [[-4.73484685e-01 -8.80779536e-01 6.29788152e-03 2.01717239e+02] [ 8.80692475e-01 -4.73526460e-01 -1.23877545e-02 1.22978570e+02] [ 1.38930942e-02 -3.18915152e-04 9.99903435e-01 8.72167786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.70, Y:123.00, Z:8.72 [[-4.73450631e-01 -8.80801135e-01 5.81899125e-03 2.01703730e+02] [ 8.80726938e-01 -4.73486301e-01 -1.14360911e-02 1.23001141e+02] [ 1.28281347e-02 -2.89482228e-04 9.99917674e-01 8.72449320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.69, Y:123.02, Z:8.73 [[-4.74051493e-01 -8.80481269e-01 5.28368211e-03 2.01692865e+02] [ 8.80420183e-01 -4.74080863e-01 -1.03748438e-02 1.23024327e+02] [ 1.16397482e-02 -2.66349836e-04 9.99932220e-01 8.72609895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:123.05, Z:8.73 [[-4.75488262e-01 -8.79709028e-01 4.78953731e-03 2.01682592e+02] [ 8.79658886e-01 -4.75512315e-01 -9.39584299e-03 1.23048938e+02] [ 1.05430919e-02 -2.54453994e-04 9.99944388e-01 8.72738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.67, Y:123.07, Z:8.73 [[-4.76635695e-01 -8.79087779e-01 4.80523130e-03 2.01669883e+02] [ 8.79037369e-01 -4.76659843e-01 -9.41792736e-03 1.23073335e+02] [ 1.05696456e-02 -2.64942473e-04 9.99944105e-01 8.72719216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.66, Y:123.10, Z:8.73 [[-4.77688526e-01 -8.78515280e-01 4.95736945e-03 2.01658668e+02] [ 8.78461689e-01 -4.77714166e-01 -9.70753333e-03 1.23096785e+02] [ 1.08964220e-02 -2.82318148e-04 9.99940592e-01 8.72694821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:123.12, Z:8.73 [[-4.79369813e-01 -8.77598686e-01 5.01281361e-03 2.01645834e+02] [ 8.77543939e-01 -4.79395927e-01 -9.80716766e-03 1.23121119e+02] [ 1.10098799e-02 -3.02295928e-04 9.99939344e-01 8.72617064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.64, Y:123.14, Z:8.73 [[-4.80200521e-01 -8.77143945e-01 5.09496235e-03 2.01635654e+02] [ 8.77087461e-01 -4.80227447e-01 -9.95914432e-03 1.23144664e+02] [ 1.11823439e-02 -3.13658700e-04 9.99937426e-01 8.72605488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:123.17, Z:8.72 [[-4.81213034e-01 -8.76586169e-01 5.54112573e-03 2.01622096e+02] [ 8.76519466e-01 -4.81244809e-01 -1.08193961e-02 1.23167316e+02] [ 1.21507710e-02 -3.49529856e-04 9.99926116e-01 8.72453888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:123.19, Z:8.72 [[-4.81884484e-01 -8.76215386e-01 5.82594821e-03 2.01610483e+02] [ 8.76141770e-01 -4.81919557e-01 -1.13639187e-02 1.23190847e+02] [ 1.27648787e-02 -3.71739502e-04 9.99918457e-01 8.72436865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:123.21, Z:8.72 [[-4.82268606e-01 -8.76001124e-01 6.24671569e-03 2.01599183e+02] [ 8.75916646e-01 -4.82308896e-01 -1.21720210e-02 1.23213828e+02] [ 1.36755507e-02 -3.98581368e-04 9.99906406e-01 8.72379177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.59, Y:123.24, Z:8.72 [[-4.81465925e-01 -8.76440352e-01 6.54772122e-03 2.01585417e+02] [ 8.76347764e-01 -4.81510281e-01 -1.27454457e-02 1.23237226e+02] [ 1.43234180e-02 -3.98416933e-04 9.99897335e-01 8.72262897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.57, Y:123.26, Z:8.72 [[-4.81016307e-01 -8.76685696e-01 6.74561962e-03 2.01572007e+02] [ 8.76587624e-01 -4.81063440e-01 -1.31188675e-02 1.23260317e+02] [ 1.47461944e-02 -3.97262503e-04 9.99891190e-01 8.72240464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.56, Y:123.28, Z:8.72 [[-4.79088760e-01 -8.77740700e-01 6.72488533e-03 2.01557529e+02] [ 8.77643505e-01 -4.79135821e-01 -1.30668281e-02 1.23282126e+02] [ 1.46914203e-02 -3.58118525e-04 9.99892011e-01 8.72271996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.54, Y:123.31, Z:8.72 [[-4.77845076e-01 -8.78418846e-01 6.66442593e-03 2.01544183e+02] [ 8.78323587e-01 -4.77891434e-01 -1.29403833e-02 1.23305241e+02] [ 1.45519486e-02 -3.29975948e-04 9.99894060e-01 8.72291556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:123.33, Z:8.72 [[-4.75312116e-01 -8.79790684e-01 6.83700821e-03 2.01526427e+02] [ 8.79690743e-01 -4.75361198e-01 -1.32637986e-02 1.23327379e+02] [ 1.49194149e-02 -2.89991363e-04 9.99888657e-01 8.72368834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1727550960001 meters Centerline goodness [0,1] 0.9999349170191995 Centerline is valid? [True, True] Translation: X:201.51, Y:123.35, Z:8.72 [[-4.74309202e-01 -8.80330036e-01 7.05756531e-03 2.01511942e+02] [ 8.80223778e-01 -4.74361626e-01 -1.36802253e-02 1.23349644e+02] [ 1.53909513e-02 -2.76419926e-04 9.99881514e-01 8.72376849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.50, Y:123.37, Z:8.72 [[-4.74073263e-01 -8.80456294e-01 7.15938084e-03 2.01498002e+02] [ 8.80347169e-01 -4.74127243e-01 -1.38643284e-02 1.23371739e+02] [ 1.56013927e-02 -2.69966731e-04 9.99878254e-01 8.72459231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.49, Y:123.40, Z:8.72 [[-4.74346101e-01 -8.80311628e-01 6.87125248e-03 2.01487644e+02] [ 8.80211283e-01 -4.74395796e-01 -1.32938005e-02 1.23395136e+02] [ 1.49623804e-02 -2.57708463e-04 9.99888024e-01 8.72498200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.47, Y:123.42, Z:8.73 [[-4.74840357e-01 -8.80045407e-01 6.83498219e-03 2.01473828e+02] [ 8.79946286e-01 -4.74889476e-01 -1.32105618e-02 1.23417851e+02] [ 1.48717554e-02 -2.58490705e-04 9.99889376e-01 8.72602730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:123.44, Z:8.73 [[-4.76474490e-01 -8.79162667e-01 6.71313885e-03 2.01461539e+02] [ 8.79067131e-01 -4.76521700e-01 -1.29633635e-02 1.23442077e+02] [ 1.45958616e-02 -2.75412314e-04 9.99893437e-01 8.72666645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:123.47, Z:8.73 [[-4.77428633e-01 -8.78643200e-01 6.93020850e-03 2.01450156e+02] [ 8.78541510e-01 -4.77478838e-01 -1.33706521e-02 1.23465752e+02] [ 1.50570604e-02 -2.95056303e-04 9.99886593e-01 8.72705233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:123.49, Z:8.73 [[-4.79666980e-01 -8.77424442e-01 6.77761194e-03 2.01439335e+02] [ 8.77327235e-01 -4.79714754e-01 -1.30643245e-02 1.23490183e+02] [ 1.47142781e-02 -3.20341532e-04 9.99891688e-01 8.72753435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:123.51, Z:8.73 [[-4.81127486e-01 -8.76625739e-01 6.60730182e-03 2.01427811e+02] [ 8.76533432e-01 -4.81172739e-01 -1.27255017e-02 1.23513868e+02] [ 1.43347559e-02 -3.31067716e-04 9.99897197e-01 8.72794433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:123.54, Z:8.73 [[-4.82545636e-01 -8.75847738e-01 6.35999686e-03 2.01413538e+02] [ 8.75762254e-01 -4.82587429e-01 -1.22412432e-02 1.23537648e+02] [ 1.37907197e-02 -3.37113292e-04 9.99904847e-01 8.72856968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:123.56, Z:8.73 [[-4.85192242e-01 -8.74384870e-01 6.29195192e-03 2.01403277e+02] [ 8.74301225e-01 -4.85232896e-01 -1.20998131e-02 1.23561690e+02] [ 1.36329555e-02 -3.69674168e-04 9.99906999e-01 8.72877995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.39, Y:123.59, Z:8.73 [[-4.86515129e-01 -8.73648986e-01 6.36228019e-03 2.01394409e+02] [ 8.73563550e-01 -4.86556572e-01 -1.22239860e-02 1.23586103e+02] [ 1.37750822e-02 -3.89298051e-04 9.99905043e-01 8.72819592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.38, Y:123.61, Z:8.73 [[-4.87948181e-01 -8.72846458e-01 6.75519403e-03 2.01384081e+02] [ 8.72750234e-01 -4.87994748e-01 -1.29674822e-02 1.23609874e+02] [ 1.46151202e-02 -4.31862211e-04 9.99893100e-01 8.72697217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:123.63, Z:8.73 [[-4.88629496e-01 -8.72462719e-01 7.07246151e-03 2.01372283e+02] [ 8.72357405e-01 -4.88680462e-01 -1.35633160e-02 1.23633114e+02] [ 1.52896613e-02 -4.57722100e-04 9.99883002e-01 8.72639378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:123.65, Z:8.73 [[-4.89469438e-01 -8.71990592e-01 7.21645990e-03 2.01355576e+02] [ 8.71881102e-01 -4.89522402e-01 -1.38261257e-02 1.23654634e+02] [ 1.55888703e-02 -4.75570978e-04 9.99878373e-01 8.72657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.35, Y:123.68, Z:8.72 [[-4.90565792e-01 -8.71368950e-01 7.83307583e-03 2.01349034e+02] [ 8.71240108e-01 -4.90628038e-01 -1.49934182e-02 1.23680394e+02] [ 1.69079257e-02 -5.30768271e-04 9.99856910e-01 8.72404032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:123.70, Z:8.72 [[-4.92137366e-01 -8.70481783e-01 7.89165691e-03 2.01332610e+02] [ 8.70351128e-01 -4.92200318e-01 -1.50917368e-02 1.23701970e+02] [ 1.70213580e-02 -5.58695088e-04 9.99854970e-01 8.72430179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:123.73, Z:8.72 [[-4.93341922e-01 -8.69797946e-01 8.07965603e-03 2.01320450e+02] [ 8.69661142e-01 -4.93407728e-01 -1.54373684e-02 1.23726294e+02] [ 1.74139561e-02 -5.89338121e-04 9.99848192e-01 8.72433218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:123.75, Z:8.72 [[-4.94254924e-01 -8.69279004e-01 8.12920397e-03 2.01307171e+02] [ 8.69140681e-01 -4.94321402e-01 -1.55186610e-02 1.23750093e+02] [ 1.75084857e-02 -6.04752760e-04 9.99846532e-01 8.72441235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:123.77, Z:8.72 [[-4.95493227e-01 -8.68571432e-01 8.37432761e-03 2.01294894e+02] [ 8.68424797e-01 -4.95563573e-01 -1.59723761e-02 1.23774486e+02] [ 1.80231613e-02 -6.41730425e-04 9.99837364e-01 8.72415880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:123.80, Z:8.72 [[-4.95798339e-01 -8.68396724e-01 8.43428505e-03 2.01285716e+02] [ 8.68248217e-01 -4.95869654e-01 -1.60723419e-02 1.23799327e+02] [ 1.81394750e-02 -6.45587458e-04 9.99835258e-01 8.72396013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:123.82, Z:8.72 [[-4.93430193e-01 -8.69747493e-01 8.12057165e-03 2.01264186e+02] [ 8.69610248e-01 -4.93496684e-01 -1.54609010e-02 1.23818957e+02] [ 1.74545551e-02 -5.67143052e-04 9.99847497e-01 8.72444019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:123.84, Z:8.72 [[-4.92157406e-01 -8.70466121e-01 8.35585100e-03 2.01249787e+02] [ 8.70321165e-01 -4.92228026e-01 -1.58946704e-02 1.23841700e+02] [ 1.79487562e-02 -5.50405801e-04 9.99838757e-01 8.72378754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:123.86, Z:8.72 [[-4.90521414e-01 -8.71388147e-01 8.45221285e-03 2.01233105e+02] [ 8.71240221e-01 -4.90593958e-01 -1.60638320e-02 1.23863541e+02] [ 1.81444373e-02 -5.15745787e-04 9.99835243e-01 8.72440099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.22, Y:123.88, Z:8.73 [[-4.87755118e-01 -8.72941580e-01 8.24277057e-03 2.01216731e+02] [ 8.72801358e-01 -4.87824563e-01 -1.56520180e-02 1.23884799e+02] [ 1.76843233e-02 -4.40050543e-04 9.99843523e-01 8.72508450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:123.91, Z:8.73 [[-4.87133656e-01 -8.73290399e-01 8.04240715e-03 2.01202176e+02] [ 8.73157200e-01 -4.87199867e-01 -1.52575909e-02 1.23907232e+02] [ 1.72425673e-02 -4.10200302e-04 9.99851252e-01 8.72580159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.19, Y:123.93, Z:8.73 [[-4.86986358e-01 -8.73375843e-01 7.67622670e-03 2.01188120e+02] [ 8.73254728e-01 -4.87046703e-01 -1.45495167e-02 1.23929766e+02] [ 1.64458773e-02 -3.82114857e-04 9.99864684e-01 8.72681412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.17, Y:123.95, Z:8.73 [[-4.87286405e-01 -8.73213772e-01 7.04753152e-03 2.01173220e+02] [ 8.73111847e-01 -4.87337240e-01 -1.33460818e-02 1.23951954e+02] [ 1.50885070e-02 -3.50080967e-04 9.99886101e-01 8.72855267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.16, Y:123.98, Z:8.73 [[-4.88464992e-01 -8.72557209e-01 6.77256315e-03 2.01159937e+02] [ 8.72463188e-01 -4.88511815e-01 -1.28137230e-02 1.23975290e+02] [ 1.44891835e-02 -3.50243067e-04 9.99894965e-01 8.72917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.15, Y:124.00, Z:8.73 [[-4.88800915e-01 -8.72369034e-01 6.77749641e-03 2.01147587e+02] [ 8.72275031e-01 -4.88847774e-01 -1.28111134e-02 1.23998092e+02] [ 1.44891826e-02 -3.50243045e-04 9.99894965e-01 8.72948629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:124.02, Z:8.73 [[-4.91350563e-01 -8.70938842e-01 6.33706118e-03 2.01134092e+02] [ 8.70856681e-01 -4.91391294e-01 -1.19682125e-02 1.24021607e+02] [ 1.35375578e-02 -3.61915872e-04 9.99908298e-01 8.73042930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.12, Y:124.05, Z:8.73 [[-4.92942364e-01 -8.70039977e-01 6.18579683e-03 2.01122975e+02] [ 8.69961744e-01 -4.92981033e-01 -1.16732177e-02 1.24045330e+02] [ 1.32056466e-02 -3.72816926e-04 9.99912732e-01 8.73094807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:124.07, Z:8.73 [[-4.95974273e-01 -8.68316159e-01 6.04710950e-03 2.01111631e+02] [ 8.68241361e-01 -4.96010970e-01 -1.14042019e-02 1.24070342e+02] [ 1.29018855e-02 -4.05840190e-04 9.99916685e-01 8.73175132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.10, Y:124.09, Z:8.73 [[-4.97493623e-01 -8.67446004e-01 6.12581934e-03 2.01097929e+02] [ 8.67369304e-01 -4.97531151e-01 -1.15431550e-02 1.24094278e+02] [ 1.30608496e-02 -4.29298357e-04 9.99914611e-01 8.73191056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:124.12, Z:8.73 [[-4.99751478e-01 -8.66150766e-01 5.59556334e-03 2.01083679e+02] [ 8.66086784e-01 -4.99782627e-01 -1.05360276e-02 1.24117398e+02] [ 1.19223537e-02 -4.19151910e-04 9.99928838e-01 8.73357083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:124.14, Z:8.74 [[-5.00521483e-01 -8.65708568e-01 5.18849854e-03 2.01075984e+02] [ 8.65653616e-01 -5.00548220e-01 -9.76203309e-03 1.24142041e+02] [ 1.10481694e-02 -3.94664759e-04 9.99938889e-01 8.73543036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:124.16, Z:8.74 [[-5.00735406e-01 -8.65586895e-01 4.83541471e-03 2.01060560e+02] [ 8.65539248e-01 -5.00758619e-01 -9.08936438e-03 1.24163708e+02] [ 1.02890103e-02 -3.66125354e-04 9.99947000e-01 8.73675822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:124.18, Z:8.74 [[-4.98745471e-01 -8.66738263e-01 4.21167667e-03 2.01047035e+02] [ 8.66702209e-01 -4.98763166e-01 -7.91103429e-03 1.24184864e+02] [ 8.95742531e-03 -2.95323057e-04 9.99959838e-01 8.73983755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:124.21, Z:8.74 [[-4.97477101e-01 -8.67467619e-01 4.05750026e-03 2.01034460e+02] [ 8.67434240e-01 -4.97493575e-01 -7.61462643e-03 1.24207226e+02] [ 8.62402217e-03 -2.68487628e-04 9.99962776e-01 8.74135387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.02, Y:124.23, Z:8.74 [[-4.92736799e-01 -8.70168236e-01 4.20570998e-03 2.01015542e+02] [ 8.70132544e-01 -4.92754696e-01 -7.88456350e-03 1.24227263e+02] [ 8.93328006e-03 -2.25489454e-04 9.99960072e-01 8.74186400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:124.25, Z:8.74 [[-4.90405036e-01 -8.71483226e-01 4.45953306e-03 2.00995549e+02] [ 8.71443208e-01 -4.90425267e-01 -8.35419332e-03 1.24247618e+02] [ 9.46760703e-03 -2.10708676e-04 9.99955159e-01 8.74080699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:124.27, Z:8.74 [[-4.87963137e-01 -8.72851316e-01 4.74940756e-03 2.00983063e+02] [ 8.72806074e-01 -4.87986212e-01 -8.88898403e-03 1.24271254e+02] [ 1.00764068e-02 -1.92184766e-04 9.99949213e-01 8.74068772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.96, Y:124.29, Z:8.74 [[-4.83759058e-01 -8.75186002e-01 5.16096686e-03 2.00961419e+02] [ 8.75132809e-01 -4.83786564e-01 -9.65024038e-03 1.24290757e+02] [ 1.09425617e-02 -1.51859774e-04 9.99940117e-01 8.73998911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.95, Y:124.31, Z:8.74 [[-4.82468678e-01 -8.75898295e-01 5.11397794e-03 2.00946794e+02] [ 8.75846191e-01 -4.82495762e-01 -9.55453932e-03 1.24312776e+02] [ 1.08362774e-02 -1.30707856e-04 9.99941277e-01 8.74027025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.93, Y:124.33, Z:8.74 [[-4.81663229e-01 -8.76341634e-01 5.08659646e-03 2.00932847e+02] [ 8.76290206e-01 -4.81690073e-01 -9.49461549e-03 1.24334490e+02] [ 1.07706899e-02 -1.15872494e-04 9.99941988e-01 8.74090983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:124.36, Z:8.74 [[-4.82235414e-01 -8.76025792e-01 5.27421530e-03 2.00920633e+02] [ 8.75970595e-01 -4.82264239e-01 -9.83467567e-03 1.24356946e+02] [ 1.11589950e-02 -1.22571384e-04 9.99937729e-01 8.74127943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.91, Y:124.38, Z:8.74 [[-4.83400415e-01 -8.75382088e-01 5.49905057e-03 2.00907940e+02] [ 8.75322132e-01 -4.83431672e-01 -1.02461599e-02 1.24380299e+02] [ 1.16277200e-02 -1.39557271e-04 9.99932386e-01 8.74149587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.90, Y:124.40, Z:8.74 [[-4.84322553e-01 -8.74870876e-01 5.71093502e-03 2.00895594e+02] [ 8.74806297e-01 -4.84356199e-01 -1.06309006e-02 1.24403776e+02] [ 1.20667921e-02 -1.52822990e-04 9.99927182e-01 8.74167597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.88, Y:124.43, Z:8.74 [[-4.87189797e-01 -8.73272372e-01 6.43946064e-03 2.00884414e+02] [ 8.73190289e-01 -4.87232307e-01 -1.19749470e-02 1.24427052e+02] [ 1.35949037e-02 -2.11197518e-04 9.99907563e-01 8.74111685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:124.45, Z:8.74 [[-4.90109212e-01 -8.71634289e-01 6.82835435e-03 2.00873081e+02] [ 8.71542013e-01 -4.90156705e-01 -1.26856132e-02 1.24449812e+02] [ 1.44041791e-02 -2.66138188e-04 9.99896219e-01 8.74014622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:124.47, Z:8.74 [[-4.91928008e-01 -8.70606287e-01 7.17833256e-03 2.00860979e+02] [ 8.70504391e-01 -4.91980285e-01 -1.33230766e-02 1.24473086e+02] [ 1.51307523e-02 -3.05224509e-04 9.99885477e-01 8.73987059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.85, Y:124.50, Z:8.74 [[-4.93653157e-01 -8.69629050e-01 7.20243717e-03 2.00848948e+02] [ 8.69526543e-01 -4.93705586e-01 -1.33561094e-02 1.24496434e+02] [ 1.51707442e-02 -3.30575294e-04 9.99884863e-01 8.74001719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.84, Y:124.52, Z:8.74 [[-4.96469759e-01 -8.68023173e-01 7.31772999e-03 2.00838514e+02] [ 8.67917368e-01 -4.96523541e-01 -1.35578602e-02 1.24519606e+02] [ 1.54019620e-02 -3.79882602e-04 9.99881311e-01 8.74034841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:124.54, Z:8.74 [[-4.97488059e-01 -8.67440019e-01 7.31060533e-03 2.00825657e+02] [ 8.67334546e-01 -4.97541617e-01 -1.35323683e-02 1.24542393e+02] [ 1.53758482e-02 -3.91451066e-04 9.99881708e-01 8.74027906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.81, Y:124.56, Z:8.74 [[-4.98982641e-01 -8.66577179e-01 7.76643642e-03 2.00809138e+02] [ 8.66458259e-01 -4.99042886e-01 -1.43625844e-02 1.24564293e+02] [ 1.63220727e-02 -4.37387329e-04 9.99866690e-01 8.74088991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:124.59, Z:8.74 [[-4.99538470e-01 -8.66254599e-01 8.01793069e-03 2.00796138e+02] [ 8.66128028e-01 -4.99602605e-01 -1.48147213e-02 1.24586848e+02] [ 1.68390995e-02 -4.55968720e-04 9.99858108e-01 8.74080362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.78, Y:124.61, Z:8.74 [[-5.00220474e-01 -8.65858562e-01 8.27211418e-03 2.00783849e+02] [ 8.65724038e-01 -5.00288640e-01 -1.52697864e-02 1.24608883e+02] [ 1.73599200e-02 -4.76891698e-04 9.99849192e-01 8.74048522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.77, Y:124.63, Z:8.74 [[-5.00542515e-01 -8.65670716e-01 8.45000020e-03 2.00771062e+02] [ 8.65530565e-01 -5.00613598e-01 -1.55841468e-02 1.24631071e+02] [ 1.77209245e-02 -4.86794562e-04 9.99842854e-01 8.74047382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:124.65, Z:8.74 [[-5.01217566e-01 -8.65282243e-01 8.22146843e-03 2.00756657e+02] [ 8.65149720e-01 -5.01284759e-01 -1.51509741e-02 1.24653165e+02] [ 1.72311657e-02 -4.81133237e-04 9.99851417e-01 8.74172796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.74, Y:124.68, Z:8.74 [[-5.01901722e-01 -8.64891978e-01 7.51851528e-03 2.00744011e+02] [ 8.64781294e-01 -5.01957834e-01 -1.38436248e-02 1.24676317e+02] [ 1.57472176e-02 -4.46267729e-04 9.99875905e-01 8.74377974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.73, Y:124.70, Z:8.74 [[-5.02299994e-01 -8.64663675e-01 7.17257545e-03 2.00730667e+02] [ 8.64563093e-01 -5.02351021e-01 -1.31951218e-02 1.24699480e+02] [ 1.50124931e-02 -4.26765604e-04 9.99887215e-01 8.74483168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.72, Y:124.72, Z:8.75 [[-5.02492313e-01 -8.64554444e-01 6.86213909e-03 2.00717924e+02] [ 8.64462536e-01 -5.02539003e-01 -1.26124961e-02 1.24722226e+02] [ 1.43526821e-02 -4.05620190e-04 9.99896913e-01 8.74541860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:124.75, Z:8.75 [[-5.01976442e-01 -8.64859464e-01 6.14487451e-03 2.00712378e+02] [ 8.64785910e-01 -5.02013929e-01 -1.12847726e-02 1.24748557e+02] [ 1.28445550e-02 -3.50689099e-04 9.99917444e-01 8.74621351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.69, Y:124.77, Z:8.75 [[-5.01734616e-01 -8.65000993e-01 5.97135702e-03 2.00693204e+02] [ 8.64931644e-01 -5.01770038e-01 -1.09581126e-02 1.24767887e+02] [ 1.24750263e-02 -3.33248770e-04 9.99922128e-01 8.74664995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:124.79, Z:8.75 [[-5.00723838e-01 -8.65588789e-01 5.62905916e-03 2.00679189e+02] [ 8.65527304e-01 -5.00755390e-01 -1.03210928e-02 1.24791428e+02] [ 1.17526039e-02 -2.95912780e-04 9.99930892e-01 8.74723157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:124.81, Z:8.75 [[-5.00044514e-01 -8.65980117e-01 5.82411129e-03 2.00666379e+02] [ 8.65914434e-01 -5.00078345e-01 -1.06696542e-02 1.24812904e+02] [ 1.21522203e-02 -2.92120008e-04 9.99926116e-01 8.74681438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.65, Y:124.83, Z:8.75 [[-4.98672717e-01 -8.66771432e-01 5.72770228e-03 2.00649817e+02] [ 8.66708074e-01 -4.98705540e-01 -1.04832221e-02 1.24834765e+02] [ 1.19429943e-02 -2.63451040e-04 9.99928645e-01 8.74682656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.64, Y:124.86, Z:8.75 [[-4.95417710e-01 -8.68637794e-01 5.44755320e-03 2.00635718e+02] [ 8.68580687e-01 -4.95447618e-01 -9.96230189e-03 1.24856923e+02] [ 1.13526092e-02 -2.03861289e-04 9.99935536e-01 8.74703586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.62, Y:124.88, Z:8.75 [[-4.93712369e-01 -8.69611044e-01 4.97286433e-03 2.00620397e+02] [ 8.69563584e-01 -4.93737386e-01 -9.08670054e-03 1.24879486e+02] [ 1.03571842e-02 -1.61994717e-04 9.99946350e-01 8.74803361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.60, Y:124.90, Z:8.75 [[-4.90087866e-01 -8.71663431e-01 4.09223406e-03 2.00604546e+02] [ 8.71631403e-01 -4.90104941e-01 -7.47284447e-03 1.24901930e+02] [ 8.51942939e-03 -9.54306814e-05 9.99963704e-01 8.74968657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.59, Y:124.92, Z:8.75 [[-4.88322693e-01 -8.72654988e-01 3.77090485e-03 2.00590655e+02] [ 8.72627861e-01 -4.88337248e-01 -6.88108852e-03 1.24924978e+02] [ 7.84628951e-03 -6.95950492e-05 9.99969215e-01 8.75049239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:124.95, Z:8.75 [[-4.86875328e-01 -8.73464322e-01 3.53451335e-03 2.00577102e+02] [ 8.73440547e-01 -4.86888155e-01 -6.44476803e-03 1.24947430e+02] [ 7.35018762e-03 -5.06112695e-05 9.99972986e-01 8.75083549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:124.97, Z:8.75 [[-4.84614698e-01 -8.74720845e-01 3.46960547e-03 2.00563307e+02] [ 8.74698007e-01 -4.84627118e-01 -6.32087369e-03 1.24969332e+02] [ 7.21046487e-03 -2.83313072e-05 9.99974004e-01 8.75069157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.55, Y:124.99, Z:8.75 [[-4.84130031e-01 -8.74989566e-01 3.37238104e-03 2.00550020e+02] [ 8.74968038e-01 -4.84141777e-01 -6.13782305e-03 1.24992172e+02] [ 7.00324167e-03 -2.07788448e-05 9.99975477e-01 8.75046039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:125.01, Z:8.75 [[-4.82685599e-01 -8.75788958e-01 2.88326211e-03 2.00537766e+02] [ 8.75773263e-01 -4.82694210e-01 -5.24320827e-03 1.25014093e+02] [ 5.98367783e-03 -5.73725285e-06 9.99982098e-01 8.75102123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.53, Y:125.04, Z:8.75 [[-4.82816231e-01 -8.75717871e-01 2.58801567e-03 2.00525511e+02] [ 8.75705233e-01 -4.82823167e-01 -4.70467988e-03 1.25037911e+02] [ 5.36952617e-03 -5.15694360e-06 9.99985584e-01 8.75149252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:125.06, Z:8.75 [[-4.83248905e-01 -8.75481408e-01 1.67331235e-03 2.00515373e+02] [ 8.75476121e-01 -4.83251802e-01 -3.04252670e-03 1.25062879e+02] [ 3.47230677e-03 -5.35268602e-06 9.99993972e-01 8.75300726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.50, Y:125.09, Z:8.75 [[-4.84223137e-01 -8.74943251e-01 1.50351567e-03 2.00503924e+02] [ 8.74938985e-01 -4.84225471e-01 -2.73244174e-03 1.25086967e+02] [ 3.11877204e-03 -7.62703904e-06 9.99995137e-01 8.75331999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.49, Y:125.11, Z:8.75 [[-4.84903918e-01 -8.74566764e-01 1.07963981e-03 2.00492045e+02] [ 8.74564561e-01 -4.84905120e-01 -1.96305231e-03 1.25110856e+02] [ 2.24034317e-03 -7.67703964e-06 9.99997490e-01 8.75393801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.512755096 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:200.48, Y:125.13, Z:8.75 [[-4.85923365e-01 -8.74000926e-01 9.30208237e-04 2.00482191e+02] [ 8.73999289e-01 -4.85924255e-01 -1.69147306e-03 1.25134430e+02] [ 1.93035976e-03 -8.92494198e-06 9.99998137e-01 8.75396071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.47, Y:125.16, Z:8.75 [[-4.86323160e-01 -8.73778179e-01 1.21611495e-03 2.00470753e+02] [ 8.73775394e-01 -4.86324680e-01 -2.20599528e-03 1.25157809e+02] [ 2.51897725e-03 -1.02152783e-05 9.99996827e-01 8.75180178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:125.18, Z:8.75 [[-4.85670496e-01 -8.74140302e-01 1.70341386e-03 2.00460642e+02] [ 8.74134865e-01 -4.85673483e-01 -3.08330998e-03 1.25181144e+02] [ 3.52254846e-03 -8.45924216e-06 9.99993796e-01 8.75118519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.602755096 meters Centerline goodness [0,1] 0.9999786073376832 Centerline is valid? [True, True] Translation: X:200.45, Y:125.20, Z:8.75 [[-4.85504078e-01 -8.74232566e-01 1.79157447e-03 2.00448564e+02] [ 8.74226567e-01 -4.85507384e-01 -3.23881307e-03 1.25204248e+02] [ 3.70129849e-03 -6.21495743e-06 9.99993150e-01 8.75037363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.44, Y:125.23, Z:8.75 [[-4.85065578e-01 -8.74476318e-01 1.59852325e-03 2.00436372e+02] [ 8.74471548e-01 -4.85068212e-01 -2.88818609e-03 1.25227273e+02] [ 3.30104315e-03 -3.09654894e-06 9.99994552e-01 8.75034223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.43, Y:125.25, Z:8.75 [[-4.83505729e-01 -8.75339854e-01 1.53298155e-03 2.00425684e+02] [ 8.75335478e-01 -4.83508160e-01 -2.76788034e-03 1.25250743e+02] [ 3.16404506e-03 3.58713758e-06 9.99994994e-01 8.75036409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:125.27, Z:8.75 [[-4.83119931e-01 -8.75552702e-01 1.61165868e-03 2.00413802e+02] [ 8.75547879e-01 -4.83122620e-01 -2.90638061e-03 1.25274434e+02] [ 3.32331816e-03 6.95394232e-06 9.99994478e-01 8.75010623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.722755096 meters Centerline goodness [0,1] 0.9999785490583036 Centerline is valid? [True, True] Translation: X:200.40, Y:125.30, Z:8.75 [[-4.81719389e-01 -8.76323917e-01 1.68051933e-03 2.00403043e+02] [ 8.76318687e-01 -4.81722320e-01 -3.02754818e-03 1.25298085e+02] [ 3.46265655e-03 1.42418343e-05 9.99994005e-01 8.75018791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:125.32, Z:8.75 [[-4.81181174e-01 -8.76619504e-01 1.70992602e-03 2.00391214e+02] [ 8.76614104e-01 -4.81184212e-01 -3.07675325e-03 1.25322002e+02] [ 3.51993131e-03 1.84695289e-05 9.99993805e-01 8.74992730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:125.35, Z:8.75 [[-4.80827572e-01 -8.76813713e-01 1.59945768e-03 2.00379911e+02] [ 8.76808996e-01 -4.80830232e-01 -2.87612999e-03 1.25345735e+02] [ 3.29089782e-03 1.94962838e-05 9.99994585e-01 8.74962013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:125.37, Z:8.75 [[-4.80477692e-01 -8.77004831e-01 1.92730510e-03 2.00370516e+02] [ 8.76998004e-01 -4.80481557e-01 -3.46036699e-03 1.25370643e+02] [ 3.96079312e-03 2.76135800e-05 9.99992156e-01 8.74911297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.36, Y:125.39, Z:8.75 [[-4.80526557e-01 -8.76977578e-01 2.13461680e-03 2.00359696e+02] [ 8.76969224e-01 -4.80531297e-01 -3.82803594e-03 1.25394495e+02] [ 4.38285187e-03 3.25203046e-05 9.99990395e-01 8.74870317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.872755096 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:200.35, Y:125.42, Z:8.75 [[-4.80289483e-01 -8.77104338e-01 3.16116073e-03 2.00350667e+02] [ 8.77086083e-01 -4.80299883e-01 -5.65915004e-03 1.25419135e+02] [ 6.48197018e-03 5.45798351e-05 9.99978990e-01 8.74711690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:200.34, Y:125.44, Z:8.75 [[-4.80630596e-01 -8.76917455e-01 3.16361617e-03 2.00337781e+02] [ 8.76899204e-01 -4.80641004e-01 -5.65777646e-03 1.25441631e+02] [ 6.48196658e-03 5.48720360e-05 9.99978990e-01 8.74742813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:125.47, Z:8.75 [[-4.81119895e-01 -8.76649436e-01 3.06801680e-03 2.00326648e+02] [ 8.76632297e-01 -4.81129674e-01 -5.48210423e-03 1.25465902e+02] [ 6.28199750e-03 5.19732078e-05 9.99980267e-01 8.74740275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:125.49, Z:8.75 [[-4.81508488e-01 -8.76435866e-01 3.12231597e-03 2.00315523e+02] [ 8.76418143e-01 -4.81518608e-01 -5.57388340e-03 1.25489540e+02] [ 6.38860457e-03 5.25821929e-05 9.99979591e-01 8.74744669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:125.51, Z:8.75 [[-4.81826540e-01 -8.76260745e-01 3.20810248e-03 2.00303349e+02] [ 8.76242067e-01 -4.81837217e-01 -5.72154561e-03 1.25513473e+02] [ 6.55934899e-03 5.42818302e-05 9.99978486e-01 8.74774445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:125.54, Z:8.75 [[-4.82668076e-01 -8.75798349e-01 2.96330999e-03 2.00291105e+02] [ 8.75782427e-01 -4.82677170e-01 -5.28105038e-03 1.25535856e+02] [ 6.05545728e-03 4.62203924e-05 9.99981665e-01 8.74756290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:125.56, Z:8.75 [[-4.84034274e-01 -8.75044209e-01 2.90755902e-03 2.00276494e+02] [ 8.75028897e-01 -4.84043006e-01 -5.17668503e-03 1.25558472e+02] [ 5.93721186e-03 3.85051830e-05 9.99982374e-01 8.74793569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:125.58, Z:8.75 [[-4.85039086e-01 -8.74488873e-01 2.50939472e-03 2.00262238e+02] [ 8.74477473e-01 -4.85045576e-01 -4.46525104e-03 1.25580068e+02] [ 5.12198315e-03 2.85878682e-05 9.99986882e-01 8.74859250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:125.60, Z:8.75 [[-4.86466066e-01 -8.73695857e-01 2.51310064e-03 2.00248455e+02] [ 8.73684435e-01 -4.86472557e-01 -4.46752916e-03 1.25601995e+02] [ 5.12581621e-03 2.23555794e-05 9.99986863e-01 8.74905702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:125.62, Z:8.75 [[-4.88010471e-01 -8.72834518e-01 2.38416184e-03 2.00235051e+02] [ 8.72824245e-01 -4.88016295e-01 -4.23481064e-03 1.25624085e+02] [ 4.85979873e-03 1.43223182e-05 9.99988191e-01 8.74989682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1727550960001 meters Centerline goodness [0,1] 0.9999781234276214 Centerline is valid? [True, True] Translation: X:200.22, Y:125.65, Z:8.75 [[-4.91832497e-01 -8.70686833e-01 2.28759149e-03 2.00224684e+02] [ 8.70677368e-01 -4.91837817e-01 -4.05988839e-03 1.25648749e+02] [ 4.66001537e-03 -5.03090982e-06 9.99989142e-01 8.74894280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.22, Y:125.67, Z:8.75 [[-4.96819271e-01 -8.67848288e-01 3.15610206e-03 2.00218403e+02] [ 8.67830269e-01 -4.96829294e-01 -5.59265080e-03 1.25674197e+02] [ 6.42161638e-03 -3.95757994e-05 9.99979380e-01 8.74786513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:125.70, Z:8.75 [[-4.99171894e-01 -8.66495813e-01 3.52504714e-03 2.00206772e+02] [ 8.66473353e-01 -4.99184337e-01 -6.23901859e-03 1.25697936e+02] [ 7.16573181e-03 -5.99833160e-05 9.99974324e-01 8.74740551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:125.72, Z:8.75 [[-5.00763303e-01 -8.65577575e-01 3.40239402e-03 2.00193083e+02] [ 8.65556664e-01 -5.00774856e-01 -6.01708344e-03 1.25719952e+02] [ 6.91208587e-03 -6.81697542e-05 9.99976109e-01 8.74728716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.18, Y:125.74, Z:8.75 [[-5.04109719e-01 -8.63631749e-01 3.68675300e-03 2.00179685e+02] [ 8.63607199e-01 -5.04123191e-01 -6.51259197e-03 1.25744063e+02] [ 7.48305888e-03 -9.91544763e-05 9.99971997e-01 8.74573846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:125.77, Z:8.75 [[-5.06068431e-01 -8.62484421e-01 3.91996847e-03 2.00168250e+02] [ 8.62456676e-01 -5.06083598e-01 -6.91903645e-03 1.25766302e+02] [ 7.95139290e-03 -1.20702939e-04 9.99968380e-01 8.74539642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.352755096 meters Centerline goodness [0,1] 0.9999781987834921 Centerline is valid? [True, True] Translation: X:200.16, Y:125.79, Z:8.74 [[-5.09961285e-01 -8.60184132e-01 4.76942352e-03 2.00159772e+02] [ 8.60143055e-01 -5.09983554e-01 -8.40830376e-03 1.25790042e+02] [ 9.66501702e-03 -1.85522872e-04 9.99953275e-01 8.74446619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:125.81, Z:8.74 [[-5.11646485e-01 -8.59183376e-01 4.66918876e-03 2.00148702e+02] [ 8.59144018e-01 -5.11667751e-01 -8.22612966e-03 1.25813565e+02] [ 9.45682717e-03 -1.97364733e-04 9.99955264e-01 8.74484174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:125.84, Z:8.75 [[-5.13064743e-01 -8.58338660e-01 4.39467638e-03 2.00133228e+02] [ 8.58303821e-01 -5.13083527e-01 -7.73599896e-03 1.25836507e+02] [ 8.89494304e-03 -1.97100797e-04 9.99960420e-01 8.74602962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.12, Y:125.86, Z:8.75 [[-5.14012601e-01 -8.57774317e-01 3.77729376e-03 2.00120965e+02] [ 8.57748596e-01 -5.14026449e-01 -6.64499927e-03 1.25859246e+02] [ 7.64153861e-03 -1.75644937e-04 9.99970788e-01 8.74784088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.11, Y:125.88, Z:8.75 [[-5.14108098e-01 -8.57715948e-01 4.02701989e-03 2.00109883e+02] [ 8.57686765e-01 -5.14123836e-01 -7.07769651e-03 1.25881941e+02] [ 8.14104008e-03 -1.84779428e-04 9.99966844e-01 8.74799968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:125.90, Z:8.75 [[-5.12960581e-01 -8.58402343e-01 4.10615613e-03 2.00093375e+02] [ 8.58372087e-01 -5.12976986e-01 -7.20922377e-03 1.25903430e+02] [ 8.29477817e-03 -1.73437807e-04 9.99965583e-01 8.74691503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:125.93, Z:8.75 [[-5.12286527e-01 -8.58805260e-01 4.00499251e-03 2.00078793e+02] [ 8.58776528e-01 -5.12302156e-01 -7.02674140e-03 1.25925123e+02] [ 8.08636877e-03 -1.60311381e-04 9.99967292e-01 8.74767538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:125.95, Z:8.75 [[-5.10837572e-01 -8.59667812e-01 4.02835089e-03 2.00063723e+02] [ 8.59638825e-01 -5.10853435e-01 -7.06105219e-03 1.25947832e+02] [ 8.12805617e-03 -1.44123930e-04 9.99966956e-01 8.74773532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.05, Y:125.97, Z:8.75 [[-5.10205221e-01 -8.60043082e-01 4.06563375e-03 2.00050629e+02] [ 8.60013613e-01 -5.10221401e-01 -7.12084872e-03 1.25969763e+02] [ 8.19861003e-03 -1.36593821e-04 9.99966382e-01 8.74776500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:125.99, Z:8.75 [[-5.08722706e-01 -8.60917885e-01 4.64792457e-03 2.00035922e+02] [ 8.60879499e-01 -5.08743920e-01 -8.13088240e-03 1.25990985e+02] [ 9.36462545e-03 -1.35061520e-04 9.99956142e-01 8.74701769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:126.01, Z:8.75 [[-5.08137981e-01 -8.61262736e-01 4.72142910e-03 2.00021730e+02] [ 8.61223194e-01 -5.08159899e-01 -8.25391536e-03 1.26012813e+02] [ 9.50803066e-03 -1.27923636e-04 9.99954789e-01 8.74690846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.01, Y:126.04, Z:8.75 [[-5.07808933e-01 -8.61455596e-01 4.93401648e-03 2.00008559e+02] [ 8.61412504e-01 -5.07832887e-01 -8.61730529e-03 1.26035441e+02] [ 9.92908169e-03 -1.25721112e-04 9.99950698e-01 8.74781774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:126.06, Z:8.75 [[-5.07552054e-01 -8.61607474e-01 4.84502286e-03 1.99997320e+02] [ 8.61566001e-01 -5.07575165e-01 -8.45444194e-03 1.26058370e+02] [ 9.74362364e-03 -1.16762395e-04 9.99952523e-01 8.74943326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:126.08, Z:8.75 [[-5.07775731e-01 -8.61476262e-01 4.73897625e-03 1.99984635e+02] [ 8.61436652e-01 -5.07797832e-01 -8.26173799e-03 1.26081174e+02] [ 9.52373302e-03 -1.12782213e-04 9.99954642e-01 8.74985189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:126.11, Z:8.75 [[-5.08781961e-01 -8.60879460e-01 5.24134688e-03 1.99974040e+02] [ 8.60831075e-01 -5.08808941e-01 -9.12813230e-03 1.26105968e+02] [ 1.05250658e-02 -1.32314786e-04 9.99944601e-01 8.74976571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.96, Y:126.13, Z:8.75 [[-5.09801518e-01 -8.60275479e-01 5.33967230e-03 1.99963835e+02] [ 8.60225316e-01 -5.09829461e-01 -9.29113601e-03 1.26129431e+02] [ 1.07152587e-02 -1.43313947e-04 9.99942580e-01 8.75025869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:126.15, Z:8.75 [[-5.10924203e-01 -8.59608630e-01 5.42778670e-03 1.99952060e+02] [ 8.59556863e-01 -5.10953010e-01 -9.43512670e-03 1.26153592e+02] [ 1.08838603e-02 -1.55143284e-04 9.99940757e-01 8.75053612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters Centerline goodness [0,1] 0.9999129204310439 Centerline is valid? [True, True] Translation: X:199.94, Y:126.18, Z:8.75 [[-5.12026749e-01 -8.58952271e-01 5.44106472e-03 1.99939583e+02] [ 8.58900303e-01 -5.12055631e-01 -9.44984915e-03 1.26177404e+02] [ 1.09030972e-02 -1.65243392e-04 9.99940546e-01 8.75103153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:126.20, Z:8.75 [[-5.12211913e-01 -8.58842849e-01 5.28364526e-03 1.99926926e+02] [ 8.58793923e-01 -5.12239139e-01 -9.16851250e-03 1.26199962e+02] [ 1.05808013e-02 -1.58658893e-04 9.99944009e-01 8.75234661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.91, Y:126.22, Z:8.75 [[-5.12339165e-01 -8.58767895e-01 5.12674128e-03 1.99913294e+02] [ 8.58721911e-01 -5.12364792e-01 -8.88817660e-03 1.26222861e+02] [ 1.02596424e-02 -1.51315914e-04 9.99947357e-01 8.75312398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:126.25, Z:8.76 [[-5.11956145e-01 -8.58997264e-01 4.96042415e-03 1.99902025e+02] [ 8.58954301e-01 -5.11980157e-01 -8.59236395e-03 1.26245832e+02] [ 9.92045586e-03 -1.38135870e-04 9.99950782e-01 8.75527640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:126.27, Z:8.76 [[-5.12059064e-01 -8.58936347e-01 4.88531347e-03 1.99888878e+02] [ 8.58894750e-01 -5.12082351e-01 -8.45427019e-03 1.26268214e+02] [ 9.76336276e-03 -1.33115593e-04 9.99952328e-01 8.75584406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.88, Y:126.29, Z:8.76 [[-5.12009904e-01 -8.58963001e-01 5.33116376e-03 1.99877585e+02] [ 8.58913562e-01 -5.12037639e-01 -9.21678802e-03 1.26290622e+02] [ 1.06466364e-02 -1.40077893e-04 9.99943313e-01 8.75606920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:126.31, Z:8.76 [[-5.11921273e-01 -8.59014854e-01 5.48557440e-03 1.99864954e+02] [ 8.58962613e-01 -5.11950644e-01 -9.47461093e-03 1.26312224e+02] [ 1.09471749e-02 -1.38351567e-04 9.99940068e-01 8.75626213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:126.33, Z:8.76 [[-5.11464096e-01 -8.59285189e-01 5.78298456e-03 1.99850707e+02] [ 8.59227256e-01 -5.11496771e-01 -9.97879581e-03 1.26334842e+02] [ 1.15326094e-02 -1.34897828e-04 9.99933488e-01 8.75632277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.84, Y:126.36, Z:8.76 [[-5.10487255e-01 -8.59859634e-01 6.64623327e-03 1.99837474e+02] [ 8.59783310e-01 -5.10530501e-01 -1.14571858e-02 1.26355247e+02] [ 1.32446764e-02 -1.34426904e-04 9.99912276e-01 8.75607239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:126.38, Z:8.76 [[-5.10610122e-01 -8.59786921e-01 6.61461697e-03 1.99823952e+02] [ 8.59711461e-01 -5.10652948e-01 -1.13917232e-02 1.26376657e+02] [ 1.31722283e-02 -1.30067159e-04 9.99913234e-01 8.75642922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.81, Y:126.40, Z:8.76 [[-5.11071097e-01 -8.59507894e-01 7.24671118e-03 1.99809718e+02] [ 8.59417469e-01 -5.11122451e-01 -1.24681116e-02 1.26399361e+02] [ 1.44203972e-02 -1.44141314e-04 9.99896010e-01 8.75701200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:126.42, Z:8.76 [[-5.12278473e-01 -8.58788469e-01 7.28917485e-03 1.99796681e+02] [ 8.58697066e-01 -5.12330304e-01 -1.25303276e-02 1.26422882e+02] [ 1.44953661e-02 -1.59824051e-04 9.99894924e-01 8.75750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.78, Y:126.45, Z:8.76 [[-5.13595245e-01 -8.58002677e-01 7.16451046e-03 1.99784482e+02] [ 8.57914446e-01 -5.13645185e-01 -1.23055994e-02 1.26446582e+02] [ 1.42382535e-02 -1.73560301e-04 9.99898616e-01 8.75871732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.78, Y:126.47, Z:8.76 [[-5.16653865e-01 -8.56162969e-01 7.33176402e-03 1.99775991e+02] [ 8.56070544e-01 -5.16705836e-01 -1.25818500e-02 1.26470779e+02] [ 1.45604793e-02 -2.23954208e-04 9.99893966e-01 8.76145468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.77, Y:126.49, Z:8.76 [[-5.18555930e-01 -8.55011498e-01 7.42200058e-03 1.99765056e+02] [ 8.54916832e-01 -5.18608980e-01 -1.27254016e-02 1.26494575e+02] [ 1.47294808e-02 -2.53639240e-04 9.99891483e-01 8.76283411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:126.52, Z:8.77 [[-5.22060112e-01 -8.52875947e-01 7.47388828e-03 1.99756653e+02] [ 8.52779894e-01 -5.22113516e-01 -1.28034765e-02 1.26519090e+02] [ 1.48219952e-02 -3.10602709e-04 9.99890100e-01 8.76536246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:126.54, Z:8.77 [[-5.23768110e-01 -8.51830342e-01 7.21356476e-03 1.99744762e+02] [ 8.51740913e-01 -5.23817683e-01 -1.23471635e-02 1.26543124e+02] [ 1.42962813e-02 -3.22962273e-04 9.99897751e-01 8.76666875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:126.57, Z:8.77 [[-5.25357650e-01 -8.50852621e-01 7.01119491e-03 1.99732844e+02] [ 8.50768185e-01 -5.25404325e-01 -1.19912378e-02 1.26567066e+02] [ 1.38864883e-02 -3.34786950e-04 9.99903522e-01 8.76816500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.72, Y:126.59, Z:8.77 [[-5.26911372e-01 -8.49895421e-01 6.49458574e-03 1.99720914e+02] [ 8.49823006e-01 -5.26951293e-01 -1.10993043e-02 1.26591092e+02] [ 1.28555783e-02 -3.29101274e-04 9.99917310e-01 8.77015136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:126.61, Z:8.77 [[-5.28743615e-01 -8.48759529e-01 6.11975010e-03 1.99707670e+02] [ 8.48695252e-01 -5.28778925e-01 -1.04507345e-02 1.26614284e+02] [ 1.21061554e-02 -3.31956312e-04 9.99926663e-01 8.77441457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:126.64, Z:8.78 [[-5.29643046e-01 -8.48201111e-01 5.75489468e-03 1.99696760e+02] [ 8.48144324e-01 -5.29674213e-01 -9.82005431e-03 1.26638267e+02] [ 1.13776003e-02 -3.20142219e-04 9.99935222e-01 8.77684120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.68, Y:126.66, Z:8.78 [[-5.30309199e-01 -8.47788573e-01 5.16607979e-03 1.99683265e+02] [ 8.47742856e-01 -5.30334281e-01 -8.80907467e-03 1.26661373e+02] [ 1.02079821e-02 -2.92026102e-04 9.99947855e-01 8.78017939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.67, Y:126.68, Z:8.78 [[-5.30322321e-01 -8.47780771e-01 5.09905291e-03 1.99669547e+02] [ 8.47736308e-01 -5.30346758e-01 -8.68728256e-03 1.26684280e+02] [ 1.00691773e-02 -2.84407561e-04 9.99949264e-01 8.78142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:126.71, Z:8.78 [[-5.29765055e-01 -8.48129459e-01 5.04065699e-03 1.99657429e+02] [ 8.48086098e-01 -5.29788966e-01 -8.58034399e-03 1.26706804e+02] [ 9.94772696e-03 -2.70655283e-04 9.99950484e-01 8.78285277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.64, Y:126.73, Z:8.78 [[-5.29610512e-01 -8.48225332e-01 5.14708243e-03 1.99643918e+02] [ 8.48180210e-01 -5.29635454e-01 -8.75312728e-03 1.26729883e+02] [ 1.01507016e-02 -2.70094764e-04 9.99948444e-01 8.78302468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:126.75, Z:8.78 [[-5.29348029e-01 -8.48387469e-01 5.41910223e-03 1.99631612e+02] [ 8.48337551e-01 -5.29375695e-01 -9.20729252e-03 1.26752513e+02] [ 1.06800926e-02 -2.76634240e-04 9.99942928e-01 8.78395204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.62, Y:126.78, Z:8.78 [[-5.28884853e-01 -8.48670306e-01 6.28678825e-03 1.99620410e+02] [ 8.48603280e-01 -5.28922127e-01 -1.06703853e-02 1.26775618e+02] [ 1.23808606e-02 -3.08416056e-04 9.99923307e-01 8.78439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.61, Y:126.80, Z:8.78 [[-5.29110023e-01 -8.48525087e-01 6.91090827e-03 1.99605289e+02] [ 8.48444234e-01 -5.29155047e-01 -1.17182844e-02 1.26797379e+02] [ 1.36002003e-02 -3.36741469e-04 9.99907456e-01 8.78432114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.59, Y:126.82, Z:8.78 [[-5.28233641e-01 -8.49059760e-01 8.16975090e-03 1.99590088e+02] [ 8.48947056e-01 -5.28296682e-01 -1.38387623e-02 1.26819219e+02] [ 1.60659885e-02 -3.74413811e-04 9.99870864e-01 8.78367137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.57, Y:126.84, Z:8.78 [[-5.27297131e-01 -8.49635540e-01 8.78553690e-03 1.99573546e+02] [ 8.49505526e-01 -5.27370181e-01 -1.48678883e-02 1.26840383e+02] [ 1.72655165e-02 -3.76432677e-04 9.99850869e-01 8.78363836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.56, Y:126.86, Z:8.78 [[-5.26464985e-01 -8.50146195e-01 9.27727608e-03 1.99557374e+02] [ 8.50001555e-01 -5.26546588e-01 -1.56858809e-02 1.26862568e+02] [ 1.82202100e-02 -3.72367957e-04 9.99833929e-01 8.78348360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.54, Y:126.88, Z:8.78 [[-5.24827197e-01 -8.51143100e-01 1.05752915e-02 1.99541452e+02] [ 8.50955700e-01 -5.24933598e-01 -1.78637919e-02 1.26883034e+02] [ 2.07559690e-02 -3.76299279e-04 9.99784501e-01 8.78262861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.53, Y:126.91, Z:8.78 [[-5.25128996e-01 -8.50956846e-01 1.05822450e-02 1.99527632e+02] [ 8.50769491e-01 -5.25235477e-01 -1.78596726e-02 1.26905959e+02] [ 2.07559811e-02 -3.75580751e-04 9.99784501e-01 8.78294980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.51, Y:126.93, Z:8.78 [[-5.25312004e-01 -8.50836047e-01 1.11946748e-02 1.99514617e+02] [ 8.50626676e-01 -5.25431124e-01 -1.88783269e-02 1.26928105e+02] [ 2.19443916e-02 -3.94522717e-04 9.99759115e-01 8.78176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.50, Y:126.95, Z:8.78 [[-5.27295410e-01 -8.49591458e-01 1.24058806e-02 1.99500645e+02] [ 8.49334383e-01 -5.27441104e-01 -2.09042467e-02 1.26951973e+02] [ 2.43034408e-02 -4.85972374e-04 9.99704510e-01 8.78181592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.49, Y:126.98, Z:8.78 [[-5.29340154e-01 -8.48316232e-01 1.25925238e-02 1.99488379e+02] [ 8.48051432e-01 -5.29489636e-01 -2.12012680e-02 1.26975831e+02] [ 2.46529907e-02 -5.43574640e-04 9.99695921e-01 8.78200011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.942755096 meters Centerline goodness [0,1] 0.9999780538120528 Centerline is valid? [True, True] Translation: X:199.48, Y:127.00, Z:8.78 [[-5.31855080e-01 -8.46741454e-01 1.26128682e-02 1.99476792e+02] [ 8.46475790e-01 -5.32004268e-01 -2.12178294e-02 1.26999875e+02] [ 2.46761154e-02 -6.08322766e-04 9.99695313e-01 8.78216999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.46, Y:127.02, Z:8.78 [[-5.36922664e-01 -8.43532608e-01 1.29148417e-02 1.99463114e+02] [ 8.43253599e-01 -5.37077420e-01 -2.17074545e-02 1.27022714e+02] [ 2.52472155e-02 -7.64737552e-04 9.99680946e-01 8.78303127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:127.05, Z:8.78 [[-5.39371456e-01 -8.41967241e-01 1.30229919e-02 1.99450158e+02] [ 8.41683551e-01 -5.39528005e-01 -2.18708204e-02 1.27045669e+02] [ 2.54407832e-02 -8.35258129e-04 9.99675982e-01 8.78332876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.032755096 meters Centerline goodness [0,1] 0.9999344348282192 Centerline is valid? [True, True] Translation: X:199.44, Y:127.07, Z:8.78 [[-5.43033342e-01 -8.39602688e-01 1.34950497e-02 1.99436175e+02] [ 8.39297813e-01 -5.43200133e-01 -2.26450217e-02 1.27069215e+02] [ 2.63433339e-02 -9.70636132e-04 9.99652483e-01 8.78255415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.42, Y:127.09, Z:8.78 [[-5.44249503e-01 -8.38808875e-01 1.38617869e-02 1.99422524e+02] [ 8.38487457e-01 -5.44425034e-01 -2.32415018e-02 1.27092353e+02] [ 2.70418818e-02 -1.02624139e-03 9.99633775e-01 8.78212032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.41, Y:127.12, Z:8.78 [[-5.45395097e-01 -8.38056330e-01 1.43448999e-02 1.99408625e+02] [ 8.37712413e-01 -5.45582625e-01 -2.40314982e-02 1.27115232e+02] [ 2.79660773e-02 -1.08976054e-03 9.99608279e-01 8.78180358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.39, Y:127.14, Z:8.78 [[-5.46581167e-01 -8.37270198e-01 1.50878653e-02 1.99391089e+02] [ 8.36890043e-01 -5.46788103e-01 -2.52552206e-02 1.27136215e+02] [ 2.93953088e-02 -1.17714372e-03 9.99567171e-01 8.78189495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:127.16, Z:8.78 [[-5.46977684e-01 -8.37001164e-01 1.56353952e-02 1.99379176e+02] [ 8.36593470e-01 -5.47199741e-01 -2.61497582e-02 1.27159998e+02] [ 3.04430623e-02 -1.22286465e-03 9.99535755e-01 8.77921400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:127.18, Z:8.78 [[-5.46833619e-01 -8.37087114e-01 1.60672769e-02 1.99360266e+02] [ 8.36657315e-01 -5.47068211e-01 -2.68497562e-02 1.27180052e+02] [ 3.12654813e-02 -1.23954460e-03 9.99510347e-01 8.78007613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.34, Y:127.20, Z:8.78 [[-5.46019899e-01 -8.37607215e-01 1.66259993e-02 1.99344367e+02] [ 8.37147993e-01 -5.46271561e-01 -2.77600409e-02 1.27200827e+02] [ 3.23343211e-02 -1.23911280e-03 9.99476341e-01 8.77830833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:127.22, Z:8.78 [[-5.45252011e-01 -8.38101667e-01 1.69068240e-02 1.99327858e+02] [ 8.37627794e-01 -5.45512707e-01 -2.82057702e-02 1.27222497e+02] [ 3.28621904e-02 -1.21762721e-03 9.99459151e-01 8.77830985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:127.24, Z:8.78 [[-5.42742547e-01 -8.39704057e-01 1.81004088e-02 1.99309622e+02] [ 8.39162607e-01 -5.43042988e-01 -3.01733594e-02 1.27243930e+02] [ 3.51659924e-02 -1.18717969e-03 9.99380780e-01 8.77665170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.29, Y:127.27, Z:8.78 [[-5.41438851e-01 -8.40535566e-01 1.85454386e-02 1.99292794e+02] [ 8.39968547e-01 -5.41755153e-01 -3.08900349e-02 1.27265148e+02] [ 3.60112599e-02 -1.14747985e-03 9.99350725e-01 8.77645771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:127.29, Z:8.77 [[-5.40011103e-01 -8.41443410e-01 1.89999290e-02 1.99277315e+02] [ 8.40849789e-01 -5.40344131e-01 -3.16204469e-02 1.27286938e+02] [ 3.68733168e-02 -1.09930609e-03 9.99319343e-01 8.77487387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.26, Y:127.31, Z:8.78 [[-5.38756790e-01 -8.42244018e-01 1.91346467e-02 1.99259145e+02] [ 8.41643401e-01 -5.39095479e-01 -3.18190059e-02 1.27307638e+02] [ 3.71147689e-02 -1.03815632e-03 9.99310470e-01 8.77549453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.24, Y:127.33, Z:8.77 [[-5.34625389e-01 -8.44858107e-01 1.97603732e-02 1.99238707e+02] [ 8.44220317e-01 -5.34989738e-01 -3.28334825e-02 1.27326534e+02] [ 3.83112308e-02 -8.71504865e-04 9.99265475e-01 8.77435839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.22, Y:127.35, Z:8.77 [[-5.32912097e-01 -8.45935691e-01 1.99374792e-02 1.99220988e+02] [ 8.45288167e-01 -5.33284339e-01 -3.31017778e-02 1.27348123e+02] [ 3.86343207e-02 -7.87422545e-04 9.99253106e-01 8.77397241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:127.37, Z:8.77 [[-5.29026322e-01 -8.48363408e-01 2.02651947e-02 1.99200970e+02] [ 8.47697252e-01 -5.29413978e-01 -3.36185735e-02 1.27366827e+02] [ 3.92494450e-02 -6.06360444e-04 9.99229260e-01 8.77320860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.18, Y:127.39, Z:8.77 [[-5.27216688e-01 -8.49483775e-01 2.04909654e-02 1.99183657e+02] [ 8.48804693e-01 -5.27614492e-01 -3.39638120e-02 1.27386839e+02] [ 3.96630375e-02 -5.13460928e-04 9.99212980e-01 8.77438704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:127.41, Z:8.77 [[-5.25588816e-01 -8.50488304e-01 2.06407691e-02 1.99167167e+02] [ 8.49801218e-01 -5.25993787e-01 -3.41822368e-02 1.27407193e+02] [ 3.99285089e-02 -4.25250595e-04 9.99202449e-01 8.77321499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:127.43, Z:8.77 [[-5.22840516e-01 -8.52171324e-01 2.10197248e-02 1.99147207e+02] [ 8.51461388e-01 -5.23262794e-01 -3.47786268e-02 1.27426438e+02] [ 4.06361884e-02 -2.86191149e-04 9.99173968e-01 8.77426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.13, Y:127.45, Z:8.77 [[-5.22096001e-01 -8.52614751e-01 2.15372450e-02 1.99132458e+02] [ 8.51871077e-01 -5.22539978e-01 -3.56039308e-02 1.27447753e+02] [ 4.16105081e-02 -2.41713807e-04 9.99133879e-01 8.77118631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:127.47, Z:8.77 [[-5.21319375e-01 -8.53084379e-01 2.17520213e-02 1.99116008e+02] [ 8.52327521e-01 -5.21772945e-01 -3.59275761e-02 1.27469080e+02] [ 4.19988702e-02 -1.89895119e-04 9.99117640e-01 8.77325640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.10, Y:127.49, Z:8.77 [[-5.21675734e-01 -8.52870661e-01 2.15885136e-02 1.99101608e+02] [ 8.52126259e-01 -5.22122208e-01 -3.56263684e-02 1.27491093e+02] [ 4.16565267e-02 -1.89272549e-04 9.99131972e-01 8.77402954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.09, Y:127.51, Z:8.77 [[-5.22465409e-01 -8.52397818e-01 2.11625905e-02 1.99088411e+02] [ 8.51683354e-01 -5.22893791e-01 -3.48933767e-02 1.27513386e+02] [ 4.08088254e-02 -2.06756312e-04 9.99166952e-01 8.77155161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:127.54, Z:8.77 [[-5.24634050e-01 -8.51079365e-01 2.05676336e-02 1.99075220e+02] [ 8.50404697e-01 -5.25036982e-01 -3.38824311e-02 1.27535077e+02] [ 3.96354062e-02 -2.85064806e-04 9.99214168e-01 8.77417513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.06, Y:127.56, Z:8.78 [[-5.26257064e-01 -8.50084164e-01 2.02587336e-02 1.99062538e+02] [ 8.49430048e-01 -5.26646750e-01 -3.33435897e-02 1.27557339e+02] [ 3.90140538e-02 -3.38922623e-04 9.99238605e-01 8.77541062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:127.58, Z:8.78 [[-5.30137887e-01 -8.47690359e-01 1.93617201e-02 1.99053311e+02] [ 8.47092353e-01 -5.30491119e-01 -3.18389397e-02 1.27581608e+02] [ 3.72607828e-02 -4.77863219e-04 9.99305462e-01 8.77806643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters Centerline goodness [0,1] 0.9999136255668322 Centerline is valid? [True, True] Translation: X:199.04, Y:127.61, Z:8.78 [[-5.32883337e-01 -8.45974838e-01 1.90242437e-02 1.99040573e+02] [ 8.45397333e-01 -5.33222508e-01 -3.12587057e-02 1.27605948e+02] [ 3.65882335e-02 -5.74198525e-04 9.99330261e-01 8.78016555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:127.63, Z:8.78 [[-5.34951316e-01 -8.44679345e-01 1.85443749e-02 1.99028700e+02] [ 8.44130729e-01 -5.35272271e-01 -3.04451776e-02 1.27630010e+02] [ 3.56427023e-02 -6.32811067e-04 9.99364397e-01 8.78310277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.02, Y:127.66, Z:8.79 [[-5.39533452e-01 -8.41769243e-01 1.81161679e-02 1.99019772e+02] [ 8.41244882e-01 -5.39836931e-01 -2.97176192e-02 1.27655805e+02] [ 3.47951543e-02 -7.93516193e-04 9.99394150e-01 8.78530219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.01, Y:127.68, Z:8.79 [[-5.41344403e-01 -8.40612432e-01 1.78038345e-02 1.99007510e+02] [ 8.40106159e-01 -5.41636439e-01 -2.91823553e-02 1.27679742e+02] [ 3.41742562e-02 -8.40593725e-04 9.99415536e-01 8.78639715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.00, Y:127.70, Z:8.79 [[-5.44893336e-01 -8.38330747e-01 1.71117402e-02 1.98996650e+02] [ 8.37862651e-01 -5.45161157e-01 -2.80266138e-02 1.27704982e+02] [ 3.28242281e-02 -9.34227127e-04 9.99460703e-01 8.78765766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.98, Y:127.73, Z:8.79 [[-5.46358439e-01 -8.37379843e-01 1.69544709e-02 1.98984021e+02] [ 8.36920577e-01 -5.46620578e-01 -2.77469159e-02 1.27728623e+02] [ 3.25023708e-02 -9.70216040e-04 9.99471187e-01 8.78892101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:127.75, Z:8.79 [[-5.47905076e-01 -8.36369703e-01 1.69040601e-02 1.98970974e+02] [ 8.35913427e-01 -5.48164839e-01 -2.76414993e-02 1.27751994e+02] [ 3.23847239e-02 -1.01458696e-03 9.99474962e-01 8.79045079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:127.78, Z:8.79 [[-5.49496120e-01 -8.35328921e-01 1.67214927e-02 1.98960659e+02] [ 8.34882674e-01 -5.49749476e-01 -2.73209563e-02 1.27777806e+02] [ 3.20146167e-02 -1.05227496e-03 9.99486847e-01 8.79144638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.95, Y:127.80, Z:8.79 [[-5.49893381e-01 -8.35060283e-01 1.70760929e-02 1.98949946e+02] [ 8.34595573e-01 -5.50157399e-01 -2.78759067e-02 1.27800572e+02] [ 3.26726014e-02 -1.07714503e-03 9.99465528e-01 8.79125643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:127.82, Z:8.79 [[-5.49284334e-01 -8.35453062e-01 1.74614137e-02 1.98936877e+02] [ 8.34968186e-01 -5.49560779e-01 -2.84794555e-02 1.27823901e+02] [ 3.33893565e-02 -1.06359385e-03 9.99441854e-01 8.79163117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.92, Y:127.85, Z:8.79 [[-5.48716760e-01 -8.35830948e-01 1.72204389e-02 1.98921357e+02] [ 8.35360308e-01 -5.48985974e-01 -2.80634491e-02 1.27846782e+02] [ 3.29100786e-02 -1.01361372e-03 9.99457803e-01 8.79194295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:127.87, Z:8.79 [[-5.47718016e-01 -8.36477925e-01 1.75970758e-02 1.98908599e+02] [ 8.35987650e-01 -5.47999742e-01 -2.86519151e-02 1.27868432e+02] [ 3.36098875e-02 -9.82232079e-04 9.99434545e-01 8.79115958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:127.89, Z:8.79 [[-5.45672471e-01 -8.37814015e-01 1.75849889e-02 1.98893252e+02] [ 8.37325901e-01 -5.45955027e-01 -2.86084692e-02 1.27891007e+02] [ 3.35691895e-02 -8.86487434e-04 9.99436003e-01 8.79198424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.88, Y:127.91, Z:8.79 [[-5.44556092e-01 -8.38550362e-01 1.70866311e-02 1.98877750e+02] [ 8.38090574e-01 -5.44823495e-01 -2.77767777e-02 1.27913947e+02] [ 3.26014251e-02 -8.05869056e-04 9.99468107e-01 8.79418652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.202755096 meters Centerline goodness [0,1] 0.99987002296261 Centerline is valid? [True, True] Translation: X:198.86, Y:127.94, Z:8.80 [[-5.43042925e-01 -8.39546669e-01 1.63025584e-02 1.98864487e+02] [ 8.39129216e-01 -5.43287125e-01 -2.64812867e-02 1.27936631e+02] [ 3.10892461e-02 -7.00522280e-04 9.99516367e-01 8.79632561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.85, Y:127.96, Z:8.80 [[-5.41837655e-01 -8.40346330e-01 1.51658065e-02 1.98849328e+02] [ 8.39985924e-01 -5.42049525e-01 -2.46162603e-02 1.27959943e+02] [ 2.89068022e-02 -5.98952815e-04 9.99581932e-01 8.79911217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.83, Y:127.98, Z:8.80 [[-5.41060207e-01 -8.40855736e-01 1.46793812e-02 1.98834840e+02] [ 8.40518785e-01 -5.41259029e-01 -2.38083240e-02 1.27982665e+02] [ 2.79647134e-02 -5.43441098e-04 9.99608763e-01 8.80001494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.82, Y:128.00, Z:8.80 [[-5.38624112e-01 -8.42425833e-01 1.42401305e-02 1.98820326e+02] [ 8.42109724e-01 -5.38812140e-01 -2.30801064e-02 1.28004665e+02] [ 2.71160330e-02 -4.39749468e-04 9.99632196e-01 8.80146621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.322755096 meters Centerline goodness [0,1] 0.9999565283543809 Centerline is valid? [True, True] Translation: X:198.81, Y:128.03, Z:8.80 [[-5.37631154e-01 -8.43069394e-01 1.36652381e-02 1.98805262e+02] [ 8.42778894e-01 -5.37804658e-01 -2.21333830e-02 1.28027373e+02] [ 2.60092065e-02 -3.82822021e-04 9.99661630e-01 8.80229266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.79, Y:128.05, Z:8.80 [[-5.34564109e-01 -8.45027877e-01 1.30038645e-02 1.98789888e+02] [ 8.44765738e-01 -5.34722186e-01 -2.10483533e-02 1.28048409e+02] [ 2.47399002e-02 -2.66475026e-04 9.99693886e-01 8.80425577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.77, Y:128.07, Z:8.81 [[-5.33301999e-01 -8.45828662e-01 1.27613668e-02 1.98774918e+02] [ 8.45576792e-01 -5.33454616e-01 -2.06412654e-02 1.28070251e+02] [ 2.42665839e-02 -2.17312504e-04 9.99705499e-01 8.80517915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:128.09, Z:8.81 [[-5.31907388e-01 -8.46707293e-01 1.27000606e-02 1.98759475e+02] [ 8.46458496e-01 -5.32058956e-01 -2.05251458e-02 1.28092249e+02] [ 2.41359716e-02 -1.67402495e-04 9.99708671e-01 8.80586449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.74, Y:128.11, Z:8.81 [[-5.29947180e-01 -8.47941189e-01 1.23177554e-02 1.98744550e+02] [ 8.47707884e-01 -5.30090304e-01 -1.98900229e-02 1.28112150e+02] [ 2.33950924e-02 -9.88031905e-05 9.99726293e-01 8.80679586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:128.13, Z:8.81 [[-5.29770583e-01 -8.48057631e-01 1.18905359e-02 1.98730892e+02] [ 8.47840650e-01 -5.29903999e-01 -1.91829118e-02 1.28134087e+02] [ 2.25690573e-02 -8.12626559e-05 9.99745283e-01 8.80796606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.72, Y:128.16, Z:8.81 [[-5.30228996e-01 -8.47774899e-01 1.16160851e-02 1.98718489e+02] [ 8.47568110e-01 -5.30356215e-01 -1.87239190e-02 1.28157434e+02] [ 2.20343314e-02 -8.25415000e-05 9.99757211e-01 8.81072736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:128.18, Z:8.81 [[-5.31178458e-01 -8.47183419e-01 1.13885758e-02 1.98706489e+02] [ 8.46984823e-01 -5.31300522e-01 -1.83430053e-02 1.28180380e+02] [ 2.15906463e-02 -9.74583954e-05 9.99766890e-01 8.81012876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:128.20, Z:8.81 [[-5.32374719e-01 -8.46432220e-01 1.13865886e-02 1.98692487e+02] [ 8.46233814e-01 -5.32496462e-01 -1.83262375e-02 1.28203672e+02] [ 2.15752361e-02 -1.20709281e-04 9.99767220e-01 8.81285273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:128.23, Z:8.81 [[-5.35215841e-01 -8.44639169e-01 1.13436187e-02 1.98681502e+02] [ 8.44442138e-01 -5.35336007e-01 -1.82437757e-02 1.28227274e+02] [ 2.14820551e-02 -1.85328177e-04 9.99769217e-01 8.81296382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.67, Y:128.25, Z:8.81 [[-5.37102245e-01 -8.43440675e-01 1.13581134e-02 1.98668047e+02] [ 8.43243150e-01 -5.37222279e-01 -1.82541403e-02 1.28251199e+02] [ 2.14981160e-02 -2.26688412e-04 9.99768863e-01 8.81362807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.66, Y:128.28, Z:8.81 [[-5.39257593e-01 -8.42066619e-01 1.11829534e-02 1.98655059e+02] [ 8.41875135e-01 -5.39373467e-01 -1.79588376e-02 1.28275870e+02] [ 2.11543260e-02 -2.69789137e-04 9.99776186e-01 8.81379608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.64, Y:128.30, Z:8.81 [[-5.41313899e-01 -8.40744463e-01 1.13141340e-02 1.98643658e+02] [ 8.40548476e-01 -5.41432033e-01 -1.81552541e-02 1.28299531e+02] [ 2.13897640e-02 -3.17613325e-04 9.99771162e-01 8.81380126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.63, Y:128.32, Z:8.81 [[-5.41646918e-01 -8.40529861e-01 1.13211846e-02 1.98629725e+02] [ 8.40333918e-01 -5.41765126e-01 -1.81508573e-02 1.28321411e+02] [ 2.13897606e-02 -3.17780542e-04 9.99771162e-01 8.81411264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:128.35, Z:8.81 [[-5.44770898e-01 -8.38509057e-01 1.12796402e-02 1.98620817e+02] [ 8.38314445e-01 -5.44887522e-01 -1.80687424e-02 1.28346602e+02] [ 2.12969393e-02 -3.87439734e-04 9.99773119e-01 8.81433981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.61, Y:128.37, Z:8.81 [[-5.46060807e-01 -8.37667799e-01 1.14128562e-02 1.98610046e+02] [ 8.37468704e-01 -5.46179901e-01 -1.82670372e-02 1.28371060e+02] [ 2.15351816e-02 -4.17003193e-04 9.99768004e-01 8.81389033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:128.39, Z:8.82 [[-5.46736883e-01 -8.37219043e-01 1.19605765e-02 1.98592692e+02] [ 8.37000628e-01 -5.46867511e-01 -1.91278552e-02 1.28392311e+02] [ 2.25550554e-02 -4.46893863e-04 9.99745503e-01 8.81605397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:128.41, Z:8.82 [[-5.46519891e-01 -8.37359150e-01 1.20690624e-02 1.98578576e+02] [ 8.37137152e-01 -5.46652964e-01 -1.92853869e-02 1.28414986e+02] [ 2.27463839e-02 -4.36387062e-04 9.99741172e-01 8.81500563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:128.44, Z:8.81 [[-5.45850311e-01 -8.37792606e-01 1.22877200e-02 1.98563014e+02] [ 8.37562989e-01 -5.45988440e-01 -1.96179105e-02 1.28435927e+02] [ 2.31446934e-02 -4.16703089e-04 9.99732039e-01 8.81498451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:128.46, Z:8.81 [[-5.43784113e-01 -8.39129614e-01 1.26621471e-02 1.98544966e+02] [ 8.38886562e-01 -5.43931393e-01 -2.01984139e-02 1.28456400e+02] [ 2.38364266e-02 -3.61471585e-04 9.99715807e-01 8.81455384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:128.48, Z:8.82 [[-5.42739656e-01 -8.39806259e-01 1.26140114e-02 1.98528779e+02] [ 8.39565639e-01 -5.42886124e-01 -2.01045918e-02 1.28477950e+02] [ 2.37319338e-02 -3.21268740e-04 9.99718306e-01 8.81501027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:128.50, Z:8.82 [[-5.41291164e-01 -8.40740253e-01 1.26373700e-02 1.98512436e+02] [ 8.40499411e-01 -5.41438597e-01 -2.01242726e-02 1.28498958e+02] [ 2.37616459e-02 -2.71388886e-04 9.99717615e-01 8.81519772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:128.52, Z:8.82 [[-5.41174575e-01 -8.40814819e-01 1.26696308e-02 1.98496877e+02] [ 8.40573167e-01 -5.41322799e-01 -2.01588540e-02 1.28521416e+02] [ 2.38082232e-02 -2.59707576e-04 9.99716510e-01 8.81601398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:128.54, Z:8.82 [[-5.41667792e-01 -8.40503221e-01 1.22612453e-02 1.98483574e+02] [ 8.40277197e-01 -5.41806487e-01 -1.94926544e-02 1.28543556e+02] [ 2.30268611e-02 -2.55698241e-04 9.99734814e-01 8.81560033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:128.57, Z:8.82 [[-5.42507711e-01 -8.39969032e-01 1.17221386e-02 1.98468958e+02] [ 8.39762679e-01 -5.42634277e-01 -1.86194653e-02 1.28565572e+02] [ 2.20006085e-02 -2.57388987e-04 9.99757924e-01 8.81772129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:128.59, Z:8.82 [[-5.43296435e-01 -8.39462659e-01 1.14642134e-02 1.98454383e+02] [ 8.39265508e-01 -5.43417312e-01 -1.81943136e-02 1.28587711e+02] [ 2.15032989e-02 -2.63386848e-04 9.99768743e-01 8.81904323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.44, Y:128.61, Z:8.82 [[-5.44656430e-01 -8.38580575e-01 1.14888107e-02 1.98441302e+02] [ 8.38382730e-01 -5.44777510e-01 -1.82171168e-02 1.28610011e+02] [ 2.15353659e-02 -2.90049295e-04 9.99768045e-01 8.81915836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:128.63, Z:8.82 [[-5.45510891e-01 -8.38025969e-01 1.14167743e-02 1.98426443e+02] [ 8.37830807e-01 -5.45630263e-01 -1.80874124e-02 1.28632538e+02] [ 2.13870589e-02 -3.01555233e-04 9.99771225e-01 8.82006783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:128.65, Z:8.82 [[-5.46829292e-01 -8.37167428e-01 1.13323760e-02 1.98412551e+02] [ 8.36975263e-01 -5.46946608e-01 -1.79392473e-02 1.28654831e+02] [ 2.12163581e-02 -3.24787557e-04 9.99774855e-01 8.81978781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:128.68, Z:8.82 [[-5.47657510e-01 -8.36624311e-01 1.14461536e-02 1.98398228e+02] [ 8.36428479e-01 -5.47777004e-01 -1.81039720e-02 1.28677240e+02] [ 2.14161629e-02 -3.40887376e-04 9.99770590e-01 8.82004422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.38, Y:128.70, Z:8.82 [[-5.48071999e-01 -8.36355664e-01 1.12377530e-02 1.98384991e+02] [ 8.36167134e-01 -5.48187094e-01 -1.77605002e-02 1.28698807e+02] [ 2.10144861e-02 -3.37393146e-04 9.99779114e-01 8.82032586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.37, Y:128.72, Z:8.82 [[-5.48738014e-01 -8.35924468e-01 1.08109217e-02 1.98370759e+02] [ 8.35750159e-01 -5.48844398e-01 -1.70733306e-02 1.28721356e+02] [ 2.02055286e-02 -3.33556014e-04 9.99795792e-01 8.82112521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:128.74, Z:8.82 [[-5.49369623e-01 -8.35512005e-01 1.06163307e-02 1.98355617e+02] [ 8.35344110e-01 -5.49472090e-01 -1.67523433e-02 1.28743782e+02] [ 1.98301614e-02 -3.34939203e-04 9.99803307e-01 8.82137235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.34, Y:128.77, Z:8.82 [[-5.49606172e-01 -8.35360304e-01 1.03062348e-02 1.98342681e+02] [ 8.35202304e-01 -5.49702700e-01 -1.62497290e-02 1.28766063e+02] [ 1.92397437e-02 -3.23160339e-04 9.99814847e-01 8.82113012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:128.79, Z:8.82 [[-5.49552615e-01 -8.35396910e-01 1.01944186e-02 1.98328270e+02] [ 8.35242593e-01 -5.49647074e-01 -1.60594023e-02 1.28787714e+02] [ 1.90193074e-02 -3.10673858e-04 9.99819068e-01 8.82168256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:128.81, Z:8.82 [[-5.49345914e-01 -8.35533782e-01 1.01176299e-02 1.98311012e+02] [ 8.35382049e-01 -5.49438997e-01 -1.59254619e-02 1.28809417e+02] [ 1.88652818e-02 -2.96501062e-04 9.99821991e-01 8.82291833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.30, Y:128.83, Z:8.82 [[-5.48872858e-01 -8.35848820e-01 9.76404354e-03 1.98295275e+02] [ 8.35707778e-01 -5.48959632e-01 -1.53568387e-02 1.28831392e+02] [ 1.81960613e-02 -2.69064832e-04 9.99834402e-01 8.82315261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.28, Y:128.85, Z:8.82 [[-5.47379602e-01 -8.36827034e-01 9.80238460e-03 1.98280231e+02] [ 8.36685270e-01 -5.47467316e-01 -1.54044379e-02 1.28853283e+02] [ 1.82573352e-02 -2.30564252e-04 9.99833294e-01 8.82207862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:128.87, Z:8.82 [[-5.46433584e-01 -8.37440436e-01 1.01909615e-02 1.98266118e+02] [ 8.37287586e-01 -5.46528565e-01 -1.60008189e-02 1.28874765e+02] [ 1.89693843e-02 -2.10619243e-04 9.99820043e-01 8.82135028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.25, Y:128.90, Z:8.82 [[-5.43878921e-01 -8.39093073e-01 1.08873533e-02 1.98249322e+02] [ 8.38919268e-01 -5.43987860e-01 -1.70783901e-02 1.28895808e+02] [ 2.02529469e-02 -1.54965915e-04 9.99794876e-01 8.81998677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:128.92, Z:8.82 [[-5.42591454e-01 -8.39922247e-01 1.11863197e-02 1.98233264e+02] [ 8.39739260e-01 -5.42706740e-01 -1.75319583e-02 1.28917078e+02] [ 2.07963729e-02 -1.19098920e-04 9.99783725e-01 8.81973292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.22, Y:128.94, Z:8.82 [[-5.41504213e-01 -8.40626425e-01 1.09727347e-02 1.98218270e+02] [ 8.40450812e-01 -5.41615368e-01 -1.71821381e-02 1.28937646e+02] [ 2.03867610e-02 -8.21563692e-05 9.99792165e-01 8.81937554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:128.96, Z:8.82 [[-5.39268468e-01 -8.42069143e-01 1.04440771e-02 1.98202126e+02] [ 8.41910589e-01 -5.39369594e-01 -1.63401541e-02 1.28958270e+02] [ 1.93927572e-02 -1.87507690e-05 9.99811943e-01 8.82051083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.19, Y:128.98, Z:8.82 [[-5.38074833e-01 -8.42833112e-01 1.03836483e-02 1.98187783e+02] [ 8.42676781e-01 -5.38175014e-01 -1.62326290e-02 1.28978781e+02] [ 1.92696172e-02 1.56902269e-05 9.99814324e-01 8.82056287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.17, Y:129.00, Z:8.82 [[-5.38099044e-01 -8.42821307e-01 1.00828540e-02 1.98173866e+02] [ 8.42674118e-01 -5.38193501e-01 -1.57507593e-02 1.29000951e+02] [ 1.87016020e-02 2.10915910e-05 9.99825110e-01 8.82113306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:129.02, Z:8.82 [[-5.38481692e-01 -8.42577581e-01 1.00243942e-02 1.98160664e+02] [ 8.42432305e-01 -5.38574991e-01 -1.56457864e-02 1.29023219e+02] [ 1.85816768e-02 1.99039733e-05 9.99827346e-01 8.82154708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.15, Y:129.05, Z:8.82 [[-5.39138761e-01 -8.42162287e-01 9.59582738e-03 1.98147313e+02] [ 8.42029331e-01 -5.39224149e-01 -1.49640546e-02 1.29046182e+02] [ 1.77764643e-02 1.22662536e-05 9.99841986e-01 8.82242747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.732755096 meters Centerline goodness [0,1] 0.9999782755099824 Centerline is valid? [True, True] Translation: X:198.13, Y:129.07, Z:8.82 [[-5.40498308e-01 -8.41294757e-01 9.20390187e-03 1.98134639e+02] [ 8.41172518e-01 -5.40576666e-01 -1.43409662e-02 1.29069757e+02] [ 1.70403943e-02 -9.19866448e-06 9.99854802e-01 8.82295341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:129.09, Z:8.82 [[-5.41567295e-01 -8.40607920e-01 9.12089806e-03 1.98121752e+02] [ 8.40487971e-01 -5.41644095e-01 -1.42002175e-02 1.29091677e+02] [ 1.68770959e-02 -2.43682886e-05 9.99857571e-01 8.82312076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.11, Y:129.12, Z:8.82 [[-5.43626669e-01 -8.39284851e-01 8.42524111e-03 1.98109973e+02] [ 8.39182481e-01 -5.43691950e-01 -1.31082577e-02 1.29115643e+02] [ 1.55822979e-02 -5.56837490e-05 9.99878587e-01 8.82434513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.10, Y:129.14, Z:8.82 [[-5.44728527e-01 -8.38571745e-01 8.26197847e-03 1.98097789e+02] [ 8.38473388e-01 -5.44791174e-01 -1.28434623e-02 1.29138052e+02] [ 1.52712175e-02 -6.87512045e-05 9.99883386e-01 8.82493039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:129.16, Z:8.83 [[-5.45907000e-01 -8.37807187e-01 8.04144915e-03 1.98085860e+02] [ 8.37714087e-01 -5.45966218e-01 -1.24899323e-02 1.29160053e+02] [ 1.48545146e-02 -8.19062418e-05 9.99889662e-01 8.82551339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.07, Y:129.18, Z:8.83 [[-5.47670794e-01 -8.36660969e-01 7.42456298e-03 1.98072732e+02] [ 8.36581625e-01 -5.47721109e-01 -1.15226289e-02 1.29184347e+02] [ 1.37071237e-02 -9.93543766e-05 9.99906048e-01 8.82639944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.06, Y:129.21, Z:8.83 [[-5.48480321e-01 -8.36131381e-01 7.32468759e-03 1.98059666e+02] [ 8.36054231e-01 -5.48529217e-01 -1.13587039e-02 1.29207295e+02] [ 1.35151740e-02 -1.06189529e-04 9.99908660e-01 8.82680435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.04, Y:129.23, Z:8.83 [[-5.49235850e-01 -8.35633887e-01 7.48251836e-03 1.98044761e+02] [ 8.35553464e-01 -5.49286805e-01 -1.15937260e-02 1.29230332e+02] [ 1.37981589e-02 -1.15645828e-04 9.99904794e-01 8.82698484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:129.25, Z:8.83 [[-5.50254502e-01 -8.34962518e-01 7.58789451e-03 1.98031756e+02] [ 8.34879884e-01 -5.50306802e-01 -1.17474749e-02 1.29253731e+02] [ 1.39843712e-02 -1.29120485e-04 9.99902206e-01 8.82604556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:129.28, Z:8.83 [[-5.51828447e-01 -8.33923592e-01 7.53715419e-03 1.98021124e+02] [ 8.33842093e-01 -5.51879897e-01 -1.16594365e-02 1.29277550e+02] [ 1.38826831e-02 -1.49212319e-04 9.99903620e-01 8.82641067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:129.30, Z:8.83 [[-5.52839915e-01 -8.33251253e-01 7.77031435e-03 1.98007669e+02] [ 8.33164698e-01 -5.52894494e-01 -1.20109891e-02 1.29300859e+02] [ 1.43043357e-02 -1.66202572e-04 9.99897674e-01 8.82666425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:129.32, Z:8.83 [[-5.53652335e-01 -8.32709909e-01 7.95613006e-03 1.97994919e+02] [ 8.32619256e-01 -5.53709469e-01 -1.22881752e-02 1.29324305e+02] [ 1.46378698e-02 -1.78949779e-04 9.99892845e-01 8.82651984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:129.35, Z:8.83 [[-5.54134732e-01 -8.32387262e-01 8.13290809e-03 1.97981141e+02] [ 8.32292660e-01 -5.54194380e-01 -1.25505599e-02 1.29347106e+02] [ 1.49541381e-02 -1.85741437e-04 9.99888163e-01 8.82605800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.97, Y:129.37, Z:8.83 [[-5.54348930e-01 -8.32247117e-01 7.87402584e-03 1.97966901e+02] [ 8.32158573e-01 -5.54404820e-01 -1.21410077e-02 1.29369890e+02] [ 1.44697166e-02 -1.77916530e-04 9.99895292e-01 8.82708720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.95, Y:129.39, Z:8.83 [[-5.54237825e-01 -8.32323730e-01 7.59226371e-03 1.97952773e+02] [ 8.32241554e-01 -5.54289800e-01 -1.16967257e-02 1.29391862e+02] [ 1.39437767e-02 -1.64170467e-04 9.99902767e-01 8.82815981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:129.41, Z:8.83 [[-5.53448855e-01 -8.32853346e-01 7.04757957e-03 1.97939532e+02] [ 8.32782695e-01 -5.53493709e-01 -1.08488339e-02 1.29413745e+02] [ 1.29362786e-02 -1.35172416e-04 9.99916314e-01 8.82972818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:129.44, Z:8.83 [[-5.52936843e-01 -8.33195619e-01 6.77560597e-03 1.97925916e+02] [ 8.33130453e-01 -5.52978343e-01 -1.04211934e-02 1.29435792e+02] [ 1.24296561e-02 -1.17298122e-04 9.99922742e-01 8.83043307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:129.46, Z:8.83 [[-5.52067616e-01 -8.33769638e-01 7.03836895e-03 1.97911058e+02] [ 8.33699494e-01 -5.52112471e-01 -1.08154349e-02 1.29458034e+02] [ 1.29035525e-02 -1.02966707e-04 9.99916740e-01 8.83069405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.272755096 meters Centerline goodness [0,1] 0.9999338040600176 Centerline is valid? [True, True] Translation: X:197.90, Y:129.48, Z:8.83 [[-5.49869936e-01 -8.35220115e-01 7.10018674e-03 1.97896786e+02] [ 8.35148977e-01 -5.49915771e-01 -1.09009988e-02 1.29478945e+02] [ 1.30092381e-02 -6.44178048e-05 9.99915374e-01 8.82998255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:129.50, Z:8.83 [[-5.48709073e-01 -8.35984028e-01 7.00410069e-03 1.97881593e+02] [ 8.35914985e-01 -5.48753773e-01 -1.07440799e-02 1.29500576e+02] [ 1.28254059e-02 -4.05414133e-05 9.99917750e-01 8.83195738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.332755096 meters Centerline goodness [0,1] 0.9998899986799842 Centerline is valid? [True, True] Translation: X:197.87, Y:129.52, Z:8.83 [[-5.46397374e-01 -8.37496791e-01 7.00243190e-03 1.97866611e+02] [ 8.37428019e-01 -5.46442243e-01 -1.07326116e-02 1.29521915e+02] [ 1.28149524e-02 -2.38145026e-07 9.99917885e-01 8.83277481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters Centerline goodness [0,1] 0.9998235903768551 Centerline is valid? [True, True] Translation: X:197.85, Y:129.54, Z:8.83 [[-5.46212573e-01 -8.37616711e-01 7.07610474e-03 1.97852195e+02] [ 8.37546615e-01 -5.46258406e-01 -1.08361494e-02 1.29544127e+02] [ 1.29419215e-02 7.72654686e-06 9.99916250e-01 8.83202767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.392755096 meters Centerline goodness [0,1] 0.9998678879689977 Centerline is valid? [True, True] Translation: X:197.84, Y:129.57, Z:8.83 [[-5.45786686e-01 -8.37893368e-01 7.18313501e-03 1.97837682e+02] [ 8.37821286e-01 -5.45833952e-01 -1.09904745e-02 1.29565843e+02] [ 1.31296447e-02 1.97287370e-05 9.99913802e-01 8.83220887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4227550960001 meters Centerline goodness [0,1] 0.9997791860798905 Centerline is valid? [True, True] Translation: X:197.82, Y:129.59, Z:8.83 [[-5.45355508e-01 -8.38173408e-01 7.26007656e-03 1.97823374e+02] [ 8.38099921e-01 -5.45403830e-01 -1.10988141e-02 1.29587368e+02] [ 1.32624044e-02 3.18701648e-05 9.99912050e-01 8.83357807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.452755096 meters Centerline goodness [0,1] 0.9998237924274795 Centerline is valid? [True, True] Translation: X:197.81, Y:129.61, Z:8.83 [[-5.45490164e-01 -8.38082555e-01 7.62317442e-03 1.97809527e+02] [ 8.38001639e-01 -5.45543427e-01 -1.16456835e-02 1.29608793e+02] [ 1.39188169e-02 3.56268572e-05 9.99903128e-01 8.83142228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.482755096 meters Centerline goodness [0,1] 0.9999338288814875 Centerline is valid? [True, True] Translation: X:197.79, Y:129.63, Z:8.84 [[-5.45741881e-01 -8.37923348e-01 7.08957126e-03 1.97794907e+02] [ 8.37853441e-01 -5.45787927e-01 -1.08236122e-02 1.29629783e+02] [ 1.29387597e-02 3.31232229e-05 9.99916290e-01 8.83522197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:129.65, Z:8.84 [[-5.46461593e-01 -8.37455047e-01 6.98367847e-03 1.97781033e+02] [ 8.37387288e-01 -5.46506216e-01 -1.06530149e-02 1.29651441e+02] [ 1.27380448e-02 2.65800631e-05 9.99918867e-01 8.83661959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:129.67, Z:8.84 [[-5.47816560e-01 -8.36570671e-01 6.82131650e-03 1.97767777e+02] [ 8.36506064e-01 -5.47859027e-01 -1.03967002e-02 1.29674077e+02] [ 1.24346943e-02 1.05880781e-05 9.99922686e-01 8.83755667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:129.70, Z:8.84 [[-5.50948986e-01 -8.34509891e-01 6.96109108e-03 1.97754668e+02] [ 8.34442559e-01 -5.50992959e-01 -1.06007445e-02 1.29697059e+02] [ 1.26819383e-02 -3.18387626e-05 9.99919581e-01 8.83799869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:129.72, Z:8.84 [[-5.52745899e-01 -8.33318830e-01 7.19014303e-03 1.97739753e+02] [ 8.33247016e-01 -5.52792659e-01 -1.09401322e-02 1.29719900e+02] [ 1.30912764e-02 -5.59479811e-05 9.99914304e-01 8.83799327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:129.74, Z:8.84 [[-5.53046955e-01 -8.33119026e-01 7.19409642e-03 1.97724876e+02] [ 8.33047228e-01 -5.53093741e-01 -1.09375320e-02 1.29742151e+02] [ 1.30912757e-02 -5.59466618e-05 9.99914304e-01 8.83831461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:129.77, Z:8.84 [[-5.56282040e-01 -8.30958399e-01 7.64400131e-03 1.97710942e+02] [ 8.30877269e-01 -5.56334546e-01 -1.16119172e-02 1.29765671e+02] [ 1.39016421e-02 -1.08274054e-04 9.99903362e-01 8.83752701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.70, Y:129.79, Z:8.84 [[-5.57931874e-01 -8.29847291e-01 8.09301756e-03 1.97696514e+02] [ 8.29756380e-01 -5.57990550e-01 -1.22839253e-02 1.29788424e+02] [ 1.47096095e-02 -1.38360538e-04 9.99891798e-01 8.83700930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:129.81, Z:8.84 [[-5.60011817e-01 -8.28445446e-01 8.05656451e-03 1.97682152e+02] [ 8.28355347e-01 -5.60069741e-01 -1.22190460e-02 1.29811134e+02] [ 1.46350510e-02 -1.69111851e-04 9.99892888e-01 8.83707257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:129.83, Z:8.84 [[-5.64545831e-01 -8.25357430e-01 8.55086203e-03 1.97669482e+02] [ 8.25255745e-01 -5.64610525e-01 -1.29580384e-02 1.29833866e+02] [ 1.55229200e-02 -2.58758544e-04 9.99879479e-01 8.83684632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:129.86, Z:8.84 [[-5.67251095e-01 -8.23499478e-01 8.64902175e-03 1.97655406e+02] [ 8.23395394e-01 -5.67316945e-01 -1.30961387e-02 1.29856875e+02] [ 1.56914000e-02 -3.07234359e-04 9.99876835e-01 8.83732631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:129.88, Z:8.84 [[-5.72472290e-01 -8.19877086e-01 8.77725732e-03 1.97642070e+02] [ 8.19769627e-01 -5.72539429e-01 -1.32801310e-02 1.29881459e+02] [ 1.59134010e-02 -4.07178032e-04 9.99873291e-01 8.83826067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:129.90, Z:8.84 [[-5.75152881e-01 -8.18000648e-01 8.60838412e-03 1.97629028e+02] [ 8.17897218e-01 -5.75217127e-01 -1.30153228e-02 1.29904645e+02] [ 1.55982324e-02 -4.45026980e-04 9.99878241e-01 8.83940814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.62, Y:129.93, Z:8.84 [[-5.77706721e-01 -8.16200177e-01 8.49794087e-03 1.97615050e+02] [ 8.16099347e-01 -5.77769019e-01 -1.28381173e-02 1.29928498e+02] [ 1.53883205e-02 -4.81502635e-04 9.99881477e-01 8.84097572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.60, Y:129.95, Z:8.84 [[-5.81274999e-01 -8.13666398e-01 8.14672572e-03 1.97599193e+02] [ 8.13573614e-01 -5.81331852e-01 -1.22985015e-02 1.29951658e+02] [ 1.47428286e-02 -5.20850364e-04 9.99891183e-01 8.84254855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:129.97, Z:8.84 [[-5.82484153e-01 -8.12800749e-01 8.19473132e-03 1.97584902e+02] [ 8.12706915e-01 -5.82541544e-01 -1.23620623e-02 1.29974469e+02] [ 1.48216650e-02 -5.40790611e-04 9.99890007e-01 8.84274980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:130.00, Z:8.84 [[-5.83350230e-01 -8.12178707e-01 8.26175982e-03 1.97568220e+02] [ 8.12083407e-01 -5.83408467e-01 -1.24539838e-02 1.29996727e+02] [ 1.49348411e-02 -5.55796237e-04 9.99888315e-01 8.84331597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:130.02, Z:8.84 [[-5.83094312e-01 -8.12363415e-01 8.16729399e-03 1.97554845e+02] [ 8.12270422e-01 -5.83151258e-01 -1.23033243e-02 1.30019479e+02] [ 1.47575383e-02 -5.39947066e-04 9.99890956e-01 8.84343941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.54, Y:130.04, Z:8.84 [[-5.82472874e-01 -8.12809520e-01 8.12614803e-03 1.97538732e+02] [ 8.12717617e-01 -5.82529323e-01 -1.22336982e-02 1.30041016e+02] [ 1.46773858e-02 -5.21533671e-04 9.99892145e-01 8.84367394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:130.06, Z:8.84 [[-5.80877731e-01 -8.13950316e-01 8.12063621e-03 1.97519070e+02] [ 8.13858782e-01 -5.80934287e-01 -1.22162947e-02 1.30060937e+02] [ 1.46610129e-02 -4.87122454e-04 9.99892403e-01 8.84471997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.50, Y:130.08, Z:8.85 [[-5.79830698e-01 -8.14697396e-01 8.03214509e-03 1.97502059e+02] [ 8.14608050e-01 -5.79886147e-01 -1.20740161e-02 1.30082017e+02] [ 1.44943992e-02 -4.57835158e-04 9.99894846e-01 8.84579878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.112755096 meters Centerline goodness [0,1] 0.9999783117897111 Centerline is valid? [True, True] Translation: X:197.48, Y:130.10, Z:8.85 [[-5.77528653e-01 -8.16335060e-01 7.59774774e-03 1.97483921e+02] [ 8.16255372e-01 -5.77578496e-01 -1.14126508e-02 1.30103079e+02] [ 1.37048427e-02 -3.89430447e-04 9.99906008e-01 8.84826229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.47, Y:130.12, Z:8.85 [[-5.76369113e-01 -8.17154436e-01 7.56796233e-03 1.97466729e+02] [ 8.17075556e-01 -5.76418681e-01 -1.13595885e-02 1.30123989e+02] [ 1.36448530e-02 -3.63718907e-04 9.99906839e-01 8.84865900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.45, Y:130.14, Z:8.85 [[-5.75663572e-01 -8.17650427e-01 7.69621197e-03 1.97451054e+02] [ 8.17569022e-01 -5.75714908e-01 -1.15428949e-02 1.30144660e+02] [ 1.38688769e-02 -3.52639620e-04 9.99903760e-01 8.84890911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.202755096 meters Centerline goodness [0,1] 0.9999136367561966 Centerline is valid? [True, True] Translation: X:197.43, Y:130.17, Z:8.85 [[-5.74619016e-01 -8.18385088e-01 7.67036734e-03 1.97434243e+02] [ 8.18304428e-01 -5.74670114e-01 -1.14944778e-02 1.30165797e+02] [ 1.38148401e-02 -3.28249977e-04 9.99904517e-01 8.84817871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.42, Y:130.19, Z:8.85 [[-5.75009102e-01 -8.18113323e-01 7.42456157e-03 1.97417489e+02] [ 8.18037837e-01 -5.75056944e-01 -1.11179494e-02 1.30187071e+02] [ 1.33652882e-02 -3.19349792e-04 9.99910630e-01 8.85128880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.40, Y:130.21, Z:8.85 [[-5.75662445e-01 -8.17650226e-01 7.80109310e-03 1.97402765e+02] [ 8.17566980e-01 -5.75715200e-01 -1.16722881e-02 1.30209046e+02] [ 1.40350569e-02 -3.41381799e-04 9.99901445e-01 8.85160590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:130.23, Z:8.85 [[-5.76484724e-01 -8.17066410e-01 8.23681258e-03 1.97387992e+02] [ 8.16973700e-01 -5.76543446e-01 -1.23137194e-02 1.30230906e+02] [ 1.48100068e-02 -3.69411867e-04 9.99890258e-01 8.85186107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.37, Y:130.25, Z:8.85 [[-5.77188774e-01 -8.16569325e-01 8.22536822e-03 1.97373519e+02] [ 8.16476975e-01 -5.77247258e-01 -1.22862995e-02 1.30253081e+02] [ 1.47806865e-02 -3.75690365e-04 9.99890689e-01 8.85252898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.36, Y:130.28, Z:8.85 [[-5.77672550e-01 -8.16224093e-01 8.52382960e-03 1.97358306e+02] [ 8.16125049e-01 -5.77735300e-01 -1.27212005e-02 1.30275051e+02] [ 1.53078676e-02 -3.92177479e-04 9.99882751e-01 8.85335885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.34, Y:130.30, Z:8.85 [[-5.78042347e-01 -8.15966438e-01 8.11281870e-03 1.97342141e+02] [ 8.15876831e-01 -5.78099154e-01 -1.20981194e-02 1.30295964e+02] [ 1.45616730e-02 -3.74164525e-04 9.99893903e-01 8.85444165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.33, Y:130.32, Z:8.86 [[-5.78739882e-01 -8.15473617e-01 7.93272506e-03 1.97326905e+02] [ 8.15388036e-01 -5.78794127e-01 -1.18198923e-02 1.30317056e+02] [ 1.42302250e-02 -3.72393989e-04 9.99898676e-01 8.85508103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:130.34, Z:8.86 [[-5.79369522e-01 -8.15021938e-01 8.37839897e-03 1.97313056e+02] [ 8.14926587e-01 -5.79429963e-01 -1.24730154e-02 1.30338183e+02] [ 1.50204766e-02 -3.98704898e-04 9.99887107e-01 8.85549158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.30, Y:130.36, Z:8.86 [[-5.79495938e-01 -8.14931140e-01 8.46727364e-03 1.97296046e+02] [ 8.14833912e-01 -5.79557657e-01 -1.25943818e-02 1.30358174e+02] [ 1.51708271e-02 -3.98971370e-04 9.99884837e-01 8.85617100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.28, Y:130.38, Z:8.86 [[-5.78526629e-01 -8.15614832e-01 8.90987911e-03 1.97277786e+02] [ 8.15507434e-01 -5.78595101e-01 -1.32413937e-02 1.30378841e+02] [ 1.59550895e-02 -3.94426226e-04 9.99872632e-01 8.85703941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:130.40, Z:8.86 [[-5.77845984e-01 -8.16096515e-01 8.97201546e-03 1.97262978e+02] [ 8.15987844e-01 -5.77915510e-01 -1.33229896e-02 1.30399983e+02] [ 1.60579122e-02 -3.77580464e-04 9.99870992e-01 8.85735349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.562755096 meters Centerline goodness [0,1] 0.9999137336093857 Centerline is valid? [True, True] Translation: X:197.25, Y:130.42, Z:8.86 [[-5.76967527e-01 -8.16713118e-01 9.38911242e-03 1.97245104e+02] [ 8.16594397e-01 -5.77043799e-01 -1.39300009e-02 1.30421195e+02] [ 1.67947436e-02 -3.70061576e-04 9.99858890e-01 8.85546884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.23, Y:130.44, Z:8.86 [[-5.74281108e-01 -8.18599529e-01 9.79900611e-03 1.97225944e+02] [ 8.18470688e-01 -5.74364612e-01 -1.45266771e-02 1.30441237e+02] [ 1.75197334e-02 -3.22196958e-04 9.99846466e-01 8.85830951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.21, Y:130.46, Z:8.86 [[-5.73493957e-01 -8.19149209e-01 9.96267173e-03 1.97209655e+02] [ 8.19016321e-01 -5.73580405e-01 -1.47575211e-02 1.30461632e+02] [ 1.78030050e-02 -3.03758404e-04 9.99841468e-01 8.85892130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.652755096 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:197.19, Y:130.48, Z:8.86 [[-5.71702786e-01 -8.20395901e-01 1.03193895e-02 1.97191734e+02] [ 8.20253765e-01 -5.71795850e-01 -1.52730793e-02 1.30482637e+02] [ 1.84305557e-02 -2.67143900e-04 9.99830107e-01 8.85978085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.18, Y:130.50, Z:8.86 [[-5.71548980e-01 -8.20498463e-01 1.06787559e-02 1.97177631e+02] [ 8.20346522e-01 -5.71648670e-01 -1.57918067e-02 1.30503649e+02] [ 1.90616498e-02 -2.65510751e-04 9.99818275e-01 8.86016558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:130.53, Z:8.86 [[-5.71462704e-01 -8.20560099e-01 1.05594801e-02 1.97161527e+02] [ 8.20411792e-01 -5.71560198e-01 -1.56022752e-02 1.30525307e+02] [ 1.88379830e-02 -2.52996347e-04 9.99822517e-01 8.86121537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:130.55, Z:8.86 [[-5.71111115e-01 -8.20805318e-01 1.05226261e-02 1.97146854e+02] [ 8.20658319e-01 -5.71207996e-01 -1.55354210e-02 1.30546689e+02] [ 1.87621643e-02 -2.36970947e-04 9.99823947e-01 8.86255825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:130.57, Z:8.86 [[-5.71182430e-01 -8.20755496e-01 1.05379229e-02 1.97131552e+02] [ 8.20608309e-01 -5.71279583e-01 -1.55448220e-02 1.30567728e+02] [ 1.87785983e-02 -2.31422134e-04 9.99823640e-01 8.86371730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.802755096 meters Centerline goodness [0,1] 0.9999784770349963 Centerline is valid? [True, True] Translation: X:197.11, Y:130.59, Z:8.87 [[-5.71197912e-01 -8.20750725e-01 1.00594108e-02 1.97114399e+02] [ 8.20616813e-01 -5.71286444e-01 -1.48271676e-02 1.30589259e+02] [ 1.79162135e-02 -2.14325516e-04 9.99839469e-01 8.86600351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:130.61, Z:8.87 [[-5.71525614e-01 -8.20522384e-01 1.00742523e-02 1.97098333e+02] [ 8.20388247e-01 -5.71614355e-01 -1.48375493e-02 1.30611804e+02] [ 1.79331286e-02 -2.15241313e-04 9.99839165e-01 8.86671478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters Centerline goodness [0,1] 0.9999356609762374 Centerline is valid? [True, True] Translation: X:197.08, Y:130.63, Z:8.86 [[-5.72094898e-01 -8.20125614e-01 1.00699781e-02 1.97083872e+02] [ 8.19991719e-01 -5.72183474e-01 -1.48206610e-02 1.30633490e+02] [ 1.79166788e-02 -2.21525912e-04 9.99839459e-01 8.86495850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:130.66, Z:8.87 [[-5.73282610e-01 -8.19295097e-01 1.01288261e-02 1.97069143e+02] [ 8.19159680e-01 -5.73372030e-01 -1.48974665e-02 1.30656268e+02] [ 1.80130068e-02 -2.43332576e-04 9.99837723e-01 8.86842422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9227550960001 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:197.05, Y:130.68, Z:8.87 [[-5.74687788e-01 -8.18311999e-01 9.97093481e-03 1.97053873e+02] [ 8.18180823e-01 -5.74774220e-01 -1.46539221e-02 1.30679086e+02] [ 1.77225165e-02 -2.63402400e-04 9.99842909e-01 8.86856931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.04, Y:130.70, Z:8.87 [[-5.76732076e-01 -8.16867239e-01 1.03935716e-02 1.97040586e+02] [ 8.16724694e-01 -5.76825637e-01 -1.52629534e-02 1.30703074e+02] [ 1.84630852e-02 -3.13948283e-04 9.99829493e-01 8.86875719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.982755096 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:197.02, Y:130.73, Z:8.87 [[-5.78032260e-01 -8.15944395e-01 1.06513671e-02 1.97024410e+02] [ 8.15794760e-01 -5.78130284e-01 -1.56296064e-02 1.30725139e+02] [ 1.89107676e-02 -3.45087273e-04 9.99821116e-01 8.86934537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:130.75, Z:8.87 [[-5.79415009e-01 -8.14962788e-01 1.06725213e-02 1.97011370e+02] [ 8.14812624e-01 -5.79513173e-01 -1.56483078e-02 1.30747917e+02] [ 1.89376552e-02 -3.70759266e-04 9.99820598e-01 8.86886197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:130.77, Z:8.87 [[-5.81721625e-01 -8.13317909e-01 1.06737878e-02 1.96995793e+02] [ 8.13167669e-01 -5.81819392e-01 -1.56377053e-02 1.30770189e+02] [ 1.89286425e-02 -4.17212159e-04 9.99820750e-01 8.87034910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.98, Y:130.79, Z:8.87 [[-5.83090824e-01 -8.12336701e-01 1.06853109e-02 1.96982102e+02] [ 8.12186181e-01 -5.83188553e-01 -1.56434848e-02 1.30792986e+02] [ 1.89393278e-02 -4.43110609e-04 9.99820537e-01 8.87035521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:130.82, Z:8.87 [[-5.85107588e-01 -8.10878678e-01 1.11749546e-02 1.96968723e+02] [ 8.10713999e-01 -5.85214075e-01 -1.63492685e-02 1.30816614e+02] [ 1.97970139e-02 -5.06388882e-04 9.99803892e-01 8.87029819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.132755096 meters Centerline goodness [0,1] 0.9999568928355893 Centerline is valid? [True, True] Translation: X:196.96, Y:130.84, Z:8.87 [[-5.86396403e-01 -8.09939885e-01 1.16893965e-02 1.96955690e+02] [ 8.09759779e-01 -5.86512639e-01 -1.70887628e-02 1.30838903e+02] [ 2.06968494e-02 -5.55185921e-04 9.99785643e-01 8.86877776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:130.86, Z:8.87 [[-5.87023192e-01 -8.09480326e-01 1.20571356e-02 1.96941160e+02] [ 8.09288909e-01 -5.87146715e-01 -1.76124229e-02 1.30861324e+02] [ 2.13362174e-02 -5.81194546e-04 9.99772188e-01 8.87036041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:130.88, Z:8.87 [[-5.88280433e-01 -8.08563082e-01 1.23237802e-02 1.96927135e+02] [ 8.08363225e-01 -5.88409177e-01 -1.79871520e-02 1.30883855e+02] [ 2.17951724e-02 -6.19398802e-04 9.99762265e-01 8.87046815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.222755096 meters Centerline goodness [0,1] 0.9999349410131853 Centerline is valid? [True, True] Translation: X:196.91, Y:130.91, Z:8.87 [[-5.89102818e-01 -8.07965278e-01 1.22466054e-02 1.96912517e+02] [ 8.07768096e-01 -5.89229763e-01 -1.78602937e-02 1.30905613e+02] [ 2.16465616e-02 -6.29132270e-04 9.99765488e-01 8.86834239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.90, Y:130.93, Z:8.87 [[-5.89275383e-01 -8.07835567e-01 1.24988042e-02 1.96898669e+02] [ 8.07630488e-01 -5.89407576e-01 -1.82127495e-02 1.30926845e+02] [ 2.20797967e-02 -6.37909572e-04 9.99756008e-01 8.87033719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters Centerline goodness [0,1] 0.999891544835365 Centerline is valid? [True, True] Translation: X:196.88, Y:130.95, Z:8.87 [[-5.89749564e-01 -8.07487664e-01 1.26144530e-02 1.96883728e+02] [ 8.07279034e-01 -5.89884101e-01 -1.83659539e-02 1.30949259e+02] [ 2.22713465e-02 -6.47929876e-04 9.99751753e-01 8.86737447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.87, Y:130.97, Z:8.87 [[-5.89099316e-01 -8.07953409e-01 1.31637619e-02 1.96869805e+02] [ 8.07726657e-01 -5.89246015e-01 -1.91515188e-02 1.30969927e+02] [ 2.32302292e-02 -6.49425253e-04 9.99729931e-01 8.86968745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.86, Y:130.99, Z:8.87 [[-5.88326030e-01 -8.08511020e-01 1.35060001e-02 1.96855310e+02] [ 8.08272806e-01 -5.88480693e-01 -1.96352896e-02 1.30991362e+02] [ 2.38233684e-02 -6.35419359e-04 9.99715981e-01 8.86937123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.84, Y:131.01, Z:8.87 [[-5.88025801e-01 -8.08729424e-01 1.35047157e-02 1.96839717e+02] [ 8.08491679e-01 -5.88180532e-01 -1.96180086e-02 1.31012303e+02] [ 2.38088716e-02 -6.17444924e-04 9.99716338e-01 8.86985717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:131.03, Z:8.87 [[-5.87709191e-01 -8.08961476e-01 1.33879576e-02 1.96821157e+02] [ 8.08728257e-01 -5.87861360e-01 -1.94326784e-02 1.31031908e+02] [ 2.35905512e-02 -5.93544097e-04 9.99721528e-01 8.87158928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.432755096 meters Centerline goodness [0,1] 0.9999568332901666 Centerline is valid? [True, True] Translation: X:196.81, Y:131.05, Z:8.87 [[-5.86885478e-01 -8.09553625e-01 1.37246143e-02 1.96808441e+02] [ 8.09309057e-01 -5.87045653e-01 -1.99060992e-02 1.31054239e+02] [ 2.41720299e-02 -5.75145909e-04 9.99707648e-01 8.86833997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.462755096 meters Centerline goodness [0,1] 0.9999353253136722 Centerline is valid? [True, True] Translation: X:196.79, Y:131.07, Z:8.87 [[-5.86530966e-01 -8.09805842e-01 1.39973213e-02 1.96790372e+02] [ 8.09551907e-01 -5.86697688e-01 -2.02862677e-02 1.31073293e+02] [ 2.46401341e-02 -5.66966070e-04 9.99696225e-01 8.86954321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:131.10, Z:8.87 [[-5.84892982e-01 -8.10988305e-01 1.40772694e-02 1.96778031e+02] [ 8.10732209e-01 -5.85062142e-01 -2.03856714e-02 1.31096200e+02] [ 2.47686185e-02 -5.10540438e-04 9.99693080e-01 8.87003830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:131.12, Z:8.87 [[-5.85208697e-01 -8.10760381e-01 1.40849698e-02 1.96763492e+02] [ 8.10504347e-01 -5.85377950e-01 -2.03803507e-02 1.31116671e+02] [ 2.47686117e-02 -5.10829229e-04 9.99693080e-01 8.87033969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.75, Y:131.14, Z:8.87 [[-5.84751300e-01 -8.11092756e-01 1.39448159e-02 1.96745800e+02] [ 8.10842294e-01 -5.84917352e-01 -2.01609963e-02 1.31136109e+02] [ 2.45090028e-02 -4.82122294e-04 9.99699493e-01 8.87258867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.73, Y:131.16, Z:8.87 [[-5.84633491e-01 -8.11179511e-01 1.38377402e-02 1.96729646e+02] [ 8.10933303e-01 -5.84797046e-01 -1.99898176e-02 1.31157480e+02] [ 2.43076001e-02 -4.65232433e-04 9.99704418e-01 8.87304505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.72, Y:131.18, Z:8.87 [[-5.84604980e-01 -8.11196608e-01 1.40385607e-02 1.96715206e+02] [ 8.10943630e-01 -5.84773333e-01 -2.02627163e-02 1.31178197e+02] [ 2.46464226e-02 -4.61203469e-04 9.99696124e-01 8.87279369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.70, Y:131.20, Z:8.87 [[-5.84793529e-01 -8.11059241e-01 1.41221602e-02 1.96700696e+02] [ 8.10803625e-01 -5.84963842e-01 -2.03662876e-02 1.31200308e+02] [ 2.47792188e-02 -4.59774503e-04 9.99692842e-01 8.87320249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:131.22, Z:8.87 [[-5.85144751e-01 -8.10807731e-01 1.40158312e-02 1.96684718e+02] [ 8.10556268e-01 -5.85312407e-01 -2.01970886e-02 1.31222396e+02] [ 2.45795955e-02 -4.57600568e-04 9.99697771e-01 8.87496762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.702755096 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:196.67, Y:131.25, Z:8.87 [[-5.85870395e-01 -8.10278339e-01 1.43140948e-02 1.96669706e+02] [ 8.10016299e-01 -5.86045034e-01 -2.06110262e-02 1.31245278e+02] [ 2.50893722e-02 -4.80739976e-04 9.99685097e-01 8.87303370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.66, Y:131.27, Z:8.87 [[-5.85412747e-01 -8.10600216e-01 1.48056038e-02 1.96655453e+02] [ 8.10320396e-01 -5.85599749e-01 -2.13023339e-02 1.31268280e+02] [ 2.59378344e-02 -4.73375107e-04 9.99663446e-01 8.87447161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.64, Y:131.29, Z:8.87 [[-5.85285091e-01 -8.10686479e-01 1.51259545e-02 1.96643134e+02] [ 8.10394924e-01 -5.85480326e-01 -2.17452382e-02 1.31290906e+02] [ 2.64845194e-02 -4.69167052e-04 9.99649114e-01 8.87271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:131.31, Z:8.87 [[-5.85022162e-01 -8.10874603e-01 1.52134328e-02 1.96626053e+02] [ 8.10580223e-01 -5.85219765e-01 -2.18524230e-02 1.31311479e+02] [ 2.66227764e-02 -4.52443966e-04 9.99645449e-01 8.87406296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.61, Y:131.33, Z:8.87 [[-5.84989348e-01 -8.10893294e-01 1.54767422e-02 1.96610647e+02] [ 8.10589138e-01 -5.85193870e-01 -2.22122582e-02 1.31332570e+02] [ 2.70686659e-02 -4.48655292e-04 9.99633476e-01 8.87303131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:131.35, Z:8.87 [[-5.84746635e-01 -8.11058219e-01 1.59980616e-02 1.96595069e+02] [ 8.10733821e-01 -5.84965270e-01 -2.29413380e-02 1.31353778e+02] [ 2.79650712e-02 -4.44700551e-04 9.99608802e-01 8.87181464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters Centerline goodness [0,1] 0.9999127856270713 Centerline is valid? [True, True] Translation: X:196.58, Y:131.38, Z:8.87 [[-5.85255037e-01 -8.10699332e-01 1.55928155e-02 1.96581270e+02] [ 8.10391543e-01 -5.85462553e-01 -2.23415965e-02 1.31375493e+02] [ 2.72413269e-02 -4.39246053e-04 9.99628790e-01 8.86956437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.57, Y:131.40, Z:8.87 [[-5.84958061e-01 -8.10918989e-01 1.53121195e-02 1.96567012e+02] [ 8.10622738e-01 -5.85158291e-01 -2.19214856e-02 1.31397898e+02] [ 2.67365626e-02 -4.10797511e-04 9.99642430e-01 8.87299629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.55, Y:131.42, Z:8.87 [[-5.84953759e-01 -8.10927540e-01 1.50208154e-02 1.96553626e+02] [ 8.10642915e-01 -5.85146453e-01 -2.14870716e-02 1.31419276e+02] [ 2.62138350e-02 -3.92425711e-04 9.99656281e-01 8.87356571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:131.44, Z:8.87 [[-5.85118912e-01 -8.10808482e-01 1.50154606e-02 1.96536720e+02] [ 8.10524466e-01 -5.85311417e-01 -2.14624307e-02 1.31440144e+02] [ 2.61906414e-02 -3.87675909e-04 9.99656891e-01 8.87470511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.52, Y:131.46, Z:8.87 [[-5.84382182e-01 -8.11328485e-01 1.56062159e-02 1.96520269e+02] [ 8.11022330e-01 -5.84590415e-01 -2.22896366e-02 1.31462413e+02] [ 2.72074613e-02 -3.68676863e-04 9.99629741e-01 8.87383318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.032755096 meters Centerline goodness [0,1] 0.9999123037797071 Centerline is valid? [True, True] Translation: X:196.51, Y:131.48, Z:8.87 [[-5.84498073e-01 -8.11237648e-01 1.59837685e-02 1.96506256e+02] [ 8.10916962e-01 -5.84716462e-01 -2.28109577e-02 1.31484262e+02] [ 2.78510802e-02 -3.71451836e-04 9.99612014e-01 8.86913967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.49, Y:131.51, Z:8.87 [[-5.83581275e-01 -8.11892929e-01 1.62100871e-02 1.96491403e+02] [ 8.11563878e-01 -5.83806269e-01 -2.31151838e-02 1.31505126e+02] [ 2.82306048e-02 -3.34067266e-04 9.99601381e-01 8.87082924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.092755096 meters Centerline goodness [0,1] 0.9998464541885104 Centerline is valid? [True, True] Translation: X:196.47, Y:131.53, Z:8.87 [[-5.84088554e-01 -8.11524564e-01 1.63842441e-02 1.96473875e+02] [ 8.11188786e-01 -5.84318204e-01 -2.33450475e-02 1.31526666e+02] [ 2.85186916e-02 -3.44859916e-04 9.99593200e-01 8.87055966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters Centerline goodness [0,1] 0.9998021282209129 Centerline is valid? [True, True] Translation: X:196.46, Y:131.55, Z:8.87 [[-5.83793533e-01 -8.11738469e-01 1.63024260e-02 1.96459595e+02] [ 8.11406637e-01 -5.84021022e-01 -2.32102478e-02 1.31548642e+02] [ 2.83616105e-02 -3.22095880e-04 9.99597677e-01 8.87043034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.152755096 meters Centerline goodness [0,1] 0.9998899672102286 Centerline is valid? [True, True] Translation: X:196.45, Y:131.57, Z:8.87 [[-5.83745176e-01 -8.11777500e-01 1.60891325e-02 1.96445554e+02] [ 8.11454834e-01 -5.83966777e-01 -2.28878875e-02 1.31571030e+02] [ 2.79753910e-02 -3.05089588e-04 9.99608566e-01 8.87267075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:131.59, Z:8.88 [[-5.83604747e-01 -8.11885362e-01 1.57371754e-02 1.96430922e+02] [ 8.11577205e-01 -5.83816820e-01 -2.23687470e-02 1.31592940e+02] [ 2.73484859e-02 -2.82574115e-04 9.99625920e-01 8.87589299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.42, Y:131.62, Z:8.88 [[-5.84204264e-01 -8.11457588e-01 1.55551251e-02 1.96416392e+02] [ 8.11156861e-01 -5.84411243e-01 -2.20917828e-02 1.31615222e+02] [ 2.70171348e-02 -2.88467220e-04 9.99634929e-01 8.87641688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:131.64, Z:8.88 [[-5.84929660e-01 -8.10936081e-01 1.54908524e-02 1.96402270e+02] [ 8.10638137e-01 -5.85134671e-01 -2.19824511e-02 1.31637858e+02] [ 2.68905975e-02 -3.00711900e-04 9.99638337e-01 8.87695421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.272755096 meters Centerline goodness [0,1] 0.9998008805504547 Centerline is valid? [True, True] Translation: X:196.39, Y:131.66, Z:8.88 [[-5.86395793e-01 -8.09880717e-01 1.52708421e-02 1.96391552e+02] [ 8.09591234e-01 -5.86594504e-01 -2.16545911e-02 1.31661722e+02] [ 2.64954279e-02 -3.35021217e-04 9.99648878e-01 8.87763149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.302755096 meters Centerline goodness [0,1] 0.9999115592111082 Centerline is valid? [True, True] Translation: X:196.38, Y:131.69, Z:8.88 [[-5.89011409e-01 -8.07979850e-01 1.53010874e-02 1.96380378e+02] [ 8.07688985e-01 -5.89209973e-01 -2.16820234e-02 1.31685633e+02] [ 2.65341913e-02 -4.12439378e-04 9.99647821e-01 8.87672284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.37, Y:131.71, Z:8.88 [[-5.89990051e-01 -8.07278176e-01 1.46180281e-02 1.96367384e+02] [ 8.07012901e-01 -5.90170971e-01 -2.06978988e-02 1.31707725e+02] [ 2.53360979e-02 -4.14617097e-04 9.99678904e-01 8.87877905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.35, Y:131.73, Z:8.88 [[-5.91154519e-01 -8.06425150e-01 1.46564754e-02 1.96353402e+02] [ 8.06158643e-01 -5.91336014e-01 -2.07355026e-02 1.31730635e+02] [ 2.53885326e-02 -4.42441778e-04 9.99677561e-01 8.87904318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.392755096 meters Centerline goodness [0,1] 0.9999556344276841 Centerline is valid? [True, True] Translation: X:196.34, Y:131.75, Z:8.88 [[-5.92586066e-01 -8.05370040e-01 1.48610882e-02 1.96340455e+02] [ 8.05096106e-01 -5.92772184e-01 -2.10094790e-02 1.31753053e+02] [ 2.57296447e-02 -4.85320247e-04 9.99668820e-01 8.87834560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.33, Y:131.78, Z:8.88 [[-5.93597460e-01 -8.04632954e-01 1.44175190e-02 1.96328104e+02] [ 8.04375280e-01 -5.93772318e-01 -2.03676987e-02 1.31776392e+02] [ 2.49492453e-02 -4.93118363e-04 9.99688598e-01 8.88017544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.452755096 meters Centerline goodness [0,1] 0.9999555871380352 Centerline is valid? [True, True] Translation: X:196.31, Y:131.80, Z:8.88 [[-5.93636314e-01 -8.04608555e-01 1.41774558e-02 1.96313184e+02] [ 8.04359723e-01 -5.93805393e-01 -2.00147470e-02 1.31797440e+02] [ 2.45226863e-02 -4.77706220e-04 9.99699160e-01 8.88052438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.482755096 meters Centerline goodness [0,1] 0.9999334944246159 Centerline is valid? [True, True] Translation: X:196.30, Y:131.82, Z:8.88 [[-5.93154520e-01 -8.04959971e-01 1.43930921e-02 1.96297191e+02] [ 8.04703967e-01 -5.93328941e-01 -2.03050218e-02 1.31818640e+02] [ 2.48845679e-02 -4.61837181e-04 9.99690225e-01 8.88002489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.28, Y:131.84, Z:8.88 [[-5.92684029e-01 -8.05303115e-01 1.45785879e-02 1.96281734e+02] [ 8.05040988e-01 -5.92863135e-01 -2.05502010e-02 1.31838691e+02] [ 2.51922482e-02 -4.43415127e-04 9.99682527e-01 8.87974447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5427550960001 meters Centerline goodness [0,1] 0.9999334590218476 Centerline is valid? [True, True] Translation: X:196.26, Y:131.86, Z:8.88 [[-5.92262095e-01 -8.05612134e-01 1.46526684e-02 1.96264981e+02] [ 8.05347851e-01 -5.92443171e-01 -2.06380043e-02 1.31859186e+02] [ 2.53071000e-02 -4.22612621e-04 9.99679635e-01 8.88033054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.572755096 meters Centerline goodness [0,1] 0.9999557159621815 Centerline is valid? [True, True] Translation: X:196.25, Y:131.88, Z:8.88 [[-5.91181167e-01 -8.06402062e-01 1.48506681e-02 1.96248435e+02] [ 8.06131254e-01 -5.91367540e-01 -2.09005809e-02 1.31879518e+02] [ 2.56364746e-02 -3.84442151e-04 9.99671258e-01 8.88059552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.23, Y:131.90, Z:8.88 [[-5.89860628e-01 -8.07359776e-01 1.53176779e-02 1.96230434e+02] [ 8.07072438e-01 -5.90059381e-01 -2.15408008e-02 1.31899417e+02] [ 2.64295157e-02 -3.43594642e-04 9.99650620e-01 8.88095685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.632755096 meters Centerline goodness [0,1] 0.9998899139126797 Centerline is valid? [True, True] Translation: X:196.21, Y:131.92, Z:8.88 [[-5.89745963e-01 -8.07433736e-01 1.58259548e-02 1.96213717e+02] [ 8.07127518e-01 -5.89958172e-01 -2.22379011e-02 1.31920241e+02] [ 2.72922830e-02 -3.41148789e-04 9.99627438e-01 8.87929116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.20, Y:131.94, Z:8.88 [[-5.89136941e-01 -8.07883600e-01 1.55484310e-02 1.96195355e+02] [ 8.07588640e-01 -5.89342003e-01 -2.18309926e-02 1.31940195e+02] [ 2.68002444e-02 -3.04707998e-04 9.99640763e-01 8.88256626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:131.96, Z:8.88 [[-5.87745831e-01 -8.08901485e-01 1.52717123e-02 1.96175450e+02] [ 8.08617705e-01 -5.87944154e-01 -2.14261352e-02 1.31959051e+02] [ 2.63105465e-02 -2.44144632e-04 9.99653788e-01 8.88307121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.16, Y:131.98, Z:8.88 [[-5.87580104e-01 -8.09024502e-01 1.51319841e-02 1.96158157e+02] [ 8.08746349e-01 -5.87774875e-01 -2.12141250e-02 1.31980044e+02] [ 2.60569470e-02 -2.27060895e-04 9.99660434e-01 8.88378387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.14, Y:132.00, Z:8.89 [[-5.87041331e-01 -8.09431184e-01 1.42700449e-02 1.96140754e+02] [ 8.09184306e-01 -5.87214717e-01 -1.99908887e-02 1.32000749e+02] [ 2.45608291e-02 -1.88381587e-04 9.99698320e-01 8.88589376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters Centerline goodness [0,1] 0.9998453414639535 Centerline is valid? [True, True] Translation: X:196.12, Y:132.02, Z:8.88 [[-5.87461047e-01 -8.09114995e-01 1.49145156e-02 1.96124519e+02] [ 8.08845632e-01 -5.87650308e-01 -2.08772464e-02 1.32023241e+02] [ 2.56566128e-02 -2.01028227e-04 9.99670795e-01 8.88426506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.11, Y:132.05, Z:8.89 [[-5.87814328e-01 -8.08879396e-01 1.37273096e-02 1.96110029e+02] [ 8.08651495e-01 -5.87974564e-01 -1.92008049e-02 1.32045423e+02] [ 2.36024444e-02 -1.85898818e-04 9.99721406e-01 8.88533418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.09, Y:132.07, Z:8.89 [[-5.89337929e-01 -8.07764459e-01 1.40493093e-02 1.96094939e+02] [ 8.07525799e-01 -5.89505324e-01 -1.96356216e-02 1.32067743e+02] [ 2.41430999e-02 -2.26836853e-04 9.99708487e-01 8.88734360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.08, Y:132.09, Z:8.89 [[-5.90120035e-01 -8.07192839e-01 1.40735737e-02 1.96080785e+02] [ 8.06953559e-01 -5.90287779e-01 -1.96542889e-02 1.32090148e+02] [ 2.41722598e-02 -2.41669256e-04 9.99707779e-01 8.88724196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:196.07, Y:132.11, Z:8.89 [[-5.92349826e-01 -8.05550344e-01 1.45026670e-02 1.96066894e+02] [ 8.05296083e-01 -5.92527254e-01 -2.02403560e-02 1.32114137e+02] [ 2.48978511e-02 -3.10430410e-04 9.99689952e-01 8.88713820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.932755096 meters Centerline goodness [0,1] 0.9999115983026874 Centerline is valid? [True, True] Translation: X:196.05, Y:132.14, Z:8.89 [[-5.93909945e-01 -8.04402276e-01 1.44206697e-02 1.96053252e+02] [ 8.04150844e-01 -5.94084890e-01 -2.01137701e-02 1.32136099e+02] [ 2.47466644e-02 -3.49374389e-04 9.99693693e-01 8.88638327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.962755096 meters Centerline goodness [0,1] 0.9998893144134771 Centerline is valid? [True, True] Translation: X:196.04, Y:132.16, Z:8.89 [[-5.95342867e-01 -8.03342516e-01 1.44108504e-02 1.96038764e+02] [ 8.03091478e-01 -5.95517132e-01 -2.00854132e-02 1.32158970e+02] [ 2.47173746e-02 -3.84476350e-04 9.99694405e-01 8.88655192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.03, Y:132.18, Z:8.89 [[-5.97011593e-01 -8.02124347e-01 1.31791650e-02 1.96025904e+02] [ 8.01914399e-01 -5.97156914e-01 -1.83552922e-02 1.32182242e+02] [ 2.25932563e-02 -3.89759982e-04 9.99744664e-01 8.88983580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:132.20, Z:8.89 [[-5.97587532e-01 -8.01702211e-01 1.27556532e-02 1.96010071e+02] [ 8.01505737e-01 -5.97723529e-01 -1.77520878e-02 1.32203971e+02] [ 2.18562421e-02 -3.84697114e-04 9.99761050e-01 8.89109645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.052755096 meters Centerline goodness [0,1] 0.9999336532719995 Centerline is valid? [True, True] Translation: X:195.99, Y:132.22, Z:8.89 [[-5.98387609e-01 -8.01112291e-01 1.23031080e-02 1.95994877e+02] [ 8.00929668e-01 -5.98513952e-01 -1.71089496e-02 1.32224350e+02] [ 2.10697716e-02 -3.83859251e-04 9.99777934e-01 8.89047445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:132.25, Z:8.89 [[-5.98964839e-01 -8.00690447e-01 1.16588814e-02 1.95978663e+02] [ 8.00526634e-01 -5.99078184e-01 -1.61999194e-02 1.32245397e+02] [ 1.99557022e-02 -3.69937066e-04 9.99800797e-01 8.89191042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:132.27, Z:8.89 [[-5.99660799e-01 -8.00167262e-01 1.18016224e-02 1.95963961e+02] [ 7.99999585e-01 -5.99776796e-01 -1.63847405e-02 1.32266227e+02] [ 2.01888722e-02 -3.83993545e-04 9.99796110e-01 8.89190720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.95, Y:132.29, Z:8.89 [[-6.00736149e-01 -7.99364620e-01 1.15015091e-02 1.95947380e+02] [ 7.99205463e-01 -6.00846112e-01 -1.59554756e-02 1.32287360e+02] [ 1.96648797e-02 -3.92962082e-04 9.99806550e-01 8.89299816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.93, Y:132.31, Z:8.89 [[-6.01359864e-01 -7.98896080e-01 1.14615194e-02 1.95931355e+02] [ 7.98738176e-01 -6.01468946e-01 -1.58881492e-02 1.32309519e+02] [ 1.95867281e-02 -3.99742110e-04 9.99808082e-01 8.89299759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.92, Y:132.33, Z:8.89 [[-6.01797704e-01 -7.98567415e-01 1.13845329e-02 1.95916517e+02] [ 7.98411799e-01 -6.01905244e-01 -1.57694744e-02 1.32330705e+02] [ 1.94453985e-02 -4.00488136e-04 9.99810840e-01 8.89230125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.232755096 meters Centerline goodness [0,1] 0.9998897293959377 Centerline is valid? [True, True] Translation: X:195.90, Y:132.35, Z:8.89 [[-6.03015837e-01 -7.97633377e-01 1.23651084e-02 1.95898984e+02] [ 7.97449888e-01 -6.03142425e-01 -1.71140675e-02 1.32352054e+02] [ 2.11086729e-02 -4.59499388e-04 9.99777082e-01 8.88986093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.88, Y:132.37, Z:8.89 [[-6.04975383e-01 -7.96146113e-01 1.24960905e-02 1.95881699e+02] [ 7.95958671e-01 -6.05104212e-01 -1.72825633e-02 1.32373338e+02] [ 2.13208826e-02 -5.09153741e-04 9.99772555e-01 8.89000078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2927550960001 meters Centerline goodness [0,1] 0.9999339745141624 Centerline is valid? [True, True] Translation: X:195.87, Y:132.39, Z:8.89 [[-6.05974322e-01 -7.95387225e-01 1.24210994e-02 1.95865788e+02] [ 7.95202144e-01 -6.06101383e-01 -1.71657859e-02 1.32394914e+02] [ 2.11818923e-02 -5.24740620e-04 9.99775501e-01 8.88908003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:132.42, Z:8.89 [[-6.06933899e-01 -7.94655942e-01 1.23764493e-02 1.95853309e+02] [ 7.94472320e-01 -6.07059834e-01 -1.70906537e-02 1.32418829e+02] [ 2.10944348e-02 -5.40150665e-04 9.99777342e-01 8.88886799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.352755096 meters Centerline goodness [0,1] 0.9998021978021978 Centerline is valid? [True, True] Translation: X:195.83, Y:132.44, Z:8.89 [[-6.07945973e-01 -7.93873288e-01 1.29188162e-02 1.95833713e+02] [ 7.93673337e-01 -6.08082939e-01 -1.78261828e-02 1.32439110e+02] [ 2.20074421e-02 -5.84036091e-04 9.99757636e-01 8.88857860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.82, Y:132.46, Z:8.89 [[-6.08556817e-01 -7.93413329e-01 1.24052444e-02 1.95818472e+02] [ 7.93229090e-01 -6.08682975e-01 -1.71068913e-02 1.32460679e+02] [ 2.11236967e-02 -5.70314576e-04 9.99776707e-01 8.89036441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4127550960001 meters Centerline goodness [0,1] 0.9999122576116521 Centerline is valid? [True, True] Translation: X:195.80, Y:132.48, Z:8.89 [[-6.08116712e-01 -7.93752644e-01 1.22802693e-02 1.95800374e+02] [ 7.93572399e-01 -6.08240448e-01 -1.69235150e-02 1.32481626e+02] [ 2.09024413e-02 -5.46189485e-04 9.99781371e-01 8.88991608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.78, Y:132.50, Z:8.89 [[-6.07421117e-01 -7.94293127e-01 1.17480205e-02 1.95782054e+02] [ 7.94128497e-01 -6.07534510e-01 -1.61786690e-02 1.32502696e+02] [ 1.99879335e-02 -4.97827330e-04 9.99800097e-01 8.89213718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:132.52, Z:8.89 [[-6.07708738e-01 -7.94073010e-01 1.17534858e-02 1.95766158e+02] [ 7.93908416e-01 -6.07822183e-01 -1.61746982e-02 1.32524243e+02] [ 1.99879207e-02 -4.98314170e-04 9.99800097e-01 8.89245879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters Centerline goodness [0,1] 0.9999561835907548 Centerline is valid? [True, True] Translation: X:195.75, Y:132.55, Z:8.89 [[-6.06718283e-01 -7.94830333e-01 1.17331752e-02 1.95748498e+02] [ 7.94666682e-01 -6.06831546e-01 -1.61350340e-02 1.32546583e+02] [ 1.99446753e-02 -4.65456720e-04 9.99800977e-01 8.89234551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:132.57, Z:8.89 [[-6.05228865e-01 -7.95967582e-01 1.15598628e-02 1.95730516e+02] [ 7.95809139e-01 -6.05339109e-01 -1.58863860e-02 1.32568794e+02] [ 1.96426853e-02 -4.15454877e-04 9.99806978e-01 8.89373388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:132.59, Z:8.89 [[-6.01983854e-01 -7.98431458e-01 1.10746378e-02 1.95712254e+02] [ 7.98286644e-01 -6.02085632e-01 -1.52093988e-02 1.32587604e+02] [ 1.88115428e-02 -3.15077113e-04 9.99822998e-01 8.89452922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.69, Y:132.61, Z:8.90 [[-6.00208982e-01 -7.99771617e-01 1.07022929e-02 1.95693114e+02] [ 7.99636786e-01 -6.00304335e-01 -1.46872592e-02 1.32608889e+02] [ 1.81710859e-02 -2.57477771e-04 9.99834859e-01 8.89562898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters Centerline goodness [0,1] 0.9998910224275844 Centerline is valid? [True, True] Translation: X:195.67, Y:132.63, Z:8.90 [[-5.96800212e-01 -8.02331786e-01 9.65463341e-03 1.95673819e+02] [ 8.02222532e-01 -5.96878279e-01 -1.32411674e-02 1.32629766e+02] [ 1.63864505e-02 -1.57167055e-04 9.99865721e-01 8.89737484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.652755096 meters Centerline goodness [0,1] 0.9998474812619836 Centerline is valid? [True, True] Translation: X:195.66, Y:132.65, Z:8.90 [[-5.95939253e-01 -8.02979440e-01 8.96801993e-03 1.95657987e+02] [ 8.02885371e-01 -5.96006714e-01 -1.22913524e-02 1.32650773e+02] [ 1.52147034e-02 -1.24607385e-04 9.99884242e-01 8.89613713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.682755096 meters Centerline goodness [0,1] 0.999956306119328 Centerline is valid? [True, True] Translation: X:195.64, Y:132.67, Z:8.90 [[-5.94495027e-01 -8.04056821e-01 8.26384160e-03 1.95640291e+02] [ 8.03977167e-01 -5.94552454e-01 -1.13178728e-02 1.32671948e+02] [ 1.40135001e-02 -8.44791295e-05 9.99901803e-01 8.89966245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:132.69, Z:8.90 [[-5.92474931e-01 -8.05547773e-01 8.13895240e-03 1.95623829e+02] [ 8.05470765e-01 -5.92530830e-01 -1.11383430e-02 1.32692154e+02] [ 1.37950476e-02 -4.35007546e-05 9.99904843e-01 8.90036019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters Centerline goodness [0,1] 0.9999563566534282 Centerline is valid? [True, True] Translation: X:195.61, Y:132.71, Z:8.90 [[-5.90641411e-01 -8.06892826e-01 8.16648831e-03 1.95607715e+02] [ 8.06815550e-01 -5.90697865e-01 -1.11669331e-02 1.32711733e+02] [ 1.38344454e-02 -6.80333855e-06 9.99904299e-01 8.89903035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.59, Y:132.73, Z:8.90 [[-5.90375656e-01 -8.07088723e-01 8.02359119e-03 1.95590796e+02] [ 8.07014272e-01 -5.90430176e-01 -1.09622507e-02 1.32733338e+02] [ 1.35848793e-02 3.30665065e-06 9.99907721e-01 8.90015097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:132.75, Z:8.90 [[-5.90363641e-01 -8.07100973e-01 7.66755796e-03 1.95575324e+02] [ 8.07033082e-01 -5.90413431e-01 -1.04683143e-02 1.32753760e+02] [ 1.29760158e-02 7.86079830e-06 9.99915808e-01 8.90026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.832755096 meters Centerline goodness [0,1] 0.9998904901660169 Centerline is valid? [True, True] Translation: X:195.56, Y:132.78, Z:8.90 [[-5.91089352e-01 -8.06571068e-01 7.51603518e-03 1.95559852e+02] [ 8.06505876e-01 -5.91137135e-01 -1.02547057e-02 1.32776585e+02] [ 1.27141564e-02 2.79188502e-07 9.99919172e-01 8.89859279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:132.80, Z:8.90 [[-5.92732503e-01 -8.05366402e-01 7.28957064e-03 1.95547582e+02] [ 8.05305078e-01 -5.92777326e-01 -9.93852337e-03 1.32799654e+02] [ 1.23252450e-02 -2.05575818e-05 9.99924041e-01 8.90111117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.892755096 meters Centerline goodness [0,1] 0.9999343142406726 Centerline is valid? [True, True] Translation: X:195.54, Y:132.82, Z:8.90 [[-5.95908473e-01 -8.03017072e-01 7.52814673e-03 1.95536037e+02] [ 8.02951595e-01 -5.95956020e-01 -1.02547204e-02 1.32823574e+02] [ 1.27211599e-02 -6.61373279e-05 9.99919081e-01 8.90099626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9227550960001 meters Centerline goodness [0,1] 0.999868426823385 Centerline is valid? [True, True] Translation: X:195.52, Y:132.85, Z:8.90 [[-5.97713532e-01 -8.01668012e-01 8.18115705e-03 1.95522358e+02] [ 8.01590690e-01 -5.97769511e-01 -1.11345119e-02 1.32846077e+02] [ 1.38166282e-02 -9.73090944e-05 9.99904541e-01 8.89808391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.952755096 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:195.51, Y:132.87, Z:8.90 [[-5.98995780e-01 -8.00710205e-01 8.19896926e-03 1.95507959e+02] [ 8.00632580e-01 -5.99051880e-01 -1.11497530e-02 1.32868136e+02] [ 1.38393290e-02 -1.14293093e-04 9.99904225e-01 8.89895023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.982755096 meters Centerline goodness [0,1] 0.9997800699377598 Centerline is valid? [True, True] Translation: X:195.49, Y:132.89, Z:8.89 [[-6.01939705e-01 -7.98492496e-01 8.85017579e-03 1.95494223e+02] [ 7.98401960e-01 -6.02004737e-01 -1.20252187e-02 1.32892285e+02] [ 1.49298947e-02 -1.72458914e-04 9.99888528e-01 8.89481928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:132.91, Z:8.90 [[-6.02986676e-01 -7.97701048e-01 8.95027419e-03 1.95479892e+02] [ 7.97608504e-01 -6.03053068e-01 -1.21520006e-02 1.32913548e+02] [ 1.50911539e-02 -1.88679613e-04 9.99886104e-01 8.89741986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0427550960001 meters Centerline goodness [0,1] 0.9999119350080359 Centerline is valid? [True, True] Translation: X:195.46, Y:132.94, Z:8.90 [[-6.05976351e-01 -7.95431357e-01 9.03429236e-03 1.95464494e+02] [ 7.95336966e-01 -6.06043644e-01 -1.22560984e-02 1.32936723e+02] [ 1.52240604e-02 -2.41599115e-04 9.99884078e-01 8.89573057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.45, Y:132.96, Z:8.90 [[-6.07159069e-01 -7.94532131e-01 8.74969065e-03 1.95448981e+02] [ 7.94443612e-01 -6.07222059e-01 -1.18624419e-02 1.32958480e+02] [ 1.47380964e-02 -2.51253318e-04 9.99891357e-01 8.89756210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.102755096 meters Centerline goodness [0,1] 0.999801609170065 Centerline is valid? [True, True] Translation: X:195.44, Y:132.98, Z:8.90 [[-6.08735110e-01 -7.93325180e-01 8.75929653e-03 1.95435022e+02] [ 7.93236448e-01 -6.08798064e-01 -1.18682353e-02 1.32981350e+02] [ 1.47480126e-02 -2.76418233e-04 9.99891204e-01 8.89535679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.132755096 meters Centerline goodness [0,1] 0.9999561691869384 Centerline is valid? [True, True] Translation: X:195.42, Y:133.00, Z:8.90 [[-6.11049234e-01 -7.91546470e-01 8.54519112e-03 1.95419054e+02] [ 7.91461965e-01 -6.11108904e-01 -1.15700765e-02 1.33003266e+02] [ 1.43802956e-02 -3.06692606e-04 9.99896551e-01 8.89735799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1627550960001 meters Centerline goodness [0,1] 0.9999119931354645 Centerline is valid? [True, True] Translation: X:195.40, Y:133.03, Z:8.90 [[-6.12616047e-01 -7.90333912e-01 8.59572657e-03 1.95402641e+02] [ 7.90248408e-01 -6.12676258e-01 -1.16299477e-02 1.33026109e+02] [ 1.44579396e-02 -3.31933348e-04 9.99895423e-01 8.89674948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.192755096 meters Centerline goodness [0,1] 0.9997578479284991 Centerline is valid? [True, True] Translation: X:195.39, Y:133.05, Z:8.89 [[-6.13508838e-01 -7.89637200e-01 8.94419742e-03 1.95386878e+02] [ 7.89544676e-01 -6.13573928e-01 -1.20929376e-02 1.33048765e+02] [ 1.50369597e-02 -3.57280615e-04 9.99886875e-01 8.89499439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.222755096 meters Centerline goodness [0,1] 0.9999780470670881 Centerline is valid? [True, True] Translation: X:195.37, Y:133.07, Z:8.90 [[-6.13736231e-01 -7.89460573e-01 8.93548029e-03 1.95370661e+02] [ 7.89368342e-01 -6.13801171e-01 -1.20724360e-02 1.33069854e+02] [ 1.50153205e-02 -3.55906111e-04 9.99887200e-01 8.89787273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.35, Y:133.09, Z:8.90 [[-6.14121926e-01 -7.89162503e-01 8.76384322e-03 1.95352649e+02] [ 7.89073883e-01 -6.14184355e-01 -1.18315622e-02 1.33090447e+02] [ 1.47196406e-02 -3.50701929e-04 9.99891599e-01 8.89905727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters Centerline goodness [0,1] 0.9998901243792028 Centerline is valid? [True, True] Translation: X:195.33, Y:133.11, Z:8.90 [[-6.14091565e-01 -7.89190822e-01 8.33040716e-03 1.95333252e+02] [ 7.89110866e-01 -6.14147978e-01 -1.12383962e-02 1.33110577e+02] [ 1.39853419e-02 -3.27789507e-04 9.99902147e-01 8.89756645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.32, Y:133.13, Z:8.90 [[-6.14283577e-01 -7.89045145e-01 7.96530755e-03 1.95318094e+02] [ 7.88972137e-01 -6.14335138e-01 -1.07380452e-02 1.33131736e+02] [ 1.33661708e-02 -3.11799110e-04 9.99910620e-01 8.89987368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.342755096 meters Centerline goodness [0,1] 0.9999561586181196 Centerline is valid? [True, True] Translation: X:195.30, Y:133.15, Z:8.90 [[-6.14951050e-01 -7.88528727e-01 7.59294282e-03 1.95298436e+02] [ 7.88462444e-01 -6.14997849e-01 -1.02284091e-02 1.33150874e+02] [ 1.27350379e-02 -3.03220656e-04 9.99918860e-01 8.89986094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.372755096 meters Centerline goodness [0,1] 0.9998684700879058 Centerline is valid? [True, True] Translation: X:195.28, Y:133.17, Z:8.90 [[-6.15713115e-01 -7.87934079e-01 7.56618405e-03 1.95281646e+02] [ 7.87868311e-01 -6.15759524e-01 -1.01849434e-02 1.33172214e+02] [ 1.26840139e-02 -3.09846572e-04 9.99919507e-01 8.89932724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters Centerline goodness [0,1] 0.9999561816707929 Centerline is valid? [True, True] Translation: X:195.27, Y:133.19, Z:8.90 [[-6.16313562e-01 -7.87470292e-01 6.93781096e-03 1.95265788e+02] [ 7.87415039e-01 -6.16352542e-01 -9.33275469e-03 1.33193500e+02] [ 1.16254045e-02 -2.88966593e-04 9.99932381e-01 8.90202447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.432755096 meters Centerline goodness [0,1] 0.9998468137254902 Centerline is valid? [True, True] Translation: X:195.25, Y:133.22, Z:8.90 [[-6.18021161e-01 -7.86134778e-01 6.47729156e-03 1.95247964e+02] [ 7.86086593e-01 -6.18055035e-01 -8.70878076e-03 1.33215216e+02] [ 1.08495981e-02 -2.90498740e-04 9.99941099e-01 8.90160224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.23, Y:133.24, Z:8.90 [[-6.18195639e-01 -7.86002538e-01 5.84485668e-03 1.95231120e+02] [ 7.85963343e-01 -6.18223214e-01 -7.85370479e-03 1.33235917e+02] [ 9.78645798e-03 -2.61282951e-04 9.99952077e-01 8.90497336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:133.26, Z:8.91 [[-6.18883566e-01 -7.85465246e-01 5.24208179e-03 1.95211826e+02] [ 7.85433726e-01 -6.18905720e-01 -7.04073634e-03 1.33255777e+02] [ 8.77460810e-03 -2.40088180e-04 9.99961474e-01 8.90601703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:133.28, Z:8.91 [[-6.19193791e-01 -7.85222056e-01 5.03703082e-03 1.95194169e+02] [ 7.85192987e-01 -6.19214235e-01 -6.76049946e-03 1.33276164e+02] [ 8.42749447e-03 -2.31018018e-04 9.99964461e-01 8.90626419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.18, Y:133.30, Z:8.91 [[-6.19202081e-01 -7.85214515e-01 5.19122300e-03 1.95177327e+02] [ 7.85183685e-01 -6.19223797e-01 -6.96209244e-03 1.33296080e+02] [ 8.68126485e-03 -2.34878525e-04 9.99962290e-01 8.90641953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.582755096 meters Centerline goodness [0,1] 0.9998920039742537 Centerline is valid? [True, True] Translation: X:195.16, Y:133.32, Z:8.90 [[-6.18860685e-01 -7.85481359e-01 5.52159545e-03 1.95158738e+02] [ 7.85446549e-01 -6.18885269e-01 -7.39876066e-03 1.33316075e+02] [ 9.22882267e-03 -2.41883997e-04 9.99957384e-01 8.90436201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:133.34, Z:8.91 [[-6.18340968e-01 -7.85888610e-01 5.79137919e-03 1.95142357e+02] [ 7.85850394e-01 -6.18368040e-01 -7.75401886e-03 1.33335973e+02] [ 9.67499890e-03 -2.43469901e-04 9.99953166e-01 8.90607620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters Centerline goodness [0,1] 0.9998920692483703 Centerline is valid? [True, True] Translation: X:195.12, Y:133.36, Z:8.90 [[-6.17057741e-01 -7.86892940e-01 6.26462382e-03 1.95123364e+02] [ 7.86848336e-01 -6.17089493e-01 -8.38176682e-03 1.33355616e+02] [ 1.04613867e-02 -2.42725281e-04 9.99945249e-01 8.90387073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:133.37, Z:8.91 [[-6.15968740e-01 -7.87749586e-01 5.75343190e-03 1.95105547e+02] [ 7.87712049e-01 -6.15995575e-01 -7.69287973e-03 1.33374876e+02] [ 9.60415141e-03 -2.06525801e-04 9.99953858e-01 8.90627217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.09, Y:133.39, Z:8.91 [[-6.14688647e-01 -7.88748206e-01 5.84243416e-03 1.95086472e+02] [ 7.88709604e-01 -6.14716383e-01 -7.80577333e-03 1.33394922e+02] [ 9.74822970e-03 -1.90136319e-04 9.99952467e-01 8.90693468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.732755096 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:195.07, Y:133.41, Z:8.91 [[-6.12047994e-01 -7.90797635e-01 6.02946825e-03 1.95065305e+02] [ 7.90756680e-01 -6.12077671e-01 -8.04972184e-03 1.33412284e+02] [ 1.00562039e-02 -1.58973813e-04 9.99949422e-01 8.90542123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.05, Y:133.43, Z:8.91 [[-6.10685992e-01 -7.91849953e-01 6.02252590e-03 1.95046297e+02] [ 7.91809203e-01 -6.10715673e-01 -8.03449142e-03 1.33431068e+02] [ 1.00401626e-02 -1.37859934e-04 9.99949587e-01 8.90691191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7927550960001 meters Centerline goodness [0,1] 0.9998712501609373 Centerline is valid? [True, True] Translation: X:195.03, Y:133.45, Z:8.90 [[-6.10022495e-01 -7.92355069e-01 6.78243735e-03 1.95028729e+02] [ 7.92303508e-01 -6.10060182e-01 -9.04024624e-03 1.33451317e+02] [ 1.13007799e-02 -1.41004653e-04 9.99936134e-01 8.90462980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:133.47, Z:8.91 [[-6.08168460e-01 -7.93778826e-01 6.80437207e-03 1.95008734e+02] [ 7.93727100e-01 -6.08206514e-01 -9.06240484e-03 1.33469210e+02] [ 1.13320085e-02 -1.10654283e-04 9.99935785e-01 8.90693050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:133.49, Z:8.91 [[-6.07397896e-01 -7.94360184e-01 7.72616982e-03 1.94989464e+02] [ 7.94293663e-01 -6.07447023e-01 -1.02806119e-02 1.33488209e+02] [ 1.28597477e-02 -1.07574343e-04 9.99917304e-01 8.90537893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:133.51, Z:8.90 [[-6.07446649e-01 -7.94316594e-01 8.34966763e-03 1.94972524e+02] [ 7.94239034e-01 -6.07504021e-01 -1.11004983e-02 1.33507820e+02] [ 1.38897667e-02 -1.11328556e-04 9.99903526e-01 8.90453551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9127550960001 meters Centerline goodness [0,1] 0.9999143835616439 Centerline is valid? [True, True] Translation: X:194.95, Y:133.53, Z:8.90 [[-6.08306247e-01 -7.93646262e-01 9.44034404e-03 1.94954797e+02] [ 7.93547214e-01 -6.08379480e-01 -1.25390319e-02 1.33529173e+02] [ 1.56948674e-02 -1.36212742e-04 9.99876819e-01 8.90232376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.94, Y:133.55, Z:8.90 [[-6.09015134e-01 -7.93099298e-01 9.69900877e-03 1.94937967e+02] [ 7.92994840e-01 -6.09092343e-01 -1.28725017e-02 1.33549833e+02] [ 1.61167641e-02 -1.48284468e-04 9.99870106e-01 8.90329087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:133.57, Z:8.90 [[-6.11740159e-01 -7.90985576e-01 1.07608999e-02 1.94923127e+02] [ 7.90856879e-01 -6.11834758e-01 -1.42697521e-02 1.33571710e+02] [ 1.78710606e-02 -2.19048734e-04 9.99840276e-01 8.90153133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:133.59, Z:8.90 [[-6.13834448e-01 -7.89359635e-01 1.08921077e-02 1.94908735e+02] [ 7.89227708e-01 -6.13931020e-01 -1.44335494e-02 1.33594134e+02] [ 1.80802640e-02 -2.63456626e-04 9.99836504e-01 8.90158317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.032755096 meters Centerline goodness [0,1] 0.9999144696046357 Centerline is valid? [True, True] Translation: X:194.90, Y:133.62, Z:8.90 [[-6.18387076e-01 -7.85793896e-01 1.11971972e-02 1.94895870e+02] [ 7.85654060e-01 -6.18488330e-01 -1.48284544e-02 1.33618063e+02] [ 1.85774447e-02 -3.72601118e-04 9.99827355e-01 8.90156617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:133.64, Z:8.90 [[-6.20732352e-01 -7.83951167e-01 1.05790172e-02 1.94882322e+02] [ 7.83826253e-01 -6.20822366e-01 -1.39998320e-02 1.33640053e+02] [ 1.75428751e-02 -3.98037210e-04 9.99846033e-01 8.90410346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.092755096 meters Centerline goodness [0,1] 0.9999143615654705 Centerline is valid? [True, True] Translation: X:194.87, Y:133.66, Z:8.90 [[-6.23531661e-01 -7.81720566e-01 1.10102039e-02 1.94867213e+02] [ 7.81585106e-01 -6.23628682e-01 -1.45598316e-02 1.33663095e+02] [ 1.82479987e-02 -4.73104610e-04 9.99833379e-01 8.90335729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:194.85, Y:133.69, Z:8.91 [[-6.28689981e-01 -7.77587748e-01 1.03054533e-02 1.94853048e+02] [ 7.77468678e-01 -6.28774198e-01 -1.36184848e-02 1.33686479e+02] [ 1.70693700e-02 -5.49637814e-04 9.99854157e-01 8.90585564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.84, Y:133.71, Z:8.91 [[-6.30781953e-01 -7.75897410e-01 9.86594031e-03 1.94839248e+02] [ 7.75788228e-01 -6.30858851e-01 -1.30282664e-02 1.33708760e+02] [ 1.63326139e-02 -5.64114974e-04 9.99866455e-01 8.90777112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.82, Y:133.73, Z:8.91 [[-6.34167608e-01 -7.73137247e-01 9.49959916e-03 1.94824439e+02] [ 7.73035858e-01 -6.34238465e-01 -1.25352373e-02 1.33731683e+02] [ 1.57164701e-02 -6.05910702e-04 9.99876305e-01 8.90927432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.212755096 meters Centerline goodness [0,1] 0.9998718277364779 Centerline is valid? [True, True] Translation: X:194.81, Y:133.75, Z:8.91 [[-6.35499803e-01 -7.72042189e-01 9.53197834e-03 1.94808803e+02] [ 7.71940130e-01 -6.35570974e-01 -1.25687642e-02 1.33754558e+02] [ 1.57618650e-02 -6.29330561e-04 9.99875576e-01 8.90810392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:194.79, Y:133.78, Z:8.91 [[-6.36388775e-01 -7.71312156e-01 9.32122531e-03 1.94791787e+02] [ 7.71214617e-01 -6.36456727e-01 -1.22821171e-02 1.33776399e+02] [ 1.54059028e-02 -6.27536249e-04 9.99881125e-01 8.90944371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.272755096 meters Centerline goodness [0,1] 0.9998717016636017 Centerline is valid? [True, True] Translation: X:194.78, Y:133.80, Z:8.91 [[-6.37065019e-01 -7.70750304e-01 9.59846677e-03 1.94776013e+02] [ 7.70646963e-01 -6.37136988e-01 -1.26379559e-02 1.33797325e+02] [ 1.58562466e-02 -6.54170382e-04 9.99874068e-01 8.90863120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.302755096 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:194.76, Y:133.82, Z:8.91 [[-6.37129783e-01 -7.70696654e-01 9.60770289e-03 1.94759968e+02] [ 7.70593261e-01 -6.37201888e-01 -1.26404355e-02 1.33817856e+02] [ 1.58639878e-02 -6.49966848e-04 9.99873948e-01 8.90932497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.332755096 meters Centerline goodness [0,1] 0.9999572128447041 Centerline is valid? [True, True] Translation: X:194.74, Y:133.84, Z:8.91 [[-6.37421394e-01 -7.70455428e-01 9.61248390e-03 1.94744055e+02] [ 7.70352063e-01 -6.37493538e-01 -1.26367991e-02 1.33838354e+02] [ 1.58639868e-02 -6.49969293e-04 9.99873948e-01 8.90963651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters Centerline goodness [0,1] 0.9999360013653043 Centerline is valid? [True, True] Translation: X:194.73, Y:133.86, Z:8.91 [[-6.37008472e-01 -7.70783870e-01 1.06034266e-02 1.94727164e+02] [ 7.70658343e-01 -6.37096331e-01 -1.39277860e-02 1.33858660e+02] [ 1.74907170e-02 -7.00498467e-04 9.99846780e-01 8.90845226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.392755096 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:194.71, Y:133.88, Z:8.91 [[-6.36900760e-01 -7.70862556e-01 1.13288371e-02 1.94712056e+02] [ 7.70719509e-01 -6.37001079e-01 -1.48682202e-02 1.33878567e+02] [ 1.86778357e-02 -7.38225029e-04 9.99825281e-01 8.90721822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4227550960001 meters Centerline goodness [0,1] 0.9999146193088433 Centerline is valid? [True, True] Translation: X:194.70, Y:133.90, Z:8.91 [[-6.36607294e-01 -7.71099167e-01 1.17143936e-02 1.94695265e+02] [ 7.70946500e-01 -6.36714626e-01 -1.53616333e-02 1.33898979e+02] [ 1.93040684e-02 -7.48157062e-04 9.99813379e-01 8.90723951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.68, Y:133.92, Z:8.91 [[-6.35630790e-01 -7.71896988e-01 1.21876245e-02 1.94678384e+02] [ 7.71732131e-01 -6.35747186e-01 -1.59698055e-02 1.33919149e+02] [ 2.00752927e-02 -7.45318668e-04 9.99798193e-01 8.90658459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:133.94, Z:8.91 [[-6.33990497e-01 -7.73240637e-01 1.24485878e-02 1.94658938e+02] [ 7.73069138e-01 -6.34112303e-01 -1.63001418e-02 1.33939070e+02] [ 2.04977347e-02 -7.10515960e-04 9.99789647e-01 8.90730190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.64, Y:133.96, Z:8.91 [[-6.33099235e-01 -7.73967766e-01 1.26196270e-02 1.94639460e+02] [ 7.73791906e-01 -6.33224622e-01 -1.65125633e-02 1.33958212e+02] [ 2.07712503e-02 -6.89125977e-04 9.99784017e-01 8.90814738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.62, Y:133.98, Z:8.91 [[-6.32120767e-01 -7.74763279e-01 1.28529311e-02 1.94624785e+02] [ 7.74581288e-01 -6.32251071e-01 -1.68051112e-02 1.33980408e+02] [ 2.11462625e-02 -6.67219806e-04 9.99776170e-01 8.90756697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:134.00, Z:8.91 [[-6.31451660e-01 -7.75308739e-01 1.28514689e-02 1.94606304e+02] [ 7.75127167e-01 -6.31582099e-01 -1.67907046e-02 1.34000432e+02] [ 2.11347377e-02 -6.40995647e-04 9.99776431e-01 8.90816782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.59, Y:134.02, Z:8.91 [[-6.29467184e-01 -7.76920087e-01 1.28935561e-02 1.94587132e+02] [ 7.76737914e-01 -6.29598953e-01 -1.68336654e-02 1.34020429e+02] [ 2.11961822e-02 -5.81326060e-04 9.99775167e-01 8.90876114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.57, Y:134.04, Z:8.91 [[-6.28590581e-01 -7.77630996e-01 1.28029931e-02 1.94571101e+02] [ 7.77451776e-01 -6.28720715e-01 -1.67032808e-02 1.34041170e+02] [ 2.10384958e-02 -5.45815286e-04 9.99778517e-01 8.90882986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:134.06, Z:8.91 [[-6.26601517e-01 -7.79233187e-01 1.28910358e-02 1.94552429e+02] [ 7.79052087e-01 -6.26733916e-01 -1.68060637e-02 1.34061882e+02] [ 2.11750919e-02 -4.87916659e-04 9.99775664e-01 8.91045056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:134.08, Z:8.91 [[-6.25684019e-01 -7.79971747e-01 1.27899125e-02 1.94536465e+02] [ 7.79793876e-01 -6.25814565e-01 -1.66625682e-02 1.34082634e+02] [ 2.10004459e-02 -4.52007256e-04 9.99779364e-01 8.91145910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.722755096 meters Centerline goodness [0,1] 0.9998076100897819 Centerline is valid? [True, True] Translation: X:194.52, Y:134.10, Z:8.91 [[-6.24005973e-01 -7.81292735e-01 1.40786394e-02 1.94521662e+02] [ 7.81077889e-01 -6.24164617e-01 -1.83265423e-02 1.34103274e+02] [ 2.31057830e-02 -4.39357874e-04 9.99732929e-01 8.90791509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:134.12, Z:8.91 [[-6.22480975e-01 -7.82520770e-01 1.33671148e-02 1.94503045e+02] [ 7.82327658e-01 -6.22624373e-01 -1.73875251e-02 1.34123289e+02] [ 2.19287910e-02 -3.65939953e-04 9.99759468e-01 8.91202493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters Centerline goodness [0,1] 0.9999142403842031 Centerline is valid? [True, True] Translation: X:194.49, Y:134.14, Z:8.91 [[-6.20269678e-01 -7.84261331e-01 1.41312213e-02 1.94486320e+02] [ 7.84046243e-01 -6.20430549e-01 -1.83690527e-02 1.34142933e+02] [ 2.31735791e-02 -3.14235415e-04 9.99731407e-01 8.90978763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.47, Y:134.16, Z:8.91 [[-6.19106605e-01 -7.85190039e-01 1.35504876e-02 1.94469066e+02] [ 7.84992751e-01 -6.19254823e-01 -1.76024482e-02 1.34163163e+02] [ 2.22124718e-02 -2.60757453e-04 9.99753239e-01 8.91208474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.45, Y:134.18, Z:8.91 [[-6.18337073e-01 -7.85799974e-01 1.33291242e-02 1.94452209e+02] [ 7.85609507e-01 -6.18480679e-01 -1.73017925e-02 1.34184021e+02] [ 2.18395539e-02 -2.26853037e-04 9.99761463e-01 8.91339226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.872755096 meters Centerline goodness [0,1] 0.999763882628201 Centerline is valid? [True, True] Translation: X:194.44, Y:134.20, Z:8.91 [[-6.18289539e-01 -7.85824439e-01 1.40711491e-02 1.94438110e+02] [ 7.85612519e-01 -6.18449593e-01 -1.82502236e-02 1.34204733e+02] [ 2.30437681e-02 -2.29451480e-04 9.99734431e-01 8.90999145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.42, Y:134.22, Z:8.91 [[-6.17635436e-01 -7.86355193e-01 1.31140679e-02 1.94422743e+02] [ 7.86171525e-01 -6.17774615e-01 -1.69958303e-02 1.34224978e+02] [ 2.14662976e-02 -1.87320311e-04 9.99769555e-01 8.91361185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.41, Y:134.25, Z:8.91 [[-6.17775778e-01 -7.86246649e-01 1.30113232e-02 1.94406753e+02] [ 7.86066104e-01 -6.17912756e-01 -1.68495329e-02 1.34246243e+02] [ 2.12877514e-02 -1.81473154e-04 9.99773374e-01 8.91461291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.962755096 meters Centerline goodness [0,1] 0.9999138821908371 Centerline is valid? [True, True] Translation: X:194.39, Y:134.27, Z:8.91 [[-6.18957555e-01 -7.85315955e-01 1.30535384e-02 1.94393486e+02] [ 7.85134282e-01 -6.19095152e-01 -1.68923676e-02 1.34268603e+02] [ 2.13472282e-02 -2.06878055e-04 9.99772101e-01 8.91370634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.992755096 meters Centerline goodness [0,1] 0.999956912338152 Centerline is valid? [True, True] Translation: X:194.38, Y:134.29, Z:8.91 [[-6.19511485e-01 -7.84883230e-01 1.27997932e-02 1.94378656e+02] [ 7.84708690e-01 -6.19643664e-01 -1.65529971e-02 1.34289906e+02] [ 2.09234806e-02 -2.10662893e-04 9.99781058e-01 8.91489115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:134.31, Z:8.92 [[-6.20646244e-01 -7.83985875e-01 1.28214189e-02 1.94366127e+02] [ 7.83810819e-01 -6.20778619e-01 -1.65682181e-02 1.34312492e+02] [ 2.09485117e-02 -2.33435494e-04 9.99780529e-01 8.91544573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:134.33, Z:8.91 [[-6.21688656e-01 -7.83152313e-01 1.32540839e-02 1.94353413e+02] [ 7.82965335e-01 -6.21829869e-01 -1.71142419e-02 1.34333092e+02] [ 2.16448434e-02 -2.62241745e-04 9.99765689e-01 8.91487743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:134.35, Z:8.92 [[-6.22493449e-01 -7.82512542e-01 1.32675222e-02 1.94338951e+02] [ 7.82325319e-01 -6.22634760e-01 -1.71187198e-02 1.34354105e+02] [ 2.16564335e-02 -2.76772375e-04 9.99765434e-01 8.91534880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:134.38, Z:8.92 [[-6.23749468e-01 -7.81509390e-01 1.34043018e-02 1.94327091e+02] [ 7.81318341e-01 -6.23893404e-01 -1.72820869e-02 1.34375940e+02] [ 2.18689687e-02 -3.06665648e-04 9.99760798e-01 8.91556830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:134.40, Z:8.91 [[-6.25066409e-01 -7.80449568e-01 1.38006178e-02 1.94314061e+02] [ 7.80247087e-01 -6.25218644e-01 -1.77800800e-02 1.34398463e+02] [ 2.25048593e-02 -3.45838930e-04 9.99746674e-01 8.91450442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.30, Y:134.42, Z:8.91 [[-6.25711967e-01 -7.79926488e-01 1.41141216e-02 1.94300212e+02] [ 7.79714875e-01 -6.25871026e-01 -1.81706727e-02 1.34418875e+02] [ 2.30054087e-02 -3.64616729e-04 9.99735274e-01 8.91387640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.202755096 meters Centerline goodness [0,1] 0.9999782428963057 Centerline is valid? [True, True] Translation: X:194.29, Y:134.44, Z:8.91 [[-6.26332285e-01 -7.79422124e-01 1.44575375e-02 1.94286923e+02] [ 7.79200284e-01 -6.26499006e-01 -1.85987012e-02 1.34439411e+02] [ 2.35538721e-02 -3.83649695e-04 9.99722495e-01 8.91263251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.232755096 meters Centerline goodness [0,1] 0.9998476107543268 Centerline is valid? [True, True] Translation: X:194.27, Y:134.46, Z:8.91 [[-6.27174048e-01 -7.78732916e-01 1.50916716e-02 1.94271790e+02] [ 7.78491358e-01 -6.27355458e-01 -1.93993537e-02 1.34461247e+02] [ 2.45747578e-02 -4.18035216e-04 9.99697908e-01 8.91104120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters Centerline goodness [0,1] 0.9998908368447481 Centerline is valid? [True, True] Translation: X:194.26, Y:134.48, Z:8.91 [[-6.27410683e-01 -7.78542076e-01 1.51019889e-02 1.94257893e+02] [ 7.78300487e-01 -6.27592273e-01 -1.93982212e-02 1.34483056e+02] [ 2.45802230e-02 -4.16765909e-04 9.99697774e-01 8.91195602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:134.50, Z:8.92 [[-6.26998768e-01 -7.78884137e-01 1.45617984e-02 1.94239831e+02] [ 7.78659958e-01 -6.27167726e-01 -1.86899390e-02 1.34502967e+02] [ 2.36899871e-02 -3.79879386e-04 9.99719281e-01 8.91785924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.322755096 meters Centerline goodness [0,1] 0.999890839228015 Centerline is valid? [True, True] Translation: X:194.23, Y:134.53, Z:8.91 [[-6.27542101e-01 -7.78440449e-01 1.48788235e-02 1.94228627e+02] [ 7.78206655e-01 -6.27718338e-01 -1.90811567e-02 1.34526923e+02] [ 2.41932545e-02 -3.95429670e-04 9.99707222e-01 8.91339427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:134.55, Z:8.92 [[-6.27068846e-01 -7.78833707e-01 1.42379562e-02 1.94212576e+02] [ 7.78620052e-01 -6.27230365e-01 -1.82451299e-02 1.34547331e+02] [ 2.31404006e-02 -3.54994408e-04 9.99732162e-01 8.91657449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.19, Y:134.57, Z:8.92 [[-6.26882945e-01 -7.78998376e-01 1.33904586e-02 1.94193537e+02] [ 7.78809719e-01 -6.27025859e-01 -1.71462184e-02 1.34566343e+02] [ 2.17530401e-02 -3.20052566e-04 9.99763323e-01 8.92112005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4127550960001 meters Centerline goodness [0,1] 0.9999563509384548 Centerline is valid? [True, True] Translation: X:194.18, Y:134.59, Z:8.92 [[-6.27074274e-01 -7.78849586e-01 1.30834919e-02 1.94176949e+02] [ 7.78669720e-01 -6.27210672e-01 -1.67403932e-02 1.34587827e+02] [ 2.12443540e-02 -3.09750978e-04 9.99774265e-01 8.92130813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.442755096 meters Centerline goodness [0,1] 0.9999781152886593 Centerline is valid? [True, True] Translation: X:194.16, Y:134.61, Z:8.92 [[-6.26381261e-01 -7.79418801e-01 1.23631695e-02 1.94160863e+02] [ 7.79258534e-01 -6.26503201e-01 -1.58074928e-02 1.34609984e+02] [ 2.00662223e-02 -2.67411975e-04 9.99798617e-01 8.92310017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.472755096 meters Centerline goodness [0,1] 0.9999780946748155 Centerline is valid? [True, True] Translation: X:194.15, Y:134.63, Z:8.92 [[-6.26345407e-01 -7.79450989e-01 1.21485408e-02 1.94145801e+02] [ 7.79296472e-01 -6.26463160e-01 -1.55215257e-02 1.34631380e+02] [ 1.97088819e-02 -2.54521317e-04 9.99805729e-01 8.92318470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:134.65, Z:8.92 [[-6.26267949e-01 -7.79515590e-01 1.19958476e-02 1.94131128e+02] [ 7.79365180e-01 -6.26382779e-01 -1.53143740e-02 1.34652708e+02] [ 1.94517857e-02 -2.41755715e-04 9.99810767e-01 8.92318745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.12, Y:134.67, Z:8.92 [[-6.26405914e-01 -7.79411556e-01 1.15437496e-02 1.94116891e+02] [ 7.79272470e-01 -6.26512231e-01 -1.47255490e-02 1.34674154e+02] [ 1.87095633e-02 -2.28444702e-04 9.99824935e-01 8.92339394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.562755096 meters Centerline goodness [0,1] 0.9999341527655838 Centerline is valid? [True, True] Translation: X:194.10, Y:134.70, Z:8.92 [[-6.27259035e-01 -7.78724036e-01 1.16180533e-02 1.94099625e+02] [ 7.78583251e-01 -6.27366573e-01 -1.48089285e-02 1.34695141e+02] [ 1.88208468e-02 -2.43412517e-04 9.99822843e-01 8.92366005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.09, Y:134.72, Z:8.92 [[-6.27567628e-01 -7.78478788e-01 1.13863778e-02 1.94087317e+02] [ 7.78343720e-01 -6.27670869e-01 -1.45028569e-02 1.34719101e+02] [ 1.84370641e-02 -2.39007887e-04 9.99829994e-01 8.92469548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters Centerline goodness [0,1] 0.9999339192493226 Centerline is valid? [True, True] Translation: X:194.07, Y:134.74, Z:8.93 [[-6.27916982e-01 -7.78200838e-01 1.11229592e-02 1.94069008e+02] [ 7.78072097e-01 -6.28015447e-01 -1.41566588e-02 1.34739370e+02] [ 1.80021139e-02 -2.34742263e-04 9.99837921e-01 8.92639550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.05, Y:134.76, Z:8.93 [[-6.28337969e-01 -7.77859362e-01 1.12342961e-02 1.94053677e+02] [ 7.77728176e-01 -6.28438346e-01 -1.42873894e-02 1.34761288e+02] [ 1.81736421e-02 -2.40080618e-04 9.99834817e-01 8.92635199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:134.78, Z:8.93 [[-6.28756001e-01 -7.77522401e-01 1.11717543e-02 1.94037434e+02] [ 7.77392814e-01 -6.28855197e-01 -1.41969767e-02 1.34783646e+02] [ 1.80638831e-02 -2.41592719e-04 9.99836806e-01 8.92659522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.02, Y:134.81, Z:8.93 [[-6.28779663e-01 -7.77504325e-01 1.10977346e-02 1.94023012e+02] [ 7.77376635e-01 -6.28877548e-01 -1.40924443e-02 1.34805887e+02] [ 1.79360525e-02 -2.33922764e-04 9.99839109e-01 8.92689085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters Centerline goodness [0,1] 0.999933900321685 Centerline is valid? [True, True] Translation: X:194.01, Y:134.83, Z:8.93 [[-6.29453279e-01 -7.76960759e-01 1.09794997e-02 1.94007227e+02] [ 7.76835878e-01 -6.29548983e-01 -1.39318768e-02 1.34828182e+02] [ 1.77366545e-02 -2.40196227e-04 9.99842664e-01 8.92568486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.99, Y:134.85, Z:8.93 [[-6.29253721e-01 -7.77122595e-01 1.09648406e-02 1.93990615e+02] [ 7.76998249e-01 -6.29349204e-01 -1.39032590e-02 1.34850082e+02] [ 1.77052504e-02 -2.29015526e-04 9.99843224e-01 8.92686491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:134.87, Z:8.93 [[-6.29254788e-01 -7.77121008e-01 1.10159119e-02 1.93975744e+02] [ 7.76995689e-01 -6.29351165e-01 -1.39574451e-02 1.34870425e+02] [ 1.77795008e-02 -2.23473085e-04 9.99841907e-01 8.92696410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.96, Y:134.89, Z:8.93 [[-6.29352609e-01 -7.77043555e-01 1.08907297e-02 1.93958789e+02] [ 7.76921248e-01 -6.29446795e-01 -1.37879212e-02 1.34892012e+02] [ 1.75689502e-02 -2.16224913e-04 9.99845631e-01 8.92746535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters Centerline goodness [0,1] 0.9998451430214809 Centerline is valid? [True, True] Translation: X:193.94, Y:134.91, Z:8.93 [[-6.28864835e-01 -7.77444609e-01 1.04354409e-02 1.93941882e+02] [ 7.77332527e-01 -6.28951384e-01 -1.32022467e-02 1.34913385e+02] [ 1.68274005e-02 -1.90621040e-04 9.99858391e-01 8.92657220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:134.93, Z:8.93 [[-6.27810274e-01 -7.78298158e-01 1.03071220e-02 1.93925985e+02] [ 7.78189092e-01 -6.27894857e-01 -1.30301713e-02 1.34933650e+02] [ 1.66131472e-02 -1.59585522e-04 9.99861979e-01 8.92907054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:134.95, Z:8.93 [[-6.26591029e-01 -7.79276315e-01 1.05880506e-02 1.93907418e+02] [ 7.79161549e-01 -6.26680467e-01 -1.33743459e-02 1.34953196e+02] [ 1.70576355e-02 -1.30443275e-04 9.99854499e-01 8.92887241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.89, Y:134.97, Z:8.93 [[-6.25908711e-01 -7.79820329e-01 1.08876454e-02 1.93890616e+02] [ 7.79699239e-01 -6.26003389e-01 -1.37424345e-02 1.34972952e+02] [ 1.75323327e-02 -1.12420641e-04 9.99846291e-01 8.92861412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.87, Y:134.99, Z:8.93 [[-6.25121431e-01 -7.80448762e-01 1.10872544e-02 1.93872963e+02] [ 7.80323484e-01 -6.25219739e-01 -1.39834868e-02 1.34993260e+02] [ 1.78453653e-02 -8.97322845e-05 9.99840755e-01 8.92860461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.86, Y:135.01, Z:8.93 [[-6.23584752e-01 -7.81681269e-01 1.07912003e-02 1.93855121e+02] [ 7.81562960e-01 -6.23678115e-01 -1.35995474e-02 1.35012420e+02] [ 1.73607470e-02 -4.64679154e-05 9.99849290e-01 8.92930446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.84, Y:135.03, Z:8.93 [[-6.23569390e-01 -7.81696702e-01 1.05584736e-02 1.93837932e+02] [ 7.81583622e-01 -6.23658772e-01 -1.32957821e-02 1.35032184e+02] [ 1.69781538e-02 -3.85126741e-05 9.99855860e-01 8.92956638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.82, Y:135.05, Z:8.93 [[-6.23723915e-01 -7.81572764e-01 1.06062808e-02 1.93821333e+02] [ 7.81458824e-01 -6.23814086e-01 -1.33451267e-02 1.35051646e+02] [ 1.70465349e-02 -3.53029794e-05 9.99854697e-01 8.92924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.102755096 meters Centerline goodness [0,1] 0.9998233293582439 Centerline is valid? [True, True] Translation: X:193.81, Y:135.07, Z:8.93 [[-6.24440103e-01 -7.80998068e-01 1.07970328e-02 1.93805922e+02] [ 7.80880102e-01 -6.24533439e-01 -1.35738732e-02 1.35071841e+02] [ 1.73442768e-02 -4.48826736e-05 9.99849576e-01 8.92746517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.132755096 meters Centerline goodness [0,1] 0.9997787610619469 Centerline is valid? [True, True] Translation: X:193.79, Y:135.09, Z:8.93 [[-6.25704705e-01 -7.79985264e-01 1.07985617e-02 1.93789220e+02] [ 7.79867295e-01 -6.25797877e-01 -1.35653776e-02 1.35093687e+02] [ 1.73385116e-02 -6.64755341e-05 9.99849675e-01 8.92854359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.77, Y:135.11, Z:8.93 [[-6.26434646e-01 -7.79407422e-01 1.01835519e-02 1.93772829e+02] [ 7.79302577e-01 -6.26517410e-01 -1.27839087e-02 1.35114997e+02] [ 1.63440458e-02 -7.22150928e-05 9.99866425e-01 8.93177888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:135.14, Z:8.93 [[-6.27818679e-01 -7.78293461e-01 1.01486440e-02 1.93757043e+02] [ 7.78189340e-01 -6.27900692e-01 -1.27307818e-02 1.35136586e+02] [ 1.62806248e-02 -9.50560029e-05 9.99867457e-01 8.93213426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:135.16, Z:8.93 [[-6.30564376e-01 -7.76077083e-01 9.63995840e-03 1.93742077e+02] [ 7.75983012e-01 -6.30638044e-01 -1.20840030e-02 1.35159888e+02] [ 1.54574423e-02 -1.39297890e-04 9.99880517e-01 8.93340308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:135.18, Z:8.93 [[-6.30862518e-01 -7.75834694e-01 9.64423871e-03 1.93725690e+02] [ 7.75740647e-01 -6.30936215e-01 -1.20805862e-02 1.35180004e+02] [ 1.54574374e-02 -1.39761062e-04 9.99880517e-01 8.93371453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters Centerline goodness [0,1] 0.9998893805309734 Centerline is valid? [True, True] Translation: X:193.71, Y:135.20, Z:8.93 [[-6.32440629e-01 -7.74546993e-01 9.78812353e-03 1.93710349e+02] [ 7.74450117e-01 -6.32516346e-01 -1.22510723e-02 1.35201401e+02] [ 1.56801793e-02 -1.67662435e-04 9.99877044e-01 8.93264015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.312755096 meters Centerline goodness [0,1] 0.9998227068235711 Centerline is valid? [True, True] Translation: X:193.70, Y:135.22, Z:8.93 [[-6.35716295e-01 -7.71870077e-01 9.02087354e-03 1.93696070e+02] [ 7.71787641e-01 -6.35780261e-01 -1.12826061e-02 1.35224037e+02] [ 1.44439994e-02 -2.10337821e-04 9.99895658e-01 8.93335334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.342755096 meters Centerline goodness [0,1] 0.9998229461756374 Centerline is valid? [True, True] Translation: X:193.68, Y:135.25, Z:8.93 [[-6.37422504e-01 -7.70464920e-01 8.73838557e-03 1.93680119e+02] [ 7.70387542e-01 -6.37482357e-01 -1.09215372e-02 1.35246544e+02] [ 1.39852279e-02 -2.29690227e-04 9.99902176e-01 8.93422270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.66, Y:135.27, Z:8.94 [[-6.38788768e-01 -7.69337998e-01 8.24351247e-03 1.93664551e+02] [ 7.69269132e-01 -6.38841913e-01 -1.02962452e-02 1.35268367e+02] [ 1.31875939e-02 -2.35646097e-04 9.99913012e-01 8.93733006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.65, Y:135.29, Z:8.94 [[-6.41412508e-01 -7.67153338e-01 8.10868211e-03 1.93650521e+02] [ 7.67086624e-01 -6.41463704e-01 -1.01207309e-02 1.35290814e+02] [ 1.29655777e-02 -2.71501803e-04 9.99915907e-01 8.93760990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.64, Y:135.31, Z:8.94 [[-6.42622926e-01 -7.66139729e-01 8.10490842e-03 1.93635259e+02] [ 7.66073068e-01 -6.42673970e-01 -1.01105205e-02 1.35312472e+02] [ 1.29548851e-02 -2.88300220e-04 9.99916040e-01 8.93812005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:135.33, Z:8.94 [[-6.43445484e-01 -7.65450903e-01 7.92623046e-03 1.93619397e+02] [ 7.65387184e-01 -6.43494235e-01 -9.88071609e-03 1.35333506e+02] [ 1.26636867e-02 -2.91066941e-04 9.99919770e-01 8.93897731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.60, Y:135.35, Z:8.94 [[-6.43519259e-01 -7.65391964e-01 7.62271445e-03 1.93603334e+02] [ 7.65333110e-01 -6.43564345e-01 -9.49553616e-03 1.35352973e+02] [ 1.21735143e-02 -2.76644638e-04 9.99925862e-01 8.93921103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters Centerline goodness [0,1] 0.9998893682929527 Centerline is valid? [True, True] Translation: X:193.59, Y:135.37, Z:8.94 [[-6.43211811e-01 -7.65644623e-01 8.17781952e-03 1.93585751e+02] [ 7.65577015e-01 -6.43263732e-01 -1.01786156e-02 1.35372783e+02] [ 1.30536970e-02 -2.86255144e-04 9.99914756e-01 8.93703163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.57, Y:135.39, Z:8.94 [[-6.41108005e-01 -7.67405219e-01 8.35205877e-03 1.93566003e+02] [ 7.67334951e-01 -6.41162357e-01 -1.03877403e-02 1.35390367e+02] [ 1.33266318e-02 -2.50836843e-04 9.99911165e-01 8.93822727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.54, Y:135.41, Z:8.94 [[-6.39996183e-01 -7.68332239e-01 8.39379386e-03 1.93544382e+02] [ 7.68261449e-01 -6.40051184e-01 -1.04320304e-02 1.35408414e+02] [ 1.33877230e-02 -2.27831400e-04 9.99910354e-01 8.93881478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.612755096 meters Centerline goodness [0,1] 0.9998452251973379 Centerline is valid? [True, True] Translation: X:193.53, Y:135.43, Z:8.94 [[-6.38822043e-01 -7.69310462e-01 8.23471464e-03 1.93525370e+02] [ 7.69242508e-01 -6.38875084e-01 -1.02269725e-02 1.35428556e+02] [ 1.31286710e-02 -1.98722932e-04 9.99913796e-01 8.93793069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters Centerline goodness [0,1] 0.9999337280197932 Centerline is valid? [True, True] Translation: X:193.51, Y:135.45, Z:8.94 [[-6.38398144e-01 -7.69666377e-01 7.84071554e-03 1.93508925e+02] [ 7.69604882e-01 -6.38446267e-01 -9.73085698e-03 1.35448894e+02] [ 1.24953890e-02 -1.77908078e-04 9.99921914e-01 8.94013536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.49, Y:135.47, Z:8.94 [[-6.38186667e-01 -7.69844998e-01 7.51376601e-03 1.93490931e+02] [ 7.69788598e-01 -6.38230877e-01 -9.32001537e-03 1.35469934e+02] [ 1.19704847e-02 -1.63898144e-04 9.99928338e-01 8.94161907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.702755096 meters Centerline goodness [0,1] 0.9999337119119694 Centerline is valid? [True, True] Translation: X:193.47, Y:135.49, Z:8.94 [[-6.37893483e-01 -7.70083282e-01 7.97764588e-03 1.93474542e+02] [ 7.70019820e-01 -6.37943345e-01 -9.88764702e-03 1.35489973e+02] [ 1.27035978e-02 -1.64320153e-04 9.99919293e-01 8.94101846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.46, Y:135.51, Z:8.94 [[-6.37528993e-01 -7.70385281e-01 7.95627338e-03 1.93457629e+02] [ 7.70322278e-01 -6.37578619e-01 -9.85355901e-03 1.35509838e+02] [ 1.26637866e-02 -1.53034918e-04 9.99919799e-01 8.94238121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters Centerline goodness [0,1] 0.9999113828703088 Centerline is valid? [True, True] Translation: X:193.44, Y:135.53, Z:8.94 [[-6.37371147e-01 -7.70512176e-01 8.30709242e-03 1.93439705e+02] [ 7.70443613e-01 -6.37425261e-01 -1.02798814e-02 1.35530615e+02] [ 1.32159244e-02 -1.51953508e-04 9.99912654e-01 8.94095260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7927550960001 meters Centerline goodness [0,1] 0.9999336650082918 Centerline is valid? [True, True] Translation: X:193.42, Y:135.55, Z:8.94 [[-6.37406582e-01 -7.70487644e-01 7.85109826e-03 1.93423204e+02] [ 7.70426484e-01 -6.37454917e-01 -9.70884418e-03 1.35550440e+02] [ 1.24852657e-02 -1.39787151e-04 9.99922046e-01 8.94283588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.822755096 meters Centerline goodness [0,1] 0.9999337294837527 Centerline is valid? [True, True] Translation: X:193.41, Y:135.57, Z:8.94 [[-6.38106341e-01 -7.69912516e-01 7.41727947e-03 1.93406313e+02] [ 7.69857968e-01 -6.38149433e-01 -9.16573296e-03 1.35571340e+02] [ 1.17901452e-02 -1.38460621e-04 9.99930484e-01 8.94322007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:135.59, Z:8.95 [[-6.39348909e-01 -7.68887460e-01 6.71172571e-03 1.93390189e+02] [ 7.68842796e-01 -6.39384122e-01 -8.28853632e-03 1.35593433e+02] [ 1.06643225e-02 -1.39004690e-04 9.99943125e-01 8.94623670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:135.61, Z:8.95 [[-6.39954046e-01 -7.68383412e-01 6.76391160e-03 1.93373473e+02] [ 7.68338089e-01 -6.39989774e-01 -8.34691710e-03 1.35614758e+02] [ 1.07424669e-02 -1.44672464e-04 9.99942288e-01 8.94668576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.36, Y:135.64, Z:8.95 [[-6.40763302e-01 -7.67707614e-01 6.88551266e-03 1.93356611e+02] [ 7.67660676e-01 -6.40800277e-01 -8.49067419e-03 1.35636265e+02] [ 1.09305936e-02 -1.54775125e-04 9.99940247e-01 8.94699058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.942755096 meters Centerline goodness [0,1] 0.9998667318199991 Centerline is valid? [True, True] Translation: X:193.34, Y:135.66, Z:8.95 [[-6.42188523e-01 -7.66510986e-01 7.40337755e-03 1.93340724e+02] [ 7.66456726e-01 -6.42231170e-01 -9.12208464e-03 1.35658583e+02] [ 1.17468579e-02 -1.83729546e-04 9.99930986e-01 8.94507436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.972755096 meters Centerline goodness [0,1] 0.9998667170180154 Centerline is valid? [True, True] Translation: X:193.32, Y:135.68, Z:8.95 [[-6.43055930e-01 -7.65785854e-01 7.14823242e-03 1.93323676e+02] [ 7.65735290e-01 -6.43095631e-01 -8.80195043e-03 1.35679626e+02] [ 1.13374062e-02 -1.86492586e-04 9.99935712e-01 8.94581892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:135.70, Z:8.95 [[-6.44068931e-01 -7.64943622e-01 6.03892895e-03 1.93308474e+02] [ 7.64907540e-01 -6.44097219e-01 -7.43150146e-03 1.35702146e+02] [ 9.57433699e-03 -1.67176914e-04 9.99954151e-01 8.94921254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.032755096 meters Centerline goodness [0,1] 0.9999117718419833 Centerline is valid? [True, True] Translation: X:193.29, Y:135.72, Z:8.95 [[-6.44867173e-01 -7.64266856e-01 6.51938178e-03 1.93291466e+02] [ 7.64224833e-01 -6.44900099e-01 -8.01671044e-03 1.35723394e+02] [ 1.03312560e-02 -1.87439939e-04 9.99946614e-01 8.94769545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.062755096 meters Centerline goodness [0,1] 0.9998447652629011 Centerline is valid? [True, True] Translation: X:193.28, Y:135.74, Z:8.95 [[-6.45379413e-01 -7.63830232e-01 6.98502361e-03 1.93276230e+02] [ 7.63782038e-01 -6.45417180e-01 -8.58267898e-03 1.35744307e+02] [ 1.10639639e-02 -2.04048751e-04 9.99938772e-01 8.94682870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:135.77, Z:8.95 [[-6.45552652e-01 -7.63685989e-01 6.74419426e-03 1.93259773e+02] [ 7.63641118e-01 -6.45587850e-01 -8.28075265e-03 1.35766105e+02] [ 1.06778646e-02 -1.95517789e-04 9.99942971e-01 8.94916201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters Centerline goodness [0,1] 0.999933476727942 Centerline is valid? [True, True] Translation: X:193.24, Y:135.79, Z:8.95 [[-6.45927468e-01 -7.63366473e-01 7.02376931e-03 1.93242986e+02] [ 7.63317858e-01 -6.45965623e-01 -8.61758064e-03 1.35787662e+02] [ 1.11154857e-02 -2.04963501e-04 9.99938200e-01 8.94800419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.23, Y:135.81, Z:8.95 [[-6.45788167e-01 -7.63484047e-01 7.05365252e-03 1.93225634e+02] [ 7.63435095e-01 -6.45826656e-01 -8.64790733e-03 1.35807911e+02] [ 1.11579761e-02 -1.99710337e-04 9.99937728e-01 8.94867151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.21, Y:135.83, Z:8.95 [[-6.46175015e-01 -7.63154390e-01 7.29571535e-03 1.93209466e+02] [ 7.63102057e-01 -6.46216166e-01 -8.93966475e-03 1.35827346e+02] [ 1.15369536e-02 -2.09212616e-04 9.99933425e-01 8.94795501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.19, Y:135.85, Z:8.95 [[-6.46494159e-01 -7.62879765e-01 7.73091180e-03 1.93192076e+02] [ 7.62821082e-01 -6.46540344e-01 -9.46475053e-03 1.35847724e+02] [ 1.22188130e-02 -2.21603436e-04 9.99925323e-01 8.94770863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.18, Y:135.87, Z:8.95 [[-6.46896247e-01 -7.62538885e-01 7.72617192e-03 1.93175129e+02] [ 7.62480333e-01 -6.46942346e-01 -9.45218380e-03 1.35868773e+02] [ 1.22060455e-02 -2.23528093e-04 9.99925478e-01 8.94793572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.16, Y:135.89, Z:8.95 [[-6.47350106e-01 -7.62155365e-01 7.55245469e-03 1.93157943e+02] [ 7.62099468e-01 -6.47394123e-01 -9.23312315e-03 1.35889740e+02] [ 1.19264891e-02 -2.21341557e-04 9.99928852e-01 8.94822910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.302755096 meters Centerline goodness [0,1] 0.9998673212153376 Centerline is valid? [True, True] Translation: X:193.14, Y:135.91, Z:8.95 [[-6.48947555e-01 -7.60793696e-01 7.74748905e-03 1.93144546e+02] [ 7.60734862e-01 -6.48993753e-01 -9.46457504e-03 1.35912404e+02] [ 1.22286610e-02 -2.48227819e-04 9.99925196e-01 8.94641125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.13, Y:135.93, Z:8.95 [[-6.49468155e-01 -7.60353787e-01 7.29613066e-03 1.93127452e+02] [ 7.60301654e-01 -6.49509093e-01 -8.90688559e-03 1.35933020e+02] [ 1.15112874e-02 -2.37478343e-04 9.99933715e-01 8.94912831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.11, Y:135.95, Z:8.95 [[-6.51140946e-01 -7.58921844e-01 7.28722464e-03 1.93111529e+02] [ 7.58869824e-01 -6.51181671e-01 -8.88941528e-03 1.35954448e+02] [ 1.14916786e-02 -2.58207391e-04 9.99933935e-01 8.94949099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.392755096 meters Centerline goodness [0,1] 0.9999115200849407 Centerline is valid? [True, True] Translation: X:193.09, Y:135.97, Z:8.95 [[-6.52190767e-01 -7.58017055e-01 7.57279416e-03 1.93091172e+02] [ 7.57960897e-01 -6.52234671e-01 -9.23106483e-03 1.35974202e+02] [ 1.19365435e-02 -2.80533398e-04 9.99928718e-01 8.94871728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:136.00, Z:8.95 [[-6.52924158e-01 -7.57390769e-01 7.01903069e-03 1.93077659e+02] [ 7.57342544e-01 -6.52961830e-01 -8.55103458e-03 1.35997673e+02] [ 1.10596338e-02 -2.67366491e-04 9.99938805e-01 8.95076546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:136.02, Z:8.95 [[-6.53727835e-01 -7.56695781e-01 7.17029117e-03 1.93055635e+02] [ 7.56645490e-01 -6.53767097e-01 -8.72847976e-03 1.36015249e+02] [ 1.12925042e-02 -2.80681707e-04 9.99936198e-01 8.95060788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.482755096 meters Centerline goodness [0,1] 0.9998894832235533 Centerline is valid? [True, True] Translation: X:193.04, Y:136.04, Z:8.95 [[-6.54318840e-01 -7.56182495e-01 7.40878086e-03 1.93037285e+02] [ 7.56128847e-01 -6.54360716e-01 -9.01218051e-03 1.36035503e+02] [ 1.16628683e-02 -2.94846560e-04 9.99931943e-01 8.94895257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.512755096 meters Centerline goodness [0,1] 0.9999116724815617 Centerline is valid? [True, True] Translation: X:193.02, Y:136.06, Z:8.95 [[-6.55321696e-01 -7.55318203e-01 6.91996716e-03 1.93018253e+02] [ 7.55271415e-01 -6.55358169e-01 -8.41190152e-03 1.36056334e+02] [ 1.08887194e-02 -2.86048185e-04 9.99940675e-01 8.95081456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5427550960001 meters Centerline goodness [0,1] 0.9999559384018858 Centerline is valid? [True, True] Translation: X:193.00, Y:136.08, Z:8.95 [[-6.56209698e-01 -7.54548585e-01 6.72795929e-03 1.93001592e+02] [ 7.54504371e-01 -6.56244124e-01 -8.17334557e-03 1.36077301e+02] [ 1.05823701e-02 -2.87153936e-04 9.99943964e-01 8.95133940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:136.10, Z:8.95 [[-6.57315591e-01 -7.53590570e-01 6.12102293e-03 1.92983332e+02] [ 7.53553976e-01 -6.57344034e-01 -7.43139433e-03 1.36098725e+02] [ 9.62384659e-03 -2.72250189e-04 9.99953653e-01 8.95276262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:136.12, Z:8.95 [[-6.58448974e-01 -7.52599673e-01 6.21939489e-03 1.92965444e+02] [ 7.52561899e-01 -6.58478283e-01 -7.54583692e-03 1.36120046e+02] [ 9.77433087e-03 -2.88068945e-04 9.99952189e-01 8.95317483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:136.14, Z:8.95 [[-6.60023349e-01 -7.51221675e-01 5.93074587e-03 1.92947411e+02] [ 7.51187311e-01 -6.60049930e-01 -7.19122438e-03 1.36141108e+02] [ 9.31679202e-03 -2.91274957e-04 9.99956555e-01 8.95346054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:136.16, Z:8.95 [[-6.60704738e-01 -7.50623474e-01 5.80078571e-03 1.92930149e+02] [ 7.50590621e-01 -6.60730139e-01 -7.02873813e-03 1.36161677e+02] [ 9.10868978e-03 -2.89905245e-04 9.99958473e-01 8.95389968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:136.18, Z:8.95 [[-6.60836928e-01 -7.50507358e-01 5.76714770e-03 1.92912804e+02] [ 7.50474909e-01 -6.60862030e-01 -6.98485647e-03 1.36181320e+02] [ 9.05347511e-03 -2.87751446e-04 9.99958975e-01 8.95386615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:136.20, Z:8.95 [[-6.60795448e-01 -7.50542806e-01 5.90526216e-03 1.92895425e+02] [ 7.50508821e-01 -6.60821769e-01 -7.14839250e-03 1.36201291e+02] [ 9.26750036e-03 -2.91673886e-04 9.99957013e-01 8.95381400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.88, Y:136.22, Z:8.95 [[-6.60341118e-01 -7.50942727e-01 5.88460205e-03 1.92875813e+02] [ 7.50909045e-01 -6.60367278e-01 -7.11794547e-03 1.36220614e+02] [ 9.23116802e-03 -2.81471164e-04 9.99957352e-01 8.95347282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.86, Y:136.24, Z:8.95 [[-6.58537491e-01 -7.52526112e-01 5.72920097e-03 1.92857090e+02] [ 7.52494288e-01 -6.58562365e-01 -6.92517837e-03 1.36239675e+02] [ 8.98441369e-03 -2.49298576e-04 9.99959608e-01 8.95435769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:136.26, Z:8.95 [[-6.55723626e-01 -7.54979154e-01 5.74490410e-03 1.92836135e+02] [ 7.54947293e-01 -6.55748757e-01 -6.93921145e-03 1.36257735e+02] [ 9.00617371e-03 -2.13105098e-04 9.99959421e-01 8.95451328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.842755096 meters Centerline goodness [0,1] 0.9999780195625892 Centerline is valid? [True, True] Translation: X:192.82, Y:136.28, Z:8.95 [[-6.53999203e-01 -7.56472732e-01 5.83500926e-03 1.92816415e+02] [ 7.56439970e-01 -6.54025205e-01 -7.04298496e-03 1.36276413e+02] [ 9.14406920e-03 -1.92272325e-04 9.99958174e-01 8.95424385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.872755096 meters Centerline goodness [0,1] 0.9999562142872781 Centerline is valid? [True, True] Translation: X:192.80, Y:136.30, Z:8.95 [[-6.52129198e-01 -7.58082093e-01 6.24895881e-03 1.92796576e+02] [ 7.58044647e-01 -6.52159113e-01 -7.53684679e-03 1.36295400e+02] [ 9.78886403e-03 -1.78008070e-04 9.99952072e-01 8.95353724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters Centerline goodness [0,1] 0.9999561201430484 Centerline is valid? [True, True] Translation: X:192.78, Y:136.31, Z:8.95 [[-6.50607630e-01 -7.59387921e-01 6.30054708e-03 1.92777370e+02] [ 7.59349968e-01 -6.50638118e-01 -7.59375694e-03 1.36314495e+02] [ 9.86598339e-03 -1.56235977e-04 9.99951318e-01 8.95285952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.932755096 meters Centerline goodness [0,1] 0.999934151320266 Centerline is valid? [True, True] Translation: X:192.76, Y:136.33, Z:8.95 [[-6.47048025e-01 -7.62425396e-01 6.03069013e-03 1.92756967e+02] [ 7.62390807e-01 -6.47076120e-01 -7.26305813e-03 1.36331639e+02] [ 9.43985554e-03 -1.01804698e-04 9.99955438e-01 8.95322778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.74, Y:136.35, Z:8.95 [[-6.45646421e-01 -7.63614153e-01 5.84168275e-03 1.92738858e+02] [ 7.63581778e-01 -6.45672843e-01 -7.03195464e-03 1.36349174e+02] [ 9.14151599e-03 -7.95538474e-05 9.99958212e-01 8.95498347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.72, Y:136.37, Z:8.96 [[-6.44226977e-01 -7.64812973e-01 5.71997244e-03 1.92720758e+02] [ 7.64782014e-01 -6.44252367e-01 -6.88171445e-03 1.36367872e+02] [ 8.94833027e-03 -5.88540611e-05 9.99959961e-01 8.95530562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:136.39, Z:8.96 [[-6.44366879e-01 -7.64696136e-01 5.58071192e-03 1.92703843e+02] [ 7.64666704e-01 -6.44391043e-01 -6.70938685e-03 1.36387881e+02] [ 8.72680297e-03 -5.59220809e-05 9.99961919e-01 8.95559401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.052755096 meters Centerline goodness [0,1] 0.9999781191195134 Centerline is valid? [True, True] Translation: X:192.69, Y:136.41, Z:8.96 [[-6.44905003e-01 -7.64243297e-01 5.45160676e-03 1.92688817e+02] [ 7.64215241e-01 -6.44928042e-01 -6.54877672e-03 1.36408641e+02] [ 8.52075279e-03 -5.71378998e-05 9.99963696e-01 8.95603977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.082755096 meters Centerline goodness [0,1] 0.99986856516977 Centerline is valid? [True, True] Translation: X:192.67, Y:136.43, Z:8.95 [[-6.46162928e-01 -7.63179015e-01 5.59120571e-03 1.92673242e+02] [ 7.63149498e-01 -6.46187114e-01 -6.71251525e-03 1.36429556e+02] [ 8.73581586e-03 -7.04526815e-05 9.99961840e-01 8.95415580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.66, Y:136.45, Z:8.96 [[-6.46869173e-01 -7.62579108e-01 5.77719372e-03 1.92655971e+02] [ 7.62547622e-01 -6.46894966e-01 -6.93017398e-03 1.36450022e+02] [ 9.02204343e-03 -7.75305861e-05 9.99959298e-01 8.95599590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.64, Y:136.47, Z:8.96 [[-6.47140267e-01 -7.62349048e-01 5.77965796e-03 1.92638663e+02] [ 7.62317570e-01 -6.47166071e-01 -6.92811798e-03 1.36470440e+02] [ 9.02204268e-03 -7.75293057e-05 9.99959298e-01 8.95631725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1727550960001 meters Centerline goodness [0,1] 0.9999343358066846 Centerline is valid? [True, True] Translation: X:192.62, Y:136.49, Z:8.96 [[-6.48366098e-01 -7.61307589e-01 5.67087060e-03 1.92622417e+02] [ 7.61277287e-01 -6.48390891e-01 -6.79296090e-03 1.36492454e+02] [ 8.84847353e-03 -8.72205620e-05 9.99960848e-01 8.95651987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.202755096 meters Centerline goodness [0,1] 0.9999342912213072 Centerline is valid? [True, True] Translation: X:192.61, Y:136.51, Z:8.96 [[-6.48900054e-01 -7.60852706e-01 5.64627550e-03 1.92606154e+02] [ 7.60822696e-01 -6.48924612e-01 -6.75814551e-03 1.36512811e+02] [ 8.80596043e-03 -8.95464338e-05 9.99961223e-01 8.95646297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.232755096 meters Centerline goodness [0,1] 0.999978063921732 Centerline is valid? [True, True] Translation: X:192.59, Y:136.53, Z:8.96 [[-6.50607557e-01 -7.59392750e-01 5.69718140e-03 1.92589305e+02] [ 7.59362172e-01 -6.50632492e-01 -6.81559386e-03 1.36534238e+02] [ 8.88248389e-03 -1.08052822e-04 9.99960544e-01 8.95586576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters Centerline goodness [0,1] 0.9999561787905347 Centerline is valid? [True, True] Translation: X:192.57, Y:136.56, Z:8.96 [[-6.51592392e-01 -7.58546359e-01 5.89705291e-03 1.92573253e+02] [ 7.58513613e-01 -6.51619065e-01 -7.04928537e-03 1.36555705e+02] [ 9.18984186e-03 -1.20265809e-04 9.99957765e-01 8.95562322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2927550960001 meters Centerline goodness [0,1] 0.9999561384271239 Centerline is valid? [True, True] Translation: X:192.56, Y:136.58, Z:8.96 [[-6.52770601e-01 -7.57530141e-01 6.21515371e-03 1.92557616e+02] [ 7.57493780e-01 -6.52800173e-01 -7.42336026e-03 1.36577084e+02] [ 9.68067257e-03 -1.37811061e-04 9.99953132e-01 8.95556557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.322755096 meters Centerline goodness [0,1] 0.9998464339775793 Centerline is valid? [True, True] Translation: X:192.54, Y:136.60, Z:8.95 [[-6.55878529e-01 -7.54835315e-01 6.85586747e-03 1.92544683e+02] [ 7.54790999e-01 -6.55914332e-01 -8.18150115e-03 1.36602176e+02] [ 1.06725477e-02 -1.91323884e-04 9.99943028e-01 8.95174478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:136.62, Z:8.95 [[-6.56919162e-01 -7.53928575e-01 6.99420042e-03 1.92527540e+02] [ 7.53882464e-01 -6.56956362e-01 -8.34081564e-03 1.36623070e+02] [ 1.08832637e-02 -2.06436577e-04 9.99940754e-01 8.95461280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.51, Y:136.65, Z:8.95 [[-6.59072422e-01 -7.52041942e-01 7.51397384e-03 1.92512516e+02] [ 7.51988682e-01 -6.59115206e-01 -8.95362691e-03 1.36646490e+02] [ 1.16860774e-02 -2.50665295e-04 9.99931684e-01 8.95470472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:136.67, Z:8.95 [[-6.59853598e-01 -7.51356338e-01 7.54206431e-03 1.92496526e+02] [ 7.51302707e-01 -6.59896648e-01 -8.98092965e-03 1.36667573e+02] [ 1.17248614e-02 -2.59725410e-04 9.99931228e-01 8.95449539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.48, Y:136.69, Z:8.95 [[-6.61248068e-01 -7.50125998e-01 7.87279763e-03 1.92480820e+02] [ 7.50067539e-01 -6.61294869e-01 -9.36930533e-03 1.36689496e+02] [ 1.22344002e-02 -2.90305102e-04 9.99925115e-01 8.95471023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.472755096 meters Centerline goodness [0,1] 0.9999779522003704 Centerline is valid? [True, True] Translation: X:192.46, Y:136.71, Z:8.95 [[-6.61491976e-01 -7.49912683e-01 7.70284607e-03 1.92463706e+02] [ 7.49856783e-01 -6.61536762e-01 -9.16069804e-03 1.36710772e+02] [ 1.19654395e-02 -2.83696870e-04 9.99928371e-01 8.95449544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.45, Y:136.73, Z:8.96 [[-6.61032676e-01 -7.50315826e-01 7.87165834e-03 1.92445728e+02] [ 7.50257559e-01 -6.61079484e-01 -9.35473516e-03 1.36729887e+02] [ 1.22227977e-02 -2.78014449e-04 9.99925260e-01 8.95556367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.532755096 meters Centerline goodness [0,1] 0.9998898095909732 Centerline is valid? [True, True] Translation: X:192.43, Y:136.75, Z:8.95 [[-6.58956898e-01 -7.52137061e-01 8.10237339e-03 1.92426243e+02] [ 7.52075561e-01 -6.59006662e-01 -9.62127356e-03 1.36748409e+02] [ 1.25760345e-02 -2.46407565e-04 9.99920888e-01 8.95289281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.41, Y:136.77, Z:8.96 [[-6.57887838e-01 -7.53070706e-01 8.25252464e-03 1.92407114e+02] [ 7.53007068e-01 -6.57939556e-01 -9.79267927e-03 1.36767769e+02] [ 1.28042423e-02 -2.28275219e-04 9.99917996e-01 8.95563064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.592755096 meters Centerline goodness [0,1] 0.9999120279751039 Centerline is valid? [True, True] Translation: X:192.39, Y:136.79, Z:8.95 [[-6.55970758e-01 -7.54739016e-01 8.44883731e-03 1.92388010e+02] [ 7.54672545e-01 -6.56025136e-01 -1.00185327e-02 1.36785656e+02] [ 1.31040272e-02 -1.95758926e-04 9.99914119e-01 8.95374002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.37, Y:136.80, Z:8.96 [[-6.55395380e-01 -7.55236992e-01 8.60128646e-03 1.92369606e+02] [ 7.55168243e-01 -6.55451792e-01 -1.01917778e-02 1.36804495e+02] [ 1.33349362e-02 -1.84225702e-04 9.99911069e-01 8.95576376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.35, Y:136.82, Z:8.96 [[-6.55138214e-01 -7.55459072e-01 8.68979588e-03 1.92351253e+02] [ 7.55389027e-01 -6.55195818e-01 -1.02887500e-02 1.36823951e+02] [ 1.34662475e-02 -1.76376872e-04 9.99909310e-01 8.95559879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:136.84, Z:8.96 [[-6.54993718e-01 -7.55581252e-01 8.95548720e-03 1.92333445e+02] [ 7.55506985e-01 -6.55054915e-01 -1.05950122e-02 1.36841890e+02] [ 1.38717285e-02 -1.73733282e-04 9.99903768e-01 8.95575938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.712755096 meters Centerline goodness [0,1] 0.9999340963511346 Centerline is valid? [True, True] Translation: X:192.32, Y:136.86, Z:8.95 [[-6.55740072e-01 -7.54932813e-01 9.02252768e-03 1.92317121e+02] [ 7.54857487e-01 -6.55802116e-01 -1.06658393e-02 1.36860937e+02] [ 1.39689848e-02 -1.83295670e-04 9.99902412e-01 8.95411803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters Centerline goodness [0,1] 0.9999559335477901 Centerline is valid? [True, True] Translation: X:192.30, Y:136.88, Z:8.96 [[-6.56441240e-01 -7.54325874e-01 8.79623787e-03 1.92297346e+02] [ 7.54254332e-01 -6.56500146e-01 -1.03904331e-02 1.36880265e+02] [ 1.36125040e-02 -1.86108299e-04 9.99907328e-01 8.95547841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:136.90, Z:8.96 [[-6.58550203e-01 -7.52486656e-01 8.68693689e-03 1.92280349e+02] [ 7.52416821e-01 -6.58607460e-01 -1.02538479e-02 1.36901853e+02] [ 1.34371652e-02 -2.16476173e-04 9.99909694e-01 8.95774052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.26, Y:136.92, Z:8.96 [[-6.59881203e-01 -7.51320859e-01 8.58862504e-03 1.92264367e+02] [ 7.51252589e-01 -6.59937052e-01 -1.01308565e-02 1.36923752e+02] [ 1.32794757e-02 -2.32935007e-04 9.99911797e-01 8.95814157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.832755096 meters Centerline goodness [0,1] 0.9999780268072951 Centerline is valid? [True, True] Translation: X:192.25, Y:136.95, Z:8.96 [[-6.61837236e-01 -7.49600311e-01 8.41705001e-03 1.92246330e+02] [ 7.49534689e-01 -6.61890706e-01 -9.92184739e-03 1.36945636e+02] [ 1.30085871e-02 -2.57777092e-04 9.99915352e-01 8.95955209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters Centerline goodness [0,1] 0.999845991375517 Centerline is valid? [True, True] Translation: X:192.23, Y:136.97, Z:8.96 [[-6.62740074e-01 -7.48802615e-01 8.38081282e-03 1.92230685e+02] [ 7.48737576e-01 -6.62793009e-01 -9.87269368e-03 1.36967249e+02] [ 1.29474430e-02 -2.68000269e-04 9.99916142e-01 8.95621874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.21, Y:136.99, Z:8.96 [[-6.63454488e-01 -7.48166544e-01 8.65823088e-03 1.92213582e+02] [ 7.48097180e-01 -6.63510921e-01 -1.01915300e-02 1.36986976e+02] [ 1.33697925e-02 -2.84418196e-04 9.99910580e-01 8.95972835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9227550960001 meters Centerline goodness [0,1] 0.999845971042556 Centerline is valid? [True, True] Translation: X:192.20, Y:137.01, Z:8.96 [[-6.64574571e-01 -7.47165331e-01 9.19830740e-03 1.92195345e+02] [ 7.47087065e-01 -6.64638148e-01 -1.08189696e-02 1.37008142e+02] [ 1.41971050e-02 -3.18075582e-04 9.99899165e-01 8.95511241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.952755096 meters Centerline goodness [0,1] 0.9999120550535365 Centerline is valid? [True, True] Translation: X:192.18, Y:137.03, Z:8.96 [[-6.65361584e-01 -7.46460969e-01 9.48602183e-03 1.92178729e+02] [ 7.46377768e-01 -6.65429115e-01 -1.11499397e-02 1.37029564e+02] [ 1.46352699e-02 -3.38585727e-04 9.99892841e-01 8.95554934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.16, Y:137.05, Z:8.96 [[-6.65751588e-01 -7.46109832e-01 9.74382671e-03 1.92161452e+02] [ 7.46022135e-01 -6.65822796e-01 -1.14445554e-02 1.37050342e+02] [ 1.50265573e-02 -3.50120529e-04 9.99887034e-01 8.95860328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.14, Y:137.07, Z:8.96 [[-6.65825305e-01 -7.46037400e-01 1.02401395e-02 1.92144067e+02] [ 7.45940674e-01 -6.65903946e-01 -1.20185286e-02 1.37070721e+02] [ 1.57852211e-02 -3.63703959e-04 9.99875340e-01 8.95877488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:137.09, Z:8.96 [[-6.65555910e-01 -7.46270467e-01 1.07573414e-02 1.92126198e+02] [ 7.46163910e-01 -6.65642737e-01 -1.26160955e-02 1.37091038e+02] [ 1.65755656e-02 -3.69976982e-04 9.99862547e-01 8.95880802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.072755096 meters Centerline goodness [0,1] 0.9998460150905212 Centerline is valid? [True, True] Translation: X:192.11, Y:137.11, Z:8.95 [[-6.63878825e-01 -7.47749940e-01 1.16160924e-02 1.92107122e+02] [ 7.47626094e-01 -6.63980349e-01 -1.36132622e-02 1.37111019e+02] [ 1.78921731e-02 -3.53062727e-04 9.99839860e-01 8.95487446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.102755096 meters Centerline goodness [0,1] 0.9999120473185427 Centerline is valid? [True, True] Translation: X:192.09, Y:137.13, Z:8.96 [[-6.61999893e-01 -7.49412032e-01 1.17365825e-02 1.92087152e+02] [ 7.49286029e-01 -6.62103853e-01 -1.37453341e-02 1.37129447e+02] [ 1.80717553e-02 -3.05352426e-04 9.99836646e-01 8.95599444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.07, Y:137.15, Z:8.96 [[-6.61258310e-01 -7.50065728e-01 1.17834702e-02 1.92068484e+02] [ 7.49938997e-01 -6.61363231e-01 -1.37904475e-02 1.37148863e+02] [ 1.81368960e-02 -2.82164141e-04 9.99835473e-01 8.95875250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1627550960001 meters Centerline goodness [0,1] 0.9999123806185928 Centerline is valid? [True, True] Translation: X:192.05, Y:137.17, Z:8.96 [[-6.60960190e-01 -7.50325503e-01 1.19694259e-02 1.92051189e+02] [ 7.50194973e-01 -6.61068503e-01 -1.39977413e-02 1.37168591e+02] [ 1.84154727e-02 -2.72546588e-04 9.99830384e-01 8.95641226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.192755096 meters Centerline goodness [0,1] 0.9998243225438096 Centerline is valid? [True, True] Translation: X:192.03, Y:137.19, Z:8.95 [[-6.60568417e-01 -7.50655666e-01 1.28622309e-02 1.92033841e+02] [ 7.50505244e-01 -6.60693572e-01 -1.50294264e-02 1.37186938e+02] [ 1.97799173e-02 -2.74792703e-04 9.99804321e-01 8.95427379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.02, Y:137.21, Z:8.96 [[-6.60478519e-01 -7.50733111e-01 1.29584779e-02 1.92015355e+02] [ 7.50580684e-01 -6.60605574e-01 -1.51298537e-02 1.37206376e+02] [ 1.99189248e-02 -2.66560115e-04 9.99801563e-01 8.95795513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.252755096 meters Centerline goodness [0,1] 0.999845668805256 Centerline is valid? [True, True] Translation: X:192.00, Y:137.23, Z:8.95 [[-6.62037297e-01 -7.49348166e-01 1.35625648e-02 1.91997990e+02] [ 7.49181154e-01 -6.62176130e-01 -1.58231505e-02 1.37227801e+02] [ 2.08378555e-02 -3.14697813e-04 9.99782819e-01 8.95453575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters Centerline goodness [0,1] 0.9999558752151083 Centerline is valid? [True, True] Translation: X:191.98, Y:137.25, Z:8.96 [[-6.63422024e-01 -7.48124015e-01 1.34787206e-02 1.91982100e+02] [ 7.47959015e-01 -6.63558844e-01 -1.57153702e-02 1.37248333e+02] [ 2.07009701e-02 -3.44392157e-04 9.99785653e-01 8.95616506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.312755096 meters Centerline goodness [0,1] 0.9999339425300011 Centerline is valid? [True, True] Translation: X:191.96, Y:137.27, Z:8.96 [[-6.65409608e-01 -7.46356012e-01 1.35187955e-02 1.91963542e+02] [ 7.46189853e-01 -6.65546804e-01 -1.57529111e-02 1.37269667e+02] [ 2.07546710e-02 -3.94550383e-04 9.99784521e-01 8.95667334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:137.29, Z:8.96 [[-6.67374265e-01 -7.44598607e-01 1.35832402e-02 1.91948895e+02] [ 7.44430711e-01 -6.67512334e-01 -1.58176905e-02 1.37292673e+02] [ 2.08448106e-02 -4.44538417e-04 9.99782625e-01 8.95735300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.93, Y:137.31, Z:8.96 [[-6.71177393e-01 -7.41177361e-01 1.33051097e-02 1.91932619e+02] [ 7.41015815e-01 -6.71309046e-01 -1.54831021e-02 1.37313860e+02] [ 2.04075653e-02 -5.32611459e-04 9.99791602e-01 8.95944408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.92, Y:137.34, Z:8.96 [[-6.74561476e-01 -7.38104550e-01 1.29803045e-02 1.91918147e+02] [ 7.37950444e-01 -6.74686083e-01 -1.50941188e-02 1.37335747e+02] [ 1.98986686e-02 -6.03089606e-04 9.99801820e-01 8.96011553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.90, Y:137.36, Z:8.96 [[-6.76051907e-01 -7.36743857e-01 1.27400170e-02 1.91900562e+02] [ 7.36595369e-01 -6.76171649e-01 -1.48041802e-02 1.37356521e+02] [ 1.95213272e-02 -6.24156734e-04 9.99809246e-01 8.96021989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.88, Y:137.38, Z:8.96 [[-6.77376413e-01 -7.35530694e-01 1.24817023e-02 1.91883781e+02] [ 7.35388153e-01 -6.77491100e-01 -1.44939548e-02 1.37377029e+02] [ 1.91169908e-02 -6.38967118e-04 9.99817049e-01 8.96040612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.87, Y:137.40, Z:8.96 [[-6.78267109e-01 -7.34718109e-01 1.19594312e-02 1.91865859e+02] [ 7.34587297e-01 -6.78372247e-01 -1.38779485e-02 1.37397683e+02] [ 1.83093263e-02 -6.27709800e-04 9.99832173e-01 8.96108012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.85, Y:137.42, Z:8.96 [[-6.78799750e-01 -7.34246948e-01 1.05980623e-02 1.91847229e+02] [ 7.34144294e-01 -6.78882246e-01 -1.22903357e-02 1.37415870e+02] [ 1.62189778e-02 -5.62169808e-04 9.99868306e-01 8.96311441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.552755096 meters Centerline goodness [0,1] 0.9999121747722033 Centerline is valid? [True, True] Translation: X:191.82, Y:137.43, Z:8.96 [[-6.77964314e-01 -7.35020407e-01 1.04590191e-02 1.91823899e+02] [ 7.34920659e-01 -6.78044777e-01 -1.21204492e-02 1.37433051e+02] [ 1.60004608e-02 -5.30682830e-04 9.99871844e-01 8.96151535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.582755096 meters Centerline goodness [0,1] 0.9999562870194304 Centerline is valid? [True, True] Translation: X:191.81, Y:137.45, Z:8.96 [[-6.77147194e-01 -7.35773000e-01 1.04771431e-02 1.91807450e+02] [ 7.35673123e-01 -6.77228052e-01 -1.21334997e-02 1.37453968e+02] [ 1.60229167e-02 -5.08412714e-04 9.99871496e-01 8.96177839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.79, Y:137.47, Z:8.96 [[-6.76204091e-01 -7.36643062e-01 1.02482281e-02 1.91786268e+02] [ 7.36547733e-01 -6.76281581e-01 -1.18600580e-02 1.37472311e+02] [ 1.56673174e-02 -4.71510538e-04 9.99877149e-01 8.96291319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.77, Y:137.49, Z:8.96 [[-6.75283216e-01 -7.37488719e-01 1.01472987e-02 1.91768284e+02] [ 7.37395471e-01 -6.75359307e-01 -1.17356482e-02 1.37491898e+02] [ 1.55079808e-02 -4.42314172e-04 9.99879646e-01 8.96292534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:137.51, Z:8.96 [[-6.72508932e-01 -7.40019190e-01 1.01654297e-02 1.91747315e+02] [ 7.39926027e-01 -6.72585649e-01 -1.17481767e-02 1.37507457e+02] [ 1.55309984e-02 -3.79087733e-04 9.99879315e-01 8.96197844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.72, Y:137.52, Z:8.96 [[-6.69556680e-01 -7.42690106e-01 1.02595232e-02 1.91724816e+02] [ 7.42595662e-01 -6.69635205e-01 -1.18479900e-02 1.37522596e+02] [ 1.56695229e-02 -3.14223442e-04 9.99877176e-01 8.96164354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:137.54, Z:8.96 [[-6.68145225e-01 -7.43961838e-01 1.01362158e-02 1.91706136e+02] [ 7.43869928e-01 -6.68222050e-01 -1.16970770e-02 1.37540232e+02] [ 1.54754218e-02 -2.75319992e-04 9.99880211e-01 8.96188169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.69, Y:137.56, Z:8.96 [[-6.66795364e-01 -7.45176375e-01 9.80366662e-03 1.91686093e+02] [ 7.45090653e-01 -6.66867389e-01 -1.13050563e-02 1.37558054e+02] [ 1.49620064e-02 -2.33538742e-04 9.99888036e-01 8.96231064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7927550960001 meters Centerline goodness [0,1] 0.999934554973822 Centerline is valid? [True, True] Translation: X:191.66, Y:137.57, Z:8.96 [[-6.64295722e-01 -7.47406726e-01 9.71492833e-03 1.91663137e+02] [ 7.47322903e-01 -6.64366732e-01 -1.11948127e-02 1.37574379e+02] [ 1.48213535e-02 -1.76477764e-04 9.99890142e-01 8.96184036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.65, Y:137.59, Z:8.96 [[-6.63591316e-01 -7.48039244e-01 9.15723113e-03 1.91645063e+02] [ 7.47964928e-01 -6.63654479e-01 -1.05451078e-02 1.37592492e+02] [ 1.39653919e-02 -1.48354230e-04 9.99902468e-01 8.96296645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:137.61, Z:8.96 [[-6.62905810e-01 -7.48655090e-01 8.45243187e-03 1.91627644e+02] [ 7.48591916e-01 -6.62959683e-01 -9.72630989e-03 1.37610459e+02] [ 1.28852730e-02 -1.20205164e-04 9.99916974e-01 8.96376292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.61, Y:137.63, Z:8.96 [[-6.63018781e-01 -7.48556155e-01 8.35337470e-03 1.91609512e+02] [ 7.48494540e-01 -6.63071391e-01 -9.60491492e-03 1.37629765e+02] [ 1.27287020e-02 -1.15783628e-04 9.99918980e-01 8.96459056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:137.65, Z:8.97 [[-6.63308325e-01 -7.48304711e-01 7.88198400e-03 1.91594533e+02] [ 7.48249917e-01 -6.63355144e-01 -9.05621584e-03 1.37650505e+02] [ 1.20053636e-02 -1.09369489e-04 9.99927927e-01 8.96526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.57, Y:137.67, Z:8.97 [[-6.63836710e-01 -7.47840375e-01 7.45627856e-03 1.91574900e+02] [ 7.47791385e-01 -6.63878575e-01 -8.56047826e-03 1.37670042e+02] [ 1.13519349e-02 -1.07018853e-04 9.99935559e-01 8.96624121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:137.69, Z:8.97 [[-6.64685412e-01 -7.47091511e-01 6.89765759e-03 1.91557826e+02] [ 7.47049603e-01 -6.64721192e-01 -7.91382788e-03 1.37690318e+02] [ 1.04973728e-02 -1.07313584e-04 9.99944895e-01 8.96704103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.54, Y:137.71, Z:8.97 [[-6.66773645e-01 -7.45230940e-01 6.61455839e-03 1.91539727e+02] [ 7.45192367e-01 -6.66806441e-01 -7.58327273e-03 1.37711820e+02] [ 1.00619196e-02 -1.27207980e-04 9.99949370e-01 8.96691478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.52, Y:137.73, Z:8.97 [[-6.68253060e-01 -7.43905072e-01 6.56439691e-03 1.91522278e+02] [ 7.43867066e-01 -6.68285286e-01 -7.52101360e-03 1.37733409e+02] [ 9.98181002e-03 -1.42901683e-04 9.99950170e-01 8.96655406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.51, Y:137.76, Z:8.97 [[-6.69658663e-01 -7.42638619e-01 6.71983483e-03 1.91505338e+02] [ 7.42598788e-01 -6.69692359e-01 -7.69316176e-03 1.37755884e+02] [ 1.02134611e-02 -1.61651219e-04 9.99947828e-01 8.96628216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.49, Y:137.78, Z:8.97 [[-6.69927862e-01 -7.42395765e-01 6.72225845e-03 1.91487573e+02] [ 7.42355943e-01 -6.69961568e-01 -7.69104331e-03 1.37775905e+02] [ 1.02134528e-02 -1.62135689e-04 9.99947828e-01 8.96660369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.47, Y:137.80, Z:8.97 [[-6.73044559e-01 -7.39570313e-01 6.83916442e-03 1.91474535e+02] [ 7.39529011e-01 -6.73079275e-01 -7.81870231e-03 1.37799934e+02] [ 1.03857799e-02 -2.04574547e-04 9.99946045e-01 8.96690858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.46, Y:137.82, Z:8.97 [[-6.74833923e-01 -7.37938964e-01 6.72764375e-03 1.91457046e+02] [ 7.37898956e-01 -6.74867420e-01 -7.68743203e-03 1.37822096e+02] [ 1.02131232e-02 -2.23418614e-04 9.99947820e-01 8.96747181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.44, Y:137.84, Z:8.97 [[-6.76725661e-01 -7.36206619e-01 6.49574366e-03 1.91441999e+02] [ 7.36169286e-01 -6.76756794e-01 -7.41783309e-03 1.37844957e+02] [ 9.85709647e-03 -2.37871024e-04 9.99951389e-01 8.96770665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.43, Y:137.87, Z:8.97 [[-6.79707621e-01 -7.33456199e-01 6.28923702e-03 1.91426432e+02] [ 7.33421129e-01 -6.79736665e-01 -7.17725655e-03 1.37867993e+02] [ 9.53922830e-03 -2.65776656e-04 9.99954465e-01 8.96758344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:137.89, Z:8.97 [[-6.81213232e-01 -7.32055983e-01 6.52454389e-03 1.91408064e+02] [ 7.32018231e-01 -6.81244414e-01 -7.44025315e-03 1.37888768e+02] [ 9.89149092e-03 -2.92313820e-04 9.99951035e-01 8.96734274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:137.91, Z:8.97 [[-6.84200604e-01 -7.29264416e-01 6.55331781e-03 1.91392636e+02] [ 7.29226249e-01 -6.84231907e-01 -7.46822779e-03 1.37912581e+02] [ 9.93030191e-03 -3.30914597e-04 9.99950639e-01 8.96666480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.38, Y:137.94, Z:8.97 [[-6.85851372e-01 -7.27710556e-01 6.72620329e-03 1.91377842e+02] [ 7.27670327e-01 -6.85884259e-01 -7.66015434e-03 1.37935236e+02] [ 1.01877721e-02 -3.59268815e-04 9.99948039e-01 8.96670862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:137.96, Z:8.97 [[-6.87443409e-01 -7.26202996e-01 7.12520594e-03 1.91362262e+02] [ 7.26157837e-01 -6.87480217e-01 -8.10844939e-03 1.37957623e+02] [ 1.07868184e-02 -4.00075953e-04 9.99941741e-01 8.96640778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.35, Y:137.98, Z:8.96 [[-6.90419795e-01 -7.23367010e-01 7.78944439e-03 1.91345760e+02] [ 7.23312911e-01 -6.90463565e-01 -8.85992500e-03 1.37980058e+02] [ 1.17873050e-02 -4.82861908e-04 9.99930411e-01 8.96455720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.33, Y:138.00, Z:8.96 [[-6.92287083e-01 -7.21573350e-01 8.39618770e-03 1.91330521e+02] [ 7.21510450e-01 -6.92337779e-01 -9.54310674e-03 1.38002918e+02] [ 1.26990494e-02 -5.48632362e-04 9.99919213e-01 8.96329437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.31, Y:138.02, Z:8.96 [[-6.92883055e-01 -7.21003513e-01 8.18567944e-03 1.91310965e+02] [ 7.20943741e-01 -6.92931194e-01 -9.29956479e-03 1.38022103e+02] [ 1.23771315e-02 -5.42096503e-04 9.99923253e-01 8.96345670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:138.04, Z:8.96 [[-6.92906683e-01 -7.20984265e-01 7.87515999e-03 1.91292717e+02] [ 7.20929015e-01 -6.92951240e-01 -8.94059088e-03 1.38041829e+02] [ 1.19031272e-02 -5.17563839e-04 9.99929021e-01 8.96371910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.28, Y:138.06, Z:8.96 [[-6.92515743e-01 -7.21361688e-01 7.69812092e-03 1.91275600e+02] [ 7.21308989e-01 -6.92558351e-01 -8.73336950e-03 1.38062397e+02] [ 1.16313161e-02 -4.95272049e-04 9.99932231e-01 8.96419094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.25, Y:138.08, Z:8.96 [[-6.90404811e-01 -7.23387226e-01 7.21927823e-03 1.91254993e+02] [ 7.23341044e-01 -6.90442421e-01 -8.18517066e-03 1.38081967e+02] [ 1.09055438e-02 -4.29080945e-04 9.99940441e-01 8.96475820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.23, Y:138.10, Z:8.96 [[-6.88986020e-01 -7.24738782e-01 7.20848237e-03 1.91234874e+02] [ 7.24692867e-01 -6.89023610e-01 -8.16782206e-03 1.38101760e+02] [ 1.08863520e-02 -4.03579464e-04 9.99940660e-01 8.96477312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.21, Y:138.12, Z:8.97 [[-6.85885959e-01 -7.27674834e-01 7.05601962e-03 1.91213288e+02] [ 7.27631047e-01 -6.85922164e-01 -7.99019341e-03 1.38119076e+02] [ 1.06541429e-02 -3.46182514e-04 9.99943183e-01 8.96524821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.19, Y:138.14, Z:8.97 [[-6.84541878e-01 -7.28945671e-01 6.37377587e-03 1.91194843e+02] [ 7.28910045e-01 -6.84571489e-01 -7.21267818e-03 1.38138645e+02] [ 9.62095578e-03 -2.91471011e-04 9.99953675e-01 8.96608121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.18, Y:138.16, Z:8.97 [[-6.83337183e-01 -7.30076544e-01 6.20757119e-03 1.91175041e+02] [ 7.30042823e-01 -6.83365326e-01 -7.02193028e-03 1.38157852e+02] [ 9.36858550e-03 -2.66553260e-04 9.99956078e-01 8.96672442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.16, Y:138.18, Z:8.97 [[-6.81869091e-01 -7.31453941e-01 5.44744562e-03 1.91156178e+02] [ 7.31428046e-01 -6.81890816e-01 -6.15858009e-03 1.38176949e+02] [ 8.21928082e-03 -2.14930900e-04 9.99966198e-01 8.96765983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.692755096 meters Centerline goodness [0,1] 0.9999562411114757 Centerline is valid? [True, True] Translation: X:191.14, Y:138.20, Z:8.97 [[-6.81465054e-01 -7.31832833e-01 5.10725444e-03 1.91135964e+02] [ 7.31810108e-01 -6.81484164e-01 -5.77053037e-03 1.38195379e+02] [ 7.70357661e-03 -1.94874362e-04 9.99970308e-01 8.96802204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:138.22, Z:8.97 [[-6.80903474e-01 -7.32359465e-01 4.48023129e-03 1.91118233e+02] [ 7.32342008e-01 -6.80918194e-01 -5.05922181e-03 1.38216405e+02] [ 6.75583998e-03 -1.63780124e-04 9.99977166e-01 8.96936619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.10, Y:138.24, Z:8.97 [[-6.80736500e-01 -7.32514654e-01 4.48323749e-03 1.91099863e+02] [ 7.32497201e-01 -6.80751244e-01 -5.05900235e-03 1.38236472e+02] [ 6.75776285e-03 -1.59888642e-04 9.99977153e-01 8.96977476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.08, Y:138.26, Z:8.97 [[-6.80532020e-01 -7.32705170e-01 4.39366573e-03 1.91081288e+02] [ 7.32688434e-01 -6.80546186e-01 -4.95452820e-03 1.38255919e+02] [ 6.62030087e-03 -1.52527019e-04 9.99978074e-01 8.96956021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.06, Y:138.28, Z:8.97 [[-6.80228818e-01 -7.32986920e-01 4.35084573e-03 1.91063136e+02] [ 7.32970537e-01 -6.80242717e-01 -4.90294787e-03 1.38275155e+02] [ 6.55342778e-03 -1.46084708e-04 9.99978515e-01 8.96908929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.04, Y:138.30, Z:8.97 [[-6.80030993e-01 -7.33171717e-01 4.13296857e-03 1.91044659e+02] [ 7.33156957e-01 -6.80043539e-01 -4.65410271e-03 1.38295225e+02] [ 6.22285505e-03 -1.34819428e-04 9.99980629e-01 8.96968158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.03, Y:138.31, Z:8.97 [[-6.79982751e-01 -7.33218620e-01 3.73007551e-03 1.91027886e+02] [ 7.33206614e-01 -6.79992971e-01 -4.19769118e-03 1.38314600e+02] [ 5.61425046e-03 -1.19441562e-04 9.99984233e-01 8.97063757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.01, Y:138.33, Z:8.97 [[-6.80130481e-01 -7.33081460e-01 3.75521012e-03 1.91009245e+02] [ 7.33069302e-01 -6.80140837e-01 -4.22376164e-03 1.38334235e+02] [ 5.65043310e-03 -1.19879768e-04 9.99984029e-01 8.97062652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.99, Y:138.35, Z:8.97 [[-6.80384598e-01 -7.32845098e-01 3.85500525e-03 1.90992944e+02] [ 7.32832299e-01 -6.80395508e-01 -4.33292071e-03 1.38354723e+02] [ 5.79828796e-03 -1.22980160e-04 9.99983182e-01 8.97104859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.98, Y:138.37, Z:8.97 [[-6.80302107e-01 -7.32921136e-01 3.95624061e-03 1.90975779e+02] [ 7.32907676e-01 -6.80313600e-01 -4.44344844e-03 1.38373268e+02] [ 5.94818157e-03 -1.23328224e-04 9.99982302e-01 8.97080845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.96, Y:138.39, Z:8.97 [[-6.80005157e-01 -7.33196029e-01 4.07073762e-03 1.90955439e+02] [ 7.33181809e-01 -6.80017330e-01 -4.56789492e-03 1.38391912e+02] [ 6.11733454e-03 -1.21601328e-04 9.99981282e-01 8.97013517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.94, Y:138.41, Z:8.97 [[-6.78942775e-01 -7.34174812e-01 4.90459661e-03 1.90936439e+02] [ 7.34154234e-01 -6.78960476e-01 -5.49838372e-03 1.38411977e+02] [ 7.36680208e-03 -1.32357530e-04 9.99972856e-01 8.96888093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.92, Y:138.43, Z:8.97 [[-6.78276679e-01 -7.34785448e-01 5.57597544e-03 1.90918201e+02] [ 7.34758916e-01 -6.78299584e-01 -6.24576823e-03 1.38431848e+02] [ 8.37148142e-03 -1.39361262e-04 9.99964949e-01 8.96859719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.90, Y:138.45, Z:8.97 [[-6.77876175e-01 -7.35152893e-01 5.84074899e-03 1.90900758e+02] [ 7.35123837e-01 -6.77901323e-01 -6.53762206e-03 1.38451061e+02] [ 8.76560325e-03 -1.38024433e-04 9.99961572e-01 8.96865760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.88, Y:138.47, Z:8.97 [[-6.76924179e-01 -7.36025779e-01 6.30152926e-03 1.90880661e+02] [ 7.35992052e-01 -6.76953496e-01 -7.04723944e-03 1.38469206e+02] [ 9.45279216e-03 -1.32571318e-04 9.99955313e-01 8.96809047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.86, Y:138.49, Z:8.97 [[-6.76072857e-01 -7.36801184e-01 7.03613266e-03 1.90862475e+02] [ 7.36759246e-01 -6.76109457e-01 -7.86226367e-03 1.38488579e+02] [ 1.05501210e-02 -1.31527271e-04 9.99944337e-01 8.96745426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1727550960001 meters Centerline goodness [0,1] 0.9999558683995675 Centerline is valid? [True, True] Translation: X:190.84, Y:138.51, Z:8.97 [[-6.75789615e-01 -7.37061072e-01 7.02649275e-03 1.90843859e+02] [ 7.37019307e-01 -6.75826132e-01 -7.84737862e-03 1.38509057e+02] [ 1.05326847e-02 -1.24516162e-04 9.99944522e-01 8.96785699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.83, Y:138.53, Z:8.97 [[-6.75707397e-01 -7.37136757e-01 6.99397114e-03 1.90826439e+02] [ 7.37095438e-01 -6.75743581e-01 -7.80558220e-03 1.38529010e+02] [ 1.04799127e-02 -1.19065407e-04 9.99945077e-01 8.96867100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.232755096 meters Centerline goodness [0,1] 0.9999780156967925 Centerline is valid? [True, True] Translation: X:190.81, Y:138.55, Z:8.97 [[-6.75519672e-01 -7.37306612e-01 7.22033160e-03 1.90809070e+02] [ 7.37262653e-01 -6.75558248e-01 -8.05197369e-03 1.38549735e+02] [ 1.08145280e-02 -1.15985797e-04 9.99941515e-01 8.96898240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.79, Y:138.57, Z:8.97 [[-6.75950487e-01 -7.36908357e-01 7.55065158e-03 1.90793061e+02] [ 7.36860328e-01 -6.75992646e-01 -8.41419320e-03 1.38569006e+02] [ 1.13046742e-02 -1.23802390e-04 9.99936092e-01 8.96904371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2927550960001 meters Centerline goodness [0,1] 0.9999780316344464 Centerline is valid? [True, True] Translation: X:190.78, Y:138.59, Z:8.97 [[-6.76910687e-01 -7.36020483e-01 8.10991986e-03 1.90776841e+02] [ 7.35965107e-01 -6.76959252e-01 -9.02953154e-03 1.38590423e+02] [ 1.21360054e-02 -1.43568354e-04 9.99926346e-01 8.96846364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.322755096 meters Centerline goodness [0,1] 0.9999561018437225 Centerline is valid? [True, True] Translation: X:190.76, Y:138.61, Z:8.97 [[-6.77688114e-01 -7.35305842e-01 8.00864054e-03 1.90759551e+02] [ 7.35251869e-01 -6.77735417e-01 -8.91028967e-03 1.38611123e+02] [ 1.19795274e-02 -1.50029479e-04 9.99928232e-01 8.96874250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.74, Y:138.63, Z:8.97 [[-6.78738492e-01 -7.34336177e-01 8.02736168e-03 1.90742338e+02] [ 7.34281959e-01 -6.78785940e-01 -8.92486904e-03 1.38631864e+02] [ 1.20027145e-02 -1.63305292e-04 9.99927952e-01 8.96891328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.73, Y:138.66, Z:8.97 [[-6.80712175e-01 -7.32509124e-01 7.83063338e-03 1.90727060e+02] [ 7.32457480e-01 -6.80757188e-01 -8.70005249e-03 1.38655629e+02] [ 1.17036278e-02 -1.86625656e-04 9.99931493e-01 8.96939984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.71, Y:138.68, Z:8.97 [[-6.82033560e-01 -7.31279598e-01 7.76993197e-03 1.90709789e+02] [ 7.31228736e-01 -6.82077787e-01 -8.62718292e-03 1.38678144e+02] [ 1.16085809e-02 -2.02430751e-04 9.99932598e-01 8.96973490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.69, Y:138.70, Z:8.97 [[-6.84727159e-01 -7.28756390e-01 7.92727975e-03 1.90693832e+02] [ 7.28703343e-01 -6.84773002e-01 -8.79623738e-03 1.38701877e+02] [ 1.18387013e-02 -2.46387377e-04 9.99929890e-01 8.96995309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.68, Y:138.72, Z:8.97 [[-6.85783843e-01 -7.27758090e-01 8.28756840e-03 1.90677554e+02] [ 7.27700114e-01 -6.85833864e-01 -9.18995627e-03 1.38724185e+02] [ 1.23719601e-02 -2.71459060e-04 9.99923428e-01 8.97007354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:138.75, Z:8.97 [[-6.87104935e-01 -7.26511904e-01 8.20127477e-03 1.90660824e+02] [ 7.26455092e-01 -6.87153818e-01 -9.09006854e-03 1.38745982e+02] [ 1.22395803e-02 -2.87973140e-04 9.99925052e-01 8.97019485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.64, Y:138.77, Z:8.97 [[-6.89046244e-01 -7.24674100e-01 7.91977025e-03 1.90643762e+02] [ 7.24621069e-01 -6.89091689e-01 -8.77214288e-03 1.38767876e+02] [ 1.18143926e-02 -3.05579715e-04 9.99930161e-01 8.97038578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.63, Y:138.79, Z:8.97 [[-6.89851250e-01 -7.23912398e-01 7.48957982e-03 1.90625355e+02] [ 7.23864985e-01 -6.89891841e-01 -8.29046063e-03 1.38788552e+02] [ 1.11685672e-02 -2.97740040e-04 9.99937585e-01 8.97127030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.61, Y:138.81, Z:8.97 [[-6.90334512e-01 -7.23454874e-01 7.16282732e-03 1.90607565e+02] [ 7.23411540e-01 -6.90371612e-01 -7.92352468e-03 1.38807583e+02] [ 1.06773252e-02 -2.88210611e-04 9.99942954e-01 8.97182846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.59, Y:138.83, Z:8.97 [[-6.90776557e-01 -7.23031574e-01 7.28639696e-03 1.90588368e+02] [ 7.22986773e-01 -6.90814922e-01 -8.05417633e-03 1.38827219e+02] [ 1.08569755e-02 -2.95667569e-04 9.99941018e-01 8.97182760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.57, Y:138.85, Z:8.97 [[-6.91242063e-01 -7.22580692e-01 7.84563808e-03 1.90568829e+02] [ 7.22528798e-01 -6.91286511e-01 -8.66579709e-03 1.38846905e+02] [ 1.16853214e-02 -3.21464013e-04 9.99931673e-01 8.97147850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.55, Y:138.87, Z:8.97 [[-6.91734265e-01 -7.22102422e-01 8.47343539e-03 1.90551062e+02] [ 7.22041944e-01 -6.91786072e-01 -9.35207305e-03 1.38866830e+02] [ 1.26149592e-02 -3.50973615e-04 9.99920367e-01 8.97059311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.712755096 meters Centerline goodness [0,1] 0.9999341224005798 Centerline is valid? [True, True] Translation: X:190.53, Y:138.89, Z:8.97 [[-6.92082882e-01 -7.21766768e-01 8.60329819e-03 1.90532191e+02] [ 7.21704488e-01 -6.92136262e-01 -9.48829345e-03 1.38886198e+02] [ 1.28029895e-02 -3.57646568e-04 9.99917974e-01 8.97052971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.51, Y:138.91, Z:8.97 [[-6.92460333e-01 -7.21399501e-01 9.02485069e-03 1.90513523e+02] [ 7.21331033e-01 -6.92519038e-01 -9.94594480e-03 1.38905242e+02] [ 1.34248805e-02 -3.77267372e-04 9.99909811e-01 8.97039156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.49, Y:138.92, Z:8.97 [[-6.92627617e-01 -7.21234589e-01 9.36230704e-03 1.90492645e+02] [ 7.21160998e-01 -6.92690780e-01 -1.03101124e-02 1.38923102e+02] [ 1.39211934e-02 -3.89337877e-04 9.99903020e-01 8.97039496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:138.94, Z:8.97 [[-6.92666666e-01 -7.21196046e-01 9.44204532e-03 1.90476595e+02] [ 7.21121298e-01 -6.92730909e-01 -1.03904890e-02 1.38944355e+02] [ 1.40343763e-02 -3.88285428e-04 9.99901438e-01 8.97033930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:138.96, Z:8.97 [[-6.92158734e-01 -7.21688089e-01 9.08785207e-03 1.90452695e+02] [ 7.21618981e-01 -6.92218299e-01 -9.99363099e-03 1.38959228e+02] [ 1.35030620e-02 -3.59212428e-04 9.99908765e-01 8.97147856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.43, Y:138.98, Z:8.97 [[-6.91389675e-01 -7.22436895e-01 8.07771604e-03 1.90433804e+02] [ 7.22382414e-01 -6.91436794e-01 -8.87732161e-03 1.38977897e+02] [ 1.19985347e-02 -3.02488489e-04 9.99927969e-01 8.97353957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.41, Y:139.00, Z:8.97 [[-6.91170957e-01 -7.22651985e-01 7.53769696e-03 1.90414835e+02] [ 7.22604620e-01 -6.91212003e-01 -8.27824708e-03 1.38995830e+02] [ 1.11924383e-02 -2.74909314e-04 9.99937325e-01 8.97484557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.39, Y:139.01, Z:8.98 [[-6.90988729e-01 -7.22828871e-01 7.28005381e-03 1.90394337e+02] [ 7.22784760e-01 -6.91027030e-01 -7.98969456e-03 1.39013308e+02] [ 1.08058959e-02 -2.58876947e-04 9.99941581e-01 8.97549544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.38, Y:139.03, Z:8.98 [[-6.91260669e-01 -7.22568782e-01 7.28306030e-03 1.90376660e+02] [ 7.22524685e-01 -6.91298987e-01 -7.98695291e-03 1.39032303e+02] [ 1.08058950e-02 -2.58875571e-04 9.99941581e-01 8.97580679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.36, Y:139.05, Z:8.98 [[-6.90687932e-01 -7.23113356e-01 7.56666912e-03 1.90358076e+02] [ 7.23065863e-01 -6.90729331e-01 -8.29146285e-03 1.39049347e+02] [ 1.12221878e-02 -2.55613184e-04 9.99936997e-01 8.97583179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.34, Y:139.07, Z:8.98 [[-6.90639535e-01 -7.23157132e-01 7.79707667e-03 1.90340120e+02] [ 7.23106787e-01 -6.90683499e-01 -8.53693824e-03 1.39067127e+02] [ 1.15588600e-02 -2.57828008e-04 9.99933161e-01 8.97569782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:139.08, Z:8.98 [[-6.90585401e-01 -7.23209887e-01 7.69826097e-03 1.90320381e+02] [ 7.23160868e-01 -6.90628263e-01 -8.42390093e-03 1.39084121e+02] [ 1.14088850e-02 -2.50341923e-04 9.99934885e-01 8.97550535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.30, Y:139.10, Z:8.98 [[-6.90559175e-01 -7.23237867e-01 7.41712246e-03 1.90301159e+02] [ 7.23192431e-01 -6.90598967e-01 -8.11022607e-03 1.39102216e+02] [ 1.09878797e-02 -2.36584206e-04 9.99939603e-01 8.97594793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.28, Y:139.12, Z:8.98 [[-6.90645504e-01 -7.23154874e-01 7.47098044e-03 1.90281648e+02] [ 7.23108838e-01 -6.90685871e-01 -8.16312569e-03 1.39120429e+02] [ 1.10633048e-02 -2.35494070e-04 9.99938772e-01 8.97635056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.132755096 meters Centerline goodness [0,1] 0.9999781697520084 Centerline is valid? [True, True] Translation: X:190.26, Y:139.14, Z:8.98 [[-6.90252516e-01 -7.23530948e-01 7.37784081e-03 1.90263163e+02] [ 7.23486136e-01 -6.90291908e-01 -8.05556232e-03 1.39137741e+02] [ 1.09213125e-02 -2.22606614e-04 9.99940336e-01 8.97702290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:139.16, Z:8.98 [[-6.90371279e-01 -7.23419110e-01 7.23109325e-03 1.90244458e+02] [ 7.23376121e-01 -6.90409114e-01 -7.88941539e-03 1.39156532e+02] [ 1.06997665e-02 -2.15825601e-04 9.99942733e-01 8.97773806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.23, Y:139.17, Z:8.98 [[-6.90454506e-01 -7.23345083e-01 6.66829937e-03 1.90226559e+02] [ 7.23308571e-01 -6.90486678e-01 -7.27038959e-03 1.39174115e+02] [ 9.86337244e-03 -1.96635171e-04 9.99951336e-01 8.97932345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:139.19, Z:8.98 [[-6.90646464e-01 -7.23164155e-01 6.40832401e-03 1.90208280e+02] [ 7.23130460e-01 -6.90676168e-01 -6.98351987e-03 1.39191503e+02] [ 9.47630791e-03 -1.89089016e-04 9.99955081e-01 8.97968561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:139.21, Z:8.98 [[-6.90849399e-01 -7.22972523e-01 6.15134690e-03 1.90186217e+02] [ 7.22941514e-01 -6.90876761e-01 -6.69836300e-03 1.39208424e+02] [ 9.09255502e-03 -1.80496017e-04 9.99958646e-01 8.97948839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.17, Y:139.23, Z:8.98 [[-6.91271682e-01 -7.22569959e-01 6.00966628e-03 1.90166115e+02] [ 7.22540386e-01 -6.91297782e-01 -6.53964328e-03 1.39226689e+02] [ 8.87981874e-03 -1.78443617e-04 9.99960558e-01 8.97947426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.15, Y:139.25, Z:8.98 [[-6.91749632e-01 -7.22110966e-01 6.18051983e-03 1.90146623e+02] [ 7.22079715e-01 -6.91777217e-01 -6.72063956e-03 1.39245799e+02] [ 9.12859033e-03 -1.86171946e-04 9.99958316e-01 8.97872945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:139.27, Z:8.98 [[-6.92300039e-01 -7.21581333e-01 6.40587574e-03 1.90129700e+02] [ 7.21547788e-01 -6.92329647e-01 -6.96058116e-03 1.39265409e+02] [ 9.45760313e-03 -1.96665137e-04 9.99955257e-01 8.97886733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.11, Y:139.28, Z:8.98 [[-6.92662268e-01 -7.21232116e-01 6.57404866e-03 1.90109322e+02] [ 7.21196823e-01 -6.92693434e-01 -7.13779491e-03 1.39284117e+02] [ 9.70180727e-03 -2.02898196e-04 9.99952916e-01 8.97865466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:139.30, Z:8.98 [[-6.92922188e-01 -7.20977407e-01 7.10073152e-03 1.90090431e+02] [ 7.20936282e-01 -6.92958535e-01 -7.70362890e-03 1.39301939e+02] [ 1.04746549e-02 -2.18840420e-04 9.99945115e-01 8.97782657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:139.32, Z:8.98 [[-6.92795102e-01 -7.21096329e-01 7.41831160e-03 1.90071090e+02] [ 7.21051520e-01 -6.92834782e-01 -8.04178277e-03 1.39321119e+02] [ 1.09385643e-02 -2.22322855e-04 9.99940147e-01 8.97716076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.05, Y:139.34, Z:8.98 [[-6.92094741e-01 -7.21762964e-01 7.94305567e-03 1.90051309e+02] [ 7.21711712e-01 -6.92140285e-01 -8.60416347e-03 1.39339499e+02] [ 1.17078754e-02 -2.22299990e-04 9.99931436e-01 8.97635911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.03, Y:139.36, Z:8.98 [[-6.91832466e-01 -7.22012130e-01 8.14395041e-03 1.90031992e+02] [ 7.21958348e-01 -6.91880363e-01 -8.81513775e-03 1.39358490e+02] [ 1.19992757e-02 -2.19005498e-04 9.99927982e-01 8.97621630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.01, Y:139.38, Z:8.98 [[-6.91614500e-01 -7.22222415e-01 8.01043774e-03 1.90013156e+02] [ 7.22170467e-01 -6.91660856e-01 -8.66466792e-03 1.39377707e+02] [ 1.17983236e-02 -2.07708401e-04 9.99930376e-01 8.97677744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.99, Y:139.40, Z:8.98 [[-6.91215920e-01 -7.22608664e-01 7.56774884e-03 1.89994505e+02] [ 7.22562389e-01 -6.91257321e-01 -8.17988236e-03 1.39396135e+02] [ 1.11421157e-02 -1.85894225e-04 9.99937907e-01 8.97777827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.98, Y:139.41, Z:8.98 [[-6.91085792e-01 -7.22734974e-01 7.38818172e-03 1.89975870e+02] [ 7.22690941e-01 -6.91125261e-01 -7.97981531e-03 1.39414777e+02] [ 1.08734506e-02 -1.75364981e-04 9.99940867e-01 8.97803255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.96, Y:139.43, Z:8.98 [[-6.90456925e-01 -7.23336752e-01 7.29230204e-03 1.89957364e+02] [ 7.23293953e-01 -6.90495415e-01 -7.87017864e-03 1.39432292e+02] [ 1.07280906e-02 -1.59541378e-04 9.99942440e-01 8.97802355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.94, Y:139.45, Z:8.98 [[-6.90230042e-01 -7.23555034e-01 7.11355464e-03 1.89938015e+02] [ 7.23514365e-01 -6.90266681e-01 -7.67291484e-03 1.39450689e+02] [ 1.04620259e-02 -1.49317366e-04 9.99945260e-01 8.97840089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.92, Y:139.47, Z:8.98 [[-6.90055124e-01 -7.23725024e-01 6.78350231e-03 1.89920683e+02] [ 7.23688100e-01 -6.90088452e-01 -7.31178411e-03 1.39468691e+02] [ 9.97293773e-03 -1.36394187e-04 9.99950260e-01 8.97931857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.90, Y:139.49, Z:8.98 [[-6.90071776e-01 -7.23714483e-01 6.18800058e-03 1.89902011e+02] [ 7.23683800e-01 -6.90099510e-01 -6.66520740e-03 1.39487911e+02] [ 9.09404329e-03 -1.21315738e-04 9.99958641e-01 8.98057104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.89, Y:139.51, Z:8.98 [[-6.90441868e-01 -7.23362554e-01 6.05322787e-03 1.89885462e+02] [ 7.23333221e-01 -6.90468392e-01 -6.51547434e-03 1.39506578e+02] [ 8.89261267e-03 -1.20055466e-04 9.99960453e-01 8.98094371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.87, Y:139.53, Z:8.98 [[-6.90977807e-01 -7.22848750e-01 6.27333017e-03 1.89866498e+02] [ 7.22817273e-01 -6.91006272e-01 -6.74700236e-03 1.39525452e+02] [ 9.21197272e-03 -1.27557489e-04 9.99957561e-01 8.98073030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.85, Y:139.54, Z:8.98 [[-6.91346398e-01 -7.22495330e-01 6.37618817e-03 1.89849907e+02] [ 7.22462847e-01 -6.91375788e-01 -6.85230383e-03 1.39544705e+02] [ 9.35909964e-03 -1.30756512e-04 9.99956194e-01 8.98077266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.83, Y:139.56, Z:8.98 [[-6.91618302e-01 -7.22231740e-01 6.74084279e-03 1.89832468e+02] [ 7.22195484e-01 -6.91651137e-01 -7.23791654e-03 1.39562937e+02] [ 9.88976463e-03 -1.37669325e-04 9.99951086e-01 8.98056146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.81, Y:139.58, Z:8.98 [[-6.91944667e-01 -7.21920529e-01 6.58242486e-03 1.89813244e+02] [ 7.21885993e-01 -6.91975962e-01 -7.06265923e-03 1.39580601e+02] [ 9.65355846e-03 -1.35209078e-04 9.99953394e-01 8.98058597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:139.60, Z:8.98 [[-6.92388796e-01 -7.21493913e-01 6.65503985e-03 1.89794550e+02] [ 7.21458646e-01 -6.92420764e-01 -7.13493528e-03 1.39600285e+02] [ 9.75590015e-03 -1.38813206e-04 9.99952400e-01 8.98105876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.78, Y:139.62, Z:8.98 [[-6.93594068e-01 -7.20335083e-01 6.68104240e-03 1.89778445e+02] [ 7.20299538e-01 -6.93626228e-01 -7.15754423e-03 1.39622523e+02] [ 9.78997645e-03 -1.52078467e-04 9.99952065e-01 8.98181106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.76, Y:139.64, Z:8.98 [[-6.94638177e-01 -7.19326541e-01 6.86516230e-03 1.89759428e+02] [ 7.19289012e-01 -6.94672081e-01 -7.34972443e-03 1.39641434e+02] [ 1.00558884e-02 -1.67363373e-04 9.99949424e-01 8.98149911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:139.66, Z:8.98 [[-6.95882214e-01 -7.18119939e-01 7.19010843e-03 1.89742192e+02] [ 7.18078770e-01 -6.95919332e-01 -7.69175684e-03 1.39663041e+02] [ 1.05273394e-02 -1.89492556e-04 9.99944568e-01 8.98147500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.73, Y:139.69, Z:8.98 [[-6.98024708e-01 -7.16034341e-01 7.50527940e-03 1.89728282e+02] [ 7.15989424e-01 -6.98065019e-01 -8.02334256e-03 1.39685716e+02] [ 1.09841618e-02 -2.26790678e-04 9.99939647e-01 8.98196886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.71, Y:139.71, Z:8.98 [[-7.00081106e-01 -7.14017248e-01 8.11260317e-03 1.89712492e+02] [ 7.13964713e-01 -7.00128056e-01 -8.66565063e-03 1.39707700e+02] [ 1.18672851e-02 -2.74545889e-04 9.99929544e-01 8.98231326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:139.73, Z:8.98 [[-7.00747428e-01 -7.13360885e-01 8.32404050e-03 1.89694877e+02] [ 7.13305612e-01 -7.00796807e-01 -8.88476798e-03 1.39728547e+02] [ 1.21715070e-02 -2.88393510e-04 9.99925883e-01 8.98252024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.68, Y:139.75, Z:8.98 [[-7.01299907e-01 -7.12815863e-01 8.48452943e-03 1.89676934e+02] [ 7.12758478e-01 -7.01351165e-01 -9.04964370e-03 1.39748891e+02] [ 1.24013642e-02 -2.99094002e-04 9.99923055e-01 8.98287728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:139.77, Z:8.98 [[-7.00994783e-01 -7.13111089e-01 8.88194874e-03 1.89660066e+02] [ 7.13048315e-01 -7.01050985e-01 -9.46658407e-03 1.39768498e+02] [ 1.29774250e-02 -3.02767461e-04 9.99915744e-01 8.98246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:139.79, Z:8.98 [[-7.00767040e-01 -7.13324711e-01 9.66499725e-03 1.89640040e+02] [ 7.13250525e-01 -7.00833615e-01 -1.02924126e-02 1.39787035e+02] [ 1.41153872e-02 -3.19019184e-04 9.99900322e-01 8.98184534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.62, Y:139.81, Z:8.98 [[-7.00310585e-01 -7.13761457e-01 1.04721767e-02 1.89622087e+02] [ 7.13674538e-01 -7.00388802e-01 -1.11436100e-02 1.39808023e+02] [ 1.52884746e-02 -3.30262219e-04 9.99883070e-01 8.98135834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.212755096 meters Centerline goodness [0,1] 0.9999340963511346 Centerline is valid? [True, True] Translation: X:189.60, Y:139.83, Z:8.98 [[-7.00220251e-01 -7.13846579e-01 1.07080375e-02 1.89603984e+02] [ 7.13755840e-01 -7.00302044e-01 -1.13863149e-02 1.39828327e+02] [ 1.56269425e-02 -3.30003972e-04 9.99877837e-01 8.98059643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.59, Y:139.85, Z:8.98 [[-6.99006275e-01 -7.15031268e-01 1.09778563e-02 1.89585506e+02] [ 7.14936177e-01 -6.99092406e-01 -1.16649153e-02 1.39849794e+02] [ 1.60153151e-02 -3.05382367e-04 9.99871700e-01 8.98236621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.57, Y:139.87, Z:8.98 [[-6.98066874e-01 -7.15940559e-01 1.14784658e-02 1.89568170e+02] [ 7.15836861e-01 -6.98161179e-01 -1.21884171e-02 1.39869346e+02] [ 1.67400014e-02 -2.91621276e-04 9.99859834e-01 8.98249068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:139.89, Z:8.98 [[-6.97067051e-01 -7.16907197e-01 1.18995055e-02 1.89549240e+02] [ 7.16796058e-01 -6.97168557e-01 -1.26258960e-02 1.39888368e+02] [ 1.73475568e-02 -2.71577415e-04 9.99849483e-01 8.98270219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.53, Y:139.91, Z:8.98 [[-6.94114891e-01 -7.19765599e-01 1.19164250e-02 1.89529185e+02] [ 7.19654704e-01 -6.94217145e-01 -1.26357745e-02 1.39907018e+02] [ 1.73673824e-02 -1.94967929e-04 9.99849157e-01 8.98298938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.51, Y:139.93, Z:8.98 [[-6.92648800e-01 -7.21175004e-01 1.20105694e-02 1.89508835e+02] [ 7.21062683e-01 -6.92752906e-01 -1.27286577e-02 1.39925443e+02] [ 1.74999467e-02 -1.56116092e-04 9.99846852e-01 8.98376472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.49, Y:139.94, Z:8.98 [[-6.91335297e-01 -7.22435751e-01 1.19202824e-02 1.89488759e+02] [ 7.22325455e-01 -6.91438047e-01 -1.26239603e-02 1.39944179e+02] [ 1.73621370e-02 -1.17065901e-04 9.99849260e-01 8.98431924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:139.96, Z:8.98 [[-6.88927916e-01 -7.24729270e-01 1.20752321e-02 1.89468775e+02] [ 7.24616605e-01 -6.89033731e-01 -1.27786477e-02 1.39961703e+02] [ 1.75813022e-02 -5.36534170e-05 9.99845436e-01 8.98476637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.45, Y:139.98, Z:8.99 [[-6.87951819e-01 -7.25662166e-01 1.16925490e-02 1.89449396e+02] [ 7.25556820e-01 -6.88051176e-01 -1.23645024e-02 1.39979292e+02] [ 1.70175236e-02 -2.25732434e-05 9.99855191e-01 8.98573231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.43, Y:140.00, Z:8.99 [[-6.87132614e-01 -7.26437729e-01 1.17045742e-02 1.89431029e+02] [ 7.26332432e-01 -6.87232294e-01 -1.23682378e-02 1.39996578e+02] [ 1.70285160e-02 2.79228759e-06 9.99855004e-01 8.98661838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.41, Y:140.01, Z:8.99 [[-6.87224113e-01 -7.26345816e-01 1.20322185e-02 1.89413186e+02] [ 7.26234678e-01 -6.87329437e-01 -1.27058025e-02 1.40014959e+02] [ 1.74989044e-02 6.48052724e-06 9.99846882e-01 8.98594469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.40, Y:140.03, Z:8.99 [[-6.87609505e-01 -7.25975492e-01 1.23593495e-02 1.89395103e+02] [ 7.25858355e-01 -6.87720572e-01 -1.30408711e-02 1.40033996e+02] [ 1.79671317e-02 4.11019895e-06 9.99838578e-01 8.98649989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.38, Y:140.05, Z:8.99 [[-6.88424427e-01 -7.25192893e-01 1.29257855e-02 1.89377058e+02] [ 7.25064832e-01 -6.88545763e-01 -1.36279822e-02 1.40052782e+02] [ 1.87829107e-02 -9.80330777e-06 9.99823586e-01 8.98607778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.36, Y:140.07, Z:8.99 [[-6.89220361e-01 -7.24439091e-01 1.27787814e-02 1.89359266e+02] [ 7.24313985e-01 -6.89338816e-01 -1.34628421e-02 1.40070763e+02] [ 1.85619191e-02 -2.30148360e-05 9.99827712e-01 8.98633711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:140.09, Z:8.99 [[-6.90806337e-01 -7.22916978e-01 1.33284387e-02 1.89341454e+02] [ 7.22780810e-01 -6.90934902e-01 -1.40307417e-02 1.40088456e+02] [ 1.93521449e-02 -5.89855360e-05 9.99812728e-01 8.98603009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.32, Y:140.11, Z:8.99 [[-6.92044308e-01 -7.21726952e-01 1.35971696e-02 1.89323215e+02] [ 7.21585225e-01 -6.92177867e-01 -1.43025861e-02 1.40107350e+02] [ 1.97342217e-02 -8.65065838e-05 9.99805258e-01 8.98668690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:140.13, Z:8.99 [[-6.93939775e-01 -7.19905075e-01 1.35746513e-02 1.89306418e+02] [ 7.19763682e-01 -6.94072522e-01 -1.42680198e-02 1.40126854e+02] [ 1.96934123e-02 -1.30605397e-04 9.99806057e-01 8.98654344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:140.15, Z:8.99 [[-6.97971811e-01 -7.15989259e-01 1.39546272e-02 1.89289288e+02] [ 7.15839277e-01 -6.98111254e-01 -1.46562567e-02 1.40148626e+02] [ 2.02356047e-02 -2.40383799e-04 9.99795210e-01 8.98791118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.27, Y:140.17, Z:8.99 [[-7.00108089e-01 -7.13888991e-01 1.45317741e-02 1.89271158e+02] [ 7.13726111e-01 -7.00258820e-01 -1.52520042e-02 1.40169672e+02] [ 2.10642409e-02 -3.06344902e-04 9.99778077e-01 8.98795579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:140.19, Z:8.99 [[-7.04460996e-01 -7.09564203e-01 1.59168908e-02 1.89255739e+02] [ 7.09367923e-01 -7.04640633e-01 -1.66951792e-02 1.40191947e+02] [ 2.30619895e-02 -4.70170834e-04 9.99733926e-01 8.98690014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.24, Y:140.21, Z:8.99 [[-7.06295329e-01 -7.07724117e-01 1.65373205e-02 1.89236437e+02] [ 7.07511987e-01 -7.06488697e-01 -1.73352305e-02 1.40212026e+02] [ 2.39519907e-02 -5.43439892e-04 9.99712962e-01 8.98783355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.22, Y:140.23, Z:8.99 [[-7.08241410e-01 -7.05766012e-01 1.69835549e-02 1.89217952e+02] [ 7.05541995e-01 -7.08444743e-01 -1.77915508e-02 1.40233384e+02] [ 2.45885821e-02 -6.18101763e-04 9.99697464e-01 8.98786006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:140.25, Z:8.99 [[-7.08492614e-01 -7.05513693e-01 1.69895422e-02 1.89199315e+02] [ 7.05289741e-01 -7.08696018e-01 -1.77858326e-02 1.40252606e+02] [ 2.45885693e-02 -6.18581244e-04 9.99697464e-01 8.98818168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.18, Y:140.27, Z:8.99 [[-7.10965086e-01 -7.02984571e-01 1.84753645e-02 1.89182695e+02] [ 7.02719214e-01 -7.11204694e-01 -1.93284452e-02 1.40273272e+02] [ 2.67273647e-02 -7.58856029e-04 9.99642472e-01 8.98643428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.16, Y:140.29, Z:8.99 [[-7.12110384e-01 -7.01817708e-01 1.87271571e-02 1.89163206e+02] [ 7.01544985e-01 -7.12356130e-01 -1.95800446e-02 1.40293352e+02] [ 2.70820272e-02 -8.05209963e-04 9.99632890e-01 8.98711413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.15, Y:140.31, Z:8.99 [[-7.13222391e-01 -7.00675711e-01 1.91668910e-02 1.89147206e+02] [ 7.00389997e-01 -7.13479370e-01 -2.00259887e-02 1.40313914e+02] [ 2.77069052e-02 -8.58684828e-04 9.99615721e-01 8.98728924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.13, Y:140.33, Z:8.99 [[-7.13361705e-01 -7.00524428e-01 1.95090506e-02 1.89125940e+02] [ 7.00228782e-01 -7.13627893e-01 -2.03686909e-02 1.40331356e+02] [ 2.81909682e-02 -8.69445346e-04 9.99602178e-01 8.98944195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.11, Y:140.35, Z:8.99 [[-7.12989860e-01 -7.00869053e-01 2.06888959e-02 1.89108069e+02] [ 7.00537186e-01 -7.13289400e-01 -2.15843427e-02 1.40350440e+02] [ 2.98849679e-02 -8.96076538e-04 9.99552943e-01 8.98953100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.09, Y:140.37, Z:8.99 [[-7.12676934e-01 -7.01179501e-01 2.09498150e-02 1.89087005e+02] [ 7.00839828e-01 -7.12984241e-01 -2.18404995e-02 1.40368164e+02] [ 3.02509985e-02 -8.82755478e-04 9.99541944e-01 8.99099433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:140.39, Z:8.99 [[-7.12045816e-01 -7.01805565e-01 2.14407302e-02 1.89067910e+02] [ 7.01450568e-01 -7.12368024e-01 -2.23360564e-02 1.40387126e+02] [ 3.09492593e-02 -8.64683115e-04 9.99520583e-01 8.99122590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:140.41, Z:8.99 [[-7.10622772e-01 -7.03224717e-01 2.21421110e-02 1.89047969e+02] [ 7.02847293e-01 -7.10967178e-01 -2.30511261e-02 1.40405924e+02] [ 3.19524358e-02 -8.18132381e-04 9.99489056e-01 8.99193988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:140.42, Z:8.99 [[-7.10137431e-01 -7.03706172e-01 2.24154503e-02 1.89027720e+02] [ 7.03320128e-01 -7.10490670e-01 -2.33196279e-02 1.40424423e+02] [ 3.23361344e-02 -7.94903250e-04 9.99476734e-01 8.99317803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.01, Y:140.44, Z:8.99 [[-7.09719588e-01 -7.04124418e-01 2.25146515e-02 1.89009841e+02] [ 7.03735720e-01 -7.10076204e-01 -2.34055885e-02 1.40443030e+02] [ 3.24675647e-02 -7.67040172e-04 9.99472495e-01 8.99440773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.99, Y:140.46, Z:9.00 [[-7.10092830e-01 -7.03738658e-01 2.28051307e-02 1.88990504e+02] [ 7.03340231e-01 -7.10458506e-01 -2.36903001e-02 1.40462305e+02] [ 3.28738791e-02 -7.82546363e-04 9.99459202e-01 8.99634404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:140.48, Z:9.00 [[-7.10556221e-01 -7.03278692e-01 2.25596689e-02 1.88973196e+02] [ 7.02889123e-01 -7.10913826e-01 -2.34182229e-02 1.40481430e+02] [ 3.25075177e-02 -7.83018050e-04 9.99471184e-01 8.99728692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.96, Y:140.50, Z:9.00 [[-7.11835097e-01 -7.01986180e-01 2.24988334e-02 1.88957424e+02] [ 7.01598490e-01 -7.12190082e-01 -2.33419454e-02 1.40504183e+02] [ 3.24091691e-02 -8.30468432e-04 9.99474340e-01 8.99874710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2927550960001 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:188.94, Y:140.52, Z:9.00 [[-7.12652620e-01 -7.01156059e-01 2.25038907e-02 1.88937399e+02] [ 7.00768241e-01 -7.13007324e-01 -2.33329788e-02 1.40523234e+02] [ 3.24054984e-02 -8.58296570e-04 9.99474435e-01 9.00200565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.92, Y:140.54, Z:9.00 [[-7.13114795e-01 -7.00676081e-01 2.28105076e-02 1.88917219e+02] [ 7.00277927e-01 -7.13478980e-01 -2.36340681e-02 1.40542061e+02] [ 3.28346439e-02 -8.80108645e-04 9.99460410e-01 9.00467320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.352755096 meters Centerline goodness [0,1] 0.9999782509406469 Centerline is valid? [True, True] Translation: X:188.90, Y:140.56, Z:9.00 [[-7.13493419e-01 -7.00279670e-01 2.31414237e-02 1.88899311e+02] [ 6.99870258e-01 -7.13868038e-01 -2.39592506e-02 1.40561843e+02] [ 3.32980988e-02 -8.98773457e-04 9.99445060e-01 9.00498880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.88, Y:140.58, Z:9.01 [[-7.14017639e-01 -6.99724538e-01 2.37567283e-02 1.88880075e+02] [ 6.99293320e-01 -7.14412131e-01 -2.45796707e-02 1.40582391e+02] [ 3.41710936e-02 -9.37397006e-04 9.99415558e-01 9.00646748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.86, Y:140.60, Z:9.01 [[-7.14211080e-01 -6.99513628e-01 2.41499069e-02 1.88861061e+02] [ 6.99068486e-01 -7.14618626e-01 -2.49694043e-02 1.40601804e+02] [ 3.47244119e-02 -9.50986340e-04 9.99396473e-01 9.00744190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.442755096 meters Centerline goodness [0,1] 0.9998907939281424 Centerline is valid? [True, True] Translation: X:188.84, Y:140.62, Z:9.01 [[-7.14728007e-01 -6.98983654e-01 2.42018018e-02 1.88842275e+02] [ 6.98536913e-01 -7.15136992e-01 -2.50052848e-02 1.40620906e+02] [ 3.47858891e-02 -9.66125470e-04 9.99394321e-01 9.00768314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.82, Y:140.64, Z:9.01 [[-7.15359421e-01 -6.98346468e-01 2.39397045e-02 1.88824103e+02] [ 6.97909618e-01 -7.15759221e-01 -2.47164305e-02 1.40639419e+02] [ 3.43956962e-02 -9.73381405e-04 9.99407819e-01 9.01057264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.81, Y:140.66, Z:9.01 [[-7.15620087e-01 -6.98071359e-01 2.41716510e-02 1.88807184e+02] [ 6.97626487e-01 -7.16027521e-01 -2.49373914e-02 1.40659341e+02] [ 3.47156461e-02 -9.82914216e-04 9.99396747e-01 9.00932648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.532755096 meters Centerline goodness [0,1] 0.9998686601142657 Centerline is valid? [True, True] Translation: X:188.79, Y:140.68, Z:9.01 [[-7.15475981e-01 -6.98185827e-01 2.51131924e-02 1.88786331e+02] [ 6.97706358e-01 -7.15915880e-01 -2.58899618e-02 1.40677607e+02] [ 3.60549377e-02 -1.00201180e-03 9.99349307e-01 9.01075581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.77, Y:140.70, Z:9.01 [[-7.14977837e-01 -6.98689296e-01 2.52974247e-02 1.88766641e+02] [ 6.98203749e-01 -7.15424577e-01 -2.60614462e-02 1.40696792e+02] [ 3.63072529e-02 -9.70599727e-04 9.99340203e-01 9.01287958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.592755096 meters Centerline goodness [0,1] 0.99997814876322 Centerline is valid? [True, True] Translation: X:188.75, Y:140.71, Z:9.01 [[-7.13540503e-01 -7.00131642e-01 2.59929523e-02 1.88745450e+02] [ 6.99620655e-01 -7.14013205e-01 -2.67597118e-02 1.40714859e+02] [ 3.72946322e-02 -9.08931929e-04 9.99303900e-01 9.01270380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters Centerline goodness [0,1] 0.9999345006768263 Centerline is valid? [True, True] Translation: X:188.72, Y:140.73, Z:9.01 [[-7.12733307e-01 -7.00943546e-01 2.62560166e-02 1.88724927e+02] [ 7.00423409e-01 -7.13216238e-01 -2.70119424e-02 1.40733369e+02] [ 3.76600641e-02 -8.61982383e-04 9.99290236e-01 9.01253574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.71, Y:140.75, Z:9.01 [[-7.11942257e-01 -7.01743442e-01 2.63507983e-02 1.88705258e+02] [ 7.01220827e-01 -7.12429286e-01 -2.70899367e-02 1.40751482e+02] [ 3.77832658e-02 -8.08742155e-04 9.99285630e-01 9.01231648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.682755096 meters Centerline goodness [0,1] 0.9998690328072818 Centerline is valid? [True, True] Translation: X:188.69, Y:140.77, Z:9.01 [[-7.11121414e-01 -7.02578093e-01 2.62746760e-02 1.88685206e+02] [ 7.02059774e-01 -7.11606255e-01 -2.69928029e-02 1.40770447e+02] [ 3.76617758e-02 -7.48767017e-04 9.99290263e-01 9.01128257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.66, Y:140.79, Z:9.02 [[-7.08723992e-01 -7.05024695e-01 2.55045791e-02 1.88662872e+02] [ 7.04538528e-01 -7.09182511e-01 -2.61845171e-02 1.40787939e+02] [ 3.65481326e-02 -5.88636903e-04 9.99331720e-01 9.01686716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:140.81, Z:9.02 [[-7.06380311e-01 -7.07399262e-01 2.47616719e-02 1.88643070e+02] [ 7.06943023e-01 -7.06814041e-01 -2.54061701e-02 1.40805904e+02] [ 3.54742034e-02 -4.41327114e-04 9.99370495e-01 9.01885346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.772755096 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:188.62, Y:140.83, Z:9.02 [[-7.05332142e-01 -7.08464578e-01 2.41766853e-02 1.88624338e+02] [ 7.08030803e-01 -7.05746277e-01 -2.47906335e-02 1.40825213e+02] [ 3.46258913e-02 -3.67792719e-04 9.99400276e-01 9.01706184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.60, Y:140.84, Z:9.02 [[-7.04350883e-01 -7.09436497e-01 2.42835342e-02 1.88603003e+02] [ 7.09000046e-01 -7.04769296e-01 -2.48832245e-02 1.40842756e+02] [ 3.47673569e-02 -3.09494302e-04 9.99395385e-01 9.02025421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.58, Y:140.86, Z:9.02 [[-7.03036434e-01 -7.10748390e-01 2.40103866e-02 1.88582461e+02] [ 7.10323045e-01 -7.03446283e-01 -2.45865541e-02 1.40861518e+02] [ 3.43648710e-02 -2.30112413e-04 9.99409327e-01 9.02131549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:188.56, Y:140.88, Z:9.02 [[-7.00526639e-01 -7.13229132e-01 2.38040754e-02 1.88561950e+02] [ 7.12813072e-01 -7.00930950e-01 -2.43583251e-02 1.40879046e+02] [ 3.40580803e-02 -9.57995550e-05 9.99419851e-01 9.02021297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.892755096 meters Centerline goodness [0,1] 0.9999130359161666 Centerline is valid? [True, True] Translation: X:188.54, Y:140.90, Z:9.02 [[-6.99218963e-01 -7.14503874e-01 2.40219792e-02 1.88543348e+02] [ 7.14081533e-01 -6.99631484e-01 -2.45632127e-02 1.40897359e+02] [ 3.43570436e-02 -2.14123775e-05 9.99409622e-01 9.01999848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.52, Y:140.92, Z:9.02 [[-6.99313074e-01 -7.14414959e-01 2.39267961e-02 1.88524640e+02] [ 7.13996508e-01 -6.99722278e-01 -2.44483182e-02 1.40916892e+02] [ 3.42083565e-02 -1.33796573e-05 9.99414723e-01 9.02219947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.51, Y:140.94, Z:9.02 [[-6.99920788e-01 -7.13820941e-01 2.38862897e-02 1.88506834e+02] [ 7.13404165e-01 -7.00328254e-01 -2.43892273e-02 1.40936556e+02] [ 3.41377848e-02 -2.99486231e-05 9.99417136e-01 9.02259485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.982755096 meters Centerline goodness [0,1] 0.9999781740402034 Centerline is valid? [True, True] Translation: X:188.49, Y:140.96, Z:9.02 [[-7.00959880e-01 -7.12803416e-01 2.38020360e-02 1.88488652e+02] [ 7.12389575e-01 -7.01363875e-01 -2.42859526e-02 1.40957108e+02] [ 3.40049981e-02 -6.71560688e-05 9.99421661e-01 9.02250748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.012755096 meters Centerline goodness [0,1] 0.9999563194793282 Centerline is valid? [True, True] Translation: X:188.47, Y:140.98, Z:9.02 [[-7.03310699e-01 -7.10471255e-01 2.41796863e-02 1.88473380e+02] [ 7.10043300e-01 -7.03726201e-01 -2.46565668e-02 1.40978512e+02] [ 3.45336607e-02 -1.72602985e-04 9.99403520e-01 9.02156705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.46, Y:141.00, Z:9.02 [[-7.06715084e-01 -7.07094226e-01 2.39070034e-02 1.88459070e+02] [ 7.06674474e-01 -7.07119262e-01 -2.43626062e-02 1.41001183e+02] [ 3.41317608e-02 -3.22952283e-04 9.99417290e-01 9.02299007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.072755096 meters Centerline goodness [0,1] 0.9998904325722049 Centerline is valid? [True, True] Translation: X:188.44, Y:141.02, Z:9.02 [[-7.08757672e-01 -7.05049941e-01 2.38147537e-02 1.88442319e+02] [ 7.04632836e-01 -7.09157538e-01 -2.42518671e-02 1.41022926e+02] [ 3.39871896e-02 -4.08039430e-04 9.99422185e-01 9.02207763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.42, Y:141.04, Z:9.02 [[-7.10660738e-01 -7.03140654e-01 2.35485886e-02 1.88424674e+02] [ 7.02732312e-01 -7.11050623e-01 -2.39647640e-02 1.41043856e+02] [ 3.35948384e-02 -4.82462769e-04 9.99435418e-01 9.02402617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.41, Y:141.07, Z:9.02 [[-7.14145013e-01 -6.99604614e-01 2.34581494e-02 1.88410237e+02] [ 6.99198039e-01 -7.14529902e-01 -2.38562609e-02 1.41066157e+02] [ 3.34514994e-02 -6.34937638e-04 9.99440140e-01 9.02398438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.39, Y:141.09, Z:9.02 [[-7.15670571e-01 -6.98042533e-01 2.35001378e-02 1.88392399e+02] [ 6.97634197e-01 -7.16055958e-01 -2.38828684e-02 1.41087046e+02] [ 3.34986717e-02 -6.97766270e-04 9.99438518e-01 9.02404770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.192755096 meters Centerline goodness [0,1] 0.9999560091500967 Centerline is valid? [True, True] Translation: X:188.37, Y:141.11, Z:9.02 [[-7.17175675e-01 -6.96496192e-01 2.34969107e-02 1.88374476e+02] [ 6.96087661e-01 -7.17560087e-01 -2.38639907e-02 1.41108197e+02] [ 3.34816239e-02 -7.58764044e-04 9.99439045e-01 9.02311521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.36, Y:141.13, Z:9.02 [[-7.19883431e-01 -6.93723316e-01 2.27113899e-02 1.88358382e+02] [ 6.93340695e-01 -7.20241099e-01 -2.30529880e-02 1.41128590e+02] [ 3.23500717e-02 -8.48733282e-04 9.99476239e-01 9.02487689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.252755096 meters Centerline goodness [0,1] 0.9999121535555848 Centerline is valid? [True, True] Translation: X:188.34, Y:141.15, Z:9.02 [[-7.21163364e-01 -6.92413968e-01 2.20522163e-02 1.88340630e+02] [ 6.92053046e-01 -7.21499922e-01 -2.23705955e-02 1.41149815e+02] [ 3.14003851e-02 -8.71550491e-04 9.99506506e-01 9.02402546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters Centerline goodness [0,1] 0.9998243611135506 Centerline is valid? [True, True] Translation: X:188.32, Y:141.17, Z:9.03 [[-7.22356221e-01 -6.91166963e-01 2.21295759e-02 1.88319828e+02] [ 6.90803389e-01 -7.22694531e-01 -2.24341906e-02 1.41167804e+02] [ 3.14986949e-02 -9.18291174e-04 9.99503371e-01 9.02519398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.30, Y:141.18, Z:9.03 [[-7.22606385e-01 -6.90887549e-01 2.26805260e-02 1.88297743e+02] [ 6.90506025e-01 -7.22961622e-01 -2.29765609e-02 1.41184425e+02] [ 3.22713697e-02 -9.41969822e-04 9.99478700e-01 9.02867832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.28, Y:141.20, Z:9.03 [[-7.22569360e-01 -6.90928230e-01 2.26208335e-02 1.88277269e+02] [ 6.90549258e-01 -7.22922765e-01 -2.28997349e-02 1.41202383e+02] [ 3.21751887e-02 -9.25846984e-04 9.99481816e-01 9.02942347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.372755096 meters Centerline goodness [0,1] 0.9999124726477024 Centerline is valid? [True, True] Translation: X:188.26, Y:141.22, Z:9.03 [[-7.21783591e-01 -6.91767917e-01 2.20362712e-02 1.88255308e+02] [ 6.91409139e-01 -7.22119393e-01 -2.22931295e-02 1.41219749e+02] [ 3.13344906e-02 -8.54735782e-04 9.99508589e-01 9.02783157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.24, Y:141.24, Z:9.03 [[-7.21563027e-01 -6.91992534e-01 2.22065534e-02 1.88235499e+02] [ 6.91628803e-01 -7.21904168e-01 -2.24493008e-02 1.41236473e+02] [ 3.15657520e-02 -8.39893504e-04 9.99501325e-01 9.02880523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.432755096 meters Centerline goodness [0,1] 0.9999128388390134 Centerline is valid? [True, True] Translation: X:188.21, Y:141.25, Z:9.03 [[-7.20694790e-01 -6.92936538e-01 2.09278167e-02 1.88213608e+02] [ 6.92614321e-01 -7.20998199e-01 -2.11423718e-02 1.41254122e+02] [ 2.97392401e-02 -7.42291609e-04 9.99557415e-01 9.02813805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.19, Y:141.27, Z:9.03 [[-7.20641184e-01 -6.93004263e-01 2.05274151e-02 1.88193557e+02] [ 6.92694700e-01 -7.20933131e-01 -2.07237373e-02 1.41272810e+02] [ 2.91605319e-02 -7.15146909e-04 9.99574485e-01 9.03102786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.492755096 meters Centerline goodness [0,1] 0.9998693834900731 Centerline is valid? [True, True] Translation: X:188.17, Y:141.29, Z:9.03 [[-7.20024949e-01 -6.93701352e-01 1.85069606e-02 1.88174341e+02] [ 6.93450276e-01 -7.20262495e-01 -1.86722833e-02 1.41291708e+02] [ 2.62828577e-02 -6.10852911e-04 9.99654359e-01 9.03060691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters Centerline goodness [0,1] 0.9999130699352371 Centerline is valid? [True, True] Translation: X:188.15, Y:141.31, Z:9.03 [[-7.20130394e-01 -6.93600060e-01 1.81981292e-02 1.88154060e+02] [ 6.93357573e-01 -7.20360050e-01 -1.83486733e-02 1.41310255e+02] [ 2.58358461e-02 -5.95626630e-04 9.99666021e-01 9.03168448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.13, Y:141.33, Z:9.03 [[-7.20058658e-01 -6.93687130e-01 1.77114369e-02 1.88133746e+02] [ 6.93457780e-01 -7.20276227e-01 -1.78455477e-02 1.41328127e+02] [ 2.51363537e-02 -5.67707397e-04 9.99683871e-01 9.03402017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.11, Y:141.35, Z:9.04 [[-7.19539945e-01 -6.94271148e-01 1.58063759e-02 1.88114337e+02] [ 6.94088871e-01 -7.19713375e-01 -1.59152907e-02 1.41345652e+02] [ 2.24255873e-02 -4.80657800e-04 9.99748399e-01 9.03571451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.10, Y:141.36, Z:9.04 [[-7.19485694e-01 -6.94336455e-01 1.54020810e-02 1.88095071e+02] [ 6.94163638e-01 -7.19650386e-01 -1.54972978e-02 1.41364312e+02] [ 2.18444524e-02 -4.58519484e-04 9.99761276e-01 9.03644146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.08, Y:141.38, Z:9.04 [[-7.19015185e-01 -6.94857440e-01 1.37949676e-02 1.88075190e+02] [ 6.94719081e-01 -7.19147402e-01 -1.38713128e-02 1.41382488e+02] [ 1.95592000e-02 -3.90057371e-04 9.99808624e-01 9.03838157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.06, Y:141.40, Z:9.04 [[-7.18765116e-01 -6.95130001e-01 1.30763143e-02 1.88056854e+02] [ 6.95005883e-01 -7.18883965e-01 -1.31403410e-02 1.41399833e+02] [ 1.85345979e-02 -3.56703373e-04 9.99828156e-01 9.03912608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.702755096 meters Centerline goodness [0,1] 0.9998262003041495 Centerline is valid? [True, True] Translation: X:188.04, Y:141.42, Z:9.04 [[-7.18724288e-01 -6.95186118e-01 1.23150333e-02 1.88037954e+02] [ 6.95076175e-01 -7.18829711e-01 -1.23675849e-02 1.41418438e+02] [ 1.74501852e-02 -3.28997370e-04 9.99847680e-01 9.03708680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.02, Y:141.44, Z:9.04 [[-7.18054121e-01 -6.95880398e-01 1.21963537e-02 1.88017182e+02] [ 6.95772822e-01 -7.18157629e-01 -1.22392676e-02 1.41435415e+02] [ 1.72759709e-02 -3.02565087e-04 9.99850714e-01 9.03975116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:141.45, Z:9.04 [[-7.18314104e-01 -6.95611950e-01 1.22009301e-02 1.87998682e+02] [ 6.95504413e-01 -7.18417652e-01 -1.22347044e-02 1.41453594e+02] [ 1.72759701e-02 -3.02559971e-04 9.99850714e-01 9.04006248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.98, Y:141.47, Z:9.04 [[-7.17892781e-01 -6.96054846e-01 1.17306110e-02 1.87980008e+02] [ 6.95955643e-01 -7.17988563e-01 -1.17544426e-02 1.41470971e+02] [ 1.66041813e-02 -2.74444607e-04 9.99862103e-01 9.04008098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.822755096 meters Centerline goodness [0,1] 0.9998263625116662 Centerline is valid? [True, True] Translation: X:187.96, Y:141.49, Z:9.04 [[-7.17817011e-01 -6.96135671e-01 1.15700660e-02 1.87960574e+02] [ 6.96039320e-01 -7.17910202e-01 -1.15847729e-02 1.41489432e+02] [ 1.63708421e-02 -2.62526210e-04 9.99865954e-01 9.03718624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.852755096 meters Centerline goodness [0,1] 0.9999349127831294 Centerline is valid? [True, True] Translation: X:187.94, Y:141.51, Z:9.04 [[-7.17334821e-01 -6.96640676e-01 1.10689916e-02 1.87939675e+02] [ 6.96552674e-01 -7.17420179e-01 -1.10751817e-02 1.41505830e+02] [ 1.56565400e-02 -2.34477771e-04 9.99877401e-01 9.03818365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters Centerline goodness [0,1] 0.9998262267306731 Centerline is valid? [True, True] Translation: X:187.52, Y:141.06, Z:10.14 [[-7.45688662e-01 6.66267853e-01 -5.96379328e-03 1.87522882e+02] [ 6.66238433e-01 7.45712156e-01 6.30327030e-03 1.41061339e+02] [ 8.64693952e-03 7.26968905e-04 -9.99962350e-01 1.01417407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9127550960001 meters Centerline goodness [0,1] 0.9998264980806351 Centerline is valid? [True, True] Translation: X:187.54, Y:141.07, Z:10.14 [[-7.90976827e-01 6.11814438e-01 -6.22511447e-03 1.87539529e+02] [ 6.11787989e-01 7.91000988e-01 5.73519324e-03 1.41073233e+02] [ 8.43294573e-03 7.27954687e-04 -9.99964177e-01 1.01430437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.942755096 meters Centerline goodness [0,1] 0.9999565915700829 Centerline is valid? [True, True] Translation: X:187.56, Y:141.09, Z:10.14 [[-8.32251039e-01 5.54359031e-01 -6.65382485e-03 1.87556566e+02] [ 5.54334142e-01 8.32277321e-01 5.30277495e-03 1.41085294e+02] [ 8.47746871e-03 7.24797673e-04 -9.99963803e-01 1.01416853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.972755096 meters Centerline goodness [0,1] 0.9999130774914164 Centerline is valid? [True, True] Translation: X:187.88, Y:141.60, Z:9.04 [[-8.10899835e-01 -5.85061268e-01 1.20320376e-02 1.87880974e+02] [ 5.85002016e-01 -8.10989046e-01 -8.33119352e-03 1.41598051e+02] [ 1.46321093e-02 2.83002803e-04 9.99892905e-01 9.03651012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters Centerline goodness [0,1] 0.9998266559771186 Centerline is valid? [True, True] Translation: X:187.88, Y:141.58, Z:9.03 [[-7.70719184e-01 -6.37064752e-01 1.18507786e-02 1.87877062e+02] [ 6.36994511e-01 -7.70810247e-01 -9.46344458e-03 1.41576594e+02] [ 1.51635285e-02 2.55222626e-04 9.99884995e-01 9.03497121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.032755096 meters Centerline goodness [0,1] 0.9998271092669433 Centerline is valid? [True, True] Translation: X:187.87, Y:141.56, Z:9.03 [[-7.26459885e-01 -6.87110575e-01 1.16229452e-02 1.87871748e+02] [ 6.87029090e-01 -7.26552800e-01 -1.05858105e-02 1.41557460e+02] [ 1.57183057e-02 2.95134826e-04 9.99876416e-01 9.03401281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.86, Y:141.54, Z:9.04 [[-6.78891285e-01 -7.34174581e-01 9.71126522e-03 1.87863948e+02] [ 7.34107792e-01 -6.78960621e-01 -9.91087199e-03 1.41538025e+02] [ 1.38698770e-02 4.00710847e-04 9.99903728e-01 9.03728435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.092755096 meters Centerline goodness [0,1] 0.9999346476418691 Centerline is valid? [True, True] Translation: X:187.84, Y:141.56, Z:9.04 [[-6.79745984e-01 -7.33391655e-01 9.05965650e-03 1.87842500e+02] [ 7.33321402e-01 -6.79806306e-01 -1.01542275e-02 1.41555338e+02] [ 1.36058373e-02 -2.58655345e-04 9.99907403e-01 9.03679793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.82, Y:141.57, Z:9.04 [[-6.79925477e-01 -7.33224918e-01 9.08651214e-03 1.87825000e+02] [ 7.33154335e-01 -6.79986142e-01 -1.01768243e-02 1.41574911e+02] [ 1.36406035e-02 -2.57666381e-04 9.99906929e-01 9.03788754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.81, Y:141.60, Z:9.04 [[-6.80173701e-01 -7.33004970e-01 8.21285165e-03 1.87811108e+02] [ 7.32947371e-01 -6.80223243e-01 -9.19194096e-03 1.41596247e+02] [ 1.23243110e-02 -2.32528476e-04 9.99924026e-01 9.03803216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.79, Y:141.61, Z:9.04 [[-6.79681748e-01 -7.33466218e-01 7.74784082e-03 1.87787960e+02] [ 7.33415065e-01 -6.79725874e-01 -8.66481055e-03 1.41612057e+02] [ 1.16217537e-02 -2.06930397e-04 9.99932444e-01 9.03832751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.212755096 meters Centerline goodness [0,1] 0.9998693038250414 Centerline is valid? [True, True] Translation: X:187.77, Y:141.63, Z:9.04 [[-6.79838232e-01 -7.33322132e-01 7.65700226e-03 1.87769437e+02] [ 7.33272230e-01 -6.79881321e-01 -8.55726874e-03 1.41631814e+02] [ 1.14810874e-02 -2.02891334e-04 9.99934070e-01 9.03660021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.75, Y:141.65, Z:9.04 [[-6.77867749e-01 -7.35152728e-01 6.76624769e-03 1.87750027e+02] [ 7.35113899e-01 -6.77901501e-01 -7.55714697e-03 1.41649826e+02] [ 1.01425067e-02 -1.48783484e-04 9.99948552e-01 9.03981256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:141.67, Z:9.04 [[-6.77008914e-01 -7.35942749e-01 6.87036090e-03 1.87730296e+02] [ 7.35902817e-01 -6.77043760e-01 -7.66751861e-03 1.41668920e+02] [ 1.02943897e-02 -1.35060505e-04 9.99947002e-01 9.04001411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:141.69, Z:9.04 [[-6.74407271e-01 -7.38335738e-01 5.93049056e-03 1.87711248e+02] [ 7.38306111e-01 -6.74433341e-01 -6.61485555e-03 1.41687153e+02] [ 8.88370482e-03 -8.25892608e-05 9.99960536e-01 9.04209254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.69, Y:141.70, Z:9.04 [[-6.73165168e-01 -7.39471535e-01 5.52314805e-03 1.87689315e+02] [ 7.39445909e-01 -6.73187823e-01 -6.15652346e-03 1.41702539e+02] [ 8.27068986e-03 -6.02879157e-05 9.99965795e-01 9.04143002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.67, Y:141.72, Z:9.04 [[-6.72116664e-01 -7.40426709e-01 5.24199565e-03 1.87669798e+02] [ 7.40403687e-01 -6.72137105e-01 -5.83892951e-03 1.41719934e+02] [ 7.84663914e-03 -4.32489172e-05 9.99969214e-01 9.04162237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:141.74, Z:9.04 [[-6.70239625e-01 -7.42128244e-01 4.95120868e-03 1.87650413e+02] [ 7.42107781e-01 -6.70257912e-01 -5.51118808e-03 1.41736160e+02] [ 7.40859513e-03 -1.94861433e-05 9.99972556e-01 9.04142773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:141.76, Z:9.04 [[-6.70151601e-01 -7.42211648e-01 4.32449327e-03 1.87632159e+02] [ 7.42196060e-01 -6.70165553e-01 -4.81035455e-03 1.41755821e+02] [ 6.46842760e-03 -1.40449300e-05 9.99979079e-01 9.04196554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:141.78, Z:9.04 [[-6.70477845e-01 -7.41923070e-01 3.10128719e-03 1.87613903e+02] [ 7.41915054e-01 -6.70485018e-01 -3.44867742e-03 1.41775470e+02] [ 4.63801993e-03 -1.13701514e-05 9.99989244e-01 9.04283925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.60, Y:141.80, Z:9.04 [[-6.71240979e-01 -7.41233709e-01 2.85252264e-03 1.87596324e+02] [ 7.41226927e-01 -6.71247040e-01 -3.17073789e-03 1.41795119e+02] [ 4.26500518e-03 -1.39626129e-05 9.99990905e-01 9.04297450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.58, Y:141.81, Z:9.04 [[-6.72201542e-01 -7.40362998e-01 2.77812543e-03 1.87580419e+02] [ 7.40356567e-01 -6.72207282e-01 -3.08598720e-03 1.41814579e+02] [ 4.15222688e-03 -1.76019422e-05 9.99991379e-01 9.04293285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:141.84, Z:9.04 [[-6.74593085e-01 -7.38183440e-01 3.06241871e-03 1.87565634e+02] [ 7.38175620e-01 -6.74600036e-01 -3.39798654e-03 1.41836462e+02] [ 4.57424517e-03 -3.16553969e-05 9.99989538e-01 9.04231671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:141.86, Z:9.04 [[-6.75940643e-01 -7.36950583e-01 2.84352917e-03 1.87548519e+02] [ 7.36943838e-01 -6.75946623e-01 -3.15318145e-03 1.41857243e+02] [ 4.24581285e-03 -3.58421968e-05 9.99990986e-01 9.04227845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.53, Y:141.88, Z:9.04 [[-6.78764562e-01 -7.34349620e-01 3.05037467e-03 1.87533602e+02] [ 7.34341847e-01 -6.78771415e-01 -3.37921004e-03 1.41879635e+02] [ 4.55202874e-03 -5.36702514e-05 9.99989638e-01 9.04109135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:141.90, Z:9.04 [[-6.80307474e-01 -7.32918315e-01 3.53337414e-03 1.87517092e+02] [ 7.32907886e-01 -6.80316646e-01 -3.91063758e-03 1.41900896e+02] [ 5.26999115e-03 -7.07982029e-05 9.99986111e-01 9.04062550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.50, Y:141.92, Z:9.04 [[-6.81719588e-01 -7.31603814e-01 3.77663733e-03 1.87501786e+02] [ 7.31591900e-01 -6.81730044e-01 -4.17600094e-03 1.41922114e+02] [ 5.62982534e-03 -8.39043582e-05 9.99984149e-01 9.04046529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.49, Y:141.95, Z:9.04 [[-6.84690208e-01 -7.28824761e-01 3.71301362e-03 1.87487586e+02] [ 7.28813221e-01 -6.84700268e-01 -4.10277435e-03 1.41945104e+02] [ 5.53250495e-03 -1.03036009e-04 9.99984690e-01 9.03993495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.722755096 meters Centerline goodness [0,1] 0.9998915777604303 Centerline is valid? [True, True] Translation: X:187.47, Y:141.97, Z:9.04 [[-6.86581863e-01 -7.27038457e-01 4.51972857e-03 1.87472728e+02] [ 7.27021351e-01 -6.86596725e-01 -4.98921640e-03 1.41966689e+02] [ 6.73058303e-03 -1.39566322e-04 9.99977340e-01 9.03821754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.46, Y:141.99, Z:9.04 [[-6.88257215e-01 -7.25452178e-01 4.59825021e-03 1.87455140e+02] [ 7.25434462e-01 -6.88272558e-01 -5.07222765e-03 1.41987438e+02] [ 6.84450803e-03 -1.55268103e-04 9.99976564e-01 9.03835050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:142.01, Z:9.04 [[-6.89266223e-01 -7.24490996e-01 4.98710127e-03 1.87440872e+02] [ 7.24470164e-01 -6.89284242e-01 -5.49688502e-03 1.42009400e+02] [ 7.41997402e-03 -1.75811102e-04 9.99972456e-01 9.03846346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:142.03, Z:9.04 [[-6.90016371e-01 -7.23774994e-01 5.21217461e-03 1.87423759e+02] [ 7.23752254e-01 -6.90036030e-01 -5.74041508e-03 1.42029096e+02] [ 7.75135716e-03 -1.88657263e-04 9.99969940e-01 9.03780239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.41, Y:142.05, Z:9.04 [[-6.89792014e-01 -7.23985053e-01 5.71148249e-03 1.87406043e+02] [ 7.23957798e-01 -6.89815630e-01 -6.28525472e-03 1.42048779e+02] [ 8.49030036e-03 -2.00646227e-04 9.99963937e-01 9.03700267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:142.07, Z:9.04 [[-6.89583227e-01 -7.24180854e-01 6.08808627e-03 1.87390799e+02] [ 7.24149942e-01 -6.89610070e-01 -6.69427602e-03 1.42069823e+02] [ 9.04627212e-03 -2.07573138e-04 9.99959060e-01 9.03752024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.37, Y:142.09, Z:9.04 [[-6.89224761e-01 -7.24517307e-01 6.62573466e-03 1.87370960e+02] [ 7.24480772e-01 -6.89256574e-01 -7.27912258e-03 1.42087160e+02] [ 9.84068146e-03 -2.16734158e-04 9.99951556e-01 9.03715787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.932755096 meters Centerline goodness [0,1] 0.9998691185131863 Centerline is valid? [True, True] Translation: X:187.35, Y:142.11, Z:9.04 [[-6.87182476e-01 -7.26441851e-01 7.90453212e-03 1.87353678e+02] [ 7.26390073e-01 -6.87227902e-01 -8.67600568e-03 1.42107120e+02] [ 1.17348286e-02 -2.20225402e-04 9.99931120e-01 9.03555757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.33, Y:142.13, Z:9.03 [[-6.86278298e-01 -7.27286647e-01 8.73103067e-03 1.87334443e+02] [ 7.27223642e-01 -6.86333799e-01 -9.57555871e-03 1.42126175e+02] [ 1.29565774e-02 -2.22086208e-04 9.99916035e-01 9.03488285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.32, Y:142.15, Z:9.03 [[-6.83509935e-01 -7.29878050e-01 9.60210835e-03 1.87317769e+02] [ 7.29802216e-01 -6.83577353e-01 -1.05227447e-02 1.42146458e+02] [ 1.42441042e-02 -1.84760598e-04 9.99898531e-01 9.03473539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:142.17, Z:9.04 [[-6.82118234e-01 -7.31179574e-01 9.54695860e-03 1.87298278e+02] [ 7.31104844e-01 -6.82185024e-01 -1.04546243e-02 1.42165685e+02] [ 1.41569999e-02 -1.51462202e-04 9.99899773e-01 9.03532631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.28, Y:142.19, Z:9.04 [[-6.80778078e-01 -7.32424873e-01 9.74750980e-03 1.87280792e+02] [ 7.32347205e-01 -6.80847847e-01 -1.06667969e-02 1.42185575e+02] [ 1.44491984e-02 -1.23159943e-04 9.99895597e-01 9.03582005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.26, Y:142.20, Z:9.04 [[-6.77680214e-01 -7.35297472e-01 9.33573842e-03 1.87263260e+02] [ 7.35226578e-01 -6.77744513e-01 -1.02104594e-02 1.42204615e+02] [ 1.38349705e-02 -5.55433236e-05 9.99904291e-01 9.03793602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.25, Y:142.22, Z:9.04 [[-6.76345185e-01 -7.36531517e-01 8.86089889e-03 1.87245060e+02] [ 7.36467851e-01 -6.76403226e-01 -9.68404055e-03 1.42223713e+02] [ 1.31261417e-02 -2.39870414e-05 9.99913848e-01 9.03928211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters Centerline goodness [0,1] 0.9998904997590995 Centerline is valid? [True, True] Translation: X:187.23, Y:142.24, Z:9.04 [[-6.73679241e-01 -7.38975127e-01 8.48771312e-03 1.87226379e+02] [ 7.38916989e-01 -6.73732707e-01 -9.26945053e-03 1.42242293e+02] [ 1.25683433e-02 2.70790240e-05 9.99921015e-01 9.04141754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1727550960001 meters Centerline goodness [0,1] 0.999934250898571 Centerline is valid? [True, True] Translation: X:187.21, Y:142.26, Z:9.04 [[-6.72520731e-01 -7.40033649e-01 8.12803079e-03 1.87207034e+02] [ 7.39980490e-01 -6.72569845e-01 -8.87005859e-03 1.42261855e+02] [ 1.20308102e-02 4.92859178e-05 9.99927626e-01 9.04248878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.202755096 meters Centerline goodness [0,1] 0.9996941628801118 Centerline is valid? [True, True] Translation: X:187.19, Y:142.28, Z:9.04 [[-6.71362134e-01 -7.41086234e-01 8.00496274e-03 1.87188228e+02] [ 7.41034821e-01 -6.71409852e-01 -8.72959513e-03 1.42279653e+02] [ 1.18439936e-02 7.12365138e-05 9.99929855e-01 9.04330230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.232755096 meters Centerline goodness [0,1] 0.9998902907295667 Centerline is valid? [True, True] Translation: X:187.17, Y:142.30, Z:9.04 [[-6.69632856e-01 -7.42650207e-01 7.90619849e-03 1.87168077e+02] [ 7.42600238e-01 -6.69679520e-01 -8.61550138e-03 1.42298229e+02] [ 1.16929231e-02 1.01922078e-04 9.99931630e-01 9.04427858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters Centerline goodness [0,1] 0.999890641062094 Centerline is valid? [True, True] Translation: X:187.15, Y:142.32, Z:9.04 [[-6.69358864e-01 -7.42896065e-01 8.00924844e-03 1.87148813e+02] [ 7.42844877e-01 -6.69406770e-01 -8.72149720e-03 1.42316207e+02] [ 1.18406111e-02 1.11817712e-04 9.99929891e-01 9.04427092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2927550960001 meters Centerline goodness [0,1] 0.9999563223411225 Centerline is valid? [True, True] Translation: X:187.13, Y:142.34, Z:9.04 [[-6.69580322e-01 -7.42690185e-01 8.57209451e-03 1.87130518e+02] [ 7.42631604e-01 -6.69635180e-01 -9.32880331e-03 1.42335702e+02] [ 1.26685867e-02 1.19525166e-04 9.99919743e-01 9.04355953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.11, Y:142.35, Z:9.04 [[-6.70467268e-01 -7.41883353e-01 9.09577397e-03 1.87113194e+02] [ 7.41817428e-01 -6.70528953e-01 -9.89074348e-03 1.42354527e+02] [ 1.34367577e-02 1.15983895e-04 9.99909716e-01 9.04307069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.10, Y:142.37, Z:9.04 [[-6.71525011e-01 -7.40918057e-01 9.72591986e-03 1.87095394e+02] [ 7.40842682e-01 -6.71595430e-01 -1.05687618e-02 1.42374388e+02] [ 1.43624698e-02 1.08188697e-04 9.99896849e-01 9.04273983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.08, Y:142.39, Z:9.04 [[-6.73964850e-01 -7.38696735e-01 9.92547135e-03 1.87078733e+02] [ 7.38618117e-01 -6.74037929e-01 -1.07771611e-02 1.42394340e+02] [ 1.46511979e-02 6.77052111e-05 9.99892663e-01 9.04257393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.06, Y:142.41, Z:9.04 [[-6.75460955e-01 -7.37327645e-01 1.00220560e-02 1.87060895e+02] [ 7.37247463e-01 -6.75535300e-01 -1.08736453e-02 1.42414227e+02] [ 1.47876919e-02 4.40125762e-05 9.99890655e-01 9.04280995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:142.43, Z:9.04 [[-6.78329799e-01 -7.34682814e-01 1.04807965e-02 1.87044278e+02] [ 7.34594947e-01 -6.78410763e-01 -1.13622440e-02 1.42433969e+02] [ 1.54579306e-02 -8.20852517e-06 9.99880519e-01 9.04222746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.03, Y:142.45, Z:9.04 [[-6.80167716e-01 -7.32975535e-01 1.08969377e-02 1.87027467e+02] [ 7.32880487e-01 -6.80254998e-01 -1.18037964e-02 1.42454248e+02] [ 1.60645903e-02 -4.24082829e-05 9.99870955e-01 9.04220277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.01, Y:142.48, Z:9.04 [[-6.83821186e-01 -7.29560355e-01 1.14137901e-02 1.87013073e+02] [ 7.29455757e-01 -6.83916423e-01 -1.23541464e-02 1.42476248e+02] [ 1.68191739e-02 -1.22172124e-04 9.99858540e-01 9.04199798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.00, Y:142.50, Z:9.04 [[-6.85980979e-01 -7.27530293e-01 1.13916731e-02 1.86995826e+02] [ 7.27425964e-01 -6.86075540e-01 -1.23215830e-02 1.42497276e+02] [ 1.67798731e-02 -1.65772730e-04 9.99859194e-01 9.04264296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:142.52, Z:9.04 [[-6.87922305e-01 -7.25696190e-01 1.13111533e-02 1.86978724e+02] [ 7.25593220e-01 -6.88015260e-01 -1.22262248e-02 1.42517261e+02] [ 1.66547708e-02 -2.03396631e-04 9.99861279e-01 9.04297881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.96, Y:142.54, Z:9.04 [[-6.91791956e-01 -7.22005076e-01 1.15134401e-02 1.86963298e+02] [ 7.21898017e-01 -6.91887696e-01 -1.24366037e-02 1.42537929e+02] [ 1.69452986e-02 -2.92012833e-04 9.99856376e-01 9.04226475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:142.56, Z:9.04 [[-6.94177071e-01 -7.19710860e-01 1.15962286e-02 1.86945836e+02] [ 7.19602058e-01 -6.94273836e-01 -1.25187331e-02 1.42558853e+02] [ 1.70608263e-02 -3.45547519e-04 9.99854394e-01 9.04210244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:142.58, Z:9.04 [[-6.98460823e-01 -7.15550738e-01 1.18161123e-02 1.86931154e+02] [ 7.15437322e-01 -6.98560619e-01 -1.27475674e-02 1.42581442e+02] [ 1.73758020e-02 -4.49988645e-04 9.99848928e-01 9.04175442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:142.60, Z:9.04 [[-7.00775659e-01 -7.13277699e-01 1.21819360e-02 1.86914408e+02] [ 7.13156968e-01 -7.00881344e-01 -1.31332403e-02 1.42603319e+02] [ 1.79057391e-02 -5.15822580e-04 9.99839546e-01 9.04193945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.90, Y:142.62, Z:9.04 [[-7.01030430e-01 -7.13027229e-01 1.21863174e-02 1.86896555e+02] [ 7.12906530e-01 -7.01136152e-01 -1.31291740e-02 1.42622149e+02] [ 1.79057262e-02 -5.16245228e-04 9.99839546e-01 9.04224756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:142.64, Z:9.04 [[-7.02699425e-01 -7.11377284e-01 1.24851358e-02 1.86876848e+02] [ 7.11250509e-01 -7.02810103e-01 -1.34414451e-02 1.42641152e+02] [ 1.83366183e-02 -5.65236553e-04 9.99831710e-01 9.04347513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.86, Y:142.66, Z:9.04 [[-7.04262778e-01 -7.09825859e-01 1.26960135e-02 1.86862514e+02] [ 7.09694694e-01 -7.04376944e-01 -1.36587712e-02 1.42663859e+02] [ 1.86381282e-02 -6.09070725e-04 9.99826110e-01 9.04339884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.84, Y:142.68, Z:9.05 [[-7.04320443e-01 -7.09765155e-01 1.28894442e-02 1.86838733e+02] [ 7.09630144e-01 -7.04438108e-01 -1.38568022e-02 1.42679552e+02] [ 1.89148911e-02 -6.12890893e-04 9.99820910e-01 9.04526523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.82, Y:142.70, Z:9.05 [[-7.02386687e-01 -7.11682801e-01 1.26701586e-02 1.86817222e+02] [ 7.11552826e-01 -7.02500743e-01 -1.36118438e-02 1.42697155e+02] [ 1.85881109e-02 -5.45290708e-04 9.99827077e-01 9.04567976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.80, Y:142.72, Z:9.05 [[-7.00894314e-01 -7.13156364e-01 1.24563683e-02 1.86797355e+02] [ 7.13031128e-01 -7.01004821e-01 -1.33735428e-02 1.42715154e+02] [ 1.82694014e-02 -4.91661775e-04 9.99832980e-01 9.04590011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.77, Y:142.73, Z:9.05 [[-6.99264081e-01 -7.14758114e-01 1.22712396e-02 1.86773529e+02] [ 7.14636976e-01 -6.99371609e-01 -1.31660835e-02 1.42730853e+02] [ 1.79927216e-02 -4.37087707e-04 9.99838022e-01 9.04741428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.75, Y:142.75, Z:9.05 [[-6.95628527e-01 -7.18302665e-01 1.19261572e-02 1.86750581e+02] [ 7.18188903e-01 -6.95730675e-01 -1.27877725e-02 1.42747266e+02] [ 1.74828845e-02 -3.30305645e-04 9.99847108e-01 9.04814113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.73, Y:142.77, Z:9.05 [[-6.93772280e-01 -7.20098363e-01 1.17631510e-02 1.86731703e+02] [ 7.19988085e-01 -6.93871942e-01 -1.26049575e-02 1.42766490e+02] [ 1.72389297e-02 -2.75641554e-04 9.99851361e-01 9.04827352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.71, Y:142.78, Z:9.05 [[-6.90071932e-01 -7.23640974e-01 1.20195568e-02 1.86707213e+02] [ 7.23526513e-01 -6.90176576e-01 -1.28716258e-02 1.42782800e+02] [ 1.76100524e-02 -1.85879716e-04 9.99844914e-01 9.04994311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.69, Y:142.80, Z:9.05 [[-6.88563283e-01 -7.25074190e-01 1.21665415e-02 1.86687773e+02] [ 7.24957290e-01 -6.88670747e-01 -1.30203856e-02 1.42800842e+02] [ 1.78194867e-02 -1.45136526e-04 9.99841210e-01 9.05039273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.67, Y:142.82, Z:9.05 [[-6.87296121e-01 -7.26277194e-01 1.20615437e-02 1.86668632e+02] [ 7.26162645e-01 -6.87401940e-01 -1.28990963e-02 1.42818655e+02] [ 1.76594480e-02 -1.06856420e-04 9.99844054e-01 9.05097582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.072755096 meters Centerline goodness [0,1] 0.999848225320353 Centerline is valid? [True, True] Translation: X:186.65, Y:142.84, Z:9.05 [[-6.85356746e-01 -7.28106784e-01 1.21096175e-02 1.86648425e+02] [ 7.27991745e-01 -6.85463718e-01 -1.29426076e-02 1.42837439e+02] [ 1.77243038e-02 -5.46018989e-05 9.99842911e-01 9.04883810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.63, Y:142.86, Z:9.05 [[-6.83850575e-01 -7.29533534e-01 1.13672154e-02 1.86628082e+02] [ 7.29432504e-01 -6.83945043e-01 -1.21408532e-02 1.42856036e+02] [ 1.66317101e-02 -1.09130101e-05 9.99861684e-01 9.05313464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:142.88, Z:9.05 [[-6.82653674e-01 -7.30656840e-01 1.11598741e-02 1.86610115e+02] [ 7.30559750e-01 -6.82744888e-01 -1.19109508e-02 1.42875306e+02] [ 1.63221647e-02 2.19005157e-05 9.99866784e-01 9.05381966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1627550960001 meters Centerline goodness [0,1] 0.9999782391086739 Centerline is valid? [True, True] Translation: X:186.59, Y:142.90, Z:9.05 [[-6.82849216e-01 -7.30467953e-01 1.15549779e-02 1.86592103e+02] [ 7.30363996e-01 -6.82946974e-01 -1.23233292e-02 1.42896184e+02] [ 1.68932342e-02 2.43641459e-05 9.99857299e-01 9.05379400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.58, Y:142.92, Z:9.05 [[-6.83285184e-01 -7.30060558e-01 1.15299195e-02 1.86575034e+02] [ 7.29957145e-01 -6.83382456e-01 -1.22876000e-02 1.42915913e+02] [ 1.68500368e-02 2.04120450e-05 9.99858028e-01 9.05448867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.56, Y:142.94, Z:9.05 [[-6.85219416e-01 -7.28241798e-01 1.17574003e-02 1.86560422e+02] [ 7.28134159e-01 -6.85320278e-01 -1.25204828e-02 1.42938716e+02] [ 1.71755237e-02 -1.83131484e-05 9.99852490e-01 9.05476250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.54, Y:142.96, Z:9.06 [[-6.86178315e-01 -7.27336027e-01 1.19005452e-02 1.86544323e+02] [ 7.27225770e-01 -6.86281504e-01 -1.26639979e-02 1.42958897e+02] [ 1.73781060e-02 -3.53776135e-05 9.99848989e-01 9.05522985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:142.98, Z:9.05 [[-6.87933808e-01 -7.25669080e-01 1.23070104e-02 1.86528922e+02] [ 7.25551054e-01 -6.88043880e-01 -1.30876694e-02 1.42980750e+02] [ 1.79650802e-02 -7.40858859e-05 9.99838612e-01 9.05490224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.312755096 meters Centerline goodness [0,1] 0.9999343214309171 Centerline is valid? [True, True] Translation: X:186.51, Y:143.00, Z:9.05 [[-6.88568261e-01 -7.25068205e-01 1.22412326e-02 1.86510935e+02] [ 7.24951521e-01 -6.88677059e-01 -1.30077655e-02 1.43000209e+02] [ 1.78617732e-02 -8.24342594e-05 9.99840462e-01 9.05422439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.342755096 meters Centerline goodness [0,1] 0.9998689126302681 Centerline is valid? [True, True] Translation: X:186.49, Y:143.02, Z:9.05 [[-6.88464592e-01 -7.25168368e-01 1.21384840e-02 1.86492251e+02] [ 7.25053813e-01 -6.88571588e-01 -1.28893723e-02 1.43017781e+02] [ 1.77051803e-02 -7.28223276e-05 9.99843248e-01 9.05332384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.47, Y:143.03, Z:9.06 [[-6.86491435e-01 -7.27033219e-01 1.23372766e-02 1.86471598e+02] [ 7.26915341e-01 -6.86602285e-01 -1.30915588e-02 1.43032769e+02] [ 1.79888004e-02 -1.90873577e-05 9.99838188e-01 9.05619291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters Centerline goodness [0,1] 0.9999344376939552 Centerline is valid? [True, True] Translation: X:186.45, Y:143.05, Z:9.05 [[-6.85854066e-01 -7.27611550e-01 1.36247106e-02 1.86453003e+02] [ 7.27468118e-01 -6.85989382e-01 -1.44466259e-02 1.43050383e+02] [ 1.98579387e-02 3.26549447e-06 9.99802812e-01 9.05357187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.43, Y:143.07, Z:9.06 [[-6.85525364e-01 -7.27916533e-01 1.38743473e-02 1.86433341e+02] [ 7.27768052e-01 -6.85665750e-01 -1.47017402e-02 1.43069086e+02] [ 2.02148044e-02 1.88909127e-05 9.99795660e-01 9.05584354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.41, Y:143.09, Z:9.05 [[-6.85836855e-01 -7.27613721e-01 1.43555417e-02 1.86414756e+02] [ 7.27454930e-01 -6.85987079e-01 -1.52004160e-02 1.43087230e+02] [ 2.09077474e-02 1.80040535e-05 9.99781409e-01 9.05436014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.40, Y:143.11, Z:9.05 [[-6.88053210e-01 -7.25489745e-01 1.57292590e-02 1.86397381e+02] [ 7.25298831e-01 -6.88232975e-01 -1.66426832e-02 1.43108534e+02] [ 2.28994907e-02 -4.26384419e-05 9.99737771e-01 9.05221754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters Centerline goodness [0,1] 0.9999781902248588 Centerline is valid? [True, True] Translation: X:186.38, Y:143.13, Z:9.05 [[-6.90109466e-01 -7.23523707e-01 1.61978684e-02 1.86381965e+02] [ 7.23320993e-01 -6.90299526e-01 -1.71261844e-02 1.43128599e+02] [ 2.35725813e-02 -1.02683722e-04 9.99722123e-01 9.05135515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.552755096 meters Centerline goodness [0,1] 0.9999123767798467 Centerline is valid? [True, True] Translation: X:186.37, Y:143.15, Z:9.05 [[-6.94904568e-01 -7.18923694e-01 1.60113451e-02 1.86369362e+02] [ 7.18724694e-01 -6.95088959e-01 -1.69160708e-02 1.43150928e+02] [ 2.32906733e-02 -2.47305748e-04 9.99728705e-01 9.05154035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:143.17, Z:9.06 [[-6.96989095e-01 -7.16911607e-01 1.56188841e-02 1.86349616e+02] [ 7.16721997e-01 -6.97164012e-01 -1.64899846e-02 1.43170552e+02] [ 2.27107853e-02 -2.98941634e-04 9.99742032e-01 9.05679507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.612755096 meters Centerline goodness [0,1] 0.9999124803080693 Centerline is valid? [True, True] Translation: X:186.33, Y:143.19, Z:9.06 [[-6.99295883e-01 -7.14669309e-01 1.52659187e-02 1.86332641e+02] [ 7.14487865e-01 -6.99462403e-01 -1.61070796e-02 1.43191385e+02] [ 2.21891716e-02 -3.56300753e-04 9.99753727e-01 9.05742850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters Centerline goodness [0,1] 0.999890418164285 Centerline is valid? [True, True] Translation: X:186.32, Y:143.21, Z:9.06 [[-7.03436781e-01 -7.10607211e-01 1.46316667e-02 1.86316923e+02] [ 7.10439858e-01 -7.03588787e-01 -1.54281217e-02 1.43214760e+02] [ 2.12580112e-02 -4.57789124e-04 9.99773918e-01 9.05794348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:143.24, Z:9.06 [[-7.04836120e-01 -7.09232209e-01 1.39899193e-02 1.86299103e+02] [ 7.09079133e-01 -7.04974789e-01 -1.47421589e-02 1.43235814e+02] [ 2.03181543e-02 -4.70846210e-04 9.99793454e-01 9.06221051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.28, Y:143.26, Z:9.06 [[-7.07093818e-01 -7.06999984e-01 1.30136341e-02 1.86283313e+02] [ 7.06867316e-01 -7.07213391e-01 -1.37046458e-02 1.43258417e+02] [ 1.88926007e-02 -4.91557744e-04 9.99821398e-01 9.06477909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.26, Y:143.28, Z:9.07 [[-7.07939845e-01 -7.06163380e-01 1.24281128e-02 1.86264612e+02] [ 7.06042408e-01 -7.08048760e-01 -1.30794221e-02 1.43278487e+02] [ 1.80359188e-02 -4.84669381e-04 9.99837222e-01 9.06624055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters Centerline goodness [0,1] 0.9999560777423959 Centerline is valid? [True, True] Translation: X:186.25, Y:143.30, Z:9.07 [[-7.08419821e-01 -7.05695563e-01 1.16245429e-02 1.86246261e+02] [ 7.05589807e-01 -7.08515040e-01 -1.22254583e-02 1.43298029e+02] [ 1.68636152e-02 -4.58597942e-04 9.99857694e-01 9.06678146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7927550960001 meters Centerline goodness [0,1] 0.999934133971502 Centerline is valid? [True, True] Translation: X:186.23, Y:143.32, Z:9.07 [[-7.07587854e-01 -7.06551907e-01 1.01897500e-02 1.86226851e+02] [ 7.06470831e-01 -7.07661118e-01 -1.07101285e-02 1.43317201e+02] [ 1.47781516e-02 -3.79595730e-04 9.99890725e-01 9.06841214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.21, Y:143.34, Z:9.07 [[-7.06631665e-01 -7.07515270e-01 9.68673062e-03 1.86206273e+02] [ 7.07442158e-01 -7.06697975e-01 -1.01766554e-02 1.43335761e+02] [ 1.40457320e-02 -3.38345368e-04 9.99901297e-01 9.07069509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.19, Y:143.35, Z:9.07 [[-7.04036948e-01 -7.10111075e-01 8.61607428e-03 1.86185752e+02] [ 7.10053489e-01 -7.04089624e-01 -9.04676372e-03 1.43352740e+02] [ 1.24906956e-02 -2.51382315e-04 9.99921957e-01 9.07234403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.17, Y:143.37, Z:9.07 [[-7.02849701e-01 -7.11292326e-01 8.09475807e-03 1.86166024e+02] [ 7.11241645e-01 -7.02896281e-01 -8.49353228e-03 1.43370998e+02] [ 1.17311597e-02 -2.12347570e-04 9.99931165e-01 9.07353133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.15, Y:143.39, Z:9.07 [[-7.01865467e-01 -7.12267216e-01 7.76399422e-03 1.86147656e+02] [ 7.12220712e-01 -7.01908384e-01 -8.14110823e-03 1.43389231e+02] [ 1.12482571e-02 -1.84285243e-04 9.99936719e-01 9.07456473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.942755096 meters Centerline goodness [0,1] 0.9999121342588525 Centerline is valid? [True, True] Translation: X:186.13, Y:143.41, Z:9.07 [[-7.00291593e-01 -7.13816951e-01 7.55287947e-03 1.86128560e+02] [ 7.13773101e-01 -7.00332306e-01 -7.91345285e-03 1.43408288e+02] [ 1.09382823e-02 -1.50682301e-04 9.99940164e-01 9.07306643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.972755096 meters Centerline goodness [0,1] 0.9999340354889069 Centerline is valid? [True, True] Translation: X:186.11, Y:143.43, Z:9.07 [[-6.99555966e-01 -7.14538104e-01 7.53314199e-03 1.86109279e+02] [ 7.14494584e-01 -6.99596512e-01 -7.88733607e-03 1.43427008e+02] [ 1.09059620e-02 -1.35243850e-04 9.99940519e-01 9.07474398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters Centerline goodness [0,1] 0.9998024105907923 Centerline is valid? [True, True] Translation: X:186.09, Y:143.45, Z:9.07 [[-6.99270698e-01 -7.14818354e-01 7.43046325e-03 1.86092351e+02] [ 7.14776084e-01 -6.99310163e-01 -7.77463901e-03 1.43445974e+02] [ 1.07536531e-02 -1.25459821e-04 9.99942170e-01 9.07175577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.07, Y:143.46, Z:9.07 [[-6.98819823e-01 -7.15262359e-01 7.11431259e-03 1.86071411e+02] [ 7.15223692e-01 -6.98856027e-01 -7.43809131e-03 1.43464008e+02] [ 1.02920670e-02 -1.09560738e-04 9.99947029e-01 9.07495170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.062755096 meters Centerline goodness [0,1] 0.9999121574139143 Centerline is valid? [True, True] Translation: X:186.05, Y:143.48, Z:9.08 [[-6.99403327e-01 -7.14691742e-01 7.12042833e-03 1.86054736e+02] [ 7.14653035e-01 -6.99439562e-01 -7.43898076e-03 1.43483769e+02] [ 1.02968874e-02 -1.14212169e-04 9.99946979e-01 9.07510577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.092755096 meters Centerline goodness [0,1] 0.9999560671294262 Centerline is valid? [True, True] Translation: X:186.04, Y:143.50, Z:9.07 [[-7.01334254e-01 -7.12797331e-01 7.08723747e-03 1.86035839e+02] [ 7.12758928e-01 -7.01370049e-01 -7.40037758e-03 1.43504429e+02] [ 1.02457455e-02 -1.38646510e-04 9.99947501e-01 9.07294273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters Centerline goodness [0,1] 0.9999560342932513 Centerline is valid? [True, True] Translation: X:186.02, Y:143.53, Z:9.07 [[-7.02577213e-01 -7.11574131e-01 6.89311805e-03 1.86020896e+02] [ 7.11537789e-01 -7.02611011e-01 -7.19318442e-03 1.43527497e+02] [ 9.96166460e-03 -1.49053485e-04 9.99950370e-01 9.07420336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.00, Y:143.55, Z:9.08 [[-7.05509918e-01 -7.08668454e-01 6.69163041e-03 1.86003171e+02] [ 7.08634119e-01 -7.05541629e-01 -6.97820459e-03 1.43549526e+02] [ 9.66645727e-03 -1.81274927e-04 9.99953262e-01 9.07557072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.182755096 meters Centerline goodness [0,1] 0.999955832339561 Centerline is valid? [True, True] Translation: X:185.99, Y:143.57, Z:9.07 [[-7.07251188e-01 -7.06933131e-01 6.42693277e-03 1.85985003e+02] [ 7.06901425e-01 -7.07280362e-01 -6.69818944e-03 1.43570968e+02] [ 9.28081537e-03 -1.94094509e-04 9.99956913e-01 9.07456332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:143.59, Z:9.08 [[-7.08759695e-01 -7.05419341e-01 6.57630839e-03 1.85966970e+02] [ 7.05386121e-01 -7.08790171e-01 -6.84935641e-03 1.43592022e+02] [ 9.49289123e-03 -2.15711091e-04 9.99954918e-01 9.07593366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.95, Y:143.61, Z:9.08 [[-7.10863035e-01 -7.03300088e-01 6.53697577e-03 1.85949206e+02] [ 7.03267215e-01 -7.10893050e-01 -6.80408969e-03 1.43613789e+02] [ 9.43240752e-03 -2.39535103e-04 9.99955485e-01 9.07528049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.93, Y:143.63, Z:9.07 [[-7.11672642e-01 -7.02480627e-01 6.55896115e-03 1.85930811e+02] [ 7.02447538e-01 -7.11702822e-01 -6.82268162e-03 1.43634216e+02] [ 9.46083283e-03 -2.48189738e-04 9.99955215e-01 9.07486992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:143.65, Z:9.07 [[-7.12505340e-01 -7.01632045e-01 6.97232016e-03 1.85912623e+02] [ 7.01594665e-01 -7.12539402e-01 -7.24748998e-03 1.43654167e+02] [ 1.00531241e-02 -2.72132683e-04 9.99949429e-01 9.07345130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.89, Y:143.67, Z:9.07 [[-7.13091168e-01 -7.01032548e-01 7.37244166e-03 1.85893327e+02] [ 7.00990784e-01 -7.13129217e-01 -7.65769495e-03 1.43673552e+02] [ 1.06257970e-02 -2.92620979e-04 9.99943502e-01 9.07291008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.88, Y:143.69, Z:9.07 [[-7.13688259e-01 -7.00417041e-01 8.06466475e-03 1.85876289e+02] [ 7.00367102e-01 -7.13733748e-01 -8.37015874e-03 1.43693368e+02] [ 1.16186252e-02 -3.25458136e-04 9.99932449e-01 9.07233448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.86, Y:143.71, Z:9.07 [[-7.13226852e-01 -7.00881219e-01 8.54251637e-03 1.85856770e+02] [ 7.00825306e-01 -7.13277931e-01 -8.85912024e-03 1.43711285e+02] [ 1.23023794e-02 -3.31750794e-04 9.99924268e-01 9.07149855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.84, Y:143.73, Z:9.07 [[-7.12624657e-01 -7.01487449e-01 9.02536093e-03 1.85835862e+02] [ 7.01425176e-01 -7.12681729e-01 -9.35281776e-03 1.43729633e+02] [ 1.29930941e-02 -3.34433168e-04 9.99915530e-01 9.07094501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.82, Y:143.75, Z:9.07 [[-7.10324068e-01 -7.03792178e-01 1.07836903e-02 1.85818698e+02] [ 7.03703646e-01 -7.10405835e-01 -1.11681702e-02 1.43750369e+02] [ 1.55208673e-02 -3.44497909e-04 9.99879485e-01 9.06791206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.79, Y:143.76, Z:9.07 [[-7.09362530e-01 -7.04752435e-01 1.13493243e-02 1.85792230e+02] [ 7.04654632e-01 -7.09453236e-01 -1.17454259e-02 1.43762959e+02] [ 1.63294323e-02 -3.34411072e-04 9.99866610e-01 9.06886262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.77, Y:143.78, Z:9.07 [[-7.08480044e-01 -7.05628637e-01 1.20106129e-02 1.85773056e+02] [ 7.05519381e-01 -7.08581767e-01 -1.24210304e-02 1.43780373e+02] [ 1.72751361e-02 -3.26332031e-04 9.99850720e-01 9.06859804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5427550960001 meters Centerline goodness [0,1] 0.999978077867415 Centerline is valid? [True, True] Translation: X:185.75, Y:143.80, Z:9.07 [[-7.06385055e-01 -7.07716716e-01 1.25380923e-02 1.85749888e+02] [ 7.07598121e-01 -7.06496264e-01 -1.29587145e-02 1.43797558e+02] [ 1.80292142e-02 -2.81911672e-04 9.99837421e-01 9.06812226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.572755096 meters Centerline goodness [0,1] 0.999978077867415 Centerline is valid? [True, True] Translation: X:185.73, Y:143.82, Z:9.07 [[-7.06638831e-01 -7.07463251e-01 1.25423953e-02 1.85731124e+02] [ 7.07344690e-01 -7.06750075e-01 -1.29545488e-02 1.43816653e+02] [ 1.80292061e-02 -2.82390489e-04 9.99837421e-01 9.06844025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.602755096 meters Centerline goodness [0,1] 0.9998900518955053 Centerline is valid? [True, True] Translation: X:185.71, Y:143.83, Z:9.07 [[-7.06148626e-01 -7.07946184e-01 1.28964410e-02 1.85710710e+02] [ 7.07821095e-01 -7.06266329e-01 -1.33105187e-02 1.43834613e+02] [ 1.85314530e-02 -2.70831459e-04 9.99828241e-01 9.06592385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:143.85, Z:9.07 [[-7.04171105e-01 -7.09913961e-01 1.28539071e-02 1.85689027e+02] [ 7.09790183e-01 -7.04288381e-01 -1.32579345e-02 1.43850061e+02] [ 1.84648502e-02 -2.12277335e-04 9.99829488e-01 9.06815430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.67, Y:143.87, Z:9.07 [[-7.03730079e-01 -7.10352092e-01 1.28016460e-02 1.85668750e+02] [ 7.10229537e-01 -7.03846480e-01 -1.31960795e-02 1.43868846e+02] [ 1.83842561e-02 -1.94370950e-04 9.99830976e-01 9.06963004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.65, Y:143.89, Z:9.07 [[-7.02925261e-01 -7.11148904e-01 1.27794472e-02 1.85647544e+02] [ 7.11027075e-01 -7.03041399e-01 -1.31639479e-02 1.43886142e+02] [ 1.83460076e-02 -1.66738551e-04 9.99831684e-01 9.07045298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.722755096 meters Centerline goodness [0,1] 0.9998903268260584 Centerline is valid? [True, True] Translation: X:185.63, Y:143.91, Z:9.07 [[-7.03098932e-01 -7.10969335e-01 1.32096951e-02 1.85627543e+02] [ 7.10839319e-01 -7.03222991e-01 -1.35972980e-02 1.43905288e+02] [ 1.89566232e-02 -1.70274984e-04 9.99820293e-01 9.06885952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.61, Y:143.92, Z:9.07 [[-7.02993973e-01 -7.11065542e-01 1.36113936e-02 1.85607495e+02] [ 7.10927712e-01 -7.03125713e-01 -1.40007215e-02 1.43924022e+02] [ 1.95259514e-02 -1.65705932e-04 9.99809337e-01 9.06984218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters Centerline goodness [0,1] 0.9999560420238253 Centerline is valid? [True, True] Translation: X:185.59, Y:143.94, Z:9.07 [[-7.02983754e-01 -7.11067442e-01 1.40333097e-02 1.85588774e+02] [ 7.10921147e-01 -7.03123791e-01 -1.44241898e-02 1.43942363e+02] [ 2.01237257e-02 -1.63394475e-04 9.99797484e-01 9.06880102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.812755096 meters Centerline goodness [0,1] 0.9998899526796523 Centerline is valid? [True, True] Translation: X:185.57, Y:143.96, Z:9.07 [[-7.03214425e-01 -7.10833771e-01 1.43116089e-02 1.85569426e+02] [ 7.10681786e-01 -7.03360023e-01 -1.46995556e-02 1.43961386e+02] [ 2.05151541e-02 -1.65939745e-04 9.99789528e-01 9.06767312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.842755096 meters Centerline goodness [0,1] 0.9999779982838661 Centerline is valid? [True, True] Translation: X:185.55, Y:143.98, Z:9.07 [[-7.03105794e-01 -7.10936053e-01 1.45660887e-02 1.85549180e+02] [ 7.10778865e-01 -7.03256642e-01 -1.49499707e-02 1.43978812e+02] [ 2.08721718e-02 -1.58143041e-04 9.99782140e-01 9.06974657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.872755096 meters Centerline goodness [0,1] 0.9999559616866674 Centerline is valid? [True, True] Translation: X:185.53, Y:144.00, Z:9.07 [[-7.03615264e-01 -7.10426528e-01 1.48225566e-02 1.85531785e+02] [ 7.10263897e-01 -7.03771355e-01 -1.52012072e-02 1.43997135e+02] [ 2.12310316e-02 -1.67874564e-04 9.99774582e-01 9.06867955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.51, Y:144.02, Z:9.07 [[-7.04190406e-01 -7.09856668e-01 1.48116098e-02 1.85511956e+02] [ 7.09694393e-01 -7.04346136e-01 -1.51785566e-02 1.44016488e+02] [ 2.12070998e-02 -1.76877498e-04 9.99775089e-01 9.07076011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:144.04, Z:9.07 [[-7.05046119e-01 -7.09002207e-01 1.50279988e-02 1.85495418e+02] [ 7.08835198e-01 -7.05206233e-01 -1.53892942e-02 1.44036565e+02] [ 2.15088820e-02 -1.97787628e-04 9.99768638e-01 9.07114293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.48, Y:144.06, Z:9.07 [[-7.05683368e-01 -7.08364604e-01 1.51845955e-02 1.85478466e+02] [ 7.08194202e-01 -7.05846686e-01 -1.55379490e-02 1.44055161e+02] [ 2.17245295e-02 -2.11229691e-04 9.99763972e-01 9.07152898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.992755096 meters Centerline goodness [0,1] 0.9998246267838744 Centerline is valid? [True, True] Translation: X:185.46, Y:144.08, Z:9.07 [[-7.06325620e-01 -7.07703528e-01 1.61194170e-02 1.85460934e+02] [ 7.07511625e-01 -7.06509491e-01 -1.64815178e-02 1.44075212e+02] [ 2.30525494e-02 -2.36643374e-04 9.99734227e-01 9.06848816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters Centerline goodness [0,1] 0.9998682042833608 Centerline is valid? [True, True] Translation: X:185.44, Y:144.09, Z:9.07 [[-7.06411913e-01 -7.07611220e-01 1.63881220e-02 1.85441440e+02] [ 7.07413127e-01 -7.06601943e-01 -1.67440022e-02 1.44094285e+02] [ 2.34281227e-02 -2.34989994e-04 9.99725496e-01 9.06963382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.052755096 meters Centerline goodness [0,1] 0.9999560478199718 Centerline is valid? [True, True] Translation: X:185.42, Y:144.11, Z:9.07 [[-7.06534336e-01 -7.07496434e-01 1.60632697e-02 1.85423846e+02] [ 7.07306353e-01 -7.06716878e-01 -1.64005209e-02 1.44113464e+02] [ 2.29554939e-02 -2.25878419e-04 9.99736462e-01 9.07007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.40, Y:144.13, Z:9.07 [[-7.06718267e-01 -7.07310231e-01 1.61718414e-02 1.85403865e+02] [ 7.07117797e-01 -7.06903237e-01 -1.64995301e-02 1.44132132e+02] [ 2.31022135e-02 -2.25122448e-04 9.99733083e-01 9.07319420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.112755096 meters Centerline goodness [0,1] 0.9999340702810804 Centerline is valid? [True, True] Translation: X:185.39, Y:144.15, Z:9.07 [[-7.07425989e-01 -7.06605365e-01 1.60414229e-02 1.85385767e+02] [ 7.06416107e-01 -7.07607802e-01 -1.63549096e-02 1.44153166e+02] [ 2.29075029e-02 -2.37968571e-04 9.99737560e-01 9.07266335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters Centerline goodness [0,1] 0.9998898896694488 Centerline is valid? [True, True] Translation: X:185.37, Y:144.17, Z:9.07 [[-7.08104110e-01 -7.05918287e-01 1.63689291e-02 1.85369200e+02] [ 7.05721327e-01 -7.08293235e-01 -1.66763838e-02 1.44173086e+02] [ 2.33661661e-02 -2.56713531e-04 9.99726941e-01 9.07182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:144.19, Z:9.08 [[-7.09062909e-01 -7.04969247e-01 1.57528735e-02 1.85351890e+02] [ 7.04786859e-01 -7.09237823e-01 -1.60372865e-02 1.44194858e+02] [ 2.24783275e-02 -2.69026759e-04 9.99747294e-01 9.07523707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:144.22, Z:9.08 [[-7.09998577e-01 -7.04027593e-01 1.57216134e-02 1.85334108e+02] [ 7.03845951e-01 -7.10172559e-01 -1.59941905e-02 1.44215713e+02] [ 2.24254098e-02 -2.90258546e-04 9.99748477e-01 9.07620620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.232755096 meters Centerline goodness [0,1] 0.999977939067705 Centerline is valid? [True, True] Translation: X:185.32, Y:144.24, Z:9.08 [[-7.11172771e-01 -7.02848298e-01 1.54129911e-02 1.85316581e+02] [ 7.02673683e-01 -7.11339703e-01 -1.56691805e-02 1.44236599e+02] [ 2.19769293e-02 -3.13191316e-04 9.99758429e-01 9.07732430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:144.26, Z:9.08 [[-7.13329653e-01 -7.00660399e-01 1.53561696e-02 1.85301419e+02] [ 7.00486797e-01 -7.13494827e-01 -1.56006167e-02 1.44259120e+02] [ 2.18872819e-02 -3.71588489e-04 9.99760376e-01 9.07888119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2927550960001 meters Centerline goodness [0,1] 0.999955834290257 Centerline is valid? [True, True] Translation: X:185.28, Y:144.28, Z:9.08 [[-7.14527451e-01 -6.99439053e-01 1.53471137e-02 1.85283481e+02] [ 6.99265595e-01 -7.14692137e-01 -1.55813144e-02 1.44280765e+02] [ 2.18666413e-02 -4.01568241e-04 9.99760816e-01 9.07873791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:144.30, Z:9.08 [[-7.15959282e-01 -6.97987662e-01 1.46809264e-02 1.85266114e+02] [ 6.97828829e-01 -7.16109662e-01 -1.48955918e-02 1.44302362e+02] [ 2.09100926e-02 -4.19863533e-04 9.99781272e-01 9.08193162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.25, Y:144.32, Z:9.08 [[-7.16700269e-01 -6.97226928e-01 1.46743083e-02 1.85249598e+02] [ 6.97068296e-01 -7.16850349e-01 -1.48784401e-02 1.44323173e+02] [ 2.08929321e-02 -4.34386953e-04 9.99781625e-01 9.08226243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.23, Y:144.34, Z:9.08 [[-7.17062029e-01 -6.96858357e-01 1.45078369e-02 1.85230295e+02] [ 6.96703447e-01 -7.17208647e-01 -1.46990648e-02 1.44342089e+02] [ 2.06483122e-02 -4.32481216e-04 9.99786707e-01 9.08392537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:144.36, Z:9.08 [[-7.17782646e-01 -6.96124629e-01 1.40916321e-02 1.85212003e+02] [ 6.95978537e-01 -7.17920827e-01 -1.42675608e-02 1.44362461e+02] [ 2.00486766e-02 -4.33534105e-04 9.99798911e-01 9.08478044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:144.38, Z:9.09 [[-7.18123393e-01 -6.95782773e-01 1.36060775e-02 1.85193350e+02] [ 6.95646696e-01 -7.18252153e-01 -1.37665843e-02 1.44381946e+02] [ 1.93511467e-02 -4.21083434e-04 9.99812660e-01 9.08582194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:144.40, Z:9.09 [[-7.18137243e-01 -6.95765338e-01 1.37657003e-02 1.85175815e+02] [ 6.95626219e-01 -7.18269043e-01 -1.39192385e-02 1.44401303e+02] [ 1.95720000e-02 -4.20141515e-04 9.99808362e-01 9.08712711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.16, Y:144.42, Z:9.09 [[-7.18254991e-01 -6.95639414e-01 1.39848038e-02 1.85157806e+02] [ 6.95495983e-01 -7.18390998e-01 -1.41319244e-02 1.44420288e+02] [ 1.98772808e-02 -4.23950375e-04 9.99802337e-01 9.08714079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.14, Y:144.44, Z:9.09 [[-7.17927524e-01 -6.95958157e-01 1.49101869e-02 1.85139951e+02] [ 6.95795436e-01 -7.18082207e-01 -1.50550888e-02 1.44438049e+02] [ 2.11844518e-02 -4.34022672e-04 9.99775490e-01 9.08597150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.12, Y:144.46, Z:9.09 [[-7.17717985e-01 -6.96174987e-01 1.48755477e-02 1.85121419e+02] [ 6.96013290e-01 -7.17872002e-01 -1.50096230e-02 1.44455731e+02] [ 2.11280633e-02 -4.19097482e-04 9.99776690e-01 9.08567824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.10, Y:144.47, Z:9.09 [[-7.17643898e-01 -6.96250860e-01 1.48988733e-02 1.85102308e+02] [ 6.96088879e-01 -7.17798420e-01 -1.50233366e-02 1.44474108e+02] [ 2.11543987e-02 -4.10465798e-04 9.99776136e-01 9.08563897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.08, Y:144.49, Z:9.08 [[-7.17157940e-01 -6.96743572e-01 1.52605532e-02 1.85082116e+02] [ 6.96573988e-01 -7.17320178e-01 -1.53766608e-02 1.44491636e+02] [ 2.16602923e-02 -3.97389999e-04 9.99765309e-01 9.08462453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.06, Y:144.51, Z:9.08 [[-7.16859320e-01 -6.97051891e-01 1.52110491e-02 1.85062697e+02] [ 6.96883715e-01 -7.17020584e-01 -1.53156992e-02 1.44509634e+02] [ 2.15824724e-02 -3.78869384e-04 9.99767000e-01 9.08491826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.04, Y:144.53, Z:9.09 [[-7.15859892e-01 -6.98092369e-01 1.45485563e-02 1.85043562e+02] [ 6.97938946e-01 -7.16007639e-01 -1.46386022e-02 1.44527396e+02] [ 2.06359739e-02 -3.25184137e-04 9.99787003e-01 9.08664706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.712755096 meters Centerline goodness [0,1] 0.9999112373513226 Centerline is valid? [True, True] Translation: X:185.03, Y:144.55, Z:9.09 [[-7.15936067e-01 -6.98020235e-01 1.42583420e-02 1.85025359e+02] [ 6.97873056e-01 -7.16077966e-01 -1.43367803e-02 1.44545862e+02] [ 2.02174472e-02 -3.13705372e-04 9.99795557e-01 9.08614067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters Centerline goodness [0,1] 0.9998894416804864 Centerline is valid? [True, True] Translation: X:185.01, Y:144.56, Z:9.09 [[-7.15737425e-01 -6.98226083e-01 1.41518676e-02 1.85005959e+02] [ 6.98081338e-01 -7.15877257e-01 -1.42196248e-02 1.44563478e+02] [ 2.00595131e-02 -2.98362898e-04 9.99798743e-01 9.08698223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.772755096 meters Centerline goodness [0,1] 0.9998666725923292 Centerline is valid? [True, True] Translation: X:184.98, Y:144.58, Z:9.09 [[-7.14421410e-01 -6.99577623e-01 1.38995710e-02 1.84982778e+02] [ 6.99438444e-01 -7.14556567e-01 -1.39561947e-02 1.44579061e+02] [ 1.96954712e-02 -2.48709956e-04 9.99805994e-01 9.08859575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.802755096 meters Centerline goodness [0,1] 0.9998666577771852 Centerline is valid? [True, True] Translation: X:184.96, Y:144.60, Z:9.09 [[-7.13770903e-01 -7.00241063e-01 1.39122456e-02 1.84964810e+02] [ 7.00101958e-01 -7.13906439e-01 -1.39586729e-02 1.44598570e+02] [ 1.97064777e-02 -2.23304167e-04 9.99805784e-01 9.08670390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.94, Y:144.61, Z:9.09 [[-7.11996870e-01 -7.02054558e-01 1.34109963e-02 1.84944157e+02] [ 7.01925807e-01 -7.12123144e-01 -1.34458382e-02 1.44613538e+02] [ 1.89899928e-02 -1.59870326e-04 9.99819661e-01 9.08825389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters Centerline goodness [0,1] 0.9999556875083085 Centerline is valid? [True, True] Translation: X:184.92, Y:144.63, Z:9.09 [[-7.11596115e-01 -7.02458392e-01 1.35342636e-02 1.84924680e+02] [ 7.02327532e-01 -7.11724798e-01 -1.35591335e-02 1.44630477e+02] [ 1.91573981e-02 -1.43140787e-04 9.99816470e-01 9.08763111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.892755096 meters Centerline goodness [0,1] 0.9999335356802623 Centerline is valid? [True, True] Translation: X:184.90, Y:144.65, Z:9.09 [[-7.11417910e-01 -7.02633112e-01 1.38299554e-02 1.84903237e+02] [ 7.02496706e-01 -7.11552312e-01 -1.38450732e-02 1.44647869e+02] [ 1.95687436e-02 -1.34134873e-04 9.99808505e-01 9.08855985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.88, Y:144.67, Z:9.09 [[-7.11082378e-01 -7.02970197e-01 1.39554468e-02 1.84884125e+02] [ 7.02831567e-01 -7.11219297e-01 -1.39606843e-02 1.44665238e+02] [ 1.97393281e-02 -1.18868078e-04 9.99805153e-01 9.08765639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.952755096 meters Centerline goodness [0,1] 0.9998233488639123 Centerline is valid? [True, True] Translation: X:184.88, Y:144.64, Z:9.08 [[-6.62684095e-01 -7.48758349e-01 1.45163702e-02 1.84877837e+02] [ 7.48595495e-01 -6.62842871e-01 -1.56241213e-02 1.44644996e+02] [ 2.13207637e-02 5.13032680e-04 9.99772555e-01 9.08195747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.86, Y:144.66, Z:9.09 [[-6.62928044e-01 -7.48554522e-01 1.38757254e-02 1.84858069e+02] [ 7.48386153e-01 -6.63073229e-01 -1.58763552e-02 1.44663269e+02] [ 2.10849395e-02 -1.40480304e-04 9.99777678e-01 9.08501363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.012755096 meters Centerline goodness [0,1] 0.9999558567108835 Centerline is valid? [True, True] Translation: X:184.84, Y:144.68, Z:9.08 [[-6.64112552e-01 -7.47505383e-01 1.37920398e-02 1.84840852e+02] [ 7.47339065e-01 -6.64255730e-01 -1.57685466e-02 1.44682927e+02] [ 2.09485150e-02 -1.64759588e-04 9.99780542e-01 9.08467855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0427550960001 meters Centerline goodness [0,1] 0.9999778849130877 Centerline is valid? [True, True] Translation: X:184.82, Y:144.70, Z:9.09 [[-6.65193532e-01 -7.46546352e-01 1.36422385e-02 1.84823141e+02] [ 7.46383663e-01 -6.65333383e-01 -1.55857789e-02 1.44703510e+02] [ 2.07121431e-02 -1.85215329e-04 9.99785463e-01 9.08545981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.072755096 meters Centerline goodness [0,1] 0.999911651021535 Centerline is valid? [True, True] Translation: X:184.81, Y:144.72, Z:9.09 [[-6.67820298e-01 -7.44201948e-01 1.33981370e-02 1.84806661e+02] [ 7.44044775e-01 -6.67954639e-01 -1.52961486e-02 1.44724354e+02] [ 2.03327714e-02 -2.46264679e-04 9.99793238e-01 9.08505140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.102755096 meters Centerline goodness [0,1] 0.9998456313677061 Centerline is valid? [True, True] Translation: X:184.79, Y:144.75, Z:9.09 [[-6.69354639e-01 -7.42823097e-01 1.33496661e-02 1.84788673e+02] [ 7.42666976e-01 -6.69487690e-01 -1.52313893e-02 1.44745290e+02] [ 2.02516649e-02 -2.80844920e-04 9.99794875e-01 9.08536503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.132755096 meters Centerline goodness [0,1] 0.999845522355122 Centerline is valid? [True, True] Translation: X:184.77, Y:144.77, Z:9.09 [[-6.72035127e-01 -7.40395862e-01 1.35187186e-02 1.84773659e+02] [ 7.40235454e-01 -6.72170993e-01 -1.54152463e-02 1.44766833e+02] [ 2.05002751e-02 -3.52552186e-04 9.99789785e-01 9.08549352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1627550960001 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:184.76, Y:144.79, Z:9.09 [[-6.72964996e-01 -7.39566768e-01 1.26138398e-02 1.84755812e+02] [ 7.39427163e-01 -6.73083112e-01 -1.43733912e-02 1.44787269e+02] [ 1.91202450e-02 -3.45773354e-04 9.99817132e-01 9.08803310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.192755096 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:184.74, Y:144.81, Z:9.09 [[-6.74390273e-01 -7.38262886e-01 1.28712807e-02 1.84736880e+02] [ 7.38117483e-01 -6.74512982e-01 -1.46566467e-02 1.44808248e+02] [ 1.95023043e-02 -3.83782650e-04 9.99809738e-01 9.08757294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.222755096 meters Centerline goodness [0,1] 0.9998453551308958 Centerline is valid? [True, True] Translation: X:184.72, Y:144.83, Z:9.09 [[-6.75383947e-01 -7.37352979e-01 1.29270925e-02 1.84719644e+02] [ 7.37206335e-01 -6.75507528e-01 -1.47105072e-02 1.44829474e+02] [ 1.95791846e-02 -4.05305953e-04 9.99808227e-01 9.08723348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.252755096 meters Centerline goodness [0,1] 0.9999117309559538 Centerline is valid? [True, True] Translation: X:184.70, Y:144.85, Z:9.08 [[-6.77359761e-01 -7.35517187e-01 1.40791511e-02 1.84702931e+02] [ 7.35343091e-01 -6.77505887e-01 -1.60097683e-02 1.44849665e+02] [ 2.13141674e-02 -4.91366367e-04 9.99772707e-01 9.08424220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters Centerline goodness [0,1] 0.9999118612696384 Centerline is valid? [True, True] Translation: X:184.69, Y:144.87, Z:9.08 [[-6.77690554e-01 -7.35191794e-01 1.51174880e-02 1.84686177e+02] [ 7.34991282e-01 -6.77858942e-01 -1.71776014e-02 1.44869424e+02] [ 2.28763560e-02 -5.29876335e-04 9.99738162e-01 9.08211649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.312755096 meters Centerline goodness [0,1] 0.9999780016718729 Centerline is valid? [True, True] Translation: X:184.67, Y:144.89, Z:9.08 [[-6.77302562e-01 -7.35553219e-01 1.49231863e-02 1.84665152e+02] [ 7.35358191e-01 -6.77466759e-01 -1.69446694e-02 1.44886785e+02] [ 2.25736687e-02 -5.02780737e-04 9.99745056e-01 9.08459919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.342755096 meters Centerline goodness [0,1] 0.9998236681434459 Centerline is valid? [True, True] Translation: X:184.65, Y:144.91, Z:9.08 [[-6.77173660e-01 -7.35668560e-01 1.50865381e-02 1.84647953e+02] [ 7.35469559e-01 -6.77341512e-01 -1.71173592e-02 1.44907102e+02] [ 2.28114415e-02 -4.95735267e-04 9.99739662e-01 9.08319591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.372755096 meters Centerline goodness [0,1] 0.9996262586290288 Centerline is valid? [True, True] Translation: X:184.63, Y:144.93, Z:9.08 [[-6.75300575e-01 -7.37387741e-01 1.51146615e-02 1.84626449e+02] [ 7.37188702e-01 -6.75469566e-01 -1.71372237e-02 1.44925524e+02] [ 2.28462725e-02 -4.30419361e-04 9.99738897e-01 9.08445449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters Centerline goodness [0,1] 0.9998463058513558 Centerline is valid? [True, True] Translation: X:184.61, Y:144.95, Z:9.09 [[-6.74222169e-01 -7.38389467e-01 1.43339266e-02 1.84608732e+02] [ 7.38210905e-01 -6.74374420e-01 -1.62419913e-02 1.44946693e+02] [ 2.16593487e-02 -3.69249636e-04 9.99765341e-01 9.08525909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.432755096 meters Centerline goodness [0,1] 0.9997586396050466 Centerline is valid? [True, True] Translation: X:184.59, Y:144.96, Z:9.09 [[-6.73277579e-01 -7.39249809e-01 1.43882153e-02 1.84587278e+02] [ 7.39070324e-01 -6.73431219e-01 -1.62925978e-02 1.44964110e+02] [ 2.17337732e-02 -3.35537919e-04 9.99763737e-01 9.08739133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.462755096 meters Centerline goodness [0,1] 0.9999561845506726 Centerline is valid? [True, True] Translation: X:184.57, Y:144.98, Z:9.09 [[-6.71424881e-01 -7.40929371e-01 1.45703889e-02 1.84566700e+02] [ 7.40745958e-01 -6.71582899e-01 -1.64874049e-02 1.44982935e+02] [ 2.20012266e-02 -2.77097156e-04 9.99757905e-01 9.08726468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.492755096 meters Centerline goodness [0,1] 0.9999561845506726 Centerline is valid? [True, True] Translation: X:184.55, Y:145.00, Z:9.09 [[-6.71684460e-01 -7.40693949e-01 1.45759915e-02 1.84548814e+02] [ 7.40510589e-01 -6.71842539e-01 -1.64824512e-02 1.45002849e+02] [ 2.20012230e-02 -2.77330309e-04 9.99757905e-01 9.08758214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.53, Y:145.02, Z:9.09 [[-6.70711104e-01 -7.41579622e-01 1.43624230e-02 1.84529865e+02] [ 7.41402044e-01 -6.70864821e-01 -1.62296144e-02 1.45021877e+02] [ 2.16707956e-02 -2.37052868e-04 9.99765133e-01 9.08858086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.552755096 meters Centerline goodness [0,1] 0.9999125185897997 Centerline is valid? [True, True] Translation: X:184.51, Y:145.04, Z:9.09 [[-6.68892355e-01 -7.43233436e-01 1.36776170e-02 1.84510300e+02] [ 7.43072957e-01 -6.69032160e-01 -1.54450320e-02 1.45040070e+02] [ 2.06300299e-02 -1.67596556e-04 9.99787164e-01 9.08965927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.582755096 meters Centerline goodness [0,1] 0.9999124726477024 Centerline is valid? [True, True] Translation: X:184.49, Y:145.06, Z:9.09 [[-6.68319077e-01 -7.43747318e-01 1.37673060e-02 1.84491338e+02] [ 7.43585078e-01 -6.68460849e-01 -1.55346465e-02 1.45058778e+02] [ 2.07567568e-02 -1.44937279e-04 9.99784545e-01 9.08955941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.612755096 meters Centerline goodness [0,1] 0.9996936475634041 Centerline is valid? [True, True] Translation: X:184.47, Y:145.08, Z:9.09 [[-6.67875977e-01 -7.44144312e-01 1.38174518e-02 1.84472242e+02] [ 7.43981224e-01 -6.68018882e-01 -1.55791708e-02 1.45077516e+02] [ 2.08234701e-02 -1.25029220e-04 9.99783160e-01 9.08947214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.45, Y:145.10, Z:9.09 [[-6.66519322e-01 -7.45383065e-01 1.24931914e-02 1.84452669e+02] [ 7.45250154e-01 -6.66636394e-01 -1.40757349e-02 1.45095960e+02] [ 1.88202305e-02 -7.11965164e-05 9.99822881e-01 9.09393831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:145.12, Z:9.10 [[-6.66479743e-01 -7.45426398e-01 1.20098792e-02 1.84434086e+02] [ 7.45303763e-01 -6.66587940e-01 -1.35210859e-02 1.45116086e+02] [ 1.80846150e-02 -6.05217049e-05 9.99836458e-01 9.09581951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.702755096 meters Centerline goodness [0,1] 0.9996939288603223 Centerline is valid? [True, True] Translation: X:184.42, Y:145.14, Z:9.10 [[-6.66828799e-01 -7.45114216e-01 1.20065957e-02 1.84417245e+02] [ 7.44991780e-01 -6.66936879e-01 -1.35072751e-02 1.45136290e+02] [ 1.80721042e-02 -6.22249754e-05 9.99836684e-01 9.09545614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.732755096 meters Centerline goodness [0,1] 0.9999781616474853 Centerline is valid? [True, True] Translation: X:184.40, Y:145.16, Z:9.10 [[-6.67192196e-01 -7.44790082e-01 1.19292702e-02 1.84398998e+02] [ 7.44669347e-01 -6.67298831e-01 -1.34101847e-02 1.45156771e+02] [ 1.79481607e-02 -6.38087377e-05 9.99838917e-01 9.09752698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters Centerline goodness [0,1] 0.9999126599414822 Centerline is valid? [True, True] Translation: X:184.38, Y:145.18, Z:9.10 [[-6.68164252e-01 -7.43913195e-01 1.22348323e-02 1.84382041e+02] [ 7.43786239e-01 -6.68276254e-01 -1.37433539e-02 1.45176985e+02] [ 1.84001102e-02 -8.27178344e-05 9.99830700e-01 9.09621878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7927550960001 meters Centerline goodness [0,1] 0.9998255141878776 Centerline is valid? [True, True] Translation: X:184.37, Y:145.20, Z:9.10 [[-6.70479402e-01 -7.41816883e-01 1.28485230e-02 1.84365197e+02] [ 7.41676689e-01 -6.70602485e-01 -1.44220932e-02 1.45199653e+02] [ 1.93148037e-02 -1.40266440e-04 9.99813442e-01 9.09500787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.35, Y:145.22, Z:9.10 [[-6.71788878e-01 -7.40641603e-01 1.22360333e-02 1.84348099e+02] [ 7.40514424e-01 -6.71900284e-01 -1.37257970e-02 1.45220912e+02] [ 1.83872905e-02 -1.59878588e-04 9.99830927e-01 9.09769353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.33, Y:145.24, Z:9.10 [[-6.74929096e-01 -7.37781869e-01 1.21913495e-02 1.84331870e+02] [ 7.37655320e-01 -6.75039154e-01 -1.36663278e-02 1.45244408e+02] [ 1.83124071e-02 -2.30788470e-04 9.99832287e-01 9.09829905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.31, Y:145.27, Z:9.10 [[-6.76636198e-01 -7.36215224e-01 1.22718985e-02 1.84314904e+02] [ 7.36086902e-01 -6.76747421e-01 -1.37477538e-02 1.45266737e+02] [ 1.84262813e-02 -2.69044110e-04 9.99830185e-01 9.09851436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9127550960001 meters Centerline goodness [0,1] 0.9998242299072813 Centerline is valid? [True, True] Translation: X:184.30, Y:145.29, Z:9.10 [[-6.78454118e-01 -7.34531844e-01 1.27663817e-02 1.84298640e+02] [ 7.34392856e-01 -6.78574143e-01 -1.42921588e-02 1.45288923e+02] [ 1.91609823e-02 -3.21034411e-04 9.99816360e-01 9.09604272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.942755096 meters Centerline goodness [0,1] 0.9998898144475297 Centerline is valid? [True, True] Translation: X:184.28, Y:145.31, Z:9.10 [[-6.80883252e-01 -7.32287397e-01 1.23760175e-02 1.84283629e+02] [ 7.32156562e-01 -6.80995620e-01 -1.38468193e-02 1.45311245e+02] [ 1.85678650e-02 -3.66884956e-04 9.99827535e-01 9.09698530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.972755096 meters Centerline goodness [0,1] 0.9998678326761681 Centerline is valid? [True, True] Translation: X:184.27, Y:145.33, Z:9.10 [[-6.82109125e-01 -7.31147929e-01 1.22412708e-02 1.84266179e+02] [ 7.31019888e-01 -6.82218847e-01 -1.36882320e-02 1.45332776e+02] [ 1.83593481e-02 -3.88255549e-04 9.99831378e-01 9.09723704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters Centerline goodness [0,1] 0.9999779473382437 Centerline is valid? [True, True] Translation: X:184.25, Y:145.35, Z:9.10 [[-6.82855431e-01 -7.30454713e-01 1.20155210e-02 1.84247896e+02] [ 7.30331412e-01 -6.82961022e-01 -1.34264919e-02 1.45353024e+02] [ 1.80135767e-02 -3.93040503e-04 9.99837665e-01 9.09993420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.032755096 meters Centerline goodness [0,1] 0.9998453243768782 Centerline is valid? [True, True] Translation: X:184.23, Y:145.38, Z:9.10 [[-6.84168275e-01 -7.29221124e-01 1.22607031e-02 1.84231976e+02] [ 7.29092718e-01 -6.84277992e-01 -1.36908415e-02 1.45375035e+02] [ 1.83733801e-02 -4.27650051e-04 9.99831104e-01 9.09677486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.21, Y:145.39, Z:9.10 [[-6.83886814e-01 -7.29491429e-01 1.18777135e-02 1.84213401e+02] [ 7.29371122e-01 -6.83989835e-01 -1.32541467e-02 1.45394241e+02] [ 1.77930217e-02 -4.01074890e-04 9.99841611e-01 9.09879879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.092755096 meters Centerline goodness [0,1] 0.9998234112531179 Centerline is valid? [True, True] Translation: X:184.19, Y:145.41, Z:9.10 [[-6.82925378e-01 -7.30378974e-01 1.26286067e-02 1.84192999e+02] [ 7.30243330e-01 -6.83042018e-01 -1.40812356e-02 1.45412315e+02] [ 1.89105075e-02 -3.94477375e-04 9.99821103e-01 9.09514941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters Centerline goodness [0,1] 0.9998232395766588 Centerline is valid? [True, True] Translation: X:184.17, Y:145.43, Z:9.09 [[-6.82161386e-01 -7.31090292e-01 1.27604324e-02 1.84173584e+02] [ 7.30952117e-01 -6.82280622e-01 -1.42181427e-02 1.45432114e+02] [ 1.91009418e-02 -3.71802884e-04 9.99817491e-01 9.09451614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.152755096 meters Centerline goodness [0,1] 0.9998676694382568 Centerline is valid? [True, True] Translation: X:184.16, Y:145.45, Z:9.09 [[-6.81190941e-01 -7.31996434e-01 1.26540033e-02 1.84155993e+02] [ 7.31860900e-01 -6.81308379e-01 -1.40895650e-02 1.45451380e+02] [ 1.89347898e-02 -3.36713782e-04 9.99820664e-01 9.09460511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.182755096 meters Centerline goodness [0,1] 0.9999559771961877 Centerline is valid? [True, True] Translation: X:184.14, Y:145.47, Z:9.10 [[-6.79971323e-01 -7.33136810e-01 1.22237102e-02 1.84136114e+02] [ 7.33010693e-01 -6.80081124e-01 -1.36010495e-02 1.45469839e+02] [ 1.82845446e-02 -2.88213369e-04 9.99832782e-01 9.09625950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.212755096 meters Centerline goodness [0,1] 0.9999779405276625 Centerline is valid? [True, True] Translation: X:184.11, Y:145.49, Z:9.10 [[-6.77256656e-01 -7.35656981e-01 1.14990933e-02 1.84113500e+02] [ 7.35545876e-01 -6.77354240e-01 -1.27866615e-02 1.45486915e+02] [ 1.71955564e-02 -2.01740979e-04 9.99852125e-01 9.09815260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.09, Y:145.51, Z:9.10 [[-6.76137527e-01 -7.36686455e-01 1.14503777e-02 1.84094132e+02] [ 7.36576584e-01 -6.76234455e-01 -1.27238922e-02 1.45505950e+02] [ 1.71166590e-02 -1.69020915e-04 9.99853485e-01 9.09903774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.08, Y:145.52, Z:9.10 [[-6.73899589e-01 -7.38747003e-01 1.05928856e-02 1.84075492e+02] [ 7.38653355e-01 -6.73982830e-01 -1.17629148e-02 1.45523791e+02] [ 1.58292411e-02 -1.02552974e-04 9.99874704e-01 9.10002068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.302755096 meters Centerline goodness [0,1] 0.9999116939311654 Centerline is valid? [True, True] Translation: X:184.06, Y:145.54, Z:9.10 [[-6.73221916e-01 -7.39371761e-01 1.00821927e-02 1.84058633e+02] [ 7.39287119e-01 -6.73297403e-01 -1.11876267e-02 1.45542283e+02] [ 1.50601294e-02 -7.81202589e-05 9.99886587e-01 9.09977670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.332755096 meters Centerline goodness [0,1] 0.9999779049470824 Centerline is valid? [True, True] Translation: X:184.04, Y:145.56, Z:9.10 [[-6.72779497e-01 -7.39789338e-01 8.91539597e-03 1.84039852e+02] [ 7.39723261e-01 -6.72838563e-01 -9.88765592e-03 1.45561127e+02] [ 1.33134046e-02 -5.72863956e-05 9.99911371e-01 9.10369044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters Centerline goodness [0,1] 0.9999113082039911 Centerline is valid? [True, True] Translation: X:184.02, Y:145.58, Z:9.10 [[-6.72645021e-01 -7.39924851e-01 7.73889492e-03 1.84023969e+02] [ 7.39875133e-01 -6.72689537e-01 -8.57754980e-03 1.45580280e+02] [ 1.15526159e-02 -4.38302513e-05 9.99933265e-01 9.10425306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.01, Y:145.60, Z:9.11 [[-6.73352633e-01 -7.39286995e-01 7.13937998e-03 1.84006278e+02] [ 7.39244710e-01 -6.73390479e-01 -7.90708991e-03 1.45599590e+02] [ 1.06531992e-02 -4.65109358e-05 9.99943252e-01 9.10704367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4227550960001 meters Centerline goodness [0,1] 0.9999778805105178 Centerline is valid? [True, True] Translation: X:183.99, Y:145.62, Z:9.11 [[-6.74207281e-01 -7.38510456e-01 6.84461984e-03 1.83989835e+02] [ 7.38471607e-01 -6.74242022e-01 -7.57505635e-03 1.45620368e+02] [ 1.02091886e-02 -5.26007309e-05 9.99947884e-01 9.10785075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.452755096 meters Centerline goodness [0,1] 0.9999556206452758 Centerline is valid? [True, True] Translation: X:183.97, Y:145.64, Z:9.11 [[-6.76500704e-01 -7.36418923e-01 5.82818985e-03 1.83974822e+02] [ 7.36390713e-01 -6.76525806e-01 -6.44607317e-03 1.45643434e+02] [ 8.68993109e-03 -6.89481583e-05 9.99962239e-01 9.10958015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.96, Y:145.67, Z:9.11 [[-6.77920398e-01 -7.35113994e-01 5.59902287e-03 1.83960974e+02] [ 7.35087949e-01 -6.77943515e-01 -6.18850700e-03 1.45665799e+02] [ 8.34507935e-03 -7.95408928e-05 9.99965176e-01 9.11136695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.512755096 meters Centerline goodness [0,1] 0.999867086083913 Centerline is valid? [True, True] Translation: X:183.94, Y:145.69, Z:9.11 [[-6.79596854e-01 -7.33568936e-01 4.97328072e-03 1.83942497e+02] [ 7.33548373e-01 -6.79615045e-01 -5.49309889e-03 1.45687080e+02] [ 7.40948311e-03 -8.49507381e-05 9.99972546e-01 9.10893110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5427550960001 meters Centerline goodness [0,1] 0.9997781475318913 Centerline is valid? [True, True] Translation: X:183.92, Y:145.71, Z:9.11 [[-6.80043301e-01 -7.33157245e-01 4.64367577e-03 1.83923849e+02] [ 7.33139326e-01 -6.80059150e-01 -5.12645645e-03 1.45707384e+02] [ 6.91647288e-03 -8.17510365e-05 9.99976078e-01 9.10857547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.91, Y:145.73, Z:9.11 [[-6.80303073e-01 -7.32916215e-01 4.64222993e-03 1.83905256e+02] [ 7.32898326e-01 -6.80318907e-01 -5.12139219e-03 1.45726608e+02] [ 6.91174817e-03 -8.18163054e-05 9.99976110e-01 9.11189869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.602755096 meters Centerline goodness [0,1] 0.9998890614599512 Centerline is valid? [True, True] Translation: X:183.89, Y:145.75, Z:9.11 [[-6.81347558e-01 -7.31942830e-01 5.01992111e-03 1.83887295e+02] [ 7.31921919e-01 -6.81366043e-01 -5.53359122e-03 1.45746461e+02] [ 7.47067620e-03 -9.61085669e-05 9.99972090e-01 9.10905670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.632755096 meters Centerline goodness [0,1] 0.9998447549345753 Centerline is valid? [True, True] Translation: X:183.87, Y:145.77, Z:9.11 [[-6.82197051e-01 -7.31147701e-01 5.49765052e-03 1.83869034e+02] [ 7.31122639e-01 -6.82219193e-01 -6.05471980e-03 1.45767153e+02] [ 8.17749716e-03 -1.11055236e-04 9.99966558e-01 9.10820622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6627550960001 meters Centerline goodness [0,1] 0.999866714057224 Centerline is valid? [True, True] Translation: X:183.85, Y:145.79, Z:9.11 [[-6.83579160e-01 -7.29848032e-01 6.43292765e-03 1.83851892e+02] [ 7.29813717e-01 -6.83609413e-01 -7.07883205e-03 1.45788197e+02] [ 9.56408154e-03 -1.44103227e-04 9.99954253e-01 9.10768148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.692755096 meters Centerline goodness [0,1] 0.9998000799680128 Centerline is valid? [True, True] Translation: X:183.83, Y:145.81, Z:9.11 [[-6.84335904e-01 -7.29137014e-01 6.60183512e-03 1.83834809e+02] [ 7.29100891e-01 -6.84367730e-01 -7.25950926e-03 1.45808491e+02] [ 9.81125983e-03 -1.54538967e-04 9.99951857e-01 9.10756213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.722755096 meters Centerline goodness [0,1] 0.9998892138615616 Centerline is valid? [True, True] Translation: X:183.82, Y:145.83, Z:9.11 [[-6.85611616e-01 -7.27934989e-01 6.88223196e-03 1.83815437e+02] [ 7.27895731e-01 -6.85646135e-01 -7.56195986e-03 1.45827603e+02] [ 1.02233909e-02 -1.75020253e-04 9.99947724e-01 9.10770548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.752755096 meters Centerline goodness [0,1] 0.9997780589031671 Centerline is valid? [True, True] Translation: X:183.80, Y:145.85, Z:9.11 [[-6.86505189e-01 -7.27089765e-01 7.14832495e-03 1.83796101e+02] [ 7.27047426e-01 -6.86542378e-01 -7.84883739e-03 1.45846498e+02] [ 1.06144373e-02 -1.91096338e-04 9.99943647e-01 9.10692167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.78, Y:145.87, Z:9.11 [[-6.87462865e-01 -7.26181219e-01 7.45964105e-03 1.83779180e+02] [ 7.26135126e-01 -6.87503304e-01 -8.18453808e-03 1.45866240e+02] [ 1.10719857e-02 -2.09858604e-04 9.99938682e-01 9.10918208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.812755096 meters Centerline goodness [0,1] 0.9997999021743964 Centerline is valid? [True, True] Translation: X:183.76, Y:145.89, Z:9.11 [[-6.89095033e-01 -7.24633051e-01 7.41469410e-03 1.83762130e+02] [ 7.24587469e-01 -6.89134884e-01 -8.13092437e-03 1.45887165e+02] [ 1.10016609e-02 -2.30385164e-04 9.99939453e-01 9.10660922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.842755096 meters Centerline goodness [0,1] 0.999778127842737 Centerline is valid? [True, True] Translation: X:183.74, Y:145.91, Z:9.11 [[-6.91344372e-01 -7.22482781e-01 7.84799043e-03 1.83742230e+02] [ 7.22431647e-01 -6.91388860e-01 -8.59997474e-03 1.45907593e+02] [ 1.16393468e-02 -2.75907484e-04 9.99932222e-01 9.10625128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.872755096 meters Centerline goodness [0,1] 0.9998667732480682 Centerline is valid? [True, True] Translation: X:183.72, Y:145.93, Z:9.11 [[-6.92543534e-01 -7.21330391e-01 8.11914159e-03 1.83723448e+02] [ 7.21275653e-01 -6.92591060e-01 -8.89133198e-03 1.45928768e+02] [ 1.20368329e-02 -3.01495319e-04 9.99927509e-01 9.10723227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters Centerline goodness [0,1] 0.9998887504449983 Centerline is valid? [True, True] Translation: X:183.70, Y:145.95, Z:9.11 [[-6.94122174e-01 -7.19810894e-01 8.16608363e-03 1.83703907e+02] [ 7.19755484e-01 -6.94170131e-01 -8.93710433e-03 1.45949234e+02] [ 1.21016764e-02 -3.25858809e-04 9.99926719e-01 9.10799325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.932755096 meters Centerline goodness [0,1] 0.9998223288249273 Centerline is valid? [True, True] Translation: X:183.69, Y:145.97, Z:9.11 [[-6.94843929e-01 -7.19115812e-01 8.02268584e-03 1.83687212e+02] [ 7.19062350e-01 -6.94890165e-01 -8.77467984e-03 1.45969553e+02] [ 1.18848965e-02 -3.28221682e-04 9.99929318e-01 9.10729219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.962755096 meters Centerline goodness [0,1] 0.999888923446039 Centerline is valid? [True, True] Translation: X:183.67, Y:145.99, Z:9.11 [[-6.95294169e-01 -7.18681487e-01 7.93339111e-03 1.83668088e+02] [ 7.18629256e-01 -6.95339351e-01 -8.67058451e-03 1.45989366e+02] [ 1.17477876e-02 -3.27439902e-04 9.99930939e-01 9.10842594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.992755096 meters Centerline goodness [0,1] 0.9999555120562328 Centerline is valid? [True, True] Translation: X:183.65, Y:146.01, Z:9.11 [[-6.94955697e-01 -7.19015854e-01 7.26508383e-03 1.83648885e+02] [ 7.18972124e-01 -6.94993609e-01 -7.93527863e-03 1.46007375e+02] [ 1.07547780e-02 -2.91274333e-04 9.99942123e-01 9.11012951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:146.03, Z:9.11 [[-6.94224643e-01 -7.19726123e-01 6.81568296e-03 1.83629699e+02] [ 7.19687724e-01 -6.94258051e-01 -7.43905313e-03 1.46026713e+02] [ 1.00859236e-02 -2.59210650e-04 9.99949102e-01 9.11175165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.052755096 meters Centerline goodness [0,1] 0.9999555565431879 Centerline is valid? [True, True] Translation: X:183.61, Y:146.04, Z:9.11 [[-6.92582942e-01 -7.21303731e-01 7.05659003e-03 1.83608391e+02] [ 7.21262709e-01 -6.92618848e-01 -7.69647742e-03 1.46044762e+02] [ 1.04390251e-02 -2.40793738e-04 9.99945483e-01 9.11119174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.082755096 meters Centerline goodness [0,1] 0.9998451498728017 Centerline is valid? [True, True] Translation: X:183.59, Y:146.07, Z:9.11 [[-6.91680135e-01 -7.22165203e-01 7.48403907e-03 1.83588713e+02] [ 7.22119171e-01 -6.91720582e-01 -8.15721809e-03 1.46065104e+02] [ 1.10677229e-02 -2.37817619e-04 9.99938723e-01 9.11020269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.112755096 meters Centerline goodness [0,1] 0.9998670153818875 Centerline is valid? [True, True] Translation: X:183.57, Y:146.08, Z:9.11 [[-6.90769372e-01 -7.23037076e-01 7.42034012e-03 1.83568855e+02] [ 7.22991928e-01 -6.90809192e-01 -8.08283764e-03 1.46083473e+02] [ 1.09702305e-02 -2.18530669e-04 9.99939801e-01 9.11052341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:146.10, Z:9.11 [[-6.88550997e-01 -7.25154175e-01 6.99627350e-03 1.83548141e+02] [ 7.25114203e-01 -6.88586519e-01 -7.61567295e-03 1.46101363e+02] [ 1.03400766e-02 -1.70681915e-04 9.99946525e-01 9.11277884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1727550960001 meters Centerline goodness [0,1] 0.9999337587493652 Centerline is valid? [True, True] Translation: X:183.53, Y:146.12, Z:9.11 [[-6.88221938e-01 -7.25464218e-01 7.22722015e-03 1.83529355e+02] [ 7.25421634e-01 -6.88259864e-01 -7.86209130e-03 1.46120516e+02] [ 1.06778715e-02 -1.68081855e-04 9.99942976e-01 9.11218779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.202755096 meters Centerline goodness [0,1] 0.9998895393792113 Centerline is valid? [True, True] Translation: X:183.51, Y:146.14, Z:9.11 [[-6.87683312e-01 -7.25976044e-01 7.10255667e-03 1.83510582e+02] [ 7.25935001e-01 -6.87719972e-01 -7.72107664e-03 1.46139576e+02] [ 1.04898868e-02 -1.53661073e-04 9.99944968e-01 9.11370346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.232755096 meters Centerline goodness [0,1] 0.999867374005305 Centerline is valid? [True, True] Translation: X:183.49, Y:146.16, Z:9.11 [[-6.87759498e-01 -7.25898480e-01 7.63347375e-03 1.83491981e+02] [ 7.25851137e-01 -6.87801840e-01 -8.29191225e-03 1.46159975e+02] [ 1.12694038e-02 -1.62075808e-04 9.99936485e-01 9.11229856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.47, Y:146.18, Z:9.11 [[-6.87730107e-01 -7.25925604e-01 7.70179830e-03 1.83473905e+02] [ 7.25877479e-01 -6.87773213e-01 -8.36016205e-03 1.46179587e+02] [ 1.13659462e-02 -1.58973213e-04 9.99935393e-01 9.11464855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.46, Y:146.20, Z:9.11 [[-6.88914918e-01 -7.24797485e-01 8.05249233e-03 1.83456689e+02] [ 7.24744881e-01 -6.88961954e-01 -8.73405987e-03 1.46200109e+02] [ 1.18782855e-02 -1.81021539e-04 9.99929434e-01 9.11439027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.322755096 meters Centerline goodness [0,1] 0.9998894416804864 Centerline is valid? [True, True] Translation: X:183.44, Y:146.22, Z:9.11 [[-6.89958733e-01 -7.23794524e-01 8.85630487e-03 1.83439725e+02] [ 7.23730911e-01 -6.90015538e-01 -9.59826997e-03 1.46220384e+02] [ 1.30581632e-02 -2.12828604e-04 9.99914716e-01 9.11250396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.352755096 meters Centerline goodness [0,1] 0.9998895320577968 Centerline is valid? [True, True] Translation: X:183.42, Y:146.24, Z:9.11 [[-6.90963941e-01 -7.22828540e-01 9.36661477e-03 1.83422666e+02] [ 7.22757408e-01 -6.91027383e-01 -1.01432362e-02 1.46240577e+02] [ 1.38044079e-02 -2.38820272e-04 9.99904686e-01 9.11213826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters Centerline goodness [0,1] 0.9998895320577968 Centerline is valid? [True, True] Translation: X:183.40, Y:146.26, Z:9.11 [[-6.91236981e-01 -7.22567388e-01 9.37044689e-03 1.83404866e+02] [ 7.22496280e-01 -6.91300450e-01 -1.01396950e-02 1.46259454e+02] [ 1.38044071e-02 -2.38819162e-04 9.99904686e-01 9.11244571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4127550960001 meters Centerline goodness [0,1] 0.9998006997652686 Centerline is valid? [True, True] Translation: X:183.39, Y:146.28, Z:9.11 [[-6.93465786e-01 -7.20409140e-01 1.07645016e-02 1.83386898e+02] [ 7.20315187e-01 -6.93549256e-01 -1.16387259e-02 1.46280825e+02] [ 1.58503566e-02 -3.17224192e-04 9.99874325e-01 9.11086618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.442755096 meters Centerline goodness [0,1] 0.9999114534909461 Centerline is valid? [True, True] Translation: X:183.37, Y:146.30, Z:9.11 [[-6.94387033e-01 -7.19510906e-01 1.14326492e-02 1.83370808e+02] [ 7.19404937e-01 -6.94481052e-01 -1.23533367e-02 1.46302188e+02] [ 1.68281187e-02 -3.53292542e-04 9.99858335e-01 9.11056593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.472755096 meters Centerline goodness [0,1] 0.9999114378072002 Centerline is valid? [True, True] Translation: X:183.35, Y:146.32, Z:9.11 [[-6.94798986e-01 -7.19098402e-01 1.23230117e-02 1.83348078e+02] [ 7.18975367e-01 -6.94908151e-01 -1.33072535e-02 1.46318739e+02] [ 1.81325860e-02 -3.85924331e-04 9.99835517e-01 9.10955916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.33, Y:146.34, Z:9.11 [[-6.94634937e-01 -7.19245441e-01 1.29730486e-02 1.83330368e+02] [ 7.19109290e-01 -6.94755957e-01 -1.39996470e-02 1.46338275e+02] [ 1.90822851e-02 -3.95604128e-04 9.99817838e-01 9.10957582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.31, Y:146.36, Z:9.11 [[-6.94405091e-01 -7.19432373e-01 1.47861474e-02 1.83313842e+02] [ 7.19255778e-01 -6.94562358e-01 -1.59454136e-02 1.46358834e+02] [ 2.17415481e-02 -4.37554379e-04 9.99763529e-01 9.10623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.562755096 meters Centerline goodness [0,1] 0.99995575808521 Centerline is valid? [True, True] Translation: X:183.30, Y:146.38, Z:9.10 [[-6.94645256e-01 -7.19178538e-01 1.58176726e-02 1.83295276e+02] [ 7.18976673e-01 -6.94825167e-01 -1.70450090e-02 1.46377581e+02] [ 2.32489217e-02 -4.67697014e-04 9.99729598e-01 9.10453540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.592755096 meters Centerline goodness [0,1] 0.9998672243245037 Centerline is valid? [True, True] Translation: X:183.28, Y:146.40, Z:9.10 [[-6.95321670e-01 -7.18507456e-01 1.65774028e-02 1.83278214e+02] [ 7.18285867e-01 -6.95519073e-01 -1.78502703e-02 1.46396627e+02] [ 2.43554521e-02 -5.04365578e-04 9.99703235e-01 9.10280664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:146.41, Z:9.11 [[-6.95901180e-01 -7.17949855e-01 1.64180854e-02 1.83257675e+02] [ 7.17732658e-01 -6.96094638e-01 -1.76659582e-02 1.46414157e+02] [ 2.41118133e-02 -5.09965045e-04 9.99709138e-01 9.10685580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.652755096 meters Centerline goodness [0,1] 0.999933916338084 Centerline is valid? [True, True] Translation: X:183.24, Y:146.43, Z:9.11 [[-6.96817946e-01 -7.17057083e-01 1.65496066e-02 1.83238047e+02] [ 7.16836432e-01 -6.97014240e-01 -1.77954542e-02 1.46433789e+02] [ 2.42956679e-02 -5.36830845e-04 9.99704673e-01 9.10705224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.682755096 meters Centerline goodness [0,1] 0.9999120569870724 Centerline is valid? [True, True] Translation: X:183.22, Y:146.45, Z:9.11 [[-6.97983732e-01 -7.15930535e-01 1.61919486e-02 1.83219236e+02] [ 7.15719278e-01 -6.98171297e-01 -1.73998329e-02 1.46454248e+02] [ 2.37618255e-02 -5.55910520e-04 9.99717493e-01 9.10807004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.20, Y:146.47, Z:9.11 [[-6.98281996e-01 -7.15650731e-01 1.56934735e-02 1.83201826e+02] [ 7.15452441e-01 -6.98458115e-01 -1.68542644e-02 1.46473798e+02] [ 2.30230006e-02 -5.41095495e-04 9.99734789e-01 9.11037080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.18, Y:146.49, Z:9.11 [[-6.98805349e-01 -7.15145712e-01 1.54173560e-02 1.83183194e+02] [ 7.14954449e-01 -6.98975192e-01 -1.65474150e-02 1.46493809e+02] [ 2.26101622e-02 -5.40714832e-04 9.99744211e-01 9.11188928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.17, Y:146.51, Z:9.11 [[-6.99023766e-01 -7.14942246e-01 1.49452267e-02 1.83165960e+02] [ 7.14762692e-01 -6.99183318e-01 -1.60306685e-02 1.46514110e+02] [ 2.19104553e-02 -5.23527765e-04 9.99759800e-01 9.11324093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.15, Y:146.53, Z:9.12 [[-6.98338025e-01 -7.15627865e-01 1.41690429e-02 1.83147140e+02] [ 7.15466808e-01 -6.98481594e-01 -1.51890877e-02 1.46533592e+02] [ 2.07665500e-02 -4.69637604e-04 9.99784242e-01 9.11598878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.832755096 meters Centerline goodness [0,1] 0.9998469911910642 Centerline is valid? [True, True] Translation: X:183.13, Y:146.55, Z:9.12 [[-6.97899303e-01 -7.16056694e-01 1.41199785e-02 1.83128140e+02] [ 7.15897056e-01 -6.98041983e-01 -1.51259805e-02 1.46552615e+02] [ 2.06873974e-02 -4.47960239e-04 9.99785893e-01 9.11587841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.11, Y:146.57, Z:9.12 [[-6.95624865e-01 -7.18269703e-01 1.39528193e-02 1.83105135e+02] [ 7.18114469e-01 -6.95764685e-01 -1.49369359e-02 1.46569722e+02] [ 2.04366274e-02 -3.70782537e-04 9.99791082e-01 9.11826181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.892755096 meters Centerline goodness [0,1] 0.9998462383305876 Centerline is valid? [True, True] Translation: X:183.09, Y:146.59, Z:9.12 [[-6.94685956e-01 -7.19162398e-01 1.47264371e-02 1.83085152e+02] [ 7.18989905e-01 -6.94841938e-01 -1.57542639e-02 1.46588735e+02] [ 2.15624203e-02 -3.56106246e-04 9.99767441e-01 9.11600723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.07, Y:146.61, Z:9.12 [[-6.93405161e-01 -7.20396614e-01 1.47648904e-02 1.83065943e+02] [ 7.20223747e-01 -6.93562270e-01 -1.57839249e-02 1.46606295e+02] [ 2.16110569e-02 -3.10630325e-04 9.99766406e-01 9.11794701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.05, Y:146.62, Z:9.12 [[-6.90705660e-01 -7.22974371e-01 1.52889158e-02 1.83046461e+02] [ 7.22789919e-01 -6.90874812e-01 -1.63317883e-02 1.46623728e+02] [ 2.23701912e-02 -2.29784376e-04 9.99749730e-01 9.11819474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.03, Y:146.64, Z:9.12 [[-6.89823150e-01 -7.23805561e-01 1.57965721e-02 1.83028067e+02] [ 7.23609176e-01 -6.90003964e-01 -1.68609201e-02 1.46641040e+02] [ 2.31037251e-02 -2.00508479e-04 9.99733053e-01 9.11764423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.01, Y:146.66, Z:9.12 [[-6.87861051e-01 -7.25654306e-01 1.65227949e-02 1.83008561e+02] [ 7.25440320e-01 -6.88059453e-01 -1.76219379e-02 1.46658516e+02] [ 2.41561003e-02 -1.35143155e-04 9.99708190e-01 9.11734343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.99, Y:146.68, Z:9.12 [[-6.87296541e-01 -7.26192888e-01 1.63509651e-02 1.82988997e+02] [ 7.25983786e-01 -6.87491002e-01 -1.74259580e-02 1.46678032e+02] [ 2.38957482e-02 -1.06265143e-04 9.99714450e-01 9.11829518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.97, Y:146.70, Z:9.12 [[-6.87065526e-01 -7.26409999e-01 1.64157252e-02 1.82971114e+02] [ 7.26199576e-01 -6.87261599e-01 -1.74834468e-02 1.46696268e+02] [ 2.39820481e-02 -9.11809363e-05 9.99712385e-01 9.11822842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.102755096 meters Centerline goodness [0,1] 0.9998682881854503 Centerline is valid? [True, True] Translation: X:182.95, Y:146.72, Z:9.12 [[-6.87307135e-01 -7.26162933e-01 1.72132532e-02 1.82953996e+02] [ 7.25931775e-01 -6.87522643e-01 -1.83213899e-02 1.46715316e+02] [ 2.51388155e-02 -9.67745847e-05 9.99683965e-01 9.11592729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.94, Y:146.73, Z:9.12 [[-6.87787213e-01 -7.25713505e-01 1.69899523e-02 1.82937178e+02] [ 7.25488481e-01 -6.87997019e-01 -1.80711372e-02 1.46733740e+02] [ 2.48035048e-02 -1.03082380e-04 9.99692340e-01 9.11786829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1627550960001 meters Centerline goodness [0,1] 0.9998900736506541 Centerline is valid? [True, True] Translation: X:182.92, Y:146.75, Z:9.12 [[-6.88571957e-01 -7.24964978e-01 1.71592929e-02 1.82920423e+02] [ 7.24735563e-01 -6.88785719e-01 -1.82372601e-02 1.46753681e+02] [ 2.50404508e-02 -1.21716144e-04 9.99686431e-01 9.11662869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.90, Y:146.77, Z:9.12 [[-6.89677699e-01 -7.23916626e-01 1.70114436e-02 1.82902332e+02] [ 7.23691154e-01 -6.89887452e-01 -1.80670198e-02 1.46774226e+02] [ 2.48149975e-02 -1.49389451e-04 9.99692049e-01 9.12030576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.222755096 meters Centerline goodness [0,1] 0.9999122479871883 Centerline is valid? [True, True] Translation: X:182.89, Y:146.79, Z:9.12 [[-6.90930548e-01 -7.22714171e-01 1.72975151e-02 1.82885728e+02] [ 7.22481016e-01 -6.91147012e-01 -1.83572842e-02 1.46794372e+02] [ 2.52221953e-02 -1.86482186e-04 9.99681852e-01 9.11774473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.87, Y:146.81, Z:9.12 [[-6.91349980e-01 -7.22317004e-01 1.71275204e-02 1.82867463e+02] [ 7.22088620e-01 -6.91562080e-01 -1.81635731e-02 1.46813792e+02] [ 2.49646014e-02 -1.89798340e-04 9.99688318e-01 9.11914214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.85, Y:146.83, Z:9.12 [[-6.91831933e-01 -7.21848670e-01 1.74090096e-02 1.82848998e+02] [ 7.21612906e-01 -6.92050907e-01 -1.84487652e-02 1.46833417e+02] [ 2.53651376e-02 -2.00878890e-04 9.99678233e-01 9.12010330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.83, Y:146.85, Z:9.12 [[-6.92404384e-01 -7.21293952e-01 1.76409574e-02 1.82831978e+02] [ 7.21052033e-01 -6.92629041e-01 -1.86809308e-02 1.46853440e+02] [ 2.56930818e-02 -2.14710151e-04 9.99669855e-01 9.11967650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.81, Y:146.87, Z:9.12 [[-6.92853851e-01 -7.20858473e-01 1.77933365e-02 1.82814966e+02] [ 7.20612578e-01 -6.93082255e-01 -1.88281895e-02 1.46874082e+02] [ 2.59047058e-02 -2.23081523e-04 9.99664392e-01 9.12135899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.80, Y:146.89, Z:9.12 [[-6.92919703e-01 -7.20793305e-01 1.78688773e-02 1.82796565e+02] [ 7.20545669e-01 -6.93150031e-01 -1.88937695e-02 1.46893314e+02] [ 2.60043154e-02 -2.16523002e-04 9.99661807e-01 9.12302439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters Centerline goodness [0,1] 0.9999562018220042 Centerline is valid? [True, True] Translation: X:182.78, Y:146.91, Z:9.12 [[-6.92402776e-01 -7.21300926e-01 1.74175106e-02 1.82778429e+02] [ 7.21066165e-01 -6.92621788e-01 -1.84023212e-02 1.46910689e+02] [ 2.53373586e-02 -1.82640756e-04 9.99678941e-01 9.12361755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.76, Y:146.93, Z:9.12 [[-6.92027048e-01 -7.21666658e-01 1.71988287e-02 1.82760085e+02] [ 7.21438225e-01 -6.92240717e-01 -1.81570168e-02 1.46928003e+02] [ 2.50090431e-02 -1.57254279e-04 9.99687213e-01 9.12467471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.74, Y:146.95, Z:9.12 [[-6.91891029e-01 -7.21802488e-01 1.69697626e-02 1.82740702e+02] [ 7.21580477e-01 -6.92099089e-01 -1.79015882e-02 1.46946393e+02] [ 2.46661682e-02 -1.40898932e-04 9.99695734e-01 9.12482222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.72, Y:146.96, Z:9.13 [[-6.91580551e-01 -7.22104481e-01 1.67767769e-02 1.82722802e+02] [ 7.21887907e-01 -6.91784001e-01 -1.76846103e-02 1.46963911e+02] [ 2.43760422e-02 -1.19380119e-04 9.99702853e-01 9.12525392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters Centerline goodness [0,1] 0.9999563242487771 Centerline is valid? [True, True] Translation: X:182.70, Y:146.98, Z:9.13 [[-6.91800275e-01 -7.21897770e-01 1.66129235e-02 1.82704593e+02] [ 7.21685663e-01 -6.91999708e-01 -1.74987772e-02 1.46982873e+02] [ 2.41284665e-02 -1.16350175e-04 9.99708859e-01 9.12524060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.69, Y:147.00, Z:9.13 [[-6.92074382e-01 -7.21641793e-01 1.63147974e-02 1.82687642e+02] [ 7.21437461e-01 -6.92266646e-01 -1.71720605e-02 1.47001441e+02] [ 2.36862666e-02 -1.14237141e-04 9.99719435e-01 9.12696088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.582755096 meters Centerline goodness [0,1] 0.999912694255282 Centerline is valid? [True, True] Translation: X:182.67, Y:147.02, Z:9.13 [[-6.92683123e-01 -7.21066887e-01 1.58944840e-02 1.82669546e+02] [ 7.20873081e-01 -6.92865448e-01 -1.67173983e-02 1.47020668e+02] [ 2.30671011e-02 -1.21954040e-04 9.99733912e-01 9.12787737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.612755096 meters Centerline goodness [0,1] 0.9999563537961286 Centerline is valid? [True, True] Translation: X:182.65, Y:147.04, Z:9.13 [[-6.93569901e-01 -7.20219420e-01 1.56454201e-02 1.82651585e+02] [ 7.20031694e-01 -6.93746328e-01 -1.64436343e-02 1.47040363e+02] [ 2.26969775e-02 -1.39611492e-04 9.99742381e-01 9.12845466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.63, Y:147.06, Z:9.13 [[-6.95144849e-01 -7.18719041e-01 1.47166097e-02 1.82634296e+02] [ 7.18552838e-01 -6.95300590e-01 -1.54566524e-02 1.47060211e+02] [ 2.13414578e-02 -1.69950598e-04 9.99772231e-01 9.13031932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.62, Y:147.08, Z:9.13 [[-6.96003791e-01 -7.17891586e-01 1.45049897e-02 1.82616646e+02] [ 7.17730178e-01 -6.96154895e-01 -1.52234861e-02 1.47079600e+02] [ 2.10265322e-02 -1.84935161e-04 9.99778901e-01 9.13135131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.60, Y:147.10, Z:9.13 [[-6.98065629e-01 -7.15898160e-01 1.39356397e-02 1.82599103e+02] [ 7.15748991e-01 -6.98204678e-01 -1.46153917e-02 1.47099697e+02] [ 2.01930609e-02 -2.28082481e-04 9.99796073e-01 9.13313399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.58, Y:147.12, Z:9.13 [[-6.98960654e-01 -7.15022938e-01 1.40072576e-02 1.82581521e+02] [ 7.14872281e-01 -6.99100950e-01 -1.46793982e-02 1.47119525e+02] [ 2.02885935e-02 -2.46921558e-04 9.99794135e-01 9.13328778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.56, Y:147.14, Z:9.13 [[-7.00036745e-01 -7.13975234e-01 1.37084121e-02 1.82564127e+02] [ 7.13830947e-01 -7.00170905e-01 -1.43556078e-02 1.47138846e+02] [ 1.98477797e-02 -2.63964170e-04 9.99802979e-01 9.13382059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7927550960001 meters Centerline goodness [0,1] 0.999868108678449 Centerline is valid? [True, True] Translation: X:182.55, Y:147.16, Z:9.13 [[-7.01877432e-01 -7.12176985e-01 1.31153748e-02 1.82547008e+02] [ 7.12044783e-01 -7.01999897e-01 -1.37248391e-02 1.47158864e+02] [ 1.89815063e-02 -2.94420605e-04 9.99819792e-01 9.13210604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:147.18, Z:9.14 [[-7.02702369e-01 -7.11369878e-01 1.27387866e-02 1.82528721e+02] [ 7.11245199e-01 -7.02817762e-01 -1.33214273e-02 1.47178091e+02] [ 1.84295076e-02 -3.00597735e-04 9.99830117e-01 9.13521231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:147.20, Z:9.14 [[-7.03925785e-01 -7.10158442e-01 1.27858251e-02 1.82509883e+02] [ 7.10032816e-01 -7.04041817e-01 -1.33611078e-02 1.47198275e+02] [ 1.84902591e-02 -3.26872890e-04 9.99828987e-01 9.13609222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:147.22, Z:9.14 [[-7.04745863e-01 -7.09344566e-01 1.27888539e-02 1.82491456e+02] [ 7.09218919e-01 -7.04861809e-01 -1.33549358e-02 1.47217116e+02] [ 1.84876258e-02 -3.41738603e-04 9.99829031e-01 9.13678069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.47, Y:147.24, Z:9.14 [[-7.04924278e-01 -7.09170392e-01 1.26141356e-02 1.82474081e+02] [ 7.09048294e-01 -7.05037050e-01 -1.31633695e-02 1.47235691e+02] [ 1.82285049e-02 -3.35147437e-04 9.99833791e-01 9.13737817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.942755096 meters Centerline goodness [0,1] 0.9998243996663594 Centerline is valid? [True, True] Translation: X:182.45, Y:147.25, Z:9.14 [[-7.05359833e-01 -7.08738204e-01 1.25564334e-02 1.82454476e+02] [ 7.08617302e-01 -7.05471504e-01 -1.30949308e-02 1.47254636e+02] [ 1.81390837e-02 -3.38932260e-04 9.99835416e-01 9.13581541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.43, Y:147.27, Z:9.14 [[-7.05020989e-01 -7.09077582e-01 1.24252740e-02 1.82434729e+02] [ 7.08959406e-01 -7.05130399e-01 -1.29492059e-02 1.47272773e+02] [ 1.79434300e-02 -3.20447069e-04 9.99838952e-01 9.13903930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.42, Y:147.29, Z:9.14 [[-7.04805439e-01 -7.09292032e-01 1.24139613e-02 1.82416849e+02] [ 7.09174268e-01 -7.04914689e-01 -1.29282081e-02 1.47291436e+02] [ 1.79206587e-02 -3.08209467e-04 9.99839365e-01 9.13812570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.40, Y:147.31, Z:9.14 [[-7.04614431e-01 -7.09485601e-01 1.21936468e-02 1.82397782e+02] [ 7.09372171e-01 -7.04719871e-01 -1.26896092e-02 1.47310178e+02] [ 1.75962003e-02 -2.91448074e-04 9.99845132e-01 9.13858763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.38, Y:147.33, Z:9.14 [[-7.04496310e-01 -7.09604455e-01 1.21023520e-02 1.82376999e+02] [ 7.09492890e-01 -7.04600198e-01 -1.25856832e-02 1.47328267e+02] [ 1.74581765e-02 -2.80034630e-04 9.99847555e-01 9.13967553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.36, Y:147.35, Z:9.14 [[-7.04157819e-01 -7.09936129e-01 1.23474358e-02 1.82359053e+02] [ 7.09820219e-01 -7.04266015e-01 -1.28311065e-02 1.47346303e+02] [ 1.78051455e-02 -2.70664417e-04 9.99841439e-01 9.13980309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.34, Y:147.36, Z:9.14 [[-7.03929182e-01 -7.10159530e-01 1.25358974e-02 1.82339119e+02] [ 7.10040272e-01 -7.04040747e-01 -1.30168585e-02 1.47364443e+02] [ 1.80698287e-02 -2.61954531e-04 9.99836693e-01 9.14050455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.152755096 meters Centerline goodness [0,1] 0.9999341989822776 Centerline is valid? [True, True] Translation: X:182.32, Y:147.38, Z:9.14 [[-7.02747457e-01 -7.11331827e-01 1.23710765e-02 1.82319462e+02] [ 7.11216029e-01 -7.02856303e-01 -1.28365969e-02 1.47382308e+02] [ 1.78261690e-02 -2.22377891e-04 9.99841077e-01 9.13939835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.30, Y:147.40, Z:9.14 [[-7.02128714e-01 -7.11950506e-01 1.19057277e-02 1.82301298e+02] [ 7.11843501e-01 -7.02229621e-01 -1.23446178e-02 1.47399878e+02] [ 1.71493115e-02 -1.92495780e-04 9.99852921e-01 9.14100306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.212755096 meters Centerline goodness [0,1] 0.9999342436928742 Centerline is valid? [True, True] Translation: X:182.28, Y:147.42, Z:9.14 [[-7.01832719e-01 -7.12251398e-01 1.13481371e-02 1.82280993e+02] [ 7.12154365e-01 -7.01924438e-01 -1.17577099e-02 1.47418530e+02] [ 1.63399801e-02 -1.70320101e-04 9.99866479e-01 9.14121903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.26, Y:147.44, Z:9.14 [[-7.01164694e-01 -7.12922393e-01 1.04753674e-02 1.82262818e+02] [ 7.12839897e-01 -7.01242927e-01 -1.08460919e-02 1.47436911e+02] [ 1.50781991e-02 -1.37636904e-04 9.99886308e-01 9.14380086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.272755096 meters Centerline goodness [0,1] 0.9999343674112319 Centerline is valid? [True, True] Translation: X:182.24, Y:147.46, Z:9.14 [[-7.01717937e-01 -7.12379772e-01 1.03439516e-02 1.82243707e+02] [ 7.12299399e-01 -7.01794158e-01 -1.07016711e-02 1.47455777e+02] [ 1.48829788e-02 -1.41564029e-04 9.99889232e-01 9.14345553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:147.48, Z:9.14 [[-7.02054956e-01 -7.12047002e-01 1.03877649e-02 1.82226434e+02] [ 7.11966021e-01 -7.02131787e-01 -1.07396052e-02 1.47475596e+02] [ 1.49406836e-02 -1.44057394e-04 9.99888371e-01 9.14430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.21, Y:147.49, Z:9.14 [[-7.02315129e-01 -7.11790340e-01 1.03909364e-02 1.82208202e+02] [ 7.11709376e-01 -7.02391979e-01 -1.07365359e-02 1.47494043e+02] [ 1.49406729e-02 -1.45104780e-04 9.99888371e-01 9.14461590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters Centerline goodness [0,1] 0.9999343444291248 Centerline is valid? [True, True] Translation: X:182.19, Y:147.51, Z:9.14 [[-7.03463987e-01 -7.10648214e-01 1.08414097e-02 1.82189598e+02] [ 7.10560072e-01 -7.03547502e-01 -1.11936350e-02 1.47513356e+02] [ 1.55821835e-02 -1.70846225e-04 9.99878576e-01 9.14356550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.17, Y:147.53, Z:9.15 [[-7.04250154e-01 -7.09873900e-01 1.05245816e-02 1.82170558e+02] [ 7.09790860e-01 -7.04328769e-01 -1.08591212e-02 1.47532849e+02] [ 1.51213723e-02 -1.77285972e-04 9.99885650e-01 9.14520479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4227550960001 meters Centerline goodness [0,1] 0.9998685334910932 Centerline is valid? [True, True] Translation: X:182.15, Y:147.55, Z:9.14 [[-7.05527941e-01 -7.08604765e-01 1.04696067e-02 1.82153638e+02] [ 7.08522563e-01 -7.05605590e-01 -1.07948589e-02 1.47554138e+02] [ 1.50367015e-02 -1.98121928e-04 9.99886923e-01 9.14328555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.13, Y:147.57, Z:9.15 [[-7.07520909e-01 -7.06624792e-01 9.77584224e-03 1.82133061e+02] [ 7.06553023e-01 -7.07588408e-01 -1.00732423e-02 1.47573625e+02] [ 1.40352754e-02 -2.19878650e-04 9.99901477e-01 9.14647895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.11, Y:147.59, Z:9.15 [[-7.08635059e-01 -7.05505870e-01 9.89039891e-03 1.82114798e+02] [ 7.05432397e-01 -7.08704035e-01 -1.01845411e-02 1.47593532e+02] [ 1.41946192e-02 -2.40115100e-04 9.99899223e-01 9.14648295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.512755096 meters Centerline goodness [0,1] 0.9999561845506726 Centerline is valid? [True, True] Translation: X:182.10, Y:147.61, Z:9.15 [[-7.10618812e-01 -7.03501170e-01 1.03444776e-02 1.82098119e+02] [ 7.03420698e-01 -7.10694042e-01 -1.06442675e-02 1.47614615e+02] [ 1.48400132e-02 -2.87497035e-04 9.99889840e-01 9.14566153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.08, Y:147.63, Z:9.15 [[-7.11510068e-01 -7.02602063e-01 1.01865385e-02 1.82078503e+02] [ 7.02524040e-01 -7.11582921e-01 -1.04746920e-02 1.47633370e+02] [ 1.46081071e-02 -2.96560622e-04 9.99893252e-01 9.14665036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.06, Y:147.65, Z:9.15 [[-7.12184096e-01 -7.01920731e-01 1.00548649e-02 1.82059200e+02] [ 7.01844751e-01 -7.12255008e-01 -1.03319743e-02 1.47651979e+02] [ 1.44138548e-02 -3.01313664e-04 9.99896070e-01 9.14739850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.04, Y:147.67, Z:9.15 [[-7.13098038e-01 -7.01000305e-01 9.47420991e-03 1.82040471e+02] [ 7.00932853e-01 -7.13160911e-01 -9.72884063e-03 1.47670805e+02] [ 1.35765564e-02 -2.96832184e-04 9.99907790e-01 9.14766551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.632755096 meters Centerline goodness [0,1] 0.9999563576057783 Centerline is valid? [True, True] Translation: X:182.02, Y:147.69, Z:9.15 [[-7.13606432e-01 -7.00478372e-01 9.79336672e-03 1.82019853e+02] [ 7.00406335e-01 -7.13673562e-01 -1.00505429e-02 1.47689061e+02] [ 1.40294549e-02 -3.12796001e-04 9.99901533e-01 9.14761244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.00, Y:147.71, Z:9.15 [[-7.14364442e-01 -6.99700447e-01 1.01355043e-02 1.82001580e+02] [ 6.99623319e-01 -7.14436262e-01 -1.03941478e-02 1.47707769e+02] [ 1.45139616e-02 -3.34174444e-04 9.99894611e-01 9.14862440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.692755096 meters Centerline goodness [0,1] 0.9999344920953795 Centerline is valid? [True, True] Translation: X:181.98, Y:147.73, Z:9.15 [[-7.14801177e-01 -6.99249615e-01 1.04524513e-02 1.81982230e+02] [ 6.99167638e-01 -7.14877510e-01 -1.07126487e-02 1.47727287e+02] [ 1.49630379e-02 -3.49398218e-04 9.99887986e-01 9.14788591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.96, Y:147.75, Z:9.15 [[-7.15083352e-01 -6.98964404e-01 1.02255225e-02 1.81962119e+02] [ 6.98886027e-01 -7.15156378e-01 -1.04726899e-02 1.47746324e+02] [ 1.46328851e-02 -3.42371466e-04 9.99892875e-01 9.15004487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.752755096 meters Centerline goodness [0,1] 0.9997825897904166 Centerline is valid? [True, True] Translation: X:181.94, Y:147.76, Z:9.15 [[-7.14839785e-01 -6.99216427e-01 1.00234525e-02 1.81942598e+02] [ 6.99141246e-01 -7.14909982e-01 -1.02584404e-02 1.47763876e+02] [ 1.43387363e-02 -3.25332201e-04 9.99897142e-01 9.14908624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.92, Y:147.78, Z:9.15 [[-7.14704340e-01 -6.99365692e-01 9.23774639e-03 1.81921768e+02] [ 6.99301935e-01 -7.14763978e-01 -9.44775943e-03 1.47781343e+02] [ 1.32102472e-02 -2.92380748e-04 9.99912698e-01 9.15288057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.812755096 meters Centerline goodness [0,1] 0.9997619871905834 Centerline is valid? [True, True] Translation: X:181.90, Y:147.80, Z:9.15 [[-7.14766128e-01 -6.99296460e-01 9.68731528e-03 1.81902225e+02] [ 6.99226442e-01 -7.14831707e-01 -9.90012985e-03 1.47799821e+02] [ 1.38479259e-02 -3.02650480e-04 9.99904067e-01 9.15062784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.842755096 meters Centerline goodness [0,1] 0.9998701130016885 Centerline is valid? [True, True] Translation: X:181.88, Y:147.82, Z:9.15 [[-7.13722160e-01 -7.00358435e-01 9.93690752e-03 1.81880012e+02] [ 7.00284969e-01 -7.13791274e-01 -1.01478956e-02 1.47817117e+02] [ 1.42000421e-02 -2.84110966e-04 9.99899134e-01 9.15164080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:147.83, Z:9.15 [[-7.12942259e-01 -7.01151249e-01 1.00130976e-02 1.81859372e+02] [ 7.01076826e-01 -7.13012522e-01 -1.02189912e-02 1.47834808e+02] [ 1.43045224e-02 -2.65599965e-04 9.99897650e-01 9.15432967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.84, Y:147.85, Z:9.16 [[-7.11229352e-01 -7.02887128e-01 1.01239796e-02 1.81837375e+02] [ 7.02811329e-01 -7.11301366e-01 -1.03248280e-02 1.47851614e+02] [ 1.44583892e-02 -2.28073165e-04 9.99895446e-01 9.15533504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.932755096 meters Centerline goodness [0,1] 0.999849604675146 Centerline is valid? [True, True] Translation: X:181.82, Y:147.87, Z:9.15 [[-7.10814182e-01 -7.03307515e-01 1.00864988e-02 1.81816719e+02] [ 7.03232414e-01 -7.10885711e-01 -1.02800001e-02 1.47869476e+02] [ 1.44003492e-02 -2.14016971e-04 9.99896287e-01 9.15337105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.80, Y:147.89, Z:9.16 [[-7.09929326e-01 -7.04209077e-01 9.48303771e-03 1.81795620e+02] [ 7.04142861e-01 -7.09992637e-01 -9.65850688e-03 1.47886384e+02] [ 1.35344952e-02 -1.79443981e-04 9.99908388e-01 9.15653554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.77, Y:147.90, Z:9.16 [[-7.08637292e-01 -7.05502422e-01 9.97606173e-03 1.81774821e+02] [ 7.05429377e-01 -7.08707492e-01 -1.01531291e-02 1.47902188e+02] [ 1.42331668e-02 -1.57478898e-04 9.99898691e-01 9.15723427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters Centerline goodness [0,1] 0.999978561934571 Centerline is valid? [True, True] Translation: X:181.75, Y:147.92, Z:9.16 [[-7.08423899e-01 -7.05714254e-01 1.01474338e-02 1.81753973e+02] [ 7.05638811e-01 -7.08496555e-01 -1.03198594e-02 1.47920000e+02] [ 1.44722938e-02 -1.50411874e-04 9.99895260e-01 9.15728260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.052755096 meters Centerline goodness [0,1] 0.9999144311812775 Centerline is valid? [True, True] Translation: X:181.73, Y:147.94, Z:9.16 [[-7.08241440e-01 -7.05895771e-01 1.02578361e-02 1.81732705e+02] [ 7.05818807e-01 -7.08315706e-01 -1.04245835e-02 1.47937481e+02] [ 1.46244558e-02 -1.42948411e-04 9.99893047e-01 9.15611210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.082755096 meters Centerline goodness [0,1] 0.999871729091842 Centerline is valid? [True, True] Translation: X:181.71, Y:147.96, Z:9.16 [[-7.08351810e-01 -7.05785332e-01 1.02361316e-02 1.81713740e+02] [ 7.05708787e-01 -7.08425751e-01 -1.03953521e-02 1.47955215e+02] [ 1.45884263e-02 -1.39838440e-04 9.99893573e-01 9.15652362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.69, Y:147.97, Z:9.16 [[-7.08559876e-01 -7.05576267e-01 1.02485964e-02 1.81693492e+02] [ 7.05499601e-01 -7.08633976e-01 -1.04019295e-02 1.47974043e+02] [ 1.46018582e-02 -1.40009243e-04 9.99893377e-01 9.15761965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.67, Y:147.99, Z:9.16 [[-7.08832328e-01 -7.05306397e-01 9.98083993e-03 1.81672205e+02] [ 7.05233758e-01 -7.08902580e-01 -1.01231867e-02 1.47991772e+02] [ 1.42153915e-02 -1.36816756e-04 9.99898947e-01 9.15815246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1727550960001 meters Centerline goodness [0,1] 0.9999141815061146 Centerline is valid? [True, True] Translation: X:181.65, Y:148.01, Z:9.16 [[-7.08929741e-01 -7.05208825e-01 9.95669637e-03 1.81653205e+02] [ 7.05136632e-01 -7.08999644e-01 -1.00913288e-02 1.48010314e+02] [ 1.41757883e-02 -1.33211742e-04 9.99899510e-01 9.15660171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.202755096 meters Centerline goodness [0,1] 0.9998512379130804 Centerline is valid? [True, True] Translation: X:181.63, Y:148.03, Z:9.16 [[-7.08916498e-01 -7.05220155e-01 1.00960795e-02 1.81633931e+02] [ 7.05146040e-01 -7.08988375e-01 -1.02247813e-02 1.48028816e+02] [ 1.43687249e-02 -1.29305630e-04 9.99896756e-01 9.15573846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.232755096 meters Centerline goodness [0,1] 0.9998718222602008 Centerline is valid? [True, True] Translation: X:181.61, Y:148.05, Z:9.16 [[-7.07919919e-01 -7.06221583e-01 1.00231570e-02 1.81612935e+02] [ 7.06148741e-01 -7.07990865e-01 -1.01435485e-02 1.48045803e+02] [ 1.42598965e-02 -1.02980291e-04 9.99898317e-01 9.15628649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:181.59, Y:148.06, Z:9.16 [[-7.07241838e-01 -7.06903692e-01 9.80580279e-03 1.81592299e+02] [ 7.06834135e-01 -7.07309808e-01 -9.91673189e-03 1.48064225e+02] [ 1.39459149e-02 -8.24515516e-05 9.99902748e-01 9.15758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.57, Y:148.08, Z:9.16 [[-7.06181931e-01 -7.07953828e-01 1.04143521e-02 1.81572382e+02] [ 7.07875601e-01 -7.06258716e-01 -1.05242370e-02 1.48082003e+02] [ 1.48059008e-02 -5.99602816e-05 9.99890385e-01 9.15810479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:148.10, Z:9.16 [[-7.05823250e-01 -7.08309573e-01 1.05398511e-02 1.81553724e+02] [ 7.08229614e-01 -7.05901938e-01 -1.06427134e-02 1.48100208e+02] [ 1.49784371e-02 -4.72399161e-05 9.99887816e-01 9.15818143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.352755096 meters Centerline goodness [0,1] 0.9999355891446239 Centerline is valid? [True, True] Translation: X:181.54, Y:148.12, Z:9.16 [[-7.05842778e-01 -7.08286409e-01 1.07859345e-02 1.81535301e+02] [ 7.08202801e-01 -7.05925181e-01 -1.08826271e-02 1.48119021e+02] [ 1.53220796e-02 -4.27947302e-05 9.99882609e-01 9.15686766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters Centerline goodness [0,1] 0.9999356733923709 Centerline is valid? [True, True] Translation: X:181.52, Y:148.14, Z:9.16 [[-7.05174188e-01 -7.08945552e-01 1.12057276e-02 1.81516930e+02] [ 7.08855537e-01 -7.05263216e-01 -1.12971202e-02 1.48136780e+02] [ 1.59120306e-02 -2.31954914e-05 9.99873395e-01 9.15627788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.50, Y:148.16, Z:9.16 [[-7.04776678e-01 -7.09342534e-01 1.10907001e-02 1.81497395e+02] [ 7.09254545e-01 -7.04863937e-01 -1.11723504e-02 1.48155148e+02] [ 1.57424578e-02 -7.88255059e-06 9.99876080e-01 9.15788900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.48, Y:148.17, Z:9.16 [[-7.04322495e-01 -7.09793564e-01 1.10869355e-02 1.81479639e+02] [ 7.09705818e-01 -7.04409750e-01 -1.11604444e-02 1.48172752e+02] [ 1.57313571e-02 7.91058390e-06 9.99876255e-01 9.15739403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.46, Y:148.19, Z:9.16 [[-7.04430514e-01 -7.09690185e-01 1.08393937e-02 1.81461991e+02] [ 7.09606408e-01 -7.04513905e-01 -1.09042994e-02 1.48190782e+02] [ 1.53751779e-02 1.03819725e-05 9.99881795e-01 9.15731263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:148.21, Z:9.16 [[-7.04717644e-01 -7.09404762e-01 1.08593756e-02 1.81444852e+02] [ 7.09320768e-01 -7.04801308e-01 -1.09162439e-02 1.48209570e+02] [ 1.53977375e-02 9.91098511e-06 9.99881448e-01 9.15742796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.532755096 meters Centerline goodness [0,1] 0.9998278014550777 Centerline is valid? [True, True] Translation: X:181.43, Y:148.23, Z:9.15 [[-7.06373503e-01 -7.07750510e-01 1.12111663e-02 1.81429733e+02] [ 7.07660894e-01 -7.06462465e-01 -1.12625390e-02 1.48231644e+02] [ 1.58913359e-02 -2.18551621e-05 9.99873725e-01 9.15447694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:148.25, Z:9.16 [[-7.06799589e-01 -7.07321434e-01 1.14337119e-02 1.81413607e+02] [ 7.07228312e-01 -7.06892062e-01 -1.14772049e-02 1.48250767e+02] [ 1.62004732e-02 -2.58389126e-05 9.99868763e-01 9.15754084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.592755096 meters Centerline goodness [0,1] 0.9998272511336644 Centerline is valid? [True, True] Translation: X:181.40, Y:148.27, Z:9.15 [[-7.08665562e-01 -7.05454339e-01 1.12826183e-02 1.81397559e+02] [ 7.05363564e-01 -7.08755368e-01 -1.13168231e-02 1.48271954e+02] [ 1.59801183e-02 -6.14949731e-05 9.99872308e-01 9.15450181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters Centerline goodness [0,1] 0.9997621364471835 Centerline is valid? [True, True] Translation: X:181.38, Y:148.29, Z:9.15 [[-7.11031284e-01 -7.03061505e-01 1.17912849e-02 1.81383944e+02] [ 7.02962175e-01 -7.11129037e-01 -1.18183366e-02 1.48294743e+02] [ 1.66941426e-02 -1.14379824e-04 9.99860637e-01 9.15318706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.37, Y:148.31, Z:9.16 [[-7.11739572e-01 -7.02350350e-01 1.14353705e-02 1.81367494e+02] [ 7.02256948e-01 -7.11831421e-01 -1.14546058e-02 1.48314307e+02] [ 1.61852024e-02 -1.22127896e-04 9.99869004e-01 9.15743339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.682755096 meters Centerline goodness [0,1] 0.9999135415540905 Centerline is valid? [True, True] Translation: X:181.35, Y:148.34, Z:9.16 [[-7.14043977e-01 -7.00010127e-01 1.12703454e-02 1.81353585e+02] [ 6.99919219e-01 -7.14132897e-01 -1.12823890e-02 1.48336262e+02] [ 1.59463110e-02 -1.67790594e-04 9.99872835e-01 9.15543878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.712755096 meters Centerline goodness [0,1] 0.9999566151109569 Centerline is valid? [True, True] Translation: X:181.34, Y:148.36, Z:9.16 [[-7.15131453e-01 -6.98907951e-01 1.07089858e-02 1.81335217e+02] [ 6.98825867e-01 -7.15211609e-01 -1.07127280e-02 1.48355524e+02] [ 1.51464017e-02 -1.77292489e-04 9.99885271e-01 9.15770888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.91, Y:147.90, Z:10.25 [[-7.47391828e-01 6.64350772e-01 -6.59597999e-03 1.80907466e+02] [ 6.64315996e-01 7.47420580e-01 6.83628635e-03 1.47897580e+02] [ 9.47166330e-03 7.27569537e-04 -9.99954878e-01 1.02451026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:147.91, Z:10.24 [[-7.91974684e-01 6.10510297e-01 -7.29906128e-03 1.80924573e+02] [ 6.10475832e-01 7.92007998e-01 6.52610412e-03 1.47906552e+02] [ 9.76516868e-03 7.12608746e-04 -9.99952066e-01 1.02448191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.802755096 meters Centerline goodness [0,1] 0.9998694545375427 Centerline is valid? [True, True] Translation: X:180.94, Y:147.92, Z:10.25 [[-8.32089448e-01 5.54576353e-01 -8.49821439e-03 1.80938751e+02] [ 5.54538929e-01 8.32132568e-01 6.47813907e-03 1.47915375e+02] [ 1.06642637e-02 6.77800458e-04 -9.99942905e-01 1.02469570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.28, Y:148.45, Z:9.16 [[-8.11441688e-01 -5.84344161e-01 1.02121648e-02 1.81283821e+02] [ 5.84302447e-01 -8.11505892e-01 -6.98833121e-03 1.48450572e+02] [ 1.23708224e-02 2.96369583e-04 9.99923435e-01 9.16173932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters Centerline goodness [0,1] 0.9998260793947563 Centerline is valid? [True, True] Translation: X:180.92, Y:147.93, Z:10.24 [[-8.32698603e-01 5.53640934e-01 -9.73413558e-03 1.80918157e+02] [ 5.53594189e-01 8.32755262e-01 7.22129251e-03 1.47925463e+02] [ 1.21041558e-02 6.24399292e-04 -9.99926547e-01 1.02444035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.892755096 meters Centerline goodness [0,1] 0.999455740845561 Centerline is valid? [True, True] Translation: X:180.93, Y:147.94, Z:10.25 [[-8.69310511e-01 4.94162857e-01 -1.01146866e-02 1.80932356e+02] [ 4.94121102e-01 8.69369137e-01 6.45284361e-03 1.47937035e+02] [ 1.19821520e-02 6.11644692e-04 -9.99928024e-01 1.02465116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9227550960001 meters Centerline goodness [0,1] 0.999432289619634 Centerline is valid? [True, True] Translation: X:181.24, Y:148.50, Z:9.16 [[-8.54295567e-01 -5.19701415e-01 9.46167355e-03 1.81236948e+02] [ 5.19673365e-01 -8.54347910e-01 -5.40760812e-03 1.48503024e+02] [ 1.08939026e-02 2.97284090e-04 9.99940616e-01 9.16097484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.952755096 meters Centerline goodness [0,1] 0.9996300326441785 Centerline is valid? [True, True] Translation: X:181.24, Y:148.48, Z:9.16 [[-8.17976055e-01 -5.75179327e-01 9.16052216e-03 1.81235309e+02] [ 5.75150412e-01 -8.18027175e-01 -5.79176757e-03 1.48481252e+02] [ 1.08248610e-02 5.31150907e-04 9.99941268e-01 9.16143905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.982755096 meters Centerline goodness [0,1] 0.9995861377943323 Centerline is valid? [True, True] Translation: X:180.87, Y:147.95, Z:10.25 [[-8.34934587e-01 5.50262471e-01 -9.76977127e-03 1.80869616e+02] [ 5.50216506e-01 8.34991541e-01 7.13605615e-03 1.47950415e+02] [ 1.20843803e-02 5.82650689e-04 -9.99926811e-01 1.02458971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.012755096 meters Centerline goodness [0,1] 0.999738356881214 Centerline is valid? [True, True] Translation: X:181.21, Y:148.50, Z:9.16 [[-8.20593276e-01 -5.71424512e-01 1.00350605e-02 1.81211234e+02] [ 5.71386405e-01 -8.20654574e-01 -6.60656137e-03 1.48495642e+02] [ 1.20104694e-02 3.12597327e-04 9.99927823e-01 9.15967534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0427550960001 meters Centerline goodness [0,1] 0.9997165718272396 Centerline is valid? [True, True] Translation: X:180.84, Y:147.97, Z:10.25 [[-8.36839432e-01 5.47373024e-01 -9.08506541e-03 1.80844218e+02] [ 5.47332914e-01 8.36888535e-01 6.65294315e-03 1.47967957e+02] [ 1.12448287e-02 5.94889840e-04 -9.99936598e-01 1.02473765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.072755096 meters Centerline goodness [0,1] 0.9998911529083943 Centerline is valid? [True, True] Translation: X:181.18, Y:148.51, Z:9.16 [[-8.22285533e-01 -5.68978933e-01 1.04630735e-02 1.81180222e+02] [ 5.68937484e-01 -8.22352043e-01 -6.87429757e-03 1.48510291e+02] [ 1.25156604e-02 3.00199296e-04 9.99921631e-01 9.15954698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.102755096 meters Centerline goodness [0,1] 0.9999782443163276 Centerline is valid? [True, True] Translation: X:180.82, Y:147.98, Z:10.25 [[-8.39605704e-01 5.43112010e-01 -9.57112677e-03 1.80822568e+02] [ 5.43068444e-01 8.39660041e-01 6.90511734e-03 1.47982661e+02] [ 1.17867449e-02 5.99798989e-04 -9.99930354e-01 1.02476809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.132755096 meters Centerline goodness [0,1] 0.9997616313086441 Centerline is valid? [True, True] Translation: X:180.84, Y:148.00, Z:10.25 [[-8.76373366e-01 4.81519882e-01 -1.04079837e-02 1.80842718e+02] [ 4.81477695e-01 8.76434963e-01 6.40194100e-03 1.47998647e+02] [ 1.22045827e-02 5.99278580e-04 -9.99925342e-01 1.02473194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1627550960001 meters Centerline goodness [0,1] 0.9998056785058836 Centerline is valid? [True, True] Translation: X:180.86, Y:148.01, Z:10.25 [[-9.08605079e-01 4.17509753e-01 -1.10642084e-02 1.80855389e+02] [ 4.17470610e-01 9.08672241e-01 5.74877901e-03 1.48014648e+02] [ 1.24539103e-02 6.04387979e-04 -9.99922264e-01 1.02470680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.192755096 meters Centerline goodness [0,1] 0.9998062599560856 Centerline is valid? [True, True] Translation: X:180.87, Y:148.03, Z:10.25 [[-9.36504130e-01 3.50478219e-01 -1.11817748e-02 1.80867398e+02] [ 3.50445139e-01 9.36570671e-01 4.85616301e-03 1.48034510e+02] [ 1.21745017e-02 6.29218099e-04 -9.99925690e-01 1.02481847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.222755096 meters Centerline goodness [0,1] 0.9998062599560856 Centerline is valid? [True, True] Translation: X:180.88, Y:148.05, Z:10.25 [[-9.58987513e-01 2.83216149e-01 -1.14701338e-02 1.80878529e+02] [ 2.83187989e-01 9.59055899e-01 4.04290885e-03 1.48050966e+02] [ 1.21455165e-02 6.28894978e-04 -9.99926043e-01 1.02483884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.252755096 meters Centerline goodness [0,1] 0.9995915559568339 Centerline is valid? [True, True] Translation: X:180.89, Y:148.07, Z:10.25 [[-9.76841187e-01 2.13661996e-01 -1.13950477e-02 1.80890115e+02] [ 2.13639741e-01 9.76907436e-01 3.14998088e-03 1.48069391e+02] [ 1.18049380e-02 6.42596033e-04 -9.99930113e-01 1.02492437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters Centerline goodness [0,1] 0.9994624118355411 Centerline is valid? [True, True] Translation: X:181.00, Y:148.67, Z:9.16 [[-9.67667675e-01 -2.51982231e-01 1.11456854e-02 1.81004912e+02] [ 2.51971364e-01 -9.67731735e-01 -2.39169264e-03 1.48670636e+02] [ 1.13886976e-02 4.94029911e-04 9.99935025e-01 9.16229281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.312755096 meters Centerline goodness [0,1] 0.999313039371431 Centerline is valid? [True, True] Translation: X:180.85, Y:148.08, Z:10.25 [[-9.78396871e-01 2.06460382e-01 -1.06617456e-02 1.80853844e+02] [ 2.06440359e-01 9.78454716e-01 2.95755240e-03 1.48083285e+02] [ 1.10426526e-02 6.92645424e-04 -9.99938788e-01 1.02509013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.342755096 meters Centerline goodness [0,1] 0.9992088776753832 Centerline is valid? [True, True] Translation: X:180.97, Y:148.67, Z:9.16 [[-9.67736653e-01 -2.51762896e-01 1.00606047e-02 1.80966389e+02] [ 2.51753923e-01 -9.67788849e-01 -2.16932754e-03 1.48670902e+02] [ 1.02826973e-02 4.33458936e-04 9.99947038e-01 9.16337616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.372755096 meters Centerline goodness [0,1] 0.9991411517155494 Centerline is valid? [True, True] Translation: X:180.82, Y:148.09, Z:10.25 [[-9.79685934e-01 2.00148341e-01 -1.24944803e-02 1.80822565e+02] [ 2.00122871e-01 9.79765354e-01 3.26927155e-03 1.48094698e+02] [ 1.28959982e-02 7.02428086e-04 -9.99916596e-01 1.02485284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters Centerline goodness [0,1] 0.999034728329651 Centerline is valid? [True, True] Translation: X:180.83, Y:148.11, Z:10.25 [[-9.91461267e-01 1.29774410e-01 -1.27733409e-02 1.80829159e+02] [ 1.29754505e-01 9.91543298e-01 2.37849777e-03 1.48114172e+02] [ 1.29739887e-02 7.00789898e-04 -9.99915589e-01 1.02484550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.432755096 meters Centerline goodness [0,1] 0.9989069867123875 Centerline is valid? [True, True] Translation: X:180.83, Y:148.13, Z:10.25 [[-9.98186983e-01 5.87517664e-02 -1.30758375e-02 1.80832732e+02] [ 5.87375085e-02 9.98272377e-01 1.47210960e-03 1.48133944e+02] [ 1.31397364e-02 7.01398524e-04 -9.99913424e-01 1.02484946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.462755096 meters Centerline goodness [0,1] 0.9989257707594801 Centerline is valid? [True, True] Translation: X:180.86, Y:148.72, Z:9.16 [[-9.93901122e-01 -1.09801129e-01 1.02113414e-02 1.80858914e+02] [ 1.09801662e-01 -9.93953387e-01 -5.10161479e-04 1.48717631e+02] [ 1.02056137e-02 6.14172191e-04 9.99947733e-01 9.16390435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.492755096 meters Centerline goodness [0,1] 0.9989924757229522 Centerline is valid? [True, True] Translation: X:180.79, Y:148.14, Z:10.25 [[-9.98401331e-01 5.50439467e-02 -1.28431450e-02 1.80789562e+02] [ 5.50303614e-02 9.98483687e-01 1.40905950e-03 1.48137303e+02] [ 1.29012310e-02 7.00043969e-04 -9.99916531e-01 1.02495315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters Centerline goodness [0,1] 0.9992489431557263 Centerline is valid? [True, True] Translation: X:180.81, Y:148.72, Z:9.16 [[-9.94648212e-01 -1.02785868e-01 1.04880367e-02 1.80814398e+02] [ 1.02786142e-01 -9.94703345e-01 -5.14371769e-04 1.48719196e+02] [ 1.04853553e-02 5.66405865e-04 9.99944867e-01 9.16383890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.552755096 meters Centerline goodness [0,1] 0.9993762501882004 Centerline is valid? [True, True] Translation: X:180.75, Y:148.14, Z:10.25 [[-9.98536985e-01 5.28689421e-02 -1.13474693e-02 1.80745117e+02] [ 5.28577693e-02 9.98601228e-01 1.28248028e-03 1.48138380e+02] [ 1.13994002e-02 6.80802075e-04 -9.99934793e-01 1.02531718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.582755096 meters Centerline goodness [0,1] 0.9995495592115141 Centerline is valid? [True, True] Translation: X:180.76, Y:148.72, Z:9.17 [[-9.95342360e-01 -9.59024026e-02 9.81409047e-03 1.80763534e+02] [ 9.59019393e-02 -9.95390651e-01 -5.18889948e-04 1.48722097e+02] [ 9.81861670e-03 4.24717163e-04 9.99951706e-01 9.16505856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.612755096 meters Centerline goodness [0,1] 0.9997209701652715 Centerline is valid? [True, True] Translation: X:180.69, Y:148.14, Z:10.25 [[-9.98617333e-01 5.13488386e-02 -1.12569362e-02 1.80694634e+02] [ 5.13383425e-02 9.98680573e-01 1.21959061e-03 1.48137483e+02] [ 1.13047081e-02 6.39991874e-04 -9.99935895e-01 1.02543639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters Centerline goodness [0,1] 0.9999140413461125 Centerline is valid? [True, True] Translation: X:180.71, Y:148.73, Z:9.16 [[-9.96223200e-01 -8.61858200e-02 1.05517888e-02 1.80711276e+02] [ 8.61853126e-02 -9.96278996e-01 -5.03641085e-04 1.48728768e+02] [ 1.05559322e-02 4.07670281e-04 9.99944202e-01 9.16461538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6727550960001 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:180.64, Y:148.14, Z:10.25 [[-9.98737677e-01 4.87549961e-02 -1.20831750e-02 1.80642325e+02] [ 4.87442726e-02 9.98810594e-01 1.18056679e-03 1.48136558e+02] [ 1.21263618e-02 5.90090961e-04 -9.99926299e-01 1.02519273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.702755096 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:180.65, Y:148.15, Z:10.25 [[-9.99729759e-01 -1.99927604e-02 -1.18616462e-02 1.80646038e+02] [-1.99978627e-02 9.99799974e-01 3.11692363e-04 1.48152722e+02] [ 1.18530419e-02 5.48815703e-04 -9.99929600e-01 1.02519281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.732755096 meters Centerline goodness [0,1] 0.9998921856132482 Centerline is valid? [True, True] Translation: X:180.62, Y:148.76, Z:9.16 [[-9.99921870e-01 -5.43186919e-03 1.12583059e-02 1.80620000e+02] [ 5.43699339e-03 -9.99985129e-01 4.24591431e-04 1.48755192e+02] [ 1.12558321e-02 4.85769593e-04 9.99936533e-01 9.16493473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters Centerline goodness [0,1] 0.9998702842935899 Centerline is valid? [True, True] Translation: X:180.58, Y:148.15, Z:10.25 [[-9.99645062e-01 -2.42605849e-02 -1.10079270e-02 1.80577181e+02] [-2.42653714e-02 9.99705507e-01 3.01454707e-04 1.48147101e+02] [ 1.09973717e-02 5.68459146e-04 -9.99939366e-01 1.02544356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.55, Y:148.75, Z:9.17 [[-9.99938726e-01 2.35629116e-03 1.08163289e-02 1.80545325e+02] [-2.35207305e-03 -9.99997153e-01 4.02679980e-04 1.48754614e+02] [ 1.08172469e-02 3.77214510e-04 9.99941421e-01 9.16797853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.822755096 meters Centerline goodness [0,1] 0.9998703431584407 Centerline is valid? [True, True] Translation: X:180.51, Y:148.14, Z:10.26 [[-9.99497043e-01 -2.98947507e-02 -1.05813693e-02 1.80512570e+02] [-2.98990613e-02 9.99552892e-01 2.49381651e-04 1.48143373e+02] [ 1.05691831e-02 5.65629233e-04 -9.99943985e-01 1.02553730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.852755096 meters Centerline goodness [0,1] 0.9999567913236977 Centerline is valid? [True, True] Translation: X:180.47, Y:148.75, Z:9.17 [[-9.99887676e-01 1.01090293e-02 1.10653763e-02 1.80471033e+02] [-1.01046250e-02 -9.99948844e-01 4.53859872e-04 1.48753841e+02] [ 1.10693983e-02 3.41997415e-04 9.99938674e-01 9.16712206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters Centerline goodness [0,1] 0.9998054054054054 Centerline is valid? [True, True] Translation: X:180.44, Y:148.14, Z:10.26 [[-9.99335293e-01 -3.51595319e-02 -9.63222211e-03 1.80438056e+02] [-3.51634200e-02 9.99381548e-01 2.34546889e-04 1.48137762e+02] [ 9.61801849e-03 5.73092856e-04 -9.99953582e-01 1.02582914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.39, Y:148.75, Z:9.17 [[-9.99777699e-01 1.75659015e-02 1.16615705e-02 1.80394362e+02] [-1.75611364e-02 -9.99845661e-01 5.10890711e-04 1.48752618e+02] [ 1.16687449e-02 3.05986709e-04 9.99931871e-01 9.16741739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.37, Y:148.14, Z:10.26 [[-9.99085553e-01 -4.15102774e-02 -1.02447043e-02 1.80369002e+02] [-4.15137600e-02 9.99137924e-01 1.27423925e-04 1.48143497e+02] [ 1.02305832e-02 5.52603600e-04 -9.99947514e-01 1.02567568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.36, Y:148.16, Z:10.26 [[-9.93653842e-01 -1.12007365e-01 -1.03146537e-02 1.80364985e+02] [-1.12006666e-01 9.93707245e-01 -6.47238736e-04 1.48162027e+02] [ 1.03222416e-02 5.12178709e-04 -9.99946593e-01 1.02570516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters Centerline goodness [0,1] 0.9997414406067527 Centerline is valid? [True, True] Translation: X:180.36, Y:148.18, Z:10.26 [[-9.83375745e-01 -1.81326964e-01 -9.62690055e-03 1.80360764e+02] [-1.81323377e-01 9.83422731e-01 -1.25133513e-03 1.48175209e+02] [ 9.69421363e-03 5.15049511e-04 -9.99952877e-01 1.02604076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.34, Y:148.19, Z:10.26 [[-9.67498209e-01 -2.52645075e-01 -1.08480995e-02 1.80340187e+02] [-2.52634845e-01 9.67558900e-01 -2.32584670e-03 1.48193150e+02] [ 1.10837890e-02 4.90355421e-04 -9.99938453e-01 1.02573926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.30, Y:148.20, Z:10.26 [[-9.46343481e-01 -3.22976137e-01 -1.09740526e-02 1.80301601e+02] [-3.22960367e-01 9.46406982e-01 -3.22882649e-03 1.48199941e+02] [ 1.14287540e-02 4.88605167e-04 -9.99934570e-01 1.02574101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.26, Y:148.20, Z:10.26 [[-9.19534670e-01 -3.92852908e-01 -1.10717947e-02 1.80258510e+02] [-3.92830762e-01 9.19601194e-01 -4.19963536e-03 1.48200876e+02] [ 1.18314746e-02 4.87631231e-04 -9.99929887e-01 1.02575106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.21, Y:148.20, Z:10.26 [[-8.87680813e-01 -4.60339161e-01 -1.05181013e-02 1.80206655e+02] [-4.60313392e-01 8.87742987e-01 -4.89596367e-03 1.48195974e+02] [ 1.15911745e-02 4.95569883e-04 -9.99932697e-01 1.02585041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.15, Y:148.18, Z:10.26 [[-8.50395039e-01 -5.26056054e-01 -9.65950791e-03 1.80151572e+02] [-5.26028933e-01 8.50449740e-01 -5.36663854e-03 1.48183914e+02] [ 1.10380787e-02 5.17417853e-04 -9.99938945e-01 1.02601350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.182755096 meters Centerline goodness [0,1] 0.9998480408118963 Centerline is valid? [True, True] Translation: X:180.09, Y:148.16, Z:10.26 [[-8.08593946e-01 -5.88306844e-01 -8.41949821e-03 1.80091793e+02] [-5.88281770e-01 8.08637599e-01 -5.45831818e-03 1.48162733e+02] [ 1.00194888e-02 5.39474270e-04 -9.99949658e-01 1.02634365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.212755096 meters Centerline goodness [0,1] 0.9999783117897111 Centerline is valid? [True, True] Translation: X:180.03, Y:148.14, Z:10.26 [[-7.61031939e-01 -6.48662599e-01 -8.19874705e-03 1.80031129e+02] [-6.48632455e-01 7.61075909e-01 -6.27686174e-03 1.48137651e+02] [ 1.03114343e-02 5.41081160e-04 -9.99946689e-01 1.02622890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.97, Y:148.10, Z:10.26 [[-7.09218279e-01 -7.04943318e-01 -8.02192386e-03 1.79968611e+02] [-7.04906499e-01 7.09263447e-01 -7.22429324e-03 1.48101895e+02] [ 1.07823746e-02 5.31105441e-04 -9.99941727e-01 1.02621576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.272755096 meters Centerline goodness [0,1] 0.9999564744287269 Centerline is valid? [True, True] Translation: X:179.91, Y:148.06, Z:10.26 [[-6.52888272e-01 -7.57417429e-01 -7.46609882e-03 1.79910370e+02] [-7.57377011e-01 6.52930742e-01 -7.84281862e-03 1.48063580e+02] [ 1.08151330e-02 5.34167311e-04 -9.99941372e-01 1.02633703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.302755096 meters Centerline goodness [0,1] 0.9999347485644684 Centerline is valid? [True, True] Translation: X:179.85, Y:148.02, Z:10.27 [[-5.91898773e-01 -8.05987623e-01 -6.30821293e-03 1.79849454e+02] [-8.05951716e-01 5.91932114e-01 -7.62914406e-03 1.48015662e+02] [ 9.88302951e-03 5.68434023e-04 -9.99951000e-01 1.02654082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.332755096 meters Centerline goodness [0,1] 0.9999564403014332 Centerline is valid? [True, True] Translation: X:179.79, Y:147.96, Z:10.27 [[-5.27552038e-01 -8.49504610e-01 -5.54662849e-03 1.79792910e+02] [-8.49468739e-01 5.27580875e-01 -7.82822456e-03 1.47964316e+02] [ 9.57640796e-03 5.81891691e-04 -9.99953976e-01 1.02663381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters Centerline goodness [0,1] 0.999760034904014 Centerline is valid? [True, True] Translation: X:179.74, Y:147.90, Z:10.27 [[-4.60252079e-01 -8.87775409e-01 -4.77978116e-03 1.79740075e+02] [-8.87740133e-01 4.60276519e-01 -7.93612500e-03 1.47904639e+02] [ 9.24551766e-03 5.90585534e-04 -9.99957085e-01 1.02689614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.392755096 meters Centerline goodness [0,1] 0.9998909225768451 Centerline is valid? [True, True] Translation: X:179.69, Y:147.84, Z:10.27 [[-3.87454782e-01 -9.21877303e-01 -4.58589003e-03 1.79685721e+02] [-9.21829762e-01 3.87481467e-01 -9.38093394e-03 1.47837969e+02] [ 1.04250175e-02 5.92722201e-04 -9.99945482e-01 1.02686297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4227550960001 meters Centerline goodness [0,1] 0.9999127056872245 Centerline is valid? [True, True] Translation: X:179.64, Y:147.77, Z:10.27 [[-3.13300205e-01 -9.49646204e-01 -3.88189183e-03 1.79640641e+02] [-9.49595561e-01 3.13323664e-01 -9.82610202e-03 1.47770897e+02] [ 1.05476090e-02 6.07707472e-04 -9.99944188e-01 1.02697408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.452755096 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:179.60, Y:147.70, Z:10.27 [[-2.35075217e-01 -9.71973179e-01 -2.78957237e-03 1.79600726e+02] [-9.71934550e-01 2.35090818e-01 -8.69120419e-03 1.47698995e+02] [ 9.10342022e-03 6.68195064e-04 -9.99958340e-01 1.02712766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.57, Y:147.62, Z:10.27 [[-1.57342850e-01 -9.87541998e-01 -2.00750588e-03 1.79565329e+02] [-9.87508123e-01 1.57354140e-01 -8.20862392e-03 1.47620257e+02] [ 8.42225023e-03 6.90860076e-04 -9.99964294e-01 1.02727797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.54, Y:147.54, Z:10.27 [[-7.89367296e-02 -9.96878749e-01 -1.32362316e-03 1.79538753e+02] [-9.96848854e-01 7.89446561e-02 -7.75270419e-03 1.47544562e+02] [ 7.83299903e-03 7.07479110e-04 -9.99969071e-01 1.02744836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.52, Y:147.46, Z:10.28 [[-2.24504440e-04 -9.99999718e-01 -7.16171323e-04 1.79518300e+02] [-9.99968731e-01 2.30158565e-04 -7.90464115e-03 1.47463921e+02] [ 7.90480376e-03 7.14374302e-04 -9.99968501e-01 1.02759113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.572755096 meters Centerline goodness [0,1] 0.999912654219893 Centerline is valid? [True, True] Translation: X:179.50, Y:147.38, Z:10.28 [[ 7.88916974e-02 -9.96883178e-01 -1.73030006e-04 1.79504753e+02] [-9.96858211e-01 -7.88884904e-02 -7.09316871e-03 1.47377516e+02] [ 7.05741048e-03 7.32078502e-04 -9.99974828e-01 1.02781213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.602755096 meters Centerline goodness [0,1] 0.9998908916335705 Centerline is valid? [True, True] Translation: X:179.50, Y:147.30, Z:10.28 [[ 1.56377809e-01 -9.87697261e-01 3.19223338e-04 1.79496400e+02] [-9.87674679e-01 -1.56376406e-01 -6.71921799e-03 1.47295232e+02] [ 6.68647220e-03 7.35447780e-04 -9.99977375e-01 1.02792985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.632755096 meters Centerline goodness [0,1] 0.9997816307813251 Centerline is valid? [True, True] Translation: X:179.50, Y:147.22, Z:10.28 [[ 2.32976060e-01 -9.72482217e-01 7.01863828e-04 1.79497168e+02] [-9.72463304e-01 -2.32975939e-01 -6.11021141e-03 1.47215240e+02] [ 6.10558932e-03 7.40996163e-04 -9.99981086e-01 1.02814551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.92, Y:146.98, Z:9.19 [[ 1.83606859e-01 9.82994738e-01 -3.14120848e-03 1.78919129e+02] [-9.82893620e-01 1.83633055e-01 1.41078749e-02 1.46979863e+02] [ 1.44447965e-02 4.97171167e-04 9.99895545e-01 9.18769596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.692755096 meters Centerline goodness [0,1] 0.99991254919108 Centerline is valid? [True, True] Translation: X:179.55, Y:147.01, Z:10.28 [[ 2.43519159e-01 -9.69895841e-01 6.90066126e-04 1.79545916e+02] [-9.69878684e-01 -2.43518990e-01 -5.81715265e-03 1.47013869e+02] [ 5.81007637e-03 7.47307696e-04 -9.99982842e-01 1.02834905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.722755096 meters Centerline goodness [0,1] 0.9998909606367898 Centerline is valid? [True, True] Translation: X:179.55, Y:146.93, Z:10.28 [[ 3.17024480e-01 -9.48416681e-01 1.13103160e-03 1.79554734e+02] [-9.48399853e-01 -3.17025649e-01 -5.69701540e-03 1.46932962e+02] [ 5.76171046e-03 7.33423145e-04 -9.99983132e-01 1.02846277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.752755096 meters Centerline goodness [0,1] 0.9998686744878305 Centerline is valid? [True, True] Translation: X:179.57, Y:146.85, Z:10.29 [[ 3.88889570e-01 -9.21283068e-01 1.55284923e-03 1.79567779e+02] [-9.21266650e-01 -3.88891991e-01 -5.54786757e-03 1.46853842e+02] [ 5.71504709e-03 7.26919621e-04 -9.99983405e-01 1.02858560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters Centerline goodness [0,1] 0.9997809563445995 Centerline is valid? [True, True] Translation: X:179.59, Y:146.78, Z:10.29 [[ 4.57014953e-01 -8.89457031e-01 1.87667961e-03 1.79588136e+02] [-8.89442043e-01 -4.57018250e-01 -5.21258744e-03 1.46777868e+02] [ 5.49404938e-03 7.13032665e-04 -9.99984653e-01 1.02876455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.812755096 meters Centerline goodness [0,1] 0.9999343860723503 Centerline is valid? [True, True] Translation: X:179.61, Y:146.70, Z:10.29 [[ 5.23699922e-01 -8.51899605e-01 2.33562575e-03 1.79613485e+02] [-8.51884387e-01 -5.23704660e-01 -5.14004692e-03 1.46700177e+02] [ 5.60198203e-03 7.02159062e-04 -9.99984062e-01 1.02875560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.842755096 meters Centerline goodness [0,1] 0.9998687376941588 Centerline is valid? [True, True] Translation: X:179.65, Y:146.63, Z:10.29 [[ 5.86618644e-01 -8.09858378e-01 2.82390322e-03 1.79645095e+02] [-8.09842808e-01 -5.86625039e-01 -5.06852356e-03 1.46627399e+02] [ 5.76135860e-03 6.86372703e-04 -9.99983168e-01 1.02897259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.68, Y:146.56, Z:10.29 [[ 6.45485215e-01 -7.63765312e-01 3.37421817e-03 1.79675507e+02] [-7.63749100e-01 -6.45493693e-01 -5.02044361e-03 1.46563211e+02] [ 6.01247723e-03 6.63566035e-04 -9.99981705e-01 1.02884244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters Centerline goodness [0,1] 0.9998466291273197 Centerline is valid? [True, True] Translation: X:179.71, Y:146.50, Z:10.29 [[ 7.01448466e-01 -7.12711505e-01 3.51567389e-03 1.79713488e+02] [-7.12697543e-01 -7.01456968e-01 -4.50929190e-03 1.46499895e+02] [ 5.67991816e-03 6.57423744e-04 -9.99983653e-01 1.02914869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.73, Y:146.51, Z:10.29 [[ 7.54551232e-01 -6.56229454e-01 3.91689849e-03 1.79728506e+02] [-6.56215814e-01 -7.54561109e-01 -4.28238251e-03 1.46510386e+02] [ 5.76576480e-03 6.60946267e-04 -9.99983159e-01 1.02899632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.962755096 meters Centerline goodness [0,1] 0.9999561018437225 Centerline is valid? [True, True] Translation: X:179.74, Y:146.52, Z:10.29 [[ 8.03632542e-01 -5.95110494e-01 4.27065813e-03 1.79741951e+02] [-5.95097536e-01 -8.03643619e-01 -3.98191293e-03 1.46520942e+02] [ 5.80176533e-03 6.58536681e-04 -9.99982953e-01 1.02903600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.992755096 meters Centerline goodness [0,1] 0.9998680100312376 Centerline is valid? [True, True] Translation: X:179.75, Y:146.53, Z:10.29 [[ 8.47857188e-01 -5.30207414e-01 4.27635481e-03 1.79752383e+02] [-5.30196552e-01 -8.47867712e-01 -3.45833349e-03 1.46529370e+02] [ 5.45941723e-03 6.64864330e-04 -9.99984876e-01 1.02925934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters Centerline goodness [0,1] 0.9999119757052947 Centerline is valid? [True, True] Translation: X:179.76, Y:146.54, Z:10.29 [[ 8.87347008e-01 -4.61081650e-01 4.35884672e-03 1.79763378e+02] [-4.61072228e-01 -8.87357459e-01 -3.02355428e-03 1.46540731e+02] [ 5.26196055e-03 6.73198676e-04 -9.99985929e-01 1.02934169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.77, Y:146.56, Z:10.29 [[ 9.20914240e-01 -3.89734419e-01 4.90367346e-03 1.79773492e+02] [-3.89724928e-01 -9.20927053e-01 -2.80082685e-03 1.46555891e+02] [ 5.60750417e-03 6.68237542e-04 -9.99984055e-01 1.02926418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.78, Y:146.57, Z:10.29 [[ 9.48825829e-01 -3.15755243e-01 5.30785060e-03 1.79784560e+02] [-3.15746293e-01 -9.48840441e-01 -2.46907213e-03 1.46573677e+02] [ 5.81592577e-03 6.66785263e-04 -9.99982865e-01 1.02930111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:146.59, Z:10.29 [[ 9.70608320e-01 -2.40602827e-01 5.45601919e-03 1.79793156e+02] [-2.40595118e-01 -9.70623427e-01 -2.03754669e-03 1.46590555e+02] [ 5.78597953e-03 6.64968188e-04 -9.99983040e-01 1.02933100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters Centerline goodness [0,1] 0.9998894636777645 Centerline is valid? [True, True] Translation: X:179.80, Y:146.61, Z:10.30 [[ 9.86452227e-01 -1.63961456e-01 5.35200425e-03 1.79798572e+02] [-1.63955334e-01 -9.86466520e-01 -1.56630350e-03 1.46611455e+02] [ 5.53638641e-03 6.67593936e-04 -9.99984451e-01 1.02951740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:146.63, Z:10.29 [[ 9.96265621e-01 -8.61376566e-02 5.92596858e-03 1.79800167e+02] [-8.61321897e-02 -9.96283028e-01 -1.17211540e-03 1.46633183e+02] [ 6.00490520e-03 6.57321624e-04 -9.99981754e-01 1.02943089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:146.65, Z:10.29 [[ 9.99949278e-01 -8.07213311e-03 6.02353575e-03 1.79800791e+02] [-8.06804779e-03 -9.99967206e-01 -7.02216921e-04 1.46647807e+02] [ 6.02900660e-03 6.53583128e-04 -9.99981612e-01 1.02939738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:146.66, Z:10.29 [[ 9.97440469e-01 7.11645282e-02 6.93687706e-03 1.79799666e+02] [ 7.11672682e-02 -9.97464384e-01 -1.48634141e-04 1.46663240e+02] [ 6.90871032e-03 6.41932297e-04 -9.99975929e-01 1.02937343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.80, Y:146.68, Z:10.29 [[ 9.88655827e-01 1.50011113e-01 7.50484502e-03 1.79798730e+02] [ 1.50011652e-01 -9.88684105e-01 4.94220924e-04 1.46675086e+02] [ 7.49405961e-03 6.37199802e-04 -9.99971716e-01 1.02934665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2927550960001 meters Centerline goodness [0,1] 0.9998668294306958 Centerline is valid? [True, True] Translation: X:179.80, Y:146.69, Z:10.29 [[ 9.73397274e-01 2.29000994e-01 7.50278712e-03 1.79796618e+02] [ 2.28999283e-01 -9.73425972e-01 1.09791252e-03 1.46688748e+02] [ 7.55483090e-03 6.49427812e-04 -9.99971251e-01 1.02941668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.322755096 meters Centerline goodness [0,1] 0.9999558069648223 Centerline is valid? [True, True] Translation: X:179.79, Y:146.70, Z:10.29 [[ 9.52165574e-01 3.05484017e-01 7.76110358e-03 1.79792373e+02] [ 3.05479363e-01 -9.52196982e-01 1.80723918e-03 1.46702904e+02] [ 7.94218210e-03 6.50066043e-04 -9.99968249e-01 1.02930004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.352755096 meters Centerline goodness [0,1] 0.9999555387590867 Centerline is valid? [True, True] Translation: X:179.79, Y:146.72, Z:10.29 [[ 9.25261066e-01 3.79248574e-01 7.90430969e-03 1.79788028e+02] [ 3.79240596e-01 -9.25294604e-01 2.54301134e-03 1.46718128e+02] [ 8.27824853e-03 6.44685733e-04 -9.99965527e-01 1.02931215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.78, Y:146.73, Z:10.29 [[ 8.92945326e-01 4.50090113e-01 8.21796422e-03 1.79780518e+02] [ 4.50077439e-01 -8.92982918e-01 3.43606085e-03 1.46734014e+02] [ 8.88503869e-03 6.30505809e-04 -9.99960329e-01 1.02927351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4127550960001 meters Centerline goodness [0,1] 0.9999333125861379 Centerline is valid? [True, True] Translation: X:179.77, Y:146.75, Z:10.29 [[ 8.55510550e-01 5.17729250e-01 7.62385595e-03 1.79772437e+02] [ 5.17715052e-01 -8.55544292e-01 3.88463973e-03 1.46750390e+02] [ 8.53373806e-03 6.23634708e-04 -9.99963393e-01 1.02941800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:146.76, Z:10.29 [[ 8.13174247e-01 5.81968776e-01 7.74517833e-03 1.79761854e+02] [ 5.81949255e-01 -8.13210909e-01 4.80429108e-03 1.46764918e+02] [ 9.09441091e-03 6.00574981e-04 -9.99958465e-01 1.02944490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.75, Y:146.78, Z:10.30 [[ 7.65692800e-01 6.43164427e-01 7.35232415e-03 1.79749473e+02] [ 6.43141982e-01 -7.65727871e-01 5.40542515e-03 1.46780174e+02] [ 9.10645669e-03 5.89693211e-04 -9.99958362e-01 1.02950924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters Centerline goodness [0,1] 0.9998442263613503 Centerline is valid? [True, True] Translation: X:179.73, Y:146.80, Z:10.30 [[ 7.14503456e-01 6.99604612e-01 6.18050475e-03 1.79732519e+02] [ 6.99585310e-01 -7.14529945e-01 5.22989252e-03 1.46795948e+02] [ 8.07501264e-03 5.87014054e-04 -9.99967224e-01 1.02979458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.532755096 meters Centerline goodness [0,1] 0.9999331506116719 Centerline is valid? [True, True] Translation: X:180.26, Y:146.32, Z:9.20 [[ 6.87890378e-01 -7.25778695e-01 -7.21895022e-03 1.80263641e+02] [ 7.25741670e-01 6.87928229e-01 -7.33353770e-03 1.46324442e+02] [ 1.02886451e-02 -1.94422970e-04 9.99947052e-01 9.20004145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.562755096 meters Centerline goodness [0,1] 0.9999554754112959 Centerline is valid? [True, True] Translation: X:180.28, Y:146.34, Z:9.20 [[ 6.87743353e-01 -7.25921223e-01 -6.88899328e-03 1.80283077e+02] [ 7.25887466e-01 6.87777831e-01 -7.00298249e-03 1.46344089e+02] [ 9.82171047e-03 -1.84379210e-04 9.99951749e-01 9.20129160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.592755096 meters Centerline goodness [0,1] 0.9998437255821222 Centerline is valid? [True, True] Translation: X:180.30, Y:146.36, Z:9.20 [[ 6.86945413e-01 -7.26676553e-01 -6.86934759e-03 1.80303783e+02] [ 7.26642986e-01 6.86979731e-01 -6.98706201e-03 1.46362111e+02] [ 9.79643670e-03 -1.91833051e-04 9.99951995e-01 9.20075043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters Centerline goodness [0,1] 0.99984375 Centerline is valid? [True, True] Translation: X:180.32, Y:146.38, Z:9.20 [[ 6.86972243e-01 -7.26654740e-01 -6.48273278e-03 1.80323183e+02] [ 7.26624815e-01 6.87002807e-01 -6.59704913e-03 1.46382061e+02] [ 9.24743263e-03 -1.78524867e-04 9.99957226e-01 9.20164612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.34, Y:146.40, Z:9.20 [[ 6.87792836e-01 -7.25884217e-01 -5.75484946e-03 1.80341277e+02] [ 7.25860584e-01 6.87816895e-01 -5.85926390e-03 1.46404192e+02] [ 8.21142988e-03 -1.47258656e-04 9.99966275e-01 9.20293065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.682755096 meters Centerline goodness [0,1] 0.9998224983359218 Centerline is valid? [True, True] Translation: X:180.36, Y:146.42, Z:9.20 [[ 6.87195181e-01 -7.26444036e-01 -6.46892561e-03 1.80360383e+02] [ 7.26414159e-01 6.87225607e-01 -6.59053588e-03 1.46424932e+02] [ 9.23326681e-03 -1.70134657e-04 9.99957358e-01 9.20100240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.38, Y:146.45, Z:9.20 [[ 6.87493693e-01 -7.26169145e-01 -5.54929675e-03 1.80379779e+02] [ 7.26147128e-01 6.87516075e-01 -5.65642137e-03 1.46445476e+02] [ 7.92274939e-03 -1.40851878e-04 9.99968605e-01 9.20294454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters Centerline goodness [0,1] 0.9999111723035242 Centerline is valid? [True, True] Translation: X:180.40, Y:146.46, Z:9.20 [[ 6.86821422e-01 -7.26800987e-01 -6.05480904e-03 1.80400221e+02] [ 7.26774765e-01 6.86848091e-01 -6.17582697e-03 1.46463485e+02] [ 8.64733117e-03 -1.58792151e-04 9.99962599e-01 9.20234249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.772755096 meters Centerline goodness [0,1] 0.9998219095745865 Centerline is valid? [True, True] Translation: X:180.42, Y:146.48, Z:9.20 [[ 6.85856067e-01 -7.27711658e-01 -6.09902358e-03 1.80421634e+02] [ 7.27685067e-01 6.85883164e-01 -6.22324445e-03 1.46480325e+02] [ 8.71194512e-03 -1.69918417e-04 9.99962036e-01 9.20270110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.802755096 meters Centerline goodness [0,1] 0.999821822312301 Centerline is valid? [True, True] Translation: X:180.44, Y:146.50, Z:9.20 [[ 6.85596070e-01 -7.27956386e-01 -6.12614747e-03 1.80442276e+02] [ 7.27929539e-01 6.85623418e-01 -6.25418120e-03 1.46500007e+02] [ 8.75300131e-03 -1.71561654e-04 9.99961677e-01 9.20322068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.46, Y:146.52, Z:9.20 [[ 6.85719881e-01 -7.27844878e-01 -5.48434849e-03 1.80462006e+02] [ 7.27823337e-01 6.85741796e-01 -5.60177129e-03 1.46518741e+02] [ 7.83806753e-03 -1.50390873e-04 9.99969271e-01 9.20469340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.48, Y:146.54, Z:9.20 [[ 6.85586551e-01 -7.27970527e-01 -5.47655967e-03 1.80480299e+02] [ 7.27949024e-01 6.85608409e-01 -5.59721730e-03 1.46539942e+02] [ 7.82938458e-03 -1.49279360e-04 9.99969339e-01 9.20448105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.892755096 meters Centerline goodness [0,1] 0.9998882731498033 Centerline is valid? [True, True] Translation: X:180.50, Y:146.56, Z:9.20 [[ 6.85010892e-01 -7.28508379e-01 -5.96830763e-03 1.80500458e+02] [ 7.28482826e-01 6.85036871e-01 -6.10384494e-03 1.46559721e+02] [ 8.53521297e-03 -1.66609342e-04 9.99963561e-01 9.20321921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9227550960001 meters Centerline goodness [0,1] 0.99993310141825 Centerline is valid? [True, True] Translation: X:180.52, Y:146.58, Z:9.20 [[ 6.85588640e-01 -7.27960112e-01 -6.50325867e-03 1.80519422e+02] [ 7.27929709e-01 6.85619462e-01 -6.65528602e-03 1.46579052e+02] [ 9.30354346e-03 -1.71126693e-04 9.99956706e-01 9.20349634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.54, Y:146.60, Z:9.20 [[ 6.85950078e-01 -7.27618975e-01 -6.56638527e-03 1.80539366e+02] [ 7.27587939e-01 6.85981486e-01 -6.72252894e-03 1.46597780e+02] [ 9.39585835e-03 -1.66303475e-04 9.99955844e-01 9.20423669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.982755096 meters Centerline goodness [0,1] 0.9998883155755098 Centerline is valid? [True, True] Translation: X:180.56, Y:146.62, Z:9.20 [[ 6.85629517e-01 -7.27918099e-01 -6.88530871e-03 1.80559090e+02] [ 7.27883953e-01 6.85664066e-01 -7.05272553e-03 1.46617876e+02] [ 9.85481532e-03 -1.76148917e-04 9.99951425e-01 9.20325601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.012755096 meters Centerline goodness [0,1] 0.9997990622906899 Centerline is valid? [True, True] Translation: X:180.58, Y:146.64, Z:9.20 [[ 6.85457518e-01 -7.28081682e-01 -6.71236376e-03 1.80577519e+02] [ 7.28049202e-01 6.85490361e-01 -6.87927759e-03 1.46639205e+02] [ 9.60993666e-03 -1.71478542e-04 9.99953809e-01 9.20377248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.60, Y:146.66, Z:9.21 [[ 6.86298176e-01 -7.27294152e-01 -6.16689414e-03 1.80595577e+02] [ 7.27266675e-01 6.86325867e-01 -6.32357462e-03 1.46661589e+02] [ 8.83159781e-03 -1.45118868e-04 9.99960990e-01 9.20629355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.61, Y:146.68, Z:9.21 [[ 6.86054438e-01 -7.27522836e-01 -6.31126799e-03 1.80614937e+02] [ 7.27494032e-01 6.86083451e-01 -6.47552624e-03 1.46681009e+02] [ 9.04114974e-03 -1.48846278e-04 9.99959117e-01 9.20705397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.102755096 meters Centerline goodness [0,1] 0.9997327929813623 Centerline is valid? [True, True] Translation: X:180.63, Y:146.70, Z:9.20 [[ 6.85126295e-01 -7.28395282e-01 -6.50170750e-03 1.80634026e+02] [ 7.28364718e-01 6.85157125e-01 -6.67466527e-03 1.46701930e+02] [ 9.31648591e-03 -1.62625654e-04 9.99956587e-01 9.20492307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.65, Y:146.72, Z:9.21 [[ 6.85619652e-01 -7.27936656e-01 -5.82385265e-03 1.80652230e+02] [ 7.27912091e-01 6.85644372e-01 -5.98180614e-03 1.46723839e+02] [ 8.34746776e-03 -1.38008922e-04 9.99965150e-01 9.20751856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.67, Y:146.75, Z:9.21 [[ 6.85500227e-01 -7.28051224e-01 -5.55471681e-03 1.80669398e+02] [ 7.28028855e-01 6.85522719e-01 -5.70850208e-03 1.46746468e+02] [ 7.96396650e-03 -1.30814652e-04 9.99968279e-01 9.20798875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.192755096 meters Centerline goodness [0,1] 0.9999333570286121 Centerline is valid? [True, True] Translation: X:180.69, Y:146.77, Z:9.21 [[ 6.84700444e-01 -7.28802090e-01 -5.72854423e-03 1.80689340e+02] [ 7.28778295e-01 6.84724393e-01 -5.89094834e-03 1.46765677e+02] [ 8.21580943e-03 -1.41303751e-04 9.99966240e-01 9.20725580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.222755096 meters Centerline goodness [0,1] 0.9998885073362173 Centerline is valid? [True, True] Translation: X:180.71, Y:146.79, Z:9.21 [[ 6.83354995e-01 -7.30064476e-01 -5.64024179e-03 1.80709103e+02] [ 7.30041424e-01 6.83378254e-01 -5.80350950e-03 1.46786111e+02] [ 8.09135471e-03 -1.51752947e-04 9.99967253e-01 9.20673785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.73, Y:146.81, Z:9.21 [[ 6.82755003e-01 -7.30627642e-01 -5.37171817e-03 1.80728780e+02] [ 7.30606741e-01 6.82776118e-01 -5.52836647e-03 1.46806500e+02] [ 7.70685823e-03 -1.50093638e-04 9.99970290e-01 9.20812346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters Centerline goodness [0,1] 0.9999330909739724 Centerline is valid? [True, True] Translation: X:180.75, Y:146.83, Z:9.21 [[ 6.81509382e-01 -7.31788626e-01 -5.51085521e-03 1.80749728e+02] [ 7.31766639e-01 6.81531643e-01 -5.67508525e-03 1.46826460e+02] [ 7.90878504e-03 -1.65036153e-04 9.99968711e-01 9.20756699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.77, Y:146.84, Z:9.21 [[ 6.80154203e-01 -7.33049484e-01 -5.35855966e-03 1.80770055e+02] [ 7.33028714e-01 6.80175289e-01 -5.52100816e-03 1.46844508e+02] [ 7.69193205e-03 -1.72841190e-04 9.99970402e-01 9.20858730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.79, Y:146.86, Z:9.21 [[ 6.79555891e-01 -7.33605324e-01 -5.19803789e-03 1.80789013e+02] [ 7.33585774e-01 6.79575750e-01 -5.35835368e-03 1.46864773e+02] [ 7.46337728e-03 -1.71905839e-04 9.99972134e-01 9.20852380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.81, Y:146.89, Z:9.21 [[ 6.78979180e-01 -7.34139206e-01 -5.18643162e-03 1.80806335e+02] [ 7.34119738e-01 6.78998966e-01 -5.34934910e-03 1.46887058e+02] [ 7.44874860e-03 -1.75365158e-04 9.99972242e-01 9.20811471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.82, Y:146.91, Z:9.21 [[ 6.78621045e-01 -7.34470296e-01 -5.18295846e-03 1.80824528e+02] [ 7.34450840e-01 6.78640814e-01 -5.34884480e-03 1.46908731e+02] [ 7.44593476e-03 -1.76789549e-04 9.99972263e-01 9.20806176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.85, Y:146.93, Z:9.21 [[ 6.78031653e-01 -7.35016918e-01 -4.81740020e-03 1.80847181e+02] [ 7.35000104e-01 6.78048746e-01 -4.97446093e-03 1.46925022e+02] [ 6.92274510e-03 -1.67947675e-04 9.99976023e-01 9.20896688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.87, Y:146.94, Z:9.21 [[ 6.77253828e-01 -7.35730816e-01 -5.23637755e-03 1.80866415e+02] [ 7.35710946e-01 6.77274044e-01 -5.41045699e-03 1.46944440e+02] [ 7.52710254e-03 -1.88207572e-04 9.99971653e-01 9.20902822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.88, Y:146.97, Z:9.21 [[ 6.76892385e-01 -7.36062500e-01 -5.35679232e-03 1.80883331e+02] [ 7.36041695e-01 6.76913553e-01 -5.53752985e-03 1.46966677e+02] [ 7.70205338e-03 -1.94510711e-04 9.99970320e-01 9.20868611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters Centerline goodness [0,1] 0.9999777248123315 Centerline is valid? [True, True] Translation: X:180.90, Y:146.99, Z:9.21 [[ 6.76562577e-01 -7.36365954e-01 -5.31610666e-03 1.80902898e+02] [ 7.36345450e-01 6.76583434e-01 -5.49859076e-03 1.46987495e+02] [ 7.64576474e-03 -1.94350221e-04 9.99970752e-01 9.20850682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:147.01, Z:9.21 [[ 6.76534479e-01 -7.36388627e-01 -5.73484355e-03 1.80917679e+02] [ 7.36364736e-01 6.76558754e-01 -5.93535283e-03 1.47011855e+02] [ 8.25068492e-03 -2.07465724e-04 9.99965941e-01 9.20796848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.94, Y:147.03, Z:9.21 [[ 6.76143513e-01 -7.36749121e-01 -5.53925531e-03 1.80938136e+02] [ 7.36726815e-01 6.76166172e-01 -5.73651806e-03 1.47029566e+02] [ 7.97183170e-03 -2.02208449e-04 9.99968204e-01 9.20808174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.96, Y:147.05, Z:9.21 [[ 6.75742682e-01 -7.37119660e-01 -5.14139819e-03 1.80956450e+02] [ 7.37100434e-01 6.75762214e-01 -5.32727807e-03 1.47050871e+02] [ 7.40120403e-03 -1.89857666e-04 9.99972593e-01 9.20845302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters Centerline goodness [0,1] 0.9998446101935713 Centerline is valid? [True, True] Translation: X:180.98, Y:147.07, Z:9.21 [[ 6.74768259e-01 -7.38012865e-01 -4.98070836e-03 1.80975633e+02] [ 7.37994824e-01 6.74786614e-01 -5.16385013e-03 1.47072391e+02] [ 7.17190316e-03 -1.91334822e-04 9.99974263e-01 9.20762675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.00, Y:147.09, Z:9.21 [[ 6.75089325e-01 -7.37719550e-01 -4.92628287e-03 1.80998165e+02] [ 7.37701874e-01 6.75107274e-01 -5.11025263e-03 1.47087769e+02] [ 7.09570267e-03 -1.84251108e-04 9.99974808e-01 9.21044308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.01, Y:147.11, Z:9.21 [[ 6.75421227e-01 -7.37412665e-01 -5.35991832e-03 1.81012902e+02] [ 7.37391706e-01 6.75442465e-01 -5.56313739e-03 1.47112962e+02] [ 7.72264441e-03 -1.94898231e-04 9.99970161e-01 9.20990033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.03, Y:147.13, Z:9.21 [[ 6.75597521e-01 -7.37251557e-01 -5.30394114e-03 1.81031434e+02] [ 7.37231003e-01 6.75618314e-01 -5.50830656e-03 1.47134743e+02] [ 7.64444735e-03 -1.88831594e-04 9.99970763e-01 9.21061205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.05, Y:147.16, Z:9.21 [[ 6.75852516e-01 -7.37017547e-01 -5.33968645e-03 1.81049454e+02] [ 7.36996682e-01 6.75873584e-01 -5.54891968e-03 1.47156004e+02] [ 7.69860419e-03 -1.85079865e-04 9.99970348e-01 9.21089556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.07, Y:147.18, Z:9.21 [[ 6.76243038e-01 -7.36659666e-01 -5.28104556e-03 1.81067941e+02] [ 7.36639220e-01 6.76263636e-01 -5.49134682e-03 1.47177245e+02] [ 7.61663278e-03 -1.76740222e-04 9.99970977e-01 9.21060828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.09, Y:147.20, Z:9.21 [[ 6.77277850e-01 -7.35701844e-01 -6.12457298e-03 1.81085309e+02] [ 7.35674265e-01 6.77305515e-01 -6.37305960e-03 1.47200284e+02] [ 8.83687876e-03 -1.89358618e-04 9.99960936e-01 9.20985257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.10, Y:147.22, Z:9.21 [[ 6.77862341e-01 -7.35162194e-01 -6.26059486e-03 1.81103560e+02] [ 7.35133319e-01 6.77891227e-01 -6.51831390e-03 1.47220109e+02] [ 9.03602028e-03 -1.83852355e-04 9.99959157e-01 9.20993562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.12, Y:147.24, Z:9.21 [[ 6.79353791e-01 -7.33779983e-01 -6.73522824e-03 1.81121928e+02] [ 7.33746458e-01 6.79387155e-01 -7.01629843e-03 1.47243062e+02] [ 9.72424689e-03 -1.75400926e-04 9.99952703e-01 9.21006918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.14, Y:147.26, Z:9.21 [[ 6.79811288e-01 -7.33356604e-01 -6.68616931e-03 1.81140643e+02] [ 7.33323509e-01 6.79844147e-01 -6.96896683e-03 1.47263218e+02] [ 9.65629092e-03 -1.65542831e-04 9.99953363e-01 9.20988842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.16, Y:147.29, Z:9.21 [[ 6.80148630e-01 -7.33039240e-01 -7.16334012e-03 1.81158958e+02] [ 7.33001192e-01 6.80186330e-01 -7.47054105e-03 1.47285111e+02] [ 1.03486058e-02 -1.69658580e-04 9.99946437e-01 9.20972931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.18, Y:147.31, Z:9.21 [[ 6.80064277e-01 -7.33117040e-01 -7.21001458e-03 1.81177603e+02] [ 7.33078450e-01 6.80102475e-01 -7.52392292e-03 1.47306263e+02] [ 1.04194649e-02 -1.68755106e-04 9.99945702e-01 9.21037258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.20, Y:147.33, Z:9.21 [[ 6.79833064e-01 -7.33331477e-01 -7.20764061e-03 1.81196569e+02] [ 7.33292874e-01 6.79871250e-01 -7.52619648e-03 1.47326303e+02] [ 1.04194644e-02 -1.68754284e-04 9.99945702e-01 9.21062985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.032755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.22, Y:147.35, Z:9.21 [[ 6.79404709e-01 -7.33729091e-01 -7.13179197e-03 1.81215985e+02] [ 7.33691270e-01 6.79442119e-01 -7.45165116e-03 1.47346058e+02] [ 1.03131331e-02 -1.69846617e-04 9.99946804e-01 9.21119615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.24, Y:147.36, Z:9.21 [[ 6.78929340e-01 -7.34168327e-01 -7.19847925e-03 1.81236202e+02] [ 7.34129772e-01 6.78967478e-01 -7.52603581e-03 1.47363874e+02] [ 1.04129104e-02 -1.74971404e-04 9.99945769e-01 9.21168952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.26, Y:147.39, Z:9.21 [[ 6.78001447e-01 -7.35027610e-01 -6.96059155e-03 1.81255111e+02] [ 7.34991566e-01 6.78037153e-01 -7.28134143e-03 1.47385135e+02] [ 1.00715267e-02 -1.79216053e-04 9.99949265e-01 9.21254455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters Centerline goodness [0,1] 0.999933981778971 Centerline is valid? [True, True] Translation: X:181.28, Y:147.40, Z:9.21 [[ 6.77200366e-01 -7.35769040e-01 -6.60183601e-03 1.81275113e+02] [ 7.35736614e-01 6.77232522e-01 -6.90992537e-03 1.47404919e+02] [ 9.55508720e-03 -1.77808479e-04 9.99954333e-01 9.21203365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.29, Y:147.42, Z:9.21 [[ 6.76362669e-01 -7.36540510e-01 -6.45118088e-03 1.81294144e+02] [ 7.36509545e-01 6.76393410e-01 -6.75614072e-03 1.47424032e+02] [ 9.33970756e-03 -1.81754927e-04 9.99956367e-01 9.21294118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.31, Y:147.44, Z:9.21 [[ 6.75779624e-01 -7.37077030e-01 -6.27310114e-03 1.81313006e+02] [ 7.37047743e-01 6.75808715e-01 -6.57310278e-03 1.47443288e+02] [ 9.08429949e-03 -1.81606116e-04 9.99958720e-01 9.21321138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.33, Y:147.46, Z:9.21 [[ 6.75065399e-01 -7.37732359e-01 -6.13789647e-03 1.81332882e+02] [ 7.37704317e-01 6.75093278e-01 -6.43483606e-03 1.47463974e+02] [ 8.89083943e-03 -1.84017550e-04 9.99960459e-01 9.21345011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.35, Y:147.48, Z:9.21 [[ 6.73657756e-01 -7.39023107e-01 -5.48405619e-03 1.81354028e+02] [ 7.39000741e-01 6.73680054e-01 -5.75234870e-03 1.47483325e+02] [ 7.94561788e-03 -1.77607268e-04 9.99968417e-01 9.21322015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.37, Y:147.50, Z:9.21 [[ 6.72970452e-01 -7.39648728e-01 -5.52546662e-03 1.81373374e+02] [ 7.39626019e-01 6.72993110e-01 -5.79875976e-03 1.47503558e+02] [ 8.00764624e-03 -1.84384905e-04 9.99967921e-01 9.21340738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.40, Y:147.52, Z:9.21 [[ 6.71608748e-01 -7.40889657e-01 -4.91995538e-03 1.81395316e+02] [ 7.40871664e-01 6.71626746e-01 -5.16637579e-03 1.47520769e+02] [ 7.13208801e-03 -1.75272354e-04 9.99974551e-01 9.21395213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.42, Y:147.54, Z:9.21 [[ 6.70604204e-01 -7.41798222e-01 -5.03975932e-03 1.81415586e+02] [ 7.41779358e-01 6.70623115e-01 -5.29363772e-03 1.47539402e+02] [ 7.30659014e-03 -1.88453727e-04 9.99973289e-01 9.21375512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:147.56, Z:9.21 [[ 6.69866038e-01 -7.42467329e-01 -4.66443515e-03 1.81436310e+02] [ 7.42451171e-01 6.69882253e-01 -4.90165441e-03 1.47559494e+02] [ 6.76394058e-03 -1.79663522e-04 9.99977108e-01 9.21391657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.46, Y:147.58, Z:9.21 [[ 6.68704881e-01 -7.43515410e-01 -4.31466111e-03 1.81456017e+02] [ 7.43501592e-01 6.68718778e-01 -4.53628216e-03 1.47580366e+02] [ 6.25809059e-03 -1.74523380e-04 9.99980403e-01 9.21354033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.47, Y:147.60, Z:9.21 [[ 6.68339851e-01 -7.43842808e-01 -4.44075105e-03 1.81474424e+02] [ 7.43828161e-01 6.68354580e-01 -4.67141925e-03 1.47602306e+02] [ 6.44279791e-03 -1.81060037e-04 9.99979229e-01 9.21319614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.49, Y:147.62, Z:9.21 [[ 6.68115918e-01 -7.44041290e-01 -4.86602335e-03 1.81493899e+02] [ 7.44023684e-01 6.68133609e-01 -5.12238543e-03 1.47621494e+02] [ 7.06242001e-03 -1.98089373e-04 9.99975041e-01 9.21211537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.51, Y:147.64, Z:9.21 [[ 6.68114909e-01 -7.44040610e-01 -5.10286142e-03 1.81513136e+02] [ 7.44021225e-01 6.68134364e-01 -5.37473322e-03 1.47641697e+02] [ 7.40841685e-03 -2.05697812e-04 9.99972536e-01 9.21190327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.53, Y:147.66, Z:9.21 [[ 6.67873317e-01 -7.44257214e-01 -5.14121325e-03 1.81531372e+02] [ 7.44237519e-01 6.67893073e-01 -5.41834354e-03 1.47662808e+02] [ 7.46642198e-03 -2.07516723e-04 9.99972104e-01 9.21171502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:147.68, Z:9.21 [[ 6.67780408e-01 -7.44337452e-01 -5.57532913e-03 1.81550235e+02] [ 7.44314261e-01 6.67803645e-01 -5.87982752e-03 1.47681913e+02] [ 8.09980094e-03 -2.23363363e-04 9.99967171e-01 9.21109896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.57, Y:147.70, Z:9.21 [[ 6.67430711e-01 -7.44650615e-01 -5.63091359e-03 1.81568092e+02] [ 7.44626945e-01 6.67454425e-01 -5.94163315e-03 1.47703433e+02] [ 8.18281898e-03 -2.27301545e-04 9.99966494e-01 9.21045878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.59, Y:147.72, Z:9.21 [[ 6.67514178e-01 -7.44577692e-01 -5.37434204e-03 1.81586988e+02] [ 7.44556101e-01 6.67535779e-01 -5.67425178e-03 1.47722286e+02] [ 7.81248689e-03 -2.13855646e-04 9.99969459e-01 9.21047526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.61, Y:147.74, Z:9.21 [[ 6.66971038e-01 -7.45065655e-01 -5.17726803e-03 1.81605601e+02] [ 7.45045613e-01 6.66991099e-01 -5.46887317e-03 1.47743287e+02] [ 7.52786126e-03 -2.09720815e-04 9.99971643e-01 9.21069564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.62, Y:147.76, Z:9.21 [[ 6.66888712e-01 -7.45140286e-01 -5.03984173e-03 1.81624716e+02] [ 7.45121274e-01 6.66907724e-01 -5.32668403e-03 1.47763501e+02] [ 7.33023624e-03 -2.02987839e-04 9.99973113e-01 9.21099976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.64, Y:147.78, Z:9.21 [[ 6.66475042e-01 -7.45513949e-01 -4.46885511e-03 1.81644047e+02] [ 7.45498991e-01 6.66490000e-01 -4.72599459e-03 1.47782681e+02] [ 6.50174213e-03 -1.81769530e-04 9.99978847e-01 9.21230917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.66, Y:147.80, Z:9.21 [[ 6.66312128e-01 -7.45660339e-01 -4.33665231e-03 1.81662487e+02] [ 7.45646249e-01 6.66326217e-01 -4.58737066e-03 1.47804002e+02] [ 6.31024549e-03 -1.76987818e-04 9.99980075e-01 9.21269506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.68, Y:147.83, Z:9.21 [[ 6.66407729e-01 -7.45576422e-01 -4.06679677e-03 1.81679478e+02] [ 7.45564015e-01 6.66420117e-01 -4.30421261e-03 1.47826744e+02] [ 5.91931462e-03 -1.63696780e-04 9.99982467e-01 9.21226499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.70, Y:147.85, Z:9.21 [[ 6.66488581e-01 -7.45505221e-01 -3.86487413e-03 1.81698382e+02] [ 7.45493999e-01 6.66499769e-01 -4.09332891e-03 1.47846040e+02] [ 5.62753579e-03 -1.53083501e-04 9.99984154e-01 9.21205841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.72, Y:147.87, Z:9.21 [[ 6.66647121e-01 -7.45362156e-01 -4.10766590e-03 1.81716115e+02] [ 7.45349468e-01 6.66659757e-01 -4.35201591e-03 1.47867876e+02] [ 5.98224351e-03 -1.60387709e-04 9.99982093e-01 9.21182464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.73, Y:147.89, Z:9.21 [[ 6.67508743e-01 -7.44593297e-01 -3.59170610e-03 1.81734020e+02] [ 7.44583574e-01 6.67518393e-01 -3.80757870e-03 1.47888741e+02] [ 5.23262745e-03 -1.32733293e-04 9.99986301e-01 9.21216990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.75, Y:147.91, Z:9.21 [[ 6.67343567e-01 -7.44741856e-01 -3.48290624e-03 1.81752806e+02] [ 7.44732710e-01 6.67352644e-01 -3.69328588e-03 1.47910037e+02] [ 5.07487127e-03 -1.29143628e-04 9.99987114e-01 9.21226679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.77, Y:147.93, Z:9.21 [[ 6.67870201e-01 -7.44270867e-01 -3.20477730e-03 1.81771314e+02] [ 7.44263107e-01 6.67877880e-01 -3.40077023e-03 1.47929690e+02] [ 4.67149408e-03 -1.13924416e-04 9.99989082e-01 9.21212994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.932755096 meters Centerline goodness [0,1] 0.9998899696316184 Centerline is valid? [True, True] Translation: X:181.79, Y:147.95, Z:9.21 [[ 6.67818758e-01 -7.44316444e-01 -3.33731325e-03 1.81790618e+02] [ 7.44308025e-01 6.67827086e-01 -3.54225820e-03 1.47950032e+02] [ 4.86530921e-03 -1.18402558e-04 9.99988157e-01 9.21115234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:147.97, Z:9.21 [[ 6.68014645e-01 -7.44142777e-01 -2.82167309e-03 1.81807793e+02] [ 7.44136753e-01 6.68020597e-01 -2.99596752e-03 1.47972725e+02] [ 4.11436333e-03 -9.83604727e-05 9.99991531e-01 9.21252700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.83, Y:147.99, Z:9.21 [[ 6.68239030e-01 -7.43942123e-01 -2.59158328e-03 1.81826913e+02] [ 7.43937033e-01 6.68244050e-01 -2.75333576e-03 1.47992229e+02] [ 3.78013256e-03 -8.80883556e-05 9.99992851e-01 9.21337067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.84, Y:148.02, Z:9.21 [[ 6.69675280e-01 -7.42649762e-01 -2.52010088e-03 1.81844060e+02] [ 7.42644935e-01 6.69680017e-01 -2.67867590e-03 1.48016049e+02] [ 3.67697922e-03 -7.76971183e-05 9.99993237e-01 9.21305097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:148.04, Z:9.21 [[ 6.70623255e-01 -7.41792530e-01 -2.87956639e-03 1.81862219e+02] [ 7.41786212e-01 6.70629432e-01 -3.06270282e-03 1.48037924e+02] [ 4.20301205e-03 -8.21029030e-05 9.99991164e-01 9.21236212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:148.06, Z:9.21 [[ 6.72942548e-01 -7.39686967e-01 -3.39378684e-03 1.81879314e+02] [ 7.39678144e-01 6.72951101e-01 -3.61370333e-03 1.48060607e+02] [ 4.95686184e-03 -7.84952262e-05 9.99987712e-01 9.21127654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.90, Y:148.08, Z:9.21 [[ 6.73660333e-01 -7.39034426e-01 -3.14225571e-03 1.81897637e+02] [ 7.39026859e-01 6.73667658e-01 -3.34502539e-03 1.48081605e+02] [ 4.58892496e-03 -6.88004515e-05 9.99989468e-01 9.21155028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.92, Y:148.10, Z:9.21 [[ 6.74291679e-01 -7.38459852e-01 -2.78902787e-03 1.81916782e+02] [ 7.38453881e-01 6.74297444e-01 -2.97027961e-03 1.48102774e+02] [ 4.07406661e-03 -5.67336311e-05 9.99991699e-01 9.21208491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.94, Y:148.12, Z:9.21 [[ 6.74972801e-01 -7.37838205e-01 -2.54963932e-03 1.81935022e+02] [ 7.37833203e-01 6.74977615e-01 -2.71737398e-03 1.48122998e+02] [ 3.72593180e-03 -4.70550206e-05 9.99993058e-01 9.21243977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.95, Y:148.14, Z:9.21 [[ 6.75004724e-01 -7.37808426e-01 -2.71098262e-03 1.81953871e+02] [ 7.37802768e-01 6.75010166e-01 -2.88987748e-03 1.48143477e+02] [ 3.96211678e-03 -4.94895349e-05 9.99992150e-01 9.21248113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.97, Y:148.16, Z:9.21 [[ 6.75053050e-01 -7.37764346e-01 -2.67384994e-03 1.81973387e+02] [ 7.37758835e-01 6.75058344e-01 -2.85205222e-03 1.48164343e+02] [ 3.90914715e-03 -4.73698646e-05 9.99992358e-01 9.21269703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.99, Y:148.18, Z:9.21 [[ 6.75625461e-01 -7.37239302e-01 -2.90649326e-03 1.81992026e+02] [ 7.37232778e-01 6.75631711e-01 -3.10197463e-03 1.48184384e+02] [ 4.25061662e-03 -4.69890618e-05 9.99990965e-01 9.21339732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.01, Y:148.20, Z:9.21 [[ 6.75832543e-01 -7.37050066e-01 -2.75202512e-03 1.82010604e+02] [ 7.37044208e-01 6.75838145e-01 -2.93877743e-03 1.48204950e+02] [ 4.02594965e-03 -4.22427552e-05 9.99991895e-01 9.21357368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.03, Y:148.23, Z:9.21 [[ 6.76484136e-01 -7.36448455e-01 -3.58998437e-03 1.82028975e+02] [ 7.36438461e-01 6.76493659e-01 -3.83692156e-03 1.48225133e+02] [ 5.25429662e-03 -4.81860037e-05 9.99986195e-01 9.21290871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.05, Y:148.25, Z:9.21 [[ 6.76698798e-01 -7.36251135e-01 -3.60593259e-03 1.82048014e+02] [ 7.36241037e-01 6.76708404e-01 -3.85635714e-03 1.48245591e+02] [ 5.27941221e-03 -4.52433047e-05 9.99986063e-01 9.21307171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.07, Y:148.27, Z:9.21 [[ 6.76673548e-01 -7.36272778e-01 -3.91227466e-03 1.82067209e+02] [ 7.36260877e-01 6.76684856e-01 -4.18663767e-03 1.48266452e+02] [ 5.72988436e-03 -4.74678044e-05 9.99983583e-01 9.21298542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.09, Y:148.29, Z:9.21 [[ 6.76721054e-01 -7.36229119e-01 -3.91145284e-03 1.82085926e+02] [ 7.36217208e-01 6.76732357e-01 -4.18809529e-03 1.48286918e+02] [ 5.73040441e-03 -4.55066305e-05 9.99983580e-01 9.21308089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:148.31, Z:9.21 [[ 6.76410994e-01 -7.36511810e-01 -4.30350336e-03 1.82104892e+02] [ 7.36497380e-01 6.76424682e-01 -4.61073614e-03 1.48306100e+02] [ 6.30685751e-03 -5.07663346e-05 9.99980110e-01 9.21313464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.12, Y:148.33, Z:9.21 [[ 6.75998356e-01 -7.36890972e-01 -4.23306664e-03 1.82124181e+02] [ 7.36877001e-01 6.76011607e-01 -4.53792952e-03 1.48325981e+02] [ 6.20556148e-03 -5.16165549e-05 9.99980744e-01 9.21338413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.14, Y:148.35, Z:9.21 [[ 6.74395543e-01 -7.38358213e-01 -4.21908637e-03 1.82144048e+02] [ 7.38344348e-01 6.74408738e-01 -4.52526793e-03 1.48346696e+02] [ 6.18665745e-03 -6.33180476e-05 9.99980860e-01 9.21324216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.532755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.17, Y:148.36, Z:9.21 [[ 6.73320147e-01 -7.39339085e-01 -4.20670020e-03 1.82165609e+02] [ 7.39325304e-01 6.73333285e-01 -4.51480602e-03 1.48363201e+02] [ 6.17048382e-03 -7.02100530e-05 9.99980960e-01 9.21455802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.19, Y:148.38, Z:9.21 [[ 6.71058548e-01 -7.41389949e-01 -4.62262030e-03 1.82185413e+02] [ 7.41373334e-01 6.71074463e-01 -4.96439347e-03 1.48384555e+02] [ 6.78267385e-03 -9.56887502e-05 9.99976993e-01 9.21310754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.21, Y:148.40, Z:9.21 [[ 6.69833650e-01 -7.42491656e-01 -5.38726431e-03 1.82205414e+02] [ 7.42469095e-01 6.69855303e-01 -5.78931780e-03 1.48404225e+02] [ 7.90720773e-03 -1.21997385e-04 9.99968730e-01 9.21279210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:148.42, Z:9.21 [[ 6.68866008e-01 -7.43362945e-01 -5.45851291e-03 1.82225826e+02] [ 7.43339784e-01 6.68888267e-01 -5.86952128e-03 1.48424041e+02] [ 8.01431987e-03 -1.31606545e-04 9.99967876e-01 9.21276777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.25, Y:148.44, Z:9.21 [[ 6.66884009e-01 -7.45142052e-01 -5.38892164e-03 1.82247335e+02] [ 7.45119508e-01 6.66905765e-01 -5.79823680e-03 1.48443285e+02] [ 7.91441298e-03 -1.48639236e-04 9.99968670e-01 9.21311149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.27, Y:148.46, Z:9.21 [[ 6.66049856e-01 -7.45890327e-01 -5.02090694e-03 1.82266973e+02] [ 7.45870755e-01 6.66068764e-01 -5.40537481e-03 1.48462771e+02] [ 7.37608607e-03 -1.44698538e-04 9.99972786e-01 9.21340110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:148.48, Z:9.21 [[ 6.64572062e-01 -7.47204995e-01 -5.35440245e-03 1.82288619e+02] [ 7.47182766e-01 6.64593610e-01 -5.76610464e-03 1.48480384e+02] [ 7.86696385e-03 -1.68725184e-04 9.99969041e-01 9.21338730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.31, Y:148.50, Z:9.21 [[ 6.63770001e-01 -7.47914937e-01 -5.71245208e-03 1.82307144e+02] [ 7.47889646e-01 6.63794555e-01 -6.15354987e-03 1.48501790e+02] [ 8.39422645e-03 -1.87741964e-04 9.99964750e-01 9.21347403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.33, Y:148.52, Z:9.21 [[ 6.63118864e-01 -7.48490525e-01 -5.94194368e-03 1.82327186e+02] [ 7.48463149e-01 6.63145455e-01 -6.40469422e-03 1.48522281e+02] [ 8.73422588e-03 -2.00252321e-04 9.99961836e-01 9.21370860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.35, Y:148.54, Z:9.21 [[ 6.62848615e-01 -7.48723243e-01 -6.72448526e-03 1.82346189e+02] [ 7.48688145e-01 6.62882685e-01 -7.25309820e-03 1.48543121e+02] [ 9.88810806e-03 -2.26836299e-04 9.99951086e-01 9.21371001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.36, Y:148.56, Z:9.21 [[ 6.62871627e-01 -7.48698910e-01 -7.15178360e-03 1.82364120e+02] [ 7.48659155e-01 6.62910164e-01 -7.71902502e-03 1.48562765e+02] [ 1.05202157e-02 -2.37525595e-04 9.99944633e-01 9.21366322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.38, Y:148.58, Z:9.21 [[ 6.63338736e-01 -7.48276733e-01 -7.97823335e-03 1.82382295e+02] [ 7.48227166e-01 6.63386665e-01 -8.61636383e-03 1.48584687e+02] [ 1.17400782e-02 -2.53963032e-04 9.99931051e-01 9.21370572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.40, Y:148.60, Z:9.21 [[ 6.64231840e-01 -7.47484729e-01 -7.91470164e-03 1.82400330e+02] [ 7.47435834e-01 6.64278951e-01 -8.55274026e-03 1.48604952e+02] [ 1.16506124e-02 -2.34729220e-04 9.99932102e-01 9.21370770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.42, Y:148.63, Z:9.21 [[ 6.66660778e-01 -7.45313958e-01 -8.39708104e-03 1.82415918e+02] [ 7.45258691e-01 6.66713628e-01 -9.07868661e-03 1.48628766e+02] [ 1.23649202e-02 -2.05593343e-04 9.99923530e-01 9.21378398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.43, Y:148.65, Z:9.21 [[ 6.66441205e-01 -7.45510330e-01 -8.39449297e-03 1.82434512e+02] [ 7.45455048e-01 6.66494040e-01 -9.08107917e-03 1.48649146e+02] [ 1.23649179e-02 -2.05711816e-04 9.99923530e-01 9.21404130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.45, Y:148.67, Z:9.22 [[ 6.69338699e-01 -7.42909144e-01 -8.46819759e-03 1.82450066e+02] [ 7.42852611e-01 6.69392246e-01 -9.16619144e-03 1.48674585e+02] [ 1.24781932e-02 -1.55336043e-04 9.99922132e-01 9.21547714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.47, Y:148.69, Z:9.22 [[ 6.70506869e-01 -7.41856365e-01 -8.34704208e-03 1.82468232e+02] [ 7.41801296e-01 6.70558810e-01 -9.03994606e-03 1.48694662e+02] [ 1.23035241e-02 -1.30500701e-04 9.99924300e-01 9.21555247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.49, Y:148.72, Z:9.22 [[ 6.71802905e-01 -7.40676609e-01 -8.88920466e-03 1.82485604e+02] [ 7.40613980e-01 6.71861704e-01 -9.63243868e-03 1.48716857e+02] [ 1.31068382e-02 -1.12368957e-04 9.99914095e-01 9.21552919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.50, Y:148.74, Z:9.22 [[ 6.73718384e-01 -7.38922392e-01 -9.86090155e-03 1.82501215e+02] [ 7.38845035e-01 6.73790540e-01 -1.06921547e-02 1.48741176e+02] [ 1.45448547e-02 -8.21769866e-05 9.99894215e-01 9.21623669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.52, Y:148.76, Z:9.22 [[ 6.74385071e-01 -7.38309067e-01 -1.02223971e-02 1.82518755e+02] [ 7.38225756e-01 6.74462539e-01 -1.10913212e-02 1.48763251e+02] [ 1.50834469e-02 -6.66153911e-05 9.99886236e-01 9.21621793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.53, Y:148.79, Z:9.22 [[ 6.75607500e-01 -7.37179649e-01 -1.09850334e-02 1.82534820e+02] [ 7.37083169e-01 6.75696798e-01 -1.19263863e-02 1.48785004e+02] [ 1.62144411e-02 -3.93272181e-05 9.99868537e-01 9.21582071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.55, Y:148.81, Z:9.22 [[ 6.75856228e-01 -7.36943478e-01 -1.15182474e-02 1.82552634e+02] [ 7.36837258e-01 6.75954369e-01 -1.25118256e-02 1.48805052e+02] [ 1.70063179e-02 -3.08786116e-05 9.99855382e-01 9.21537099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.57, Y:148.83, Z:9.22 [[ 6.75633836e-01 -7.37138907e-01 -1.20478781e-02 1.82572173e+02] [ 7.37022601e-01 6.75741245e-01 -1.30940932e-02 1.48825902e+02] [ 1.77934137e-02 -3.27460460e-05 9.99841684e-01 9.21572772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.59, Y:148.84, Z:9.22 [[ 6.74703549e-01 -7.37982168e-01 -1.25475352e-02 1.82592741e+02] [ 7.37855998e-01 6.74820211e-01 -1.36458463e-02 1.48844821e+02] [ 1.85377216e-02 -5.13731442e-05 9.99828160e-01 9.21709463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.61, Y:148.86, Z:9.22 [[ 6.73582957e-01 -7.39001492e-01 -1.27591050e-02 1.82612587e+02] [ 7.38871047e-01 6.73703784e-01 -1.38847626e-02 1.48864643e+02] [ 1.88567176e-02 -7.47937821e-05 9.99822194e-01 9.21772236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.63, Y:148.88, Z:9.22 [[ 6.72597048e-01 -7.39895257e-01 -1.29699526e-02 1.82632320e+02] [ 7.39760465e-01 6.72722082e-01 -1.41228558e-02 1.48883731e+02] [ 1.91746076e-02 -9.56670428e-05 9.99816146e-01 9.21743512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.312755096 meters Centerline goodness [0,1] 0.9999558167277869 Centerline is valid? [True, True] Translation: X:182.65, Y:148.90, Z:9.22 [[ 6.70907523e-01 -7.41422815e-01 -1.32402585e-02 1.82653235e+02] [ 7.41282473e-01 6.71038144e-01 -1.44258493e-02 1.48903505e+02] [ 1.95803723e-02 -1.36360744e-04 9.99808277e-01 9.21860254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.342755096 meters Centerline goodness [0,1] 0.9998449406344143 Centerline is valid? [True, True] Translation: X:182.67, Y:148.92, Z:9.22 [[ 6.70170596e-01 -7.42077082e-01 -1.38916255e-02 1.82672736e+02] [ 7.41922544e-01 6.70314538e-01 -1.51445721e-02 1.48922062e+02] [ 2.05501984e-02 -1.57063264e-04 9.99788810e-01 9.21757815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.372755096 meters Centerline goodness [0,1] 0.9998454712024548 Centerline is valid? [True, True] Translation: X:182.69, Y:148.94, Z:9.22 [[ 6.68771839e-01 -7.43329830e-01 -1.43174978e-02 1.82693420e+02] [ 7.43165763e-01 6.68925052e-01 -1.56180592e-02 1.48942081e+02] [ 2.11867023e-02 -1.95356017e-04 9.99775518e-01 9.21946109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters Centerline goodness [0,1] 0.9998014121800529 Centerline is valid? [True, True] Translation: X:182.71, Y:148.96, Z:9.22 [[ 6.68054712e-01 -7.43965308e-01 -1.47825000e-02 1.82712534e+02] [ 7.43790359e-01 6.68218208e-01 -1.61347053e-02 1.48961573e+02] [ 2.18815967e-02 -2.16215073e-04 9.99760546e-01 9.21985667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.73, Y:148.98, Z:9.22 [[ 6.67821966e-01 -7.44165361e-01 -1.52229338e-02 1.82732086e+02] [ 7.43979704e-01 6.67995408e-01 -1.66233108e-02 1.48980808e+02] [ 2.25393420e-02 -2.24141677e-04 9.99745932e-01 9.21927578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.75, Y:149.00, Z:9.22 [[ 6.67796943e-01 -7.44178714e-01 -1.56615723e-02 1.82750393e+02] [ 7.43981991e-01 6.67980532e-01 -1.71115566e-02 1.49002554e+02] [ 2.31956816e-02 -2.24882607e-04 9.99730919e-01 9.22105084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.77, Y:149.02, Z:9.22 [[ 6.68297496e-01 -7.43716939e-01 -1.62349002e-02 1.82768701e+02] [ 7.43505141e-01 6.68494631e-01 -1.77491930e-02 1.49023649e+02] [ 2.40533191e-02 -2.08990488e-04 9.99710655e-01 9.22207460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.79, Y:149.04, Z:9.22 [[ 6.68816384e-01 -7.43245907e-01 -1.64367323e-02 1.82786884e+02] [ 7.43028393e-01 6.69018301e-01 -1.79810942e-02 1.49044759e+02] [ 2.43608493e-02 -1.86908379e-04 9.99703213e-01 9.22277155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.80, Y:149.07, Z:9.22 [[ 6.70490801e-01 -7.41703128e-01 -1.78481302e-02 1.82803633e+02] [ 7.41445779e-01 6.70728299e-01 -1.95372922e-02 1.49067797e+02] [ 2.64621167e-02 -1.33846108e-04 9.99649808e-01 9.22219260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.82, Y:149.09, Z:9.22 [[ 6.70778219e-01 -7.41428940e-01 -1.84311538e-02 1.82821594e+02] [ 7.41154057e-01 6.71031380e-01 -2.01879055e-02 1.49089589e+02] [ 2.73357799e-02 -1.18717116e-04 9.99626301e-01 9.22213858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.84, Y:149.11, Z:9.22 [[ 6.71007235e-01 -7.41200693e-01 -1.92567625e-02 1.82839851e+02] [ 7.40900276e-01 6.71283488e-01 -2.11012005e-02 1.49110516e+02] [ 2.85669712e-02 -1.08282418e-04 9.99591875e-01 9.22146835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.86, Y:149.13, Z:9.22 [[ 6.70333864e-01 -7.41774432e-01 -2.05718808e-02 1.82858910e+02] [ 7.41431515e-01 6.70649442e-01 -2.25529470e-02 1.49131899e+02] [ 3.05257198e-02 -1.34636628e-04 9.99533973e-01 9.22106250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.88, Y:149.15, Z:9.22 [[ 6.69746587e-01 -7.42289743e-01 -2.11056314e-02 1.82878378e+02] [ 7.41928795e-01 6.70079035e-01 -2.31462700e-02 1.49152491e+02] [ 3.13236799e-02 -1.56740378e-04 9.99509281e-01 9.22038339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.90, Y:149.17, Z:9.22 [[ 6.68983094e-01 -7.42955384e-01 -2.18841929e-02 1.82897882e+02] [ 7.42567306e-01 6.69340916e-01 -2.40111230e-02 1.49173270e+02] [ 3.24871788e-02 -1.87450756e-04 9.99472135e-01 9.22127476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.92, Y:149.19, Z:9.22 [[ 6.66950826e-01 -7.44759661e-01 -2.25752818e-02 1.82918123e+02] [ 7.44347266e-01 6.67332729e-01 -2.47825585e-02 1.49193561e+02] [ 3.35222743e-02 -2.75101444e-04 9.99437933e-01 9.22240046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.94, Y:149.22, Z:9.23 [[ 6.65655424e-01 -7.45915438e-01 -2.26498318e-02 1.82936966e+02] [ 7.45500485e-01 6.66040580e-01 -2.48791673e-02 1.49215143e+02] [ 3.36434621e-02 -3.24507959e-04 9.99433846e-01 9.22561288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.96, Y:149.24, Z:9.23 [[ 6.61973096e-01 -7.49191367e-01 -2.24480756e-02 1.82957999e+02] [ 7.48785176e-01 6.62353432e-01 -2.46716884e-02 1.49235626e+02] [ 3.33523759e-02 -4.76792240e-04 9.99443541e-01 9.22682362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.98, Y:149.25, Z:9.23 [[ 6.59866533e-01 -7.51066283e-01 -2.18082011e-02 1.82978144e+02] [ 7.50683666e-01 6.60226580e-01 -2.39770015e-02 1.49254902e+02] [ 3.24066714e-02 -5.49439472e-04 9.99474615e-01 9.22754909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.00, Y:149.27, Z:9.23 [[ 6.57655377e-01 -7.53012443e-01 -2.14864031e-02 1.82998671e+02] [ 7.52641836e-01 6.58005974e-01 -2.36305798e-02 1.49274546e+02] [ 3.19323022e-02 -6.30788004e-04 9.99489835e-01 9.22873045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.02, Y:149.29, Z:9.23 [[ 6.55799968e-01 -7.54645349e-01 -2.08997716e-02 1.83018399e+02] [ 7.54295312e-01 6.56132553e-01 -2.29924962e-02 1.49294987e+02] [ 3.10642008e-02 -6.86121493e-04 9.99517156e-01 9.23088687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:149.31, Z:9.23 [[ 6.52171047e-01 -7.57811430e-01 -1.98686231e-02 1.83039918e+02] [ 7.57496268e-01 6.52473152e-01 -2.18675414e-02 1.49313280e+02] [ 2.95352160e-02 -7.89030523e-04 9.99563429e-01 9.23208478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.06, Y:149.33, Z:9.23 [[ 6.50704760e-01 -7.59092711e-01 -1.90150046e-02 1.83060038e+02] [ 7.58804287e-01 6.50982035e-01 -2.09390713e-02 1.49334586e+02] [ 2.82731228e-02 -8.03513632e-04 9.99599912e-01 9.23342325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:149.35, Z:9.23 [[ 6.48587143e-01 -7.60931476e-01 -1.78327197e-02 1.83079956e+02] [ 7.60678288e-01 6.48831727e-01 -1.96451474e-02 1.49354434e+02] [ 2.65190453e-02 -8.23372704e-04 9.99647969e-01 9.23454745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.10, Y:149.38, Z:9.24 [[ 6.47578823e-01 -7.61797967e-01 -1.74793125e-02 1.83099216e+02] [ 7.61554795e-01 6.47814140e-01 -1.92648758e-02 1.49375756e+02] [ 2.59992890e-02 -8.35928671e-04 9.99661612e-01 9.23537421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.12, Y:149.40, Z:9.24 [[ 6.46956786e-01 -7.62332364e-01 -1.72128824e-02 1.83117043e+02] [ 7.62096450e-01 6.47185187e-01 -1.89825040e-02 1.49397095e+02] [ 2.56108997e-02 -8.37016836e-04 9.99671637e-01 9.23653526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.14, Y:149.42, Z:9.24 [[ 6.46502389e-01 -7.62715398e-01 -1.73171395e-02 1.83136104e+02] [ 7.62476445e-01 6.46733717e-01 -1.91094152e-02 1.49417522e+02] [ 2.57746232e-02 -8.49628425e-04 9.99667418e-01 9.23656767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.16, Y:149.44, Z:9.24 [[ 6.46554619e-01 -7.62672636e-01 -1.72503571e-02 1.83155007e+02] [ 7.62435204e-01 6.46784160e-01 -1.90475866e-02 1.49438825e+02] [ 2.56843308e-02 -8.36974385e-04 9.99669753e-01 9.23634837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.17, Y:149.46, Z:9.23 [[ 6.47883453e-01 -7.61534536e-01 -1.76686570e-02 1.83174847e+02] [ 7.61284843e-01 6.48123831e-01 -1.95163666e-02 1.49458769e+02] [ 2.63138648e-02 -8.06549783e-04 9.99653405e-01 9.23378311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.19, Y:149.48, Z:9.24 [[ 6.48566891e-01 -7.60959015e-01 -1.73886596e-02 1.83190879e+02] [ 7.60716755e-01 6.48799500e-01 -1.92152899e-02 1.49483482e+02] [ 2.59038018e-02 -7.65443887e-04 9.99664147e-01 9.23570038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.182755096 meters Centerline goodness [0,1] 0.9998459778208062 Centerline is valid? [True, True] Translation: X:183.21, Y:149.50, Z:9.23 [[ 6.49614382e-01 -7.60058073e-01 -1.76884258e-02 1.83209397e+02] [ 7.59806883e-01 6.49854738e-01 -1.95529920e-02 1.49504804e+02] [ 2.63563167e-02 -7.37882861e-04 9.99652340e-01 9.23496768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.23, Y:149.53, Z:9.24 [[ 6.50996335e-01 -7.58908166e-01 -1.61916063e-02 1.83226522e+02] [ 7.58697166e-01 6.51197360e-01 -1.79055431e-02 1.49528432e+02] [ 2.41325942e-02 -6.28082863e-04 9.99708569e-01 9.23704221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.25, Y:149.55, Z:9.24 [[ 6.51776036e-01 -7.58250122e-01 -1.56445279e-02 1.83245169e+02] [ 7.58052733e-01 6.51963511e-01 -1.73099797e-02 1.49550943e+02] [ 2.33249555e-02 -5.77147156e-04 9.99727770e-01 9.23759721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:149.57, Z:9.24 [[ 6.53092813e-01 -7.57140307e-01 -1.44337493e-02 1.83263450e+02] [ 7.56971834e-01 6.53252107e-01 -1.59789643e-02 1.49573476e+02] [ 2.15271951e-02 -4.90194969e-04 9.99768143e-01 9.23880586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.28, Y:149.59, Z:9.24 [[ 6.53433132e-01 -7.56857785e-01 -1.38359955e-02 1.83281795e+02] [ 7.56702752e-01 6.53579441e-01 -1.53251178e-02 1.49593609e+02] [ 2.06418569e-02 -4.55796195e-04 9.99786830e-01 9.23911981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.332755096 meters Centerline goodness [0,1] 0.999911907855617 Centerline is valid? [True, True] Translation: X:183.30, Y:149.61, Z:9.24 [[ 6.53431680e-01 -7.56865044e-01 -1.35034845e-02 1.83300212e+02] [ 7.56717207e-01 6.53571046e-01 -1.49652063e-02 1.49614496e+02] [ 2.01521280e-02 -4.39579137e-04 9.99796829e-01 9.23970940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.32, Y:149.64, Z:9.24 [[ 6.53223737e-01 -7.57064813e-01 -1.23133511e-02 1.83318561e+02] [ 7.56941775e-01 6.53339657e-01 -1.36543765e-02 1.49635738e+02] [ 1.83820486e-02 -4.01126947e-04 9.99830955e-01 9.24179987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.34, Y:149.66, Z:9.24 [[ 6.53532755e-01 -7.56815719e-01 -1.11760870e-02 1.83337257e+02] [ 7.56714203e-01 6.53628214e-01 -1.24004900e-02 1.49656226e+02] [ 1.66898916e-02 -3.52977361e-04 9.99860652e-01 9.24347822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.36, Y:149.68, Z:9.24 [[ 6.53259120e-01 -7.57057036e-01 -1.08243624e-02 1.83355794e+02] [ 7.56961725e-01 6.53348703e-01 -1.20174580e-02 1.49677421e+02] [ 1.61699843e-02 -3.43113999e-04 9.99869198e-01 9.24372847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.452755096 meters Centerline goodness [0,1] 0.9998897172349905 Centerline is valid? [True, True] Translation: X:183.37, Y:149.70, Z:9.24 [[ 6.53450620e-01 -7.56891036e-01 -1.08741319e-02 1.83373854e+02] [ 7.56794701e-01 6.53541007e-01 -1.20802641e-02 1.49699266e+02] [ 1.62501347e-02 -3.35629389e-04 9.99867902e-01 9.24257849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.39, Y:149.72, Z:9.24 [[ 6.53276085e-01 -7.57051926e-01 -1.01359549e-02 1.83392122e+02] [ 7.56968144e-01 6.53354639e-01 -1.12670101e-02 1.49720684e+02] [ 1.51520849e-02 -3.12126725e-04 9.99885152e-01 9.24370475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.41, Y:149.74, Z:9.24 [[ 6.53343472e-01 -7.56991338e-01 -1.03160855e-02 1.83410321e+02] [ 7.56904431e-01 6.53424837e-01 -1.14745501e-02 1.49741694e+02] [ 1.54269215e-02 -3.11468402e-04 9.99880949e-01 9.24398114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.43, Y:149.76, Z:9.24 [[ 6.54029415e-01 -7.56396417e-01 -1.04873507e-02 1.83427611e+02] [ 7.56306409e-01 6.54113424e-01 -1.16723825e-02 1.49763545e+02] [ 1.56888652e-02 -2.97569056e-04 9.99876878e-01 9.24333547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.572755096 meters Centerline goodness [0,1] 0.9999558839748539 Centerline is valid? [True, True] Translation: X:183.45, Y:149.79, Z:9.24 [[ 6.54728463e-01 -7.55792002e-01 -1.04446307e-02 1.83445593e+02] [ 7.55702540e-01 6.54811708e-01 -1.16317495e-02 1.49786063e+02] [ 1.56304497e-02 -2.77396524e-04 9.99877799e-01 9.24296786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.46, Y:149.81, Z:9.24 [[ 6.56485165e-01 -7.54268984e-01 -1.02726690e-02 1.83462007e+02] [ 7.54182158e-01 6.56565492e-01 -1.14466811e-02 1.49810059e+02] [ 1.53785566e-02 -2.32887353e-04 9.99881716e-01 9.24267187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.632755096 meters Centerline goodness [0,1] 0.9999559917264446 Centerline is valid? [True, True] Translation: X:183.48, Y:149.83, Z:9.24 [[ 6.57094935e-01 -7.53735759e-01 -1.04236442e-02 1.83480140e+02] [ 7.53646195e-01 6.57177569e-01 -1.16213406e-02 1.49830180e+02] [ 1.56096051e-02 -2.19415707e-04 9.99878139e-01 9.24130943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.50, Y:149.85, Z:9.24 [[ 6.58003316e-01 -7.52946710e-01 -1.01433689e-02 1.83496708e+02] [ 7.52861709e-01 6.58081465e-01 -1.13151630e-02 1.49853490e+02] [ 1.51948778e-02 -1.91139258e-04 9.99884533e-01 9.24248951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.51, Y:149.87, Z:9.24 [[ 6.57927875e-01 -7.53019021e-01 -9.65739527e-03 1.83514965e+02] [ 7.52941886e-01 6.57998725e-01 -1.07793611e-02 1.49873680e+02] [ 1.44716177e-02 -1.79415248e-04 9.99895265e-01 9.24272852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.53, Y:149.90, Z:9.24 [[ 6.57632099e-01 -7.53283001e-01 -9.20562433e-03 1.83533463e+02] [ 7.53212858e-01 6.57696504e-01 -1.02810044e-02 1.49895012e+02] [ 1.37990128e-02 -1.72676143e-04 9.99904774e-01 9.24370354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:149.92, Z:9.24 [[ 6.56765553e-01 -7.54044864e-01 -8.68049777e-03 1.83552636e+02] [ 7.53982485e-01 6.56822893e-01 -9.70047985e-03 1.49915411e+02] [ 1.30161467e-02 -1.74002268e-04 9.99915271e-01 9.24429040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7827550960001 meters Centerline goodness [0,1] 0.9999121477674552 Centerline is valid? [True, True] Translation: X:183.57, Y:149.94, Z:9.24 [[ 6.54394082e-01 -7.56111224e-01 -8.01257792e-03 1.83573799e+02] [ 7.56058168e-01 6.54443106e-01 -8.95928719e-03 1.49935755e+02] [ 1.20179940e-02 -1.95070465e-04 9.99927762e-01 9.24426105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.812755096 meters Centerline goodness [0,1] 0.9998016004232524 Centerline is valid? [True, True] Translation: X:183.59, Y:149.96, Z:9.24 [[ 6.52877249e-01 -7.57427021e-01 -7.45696637e-03 1.83593694e+02] [ 7.57381108e-01 6.52919802e-01 -8.34208090e-03 1.49955985e+02] [ 1.11873185e-02 -2.01410617e-04 9.99937400e-01 9.24445504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.842755096 meters Centerline goodness [0,1] 0.9998016004232524 Centerline is valid? [True, True] Translation: X:183.61, Y:149.98, Z:9.24 [[ 6.52637420e-01 -7.57633694e-01 -7.45548077e-03 1.83611958e+02] [ 7.57587779e-01 6.52679972e-01 -8.34340842e-03 1.49976665e+02] [ 1.11872903e-02 -2.02960569e-04 9.99937400e-01 9.24471283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.872755096 meters Centerline goodness [0,1] 0.9999117757339157 Centerline is valid? [True, True] Translation: X:183.63, Y:150.00, Z:9.25 [[ 6.50391533e-01 -7.59569338e-01 -6.72865234e-03 1.83632846e+02] [ 7.59532000e-01 6.50426303e-01 -7.53423507e-03 1.49995859e+02] [ 1.00992664e-02 -2.10424078e-04 9.99948979e-01 9.24573343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters Centerline goodness [0,1] 0.9998233878623308 Centerline is valid? [True, True] Translation: X:183.65, Y:150.02, Z:9.25 [[ 6.49172868e-01 -7.60615240e-01 -6.24851510e-03 1.83652230e+02] [ 7.60583066e-01 6.49202906e-01 -6.99900669e-03 1.50017179e+02] [ 9.38010531e-03 -2.08949528e-04 9.99955984e-01 9.24597566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.67, Y:150.04, Z:9.25 [[ 6.48409345e-01 -7.61265636e-01 -6.32087548e-03 1.83671151e+02] [ 7.61232705e-01 6.48440116e-01 -7.08405396e-03 1.50036413e+02] [ 9.49155608e-03 -2.18290355e-04 9.99954930e-01 9.24763783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.962755096 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:183.69, Y:150.06, Z:9.25 [[ 6.47550865e-01 -7.62004579e-01 -5.18634594e-03 1.83690144e+02] [ 7.61982421e-01 6.47571607e-01 -5.81415678e-03 1.50057951e+02] [ 7.78894446e-03 -1.86942181e-04 9.99969648e-01 9.24818496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.992755096 meters Centerline goodness [0,1] 0.9999560758131465 Centerline is valid? [True, True] Translation: X:183.71, Y:150.08, Z:9.25 [[ 6.47668863e-01 -7.61904394e-01 -5.17094457e-03 1.83707406e+02] [ 7.61882337e-01 6.47689479e-01 -5.80030575e-03 1.50079633e+02] [ 7.76844483e-03 -1.82973903e-04 9.99969808e-01 9.24851466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters Centerline goodness [0,1] 0.9999118806864494 Centerline is valid? [True, True] Translation: X:183.73, Y:150.10, Z:9.25 [[ 6.47985517e-01 -7.61637509e-01 -4.80353668e-03 1.83725685e+02] [ 7.61618445e-01 6.48003300e-01 -5.39133995e-03 1.50101784e+02] [ 7.21895435e-03 -1.64951935e-04 9.99973929e-01 9.24817447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.052755096 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:183.74, Y:150.12, Z:9.25 [[ 6.49056376e-01 -7.60724697e-01 -4.87398913e-03 1.83742889e+02] [ 7.60705020e-01 6.49074658e-01 -5.47367423e-03 1.50124597e+02] [ 7.32754199e-03 -1.54944837e-04 9.99973141e-01 9.24837183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.76, Y:150.15, Z:9.25 [[ 6.51804485e-01 -7.58368954e-01 -5.23862352e-03 1.83758113e+02] [ 7.58346116e-01 6.51825522e-01 -5.88703924e-03 1.50148741e+02] [ 7.87921630e-03 -1.35491224e-04 9.99968949e-01 9.24774607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.112755096 meters Centerline goodness [0,1] 0.9998905333216569 Centerline is valid? [True, True] Translation: X:183.78, Y:150.17, Z:9.25 [[ 6.52332587e-01 -7.57919322e-01 -4.52741664e-03 1.83775269e+02] [ 7.57902252e-01 6.52348288e-01 -5.08797229e-03 1.50170150e+02] [ 6.80972501e-03 -1.12289140e-04 9.99976807e-01 9.24741530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters Centerline goodness [0,1] 0.9998472016065659 Centerline is valid? [True, True] Translation: X:183.79, Y:150.19, Z:9.25 [[ 6.54925740e-01 -7.55682083e-01 -4.10664230e-03 1.83791601e+02] [ 7.55667980e-01 6.54938611e-01 -4.61747913e-03 1.50192308e+02] [ 6.17894484e-03 -7.91521525e-05 9.99980907e-01 9.24877076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1727550960001 meters Centerline goodness [0,1] 0.9999781583085794 Centerline is valid? [True, True] Translation: X:183.81, Y:150.21, Z:9.25 [[ 6.56168741e-01 -7.54605093e-01 -3.70637487e-03 1.83808541e+02] [ 7.54593583e-01 6.56179206e-01 -4.16821023e-03 1.50214523e+02] [ 5.57739879e-03 -6.17574301e-05 9.99984444e-01 9.25080849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.83, Y:150.24, Z:9.25 [[ 6.57089777e-01 -7.53803395e-01 -3.66983195e-03 1.83826090e+02] [ 7.53792085e-01 6.57100022e-01 -4.12960516e-03 1.50237286e+02] [ 5.52435705e-03 -5.27689443e-05 9.99984739e-01 9.25153087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.232755096 meters Centerline goodness [0,1] 0.9997154364766658 Centerline is valid? [True, True] Translation: X:183.84, Y:150.26, Z:9.25 [[ 6.58320950e-01 -7.52732709e-01 -2.64501051e-03 1.83841646e+02] [ 7.52726823e-01 6.58326263e-01 -2.97669505e-03 1.50260830e+02] [ 3.98193561e-03 -3.13496455e-05 9.99992072e-01 9.24970378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.86, Y:150.28, Z:9.25 [[ 6.60199905e-01 -7.51083864e-01 -3.01923184e-03 1.83857909e+02] [ 7.51076166e-01 6.60206808e-01 -3.40048895e-03 1.50283896e+02] [ 4.54736979e-03 -2.26705914e-05 9.99989660e-01 9.25205442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.87, Y:150.31, Z:9.25 [[ 6.62432517e-01 -7.49114960e-01 -3.15253530e-03 1.83873735e+02] [ 7.49106533e-01 6.62440018e-01 -3.55312667e-03 1.50308047e+02] [ 4.75006588e-03 -7.87815098e-06 9.99988718e-01 9.25212408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.89, Y:150.33, Z:9.25 [[ 6.63389094e-01 -7.48267774e-01 -3.20129266e-03 1.83890165e+02] [ 7.48259063e-01 6.63396819e-01 -3.61044955e-03 1.50329622e+02] [ 4.82531042e-03 -2.63391653e-07 9.99988358e-01 9.25243543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.352755096 meters Centerline goodness [0,1] 0.9997813012575177 Centerline is valid? [True, True] Translation: X:183.91, Y:150.35, Z:9.25 [[ 6.63605160e-01 -7.48078083e-01 -2.71536630e-03 1.83906940e+02] [ 7.48071809e-01 6.63610716e-01 -3.06368993e-03 1.50350656e+02] [ 4.09382546e-03 1.79146547e-06 9.99991620e-01 9.25067556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.92, Y:150.37, Z:9.25 [[ 6.65765679e-01 -7.46156663e-01 -2.50910865e-03 1.83923576e+02] [ 7.46151289e-01 6.65770407e-01 -2.83195309e-03 1.50373477e+02] [ 3.78357095e-03 1.32425136e-05 9.99992842e-01 9.25308253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4127550960001 meters Centerline goodness [0,1] 0.9999344935257768 Centerline is valid? [True, True] Translation: X:183.94, Y:150.40, Z:9.25 [[ 6.65672948e-01 -7.46240028e-01 -2.31223775e-03 1.83941628e+02] [ 7.46235460e-01 6.65676964e-01 -2.61103903e-03 1.50395563e+02] [ 3.48766524e-03 1.26242474e-05 9.99993918e-01 9.25237090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.96, Y:150.42, Z:9.25 [[ 6.66317855e-01 -7.45662825e-01 -2.73275733e-03 1.83957888e+02] [ 7.45656427e-01 6.66323458e-01 -3.08897952e-03 1.50417609e+02] [ 4.12423751e-03 2.05441359e-05 9.99991495e-01 9.25309680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.98, Y:150.44, Z:9.25 [[ 6.65961322e-01 -7.45981143e-01 -2.76622702e-03 1.83976059e+02] [ 7.45974583e-01 6.65967067e-01 -3.12850762e-03 1.50438900e+02] [ 4.17602379e-03 1.99300256e-05 9.99991280e-01 9.25297068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.99, Y:150.46, Z:9.25 [[ 6.65245014e-01 -7.46619558e-01 -2.88222764e-03 1.83994569e+02] [ 7.46612432e-01 6.65251258e-01 -3.26192631e-03 1.50459754e+02] [ 4.35282354e-03 1.80732226e-05 9.99990526e-01 9.25312778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.01, Y:150.48, Z:9.25 [[ 6.63177640e-01 -7.48456613e-01 -2.84905235e-03 1.84014361e+02] [ 7.48449659e-01 6.63183760e-01 -3.22637422e-03 1.50480125e+02] [ 4.30424637e-03 7.28697787e-06 9.99990737e-01 9.25382509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.03, Y:150.50, Z:9.25 [[ 6.61695116e-01 -7.49768698e-01 -2.54405845e-03 1.84033539e+02] [ 7.49763158e-01 6.61700007e-01 -2.88229126e-03 1.50500391e+02] [ 3.84445526e-03 -2.43245042e-07 9.99992610e-01 9.25427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.592755096 meters Centerline goodness [0,1] 0.9999344606108271 Centerline is valid? [True, True] Translation: X:184.05, Y:150.52, Z:9.25 [[ 6.58736705e-01 -7.52370200e-01 -2.24425529e-03 1.84053070e+02] [ 7.52365899e-01 6.58740527e-01 -2.54399484e-03 1.50518706e+02] [ 3.39240782e-03 -1.26783714e-05 9.99994246e-01 9.25368325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.07, Y:150.54, Z:9.26 [[ 6.57621397e-01 -7.53343817e-01 -2.68190178e-03 1.84072111e+02] [ 7.53337673e-01 6.57626865e-01 -3.04246386e-03 1.50538971e+02] [ 4.05571199e-03 -1.95883094e-05 9.99991775e-01 9.25522897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.652755096 meters Centerline goodness [0,1] 0.9999346647211272 Centerline is valid? [True, True] Translation: X:184.09, Y:150.56, Z:9.25 [[ 6.55762443e-01 -7.54962430e-01 -2.71080635e-03 1.84091434e+02] [ 7.54956159e-01 6.55768045e-01 -3.07719741e-03 1.50559351e+02] [ 4.10082861e-03 -2.86294577e-05 9.99991591e-01 9.25367953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.11, Y:150.58, Z:9.26 [[ 6.54631500e-01 -7.55942587e-01 -2.89884214e-03 1.84110264e+02] [ 7.55935415e-01 6.54637918e-01 -3.29319792e-03 1.50578996e+02] [ 4.38716054e-03 -3.55063378e-05 9.99990376e-01 9.25551794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.13, Y:150.60, Z:9.25 [[ 6.52250064e-01 -7.57995662e-01 -3.52561722e-03 1.84129888e+02] [ 7.57985061e-01 6.52259590e-01 -4.00935082e-03 1.50599301e+02] [ 5.33868817e-03 -5.72658507e-05 9.99985747e-01 9.25499576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.15, Y:150.62, Z:9.25 [[ 6.50939052e-01 -7.59119193e-01 -4.04982551e-03 1.84148322e+02] [ 7.59105222e-01 6.50951646e-01 -4.60625593e-03 1.50620845e+02] [ 6.13293787e-03 -7.58518267e-05 9.99981191e-01 9.25464834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.17, Y:150.64, Z:9.26 [[ 6.50455068e-01 -7.59534230e-01 -3.99459979e-03 1.84166200e+02] [ 7.59520630e-01 6.50467330e-01 -4.54603508e-03 1.50642249e+02] [ 6.05122591e-03 -7.69893850e-05 9.99981688e-01 9.25521224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.802755096 meters Centerline goodness [0,1] 0.9999348279457768 Centerline is valid? [True, True] Translation: X:184.18, Y:150.66, Z:9.25 [[ 6.49888594e-01 -7.60019293e-01 -3.93577201e-03 1.84184090e+02] [ 7.60006082e-01 6.49900506e-01 -4.48196564e-03 1.50663043e+02] [ 5.96424058e-03 -7.84323218e-05 9.99982211e-01 9.25455984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.20, Y:150.68, Z:9.26 [[ 6.49790636e-01 -7.60103145e-01 -3.91641353e-03 1.84201551e+02] [ 7.60090047e-01 6.49802434e-01 -4.46279952e-03 1.50683655e+02] [ 5.93708300e-03 -7.69416021e-05 9.99982372e-01 9.25659648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.22, Y:150.70, Z:9.26 [[ 6.49076049e-01 -7.60710260e-01 -4.49255431e-03 1.84218224e+02] [ 7.60693024e-01 6.49091590e-01 -5.12164072e-03 1.50704703e+02] [ 6.81216386e-03 -9.31204023e-05 9.99976793e-01 9.25627096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.892755096 meters Centerline goodness [0,1] 0.9999351421467949 Centerline is valid? [True, True] Translation: X:184.24, Y:150.73, Z:9.25 [[ 6.48237715e-01 -7.61422867e-01 -4.80441419e-03 1.84236341e+02] [ 7.61403151e-01 6.48255511e-01 -5.48041969e-03 1.50726001e+02] [ 7.28740484e-03 -1.05481364e-04 9.99973441e-01 9.25490814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.25, Y:150.75, Z:9.26 [[ 6.47028418e-01 -7.62451239e-01 -4.72593992e-03 1.84254377e+02] [ 7.62432166e-01 6.47045667e-01 -5.39413714e-03 1.50746982e+02] [ 7.17066549e-03 -1.13048593e-04 9.99974284e-01 9.25606507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.27, Y:150.77, Z:9.26 [[ 6.46079874e-01 -7.63253908e-01 -4.92640819e-03 1.84272656e+02] [ 7.63233182e-01 6.46098643e-01 -5.62605131e-03 1.50768340e+02] [ 7.47705129e-03 -1.25119680e-04 9.99972039e-01 9.25599489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.982755096 meters Centerline goodness [0,1] 0.9999356775300171 Centerline is valid? [True, True] Translation: X:184.29, Y:150.79, Z:9.25 [[ 6.44736517e-01 -7.64388207e-01 -5.04907052e-03 1.84291341e+02] [ 7.64366445e-01 6.44756272e-01 -5.76958456e-03 1.50789635e+02] [ 7.66562228e-03 -1.39478232e-04 9.99970609e-01 9.25414287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.012755096 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:184.31, Y:150.81, Z:9.25 [[ 6.42640731e-01 -7.66149835e-01 -5.22695036e-03 1.84309594e+02] [ 7.66126543e-01 6.42661967e-01 -5.97635898e-03 1.50811023e+02] [ 7.93794864e-03 -1.63853705e-04 9.99968481e-01 9.25358575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.33, Y:150.83, Z:9.25 [[ 6.41605769e-01 -7.67016963e-01 -5.19768753e-03 1.84326402e+02] [ 7.66993933e-01 6.41626799e-01 -5.94616857e-03 1.50834419e+02] [ 7.89578777e-03 -1.71498746e-04 9.99968813e-01 9.25499223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.072755096 meters Centerline goodness [0,1] 0.9999572265708542 Centerline is valid? [True, True] Translation: X:184.35, Y:150.85, Z:9.25 [[ 6.40315095e-01 -7.68093988e-01 -5.31091786e-03 1.84346753e+02] [ 7.68069951e-01 6.40337092e-01 -6.07934563e-03 1.50853661e+02] [ 8.07028653e-03 -1.86459646e-04 9.99967417e-01 9.25411347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.36, Y:150.88, Z:9.25 [[ 6.38535556e-01 -7.69570281e-01 -5.82464731e-03 1.84364389e+02] [ 7.69541412e-01 6.38562082e-01 -6.66956025e-03 1.50876276e+02] [ 8.85209427e-03 -2.23555948e-04 9.99960794e-01 9.25454163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.132755096 meters Centerline goodness [0,1] 0.9998507399036206 Centerline is valid? [True, True] Translation: X:184.38, Y:150.90, Z:9.25 [[ 6.37394505e-01 -7.70514720e-01 -5.94231602e-03 1.84380974e+02] [ 7.70484679e-01 6.37422159e-01 -6.80811908e-03 1.50900359e+02] [ 9.03351988e-03 -2.39005765e-04 9.99959168e-01 9.25225206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1627550960001 meters Centerline goodness [0,1] 0.9998509242695289 Centerline is valid? [True, True] Translation: X:184.40, Y:150.92, Z:9.25 [[ 6.36268351e-01 -7.71439000e-01 -6.66743895e-03 1.84398110e+02] [ 7.71401183e-01 6.36303222e-01 -7.64354187e-03 1.50923792e+02] [ 1.01390392e-02 -2.79926513e-04 9.99948559e-01 9.25074104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.41, Y:150.95, Z:9.25 [[ 6.36211219e-01 -7.71484478e-01 -6.85455328e-03 1.84414666e+02] [ 7.71444465e-01 6.36248079e-01 -7.86249105e-03 1.50947233e+02] [ 1.04269862e-02 -2.85702177e-04 9.99945597e-01 9.25294378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:150.97, Z:9.25 [[ 6.35801249e-01 -7.71821104e-01 -6.99683150e-03 1.84431926e+02] [ 7.71779381e-01 6.35839679e-01 -8.03059968e-03 1.50969337e+02] [ 1.06470494e-02 -2.94144977e-04 9.99943275e-01 9.25267034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.45, Y:150.99, Z:9.25 [[ 6.36310276e-01 -7.71398364e-01 -7.33466432e-03 1.84447541e+02] [ 7.71352428e-01 6.36352478e-01 -8.42358014e-03 1.50992133e+02] [ 1.11653678e-02 -2.97600524e-04 9.99937621e-01 9.25169654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2827550960001 meters Centerline goodness [0,1] 0.9998726466155838 Centerline is valid? [True, True] Translation: X:184.46, Y:151.01, Z:9.25 [[ 6.36152324e-01 -7.71524110e-01 -7.79543063e-03 1.84464764e+02] [ 7.71472180e-01 6.36200006e-01 -8.95701108e-03 1.51014189e+02] [ 1.18700030e-02 -3.15934450e-04 9.99929499e-01 9.24924522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.312755096 meters Centerline goodness [0,1] 0.9999150472549644 Centerline is valid? [True, True] Translation: X:184.48, Y:151.04, Z:9.25 [[ 6.36656778e-01 -7.71108601e-01 -7.72475903e-03 1.84482116e+02] [ 7.71057514e-01 6.36703568e-01 -8.88125985e-03 1.51036582e+02] [ 1.17667975e-02 -3.01919212e-04 9.99930723e-01 9.24989398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.50, Y:151.06, Z:9.25 [[ 6.38154253e-01 -7.69870425e-01 -7.66017374e-03 1.84497707e+02] [ 7.69820046e-01 6.38200168e-01 -8.81154437e-03 1.51060257e+02] [ 1.16724716e-02 -2.73830783e-04 9.99931837e-01 9.25188555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.51, Y:151.08, Z:9.25 [[ 6.39036704e-01 -7.69139365e-01 -7.53181075e-03 1.84514890e+02] [ 7.69090585e-01 6.39081037e-01 -8.66606486e-03 1.51083087e+02] [ 1.14788491e-02 -2.54711213e-04 9.99934083e-01 9.25221670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.53, Y:151.11, Z:9.25 [[ 6.41012104e-01 -7.67494002e-01 -7.51262412e-03 1.84529616e+02] [ 7.67445306e-01 6.41056088e-01 -8.64832364e-03 1.51106322e+02] [ 1.14535500e-02 -2.21847984e-04 9.99934381e-01 9.25205222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:151.13, Z:9.25 [[ 6.41779572e-01 -7.66854531e-01 -7.28758425e-03 1.84546304e+02] [ 7.66808631e-01 6.41820915e-01 -8.39265742e-03 1.51128932e+02] [ 1.11132714e-02 -2.01946409e-04 9.99938225e-01 9.25254726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.462755096 meters Centerline goodness [0,1] 0.9999576459626014 Centerline is valid? [True, True] Translation: X:184.56, Y:151.15, Z:9.25 [[ 6.42266055e-01 -7.66449673e-01 -7.01525188e-03 1.84563827e+02] [ 7.66407066e-01 6.42304340e-01 -8.08357091e-03 1.51151484e+02] [ 1.07015770e-02 -1.84735412e-04 9.99942719e-01 9.25192258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.58, Y:151.17, Z:9.25 [[ 6.43125392e-01 -7.65729081e-01 -6.97887028e-03 1.84580937e+02] [ 7.65686824e-01 6.43163234e-01 -8.04620814e-03 1.51172885e+02] [ 1.06497683e-02 -1.68908259e-04 9.99943275e-01 9.25323773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.60, Y:151.19, Z:9.25 [[ 6.43659054e-01 -7.65281091e-01 -6.91914474e-03 1.84598375e+02] [ 7.65239490e-01 6.43696223e-01 -7.98100086e-03 1.51193968e+02] [ 1.05615364e-02 -1.57759330e-04 9.99944213e-01 9.25307352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.62, Y:151.22, Z:9.25 [[ 6.43744607e-01 -7.65207057e-01 -7.14434939e-03 1.84616427e+02] [ 7.65162657e-01 6.43784230e-01 -8.24459079e-03 1.51215467e+02] [ 1.09082385e-02 -1.59178503e-04 9.99940491e-01 9.25310222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.63, Y:151.24, Z:9.25 [[ 6.43451930e-01 -7.65452666e-01 -7.19930896e-03 1.84633188e+02] [ 7.65407542e-01 6.43492183e-01 -8.31291577e-03 1.51237894e+02] [ 1.09958426e-02 -1.61443688e-04 9.99939531e-01 9.25293048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.65, Y:151.26, Z:9.25 [[ 6.43044966e-01 -7.65795145e-01 -7.13916689e-03 1.84651331e+02] [ 7.65750739e-01 6.43084574e-01 -8.24847210e-03 1.51257627e+02] [ 1.09077280e-02 -1.62683863e-04 9.99940496e-01 9.25264813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.67, Y:151.28, Z:9.25 [[ 6.42504381e-01 -7.66248018e-01 -7.21778952e-03 1.84669752e+02] [ 7.66202603e-01 6.42544899e-01 -8.34408810e-03 1.51279325e+02] [ 1.10313948e-02 -1.69175966e-04 9.99939138e-01 9.25255039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.69, Y:151.30, Z:9.25 [[ 6.41512318e-01 -7.67079371e-01 -7.15430383e-03 1.84691401e+02] [ 7.67034753e-01 6.41552185e-01 -8.27533453e-03 1.51296900e+02] [ 1.09376977e-02 -1.78870642e-04 9.99940166e-01 9.25215181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.71, Y:151.32, Z:9.25 [[ 6.40596099e-01 -7.67845096e-01 -7.10956382e-03 1.84709209e+02] [ 7.67801053e-01 6.40635522e-01 -8.22617706e-03 1.51318428e+02] [ 1.08710688e-02 -1.89073656e-04 9.99940890e-01 9.25246022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:151.34, Z:9.25 [[ 6.40366452e-01 -7.68036650e-01 -7.10717086e-03 1.84727095e+02] [ 7.67992596e-01 6.40405862e-01 -8.22824407e-03 1.51339409e+02] [ 1.08710669e-02 -1.89163139e-04 9.99940890e-01 9.25271752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.75, Y:151.36, Z:9.25 [[ 6.39570251e-01 -7.68700708e-01 -7.00819489e-03 1.84748387e+02] [ 7.68657861e-01 6.39608617e-01 -8.11843737e-03 1.51357137e+02] [ 1.07231504e-02 -1.94593069e-04 9.99942486e-01 9.25280747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.77, Y:151.38, Z:9.25 [[ 6.38128988e-01 -7.69901207e-01 -6.59746180e-03 1.84767551e+02] [ 7.69863260e-01 6.38163060e-01 -7.64655105e-03 1.51378335e+02] [ 1.00973453e-02 -1.99657571e-04 9.99949001e-01 9.25300919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.79, Y:151.40, Z:9.25 [[ 6.37758735e-01 -7.70209299e-01 -6.43668126e-03 1.84785472e+02] [ 7.70173154e-01 6.37791186e-01 -7.46431740e-03 1.51400068e+02] [ 9.85434525e-03 -1.96925490e-04 9.99951425e-01 9.25347963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.81, Y:151.42, Z:9.25 [[ 6.37681486e-01 -7.70274956e-01 -6.23017068e-03 1.84807910e+02] [ 7.70241055e-01 6.37711891e-01 -7.22914826e-03 1.51416362e+02] [ 9.54148579e-03 -1.88839235e-04 9.99954461e-01 9.25324950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:151.44, Z:9.25 [[ 6.38057216e-01 -7.69966061e-01 -5.93762723e-03 1.84823544e+02] [ 7.69935222e-01 6.38084819e-01 -6.89330753e-03 1.51440364e+02] [ 9.09632263e-03 -1.73263733e-04 9.99958613e-01 9.25336706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.84, Y:151.46, Z:9.25 [[ 6.38346209e-01 -7.69727694e-01 -5.77888990e-03 1.84842236e+02] [ 7.69698438e-01 6.38372345e-01 -6.71292667e-03 1.51461367e+02] [ 8.85620906e-03 -1.62831235e-04 9.99960770e-01 9.25328280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.86, Y:151.48, Z:9.25 [[ 6.40193201e-01 -7.68192985e-01 -5.67471144e-03 1.84859814e+02] [ 7.68164681e-01 6.40218337e-01 -6.59582927e-03 1.51484152e+02] [ 8.69992410e-03 -1.36507845e-04 9.99962146e-01 9.25325076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.88, Y:151.50, Z:9.25 [[ 6.41315567e-01 -7.67257975e-01 -5.43535880e-03 1.84878531e+02] [ 7.67231946e-01 6.41338590e-01 -6.32100544e-03 1.51504340e+02] [ 8.33574718e-03 -1.16421714e-04 9.99965250e-01 9.25363842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:151.53, Z:9.25 [[ 6.42211456e-01 -7.66509922e-01 -5.19481999e-03 1.84895272e+02] [ 7.66486100e-01 6.42232458e-01 -6.04393910e-03 1.51527101e+02] [ 7.96902130e-03 -1.00270389e-04 9.99968242e-01 9.25397021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.91, Y:151.55, Z:9.26 [[ 6.44039241e-01 -7.64979699e-01 -4.41762021e-03 1.84913295e+02] [ 7.64962419e-01 6.44054388e-01 -5.14224154e-03 1.51548263e+02] [ 6.77889807e-03 -6.75081060e-05 9.99977021e-01 9.25530013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:151.57, Z:9.26 [[ 6.44668808e-01 -7.64451685e-01 -3.96849349e-03 1.84931603e+02] [ 7.64437714e-01 6.44681020e-01 -4.62205673e-03 1.51567760e+02] [ 6.09175149e-03 -5.39702919e-05 9.99981444e-01 9.25651130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.95, Y:151.59, Z:9.26 [[ 6.45186695e-01 -7.64016421e-01 -3.61070668e-03 1.84951384e+02] [ 7.64004838e-01 6.45196797e-01 -4.20719721e-03 1.51588374e+02] [ 5.54398413e-03 -4.41697087e-05 9.99984631e-01 9.25731618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.97, Y:151.61, Z:9.26 [[ 6.44888643e-01 -7.64267365e-01 -3.74605960e-03 1.84970728e+02] [ 7.64254884e-01 6.44899522e-01 -4.36790175e-03 1.51608929e+02] [ 5.75407680e-03 -4.61341176e-05 9.99983444e-01 9.25716440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.99, Y:151.63, Z:9.26 [[ 6.44315992e-01 -7.64749358e-01 -3.91443141e-03 1.84989989e+02] [ 7.64735720e-01 6.44327880e-01 -4.56738644e-03 1.51628903e+02] [ 6.01508313e-03 -5.06653978e-05 9.99981908e-01 9.25684633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:151.65, Z:9.26 [[ 6.42851664e-01 -7.65977588e-01 -4.48016609e-03 1.85010966e+02] [ 7.65959725e-01 6.42867272e-01 -5.23163060e-03 1.51647270e+02] [ 6.88746395e-03 -6.84643532e-05 9.99976279e-01 9.25584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.03, Y:151.67, Z:9.26 [[ 6.42038245e-01 -7.66658459e-01 -4.65817646e-03 1.85030352e+02] [ 7.66639141e-01 6.42055139e-01 -5.44306650e-03 1.51666580e+02] [ 7.16377911e-03 -7.64835362e-05 9.99974337e-01 9.25561250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.05, Y:151.69, Z:9.26 [[ 6.41054449e-01 -7.67480523e-01 -4.77926529e-03 1.85049716e+02] [ 7.67460194e-01 6.41072258e-01 -5.58666886e-03 1.51686610e+02] [ 7.35151393e-03 -8.65369375e-05 9.99972974e-01 9.25509449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.07, Y:151.71, Z:9.25 [[ 6.39634451e-01 -7.68664043e-01 -4.83306746e-03 1.85070627e+02] [ 7.68643261e-01 6.39652702e-01 -5.65312759e-03 1.51706416e+02] [ 7.43684056e-03 -9.89695721e-05 9.99972341e-01 9.25477438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.09, Y:151.73, Z:9.25 [[ 6.39184381e-01 -7.69036391e-01 -5.13378606e-03 1.85090304e+02] [ 7.69012923e-01 6.39204989e-01 -6.00889402e-03 1.51725009e+02] [ 7.90259983e-03 -1.07156616e-04 9.99968768e-01 9.25491874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.11, Y:151.74, Z:9.25 [[ 6.38658428e-01 -7.69472379e-01 -5.26033360e-03 1.85110575e+02] [ 7.69447725e-01 6.38680081e-01 -6.16063428e-03 1.51744852e+02] [ 8.10010820e-03 -1.13010715e-04 9.99967187e-01 9.25427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.13, Y:151.76, Z:9.25 [[ 6.38405511e-01 -7.69680482e-01 -5.50995918e-03 1.85129562e+02] [ 7.69653404e-01 6.38429277e-01 -6.45731408e-03 1.51764399e+02] [ 8.48778787e-03 -1.18373950e-04 9.99963971e-01 9.25387975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.15, Y:151.79, Z:9.25 [[ 6.37964918e-01 -7.70045616e-01 -5.52385884e-03 1.85149100e+02] [ 7.70018383e-01 6.37988821e-01 -6.47724229e-03 1.51785271e+02] [ 8.51193221e-03 -1.21219503e-04 9.99963766e-01 9.25365665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.17, Y:151.80, Z:9.25 [[ 6.37846180e-01 -7.70143004e-01 -5.65721613e-03 1.85168311e+02] [ 7.70114407e-01 6.37871255e-01 -6.63794955e-03 1.51804182e+02] [ 8.72074596e-03 -1.22712885e-04 9.99961966e-01 9.25358005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:151.82, Z:9.25 [[ 6.37260689e-01 -7.70627528e-01 -5.65927400e-03 1.85189703e+02] [ 7.70598897e-01 6.37285804e-01 -6.64408822e-03 1.51822919e+02] [ 8.72669226e-03 -1.27014065e-04 9.99961914e-01 9.25381495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.21, Y:151.84, Z:9.25 [[ 6.36945575e-01 -7.70887782e-01 -5.68874483e-03 1.85209487e+02] [ 7.70858825e-01 6.36970966e-01 -6.68287477e-03 1.51842992e+02] [ 8.77531180e-03 -1.28591645e-04 9.99961488e-01 9.25399415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.23, Y:151.86, Z:9.25 [[ 6.37250019e-01 -7.70632045e-01 -6.21802175e-03 1.85228804e+02] [ 7.70597390e-01 6.37280341e-01 -7.30960249e-03 1.51863410e+02] [ 9.59563694e-03 -1.33547000e-04 9.99953952e-01 9.25357847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.25, Y:151.88, Z:9.25 [[ 6.37467304e-01 -7.70450926e-01 -6.38798706e-03 1.85248830e+02] [ 7.70414291e-01 6.37499296e-01 -7.51443103e-03 1.51882361e+02] [ 9.86183760e-03 -1.31192436e-04 9.99951362e-01 9.25345805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:151.90, Z:9.25 [[ 6.38333391e-01 -7.69733223e-01 -6.42234642e-03 1.85268669e+02] [ 7.69696113e-01 6.38365687e-01 -7.55927346e-03 1.51903112e+02] [ 9.91842952e-03 -1.17918412e-04 9.99950804e-01 9.25375274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.29, Y:151.92, Z:9.25 [[ 6.38753009e-01 -7.69385773e-01 -6.33451926e-03 1.85287384e+02] [ 7.69349609e-01 6.38784409e-01 -7.46044817e-03 1.51923766e+02] [ 9.78635482e-03 -1.08076204e-04 9.99952107e-01 9.25402897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.31, Y:151.95, Z:9.26 [[ 6.39605123e-01 -7.68680199e-01 -6.00321321e-03 1.85305380e+02] [ 7.68647648e-01 6.39633288e-01 -7.07457068e-03 1.51945534e+02] [ 9.27793740e-03 -8.94240650e-05 9.99956955e-01 9.25505715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.32, Y:151.97, Z:9.26 [[ 6.42654439e-01 -7.66137619e-01 -5.33109668e-03 1.85320418e+02] [ 7.66111831e-01 6.42676549e-01 -6.28613751e-03 1.51968948e+02] [ 8.24221724e-03 -4.44020622e-05 9.99966031e-01 9.25608945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.34, Y:151.99, Z:9.26 [[ 6.44290558e-01 -7.64762614e-01 -5.27450120e-03 1.85336065e+02] [ 7.64737302e-01 6.44312147e-01 -6.22225740e-03 1.51991950e+02] [ 8.15697503e-03 -2.46661203e-05 9.99966731e-01 9.25605948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:152.01, Z:9.26 [[ 6.46703682e-01 -7.62720247e-01 -5.67219986e-03 1.85350647e+02] [ 7.62690853e-01 6.46728556e-01 -6.69611095e-03 1.52014908e+02] [ 8.77563302e-03 4.26466018e-06 9.99961493e-01 9.25560268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.37, Y:152.04, Z:9.26 [[ 6.46993150e-01 -7.62473418e-01 -5.84385827e-03 1.85367875e+02] [ 7.62442181e-01 6.47019541e-01 -6.90177416e-03 1.52036572e+02] [ 9.04350983e-03 9.79656180e-06 9.99959107e-01 9.25555736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.39, Y:152.06, Z:9.26 [[ 6.47267036e-01 -7.62240755e-01 -5.86646951e-03 1.85385045e+02] [ 7.62209224e-01 6.47293621e-01 -6.93303763e-03 1.52059130e+02] [ 9.08197213e-03 1.60495471e-05 9.99958758e-01 9.25578709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.40, Y:152.08, Z:9.26 [[ 6.47145445e-01 -7.62347237e-01 -5.42796204e-03 1.85402429e+02] [ 7.62320215e-01 6.47168208e-01 -6.41869013e-03 1.52080884e+02] [ 8.40607515e-03 1.59808911e-05 9.99964668e-01 9.25627806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.42, Y:152.10, Z:9.26 [[ 6.45494765e-01 -7.63745139e-01 -5.46547881e-03 1.85418862e+02] [ 7.63717755e-01 6.45517903e-01 -6.46748262e-03 1.52102401e+02] [ 8.46757283e-03 6.42970883e-07 9.99964149e-01 9.25627897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.44, Y:152.12, Z:9.26 [[ 6.43812777e-01 -7.65162165e-01 -5.65420720e-03 1.85436951e+02] [ 7.65132875e-01 6.43837605e-01 -6.69496685e-03 1.52123821e+02] [ 8.76312655e-03 -1.59146059e-05 9.99961603e-01 9.25599509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:152.14, Z:9.26 [[ 6.39483001e-01 -7.68783418e-01 -5.79195864e-03 1.85458126e+02] [ 7.68752791e-01 6.39509227e-01 -6.86262125e-03 1.52143927e+02] [ 8.97988042e-03 -6.40547326e-05 9.99959678e-01 9.25596877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.48, Y:152.16, Z:9.26 [[ 6.37120446e-01 -7.70742545e-01 -5.78503141e-03 1.85478706e+02] [ 7.70712036e-01 6.37146703e-01 -6.85831499e-03 1.52162912e+02] [ 8.97190884e-03 -8.90206261e-05 9.99959748e-01 9.25641216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.50, Y:152.18, Z:9.26 [[ 6.34788373e-01 -7.72664765e-01 -5.73430442e-03 1.85498177e+02] [ 7.72634851e-01 6.34814262e-01 -6.80003342e-03 1.52184875e+02] [ 8.89436445e-03 -1.13941288e-04 9.99960438e-01 9.25647669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.52, Y:152.20, Z:9.26 [[ 6.30437397e-01 -7.76220841e-01 -5.46759388e-03 1.85518689e+02] [ 7.76193747e-01 6.30461087e-01 -6.48725020e-03 1.52204815e+02] [ 8.48264399e-03 -1.54107053e-04 9.99964010e-01 9.25679484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.54, Y:152.22, Z:9.26 [[ 6.28709720e-01 -7.77622163e-01 -5.27834580e-03 1.85538226e+02] [ 7.77596934e-01 6.28731855e-01 -6.26607538e-03 1.52224189e+02] [ 8.19130323e-03 -1.64883018e-04 9.99966437e-01 9.25736610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.56, Y:152.25, Z:9.26 [[ 6.26316616e-01 -7.79550413e-01 -5.35256584e-03 1.85556182e+02] [ 7.79524529e-01 6.26339458e-01 -6.35549931e-03 1.52246494e+02] [ 8.30695530e-03 -1.91901545e-04 9.99965478e-01 9.25683756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:152.27, Z:9.26 [[ 6.25373524e-01 -7.80305389e-01 -5.60856865e-03 1.85573286e+02] [ 7.80276966e-01 6.25398638e-01 -6.66330212e-03 1.52268723e+02] [ 8.70700175e-03 -2.09184201e-04 9.99962071e-01 9.25678388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.59, Y:152.29, Z:9.26 [[ 6.24537427e-01 -7.80975081e-01 -5.56106418e-03 1.85592270e+02] [ 7.80947129e-01 6.24562148e-01 -6.61093603e-03 1.52290187e+02] [ 8.63620649e-03 -2.14120123e-04 9.99962684e-01 9.25690860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.61, Y:152.31, Z:9.26 [[ 6.24334704e-01 -7.81136251e-01 -5.68640622e-03 1.85610716e+02] [ 7.81106993e-01 6.24360561e-01 -6.76424353e-03 1.52310201e+02] [ 8.83416361e-03 -2.18539681e-04 9.99960954e-01 9.25777663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.63, Y:152.33, Z:9.26 [[ 6.24411153e-01 -7.81074759e-01 -5.73879561e-03 1.85628629e+02] [ 7.81044922e-01 6.24437486e-01 -6.83053032e-03 1.52331906e+02] [ 8.91867393e-03 -2.17197857e-04 9.99960204e-01 9.25801158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.65, Y:152.35, Z:9.26 [[ 6.24988865e-01 -7.80612008e-01 -5.81481565e-03 1.85646435e+02] [ 7.80581315e-01 6.25015879e-01 -6.92545081e-03 1.52354247e+02] [ 9.04044217e-03 -2.10606808e-04 9.99959112e-01 9.25808922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.66, Y:152.38, Z:9.26 [[ 6.27163829e-01 -7.78867711e-01 -5.53360703e-03 1.85662391e+02] [ 7.78839813e-01 6.27188216e-01 -6.59446487e-03 1.52377021e+02] [ 8.60682888e-03 -1.73983631e-04 9.99962945e-01 9.25903987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.68, Y:152.40, Z:9.26 [[ 6.28702758e-01 -7.77625967e-01 -5.54053658e-03 1.85679522e+02] [ 7.77597930e-01 6.28727152e-01 -6.60517204e-03 1.52400048e+02] [ 8.61983908e-03 -1.55619892e-04 9.99962836e-01 9.25968463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:152.42, Z:9.26 [[ 6.31637363e-01 -7.75244960e-01 -5.43090397e-03 1.85694322e+02] [ 7.75217899e-01 6.31660699e-01 -6.47838977e-03 1.52423037e+02] [ 8.45282762e-03 -1.18140935e-04 9.99964267e-01 9.26031136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.71, Y:152.45, Z:9.26 [[ 6.32580587e-01 -7.74476001e-01 -5.35956028e-03 1.85711098e+02] [ 7.74449601e-01 6.32603282e-01 -6.39553045e-03 1.52445472e+02] [ 8.34366027e-03 -1.05020918e-04 9.99965186e-01 9.26049552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.73, Y:152.47, Z:9.26 [[ 6.33194117e-01 -7.73972509e-01 -5.63608807e-03 1.85728142e+02] [ 7.73943258e-01 6.33219192e-01 -6.72972350e-03 1.52467059e+02] [ 8.77750012e-03 -1.00791028e-04 9.99961472e-01 9.26083317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.75, Y:152.49, Z:9.26 [[ 6.34060465e-01 -7.73262365e-01 -5.71329751e-03 1.85745751e+02] [ 7.73232238e-01 6.34086199e-01 -6.82631305e-03 1.52487555e+02] [ 8.90125408e-03 -8.94105906e-05 9.99960379e-01 9.26126987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.76, Y:152.51, Z:9.26 [[ 6.33817168e-01 -7.73462249e-01 -5.65210534e-03 1.85764012e+02] [ 7.73432736e-01 6.33842363e-01 -6.75737779e-03 1.52507872e+02] [ 8.80912043e-03 -8.85812455e-05 9.99961195e-01 9.26193254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.78, Y:152.53, Z:9.26 [[ 6.33185557e-01 -7.73978944e-01 -5.71359867e-03 1.85782705e+02] [ 7.73948766e-01 6.33211328e-01 -6.83526277e-03 1.52528581e+02] [ 8.90826486e-03 -9.40429763e-05 9.99960316e-01 9.26248106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.80, Y:152.55, Z:9.26 [[ 6.31667912e-01 -7.75215774e-01 -6.01268786e-03 1.85802514e+02] [ 7.75182369e-01 6.31696517e-01 -7.19752963e-03 1.52548429e+02] [ 9.37783248e-03 -1.14481111e-04 9.99956021e-01 9.26235664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.82, Y:152.57, Z:9.26 [[ 6.29280973e-01 -7.77150557e-01 -6.51683623e-03 1.85822363e+02] [ 7.77111368e-01 6.29314698e-01 -7.80593078e-03 1.52569875e+02] [ 1.01675243e-02 -1.52183807e-04 9.99948298e-01 9.26194447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.84, Y:152.59, Z:9.26 [[ 6.27770835e-01 -7.78369332e-01 -6.70539932e-03 1.85844289e+02] [ 7.78327865e-01 6.27806621e-01 -8.03623931e-03 1.52587943e+02] [ 1.04648563e-02 -1.74082477e-04 9.99945227e-01 9.26190006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.86, Y:152.61, Z:9.26 [[ 6.26632581e-01 -7.79283551e-01 -6.98256657e-03 1.85861247e+02] [ 7.79238611e-01 6.26671452e-01 -8.37122103e-03 1.52610790e+02] [ 1.08993300e-02 -1.95405641e-04 9.99940581e-01 9.26229005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.88, Y:152.63, Z:9.26 [[ 6.25546812e-01 -7.80153477e-01 -7.19287523e-03 1.85880409e+02] [ 7.80105817e-01 6.25588128e-01 -8.62601432e-03 1.52630623e+02] [ 1.12293924e-02 -2.15228050e-04 9.99936925e-01 9.26216146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.90, Y:152.65, Z:9.26 [[ 6.25304355e-01 -7.80347839e-01 -7.19126791e-03 1.85897947e+02] [ 7.80300177e-01 6.25345667e-01 -8.62735412e-03 1.52651922e+02] [ 1.12293654e-02 -2.16625516e-04 9.99936925e-01 9.26241921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.92, Y:152.67, Z:9.26 [[ 6.23573393e-01 -7.81726855e-01 -7.70373151e-03 1.85918046e+02] [ 7.81672190e-01 6.23620926e-01 -9.24818331e-03 1.52673056e+02] [ 1.20337614e-02 -2.54871632e-04 9.99927559e-01 9.26266972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.94, Y:152.69, Z:9.26 [[ 6.22824773e-01 -7.82324225e-01 -7.62297783e-03 1.85936942e+02] [ 7.82270681e-01 6.22871367e-01 -9.15649553e-03 1.52694663e+02] [ 1.19114829e-02 -2.60339812e-04 9.99929022e-01 9.26348412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.96, Y:152.71, Z:9.26 [[ 6.21897101e-01 -7.83060940e-01 -7.71754551e-03 1.85955912e+02] [ 7.83006053e-01 6.21944925e-01 -9.27531405e-03 1.52714902e+02] [ 1.20630244e-02 -2.74593933e-04 9.99927201e-01 9.26399470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:152.73, Z:9.26 [[ 6.21469426e-01 -7.83401148e-01 -7.64160822e-03 1.85973901e+02] [ 7.83347323e-01 6.21516343e-01 -9.18731122e-03 1.52734900e+02] [ 1.19467346e-02 -2.76400311e-04 9.99928597e-01 9.26425523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.99, Y:152.76, Z:9.27 [[ 6.21159328e-01 -7.83646199e-01 -7.72809126e-03 1.85991382e+02] [ 7.83591100e-01 6.21207337e-01 -9.29686337e-03 1.52756241e+02] [ 1.20861986e-02 -2.80830127e-04 9.99926920e-01 9.26506492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.01, Y:152.78, Z:9.27 [[ 6.20771341e-01 -7.83950266e-01 -8.05744676e-03 1.86009608e+02] [ 7.83890316e-01 6.20823560e-01 -9.69950222e-03 1.52777076e+02] [ 1.26061801e-02 -2.94981484e-04 9.99920495e-01 9.26541835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.03, Y:152.80, Z:9.27 [[ 6.20787366e-01 -7.83932859e-01 -8.50399152e-03 1.86028230e+02] [ 7.83865989e-01 6.20845535e-01 -1.02437028e-02 1.52797044e+02] [ 1.33100404e-02 -3.06828442e-04 9.99911370e-01 9.26502128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:152.82, Z:9.26 [[ 6.21257029e-01 -7.83553412e-01 -9.15181391e-03 1.86044029e+02] [ 7.83475827e-01 6.21324352e-01 -1.10307976e-02 1.52821196e+02] [ 1.43294639e-02 -3.17264434e-04 9.99897278e-01 9.26490732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.06, Y:152.84, Z:9.26 [[ 6.23025090e-01 -7.82135872e-01 -1.01595064e-02 1.86060425e+02] [ 7.82039979e-01 6.23107840e-01 -1.22511682e-02 1.52843624e+02] [ 1.59125462e-02 -3.12355051e-04 9.99873339e-01 9.26427008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.08, Y:152.87, Z:9.26 [[ 6.23855967e-01 -7.81473338e-01 -1.01564760e-02 1.86077419e+02] [ 7.81377342e-01 6.23938568e-01 -1.22520693e-02 1.52866455e+02] [ 1.59116825e-02 -2.92513710e-04 9.99873358e-01 9.26451609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.09, Y:152.89, Z:9.26 [[ 6.25880168e-01 -7.79849160e-01 -1.04548002e-02 1.86092997e+02] [ 7.79747089e-01 6.25967430e-01 -1.26195541e-02 1.52891302e+02] [ 1.63857131e-02 -2.53771401e-04 9.99865713e-01 9.26485690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.11, Y:152.91, Z:9.27 [[ 6.26558467e-01 -7.79304140e-01 -1.04663939e-02 1.86109060e+02] [ 7.79201653e-01 6.26645835e-01 -1.26404742e-02 1.52913073e+02] [ 1.64094960e-02 -2.35435255e-04 9.99865327e-01 9.26544040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.13, Y:152.93, Z:9.27 [[ 6.27193431e-01 -7.78797191e-01 -1.01653929e-02 1.86125960e+02] [ 7.78700355e-01 6.27275769e-01 -1.22827705e-02 1.52934139e+02] [ 1.59422918e-02 -2.12122086e-04 9.99872891e-01 9.26564302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.14, Y:152.96, Z:9.27 [[ 6.27542637e-01 -7.78518135e-01 -9.98764920e-03 1.86141933e+02] [ 7.78424525e-01 6.27622080e-01 -1.20741209e-02 1.52957877e+02] [ 1.56683912e-02 -1.97605423e-04 9.99877224e-01 9.26754908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.16, Y:152.98, Z:9.27 [[ 6.27165497e-01 -7.78820616e-01 -1.00939180e-02 1.86159498e+02] [ 7.78724920e-01 6.27246687e-01 -1.22103189e-02 1.52978710e+02] [ 1.58410248e-02 -2.02494753e-04 9.99874503e-01 9.26775672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.18, Y:153.00, Z:9.27 [[ 6.26562994e-01 -7.79307067e-01 -9.96546060e-03 1.86177649e+02] [ 7.79213738e-01 6.26642205e-01 -1.20622606e-02 1.52999557e+02] [ 1.56449831e-02 -2.07457684e-04 9.99877588e-01 9.26828676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.20, Y:153.02, Z:9.27 [[ 6.24750361e-01 -7.80764710e-01 -9.66716671e-03 1.86197848e+02] [ 7.80676952e-01 6.24825106e-01 -1.17082321e-02 1.53020532e+02] [ 1.51816629e-02 -2.32212044e-04 9.99884725e-01 9.26922651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.22, Y:153.04, Z:9.27 [[ 6.23830605e-01 -7.81504783e-01 -9.25475823e-03 1.86216264e+02] [ 7.81424341e-01 6.23899206e-01 -1.12151717e-02 1.53041915e+02] [ 1.45387466e-02 -2.35526002e-04 9.99894279e-01 9.26974655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:153.06, Z:9.27 [[ 6.21916308e-01 -7.83025030e-01 -9.58690947e-03 1.86235370e+02] [ 7.82938781e-01 6.21990134e-01 -1.16249109e-02 1.53063265e+02] [ 1.50655593e-02 -2.76241573e-04 9.99886470e-01 9.26963687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.25, Y:153.08, Z:9.27 [[ 6.20955048e-01 -7.83787830e-01 -9.56374244e-03 1.86253416e+02] [ 7.83701987e-01 6.21028625e-01 -1.16035561e-02 1.53084836e+02] [ 1.50340839e-02 -2.89837205e-04 9.99886940e-01 9.26951520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.27, Y:153.11, Z:9.27 [[ 6.20142711e-01 -7.84428208e-01 -9.76747338e-03 1.86271432e+02] [ 7.84338634e-01 6.20219551e-01 -1.18581536e-02 1.53106628e+02] [ 1.53598481e-02 -3.07259204e-04 9.99881983e-01 9.26913707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.29, Y:153.13, Z:9.27 [[ 6.18878838e-01 -7.85425791e-01 -9.76274101e-03 1.86290244e+02] [ 7.85336336e-01 6.18955750e-01 -1.18583061e-02 1.53127019e+02] [ 1.53565241e-02 -3.28180571e-04 9.99882028e-01 9.26942801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.31, Y:153.15, Z:9.27 [[ 6.18004152e-01 -7.86114662e-01 -9.72662670e-03 1.86308879e+02] [ 7.86025877e-01 6.18080595e-01 -1.18194296e-02 1.53148839e+02] [ 1.53032662e-02 -3.40923693e-04 9.99882840e-01 9.27010887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:153.17, Z:9.27 [[ 6.16827489e-01 -7.87039929e-01 -9.59163544e-03 1.86327695e+02] [ 7.86953597e-01 6.16901957e-01 -1.16623908e-02 1.53170690e+02] [ 1.50958659e-02 -3.54488764e-04 9.99885988e-01 9.27022067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.35, Y:153.19, Z:9.27 [[ 6.16130833e-01 -7.87584466e-01 -9.66985253e-03 1.86345181e+02] [ 7.87496677e-01 6.16206601e-01 -1.17647222e-02 1.53193271e+02] [ 1.52243394e-02 -3.66368623e-04 9.99884036e-01 9.27072661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.36, Y:153.21, Z:9.27 [[ 6.15857633e-01 -7.87795476e-01 -9.88246919e-03 1.86363629e+02] [ 7.87703707e-01 6.15936804e-01 -1.20301364e-02 1.53213429e+02] [ 1.55642636e-02 -3.75606259e-04 9.99878799e-01 9.27032189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.38, Y:153.24, Z:9.27 [[ 6.15551615e-01 -7.88030834e-01 -1.01791410e-02 1.86379780e+02] [ 7.87933398e-01 6.15635650e-01 -1.23978545e-02 1.53236352e+02] [ 1.60365337e-02 -3.88965809e-04 9.99871331e-01 9.27051626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.40, Y:153.26, Z:9.27 [[ 6.15989451e-01 -7.87685043e-01 -1.04532034e-02 1.86395689e+02] [ 7.87582123e-01 6.16078018e-01 -1.27387214e-02 1.53257994e+02] [ 1.64740891e-02 -3.85838121e-04 9.99864219e-01 9.27012209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.41, Y:153.28, Z:9.27 [[ 6.16300903e-01 -7.87440443e-01 -1.05235888e-02 1.86412477e+02] [ 7.87335996e-01 6.16390628e-01 -1.28305473e-02 1.53279811e+02] [ 1.65899333e-02 -3.78122415e-04 9.99862306e-01 9.26998666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.43, Y:153.30, Z:9.27 [[ 6.17560439e-01 -7.86449914e-01 -1.07534940e-02 1.86427999e+02] [ 7.86340580e-01 6.17653954e-01 -1.31181080e-02 1.53304231e+02] [ 1.69586730e-02 -3.54684191e-04 9.99856128e-01 9.26994915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.44, Y:153.33, Z:9.27 [[ 6.18112307e-01 -7.86016102e-01 -1.07640302e-02 1.86444661e+02] [ 7.85906377e-01 6.18205931e-01 -1.31374977e-02 1.53325266e+02] [ 1.69806720e-02 -3.39071017e-04 9.99855761e-01 9.26953518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.46, Y:153.35, Z:9.27 [[ 6.18524575e-01 -7.85689660e-01 -1.09137043e-02 1.86461025e+02] [ 7.85576692e-01 6.18620764e-01 -1.33270867e-02 1.53347963e+02] [ 1.72223983e-02 -3.30421031e-04 9.99851629e-01 9.27003017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.48, Y:153.37, Z:9.27 [[ 6.20089383e-01 -7.84460185e-01 -1.05534964e-02 1.86477344e+02] [ 7.84354242e-01 6.20179119e-01 -1.28950958e-02 1.53371103e+02] [ 1.66607473e-02 -2.81567675e-04 9.99861160e-01 9.27127662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.49, Y:153.39, Z:9.27 [[ 6.21002693e-01 -7.83743929e-01 -1.00553204e-02 1.86493535e+02] [ 7.83647543e-01 6.21084047e-01 -1.22936965e-02 1.53393948e+02] [ 1.58803091e-02 -2.45408488e-04 9.99873870e-01 9.27210985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.51, Y:153.42, Z:9.27 [[ 6.22056537e-01 -7.82911631e-01 -9.74899138e-03 1.86509492e+02] [ 7.82820824e-01 6.22132890e-01 -1.19257621e-02 1.53416460e+02] [ 1.54019860e-02 -2.13215202e-04 9.99881360e-01 9.27231323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.52, Y:153.44, Z:9.27 [[ 6.24448994e-01 -7.81014287e-01 -8.95193003e-03 1.86523421e+02] [ 7.80937452e-01 6.24513140e-01 -1.09560473e-02 1.53442638e+02] [ 1.41474274e-02 -1.49404729e-04 9.99899909e-01 9.27349513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.54, Y:153.47, Z:9.27 [[ 6.25230195e-01 -7.80392293e-01 -8.66444600e-03 1.86539644e+02] [ 7.80320171e-01 6.25290215e-01 -1.06102709e-02 1.53465140e+02] [ 1.36979669e-02 -1.27180244e-04 9.99906170e-01 9.27437950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters Centerline goodness [0,1] 0.9999343084873434 Centerline is valid? [True, True] Translation: X:186.56, Y:153.49, Z:9.27 [[ 6.26427142e-01 -7.79437769e-01 -8.11166344e-03 1.86555837e+02] [ 7.79374400e-01 6.26479652e-01 -9.93934819e-03 1.53488708e+02] [ 1.28288955e-02 -9.57453416e-05 9.99917702e-01 9.27386036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.57, Y:153.51, Z:9.28 [[ 6.26925938e-01 -7.79041790e-01 -7.59987705e-03 1.86572407e+02] [ 7.78986070e-01 6.26971996e-01 -9.31770802e-03 1.53510608e+02] [ 1.20237940e-02 -7.86855205e-05 9.99927709e-01 9.27557438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.59, Y:153.53, Z:9.28 [[ 6.26838222e-01 -7.79115115e-01 -7.31302927e-03 1.86589397e+02] [ 7.79063470e-01 6.26880875e-01 -8.97094014e-03 1.53531614e+02] [ 1.15737932e-02 -7.39857888e-05 9.99933019e-01 9.27617403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.61, Y:153.55, Z:9.28 [[ 6.25952444e-01 -7.79835477e-01 -6.33763461e-03 1.86606598e+02] [ 7.79796688e-01 6.25984523e-01 -7.77831159e-03 1.53554355e+02] [ 1.00330645e-02 -7.32133261e-05 9.99949665e-01 9.27744017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.62, Y:153.58, Z:9.28 [[ 6.25148424e-01 -7.80480097e-01 -6.34559201e-03 1.86623996e+02] [ 7.80441195e-01 6.25180623e-01 -7.79291874e-03 1.53576006e+02] [ 1.00493591e-02 -8.06305455e-05 9.99949501e-01 9.27718759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.64, Y:153.60, Z:9.28 [[ 6.24098768e-01 -7.81322075e-01 -6.04514435e-03 1.86642081e+02] [ 7.81286767e-01 6.24128038e-01 -7.42831796e-03 1.53597217e+02] [ 9.57685288e-03 -8.69871983e-05 9.99954137e-01 9.27724606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.66, Y:153.62, Z:9.28 [[ 6.21354262e-01 -7.83510698e-01 -5.46506009e-03 1.86661960e+02] [ 7.83481894e-01 6.21378286e-01 -6.71923416e-03 1.53616746e+02] [ 8.66046152e-03 -1.06750851e-04 9.99962492e-01 9.27812831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.68, Y:153.64, Z:9.28 [[ 6.18420023e-01 -7.85829408e-01 -5.36815903e-03 1.86682013e+02] [ 7.85801672e-01 6.18443307e-01 -6.60365967e-03 1.53635852e+02] [ 8.50925199e-03 -1.34472974e-04 9.99963787e-01 9.27845808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.70, Y:153.66, Z:9.28 [[ 6.16864062e-01 -7.87049165e-01 -5.68683868e-03 1.86701149e+02] [ 7.87018053e-01 6.16890255e-01 -6.99984199e-03 1.53656871e+02] [ 9.01737516e-03 -1.57693742e-04 9.99959330e-01 9.27801947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:153.68, Z:9.28 [[ 6.15247838e-01 -7.88312867e-01 -5.73771429e-03 1.86720323e+02] [ 7.88281214e-01 6.15274567e-01 -7.06647629e-03 1.53677997e+02] [ 9.10086386e-03 -1.75298122e-04 9.99958571e-01 9.27747874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.74, Y:153.70, Z:9.28 [[ 6.13825560e-01 -7.89416338e-01 -6.32676569e-03 1.86739639e+02] [ 7.89377862e-01 6.13858129e-01 -7.79671597e-03 1.53698644e+02] [ 1.00385915e-02 -2.08385224e-04 9.99949590e-01 9.27671676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.76, Y:153.72, Z:9.28 [[ 6.10920632e-01 -7.91660745e-01 -7.01757257e-03 1.86760527e+02] [ 7.91613497e-01 6.10960876e-01 -8.65324907e-03 1.53718821e+02] [ 1.11378999e-02 -2.68756774e-04 9.99937936e-01 9.27529388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:153.74, Z:9.28 [[ 6.09470581e-01 -7.92774775e-01 -7.33257573e-03 1.86776125e+02] [ 7.92723215e-01 6.09514615e-01 -9.04641572e-03 1.53742676e+02] [ 1.16410823e-02 -2.99178771e-04 9.99932196e-01 9.27510646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.79, Y:153.76, Z:9.28 [[ 6.08955944e-01 -7.93170337e-01 -7.31267222e-03 1.86793410e+02] [ 7.93119043e-01 6.08999774e-01 -9.02544794e-03 1.53764746e+02] [ 1.16121333e-02 -3.03719422e-04 9.99932531e-01 9.27525158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:153.78, Z:9.27 [[ 6.08821605e-01 -7.93273232e-01 -7.33712768e-03 1.86814620e+02] [ 7.93221535e-01 6.08865739e-01 -9.06136474e-03 1.53782630e+02] [ 1.16554638e-02 -3.03213062e-04 9.99932027e-01 9.27441539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.83, Y:153.81, Z:9.28 [[ 6.08832738e-01 -7.93265665e-01 -7.23058537e-03 1.86828334e+02] [ 7.93215399e-01 6.08875601e-01 -8.93495341e-03 1.53807686e+02] [ 1.14903188e-02 -2.95519508e-04 9.99933940e-01 9.27521774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.84, Y:153.83, Z:9.28 [[ 6.09553406e-01 -7.92712241e-01 -7.20759409e-03 1.86844388e+02] [ 7.92662191e-01 6.09595952e-01 -8.91210118e-03 1.53830585e+02] [ 1.14584519e-02 -2.80785703e-04 9.99934310e-01 9.27602663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.86, Y:153.85, Z:9.28 [[ 6.09694391e-01 -7.92602100e-01 -7.39335253e-03 1.86861575e+02] [ 7.92549366e-01 6.09739151e-01 -9.14720467e-03 1.53851470e+02] [ 1.17581101e-02 -2.82597477e-04 9.99930831e-01 9.27609283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.88, Y:153.87, Z:9.28 [[ 6.09523645e-01 -7.92734930e-01 -7.22894536e-03 1.86878630e+02] [ 7.92684477e-01 6.09566448e-01 -8.94792459e-03 1.53873854e+02] [ 1.14998549e-02 -2.76301162e-04 9.99933836e-01 9.27619234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.89, Y:153.90, Z:9.28 [[ 6.09864600e-01 -7.92472203e-01 -7.27855387e-03 1.86894653e+02] [ 7.92420972e-01 6.09907972e-01 -9.01487479e-03 1.53895456e+02] [ 1.15832857e-02 -2.69825731e-04 9.99932875e-01 9.27654741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:153.92, Z:9.28 [[ 6.09818166e-01 -7.92511014e-01 -6.93521755e-03 1.86912087e+02] [ 7.92464455e-01 6.09857547e-01 -8.59413420e-03 1.53916693e+02] [ 1.10404408e-02 -2.55054245e-04 9.99939020e-01 9.27693996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:153.94, Z:9.28 [[ 6.09921117e-01 -7.92437689e-01 -6.22407258e-03 1.86928168e+02] [ 7.92400141e-01 6.09952833e-01 -7.71744775e-03 1.53939224e+02] [ 9.91198716e-03 -2.24921635e-04 9.99950850e-01 9.27792334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:153.96, Z:9.28 [[ 6.09815729e-01 -7.92518881e-01 -6.21285219e-03 1.86946035e+02] [ 7.92481425e-01 6.09847336e-01 -7.70826828e-03 1.53959806e+02] [ 9.89783951e-03 -2.22946713e-04 9.99950990e-01 9.27841760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.96, Y:153.98, Z:9.28 [[ 6.09365187e-01 -7.92867719e-01 -5.90331314e-03 1.86962381e+02] [ 7.92833877e-01 6.09393743e-01 -7.32872493e-03 1.53982756e+02] [ 9.40815151e-03 -2.14476806e-04 9.99955719e-01 9.27940512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.98, Y:154.01, Z:9.28 [[ 6.09025942e-01 -7.93128323e-01 -5.90475684e-03 1.86978247e+02] [ 7.93094434e-01 6.09054528e-01 -7.33495381e-03 1.54005834e+02] [ 9.41387850e-03 -2.15852628e-04 9.99955665e-01 9.27978542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.00, Y:154.03, Z:9.28 [[ 6.08566460e-01 -7.93480804e-01 -5.92255276e-03 1.86995689e+02] [ 7.93446683e-01 6.08595239e-01 -7.36180100e-03 1.54027879e+02] [ 9.44588519e-03 -2.19084668e-04 9.99955363e-01 9.27995059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.01, Y:154.05, Z:9.28 [[ 6.08255096e-01 -7.93718099e-01 -6.10884682e-03 1.87013375e+02] [ 7.93681759e-01 6.08285729e-01 -7.59845192e-03 1.54049239e+02] [ 9.74695316e-03 -2.26683195e-04 9.99952472e-01 9.28007301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.03, Y:154.07, Z:9.28 [[ 6.08003880e-01 -7.93910570e-01 -6.10644052e-03 1.87030530e+02] [ 7.93874221e-01 6.08034502e-01 -7.60038526e-03 1.54070849e+02] [ 9.74695271e-03 -2.26681988e-04 9.99952472e-01 9.28033031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.05, Y:154.09, Z:9.28 [[ 6.07524463e-01 -7.94277323e-01 -6.12868051e-03 1.87048557e+02] [ 7.94240680e-01 6.07555331e-01 -7.63295674e-03 1.54091778e+02] [ 9.78619696e-03 -2.30439433e-04 9.99952087e-01 9.28065821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.632755096 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:187.07, Y:154.11, Z:9.28 [[ 6.06917285e-01 -7.94735616e-01 -6.83444913e-03 1.87066118e+02] [ 7.94690031e-01 6.06955708e-01 -8.51610884e-03 1.54112017e+02] [ 1.09162629e-02 -2.62694936e-04 9.99940381e-01 9.27977891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.08, Y:154.13, Z:9.28 [[ 6.06777095e-01 -7.94841970e-01 -6.91373316e-03 1.87083513e+02] [ 7.94795271e-01 6.06816424e-01 -8.61997839e-03 1.54133548e+02] [ 1.10468874e-02 -2.64596969e-04 9.99938946e-01 9.28073129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.10, Y:154.16, Z:9.28 [[ 6.06292571e-01 -7.95210170e-01 -7.07837209e-03 1.87101111e+02] [ 7.95161182e-01 6.06333827e-01 -8.83093150e-03 1.54155741e+02] [ 1.13143030e-02 -2.74318551e-04 9.99935954e-01 9.28103134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.12, Y:154.18, Z:9.28 [[ 6.06011360e-01 -7.95424710e-01 -7.05430947e-03 1.87118603e+02] [ 7.95376005e-01 6.06052354e-01 -8.80651428e-03 1.54177014e+02] [ 1.12801999e-02 -2.73980791e-04 9.99936339e-01 9.28087827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.14, Y:154.20, Z:9.28 [[ 6.05803657e-01 -7.95581083e-01 -7.25739410e-03 1.87135188e+02] [ 7.95529473e-01 6.05847061e-01 -9.06615994e-03 1.54199814e+02] [ 1.16097362e-02 -2.81158060e-04 9.99932565e-01 9.28078656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.16, Y:154.22, Z:9.28 [[ 6.05542146e-01 -7.95779090e-01 -7.37225280e-03 1.87156329e+02] [ 7.95725780e-01 6.05586954e-01 -9.21546645e-03 1.54217390e+02] [ 1.17980156e-02 -2.85938277e-04 9.99930360e-01 9.28063766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.17, Y:154.24, Z:9.28 [[ 6.05489794e-01 -7.95816594e-01 -7.61960513e-03 1.87169078e+02] [ 7.95759580e-01 6.05537664e-01 -9.53041088e-03 1.54243079e+02] [ 1.21984170e-02 -2.92807255e-04 9.99925554e-01 9.28106267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.19, Y:154.27, Z:9.28 [[ 6.05024286e-01 -7.96166230e-01 -8.05902863e-03 1.87185460e+02] [ 7.96102393e-01 6.05077876e-01 -1.00867777e-02 1.54265421e+02] [ 1.29070917e-02 -3.13066516e-04 9.99916651e-01 9.28110180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.20, Y:154.29, Z:9.28 [[ 6.04726205e-01 -7.96390825e-01 -8.23839443e-03 1.87202897e+02] [ 7.96324048e-01 6.04782235e-01 -1.03179348e-02 1.54286130e+02] [ 1.31995432e-02 -3.20906026e-04 9.99912831e-01 9.28130803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.22, Y:154.31, Z:9.28 [[ 6.04849738e-01 -7.96294288e-01 -8.49713540e-03 1.87220887e+02] [ 7.96223152e-01 6.04909333e-01 -1.06485761e-02 1.54307957e+02] [ 1.36193968e-02 -3.24827456e-04 9.99907199e-01 9.28229524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.24, Y:154.33, Z:9.28 [[ 6.05169619e-01 -7.96050770e-01 -8.53837068e-03 1.87237899e+02] [ 7.95978825e-01 6.05229767e-01 -1.07069704e-02 1.54331091e+02] [ 1.36909681e-02 -3.16829056e-04 9.99906224e-01 9.28266189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.25, Y:154.35, Z:9.28 [[ 6.05778465e-01 -7.95589478e-01 -8.35672199e-03 1.87253796e+02] [ 7.95520433e-01 6.05836030e-01 -1.04854572e-02 1.54354034e+02] [ 1.34049227e-02 -2.96078942e-04 9.99910106e-01 9.28314137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.992755096 meters Centerline goodness [0,1] 0.9998679432155827 Centerline is valid? [True, True] Translation: X:187.27, Y:154.38, Z:9.28 [[ 6.07719681e-01 -7.94092471e-01 -9.69214355e-03 1.87270487e+02] [ 7.93999305e-01 6.07796888e-01 -1.21674358e-02 1.54376318e+02] [ 1.55529239e-02 -3.01165013e-04 9.99879001e-01 9.28056225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.29, Y:154.40, Z:9.28 [[ 6.09331002e-01 -7.92855964e-01 -9.75454153e-03 1.87286257e+02] [ 7.92761364e-01 6.09409016e-01 -1.22503115e-02 1.54399843e+02] [ 1.56572381e-02 -2.68529057e-04 9.99877382e-01 9.28263762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:154.42, Z:9.28 [[ 6.12136320e-01 -7.90680379e-01 -1.06613318e-02 1.87302258e+02] [ 7.90566893e-01 6.12229113e-01 -1.33977949e-02 1.54423593e+02] [ 1.71205513e-02 -2.27219119e-04 9.99853407e-01 9.28194176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.082755096 meters Centerline goodness [0,1] 0.999912087912088 Centerline is valid? [True, True] Translation: X:187.32, Y:154.45, Z:9.28 [[ 6.13387488e-01 -7.89702871e-01 -1.11877121e-02 1.87319205e+02] [ 7.89577578e-01 6.13489473e-01 -1.40682233e-02 1.54446052e+02] [ 1.79732599e-02 -2.04294471e-04 9.99838447e-01 9.28069221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.34, Y:154.47, Z:9.28 [[ 6.14801850e-01 -7.88603085e-01 -1.11292823e-02 1.87335688e+02] [ 7.88478761e-01 6.14902551e-01 -1.40034446e-02 1.54469136e+02] [ 1.78865837e-02 -1.65859078e-04 9.99840009e-01 9.28246692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.35, Y:154.49, Z:9.28 [[ 6.16067551e-01 -7.87617587e-01 -1.09229038e-02 1.87351939e+02] [ 7.87497540e-01 6.16164361e-01 -1.37515403e-02 1.54490889e+02] [ 1.75612590e-02 -1.29882050e-04 9.99845781e-01 9.28296068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.37, Y:154.51, Z:9.28 [[ 6.18176497e-01 -7.85966754e-01 -1.06808520e-02 1.87368319e+02] [ 7.85851592e-01 6.18268757e-01 -1.34543637e-02 1.54514170e+02] [ 1.71783197e-02 -7.63931626e-05 9.99852439e-01 9.28461295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:154.54, Z:9.29 [[ 6.18921824e-01 -7.85381713e-01 -1.05517661e-02 1.87385463e+02] [ 7.85269090e-01 6.19011762e-01 -1.33001570e-02 1.54536610e+02] [ 1.69773674e-02 -5.42183286e-05 9.99855873e-01 9.28581160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.232755096 meters Centerline goodness [0,1] 0.9999778579810907 Centerline is valid? [True, True] Translation: X:187.40, Y:154.56, Z:9.29 [[ 6.20036125e-01 -7.84508370e-01 -1.00906048e-02 1.87402580e+02] [ 7.84405132e-01 6.20118228e-01 -1.27268460e-02 1.54558517e+02] [ 1.62416852e-02 -2.40179605e-05 9.99868095e-01 9.28649177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.42, Y:154.58, Z:9.29 [[ 6.20200098e-01 -7.84381310e-01 -9.88934943e-03 1.87420041e+02] [ 7.84282006e-01 6.20278938e-01 -1.24809533e-02 1.54580024e+02] [ 1.59239817e-02 -1.53503378e-05 9.99873205e-01 9.28705255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:154.60, Z:9.29 [[ 6.19961691e-01 -7.84570927e-01 -9.79600275e-03 1.87437404e+02] [ 7.84473392e-01 6.20039079e-01 -1.23708061e-02 1.54600596e+02] [ 1.57796794e-02 -1.52776282e-05 9.99875493e-01 9.28735566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.46, Y:154.62, Z:9.29 [[ 6.19025055e-01 -7.85311872e-01 -9.65636588e-03 1.87456943e+02] [ 7.85217074e-01 6.19100366e-01 -1.22018019e-02 1.54621274e+02] [ 1.55604796e-02 -2.91222431e-05 9.99878928e-01 9.28762269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.48, Y:154.64, Z:9.29 [[ 6.17921033e-01 -7.86181496e-01 -9.60480320e-03 1.87475512e+02] [ 7.86087693e-01 6.17995674e-01 -1.21443960e-02 1.54642015e+02] [ 1.54834262e-02 -4.59398899e-05 9.99880124e-01 9.28792217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.50, Y:154.66, Z:9.29 [[ 6.15440468e-01 -7.88124066e-01 -9.66891314e-03 1.87496478e+02] [ 7.88029123e-01 6.15516408e-01 -1.22332675e-02 1.54661851e+02] [ 1.55927072e-02 -9.05372944e-05 9.99878422e-01 9.28828827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:154.68, Z:9.29 [[ 6.13763977e-01 -7.89432900e-01 -9.45917697e-03 1.87515185e+02] [ 7.89342076e-01 6.13836853e-01 -1.19751576e-02 1.54681388e+02] [ 1.52599748e-02 -1.16606019e-04 9.99883553e-01 9.28821322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.53, Y:154.70, Z:9.29 [[ 6.12069883e-01 -7.90749404e-01 -9.26496880e-03 1.87533835e+02] [ 7.90662317e-01 6.12139985e-01 -1.17362764e-02 1.54702578e+02] [ 1.49519114e-02 -1.42040371e-04 9.99888204e-01 9.28897254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.56, Y:154.72, Z:9.29 [[ 6.09370080e-01 -7.92833544e-01 -9.11468027e-03 1.87555230e+02] [ 7.92749390e-01 6.09438215e-01 -1.15528387e-02 1.54722746e+02] [ 1.47143125e-02 -1.85702949e-04 9.99891721e-01 9.28922110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.57, Y:154.74, Z:9.29 [[ 6.07642501e-01 -7.94156746e-01 -9.25498453e-03 1.87574553e+02] [ 7.94070032e-01 6.07712939e-01 -1.17374309e-02 1.54744775e+02] [ 1.49457338e-02 -2.16944001e-04 9.99888283e-01 9.28967164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.60, Y:154.76, Z:9.29 [[ 6.06284917e-01 -7.95191273e-01 -9.45723955e-03 1.87595702e+02] [ 7.95100766e-01 6.06358624e-01 -1.19996740e-02 1.54763811e+02] [ 1.52765148e-02 -2.44237072e-04 9.99883277e-01 9.28845182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:154.78, Z:9.29 [[ 6.04380803e-01 -7.96640050e-01 -9.40618760e-03 1.87614392e+02] [ 7.96550621e-01 6.04453931e-01 -1.19395776e-02 1.54784620e+02] [ 1.51971528e-02 -2.76453063e-04 9.99884478e-01 9.28901351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:154.81, Z:9.29 [[ 6.04096909e-01 -7.96861534e-01 -8.86681191e-03 1.87627990e+02] [ 7.96782002e-01 6.04161921e-01 -1.12612232e-02 1.54809668e+02] [ 1.43306257e-02 -2.62045989e-04 9.99897277e-01 9.29044561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.65, Y:154.83, Z:9.29 [[ 6.04002240e-01 -7.96931739e-01 -9.00542198e-03 1.87645155e+02] [ 7.96849610e-01 6.04069313e-01 -1.14439573e-02 1.54830653e+02] [ 1.45599519e-02 -2.63791132e-04 9.99893964e-01 9.29017580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.66, Y:154.85, Z:9.29 [[ 6.03604714e-01 -7.97229711e-01 -9.28106468e-03 1.87662184e+02] [ 7.97142418e-01 6.03676000e-01 -1.18005608e-02 1.54851434e+02] [ 1.50105136e-02 -2.75456235e-04 9.99887298e-01 9.28999079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.68, Y:154.87, Z:9.29 [[ 6.03312814e-01 -7.97447566e-01 -9.54082666e-03 1.87678663e+02] [ 7.97355221e-01 6.03388182e-01 -1.21389375e-02 1.54873665e+02] [ 1.54369883e-02 -2.83851373e-04 9.99880802e-01 9.29023717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.70, Y:154.90, Z:9.29 [[ 6.03345945e-01 -7.97412000e-01 -1.03813697e-02 1.87695730e+02] [ 7.97302508e-01 6.03435175e-01 -1.32174519e-02 1.54895115e+02] [ 1.68042384e-02 -3.02396077e-04 9.99858753e-01 9.28923452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters Centerline goodness [0,1] 0.9999557365439093 Centerline is valid? [True, True] Translation: X:187.71, Y:154.92, Z:9.29 [[ 6.03375677e-01 -7.97388209e-01 -1.04802961e-02 1.87712148e+02] [ 7.97276465e-01 6.03466615e-01 -1.33522723e-02 1.54917812e+02] [ 1.69714533e-02 -2.99257055e-04 9.99855930e-01 9.28886289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.73, Y:154.94, Z:9.29 [[ 6.04274091e-01 -7.96710135e-01 -1.02851620e-02 1.87727833e+02] [ 7.96602278e-01 6.04361554e-01 -1.31119048e-02 1.54941527e+02] [ 1.66623440e-02 -2.69999148e-04 9.99861137e-01 9.29045245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.74, Y:154.96, Z:9.29 [[ 6.04751299e-01 -7.96343044e-01 -1.06593407e-02 1.87744238e+02] [ 7.96226988e-01 6.04845175e-01 -1.35976873e-02 1.54964092e+02] [ 1.72756745e-02 -2.64035656e-04 9.99850730e-01 9.29024806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.76, Y:154.99, Z:9.29 [[ 6.05522573e-01 -7.95753381e-01 -1.09073719e-02 1.87761269e+02] [ 7.95631625e-01 6.05620752e-01 -1.39219906e-02 1.54985016e+02] [ 1.76842019e-02 -2.48170448e-04 9.99843592e-01 9.28934150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.78, Y:155.01, Z:9.29 [[ 6.07253881e-01 -7.94433202e-01 -1.08909225e-02 1.87776547e+02] [ 7.94311468e-01 6.07351501e-01 -1.39084795e-02 1.55009269e+02] [ 1.76639760e-02 -2.04806454e-04 9.99843959e-01 9.29082647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.892755096 meters Centerline goodness [0,1] 0.9999555268951101 Centerline is valid? [True, True] Translation: X:187.79, Y:155.03, Z:9.29 [[ 6.08161238e-01 -7.93733736e-01 -1.12545558e-02 1.87793012e+02] [ 7.93603446e-01 6.08265338e-01 -1.43822618e-02 1.55030861e+02] [ 1.82614426e-02 -1.84920174e-04 9.99833229e-01 9.29058553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9227550960001 meters Centerline goodness [0,1] 0.9999778280342335 Centerline is valid? [True, True] Translation: X:187.81, Y:155.05, Z:9.29 [[ 6.09639924e-01 -7.92599436e-01 -1.11936206e-02 1.87809329e+02] [ 7.92470193e-01 6.09742661e-01 -1.43136106e-02 1.55054499e+02] [ 1.81701877e-02 -1.44462179e-04 9.99834898e-01 9.29113498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.83, Y:155.08, Z:9.29 [[ 6.10182234e-01 -7.92184359e-01 -1.10264534e-02 1.87825789e+02] [ 7.92058722e-01 6.10281842e-01 -1.41086762e-02 1.55077004e+02] [ 1.79059169e-02 -1.24735025e-04 9.99839668e-01 9.29185970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.84, Y:155.10, Z:9.29 [[ 6.10516868e-01 -7.91928495e-01 -1.08817967e-02 1.87842520e+02] [ 7.91805934e-01 6.10613828e-01 -1.39325370e-02 1.55099317e+02] [ 1.76781486e-02 -1.10222298e-04 9.99843723e-01 9.29277939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.86, Y:155.12, Z:9.29 [[ 6.11254377e-01 -7.91363839e-01 -1.05528031e-02 1.87859380e+02] [ 7.91248353e-01 6.11345457e-01 -1.35194789e-02 1.55120803e+02] [ 1.71502350e-02 -8.60473618e-05 9.99852920e-01 9.29264980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0427550960001 meters Centerline goodness [0,1] 0.9999335445140997 Centerline is valid? [True, True] Translation: X:187.88, Y:155.14, Z:9.29 [[ 6.11246447e-01 -7.91367537e-01 -1.07332342e-02 1.87876850e+02] [ 7.91247924e-01 6.11340670e-01 -1.37589037e-02 1.55142493e+02] [ 1.74500123e-02 -8.25682900e-05 9.99847734e-01 9.29231269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.89, Y:155.16, Z:9.29 [[ 6.10708650e-01 -7.91787701e-01 -1.03528545e-02 1.87894638e+02] [ 7.91676338e-01 6.10796389e-01 -1.32795566e-02 1.55164264e+02] [ 1.68380757e-02 -8.61698309e-05 9.99858226e-01 9.29464429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.91, Y:155.19, Z:9.30 [[ 6.10358696e-01 -7.92058082e-01 -1.03081486e-02 1.87911988e+02] [ 7.91947574e-01 6.10445728e-01 -1.32307686e-02 1.55186462e+02] [ 1.67721024e-02 -8.79986001e-05 9.99859335e-01 9.29546508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.132755096 meters Centerline goodness [0,1] 0.999822391936594 Centerline is valid? [True, True] Translation: X:187.93, Y:155.21, Z:9.29 [[ 6.10224980e-01 -7.92158559e-01 -1.05019326e-02 1.87929356e+02] [ 7.92043726e-01 6.10315336e-01 -1.34880365e-02 1.55206960e+02] [ 1.70941541e-02 -8.72530457e-05 9.99853880e-01 9.29362868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.95, Y:155.23, Z:9.30 [[ 6.09750209e-01 -7.92535271e-01 -9.61911012e-03 1.87946694e+02] [ 7.92438867e-01 6.09826072e-01 -1.23614112e-02 1.55229470e+02] [ 1.56628385e-02 -8.51836358e-05 9.99877327e-01 9.29740005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.192755096 meters Centerline goodness [0,1] 0.9999556304907268 Centerline is valid? [True, True] Translation: X:187.96, Y:155.25, Z:9.30 [[ 6.09743669e-01 -7.92538505e-01 -9.76612243e-03 1.87963656e+02] [ 7.92439000e-01 6.09821869e-01 -1.25586041e-02 1.55251550e+02] [ 1.59087723e-02 -8.15269670e-05 9.99873444e-01 9.29728672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.222755096 meters Centerline goodness [0,1] 0.9999555160142348 Centerline is valid? [True, True] Translation: X:187.98, Y:155.27, Z:9.30 [[ 6.10105700e-01 -7.92259142e-01 -9.82282391e-03 1.87979056e+02] [ 7.92158308e-01 6.10184765e-01 -1.26399183e-02 1.55274750e+02] [ 1.60078283e-02 -6.95453751e-05 9.99871864e-01 9.29727568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.00, Y:155.30, Z:9.30 [[ 6.10005408e-01 -7.92339606e-01 -9.55772089e-03 1.87995031e+02] [ 7.92244032e-01 6.10080277e-01 -1.23065046e-02 1.55296678e+02] [ 1.55819080e-02 -6.50129517e-05 9.99878593e-01 9.29767416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.01, Y:155.32, Z:9.30 [[ 6.09976828e-01 -7.92361059e-01 -9.60320071e-03 1.88011640e+02] [ 7.92264471e-01 6.10052415e-01 -1.23716805e-02 1.55317922e+02] [ 1.56612936e-02 -6.18363100e-05 9.99877353e-01 9.29694920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.312755096 meters Centerline goodness [0,1] 0.9998445377218114 Centerline is valid? [True, True] Translation: X:188.03, Y:155.34, Z:9.30 [[ 6.09035870e-01 -7.93079221e-01 -1.00328790e-02 1.88029663e+02] [ 7.92973779e-01 6.09118497e-01 -1.29322023e-02 1.55339000e+02] [ 1.63674730e-02 -7.96348862e-05 9.99866041e-01 9.29557031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.342755096 meters Centerline goodness [0,1] 0.999822757887274 Centerline is valid? [True, True] Translation: X:188.05, Y:155.36, Z:9.30 [[ 6.08089479e-01 -7.93807109e-01 -9.87216511e-03 1.88047662e+02] [ 7.93704983e-01 6.08169602e-01 -1.27332431e-02 1.55360812e+02] [ 1.61116896e-02 -9.26354962e-05 9.99870194e-01 9.29616088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.372755096 meters Centerline goodness [0,1] 0.9999555555555556 Centerline is valid? [True, True] Translation: X:188.07, Y:155.38, Z:9.30 [[ 6.05567730e-01 -7.95740529e-01 -9.20512433e-03 1.88067304e+02] [ 7.95651850e-01 6.05637675e-01 -1.18802698e-02 1.55381824e+02] [ 1.50285823e-02 -1.29766192e-04 9.99887056e-01 9.29948674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.08, Y:155.40, Z:9.30 [[ 6.04131872e-01 -7.96833331e-01 -9.01800059e-03 1.88084938e+02] [ 7.96748233e-01 6.04199157e-01 -1.16461583e-02 1.55403698e+02] [ 1.47287154e-02 -1.49260635e-04 9.99891515e-01 9.30099474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.10, Y:155.42, Z:9.30 [[ 6.02861320e-01 -7.97798215e-01 -8.73137037e-03 1.88102374e+02] [ 7.97718442e-01 6.02924524e-01 -1.12829902e-02 1.55424183e+02] [ 1.42659067e-02 -1.63096817e-04 9.99898223e-01 9.30124841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.12, Y:155.45, Z:9.30 [[ 6.02612653e-01 -7.97986098e-01 -8.72801505e-03 1.88119121e+02] [ 7.97906307e-01 6.02675834e-01 -1.12855854e-02 1.55446107e+02] [ 1.42659040e-02 -1.63301718e-04 9.99898224e-01 9.30150574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.492755096 meters Centerline goodness [0,1] 0.9998885893179438 Centerline is valid? [True, True] Translation: X:188.14, Y:155.47, Z:9.30 [[ 6.00697930e-01 -7.99432310e-01 -8.36533721e-03 1.88137607e+02] [ 7.99359063e-01 6.00756147e-01 -1.08231725e-02 1.55468430e+02] [ 1.36779215e-02 -1.85450810e-04 9.99906436e-01 9.30170690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters Centerline goodness [0,1] 0.9999334870521461 Centerline is valid? [True, True] Translation: X:188.15, Y:155.49, Z:9.30 [[ 5.99783206e-01 -8.00120539e-01 -8.19937143e-03 1.88154440e+02] [ 8.00050159e-01 5.99839217e-01 -1.06139867e-02 1.55489509e+02] [ 1.34107733e-02 -1.93817477e-04 9.99910053e-01 9.30268027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.17, Y:155.51, Z:9.30 [[ 5.98269236e-01 -8.01258823e-01 -7.63015360e-03 1.88171530e+02] [ 8.01197915e-01 5.98317857e-01 -9.88149267e-03 1.55510395e+02] [ 1.24828903e-02 -2.01470086e-04 9.99922065e-01 9.30409180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.582755096 meters Centerline goodness [0,1] 0.9998218937150745 Centerline is valid? [True, True] Translation: X:188.19, Y:155.53, Z:9.30 [[ 5.97698510e-01 -8.01677568e-01 -8.34074633e-03 1.88188692e+02] [ 8.01604735e-01 5.97756661e-01 -1.08084509e-02 1.55532125e+02] [ 1.36506293e-02 -2.25786758e-04 9.99906800e-01 9.30297020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.612755096 meters Centerline goodness [0,1] 0.9997777728393964 Centerline is valid? [True, True] Translation: X:188.21, Y:155.55, Z:9.30 [[ 5.97132487e-01 -8.02098162e-01 -8.44582793e-03 1.88206034e+02] [ 8.02023434e-01 5.97192166e-01 -1.09511878e-02 1.55552882e+02] [ 1.38277099e-02 -2.34441891e-04 9.99904365e-01 9.30305057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.22, Y:155.57, Z:9.30 [[ 5.96051387e-01 -8.02903102e-01 -8.32788038e-03 1.88223512e+02] [ 8.02830439e-01 5.96109511e-01 -1.08045061e-02 1.55573993e+02] [ 1.36393001e-02 -2.45835030e-04 9.99906950e-01 9.30442050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.24, Y:155.60, Z:9.30 [[ 5.95495438e-01 -8.03313449e-01 -8.52556210e-03 1.88240216e+02] [ 8.03237246e-01 5.95556409e-01 -1.10675387e-02 1.55596925e+02] [ 1.39681558e-02 -2.57380232e-04 9.99902407e-01 9.30459170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.26, Y:155.62, Z:9.30 [[ 5.94432115e-01 -8.04099100e-01 -8.66591932e-03 1.88257170e+02] [ 8.04020353e-01 5.94495215e-01 -1.12565914e-02 1.55617835e+02] [ 1.42032626e-02 -2.76296098e-04 9.99899090e-01 9.30446383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.27, Y:155.64, Z:9.31 [[ 5.93693850e-01 -8.04646246e-01 -8.48710305e-03 1.88273968e+02] [ 8.04570684e-01 5.93754444e-01 -1.10306426e-02 1.55640525e+02] [ 1.39150203e-02 -2.79649644e-04 9.99903142e-01 9.30516010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.29, Y:155.66, Z:9.31 [[ 5.93227787e-01 -8.04991425e-01 -8.34255091e-03 1.88291738e+02] [ 8.04918364e-01 5.93286379e-01 -1.08489876e-02 1.55661243e+02] [ 1.36828638e-02 -2.79151504e-04 9.99906346e-01 9.30518169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7927550960001 meters Centerline goodness [0,1] 0.9998887083490996 Centerline is valid? [True, True] Translation: X:188.31, Y:155.68, Z:9.30 [[ 5.92718473e-01 -8.05362274e-01 -8.74181803e-03 1.88308188e+02] [ 8.05282004e-01 5.92782860e-01 -1.13743348e-02 1.55683956e+02] [ 1.43424600e-02 -2.97850373e-04 9.99897097e-01 9.30491078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.822755096 meters Centerline goodness [0,1] 0.9999335710015279 Centerline is valid? [True, True] Translation: X:188.33, Y:155.71, Z:9.31 [[ 5.92269517e-01 -8.05694341e-01 -8.57016516e-03 1.88325411e+02] [ 8.05617126e-01 5.92331446e-01 -1.11581445e-02 1.55705261e+02] [ 1.40664322e-02 -2.95642963e-04 9.99901019e-01 9.30540429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.852755096 meters Centerline goodness [0,1] 0.9998446274387943 Centerline is valid? [True, True] Translation: X:188.34, Y:155.73, Z:9.31 [[ 5.92275127e-01 -8.05688645e-01 -8.71670470e-03 1.88340720e+02] [ 8.05608658e-01 5.92339193e-01 -1.13565692e-02 1.55728638e+02] [ 1.43131047e-02 -2.96039280e-04 9.99897518e-01 9.30581489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters Centerline goodness [0,1] 0.9998668767056422 Centerline is valid? [True, True] Translation: X:188.36, Y:155.75, Z:9.31 [[ 5.92241638e-01 -8.05713639e-01 -8.68188369e-03 1.88357809e+02] [ 8.05634184e-01 5.92305198e-01 -1.13187041e-02 1.55749354e+02] [ 1.42619591e-02 -2.91014447e-04 9.99898251e-01 9.30547036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9127550960001 meters Centerline goodness [0,1] 0.9998889012331963 Centerline is valid? [True, True] Translation: X:188.37, Y:155.77, Z:9.31 [[ 5.92200797e-01 -8.05744761e-01 -8.57887598e-03 1.88373739e+02] [ 8.05667080e-01 5.92262864e-01 -1.11918215e-02 1.55771939e+02] [ 1.40987012e-02 -2.83912338e-04 9.99900568e-01 9.30571198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.942755096 meters Centerline goodness [0,1] 0.9999555357936861 Centerline is valid? [True, True] Translation: X:188.39, Y:155.80, Z:9.31 [[ 5.91988799e-01 -8.05902847e-01 -8.35845909e-03 1.88388359e+02] [ 8.05829028e-01 5.92047739e-01 -1.09111111e-02 1.55796480e+02] [ 1.37419023e-02 -2.76233418e-04 9.99905537e-01 9.30773153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.972755096 meters Centerline goodness [0,1] 0.9998224668234876 Centerline is valid? [True, True] Translation: X:188.41, Y:155.82, Z:9.31 [[ 5.91937637e-01 -8.05938916e-01 -8.50284546e-03 1.88405135e+02] [ 8.05862428e-01 5.91998638e-01 -1.11067631e-02 1.55817781e+02] [ 1.39850455e-02 -2.77612619e-04 9.99902166e-01 9.30709223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters Centerline goodness [0,1] 0.9998444893697376 Centerline is valid? [True, True] Translation: X:188.42, Y:155.84, Z:9.31 [[ 5.91496765e-01 -8.06258882e-01 -8.84266116e-03 1.88421477e+02] [ 8.06176088e-01 5.91562787e-01 -1.15578814e-02 1.55840328e+02] [ 1.45496338e-02 -2.92292496e-04 9.99894106e-01 9.30685004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0327550960001 meters Centerline goodness [0,1] 0.999911180193183 Centerline is valid? [True, True] Translation: X:188.44, Y:155.86, Z:9.31 [[ 5.91015363e-01 -8.06607352e-01 -9.24231619e-03 1.88437981e+02] [ 8.06516830e-01 5.91087543e-01 -1.20880233e-02 1.55861998e+02] [ 1.52133064e-02 -3.09876093e-04 9.99884223e-01 9.30604217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.062755096 meters Centerline goodness [0,1] 0.9999111525732436 Centerline is valid? [True, True] Translation: X:188.45, Y:155.89, Z:9.31 [[ 5.90831181e-01 -8.06736323e-01 -9.74785287e-03 1.88453672e+02] [ 8.06635514e-01 5.90911499e-01 -1.27572615e-02 1.55885301e+02] [ 1.60518645e-02 -3.25576463e-04 9.99871108e-01 9.30526374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.092755096 meters Centerline goodness [0,1] 0.9998000888494003 Centerline is valid? [True, True] Translation: X:188.47, Y:155.91, Z:9.30 [[ 5.91346104e-01 -8.06341527e-01 -1.10962281e-02 1.88469448e+02] [ 8.06210645e-01 5.91450097e-01 -1.45319705e-02 1.55909058e+02] [ 1.82805964e-02 -3.52473094e-04 9.99832834e-01 9.30273954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters Centerline goodness [0,1] 0.9999555861517622 Centerline is valid? [True, True] Translation: X:188.48, Y:155.93, Z:9.30 [[ 5.91154245e-01 -8.06485331e-01 -1.08659782e-02 1.88485000e+02] [ 8.06359682e-01 5.91254000e-01 -1.42397653e-02 1.55931418e+02] [ 1.79087149e-02 -3.43989056e-04 9.99839567e-01 9.30275913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.50, Y:155.96, Z:9.30 [[ 5.92343017e-01 -8.05601805e-01 -1.16396771e-02 1.88498741e+02] [ 8.05457259e-01 5.92457273e-01 -1.52638060e-02 1.55956876e+02] [ 1.91925610e-02 -3.33853466e-04 9.99815750e-01 9.30116457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.51, Y:155.98, Z:9.30 [[ 5.92813637e-01 -8.05251302e-01 -1.19303472e-02 1.88514887e+02] [ 8.05099181e-01 5.92933585e-01 -1.56547958e-02 1.55980263e+02] [ 1.96799482e-02 -3.24736291e-04 9.99806278e-01 9.30064456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.212755096 meters Centerline goodness [0,1] 0.9998672213862088 Centerline is valid? [True, True] Translation: X:188.53, Y:156.00, Z:9.30 [[ 5.93720375e-01 -8.04574386e-01 -1.24969601e-02 1.88531485e+02] [ 8.04407101e-01 5.93851801e-01 -1.64089906e-02 1.56003051e+02] [ 2.06235958e-02 -3.10291403e-04 9.99787263e-01 9.29926956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters Centerline goodness [0,1] 0.9998675496688741 Centerline is valid? [True, True] Translation: X:188.55, Y:156.03, Z:9.30 [[ 5.95314095e-01 -8.03386290e-01 -1.30995190e-02 1.88546190e+02] [ 8.03201953e-01 5.95458137e-01 -1.72113334e-02 1.56027328e+02] [ 2.16275644e-02 -2.75409865e-04 9.99766059e-01 9.29827445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.272755096 meters Centerline goodness [0,1] 0.9997793176501744 Centerline is valid? [True, True] Translation: X:188.56, Y:156.05, Z:9.30 [[ 5.96429086e-01 -8.02555214e-01 -1.33219434e-02 1.88561227e+02] [ 8.02364105e-01 5.96577799e-01 -1.75149704e-02 1.56051533e+02] [ 2.20043065e-02 -2.42611434e-04 9.99757847e-01 9.29871497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.302755096 meters Centerline goodness [0,1] 0.999779638607316 Centerline is valid? [True, True] Translation: X:188.58, Y:156.08, Z:9.30 [[ 5.98692749e-01 -8.00862740e-01 -1.36332184e-02 1.88576010e+02] [ 8.00661940e-01 5.98847927e-01 -1.79337270e-02 1.56075015e+02] [ 2.25266783e-02 -1.78806735e-04 9.99746226e-01 9.29828882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.59, Y:156.10, Z:9.30 [[ 5.99209977e-01 -8.00489237e-01 -1.28212739e-02 1.88591069e+02] [ 8.00311368e-01 5.99347111e-01 -1.68746821e-02 1.56099565e+02] [ 2.11923949e-02 -1.49533380e-04 9.99775405e-01 9.30037809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters Centerline goodness [0,1] 0.9999558274620668 Centerline is valid? [True, True] Translation: X:188.61, Y:156.12, Z:9.30 [[ 6.00449427e-01 -7.99557161e-01 -1.29935186e-02 1.88606929e+02] [ 7.99374067e-01 6.00589988e-01 -1.71104758e-02 1.56121047e+02] [ 2.14845807e-02 -1.12706402e-04 9.99769173e-01 9.29849630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.392755096 meters Centerline goodness [0,1] 0.999845600723471 Centerline is valid? [True, True] Translation: X:188.62, Y:156.15, Z:9.30 [[ 6.02623554e-01 -7.97922352e-01 -1.28363810e-02 1.88622404e+02] [ 7.97743089e-01 6.02760249e-01 -1.69128945e-02 1.56145035e+02] [ 2.12324367e-02 -4.80256256e-05 9.99774565e-01 9.30028410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:156.17, Z:9.30 [[ 6.02568114e-01 -7.97976974e-01 -1.20173717e-02 1.88638643e+02] [ 7.97819674e-01 6.02687935e-01 -1.58436421e-02 1.56168079e+02] [ 1.98855865e-02 -4.08220725e-05 9.99802261e-01 9.30270984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.452755096 meters Centerline goodness [0,1] 0.9999336547392631 Centerline is valid? [True, True] Translation: X:188.66, Y:156.19, Z:9.30 [[ 6.03976203e-01 -7.96910927e-01 -1.20715260e-02 1.88656728e+02] [ 7.96751786e-01 6.04096826e-01 -1.59253530e-02 1.56189918e+02] [ 1.99834584e-02 5.24285543e-07 9.99800311e-01 9.30382682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.67, Y:156.21, Z:9.31 [[ 6.04072876e-01 -7.96843910e-01 -1.16509495e-02 1.88673469e+02] [ 7.96695463e-01 6.04185223e-01 -1.53803486e-02 1.56212060e+02] [ 1.92950687e-02 8.59280553e-06 9.99813833e-01 9.30521478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.512755096 meters Centerline goodness [0,1] 0.99988937563609 Centerline is valid? [True, True] Translation: X:188.69, Y:156.23, Z:9.31 [[ 6.04398965e-01 -7.96595874e-01 -1.17006428e-02 1.88691263e+02] [ 7.96445916e-01 6.04512211e-01 -1.54560435e-02 1.56234034e+02] [ 1.93854019e-02 2.26874630e-05 9.99812085e-01 9.30520585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.71, Y:156.26, Z:9.31 [[ 6.04604706e-01 -7.96450557e-01 -1.09389138e-02 1.88708014e+02] [ 7.96319312e-01 6.04703654e-01 -1.44583609e-02 1.56255381e+02] [ 1.81301707e-02 3.07247724e-05 9.99835634e-01 9.30742286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.572755096 meters Centerline goodness [0,1] 0.9998451395955931 Centerline is valid? [True, True] Translation: X:188.73, Y:156.28, Z:9.31 [[ 6.04717107e-01 -7.96365809e-01 -1.08958361e-02 1.88725856e+02] [ 7.96235424e-01 6.04815259e-01 -1.44101373e-02 1.56276912e+02] [ 1.80657086e-02 3.84058594e-05 9.99836801e-01 9.30710306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.602755096 meters Centerline goodness [0,1] 0.9998664975635805 Centerline is valid? [True, True] Translation: X:188.74, Y:156.30, Z:9.31 [[ 6.04294749e-01 -7.96687622e-01 -1.08023065e-02 1.88744992e+02] [ 7.96559353e-01 6.04391291e-01 -1.42956285e-02 1.56298063e+02] [ 1.79179702e-02 3.40949294e-05 9.99839460e-01 9.30826702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.632755096 meters Centerline goodness [0,1] 0.9999557198839861 Centerline is valid? [True, True] Translation: X:188.76, Y:156.32, Z:9.31 [[ 6.03516911e-01 -7.97285089e-01 -1.01894580e-02 1.88761872e+02] [ 7.97170902e-01 6.03602921e-01 -1.34931931e-02 1.56319231e+02] [ 1.69083083e-02 2.06307562e-05 9.99857044e-01 9.30989701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6627550960001 meters Centerline goodness [0,1] 0.9999110241124656 Centerline is valid? [True, True] Translation: X:188.78, Y:156.34, Z:9.31 [[ 6.02318249e-01 -7.98193747e-01 -9.97343681e-03 1.88781338e+02] [ 7.98084333e-01 6.02400816e-01 -1.32156989e-02 1.56340124e+02] [ 1.65566947e-02 4.12951754e-07 9.99862929e-01 9.30964798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.80, Y:156.36, Z:9.31 [[ 6.00987017e-01 -7.99198794e-01 -9.79247600e-03 1.88799306e+02] [ 7.99093313e-01 6.01066791e-01 -1.29842145e-02 1.56361029e+02] [ 1.62629007e-02 -2.17577683e-05 9.99867750e-01 9.31109816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.722755096 meters Centerline goodness [0,1] 0.9999333259251028 Centerline is valid? [True, True] Translation: X:188.82, Y:156.38, Z:9.31 [[ 5.98876301e-01 -8.00782551e-01 -9.72018658e-03 1.88820611e+02] [ 8.00678695e-01 5.98955175e-01 -1.28966999e-02 1.56380154e+02] [ 1.61494083e-02 -5.92183683e-05 9.99869588e-01 9.31212696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.84, Y:156.40, Z:9.31 [[ 5.97311306e-01 -8.01954006e-01 -9.43270471e-03 1.88838266e+02] [ 8.01856227e-01 5.97385776e-01 -1.25230343e-02 1.56401680e+02] [ 1.56778611e-02 -8.35230372e-05 9.99877091e-01 9.31402198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7827550960001 meters Centerline goodness [0,1] 0.9999333733093477 Centerline is valid? [True, True] Translation: X:188.85, Y:156.42, Z:9.31 [[ 5.97404075e-01 -8.01890904e-01 -8.90786315e-03 1.88853898e+02] [ 8.01803587e-01 5.97470479e-01 -1.18335904e-02 1.56424464e+02] [ 1.48114338e-02 -7.29214914e-05 9.99890302e-01 9.31466955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.87, Y:156.45, Z:9.32 [[ 5.96882653e-01 -8.02286485e-01 -8.21548153e-03 1.88869669e+02] [ 8.02212159e-01 5.96939185e-01 -1.09206729e-02 1.56446157e+02] [ 1.36656511e-02 -7.21989704e-05 9.99906618e-01 9.31555116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.89, Y:156.47, Z:9.32 [[ 5.96439056e-01 -8.02613924e-01 -8.44640654e-03 1.88886546e+02] [ 8.02535285e-01 5.96498855e-01 -1.12353566e-02 1.56467908e+02] [ 1.40559255e-02 -7.73337889e-05 9.99901208e-01 9.31590447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.872755096 meters Centerline goodness [0,1] 0.9999778432632442 Centerline is valid? [True, True] Translation: X:188.90, Y:156.49, Z:9.32 [[ 5.94459503e-01 -8.04082848e-01 -8.28694977e-03 1.88904570e+02] [ 8.04007196e-01 5.94517252e-01 -1.10302055e-02 1.56489522e+02] [ 1.37959337e-02 -1.05756759e-04 9.99904826e-01 9.31694720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters Centerline goodness [0,1] 0.9998451224638804 Centerline is valid? [True, True] Translation: X:188.92, Y:156.51, Z:9.32 [[ 5.93098048e-01 -8.05087125e-01 -8.33224903e-03 1.88923549e+02] [ 8.05010655e-01 5.93156560e-01 -1.10968516e-02 1.56509604e+02] [ 1.38762605e-02 -1.26028252e-04 9.99903712e-01 9.31617646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.94, Y:156.53, Z:9.32 [[ 5.89924895e-01 -8.07428082e-01 -6.96493755e-03 1.88941377e+02] [ 8.07374767e-01 5.89965991e-01 -9.27984887e-03 1.56531259e+02] [ 1.16018869e-02 -1.48900958e-04 9.99932685e-01 9.32122090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.962755096 meters Centerline goodness [0,1] 0.9998227775193284 Centerline is valid? [True, True] Translation: X:188.96, Y:156.55, Z:9.32 [[ 5.88040609e-01 -8.08800205e-01 -7.10422195e-03 1.88959783e+02] [ 8.08744764e-01 5.88083495e-01 -9.47146648e-03 1.56553482e+02] [ 1.18383997e-02 -1.75895382e-04 9.99929908e-01 9.32052644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.98, Y:156.57, Z:9.32 [[ 5.86675252e-01 -8.09796534e-01 -6.45928348e-03 1.88978106e+02] [ 8.09750710e-01 5.86710783e-01 -8.61656596e-03 1.56573818e+02] [ 1.07673965e-02 -1.75283374e-04 9.99942015e-01 9.32235639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters Centerline goodness [0,1] 0.9998447480482612 Centerline is valid? [True, True] Translation: X:189.00, Y:156.60, Z:9.32 [[ 5.83463020e-01 -8.12113257e-01 -6.55455104e-03 1.88995236e+02] [ 8.12066159e-01 5.83499794e-01 -8.74889687e-03 1.56597013e+02] [ 1.09296743e-02 -2.18071302e-04 9.99940246e-01 9.32206867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.01, Y:156.62, Z:9.32 [[ 5.82096075e-01 -8.13099932e-01 -5.71487727e-03 1.89013088e+02] [ 8.13064137e-01 5.82124092e-01 -7.63223046e-03 1.56619587e+02] [ 9.53253382e-03 -2.03870360e-04 9.99954544e-01 9.32485575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.03, Y:156.64, Z:9.33 [[ 5.79748565e-01 -8.14778364e-01 -5.27439135e-03 1.89031828e+02] [ 8.14747907e-01 5.79772519e-01 -7.04799715e-03 1.56640075e+02] [ 8.80050274e-03 -2.11233079e-04 9.99961253e-01 9.32663204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:156.66, Z:9.33 [[ 5.78693753e-01 -8.15528143e-01 -5.23337651e-03 1.89049509e+02] [ 8.15498152e-01 5.78717375e-01 -6.99745847e-03 1.56662196e+02] [ 8.73527023e-03 -2.18423369e-04 9.99961823e-01 9.32713796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:156.68, Z:9.33 [[ 5.77942084e-01 -8.16061649e-01 -5.13155525e-03 1.89066735e+02] [ 8.16032799e-01 5.77964823e-01 -6.86540850e-03 1.56684922e+02] [ 8.56845500e-03 -2.19708905e-04 9.99963266e-01 9.32732492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.08, Y:156.71, Z:9.33 [[ 5.77179721e-01 -8.16602487e-01 -4.89370834e-03 1.89084214e+02] [ 8.16576234e-01 5.77200427e-01 -6.55142551e-03 1.56705541e+02] [ 8.17456091e-03 -2.14735982e-04 9.99966565e-01 9.32790689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.10, Y:156.73, Z:9.33 [[ 5.76993499e-01 -8.16737005e-01 -4.37806953e-03 1.89100692e+02] [ 8.16715982e-01 5.77010076e-01 -5.86320807e-03 1.56727123e+02] [ 7.31488923e-03 -1.92606417e-04 9.99973227e-01 9.32857353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.12, Y:156.75, Z:9.33 [[ 5.76827099e-01 -8.16855394e-01 -4.21466501e-03 1.89117395e+02] [ 8.16835888e-01 5.76842467e-01 -5.64808011e-03 1.56750187e+02] [ 7.04486247e-03 -1.84723972e-04 9.99975168e-01 9.32917642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.13, Y:156.77, Z:9.33 [[ 5.77015107e-01 -8.16723172e-01 -4.10208021e-03 1.89133507e+02] [ 8.16704668e-01 5.77029661e-01 -5.50052266e-03 1.56773494e+02] [ 6.85942627e-03 -1.76303378e-04 9.99976458e-01 9.33002104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.15, Y:156.80, Z:9.33 [[ 5.78093969e-01 -8.15958516e-01 -4.36604983e-03 1.89149667e+02] [ 8.15937503e-01 5.78110430e-01 -5.85859989e-03 1.56797028e+02] [ 7.30443342e-03 -1.75602535e-04 9.99973307e-01 9.33052061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:156.82, Z:9.33 [[ 5.78700854e-01 -8.15528377e-01 -4.33440798e-03 1.89165316e+02] [ 8.15507631e-01 5.78717062e-01 -5.81947136e-03 1.56820924e+02] [ 7.25433989e-03 -1.67009737e-04 9.99973673e-01 9.33091985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.18, Y:156.84, Z:9.33 [[ 5.78446710e-01 -8.15708669e-01 -4.33259543e-03 1.89181658e+02] [ 8.15687917e-01 5.78462912e-01 -5.82082036e-03 1.56843162e+02] [ 7.25433940e-03 -1.67011357e-04 9.99973673e-01 9.33117716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:156.87, Z:9.33 [[ 5.80385281e-01 -8.14328933e-01 -4.61677332e-03 1.89197005e+02] [ 8.14305290e-01 5.80403622e-01 -6.20728137e-03 1.56865866e+02] [ 7.73436077e-03 -1.56848194e-04 9.99970077e-01 9.33171531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.21, Y:156.89, Z:9.33 [[ 5.81322549e-01 -8.13659222e-01 -4.77136029e-03 1.89214052e+02] [ 8.13633926e-01 5.81342110e-01 -6.41761623e-03 1.56887322e+02] [ 7.99554528e-03 -1.51435582e-04 9.99968024e-01 9.33183678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:156.91, Z:9.33 [[ 5.82383196e-01 -8.12899806e-01 -4.87019857e-03 1.89227152e+02] [ 8.12873389e-01 5.82403542e-01 -6.55497407e-03 1.56912103e+02] [ 8.16495805e-03 -1.41348069e-04 9.99966656e-01 9.33102134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.24, Y:156.93, Z:9.33 [[ 5.82475812e-01 -8.12832659e-01 -4.99967952e-03 1.89243134e+02] [ 8.12804780e-01 5.82497252e-01 -6.73361088e-03 1.56933631e+02] [ 8.38559841e-03 -1.41597940e-04 9.99964830e-01 9.33108713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:156.96, Z:9.33 [[ 5.82501545e-01 -8.12814066e-01 -5.02436436e-03 1.89259579e+02] [ 8.12785871e-01 5.82523197e-01 -6.77144194e-03 1.56955925e+02] [ 8.43073204e-03 -1.39356967e-04 9.99964451e-01 9.33121012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.27, Y:156.98, Z:9.33 [[ 5.82460811e-01 -8.12840556e-01 -5.44379020e-03 1.89274771e+02] [ 8.12807413e-01 5.82486230e-01 -7.34166797e-03 1.56979523e+02] [ 9.13853831e-03 -1.48519159e-04 9.99958232e-01 9.32978069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:157.00, Z:9.33 [[ 5.81616916e-01 -8.13441873e-01 -5.83803215e-03 1.89292986e+02] [ 8.13403732e-01 5.81646192e-01 -7.87888687e-03 1.57000175e+02] [ 9.80468566e-03 -1.66183253e-04 9.99951919e-01 9.32938706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.592755096 meters Centerline goodness [0,1] 0.9998889924958927 Centerline is valid? [True, True] Translation: X:189.31, Y:157.02, Z:9.33 [[ 5.80697260e-01 -8.14095447e-01 -6.26864752e-03 1.89309826e+02] [ 8.14051453e-01 5.80731064e-01 -8.46542548e-03 1.57021271e+02] [ 1.05320627e-02 -1.87152243e-04 9.99944519e-01 9.32788372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.33, Y:157.04, Z:9.33 [[ 5.78936761e-01 -8.15346936e-01 -6.44989916e-03 1.89325867e+02] [ 8.15300376e-01 5.78972650e-01 -8.71596260e-03 1.57044450e+02] [ 1.08408486e-02 -2.12614058e-04 9.99941214e-01 9.32809198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:157.07, Z:9.33 [[ 5.77511154e-01 -8.16353366e-01 -6.93164869e-03 1.89343503e+02] [ 8.16299593e-01 5.77552700e-01 -9.37306032e-03 1.57067201e+02] [ 1.16551218e-02 -2.45255116e-04 9.99932047e-01 9.32740499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.682755096 meters Centerline goodness [0,1] 0.9999114005360268 Centerline is valid? [True, True] Translation: X:189.36, Y:157.09, Z:9.33 [[ 5.75009471e-01 -8.18108342e-01 -7.92780847e-03 1.89361778e+02] [ 8.18038070e-01 5.75064032e-01 -1.07273121e-02 1.57089062e+02] [ 1.33351010e-02 -3.16943112e-04 9.99911033e-01 9.32539921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.38, Y:157.11, Z:9.33 [[ 5.73786018e-01 -8.18966344e-01 -7.98335830e-03 1.89378625e+02] [ 8.18895076e-01 5.73841455e-01 -1.08092089e-02 1.57112050e+02] [ 1.34335602e-02 -3.35359883e-04 9.99909709e-01 9.32614300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters Centerline goodness [0,1] 0.9998448478400603 Centerline is valid? [True, True] Translation: X:189.40, Y:157.13, Z:9.32 [[ 5.71964714e-01 -8.20223233e-01 -9.49816292e-03 1.89396215e+02] [ 8.20122381e-01 5.72043412e-01 -1.28691832e-02 1.57134970e+02] [ 1.59889645e-02 -4.28937325e-04 9.99872076e-01 9.32310392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.772755096 meters Centerline goodness [0,1] 0.9998668205629051 Centerline is valid? [True, True] Translation: X:189.41, Y:157.16, Z:9.32 [[ 5.71139335e-01 -8.20793833e-01 -9.86629240e-03 1.89413495e+02] [ 8.20684959e-01 5.71224364e-01 -1.33762576e-02 1.57156586e+02] [ 1.66150163e-02 -4.57410930e-04 9.99861856e-01 9.32241672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.802755096 meters Centerline goodness [0,1] 0.9999333229613495 Centerline is valid? [True, True] Translation: X:189.43, Y:157.18, Z:9.32 [[ 5.70646818e-01 -8.21130756e-01 -1.03193918e-02 1.89429532e+02] [ 8.21011552e-01 5.70739912e-01 -1.39994111e-02 1.57179393e+02] [ 1.73850358e-02 -4.83620528e-04 9.99848752e-01 9.32300196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.45, Y:157.20, Z:9.32 [[ 5.70549540e-01 -8.21194859e-01 -1.05936923e-02 1.89445364e+02] [ 8.21069070e-01 5.70647668e-01 -1.43813101e-02 1.57201410e+02] [ 1.78551237e-02 -4.92903205e-04 9.99840463e-01 9.32353770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters Centerline goodness [0,1] 0.9999111703308905 Centerline is valid? [True, True] Translation: X:189.46, Y:157.22, Z:9.32 [[ 5.70322882e-01 -8.21348404e-01 -1.08907854e-02 1.89463407e+02] [ 8.21215299e-01 5.70426633e-01 -1.47949227e-02 1.57221208e+02] [ 1.83641802e-02 -5.05796598e-04 9.99831236e-01 9.32174318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.48, Y:157.24, Z:9.32 [[ 5.71674875e-01 -8.20413902e-01 -1.04339517e-02 1.89478453e+02] [ 8.20291419e-01 5.71769907e-01 -1.41831340e-02 1.57243808e+02] [ 1.76018599e-02 -4.50739710e-04 9.99844974e-01 9.32371107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9227550960001 meters Centerline goodness [0,1] 0.9998892629340893 Centerline is valid? [True, True] Translation: X:189.49, Y:157.27, Z:9.32 [[ 5.72101158e-01 -8.20113038e-01 -1.07177165e-02 1.89490607e+02] [ 8.19983589e-01 5.72201366e-01 -1.45777498e-02 1.57270371e+02] [ 1.80880947e-02 -4.48404076e-04 9.99836297e-01 9.32457860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.952755096 meters Centerline goodness [0,1] 0.9998892899054536 Centerline is valid? [True, True] Translation: X:189.51, Y:157.30, Z:9.33 [[ 5.72877540e-01 -8.19571191e-01 -1.06952505e-02 1.89505542e+02] [ 8.19442022e-01 5.72977210e-01 -1.45564243e-02 1.57295055e+02] [ 1.80581608e-02 -4.25089214e-04 9.99836848e-01 9.32523233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.982755096 meters Centerline goodness [0,1] 0.9998677306997046 Centerline is valid? [True, True] Translation: X:189.52, Y:157.32, Z:9.33 [[ 5.75269787e-01 -8.17894425e-01 -1.06481136e-02 1.89519398e+02] [ 8.17765937e-01 5.75368209e-01 -1.45016113e-02 1.57320190e+02] [ 1.79873731e-02 -3.65325712e-04 9.99838147e-01 9.32592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.54, Y:157.34, Z:9.33 [[ 5.76817406e-01 -8.16810157e-01 -1.01413653e-02 1.89535304e+02] [ 8.16693313e-01 5.76906466e-01 -1.38189326e-02 1.57342105e+02] [ 1.71380637e-02 -3.11384388e-04 9.99853084e-01 9.32693275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:157.37, Z:9.33 [[ 5.79458049e-01 -8.14937821e-01 -1.02331541e-02 1.89547141e+02] [ 8.14818428e-01 5.79548344e-01 -1.39515580e-02 1.57368780e+02] [ 1.73002598e-02 -2.53819931e-04 9.99850307e-01 9.32787718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.56, Y:157.39, Z:9.33 [[ 5.80664414e-01 -8.14078359e-01 -1.02597852e-02 1.89562174e+02] [ 8.13958051e-01 5.80755005e-01 -1.39969709e-02 1.57392639e+02] [ 1.73530527e-02 -2.23491859e-04 9.99849399e-01 9.32803778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.58, Y:157.42, Z:9.33 [[ 5.82850639e-01 -8.12508775e-01 -1.07062751e-02 1.89575747e+02] [ 8.12377323e-01 5.82948934e-01 -1.46159577e-02 1.57416905e+02] [ 1.81168055e-02 -1.78614840e-04 9.99835861e-01 9.32688528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.132755096 meters Centerline goodness [0,1] 0.9997135869924431 Centerline is valid? [True, True] Translation: X:189.59, Y:157.44, Z:9.32 [[ 5.83383588e-01 -8.12106471e-01 -1.21106764e-02 1.89590194e+02] [ 8.11937943e-01 5.83509251e-01 -1.65447848e-02 1.57439371e+02] [ 2.05028185e-02 -1.81161736e-04 9.99789779e-01 9.32331852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.60, Y:157.46, Z:9.33 [[ 5.84611883e-01 -8.11236485e-01 -1.11495668e-02 1.89603537e+02] [ 8.11093306e-01 5.84718179e-01 -1.52414164e-02 1.57464093e+02] [ 1.88837474e-02 -1.33025886e-04 9.99821677e-01 9.32686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.62, Y:157.49, Z:9.33 [[ 5.86376931e-01 -8.09962506e-01 -1.10830767e-02 1.89616735e+02] [ 8.09820613e-01 5.86481655e-01 -1.51605799e-02 1.57488521e+02] [ 1.87795224e-02 -8.54896578e-05 9.99823646e-01 9.32731132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.63, Y:157.51, Z:9.33 [[ 5.88161347e-01 -8.08668938e-01 -1.09899766e-02 1.89630170e+02] [ 8.08529032e-01 5.88264012e-01 -1.50418139e-02 1.57512579e+02] [ 1.86288554e-02 -3.87015873e-05 9.99826467e-01 9.32854669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:157.54, Z:9.33 [[ 5.88852571e-01 -8.08165730e-01 -1.09909875e-02 1.89644585e+02] [ 8.08025552e-01 5.88955136e-01 -1.50517640e-02 1.57535649e+02] [ 1.86375184e-02 -1.77287631e-05 9.99826306e-01 9.32910965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:157.56, Z:9.33 [[ 5.89341617e-01 -8.07813246e-01 -1.06872765e-02 1.89659798e+02] [ 8.07680481e-01 5.89438512e-01 -1.46452119e-02 1.57559896e+02] [ 1.81300886e-02 -8.71767733e-07 9.99835636e-01 9.32934604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.67, Y:157.58, Z:9.33 [[ 5.90122862e-01 -8.07243672e-01 -1.06142085e-02 1.89673424e+02] [ 8.07112455e-01 5.90218310e-01 -1.45544616e-02 1.57584174e+02] [ 1.80136972e-02 2.20606606e-05 9.99837740e-01 9.33051666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.342755096 meters Centerline goodness [0,1] 0.9999127647045994 Centerline is valid? [True, True] Translation: X:189.69, Y:157.61, Z:9.33 [[ 5.90026027e-01 -8.07311204e-01 -1.08584730e-02 1.89688788e+02] [ 8.07173712e-01 5.90125935e-01 -1.48990103e-02 1.57606914e+02] [ 1.84360045e-02 2.61299470e-05 9.99830042e-01 9.32879415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:157.63, Z:9.33 [[ 5.89801226e-01 -8.07482299e-01 -1.03368788e-02 1.89703932e+02] [ 8.07357571e-01 5.89891801e-01 -1.41921156e-02 1.57628837e+02] [ 1.75575222e-02 2.49698453e-05 9.99845855e-01 9.32989214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters Centerline goodness [0,1] 0.9999564478899002 Centerline is valid? [True, True] Translation: X:189.72, Y:157.65, Z:9.33 [[ 5.88925767e-01 -8.08117109e-01 -1.06385474e-02 1.89721179e+02] [ 8.07984920e-01 5.89021848e-01 -1.46161352e-02 1.57650816e+02] [ 1.80778858e-02 1.20327391e-05 9.99836582e-01 9.33054910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:157.67, Z:9.33 [[ 5.87383443e-01 -8.09236810e-01 -1.07924069e-02 1.89737930e+02] [ 8.09100773e-01 5.87482583e-01 -1.48375877e-02 1.57671557e+02] [ 1.83474732e-02 -1.67913661e-05 9.99831671e-01 9.33134421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.75, Y:157.69, Z:9.33 [[ 5.86408702e-01 -8.09940016e-01 -1.10455675e-02 1.89754678e+02] [ 8.09797454e-01 5.86512718e-01 -1.51959001e-02 1.57693728e+02] [ 1.87861334e-02 -3.36643464e-05 9.99823524e-01 9.33145060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.492755096 meters Centerline goodness [0,1] 0.9999344949561116 Centerline is valid? [True, True] Translation: X:189.77, Y:157.72, Z:9.33 [[ 5.85342035e-01 -8.10703423e-01 -1.16044108e-02 1.89771355e+02] [ 8.10546016e-01 5.85457050e-01 -1.59749484e-02 1.57715817e+02] [ 1.97448295e-02 -5.51001579e-05 9.99805050e-01 9.33154621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters Centerline goodness [0,1] 0.9999781573544188 Centerline is valid? [True, True] Translation: X:189.79, Y:157.74, Z:9.33 [[ 5.84106718e-01 -8.11592351e-01 -1.17131490e-02 1.89788833e+02] [ 8.11431952e-01 5.84224143e-01 -1.61350046e-02 1.57738424e+02] [ 1.99381507e-02 -7.98587954e-05 9.99801212e-01 9.33238288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.552755096 meters Centerline goodness [0,1] 0.9997601134009377 Centerline is valid? [True, True] Translation: X:189.81, Y:157.76, Z:9.33 [[ 5.83079986e-01 -8.12320824e-01 -1.23535503e-02 1.89806265e+02] [ 8.12142370e-01 5.83210827e-01 -1.70264955e-02 1.57759828e+02] [ 2.10357012e-02 -1.05032843e-04 9.99778720e-01 9.33064039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.82, Y:157.78, Z:9.33 [[ 5.82471940e-01 -8.12770215e-01 -1.14462459e-02 1.89823205e+02] [ 8.12616938e-01 5.82584385e-01 -1.57843476e-02 1.57781755e+02] [ 1.94974517e-02 -1.07473701e-04 9.99809901e-01 9.33407113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.612755096 meters Centerline goodness [0,1] 0.9999562391965516 Centerline is valid? [True, True] Translation: X:189.84, Y:157.80, Z:9.33 [[ 5.81598141e-01 -8.13392074e-01 -1.17019407e-02 1.89840547e+02] [ 8.13231782e-01 5.81715839e-01 -1.61477941e-02 1.57804342e+02] [ 1.99416920e-02 -1.24863049e-04 9.99801137e-01 9.33435458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.86, Y:157.83, Z:9.34 [[ 5.80892929e-01 -8.13901937e-01 -1.12712978e-02 1.89857366e+02] [ 8.13753158e-01 5.81002254e-01 -1.55620790e-02 1.57826110e+02] [ 1.92146556e-02 -1.32152528e-04 9.99815373e-01 9.33572476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6727550960001 meters Centerline goodness [0,1] 0.9998247497206949 Centerline is valid? [True, True] Translation: X:189.88, Y:157.85, Z:9.34 [[ 5.79517024e-01 -8.14881333e-01 -1.13327703e-02 1.89877037e+02] [ 8.14730944e-01 5.79627801e-01 -1.56557232e-02 1.57847136e+02] [ 1.93263453e-02 -1.60400492e-04 9.99813216e-01 9.33619280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.89, Y:157.87, Z:9.34 [[ 5.78741852e-01 -8.15441210e-01 -1.06537727e-02 1.89893701e+02] [ 8.15308226e-01 5.78839880e-01 -1.47271857e-02 1.57869714e+02] [ 1.81759826e-02 -1.62869796e-04 9.99834790e-01 9.33908571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.732755096 meters Centerline goodness [0,1] 0.9999561095505618 Centerline is valid? [True, True] Translation: X:189.91, Y:157.89, Z:9.34 [[ 5.77651211e-01 -8.16211044e-01 -1.08908145e-02 1.89912173e+02] [ 8.16072025e-01 5.77753838e-01 -1.50649291e-02 1.57890736e+02] [ 1.85883713e-02 -1.85414517e-04 9.99827204e-01 9.33901421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters Centerline goodness [0,1] 0.9999560526489266 Centerline is valid? [True, True] Translation: X:189.93, Y:157.91, Z:9.34 [[ 5.76957287e-01 -8.16704571e-01 -1.06739216e-02 1.89929209e+02] [ 8.16570943e-01 5.77055983e-01 -1.47745405e-02 1.57912518e+02] [ 1.82258851e-02 -1.91735367e-04 9.99833876e-01 9.33960131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7927550960001 meters Centerline goodness [0,1] 0.9998905860212701 Centerline is valid? [True, True] Translation: X:189.95, Y:157.93, Z:9.34 [[ 5.76202358e-01 -8.17236361e-01 -1.07504867e-02 1.89947789e+02] [ 8.17100719e-01 5.76302602e-01 -1.48904698e-02 1.57933185e+02] [ 1.83645668e-02 -2.04306631e-04 9.99831336e-01 9.33965632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.822755096 meters Centerline goodness [0,1] 0.9999339716077914 Centerline is valid? [True, True] Translation: X:189.96, Y:157.96, Z:9.34 [[ 5.75689206e-01 -8.17596548e-01 -1.08545890e-02 1.89964603e+02] [ 8.17458143e-01 5.75791490e-01 -1.50447564e-02 1.57955222e+02] [ 1.85505209e-02 -2.12068247e-04 9.99827902e-01 9.34076917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.852755096 meters Centerline goodness [0,1] 0.9998458217699661 Centerline is valid? [True, True] Translation: X:189.98, Y:157.98, Z:9.34 [[ 5.75434749e-01 -8.17772719e-01 -1.10738279e-02 1.89982552e+02] [ 8.17628511e-01 5.75541253e-01 -1.53585332e-02 1.57976036e+02] [ 1.89332343e-02 -2.16443730e-04 9.99820727e-01 9.33913943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.00, Y:158.00, Z:9.34 [[ 5.75591842e-01 -8.17665987e-01 -1.07872935e-02 1.89998502e+02] [ 8.17528957e-01 5.75692881e-01 -1.49703802e-02 1.57999548e+02] [ 1.84509388e-02 -2.02096078e-04 9.99829747e-01 9.34099299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.02, Y:158.02, Z:9.34 [[ 5.75625973e-01 -8.17640730e-01 -1.08800937e-02 1.90015112e+02] [ 8.17501142e-01 5.75728754e-01 -1.51090915e-02 1.58022021e+02] [ 1.86177914e-02 -1.97303501e-04 9.99826654e-01 9.34138193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.03, Y:158.04, Z:9.34 [[ 5.75264265e-01 -8.17892951e-01 -1.10520071e-02 1.90033850e+02] [ 8.17748768e-01 5.75370385e-01 -1.53581354e-02 1.58043468e+02] [ 1.89203082e-02 -2.02778742e-04 9.99820974e-01 9.34172566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.05, Y:158.07, Z:9.34 [[ 5.74954944e-01 -8.18114488e-01 -1.07469860e-02 1.90051549e+02] [ 8.17978012e-01 5.75055341e-01 -1.49441234e-02 1.58065076e+02] [ 1.84061156e-02 -1.98600639e-04 9.99830573e-01 9.34216245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters Centerline goodness [0,1] 0.9999558469655827 Centerline is valid? [True, True] Translation: X:190.07, Y:158.09, Z:9.34 [[ 5.74077311e-01 -8.18732622e-01 -1.05893561e-02 1.90071109e+02] [ 8.18600048e-01 5.74174930e-01 -1.47347100e-02 1.58085275e+02] [ 1.81439306e-02 -2.09584734e-04 9.99835363e-01 9.34248916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:158.11, Z:9.34 [[ 5.73498678e-01 -8.19138480e-01 -1.05553875e-02 1.90087960e+02] [ 8.19006642e-01 5.73595766e-01 -1.46975308e-02 1.58106034e+02] [ 1.80938386e-02 -2.15917937e-04 9.99836270e-01 9.34331901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.062755096 meters Centerline goodness [0,1] 0.999911902035063 Centerline is valid? [True, True] Translation: X:190.11, Y:158.13, Z:9.34 [[ 5.72695232e-01 -8.19700042e-01 -1.05835950e-02 1.90105384e+02] [ 8.19567406e-01 5.72792972e-01 -1.47471807e-02 1.58126538e+02] [ 1.81504735e-02 -2.28329417e-04 9.99835241e-01 9.34181246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.12, Y:158.15, Z:9.34 [[ 5.71372779e-01 -8.20624754e-01 -1.04000160e-02 1.90123436e+02] [ 8.20496659e-01 5.71467367e-01 -1.45010637e-02 1.58147946e+02] [ 1.78432016e-02 -2.47665321e-04 9.99840767e-01 9.34273157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.14, Y:158.17, Z:9.34 [[ 5.70167741e-01 -8.21469650e-01 -9.81635697e-03 1.90142222e+02] [ 8.21355508e-01 5.70252181e-01 -1.36959903e-02 1.58168967e+02] [ 1.68486393e-02 -2.53707010e-04 9.99858019e-01 9.34448907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.152755096 meters Centerline goodness [0,1] 0.9999778275426265 Centerline is valid? [True, True] Translation: X:190.16, Y:158.19, Z:9.35 [[ 5.69061739e-01 -8.22239157e-01 -9.56583029e-03 1.90159834e+02] [ 8.22130737e-01 5.69142072e-01 -1.33548996e-02 1.58190457e+02] [ 1.64252379e-02 -2.64600687e-04 9.99865062e-01 9.34527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.18, Y:158.21, Z:9.35 [[ 5.68489623e-01 -8.22638119e-01 -9.27756086e-03 1.90177182e+02] [ 8.22536060e-01 5.68565261e-01 -1.29604837e-02 1.58212740e+02] [ 1.59366868e-02 -2.63227834e-04 9.99872968e-01 9.34563489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:158.23, Z:9.35 [[ 5.67822593e-01 -8.23097589e-01 -9.37342909e-03 1.90194871e+02] [ 8.22993330e-01 5.67899889e-01 -1.31032412e-02 1.58234725e+02] [ 1.61084155e-02 -2.73953248e-04 9.99870214e-01 9.34550410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:158.26, Z:9.35 [[ 5.67561454e-01 -8.23277725e-01 -9.36927011e-03 1.90210792e+02] [ 8.23173441e-01 5.67638717e-01 -1.31062147e-02 1.58257270e+02] [ 1.61084151e-02 -2.73952033e-04 9.99870214e-01 9.34576138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.272755096 meters Centerline goodness [0,1] 0.9998667969096883 Centerline is valid? [True, True] Translation: X:190.23, Y:158.28, Z:9.34 [[ 5.66795161e-01 -8.23803462e-01 -9.54469862e-03 1.90227902e+02] [ 8.23695163e-01 5.66875447e-01 -1.33606573e-02 1.58279675e+02] [ 1.64172110e-02 -2.89166194e-04 9.99865187e-01 9.34444374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:158.30, Z:9.35 [[ 5.66782155e-01 -8.23814157e-01 -9.39273560e-03 1.90244230e+02] [ 8.23709140e-01 5.66859909e-01 -1.31566263e-02 1.58302582e+02] [ 1.61629803e-02 -2.79941123e-04 9.99869331e-01 9.34590953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.26, Y:158.33, Z:9.35 [[ 5.66662937e-01 -8.23892647e-01 -9.69652801e-03 1.90260488e+02] [ 8.23780584e-01 5.66745821e-01 -1.35913133e-02 1.58325072e+02] [ 1.66932498e-02 -2.86118007e-04 9.99860617e-01 9.34605559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters Centerline goodness [0,1] 0.9999334855774561 Centerline is valid? [True, True] Translation: X:190.28, Y:158.35, Z:9.35 [[ 5.66740416e-01 -8.23836913e-01 -9.90164198e-03 1.90276966e+02] [ 8.23719891e-01 5.66826834e-01 -1.38881526e-02 1.58347844e+02] [ 1.70540891e-02 -2.85202078e-04 9.99854528e-01 9.34558220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:158.37, Z:9.35 [[ 5.67033350e-01 -8.23633479e-01 -1.00534733e-02 1.90292638e+02] [ 8.23512640e-01 5.67122398e-01 -1.41108690e-02 1.58369828e+02] [ 1.73237340e-02 -2.77828986e-04 9.99849894e-01 9.34699106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4227550960001 meters Centerline goodness [0,1] 0.9999109765868424 Centerline is valid? [True, True] Translation: X:190.31, Y:158.39, Z:9.35 [[ 5.67210715e-01 -8.23509127e-01 -1.02334208e-02 1.90308459e+02] [ 8.23383728e-01 5.67302956e-01 -1.43733556e-02 1.58392847e+02] [ 1.76420394e-02 -2.73310837e-04 9.99844330e-01 9.34706172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.452755096 meters Centerline goodness [0,1] 0.9999111999111999 Centerline is valid? [True, True] Translation: X:190.32, Y:158.42, Z:9.35 [[ 5.67331829e-01 -8.23419726e-01 -1.07028703e-02 1.90324290e+02] [ 8.23282353e-01 5.67432709e-01 -1.50428765e-02 1.58416438e+02] [ 1.84597599e-02 -2.77181586e-04 9.99829566e-01 9.34557670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.482755096 meters Centerline goodness [0,1] 0.9998666399946656 Centerline is valid? [True, True] Translation: X:190.34, Y:158.44, Z:9.35 [[ 5.67164384e-01 -8.23535862e-01 -1.06416847e-02 1.90339782e+02] [ 8.23399891e-01 5.67264144e-01 -1.49669789e-02 1.58438177e+02] [ 1.83624900e-02 -2.73624637e-04 9.99831358e-01 9.34525818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.512755096 meters Centerline goodness [0,1] 0.9998665955176094 Centerline is valid? [True, True] Translation: X:190.36, Y:158.46, Z:9.35 [[ 5.67240240e-01 -8.23489446e-01 -1.01805111e-02 1.90356055e+02] [ 8.23364837e-01 5.67331532e-01 -1.43275083e-02 1.58461642e+02] [ 1.75742768e-02 -2.55135591e-04 9.99845528e-01 9.34658687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5427550960001 meters Centerline goodness [0,1] 0.9999333614696018 Centerline is valid? [True, True] Translation: X:190.37, Y:158.49, Z:9.35 [[ 5.67515014e-01 -8.23302281e-01 -1.00031540e-02 1.90371776e+02] [ 8.23181795e-01 5.67603116e-01 -1.40867448e-02 1.58485304e+02] [ 1.72754705e-02 -2.39975041e-04 9.99850739e-01 9.34840517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.572755096 meters Centerline goodness [0,1] 0.9998445480790584 Centerline is valid? [True, True] Translation: X:190.39, Y:158.51, Z:9.35 [[ 5.67651399e-01 -8.23214680e-01 -9.45935036e-03 1.90388127e+02] [ 8.23106787e-01 5.67730167e-01 -1.33294676e-02 1.58508115e+02] [ 1.63433720e-02 -2.19564524e-04 9.99866414e-01 9.34918544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.602755096 meters Centerline goodness [0,1] 0.9998891647455223 Centerline is valid? [True, True] Translation: X:190.40, Y:158.53, Z:9.35 [[ 5.68084065e-01 -8.22923400e-01 -8.80754702e-03 1.90403244e+02] [ 8.22829711e-01 5.68152304e-01 -1.24187960e-02 1.58531660e+02] [ 1.52237460e-02 -1.92191240e-04 9.99884094e-01 9.35208273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.632755096 meters Centerline goodness [0,1] 0.9998672566371681 Centerline is valid? [True, True] Translation: X:190.42, Y:158.55, Z:9.35 [[ 5.68458340e-01 -8.22670207e-01 -8.29737921e-03 1.90418950e+02] [ 8.22586924e-01 5.68518867e-01 -1.17068380e-02 1.58554721e+02] [ 1.43480834e-02 -1.70465957e-04 9.99897046e-01 9.35168907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.43, Y:158.58, Z:9.35 [[ 5.68842195e-01 -8.22408779e-01 -7.89667421e-03 1.90433662e+02] [ 8.22333223e-01 5.68896983e-01 -1.11486737e-02 1.58577315e+02] [ 1.36611613e-02 -1.51861517e-04 9.99906670e-01 9.35387861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:158.60, Z:9.35 [[ 5.68694301e-01 -8.22513771e-01 -7.60850377e-03 1.90448883e+02] [ 8.22443544e-01 5.68745177e-01 -1.07489760e-02 1.58601353e+02] [ 1.31684806e-02 -1.44683388e-04 9.99913281e-01 9.35465195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.46, Y:158.62, Z:9.35 [[ 5.68697221e-01 -8.22511697e-01 -7.61441533e-03 1.90463742e+02] [ 8.22441264e-01 5.68748177e-01 -1.07646633e-02 1.58623796e+02] [ 1.31847463e-02 -1.40575290e-04 9.99913068e-01 9.35429704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.752755096 meters Centerline goodness [0,1] 0.9999337163057888 Centerline is valid? [True, True] Translation: X:190.48, Y:158.65, Z:9.35 [[ 5.68160877e-01 -8.22878870e-01 -7.97390726e-03 1.90480340e+02] [ 8.22801553e-01 5.68216809e-01 -1.12810737e-02 1.58645261e+02] [ 1.38138653e-02 -1.51478550e-04 9.99904573e-01 9.35250468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7827550960001 meters Centerline goodness [0,1] 0.9998896929050477 Centerline is valid? [True, True] Translation: X:190.50, Y:158.67, Z:9.35 [[ 5.67705597e-01 -8.23192298e-01 -8.04957936e-03 1.90495256e+02] [ 8.23113428e-01 5.67762641e-01 -1.13959740e-02 1.58668738e+02] [ 1.39513285e-02 -1.56158644e-04 9.99902663e-01 9.35308935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.812755096 meters Centerline goodness [0,1] 0.9999336033463914 Centerline is valid? [True, True] Translation: X:190.51, Y:158.69, Z:9.35 [[ 5.66396442e-01 -8.24092204e-01 -8.19202995e-03 1.90511708e+02] [ 8.24010502e-01 5.66455654e-01 -1.16053922e-02 1.58691349e+02] [ 1.42043349e-02 -1.77065841e-04 9.99899098e-01 9.35224752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.53, Y:158.71, Z:9.35 [[ 5.65600219e-01 -8.24640778e-01 -7.99867243e-03 1.90528306e+02] [ 8.24562839e-01 5.65656745e-01 -1.13388859e-02 1.58714391e+02] [ 1.38750107e-02 -1.82131678e-04 9.99903721e-01 9.35294209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.55, Y:158.74, Z:9.35 [[ 5.63042457e-01 -8.26388026e-01 -8.12547922e-03 1.90545835e+02] [ 8.26307671e-01 5.63101040e-01 -1.15261191e-02 1.58735541e+02] [ 1.41005126e-02 -2.24451400e-04 9.99900558e-01 9.35239963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.56, Y:158.76, Z:9.35 [[ 5.61675149e-01 -8.27319303e-01 -7.98739739e-03 1.90562669e+02] [ 8.27241654e-01 5.61731888e-01 -1.13371879e-02 1.58757980e+02] [ 1.38662502e-02 -2.39691134e-04 9.99903830e-01 9.35227277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.932755096 meters Centerline goodness [0,1] 0.9998889998889999 Centerline is valid? [True, True] Translation: X:190.58, Y:158.78, Z:9.35 [[ 5.59940919e-01 -8.28492009e-01 -8.19499803e-03 1.90580047e+02] [ 8.28410290e-01 5.60000819e-01 -1.16393768e-02 1.58778839e+02] [ 1.42323363e-02 -2.71457340e-04 9.99898678e-01 9.35116027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.962755096 meters Centerline goodness [0,1] 0.9997777432044985 Centerline is valid? [True, True] Translation: X:190.60, Y:158.80, Z:9.35 [[ 5.57607680e-01 -8.30069076e-01 -7.68141332e-03 1.90597507e+02] [ 8.29997344e-01 5.57660511e-01 -1.09162047e-02 1.58801202e+02] [ 1.33448248e-02 -2.88593081e-04 9.99910912e-01 9.35189209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.61, Y:158.82, Z:9.35 [[ 5.56903922e-01 -8.30543680e-01 -7.43080039e-03 1.90614472e+02] [ 8.30476509e-01 5.56953421e-01 -1.05667084e-02 1.58822686e+02] [ 1.29147226e-02 -2.86463792e-04 9.99916560e-01 9.35346395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.63, Y:158.85, Z:9.35 [[ 5.55109494e-01 -8.31743634e-01 -7.48180878e-03 1.90631467e+02] [ 8.31675551e-01 5.55159824e-01 -1.06464838e-02 1.58845573e+02] [ 1.30087448e-02 -3.12473196e-04 9.99915334e-01 9.35349726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.052755096 meters Centerline goodness [0,1] 0.9998887949824296 Centerline is valid? [True, True] Translation: X:190.65, Y:158.87, Z:9.35 [[ 5.54302242e-01 -8.32279928e-01 -7.69060401e-03 1.90647282e+02] [ 8.32207957e-01 5.54355493e-01 -1.09500830e-02 1.58868197e+02] [ 1.33768629e-02 -3.30526273e-04 9.99910471e-01 9.35254710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:158.89, Z:9.35 [[ 5.54474558e-01 -8.32164064e-01 -7.80615684e-03 1.90663098e+02] [ 8.32089818e-01 5.54529407e-01 -1.11208027e-02 1.58891920e+02] [ 1.35830759e-02 -3.29221468e-04 9.99907692e-01 9.35369805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.68, Y:158.92, Z:9.35 [[ 5.54761765e-01 -8.31970725e-01 -8.00604889e-03 1.90679286e+02] [ 8.31892498e-01 5.54819435e-01 -1.14134149e-02 1.58915256e+02] [ 1.39375386e-02 -3.28445809e-04 9.99902814e-01 9.35368693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters Centerline goodness [0,1] 0.9996887643946467 Centerline is valid? [True, True] Translation: X:190.70, Y:158.94, Z:9.35 [[ 5.54831880e-01 -8.31921266e-01 -8.28203461e-03 1.90695657e+02] [ 8.31837430e-01 5.54893590e-01 -1.18149890e-02 1.58938006e+02] [ 1.44247886e-02 -3.33973804e-04 9.99895902e-01 9.35231952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1727550960001 meters Centerline goodness [0,1] 0.9998660205881696 Centerline is valid? [True, True] Translation: X:190.71, Y:158.96, Z:9.35 [[ 5.55800547e-01 -8.31275091e-01 -8.21431686e-03 1.90710924e+02] [ 8.31192438e-01 5.55861157e-01 -1.17262426e-02 1.58960889e+02] [ 1.43137531e-02 -3.10225991e-04 9.99897505e-01 9.35279160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.202755096 meters Centerline goodness [0,1] 0.9999776840507911 Centerline is valid? [True, True] Translation: X:190.73, Y:158.99, Z:9.35 [[ 5.56900093e-01 -8.30541343e-01 -7.96022070e-03 1.90725989e+02] [ 8.30463546e-01 5.56956911e-01 -1.13709156e-02 1.58985044e+02] [ 1.38775154e-02 -2.78209158e-04 9.99903664e-01 9.35448598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.232755096 meters Centerline goodness [0,1] 0.9999328874074406 Centerline is valid? [True, True] Translation: X:190.74, Y:159.01, Z:9.35 [[ 5.59169870e-01 -8.29015837e-01 -7.86119714e-03 1.90740757e+02] [ 8.28939715e-01 5.59225078e-01 -1.12366239e-02 1.59009233e+02] [ 1.37115177e-02 -2.33276984e-04 9.99905966e-01 9.35497463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters Centerline goodness [0,1] 0.9999776765782659 Centerline is valid? [True, True] Translation: X:190.76, Y:159.03, Z:9.36 [[ 5.60080332e-01 -8.28400606e-01 -7.90304602e-03 1.90756715e+02] [ 8.28323506e-01 5.60136046e-01 -1.13039648e-02 1.59030648e+02] [ 1.37909922e-02 -2.15150437e-04 9.99904877e-01 9.35533048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2927550960001 meters Centerline goodness [0,1] 0.9998658498412556 Centerline is valid? [True, True] Translation: X:190.77, Y:159.05, Z:9.36 [[ 5.61077964e-01 -8.27728134e-01 -7.59297644e-03 1.90771796e+02] [ 8.27656808e-01 5.61129308e-01 -1.08677150e-02 1.59053960e+02] [ 1.32561551e-02 -1.86743224e-04 9.99912116e-01 9.35648102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.322755096 meters Centerline goodness [0,1] 0.9997324832244688 Centerline is valid? [True, True] Translation: X:190.79, Y:159.08, Z:9.36 [[ 5.62282386e-01 -8.26910094e-01 -7.62989204e-03 1.90787824e+02] [ 8.26837899e-01 5.62334127e-01 -1.09278554e-02 1.59077126e+02] [ 1.33269026e-02 -1.64143292e-04 9.99911179e-01 9.35593537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.352755096 meters Centerline goodness [0,1] 0.999754387531818 Centerline is valid? [True, True] Translation: X:190.80, Y:159.10, Z:9.36 [[ 5.62867007e-01 -8.26514565e-01 -7.37614026e-03 1.90802675e+02] [ 8.26446977e-01 5.62915316e-01 -1.05707657e-02 1.59099366e+02] [ 1.28890342e-02 -1.46053552e-04 9.99916922e-01 9.35612729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters Centerline goodness [0,1] 0.9997099832682654 Centerline is valid? [True, True] Translation: X:190.82, Y:159.12, Z:9.36 [[ 5.63664519e-01 -8.25970183e-01 -7.45430344e-03 1.90819254e+02] [ 8.25901033e-01 5.63713792e-01 -1.06885327e-02 1.59122539e+02] [ 1.30305029e-02 -1.31770298e-04 9.99915091e-01 9.35655685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4127550960001 meters Centerline goodness [0,1] 0.9999776850467498 Centerline is valid? [True, True] Translation: X:190.83, Y:159.15, Z:9.36 [[ 5.63984369e-01 -8.25756255e-01 -6.94542565e-03 1.90834778e+02] [ 8.25696131e-01 5.64027122e-01 -9.96515877e-03 1.59145077e+02] [ 1.21462006e-02 -1.14617305e-04 9.99926226e-01 9.35823930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.442755096 meters Centerline goodness [0,1] 0.9998885893179438 Centerline is valid? [True, True] Translation: X:190.85, Y:159.17, Z:9.36 [[ 5.63692257e-01 -8.25955679e-01 -6.94660029e-03 1.90851267e+02] [ 8.25895467e-01 5.63735046e-01 -9.97368999e-03 1.59168371e+02] [ 1.21538679e-02 -1.15073874e-04 9.99926132e-01 9.35860910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.472755096 meters Centerline goodness [0,1] 0.9999554198337159 Centerline is valid? [True, True] Translation: X:190.87, Y:159.19, Z:9.36 [[ 5.63637012e-01 -8.25998197e-01 -6.34804108e-03 1.90866918e+02] [ 8.25947855e-01 5.63672749e-01 -9.11996188e-03 1.59192223e+02] [ 1.11112898e-02 -1.02802854e-04 9.99938262e-01 9.35977199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters Centerline goodness [0,1] 0.9999107959233737 Centerline is valid? [True, True] Translation: X:190.88, Y:159.22, Z:9.36 [[ 5.63476029e-01 -8.26112502e-01 -5.73577384e-03 1.90882178e+02] [ 8.26071358e-01 5.63505213e-01 -8.24536638e-03 1.59215752e+02] [ 1.00437387e-02 -9.20921824e-05 9.99949556e-01 9.36012955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5327550960001 meters Centerline goodness [0,1] 0.9999554377130634 Centerline is valid? [True, True] Translation: X:190.90, Y:159.24, Z:9.36 [[ 5.63129919e-01 -8.26347609e-01 -5.85863028e-03 1.90897254e+02] [ 8.26304637e-01 5.63160386e-01 -8.42770169e-03 1.59239910e+02] [ 1.02635596e-02 -9.51223961e-05 9.99947324e-01 9.35909240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.562755096 meters Centerline goodness [0,1] 0.9999777352273234 Centerline is valid? [True, True] Translation: X:190.91, Y:159.26, Z:9.36 [[ 5.63038754e-01 -8.26407943e-01 -6.10511175e-03 1.90912724e+02] [ 8.26361218e-01 5.63071844e-01 -8.78842084e-03 1.59263853e+02] [ 1.07004373e-02 -9.68060601e-05 9.99942744e-01 9.35860853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.592755096 meters Centerline goodness [0,1] 0.9999108674822292 Centerline is valid? [True, True] Translation: X:190.93, Y:159.29, Z:9.36 [[ 5.62569526e-01 -8.26726708e-01 -6.20313079e-03 1.90928383e+02] [ 8.26678422e-01 5.62603715e-01 -8.93568226e-03 1.59285502e+02] [ 1.08772716e-02 -1.01051833e-04 9.99940836e-01 9.35735668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters Centerline goodness [0,1] 0.9999331848552339 Centerline is valid? [True, True] Translation: X:190.94, Y:159.31, Z:9.36 [[ 5.61958092e-01 -8.27143040e-01 -6.12318753e-03 1.90943846e+02] [ 8.27095950e-01 5.61991441e-01 -8.82666210e-03 1.59308775e+02] [ 1.07420911e-02 -1.04249409e-04 9.99942297e-01 9.35742509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.652755096 meters Centerline goodness [0,1] 0.9998440910508263 Centerline is valid? [True, True] Translation: X:190.96, Y:159.33, Z:9.36 [[ 5.61013866e-01 -8.27783275e-01 -6.18797313e-03 1.90959153e+02] [ 8.27735157e-01 5.61047980e-01 -8.92596772e-03 1.59332026e+02] [ 1.08605166e-02 -1.14411247e-04 9.99941016e-01 9.35626017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.682755096 meters Centerline goodness [0,1] 0.999733078274796 Centerline is valid? [True, True] Translation: X:190.98, Y:159.35, Z:9.35 [[ 5.59846574e-01 -8.28570367e-01 -6.55444972e-03 1.90975454e+02] [ 8.28516360e-01 5.59884925e-01 -9.46109331e-03 1.59353587e+02] [ 1.15089191e-02 -1.33708148e-04 9.99933761e-01 9.35467987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.712755096 meters Centerline goodness [0,1] 0.9999777014672434 Centerline is valid? [True, True] Translation: X:190.99, Y:159.38, Z:9.36 [[ 5.59068062e-01 -8.29096986e-01 -6.41010781e-03 1.90989612e+02] [ 8.29045312e-01 5.59104792e-01 -9.25758558e-03 1.59378495e+02] [ 1.12593583e-02 -1.38649395e-04 9.99936602e-01 9.35589678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters Centerline goodness [0,1] 0.9999333303702387 Centerline is valid? [True, True] Translation: X:191.00, Y:159.40, Z:9.36 [[ 5.58432998e-01 -8.29524953e-01 -6.39842108e-03 1.91004872e+02] [ 8.29473423e-01 5.58469634e-01 -9.24709163e-03 1.59400585e+02] [ 1.12440171e-02 -1.43439139e-04 9.99936774e-01 9.35582848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.772755096 meters Centerline goodness [0,1] 0.999977788143311 Centerline is valid? [True, True] Translation: X:191.02, Y:159.42, Z:9.36 [[ 5.57363296e-01 -8.30246071e-01 -6.13334215e-03 1.91019951e+02] [ 8.30198700e-01 5.57397022e-01 -8.87012432e-03 1.59424010e+02] [ 1.07830925e-02 -1.48010950e-04 9.99941850e-01 9.35618431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.802755096 meters Centerline goodness [0,1] 0.9999333274068806 Centerline is valid? [True, True] Translation: X:191.04, Y:159.45, Z:9.36 [[ 5.56626335e-01 -8.30742160e-01 -5.88108552e-03 1.91035124e+02] [ 8.30698575e-01 5.56657383e-01 -8.51088460e-03 1.59447321e+02] [ 1.03441003e-02 -1.48026861e-04 9.99946487e-01 9.35660262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.832755096 meters Centerline goodness [0,1] 0.9999334604977155 Centerline is valid? [True, True] Translation: X:191.05, Y:159.47, Z:9.36 [[ 5.55956384e-01 -8.31191266e-01 -5.79461902e-03 1.91050560e+02] [ 8.31148921e-01 5.55986561e-01 -8.39134705e-03 1.59471240e+02] [ 1.01965447e-02 -1.50968382e-04 9.99948003e-01 9.35658693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters Centerline goodness [0,1] 0.9998890688438755 Centerline is valid? [True, True] Translation: X:191.07, Y:159.49, Z:9.36 [[ 5.55168271e-01 -8.31716742e-01 -5.95417784e-03 1.91066524e+02] [ 8.31671999e-01 5.55200176e-01 -8.62845976e-03 1.59493681e+02] [ 1.04821950e-02 -1.61675904e-04 9.99945047e-01 9.35577601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.892755096 meters Centerline goodness [0,1] 0.9999778236089859 Centerline is valid? [True, True] Translation: X:191.08, Y:159.52, Z:9.36 [[ 5.53860644e-01 -8.32591523e-01 -5.45373710e-03 1.91081224e+02] [ 8.32553978e-01 5.53887471e-01 -7.90842866e-03 1.59516515e+02] [ 9.60524731e-03 -1.60363134e-04 9.99953856e-01 9.35681143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9227550960001 meters Centerline goodness [0,1] 0.999955753191301 Centerline is valid? [True, True] Translation: X:191.10, Y:159.54, Z:9.36 [[ 5.53120509e-01 -8.33083771e-01 -5.39749202e-03 1.91096780e+02] [ 8.33046976e-01 5.53146819e-01 -7.83146771e-03 1.59538963e+02] [ 9.50987419e-03 -1.64618997e-04 9.99954767e-01 9.35717004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.952755096 meters Centerline goodness [0,1] 0.9999115161704198 Centerline is valid? [True, True] Translation: X:191.11, Y:159.56, Z:9.36 [[ 5.51930910e-01 -8.33874591e-01 -5.04364607e-03 1.91112849e+02] [ 8.33842466e-01 5.51953929e-01 -7.32132013e-03 1.59561061e+02] [ 8.88892309e-03 -1.64743399e-04 9.99960479e-01 9.35780081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.13, Y:159.58, Z:9.36 [[ 5.51304800e-01 -8.34290830e-01 -4.67209807e-03 1.91128487e+02] [ 8.34263250e-01 5.51324575e-01 -6.78555267e-03 1.59583863e+02] [ 8.23696685e-03 -1.56851961e-04 9.99966063e-01 9.35918317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.012755096 meters Centerline goodness [0,1] 0.9999558186798622 Centerline is valid? [True, True] Translation: X:191.14, Y:159.61, Z:9.36 [[ 5.51052026e-01 -8.34458752e-01 -4.50072523e-03 1.91144203e+02] [ 8.34433131e-01 5.51070385e-01 -6.54069405e-03 1.59607162e+02] [ 7.93815578e-03 -1.51291539e-04 9.99968481e-01 9.36023898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.16, Y:159.63, Z:9.36 [[ 5.52129764e-01 -8.33747955e-01 -4.13171907e-03 1.91158816e+02] [ 8.33726315e-01 5.52145208e-01 -6.00832986e-03 1.59631780e+02] [ 7.29074162e-03 -1.27345171e-04 9.99973414e-01 9.36116238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:159.66, Z:9.36 [[ 5.52271173e-01 -8.33655168e-01 -3.95119651e-03 1.91173671e+02] [ 8.33635364e-01 5.52285294e-01 -5.74754654e-03 1.59655467e+02] [ 6.97365960e-03 -1.19652875e-04 9.99975677e-01 9.36174671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.19, Y:159.68, Z:9.36 [[ 5.53350519e-01 -8.32941624e-01 -3.38435228e-03 1.91187911e+02] [ 8.32927065e-01 5.53360861e-01 -4.92560603e-03 1.59680399e+02] [ 5.97551038e-03 -9.33319554e-05 9.99982142e-01 9.36184248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:159.70, Z:9.36 [[ 5.53735926e-01 -8.32684870e-01 -3.52587027e-03 1.91204019e+02] [ 8.32669043e-01 5.53747143e-01 -5.13482813e-03 1.59702814e+02] [ 6.22813428e-03 -9.25442147e-05 9.99980601e-01 9.36208810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.22, Y:159.72, Z:9.36 [[ 5.54547128e-01 -8.32145563e-01 -3.35342534e-03 1.91220165e+02] [ 8.32131215e-01 5.54557261e-01 -4.88716630e-03 1.59724950e+02] [ 5.92650013e-03 -8.03258655e-05 9.99982435e-01 9.36226428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.24, Y:159.75, Z:9.36 [[ 5.54306674e-01 -8.32305756e-01 -3.35260059e-03 1.91235610e+02] [ 8.32291408e-01 5.54316807e-01 -4.88773199e-03 1.59747807e+02] [ 5.92649032e-03 -8.10382001e-05 9.99982435e-01 9.36252179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.25, Y:159.77, Z:9.36 [[ 5.54731002e-01 -8.32022475e-01 -3.48083582e-03 1.91250252e+02] [ 8.32006983e-01 5.54741917e-01 -5.07795481e-03 1.59771519e+02] [ 6.15593806e-03 -7.91807532e-05 9.99981049e-01 9.36289736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:159.80, Z:9.36 [[ 5.56581015e-01 -8.30788089e-01 -2.95384478e-03 1.91263676e+02] [ 8.30776904e-01 5.56588851e-01 -4.31120213e-03 1.59795707e+02] [ 5.22577245e-03 -5.44527663e-05 9.99986344e-01 9.36417305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.28, Y:159.82, Z:9.36 [[ 5.57014150e-01 -8.30497368e-01 -3.05928950e-03 1.91276918e+02] [ 8.30485350e-01 5.57022549e-01 -4.46801869e-03 1.59820386e+02] [ 5.41477099e-03 -5.19454770e-05 9.99985339e-01 9.36315302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:159.84, Z:9.36 [[ 5.56693702e-01 -8.30710049e-01 -3.59683192e-03 1.91292596e+02] [ 8.30693414e-01 5.56705318e-01 -5.25742536e-03 1.59842936e+02] [ 6.36977154e-03 -6.10890016e-05 9.99979711e-01 9.36195238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.31, Y:159.87, Z:9.36 [[ 5.55469664e-01 -8.31527764e-01 -3.87700775e-03 1.91309448e+02] [ 8.31508425e-01 5.55483189e-01 -5.67148291e-03 1.59865408e+02] [ 6.86960812e-03 -7.34279024e-05 9.99976401e-01 9.36122113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.33, Y:159.89, Z:9.36 [[ 5.54153504e-01 -8.32404650e-01 -4.04882432e-03 1.91328151e+02] [ 8.32383551e-01 5.54168289e-01 -5.92727761e-03 1.59885526e+02] [ 7.17762349e-03 -8.55531022e-05 9.99974237e-01 9.36166446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.34, Y:159.91, Z:9.36 [[ 5.50623373e-01 -8.34747044e-01 -3.35756229e-03 1.91344841e+02] [ 8.34732567e-01 5.50633601e-01 -4.91724075e-03 1.59907977e+02] [ 5.95343880e-03 -9.51188996e-05 9.99982274e-01 9.36261248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:159.93, Z:9.36 [[ 5.48706645e-01 -8.36010090e-01 -2.85447369e-03 1.91361375e+02] [ 8.35999640e-01 5.48714062e-01 -4.18101614e-03 1.59930270e+02] [ 5.06166153e-03 -9.21876340e-05 9.99987185e-01 9.36313565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.462755096 meters Centerline goodness [0,1] 0.9998890048171909 Centerline is valid? [True, True] Translation: X:191.38, Y:159.95, Z:9.36 [[ 5.43642853e-01 -8.39312225e-01 -2.72715553e-03 1.91379512e+02] [ 8.39302714e-01 5.43649681e-01 -3.99738800e-03 1.59951091e+02] [ 4.83767385e-03 -1.15757623e-04 9.99988292e-01 9.36244729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.492755096 meters Centerline goodness [0,1] 0.9999778162296464 Centerline is valid? [True, True] Translation: X:191.40, Y:159.97, Z:9.36 [[ 5.41420100e-01 -8.40748618e-01 -2.45702506e-03 1.91396490e+02] [ 8.40740911e-01 5.41425662e-01 -3.60179911e-03 1.59973765e+02] [ 4.35850405e-03 -1.15635056e-04 9.99990495e-01 9.36328338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters Centerline goodness [0,1] 0.9999778108150088 Centerline is valid? [True, True] Translation: X:191.42, Y:159.99, Z:9.36 [[ 5.37225504e-01 -8.43434565e-01 -2.62561497e-03 1.91415475e+02] [ 8.43425784e-01 5.37231900e-01 -3.85137526e-03 1.59994969e+02] [ 4.65894714e-03 -1.45454350e-04 9.99989136e-01 9.36331391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.552755096 meters Centerline goodness [0,1] 0.9999335194787927 Centerline is valid? [True, True] Translation: X:191.43, Y:160.02, Z:9.36 [[ 5.35484500e-01 -8.44540040e-01 -2.91038178e-03 1.91432698e+02] [ 8.44529251e-01 5.35492382e-01 -4.27240726e-03 1.60017694e+02] [ 5.16670627e-03 -1.70094683e-04 9.99986638e-01 9.36372529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.582755096 meters Centerline goodness [0,1] 0.9999333821863966 Centerline is valid? [True, True] Translation: X:191.45, Y:160.04, Z:9.36 [[ 5.33685543e-01 -8.45677332e-01 -3.09704503e-03 1.91449505e+02] [ 8.45665112e-01 5.33694495e-01 -4.55017577e-03 1.60039303e+02] [ 5.50085639e-03 -1.90699902e-04 9.99984852e-01 9.36320426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.612755096 meters Centerline goodness [0,1] 0.9998887702438156 Centerline is valid? [True, True] Translation: X:191.46, Y:160.06, Z:9.36 [[ 5.33069102e-01 -8.46064644e-01 -3.45712480e-03 1.91462175e+02] [ 8.46049412e-01 5.33080268e-01 -5.08140198e-03 1.60064453e+02] [ 6.14211957e-03 -2.16160012e-04 9.99981114e-01 9.36183435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.48, Y:160.09, Z:9.36 [[ 5.33057183e-01 -8.46072062e-01 -3.47924678e-03 1.91476378e+02] [ 8.46056614e-01 5.33068494e-01 -5.11729687e-03 1.60087334e+02] [ 6.18427875e-03 -2.15827891e-04 9.99980854e-01 9.36212593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6727550960001 meters Centerline goodness [0,1] 0.9998669652557592 Centerline is valid? [True, True] Translation: X:191.49, Y:160.11, Z:9.36 [[ 5.34331455e-01 -8.45266386e-01 -3.82533952e-03 1.91489231e+02] [ 8.45247660e-01 5.34345100e-01 -5.63097385e-03 1.60112785e+02] [ 6.80372435e-03 -2.24552831e-04 9.99976829e-01 9.36033442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.50, Y:160.14, Z:9.36 [[ 5.35392280e-01 -8.44596572e-01 -3.42590284e-03 1.91503062e+02] [ 8.44581520e-01 5.35403206e-01 -5.04616797e-03 1.60136250e+02] [ 6.09621554e-03 -1.91774856e-04 9.99981400e-01 9.36167643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.732755096 meters Centerline goodness [0,1] 0.9999778981102885 Centerline is valid? [True, True] Translation: X:191.52, Y:160.16, Z:9.36 [[ 5.36560542e-01 -8.43855966e-01 -3.14553116e-03 1.91517040e+02] [ 8.43843253e-01 5.36569736e-01 -4.63503366e-03 1.60159448e+02] [ 5.59909763e-03 -1.67359073e-04 9.99984311e-01 9.36328581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters Centerline goodness [0,1] 0.9999778707207506 Centerline is valid? [True, True] Translation: X:191.53, Y:160.18, Z:9.36 [[ 5.36502638e-01 -8.43893950e-01 -2.81432044e-03 1.91531992e+02] [ 8.43883771e-01 5.36509998e-01 -4.14768326e-03 1.60183116e+02] [ 5.01011587e-03 -1.49716340e-04 9.99987438e-01 9.36412792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:160.21, Z:9.36 [[ 5.36382190e-01 -8.43970123e-01 -2.92891988e-03 1.91547975e+02] [ 8.43959083e-01 5.36390164e-01 -4.31958220e-03 1.60206629e+02] [ 5.21664214e-03 -1.54941579e-04 9.99986381e-01 9.36481161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.56, Y:160.23, Z:9.36 [[ 5.36227973e-01 -8.44066097e-01 -3.46180714e-03 1.91563779e+02] [ 8.44050651e-01 5.36239117e-01 -5.10961480e-03 1.60228185e+02] [ 6.16920903e-03 -1.82022179e-04 9.99980954e-01 9.36408241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.852755096 meters Centerline goodness [0,1] 0.9999778300004434 Centerline is valid? [True, True] Translation: X:191.58, Y:160.25, Z:9.36 [[ 5.35893908e-01 -8.44277105e-01 -3.72689300e-03 1.91579129e+02] [ 8.44259180e-01 5.35906831e-01 -5.50505475e-03 1.60249934e+02] [ 6.64505910e-03 -1.96338321e-04 9.99977902e-01 9.36394336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters Centerline goodness [0,1] 0.99997783933518 Centerline is valid? [True, True] Translation: X:191.59, Y:160.27, Z:9.36 [[ 5.35181768e-01 -8.44728166e-01 -3.84712711e-03 1.91594343e+02] [ 8.44709051e-01 5.35195556e-01 -5.68656864e-03 1.60272518e+02] [ 6.86257003e-03 -2.06355228e-04 9.99976431e-01 9.36326858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.61, Y:160.30, Z:9.36 [[ 5.34202852e-01 -8.45347619e-01 -3.83616567e-03 1.91610131e+02] [ 8.45328600e-01 5.34216584e-01 -5.67448034e-03 1.60295824e+02] [ 6.84625176e-03 -2.11496976e-04 9.99976542e-01 9.36345693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.942755096 meters Centerline goodness [0,1] 0.999977788143311 Centerline is valid? [True, True] Translation: X:191.63, Y:160.32, Z:9.36 [[ 5.33163279e-01 -8.46005254e-01 -3.46814068e-03 1.91626617e+02] [ 8.45989706e-01 5.33174522e-01 -5.13282242e-03 1.60318200e+02] [ 6.19151898e-03 -1.97378878e-04 9.99980813e-01 9.36381999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.972755096 meters Centerline goodness [0,1] 0.9999777728384085 Centerline is valid? [True, True] Translation: X:191.64, Y:160.34, Z:9.36 [[ 5.31112192e-01 -8.47295029e-01 -3.31252337e-03 1.91644482e+02] [ 8.47280851e-01 5.31122484e-01 -4.90567414e-03 1.60338253e+02] [ 5.91590896e-03 -2.01174277e-04 9.99982481e-01 9.36496790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters Centerline goodness [0,1] 0.999977731260856 Centerline is valid? [True, True] Translation: X:191.66, Y:160.36, Z:9.37 [[ 5.29805365e-01 -8.48112645e-01 -3.34900352e-03 1.91661708e+02] [ 8.48098157e-01 5.29815908e-01 -4.96191329e-03 1.60360051e+02] [ 5.98261674e-03 -2.11435424e-04 9.99982082e-01 9.36526255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.68, Y:160.38, Z:9.36 [[ 5.28350469e-01 -8.49016893e-01 -4.01222595e-03 1.91679070e+02] [ 8.48996088e-01 5.28365638e-01 -5.94934802e-03 1.60380433e+02] [ 7.17101930e-03 -2.63023318e-04 9.99974253e-01 9.36407590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.062755096 meters Centerline goodness [0,1] 0.9998886513450918 Centerline is valid? [True, True] Translation: X:191.69, Y:160.40, Z:9.36 [[ 5.28061652e-01 -8.49194816e-01 -4.36544670e-03 1.91694781e+02] [ 8.49170169e-01 5.28079618e-01 -6.47620579e-03 1.60402265e+02] [ 7.80486381e-03 -2.87171184e-04 9.99969500e-01 9.36281167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:160.43, Z:9.36 [[ 5.28275305e-01 -8.49061698e-01 -4.40851661e-03 1.91708909e+02] [ 8.49036523e-01 5.28293622e-01 -6.54456179e-03 1.60425241e+02] [ 7.88572795e-03 -2.85661238e-04 9.99968866e-01 9.36336338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters Centerline goodness [0,1] 0.9999331401827501 Centerline is valid? [True, True] Translation: X:191.72, Y:160.45, Z:9.36 [[ 5.29199803e-01 -8.48482411e-01 -5.01663134e-03 1.91717987e+02] [ 8.48449734e-01 5.29223488e-01 -7.45303498e-03 1.60453433e+02] [ 8.97868823e-03 -3.12214882e-04 9.99959642e-01 9.36238751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.73, Y:160.48, Z:9.36 [[ 5.29536720e-01 -8.48271182e-01 -5.18314963e-03 1.91732855e+02] [ 8.48236242e-01 5.29561991e-01 -7.70547967e-03 1.60476632e+02] [ 9.28113538e-03 -3.16200936e-04 9.99956879e-01 9.36248265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.75, Y:160.50, Z:9.36 [[ 5.30137352e-01 -8.47890820e-01 -5.96197028e-03 1.91745444e+02] [ 8.47844500e-01 5.30170758e-01 -8.86964125e-03 1.60502541e+02] [ 1.06813497e-02 -3.52695596e-04 9.99942891e-01 9.36147040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.76, Y:160.52, Z:9.36 [[ 5.29735556e-01 -8.48142002e-01 -5.94865091e-03 1.91762974e+02] [ 8.48095860e-01 5.29768836e-01 -8.85396649e-03 1.60523090e+02] [ 1.06608307e-02 -3.54765353e-04 9.99943109e-01 9.36103580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.78, Y:160.55, Z:9.36 [[ 5.29152720e-01 -8.48507982e-01 -5.62165718e-03 1.91777435e+02] [ 8.48466736e-01 5.29182473e-01 -8.37304194e-03 1.60547201e+02] [ 1.00794754e-02 -3.39171199e-04 9.99949143e-01 9.36267350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.272755096 meters Centerline goodness [0,1] 0.9997550875005566 Centerline is valid? [True, True] Translation: X:191.79, Y:160.57, Z:9.36 [[ 5.28189961e-01 -8.49104995e-01 -6.00601079e-03 1.91793798e+02] [ 8.49057886e-01 5.28223977e-01 -8.95187938e-03 1.60570129e+02] [ 1.07736044e-02 -3.71158007e-04 9.99941894e-01 9.36239468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.81, Y:160.59, Z:9.36 [[ 5.28616165e-01 -8.48845994e-01 -5.04262757e-03 1.91808746e+02] [ 8.48812738e-01 5.28640128e-01 -7.52002526e-03 1.60592319e+02] [ 9.04907860e-03 -3.05039597e-04 9.99959010e-01 9.36444740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.82, Y:160.62, Z:9.36 [[ 5.28197123e-01 -8.49105811e-01 -5.20775374e-03 1.91821788e+02] [ 8.49070317e-01 5.28222700e-01 -7.77023497e-03 1.60617429e+02] [ 9.34860540e-03 -3.17533362e-04 9.99956250e-01 9.36451646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters Centerline goodness [0,1] 0.9999112097669256 Centerline is valid? [True, True] Translation: X:191.84, Y:160.64, Z:9.36 [[ 5.27775711e-01 -8.49366425e-01 -5.42911091e-03 1.91837810e+02] [ 8.49327806e-01 5.27803529e-01 -8.10633900e-03 1.60639785e+02] [ 9.75075607e-03 -3.32766035e-04 9.99952405e-01 9.36449838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.392755096 meters Centerline goodness [0,1] 0.9999556176907884 Centerline is valid? [True, True] Translation: X:191.85, Y:160.66, Z:9.37 [[ 5.27938585e-01 -8.49265475e-01 -5.38550796e-03 1.91852294e+02] [ 8.49227412e-01 5.27965953e-01 -8.04702498e-03 1.60662613e+02] [ 9.67742534e-03 -3.25186010e-04 9.99953120e-01 9.36525867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.87, Y:160.69, Z:9.37 [[ 5.28108920e-01 -8.49161191e-01 -5.12244553e-03 1.91866790e+02] [ 8.49126704e-01 5.28133675e-01 -7.65907855e-03 1.60686214e+02] [ 9.20912825e-03 -3.04777582e-04 9.99957549e-01 9.36585635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.88, Y:160.71, Z:9.37 [[ 5.28213791e-01 -8.49096407e-01 -5.04809396e-03 1.91880683e+02] [ 8.49062866e-01 5.28237829e-01 -7.55288559e-03 1.60710603e+02] [ 9.07972221e-03 -2.96610793e-04 9.99958735e-01 9.36665856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.482755096 meters Centerline goodness [0,1] 0.9999115279129435 Centerline is valid? [True, True] Translation: X:191.89, Y:160.73, Z:9.37 [[ 5.28998374e-01 -8.48607613e-01 -5.08326387e-03 1.91894407e+02] [ 8.48573532e-01 5.29022719e-01 -7.61074627e-03 1.60734368e+02] [ 9.14769930e-03 -2.87450774e-04 9.99958118e-01 9.36662953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.91, Y:160.76, Z:9.37 [[ 5.30794203e-01 -8.47485521e-01 -5.07999873e-03 1.91906086e+02] [ 8.47451399e-01 5.30818445e-01 -7.60954866e-03 1.60760654e+02] [ 9.14553933e-03 -2.65947711e-04 9.99958143e-01 9.36677134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.92, Y:160.78, Z:9.37 [[ 5.31063514e-01 -8.47315097e-01 -5.35458817e-03 1.91920431e+02] [ 8.47277125e-01 5.31090437e-01 -8.02635970e-03 1.60783669e+02] [ 9.64462631e-03 -2.74313284e-04 9.99953452e-01 9.36677635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.94, Y:160.81, Z:9.37 [[ 5.31784511e-01 -8.46863076e-01 -5.30706673e-03 1.91935243e+02] [ 8.46825699e-01 5.31810928e-01 -7.96065758e-03 1.60807755e+02] [ 9.56394304e-03 -2.60806095e-04 9.99954230e-01 9.36699379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:160.83, Z:9.37 [[ 5.33948117e-01 -8.45496636e-01 -5.90307514e-03 1.91948888e+02] [ 8.45450241e-01 5.33980684e-01 -8.86115395e-03 1.60832733e+02] [ 1.06442040e-02 -2.59359829e-04 9.99943315e-01 9.36645217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:160.86, Z:9.37 [[ 5.34912878e-01 -8.44884831e-01 -6.15108653e-03 1.91963469e+02] [ 8.44834345e-01 5.34948183e-01 -9.23961436e-03 1.60855429e+02] [ 1.10969226e-02 -2.54260450e-04 9.99938395e-01 9.36625889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.98, Y:160.88, Z:9.37 [[ 5.36626736e-01 -8.43797048e-01 -6.18771121e-03 1.91976118e+02] [ 8.43745818e-01 5.36662360e-01 -9.30087708e-03 1.60881481e+02] [ 1.11687643e-02 -2.29756140e-04 9.99937601e-01 9.36593557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.99, Y:160.91, Z:9.37 [[ 5.36988987e-01 -8.43567573e-01 -6.04797319e-03 1.91990646e+02] [ 8.43518553e-01 5.37023001e-01 -9.09655470e-03 1.60905431e+02] [ 1.09214593e-02 -2.16827895e-04 9.99940336e-01 9.36609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:160.93, Z:9.37 [[ 5.36974376e-01 -8.43578117e-01 -5.87197511e-03 1.92005634e+02] [ 8.43531849e-01 5.37006441e-01 -8.83761140e-03 1.60929286e+02] [ 1.06085040e-02 -2.07627156e-04 9.99943707e-01 9.36663254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.02, Y:160.95, Z:9.37 [[ 5.36776035e-01 -8.43705438e-01 -5.71160065e-03 1.92021474e+02] [ 8.43661610e-01 5.36806384e-01 -8.60199306e-03 1.60951435e+02] [ 1.03235720e-02 -2.01314471e-04 9.99946690e-01 9.36736002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.04, Y:160.97, Z:9.37 [[ 5.36602437e-01 -8.43818282e-01 -5.34152415e-03 1.92038700e+02] [ 8.43779903e-01 5.36628990e-01 -8.05006167e-03 1.60972267e+02] [ 9.65920591e-03 -1.87388011e-04 9.99953331e-01 9.36892890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.05, Y:161.00, Z:9.37 [[ 5.36363086e-01 -8.43971012e-01 -5.25087488e-03 1.92053931e+02] [ 8.43933879e-01 5.36388756e-01 -7.91897131e-03 1.60996058e+02] [ 9.49989247e-03 -1.83947312e-04 9.99954858e-01 9.36946860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.07, Y:161.02, Z:9.37 [[ 5.35811525e-01 -8.44320345e-01 -5.40053556e-03 1.92070798e+02] [ 8.44281029e-01 5.35838706e-01 -8.15017887e-03 1.61016939e+02] [ 9.77517782e-03 -1.92609950e-04 9.99952203e-01 9.36913927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.09, Y:161.04, Z:9.37 [[ 5.35067141e-01 -8.44792015e-01 -5.44106012e-03 1.92085194e+02] [ 8.44752092e-01 5.35094768e-01 -8.21541000e-03 1.61041154e+02] [ 9.85179558e-03 -2.00550974e-04 9.99951450e-01 9.36911332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:161.07, Z:9.37 [[ 5.34363810e-01 -8.45236000e-01 -5.60554560e-03 1.92100221e+02] [ 8.45193593e-01 5.34393169e-01 -8.46947158e-03 1.61065096e+02] [ 1.01542676e-02 -2.11992122e-04 9.99948422e-01 9.36883964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.12, Y:161.08, Z:9.37 [[ 5.32665160e-01 -8.46304163e-01 -6.09020191e-03 1.92119374e+02] [ 8.46254104e-01 5.32699916e-01 -9.20814002e-03 1.61084752e+02] [ 1.10371373e-02 -2.49002991e-04 9.99939058e-01 9.36784776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:161.11, Z:9.37 [[ 5.31451228e-01 -8.47067173e-01 -6.06602508e-03 1.92133329e+02] [ 8.47017510e-01 5.31485782e-01 -9.17619110e-03 1.61109115e+02] [ 1.09968563e-02 -2.61331430e-04 9.99939499e-01 9.36803033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.15, Y:161.13, Z:9.37 [[ 5.29098536e-01 -8.48539924e-01 -5.89376633e-03 1.92150852e+02] [ 8.48493078e-01 5.29131287e-01 -8.92070393e-03 1.61129887e+02] [ 1.06881496e-02 -2.80888537e-04 9.99942841e-01 9.36866662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.17, Y:161.15, Z:9.37 [[ 5.28299202e-01 -8.49039768e-01 -5.60584810e-03 1.92167097e+02] [ 8.48997389e-01 5.28328871e-01 -8.48747167e-03 1.61152884e+02] [ 1.01679324e-02 -2.75425891e-04 9.99948267e-01 9.36946438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.19, Y:161.17, Z:9.37 [[ 5.26615793e-01 -8.50086272e-01 -5.39786817e-03 1.92185018e+02] [ 8.50046983e-01 5.26643382e-01 -8.17772297e-03 1.61173179e+02] [ 9.79452158e-03 -2.81923488e-04 9.99951993e-01 9.37008406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:161.20, Z:9.37 [[ 5.26343076e-01 -8.50255172e-01 -5.39528972e-03 1.92199563e+02] [ 8.50215875e-01 5.26370652e-01 -8.17942379e-03 1.61195656e+02] [ 9.79451955e-03 -2.81977896e-04 9.99951993e-01 9.37033360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.21, Y:161.22, Z:9.37 [[ 5.25441017e-01 -8.50814327e-01 -5.16889425e-03 1.92213148e+02] [ 8.50778237e-01 5.25466368e-01 -7.84144537e-03 1.61220105e+02] [ 9.38769416e-03 -2.77365707e-04 9.99955896e-01 9.37066339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters Centerline goodness [0,1] 0.9999335047433283 Centerline is valid? [True, True] Translation: X:192.23, Y:161.24, Z:9.37 [[ 5.24693966e-01 -8.51273502e-01 -5.44678039e-03 1.92228287e+02] [ 8.51233395e-01 5.24722151e-01 -8.26865510e-03 1.61243998e+02] [ 9.89693331e-03 -2.97967930e-04 9.99950980e-01 9.37001165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:161.27, Z:9.37 [[ 5.24540535e-01 -8.51368483e-01 -5.37899087e-03 1.92243418e+02] [ 8.51329322e-01 5.24568032e-01 -8.17102709e-03 1.61267863e+02] [ 9.77820159e-03 -2.93257723e-04 9.99952149e-01 9.37025629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.26, Y:161.29, Z:9.37 [[ 5.24800843e-01 -8.51205513e-01 -5.76627372e-03 1.92259112e+02] [ 8.51160436e-01 5.24832431e-01 -8.76542492e-03 1.61290053e+02] [ 1.04875055e-02 -3.07921659e-04 9.99944957e-01 9.36984355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:161.32, Z:9.37 [[ 5.25348729e-01 -8.50865198e-01 -6.09324352e-03 1.92271252e+02] [ 8.50814769e-01 5.25383970e-01 -9.26896703e-03 1.61315845e+02] [ 1.10879339e-02 -3.14781522e-04 9.99938477e-01 9.36969243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:161.34, Z:9.37 [[ 5.26010893e-01 -8.50455570e-01 -6.15337931e-03 1.92284989e+02] [ 8.50404042e-01 5.26046795e-01 -9.36670135e-03 1.61339129e+02] [ 1.12029288e-02 -3.05871696e-04 9.99937198e-01 9.36964769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:161.37, Z:9.37 [[ 5.28166428e-01 -8.49116801e-01 -6.39397629e-03 1.92297399e+02] [ 8.49060990e-01 5.28205053e-01 -9.73950134e-03 1.61365604e+02] [ 1.16473048e-02 -2.84798201e-04 9.99932127e-01 9.36891687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.31, Y:161.39, Z:9.37 [[ 5.29247450e-01 -8.48441267e-01 -6.67487323e-03 1.92311320e+02] [ 8.48380321e-01 5.29289466e-01 -1.01730961e-02 1.61390669e+02] [ 1.21642147e-02 -2.78745920e-04 9.99925974e-01 9.36914865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.32, Y:161.41, Z:9.37 [[ 5.30176028e-01 -8.47861213e-01 -6.68899309e-03 1.92324777e+02] [ 8.47799905e-01 5.30218157e-01 -1.01994020e-02 1.61414900e+02] [ 1.21943029e-02 -2.63449278e-04 9.99925612e-01 9.36964015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.34, Y:161.44, Z:9.37 [[ 5.32452987e-01 -8.46433995e-01 -6.58091397e-03 1.92337524e+02] [ 8.46374470e-01 5.32493607e-01 -1.00406349e-02 1.61438900e+02] [ 1.20030294e-02 -2.23751514e-04 9.99927936e-01 9.37030969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.35, Y:161.46, Z:9.37 [[ 5.33601484e-01 -8.45711337e-01 -6.46460785e-03 1.92351654e+02] [ 8.45653790e-01 5.33640604e-01 -9.86774464e-03 1.61463668e+02] [ 1.17950407e-02 -2.01376948e-04 9.99930416e-01 9.37105748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.36, Y:161.49, Z:9.37 [[ 5.35715394e-01 -8.44375951e-01 -6.18626171e-03 1.92363944e+02] [ 8.44323101e-01 5.35751087e-01 -9.44847766e-03 1.61488442e+02] [ 1.12923637e-02 -1.61508742e-04 9.99936226e-01 9.37218506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:161.51, Z:9.37 [[ 5.36526008e-01 -8.43862830e-01 -5.94691665e-03 1.92377808e+02] [ 8.43813919e-01 5.36558947e-01 -9.08667495e-03 1.61511710e+02] [ 1.08587786e-02 -1.42853604e-04 9.99941032e-01 9.37234041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.39, Y:161.54, Z:9.37 [[ 5.37626853e-01 -8.43162445e-01 -5.87005325e-03 1.92390162e+02] [ 8.43114700e-01 5.37658884e-01 -8.97375268e-03 1.61535382e+02] [ 1.07224175e-02 -1.24597769e-04 9.99942505e-01 9.37224572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.40, Y:161.56, Z:9.37 [[ 5.37473524e-01 -8.43261854e-01 -5.62650583e-03 1.92403533e+02] [ 8.43217931e-01 5.37502960e-01 -8.60752024e-03 1.61559690e+02] [ 1.02826570e-02 -1.18056369e-04 9.99947125e-01 9.37261402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.42, Y:161.58, Z:9.37 [[ 5.36959218e-01 -8.43589538e-01 -5.61163796e-03 1.92419018e+02] [ 8.43545806e-01 5.36988526e-01 -8.59047872e-03 1.61581758e+02] [ 1.02602232e-02 -1.20936926e-04 9.99947355e-01 9.37265452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.592755096 meters Centerline goodness [0,1] 0.9999341527655838 Centerline is valid? [True, True] Translation: X:192.43, Y:161.60, Z:9.37 [[ 5.35835046e-01 -8.44305606e-01 -5.37108344e-03 1.92433884e+02] [ 8.44265524e-01 5.35861949e-01 -8.22775456e-03 1.61603690e+02] [ 9.82489854e-03 -1.25901336e-04 9.99951727e-01 9.37318578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.45, Y:161.63, Z:9.37 [[ 5.34905419e-01 -8.44894626e-01 -5.40960042e-03 1.92448557e+02] [ 8.44853937e-01 5.34932756e-01 -8.29289190e-03 1.61627918e+02] [ 9.90039226e-03 -1.34409394e-04 9.99950981e-01 9.37341443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.47, Y:161.65, Z:9.37 [[ 5.32816773e-01 -8.46213967e-01 -5.31123820e-03 1.92465661e+02] [ 8.46174759e-01 5.32843222e-01 -8.14729791e-03 1.61649319e+02] [ 9.72441456e-03 -1.53218725e-04 9.99952705e-01 9.37397493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.48, Y:161.67, Z:9.37 [[ 5.31668879e-01 -8.46936934e-01 -5.10222651e-03 1.92480246e+02] [ 8.46900737e-01 5.31693337e-01 -7.83181299e-03 1.61673749e+02] [ 9.34587153e-03 -1.57148164e-04 9.99956314e-01 9.37454892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:161.70, Z:9.37 [[ 5.30683130e-01 -8.47556354e-01 -4.86230511e-03 1.92495283e+02] [ 8.47523466e-01 5.30705382e-01 -7.46808555e-03 1.61697914e+02] [ 8.91007485e-03 -1.57730662e-04 9.99960292e-01 9.37475071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.51, Y:161.72, Z:9.37 [[ 5.29027917e-01 -8.48592193e-01 -4.55548500e-03 1.92512984e+02] [ 8.48563326e-01 5.29047506e-01 -7.00125329e-03 1.61719182e+02] [ 8.35127686e-03 -1.61759062e-04 9.99965114e-01 9.37488990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:161.74, Z:9.37 [[ 5.27747386e-01 -8.49387083e-01 -4.92750092e-03 1.92528316e+02] [ 8.49353308e-01 5.27770356e-01 -7.57688074e-03 1.61741971e+02] [ 9.03629354e-03 -1.86510210e-04 9.99959154e-01 9.37356580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.54, Y:161.77, Z:9.37 [[ 5.27286076e-01 -8.49672559e-01 -5.09272366e-03 1.92539682e+02] [ 8.49636447e-01 5.27310633e-01 -7.83603706e-03 1.61768621e+02] [ 9.34351300e-03 -1.95130411e-04 9.99956329e-01 9.37319428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.55, Y:161.79, Z:9.37 [[ 5.26721807e-01 -8.50022172e-01 -5.14249693e-03 1.92554472e+02] [ 8.49985317e-01 5.26746871e-01 -7.91793014e-03 1.61792399e+02] [ 9.43921034e-03 -2.00500416e-04 9.99955430e-01 9.37286446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.57, Y:161.82, Z:9.37 [[ 5.26471976e-01 -8.50174668e-01 -5.50386952e-03 1.92565755e+02] [ 8.50132399e-01 5.26500701e-01 -8.48033466e-03 1.61818806e+02] [ 1.01075569e-02 -2.14359258e-04 9.99948894e-01 9.37193597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.58, Y:161.84, Z:9.37 [[ 5.26309535e-01 -8.50274755e-01 -5.57806003e-03 1.92580382e+02] [ 8.50231281e-01 5.26339049e-01 -8.60083957e-03 1.61842191e+02] [ 1.02490276e-02 -2.15937249e-04 9.99947454e-01 9.37138470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.59, Y:161.87, Z:9.37 [[ 5.26369811e-01 -8.50235937e-01 -5.80284847e-03 1.92594293e+02] [ 8.50188813e-01 5.26401750e-01 -8.95428621e-03 1.61866220e+02] [ 1.06678855e-02 -2.20250917e-04 9.99943072e-01 9.37143353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.61, Y:161.89, Z:9.37 [[ 5.25906438e-01 -8.50522910e-01 -5.76187741e-03 1.92609014e+02] [ 8.50476401e-01 5.25937954e-01 -8.89714964e-03 1.61890101e+02] [ 1.05976196e-02 -2.21272495e-04 9.99943819e-01 9.37160357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.62, Y:161.91, Z:9.37 [[ 5.25482025e-01 -8.50785304e-01 -5.74529293e-03 1.92623481e+02] [ 8.50739014e-01 5.25513385e-01 -8.87760400e-03 1.61914625e+02] [ 1.05721633e-02 -2.22723510e-04 9.99944088e-01 9.37129625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.64, Y:161.94, Z:9.37 [[ 5.24975614e-01 -8.51098518e-01 -5.64956477e-03 1.92638253e+02] [ 8.51053715e-01 5.25005965e-01 -8.73558179e-03 1.61937711e+02] [ 1.04008959e-02 -2.22115683e-04 9.99945885e-01 9.37159330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0427550960001 meters Centerline goodness [0,1] 0.999956490525812 Centerline is valid? [True, True] Translation: X:192.65, Y:161.96, Z:9.37 [[ 5.23274199e-01 -8.52149806e-01 -4.98202583e-03 1.92651995e+02] [ 8.52114969e-01 5.23297872e-01 -7.70828499e-03 1.61962359e+02] [ 9.17569707e-03 -2.11712132e-04 9.99957880e-01 9.37151460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.072755096 meters Centerline goodness [0,1] 0.9999564023193966 Centerline is valid? [True, True] Translation: X:192.67, Y:161.99, Z:9.37 [[ 5.22447546e-01 -8.52658680e-01 -4.66245365e-03 1.92667293e+02] [ 8.52628149e-01 5.22468310e-01 -7.21839509e-03 1.61985109e+02] [ 8.59081150e-03 -2.04106431e-04 9.99963077e-01 9.37253557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:162.01, Z:9.37 [[ 5.20959912e-01 -8.53570880e-01 -4.18616220e-03 1.92682800e+02] [ 8.53546276e-01 5.20976694e-01 -6.48371945e-03 1.62009156e+02] [ 7.71520706e-03 -1.95325238e-04 9.99970218e-01 9.37271703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:162.03, Z:9.37 [[ 5.20374536e-01 -8.53929715e-01 -3.79279284e-03 1.92697560e+02] [ 8.53909504e-01 5.20388327e-01 -5.87774407e-03 1.62032617e+02] [ 6.99290543e-03 -1.80073513e-04 9.99975533e-01 9.37288549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:162.06, Z:9.37 [[ 5.20167702e-01 -8.54055737e-01 -3.78949227e-03 1.92712227e+02] [ 8.54035537e-01 5.20181474e-01 -5.87670039e-03 1.62056295e+02] [ 6.99025336e-03 -1.79491329e-04 9.99975552e-01 9.37324192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.73, Y:162.08, Z:9.37 [[ 5.20942637e-01 -8.53584577e-01 -3.48402643e-03 1.92725507e+02] [ 8.53567471e-01 5.20954264e-01 -5.40627619e-03 1.62079913e+02] [ 6.42973240e-03 -1.57491854e-04 9.99979317e-01 9.37319592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.74, Y:162.11, Z:9.37 [[ 5.23293119e-01 -8.52146584e-01 -3.24215464e-03 1.92737932e+02] [ 8.52131723e-01 5.23303147e-01 -5.03429234e-03 1.62105856e+02] [ 5.98658475e-03 -1.28332273e-04 9.99982072e-01 9.37295887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.75, Y:162.13, Z:9.37 [[ 5.24439768e-01 -8.51441861e-01 -3.11235961e-03 1.92751731e+02] [ 8.51428137e-01 5.24448991e-01 -4.83572512e-03 1.62130915e+02] [ 5.74961265e-03 -1.13903982e-04 9.99983464e-01 9.37306115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.77, Y:162.16, Z:9.37 [[ 5.25651608e-01 -8.50693921e-01 -3.19985764e-03 1.92765265e+02] [ 8.50679381e-01 5.25661336e-01 -4.97487867e-03 1.62156072e+02] [ 5.91414049e-03 -1.06999948e-04 9.99982506e-01 9.37274212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.78, Y:162.18, Z:9.37 [[ 5.28120599e-01 -8.49162611e-01 -3.39019262e-03 1.92777634e+02] [ 8.49146230e-01 5.28131472e-01 -5.27515609e-03 1.62181070e+02] [ 6.26993273e-03 -9.28506884e-05 9.99980339e-01 9.37199134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:162.21, Z:9.37 [[ 5.28811996e-01 -8.48733696e-01 -2.99772583e-03 1.92791624e+02] [ 8.48720877e-01 5.28820487e-01 -4.66533205e-03 1.62205191e+02] [ 5.54488335e-03 -7.71489435e-05 9.99984624e-01 9.37224102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.81, Y:162.23, Z:9.37 [[ 5.29490984e-01 -8.48311332e-01 -2.68000400e-03 1.92806182e+02] [ 8.48301070e-01 5.29497763e-01 -4.17300299e-03 1.62228521e+02] [ 4.95906185e-03 -6.38827983e-05 9.99987702e-01 9.37245271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:162.25, Z:9.37 [[ 5.29436568e-01 -8.48345583e-01 -2.58685991e-03 1.92821882e+02] [ 8.48336010e-01 5.29442884e-01 -4.03077590e-03 1.62251868e+02] [ 4.78908550e-03 -6.04862539e-05 9.99988530e-01 9.37264035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:162.27, Z:9.37 [[ 5.28595803e-01 -8.48870411e-01 -2.34580430e-03 1.92838676e+02] [ 8.48862536e-01 5.28601004e-01 -3.65695026e-03 1.62273697e+02] [ 4.34427138e-03 -5.82168331e-05 9.99990562e-01 9.37295655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.86, Y:162.30, Z:9.37 [[ 5.27783829e-01 -8.49376259e-01 -2.04952915e-03 1.92855106e+02] [ 8.49370244e-01 5.27787806e-01 -3.19681725e-03 1.62296977e+02] [ 3.79701717e-03 -5.35806222e-05 9.99992790e-01 9.37327972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.87, Y:162.32, Z:9.37 [[ 5.27146802e-01 -8.49771853e-01 -2.01195358e-03 1.92871415e+02] [ 8.49766053e-01 5.27150639e-01 -3.14000630e-03 1.62318632e+02] [ 3.72889158e-03 -5.44455692e-05 9.99993046e-01 9.37374550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.89, Y:162.34, Z:9.37 [[ 5.26083207e-01 -8.50431310e-01 -1.74547941e-03 1.92888898e+02] [ 8.50426944e-01 5.26086100e-01 -2.72534949e-03 1.62340001e+02] [ 3.23599499e-03 -5.06421210e-05 9.99994763e-01 9.37445089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:162.36, Z:9.37 [[ 5.25857341e-01 -8.50570777e-01 -1.84657981e-03 1.92904348e+02] [ 8.50565885e-01 5.25860581e-01 -2.88532669e-03 1.62362412e+02] [ 3.42521809e-03 -5.33675661e-05 9.99994133e-01 9.37426750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.92, Y:162.39, Z:9.37 [[ 5.25706149e-01 -8.50663737e-01 -2.06219160e-03 1.92919643e+02] [ 8.50657625e-01 5.25710190e-01 -3.22517631e-03 1.62385265e+02] [ 3.82765566e-03 -5.87239895e-05 9.99992673e-01 9.37387610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.94, Y:162.41, Z:9.37 [[ 5.25727065e-01 -8.50650157e-01 -2.31597121e-03 1.92935516e+02] [ 8.50642434e-01 5.25732162e-01 -3.62535569e-03 1.62407627e+02] [ 4.30148994e-03 -6.41157835e-05 9.99990747e-01 9.37301250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:162.43, Z:9.37 [[ 5.26038516e-01 -8.50457132e-01 -2.47906070e-03 1.92950602e+02] [ 8.50448267e-01 5.26044353e-01 -3.88378473e-03 1.62430072e+02] [ 4.60708831e-03 -6.52925150e-05 9.99989385e-01 9.37305019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:162.45, Z:9.37 [[ 5.26531137e-01 -8.50151373e-01 -2.75774671e-03 1.92966524e+02] [ 8.50140380e-01 5.26538354e-01 -4.32392707e-03 1.62451119e+02] [ 5.12805195e-03 -6.77895987e-05 9.99986849e-01 9.37283873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:162.47, Z:9.37 [[ 5.26567325e-01 -8.50128218e-01 -2.97760269e-03 1.92981601e+02] [ 8.50115379e-01 5.26575739e-01 -4.67271187e-03 1.62473449e+02] [ 5.54033755e-03 -7.08084522e-05 9.99984650e-01 9.37260290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.00, Y:162.50, Z:9.37 [[ 5.27121932e-01 -8.49783646e-01 -3.19761970e-03 1.92996327e+02] [ 8.49768810e-01 5.27131626e-01 -5.02190171e-03 1.62497534e+02] [ 5.95309641e-03 -7.00829593e-05 9.99982278e-01 9.37165611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:162.52, Z:9.37 [[ 5.27248509e-01 -8.49704116e-01 -3.45341582e-03 1.93011647e+02] [ 8.49686784e-01 5.27259813e-01 -5.42762900e-03 1.62520722e+02] [ 6.43272608e-03 -7.26124820e-05 9.99979307e-01 9.37115189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:162.54, Z:9.37 [[ 5.28002680e-01 -8.49233965e-01 -3.85259126e-03 1.93030654e+02] [ 8.49212348e-01 5.28016730e-01 -6.05975801e-03 1.62541324e+02] [ 7.18038496e-03 -7.20996023e-05 9.99974218e-01 9.37172303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:162.57, Z:9.37 [[ 5.28152722e-01 -8.49140192e-01 -3.95445391e-03 1.93044310e+02] [ 8.49117382e-01 5.28167521e-01 -6.22431186e-03 1.62565346e+02] [ 7.37392748e-03 -7.04082967e-05 9.99972810e-01 9.37150041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:162.59, Z:9.37 [[ 5.28318337e-01 -8.49038015e-01 -3.76607321e-03 1.93061448e+02] [ 8.49017298e-01 5.28331756e-01 -5.93148549e-03 1.62586780e+02] [ 7.02579274e-03 -6.37487529e-05 9.99975317e-01 9.37196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.08, Y:162.61, Z:9.37 [[ 5.28209702e-01 -8.49105596e-01 -3.76805043e-03 1.93077383e+02] [ 8.49084829e-01 5.28223138e-01 -5.93887203e-03 1.62608604e+02] [ 7.03310089e-03 -6.24246359e-05 9.99975266e-01 9.37247073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.09, Y:162.63, Z:9.37 [[ 5.27921356e-01 -8.49284034e-01 -3.95872046e-03 1.93093419e+02] [ 8.49261083e-01 5.27936195e-01 -6.24393608e-03 1.62630319e+02] [ 7.39282704e-03 -6.56800250e-05 9.99972671e-01 9.37256775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.11, Y:162.65, Z:9.37 [[ 5.27855312e-01 -8.49323418e-01 -4.30134726e-03 1.93110956e+02] [ 8.49296280e-01 5.27872833e-01 -6.78978193e-03 1.62651656e+02] [ 8.03728515e-03 -6.90957706e-05 9.99967698e-01 9.37295684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.13, Y:162.67, Z:9.37 [[ 5.27578617e-01 -8.49495333e-01 -4.29913276e-03 1.93125070e+02] [ 8.49468190e-01 5.27596128e-01 -6.79118372e-03 1.62674391e+02] [ 8.03728468e-03 -6.90932096e-05 9.99967698e-01 9.37320627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.14, Y:162.70, Z:9.37 [[ 5.28035177e-01 -8.49213135e-01 -3.98794371e-03 1.93139656e+02] [ 8.49189739e-01 5.28050233e-01 -6.30385713e-03 1.62698688e+02] [ 7.45915289e-03 -5.78625639e-05 9.99972178e-01 9.37408042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.15, Y:162.72, Z:9.37 [[ 5.29953567e-01 -8.48018758e-01 -3.66106289e-03 1.93151386e+02] [ 8.47998989e-01 5.29966212e-01 -5.79038737e-03 1.62724523e+02] [ 6.85059673e-03 -3.59411876e-05 9.99976534e-01 9.37459069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.16, Y:162.75, Z:9.37 [[ 5.30682451e-01 -8.47562033e-01 -3.83872642e-03 1.93164844e+02] [ 8.47540256e-01 5.30696334e-01 -6.07582325e-03 1.62747938e+02] [ 7.18683514e-03 -2.91423955e-05 9.99974174e-01 9.37477102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.18, Y:162.77, Z:9.37 [[ 5.31922143e-01 -8.46782231e-01 -4.32279449e-03 1.93177051e+02] [ 8.46754542e-01 5.31939708e-01 -6.84781023e-03 1.62773692e+02] [ 8.09807006e-03 -1.78439756e-05 9.99967210e-01 9.37402608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.19, Y:162.80, Z:9.37 [[ 5.32127845e-01 -8.46651238e-01 -4.65175808e-03 1.93189929e+02] [ 8.46619120e-01 5.32148177e-01 -7.37449390e-03 1.62797147e+02] [ 8.71904897e-03 -1.40937881e-05 9.99961988e-01 9.37379180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.20, Y:162.82, Z:9.37 [[ 5.32061292e-01 -8.46690613e-01 -5.07808562e-03 1.93203235e+02] [ 8.46652280e-01 5.32085524e-01 -8.05683278e-03 1.62822335e+02] [ 9.52362054e-03 -1.26439062e-05 9.99954649e-01 9.37305184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.22, Y:162.85, Z:9.37 [[ 5.31346878e-01 -8.47138266e-01 -5.22041705e-03 1.93217578e+02] [ 8.47097716e-01 5.31372522e-01 -8.28865060e-03 1.62845485e+02] [ 9.79561927e-03 -1.80547365e-05 9.99952022e-01 9.37293926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.212755096 meters Centerline goodness [0,1] 0.9999558411163366 Centerline is valid? [True, True] Translation: X:193.23, Y:162.87, Z:9.37 [[ 5.29575885e-01 -8.48244210e-01 -5.58058189e-03 1.93233677e+02] [ 8.48197860e-01 5.29605287e-01 -8.86742226e-03 1.62868687e+02] [ 1.04772453e-02 -3.74646223e-05 9.99945111e-01 9.37351268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.25, Y:162.89, Z:9.37 [[ 5.28758558e-01 -8.48753618e-01 -5.62884705e-03 1.93248807e+02] [ 8.48706425e-01 5.28788516e-01 -8.95037320e-03 1.62891769e+02] [ 1.05731313e-02 -4.46522288e-05 9.99944102e-01 9.37419029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:162.92, Z:9.37 [[ 5.28163239e-01 -8.49121091e-01 -6.07993764e-03 1.93262911e+02] [ 8.49065972e-01 5.28198230e-01 -9.67499136e-03 1.62915079e+02] [ 1.14266515e-02 -5.22933789e-05 9.99934712e-01 9.37433237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:162.94, Z:9.37 [[ 5.27447758e-01 -8.49562519e-01 -6.51074425e-03 1.93276514e+02] [ 8.49499246e-01 5.27487937e-01 -1.03685870e-02 1.62939249e+02] [ 1.22431020e-02 -6.19843496e-05 9.99925049e-01 9.37391103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.332755096 meters Centerline goodness [0,1] 0.9999559296637434 Centerline is valid? [True, True] Translation: X:193.29, Y:162.96, Z:9.37 [[ 5.25597433e-01 -8.50706560e-01 -6.75919312e-03 1.93291339e+02] [ 8.50638359e-01 5.25640886e-01 -1.07722640e-02 1.62962078e+02] [ 1.27169439e-02 -8.77546339e-05 9.99919133e-01 9.37327279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:162.99, Z:9.37 [[ 5.23918303e-01 -8.51740260e-01 -6.93842430e-03 1.93306562e+02] [ 8.51668374e-01 5.23964233e-01 -1.10662851e-02 1.62986134e+02] [ 1.30610867e-02 -1.11407216e-04 9.99914694e-01 9.37391021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.32, Y:163.01, Z:9.37 [[ 5.22112412e-01 -8.52847850e-01 -7.01243643e-03 1.93322337e+02] [ 8.52774414e-01 5.22159483e-01 -1.11925726e-02 1.63008239e+02] [ 1.32071717e-02 -1.36245279e-04 9.99912772e-01 9.37424099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.34, Y:163.03, Z:9.38 [[ 5.17932428e-01 -8.55394042e-01 -6.85813531e-03 1.93340175e+02] [ 8.55323921e-01 5.17977795e-01 -1.09541919e-02 1.63030119e+02] [ 1.29225123e-02 -1.92395984e-04 9.99916482e-01 9.37561421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.36, Y:163.05, Z:9.38 [[ 5.16056235e-01 -8.56528729e-01 -6.67076527e-03 1.93357160e+02] [ 8.56462394e-01 5.16099304e-01 -1.06618998e-02 1.63053508e+02] [ 1.25750008e-02 -2.11119712e-04 9.99920909e-01 9.37686456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:163.08, Z:9.38 [[ 5.13333874e-01 -8.58164124e-01 -6.53220546e-03 1.93373792e+02] [ 8.58100564e-01 5.13375376e-01 -1.04472763e-02 1.63075902e+02] [ 1.23189512e-02 -2.42348365e-04 9.99924089e-01 9.37794140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.39, Y:163.10, Z:9.38 [[ 5.12130915e-01 -8.58884891e-01 -6.21847861e-03 1.93389364e+02] [ 8.58827270e-01 5.12168609e-01 -9.95168166e-03 1.63098844e+02] [ 1.17322586e-02 -2.44035168e-04 9.99931145e-01 9.37833423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.40, Y:163.12, Z:9.38 [[ 5.11088482e-01 -8.59504047e-01 -6.43094167e-03 1.93404457e+02] [ 8.59442388e-01 5.11128873e-01 -1.02984113e-02 1.63122575e+02] [ 1.21385661e-02 -2.63624471e-04 9.99926290e-01 9.37882295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.42, Y:163.15, Z:9.38 [[ 5.11111060e-01 -8.59488166e-01 -6.75100008e-03 1.93419473e+02] [ 8.59420117e-01 5.11155571e-01 -1.08187074e-02 1.63146813e+02] [ 1.27493623e-02 -2.72384270e-04 9.99918687e-01 9.37891854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.43, Y:163.17, Z:9.38 [[ 5.12175105e-01 -8.58849272e-01 -7.38845399e-03 1.93433452e+02] [ 8.58767576e-01 5.12228320e-01 -1.18489828e-02 1.63170019e+02] [ 1.39610656e-02 -2.76210701e-04 9.99902501e-01 9.37830524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.45, Y:163.19, Z:9.38 [[ 5.12664289e-01 -8.58557093e-01 -7.41916849e-03 1.93448056e+02] [ 8.58474570e-01 5.12717902e-01 -1.19065366e-02 1.63194308e+02] [ 1.40263819e-02 -2.65111362e-04 9.99901590e-01 9.37880882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.46, Y:163.22, Z:9.38 [[ 5.13526539e-01 -8.58039537e-01 -7.65815459e-03 1.93462531e+02] [ 8.57951433e-01 5.13583575e-01 -1.22984066e-02 1.63218922e+02] [ 1.44856215e-02 -2.54766535e-04 9.99895045e-01 9.37914162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:163.24, Z:9.38 [[ 5.15146696e-01 -8.57067030e-01 -7.74512347e-03 1.93475069e+02] [ 8.56976684e-01 5.15204867e-01 -1.24462288e-02 1.63243347e+02] [ 1.46575777e-02 -2.25756558e-04 9.99892546e-01 9.37942204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.49, Y:163.27, Z:9.38 [[ 5.16228781e-01 -8.56410586e-01 -8.29184842e-03 1.93488424e+02] [ 8.56306799e-01 5.16295324e-01 -1.33343298e-02 1.63267280e+02] [ 1.57007038e-02 -2.16801354e-04 9.99876713e-01 9.37900767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:163.29, Z:9.38 [[ 5.16475847e-01 -8.56258857e-01 -8.57145749e-03 1.93502185e+02] [ 8.56147776e-01 5.16546924e-01 -1.37935317e-02 1.63292041e+02] [ 1.62383937e-02 -2.14408311e-04 9.99868126e-01 9.37931106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.52, Y:163.32, Z:9.38 [[ 5.16596167e-01 -8.56184825e-01 -8.71468418e-03 1.93515297e+02] [ 8.56069832e-01 5.16669624e-01 -1.40336316e-02 1.63316983e+02] [ 1.65179950e-02 -2.10657947e-04 9.99863546e-01 9.38054581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:163.34, Z:9.38 [[ 5.16751443e-01 -8.56091083e-01 -8.71806459e-03 1.93527860e+02] [ 8.55975819e-01 5.16824939e-01 -1.40491888e-02 1.63341025e+02] [ 1.65330985e-02 -2.02513886e-04 9.99863299e-01 9.38091639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.54, Y:163.36, Z:9.38 [[ 5.16246350e-01 -8.56397567e-01 -8.53895574e-03 1.93542307e+02] [ 8.56286874e-01 5.16316925e-01 -1.37703437e-02 1.63364845e+02] [ 1.62016962e-02 -2.02906055e-04 9.99868723e-01 9.38136359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.56, Y:163.39, Z:9.38 [[ 5.14754025e-01 -8.57297280e-01 -8.34673667e-03 1.93557010e+02] [ 8.57191487e-01 5.14821644e-01 -1.34695594e-02 1.63388310e+02] [ 1.58444973e-02 -2.21241711e-04 9.99874444e-01 9.38260188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.57, Y:163.41, Z:9.38 [[ 5.13566168e-01 -8.58009455e-01 -8.34067328e-03 1.93571519e+02] [ 8.57903760e-01 5.13633838e-01 -1.34691906e-02 1.63412825e+02] [ 1.58407449e-02 -2.38174342e-04 9.99874499e-01 9.38304639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.59, Y:163.44, Z:9.38 [[ 5.11489636e-01 -8.59245014e-01 -8.73833912e-03 1.93585689e+02] [ 8.59129013e-01 5.11564194e-01 -1.41213939e-02 1.63437601e+02] [ 1.66039587e-02 -2.84414041e-04 9.99862104e-01 9.38188886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.60, Y:163.46, Z:9.38 [[ 5.10519644e-01 -8.59819523e-01 -8.94878689e-03 1.93599811e+02] [ 8.59697780e-01 5.10597977e-01 -1.44718105e-02 1.63460904e+02] [ 1.70123777e-02 -3.05108659e-04 9.99855233e-01 9.38123664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.61, Y:163.48, Z:9.38 [[ 5.09442185e-01 -8.60460295e-01 -8.76022625e-03 1.93613284e+02] [ 8.60343549e-01 5.09517402e-01 -1.41772844e-02 1.63484091e+02] [ 1.66624780e-02 -3.14297404e-04 9.99861122e-01 9.38135386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.63, Y:163.51, Z:9.38 [[ 5.08613009e-01 -8.60952195e-01 -8.60956787e-03 1.93627709e+02] [ 8.60839338e-01 5.08685773e-01 -1.39433859e-02 1.63507935e+02] [ 1.63841534e-02 -3.19667248e-04 9.99865720e-01 9.38204034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.64, Y:163.53, Z:9.38 [[ 5.07728793e-01 -8.61476851e-01 -8.31319053e-03 1.93642933e+02] [ 8.61371556e-01 5.07796744e-01 -1.34725458e-02 1.63532093e+02] [ 1.58276974e-02 -3.20346424e-04 9.99874683e-01 9.38287017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.66, Y:163.56, Z:9.38 [[ 5.07297886e-01 -8.61731303e-01 -8.24720371e-03 1.93656653e+02] [ 8.61627561e-01 5.07364818e-01 -1.33748845e-02 1.63557044e+02] [ 1.57098977e-02 -3.20967375e-04 9.99876540e-01 9.38357386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:163.58, Z:9.38 [[ 5.06860297e-01 -8.61989238e-01 -8.19714427e-03 1.93670563e+02] [ 8.61886636e-01 5.06926474e-01 -1.33032462e-02 1.63580287e+02] [ 1.56226045e-02 -3.22121773e-04 9.99877908e-01 9.38347036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.68, Y:163.60, Z:9.38 [[ 5.06847806e-01 -8.61998358e-01 -8.00829796e-03 1.93684569e+02] [ 8.61900286e-01 5.06910974e-01 -1.30062302e-02 1.63603881e+02] [ 1.52708432e-02 -3.10175062e-04 9.99883346e-01 9.38286016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.70, Y:163.63, Z:9.38 [[ 5.06498875e-01 -8.62205311e-01 -7.80329421e-03 1.93697829e+02] [ 8.62112087e-01 5.06558891e-01 -1.26822450e-02 1.63628445e+02] [ 1.48875270e-02 -3.03771435e-04 9.99889129e-01 9.38348789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.71, Y:163.65, Z:9.38 [[ 5.05841915e-01 -8.62598512e-01 -6.91111841e-03 1.93711179e+02] [ 8.62525329e-01 5.05889050e-01 -1.12394601e-02 1.63653331e+02] [ 1.31914007e-02 -2.75624646e-04 9.99912952e-01 9.38488929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:163.68, Z:9.39 [[ 5.05081580e-01 -8.63047287e-01 -6.47911671e-03 1.93726534e+02] [ 8.62982915e-01 5.05123065e-01 -1.05440936e-02 1.63676251e+02] [ 1.23728027e-02 -2.65739564e-04 9.99923419e-01 9.38592633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:163.70, Z:9.39 [[ 5.04081852e-01 -8.63633556e-01 -6.21034565e-03 1.93742346e+02] [ 8.63574374e-01 5.04120037e-01 -1.01138564e-02 1.63699321e+02] [ 1.18654254e-02 -2.64883913e-04 9.99929568e-01 9.38705462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:163.72, Z:9.39 [[ 5.02352204e-01 -8.64643035e-01 -5.88950853e-03 1.93759117e+02] [ 8.64589808e-01 5.02386654e-01 -9.59760726e-03 1.63721983e+02] [ 1.12573148e-02 -2.70629892e-04 9.99936598e-01 9.38835496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.77, Y:163.75, Z:9.39 [[ 5.01142839e-01 -8.65347062e-01 -5.50606848e-03 1.93774401e+02] [ 8.65300526e-01 5.01173016e-01 -8.97822078e-03 1.63746008e+02] [ 1.05287699e-02 -2.65032891e-04 9.99944536e-01 9.38921370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.352755096 meters Centerline goodness [0,1] 0.9999120144296335 Centerline is valid? [True, True] Translation: X:193.79, Y:163.77, Z:9.39 [[ 4.99530393e-01 -8.66282284e-01 -4.93866373e-03 1.93791369e+02] [ 8.66244846e-01 4.99554742e-01 -8.05776408e-03 1.63767634e+02] [ 9.44743116e-03 -2.52993942e-04 9.99955340e-01 9.38945859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:163.79, Z:9.39 [[ 4.98540215e-01 -8.66854470e-01 -4.58057666e-03 1.93806358e+02] [ 8.66822250e-01 4.98561198e-01 -7.47785184e-03 1.63791143e+02] [ 8.76590709e-03 -2.42535907e-04 9.99961549e-01 9.39086880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4127550960001 meters Centerline goodness [0,1] 0.9999339308917128 Centerline is valid? [True, True] Translation: X:193.82, Y:163.81, Z:9.39 [[ 4.97618401e-01 -8.67382628e-01 -4.82743605e-03 1.93821532e+02] [ 8.67346819e-01 4.97641747e-01 -7.88595242e-03 1.63814884e+02] [ 9.24247184e-03 -2.62866264e-04 9.99957253e-01 9.38962810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.442755096 meters Centerline goodness [0,1] 0.9999780509218613 Centerline is valid? [True, True] Translation: X:193.84, Y:163.84, Z:9.39 [[ 4.96987427e-01 -8.67745369e-01 -4.63375682e-03 1.93836265e+02] [ 8.67712346e-01 4.97008963e-01 -7.57462098e-03 1.63838283e+02] [ 8.87586095e-03 -2.56276612e-04 9.99960576e-01 9.39031198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.472755096 meters Centerline goodness [0,1] 0.9999119427627958 Centerline is valid? [True, True] Translation: X:193.85, Y:163.86, Z:9.39 [[ 4.96571980e-01 -8.67982616e-01 -4.73790322e-03 1.93851142e+02] [ 8.67948052e-01 4.96594512e-01 -7.75043131e-03 1.63861595e+02] [ 9.08005638e-03 -2.63606850e-04 9.99958741e-01 9.39034311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.87, Y:163.88, Z:9.39 [[ 4.96252413e-01 -8.68167849e-01 -4.25781676e-03 1.93866932e+02] [ 8.68139905e-01 4.96270622e-01 -6.96965127e-03 1.63884130e+02] [ 8.16385652e-03 -2.37674372e-04 9.99966647e-01 9.39172283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5327550960001 meters Centerline goodness [0,1] 0.9999118573852493 Centerline is valid? [True, True] Translation: X:193.88, Y:163.91, Z:9.39 [[ 4.96754723e-01 -8.67880280e-01 -4.30867367e-03 1.93880833e+02] [ 8.67851625e-01 4.96773354e-01 -7.05641726e-03 1.63907383e+02] [ 8.26455966e-03 -2.33980839e-04 9.99965821e-01 9.39058199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.89, Y:163.93, Z:9.39 [[ 4.97121262e-01 -8.67670487e-01 -4.28687352e-03 1.93894295e+02] [ 8.67642072e-01 4.97139694e-01 -7.02567978e-03 1.63932061e+02] [ 8.22714999e-03 -2.26857025e-04 9.99966131e-01 9.39192892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:163.96, Z:9.39 [[ 4.97731203e-01 -8.67320771e-01 -4.28134031e-03 1.93907505e+02] [ 8.67292376e-01 4.97749568e-01 -7.02149623e-03 1.63956563e+02] [ 8.22092481e-03 -2.18356051e-04 9.99966184e-01 9.39218129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.92, Y:163.98, Z:9.39 [[ 4.99856454e-01 -8.66096735e-01 -4.46889402e-03 1.93920321e+02] [ 8.66065700e-01 4.99876389e-01 -7.33476172e-03 1.63980531e+02] [ 8.58650778e-03 -2.04027846e-04 9.99963114e-01 9.39190932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:164.01, Z:9.39 [[ 5.01253383e-01 -8.65290906e-01 -4.08580209e-03 1.93933941e+02] [ 8.65264918e-01 5.01270005e-01 -6.70846791e-03 1.64005601e+02] [ 7.85286631e-03 -1.72658974e-04 9.99969151e-01 9.39251112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:164.03, Z:9.39 [[ 5.03899565e-01 -8.63753580e-01 -3.87059166e-03 1.93946418e+02] [ 8.63730183e-01 5.03914411e-01 -6.35902332e-03 1.64030583e+02] [ 7.44307607e-03 -1.38837761e-04 9.99972290e-01 9.39237493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.96, Y:164.06, Z:9.39 [[ 5.04783602e-01 -8.63236772e-01 -3.97373227e-03 1.93958982e+02] [ 8.63212061e-01 5.04799226e-01 -6.53296204e-03 1.64055233e+02] [ 7.64543003e-03 -1.32441514e-04 9.99970765e-01 9.39218879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.97, Y:164.08, Z:9.39 [[ 5.05524650e-01 -8.62803138e-01 -3.94631680e-03 1.93971215e+02] [ 8.62778720e-01 5.05540038e-01 -6.49231729e-03 1.64080114e+02] [ 7.59661288e-03 -1.22771730e-04 9.99971138e-01 9.39220504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.772755096 meters Centerline goodness [0,1] 0.9999127018769096 Centerline is valid? [True, True] Translation: X:193.99, Y:164.10, Z:9.39 [[ 5.05955357e-01 -8.62548922e-01 -4.30501660e-03 1.93985973e+02] [ 8.62519809e-01 5.05973656e-01 -7.08791209e-03 1.64103327e+02] [ 8.29189592e-03 -1.26995000e-04 9.99965614e-01 9.39081281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.802755096 meters Centerline goodness [0,1] 0.9998469309658656 Centerline is valid? [True, True] Translation: X:194.00, Y:164.13, Z:9.39 [[ 5.05434928e-01 -8.62855570e-01 -3.97486704e-03 1.94000690e+02] [ 8.62830740e-01 5.05450543e-01 -6.54698448e-03 1.64127764e+02] [ 7.65820072e-03 -1.20562844e-04 9.99970668e-01 9.39341353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.02, Y:164.15, Z:9.39 [[ 5.04754779e-01 -8.63253176e-01 -4.07039912e-03 1.94015742e+02] [ 8.63227111e-01 5.04771175e-01 -6.70946077e-03 1.64149899e+02] [ 7.84658346e-03 -1.27046485e-04 9.99969207e-01 9.39394788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.03, Y:164.17, Z:9.39 [[ 5.04491853e-01 -8.63406865e-01 -4.06896590e-03 1.94029894e+02] [ 8.63380798e-01 5.04508246e-01 -6.71032981e-03 1.64173578e+02] [ 7.84657166e-03 -1.27760305e-04 9.99969207e-01 9.39420537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:164.20, Z:9.39 [[ 5.04359086e-01 -8.63484070e-01 -4.14415189e-03 1.94044763e+02] [ 8.63456995e-01 5.04376095e-01 -6.83911781e-03 1.64197808e+02] [ 7.99568043e-03 -1.28925730e-04 9.99968026e-01 9.39452396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9227550960001 meters Centerline goodness [0,1] 0.9999343860723503 Centerline is valid? [True, True] Translation: X:194.06, Y:164.22, Z:9.39 [[ 5.03380288e-01 -8.64055715e-01 -4.00100204e-03 1.94058925e+02] [ 8.64030462e-01 5.03396171e-01 -6.60722997e-03 1.64222130e+02] [ 7.72310392e-03 -1.31038320e-04 9.99970168e-01 9.39416709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.952755096 meters Centerline goodness [0,1] 0.999956335691206 Centerline is valid? [True, True] Translation: X:194.07, Y:164.25, Z:9.39 [[ 5.02786607e-01 -8.64401142e-01 -4.03651753e-03 1.94072650e+02] [ 8.64375413e-01 5.02802792e-01 -6.67066856e-03 1.64245506e+02] [ 7.79570580e-03 -1.35143699e-04 9.99969604e-01 9.39465680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.982755096 meters Centerline goodness [0,1] 0.9998908797276358 Centerline is valid? [True, True] Translation: X:194.09, Y:164.27, Z:9.39 [[ 5.01105226e-01 -8.65378923e-01 -3.58780859e-03 1.94087476e+02] [ 8.65358594e-01 5.01118053e-01 -5.93311241e-03 1.64269533e+02] [ 6.93230608e-03 -1.31627360e-04 9.99975963e-01 9.39426612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.012755096 meters Centerline goodness [0,1] 0.999978181659503 Centerline is valid? [True, True] Translation: X:194.10, Y:164.29, Z:9.40 [[ 5.00365086e-01 -8.65807775e-01 -3.41715458e-03 1.94102598e+02] [ 8.65789321e-01 5.00376738e-01 -5.65439906e-03 1.64293079e+02] [ 6.60548733e-03 -1.29272065e-04 9.99978175e-01 9.39693160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0427550960001 meters Centerline goodness [0,1] 0.9999125051950041 Centerline is valid? [True, True] Translation: X:194.12, Y:164.32, Z:9.40 [[ 4.99453167e-01 -8.66334822e-01 -3.24209441e-03 1.94118652e+02] [ 8.66318199e-01 4.99463673e-01 -5.36828596e-03 1.64316379e+02] [ 6.27004144e-03 -1.27477966e-04 9.99980335e-01 9.39675116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.14, Y:164.34, Z:9.40 [[ 4.97969908e-01 -8.67186723e-01 -3.62739379e-03 1.94135434e+02] [ 8.67165901e-01 4.97983097e-01 -6.01128337e-03 1.64339117e+02] [ 7.01928591e-03 -1.52113976e-04 9.99975353e-01 9.39886019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:164.36, Z:9.40 [[ 4.97386701e-01 -8.67522044e-01 -3.46021464e-03 1.94150711e+02] [ 8.67503082e-01 4.97398715e-01 -5.73774236e-03 1.64362530e+02] [ 6.69872429e-03 -1.47870115e-04 9.99977552e-01 9.39895706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.132755096 meters Centerline goodness [0,1] 0.9999781085814361 Centerline is valid? [True, True] Translation: X:194.17, Y:164.39, Z:9.40 [[ 4.96728585e-01 -8.67898442e-01 -3.60650915e-03 1.94166751e+02] [ 8.67877821e-01 4.96741653e-01 -5.98478828e-03 1.64385676e+02] [ 6.98569174e-03 -1.57193889e-04 9.99975587e-01 9.39856384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1627550960001 meters Centerline goodness [0,1] 0.9999122191011236 Centerline is valid? [True, True] Translation: X:194.18, Y:164.41, Z:9.40 [[ 4.96534684e-01 -8.68009613e-01 -3.55241287e-03 1.94180811e+02] [ 8.67989582e-01 4.96547367e-01 -5.89902022e-03 1.64410088e+02] [ 6.88434752e-03 -1.54389219e-04 9.99976291e-01 9.39727476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.19, Y:164.43, Z:9.40 [[ 4.97114466e-01 -8.67676528e-01 -3.82768628e-03 1.94193758e+02] [ 8.67653225e-01 4.97129177e-01 -6.36107280e-03 1.64433564e+02] [ 7.42220809e-03 -1.58923040e-04 9.99972442e-01 9.39824894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:164.46, Z:9.40 [[ 4.97349295e-01 -8.67541892e-01 -3.83974065e-03 1.94208294e+02] [ 8.67518404e-01 4.97364093e-01 -6.38579874e-03 1.64456613e+02] [ 7.44969705e-03 -1.55073175e-04 9.99972239e-01 9.39803704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.22, Y:164.48, Z:9.40 [[ 4.99049158e-01 -8.66565018e-01 -3.87400326e-03 1.94220429e+02] [ 8.66541042e-01 4.99064174e-01 -6.44765753e-03 1.64482189e+02] [ 7.52069070e-03 -1.39284760e-04 9.99971710e-01 9.39686655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.23, Y:164.51, Z:9.40 [[ 4.99852390e-01 -8.66102108e-01 -3.83746225e-03 1.94233257e+02] [ 8.66078537e-01 4.99867104e-01 -6.39108466e-03 1.64507783e+02] [ 7.45355304e-03 -1.28944750e-04 9.99972214e-01 9.39687082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:164.53, Z:9.40 [[ 5.02578398e-01 -8.64525137e-01 -3.35280870e-03 1.94244685e+02] [ 8.64507086e-01 5.02589573e-01 -5.58742505e-03 1.64532626e+02] [ 6.51555610e-03 -9.04077486e-05 9.99978769e-01 9.39766128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.26, Y:164.56, Z:9.40 [[ 5.03755881e-01 -8.63838321e-01 -3.65620865e-03 1.94257595e+02] [ 8.63816817e-01 5.03769141e-01 -6.09584989e-03 1.64557300e+02] [ 7.10771383e-03 -8.74742872e-05 9.99974736e-01 9.39769185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:164.58, Z:9.40 [[ 5.06296528e-01 -8.62351776e-01 -3.63877687e-03 1.94268022e+02] [ 8.62330408e-01 5.06309600e-01 -6.07099943e-03 1.64582878e+02] [ 7.07768480e-03 -6.41020083e-05 9.99974951e-01 9.39723206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.28, Y:164.61, Z:9.40 [[ 5.07074292e-01 -8.61894895e-01 -3.58499227e-03 1.94281000e+02] [ 8.61874114e-01 5.07086961e-01 -5.98546766e-03 1.64608430e+02] [ 6.97674686e-03 -5.47352615e-05 9.99975661e-01 9.39706561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.29, Y:164.63, Z:9.40 [[ 5.08402783e-01 -8.61112711e-01 -3.39267112e-03 1.94293284e+02] [ 8.61094059e-01 5.08414101e-01 -5.66773745e-03 1.64632462e+02] [ 6.60544260e-03 -3.99154530e-05 9.99978183e-01 9.39759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:164.66, Z:9.40 [[ 5.08560876e-01 -8.61019719e-01 -3.29830580e-03 1.94305137e+02] [ 8.61002062e-01 5.08571570e-01 -5.51421452e-03 1.64657748e+02] [ 6.42527200e-03 -3.55343297e-05 9.99979357e-01 9.39690658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.32, Y:164.68, Z:9.40 [[ 5.08515406e-01 -8.61047945e-01 -2.91877663e-03 1.94317934e+02] [ 8.61034103e-01 5.08523781e-01 -4.88241454e-03 1.64681318e+02] [ 5.68826033e-03 -3.03832082e-05 9.99983821e-01 9.39703682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.33, Y:164.71, Z:9.40 [[ 5.07481226e-01 -8.61658051e-01 -2.86499512e-03 1.94331893e+02] [ 8.61644704e-01 5.07489312e-01 -4.79611897e-03 1.64706168e+02] [ 5.58656893e-03 -3.46675334e-05 9.99984394e-01 9.39754091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:164.73, Z:9.40 [[ 5.06627052e-01 -8.62161796e-01 -2.46334559e-03 1.94346704e+02] [ 8.62151924e-01 5.06633040e-01 -4.12586999e-03 1.64729866e+02] [ 4.80517974e-03 -3.35007866e-05 9.99988455e-01 9.39819270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.582755096 meters Centerline goodness [0,1] 0.9999560275267683 Centerline is valid? [True, True] Translation: X:194.36, Y:164.75, Z:9.40 [[ 5.03789378e-01 -8.63824037e-01 -2.07269144e-03 1.94364802e+02] [ 8.63817055e-01 5.03793640e-01 -3.47328131e-03 1.64752492e+02] [ 4.04451265e-03 -4.06239809e-05 9.99991820e-01 9.39839026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.612755096 meters Centerline goodness [0,1] 0.9999120608538891 Centerline is valid? [True, True] Translation: X:194.38, Y:164.77, Z:9.40 [[ 5.01937583e-01 -8.64901780e-01 -1.89020221e-03 1.94381313e+02] [ 8.64895971e-01 5.01941140e-01 -3.17020260e-03 1.64774421e+02] [ 3.69068412e-03 -4.35844462e-05 9.99993188e-01 9.39811450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.40, Y:164.80, Z:9.40 [[ 4.98539815e-01 -8.66864716e-01 -1.90193586e-03 1.94399173e+02] [ 8.66858848e-01 4.98543440e-01 -3.19011027e-03 1.64796768e+02] [ 3.71359168e-03 -5.83129453e-05 9.99993103e-01 9.40089999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.41, Y:164.82, Z:9.40 [[ 4.97152735e-01 -8.67661084e-01 -1.84412656e-03 1.94414128e+02] [ 8.67655566e-01 4.97156152e-01 -3.09504160e-03 1.64820308e+02] [ 3.60226602e-03 -6.13582813e-05 9.99993510e-01 9.40073101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:164.84, Z:9.40 [[ 4.95739083e-01 -8.68469341e-01 -1.94070780e-03 1.94430426e+02] [ 8.68463227e-01 4.95742877e-01 -3.25949384e-03 1.64842337e+02] [ 3.79286253e-03 -6.95748666e-05 9.99992805e-01 9.40065880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.732755096 meters Centerline goodness [0,1] 0.999846218062787 Centerline is valid? [True, True] Translation: X:194.44, Y:164.86, Z:9.40 [[ 4.94971521e-01 -8.68906186e-01 -2.28776036e-03 1.94444524e+02] [ 8.68897674e-01 4.94976801e-01 -3.84682509e-03 1.64864034e+02] [ 4.47491842e-03 -8.37607912e-05 9.99989984e-01 9.39701134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:164.89, Z:9.40 [[ 4.94747589e-01 -8.69034100e-01 -2.13435500e-03 1.94457470e+02] [ 8.69026689e-01 4.94752187e-01 -3.58987625e-03 1.64887590e+02] [ 4.17570168e-03 -7.87288407e-05 9.99991279e-01 9.39967152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.47, Y:164.91, Z:9.40 [[ 4.94661679e-01 -8.69082225e-01 -2.43098142e-03 1.94471883e+02] [ 8.69072593e-01 4.94667645e-01 -4.09255394e-03 1.64909714e+02] [ 4.75929374e-03 -8.82697200e-05 9.99988671e-01 9.39950380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.48, Y:164.93, Z:9.40 [[ 4.94464109e-01 -8.69193371e-01 -2.85134373e-03 1.94484978e+02] [ 8.69180093e-01 4.94472319e-01 -4.80534106e-03 1.64934738e+02] [ 5.58668114e-03 -1.02262528e-04 9.99984389e-01 9.39839193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.50, Y:164.96, Z:9.40 [[ 4.94319824e-01 -8.69274474e-01 -3.13056131e-03 1.94500119e+02] [ 8.69258445e-01 4.94329725e-01 -5.28010913e-03 1.64957795e+02] [ 6.13739360e-03 -1.11204233e-04 9.99981160e-01 9.39862919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.51, Y:164.98, Z:9.40 [[ 4.94319196e-01 -8.69274688e-01 -3.16994340e-03 1.94513317e+02] [ 8.69258228e-01 4.94329348e-01 -5.35066795e-03 1.64982993e+02] [ 6.21819627e-03 -1.10561501e-04 9.99980661e-01 9.39831046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:165.01, Z:9.40 [[ 4.94548337e-01 -8.69144660e-01 -3.08259817e-03 1.94526229e+02] [ 8.69129069e-01 4.94557933e-01 -5.20686717e-03 1.65008171e+02] [ 6.05004418e-03 -1.04128179e-04 9.99981693e-01 9.39844531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:165.03, Z:9.40 [[ 4.94988094e-01 -8.68894514e-01 -3.01825448e-03 1.94541695e+02] [ 8.68879543e-01 4.94997286e-01 -5.10165735e-03 1.65030494e+02] [ 5.92682986e-03 -9.72399252e-05 9.99982431e-01 9.39915454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:165.06, Z:9.40 [[ 4.95564721e-01 -8.68566683e-01 -2.74318990e-03 1.94550213e+02] [ 8.68554294e-01 4.95572307e-01 -4.63981832e-03 1.65057646e+02] [ 5.38944055e-03 -8.32790928e-05 9.99985473e-01 9.39810047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:165.08, Z:9.40 [[ 4.95424497e-01 -8.68646797e-01 -2.70363008e-03 1.94563844e+02] [ 8.68634748e-01 4.95431867e-01 -4.57595576e-03 1.65081067e+02] [ 5.31435382e-03 -8.14264537e-05 9.99985875e-01 9.39880228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.58, Y:165.11, Z:9.40 [[ 4.95196411e-01 -8.68776639e-01 -2.76882853e-03 1.94578396e+02] [ 8.68763983e-01 4.95204145e-01 -4.69015180e-03 1.65105324e+02] [ 5.44582968e-03 -8.29121588e-05 9.99985168e-01 9.39950174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.59, Y:165.13, Z:9.40 [[ 4.94106346e-01 -8.69397301e-01 -2.69294412e-03 1.94593884e+02] [ 8.69385322e-01 4.94113676e-01 -4.56468212e-03 1.65129332e+02] [ 5.29914284e-03 -8.57676886e-05 9.99985956e-01 9.40000127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:165.15, Z:9.40 [[ 4.93106285e-01 -8.69965046e-01 -2.64761787e-03 1.94607872e+02] [ 8.69953460e-01 4.93113385e-01 -4.49080077e-03 1.65154087e+02] [ 5.21241551e-03 -8.88622423e-05 9.99986411e-01 9.40010358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.62, Y:165.18, Z:9.40 [[ 4.92415379e-01 -8.70356508e-01 -2.57750680e-03 1.94622282e+02] [ 8.70345517e-01 4.92422117e-01 -4.37485202e-03 1.65178469e+02] [ 5.07690228e-03 -8.90770735e-05 9.99987109e-01 9.40024009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.64, Y:165.20, Z:9.40 [[ 4.91846161e-01 -8.70677269e-01 -2.90626629e-03 1.94636481e+02] [ 8.70663277e-01 4.91854737e-01 -4.93714550e-03 1.65201389e+02] [ 5.72812120e-03 -1.02063275e-04 9.99983589e-01 9.40039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.65, Y:165.23, Z:9.40 [[ 4.92533174e-01 -8.70286397e-01 -3.55810477e-03 1.94649806e+02] [ 8.70265370e-01 4.92546012e-01 -6.05071591e-03 1.65226364e+02] [ 7.01838606e-03 -1.16317049e-04 9.99975364e-01 9.39940203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:165.25, Z:9.40 [[ 4.93899208e-01 -8.69508606e-01 -4.28436727e-03 1.94663086e+02] [ 8.69478036e-01 4.93917775e-01 -7.29222221e-03 1.65250461e+02] [ 8.45677512e-03 -1.23540463e-04 9.99964233e-01 9.39796893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters Centerline goodness [0,1] 0.9998896125400154 Centerline is valid? [True, True] Translation: X:194.68, Y:165.28, Z:9.40 [[ 4.94078498e-01 -8.69404803e-01 -4.66112032e-03 1.94676177e+02] [ 8.69368557e-01 4.94100467e-01 -7.93983007e-03 1.65275790e+02] [ 9.20598813e-03 -1.29332126e-04 9.99957616e-01 9.39530106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.272755096 meters Centerline goodness [0,1] 0.9998677773370356 Centerline is valid? [True, True] Translation: X:194.69, Y:165.30, Z:9.40 [[ 4.94256136e-01 -8.69302699e-01 -4.86717459e-03 1.94690288e+02] [ 8.69263111e-01 4.94280084e-01 -8.29721000e-03 1.65300480e+02] [ 9.61853451e-03 -1.29908364e-04 9.99953732e-01 9.39525936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:165.32, Z:9.40 [[ 4.94296938e-01 -8.69279841e-01 -4.80566472e-03 1.94706324e+02] [ 8.69241190e-01 4.94320283e-01 -8.19831057e-03 1.65322355e+02] [ 9.50216365e-03 -1.24881903e-04 9.99954846e-01 9.39854820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.72, Y:165.35, Z:9.40 [[ 4.93952645e-01 -8.69476247e-01 -4.67343485e-03 1.94719411e+02] [ 8.69439646e-01 4.93974738e-01 -7.97874588e-03 1.65347210e+02] [ 9.24588877e-03 -1.22146915e-04 9.99957248e-01 9.39923621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.73, Y:165.37, Z:9.40 [[ 4.93000741e-01 -8.70017079e-01 -4.53349280e-03 1.94734754e+02] [ 8.69982610e-01 4.93021569e-01 -7.74535997e-03 1.65368985e+02] [ 8.97370518e-03 -1.25591700e-04 9.99959728e-01 9.40029607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.75, Y:165.39, Z:9.40 [[ 4.92333737e-01 -8.70395016e-01 -4.47293524e-03 1.94749656e+02] [ 8.70361447e-01 4.92354039e-01 -7.64540993e-03 1.65392077e+02] [ 8.85679443e-03 -1.28977146e-04 9.99960770e-01 9.40104130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.76, Y:165.42, Z:9.40 [[ 4.91650311e-01 -8.70782268e-01 -4.26767752e-03 1.94764198e+02] [ 8.70751680e-01 4.91668817e-01 -7.29980935e-03 1.65415552e+02] [ 8.45482850e-03 -1.27133826e-04 9.99964249e-01 9.40171297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.78, Y:165.44, Z:9.40 [[ 4.91703631e-01 -8.70754217e-01 -3.82528466e-03 1.94775947e+02] [ 8.70729610e-01 4.91718498e-01 -6.54711713e-03 1.65441142e+02] [ 7.58189308e-03 -1.11547357e-04 9.99971251e-01 9.40240016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.79, Y:165.47, Z:9.40 [[ 4.91774498e-01 -8.70714270e-01 -3.80837080e-03 1.94788477e+02] [ 8.70689844e-01 4.91789232e-01 -6.52272035e-03 1.65465534e+02] [ 7.55234143e-03 -1.08202254e-04 9.99971475e-01 9.40227961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.80, Y:165.49, Z:9.40 [[ 4.92086376e-01 -8.70536127e-01 -4.22490370e-03 1.94800683e+02] [ 8.70506009e-01 4.92104499e-01 -7.24222930e-03 1.65489345e+02] [ 8.38371637e-03 -1.14001686e-04 9.99964850e-01 9.40184817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.81, Y:165.51, Z:9.40 [[ 4.91892516e-01 -8.70645861e-01 -4.18773601e-03 1.94813463e+02] [ 8.70616232e-01 4.91910329e-01 -7.18370276e-03 1.65514639e+02] [ 8.31445167e-03 -1.12301323e-04 9.99965428e-01 9.40200462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:165.54, Z:9.40 [[ 4.91799437e-01 -8.70697694e-01 -4.34039079e-03 1.94827528e+02] [ 8.70665819e-01 4.91818576e-01 -7.45116334e-03 1.65537469e+02] [ 8.62239556e-03 -1.14551964e-04 9.99962820e-01 9.40194600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.602755096 meters Centerline goodness [0,1] 0.9999779264066397 Centerline is valid? [True, True] Translation: X:194.84, Y:165.56, Z:9.40 [[ 4.91272320e-01 -8.70995609e-01 -4.26114080e-03 1.94840818e+02] [ 8.70964852e-01 4.91290786e-01 -7.32057019e-03 1.65560335e+02] [ 8.46964370e-03 -1.14910367e-04 9.99964125e-01 9.40229812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:165.58, Z:9.40 [[ 4.90977225e-01 -8.71161989e-01 -4.26072270e-03 1.94854255e+02] [ 8.71131194e-01 4.90995698e-01 -7.32574947e-03 1.65584213e+02] [ 8.47391100e-03 -1.14872316e-04 9.99964089e-01 9.40234113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:165.61, Z:9.40 [[ 4.90560405e-01 -8.71396419e-01 -4.33244092e-03 1.94864276e+02] [ 8.71364539e-01 4.90579521e-01 -7.45473549e-03 1.65610539e+02] [ 8.62143661e-03 -1.18137329e-04 9.99962828e-01 9.40115473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:165.63, Z:9.40 [[ 4.89939804e-01 -8.71745360e-01 -4.36071191e-03 1.94877250e+02] [ 8.71713027e-01 4.89959195e-01 -7.50902189e-03 1.65633885e+02] [ 8.68252589e-03 -1.22320663e-04 9.99962299e-01 9.40046182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.89, Y:165.66, Z:9.40 [[ 4.89271136e-01 -8.72118925e-01 -4.72617446e-03 1.94890131e+02] [ 8.72080897e-01 4.89293943e-01 -8.14529942e-03 1.65657518e+02] [ 9.41615831e-03 -1.36346562e-04 9.99955658e-01 9.39916231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.90, Y:165.68, Z:9.40 [[ 4.88801081e-01 -8.72381675e-01 -4.86991796e-03 1.94904075e+02] [ 8.72341248e-01 4.88825319e-01 -8.39967801e-03 1.65681138e+02] [ 9.70826437e-03 -1.42458621e-04 9.99952864e-01 9.39881160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:165.71, Z:9.40 [[ 4.88316414e-01 -8.72650047e-01 -5.38291699e-03 1.94918862e+02] [ 8.72600589e-01 4.88346056e-01 -9.29205080e-03 1.65705245e+02] [ 1.07374348e-02 -1.59675612e-04 9.99942339e-01 9.39850969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.93, Y:165.73, Z:9.40 [[ 4.88051334e-01 -8.72798345e-01 -5.38009174e-03 1.94932531e+02] [ 8.72748878e-01 4.88080961e-01 -9.29368640e-03 1.65729204e+02] [ 1.07374345e-02 -1.59672989e-04 9.99942339e-01 9.39876695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.842755096 meters Centerline goodness [0,1] 0.9998674999447916 Centerline is valid? [True, True] Translation: X:194.95, Y:165.75, Z:9.40 [[ 4.86241187e-01 -8.73810110e-01 -5.03988026e-03 1.94949085e+02] [ 8.73766697e-01 4.86267276e-01 -8.71176658e-03 1.65751166e+02] [ 1.00631586e-02 -1.67659812e-04 9.99949351e-01 9.39654742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.96, Y:165.78, Z:9.40 [[ 4.85834766e-01 -8.74037645e-01 -4.77235647e-03 1.94961919e+02] [ 8.73998675e-01 4.85858179e-01 -8.25511141e-03 1.65776459e+02] [ 9.53396655e-03 -1.60413107e-04 9.99954538e-01 9.39912934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.98, Y:165.80, Z:9.40 [[ 4.84888993e-01 -8.74564836e-01 -4.36039707e-03 1.94976500e+02] [ 8.74532281e-01 4.84908574e-01 -7.54745660e-03 1.65800598e+02] [ 8.71513407e-03 -1.53629368e-04 9.99962011e-01 9.39893550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:165.82, Z:9.40 [[ 4.84410079e-01 -8.74828901e-01 -4.61177995e-03 1.94991987e+02] [ 8.74792439e-01 4.84432004e-01 -7.98892058e-03 1.65822470e+02] [ 9.22303242e-03 -1.64436573e-04 9.99957453e-01 9.39897775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:165.85, Z:9.40 [[ 4.84187693e-01 -8.74952783e-01 -4.46159973e-03 1.95005748e+02] [ 8.74918626e-01 4.84208223e-01 -7.73276261e-03 1.65847178e+02] [ 8.92614544e-03 -1.59428214e-04 9.99960148e-01 9.39898794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.02, Y:165.87, Z:9.40 [[ 4.84154744e-01 -8.74973104e-01 -4.03120547e-03 1.95020853e+02] [ 8.74945183e-01 4.84171506e-01 -6.99137383e-03 1.65871379e+02] [ 8.06905888e-03 -1.42176996e-04 9.99967435e-01 9.39925916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:165.89, Z:9.40 [[ 4.84246152e-01 -8.74923281e-01 -3.86223137e-03 1.95035279e+02] [ 8.74897614e-01 4.84261536e-01 -6.70293545e-03 1.65894532e+02] [ 7.73488437e-03 -1.33186312e-04 9.99970076e-01 9.39971225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.05, Y:165.92, Z:9.40 [[ 4.84651896e-01 -8.74701294e-01 -3.19150952e-03 1.95048887e+02] [ 8.74683743e-01 4.84662393e-01 -5.54218607e-03 1.65919500e+02] [ 6.39456197e-03 -1.05530506e-04 9.99979549e-01 9.40055187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:165.94, Z:9.40 [[ 4.84797637e-01 -8.74622397e-01 -2.62957424e-03 1.95062137e+02] [ 8.74610464e-01 4.84804761e-01 -4.56938015e-03 1.65943220e+02] [ 5.27131233e-03 -8.46284474e-05 9.99986103e-01 9.40132357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.07, Y:165.97, Z:9.40 [[ 4.84808211e-01 -8.74617156e-01 -2.41452502e-03 1.95074942e+02] [ 8.74607090e-01 4.84814217e-01 -4.19678878e-03 1.65968393e+02] [ 4.84117952e-03 -7.71230408e-05 9.99988278e-01 9.40161020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.09, Y:165.99, Z:9.40 [[ 4.85502233e-01 -8.74233432e-01 -1.86741663e-03 1.95087166e+02] [ 8.74227405e-01 4.85505822e-01 -3.24691265e-03 1.65993229e+02] [ 3.74520123e-03 -5.61634536e-05 9.99992985e-01 9.40233121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.10, Y:166.02, Z:9.40 [[ 4.85827141e-01 -8.74053143e-01 -1.75848243e-03 1.95100086e+02] [ 8.74047790e-01 4.85830321e-01 -3.05942127e-03 1.66018339e+02] [ 3.52842086e-03 -5.06477912e-05 9.99993774e-01 9.40240983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:166.04, Z:9.40 [[ 4.86794074e-01 -8.73515258e-01 -1.61959377e-03 1.95111588e+02] [ 8.73510710e-01 4.86796766e-01 -2.81934650e-03 1.66044318e+02] [ 3.25115520e-03 -4.22913346e-05 9.99994714e-01 9.40220664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.12, Y:166.07, Z:9.40 [[ 4.87244869e-01 -8.73263720e-01 -1.70666822e-03 1.95124072e+02] [ 8.73258659e-01 4.87247857e-01 -2.97346989e-03 1.66069020e+02] [ 3.42819381e-03 -4.15548502e-05 9.99994123e-01 9.40162740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:166.09, Z:9.40 [[ 4.87400643e-01 -8.73176632e-01 -1.78407574e-03 1.95136840e+02] [ 8.73171092e-01 4.87403907e-01 -3.11069195e-03 1.66093293e+02] [ 3.58574901e-03 -4.16500972e-05 9.99993570e-01 9.40186078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.15, Y:166.12, Z:9.40 [[ 4.88030182e-01 -8.72824317e-01 -2.06252277e-03 1.95149304e+02] [ 8.72816893e-01 4.88034538e-01 -3.60010962e-03 1.66118139e+02] [ 4.14884556e-03 -4.32425604e-05 9.99991393e-01 9.40026277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.16, Y:166.14, Z:9.40 [[ 4.87826295e-01 -8.72938248e-01 -2.07887015e-03 1.95162648e+02] [ 8.72930697e-01 4.87830722e-01 -3.63119208e-03 1.66141718e+02] [ 4.18394318e-03 -4.33185919e-05 9.99991246e-01 9.40031409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.18, Y:166.17, Z:9.40 [[ 4.87386955e-01 -8.73184622e-01 -1.60391957e-03 1.95176694e+02] [ 8.73180125e-01 4.87389593e-01 -2.80254559e-03 1.66165641e+02] [ 3.22887342e-03 -3.45865290e-05 9.99994787e-01 9.40035451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:166.19, Z:9.40 [[ 4.87067525e-01 -8.73362659e-01 -1.70072387e-03 1.95190802e+02] [ 8.73357596e-01 4.87070493e-01 -2.97406215e-03 1.66189131e+02] [ 3.42580724e-03 -3.67710204e-05 9.99994131e-01 9.40053359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:166.21, Z:9.40 [[ 4.86848938e-01 -8.73485387e-01 -1.17904044e-03 1.95205125e+02] [ 8.73482955e-01 4.86850365e-01 -2.06162965e-03 1.66213854e+02] [ 2.37481964e-03 -2.61695225e-05 9.99997180e-01 9.40020830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.22, Y:166.24, Z:9.40 [[ 4.86457448e-01 -8.73703429e-01 -1.21217772e-03 1.95218438e+02] [ 8.73700855e-01 4.86458957e-01 -2.12110875e-03 1.66237181e+02] [ 2.44289470e-03 -2.72515598e-05 9.99997016e-01 9.40004035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.23, Y:166.26, Z:9.40 [[ 4.85674418e-01 -8.74138777e-01 -1.32601920e-03 1.95232841e+02] [ 8.74135688e-01 4.85676228e-01 -2.32387629e-03 1.66259560e+02] [ 2.67540638e-03 -3.04734440e-05 9.99996421e-01 9.39987004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.25, Y:166.28, Z:9.40 [[ 4.85137148e-01 -8.74437226e-01 -1.21843108e-03 1.95248189e+02] [ 8.74434620e-01 4.85138677e-01 -2.13516430e-03 1.66282546e+02] [ 2.45817519e-03 -2.95908029e-05 9.99996978e-01 9.40057756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.26, Y:166.30, Z:9.40 [[ 4.84523466e-01 -8.74777503e-01 -1.15378351e-03 1.95262048e+02] [ 8.74775162e-01 4.84524839e-01 -2.02415256e-03 1.66304983e+02] [ 2.32971989e-03 -2.85517465e-05 9.99997286e-01 9.40120615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.28, Y:166.33, Z:9.40 [[ 4.83062393e-01 -8.75585261e-01 -1.08434378e-03 1.95276948e+02] [ 8.75583194e-01 4.83063609e-01 -1.90242331e-03 1.66329257e+02] [ 2.18954083e-03 -3.04440344e-05 9.99997603e-01 9.40017811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.29, Y:166.35, Z:9.40 [[ 4.81356477e-01 -8.76524144e-01 -1.16898866e-03 1.95292413e+02] [ 8.76521740e-01 4.81357895e-01 -2.05337715e-03 1.66351723e+02] [ 2.36253657e-03 -3.62375812e-05 9.99997209e-01 9.39978312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.31, Y:166.38, Z:9.40 [[ 4.80728037e-01 -8.76868441e-01 -1.51387580e-03 1.95306126e+02] [ 8.76864402e-01 4.80730419e-01 -2.66194731e-03 1.66376719e+02] [ 3.06194373e-03 -4.77910970e-05 9.99995311e-01 9.39908415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.652755096 meters Centerline goodness [0,1] 0.9998677656807864 Centerline is valid? [True, True] Translation: X:195.32, Y:166.40, Z:9.40 [[ 4.80691959e-01 -8.76888427e-01 -1.38855773e-03 1.95319188e+02] [ 8.76885025e-01 4.80693963e-01 -2.44267000e-03 1.66400002e+02] [ 2.80942037e-03 -4.34336488e-05 9.99996053e-01 9.39938144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.33, Y:166.43, Z:9.40 [[ 4.81475223e-01 -8.76458347e-01 -1.54160743e-03 1.95329864e+02] [ 8.76454143e-01 4.81477689e-01 -2.71491310e-03 1.66426721e+02] [ 3.12175783e-03 -4.39848293e-05 9.99995126e-01 9.39790625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.34, Y:166.45, Z:9.40 [[ 4.82031149e-01 -8.76152841e-01 -1.47332660e-03 1.95341881e+02] [ 8.76148996e-01 4.82033399e-01 -2.59611527e-03 1.66451230e+02] [ 2.98478640e-03 -3.94451905e-05 9.99995545e-01 9.39770050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:166.48, Z:9.40 [[ 4.82219672e-01 -8.76046815e-01 -2.48291110e-03 1.95355329e+02] [ 8.76035853e-01 4.82226061e-01 -4.38298707e-03 1.66475311e+02] [ 5.03702630e-03 -6.15565563e-05 9.99987312e-01 9.39582439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.37, Y:166.50, Z:9.40 [[ 4.82015755e-01 -8.76157490e-01 -2.97728796e-03 1.95368959e+02] [ 8.76141702e-01 4.82024944e-01 -5.26035562e-03 1.66499083e+02] [ 6.04402703e-03 -7.29518542e-05 9.99981732e-01 9.39507898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.38, Y:166.52, Z:9.39 [[ 4.81834558e-01 -8.76256384e-01 -3.19486044e-03 1.95382039e+02] [ 8.76238174e-01 4.81845144e-01 -5.64971799e-03 1.66524393e+02] [ 6.49002944e-03 -7.72293038e-05 9.99978937e-01 9.39407572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.40, Y:166.55, Z:9.39 [[ 4.81441386e-01 -8.76472150e-01 -3.28054367e-03 1.95395294e+02] [ 8.76452927e-01 4.81452556e-01 -5.80554334e-03 1.66549592e+02] [ 6.66782319e-03 -8.02132716e-05 9.99977767e-01 9.39441838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters Centerline goodness [0,1] 0.9999120357135003 Centerline is valid? [True, True] Translation: X:195.41, Y:166.57, Z:9.39 [[ 4.82252520e-01 -8.76026180e-01 -3.26178236e-03 1.95407728e+02] [ 8.76007138e-01 4.82263545e-01 -5.77645140e-03 1.66573758e+02] [ 6.63336138e-03 -7.16363847e-05 9.99977996e-01 9.39461330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.42, Y:166.60, Z:9.39 [[ 4.82303972e-01 -8.75997555e-01 -3.34103363e-03 1.95418227e+02] [ 8.75977543e-01 4.82315539e-01 -5.92154063e-03 1.66599557e+02] [ 6.79868755e-03 -7.06878644e-05 9.99976886e-01 9.39401368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.43, Y:166.63, Z:9.39 [[ 4.81903188e-01 -8.76217398e-01 -3.51980919e-03 1.95430965e+02] [ 8.76195159e-01 4.81916036e-01 -6.24318526e-03 1.66625025e+02] [ 7.16664004e-03 -7.54288915e-05 9.99974316e-01 9.39342570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.45, Y:166.65, Z:9.39 [[ 4.80670236e-01 -8.76893548e-01 -3.71875929e-03 1.95445385e+02] [ 8.76868706e-01 4.80684613e-01 -6.60113010e-03 1.66648332e+02] [ 7.57603877e-03 -8.78968783e-05 9.99971298e-01 9.39388243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:166.67, Z:9.39 [[ 4.79280872e-01 -8.77655434e-01 -3.28403784e-03 1.95459158e+02] [ 8.77636054e-01 4.79292116e-01 -5.83313073e-03 1.66671367e+02] [ 6.69349232e-03 -8.64820232e-05 9.99977595e-01 9.39468187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.47, Y:166.69, Z:9.40 [[ 4.75858716e-01 -8.79516920e-01 -2.91029458e-03 1.95474903e+02] [ 8.79501714e-01 4.75867605e-01 -5.17274517e-03 1.66694270e+02] [ 5.93443181e-03 -9.81131967e-05 9.99982386e-01 9.39599226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.49, Y:166.72, Z:9.40 [[ 4.74311461e-01 -8.80353855e-01 -2.39338324e-03 1.95488847e+02] [ 8.80343570e-01 4.74317491e-01 -4.25628630e-03 1.66719085e+02] [ 4.88226159e-03 -8.81941699e-05 9.99988078e-01 9.39715232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.50, Y:166.74, Z:9.40 [[ 4.73283036e-01 -8.80907670e-01 -2.20092679e-03 1.95501911e+02] [ 8.80898970e-01 4.73288146e-01 -3.91597665e-03 1.66743403e+02] [ 4.49128643e-03 -8.54288285e-05 9.99989910e-01 9.39804967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.51, Y:166.77, Z:9.40 [[ 4.72061379e-01 -8.81563973e-01 -1.73651040e-03 1.95514964e+02] [ 8.81558556e-01 4.72064568e-01 -3.09117543e-03 1.66768685e+02] [ 3.54481392e-03 -7.16110667e-05 9.99993715e-01 9.39899465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:166.79, Z:9.40 [[ 4.72693063e-01 -8.81225416e-01 -1.74181833e-03 1.95525735e+02] [ 8.81219959e-01 4.72696267e-01 -3.10219096e-03 1.66792864e+02] [ 3.55708054e-03 -6.85409284e-05 9.99993671e-01 9.39934331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.54, Y:166.82, Z:9.40 [[ 4.73143785e-01 -8.80983464e-01 -1.75945287e-03 1.95536271e+02] [ 8.80977882e-01 4.73147051e-01 -3.13667539e-03 1.66819436e+02] [ 3.59583909e-03 -6.59405934e-05 9.99993533e-01 9.39887331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:166.84, Z:9.40 [[ 4.73271263e-01 -8.80914821e-01 -1.84131349e-03 1.95550784e+02] [ 8.80908698e-01 4.73274840e-01 -3.28514728e-03 1.66842300e+02] [ 3.76538228e-03 -6.72632684e-05 9.99992909e-01 9.39984233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:166.87, Z:9.40 [[ 4.73588946e-01 -8.80742415e-01 -2.51152386e-03 1.95562111e+02] [ 8.80730991e-01 4.73595598e-01 -4.48677839e-03 1.66867061e+02] [ 5.14114268e-03 -8.70882482e-05 9.99986780e-01 9.39854779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.57, Y:166.89, Z:9.40 [[ 4.72803767e-01 -8.81162510e-01 -3.03784437e-03 1.95574710e+02] [ 8.81145769e-01 4.72813514e-01 -5.43284380e-03 1.66889519e+02] [ 6.22355215e-03 -1.08114697e-04 9.99980628e-01 9.39746195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.59, Y:166.91, Z:9.40 [[ 4.71581623e-01 -8.81816586e-01 -3.20656485e-03 1.95588463e+02] [ 8.81797924e-01 4.71592508e-01 -5.73820889e-03 1.66912985e+02] [ 6.57223973e-03 -1.21508369e-04 9.99978395e-01 9.39730894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:166.94, Z:9.40 [[ 4.70663156e-01 -8.82306541e-01 -3.37067549e-03 1.95601854e+02] [ 8.82285896e-01 4.70675207e-01 -6.03707733e-03 1.66935582e+02] [ 6.91304620e-03 -1.32469574e-04 9.99976096e-01 9.39734204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:166.96, Z:9.40 [[ 4.67940085e-01 -8.83751207e-01 -3.98516124e-03 1.95617462e+02] [ 8.83722361e-01 4.67957020e-01 -7.14252619e-03 1.66957459e+02] [ 8.17710031e-03 -1.79501788e-04 9.99966551e-01 9.39671506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.63, Y:166.98, Z:9.40 [[ 4.64695362e-01 -8.85459610e-01 -4.41579468e-03 1.95630673e+02] [ 8.85424215e-01 4.64716286e-01 -7.92045485e-03 1.66982730e+02] [ 9.06533456e-03 -2.29252908e-04 9.99958883e-01 9.39688986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:167.01, Z:9.40 [[ 4.62863912e-01 -8.86416798e-01 -4.71790928e-03 1.95646345e+02] [ 8.86376382e-01 4.62887882e-01 -8.46863621e-03 1.67006794e+02] [ 9.69060443e-03 -2.62017273e-04 9.99953011e-01 9.39733238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.66, Y:167.03, Z:9.40 [[ 4.61155100e-01 -8.87305769e-01 -4.94439305e-03 1.95661619e+02] [ 8.87261364e-01 4.61181513e-01 -8.88168215e-03 1.67030296e+02] [ 1.01610305e-02 -2.91135902e-04 9.99948333e-01 9.39789498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:167.05, Z:9.40 [[ 4.58031496e-01 -8.88921202e-01 -5.12299453e-03 1.95677948e+02] [ 8.88873566e-01 4.58060022e-01 -9.20867926e-03 1.67051996e+02] [ 1.05324292e-02 -3.35829276e-04 9.99944476e-01 9.39810942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.69, Y:167.08, Z:9.40 [[ 4.56399734e-01 -8.89759567e-01 -5.21500265e-03 1.95692712e+02] [ 8.89710220e-01 4.56429385e-01 -9.37770783e-03 1.67076109e+02] [ 1.07241857e-02 -3.59857797e-04 9.99942430e-01 9.39881907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:167.10, Z:9.40 [[ 4.54958889e-01 -8.90496427e-01 -5.34065766e-03 1.95707168e+02] [ 8.90444648e-01 4.54990072e-01 -9.61052926e-03 1.67098756e+02] [ 1.09880882e-02 -3.83164321e-04 9.99939556e-01 9.39905881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.72, Y:167.12, Z:9.40 [[ 4.54932789e-01 -8.90508732e-01 -5.50957352e-03 1.95720471e+02] [ 8.90453542e-01 4.54965981e-01 -9.92193790e-03 1.67121826e+02] [ 1.13422409e-02 -3.92204373e-04 9.99935598e-01 9.39889896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:167.15, Z:9.40 [[ 4.55342852e-01 -8.90299438e-01 -5.45871006e-03 1.95733855e+02] [ 8.90245184e-01 4.55375412e-01 -9.83597836e-03 1.67146080e+02] [ 1.12427283e-02 -3.80847907e-04 9.99936726e-01 9.39936905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.75, Y:167.17, Z:9.40 [[ 4.56856754e-01 -8.89523704e-01 -5.43022513e-03 1.95747241e+02] [ 8.89469874e-01 4.56888886e-01 -9.79236761e-03 1.67170117e+02] [ 1.11915526e-02 -3.56312384e-04 9.99937309e-01 9.40058958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.76, Y:167.20, Z:9.40 [[ 4.58838933e-01 -8.88500382e-01 -5.82272018e-03 1.95759377e+02] [ 8.88438312e-01 4.58875742e-01 -1.05080378e-02 1.67195510e+02] [ 1.20083006e-02 -3.51630839e-04 9.99927836e-01 9.40093604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:167.22, Z:9.40 [[ 4.59823022e-01 -8.87989632e-01 -6.09935120e-03 1.95771956e+02] [ 8.87921377e-01 4.59863340e-01 -1.10153093e-02 1.67220727e+02] [ 1.25863484e-02 -3.50651503e-04 9.99920727e-01 9.40101443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.78, Y:167.24, Z:9.40 [[ 4.59525430e-01 -8.88143692e-01 -6.09596556e-03 1.95784724e+02] [ 8.88075426e-01 4.59565728e-01 -1.10171828e-02 1.67244254e+02] [ 1.25863382e-02 -3.51001560e-04 9.99920727e-01 9.40126406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.80, Y:167.27, Z:9.40 [[ 4.61034959e-01 -8.87359389e-01 -6.33095001e-03 1.95796883e+02] [ 8.87285568e-01 4.61078301e-01 -1.14508370e-02 1.67268095e+02] [ 1.30800714e-02 -3.38124389e-04 9.99914395e-01 9.40086541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.81, Y:167.29, Z:9.40 [[ 4.64201945e-01 -8.85703789e-01 -6.73440752e-03 1.95806509e+02] [ 8.85619971e-01 4.64250692e-01 -1.21886247e-02 1.67293449e+02] [ 1.39219644e-02 -3.06142506e-04 9.99903038e-01 9.40042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.82, Y:167.32, Z:9.40 [[ 4.65351874e-01 -8.85099445e-01 -6.82685256e-03 1.95817432e+02] [ 8.85013137e-01 4.65401858e-01 -1.23636066e-02 1.67317307e+02] [ 1.41202512e-02 -2.88426721e-04 9.99900263e-01 9.40043610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:167.34, Z:9.40 [[ 4.66779375e-01 -8.84345886e-01 -7.02634159e-03 1.95828379e+02] [ 8.84254230e-01 4.66832177e-01 -1.27347936e-02 1.67342036e+02] [ 1.45420847e-02 -2.68733274e-04 9.99894222e-01 9.40020818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.84, Y:167.37, Z:9.40 [[ 4.66901379e-01 -8.84279630e-01 -7.25524222e-03 1.95840731e+02] [ 8.84181754e-01 4.66957667e-01 -1.31591556e-02 1.67366721e+02] [ 1.50242642e-02 -2.70924890e-04 9.99887093e-01 9.40047725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:167.39, Z:9.40 [[ 4.66211631e-01 -8.84642553e-01 -7.36673904e-03 1.95851994e+02] [ 8.84541533e-01 4.66269744e-01 -1.33716794e-02 1.67392015e+02] [ 1.52640441e-02 -2.82154202e-04 9.99883458e-01 9.40121369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.86, Y:167.42, Z:9.40 [[ 4.65192439e-01 -8.85178791e-01 -7.38266753e-03 1.95864091e+02] [ 8.85077245e-01 4.65250923e-01 -1.34107991e-02 1.67417107e+02] [ 1.53057478e-02 -2.95628682e-04 9.99882817e-01 9.40180762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.942755096 meters Centerline goodness [0,1] 0.9999782410026546 Centerline is valid? [True, True] Translation: X:195.88, Y:167.44, Z:9.40 [[ 4.63055703e-01 -8.86299264e-01 -7.28219094e-03 1.95877850e+02] [ 8.86200455e-01 4.63112847e-01 -1.32380005e-02 1.67440271e+02] [ 1.51053063e-02 -3.23549294e-04 9.99885856e-01 9.40212644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.89, Y:167.47, Z:9.40 [[ 4.60023652e-01 -8.87879684e-01 -6.92137418e-03 1.95888936e+02] [ 8.87790467e-01 4.60075583e-01 -1.25914433e-02 1.67465768e+02] [ 1.43640420e-02 -3.52368268e-04 9.99896770e-01 9.40302577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.90, Y:167.49, Z:9.40 [[ 4.58488485e-01 -8.88673321e-01 -6.93093793e-03 1.95902496e+02] [ 8.88583809e-01 4.58540717e-01 -1.26184141e-02 1.67490799e+02] [ 1.43917652e-02 -3.73321646e-04 9.99896364e-01 9.40328988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.92, Y:167.52, Z:9.40 [[ 4.56740128e-01 -8.89573797e-01 -6.84948337e-03 1.95916533e+02] [ 8.89486350e-01 4.56791315e-01 -1.24791191e-02 1.67515149e+02] [ 1.42298819e-02 -3.92807497e-04 9.99898673e-01 9.40354186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.93, Y:167.54, Z:9.40 [[ 4.54102698e-01 -8.90918648e-01 -7.39611406e-03 1.95931332e+02] [ 8.90816721e-01 4.54162687e-01 -1.34842304e-02 1.67537784e+02] [ 1.53723913e-02 -4.65356676e-04 9.99881730e-01 9.40348691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.95, Y:167.56, Z:9.40 [[ 4.53105941e-01 -8.91424475e-01 -7.57703915e-03 1.95945075e+02] [ 8.91317437e-01 4.53169024e-01 -1.38225320e-02 1.67562705e+02] [ 1.57554227e-02 -4.90475762e-04 9.99875755e-01 9.40328855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:167.59, Z:9.40 [[ 4.52172133e-01 -8.91894139e-01 -8.07508713e-03 1.95958916e+02] [ 8.91772472e-01 4.52243914e-01 -1.47411401e-02 1.67585406e+02] [ 1.67994454e-02 -5.35607667e-04 9.99858736e-01 9.40214026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.97, Y:167.61, Z:9.40 [[ 4.51362283e-01 -8.92303543e-01 -8.15332534e-03 1.95970285e+02] [ 8.92179401e-01 4.51435580e-01 -1.48940897e-02 1.67609956e+02] [ 1.69707502e-02 -5.51598589e-04 9.99855834e-01 9.40262358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:167.63, Z:9.40 [[ 4.51076723e-01 -8.92447238e-01 -8.22911144e-03 1.95982030e+02] [ 8.92320589e-01 4.51151436e-01 -1.50448745e-02 1.67633268e+02] [ 1.71393321e-02 -5.56612889e-04 9.99852956e-01 9.40236270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.99, Y:167.66, Z:9.40 [[ 4.51283934e-01 -8.92338118e-01 -8.68871834e-03 1.95994031e+02] [ 8.92196660e-01 4.51367200e-01 -1.58987794e-02 1.67656678e+02] [ 1.81088894e-02 -5.77181747e-04 9.99835854e-01 9.40160565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:167.68, Z:9.40 [[ 4.51247567e-01 -8.92355687e-01 -8.77275004e-03 1.96005952e+02] [ 8.92211245e-01 4.51332465e-01 -1.60654695e-02 1.67681571e+02] [ 1.82955399e-02 -5.77642226e-04 9.99832456e-01 9.40204564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.02, Y:167.71, Z:9.40 [[ 4.51803818e-01 -8.92073213e-01 -8.87090903e-03 1.96018975e+02] [ 8.91925233e-01 4.51890542e-01 -1.62578029e-02 1.67705629e+02] [ 1.85118304e-02 -5.66850168e-04 9.99828481e-01 9.40344656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.03, Y:167.73, Z:9.41 [[ 4.51837114e-01 -8.92056803e-01 -8.82511310e-03 1.96030469e+02] [ 8.91910124e-01 4.51922946e-01 -1.61858804e-02 1.67731695e+02] [ 1.84269958e-02 -5.57826240e-04 9.99830053e-01 9.40532825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.04, Y:167.76, Z:9.41 [[ 4.51706085e-01 -8.92127562e-01 -8.36817060e-03 1.96043796e+02] [ 8.91995503e-01 4.51783284e-01 -1.53586267e-02 1.67756798e+02] [ 1.74824538e-02 -5.26785388e-04 9.99847031e-01 9.40779737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.06, Y:167.78, Z:9.41 [[ 4.51289412e-01 -8.92340147e-01 -8.18099816e-03 1.96060245e+02] [ 8.92213775e-01 4.51363261e-01 -1.50261875e-02 1.67779215e+02] [ 1.71010724e-02 -5.18039925e-04 9.99853632e-01 9.40702314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.07, Y:167.80, Z:9.41 [[ 4.51127487e-01 -8.92419529e-01 -8.44833432e-03 1.96069229e+02] [ 8.92284558e-01 4.51206273e-01 -1.55295789e-02 1.67804850e+02] [ 1.76708409e-02 -5.32498341e-04 9.99843717e-01 9.40740483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.08, Y:167.83, Z:9.41 [[ 4.50869875e-01 -8.92548195e-01 -8.60668789e-03 1.96081199e+02] [ 8.92407918e-01 4.50951689e-01 -1.58329619e-02 1.67830728e+02] [ 1.80128820e-02 -5.42070856e-04 9.99837608e-01 9.40783169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.09, Y:167.86, Z:9.41 [[ 4.50329169e-01 -8.92822253e-01 -8.48903757e-03 1.96094053e+02] [ 8.92685629e-01 4.50408851e-01 -1.56280059e-02 1.67855488e+02] [ 1.77765691e-02 -5.40294934e-04 9.99841838e-01 9.40921037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.11, Y:167.88, Z:9.41 [[ 4.49940488e-01 -8.93019008e-01 -8.40287058e-03 1.96107115e+02] [ 8.92884977e-01 4.50018625e-01 -1.54808382e-02 1.67880642e+02] [ 1.76061310e-02 -5.37341003e-04 9.99844856e-01 9.41026029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:167.90, Z:9.41 [[ 4.49490096e-01 -8.93248455e-01 -8.11486072e-03 1.96120707e+02] [ 8.93123301e-01 4.49563037e-01 -1.49614477e-02 1.67903824e+02] [ 1.70124315e-02 -5.22548617e-04 9.99855142e-01 9.41103453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.13, Y:167.93, Z:9.41 [[ 4.49243511e-01 -8.93374372e-01 -7.90562338e-03 1.96133900e+02] [ 8.93255427e-01 4.49312778e-01 -1.45866304e-02 1.67928051e+02] [ 1.65834194e-02 -5.08791923e-04 9.99862356e-01 9.41258301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.15, Y:167.95, Z:9.41 [[ 4.49276940e-01 -8.93359753e-01 -7.65392053e-03 1.96147329e+02] [ 8.93248097e-01 4.49341867e-01 -1.41323407e-02 1.67953049e+02] [ 1.60644913e-02 -4.87515181e-04 9.99870839e-01 9.41279385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.16, Y:167.98, Z:9.41 [[ 4.49472316e-01 -8.93261850e-01 -7.60951919e-03 1.96159805e+02] [ 8.93151308e-01 4.49536473e-01 -1.40605886e-02 1.67978503e+02] [ 1.59805438e-02 -4.76606721e-04 9.99872189e-01 9.41469873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.17, Y:168.00, Z:9.42 [[ 4.49684283e-01 -8.93156555e-01 -7.44401539e-03 1.96173148e+02] [ 8.93050617e-01 4.49745659e-01 -1.37636582e-02 1.68002108e+02] [ 1.56410152e-02 -4.58581737e-04 9.99877567e-01 9.41604396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:168.03, Z:9.42 [[ 4.50972169e-01 -8.92507725e-01 -7.35279124e-03 1.96184005e+02] [ 8.92404154e-01 4.51031904e-01 -1.36032059e-02 1.68028634e+02] [ 1.54573098e-02 -4.26994170e-04 9.99880438e-01 9.41809940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.692755096 meters Centerline goodness [0,1] 0.999978075464252 Centerline is valid? [True, True] Translation: X:196.20, Y:168.05, Z:9.42 [[ 4.51946241e-01 -8.92013120e-01 -7.56232134e-03 1.96196654e+02] [ 8.91903346e-01 4.52009313e-01 -1.40000925e-02 1.68052333e+02] [ 1.59065059e-02 -4.17570517e-04 9.99873396e-01 9.41861130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.21, Y:168.08, Z:9.42 [[ 4.53152428e-01 -8.91397731e-01 -7.93486398e-03 1.96207879e+02] [ 8.91276623e-01 4.53221708e-01 -1.46991635e-02 1.68078442e+02] [ 1.66990536e-02 -4.11197139e-04 9.99860477e-01 9.41929737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.752755096 meters Centerline goodness [0,1] 0.9998030505284811 Centerline is valid? [True, True] Translation: X:196.22, Y:168.10, Z:9.42 [[ 4.56662901e-01 -8.89601223e-01 -8.28604157e-03 1.96220239e+02] [ 8.89468697e-01 4.56737930e-01 -1.53590811e-02 1.68102269e+02] [ 1.74480068e-02 -3.56252062e-04 9.99847709e-01 9.41850403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.23, Y:168.13, Z:9.42 [[ 4.60261683e-01 -8.87741116e-01 -8.65418728e-03 1.96228726e+02] [ 8.87596051e-01 4.60342943e-01 -1.60507225e-02 1.68130072e+02] [ 1.82327803e-02 -2.93889910e-04 9.99833726e-01 9.41982511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.812755096 meters Centerline goodness [0,1] 0.999956167265714 Centerline is valid? [True, True] Translation: X:196.24, Y:168.15, Z:9.42 [[ 4.61726909e-01 -8.86980491e-01 -8.59483484e-03 1.96240907e+02] [ 8.86837069e-01 4.61806825e-01 -1.59520807e-02 1.68154586e+02] [ 1.81183378e-02 -2.56713229e-04 9.99835817e-01 9.42024040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.842755096 meters Centerline goodness [0,1] 0.9999342552212311 Centerline is valid? [True, True] Translation: X:196.25, Y:168.18, Z:9.42 [[ 4.63143813e-01 -8.86240336e-01 -8.71069890e-03 1.96252935e+02] [ 8.86092669e-01 4.63225665e-01 -1.61791669e-02 1.68180388e+02] [ 1.83736496e-02 -2.25205372e-04 9.99831165e-01 9.42157530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.26, Y:168.20, Z:9.42 [[ 4.65255959e-01 -8.85136212e-01 -8.41301764e-03 1.96263772e+02] [ 8.84998112e-01 4.65331986e-01 -1.56360126e-02 1.68204799e+02] [ 1.77548472e-02 -1.70756695e-04 9.99842356e-01 9.42345906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters Centerline goodness [0,1] 0.9999343760253746 Centerline is valid? [True, True] Translation: X:196.28, Y:168.23, Z:9.42 [[ 4.65869530e-01 -8.84815075e-01 -8.23791459e-03 1.96276018e+02] [ 8.84682450e-01 4.65942335e-01 -1.53200007e-02 1.68230314e+02] [ 1.73937608e-02 -1.50816917e-04 9.99848706e-01 9.42437994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.29, Y:168.25, Z:9.43 [[ 4.66380880e-01 -8.84549155e-01 -7.85287546e-03 1.96287681e+02] [ 8.84428417e-01 4.66446970e-01 -1.46150628e-02 1.68253436e+02] [ 1.65906914e-02 -1.29120355e-04 9.99862357e-01 9.42614019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.30, Y:168.28, Z:9.43 [[ 4.65988397e-01 -8.84757629e-01 -7.66490305e-03 1.96300867e+02] [ 8.84642441e-01 4.66051414e-01 -1.42769240e-02 1.68277830e+02] [ 1.62038563e-02 -1.27817606e-04 9.99868701e-01 9.42669419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.31, Y:168.30, Z:9.43 [[ 4.63801300e-01 -8.85910532e-01 -7.13327159e-03 1.96314687e+02] [ 8.85810748e-01 4.63856127e-01 -1.32970772e-02 1.68300046e+02] [ 1.50888325e-02 -1.51526949e-04 9.99886146e-01 9.42775127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.33, Y:168.32, Z:9.43 [[ 4.61943142e-01 -8.86879096e-01 -7.34862681e-03 1.96331340e+02] [ 8.86773148e-01 4.62001553e-01 -1.37094729e-02 1.68323317e+02] [ 1.55537220e-02 -1.83567918e-04 9.99879017e-01 9.42868764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.34, Y:168.35, Z:9.43 [[ 4.60790718e-01 -8.87477654e-01 -7.43827758e-03 1.96344852e+02] [ 8.87369017e-01 4.60850706e-01 -1.38872246e-02 1.68345535e+02] [ 1.57525369e-02 -2.01392891e-04 9.99875901e-01 9.42867686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.36, Y:168.37, Z:9.43 [[ 4.59810022e-01 -8.87984356e-01 -7.65026545e-03 1.96357289e+02] [ 8.87869320e-01 4.59873608e-01 -1.42946042e-02 1.68371021e+02] [ 1.62115401e-02 -2.19633694e-04 9.99868560e-01 9.42926906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.37, Y:168.39, Z:9.43 [[ 4.57748902e-01 -8.89041813e-01 -8.40226721e-03 1.96373096e+02] [ 8.88903040e-01 4.57825926e-01 -1.57101086e-02 1.68393717e+02] [ 1.78137192e-02 -2.77515916e-04 9.99841285e-01 9.42759292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.39, Y:168.42, Z:9.43 [[ 4.56299850e-01 -8.89782997e-01 -8.75586133e-03 1.96386181e+02] [ 8.89632251e-01 4.56383741e-01 -1.63810712e-02 1.68418900e+02] [ 1.85716314e-02 -3.14816300e-04 9.99827483e-01 9.42736701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:168.44, Z:9.42 [[ 4.54067472e-01 -8.90914078e-01 -9.73843230e-03 1.96404462e+02] [ 8.90727573e-01 4.54171719e-01 -1.82329696e-02 1.68440683e+02] [ 2.06669299e-02 -3.95291734e-04 9.99786338e-01 9.42369840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.42, Y:168.47, Z:9.43 [[ 4.52803898e-01 -8.91554412e-01 -9.96793864e-03 1.96415443e+02] [ 8.91358879e-01 4.52913399e-01 -1.86762403e-02 1.68466880e+02] [ 2.11654974e-02 -4.28336217e-04 9.99775894e-01 9.42610185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:168.49, Z:9.43 [[ 4.50942229e-01 -8.92492942e-01 -1.03660085e-02 1.96431920e+02] [ 8.92281411e-01 4.51061097e-01 -1.94363124e-02 1.68490257e+02] [ 2.20224748e-02 -4.84742649e-04 9.99757358e-01 9.42597070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.45, Y:168.51, Z:9.43 [[ 4.49561479e-01 -8.93188777e-01 -1.04059975e-02 1.96446732e+02] [ 8.92975486e-01 4.49681603e-01 -1.95252951e-02 1.68514596e+02] [ 2.21191601e-02 -5.14480107e-04 9.99755209e-01 9.42645992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.46, Y:168.54, Z:9.43 [[ 4.47288212e-01 -8.94329855e-01 -1.03617713e-02 1.96461861e+02] [ 8.94118467e-01 4.47407859e-01 -1.94518539e-02 1.68537204e+02] [ 2.20323116e-02 -5.64066109e-04 9.99757100e-01 9.42624079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.47, Y:168.56, Z:9.43 [[ 4.45807206e-01 -8.95069570e-01 -1.03150525e-02 1.96474912e+02] [ 8.94860047e-01 4.45926130e-01 -1.93748190e-02 1.68562734e+02] [ 2.19415623e-02 -5.93094440e-04 9.99759079e-01 9.42705057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.49, Y:168.58, Z:9.42 [[ 4.44918225e-01 -8.95509946e-01 -1.04742633e-02 1.96492063e+02] [ 8.95293806e-01 4.45041069e-01 -1.96836930e-02 1.68584117e+02] [ 2.22884202e-02 -6.19909321e-04 9.99751390e-01 9.42494687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.50, Y:168.61, Z:9.43 [[ 4.43913151e-01 -8.96008496e-01 -1.04827779e-02 1.96501125e+02] [ 8.95791909e-01 4.44036445e-01 -1.97102129e-02 1.68610811e+02] [ 2.23152537e-02 -6.40764890e-04 9.99750778e-01 9.42796369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.51, Y:168.63, Z:9.43 [[ 4.44046843e-01 -8.95941662e-01 -1.05327493e-02 1.96514339e+02] [ 8.95722654e-01 4.44171291e-01 -1.98189571e-02 1.68634079e+02] [ 2.24349742e-02 -6.33876784e-04 9.99748103e-01 9.42779381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:168.66, Z:9.43 [[ 4.45478157e-01 -8.95225755e-01 -1.09571762e-02 1.96525053e+02] [ 8.94988153e-01 4.45612467e-01 -2.06333811e-02 1.68660780e+02] [ 2.33541885e-02 -6.14822265e-04 9.99727065e-01 9.42761206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.472755096 meters Centerline goodness [0,1] 0.9999561307304233 Centerline is valid? [True, True] Translation: X:196.54, Y:168.68, Z:9.43 [[ 4.46035636e-01 -8.94944102e-01 -1.12812401e-02 1.96536800e+02] [ 8.94691751e-01 4.46177859e-01 -2.12600170e-02 1.68684948e+02] [ 2.40599664e-02 -6.10507259e-04 9.99710331e-01 9.42622520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters Centerline goodness [0,1] 0.9998680477667085 Centerline is valid? [True, True] Translation: X:196.55, Y:168.71, Z:9.42 [[ 4.47548773e-01 -8.94176139e-01 -1.22117714e-02 1.96547054e+02] [ 8.93879681e-01 4.47714934e-01 -2.30315750e-02 1.68710816e+02] [ 2.60616772e-02 -6.08101161e-04 9.99660152e-01 9.42307432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.56, Y:168.73, Z:9.42 [[ 4.48429029e-01 -8.93733820e-01 -1.22989668e-02 1.96558227e+02] [ 8.93432443e-01 4.48597286e-01 -2.32151852e-02 1.68734587e+02] [ 2.62654792e-02 -5.77932994e-04 9.99654836e-01 9.42312156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.57, Y:168.76, Z:9.42 [[ 4.49077848e-01 -8.93404674e-01 -1.25369242e-02 1.96568532e+02] [ 8.93090890e-01 4.49252460e-01 -2.36831057e-02 1.68760973e+02] [ 2.67908414e-02 -5.61054679e-04 9.99640904e-01 9.42402994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.58, Y:168.79, Z:9.42 [[ 4.48804017e-01 -8.93542367e-01 -1.25296639e-02 1.96581284e+02] [ 8.93228529e-01 4.48978533e-01 -2.36869471e-02 1.68785436e+02] [ 2.67908409e-02 -5.61056249e-04 9.99640904e-01 9.42428727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters Centerline goodness [0,1] 0.9999340891115213 Centerline is valid? [True, True] Translation: X:196.59, Y:168.81, Z:9.42 [[ 4.49990606e-01 -8.92934078e-01 -1.33111410e-02 1.96592315e+02] [ 8.92579151e-01 4.50187104e-01 -2.51799650e-02 1.68809915e+02] [ 2.84765528e-02 -5.50499224e-04 9.99594309e-01 9.42236682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:168.84, Z:9.42 [[ 4.51181474e-01 -8.92337980e-01 -1.29694460e-02 1.96602652e+02] [ 8.92000351e-01 4.51367574e-01 -2.45496803e-02 1.68835292e+02] [ 2.77605995e-02 -4.92389399e-04 9.99614479e-01 9.42327612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.682755096 meters Centerline goodness [0,1] 0.9999560265599577 Centerline is valid? [True, True] Translation: X:196.61, Y:168.86, Z:9.42 [[ 4.51168765e-01 -8.92342045e-01 -1.31309027e-02 1.96612972e+02] [ 8.91995432e-01 4.51359540e-01 -2.48739775e-02 1.68861363e+02] [ 2.81228542e-02 -4.90343557e-04 9.99604354e-01 9.42483780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.712755096 meters Centerline goodness [0,1] 0.9998680361580927 Centerline is valid? [True, True] Translation: X:196.63, Y:168.89, Z:9.42 [[ 4.50934621e-01 -8.92460596e-01 -1.31168812e-02 1.96625348e+02] [ 8.92114222e-01 4.51125090e-01 -2.48670208e-02 1.68885443e+02] [ 2.81101904e-02 -4.88355628e-04 9.99604711e-01 9.42388859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters Centerline goodness [0,1] 0.9998457912012866 Centerline is valid? [True, True] Translation: X:196.64, Y:168.91, Z:9.43 [[ 4.50777333e-01 -8.92549455e-01 -1.24606227e-02 1.96636295e+02] [ 8.92236435e-01 4.50949286e-01 -2.36407570e-02 1.68911091e+02] [ 2.67196537e-02 -4.61104239e-04 9.99642860e-01 9.42631747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.772755096 meters Centerline goodness [0,1] 0.9998244189364177 Centerline is valid? [True, True] Translation: X:196.65, Y:168.94, Z:9.43 [[ 4.50430739e-01 -8.92729912e-01 -1.20604452e-02 1.96649036e+02] [ 8.92436289e-01 4.50591948e-01 -2.28990506e-02 1.68935323e+02] [ 2.58770070e-02 -4.48742688e-04 9.99665033e-01 9.42648214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.66, Y:168.96, Z:9.43 [[ 4.50710538e-01 -8.92605920e-01 -1.07089582e-02 1.96660205e+02] [ 8.92374058e-01 4.50837579e-01 -2.03474416e-02 1.68959773e+02] [ 2.29902476e-02 -3.85590115e-04 9.99735615e-01 9.42928906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.832755096 meters Centerline goodness [0,1] 0.9999780127965524 Centerline is valid? [True, True] Translation: X:196.67, Y:168.98, Z:9.43 [[ 4.50055218e-01 -8.92938990e-01 -1.05005110e-02 1.96673230e+02] [ 8.92715832e-01 4.50177531e-01 -1.99658336e-02 1.68984816e+02] [ 2.25553655e-02 -3.88244826e-04 9.99745520e-01 9.42993904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters Centerline goodness [0,1] 0.9999121033664411 Centerline is valid? [True, True] Translation: X:196.69, Y:169.01, Z:9.43 [[ 4.49521697e-01 -8.93207255e-01 -1.05377644e-02 1.96686215e+02] [ 8.92982213e-01 4.49645020e-01 -2.00530120e-02 1.69007637e+02] [ 2.26497491e-02 -3.95772239e-04 9.99743383e-01 9.42957114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.70, Y:169.03, Z:9.43 [[ 4.49542746e-01 -8.93205725e-01 -9.73920338e-03 1.96699062e+02] [ 8.93013227e-01 4.49648088e-01 -1.85465085e-02 1.69030247e+02] [ 2.09450618e-02 -3.59789068e-04 9.99780563e-01 9.43049018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:169.06, Z:9.43 [[ 4.49384669e-01 -8.93287217e-01 -9.55865997e-03 1.96710377e+02] [ 8.93101538e-01 4.49486180e-01 -1.82158519e-02 1.69055158e+02] [ 2.05684732e-02 -3.50929352e-04 9.99788385e-01 9.43215410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.72, Y:169.08, Z:9.43 [[ 4.49589507e-01 -8.93187868e-01 -9.20371781e-03 1.96721570e+02] [ 8.93015427e-01 4.49683585e-01 -1.75533712e-02 1.69080013e+02] [ 1.98172190e-02 -3.27250473e-04 9.99803566e-01 9.43252355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.982755096 meters Centerline goodness [0,1] 0.9997801376338412 Centerline is valid? [True, True] Translation: X:196.73, Y:169.11, Z:9.43 [[ 4.49231962e-01 -8.93358616e-01 -1.00512545e-02 1.96734346e+02] [ 8.93152662e-01 4.49344250e-01 -1.91850615e-02 1.69105209e+02] [ 2.16556134e-02 -3.58761943e-04 9.99765425e-01 9.43079934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.75, Y:169.13, Z:9.43 [[ 4.50198067e-01 -8.92883468e-01 -8.98961887e-03 1.96746606e+02] [ 8.92718404e-01 4.50287715e-01 -1.71704762e-02 1.69129528e+02] [ 1.93791493e-02 -2.95083009e-04 9.99812163e-01 9.43328239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:169.15, Z:9.43 [[ 4.50802903e-01 -8.92579337e-01 -8.88088922e-03 1.96759381e+02] [ 8.92417938e-01 4.50890290e-01 -1.69755708e-02 1.69153708e+02] [ 1.91563505e-02 -2.72828238e-04 9.99816463e-01 9.43408620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.072755096 meters Centerline goodness [0,1] 0.9998459676532072 Centerline is valid? [True, True] Translation: X:196.77, Y:169.18, Z:9.43 [[ 4.50969479e-01 -8.92489054e-01 -9.47720986e-03 1.96770418e+02] [ 8.92304930e-01 4.51068964e-01 -1.81301192e-02 1.69179948e+02] [ 2.04558082e-02 -2.80430664e-04 9.99790719e-01 9.43466484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:169.20, Z:9.44 [[ 4.53671790e-01 -8.91127110e-01 -8.62443389e-03 1.96782285e+02] [ 8.90974200e-01 4.53753718e-01 -1.65087459e-02 1.69204478e+02] [ 1.86247599e-02 -1.94595783e-04 9.99826525e-01 9.43501617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.132755096 meters Centerline goodness [0,1] 0.9998682795108779 Centerline is valid? [True, True] Translation: X:196.79, Y:169.23, Z:9.43 [[ 4.53902232e-01 -8.91004138e-01 -9.18637732e-03 1.96793556e+02] [ 8.90830395e-01 4.53995140e-01 -1.75960260e-02 1.69230105e+02] [ 1.98487026e-02 -1.96628667e-04 9.99802976e-01 9.43497855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1627550960001 meters Centerline goodness [0,1] 0.999978063921732 Centerline is valid? [True, True] Translation: X:196.80, Y:169.26, Z:9.44 [[ 4.55374224e-01 -8.90257957e-01 -8.66517102e-03 1.96804910e+02] [ 8.90103004e-01 4.55456636e-01 -1.66100996e-02 1.69255313e+02] [ 1.87338830e-02 -1.49083518e-04 9.99824494e-01 9.43584527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:169.28, Z:9.44 [[ 4.56803343e-01 -8.89525129e-01 -8.70349859e-03 1.96817115e+02] [ 8.89368427e-01 4.56886235e-01 -1.66963922e-02 1.69280929e+02] [ 1.88283691e-02 -1.13649076e-04 9.99822724e-01 9.43546824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.83, Y:169.30, Z:9.44 [[ 4.56934937e-01 -8.89454709e-01 -8.98806390e-03 1.96829873e+02] [ 8.89287309e-01 4.57023314e-01 -1.72560980e-02 1.69304437e+02] [ 1.94562723e-02 -1.08057124e-04 9.99810703e-01 9.43530985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.84, Y:169.33, Z:9.44 [[ 4.57405696e-01 -8.89210866e-01 -9.16871931e-03 1.96843749e+02] [ 8.89036343e-01 4.57497571e-01 -1.76168628e-02 1.69328718e+02] [ 1.98597726e-02 -9.32712954e-05 9.99802771e-01 9.43510472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.86, Y:169.35, Z:9.44 [[ 4.57245943e-01 -8.89293167e-01 -9.15481588e-03 1.96857536e+02] [ 8.89118923e-01 4.57337572e-01 -1.76035615e-02 1.69353594e+02] [ 1.98415682e-02 -9.05629761e-05 9.99803133e-01 9.43536512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.312755096 meters Centerline goodness [0,1] 0.9998896636949421 Centerline is valid? [True, True] Translation: X:196.87, Y:169.38, Z:9.43 [[ 4.56648396e-01 -8.89593439e-01 -9.78551620e-03 1.96871386e+02] [ 8.89394102e-01 4.56753219e-01 -1.88315808e-02 1.69377451e+02] [ 2.12220167e-02 -1.03769248e-04 9.99774782e-01 9.43378040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.88, Y:169.40, Z:9.44 [[ 4.56088938e-01 -8.89887550e-01 -9.11202011e-03 1.96884104e+02] [ 8.89714508e-01 4.56179940e-01 -1.75487137e-02 1.69402220e+02] [ 1.97731026e-02 -1.03322324e-04 9.99804488e-01 9.43517914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.90, Y:169.43, Z:9.44 [[ 4.54774746e-01 -8.90561735e-01 -8.92893516e-03 1.96897901e+02] [ 8.90395456e-01 4.54862375e-01 -1.72090355e-02 1.69426815e+02] [ 1.93871452e-02 -1.24048549e-04 9.99812044e-01 9.43547728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:169.45, Z:9.44 [[ 4.52276215e-01 -8.91833058e-01 -8.94549838e-03 1.96914932e+02] [ 8.91666154e-01 4.52364639e-01 -1.72540917e-02 1.69450074e+02] [ 1.94343965e-02 -1.72782863e-04 9.99811119e-01 9.43578235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.93, Y:169.47, Z:9.44 [[ 4.50402212e-01 -8.92780047e-01 -9.03526866e-03 1.96930555e+02] [ 8.92609703e-01 4.50492780e-01 -1.74406023e-02 1.69473315e+02] [ 1.96409451e-02 -2.09682603e-04 9.99807076e-01 9.43648705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:169.50, Z:9.44 [[ 4.48966086e-01 -8.93510667e-01 -8.25472148e-03 1.96944572e+02] [ 8.93368395e-01 4.49041914e-01 -1.59458541e-02 1.69497020e+02] [ 1.79545067e-02 -2.15359577e-04 9.99838782e-01 9.43850981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.492755096 meters Centerline goodness [0,1] 0.999911343587925 Centerline is valid? [True, True] Translation: X:196.96, Y:169.52, Z:9.44 [[ 4.47694688e-01 -8.94146800e-01 -8.42419347e-03 1.96957491e+02] [ 8.93998483e-01 4.47773875e-01 -1.62870903e-02 1.69519444e+02] [ 1.83351835e-02 -2.39572347e-04 9.99831868e-01 9.43811186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:169.54, Z:9.44 [[ 4.47441997e-01 -8.94275729e-01 -8.15963783e-03 1.96970214e+02] [ 8.94136376e-01 4.47516332e-01 -1.57884298e-02 1.69544587e+02] [ 1.77707807e-02 -2.31422445e-04 9.99842060e-01 9.43979317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.98, Y:169.57, Z:9.44 [[ 4.46656010e-01 -8.94665645e-01 -8.47300432e-03 1.96983330e+02] [ 8.94515210e-01 4.46736299e-01 -1.64078802e-02 1.69568559e+02] [ 1.84647653e-02 -2.50552935e-04 9.99829480e-01 9.43897539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:169.59, Z:9.44 [[ 4.46075197e-01 -8.94955331e-01 -8.47786536e-03 1.96995736e+02] [ 8.94804537e-01 4.46155679e-01 -1.64301900e-02 1.69593645e+02] [ 1.84867339e-02 -2.56932145e-04 9.99829073e-01 9.43875553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:169.62, Z:9.44 [[ 4.45622855e-01 -8.95179697e-01 -8.57793853e-03 1.97008793e+02] [ 8.95025125e-01 4.45705329e-01 -1.66368854e-02 1.69618161e+02] [ 1.87162349e-02 -2.63694141e-04 9.99824801e-01 9.43852432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters Centerline goodness [0,1] 0.9998892776473715 Centerline is valid? [True, True] Translation: X:197.02, Y:169.64, Z:9.44 [[ 4.45089684e-01 -8.95442162e-01 -8.86053507e-03 1.97024677e+02] [ 8.95277024e-01 4.45177783e-01 -1.71986181e-02 1.69640979e+02] [ 1.93448811e-02 -2.77705978e-04 9.99812832e-01 9.43624500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:169.67, Z:9.44 [[ 4.44852611e-01 -8.95564272e-01 -8.41364325e-03 1.97034167e+02] [ 8.95415168e-01 4.44932091e-01 -1.63435525e-02 1.69667994e+02] [ 1.83802015e-02 -2.63231794e-04 9.99831035e-01 9.43947574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:169.69, Z:9.44 [[ 4.44244964e-01 -8.95866599e-01 -8.33361712e-03 1.97045678e+02] [ 8.95720149e-01 4.44323042e-01 -1.62003064e-02 1.69693234e+02] [ 1.82161315e-02 -2.67684238e-04 9.99834037e-01 9.44009517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.732755096 meters Centerline goodness [0,1] 0.9999778117996849 Centerline is valid? [True, True] Translation: X:197.06, Y:169.72, Z:9.44 [[ 4.43315064e-01 -8.96327445e-01 -8.29849273e-03 1.97059075e+02] [ 8.96182084e-01 4.43392639e-01 -1.61443611e-02 1.69718282e+02] [ 1.81501246e-02 -2.79922013e-04 9.99835234e-01 9.44117421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:169.74, Z:9.44 [[ 4.42499310e-01 -8.96732184e-01 -8.10865435e-03 1.97072547e+02] [ 8.96593247e-01 4.42573507e-01 -1.57873656e-02 1.69741724e+02] [ 1.77457144e-02 -2.84266360e-04 9.99842492e-01 9.44245189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7927550960001 meters Centerline goodness [0,1] 0.9998892212252133 Centerline is valid? [True, True] Translation: X:197.09, Y:169.77, Z:9.44 [[ 4.41044718e-01 -8.97446390e-01 -8.33872050e-03 1.97086310e+02] [ 8.97299348e-01 4.41123427e-01 -1.62481623e-02 1.69766169e+02] [ 1.82602596e-02 -3.16162299e-04 9.99833218e-01 9.44325151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:169.79, Z:9.44 [[ 4.40550050e-01 -8.97690131e-01 -8.25116402e-03 1.97100251e+02] [ 8.97546012e-01 4.40627197e-01 -1.60881442e-02 1.69789958e+02] [ 1.80778556e-02 -3.18166615e-04 9.99836532e-01 9.44306411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.11, Y:169.81, Z:9.44 [[ 4.39277000e-01 -8.98313309e-01 -8.30154335e-03 1.97114496e+02] [ 8.98167336e-01 4.39355303e-01 -1.61973775e-02 1.69812672e+02] [ 1.81976469e-02 -3.41039686e-04 9.99834351e-01 9.44294770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:169.84, Z:9.44 [[ 4.38562028e-01 -8.98661950e-01 -8.36947098e-03 1.97126135e+02] [ 8.98513396e-01 4.38641740e-01 -1.63432161e-02 1.69837684e+02] [ 1.83582257e-02 -3.52567819e-04 9.99831411e-01 9.44409192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.14, Y:169.86, Z:9.44 [[ 4.37802422e-01 -8.99032391e-01 -8.35462518e-03 1.97139719e+02] [ 8.98884190e-01 4.37881982e-01 -1.63273978e-02 1.69862174e+02] [ 1.83371993e-02 -3.61666178e-04 9.99831794e-01 9.44431673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:169.88, Z:9.44 [[ 4.37426188e-01 -8.99217256e-01 -8.16438345e-03 1.97154830e+02] [ 8.99075533e-01 4.37502229e-01 -1.59682481e-02 1.69884583e+02] [ 1.79308602e-02 -3.55467509e-04 9.99839166e-01 9.44401518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:169.91, Z:9.45 [[ 4.37659513e-01 -8.99106535e-01 -7.84784002e-03 1.97166367e+02] [ 8.98975366e-01 4.37729743e-01 -1.53610937e-02 1.69910306e+02] [ 1.72464927e-02 -3.32086052e-04 9.99851213e-01 9.44629686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.18, Y:169.94, Z:9.45 [[ 4.37771237e-01 -8.99050188e-01 -8.06872014e-03 1.97178974e+02] [ 8.98911303e-01 4.37845462e-01 -1.58057003e-02 1.69935410e+02] [ 1.77429703e-02 -3.33782767e-04 9.99842525e-01 9.44684448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:169.96, Z:9.45 [[ 4.38625862e-01 -8.98634577e-01 -7.95300835e-03 1.97191875e+02] [ 8.98499378e-01 4.38697849e-01 -1.55905121e-02 1.69960896e+02] [ 1.74991409e-02 -3.07371255e-04 9.99846831e-01 9.44731725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.062755096 meters Centerline goodness [0,1] 0.9998006026231833 Centerline is valid? [True, True] Translation: X:197.21, Y:169.98, Z:9.45 [[ 4.38865155e-01 -8.98511976e-01 -8.57939444e-03 1.97205412e+02] [ 8.98354366e-01 4.38948889e-01 -1.68317021e-02 1.69984049e+02] [ 1.88894015e-02 -3.20488920e-04 9.99821528e-01 9.44506483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.092755096 meters Centerline goodness [0,1] 0.9998007262421398 Centerline is valid? [True, True] Translation: X:197.22, Y:170.01, Z:9.44 [[ 4.38769667e-01 -8.98554216e-01 -9.02775562e-03 1.97218155e+02] [ 8.98379415e-01 4.38862405e-01 -1.77261228e-02 1.70008274e+02] [ 1.98898249e-02 -3.32664796e-04 9.99802123e-01 9.44451499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.23, Y:170.03, Z:9.45 [[ 4.38629561e-01 -8.98625409e-01 -8.74543762e-03 1.97229848e+02] [ 8.98461114e-01 4.38716620e-01 -1.71858985e-02 1.70032982e+02] [ 1.92804539e-02 -3.19192506e-04 9.99814064e-01 9.44659849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.152755096 meters Centerline goodness [0,1] 0.9999778319663046 Centerline is valid? [True, True] Translation: X:197.24, Y:170.06, Z:9.45 [[ 4.38430237e-01 -8.98721792e-01 -8.83560996e-03 1.97242983e+02] [ 8.98553816e-01 4.38519143e-01 -1.73781772e-02 1.70055786e+02] [ 1.94927306e-02 -3.20152701e-04 9.99809947e-01 9.44591328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.26, Y:170.08, Z:9.45 [[ 4.37469034e-01 -8.99190292e-01 -8.81263801e-03 1.97256320e+02] [ 8.99022998e-01 4.37557661e-01 -1.73476682e-02 1.70079353e+02] [ 1.94548921e-02 -3.33696604e-04 9.99810680e-01 9.44617428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.27, Y:170.10, Z:9.45 [[ 4.36211987e-01 -8.99801230e-01 -8.76638503e-03 1.97268438e+02] [ 8.99635535e-01 4.36299923e-01 -1.72708110e-02 1.70103349e+02] [ 1.93650701e-02 -3.52816687e-04 9.99812417e-01 9.44744049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.28, Y:170.13, Z:9.45 [[ 4.34772947e-01 -9.00504749e-01 -7.98008020e-03 1.97282022e+02] [ 9.00367341e-01 4.34846040e-01 -1.57344635e-02 1.70126217e+02] [ 1.76390654e-02 -3.44084503e-04 9.99844360e-01 9.45018268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.29, Y:170.15, Z:9.45 [[ 4.33708110e-01 -9.01020527e-01 -7.69964709e-03 1.97294381e+02] [ 9.00892468e-01 4.33776313e-01 -1.51944584e-02 1.70149070e+02] [ 1.70304434e-02 -3.46594244e-04 9.99854911e-01 9.45133959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.302755096 meters Centerline goodness [0,1] 0.999845012731097 Centerline is valid? [True, True] Translation: X:197.31, Y:170.17, Z:9.45 [[ 4.32780594e-01 -9.01464792e-01 -7.88584539e-03 1.97307649e+02] [ 9.01330329e-01 4.32852277e-01 -1.55738264e-02 1.70171886e+02] [ 1.74526623e-02 -3.67701764e-04 9.99847623e-01 9.45045407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.332755096 meters Centerline goodness [0,1] 0.9998453141228206 Centerline is valid? [True, True] Translation: X:197.32, Y:170.20, Z:9.45 [[ 4.31371780e-01 -9.02135759e-01 -8.33423254e-03 1.97318861e+02] [ 9.01985479e-01 4.31452085e-01 -1.64710143e-02 1.70198048e+02] [ 1.84549130e-02 -4.12225983e-04 9.99829609e-01 9.45133331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.33, Y:170.22, Z:9.45 [[ 4.30585947e-01 -9.02511503e-01 -8.29026500e-03 1.97330525e+02] [ 9.02362646e-01 4.30665542e-01 -1.63965272e-02 1.70223321e+02] [ 1.83683859e-02 -4.20711276e-04 9.99831198e-01 9.45252237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.392755096 meters Centerline goodness [0,1] 0.9998452080845606 Centerline is valid? [True, True] Translation: X:197.34, Y:170.25, Z:9.45 [[ 4.29754799e-01 -9.02907670e-01 -8.27962971e-03 1.97342516e+02] [ 9.02759038e-01 4.29834332e-01 -1.63880139e-02 1.70248589e+02] [ 1.83557326e-02 -4.31682922e-04 9.99831426e-01 9.45129989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4227550960001 meters Centerline goodness [0,1] 0.9998674355405316 Centerline is valid? [True, True] Translation: X:197.35, Y:170.27, Z:9.45 [[ 4.29452365e-01 -9.03052932e-01 -8.12821638e-03 1.97353669e+02] [ 9.02909490e-01 4.29529069e-01 -1.61006476e-02 1.70273881e+02] [ 1.80310423e-02 -4.24582519e-04 9.99837337e-01 9.45232523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.37, Y:170.30, Z:9.45 [[ 4.28814366e-01 -9.03356986e-01 -8.02463165e-03 1.97365594e+02] [ 9.03217005e-01 4.28889232e-01 -1.59081345e-02 1.70297962e+02] [ 1.78124025e-02 -4.26347156e-04 9.99841256e-01 9.45357666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.38, Y:170.32, Z:9.45 [[ 4.28535391e-01 -9.03489406e-01 -8.01953020e-03 1.97377865e+02] [ 9.03349399e-01 4.28610210e-01 -1.59107063e-02 1.70322674e+02] [ 1.78124071e-02 -4.26137064e-04 9.99841256e-01 9.45383390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:170.35, Z:9.45 [[ 4.28125900e-01 -9.03681757e-01 -8.21555567e-03 1.97390573e+02] [ 9.03534640e-01 4.28204494e-01 -1.63115083e-02 1.70345643e+02] [ 1.82583503e-02 -4.39659973e-04 9.99833206e-01 9.45276380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.40, Y:170.37, Z:9.45 [[ 4.28079129e-01 -9.03701631e-01 -8.46293481e-03 1.97401723e+02] [ 9.03545281e-01 4.28162540e-01 -1.68156089e-02 1.70369591e+02] [ 1.88198049e-02 -4.48233590e-04 9.99822791e-01 9.45245513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.41, Y:170.40, Z:9.45 [[ 4.27880511e-01 -9.03797787e-01 -8.23577861e-03 1.97408968e+02] [ 9.03649492e-01 4.27959543e-01 -1.63775508e-02 1.70396882e+02] [ 1.83265742e-02 -4.34622369e-04 9.99831960e-01 9.45499040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.42, Y:170.42, Z:9.46 [[ 4.27823330e-01 -9.03826492e-01 -8.05426689e-03 1.97421007e+02] [ 9.03684442e-01 4.27898932e-01 -1.60291524e-02 1.70422667e+02] [ 1.79339848e-02 -4.20870334e-04 9.99839085e-01 9.45516745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.43, Y:170.45, Z:9.46 [[ 4.27275641e-01 -9.04087327e-01 -7.85060846e-03 1.97433370e+02] [ 9.03952202e-01 4.27347555e-01 -1.56359854e-02 1.70447703e+02] [ 1.74912346e-02 -4.15699102e-04 9.99846930e-01 9.45612823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6627550960001 meters Centerline goodness [0,1] 0.9999560284935362 Centerline is valid? [True, True] Translation: X:197.45, Y:170.47, Z:9.46 [[ 4.27047107e-01 -9.04194824e-01 -7.90498628e-03 1.97445869e+02] [ 9.04057620e-01 4.27120061e-01 -1.57566994e-02 1.70472761e+02] [ 1.76235043e-02 -4.17710167e-04 9.99844607e-01 9.45658593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.46, Y:170.50, Z:9.46 [[ 4.26517727e-01 -9.04447714e-01 -7.54726186e-03 1.97457239e+02] [ 9.04322517e-01 4.26584305e-01 -1.50537655e-02 1.70497616e+02] [ 1.68348872e-02 -4.04460993e-04 9.99858201e-01 9.45802624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.722755096 meters Centerline goodness [0,1] 0.9998463092258376 Centerline is valid? [True, True] Translation: X:197.47, Y:170.52, Z:9.46 [[ 4.26635037e-01 -9.04392080e-01 -7.58354576e-03 1.97468665e+02] [ 9.04265502e-01 4.26702244e-01 -1.51359516e-02 1.70523849e+02] [ 1.69247507e-02 -4.00011553e-04 9.99856686e-01 9.45738072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.752755096 meters Centerline goodness [0,1] 0.99995626981524 Centerline is valid? [True, True] Translation: X:197.48, Y:170.55, Z:9.46 [[ 4.27058826e-01 -9.04192469e-01 -7.53246803e-03 1.97478784e+02] [ 9.04067366e-01 4.27125076e-01 -1.50454978e-02 1.70550540e+02] [ 1.68213318e-02 -3.84545908e-04 9.99858437e-01 9.45921751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.49, Y:170.58, Z:9.46 [[ 4.27397768e-01 -9.04031862e-01 -7.58553020e-03 1.97490801e+02] [ 9.03904758e-01 4.27464912e-01 -1.51636885e-02 1.70576324e+02] [ 1.69510056e-02 -3.75670225e-04 9.99856251e-01 9.46006864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.50, Y:170.60, Z:9.46 [[ 4.28876313e-01 -9.03331623e-01 -7.55559619e-03 1.97501921e+02] [ 9.03205213e-01 4.28942726e-01 -1.51155763e-02 1.70602707e+02] [ 1.68952961e-02 -3.41541260e-04 9.99857206e-01 9.46068630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.842755096 meters Centerline goodness [0,1] 0.9999564810583806 Centerline is valid? [True, True] Translation: X:197.51, Y:170.63, Z:9.46 [[ 4.29678968e-01 -9.02949633e-01 -7.61209471e-03 1.97513872e+02] [ 9.02821090e-01 4.29746267e-01 -1.52389243e-02 1.70627355e+02] [ 1.70312504e-02 -3.24514395e-04 9.99854905e-01 9.45982046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:170.65, Z:9.46 [[ 4.30232096e-01 -9.02684548e-01 -7.80706059e-03 1.97523984e+02] [ 9.02549104e-01 4.30302807e-01 -1.56400008e-02 1.70653753e+02] [ 1.74773871e-02 -3.17425240e-04 9.99847208e-01 9.46054067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters Centerline goodness [0,1] 0.9999565122852794 Centerline is valid? [True, True] Translation: X:197.54, Y:170.68, Z:9.46 [[ 4.31006764e-01 -9.02311696e-01 -8.17145542e-03 1.97535834e+02] [ 9.02163002e-01 4.31084107e-01 -1.63832564e-02 1.70678988e+02] [ 1.83053885e-02 -3.10690408e-04 9.99832394e-01 9.45970245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.932755096 meters Centerline goodness [0,1] 0.9999127818237321 Centerline is valid? [True, True] Translation: X:197.55, Y:170.70, Z:9.46 [[ 4.30362819e-01 -9.02617023e-01 -8.38768423e-03 1.97548623e+02] [ 9.02460158e-01 4.30444425e-01 -1.68303478e-02 1.70703991e+02] [ 1.88017903e-02 -3.26394922e-04 9.99823177e-01 9.45980776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.962755096 meters Centerline goodness [0,1] 0.999956560456984 Centerline is valid? [True, True] Translation: X:197.56, Y:170.73, Z:9.46 [[ 4.28089185e-01 -9.03696495e-01 -8.50266303e-03 1.97563082e+02] [ 9.03535259e-01 4.28173454e-01 -1.70742290e-02 1.70727940e+02] [ 1.90705355e-02 -3.73163055e-04 9.99818071e-01 9.46116861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:170.75, Z:9.46 [[ 4.26451163e-01 -9.04470557e-01 -8.50984704e-03 1.97575380e+02] [ 9.04308957e-01 4.26535872e-01 -1.71014968e-02 1.70753845e+02] [ 1.90975553e-02 -4.02577718e-04 9.99817544e-01 9.46282048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.59, Y:170.78, Z:9.46 [[ 4.25101042e-01 -9.05106232e-01 -8.47431148e-03 1.97588295e+02] [ 9.04945898e-01 4.25185288e-01 -1.70408900e-02 1.70778219e+02] [ 1.90269683e-02 -4.24693349e-04 9.99818881e-01 9.46323474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.60, Y:170.80, Z:9.46 [[ 4.22261132e-01 -9.06434270e-01 -8.51182430e-03 1.97602750e+02] [ 9.06272574e-01 4.22346638e-01 -1.71271474e-02 1.70802905e+02] [ 1.91195738e-02 -4.81904246e-04 9.99817088e-01 9.46405410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.62, Y:170.83, Z:9.46 [[ 4.20371577e-01 -9.07310963e-01 -8.63445415e-03 1.97616449e+02] [ 9.07144501e-01 4.20459917e-01 -1.73871254e-02 1.70828124e+02] [ 1.94059714e-02 -5.23644287e-04 9.99811549e-01 9.46482557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:170.85, Z:9.47 [[ 4.17222027e-01 -9.08765017e-01 -8.48078321e-03 1.97631805e+02] [ 9.08604481e-01 4.17307816e-01 -1.70904625e-02 1.70852677e+02] [ 1.90703115e-02 -5.75160224e-04 9.99817980e-01 9.46594755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters Centerline goodness [0,1] 0.9999131680632136 Centerline is valid? [True, True] Translation: X:197.65, Y:170.88, Z:9.47 [[ 4.15878282e-01 -9.09377775e-01 -8.79300160e-03 1.97645392e+02] [ 9.09205070e-01 4.15970766e-01 -1.77330828e-02 1.70877195e+02] [ 1.97837030e-02 -6.19837612e-04 9.99804091e-01 9.46524741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:170.90, Z:9.47 [[ 4.14120046e-01 -9.10177877e-01 -8.99001659e-03 1.97658530e+02] [ 9.09997254e-01 4.14217078e-01 -1.81441461e-02 1.70902518e+02] [ 2.02382188e-02 -6.67035770e-04 9.99794964e-01 9.46659958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:170.93, Z:9.47 [[ 4.12002036e-01 -9.11131704e-01 -9.66125146e-03 1.97671141e+02] [ 9.10923029e-01 4.12114594e-01 -1.95140117e-02 1.70927790e+02] [ 2.17613775e-02 -7.60843870e-04 9.99762904e-01 9.46523145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.232755096 meters Centerline goodness [0,1] 0.9999131039277025 Centerline is valid? [True, True] Translation: X:197.68, Y:170.95, Z:9.46 [[ 4.11660513e-01 -9.11280479e-01 -1.01740443e-02 1.97683750e+02] [ 9.11048732e-01 4.11785435e-01 -2.05660633e-02 1.70952794e+02] [ 2.29309752e-02 -8.02814013e-04 9.99736728e-01 9.46334582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.70, Y:170.98, Z:9.46 [[ 4.10897527e-01 -9.11618082e-01 -1.07561997e-02 1.97695431e+02] [ 9.11358748e-01 4.11037384e-01 -2.17600816e-02 1.70978413e+02] [ 2.42580840e-02 -8.61593031e-04 9.99705358e-01 9.46426613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2927550960001 meters Centerline goodness [0,1] 0.9998476638158038 Centerline is valid? [True, True] Translation: X:197.71, Y:171.00, Z:9.46 [[ 4.10608243e-01 -9.11742575e-01 -1.12404554e-02 1.97708601e+02] [ 9.11459024e-01 4.10761079e-01 -2.27548546e-02 1.71002237e+02] [ 2.53637113e-02 -9.01883623e-04 9.99677883e-01 9.46235125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:171.03, Z:9.46 [[ 4.10591010e-01 -9.11747743e-01 -1.14488238e-02 1.97719974e+02] [ 9.11453132e-01 4.10749585e-01 -2.31940989e-02 1.71027083e+02] [ 2.58497669e-02 -9.11777829e-04 9.99665423e-01 9.46375115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.352755096 meters Centerline goodness [0,1] 0.9999127075922571 Centerline is valid? [True, True] Translation: X:197.73, Y:171.05, Z:9.46 [[ 4.10475344e-01 -9.11792788e-01 -1.19959769e-02 1.97732259e+02] [ 9.11468823e-01 4.10649496e-01 -2.43223434e-02 1.71052267e+02] [ 2.71030791e-02 -9.50236649e-04 9.99632192e-01 9.46194483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters Centerline goodness [0,1] 0.9999563423631879 Centerline is valid? [True, True] Translation: X:197.74, Y:171.08, Z:9.46 [[ 4.10729389e-01 -9.11674784e-01 -1.22661037e-02 1.97743036e+02] [ 9.11335465e-01 4.10911396e-01 -2.48896507e-02 1.71078078e+02] [ 2.77315487e-02 -9.55624281e-04 9.99614950e-01 9.46245124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:171.10, Z:9.46 [[ 4.12189005e-01 -9.11010730e-01 -1.26361874e-02 1.97752972e+02] [ 9.10649728e-01 4.12381600e-01 -2.56610397e-02 1.71104746e+02] [ 2.85884137e-02 -9.29942203e-04 9.99590835e-01 9.46282792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.442755096 meters Centerline goodness [0,1] 0.9999125453670908 Centerline is valid? [True, True] Translation: X:197.76, Y:171.13, Z:9.46 [[ 4.14488427e-01 -9.09967039e-01 -1.26226357e-02 1.97762913e+02] [ 9.09605742e-01 4.14679717e-01 -2.56539827e-02 1.71130690e+02] [ 2.85786297e-02 -8.48343015e-04 9.99591188e-01 9.46240615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.77, Y:171.16, Z:9.46 [[ 4.15966679e-01 -9.09298903e-01 -1.21337360e-02 1.97773470e+02] [ 9.08964251e-01 4.16142912e-01 -2.46792730e-02 1.71156843e+02] [ 2.74902041e-02 -7.63377045e-04 9.99621781e-01 9.46449528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:171.18, Z:9.46 [[ 4.17102094e-01 -9.08778535e-01 -1.21415580e-02 1.97784763e+02] [ 9.08442697e-01 4.17278150e-01 -2.47146068e-02 1.71181468e+02] [ 2.75265110e-02 -7.21395396e-04 9.99620814e-01 9.46410331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:171.21, Z:9.47 [[ 4.17987694e-01 -9.08369329e-01 -1.23064967e-02 1.97795242e+02] [ 9.08023563e-01 4.18168242e-01 -2.50705289e-02 1.71208072e+02] [ 2.79194856e-02 -6.95416389e-04 9.99609933e-01 9.46507701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.562755096 meters Centerline goodness [0,1] 0.999978184515369 Centerline is valid? [True, True] Translation: X:197.81, Y:171.23, Z:9.46 [[ 4.20111809e-01 -9.07386219e-01 -1.25027099e-02 1.97806442e+02] [ 9.07028335e-01 4.20297336e-01 -2.54901700e-02 1.71233490e+02] [ 2.83842846e-02 -6.31590769e-04 9.99596886e-01 9.46451030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.82, Y:171.26, Z:9.47 [[ 4.21644016e-01 -9.06680552e-01 -1.21119925e-02 1.97818024e+02] [ 9.06343882e-01 4.21817574e-01 -2.47123960e-02 1.71258250e+02] [ 2.75153001e-02 -5.57796399e-04 9.99621227e-01 9.46519190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:171.28, Z:9.47 [[ 4.21915570e-01 -9.06556132e-01 -1.19679408e-02 1.97829679e+02] [ 9.06226858e-01 4.22084936e-01 -2.44374269e-02 1.71283367e+02] [ 2.72053867e-02 -5.35138547e-04 9.99629722e-01 9.46579412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:171.31, Z:9.47 [[ 4.21956088e-01 -9.06537825e-01 -1.19260837e-02 1.97841394e+02] [ 9.06210267e-01 4.22124268e-01 -2.43732190e-02 1.71307193e+02] [ 2.71295343e-02 -5.23111369e-04 9.99631790e-01 9.46595565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.682755096 meters Centerline goodness [0,1] 0.9999348534201954 Centerline is valid? [True, True] Translation: X:197.85, Y:171.33, Z:9.46 [[ 4.22337360e-01 -9.06354139e-01 -1.23826275e-02 1.97853097e+02] [ 9.06000277e-01 4.22518525e-01 -2.53297144e-02 1.71330282e+02] [ 2.81895810e-02 -5.20979246e-04 9.99602459e-01 9.46488024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.712755096 meters Centerline goodness [0,1] 0.9999565793187295 Centerline is valid? [True, True] Translation: X:197.86, Y:171.36, Z:9.47 [[ 4.22227594e-01 -9.06408298e-01 -1.21596518e-02 1.97864769e+02] [ 9.06066490e-01 4.22402346e-01 -2.48952693e-02 1.71355094e+02] [ 2.77015442e-02 -5.05983389e-04 9.99616111e-01 9.46513247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:171.38, Z:9.47 [[ 4.22255706e-01 -9.06396845e-01 -1.20365284e-02 1.97876106e+02] [ 9.06061342e-01 4.22426938e-01 -2.46642895e-02 1.71380329e+02] [ 2.74401880e-02 -4.91196071e-04 9.99623326e-01 9.46637637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:171.41, Z:9.47 [[ 4.21845300e-01 -9.06590360e-01 -1.18516427e-02 1.97887961e+02] [ 9.06264603e-01 4.22011471e-01 -2.43061193e-02 1.71405220e+02] [ 2.70372226e-02 -4.87302056e-04 9.99634309e-01 9.46669300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.802755096 meters Centerline goodness [0,1] 0.999935033998874 Centerline is valid? [True, True] Translation: X:197.90, Y:171.43, Z:9.47 [[ 4.20894040e-01 -9.07030516e-01 -1.19937950e-02 1.97900255e+02] [ 9.06696520e-01 4.21064580e-01 -2.46178916e-02 1.71428899e+02] [ 2.73793412e-02 -5.13208360e-04 9.99624984e-01 9.46548531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:171.45, Z:9.47 [[ 4.19914035e-01 -9.07489095e-01 -1.16509894e-02 1.97913080e+02] [ 9.07173558e-01 4.20075319e-01 -2.39345416e-02 1.71451932e+02] [ 2.66146286e-02 -5.19019599e-04 9.99645633e-01 9.46648282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters Centerline goodness [0,1] 0.9998273480662984 Centerline is valid? [True, True] Translation: X:197.93, Y:171.48, Z:9.47 [[ 4.18708440e-01 -9.08038532e-01 -1.22174774e-02 1.97925648e+02] [ 9.07691220e-01 4.18886258e-01 -2.51187720e-02 1.71477460e+02] [ 2.79265462e-02 -5.72255164e-04 9.99609814e-01 9.46580969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:171.50, Z:9.47 [[ 4.18949407e-01 -9.07939427e-01 -1.12868215e-02 1.97938596e+02] [ 9.07642547e-01 4.19101100e-01 -2.32223069e-02 1.71501575e+02] [ 2.58147673e-02 -5.15427680e-04 9.99666611e-01 9.46841914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.95, Y:171.53, Z:9.47 [[ 4.19142920e-01 -9.07852895e-01 -1.10604251e-02 1.97950077e+02] [ 9.07567323e-01 4.19288538e-01 -2.27744522e-02 1.71525961e+02] [ 2.53133618e-02 -4.92330038e-04 9.99679444e-01 9.46974638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.952755096 meters Centerline goodness [0,1] 0.9999352694946705 Centerline is valid? [True, True] Translation: X:197.96, Y:171.55, Z:9.47 [[ 4.19421986e-01 -9.07721928e-01 -1.12293695e-02 1.97960767e+02] [ 9.07427018e-01 4.19572005e-01 -2.31417144e-02 1.71551421e+02] [ 2.57177707e-02 -4.83689518e-04 9.99669126e-01 9.47008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.97, Y:171.58, Z:9.47 [[ 4.21774782e-01 -9.06636834e-01 -1.07556951e-02 1.97968870e+02] [ 9.06365576e-01 4.21911717e-01 -2.21798543e-02 1.71577321e+02] [ 2.46470266e-02 -3.93688610e-04 9.99696138e-01 9.47153603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:171.60, Z:9.47 [[ 4.25135098e-01 -9.05070573e-01 -1.03637217e-02 1.97976415e+02] [ 9.04817929e-01 4.25261304e-01 -2.13854875e-02 1.71604323e+02] [ 2.37626652e-02 -2.85559826e-04 9.99717587e-01 9.47229289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:171.63, Z:9.47 [[ 4.27009966e-01 -9.04191099e-01 -1.00471972e-02 1.97986731e+02] [ 9.03953064e-01 4.27128093e-01 -2.07472870e-02 1.71629915e+02] [ 2.30509524e-02 -2.22896417e-04 9.99734267e-01 9.47283813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.00, Y:171.66, Z:9.48 [[ 4.29028064e-01 -9.03237788e-01 -9.81927408e-03 1.97995203e+02] [ 9.03009832e-01 4.29140388e-01 -2.02921294e-02 1.71657327e+02] [ 2.25424651e-02 -1.61008063e-04 9.99745873e-01 9.47733516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.102755096 meters Centerline goodness [0,1] 0.9999353225250086 Centerline is valid? [True, True] Translation: X:198.01, Y:171.68, Z:9.47 [[ 4.30956999e-01 -9.02319086e-01 -9.81490369e-03 1.98005917e+02] [ 9.02090718e-01 4.31068738e-01 -2.02997699e-02 1.71682184e+02] [ 2.25477680e-02 -1.05605584e-04 9.99745761e-01 9.47450557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:171.71, Z:9.48 [[ 4.35358825e-01 -9.00211635e-01 -9.03907772e-03 1.98012782e+02] [ 9.00017183e-01 4.35452652e-01 -1.87098600e-02 1.71709867e+02] [ 2.07789240e-02 1.01773932e-05 9.99784095e-01 9.48043660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:171.74, Z:9.48 [[ 4.39669839e-01 -8.98119149e-01 -8.51034875e-03 1.98018761e+02] [ 8.97946111e-01 4.39752182e-01 -1.76295443e-02 1.71737089e+02] [ 1.95758757e-02 1.09344341e-04 9.99808368e-01 9.47944150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:171.76, Z:9.48 [[ 4.41456205e-01 -8.97244316e-01 -8.31002692e-03 1.98030293e+02] [ 8.97078907e-01 4.41534386e-01 -1.72284830e-02 1.71762449e+02] [ 1.91273211e-02 1.50870839e-04 9.99817045e-01 9.48304017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.04, Y:171.79, Z:9.48 [[ 4.43347776e-01 -8.96312569e-01 -8.15643829e-03 1.98040320e+02] [ 8.96152803e-01 4.43422756e-01 -1.69237231e-02 1.71788241e+02] [ 1.87856961e-02 1.93679972e-04 9.99823515e-01 9.48416093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:171.81, Z:9.49 [[ 4.46081136e-01 -8.94962398e-01 -7.34348168e-03 1.98049288e+02] [ 8.94832506e-01 4.46141517e-01 -1.52490421e-02 1.71814510e+02] [ 1.69235514e-02 2.31123921e-04 9.99856760e-01 9.48679699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.06, Y:171.84, Z:9.49 [[ 4.46649147e-01 -8.94681469e-01 -7.04337661e-03 1.98059340e+02] [ 8.94561746e-01 4.46704615e-01 -1.46379149e-02 1.71840033e+02] [ 1.62425801e-02 2.37276931e-04 9.99868052e-01 9.48748713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.312755096 meters Centerline goodness [0,1] 0.9999356457944527 Centerline is valid? [True, True] Translation: X:198.07, Y:171.86, Z:9.49 [[ 4.46106940e-01 -8.94951531e-01 -7.09609881e-03 1.98073103e+02] [ 8.94829842e-01 4.46163313e-01 -1.47598400e-02 1.71864203e+02] [ 1.63753604e-02 2.34666097e-04 9.99865887e-01 9.48792017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.08, Y:171.89, Z:9.49 [[ 4.44835800e-01 -8.95586438e-01 -6.78547990e-03 1.98084227e+02] [ 8.95475085e-01 4.44887501e-01 -1.41238394e-02 1.71888575e+02] [ 1.56678943e-02 2.06561227e-04 9.99877230e-01 9.48884748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.10, Y:171.91, Z:9.49 [[ 4.43305828e-01 -8.96344456e-01 -6.82338493e-03 1.98096599e+02] [ 8.96231793e-01 4.43358299e-01 -1.42124131e-02 1.71913548e+02] [ 1.57644220e-02 1.85111045e-04 9.99875717e-01 9.48869954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.11, Y:171.94, Z:9.49 [[ 4.43029008e-01 -8.96481344e-01 -6.81899741e-03 1.98108368e+02] [ 8.96368664e-01 4.43081444e-01 -1.42145182e-02 1.71938480e+02] [ 1.57644216e-02 1.85108300e-04 9.99875717e-01 9.48895680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:171.96, Z:9.49 [[ 4.39008260e-01 -8.98458781e-01 -6.60045940e-03 1.98122156e+02] [ 8.98353284e-01 4.39057861e-01 -1.37685199e-02 1.71961796e+02] [ 1.52684312e-02 1.14949592e-04 9.99883424e-01 9.48866675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:171.99, Z:9.49 [[ 4.36253615e-01 -8.99799563e-01 -6.59776101e-03 1.98136674e+02] [ 8.99694164e-01 4.36303498e-01 -1.37720177e-02 1.71985728e+02] [ 1.52706817e-02 7.21254209e-05 9.99883394e-01 9.48900847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.492755096 meters Centerline goodness [0,1] 0.9999140764290164 Centerline is valid? [True, True] Translation: X:198.15, Y:172.01, Z:9.49 [[ 4.30442568e-01 -9.02591515e-01 -6.91036499e-03 1.98153973e+02] [ 9.02476054e-01 4.30498033e-01 -1.44366123e-02 1.72007790e+02] [ 1.60052623e-02 -2.23064601e-05 9.99871907e-01 9.48723859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.17, Y:172.03, Z:9.49 [[ 4.27049208e-01 -9.04203967e-01 -6.64532065e-03 1.98167827e+02] [ 9.04097226e-01 4.27100902e-01 -1.38933564e-02 1.72030559e+02] [ 1.54006504e-02 -7.48691410e-05 9.99881400e-01 9.48855464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.18, Y:172.05, Z:9.49 [[ 4.20204448e-01 -9.07404726e-01 -6.69966859e-03 1.98183550e+02] [ 9.07296476e-01 4.20257811e-01 -1.40170168e-02 1.72054049e+02] [ 1.55346953e-02 -1.88572907e-04 9.99879312e-01 9.48838951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:172.08, Z:9.49 [[ 4.16341786e-01 -9.09182310e-01 -6.85886570e-03 1.98198809e+02] [ 9.09068908e-01 4.16398201e-01 -1.43617055e-02 1.72077186e+02] [ 1.59134279e-02 -2.55803421e-04 9.99873341e-01 9.48797825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.612755096 meters Centerline goodness [0,1] 0.9999785793848 Centerline is valid? [True, True] Translation: X:198.22, Y:172.10, Z:9.49 [[ 4.09512229e-01 -9.12277890e-01 -6.98471591e-03 1.98215212e+02] [ 9.12160537e-01 4.09571617e-01 -1.46371037e-02 1.72100476e+02] [ 1.62138474e-02 -3.77109275e-04 9.99868476e-01 9.48776020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:172.13, Z:9.49 [[ 4.06186075e-01 -9.13761287e-01 -7.29269542e-03 1.98227961e+02] [ 9.13633386e-01 4.06251286e-01 -1.52947229e-02 1.72125455e+02] [ 1.69383925e-02 -4.50346569e-04 9.99856434e-01 9.48734604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6727550960001 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:198.24, Y:172.15, Z:9.49 [[ 4.03327055e-01 -9.15021790e-01 -7.90011408e-03 1.98242067e+02] [ 9.14871700e-01 4.03404057e-01 -1.65812757e-02 1.72148117e+02] [ 1.83591667e-02 -5.39913699e-04 9.99831311e-01 9.48530600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.26, Y:172.17, Z:9.49 [[ 4.00720207e-01 -9.16168110e-01 -7.70133341e-03 1.98256006e+02] [ 9.16025513e-01 4.00793795e-01 -1.61738827e-02 1.72171598e+02] [ 1.79046422e-02 -5.73416275e-04 9.99839535e-01 9.48569958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.26, Y:172.20, Z:9.49 [[ 3.96385348e-01 -9.18050824e-01 -7.83196479e-03 1.98264413e+02] [ 9.17903506e-01 3.96462157e-01 -1.64593699e-02 1.72198934e+02] [ 1.82156157e-02 -6.64734885e-04 9.99833861e-01 9.48694136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.28, Y:172.22, Z:9.49 [[ 3.92680514e-01 -9.19639960e-01 -8.02239575e-03 1.98282411e+02] [ 9.19485455e-01 3.92761736e-01 -1.68735316e-02 1.72220862e+02] [ 1.86684640e-02 -7.50569137e-04 9.99825447e-01 9.48533681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:172.25, Z:9.49 [[ 3.91052801e-01 -9.20334366e-01 -7.89695224e-03 1.98289991e+02] [ 9.20184551e-01 3.91131779e-01 -1.66229902e-02 1.72248858e+02] [ 1.83874581e-02 -7.66186583e-04 9.99830643e-01 9.48702735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.30, Y:172.27, Z:9.49 [[ 3.89885018e-01 -9.20828943e-01 -7.98321527e-03 1.98302234e+02] [ 9.20675699e-01 3.89965934e-01 -1.68174992e-02 1.72273943e+02] [ 1.85992220e-02 -7.93061323e-04 9.99826705e-01 9.48783439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:172.30, Z:9.49 [[ 3.89119351e-01 -9.21150051e-01 -8.28945072e-03 1.98314678e+02] [ 9.20984632e-01 3.89206743e-01 -1.74762563e-02 1.72299684e+02] [ 1.93245645e-02 -8.34107219e-04 9.99812915e-01 9.48817931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:172.33, Z:9.49 [[ 3.89464269e-01 -9.21001077e-01 -8.63705571e-03 1.98325900e+02] [ 9.20821167e-01 3.89559088e-01 -1.82234875e-02 1.72325221e+02] [ 2.01484952e-02 -8.55786480e-04 9.99796632e-01 9.48835340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:172.35, Z:9.49 [[ 3.91765800e-01 -9.20025400e-01 -8.53359949e-03 1.98333874e+02] [ 9.19849262e-01 3.91857933e-01 -1.80193360e-02 1.72352993e+02] [ 1.99222055e-02 -7.90265605e-04 9.99801221e-01 9.48948931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.35, Y:172.37, Z:9.49 [[ 3.93212878e-01 -9.19407815e-01 -8.53827429e-03 1.98351464e+02] [ 9.19231053e-01 3.93304846e-01 -1.80435537e-02 1.72374866e+02] [ 1.99475289e-02 -7.53689171e-04 9.99800744e-01 9.48752308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.35, Y:172.40, Z:9.49 [[ 3.94710081e-01 -9.18766737e-01 -8.46369641e-03 1.98354404e+02] [ 9.18592623e-01 3.94800176e-01 -1.79000910e-02 1.72404231e+02] [ 1.97874770e-02 -7.09342717e-04 9.99803957e-01 9.48963181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:172.43, Z:9.49 [[ 3.98403243e-01 -9.17174751e-01 -8.08283710e-03 1.98361832e+02] [ 9.17015375e-01 3.98484781e-01 -1.71079130e-02 1.72432183e+02] [ 1.89118334e-02 -5.96237878e-04 9.99820978e-01 9.49170446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.37, Y:172.46, Z:9.49 [[ 3.99812319e-01 -9.16562800e-01 -7.92105797e-03 1.98372553e+02] [ 9.16409376e-01 3.99890398e-01 -1.67786824e-02 1.72457110e+02] [ 1.85462711e-02 -5.50607876e-04 9.99827852e-01 9.49271516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.38, Y:172.48, Z:9.49 [[ 4.02400128e-01 -9.15430612e-01 -7.80584447e-03 1.98382740e+02] [ 9.15281173e-01 4.02475538e-01 -1.65473774e-02 1.72483837e+02] [ 1.82896373e-02 -4.85875684e-04 9.99832613e-01 9.49372244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.39, Y:172.51, Z:9.49 [[ 4.03229786e-01 -9.15066055e-01 -7.73663381e-03 1.98393582e+02] [ 9.14918957e-01 4.03303737e-01 -1.64133637e-02 1.72509400e+02] [ 1.81395253e-02 -4.60035787e-04 9.99835359e-01 9.49448772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:172.54, Z:9.50 [[ 4.05109218e-01 -9.14238110e-01 -7.42963707e-03 1.98403077e+02] [ 9.14102106e-01 4.05177142e-01 -1.57741069e-02 1.72536542e+02] [ 1.74316088e-02 -4.01210796e-04 9.99847977e-01 9.49561840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:172.56, Z:9.50 [[ 4.05971148e-01 -9.13856085e-01 -7.38132445e-03 1.98413564e+02] [ 9.13721567e-01 4.06038070e-01 -1.56838388e-02 1.72562912e+02] [ 1.73298703e-02 -3.77289290e-04 9.99849755e-01 9.49618237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.42, Y:172.59, Z:9.50 [[ 4.07822879e-01 -9.13030058e-01 -7.52416941e-03 1.98423570e+02] [ 9.12889909e-01 4.07892138e-01 -1.60005758e-02 1.72587668e+02] [ 1.76780562e-02 -3.43337429e-04 9.99843672e-01 9.49591508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.212755096 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:198.43, Y:172.61, Z:9.50 [[ 4.08012003e-01 -9.12943448e-01 -7.77598092e-03 1.98433903e+02] [ 9.12793493e-01 4.08085948e-01 -1.65498880e-02 1.72614328e+02] [ 1.82823804e-02 -3.45311830e-04 9.99832804e-01 9.49521169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:172.64, Z:9.50 [[ 4.09110064e-01 -9.12452575e-01 -7.69770461e-03 1.98445827e+02] [ 9.12305289e-01 4.09182356e-01 -1.63969099e-02 1.72638713e+02] [ 1.81111676e-02 -3.14515755e-04 9.99835930e-01 9.49604488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.46, Y:172.66, Z:9.50 [[ 4.10921091e-01 -9.11634499e-01 -8.14848353e-03 1.98456633e+02] [ 9.11469007e-01 4.11001773e-01 -1.73721890e-02 1.72664241e+02] [ 1.91861280e-02 -2.88491331e-04 9.99815888e-01 9.49566948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:172.69, Z:9.49 [[ 4.11662794e-01 -9.11297272e-01 -8.42771357e-03 1.98466908e+02] [ 9.11119847e-01 4.11748961e-01 -1.79838351e-02 1.72688090e+02] [ 1.98587221e-02 -2.75381300e-04 9.99802758e-01 9.49482136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:172.71, Z:9.49 [[ 4.13064610e-01 -9.10658073e-01 -8.91635384e-03 1.98476984e+02] [ 9.10458953e-01 4.13160756e-01 -1.90442562e-02 1.72713292e+02] [ 2.10266932e-02 -2.51465897e-04 9.99778883e-01 9.49404183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters Centerline goodness [0,1] 0.9999573651673417 Centerline is valid? [True, True] Translation: X:198.49, Y:172.74, Z:9.49 [[ 4.13653311e-01 -9.10389152e-01 -9.08458606e-03 1.98487511e+02] [ 9.10182009e-01 4.13752989e-01 -1.94210015e-02 1.72738511e+02] [ 2.14394437e-02 -2.35065222e-04 9.99770121e-01 9.49394210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:172.76, Z:9.49 [[ 4.14657312e-01 -9.09933311e-01 -8.98239766e-03 1.98497884e+02] [ 9.09730320e-01 4.14754541e-01 -1.92202038e-02 1.72762258e+02] [ 2.12145939e-02 -2.01761433e-04 9.99774925e-01 9.49467304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:172.79, Z:9.49 [[ 4.16121642e-01 -9.09264418e-01 -8.99980413e-03 1.98508900e+02] [ 9.09060102e-01 4.16218923e-01 -1.92753497e-02 1.72786501e+02] [ 2.12722784e-02 -1.60472695e-04 9.99773707e-01 9.49446288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.52, Y:172.81, Z:9.50 [[ 4.16872188e-01 -9.08921441e-01 -8.91032723e-03 1.98519793e+02] [ 9.08720744e-01 4.16967381e-01 -1.91000622e-02 1.72812370e+02] [ 2.10757719e-02 -1.34714478e-04 9.99777872e-01 9.49682978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.482755096 meters Centerline goodness [0,1] 0.9998502897961803 Centerline is valid? [True, True] Translation: X:198.53, Y:172.84, Z:9.50 [[ 4.18228164e-01 -9.08295228e-01 -9.21852893e-03 1.98531990e+02] [ 9.08079885e-01 4.18329737e-01 -1.97775936e-02 1.72836037e+02] [ 2.18202786e-02 -9.96140532e-05 9.99761904e-01 9.49548197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:172.86, Z:9.50 [[ 4.19429493e-01 -9.07745626e-01 -8.76235524e-03 1.98543822e+02] [ 9.07550631e-01 4.19521006e-01 -1.88142989e-02 1.72861170e+02] [ 2.07545896e-02 -6.10091798e-05 9.99784598e-01 9.49855482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:172.89, Z:9.50 [[ 4.20397862e-01 -9.07298151e-01 -8.70074363e-03 1.98556012e+02] [ 9.07105478e-01 4.20487889e-01 -1.86972776e-02 1.72886497e+02] [ 2.06225628e-02 -3.21966535e-05 9.99787332e-01 9.49921051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.572755096 meters Centerline goodness [0,1] 0.9999358535750941 Centerline is valid? [True, True] Translation: X:198.57, Y:172.91, Z:9.50 [[ 4.22199460e-01 -9.06460355e-01 -8.78871617e-03 1.98568596e+02] [ 9.06263249e-01 4.22290924e-01 -1.89023626e-02 1.72910902e+02] [ 2.08456374e-02 1.56768109e-05 9.99782706e-01 9.49813849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:172.94, Z:9.50 [[ 4.23613008e-01 -9.05800463e-01 -8.80573752e-03 1.98581042e+02] [ 9.05602118e-01 4.23704518e-01 -1.89548169e-02 1.72935893e+02] [ 2.09003127e-02 5.50124440e-05 9.99781563e-01 9.50023450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:172.96, Z:9.50 [[ 4.25677824e-01 -9.04833495e-01 -8.64499200e-03 1.98593914e+02] [ 9.04641789e-01 4.25765586e-01 -1.86252502e-02 1.72958499e+02] [ 2.05334903e-02 1.07734968e-04 9.99789160e-01 9.50121276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6627550960001 meters Centerline goodness [0,1] 0.999935247140082 Centerline is valid? [True, True] Translation: X:198.61, Y:172.98, Z:9.50 [[ 4.26173993e-01 -9.04599497e-01 -8.68779886e-03 1.98606041e+02] [ 9.04405481e-01 4.26262518e-01 -1.87347585e-02 1.72982466e+02] [ 2.06507361e-02 1.26973933e-04 9.99786743e-01 9.50064828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:173.01, Z:9.50 [[ 4.27366856e-01 -9.04038096e-01 -8.52597913e-03 1.98618072e+02] [ 9.03850799e-01 4.27451865e-01 -1.84020687e-02 1.73007051e+02] [ 2.02806168e-02 1.58221171e-04 9.99794315e-01 9.50266207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.722755096 meters Centerline goodness [0,1] 0.9999130850462822 Centerline is valid? [True, True] Translation: X:198.63, Y:173.03, Z:9.50 [[ 4.28116777e-01 -9.03685098e-01 -8.32282513e-03 1.98632961e+02] [ 9.03506239e-01 4.28197632e-01 -1.79795203e-02 1.73029745e+02] [ 1.98116386e-02 1.77609848e-04 9.99803714e-01 9.50208567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.65, Y:173.05, Z:9.51 [[ 4.28055722e-01 -9.03715801e-01 -8.12715418e-03 1.98646941e+02] [ 9.03544957e-01 4.28132830e-01 -1.75724494e-02 1.73053780e+02] [ 1.93600017e-02 1.78738355e-04 9.99812562e-01 9.50502101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.66, Y:173.08, Z:9.51 [[ 4.27446689e-01 -9.04006666e-01 -7.82787229e-03 1.98663377e+02] [ 9.03847977e-01 4.27518327e-01 -1.69385766e-02 1.73075429e+02] [ 1.86591450e-02 1.65131930e-04 9.99825889e-01 9.50650911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:173.10, Z:9.51 [[ 4.26988783e-01 -9.04223081e-01 -7.82301214e-03 1.98676438e+02] [ 9.04064367e-01 4.27060411e-01 -1.69418406e-02 1.73098752e+02] [ 1.86601021e-02 1.61469371e-04 9.99825872e-01 9.50623791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:173.12, Z:9.51 [[ 4.26587394e-01 -9.04410800e-01 -8.01875769e-03 1.98691594e+02] [ 9.04243782e-01 4.26662723e-01 -1.73811561e-02 1.73122465e+02] [ 1.91410103e-02 1.63670331e-04 9.99816781e-01 9.50768008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:173.14, Z:9.51 [[ 4.25671918e-01 -9.04841324e-01 -8.09919555e-03 1.98706539e+02] [ 9.04670711e-01 4.25748935e-01 -1.75712815e-02 1.73144641e+02] [ 1.93474455e-02 1.52496096e-04 9.99812809e-01 9.50584219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.72, Y:173.17, Z:9.51 [[ 4.24974641e-01 -9.05169436e-01 -8.05277249e-03 1.98721894e+02] [ 9.05000526e-01 4.25050905e-01 -1.74864365e-02 1.73168071e+02] [ 1.92510261e-02 1.43528722e-04 9.99814672e-01 9.50760943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.932755096 meters Centerline goodness [0,1] 0.9998681260714757 Centerline is valid? [True, True] Translation: X:198.74, Y:173.19, Z:9.50 [[ 4.23480473e-01 -9.05868460e-01 -8.16220761e-03 1.98738633e+02] [ 9.05694750e-01 4.23559108e-01 -1.77398416e-02 1.73190200e+02] [ 1.95271403e-02 1.20007910e-04 9.99809320e-01 9.50488441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.962755096 meters Centerline goodness [0,1] 0.9996922197550948 Centerline is valid? [True, True] Translation: X:198.75, Y:173.21, Z:9.50 [[ 4.22674762e-01 -9.06243122e-01 -8.33362537e-03 1.98753866e+02] [ 9.06061791e-01 4.22756894e-01 -1.81284323e-02 1.73214465e+02] [ 1.99518646e-02 1.11651278e-04 9.99800936e-01 9.50456158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.992755096 meters Centerline goodness [0,1] 0.9998018363167976 Centerline is valid? [True, True] Translation: X:198.77, Y:173.24, Z:9.51 [[ 4.22034107e-01 -9.06542222e-01 -8.27113807e-03 1.98768697e+02] [ 9.06363357e-01 4.22115137e-01 -1.80076948e-02 1.73238606e+02] [ 1.98161082e-02 1.03204919e-04 9.99803636e-01 9.50587475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters Centerline goodness [0,1] 0.9999779005524861 Centerline is valid? [True, True] Translation: X:198.79, Y:173.26, Z:9.51 [[ 4.20347948e-01 -9.07323883e-01 -8.42463822e-03 1.98785824e+02] [ 9.07138148e-01 4.20432356e-01 -1.83579791e-02 1.73260421e+02] [ 2.01986234e-02 7.44281230e-05 9.99795984e-01 9.50678043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.052755096 meters Centerline goodness [0,1] 0.9999116685805141 Centerline is valid? [True, True] Translation: X:198.80, Y:173.28, Z:9.51 [[ 4.19362523e-01 -9.07779383e-01 -8.46562438e-03 1.98800483e+02] [ 9.07591605e-01 4.19447958e-01 -1.84632089e-02 1.73284392e+02] [ 2.03114092e-02 5.94482551e-05 9.99793700e-01 9.50713078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.082755096 meters Centerline goodness [0,1] 0.9999556747412514 Centerline is valid? [True, True] Translation: X:198.82, Y:173.31, Z:9.51 [[ 4.18164841e-01 -9.08329054e-01 -8.74612668e-03 1.98818088e+02] [ 9.08128396e-01 4.18256294e-01 -1.90916124e-02 1.73305732e+02] [ 2.09995888e-02 4.08350991e-05 9.99779484e-01 9.50631937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.83, Y:173.33, Z:9.51 [[ 4.17211001e-01 -9.08765321e-01 -8.97623808e-03 1.98833387e+02] [ 9.08553700e-01 4.17307550e-01 -1.96107782e-02 1.73329814e+02] [ 2.15674471e-02 2.64380790e-05 9.99767395e-01 9.50644681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters Centerline goodness [0,1] 0.9998887925090634 Centerline is valid? [True, True] Translation: X:198.85, Y:173.35, Z:9.51 [[ 4.15813040e-01 -9.09402736e-01 -9.28335483e-03 1.98847995e+02] [ 9.09176137e-01 4.15916656e-01 -2.02999165e-02 1.73353154e+02] [ 2.23219015e-02 7.65296869e-07 9.99750835e-01 9.50513766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1727550960001 meters Centerline goodness [0,1] 0.9998222103695802 Centerline is valid? [True, True] Translation: X:198.87, Y:173.37, Z:9.51 [[ 4.14115020e-01 -9.10177368e-01 -9.26869545e-03 1.98865369e+02] [ 9.09951250e-01 4.14218731e-01 -2.02870836e-02 1.73374096e+02] [ 2.23041117e-02 -3.28749644e-05 9.99751232e-01 9.50559403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.202755096 meters Centerline goodness [0,1] 0.9998662595011479 Centerline is valid? [True, True] Translation: X:198.88, Y:173.40, Z:9.51 [[ 4.14073318e-01 -9.10200787e-01 -8.82126190e-03 1.98876108e+02] [ 9.09995595e-01 4.14167269e-01 -1.93259200e-02 1.73397909e+02] [ 2.12439455e-02 -2.49616619e-05 9.99774322e-01 9.50623124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:173.42, Z:9.51 [[ 4.16347289e-01 -9.09168448e-01 -8.22604627e-03 1.98886391e+02] [ 9.08989484e-01 4.16428544e-01 -1.80384574e-02 1.73422069e+02] [ 1.98255568e-02 3.28732908e-05 9.99803454e-01 9.50929129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:173.45, Z:9.51 [[ 4.16945057e-01 -9.08894275e-01 -8.24715044e-03 1.98897649e+02] [ 9.08714005e-01 4.17026610e-01 -1.81014858e-02 1.73446359e+02] [ 1.98916180e-02 5.30239142e-05 9.99802141e-01 9.51100679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:173.47, Z:9.51 [[ 4.17426698e-01 -9.08674603e-01 -8.08805750e-03 1.98909002e+02] [ 9.08500866e-01 4.17505042e-01 -1.77684291e-02 1.73471141e+02] [ 1.95225251e-02 6.90094775e-05 9.99809415e-01 9.51221243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.92, Y:173.50, Z:9.51 [[ 4.17110519e-01 -9.08819838e-01 -8.08187259e-03 1.98919894e+02] [ 9.08646073e-01 4.17188803e-01 -1.77712426e-02 1.73495601e+02] [ 1.95225245e-02 6.90104231e-05 9.99809415e-01 9.51246186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.352755096 meters Centerline goodness [0,1] 0.9999555021581453 Centerline is valid? [True, True] Translation: X:198.93, Y:173.52, Z:9.51 [[ 4.18389889e-01 -9.08233933e-01 -7.81179921e-03 1.98929203e+02] [ 9.08071184e-01 4.18462798e-01 -1.71933689e-02 1.73520592e+02] [ 1.88845484e-02 9.98619313e-05 9.99821666e-01 9.51294240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:173.55, Z:9.51 [[ 4.19057776e-01 -9.07928106e-01 -7.55870338e-03 1.98939635e+02] [ 9.07775404e-01 4.19125924e-01 -1.66516093e-02 1.73545750e+02] [ 1.82865126e-02 1.16381353e-04 9.99832781e-01 9.51381940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4127550960001 meters Centerline goodness [0,1] 0.999911067633065 Centerline is valid? [True, True] Translation: X:198.95, Y:173.57, Z:9.51 [[ 4.20266926e-01 -9.07368800e-01 -7.58753271e-03 1.98948289e+02] [ 9.07214593e-01 4.20335388e-01 -1.67285285e-02 1.73570200e+02] [ 1.83682533e-02 1.46926855e-04 9.99831279e-01 9.51423390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:173.60, Z:9.51 [[ 4.20087133e-01 -9.07451688e-01 -7.63115972e-03 1.98959110e+02] [ 9.07295464e-01 4.20156413e-01 -1.68383715e-02 1.73595534e+02] [ 1.84862893e-02 1.49866599e-04 9.99829103e-01 9.51479307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:173.62, Z:9.51 [[ 4.19641828e-01 -9.07657504e-01 -7.65451563e-03 1.98968560e+02] [ 9.07500058e-01 4.19711607e-01 -1.69059463e-02 1.73620428e+02] [ 1.85574981e-02 1.47968845e-04 9.99827784e-01 9.51383256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters Centerline goodness [0,1] 0.9999777925827227 Centerline is valid? [True, True] Translation: X:198.98, Y:173.64, Z:9.51 [[ 4.18333030e-01 -9.08260540e-01 -7.76326078e-03 1.98979455e+02] [ 9.08098384e-01 4.18405037e-01 -1.71624332e-02 1.73643852e+02] [ 1.88361483e-02 1.29808137e-04 9.99822576e-01 9.51379098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:173.67, Z:9.51 [[ 4.17521688e-01 -9.08633544e-01 -7.79253871e-03 1.98991550e+02] [ 9.08469929e-01 4.17594384e-01 -1.72429267e-02 1.73667935e+02] [ 1.89216220e-02 1.20008771e-04 9.99820963e-01 9.51469271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.562755096 meters Centerline goodness [0,1] 0.9999556196604904 Centerline is valid? [True, True] Translation: X:199.00, Y:173.69, Z:9.51 [[ 4.15058535e-01 -9.09757794e-01 -8.19571295e-03 1.99003875e+02] [ 9.09576683e-01 4.15139435e-01 -1.81523451e-02 1.73691284e+02] [ 1.99166011e-02 7.96563652e-05 9.99801642e-01 9.51416939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.592755096 meters Centerline goodness [0,1] 0.9999333259251028 Centerline is valid? [True, True] Translation: X:199.02, Y:173.72, Z:9.51 [[ 4.13575686e-01 -9.10433311e-01 -8.14482402e-03 1.99016173e+02] [ 9.10254245e-01 4.13655876e-01 -1.80562090e-02 1.73715198e+02] [ 1.98081284e-02 5.37483843e-05 9.99803798e-01 9.51463890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters Centerline goodness [0,1] 0.9999555249171651 Centerline is valid? [True, True] Translation: X:199.03, Y:173.74, Z:9.51 [[ 4.12172764e-01 -9.11068444e-01 -8.24038527e-03 1.99027929e+02] [ 9.10884939e-01 4.12255128e-01 -1.82848989e-02 1.73738484e+02] [ 2.00559354e-02 3.04944717e-05 9.99798859e-01 9.51483645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.652755096 meters Centerline goodness [0,1] 0.9999777322526053 Centerline is valid? [True, True] Translation: X:199.04, Y:173.76, Z:9.51 [[ 4.09881668e-01 -9.12100004e-01 -8.40242001e-03 1.99040770e+02] [ 9.11909078e-01 4.09967782e-01 -1.86615146e-02 1.73762863e+02] [ 2.04658890e-02 -1.32303677e-05 9.99790552e-01 9.51451436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.682755096 meters Centerline goodness [0,1] 0.9999331669934058 Centerline is valid? [True, True] Translation: X:199.05, Y:173.79, Z:9.51 [[ 4.08482200e-01 -9.12724852e-01 -8.69692493e-03 1.99052942e+02] [ 9.12520070e-01 4.08574770e-01 -1.93333530e-02 1.73786499e+02] [ 2.11993759e-02 -3.87879650e-05 9.99775267e-01 9.51429755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.07, Y:173.81, Z:9.51 [[ 4.05562579e-01 -9.14023003e-01 -8.99691781e-03 1.99068223e+02] [ 9.13803767e-01 4.05662347e-01 -2.00183697e-02 1.73809213e+02] [ 2.19469611e-02 -1.02715751e-04 9.99759131e-01 9.51467203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:173.83, Z:9.51 [[ 4.03703017e-01 -9.14845272e-01 -9.05554749e-03 1.99080932e+02] [ 9.14622976e-01 4.03804543e-01 -2.01668792e-02 1.73832318e+02] [ 2.21062453e-02 -1.40981833e-04 9.99755617e-01 9.51480452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.772755096 meters Centerline goodness [0,1] 0.9999552952747105 Centerline is valid? [True, True] Translation: X:199.10, Y:173.85, Z:9.51 [[ 3.99995008e-01 -9.16471144e-01 -9.19974100e-03 1.99095285e+02] [ 9.16241782e-01 4.00100724e-01 -2.05038614e-02 1.73854771e+02] [ 2.24720204e-02 -2.27744859e-04 9.99747446e-01 9.51419263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.11, Y:173.88, Z:9.51 [[ 3.98083898e-01 -9.17303458e-01 -9.14198816e-03 1.99108278e+02] [ 9.17076823e-01 3.98188768e-01 -2.03913269e-02 1.73878104e+02] [ 2.23452717e-02 -2.66446569e-04 9.99750278e-01 9.51448875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:173.90, Z:9.52 [[ 3.96267043e-01 -9.18090897e-01 -9.02971795e-03 1.99120483e+02] [ 9.17869603e-01 3.96369796e-01 -2.01587730e-02 1.73902609e+02] [ 2.20866935e-02 -2.99846254e-04 9.99756014e-01 9.51732928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.13, Y:173.93, Z:9.52 [[ 3.94488073e-01 -9.18857985e-01 -8.89738897e-03 1.99133114e+02] [ 9.18642935e-01 3.94588259e-01 -1.98812657e-02 1.73927304e+02] [ 2.17788649e-02 -3.30601329e-04 9.99762758e-01 9.51952470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:173.95, Z:9.52 [[ 3.92193144e-01 -9.19846354e-01 -8.19892860e-03 1.99147551e+02] [ 9.19663626e-01 3.92278681e-01 -1.83371773e-02 1.73949280e+02] [ 2.00836506e-02 -3.48541177e-04 9.99798242e-01 9.52129445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.16, Y:173.97, Z:9.52 [[ 3.91372525e-01 -9.20198456e-01 -7.89611380e-03 1.99157809e+02] [ 9.20028732e-01 3.91452017e-01 -1.76762538e-02 1.73974639e+02] [ 1.93566111e-02 -3.46651502e-04 9.99812583e-01 9.52333112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:174.00, Z:9.52 [[ 3.90970641e-01 -9.20370680e-01 -7.73106879e-03 1.99169684e+02] [ 9.20207746e-01 3.91046921e-01 -1.73207698e-02 1.73998594e+02] [ 1.89647394e-02 -3.42276899e-04 9.99820095e-01 9.52379544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.18, Y:174.02, Z:9.52 [[ 3.91571526e-01 -9.20114486e-01 -7.81484630e-03 1.99179400e+02] [ 9.19947669e-01 3.91649364e-01 -1.75232004e-02 1.74022693e+02] [ 1.91840301e-02 -3.27663318e-04 9.99815916e-01 9.52337043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.012755096 meters Centerline goodness [0,1] 0.9999775990681212 Centerline is valid? [True, True] Translation: X:199.19, Y:174.05, Z:9.52 [[ 3.92257771e-01 -9.19819970e-01 -8.06619904e-03 1.99189126e+02] [ 9.19641848e-01 3.92340570e-01 -1.81038444e-02 1.74047918e+02] [ 1.98169748e-02 -3.16640525e-04 9.99803574e-01 9.52268057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:174.07, Z:9.52 [[ 3.94638070e-01 -9.18801557e-01 -8.03068557e-03 1.99198309e+02] [ 9.18624488e-01 3.94719687e-01 -1.80393370e-02 1.74073595e+02] [ 1.97444406e-02 -2.58175296e-04 9.99805026e-01 9.52270860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.072755096 meters Centerline goodness [0,1] 0.9999775915385649 Centerline is valid? [True, True] Translation: X:199.21, Y:174.10, Z:9.52 [[ 3.95828941e-01 -9.18290945e-01 -7.82239944e-03 1.99207542e+02] [ 9.18122563e-01 3.95906165e-01 -1.75860379e-02 1.74098740e+02] [ 1.92460355e-02 -2.20858663e-04 9.99814754e-01 9.52291335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.21, Y:174.13, Z:9.52 [[ 3.99061256e-01 -9.16888923e-01 -8.05095090e-03 1.99213708e+02] [ 9.16709940e-01 3.99142432e-01 -1.81164408e-02 1.74125193e+02] [ 1.98242400e-02 -1.50817073e-04 9.99803469e-01 9.52247578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.22, Y:174.15, Z:9.52 [[ 4.00419237e-01 -9.16294639e-01 -8.28067064e-03 1.99221844e+02] [ 9.16104826e-01 4.00504833e-01 -1.86501297e-02 1.74152187e+02] [ 2.04054625e-02 -1.18091615e-04 9.99791780e-01 9.52394836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.23, Y:174.18, Z:9.52 [[ 4.02092821e-01 -9.15561481e-01 -8.27875159e-03 1.99231719e+02] [ 9.15371272e-01 4.02178032e-01 -1.86618771e-02 1.74178416e+02] [ 2.04156278e-02 -7.43245603e-05 9.99791577e-01 9.52429865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.192755096 meters Centerline goodness [0,1] 0.9999331640155059 Centerline is valid? [True, True] Translation: X:199.24, Y:174.21, Z:9.53 [[ 4.05462791e-01 -9.14075173e-01 -8.15502227e-03 1.99240828e+02] [ 9.13889986e-01 4.05544793e-01 -1.83987487e-02 1.74205246e+02] [ 2.01250662e-02 7.21477875e-06 9.99797470e-01 9.52558794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:174.23, Z:9.53 [[ 4.06662468e-01 -9.13544179e-01 -7.91639172e-03 1.99249936e+02] [ 9.13369247e-01 4.06739512e-01 -1.78770074e-02 1.74229983e+02] [ 1.95513454e-02 3.93192048e-05 9.99808853e-01 9.52613960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.252755096 meters Centerline goodness [0,1] 0.9999554148646841 Centerline is valid? [True, True] Translation: X:199.26, Y:174.26, Z:9.53 [[ 4.07768855e-01 -9.13053357e-01 -7.62421161e-03 1.99260088e+02] [ 9.12890713e-01 4.07840119e-01 -1.72331976e-02 1.74256527e+02] [ 1.88442883e-02 6.70892656e-05 9.99822428e-01 9.52785781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.27, Y:174.28, Z:9.53 [[ 4.09813611e-01 -9.12141933e-01 -7.06381136e-03 1.99267830e+02] [ 9.12001981e-01 4.09874471e-01 -1.59782295e-02 1.74282530e+02] [ 1.74696891e-02 1.05885993e-04 9.99847388e-01 9.52896706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.312755096 meters Centerline goodness [0,1] 0.9996219281663516 Centerline is valid? [True, True] Translation: X:199.28, Y:174.31, Z:9.53 [[ 4.10084816e-01 -9.12020170e-01 -7.04648857e-03 1.99278087e+02] [ 9.11880669e-01 4.10145335e-01 -1.59514671e-02 1.74308219e+02] [ 1.74381441e-02 1.15897723e-04 9.99847937e-01 9.52586670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.342755096 meters Centerline goodness [0,1] 0.999977770862046 Centerline is valid? [True, True] Translation: X:199.29, Y:174.33, Z:9.53 [[ 4.10650601e-01 -9.11766601e-01 -6.91011843e-03 1.99289671e+02] [ 9.11632172e-01 4.10708715e-01 -1.56567747e-02 1.74333591e+02] [ 1.71133701e-02 1.29977656e-04 9.99853547e-01 9.53139987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.30, Y:174.36, Z:9.53 [[ 4.10225878e-01 -9.11958856e-01 -6.76566470e-03 1.99299588e+02] [ 9.11829809e-01 4.10281647e-01 -1.53417737e-02 1.74357716e+02] [ 1.67668945e-02 1.24457854e-04 9.99859418e-01 9.53103231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:174.38, Z:9.53 [[ 4.09804700e-01 -9.12147768e-01 -6.82325357e-03 1.99311661e+02] [ 9.12016331e-01 4.09861481e-01 -1.54847788e-02 1.74382711e+02] [ 1.69209953e-02 1.22816454e-04 9.99856822e-01 9.53235072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.32, Y:174.41, Z:9.53 [[ 4.08992760e-01 -9.12510180e-01 -7.07769253e-03 1.99321964e+02] [ 9.12368543e-01 4.09053979e-01 -1.60774604e-02 1.74407115e+02] [ 1.75660046e-02 1.18100898e-04 9.99845699e-01 9.53152388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.462755096 meters Centerline goodness [0,1] 0.9998890023531501 Centerline is valid? [True, True] Translation: X:199.33, Y:174.43, Z:9.53 [[ 4.08116622e-01 -9.12904178e-01 -6.83990108e-03 1.99333509e+02] [ 9.12771697e-01 4.08173922e-01 -1.55524331e-02 1.74432362e+02] [ 1.69897504e-02 1.03938342e-04 9.99855658e-01 9.52968207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.35, Y:174.46, Z:9.53 [[ 4.06136247e-01 -9.13786535e-01 -6.89329488e-03 1.99345824e+02] [ 9.13651838e-01 4.06194736e-01 -1.56893714e-02 1.74455228e+02] [ 1.71367564e-02 7.39509090e-05 9.99853152e-01 9.53257002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:174.48, Z:9.53 [[ 4.04088252e-01 -9.14694107e-01 -6.88298172e-03 1.99358899e+02] [ 9.14559689e-01 4.04146866e-01 -1.56807754e-02 1.74479710e+02] [ 1.71248484e-02 4.15195048e-05 9.99853358e-01 9.53346271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.552755096 meters Centerline goodness [0,1] 0.9998888048747943 Centerline is valid? [True, True] Translation: X:199.37, Y:174.50, Z:9.53 [[ 4.01410012e-01 -9.15873074e-01 -6.82021225e-03 1.99372486e+02] [ 9.15741034e-01 4.01467948e-01 -1.55513536e-02 1.74504610e+02] [ 1.69811627e-02 -3.07916344e-06 9.99855810e-01 9.53113465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.582755096 meters Centerline goodness [0,1] 0.9999112058248979 Centerline is valid? [True, True] Translation: X:199.39, Y:174.53, Z:9.53 [[ 3.96504174e-01 -9.18005095e-01 -7.14737121e-03 1.99389652e+02] [ 9.17860158e-01 3.96568577e-01 -1.63124090e-02 1.74526735e+02] [ 1.78092975e-02 -9.23489826e-05 9.99841398e-01 9.53359230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:174.55, Z:9.53 [[ 3.93418284e-01 -9.19331630e-01 -7.17000221e-03 1.99403460e+02] [ 9.19185729e-01 3.93483587e-01 -1.63787355e-02 1.74550902e+02] [ 1.78787678e-02 -1.46869704e-04 9.99840151e-01 9.53433288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.42, Y:174.57, Z:9.54 [[ 3.88461222e-01 -9.21438029e-01 -7.05954414e-03 1.99420096e+02] [ 9.21296690e-01 3.88525293e-01 -1.61402131e-02 1.74574594e+02] [ 1.76150177e-02 -2.34087731e-04 9.99844816e-01 9.53544883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:174.60, Z:9.54 [[ 3.86293008e-01 -9.22350651e-01 -6.85477042e-03 1.99433177e+02] [ 9.22217339e-01 3.86353733e-01 -1.56835282e-02 1.74597884e+02] [ 1.71140786e-02 -2.63150842e-04 9.99853509e-01 9.53557498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:174.62, Z:9.54 [[ 3.84187160e-01 -9.23231199e-01 -6.66182658e-03 1.99445593e+02] [ 9.23105237e-01 3.84244805e-01 -1.52529096e-02 1.74623063e+02] [ 1.66417343e-02 -2.89594966e-04 9.99861475e-01 9.53665640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.46, Y:174.65, Z:9.54 [[ 3.81848758e-01 -9.24206026e-01 -5.89474764e-03 1.99458049e+02] [ 9.24107377e-01 3.81894145e-01 -1.35062451e-02 1.74646663e+02] [ 1.47337228e-02 -2.90036842e-04 9.99891411e-01 9.53822519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.47, Y:174.67, Z:9.54 [[ 3.81029110e-01 -9.24544626e-01 -5.83547905e-03 1.99469598e+02] [ 9.24447846e-01 3.81073678e-01 -1.33802868e-02 1.74671519e+02] [ 1.45944197e-02 -2.96317286e-04 9.99893452e-01 9.53906000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.48, Y:174.70, Z:9.54 [[ 3.80058662e-01 -9.24941328e-01 -6.24131041e-03 1.99483043e+02] [ 9.24830448e-01 3.80109765e-01 -1.43251526e-02 1.74695632e+02] [ 1.56223087e-02 -3.27755567e-04 9.99877911e-01 9.53931936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.49, Y:174.72, Z:9.54 [[ 3.79750630e-01 -9.25065234e-01 -6.61610385e-03 1.99494532e+02] [ 9.24940406e-01 3.79808100e-01 -1.52003958e-02 1.74720460e+02] [ 1.65742075e-02 -3.47141905e-04 9.99862578e-01 9.53907597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.50, Y:174.75, Z:9.54 [[ 3.80398175e-01 -9.24796651e-01 -6.95581677e-03 1.99503712e+02] [ 9.24658356e-01 3.80461608e-01 -1.59965510e-02 1.74746663e+02] [ 1.74399780e-02 -3.46695282e-04 9.99847852e-01 9.53827239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters Centerline goodness [0,1] 0.9998656786585776 Centerline is valid? [True, True] Translation: X:199.51, Y:174.77, Z:9.53 [[ 3.80851661e-01 -9.24612211e-01 -6.65371702e-03 1.99513110e+02] [ 9.24485403e-01 3.80909646e-01 -1.53160505e-02 1.74772650e+02] [ 1.66958723e-02 -3.18120985e-04 9.99860564e-01 9.53489344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:174.80, Z:9.54 [[ 3.82452716e-01 -9.23948622e-01 -6.99031284e-03 1.99521198e+02] [ 9.23808281e-01 3.82516478e-01 -1.61060449e-02 1.74799527e+02] [ 1.75550678e-02 -2.97908276e-04 9.99845854e-01 9.53850476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.53, Y:174.82, Z:9.54 [[ 3.83709205e-01 -9.23426739e-01 -7.09253675e-03 1.99530535e+02] [ 9.23281893e-01 3.83774653e-01 -1.63572971e-02 1.74824030e+02] [ 1.78267014e-02 -2.71965282e-04 9.99841055e-01 9.53768835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.54, Y:174.85, Z:9.54 [[ 3.86968118e-01 -9.22065663e-01 -7.11251317e-03 1.99537419e+02] [ 9.21919489e-01 3.87033424e-01 -1.64190210e-02 1.74851539e+02] [ 1.78921958e-02 -2.03526849e-04 9.99839901e-01 9.53804699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters Centerline goodness [0,1] 0.9998883305415969 Centerline is valid? [True, True] Translation: X:199.55, Y:174.88, Z:9.54 [[ 3.89899196e-01 -9.20833683e-01 -6.62913139e-03 1.99545004e+02] [ 9.20706312e-01 3.89955524e-01 -1.53158797e-02 1.74878683e+02] [ 1.66884443e-02 -1.31833932e-04 9.99860730e-01 9.53644860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:174.91, Z:9.54 [[ 3.91807105e-01 -9.20021122e-01 -6.95180350e-03 1.99554486e+02] [ 9.19880668e-01 3.91868761e-01 -1.60757988e-02 1.74905507e+02] [ 1.75142691e-02 -9.62174467e-05 9.99846609e-01 9.53960881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.56, Y:174.93, Z:9.54 [[ 3.92841699e-01 -9.19581417e-01 -6.73926180e-03 1.99563314e+02] [ 9.19449114e-01 3.92899495e-01 -1.55985148e-02 1.74931627e+02] [ 1.69919569e-02 -6.86612284e-05 9.99855624e-01 9.53982354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.57, Y:174.96, Z:9.54 [[ 3.93968150e-01 -9.19101174e-01 -6.49063312e-03 1.99571806e+02] [ 9.18978152e-01 3.94021611e-01 -1.50375046e-02 1.74957352e+02] [ 1.63784378e-02 -4.04521843e-05 9.99865864e-01 9.54017728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:174.98, Z:9.54 [[ 3.95174524e-01 -9.18586691e-01 -5.96542080e-03 1.99580859e+02] [ 9.18482529e-01 3.95219547e-01 -1.38330370e-02 1.74984123e+02] [ 1.50644946e-02 -1.26709701e-05 9.99886524e-01 9.54170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.59, Y:175.01, Z:9.54 [[ 3.95104375e-01 -9.18617827e-01 -5.81553035e-03 1.99590798e+02] [ 9.18518654e-01 3.95147172e-01 -1.34979378e-02 1.75008205e+02] [ 1.46974366e-02 -8.57883725e-06 9.99891987e-01 9.54239808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.182755096 meters Centerline goodness [0,1] 0.9999778024417314 Centerline is valid? [True, True] Translation: X:199.60, Y:175.03, Z:9.54 [[ 3.94773922e-01 -9.18762279e-01 -5.42447667e-03 1.99601795e+02] [ 9.18675841e-01 3.94811188e-01 -1.26025680e-02 1.75033360e+02] [ 1.37204082e-02 -8.17045740e-06 9.99905871e-01 9.54385879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.212755096 meters Centerline goodness [0,1] 0.9999778024417314 Centerline is valid? [True, True] Translation: X:199.61, Y:175.06, Z:9.54 [[ 3.94445773e-01 -9.18903236e-01 -5.41997665e-03 1.99612187e+02] [ 9.18816784e-01 3.94483008e-01 -1.26045034e-02 1.75058045e+02] [ 1.37204076e-02 -8.17245120e-06 9.99905871e-01 9.54410821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters Centerline goodness [0,1] 0.9999777876499334 Centerline is valid? [True, True] Translation: X:199.62, Y:175.08, Z:9.54 [[ 3.93563919e-01 -9.19281087e-01 -5.45213041e-03 1.99623719e+02] [ 9.19193470e-01 3.93601681e-01 -1.26918075e-02 1.75083307e+02] [ 1.38133063e-02 -1.65251718e-05 9.99904592e-01 9.54486248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.272755096 meters Centerline goodness [0,1] 0.9999110419214945 Centerline is valid? [True, True] Translation: X:199.63, Y:175.11, Z:9.55 [[ 3.92280010e-01 -9.19830491e-01 -5.31609654e-03 1.99634871e+02] [ 9.19747082e-01 3.92316029e-01 -1.23870639e-02 1.75107940e+02] [ 1.34795889e-02 -3.02667352e-05 9.99909146e-01 9.54547508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.302755096 meters Centerline goodness [0,1] 0.9999553860224408 Centerline is valid? [True, True] Translation: X:199.65, Y:175.13, Z:9.55 [[ 3.90472779e-01 -9.20600313e-01 -5.10618614e-03 1.99646437e+02] [ 9.20523277e-01 3.90506161e-01 -1.19094109e-02 1.75132040e+02] [ 1.29578045e-02 -5.00624338e-05 9.99916043e-01 9.54596448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.332755096 meters Centerline goodness [0,1] 0.9999111663853603 Centerline is valid? [True, True] Translation: X:199.66, Y:175.16, Z:9.54 [[ 3.88633326e-01 -9.21379029e-01 -4.98239859e-03 1.99657394e+02] [ 9.21305601e-01 3.88665256e-01 -1.16322222e-02 1.75156656e+02] [ 1.26541708e-02 -6.96425342e-05 9.99919930e-01 9.54399700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters Centerline goodness [0,1] 0.9999776964938888 Centerline is valid? [True, True] Translation: X:199.67, Y:175.18, Z:9.55 [[ 3.85991145e-01 -9.22488705e-01 -5.04234879e-03 1.99670515e+02] [ 9.22413446e-01 3.86024065e-01 -1.17837225e-02 1.75180970e+02] [ 1.28168189e-02 -1.02717771e-04 9.99917856e-01 9.54704469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.68, Y:175.21, Z:9.55 [[ 3.83773598e-01 -9.23412574e-01 -5.20047349e-03 1.99682620e+02] [ 9.23332444e-01 3.83808808e-01 -1.21653507e-02 1.75205213e+02] [ 1.32296254e-02 -1.33025482e-04 9.99912476e-01 9.54731207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.70, Y:175.23, Z:9.55 [[ 3.81341872e-01 -9.24419256e-01 -5.23597050e-03 1.99695496e+02] [ 9.24337967e-01 3.81377781e-01 -1.22601337e-02 1.75229645e+02] [ 1.33303865e-02 -1.64504000e-04 9.99911133e-01 9.54698967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:175.25, Z:9.55 [[ 3.78750963e-01 -9.25482741e-01 -5.42254719e-03 1.99708521e+02] [ 9.25395503e-01 3.78789723e-01 -1.27086417e-02 1.75254654e+02] [ 1.38156337e-02 -2.04590501e-04 9.99904539e-01 9.54712640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.72, Y:175.28, Z:9.55 [[ 3.73557029e-01 -9.27591006e-01 -5.48377599e-03 1.99723562e+02] [ 9.27501854e-01 3.73597171e-01 -1.28632709e-02 1.75279090e+02] [ 1.39805776e-02 -2.81047162e-04 9.99902227e-01 9.54757821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:175.30, Z:9.55 [[ 3.70665970e-01 -9.28750099e-01 -5.47647365e-03 1.99736138e+02] [ 9.28661157e-01 3.70706286e-01 -1.28571315e-02 1.75304008e+02] [ 1.39712254e-02 -3.20087222e-04 9.99902346e-01 9.54803857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.75, Y:175.33, Z:9.55 [[ 3.65733428e-01 -9.30703836e-01 -5.42478662e-03 1.99751277e+02] [ 9.30616623e-01 3.65773454e-01 -1.27468218e-02 1.75326967e+02] [ 1.38477589e-02 -3.86457754e-04 9.99904041e-01 9.54883139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:175.35, Z:9.55 [[ 3.63505581e-01 -9.31576157e-01 -5.43653496e-03 1.99761349e+02] [ 9.31488503e-01 3.63545995e-01 -1.27859031e-02 1.75353264e+02] [ 1.38874730e-02 -4.16322672e-04 9.99903478e-01 9.54974589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.77, Y:175.38, Z:9.55 [[ 3.61274431e-01 -9.32444931e-01 -5.21879501e-03 1.99774888e+02] [ 9.32364106e-01 3.61311870e-01 -1.22844133e-02 1.75376733e+02] [ 1.33401515e-02 -4.27772697e-04 9.99910925e-01 9.55026910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:175.40, Z:9.55 [[ 3.60845143e-01 -9.32611466e-01 -5.16106798e-03 1.99785192e+02] [ 9.32532289e-01 3.60881799e-01 -1.21596281e-02 1.75402428e+02] [ 1.32027440e-02 -4.25119810e-04 9.99912750e-01 9.55094751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:175.43, Z:9.55 [[ 3.60443166e-01 -9.32766893e-01 -5.16220277e-03 1.99791957e+02] [ 9.32687546e-01 3.60479877e-01 -1.21737147e-02 1.75428963e+02] [ 1.32161083e-02 -4.26789958e-04 9.99912572e-01 9.55211127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:175.45, Z:9.55 [[ 3.61239841e-01 -9.32458104e-01 -5.25940620e-03 1.99801890e+02] [ 9.32375548e-01 3.61277883e-01 -1.24148510e-02 1.75454712e+02] [ 1.34764355e-02 -4.19002947e-04 9.99909101e-01 9.55276770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.81, Y:175.48, Z:9.55 [[ 3.61462978e-01 -9.32372517e-01 -5.09957843e-03 1.99810514e+02] [ 9.32294756e-01 3.61498728e-01 -1.20481307e-02 1.75480793e+02] [ 1.30768371e-02 -3.99357010e-04 9.99914415e-01 9.55317837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:175.51, Z:9.55 [[ 3.63374843e-01 -9.31631480e-01 -4.63773815e-03 1.99819640e+02] [ 9.31566993e-01 3.63404283e-01 -1.09665307e-02 1.75506666e+02] [ 1.19021391e-02 -3.35402399e-04 9.99929111e-01 9.55329336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.82, Y:175.53, Z:9.55 [[ 3.63841720e-01 -9.31450786e-01 -4.31688961e-03 1.99823902e+02] [ 9.31394810e-01 3.63867202e-01 -1.02160191e-02 1.75534010e+02] [ 1.10864936e-02 -3.03714611e-04 9.99938497e-01 9.55423584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.84, Y:175.56, Z:9.55 [[ 3.64389273e-01 -9.31238394e-01 -3.93855409e-03 1.99836589e+02] [ 9.31191700e-01 3.64410459e-01 -9.32924010e-03 1.75557460e+02] [ 1.01229969e-02 -2.68073869e-04 9.99948725e-01 9.55451468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.84, Y:175.59, Z:9.56 [[ 3.63983284e-01 -9.31400000e-01 -3.19505375e-03 1.99840135e+02] [ 9.31369227e-01 3.63997241e-01 -7.57437179e-03 1.75585913e+02] [ 8.21776063e-03 -2.18830021e-04 9.99966210e-01 9.55566316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:175.61, Z:9.56 [[ 3.63177169e-01 -9.31715962e-01 -2.77683596e-03 1.99849989e+02] [ 9.31692687e-01 3.63187732e-01 -6.58848869e-03 1.75612470e+02] [ 7.14711283e-03 -1.94369091e-04 9.99974440e-01 9.55660255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:175.64, Z:9.56 [[ 3.61203887e-01 -9.32484898e-01 -1.91510998e-03 1.99862030e+02] [ 9.32473830e-01 3.61208936e-01 -4.54538119e-03 1.75636780e+02] [ 4.93025415e-03 -1.43980580e-04 9.99987836e-01 9.55873167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.87, Y:175.66, Z:9.56 [[ 3.59488829e-01 -9.33148048e-01 -1.58213767e-03 1.99872564e+02] [ 9.33140491e-01 3.59492289e-01 -3.75755891e-03 1.75662520e+02] [ 4.07512505e-03 -1.25556272e-04 9.99991689e-01 9.55916906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.962755096 meters Centerline goodness [0,1] 0.9998672566371681 Centerline is valid? [True, True] Translation: X:199.88, Y:175.69, Z:9.56 [[ 3.55896618e-01 -9.34524305e-01 -1.38576871e-03 1.99883540e+02] [ 9.34518512e-01 3.55899295e-01 -3.29281172e-03 1.75687934e+02] [ 3.57040669e-03 -1.23125955e-04 9.99993619e-01 9.55605423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:175.71, Z:9.56 [[ 3.54373541e-01 -9.35103450e-01 -9.64748326e-04 1.99893131e+02] [ 9.35100645e-01 3.54374843e-01 -2.29234344e-03 1.75714706e+02] [ 2.48546079e-03 -8.97909203e-05 9.99996907e-01 9.55803011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:175.74, Z:9.56 [[ 3.52661393e-01 -9.35750615e-01 -8.54060535e-04 1.99904639e+02] [ 9.35748416e-01 3.52662417e-01 -2.03029154e-03 1.75740615e+02] [ 2.20104161e-03 -8.31803525e-05 9.99997574e-01 9.55792620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.052755096 meters Centerline goodness [0,1] 0.9998893364614226 Centerline is valid? [True, True] Translation: X:199.92, Y:175.76, Z:9.56 [[ 3.50889871e-01 -9.36416382e-01 -8.11040924e-04 1.99917939e+02] [ 9.36414399e-01 3.50890798e-01 -1.92902855e-03 1.75764308e+02] [ 2.09096073e-03 -8.25938218e-05 9.99997811e-01 9.55838107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.082755096 meters Centerline goodness [0,1] 0.9999557316452334 Centerline is valid? [True, True] Translation: X:199.93, Y:175.79, Z:9.56 [[ 3.48080822e-01 -9.37464212e-01 -7.69774436e-04 1.99926949e+02] [ 9.37462426e-01 3.48081663e-01 -1.83204340e-03 1.75790470e+02] [ 1.98541949e-03 -8.39354377e-05 9.99998026e-01 9.55781684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.112755096 meters Centerline goodness [0,1] 0.9999336840709139 Centerline is valid? [True, True] Translation: X:199.94, Y:175.82, Z:9.56 [[ 3.46669641e-01 -9.37986916e-01 -8.40191075e-04 1.99937232e+02] [ 9.37984784e-01 3.46670646e-01 -2.00223055e-03 1.75816112e+02] [ 2.16933564e-03 -9.39738991e-05 9.99997643e-01 9.55736378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters Centerline goodness [0,1] 0.9999335459861776 Centerline is valid? [True, True] Translation: X:199.95, Y:175.84, Z:9.56 [[ 3.44937743e-01 -9.38625092e-01 -9.43664365e-04 1.99949343e+02] [ 9.38622392e-01 3.44939017e-01 -2.25394699e-03 1.75840745e+02] [ 2.44111786e-03 -1.08273116e-04 9.99997015e-01 9.55666139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1727550960001 meters Centerline goodness [0,1] 0.9998666162772603 Centerline is valid? [True, True] Translation: X:199.96, Y:175.87, Z:9.56 [[ 3.44159152e-01 -9.38910849e-01 -9.46607298e-04 1.99960421e+02] [ 9.38908133e-01 3.44160436e-01 -2.26105197e-03 1.75866756e+02] [ 2.44871101e-03 -1.10615562e-04 9.99996996e-01 9.55634546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.202755096 meters Centerline goodness [0,1] 0.9998669268985095 Centerline is valid? [True, True] Translation: X:199.97, Y:175.89, Z:9.56 [[ 3.43447080e-01 -9.39171350e-01 -1.13086335e-03 1.99970338e+02] [ 9.39167466e-01 3.43448916e-01 -2.70432009e-03 1.75892395e+02] [ 2.92821374e-03 -1.33279230e-04 9.99995704e-01 9.55583859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.232755096 meters Centerline goodness [0,1] 0.9999332814411209 Centerline is valid? [True, True] Translation: X:199.98, Y:175.92, Z:9.56 [[ 3.42690395e-01 -9.39447650e-01 -1.18576049e-03 1.99980248e+02] [ 9.39443371e-01 3.42692418e-01 -2.83886874e-03 1.75917591e+02] [ 3.07331970e-03 -1.41101784e-04 9.99995267e-01 9.55524584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters Centerline goodness [0,1] 0.9999333910610804 Centerline is valid? [True, True] Translation: X:199.99, Y:175.94, Z:9.56 [[ 3.42668873e-01 -9.39455667e-01 -1.04534126e-03 1.99991124e+02] [ 9.39452339e-01 3.42670445e-01 -2.50389381e-03 1.75941695e+02] [ 2.71050479e-03 -1.24041821e-04 9.99996319e-01 9.55509964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2927550960001 meters Centerline goodness [0,1] 0.9999114848417792 Centerline is valid? [True, True] Translation: X:200.00, Y:175.97, Z:9.55 [[ 3.43237844e-01 -9.39247658e-01 -1.27247597e-03 2.00000499e+02] [ 9.39242704e-01 3.43240171e-01 -3.05420125e-03 1.75966986e+02] [ 3.30541624e-03 -1.46846319e-04 9.99994526e-01 9.55407633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.322755096 meters Centerline goodness [0,1] 0.9999556245839805 Centerline is valid? [True, True] Translation: X:200.01, Y:175.99, Z:9.55 [[ 3.43580544e-01 -9.39122609e-01 -1.06558938e-03 2.00009641e+02] [ 9.39119128e-01 3.43582175e-01 -2.55974565e-03 1.75993222e+02] [ 2.77003253e-03 -1.21236566e-04 9.99996156e-01 9.55414323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.352755096 meters Centerline goodness [0,1] 0.9999334693515479 Centerline is valid? [True, True] Translation: X:200.02, Y:176.02, Z:9.55 [[ 3.44169173e-01 -9.38907095e-01 -1.02368787e-03 2.00018533e+02] [ 9.38903881e-01 3.44170676e-01 -2.45933005e-03 1.76019828e+02] [ 2.66140578e-03 -1.14718931e-04 9.99996452e-01 9.55403892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters Centerline goodness [0,1] 0.9999778024417314 Centerline is valid? [True, True] Translation: X:200.03, Y:176.05, Z:9.55 [[ 3.46405515e-01 -9.38084394e-01 -9.42562021e-04 2.00027437e+02] [ 9.38081663e-01 3.46406783e-01 -2.26607244e-03 1.76046761e+02] [ 2.45227707e-03 -9.92201590e-05 9.99996988e-01 9.55406967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.03, Y:176.07, Z:9.55 [[ 3.47363829e-01 -9.37730023e-01 -8.80125379e-04 2.00034952e+02] [ 9.37727638e-01 3.47364932e-01 -2.11683491e-03 1.76074500e+02] [ 2.29074434e-03 -9.00060134e-05 9.99997372e-01 9.55407660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:176.10, Z:9.55 [[ 3.50188474e-01 -9.36678957e-01 -7.51139934e-04 2.00042666e+02] [ 9.36677216e-01 3.50189272e-01 -1.80734867e-03 1.76101979e+02] [ 1.95594661e-03 -7.06629920e-05 9.99998085e-01 9.55443841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.472755096 meters Centerline goodness [0,1] 0.9999336106931044 Centerline is valid? [True, True] Translation: X:200.05, Y:176.13, Z:9.55 [[ 3.51211794e-01 -9.36295835e-01 -6.20610381e-04 2.00053370e+02] [ 9.36294646e-01 3.51212338e-01 -1.49307814e-03 1.76127122e+02] [ 1.61592887e-03 -5.66875241e-05 9.99998693e-01 9.55343846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters Centerline goodness [0,1] 0.9999779570603535 Centerline is valid? [True, True] Translation: X:200.06, Y:176.15, Z:9.55 [[ 3.53026673e-01 -9.35613043e-01 -6.34262754e-04 2.00061413e+02] [ 9.35611798e-01 3.53027238e-01 -1.52753426e-03 1.76154509e+02] [ 1.65309300e-03 -5.41633794e-05 9.99998632e-01 9.55490627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.07, Y:176.18, Z:9.55 [[ 3.55884948e-01 -9.34529538e-01 -6.67610352e-04 2.00067151e+02] [ 9.34528154e-01 3.55885571e-01 -1.60946798e-03 1.76182089e+02] [ 1.74168825e-03 -5.11152426e-05 9.99998482e-01 9.55441349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:176.21, Z:9.55 [[ 3.57225635e-01 -9.34017874e-01 -6.75526460e-04 2.00077607e+02] [ 9.34016453e-01 3.57226271e-01 -1.63031408e-03 1.76207684e+02] [ 1.76405829e-03 -4.85628469e-05 9.99998443e-01 9.55498480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:176.23, Z:9.55 [[ 3.59149526e-01 -9.33279776e-01 -6.90698325e-04 2.00086555e+02] [ 9.33278286e-01 3.59150188e-01 -1.66871901e-03 1.76234281e+02] [ 1.80544614e-03 -4.52941066e-05 9.99998369e-01 9.55460015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:176.26, Z:9.55 [[ 3.59474992e-01 -9.33154348e-01 -8.32871151e-04 2.00096049e+02] [ 9.33152174e-01 3.59475952e-01 -2.01476754e-03 1.76259997e+02] [ 2.17948624e-03 -5.29369796e-05 9.99997624e-01 9.55469138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.652755096 meters Centerline goodness [0,1] 0.9999117270600697 Centerline is valid? [True, True] Translation: X:200.11, Y:176.29, Z:9.55 [[ 3.59617550e-01 -9.33099430e-01 -8.19376033e-04 2.00105917e+02] [ 9.33097322e-01 3.59618480e-01 -1.98399189e-03 1.76285426e+02] [ 2.14592447e-03 -5.10792787e-05 9.99997696e-01 9.55471104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.12, Y:176.31, Z:9.55 [[ 3.59453941e-01 -9.33162398e-01 -8.96009660e-04 2.00116074e+02] [ 9.33159871e-01 3.59455053e-01 -2.17254970e-03 1.76310959e+02] [ 2.34941688e-03 -5.51887093e-05 9.99997239e-01 9.55436566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:176.34, Z:9.56 [[ 3.58374521e-01 -9.33577543e-01 -8.20629525e-04 2.00128072e+02] [ 9.33575421e-01 3.58375457e-01 -1.99144684e-03 1.76335669e+02] [ 2.15326353e-03 -5.24357472e-05 9.99997680e-01 9.55517344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:176.36, Z:9.56 [[ 3.57406988e-01 -9.33948432e-01 -7.56334945e-04 2.00139226e+02] [ 9.33946628e-01 3.57407784e-01 -1.83651053e-03 1.76360899e+02] [ 1.98552613e-03 -4.99947753e-05 9.99998028e-01 9.55533805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:176.38, Z:9.56 [[ 3.54894129e-01 -9.34906417e-01 -3.85854384e-04 2.00153154e+02] [ 9.34905951e-01 3.54894337e-01 -9.33915773e-04 1.76384340e+02] [ 1.01006138e-03 -2.92963360e-05 9.99999489e-01 9.55665012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:176.41, Z:9.56 [[ 3.53382092e-01 -9.35478936e-01 -5.06765722e-04 2.00165961e+02] [ 9.35478128e-01 3.53382453e-01 -1.23028350e-03 1.76408476e+02] [ 1.32998641e-03 -3.93080915e-05 9.99999115e-01 9.55736913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.18, Y:176.43, Z:9.56 [[ 3.50720120e-01 -9.36480193e-01 -4.96291122e-04 2.00178731e+02] [ 9.36479418e-01 3.50720468e-01 -1.20516873e-03 1.76431684e+02] [ 1.30267609e-03 -4.20895012e-05 9.99999151e-01 9.55700759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters Centerline goodness [0,1] 0.9998000311062724 Centerline is valid? [True, True] Translation: X:200.19, Y:176.46, Z:9.55 [[ 3.48871255e-01 -9.37170553e-01 -4.48645778e-04 2.00187802e+02] [ 9.37169920e-01 3.48871541e-01 -1.09056245e-03 1.76458731e+02] [ 1.17856276e-03 -3.99914372e-05 9.99999305e-01 9.55287388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:176.48, Z:9.56 [[ 3.48154948e-01 -9.37436938e-01 -3.45216917e-04 2.00201083e+02] [ 9.37436565e-01 3.48155118e-01 -8.36903590e-04 1.76481675e+02] [ 9.04733375e-04 -3.22468349e-05 9.99999590e-01 9.55755435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:176.51, Z:9.56 [[ 3.46946699e-01 -9.37884659e-01 -5.95667068e-04 2.00211680e+02] [ 9.37883535e-01 3.46947206e-01 -1.45290789e-03 1.76506468e+02] [ 1.56932505e-03 -5.45847391e-05 9.99998767e-01 9.55668639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.22, Y:176.53, Z:9.56 [[ 3.46612935e-01 -9.38007846e-01 -8.68639180e-04 2.00219808e+02] [ 9.38005444e-01 3.46614015e-01 -2.12412233e-03 1.76532742e+02] [ 2.29352592e-03 -7.85400055e-05 9.99997367e-01 9.55513266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:176.56, Z:9.55 [[ 3.46869680e-01 -9.37912364e-01 -1.35022478e-03 2.00227834e+02] [ 9.37906532e-01 3.46872288e-01 -3.30943073e-03 1.76559015e+02] [ 3.57231155e-03 -1.18443458e-04 9.99993612e-01 9.55329658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:176.58, Z:9.55 [[ 3.47010367e-01 -9.37859940e-01 -1.59327713e-03 2.00242873e+02] [ 9.37851797e-01 3.47013998e-01 -3.91049687e-03 1.76581415e+02] [ 4.22038782e-03 -1.37274866e-04 9.99991085e-01 9.55404280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0427550960001 meters Centerline goodness [0,1] 0.9999777530589544 Centerline is valid? [True, True] Translation: X:200.25, Y:176.61, Z:9.55 [[ 3.47411640e-01 -9.37711622e-01 -1.43769033e-03 2.00246559e+02] [ 9.37704978e-01 3.47414594e-01 -3.53174562e-03 1.76609786e+02] [ 3.81123351e-03 -1.21159845e-04 9.99992730e-01 9.55265265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.072755096 meters Centerline goodness [0,1] 0.9999777441467106 Centerline is valid? [True, True] Translation: X:200.26, Y:176.64, Z:9.55 [[ 3.48725730e-01 -9.37223384e-01 -1.64156216e-03 2.00256057e+02] [ 9.37214691e-01 3.48729569e-01 -4.03868797e-03 1.76636720e+02] [ 4.35761407e-03 -1.30101758e-04 9.99990497e-01 9.55232745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.102755096 meters Centerline goodness [0,1] 0.9999777441467106 Centerline is valid? [True, True] Translation: X:200.27, Y:176.66, Z:9.55 [[ 3.48393786e-01 -9.37346829e-01 -1.64064761e-03 2.00265941e+02] [ 9.37338136e-01 3.48397625e-01 -4.03905936e-03 1.76661623e+02] [ 4.35759722e-03 -1.30658386e-04 9.99990497e-01 9.55257719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:176.69, Z:9.55 [[ 3.48860695e-01 -9.37173002e-01 -1.72659114e-03 2.00275853e+02] [ 9.37163345e-01 3.48864942e-01 -4.25645906e-03 1.76685579e+02] [ 4.59138563e-03 -1.33186667e-04 9.99989451e-01 9.55316149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:176.71, Z:9.55 [[ 3.49596728e-01 -9.36898700e-01 -1.71871161e-03 2.00290785e+02] [ 9.36889118e-01 3.49600929e-01 -4.23916292e-03 1.76708098e+02] [ 4.57252941e-03 -1.28244721e-04 9.99989538e-01 9.55463002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:176.74, Z:9.55 [[ 3.50592162e-01 -9.36526853e-01 -1.60908370e-03 2.00294796e+02] [ 9.36518433e-01 3.50595836e-01 -3.97312412e-03 1.76736508e+02] [ 4.28507547e-03 -1.13990370e-04 9.99990813e-01 9.55406798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.222755096 meters Centerline goodness [0,1] 0.9999331952702252 Centerline is valid? [True, True] Translation: X:200.30, Y:176.76, Z:9.55 [[ 3.50907835e-01 -9.36408688e-01 -1.56883529e-03 2.00303282e+02] [ 9.36400671e-01 3.50911325e-01 -3.87633408e-03 1.76762141e+02] [ 4.18035498e-03 -1.08822418e-04 9.99991256e-01 9.55413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.31, Y:176.79, Z:9.55 [[ 3.52197307e-01 -9.35925195e-01 -1.04263140e-03 2.00312629e+02] [ 9.35921651e-01 3.52198843e-01 -2.57655601e-03 1.76788357e+02] [ 2.77867726e-03 -6.83652139e-05 9.99996137e-01 9.55467784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:176.81, Z:9.56 [[ 3.52277818e-01 -9.35895040e-01 -9.01351786e-04 2.00322309e+02] [ 9.35892387e-01 3.52278967e-01 -2.22915174e-03 1.76812575e+02] [ 2.40377934e-03 -5.82875616e-05 9.99997109e-01 9.55506797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:176.84, Z:9.56 [[ 3.52942039e-01 -9.35644855e-01 -7.89648831e-04 2.00331750e+02] [ 9.35642820e-01 3.52942919e-01 -1.95206589e-03 1.76837995e+02] [ 2.10514136e-03 -4.98631447e-05 9.99997783e-01 9.55568416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.34, Y:176.86, Z:9.56 [[ 3.53951880e-01 -9.35263377e-01 -6.94767397e-04 2.00341418e+02] [ 9.35261799e-01 3.53952560e-01 -1.71816669e-03 1.76863206e+02] [ 1.85285308e-03 -4.16410758e-05 9.99998283e-01 9.55537366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:176.89, Z:9.56 [[ 3.53910364e-01 -9.35279054e-01 -7.38295258e-04 2.00351368e+02] [ 9.35277268e-01 3.53911131e-01 -1.82828111e-03 1.76888738e+02] [ 1.97124393e-03 -4.34631400e-05 9.99998056e-01 9.55545471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters Centerline goodness [0,1] 0.9999776915183153 Centerline is valid? [True, True] Translation: X:200.36, Y:176.91, Z:9.56 [[ 3.54810750e-01 -9.34937758e-01 -8.49327754e-04 2.00359842e+02] [ 9.34935386e-01 3.54811763e-01 -2.10655846e-03 1.76914527e+02] [ 2.27085252e-03 -4.66369829e-05 9.99997421e-01 9.55504860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:176.94, Z:9.56 [[ 3.54617034e-01 -9.35011210e-01 -8.92402588e-04 2.00370265e+02] [ 9.35008581e-01 3.54618153e-01 -2.21770872e-03 1.76938523e+02] [ 2.39004467e-03 -4.79667909e-05 9.99997143e-01 9.55522048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:176.96, Z:9.55 [[ 3.55794350e-01 -9.34563902e-01 -8.32449208e-04 2.00377928e+02] [ 9.34561614e-01 3.55795321e-01 -2.06839808e-03 1.76964880e+02] [ 2.22923172e-03 -4.20507249e-05 9.99997514e-01 9.55370483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:176.99, Z:9.55 [[ 3.55899434e-01 -9.34523769e-01 -9.57906206e-04 2.00387253e+02] [ 9.34520730e-01 3.55900720e-01 -2.38393093e-03 1.76990964e+02] [ 2.56875963e-03 -4.67435360e-05 9.99996700e-01 9.55376930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.40, Y:177.02, Z:9.55 [[ 3.56394164e-01 -9.34335337e-01 -8.23019722e-04 2.00396313e+02] [ 9.34333088e-01 3.56395113e-01 -2.05067658e-03 1.77015407e+02] [ 2.20933980e-03 -3.81253908e-05 9.99997559e-01 9.55397726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:177.04, Z:9.55 [[ 3.56442026e-01 -9.34316727e-01 -1.15566867e-03 2.00406753e+02] [ 9.34312275e-01 3.56443896e-01 -2.88471009e-03 1.77039409e+02] [ 3.10716393e-03 -5.15235144e-05 9.99995171e-01 9.55375274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.582755096 meters Centerline goodness [0,1] 0.9999331655044891 Centerline is valid? [True, True] Translation: X:200.42, Y:177.07, Z:9.55 [[ 3.55889169e-01 -9.34527187e-01 -1.35480205e-03 2.00416368e+02] [ 9.34521061e-01 3.55891743e-01 -3.38449472e-03 1.77065102e+02] [ 3.64506519e-03 -6.15860375e-05 9.99993355e-01 9.55282840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.43, Y:177.09, Z:9.55 [[ 3.54838944e-01 -9.34926206e-01 -1.52115830e-03 2.00427412e+02] [ 9.34918466e-01 3.54842197e-01 -3.80500713e-03 1.77089880e+02] [ 4.09717203e-03 -7.19942713e-05 9.99991604e-01 9.55273418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters Centerline goodness [0,1] 0.9999777476134315 Centerline is valid? [True, True] Translation: X:200.44, Y:177.12, Z:9.55 [[ 3.54019070e-01 -9.35236555e-01 -1.75632129e-03 2.00438348e+02] [ 9.35226213e-01 3.54023417e-01 -4.39907319e-03 1.77115094e+02] [ 4.73595292e-03 -8.52019059e-05 9.99988782e-01 9.55300963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.45, Y:177.14, Z:9.55 [[ 3.53291823e-01 -9.35511358e-01 -1.84019873e-03 2.00448959e+02] [ 9.35499984e-01 3.53296604e-01 -4.61404052e-03 1.77139141e+02] [ 4.96662327e-03 -9.14030973e-05 9.99987662e-01 9.55319228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:177.16, Z:9.55 [[ 3.51378974e-01 -9.36231096e-01 -2.03755227e-03 2.00461300e+02] [ 9.36217125e-01 3.51384864e-01 -5.11588672e-03 1.77164694e+02] [ 5.50561725e-03 -1.09976298e-04 9.99984838e-01 9.55258776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.47, Y:177.19, Z:9.55 [[ 3.50017605e-01 -9.36740461e-01 -2.23281509e-03 2.00472536e+02] [ 9.36723662e-01 3.50024703e-01 -5.61150265e-03 1.77189192e+02] [ 6.03806202e-03 -1.27406011e-04 9.99981763e-01 9.55263827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.49, Y:177.21, Z:9.55 [[ 3.47783306e-01 -9.37571878e-01 -2.39684427e-03 2.00485240e+02] [ 9.37552491e-01 3.47791533e-01 -6.03120614e-03 1.77212778e+02] [ 6.48829141e-03 -1.49614507e-04 9.99978940e-01 9.55279224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.50, Y:177.24, Z:9.55 [[ 3.46857950e-01 -9.37914870e-01 -2.29332409e-03 2.00495959e+02] [ 9.37897112e-01 3.46865500e-01 -5.77337923e-03 1.77237760e+02] [ 6.21041323e-03 -1.48359558e-04 9.99980704e-01 9.55315226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:177.26, Z:9.55 [[ 3.46153897e-01 -9.38174622e-01 -2.42033073e-03 2.00505992e+02] [ 9.38154809e-01 3.46162322e-01 -6.09938421e-03 1.77261596e+02] [ 6.56011478e-03 -1.59319298e-04 9.99978470e-01 9.55370705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:177.29, Z:9.55 [[ 3.45780977e-01 -9.38312613e-01 -2.22612624e-03 2.00515764e+02] [ 9.38295823e-01 3.45788111e-01 -5.61517013e-03 1.77287155e+02] [ 6.03855294e-03 -1.47145942e-04 9.99981757e-01 9.55410923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:177.31, Z:9.55 [[ 3.45845225e-01 -9.38289217e-01 -2.10383069e-03 2.00524831e+02] [ 9.38274192e-01 3.45851597e-01 -5.31167792e-03 1.77311279e+02] [ 5.71150332e-03 -1.36951599e-04 9.99983680e-01 9.55462479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.53, Y:177.34, Z:9.55 [[ 3.45863048e-01 -9.38282431e-01 -2.19818461e-03 2.00530241e+02] [ 9.38266002e-01 3.45870004e-01 -5.55423530e-03 1.77338620e+02] [ 5.97172752e-03 -1.41477137e-04 9.99982159e-01 9.55402065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:177.36, Z:9.55 [[ 3.45896750e-01 -9.38270059e-01 -2.17601215e-03 2.00539689e+02] [ 9.38253926e-01 3.45903567e-01 -5.50393492e-03 1.77363801e+02] [ 5.91686770e-03 -1.37858741e-04 9.99982486e-01 9.55412581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.55, Y:177.39, Z:9.56 [[ 3.46053318e-01 -9.38212305e-01 -2.18456546e-03 2.00553524e+02] [ 9.38196009e-01 3.46060187e-01 -5.53129453e-03 1.77386956e+02] [ 5.94551972e-03 -1.35427766e-04 9.99982316e-01 9.55505326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:177.41, Z:9.55 [[ 3.46510074e-01 -9.38043947e-01 -2.07907406e-03 2.00560044e+02] [ 9.38029152e-01 3.46516289e-01 -5.26992686e-03 1.77413391e+02] [ 5.66385602e-03 -1.24149325e-04 9.99983953e-01 9.55470504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.57, Y:177.44, Z:9.55 [[ 3.47365106e-01 -9.37727891e-01 -1.97132504e-03 2.00566967e+02] [ 9.37714561e-01 3.47370682e-01 -5.00122799e-03 1.77439606e+02] [ 5.37457150e-03 -1.11288103e-04 9.99985551e-01 9.55449344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:177.47, Z:9.55 [[ 3.47569999e-01 -9.37651810e-01 -2.04420137e-03 2.00575701e+02] [ 9.37637443e-01 3.47575993e-01 -5.19181258e-03 1.77465338e+02] [ 5.57862778e-03 -1.12201450e-04 9.99984433e-01 9.55430718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:177.49, Z:9.55 [[ 3.48401122e-01 -9.37343145e-01 -2.11829356e-03 2.00584292e+02] [ 9.37327678e-01 3.48407545e-01 -5.38575005e-03 1.77490401e+02] [ 5.78632534e-03 -1.09133830e-04 9.99983253e-01 9.55383590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.59, Y:177.52, Z:9.55 [[ 3.48413974e-01 -9.37338375e-01 -2.11524454e-03 2.00593169e+02] [ 9.37322918e-01 3.48420379e-01 -5.38401341e-03 1.77516226e+02] [ 5.78363668e-03 -1.06801678e-04 9.99983269e-01 9.55411585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.60, Y:177.54, Z:9.55 [[ 3.48567646e-01 -9.37281244e-01 -2.11316615e-03 2.00602677e+02] [ 9.37265784e-01 3.48574036e-01 -5.38432840e-03 1.77541299e+02] [ 5.78322487e-03 -1.03795653e-04 9.99983272e-01 9.55434330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.61, Y:177.57, Z:9.55 [[ 3.49065489e-01 -9.37095340e-01 -2.36821463e-03 2.00612012e+02] [ 9.37075872e-01 3.49073505e-01 -6.04139199e-03 1.77566336e+02] [ 6.48804126e-03 -1.10355335e-04 9.99978946e-01 9.55422183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.62, Y:177.59, Z:9.55 [[ 3.48893948e-01 -9.37159500e-01 -2.25498900e-03 2.00621251e+02] [ 9.37141814e-01 3.48901220e-01 -5.75843598e-03 1.77590497e+02] [ 6.18334140e-03 -1.04161013e-04 9.99980878e-01 9.55431419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.63, Y:177.62, Z:9.55 [[ 3.48907466e-01 -9.37154821e-01 -2.10298525e-03 2.00629317e+02] [ 9.37139409e-01 3.48913791e-01 -5.37538373e-03 1.77616939e+02] [ 5.77132733e-03 -9.52788412e-05 9.99983341e-01 9.55445096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.64, Y:177.64, Z:9.55 [[ 3.48612026e-01 -9.37265152e-01 -1.92114288e-03 2.00638874e+02] [ 9.37252270e-01 3.48617308e-01 -4.91483324e-03 1.77643015e+02] [ 5.27624558e-03 -8.72255533e-05 9.99986077e-01 9.55492712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.65, Y:177.67, Z:9.56 [[ 3.48450496e-01 -9.37325533e-01 -1.75982286e-03 2.00648575e+02] [ 9.37314706e-01 3.48454931e-01 -4.50598639e-03 1.77668814e+02] [ 4.83679505e-03 -7.93946558e-05 9.99988300e-01 9.55520799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.66, Y:177.69, Z:9.56 [[ 3.47999074e-01 -9.37493330e-01 -1.70320854e-03 2.00658489e+02] [ 9.37483172e-01 3.48003233e-01 -4.36494974e-03 1.77693339e+02] [ 4.68483335e-03 -7.77308729e-05 9.99989023e-01 9.55549683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:177.72, Z:9.56 [[ 3.47916094e-01 -9.37524248e-01 -1.63572585e-03 2.00668726e+02] [ 9.37514860e-01 3.47919931e-01 -4.19637333e-03 1.77718823e+02] [ 4.50330338e-03 -7.35314755e-05 9.99989857e-01 9.55605379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:177.74, Z:9.56 [[ 3.48116159e-01 -9.37449731e-01 -1.77278082e-03 2.00677360e+02] [ 9.37438676e-01 3.48120664e-01 -4.55327096e-03 1.77744262e+02] [ 4.88560427e-03 -7.68061083e-05 9.99988062e-01 9.55575164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4227550960001 meters Centerline goodness [0,1] 0.9999554516093107 Centerline is valid? [True, True] Translation: X:200.69, Y:177.77, Z:9.56 [[ 3.48401489e-01 -9.37343952e-01 -1.64875075e-03 2.00685824e+02] [ 9.37334373e-01 3.48405383e-01 -4.23810445e-03 1.77768879e+02] [ 4.54699521e-03 -6.88688573e-05 9.99989660e-01 9.55559416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.69, Y:177.80, Z:9.55 [[ 3.49088300e-01 -9.37088040e-01 -1.83400938e-03 2.00693432e+02] [ 9.37076154e-01 3.49093110e-01 -4.72035381e-03 1.77795361e+02] [ 5.06362714e-03 -7.07861674e-05 9.99987177e-01 9.55457877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.70, Y:177.82, Z:9.55 [[ 3.48678404e-01 -9.37240233e-01 -2.02868649e-03 2.00703354e+02] [ 9.37225658e-01 3.48684297e-01 -5.22746328e-03 1.77820042e+02] [ 5.60676002e-03 -7.86334763e-05 9.99984279e-01 9.55431172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:177.85, Z:9.55 [[ 3.48193960e-01 -9.37420229e-01 -2.06895263e-03 2.00711813e+02] [ 9.37405040e-01 3.48200097e-01 -5.33704957e-03 1.77846450e+02] [ 5.72346774e-03 -8.11181965e-05 9.99983618e-01 9.55332910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5427550960001 meters Centerline goodness [0,1] 0.9999106744082179 Centerline is valid? [True, True] Translation: X:200.72, Y:177.87, Z:9.55 [[ 3.46517424e-01 -9.38041193e-01 -2.09645678e-03 2.00723747e+02] [ 9.38025573e-01 3.46523754e-01 -5.41408482e-03 1.77870605e+02] [ 5.80510666e-03 -9.04553474e-05 9.99983146e-01 9.55324353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.74, Y:177.90, Z:9.55 [[ 3.44912736e-01 -9.38632639e-01 -1.99335759e-03 2.00735244e+02] [ 9.38618500e-01 3.44918483e-01 -5.15276727e-03 1.77896110e+02] [ 5.52410142e-03 -9.37472516e-05 9.99984738e-01 9.55421078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.75, Y:177.92, Z:9.55 [[ 3.41807242e-01 -9.39768655e-01 -1.63844417e-03 2.00747563e+02] [ 9.39759105e-01 3.41811157e-01 -4.23758939e-03 1.77920733e+02] [ 4.54239218e-03 -9.13040860e-05 9.99989679e-01 9.55499076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:177.95, Z:9.56 [[ 3.40207217e-01 -9.40349610e-01 -1.28875427e-03 2.00758473e+02] [ 9.40343699e-01 3.40209649e-01 -3.33492716e-03 1.77946824e+02] [ 3.57444409e-03 -7.73056700e-05 9.99993609e-01 9.55551446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.77, Y:177.97, Z:9.56 [[ 3.39023395e-01 -9.40777156e-01 -1.21655889e-03 2.00768877e+02] [ 9.40771884e-01 3.39025569e-01 -3.15050025e-03 1.77973357e+02] [ 3.37636323e-03 -7.64111081e-05 9.99994297e-01 9.55569407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.78, Y:178.00, Z:9.56 [[ 3.37869218e-01 -9.41192502e-01 -1.03269434e-03 2.00779533e+02] [ 9.41188701e-01 3.37870789e-01 -2.67562000e-03 1.77999190e+02] [ 2.86719074e-03 -6.79506055e-05 9.99995887e-01 9.55642428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.79, Y:178.02, Z:9.56 [[ 3.37347931e-01 -9.41379645e-01 -8.58395773e-04 2.00788645e+02] [ 9.41377020e-01 3.37349018e-01 -2.22392119e-03 1.78024615e+02] [ 2.38313311e-03 -5.78388431e-05 9.99997159e-01 9.55670485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:178.05, Z:9.56 [[ 3.37709004e-01 -9.41250168e-01 -8.65828841e-04 2.00796212e+02] [ 9.41247491e-01 3.37710110e-01 -2.24558085e-03 1.78050556e+02] [ 2.40605250e-03 -5.66063523e-05 9.99997104e-01 9.55598918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:178.08, Z:9.56 [[ 3.37897956e-01 -9.41182437e-01 -7.69256933e-04 2.00803645e+02] [ 9.41180322e-01 3.37898828e-01 -1.99606317e-03 1.78076886e+02] [ 2.13859062e-03 -4.95438228e-05 9.99997712e-01 9.55558454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.81, Y:178.10, Z:9.56 [[ 3.38203071e-01 -9.41072739e-01 -8.84958236e-04 2.00812115e+02] [ 9.41069930e-01 3.38204224e-01 -2.29983624e-03 1.78102057e+02] [ 2.46360981e-03 -5.49959052e-05 9.99996964e-01 9.55558525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:178.13, Z:9.55 [[ 3.39779362e-01 -9.40504490e-01 -1.13534028e-03 2.00818287e+02] [ 9.40499841e-01 3.39781253e-01 -2.95782448e-03 1.78128647e+02] [ 3.16761455e-03 -6.27796407e-05 9.99994981e-01 9.55431733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:178.16, Z:9.55 [[ 3.40417860e-01 -9.40273481e-01 -1.20934072e-03 2.00824991e+02] [ 9.40268194e-01 3.40420002e-01 -3.15370839e-03 1.78156392e+02] [ 3.37703213e-03 -6.35259565e-05 9.99994296e-01 9.55336059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:178.18, Z:9.55 [[ 3.42524514e-01 -9.39508124e-01 -1.20113668e-03 2.00832228e+02] [ 9.39502894e-01 3.42526616e-01 -3.13530296e-03 1.78183906e+02] [ 3.35706388e-03 -5.45532617e-05 9.99994364e-01 9.55350942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.84, Y:178.21, Z:9.55 [[ 3.43446107e-01 -9.39171762e-01 -1.08286600e-03 2.00840380e+02] [ 9.39167506e-01 3.43447811e-01 -2.82779712e-03 1.78209702e+02] [ 3.02769516e-03 -4.57966558e-05 9.99995415e-01 9.55395194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.85, Y:178.24, Z:9.55 [[ 3.44420068e-01 -9.38814993e-01 -1.10760788e-03 2.00848205e+02] [ 9.38810528e-01 3.44421846e-01 -2.89576032e-03 1.78235640e+02] [ 3.10006755e-03 -4.24759729e-05 9.99995194e-01 9.55415971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.85, Y:178.26, Z:9.55 [[ 3.46166423e-01 -9.38172523e-01 -1.06030968e-03 2.00854131e+02] [ 9.38168421e-01 3.46168045e-01 -2.77476218e-03 1.78261982e+02] [ 2.97025096e-03 -3.42195563e-05 9.99995588e-01 9.55436067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:178.29, Z:9.55 [[ 3.45838279e-01 -9.38293538e-01 -1.05927114e-03 2.00863461e+02] [ 9.38289434e-01 3.45839899e-01 -2.77515811e-03 1.78287075e+02] [ 2.97025115e-03 -3.41470126e-05 9.99995588e-01 9.55461008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:178.31, Z:9.55 [[ 3.45967285e-01 -9.38245913e-01 -1.11592187e-03 2.00871390e+02] [ 9.38241348e-01 3.45969083e-01 -2.92704027e-03 1.78313064e+02] [ 3.13235803e-03 -3.43438603e-05 9.99995094e-01 9.55442077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.88, Y:178.34, Z:9.56 [[ 3.45849478e-01 -9.38289375e-01 -1.09021286e-03 2.00880596e+02] [ 9.38285010e-01 3.45851194e-01 -2.86217223e-03 1.78338156e+02] [ 3.06259721e-03 -3.30496134e-05 9.99995310e-01 9.55538701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:178.36, Z:9.55 [[ 3.44784319e-01 -9.38681240e-01 -1.14178304e-03 2.00889523e+02] [ 9.38676441e-01 3.44786207e-01 -3.00170541e-03 1.78363722e+02] [ 3.21131560e-03 -3.68238898e-05 9.99994843e-01 9.55485582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.90, Y:178.39, Z:9.56 [[ 3.43872393e-01 -9.39015804e-01 -1.04721232e-03 2.00899759e+02] [ 9.39011763e-01 3.43873986e-01 -2.75527727e-03 1.78388950e+02] [ 2.94735797e-03 -3.58809013e-05 9.99995656e-01 9.55538233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1727550960001 meters Centerline goodness [0,1] 0.9999778893139054 Centerline is valid? [True, True] Translation: X:200.91, Y:178.41, Z:9.56 [[ 3.41650022e-01 -9.39827045e-01 -6.22276108e-04 2.00911272e+02] [ 9.39825622e-01 3.41650588e-01 -1.63601382e-03 1.78414365e+02] [ 1.75017104e-03 -2.58868707e-05 9.99998468e-01 9.55663180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:178.44, Z:9.56 [[ 3.40307693e-01 -9.40314041e-01 -4.22379939e-04 2.00921412e+02] [ 9.40313386e-01 3.40307954e-01 -1.10980674e-03 1.78439105e+02] [ 1.18730611e-03 -1.94937390e-05 9.99999295e-01 9.55741251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.93, Y:178.46, Z:9.56 [[ 3.39368716e-01 -9.40653412e-01 -1.79117358e-04 2.00931175e+02] [ 9.40653297e-01 3.39368764e-01 -4.66907864e-04 1.78463349e+02] [ 4.99985312e-04 -1.00334111e-05 9.99999875e-01 9.55817513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:178.49, Z:9.56 [[ 3.37279042e-01 -9.41404705e-01 -1.70673057e-04 2.00941432e+02] [ 9.41404600e-01 3.37279085e-01 -4.44009145e-04 1.78489059e+02] [ 4.75556750e-04 -1.09174217e-05 9.99999887e-01 9.55777997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.95, Y:178.51, Z:9.56 [[ 3.36305283e-01 -9.41752985e-01 -2.69238128e-04 2.00951409e+02] [ 9.41752721e-01 3.36305390e-01 -7.04902052e-04 1.78514388e+02] [ 7.54389844e-04 -1.64934553e-05 9.99999715e-01 9.55756887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.96, Y:178.54, Z:9.56 [[ 3.34739492e-01 -9.42310548e-01 -5.51116633e-04 2.00961953e+02] [ 9.42309426e-01 3.34739944e-01 -1.45446253e-03 1.78539232e+02] [ 1.55503614e-03 -3.24563487e-05 9.99998790e-01 9.55617332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.97, Y:178.56, Z:9.56 [[ 3.34320008e-01 -9.42459232e-01 -8.53285213e-04 2.00971601e+02] [ 9.42456527e-01 3.34321093e-01 -2.25852295e-03 1.78564949e+02] [ 2.41383705e-03 -4.91148086e-05 9.99997086e-01 9.55533404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:178.59, Z:9.55 [[ 3.33887873e-01 -9.42612413e-01 -8.53401053e-04 2.00981644e+02] [ 9.42609702e-01 3.33888960e-01 -2.26118048e-03 1.78590335e+02] [ 2.41635798e-03 -4.94433705e-05 9.99997079e-01 9.55471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.99, Y:178.61, Z:9.55 [[ 3.33617740e-01 -9.42707718e-01 -1.16744470e-03 2.00991726e+02] [ 9.42702619e-01 3.33619776e-01 -3.10103822e-03 1.78614442e+02] [ 3.31285531e-03 -6.59918169e-05 9.99994510e-01 9.55455736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:178.64, Z:9.55 [[ 3.33648844e-01 -9.42696739e-01 -1.14296246e-03 2.01000512e+02] [ 9.42691850e-01 3.33650796e-01 -3.03674769e-03 1.78639603e+02] [ 3.24408248e-03 -6.42540341e-05 9.99994736e-01 9.55468491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.01, Y:178.66, Z:9.55 [[ 3.35136520e-01 -9.42168754e-01 -1.24610612e-03 2.01006365e+02] [ 9.42162920e-01 3.35138831e-01 -3.31606618e-03 1.78664366e+02] [ 3.54191249e-03 -6.27001029e-05 9.99993725e-01 9.55422950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.01, Y:178.69, Z:9.55 [[ 3.36241378e-01 -9.41774803e-01 -1.39869010e-03 2.01013162e+02] [ 9.41767437e-01 3.36244281e-01 -3.72527022e-03 1.78689787e+02] [ 3.97866718e-03 -6.46507975e-05 9.99992083e-01 9.55390183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.02, Y:178.72, Z:9.55 [[ 3.37518227e-01 -9.41317829e-01 -1.48032043e-03 2.01020056e+02] [ 9.41309554e-01 3.37521467e-01 -3.94761017e-03 1.78715768e+02] [ 4.21559576e-03 -6.10493764e-05 9.99991113e-01 9.55374638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.02, Y:178.74, Z:9.55 [[ 3.40524191e-01 -9.40234449e-01 -1.56731476e-03 2.01023808e+02] [ 9.40225135e-01 3.40527794e-01 -4.18531529e-03 1.78744071e+02] [ 4.46889185e-03 -4.84276300e-05 9.99990013e-01 9.55246066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:178.77, Z:9.55 [[ 3.41369021e-01 -9.39927945e-01 -1.62758955e-03 2.01031722e+02] [ 9.39917879e-01 3.41372898e-01 -4.35021700e-03 1.78770181e+02] [ 4.64450548e-03 -4.47711974e-05 9.99989213e-01 9.55267734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.04, Y:178.79, Z:9.55 [[ 3.43140478e-01 -9.39282540e-01 -1.70935923e-03 2.01039829e+02] [ 9.39271404e-01 3.43144733e-01 -4.57396840e-03 1.78794881e+02] [ 4.88280628e-03 -3.60385452e-05 9.99988078e-01 9.55331105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:178.82, Z:9.55 [[ 3.43401610e-01 -9.39186858e-01 -1.83834790e-03 2.01047796e+02] [ 9.39173943e-01 3.43406529e-01 -4.92554219e-03 1.78820965e+02] [ 5.25730517e-03 -3.50893304e-05 9.99986180e-01 9.55288680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:178.85, Z:9.55 [[ 3.43945233e-01 -9.38988063e-01 -1.75894406e-03 2.01055933e+02] [ 9.38976208e-01 3.43949730e-01 -4.71860368e-03 1.78846138e+02] [ 5.03570086e-03 -2.86653780e-05 9.99987320e-01 9.55350671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:178.87, Z:9.55 [[ 3.45087503e-01 -9.38568621e-01 -1.88633015e-03 2.01061811e+02] [ 9.38554959e-01 3.45092658e-01 -5.06429532e-03 1.78872560e+02] [ 5.40414736e-03 -2.27994907e-05 9.99985397e-01 9.55337897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.07, Y:178.90, Z:9.55 [[ 3.45082324e-01 -9.38570547e-01 -1.87573018e-03 2.01069845e+02] [ 9.38557008e-01 3.45087421e-01 -5.04130110e-03 1.78899019e+02] [ 5.37890762e-03 -2.08158057e-05 9.99985533e-01 9.55347093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:178.93, Z:9.55 [[ 3.45990645e-01 -9.38236342e-01 -1.74349877e-03 2.01076616e+02] [ 9.38224618e-01 3.45995038e-01 -4.69033951e-03 1.78925467e+02] [ 5.00388891e-03 -1.29798709e-05 9.99987480e-01 9.55398071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.09, Y:178.95, Z:9.55 [[ 3.46181501e-01 -9.38165689e-01 -1.87322338e-03 2.01085164e+02] [ 9.38152122e-01 3.46186569e-01 -5.04538928e-03 1.78950794e+02] [ 5.38189588e-03 -1.07480543e-05 9.99985517e-01 9.55437501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.09, Y:178.98, Z:9.55 [[ 3.46078266e-01 -9.38203438e-01 -2.03516248e-03 2.01094312e+02] [ 9.38187383e-01 3.46084250e-01 -5.48879868e-03 1.78975880e+02] [ 5.85394748e-03 -9.80982729e-06 9.99982865e-01 9.55494549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.10, Y:179.00, Z:9.55 [[ 3.45580862e-01 -9.38385903e-01 -2.40109982e-03 2.01103517e+02] [ 9.38363494e-01 3.45589203e-01 -6.48499967e-03 1.79000442e+02] [ 6.91522644e-03 -1.20126395e-05 9.99976089e-01 9.55464132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:179.03, Z:9.55 [[ 3.44174564e-01 -9.38901372e-01 -2.84318302e-03 2.01112498e+02] [ 9.38869887e-01 3.44186307e-01 -7.68909674e-03 1.79025680e+02] [ 8.19788814e-03 -2.29874013e-05 9.99966397e-01 9.55282882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.12, Y:179.05, Z:9.55 [[ 3.42780628e-01 -9.39410113e-01 -3.17497499e-03 2.01122424e+02] [ 9.39370777e-01 3.42795330e-01 -8.59680577e-03 1.79051245e+02] [ 9.16429288e-03 -3.56602453e-05 9.99958006e-01 9.55204082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:179.08, Z:9.55 [[ 3.41230076e-01 -9.39973709e-01 -3.38546907e-03 2.01132499e+02] [ 9.39928908e-01 3.41246866e-01 -9.17742997e-03 1.79075267e+02] [ 9.78182360e-03 -5.04851185e-05 9.99952156e-01 9.55136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:179.10, Z:9.55 [[ 3.39680637e-01 -9.40533587e-01 -3.69281000e-03 2.01143352e+02] [ 9.40480183e-01 3.39700703e-01 -1.00228828e-02 1.79100149e+02] [ 1.06813081e-02 -6.84353998e-05 9.99942951e-01 9.55125378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.16, Y:179.12, Z:9.55 [[ 3.37180138e-01 -9.41431490e-01 -4.03798730e-03 2.01155111e+02] [ 9.41367550e-01 3.37204301e-01 -1.09724514e-02 1.79124315e+02] [ 1.16914380e-02 -1.01537524e-04 9.99931648e-01 9.55061773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.16, Y:179.15, Z:9.55 [[ 3.36019453e-01 -9.41846237e-01 -4.07352754e-03 2.01163739e+02] [ 9.41781061e-01 3.36044125e-01 -1.10806033e-02 1.79150692e+02] [ 1.18051096e-02 -1.13072816e-04 9.99930311e-01 9.55084471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.17, Y:179.18, Z:9.55 [[ 3.34104948e-01 -9.42524981e-01 -4.53249286e-03 2.01174037e+02] [ 9.42444163e-01 3.34135658e-01 -1.23434994e-02 1.79175669e+02] [ 1.31485240e-02 -1.47597210e-04 9.99913544e-01 9.54989798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.18, Y:179.20, Z:9.55 [[ 3.32958828e-01 -9.42929559e-01 -4.71872076e-03 2.01181714e+02] [ 9.42841812e-01 3.32992222e-01 -1.28645799e-02 1.79202157e+02] [ 1.37016899e-02 -1.65631791e-04 9.99906114e-01 9.55010394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.132755096 meters Centerline goodness [0,1] 0.999933739729658 Centerline is valid? [True, True] Translation: X:201.19, Y:179.23, Z:9.55 [[ 3.31559029e-01 -9.43422455e-01 -4.76250251e-03 2.01191192e+02] [ 9.43332922e-01 3.31593181e-01 -1.29985213e-02 1.79226607e+02] [ 1.38423102e-02 -1.82848311e-04 9.99904174e-01 9.54924056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:179.25, Z:9.55 [[ 3.29744611e-01 -9.44059945e-01 -4.39447044e-03 2.01199968e+02] [ 9.43983608e-01 3.29773837e-01 -1.20068250e-02 1.79252279e+02] [ 1.27843440e-02 -1.89122212e-04 9.99918259e-01 9.55123731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.21, Y:179.28, Z:9.55 [[ 3.28826644e-01 -9.44379194e-01 -4.58003404e-03 2.01209336e+02] [ 9.44296119e-01 3.28858474e-01 -1.25277041e-02 1.79277581e+02] [ 1.33370861e-02 -2.05465483e-04 9.99911036e-01 9.55113489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.22, Y:179.30, Z:9.55 [[ 3.27835034e-01 -9.44720570e-01 -5.21877034e-03 2.01218161e+02] [ 9.44612498e-01 3.27876479e-01 -1.42913622e-02 1.79303751e+02] [ 1.52124559e-02 -2.44506479e-04 9.99884254e-01 9.55062487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:179.33, Z:9.55 [[ 3.27248669e-01 -9.44921209e-01 -5.67613156e-03 2.01228638e+02] [ 9.44793095e-01 3.27297780e-01 -1.55618380e-02 1.79328400e+02] [ 1.65624961e-02 -2.70179121e-04 9.99862796e-01 9.54937166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:179.36, Z:9.55 [[ 3.27266288e-01 -9.44914695e-01 -5.74429679e-03 2.01235769e+02] [ 9.44783180e-01 3.27316588e-01 -1.57668777e-02 1.79355244e+02] [ 1.67785580e-02 -2.67147470e-04 9.99859194e-01 9.55001733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:179.38, Z:9.55 [[ 3.28315243e-01 -9.44548171e-01 -6.15251852e-03 2.01242525e+02] [ 9.44396876e-01 3.28372784e-01 -1.69072464e-02 1.79381192e+02] [ 1.79900283e-02 -2.59512554e-04 9.99838133e-01 9.54873157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:179.41, Z:9.55 [[ 3.28437006e-01 -9.44504607e-01 -6.33877924e-03 2.01249121e+02] [ 9.44343631e-01 3.28498067e-01 -1.74392140e-02 1.79407563e+02] [ 1.85536947e-02 -2.58302584e-04 9.99827832e-01 9.54875568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:179.43, Z:9.55 [[ 3.29293370e-01 -9.44202863e-01 -6.84324786e-03 2.01255958e+02] [ 9.44014732e-01 3.29364371e-01 -1.88492922e-02 1.79433503e+02] [ 2.00514777e-02 -2.53179849e-04 9.99798917e-01 9.54804027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:179.46, Z:9.55 [[ 3.29317608e-01 -9.44193412e-01 -6.97960068e-03 2.01264123e+02] [ 9.43997276e-01 3.29391467e-01 -1.92458778e-02 1.79460681e+02] [ 2.04708519e-02 -2.50717609e-04 9.99790419e-01 9.54903639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.27, Y:179.49, Z:9.55 [[ 3.29426361e-01 -9.44152727e-01 -7.34170172e-03 2.01272563e+02] [ 9.43935315e-01 3.29508062e-01 -2.02622246e-02 1.79486786e+02] [ 2.15497846e-02 -2.55180600e-04 9.99767744e-01 9.54848637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:179.51, Z:9.55 [[ 3.28988222e-01 -9.44304909e-01 -7.41540232e-03 2.01280913e+02] [ 9.44082711e-01 3.29071680e-01 -2.04857358e-02 1.79511344e+02] [ 2.17849798e-02 -2.61187321e-04 9.99762645e-01 9.54715971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:179.54, Z:9.55 [[ 3.28163958e-01 -9.44590988e-01 -7.50209299e-03 2.01288677e+02] [ 9.44363122e-01 3.28249583e-01 -2.07486233e-02 1.79537448e+02] [ 2.20615215e-02 -2.75749611e-04 9.99756577e-01 9.54753223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters Centerline goodness [0,1] 0.9999564089710338 Centerline is valid? [True, True] Translation: X:201.30, Y:179.56, Z:9.55 [[ 3.26949304e-01 -9.45011018e-01 -7.63733834e-03 2.01297258e+02] [ 9.44774474e-01 3.27038354e-01 -2.11449198e-02 1.79564203e+02] [ 2.24798847e-02 -3.02245518e-04 9.99747250e-01 9.54770534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:179.59, Z:9.55 [[ 3.24261657e-01 -9.45939336e-01 -7.29047324e-03 2.01307355e+02] [ 9.45723598e-01 3.24343422e-01 -2.02044726e-02 1.79590735e+02] [ 2.14768225e-02 -3.43236811e-04 9.99769288e-01 9.54833308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:179.62, Z:9.55 [[ 3.22404092e-01 -9.46572988e-01 -7.42832589e-03 2.01317324e+02] [ 9.46348724e-01 3.22489426e-01 -2.06073497e-02 1.79616904e+02] [ 2.19019171e-02 -3.85892860e-04 9.99760050e-01 9.54860010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:179.64, Z:9.55 [[ 3.18316285e-01 -9.47956735e-01 -7.26433697e-03 2.01329929e+02] [ 9.47742176e-01 3.18398828e-01 -2.01730935e-02 1.79641560e+02] [ 2.14361762e-02 -4.63294352e-04 9.99770111e-01 9.54846478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.34, Y:179.67, Z:9.55 [[ 3.15944160e-01 -9.48749486e-01 -7.32808139e-03 2.01340363e+02] [ 9.48530904e-01 3.16028714e-01 -2.03709737e-02 1.79667942e+02] [ 2.16428349e-02 -5.14821497e-04 9.99765634e-01 9.54899417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.35, Y:179.69, Z:9.55 [[ 3.13781638e-01 -9.49467749e-01 -7.21645257e-03 2.01352113e+02] [ 9.49255529e-01 3.13864130e-01 -2.00810453e-02 1.79692771e+02] [ 2.13312905e-02 -5.49194224e-04 9.99772311e-01 9.54855875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:179.72, Z:9.55 [[ 3.10814779e-01 -9.50443291e-01 -7.19192535e-03 2.01362970e+02] [ 9.50232342e-01 3.10897381e-01 -2.00328460e-02 1.79718934e+02] [ 2.12760349e-02 -6.07495453e-04 9.99773455e-01 9.54980927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:179.75, Z:9.55 [[ 3.09362577e-01 -9.50917732e-01 -7.08960781e-03 2.01373552e+02] [ 9.50712468e-01 3.09443171e-01 -1.97668250e-02 1.79745330e+02] [ 2.09904551e-02 -6.25062610e-04 9.99779481e-01 9.55055147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.38, Y:179.77, Z:9.55 [[ 3.07326504e-01 -9.51578851e-01 -6.93619768e-03 2.01384352e+02] [ 9.51382160e-01 3.07404080e-01 -1.93575899e-02 1.79771734e+02] [ 2.05524886e-02 -6.49874293e-04 9.99788564e-01 9.55157039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.39, Y:179.80, Z:9.55 [[ 3.06688768e-01 -9.51785010e-01 -6.87703733e-03 2.01393937e+02] [ 9.51591299e-01 3.06765170e-01 -1.92127487e-02 1.79796700e+02] [ 2.03960417e-02 -6.51794658e-04 9.99791767e-01 9.55171328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:179.82, Z:9.55 [[ 3.06350773e-01 -9.51894010e-01 -6.85550446e-03 2.01403209e+02] [ 9.51701097e-01 3.06426780e-01 -1.91742433e-02 1.79821803e+02] [ 2.03525575e-02 -6.50346839e-04 9.99792654e-01 9.55231096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:179.85, Z:9.55 [[ 3.07435832e-01 -9.51546667e-01 -6.49233783e-03 2.01411488e+02] [ 9.51373225e-01 3.07503813e-01 -1.81767059e-02 1.79848586e+02] [ 1.92924026e-02 -5.88465678e-04 9.99813711e-01 9.55331755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.42, Y:179.88, Z:9.55 [[ 3.08347377e-01 -9.51251625e-01 -6.49925610e-03 2.01419746e+02] [ 9.51077417e-01 3.08415346e-01 -1.82132043e-02 1.79875737e+02] [ 1.93298105e-02 -5.65301916e-04 9.99813002e-01 9.55378488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:179.90, Z:9.55 [[ 3.09484520e-01 -9.50882356e-01 -6.48660134e-03 2.01425803e+02] [ 9.50708409e-01 3.09552027e-01 -1.81951425e-02 1.79903573e+02] [ 1.93093806e-02 -5.35751483e-04 9.99813413e-01 9.55457134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:179.93, Z:9.55 [[ 3.09154734e-01 -9.50989670e-01 -6.48062878e-03 2.01434592e+02] [ 9.50815702e-01 3.09222187e-01 -1.81972701e-02 1.79928864e+02] [ 1.93093701e-02 -5.36111393e-04 9.99813413e-01 9.55482098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.972755096 meters Centerline goodness [0,1] 0.9999781711815939 Centerline is valid? [True, True] Translation: X:201.44, Y:179.96, Z:9.55 [[ 3.11615909e-01 -9.50185960e-01 -6.49368679e-03 2.01441507e+02] [ 9.50010750e-01 3.11683190e-01 -1.82527843e-02 1.79956199e+02] [ 1.93675124e-02 -4.81214289e-04 9.99812316e-01 9.55356616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:179.98, Z:9.55 [[ 3.12680147e-01 -9.49835653e-01 -6.58471158e-03 2.01451414e+02] [ 9.49655030e-01 3.12749135e-01 -1.85284157e-02 1.79980547e+02] [ 1.96583127e-02 -4.59736715e-04 9.99806651e-01 9.55287414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0327550960001 meters Centerline goodness [0,1] 0.9999781945050152 Centerline is valid? [True, True] Translation: X:201.46, Y:180.01, Z:9.55 [[ 3.14547267e-01 -9.49218042e-01 -6.71749578e-03 2.01458548e+02] [ 9.49029506e-01 3.14618704e-01 -1.89226756e-02 1.80007032e+02] [ 2.00751949e-02 -4.23025807e-04 9.99798384e-01 9.55278926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:180.03, Z:9.55 [[ 3.15048308e-01 -9.49051610e-01 -6.75320980e-03 2.01463550e+02] [ 9.48860608e-01 3.15120415e-01 -1.90438982e-02 1.80034403e+02] [ 2.02017165e-02 -4.08106856e-04 9.99795841e-01 9.55468127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.47, Y:180.06, Z:9.55 [[ 3.15823987e-01 -9.48792163e-01 -6.97434658e-03 2.01471386e+02] [ 9.48587908e-01 3.15900736e-01 -1.96902668e-02 1.80060369e+02] [ 2.08851720e-02 -3.97122274e-04 9.99781802e-01 9.55464419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters Centerline goodness [0,1] 0.9998256624825662 Centerline is valid? [True, True] Translation: X:201.48, Y:180.08, Z:9.55 [[ 3.15212486e-01 -9.48995167e-01 -7.01862458e-03 2.01484184e+02] [ 9.48787941e-01 3.15290354e-01 -1.98352302e-02 1.80083369e+02] [ 2.10364422e-02 -4.06874136e-04 9.99778627e-01 9.55050775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.152755096 meters Centerline goodness [0,1] 0.9999781726109923 Centerline is valid? [True, True] Translation: X:201.49, Y:180.11, Z:9.55 [[ 3.14951016e-01 -9.49082740e-01 -6.91449103e-03 2.01493310e+02] [ 9.48881224e-01 3.15026653e-01 -1.95609313e-02 1.80108477e+02] [ 2.07431912e-02 -4.00295542e-04 9.99784757e-01 9.55292951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.182755096 meters Centerline goodness [0,1] 0.9998468572928745 Centerline is valid? [True, True] Translation: X:201.50, Y:180.14, Z:9.55 [[ 3.12871184e-01 -9.49770665e-01 -6.87798571e-03 2.01501945e+02] [ 9.49571011e-01 3.12946470e-01 -1.94782410e-02 1.80135585e+02] [ 2.06523032e-02 -4.36955538e-04 9.99786623e-01 9.55318311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:180.16, Z:9.55 [[ 3.12108924e-01 -9.50021959e-01 -6.80416219e-03 2.01514571e+02] [ 9.49826202e-01 3.12182769e-01 -1.92899942e-02 1.80158638e+02] [ 2.04500603e-02 -4.42192200e-04 9.99790778e-01 9.55347929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.52, Y:180.18, Z:9.56 [[ 3.09398093e-01 -9.50909434e-01 -6.63848337e-03 2.01524313e+02] [ 9.50722953e-01 3.09468926e-01 -1.88374798e-02 1.80184360e+02] [ 1.99671415e-02 -4.83078196e-04 9.99800520e-01 9.55577695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.54, Y:180.21, Z:9.56 [[ 3.08064730e-01 -9.51342797e-01 -6.55782312e-03 2.01535024e+02] [ 9.51160608e-01 3.08134115e-01 -1.86243055e-02 1.80210172e+02] [ 1.97387879e-02 -5.00051377e-04 9.99805046e-01 9.55655779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.54, Y:180.24, Z:9.56 [[ 3.07296587e-01 -9.51592346e-01 -6.38866154e-03 2.01543549e+02] [ 9.51419133e-01 3.07362587e-01 -1.81624153e-02 1.80236042e+02] [ 1.92468509e-02 -4.97046605e-04 9.99814639e-01 9.55734751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.55, Y:180.26, Z:9.56 [[ 3.06724541e-01 -9.51777893e-01 -6.23683882e-03 2.01552261e+02] [ 9.51612494e-01 3.06787551e-01 -1.77499543e-02 1.80262092e+02] [ 1.88073986e-02 -4.90707158e-04 9.99823005e-01 9.55788748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters Centerline goodness [0,1] 0.9999561499671125 Centerline is valid? [True, True] Translation: X:201.56, Y:180.29, Z:9.56 [[ 3.06485826e-01 -9.51856624e-01 -5.95023366e-03 2.01561658e+02] [ 9.51705761e-01 3.06543225e-01 -1.69527418e-02 1.80286274e+02] [ 1.79605834e-02 -4.67096578e-04 9.99838587e-01 9.55772263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.57, Y:180.31, Z:9.56 [[ 3.07023362e-01 -9.51685663e-01 -5.57264002e-03 2.01569244e+02] [ 9.51553027e-01 3.07073640e-01 -1.58938924e-02 1.80312600e+02] [ 1.68372003e-02 -4.22866210e-04 9.99858155e-01 9.56009153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:180.34, Z:9.56 [[ 3.07012404e-01 -9.51690559e-01 -5.33521851e-03 2.01580241e+02] [ 9.51568726e-01 3.07058497e-01 -1.52328413e-02 1.80336497e+02] [ 1.61351754e-02 -4.00155845e-04 9.99869740e-01 9.55947929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.452755096 meters Centerline goodness [0,1] 0.9999781506729593 Centerline is valid? [True, True] Translation: X:201.58, Y:180.36, Z:9.56 [[ 3.06802889e-01 -9.51758818e-01 -5.20960844e-03 2.01584536e+02] [ 9.51642402e-01 3.06846869e-01 -1.48908471e-02 1.80362938e+02] [ 1.57710470e-02 -3.89129389e-04 9.99875554e-01 9.56072750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.482755096 meters Centerline goodness [0,1] 0.9998906673663955 Centerline is valid? [True, True] Translation: X:201.59, Y:180.39, Z:9.56 [[ 3.06841071e-01 -9.51747610e-01 -5.00446710e-03 2.01592323e+02] [ 9.51639935e-01 3.06881658e-01 -1.43206818e-02 1.80388333e+02] [ 1.51654539e-02 -3.68277400e-04 9.99884930e-01 9.56023210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:180.41, Z:9.56 [[ 3.07046708e-01 -9.51682374e-01 -4.79364046e-03 2.01598366e+02] [ 9.51583349e-01 3.07083931e-01 -1.37327857e-02 1.80413743e+02] [ 1.45413000e-02 -3.44941813e-04 9.99894210e-01 9.56230471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5427550960001 meters Centerline goodness [0,1] 0.9998690185120503 Centerline is valid? [True, True] Translation: X:201.60, Y:180.44, Z:9.56 [[ 3.06546922e-01 -9.51842638e-01 -4.95747797e-03 2.01602642e+02] [ 9.51736500e-01 3.06586795e-01 -1.42187280e-02 1.80441080e+02] [ 1.50538889e-02 -3.59505412e-04 9.99886619e-01 9.56085870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.572755096 meters Centerline goodness [0,1] 0.9998473914844448 Centerline is valid? [True, True] Translation: X:201.61, Y:180.47, Z:9.56 [[ 3.06578092e-01 -9.51831498e-01 -5.16464029e-03 2.01610052e+02] [ 9.51716031e-01 3.06621369e-01 -1.48301407e-02 1.80467693e+02] [ 1.56993841e-02 -3.68674723e-04 9.99876689e-01 9.56046304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:180.49, Z:9.56 [[ 3.06428731e-01 -9.51879244e-01 -5.22850491e-03 2.01618329e+02] [ 9.51760636e-01 3.06473110e-01 -1.50308199e-02 1.80493425e+02] [ 1.59099217e-02 -3.70410073e-04 9.99873361e-01 9.56268722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.63, Y:180.52, Z:9.56 [[ 3.05512955e-01 -9.52174205e-01 -5.11060155e-03 2.01627440e+02] [ 9.52060663e-01 3.05555470e-01 -1.47087730e-02 1.80517843e+02] [ 1.55668865e-02 -3.71882007e-04 9.99878760e-01 9.56270403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.64, Y:180.54, Z:9.56 [[ 3.03983072e-01 -9.52665760e-01 -4.71607722e-03 2.01636398e+02] [ 9.52568922e-01 3.04019438e-01 -1.35878631e-02 1.80544458e+02] [ 1.43784711e-02 -3.61908216e-04 9.99896559e-01 9.56374170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:180.57, Z:9.56 [[ 3.03004977e-01 -9.52978214e-01 -4.52844895e-03 2.01646645e+02] [ 9.52888790e-01 3.03038603e-01 -1.30598309e-02 1.80568156e+02] [ 1.38180291e-02 -3.57914490e-04 9.99904462e-01 9.56453595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.66, Y:180.59, Z:9.57 [[ 3.00940110e-01 -9.53634477e-01 -4.04170979e-03 2.01656462e+02] [ 9.53563184e-01 3.00967054e-01 -1.16655953e-02 1.80593886e+02] [ 1.23411353e-02 -3.43380127e-04 9.99923786e-01 9.56680358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.66, Y:180.62, Z:9.57 [[ 3.00004237e-01 -9.53930293e-01 -3.80173965e-03 2.01664653e+02] [ 9.53867139e-01 3.00028141e-01 -1.09816025e-02 1.80619352e+02] [ 1.16163122e-02 -3.31827229e-04 9.99932473e-01 9.56771972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:180.64, Z:9.57 [[ 2.99341787e-01 -9.54138597e-01 -3.74599673e-03 2.01675626e+02] [ 9.54077151e-01 2.99365042e-01 -1.08334006e-02 1.80643855e+02] [ 1.14579861e-02 -3.31080402e-04 9.99934300e-01 9.56832911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:180.67, Z:9.57 [[ 2.98259991e-01 -9.54478159e-01 -3.52454391e-03 2.01682734e+02] [ 9.54423665e-01 2.98280643e-01 -1.02042266e-02 1.80670664e+02] [ 1.07910146e-02 -3.20395588e-04 9.99941724e-01 9.56954759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.69, Y:180.70, Z:9.57 [[ 2.97972337e-01 -9.54568337e-01 -3.43171267e-03 2.01691729e+02] [ 9.54516577e-01 2.97991934e-01 -9.94545191e-03 1.80695259e+02] [ 1.05162362e-02 -3.12157083e-04 9.99944654e-01 9.56980439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.70, Y:180.72, Z:9.57 [[ 2.98177221e-01 -9.54505116e-01 -3.21388441e-03 2.01699695e+02] [ 9.54459612e-01 2.98194403e-01 -9.32453019e-03 1.80721129e+02] [ 9.85867410e-03 -2.87160370e-04 9.99951361e-01 9.57032157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.70, Y:180.75, Z:9.57 [[ 2.98829539e-01 -9.54301588e-01 -3.06365197e-03 2.01704827e+02] [ 9.54260140e-01 2.98845126e-01 -8.89805931e-03 1.80748392e+02] [ 9.40698958e-03 -2.64517997e-04 9.99955718e-01 9.57034172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.71, Y:180.77, Z:9.57 [[ 2.99279953e-01 -9.54160409e-01 -3.06971741e-03 2.01712536e+02] [ 9.54118692e-01 2.99295585e-01 -8.92603798e-03 1.80774705e+02] [ 9.43562492e-03 -2.57490533e-04 9.99955450e-01 9.57042476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.72, Y:180.80, Z:9.57 [[ 2.99118947e-01 -9.54210999e-01 -3.03737684e-03 2.01721112e+02] [ 9.54170063e-01 2.99134260e-01 -8.84219713e-03 1.80800890e+02] [ 9.34590523e-03 -2.53305358e-04 9.99956294e-01 9.57074334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.73, Y:180.83, Z:9.57 [[ 2.98720475e-01 -9.54334982e-01 -3.28930068e-03 2.01730065e+02] [ 9.54286859e-01 2.98738458e-01 -9.58769628e-03 1.80825194e+02] [ 1.01325146e-02 -2.74895223e-04 9.99948627e-01 9.57029472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters Centerline goodness [0,1] 0.9999563032554075 Centerline is valid? [True, True] Translation: X:201.74, Y:180.85, Z:9.57 [[ 2.97795930e-01 -9.54623117e-01 -3.50552539e-03 2.01738297e+02] [ 9.54568337e-01 2.97816411e-01 -1.02311087e-02 1.80850798e+02] [ 1.08108559e-02 -2.99480996e-04 9.99941516e-01 9.56851758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.75, Y:180.88, Z:9.57 [[ 2.97108504e-01 -9.54837124e-01 -3.55020382e-03 2.01747173e+02] [ 9.54780820e-01 2.97129555e-01 -1.03736971e-02 1.80875316e+02] [ 1.09600616e-02 -3.07552887e-04 9.99939889e-01 9.56919171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.76, Y:180.90, Z:9.57 [[ 2.96289571e-01 -9.55091967e-01 -3.43890130e-03 2.01755407e+02] [ 9.55039030e-01 2.96309371e-01 -1.00602283e-02 1.80900867e+02] [ 1.06274219e-02 -3.03544226e-04 9.99943481e-01 9.56927635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.77, Y:180.93, Z:9.57 [[ 2.95303148e-01 -9.55398757e-01 -3.04403355e-03 2.01767577e+02] [ 9.55357210e-01 2.95318708e-01 -8.91415036e-03 1.80925595e+02] [ 9.41552823e-03 -2.75762733e-04 9.99955635e-01 9.57098247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters Centerline goodness [0,1] 0.9998248341398261 Centerline is valid? [True, True] Translation: X:201.77, Y:180.95, Z:9.57 [[ 2.94701273e-01 -9.55585350e-01 -2.79271483e-03 2.01771625e+02] [ 9.55550319e-01 2.94714393e-01 -8.18616441e-03 1.80953126e+02] [ 8.64563204e-03 -2.56106478e-04 9.99962593e-01 9.56973757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.78, Y:180.98, Z:9.57 [[ 2.94522366e-01 -9.55640738e-01 -2.71215719e-03 2.01778582e+02] [ 9.55607627e-01 2.94534750e-01 -7.95889588e-03 1.80979237e+02] [ 8.40466967e-03 -2.47685253e-04 9.99964649e-01 9.57257784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.79, Y:181.00, Z:9.57 [[ 2.94343041e-01 -9.55696439e-01 -2.54770491e-03 2.01786158e+02] [ 9.55667161e-01 2.94353975e-01 -7.48424704e-03 1.81004113e+02] [ 7.90259531e-03 -2.31821890e-04 9.99968747e-01 9.57284729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.79, Y:181.03, Z:9.57 [[ 2.94889030e-01 -9.55528844e-01 -2.25564603e-03 2.01793970e+02] [ 9.55505841e-01 2.94897589e-01 -6.63321958e-03 1.81030541e+02] [ 7.00341721e-03 -1.99219277e-04 9.99975456e-01 9.57375845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.80, Y:181.06, Z:9.57 [[ 2.96487627e-01 -9.55034678e-01 -1.96218109e-03 2.01800275e+02] [ 9.55017226e-01 2.96494076e-01 -5.77588097e-03 1.81057583e+02] [ 6.09794169e-03 -1.61439502e-04 9.99981394e-01 9.57493484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:181.08, Z:9.58 [[ 2.97063940e-01 -9.54855605e-01 -1.94670113e-03 2.01807400e+02] [ 9.54838391e-01 2.97070278e-01 -5.73561332e-03 1.81083383e+02] [ 6.05498957e-03 -1.54941080e-04 9.99981656e-01 9.57535392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.81, Y:181.11, Z:9.58 [[ 2.99106408e-01 -9.54217491e-01 -2.08257364e-03 2.01812891e+02] [ 9.54197722e-01 2.99113620e-01 -6.14400845e-03 1.81111643e+02] [ 6.48564647e-03 -1.49474733e-04 9.99978957e-01 9.57528108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.82, Y:181.14, Z:9.58 [[ 3.00041212e-01 -9.53923659e-01 -2.21907222e-03 2.01819511e+02] [ 9.53901164e-01 3.00049380e-01 -6.55274236e-03 1.81137526e+02] [ 6.91664721e-03 -1.50682814e-04 9.99976068e-01 9.57551071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.82, Y:181.16, Z:9.58 [[ 3.01181126e-01 -9.53564669e-01 -2.08615591e-03 2.01823995e+02] [ 9.53544737e-01 3.01188322e-01 -6.16682738e-03 1.81164769e+02] [ 6.50879450e-03 -1.31910968e-04 9.99978809e-01 9.57568487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4127550960001 meters Centerline goodness [0,1] 0.9998915542445669 Centerline is valid? [True, True] Translation: X:201.83, Y:181.19, Z:9.58 [[ 3.03189597e-01 -9.52927469e-01 -2.30354588e-03 2.01829972e+02] [ 9.52903082e-01 3.03198321e-01 -6.81865516e-03 1.81191818e+02] [ 7.19611505e-03 -1.27710658e-04 9.99974100e-01 9.57512870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.83, Y:181.22, Z:9.58 [[ 3.04384480e-01 -9.52546816e-01 -2.15705117e-03 2.01833752e+02] [ 9.52525385e-01 3.04392103e-01 -6.39059540e-03 1.81219265e+02] [ 6.74393064e-03 -1.09447938e-04 9.99977253e-01 9.57630178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.84, Y:181.25, Z:9.58 [[ 3.05925516e-01 -9.52052173e-01 -2.49773898e-03 2.01837798e+02] [ 9.52023342e-01 3.05935692e-01 -7.41008274e-03 1.81247112e+02] [ 7.81893288e-03 -1.10972431e-04 9.99969426e-01 9.57541229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.85, Y:181.27, Z:9.58 [[ 3.05771811e-01 -9.52101433e-01 -2.54183238e-03 2.01845183e+02] [ 9.52071504e-01 3.05782355e-01 -7.54999353e-03 1.81273345e+02] [ 7.96560715e-03 -1.11430986e-04 9.99968268e-01 9.57563141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.85, Y:181.30, Z:9.58 [[ 3.05357961e-01 -9.52234320e-01 -2.51322252e-03 2.01852387e+02] [ 9.52204997e-01 3.05368283e-01 -7.47363162e-03 1.81299149e+02] [ 7.88410696e-03 -1.10970128e-04 9.99968914e-01 9.57598783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:181.32, Z:9.58 [[ 3.04023383e-01 -9.52661743e-01 -2.32092127e-03 2.01859129e+02] [ 9.52636696e-01 3.04032221e-01 -6.90901463e-03 1.81324887e+02] [ 7.28758876e-03 -1.10492767e-04 9.99973439e-01 9.57663198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.87, Y:181.35, Z:9.58 [[ 3.03346863e-01 -9.52877298e-01 -2.35264525e-03 2.01866108e+02] [ 9.52851502e-01 3.03355964e-01 -7.01236960e-03 1.81351346e+02] [ 7.39561677e-03 -1.14541236e-04 9.99972646e-01 9.57674071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.87, Y:181.38, Z:9.58 [[ 3.02031291e-01 -9.53294565e-01 -2.56349217e-03 2.01872759e+02] [ 9.53263872e-01 3.02042140e-01 -7.65082919e-03 1.81376272e+02] [ 8.06777654e-03 -1.32894658e-04 9.99967446e-01 9.57652042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.88, Y:181.40, Z:9.58 [[ 3.01180837e-01 -9.53563465e-01 -2.61185976e-03 2.01879531e+02] [ 9.53531541e-01 3.01192130e-01 -7.80391042e-03 1.81403714e+02] [ 8.22819546e-03 -1.40102387e-04 9.99966138e-01 9.57673586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:181.43, Z:9.58 [[ 3.00448163e-01 -9.53794203e-01 -2.74220333e-03 2.01888001e+02] [ 9.53758945e-01 3.00460639e-01 -8.20242430e-03 1.81428075e+02] [ 8.64734891e-03 -1.50997644e-04 9.99962600e-01 9.57675442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:181.46, Z:9.58 [[ 2.99290284e-01 -9.54157477e-01 -2.97250491e-03 2.01893804e+02] [ 9.54115952e-01 2.99304996e-01 -8.90336465e-03 1.81455006e+02] [ 9.38489752e-03 -1.71423821e-04 9.99955946e-01 9.57638817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.90, Y:181.48, Z:9.58 [[ 2.98566662e-01 -9.54383386e-01 -3.20966010e-03 2.01901373e+02] [ 9.54334867e-01 2.98583854e-01 -9.62518506e-03 1.81480650e+02] [ 1.01444694e-02 -1.89331171e-04 9.99948526e-01 9.57619991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:181.51, Z:9.58 [[ 2.97282346e-01 -9.54783687e-01 -3.36418679e-03 2.01906515e+02] [ 9.54730280e-01 2.97301307e-01 -1.01007993e-02 1.81508073e+02] [ 1.06442556e-02 -2.09101678e-04 9.99943326e-01 9.57634219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.91, Y:181.53, Z:9.58 [[ 2.96250095e-01 -9.55103790e-01 -3.55412008e-03 2.01914512e+02] [ 9.55044059e-01 2.96271325e-01 -1.06839637e-02 1.81533811e+02] [ 1.12572781e-02 -2.29216016e-04 9.99936609e-01 9.57625753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.92, Y:181.56, Z:9.58 [[ 2.95920749e-01 -9.55205897e-01 -3.55044711e-03 2.01922739e+02] [ 9.55146159e-01 2.95941958e-01 -1.06851842e-02 1.81559263e+02] [ 1.12572773e-02 -2.29228192e-04 9.99936609e-01 9.57650700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.93, Y:181.58, Z:9.58 [[ 2.94913008e-01 -9.55516976e-01 -3.69146426e-03 2.01930469e+02] [ 9.55452267e-01 2.94936007e-01 -1.11228337e-02 1.81584923e+02] [ 1.17168021e-02 -2.46749561e-04 9.99931326e-01 9.57691847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:181.61, Z:9.58 [[ 2.93764241e-01 -9.55870127e-01 -3.85624468e-03 2.01937676e+02] [ 9.55799370e-01 2.93789428e-01 -1.16334142e-02 1.81611332e+02] [ 1.22529571e-02 -2.68315129e-04 9.99924894e-01 9.57775840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.94, Y:181.64, Z:9.58 [[ 2.92109475e-01 -9.56376972e-01 -3.89131161e-03 2.01944581e+02] [ 9.56304794e-01 2.92135251e-01 -1.17531447e-02 1.81638136e+02] [ 1.23772262e-02 -2.88075025e-04 9.99923358e-01 9.57831541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.95, Y:181.66, Z:9.58 [[ 2.91268960e-01 -9.56632512e-01 -4.07805531e-03 2.01952502e+02] [ 9.56553076e-01 2.91297343e-01 -1.23317342e-02 1.81663867e+02] [ 1.29848645e-02 -3.09024958e-04 9.99915645e-01 9.57862641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.96, Y:181.69, Z:9.58 [[ 2.90195169e-01 -9.56957240e-01 -4.42781885e-03 2.01963054e+02] [ 9.56863402e-01 2.90228740e-01 -1.34055625e-02 1.81689601e+02] [ 1.41136304e-02 -3.46588331e-04 9.99900338e-01 9.57838646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.97, Y:181.72, Z:9.58 [[ 2.89544330e-01 -9.57154550e-01 -4.38735774e-03 2.01968053e+02] [ 9.57062229e-01 2.89577359e-01 -1.32982768e-02 1.81715385e+02] [ 1.39989856e-02 -3.48533726e-04 9.99901949e-01 9.57869328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.97, Y:181.74, Z:9.58 [[ 2.89937342e-01 -9.57035188e-01 -4.47057639e-03 2.01974525e+02] [ 9.56939066e-01 2.89971602e-01 -1.35681329e-02 1.81741538e+02] [ 1.42815208e-02 -3.44160807e-04 9.99897955e-01 9.57868097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.98, Y:181.77, Z:9.58 [[ 2.89504455e-01 -9.57165865e-01 -4.54720814e-03 2.01982131e+02] [ 9.57066197e-01 2.89539950e-01 -1.38170603e-02 1.81767600e+02] [ 1.45418169e-02 -3.51878685e-04 9.99894200e-01 9.57863464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.99, Y:181.79, Z:9.58 [[ 2.89485498e-01 -9.57171913e-01 -4.48054698e-03 2.01989972e+02] [ 9.57074916e-01 2.89519968e-01 -1.36305804e-02 1.81792231e+02] [ 1.43440165e-02 -3.42363775e-04 9.99897061e-01 9.57866709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.00, Y:181.82, Z:9.58 [[ 2.89815001e-01 -9.57071497e-01 -4.62755933e-03 2.01999998e+02] [ 9.56967752e-01 2.89851740e-01 -1.40957535e-02 1.81816473e+02] [ 1.48319500e-02 -3.43264247e-04 9.99889942e-01 9.57709993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.01, Y:181.84, Z:9.58 [[ 2.89992108e-01 -9.57016866e-01 -4.82652059e-03 2.02008094e+02] [ 9.56903692e-01 2.90032061e-01 -1.47216906e-02 1.81842078e+02] [ 1.54887519e-02 -3.49341275e-04 9.99879981e-01 9.57692238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.192755096 meters Centerline goodness [0,1] 0.9999577613516367 Centerline is valid? [True, True] Translation: X:202.01, Y:181.87, Z:9.58 [[ 2.91105954e-01 -9.56678032e-01 -4.94641308e-03 2.02012323e+02] [ 9.56558788e-01 2.91147784e-01 -1.51080088e-02 1.81869591e+02] [ 1.58936373e-02 -3.33503589e-04 9.99873633e-01 9.57696671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.02, Y:181.90, Z:9.58 [[ 2.91786431e-01 -9.56470361e-01 -5.01281815e-03 2.02020522e+02] [ 9.56347545e-01 2.91829311e-01 -1.53305708e-02 1.81895714e+02] [ 1.61261238e-02 -3.20743797e-04 9.99869914e-01 9.57759332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.03, Y:181.92, Z:9.58 [[ 2.92627894e-01 -9.56213584e-01 -4.94941452e-03 2.02029027e+02] [ 9.56093526e-01 2.92669597e-01 -1.51550611e-02 1.81921772e+02] [ 1.59400184e-02 -2.97309561e-04 9.99872906e-01 9.57732332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.04, Y:181.95, Z:9.58 [[ 2.95121383e-01 -9.55448182e-01 -4.70545269e-03 2.02037844e+02] [ 9.55339325e-01 2.95158797e-01 -1.44242365e-02 1.81947455e+02] [ 1.51704662e-02 -2.38403385e-04 9.99884893e-01 9.57792068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.05, Y:181.97, Z:9.58 [[ 2.96199507e-01 -9.55114541e-01 -4.69736159e-03 2.02045538e+02] [ 9.55005772e-01 2.96236673e-01 -1.44155656e-02 1.81973179e+02] [ 1.51600471e-02 -2.16123996e-04 9.99885057e-01 9.57803776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:182.00, Z:9.58 [[ 2.98450742e-01 -9.54412310e-01 -4.92915662e-03 2.02055432e+02] [ 9.54292144e-01 2.98491387e-01 -1.51458101e-02 1.81998130e+02] [ 1.59266584e-02 -1.83577182e-04 9.99873146e-01 9.57641933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.06, Y:182.02, Z:9.58 [[ 2.98941071e-01 -9.54259179e-01 -4.86372272e-03 2.02064393e+02] [ 9.54141878e-01 2.98980587e-01 -1.49627771e-02 1.82023344e+02] [ 1.57325260e-02 -1.67692931e-04 9.99876222e-01 9.57681898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.07, Y:182.05, Z:9.58 [[ 2.98988144e-01 -9.54244506e-01 -4.84889138e-03 2.02072311e+02] [ 9.54127644e-01 2.99027417e-01 -1.49345988e-02 1.82050123e+02] [ 1.57012103e-02 -1.61193331e-04 9.99876715e-01 9.57872380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.08, Y:182.07, Z:9.58 [[ 2.98617554e-01 -9.54360826e-01 -4.79276312e-03 2.02083163e+02] [ 9.54246402e-01 2.98655970e-01 -1.47789102e-02 1.82074020e+02] [ 1.55358003e-02 -1.60234939e-04 9.99879299e-01 9.57878744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.09, Y:182.10, Z:9.58 [[ 2.97802210e-01 -9.54615116e-01 -4.88097945e-03 2.02093689e+02] [ 9.54496172e-01 2.97842158e-01 -1.50700286e-02 1.82099746e+02] [ 1.58398386e-02 -1.70988366e-04 9.99874527e-01 9.57870270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.10, Y:182.13, Z:9.58 [[ 2.96657234e-01 -9.54971439e-01 -4.90261243e-03 2.02104545e+02] [ 9.54851197e-01 2.96697684e-01 -1.51550675e-02 1.82125315e+02] [ 1.59272503e-02 -1.85404952e-04 9.99873136e-01 9.57888986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters Centerline goodness [0,1] 0.9999574630992386 Centerline is valid? [True, True] Translation: X:202.12, Y:182.15, Z:9.58 [[ 2.95210256e-01 -9.55420804e-01 -4.68966716e-03 2.02116959e+02] [ 9.55310574e-01 2.95247439e-01 -1.45140460e-02 1.82148551e+02] [ 1.52516337e-02 -1.95393384e-04 9.99883668e-01 9.57827270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.13, Y:182.17, Z:9.58 [[ 2.94550423e-01 -9.55624954e-01 -4.58201400e-03 2.02127320e+02] [ 9.55519496e-01 2.94585995e-01 -1.41980283e-02 1.82173798e+02] [ 1.49177873e-02 -1.96168460e-04 9.99888704e-01 9.57996605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:182.20, Z:9.58 [[ 2.93989703e-01 -9.55798547e-01 -4.38082914e-03 2.02137604e+02] [ 9.55701940e-01 2.94022279e-01 -1.35904630e-02 1.82197919e+02] [ 1.42778062e-02 -1.91310729e-04 9.99898049e-01 9.58051515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.15, Y:182.22, Z:9.58 [[ 2.93678011e-01 -9.55894544e-01 -4.34123704e-03 2.02150029e+02] [ 9.55799455e-01 2.93710035e-01 -1.34839971e-02 1.82222719e+02] [ 1.41643441e-02 -1.89398548e-04 9.99899663e-01 9.58099177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.16, Y:182.25, Z:9.58 [[ 2.93340667e-01 -9.55997919e-01 -4.38545648e-03 2.02160021e+02] [ 9.55900658e-01 2.93373384e-01 -1.36378053e-02 1.82247964e+02] [ 1.43242897e-02 -1.91537832e-04 9.99897384e-01 9.58084336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:182.27, Z:9.58 [[ 2.93213249e-01 -9.56036793e-01 -4.43173794e-03 2.02171108e+02] [ 9.55937224e-01 2.93246677e-01 -1.37989021e-02 1.82271841e+02] [ 1.44918505e-02 -1.90442341e-04 9.99894970e-01 9.58035684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.18, Y:182.30, Z:9.58 [[ 2.93829210e-01 -9.55846780e-01 -4.61834959e-03 2.02182725e+02] [ 9.55738346e-01 2.93865445e-01 -1.43983811e-02 1.82295578e+02] [ 1.51198196e-02 -1.83268851e-04 9.99885672e-01 9.57948133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.19, Y:182.32, Z:9.58 [[ 2.94202960e-01 -9.55731913e-01 -4.59671463e-03 2.02190630e+02] [ 9.55624217e-01 2.94238818e-01 -1.43482777e-02 1.82321457e+02] [ 1.50656387e-02 -1.71426064e-04 9.99886492e-01 9.57980698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.20, Y:182.35, Z:9.58 [[ 2.95796698e-01 -9.55239622e-01 -4.64524516e-03 2.02201129e+02] [ 9.55129330e-01 2.95833136e-01 -1.45161369e-02 1.82345518e+02] [ 1.52406066e-02 -1.42984539e-04 9.99883845e-01 9.57984022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:182.37, Z:9.58 [[ 2.96696421e-01 -9.54961179e-01 -4.51449357e-03 2.02211067e+02] [ 9.54856757e-01 2.96730741e-01 -1.41223885e-02 1.82370161e+02] [ 1.48259218e-02 -1.20632549e-04 9.99890083e-01 9.58042998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.22, Y:182.40, Z:9.58 [[ 2.97322711e-01 -9.54767523e-01 -4.26414567e-03 2.02220523e+02] [ 9.54674118e-01 2.97353270e-01 -1.33552120e-02 1.82395831e+02] [ 1.40190803e-02 -1.00061689e-04 9.99901723e-01 9.58148365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.23, Y:182.42, Z:9.58 [[ 2.98698886e-01 -9.54339388e-01 -3.91264696e-03 2.02231564e+02] [ 9.54260534e-01 2.98724502e-01 -1.22680496e-02 1.82420569e+02] [ 1.28766864e-02 -6.92318460e-05 9.99917090e-01 9.58235821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:182.45, Z:9.58 [[ 2.98999993e-01 -9.54245056e-01 -3.92135911e-03 2.02241346e+02] [ 9.54165650e-01 2.99025700e-01 -1.23102585e-02 1.82445431e+02] [ 1.29195904e-02 -6.08589709e-05 9.99916537e-01 9.58228055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.25, Y:182.47, Z:9.58 [[ 2.99642364e-01 -9.54043596e-01 -3.90769456e-03 2.02252973e+02] [ 9.53964530e-01 2.99667840e-01 -1.22825392e-02 1.82470473e+02] [ 1.28890882e-02 -4.74329326e-05 9.99916931e-01 9.58248891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:182.49, Z:9.58 [[ 2.99817487e-01 -9.53987909e-01 -4.06744226e-03 2.02263002e+02] [ 9.53902024e-01 2.99845073e-01 -1.28008223e-02 1.82494903e+02] [ 1.34314322e-02 -4.20310210e-05 9.99909793e-01 9.58204629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.27, Y:182.52, Z:9.58 [[ 3.00123008e-01 -9.53891139e-01 -4.22784671e-03 2.02273543e+02] [ 9.53798098e-01 3.00152783e-01 -1.33226869e-02 1.82520352e+02] [ 1.39773930e-02 -3.40672850e-05 9.99902311e-01 9.58190144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:182.54, Z:9.58 [[ 3.01073364e-01 -9.53590489e-01 -4.47305188e-03 2.02285790e+02] [ 9.53486045e-01 3.01106590e-01 -1.41132165e-02 1.82543938e+02] [ 1.48050945e-02 -1.58789763e-05 9.99890398e-01 9.58163672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.30, Y:182.57, Z:9.58 [[ 3.01578843e-01 -9.53430022e-01 -4.62537887e-03 2.02295307e+02] [ 9.53318038e-01 3.01614311e-01 -1.46125198e-02 1.82568625e+02] [ 1.53270956e-02 -2.63028082e-06 9.99882533e-01 9.58138412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:182.59, Z:9.58 [[ 3.01715756e-01 -9.53386170e-01 -4.73431907e-03 2.02305176e+02] [ 9.53268552e-01 3.01752898e-01 -1.49751844e-02 1.82594353e+02] [ 1.57057282e-02 5.17159068e-06 9.99876657e-01 9.58106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:182.62, Z:9.58 [[ 3.02505135e-01 -9.53136113e-01 -4.71092002e-03 2.02316774e+02] [ 9.53019377e-01 3.02541814e-01 -1.49170538e-02 1.82618105e+02] [ 1.56432329e-02 2.28873035e-05 9.99877637e-01 9.58109708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.33, Y:182.64, Z:9.58 [[ 3.02370584e-01 -9.53178901e-01 -4.69181623e-03 2.02326711e+02] [ 9.53062881e-01 3.02406982e-01 -1.48715097e-02 1.82643305e+02] [ 1.55940472e-02 2.51111673e-05 9.99878405e-01 9.58119732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.33, Y:182.67, Z:9.58 [[ 3.04810454e-01 -9.52402588e-01 -4.46060682e-03 2.02333917e+02] [ 9.52297402e-01 3.04843083e-01 -1.41546058e-02 1.82669345e+02] [ 1.48406684e-02 6.66475402e-05 9.99889869e-01 9.58264665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:182.70, Z:9.58 [[ 3.05678234e-01 -9.52124172e-01 -4.51428835e-03 2.02342017e+02] [ 9.52016148e-01 3.05711554e-01 -1.43422756e-02 1.82695208e+02] [ 1.50356974e-02 8.64460818e-05 9.99886954e-01 9.58292303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.212755096 meters Centerline goodness [0,1] 0.9999112924687306 Centerline is valid? [True, True] Translation: X:202.35, Y:182.72, Z:9.58 [[ 3.06353368e-01 -9.51906930e-01 -4.56186500e-03 2.02349858e+02] [ 9.51796318e-01 3.06387313e-01 -1.45115181e-02 1.82720981e+02] [ 1.52113122e-02 1.03686132e-04 9.99884296e-01 9.58337317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters Centerline goodness [0,1] 0.9999557512334344 Centerline is valid? [True, True] Translation: X:202.36, Y:182.75, Z:9.58 [[ 3.07672658e-01 -9.51480526e-01 -4.72700193e-03 2.02355255e+02] [ 9.51361403e-01 3.07708938e-01 -1.50562412e-02 1.82746845e+02] [ 1.57802611e-02 1.35306560e-04 9.99875475e-01 9.58332788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.36, Y:182.77, Z:9.58 [[ 3.07802862e-01 -9.51438009e-01 -4.80767553e-03 2.02362886e+02] [ 9.51314461e-01 3.07840371e-01 -1.53330698e-02 1.82773280e+02] [ 1.60684621e-02 1.45951516e-04 9.99870883e-01 9.58401939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.302755096 meters Centerline goodness [0,1] 0.9999779044588802 Centerline is valid? [True, True] Translation: X:202.37, Y:182.80, Z:9.58 [[ 3.06676018e-01 -9.51800290e-01 -5.10168471e-03 2.02369977e+02] [ 9.51660848e-01 3.06718417e-01 -1.62924435e-02 1.82798128e+02] [ 1.70719331e-02 1.41428098e-04 9.99854254e-01 9.58284258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.38, Y:182.82, Z:9.58 [[ 3.05672700e-01 -9.52122800e-01 -5.13554103e-03 2.02378983e+02] [ 9.51981184e-01 3.05715810e-01 -1.64216324e-02 1.82824049e+02] [ 1.72054267e-02 1.30706286e-04 9.99851967e-01 9.58392308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters Centerline goodness [0,1] 0.999933512111877 Centerline is valid? [True, True] Translation: X:202.39, Y:182.85, Z:9.58 [[ 3.04091606e-01 -9.52628782e-01 -5.16713951e-03 2.02387883e+02] [ 9.52485133e-01 3.04135483e-01 -1.65432553e-02 1.82850299e+02] [ 1.73310916e-02 1.09041500e-04 9.99849799e-01 9.58419584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.40, Y:182.88, Z:9.58 [[ 3.00245319e-01 -9.53847465e-01 -5.26891129e-03 2.02398062e+02] [ 9.53697907e-01 3.00291543e-01 -1.68905718e-02 1.82875792e+02] [ 1.76932386e-02 4.63654438e-05 9.99843461e-01 9.58421930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:182.90, Z:9.58 [[ 2.97974231e-01 -9.54559869e-01 -5.17835786e-03 2.02406959e+02] [ 9.54415153e-01 2.98019223e-01 -1.66209981e-02 1.82901353e+02] [ 1.74089879e-02 1.03259034e-05 9.99848452e-01 9.58445976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.42, Y:182.93, Z:9.58 [[ 2.92828836e-01 -9.56149113e-01 -5.49054684e-03 2.02417126e+02] [ 9.55986287e-01 2.92880294e-01 -1.76451572e-02 1.82926178e+02] [ 1.84794744e-02 -8.18766458e-05 9.99829237e-01 9.58369945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:182.95, Z:9.58 [[ 2.90188721e-01 -9.56952531e-01 -5.68852673e-03 2.02426769e+02] [ 9.56777471e-01 2.90244442e-01 -1.83039745e-02 1.82952135e+02] [ 1.91670980e-02 -1.31047274e-04 9.99816286e-01 9.58385178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.44, Y:182.98, Z:9.58 [[ 2.87843047e-01 -9.57660302e-01 -5.75550998e-03 2.02436238e+02] [ 9.57480778e-01 2.87900531e-01 -1.85430559e-02 1.82977669e+02] [ 1.94149629e-02 -1.73300466e-04 9.99811497e-01 9.58465213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.45, Y:183.00, Z:9.59 [[ 2.83448766e-01 -9.58970310e-01 -5.72198652e-03 2.02447837e+02] [ 9.58792694e-01 2.83506401e-01 -1.84578032e-02 1.83002825e+02] [ 1.93227051e-02 -2.54357326e-04 9.99813267e-01 9.58549713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:183.03, Z:9.59 [[ 2.81601852e-01 -9.59514403e-01 -5.70152838e-03 2.02455894e+02] [ 9.59337730e-01 2.81659422e-01 -1.84143900e-02 1.83028861e+02] [ 1.92747616e-02 -2.84164976e-04 9.99814184e-01 9.58641507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:183.06, Z:9.59 [[ 2.79831088e-01 -9.60032223e-01 -5.71780342e-03 2.02463630e+02] [ 9.59854223e-01 2.79889321e-01 -1.84888925e-02 1.83056084e+02] [ 1.93502847e-02 -3.14490868e-04 9.99812716e-01 9.58664773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:183.08, Z:9.59 [[ 2.79064252e-01 -9.60255498e-01 -5.70283750e-03 2.02471292e+02] [ 9.60078052e-01 2.79122329e-01 -1.84623700e-02 1.83082338e+02] [ 1.93203816e-02 -3.22981640e-04 9.99813292e-01 9.58688146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.48, Y:183.11, Z:9.59 [[ 2.78443368e-01 -9.60435756e-01 -5.69645781e-03 2.02478572e+02] [ 9.60258297e-01 2.78501438e-01 -1.84648721e-02 1.83108213e+02] [ 1.93207951e-02 -3.28649692e-04 9.99813282e-01 9.58728622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.49, Y:183.13, Z:9.59 [[ 2.77961579e-01 -9.60575074e-01 -5.73478114e-03 2.02486197e+02] [ 9.60394793e-01 2.78020531e-01 -1.86125066e-02 1.83133992e+02] [ 1.94730968e-02 -3.34092213e-04 9.99810325e-01 9.58805589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.49, Y:183.16, Z:9.59 [[ 2.77623759e-01 -9.60672804e-01 -5.72823304e-03 2.02493877e+02] [ 9.60492502e-01 2.77682647e-01 -1.86145223e-02 1.83159641e+02] [ 1.94730962e-02 -3.34091235e-04 9.99810325e-01 9.58830535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:183.19, Z:9.59 [[ 2.77367131e-01 -9.60747907e-01 -5.56187279e-03 2.02501720e+02] [ 9.60577519e-01 2.77422701e-01 -1.80962920e-02 1.83185811e+02] [ 1.89289644e-02 -3.23293370e-04 9.99820779e-01 9.58945273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:183.21, Z:9.59 [[ 2.77413946e-01 -9.60734875e-01 -5.47753262e-03 2.02508994e+02] [ 9.60569194e-01 2.77467843e-01 -1.78443238e-02 1.83211621e+02] [ 1.86635034e-02 -3.11284810e-04 9.99825773e-01 9.59170414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:183.24, Z:9.59 [[ 2.77760071e-01 -9.60635944e-01 -5.28444888e-03 2.02516139e+02] [ 9.60481333e-01 2.77810186e-01 -1.72368941e-02 1.83238215e+02] [ 1.80264537e-02 -2.87893588e-04 9.99837469e-01 9.59223966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:183.26, Z:9.59 [[ 2.77964454e-01 -9.60576858e-01 -5.27853178e-03 2.02523296e+02] [ 9.60422177e-01 2.78014430e-01 -1.72400482e-02 1.83263661e+02] [ 1.80278993e-02 -2.77498400e-04 9.99837446e-01 9.59224801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.53, Y:183.29, Z:9.59 [[ 2.78988180e-01 -9.60280471e-01 -5.19739439e-03 2.02527438e+02] [ 9.60130064e-01 2.79036478e-01 -1.69972019e-02 1.83290502e+02] [ 1.77723437e-02 -2.48156169e-04 9.99842029e-01 9.59330977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:183.32, Z:9.59 [[ 2.79433872e-01 -9.60150622e-01 -5.24360491e-03 2.02535102e+02] [ 9.59997096e-01 2.79482966e-01 -1.71711058e-02 1.83315716e+02] [ 1.79523462e-02 -2.35656912e-04 9.99838816e-01 9.59304461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:183.34, Z:9.59 [[ 2.79553667e-01 -9.60116121e-01 -5.17511092e-03 2.02542903e+02] [ 9.59966184e-01 2.79601474e-01 -1.69688677e-02 1.83341763e+02] [ 1.77390521e-02 -2.24222286e-04 9.99842626e-01 9.59419796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.55, Y:183.37, Z:9.59 [[ 2.78743913e-01 -9.60351889e-01 -5.10693179e-03 2.02551656e+02] [ 9.60205540e-01 2.78790597e-01 -1.67667566e-02 1.83366773e+02] [ 1.75257509e-02 -2.30072860e-04 9.99846386e-01 9.59470370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.992755096 meters Centerline goodness [0,1] 0.9998683170924414 Centerline is valid? [True, True] Translation: X:202.56, Y:183.39, Z:9.59 [[ 2.78030459e-01 -9.60557322e-01 -5.35680236e-03 2.02561176e+02] [ 9.60395959e-01 2.78081947e-01 -1.76077220e-02 1.83391484e+02] [ 1.84028563e-02 -2.49168316e-04 9.99830622e-01 9.59213047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:183.42, Z:9.60 [[ 2.76179158e-01 -9.61093247e-01 -4.98430680e-03 2.02569483e+02] [ 9.60953338e-01 2.76224009e-01 -1.64005799e-02 1.83417189e+02] [ 1.71392718e-02 -2.60187909e-04 9.99853078e-01 9.59729595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.052755096 meters Centerline goodness [0,1] 0.9998464575564817 Centerline is valid? [True, True] Translation: X:202.58, Y:183.44, Z:9.60 [[ 2.74824737e-01 -9.61480206e-01 -5.21322500e-03 2.02579341e+02] [ 9.61326834e-01 2.74874024e-01 -1.71752334e-02 1.83442829e+02] [ 1.79466270e-02 -2.91434093e-04 9.99838904e-01 9.59552661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.59, Y:183.47, Z:9.60 [[ 2.71795164e-01 -9.62343403e-01 -4.75010631e-03 2.02589749e+02] [ 9.62215924e-01 2.71836489e-01 -1.56664756e-02 1.83469165e+02] [ 1.63677816e-02 -3.12555648e-04 9.99865990e-01 9.60026719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.112755096 meters Centerline goodness [0,1] 0.9999780195625892 Centerline is valid? [True, True] Translation: X:202.60, Y:183.50, Z:9.60 [[ 2.69992879e-01 -9.62850636e-01 -4.74322063e-03 2.02598264e+02] [ 9.62723310e-01 2.70034329e-01 -1.56617548e-02 1.83495455e+02] [ 1.63607630e-02 -3.37846790e-04 9.99866097e-01 9.60156824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.61, Y:183.52, Z:9.60 [[ 2.68362370e-01 -9.63306744e-01 -4.66415873e-03 2.02607319e+02] [ 9.63183406e-01 2.68402665e-01 -1.54186972e-02 1.83521733e+02] [ 1.61048077e-02 -3.54642150e-04 9.99870246e-01 9.60266099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:183.55, Z:9.60 [[ 2.66616938e-01 -9.63791498e-01 -4.62141853e-03 2.02616904e+02] [ 9.63670199e-01 2.66656723e-01 -1.52950933e-02 1.83547554e+02] [ 1.59736132e-02 -3.75592376e-04 9.99872343e-01 9.60307349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.202755096 meters Centerline goodness [0,1] 0.9999780514036127 Centerline is valid? [True, True] Translation: X:202.62, Y:183.57, Z:9.60 [[ 2.63861779e-01 -9.64548058e-01 -4.89952113e-03 2.02624862e+02] [ 9.64411514e-01 2.63906895e-01 -1.62352225e-02 1.83574718e+02] [ 1.69526698e-02 -4.41299886e-04 9.99856196e-01 9.60341929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.63, Y:183.60, Z:9.60 [[ 2.62174558e-01 -9.65007223e-01 -5.05581983e-03 2.02632840e+02] [ 9.64861567e-01 2.62222862e-01 -1.67727991e-02 1.83601647e+02] [ 1.75116238e-02 -4.80765047e-04 9.99846544e-01 9.60338149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:183.63, Z:9.60 [[ 2.60330224e-01 -9.65506250e-01 -5.08485861e-03 2.02645372e+02] [ 9.65358656e-01 2.60379375e-01 -1.68892474e-02 1.83625824e+02] [ 1.76306662e-02 -5.11930720e-04 9.99844437e-01 9.60232458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:183.65, Z:9.60 [[ 2.59775183e-01 -9.65656073e-01 -5.02028393e-03 2.02648539e+02] [ 9.65511870e-01 2.59823188e-01 -1.66954999e-02 1.83653267e+02] [ 1.74264970e-02 -5.10067186e-04 9.99848017e-01 9.60445280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.322755096 meters Centerline goodness [0,1] 0.9998898629895591 Centerline is valid? [True, True] Translation: X:202.66, Y:183.68, Z:9.60 [[ 2.58999644e-01 -9.65862865e-01 -5.30191889e-03 2.02659919e+02] [ 9.65701713e-01 2.59053326e-01 -1.76515319e-02 1.83677845e+02] [ 1.84224389e-02 -5.48331673e-04 9.99830142e-01 9.60179361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:183.71, Z:9.60 [[ 2.59183328e-01 -9.65814459e-01 -5.14137136e-03 2.02661781e+02] [ 9.65662594e-01 2.59233788e-01 -1.71347283e-02 1.83705458e+02] [ 1.78817855e-02 -5.23794106e-04 9.99839971e-01 9.60455913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.67, Y:183.73, Z:9.60 [[ 2.58632727e-01 -9.65962173e-01 -5.11783202e-03 2.02670745e+02] [ 9.65811327e-01 2.58682824e-01 -1.70785818e-02 1.83729914e+02] [ 1.78211593e-02 -5.25779934e-04 9.99841052e-01 9.60454535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.68, Y:183.76, Z:9.61 [[ 2.58254074e-01 -9.66063721e-01 -5.07163839e-03 2.02676096e+02] [ 9.65915215e-01 2.58303340e-01 -1.69464357e-02 1.83756691e+02] [ 1.76813578e-02 -5.22286642e-04 9.99843536e-01 9.60564005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.68, Y:183.78, Z:9.61 [[ 2.58179248e-01 -9.66085401e-01 -4.74066865e-03 2.02680951e+02] [ 9.65955329e-01 2.58222314e-01 -1.58599531e-02 1.83783376e+02] [ 1.65462155e-02 -4.84563384e-04 9.99862985e-01 9.60734396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.69, Y:183.81, Z:9.61 [[ 2.58119036e-01 -9.66102534e-01 -4.52297168e-03 2.02688043e+02] [ 9.65983834e-01 2.58158253e-01 -1.51508876e-02 1.83808956e+02] [ 1.58049533e-02 -4.58385028e-04 9.99874989e-01 9.60808381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.69, Y:183.84, Z:9.61 [[ 2.59029563e-01 -9.65860588e-01 -4.12422847e-03 2.02693503e+02] [ 9.65761629e-01 2.59062085e-01 -1.38315661e-02 1.83835158e+02] [ 1.44277958e-02 -4.00237087e-04 9.99895834e-01 9.60881705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:183.86, Z:9.61 [[ 2.58892827e-01 -9.65898097e-01 -3.92059460e-03 2.02698178e+02] [ 9.65808469e-01 2.58922234e-01 -1.31634879e-02 1.83861961e+02] [ 1.37297170e-02 -3.78610882e-04 9.99905671e-01 9.60980205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.562755096 meters Centerline goodness [0,1] 0.9999561874301737 Centerline is valid? [True, True] Translation: X:202.70, Y:183.89, Z:9.61 [[ 2.58336809e-01 -9.66047589e-01 -3.76161738e-03 2.02703655e+02] [ 9.65964889e-01 2.58363933e-01 -1.26456050e-02 1.83888340e+02] [ 1.31881225e-02 -3.66765068e-04 9.99912966e-01 9.61032316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:183.92, Z:9.61 [[ 2.58008786e-01 -9.66136077e-01 -3.54216676e-03 2.02710316e+02] [ 9.66062567e-01 2.58032868e-01 -1.19229280e-02 1.83915290e+02] [ 1.24331663e-02 -3.45734540e-04 9.99922645e-01 9.61202967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.72, Y:183.94, Z:9.61 [[ 2.57653978e-01 -9.66230890e-01 -3.50635553e-03 2.02717514e+02] [ 9.66158675e-01 2.57677608e-01 -1.18180450e-02 1.83940851e+02] [ 1.23224694e-02 -3.42729502e-04 9.99924017e-01 9.61254162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.72, Y:183.97, Z:9.61 [[ 2.56136114e-01 -9.66634420e-01 -3.49127526e-03 2.02724856e+02] [ 9.66562670e-01 2.56159659e-01 -1.17828161e-02 1.83968053e+02] [ 1.22839995e-02 -3.56531600e-04 9.99924485e-01 9.61294991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.73, Y:183.99, Z:9.61 [[ 2.55072837e-01 -9.66915693e-01 -3.44839156e-03 2.02732615e+02] [ 9.66845558e-01 2.55095889e-01 -1.16513973e-02 1.83994930e+02] [ 1.21455894e-02 -3.62107090e-04 9.99926174e-01 9.61321695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.74, Y:184.02, Z:9.61 [[ 2.53916587e-01 -9.67220132e-01 -3.40352922e-03 2.02740742e+02] [ 9.67151679e-01 2.53939129e-01 -1.15129479e-02 1.84021752e+02] [ 1.19998443e-02 -3.68400558e-04 9.99927931e-01 9.61401299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.75, Y:184.05, Z:9.61 [[ 2.51387919e-01 -9.67879911e-01 -3.54863553e-03 2.02748773e+02] [ 9.67805382e-01 2.51412625e-01 -1.20180839e-02 1.84048319e+02] [ 1.25242338e-02 -4.13187463e-04 9.99921483e-01 9.61438134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:184.08, Z:9.61 [[ 2.49897082e-01 -9.68265555e-01 -3.64188034e-03 2.02755514e+02] [ 9.68186910e-01 2.49923231e-01 -1.23485159e-02 1.84075661e+02] [ 1.28668331e-02 -4.40162782e-04 9.99917122e-01 9.61443535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.802755096 meters Centerline goodness [0,1] 0.9999342955386671 Centerline is valid? [True, True] Translation: X:202.76, Y:184.10, Z:9.61 [[ 2.46798770e-01 -9.69060347e-01 -3.52305873e-03 2.02763769e+02] [ 9.68986657e-01 2.46823482e-01 -1.19594054e-02 1.84102435e+02] [ 1.24589592e-02 -4.62230355e-04 9.99922277e-01 9.61425838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.77, Y:184.13, Z:9.61 [[ 2.45160306e-01 -9.69476092e-01 -3.53989170e-03 2.02772466e+02] [ 9.69401572e-01 2.45185387e-01 -1.20299195e-02 1.84127560e+02] [ 1.25306490e-02 -4.82317832e-04 9.99921372e-01 9.61437470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.78, Y:184.15, Z:9.61 [[ 2.42089357e-01 -9.70246571e-01 -3.78613335e-03 2.02781671e+02] [ 9.70161232e-01 2.42118325e-01 -1.28802414e-02 1.84153754e+02] [ 1.34137023e-02 -5.54990452e-04 9.99909878e-01 9.61375741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.892755096 meters Centerline goodness [0,1] 0.9999124055622468 Centerline is valid? [True, True] Translation: X:202.79, Y:184.18, Z:9.61 [[ 2.40396824e-01 -9.70666355e-01 -4.02430500e-03 2.02789134e+02] [ 9.70569752e-01 2.40429731e-01 -1.37077167e-02 1.84181003e+02] [ 1.42731820e-02 -6.10577134e-04 9.99897947e-01 9.61252800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.80, Y:184.21, Z:9.61 [[ 2.39211655e-01 -9.70957860e-01 -4.31478544e-03 2.02798074e+02] [ 9.70846574e-01 2.39249631e-01 -1.47154409e-02 1.84206989e+02] [ 1.53203839e-02 -6.68889678e-04 9.99882412e-01 9.61356329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.81, Y:184.23, Z:9.61 [[ 2.37870065e-01 -9.71286660e-01 -4.47848321e-03 2.02805464e+02] [ 9.71166526e-01 2.37911156e-01 -1.52925276e-02 1.84234163e+02] [ 1.59189092e-02 -7.11718434e-04 9.99873033e-01 9.61356691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.982755096 meters Centerline goodness [0,1] 0.9999780239099859 Centerline is valid? [True, True] Translation: X:202.81, Y:184.26, Z:9.61 [[ 2.36925878e-01 -9.71515982e-01 -4.77758833e-03 2.02813016e+02] [ 9.71378976e-01 2.36972788e-01 -1.63334841e-02 1.84261480e+02] [ 1.70003993e-02 -7.71023799e-04 9.99855186e-01 9.61322674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:184.29, Z:9.61 [[ 2.36480760e-01 -9.71623449e-01 -4.97219212e-03 2.02819661e+02] [ 9.71474702e-01 2.36531655e-01 -1.70199781e-02 1.84288063e+02] [ 1.77130907e-02 -8.05461491e-04 9.99842786e-01 9.61365298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:184.31, Z:9.61 [[ 2.36071052e-01 -9.71721680e-01 -5.23787607e-03 2.02826156e+02] [ 9.71556177e-01 2.36127622e-01 -1.79538556e-02 1.84313184e+02] [ 1.86829579e-02 -8.50505271e-04 9.99825097e-01 9.61297828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:184.34, Z:9.61 [[ 2.35367120e-01 -9.71892197e-01 -5.27980733e-03 2.02833200e+02] [ 9.71723624e-01 2.35424741e-01 -1.81215301e-02 1.84339877e+02] [ 1.88551710e-02 -8.65301180e-04 9.99821851e-01 9.61307062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.84, Y:184.36, Z:9.61 [[ 2.35489108e-01 -9.71862696e-01 -5.27071642e-03 2.02841044e+02] [ 9.71694250e-01 2.35546530e-01 -1.81139776e-02 1.84364919e+02] [ 1.88457981e-02 -8.55880422e-04 9.99822036e-01 9.61322879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.132755096 meters Centerline goodness [0,1] 0.9999559752580951 Centerline is valid? [True, True] Translation: X:202.85, Y:184.39, Z:9.61 [[ 2.34690928e-01 -9.72055791e-01 -5.26377435e-03 2.02846806e+02] [ 9.71887413e-01 2.34748357e-01 -1.81125785e-02 1.84392334e+02] [ 1.88420992e-02 -8.64938173e-04 9.99822098e-01 9.61433969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.86, Y:184.42, Z:9.61 [[ 2.33486023e-01 -9.72346113e-01 -5.22619683e-03 2.02857305e+02] [ 9.72179865e-01 2.33542856e-01 -1.80012506e-02 1.84416880e+02] [ 1.87239870e-02 -8.77762925e-04 9.99824306e-01 9.61416765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.86, Y:184.44, Z:9.61 [[ 2.32799772e-01 -9.72510427e-01 -5.26641416e-03 2.02861401e+02] [ 9.72341281e-01 2.32857620e-01 -1.81593506e-02 1.84444288e+02] [ 1.88864825e-02 -8.93259205e-04 9.99821235e-01 9.61473152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.87, Y:184.47, Z:9.62 [[ 2.32693497e-01 -9.72537144e-01 -5.02395938e-03 2.02867320e+02] [ 9.72382829e-01 2.32746176e-01 -1.73450696e-02 1.84470700e+02] [ 1.80380318e-02 -8.49126947e-04 9.99836941e-01 9.61543453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.252755096 meters Centerline goodness [0,1] 0.9998900131984162 Centerline is valid? [True, True] Translation: X:202.88, Y:184.50, Z:9.61 [[ 2.32294817e-01 -9.72632567e-01 -5.00072833e-03 2.02875473e+02] [ 9.72479291e-01 2.32347093e-01 -1.72874860e-02 1.84495280e+02] [ 1.79762766e-02 -8.47311340e-04 9.99838055e-01 9.61436216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:184.52, Z:9.62 [[ 2.33036671e-01 -9.72456406e-01 -4.73801368e-03 2.02879698e+02] [ 9.72318437e-01 2.33083509e-01 -1.63992359e-02 1.84523587e+02] [ 1.70518949e-02 -7.85234715e-04 9.99854298e-01 9.61673544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:184.55, Z:9.62 [[ 2.33964139e-01 -9.72234845e-01 -4.49315391e-03 2.02885429e+02] [ 9.72110481e-01 2.34006154e-01 -1.55670523e-02 1.84550313e+02] [ 1.61862564e-02 -7.25710013e-04 9.99868731e-01 9.61714960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:184.58, Z:9.62 [[ 2.34138506e-01 -9.72193573e-01 -4.33791920e-03 2.02892494e+02] [ 9.72077413e-01 2.34177657e-01 -1.50442286e-02 1.84576253e+02] [ 1.56417461e-02 -6.94360069e-04 9.99877419e-01 9.61765990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:184.60, Z:9.62 [[ 2.34889171e-01 -9.72012605e-01 -4.30962114e-03 2.02898039e+02] [ 9.71897625e-01 2.34927738e-01 -1.49654217e-02 1.84601631e+02] [ 1.55590280e-02 -6.73295061e-04 9.99878724e-01 9.61763069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:184.63, Z:9.62 [[ 2.34729746e-01 -9.72050744e-01 -4.39297179e-03 2.02905367e+02] [ 9.71930953e-01 2.34769853e-01 -1.52754101e-02 1.84626937e+02] [ 1.58798111e-02 -6.84072141e-04 9.99873674e-01 9.61725622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:184.65, Z:9.62 [[ 2.34187659e-01 -9.72181924e-01 -4.29510479e-03 2.02912794e+02] [ 9.72067123e-01 2.34226076e-01 -1.49550261e-02 1.84651835e+02] [ 1.55450316e-02 -6.72847602e-04 9.99878942e-01 9.61731895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:184.68, Z:9.62 [[ 2.33743183e-01 -9.72288588e-01 -4.36196797e-03 2.02920000e+02] [ 9.72169861e-01 2.33782875e-01 -1.52095119e-02 1.84676317e+02] [ 1.58077883e-02 -6.85454061e-04 9.99874814e-01 9.61709812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.93, Y:184.70, Z:9.62 [[ 2.33730833e-01 -9.72291939e-01 -4.27580723e-03 2.02929922e+02] [ 9.72177527e-01 2.33768988e-01 -1.49303746e-02 1.84700310e+02] [ 1.55162340e-02 -6.67154796e-04 9.99879393e-01 9.61651844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:184.73, Z:9.62 [[ 2.34991729e-01 -9.71987548e-01 -4.36970191e-03 2.02936426e+02] [ 9.71867671e-01 2.35031437e-01 -1.52792165e-02 1.84725447e+02] [ 1.58782255e-02 -6.56282519e-04 9.99873718e-01 9.61611987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:184.75, Z:9.62 [[ 2.35838837e-01 -9.71782209e-01 -4.40252327e-03 2.02942859e+02] [ 9.71660190e-01 2.35879049e-01 -1.54126546e-02 1.84751528e+02] [ 1.60162066e-02 -6.42854058e-04 9.99871526e-01 9.61585489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:184.78, Z:9.62 [[ 2.38191585e-01 -9.71208314e-01 -4.37946161e-03 2.02939511e+02] [ 9.71087186e-01 2.38231095e-01 -1.53499899e-02 1.84781420e+02] [ 1.59513618e-02 -5.96600619e-04 9.99872591e-01 9.61657428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:184.81, Z:9.62 [[ 2.39272475e-01 -9.70942502e-01 -4.39784715e-03 2.02945901e+02] [ 9.70820013e-01 2.39312193e-01 -1.54329765e-02 1.84808813e+02] [ 1.60369912e-02 -5.76831558e-04 9.99871233e-01 9.61654149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:184.83, Z:9.62 [[ 2.38930376e-01 -9.71026765e-01 -4.39276231e-03 2.02953038e+02] [ 9.70904264e-01 2.38970057e-01 -1.54344240e-02 1.84834623e+02] [ 1.60369775e-02 -5.77198915e-04 9.99871233e-01 9.61679118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.96, Y:184.86, Z:9.62 [[ 2.40263377e-01 -9.70697822e-01 -4.38722993e-03 2.02958033e+02] [ 9.70575257e-01 2.40302800e-01 -1.54348775e-02 1.84862433e+02] [ 1.60368656e-02 -5.49701020e-04 9.99871250e-01 9.61708053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.96, Y:184.89, Z:9.62 [[ 2.42827644e-01 -9.70059791e-01 -4.32877835e-03 2.02964514e+02] [ 9.69940083e-01 2.42865717e-01 -1.52472611e-02 1.84888501e+02] [ 1.58420668e-02 -4.96199141e-04 9.99874383e-01 9.61627803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:184.91, Z:9.62 [[ 2.44091314e-01 -9.69742417e-01 -4.36761968e-03 2.02971707e+02] [ 9.69620212e-01 2.44129924e-01 -1.54020799e-02 1.84914323e+02] [ 1.60023168e-02 -4.75418407e-04 9.99871842e-01 9.61612343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:184.94, Z:9.62 [[ 2.46741152e-01 -9.69071021e-01 -4.49000156e-03 2.02976422e+02] [ 9.68941443e-01 2.46781611e-01 -1.58529431e-02 1.84942053e+02] [ 1.64706775e-02 -4.38975149e-04 9.99864253e-01 9.61617607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:184.97, Z:9.62 [[ 2.47673786e-01 -9.68833088e-01 -4.48816439e-03 2.02982764e+02] [ 9.68703240e-01 2.47714095e-01 -1.58669327e-02 1.84969022e+02] [ 1.64841910e-02 -4.17876095e-04 9.99864039e-01 9.61676451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.99, Y:184.99, Z:9.62 [[ 2.48037852e-01 -9.68740143e-01 -4.44515879e-03 2.02990470e+02] [ 9.68612395e-01 2.48077354e-01 -1.57370367e-02 1.84994318e+02] [ 1.63478424e-02 -4.02255129e-04 9.99866284e-01 9.61702645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:185.02, Z:9.62 [[ 2.49278563e-01 -9.68422417e-01 -4.26848414e-03 2.02998601e+02] [ 9.68304263e-01 2.49314844e-01 -1.51315112e-02 1.85019943e+02] [ 1.57178911e-02 -3.61230028e-04 9.99876401e-01 9.61693738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:185.05, Z:9.62 [[ 2.49385565e-01 -9.68394774e-01 -4.28979578e-03 2.03005905e+02] [ 9.68275126e-01 2.49422203e-01 -1.52264471e-02 1.85045787e+02] [ 1.58151821e-02 -3.56446434e-04 9.99874869e-01 9.61706361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:185.07, Z:9.62 [[ 2.49548143e-01 -9.68353361e-01 -4.18244190e-03 2.03014522e+02] [ 9.68239313e-01 2.49582958e-01 -1.48653884e-02 1.85071907e+02] [ 1.54388150e-02 -3.39974610e-04 9.99880757e-01 9.61751721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:185.10, Z:9.62 [[ 2.49284591e-01 -9.68421859e-01 -4.03673028e-03 2.03023184e+02] [ 9.68315367e-01 2.49317057e-01 -1.43650930e-02 1.85096980e+02] [ 1.49178958e-02 -3.27831614e-04 9.99888668e-01 9.61809720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:185.12, Z:9.62 [[ 2.48956144e-01 -9.68506825e-01 -3.92029896e-03 2.03031504e+02] [ 9.68406166e-01 2.48986803e-01 -1.39667330e-02 1.85122527e+02] [ 1.45029790e-02 -3.19337695e-04 9.99894775e-01 9.61875485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:185.15, Z:9.62 [[ 2.49041638e-01 -9.68485891e-01 -3.65270080e-03 2.03040762e+02] [ 9.68398276e-01 2.49068253e-01 -1.30301463e-02 1.85147930e+02] [ 1.35292847e-02 -2.92220175e-04 9.99908432e-01 9.61908933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:185.17, Z:9.62 [[ 2.48959736e-01 -9.68507094e-01 -3.61379158e-03 2.03049160e+02] [ 9.68421103e-01 2.48985799e-01 -1.29088761e-02 1.85173309e+02] [ 1.34021208e-02 -2.85881651e-04 9.99910147e-01 9.61936998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.062755096 meters Centerline goodness [0,1] 0.9999560081824781 Centerline is valid? [True, True] Translation: X:203.06, Y:185.20, Z:9.62 [[ 2.49376216e-01 -9.68400424e-01 -3.48153419e-03 2.03057926e+02] [ 9.68320385e-01 2.49400376e-01 -1.24532718e-02 1.85199109e+02] [ 1.29280496e-02 -2.65690738e-04 9.99916394e-01 9.61936840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:185.22, Z:9.62 [[ 2.49350466e-01 -9.68407058e-01 -3.48072732e-03 2.03066268e+02] [ 9.68326840e-01 2.49374622e-01 -1.24671511e-02 1.85224323e+02] [ 1.29412822e-02 -2.61791749e-04 9.99916224e-01 9.61917936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:185.25, Z:9.62 [[ 2.49583951e-01 -9.68346480e-01 -3.59806554e-03 2.03074104e+02] [ 9.68260514e-01 2.49609747e-01 -1.29054999e-02 1.85249974e+02] [ 1.33951076e-02 -2.62859143e-04 9.99910247e-01 9.61872009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:185.28, Z:9.62 [[ 2.50144120e-01 -9.68201762e-01 -3.64241688e-03 2.03083235e+02] [ 9.68113410e-01 2.50170509e-01 -1.30821564e-02 1.85275057e+02] [ 1.35773922e-02 -2.53848109e-04 9.99907791e-01 9.61813297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:185.30, Z:9.62 [[ 2.50514932e-01 -9.68106088e-01 -3.58766125e-03 2.03090874e+02] [ 9.68020124e-01 2.50540505e-01 -1.29033053e-02 1.85300623e+02] [ 1.33906229e-02 -2.40457630e-04 9.99910313e-01 9.61833670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.10, Y:185.33, Z:9.62 [[ 2.51678476e-01 -9.67805266e-01 -3.30324300e-03 2.03099566e+02] [ 9.67732168e-01 2.51700071e-01 -1.18964295e-02 1.85325440e+02] [ 1.23448536e-02 -2.02579258e-04 9.99923779e-01 9.61858351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:185.35, Z:9.62 [[ 2.52282674e-01 -9.67647982e-01 -3.29173860e-03 2.03107213e+02] [ 9.67575170e-01 2.52304076e-01 -1.18719322e-02 1.85350387e+02] [ 1.23183703e-02 -1.89921743e-04 9.99924108e-01 9.61869622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:185.38, Z:9.62 [[ 2.52841837e-01 -9.67502177e-01 -3.24696184e-03 2.03114627e+02] [ 9.67431117e-01 2.52862624e-01 -1.17271779e-02 1.85375044e+02] [ 1.21671054e-02 -1.76090713e-04 9.99925963e-01 9.61841133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.302755096 meters Centerline goodness [0,1] 0.9999779769639042 Centerline is valid? [True, True] Translation: X:203.12, Y:185.40, Z:9.62 [[ 2.53829268e-01 -9.67242422e-01 -3.57765201e-03 2.03122050e+02] [ 9.67155848e-01 2.53854420e-01 -1.29421214e-02 1.85398995e+02] [ 1.34263716e-02 -1.75057865e-04 9.99909847e-01 9.61682761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.13, Y:185.42, Z:9.62 [[ 2.54532255e-01 -9.67058026e-01 -3.47929131e-03 2.03129124e+02] [ 9.66975893e-01 2.54555986e-01 -1.26044380e-02 1.85423689e+02] [ 1.30748974e-02 -1.56154788e-04 9.99914508e-01 9.61669477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:185.45, Z:9.62 [[ 2.54391742e-01 -9.67095070e-01 -3.45932124e-03 2.03136849e+02] [ 9.67013647e-01 2.54415216e-01 -1.25500589e-02 1.85449190e+02] [ 1.30172040e-02 -1.52579506e-04 9.99915261e-01 9.61670042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:185.48, Z:9.62 [[ 2.54414480e-01 -9.67089746e-01 -3.27032762e-03 2.03144486e+02] [ 9.67016783e-01 2.54435459e-01 -1.18801894e-02 1.85475229e+02] [ 1.23212966e-02 -1.39969499e-04 9.99924080e-01 9.61752658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:185.50, Z:9.62 [[ 2.54079493e-01 -9.67177742e-01 -3.29046853e-03 2.03155227e+02] [ 9.67103676e-01 2.54100760e-01 -1.19701489e-02 1.85500000e+02] [ 1.24133721e-02 -1.40854840e-04 9.99922941e-01 9.61744847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:185.53, Z:9.62 [[ 2.55292969e-01 -9.66859266e-01 -2.94260474e-03 2.03160218e+02] [ 9.66799856e-01 2.55309904e-01 -1.07187143e-02 1.85526444e+02] [ 1.11147644e-02 -1.08497449e-04 9.99938223e-01 9.61917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.482755096 meters Centerline goodness [0,1] 0.9998674179648658 Centerline is valid? [True, True] Translation: X:203.16, Y:185.55, Z:9.62 [[ 2.56351209e-01 -9.66579627e-01 -2.80743941e-03 2.03164349e+02] [ 9.66525388e-01 2.56366567e-01 -1.02400357e-02 1.85553545e+02] [ 1.06175435e-02 -8.84159347e-05 9.99943628e-01 9.61962391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.512755096 meters Centerline goodness [0,1] 0.9999116217410517 Centerline is valid? [True, True] Translation: X:203.17, Y:185.58, Z:9.62 [[ 2.56821116e-01 -9.66454518e-01 -2.92919600e-03 2.03172751e+02] [ 9.66395299e-01 2.56837806e-01 -1.06989597e-02 1.85578433e+02] [ 1.10923862e-02 -8.30424850e-05 9.99938474e-01 9.61895426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:185.60, Z:9.62 [[ 2.58203897e-01 -9.66086035e-01 -2.91895649e-03 2.03177865e+02] [ 9.66027075e-01 2.58220388e-01 -1.06733915e-02 1.85604792e+02] [ 1.10651485e-02 -6.38797192e-05 9.99938777e-01 9.61966398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:185.63, Z:9.62 [[ 2.58378373e-01 -9.66039708e-01 -2.81053642e-03 2.03184460e+02] [ 9.65984902e-01 2.58393653e-01 -1.02902975e-02 1.85630985e+02] [ 1.06670607e-02 -5.61454248e-05 9.99943104e-01 9.61996237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.19, Y:185.66, Z:9.62 [[ 2.57607835e-01 -9.66245645e-01 -2.74905218e-03 2.03191371e+02] [ 9.66193080e-01 2.57622496e-01 -1.00787728e-02 1.85657342e+02] [ 1.04467880e-02 -5.97443421e-05 9.99945429e-01 9.61999761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:185.68, Z:9.62 [[ 2.56756411e-01 -9.66472426e-01 -2.68255026e-03 2.03197844e+02] [ 9.66422250e-01 2.56770416e-01 -9.84825602e-03 1.85682681e+02] [ 1.02068674e-02 -6.38733868e-05 9.99947907e-01 9.62023320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:185.71, Z:9.62 [[ 2.54558713e-01 -9.67053223e-01 -2.81520377e-03 2.03204335e+02] [ 9.66997836e-01 2.54574264e-01 -1.03503005e-02 1.85708290e+02] [ 1.07259699e-02 -8.75367837e-05 9.99942471e-01 9.61878452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.21, Y:185.73, Z:9.62 [[ 2.53339588e-01 -9.67372899e-01 -2.95416246e-03 2.03211780e+02] [ 9.67311791e-01 2.53356790e-01 -1.08736345e-02 1.85734780e+02] [ 1.12673165e-02 -1.02874096e-04 9.99936517e-01 9.61836765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:185.76, Z:9.62 [[ 2.51665605e-01 -9.67810175e-01 -2.80882110e-03 2.03219305e+02] [ 9.67754815e-01 2.51681253e-01 -1.03520558e-02 1.85759479e+02] [ 1.07257525e-02 -1.12993770e-04 9.99942471e-01 9.61863437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:185.78, Z:9.62 [[ 2.49683083e-01 -9.68323441e-01 -2.84104944e-03 2.03226639e+02] [ 9.68266674e-01 2.49699210e-01 -1.04858229e-02 1.85784440e+02] [ 1.08630759e-02 -1.32760904e-04 9.99940986e-01 9.61852704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:185.81, Z:9.62 [[ 2.48725535e-01 -9.68569853e-01 -2.83690563e-03 2.03233431e+02] [ 9.68513100e-01 2.48741674e-01 -1.04859153e-02 1.85809960e+02] [ 1.08619981e-02 -1.39465374e-04 9.99940997e-01 9.61824407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.812755096 meters Centerline goodness [0,1] 0.9999556265530707 Centerline is valid? [True, True] Translation: X:203.24, Y:185.83, Z:9.62 [[ 2.47528547e-01 -9.68876287e-01 -2.89125372e-03 2.03239679e+02] [ 9.68817182e-01 2.47545385e-01 -1.07027825e-02 1.85834742e+02] [ 1.10853887e-02 -1.51852079e-04 9.99938544e-01 9.61712098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:185.86, Z:9.62 [[ 2.46452838e-01 -9.69149981e-01 -3.05173556e-03 2.03245852e+02] [ 9.69083945e-01 2.46471674e-01 -1.13146647e-02 1.85860949e+02] [ 1.17177735e-02 -1.68856712e-04 9.99931330e-01 9.61612951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:185.89, Z:9.62 [[ 2.45797641e-01 -9.69316034e-01 -3.15367913e-03 2.03251171e+02] [ 9.69245318e-01 2.45817807e-01 -1.17097791e-02 1.85887303e+02] [ 1.21257071e-02 -1.78452655e-04 9.99926465e-01 9.61549785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:185.91, Z:9.62 [[ 2.45322370e-01 -9.69435880e-01 -3.31812107e-03 2.03258352e+02] [ 9.69357398e-01 2.45344735e-01 -1.23367875e-02 1.85912147e+02] [ 1.27738080e-02 -1.89955258e-04 9.99918394e-01 9.61513423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.27, Y:185.94, Z:9.62 [[ 2.44677899e-01 -9.69598821e-01 -3.29436992e-03 2.03268053e+02] [ 9.69521295e-01 2.44699999e-01 -1.22624887e-02 1.85936894e+02] [ 1.26958269e-02 -1.93601819e-04 9.99919386e-01 9.61519003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.27, Y:185.96, Z:9.62 [[ 2.44065486e-01 -9.69753230e-01 -3.27276214e-03 2.03272225e+02] [ 9.69676514e-01 2.44087349e-01 -1.21993455e-02 1.85964123e+02] [ 1.26291945e-02 -1.96081403e-04 9.99920229e-01 9.61646609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:185.99, Z:9.62 [[ 2.43884831e-01 -9.69798984e-01 -3.18114013e-03 2.03279312e+02] [ 9.69726298e-01 2.43905504e-01 -1.18748471e-02 1.85989793e+02] [ 1.22921122e-02 -1.88740158e-04 9.99924431e-01 9.61662876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:186.01, Z:9.62 [[ 2.43758967e-01 -9.69830907e-01 -3.09470631e-03 2.03286561e+02] [ 9.69761915e-01 2.43778544e-01 -1.15693366e-02 1.86014616e+02] [ 1.19747232e-02 -1.80998771e-04 9.99928284e-01 9.61673278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:186.04, Z:9.62 [[ 2.43814345e-01 -9.69817224e-01 -3.01941597e-03 2.03293319e+02] [ 9.69751355e-01 2.43832980e-01 -1.13043269e-02 1.86040980e+02] [ 1.16993641e-02 -1.71925678e-04 9.99931545e-01 9.61723730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:186.07, Z:9.62 [[ 2.45665011e-01 -9.69350492e-01 -2.88532808e-03 2.03299124e+02] [ 9.69290145e-01 2.45681915e-01 -1.08171625e-02 1.86067997e+02] [ 1.11944947e-02 -1.39321735e-04 9.99937330e-01 9.61795921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:186.09, Z:9.62 [[ 2.46529086e-01 -9.69131099e-01 -2.88489405e-03 2.03304920e+02] [ 9.69070581e-01 2.46545933e-01 -1.08310290e-02 1.86094898e+02] [ 1.12079460e-02 -1.25502267e-04 9.99937181e-01 9.61812972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.31, Y:186.12, Z:9.62 [[ 2.48170385e-01 -9.68711796e-01 -2.98597111e-03 2.03311299e+02] [ 9.68646746e-01 2.48188325e-01 -1.12265833e-02 1.86120334e+02] [ 1.16164069e-02 -1.06245696e-04 9.99932522e-01 9.61812991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:186.15, Z:9.62 [[ 2.48349667e-01 -9.68665886e-01 -2.97389605e-03 2.03317071e+02] [ 9.68601205e-01 2.48367452e-01 -1.11944367e-02 1.86146817e+02] [ 1.15822879e-02 -1.00384666e-04 9.99932918e-01 9.61812476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:186.17, Z:9.62 [[ 2.48610741e-01 -9.68598867e-01 -2.98918469e-03 2.03323349e+02] [ 9.68533320e-01 2.48628693e-01 -1.12685798e-02 1.86172144e+02] [ 1.16579307e-02 -9.36350110e-05 9.99932040e-01 9.61792186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:186.20, Z:9.62 [[ 2.48341098e-01 -9.68668634e-01 -2.78860029e-03 2.03329558e+02] [ 9.68611431e-01 2.48356738e-01 -1.05273987e-02 1.86198975e+02] [ 1.08901286e-02 -8.66843820e-05 9.99940697e-01 9.61858314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:186.22, Z:9.62 [[ 2.47550234e-01 -9.68871438e-01 -2.64915021e-03 2.03336521e+02] [ 9.68819682e-01 2.47564393e-01 -1.00147643e-02 1.86223805e+02] [ 1.03588543e-02 -8.73916275e-05 9.99946342e-01 9.61930289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:186.25, Z:9.62 [[ 2.46294755e-01 -9.69191415e-01 -2.62581055e-03 2.03343996e+02] [ 9.69140433e-01 2.46308733e-01 -9.94132461e-03 1.86250243e+02] [ 1.02818065e-02 -9.62830677e-05 9.99947136e-01 9.61988740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.35, Y:186.28, Z:9.62 [[ 2.43029839e-01 -9.70014960e-01 -2.73408786e-03 2.03353975e+02] [ 9.69959574e-01 2.43045181e-01 -1.03665515e-02 1.86276068e+02] [ 1.07202170e-02 -1.32573344e-04 9.99942528e-01 9.61966941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:186.30, Z:9.62 [[ 2.41191386e-01 -9.70473511e-01 -2.80698844e-03 2.03361857e+02] [ 9.70415000e-01 2.41207671e-01 -1.06577148e-02 1.86302163e+02] [ 1.10200971e-02 -1.53394684e-04 9.99939265e-01 9.61936771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.37, Y:186.33, Z:9.62 [[ 2.37595378e-01 -9.71359218e-01 -3.11537830e-03 2.03369953e+02] [ 9.71287002e-01 2.37615708e-01 -1.18463141e-02 1.86328940e+02] [ 1.22472892e-02 -2.11296966e-04 9.99924977e-01 9.61812676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:186.35, Z:9.62 [[ 2.35117732e-01 -9.71961516e-01 -3.23485475e-03 2.03378553e+02] [ 9.71883500e-01 2.35139854e-01 -1.23171035e-02 1.86354489e+02] [ 1.27323939e-02 -2.47932513e-04 9.99918909e-01 9.61762490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:186.38, Z:9.62 [[ 2.32602748e-01 -9.72566459e-01 -3.23188940e-03 2.03388915e+02] [ 9.72488433e-01 2.32625035e-01 -1.23223942e-02 1.86380151e+02] [ 1.27361656e-02 -2.76752308e-04 9.99918853e-01 9.61751330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.40, Y:186.41, Z:9.62 [[ 2.28729340e-01 -9.73485535e-01 -2.96675685e-03 2.03398453e+02] [ 9.73419699e-01 2.28748386e-01 -1.13254343e-02 1.86406750e+02] [ 1.17037873e-02 -2.97440444e-04 9.99931464e-01 9.61941706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.40, Y:186.43, Z:9.62 [[ 2.27188078e-01 -9.73846941e-01 -2.77726888e-03 2.03404020e+02] [ 9.73789134e-01 2.27204864e-01 -1.06147209e-02 1.86434085e+02] [ 1.09681225e-02 -2.92936204e-04 9.99939805e-01 9.62037146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:186.46, Z:9.62 [[ 2.25875699e-01 -9.74151722e-01 -2.93115674e-03 2.03411360e+02] [ 9.74087176e-01 2.25894489e-01 -1.12184330e-02 1.86459745e+02] [ 1.15905880e-02 -3.21230792e-04 9.99932775e-01 9.62103827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:186.49, Z:9.62 [[ 2.25528296e-01 -9.74232220e-01 -2.92731844e-03 2.03417928e+02] [ 9.74167668e-01 2.25547064e-01 -1.12194346e-02 1.86485709e+02] [ 1.15905828e-02 -3.21399006e-04 9.99932775e-01 9.62128783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.43, Y:186.51, Z:9.62 [[ 2.25327568e-01 -9.74278485e-01 -2.98665604e-03 2.03428411e+02] [ 9.74211091e-01 2.25347125e-01 -1.14640406e-02 1.86510385e+02] [ 1.18422024e-02 -3.26469053e-04 9.99929825e-01 9.62075021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.43, Y:186.54, Z:9.62 [[ 2.25899856e-01 -9.74145494e-01 -3.13243768e-03 2.03430300e+02] [ 9.74071112e-01 2.25921331e-01 -1.20424917e-02 1.86538198e+02] [ 1.24388235e-02 -3.30819908e-04 9.99922580e-01 9.62117796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:186.56, Z:9.62 [[ 2.28054163e-01 -9.73643364e-01 -3.14635353e-03 2.03435740e+02] [ 9.73568058e-01 2.28075668e-01 -1.21130256e-02 1.86564746e+02] [ 1.25113737e-02 -3.00763394e-04 9.99921684e-01 9.62127810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:186.59, Z:9.62 [[ 2.29608157e-01 -9.73277936e-01 -3.18654395e-03 2.03441420e+02] [ 9.73200463e-01 2.29630096e-01 -1.22832660e-02 1.86591629e+02] [ 1.26867581e-02 -2.80807993e-04 9.99919480e-01 9.62156454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:186.62, Z:9.62 [[ 2.32794662e-01 -9.72521128e-01 -3.04967684e-03 2.03442696e+02] [ 9.72449926e-01 2.32814528e-01 -1.17701802e-02 1.86620485e+02] [ 1.21567580e-02 -2.25622896e-04 9.99926078e-01 9.62215283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:186.65, Z:9.62 [[ 2.33981910e-01 -9.72235903e-01 -3.13288153e-03 2.03448707e+02] [ 9.72160525e-01 2.34002787e-01 -1.21082781e-02 1.86646493e+02] [ 1.25052057e-02 -2.12545718e-04 9.99921784e-01 9.62168344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:186.67, Z:9.62 [[ 2.35252792e-01 -9.71929016e-01 -3.17979635e-03 2.03453714e+02] [ 9.71851097e-01 2.35274200e-01 -1.23083958e-02 1.86673617e+02] [ 1.27110111e-02 -1.94704087e-04 9.99919193e-01 9.62156956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:186.70, Z:9.62 [[ 2.36785781e-01 -9.71557422e-01 -2.94458039e-03 2.03458099e+02] [ 9.71490398e-01 2.36804037e-01 -1.14129183e-02 1.86700334e+02] [ 1.17855940e-02 -1.58214803e-04 9.99930535e-01 9.62254827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:186.73, Z:9.62 [[ 2.36978572e-01 -9.71510734e-01 -2.83723677e-03 2.03464681e+02] [ 9.71448342e-01 2.36995510e-01 -1.10112399e-02 1.86725647e+02] [ 1.13699501e-02 -1.46801063e-04 9.99935349e-01 9.62359489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.47, Y:186.75, Z:9.62 [[ 2.35452982e-01 -9.71882227e-01 -2.61353064e-03 2.03471338e+02] [ 9.71829197e-01 2.35467439e-01 -1.01537014e-02 1.86752410e+02] [ 1.04836033e-02 -1.49186110e-04 9.99945034e-01 9.62485312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:186.78, Z:9.62 [[ 2.34287764e-01 -9.72163689e-01 -2.64689595e-03 2.03480876e+02] [ 9.72109150e-01 2.34302660e-01 -1.02986948e-02 1.86777219e+02] [ 1.06321919e-02 -1.60213604e-04 9.99943464e-01 9.62480680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.49, Y:186.80, Z:9.62 [[ 2.32408838e-01 -9.72614573e-01 -2.65040100e-03 2.03489150e+02] [ 9.72559752e-01 2.32423883e-01 -1.03279924e-02 1.86802841e+02] [ 1.06611724e-02 -1.77356628e-04 9.99943152e-01 9.62478236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:186.83, Z:9.63 [[ 2.28815219e-01 -9.73466188e-01 -2.67898215e-03 2.03497436e+02] [ 9.73410082e-01 2.28830800e-01 -1.04536108e-02 1.86829113e+02] [ 1.07892703e-02 -2.15802971e-04 9.99941771e-01 9.62526537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:186.86, Z:9.63 [[ 2.26565201e-01 -9.73992461e-01 -2.62616077e-03 2.03506542e+02] [ 9.73938433e-01 2.26580301e-01 -1.02614029e-02 1.86855313e+02] [ 1.05895653e-02 -2.32842109e-04 9.99943902e-01 9.62561486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.52, Y:186.88, Z:9.63 [[ 2.22480549e-01 -9.74933618e-01 -2.61635545e-03 2.03517894e+02] [ 9.74879908e-01 2.22495765e-01 -1.02371664e-02 1.86880304e+02] [ 1.05626857e-02 -2.73061958e-04 9.99944176e-01 9.62576896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:186.91, Z:9.63 [[ 2.20868536e-01 -9.75300185e-01 -2.57651565e-03 2.03526382e+02] [ 9.75247982e-01 2.20883382e-01 -1.00948242e-02 1.86906843e+02] [ 1.04145934e-02 -2.83112655e-04 9.99945727e-01 9.62615780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:186.93, Z:9.63 [[ 2.19809319e-01 -9.75539437e-01 -2.58260677e-03 2.03533664e+02] [ 9.75486865e-01 2.19824296e-01 -1.01318876e-02 1.86933606e+02] [ 1.04517756e-02 -2.92215668e-04 9.99945336e-01 9.62645442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.54, Y:186.96, Z:9.63 [[ 2.19275035e-01 -9.75659637e-01 -2.59447758e-03 2.03542673e+02] [ 9.75606431e-01 2.19290183e-01 -1.01934892e-02 1.86959338e+02] [ 1.05143195e-02 -2.96011310e-04 9.99944679e-01 9.62699898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:186.98, Z:9.63 [[ 2.19621930e-01 -9.75581386e-01 -2.67734408e-03 2.03550409e+02] [ 9.75524547e-01 2.19638046e-01 -1.05350773e-02 1.86984493e+02] [ 1.08658719e-02 -2.98080863e-04 9.99940920e-01 9.62689444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:187.01, Z:9.63 [[ 2.21500082e-01 -9.75156282e-01 -2.81784904e-03 2.03555921e+02] [ 9.75093088e-01 2.21517818e-01 -1.11052746e-02 1.87012017e+02] [ 1.14535820e-02 -2.87845889e-04 9.99934364e-01 9.62630564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:187.04, Z:9.63 [[ 2.22725743e-01 -9.74876920e-01 -2.86959761e-03 2.03561600e+02] [ 9.74811187e-01 2.22744059e-01 -1.13240364e-02 1.87039366e+02] [ 1.16787276e-02 -2.75161420e-04 9.99931764e-01 9.62605612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:187.07, Z:9.63 [[ 2.26574994e-01 -9.73988899e-01 -3.06537150e-03 2.03565533e+02] [ 9.73913603e-01 2.26595601e-01 -1.21131479e-02 1.87066979e+02] [ 1.24926713e-02 -2.40870598e-04 9.99921935e-01 9.62546719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:187.09, Z:9.63 [[ 2.28412082e-01 -9.73559490e-01 -3.13692254e-03 2.03571204e+02] [ 9.73480382e-01 2.28433517e-01 -1.24126588e-02 1.87093523e+02] [ 1.28010401e-02 -2.18531303e-04 9.99918039e-01 9.62500295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:187.12, Z:9.63 [[ 2.30597053e-01 -9.73043652e-01 -3.32424976e-03 2.03576801e+02] [ 9.72954514e-01 2.30620929e-01 -1.31719818e-02 1.87121391e+02] [ 1.35835549e-02 -1.96923614e-04 9.99907720e-01 9.62520968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:187.15, Z:9.62 [[ 2.32289838e-01 -9.72640625e-01 -3.41257104e-03 2.03582936e+02] [ 9.72546403e-01 2.32314838e-01 -1.35392266e-02 1.87146895e+02] [ 1.39615927e-02 -1.73858950e-04 9.99902517e-01 9.62485561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.59, Y:187.18, Z:9.63 [[ 2.35340334e-01 -9.71907378e-01 -3.31289104e-03 2.03586259e+02] [ 9.71818297e-01 2.35363618e-01 -1.31591806e-02 1.87175418e+02] [ 1.35692387e-02 -1.22642173e-04 9.99907926e-01 9.62577992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.59, Y:187.20, Z:9.63 [[ 2.37782794e-01 -9.71312574e-01 -3.35077136e-03 2.03590840e+02] [ 9.71221150e-01 2.37806386e-01 -1.33266783e-02 1.87201533e+02] [ 1.37412050e-02 -8.54852132e-05 9.99905582e-01 9.62652275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:187.23, Z:9.63 [[ 2.38763751e-01 -9.71071937e-01 -3.34143612e-03 2.03596124e+02] [ 9.70980768e-01 2.38787121e-01 -1.33063164e-02 1.87228599e+02] [ 1.37192824e-02 -6.74042012e-05 9.99905884e-01 9.62718720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:187.25, Z:9.63 [[ 2.39301747e-01 -9.70939715e-01 -3.27767958e-03 2.03601195e+02] [ 9.70851738e-01 2.39324186e-01 -1.30704194e-02 1.87253914e+02] [ 1.34750173e-02 -5.43667271e-05 9.99909206e-01 9.62743845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:187.28, Z:9.63 [[ 2.39768227e-01 -9.70824626e-01 -3.27772281e-03 2.03606736e+02] [ 9.70736414e-01 2.39790626e-01 -1.30870525e-02 1.87280330e+02] [ 1.34912000e-02 -4.39455152e-05 9.99908989e-01 9.62782351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:187.31, Z:9.63 [[ 2.38906008e-01 -9.71037642e-01 -3.13320202e-03 2.03613527e+02] [ 9.70956824e-01 2.38926548e-01 -1.25280291e-02 1.87307219e+02] [ 1.29137930e-02 -4.91824526e-05 9.99916612e-01 9.62865425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.62, Y:187.33, Z:9.63 [[ 2.37767038e-01 -9.71317180e-01 -3.12600533e-03 2.03620165e+02] [ 9.71236514e-01 2.37787579e-01 -1.25180372e-02 1.87333333e+02] [ 1.29023099e-02 -5.97138911e-05 9.99916760e-01 9.62912641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:187.36, Z:9.63 [[ 2.34411643e-01 -9.72132226e-01 -3.18066760e-03 2.03628798e+02] [ 9.72048546e-01 2.34433199e-01 -1.27554059e-02 1.87358031e+02] [ 1.31455952e-02 -1.01747663e-04 9.99913588e-01 9.62901419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:187.38, Z:9.63 [[ 2.31890604e-01 -9.72736349e-01 -3.27762441e-03 2.03636425e+02] [ 9.72647317e-01 2.31913726e-01 -1.31613281e-02 1.87384251e+02] [ 1.35626283e-02 -1.35984277e-04 9.99908014e-01 9.62899142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:187.41, Z:9.63 [[ 2.29220294e-01 -9.73368867e-01 -3.33249358e-03 2.03644437e+02] [ 9.73276624e-01 2.29244453e-01 -1.34012507e-02 1.87411305e+02] [ 1.38083159e-02 -1.71599487e-04 9.99904646e-01 9.62926696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.66, Y:187.44, Z:9.63 [[ 2.23543064e-01 -9.74687919e-01 -3.45816358e-03 2.03655216e+02] [ 9.74588477e-01 2.23569662e-01 -1.39250406e-02 1.87436132e+02] [ 1.43457093e-02 -2.57440132e-04 9.99897062e-01 9.62937449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.66, Y:187.46, Z:9.63 [[ 2.20910230e-01 -9.75288267e-01 -3.38640598e-03 2.03662916e+02] [ 9.75192748e-01 2.20935998e-01 -1.36524398e-02 1.87463116e+02] [ 1.40632434e-02 -2.86434933e-04 9.99901067e-01 9.63007913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:187.49, Z:9.63 [[ 2.15754642e-01 -9.76442043e-01 -3.29712270e-03 2.03670617e+02] [ 9.76351381e-01 2.15779553e-01 -1.33103174e-02 1.87489913e+02] [ 1.37082052e-02 -3.47387546e-04 9.99905978e-01 9.63053567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.68, Y:187.52, Z:9.63 [[ 2.13483448e-01 -9.76940859e-01 -3.37278968e-03 2.03678975e+02] [ 9.76845799e-01 2.13509744e-01 -1.36335606e-02 1.87515250e+02] [ 1.40393059e-02 -3.84155895e-04 9.99901370e-01 9.62976528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:187.54, Z:9.63 [[ 2.11676267e-01 -9.77333514e-01 -3.51585567e-03 2.03685924e+02] [ 9.77230022e-01 2.11705039e-01 -1.42288728e-02 1.87542716e+02] [ 1.46506786e-02 -4.23885039e-04 9.99892583e-01 9.62963166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:187.57, Z:9.63 [[ 2.09344763e-01 -9.77834778e-01 -3.73067606e-03 2.03691678e+02] [ 9.77718002e-01 2.09377446e-01 -1.51192956e-02 1.87570258e+02] [ 1.55652924e-02 -4.82403806e-04 9.99878737e-01 9.62949351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:187.60, Z:9.63 [[ 2.08393364e-01 -9.78037452e-01 -3.86631612e-03 2.03698099e+02] [ 9.77911714e-01 2.08428600e-01 -1.56907058e-02 1.87597601e+02] [ 1.61519488e-02 -5.11076865e-04 9.99869418e-01 9.62956678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:187.62, Z:9.63 [[ 2.08172628e-01 -9.78083220e-01 -4.16787339e-03 2.03701334e+02] [ 9.77936667e-01 2.08213622e-01 -1.69399907e-02 1.87624716e+02] [ 1.74365287e-02 -5.49473820e-04 9.99847821e-01 9.62932121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:187.65, Z:9.63 [[ 2.08680851e-01 -9.77974712e-01 -4.21480401e-03 2.03706113e+02] [ 9.77824346e-01 2.08722710e-01 -1.71574534e-02 1.87651501e+02] [ 1.76592808e-02 -5.40905996e-04 9.99843916e-01 9.62914316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:187.68, Z:9.63 [[ 2.10807149e-01 -9.77518509e-01 -4.23208758e-03 2.03708927e+02] [ 9.77366368e-01 2.10849035e-01 -1.72530169e-02 1.87679869e+02] [ 1.77574749e-02 -4.99240758e-04 9.99842199e-01 9.62971088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.71, Y:187.71, Z:9.63 [[ 2.11652522e-01 -9.77336163e-01 -4.15154627e-03 2.03713520e+02] [ 9.77189325e-01 2.11692712e-01 -1.69475183e-02 1.87707789e+02] [ 1.74422746e-02 -4.69861705e-04 9.99847762e-01 9.63007158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:187.74, Z:9.63 [[ 2.12744761e-01 -9.77098625e-01 -4.23606309e-03 2.03718100e+02] [ 9.76945278e-01 2.12786445e-01 -1.73162661e-02 1.87735440e+02] [ 1.78210766e-02 -4.54456929e-04 9.99841089e-01 9.63044482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:187.76, Z:9.63 [[ 2.14893645e-01 -9.76628057e-01 -4.28474629e-03 2.03721826e+02] [ 9.76470640e-01 2.14935957e-01 -1.75391908e-02 1.87763443e+02] [ 1.80502118e-02 -4.14868331e-04 9.99836996e-01 9.63119075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.73, Y:187.79, Z:9.63 [[ 2.15880532e-01 -9.76410647e-01 -4.22437231e-03 2.03726750e+02] [ 9.76257150e-01 2.15921515e-01 -1.73169668e-02 1.87790126e+02] [ 1.78206036e-02 -3.85677658e-04 9.99841126e-01 9.63229276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.73, Y:187.82, Z:9.63 [[ 2.18074580e-01 -9.75924371e-01 -3.88573856e-03 2.03731147e+02] [ 9.75794056e-01 2.18108971e-01 -1.59511001e-02 1.87817395e+02] [ 1.64145818e-02 -3.13151128e-04 9.99865223e-01 9.63410773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:187.84, Z:9.64 [[ 2.19452235e-01 -9.75616298e-01 -3.68170422e-03 2.03735517e+02] [ 9.75498946e-01 2.19482950e-01 -1.51341247e-02 1.87844863e+02] [ 1.55731700e-02 -2.70281094e-04 9.99878694e-01 9.63550953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:187.87, Z:9.64 [[ 2.20373965e-01 -9.75409136e-01 -3.51183418e-03 2.03740387e+02] [ 9.75302023e-01 2.20401815e-01 -1.44569864e-02 1.87871337e+02] [ 1.48754913e-02 -2.39155560e-04 9.99889325e-01 9.63708530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.75, Y:187.90, Z:9.64 [[ 2.22356277e-01 -9.74959967e-01 -3.27843494e-03 2.03746301e+02] [ 9.74866298e-01 2.22380363e-01 -1.35157148e-02 1.87898190e+02] [ 1.39063404e-02 -1.90731703e-04 9.99903284e-01 9.63873157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.75, Y:187.92, Z:9.64 [[ 2.22801144e-01 -9.74858444e-01 -3.26565987e-03 2.03753174e+02] [ 9.74765224e-01 2.22825003e-01 -1.34824186e-02 1.87924049e+02] [ 1.38711202e-02 -1.79353402e-04 9.99903775e-01 9.63919242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:187.95, Z:9.64 [[ 2.23609956e-01 -9.74673071e-01 -3.31541178e-03 2.03758753e+02] [ 9.74576665e-01 2.23634472e-01 -1.37094158e-02 1.87949581e+02] [ 1.41036388e-02 -1.65561096e-04 9.99900525e-01 9.63946141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:187.98, Z:9.64 [[ 2.23497137e-01 -9.74698916e-01 -3.32462629e-03 2.03764079e+02] [ 9.74601663e-01 2.23521805e-01 -1.37696097e-02 1.87976001e+02] [ 1.41643502e-02 -1.62717954e-04 9.99899667e-01 9.64048563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.77, Y:188.00, Z:9.64 [[ 2.23195153e-01 -9.74768545e-01 -3.19482617e-03 2.03770332e+02] [ 9.74678475e-01 2.23217963e-01 -1.32518373e-02 1.88002413e+02] [ 1.36306167e-02 -1.56182454e-04 9.99907087e-01 9.64095448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.78, Y:188.03, Z:9.64 [[ 2.22625435e-01 -9.74899417e-01 -3.00706963e-03 2.03777398e+02] [ 9.74819399e-01 2.22645692e-01 -1.24914440e-02 1.88028879e+02] [ 1.28474126e-02 -1.50436661e-04 9.99917457e-01 9.64303060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.79, Y:188.05, Z:9.64 [[ 2.20789978e-01 -9.75317491e-01 -2.75285835e-03 2.03785080e+02] [ 9.75250267e-01 2.20807084e-01 -1.14520421e-02 1.88053912e+02] [ 1.17772276e-02 -1.56229714e-04 9.99930634e-01 9.64383594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.79, Y:188.08, Z:9.64 [[ 2.19192019e-01 -9.75677870e-01 -2.74819969e-03 2.03792158e+02] [ 9.75610687e-01 2.19209180e-01 -1.14508764e-02 1.88080093e+02] [ 1.17747973e-02 -1.71232267e-04 9.99930660e-01 9.64400287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:188.11, Z:9.64 [[ 2.17399771e-01 -9.76079244e-01 -2.57851456e-03 2.03798138e+02] [ 9.76019957e-01 2.17414989e-01 -1.07594505e-02 1.88106891e+02] [ 1.10626840e-02 -1.77579606e-04 9.99938791e-01 9.64442237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.81, Y:188.13, Z:9.64 [[ 2.15651829e-01 -9.76467070e-01 -2.51999405e-03 2.03806560e+02] [ 9.76410293e-01 2.15666469e-01 -1.05316148e-02 1.88132296e+02] [ 1.08272532e-02 -1.89386143e-04 9.99941366e-01 9.64468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.81, Y:188.16, Z:9.64 [[ 2.15316391e-01 -9.76541100e-01 -2.51642119e-03 2.03812571e+02] [ 9.76484318e-01 2.15331012e-01 -1.05324685e-02 1.88158380e+02] [ 1.08272519e-02 -1.89432724e-04 9.99941366e-01 9.64493068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.82, Y:188.19, Z:9.65 [[ 2.11925211e-01 -9.77282960e-01 -2.39176847e-03 2.03821084e+02] [ 9.77231562e-01 2.11938601e-01 -1.00251614e-02 1.88185616e+02] [ 1.03043275e-02 -2.12727177e-04 9.99946886e-01 9.64508855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.83, Y:188.21, Z:9.65 [[ 2.10302685e-01 -9.77633217e-01 -2.46433212e-03 2.03827144e+02] [ 9.77578522e-01 2.10316993e-01 -1.03438946e-02 1.88212762e+02] [ 1.06308259e-02 -2.33729338e-04 9.99943464e-01 9.64523187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.83, Y:188.24, Z:9.65 [[ 2.07906658e-01 -9.78145739e-01 -2.39479376e-03 2.03833993e+02] [ 9.78093977e-01 2.07920300e-01 -1.00658167e-02 1.88239746e+02] [ 1.03437620e-02 -2.49583029e-04 9.99946471e-01 9.64563126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.572755096 meters Centerline goodness [0,1] 0.9999124362426391 Centerline is valid? [True, True] Translation: X:203.84, Y:188.27, Z:9.65 [[ 2.06685957e-01 -9.78404329e-01 -2.42582927e-03 2.03843568e+02] [ 9.78351081e-01 2.06700025e-01 -1.02109198e-02 1.88265154e+02] [ 1.04918271e-02 -2.62858957e-04 9.99944925e-01 9.64548926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:188.29, Z:9.65 [[ 2.05947595e-01 -9.78559726e-01 -2.53985551e-03 2.03846778e+02] [ 9.78501182e-01 2.05963065e-01 -1.07075978e-02 1.88292657e+02] [ 1.10011404e-02 -2.80047596e-04 9.99939446e-01 9.64580398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:188.32, Z:9.64 [[ 2.05217388e-01 -9.78712499e-01 -2.76912934e-03 2.03856219e+02] [ 9.78642689e-01 2.05235835e-01 -1.16935924e-02 1.88316897e+02] [ 1.20129896e-02 -3.10259695e-04 9.99927793e-01 9.64490593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:188.34, Z:9.65 [[ 2.04292919e-01 -9.78905829e-01 -2.78959188e-03 2.03858041e+02] [ 9.78834787e-01 2.04311713e-01 -1.17976048e-02 1.88344752e+02] [ 1.21186904e-02 -3.20382442e-04 9.99926515e-01 9.64554604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:188.37, Z:9.65 [[ 2.03990808e-01 -9.78968766e-01 -2.81177722e-03 2.03863670e+02] [ 9.78896366e-01 2.04009930e-01 -1.19101943e-02 1.88371277e+02] [ 1.22333387e-02 -3.22868350e-04 9.99925118e-01 9.64620321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.87, Y:188.40, Z:9.65 [[ 2.03829229e-01 -9.79002525e-01 -2.77507955e-03 2.03869070e+02] [ 9.78931786e-01 2.03847873e-01 -1.17729434e-02 1.88397839e+02] [ 1.20914354e-02 -3.16943590e-04 9.99926846e-01 9.64700728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.87, Y:188.42, Z:9.65 [[ 2.03930350e-01 -9.78981705e-01 -2.68971720e-03 2.03874768e+02] [ 9.78915046e-01 2.03947863e-01 -1.14281515e-02 1.88424925e+02] [ 1.17365133e-02 -3.02457703e-04 9.99931079e-01 9.64763793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.88, Y:188.45, Z:9.65 [[ 2.04208847e-01 -9.78924227e-01 -2.47076923e-03 2.03879630e+02] [ 9.78867817e-01 2.04223613e-01 -1.05125018e-02 1.88450748e+02] [ 1.07955321e-02 -2.71810613e-04 9.99941690e-01 9.64948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:188.48, Z:9.65 [[ 2.04354337e-01 -9.78894436e-01 -2.23329438e-03 2.03885224e+02] [ 9.78848245e-01 2.04366397e-01 -9.51253999e-03 1.88477908e+02] [ 9.76818280e-03 -2.42127480e-04 9.99952261e-01 9.65108541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:188.51, Z:9.65 [[ 2.04720152e-01 -9.78818458e-01 -2.02147189e-03 2.03889064e+02] [ 9.78780509e-01 2.04730021e-01 -8.62170365e-03 1.88505492e+02] [ 8.85293865e-03 -2.13540804e-04 9.99960789e-01 9.65282484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:188.53, Z:9.65 [[ 2.05766324e-01 -9.78599473e-01 -1.81438214e-03 2.03894323e+02] [ 9.78568833e-01 2.05774243e-01 -7.74592982e-03 1.88531126e+02] [ 7.95351594e-03 -1.81646307e-04 9.99968354e-01 9.65423109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.90, Y:188.56, Z:9.65 [[ 2.06434124e-01 -9.78458877e-01 -1.78300951e-03 2.03897767e+02] [ 9.78429215e-01 2.06441753e-01 -7.62068110e-03 1.88558521e+02] [ 7.82461068e-03 -1.71379970e-04 9.99969373e-01 9.65491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.90, Y:188.58, Z:9.66 [[ 2.07583408e-01 -9.78216226e-01 -1.46414569e-03 2.03902752e+02] [ 9.78196172e-01 2.07588529e-01 -6.26510239e-03 1.88584104e+02] [ 6.43256467e-03 -1.31690406e-04 9.99979302e-01 9.65619315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:188.61, Z:9.66 [[ 2.07754040e-01 -9.78180115e-01 -1.38616739e-03 2.03906398e+02] [ 9.78162082e-01 2.07758628e-01 -5.94089359e-03 1.88611420e+02] [ 6.09925221e-03 -1.21651736e-04 9.99981392e-01 9.65685462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:188.64, Z:9.66 [[ 2.07747193e-01 -9.78181810e-01 -1.20433884e-03 2.03912145e+02] [ 9.78168163e-01 2.07750658e-01 -5.16806623e-03 1.88637774e+02] [ 5.30551057e-03 -1.04394661e-04 9.99985920e-01 9.65791883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:188.66, Z:9.66 [[ 2.07739331e-01 -9.78183839e-01 -8.65083448e-04 2.03917371e+02] [ 9.78176790e-01 2.07741119e-01 -3.71416615e-03 1.88664858e+02] [ 3.81285070e-03 -7.46261589e-05 9.99992728e-01 9.65949462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:188.69, Z:9.66 [[ 2.07759073e-01 -9.78179717e-01 -7.79777269e-04 2.03922395e+02] [ 9.78173977e-01 2.07760526e-01 -3.35173866e-03 1.88691662e+02] [ 3.44060971e-03 -6.64037156e-05 9.99994079e-01 9.65984689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.93, Y:188.72, Z:9.66 [[ 2.07822468e-01 -9.78166307e-01 -7.05028163e-04 2.03926721e+02] [ 9.78161604e-01 2.07823656e-01 -3.03398042e-03 1.88719131e+02] [ 3.11425896e-03 -5.91021791e-05 9.99995149e-01 9.65967583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.93, Y:188.75, Z:9.66 [[ 2.07729479e-01 -9.78186105e-01 -6.39371484e-04 2.03931614e+02] [ 9.78182228e-01 2.07730456e-01 -2.75454937e-03 1.88745831e+02] [ 2.82727884e-03 -5.32207184e-05 9.99996002e-01 9.65957336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:188.77, Z:9.66 [[ 2.07551988e-01 -9.78223763e-01 -6.64196878e-04 2.03938597e+02] [ 9.78219566e-01 2.07553044e-01 -2.86617519e-03 1.88770962e+02] [ 2.94161676e-03 -5.48500227e-05 9.99995672e-01 9.66021358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:188.80, Z:9.66 [[ 2.07167875e-01 -9.78305133e-01 -7.33650657e-04 2.03940841e+02] [ 9.78299988e-01 2.07169165e-01 -3.17344478e-03 1.88798393e+02] [ 3.25658711e-03 -6.02946173e-05 9.99994696e-01 9.65863271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:188.83, Z:9.66 [[ 2.06622535e-01 -9.78420451e-01 -7.41142930e-04 2.03946502e+02] [ 9.78415184e-01 2.06623855e-01 -3.21103211e-03 1.88825373e+02] [ 3.29487729e-03 -6.16739008e-05 9.99994570e-01 9.65855909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:188.85, Z:9.66 [[ 2.05836583e-01 -9.78585926e-01 -9.41147653e-04 2.03952079e+02] [ 9.78577397e-01 2.05838720e-01 -4.08652926e-03 1.88850059e+02] [ 4.19274465e-03 -7.98285989e-05 9.99991207e-01 9.65821115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:188.87, Z:9.66 [[ 2.05208954e-01 -9.78717560e-01 -1.10628512e-03 2.03957516e+02] [ 9.78705709e-01 2.05211915e-01 -4.81709736e-03 1.88874735e+02] [ 4.94160066e-03 -9.42160503e-05 9.99987786e-01 9.65756832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:188.90, Z:9.66 [[ 2.04661945e-01 -9.78831716e-01 -1.40010912e-03 2.03962859e+02] [ 9.78812671e-01 2.04666698e-01 -6.10713454e-03 1.88900309e+02] [ 6.26441270e-03 -1.20546519e-04 9.99980371e-01 9.65700370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.97, Y:188.93, Z:9.66 [[ 2.04153052e-01 -9.78937258e-01 -1.83727680e-03 2.03968341e+02] [ 9.78904313e-01 2.04161258e-01 -8.03290040e-03 1.88925259e+02] [ 8.23880624e-03 -1.58577053e-04 9.99966048e-01 9.65556556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.97, Y:188.95, Z:9.65 [[ 2.04090120e-01 -9.78949941e-01 -2.05804373e-03 2.03973816e+02] [ 9.78908477e-01 2.04100421e-01 -9.01175698e-03 1.88950835e+02] [ 9.24210655e-03 -1.75425889e-04 9.99957275e-01 9.65446314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.98, Y:188.98, Z:9.65 [[ 2.04090230e-01 -9.78948942e-01 -2.47930909e-03 2.03978657e+02] [ 9.78888534e-01 2.04105184e-01 -1.08770878e-02 1.88975477e+02] [ 1.11541534e-02 -2.07059890e-04 9.99937769e-01 9.65339821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.98, Y:189.00, Z:9.65 [[ 2.04076954e-01 -9.78951400e-01 -2.59873189e-03 2.03984130e+02] [ 9.78884840e-01 2.04093388e-01 -1.14175068e-02 1.89000868e+02] [ 1.17075683e-02 -2.13809236e-04 9.99931441e-01 9.65331090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:189.03, Z:9.65 [[ 2.03830641e-01 -9.79001840e-01 -2.91001876e-03 2.03988336e+02] [ 9.78918078e-01 2.03851274e-01 -1.28084025e-02 1.89026857e+02] [ 1.31326606e-02 -2.37925081e-04 9.99913735e-01 9.65294197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:189.05, Z:9.65 [[ 2.03242717e-01 -9.79123679e-01 -3.03640070e-03 2.03994073e+02] [ 9.79032178e-01 2.03265242e-01 -1.33878942e-02 1.89053317e+02] [ 1.37255989e-02 -2.51741994e-04 9.99905768e-01 9.65319282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.00, Y:189.08, Z:9.65 [[ 2.01757542e-01 -9.79430689e-01 -3.06915698e-03 2.04002679e+02] [ 9.79336935e-01 2.01780703e-01 -1.35542169e-02 1.89077890e+02] [ 1.38947126e-02 -2.71073306e-04 9.99903427e-01 9.65322212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.01, Y:189.10, Z:9.65 [[ 2.01004477e-01 -9.79585524e-01 -3.06617404e-03 2.04007127e+02] [ 9.79491658e-01 2.01027671e-01 -1.35634404e-02 1.89104332e+02] [ 1.39029357e-02 -2.76979651e-04 9.99903311e-01 9.65469542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.02, Y:189.13, Z:9.66 [[ 1.99683947e-01 -9.79855726e-01 -3.01279618e-03 2.04016695e+02] [ 9.79764840e-01 1.99706469e-01 -1.33486137e-02 1.89130281e+02] [ 1.36813905e-02 -2.86327893e-04 9.99906364e-01 9.65508826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.02, Y:189.16, Z:9.66 [[ 1.97602236e-01 -9.80277955e-01 -2.91337916e-03 2.04024286e+02] [ 9.80192753e-01 1.97623482e-01 -1.29277017e-02 1.89156641e+02] [ 1.32484932e-02 -3.01130373e-04 9.99912190e-01 9.65641134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:189.18, Z:9.66 [[ 1.96248258e-01 -9.80549862e-01 -2.93065107e-03 2.04031950e+02] [ 9.80463406e-01 1.96269883e-01 -1.30246935e-02 1.89183000e+02] [ 1.33465599e-02 -3.17322722e-04 9.99910880e-01 9.65734528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.04, Y:189.21, Z:9.66 [[ 1.94084615e-01 -9.80980997e-01 -2.72867093e-03 2.04041647e+02] [ 9.80905867e-01 1.94103533e-01 -1.21449148e-02 1.89208795e+02] [ 1.24435753e-02 -3.19428206e-04 9.99922525e-01 9.65940092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:189.24, Z:9.66 [[ 1.92938876e-01 -9.81207404e-01 -2.57317045e-03 2.04045497e+02] [ 9.81140410e-01 1.92955782e-01 -1.14700137e-02 1.89235912e+02] [ 1.17509705e-02 -3.11629954e-04 9.99930906e-01 9.66123709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:189.26, Z:9.66 [[ 1.91928276e-01 -9.81405812e-01 -2.48398513e-03 2.04052192e+02] [ 9.81343195e-01 1.91944100e-01 -1.10904012e-02 1.89262230e+02] [ 1.13609705e-02 -3.09080322e-04 9.99935414e-01 9.66222488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.06, Y:189.29, Z:9.66 [[ 1.91695457e-01 -9.81451434e-01 -2.43623596e-03 2.04058711e+02] [ 9.81391005e-01 1.91710698e-01 -1.08951011e-02 1.89288544e+02] [ 1.11600651e-02 -3.02358675e-04 9.99937679e-01 9.66313095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.06, Y:189.32, Z:9.66 [[ 1.91999774e-01 -9.81392088e-01 -2.37817620e-03 2.04064974e+02] [ 9.81334317e-01 1.92014285e-01 -1.06523259e-02 1.89315548e+02] [ 1.09107521e-02 -2.88541760e-04 9.99940434e-01 9.66376356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:189.34, Z:9.66 [[ 1.92189230e-01 -9.81355105e-01 -2.33633865e-03 2.04071299e+02] [ 9.81299206e-01 1.92203228e-01 -1.04779964e-02 1.89340933e+02] [ 1.07316870e-02 -2.78889209e-04 9.99942375e-01 9.66413038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:189.37, Z:9.66 [[ 1.93671871e-01 -9.81063739e-01 -2.26884805e-03 2.04080109e+02] [ 9.81010821e-01 1.93684996e-01 -1.01926965e-02 1.89367296e+02] [ 1.04391267e-02 -2.51725898e-04 9.99945479e-01 9.66423067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:189.39, Z:9.67 [[ 1.93910161e-01 -9.81016792e-01 -2.21456330e-03 2.04081849e+02] [ 9.80966224e-01 1.93922657e-01 -9.96348182e-03 1.89394456e+02] [ 1.02037970e-02 -2.40391435e-04 9.99947911e-01 9.66514859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.09, Y:189.42, Z:9.67 [[ 1.94775689e-01 -9.80845308e-01 -2.21629907e-03 2.04088673e+02] [ 9.80794481e-01 1.94788164e-01 -9.98787680e-03 1.89420079e+02] [ 1.02282709e-02 -2.28338307e-04 9.99947664e-01 9.66563004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:189.45, Z:9.67 [[ 1.94711642e-01 -9.80857798e-01 -2.31439184e-03 2.04098587e+02] [ 9.80802215e-01 1.94725253e-01 -1.04446837e-02 1.89445209e+02] [ 1.06954200e-02 -2.36259131e-04 9.99942774e-01 9.66553716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:189.47, Z:9.67 [[ 1.94728501e-01 -9.80854422e-01 -2.32680758e-03 2.04102038e+02] [ 9.80798044e-01 1.94742262e-01 -1.05189573e-02 1.89472750e+02] [ 1.07706935e-02 -2.33787540e-04 9.99941967e-01 9.66626913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.11, Y:189.50, Z:9.67 [[ 1.94523699e-01 -9.80895401e-01 -2.17782587e-03 2.04109009e+02] [ 9.80845860e-01 1.94535767e-01 -9.86074626e-03 1.89498874e+02] [ 1.00960257e-02 -2.17962650e-04 9.99949010e-01 9.66732434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:189.53, Z:9.67 [[ 1.95101082e-01 -9.80780906e-01 -2.09336254e-03 2.04115122e+02] [ 9.80734981e-01 1.95112209e-01 -9.49333707e-03 1.89525308e+02] [ 9.71932432e-03 -2.00873538e-04 9.99952746e-01 9.66860766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:189.55, Z:9.67 [[ 1.95078038e-01 -9.80785254e-01 -2.20099071e-03 2.04121753e+02] [ 9.80734305e-01 1.95090343e-01 -9.99905226e-03 1.89550955e+02] [ 1.02363150e-02 -2.07991600e-04 9.99947586e-01 9.66856812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.072755096 meters Centerline goodness [0,1] 0.9999559451958236 Centerline is valid? [True, True] Translation: X:204.13, Y:189.58, Z:9.67 [[ 1.95174537e-01 -9.80765825e-01 -2.30128321e-03 2.04126270e+02] [ 9.80709922e-01 1.95187988e-01 -1.04737126e-02 1.89577750e+02] [ 1.07214423e-02 -2.12689258e-04 9.99942501e-01 9.66610594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.13, Y:189.60, Z:9.67 [[ 1.94933692e-01 -9.80813738e-01 -2.29506676e-03 2.04134284e+02] [ 9.80757951e-01 1.94947087e-01 -1.04630348e-02 1.89602916e+02] [ 1.07097049e-02 -2.11306967e-04 9.99942627e-01 9.66791906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:189.63, Z:9.67 [[ 1.94392800e-01 -9.80920777e-01 -2.42257455e-03 2.04141156e+02] [ 9.80858395e-01 1.94407764e-01 -1.10648440e-02 1.89627495e+02] [ 1.13247027e-02 -2.25276575e-04 9.99935848e-01 9.66751057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.15, Y:189.65, Z:9.67 [[ 1.93307948e-01 -9.81134872e-01 -2.52990408e-03 2.04147654e+02] [ 9.81066601e-01 1.93324348e-01 -1.15767816e-02 1.89653921e+02] [ 1.18474762e-02 -2.44120499e-04 9.99929786e-01 9.66765928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.192755096 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:204.15, Y:189.68, Z:9.67 [[ 1.92057069e-01 -9.81380677e-01 -2.45956205e-03 2.04153384e+02] [ 9.81315957e-01 1.92072657e-01 -1.12733352e-02 1.89680813e+02] [ 1.15358480e-02 -2.48483755e-04 9.99933429e-01 9.66717253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:189.71, Z:9.67 [[ 1.90612316e-01 -9.81662185e-01 -2.50996210e-03 2.04163387e+02] [ 9.81594590e-01 1.90628653e-01 -1.15229271e-02 1.89705848e+02] [ 1.17900925e-02 -2.67353400e-04 9.99930459e-01 9.66865777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:189.73, Z:9.67 [[ 1.89769916e-01 -9.81825432e-01 -2.48997588e-03 2.04168677e+02] [ 9.81758763e-01 1.89786055e-01 -1.14448144e-02 1.89732305e+02] [ 1.17093725e-02 -2.72674176e-04 9.99931406e-01 9.66864226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.18, Y:189.76, Z:9.67 [[ 1.88991375e-01 -9.81975362e-01 -2.57869761e-03 2.04175146e+02] [ 9.81903618e-01 1.89008747e-01 -1.18734227e-02 1.89758675e+02] [ 1.21468050e-02 -2.88058028e-04 9.99926183e-01 9.66907663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.18, Y:189.78, Z:9.67 [[ 1.87921154e-01 -9.82180458e-01 -2.68106922e-03 2.04184625e+02] [ 9.82102652e-01 1.87940024e-01 -1.23664527e-02 1.89784452e+02] [ 1.26499684e-02 -3.09167127e-04 9.99919938e-01 9.66944582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:189.81, Z:9.67 [[ 1.87576941e-01 -9.82246265e-01 -2.67687103e-03 2.04190088e+02] [ 9.82168453e-01 1.87595786e-01 -1.23673616e-02 1.89810669e+02] [ 1.26499644e-02 -3.09306421e-04 9.99919938e-01 9.66969535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:189.84, Z:9.67 [[ 1.87157007e-01 -9.82326275e-01 -2.71023771e-03 2.04199423e+02] [ 9.82246260e-01 1.87176364e-01 -1.25416815e-02 1.89835680e+02] [ 1.28273158e-02 -3.14857271e-04 9.99917677e-01 9.66997452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:189.86, Z:9.67 [[ 1.86628332e-01 -9.82426684e-01 -2.77046571e-03 2.04203009e+02] [ 9.82342839e-01 1.86648611e-01 -1.28390788e-02 1.89863070e+02] [ 1.31305571e-02 -3.25411296e-04 9.99913738e-01 9.67062954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:189.89, Z:9.67 [[ 1.86130959e-01 -9.82520702e-01 -2.88746734e-03 2.04210534e+02] [ 9.82429302e-01 1.86153041e-01 -1.34056893e-02 1.89887837e+02] [ 1.37088781e-02 -3.41518722e-04 9.99905971e-01 9.67021562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.22, Y:189.91, Z:9.67 [[ 1.85741091e-01 -9.82593859e-01 -3.09118386e-03 2.04217561e+02] [ 9.82488723e-01 1.85766450e-01 -1.43783063e-02 1.89914504e+02] [ 1.47022738e-02 -3.66410982e-04 9.99891849e-01 9.67017237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.23, Y:189.94, Z:9.67 [[ 1.86089135e-01 -9.82527538e-01 -3.23594311e-03 2.04226488e+02] [ 9.82411906e-01 1.86116894e-01 -1.50780609e-02 1.89940731e+02] [ 1.54168738e-02 -3.73165731e-04 9.99881083e-01 9.66957599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters Centerline goodness [0,1] 0.9999777614695221 Centerline is valid? [True, True] Translation: X:204.23, Y:189.97, Z:9.67 [[ 1.86489029e-01 -9.82451089e-01 -3.42042526e-03 2.04232863e+02] [ 9.82321425e-01 1.86520001e-01 -1.59658008e-02 1.89967485e+02] [ 1.63235961e-02 -3.82510336e-04 9.99866688e-01 9.66874772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.552755096 meters Centerline goodness [0,1] 0.9996879944730449 Centerline is valid? [True, True] Translation: X:204.24, Y:189.99, Z:9.66 [[ 1.88583823e-01 -9.82049846e-01 -3.77388673e-03 2.04238877e+02] [ 9.81891370e-01 1.88621201e-01 -1.76459682e-02 1.89993775e+02] [ 1.80410554e-02 -3.77802687e-04 9.99837176e-01 9.66306305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:190.02, Z:9.67 [[ 1.90471723e-01 -9.81685430e-01 -3.77356730e-03 2.04242257e+02] [ 9.81526404e-01 1.90508800e-01 -1.76724595e-02 1.90021428e+02] [ 1.80676938e-02 -3.37752130e-04 9.99836709e-01 9.66889258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:190.05, Z:9.67 [[ 1.92888527e-01 -9.81213363e-01 -3.78860980e-03 2.04245510e+02] [ 9.81052471e-01 1.92925513e-01 -1.77706633e-02 1.90049950e+02] [ 1.81677318e-02 -2.89067937e-04 9.99834911e-01 9.66914738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters Centerline goodness [0,1] 0.9996648793565683 Centerline is valid? [True, True] Translation: X:204.25, Y:190.08, Z:9.66 [[ 1.98028584e-01 -9.80188592e-01 -3.87341522e-03 2.04247791e+02] [ 9.80019709e-01 1.98066369e-01 -1.81956958e-02 1.90076961e+02] [ 1.86024067e-02 -1.92755379e-04 9.99826942e-01 9.66462810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:190.10, Z:9.67 [[ 1.99404909e-01 -9.79909252e-01 -3.94202573e-03 2.04250516e+02] [ 9.79733711e-01 1.99443803e-01 -1.85479327e-02 1.90104057e+02] [ 1.89615035e-02 -1.63586655e-04 9.99820201e-01 9.66870600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.702755096 meters Centerline goodness [0,1] 0.9997989410897393 Centerline is valid? [True, True] Translation: X:204.25, Y:190.13, Z:9.67 [[ 2.02077680e-01 -9.79361127e-01 -4.04904465e-03 2.04253759e+02] [ 9.79175161e-01 2.02118213e-01 -1.90848465e-02 1.90131071e+02] [ 1.95093424e-02 -1.08102450e-04 9.99809669e-01 9.66827275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.732755096 meters Centerline goodness [0,1] 0.9999330969425303 Centerline is valid? [True, True] Translation: X:204.26, Y:190.16, Z:9.67 [[ 2.02151794e-01 -9.79346287e-01 -3.93737772e-03 2.04258556e+02] [ 9.79169810e-01 2.02190112e-01 -1.85914269e-02 1.90157070e+02] [ 1.90035437e-02 -9.70710826e-05 9.99819412e-01 9.66909750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters Centerline goodness [0,1] 0.9998660475084836 Centerline is valid? [True, True] Translation: X:204.26, Y:190.18, Z:9.67 [[ 2.02286996e-01 -9.79318342e-01 -3.94403656e-03 2.04263061e+02] [ 9.79140621e-01 2.02325422e-01 -1.86565838e-02 1.90183887e+02] [ 1.90687135e-02 -8.77821249e-05 9.99818172e-01 9.66784841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7927550960001 meters Centerline goodness [0,1] 0.9999108197890888 Centerline is valid? [True, True] Translation: X:204.27, Y:190.21, Z:9.66 [[ 2.01088746e-01 -9.79564352e-01 -4.12265221e-03 2.04268022e+02] [ 9.79369494e-01 2.01130973e-01 -1.95378188e-02 1.90209635e+02] [ 1.99677439e-02 -1.08764314e-04 9.99800619e-01 9.66495449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.822755096 meters Centerline goodness [0,1] 0.999777168705573 Centerline is valid? [True, True] Translation: X:204.27, Y:190.23, Z:9.67 [[ 1.99222127e-01 -9.79945309e-01 -4.21145095e-03 2.04274219e+02] [ 9.79741290e-01 1.99266585e-01 -1.99958072e-02 1.90234694e+02] [ 2.04339989e-02 -1.42525139e-04 9.99791194e-01 9.66669639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.852755096 meters Centerline goodness [0,1] 0.9997324534023009 Centerline is valid? [True, True] Translation: X:204.28, Y:190.26, Z:9.67 [[ 1.96981387e-01 -9.80398411e-01 -4.15810668e-03 2.04281365e+02] [ 9.80198957e-01 1.97025186e-01 -1.97757856e-02 1.90259536e+02] [ 2.02074005e-02 -1.80310154e-04 9.99795793e-01 9.66682914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters Centerline goodness [0,1] 0.999621414573312 Centerline is valid? [True, True] Translation: X:204.29, Y:190.29, Z:9.67 [[ 1.95695626e-01 -9.80655973e-01 -4.13345567e-03 2.04286864e+02] [ 9.80458266e-01 1.95739173e-01 -1.96917374e-02 1.90286277e+02] [ 2.01198991e-02 -1.99093903e-04 9.99797555e-01 9.66849774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9127550960001 meters Centerline goodness [0,1] 0.9996198228821899 Centerline is valid? [True, True] Translation: X:204.29, Y:190.31, Z:9.67 [[ 1.94221749e-01 -9.80948903e-01 -4.14279443e-03 2.04292880e+02] [ 9.80749654e-01 1.94265800e-01 -1.97715789e-02 1.90312442e+02] [ 2.01997119e-02 -2.22973559e-04 9.99795940e-01 9.66887743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.942755096 meters Centerline goodness [0,1] 0.9995083798882681 Centerline is valid? [True, True] Translation: X:204.30, Y:190.34, Z:9.67 [[ 1.92926963e-01 -9.81204144e-01 -4.19704416e-03 2.04298951e+02] [ 9.80998964e-01 1.92972454e-01 -2.00664924e-02 1.90339025e+02] [ 2.04992394e-02 -2.45928525e-04 9.99789838e-01 9.66729889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.972755096 meters Centerline goodness [0,1] 0.9997989545637314 Centerline is valid? [True, True] Translation: X:204.30, Y:190.36, Z:9.67 [[ 1.91863443e-01 -9.81412936e-01 -4.13139092e-03 2.04304635e+02] [ 9.81213449e-01 1.91907746e-01 -1.97885010e-02 1.90364716e+02] [ 2.02135368e-02 -2.57086392e-04 9.99795653e-01 9.66783964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters Centerline goodness [0,1] 0.9996872486819766 Centerline is valid? [True, True] Translation: X:204.31, Y:190.39, Z:9.67 [[ 1.92485060e-01 -9.81291350e-01 -4.09741989e-03 2.04309616e+02] [ 9.81094379e-01 1.92528522e-01 -1.96618301e-02 1.90391410e+02] [ 2.00828540e-02 -2.35347080e-04 9.99798291e-01 9.66736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0327550960001 meters Centerline goodness [0,1] 0.9996211192582852 Centerline is valid? [True, True] Translation: X:204.32, Y:190.42, Z:9.66 [[ 1.93537251e-01 -9.81083811e-01 -4.22947103e-03 2.04316389e+02] [ 9.80873091e-01 1.93583343e-01 -2.03339455e-02 1.90416931e+02] [ 2.07680599e-02 -2.13198409e-04 9.99784298e-01 9.66424880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.062755096 meters Centerline goodness [0,1] 0.9998214245853702 Centerline is valid? [True, True] Translation: X:204.32, Y:190.44, Z:9.67 [[ 1.93487111e-01 -9.81093786e-01 -4.20972613e-03 2.04320981e+02] [ 9.80884266e-01 1.93532791e-01 -2.02759893e-02 1.90443358e+02] [ 2.07073672e-02 -2.06111538e-04 9.99785558e-01 9.66638844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.32, Y:190.47, Z:9.67 [[ 1.94869731e-01 -9.80820168e-01 -4.19361862e-03 2.04324928e+02] [ 9.80611450e-01 1.94914776e-01 -2.02339878e-02 1.90470247e+02] [ 2.06633015e-02 -1.69318676e-04 9.99786477e-01 9.66919359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters Centerline goodness [0,1] 0.9997541569819417 Centerline is valid? [True, True] Translation: X:204.33, Y:190.50, Z:9.67 [[ 1.96935316e-01 -9.80407695e-01 -4.15129698e-03 2.04328960e+02] [ 9.80202338e-01 1.96979030e-01 -2.00658775e-02 1.90496224e+02] [ 2.04904592e-02 -1.17431067e-04 9.99790042e-01 9.66755165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.152755096 meters Centerline goodness [0,1] 0.999754442360925 Centerline is valid? [True, True] Translation: X:204.33, Y:190.52, Z:9.67 [[ 1.97379467e-01 -9.80318703e-01 -4.07277452e-03 2.04332906e+02] [ 9.80120311e-01 1.97421457e-01 -1.97216857e-02 1.90523568e+02] [ 2.01375904e-02 -9.91532075e-05 9.99797213e-01 9.67033414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.182755096 meters Centerline goodness [0,1] 0.9996651337232665 Centerline is valid? [True, True] Translation: X:204.34, Y:190.55, Z:9.67 [[ 1.99897370e-01 -9.79808916e-01 -3.94083832e-03 2.04336646e+02] [ 9.79622419e-01 1.99936208e-01 -1.91161982e-02 1.90550188e+02] [ 1.95181377e-02 -3.92558264e-05 9.99809502e-01 9.67078107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.212755096 meters Centerline goodness [0,1] 0.9999555110666222 Centerline is valid? [True, True] Translation: X:204.34, Y:190.58, Z:9.67 [[ 2.00803500e-01 -9.79623408e-01 -3.99156025e-03 2.04341322e+02] [ 9.79431341e-01 2.00843168e-01 -1.93977043e-02 1.90576089e+02] [ 1.98041228e-02 -1.43323052e-05 9.99803879e-01 9.67026057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters Centerline goodness [0,1] 0.9999554555780752 Centerline is valid? [True, True] Translation: X:204.35, Y:190.60, Z:9.67 [[ 2.02061090e-01 -9.79365057e-01 -3.92440771e-03 2.04346974e+02] [ 9.79178671e-01 2.02099195e-01 -1.91061893e-02 1.90602549e+02] [ 1.95050538e-02 1.79211100e-05 9.99809758e-01 9.67238633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.272755096 meters Centerline goodness [0,1] 0.9997327870312639 Centerline is valid? [True, True] Translation: X:204.35, Y:190.63, Z:9.67 [[ 2.02524847e-01 -9.79269769e-01 -3.79553427e-03 2.04353006e+02] [ 9.79094779e-01 2.02560407e-01 -1.85120570e-02 1.90629092e+02] [ 1.88971228e-02 3.29637191e-05 9.99821433e-01 9.67315643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.302755096 meters Centerline goodness [0,1] 0.9999776974887372 Centerline is valid? [True, True] Translation: X:204.36, Y:190.66, Z:9.67 [[ 2.02505070e-01 -9.79273721e-01 -3.83083475e-03 2.04359128e+02] [ 9.79094801e-01 2.02541298e-01 -1.87187995e-02 1.90656114e+02] [ 1.91067307e-02 3.99014179e-05 9.99817449e-01 9.67335689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.332755096 meters Centerline goodness [0,1] 0.9998884028211766 Centerline is valid? [True, True] Translation: X:204.37, Y:190.68, Z:9.67 [[ 2.01556794e-01 -9.79468827e-01 -3.95933610e-03 2.04366202e+02] [ 9.79277004e-01 2.01595676e-01 -1.93838245e-02 1.90681659e+02] [ 1.97840368e-02 2.96547169e-05 9.99804276e-01 9.67238736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters Centerline goodness [0,1] 0.9998440945232633 Centerline is valid? [True, True] Translation: X:204.37, Y:190.71, Z:9.67 [[ 2.00331375e-01 -9.79720137e-01 -3.97410531e-03 2.04373467e+02] [ 9.79526204e-01 2.00370790e-01 -1.94926132e-02 1.90707952e+02] [ 1.98936002e-02 1.22417122e-05 9.99802103e-01 9.67244723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.392755096 meters Centerline goodness [0,1] 0.9996422742415096 Centerline is valid? [True, True] Translation: X:204.38, Y:190.73, Z:9.67 [[ 1.97331335e-01 -9.80328914e-01 -3.94525816e-03 2.04383858e+02] [ 9.80137216e-01 1.97370766e-01 -1.93860632e-02 1.90733617e+02] [ 1.97833969e-02 -4.14166075e-05 9.99804289e-01 9.67283989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4227550960001 meters Centerline goodness [0,1] 0.9997987432634898 Centerline is valid? [True, True] Translation: X:204.39, Y:190.76, Z:9.67 [[ 1.95305978e-01 -9.80734313e-01 -3.97262918e-03 2.04391727e+02] [ 9.80539323e-01 1.95346362e-01 -1.95559557e-02 1.90759384e+02] [ 1.99552355e-02 -7.59240636e-05 9.99800872e-01 9.67321519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.452755096 meters Centerline goodness [0,1] 0.9998438232078714 Centerline is valid? [True, True] Translation: X:204.40, Y:190.79, Z:9.67 [[ 1.93254149e-01 -9.81141037e-01 -3.88590089e-03 2.04399355e+02] [ 9.80953881e-01 1.93293183e-01 -1.91631943e-02 1.90785572e+02] [ 1.95529145e-02 -1.08522737e-04 9.99808818e-01 9.67384110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.41, Y:190.81, Z:9.67 [[ 1.91275501e-01 -9.81528921e-01 -3.82888477e-03 2.04406783e+02] [ 9.81346643e-01 1.91313769e-01 -1.89158369e-02 1.90811724e+02] [ 1.92989593e-02 -1.39327029e-04 9.99813748e-01 9.67472214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.512755096 meters Centerline goodness [0,1] 0.9999330566340876 Centerline is valid? [True, True] Translation: X:204.41, Y:190.84, Z:9.68 [[ 1.89848445e-01 -9.81806908e-01 -3.57259289e-03 2.04412435e+02] [ 9.81647706e-01 1.89881997e-01 -1.76807276e-02 1.90838551e+02] [ 1.80374316e-02 -1.50368967e-04 9.99837301e-01 9.67679449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.42, Y:190.86, Z:9.68 [[ 1.88266064e-01 -9.82112267e-01 -3.37401791e-03 2.04418212e+02] [ 9.81969867e-01 1.88296223e-01 -1.67246333e-02 1.90864575e+02] [ 1.70607823e-02 -1.64503045e-04 9.99854441e-01 9.67842982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.42, Y:190.89, Z:9.68 [[ 1.87367030e-01 -9.82284250e-01 -3.35383821e-03 2.04423472e+02] [ 9.82143126e-01 1.87396963e-01 -1.66510779e-02 1.90891763e+02] [ 1.69845907e-02 -1.74086141e-04 9.99855736e-01 9.67944391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:190.92, Z:9.68 [[ 1.86586315e-01 -9.82433051e-01 -3.29359097e-03 2.04427675e+02] [ 9.82296476e-01 1.86615296e-01 -1.63818282e-02 1.90919029e+02] [ 1.67086840e-02 -1.78657837e-04 9.99860384e-01 9.68014541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:190.94, Z:9.68 [[ 1.85261097e-01 -9.82683631e-01 -3.34792646e-03 2.04433739e+02] [ 9.82542002e-01 1.85291239e-01 -1.66844733e-02 1.90944565e+02] [ 1.70159002e-02 -1.98494561e-04 9.99855199e-01 9.68052076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.44, Y:190.97, Z:9.68 [[ 1.83326011e-01 -9.83046536e-01 -3.32899106e-03 2.04439070e+02] [ 9.82906025e-01 1.83356096e-01 -1.66219307e-02 1.90971185e+02] [ 1.69505222e-02 -2.24853122e-04 9.99856304e-01 9.68140822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.44, Y:191.00, Z:9.68 [[ 1.82416843e-01 -9.83215515e-01 -3.36852671e-03 2.04443803e+02] [ 9.83071134e-01 1.82447787e-01 -1.68508355e-02 1.90998188e+02] [ 1.71825832e-02 -2.37625160e-04 9.99852340e-01 9.68171544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:191.03, Z:9.68 [[ 1.81391627e-01 -9.83404684e-01 -3.50802091e-03 2.04447763e+02] [ 9.83247533e-01 1.81425359e-01 -1.75820173e-02 1.91025593e+02] [ 1.79266821e-02 -2.60022182e-04 9.99839270e-01 9.68103903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:191.05, Z:9.68 [[ 1.80782569e-01 -9.83516494e-01 -3.60133768e-03 2.04452576e+02] [ 9.83350252e-01 1.80818232e-01 -1.80845058e-02 1.91051505e+02] [ 1.84375973e-02 -2.72012893e-04 9.99829976e-01 9.68090593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:191.08, Z:9.68 [[ 1.80337875e-01 -9.83598092e-01 -3.61160132e-03 2.04456654e+02] [ 9.83430284e-01 1.80373826e-01 -1.81702883e-02 1.91078142e+02] [ 1.85236992e-02 -2.74966938e-04 9.99828384e-01 9.68174339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:191.11, Z:9.68 [[ 1.80250955e-01 -9.83614390e-01 -3.51085325e-03 2.04460908e+02] [ 9.83455243e-01 1.80284951e-01 -1.76952532e-02 1.91105365e+02] [ 1.80382596e-02 -2.63180762e-04 9.99837263e-01 9.68230651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:191.13, Z:9.68 [[ 1.79935256e-01 -9.83672378e-01 -3.45771593e-03 2.04465555e+02] [ 9.83517446e-01 1.79968289e-01 -1.74599307e-02 1.91131303e+02] [ 1.77971307e-02 -2.59066846e-04 9.99841585e-01 9.68318777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:191.16, Z:9.69 [[ 1.79538988e-01 -9.83745627e-01 -3.20834959e-03 2.04468541e+02] [ 9.83611764e-01 1.79567490e-01 -1.62300560e-02 1.91158799e+02] [ 1.65423619e-02 -2.41842569e-04 9.99863137e-01 9.68506830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:191.19, Z:9.69 [[ 1.79379056e-01 -9.83775003e-01 -3.14596649e-03 2.04472467e+02] [ 9.83645830e-01 1.79406487e-01 -1.59434654e-02 1.91185680e+02] [ 1.62491895e-02 -2.34593059e-04 9.99867946e-01 9.68573661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:191.21, Z:9.69 [[ 1.79876547e-01 -9.83683913e-01 -3.22284680e-03 2.04475830e+02] [ 9.83547823e-01 1.79905274e-01 -1.63637625e-02 1.91212872e+02] [ 1.66765770e-02 -2.26366861e-04 9.99860911e-01 9.68622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:191.24, Z:9.69 [[ 1.79952332e-01 -9.83670207e-01 -3.17511298e-03 2.04480443e+02] [ 9.83537627e-01 1.79980211e-01 -1.61511770e-02 1.91239503e+02] [ 1.64588891e-02 -2.16401124e-04 9.99864520e-01 9.68651810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.992755096 meters Centerline goodness [0,1] 0.999955879108758 Centerline is valid? [True, True] Translation: X:204.49, Y:191.27, Z:9.69 [[ 1.79488572e-01 -9.83754775e-01 -3.22434133e-03 2.04485559e+02] [ 9.83617547e-01 1.79517393e-01 -1.64324846e-02 1.91266112e+02] [ 1.67443605e-02 -2.22075527e-04 9.99859779e-01 9.68537301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:191.29, Z:9.69 [[ 1.80071031e-01 -9.83648245e-01 -3.24879050e-03 2.04490059e+02] [ 9.83508375e-01 1.80100216e-01 -1.65888034e-02 1.91291548e+02] [ 1.69026552e-02 -2.08049737e-04 9.99857118e-01 9.68676168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.052755096 meters Centerline goodness [0,1] 0.9999557385030762 Centerline is valid? [True, True] Translation: X:204.50, Y:191.32, Z:9.68 [[ 1.79515292e-01 -9.83749903e-01 -3.22300408e-03 2.04495826e+02] [ 9.83611704e-01 1.79544100e-01 -1.64903798e-02 1.91316011e+02] [ 1.68010809e-02 -2.09909190e-04 9.99858830e-01 9.68458514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:191.34, Z:9.69 [[ 1.80179025e-01 -9.83628144e-01 -3.34556945e-03 2.04499046e+02] [ 9.83478601e-01 1.80209972e-01 -1.71524998e-02 1.91343559e+02] [ 1.74745865e-02 -1.99775272e-04 9.99847288e-01 9.68716193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:191.37, Z:9.69 [[ 1.79604252e-01 -9.83732930e-01 -3.44035004e-03 2.04504232e+02] [ 9.83574196e-01 1.79637077e-01 -1.76726193e-02 1.91369028e+02] [ 1.80031520e-02 -2.09761949e-04 9.99837908e-01 9.68647323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:191.39, Z:9.69 [[ 1.79582628e-01 -9.83736374e-01 -3.58147581e-03 2.04509160e+02] [ 9.83563636e-01 1.79618212e-01 -1.84356179e-02 1.91393525e+02] [ 1.87790862e-02 -2.11892654e-04 9.99823635e-01 9.68544437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:191.42, Z:9.69 [[ 1.78666742e-01 -9.83902709e-01 -3.69521351e-03 2.04512429e+02] [ 9.83718114e-01 1.78704802e-01 -1.90595253e-02 1.91420902e+02] [ 1.94130710e-02 -2.29745175e-04 9.99811522e-01 9.68621283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.202755096 meters Centerline goodness [0,1] 0.9999778408083673 Centerline is valid? [True, True] Translation: X:204.52, Y:191.45, Z:9.68 [[ 1.77649596e-01 -9.84086869e-01 -3.69535214e-03 2.04519499e+02] [ 9.83901683e-01 1.77687859e-01 -1.90919502e-02 1.91446269e+02] [ 1.94447567e-02 -2.44185939e-04 9.99810903e-01 9.68423498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.52, Y:191.47, Z:9.69 [[ 1.74928393e-01 -9.84574191e-01 -3.70402487e-03 2.04523792e+02] [ 9.84387650e-01 1.74967358e-01 -1.91671228e-02 1.91473920e+02] [ 1.95195379e-02 -2.93322342e-04 9.99809433e-01 9.68787632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:191.50, Z:9.69 [[ 1.74577638e-01 -9.84636469e-01 -3.69755715e-03 2.04528668e+02] [ 9.84449916e-01 1.74616544e-01 -1.91683710e-02 1.91500253e+02] [ 1.95195318e-02 -2.93690883e-04 9.99809433e-01 9.68812591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:191.53, Z:9.69 [[ 1.72822855e-01 -9.84946209e-01 -3.63674668e-03 2.04534544e+02] [ 9.84765121e-01 1.72860825e-01 -1.88889530e-02 1.91526986e+02] [ 1.92332537e-02 -3.16898499e-04 9.99814974e-01 9.68846216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.322755096 meters Centerline goodness [0,1] 0.9999778442450427 Centerline is valid? [True, True] Translation: X:204.54, Y:191.55, Z:9.69 [[ 1.70462430e-01 -9.85358237e-01 -3.42113991e-03 2.04541308e+02] [ 9.85197489e-01 1.70496426e-01 -1.78010412e-02 1.91553659e+02] [ 1.81236947e-02 -3.36089717e-04 9.99835696e-01 9.68818040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:191.58, Z:9.69 [[ 1.67036240e-01 -9.85945118e-01 -3.33456241e-03 2.04549294e+02] [ 9.85791947e-01 1.67069080e-01 -1.73827542e-02 1.91578519e+02] [ 1.76955439e-02 -3.83634875e-04 9.99843348e-01 9.69075786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:191.61, Z:9.69 [[ 1.63942056e-01 -9.86463782e-01 -3.49423816e-03 2.04553498e+02] [ 9.86295065e-01 1.63978660e-01 -1.82494703e-02 1.91606112e+02] [ 1.85754219e-02 -4.54494176e-04 9.99827359e-01 9.69066184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:191.63, Z:9.69 [[ 1.62409280e-01 -9.86716595e-01 -3.68619088e-03 2.04558794e+02] [ 9.86528237e-01 1.62450324e-01 -1.92854913e-02 1.91633380e+02] [ 1.96281372e-02 -5.04388625e-04 9.99807222e-01 9.69009747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:191.66, Z:9.69 [[ 1.60840721e-01 -9.86973242e-01 -3.75264412e-03 2.04564283e+02] [ 9.86777364e-01 1.60883589e-01 -1.96698768e-02 1.91659276e+02] [ 2.00173809e-02 -5.39307102e-04 9.99799487e-01 9.68967476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:191.68, Z:9.69 [[ 1.57860295e-01 -9.87453281e-01 -4.01811497e-03 2.04570248e+02] [ 9.87227932e-01 1.57910147e-01 -2.11043984e-02 1.91684341e+02] [ 2.14741086e-02 -6.35248767e-04 9.99769203e-01 9.68812458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:191.71, Z:9.69 [[ 1.56672811e-01 -9.87642084e-01 -4.09209576e-03 2.04574186e+02] [ 9.87407506e-01 1.56724824e-01 -2.15347936e-02 1.91711225e+02] [ 2.19100014e-02 -6.66649423e-04 9.99759725e-01 9.68814020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:191.74, Z:9.69 [[ 1.55038357e-01 -9.87898797e-01 -4.36742585e-03 2.04577831e+02] [ 9.87630697e-01 1.55098077e-01 -2.30259104e-02 1.91739277e+02] [ 2.34246485e-02 -7.43504532e-04 9.99725329e-01 9.68732574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:191.77, Z:9.69 [[ 1.54604963e-01 -9.87966299e-01 -4.46060929e-03 2.04582106e+02] [ 9.87685619e-01 1.54667415e-01 -2.35607687e-02 1.91766030e+02] [ 2.39671564e-02 -7.63067885e-04 9.99712455e-01 9.68737212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:191.79, Z:9.69 [[ 1.53899486e-01 -9.88076306e-01 -4.49028128e-03 2.04586864e+02] [ 9.87790784e-01 1.53963012e-01 -2.37646203e-02 1.91791832e+02] [ 2.41725955e-02 -7.78095608e-04 9.99707497e-01 9.68708865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:191.82, Z:9.69 [[ 1.53595277e-01 -9.88123602e-01 -4.49858390e-03 2.04589790e+02] [ 9.87835902e-01 1.53659163e-01 -2.38556372e-02 1.91819358e+02] [ 2.42635668e-02 -7.79749481e-04 9.99705292e-01 9.68796263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:191.85, Z:9.69 [[ 1.53660965e-01 -9.88113376e-01 -4.50162198e-03 2.04592955e+02] [ 9.87824118e-01 1.53724956e-01 -2.39196451e-02 1.91845559e+02] [ 2.43273329e-02 -7.71294997e-04 9.99703749e-01 9.68915998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:191.87, Z:9.69 [[ 1.53979110e-01 -9.88063394e-01 -4.60027990e-03 2.04595641e+02] [ 9.87760081e-01 1.54045876e-01 -2.44926795e-02 1.91872733e+02] [ 2.49089741e-02 -7.72611851e-04 9.99689425e-01 9.68968438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.712755096 meters Centerline goodness [0,1] 0.9997359910236948 Centerline is valid? [True, True] Translation: X:204.60, Y:191.90, Z:9.69 [[ 1.55353833e-01 -9.87847571e-01 -4.72895772e-03 2.04596057e+02] [ 9.87525755e-01 1.55423975e-01 -2.52244380e-02 1.91900941e+02] [ 2.56528932e-02 -7.51254421e-04 9.99670628e-01 9.69058211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters Centerline goodness [0,1] 0.9998901074748896 Centerline is valid? [True, True] Translation: X:204.60, Y:191.93, Z:9.69 [[ 1.56209801e-01 -9.87713324e-01 -4.57033163e-03 2.04601224e+02] [ 9.87411631e-01 1.56275086e-01 -2.44206625e-02 1.91927939e+02] [ 2.48348427e-02 -6.98051798e-04 9.99691324e-01 9.69104038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.772755096 meters Centerline goodness [0,1] 0.9999341686598934 Centerline is valid? [True, True] Translation: X:204.60, Y:191.96, Z:9.69 [[ 1.56844368e-01 -9.87613355e-01 -4.43900992e-03 2.04604884e+02] [ 9.87327722e-01 1.56905800e-01 -2.37600291e-02 1.91955988e+02] [ 2.41622285e-02 -6.56130798e-04 9.99707835e-01 9.69320314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.802755096 meters Centerline goodness [0,1] 0.999978064402913 Centerline is valid? [True, True] Translation: X:204.61, Y:191.98, Z:9.70 [[ 1.58436048e-01 -9.87359919e-01 -4.29054324e-03 2.04608634e+02] [ 9.87092054e-01 1.58493034e-01 -2.30050992e-02 1.91984191e+02] [ 2.33943341e-02 -5.90324133e-04 9.99726141e-01 9.69612286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:192.01, Z:9.70 [[ 1.59039762e-01 -9.87263137e-01 -4.22528259e-03 2.04612571e+02] [ 9.87002315e-01 1.59094893e-01 -2.26990272e-02 1.92009717e+02] [ 2.30821337e-02 -5.60315805e-04 9.99733415e-01 9.69665426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:192.04, Z:9.70 [[ 1.61083614e-01 -9.86931317e-01 -4.31789185e-03 2.04614492e+02] [ 9.86657778e-01 1.61140646e-01 -2.32405033e-02 1.92037520e+02] [ 2.36325684e-02 -5.16617324e-04 9.99720578e-01 9.69747475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.892755096 meters Centerline goodness [0,1] 0.9999780720989387 Centerline is valid? [True, True] Translation: X:204.62, Y:192.06, Z:9.70 [[ 1.62101352e-01 -9.86764589e-01 -4.33563766e-03 2.04618302e+02] [ 9.86487660e-01 1.62158592e-01 -2.33813472e-02 1.92063467e+02] [ 2.37749464e-02 -4.86905049e-04 9.99717217e-01 9.69749688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9227550960001 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:204.62, Y:192.09, Z:9.70 [[ 1.63239807e-01 -9.86576952e-01 -4.32250033e-03 2.04622887e+02] [ 9.86300678e-01 1.63296401e-01 -2.33507669e-02 1.92089391e+02] [ 2.37431772e-02 -4.51510314e-04 9.99717989e-01 9.69701850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:192.12, Z:9.70 [[ 1.64756718e-01 -9.86324475e-01 -4.38790686e-03 2.04625357e+02] [ 9.86038653e-01 1.64814618e-01 -2.37469194e-02 1.92116200e+02] [ 2.41453590e-02 -4.14181272e-04 9.99708373e-01 9.69808782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:192.14, Z:9.70 [[ 1.64872273e-01 -9.86304565e-01 -4.52103684e-03 2.04630796e+02] [ 9.85999908e-01 1.64933724e-01 -2.45162685e-02 1.92142929e+02] [ 2.49261790e-02 -4.15688990e-04 9.99689208e-01 9.69788082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:192.17, Z:9.70 [[ 1.64537919e-01 -9.86360382e-01 -4.52444660e-03 2.04636335e+02] [ 9.86054072e-01 1.64599587e-01 -2.45834098e-02 1.92169556e+02] [ 2.49928235e-02 -4.16445905e-04 9.99687544e-01 9.69790418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:192.20, Z:9.70 [[ 1.63141227e-01 -9.86592203e-01 -4.55688578e-03 2.04643182e+02] [ 9.86280377e-01 1.63204243e-01 -2.48071278e-02 1.92196168e+02] [ 2.52182219e-02 -4.47301762e-04 9.99681870e-01 9.69716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:192.22, Z:9.70 [[ 1.61786185e-01 -9.86815384e-01 -4.54179025e-03 2.04649028e+02] [ 9.86504555e-01 1.61849232e-01 -2.47707188e-02 1.92221299e+02] [ 2.51792117e-02 -4.72936674e-04 9.99682842e-01 9.69675414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.102755096 meters Centerline goodness [0,1] 0.9999780016718729 Centerline is valid? [True, True] Translation: X:204.66, Y:192.25, Z:9.70 [[ 1.58920846e-01 -9.87281624e-01 -4.37716005e-03 2.04657974e+02] [ 9.86992004e-01 1.58980267e-01 -2.39177655e-02 1.92247684e+02] [ 2.43094524e-02 -5.19190451e-04 9.99704347e-01 9.69770816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.132755096 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:204.66, Y:192.27, Z:9.70 [[ 1.57266802e-01 -9.87547013e-01 -4.24862126e-03 2.04664670e+02] [ 9.87273125e-01 1.57323267e-01 -2.32629962e-02 1.92272919e+02] [ 2.36417093e-02 -5.36052578e-04 9.99720352e-01 9.69816276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.67, Y:192.30, Z:9.70 [[ 1.55852965e-01 -9.87771215e-01 -4.22854296e-03 2.04671306e+02] [ 9.87499031e-01 1.55909309e-01 -2.31937875e-02 1.92298940e+02] [ 2.35694249e-02 -5.60861522e-04 9.99722045e-01 9.69889317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.192755096 meters Centerline goodness [0,1] 0.9999779624038609 Centerline is valid? [True, True] Translation: X:204.68, Y:192.33, Z:9.70 [[ 1.53259675e-01 -9.88177551e-01 -4.07433015e-03 2.04678112e+02] [ 9.87924110e-01 1.53312672e-01 -2.23870118e-02 1.92325263e+02] [ 2.27469889e-02 -5.94102816e-04 9.99741077e-01 9.69889875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.222755096 meters Centerline goodness [0,1] 0.999889974474078 Centerline is valid? [True, True] Translation: X:204.69, Y:192.35, Z:9.70 [[ 1.52007506e-01 -9.88371015e-01 -4.05638377e-03 2.04685181e+02] [ 9.88118853e-01 1.52060382e-01 -2.23332388e-02 1.92350441e+02] [ 2.26903411e-02 -6.13369355e-04 9.99742353e-01 9.69785209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.252755096 meters Centerline goodness [0,1] 0.999977941987427 Centerline is valid? [True, True] Translation: X:204.69, Y:192.38, Z:9.70 [[ 1.50441627e-01 -9.88610944e-01 -3.96475695e-03 2.04691372e+02] [ 9.88369185e-01 1.50492550e-01 -2.18711436e-02 1.92377295e+02] [ 2.22187183e-02 -6.28313171e-04 9.99752936e-01 9.69710670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2827550960001 meters Centerline goodness [0,1] 0.9999118437871909 Centerline is valid? [True, True] Translation: X:204.70, Y:192.40, Z:9.70 [[ 1.50311847e-01 -9.88631042e-01 -3.87448020e-03 2.04695964e+02] [ 9.88399247e-01 1.50360534e-01 -2.14158469e-02 1.92403706e+02] [ 2.17549399e-02 -6.10477822e-04 9.99763147e-01 9.69667861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:192.43, Z:9.70 [[ 1.50364560e-01 -9.88623001e-01 -3.88097056e-03 2.04700976e+02] [ 9.88389413e-01 1.50413426e-01 -2.14981447e-02 1.92428889e+02] [ 2.18373104e-02 -6.03351147e-04 9.99761355e-01 9.69870993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.342755096 meters Centerline goodness [0,1] 0.9999779483108406 Centerline is valid? [True, True] Translation: X:204.70, Y:192.46, Z:9.70 [[ 1.51710449e-01 -9.88418474e-01 -3.58617255e-03 2.04704239e+02] [ 9.88218184e-01 1.51751923e-01 -1.99041287e-02 1.92456253e+02] [ 2.02178171e-02 -5.24256632e-04 9.99795462e-01 9.70048178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.372755096 meters Centerline goodness [0,1] 0.9999779769639042 Centerline is valid? [True, True] Translation: X:204.71, Y:192.48, Z:9.70 [[ 1.52545671e-01 -9.88290516e-01 -3.41673174e-03 2.04706270e+02] [ 9.88107983e-01 1.52583182e-01 -1.89996562e-02 1.92483163e+02] [ 1.92985158e-02 -4.77784604e-04 9.99813652e-01 9.70222851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.71, Y:192.51, Z:9.70 [[ 1.55619632e-01 -9.87811685e-01 -3.25652801e-03 2.04708982e+02] [ 9.87645122e-01 1.55653206e-01 -1.81436468e-02 1.92509848e+02] [ 1.84293953e-02 -3.92786372e-04 9.99830087e-01 9.70293164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.432755096 meters Centerline goodness [0,1] 0.9999779283554417 Centerline is valid? [True, True] Translation: X:204.71, Y:192.54, Z:9.70 [[ 1.57022201e-01 -9.87590032e-01 -3.15562941e-03 2.04712057e+02] [ 9.87432967e-01 1.57053517e-01 -1.76161345e-02 1.92535691e+02] [ 1.78931216e-02 -3.49848290e-04 9.99839844e-01 9.70338745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.71, Y:192.56, Z:9.70 [[ 1.58605047e-01 -9.87337192e-01 -3.11595087e-03 2.04714802e+02] [ 9.87183394e-01 1.58635346e-01 -1.74291212e-02 1.92563288e+02] [ 1.77027196e-02 -3.11668352e-04 9.99843246e-01 9.70387535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:192.59, Z:9.70 [[ 1.61911610e-01 -9.86800810e-01 -2.96530713e-03 2.04715916e+02] [ 9.86660893e-01 1.61938591e-01 -1.66185457e-02 1.92589764e+02] [ 1.68793920e-02 -2.35017095e-04 9.99857505e-01 9.70401535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:192.62, Z:9.71 [[ 1.63031402e-01 -9.86616735e-01 -2.86018515e-03 2.04718218e+02] [ 9.86486016e-01 1.63056363e-01 -1.60611959e-02 1.92616662e+02] [ 1.63126160e-02 -2.03053368e-04 9.99866920e-01 9.70540501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:192.64, Z:9.71 [[ 1.65787699e-01 -9.86158265e-01 -2.51303167e-03 2.04721469e+02] [ 9.86056919e-01 1.65806690e-01 -1.41383606e-02 1.92642905e+02] [ 1.43593387e-02 -1.34025994e-04 9.99896890e-01 9.70721523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.582755096 meters Centerline goodness [0,1] 0.9998896856039713 Centerline is valid? [True, True] Translation: X:204.73, Y:192.67, Z:9.71 [[ 1.66471036e-01 -9.86043602e-01 -2.32560705e-03 2.04725457e+02] [ 9.85956444e-01 1.66487243e-01 -1.31106455e-02 1.92668140e+02] [ 1.33148520e-02 -1.10404511e-04 9.99911347e-01 9.70509085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:192.69, Z:9.71 [[ 1.67151530e-01 -9.85928675e-01 -2.23928838e-03 2.04728900e+02] [ 9.85847502e-01 1.67166503e-01 -1.26515992e-02 1.92694425e+02] [ 1.28479084e-02 -9.28627011e-05 9.99917458e-01 9.70881829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:192.72, Z:9.71 [[ 1.68604064e-01 -9.85681798e-01 -2.01572397e-03 2.04732819e+02] [ 9.85615742e-01 1.68616102e-01 -1.14114122e-02 1.92720474e+02] [ 1.15879048e-02 -6.27187987e-05 9.99932856e-01 9.70977079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6727550960001 meters Centerline goodness [0,1] 0.9999558547621675 Centerline is valid? [True, True] Translation: X:204.74, Y:192.75, Z:9.71 [[ 1.69503666e-01 -9.85527718e-01 -1.90393327e-03 2.04737125e+02] [ 9.85468529e-01 1.69514353e-01 -1.08010342e-02 1.92746275e+02] [ 1.09674626e-02 -4.54514170e-05 9.99939855e-01 9.70849276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.74, Y:192.77, Z:9.71 [[ 1.68785330e-01 -9.85650870e-01 -1.96839496e-03 2.04742081e+02] [ 9.85587320e-01 1.68796800e-01 -1.11926487e-02 1.92770806e+02] [ 1.13643027e-02 -5.08701960e-05 9.99935423e-01 9.70962930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:192.80, Z:9.71 [[ 1.68276629e-01 -9.85737949e-01 -1.91607563e-03 2.04746872e+02] [ 9.85677464e-01 1.68287529e-01 -1.09199019e-02 1.92797144e+02] [ 1.10866133e-02 -5.10682914e-05 9.99938540e-01 9.70951454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:192.82, Z:9.71 [[ 1.66646071e-01 -9.86015066e-01 -1.83764557e-03 2.04753606e+02] [ 9.85959206e-01 1.66656191e-01 -1.04956196e-02 1.92822123e+02] [ 1.06550941e-02 -6.27898042e-05 9.99943231e-01 9.70939483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.76, Y:192.85, Z:9.71 [[ 1.65372819e-01 -9.86229436e-01 -1.82498135e-03 2.04759696e+02] [ 9.86174102e-01 1.65382873e-01 -1.04473035e-02 1.92848229e+02] [ 1.06052589e-02 -7.20492989e-05 9.99943760e-01 9.70958122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:192.87, Z:9.71 [[ 1.63363496e-01 -9.86564437e-01 -1.72616515e-03 2.04766947e+02] [ 9.86514744e-01 1.63372594e-01 -9.90225938e-03 1.92874213e+02] [ 1.00512250e-02 -8.52196551e-05 9.99949482e-01 9.71014819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:192.90, Z:9.71 [[ 1.61840133e-01 -9.86815637e-01 -1.63391591e-03 2.04773182e+02] [ 9.86770953e-01 1.61848354e-01 -9.39135818e-03 1.92900769e+02] [ 9.53198571e-03 -9.24021052e-05 9.99954565e-01 9.71053533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:192.93, Z:9.71 [[ 1.60205520e-01 -9.87082449e-01 -1.55911300e-03 2.04779240e+02] [ 9.87041615e-01 1.60213074e-01 -8.97897790e-03 1.92927177e+02] [ 9.11278178e-03 -1.00427593e-04 9.99958473e-01 9.71141456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:192.95, Z:9.71 [[ 1.57274304e-01 -9.87554050e-01 -1.33877439e-03 2.04788160e+02] [ 9.87523855e-01 1.57279965e-01 -7.72322186e-03 1.92952248e+02] [ 7.83766141e-03 -1.07407310e-04 9.99969279e-01 9.71173345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:192.98, Z:9.71 [[ 1.55643368e-01 -9.87812370e-01 -1.36525591e-03 2.04793426e+02] [ 9.87780837e-01 1.55649309e-01 -7.89368798e-03 1.92978637e+02] [ 8.00998377e-03 -1.19973442e-04 9.99967912e-01 9.71155695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:193.00, Z:9.71 [[ 1.52612121e-01 -9.88285247e-01 -1.34570740e-03 2.04800975e+02] [ 9.88254502e-01 1.52617989e-01 -7.79671814e-03 1.93003572e+02] [ 7.91076067e-03 -1.40027706e-04 9.99968700e-01 9.71049385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters Centerline goodness [0,1] 0.9999552762807755 Centerline is valid? [True, True] Translation: X:204.81, Y:193.03, Z:9.71 [[ 1.51317801e-01 -9.88484167e-01 -1.40544463e-03 2.04805882e+02] [ 9.88450495e-01 1.51324249e-01 -8.16029900e-03 1.93030402e+02] [ 8.27900421e-03 -1.54413943e-04 9.99965717e-01 9.70854193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:193.06, Z:9.71 [[ 1.50202786e-01 -9.88654160e-01 -1.44033449e-03 2.04810408e+02] [ 9.88618652e-01 1.50209601e-01 -8.38079097e-03 1.93057403e+02] [ 8.50205593e-03 -1.65123387e-04 9.99963843e-01 9.70895338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.062755096 meters Centerline goodness [0,1] 0.9999777138909318 Centerline is valid? [True, True] Translation: X:204.82, Y:193.08, Z:9.71 [[ 1.48597269e-01 -9.88896507e-01 -1.59694538e-03 2.04817601e+02] [ 9.88852663e-01 1.48605721e-01 -9.31400630e-03 1.93083312e+02] [ 9.44790352e-03 -1.95107800e-04 9.99955349e-01 9.70723582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:193.11, Z:9.71 [[ 1.47637906e-01 -9.89040287e-01 -1.53588287e-03 2.04818204e+02] [ 9.88999565e-01 1.47645768e-01 -8.97711588e-03 1.93111264e+02] [ 9.10549588e-03 -1.93624897e-04 9.99958525e-01 9.70749697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:193.14, Z:9.71 [[ 1.46753669e-01 -9.89171829e-01 -1.56646729e-03 2.04825518e+02] [ 9.89129290e-01 1.46761889e-01 -9.17586303e-03 1.93136669e+02] [ 9.30640292e-03 -2.02847109e-04 9.99956674e-01 9.70748637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.152755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:193.16, Z:9.71 [[ 1.46396431e-01 -9.89224767e-01 -1.56396680e-03 2.04829608e+02] [ 9.89182226e-01 1.46404643e-01 -9.17628921e-03 1.93162300e+02] [ 9.30638455e-03 -2.03672168e-04 9.99956674e-01 9.70772833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:193.19, Z:9.71 [[ 1.45544525e-01 -9.89350531e-01 -1.52284081e-03 2.04831488e+02] [ 9.89310032e-01 1.45552349e-01 -8.95404741e-03 1.93189963e+02] [ 9.08034461e-03 -2.03349116e-04 9.99958752e-01 9.70793113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.212755096 meters Centerline goodness [0,1] 0.999910776025518 Centerline is valid? [True, True] Translation: X:204.84, Y:193.22, Z:9.71 [[ 1.44424923e-01 -9.89514641e-01 -1.48889547e-03 2.04836292e+02] [ 9.89475776e-01 1.44432450e-01 -8.77251030e-03 1.93217107e+02] [ 8.89557220e-03 -2.06256874e-04 9.99960412e-01 9.70602751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:193.24, Z:9.71 [[ 1.41720221e-01 -9.89906034e-01 -1.19276464e-03 2.04841224e+02] [ 9.89881019e-01 1.41725122e-01 -7.03976048e-03 1.93243363e+02] [ 7.13774609e-03 -1.83018665e-04 9.99974509e-01 9.70932956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:193.27, Z:9.71 [[ 1.38247045e-01 -9.90397244e-01 -1.02671906e-03 2.04845531e+02] [ 9.90378682e-01 1.38250742e-01 -6.06614435e-03 1.93270343e+02] [ 6.14983732e-03 -1.78214144e-04 9.99981074e-01 9.71029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:193.30, Z:9.71 [[ 1.36317143e-01 -9.90664893e-01 -8.40712501e-04 2.04850140e+02] [ 9.90652419e-01 1.36319648e-01 -4.97372122e-03 1.93296556e+02] [ 5.04189663e-03 -1.54850406e-04 9.99987278e-01 9.71070968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.85, Y:193.32, Z:9.71 [[ 1.34407254e-01 -9.90925920e-01 -7.15404922e-04 2.04854601e+02] [ 9.90916864e-01 1.34409086e-01 -4.23876272e-03 1.93323008e+02] [ 4.29645677e-03 -1.39186342e-04 9.99990761e-01 9.71109209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:193.35, Z:9.71 [[ 1.30754643e-01 -9.91414582e-01 -5.91558013e-04 2.04860647e+02] [ 9.91408379e-01 1.30755918e-01 -3.50930632e-03 1.93348508e+02] [ 3.55652717e-03 -1.27617477e-04 9.99993667e-01 9.71202268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:193.38, Z:9.71 [[ 1.29038094e-01 -9.91639527e-01 -4.67250530e-04 2.04864830e+02] [ 9.91635652e-01 1.29038897e-01 -2.77433999e-03 1.93375820e+02] [ 2.81143869e-03 -1.05346741e-04 9.99996042e-01 9.71195414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:193.40, Z:9.71 [[ 1.26158378e-01 -9.92009950e-01 -5.68559650e-04 2.04868862e+02] [ 9.92004177e-01 1.26159585e-01 -3.38702530e-03 1.93402519e+02] [ 3.43169205e-03 -1.36711930e-04 9.99994102e-01 9.71138484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.43, Z:9.71 [[ 1.24883003e-01 -9.92171347e-01 -5.04026309e-04 2.04876175e+02] [ 9.92166800e-01 1.24883958e-01 -3.00618360e-03 1.93427721e+02] [ 3.04559403e-03 -1.24656933e-04 9.99995354e-01 9.71205141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.46, Z:9.71 [[ 1.23899320e-01 -9.92294677e-01 -4.83138050e-04 2.04875481e+02] [ 9.92290482e-01 1.23900202e-01 -2.88774129e-03 1.93455938e+02] [ 2.92535121e-03 -1.21624108e-04 9.99995714e-01 9.71106743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.48, Z:9.71 [[ 1.23525085e-01 -9.92341358e-01 -4.27263893e-04 2.04877786e+02] [ 9.92338061e-01 1.23525777e-01 -2.56031347e-03 1.93482317e+02] [ 2.59348305e-03 -1.07727285e-04 9.99996631e-01 9.71108591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.51, Z:9.71 [[ 1.23286479e-01 -9.92371015e-01 -4.60730363e-04 2.04879691e+02] [ 9.92367174e-01 1.23287285e-01 -2.76367906e-03 1.93509928e+02] [ 2.79939719e-03 -1.16489428e-04 9.99996075e-01 9.71108509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.54, Z:9.71 [[ 1.23520300e-01 -9.92341962e-01 -4.07413634e-04 2.04879932e+02] [ 9.92338951e-01 1.23520930e-01 -2.44658978e-03 1.93537208e+02] [ 2.47817782e-03 -1.02088913e-04 9.99996924e-01 9.71130010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.56, Z:9.71 [[ 1.23363448e-01 -9.92361476e-01 -4.01709123e-04 2.04884265e+02] [ 9.92358538e-01 1.23364061e-01 -2.41663067e-03 1.93563410e+02] [ 2.44772765e-03 -1.00515586e-04 9.99996999e-01 9.71194219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.59, Z:9.71 [[ 1.23649321e-01 -9.92325904e-01 -3.82630976e-04 2.04884870e+02] [ 9.92323227e-01 1.23649877e-01 -2.30686190e-03 1.93591114e+02] [ 2.33647109e-03 -9.44516970e-05 9.99997266e-01 9.71201991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.62, Z:9.71 [[ 1.25408175e-01 -9.92105185e-01 -3.03997221e-04 2.04882521e+02] [ 9.92103492e-01 1.25408523e-01 -1.83406357e-03 1.93620166e+02] [ 1.85770782e-03 -7.15901392e-05 9.99998272e-01 9.71180641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.65, Z:9.71 [[ 1.26718959e-01 -9.91938607e-01 -3.25932137e-04 2.04887557e+02] [ 9.91936649e-01 1.26719357e-01 -1.97209631e-03 1.93647070e+02] [ 1.99750038e-03 -7.34020409e-05 9.99998002e-01 9.71292393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.68, Z:9.71 [[ 1.29778843e-01 -9.91542941e-01 -2.21614632e-04 2.04884263e+02] [ 9.91542041e-01 1.29779024e-01 -1.33650742e-03 1.93675892e+02] [ 1.35396543e-03 -4.62898378e-05 9.99999082e-01 9.71364505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.70, Z:9.71 [[ 1.31315718e-01 -9.91340586e-01 -1.58558512e-04 2.04885454e+02] [ 9.91340128e-01 1.31315810e-01 -9.53725309e-04 1.93704342e+02] [ 9.66287845e-04 -3.19462909e-05 9.99999533e-01 9.71428600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.73, Z:9.71 [[ 1.33027287e-01 -9.91112361e-01 -1.72801183e-04 2.04885525e+02] [ 9.91111813e-01 1.33027395e-01 -1.04273524e-03 1.93732508e+02] [ 1.05645508e-03 -3.25530527e-05 9.99999441e-01 9.71421616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:193.76, Z:9.71 [[ 1.37628549e-01 -9.90483871e-01 -2.88956217e-04 2.04883769e+02] [ 9.90482303e-01 1.37628846e-01 -1.76328674e-03 1.93759803e+02] [ 1.78627578e-03 -4.35274240e-05 9.99998404e-01 9.71381488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.79, Z:9.71 [[ 1.39609535e-01 -9.90206543e-01 -4.24663980e-04 2.04885021e+02] [ 9.90203128e-01 1.39610169e-01 -2.60126243e-03 1.93786041e+02] [ 2.63507449e-03 -5.73425631e-05 9.99996527e-01 9.71375318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.872755096 meters Centerline goodness [0,1] 0.9998909487459106 Centerline is valid? [True, True] Translation: X:204.88, Y:193.82, Z:9.71 [[ 1.43024469e-01 -9.89718948e-01 -6.35940546e-04 2.04883210e+02] [ 9.89711230e-01 1.43025866e-01 -3.90930602e-03 1.93815339e+02] [ 3.96007019e-03 -7.02710818e-05 9.99992156e-01 9.70888261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.84, Z:9.71 [[ 1.43644962e-01 -9.89629031e-01 -7.11408988e-04 2.04885826e+02] [ 9.89619335e-01 1.43646704e-01 -4.38125336e-03 1.93841770e+02] [ 4.43800707e-03 -7.46791171e-05 9.99990149e-01 9.71278491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.932755096 meters Centerline goodness [0,1] 0.999912836939705 Centerline is valid? [True, True] Translation: X:204.89, Y:193.87, Z:9.71 [[ 1.44113983e-01 -9.89560803e-01 -7.59746437e-04 2.04888094e+02] [ 9.89549681e-01 1.44115966e-01 -4.69226951e-03 1.93868796e+02] [ 4.75277758e-03 -7.55851935e-05 9.99988703e-01 9.70951635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.90, Z:9.71 [[ 1.44143738e-01 -9.89556314e-01 -9.40063089e-04 2.04891793e+02] [ 9.89539182e-01 1.44146775e-01 -5.82362782e-03 1.93895070e+02] [ 5.89831475e-03 -9.07897772e-05 9.99982601e-01 9.71259686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:193.92, Z:9.71 [[ 1.43267521e-01 -9.89683572e-01 -9.18749637e-04 2.04893939e+02] [ 9.89667134e-01 1.43270437e-01 -5.70488615e-03 1.93922727e+02] [ 5.77766177e-03 -9.19314234e-05 9.99983305e-01 9.71240221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.90, Y:193.95, Z:9.71 [[ 1.41525519e-01 -9.89934245e-01 -8.47751828e-04 2.04897145e+02] [ 9.89920192e-01 1.41528028e-01 -5.27549714e-03 1.93950309e+02] [ 5.34237592e-03 -9.25891812e-05 9.99985725e-01 9.71254728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.052755096 meters Centerline goodness [0,1] 0.999869397705753 Centerline is valid? [True, True] Translation: X:204.90, Y:193.98, Z:9.71 [[ 1.40359406e-01 -9.90100314e-01 -7.78160018e-04 2.04901297e+02] [ 9.90088430e-01 1.40361535e-01 -4.85183812e-03 1.93976429e+02] [ 4.91303018e-03 -8.94461127e-05 9.99987927e-01 9.70877173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:194.00, Z:9.71 [[ 1.38363019e-01 -9.90381351e-01 -6.74912275e-04 2.04905601e+02] [ 9.90372402e-01 1.38364638e-01 -4.21090246e-03 1.94003259e+02] [ 4.26378326e-03 -8.57813145e-05 9.99990906e-01 9.71365888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:194.03, Z:9.72 [[ 1.34188608e-01 -9.90955670e-01 -5.27475496e-04 2.04911308e+02] [ 9.90950201e-01 1.34189620e-01 -3.29321514e-03 1.94029376e+02] [ 3.33421195e-03 -8.07899935e-05 9.99994438e-01 9.71533450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:194.06, Z:9.72 [[ 1.31522647e-01 -9.91313053e-01 -4.73539757e-04 2.04916056e+02] [ 9.91308632e-01 1.31523475e-01 -2.96186518e-03 1.94056199e+02] [ 2.99841721e-03 -7.98717012e-05 9.99995502e-01 9.71590177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:194.08, Z:9.71 [[ 1.27105783e-01 -9.91889018e-01 -5.45037831e-04 2.04919649e+02] [ 9.91883127e-01 1.27106907e-01 -3.42007418e-03 1.94083670e+02] [ 3.46161209e-03 -1.05902622e-04 9.99994003e-01 9.71489963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:194.11, Z:9.71 [[ 1.24618884e-01 -9.92204485e-01 -6.26964081e-04 2.04925042e+02] [ 9.92196647e-01 1.24620393e-01 -3.94610165e-03 1.94110546e+02] [ 3.99347227e-03 -1.30312877e-04 9.99992018e-01 9.71465760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:194.14, Z:9.71 [[ 1.22088351e-01 -9.92518995e-01 -6.92822595e-04 2.04930334e+02] [ 9.92509375e-01 1.22090220e-01 -4.37256779e-03 1.94137003e+02] [ 4.42444345e-03 -1.53793330e-04 9.99990200e-01 9.71423591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:194.16, Z:9.71 [[ 1.17573657e-01 -9.93063851e-01 -7.89043636e-04 2.04933738e+02] [ 9.93051315e-01 1.17576141e-01 -4.99373771e-03 1.94164991e+02] [ 5.05187311e-03 -1.96428815e-04 9.99987220e-01 9.71247910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2927550960001 meters Centerline goodness [0,1] 0.9999134442689287 Centerline is valid? [True, True] Translation: X:204.94, Y:194.19, Z:9.71 [[ 1.15517321e-01 -9.93305127e-01 -8.20335300e-04 2.04937140e+02] [ 9.93291521e-01 1.15520036e-01 -5.20334154e-03 1.94193292e+02] [ 5.26327099e-03 -2.13756021e-04 9.99986126e-01 9.70938507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.94, Y:194.22, Z:9.71 [[ 1.13727382e-01 -9.93511595e-01 -8.91027661e-04 2.04943707e+02] [ 9.93495473e-01 1.13730618e-01 -5.66490495e-03 1.94219747e+02] [ 5.72948588e-03 -2.40977135e-04 9.99983557e-01 9.71200126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:194.25, Z:9.71 [[ 1.11306171e-01 -9.93785679e-01 -9.80203248e-04 2.04947459e+02] [ 9.93766079e-01 1.11310138e-01 -6.24761919e-03 1.94246566e+02] [ 6.31790103e-03 -2.78694170e-04 9.99980003e-01 9.71157330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:194.27, Z:9.71 [[ 1.10008731e-01 -9.93930017e-01 -1.09583740e-03 2.04948999e+02] [ 9.93905393e-01 1.10013728e-01 -7.00354680e-03 1.94274587e+02] [ 7.08159255e-03 -3.18707405e-04 9.99974874e-01 9.71102783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:194.30, Z:9.71 [[ 1.10071351e-01 -9.93922945e-01 -1.21578368e-03 2.04952990e+02] [ 9.93892489e-01 1.10077505e-01 -7.78868637e-03 1.94300209e+02] [ 7.87518452e-03 -3.51047042e-04 9.99968929e-01 9.71098446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.33, Z:9.71 [[ 1.09833822e-01 -9.93949169e-01 -1.25721021e-03 2.04958420e+02] [ 9.93916481e-01 1.09840416e-01 -8.06919615e-03 1.94326211e+02] [ 8.15846331e-03 -3.63291297e-04 9.99966653e-01 9.71083631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.35, Z:9.71 [[ 1.10335678e-01 -9.93893510e-01 -1.31463657e-03 2.04956536e+02] [ 9.93857634e-01 1.10342876e-01 -8.45299491e-03 1.94353803e+02] [ 8.54643757e-03 -3.73894664e-04 9.99963409e-01 9.71040729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.38, Z:9.71 [[ 1.10864253e-01 -9.93834633e-01 -1.35631174e-03 2.04958923e+02] [ 9.93796259e-01 1.10871902e-01 -8.74163574e-03 1.94380581e+02] [ 8.83811721e-03 -3.78762617e-04 9.99960871e-01 9.71082923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.41, Z:9.71 [[ 1.12606680e-01 -9.93638729e-01 -1.34578127e-03 2.04961431e+02] [ 9.93600762e-01 1.12614152e-01 -8.69357850e-03 1.94407131e+02] [ 8.78983031e-03 -3.58214284e-04 9.99961305e-01 9.71139612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.43, Z:9.71 [[ 1.13886284e-01 -9.93492825e-01 -1.38573100e-03 2.04963046e+02] [ 9.93452369e-01 1.13894162e-01 -8.97275696e-03 1.94434367e+02] [ 9.07219633e-03 -3.54783792e-04 9.99958784e-01 9.71160738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.46, Z:9.71 [[ 1.14840228e-01 -9.93383024e-01 -1.37454261e-03 2.04965568e+02] [ 9.93343032e-01 1.14847947e-01 -8.92022820e-03 1.94461044e+02] [ 9.01906667e-03 -3.40991282e-04 9.99959269e-01 9.71206423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:194.49, Z:9.71 [[ 1.18604360e-01 -9.92940724e-01 -1.31291037e-03 2.04961302e+02] [ 9.92904050e-01 1.18611270e-01 -8.53898151e-03 1.94489941e+02] [ 8.63442845e-03 -2.90833586e-04 9.99962680e-01 9.71216849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.652755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.52, Z:9.71 [[ 1.20237910e-01 -9.92744217e-01 -1.32814152e-03 2.04967831e+02] [ 9.92706567e-01 1.20244923e-01 -8.65049225e-03 1.94516619e+02] [ 8.74742843e-03 -2.78337692e-04 9.99961702e-01 9.71258081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.54, Z:9.71 [[ 1.23652631e-01 -9.92324626e-01 -1.36499554e-03 2.04967121e+02] [ 9.92284662e-01 1.23659907e-01 -8.90936004e-03 1.94543893e+02] [ 9.00977259e-03 -2.52798332e-04 9.99959379e-01 9.71296619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.57, Z:9.71 [[ 1.25176435e-01 -9.92133603e-01 -1.33180117e-03 2.04967130e+02] [ 9.92095387e-01 1.25183307e-01 -8.71112407e-03 1.94571241e+02] [ 8.80931818e-03 -2.30846338e-04 9.99961171e-01 9.71337157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.60, Z:9.71 [[ 1.26293388e-01 -9.91992000e-01 -1.36068920e-03 2.04968822e+02] [ 9.91951918e-01 1.26300520e-01 -8.92030911e-03 1.94598921e+02] [ 9.02073104e-03 -2.23162202e-04 9.99959288e-01 9.71319682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.63, Z:9.71 [[ 1.27563411e-01 -9.91829475e-01 -1.36734244e-03 2.04967526e+02] [ 9.91788808e-01 1.27570566e-01 -8.98389770e-03 1.94626759e+02] [ 9.08492719e-03 -2.10098292e-04 9.99958709e-01 9.71313993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.65, Z:9.71 [[ 1.27873179e-01 -9.91789661e-01 -1.31083613e-03 2.04970815e+02] [ 9.91752115e-01 1.27879747e-01 -8.63205409e-03 1.94653522e+02] [ 8.72881140e-03 -1.96216304e-04 9.99961884e-01 9.71333022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:194.68, Z:9.71 [[ 1.27964591e-01 -9.91777871e-01 -1.31046896e-03 2.04972742e+02] [ 9.91740169e-01 1.27971156e-01 -8.64985883e-03 1.94680706e+02] [ 8.74644081e-03 -1.92769060e-04 9.99961731e-01 9.71366183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:194.71, Z:9.71 [[ 1.26967011e-01 -9.91906156e-01 -1.24732417e-03 2.04977771e+02] [ 9.91871849e-01 1.26972997e-01 -8.25188141e-03 1.94706405e+02] [ 8.34346846e-03 -1.89469005e-04 9.99965175e-01 9.71431257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:194.73, Z:9.71 [[ 1.26105681e-01 -9.92016001e-01 -1.26950162e-03 2.04981435e+02] [ 9.91980282e-01 1.26111916e-01 -8.42049775e-03 1.94733740e+02] [ 8.51336778e-03 -1.97447971e-04 9.99963741e-01 9.71435991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:194.76, Z:9.71 [[ 1.24577577e-01 -9.92208919e-01 -1.37428861e-03 2.04986793e+02] [ 9.92166850e-01 1.24584954e-01 -9.13956529e-03 1.94760577e+02] [ 9.23957388e-03 -2.24938700e-04 9.99957289e-01 9.71387310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:194.79, Z:9.71 [[ 1.23510903e-01 -9.92342162e-01 -1.44572230e-03 2.04991172e+02] [ 9.92295391e-01 1.23519122e-01 -9.63757858e-03 1.94785932e+02] [ 9.74234992e-03 -2.44237551e-04 9.99952512e-01 9.71375268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:194.81, Z:9.71 [[ 1.22570032e-01 -9.92458777e-01 -1.47105712e-03 2.04995382e+02] [ 9.92410137e-01 1.22578594e-01 -9.82891741e-03 1.94812465e+02] [ 9.93511546e-03 -2.55161273e-04 9.99950613e-01 9.71346728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:194.84, Z:9.71 [[ 1.20358192e-01 -9.92729454e-01 -1.46206040e-03 2.05001032e+02] [ 9.92681199e-01 1.20366763e-01 -9.79186161e-03 1.94839420e+02] [ 9.89665290e-03 -2.72829115e-04 9.99950990e-01 9.71380214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:194.87, Z:9.71 [[ 1.18983017e-01 -9.92895265e-01 -1.42621707e-03 2.05004463e+02] [ 9.92849147e-01 1.18991243e-01 -9.57371130e-03 1.94867032e+02] [ 9.67539996e-03 -2.76909340e-04 9.99953154e-01 9.71424652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:194.89, Z:9.71 [[ 1.18632849e-01 -9.92937169e-01 -1.42320226e-03 2.05008195e+02] [ 9.92891048e-01 1.18641061e-01 -9.57415947e-03 1.94893530e+02] [ 9.67538903e-03 -2.77274972e-04 9.99953154e-01 9.71449613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:194.92, Z:9.71 [[ 1.17140079e-01 -9.93114138e-01 -1.58440495e-03 2.05015968e+02] [ 9.93056684e-01 1.17150353e-01 -1.06872862e-02 1.94918504e+02] [ 1.07993086e-02 -3.21494371e-04 9.99941634e-01 9.71402210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:194.94, Z:9.71 [[ 1.16786431e-01 -9.93155630e-01 -1.68076619e-03 2.05020944e+02] [ 9.93090628e-01 1.16798026e-01 -1.13677740e-02 1.94944770e+02] [ 1.14862789e-02 -3.41551397e-04 9.99933972e-01 9.71361076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:194.97, Z:9.71 [[ 1.17022864e-01 -9.93127636e-01 -1.77420546e-03 2.05024612e+02] [ 9.93054807e-01 1.17035778e-01 -1.20323263e-02 1.94970700e+02] [ 1.21572813e-02 -3.53825983e-04 9.99926035e-01 9.71295158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:195.00, Z:9.71 [[ 1.18137287e-01 -9.92995520e-01 -1.86526529e-03 2.05029477e+02] [ 9.92914580e-01 1.18151482e-01 -1.26832054e-02 1.94997015e+02] [ 1.28147500e-02 -3.53689631e-04 9.99917825e-01 9.71200978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:195.02, Z:9.71 [[ 1.19129464e-01 -9.92876859e-01 -1.92735439e-03 2.05029920e+02] [ 9.92790009e-01 1.19144545e-01 -1.31368298e-02 1.95024281e+02] [ 1.32728880e-02 -3.48474692e-04 9.99911851e-01 9.71237615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:195.05, Z:9.71 [[ 1.21469640e-01 -9.92593107e-01 -2.01237889e-03 2.05033583e+02] [ 9.92497914e-01 1.21485869e-01 -1.37504517e-02 1.95050442e+02] [ 1.38930791e-02 -3.27019427e-04 9.99903433e-01 9.71190273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:195.08, Z:9.71 [[ 1.22276791e-01 -9.92493902e-01 -2.05916702e-03 2.05037518e+02] [ 9.92393701e-01 1.22293713e-01 -1.41063908e-02 1.95076952e+02] [ 1.42523300e-02 -3.18620185e-04 9.99898380e-01 9.71258296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:195.10, Z:9.71 [[ 1.23685682e-01 -9.92319521e-01 -1.95452112e-03 2.05041664e+02] [ 9.92228781e-01 1.23700809e-01 -1.34222461e-02 1.95104186e+02] [ 1.35609327e-02 -2.79192443e-04 9.99908007e-01 9.71381901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:195.13, Z:9.72 [[ 1.25453887e-01 -9.92097654e-01 -1.88853227e-03 2.05044798e+02] [ 9.92012517e-01 1.25467866e-01 -1.29992410e-02 1.95129909e+02] [ 1.31334666e-02 -2.42642343e-04 9.99913723e-01 9.71539866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:195.16, Z:9.72 [[ 1.26060908e-01 -9.92020770e-01 -1.85476531e-03 2.05047984e+02] [ 9.91938235e-01 1.26074349e-01 -1.27982810e-02 1.95156519e+02] [ 1.29299989e-02 -2.26449710e-04 9.99916378e-01 9.71593889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:195.18, Z:9.72 [[ 1.26844669e-01 -9.91920852e-01 -1.85839940e-03 2.05051096e+02] [ 9.91837565e-01 1.26858104e-01 -1.28556075e-02 1.95184086e+02] [ 1.29874982e-02 -2.12565059e-04 9.99915636e-01 9.71653563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.06, Y:195.21, Z:9.72 [[ 1.26409858e-01 -9.91976297e-01 -1.89058561e-03 2.05058287e+02] [ 9.91889673e-01 1.26423807e-01 -1.31109855e-02 1.95209162e+02] [ 1.32448019e-02 -2.17894536e-04 9.99912260e-01 9.71669551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.06, Y:195.23, Z:9.72 [[ 1.25882543e-01 -9.92043423e-01 -1.85243470e-03 2.05062523e+02] [ 9.91959804e-01 1.25895987e-01 -1.28820406e-02 1.95234744e+02] [ 1.30127578e-02 -2.15916728e-04 9.99915307e-01 9.71804501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:195.26, Z:9.72 [[ 1.24439151e-01 -9.92225350e-01 -1.93693742e-03 2.05071278e+02] [ 9.92133443e-01 1.24453992e-01 -1.35068611e-02 1.95260148e+02] [ 1.36429096e-02 -2.40918055e-04 9.99906902e-01 9.71911031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:195.29, Z:9.72 [[ 1.23093617e-01 -9.92393205e-01 -1.92039313e-03 2.05075424e+02] [ 9.92302420e-01 1.23108337e-01 -1.34255583e-02 1.95286900e+02] [ 1.35598493e-02 -2.53010211e-04 9.99908029e-01 9.71999120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:195.31, Z:9.72 [[ 1.21092442e-01 -9.92639177e-01 -2.02123904e-03 2.05081850e+02] [ 9.92538118e-01 1.21108961e-01 -1.41670281e-02 1.95313885e+02] [ 1.43075373e-02 -2.90636756e-04 9.99897600e-01 9.72020105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:195.34, Z:9.72 [[ 1.20118890e-01 -9.92757363e-01 -2.06631144e-03 2.05086921e+02] [ 9.92651231e-01 1.20136269e-01 -1.45192906e-02 1.95340263e+02] [ 1.46623716e-02 -3.07085519e-04 9.99892455e-01 9.72038199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:195.37, Z:9.72 [[ 1.19483224e-01 -9.92833991e-01 -2.10368159e-03 2.05094837e+02] [ 9.92723470e-01 1.19501318e-01 -1.48171191e-02 1.95365372e+02] [ 1.49623323e-02 -3.17976925e-04 9.99888008e-01 9.72013458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:195.39, Z:9.72 [[ 1.18723620e-01 -9.92925055e-01 -2.13024898e-03 2.05099552e+02] [ 9.92811228e-01 1.18742272e-01 -1.50378726e-02 1.95392664e+02] [ 1.51844311e-02 -3.29584439e-04 9.99884656e-01 9.72166672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:195.42, Z:9.72 [[ 1.18464238e-01 -9.92955963e-01 -2.16326210e-03 2.05107594e+02] [ 9.92837954e-01 1.18483518e-01 -1.53118459e-02 1.95418180e+02] [ 1.54602996e-02 -3.33862563e-04 9.99880427e-01 9.72094184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:195.45, Z:9.72 [[ 1.19225817e-01 -9.92864437e-01 -2.32694580e-03 2.05109294e+02] [ 9.92727116e-01 1.19248035e-01 -1.65160231e-02 1.95445278e+02] [ 1.66756557e-02 -3.40885839e-04 9.99860894e-01 9.72125750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:195.47, Z:9.72 [[ 1.19685922e-01 -9.92808872e-01 -2.41312194e-03 2.05113389e+02] [ 9.92660408e-01 1.19709763e-01 -1.71722815e-02 1.95472412e+02] [ 1.73376677e-02 -3.40130262e-04 9.99849634e-01 9.72113214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:195.50, Z:9.72 [[ 1.20090502e-01 -9.92759977e-01 -2.42889214e-03 2.05117380e+02] [ 9.92608780e-01 1.20114609e-01 -1.73289255e-02 1.95499204e+02] [ 1.74952091e-02 -3.29900305e-04 9.99846893e-01 9.72141199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:195.53, Z:9.72 [[ 1.21519285e-01 -9.92585898e-01 -2.50961768e-03 2.05122201e+02] [ 9.92423579e-01 1.21544804e-01 -1.79527103e-02 1.95525349e+02] [ 1.81246381e-02 -3.09003240e-04 9.99835688e-01 9.72137634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:195.55, Z:9.72 [[ 1.22210358e-01 -9.92500983e-01 -2.53521525e-03 2.05126430e+02] [ 9.92334494e-01 1.22236298e-01 -1.81807640e-02 1.95550660e+02] [ 1.83543214e-02 -2.93903876e-04 9.99831502e-01 9.72165474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:195.58, Z:9.72 [[ 1.23292466e-01 -9.92366951e-01 -2.60829155e-03 2.05130334e+02] [ 9.92189820e-01 1.23319744e-01 -1.87510806e-02 1.95577916e+02] [ 1.89296066e-02 -2.76053349e-04 9.99820781e-01 9.72314703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:195.60, Z:9.72 [[ 1.23807192e-01 -9.92302619e-01 -2.70049858e-03 2.05134877e+02] [ 9.92111817e-01 1.23836346e-01 -1.94602569e-02 1.95603875e+02] [ 1.96448838e-02 -2.69876787e-04 9.99806984e-01 9.72299303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:195.63, Z:9.72 [[ 1.25829755e-01 -9.92047765e-01 -2.84703219e-03 2.05138702e+02] [ 9.91834601e-01 1.25861738e-01 -2.05656706e-02 1.95630759e+02] [ 2.07604600e-02 -2.36011741e-04 9.99784451e-01 9.72268261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:195.66, Z:9.72 [[ 1.26670754e-01 -9.91940635e-01 -2.88042161e-03 2.05142909e+02] [ 9.91721255e-01 1.26703318e-01 -2.08619893e-02 1.95658153e+02] [ 2.10588139e-02 -2.13971429e-04 9.99778216e-01 9.72338501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.15, Y:195.68, Z:9.72 [[ 1.27579523e-01 -9.91824336e-01 -2.81997260e-03 2.05147741e+02] [ 9.91612901e-01 1.27610553e-01 -2.04792997e-02 1.95683597e+02] [ 2.06717261e-02 -1.83581927e-04 9.99786300e-01 9.72409918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.15, Y:195.71, Z:9.73 [[ 1.30163711e-01 -9.91488559e-01 -2.80101571e-03 2.05151536e+02] [ 9.91278739e-01 1.30193788e-01 -2.03970570e-02 1.95710937e+02] [ 2.05881235e-02 -1.21630688e-04 9.99788035e-01 9.72557590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:195.74, Z:9.73 [[ 1.30938770e-01 -9.91386310e-01 -2.86746998e-03 2.05155139e+02] [ 9.91165181e-01 1.30970125e-01 -2.09382550e-02 1.95737857e+02] [ 2.11334522e-02 -1.00507053e-04 9.99776659e-01 9.72552893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:195.76, Z:9.72 [[ 1.31806657e-01 -9.91270839e-01 -3.02135990e-03 2.05161269e+02] [ 9.91023891e-01 1.31841258e-01 -2.21253472e-02 1.95763550e+02] [ 2.23305513e-02 -7.79718072e-05 9.99750639e-01 9.72498360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:195.79, Z:9.73 [[ 1.31612556e-01 -9.91296527e-01 -3.05452097e-03 2.05166729e+02] [ 9.91042716e-01 1.31647976e-01 -2.24309278e-02 1.95790730e+02] [ 2.26378223e-02 -7.49690153e-05 9.99743729e-01 9.72576315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:195.82, Z:9.73 [[ 1.30632077e-01 -9.91426335e-01 -3.01365595e-03 2.05172178e+02] [ 9.91177917e-01 1.30666805e-01 -2.21928452e-02 1.95816625e+02] [ 2.23963560e-02 -8.79717709e-05 9.99749166e-01 9.72543936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.18, Y:195.84, Z:9.73 [[ 1.28702823e-01 -9.91678860e-01 -2.93632813e-03 2.05180171e+02] [ 9.91441797e-01 1.28736258e-01 -2.16826955e-02 1.95843330e+02] [ 2.18802827e-02 -1.20574323e-04 9.99760591e-01 9.72710727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:195.87, Z:9.73 [[ 1.26847142e-01 -9.91917706e-01 -3.01116581e-03 2.05186712e+02] [ 9.91667110e-01 1.26882779e-01 -2.22958376e-02 1.95870377e+02] [ 2.24977011e-02 -1.57910822e-04 9.99746882e-01 9.72728392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.212755096 meters Centerline goodness [0,1] 0.9999114574110147 Centerline is valid? [True, True] Translation: X:205.20, Y:195.90, Z:9.73 [[ 1.23132601e-01 -9.92385703e-01 -2.99658908e-03 2.05196864e+02] [ 9.92136363e-01 1.23168836e-01 -2.22457835e-02 1.95895035e+02] [ 2.24454839e-02 -2.33843802e-04 9.99748041e-01 9.72661441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:195.92, Z:9.73 [[ 1.21228121e-01 -9.92620258e-01 -2.96078736e-03 2.05203353e+02] [ 9.92375641e-01 1.21263979e-01 -2.20371169e-02 1.95921503e+02] [ 2.22335255e-02 -2.66694976e-04 9.99752769e-01 9.72882583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:195.95, Z:9.73 [[ 1.18818275e-01 -9.92911635e-01 -2.94998027e-03 2.05210302e+02] [ 9.92667602e-01 1.18854479e-01 -2.20146693e-02 1.95948503e+02] [ 2.22092397e-02 -3.12604808e-04 9.99753296e-01 9.72914946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.22, Y:195.97, Z:9.73 [[ 1.15436383e-01 -9.93310447e-01 -2.96605149e-03 2.05219449e+02] [ 9.93062519e-01 1.15473846e-01 -2.21951564e-02 1.95974321e+02] [ 2.23891821e-02 -3.83345985e-04 9.99749257e-01 9.72983493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:196.00, Z:9.73 [[ 1.14398735e-01 -9.93430299e-01 -3.02841012e-03 2.05225178e+02] [ 9.93170554e-01 1.14438083e-01 -2.27195014e-02 1.95999095e+02] [ 2.29168065e-02 -4.08645534e-04 9.99737292e-01 9.72923175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:196.03, Z:9.73 [[ 1.13856234e-01 -9.93492075e-01 -3.20226192e-03 2.05230449e+02] [ 9.93200153e-01 1.13900415e-01 -2.40863237e-02 1.96026255e+02] [ 2.42943106e-02 -4.38108928e-04 9.99704754e-01 9.72946704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:196.05, Z:9.73 [[ 1.14715949e-01 -9.93393132e-01 -3.21492896e-03 2.05233166e+02] [ 9.93097260e-01 1.14760253e-01 -2.42469989e-02 1.96053088e+02] [ 2.44557482e-02 -4.11219659e-04 9.99700829e-01 9.73007637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:196.08, Z:9.73 [[ 1.15841401e-01 -9.93262412e-01 -3.24819385e-03 2.05236853e+02] [ 9.92958692e-01 1.15886310e-01 -2.45642069e-02 1.96079633e+02] [ 2.47751246e-02 -3.79770161e-04 9.99692977e-01 9.72867942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.452755096 meters Centerline goodness [0,1] 0.999977789623312 Centerline is valid? [True, True] Translation: X:205.24, Y:196.11, Z:9.73 [[ 1.19760854e-01 -9.92797009e-01 -3.38189404e-03 2.05235284e+02] [ 9.92465877e-01 1.19808254e-01 -2.56411052e-02 1.96108225e+02] [ 2.58615914e-02 -2.85613776e-04 9.99665492e-01 9.73064782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:196.14, Z:9.73 [[ 1.20734522e-01 -9.92678791e-01 -3.46320281e-03 2.05237222e+02] [ 9.92329635e-01 1.20783906e-01 -2.63276232e-02 1.96135582e+02] [ 2.65531723e-02 -2.57985773e-04 9.99647369e-01 9.73071330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:196.16, Z:9.73 [[ 1.22382795e-01 -9.92476253e-01 -3.65213977e-03 2.05238383e+02] [ 9.92085631e-01 1.22437086e-01 -2.78434914e-02 1.96163287e+02] [ 2.80811613e-02 -2.15671093e-04 9.99605623e-01 9.73065479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5427550960001 meters Centerline goodness [0,1] 0.9998671625929861 Centerline is valid? [True, True] Translation: X:205.24, Y:196.19, Z:9.73 [[ 1.22142386e-01 -9.92505988e-01 -3.61950346e-03 2.05242049e+02] [ 9.92120078e-01 1.22195822e-01 -2.76754778e-02 1.96188864e+02] [ 2.79103656e-02 -2.10633152e-04 9.99610408e-01 9.72753211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.25, Y:196.21, Z:9.73 [[ 1.22612953e-01 -9.92447670e-01 -3.69956261e-03 2.05245459e+02] [ 9.92042361e-01 1.22668601e-01 -2.83613804e-02 1.96213564e+02] [ 2.86010061e-02 -1.92650242e-04 9.99590889e-01 9.72896077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.602755096 meters Centerline goodness [0,1] 0.9997780096343819 Centerline is valid? [True, True] Translation: X:205.25, Y:196.24, Z:9.73 [[ 1.20938224e-01 -9.92653629e-01 -3.56629036e-03 2.05249662e+02] [ 9.92274998e-01 1.20990589e-01 -2.74154272e-02 1.96238802e+02] [ 2.76455109e-02 -2.23167669e-04 9.99617765e-01 9.72762117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.632755096 meters Centerline goodness [0,1] 0.9998446170921199 Centerline is valid? [True, True] Translation: X:205.25, Y:196.27, Z:9.73 [[ 1.19803417e-01 -9.92791488e-01 -3.49326064e-03 2.05252078e+02] [ 9.92426200e-01 1.19854093e-01 -2.69301717e-02 1.96265856e+02] [ 2.71547268e-02 -2.40476800e-04 9.99631214e-01 9.73169848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:196.29, Z:9.74 [[ 1.17498991e-01 -9.93067412e-01 -3.33216664e-03 2.05256181e+02] [ 9.92733274e-01 1.17545894e-01 -2.57606164e-02 1.96292062e+02] [ 2.59737112e-02 -2.81106269e-04 9.99662587e-01 9.73552910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.692755096 meters Centerline goodness [0,1] 0.9998893168636827 Centerline is valid? [True, True] Translation: X:205.26, Y:196.32, Z:9.74 [[ 1.15801838e-01 -9.93267107e-01 -3.22301946e-03 2.05259850e+02] [ 9.92952820e-01 1.15846275e-01 -2.49867356e-02 1.96318649e+02] [ 2.51918774e-02 -3.06796348e-04 9.99682587e-01 9.73576161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:196.35, Z:9.74 [[ 1.14538990e-01 -9.93413639e-01 -3.18785493e-03 2.05263452e+02] [ 9.93104494e-01 1.14582877e-01 -2.47836157e-02 1.96345530e+02] [ 2.49856554e-02 -3.27182743e-04 9.99687756e-01 9.73843251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.27, Y:196.37, Z:9.74 [[ 1.12292705e-01 -9.93670152e-01 -3.15867719e-03 2.05268816e+02] [ 9.93365085e-01 1.12336503e-01 -2.46235354e-02 1.96371952e+02] [ 2.48225070e-02 -3.72676238e-04 9.99691805e-01 9.73869412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7827550960001 meters Centerline goodness [0,1] 0.9998673212153376 Centerline is valid? [True, True] Translation: X:205.27, Y:196.40, Z:9.74 [[ 1.10646521e-01 -9.93854618e-01 -3.21656515e-03 2.05273258e+02] [ 9.93536585e-01 1.10692492e-01 -2.51440960e-02 1.96398679e+02] [ 2.53456255e-02 -4.13668403e-04 9.99678662e-01 9.73701483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:196.43, Z:9.74 [[ 1.10107558e-01 -9.93914524e-01 -3.20087401e-03 2.05276220e+02] [ 9.93597853e-01 1.10153282e-01 -2.50910493e-02 1.96425470e+02] [ 2.52909451e-02 -4.17667379e-04 9.99680046e-01 9.73941032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:196.45, Z:9.74 [[ 1.09724028e-01 -9.93956911e-01 -3.20878884e-03 2.05278434e+02] [ 9.93636787e-01 1.09770133e-01 -2.52280346e-02 1.96452113e+02] [ 2.54278085e-02 -4.20249053e-04 9.99676573e-01 9.73901013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:196.48, Z:9.74 [[ 1.09734690e-01 -9.93955645e-01 -3.23629884e-03 2.05280812e+02] [ 9.93627985e-01 1.09781618e-01 -2.55229876e-02 1.96478881e+02] [ 2.57240037e-02 -4.14919974e-04 9.99668997e-01 9.73850868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:196.51, Z:9.74 [[ 1.10259473e-01 -9.93897599e-01 -3.22675473e-03 2.05282016e+02] [ 9.93569947e-01 1.10305982e-01 -2.55215883e-02 1.96506215e+02] [ 2.57217757e-02 -3.92009639e-04 9.99669064e-01 9.73926976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.932755096 meters Centerline goodness [0,1] 0.9999558333149305 Centerline is valid? [True, True] Translation: X:205.28, Y:196.53, Z:9.74 [[ 1.10040746e-01 -9.93921828e-01 -3.23029447e-03 2.05284205e+02] [ 9.93591581e-01 1.10087458e-01 -2.56226652e-02 1.96533328e+02] [ 2.58225411e-02 -3.90056201e-04 9.99666467e-01 9.73983830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.962755096 meters Centerline goodness [0,1] 0.9999558333149305 Centerline is valid? [True, True] Translation: X:205.29, Y:196.56, Z:9.74 [[ 1.09685319e-01 -9.93961144e-01 -3.22112863e-03 2.05287350e+02] [ 9.93630881e-01 1.09731913e-01 -2.56238185e-02 1.96559923e+02] [ 2.58225405e-02 -3.90056192e-04 9.99666467e-01 9.74008777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:196.59, Z:9.74 [[ 1.08473067e-01 -9.94094805e-01 -3.01860474e-03 2.05291128e+02] [ 9.93803170e-01 1.08514367e-01 -2.40809262e-02 1.96586680e+02] [ 2.42662856e-02 -3.87767035e-04 9.99705455e-01 9.74283925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:196.61, Z:9.74 [[ 1.07564916e-01 -9.94193861e-01 -2.89060069e-03 2.05294605e+02] [ 9.93924934e-01 1.07603058e-01 -2.31258915e-02 1.96613634e+02] [ 2.33026568e-02 -3.85505519e-04 9.99728382e-01 9.74407800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:196.64, Z:9.75 [[ 1.06057045e-01 -9.94356157e-01 -2.78161185e-03 2.05297443e+02] [ 9.94105941e-01 1.06092765e-01 -2.23092835e-02 1.96639685e+02] [ 2.24784823e-02 -3.99160177e-04 9.99747247e-01 9.74514064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:196.67, Z:9.75 [[ 1.05769330e-01 -9.94387011e-01 -2.70594519e-03 2.05299009e+02] [ 9.94149002e-01 1.05803224e-01 -2.17586515e-02 1.96666822e+02] [ 2.19228182e-02 -3.88714713e-04 9.99759591e-01 9.74558003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.112755096 meters Centerline goodness [0,1] 0.9998234073550837 Centerline is valid? [True, True] Translation: X:205.30, Y:196.69, Z:9.74 [[ 1.05944387e-01 -9.94368251e-01 -2.75107792e-03 2.05301417e+02] [ 9.94120982e-01 1.05979399e-01 -2.21774692e-02 1.96693483e+02] [ 2.23441289e-02 -3.85325903e-04 9.99750265e-01 9.74276640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters Centerline goodness [0,1] 0.9999557208643287 Centerline is valid? [True, True] Translation: X:205.30, Y:196.72, Z:9.74 [[ 1.05597294e-01 -9.94405359e-01 -2.68224107e-03 2.05303796e+02] [ 9.94169030e-01 1.05630681e-01 -2.16817699e-02 1.96719960e+02] [ 2.18437951e-02 -3.77064757e-04 9.99761325e-01 9.74467317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1727550960001 meters Centerline goodness [0,1] 0.9998898654155378 Centerline is valid? [True, True] Translation: X:205.31, Y:196.75, Z:9.74 [[ 1.05615662e-01 -9.94403260e-01 -2.73658408e-03 2.05306506e+02] [ 9.94155675e-01 1.05650438e-01 -2.21918836e-02 1.96746698e+02] [ 2.23568027e-02 -3.76780112e-04 9.99749984e-01 9.74367632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.202755096 meters Centerline goodness [0,1] 0.9999116119765772 Centerline is valid? [True, True] Translation: X:205.31, Y:196.77, Z:9.74 [[ 1.04736760e-01 -9.94496352e-01 -2.68645553e-03 2.05309327e+02] [ 9.94256233e-01 1.04770511e-01 -2.18559677e-02 1.96772391e+02] [ 2.20171415e-02 -3.81901919e-04 9.99757520e-01 9.74376354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:196.80, Z:9.75 [[ 1.04114562e-01 -9.94561935e-01 -2.59130925e-03 2.05312301e+02] [ 9.94337084e-01 1.04146131e-01 -2.11505534e-02 1.96797204e+02] [ 2.13054102e-02 -3.74554274e-04 9.99772944e-01 9.74553709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters Centerline goodness [0,1] 0.9999116236936877 Centerline is valid? [True, True] Translation: X:205.32, Y:196.82, Z:9.74 [[ 1.03537176e-01 -9.94622180e-01 -2.60225847e-03 2.05315569e+02] [ 9.94393985e-01 1.03569171e-01 -2.13079654e-02 1.96823266e+02] [ 2.14628888e-02 -3.81503592e-04 9.99769573e-01 9.74433981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:196.85, Z:9.75 [[ 1.02817340e-01 -9.94697144e-01 -2.48724739e-03 2.05318040e+02] [ 9.94487418e-01 1.02846744e-01 -2.04285013e-02 1.96849987e+02] [ 2.05759772e-02 -3.73132058e-04 9.99788223e-01 9.74674723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.322755096 meters Centerline goodness [0,1] 0.999867253700303 Centerline is valid? [True, True] Translation: X:205.32, Y:196.88, Z:9.74 [[ 1.02750676e-01 -9.94703769e-01 -2.59031785e-03 2.05321536e+02] [ 9.94474814e-01 1.02782608e-01 -2.13442949e-02 1.96875055e+02] [ 2.14974902e-02 -3.82865137e-04 9.99768829e-01 9.74453002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:196.90, Z:9.75 [[ 1.01697004e-01 -9.94812462e-01 -2.42601598e-03 2.05325160e+02] [ 9.94610396e-01 1.01725250e-01 -2.00532516e-02 1.96900557e+02] [ 2.01960116e-02 -3.73585114e-04 9.99795970e-01 9.74749496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:196.93, Z:9.75 [[ 1.01017501e-01 -9.94881872e-01 -2.35072291e-03 2.05328249e+02] [ 9.94690999e-01 1.01044173e-01 -1.94908023e-02 1.96926476e+02] [ 1.96285727e-02 -3.69330789e-04 9.99807273e-01 9.74789836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.33, Y:196.95, Z:9.75 [[ 9.99897733e-02 -9.94985811e-01 -2.29822558e-03 2.05331759e+02] [ 9.94802290e-01 1.00015478e-01 -1.91130369e-02 1.96953089e+02] [ 1.92470586e-02 -3.75171849e-04 9.99814688e-01 9.74841732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:196.98, Z:9.75 [[ 9.76944457e-02 -9.95213838e-01 -2.28305997e-03 2.05337222e+02] [ 9.95031715e-01 9.77202532e-02 -1.90430479e-02 1.96979095e+02] [ 1.91750060e-02 -4.11317067e-04 9.99816058e-01 9.74846584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.472755096 meters Centerline goodness [0,1] 0.9999113219677656 Centerline is valid? [True, True] Translation: X:205.34, Y:197.01, Z:9.75 [[ 9.66593377e-02 -9.95314827e-01 -2.31696509e-03 2.05341831e+02] [ 9.95126164e-01 9.66861375e-02 -1.93831833e-02 1.97005382e+02] [ 1.95163881e-02 -4.32106926e-04 9.99809444e-01 9.74698774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:197.03, Z:9.75 [[ 9.38641201e-02 -9.95582837e-01 -2.08385206e-03 2.05342265e+02] [ 9.95429459e-01 9.38862478e-02 -1.74803891e-02 1.97033864e+02] [ 1.75988204e-02 -4.33546384e-04 9.99845035e-01 9.75202599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5327550960001 meters Centerline goodness [0,1] 0.9998226989650052 Centerline is valid? [True, True] Translation: X:205.35, Y:197.06, Z:9.75 [[ 9.30355287e-02 -9.95660591e-01 -2.09244805e-03 2.05346853e+02] [ 9.95505062e-01 9.30579908e-02 -1.76034553e-02 1.97060428e+02] [ 1.77217858e-02 -4.45295850e-04 9.99842858e-01 9.75070118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.35, Y:197.09, Z:9.75 [[ 9.16233993e-02 -9.95791962e-01 -1.87654680e-03 2.05350301e+02] [ 9.95666174e-01 9.16416619e-02 -1.58327633e-02 1.97087653e+02] [ 1.59381083e-02 -4.17762584e-04 9.99872893e-01 9.75397712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.592755096 meters Centerline goodness [0,1] 0.9998892923567443 Centerline is valid? [True, True] Translation: X:205.35, Y:197.12, Z:9.75 [[ 9.07010193e-02 -9.95876455e-01 -1.84695538e-03 2.05354268e+02] [ 9.95753873e-01 9.07188435e-02 -1.56306347e-02 1.97115021e+02] [ 1.57337348e-02 -4.21398471e-04 9.99876128e-01 9.75297543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:197.14, Z:9.75 [[ 9.00605894e-02 -9.95934754e-01 -1.74823876e-03 2.05358164e+02] [ 9.95824266e-01 9.00766481e-02 -1.48400945e-02 1.97140573e+02] [ 1.49372414e-02 -4.04430923e-04 9.99888351e-01 9.75486761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:197.17, Z:9.76 [[ 9.07088542e-02 -9.95875998e-01 -1.70308087e-03 2.05360168e+02] [ 9.95770479e-01 9.07240430e-02 -1.45017726e-02 1.97167751e+02] [ 1.45964776e-02 -3.80438473e-04 9.99893393e-01 9.75576980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:197.19, Z:9.76 [[ 9.12361416e-02 -9.95827861e-01 -1.68476011e-03 2.05362432e+02] [ 9.95723963e-01 9.12509666e-02 -1.43892403e-02 1.97194559e+02] [ 1.44829424e-02 -3.64737250e-04 9.99895050e-01 9.75584852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.712755096 meters Centerline goodness [0,1] 0.9999334102814526 Centerline is valid? [True, True] Translation: X:205.36, Y:197.22, Z:9.76 [[ 9.18043323e-02 -9.95775609e-01 -1.70324264e-03 2.05364879e+02] [ 9.95668752e-01 9.18194399e-02 -1.45919988e-02 1.97221641e+02] [ 1.46867473e-02 -3.56256763e-04 9.99892080e-01 9.75522475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:197.25, Z:9.76 [[ 9.27749838e-02 -9.95685836e-01 -1.58716110e-03 2.05366709e+02] [ 9.95592480e-01 9.27880248e-02 -1.36380493e-02 1.97248132e+02] [ 1.37264821e-02 -3.14895845e-04 9.99905738e-01 9.75619738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:197.27, Z:9.76 [[ 9.31520723e-02 -9.95650605e-01 -1.60124623e-03 2.05368869e+02] [ 9.95554952e-01 9.31653238e-02 -1.38043778e-02 1.97274254e+02] [ 1.38935177e-02 -3.08222215e-04 9.99903433e-01 9.75606014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.802755096 meters Centerline goodness [0,1] 0.9999335577604536 Centerline is valid? [True, True] Translation: X:205.37, Y:197.30, Z:9.75 [[ 9.41366551e-02 -9.95557905e-01 -1.65778045e-03 2.05372427e+02] [ 9.95454644e-01 9.41507725e-02 -1.43416815e-02 1.97299297e+02] [ 1.44340557e-02 -3.00167321e-04 9.99895779e-01 9.75434757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.832755096 meters Centerline goodness [0,1] 0.9998671066911781 Centerline is valid? [True, True] Translation: X:205.37, Y:197.33, Z:9.75 [[ 9.44319810e-02 -9.95529850e-01 -1.70867659e-03 2.05373844e+02] [ 9.95419390e-01 9.44469614e-02 -1.48327499e-02 1.97326872e+02] [ 1.49278246e-02 -3.00163850e-04 9.99888529e-01 9.75386024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:197.35, Z:9.76 [[ 9.42370681e-02 -9.95548434e-01 -1.64043013e-03 2.05376295e+02] [ 9.95446004e-01 9.42509082e-02 -1.42835627e-02 1.97353736e+02] [ 1.43745905e-02 -2.86918544e-04 9.99896639e-01 9.75614959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:197.38, Z:9.76 [[ 9.41270505e-02 -9.95558918e-01 -1.59346193e-03 2.05380681e+02] [ 9.95461679e-01 9.41401319e-02 -1.39169610e-02 1.97380190e+02] [ 1.40051634e-02 -2.76267793e-04 9.99901885e-01 9.75590635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:197.41, Z:9.76 [[ 9.41595285e-02 -9.95555839e-01 -1.59867953e-03 2.05383638e+02] [ 9.95457350e-01 9.41727045e-02 -1.40059607e-02 1.97407644e+02] [ 1.40942680e-02 -2.72622632e-04 9.99900634e-01 9.75648178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.39, Y:197.43, Z:9.76 [[ 9.39351847e-02 -9.95577061e-01 -1.58008741e-03 2.05386103e+02] [ 9.95480254e-01 9.39480893e-02 -1.38860102e-02 1.97434852e+02] [ 1.39730394e-02 -2.68560883e-04 9.99902336e-01 9.75684692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.982755096 meters Centerline goodness [0,1] 0.9999556983054602 Centerline is valid? [True, True] Translation: X:205.39, Y:197.46, Z:9.76 [[ 9.45498908e-02 -9.95518817e-01 -1.61362451e-03 2.05391203e+02] [ 9.95417188e-01 9.45632988e-02 -1.42268785e-02 1.97461169e+02] [ 1.43157149e-02 -2.61079767e-04 9.99897491e-01 9.75536050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.012755096 meters Centerline goodness [0,1] 0.9999556511519613 Centerline is valid? [True, True] Translation: X:205.39, Y:197.49, Z:9.76 [[ 9.45388738e-02 -9.95519847e-01 -1.62375159e-03 2.05391078e+02] [ 9.95416263e-01 9.45524639e-02 -1.43629918e-02 1.97488543e+02] [ 1.44521731e-02 -2.58447670e-04 9.99895529e-01 9.75620034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0427550960001 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:205.39, Y:197.51, Z:9.76 [[ 9.44398886e-02 -9.95529310e-01 -1.58116963e-03 2.05393397e+02] [ 9.95430445e-01 9.44527965e-02 -1.40320773e-02 1.97514178e+02] [ 1.41186901e-02 -2.48756570e-04 9.99900295e-01 9.75706086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:197.54, Z:9.76 [[ 9.45035061e-02 -9.95523328e-01 -1.54648344e-03 2.05395873e+02] [ 9.95428079e-01 9.45158596e-02 -1.37728986e-02 1.97540314e+02] [ 1.38574091e-02 -2.37825833e-04 9.99903953e-01 9.75776730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.102755096 meters Centerline goodness [0,1] 0.9999113160695282 Centerline is valid? [True, True] Translation: X:205.40, Y:197.57, Z:9.76 [[ 9.38261910e-02 -9.95587458e-01 -1.50314612e-03 2.05398668e+02] [ 9.95496867e-01 9.38379339e-02 -1.34324605e-02 1.97566744e+02] [ 1.35142414e-02 -2.36060643e-04 9.99908651e-01 9.75789027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:197.59, Z:9.76 [[ 9.33879527e-02 -9.95628786e-01 -1.41803550e-03 2.05401357e+02] [ 9.95547627e-01 9.33984485e-02 -1.27142496e-02 1.97592989e+02] [ 1.27911152e-02 -2.24364141e-04 9.99918165e-01 9.75933787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1627550960001 meters Centerline goodness [0,1] 0.9999555160142348 Centerline is valid? [True, True] Translation: X:205.40, Y:197.62, Z:9.76 [[ 9.32611488e-02 -9.95640785e-01 -1.33606936e-03 2.05404247e+02] [ 9.95568251e-01 9.32704841e-02 -1.20197269e-02 1.97618533e+02] [ 1.20919462e-02 -2.09174694e-04 9.99926868e-01 9.76051158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.192755096 meters Centerline goodness [0,1] 0.9999333925399645 Centerline is valid? [True, True] Translation: X:205.41, Y:197.64, Z:9.76 [[ 9.27773842e-02 -9.95686010e-01 -1.31381577e-03 2.05407452e+02] [ 9.95615396e-01 9.27864536e-02 -1.18598785e-02 1.97643823e+02] [ 1.19306194e-02 -2.07726705e-04 9.99928806e-01 9.76097287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.222755096 meters Centerline goodness [0,1] 0.9998889308483462 Centerline is valid? [True, True] Translation: X:205.41, Y:197.67, Z:9.76 [[ 9.25015615e-02 -9.95711635e-01 -1.34191495e-03 2.05411248e+02] [ 9.95637532e-01 9.25110511e-02 -1.21495061e-02 1.97669659e+02] [ 1.22215465e-02 -2.12212603e-04 9.99925292e-01 9.76008052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.252755096 meters Centerline goodness [0,1] 0.9999555080975262 Centerline is valid? [True, True] Translation: X:205.41, Y:197.70, Z:9.76 [[ 9.21358091e-02 -9.95745636e-01 -1.27328543e-03 2.05414780e+02] [ 9.95678475e-01 9.21443853e-02 -1.15666031e-02 1.97695023e+02] [ 1.16347207e-02 -2.02084554e-04 9.99932294e-01 9.76172609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:197.72, Z:9.76 [[ 9.22735851e-02 -9.95732910e-01 -1.24790394e-03 2.05415275e+02] [ 9.95667948e-01 9.22818215e-02 -1.13755411e-02 1.97722387e+02] [ 1.14421595e-02 -1.92835998e-04 9.99934518e-01 9.76254200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:197.75, Z:9.76 [[ 9.12931194e-02 -9.95823224e-01 -1.29364252e-03 2.05417425e+02] [ 9.95752947e-01 9.13020477e-02 -1.18323185e-02 1.97749253e+02] [ 1.19010098e-02 -2.07939079e-04 9.99929159e-01 9.76193175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:197.78, Z:9.76 [[ 9.03382633e-02 -9.95910251e-01 -1.33038031e-03 2.05421326e+02] [ 9.95835422e-01 9.03477866e-02 -1.22101955e-02 1.97775097e+02] [ 1.22804558e-02 -2.21791977e-04 9.99924568e-01 9.76140679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:197.80, Z:9.76 [[ 8.92398958e-02 -9.96009225e-01 -1.36588794e-03 2.05424248e+02] [ 9.95929795e-01 8.92500319e-02 -1.25807430e-02 1.97801712e+02] [ 1.26524416e-02 -2.37624304e-04 9.99919926e-01 9.76090535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:197.83, Z:9.76 [[ 8.80466549e-02 -9.96115327e-01 -1.42871885e-03 2.05428823e+02] [ 9.96027855e-01 8.80578605e-02 -1.32032671e-02 1.97827450e+02] [ 1.32777867e-02 -2.60540269e-04 9.99911812e-01 9.76058866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:197.85, Z:9.76 [[ 8.53086583e-02 -9.96353510e-01 -1.45483497e-03 2.05433398e+02] [ 9.96262346e-01 8.53205376e-02 -1.34812093e-02 1.97854879e+02] [ 1.35561775e-02 -2.99333419e-04 9.99908066e-01 9.76088094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.462755096 meters Centerline goodness [0,1] 0.9998664262338877 Centerline is valid? [True, True] Translation: X:205.44, Y:197.88, Z:9.76 [[ 8.33178960e-02 -9.96521787e-01 -1.56734892e-03 2.05438659e+02] [ 9.96415298e-01 8.33319119e-02 -1.45721424e-02 1.97881144e+02] [ 1.46520676e-02 -3.47610193e-04 9.99892592e-01 9.75955795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:197.91, Z:9.76 [[ 8.16827570e-02 -9.96657301e-01 -1.46675543e-03 2.05442492e+02] [ 9.96563490e-01 8.16951991e-02 -1.36786653e-02 1.97907440e+02] [ 1.37527686e-02 -3.44403808e-04 9.99905367e-01 9.76073104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:197.93, Z:9.76 [[ 7.92438149e-02 -9.96854300e-01 -1.38656925e-03 2.05447296e+02] [ 9.96770045e-01 7.92551511e-02 -1.29652713e-02 1.97934684e+02] [ 1.30343792e-02 -3.54673139e-04 9.99914986e-01 9.76202197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.552755096 meters Centerline goodness [0,1] 0.9998222261727517 Centerline is valid? [True, True] Translation: X:205.45, Y:197.96, Z:9.76 [[ 7.76261382e-02 -9.96981384e-01 -1.51768544e-03 2.05450502e+02] [ 9.96879753e-01 7.76399038e-02 -1.42409441e-02 1.97962121e+02] [ 1.43157891e-02 -4.07480392e-04 9.99897441e-01 9.76118009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:197.99, Z:9.76 [[ 7.67472378e-02 -9.97049568e-01 -1.42121120e-03 2.05452107e+02] [ 9.96959883e-01 7.67594043e-02 -1.33785722e-02 1.97989544e+02] [ 1.34481910e-02 -3.90122083e-04 9.99909493e-01 9.76307418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.02, Z:9.76 [[ 7.66898316e-02 -9.97054019e-01 -1.39764075e-03 2.05455953e+02] [ 9.96966686e-01 7.67016202e-02 -1.32018515e-02 1.98015160e+02] [ 1.32701604e-02 -3.80953504e-04 9.99911875e-01 9.76336177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters Centerline goodness [0,1] 0.9998667673313496 Centerline is valid? [True, True] Translation: X:205.46, Y:198.04, Z:9.76 [[ 7.63940204e-02 -9.97076557e-01 -1.51443170e-03 2.05458111e+02] [ 9.96973254e-01 7.64079140e-02 -1.43583105e-02 1.98042315e+02] [ 1.44320493e-02 -4.12958840e-04 9.99895767e-01 9.76302211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.07, Z:9.76 [[ 7.86458595e-02 -9.96901481e-01 -1.50518064e-03 2.05459197e+02] [ 9.96798697e-01 7.86593719e-02 -1.43199281e-02 1.98068434e+02] [ 1.43939541e-02 -3.74159046e-04 9.99896332e-01 9.76441301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.10, Z:9.76 [[ 7.98412552e-02 -9.96806433e-01 -1.51943946e-03 2.05461924e+02] [ 9.96700937e-01 7.98549175e-02 -1.45063664e-02 1.98095065e+02] [ 1.45813740e-02 -3.56220232e-04 9.99893623e-01 9.76373917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.12, Z:9.76 [[ 8.11590610e-02 -9.96699872e-01 -1.60393849e-03 2.05461265e+02] [ 9.96581482e-01 8.11741482e-02 -1.53658216e-02 1.98122167e+02] [ 1.54453108e-02 -3.51379744e-04 9.99880652e-01 9.76418454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.15, Z:9.76 [[ 8.38939587e-02 -9.96473397e-01 -1.60374222e-03 2.05459191e+02] [ 9.96354189e-01 8.39087333e-02 -1.54160299e-02 1.98149602e+02] [ 1.54962317e-02 -3.04583505e-04 9.99879880e-01 9.76426052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.18, Z:9.76 [[ 8.48771515e-02 -9.96390076e-01 -1.63873712e-03 2.05460604e+02] [ 9.96264716e-01 8.48924713e-02 -1.58077206e-02 1.98176359e+02] [ 1.58897724e-02 -2.90901676e-04 9.99873707e-01 9.76457644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.20, Z:9.76 [[ 8.56364382e-02 -9.96325196e-01 -1.58282617e-03 2.05461988e+02] [ 9.96207388e-01 8.56506560e-02 -1.53233557e-02 1.98202097e+02] [ 1.54026155e-02 -2.64585521e-04 9.99881338e-01 9.76490638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.23, Z:9.77 [[ 8.75486815e-02 -9.96159082e-01 -1.52018639e-03 2.05462498e+02] [ 9.96049585e-01 8.75615999e-02 -1.47712561e-02 1.98229062e+02] [ 1.48476309e-02 -2.20977026e-04 9.99889743e-01 9.76580400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:198.25, Z:9.77 [[ 8.71645709e-02 -9.96192774e-01 -1.51485280e-03 2.05464895e+02] [ 9.96083272e-01 8.71774524e-02 -1.47718034e-02 1.98254904e+02] [ 1.48476248e-02 -2.21341628e-04 9.99889743e-01 9.76604576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.28, Z:9.77 [[ 8.73807403e-02 -9.96173868e-01 -1.49369719e-03 2.05466671e+02] [ 9.96066591e-01 8.73932532e-02 -1.46207053e-02 1.98280906e+02] [ 1.46953036e-02 -2.10253818e-04 9.99891996e-01 9.76701623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.31, Z:9.77 [[ 8.73547979e-02 -9.96176321e-01 -1.37017093e-03 2.05468499e+02] [ 9.96085398e-01 8.73653385e-02 -1.34602049e-02 1.98307480e+02] [ 1.35284428e-02 -1.88993774e-04 9.99908469e-01 9.76834117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.33, Z:9.77 [[ 8.77344165e-02 -9.96143087e-01 -1.27401804e-03 2.05470154e+02] [ 9.96063889e-01 8.77435075e-02 -1.25620770e-02 1.98333103e+02] [ 1.26254130e-02 -1.66876860e-04 9.99920282e-01 9.76900197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.36, Z:9.77 [[ 8.78203353e-02 -9.96135570e-01 -1.23073842e-03 2.05471571e+02] [ 9.96061095e-01 8.78288202e-02 -1.21817192e-02 1.98360648e+02] [ 1.22427381e-02 -1.56087991e-04 9.99925043e-01 9.76965119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.39, Z:9.77 [[ 8.79804035e-02 -9.96121521e-01 -1.16828367e-03 2.05473614e+02] [ 9.96053948e-01 8.79880440e-02 -1.16033282e-02 1.98386885e+02] [ 1.16611199e-02 -1.42808066e-04 9.99931997e-01 9.77025352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.062755096 meters Centerline goodness [0,1] 0.9998458659033359 Centerline is valid? [True, True] Translation: X:205.47, Y:198.41, Z:9.77 [[ 8.88198151e-02 -9.96047034e-01 -1.16078289e-03 2.05474134e+02] [ 9.95979827e-01 8.88273072e-02 -1.15712216e-02 1.98414580e+02] [ 1.16285902e-02 -1.28362578e-04 9.99932377e-01 9.76975535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.44, Z:9.77 [[ 9.01728974e-02 -9.95925502e-01 -1.11519448e-03 2.05474685e+02] [ 9.95863031e-01 9.01797323e-02 -1.11552644e-02 1.98441486e+02] [ 1.12103802e-02 -1.04678445e-04 9.99937156e-01 9.77175957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:205.48, Y:198.47, Z:9.77 [[ 9.07243156e-02 -9.95875395e-01 -1.13831687e-03 2.05475674e+02] [ 9.95809825e-01 9.07314050e-02 -1.14282127e-02 1.98469013e+02] [ 1.14843569e-02 -9.67303509e-05 9.99934048e-01 9.77127274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:198.50, Z:9.77 [[ 9.30433887e-02 -9.95661422e-01 -1.12265329e-03 2.05474940e+02] [ 9.95597165e-01 9.30501385e-02 -1.13118000e-02 1.98495767e+02] [ 1.13671859e-02 -6.52222304e-05 9.99935389e-01 9.77226482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.182755096 meters Centerline goodness [0,1] 0.9997801859626756 Centerline is valid? [True, True] Translation: X:205.48, Y:198.52, Z:9.77 [[ 9.29601728e-02 -9.95669099e-01 -1.20453475e-03 2.05476424e+02] [ 9.95594526e-01 9.29679526e-02 -1.21860556e-02 1.98522528e+02] [ 1.22452621e-02 -6.64103688e-05 9.99925022e-01 9.77030635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:198.55, Z:9.77 [[ 9.44623824e-02 -9.95527777e-01 -1.14142969e-03 2.05477567e+02] [ 9.95460298e-01 9.44692693e-02 -1.15910416e-02 1.98548938e+02] [ 1.16470339e-02 -4.13305405e-05 9.99932170e-01 9.77296732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:198.57, Z:9.77 [[ 9.53623009e-02 -9.95442004e-01 -1.11736472e-03 2.05478619e+02] [ 9.95376832e-01 9.53688433e-02 -1.13906362e-02 1.98574235e+02] [ 1.14452795e-02 -2.59616737e-05 9.99934500e-01 9.77334405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:198.60, Z:9.77 [[ 9.52812047e-02 -9.95449771e-01 -1.11623235e-03 2.05480500e+02] [ 9.95384208e-01 9.52877402e-02 -1.14247465e-02 1.98600953e+02] [ 1.14791246e-02 -2.25164396e-05 9.99934112e-01 9.77372139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:198.63, Z:9.77 [[ 9.50426560e-02 -9.95472525e-01 -1.16033321e-03 2.05482168e+02] [ 9.95401135e-01 9.50497362e-02 -1.19217854e-02 1.98627032e+02] [ 1.19780992e-02 -2.19188470e-05 9.99928260e-01 9.77238272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:198.65, Z:9.77 [[ 9.43296832e-02 -9.95540330e-01 -1.16737395e-03 2.05484059e+02] [ 9.95467506e-01 9.43369027e-02 -1.20413114e-02 1.98651971e+02] [ 1.20977376e-02 -2.62297379e-05 9.99926819e-01 9.77225766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:198.68, Z:9.77 [[ 9.28908005e-02 -9.95675622e-01 -1.16371396e-03 2.05487069e+02] [ 9.95602688e-01 9.28980814e-02 -1.20513387e-02 1.98678149e+02] [ 1.21073310e-02 -3.91382415e-05 9.99926703e-01 9.77221183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.392755096 meters Centerline goodness [0,1] 0.9999339832317409 Centerline is valid? [True, True] Translation: X:205.49, Y:198.70, Z:9.77 [[ 9.09369544e-02 -9.95855962e-01 -1.17225722e-03 2.05490520e+02] [ 9.95781398e-01 9.09444906e-02 -1.21863134e-02 1.98704921e+02] [ 1.22424232e-02 -5.91257019e-05 9.99925057e-01 9.77192778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:198.73, Z:9.77 [[ 8.72037368e-02 -9.96189787e-01 -1.19063348e-03 2.05497829e+02] [ 9.96112314e-01 8.72118043e-02 -1.24241485e-02 1.98732048e+02] [ 1.24806471e-02 -1.02572501e-04 9.99922108e-01 9.77320740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:198.76, Z:9.77 [[ 8.48488697e-02 -9.96393117e-01 -1.19413570e-03 2.05502879e+02] [ 9.96314618e-01 8.48571750e-02 -1.25076648e-02 1.98758495e+02] [ 1.25638821e-02 -1.28473634e-04 9.99921063e-01 9.77368684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:198.78, Z:9.77 [[ 8.05292193e-02 -9.96751485e-01 -1.23400134e-03 2.05510360e+02] [ 9.96667088e-01 8.05384603e-02 -1.29719478e-02 1.98784136e+02] [ 1.30291928e-02 -1.85267693e-04 9.99915099e-01 9.77345890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:198.81, Z:9.77 [[ 7.81607210e-02 -9.96939968e-01 -1.26554785e-03 2.05514595e+02] [ 9.96850647e-01 7.81706610e-02 -1.33467680e-02 1.98810488e+02] [ 1.34048552e-02 -2.18369183e-04 9.99910127e-01 9.77338263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:198.84, Z:9.77 [[ 7.60518850e-02 -9.97103114e-01 -1.22068677e-03 2.05517444e+02] [ 9.97019406e-01 7.60613199e-02 -1.29220415e-02 1.98837889e+02] [ 1.29774549e-02 -2.34302781e-04 9.99915762e-01 9.77358943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:198.86, Z:9.77 [[ 7.30196415e-02 -9.97329727e-01 -1.24391295e-03 2.05523257e+02] [ 9.97242193e-01 7.30297165e-02 -1.32162444e-02 1.98863181e+02] [ 1.32717960e-02 -2.75437057e-04 9.99911888e-01 9.77333627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:198.89, Z:9.77 [[ 7.21294849e-02 -9.97394471e-01 -1.26755904e-03 2.05526607e+02] [ 9.97302968e-01 7.21400410e-02 -1.35131224e-02 1.98889907e+02] [ 1.35693554e-02 -2.89445829e-04 9.99907890e-01 9.77313932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:198.91, Z:9.77 [[ 7.14722518e-02 -9.97441776e-01 -1.27313845e-03 2.05531391e+02] [ 9.97348736e-01 7.14829779e-02 -1.36265654e-02 1.98914607e+02] [ 1.36827134e-02 -2.95841703e-04 9.99906344e-01 9.77294152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:198.94, Z:9.77 [[ 7.14534149e-02 -9.97443138e-01 -1.26339212e-03 2.05533656e+02] [ 9.97350726e-01 7.14639961e-02 -1.35803764e-02 1.98941065e+02] [ 1.36359403e-02 -2.89680774e-04 9.99906984e-01 9.77342978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:198.97, Z:9.77 [[ 7.19773221e-02 -9.97405463e-01 -1.26776540e-03 2.05535623e+02] [ 9.97311618e-01 7.19879440e-02 -1.36847679e-02 1.98967340e+02] [ 1.37405261e-02 -2.79364211e-04 9.99905556e-01 9.77335362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:198.99, Z:9.77 [[ 7.27809575e-02 -9.97347091e-01 -1.30836111e-03 2.05537092e+02] [ 9.97246261e-01 7.27922068e-02 -1.41841342e-02 1.98993545e+02] [ 1.42417435e-02 -2.72423360e-04 9.99898544e-01 9.77314338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.02, Z:9.77 [[ 7.56886254e-02 -9.97130644e-01 -1.30772620e-03 2.05537145e+02] [ 9.97029033e-01 7.56995836e-02 -1.42366034e-02 1.99019958e+02] [ 1.42947479e-02 -2.26292045e-04 9.99897799e-01 9.77267729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7827550960001 meters Centerline goodness [0,1] 0.9999338595176154 Centerline is valid? [True, True] Translation: X:205.54, Y:199.05, Z:9.77 [[ 7.74575925e-02 -9.96994801e-01 -1.29930437e-03 2.05537298e+02] [ 9.96893676e-01 7.74682431e-02 -1.42010793e-02 1.99047064e+02] [ 1.42590571e-02 -1.95286897e-04 9.99898315e-01 9.77300179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.07, Z:9.77 [[ 7.89871588e-02 -9.96874840e-01 -1.25791709e-03 2.05539147e+02] [ 9.96779288e-01 7.89970053e-02 -1.38030317e-02 1.99072921e+02] [ 1.38592667e-02 -1.63603445e-04 9.99903942e-01 9.77293192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.10, Z:9.77 [[ 8.22036354e-02 -9.96614847e-01 -1.18692435e-03 2.05538930e+02] [ 9.96529061e-01 8.22121331e-02 -1.30765321e-02 1.99100522e+02] [ 1.31298456e-02 -1.07866132e-04 9.99913794e-01 9.77394874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.13, Z:9.77 [[ 8.34071624e-02 -9.96514905e-01 -1.13576139e-03 2.05540280e+02] [ 9.96435746e-01 8.34148525e-02 -1.25605472e-02 1.99127718e+02] [ 1.26115119e-02 -8.40736481e-05 9.99920468e-01 9.77447226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.15, Z:9.77 [[ 8.43782075e-02 -9.96433199e-01 -1.09421174e-03 2.05541620e+02] [ 9.96359146e-01 8.43852769e-02 -1.21481204e-02 1.99154826e+02] [ 1.21971258e-02 -6.51912523e-05 9.99925610e-01 9.77487694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:199.18, Z:9.78 [[ 8.61066899e-02 -9.96285349e-01 -1.06828224e-03 2.05543727e+02] [ 9.96214213e-01 8.61133076e-02 -1.19054469e-02 1.99180917e+02] [ 1.19532156e-02 -3.90993313e-05 9.99928557e-01 9.77542734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:199.21, Z:9.78 [[ 8.63198688e-02 -9.96266925e-01 -1.04621340e-03 2.05545910e+02] [ 9.96198248e-01 8.63262026e-02 -1.16977962e-02 1.99208456e+02] [ 1.17444431e-02 -3.24837190e-05 9.99931031e-01 9.77545365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:199.24, Z:9.78 [[ 8.62790805e-02 -9.96270415e-01 -1.08622610e-03 2.05547925e+02] [ 9.96195766e-01 8.62859126e-02 -1.21958242e-02 1.99235193e+02] [ 1.22440649e-02 -2.98493385e-05 9.99925038e-01 9.77531897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:199.26, Z:9.77 [[ 8.58406932e-02 -9.96308262e-01 -1.10533296e-03 2.05549971e+02] [ 9.96230354e-01 8.58478035e-02 -1.24593780e-02 1.99261220e+02] [ 1.25082717e-02 -3.16446027e-05 9.99921768e-01 9.77425243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.052755096 meters Centerline goodness [0,1] 0.9999338420147312 Centerline is valid? [True, True] Translation: X:205.55, Y:199.29, Z:9.77 [[ 8.51827992e-02 -9.96364772e-01 -1.06401119e-03 2.05552241e+02] [ 9.96292136e-01 8.51894369e-02 -1.20307620e-02 1.99286965e+02] [ 1.20776700e-02 -3.52519896e-05 9.99927062e-01 9.77268316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:199.31, Z:9.77 [[ 8.46999232e-02 -9.96405925e-01 -1.07541454e-03 2.05554197e+02] [ 9.96331219e-01 8.47067415e-02 -1.22012656e-02 1.99314079e+02] [ 1.22485082e-02 -3.80228233e-05 9.99924984e-01 9.77431500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:199.34, Z:9.77 [[ 8.33599156e-02 -9.96518975e-01 -1.02798550e-03 2.05556639e+02] [ 9.96450178e-01 8.33662399e-02 -1.17094894e-02 1.99341601e+02] [ 1.17544277e-02 -4.82342839e-05 9.99930913e-01 9.77479837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:199.37, Z:9.78 [[ 8.21148527e-02 -9.96622352e-01 -1.01933106e-03 2.05558961e+02] [ 9.96554157e-01 8.21211584e-02 -1.16588241e-02 1.99368440e+02] [ 1.17031533e-02 -5.84559853e-05 9.99931514e-01 9.77510925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:199.39, Z:9.78 [[ 7.94609644e-02 -9.96837597e-01 -8.72163464e-04 2.05562868e+02] [ 9.96787331e-01 7.94657164e-02 -1.00108034e-02 1.99394892e+02] [ 1.00484523e-02 -7.38933985e-05 9.99949510e-01 9.77642179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:199.42, Z:9.78 [[ 7.77744650e-02 -9.96970614e-01 -8.53046578e-04 2.05565489e+02] [ 9.96922228e-01 7.77790950e-02 -9.82265752e-03 1.99422228e+02] [ 9.85925008e-03 -8.64691616e-05 9.99951393e-01 9.77663421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:199.45, Z:9.78 [[ 7.63323304e-02 -9.97082111e-01 -7.99362936e-04 2.05567318e+02] [ 9.97039298e-01 7.63364608e-02 -9.24032603e-03 1.99449350e+02] [ 9.27438433e-03 -9.16606407e-05 9.99956988e-01 9.77649423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:199.48, Z:9.78 [[ 7.35629114e-02 -9.97290270e-01 -7.84911817e-04 2.05570720e+02] [ 9.97248650e-01 7.35670128e-02 -9.11180214e-03 1.99476157e+02] [ 9.14485523e-03 -1.12461556e-04 9.99958179e-01 9.77535467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:199.50, Z:9.78 [[ 7.22341018e-02 -9.97387393e-01 -7.89747104e-04 2.05573093e+02] [ 9.97345030e-01 7.22383132e-02 -9.19336362e-03 1.99503053e+02] [ 9.22639497e-03 -1.23575986e-04 9.99957428e-01 9.77538610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.53, Z:9.78 [[ 7.07866295e-02 -9.97491144e-01 -8.19490735e-04 2.05575802e+02] [ 9.97445131e-01 7.07912362e-02 -9.58181659e-03 1.99530226e+02] [ 9.61578995e-03 -1.39132543e-04 9.99953758e-01 9.77513538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.56, Z:9.78 [[ 6.96350315e-02 -9.97572223e-01 -7.89129255e-04 2.05578514e+02] [ 9.97529210e-01 6.96393578e-02 -9.26467417e-03 1.99556426e+02] [ 9.29713606e-03 -1.42033606e-04 9.99956771e-01 9.77524262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.58, Z:9.77 [[ 6.85198901e-02 -9.97649442e-01 -7.84594684e-04 2.05580039e+02] [ 9.97606547e-01 6.85242206e-02 -9.25251369e-03 1.99583221e+02] [ 9.28452886e-03 -1.48735573e-04 9.99956887e-01 9.77487533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.61, Z:9.77 [[ 6.80440209e-02 -9.97681996e-01 -8.03620866e-04 2.05581367e+02] [ 9.97636605e-01 6.80485919e-02 -9.51805915e-03 1.99609256e+02] [ 9.55068152e-03 -1.54074577e-04 9.99954379e-01 9.77433388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.64, Z:9.77 [[ 6.85254592e-02 -9.97649036e-01 -8.14063123e-04 2.05581021e+02] [ 9.97602033e-01 6.85301338e-02 -9.68531849e-03 1.99635913e+02] [ 9.71833651e-03 -1.48420129e-04 9.99952765e-01 9.77386895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.66, Z:9.77 [[ 6.88542218e-02 -9.97626423e-01 -7.85172258e-04 2.05581733e+02] [ 9.97582300e-01 6.88585619e-02 -9.38366099e-03 1.99662456e+02] [ 9.41545398e-03 -1.37169272e-04 9.99955664e-01 9.77442641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.69, Z:9.78 [[ 6.93099073e-02 -9.97594906e-01 -7.35059415e-04 2.05582165e+02] [ 9.97555897e-01 6.93136980e-02 -8.82292346e-03 1.99689027e+02] [ 8.85265319e-03 -1.21746847e-04 9.99960807e-01 9.77510539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.71, Z:9.78 [[ 7.06275209e-02 -9.97502532e-01 -6.71764732e-04 2.05580443e+02] [ 9.97469676e-01 7.06306473e-02 -8.09677063e-03 1.99714897e+02] [ 8.12399638e-03 -9.82101125e-05 9.99966995e-01 9.77621596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.74, Z:9.78 [[ 7.11338290e-02 -9.97466601e-01 -5.99238717e-04 2.05580469e+02] [ 9.97440231e-01 7.11363060e-02 -7.25341440e-03 1.99741376e+02] [ 7.27766624e-03 -8.17416651e-05 9.99973514e-01 9.77691260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.77, Z:9.78 [[ 7.15838507e-02 -9.97434417e-01 -5.80645101e-04 2.05580719e+02] [ 9.97409438e-01 7.15861675e-02 -7.05927008e-03 1.99767357e+02] [ 7.08272509e-03 -7.38111688e-05 9.99974914e-01 9.77750584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.80, Z:9.78 [[ 7.32190448e-02 -9.97315747e-01 -5.22742977e-04 2.05577318e+02] [ 9.97295321e-01 7.32208910e-02 -6.38304836e-03 1.99795455e+02] [ 6.40419034e-03 -5.39684210e-05 9.99979492e-01 9.77735668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.82, Z:9.78 [[ 7.37763131e-02 -9.97274703e-01 -4.71730563e-04 2.05577486e+02] [ 9.97257945e-01 7.37778081e-02 -5.78151614e-03 1.99822823e+02] [ 5.80056303e-03 -4.38981070e-05 9.99983176e-01 9.77733064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.85, Z:9.78 [[ 7.43409492e-02 -9.97232781e-01 -4.51011721e-04 2.05578406e+02] [ 9.97217338e-01 7.43423080e-02 -5.54992946e-03 1.99849116e+02] [ 5.56810084e-03 -3.71696834e-05 9.99984497e-01 9.77824075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.88, Z:9.78 [[ 7.56693893e-02 -9.97132867e-01 -4.34479848e-04 2.05578137e+02] [ 9.97118401e-01 7.56706319e-02 -5.37130246e-03 1.99876662e+02] [ 5.38877959e-03 -2.67846749e-05 9.99985480e-01 9.77835309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters Centerline goodness [0,1] 0.9999565132308496 Centerline is valid? [True, True] Translation: X:205.58, Y:199.90, Z:9.78 [[ 7.59426461e-02 -9.97112085e-01 -4.51573361e-04 2.05579770e+02] [ 9.97096311e-01 7.59439848e-02 -5.60873026e-03 1.99903166e+02] [ 5.62682700e-03 -2.43203160e-05 9.99984169e-01 9.77799061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.772755096 meters Centerline goodness [0,1] 0.9999565132308496 Centerline is valid? [True, True] Translation: X:205.58, Y:199.93, Z:9.78 [[ 7.55869510e-02 -9.97139113e-01 -4.49410653e-04 2.05581552e+02] [ 9.97123338e-01 7.55882831e-02 -5.60890327e-03 1.99929037e+02] [ 5.62682701e-03 -2.41579548e-05 9.99984169e-01 9.77823216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.802755096 meters Centerline goodness [0,1] 0.9999347059591694 Centerline is valid? [True, True] Translation: X:205.58, Y:199.96, Z:9.78 [[ 7.65394639e-02 -9.97066438e-01 -4.77547095e-04 2.05580778e+02] [ 9.97048455e-01 7.65409516e-02 -5.98839277e-03 1.99955226e+02] [ 6.00737736e-03 -1.77892212e-05 9.99981955e-01 9.77718421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:199.98, Z:9.78 [[ 7.67268897e-02 -9.97052019e-01 -5.06358854e-04 2.05582153e+02] [ 9.97031585e-01 7.67285590e-02 -6.38339478e-03 1.99980157e+02] [ 6.40342884e-03 -1.50777432e-05 9.99979498e-01 9.77783064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:200.01, Z:9.78 [[ 7.64404217e-02 -9.97073998e-01 -5.51094305e-04 2.05583984e+02] [ 9.97049509e-01 7.64424067e-02 -6.98821574e-03 2.00006929e+02] [ 7.00989518e-03 -1.52861486e-05 9.99975430e-01 9.77748670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:200.03, Z:9.78 [[ 7.56280507e-02 -9.97135911e-01 -6.11547136e-04 2.05586540e+02] [ 9.97105408e-01 7.56305206e-02 -7.79936708e-03 2.00033627e+02] [ 7.82328063e-03 -1.99260273e-05 9.99969398e-01 9.77670469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:200.06, Z:9.78 [[ 7.40666006e-02 -9.97253068e-01 -6.76570979e-04 2.05590118e+02] [ 9.97215349e-01 7.40696836e-02 -8.67353499e-03 2.00059184e+02] [ 8.69982278e-03 -3.22677125e-05 9.99962155e-01 9.77597205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:200.09, Z:9.78 [[ 7.25428859e-02 -9.97365065e-01 -6.76732554e-04 2.05593495e+02] [ 9.97327047e-01 7.25460295e-02 -8.70831714e-03 2.00086519e+02] [ 8.73446554e-03 -4.31972235e-05 9.99961853e-01 9.77589421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:200.11, Z:9.78 [[ 7.05252486e-02 -9.97509742e-01 -7.09654061e-04 2.05597392e+02] [ 9.97467537e-01 7.05287928e-02 -9.17617201e-03 2.00113666e+02] [ 9.20337202e-03 -6.07050764e-05 9.99957646e-01 9.77570627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:200.14, Z:9.78 [[ 6.80252809e-02 -9.97683337e-01 -7.21740645e-04 2.05601554e+02] [ 9.97639282e-01 6.80290599e-02 -9.37608078e-03 2.00139249e+02] [ 9.40345890e-03 -8.22262892e-05 9.99955783e-01 9.77533133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:200.17, Z:9.78 [[ 6.33545135e-02 -9.97990823e-01 -7.22881979e-04 2.05608431e+02] [ 9.97946173e-01 6.33585176e-02 -9.44112833e-03 2.00165014e+02] [ 9.46796016e-03 -1.23259211e-04 9.99955170e-01 9.77501300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:200.19, Z:9.78 [[ 6.06449679e-02 -9.98159152e-01 -7.04175807e-04 2.05611769e+02] [ 9.98116394e-01 6.06488886e-02 -9.23997320e-03 2.00192546e+02] [ 9.26567129e-03 -1.42491539e-04 9.99957063e-01 9.77581467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.102755096 meters Centerline goodness [0,1] 0.9999563661750589 Centerline is valid? [True, True] Translation: X:205.62, Y:200.22, Z:9.78 [[ 5.75606440e-02 -9.98341829e-01 -6.04202018e-04 2.05616712e+02] [ 9.98310145e-01 5.75636317e-02 -7.95510144e-03 2.00218682e+02] [ 7.97669059e-03 -1.45280241e-04 9.99968175e-01 9.77636391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.24, Z:9.78 [[ 5.70684258e-02 -9.98370125e-01 -5.37114224e-04 2.05619718e+02] [ 9.98344871e-01 5.70708032e-02 -7.10224843e-03 2.00244828e+02] [ 7.12132619e-03 -1.30911093e-04 9.99974634e-01 9.77833086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.27, Z:9.78 [[ 5.64253832e-02 -9.98406692e-01 -5.02810475e-04 2.05620125e+02] [ 9.98384356e-01 5.64274848e-02 -6.67952677e-03 2.00272192e+02] [ 6.69725655e-03 -1.25103255e-04 9.99977565e-01 9.77869770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.30, Z:9.78 [[ 5.71038397e-02 -9.98368087e-01 -5.60417329e-04 2.05622186e+02] [ 9.98340045e-01 5.71064367e-02 -7.48395578e-03 2.00298616e+02] [ 7.50374605e-03 -1.32124451e-04 9.99971838e-01 9.77891637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.33, Z:9.78 [[ 5.79254286e-02 -9.98320729e-01 -6.06291107e-04 2.05622402e+02] [ 9.98287523e-01 5.79284475e-02 -8.14344582e-03 2.00326044e+02] [ 8.16489226e-03 -1.33540259e-04 9.99966658e-01 9.77888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.35, Z:9.78 [[ 5.94883185e-02 -9.98228774e-01 -6.74735581e-04 2.05621943e+02] [ 9.98187201e-01 5.94919996e-02 -9.11124761e-03 2.00351601e+02] [ 9.13525090e-03 -1.31499621e-04 9.99958264e-01 9.77764213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.38, Z:9.78 [[ 5.94376231e-02 -9.98231750e-01 -7.36748440e-04 2.05621504e+02] [ 9.98181583e-01 5.94420230e-02 -1.00086805e-02 2.00379052e+02] [ 1.00347765e-02 -1.40516545e-04 9.99949641e-01 9.77729762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.41, Z:9.78 [[ 5.94765232e-02 -9.98229416e-01 -7.59280235e-04 2.05622666e+02] [ 9.98175591e-01 5.94812016e-02 -1.03670533e-02 2.00405268e+02] [ 1.03938604e-02 -1.41298714e-04 9.99945972e-01 9.77694498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:200.43, Z:9.78 [[ 5.92577342e-02 -9.98242388e-01 -8.09946326e-04 2.05623267e+02] [ 9.98180476e-01 5.92630804e-02 -1.11186974e-02 2.00432638e+02] [ 1.11471550e-02 -1.49603794e-04 9.99937857e-01 9.77637548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:200.46, Z:9.78 [[ 5.79948627e-02 -9.98316505e-01 -8.66746468e-04 2.05625375e+02] [ 9.98244876e-01 5.80010854e-02 -1.19600368e-02 2.00460182e+02] [ 1.19901743e-02 -1.71604530e-04 9.99928101e-01 9.77584523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:200.49, Z:9.78 [[ 5.70895012e-02 -9.98368688e-01 -8.66612687e-04 2.05629147e+02] [ 9.98296373e-01 5.70957976e-02 -1.20175476e-02 2.00486011e+02] [ 1.20474231e-02 -1.79060506e-04 9.99927411e-01 9.77615053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.432755096 meters Centerline goodness [0,1] 0.9999564564237661 Centerline is valid? [True, True] Translation: X:205.63, Y:200.51, Z:9.78 [[ 5.50732290e-02 -9.98481904e-01 -9.09247456e-04 2.05630774e+02] [ 9.98401484e-01 5.50803347e-02 -1.26741571e-02 2.00514292e+02] [ 1.27049982e-02 -2.09787251e-04 9.99919266e-01 9.77707369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:200.54, Z:9.78 [[ 5.37591384e-02 -9.98553514e-01 -9.13643376e-04 2.05633115e+02] [ 9.98471547e-01 5.37664335e-02 -1.27961389e-02 2.00540411e+02] [ 1.28267528e-02 -2.24337512e-04 9.99917709e-01 9.77720925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:200.57, Z:9.78 [[ 5.25036435e-02 -9.98620294e-01 -9.35876458e-04 2.05634711e+02] [ 9.98533371e-01 5.25114234e-02 -1.31779402e-02 2.00567348e+02] [ 1.32089027e-02 -2.42614002e-04 9.99912729e-01 9.77716331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:200.59, Z:9.78 [[ 5.05327391e-02 -9.98721975e-01 -9.26364905e-04 2.05636626e+02] [ 9.98635961e-01 5.05405471e-02 -1.31099631e-02 2.00594531e+02] [ 1.31400273e-02 -2.62618960e-04 9.99913632e-01 9.77766072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:200.62, Z:9.78 [[ 4.93509039e-02 -9.98781109e-01 -8.85830433e-04 2.05638855e+02] [ 9.98701687e-01 4.93581530e-02 -1.25981132e-02 2.00621695e+02] [ 1.26264805e-02 -2.62952072e-04 9.99920248e-01 9.77853417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:200.65, Z:9.78 [[ 4.83121853e-02 -9.98831910e-01 -8.65027093e-04 2.05640946e+02] [ 9.98755425e-01 4.83191931e-02 -1.23635509e-02 2.00648415e+02] [ 1.23909066e-02 -2.66640339e-04 9.99923194e-01 9.77932643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:200.68, Z:9.78 [[ 4.66562526e-02 -9.98910699e-01 -7.81339599e-04 2.05644147e+02] [ 9.98847723e-01 4.66620870e-02 -1.12194667e-02 2.00675269e+02] [ 1.12437042e-02 -2.56981008e-04 9.99936755e-01 9.78169333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.70, Z:9.78 [[ 4.54886480e-02 -9.98964566e-01 -7.60418931e-04 2.05646997e+02] [ 9.98904343e-01 4.54942577e-02 -1.09720875e-02 2.00700107e+02] [ 1.09953213e-02 -2.60480347e-04 9.99939516e-01 9.78249098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.73, Z:9.78 [[ 4.40866354e-02 -9.99027408e-01 -7.79361563e-04 2.05647663e+02] [ 9.98963557e-01 4.40926317e-02 -1.12982743e-02 2.00727493e+02] [ 1.13216497e-02 -2.80450902e-04 9.99935869e-01 9.78349777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.75, Z:9.78 [[ 4.33109812e-02 -9.99061332e-01 -7.83440636e-04 2.05649413e+02] [ 9.98996129e-01 4.33171080e-02 -1.14176065e-02 2.00753575e+02] [ 1.14408256e-02 -2.88146421e-04 9.99934510e-01 9.78379725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.732755096 meters Centerline goodness [0,1] 0.9999347272687713 Centerline is valid? [True, True] Translation: X:205.65, Y:200.78, Z:9.78 [[ 4.21073622e-02 -9.99112776e-01 -7.93926651e-04 2.05652674e+02] [ 9.99045077e-01 4.21137543e-02 -1.16346554e-02 2.00779246e+02] [ 1.16577681e-02 -3.03263864e-04 9.99932000e-01 9.78228352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.81, Z:9.78 [[ 4.18607015e-02 -9.99123144e-01 -7.90194714e-04 2.05651404e+02] [ 9.99055339e-01 4.18670696e-02 -1.16438020e-02 2.00805388e+02] [ 1.16666752e-02 -3.02030526e-04 9.99931896e-01 9.78347801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.83, Z:9.78 [[ 4.16231394e-02 -9.99133040e-01 -8.26460084e-04 2.05652072e+02] [ 9.99057996e-01 4.16301457e-02 -1.22495914e-02 2.00833105e+02] [ 1.22733771e-02 -3.15815106e-04 9.99924629e-01 9.78337223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.822755096 meters Centerline goodness [0,1] 0.9999130925998349 Centerline is valid? [True, True] Translation: X:205.65, Y:200.86, Z:9.78 [[ 4.08727885e-02 -9.99163964e-01 -8.87855485e-04 2.05653500e+02] [ 9.99076395e-01 4.08809648e-02 -1.32326652e-02 2.00860613e+02] [ 1.32578986e-02 -3.46179531e-04 9.99912050e-01 9.78158617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.89, Z:9.78 [[ 4.09455859e-02 -9.99161035e-01 -8.27948121e-04 2.05653570e+02] [ 9.99084097e-01 4.09527110e-02 -1.24033370e-02 2.00886614e+02] [ 1.24268377e-02 -3.19327901e-04 9.99922733e-01 9.78312157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:200.91, Z:9.78 [[ 4.04157876e-02 -9.99182560e-01 -8.81430855e-04 2.05653096e+02] [ 9.99094355e-01 4.04239354e-02 -1.32806260e-02 2.00912057e+02] [ 1.33054008e-02 -3.43885631e-04 9.99911420e-01 9.78172695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9127550960001 meters Centerline goodness [0,1] 0.9999565878011721 Centerline is valid? [True, True] Translation: X:205.65, Y:200.94, Z:9.78 [[ 3.92951060e-02 -9.99227222e-01 -9.23526494e-04 2.05653307e+02] [ 9.99129422e-01 3.93041855e-02 -1.39849689e-02 2.00939512e+02] [ 1.40104601e-02 -3.73181654e-04 9.99901779e-01 9.78086617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:200.97, Z:9.78 [[ 3.85129013e-02 -9.99257723e-01 -8.71027802e-04 2.05655821e+02] [ 9.99169818e-01 3.85210709e-02 -1.32590450e-02 2.00965257e+02] [ 1.32827560e-02 -3.59660399e-04 9.99911716e-01 9.78178445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.972755096 meters Centerline goodness [0,1] 0.9998264001909598 Centerline is valid? [True, True] Translation: X:205.66, Y:200.99, Z:9.78 [[ 3.72799615e-02 -9.99304401e-01 -9.58561461e-04 2.05657574e+02] [ 9.99196701e-01 3.72900220e-02 -1.46767396e-02 2.00992209e+02] [ 1.47022753e-02 -4.10643162e-04 9.99891831e-01 9.77977018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:201.02, Z:9.78 [[ 3.70620071e-02 -9.99312596e-01 -8.62649011e-04 2.05657270e+02] [ 9.99224497e-01 3.70701986e-02 -1.32742079e-02 2.01018835e+02] [ 1.32970617e-02 -3.70011239e-04 9.99911522e-01 9.78274606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:201.04, Z:9.78 [[ 3.65164073e-02 -9.99332681e-01 -8.63337158e-04 2.05656093e+02] [ 9.99243479e-01 3.65246873e-02 -1.33573200e-02 2.01044367e+02] [ 1.33799395e-02 -3.74922688e-04 9.99910414e-01 9.78194752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.07, Z:9.78 [[ 3.59108882e-02 -9.99354630e-01 -8.55123405e-04 2.05654752e+02] [ 9.99266247e-01 3.59190893e-02 -1.32961011e-02 2.01070793e+02] [ 1.33182355e-02 -3.77021155e-04 9.99911237e-01 9.78151647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:201.10, Z:9.78 [[ 3.55843956e-02 -9.99366303e-01 -8.62040086e-04 2.05655762e+02] [ 9.99275399e-01 3.55927902e-02 -1.34844596e-02 2.01095866e+02] [ 1.35065969e-02 -3.81579106e-04 9.99908709e-01 9.78132859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:205.65, Y:201.12, Z:9.78 [[ 3.43699511e-02 -9.99408874e-01 -7.80063077e-04 2.05653552e+02] [ 9.99333609e-01 3.43769401e-02 -1.22704722e-02 2.01122956e+02] [ 1.22900350e-02 -3.57807721e-04 9.99924411e-01 9.78289420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:201.15, Z:9.78 [[ 3.36639044e-02 -9.99432952e-01 -7.18406050e-04 2.05656292e+02] [ 9.99368427e-01 3.36698978e-02 -1.13615458e-02 2.01148456e+02] [ 1.13792919e-02 -3.35478334e-04 9.99935198e-01 9.78450055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.182755096 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:205.66, Y:201.17, Z:9.78 [[ 3.24053114e-02 -9.99474546e-01 -7.26372105e-04 2.05657665e+02] [ 9.99407751e-01 3.24115471e-02 -1.15602406e-02 2.01174172e+02] [ 1.15777091e-02 -3.51328714e-04 9.99932914e-01 9.78346466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.20, Z:9.78 [[ 3.16009207e-02 -9.99500348e-01 -6.60290553e-04 2.05653790e+02] [ 9.99444615e-01 3.16061347e-02 -1.05599974e-02 2.01201014e+02] [ 1.05755903e-02 -3.26218197e-04 9.99944024e-01 9.78473646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.23, Z:9.78 [[ 3.11744647e-02 -9.99513745e-01 -6.53029424e-04 2.05650429e+02] [ 9.99458565e-01 3.11796087e-02 -1.05075961e-02 2.01228192e+02] [ 1.05228479e-02 -3.25107169e-04 9.99944580e-01 9.78451097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.272755096 meters Centerline goodness [0,1] 0.9998927682937291 Centerline is valid? [True, True] Translation: X:205.65, Y:201.25, Z:9.78 [[ 3.06448134e-02 -9.99530082e-01 -7.14426724e-04 2.05651082e+02] [ 9.99463186e-01 3.06510319e-02 -1.15695440e-02 2.01254886e+02] [ 1.15860052e-02 -3.59496691e-04 9.99932815e-01 9.78233552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.28, Z:9.78 [[ 3.16899596e-02 -9.99497555e-01 -6.19636679e-04 2.05647900e+02] [ 9.99446687e-01 3.16946010e-02 -1.00882196e-02 2.01281274e+02] [ 1.01027900e-02 -2.99598554e-04 9.99948921e-01 9.78390094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.332755096 meters Centerline goodness [0,1] 0.9998285322359396 Centerline is valid? [True, True] Translation: X:205.65, Y:201.31, Z:9.78 [[ 3.11431235e-02 -9.99514709e-01 -6.72004251e-04 2.05647843e+02] [ 9.99454270e-01 3.11486336e-02 -1.09966164e-02 2.01308524e+02] [ 1.10122119e-02 -3.29168535e-04 9.99939310e-01 9.78159187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.33, Z:9.78 [[ 3.14358566e-02 -9.99505614e-01 -5.61494553e-04 2.05647983e+02] [ 9.99462994e-01 3.14397036e-02 -9.23410293e-03 2.01334513e+02] [ 9.24719094e-03 -2.70911092e-04 9.99957207e-01 9.78438951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.392755096 meters Centerline goodness [0,1] 0.9998497241364505 Centerline is valid? [True, True] Translation: X:205.65, Y:201.36, Z:9.78 [[ 3.09246069e-02 -9.99521503e-01 -6.59343604e-04 2.05646307e+02] [ 9.99461883e-01 3.09299668e-02 -1.09215831e-02 2.01362065e+02] [ 1.09367507e-02 -3.21243134e-04 9.99940140e-01 9.78117246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:201.39, Z:9.78 [[ 3.07791512e-02 -9.99526019e-01 -6.18352539e-04 2.05644486e+02] [ 9.99472986e-01 3.07838905e-02 -1.03006490e-02 2.01389079e+02] [ 1.03148019e-02 -3.00981426e-04 9.99946756e-01 9.78278153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.452755096 meters Centerline goodness [0,1] 0.9999569947963703 Centerline is valid? [True, True] Translation: X:205.65, Y:201.42, Z:9.78 [[ 2.98976989e-02 -9.99552749e-01 -6.55716175e-04 2.05646496e+02] [ 9.99492388e-01 2.99031027e-02 -1.09895571e-02 2.01415581e+02] [ 1.10042500e-02 -3.26820857e-04 9.99939398e-01 9.78119746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.44, Z:9.78 [[ 2.91965250e-02 -9.99573472e-01 -6.60503817e-04 2.05646256e+02] [ 9.99511719e-01 2.92020665e-02 -1.11159258e-02 2.01442619e+02] [ 1.11304726e-02 -3.35634899e-04 9.99937998e-01 9.78172150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.512755096 meters Centerline goodness [0,1] 0.9998069953464434 Centerline is valid? [True, True] Translation: X:205.65, Y:201.47, Z:9.78 [[ 2.74750816e-02 -9.99622236e-01 -7.10220746e-04 2.05647496e+02] [ 9.99549936e-01 2.74816405e-02 -1.20284850e-02 2.01470224e+02] [ 1.20434591e-02 -3.79417495e-04 9.99927403e-01 9.77875101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5427550960001 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:205.65, Y:201.50, Z:9.78 [[ 2.71040058e-02 -9.99632416e-01 -6.36441498e-04 2.05647965e+02] [ 9.99573740e-01 2.71093140e-02 -1.08362081e-02 2.01497451e+02] [ 1.08494784e-02 -3.42465560e-04 9.99941084e-01 9.78102787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.572755096 meters Centerline goodness [0,1] 0.999828855040219 Centerline is valid? [True, True] Translation: X:205.65, Y:201.53, Z:9.78 [[ 2.54422935e-02 -9.99676079e-01 -6.52844307e-04 2.05647298e+02] [ 9.99613583e-01 2.54480067e-02 -1.11840426e-02 2.01525711e+02] [ 1.11970335e-02 -3.68044342e-04 9.99937244e-01 9.77908537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.55, Z:9.78 [[ 2.53068389e-02 -9.99679573e-01 -5.61953282e-04 2.05648682e+02] [ 9.99632811e-01 2.53110933e-02 -9.67423853e-03 2.01551773e+02] [ 9.68536229e-03 -3.16922544e-04 9.99953046e-01 9.78162179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.58, Z:9.78 [[ 2.40515443e-02 -9.99710603e-01 -4.84154885e-04 2.05648069e+02] [ 9.99675502e-01 2.40547592e-02 -8.38203754e-03 2.01578630e+02] [ 8.39125803e-03 -2.82396831e-04 9.99964753e-01 9.78228027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6627550960001 meters Centerline goodness [0,1] 0.9998935082637588 Centerline is valid? [True, True] Translation: X:205.65, Y:201.61, Z:9.78 [[ 2.33084046e-02 -9.99728209e-01 -4.76939794e-04 2.05647371e+02] [ 9.99693700e-01 2.33115652e-02 -8.31132898e-03 2.01605710e+02] [ 8.32018825e-03 -2.83069889e-04 9.99965347e-01 9.78108219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.63, Z:9.78 [[ 2.37832263e-02 -9.99717054e-01 -4.13000096e-04 2.05647594e+02] [ 9.99690902e-01 2.37855930e-02 -7.23512438e-03 2.01631574e+02] [ 7.24290068e-03 -2.40797838e-04 9.99973741e-01 9.78302165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.66, Z:9.78 [[ 2.34226695e-02 -9.99725568e-01 -4.10173562e-04 2.05648911e+02] [ 9.99699414e-01 2.34250253e-02 -7.23528446e-03 2.01658310e+02] [ 7.24290719e-03 -2.40580593e-04 9.99973741e-01 9.78327113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.752755096 meters Centerline goodness [0,1] 0.9999574105621806 Centerline is valid? [True, True] Translation: X:205.65, Y:201.68, Z:9.78 [[ 2.38302369e-02 -9.99715932e-01 -4.19869021e-04 2.05648909e+02] [ 9.99688138e-01 2.38327068e-02 -7.45849499e-03 2.01684298e+02] [ 7.46638288e-03 -2.42000377e-04 9.99972097e-01 9.78237817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.71, Z:9.78 [[ 2.41780340e-02 -9.99707588e-01 -4.02402915e-04 2.05647749e+02] [ 9.99681838e-01 2.41803009e-02 -7.17890008e-03 2.01711182e+02] [ 7.18653111e-03 -2.28703196e-04 9.99974150e-01 9.78307311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.74, Z:9.78 [[ 2.41625887e-02 -9.99707967e-01 -3.87882867e-04 2.05648162e+02] [ 9.99683741e-01 2.41647048e-02 -6.96318852e-03 2.01738910e+02] [ 6.97052811e-03 -2.19511535e-04 9.99975682e-01 9.78260729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.77, Z:9.78 [[ 2.42302975e-02 -9.99706319e-01 -4.09456744e-04 2.05648971e+02] [ 9.99678946e-01 2.42326656e-02 -7.40149342e-03 2.01765461e+02] [ 7.40924197e-03 -2.29984899e-04 9.99972525e-01 9.78232997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.872755096 meters Centerline goodness [0,1] 0.9999787933411091 Centerline is valid? [True, True] Translation: X:205.65, Y:201.79, Z:9.78 [[ 2.46234629e-02 -9.99696706e-01 -4.25920821e-04 2.05648528e+02] [ 9.99666649e-01 2.46260268e-02 -7.75556543e-03 2.01792989e+02] [ 7.76370195e-03 -2.34809962e-04 9.99969834e-01 9.78160682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9027550960001 meters Centerline goodness [0,1] 0.9999149822525453 Centerline is valid? [True, True] Translation: X:205.65, Y:201.82, Z:9.78 [[ 2.46062562e-02 -9.99697126e-01 -4.33998633e-04 2.05649140e+02] [ 9.99665509e-01 2.46089312e-02 -7.95424517e-03 2.01819181e+02] [ 7.96251627e-03 -2.38129270e-04 9.99968270e-01 9.78044698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.85, Z:9.78 [[ 2.66001394e-02 -9.99646073e-01 -4.02989721e-04 2.05646365e+02] [ 9.99618429e-01 2.66024019e-02 -7.43692898e-03 2.01847771e+02] [ 7.44501734e-03 -2.05012604e-04 9.99972264e-01 9.78197131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.87, Z:9.78 [[ 2.72931562e-02 -9.99627401e-01 -3.77981118e-04 2.05645841e+02] [ 9.99602827e-01 2.72951366e-02 -7.01164799e-03 2.01874806e+02] [ 7.01935251e-03 -1.86460990e-04 9.99975347e-01 9.78250760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.90, Z:9.78 [[ 2.80963875e-02 -9.99605154e-01 -3.58262582e-04 2.05645418e+02] [ 9.99582796e-01 2.80981561e-02 -6.68783021e-03 2.01902439e+02] [ 6.69525607e-03 -1.70209245e-04 9.99977572e-01 9.78282945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:201.93, Z:9.78 [[ 3.05173706e-02 -9.99534180e-01 -3.37974906e-04 2.05643499e+02] [ 9.99514026e-01 3.05189021e-02 -6.34885463e-03 2.01929414e+02] [ 6.35621183e-03 -1.44060309e-04 9.99979789e-01 9.78227670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:201.95, Z:9.78 [[ 3.14694266e-02 -9.99504653e-01 -3.51070271e-04 2.05645376e+02] [ 9.99482575e-01 3.14710654e-02 -6.64484271e-03 2.01954773e+02] [ 6.65259977e-03 -1.41779229e-04 9.99977861e-01 9.78245379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:201.98, Z:9.78 [[ 3.20923598e-02 -9.99484851e-01 -3.35821555e-04 2.05643470e+02] [ 9.99464438e-01 3.20938511e-02 -6.38921251e-03 2.01981835e+02] [ 6.39669892e-03 -1.30596795e-04 9.99979532e-01 9.78235161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.112755096 meters Centerline goodness [0,1] 0.9998930710008554 Centerline is valid? [True, True] Translation: X:205.65, Y:202.01, Z:9.78 [[ 3.26881534e-02 -9.99465539e-01 -3.47987348e-04 2.05645027e+02] [ 9.99443303e-01 3.26897478e-02 -6.66812712e-03 2.02009322e+02] [ 6.67593889e-03 -1.29824863e-04 9.99977707e-01 9.78101070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.04, Z:9.78 [[ 3.30814991e-02 -9.99452615e-01 -2.90933848e-04 2.05645852e+02] [ 9.99436916e-01 3.30826104e-02 -5.60289994e-03 2.02036936e+02] [ 5.60945785e-03 -1.05417699e-04 9.99984261e-01 9.78313192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.06, Z:9.78 [[ 3.27718687e-02 -9.99462820e-01 -2.76018614e-04 2.05647478e+02] [ 9.99448533e-01 3.27728764e-02 -5.34500357e-03 2.02062344e+02] [ 5.35117826e-03 -1.00700644e-04 9.99985677e-01 9.78357314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.09, Z:9.78 [[ 3.23567042e-02 -9.99476365e-01 -1.99166283e-04 2.05649009e+02] [ 9.99468878e-01 3.23572329e-02 -3.86938529e-03 2.02088252e+02] [ 3.87380361e-03 -7.38599456e-05 9.99992494e-01 9.78455283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.11, Z:9.79 [[ 3.19863343e-02 -9.99488292e-01 -1.68725131e-04 2.05650684e+02] [ 9.99482840e-01 3.19867172e-02 -3.30203393e-03 2.02113936e+02] [ 3.30574121e-03 -6.30179122e-05 9.99994534e-01 9.78514651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.14, Z:9.79 [[ 3.11829024e-02 -9.99513686e-01 -1.35660631e-04 2.05652572e+02] [ 9.99510175e-01 3.11831525e-02 -2.64987777e-03 2.02140750e+02] [ 2.65281942e-03 -5.29633015e-05 9.99996480e-01 9.78539755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:202.17, Z:9.79 [[ 3.05872345e-02 -9.99532095e-01 -1.14074821e-04 2.05654169e+02] [ 9.99529601e-01 3.05874130e-02 -2.23311368e-03 2.02167267e+02] [ 2.23555804e-03 -4.57163887e-05 9.99997500e-01 9.78516504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:202.19, Z:9.79 [[ 3.00089551e-02 -9.99549623e-01 -1.14666933e-04 2.05655572e+02] [ 9.99547053e-01 3.00091380e-02 -2.26718787e-03 2.02194365e+02] [ 2.26960784e-03 -4.65790564e-05 9.99997423e-01 9.78505064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:202.22, Z:9.79 [[ 2.90490950e-02 -9.99577976e-01 -1.44478248e-04 2.05659881e+02] [ 9.99573751e-01 2.90493923e-02 -2.90659754e-03 2.02220315e+02] [ 2.90956789e-03 -5.99826362e-05 9.99995765e-01 9.78543049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:202.25, Z:9.78 [[ 2.72869873e-02 -9.99627627e-01 -1.69101662e-04 2.05662074e+02] [ 9.99621763e-01 2.72874065e-02 -3.42457106e-03 2.02248051e+02] [ 3.42791019e-03 -7.55914742e-05 9.99994122e-01 9.78321260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:202.27, Z:9.78 [[ 2.60166828e-02 -9.99661491e-01 -1.91190504e-04 2.05665880e+02] [ 9.99653845e-01 2.60172318e-02 -3.91085090e-03 2.02274237e+02] [ 3.91450129e-03 -8.93769551e-05 9.99992334e-01 9.78268970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:202.30, Z:9.78 [[ 2.31300958e-02 -9.99732441e-01 -2.14310624e-04 2.05672267e+02] [ 9.99722729e-01 2.31308160e-02 -4.40796732e-03 2.02301341e+02] [ 4.41174511e-03 -1.12294495e-04 9.99990262e-01 9.78259297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:202.33, Z:9.78 [[ 2.20696913e-02 -9.99756415e-01 -2.00281394e-04 2.05675326e+02] [ 9.99747824e-01 2.20703322e-02 -4.14601007e-03 2.02328374e+02] [ 4.14942044e-03 -1.08729726e-04 9.99991385e-01 9.78305434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:202.36, Z:9.78 [[ 2.09498299e-02 -9.99780513e-01 -1.76553457e-04 2.05678404e+02] [ 9.99773766e-01 2.09503373e-02 -3.67430382e-03 2.02355786e+02] [ 3.67719621e-03 -9.95374750e-05 9.99993234e-01 9.78341924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:202.38, Z:9.78 [[ 2.10486933e-02 -9.99778436e-01 -1.75351181e-04 2.05682324e+02] [ 9.99771689e-01 2.10491957e-02 -3.67452510e-03 2.02381459e+02] [ 3.67740196e-03 -9.79671947e-05 9.99993234e-01 9.78358623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:202.41, Z:9.78 [[ 2.19044294e-02 -9.99760055e-01 -1.66404173e-04 2.05684397e+02] [ 9.99753908e-01 2.19048784e-02 -3.50709991e-03 2.02407040e+02] [ 3.50990346e-03 -8.95421999e-05 9.99993836e-01 9.78359402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:202.43, Z:9.78 [[ 2.29641407e-02 -9.99736273e-01 -1.82587530e-04 2.05684836e+02] [ 9.99728686e-01 2.29646780e-02 -3.89580378e-03 2.02434186e+02] [ 3.89896942e-03 -9.30742057e-05 9.99992395e-01 9.78317186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.46, Z:9.78 [[ 2.63681174e-02 -9.99652280e-01 -2.02298002e-04 2.05686647e+02] [ 9.99642784e-01 2.63687489e-02 -4.35820271e-03 2.02461561e+02] [ 4.36202162e-03 -8.73081369e-05 9.99990483e-01 9.78258263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.49, Z:9.78 [[ 2.77429254e-02 -9.99615067e-01 -2.18991142e-04 2.05688468e+02] [ 9.99603761e-01 2.77436534e-02 -4.75504644e-03 2.02486512e+02] [ 4.75929168e-03 -8.69854706e-05 9.99988671e-01 9.78302049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.51, Z:9.78 [[ 2.97640049e-02 -9.99556934e-01 -2.01401939e-04 2.05689676e+02] [ 9.99547172e-01 2.97646045e-02 -4.41809569e-03 2.02511920e+02] [ 4.42213283e-03 -6.98105168e-05 9.99990220e-01 9.78351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.54, Z:9.78 [[ 3.40623893e-02 -9.99419683e-01 -2.25523982e-04 2.05687488e+02] [ 9.99407237e-01 3.40630907e-02 -4.98811577e-03 2.02540516e+02] [ 4.99290313e-03 -5.54831585e-05 9.99987534e-01 9.78303813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.57, Z:9.78 [[ 3.66690640e-02 -9.99327441e-01 -2.11893288e-04 2.05689246e+02] [ 9.99316308e-01 3.66696557e-02 -4.71737703e-03 2.02566830e+02] [ 4.72197437e-03 -3.87666177e-05 9.99988851e-01 9.78378121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.59, Z:9.79 [[ 4.11643875e-02 -9.99152371e-01 -1.79151061e-04 2.05689095e+02] [ 9.99144394e-01 4.11647748e-02 -3.99278242e-03 2.02591882e+02] [ 3.99677274e-03 -1.46373353e-05 9.99992013e-01 9.78519760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.62, Z:9.78 [[ 4.25863143e-02 -9.99092779e-01 -1.57172831e-04 2.05690103e+02] [ 9.99086554e-01 4.25866037e-02 -3.52684428e-03 2.02619441e+02] [ 3.53033811e-03 -6.83396367e-06 9.99993768e-01 9.78496563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:202.65, Z:9.79 [[ 4.37250932e-02 -9.99043590e-01 -1.44770696e-04 2.05691979e+02] [ 9.99038241e-01 4.37253329e-02 -3.26931299e-03 2.02646448e+02] [ 3.27251634e-03 -1.68044557e-06 9.99994645e-01 9.78535762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:202.67, Z:9.79 [[ 4.40071938e-02 -9.99031197e-01 -1.83649766e-04 2.05696520e+02] [ 9.99022365e-01 4.40075769e-02 -4.20100570e-03 2.02672254e+02] [ 4.20501774e-03 1.40424792e-06 9.99991159e-01 9.78510907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:202.70, Z:9.79 [[ 4.33842110e-02 -9.99058444e-01 -1.90264271e-04 2.05699962e+02] [ 9.99048773e-01 4.33846282e-02 -4.39583586e-03 2.02699452e+02] [ 4.39995148e-03 6.26583645e-07 9.99990320e-01 9.78504592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:202.73, Z:9.79 [[ 4.23149135e-02 -9.99104304e-01 -1.95453165e-04 2.05703272e+02] [ 9.99093915e-01 4.23153649e-02 -4.55616720e-03 2.02727033e+02] [ 4.56035693e-03 -2.48224743e-06 9.99989602e-01 9.78501885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:202.75, Z:9.78 [[ 4.12650320e-02 -9.99148218e-01 -1.90433046e-04 2.05706587e+02] [ 9.99138205e-01 4.12654710e-02 -4.47310584e-03 2.02753267e+02] [ 4.47715404e-03 -5.68607549e-06 9.99989978e-01 9.78491534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:202.78, Z:9.78 [[ 3.89348785e-02 -9.99241724e-01 -2.29938406e-04 2.05713296e+02] [ 9.99226784e-01 3.89355537e-02 -5.46408185e-03 2.02778257e+02] [ 5.46889135e-03 -1.70172513e-05 9.99985045e-01 9.78366765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:202.80, Z:9.78 [[ 3.75009631e-02 -9.99296563e-01 -2.40585253e-04 2.05717587e+02] [ 9.99279845e-01 3.75017274e-02 -5.78033527e-03 2.02804752e+02] [ 5.78529153e-03 -2.36438539e-05 9.99983265e-01 9.78321434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0427550960001 meters Centerline goodness [0,1] 0.9998686888582496 Centerline is valid? [True, True] Translation: X:205.73, Y:202.83, Z:9.78 [[ 3.48384522e-02 -9.99392923e-01 -2.61260725e-04 2.05725698e+02] [ 9.99372787e-01 3.48394088e-02 -6.34417504e-03 2.02831334e+02] [ 6.34942580e-03 -4.00756196e-05 9.99979841e-01 9.78296340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:202.86, Z:9.78 [[ 3.27638822e-02 -9.99463082e-01 -2.76609764e-04 2.05730396e+02] [ 9.99440051e-01 3.27650051e-02 -6.78523553e-03 2.02856750e+02] [ 6.79065554e-03 -5.41442194e-05 9.99976942e-01 9.78256365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:202.88, Z:9.78 [[ 3.14318346e-02 -9.99505852e-01 -3.03258556e-04 2.05735000e+02] [ 9.99477536e-01 3.14332269e-02 -7.52375240e-03 2.02883278e+02] [ 7.52956695e-03 -6.66147735e-05 9.99971650e-01 9.78241822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:202.91, Z:9.78 [[ 2.90314696e-02 -9.99578453e-01 -2.99339768e-04 2.05743165e+02] [ 9.99550339e-01 2.90328982e-02 -7.49733941e-03 2.02908925e+02] [ 7.50286963e-03 -8.15463861e-05 9.99971850e-01 9.78250251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:202.93, Z:9.78 [[ 2.82063842e-02 -9.99602079e-01 -2.88945632e-04 2.05747148e+02] [ 9.99575435e-01 2.82077422e-02 -7.29878290e-03 2.02934948e+02] [ 7.30402906e-03 -8.29506809e-05 9.99973322e-01 9.78290790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.192755096 meters Centerline goodness [0,1] 0.9999778873582027 Centerline is valid? [True, True] Translation: X:205.75, Y:202.96, Z:9.78 [[ 2.75793368e-02 -9.99619579e-01 -2.77317773e-04 2.05750655e+02] [ 9.99594591e-01 2.75806084e-02 -7.06846476e-03 2.02961325e+02] [ 7.07342437e-03 -8.22617758e-05 9.99974980e-01 9.78307908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:202.99, Z:9.78 [[ 2.95843275e-02 -9.99562258e-01 -2.46152592e-04 2.05750070e+02] [ 9.99542250e-01 2.95852928e-02 -6.32457456e-03 2.02987261e+02] [ 6.32908852e-03 -5.89316307e-05 9.99979969e-01 9.78382312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.252755096 meters Centerline goodness [0,1] 0.9999558839748539 Centerline is valid? [True, True] Translation: X:205.75, Y:203.01, Z:9.78 [[ 3.15512764e-02 -9.99502109e-01 -2.26390855e-04 2.05748302e+02] [ 9.99484906e-01 3.15520617e-02 -5.86429918e-03 2.03013179e+02] [ 5.86852250e-03 -4.12481179e-05 9.99982779e-01 9.78394599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.04, Z:9.78 [[ 3.61898486e-02 -9.99344899e-01 -2.62208519e-04 2.05744175e+02] [ 9.99321244e-01 3.61907961e-02 -6.87586249e-03 2.03038699e+02] [ 6.88084764e-03 -1.31941208e-05 9.99976327e-01 9.78273457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.07, Z:9.78 [[ 3.81957587e-02 -9.99270235e-01 -2.85058179e-04 2.05742365e+02] [ 9.99241638e-01 3.81968222e-02 -7.55983984e-03 2.03065396e+02] [ 7.56521125e-03 3.91181690e-06 9.99971383e-01 9.78221996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.09, Z:9.78 [[ 4.05406770e-02 -9.99177841e-01 -3.10340842e-04 2.05740772e+02] [ 9.99143224e-01 4.05418557e-02 -8.31718980e-03 2.03092340e+02] [ 8.32293354e-03 2.71095552e-05 9.99965363e-01 9.78135717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.372755096 meters Centerline goodness [0,1] 0.999955712039682 Centerline is valid? [True, True] Translation: X:205.74, Y:203.12, Z:9.78 [[ 4.37359180e-02 -9.99043073e-01 -3.28760399e-04 2.05740407e+02] [ 9.99003351e-01 4.37371108e-02 -8.90896224e-03 2.03119968e+02] [ 8.91481604e-03 6.12089014e-05 9.99960260e-01 9.78159217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.15, Z:9.78 [[ 4.47261029e-02 -9.98999228e-01 -3.43639501e-04 2.05740639e+02] [ 9.98954920e-01 4.47273558e-02 -9.40909606e-03 2.03147632e+02] [ 9.41504979e-03 7.75518285e-05 9.99955674e-01 9.78167411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.17, Z:9.78 [[ 4.49263181e-02 -9.98990241e-01 -3.51589378e-04 2.05740099e+02] [ 9.98942889e-01 4.49276120e-02 -9.72695326e-03 2.03173986e+02] [ 9.73292745e-03 8.57784872e-05 9.99952630e-01 9.78108582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.462755096 meters Centerline goodness [0,1] 0.9999558069648223 Centerline is valid? [True, True] Translation: X:205.74, Y:203.20, Z:9.78 [[ 4.47514502e-02 -9.98998085e-01 -3.67343949e-04 2.05739991e+02] [ 9.98945235e-01 4.47528613e-02 -1.02761228e-02 2.03201349e+02] [ 1.02822667e-02 9.29149096e-05 9.99947132e-01 9.78086495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.492755096 meters Centerline goodness [0,1] 0.9999557815609109 Centerline is valid? [True, True] Translation: X:205.74, Y:203.23, Z:9.78 [[ 4.32002894e-02 -9.99066369e-01 -3.54161729e-04 2.05739830e+02] [ 9.99016254e-01 4.32016698e-02 -1.00070164e-02 2.03227638e+02] [ 1.00129739e-02 7.84926793e-05 9.99949866e-01 9.78074561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.25, Z:9.78 [[ 4.19362480e-02 -9.99120230e-01 -3.41644156e-04 2.05740230e+02] [ 9.99072599e-01 4.19375848e-02 -9.75607433e-03 2.03252860e+02] [ 9.76181897e-03 6.78058377e-05 9.99952350e-01 9.78130490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.28, Z:9.78 [[ 3.90537273e-02 -9.99237061e-01 -3.19907362e-04 2.05742015e+02] [ 9.99194356e-01 3.90550159e-02 -9.23824163e-03 2.03280504e+02] [ 9.24368740e-03 4.11381395e-05 9.99957275e-01 9.78155101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.31, Z:9.78 [[ 3.86961933e-02 -9.99250972e-01 -3.16599613e-04 2.05742724e+02] [ 9.99208266e-01 3.86974666e-02 -9.23835498e-03 2.03307260e+02] [ 9.24368679e-03 4.11402201e-05 9.99957275e-01 9.78180041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:203.33, Z:9.78 [[ 3.69277152e-02 -9.99317888e-01 -3.19247662e-04 2.05744752e+02] [ 9.99273527e-01 3.69290840e-02 -9.41596144e-03 2.03333046e+02] [ 9.42132822e-03 2.86942048e-05 9.99955618e-01 9.78189975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:203.36, Z:9.78 [[ 3.49067082e-02 -9.99390522e-01 -3.26176484e-04 2.05747484e+02] [ 9.99343144e-01 3.49082294e-02 -9.73122964e-03 2.03359768e+02] [ 9.73668491e-03 1.37229611e-05 9.99952597e-01 9.78219462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6727550960001 meters Centerline goodness [0,1] 0.9999559655650719 Centerline is valid? [True, True] Translation: X:205.75, Y:203.39, Z:9.78 [[ 3.07807127e-02 -9.99526110e-01 -3.20880972e-04 2.05753331e+02] [ 9.99479270e-01 3.07823767e-02 -9.67649624e-03 2.03385372e+02] [ 9.68178813e-03 -2.28644290e-05 9.99953130e-01 9.78273651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:203.41, Z:9.78 [[ 2.82255085e-02 -9.99601531e-01 -3.16505850e-04 2.05756545e+02] [ 9.99555181e-01 2.82272477e-02 -9.62619763e-03 2.03411550e+02] [ 9.63129598e-03 -4.46607394e-05 9.99953617e-01 9.78303268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:203.44, Z:9.78 [[ 2.34686606e-02 -9.99724526e-01 -3.07244076e-04 2.05761401e+02] [ 9.99679822e-01 2.34705168e-02 -9.45458769e-03 2.03438247e+02] [ 9.45919437e-03 -8.52591940e-05 9.99955257e-01 9.78303460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:203.46, Z:9.78 [[ 2.16789533e-02 -9.99764942e-01 -2.89595593e-04 2.05763080e+02] [ 9.99724391e-01 2.16806824e-02 -9.00503120e-03 2.03464931e+02] [ 9.00919313e-03 -9.42961276e-05 9.99959412e-01 9.78336336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:203.49, Z:9.78 [[ 1.99276144e-02 -9.99801387e-01 -2.76123975e-04 2.05764076e+02] [ 9.99763696e-01 1.99292609e-02 -8.68201101e-03 2.03490668e+02] [ 8.68578960e-03 -1.03046958e-04 9.99962273e-01 9.78379633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.52, Z:9.78 [[ 1.73553116e-02 -9.99849348e-01 -2.73069287e-04 2.05765403e+02] [ 9.99811528e-01 1.73570304e-02 -8.69724913e-03 2.03518357e+02] [ 8.70067854e-03 -1.22074352e-04 9.99962141e-01 9.78393126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.54, Z:9.78 [[ 1.59137741e-02 -9.99873331e-01 -2.72507305e-04 2.05767031e+02] [ 9.99834815e-01 1.59155533e-02 -8.77707941e-03 2.03543316e+02] [ 8.78030473e-03 -1.32785832e-04 9.99961444e-01 9.78415860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.57, Z:9.78 [[ 1.47387857e-02 -9.99891343e-01 -2.67194372e-04 2.05767339e+02] [ 9.99853322e-01 1.47405557e-02 -8.72070192e-03 2.03569242e+02] [ 8.72369294e-03 -1.38622623e-04 9.99961938e-01 9.78445160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.60, Z:9.78 [[ 1.45850663e-02 -9.99893599e-01 -2.58629428e-04 2.05766646e+02] [ 9.99857277e-01 1.45867412e-02 -8.52364473e-03 2.03596219e+02] [ 8.52651037e-03 -1.34274592e-04 9.99963640e-01 9.78469019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.62, Z:9.78 [[ 1.42678300e-02 -9.99898177e-01 -2.56305180e-04 2.05767823e+02] [ 9.99861622e-01 1.42695003e-02 -8.55090563e-03 2.03621585e+02] [ 8.55369230e-03 -1.34266845e-04 9.99963408e-01 9.78478107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.65, Z:9.78 [[ 1.35396330e-02 -9.99908293e-01 -2.88682256e-04 2.05767518e+02] [ 9.99860461e-01 1.35418093e-02 -9.78154326e-03 2.03647646e+02] [ 9.78455551e-03 -1.56203467e-04 9.99952118e-01 9.78388143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.68, Z:9.78 [[ 1.19707131e-02 -9.99928285e-01 -3.57342496e-04 2.05766945e+02] [ 9.99852697e-01 1.19742026e-02 -1.22964328e-02 2.03675230e+02] [ 1.22998299e-02 -2.10092788e-04 9.99924332e-01 9.78072254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.70, Z:9.78 [[ 1.06754875e-02 -9.99942944e-01 -3.76983064e-04 2.05768517e+02] [ 9.99856635e-01 1.06795199e-02 -1.31399289e-02 2.03701629e+02] [ 1.31432052e-02 -2.36653870e-04 9.99913596e-01 9.78000561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.73, Z:9.78 [[ 8.48209341e-03 -9.99963962e-01 -3.58050571e-04 2.05769602e+02] [ 9.99884179e-01 8.48594042e-03 -1.26339864e-02 2.03728574e+02] [ 1.26365695e-02 -2.50846448e-04 9.99920124e-01 9.78113960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.75, Z:9.78 [[ 7.22234351e-03 -9.99973856e-01 -3.53666815e-04 2.05770686e+02] [ 9.99894062e-01 7.22623595e-03 -1.26351649e-02 2.03754471e+02] [ 1.26373902e-02 -2.62373847e-04 9.99920111e-01 9.78138559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.78, Z:9.78 [[ 5.86625841e-03 -9.99982731e-01 -3.54791225e-04 2.05770329e+02] [ 9.99900326e-01 5.87033075e-03 -1.28404452e-02 2.03781462e+02] [ 1.28423062e-02 -2.79430492e-04 9.99917495e-01 9.78132336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.81, Z:9.78 [[ 3.49253636e-03 -9.99993843e-01 -3.42394991e-04 2.05772724e+02] [ 9.99915189e-01 3.49655718e-03 -1.25454675e-02 2.03807436e+02] [ 1.25465875e-02 -2.98550450e-04 9.99921244e-01 9.78132890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:203.83, Z:9.78 [[ 2.43113808e-03 -9.99996989e-01 -3.35616377e-04 2.05773487e+02] [ 9.99919389e-01 2.43513167e-03 -1.24613563e-02 2.03833572e+02] [ 1.24621360e-02 -3.05294044e-04 9.99922298e-01 9.78213348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:203.86, Z:9.78 [[ 9.46356729e-04 -9.99999496e-01 -3.34609443e-04 2.05776535e+02] [ 9.99920176e-01 9.50497449e-04 -1.25991229e-02 2.03860132e+02] [ 1.25994346e-02 -3.22659468e-04 9.99920572e-01 9.78226716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:203.89, Z:9.78 [[-1.29558138e-03 -9.99999099e-01 -3.51947149e-04 2.05777213e+02] [ 9.99908861e-01 -1.29073469e-03 -1.34388862e-02 2.03887345e+02] [ 1.34384198e-02 -3.69326244e-04 9.99909632e-01 9.78213944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:203.91, Z:9.78 [[-2.48054946e-03 -9.99996866e-01 -3.39731936e-04 2.05778388e+02] [ 9.99910537e-01 -2.47586956e-03 -1.31449104e-02 2.03914796e+02] [ 1.31440281e-02 -3.72308143e-04 9.99913544e-01 9.78223483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:203.94, Z:9.78 [[-3.34391913e-03 -9.99994358e-01 -3.18577616e-04 2.05777977e+02] [ 9.99916415e-01 -3.33967930e-03 -1.24904180e-02 2.03942137e+02] [ 1.24892836e-02 -3.60317936e-04 9.99921941e-01 9.78266067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:203.97, Z:9.78 [[-3.80328398e-03 -9.99992719e-01 -3.11937478e-04 2.05779259e+02] [ 9.99915857e-01 -3.79912253e-03 -1.24034212e-02 2.03969127e+02] [ 1.24021458e-02 -3.59084964e-04 9.99923026e-01 9.78335620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.00, Z:9.78 [[-3.91482430e-03 -9.99992294e-01 -2.94001835e-04 2.05780587e+02] [ 9.99922115e-01 -3.91106507e-03 -1.18518670e-02 2.03996055e+02] [ 1.18506258e-02 -3.40376914e-04 9.99929721e-01 9.78399407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.02, Z:9.78 [[-4.03612827e-03 -9.99991819e-01 -2.69455191e-04 2.05782927e+02] [ 9.99931215e-01 -4.03291595e-03 -1.10136654e-02 2.04021624e+02] [ 1.10124886e-02 -3.13889222e-04 9.99939311e-01 9.78469770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.05, Z:9.79 [[-3.65465062e-03 -9.99993290e-01 -2.51027203e-04 2.05783970e+02] [ 9.99938984e-01 -3.65183502e-03 -1.04255962e-02 2.04048249e+02] [ 1.04246096e-02 -2.89113798e-04 9.99945621e-01 9.78604836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.07, Z:9.79 [[-3.57332544e-03 -9.99993586e-01 -2.42370824e-04 2.05785939e+02] [ 9.99941306e-01 -3.57065939e-03 -1.02290798e-02 2.04073401e+02] [ 1.02281487e-02 -2.78908429e-04 9.99947652e-01 9.78682812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.10, Z:9.79 [[-2.19550361e-03 -9.99997555e-01 -2.63673645e-04 2.05786730e+02] [ 9.99933349e-01 -2.19237380e-03 -1.13353925e-02 2.04099262e+02] [ 1.13347867e-02 -2.88542966e-04 9.99935718e-01 9.78658691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.13, Z:9.79 [[-1.53275479e-03 -9.99998792e-01 -2.58457510e-04 2.05785222e+02] [ 9.99935129e-01 -1.52973997e-03 -1.12871060e-02 2.04126080e+02] [ 1.12866970e-02 -2.75741110e-04 9.99936265e-01 9.78610693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.15, Z:9.79 [[-8.87205682e-04 -9.99999568e-01 -2.76219844e-04 2.05783685e+02] [ 9.99924203e-01 -8.83746727e-04 -1.22804037e-02 2.04152884e+02] [ 1.22801543e-02 -2.87094151e-04 9.99924555e-01 9.78595040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.18, Z:9.79 [[ 9.29957680e-04 -9.99999527e-01 -2.83933634e-04 2.05783523e+02] [ 9.99917087e-01 9.33527631e-04 -1.28432077e-02 2.04179666e+02] [ 1.28434667e-02 -2.71966453e-04 9.99917482e-01 9.78531554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.21, Z:9.79 [[ 1.55093834e-03 -9.99998758e-01 -2.79523374e-04 2.05781902e+02] [ 9.99916244e-01 1.55440187e-03 -1.28486628e-02 2.04206519e+02] [ 1.28490813e-02 -2.59572479e-04 9.99917413e-01 9.78574378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.23, Z:9.79 [[ 2.12732894e-03 -9.99997698e-01 -2.79747668e-04 2.05781507e+02] [ 9.99912222e-01 2.13080538e-03 -1.30770305e-02 2.04231642e+02] [ 1.30775965e-02 -2.51903967e-04 9.99914453e-01 9.78609972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.26, Z:9.79 [[ 2.54201533e-03 -9.99996730e-01 -2.78997556e-04 2.05780328e+02] [ 9.99909055e-01 2.54548751e-03 -1.32439752e-02 2.04257739e+02] [ 1.32446421e-02 -2.45305795e-04 9.99912256e-01 9.78628763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.28, Z:9.79 [[ 2.06810602e-03 -9.99997820e-01 -2.88272509e-04 2.05780339e+02] [ 9.99900665e-01 2.07192407e-03 -1.39415791e-02 2.04284376e+02] [ 1.39421460e-02 -2.59411210e-04 9.99902770e-01 9.78616286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.31, Z:9.79 [[ 1.21277674e-03 -9.99999222e-01 -2.91274307e-04 2.05780250e+02] [ 9.99896262e-01 1.21683228e-03 -1.43521342e-02 2.04310777e+02] [ 1.43524775e-02 -2.73838157e-04 9.99896960e-01 9.78597376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.34, Z:9.79 [[-5.88372121e-04 -9.99999780e-01 -3.06272678e-04 2.05782690e+02] [ 9.99881531e-01 -5.83591690e-04 -1.53812565e-02 2.04336793e+02] [ 1.53810744e-02 -3.15286297e-04 9.99881655e-01 9.78526045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.36, Z:9.79 [[-2.17328677e-03 -9.99997589e-01 -3.15451340e-04 2.05783814e+02] [ 9.99867595e-01 -2.16791684e-03 -1.61274024e-02 2.04364348e+02] [ 1.61266797e-02 -3.50459043e-04 9.99869895e-01 9.78542200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.39, Z:9.79 [[-5.65568412e-03 -9.99983953e-01 -3.26207502e-04 2.05787262e+02] [ 9.99839926e-01 -5.64933152e-03 -1.69766887e-02 2.04391212e+02] [ 1.69745734e-02 -4.22170073e-04 9.99855832e-01 9.78545559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.42, Z:9.79 [[-7.70134968e-03 -9.99970291e-01 -3.27495619e-04 2.05789379e+02] [ 9.99819837e-01 -7.69450812e-03 -1.73518815e-02 2.04418273e+02] [ 1.73488460e-02 -4.61069523e-04 9.99849391e-01 9.78561306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.44, Z:9.79 [[-9.68453208e-03 -9.99953052e-01 -3.22380454e-04 2.05792105e+02] [ 9.99802360e-01 -9.67747383e-03 -1.73662803e-02 2.04443409e+02] [ 1.73623451e-02 -4.90501037e-04 9.99849143e-01 9.78586669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.47, Z:9.79 [[-1.25627233e-02 -9.99921035e-01 -3.18919535e-04 2.05791763e+02] [ 9.99768428e-01 -1.25552316e-02 -1.74773297e-02 2.04470419e+02] [ 1.74719455e-02 -5.38408538e-04 9.99847209e-01 9.78722920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.50, Z:9.79 [[-1.42707659e-02 -9.99898119e-01 -3.10074245e-04 2.05792077e+02] [ 9.99748255e-01 -1.42632560e-02 -1.73201309e-02 2.04497847e+02] [ 1.73139436e-02 -5.57167719e-04 9.99849947e-01 9.78800525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.53, Z:9.79 [[-1.56321434e-02 -9.99877765e-01 -3.02844933e-04 2.05793782e+02] [ 9.99729064e-01 -1.56245929e-02 -1.72531564e-02 2.04525283e+02] [ 1.72463156e-02 -5.72466695e-04 9.99851107e-01 9.78889717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:204.55, Z:9.79 [[-1.68539532e-02 -9.99857922e-01 -2.83571822e-04 2.05797203e+02] [ 9.99722215e-01 -1.68469911e-02 -1.64824520e-02 2.04551772e+02] [ 1.64753329e-02 -5.61287526e-04 9.99864115e-01 9.79080004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:204.58, Z:9.79 [[-1.74373665e-02 -9.99847920e-01 -2.73551795e-04 2.05798079e+02] [ 9.99716021e-01 -1.74306204e-02 -1.62496405e-02 2.04577954e+02] [ 1.62424011e-02 -5.56825050e-04 9.99867928e-01 9.79163132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:204.61, Z:9.79 [[-1.65924628e-02 -9.99862302e-01 -2.60006181e-04 2.05796774e+02] [ 9.99737855e-01 -1.65862933e-02 -1.57834121e-02 2.04605488e+02] [ 1.57769263e-02 -5.21823701e-04 9.99875400e-01 9.79240424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:204.63, Z:9.79 [[-1.56579238e-02 -9.99877375e-01 -2.53546439e-04 2.05795723e+02] [ 9.99753905e-01 -1.56520038e-02 -1.57208050e-02 2.04632503e+02] [ 1.57149087e-02 -4.99639208e-04 9.99876388e-01 9.79263254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.80, Y:204.66, Z:9.79 [[-1.42692446e-02 -9.99898159e-01 -2.46882972e-04 2.05795497e+02] [ 9.99776405e-01 -1.42636528e-02 -1.56104914e-02 2.04659140e+02] [ 1.56053802e-02 -4.69577692e-04 9.99878118e-01 9.79293337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.69, Z:9.79 [[-1.27911324e-02 -9.99918160e-01 -2.45546159e-04 2.05792861e+02] [ 9.99792992e-01 -1.27856446e-02 -1.58271953e-02 2.04686225e+02] [ 1.58227606e-02 -4.47943080e-04 9.99874712e-01 9.79338998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.71, Z:9.79 [[-8.89654887e-03 -9.99960395e-01 -2.45317577e-04 2.05788731e+02] [ 9.99829626e-01 -8.89141703e-03 -1.61759751e-02 2.04713219e+02] [ 1.61731532e-02 -3.89186135e-04 9.99869130e-01 9.79321652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.79, Y:204.74, Z:9.79 [[-7.02435148e-03 -9.99975300e-01 -2.39532737e-04 2.05786318e+02] [ 9.99844735e-01 -7.01956275e-03 -1.61626456e-02 2.04740597e+02] [ 1.61605650e-02 -3.53027650e-04 9.99869347e-01 9.79350314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.77, Z:9.79 [[-5.62861597e-03 -9.99984131e-01 -2.38496135e-04 2.05784000e+02] [ 9.99848255e-01 -5.62391888e-03 -1.64875504e-02 2.04767615e+02] [ 1.64859475e-02 -3.31262034e-04 9.99864043e-01 9.79344759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.79, Z:9.79 [[-2.63281798e-03 -9.99996504e-01 -2.44949609e-04 2.05780572e+02] [ 9.99845481e-01 -2.62816283e-03 -1.73812152e-02 2.04793799e+02] [ 1.73805107e-02 -2.90673336e-04 9.99848905e-01 9.79228147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.82, Z:9.79 [[-1.64092913e-03 -9.99998625e-01 -2.40588336e-04 2.05778535e+02] [ 9.99844712e-01 -1.63645512e-03 -1.75463506e-02 2.04819845e+02] [ 1.75459328e-02 -2.69343293e-04 9.99846022e-01 9.79191665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.85, Z:9.79 [[ 2.84557359e-05 -9.99999969e-01 -2.47055460e-04 2.05777625e+02] [ 9.99828788e-01 3.30223491e-05 -1.85038905e-02 2.04845027e+02] [ 1.85038981e-02 -2.46486619e-04 9.99828758e-01 9.78968128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.87, Z:9.79 [[ 1.93340617e-04 -9.99999950e-01 -2.50846624e-04 2.05775871e+02] [ 9.99813648e-01 1.98146839e-04 -1.93036051e-02 2.04871607e+02] [ 1.93036539e-02 -2.47067708e-04 9.99813637e-01 9.79087726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.90, Z:9.79 [[-2.52576095e-05 -9.99999969e-01 -2.47264022e-04 2.05777393e+02] [ 9.99808791e-01 -2.04176477e-05 -1.95545472e-02 2.04897444e+02] [ 1.95545416e-02 -2.47710644e-04 9.99808761e-01 9.79052739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.92, Z:9.79 [[-1.27563711e-04 -9.99999963e-01 -2.41465740e-04 2.05776897e+02] [ 9.99807053e-01 -1.22796023e-04 -1.96428817e-02 2.04923979e+02] [ 1.96428514e-02 -2.43924869e-04 9.99807031e-01 9.79236694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.95, Z:9.79 [[-4.32728038e-04 -9.99999879e-01 -2.34085314e-04 2.05776478e+02] [ 9.99807051e-01 -4.28047477e-04 -1.96386599e-02 2.04951074e+02] [ 1.96385573e-02 -2.42538346e-04 9.99807116e-01 9.79287363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:204.98, Z:9.79 [[ 3.01952699e-04 -9.99999927e-01 -2.34831217e-04 2.05776309e+02] [ 9.99795024e-01 3.06644732e-04 -2.02439296e-02 2.04977728e+02] [ 2.02440001e-02 -2.28670373e-04 9.99795043e-01 9.79249834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.00, Z:9.79 [[-8.69229821e-05 -9.99999970e-01 -2.28007947e-04 2.05776353e+02] [ 9.99795066e-01 -8.22893796e-05 -2.02440070e-02 2.05003676e+02] [ 2.02439877e-02 -2.29720890e-04 9.99795043e-01 9.79274031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.03, Z:9.79 [[ 1.20816542e-05 -9.99999975e-01 -2.23293816e-04 2.05775513e+02] [ 9.99789740e-01 1.66578676e-05 -2.05055220e-02 2.05030466e+02] [ 2.05055252e-02 -2.22999125e-04 9.99789715e-01 9.79369809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.562755096 meters Centerline goodness [0,1] 0.9998248072880168 Centerline is valid? [True, True] Translation: X:205.78, Y:205.06, Z:9.79 [[ 2.29063645e-04 -9.99999951e-01 -2.15166468e-04 2.05775478e+02] [ 9.99791348e-01 2.33410767e-04 -2.04256182e-02 2.05057505e+02] [ 2.04256674e-02 -2.10442806e-04 9.99791352e-01 9.79403016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.08, Z:9.79 [[ 8.30353771e-04 -9.99999633e-01 -2.11818559e-04 2.05776943e+02] [ 9.99781623e-01 8.34595697e-04 -2.08808563e-02 2.05082523e+02] [ 2.08810254e-02 -1.94433805e-04 9.99781949e-01 9.79449103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.11, Z:9.79 [[ 8.16645275e-04 -9.99999645e-01 -2.06959099e-04 2.05777784e+02] [ 9.99773592e-01 8.20861123e-04 -2.12624415e-02 2.05108005e+02] [ 2.12626039e-02 -1.89548370e-04 9.99773907e-01 9.79461051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.13, Z:9.79 [[ 6.98825771e-04 -9.99999735e-01 -2.03142023e-04 2.05778010e+02] [ 9.99762864e-01 7.03081657e-04 -2.17651615e-02 2.05134376e+02] [ 2.17652985e-02 -1.87883795e-04 9.99763090e-01 9.79493143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.16, Z:9.79 [[ 1.29165167e-04 -9.99999972e-01 -1.96309739e-04 2.05780389e+02] [ 9.99758466e-01 1.33448281e-04 -2.19770608e-02 2.05160306e+02] [ 2.19770864e-02 -1.93423653e-04 9.99758456e-01 9.79425601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.19, Z:9.80 [[-1.02647512e-04 -9.99999977e-01 -1.86551936e-04 2.05779744e+02] [ 9.99762134e-01 -9.85544501e-05 -2.18097464e-02 2.05187247e+02] [ 2.18097275e-02 -1.88746278e-04 9.99762122e-01 9.79712743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.21, Z:9.80 [[-6.20059408e-04 -9.99999793e-01 -1.73241771e-04 2.05781441e+02] [ 9.99775961e-01 -6.16255227e-04 -2.11576848e-02 2.05213772e+02] [ 2.11575736e-02 -1.86321979e-04 9.99776136e-01 9.79845887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.772755096 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:205.78, Y:205.24, Z:9.80 [[-9.90768024e-04 -9.99999496e-01 -1.62240261e-04 2.05781518e+02] [ 9.99783512e-01 -9.87182111e-04 -2.07835183e-02 2.05240046e+02] [ 2.07833476e-02 -1.82796783e-04 9.99783986e-01 9.80001660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.27, Z:9.80 [[-1.39916994e-03 -9.99999010e-01 -1.49344256e-04 2.05781764e+02] [ 9.99796598e-01 -1.39588192e-03 -2.01200162e-02 2.05266748e+02] [ 2.01197879e-02 -1.77465201e-04 9.99797561e-01 9.80103580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.29, Z:9.80 [[-1.87005597e-03 -9.99998242e-01 -1.37954052e-04 2.05781689e+02] [ 9.99807069e-01 -1.86700098e-03 -1.95534891e-02 2.05293932e+02] [ 1.95531972e-02 -1.74493556e-04 9.99808803e-01 9.80265451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.862755096 meters Centerline goodness [0,1] 0.999934484942456 Centerline is valid? [True, True] Translation: X:205.78, Y:205.32, Z:9.80 [[-1.97502662e-03 -9.99998041e-01 -1.30036476e-04 2.05782016e+02] [ 9.99809666e-01 -1.97213058e-03 -1.94098595e-02 2.05320792e+02] [ 1.94095651e-02 -1.68346715e-04 9.99811603e-01 9.80331784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.35, Z:9.80 [[-2.34926145e-03 -9.99997233e-01 -1.21205463e-04 2.05781820e+02] [ 9.99814665e-01 -2.34651651e-03 -1.91083465e-02 2.05348302e+02] [ 1.91080092e-02 -1.66073501e-04 9.99817412e-01 9.80453456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.37, Z:9.80 [[-1.90084650e-03 -9.99998187e-01 -1.11172258e-04 2.05780884e+02] [ 9.99825204e-01 -1.89844988e-03 -1.85999487e-02 2.05374552e+02] [ 1.85997039e-02 -1.46508473e-04 9.99827000e-01 9.80475580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.952755096 meters Centerline goodness [0,1] 0.9999780903553744 Centerline is valid? [True, True] Translation: X:205.78, Y:205.40, Z:9.80 [[-1.44401190e-03 -9.99998952e-01 -1.02308576e-04 2.05779933e+02] [ 9.99831827e-01 -1.44190015e-03 -1.82821821e-02 2.05400930e+02] [ 1.82820155e-02 -1.28691059e-04 9.99832862e-01 9.80491707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.43, Z:9.81 [[-7.67673769e-04 -9.99999701e-01 -9.66548836e-05 2.05778639e+02] [ 9.99827039e-01 -7.65745141e-04 -1.85824310e-02 2.05426952e+02] [ 1.85823514e-02 -1.10903411e-04 9.99827327e-01 9.80543653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.45, Z:9.81 [[-3.20768965e-04 -9.99999945e-01 -9.01500332e-05 2.05778284e+02] [ 9.99825459e-01 -3.19028979e-04 -1.86801896e-02 2.05453893e+02] [ 1.86801598e-02 -9.61263235e-05 9.99825506e-01 9.80614604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.48, Z:9.81 [[-1.86036033e-04 -9.99999979e-01 -8.13722227e-05 2.05777877e+02] [ 9.99832569e-01 -1.84515980e-04 -1.82975463e-02 2.05479110e+02] [ 1.82975309e-02 -8.47626015e-05 9.99832583e-01 9.80622164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.072755096 meters Centerline goodness [0,1] 0.9999562248292768 Centerline is valid? [True, True] Translation: X:205.78, Y:205.51, Z:9.81 [[-2.97283640e-04 -9.99999953e-01 -7.16179819e-05 2.05777478e+02] [ 9.99843786e-01 -2.95971549e-04 -1.76724854e-02 2.05505811e+02] [ 1.76724633e-02 -7.68605349e-05 9.99843827e-01 9.80780812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.53, Z:9.81 [[-1.02262395e-03 -9.99999475e-01 -6.43536171e-05 2.05777667e+02] [ 9.99844344e-01 -1.02133180e-03 -1.76137817e-02 2.05531150e+02] [ 1.76137067e-02 -8.23558751e-05 9.99844863e-01 9.80800496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.132755096 meters Centerline goodness [0,1] 0.9998248418102599 Centerline is valid? [True, True] Translation: X:205.78, Y:205.56, Z:9.81 [[-1.66267941e-03 -9.99998616e-01 -5.62427226e-05 2.05777183e+02] [ 9.99849615e-01 -1.66146079e-03 -1.72623000e-02 2.05557297e+02] [ 1.72621827e-02 -8.49359354e-05 9.99850994e-01 9.80915839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.58, Z:9.81 [[-2.81395816e-03 -9.99996040e-01 -4.80332256e-05 2.05776969e+02] [ 9.99856575e-01 -2.81276351e-03 -1.67008643e-02 2.05584193e+02] [ 1.67006630e-02 -9.50218698e-05 9.99860530e-01 9.81019888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.61, Z:9.81 [[-4.50939203e-03 -9.99989832e-01 -3.82852299e-05 2.05777494e+02] [ 9.99872757e-01 -4.50827825e-03 -1.53017894e-02 2.05610108e+02] [ 1.53014612e-02 -1.07282125e-04 9.99882920e-01 9.81217389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.64, Z:9.81 [[-5.61692533e-03 -9.99984225e-01 -3.06468743e-05 2.05777571e+02] [ 9.99879716e-01 -5.61589523e-03 -1.44573908e-02 2.05636469e+02] [ 1.44569906e-02 -1.11849273e-04 9.99895486e-01 9.81341268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.66, Z:9.82 [[-7.92932147e-03 -9.99968562e-01 -2.35484851e-05 2.05778346e+02] [ 9.99878638e-01 -7.92829259e-03 -1.34109040e-02 2.05662489e+02] [ 1.34102957e-02 -1.29884996e-04 9.99910070e-01 9.81541343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.69, Z:9.82 [[-9.29625847e-03 -9.99956789e-01 -1.82059478e-05 2.05778969e+02] [ 9.99868837e-01 -9.29519934e-03 -1.32630439e-02 2.05687481e+02] [ 1.32623015e-02 -1.41500244e-04 9.99912042e-01 9.81615372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.71, Z:9.82 [[-1.00347855e-02 -9.99949650e-01 -1.32310466e-05 2.05779151e+02] [ 9.99857945e-01 -1.00336860e-02 -1.35430704e-02 2.05713476e+02] [ 1.35422557e-02 -1.49130973e-04 9.99908288e-01 9.81625797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.74, Z:9.82 [[-1.09652185e-02 -9.99939880e-01 -8.69255576e-06 2.05776684e+02] [ 9.99830598e-01 -1.09638916e-02 -1.47840285e-02 2.05740634e+02] [ 1.47830444e-02 -1.70801186e-04 9.99890710e-01 9.81537763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.78, Y:205.77, Z:9.81 [[-1.12108278e-02 -9.99937157e-01 -3.06656542e-06 2.05776496e+02] [ 9.99814287e-01 -1.12094022e-02 -1.56761028e-02 2.05765659e+02] [ 1.56750833e-02 -1.78808086e-04 9.99877122e-01 9.81361104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4027550960001 meters Centerline goodness [0,1] 0.9998246344724786 Centerline is valid? [True, True] Translation: X:205.77, Y:205.79, Z:9.81 [[-1.01594994e-02 -9.99948391e-01 3.13524707e-06 2.05773182e+02] [ 9.99824980e-01 -1.01582948e-02 -1.57104524e-02 2.05792094e+02] [ 1.57096735e-02 -1.56475634e-04 9.99876583e-01 9.81311364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.432755096 meters Centerline goodness [0,1] 0.9998904133608031 Centerline is valid? [True, True] Translation: X:205.77, Y:205.82, Z:9.81 [[-9.76130508e-03 -9.99952357e-01 8.86627915e-06 2.05771657e+02] [ 9.99831663e-01 -9.76026465e-03 -1.55364833e-02 2.05817204e+02] [ 1.55358297e-02 -1.42791567e-04 9.99879302e-01 9.81378722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:205.84, Z:9.81 [[-9.03864912e-03 -9.99959151e-01 1.47460987e-05 2.05769512e+02] [ 9.99837463e-01 -9.03777924e-03 -1.56001742e-02 2.05844105e+02] [ 1.55996702e-02 -1.26260799e-04 9.99878310e-01 9.81480861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:205.87, Z:9.82 [[-7.82140901e-03 -9.99969412e-01 1.87547834e-05 2.05763694e+02] [ 9.99865346e-01 -7.82086561e-03 -1.44264972e-02 2.05870629e+02] [ 1.44262026e-02 -9.40832769e-05 9.99895933e-01 9.81663548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:205.90, Z:9.82 [[-7.28986869e-03 -9.99973428e-01 2.38403706e-05 2.05761401e+02] [ 9.99874386e-01 -7.28948221e-03 -1.40739623e-02 2.05896159e+02] [ 1.40737621e-02 -7.87599612e-05 9.99900957e-01 9.81699482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.76, Y:205.92, Z:9.82 [[-6.86037790e-03 -9.99976467e-01 2.79983298e-05 2.05759116e+02] [ 9.99886535e-01 -6.86013642e-03 -1.34110551e-02 2.05921224e+02] [ 1.34109315e-02 -6.40097530e-05 9.99910067e-01 9.81765582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:205.95, Z:9.82 [[-5.44206706e-03 -9.99985191e-01 3.01440967e-05 2.05754483e+02] [ 9.99910013e-01 -5.44202755e-03 -1.22617190e-02 2.05947561e+02] [ 1.22617015e-02 -3.65877132e-05 9.99924822e-01 9.81925150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:205.97, Z:9.82 [[-5.30794979e-03 -9.99985912e-01 3.25482960e-05 2.05752533e+02] [ 9.99919727e-01 -5.30797296e-03 -1.15049963e-02 2.05974077e+02] [ 1.15050070e-02 -2.85222595e-05 9.99933815e-01 9.82031974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.75, Y:206.00, Z:9.82 [[-4.54977307e-03 -9.99989649e-01 3.40814634e-05 2.05749111e+02] [ 9.99932886e-01 -4.54987794e-03 -1.06546435e-02 2.05999556e+02] [ 1.06546882e-02 -1.43970339e-05 9.99943237e-01 9.82066144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6727550960001 meters Centerline goodness [0,1] 0.9999129564346956 Centerline is valid? [True, True] Translation: X:205.75, Y:206.03, Z:9.82 [[-4.42828631e-03 -9.99990194e-01 3.84931459e-05 2.05746901e+02] [ 9.99933110e-01 -4.42844482e-03 -1.06847449e-02 2.06026499e+02] [ 1.06848106e-02 -8.82453846e-06 9.99942916e-01 9.82096874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.05, Z:9.82 [[-4.70539267e-03 -9.99988929e-01 4.07363450e-05 2.05744917e+02] [ 9.99935795e-01 -4.70556258e-03 -1.03084425e-02 2.06052969e+02] [ 1.03085200e-02 -7.77154007e-06 9.99946866e-01 9.82138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.08, Z:9.82 [[-4.71346240e-03 -9.99988891e-01 4.52934056e-05 2.05742720e+02] [ 9.99934677e-01 -4.71367849e-03 -1.04126201e-02 2.06079738e+02] [ 1.04127180e-02 -3.78904659e-06 9.99945786e-01 9.82147428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.10, Z:9.82 [[-4.66026515e-03 -9.99989140e-01 4.88376706e-05 2.05739411e+02] [ 9.99936072e-01 -4.66052097e-03 -1.03020452e-02 2.06104705e+02] [ 1.03021609e-02 8.24286274e-07 9.99946931e-01 9.82102240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.13, Z:9.82 [[-5.59085149e-03 -9.99984370e-01 5.51939073e-05 2.05738159e+02] [ 9.99927195e-01 -5.59112204e-03 -1.06932232e-02 2.06130961e+02] [ 1.06933647e-02 -4.59433412e-06 9.99942824e-01 9.82124678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.16, Z:9.82 [[-6.07119384e-03 -9.99981568e-01 6.39231035e-05 2.05736942e+02] [ 9.99916009e-01 -6.07152778e-03 -1.14504256e-02 2.06156764e+02] [ 1.14506027e-02 -5.60001903e-06 9.99934440e-01 9.82124611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.18, Z:9.82 [[-6.83682292e-03 -9.99976626e-01 6.98234054e-05 2.05735313e+02] [ 9.99908796e-01 -6.83717242e-03 -1.16470248e-02 2.06183331e+02] [ 1.16472300e-02 -9.81160892e-06 9.99932169e-01 9.82076185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.21, Z:9.82 [[-7.65094239e-03 -9.99970728e-01 7.76667720e-05 2.05734089e+02] [ 9.99896987e-01 -7.65132139e-03 -1.21437998e-02 2.06209719e+02] [ 1.21440386e-02 -1.52527416e-05 9.99926258e-01 9.82045337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.24, Z:9.82 [[-9.51456481e-03 -9.99954732e-01 8.36499802e-05 2.05733596e+02] [ 9.99878932e-01 -9.51487353e-03 -1.23120944e-02 2.06235532e+02] [ 1.23123330e-02 -3.35043676e-05 9.99924200e-01 9.82052869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.26, Z:9.82 [[-1.12062314e-02 -9.99937205e-01 8.67669947e-05 2.05733320e+02] [ 9.99864372e-01 -1.12064625e-02 -1.20686777e-02 2.06261663e+02] [ 1.20688922e-02 -4.84891691e-05 9.99927167e-01 9.82086396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.29, Z:9.82 [[-1.45424542e-02 -9.99894249e-01 8.78746627e-05 2.05733802e+02] [ 9.99826714e-01 -1.45424933e-02 -1.16214250e-02 2.06287860e+02] [ 1.16214740e-02 -8.11446062e-05 9.99932465e-01 9.82194073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.31, Z:9.82 [[-1.66365385e-02 -9.99861599e-01 8.94419079e-05 2.05734171e+02] [ 9.99798040e-01 -1.66364894e-02 -1.12741430e-02 2.06314080e+02] [ 1.12740706e-02 -9.81388693e-05 9.99936441e-01 9.82278367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.34, Z:9.82 [[-1.90545788e-02 -9.99818441e-01 9.38048264e-05 2.05734896e+02] [ 9.99754816e-01 -1.90544245e-02 -1.12799543e-02 2.06340704e+02] [ 1.12796937e-02 -1.21152951e-04 9.99936375e-01 9.82326409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.37, Z:9.82 [[-2.39999369e-02 -9.99711955e-01 1.00006672e-04 2.05735715e+02] [ 9.99645853e-01 -2.39995002e-02 -1.14974820e-02 2.06368254e+02] [ 1.14965704e-02 -1.75967588e-04 9.99933897e-01 9.82402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.40, Z:9.82 [[-2.66310319e-02 -9.99645326e-01 1.06262119e-04 2.05735287e+02] [ 9.99576540e-01 -2.66304462e-02 -1.17286092e-02 2.06395846e+02] [ 1.17272791e-02 -2.06127844e-04 9.99931212e-01 9.82429703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.42, Z:9.82 [[-3.12533720e-02 -9.99511487e-01 1.17886748e-04 2.05736203e+02] [ 9.99433215e-01 -3.12524001e-02 -1.25114571e-02 2.06422760e+02] [ 1.25090294e-02 -2.73205292e-04 9.99921722e-01 9.82375485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:206.45, Z:9.82 [[-3.32123135e-02 -9.99448310e-01 1.30851584e-04 2.05735013e+02] [ 9.99358890e-01 -3.32110928e-02 -1.33728095e-02 2.06449821e+02] [ 1.33697776e-02 -3.13374249e-04 9.99910571e-01 9.82323073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.182755096 meters Centerline goodness [0,1] 0.9999142403842031 Centerline is valid? [True, True] Translation: X:205.73, Y:206.48, Z:9.82 [[-3.66677624e-02 -9.99327501e-01 1.47018916e-04 2.05732527e+02] [ 9.99222907e-01 -3.66660524e-02 -1.44631263e-02 2.06476689e+02] [ 1.44587905e-02 -3.83425811e-04 9.99895393e-01 9.82230370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.50, Z:9.82 [[-3.78406325e-02 -9.99283775e-01 1.56914481e-04 2.05734098e+02] [ 9.99172315e-01 -3.78387563e-02 -1.49302642e-02 2.06503312e+02] [ 1.49255082e-02 -4.08186037e-04 9.99888525e-01 9.82190960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:206.53, Z:9.82 [[-3.91689203e-02 -9.99232591e-01 1.59034347e-04 2.05728016e+02] [ 9.99124392e-01 -3.91670203e-02 -1.47103007e-02 2.06530696e+02] [ 1.47052408e-02 -4.17291502e-04 9.99891785e-01 9.82257898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:206.56, Z:9.82 [[-4.07079457e-02 -9.99171077e-01 1.50317967e-04 2.05723435e+02] [ 9.99080170e-01 -4.07062706e-02 -1.34838565e-02 2.06558284e+02] [ 1.34787983e-02 -3.98720397e-04 9.99909077e-01 9.82352610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:206.58, Z:9.82 [[-4.16069710e-02 -9.99134044e-01 1.48590793e-04 2.05722625e+02] [ 9.99050578e-01 -4.16054167e-02 -1.29201993e-02 2.06584669e+02] [ 1.29151932e-02 -3.89120641e-04 9.99916520e-01 9.82427919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:206.61, Z:9.82 [[-4.25658645e-02 -9.99093652e-01 1.49307131e-04 2.05719347e+02] [ 9.99014454e-01 -4.25643712e-02 -1.25855257e-02 2.06611452e+02] [ 1.25804740e-02 -3.86553801e-04 9.99920788e-01 9.82492683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:206.64, Z:9.83 [[-4.39425534e-02 -9.99034049e-01 1.46101699e-04 2.05715132e+02] [ 9.98962387e-01 -4.39411522e-02 -1.19718576e-02 2.06638799e+02] [ 1.19667132e-02 -3.80123888e-04 9.99928324e-01 9.82568867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:206.67, Z:9.83 [[-4.42990230e-02 -9.99018305e-01 1.50370767e-04 2.05714596e+02] [ 9.98946642e-01 -4.42976472e-02 -1.19718041e-02 2.06665559e+02] [ 1.19667125e-02 -3.80126852e-04 9.99928324e-01 9.82593819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:206.69, Z:9.83 [[-4.49553614e-02 -9.98988986e-01 1.47040899e-04 2.05712653e+02] [ 9.98924052e-01 -4.49541166e-02 -1.13958849e-02 2.06693138e+02] [ 1.13909736e-02 -3.65423435e-04 9.99935054e-01 9.82668866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:206.72, Z:9.83 [[-4.48607305e-02 -9.98993240e-01 1.43156196e-04 2.05707655e+02] [ 9.98934809e-01 -4.48596557e-02 -1.08101588e-02 2.06720364e+02] [ 1.08056975e-02 -3.41947913e-04 9.99941558e-01 9.82783556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:206.75, Z:9.83 [[-4.44693753e-02 -9.99010738e-01 1.42224958e-04 2.05703797e+02] [ 9.98955987e-01 -4.44684279e-02 -1.04639802e-02 2.06746397e+02] [ 1.04599531e-02 -3.23250188e-04 9.99945241e-01 9.82814158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:206.77, Z:9.83 [[-4.35057859e-02 -9.99053165e-01 1.43969430e-04 2.05700116e+02] [ 9.99000104e-01 -4.35049598e-02 -1.03009640e-02 2.06772370e+02] [ 1.02974741e-02 -3.04326060e-04 9.99946933e-01 9.82759172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:206.80, Z:9.83 [[-4.22814063e-02 -9.99105730e-01 1.50293148e-04 2.05694940e+02] [ 9.99050870e-01 -4.22806603e-02 -1.04740401e-02 2.06799741e+02] [ 1.04710280e-02 -2.92706645e-04 9.99945134e-01 9.82791396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:206.83, Z:9.83 [[-3.86192117e-02 -9.99253987e-01 1.60339004e-04 2.05688271e+02] [ 9.99194612e-01 -3.86186654e-02 -1.08961426e-02 2.06827085e+02] [ 1.08942060e-02 -2.60590568e-04 9.99940622e-01 9.82785650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:206.85, Z:9.83 [[-3.71980982e-02 -9.99307897e-01 1.66669053e-04 2.05683928e+02] [ 9.99246690e-01 -3.71976649e-02 -1.10628439e-02 2.06853384e+02] [ 1.10613870e-02 -2.44973256e-04 9.99938791e-01 9.82799693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:206.88, Z:9.83 [[-3.41998494e-02 -9.99414997e-01 1.87254400e-04 2.05678770e+02] [ 9.99341726e-01 -3.41996099e-02 -1.21037951e-02 2.06879754e+02] [ 1.21031184e-02 -2.26816834e-04 9.99926729e-01 9.82718091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:206.91, Z:9.83 [[-3.33802422e-02 -9.99442705e-01 1.96907650e-04 2.05675957e+02] [ 9.99365396e-01 -3.33801097e-02 -1.24327274e-02 2.06906143e+02] [ 1.24323715e-02 -2.18224759e-04 9.99922691e-01 9.82699545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:206.93, Z:9.83 [[-3.14334792e-02 -9.99505825e-01 2.05811295e-04 2.05670077e+02] [ 9.99424851e-01 -3.14335526e-02 -1.27239648e-02 2.06931605e+02] [ 1.27241463e-02 -1.94265560e-04 9.99919026e-01 9.82746132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:206.96, Z:9.83 [[-3.06626705e-02 -9.99529766e-01 2.19572422e-04 2.05667168e+02] [ 9.99441558e-01 -3.06628818e-02 -1.32800231e-02 2.06958425e+02] [ 1.32805111e-02 -1.87751169e-04 9.99911793e-01 9.82777508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:206.98, Z:9.83 [[-3.02318652e-02 -9.99542888e-01 2.23129444e-04 2.05666923e+02] [ 9.99456016e-01 -3.02321797e-02 -1.31790714e-02 2.06984091e+02] [ 1.31797928e-02 -1.75419845e-04 9.99913127e-01 9.82792681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.01, Z:9.83 [[-2.95778911e-02 -9.99562453e-01 2.26320709e-04 2.05664943e+02] [ 9.99477132e-01 -2.95783236e-02 -1.30608396e-02 2.07010754e+02] [ 1.30618191e-02 -1.60109718e-04 9.99914678e-01 9.82870559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.04, Z:9.83 [[-2.83970308e-02 -9.99596698e-01 2.21902218e-04 2.05662931e+02] [ 9.99518045e-01 -2.83975802e-02 -1.25401579e-02 2.07035909e+02] [ 1.25414019e-02 -1.34307979e-04 9.99921345e-01 9.83019602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.06, Z:9.83 [[-2.82585662e-02 -9.99600623e-01 2.19732427e-04 2.05661287e+02] [ 9.99526701e-01 -2.82591488e-02 -1.21571098e-02 2.07061893e+02] [ 1.21584640e-02 -1.23914063e-04 9.99926075e-01 9.83081790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.09, Z:9.83 [[-2.82458231e-02 -9.99600982e-01 2.24284506e-04 2.05660489e+02] [ 9.99527087e-01 -2.82464623e-02 -1.21548156e-02 2.07088764e+02] [ 1.21563008e-02 -1.19144332e-04 9.99926102e-01 9.83162856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.11, Z:9.83 [[-2.88353539e-02 -9.99584149e-01 2.28058228e-04 2.05661948e+02] [ 9.99510745e-01 -2.88360004e-02 -1.21142547e-02 2.07114310e+02] [ 1.21157933e-02 -1.21372174e-04 9.99926594e-01 9.83167036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.14, Z:9.83 [[-2.93150134e-02 -9.99570194e-01 2.40071487e-04 2.05661328e+02] [ 9.99492442e-01 -2.93157276e-02 -1.24678457e-02 2.07140499e+02] [ 1.24695248e-02 -1.25545428e-04 9.99922245e-01 9.83223581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:207.17, Z:9.83 [[-2.97717638e-02 -9.99556695e-01 2.37447177e-04 2.05664279e+02] [ 9.99483761e-01 -2.97724600e-02 -1.20752946e-02 2.07165644e+02] [ 1.20770109e-02 -1.22178221e-04 9.99927063e-01 9.83276286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.19, Z:9.83 [[-3.02506551e-02 -9.99542316e-01 2.39550432e-04 2.05665002e+02] [ 9.99471026e-01 -3.02513587e-02 -1.19383178e-02 2.07191913e+02] [ 1.19401005e-02 -1.21718218e-04 9.99928707e-01 9.83376050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters Centerline goodness [0,1] 0.9999366513926136 Centerline is valid? [True, True] Translation: X:205.67, Y:207.22, Z:9.83 [[-3.08244739e-02 -9.99524786e-01 2.31137469e-04 2.05665208e+02] [ 9.99460762e-01 -3.08251157e-02 -1.13135615e-02 2.07219390e+02] [ 1.13153100e-02 -1.17721750e-04 9.99935973e-01 9.83461850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.25, Z:9.83 [[-3.12754639e-02 -9.99510773e-01 2.44136169e-04 2.05666463e+02] [ 9.99441866e-01 -3.12761745e-02 -1.17370032e-02 2.07247077e+02] [ 1.17388968e-02 -1.23080311e-04 9.99931089e-01 9.83471273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.27, Z:9.83 [[-3.15661019e-02 -9.99501636e-01 2.47944257e-04 2.05667547e+02] [ 9.99432866e-01 -3.15668387e-02 -1.17252731e-02 2.07273711e+02] [ 1.17272565e-02 -1.22317527e-04 9.99931226e-01 9.83474558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.30, Z:9.84 [[-3.22261962e-02 -9.99480566e-01 2.65502843e-04 2.05670831e+02] [ 9.99403984e-01 -3.22270138e-02 -1.23732184e-02 2.07300920e+02] [ 1.23753477e-02 -1.33397165e-04 9.99923414e-01 9.83500567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.33, Z:9.83 [[-3.27402245e-02 -9.99463855e-01 2.83434905e-04 2.05672455e+02] [ 9.99379602e-01 -3.27411449e-02 -1.29780238e-02 2.07327699e+02] [ 1.29803457e-02 -1.41644349e-04 9.99915742e-01 9.83498722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.35, Z:9.83 [[-3.31943131e-02 -9.99448878e-01 2.81085583e-04 2.05674326e+02] [ 9.99368659e-01 -3.31952103e-02 -1.26634162e-02 2.07353084e+02] [ 1.26657678e-02 -1.39445279e-04 9.99919776e-01 9.83475371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:207.38, Z:9.84 [[-3.36806003e-02 -9.99432606e-01 2.88164609e-04 2.05674690e+02] [ 9.99350811e-01 -3.36815307e-02 -1.27871138e-02 2.07379535e+02] [ 1.27895643e-02 -1.42700133e-04 9.99918200e-01 9.83512945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:207.40, Z:9.84 [[-3.37917153e-02 -9.99428855e-01 2.91445201e-04 2.05677092e+02] [ 9.99348046e-01 -3.37926894e-02 -1.27097480e-02 2.07404992e+02] [ 1.27123376e-02 -1.38228995e-04 9.99919185e-01 9.83525165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:207.43, Z:9.84 [[-3.39738452e-02 -9.99422679e-01 2.96075284e-04 2.05677980e+02] [ 9.99342136e-01 -3.39748663e-02 -1.26887362e-02 2.07431515e+02] [ 1.26914698e-02 -1.35204652e-04 9.99919451e-01 9.83529290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:207.46, Z:9.84 [[-3.44630090e-02 -9.99405927e-01 3.07607483e-04 2.05682369e+02] [ 9.99321860e-01 -3.44641001e-02 -1.29632478e-02 2.07457732e+02] [ 1.29661481e-02 -1.39353643e-04 9.99915926e-01 9.83635265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:207.48, Z:9.84 [[-3.52694697e-02 -9.99377789e-01 3.14903008e-04 2.05685461e+02] [ 9.99292587e-01 -3.52705750e-02 -1.30503718e-02 2.07483227e+02] [ 1.30533585e-02 -1.45599450e-04 9.99914791e-01 9.83712711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:207.51, Z:9.84 [[-3.61930464e-02 -9.99344763e-01 3.30380411e-04 2.05687919e+02] [ 9.99254103e-01 -3.61942134e-02 -1.34616428e-02 2.07509244e+02] [ 1.34647800e-02 -1.57083879e-04 9.99909333e-01 9.83795304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:207.54, Z:9.84 [[-3.79225941e-02 -9.99280621e-01 3.41725660e-04 2.05693645e+02] [ 9.99186692e-01 -3.79237152e-02 -1.37020307e-02 2.07535117e+02] [ 1.37051333e-02 -1.78168817e-04 9.99906064e-01 9.83873467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4127550960001 meters Centerline goodness [0,1] 0.9999568081200735 Centerline is valid? [True, True] Translation: X:205.69, Y:207.56, Z:9.84 [[-3.88042118e-02 -9.99246768e-01 3.60342476e-04 2.05694564e+02] [ 9.99145647e-01 -3.88054117e-02 -1.42167515e-02 2.07561977e+02] [ 1.42200262e-02 -1.91635219e-04 9.99898872e-01 9.83926481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:207.59, Z:9.84 [[-3.94048816e-02 -9.99223259e-01 3.67635435e-04 2.05697733e+02] [ 9.99121146e-01 -3.94061109e-02 -1.42861574e-02 2.07588695e+02] [ 1.42895478e-02 -1.95632002e-04 9.99897880e-01 9.84017018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:207.62, Z:9.84 [[-3.98172181e-02 -9.99206914e-01 3.62894840e-04 2.05699026e+02] [ 9.99110247e-01 -3.98184142e-02 -1.38999248e-02 2.07615493e+02] [ 1.39033509e-02 -1.90884386e-04 9.99903326e-01 9.84125067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:207.64, Z:9.84 [[-4.00581887e-02 -9.99197287e-01 3.50745352e-04 2.05702501e+02] [ 9.99109387e-01 -4.00593175e-02 -1.32546172e-02 2.07642278e+02] [ 1.32580281e-02 -1.80522983e-04 9.99912092e-01 9.84211692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:207.67, Z:9.84 [[-4.05414125e-02 -9.99177798e-01 3.49879941e-04 2.05703075e+02] [ 9.99092721e-01 -4.05425266e-02 -1.30399031e-02 2.07669595e+02] [ 1.30433667e-02 -1.79093587e-04 9.99914916e-01 9.84359979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:207.70, Z:9.84 [[-4.06572457e-02 -9.99173084e-01 3.69738009e-04 2.05708792e+02] [ 9.99080698e-01 -4.06585147e-02 -1.35884207e-02 2.07695661e+02] [ 1.35922172e-02 -1.83069650e-04 9.99907605e-01 9.84299459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:207.72, Z:9.84 [[-4.09064187e-02 -9.99162910e-01 3.80729910e-04 2.05708097e+02] [ 9.99067599e-01 -4.09077757e-02 -1.38016853e-02 2.07722589e+02] [ 1.38057068e-02 -1.84202599e-04 9.99904680e-01 9.84351938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:207.75, Z:9.84 [[-4.14322086e-02 -9.99141240e-01 3.93242997e-04 2.05710119e+02] [ 9.99042305e-01 -4.14336403e-02 -1.40614977e-02 2.07748492e+02] [ 1.40657158e-02 -1.89732517e-04 9.99901055e-01 9.84354640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.77, Z:9.84 [[-4.21828801e-02 -9.99109834e-01 3.79238386e-04 2.05715015e+02] [ 9.99020364e-01 -4.21841783e-02 -1.33719048e-02 2.07773780e+02] [ 1.33759995e-02 -1.85198588e-04 9.99910520e-01 9.84474857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.80, Z:9.85 [[-4.28830882e-02 -9.99080026e-01 3.77685073e-04 2.05716252e+02] [ 9.98993686e-01 -4.28843480e-02 -1.31357926e-02 2.07800245e+02] [ 1.31399048e-02 -1.85998352e-04 9.99913650e-01 9.84562591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.83, Z:9.85 [[-4.45004805e-02 -9.99009299e-01 3.58177860e-04 2.05721038e+02] [ 9.98933619e-01 -4.45015186e-02 -1.22979639e-02 2.07825593e+02] [ 1.23017198e-02 -1.89469399e-04 9.99924313e-01 9.84675941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.85, Z:9.85 [[-4.55956795e-02 -9.98959911e-01 3.61948158e-04 2.05721898e+02] [ 9.98884660e-01 -4.55966880e-02 -1.22628782e-02 2.07852865e+02] [ 1.22666273e-02 -1.97589801e-04 9.99924743e-01 9.84707305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.88, Z:9.85 [[-4.69116707e-02 -9.98898973e-01 3.70003253e-04 2.05723639e+02] [ 9.98822246e-01 -4.69126539e-02 -1.23824132e-02 2.07879539e+02] [ 1.23861376e-02 -2.11312208e-04 9.99923267e-01 9.84694882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:207.91, Z:9.85 [[-4.80116270e-02 -9.98846710e-01 3.66271448e-04 2.05724767e+02] [ 9.98773377e-01 -4.80125411e-02 -1.21052487e-02 2.07907066e+02] [ 1.21088735e-02 -2.15370516e-04 9.99926662e-01 9.84725461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:207.93, Z:9.85 [[-4.99244655e-02 -9.98752930e-01 3.64524037e-04 2.05729032e+02] [ 9.98681949e-01 -4.99252640e-02 -1.19093369e-02 2.07934386e+02] [ 1.19126841e-02 -2.30523701e-04 9.99929015e-01 9.84792015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:207.96, Z:9.85 [[-5.07849243e-02 -9.98709536e-01 3.91749539e-04 2.05731065e+02] [ 9.98629582e-01 -5.07858165e-02 -1.26395756e-02 2.07959531e+02] [ 1.26431600e-02 -2.50687211e-04 9.99920041e-01 9.84770894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:207.99, Z:9.85 [[-5.16330808e-02 -9.98666038e-01 4.10948241e-04 2.05733712e+02] [ 9.98580378e-01 -5.16340354e-02 -1.30826445e-02 2.07985303e+02] [ 1.30864116e-02 -2.65132388e-04 9.99914334e-01 9.84710358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.01, Z:9.85 [[-5.20656021e-02 -9.98643563e-01 4.54684842e-04 2.05734200e+02] [ 9.98541441e-01 -5.20667815e-02 -1.42843166e-02 2.08011799e+02] [ 1.42886148e-02 -2.89699886e-04 9.99897871e-01 9.84708151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.04, Z:9.85 [[-5.22573321e-02 -9.98633537e-01 4.79028234e-04 2.05735279e+02] [ 9.98522761e-01 -5.22586716e-02 -1.48770731e-02 2.08037075e+02] [ 1.48817775e-02 -2.99115556e-04 9.99889216e-01 9.84745023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.06, Z:9.85 [[-5.14955070e-02 -9.98673118e-01 4.64917297e-04 2.05736513e+02] [ 9.98570887e-01 -5.14968889e-02 -1.42917669e-02 2.08062364e+02] [ 1.42967452e-02 -2.71708906e-04 9.99897759e-01 9.84809114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.09, Z:9.85 [[-5.12879691e-02 -9.98683795e-01 4.70677397e-04 2.05734625e+02] [ 9.98581449e-01 -5.12894525e-02 -1.42997309e-02 2.08089201e+02] [ 1.43050503e-02 -2.63394437e-04 9.99897643e-01 9.84863287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.11, Z:9.85 [[-5.06119252e-02 -9.98718283e-01 4.74754651e-04 2.05736200e+02] [ 9.98616495e-01 -5.06135459e-02 -1.42605753e-02 2.08114527e+02] [ 1.42663262e-02 -2.47657342e-04 9.99898200e-01 9.84826294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.14, Z:9.85 [[-4.87502498e-02 -9.98810877e-01 4.95372833e-04 2.05735311e+02] [ 9.98702678e-01 -4.87522609e-02 -1.47030178e-02 2.08141664e+02] [ 1.47096846e-02 -2.22045615e-04 9.99891782e-01 9.84885153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.17, Z:9.85 [[-4.82496611e-02 -9.98835183e-01 4.97268962e-04 2.05734995e+02] [ 9.98728493e-01 -4.82517760e-02 -1.46000933e-02 2.08168092e+02] [ 1.46070809e-02 -2.07812871e-04 9.99893289e-01 9.84920407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.19, Z:9.85 [[-4.73557515e-02 -9.98877955e-01 5.14011076e-04 2.05736419e+02] [ 9.98766391e-01 -4.73581451e-02 -1.49299234e-02 2.08194024e+02] [ 1.49375140e-02 -1.93640755e-04 9.99888410e-01 9.84853806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.22, Z:9.85 [[-4.55453318e-02 -9.98962141e-01 5.14104887e-04 2.05737314e+02] [ 9.98852650e-01 -4.55479517e-02 -1.47908302e-02 2.08220926e+02] [ 1.47988958e-02 -1.60138241e-04 9.99890478e-01 9.84982679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.25, Z:9.85 [[-4.53094305e-02 -9.98972872e-01 5.07014159e-04 2.05735595e+02] [ 9.98868534e-01 -4.53120262e-02 -1.44385824e-02 2.08248328e+02] [ 1.44467259e-02 -1.47763454e-04 9.99895630e-01 9.85148632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.222755096 meters Centerline goodness [0,1] 0.9999555802332037 Centerline is valid? [True, True] Translation: X:205.74, Y:208.27, Z:9.85 [[-4.48079029e-02 -9.98995491e-01 5.11224970e-04 2.05735230e+02] [ 9.98891614e-01 -4.48106161e-02 -1.44066962e-02 2.08274346e+02] [ 1.44151328e-02 -1.34875509e-04 9.99896088e-01 9.85108404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.30, Z:9.85 [[-4.40027697e-02 -9.99031281e-01 5.06907505e-04 2.05736252e+02] [ 9.98931392e-01 -4.40055384e-02 -1.41275332e-02 2.08300301e+02] [ 1.41361543e-02 -1.15284771e-04 9.99900073e-01 9.85404206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2827550960001 meters Centerline goodness [0,1] 0.9998886190995968 Centerline is valid? [True, True] Translation: X:205.74, Y:208.33, Z:9.85 [[-4.37971390e-02 -9.99040316e-01 5.08518136e-04 2.05736423e+02] [ 9.98942001e-01 -4.37999631e-02 -1.40157719e-02 2.08326891e+02] [ 1.40245943e-02 -1.05870588e-04 9.99901645e-01 9.85494687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.312755096 meters Centerline goodness [0,1] 0.9999777372100271 Centerline is valid? [True, True] Translation: X:205.74, Y:208.35, Z:9.86 [[-4.32784452e-02 -9.99062926e-01 4.97150676e-04 2.05737118e+02] [ 9.98970912e-01 -4.32812066e-02 -1.35592788e-02 2.08352800e+02] [ 1.35680900e-02 -9.01854409e-05 9.99907945e-01 9.85656082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.342755096 meters Centerline goodness [0,1] 0.9999777372100271 Centerline is valid? [True, True] Translation: X:205.74, Y:208.38, Z:9.86 [[-4.36588380e-02 -9.99046372e-01 5.02516125e-04 2.05735899e+02] [ 9.98954360e-01 -4.36616372e-02 -1.35590803e-02 2.08378727e+02] [ 1.35680907e-02 -8.99830160e-05 9.99907945e-01 9.85680234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.372755096 meters Centerline goodness [0,1] 0.9999776805642353 Centerline is valid? [True, True] Translation: X:205.74, Y:208.40, Z:9.86 [[-4.41508781e-02 -9.99024748e-01 5.03245541e-04 2.05735326e+02] [ 9.98934336e-01 -4.41536529e-02 -1.34405039e-02 2.08404769e+02] [ 1.34496161e-02 -9.07007972e-05 9.99909546e-01 9.85638523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4027550960001 meters Centerline goodness [0,1] 0.9999329459097005 Centerline is valid? [True, True] Translation: X:205.74, Y:208.43, Z:9.86 [[-4.45657135e-02 -9.99006322e-01 5.15350788e-04 2.05736189e+02] [ 9.98913487e-01 -4.45685979e-02 -1.36193307e-02 2.08430442e+02] [ 1.36287659e-02 -9.21643358e-05 9.99907120e-01 9.85718545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.46, Z:9.86 [[-4.60478136e-02 -9.98939094e-01 5.34439469e-04 2.05739239e+02] [ 9.98841364e-01 -4.60507844e-02 -1.39733569e-02 2.08455763e+02] [ 1.39831438e-02 -1.09622286e-04 9.99902225e-01 9.85723408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.462755096 meters Centerline goodness [0,1] 0.999821328866555 Centerline is valid? [True, True] Translation: X:205.74, Y:208.48, Z:9.86 [[-4.70678711e-02 -9.98891538e-01 5.58358735e-04 2.05739702e+02] [ 9.98787027e-01 -4.70710236e-02 -1.44497181e-02 2.08482159e+02] [ 1.44599837e-02 -1.22436008e-04 9.99895442e-01 9.85687372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.51, Z:9.86 [[-4.87369308e-02 -9.98811481e-01 5.79922946e-04 2.05739872e+02] [ 9.98700936e-01 -4.87401650e-02 -1.48606136e-02 2.08509064e+02] [ 1.48712171e-02 -1.45091111e-04 9.99889407e-01 9.85703800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters Centerline goodness [0,1] 0.9999775684163302 Centerline is valid? [True, True] Translation: X:205.74, Y:208.54, Z:9.86 [[-5.06091754e-02 -9.98718355e-01 5.99694228e-04 2.05742076e+02] [ 9.98602461e-01 -5.06124388e-02 -1.52153526e-02 2.08535026e+02] [ 1.52262039e-02 -1.71180316e-04 9.99884060e-01 9.85656002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.552755096 meters Centerline goodness [0,1] 0.9999327851589631 Centerline is valid? [True, True] Translation: X:205.74, Y:208.56, Z:9.86 [[-5.08623723e-02 -9.98705496e-01 5.92663137e-04 2.05739022e+02] [ 9.98594484e-01 -5.08655556e-02 -1.48913433e-02 2.08561262e+02] [ 1.49022125e-02 -1.65578905e-04 9.99888942e-01 9.85773683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:208.59, Z:9.86 [[-5.06654606e-02 -9.98715503e-01 5.96349874e-04 2.05737516e+02] [ 9.98605087e-01 -5.06687271e-02 -1.48512610e-02 2.08586782e+02] [ 1.48624009e-02 -1.56927961e-04 9.99889536e-01 9.85761549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.612755096 meters Centerline goodness [0,1] 0.9999326961906044 Centerline is valid? [True, True] Translation: X:205.73, Y:208.61, Z:9.86 [[-5.06524513e-02 -9.98716150e-01 6.17572147e-04 2.05733884e+02] [ 9.98599665e-01 -5.06559760e-02 -1.52539172e-02 2.08613967e+02] [ 1.52656171e-02 -1.55940957e-04 9.99883462e-01 9.85640551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.64, Z:9.86 [[-5.06797722e-02 -9.98714756e-01 6.30802462e-04 2.05733703e+02] [ 9.98595265e-01 -5.06834667e-02 -1.54493997e-02 2.08639517e+02] [ 1.54615147e-02 -1.53055706e-04 9.99880452e-01 9.85664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6727550960001 meters Centerline goodness [0,1] 0.9999776989808434 Centerline is valid? [True, True] Translation: X:205.73, Y:208.67, Z:9.86 [[-5.09943591e-02 -9.98698721e-01 6.63102238e-04 2.05731490e+02] [ 9.98568887e-01 -5.09984222e-02 -1.61040080e-02 2.08665480e+02] [ 1.61168694e-02 -1.59060304e-04 9.99870102e-01 9.85666091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.69, Z:9.86 [[-5.17073148e-02 -9.98662038e-01 6.98108947e-04 2.05728561e+02] [ 9.98520795e-01 -5.17117431e-02 -1.67963463e-02 2.08691441e+02] [ 1.68099738e-02 -1.71417663e-04 9.99858688e-01 9.85718034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.72, Z:9.86 [[-5.30521775e-02 -9.98591491e-01 7.06975285e-04 2.05726829e+02] [ 9.98449207e-01 -5.30565532e-02 -1.68577424e-02 2.08719008e+02] [ 1.68715078e-02 -1.88461030e-04 9.99857648e-01 9.85684921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.74, Z:9.86 [[-5.46685426e-02 -9.98504301e-01 7.15706455e-04 2.05725886e+02] [ 9.98361077e-01 -5.46728238e-02 -1.69127818e-02 2.08744751e+02] [ 1.69266151e-02 -2.10063665e-04 9.99856713e-01 9.85649291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.77, Z:9.86 [[-5.82653772e-02 -9.98300874e-01 7.15169189e-04 2.05726067e+02] [ 9.98160389e-01 -5.82691769e-02 -1.67493783e-02 2.08771894e+02] [ 1.67625913e-02 -2.62055288e-04 9.99859464e-01 9.85704898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.80, Z:9.86 [[-6.03772787e-02 -9.98175367e-01 7.21224030e-04 2.05725843e+02] [ 9.98034811e-01 -6.03808816e-02 -1.67530791e-02 2.08799542e+02] [ 1.67660590e-02 -2.91698637e-04 9.99859397e-01 9.85829499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.83, Z:9.86 [[-6.24005367e-02 -9.98050936e-01 7.09361196e-04 2.05725178e+02] [ 9.97917059e-01 -6.24037869e-02 -1.63496330e-02 2.08827987e+02] [ 1.63620334e-02 -3.12342238e-04 9.99866084e-01 9.85932899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.85, Z:9.86 [[-6.56605425e-02 -9.97841789e-01 6.76116177e-04 2.05727695e+02] [ 9.97722015e-01 -6.56631390e-02 -1.54639185e-02 2.08854350e+02] [ 1.54749400e-02 -3.40793280e-04 9.99880198e-01 9.85989192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.73, Y:208.88, Z:9.86 [[-6.70596618e-02 -9.97748739e-01 6.74938429e-04 2.05725137e+02] [ 9.97631442e-01 -6.70621299e-02 -1.53028229e-02 2.08881108e+02] [ 1.53136351e-02 -3.52862331e-04 9.99882677e-01 9.86067957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:208.91, Z:9.86 [[-6.88494792e-02 -9.97626859e-01 6.31413989e-04 2.05723121e+02] [ 9.97525871e-01 -6.88514963e-02 -1.41988957e-02 2.08908134e+02] [ 1.42086736e-02 -3.47734787e-04 9.99898991e-01 9.86173963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:208.93, Z:9.86 [[-6.95849763e-02 -9.97575838e-01 6.14721792e-04 2.05722011e+02] [ 9.97481502e-01 -6.95868524e-02 -1.37230795e-02 2.08934790e+02] [ 1.37325891e-02 -3.41746544e-04 9.99905645e-01 9.86213513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:208.96, Z:9.86 [[-7.01870363e-02 -9.97533670e-01 5.98173983e-04 2.05720617e+02] [ 9.97445569e-01 -7.01887899e-02 -1.32616634e-02 2.08960628e+02] [ 1.32709409e-02 -3.34150862e-04 9.99911881e-01 9.86217913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:208.99, Z:9.86 [[-7.05404659e-02 -9.97508735e-01 6.06094998e-04 2.05718206e+02] [ 9.97419892e-01 -7.05422749e-02 -1.33171782e-02 2.08987358e+02] [ 1.33267569e-02 -3.34868747e-04 9.99911139e-01 9.86254078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.72, Y:209.01, Z:9.86 [[-7.06311307e-02 -9.97502289e-01 6.53231949e-04 2.05716958e+02] [ 9.97400789e-01 -7.06332651e-02 -1.42340283e-02 2.09012717e+02] [ 1.42446157e-02 -3.53831452e-04 9.99898478e-01 9.86191030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.04, Z:9.86 [[-7.05314582e-02 -9.97509306e-01 7.06305505e-04 2.05714353e+02] [ 9.97392449e-01 -7.05340097e-02 -1.52727149e-02 2.09039010e+02] [ 1.52844938e-02 -3.72743074e-04 9.99883116e-01 9.86164036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.07, Z:9.86 [[-7.05546563e-02 -9.97507650e-01 7.27266317e-04 2.05712944e+02] [ 9.97385830e-01 -7.05574089e-02 -1.55935327e-02 2.09065191e+02] [ 1.56059822e-02 -3.74831224e-04 9.99878149e-01 9.86169928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.09, Z:9.86 [[-7.01799298e-02 -9.97534069e-01 7.46912993e-04 2.05711347e+02] [ 9.97407700e-01 -7.01829311e-02 -1.58819445e-02 2.09091727e+02] [ 1.58952013e-02 -3.69616979e-04 9.99873595e-01 9.86211805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.12, Z:9.86 [[-6.99578172e-02 -9.97549662e-01 7.58837967e-04 2.05709597e+02] [ 9.97421333e-01 -6.99609922e-02 -1.60045142e-02 2.09117756e+02] [ 1.60183868e-02 -3.62759701e-04 9.99871632e-01 9.86220613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.14, Z:9.86 [[-6.95164269e-02 -9.97580520e-01 7.57249624e-04 2.05706546e+02] [ 9.97454753e-01 -6.95196897e-02 -1.58439069e-02 2.09144078e+02] [ 1.58582167e-02 -3.46089562e-04 9.99874191e-01 9.86287474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:209.17, Z:9.86 [[-6.92808832e-02 -9.97596908e-01 7.53448317e-04 2.05705639e+02] [ 9.97474393e-01 -6.92841854e-02 -1.56376610e-02 2.09169576e+02] [ 1.56522843e-02 -3.31845560e-04 9.99877440e-01 9.86300048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:209.20, Z:9.86 [[-6.89429533e-02 -9.97620330e-01 7.39865721e-04 2.05702782e+02] [ 9.97504051e-01 -6.89462159e-02 -1.52344510e-02 2.09195518e+02] [ 1.52492089e-02 -3.12288988e-04 9.99883675e-01 9.86324783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:209.22, Z:9.86 [[-6.87790461e-02 -9.97631639e-01 7.44913096e-04 2.05701304e+02] [ 9.97515592e-01 -6.87824094e-02 -1.52192178e-02 2.09220641e+02] [ 1.52344101e-02 -3.03700854e-04 9.99883904e-01 9.86384250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:209.25, Z:9.86 [[-6.85600221e-02 -9.97646718e-01 7.40804846e-04 2.05700083e+02] [ 9.97533575e-01 -6.85634054e-02 -1.50275194e-02 2.09245971e+02] [ 1.50429475e-02 -2.91309356e-04 9.99886806e-01 9.86479281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.70, Y:209.27, Z:9.87 [[-6.75227259e-02 -9.97717465e-01 7.36358756e-04 2.05696015e+02] [ 9.97607150e-01 -6.75262116e-02 -1.48386634e-02 2.09272617e+02] [ 1.48545172e-02 -2.67350245e-04 9.99889630e-01 9.86553594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:209.30, Z:9.87 [[-6.67197884e-02 -9.97771476e-01 7.42651166e-04 2.05694985e+02] [ 9.97661039e-01 -6.67234543e-02 -1.48469502e-02 2.09297754e+02] [ 1.48634157e-02 -2.49671242e-04 9.99889502e-01 9.86518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:209.32, Z:9.87 [[-6.60061792e-02 -9.97818917e-01 7.70895563e-04 2.05691040e+02] [ 9.97701810e-01 -6.60102443e-02 -1.52887614e-02 2.09324515e+02] [ 1.53063023e-02 -2.40028825e-04 9.99882823e-01 9.86583782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:209.35, Z:9.87 [[-6.37518242e-02 -9.97965495e-01 7.59347052e-04 2.05690961e+02] [ 9.97853496e-01 -6.37560466e-02 -1.49521583e-02 2.09351362e+02] [ 1.49701510e-02 -1.95510259e-04 9.99887922e-01 9.86578228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.69, Y:209.38, Z:9.87 [[-6.28804765e-02 -9.98020763e-01 7.76521656e-04 2.05686148e+02] [ 9.97905347e-01 -6.28850147e-02 -1.51787158e-02 2.09377455e+02] [ 1.51975051e-02 -1.79549768e-04 9.99884495e-01 9.86720578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.40, Z:9.87 [[-6.07508113e-02 -9.98152625e-01 8.22042344e-04 2.05683488e+02] [ 9.98025366e-01 -6.07561928e-02 -1.59391010e-02 2.09403033e+02] [ 1.59595996e-02 -1.47894205e-04 9.99872627e-01 9.86648617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.43, Z:9.86 [[-6.03105927e-02 -9.98179311e-01 8.33638129e-04 2.05683407e+02] [ 9.98050507e-01 -6.03162026e-02 -1.60356282e-02 2.09428894e+02] [ 1.60567142e-02 -1.35105286e-04 9.99871074e-01 9.86460478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.572755096 meters Centerline goodness [0,1] 0.9999553162492459 Centerline is valid? [True, True] Translation: X:205.68, Y:209.46, Z:9.87 [[-5.94739958e-02 -9.98229475e-01 8.71103429e-04 2.05680653e+02] [ 9.98091018e-01 -5.94802551e-02 -1.66258566e-02 2.09455247e+02] [ 1.66482336e-02 -1.19365619e-04 9.99861401e-01 9.86610077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.48, Z:9.87 [[-5.98502836e-02 -9.98206995e-01 8.59502939e-04 2.05678728e+02] [ 9.98074085e-01 -5.98563404e-02 -1.62892264e-02 2.09482788e+02] [ 1.63114665e-02 -1.17067213e-04 9.99866952e-01 9.86670315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.51, Z:9.87 [[-6.05295200e-02 -9.98166051e-01 8.43920315e-04 2.05677292e+02] [ 9.98039717e-01 -6.05352859e-02 -1.58809064e-02 2.09508423e+02] [ 1.59028686e-02 -1.18997648e-04 9.99873534e-01 9.86691842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6627550960001 meters Centerline goodness [0,1] 0.9999552502629047 Centerline is valid? [True, True] Translation: X:205.68, Y:209.53, Z:9.87 [[-6.13240939e-02 -9.98117556e-01 8.36630511e-04 2.05675581e+02] [ 9.97995241e-01 -6.13296767e-02 -1.56259346e-02 2.09534624e+02] [ 1.56478300e-02 -1.23293015e-04 9.99877558e-01 9.86725071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:209.56, Z:9.87 [[-6.33277779e-02 -9.97992442e-01 8.23432940e-04 2.05674697e+02] [ 9.97875660e-01 -6.33329647e-02 -1.52676871e-02 2.09559769e+02] [ 1.52891868e-02 -1.45185011e-04 9.99883103e-01 9.86816288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:209.59, Z:9.87 [[-6.50323351e-02 -9.97882827e-01 8.12068768e-04 2.05674808e+02] [ 9.97770878e-01 -6.50372038e-02 -1.49478462e-02 2.09585971e+02] [ 1.49690137e-02 -1.61834777e-04 9.99887945e-01 9.86891469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.61, Z:9.87 [[-6.99734539e-02 -9.97548523e-01 8.12428604e-04 2.05679565e+02] [ 9.97437984e-01 -6.99777958e-02 -1.48517907e-02 2.09612901e+02] [ 1.48722339e-02 -2.28883945e-04 9.99889376e-01 9.87018479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.64, Z:9.87 [[-7.27403294e-02 -9.97350594e-01 7.98591546e-04 2.05680476e+02] [ 9.97245125e-01 -7.27442526e-02 -1.45063550e-02 2.09639993e+02] [ 1.45260147e-02 -2.58805514e-04 9.99894458e-01 9.87080290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.67, Z:9.87 [[-7.55199903e-02 -9.97143982e-01 7.80986143e-04 2.05679019e+02] [ 9.97044317e-01 -7.55234861e-02 -1.41007917e-02 2.09667232e+02] [ 1.41195024e-02 -2.86213854e-04 9.99900274e-01 9.87116679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.69, Z:9.87 [[-8.00249405e-02 -9.96792572e-01 7.60300498e-04 2.05679587e+02] [ 9.96699266e-01 -8.00278554e-02 -1.36424162e-02 2.09693731e+02] [ 1.36595043e-02 -3.33942592e-04 9.99906649e-01 9.87103626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.72, Z:9.87 [[-8.22602521e-02 -9.96610613e-01 7.32275643e-04 2.05677517e+02] [ 9.96525125e-01 -8.22627904e-02 -1.30579156e-02 2.09721321e+02] [ 1.30738963e-02 -3.44416350e-04 9.99914474e-01 9.87145648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:209.75, Z:9.87 [[-8.39837964e-02 -9.96466842e-01 7.44583143e-04 2.05677549e+02] [ 9.96379563e-01 -8.39862989e-02 -1.31934714e-02 2.09748055e+02] [ 1.32093916e-02 -3.66150390e-04 9.99912685e-01 9.87119348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:209.78, Z:9.87 [[-8.60276907e-02 -9.96292464e-01 7.50067700e-04 2.05674468e+02] [ 9.96205014e-01 -8.60300818e-02 -1.32058707e-02 2.09775212e+02] [ 1.32214378e-02 -3.88849356e-04 9.99912517e-01 9.87168708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:209.80, Z:9.87 [[-8.69458710e-02 -9.96212722e-01 7.92845598e-04 2.05672272e+02] [ 9.96116258e-01 -8.69484901e-02 -1.38694293e-02 2.09802586e+02] [ 1.38858386e-02 -4.16123220e-04 9.99903501e-01 9.87204645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.992755096 meters Centerline goodness [0,1] 0.9999552842801886 Centerline is valid? [True, True] Translation: X:205.67, Y:209.83, Z:9.87 [[-8.75245502e-02 -9.96161993e-01 8.58254970e-04 2.05669491e+02] [ 9.96050299e-01 -8.75275944e-02 -1.49238812e-02 2.09828433e+02] [ 1.49417242e-02 -4.51340870e-04 9.99888264e-01 9.86978803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.67, Y:209.85, Z:9.87 [[-8.71877142e-02 -9.96191506e-01 8.86483555e-04 2.05667025e+02] [ 9.96073554e-01 -8.71910381e-02 -1.53361801e-02 2.09854160e+02] [ 1.53550658e-02 -4.54123666e-04 9.99882001e-01 9.87032694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:209.88, Z:9.87 [[-8.67770170e-02 -9.96227341e-01 9.13288998e-04 2.05663375e+02] [ 9.96103646e-01 -8.67806400e-02 -1.57050214e-02 2.09880096e+02] [ 1.57250275e-02 -4.53104405e-04 9.99876251e-01 9.87070974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:209.91, Z:9.87 [[-8.65292629e-02 -9.96248890e-01 9.14816038e-04 2.05660521e+02] [ 9.96126463e-01 -8.65329766e-02 -1.56241379e-02 2.09905422e+02] [ 1.56446918e-02 -4.40672671e-04 9.99877517e-01 9.87080591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.66, Y:209.93, Z:9.87 [[-8.46247500e-02 -9.96412510e-01 8.72612461e-04 2.05655791e+02] [ 9.96302536e-01 -8.46283786e-02 -1.48085645e-02 2.09932152e+02] [ 1.48292867e-02 -3.83785061e-04 9.99889966e-01 9.87215118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:209.96, Z:9.87 [[-8.37571168e-02 -9.96485853e-01 8.31114223e-04 2.05653097e+02] [ 9.96387227e-01 -8.37605236e-02 -1.40238298e-02 2.09959689e+02] [ 1.40441626e-02 -3.46483956e-04 9.99901316e-01 9.87361351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:209.99, Z:9.88 [[-8.18780382e-02 -9.96642082e-01 7.40372570e-04 2.05647669e+02] [ 9.96564651e-01 -8.18809080e-02 -1.24263454e-02 2.09987221e+02] [ 1.24452411e-02 -2.79615652e-04 9.99922516e-01 9.87581882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:210.01, Z:9.88 [[-8.22718338e-02 -9.96609648e-01 7.44727335e-04 2.05645874e+02] [ 9.96532218e-01 -8.22747273e-02 -1.24260846e-02 2.10013127e+02] [ 1.24452280e-02 -2.80171984e-04 9.99922516e-01 9.87606067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.232755096 meters Centerline goodness [0,1] 0.9999331073849447 Centerline is valid? [True, True] Translation: X:205.64, Y:210.04, Z:9.88 [[-8.16178492e-02 -9.96663443e-01 7.12539330e-04 2.05643756e+02] [ 9.96593463e-01 -8.16205640e-02 -1.18132222e-02 2.10038163e+02] [ 1.18319646e-02 -2.54057752e-04 9.99929968e-01 9.87538762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:210.06, Z:9.88 [[-8.04188642e-02 -9.96760913e-01 6.99681284e-04 2.05639548e+02] [ 9.96694310e-01 -8.04215806e-02 -1.15248241e-02 2.10064891e+02] [ 1.15437636e-02 -2.29444905e-04 9.99933342e-01 9.87788122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.64, Y:210.09, Z:9.88 [[-7.79943996e-02 -9.96953596e-01 6.32733156e-04 2.05635786e+02] [ 9.96899713e-01 -7.79967635e-02 -1.03666808e-02 2.10090926e+02] [ 1.03844508e-02 -1.77771540e-04 9.99946064e-01 9.87896233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:210.12, Z:9.88 [[-7.70993021e-02 -9.97023226e-01 6.20252657e-04 2.05632518e+02] [ 9.96972058e-01 -7.71016300e-02 -1.01021621e-02 2.10117752e+02] [ 1.01199127e-02 -1.60495078e-04 9.99948780e-01 9.87915997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.352755096 meters Centerline goodness [0,1] 0.9998217746786374 Centerline is valid? [True, True] Translation: X:205.63, Y:210.14, Z:9.88 [[-7.67715902e-02 -9.97048519e-01 6.11205592e-04 2.05628941e+02] [ 9.96999415e-01 -7.67738758e-02 -9.89638220e-03 2.10143978e+02] [ 9.91409784e-03 -1.50389381e-04 9.99950843e-01 9.87638042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.63, Y:210.17, Z:9.88 [[-7.50280443e-02 -9.97181229e-01 6.23743419e-04 2.05626273e+02] [ 9.97130750e-01 -7.50305228e-02 -1.00343920e-02 2.10170459e+02] [ 1.00529071e-02 -1.30907064e-04 9.99949460e-01 9.87956466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.20, Z:9.88 [[-7.48913883e-02 -9.97191475e-01 6.65672829e-04 2.05624949e+02] [ 9.97134739e-01 -7.48942287e-02 -1.06379669e-02 2.10195439e+02] [ 1.06579450e-02 -1.32926607e-04 9.99943194e-01 9.88001726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.22, Z:9.88 [[-7.42317075e-02 -9.97240801e-01 6.62487055e-04 2.05622164e+02] [ 9.97185322e-01 -7.42345663e-02 -1.05196716e-02 2.10221767e+02] [ 1.05398251e-02 -1.20270817e-04 9.99944447e-01 9.87966937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.472755096 meters Centerline goodness [0,1] 0.9999556491850538 Centerline is valid? [True, True] Translation: X:205.62, Y:210.25, Z:9.88 [[-7.43297006e-02 -9.97233502e-01 6.61490451e-04 2.05619909e+02] [ 9.97178848e-01 -7.43325527e-02 -1.04410834e-02 2.10246827e+02] [ 1.04613685e-02 -1.16458320e-04 9.99945272e-01 9.87994135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.27, Z:9.88 [[-7.47258303e-02 -9.97203914e-01 6.36393237e-04 2.05618098e+02] [ 9.97153924e-01 -7.47284568e-02 -9.98544221e-03 2.10272779e+02] [ 1.00050787e-02 -1.11588446e-04 9.99949942e-01 9.88009129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.30, Z:9.88 [[-7.64159824e-02 -9.97075796e-01 6.74029847e-04 2.05616999e+02] [ 9.97020391e-01 -7.64188423e-02 -1.05119335e-02 2.10300406e+02] [ 1.05327031e-02 -1.31258227e-04 9.99944521e-01 9.87963252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.33, Z:9.88 [[-7.77906089e-02 -9.96969463e-01 7.15447579e-04 2.05618144e+02] [ 9.96907766e-01 -7.77937550e-02 -1.10922749e-02 2.10327040e+02] [ 1.11143167e-02 -1.49639571e-04 9.99938223e-01 9.87917825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.592755096 meters Centerline goodness [0,1] 0.9999104965205522 Centerline is valid? [True, True] Translation: X:205.62, Y:210.35, Z:9.88 [[-7.97737081e-02 -9.96812736e-01 7.25080107e-04 2.05619065e+02] [ 9.96750091e-01 -7.97768245e-02 -1.11765330e-02 2.10353610e+02] [ 1.11987551e-02 -1.68869822e-04 9.99937278e-01 9.87926403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.38, Z:9.88 [[-8.44597548e-02 -9.96426616e-01 7.40874411e-04 2.05621143e+02] [ 9.96361923e-01 -8.44627151e-02 -1.13564238e-02 2.10380625e+02] [ 1.13784192e-02 -2.20981713e-04 9.99935239e-01 9.87979572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.41, Z:9.88 [[-8.69576547e-02 -9.96211740e-01 7.31542972e-04 2.05620423e+02] [ 9.96149341e-01 -8.69603976e-02 -1.11525759e-02 2.10408185e+02] [ 1.11739423e-02 -2.41075795e-04 9.99937541e-01 9.87968853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.682755096 meters Centerline goodness [0,1] 0.9999551941214687 Centerline is valid? [True, True] Translation: X:205.62, Y:210.44, Z:9.88 [[-8.94607696e-02 -9.95990069e-01 7.44291746e-04 2.05619036e+02] [ 9.95926165e-01 -8.94634633e-02 -1.12855091e-02 2.10435462e+02] [ 1.13068419e-02 -2.68350703e-04 9.99936040e-01 9.87939713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.712755096 meters Centerline goodness [0,1] 0.9998654346460931 Centerline is valid? [True, True] Translation: X:205.62, Y:210.46, Z:9.88 [[-9.38400622e-02 -9.95586968e-01 7.94833375e-04 2.05622641e+02] [ 9.95514921e-01 -9.38428371e-02 -1.19818529e-02 2.10461829e+02] [ 1.20035660e-02 -3.33109338e-04 9.99927899e-01 9.87661336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.49, Z:9.88 [[-9.53774826e-02 -9.95440850e-01 8.05795937e-04 2.05620771e+02] [ 9.95367632e-01 -9.53802445e-02 -1.20783558e-02 2.10488656e+02] [ 1.21001458e-02 -3.49939979e-04 9.99926729e-01 9.87889509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.772755096 meters Centerline goodness [0,1] 0.9999103561103516 Centerline is valid? [True, True] Translation: X:205.62, Y:210.52, Z:9.88 [[-9.72698693e-02 -9.95257738e-01 7.79668743e-04 2.05621298e+02] [ 9.95189893e-01 -9.72723463e-02 -1.16261575e-02 2.10515157e+02] [ 1.16468635e-02 -3.54956371e-04 9.99932110e-01 9.87789450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.54, Z:9.88 [[-9.83341031e-02 -9.95153169e-01 7.58604374e-04 2.05620121e+02] [ 9.95089616e-01 -9.83364007e-02 -1.12520394e-02 2.10542269e+02] [ 1.12721011e-02 -3.51579868e-04 9.99936406e-01 9.87991073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.57, Z:9.88 [[-9.88025299e-02 -9.95106759e-01 7.73559285e-04 2.05618817e+02] [ 9.95041342e-01 -9.88049089e-02 -1.14156574e-02 2.10567253e+02] [ 1.14362292e-02 -3.58172358e-04 9.99934540e-01 9.87943593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:210.59, Z:9.88 [[-9.95846785e-02 -9.95028777e-01 7.90108768e-04 2.05615116e+02] [ 9.94961182e-01 -9.95871276e-02 -1.16038972e-02 2.10593236e+02] [ 1.16248963e-02 -3.69442822e-04 9.99932360e-01 9.87943069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:210.62, Z:9.88 [[-9.91894437e-02 -9.95068271e-01 7.68403597e-04 2.05613432e+02] [ 9.95005052e-01 -9.91918077e-02 -1.12219521e-02 2.10618957e+02] [ 1.12428278e-02 -3.48533721e-04 9.99936737e-01 9.87926453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.61, Y:210.64, Z:9.88 [[-9.92087721e-02 -9.95066374e-01 7.28674880e-04 2.05610394e+02] [ 9.95010155e-01 -9.92109163e-02 -1.05823110e-02 2.10644945e+02] [ 1.06023943e-02 -3.24819172e-04 9.99943740e-01 9.88013348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.952755096 meters Centerline goodness [0,1] 0.9999554565701559 Centerline is valid? [True, True] Translation: X:205.61, Y:210.67, Z:9.88 [[-9.82724855e-02 -9.95159326e-01 6.58960369e-04 2.05606577e+02] [ 9.95113814e-01 -9.82742960e-02 -9.52153439e-03 2.10670738e+02] [ 9.54020262e-03 -2.79964284e-04 9.99954452e-01 9.88072830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:210.70, Z:9.88 [[-9.76091917e-02 -9.95224621e-01 6.32073549e-04 2.05602963e+02] [ 9.95183165e-01 -9.76108973e-02 -9.08735426e-03 2.10696744e+02] [ 9.10565596e-03 -2.57980348e-04 9.99958509e-01 9.88192570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.60, Y:210.72, Z:9.88 [[-9.68506606e-02 -9.95298729e-01 6.23572854e-04 2.05599978e+02] [ 9.95258814e-01 -9.68523632e-02 -8.91695826e-03 2.10721608e+02] [ 8.93543173e-03 -2.42996919e-04 9.99960049e-01 9.88259190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:210.75, Z:9.88 [[-9.52962080e-02 -9.95448791e-01 5.81731338e-04 2.05594087e+02] [ 9.95414423e-01 -9.52977534e-02 -8.27434824e-03 2.10748573e+02] [ 8.29212764e-03 -2.09450247e-04 9.99965598e-01 9.88301537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:210.77, Z:9.88 [[-9.45060583e-02 -9.95524124e-01 5.69157518e-04 2.05592034e+02] [ 9.95491532e-01 -9.45075711e-02 -8.05787281e-03 2.10773665e+02] [ 8.07559647e-03 -1.94926309e-04 9.99967373e-01 9.88342949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:210.80, Z:9.88 [[-9.29007688e-02 -9.95675222e-01 5.47012943e-04 2.05584483e+02] [ 9.95645448e-01 -9.29022220e-02 -7.70187746e-03 2.10800809e+02] [ 7.71938727e-03 -1.70879390e-04 9.99970191e-01 9.88335050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:210.83, Z:9.88 [[-9.24368996e-02 -9.95718408e-01 5.22232594e-04 2.05583213e+02] [ 9.95691533e-01 -9.24382424e-02 -7.31723336e-03 2.10826117e+02] [ 7.33417821e-03 -1.56399793e-04 9.99973092e-01 9.88330338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.58, Y:210.85, Z:9.88 [[-9.15043493e-02 -9.95804534e-01 5.33809856e-04 2.05576192e+02] [ 9.95776693e-01 -9.15057835e-02 -7.44778291e-03 2.10852570e+02] [ 7.46538267e-03 -1.49949116e-04 9.99972122e-01 9.88248892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:210.88, Z:9.88 [[-9.17738984e-02 -9.95779735e-01 5.20694453e-04 2.05573371e+02] [ 9.95753523e-01 -9.17752614e-02 -7.22649141e-03 2.10879094e+02] [ 7.24378057e-03 -1.44719952e-04 9.99973753e-01 9.88235442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:210.90, Z:9.88 [[-9.18446503e-02 -9.95773209e-01 5.26690768e-04 2.05571369e+02] [ 9.95746676e-01 -9.18460487e-02 -7.27050881e-03 2.10904269e+02] [ 7.28815235e-03 -1.43306757e-04 9.99973431e-01 9.88299685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:210.93, Z:9.88 [[-9.23405683e-02 -9.95727367e-01 4.79419487e-04 2.05568905e+02] [ 9.95705600e-01 -9.23417203e-02 -6.58514889e-03 2.10930676e+02] [ 6.60128339e-03 -1.30715723e-04 9.99978203e-01 9.88366869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.57, Y:210.96, Z:9.88 [[-9.26679340e-02 -9.95696974e-01 4.35531176e-04 2.05566558e+02] [ 9.95679171e-01 -9.26688821e-02 -5.95545756e-03 2.10957166e+02] [ 5.97019126e-03 -1.18230629e-04 9.99982171e-01 9.88422877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.312755096 meters Centerline goodness [0,1] 0.9999111604664076 Centerline is valid? [True, True] Translation: X:205.56, Y:210.98, Z:9.88 [[-9.32205432e-02 -9.95645366e-01 4.85831873e-04 2.05564130e+02] [ 9.95623476e-01 -9.32217159e-02 -6.60345358e-03 2.10983045e+02] [ 6.61998803e-03 -1.31871912e-04 9.99978079e-01 9.88317236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.342755096 meters Centerline goodness [0,1] 0.9999111387568312 Centerline is valid? [True, True] Translation: X:205.56, Y:211.01, Z:9.88 [[-9.39852710e-02 -9.95573457e-01 5.10631086e-04 2.05560247e+02] [ 9.95549534e-01 -9.39865533e-02 -6.90315581e-03 2.11009055e+02] [ 6.92059115e-03 -1.40436430e-04 9.99976043e-01 9.88196788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:211.04, Z:9.88 [[-9.46695428e-02 -9.95508637e-01 4.80554456e-04 2.05558197e+02] [ 9.95487654e-01 -9.46706682e-02 -6.46499461e-03 2.11035120e+02] [ 6.48145239e-03 -1.33652056e-04 9.99978986e-01 9.88303120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4027550960001 meters Centerline goodness [0,1] 0.9999777955413447 Centerline is valid? [True, True] Translation: X:205.56, Y:211.06, Z:9.88 [[-9.52864671e-02 -9.95449774e-01 4.86606152e-04 2.05555873e+02] [ 9.95428487e-01 -9.52876124e-02 -6.51139610e-03 2.11061867e+02] [ 6.52813532e-03 -1.36066305e-04 9.99978682e-01 9.88300980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.432755096 meters Centerline goodness [0,1] 0.9999555782600005 Centerline is valid? [True, True] Translation: X:205.55, Y:211.09, Z:9.88 [[-9.67823380e-02 -9.95305464e-01 4.60156057e-04 2.05554331e+02] [ 9.95286618e-01 -9.67833379e-02 -6.12648366e-03 2.11089047e+02] [ 6.14225810e-03 -1.34948247e-04 9.99981127e-01 9.88277226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.12, Z:9.88 [[-9.82875724e-02 -9.95157961e-01 4.30734472e-04 2.05553415e+02] [ 9.95141578e-01 -9.82884266e-02 -5.71178184e-03 2.11115742e+02] [ 5.72646138e-03 -1.32755388e-04 9.99983595e-01 9.88310501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.14, Z:9.88 [[-9.94482415e-02 -9.95042651e-01 4.12937400e-04 2.05552470e+02] [ 9.95027723e-01 -9.94490121e-02 -5.45210898e-03 2.11141918e+02] [ 5.46614719e-03 -1.31318490e-04 9.99985052e-01 9.88359737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.17, Z:9.88 [[-1.02088828e-01 -9.94775220e-01 3.64325958e-04 2.05551729e+02] [ 9.94763696e-01 -1.02089400e-01 -4.78984824e-03 2.11169280e+02] [ 4.80201616e-03 -1.26571759e-04 9.99988462e-01 9.88418873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.20, Z:9.88 [[-1.03567144e-01 -9.94622402e-01 3.51739840e-04 2.05552479e+02] [ 9.94611774e-01 -1.03567664e-01 -4.59976045e-03 2.11195858e+02] [ 4.61145366e-03 -1.26539468e-04 9.99989359e-01 9.88434519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.22, Z:9.88 [[-1.05055006e-01 -9.94466338e-01 3.86196917e-04 2.05551383e+02] [ 9.94453612e-01 -1.05055617e-01 -5.03303102e-03 2.11223042e+02] [ 5.04575208e-03 -1.44690188e-04 9.99987260e-01 9.88344712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.25, Z:9.88 [[-1.07664387e-01 -9.94187190e-01 4.59676922e-04 2.05552268e+02] [ 9.94169360e-01 -1.07665210e-01 -5.95708954e-03 2.11249084e+02] [ 5.97195332e-03 -1.84369679e-04 9.99982151e-01 9.88207308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.28, Z:9.88 [[-1.08849383e-01 -9.94058154e-01 4.45737859e-04 2.05550305e+02] [ 9.94041530e-01 -1.08850142e-01 -5.75186810e-03 2.11276640e+02] [ 5.76621001e-03 -1.83005349e-04 9.99983359e-01 9.88194335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6727550960001 meters Centerline goodness [0,1] 0.9998656816655473 Centerline is valid? [True, True] Translation: X:205.55, Y:211.30, Z:9.88 [[-1.09640338e-01 -9.93971217e-01 4.66036202e-04 2.05549758e+02] [ 9.93953195e-01 -1.09641158e-01 -5.98848314e-03 2.11302597e+02] [ 6.00347662e-03 -1.93361145e-04 9.99981960e-01 9.88089944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.55, Y:211.33, Z:9.88 [[-1.10035878e-01 -9.93927543e-01 3.80576897e-04 2.05546054e+02] [ 9.93915605e-01 -1.10036422e-01 -4.87399091e-03 2.11329031e+02] [ 4.88627112e-03 -1.58052550e-04 9.99988050e-01 9.88188056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.732755096 meters Centerline goodness [0,1] 0.9998882881272622 Centerline is valid? [True, True] Translation: X:205.54, Y:211.35, Z:9.88 [[-1.09538878e-01 -9.93982413e-01 4.44161432e-04 2.05540723e+02] [ 9.93966344e-01 -1.09539633e-01 -5.65479974e-03 2.11354863e+02] [ 5.66942477e-03 -1.77938902e-04 9.99983913e-01 9.88026673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:211.38, Z:9.88 [[-1.09188130e-01 -9.94021031e-01 3.76358624e-04 2.05538956e+02] [ 9.94009570e-01 -1.09188679e-01 -4.77565027e-03 2.11380350e+02] [ 4.78819091e-03 -1.47340249e-04 9.99988526e-01 9.88133927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.54, Y:211.41, Z:9.88 [[-1.07798502e-01 -9.94172697e-01 3.61905854e-04 2.05536174e+02] [ 9.94162217e-01 -1.07799028e-01 -4.56692111e-03 2.11407694e+02] [ 4.57932138e-03 -1.32514127e-04 9.99989506e-01 9.88136051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:211.44, Z:9.88 [[-1.06948108e-01 -9.94264546e-01 3.39538996e-04 2.05533264e+02] [ 9.94255397e-01 -1.06948581e-01 -4.26703753e-03 2.11435284e+02] [ 4.27887735e-03 -1.18763111e-04 9.99990839e-01 9.88188609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:211.46, Z:9.88 [[-1.05244231e-01 -9.94446368e-01 2.69994471e-04 2.05530646e+02] [ 9.94440596e-01 -1.05244541e-01 -3.38950650e-03 2.11461605e+02] [ 3.39909787e-03 -8.82325441e-05 9.99994219e-01 9.88182720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:211.49, Z:9.88 [[-1.04633853e-01 -9.94510773e-01 2.81326574e-04 2.05527729e+02] [ 9.94504566e-01 -1.04634194e-01 -3.51483005e-03 2.11487653e+02] [ 3.52497272e-03 -8.79896481e-05 9.99993783e-01 9.88188001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.53, Y:211.51, Z:9.88 [[-1.02888164e-01 -9.94692889e-01 2.88754664e-04 2.05525245e+02] [ 9.94686428e-01 -1.02888537e-01 -3.58602654e-03 2.11514531e+02] [ 3.59670464e-03 -8.17393434e-05 9.99993529e-01 9.88197506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:211.54, Z:9.88 [[-1.02417586e-01 -9.94741463e-01 2.43747751e-04 2.05522237e+02] [ 9.94736871e-01 -1.02417854e-01 -3.02350041e-03 2.11540494e+02] [ 3.03256534e-03 -6.71947371e-05 9.99995400e-01 9.88223943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:211.57, Z:9.88 [[-1.02151870e-01 -9.94768796e-01 1.95239001e-04 2.05519489e+02] [ 9.94765856e-01 -1.02152043e-01 -2.41894557e-03 2.11566411e+02] [ 2.42623564e-03 -5.28827213e-05 9.99997055e-01 9.88262497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:211.59, Z:9.88 [[-1.02074859e-01 -9.94776706e-01 1.69243942e-04 2.05516244e+02] [ 9.94774505e-01 -1.02074989e-01 -2.09310733e-03 2.11593117e+02] [ 2.09944999e-03 -4.52940771e-05 9.99997795e-01 9.88262531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:211.62, Z:9.88 [[-1.02238456e-01 -9.94759917e-01 7.19353925e-05 2.05514388e+02] [ 9.94759508e-01 -1.02238480e-01 -9.02709270e-04 2.11618533e+02] [ 9.05333563e-04 -2.07331867e-05 9.99999590e-01 9.88346232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:211.64, Z:9.88 [[-1.02469213e-01 -9.94736176e-01 3.92656431e-05 2.05511433e+02] [ 9.94736042e-01 -1.02469220e-01 -5.15575855e-04 2.11644904e+02] [ 5.16885474e-04 -1.37717017e-05 9.99999866e-01 9.88321856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:211.67, Z:9.88 [[-1.03139932e-01 -9.94666853e-01 7.62088573e-05 2.05509292e+02] [ 9.94666395e-01 -1.03139958e-01 -9.54428453e-04 2.11671669e+02] [ 9.57198524e-04 -2.26372967e-05 9.99999542e-01 9.88282964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:211.70, Z:9.88 [[-1.03532851e-01 -9.94626032e-01 7.65858221e-05 2.05506881e+02] [ 9.94625574e-01 -1.03532877e-01 -9.54397546e-04 2.11697523e+02] [ 9.57197794e-04 -2.26372819e-05 9.99999542e-01 9.88307128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.51, Y:211.72, Z:9.88 [[-1.04266419e-01 -9.94549397e-01 9.97188070e-05 2.05505354e+02] [ 9.94548643e-01 -1.04266463e-01 -1.22513215e-03 2.11722622e+02] [ 1.22885177e-03 -2.85649380e-05 9.99999245e-01 9.88277240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:211.75, Z:9.88 [[-1.04981567e-01 -9.94474161e-01 1.20706451e-04 2.05502892e+02] [ 9.94473083e-01 -1.04981631e-01 -1.46434447e-03 2.11748964e+02] [ 1.46892469e-03 -3.36898599e-05 9.99998921e-01 9.88268838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:211.78, Z:9.88 [[-1.06545942e-01 -9.94307769e-01 1.51768905e-04 2.05501213e+02] [ 9.94306105e-01 -1.06546042e-01 -1.81954363e-03 2.11775484e+02] [ 1.82535674e-03 -4.29602411e-05 9.99998333e-01 9.88232869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:211.80, Z:9.88 [[-1.07627875e-01 -9.94191238e-01 1.52242911e-04 2.05498904e+02] [ 9.94189572e-01 -1.07627973e-01 -1.82054723e-03 2.11800336e+02] [ 1.82635770e-03 -4.45833149e-05 9.99998331e-01 9.88156975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.50, Y:211.83, Z:9.88 [[-1.08852845e-01 -9.94057856e-01 1.93217354e-04 2.05495537e+02] [ 9.94055228e-01 -1.08853002e-01 -2.28631142e-03 2.11826938e+02] [ 2.29375812e-03 -5.68027817e-05 9.99997368e-01 9.88094926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:211.85, Z:9.88 [[-1.10189258e-01 -9.93910597e-01 2.29309947e-04 2.05493875e+02] [ 9.93906976e-01 -1.10189476e-01 -2.68390974e-03 2.11853170e+02] [ 2.69283387e-03 -6.78252676e-05 9.99996372e-01 9.88022248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:211.88, Z:9.88 [[-1.10925453e-01 -9.93828693e-01 2.72160765e-04 2.05491212e+02] [ 9.93823614e-01 -1.10925756e-01 -3.17809431e-03 2.11879992e+02] [ 3.18867095e-03 -8.20517546e-05 9.99994913e-01 9.87994554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:211.91, Z:9.88 [[-1.11707618e-01 -9.93741076e-01 2.85261826e-04 2.05489822e+02] [ 9.93735550e-01 -1.11707949e-01 -3.31532391e-03 2.11905680e+02] [ 3.32643957e-03 -8.68721207e-05 9.99994464e-01 9.87961907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:211.93, Z:9.88 [[-1.11893003e-01 -9.93720214e-01 3.05010591e-04 2.05486728e+02] [ 9.93713969e-01 -1.11893382e-01 -3.52395759e-03 2.11932123e+02] [ 3.53595655e-03 -9.12129121e-05 9.99993744e-01 9.87983282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:211.96, Z:9.88 [[-1.11829454e-01 -9.93727369e-01 2.98685982e-04 2.05481577e+02] [ 9.93721426e-01 -1.11829819e-01 -3.43791991e-03 2.11957970e+02] [ 3.44975710e-03 -8.76500463e-05 9.99994046e-01 9.87949451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.48, Y:211.98, Z:9.88 [[-1.11643787e-01 -9.93748254e-01 2.69417998e-04 2.05479676e+02] [ 9.93743446e-01 -1.11644085e-01 -3.09236083e-03 2.11983458e+02] [ 3.10310710e-03 -7.75105029e-05 9.99995182e-01 9.88010974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:212.01, Z:9.88 [[-1.09812980e-01 -9.93952235e-01 2.53068871e-04 2.05472626e+02] [ 9.93948037e-01 -1.09813252e-01 -2.88940224e-03 2.12009830e+02] [ 2.89971813e-03 -6.57565638e-05 9.99995794e-01 9.88014497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.47, Y:212.04, Z:9.88 [[-1.09054815e-01 -9.94035708e-01 2.42720149e-04 2.05468353e+02] [ 9.94031864e-01 -1.09055069e-01 -2.76514523e-03 2.12036297e+02] [ 2.77512296e-03 -6.02808408e-05 9.99996148e-01 9.88022266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:212.06, Z:9.88 [[-1.07116159e-01 -9.94246454e-01 3.42149109e-04 2.05464365e+02] [ 9.94238979e-01 -1.07116681e-01 -3.85615880e-03 2.12062608e+02] [ 3.87062209e-03 -7.28789380e-05 9.99992506e-01 9.88015743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:212.09, Z:9.88 [[-1.06399128e-01 -9.94323441e-01 3.46847359e-04 2.05460999e+02] [ 9.94315781e-01 -1.06399670e-01 -3.90365649e-03 2.12088560e+02] [ 3.91840160e-03 -7.04698421e-05 9.99992321e-01 9.88006358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.46, Y:212.11, Z:9.88 [[-1.05448743e-01 -9.94424675e-01 3.59484319e-04 2.05456962e+02] [ 9.94416523e-01 -1.05449335e-01 -4.02711042e-03 2.12114706e+02] [ 4.04256535e-03 -6.71765861e-05 9.99991827e-01 9.88029351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:212.14, Z:9.88 [[-1.03472899e-01 -9.94632208e-01 3.61194108e-04 2.05450390e+02] [ 9.94624060e-01 -1.03473513e-01 -4.02641194e-03 2.12141601e+02] [ 4.04217302e-03 -5.73721653e-05 9.99991829e-01 9.88015097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.45, Y:212.17, Z:9.88 [[-1.02706035e-01 -9.94711674e-01 3.96482339e-04 2.05446512e+02] [ 9.94701936e-01 -1.02706784e-01 -4.40163496e-03 2.12167161e+02] [ 4.41907910e-03 -5.76927212e-05 9.99990234e-01 9.87980644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:212.19, Z:9.88 [[-1.01417543e-01 -9.94843849e-01 4.46190657e-04 2.05441822e+02] [ 9.94831682e-01 -1.01418509e-01 -4.92041625e-03 2.12191966e+02] [ 4.94029783e-03 -5.51319242e-05 9.99987795e-01 9.87944516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:212.22, Z:9.88 [[-1.01376087e-01 -9.94848083e-01 4.25507916e-04 2.05438738e+02] [ 9.94837069e-01 -1.01376967e-01 -4.68163986e-03 2.12217850e+02] [ 4.70065714e-03 -5.12952833e-05 9.99988951e-01 9.87991772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:212.24, Z:9.88 [[-1.01668642e-01 -9.94818225e-01 4.32557259e-04 2.05435451e+02] [ 9.94806941e-01 -1.01669550e-01 -4.73845928e-03 2.12244206e+02] [ 4.75788355e-03 -5.14417595e-05 9.99988680e-01 9.87992124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.27, Z:9.88 [[-1.02170303e-01 -9.94766822e-01 4.46179967e-04 2.05432974e+02] [ 9.94754922e-01 -1.02171263e-01 -4.86611416e-03 2.12269917e+02] [ 4.88623569e-03 -5.33326404e-05 9.99988061e-01 9.88023128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.29, Z:9.88 [[-1.03185143e-01 -9.94662045e-01 4.93533762e-04 2.05430700e+02] [ 9.94647637e-01 -1.03186305e-01 -5.35389081e-03 2.12294954e+02] [ 5.37623791e-03 -6.15498017e-05 9.99985546e-01 9.87978301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.32, Z:9.88 [[-1.03984271e-01 -9.94578816e-01 5.00890522e-04 2.05428487e+02] [ 9.94564113e-01 -1.03985457e-01 -5.40832611e-03 2.12321169e+02] [ 5.43109191e-03 -6.42131100e-05 9.99985249e-01 9.87999408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.35, Z:9.88 [[-1.05266375e-01 -9.94443918e-01 5.32937124e-04 2.05426294e+02] [ 9.94427422e-01 -1.05267699e-01 -5.72836525e-03 2.12347768e+02] [ 5.75263904e-03 -7.30369544e-05 9.99983451e-01 9.87963579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.37, Z:9.88 [[-1.08256139e-01 -9.94122889e-01 5.39409729e-04 2.05426503e+02] [ 9.94106138e-01 -1.08257446e-01 -5.77157291e-03 2.12374927e+02] [ 5.79604785e-03 -8.85776736e-05 9.99983199e-01 9.88000353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.40, Z:9.88 [[-1.09998125e-01 -9.93931653e-01 5.30572114e-04 2.05425284e+02] [ 9.93915563e-01 -1.09999363e-01 -5.65621872e-03 2.12402598e+02] [ 5.68025742e-03 -9.48295709e-05 9.99983863e-01 9.88032127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.43, Z:9.88 [[-1.11703056e-01 -9.93741478e-01 5.50253165e-04 2.05425419e+02] [ 9.93724302e-01 -1.11704361e-01 -5.84365483e-03 2.12429237e+02] [ 5.86854786e-03 -1.05954161e-04 9.99982774e-01 9.88080323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:212.46, Z:9.88 [[-1.13904409e-01 -9.93491575e-01 5.26020414e-04 2.05425203e+02] [ 9.93475990e-01 -1.13905569e-01 -5.56580934e-03 2.12455726e+02] [ 5.58950134e-03 -1.11381572e-04 9.99984372e-01 9.88135589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:212.48, Z:9.88 [[-1.14739077e-01 -9.93395525e-01 5.24029294e-04 2.05420048e+02] [ 9.93380169e-01 -1.14740218e-01 -5.52477679e-03 2.12482344e+02] [ 5.54841578e-03 -1.13347481e-04 9.99984601e-01 9.88095620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:212.51, Z:9.88 [[-1.15392509e-01 -9.93319815e-01 5.59779002e-04 2.05417734e+02] [ 9.93302433e-01 -1.15393802e-01 -5.87760138e-03 2.12508364e+02] [ 5.90293294e-03 -1.22201325e-04 9.99982570e-01 9.88107579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.42, Y:212.53, Z:9.88 [[-1.14944287e-01 -9.93371678e-01 7.20907145e-04 2.05416122e+02] [ 9.93343165e-01 -1.14946451e-01 -7.52794631e-03 2.12534068e+02] [ 7.56091438e-03 -1.49186235e-04 9.99971405e-01 9.87981210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.41, Y:212.56, Z:9.88 [[-1.14390588e-01 -9.93435524e-01 8.08862181e-04 2.05412575e+02] [ 9.93399892e-01 -1.14393337e-01 -8.41535839e-03 2.12560824e+02] [ 8.45264441e-03 -1.59114188e-04 9.99964263e-01 9.87890398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.41, Y:212.59, Z:9.88 [[-1.13780358e-01 -9.93505533e-01 8.86177504e-04 2.05406961e+02] [ 9.93463107e-01 -1.13783690e-01 -9.18300491e-03 2.12586434e+02] [ 9.22419874e-03 -1.64460930e-04 9.99957443e-01 9.87844619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.40, Y:212.61, Z:9.88 [[-1.11445379e-01 -9.93770024e-01 1.03257348e-03 2.05401431e+02] [ 9.93712958e-01 -1.11450046e-01 -1.06510486e-02 2.12613116e+02] [ 1.06997732e-02 -1.60928500e-04 9.99942743e-01 9.87761889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.202755096 meters Centerline goodness [0,1] 0.9999777674025656 Centerline is valid? [True, True] Translation: X:205.40, Y:212.64, Z:9.88 [[-1.10523345e-01 -9.93872915e-01 1.10455814e-03 2.05397317e+02] [ 9.93808107e-01 -1.10528753e-01 -1.13507897e-02 2.12638671e+02] [ 1.14033279e-02 -1.56808409e-04 9.99934968e-01 9.87730030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.232755096 meters Centerline goodness [0,1] 0.9999556698288855 Centerline is valid? [True, True] Translation: X:205.39, Y:212.66, Z:9.88 [[-1.09155418e-01 -9.94023957e-01 1.21147829e-03 2.05389751e+02] [ 9.93946568e-01 -1.09162038e-01 -1.24044402e-02 2.12664926e+02] [ 1.24625582e-02 -1.49867177e-04 9.99922328e-01 9.87692596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.39, Y:212.69, Z:9.88 [[-1.08879480e-01 -9.94054159e-01 1.26003813e-03 2.05385239e+02] [ 9.93971125e-01 -1.08886672e-01 -1.28489435e-02 2.12691369e+02] [ 1.29097471e-02 -1.46544763e-04 9.99916655e-01 9.87710108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:212.72, Z:9.88 [[-1.09097643e-01 -9.94030217e-01 1.27767461e-03 2.05380849e+02] [ 9.93945515e-01 -1.09105027e-01 -1.29771746e-02 2.12717030e+02] [ 1.30391044e-02 -1.45840208e-04 9.99914977e-01 9.87765261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.38, Y:212.74, Z:9.88 [[-1.09223460e-01 -9.94016408e-01 1.27129033e-03 2.05376094e+02] [ 9.93933205e-01 -1.09230767e-01 -1.28617256e-02 2.12742157e+02] [ 1.29236303e-02 -1.41224492e-04 9.99916476e-01 9.87876196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:212.77, Z:9.88 [[-1.09733844e-01 -9.93960170e-01 1.28968508e-03 2.05372368e+02] [ 9.93875223e-01 -1.09741328e-01 -1.29954621e-02 2.12768052e+02] [ 1.30585035e-02 -1.44255968e-04 9.99914724e-01 9.87958098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:212.79, Z:9.88 [[-1.10321297e-01 -9.93895097e-01 1.32203600e-03 2.05368887e+02] [ 9.93806516e-01 -1.10329116e-01 -1.32700791e-02 2.12794562e+02] [ 1.33349256e-02 -1.50124349e-04 9.99911075e-01 9.87977482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:212.82, Z:9.88 [[-1.11548638e-01 -9.93758002e-01 1.39103704e-03 2.05365105e+02] [ 9.93660632e-01 -1.11557182e-01 -1.39120185e-02 2.12819906e+02] [ 1.39803599e-02 -1.69647974e-04 9.99902256e-01 9.87930810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:212.85, Z:9.88 [[-1.12618279e-01 -9.93637308e-01 1.42250648e-03 2.05361797e+02] [ 9.93536134e-01 -1.12627113e-01 -1.41803990e-02 2.12846503e+02] [ 1.42503863e-02 -1.83660541e-04 9.99898441e-01 9.87922447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:212.87, Z:9.88 [[-1.15393025e-01 -9.93318711e-01 1.54570023e-03 2.05359472e+02] [ 9.93200141e-01 -1.15403135e-01 -1.53491800e-02 2.12872711e+02] [ 1.54250064e-02 -2.35998629e-04 9.99881000e-01 9.87846922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.36, Y:212.90, Z:9.88 [[-1.17369162e-01 -9.93087064e-01 1.60116315e-03 2.05355526e+02] [ 9.92960736e-01 -1.17379774e-01 -1.58418813e-02 2.12899364e+02] [ 1.59203116e-02 -2.69456205e-04 9.99873228e-01 9.87892771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5327550960001 meters Centerline goodness [0,1] 0.999845119037083 Centerline is valid? [True, True] Translation: X:205.35, Y:212.93, Z:9.88 [[-1.19325729e-01 -9.92853739e-01 1.68019408e-03 2.05353303e+02] [ 9.92715604e-01 -1.19337159e-01 -1.65641923e-02 2.12926796e+02] [ 1.66463298e-02 -3.08579447e-04 9.99861393e-01 9.87906850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.562755096 meters Centerline goodness [0,1] 0.99988937563609 Centerline is valid? [True, True] Translation: X:205.35, Y:212.95, Z:9.88 [[-1.23472483e-01 -9.92346468e-01 1.74148456e-03 2.05354223e+02] [ 9.92199097e-01 -1.23484166e-01 -1.71059385e-02 2.12953436e+02] [ 1.71900634e-02 -3.84213297e-04 9.99852166e-01 9.87888090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.592755096 meters Centerline goodness [0,1] 0.9998887108262108 Centerline is valid? [True, True] Translation: X:205.35, Y:212.98, Z:9.88 [[-1.25245845e-01 -9.92124159e-01 1.76939340e-03 2.05352770e+02] [ 9.91973085e-01 -1.25257659e-01 -1.73181123e-02 2.12980623e+02] [ 1.74033477e-02 -4.13830974e-04 9.99848465e-01 9.87931192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.35, Y:213.01, Z:9.88 [[-1.26548611e-01 -9.91958762e-01 1.80655734e-03 2.05354386e+02] [ 9.91802357e-01 -1.26560747e-01 -1.76199234e-02 2.13007167e+02] [ 1.77068766e-02 -4.38028996e-04 9.99843125e-01 9.87878510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.35, Y:213.03, Z:9.88 [[-1.27548715e-01 -9.91830766e-01 1.74822140e-03 2.05347134e+02] [ 9.91685338e-01 -1.27559959e-01 -1.69896490e-02 2.13033190e+02] [ 1.70738597e-02 -4.33322376e-04 9.99854137e-01 9.88095670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:213.06, Z:9.88 [[-1.27880160e-01 -9.91788092e-01 1.74517417e-03 2.05342974e+02] [ 9.91644257e-01 -1.27891344e-01 -1.68959110e-02 2.13058879e+02] [ 1.69803560e-02 -4.30059847e-04 9.99855731e-01 9.88132643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:213.08, Z:9.88 [[-1.27832583e-01 -9.91794278e-01 1.71515651e-03 2.05339463e+02] [ 9.91656398e-01 -1.27843420e-01 -1.65423188e-02 2.13083972e+02] [ 1.66258486e-02 -4.13801429e-04 9.99861695e-01 9.88081245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:213.11, Z:9.88 [[-1.26455410e-01 -9.91970608e-01 1.82822800e-03 2.05335154e+02] [ 9.91815085e-01 -1.26467966e-01 -1.75696255e-02 2.13109180e+02] [ 1.76597643e-02 -4.08510085e-04 9.99843971e-01 9.87947976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.772755096 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:205.33, Y:213.14, Z:9.88 [[-1.25926676e-01 -9.92037715e-01 1.90880477e-03 2.05331685e+02] [ 9.91869316e-01 -1.25940478e-01 -1.82826804e-02 2.13135086e+02] [ 1.83775043e-02 -4.08992292e-04 9.99831036e-01 9.87909578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.802755096 meters Centerline goodness [0,1] 0.9999778486620592 Centerline is valid? [True, True] Translation: X:205.33, Y:213.16, Z:9.88 [[-1.25151058e-01 -9.92135809e-01 1.93644647e-03 2.05328115e+02] [ 9.91963763e-01 -1.25165425e-01 -1.84799998e-02 2.13161413e+02] [ 1.85770457e-02 -3.91906801e-04 9.99827355e-01 9.87892562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:213.19, Z:9.88 [[-1.23328632e-01 -9.92364057e-01 1.90459593e-03 2.05323285e+02] [ 9.92198767e-01 -1.23342857e-01 -1.81147895e-02 2.13187827e+02] [ 1.82113843e-02 -3.44334477e-04 9.99834100e-01 9.87842611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:213.21, Z:9.88 [[-1.22392431e-01 -9.92479951e-01 1.90794051e-03 2.05317579e+02] [ 9.92315228e-01 -1.22406882e-01 -1.80843615e-02 2.13214115e+02] [ 1.81819113e-02 -3.20110540e-04 9.99834644e-01 9.87896665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.31, Y:213.24, Z:9.88 [[-1.21577263e-01 -9.92580047e-01 1.95439924e-03 2.05312783e+02] [ 9.92408504e-01 -1.21592590e-01 -1.84554306e-02 2.13239857e+02] [ 1.85561326e-02 -3.04198311e-04 9.99827774e-01 9.87896326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9227550960001 meters Centerline goodness [0,1] 0.9999778614124419 Centerline is valid? [True, True] Translation: X:205.31, Y:213.27, Z:9.88 [[-1.19714342e-01 -9.92806182e-01 2.08841387e-03 2.05306813e+02] [ 9.92611781e-01 -1.19732231e-01 -1.96480542e-02 2.13267058e+02] [ 1.97567601e-02 -2.79169668e-04 9.99804777e-01 9.87850140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:213.29, Z:9.88 [[-1.19453322e-01 -9.92837498e-01 2.14622313e-03 2.05304447e+02] [ 9.92633443e-01 -1.19472286e-01 -2.01300821e-02 2.13293074e+02] [ 2.02423145e-02 -2.74192316e-04 9.99795066e-01 9.87734404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.982755096 meters Centerline goodness [0,1] 0.9999778658226167 Centerline is valid? [True, True] Translation: X:205.30, Y:213.32, Z:9.88 [[-1.19189854e-01 -9.92868877e-01 2.27432796e-03 2.05302658e+02] [ 9.92641271e-01 -1.19211230e-01 -2.12600557e-02 2.13318271e+02] [ 2.13795731e-02 -2.76391131e-04 9.99771393e-01 9.87520324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.012755096 meters Centerline goodness [0,1] 0.9999778658226167 Centerline is valid? [True, True] Translation: X:205.30, Y:213.34, Z:9.88 [[-1.19549124e-01 -9.92825663e-01 2.28238062e-03 2.05299619e+02] [ 9.92598066e-01 -1.19570590e-01 -2.12591920e-02 2.13344033e+02] [ 2.13795770e-02 -2.76031185e-04 9.99771393e-01 9.87544474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0427550960001 meters Centerline goodness [0,1] 0.9999557041925982 Centerline is valid? [True, True] Translation: X:205.29, Y:213.37, Z:9.88 [[-1.19912164e-01 -9.92781550e-01 2.42208954e-03 2.05294987e+02] [ 9.92527078e-01 -1.19936269e-01 -2.24786748e-02 2.13370089e+02] [ 2.26069100e-02 -2.91477082e-04 9.99744389e-01 9.87645729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:213.40, Z:9.87 [[-1.20048578e-01 -9.92764875e-01 2.49834884e-03 2.05294331e+02] [ 9.92496154e-01 -1.20074214e-01 -2.30990868e-02 2.13395968e+02] [ 2.32319493e-02 -2.93410914e-04 9.99730059e-01 9.87349240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.102755096 meters Centerline goodness [0,1] 0.999845529172919 Centerline is valid? [True, True] Translation: X:205.29, Y:213.42, Z:9.87 [[-1.20643994e-01 -9.92692263e-01 2.66436872e-03 2.05290488e+02] [ 9.92388728e-01 -1.20672993e-01 -2.45487752e-02 2.13422600e+02] [ 2.46908966e-02 -3.17572793e-04 9.99695083e-01 9.87436525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.132755096 meters Centerline goodness [0,1] 0.9998457198272062 Centerline is valid? [True, True] Translation: X:205.29, Y:213.45, Z:9.88 [[-1.21532383e-01 -9.92583829e-01 2.68735237e-03 2.05286442e+02] [ 9.92277135e-01 -1.21561637e-01 -2.46750109e-02 2.13448561e+02] [ 2.48186958e-02 -3.32214566e-04 9.99691914e-01 9.87657278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:213.47, Z:9.88 [[-1.22356799e-01 -9.92482562e-01 2.67933873e-03 2.05283260e+02] [ 9.92179873e-01 -1.22385657e-01 -2.45122385e-02 2.13474444e+02] [ 2.46558819e-02 -3.40853086e-04 9.99695939e-01 9.87716218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.192755096 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:205.28, Y:213.50, Z:9.88 [[-1.23488286e-01 -9.92342536e-01 2.63319854e-03 2.05283154e+02] [ 9.92052300e-01 -1.23515857e-01 -2.40014176e-02 2.13500200e+02] [ 2.41428694e-02 -3.51623265e-04 9.99708457e-01 9.87540253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.28, Y:213.53, Z:9.88 [[-1.24224853e-01 -9.92250667e-01 2.60777557e-03 2.05276575e+02] [ 9.91968052e-01 -1.24251714e-01 -2.36832359e-02 2.13525623e+02] [ 2.38237272e-02 -3.55216451e-04 9.99716112e-01 9.87972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.27, Y:213.55, Z:9.88 [[-1.24751981e-01 -9.92184340e-01 2.67916332e-03 2.05273424e+02] [ 9.91887903e-01 -1.24780203e-01 -2.42546862e-02 2.13550860e+02] [ 2.43994263e-02 -3.68390456e-04 9.99702222e-01 9.88047847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2827550960001 meters Centerline goodness [0,1] 0.999977970656915 Centerline is valid? [True, True] Translation: X:205.27, Y:213.58, Z:9.88 [[-1.25025414e-01 -9.92149729e-01 2.74966092e-03 2.05268886e+02] [ 9.91839427e-01 -1.25055084e-01 -2.48148397e-02 2.13577892e+02] [ 2.49638956e-02 -3.75263504e-04 9.99688283e-01 9.88161975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.312755096 meters Centerline goodness [0,1] 0.9999780369418638 Centerline is valid? [True, True] Translation: X:205.27, Y:213.61, Z:9.88 [[-1.25126475e-01 -9.92136758e-01 2.83160542e-03 2.05265306e+02] [ 9.91809849e-01 -1.25157938e-01 -2.54698566e-02 2.13605176e+02] [ 2.56239788e-02 -3.78539226e-04 9.99671580e-01 9.88162244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.26, Y:213.63, Z:9.88 [[-1.24582309e-01 -9.92204922e-01 2.93959917e-03 2.05260985e+02] [ 9.91854928e-01 -1.24616443e-01 -2.63541892e-02 2.13631878e+02] [ 2.65150786e-02 -3.67609824e-04 9.99648346e-01 9.88150248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.372755096 meters Centerline goodness [0,1] 0.9998022282286242 Centerline is valid? [True, True] Translation: X:205.26, Y:213.66, Z:9.88 [[-1.24282637e-01 -9.92242258e-01 3.02113145e-03 2.05257553e+02] [ 9.91875235e-01 -1.24318837e-01 -2.69878764e-02 2.13656660e+02] [ 2.71540949e-02 -3.57538962e-04 9.99631196e-01 9.87974691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4027550960001 meters Centerline goodness [0,1] 0.9997586396050466 Centerline is valid? [True, True] Translation: X:205.25, Y:213.68, Z:9.88 [[-1.23504558e-01 -9.92339296e-01 3.05707078e-03 2.05251662e+02] [ 9.91966180e-01 -1.23541952e-01 -2.72118322e-02 2.13682760e+02] [ 2.73810469e-02 -3.28274493e-04 9.99625015e-01 9.87996113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.432755096 meters Centerline goodness [0,1] 0.9999123556607288 Centerline is valid? [True, True] Translation: X:205.25, Y:213.71, Z:9.88 [[-1.22738478e-01 -9.92434171e-01 3.11152280e-03 2.05245493e+02] [ 9.92050226e-01 -1.22777541e-01 -2.76047852e-02 2.13709429e+02] [ 2.77779572e-02 -3.01382410e-04 9.99614073e-01 9.88092562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.462755096 meters Centerline goodness [0,1] 0.9998027440494455 Centerline is valid? [True, True] Translation: X:205.24, Y:213.74, Z:9.88 [[-1.21465220e-01 -9.92590765e-01 3.12621113e-03 2.05238546e+02] [ 9.92205910e-01 -1.21505175e-01 -2.76391768e-02 2.13735698e+02] [ 2.78142425e-02 -2.55353522e-04 9.99613077e-01 9.88058490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.492755096 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:205.23, Y:213.76, Z:9.88 [[-1.21140373e-01 -9.92630387e-01 3.15048949e-03 2.05234001e+02] [ 9.92242315e-01 -1.21181103e-01 -2.77548117e-02 2.13762137e+02] [ 2.79320493e-02 -2.36179268e-04 9.99609796e-01 9.88058954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.23, Y:213.79, Z:9.88 [[-1.20877407e-01 -9.92662287e-01 3.19959974e-03 2.05230074e+02] [ 9.92264932e-01 -1.20919546e-01 -2.80850041e-02 2.13787614e+02] [ 2.82658186e-02 -2.19991870e-04 9.99600418e-01 9.87993103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.552755096 meters Centerline goodness [0,1] 0.9999342336022449 Centerline is valid? [True, True] Translation: X:205.22, Y:213.81, Z:9.88 [[-1.20513378e-01 -9.92706988e-01 3.05960751e-03 2.05224761e+02] [ 9.92346179e-01 -1.20552062e-01 -2.67630514e-02 2.13813585e+02] [ 2.69367102e-02 -1.89115899e-04 9.99637123e-01 9.88155485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.582755096 meters Centerline goodness [0,1] 0.9999781109773449 Centerline is valid? [True, True] Translation: X:205.22, Y:213.84, Z:9.88 [[-1.20672985e-01 -9.92687933e-01 2.94923088e-03 2.05220363e+02] [ 9.92354961e-01 -1.20708891e-01 -2.57098077e-02 2.13839718e+02] [ 2.58778143e-02 -1.75795351e-04 9.99665098e-01 9.88224382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.612755096 meters Centerline goodness [0,1] 0.9999781133727292 Centerline is valid? [True, True] Translation: X:205.21, Y:213.87, Z:9.88 [[-1.21684360e-01 -9.92564806e-01 2.83246709e-03 2.05214978e+02] [ 9.92259743e-01 -1.21717183e-01 -2.46075095e-02 2.13865654e+02] [ 2.47693078e-02 -1.83805980e-04 9.99693177e-01 9.88281296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters Centerline goodness [0,1] 0.9998687836241963 Centerline is valid? [True, True] Translation: X:205.21, Y:213.89, Z:9.88 [[-1.22476995e-01 -9.92467568e-01 2.74070469e-03 2.05211614e+02] [ 9.92183936e-01 -1.22507514e-01 -2.37265054e-02 2.13890990e+02] [ 2.38835440e-02 -1.86667914e-04 9.99714730e-01 9.88271076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6727550960001 meters Centerline goodness [0,1] 0.9999127666070572 Centerline is valid? [True, True] Translation: X:205.21, Y:213.92, Z:9.88 [[-1.23794796e-01 -9.92304257e-01 2.66652750e-03 2.05208333e+02] [ 9.92037583e-01 -1.23823345e-01 -2.30046148e-02 2.13916909e+02] [ 2.31577556e-02 -2.02556100e-04 9.99731803e-01 9.88297530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:213.94, Z:9.88 [[-1.24698139e-01 -9.92191470e-01 2.54179607e-03 2.05205568e+02] [ 9.91950792e-01 -1.24723875e-01 -2.18536325e-02 2.13942648e+02] [ 2.20000104e-02 -2.03770679e-04 9.99757950e-01 9.88354129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.732755096 meters Centerline goodness [0,1] 0.9999780629593068 Centerline is valid? [True, True] Translation: X:205.20, Y:213.97, Z:9.88 [[-1.27157054e-01 -9.91879842e-01 2.33722967e-03 2.05204347e+02] [ 9.91677643e-01 -1.27178327e-01 -2.00281216e-02 2.13968653e+02] [ 2.01627351e-02 -2.28938543e-04 9.99796685e-01 9.88467053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters Centerline goodness [0,1] 0.9999561441978774 Centerline is valid? [True, True] Translation: X:205.20, Y:213.99, Z:9.88 [[-1.28905520e-01 -9.91654287e-01 2.26758340e-03 2.05202487e+02] [ 9.91465050e-01 -1.28925223e-01 -1.93737512e-02 2.13994473e+02] [ 1.95044121e-02 -2.49153787e-04 9.99809740e-01 9.88472106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.20, Y:214.02, Z:9.89 [[-1.31013326e-01 -9.91378389e-01 2.09717084e-03 2.05201717e+02] [ 9.91217418e-01 -1.31029848e-01 -1.78664044e-02 2.14021027e+02] [ 1.79871591e-02 -2.61984798e-04 9.99838184e-01 9.88521235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.822755096 meters Centerline goodness [0,1] 0.9999780562199645 Centerline is valid? [True, True] Translation: X:205.20, Y:214.05, Z:9.89 [[-1.32273810e-01 -9.91211288e-01 1.95517863e-03 2.05200064e+02] [ 9.91072259e-01 -1.32288007e-01 -1.66030524e-02 2.14046605e+02] [ 1.67157796e-02 -2.58425700e-04 9.99860248e-01 9.88569113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.852755096 meters Centerline goodness [0,1] 0.9998681984930694 Centerline is valid? [True, True] Translation: X:205.20, Y:214.07, Z:9.89 [[-1.33337156e-01 -9.91069090e-01 1.80613621e-03 2.05197297e+02] [ 9.90951199e-01 -1.33349156e-01 -1.52880382e-02 2.14072855e+02] [ 1.53923489e-02 -2.48670694e-04 9.99881500e-01 9.88668787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters Centerline goodness [0,1] 0.9999119543923752 Centerline is valid? [True, True] Translation: X:205.20, Y:214.10, Z:9.89 [[-1.34957525e-01 -9.90850071e-01 1.61360501e-03 2.05197471e+02] [ 9.90756544e-01 -1.34966960e-01 -1.36157853e-02 2.14098113e+02] [ 1.37089852e-02 -2.38862967e-04 9.99905999e-01 9.88731072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9127550960001 meters Centerline goodness [0,1] 0.9999780528487402 Centerline is valid? [True, True] Translation: X:205.19, Y:214.13, Z:9.89 [[-1.35689431e-01 -9.90750236e-01 1.53218356e-03 2.05192451e+02] [ 9.90666444e-01 -1.35697885e-01 -1.28872219e-02 2.14125280e+02] [ 1.29759322e-02 -2.30776976e-04 9.99915782e-01 9.88801536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.942755096 meters Centerline goodness [0,1] 0.9999561153289156 Centerline is valid? [True, True] Translation: X:205.19, Y:214.15, Z:9.89 [[-1.36885746e-01 -9.90585888e-01 1.37531693e-03 2.05192417e+02] [ 9.90518749e-01 -1.36892484e-01 -1.15349695e-02 2.14151762e+02] [ 1.16146486e-02 -2.16695702e-04 9.99932524e-01 9.88885915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:214.18, Z:9.89 [[-1.37762632e-01 -9.90464537e-01 1.20746795e-03 2.05188110e+02] [ 9.90413073e-01 -1.37767785e-01 -1.00985997e-02 2.14178492e+02] [ 1.01686551e-02 -1.95317635e-04 9.99948279e-01 9.88979696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.19, Y:214.20, Z:9.89 [[-1.38465999e-01 -9.90366532e-01 1.14014908e-03 2.05187579e+02] [ 9.90320906e-01 -1.38470566e-01 -9.50821208e-03 2.14204716e+02] [ 9.57449211e-03 -1.87450608e-04 9.99954146e-01 9.89058038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0327550960001 meters Centerline goodness [0,1] 0.9999560623036534 Centerline is valid? [True, True] Translation: X:205.19, Y:214.23, Z:9.89 [[-1.38897232e-01 -9.90306267e-01 1.02846488e-03 2.05185659e+02] [ 9.90269353e-01 -1.38900936e-01 -8.55210156e-03 2.14230270e+02] [ 8.61205450e-03 -1.69405977e-04 9.99962901e-01 9.89161386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.062755096 meters Centerline goodness [0,1] 0.9999780480309084 Centerline is valid? [True, True] Translation: X:205.18, Y:214.26, Z:9.89 [[-1.39492462e-01 -9.90222824e-01 7.82748444e-04 2.05180395e+02] [ 9.90201496e-01 -1.39494596e-01 -6.50043341e-03 2.14256664e+02] [ 6.54606671e-03 -1.31682779e-04 9.99978566e-01 9.89300314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.18, Y:214.28, Z:9.89 [[-1.39846185e-01 -9.90173019e-01 6.60753064e-04 2.05177118e+02] [ 9.90157892e-01 -1.39847701e-01 -5.47444227e-03 2.14282261e+02] [ 5.51304983e-03 -1.11330004e-04 9.99984797e-01 9.89393300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.18, Y:214.31, Z:9.89 [[-1.40171860e-01 -9.90127055e-01 5.15362300e-04 2.05175345e+02] [ 9.90117903e-01 -1.40172780e-01 -4.25787295e-03 2.14307926e+02] [ 4.28807496e-03 -8.65645298e-05 9.99990802e-01 9.89498535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:214.33, Z:9.89 [[-1.40843130e-01 -9.90031821e-01 4.53940615e-04 2.05169652e+02] [ 9.90024733e-01 -1.40843839e-01 -3.74714030e-03 2.14334193e+02] [ 3.77372287e-03 -7.83465308e-05 9.99992876e-01 9.89477358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:214.36, Z:9.89 [[-1.41246149e-01 -9.89974407e-01 4.45471464e-04 2.05165682e+02] [ 9.89967623e-01 -1.41246831e-01 -3.66591594e-03 2.14360849e+02] [ 3.69208440e-03 -7.67941841e-05 9.99993181e-01 9.89442201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:214.39, Z:9.89 [[-1.41972500e-01 -9.89870515e-01 4.16874313e-04 2.05160955e+02] [ 9.89864604e-01 -1.41973094e-01 -3.42149462e-03 2.14386806e+02] [ 3.44602158e-03 -7.31090195e-05 9.99994060e-01 9.89367792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:214.41, Z:9.89 [[-1.42563573e-01 -9.89785598e-01 3.11743000e-04 2.05157714e+02] [ 9.89782292e-01 -1.42563903e-01 -2.55881643e-03 2.14412363e+02] [ 2.57712295e-03 -5.62363113e-05 9.99996678e-01 9.89429908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.15, Y:214.44, Z:9.90 [[-1.43509695e-01 -9.89648886e-01 2.21510182e-04 2.05153862e+02] [ 9.89647214e-01 -1.43509860e-01 -1.81997380e-03 2.14438593e+02] [ 1.83292394e-03 -4.19669510e-05 9.99998319e-01 9.89520739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.15, Y:214.46, Z:9.90 [[-1.43989689e-01 -9.89579175e-01 1.59726278e-04 2.05147283e+02] [ 9.89578300e-01 -1.43989774e-01 -1.31679834e-03 2.14464767e+02] [ 1.32607517e-03 -3.15437257e-05 9.99999120e-01 9.89541466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:214.49, Z:9.90 [[-1.44072258e-01 -9.89567169e-01 4.64646450e-05 2.05142122e+02] [ 9.89567087e-01 -1.44072265e-01 -4.02953357e-04 2.14490765e+02] [ 4.05443679e-04 -1.20745166e-05 9.99999918e-01 9.89618458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.14, Y:214.52, Z:9.90 [[-1.43944783e-01 -9.89585718e-01 7.35497480e-05 2.05139122e+02] [ 9.89585525e-01 -1.43944801e-01 -6.19690433e-04 2.14516226e+02] [ 6.23823906e-04 -1.64174389e-05 9.99999805e-01 9.89744738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:214.54, Z:9.90 [[-1.42849813e-01 -9.89744374e-01 -7.63145863e-05 2.05132745e+02] [ 9.89744199e-01 -1.42849833e-01 5.87394927e-04 2.14541321e+02] [-5.92272351e-04 8.37733621e-06 9.99999825e-01 9.89856865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:214.57, Z:9.90 [[-1.42463947e-01 -9.89799992e-01 -2.07425183e-05 2.05125975e+02] [ 9.89799982e-01 -1.42463949e-01 1.36492726e-04 2.14567528e+02] [-1.38055561e-04 -1.08565166e-06 9.99999991e-01 9.89784533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.12, Y:214.59, Z:9.90 [[-1.41112654e-01 -9.89993543e-01 5.94279145e-05 2.05120322e+02] [ 9.89993418e-01 -1.41112666e-01 -4.98807950e-04 2.14593499e+02] [ 5.02202680e-04 -1.15548693e-05 9.99999874e-01 9.89844080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:214.62, Z:9.90 [[-1.40686452e-01 -9.90054199e-01 7.34727942e-05 2.05114271e+02] [ 9.90054012e-01 -1.40686471e-01 -6.08908256e-04 2.14619582e+02] [ 6.13188803e-04 -1.29231075e-05 9.99999812e-01 9.89809079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.11, Y:214.64, Z:9.90 [[-1.40196332e-01 -9.90123716e-01 1.23427773e-04 2.05108783e+02] [ 9.90123206e-01 -1.40196385e-01 -1.00486375e-03 2.14643664e+02] [ 1.01224356e-03 -1.86695096e-05 9.99999488e-01 9.89829154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5427550960001 meters Centerline goodness [0,1] 0.9999782726778924 Centerline is valid? [True, True] Translation: X:205.10, Y:214.67, Z:9.90 [[-1.39424990e-01 -9.90232634e-01 5.55928232e-05 2.05101927e+02] [ 9.90232525e-01 -1.39425001e-01 -4.64991464e-04 2.14669340e+02] [ 4.68200751e-04 -9.78160872e-06 9.99999890e-01 9.89799414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.10, Y:214.69, Z:9.90 [[-1.38230205e-01 -9.90400125e-01 -5.10782336e-05 2.05095017e+02] [ 9.90400055e-01 -1.38230215e-01 3.71865550e-04 2.14694166e+02] [-3.75356242e-04 8.15165827e-07 9.99999930e-01 9.90044137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.09, Y:214.72, Z:9.90 [[-1.37902892e-01 -9.90445729e-01 -2.26432700e-04 2.05087205e+02] [ 9.90444197e-01 -1.37903077e-01 1.74181195e-03 2.14719816e+02] [-1.75639597e-03 1.59319522e-05 9.99998457e-01 9.90022789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:214.75, Z:9.90 [[-1.36631042e-01 -9.90621947e-01 -3.42451566e-04 2.05078461e+02] [ 9.90618428e-01 -1.36631470e-01 2.64046961e-03 2.14745412e+02] [-2.66249680e-03 2.15312826e-05 9.99996455e-01 9.90160832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:214.77, Z:9.90 [[-1.36310426e-01 -9.90666112e-01 -3.50680863e-04 2.05073136e+02] [ 9.90662447e-01 -1.36310875e-01 2.69476738e-03 2.14770419e+02] [-2.71741634e-03 1.99185281e-05 9.99996308e-01 9.90226802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:214.80, Z:9.90 [[-1.36083419e-01 -9.90697320e-01 -3.51304501e-04 2.05068128e+02] [ 9.90693664e-01 -1.36083871e-01 2.69144312e-03 2.14795210e+02] [-2.71421236e-03 1.82256374e-05 9.99996316e-01 9.90322899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.722755096 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:205.06, Y:214.82, Z:9.90 [[-1.34627030e-01 -9.90896267e-01 -3.89010038e-04 2.05059489e+02] [ 9.90891797e-01 -1.34627591e-01 2.97646491e-03 2.14821164e+02] [-3.00173945e-03 1.52457761e-05 9.99995495e-01 9.90359688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:214.85, Z:9.90 [[-1.33975430e-01 -9.90984596e-01 -3.40292635e-04 2.05052857e+02] [ 9.90981205e-01 -1.33975862e-01 2.59247941e-03 2.14847133e+02] [-2.61469816e-03 1.01049377e-05 9.99996582e-01 9.90347006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.05, Y:214.87, Z:9.90 [[-1.33141909e-01 -9.91096920e-01 -3.55583709e-04 2.05046087e+02] [ 9.91093236e-01 -1.33142384e-01 2.70241789e-03 2.14872826e+02] [-2.72570131e-03 7.38846828e-06 9.99996285e-01 9.90354276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.04, Y:214.90, Z:9.90 [[-1.31468254e-01 -9.91320366e-01 -1.75369823e-04 2.05036147e+02] [ 9.91319494e-01 -1.31468371e-01 1.31458239e-03 2.14898126e+02] [-1.32622788e-03 -1.02167249e-06 9.99999121e-01 9.90182184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.03, Y:214.92, Z:9.90 [[-1.31115061e-01 -9.91367157e-01 -2.04865574e-05 2.05029559e+02] [ 9.91367149e-01 -1.31115062e-01 1.28768430e-04 2.14923779e+02] [-1.30342889e-04 -3.42621956e-06 9.99999992e-01 9.90107933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:214.95, Z:9.90 [[-1.30359482e-01 -9.91466793e-01 6.43134975e-05 2.05020961e+02] [ 9.91466658e-01 -1.30359498e-01 -5.16961503e-04 2.14949372e+02] [ 5.20934038e-04 -3.62614535e-06 9.99999864e-01 9.90034265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:214.98, Z:9.90 [[-1.30475673e-01 -9.91451505e-01 1.07251866e-04 2.05014466e+02] [ 9.91451148e-01 -1.30475717e-01 -8.41358399e-04 2.14975369e+02] [ 8.48159815e-04 -3.44181742e-06 9.99999640e-01 9.90016497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:215.00, Z:9.90 [[-1.30630876e-01 -9.91431069e-01 1.03547189e-04 2.05007921e+02] [ 9.91430738e-01 -1.30630917e-01 -8.09336254e-04 2.15002122e+02] [ 8.15927571e-04 -3.06443793e-06 9.99999667e-01 9.89969817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:215.03, Z:9.90 [[-1.30993217e-01 -9.91383259e-01 1.03844969e-04 2.05004218e+02] [ 9.91382929e-01 -1.30993258e-01 -8.09297461e-04 2.15028608e+02] [ 8.15926945e-04 -3.06234798e-06 9.99999667e-01 9.89994757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.00, Y:215.05, Z:9.90 [[-1.31422678e-01 -9.91326407e-01 1.88022039e-04 2.04996530e+02] [ 9.91325359e-01 -1.31422812e-01 -1.44119552e-03 2.15054073e+02] [ 1.45340556e-03 -3.01475969e-06 9.99998944e-01 9.90004369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:215.08, Z:9.90 [[-1.31977959e-01 -9.91252608e-01 2.92741965e-04 2.04990973e+02] [ 9.91250113e-01 -1.31978284e-01 -2.22417789e-03 2.15078518e+02] [ 2.24335771e-03 -3.36195313e-06 9.99997484e-01 9.90009943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:215.10, Z:9.90 [[-1.32732767e-01 -9.91151800e-01 3.48500915e-04 2.04985464e+02] [ 9.91148304e-01 -1.32733225e-01 -2.63277764e-03 2.15104213e+02] [ 2.65573995e-03 -4.03977096e-06 9.99996474e-01 9.90016916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:215.13, Z:9.90 [[-1.34719934e-01 -9.90883640e-01 3.89390183e-04 2.04979586e+02] [ 9.90879307e-01 -1.34720497e-01 -2.93029221e-03 2.15128571e+02] [ 2.95603745e-03 -8.93009940e-06 9.99995631e-01 9.90027402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:215.15, Z:9.90 [[-1.36280678e-01 -9.90670153e-01 4.74318656e-04 2.04975510e+02] [ 9.90663786e-01 -1.36281503e-01 -3.55170373e-03 2.15153299e+02] [ 3.58320774e-03 -1.41382779e-05 9.99993580e-01 9.90041894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:215.18, Z:9.90 [[-1.41026082e-01 -9.90005709e-01 5.83416290e-04 2.04971850e+02] [ 9.89996162e-01 -1.41027285e-01 -4.34791333e-03 2.15179245e+02] [ 4.38673664e-03 -3.55892962e-05 9.99990378e-01 9.90001521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:215.21, Z:9.90 [[-1.44010313e-01 -9.89575950e-01 6.85474035e-04 2.04968511e+02] [ 9.89562873e-01 -1.44011934e-01 -5.08754345e-03 2.15206025e+02] [ 5.13322709e-03 -5.43390686e-05 9.99986823e-01 9.89961311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.202755096 meters Centerline goodness [0,1] 0.9999574965465944 Centerline is valid? [True, True] Translation: X:204.97, Y:215.23, Z:9.90 [[-1.47364533e-01 -9.89082023e-01 6.68028964e-04 2.04965861e+02] [ 9.89069662e-01 -1.47366032e-01 -4.94526414e-03 2.15233008e+02] [ 4.98971663e-03 -6.80293605e-05 9.99987549e-01 9.89997493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:215.26, Z:9.90 [[-1.53384166e-01 -9.88166336e-01 7.68118864e-04 2.04964946e+02] [ 9.88150092e-01 -1.53386049e-01 -5.66708359e-03 2.15260739e+02] [ 5.71783994e-03 -1.10224163e-04 9.99983647e-01 9.90050694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.97, Y:215.29, Z:9.90 [[-1.56617779e-01 -9.87659015e-01 7.36065087e-04 2.04965909e+02] [ 9.87644164e-01 -1.56619461e-01 -5.41759805e-03 2.15287262e+02] [ 5.46602167e-03 -1.21521784e-04 9.99985054e-01 9.90212320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:215.31, Z:9.90 [[-1.59496996e-01 -9.87198157e-01 7.12292882e-04 2.04960007e+02] [ 9.87184318e-01 -1.59498533e-01 -5.22890639e-03 2.15313996e+02] [ 5.27557642e-03 -1.30830499e-04 9.99986076e-01 9.90259210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:215.34, Z:9.90 [[-1.64397057e-01 -9.86393996e-01 7.01362439e-04 2.04962587e+02] [ 9.86380647e-01 -1.64398482e-01 -5.13407514e-03 2.15340644e+02] [ 5.17952382e-03 -1.52216506e-04 9.99986575e-01 9.90428459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:215.37, Z:9.90 [[-1.66791012e-01 -9.85991994e-01 7.39697361e-04 2.04958888e+02] [ 9.85977228e-01 -1.66792564e-01 -5.39882385e-03 2.15367212e+02] [ 5.44657311e-03 -1.71150540e-04 9.99985153e-01 9.90447290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:215.39, Z:9.91 [[-1.69526173e-01 -9.85525414e-01 7.31638155e-04 2.04957368e+02] [ 9.85511050e-01 -1.69527655e-01 -5.32392545e-03 2.15392948e+02] [ 5.37089673e-03 -1.81507220e-04 9.99985560e-01 9.90567179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:215.42, Z:9.91 [[-1.70902269e-01 -9.85287732e-01 7.06346366e-04 2.04952515e+02] [ 9.85274416e-01 -1.70903634e-01 -5.12568611e-03 2.15420140e+02] [ 5.17099281e-03 -1.80046384e-04 9.99986614e-01 9.90595626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:215.45, Z:9.91 [[-1.71828014e-01 -9.85126662e-01 7.69920402e-04 2.04948753e+02] [ 9.85110936e-01 -1.71829625e-01 -5.56985441e-03 2.15445992e+02] [ 5.61930722e-03 -1.98600016e-04 9.99984192e-01 9.90621570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.94, Y:215.47, Z:9.91 [[-1.71895926e-01 -9.85114763e-01 8.33767656e-04 2.04943421e+02] [ 9.85096449e-01 -1.71897818e-01 -6.01053861e-03 2.15472019e+02] [ 6.06439315e-03 -2.11845545e-04 9.99981589e-01 9.90618097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.94, Y:215.50, Z:9.91 [[-1.71602157e-01 -9.85165818e-01 1.00593022e-03 2.04937262e+02] [ 9.85139372e-01 -1.71604925e-01 -7.22265342e-03 2.15498234e+02] [ 7.28813384e-03 -2.48441437e-04 9.99973410e-01 9.90619329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.93, Y:215.52, Z:9.91 [[-1.71184456e-01 -9.85238404e-01 1.08175830e-03 2.04932707e+02] [ 9.85208028e-01 -1.71187678e-01 -7.74079343e-03 2.15522918e+02] [ 7.81171066e-03 -2.59346559e-04 9.99969455e-01 9.90604352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:215.55, Z:9.91 [[-1.69299162e-01 -9.85563916e-01 1.24955531e-03 2.04924480e+02] [ 9.85523699e-01 -1.69303548e-01 -8.90777244e-03 2.15549463e+02] [ 8.99073324e-03 -2.76612039e-04 9.99959544e-01 9.90559345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:215.58, Z:9.91 [[-1.68341518e-01 -9.85727891e-01 1.28785089e-03 2.04920254e+02] [ 9.85685420e-01 -1.68346225e-01 -9.15426002e-03 2.15575082e+02] [ 9.24041426e-03 -2.71626183e-04 9.99957270e-01 9.90624528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.91, Y:215.60, Z:9.91 [[-1.67312776e-01 -9.85902971e-01 1.32921025e-03 2.04913875e+02] [ 9.85858005e-01 -1.67317845e-01 -9.41980579e-03 2.15601287e+02] [ 9.50941510e-03 -2.65641299e-04 9.99954749e-01 9.90683631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6527550960001 meters Centerline goodness [0,1] 0.9999790413514137 Centerline is valid? [True, True] Translation: X:204.91, Y:215.63, Z:9.91 [[-1.63843011e-01 -9.86485190e-01 1.56164500e-03 2.04906150e+02] [ 9.86423537e-01 -1.63850235e-01 -1.10320336e-02 2.15627208e+02] [ 1.11388136e-02 -2.67078212e-04 9.99937926e-01 9.90597818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.682755096 meters Centerline goodness [0,1] 0.9999581151832461 Centerline is valid? [True, True] Translation: X:204.90, Y:215.65, Z:9.91 [[-1.62140619e-01 -9.86766281e-01 1.65110542e-03 2.04899663e+02] [ 9.86697773e-01 -1.62148822e-01 -1.16302811e-02 2.15652411e+02] [ 1.17440940e-02 -2.56598928e-04 9.99931003e-01 9.90543979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:215.68, Z:9.91 [[-1.60167809e-01 -9.87088283e-01 1.73063671e-03 2.04891577e+02] [ 9.87013477e-01 -1.60176981e-01 -1.21544695e-02 2.15678706e+02] [ 1.22747426e-02 -2.38593008e-04 9.99924634e-01 9.90566925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:215.70, Z:9.91 [[-1.55726422e-01 -9.87798514e-01 1.83782642e-03 2.04883026e+02] [ 9.87714658e-01 -1.55737151e-01 -1.28722035e-02 2.15703333e+02] [ 1.30013613e-02 -1.89294100e-04 9.99915461e-01 9.90623803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.88, Y:215.73, Z:9.91 [[-1.53605739e-01 -9.88130435e-01 1.87625722e-03 2.04877076e+02] [ 9.88043505e-01 -1.53617114e-01 -1.31078244e-02 2.15729031e+02] [ 1.32404655e-02 -1.59613288e-04 9.99912328e-01 9.90687044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.87, Y:215.75, Z:9.91 [[-1.49294103e-01 -9.88790851e-01 1.98111579e-03 2.04867930e+02] [ 9.88694527e-01 -1.49307212e-01 -1.38017684e-02 2.15753730e+02] [ 1.39428572e-02 -1.01804290e-04 9.99902788e-01 9.90672349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:215.78, Z:9.91 [[-1.47675905e-01 -9.89033497e-01 2.13744355e-03 2.04861459e+02] [ 9.88922013e-01 -1.47691352e-01 -1.48498401e-02 2.15777837e+02] [ 1.50026712e-02 -7.91985956e-05 9.99887450e-01 9.90636773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:215.80, Z:9.91 [[-1.45916199e-01 -9.89294532e-01 2.18909470e-03 2.04855030e+02] [ 9.89178352e-01 -1.45932611e-01 -1.51611772e-02 2.15803788e+02] [ 1.53183300e-02 -4.68562522e-05 9.99882666e-01 9.90664897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.892755096 meters Centerline goodness [0,1] 0.9999791201219385 Centerline is valid? [True, True] Translation: X:204.85, Y:215.83, Z:9.91 [[-1.42117062e-01 -9.89846916e-01 2.41313072e-03 2.04847825e+02] [ 9.89706585e-01 -1.42137547e-01 -1.66671614e-02 2.15828209e+02] [ 1.68409348e-02 1.96033459e-05 9.99858181e-01 9.90650078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:215.85, Z:9.91 [[-1.40561940e-01 -9.90068685e-01 2.51789005e-03 2.04842483e+02] [ 9.89916716e-01 -1.40584479e-01 -1.73464451e-02 2.15853748e+02] [ 1.75281484e-02 5.42514723e-05 9.99846369e-01 9.90810954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:215.88, Z:9.91 [[-1.39156829e-01 -9.90267230e-01 2.48788500e-03 2.04836768e+02] [ 9.90119703e-01 -1.39179041e-01 -1.70929125e-02 2.15878193e+02] [ 1.72728126e-02 8.47084494e-05 9.99850810e-01 9.90841139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.982755096 meters Centerline goodness [0,1] 0.9999369443218362 Centerline is valid? [True, True] Translation: X:204.83, Y:215.90, Z:9.91 [[-1.36431804e-01 -9.90646266e-01 2.51753281e-03 2.04830681e+02] [ 9.90496072e-01 -1.36454958e-01 -1.72503855e-02 2.15903581e+02] [ 1.74325599e-02 1.40105133e-04 9.99848032e-01 9.90958044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:215.93, Z:9.91 [[-1.36063578e-01 -9.90696926e-01 2.51063593e-03 2.04827092e+02] [ 9.90548337e-01 -1.36086653e-01 -1.71584959e-02 2.15929732e+02] [ 1.73405332e-02 1.52259908e-04 9.99849630e-01 9.91039796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:215.95, Z:9.91 [[-1.35644924e-01 -9.90754292e-01 2.52731037e-03 2.04824809e+02] [ 9.90604536e-01 -1.35668364e-01 -1.72264025e-02 2.15954707e+02] [ 1.74100083e-02 1.66891053e-04 9.99848420e-01 9.91135421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:215.98, Z:9.91 [[-1.36029344e-01 -9.90701538e-01 2.54550852e-03 2.04821931e+02] [ 9.90550409e-01 -1.36053055e-01 -1.73047179e-02 2.15981452e+02] [ 1.74901349e-02 1.67505092e-04 9.99847022e-01 9.91204841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.102755096 meters Centerline goodness [0,1] 0.9999790545210816 Centerline is valid? [True, True] Translation: X:204.82, Y:216.01, Z:9.91 [[-1.36682870e-01 -9.90611356e-01 2.63329425e-03 2.04819253e+02] [ 9.90450439e-01 -1.36708131e-01 -1.78554017e-02 2.16008237e+02] [ 1.80477565e-02 1.67619887e-04 9.99837112e-01 9.91225919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.132755096 meters Centerline goodness [0,1] 0.9999158691765696 Centerline is valid? [True, True] Translation: X:204.82, Y:216.03, Z:9.91 [[-1.37470761e-01 -9.90502285e-01 2.64819900e-03 2.04816783e+02] [ 9.90340347e-01 -1.37496172e-01 -1.79108892e-02 2.16034176e+02] [ 1.81048939e-02 1.60394741e-04 9.99836080e-01 9.91210561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1627550960001 meters Centerline goodness [0,1] 0.9999789889481867 Centerline is valid? [True, True] Translation: X:204.82, Y:216.06, Z:9.91 [[-1.38930923e-01 -9.90298279e-01 2.74181927e-03 2.04816275e+02] [ 9.90125509e-01 -1.38957900e-01 -1.84980528e-02 2.16058969e+02] [ 1.86995873e-02 1.44793652e-04 9.99825137e-01 9.91166998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.192755096 meters Centerline goodness [0,1] 0.9999789207419899 Centerline is valid? [True, True] Translation: X:204.81, Y:216.08, Z:9.91 [[-1.40044957e-01 -9.90141149e-01 2.81346719e-03 2.04814849e+02] [ 9.89960130e-01 -1.40073151e-01 -1.89328645e-02 2.16084580e+02] [ 1.91402994e-02 1.33768163e-04 9.99816799e-01 9.91177437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.82, Y:216.11, Z:9.91 [[-1.41098226e-01 -9.89991499e-01 2.84999981e-03 2.04815287e+02] [ 9.89806746e-01 -1.41126954e-01 -1.91256045e-02 2.16109045e+02] [ 1.93363976e-02 1.22360167e-04 9.99813027e-01 9.91104639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.252755096 meters Centerline goodness [0,1] 0.9999368208238565 Centerline is valid? [True, True] Translation: X:204.81, Y:216.14, Z:9.91 [[-1.41416289e-01 -9.89945939e-01 2.91050198e-03 2.04813800e+02] [ 9.89754302e-01 -1.41446180e-01 -1.94781783e-02 2.16135339e+02] [ 1.96940229e-02 1.26150159e-04 9.99806046e-01 9.91297176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:216.16, Z:9.91 [[-1.40900328e-01 -9.90019265e-01 2.99225802e-03 2.04811784e+02] [ 9.89817826e-01 -1.40932019e-01 -1.99709128e-02 2.16161107e+02] [ 2.01932934e-02 1.47882171e-04 9.99796084e-01 9.91273972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:216.19, Z:9.91 [[-1.41008912e-01 -9.90003385e-01 3.12795852e-03 2.04809804e+02] [ 9.89784414e-01 -1.41043510e-01 -2.08216595e-02 2.16188144e+02] [ 2.10546916e-02 1.59965048e-04 9.99778313e-01 9.91393973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:216.21, Z:9.91 [[-1.41200161e-01 -9.89976054e-01 3.15076927e-03 2.04805052e+02] [ 9.89755058e-01 -1.41235214e-01 -2.09174478e-02 2.16213628e+02] [ 2.11527720e-02 1.64942826e-04 9.99776242e-01 9.91054332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.372755096 meters Centerline goodness [0,1] 0.99997883373902 Centerline is valid? [True, True] Translation: X:204.81, Y:216.24, Z:9.91 [[-1.41493770e-01 -9.89933414e-01 3.36887773e-03 2.04806653e+02] [ 9.89682143e-01 -1.41533758e-01 -2.23036340e-02 2.16240275e+02] [ 2.25559225e-02 1.78292859e-04 9.99745567e-01 9.91306561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4027550960001 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:204.81, Y:216.27, Z:9.91 [[-1.41662230e-01 -9.89909225e-01 3.39698317e-03 2.04805001e+02] [ 9.89655073e-01 -1.41702833e-01 -2.24308710e-02 2.16266788e+02] [ 2.26858883e-02 1.84234419e-04 9.99742625e-01 9.91456863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.29, Z:9.92 [[-1.41872477e-01 -9.89878922e-01 3.45252775e-03 2.04803134e+02] [ 9.89617772e-01 -1.41914352e-01 -2.27372500e-02 2.16293170e+02] [ 2.29970877e-02 1.90892841e-04 9.99735514e-01 9.91563942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.32, Z:9.91 [[-1.42365822e-01 -9.89807846e-01 3.52146886e-03 2.04800130e+02] [ 9.89537403e-01 -1.42409240e-01 -2.31373527e-02 2.16318630e+02] [ 2.34030229e-02 1.90656914e-04 9.99726094e-01 9.91223382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.34, Z:9.91 [[-1.43489364e-01 -9.89645649e-01 3.50609821e-03 2.04797972e+02] [ 9.89378741e-01 -1.43532090e-01 -2.29836184e-02 2.16343885e+02] [ 2.32488755e-02 1.70954260e-04 9.99729694e-01 9.91241005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.37, Z:9.92 [[-1.45057578e-01 -9.89417086e-01 3.48275709e-03 2.04800189e+02] [ 9.89154992e-01 -1.45099313e-01 -2.27726048e-02 2.16371129e+02] [ 2.30369499e-02 1.41647655e-04 9.99734604e-01 9.91791218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.40, Z:9.92 [[-1.46192456e-01 -9.89250162e-01 3.44712625e-03 2.04798554e+02] [ 9.88994694e-01 -1.46233040e-01 -2.24809672e-02 2.16397212e+02] [ 2.27433842e-02 1.22641749e-04 9.99741328e-01 9.91860928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.582755096 meters Centerline goodness [0,1] 0.9999786775837438 Centerline is valid? [True, True] Translation: X:204.80, Y:216.42, Z:9.92 [[-1.47667489e-01 -9.89031381e-01 3.35277364e-03 2.04797716e+02] [ 9.88790923e-01 -1.47705516e-01 -2.18080774e-02 2.16422727e+02] [ 2.20640960e-02 9.48481213e-05 9.99756554e-01 9.91917479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.45, Z:9.92 [[-1.49405097e-01 -9.88770136e-01 3.42560761e-03 2.04797083e+02] [ 9.88520371e-01 -1.49444349e-01 -2.22230429e-02 2.16448975e+02] [ 2.24854188e-02 6.60470171e-05 9.99747169e-01 9.91976255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.48, Z:9.92 [[-1.52546208e-01 -9.88290203e-01 3.48273920e-03 2.04799533e+02] [ 9.88033262e-01 -1.52585960e-01 -2.25343951e-02 2.16475167e+02] [ 2.28019390e-02 3.52564163e-06 9.99740002e-01 9.91990507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.50, Z:9.92 [[-1.54082658e-01 -9.88051764e-01 3.49950051e-03 2.04797978e+02] [ 9.87793608e-01 -1.54122392e-01 -2.25848556e-02 2.16501694e+02] [ 2.28543578e-02 -2.31503559e-05 9.99738805e-01 9.91986036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.702755096 meters Centerline goodness [0,1] 0.999978555958227 Centerline is valid? [True, True] Translation: X:204.80, Y:216.53, Z:9.92 [[-1.56191502e-01 -9.87720337e-01 3.57076528e-03 2.04798477e+02] [ 9.87452852e-01 -1.56232300e-01 -2.29855035e-02 2.16527850e+02] [ 2.32611182e-02 -6.41779526e-05 9.99729422e-01 9.92005527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:216.55, Z:9.92 [[-1.57203897e-01 -9.87559606e-01 3.59984771e-03 2.04796635e+02] [ 9.87289065e-01 -1.57245088e-01 -2.31145945e-02 2.16554079e+02] [ 2.33930982e-02 -7.96140362e-05 9.99726341e-01 9.92044224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.58, Z:9.92 [[-1.57934111e-01 -9.87443032e-01 3.61609320e-03 2.04794780e+02] [ 9.87171337e-01 -1.57975478e-01 -2.31624878e-02 2.16580939e+02] [ 2.34428912e-02 -8.84433519e-05 9.99725174e-01 9.92099573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.61, Z:9.92 [[-1.59251267e-01 -9.87231605e-01 3.57650995e-03 2.04794969e+02] [ 9.86967097e-01 -1.59291386e-01 -2.28517642e-02 2.16607195e+02] [ 2.31296911e-02 -1.09274767e-04 9.99732467e-01 9.92339165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.63, Z:9.92 [[-1.59639043e-01 -9.87168942e-01 3.58548936e-03 2.04790707e+02] [ 9.86904450e-01 -1.59679266e-01 -2.28503563e-02 2.16632775e+02] [ 2.31296904e-02 -1.09273616e-04 9.99732467e-01 9.92363326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.66, Z:9.92 [[-1.60459991e-01 -9.87035633e-01 3.64023729e-03 2.04789317e+02] [ 9.86764400e-01 -1.60501232e-01 -2.31381361e-02 2.16658505e+02] [ 2.34224274e-02 -1.20688539e-04 9.99725650e-01 9.92286646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.68, Z:9.92 [[-1.61163825e-01 -9.86920627e-01 3.72803390e-03 2.04787581e+02] [ 9.86637613e-01 -1.61206885e-01 -2.36339096e-02 2.16684460e+02] [ 2.39257776e-02 -1.30712810e-04 9.99713729e-01 9.92126047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.79, Y:216.71, Z:9.92 [[-1.62038851e-01 -9.86777149e-01 3.77757600e-03 2.04785864e+02] [ 9.86488016e-01 -1.62082814e-01 -2.38862981e-02 2.16710832e+02] [ 2.41827333e-02 -1.43974847e-04 9.99707545e-01 9.92432733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:216.74, Z:9.92 [[-1.62372317e-01 -9.86722307e-01 3.78424437e-03 2.04784060e+02] [ 9.86433655e-01 -1.62416347e-01 -2.38657691e-02 2.16736125e+02] [ 2.41635099e-02 -1.42234225e-04 9.99708010e-01 9.92362659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:216.76, Z:9.92 [[-1.61242836e-01 -9.86907569e-01 3.76809572e-03 2.04781763e+02] [ 9.86622858e-01 -1.61286825e-01 -2.37043606e-02 2.16762621e+02] [ 2.40017570e-02 -1.04468950e-04 9.99711911e-01 9.92433969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:216.79, Z:9.92 [[-1.60889028e-01 -9.86965480e-01 3.72322478e-03 2.04778436e+02] [ 9.86688693e-01 -1.60932080e-01 -2.33728078e-02 2.16788303e+02] [ 2.36673408e-02 -8.67645489e-05 9.99719886e-01 9.92417158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:216.81, Z:9.93 [[-1.60462866e-01 -9.87034548e-01 3.80383382e-03 2.04774731e+02] [ 9.86746972e-01 -1.60507930e-01 -2.38247356e-02 2.16814509e+02] [ 2.41263827e-02 -6.95638422e-05 9.99708914e-01 9.92605169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:216.84, Z:9.92 [[-1.59189979e-01 -9.87240597e-01 3.81496758e-03 2.04772138e+02] [ 9.86952634e-01 -1.59235683e-01 -2.38431322e-02 2.16840152e+02] [ 2.41463870e-02 -3.03954196e-05 9.99708433e-01 9.92459154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:216.86, Z:9.93 [[-1.59267605e-01 -9.87228420e-01 3.72513530e-03 2.04768728e+02] [ 9.86955132e-01 -1.59311161e-01 -2.32275843e-02 2.16864505e+02] [ 2.35243870e-02 -2.28603157e-05 9.99723263e-01 9.92514172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:216.89, Z:9.93 [[-1.59020915e-01 -9.87268368e-01 3.67673293e-03 2.04765011e+02] [ 9.87003440e-01 -1.59063414e-01 -2.28700568e-02 2.16890492e+02] [ 2.31637174e-02 -7.86931339e-06 9.99731685e-01 9.92714778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.76, Y:216.92, Z:9.93 [[-1.58907841e-01 -9.87286856e-01 3.60043852e-03 2.04762777e+02] [ 9.87033984e-01 -1.58948624e-01 -2.23439136e-02 2.16916384e+02] [ 2.26321369e-02 3.13211394e-06 9.99743860e-01 9.92719021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.76, Y:216.94, Z:9.93 [[-1.58875302e-01 -9.87292158e-01 3.58223627e-03 2.04759724e+02] [ 9.87043001e-01 -1.58915682e-01 -2.21792675e-02 2.16942176e+02] [ 2.24666904e-02 1.20834053e-05 9.99747592e-01 9.92897869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.76, Y:216.97, Z:9.93 [[-1.59848262e-01 -9.87134844e-01 3.65153001e-03 2.04758679e+02] [ 9.86877161e-01 -1.59889964e-01 -2.25536919e-02 2.16967780e+02] [ 2.28473782e-02 -1.55689255e-06 9.99738965e-01 9.92850771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.76, Y:216.99, Z:9.93 [[-1.60682880e-01 -9.86999087e-01 3.71691877e-03 2.04756325e+02] [ 9.86733321e-01 -1.60725863e-01 -2.29030756e-02 2.16994176e+02] [ 2.32027197e-02 -1.25245380e-05 9.99730781e-01 9.92850891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.02, Z:9.93 [[-1.61645858e-01 -9.86841629e-01 3.77029932e-03 2.04754220e+02] [ 9.86569462e-01 -1.61689820e-01 -2.31753815e-02 2.17020246e+02] [ 2.34800503e-02 -2.65422675e-05 9.99724305e-01 9.93046321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.05, Z:9.93 [[-1.62970341e-01 -9.86623652e-01 3.79974011e-03 2.04752796e+02] [ 9.86348370e-01 -1.63014624e-01 -2.33050497e-02 2.17046018e+02] [ 2.36127265e-02 -5.01644466e-05 9.99721179e-01 9.92834098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.07, Z:9.93 [[-1.65024007e-01 -9.86282354e-01 3.76761338e-03 2.04753725e+02] [ 9.86012842e-01 -1.65066985e-01 -2.30556964e-02 2.17072506e+02] [ 2.33613351e-02 -8.98282229e-05 9.99727083e-01 9.92957373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.10, Z:9.93 [[-1.66129090e-01 -9.86096822e-01 3.76591980e-03 2.04750699e+02] [ 9.85828811e-01 -1.66171735e-01 -2.29893316e-02 2.17098683e+02] [ 2.32954963e-02 -1.06644517e-04 9.99728617e-01 9.93194356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.392755096 meters Centerline goodness [0,1] 0.9999557649348638 Centerline is valid? [True, True] Translation: X:204.75, Y:217.13, Z:9.93 [[-1.67172650e-01 -9.85920203e-01 3.82863691e-03 2.04748520e+02] [ 9.85644481e-01 -1.67216441e-01 -2.33156595e-02 2.17125215e+02] [ 2.36275908e-02 -1.24065751e-04 9.99720822e-01 9.93183637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4227550960001 meters Centerline goodness [0,1] 0.9999777965273768 Centerline is valid? [True, True] Translation: X:204.75, Y:217.15, Z:9.93 [[-1.69228655e-01 -9.85568729e-01 3.99291985e-03 2.04749713e+02] [ 9.85270107e-01 -1.69275668e-01 -2.42603616e-02 2.17153064e+02] [ 2.45861579e-02 -1.71443792e-04 9.99697700e-01 9.93168248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.18, Z:9.93 [[-1.70454083e-01 -9.85357307e-01 4.04772128e-03 2.04748457e+02] [ 9.85051832e-01 -1.70502024e-01 -2.45346472e-02 2.17178942e+02] [ 2.48655386e-02 -1.94815519e-04 9.99690786e-01 9.93155034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.482755096 meters Centerline goodness [0,1] 0.9998664916223493 Centerline is valid? [True, True] Translation: X:204.75, Y:217.21, Z:9.93 [[-1.72325403e-01 -9.85031394e-01 4.13631996e-03 2.04749270e+02] [ 9.84713846e-01 -1.72374875e-01 -2.50108609e-02 2.17206354e+02] [ 2.53494808e-02 -2.36915158e-04 9.99678622e-01 9.93160233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.23, Z:9.93 [[-1.73462152e-01 -9.84831805e-01 4.14712237e-03 2.04747407e+02] [ 9.84514031e-01 -1.73511530e-01 -2.50174404e-02 2.17233096e+02] [ 2.53575445e-02 -2.56678887e-04 9.99678413e-01 9.93188554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.26, Z:9.93 [[-1.75531485e-01 -9.84465799e-01 3.97358132e-03 2.04747299e+02] [ 9.84175352e-01 -1.75576220e-01 -2.39137486e-02 2.17259891e+02] [ 2.42399340e-02 -2.86914995e-04 9.99706128e-01 9.93425027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:217.29, Z:9.93 [[-1.76526108e-01 -9.84288374e-01 3.86389074e-03 2.04747010e+02] [ 9.84015061e-01 -1.76568148e-01 -2.31958718e-02 2.17285186e+02] [ 2.35136670e-02 -2.92550293e-04 9.99723473e-01 9.93404466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.74, Y:217.31, Z:9.94 [[-1.76557306e-01 -9.84283484e-01 3.67985911e-03 2.04742943e+02] [ 9.84036736e-01 -1.76595444e-01 -2.20397803e-02 2.17311373e+02] [ 2.23432381e-02 -2.70167699e-04 9.99750322e-01 9.93604657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.74, Y:217.34, Z:9.94 [[-1.75061055e-01 -9.84551903e-01 3.34323634e-03 2.04737912e+02] [ 9.84349180e-01 -1.75092854e-01 -1.99795748e-02 2.17336031e+02] [ 2.02563052e-02 -2.06733506e-04 9.99794799e-01 9.93824534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:217.36, Z:9.94 [[-1.74444657e-01 -9.84661527e-01 3.27703863e-03 2.04731615e+02] [ 9.84467675e-01 -1.74475340e-01 -1.95385049e-02 2.17361697e+02] [ 1.98105765e-02 -1.82249181e-04 9.99803735e-01 9.94012038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.73, Y:217.39, Z:9.94 [[-1.71807258e-01 -9.85125337e-01 3.21516775e-03 2.04725442e+02] [ 9.84939588e-01 -1.71837298e-01 -1.91298332e-02 2.17386388e+02] [ 1.93977691e-02 -1.19898181e-04 9.99811838e-01 9.93972625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.72, Y:217.41, Z:9.94 [[-1.70513394e-01 -9.85349779e-01 3.31589151e-03 2.04719379e+02] [ 9.85153103e-01 -1.70545608e-01 -1.96865327e-02 2.17412517e+02] [ 1.99636314e-02 -9.01566956e-05 9.99800703e-01 9.93995909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.752755096 meters Centerline goodness [0,1] 0.9999104504343154 Centerline is valid? [True, True] Translation: X:204.71, Y:217.44, Z:9.94 [[-1.69398971e-01 -9.85541532e-01 3.44639593e-03 2.04713652e+02] [ 9.85330125e-01 -1.69434014e-01 -2.04122356e-02 2.17438100e+02] [ 2.07010427e-02 -6.19739711e-05 9.99785709e-01 9.93901421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.71, Y:217.46, Z:9.94 [[-1.68856138e-01 -9.85634321e-01 3.54816574e-03 2.04707928e+02] [ 9.85411328e-01 -1.68893407e-01 -2.09649961e-02 2.17463580e+02] [ 2.12630815e-02 -4.36655594e-05 9.99773914e-01 9.93828817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:217.49, Z:9.94 [[-1.68204906e-01 -9.85744900e-01 3.75513698e-03 2.04701401e+02] [ 9.85496357e-01 -1.68246816e-01 -2.21345690e-02 2.17489235e+02] [ 2.24508283e-02 -2.24692806e-05 9.99747948e-01 9.93680920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.70, Y:217.51, Z:9.94 [[-1.68967072e-01 -9.85614303e-01 3.81762712e-03 2.04696602e+02] [ 9.85358624e-01 -1.69010191e-01 -2.24485445e-02 2.17514603e+02] [ 2.27708244e-02 -3.13330291e-05 9.99740711e-01 9.93642065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:217.54, Z:9.94 [[-1.70336452e-01 -9.85378744e-01 3.77148399e-03 2.04692866e+02] [ 9.85130342e-01 -1.70378192e-01 -2.21242031e-02 2.17540730e+02] [ 2.24432981e-02 -5.31549536e-05 9.99748116e-01 9.93910036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:217.57, Z:9.94 [[-1.71447449e-01 -9.85186433e-01 3.66940414e-03 2.04689201e+02] [ 9.84952224e-01 -1.71486698e-01 -2.14808803e-02 2.17565611e+02] [ 2.17919259e-02 -6.86543739e-05 9.99762525e-01 9.94017681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:217.59, Z:9.94 [[-1.72640704e-01 -9.84978265e-01 3.60613226e-03 2.04685309e+02] [ 9.84752968e-01 -1.72678341e-01 -2.10661394e-02 2.17592196e+02] [ 2.13723904e-02 -8.57236960e-05 9.99771581e-01 9.94195640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:217.62, Z:9.94 [[-1.74603219e-01 -9.84633150e-01 3.35801314e-03 2.04682204e+02] [ 9.84438601e-01 -1.74635471e-01 -1.95727582e-02 2.17618093e+02] [ 1.98584148e-02 -1.11708830e-04 9.99802796e-01 9.94481055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:217.64, Z:9.95 [[-1.76091193e-01 -9.84368469e-01 3.25706725e-03 2.04678194e+02] [ 9.84186247e-01 -1.76121265e-01 -1.89402127e-02 2.17644681e+02] [ 1.92177869e-02 -1.29643852e-04 9.99815313e-01 9.94629979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters Centerline goodness [0,1] 0.9999111979397922 Centerline is valid? [True, True] Translation: X:204.68, Y:217.67, Z:9.95 [[-1.78281118e-01 -9.83974423e-01 3.19022350e-03 2.04676172e+02] [ 9.83800339e-01 -1.78309586e-01 -1.85090233e-02 2.17671142e+02] [ 1.87812529e-02 -1.61266394e-04 9.99823604e-01 9.94706304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.052755096 meters Centerline goodness [0,1] 0.9999333333333333 Centerline is valid? [True, True] Translation: X:204.67, Y:217.70, Z:9.95 [[-1.79794779e-01 -9.83699140e-01 3.13669155e-03 2.04671944e+02] [ 9.83531568e-01 -1.79822048e-01 -1.81572548e-02 2.17697215e+02] [ 1.84253222e-02 -1.79544448e-04 9.99830223e-01 9.94786148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.67, Y:217.72, Z:9.95 [[-1.81059057e-01 -9.83467220e-01 3.13763703e-03 2.04669004e+02] [ 9.83300304e-01 -1.81086136e-01 -1.81196911e-02 2.17722139e+02] [ 1.83883048e-02 -1.95494728e-04 9.99830902e-01 9.94711721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.112755096 meters Centerline goodness [0,1] 0.9999556176907884 Centerline is valid? [True, True] Translation: X:204.66, Y:217.75, Z:9.95 [[-1.83042406e-01 -9.83099767e-01 3.21343041e-03 2.04664803e+02] [ 9.82925426e-01 -1.83070466e-01 -1.85151605e-02 2.17748751e+02] [ 1.87905342e-02 -2.30497087e-04 9.99823416e-01 9.94893355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters Centerline goodness [0,1] 0.9998891893089845 Centerline is valid? [True, True] Translation: X:204.66, Y:217.77, Z:9.95 [[-1.83919750e-01 -9.82935959e-01 3.22896694e-03 2.04662219e+02] [ 9.82760692e-01 -1.83947934e-01 -1.85628733e-02 2.17774320e+02] [ 1.88400775e-02 -2.40777232e-04 9.99822481e-01 9.94837549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:217.80, Z:9.95 [[-1.85138479e-01 -9.82706903e-01 3.29957494e-03 2.04656751e+02] [ 9.82524719e-01 -1.85167695e-01 -1.89235416e-02 2.17799870e+02] [ 1.92072696e-02 -2.61561763e-04 9.99815489e-01 9.94936991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:217.83, Z:9.95 [[-1.86285216e-01 -9.82489290e-01 3.55163712e-03 2.04652677e+02] [ 9.82279144e-01 -1.86318834e-01 -2.03218107e-02 2.17825988e+02] [ 2.06276983e-02 -2.96953837e-04 9.99787182e-01 9.94914760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:217.85, Z:9.95 [[-1.87478904e-01 -9.82261439e-01 3.75841866e-03 2.04647791e+02] [ 9.82027086e-01 -1.87516279e-01 -2.14580683e-02 2.17853137e+02] [ 2.17821977e-02 -3.32066186e-04 9.99762685e-01 9.94893318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:217.88, Z:9.95 [[-1.88327588e-01 -9.82098841e-01 3.81919112e-03 2.04643926e+02] [ 9.81857915e-01 -1.88365990e-01 -2.17551882e-02 2.17878270e+02] [ 2.20851508e-02 -3.47199086e-04 9.99756033e-01 9.94856674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2927550960001 meters Centerline goodness [0,1] 0.9999777530589544 Centerline is valid? [True, True] Translation: X:204.64, Y:217.91, Z:9.95 [[-1.90168961e-01 -9.81743924e-01 3.82550937e-03 2.04638245e+02] [ 9.81503204e-01 -1.90207055e-01 -2.17425308e-02 2.17905014e+02] [ 2.20732364e-02 -3.80004787e-04 9.99756284e-01 9.94987276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.322755096 meters Centerline goodness [0,1] 0.9999777223311352 Centerline is valid? [True, True] Translation: X:204.63, Y:217.93, Z:9.95 [[-1.91090685e-01 -9.81565198e-01 3.75667230e-03 2.04634346e+02] [ 9.81334018e-01 -1.91127220e-01 -2.13056576e-02 2.17930933e+02] [ 2.16308944e-02 -3.84762382e-04 9.99765951e-01 9.94998214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.352755096 meters Centerline goodness [0,1] 0.9999777585018127 Centerline is valid? [True, True] Translation: X:204.63, Y:217.96, Z:9.95 [[-1.92191498e-01 -9.81350721e-01 3.63193248e-03 2.04629802e+02] [ 9.81135555e-01 -1.92225423e-01 -2.05525879e-02 2.17956801e+02] [ 2.08674467e-02 -3.86614559e-04 9.99782176e-01 9.95134876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.63, Y:217.98, Z:9.95 [[-1.94318935e-01 -9.80932129e-01 3.50843246e-03 2.04626476e+02] [ 9.80732129e-01 -1.94350175e-01 -1.98116321e-02 2.17983933e+02] [ 2.01157309e-02 -4.08942811e-04 9.99797575e-01 9.95329245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:218.01, Z:9.95 [[-1.95309234e-01 -9.80735836e-01 3.39458837e-03 2.04623006e+02] [ 9.80549385e-01 -1.95338308e-01 -1.91271610e-02 2.18009318e+02] [ 1.94217854e-02 -4.07149637e-04 9.99811296e-01 9.95396090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:218.04, Z:9.95 [[-1.96262407e-01 -9.80545671e-01 3.35489661e-03 2.04618410e+02] [ 9.80364353e-01 -1.96290646e-01 -1.88605020e-02 2.18035639e+02] [ 1.91521184e-02 -4.12586491e-04 9.99816496e-01 9.95477434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:218.06, Z:9.96 [[-1.96710760e-01 -9.80456428e-01 3.17319131e-03 2.04613470e+02] [ 9.80294922e-01 -1.96735964e-01 -1.77996384e-02 2.18060458e+02] [ 1.80760508e-02 -3.90717074e-04 9.99836539e-01 9.95556470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.61, Y:218.09, Z:9.96 [[-1.96516048e-01 -9.80495718e-01 3.09689964e-03 2.04607257e+02] [ 9.80342568e-01 -1.96540100e-01 -1.73331778e-02 2.18086344e+02] [ 1.76037715e-02 -3.70225048e-04 9.99844973e-01 9.95639294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.60, Y:218.11, Z:9.96 [[-1.96383166e-01 -9.80522351e-01 3.09384022e-03 2.04600189e+02] [ 9.80370175e-01 -1.96407205e-01 -1.72780466e-02 2.18111874e+02] [ 1.75491633e-02 -3.60008807e-04 9.99845937e-01 9.95699777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:218.14, Z:9.96 [[-1.94822083e-01 -9.80834004e-01 3.00209878e-03 2.04592540e+02] [ 9.80691349e-01 -1.94844957e-01 -1.67308125e-02 2.18137805e+02] [ 1.69950936e-02 -3.15399438e-04 9.99855523e-01 9.95797678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:218.16, Z:9.96 [[-1.94193451e-01 -9.80958731e-01 2.97857559e-03 2.04586262e+02] [ 9.80818898e-01 -1.94216068e-01 -1.65652497e-02 2.18163383e+02] [ 1.68283135e-02 -2.95419777e-04 9.99858350e-01 9.95863560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:218.19, Z:9.96 [[-1.93220924e-01 -9.81150809e-01 2.96047654e-03 2.04579429e+02] [ 9.81013304e-01 -1.93243413e-01 -1.64280525e-02 2.18188646e+02] [ 1.66904896e-02 -2.69976612e-04 9.99860668e-01 9.95895170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.57, Y:218.21, Z:9.96 [[-1.90887840e-01 -9.81606922e-01 3.11173974e-03 2.04570884e+02] [ 9.81455762e-01 -1.90913057e-01 -1.72276426e-02 2.18213633e+02] [ 1.75048449e-02 -2.34512577e-04 9.99846751e-01 9.95856088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:218.24, Z:9.96 [[-1.90097513e-01 -9.81760349e-01 3.09069557e-03 2.04564174e+02] [ 9.81611910e-01 -1.90122519e-01 -1.70729450e-02 2.18239536e+02] [ 1.73491513e-02 -2.11660813e-04 9.99849470e-01 9.95887022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:218.26, Z:9.96 [[-1.88232144e-01 -9.82119879e-01 3.03378617e-03 2.04557520e+02] [ 9.81977540e-01 -1.88256516e-01 -1.67211005e-02 2.18264854e+02] [ 1.69932552e-02 -1.68338721e-04 9.99855590e-01 9.96021909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:218.29, Z:9.96 [[-1.88585754e-01 -9.82052020e-01 3.04017566e-03 2.04552535e+02] [ 9.81909692e-01 -1.88610183e-01 -1.67199393e-02 2.18291164e+02] [ 1.69932582e-02 -1.67964417e-04 9.99855590e-01 9.96046838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.55, Y:218.32, Z:9.96 [[-1.88581336e-01 -9.82053043e-01 2.98336258e-03 2.04547643e+02] [ 9.81916508e-01 -1.88604867e-01 -1.63760893e-02 2.18315980e+02] [ 1.66448650e-02 -1.58811846e-04 9.99861452e-01 9.96042167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:218.34, Z:9.96 [[-1.88548555e-01 -9.82059341e-01 2.98220031e-03 2.04541864e+02] [ 9.81923455e-01 -1.88572076e-01 -1.63370946e-02 2.18341463e+02] [ 1.66063560e-02 -1.52043145e-04 9.99862093e-01 9.96140020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:218.37, Z:9.96 [[-1.88812761e-01 -9.82008629e-01 2.96550792e-03 2.04537486e+02] [ 9.81874863e-01 -1.88835989e-01 -1.62087317e-02 2.18366562e+02] [ 1.64771090e-02 -1.48657711e-04 9.99864232e-01 9.96128859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.53, Y:218.39, Z:9.96 [[-1.90019314e-01 -9.81775827e-01 2.98082039e-03 2.04533780e+02] [ 9.81641268e-01 -1.90042623e-01 -1.62549422e-02 2.18391606e+02] [ 1.65251923e-02 -1.62656660e-04 9.99863436e-01 9.96145417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.892755096 meters Centerline goodness [0,1] 0.9999778501340066 Centerline is valid? [True, True] Translation: X:204.53, Y:218.42, Z:9.96 [[-1.91066099e-01 -9.81572881e-01 2.90254576e-03 2.04528423e+02] [ 9.81445832e-01 -1.91088070e-01 -1.57932833e-02 2.18417129e+02] [ 1.60569005e-02 -1.68869602e-04 9.99871065e-01 9.96243259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9227550960001 meters Centerline goodness [0,1] 0.9999556383639429 Centerline is valid? [True, True] Translation: X:204.53, Y:218.44, Z:9.96 [[-1.93716074e-01 -9.81053046e-01 3.00072318e-03 2.04526387e+02] [ 9.80917724e-01 -1.93739196e-01 -1.62954901e-02 2.18443463e+02] [ 1.65680979e-02 -2.13235811e-04 9.99862717e-01 9.96211553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.52, Y:218.47, Z:9.96 [[-1.95426494e-01 -9.80713709e-01 3.01761777e-03 2.04523101e+02] [ 9.80577298e-01 -1.95449646e-01 -1.63584296e-02 2.18469941e+02] [ 1.66327285e-02 -2.37863062e-04 9.99861638e-01 9.96180884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.982755096 meters Centerline goodness [0,1] 0.9999778388440741 Centerline is valid? [True, True] Translation: X:204.52, Y:218.50, Z:9.96 [[-1.97166667e-01 -9.80365181e-01 3.06892846e-03 2.04520766e+02] [ 9.80224621e-01 -1.97190371e-01 -1.66027203e-02 2.18496300e+02] [ 1.68818920e-02 -2.65263783e-04 9.99857456e-01 9.96163555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.52, Y:218.52, Z:9.96 [[-2.01187816e-01 -9.79547332e-01 3.23828447e-03 2.04519508e+02] [ 9.79391344e-01 -2.01213578e-01 -1.74840253e-02 2.18523867e+02] [ 1.77780172e-02 -3.46025095e-04 9.99841899e-01 9.96118354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0427550960001 meters Centerline goodness [0,1] 0.9999334826278796 Centerline is valid? [True, True] Translation: X:204.51, Y:218.55, Z:9.96 [[-2.03179183e-01 -9.79135866e-01 3.34294968e-03 2.04514630e+02] [ 9.78970213e-01 -2.03206313e-01 -1.80143594e-02 2.18550884e+02] [ 1.83178139e-02 -3.87494667e-04 9.99832140e-01 9.96171280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.072755096 meters Centerline goodness [0,1] 0.9999777664139449 Centerline is valid? [True, True] Translation: X:204.51, Y:218.58, Z:9.96 [[-2.05037484e-01 -9.78747991e-01 3.46409425e-03 2.04510752e+02] [ 9.78570752e-01 -2.05066293e-01 -1.86305867e-02 2.18578302e+02] [ 1.89450183e-02 -4.30107303e-04 9.99820435e-01 9.96136160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:218.61, Z:9.96 [[-2.07835062e-01 -9.78157362e-01 3.57258095e-03 2.04508240e+02] [ 9.77969489e-01 -2.07865183e-01 -1.91766383e-02 2.18605528e+02] [ 1.95003851e-02 -4.91702637e-04 9.99809729e-01 9.96069602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:218.63, Z:9.96 [[-2.09026534e-01 -9.77903544e-01 3.54504308e-03 2.04504414e+02] [ 9.77719259e-01 -2.09055987e-01 -1.89906394e-02 2.18631737e+02] [ 1.93121261e-02 -5.03490649e-04 9.99813377e-01 9.96091413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:218.66, Z:9.96 [[-2.11301017e-01 -9.77414635e-01 3.53719611e-03 2.04500747e+02] [ 9.77231852e-01 -2.11329934e-01 -1.89094400e-02 2.18658243e+02] [ 1.92298789e-02 -5.38923196e-04 9.99814944e-01 9.96269922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.50, Y:218.68, Z:9.96 [[-2.12144732e-01 -9.77231945e-01 3.51265816e-03 2.04497952e+02] [ 9.77052424e-01 -2.12173116e-01 -1.87384406e-02 2.18683326e+02] [ 1.90570944e-02 -5.43210306e-04 9.99818250e-01 9.96322625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:218.71, Z:9.96 [[-2.12685153e-01 -9.77114233e-01 3.57789344e-03 2.04493376e+02] [ 9.76928769e-01 -2.12714520e-01 -1.90450235e-02 2.18709066e+02] [ 1.93702334e-02 -5.55246693e-04 9.99812225e-01 9.96366516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:218.74, Z:9.96 [[-2.13636095e-01 -9.76906907e-01 3.53764742e-03 2.04488651e+02] [ 9.76726310e-01 -2.13664651e-01 -1.87917900e-02 2.18735186e+02] [ 1.91136996e-02 -5.59291311e-04 9.99817160e-01 9.96445893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:218.76, Z:9.97 [[-2.13540196e-01 -9.76928117e-01 3.46970235e-03 2.04484520e+02] [ 9.76755120e-01 -2.13567704e-01 -1.83921504e-02 2.18760422e+02] [ 1.87088252e-02 -5.38413846e-04 9.99824830e-01 9.96528740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:218.79, Z:9.97 [[-2.13649595e-01 -9.76904340e-01 3.42951983e-03 2.04477457e+02] [ 9.76736034e-01 -2.13676471e-01 -1.81407163e-02 2.18785950e+02] [ 1.84545522e-02 -5.26021088e-04 9.99829562e-01 9.96663312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:218.81, Z:9.97 [[-2.12728448e-01 -9.77105556e-01 3.36755606e-03 2.04473720e+02] [ 9.76943951e-01 -2.12754533e-01 -1.77771170e-02 2.18811634e+02] [ 1.80865826e-02 -4.91784984e-04 9.99836303e-01 9.96614083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.47, Y:218.84, Z:9.97 [[-2.12341680e-01 -9.77189497e-01 3.42021358e-03 2.04466736e+02] [ 9.77023481e-01 -2.12368671e-01 -1.80184852e-02 2.18837293e+02] [ 1.83338207e-02 -4.84446437e-04 9.99831804e-01 9.96665465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:218.86, Z:9.97 [[-2.11287847e-01 -9.77418063e-01 3.37286368e-03 2.04462642e+02] [ 9.77257278e-01 -2.11314285e-01 -1.77337681e-02 2.18863187e+02] [ 1.80460396e-02 -4.50774096e-04 9.99837055e-01 9.96591638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:218.89, Z:9.97 [[-2.08788961e-01 -9.77954911e-01 3.37065582e-03 2.04453569e+02] [ 9.77794929e-01 -2.08815787e-01 -1.76930415e-02 2.18889567e+02] [ 1.80068430e-02 -3.98301578e-04 9.99837784e-01 9.96663992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:218.92, Z:9.97 [[-2.07695469e-01 -9.78187925e-01 3.31297537e-03 2.04446436e+02] [ 9.78033886e-01 -2.07721568e-01 -1.73628697e-02 2.18916193e+02] [ 1.76723260e-02 -3.65987196e-04 9.99843765e-01 9.96689345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.492755096 meters Centerline goodness [0,1] 0.999844895969511 Centerline is valid? [True, True] Translation: X:204.44, Y:218.94, Z:9.97 [[-2.05790319e-01 -9.78591272e-01 3.07689290e-03 2.04438863e+02] [ 9.78458924e-01 -2.05813099e-01 -1.60966525e-02 2.18942707e+02] [ 1.63853085e-02 -3.01921939e-04 9.99865706e-01 9.96722123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters Centerline goodness [0,1] 0.9998224943974794 Centerline is valid? [True, True] Translation: X:204.43, Y:218.97, Z:9.97 [[-2.05146477e-01 -9.78726774e-01 2.97052825e-03 2.04432440e+02] [ 9.78603904e-01 -2.05167799e-01 -1.55104111e-02 2.18968464e+02] [ 1.57899114e-02 -2.74935655e-04 9.99875294e-01 9.96788009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.552755096 meters Centerline goodness [0,1] 0.9998669475551614 Centerline is valid? [True, True] Translation: X:204.43, Y:218.99, Z:9.97 [[-2.04585746e-01 -9.78844588e-01 2.81875500e-03 2.04426675e+02] [ 9.78734409e-01 -2.04605016e-01 -1.46882099e-02 2.18994274e+02] [ 1.49542061e-02 -2.46185863e-04 9.99888149e-01 9.96859069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.582755096 meters Centerline goodness [0,1] 0.9997776690826626 Centerline is valid? [True, True] Translation: X:204.42, Y:219.02, Z:9.97 [[-2.04236228e-01 -9.78918047e-01 2.64976670e-03 2.04421068e+02] [ 9.78821076e-01 -2.04253297e-01 -1.37801590e-02 2.19020334e+02] [ 1.40308699e-02 -2.20760195e-04 9.99901538e-01 9.96926425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.612755096 meters Centerline goodness [0,1] 0.999866844207723 Centerline is valid? [True, True] Translation: X:204.42, Y:219.04, Z:9.97 [[-2.03190917e-01 -9.79135970e-01 2.49059825e-03 2.04415015e+02] [ 9.79050656e-01 -2.03206094e-01 -1.29265605e-02 2.19044873e+02] [ 1.31629651e-02 -1.88137829e-04 9.99913347e-01 9.96879203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters Centerline goodness [0,1] 0.9998225613272412 Centerline is valid? [True, True] Translation: X:204.41, Y:219.07, Z:9.97 [[-2.02850332e-01 -9.79206744e-01 2.42801253e-03 2.04408747e+02] [ 9.79126003e-01 -2.02864788e-01 -1.25756998e-02 2.19070901e+02] [ 1.28067684e-02 -1.73654687e-04 9.99917975e-01 9.96861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6727550960001 meters Centerline goodness [0,1] 0.9998668973778784 Centerline is valid? [True, True] Translation: X:204.40, Y:219.10, Z:9.97 [[-2.02745311e-01 -9.79228705e-01 2.34164225e-03 2.04401892e+02] [ 9.79153903e-01 -2.02758769e-01 -1.21044099e-02 2.19096806e+02] [ 1.23277741e-02 -1.61284193e-04 9.99923997e-01 9.96929021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.40, Y:219.12, Z:9.97 [[-2.02693056e-01 -9.79239791e-01 2.22656892e-03 2.04395095e+02] [ 9.79172431e-01 -2.02705231e-01 -1.14864857e-02 2.19122342e+02] [ 1.16993610e-02 -1.48035992e-04 9.99931549e-01 9.96896034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.732755096 meters Centerline goodness [0,1] 0.9998668648900526 Centerline is valid? [True, True] Translation: X:204.39, Y:219.15, Z:9.97 [[-2.03080138e-01 -9.79159955e-01 2.05944441e-03 2.04390888e+02] [ 9.79102542e-01 -2.03090533e-01 -1.06041513e-02 2.19147706e+02] [ 1.08014139e-02 -1.37085242e-04 9.99941654e-01 9.96849278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:204.39, Y:219.17, Z:9.97 [[-2.04865650e-01 -9.78788112e-01 1.97438063e-03 2.04385382e+02] [ 9.78735498e-01 -2.04875111e-01 -1.01495527e-02 2.19174045e+02] [ 1.03387629e-02 -1.46898287e-04 9.99946543e-01 9.96834354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.38, Y:219.20, Z:9.97 [[-2.06283968e-01 -9.78490302e-01 1.91138231e-03 2.04381105e+02] [ 9.78441176e-01 -2.06292766e-01 -9.80614984e-03 2.19199392e+02] [ 9.98952686e-03 -1.52676348e-04 9.99950092e-01 9.96828866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.38, Y:219.22, Z:9.97 [[-2.07762544e-01 -9.78177616e-01 1.81009657e-03 2.04376860e+02] [ 9.78133724e-01 -2.07770371e-01 -9.26778770e-03 2.19224167e+02] [ 9.44162691e-03 -1.54982652e-04 9.99955415e-01 9.96852700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:219.25, Z:9.97 [[-2.09139789e-01 -9.77884213e-01 1.73613395e-03 2.04372458e+02] [ 9.77843986e-01 -2.09146936e-01 -8.87116192e-03 2.19250362e+02] [ 9.03807629e-03 -1.57644788e-04 9.99959143e-01 9.96867961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.37, Y:219.28, Z:9.97 [[-2.10974766e-01 -9.77490075e-01 1.67361048e-03 2.04368617e+02] [ 9.77452815e-01 -2.10981339e-01 -8.53636581e-03 2.19275686e+02] [ 8.69731343e-03 -1.65082501e-04 9.99962164e-01 9.96841542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.36, Y:219.30, Z:9.97 [[-2.12154586e-01 -9.77234823e-01 1.59115333e-03 2.04362899e+02] [ 9.77201267e-01 -2.12160489e-01 -8.09997933e-03 2.19301629e+02] [ 8.25316174e-03 -1.63570709e-04 9.99965929e-01 9.96822840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.36, Y:219.33, Z:9.97 [[-2.13909457e-01 -9.76852455e-01 1.42329919e-03 2.04355714e+02] [ 9.76825690e-01 -2.13914134e-01 -7.23292763e-03 2.19328255e+02] [ 7.36996692e-03 -1.56876411e-04 9.99972829e-01 9.96793141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.35, Y:219.36, Z:9.97 [[-2.14653887e-01 -9.76689283e-01 1.32449858e-03 2.04349324e+02] [ 9.76666178e-01 -2.14657921e-01 -6.71970599e-03 2.19355166e+02] [ 6.84737894e-03 -1.48818040e-04 9.99976545e-01 9.96806721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters Centerline goodness [0,1] 0.9999777158774373 Centerline is valid? [True, True] Translation: X:204.35, Y:219.38, Z:9.97 [[-2.15651625e-01 -9.76469529e-01 1.27907931e-03 2.04347287e+02] [ 9.76448062e-01 -2.15655368e-01 -6.47641602e-03 2.19381954e+02] [ 6.59986322e-03 -1.47695130e-04 9.99978210e-01 9.96857046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:219.41, Z:9.97 [[-2.17261768e-01 -9.76112698e-01 1.15108786e-03 2.04341244e+02] [ 9.76095343e-01 -2.17264771e-01 -5.82238518e-03 2.19408185e+02] [ 5.93339495e-03 -1.41410200e-04 9.99982387e-01 9.96844306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.34, Y:219.44, Z:9.97 [[-2.18317046e-01 -9.75877290e-01 1.08764523e-03 2.04335032e+02] [ 9.75861842e-01 -2.18319712e-01 -5.49263535e-03 2.19435121e+02] [ 5.59759249e-03 -1.37744450e-04 9.99984324e-01 9.96842077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.33, Y:219.46, Z:9.97 [[-2.19716062e-01 -9.75563342e-01 1.00871474e-03 2.04331251e+02] [ 9.75550093e-01 -2.19718337e-01 -5.08612157e-03 2.19461557e+02] [ 5.18346688e-03 -1.33450841e-04 9.99986557e-01 9.96859432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.33, Y:219.49, Z:9.97 [[-2.20643625e-01 -9.75354004e-01 9.78864577e-04 2.04326010e+02] [ 9.75341569e-01 -2.20645757e-01 -4.92686449e-03 2.19487048e+02] [ 5.02141932e-03 -1.32353929e-04 9.99987384e-01 9.96842207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1527550960001 meters Centerline goodness [0,1] 0.9999554813578185 Centerline is valid? [True, True] Translation: X:204.32, Y:219.51, Z:9.97 [[-2.20852460e-01 -9.75306768e-01 9.48614530e-04 2.04320626e+02] [ 9.75295134e-01 -2.20854460e-01 -4.76546048e-03 2.19512569e+02] [ 4.85729161e-03 -1.27284534e-04 9.99988195e-01 9.96820983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.32, Y:219.54, Z:9.97 [[-2.21316506e-01 -9.75201561e-01 9.58899413e-04 2.04315039e+02] [ 9.75189721e-01 -2.21318545e-01 -4.80720579e-03 2.19538155e+02] [ 4.90021681e-03 -1.28805135e-04 9.99987986e-01 9.96816467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.31, Y:219.56, Z:9.97 [[-2.20634728e-01 -9.75356069e-01 9.25160514e-04 2.04309505e+02] [ 9.75345098e-01 -2.20636636e-01 -4.62763186e-03 2.19562761e+02] [ 4.71771312e-03 -1.18665526e-04 9.99988865e-01 9.96808282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.30, Y:219.59, Z:9.97 [[-2.20135148e-01 -9.75468948e-01 9.21250168e-04 2.04303261e+02] [ 9.75458096e-01 -2.20137046e-01 -4.60264248e-03 2.19588806e+02] [ 4.69253611e-03 -1.14562451e-04 9.99988983e-01 9.96850053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.30, Y:219.61, Z:9.97 [[-2.19728875e-01 -9.75560567e-01 8.95434585e-04 2.04297389e+02] [ 9.75550351e-01 -2.19730673e-01 -4.46577332e-03 2.19613401e+02] [ 4.55338679e-03 -1.07717824e-04 9.99989628e-01 9.96884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.29, Y:219.64, Z:9.97 [[-2.18179686e-01 -9.75908268e-01 8.22979531e-04 2.04288571e+02] [ 9.75899675e-01 -2.18181219e-01 -4.09628475e-03 2.19639318e+02] [ 4.17715683e-03 -9.05806610e-05 9.99991272e-01 9.96862081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:219.66, Z:9.97 [[-2.17521762e-01 -9.76055131e-01 8.14770797e-04 2.04283612e+02] [ 9.76046733e-01 -2.17523271e-01 -4.04982215e-03 2.19664134e+02] [ 4.13008130e-03 -8.56700725e-05 9.99991468e-01 9.96862373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:219.69, Z:9.97 [[-2.16076083e-01 -9.76376172e-01 8.35477250e-04 2.04277194e+02] [ 9.76367393e-01 -2.16077684e-01 -4.14115032e-03 2.19690309e+02] [ 4.22384848e-03 -7.90707964e-05 9.99991076e-01 9.96866987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.27, Y:219.72, Z:9.97 [[-2.15608262e-01 -9.76479493e-01 9.36359405e-04 2.04270032e+02] [ 9.76468499e-01 -2.15610279e-01 -4.63445915e-03 2.19716092e+02] [ 4.72734304e-03 -8.49022219e-05 9.99988822e-01 9.96819529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.27, Y:219.74, Z:9.97 [[-2.14959484e-01 -9.76622560e-01 8.92040104e-04 2.04265818e+02] [ 9.76612617e-01 -2.14961321e-01 -4.40755543e-03 2.19741591e+02] [ 4.49627218e-03 -7.62682206e-05 9.99989889e-01 9.96886094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.26, Y:219.77, Z:9.97 [[-2.13709731e-01 -9.76896896e-01 7.78001458e-04 2.04257395e+02] [ 9.76889359e-01 -2.13711139e-01 -3.83790583e-03 2.19767175e+02] [ 3.91550587e-03 -6.01764769e-05 9.99992333e-01 9.96888092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:219.79, Z:9.97 [[-2.13334558e-01 -9.76979012e-01 6.13271974e-04 2.04252290e+02] [ 9.76974334e-01 -2.13335434e-01 -3.02366460e-03 2.19791699e+02] [ 3.08488950e-03 -4.59011725e-05 9.99995241e-01 9.97009351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:219.82, Z:9.97 [[-2.13061882e-01 -9.77038615e-01 4.22992857e-04 2.04245915e+02] [ 9.77036388e-01 -2.13062299e-01 -2.08654492e-03 2.19817330e+02] [ 2.12875879e-03 -3.12837743e-05 9.99997734e-01 9.97058004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:219.84, Z:9.97 [[-2.13226956e-01 -9.77002639e-01 3.28618834e-04 2.04240741e+02] [ 9.77001293e-01 -2.13227208e-01 -1.62187232e-03 2.19843573e+02] [ 1.65464401e-03 -2.47658731e-05 9.99998631e-01 9.97151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.24, Y:219.87, Z:9.97 [[-2.13751785e-01 -9.76887956e-01 3.11628885e-04 2.04236615e+02] [ 9.76886748e-01 -2.13752010e-01 -1.53589379e-03 2.19869824e+02] [ 1.56700745e-03 -2.38739108e-05 9.99998772e-01 9.97188164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.602755096 meters Centerline goodness [0,1] 0.999977856510186 Centerline is valid? [True, True] Translation: X:204.23, Y:219.89, Z:9.97 [[-2.14562293e-01 -9.76710230e-01 3.87365992e-04 2.04232796e+02] [ 9.76708379e-01 -2.14562640e-01 -1.90174452e-03 2.19894762e+02] [ 1.94056759e-03 -2.96990539e-05 9.99998117e-01 9.97213500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.632755096 meters Centerline goodness [0,1] 0.999977856510186 Centerline is valid? [True, True] Translation: X:204.23, Y:219.92, Z:9.97 [[-2.14917967e-01 -9.76632027e-01 3.88366286e-04 2.04227300e+02] [ 9.76630176e-01 -2.14918316e-01 -1.90153927e-03 2.19920122e+02] [ 1.94057118e-03 -2.93847210e-05 9.99998117e-01 9.97237650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.22, Y:219.95, Z:9.97 [[-2.15921549e-01 -9.76410561e-01 5.49200628e-04 2.04222693e+02] [ 9.76406891e-01 -2.15922244e-01 -2.67735179e-03 2.19945930e+02] [ 2.73277919e-03 -4.18546671e-05 9.99996265e-01 9.97123892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.692755096 meters Centerline goodness [0,1] 0.9999777807403457 Centerline is valid? [True, True] Translation: X:204.22, Y:219.97, Z:9.97 [[-2.16978988e-01 -9.76176101e-01 5.81868819e-04 2.04218495e+02] [ 9.76171999e-01 -2.16979763e-01 -2.83025159e-03 2.19971680e+02] [ 2.88907772e-03 -4.61010762e-05 9.99995826e-01 9.97100533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:220.00, Z:9.97 [[-2.17941413e-01 -9.75961693e-01 5.59778120e-04 2.04213546e+02] [ 9.75957907e-01 -2.17942127e-01 -2.71881915e-03 2.19997219e+02] [ 2.77546257e-03 -4.62234052e-05 9.99996147e-01 9.97055150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:220.02, Z:9.97 [[-2.19143340e-01 -9.75692485e-01 6.09648225e-04 2.04211174e+02] [ 9.75688014e-01 -2.19144182e-01 -2.95422383e-03 2.20022333e+02] [ 3.01601485e-03 -5.25720130e-05 9.99995450e-01 9.97123046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.21, Y:220.05, Z:9.97 [[-2.20418613e-01 -9.75405210e-01 5.58664407e-04 2.04208925e+02] [ 9.75401467e-01 -2.20419315e-01 -2.70253579e-03 2.20047639e+02] [ 2.75920791e-03 -5.07671075e-05 9.99996192e-01 9.97117017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:220.07, Z:9.97 [[-2.20942290e-01 -9.75286682e-01 6.26669653e-04 2.04202328e+02] [ 9.75281996e-01 -2.20943171e-01 -3.02391662e-03 2.20073463e+02] [ 3.08764398e-03 -5.69314324e-05 9.99995232e-01 9.97044063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.20, Y:220.10, Z:9.97 [[-2.21241583e-01 -9.75218634e-01 8.82358976e-04 2.04197343e+02] [ 9.75209409e-01 -2.21243329e-01 -4.24233522e-03 2.20099818e+02] [ 4.33242040e-03 -7.80961857e-05 9.99990612e-01 9.96947722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.19, Y:220.12, Z:9.97 [[-2.20787754e-01 -9.75321419e-01 9.47528470e-04 2.04191417e+02] [ 9.75310828e-01 -2.20789773e-01 -4.54586608e-03 2.20124970e+02] [ 4.64288515e-03 -7.95367859e-05 9.99989219e-01 9.96929527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.18, Y:220.15, Z:9.97 [[-2.20046126e-01 -9.75489013e-01 9.42611285e-04 2.04184011e+02] [ 9.75478577e-01 -2.20048133e-01 -4.51285834e-03 2.20150098e+02] [ 4.60966358e-03 -7.35398814e-05 9.99989373e-01 9.96893079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.18, Y:220.18, Z:9.97 [[-2.17494237e-01 -9.76061115e-01 9.78533758e-04 2.04176307e+02] [ 9.76049923e-01 -2.17496429e-01 -4.67458457e-03 2.20175364e+02] [ 4.77550783e-03 -6.15974046e-05 9.99988595e-01 9.96890557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:220.20, Z:9.97 [[-2.17093400e-01 -9.76150346e-01 9.79142632e-04 2.04171465e+02] [ 9.76139178e-01 -2.17095600e-01 -4.66961303e-03 2.20200188e+02] [ 4.77081193e-03 -5.79626845e-05 9.99988618e-01 9.96991771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:220.23, Z:9.97 [[-2.16623231e-01 -9.76254728e-01 1.04031836e-03 2.04164317e+02] [ 9.76242180e-01 -2.16625722e-01 -4.95005902e-03 2.20225754e+02] [ 5.05787824e-03 -5.66951115e-05 9.99987207e-01 9.96934930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.16, Y:220.25, Z:9.97 [[-2.15677236e-01 -9.76463911e-01 1.24961413e-03 2.04157225e+02] [ 9.76445896e-01 -2.15680848e-01 -5.93171182e-03 2.20251621e+02] [ 6.06162036e-03 -5.91546217e-05 9.99981626e-01 9.96837912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.15, Y:220.28, Z:9.97 [[-2.15579182e-01 -9.76485511e-01 1.28935977e-03 2.04150950e+02] [ 9.76466407e-01 -2.15583030e-01 -6.10847027e-03 2.20276751e+02] [ 6.24279680e-03 -5.78425230e-05 9.99980512e-01 9.96841052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:220.30, Z:9.97 [[-2.15417160e-01 -9.76521245e-01 1.30602934e-03 2.04143961e+02] [ 9.76501723e-01 -2.15421112e-01 -6.17482570e-03 2.20302279e+02] [ 6.31119477e-03 -5.48235151e-05 9.99980083e-01 9.96808813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.112755096 meters Centerline goodness [0,1] 0.9998663429195161 Centerline is valid? [True, True] Translation: X:204.14, Y:220.33, Z:9.97 [[-2.15353308e-01 -9.76535240e-01 1.37008669e-03 2.04137162e+02] [ 9.76513843e-01 -2.15357660e-01 -6.46477599e-03 2.20327157e+02] [ 6.60814024e-03 -5.43022775e-05 9.99978165e-01 9.96784431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.13, Y:220.35, Z:9.97 [[-2.15342459e-01 -9.76537634e-01 1.36933493e-03 2.04130481e+02] [ 9.76516346e-01 -2.15346806e-01 -6.44818597e-03 2.20352955e+02] [ 6.59177817e-03 -5.13902743e-05 9.99978273e-01 9.96801770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:220.38, Z:9.97 [[-2.15256661e-01 -9.76556530e-01 1.38361774e-03 2.04124068e+02] [ 9.76534877e-01 -2.15261102e-01 -6.50325260e-03 2.20378656e+02] [ 6.64863287e-03 -4.87174636e-05 9.99977896e-01 9.96822072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.12, Y:220.40, Z:9.97 [[-2.15153356e-01 -9.76578984e-01 1.58817678e-03 2.04118330e+02] [ 9.76550578e-01 -2.15159211e-01 -7.44860813e-03 2.20404501e+02] [ 7.61586502e-03 -5.16580804e-05 9.99970998e-01 9.96861804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.232755096 meters Centerline goodness [0,1] 0.9999330730619074 Centerline is valid? [True, True] Translation: X:204.11, Y:220.43, Z:9.97 [[-2.15528414e-01 -9.76496066e-01 1.71327361e-03 2.04112980e+02] [ 9.76463140e-01 -2.15535216e-01 -8.01917267e-03 2.20430042e+02] [ 8.19996136e-03 -5.54110381e-05 9.99966378e-01 9.96896760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.11, Y:220.46, Z:9.97 [[-2.16543672e-01 -9.76271522e-01 1.65919137e-03 2.04107569e+02] [ 9.76240744e-01 -2.16550020e-01 -7.75229041e-03 2.20456374e+02] [ 7.92763829e-03 -5.89392166e-05 9.99968574e-01 9.96935300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:220.48, Z:9.97 [[-2.17619524e-01 -9.76032257e-01 1.66638779e-03 2.04102344e+02] [ 9.76001317e-01 -2.17625894e-01 -7.77168548e-03 2.20481921e+02] [ 7.94806485e-03 -6.48738115e-05 9.99968412e-01 9.96949085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:220.51, Z:9.97 [[-2.18604769e-01 -9.75812118e-01 1.63264532e-03 2.04097598e+02] [ 9.75782517e-01 -2.18610855e-01 -7.60088081e-03 2.20507702e+02] [ 7.77394559e-03 -6.84820305e-05 9.99969780e-01 9.96977490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.09, Y:220.53, Z:9.97 [[-2.19934046e-01 -9.75513402e-01 1.61805203e-03 2.04092442e+02] [ 9.75484423e-01 -2.19939985e-01 -7.51962389e-03 2.20533508e+02] [ 7.69136823e-03 -7.54367497e-05 9.99970418e-01 9.96979599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.09, Y:220.56, Z:9.97 [[-2.21857744e-01 -9.75077473e-01 1.75008702e-03 2.04087916e+02] [ 9.75043696e-01 -2.21864627e-01 -8.11656668e-03 2.20560864e+02] [ 8.30256373e-03 -9.43118555e-05 9.99965529e-01 9.96999649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:220.59, Z:9.97 [[-2.23261292e-01 -9.74757127e-01 1.71461055e-03 2.04084008e+02] [ 9.74724807e-01 -2.23267853e-01 -7.93825476e-03 2.20585931e+02] [ 8.12068782e-03 -1.01031578e-04 9.99967022e-01 9.97004286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:220.61, Z:9.97 [[-2.25333273e-01 -9.74280184e-01 1.74340127e-03 2.04080427e+02] [ 9.74246859e-01 -2.25339986e-01 -8.05910602e-03 2.20613226e+02] [ 8.24468531e-03 -1.17481521e-04 9.99966005e-01 9.97082968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:220.64, Z:9.97 [[-2.26141624e-01 -9.74093010e-01 1.66547112e-03 2.04075826e+02] [ 9.74062687e-01 -2.26147727e-01 -7.68685404e-03 2.20638479e+02] [ 7.86435330e-03 -1.16044384e-04 9.99969069e-01 9.97113329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:220.66, Z:9.97 [[-2.27052046e-01 -9.73881221e-01 1.65416523e-03 2.04070261e+02] [ 9.73851419e-01 -2.27058041e-01 -7.61966300e-03 2.20664274e+02] [ 7.79623822e-03 -1.19148922e-04 9.99969602e-01 9.97125554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.07, Y:220.69, Z:9.97 [[-2.27732984e-01 -9.73722196e-01 1.66504040e-03 2.04065044e+02] [ 9.73692110e-01 -2.27739038e-01 -7.65545212e-03 2.20688937e+02] [ 7.83347835e-03 -1.22162256e-04 9.99969310e-01 9.97121059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.06, Y:220.71, Z:9.97 [[-2.27707692e-01 -9.73728138e-01 1.64944181e-03 2.04059157e+02] [ 9.73698727e-01 -2.27713636e-01 -7.56903401e-03 2.20714987e+02] [ 7.74578179e-03 -1.17467875e-04 9.99969994e-01 9.97176381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:220.74, Z:9.97 [[-2.27780112e-01 -9.73711503e-01 1.45935674e-03 2.04052378e+02] [ 9.73688549e-01 -2.27784764e-01 -6.68660283e-03 2.20740760e+02] [ 6.84324132e-03 -1.02116197e-04 9.99976580e-01 9.97194265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.05, Y:220.77, Z:9.97 [[-2.27925352e-01 -9.73677194e-01 1.66013617e-03 2.04046511e+02] [ 9.73647619e-01 -2.27931370e-01 -7.58982366e-03 2.20766829e+02] [ 7.76843531e-03 -1.13525598e-04 9.99969819e-01 9.97181247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.04, Y:220.79, Z:9.97 [[-2.27810853e-01 -9.73703850e-01 1.74026313e-03 2.04040397e+02] [ 9.73671478e-01 -2.27817471e-01 -7.94054479e-03 2.20791965e+02] [ 8.12820138e-03 -1.14497712e-04 9.99966959e-01 9.97191518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:220.82, Z:9.97 [[-2.27874195e-01 -9.73688916e-01 1.80198155e-03 2.04033870e+02] [ 9.73654347e-01 -2.27881291e-01 -8.20546749e-03 2.20817344e+02] [ 8.40021063e-03 -1.15307127e-04 9.99964711e-01 9.97170285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.03, Y:220.84, Z:9.97 [[-2.27616553e-01 -9.73749087e-01 1.84928151e-03 2.04026411e+02] [ 9.73712820e-01 -2.27624038e-01 -8.40484636e-03 2.20843198e+02] [ 8.60515240e-03 -1.12413045e-04 9.99962969e-01 9.97097995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.02, Y:220.87, Z:9.97 [[-2.27654719e-01 -9.73739914e-01 1.97703144e-03 2.04019801e+02] [ 9.73698628e-01 -2.27663274e-01 -8.96745483e-03 2.20868978e+02] [ 9.18206615e-03 -1.16450613e-04 9.99957837e-01 9.97090464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.01, Y:220.89, Z:9.97 [[-2.27139717e-01 -9.73860097e-01 2.01501545e-03 2.04014338e+02] [ 9.73817376e-01 -2.27148628e-01 -9.12248145e-03 2.20894320e+02] [ 9.34172867e-03 -1.09820797e-04 9.99956359e-01 9.97075313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.802755096 meters Centerline goodness [0,1] 0.9999777792591605 Centerline is valid? [True, True] Translation: X:204.01, Y:220.92, Z:9.97 [[-2.27277330e-01 -9.73827755e-01 2.12576985e-03 2.04007259e+02] [ 9.73780398e-01 -2.27287243e-01 -9.60444652e-03 2.20920067e+02] [ 9.83623696e-03 -1.12839947e-04 9.99951617e-01 9.97128656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.00, Y:220.94, Z:9.97 [[-2.27080284e-01 -9.73873724e-01 2.12464962e-03 2.04001412e+02] [ 9.73826590e-01 -2.27090198e-01 -9.58204678e-03 2.20944618e+02] [ 9.81419069e-03 -1.06853611e-04 9.99951834e-01 9.97149381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:220.97, Z:9.97 [[-2.26860521e-01 -9.73924852e-01 2.16509902e-03 2.03993891e+02] [ 9.73876053e-01 -2.26870829e-01 -9.74988529e-03 2.20970153e+02] [ 9.98685339e-03 -1.03325974e-04 9.99950125e-01 9.97140051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.99, Y:221.00, Z:9.97 [[-2.27188587e-01 -9.73848341e-01 2.18067975e-03 2.03987158e+02] [ 9.73799011e-01 -2.27199029e-01 -9.80247351e-03 2.20995759e+02] [ 1.00415709e-02 -1.03466319e-04 9.99949577e-01 9.97172551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.98, Y:221.02, Z:9.97 [[-2.27384058e-01 -9.73802763e-01 2.16087739e-03 2.03979778e+02] [ 9.73754493e-01 -2.27394303e-01 -9.69634702e-03 2.21020775e+02] [ 9.93370073e-03 -1.00630665e-04 9.99950655e-01 9.97227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.97, Y:221.05, Z:9.97 [[-2.28523046e-01 -9.73536395e-01 2.02592016e-03 2.03973523e+02] [ 9.73494101e-01 -2.28532004e-01 -9.07520295e-03 2.21045744e+02] [ 9.29802796e-03 -1.01671694e-04 9.99956767e-01 9.97320793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.982755096 meters Centerline goodness [0,1] 0.9999557805832541 Centerline is valid? [True, True] Translation: X:203.97, Y:221.07, Z:9.97 [[-2.28972237e-01 -9.73430802e-01 2.04661878e-03 2.03968673e+02] [ 9.73387799e-01 -2.28981360e-01 -9.15034275e-03 2.21071235e+02] [ 9.37586303e-03 -1.03020704e-04 9.99956040e-01 9.97363365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:221.10, Z:9.97 [[-2.30275920e-01 -9.73123094e-01 2.10842618e-03 2.03963200e+02] [ 9.73077617e-01 -2.30285543e-01 -9.40853482e-03 2.21096681e+02] [ 9.64120258e-03 -1.14896684e-04 9.99953516e-01 9.97423285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.96, Y:221.12, Z:9.97 [[-2.31415823e-01 -9.72852719e-01 2.07475034e-03 2.03958518e+02] [ 9.72808825e-01 -2.31425092e-01 -9.24211145e-03 2.21121337e+02] [ 9.47136253e-03 -1.20435392e-04 9.99955138e-01 9.97484926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:221.15, Z:9.98 [[-2.32329752e-01 -9.72634912e-01 2.05276658e-03 2.03952647e+02] [ 9.72592091e-01 -2.32338787e-01 -9.12752878e-03 2.21147080e+02] [ 9.35469045e-03 -1.24091952e-04 9.99956236e-01 9.97520005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:221.17, Z:9.97 [[-2.33456378e-01 -9.72364978e-01 2.11423065e-03 2.03946864e+02] [ 9.72319704e-01 -2.33465912e-01 -9.38407444e-03 2.21171603e+02] [ 9.61834612e-03 -1.35063909e-04 9.99953734e-01 9.97493726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:221.20, Z:9.98 [[-2.34167584e-01 -9.72193992e-01 2.09402615e-03 2.03940972e+02] [ 9.72149730e-01 -2.34176906e-01 -9.27784952e-03 2.21197056e+02] [ 9.51024213e-03 -1.36864643e-04 9.99954767e-01 9.97519654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.94, Y:221.22, Z:9.98 [[-2.34889649e-01 -9.72019702e-01 2.13334675e-03 2.03935550e+02] [ 9.71973914e-01 -2.34899293e-01 -9.43571339e-03 2.21221692e+02] [ 9.67282096e-03 -1.42794011e-04 9.99953207e-01 9.97541777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.93, Y:221.25, Z:9.98 [[-2.35791383e-01 -9.71801161e-01 2.21980978e-03 2.03930512e+02] [ 9.71751766e-01 -2.35801782e-01 -9.79924847e-03 2.21246119e+02] [ 1.00463561e-02 -1.53474279e-04 9.99949522e-01 9.97532527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:221.27, Z:9.98 [[-2.36930582e-01 -9.71523803e-01 2.32348164e-03 2.03923538e+02] [ 9.71469887e-01 -2.36941915e-01 -1.02365973e-02 2.21271963e+02] [ 1.04956281e-02 -1.68170511e-04 9.99944905e-01 9.97583242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:221.30, Z:9.98 [[-2.37416990e-01 -9.71404788e-01 2.43125978e-03 2.03918455e+02] [ 9.71345965e-01 -2.37429373e-01 -1.06915198e-02 2.21296672e+02] [ 1.09630460e-02 -1.76754063e-04 9.99939888e-01 9.97585393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:221.32, Z:9.98 [[-2.37888171e-01 -9.71289481e-01 2.44200556e-03 2.03912146e+02] [ 9.71230349e-01 -2.37900638e-01 -1.07189744e-02 2.21322254e+02] [ 1.09921818e-02 -1.78167304e-04 9.99939568e-01 9.97618244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.91, Y:221.35, Z:9.98 [[-2.38033152e-01 -9.71253905e-01 2.46371110e-03 2.03905862e+02] [ 9.71193930e-01 -2.38045836e-01 -1.07949074e-02 2.21347822e+02] [ 1.10710721e-02 -1.76804564e-04 9.99938698e-01 9.97670807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.90, Y:221.37, Z:9.98 [[-2.37876001e-01 -9.71292395e-01 2.46806293e-03 2.03900534e+02] [ 9.71232426e-01 -2.37888743e-01 -1.07945135e-02 2.21372420e+02] [ 1.10717533e-02 -1.70692964e-04 9.99938692e-01 9.97717648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:221.40, Z:9.98 [[-2.37781660e-01 -9.71315504e-01 2.46461169e-03 2.03894295e+02] [ 9.71255922e-01 -2.37794375e-01 -1.07596237e-02 2.21397699e+02] [ 1.10370601e-02 -1.64672488e-04 9.99939076e-01 9.97724346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:221.42, Z:9.98 [[-2.36891754e-01 -9.71533142e-01 2.37700593e-03 2.03887817e+02] [ 9.71477918e-01 -2.36903635e-01 -1.03596454e-02 2.21423721e+02] [ 1.06278602e-02 -1.44905803e-04 9.99943512e-01 9.97786140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.88, Y:221.45, Z:9.98 [[-2.36563073e-01 -9.71613302e-01 2.34608917e-03 2.03882524e+02] [ 9.71559696e-01 -2.36574667e-01 -1.02070381e-02 2.21448157e+02] [ 1.04723192e-02 -1.35242605e-04 9.99945155e-01 9.97847087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.462755096 meters Centerline goodness [0,1] 0.999977661119178 Centerline is valid? [True, True] Translation: X:203.88, Y:221.47, Z:9.98 [[-2.35337364e-01 -9.71910535e-01 2.49756389e-03 2.03877603e+02] [ 9.71850031e-01 -2.35350583e-01 -1.08453097e-02 2.21474142e+02] [ 1.11284738e-02 -1.25049044e-04 9.99938069e-01 9.97848405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.492755096 meters Centerline goodness [0,1] 0.999910885354008 Centerline is valid? [True, True] Translation: X:203.87, Y:221.50, Z:9.98 [[-2.34356550e-01 -9.72147428e-01 2.52706361e-03 2.03870387e+02] [ 9.72085713e-01 -2.34370148e-01 -1.09544483e-02 2.21499795e+02] [ 1.12416070e-02 -1.10724289e-04 9.99936805e-01 9.97919467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters Centerline goodness [0,1] 0.9998218540539336 Centerline is valid? [True, True] Translation: X:203.86, Y:221.53, Z:9.98 [[-2.33118985e-01 -9.72444676e-01 2.62507426e-03 2.03862170e+02] [ 9.72378334e-01 -2.33133745e-01 -1.13592494e-02 2.21525073e+02] [ 1.16582350e-02 -9.54913633e-05 9.99932036e-01 9.97928839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:221.55, Z:9.98 [[-2.31053914e-01 -9.72937015e-01 2.76639127e-03 2.03853848e+02] [ 9.72863640e-01 -2.31070464e-01 -1.19490367e-02 2.21549376e+02] [ 1.22648914e-02 -6.95502073e-05 9.99924781e-01 9.97828372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:221.57, Z:9.98 [[-2.31418519e-01 -9.72850343e-01 2.77106083e-03 2.03847726e+02] [ 9.72776974e-01 -2.31435098e-01 -1.19479539e-02 2.21574593e+02] [ 1.22648918e-02 -6.93536237e-05 9.99924781e-01 9.97852523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.612755096 meters Centerline goodness [0,1] 0.9998887603452878 Centerline is valid? [True, True] Translation: X:203.84, Y:221.60, Z:9.98 [[-2.30300488e-01 -9.73115017e-01 2.97486644e-03 2.03840827e+02] [ 9.73030782e-01 -2.30319695e-01 -1.28037632e-02 2.21599792e+02] [ 1.31447045e-02 -5.40762925e-05 9.99913603e-01 9.97855074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters Centerline goodness [0,1] 0.9997322683563509 Centerline is valid? [True, True] Translation: X:203.84, Y:221.62, Z:9.98 [[-2.29193896e-01 -9.73375400e-01 3.23873975e-03 2.03835047e+02] [ 9.73275918e-01 -2.29216776e-01 -1.39160758e-02 2.21624158e+02] [ 1.42879393e-02 -3.72922392e-05 9.99897922e-01 9.97754757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6727550960001 meters Centerline goodness [0,1] 0.9997767707658995 Centerline is valid? [True, True] Translation: X:203.83, Y:221.65, Z:9.98 [[-2.29464177e-01 -9.73311046e-01 3.43507486e-03 2.03829447e+02] [ 9.73199469e-01 -2.29489884e-01 -1.47372443e-02 2.21650315e+02] [ 1.51322376e-02 -3.86566118e-05 9.99885500e-01 9.97752459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.702755096 meters Centerline goodness [0,1] 0.9997550220480157 Centerline is valid? [True, True] Translation: X:203.82, Y:221.68, Z:9.98 [[-2.29329161e-01 -9.73342589e-01 3.51294717e-03 2.03823523e+02] [ 9.73226299e-01 -2.29356064e-01 -1.50455111e-02 2.21675440e+02] [ 1.54501524e-02 -3.14818538e-05 9.99880639e-01 9.97722549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.732755096 meters Centerline goodness [0,1] 0.9998441188259921 Centerline is valid? [True, True] Translation: X:203.82, Y:221.70, Z:9.98 [[-2.29866081e-01 -9.73215963e-01 3.50339242e-03 2.03817162e+02] [ 9.73100696e-01 -2.29892775e-01 -1.49782274e-02 2.21700135e+02] [ 1.53824547e-02 -3.38328463e-05 9.99881683e-01 9.97734845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters Centerline goodness [0,1] 0.9996887851506058 Centerline is valid? [True, True] Translation: X:203.81, Y:221.72, Z:9.98 [[-2.30601485e-01 -9.73041700e-01 3.57847156e-03 2.03812056e+02] [ 9.72921863e-01 -2.30629245e-01 -1.52708621e-02 2.21724641e+02] [ 1.56844858e-02 -3.99102666e-05 9.99876990e-01 9.97721122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7927550960001 meters Centerline goodness [0,1] 0.9996881751564692 Centerline is valid? [True, True] Translation: X:203.81, Y:221.75, Z:9.98 [[-2.31605831e-01 -9.72802895e-01 3.64224498e-03 2.03806451e+02] [ 9.72679170e-01 -2.31634463e-01 -1.55147384e-02 2.21750898e+02] [ 1.59364519e-02 -5.05680412e-05 9.99873005e-01 9.97828565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.822755096 meters Centerline goodness [0,1] 0.9995325542570952 Centerline is valid? [True, True] Translation: X:203.80, Y:221.78, Z:9.98 [[-2.32865155e-01 -9.72501721e-01 3.77121240e-03 2.03802973e+02] [ 9.72369499e-01 -2.32895681e-01 -1.60362132e-02 2.21777295e+02] [ 1.64735440e-02 -6.72633696e-05 9.99864300e-01 9.97925657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.852755096 meters Centerline goodness [0,1] 0.9997332503445516 Centerline is valid? [True, True] Translation: X:203.80, Y:221.80, Z:9.98 [[-2.34514359e-01 -9.72104746e-01 3.92151184e-03 2.03798276e+02] [ 9.71962213e-01 -2.34547126e-01 -1.66464072e-02 2.21803714e+02] [ 1.71018307e-02 -9.22601820e-05 9.99853749e-01 9.97987845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters Centerline goodness [0,1] 0.9998886066925099 Centerline is valid? [True, True] Translation: X:203.79, Y:221.83, Z:9.98 [[-2.35992031e-01 -9.71746949e-01 3.95320079e-03 2.03794829e+02] [ 9.71602553e-01 -2.36025113e-01 -1.67518820e-02 2.21828659e+02] [ 1.72116448e-02 -1.12370665e-04 9.99851862e-01 9.97958556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9127550960001 meters Centerline goodness [0,1] 0.999800279608548 Centerline is valid? [True, True] Translation: X:203.79, Y:221.85, Z:9.98 [[-2.36886957e-01 -9.71530322e-01 3.66113537e-03 2.03787190e+02] [ 9.71406855e-01 -2.36915220e-01 -1.54887513e-02 2.21854018e+02] [ 1.59151702e-02 -1.12631153e-04 9.99873339e-01 9.98199406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.942755096 meters Centerline goodness [0,1] 0.9997995099131209 Centerline is valid? [True, True] Translation: X:203.78, Y:221.88, Z:9.98 [[-2.37978249e-01 -9.71263272e-01 3.74291504e-03 2.03781393e+02] [ 9.71134635e-01 -2.38007647e-01 -1.58076178e-02 2.21878894e+02] [ 1.62442010e-02 -1.26994775e-04 9.99868046e-01 9.98202706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.972755096 meters Centerline goodness [0,1] 0.9999331699710403 Centerline is valid? [True, True] Translation: X:203.77, Y:221.90, Z:9.98 [[-2.38883748e-01 -9.71039873e-01 4.01489677e-03 2.03775000e+02] [ 9.70892358e-01 -2.38917441e-01 -1.69258824e-02 2.21904509e+02] [ 1.73949356e-02 -1.45285643e-04 9.99848686e-01 9.98246137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters Centerline goodness [0,1] 0.9999555387590867 Centerline is valid? [True, True] Translation: X:203.77, Y:221.93, Z:9.98 [[-2.40928873e-01 -9.70533339e-01 4.27988494e-03 2.03769791e+02] [ 9.70366195e-01 -2.40966811e-01 -1.80123003e-02 2.21931166e+02] [ 1.85128482e-02 -1.86627537e-04 9.99828605e-01 9.98231640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.76, Y:221.96, Z:9.98 [[-2.41901789e-01 -9.70290650e-01 4.42481461e-03 2.03764074e+02] [ 9.70112567e-01 -2.41942168e-01 -1.85902012e-02 2.21955487e+02] [ 1.91084476e-02 -2.04434669e-04 9.99817396e-01 9.98237539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.062755096 meters Centerline goodness [0,1] 0.9999777644364396 Centerline is valid? [True, True] Translation: X:203.76, Y:221.98, Z:9.98 [[-2.44014201e-01 -9.69760546e-01 4.64258461e-03 2.03758231e+02] [ 9.69565071e-01 -2.44058234e-01 -1.94718283e-02 2.21982398e+02] [ 2.00160718e-02 -2.50114751e-04 9.99799627e-01 9.98222162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.092755096 meters Centerline goodness [0,1] 0.9998663548279318 Centerline is valid? [True, True] Translation: X:203.75, Y:222.01, Z:9.98 [[-2.45475734e-01 -9.69391334e-01 4.70175750e-03 2.03752015e+02] [ 9.69191426e-01 -2.45520602e-01 -1.96878867e-02 2.22007919e+02] [ 2.02396451e-02 -2.75995381e-04 9.99795119e-01 9.98202229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters Centerline goodness [0,1] 0.999977778271594 Centerline is valid? [True, True] Translation: X:203.75, Y:222.03, Z:9.98 [[-2.47772830e-01 -9.68806083e-01 4.83714282e-03 2.03745668e+02] [ 9.68595085e-01 -2.47819829e-01 -2.02211169e-02 2.22033650e+02] [ 2.07890810e-02 -3.25010612e-04 9.99783831e-01 9.98083700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1527550960001 meters Centerline goodness [0,1] 0.999911122961383 Centerline is valid? [True, True] Translation: X:203.74, Y:222.06, Z:9.98 [[-2.49116018e-01 -9.68461809e-01 4.78888265e-03 2.03739217e+02] [ 9.68255604e-01 -2.49161809e-01 -1.99869736e-02 2.22059481e+02] [ 2.05498273e-02 -3.42212829e-04 9.99788771e-01 9.98118464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.73, Y:222.08, Z:9.98 [[-2.50250010e-01 -9.68170026e-01 4.66190891e-03 2.03732967e+02] [ 9.67975193e-01 -2.50293187e-01 -1.94254286e-02 2.22084792e+02] [ 1.99739618e-02 -3.48601535e-04 9.99800440e-01 9.98207295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.212755096 meters Centerline goodness [0,1] 0.9999777585018127 Centerline is valid? [True, True] Translation: X:203.73, Y:222.11, Z:9.98 [[-2.51495022e-01 -9.67847858e-01 4.55817224e-03 2.03726377e+02] [ 9.67662146e-01 -2.51536071e-01 -1.89625177e-02 2.22110264e+02] [ 1.94993769e-02 -3.58208089e-04 9.99809805e-01 9.98270187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:222.13, Z:9.98 [[-2.52624612e-01 -9.67554957e-01 4.26745956e-03 2.03719599e+02] [ 9.67392657e-01 -2.52660412e-01 -1.77246672e-02 2.22134757e+02] [ 1.82278077e-02 -3.49378122e-04 9.99833799e-01 9.98398473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.272755096 meters Centerline goodness [0,1] 0.9998894514581352 Centerline is valid? [True, True] Translation: X:203.71, Y:222.16, Z:9.99 [[-2.53139127e-01 -9.67420994e-01 4.14756053e-03 2.03711028e+02] [ 9.67268174e-01 -2.53172872e-01 -1.71981275e-02 2.22159935e+02] [ 1.76878794e-02 -3.41715687e-04 9.99843499e-01 9.98583161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:222.18, Z:9.99 [[-2.53619201e-01 -9.67296426e-01 3.86342840e-03 2.03702835e+02] [ 9.67164239e-01 -2.53648424e-01 -1.59940997e-02 2.22184767e+02] [ 1.64509879e-02 -3.19840984e-04 9.99864622e-01 9.98746324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:222.21, Z:9.99 [[-2.53850142e-01 -9.67236152e-01 3.78576073e-03 2.03694108e+02] [ 9.67109646e-01 -2.53878180e-01 -1.56461591e-02 2.22209414e+02] [ 1.60946527e-02 -3.10533983e-04 9.99870424e-01 9.98833489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:222.23, Z:9.99 [[-2.53422982e-01 -9.67348841e-01 3.60710786e-03 2.03687012e+02] [ 9.67234396e-01 -2.53448494e-01 -1.48823423e-02 2.22233499e+02] [ 1.53106326e-02 -2.82608783e-04 9.99882745e-01 9.98846127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.68, Y:222.26, Z:9.99 [[-2.51939681e-01 -9.67737530e-01 3.23589085e-03 2.03676786e+02] [ 9.67645752e-01 -2.51960358e-01 -1.33295515e-02 2.22259335e+02] [ 1.37148234e-02 -2.27046903e-04 9.99905922e-01 9.99020457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:222.28, Z:9.99 [[-2.51643398e-01 -9.67814886e-01 3.15398342e-03 2.03670853e+02] [ 9.67727975e-01 -2.51663073e-01 -1.29716382e-02 2.22283734e+02] [ 1.33478857e-02 -2.12029127e-04 9.99910891e-01 9.99041322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.66, Y:222.31, Z:9.99 [[-2.51093875e-01 -9.67957883e-01 3.06626587e-03 2.03661570e+02] [ 9.67876032e-01 -2.51112522e-01 -1.25892110e-02 2.22308590e+02] [ 1.29558038e-02 -1.93308521e-04 9.99916051e-01 9.99128927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.65, Y:222.33, Z:9.99 [[-2.50705917e-01 -9.68058411e-01 3.07513216e-03 2.03653119e+02] [ 9.67976373e-01 -2.50724709e-01 -1.26040245e-02 2.22333962e+02] [ 1.29724435e-02 -1.83248248e-04 9.99915838e-01 9.99116815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:222.36, Z:9.99 [[-2.49554529e-01 -9.68356132e-01 2.98972439e-03 2.03643998e+02] [ 9.68278871e-01 -2.49572387e-01 -1.22331952e-02 2.22358231e+02] [ 1.25922422e-02 -1.57962304e-04 9.99920702e-01 9.99116406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:222.38, Z:9.99 [[-2.49116494e-01 -9.68469160e-01 2.90850936e-03 2.03636095e+02] [ 9.68396298e-01 -2.49133432e-01 -1.18803891e-02 2.22383769e+02] [ 1.22303974e-02 -1.43011196e-04 9.99925196e-01 9.99182425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:222.41, Z:9.99 [[-2.48767649e-01 -9.68558977e-01 2.85738558e-03 2.03630221e+02] [ 9.68488896e-01 -2.48784024e-01 -1.16519084e-02 2.22408234e+02] [ 1.19964324e-02 -1.31271650e-04 9.99928032e-01 9.99187604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.62, Y:222.43, Z:9.99 [[-2.48020572e-01 -9.68750643e-01 2.82630790e-03 2.03619455e+02] [ 9.68682326e-01 -2.48036648e-01 -1.15053419e-02 2.22432907e+02] [ 1.18468353e-02 -1.15766986e-04 9.99929817e-01 9.99220982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:222.46, Z:9.99 [[-2.48496240e-01 -9.68628796e-01 2.80601755e-03 2.03612120e+02] [ 9.68561669e-01 -2.48512055e-01 -1.14040238e-02 2.22458580e+02] [ 1.17435950e-02 -1.16055997e-04 9.99931035e-01 9.99210221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:222.48, Z:9.99 [[-2.49458652e-01 -9.68381408e-01 2.79809792e-03 2.03606836e+02] [ 9.68314854e-01 -2.49474313e-01 -1.13539112e-02 2.22483453e+02] [ 1.16929700e-02 -1.22891592e-04 9.99931627e-01 9.99217726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.60, Y:222.51, Z:9.99 [[-2.50361042e-01 -9.68148635e-01 2.75140430e-03 2.03600307e+02] [ 9.68084441e-01 -2.50376127e-01 -1.11494309e-02 2.22509180e+02] [ 1.14831922e-02 -1.27791442e-04 9.99934058e-01 9.99269324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.59, Y:222.54, Z:9.99 [[-2.51637346e-01 -9.67818136e-01 2.58861250e-03 2.03594268e+02] [ 9.67761469e-01 -2.51650627e-01 -1.04738091e-02 2.22535206e+02] [ 1.07881684e-02 -1.30442090e-04 9.99941798e-01 9.99316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.59, Y:222.56, Z:9.99 [[-2.54313764e-01 -9.67119068e-01 2.28423849e-03 2.03589745e+02] [ 9.67075040e-01 -2.54323985e-01 -9.22916836e-03 2.22560732e+02] [ 9.50664134e-03 -1.38074515e-04 9.99954801e-01 9.99434132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:222.59, Z:9.99 [[-2.56556377e-01 -9.66526556e-01 2.28973586e-03 2.03582089e+02] [ 9.66482439e-01 -2.56566547e-01 -9.23595507e-03 2.22587055e+02] [ 9.51426546e-03 -1.56553668e-04 9.99954726e-01 9.99475195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:222.61, Z:9.99 [[-2.58246280e-01 -9.66076159e-01 2.39064552e-03 2.03580042e+02] [ 9.66028201e-01 -2.58257284e-01 -9.62753213e-03 2.22613951e+02] [ 9.91833087e-03 -1.76843359e-04 9.99950797e-01 9.99456959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:222.64, Z:9.99 [[-2.60393837e-01 -9.65499801e-01 2.27677791e-03 2.03574757e+02] [ 9.65456414e-01 -2.60403725e-01 -9.15497002e-03 2.22639927e+02] [ 9.43200318e-03 -1.85767937e-04 9.99955500e-01 9.99493110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.57, Y:222.67, Z:10.00 [[-2.64118420e-01 -9.64487842e-01 2.15942191e-03 2.03568287e+02] [ 9.64448891e-01 -2.64127166e-01 -8.67049282e-03 2.22666141e+02] [ 8.93294690e-03 -2.07384803e-04 9.99960079e-01 9.99560538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:222.69, Z:10.00 [[-2.65945184e-01 -9.63986035e-01 2.02061581e-03 2.03564000e+02] [ 9.63952013e-01 -2.65952780e-01 -8.10157809e-03 2.22691904e+02] [ 8.34719653e-03 -2.06799005e-04 9.99965140e-01 9.99609858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.56, Y:222.72, Z:10.00 [[-2.68572415e-01 -9.63257229e-01 2.09020680e-03 2.03562556e+02] [ 9.63220887e-01 -2.68580446e-01 -8.37063749e-03 2.22718137e+02] [ 8.62446574e-03 -2.34791469e-04 9.99962781e-01 9.99666016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:222.74, Z:10.00 [[-2.69933443e-01 -9.62876649e-01 2.12007663e-03 2.03553709e+02] [ 9.62839339e-01 -2.69941655e-01 -8.47994972e-03 2.22744448e+02] [ 8.73744256e-03 -2.47728842e-04 9.99961797e-01 9.99633765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:222.77, Z:10.00 [[-2.70680391e-01 -9.62666525e-01 2.29952807e-03 2.03547831e+02] [ 9.62622764e-01 -2.70690022e-01 -9.18294703e-03 2.22770614e+02] [ 9.46257500e-03 -2.72065626e-04 9.99955192e-01 9.99630953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.54, Y:222.80, Z:10.00 [[-2.72587183e-01 -9.62128456e-01 2.24996646e-03 2.03541626e+02] [ 9.62086676e-01 -2.72596324e-01 -8.97066194e-03 2.22797596e+02] [ 9.24426170e-03 -2.80624717e-04 9.99957232e-01 9.99569384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:222.82, Z:10.00 [[-2.73607697e-01 -9.61838612e-01 2.30502647e-03 2.03534537e+02] [ 9.61794882e-01 -2.73617248e-01 -9.17636330e-03 2.22822707e+02] [ 9.45687553e-03 -2.93760966e-04 9.99955240e-01 9.99596182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:222.85, Z:10.00 [[-2.74411521e-01 -9.61609836e-01 2.20034999e-03 2.03527938e+02] [ 9.61570105e-01 -2.74420195e-01 -8.74587760e-03 2.22848722e+02] [ 9.01394240e-03 -2.84178803e-04 9.99959333e-01 9.99597744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.53, Y:222.88, Z:10.00 [[-2.75494790e-01 -9.61300352e-01 2.06241672e-03 2.03525932e+02] [ 9.61265545e-01 -2.75502376e-01 -8.18494874e-03 2.22875520e+02] [ 8.43639481e-03 -2.72380605e-04 9.99964376e-01 9.99735985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.52, Y:222.90, Z:10.00 [[-2.76185167e-01 -9.61102430e-01 1.96811988e-03 2.03520125e+02] [ 9.61070820e-01 -2.76192054e-01 -7.79923812e-03 2.22901198e+02] [ 8.03944578e-03 -2.62531298e-04 9.99967649e-01 9.99808842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1727550960001 meters Centerline goodness [0,1] 0.9999779034824112 Centerline is valid? [True, True] Translation: X:203.51, Y:222.93, Z:10.00 [[-2.76773188e-01 -9.60933461e-01 1.86687660e-03 2.03511753e+02] [ 9.60905097e-01 -2.76779371e-01 -7.38742469e-03 2.22926254e+02] [ 7.61553651e-03 -2.50749845e-04 9.99970970e-01 9.99815305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:222.95, Z:10.00 [[-2.76660905e-01 -9.60965701e-01 1.91462053e-03 2.03504314e+02] [ 9.60935965e-01 -2.76667415e-01 -7.56389854e-03 2.22951415e+02] [ 7.79836017e-03 -2.52807287e-04 9.99969560e-01 9.99832767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.50, Y:222.98, Z:10.00 [[-2.76908410e-01 -9.60894543e-01 1.84657806e-03 2.03496541e+02] [ 9.60866966e-01 -2.76914460e-01 -7.28394646e-03 2.22976745e+02] [ 7.51044857e-03 -2.42670177e-04 9.99971767e-01 9.99830814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.49, Y:223.00, Z:10.00 [[-2.75573247e-01 -9.61277891e-01 2.04972855e-03 2.03490778e+02] [ 9.61244047e-01 -2.75580753e-01 -8.07042476e-03 2.23002106e+02] [ 8.32278663e-03 -2.53703785e-04 9.99965333e-01 9.99728151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:223.03, Z:10.00 [[-2.74902812e-01 -9.61469647e-01 2.13578692e-03 2.03482471e+02] [ 9.61433022e-01 -2.74910990e-01 -8.39589284e-03 2.23027400e+02] [ 8.65954742e-03 -2.54638475e-04 9.99962473e-01 9.99726790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:223.05, Z:10.00 [[-2.73625968e-01 -9.61833730e-01 2.16942187e-03 2.03475091e+02] [ 9.61796078e-01 -2.73634460e-01 -8.51394033e-03 2.23053862e+02] [ 8.78262356e-03 -2.43093711e-04 9.99961403e-01 9.99768823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.47, Y:223.08, Z:10.00 [[-2.72605936e-01 -9.62123826e-01 1.93585070e-03 2.03468421e+02] [ 9.62093930e-01 -2.72612731e-01 -7.58742672e-03 2.23078695e+02] [ 7.82778157e-03 -2.05907352e-04 9.99969341e-01 9.99859592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:223.10, Z:10.00 [[-2.69434588e-01 -9.63016972e-01 1.82038583e-03 2.03458581e+02] [ 9.62990622e-01 -2.69440686e-01 -7.12596582e-03 2.23104932e+02] [ 7.35291204e-03 -1.66967189e-04 9.99972953e-01 9.99904410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:223.13, Z:10.00 [[-2.68469504e-01 -9.63286491e-01 1.80591695e-03 2.03452553e+02] [ 9.63260608e-01 -2.68475532e-01 -7.06333157e-03 2.23129364e+02] [ 7.28885640e-03 -1.56720470e-04 9.99973424e-01 9.99910996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:223.16, Z:10.00 [[-2.66258020e-01 -9.63899977e-01 1.87123068e-03 2.03444300e+02] [ 9.63872302e-01 -2.66264557e-01 -7.30552013e-03 2.23155288e+02] [ 7.54003309e-03 -1.41525898e-04 9.99971564e-01 9.99889175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:223.18, Z:10.00 [[-2.66636712e-01 -9.63795286e-01 1.87374380e-03 2.03437608e+02] [ 9.63767613e-01 -2.66643258e-01 -7.30487539e-03 2.23180370e+02] [ 7.54002561e-03 -1.41894372e-04 9.99971564e-01 9.99913350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.43, Y:223.21, Z:10.00 [[-2.65665392e-01 -9.64063475e-01 1.87522975e-03 2.03431378e+02] [ 9.64035855e-01 -2.65671978e-01 -7.29873687e-03 2.23205516e+02] [ 7.53464163e-03 -1.31233077e-04 9.99971606e-01 9.99949326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:223.23, Z:10.00 [[-2.64946743e-01 -9.64261425e-01 1.76872760e-03 2.03424024e+02] [ 9.64236930e-01 -2.64952621e-01 -6.87394231e-03 2.23231258e+02] [ 7.09690642e-03 -1.15756159e-04 9.99974810e-01 9.99998701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.42, Y:223.26, Z:10.00 [[-2.63075974e-01 -9.64773596e-01 1.71498112e-03 2.03417417e+02] [ 9.64750647e-01 -2.63081546e-01 -6.65498422e-03 2.23255944e+02] [ 6.87173293e-03 -9.62373088e-05 9.99976385e-01 1.00005930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:223.28, Z:10.00 [[-2.62759880e-01 -9.64859820e-01 1.66558481e-03 2.03410449e+02] [ 9.64838247e-01 -2.62765144e-01 -6.45268911e-03 2.23281713e+02] [ 6.66359808e-03 -8.84878894e-05 9.99977794e-01 1.00011679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.40, Y:223.31, Z:10.00 [[-2.62253358e-01 -9.64997521e-01 1.72083185e-03 2.03404592e+02] [ 9.64974570e-01 -2.62258990e-01 -6.65588869e-03 2.23307556e+02] [ 6.87421970e-03 -8.49701877e-05 9.99976369e-01 1.00013764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.40, Y:223.33, Z:10.00 [[-2.62729590e-01 -9.64867946e-01 1.73463659e-03 2.03399504e+02] [ 9.64844695e-01 -2.62735302e-01 -6.69890665e-03 2.23332852e+02] [ 6.91931057e-03 -8.63460882e-05 9.99976058e-01 1.00018008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:223.36, Z:10.00 [[-2.62908304e-01 -9.64819265e-01 1.73458393e-03 2.03394083e+02] [ 9.64796091e-01 -2.62914013e-01 -6.68766802e-03 2.23359094e+02] [ 6.90843736e-03 -8.47236597e-05 9.99976133e-01 1.00021976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:223.39, Z:10.00 [[-2.63980864e-01 -9.64526500e-01 1.65376083e-03 2.03391176e+02] [ 9.64505487e-01 -2.63986031e-01 -6.36723280e-03 2.23385137e+02] [ 6.57793452e-03 -8.57662207e-05 9.99978362e-01 1.00035109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:223.41, Z:10.00 [[-2.64795426e-01 -9.64303260e-01 1.61418479e-03 2.03385389e+02] [ 9.64283299e-01 -2.64800331e-01 -6.20519613e-03 2.23410891e+02] [ 6.41112752e-03 -8.65761120e-05 9.99979445e-01 1.00036342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:223.44, Z:10.00 [[-2.66173524e-01 -9.63923132e-01 1.96264327e-03 2.03382283e+02] [ 9.63893726e-01 -2.66180736e-01 -7.52999685e-03 2.23436337e+02] [ 7.78075597e-03 -1.12506256e-04 9.99969723e-01 1.00023265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.38, Y:223.46, Z:10.00 [[-2.66979316e-01 -9.63700288e-01 1.94940097e-03 2.03376321e+02] [ 9.63671366e-01 -2.66986409e-01 -7.46701234e-03 2.23462176e+02] [ 7.71642550e-03 -1.14955953e-04 9.99970221e-01 1.00022193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.37, Y:223.49, Z:10.00 [[-2.67848015e-01 -9.63459130e-01 1.98632165e-03 2.03370908e+02] [ 9.63429189e-01 -2.67855353e-01 -7.59658794e-03 2.23488156e+02] [ 7.85104889e-03 -1.21050751e-04 9.99969173e-01 1.00026784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.37, Y:223.51, Z:10.00 [[-2.68808814e-01 -9.63191327e-01 2.07091998e-03 2.03366537e+02] [ 9.63158878e-01 -2.68816759e-01 -7.90730371e-03 2.23513510e+02] [ 8.17294435e-03 -1.30927966e-04 9.99966592e-01 1.00034431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:223.54, Z:10.00 [[-2.70218996e-01 -9.62796634e-01 2.08214524e-03 2.03363075e+02] [ 9.62763928e-01 -2.70226982e-01 -7.93713683e-03 2.23539704e+02] [ 8.20450045e-03 -1.40150823e-04 9.99966333e-01 1.00036455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:223.57, Z:10.00 [[-2.70942010e-01 -9.62593439e-01 2.07319056e-03 2.03358377e+02] [ 9.62561104e-01 -2.70949905e-01 -7.89113657e-03 2.23565113e+02] [ 8.15768708e-03 -1.42467808e-04 9.99966715e-01 1.00040752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.35, Y:223.59, Z:10.00 [[-2.71726653e-01 -9.62372339e-01 2.02668870e-03 2.03354267e+02] [ 9.62341528e-01 -2.71734174e-01 -7.70216090e-03 2.23591433e+02] [ 7.96306718e-03 -1.42515698e-04 9.99968284e-01 1.00049764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.35, Y:223.62, Z:10.01 [[-2.72502143e-01 -9.62153028e-01 2.03319568e-03 2.03349630e+02] [ 9.62122103e-01 -2.72509688e-01 -7.71543254e-03 2.23616240e+02] [ 7.97749230e-03 -1.46289395e-04 9.99968169e-01 1.00054315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:223.64, Z:10.01 [[-2.73214078e-01 -9.61950891e-01 2.13316336e-03 2.03344596e+02] [ 9.61916955e-01 -2.73222361e-01 -8.08160977e-03 2.23641297e+02] [ 8.35693965e-03 -1.56083556e-04 9.99965068e-01 1.00058687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.34, Y:223.67, Z:10.01 [[-2.73156901e-01 -9.61967266e-01 2.07060820e-03 2.03338538e+02] [ 9.61935390e-01 -2.73164709e-01 -7.83244998e-03 2.23666287e+02] [ 8.10017758e-03 -1.47696454e-04 9.99967182e-01 1.00062436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:223.69, Z:10.01 [[-2.72981352e-01 -9.62017183e-01 2.03010764e-03 2.03332484e+02] [ 9.61986638e-01 -2.72988865e-01 -7.66736213e-03 2.23689908e+02] [ 7.93033089e-03 -1.40110461e-04 9.99968545e-01 1.00066432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:223.71, Z:10.01 [[-2.72785951e-01 -9.62072529e-01 2.06730695e-03 2.03323645e+02] [ 9.62040964e-01 -2.72793749e-01 -7.79452242e-03 2.23714866e+02] [ 8.06284431e-03 -1.37402238e-04 9.99967485e-01 1.00065106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:223.74, Z:10.01 [[-2.72426381e-01 -9.62174175e-01 2.17354568e-03 2.03317105e+02] [ 9.62139398e-01 -2.72435017e-01 -8.18166748e-03 2.23739487e+02] [ 8.46433911e-03 -1.37648132e-04 9.99964167e-01 1.00065398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.31, Y:223.76, Z:10.01 [[-2.71016274e-01 -9.62571865e-01 2.36300945e-03 2.03308630e+02] [ 9.62530883e-01 -2.71026543e-01 -8.88323843e-03 2.23764502e+02] [ 9.19119366e-03 -1.33032603e-04 9.99957751e-01 1.00062358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.30, Y:223.79, Z:10.01 [[-2.70460457e-01 -9.62728293e-01 2.31843841e-03 2.03301267e+02] [ 9.62688967e-01 -2.70470367e-01 -8.70252578e-03 2.23788463e+02] [ 9.00523667e-03 -1.21754025e-04 9.99959445e-01 1.00067515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:223.81, Z:10.01 [[-2.69848114e-01 -9.62900302e-01 2.23703641e-03 2.03292772e+02] [ 9.62863808e-01 -2.69857364e-01 -8.38395575e-03 2.23813671e+02] [ 8.67659427e-03 -1.08433251e-04 9.99962352e-01 1.00071469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:223.84, Z:10.01 [[-2.68581249e-01 -9.63254534e-01 2.19425212e-03 2.03282429e+02] [ 9.63219538e-01 -2.68590197e-01 -8.21146632e-03 2.23838812e+02] [ 8.49908677e-03 -9.18993687e-05 9.99963878e-01 1.00080204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2827550960001 meters Centerline goodness [0,1] 0.9999106285050383 Centerline is valid? [True, True] Translation: X:203.28, Y:223.86, Z:10.01 [[-2.68752643e-01 -9.63206660e-01 2.22415421e-03 2.03275021e+02] [ 9.63170808e-01 -2.68761831e-01 -8.31098666e-03 2.23863981e+02] [ 8.60296546e-03 -9.13592194e-05 9.99962990e-01 1.00081994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.27, Y:223.89, Z:10.01 [[-2.69043684e-01 -9.63125447e-01 2.20658401e-03 2.03267458e+02] [ 9.63090264e-01 -2.69052718e-01 -8.23278099e-03 2.23889681e+02] [ 8.52288829e-03 -8.98381521e-05 9.99963676e-01 1.00083964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:223.92, Z:10.01 [[-2.70933760e-01 -9.62595315e-01 2.27105705e-03 2.03260453e+02] [ 9.62558144e-01 -2.70943258e-01 -8.45992726e-03 2.23915328e+02] [ 8.75881394e-03 -1.06055442e-04 9.99961635e-01 1.00087341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:223.94, Z:10.01 [[-2.72006674e-01 -9.62292669e-01 2.27793629e-03 2.03253633e+02] [ 9.62255369e-01 -2.72016189e-01 -8.47335767e-03 2.23940483e+02] [ 8.77348552e-03 -1.12853417e-04 9.99961506e-01 1.00089101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.25, Y:223.97, Z:10.01 [[-2.75157367e-01 -9.61396412e-01 2.31562029e-03 2.03248480e+02] [ 9.61357953e-01 -2.75167074e-01 -8.60039162e-03 2.23966410e+02] [ 8.90556810e-03 -1.40321131e-04 9.99960335e-01 1.00085485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.432755096 meters Centerline goodness [0,1] 0.9999777138909318 Centerline is valid? [True, True] Translation: X:203.24, Y:223.99, Z:10.01 [[-2.76882410e-01 -9.60900794e-01 2.40726992e-03 2.03240062e+02] [ 9.60859333e-01 -2.76892829e-01 -8.92769392e-03 2.23992326e+02] [ 9.24518395e-03 -1.58873642e-04 9.99957250e-01 1.00083501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:224.02, Z:10.01 [[-2.78761689e-01 -9.60357279e-01 2.41212656e-03 2.03234141e+02] [ 9.60315741e-01 -2.78772070e-01 -8.93363380e-03 2.24017736e+02] [ 9.25191376e-03 -1.73951738e-04 9.99957185e-01 1.00085849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:224.04, Z:10.01 [[-2.82585114e-01 -9.59238600e-01 2.63845335e-03 2.03229455e+02] [ 9.59188967e-01 -2.82597340e-01 -9.76060165e-03 2.24043929e+02] [ 1.01083658e-02 -2.27425390e-04 9.99948883e-01 1.00075905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.22, Y:224.07, Z:10.01 [[-2.84610590e-01 -9.58639396e-01 2.70570849e-03 2.03220540e+02] [ 9.58587320e-01 -2.84623340e-01 -9.99516807e-03 2.24069720e+02] [ 1.03518697e-02 -2.51072832e-04 9.99946386e-01 1.00073481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.21, Y:224.10, Z:10.01 [[-2.86435881e-01 -9.58095738e-01 2.65367320e-03 2.03214104e+02] [ 9.58045760e-01 -2.86448054e-01 -9.78954015e-03 2.24095721e+02] [ 1.01394562e-02 -2.61735211e-04 9.99948560e-01 1.00078039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.21, Y:224.12, Z:10.01 [[-2.89441937e-01 -9.57191814e-01 2.68243279e-03 2.03206777e+02] [ 9.57140856e-01 -2.89454219e-01 -9.88115926e-03 2.24122173e+02] [ 1.02346062e-02 -2.92555864e-04 9.99947582e-01 1.00080088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:224.15, Z:10.01 [[-2.90789134e-01 -9.56783357e-01 2.69960481e-03 2.03201396e+02] [ 9.56731870e-01 -2.90801505e-01 -9.93045794e-03 2.24147678e+02] [ 1.02863460e-02 -3.04871308e-04 9.99947048e-01 1.00078994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.19, Y:224.17, Z:10.01 [[-2.92087023e-01 -9.56387621e-01 2.80886188e-03 2.03193104e+02] [ 9.56332029e-01 -2.92100345e-01 -1.03169542e-02 2.24173681e+02] [ 1.06874768e-02 -3.27243851e-04 9.99942834e-01 1.00079563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.19, Y:224.20, Z:10.01 [[-2.93611175e-01 -9.55920459e-01 2.92464126e-03 2.03185011e+02] [ 9.55860335e-01 -2.93625527e-01 -1.07270470e-02 2.24199557e+02] [ 1.11129530e-02 -3.54032290e-04 9.99938187e-01 1.00077611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:224.22, Z:10.01 [[-2.94010055e-01 -9.55797682e-01 2.97977214e-03 2.03177854e+02] [ 9.55735439e-01 -2.94024933e-01 -1.09137349e-02 2.24224680e+02] [ 1.13074499e-02 -3.60873979e-04 9.99936004e-01 1.00079776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:224.25, Z:10.01 [[-2.94519938e-01 -9.55640276e-01 3.10949589e-03 2.03171225e+02] [ 9.55572699e-01 -2.94536110e-01 -1.13708656e-02 2.24249039e+02] [ 1.17823159e-02 -3.77597237e-04 9.99930515e-01 1.00080544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:224.27, Z:10.01 [[-2.95049396e-01 -9.55477260e-01 3.01003584e-03 2.03163514e+02] [ 9.55414119e-01 -2.95064522e-01 -1.09904479e-02 2.24274393e+02] [ 1.13892779e-02 -3.66894290e-04 9.99935073e-01 1.00086123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:224.30, Z:10.01 [[-2.95505157e-01 -9.55336345e-01 3.02842694e-03 2.03156096e+02] [ 9.55272611e-01 -2.95520443e-01 -1.10411154e-02 2.24299741e+02] [ 1.14429409e-02 -3.69733218e-04 9.99934459e-01 1.00090153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.15, Y:224.32, Z:10.01 [[-2.95755126e-01 -9.55259284e-01 2.93368705e-03 2.03148396e+02] [ 9.55199642e-01 -2.95769461e-01 -1.06803943e-02 2.24324584e+02] [ 1.10702409e-02 -3.56524547e-04 9.99938659e-01 1.00093338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:224.35, Z:10.01 [[-2.95531434e-01 -9.55329106e-01 2.73324456e-03 2.03140266e+02] [ 9.55277480e-01 -2.95543894e-01 -9.93697065e-03 2.24348456e+02] [ 1.03008710e-02 -3.25680213e-04 9.99946892e-01 1.00100742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.13, Y:224.37, Z:10.01 [[-2.95330306e-01 -9.55391588e-01 2.63122251e-03 2.03132269e+02] [ 9.55343885e-01 -2.95341867e-01 -9.55211414e-03 2.24374157e+02] [ 9.90311967e-03 -3.07306459e-04 9.99950916e-01 1.00111708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.12, Y:224.40, Z:10.01 [[-2.94411907e-01 -9.55675642e-01 2.38654943e-03 2.03123007e+02] [ 9.55636503e-01 -2.94421459e-01 -8.65325269e-03 2.24399218e+02] [ 8.97235419e-03 -2.66946869e-04 9.99959712e-01 1.00126427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.12, Y:224.42, Z:10.01 [[-2.93555303e-01 -9.55939207e-01 2.34883397e-03 2.03115468e+02] [ 9.55901409e-01 -2.93564592e-01 -8.50452044e-03 2.24423701e+02] [ 8.81933901e-03 -2.51293366e-04 9.99961077e-01 1.00134449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:224.45, Z:10.01 [[-2.92464252e-01 -9.56273616e-01 2.33096295e-03 2.03106569e+02] [ 9.56236511e-01 -2.92473446e-01 -8.42726893e-03 2.24449093e+02] [ 8.74051969e-03 -2.35723027e-04 9.99961773e-01 1.00139774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.10, Y:224.47, Z:10.01 [[-2.91438800e-01 -9.56586645e-01 2.32722540e-03 2.03097385e+02] [ 9.56549771e-01 -2.91448007e-01 -8.40205160e-03 2.24473607e+02] [ 8.71555556e-03 -2.22576915e-04 9.99961994e-01 1.00141961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:224.50, Z:10.01 [[-2.88320383e-01 -9.57531258e-01 2.29067259e-03 2.03086791e+02] [ 9.57495665e-01 -2.88329422e-01 -8.25811576e-03 2.24497497e+02] [ 8.56787228e-03 -1.87674032e-04 9.99963278e-01 1.00140874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:224.52, Z:10.01 [[-2.86828242e-01 -9.57979369e-01 2.25556267e-03 2.03076764e+02] [ 9.57944966e-01 -2.86837061e-01 -8.12050532e-03 2.24521763e+02] [ 8.42625553e-03 -1.68485361e-04 9.99964484e-01 1.00142350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:224.55, Z:10.01 [[-2.84204103e-01 -9.58761076e-01 2.28627796e-03 2.03063187e+02] [ 9.58725854e-01 -2.84213263e-01 -8.21937936e-03 2.24546540e+02] [ 8.53021152e-03 -1.44067549e-04 9.99963607e-01 1.00141100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.06, Y:224.57, Z:10.01 [[-2.83506987e-01 -9.58967218e-01 2.37971976e-03 2.03058565e+02] [ 9.58929175e-01 -2.83516940e-01 -8.54299859e-03 2.24572223e+02] [ 8.86714646e-03 -1.40017088e-04 9.99960676e-01 1.00140081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.05, Y:224.60, Z:10.01 [[-2.83371390e-01 -9.59007107e-01 2.45455406e-03 2.03050747e+02] [ 9.58966761e-01 -2.83381986e-01 -8.79774955e-03 2.24596688e+02] [ 9.13268074e-03 -1.39194763e-04 9.99958287e-01 1.00139689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:224.62, Z:10.01 [[-2.83669052e-01 -9.58919073e-01 2.46590334e-03 2.03040584e+02] [ 9.58878471e-01 -2.83679735e-01 -8.82529583e-03 2.24621754e+02] [ 9.16227130e-03 -1.38961677e-04 9.99958016e-01 1.00137721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:224.65, Z:10.01 [[-2.84183170e-01 -9.58766606e-01 2.55366705e-03 2.03033996e+02] [ 9.58723192e-01 -2.84194606e-01 -9.12504090e-03 2.24646626e+02] [ 9.47452289e-03 -1.44923220e-04 9.99955105e-01 1.00141691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.03, Y:224.67, Z:10.01 [[-2.84545189e-01 -9.58659521e-01 2.44102217e-03 2.03027103e+02] [ 9.58619968e-01 -2.84555626e-01 -8.70937926e-03 2.24671822e+02] [ 9.04393594e-03 -1.38199373e-04 9.99959093e-01 1.00144352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:224.70, Z:10.01 [[-2.85153567e-01 -9.58478439e-01 2.55450151e-03 2.03020143e+02] [ 9.58435250e-01 -2.85164972e-01 -9.10007441e-03 2.24696919e+02] [ 9.45067947e-03 -1.46594395e-04 9.99955331e-01 1.00147619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:224.72, Z:10.01 [[-2.85588802e-01 -9.58348511e-01 2.67727804e-03 2.03013163e+02] [ 9.58301211e-01 -2.85601309e-01 -9.52267613e-03 2.24722713e+02] [ 9.89067661e-03 -1.53930873e-04 9.99951074e-01 1.00148776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:224.75, Z:10.01 [[-2.85933886e-01 -9.58245579e-01 2.68770764e-03 2.03006011e+02] [ 9.58198045e-01 -2.85946476e-01 -9.54567897e-03 2.24748043e+02] [ 9.91564520e-03 -1.54076879e-04 9.99950827e-01 1.00147774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.00, Y:224.77, Z:10.02 [[-2.86300224e-01 -9.58136179e-01 2.69135801e-03 2.02998719e+02] [ 9.58088650e-01 -2.86312832e-01 -9.54464970e-03 2.24772954e+02] [ 9.91564453e-03 -1.54075783e-04 9.99950827e-01 1.00150190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.99, Y:224.80, Z:10.02 [[-2.86705605e-01 -9.58014648e-01 2.79845634e-03 2.02992158e+02] [ 9.57963409e-01 -2.86719217e-01 -9.90944447e-03 2.24799014e+02] [ 1.02957642e-02 -1.60274499e-04 9.99946984e-01 1.00151044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.99, Y:224.82, Z:10.02 [[-2.87097947e-01 -9.57897147e-01 2.79727476e-03 2.02985373e+02] [ 9.57846096e-01 -2.87111529e-01 -9.89075355e-03 2.24824825e+02] [ 1.02774544e-02 -1.60256325e-04 9.99947173e-01 1.00155892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:224.85, Z:10.02 [[-2.87463181e-01 -9.57788037e-01 2.64519696e-03 2.02977804e+02] [ 9.57742506e-01 -2.87475311e-01 -9.34015396e-03 2.24850346e+02] [ 9.70631654e-03 -1.51532800e-04 9.99952881e-01 1.00161294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:224.88, Z:10.02 [[-2.88067460e-01 -9.57606128e-01 2.76447007e-03 2.02972604e+02] [ 9.57556543e-01 -2.88080680e-01 -9.74628525e-03 2.24875590e+02] [ 1.01294929e-02 -1.60451227e-04 9.99948683e-01 1.00160382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.96, Y:224.90, Z:10.02 [[-2.88662053e-01 -9.57426599e-01 2.91999773e-03 2.02964659e+02] [ 9.57371444e-01 -2.88676771e-01 -1.02781507e-02 2.24900386e+02] [ 1.06835104e-02 -1.71389635e-04 9.99942915e-01 1.00161347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.96, Y:224.93, Z:10.02 [[-2.89163276e-01 -9.57274690e-01 3.12532038e-03 2.02961167e+02] [ 9.57211693e-01 -2.89180106e-01 -1.09836526e-02 2.24925465e+02] [ 1.14181531e-02 -1.84475738e-04 9.99934794e-01 1.00158932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:224.95, Z:10.02 [[-2.89359990e-01 -9.57215067e-01 3.17995230e-03 2.02953381e+02] [ 9.57150042e-01 -2.89377404e-01 -1.11586233e-02 2.24950436e+02] [ 1.16014087e-02 -1.85167664e-04 9.99932684e-01 1.00159765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:224.98, Z:10.02 [[-2.89414929e-01 -9.57198345e-01 3.21372755e-03 2.02945510e+02] [ 9.57132117e-01 -2.89432714e-01 -1.12612046e-02 2.24975258e+02] [ 1.17093643e-02 -1.83198872e-04 9.99931426e-01 1.00163500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:225.00, Z:10.02 [[-2.89907655e-01 -9.57049522e-01 3.12468156e-03 2.02937520e+02] [ 9.56987080e-01 -2.89924438e-01 -1.09338130e-02 2.25000286e+02] [ 1.13701221e-02 -1.79516210e-04 9.99935342e-01 1.00170640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.93, Y:225.03, Z:10.02 [[-2.90131223e-01 -9.56982011e-01 3.05018667e-03 2.02930717e+02] [ 9.56922679e-01 -2.90147204e-01 -1.06576992e-02 2.25025991e+02] [ 1.10842295e-02 -1.73338487e-04 9.99938553e-01 1.00177738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:225.05, Z:10.02 [[-2.90563481e-01 -9.56851373e-01 2.88341668e-03 2.02924459e+02] [ 9.56798489e-01 -2.90577741e-01 -1.00611872e-02 2.25050394e+02] [ 1.04649175e-02 -1.64564850e-04 9.99945228e-01 1.00183493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:225.08, Z:10.02 [[-2.91840295e-01 -9.56463209e-01 2.71506984e-03 2.02918800e+02] [ 9.56416408e-01 -2.91852878e-01 -9.46316800e-03 2.25076373e+02] [ 9.84357299e-03 -1.64996398e-04 9.99951537e-01 1.00197063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:225.10, Z:10.02 [[-2.92841826e-01 -9.56156926e-01 2.75626803e-03 2.02912418e+02] [ 9.56108824e-01 -2.92854745e-01 -9.59247874e-03 2.25101813e+02] [ 9.97910116e-03 -1.73786807e-04 9.99950192e-01 1.00197343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.91, Y:225.13, Z:10.02 [[-2.93935433e-01 -9.55821115e-01 2.82106337e-03 2.02906834e+02] [ 9.55770859e-01 -2.93948912e-01 -9.80319667e-03 2.25126294e+02] [ 1.01993509e-02 -1.85216695e-04 9.99947968e-01 1.00195269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:225.15, Z:10.02 [[-2.96069075e-01 -9.55161554e-01 3.08369208e-03 2.02903730e+02] [ 9.55101656e-01 -2.96085050e-01 -1.06990686e-02 2.25152619e+02] [ 1.11323741e-02 -2.22423920e-04 9.99938008e-01 1.00188490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.90, Y:225.18, Z:10.02 [[-2.97459259e-01 -9.54729392e-01 3.12675972e-03 2.02898113e+02] [ 9.54667916e-01 -2.97475597e-01 -1.08369492e-02 2.25179237e+02] [ 1.12764886e-02 -2.38533690e-04 9.99936390e-01 1.00192725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:225.21, Z:10.02 [[-3.00407257e-01 -9.53805446e-01 3.26363443e-03 2.02893869e+02] [ 9.53738589e-01 -3.00424854e-01 -1.12965455e-02 2.25206830e+02] [ 1.17551835e-02 -2.80910154e-04 9.99930866e-01 1.00195783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:225.23, Z:10.02 [[-3.02042761e-01 -9.53289229e-01 3.13319380e-03 2.02885957e+02] [ 9.53227732e-01 -3.02058877e-01 -1.08316988e-02 2.25233042e+02] [ 1.12721508e-02 -2.84989004e-04 9.99936427e-01 1.00198812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:225.26, Z:10.02 [[-3.03309855e-01 -9.52886472e-01 3.24085476e-03 2.02881015e+02] [ 9.52820831e-01 -3.03327015e-01 -1.11886687e-02 2.25259203e+02] [ 1.16445698e-02 -3.05679547e-04 9.99932153e-01 1.00197161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:225.28, Z:10.02 [[-3.04593969e-01 -9.52476272e-01 3.38603938e-03 2.02875844e+02] [ 9.52404793e-01 -3.04612609e-01 -1.16734434e-02 2.25284860e+02] [ 1.21501081e-02 -3.30780319e-04 9.99926130e-01 1.00197624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.87, Y:225.31, Z:10.02 [[-3.06334462e-01 -9.51917820e-01 3.41484259e-03 2.02871842e+02] [ 9.51845281e-01 -3.06353294e-01 -1.17567005e-02 2.25310351e+02] [ 1.22375609e-02 -3.51080707e-04 9.99925057e-01 1.00195782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.86, Y:225.34, Z:10.02 [[-3.07216894e-01 -9.51633086e-01 3.50002637e-03 2.02861160e+02] [ 9.51557082e-01 -3.07236613e-01 -1.20326249e-02 2.25335760e+02] [ 1.25259802e-02 -3.66150769e-04 9.99921480e-01 1.00206964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.86, Y:225.36, Z:10.02 [[-3.07557035e-01 -9.51523078e-01 3.53591959e-03 2.02856007e+02] [ 9.51445715e-01 -3.07577139e-01 -1.21390315e-02 2.25360787e+02] [ 1.26381367e-02 -3.69209009e-04 9.99920067e-01 1.00207892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.84, Y:225.39, Z:10.02 [[-3.05515392e-01 -9.52180584e-01 3.53284017e-03 2.02843748e+02] [ 9.52103625e-01 -3.05535632e-01 -1.21104983e-02 2.25385528e+02] [ 1.26107899e-02 -3.36313710e-04 9.99920424e-01 1.00213015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:225.41, Z:10.02 [[-3.04791169e-01 -9.52412966e-01 3.44761625e-03 2.02834432e+02] [ 9.52339881e-01 -3.04810506e-01 -1.18028742e-02 2.25410862e+02] [ 1.22920800e-02 -3.14109364e-04 9.99924400e-01 1.00211718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:225.44, Z:10.02 [[-3.03879786e-01 -9.52703812e-01 3.53863190e-03 2.02826537e+02] [ 9.52627045e-01 -3.03900236e-01 -1.20979698e-02 2.25435433e+02] [ 1.26011730e-02 -3.05332031e-04 9.99920555e-01 1.00214489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1727550960001 meters Centerline goodness [0,1] 0.999977534652798 Centerline is valid? [True, True] Translation: X:202.82, Y:225.46, Z:10.02 [[-3.01513933e-01 -9.53454687e-01 3.67541323e-03 2.02816252e+02] [ 9.53372130e-01 -3.01536204e-01 -1.25498754e-02 2.25459945e+02] [ 1.30740077e-02 -2.79925766e-04 9.99914492e-01 1.00210112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.81, Y:225.49, Z:10.02 [[-3.00788637e-01 -9.53683714e-01 3.68365971e-03 2.02807400e+02] [ 9.53601028e-01 -3.00811075e-01 -1.25609287e-02 2.25485465e+02] [ 1.30872388e-02 -2.65442949e-04 9.99914323e-01 1.00210811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.80, Y:225.51, Z:10.02 [[-2.99966018e-01 -9.53942192e-01 3.83177785e-03 2.02797838e+02] [ 9.53852996e-01 -2.99990379e-01 -1.30473740e-02 2.25510547e+02] [ 1.35959371e-02 -2.58816049e-04 9.99907538e-01 1.00217549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.79, Y:225.53, Z:10.02 [[-2.98755486e-01 -9.54322186e-01 3.78498136e-03 2.02788076e+02] [ 9.54235436e-01 -2.98779370e-01 -1.28693566e-02 2.25534756e+02] [ 1.34123868e-02 -2.33027535e-04 9.99910023e-01 1.00218119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.78, Y:225.56, Z:10.02 [[-2.98441735e-01 -9.54420288e-01 3.80070771e-03 2.02778192e+02] [ 9.54333076e-01 -2.98465852e-01 -1.29040936e-02 2.25559854e+02] [ 1.34503102e-02 -2.23979010e-04 9.99909515e-01 1.00215638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.77, Y:225.59, Z:10.02 [[-2.98265194e-01 -9.54474818e-01 3.96185531e-03 2.02769082e+02] [ 9.54380335e-01 -2.98291421e-01 -1.34314416e-02 2.25585243e+02] [ 1.40017602e-02 -2.25014741e-04 9.99901945e-01 1.00210930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:225.61, Z:10.02 [[-2.98042514e-01 -9.54543863e-01 4.08324789e-03 2.02760463e+02] [ 9.54443797e-01 -2.98070400e-01 -1.38229677e-02 2.25609756e+02] [ 1.44117243e-02 -2.22601428e-04 9.99896121e-01 1.00207299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.75, Y:225.63, Z:10.02 [[-2.97769814e-01 -9.54628405e-01 4.21259156e-03 2.02752347e+02] [ 9.54522211e-01 -2.97799530e-01 -1.42403770e-02 2.25634935e+02] [ 1.48487762e-02 -2.19342212e-04 9.99889727e-01 1.00208141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.74, Y:225.66, Z:10.02 [[-2.97464758e-01 -9.54723128e-01 4.29737582e-03 2.02743156e+02] [ 9.54612942e-01 -2.97495721e-01 -1.45061261e-02 2.25659759e+02] [ 1.51277850e-02 -2.12730709e-04 9.99885546e-01 1.00211352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.74, Y:225.68, Z:10.02 [[-2.97666101e-01 -9.54660401e-01 4.29090219e-03 2.02736661e+02] [ 9.54550860e-01 -2.97696953e-01 -1.44630637e-02 2.25684066e+02] [ 1.50847027e-02 -2.09279419e-04 9.99886198e-01 1.00209141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.73, Y:225.71, Z:10.02 [[-2.98026610e-01 -9.54547813e-01 4.31428855e-03 2.02727215e+02] [ 9.54437388e-01 -2.98057762e-01 -1.45204037e-02 2.25709126e+02] [ 1.51463268e-02 -2.09748397e-04 9.99885266e-01 1.00215071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters Centerline goodness [0,1] 0.9998885297068332 Centerline is valid? [True, True] Translation: X:202.72, Y:225.73, Z:10.02 [[-2.99306823e-01 -9.54147241e-01 4.29756051e-03 2.02718704e+02] [ 9.54037941e-01 -2.99337591e-01 -1.44434759e-02 2.25734527e+02] [ 1.50676241e-02 -2.22995110e-04 9.99886452e-01 1.00212939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:225.76, Z:10.02 [[-2.99867058e-01 -9.53970926e-01 4.38401478e-03 2.02712190e+02] [ 9.53857499e-01 -2.99899015e-01 -1.47123229e-02 2.25759505e+02] [ 1.53498900e-02 -2.30015619e-04 9.99882157e-01 1.00212056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.71, Y:225.79, Z:10.02 [[-3.00666490e-01 -9.53718765e-01 4.49222040e-03 2.02705300e+02] [ 9.53599988e-01 -3.00699950e-01 -1.50533507e-02 2.25785311e+02] [ 1.57074735e-02 -2.42256811e-04 9.99876601e-01 1.00210414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:225.81, Z:10.02 [[-3.01866590e-01 -9.53337462e-01 4.92394038e-03 2.02698553e+02] [ 9.53195100e-01 -3.01906616e-01 -1.64771409e-02 2.25812087e+02] [ 1.71948458e-02 -2.80422479e-04 9.99852118e-01 1.00203286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters Centerline goodness [0,1] 0.9999328408327737 Centerline is valid? [True, True] Translation: X:202.69, Y:225.84, Z:10.02 [[-3.02168968e-01 -9.53239560e-01 5.31568161e-03 2.02690759e+02] [ 9.53074082e-01 -3.02215571e-01 -1.77635350e-02 2.25837055e+02] [ 1.85393860e-02 -3.01350669e-04 9.99828085e-01 1.00200260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.68, Y:225.86, Z:10.02 [[-3.02529227e-01 -9.53121852e-01 5.89930945e-03 2.02683262e+02] [ 9.52918598e-01 -3.02586556e-01 -1.96855545e-02 2.25862163e+02] [ 2.05477839e-02 -3.33893908e-04 9.99788816e-01 1.00187118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.67, Y:225.89, Z:10.02 [[-3.02727705e-01 -9.53058560e-01 5.94284109e-03 2.02674385e+02] [ 9.52852845e-01 -3.02785848e-01 -1.98036900e-02 2.25887610e+02] [ 2.06734844e-02 -3.32472567e-04 9.99786225e-01 1.00187451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.712755096 meters Centerline goodness [0,1] 0.9999108833686087 Centerline is valid? [True, True] Translation: X:202.67, Y:225.91, Z:10.02 [[-3.02700090e-01 -9.53066449e-01 6.08278964e-03 2.02666219e+02] [ 9.52851547e-01 -3.02761020e-01 -2.02408816e-02 2.25912155e+02] [ 2.11325367e-02 -3.30921148e-04 9.99776628e-01 1.00181529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.66, Y:225.94, Z:10.02 [[-3.03505713e-01 -9.52809355e-01 6.21407563e-03 2.02656969e+02] [ 9.52585668e-01 -3.03569122e-01 -2.06478638e-02 2.25937009e+02] [ 2.15598792e-02 -3.47305218e-04 9.99767498e-01 1.00201627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.65, Y:225.96, Z:10.02 [[-3.04316825e-01 -9.52549431e-01 6.39154913e-03 2.02650230e+02] [ 9.52313415e-01 -3.04383718e-01 -2.12063957e-02 2.25961165e+02] [ 2.21456237e-02 -3.66705040e-04 9.99754688e-01 1.00203927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.64, Y:225.99, Z:10.02 [[-3.04803106e-01 -9.52394283e-01 6.34007154e-03 2.02641616e+02] [ 9.52162684e-01 -3.04868818e-01 -2.10054121e-02 2.25986400e+02] [ 2.19383245e-02 -3.65735325e-04 9.99759259e-01 1.00212410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.63, Y:226.01, Z:10.02 [[-3.05563402e-01 -9.52148584e-01 6.63942604e-03 2.02633286e+02] [ 9.51895240e-01 -3.05635275e-01 -2.19665933e-02 2.26011419e+02] [ 2.29447035e-02 -3.92148961e-04 9.99736659e-01 1.00216172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.63, Y:226.04, Z:10.02 [[-3.05887380e-01 -9.52043487e-01 6.79039963e-03 2.02625021e+02] [ 9.51779189e-01 -3.05962480e-01 -2.24351771e-02 2.26036551e+02] [ 2.34368718e-02 -3.99676514e-04 9.99725239e-01 1.00214897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.62, Y:226.06, Z:10.02 [[-3.06409609e-01 -9.51873594e-01 7.05782096e-03 2.02615597e+02] [ 9.51588781e-01 -3.06490596e-01 -2.32874569e-02 2.26061926e+02] [ 2.43298710e-02 -4.19357304e-04 9.99703897e-01 1.00217158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.61, Y:226.09, Z:10.02 [[-3.07583038e-01 -9.51490952e-01 7.59229667e-03 2.02607466e+02] [ 9.51162131e-01 -3.07676363e-01 -2.50171346e-02 2.26086668e+02] [ 2.61395475e-02 -4.73341187e-04 9.99658192e-01 1.00199297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.60, Y:226.11, Z:10.02 [[-3.08255851e-01 -9.51271143e-01 7.84495229e-03 2.02599495e+02] [ 9.50920961e-01 -3.08355259e-01 -2.58139473e-02 2.26111922e+02] [ 2.69750954e-02 -4.97370725e-04 9.99635982e-01 1.00194595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.59, Y:226.14, Z:10.02 [[-3.09600946e-01 -9.50832804e-01 8.01460580e-03 2.02590891e+02] [ 9.50467982e-01 -3.09704198e-01 -2.63424487e-02 2.26137254e+02] [ 2.75294214e-02 -5.38020827e-04 9.99620849e-01 1.00197948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.58, Y:226.16, Z:10.02 [[-3.11707699e-01 -9.50142199e-01 8.25298845e-03 2.02583031e+02] [ 9.49756010e-01 -3.11816345e-01 -2.70940619e-02 2.26163725e+02] [ 2.83166282e-02 -6.07102319e-04 9.99598820e-01 1.00203453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.58, Y:226.19, Z:10.02 [[-3.13081415e-01 -9.49689898e-01 8.31416509e-03 2.02576063e+02] [ 9.49298813e-01 -3.13191133e-01 -2.72594597e-02 2.26188712e+02] [ 2.84919562e-02 -6.41803149e-04 9.99593816e-01 1.00203599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.57, Y:226.22, Z:10.02 [[-3.15042168e-01 -9.49041800e-01 8.25191641e-03 2.02568531e+02] [ 9.48657292e-01 -3.15149477e-01 -2.70212886e-02 2.26215219e+02] [ 2.82449195e-02 -6.84604680e-04 9.99600798e-01 1.00213051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.56, Y:226.24, Z:10.02 [[-3.18815048e-01 -9.47781520e-01 8.19482307e-03 2.02560972e+02] [ 9.47402835e-01 -3.18919394e-01 -2.68009053e-02 2.26241113e+02] [ 2.80148908e-02 -7.80733298e-04 9.99607201e-01 1.00226850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.55, Y:226.27, Z:10.02 [[-3.20466161e-01 -9.47225480e-01 8.08274077e-03 2.02553387e+02] [ 9.46857846e-01 -3.20567059e-01 -2.64003754e-02 2.26266134e+02] [ 2.75981687e-02 -8.07220430e-04 9.99618772e-01 1.00234215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:226.29, Z:10.02 [[-3.22848797e-01 -9.46416886e-01 7.98324110e-03 2.02543601e+02] [ 9.46058950e-01 -3.22946354e-01 -2.60406487e-02 2.26291247e+02] [ 2.72234682e-02 -8.54575387e-04 9.99629007e-01 1.00248849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.54, Y:226.32, Z:10.02 [[-3.24179567e-01 -9.45961651e-01 8.01022788e-03 2.02538346e+02] [ 9.45602059e-01 -3.24277307e-01 -2.60954716e-02 2.26316603e+02] [ 2.72828506e-02 -8.85130715e-04 9.99627362e-01 1.00244257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.53, Y:226.34, Z:10.03 [[-3.25514379e-01 -9.45502008e-01 8.14502370e-03 2.02530456e+02] [ 9.45131015e-01 -3.25614943e-01 -2.65004330e-02 2.26342167e+02] [ 2.77083541e-02 -9.28157490e-04 9.99615619e-01 1.00254744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.52, Y:226.37, Z:10.03 [[-3.25879902e-01 -9.45376001e-01 8.15510315e-03 2.02522581e+02] [ 9.45005046e-01 -3.25980604e-01 -2.64973322e-02 2.26366923e+02] [ 2.77083475e-02 -9.28334397e-04 9.99615619e-01 1.00257162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2827550960001 meters Centerline goodness [0,1] 0.9999114495705305 Centerline is valid? [True, True] Translation: X:202.51, Y:226.39, Z:10.03 [[-3.27587132e-01 -9.44785664e-01 8.16822046e-03 2.02513515e+02] [ 9.44414289e-01 -3.27687520e-01 -2.65054699e-02 2.26392821e+02] [ 2.77186119e-02 -9.68666767e-04 9.99615296e-01 1.00259077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:226.42, Z:10.03 [[-3.28079638e-01 -9.44615179e-01 8.11885547e-03 2.02505601e+02] [ 9.44249204e-01 -3.28178659e-01 -2.63098454e-02 2.26417971e+02] [ 2.75171144e-02 -9.65501752e-04 9.99620866e-01 1.00276688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.50, Y:226.44, Z:10.03 [[-3.27338557e-01 -9.44871639e-01 8.18878612e-03 2.02495083e+02] [ 9.44500366e-01 -3.27439615e-01 -2.65020247e-02 2.26443298e+02] [ 2.77223444e-02 -9.40823016e-04 9.99615219e-01 1.00276078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.48, Y:226.47, Z:10.03 [[-3.26656940e-01 -9.45107092e-01 8.23583452e-03 2.02484183e+02] [ 9.44732546e-01 -3.26759465e-01 -2.66208438e-02 2.26468826e+02] [ 2.78506852e-02 -9.15222477e-04 9.99611675e-01 1.00281096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:226.49, Z:10.03 [[-3.26350828e-01 -9.45212126e-01 8.31706742e-03 2.02474681e+02] [ 9.44831212e-01 -3.26455542e-01 -2.68469804e-02 2.26493531e+02] [ 2.80912442e-02 -9.03309409e-04 9.99604955e-01 1.00280469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.47, Y:226.52, Z:10.03 [[-3.25251974e-01 -9.45591453e-01 8.24364821e-03 2.02465450e+02] [ 9.45218281e-01 -3.25355310e-01 -2.65767431e-02 2.26519653e+02] [ 2.78128558e-02 -8.52091142e-04 9.99612785e-01 1.00280840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:226.54, Z:10.03 [[-3.23292149e-01 -9.46264329e-01 8.12446171e-03 2.02457253e+02] [ 9.45902822e-01 -3.23393292e-01 -2.61654544e-02 2.26544811e+02] [ 2.73868325e-02 -7.74134711e-04 9.99624611e-01 1.00276367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.45, Y:226.57, Z:10.03 [[-3.22619739e-01 -9.46493774e-01 8.12646054e-03 2.02446586e+02] [ 9.46133054e-01 -3.22721213e-01 -2.61392935e-02 2.26569288e+02] [ 2.73632598e-02 -7.44339131e-04 9.99625279e-01 1.00287327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters Centerline goodness [0,1] 0.9999780229440464 Centerline is valid? [True, True] Translation: X:202.44, Y:226.59, Z:10.03 [[-3.20053840e-01 -9.47365838e-01 7.96917411e-03 2.02436897e+02] [ 9.47020097e-01 -3.20152386e-01 -2.56004939e-02 2.26594438e+02] [ 2.68043835e-02 -6.46568343e-04 9.99640489e-01 1.00284079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.552755096 meters Centerline goodness [0,1] 0.9999560468540536 Centerline is valid? [True, True] Translation: X:202.43, Y:226.62, Z:10.03 [[-3.19042799e-01 -9.47707259e-01 7.91473877e-03 2.02426747e+02] [ 9.47367174e-01 -3.19140387e-01 -2.53939252e-02 2.26619932e+02] [ 2.65919201e-02 -6.03585296e-04 9.99646190e-01 1.00296241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.42, Y:226.64, Z:10.03 [[-3.18238601e-01 -9.47978901e-01 7.75864492e-03 2.02419193e+02] [ 9.47652927e-01 -3.18332671e-01 -2.48644524e-02 2.26643872e+02] [ 2.60408064e-02 -5.60325984e-04 9.99660724e-01 1.00293460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:226.67, Z:10.03 [[-3.15763621e-01 -9.48809355e-01 7.35822686e-03 2.02408426e+02] [ 9.48517043e-01 -3.15849011e-01 -2.35546302e-02 2.26669493e+02] [ 2.46729422e-02 -4.58291734e-04 9.99695472e-01 1.00308187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.40, Y:226.69, Z:10.03 [[-3.15048201e-01 -9.49047892e-01 7.26149270e-03 2.02400667e+02] [ 9.48764033e-01 -3.15131589e-01 -2.32140233e-02 2.26693780e+02] [ 2.43195456e-02 -4.24093164e-04 9.99704146e-01 1.00310697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.39, Y:226.72, Z:10.03 [[-3.12914974e-01 -9.49755344e-01 7.00041658e-03 2.02391923e+02] [ 9.49492391e-01 -3.12993077e-01 -2.23502484e-02 2.26719465e+02] [ 2.34183498e-02 -3.46885125e-04 9.99725693e-01 1.00330067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.38, Y:226.74, Z:10.03 [[-3.12067871e-01 -9.50035405e-01 6.80977599e-03 2.02384627e+02] [ 9.49787294e-01 -3.12142009e-01 -2.17131837e-02 2.26744338e+02] [ 2.27539104e-02 -3.08148289e-04 9.99741049e-01 1.00326899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.732755096 meters Centerline goodness [0,1] 0.999911921433919 Centerline is valid? [True, True] Translation: X:202.38, Y:226.77, Z:10.03 [[-3.12084166e-01 -9.50029490e-01 6.88787227e-03 2.02375993e+02] [ 9.49776333e-01 -3.12160019e-01 -2.19326064e-02 2.26769792e+02] [ 2.29867412e-02 -3.02881092e-04 9.99735724e-01 1.00315528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.37, Y:226.79, Z:10.03 [[-3.11125098e-01 -9.50344669e-01 6.79586267e-03 2.02366393e+02] [ 9.50098962e-01 -3.11199196e-01 -2.16107184e-02 2.26794762e+02] [ 2.26524980e-02 -2.66894822e-04 9.99743364e-01 1.00333715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.36, Y:226.82, Z:10.03 [[-3.10873128e-01 -9.50427394e-01 6.75775509e-03 2.02359618e+02] [ 9.50185127e-01 -3.10946469e-01 -2.14596965e-02 2.26819242e+02] [ 2.24971835e-02 -2.50124607e-04 9.99746875e-01 1.00307518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.822755096 meters Centerline goodness [0,1] 0.9999780234270268 Centerline is valid? [True, True] Translation: X:202.35, Y:226.84, Z:10.03 [[-3.11197894e-01 -9.50320724e-01 6.81116565e-03 2.02350600e+02] [ 9.50075258e-01 -3.11272322e-01 -2.15996580e-02 2.26844083e+02] [ 2.26467300e-02 -2.50648122e-04 9.99743499e-01 1.00321884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:226.87, Z:10.03 [[-3.12504173e-01 -9.49892625e-01 6.71886367e-03 2.02344614e+02] [ 9.49654313e-01 -3.12576278e-01 -2.12780741e-02 2.26868671e+02] [ 2.23120431e-02 -2.68889095e-04 9.99751019e-01 1.00320804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.34, Y:226.89, Z:10.03 [[-3.13639480e-01 -9.49520075e-01 6.47331163e-03 2.02337823e+02] [ 9.49299366e-01 -3.13706154e-01 -2.04734553e-02 2.26894054e+02] [ 2.14706745e-02 -2.76173239e-04 9.99769440e-01 1.00328465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.33, Y:226.92, Z:10.03 [[-3.14776349e-01 -9.49144846e-01 6.31756145e-03 2.02330960e+02] [ 9.48935094e-01 -3.14839609e-01 -1.99551417e-02 2.26920079e+02] [ 2.09293385e-02 -2.86450880e-04 9.99780916e-01 1.00332702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.942755096 meters Centerline goodness [0,1] 0.9999335592319447 Centerline is valid? [True, True] Translation: X:202.33, Y:226.95, Z:10.03 [[-3.17203431e-01 -9.48337907e-01 6.09893455e-03 2.02326133e+02] [ 9.48142755e-01 -3.17261897e-01 -1.92407209e-02 2.26946056e+02] [ 2.01816646e-02 -3.20562104e-04 9.99796278e-01 1.00340575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.32, Y:226.97, Z:10.03 [[-3.18558401e-01 -9.47883884e-01 6.05697622e-03 2.02319148e+02] [ 9.47691804e-01 -3.18615798e-01 -1.90845021e-02 2.26971474e+02] [ 2.00197403e-02 -3.39381745e-04 9.99799527e-01 1.00345567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:227.00, Z:10.04 [[-3.20249279e-01 -9.47314633e-01 5.94854990e-03 2.02311824e+02] [ 9.47129750e-01 -3.20304317e-01 -1.87184613e-02 2.26997178e+02] [ 1.96376185e-02 -3.60525133e-04 9.99807098e-01 1.00359742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:227.02, Z:10.03 [[-3.21145807e-01 -9.47011024e-01 5.95747691e-03 2.02307477e+02] [ 9.46826040e-01 -3.21200845e-01 -1.87207936e-02 2.27022548e+02] [ 1.96423446e-02 -3.71410100e-04 9.99807002e-01 1.00346660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.062755096 meters Centerline goodness [0,1] 0.9999556953613044 Centerline is valid? [True, True] Translation: X:202.30, Y:227.05, Z:10.04 [[-3.21791049e-01 -9.46792535e-01 5.86659208e-03 2.02297653e+02] [ 9.46613593e-01 -3.21844308e-01 -1.84105176e-02 2.27047153e+02] [ 1.93190699e-02 -3.70943975e-04 9.99813301e-01 1.00354250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.29, Y:227.07, Z:10.04 [[-3.22270170e-01 -9.46629706e-01 5.84267630e-03 2.02289217e+02] [ 9.46452651e-01 -3.22322915e-01 -1.83116907e-02 2.27072430e+02] [ 1.92176188e-02 -3.71495188e-04 9.99815256e-01 1.00352223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.28, Y:227.10, Z:10.04 [[-3.22350518e-01 -9.46601839e-01 5.92469066e-03 2.02279773e+02] [ 9.46420238e-01 -3.22404747e-01 -1.85448572e-02 2.27097701e+02] [ 1.94647443e-02 -3.70697176e-04 9.99810475e-01 1.00354961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.27, Y:227.12, Z:10.04 [[-3.22544472e-01 -9.46536895e-01 5.74200069e-03 2.02270876e+02] [ 9.46366746e-01 -3.22595382e-01 -1.79499797e-02 2.27123007e+02] [ 1.88426609e-02 -3.55628203e-04 9.99822398e-01 1.00358600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:227.15, Z:10.04 [[-3.22343181e-01 -9.46607661e-01 5.36755203e-03 2.02262194e+02] [ 9.46459376e-01 -3.22387707e-01 -1.67575922e-02 2.27148245e+02] [ 1.75932979e-02 -3.21525629e-04 9.99845174e-01 1.00380010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.212755096 meters Centerline goodness [0,1] 0.9999778800212352 Centerline is valid? [True, True] Translation: X:202.26, Y:227.17, Z:10.04 [[-3.21772212e-01 -9.46802341e-01 5.28886103e-03 2.02255105e+02] [ 9.46658745e-01 -3.21815535e-01 -1.64918675e-02 2.27172458e+02] [ 1.73165764e-02 -2.99878125e-04 9.99850012e-01 1.00384525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters Centerline goodness [0,1] 0.9999556855446247 Centerline is valid? [True, True] Translation: X:202.25, Y:227.20, Z:10.04 [[-3.21029980e-01 -9.47054650e-01 5.21947156e-03 2.02245775e+02] [ 9.46915154e-01 -3.21072289e-01 -1.62565984e-02 2.27197759e+02] [ 1.70717148e-02 -2.76458763e-04 9.99854229e-01 1.00395101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:227.22, Z:10.04 [[-3.18151992e-01 -9.48025478e-01 5.19645467e-03 2.02236324e+02] [ 9.47887648e-01 -3.18194352e-01 -1.61667011e-02 2.27221866e+02] [ 1.69799271e-02 -2.17812970e-04 9.99855807e-01 1.00395592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.302755096 meters Centerline goodness [0,1] 0.9998893340120847 Centerline is valid? [True, True] Translation: X:202.23, Y:227.25, Z:10.04 [[-3.14376901e-01 -9.49284600e-01 5.09051321e-03 2.02225198e+02] [ 9.49152775e-01 -3.14418080e-01 -1.58202571e-02 2.27245467e+02] [ 1.66184758e-02 -1.41848652e-04 9.99861894e-01 1.00387254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:227.27, Z:10.04 [[-3.12815079e-01 -9.49801004e-01 4.97792901e-03 2.02213959e+02] [ 9.49675330e-01 -3.12854666e-01 -1.54507725e-02 2.27269847e+02] [ 1.62325276e-02 -1.05818251e-04 9.99868238e-01 1.00400043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.20, Y:227.29, Z:10.04 [[-3.10766419e-01 -9.50474008e-01 4.83662022e-03 2.02203975e+02] [ 9.50355757e-01 -3.10804048e-01 -1.49926424e-02 2.27294725e+02] [ 1.57533580e-02 -6.26999132e-05 9.99875906e-01 1.00406131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.392755096 meters Centerline goodness [0,1] 0.9998896076656437 Centerline is valid? [True, True] Translation: X:202.19, Y:227.32, Z:10.04 [[-3.09155369e-01 -9.50999798e-01 4.72683535e-03 2.02194103e+02] [ 9.50887208e-01 -3.09191501e-01 -1.46332981e-02 2.27319286e+02] [ 1.53777608e-02 -2.92753913e-05 9.99881755e-01 1.00412682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4227550960001 meters Centerline goodness [0,1] 0.999337133766406 Centerline is valid? [True, True] Translation: X:202.18, Y:227.34, Z:10.04 [[-3.07700525e-01 -9.51471920e-01 4.64453161e-03 2.02184245e+02] [ 9.51363554e-01 -3.07735576e-01 -1.43598094e-02 2.27344093e+02] [ 1.50922430e-02 1.17207887e-07 9.99886106e-01 1.00414391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.452755096 meters Centerline goodness [0,1] 0.9995588494794424 Centerline is valid? [True, True] Translation: X:202.17, Y:227.37, Z:10.04 [[-3.05361617e-01 -9.52225530e-01 4.56319852e-03 2.02174808e+02] [ 9.52121285e-01 -3.05395708e-01 -1.40897586e-02 2.27368526e+02] [ 1.48102091e-02 4.22469696e-05 9.99890322e-01 1.00424967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.482755096 meters Centerline goodness [0,1] 0.9993402388335423 Centerline is valid? [True, True] Translation: X:202.17, Y:227.39, Z:10.04 [[-3.04792803e-01 -9.52407801e-01 4.55288119e-03 2.02165924e+02] [ 9.52304332e-01 -3.04826801e-01 -1.40385455e-02 2.27392568e+02] [ 1.47582605e-02 5.68808325e-05 9.99891089e-01 1.00418502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.512755096 meters Centerline goodness [0,1] 0.9997137635687078 Centerline is valid? [True, True] Translation: X:202.16, Y:227.42, Z:10.04 [[-3.03703583e-01 -9.52756440e-01 4.39308148e-03 2.02156961e+02] [ 9.52660405e-01 -3.03735345e-01 -1.35274738e-02 2.27417059e+02] [ 1.42227219e-02 7.67725303e-05 9.99898849e-01 1.00423654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5427550960001 meters Centerline goodness [0,1] 0.9994502957408914 Centerline is valid? [True, True] Translation: X:202.15, Y:227.44, Z:10.04 [[-3.03586906e-01 -9.52794112e-01 4.28604135e-03 2.02148097e+02] [ 9.52702947e-01 -3.03617149e-01 -1.31803195e-02 2.27440603e+02] [ 1.38594465e-02 8.19517977e-05 9.99903950e-01 1.00421532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.572755096 meters Centerline goodness [0,1] 0.9996915620180656 Centerline is valid? [True, True] Translation: X:202.14, Y:227.47, Z:10.04 [[-3.03624496e-01 -9.52783154e-01 4.05307785e-03 2.02139012e+02] [ 9.52701844e-01 -3.03651536e-01 -1.24475325e-02 2.27465913e+02] [ 1.30905226e-02 8.19989506e-05 9.99914312e-01 1.00421541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.602755096 meters Centerline goodness [0,1] 0.9995366181954588 Centerline is valid? [True, True] Translation: X:202.13, Y:227.49, Z:10.04 [[-3.03747560e-01 -9.52745410e-01 3.68838589e-03 2.02129982e+02] [ 9.52678235e-01 -3.03769943e-01 -1.13138443e-02 2.27491921e+02] [ 1.18996340e-02 7.72923660e-05 9.99929194e-01 1.00421541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.632755096 meters Centerline goodness [0,1] 0.999647724520575 Centerline is valid? [True, True] Translation: X:202.12, Y:227.52, Z:10.04 [[-3.04695305e-01 -9.52443381e-01 3.51804519e-03 2.02121770e+02] [ 9.52382396e-01 -3.04715607e-01 -1.07782171e-02 2.27516373e+02] [ 1.13376448e-02 6.64521567e-05 9.99935725e-01 1.00423846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6627550960001 meters Centerline goodness [0,1] 0.9996245334275681 Centerline is valid? [True, True] Translation: X:202.11, Y:227.54, Z:10.04 [[-3.06887510e-01 -9.51740837e-01 3.07162166e-03 2.02114741e+02] [ 9.51694429e-01 -3.06902879e-01 -9.39879503e-03 2.27541938e+02] [ 9.88790658e-03 3.88724163e-05 9.99951113e-01 1.00429078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.692755096 meters Centerline goodness [0,1] 0.9997564323989194 Centerline is valid? [True, True] Translation: X:202.11, Y:227.57, Z:10.04 [[-3.08486809e-01 -9.51224041e-01 2.95184442e-03 2.02107268e+02] [ 9.51181267e-01 -3.08500930e-01 -9.02067362e-03 2.27567440e+02] [ 9.49132836e-03 2.49803001e-05 9.99954956e-01 1.00434724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.722755096 meters Centerline goodness [0,1] 0.9996907854050712 Centerline is valid? [True, True] Translation: X:202.10, Y:227.59, Z:10.04 [[-3.10244472e-01 -9.50652041e-01 3.01090908e-03 2.02100200e+02] [ 9.50607633e-01 -3.10259081e-01 -9.18863227e-03 2.27592723e+02] [ 9.66935390e-03 1.14707913e-05 9.99953251e-01 1.00432089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.752755096 meters Centerline goodness [0,1] 0.9994907448410238 Centerline is valid? [True, True] Translation: X:202.09, Y:227.62, Z:10.04 [[-3.12750593e-01 -9.49830945e-01 2.87110400e-03 2.02093287e+02] [ 9.49790634e-01 -3.12763771e-01 -8.75069739e-03 2.27618895e+02] [ 9.20966049e-03 -9.83810415e-06 9.99957590e-01 1.00432024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7827550960001 meters Centerline goodness [0,1] 0.9996455157745481 Centerline is valid? [True, True] Translation: X:202.08, Y:227.64, Z:10.04 [[-3.14271061e-01 -9.49329440e-01 2.70461290e-03 2.02084880e+02] [ 9.49293732e-01 -3.14282698e-01 -8.23387705e-03 2.27644032e+02] [ 8.66667493e-03 -2.01971983e-05 9.99962443e-01 1.00434910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.812755096 meters Centerline goodness [0,1] 0.9997118858181334 Centerline is valid? [True, True] Translation: X:202.08, Y:227.67, Z:10.04 [[-3.16377958e-01 -9.48630227e-01 2.38330004e-03 2.02076502e+02] [ 9.48602539e-01 -3.16386933e-01 -7.24788878e-03 2.27669434e+02] [ 7.62961137e-03 -3.22677864e-05 9.99970894e-01 1.00433505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.842755096 meters Centerline goodness [0,1] 0.9996456099937981 Centerline is valid? [True, True] Translation: X:202.07, Y:227.69, Z:10.04 [[-3.17195042e-01 -9.48357635e-01 2.25866591e-03 2.02068040e+02] [ 9.48332822e-01 -3.17203082e-01 -6.86029955e-03 2.27694939e+02] [ 7.22247324e-03 -3.40859890e-05 9.99973917e-01 1.00420178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.872755096 meters Centerline goodness [0,1] 0.9997567824529595 Centerline is valid? [True, True] Translation: X:202.06, Y:227.72, Z:10.04 [[-3.18113318e-01 -9.48050020e-01 2.25318837e-03 2.02058968e+02] [ 9.48025385e-01 -3.18121295e-01 -6.83458177e-03 2.27719896e+02] [ 7.19631259e-03 -3.80917123e-05 9.99974106e-01 1.00441723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9027550960001 meters Centerline goodness [0,1] 0.9997564270056022 Centerline is valid? [True, True] Translation: X:202.05, Y:227.74, Z:10.04 [[-3.18172555e-01 -9.48030488e-01 2.10223283e-03 2.02050013e+02] [ 9.48009093e-01 -3.18179498e-01 -6.36919521e-03 2.27744086e+02] [ 6.70707863e-03 -3.35672662e-05 9.99977507e-01 1.00443511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.932755096 meters Centerline goodness [0,1] 0.9997564755368608 Centerline is valid? [True, True] Translation: X:202.04, Y:227.77, Z:10.04 [[-3.18585769e-01 -9.47891869e-01 2.02795776e-03 2.02040683e+02] [ 9.47872009e-01 -3.18592222e-01 -6.13598537e-03 2.27768826e+02] [ 6.46234221e-03 -3.25932276e-05 9.99979118e-01 1.00444027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.962755096 meters Centerline goodness [0,1] 0.9997786582261671 Centerline is valid? [True, True] Translation: X:202.03, Y:227.79, Z:10.04 [[-3.17730625e-01 -9.48179003e-01 1.95660274e-03 2.02029671e+02] [ 9.48160566e-01 -3.17736649e-01 -5.91294550e-03 2.27792488e+02] [ 6.22821516e-03 -2.35503123e-05 9.99980604e-01 1.00440772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.992755096 meters Centerline goodness [0,1] 0.9997785356779023 Centerline is valid? [True, True] Translation: X:202.02, Y:227.82, Z:10.04 [[-3.17472720e-01 -9.48265626e-01 1.83719538e-03 2.02019368e+02] [ 9.48249413e-01 -3.17478035e-01 -5.54503306e-03 2.27817402e+02] [ 5.84143342e-03 -1.82772845e-05 9.99982939e-01 1.00442281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters Centerline goodness [0,1] 0.9997355605015535 Centerline is valid? [True, True] Translation: X:202.01, Y:227.84, Z:10.04 [[-3.17471442e-01 -9.48266007e-01 1.86120662e-03 2.02010040e+02] [ 9.48249411e-01 -3.17476897e-01 -5.61021612e-03 2.27841671e+02] [ 5.91086734e-03 -1.61953188e-05 9.99982531e-01 1.00443825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.052755096 meters Centerline goodness [0,1] 0.9997341780563985 Centerline is valid? [True, True] Translation: X:202.00, Y:227.87, Z:10.05 [[-3.16481470e-01 -9.48597337e-01 1.60367514e-03 2.02000069e+02] [ 9.48585049e-01 -3.16485533e-01 -4.82833736e-03 2.27865515e+02] [ 5.08768794e-03 -6.85704375e-06 9.99987058e-01 1.00453240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.082755096 meters Centerline goodness [0,1] 0.9997128341064723 Centerline is valid? [True, True] Translation: X:201.99, Y:227.89, Z:10.05 [[-3.16592637e-01 -9.48560325e-01 1.55279077e-03 2.01991008e+02] [ 9.48548821e-01 -3.16596445e-01 -4.67178699e-03 2.27890013e+02] [ 4.92307982e-03 -6.15551318e-06 9.99987882e-01 1.00458709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.112755096 meters Centerline goodness [0,1] 0.9997786631252766 Centerline is valid? [True, True] Translation: X:201.98, Y:227.91, Z:10.05 [[-3.16396573e-01 -9.48626249e-01 1.20327977e-03 2.01980394e+02] [ 9.48619349e-01 -3.16398861e-01 -3.61816529e-03 2.27914693e+02] [ 3.81300291e-03 -3.32062435e-06 9.99992731e-01 1.00466950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters Centerline goodness [0,1] 0.9997790055248619 Centerline is valid? [True, True] Translation: X:201.97, Y:227.94, Z:10.05 [[-3.16853203e-01 -9.48473990e-01 1.06715450e-03 2.01970754e+02] [ 9.48468570e-01 -3.16855000e-01 -3.20638436e-03 2.27939477e+02] [ 3.37930541e-03 -3.79065290e-06 9.99994290e-01 1.00469237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1727550960001 meters Centerline goodness [0,1] 0.9996903476953022 Centerline is valid? [True, True] Translation: X:201.96, Y:227.96, Z:10.05 [[-3.17291591e-01 -9.48327632e-01 8.64941668e-04 2.01961647e+02] [ 9.48324074e-01 -3.17292770e-01 -2.59796279e-03 2.27963120e+02] [ 2.73815964e-03 -4.06674035e-06 9.99996251e-01 1.00480660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.202755096 meters Centerline goodness [0,1] 0.9996903476953022 Centerline is valid? [True, True] Translation: X:201.95, Y:227.99, Z:10.05 [[-3.17646697e-01 -9.48208746e-01 8.66171582e-04 2.01953164e+02] [ 9.48205188e-01 -3.17647878e-01 -2.59755192e-03 2.27987637e+02] [ 2.73815901e-03 -3.79540121e-06 9.99996251e-01 1.00483075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.232755096 meters Centerline goodness [0,1] 0.9997341839447103 Centerline is valid? [True, True] Translation: X:201.94, Y:228.01, Z:10.05 [[-3.19201176e-01 -9.47686625e-01 8.19062090e-04 2.01944223e+02] [ 9.47683447e-01 -3.19202227e-01 -2.45423039e-03 2.28012905e+02] [ 2.58728776e-03 -7.18164285e-06 9.99996653e-01 1.00478540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters Centerline goodness [0,1] 0.9997126246214382 Centerline is valid? [True, True] Translation: X:201.94, Y:228.04, Z:10.05 [[-3.20647583e-01 -9.47198109e-01 9.32903317e-04 2.01935987e+02] [ 9.47193999e-01 -3.20648940e-01 -2.79008514e-03 2.28037652e+02] [ 2.94189783e-03 -1.09936334e-05 9.99995673e-01 1.00476664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2927550960001 meters Centerline goodness [0,1] 0.9997564917096495 Centerline is valid? [True, True] Translation: X:201.93, Y:228.06, Z:10.05 [[-3.22785280e-01 -9.46471843e-01 8.45321330e-04 2.01928017e+02] [ 9.46468471e-01 -3.22786386e-01 -2.52632722e-03 2.28061312e+02] [ 2.66395579e-03 -1.53912511e-05 9.99996452e-01 1.00481587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.322755096 meters Centerline goodness [0,1] 0.999734431018457 Centerline is valid? [True, True] Translation: X:201.92, Y:228.09, Z:10.05 [[-3.23772748e-01 -9.46134536e-01 8.04395251e-04 2.01919220e+02] [ 9.46131491e-01 -3.23773747e-01 -2.40064815e-03 2.28085900e+02] [ 2.53177819e-03 -1.62007704e-05 9.99996795e-01 1.00480959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.352755096 meters Centerline goodness [0,1] 0.9997791519434629 Centerline is valid? [True, True] Translation: X:201.91, Y:228.11, Z:10.05 [[-3.24846580e-01 -9.45766258e-01 9.40700811e-04 2.01909873e+02] [ 9.45762107e-01 -3.24847942e-01 -2.80215954e-03 2.28111153e+02] [ 2.95577267e-03 -2.05927639e-05 9.99995632e-01 1.00478108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters Centerline goodness [0,1] 0.999734941355775 Centerline is valid? [True, True] Translation: X:201.90, Y:228.13, Z:10.05 [[-3.25966754e-01 -9.45380685e-01 1.01769979e-03 2.01901538e+02] [ 9.45375845e-01 -3.25968342e-01 -3.02521594e-03 2.28134725e+02] [ 3.19171863e-03 -2.40110209e-05 9.99994906e-01 1.00475805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4127550960001 meters Centerline goodness [0,1] 0.9997136122309607 Centerline is valid? [True, True] Translation: X:201.89, Y:228.16, Z:10.05 [[-3.28084059e-01 -9.44647851e-01 1.13465799e-03 2.01893334e+02] [ 9.44641847e-01 -3.28086019e-01 -3.36837193e-03 2.28158409e+02] [ 3.55419073e-03 -3.32637158e-05 9.99993683e-01 1.00475466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.442755096 meters Centerline goodness [0,1] 0.9997791080382585 Centerline is valid? [True, True] Translation: X:201.88, Y:228.18, Z:10.05 [[-3.29702676e-01 -9.44083828e-01 1.36826078e-03 2.01884317e+02] [ 9.44075110e-01 -3.29705512e-01 -4.05732582e-03 2.28183036e+02] [ 4.28157881e-03 -4.59702286e-05 9.99990833e-01 1.00468768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.472755096 meters Centerline goodness [0,1] 0.9997790250585583 Centerline is valid? [True, True] Translation: X:201.87, Y:228.21, Z:10.05 [[-3.32779373e-01 -9.43002977e-01 1.80964681e-03 2.01874936e+02] [ 9.42987773e-01 -3.32784284e-01 -5.35534074e-03 2.28209062e+02] [ 5.65232428e-03 -7.56721140e-05 9.99984023e-01 1.00456534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters Centerline goodness [0,1] 0.9997573672136933 Centerline is valid? [True, True] Translation: X:201.87, Y:228.23, Z:10.05 [[-3.34622397e-01 -9.42349743e-01 2.19389231e-03 2.01867312e+02] [ 9.42327452e-01 -3.34629574e-01 -6.48244651e-03 2.28233219e+02] [ 6.84287305e-03 -1.01806843e-04 9.99976582e-01 1.00450146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5327550960001 meters Centerline goodness [0,1] 0.9997573618616963 Centerline is valid? [True, True] Translation: X:201.86, Y:228.26, Z:10.04 [[-3.36752162e-01 -9.41590367e-01 2.35850945e-03 2.01858995e+02] [ 9.41564642e-01 -3.36760398e-01 -6.96131343e-03 2.28259142e+02] [ 7.34895825e-03 -1.23548242e-04 9.99972988e-01 1.00447525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.562755096 meters Centerline goodness [0,1] 0.9998235942668137 Centerline is valid? [True, True] Translation: X:201.85, Y:228.28, Z:10.04 [[-3.40770640e-01 -9.40142383e-01 2.76942332e-03 2.01852230e+02] [ 9.40106960e-01 -3.40781847e-01 -8.16312140e-03 2.28284694e+02] [ 8.61826560e-03 -1.78197963e-04 9.99962846e-01 1.00446556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.592755096 meters Centerline goodness [0,1] 0.9997572333428969 Centerline is valid? [True, True] Translation: X:201.84, Y:228.31, Z:10.04 [[-3.43451934e-01 -9.39166154e-01 2.77549913e-03 2.01842802e+02] [ 9.39130628e-01 -3.43463091e-01 -8.17122157e-03 2.28310578e+02] [ 8.62741624e-03 -1.99865613e-04 9.99962763e-01 1.00449628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters Centerline goodness [0,1] 0.9997810570565311 Centerline is valid? [True, True] Translation: X:201.84, Y:228.34, Z:10.05 [[-3.48233073e-01 -9.37403985e-01 2.73790529e-03 2.01836313e+02] [ 9.37369437e-01 -3.48243755e-01 -8.05145732e-03 2.28335922e+02] [ 8.50092660e-03 -2.37354985e-04 9.99963838e-01 1.00460368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6527550960001 meters Centerline goodness [0,1] 0.9997349764791625 Centerline is valid? [True, True] Translation: X:201.83, Y:228.36, Z:10.05 [[-3.50838486e-01 -9.36432338e-01 2.61416784e-03 2.01826386e+02] [ 9.36400886e-01 -3.50848139e-01 -7.67877363e-03 2.28361707e+02] [ 8.10782786e-03 -2.46100229e-04 9.99967101e-01 1.00466730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.682755096 meters Centerline goodness [0,1] 0.9998011972344326 Centerline is valid? [True, True] Translation: X:201.82, Y:228.39, Z:10.05 [[-3.52981301e-01 -9.35626475e-01 2.70178191e-03 2.01817637e+02] [ 9.35592937e-01 -3.52991538e-01 -7.92658343e-03 2.28386941e+02] [ 8.37002747e-03 -2.70167660e-04 9.99964934e-01 1.00474366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.712755096 meters Centerline goodness [0,1] 0.9998018668545262 Centerline is valid? [True, True] Translation: X:201.81, Y:228.41, Z:10.05 [[-3.55294065e-01 -9.34749970e-01 2.93617331e-03 2.01808530e+02] [ 9.34710435e-01 -3.55306061e-01 -8.60263765e-03 2.28412079e+02] [ 9.08455546e-03 -3.11994277e-04 9.99958686e-01 1.00476526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters Centerline goodness [0,1] 0.9997802535873602 Centerline is valid? [True, True] Translation: X:201.80, Y:228.44, Z:10.05 [[-3.55944363e-01 -9.34502026e-01 3.09419668e-03 2.01804196e+02] [ 9.34458224e-01 -3.55957658e-01 -9.05390887e-03 2.28437290e+02] [ 9.56229918e-03 -3.31290291e-04 9.99954225e-01 1.00477162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.772755096 meters Centerline goodness [0,1] 0.9998678879689977 Centerline is valid? [True, True] Translation: X:201.78, Y:228.46, Z:10.05 [[-3.55359107e-01 -9.34723941e-01 3.32572032e-03 2.01784823e+02] [ 9.34673490e-01 -3.55374501e-01 -9.71758473e-03 2.28459550e+02] [ 1.02651353e-02 -3.44769614e-04 9.99947253e-01 1.00475984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.802755096 meters Centerline goodness [0,1] 0.9998464743941221 Centerline is valid? [True, True] Translation: X:201.77, Y:228.48, Z:10.05 [[-3.54578818e-01 -9.35020017e-01 3.38079077e-03 2.01774801e+02] [ 9.34968016e-01 -3.54594775e-01 -9.86681348e-03 2.28484405e+02] [ 1.04244789e-02 -3.37631825e-04 9.99945607e-01 1.00475007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.832755096 meters Centerline goodness [0,1] 0.9998249874209709 Centerline is valid? [True, True] Translation: X:201.76, Y:228.51, Z:10.05 [[-3.53636176e-01 -9.35376551e-01 3.48770778e-03 2.01762736e+02] [ 9.35321356e-01 -3.53653217e-01 -1.01667949e-02 2.28509400e+02] [ 1.07432206e-02 -3.33218896e-04 9.99942234e-01 1.00474688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.862755096 meters Centerline goodness [0,1] 0.9998253923216274 Centerline is valid? [True, True] Translation: X:201.75, Y:228.53, Z:10.05 [[-3.52640790e-01 -9.35751834e-01 3.60250476e-03 2.01753092e+02] [ 9.35693103e-01 -3.52659038e-01 -1.04890259e-02 2.28533594e+02] [ 1.10855811e-02 -3.28019509e-04 9.99938499e-01 1.00472597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.892755096 meters Centerline goodness [0,1] 0.9998259166575998 Centerline is valid? [True, True] Translation: X:201.74, Y:228.56, Z:10.05 [[-3.50570214e-01 -9.36528416e-01 3.87964523e-03 2.01737352e+02] [ 9.36460516e-01 -3.50591533e-01 -1.12817974e-02 2.28557049e+02] [ 1.19258946e-02 -3.21927548e-04 9.99928832e-01 1.00467586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9227550960001 meters Centerline goodness [0,1] 0.9999565047192379 Centerline is valid? [True, True] Translation: X:201.73, Y:228.58, Z:10.05 [[-3.49814941e-01 -9.36809705e-01 4.13338861e-03 2.01727707e+02] [ 9.36732828e-01 -3.49839206e-01 -1.20058265e-02 2.28580260e+02] [ 1.26931962e-02 -3.27936692e-04 9.99919384e-01 1.00468171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.952755096 meters Centerline goodness [0,1] 0.999804347826087 Centerline is valid? [True, True] Translation: X:201.71, Y:228.60, Z:10.05 [[-3.49231467e-01 -9.37026235e-01 4.38375280e-03 2.01714401e+02] [ 9.36939971e-01 -3.49258819e-01 -1.27187876e-02 2.28603414e+02] [ 1.34489020e-02 -3.34487626e-04 9.99909504e-01 1.00467831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.982755096 meters Centerline goodness [0,1] 0.9998264039579897 Centerline is valid? [True, True] Translation: X:201.70, Y:228.63, Z:10.05 [[-3.49411323e-01 -9.36958889e-01 4.44615942e-03 2.01701830e+02] [ 9.36870365e-01 -3.49439448e-01 -1.28837803e-02 2.28628415e+02] [ 1.36252360e-02 -3.36263726e-04 9.99907116e-01 1.00476967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.012755096 meters Centerline goodness [0,1] 0.9998917748917749 Centerline is valid? [True, True] Translation: X:201.69, Y:228.65, Z:10.05 [[-3.49318788e-01 -9.36993429e-01 4.43829923e-03 2.01692876e+02] [ 9.36905431e-01 -3.49346828e-01 -1.28455017e-02 2.28653468e+02] [ 1.35866564e-02 -3.28908422e-04 9.99907643e-01 1.00480324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:228.68, Z:10.05 [[-3.49721853e-01 -9.36843245e-01 4.40003054e-03 2.01682461e+02] [ 9.36756962e-01 -3.49749380e-01 -1.27187050e-02 2.28677207e+02] [ 1.34543408e-02 -3.26249827e-04 9.99909433e-01 1.00484646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.67, Y:228.70, Z:10.05 [[-3.50366547e-01 -9.36602476e-01 4.36858115e-03 2.01670793e+02] [ 9.36517623e-01 -3.50393628e-01 -1.26114099e-02 2.28700704e+02] [ 1.33426008e-02 -3.27362914e-04 9.99910930e-01 1.00490168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.66, Y:228.73, Z:10.05 [[-3.52143669e-01 -9.35935481e-01 4.42850782e-03 2.01661462e+02] [ 9.35848448e-01 -3.52171338e-01 -1.27683341e-02 2.28725359e+02] [ 1.35099304e-02 -3.51875852e-04 9.99908675e-01 1.00491557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.132755096 meters Centerline goodness [0,1] 0.9999353615444282 Centerline is valid? [True, True] Translation: X:201.65, Y:228.75, Z:10.05 [[-3.53446659e-01 -9.35444128e-01 4.44341257e-03 2.01651241e+02] [ 9.35356673e-01 -3.53474398e-01 -1.27962725e-02 2.28750292e+02] [ 1.35408305e-02 -3.66624151e-04 9.99908252e-01 1.00497458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.64, Y:228.78, Z:10.05 [[-3.54920801e-01 -9.34885353e-01 4.53896505e-03 2.01642370e+02] [ 9.34794256e-01 -3.54949608e-01 -1.30565936e-02 2.28775630e+02] [ 1.38175220e-02 -3.91058190e-04 9.99904457e-01 1.00501340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.63, Y:228.80, Z:10.05 [[-3.57058477e-01 -9.34070463e-01 4.64921177e-03 2.01633855e+02] [ 9.33975036e-01 -3.57088488e-01 -1.33583197e-02 2.28800328e+02] [ 1.41377918e-02 -4.27453548e-04 9.99899965e-01 1.00506472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.62, Y:228.82, Z:10.05 [[-3.57973030e-01 -9.33719572e-01 4.80323089e-03 2.01622850e+02] [ 9.33617932e-01 -3.58004970e-01 -1.37840065e-02 2.28824570e+02] [ 1.45899771e-02 -4.49920073e-04 9.99893459e-01 1.00506006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:228.85, Z:10.05 [[-3.57744543e-01 -9.33805446e-01 5.12169075e-03 2.01609965e+02] [ 9.33690180e-01 -3.57780896e-01 -1.46791647e-02 2.28848615e+02] [ 1.55399270e-02 -4.69318693e-04 9.99879138e-01 1.00503263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.60, Y:228.87, Z:10.05 [[-3.57184236e-01 -9.34018957e-01 5.29246699e-03 2.01600419e+02] [ 9.33896207e-01 -3.57223137e-01 -1.51494426e-02 2.28871786e+02] [ 1.60404582e-02 -4.68527241e-04 9.99871234e-01 1.00499572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.59, Y:228.90, Z:10.05 [[-3.56478250e-01 -9.34287719e-01 5.45116146e-03 2.01590469e+02] [ 9.34157869e-01 -3.56519625e-01 -1.55830991e-02 2.28895584e+02] [ 1.65025442e-02 -4.62790529e-04 9.99863717e-01 1.00500052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:228.92, Z:10.05 [[-3.54471684e-01 -9.35049458e-01 5.68656175e-03 2.01578251e+02] [ 9.34908591e-01 -3.54517022e-01 -1.62360120e-02 2.28920413e+02] [ 1.71974572e-02 -4.38791096e-04 9.99852017e-01 1.00505100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.57, Y:228.94, Z:10.05 [[-3.53204881e-01 -9.35528775e-01 5.67655806e-03 2.01568917e+02] [ 9.35388747e-01 -3.53250256e-01 -1.61909744e-02 2.28944603e+02] [ 1.71523680e-02 -4.08942644e-04 9.99852804e-01 1.00506699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.56, Y:228.97, Z:10.05 [[-3.50901622e-01 -9.36394330e-01 5.80600039e-03 2.01557367e+02] [ 9.36248274e-01 -3.50949458e-01 -1.65422980e-02 2.28967272e+02] [ 1.75277268e-02 -3.68861371e-04 9.99846310e-01 1.00508218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.55, Y:228.99, Z:10.05 [[-3.49827929e-01 -9.36795042e-01 5.95557380e-03 2.01547493e+02] [ 9.36641819e-01 -3.49878445e-01 -1.69462978e-02 2.28989406e+02] [ 1.79589346e-02 -3.50048773e-04 9.99838664e-01 1.00507411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:229.01, Z:10.05 [[-3.47743531e-01 -9.37570063e-01 6.06749371e-03 2.01533654e+02] [ 9.37411539e-01 -3.47796324e-01 -1.72430833e-02 2.29013574e+02] [ 1.82768507e-02 -3.08432053e-04 9.99832917e-01 1.00526296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:229.04, Z:10.05 [[-3.47041611e-01 -9.37830086e-01 6.07043152e-03 2.01527404e+02] [ 9.37671787e-01 -3.47094579e-01 -1.72329262e-02 2.29038120e+02] [ 1.82685706e-02 -2.88470114e-04 9.99833074e-01 1.00514960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.52, Y:229.06, Z:10.05 [[-3.46224497e-01 -9.38132703e-01 5.96907184e-03 2.01515489e+02] [ 9.37980030e-01 -3.46275850e-01 -1.69262993e-02 2.29061565e+02] [ 1.79460603e-02 -2.61429283e-04 9.99838922e-01 1.00540971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:229.09, Z:10.06 [[-3.45528409e-01 -9.38389543e-01 5.93170475e-03 2.01505523e+02] [ 9.38239189e-01 -3.45579238e-01 -1.67992470e-02 2.29086160e+02] [ 1.78141117e-02 -2.39259231e-04 9.99841288e-01 1.00551827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.49, Y:229.11, Z:10.06 [[-3.43508458e-01 -9.39131759e-01 5.78614513e-03 2.01494849e+02] [ 9.38989161e-01 -3.43557134e-01 -1.63661841e-02 2.29109154e+02] [ 1.73578747e-02 -1.88795102e-04 9.99849323e-01 1.00560556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.48, Y:229.13, Z:10.06 [[-3.42585417e-01 -9.39469830e-01 5.62763202e-03 2.01483448e+02] [ 9.39335328e-01 -3.42631599e-01 -1.58974487e-02 2.29133169e+02] [ 1.68633780e-02 -1.60000531e-04 9.99857790e-01 1.00572848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.47, Y:229.16, Z:10.06 [[-3.40607451e-01 -9.40190309e-01 5.36157521e-03 2.01472876e+02] [ 9.40068616e-01 -3.40649629e-01 -1.51270814e-02 2.29156910e+02] [ 1.60487540e-02 -1.12148051e-04 9.99871204e-01 1.00581213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:229.18, Z:10.06 [[-3.39954508e-01 -9.40426597e-01 5.36177631e-03 2.01462838e+02] [ 9.40305228e-01 -3.39996776e-01 -1.51086185e-02 2.29181688e+02] [ 1.60315334e-02 -9.45366909e-05 9.99871482e-01 1.00583132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.45, Y:229.21, Z:10.06 [[-3.39447772e-01 -9.40609406e-01 5.39959716e-03 2.01453758e+02] [ 9.40486655e-01 -3.39490706e-01 -1.51958270e-02 2.29205601e+02] [ 1.61264508e-02 -7.99405417e-05 9.99869957e-01 1.00580207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:229.23, Z:10.06 [[-3.38359184e-01 -9.40998575e-01 5.89450307e-03 2.01444613e+02] [ 9.40852740e-01 -3.38410519e-01 -1.65662791e-02 2.29230217e+02] [ 1.75836069e-02 -5.94933252e-05 9.99845395e-01 1.00579910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:229.25, Z:10.06 [[-3.38815666e-01 -9.40833141e-01 6.07828055e-03 2.01436385e+02] [ 9.40678451e-01 -3.38870177e-01 -1.70603397e-02 2.29254182e+02] [ 1.81106810e-02 -6.26028111e-05 9.99835986e-01 1.00566805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:229.28, Z:10.06 [[-3.39220744e-01 -9.40685541e-01 6.32464474e-03 2.01427775e+02] [ 9.40518465e-01 -3.39279692e-01 -1.77287004e-02 2.29279065e+02] [ 1.88229556e-02 -6.54977666e-05 9.99822830e-01 1.00565790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.42, Y:229.30, Z:10.06 [[-3.40351873e-01 -9.40275770e-01 6.48688464e-03 2.01421413e+02] [ 9.40100377e-01 -3.40413675e-01 -1.81607257e-02 2.29304539e+02] [ 1.92843146e-02 -8.27143117e-05 9.99814037e-01 1.00570639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:229.33, Z:10.06 [[-3.41653951e-01 -9.39804442e-01 6.33946680e-03 2.01414830e+02] [ 9.39637267e-01 -3.41712747e-01 -1.77258388e-02 2.29328992e+02] [ 1.88250987e-02 -9.93036162e-05 9.99822787e-01 1.00577616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:229.36, Z:10.06 [[-3.44316531e-01 -9.38833672e-01 6.12063566e-03 2.01410961e+02] [ 9.38678077e-01 -3.44370900e-01 -1.70924429e-02 2.29355136e+02] [ 1.81547298e-02 -1.39904153e-04 9.99835180e-01 1.00587885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:229.38, Z:10.06 [[-3.46147972e-01 -9.38160265e-01 6.07444595e-03 2.01404253e+02] [ 9.38007283e-01 -3.46201227e-01 -1.69424876e-02 2.29381116e+02] [ 1.79977493e-02 -1.66733185e-04 9.99838014e-01 1.00590888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:229.41, Z:10.06 [[-3.47902283e-01 -9.37510497e-01 6.17011997e-03 2.01397850e+02] [ 9.37352937e-01 -3.47956938e-01 -1.71884113e-02 2.29407309e+02] [ 1.82612521e-02 -1.96307459e-04 9.99833230e-01 1.00592550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.40, Y:229.43, Z:10.06 [[-3.51359764e-01 -9.36219864e-01 6.21956692e-03 2.01395076e+02] [ 9.36059893e-01 -3.51414711e-01 -1.73083367e-02 2.29434388e+02] [ 1.83900560e-02 -2.59565958e-04 9.99830855e-01 1.00593589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.39, Y:229.46, Z:10.06 [[-3.53152601e-01 -9.35545226e-01 6.19443327e-03 2.01388362e+02] [ 9.35386738e-01 -3.53206806e-01 -1.72221570e-02 2.29461354e+02] [ 1.83000227e-02 -2.87858790e-04 9.99832499e-01 1.00598300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.38, Y:229.49, Z:10.06 [[-3.55740380e-01 -9.34564513e-01 6.16065423e-03 2.01384616e+02] [ 9.34407954e-01 -3.55793568e-01 -1.71088301e-02 2.29486803e+02] [ 1.81812266e-02 -3.29737399e-04 9.99834653e-01 1.00601269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.38, Y:229.51, Z:10.06 [[-3.56721939e-01 -9.34190626e-01 6.11008749e-03 2.01378202e+02] [ 9.34036942e-01 -3.56774102e-01 -1.69478701e-02 2.29511179e+02] [ 1.80124624e-02 -3.38629641e-04 9.99837705e-01 1.00605503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:229.54, Z:10.06 [[-3.57065004e-01 -9.34059512e-01 6.11647684e-03 2.01369146e+02] [ 9.33905849e-01 -3.57117227e-01 -1.69455645e-02 2.29535481e+02] [ 1.80124650e-02 -3.38454578e-04 9.99837705e-01 1.00607919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:229.56, Z:10.06 [[-3.57898680e-01 -9.33740892e-01 6.04001672e-03 2.01362443e+02] [ 9.33591356e-01 -3.57949478e-01 -1.67137955e-02 2.29560265e+02] [ 1.77683751e-02 -3.42937928e-04 9.99842071e-01 1.00616724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:229.59, Z:10.06 [[-3.57758226e-01 -9.33794530e-01 6.06854062e-03 2.01355774e+02] [ 9.33643963e-01 -3.57809535e-01 -1.67716367e-02 2.29585024e+02] [ 1.78326443e-02 -3.34334683e-04 9.99840930e-01 1.00620074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.35, Y:229.61, Z:10.06 [[-3.57660441e-01 -9.33831758e-01 6.10392627e-03 2.01348329e+02] [ 9.33679786e-01 -3.57712373e-01 -1.68498119e-02 2.29608063e+02] [ 1.79183395e-02 -3.27398591e-04 9.99839400e-01 1.00619264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.34, Y:229.63, Z:10.06 [[-3.56935905e-01 -9.34107617e-01 6.30227339e-03 2.01341689e+02] [ 9.33946032e-01 -3.56991399e-01 -1.73767128e-02 2.29631618e+02] [ 1.84815772e-02 -3.16389475e-04 9.99829151e-01 1.00620125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:229.66, Z:10.06 [[-3.56759055e-01 -9.34174849e-01 6.35041852e-03 2.01330499e+02] [ 9.34011207e-01 -3.56815438e-01 -1.74873983e-02 2.29655793e+02] [ 1.86022150e-02 -3.07425634e-04 9.99826917e-01 1.00638546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:229.68, Z:10.06 [[-3.56914992e-01 -9.34115420e-01 6.33010540e-03 2.01325963e+02] [ 9.33953218e-01 -3.56970994e-01 -1.74096469e-02 2.29681484e+02] [ 1.85222837e-02 -3.01741684e-04 9.99828402e-01 1.00625147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:229.71, Z:10.06 [[-3.57481366e-01 -9.33897732e-01 6.48844857e-03 2.01321577e+02] [ 9.33727710e-01 -3.57540108e-01 -1.78223264e-02 2.29705814e+02] [ 1.89641108e-02 -3.12705358e-04 9.99820116e-01 1.00630067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:229.73, Z:10.07 [[-3.58387644e-01 -9.33551018e-01 6.38696081e-03 2.01311481e+02] [ 9.33386629e-01 -3.58444411e-01 -1.75215567e-02 2.29729730e+02] [ 1.86466375e-02 -3.18005602e-04 9.99826086e-01 1.00657140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.31, Y:229.76, Z:10.06 [[-3.59804360e-01 -9.33008500e-01 5.99681652e-03 2.01311088e+02] [ 9.32863821e-01 -3.59854190e-01 -1.64332842e-02 2.29756790e+02] [ 1.74903734e-02 -3.18554133e-04 9.99846981e-01 1.00649793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.30, Y:229.78, Z:10.07 [[-3.60443600e-01 -9.32762449e-01 5.88438552e-03 2.01299665e+02] [ 9.32623408e-01 -3.60491489e-01 -1.61079024e-02 2.29780800e+02] [ 1.71461173e-02 -3.18074634e-04 9.99852944e-01 1.00678199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:229.81, Z:10.07 [[-3.60967746e-01 -9.32560423e-01 5.77446490e-03 2.01293737e+02] [ 9.32426795e-01 -3.61013793e-01 -1.57896943e-02 2.29805467e+02] [ 1.68095054e-02 -3.15304545e-04 9.99858661e-01 1.00684693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:229.83, Z:10.07 [[-3.61505211e-01 -9.32354241e-01 5.43611366e-03 2.01289154e+02] [ 9.32236037e-01 -3.61545957e-01 -1.48490129e-02 2.29830691e+02] [ 1.58099451e-02 -3.00254480e-04 9.99874970e-01 1.00701034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:229.86, Z:10.07 [[-3.61825445e-01 -9.32230675e-01 5.32130428e-03 2.01283848e+02] [ 9.32117669e-01 -3.61864454e-01 -1.45178754e-02 2.29856367e+02] [ 1.54595997e-02 -2.92855007e-04 9.99880450e-01 1.00702239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.27, Y:229.88, Z:10.07 [[-3.61381336e-01 -9.32403455e-01 5.22746445e-03 2.01273847e+02] [ 9.32294677e-01 -3.61419038e-01 -1.42448019e-02 2.29880687e+02] [ 1.51712076e-02 -2.74268255e-04 9.99884873e-01 1.00726903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.27, Y:229.91, Z:10.07 [[-3.61150892e-01 -9.32493047e-01 5.17206393e-03 2.01265877e+02] [ 9.32386825e-01 -3.61187830e-01 -1.40769041e-02 2.29905794e+02] [ 1.49947018e-02 -2.61522219e-04 9.99887539e-01 1.00728397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:229.93, Z:10.07 [[-3.60905968e-01 -9.32587999e-01 5.14843229e-03 2.01258744e+02] [ 9.32483010e-01 -3.60942601e-01 -1.39955244e-02 2.29929846e+02] [ 1.49103467e-02 -2.50242647e-04 9.99888803e-01 1.00726853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:229.95, Z:10.07 [[-3.59806869e-01 -9.33012614e-01 5.14575291e-03 2.01249235e+02] [ 9.32908035e-01 -3.59843592e-01 -1.39709506e-02 2.29954791e+02] [ 1.48867393e-02 -2.26329753e-04 9.99889161e-01 1.00730951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:229.98, Z:10.07 [[-3.59194001e-01 -9.33248088e-01 5.26071431e-03 2.01241647e+02] [ 9.33139055e-01 -3.59232458e-01 -1.42669056e-02 2.29978783e+02] [ 1.52043817e-02 -2.15608911e-04 9.99884383e-01 1.00729389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.24, Y:230.00, Z:10.07 [[-3.58077284e-01 -9.33676810e-01 5.31733292e-03 2.01235218e+02] [ 9.33565701e-01 -3.58116710e-01 -1.44049849e-02 2.30003563e+02] [ 1.53538261e-02 -1.94018240e-04 9.99882104e-01 1.00727835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:230.03, Z:10.07 [[-3.57743381e-01 -9.33803251e-01 5.58228272e-03 2.01227692e+02] [ 9.33681122e-01 -3.57786881e-01 -1.51033464e-02 2.30027285e+02] [ 1.61008215e-02 -1.91050201e-04 9.99870355e-01 1.00726635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.22, Y:230.05, Z:10.07 [[-3.57920346e-01 -9.33734616e-01 5.71776226e-03 2.01219534e+02] [ 9.33606801e-01 -3.57965962e-01 -1.54503039e-02 2.30051956e+02] [ 1.64732479e-02 -1.91836397e-04 9.99864288e-01 1.00727953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.21, Y:230.08, Z:10.07 [[-3.58370546e-01 -9.33560841e-01 5.89134005e-03 2.01211082e+02] [ 9.33425456e-01 -3.58418912e-01 -1.58997489e-02 2.30076984e+02] [ 1.69549506e-02 -1.98874930e-04 9.99856235e-01 1.00739281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.21, Y:230.10, Z:10.07 [[-3.59280713e-01 -9.33209628e-01 6.09583150e-03 2.01205370e+02] [ 9.33064989e-01 -3.59332358e-01 -1.64311459e-02 2.30101785e+02] [ 1.75241331e-02 -2.15586849e-04 9.99846417e-01 1.00724222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:230.13, Z:10.07 [[-3.61394911e-01 -9.32392089e-01 6.22185686e-03 2.01198287e+02] [ 9.32241641e-01 -3.61448376e-01 -1.67509318e-02 2.30127813e+02] [ 1.78673163e-02 -2.53427436e-04 9.99840335e-01 1.00743285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.19, Y:230.15, Z:10.07 [[-3.62854904e-01 -9.31824735e-01 6.24352057e-03 2.01192850e+02] [ 9.31673491e-01 -3.62908510e-01 -1.67904778e-02 2.30153659e+02] [ 1.79116092e-02 -2.75584587e-04 9.99839536e-01 1.00741052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.19, Y:230.18, Z:10.08 [[-3.65300184e-01 -9.30868605e-01 6.27816650e-03 2.01186221e+02] [ 9.30715876e-01 -3.65353991e-01 -1.68647467e-02 2.30180427e+02] [ 1.79926164e-02 -3.17505847e-04 9.99838069e-01 1.00752499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.18, Y:230.21, Z:10.07 [[-3.66592488e-01 -9.30359748e-01 6.37864823e-03 2.01179949e+02] [ 9.30202364e-01 -3.66647819e-01 -1.71154315e-02 2.30205720e+02] [ 1.82622260e-02 -3.40954972e-04 9.99833174e-01 1.00749825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.17, Y:230.23, Z:10.08 [[-3.67854675e-01 -9.29860987e-01 6.44075115e-03 2.01171311e+02] [ 9.29700821e-01 -3.67910878e-01 -1.72617718e-02 2.30230830e+02] [ 1.84206706e-02 -3.61851819e-04 9.99830260e-01 1.00755607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.16, Y:230.26, Z:10.08 [[-3.68888464e-01 -9.29451280e-01 6.45127494e-03 2.01163419e+02] [ 9.29290911e-01 -3.68944680e-01 -1.72692284e-02 2.30256401e+02] [ 1.84310700e-02 -3.75307985e-04 9.99830063e-01 1.00758215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.15, Y:230.28, Z:10.08 [[-3.67935483e-01 -9.29831183e-01 6.11982300e-03 2.01153045e+02] [ 9.29687246e-01 -3.67986225e-01 -1.63634350e-02 2.30280143e+02] [ 1.74672427e-02 -3.31166947e-04 9.99847381e-01 1.00767980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:230.30, Z:10.08 [[-3.67627241e-01 -9.29953730e-01 6.02266554e-03 2.01144142e+02] [ 9.29814666e-01 -3.67676438e-01 -1.60849202e-02 2.30303593e+02] [ 1.71726237e-02 -3.13292083e-04 9.99852491e-01 1.00769842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:230.33, Z:10.08 [[-3.66712862e-01 -9.30315869e-01 5.83621287e-03 2.01133359e+02] [ 9.30185634e-01 -3.66759194e-01 -1.55685498e-02 2.30328219e+02] [ 1.66241537e-02 -2.80426095e-04 9.99861770e-01 1.00785426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.12, Y:230.35, Z:10.08 [[-3.67183471e-01 -9.30129685e-01 5.92183873e-03 2.01124541e+02] [ 9.29995890e-01 -3.67231109e-01 -1.57784070e-02 2.30352655e+02] [ 1.68506481e-02 -2.86284548e-04 9.99857977e-01 1.00788389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.12, Y:230.38, Z:10.08 [[-3.67939280e-01 -9.29830676e-01 5.96658060e-03 2.01116920e+02] [ 9.29695132e-01 -3.67987536e-01 -1.58787435e-02 2.30376921e+02] [ 1.69601701e-02 -2.95312520e-04 9.99856122e-01 1.00781847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:230.40, Z:10.08 [[-3.69503192e-01 -9.29211760e-01 5.73553652e-03 2.01109555e+02] [ 9.29086697e-01 -3.69547578e-01 -1.52478920e-02 2.30401113e+02] [ 1.62880742e-02 -3.05334111e-04 9.99867294e-01 1.00779620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.10, Y:230.43, Z:10.08 [[-3.70501955e-01 -9.28814303e-01 5.68261418e-03 2.01100437e+02] [ 9.28691739e-01 -3.70545398e-01 -1.50917973e-02 2.30425129e+02] [ 1.61231437e-02 -3.14143548e-04 9.99869964e-01 1.00780804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.09, Y:230.45, Z:10.08 [[-3.72091238e-01 -9.28179535e-01 5.55525866e-03 2.01090787e+02] [ 9.28062598e-01 -3.72132561e-01 -1.47367127e-02 2.30450241e+02] [ 1.57456078e-02 -3.27773884e-04 9.99875977e-01 1.00779954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:230.47, Z:10.08 [[-3.73086215e-01 -9.27781171e-01 5.36431760e-03 2.01079422e+02] [ 9.27672328e-01 -3.73124634e-01 -1.42147364e-02 2.30474236e+02] [ 1.51897238e-02 -3.26993200e-04 9.99884576e-01 1.00789985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.07, Y:230.50, Z:10.08 [[-3.73553159e-01 -9.27594313e-01 5.17966190e-03 2.01069978e+02] [ 9.27493041e-01 -3.73588933e-01 -1.37101217e-02 2.30498932e+02] [ 1.46524953e-02 -3.17358894e-04 9.99892596e-01 1.00797609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:230.52, Z:10.08 [[-3.73899270e-01 -9.27458147e-01 4.55212133e-03 2.01058899e+02] [ 9.27380082e-01 -3.73926876e-01 -1.20364282e-02 2.30522681e+02] [ 1.28654439e-02 -2.78865078e-04 9.99917198e-01 1.00825299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:230.55, Z:10.08 [[-3.74015443e-01 -9.27412157e-01 4.37486810e-03 2.01048603e+02] [ 9.27340216e-01 -3.74040935e-01 -1.15543523e-02 2.30547193e+02] [ 1.23520265e-02 -2.64515061e-04 9.99923676e-01 1.00833225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.04, Y:230.57, Z:10.08 [[-3.72760277e-01 -9.27918100e-01 4.21614030e-03 2.01036931e+02] [ 9.27851469e-01 -3.72784047e-01 -1.11223722e-02 2.30571062e+02] [ 1.18923603e-02 -2.34026580e-04 9.99929256e-01 1.00835265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:230.59, Z:10.08 [[-3.71846168e-01 -9.28284768e-01 4.22100909e-03 2.01027508e+02] [ 9.28218158e-01 -3.71870060e-01 -1.11224382e-02 2.30594544e+02] [ 1.18944569e-02 -2.17818725e-04 9.99929235e-01 1.00834155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4127550960001 meters Centerline goodness [0,1] 0.9999778388440741 Centerline is valid? [True, True] Translation: X:201.01, Y:230.62, Z:10.08 [[-3.70827007e-01 -9.28692544e-01 4.18206876e-03 2.01014751e+02] [ 9.28627341e-01 -3.70850535e-01 -1.10064824e-02 2.30617746e+02] [ 1.17725606e-02 -1.97917528e-04 9.99930681e-01 1.00836072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:230.64, Z:10.08 [[-3.68615124e-01 -9.29573407e-01 4.02140507e-03 2.01002716e+02] [ 9.29513306e-01 -3.68637025e-01 -1.05715617e-02 2.30641668e+02] [ 1.13094814e-02 -1.58888000e-04 9.99936033e-01 1.00832011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.99, Y:230.67, Z:10.08 [[-3.67746892e-01 -9.29917024e-01 4.06841043e-03 2.00992294e+02] [ 9.29855670e-01 -3.67769367e-01 -1.06829452e-02 2.30665739e+02] [ 1.14304894e-02 -1.45585392e-04 9.99934659e-01 1.00831240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:230.69, Z:10.08 [[-3.66071717e-01 -9.30577374e-01 4.15310496e-03 2.00981883e+02] [ 9.30513634e-01 -3.66095254e-01 -1.08923162e-02 2.30689446e+02] [ 1.16565750e-02 -1.22848092e-04 9.99932052e-01 1.00829087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.97, Y:230.71, Z:10.08 [[-3.65915836e-01 -9.30638780e-01 4.13067439e-03 2.00971627e+02] [ 9.30575881e-01 -3.65939131e-01 -1.08204809e-02 2.30713634e+02] [ 1.15815346e-02 -1.15479366e-04 9.99932925e-01 1.00832687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.562755096 meters Centerline goodness [0,1] 0.9998445998445998 Centerline is valid? [True, True] Translation: X:200.96, Y:230.74, Z:10.08 [[-3.65673147e-01 -9.30734495e-01 4.05592467e-03 2.00961865e+02] [ 9.30673997e-01 -3.65695624e-01 -1.06123351e-02 2.30737771e+02] [ 1.13605003e-02 -1.05902361e-04 9.99935462e-01 1.00835825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.592755096 meters Centerline goodness [0,1] 0.9999778476806521 Centerline is valid? [True, True] Translation: X:200.95, Y:230.76, Z:10.08 [[-3.65953257e-01 -9.30625019e-01 3.90981326e-03 2.00952158e+02] [ 9.30568924e-01 -3.65974129e-01 -1.02183370e-02 2.30762647e+02] [ 1.09403306e-02 -1.01083000e-04 9.99940148e-01 1.00839131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:230.79, Z:10.08 [[-3.66492390e-01 -9.30413148e-01 3.83437590e-03 2.00944049e+02] [ 9.30359310e-01 -3.66512434e-01 -1.00095155e-02 2.30786504e+02] [ 1.07183312e-02 -1.01063924e-04 9.99942552e-01 1.00841627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.94, Y:230.81, Z:10.08 [[-3.67787209e-01 -9.29903344e-01 3.51267651e-03 2.00935423e+02] [ 9.29858239e-01 -3.67803969e-01 -9.15942164e-03 2.30811019e+02] [ 9.80935318e-03 -1.02426924e-04 9.99951882e-01 1.00848199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.93, Y:230.84, Z:10.09 [[-3.68787400e-01 -9.29507200e-01 3.49560945e-03 2.00926976e+02] [ 9.29462617e-01 -3.68803951e-01 -9.10435810e-03 2.30836295e+02] [ 9.75176098e-03 -1.08534245e-04 9.99952445e-01 1.00850144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.92, Y:230.86, Z:10.09 [[-3.71380298e-01 -9.28474284e-01 3.48963688e-03 2.00920981e+02] [ 9.28429910e-01 -3.71396670e-01 -9.07829641e-03 2.30861791e+02] [ 9.72500428e-03 -1.31617173e-04 9.99952702e-01 1.00853429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters Centerline goodness [0,1] 0.9999334043686734 Centerline is valid? [True, True] Translation: X:200.91, Y:230.89, Z:10.09 [[-3.72924858e-01 -9.27855213e-01 3.42845956e-03 2.00912294e+02] [ 9.27812447e-01 -3.72940590e-01 -8.90955947e-03 2.30886381e+02] [ 9.54539293e-03 -1.41628744e-04 9.99954432e-01 1.00855520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.90, Y:230.91, Z:10.09 [[-3.74432788e-01 -9.27247298e-01 3.54065699e-03 2.00904082e+02] [ 9.27201768e-01 -3.74449494e-01 -9.19012664e-03 2.30911634e+02] [ 9.84731731e-03 -1.58181317e-04 9.99951502e-01 1.00856859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.90, Y:230.94, Z:10.09 [[-3.77013877e-01 -9.26200506e-01 3.62761028e-03 2.00896350e+02] [ 9.26152769e-01 -3.77031283e-01 -9.40532875e-03 2.30937468e+02] [ 1.00789428e-02 -1.86218146e-04 9.99949189e-01 1.00852731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.89, Y:230.96, Z:10.09 [[-3.78215667e-01 -9.25710245e-01 3.66765177e-03 2.00888256e+02] [ 9.25661528e-01 -3.78233398e-01 -9.49905601e-03 2.30962294e+02] [ 1.01806019e-02 -1.97687665e-04 9.99948157e-01 1.00853020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.88, Y:230.99, Z:10.08 [[-3.80837429e-01 -9.24633448e-01 3.97998067e-03 2.00882605e+02] [ 9.24576156e-01 -3.80858149e-01 -1.02957682e-02 2.30987942e+02] [ 1.10356197e-02 -2.41218661e-04 9.99939077e-01 1.00848864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:231.01, Z:10.08 [[-3.82513193e-01 -9.23940718e-01 4.14811891e-03 2.00874040e+02] [ 9.23878550e-01 -3.82535590e-01 -1.07213505e-02 2.31013439e+02] [ 1.14926954e-02 -2.68699948e-04 9.99933921e-01 1.00845657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.87, Y:231.04, Z:10.08 [[-3.84276880e-01 -9.23207515e-01 4.37767150e-03 2.00865735e+02] [ 9.23138370e-01 -3.84301695e-01 -1.13029488e-02 2.31038935e+02] [ 1.21173138e-02 -3.02265357e-04 9.99926537e-01 1.00844868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:231.07, Z:10.09 [[-3.86602617e-01 -9.22236015e-01 4.37600502e-03 2.00856359e+02] [ 9.22166977e-01 -3.86627243e-01 -1.12890547e-02 2.31065880e+02] [ 1.21030556e-02 -3.28970783e-04 9.99926701e-01 1.00850433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.85, Y:231.09, Z:10.09 [[-3.86936209e-01 -9.22096084e-01 4.37974214e-03 2.00846484e+02] [ 9.22027053e-01 -3.86960855e-01 -1.12876048e-02 2.31090793e+02] [ 1.21030450e-02 -3.29342271e-04 9.99926701e-01 1.00852929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.84, Y:231.12, Z:10.09 [[-3.87735370e-01 -9.21761396e-01 4.14867581e-03 2.00837770e+02] [ 9.21699558e-01 -3.87757434e-01 -1.06816144e-02 2.31115655e+02] [ 1.14545796e-02 -3.17807021e-04 9.99934344e-01 1.00857292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:231.14, Z:10.09 [[-3.88917852e-01 -9.21263353e-01 4.09127763e-03 2.00827153e+02] [ 9.21203289e-01 -3.88939236e-01 -1.05248159e-02 2.31140505e+02] [ 1.12873855e-02 -3.24390373e-04 9.99936243e-01 1.00863109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.82, Y:231.17, Z:10.09 [[-3.89413311e-01 -9.21054391e-01 4.01036734e-03 2.00817298e+02] [ 9.20996786e-01 -3.89433830e-01 -1.03059793e-02 2.31165505e+02] [ 1.10541401e-02 -3.19750070e-04 9.99938850e-01 1.00872689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.81, Y:231.19, Z:10.09 [[-3.89645783e-01 -9.20956546e-01 3.89924148e-03 2.00807906e+02] [ 9.20902193e-01 -3.89665169e-01 -1.00103640e-02 2.31189527e+02] [ 1.07385088e-02 -3.09676079e-04 9.99942293e-01 1.00880423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.80, Y:231.21, Z:10.09 [[-3.89710418e-01 -9.20929740e-01 3.76893896e-03 2.00797912e+02] [ 9.20879040e-01 -3.89728530e-01 -9.66784682e-03 2.31214100e+02] [ 1.03722707e-02 -2.96923737e-04 9.99946163e-01 1.00890176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.79, Y:231.24, Z:10.09 [[-3.89474337e-01 -9.21029824e-01 3.71533324e-03 2.00787952e+02] [ 9.20980673e-01 -3.89491952e-01 -9.51936310e-03 2.31237327e+02] [ 1.02147097e-02 -2.85797518e-04 9.99947788e-01 1.00894398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.78, Y:231.26, Z:10.09 [[-3.88795505e-01 -9.21316958e-01 3.62193515e-03 2.00776087e+02] [ 9.21270368e-01 -3.88812284e-01 -9.26913766e-03 2.31261487e+02] [ 9.94806659e-03 -2.67017532e-04 9.99950481e-01 1.00900741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:231.28, Z:10.09 [[-3.86573422e-01 -9.22251718e-01 3.57199112e-03 2.00762283e+02] [ 9.22206544e-01 -3.86589852e-01 -9.13111396e-03 2.31284444e+02] [ 9.80208106e-03 -2.35732380e-04 9.99951931e-01 1.00903181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.75, Y:231.31, Z:10.09 [[-3.85542365e-01 -9.22683125e-01 3.59674912e-03 2.00750569e+02] [ 9.22637415e-01 -3.85559077e-01 -9.18693350e-03 2.31308544e+02] [ 9.86338778e-03 -2.23456751e-04 9.99951331e-01 1.00905177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.74, Y:231.33, Z:10.09 [[-3.83242760e-01 -9.23640781e-01 3.56306995e-03 2.00735929e+02] [ 9.23596052e-01 -3.83259274e-01 -9.09184169e-03 2.31332064e+02] [ 9.76317536e-03 -1.93545166e-04 9.99952320e-01 1.00908908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.72, Y:231.36, Z:10.09 [[-3.82738948e-01 -9.23850112e-01 3.44496189e-03 2.00723639e+02] [ 9.23808389e-01 -3.82754410e-01 -8.78189630e-03 2.31356166e+02] [ 9.43173024e-03 -1.78689053e-04 9.99955504e-01 1.00911286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:231.38, Z:10.09 [[-3.81976935e-01 -9.24165149e-01 3.52123791e-03 2.00712273e+02] [ 9.24121668e-01 -3.81993127e-01 -8.96632201e-03 2.31380314e+02] [ 9.63145099e-03 -1.70875954e-04 9.99953602e-01 1.00914615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.372755096 meters Centerline goodness [0,1] 0.9999778761061947 Centerline is valid? [True, True] Translation: X:200.70, Y:231.40, Z:10.09 [[-3.80843285e-01 -9.24632918e-01 3.51556663e-03 2.00700583e+02] [ 9.24589696e-01 -3.80859479e-01 -8.94154119e-03 2.31403282e+02] [ 9.60658019e-03 -1.54869242e-04 9.99953844e-01 1.00914694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.69, Y:231.43, Z:10.09 [[-3.80281115e-01 -9.24864194e-01 3.53512547e-03 2.00690623e+02] [ 9.24820604e-01 -3.80297518e-01 -8.98042714e-03 2.31426683e+02] [ 9.65007495e-03 -1.45729970e-04 9.99953426e-01 1.00917380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:231.45, Z:10.09 [[-3.79653834e-01 -9.25122966e-01 3.23476631e-03 2.00678420e+02] [ 9.25086557e-01 -3.79667594e-01 -8.20851955e-03 2.31450209e+02] [ 8.82202590e-03 -1.23957087e-04 9.99961078e-01 1.00930541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.67, Y:231.47, Z:10.09 [[-3.79659763e-01 -9.25121264e-01 3.01851356e-03 2.00668579e+02] [ 9.25089627e-01 -3.79671745e-01 -7.65165145e-03 2.31473232e+02] [ 8.22474978e-03 -1.12628588e-04 9.99966170e-01 1.00939134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.492755096 meters Centerline goodness [0,1] 0.9999780045750484 Centerline is valid? [True, True] Translation: X:200.66, Y:231.50, Z:10.09 [[-3.79581465e-01 -9.25153364e-01 3.02736124e-03 2.00659274e+02] [ 9.25121618e-01 -3.79593522e-01 -7.66484816e-03 2.31496630e+02] [ 8.24032677e-03 -1.08756966e-04 9.99966042e-01 1.00944581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters Centerline goodness [0,1] 0.9999779526864652 Centerline is valid? [True, True] Translation: X:200.65, Y:231.52, Z:10.09 [[-3.79710228e-01 -9.25100040e-01 3.17175917e-03 2.00648596e+02] [ 9.25065279e-01 -3.79723458e-01 -8.02025970e-03 2.31521369e+02] [ 8.62393393e-03 -1.11290351e-04 9.99962807e-01 1.00947462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.552755096 meters Centerline goodness [0,1] 0.9999558868939962 Centerline is valid? [True, True] Translation: X:200.64, Y:231.54, Z:10.09 [[-3.80168696e-01 -9.24911138e-01 3.33904304e-03 2.00639608e+02] [ 9.24872681e-01 -3.80183341e-01 -8.43513159e-03 2.31544781e+02] [ 9.07119569e-03 -1.18583295e-04 9.99958849e-01 1.00946516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.582755096 meters Centerline goodness [0,1] 0.9999557991513437 Centerline is valid? [True, True] Translation: X:200.63, Y:231.57, Z:10.09 [[-3.80968938e-01 -9.24581054e-01 3.54167576e-03 2.00630737e+02] [ 9.24537855e-01 -3.80985378e-01 -8.93851088e-03 2.31569721e+02] [ 9.61370449e-03 -1.30881689e-04 9.99953779e-01 1.00944463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.62, Y:231.60, Z:10.09 [[-3.82595304e-01 -9.23907536e-01 3.96215347e-03 2.00623911e+02] [ 9.23853565e-01 -3.82615786e-01 -9.98754706e-03 2.31595421e+02] [ 1.07435525e-02 -1.60738998e-04 9.99942273e-01 1.00944378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters Centerline goodness [0,1] 0.9999335621747315 Centerline is valid? [True, True] Translation: X:200.62, Y:231.62, Z:10.09 [[-3.83931509e-01 -9.23352393e-01 4.11774133e-03 2.00615402e+02] [ 9.23294201e-01 -3.83953548e-01 -1.03678378e-02 2.31620311e+02] [ 1.11541892e-02 -1.78652922e-04 9.99937774e-01 1.00947814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6727550960001 meters Centerline goodness [0,1] 0.9999556708114458 Centerline is valid? [True, True] Translation: X:200.61, Y:231.65, Z:10.09 [[-3.86578800e-01 -9.22245590e-01 4.46133919e-03 2.00607659e+02] [ 9.22177365e-01 -3.86604478e-01 -1.12198394e-02 2.31646539e+02] [ 1.20722212e-02 -2.23206055e-04 9.99927103e-01 1.00937538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.702755096 meters Centerline goodness [0,1] 0.9999333214793741 Centerline is valid? [True, True] Translation: X:200.60, Y:231.67, Z:10.09 [[-3.87813696e-01 -9.21725792e-01 4.70117763e-03 2.00599070e+02] [ 9.21650157e-01 -3.87842111e-01 -1.18103873e-02 2.31671967e+02] [ 1.27092532e-02 -2.47388844e-04 9.99919204e-01 1.00946927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.732755096 meters Centerline goodness [0,1] 0.9999555752998667 Centerline is valid? [True, True] Translation: X:200.59, Y:231.70, Z:10.09 [[-3.88966429e-01 -9.21239041e-01 4.87312996e-03 2.00590165e+02] [ 9.21157896e-01 -3.88996861e-01 -1.22299795e-02 2.31697193e+02] [ 1.31623668e-02 -2.68129308e-04 9.99913336e-01 1.00946973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:231.72, Z:10.10 [[-3.90375486e-01 -9.20642151e-01 5.00102880e-03 2.00582628e+02] [ 9.20556793e-01 -3.90407409e-01 -1.25397686e-02 2.31722006e+02] [ 1.34970782e-02 -2.91487231e-04 9.99908868e-01 1.00951295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:231.75, Z:10.10 [[-3.92352008e-01 -9.19799569e-01 5.35297942e-03 2.00576071e+02] [ 9.19701910e-01 -3.92388377e-01 -1.34073848e-02 2.31748007e+02] [ 1.44325537e-02 -3.37268956e-04 9.99895788e-01 1.00950059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:231.77, Z:10.10 [[-3.93419932e-01 -9.19342580e-01 5.47518642e-03 2.00564641e+02] [ 9.19240581e-01 -3.93457868e-01 -1.36988938e-02 2.31772948e+02] [ 1.47482315e-02 -3.56404317e-04 9.99891175e-01 1.00958546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:231.80, Z:10.10 [[-3.94685132e-01 -9.18799569e-01 5.56763256e-03 2.00556651e+02] [ 9.18694267e-01 -3.94724220e-01 -1.39152401e-02 2.31798111e+02] [ 1.49829960e-02 -3.77186252e-04 9.99887678e-01 1.00962147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.55, Y:231.82, Z:10.10 [[-3.95343329e-01 -9.18515562e-01 5.72847434e-03 2.00549166e+02] [ 9.18404311e-01 -3.95384635e-01 -1.43007880e-02 2.31822705e+02] [ 1.54004471e-02 -3.92665611e-04 9.99881329e-01 1.00956135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:231.85, Z:10.10 [[-3.96392924e-01 -9.18060568e-01 6.11906383e-03 2.00540219e+02] [ 9.17933837e-01 -3.96439915e-01 -1.52598842e-02 2.31847614e+02] [ 1.64353391e-02 -4.32014359e-04 9.99864837e-01 1.00953229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.53, Y:231.87, Z:10.10 [[-3.96425872e-01 -9.18045067e-01 6.30743274e-03 2.00530489e+02] [ 9.17910650e-01 -3.96475803e-01 -1.57154615e-02 2.31871997e+02] [ 1.69282464e-02 -4.40355843e-04 9.99856610e-01 1.00957352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.52, Y:231.90, Z:10.10 [[-3.96873402e-01 -9.17850711e-01 6.44785010e-03 2.00519486e+02] [ 9.17710519e-01 -3.96925519e-01 -1.60479157e-02 2.31895796e+02] [ 1.72889071e-02 -4.51731033e-04 9.99850434e-01 1.00969528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:231.92, Z:10.10 [[-3.97091718e-01 -9.17756095e-01 6.47442401e-03 2.00507592e+02] [ 9.17615041e-01 -3.97144240e-01 -1.60962323e-02 2.31919792e+02] [ 1.73436955e-02 -4.50651657e-04 9.99849485e-01 1.00982449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.50, Y:231.94, Z:10.10 [[-3.97047729e-01 -9.17774753e-01 6.52718553e-03 2.00496591e+02] [ 9.17631714e-01 -3.97101126e-01 -1.62090429e-02 2.31943876e+02] [ 1.74682031e-02 -4.46211232e-04 9.99847320e-01 1.00988293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:231.97, Z:10.10 [[-3.96023149e-01 -9.18217067e-01 6.56378274e-03 2.00483341e+02] [ 9.18072790e-01 -3.96077315e-01 -1.62822552e-02 2.31968242e+02] [ 1.75504101e-02 -4.22119654e-04 9.99845891e-01 1.01003274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.47, Y:231.99, Z:10.10 [[-3.94975622e-01 -9.18669076e-01 6.43327160e-03 2.00472160e+02] [ 9.18530802e-01 -3.95027820e-01 -1.59432304e-02 2.31991224e+02] [ 1.71878740e-02 -3.88029214e-04 9.99852202e-01 1.01007416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:232.02, Z:10.10 [[-3.92922834e-01 -9.19552721e-01 5.86860776e-03 2.00456511e+02] [ 9.19437952e-01 -3.92966532e-01 -1.45312500e-02 2.32015124e+02] [ 1.56684170e-02 -3.13839250e-04 9.99877194e-01 1.01032241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.45, Y:232.04, Z:10.10 [[-3.91543045e-01 -9.20140611e-01 5.94145381e-03 2.00445251e+02] [ 9.20023271e-01 -3.91588016e-01 -1.46971923e-02 2.32039455e+02] [ 1.58500856e-02 -2.88307670e-04 9.99874338e-01 1.01036869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.43, Y:232.06, Z:10.10 [[-3.90507725e-01 -9.20581615e-01 5.76259530e-03 2.00434683e+02] [ 9.20471511e-01 -3.90550156e-01 -1.42398576e-02 2.32063168e+02] [ 1.53595336e-02 -2.56469577e-04 9.99882003e-01 1.01039640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:232.09, Z:10.10 [[-3.88032400e-01 -9.21627815e-01 5.74688573e-03 2.00418347e+02] [ 9.21518657e-01 -3.88074899e-01 -1.41858516e-02 2.32085644e+02] [ 1.53042975e-02 -2.08707622e-04 9.99882861e-01 1.01045325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:232.11, Z:10.10 [[-3.87186331e-01 -9.21982998e-01 5.83927979e-03 2.00407190e+02] [ 9.21870585e-01 -3.87230313e-01 -1.43982252e-02 2.32108692e+02] [ 1.55360650e-02 -1.91735717e-04 9.99879290e-01 1.01044216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.40, Y:232.13, Z:10.11 [[-3.86764120e-01 -9.22160506e-01 5.78929204e-03 2.00395018e+02] [ 9.22050275e-01 -3.86807406e-01 -1.42590845e-02 2.32133070e+02] [ 1.53885056e-02 -1.76883952e-04 9.99881574e-01 1.01051249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:232.16, Z:10.11 [[-3.85841883e-01 -9.22545810e-01 5.93881651e-03 2.00382447e+02] [ 9.22430098e-01 -3.85887552e-01 -1.46120509e-02 2.32157235e+02] [ 1.57720017e-02 -1.59798129e-04 9.99875602e-01 1.01052569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.37, Y:232.18, Z:10.11 [[-3.86208025e-01 -9.22392422e-01 5.96505121e-03 2.00371506e+02] [ 9.22275911e-01 -3.86254055e-01 -1.46611530e-02 2.32181235e+02] [ 1.58273617e-02 -1.60831920e-04 9.99874727e-01 1.01050698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.36, Y:232.20, Z:10.10 [[-3.87003686e-01 -9.22057437e-01 6.18305695e-03 2.00361035e+02] [ 9.21932496e-01 -3.87053036e-01 -1.51796036e-02 2.32204526e+02] [ 1.63896373e-02 -1.74201398e-04 9.99865666e-01 1.01039906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.35, Y:232.23, Z:10.10 [[-3.88069533e-01 -9.21608775e-01 6.26919226e-03 2.00348942e+02] [ 9.21480557e-01 -3.88120123e-01 -1.53738010e-02 2.32229151e+02] [ 1.66018296e-02 -1.89165005e-04 9.99862162e-01 1.01049057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.34, Y:232.25, Z:10.10 [[-3.89067715e-01 -9.21186618e-01 6.44423272e-03 2.00338523e+02] [ 9.21051362e-01 -3.89121025e-01 -1.57866103e-02 2.32254371e+02] [ 1.70500006e-02 -2.06591069e-04 9.99854617e-01 1.01049414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:232.28, Z:10.10 [[-3.91221905e-01 -9.20273566e-01 6.47951852e-03 2.00329590e+02] [ 9.20136948e-01 -3.91275485e-01 -1.58585059e-02 2.32279208e+02] [ 1.71294405e-02 -2.42150499e-04 9.99853251e-01 1.01043150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.32, Y:232.30, Z:10.11 [[-3.92987553e-01 -9.19521261e-01 6.43691193e-03 2.00319241e+02] [ 9.19386570e-01 -3.93040174e-01 -1.57402969e-02 2.32304167e+02] [ 1.70035027e-02 -2.67730387e-04 9.99855394e-01 1.01052563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.31, Y:232.33, Z:10.11 [[-3.96483050e-01 -9.18019795e-01 6.39119595e-03 2.00311295e+02] [ 9.17887084e-01 -3.96534427e-01 -1.56124499e-02 2.32328992e+02] [ 1.68668672e-02 -3.23675530e-04 9.99857692e-01 1.01055227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:232.35, Z:10.11 [[-3.98546713e-01 -9.17125436e-01 6.43837014e-03 2.00303022e+02] [ 9.16990923e-01 -3.98598554e-01 -1.57111550e-02 2.32353604e+02] [ 1.69754249e-02 -3.57702190e-04 9.99855843e-01 1.01052952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.29, Y:232.38, Z:10.11 [[-4.00823386e-01 -9.16132575e-01 6.45901728e-03 2.00292067e+02] [ 9.15997341e-01 -4.00875229e-01 -1.57455192e-02 2.32378975e+02] [ 1.70142431e-02 -3.94729654e-04 9.99855169e-01 1.01055717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:232.40, Z:10.11 [[-4.02845239e-01 -9.15245575e-01 6.42276944e-03 2.00282006e+02] [ 9.15112004e-01 -4.02896214e-01 -1.56416334e-02 2.32403981e+02] [ 1.69036452e-02 -4.23604111e-04 9.99857033e-01 1.01054873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.27, Y:232.43, Z:10.11 [[-4.06123629e-01 -9.13796132e-01 6.34251610e-03 2.00272964e+02] [ 9.13665933e-01 -4.06172877e-01 -1.54323519e-02 2.32429159e+02] [ 1.66781815e-02 -4.72501853e-04 9.99860798e-01 1.01055945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:232.45, Z:10.11 [[-4.07832942e-01 -9.13035333e-01 6.22677183e-03 2.00262230e+02] [ 9.12909971e-01 -4.07880181e-01 -1.51374851e-02 2.32454278e+02] [ 1.63608356e-02 -4.89082997e-04 9.99866033e-01 1.01058297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.25, Y:232.48, Z:10.11 [[-4.10744775e-01 -9.11730663e-01 5.99399893e-03 2.00251692e+02] [ 9.11614579e-01 -4.10788185e-01 -1.45577344e-02 2.32480607e+02] [ 1.57349967e-02 -5.15296522e-04 9.99876065e-01 1.01062210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:232.50, Z:10.11 [[-4.12312824e-01 -9.11022297e-01 6.04232722e-03 2.00243128e+02] [ 9.10904479e-01 -4.12356741e-01 -1.46611228e-02 2.32504962e+02] [ 1.58482041e-02 -5.40986010e-04 9.99874263e-01 1.01061565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.23, Y:232.53, Z:10.11 [[-4.13573778e-01 -9.10449733e-01 6.16557005e-03 2.00232163e+02] [ 9.10327241e-01 -4.13619344e-01 -1.49449812e-02 2.32529750e+02] [ 1.61568531e-02 -5.68165952e-04 9.99869308e-01 1.01054350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.22, Y:232.55, Z:10.10 [[-4.13884224e-01 -9.10308284e-01 6.21912309e-03 2.00220638e+02] [ 9.10183887e-01 -4.13930550e-01 -1.50596164e-02 2.32554779e+02] [ 1.62831786e-02 -5.72392024e-04 9.99867256e-01 1.01047796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:232.58, Z:10.10 [[-4.13540553e-01 -9.10464263e-01 6.24787668e-03 2.00211605e+02] [ 9.10338966e-01 -4.13587365e-01 -1.51148404e-02 2.32578475e+02] [ 1.63455649e-02 -5.62913878e-04 9.99866244e-01 1.01033549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.20, Y:232.60, Z:10.10 [[-4.13136813e-01 -9.10648347e-01 6.12880486e-03 2.00198339e+02] [ 9.10528027e-01 -4.13181919e-01 -1.48126366e-02 2.32601433e+02] [ 1.60214144e-02 -5.39196902e-04 9.99871504e-01 1.01036720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:232.63, Z:10.10 [[-4.13484217e-01 -9.10490621e-01 6.13445527e-03 2.00188170e+02] [ 9.10370318e-01 -4.13529369e-01 -1.48102967e-02 2.32625327e+02] [ 1.60214137e-02 -5.39197960e-04 9.99871504e-01 1.01039137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:232.65, Z:10.10 [[-4.12714277e-01 -9.10840245e-01 6.08055661e-03 2.00174809e+02] [ 9.10722328e-01 -4.12758747e-01 -1.46648720e-02 2.32648952e+02] [ 1.58671585e-02 -5.14703368e-04 9.99873976e-01 1.01044644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.16, Y:232.67, Z:10.11 [[-4.11062957e-01 -9.11586735e-01 6.07203115e-03 2.00161480e+02] [ 9.11469464e-01 -4.11107522e-01 -1.46295109e-02 2.32673295e+02] [ 1.58323258e-02 -4.79179048e-04 9.99874546e-01 1.01057196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:232.70, Z:10.11 [[-4.10250412e-01 -9.11952962e-01 6.03284754e-03 2.00152339e+02] [ 9.11837475e-01 -4.10294514e-01 -1.45200343e-02 2.32697712e+02] [ 1.57168325e-02 -4.55873602e-04 9.99876379e-01 1.01053366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:232.72, Z:10.11 [[-4.09551457e-01 -9.12267782e-01 5.92432012e-03 2.00138153e+02] [ 9.12156674e-01 -4.09594078e-01 -1.42440395e-02 2.32721014e+02] [ 1.54209448e-02 -4.29758990e-04 9.99880998e-01 1.01061823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.13, Y:232.75, Z:10.11 [[-4.07839984e-01 -9.13038285e-01 5.25714165e-03 2.00126893e+02] [ 9.12951020e-01 -4.07873715e-01 -1.26280774e-02 2.32745418e+02] [ 1.36741681e-02 -3.50722081e-04 9.99906443e-01 1.01066704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.11, Y:232.77, Z:10.11 [[-4.07278691e-01 -9.13290274e-01 4.99436804e-03 2.00113437e+02] [ 9.13211685e-01 -4.07309186e-01 -1.19852178e-02 2.32769821e+02] [ 1.29802349e-02 -3.20408577e-04 9.99915702e-01 1.01077752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.10, Y:232.79, Z:10.11 [[-4.05676070e-01 -9.14006138e-01 4.43926639e-03 2.00101952e+02] [ 9.13944203e-01 -4.05700275e-01 -1.06433666e-02 2.32794319e+02] [ 1.15291140e-02 -2.60517343e-04 9.99933504e-01 1.01088018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:232.82, Z:10.11 [[-4.05444855e-01 -9.14109355e-01 4.30774241e-03 2.00092170e+02] [ 9.14051158e-01 -4.05467664e-01 -1.03176667e-02 2.32817495e+02] [ 1.11781259e-02 -2.45747923e-04 9.99937493e-01 1.01093551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.08, Y:232.84, Z:10.11 [[-4.05123265e-01 -9.14252567e-01 4.16944257e-03 2.00081228e+02] [ 9.14198175e-01 -4.05144655e-01 -9.97523157e-03 2.32842042e+02] [ 1.08091084e-02 -2.29501591e-04 9.99941554e-01 1.01095694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.07, Y:232.87, Z:10.11 [[-4.04810412e-01 -9.14391837e-01 4.01231562e-03 2.00071697e+02] [ 9.14341581e-01 -4.04830240e-01 -9.58904321e-03 2.32865519e+02] [ 1.03924495e-02 -2.13117532e-04 9.99945974e-01 1.01093829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:232.89, Z:10.11 [[-4.04245453e-01 -9.14643621e-01 3.55819805e-03 2.00058471e+02] [ 9.14604187e-01 -4.04261073e-01 -8.49511614e-03 2.32888825e+02] [ 9.20844475e-03 -1.79769242e-04 9.99957585e-01 1.01093485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.05, Y:232.91, Z:10.11 [[-4.04046351e-01 -9.14732156e-01 3.41010269e-03 2.00047668e+02] [ 9.14696015e-01 -4.04060707e-01 -8.13300494e-03 2.32912605e+02] [ 8.81740965e-03 -1.66903627e-04 9.99961112e-01 1.01091991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:232.94, Z:10.11 [[-4.04160067e-01 -9.14682198e-01 3.33415842e-03 2.00037677e+02] [ 9.14647721e-01 -4.04173788e-01 -7.94333415e-03 2.32937618e+02] [ 8.61320578e-03 -1.60798065e-04 9.99962893e-01 1.01088109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.03, Y:232.96, Z:10.11 [[-4.04551010e-01 -9.14509323e-01 3.34353264e-03 2.00027450e+02] [ 9.14474721e-01 -4.04564794e-01 -7.95690332e-03 2.32962287e+02] [ 8.62933786e-03 -1.61397201e-04 9.99962754e-01 1.01084598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.02, Y:232.99, Z:10.11 [[-4.05101422e-01 -9.14266085e-01 3.21928202e-03 2.00017448e+02] [ 9.14234066e-01 -4.05114183e-01 -7.65316787e-03 2.32986244e+02] [ 8.30120863e-03 -1.57131894e-04 9.99965532e-01 1.01083619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.01, Y:233.01, Z:10.11 [[-4.06150211e-01 -9.13800707e-01 3.20534405e-03 2.00008237e+02] [ 9.13769018e-01 -4.06162826e-01 -7.61179357e-03 2.33009887e+02] [ 8.25755395e-03 -1.62587475e-04 9.99965893e-01 1.01070685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:233.03, Z:10.11 [[-4.07279829e-01 -9.13298179e-01 3.09485954e-03 1.99997665e+02] [ 9.13268687e-01 -4.07291555e-01 -7.34136604e-03 2.33034407e+02] [ 7.96536638e-03 -1.63551998e-04 9.99968263e-01 1.01069346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.99, Y:233.06, Z:10.11 [[-4.08907090e-01 -9.12572695e-01 2.46350826e-03 1.99989509e+02] [ 9.12554025e-01 -4.08914487e-01 -5.83905787e-03 2.33059823e+02] [ 6.33592899e-03 -1.39547782e-04 9.99979918e-01 1.01076812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.98, Y:233.08, Z:10.11 [[-4.09954251e-01 -9.12103450e-01 2.19273240e-03 1.99981862e+02] [ 9.12088681e-01 -4.09960095e-01 -5.19208639e-03 2.33084575e+02] [ 5.63465269e-03 -1.28551489e-04 9.99984117e-01 1.01085614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:233.11, Z:10.11 [[-4.10979439e-01 -9.11642427e-01 1.99671783e-03 1.99971050e+02] [ 9.11630186e-01 -4.10984272e-01 -4.72582439e-03 2.33109049e+02] [ 5.12888164e-03 -1.21948412e-04 9.99986840e-01 1.01087776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters Centerline goodness [0,1] 0.9999778985987712 Centerline is valid? [True, True] Translation: X:199.96, Y:233.14, Z:10.11 [[-4.12669983e-01 -9.10879256e-01 1.57064442e-03 1.99962001e+02] [ 9.10871687e-01 -4.12672959e-01 -3.71479214e-03 2.33135021e+02] [ 4.03188958e-03 -1.02327679e-04 9.99991867e-01 1.01086480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.95, Y:233.16, Z:10.11 [[-4.13457793e-01 -9.10521937e-01 1.56721394e-03 1.99954203e+02] [ 9.10514414e-01 -4.13460750e-01 -3.70256950e-03 2.33159712e+02] [ 4.01925220e-03 -1.03885326e-04 9.99991917e-01 1.01092321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.94, Y:233.18, Z:10.11 [[-4.14149574e-01 -9.10208196e-01 1.08162296e-03 1.99944153e+02] [ 9.10204609e-01 -4.14150979e-01 -2.55663705e-03 2.33184370e+02] [ 2.77502720e-03 -7.43319441e-05 9.99996147e-01 1.01093040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.93, Y:233.21, Z:10.11 [[-4.14349391e-01 -9.10117350e-01 9.95661827e-04 1.99934129e+02] [ 9.10114314e-01 -4.14350582e-01 -2.35167780e-03 2.33208715e+02] [ 2.55285582e-03 -6.82501830e-05 9.99996739e-01 1.01092445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:233.23, Z:10.11 [[-4.14313876e-01 -9.10133649e-01 8.67755071e-04 1.99923277e+02] [ 9.10131346e-01 -4.14314781e-01 -2.04822177e-03 2.33233369e+02] [ 2.22367930e-03 -5.88356092e-05 9.99997526e-01 1.01092059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.91, Y:233.26, Z:10.11 [[-4.12156852e-01 -9.11112644e-01 6.93274405e-04 1.99911542e+02] [ 9.11111174e-01 -4.12157432e-01 -1.63714747e-03 2.33256289e+02] [ 1.77736396e-03 -4.31114896e-05 9.99998420e-01 1.01090834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:233.28, Z:10.11 [[-4.11052683e-01 -9.11611337e-01 6.80330543e-04 1.99900617e+02] [ 9.11609925e-01 -4.11053244e-01 -1.60495065e-03 2.33278972e+02] [ 1.74274328e-03 -3.95231949e-05 9.99998481e-01 1.01091038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.89, Y:233.30, Z:10.11 [[-4.07825034e-01 -9.13059815e-01 7.17562629e-04 1.99887296e+02] [ 9.13058252e-01 -4.07825664e-01 -1.69005509e-03 2.33301817e+02] [ 1.83576184e-03 -3.40702958e-05 9.99998314e-01 1.01084730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.88, Y:233.32, Z:10.11 [[-4.06568796e-01 -9.13619897e-01 7.05537361e-04 1.99876310e+02] [ 9.13618388e-01 -4.06569407e-01 -1.66085177e-03 2.33324418e+02] [ 1.80423713e-03 -3.06585995e-05 9.99998372e-01 1.01082819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.86, Y:233.35, Z:10.11 [[-4.05352810e-01 -9.14160014e-01 7.53920249e-04 1.99864073e+02] [ 9.14158298e-01 -4.05353510e-01 -1.77177812e-03 2.33347468e+02] [ 1.92529293e-03 -2.89927869e-05 9.99998146e-01 1.01078489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.85, Y:233.37, Z:10.11 [[-4.04269882e-01 -9.14639399e-01 7.95176931e-04 1.99852879e+02] [ 9.14637495e-01 -4.04270663e-01 -1.86628200e-03 2.33371592e+02] [ 2.02844175e-03 -2.71829686e-05 9.99997942e-01 1.01077771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.84, Y:233.39, Z:10.11 [[-4.01827697e-01 -9.15714999e-01 7.37142463e-04 1.99841579e+02] [ 9.15713369e-01 -4.01828373e-01 -1.72747072e-03 2.33394779e+02] [ 1.87807560e-03 -1.91343723e-05 9.99998236e-01 1.01075136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.83, Y:233.42, Z:10.11 [[-4.00904870e-01 -9.16119186e-01 9.60500437e-04 1.99831887e+02] [ 9.16116427e-01 -4.00906020e-01 -2.24843688e-03 2.33418613e+02] [ 2.44490657e-03 -2.14790644e-05 9.99997011e-01 1.01069456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.892755096 meters Centerline goodness [0,1] 0.9999779429604958 Centerline is valid? [True, True] Translation: X:199.82, Y:233.44, Z:10.11 [[-4.00716897e-01 -9.16201554e-01 8.25121713e-04 1.99821093e+02] [ 9.16199519e-01 -4.00717746e-01 -1.93105405e-03 2.33442585e+02] [ 2.09987564e-03 -1.78298725e-05 9.99997795e-01 1.01062559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.81, Y:233.47, Z:10.11 [[-4.01294157e-01 -9.15948988e-01 6.72300107e-04 1.99813637e+02] [ 9.15947636e-01 -4.01294720e-01 -1.57374300e-03 2.33467531e+02] [ 1.71125879e-03 -1.57421754e-05 9.99998536e-01 1.01086629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.952755096 meters Centerline goodness [0,1] 0.9999779371207943 Centerline is valid? [True, True] Translation: X:199.80, Y:233.49, Z:10.11 [[-4.01894813e-01 -9.15685694e-01 5.19972751e-04 1.99802339e+02] [ 9.15684885e-01 -4.01895149e-01 -1.21687524e-03 2.33492866e+02] [ 1.32324977e-03 -1.29246587e-05 9.99999124e-01 1.01069713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.80, Y:233.52, Z:10.11 [[-4.03435166e-01 -9.15008164e-01 3.54926467e-04 1.99795333e+02] [ 9.15007785e-01 -4.03435322e-01 -8.32864955e-04 2.33518576e+02] [ 9.05268107e-04 -1.12465305e-05 9.99999590e-01 1.01078951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:233.54, Z:10.11 [[-4.04316168e-01 -9.14619227e-01 3.24588901e-04 1.99788279e+02] [ 9.14618911e-01 -4.04316298e-01 -7.60252777e-04 2.33542736e+02] [ 8.26578389e-04 -1.05073425e-05 9.99999658e-01 1.01092006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0427550960001 meters Centerline goodness [0,1] 0.9999340485402743 Centerline is valid? [True, True] Translation: X:199.78, Y:233.57, Z:10.11 [[-4.06426556e-01 -9.13683287e-01 5.53242907e-04 1.99779901e+02] [ 9.13682375e-01 -4.06426932e-01 -1.29104107e-03 2.33567988e+02] [ 1.40445547e-03 -1.92250823e-05 9.99999014e-01 1.01078464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.77, Y:233.59, Z:10.11 [[-4.07211947e-01 -9.13333529e-01 5.43972740e-04 1.99769606e+02] [ 9.13332649e-01 -4.07212310e-01 -1.26761928e-03 2.33593722e+02] [ 1.37927159e-03 -1.93616522e-05 9.99999049e-01 1.01072651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:233.62, Z:10.11 [[-4.08044806e-01 -9.12961677e-01 6.41590779e-04 1.99760781e+02] [ 9.12960458e-01 -4.08045310e-01 -1.49241076e-03 2.33618008e+02] [ 1.62431194e-03 -2.32234496e-05 9.99998681e-01 1.01073240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.132755096 meters Centerline goodness [0,1] 0.9999778677821305 Centerline is valid? [True, True] Translation: X:199.75, Y:233.64, Z:10.11 [[-4.09542028e-01 -9.12290897e-01 8.03826932e-04 1.99752766e+02] [ 9.12288990e-01 -4.09542816e-01 -1.86583517e-03 2.33643623e+02] [ 2.03138598e-03 -3.08154582e-05 9.99997936e-01 1.01064261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1627550960001 meters Centerline goodness [0,1] 0.9999115768065964 Centerline is valid? [True, True] Translation: X:199.74, Y:233.67, Z:10.11 [[-4.10779087e-01 -9.11734389e-01 9.72535615e-04 1.99744708e+02] [ 9.11731609e-01 -4.10780237e-01 -2.25169312e-03 2.33667818e+02] [ 2.45244446e-03 -3.82569827e-05 9.99996992e-01 1.01066480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.192755096 meters Centerline goodness [0,1] 0.9994023375243493 Centerline is valid? [True, True] Translation: X:199.74, Y:233.69, Z:10.11 [[-4.12389848e-01 -9.11006826e-01 1.08472796e-03 1.99736844e+02] [ 9.11003370e-01 -4.12391271e-01 -2.50977503e-03 2.33693208e+02] [ 2.73375453e-03 -4.68149169e-05 9.99996262e-01 1.01062725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.222755096 meters Centerline goodness [0,1] 0.9992693457323149 Centerline is valid? [True, True] Translation: X:199.73, Y:233.72, Z:10.11 [[-4.13826608e-01 -9.10354826e-01 1.27675970e-03 1.99727383e+02] [ 9.10350050e-01 -4.13828573e-01 -2.94934173e-03 2.33718370e+02] [ 3.21330712e-03 -5.82178294e-05 9.99994836e-01 1.01051958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.252755096 meters Centerline goodness [0,1] 0.9993796938345998 Centerline is valid? [True, True] Translation: X:199.72, Y:233.74, Z:10.11 [[-4.15562113e-01 -9.09563712e-01 1.40877056e-03 1.99718683e+02] [ 9.09557910e-01 -4.15564495e-01 -3.24935698e-03 2.33744460e+02] [ 3.54093222e-03 -6.89512505e-05 9.99993729e-01 1.01050920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2827550960001 meters Centerline goodness [0,1] 0.9996009311606252 Centerline is valid? [True, True] Translation: X:199.71, Y:233.77, Z:10.11 [[-4.16534438e-01 -9.09118609e-01 1.55450048e-03 1.99709110e+02] [ 9.09111559e-01 -4.16537331e-01 -3.58118700e-03 2.33769630e+02] [ 3.90323122e-03 -7.84733610e-05 9.99992379e-01 1.01053705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.312755096 meters Centerline goodness [0,1] 0.9994905643660849 Centerline is valid? [True, True] Translation: X:199.70, Y:233.79, Z:10.11 [[-4.17647336e-01 -9.08607795e-01 1.60524757e-03 1.99701163e+02] [ 9.08600286e-01 -4.17650413e-01 -3.69499811e-03 2.33793446e+02] [ 4.02773640e-03 -8.46777165e-05 9.99991885e-01 1.01060645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.342755096 meters Centerline goodness [0,1] 0.9997567448031844 Centerline is valid? [True, True] Translation: X:199.69, Y:233.82, Z:10.11 [[-4.18494152e-01 -9.08217750e-01 1.77872522e-03 1.99690778e+02] [ 9.08208552e-01 -4.18497922e-01 -4.08843577e-03 2.33818262e+02] [ 4.45758274e-03 -9.55330080e-05 9.99990060e-01 1.01061945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.372755096 meters Centerline goodness [0,1] 0.9995568259877241 Centerline is valid? [True, True] Translation: X:199.68, Y:233.84, Z:10.11 [[-4.18675056e-01 -9.08133124e-01 2.32973161e-03 1.99680024e+02] [ 9.08117393e-01 -4.18681519e-01 -5.34654184e-03 2.33841924e+02] [ 5.83078731e-03 -1.22793905e-04 9.99982993e-01 1.01054660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4027550960001 meters Centerline goodness [0,1] 0.9996667407242835 Centerline is valid? [True, True] Translation: X:199.67, Y:233.87, Z:10.11 [[-4.18418006e-01 -9.08250934e-01 2.57178128e-03 1.99670023e+02] [ 9.08231813e-01 -4.18425889e-01 -5.89486253e-03 2.33865566e+02] [ 6.43011427e-03 -1.30743051e-04 9.99979318e-01 1.01054646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.432755096 meters Centerline goodness [0,1] 0.9993350032141511 Centerline is valid? [True, True] Translation: X:199.66, Y:233.89, Z:10.11 [[-4.16398198e-01 -9.09177885e-01 2.84853175e-03 1.99656599e+02] [ 9.09154511e-01 -4.16407922e-01 -6.52060905e-03 2.33889127e+02] [ 7.11454474e-03 -1.25414366e-04 9.99974683e-01 1.01056092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.462755096 meters Centerline goodness [0,1] 0.9995328142380423 Centerline is valid? [True, True] Translation: X:199.65, Y:233.91, Z:10.11 [[-4.15696190e-01 -9.09498810e-01 2.93141830e-03 1.99646569e+02] [ 9.09474110e-01 -4.15706508e-01 -6.70388808e-03 2.33912835e+02] [ 7.31578789e-03 -1.20731679e-04 9.99973232e-01 1.01052809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.492755096 meters Centerline goodness [0,1] 0.9988910820821043 Centerline is valid? [True, True] Translation: X:199.63, Y:233.94, Z:10.11 [[-4.14641875e-01 -9.09979530e-01 3.06120482e-03 1.99633505e+02] [ 9.09952671e-01 -4.14653160e-01 -6.99234751e-03 2.33936109e+02] [ 7.63223135e-03 -1.13768586e-04 9.99970868e-01 1.01065386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters Centerline goodness [0,1] 0.9988449577965349 Centerline is valid? [True, True] Translation: X:199.62, Y:233.96, Z:10.11 [[-4.12072108e-01 -9.11145902e-01 3.11834207e-03 1.99621165e+02] [ 9.11118126e-01 -4.12083897e-01 -7.11498495e-03 2.33958994e+02] [ 7.76780793e-03 -9.07088697e-05 9.99969826e-01 1.01082913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.552755096 meters Centerline goodness [0,1] 0.9990254058962943 Centerline is valid? [True, True] Translation: X:199.61, Y:233.98, Z:10.11 [[-4.10723690e-01 -9.11754724e-01 3.06179630e-03 1.99609134e+02] [ 9.11728015e-01 -4.10735095e-01 -6.97918786e-03 2.33982215e+02] [ 7.62089470e-03 -7.49923291e-05 9.99970958e-01 1.01090910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.582755096 meters Centerline goodness [0,1] 0.9988008527269497 Centerline is valid? [True, True] Translation: X:199.60, Y:234.01, Z:10.11 [[-4.09491404e-01 -9.12307424e-01 3.45756877e-03 1.99597637e+02] [ 9.12273465e-01 -4.09505995e-01 -7.87184943e-03 2.34005109e+02] [ 8.59744182e-03 -6.92064311e-05 9.99963039e-01 1.01089994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.612755096 meters Centerline goodness [0,1] 0.9986262214442401 Centerline is valid? [True, True] Translation: X:199.58, Y:234.03, Z:10.11 [[-4.06663958e-01 -9.13569376e-01 3.92692888e-03 1.99584895e+02] [ 9.13525738e-01 -4.06682915e-01 -8.92932052e-03 2.34027121e+02] [ 9.75456866e-03 -4.38822176e-05 9.99952422e-01 1.01087653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters Centerline goodness [0,1] 0.9987809473147594 Centerline is valid? [True, True] Translation: X:199.57, Y:234.05, Z:10.11 [[-4.05705218e-01 -9.13995152e-01 4.01735094e-03 1.99572614e+02] [ 9.13949602e-01 -4.05725107e-01 -9.12484163e-03 2.34050144e+02] [ 9.97000115e-03 -3.03395656e-05 9.99950298e-01 1.01089655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6727550960001 meters Centerline goodness [0,1] 0.9988459319099827 Centerline is valid? [True, True] Translation: X:199.56, Y:234.07, Z:10.11 [[-4.04022973e-01 -9.14738478e-01 4.35361738e-03 1.99559220e+02] [ 9.14685150e-01 -4.04046428e-01 -9.87727375e-03 2.34072932e+02] [ 1.07941859e-02 -8.45633552e-06 9.99941741e-01 1.01091706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.702755096 meters Centerline goodness [0,1] 0.9985393706015138 Centerline is valid? [True, True] Translation: X:199.55, Y:234.10, Z:10.11 [[-4.03081385e-01 -9.15153550e-01 4.40202382e-03 1.99547352e+02] [ 9.15099172e-01 -4.03105421e-01 -9.97625316e-03 2.34095591e+02] [ 1.09042832e-02 7.04641915e-06 9.99940547e-01 1.01091198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.732755096 meters Centerline goodness [0,1] 0.998470541295385 Centerline is valid? [True, True] Translation: X:199.54, Y:234.12, Z:10.11 [[-4.02568639e-01 -9.15377992e-01 4.64996336e-03 1.99535410e+02] [ 9.15317471e-01 -4.02595493e-01 -1.05260168e-02 2.34119487e+02] [ 1.15073384e-02 1.87484386e-05 9.99933788e-01 1.01096866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters Centerline goodness [0,1] 0.9982733430734493 Centerline is valid? [True, True] Translation: X:199.52, Y:234.14, Z:10.11 [[-4.01931828e-01 -9.15655899e-01 5.00797091e-03 1.99523118e+02] [ 9.15585877e-01 -4.01963025e-01 -1.13238440e-02 2.34142750e+02] [ 1.23817637e-02 3.38141165e-05 9.99923342e-01 1.01098930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7927550960001 meters Centerline goodness [0,1] 0.998119052887807 Centerline is valid? [True, True] Translation: X:199.51, Y:234.17, Z:10.11 [[-4.02268850e-01 -9.15507303e-01 5.11379446e-03 1.99511719e+02] [ 9.15434434e-01 -4.02301351e-01 -1.15507249e-02 2.34165732e+02] [ 1.26320594e-02 3.48467202e-05 9.99920212e-01 1.01095817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.822755096 meters Centerline goodness [0,1] 0.998119052887807 Centerline is valid? [True, True] Translation: X:199.50, Y:234.19, Z:10.11 [[-4.02635695e-01 -9.15345999e-01 5.11844315e-03 1.99501246e+02] [ 9.15273144e-01 -4.02668226e-01 -1.15486648e-02 2.34188571e+02] [ 1.26320586e-02 3.48688604e-05 9.99920212e-01 1.01098154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.852755096 meters Centerline goodness [0,1] 0.9982539121209442 Centerline is valid? [True, True] Translation: X:199.49, Y:234.21, Z:10.11 [[-4.03858400e-01 -9.14805206e-01 5.46150634e-03 1.99489968e+02] [ 9.14722394e-01 -4.03895326e-01 -1.23088110e-02 2.34212075e+02] [ 1.34660413e-02 2.47454298e-05 9.99909328e-01 1.01096479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters Centerline goodness [0,1] 0.9981874848036073 Centerline is valid? [True, True] Translation: X:199.48, Y:234.24, Z:10.11 [[-4.05014699e-01 -9.14292711e-01 5.65084971e-03 1.99479379e+02] [ 9.14204201e-01 -4.05054117e-01 -1.27216436e-02 2.34236589e+02] [ 1.39202059e-02 1.35779092e-05 9.99903109e-01 1.01103719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9127550960001 meters Centerline goodness [0,1] 0.998026388734893 Centerline is valid? [True, True] Translation: X:199.47, Y:234.26, Z:10.11 [[-4.06818666e-01 -9.13489764e-01 5.91807720e-03 1.99469237e+02] [ 9.13392811e-01 -4.06861709e-01 -1.33087523e-02 2.34260678e+02] [ 1.45652480e-02 -8.71970202e-06 9.99893921e-01 1.01106628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.942755096 meters Centerline goodness [0,1] 0.998410525851031 Centerline is valid? [True, True] Translation: X:199.46, Y:234.29, Z:10.11 [[-4.10282760e-01 -9.11937472e-01 6.17283002e-03 1.99460087e+02] [ 9.11832043e-01 -4.10329189e-01 -1.38665809e-02 2.34285809e+02] [ 1.51783470e-02 -6.06348635e-05 9.99884800e-01 1.01113050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.972755096 meters Centerline goodness [0,1] 0.9988070780038438 Centerline is valid? [True, True] Translation: X:199.45, Y:234.31, Z:10.11 [[-4.12606326e-01 -9.10887161e-01 6.37184829e-03 1.99451279e+02] [ 9.10774919e-01 -4.12655512e-01 -1.42995243e-02 2.34309544e+02] [ 1.56546314e-02 -9.67545790e-05 9.99877454e-01 1.01114033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters Centerline goodness [0,1] 0.9988760825969103 Centerline is valid? [True, True] Translation: X:199.44, Y:234.33, Z:10.11 [[-4.14913651e-01 -9.09839391e-01 6.24063584e-03 1.99441483e+02] [ 9.09731799e-01 -4.14960561e-01 -1.39924127e-02 2.34334233e+02] [ 1.53204660e-02 -1.28338194e-04 9.99882627e-01 1.01117944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0327550960001 meters Centerline goodness [0,1] 0.9991842314137049 Centerline is valid? [True, True] Translation: X:199.43, Y:234.36, Z:10.11 [[-4.19571737e-01 -9.07698336e-01 6.57940346e-03 1.99432497e+02] [ 9.07578724e-01 -4.19623267e-01 -1.47368230e-02 2.34360535e+02] [ 1.61374605e-02 -2.11827847e-04 9.99869760e-01 1.01127376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.062755096 meters Centerline goodness [0,1] 0.9995152263011767 Centerline is valid? [True, True] Translation: X:199.42, Y:234.38, Z:10.11 [[-4.21764324e-01 -9.06681139e-01 6.64580731e-03 1.99423629e+02] [ 9.06559207e-01 -4.21816608e-01 -1.48712237e-02 2.34384944e+02] [ 1.62867699e-02 -2.47333793e-04 9.99867331e-01 1.01124412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.092755096 meters Centerline goodness [0,1] 0.9998452970297029 Centerline is valid? [True, True] Translation: X:199.41, Y:234.41, Z:10.11 [[-4.26615549e-01 -9.04403680e-01 7.29090016e-03 1.99414549e+02] [ 9.04256881e-01 -4.26677694e-01 -1.62984422e-02 2.34410796e+02] [ 1.78512356e-02 -3.60322240e-04 9.99840589e-01 1.01124300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters Centerline goodness [0,1] 0.9997577412676739 Centerline is valid? [True, True] Translation: X:199.40, Y:234.44, Z:10.11 [[-4.28839264e-01 -9.03349290e-01 7.54624413e-03 1.99403078e+02] [ 9.03192158e-01 -4.28905457e-01 -1.68533300e-02 2.34435708e+02] [ 1.84610690e-02 -4.11661132e-04 9.99829495e-01 1.01133836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1527550960001 meters Centerline goodness [0,1] 0.9998012191889742 Centerline is valid? [True, True] Translation: X:199.39, Y:234.46, Z:10.11 [[-4.31182623e-01 -9.02231525e-01 7.73445194e-03 1.99392476e+02] [ 9.02066596e-01 -4.31251737e-01 -1.72567765e-02 2.34460267e+02] [ 1.89051036e-02 -4.63831435e-04 9.99821175e-01 1.01137023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:234.49, Z:10.11 [[-4.34889362e-01 -9.00447447e-01 8.10168483e-03 1.99383348e+02] [ 9.00266532e-01 -4.34964460e-01 -1.80579399e-02 2.34485320e+02] [ 1.97841708e-02 -5.59530256e-04 9.99804118e-01 1.01131645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.212755096 meters Centerline goodness [0,1] 0.9999780533304071 Centerline is valid? [True, True] Translation: X:199.37, Y:234.51, Z:10.11 [[-4.36360485e-01 -8.99736185e-01 8.02026087e-03 1.99372781e+02] [ 8.99559098e-01 -4.36433801e-01 -1.78596173e-02 2.34510824e+02] [ 1.95692568e-02 -5.78532608e-04 9.99808336e-01 1.01135012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:234.54, Z:10.11 [[-4.38381168e-01 -8.98750283e-01 8.35951685e-03 1.99363785e+02] [ 8.98558080e-01 -4.38460396e-01 -1.85972626e-02 2.34535207e+02] [ 2.03796121e-02 -6.41178279e-04 9.99792109e-01 1.01133056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.35, Y:234.56, Z:10.11 [[-4.40709992e-01 -8.97608125e-01 8.62306012e-03 1.99352241e+02] [ 8.97403771e-01 -4.40793776e-01 -1.91655563e-02 2.34559581e+02] [ 2.10041502e-02 -7.08085464e-04 9.99779138e-01 1.01130762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.34, Y:234.58, Z:10.11 [[-4.41526708e-01 -8.97205997e-01 8.69287344e-03 1.99340691e+02] [ 8.96998610e-01 -4.41611677e-01 -1.93033937e-02 2.34584086e+02] [ 2.11579950e-02 -7.25468480e-04 9.99775881e-01 1.01132121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:234.61, Z:10.11 [[-4.42030205e-01 -8.96959123e-01 8.58074026e-03 1.99327964e+02] [ 8.96757380e-01 -4.42112897e-01 -1.90365038e-02 2.34607127e+02] [ 2.08686217e-02 -7.19867536e-04 9.99781967e-01 1.01143798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.362755096 meters Centerline goodness [0,1] 0.9999780325996221 Centerline is valid? [True, True] Translation: X:199.32, Y:234.63, Z:10.11 [[-4.42178547e-01 -8.96887309e-01 8.44319819e-03 1.99317653e+02] [ 8.96692355e-01 -4.42258590e-01 -1.87125843e-02 2.34629918e+02] [ 2.05171563e-02 -7.03352060e-04 9.99789254e-01 1.01149445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:234.65, Z:10.12 [[-4.42102707e-01 -8.96924275e-01 8.48774234e-03 1.99305828e+02] [ 8.96727652e-01 -4.42183626e-01 -1.87925373e-02 2.34654040e+02] [ 2.06086236e-02 -6.97038331e-04 9.99787377e-01 1.01162561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.29, Y:234.68, Z:10.12 [[-4.41390644e-01 -8.97278331e-01 8.11765646e-03 1.99294438e+02] [ 8.97098885e-01 -4.41464815e-01 -1.79557202e-02 2.34676870e+02] [ 1.96949383e-02 -6.43146313e-04 9.99805829e-01 1.01175454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:234.70, Z:10.12 [[-4.40730096e-01 -8.97602884e-01 8.12680470e-03 1.99281857e+02] [ 8.97423434e-01 -4.40804578e-01 -1.79583775e-02 2.34700423e+02] [ 1.97018241e-02 -6.21612438e-04 9.99805707e-01 1.01180700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.26, Y:234.72, Z:10.12 [[-4.38845124e-01 -8.98520907e-01 8.66813004e-03 1.99262446e+02] [ 8.98317317e-01 -4.38930297e-01 -1.91361453e-02 2.34721739e+02] [ 2.09989315e-02 -6.11072712e-04 9.99779311e-01 1.01186740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.512755096 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:199.25, Y:234.75, Z:10.12 [[-4.37750615e-01 -8.99052887e-01 8.84901538e-03 1.99248069e+02] [ 8.98841213e-01 -4.37839649e-01 -1.95170839e-02 2.34745395e+02] [ 2.14213404e-02 -5.89755750e-04 9.99770363e-01 1.01190212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.24, Y:234.77, Z:10.12 [[-4.36245901e-01 -8.99786402e-01 8.59907449e-03 1.99240098e+02] [ 8.99587035e-01 -4.36330321e-01 -1.89477447e-02 2.34771000e+02] [ 2.08009600e-02 -5.30260043e-04 9.99783496e-01 1.01171269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.23, Y:234.79, Z:10.12 [[-4.35500044e-01 -9.00146343e-01 8.73349115e-03 1.99227003e+02] [ 8.99941175e-01 -4.35587304e-01 -1.92245136e-02 2.34793614e+02] [ 2.11090735e-02 -5.12648213e-04 9.99777047e-01 1.01174231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.21, Y:234.81, Z:10.12 [[-4.33751359e-01 -9.00989794e-01 8.78348509e-03 1.99208191e+02] [ 9.00782842e-01 -4.33840032e-01 -1.93157259e-02 2.34814908e+02] [ 2.12138994e-02 -4.66209707e-04 9.99774851e-01 1.01200180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:234.84, Z:10.12 [[-4.33409921e-01 -9.01155268e-01 8.66163576e-03 1.99198697e+02] [ 9.00954455e-01 -4.33496237e-01 -1.90284826e-02 2.34838071e+02] [ 2.09024038e-02 -4.43393812e-04 9.99781423e-01 1.01191647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6627550960001 meters Centerline goodness [0,1] 0.999956019791094 Centerline is valid? [True, True] Translation: X:199.18, Y:234.86, Z:10.12 [[-4.33323305e-01 -9.01197105e-01 8.64238608e-03 1.99184795e+02] [ 9.00997613e-01 -4.33409265e-01 -1.89660529e-02 2.34860801e+02] [ 2.08378422e-02 -4.31663503e-04 9.99782775e-01 1.01208875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:234.88, Z:10.12 [[-4.33041433e-01 -9.01335553e-01 8.32697785e-03 1.99172191e+02] [ 9.01150757e-01 -4.33121299e-01 -1.82552279e-02 2.34883584e+02] [ 2.00606774e-02 -4.01407660e-04 9.99798684e-01 1.01212558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.16, Y:234.91, Z:10.12 [[-4.33354113e-01 -9.01188078e-01 8.01631400e-03 1.99162950e+02] [ 9.01017096e-01 -4.33428079e-01 -1.75582759e-02 2.34907312e+02] [ 1.92978045e-02 -3.86115130e-04 9.99813706e-01 1.01198803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:234.93, Z:10.12 [[-4.33672426e-01 -9.01035532e-01 7.94968861e-03 1.99149048e+02] [ 9.00867659e-01 -4.33745114e-01 -1.73964579e-02 2.34929824e+02] [ 1.91229653e-02 -3.82746715e-04 9.99817066e-01 1.01207956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.14, Y:234.95, Z:10.12 [[-4.34287186e-01 -9.00739785e-01 7.90440823e-03 1.99137446e+02] [ 9.00574102e-01 -4.34358942e-01 -1.72799585e-02 2.34953186e+02] [ 1.89980965e-02 -3.85959216e-04 9.99819445e-01 1.01203885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.13, Y:234.98, Z:10.12 [[-4.35420040e-01 -9.00192933e-01 7.87857461e-03 1.99126616e+02] [ 9.00028536e-01 -4.35491128e-01 -1.72079252e-02 2.34976498e+02] [ 1.89215020e-02 -4.01733518e-04 9.99820892e-01 1.01198057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:235.00, Z:10.12 [[-4.36359376e-01 -8.99738908e-01 7.77125668e-03 1.99115701e+02] [ 8.99579170e-01 -4.36428379e-01 -1.69583820e-02 2.35000729e+02] [ 1.86497131e-02 -4.09088342e-04 9.99825995e-01 1.01194333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.10, Y:235.02, Z:10.12 [[-4.37444986e-01 -8.99213036e-01 7.60267207e-03 1.99104577e+02] [ 8.99060373e-01 -4.37510850e-01 -1.65741537e-02 2.35024692e+02] [ 1.82299466e-02 -4.15019264e-04 9.99833735e-01 1.01197445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.10, Y:235.05, Z:10.12 [[-4.38499000e-01 -8.98700649e-01 7.46798881e-03 1.99095436e+02] [ 8.98553567e-01 -4.38562386e-01 -1.62641127e-02 2.35048234e+02] [ 1.78917476e-02 -4.21409185e-04 9.99839841e-01 1.01195137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.08, Y:235.07, Z:10.12 [[-4.40709892e-01 -8.97621034e-01 7.16026989e-03 1.99084988e+02] [ 8.97485912e-01 -4.40767836e-01 -1.55805541e-02 2.35072867e+02] [ 1.71414497e-02 -4.40262957e-04 9.99852978e-01 1.01202102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.07, Y:235.10, Z:10.12 [[-4.41476081e-01 -8.97246170e-01 6.94127965e-03 1.99073191e+02] [ 8.97119345e-01 -4.41530431e-01 -1.50916680e-02 2.35097039e+02] [ 1.66057275e-02 -4.35454204e-04 9.99862021e-01 1.01209287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.06, Y:235.12, Z:10.12 [[-4.42389668e-01 -8.96798280e-01 6.65033964e-03 1.99063728e+02] [ 8.96682044e-01 -4.42439446e-01 -1.44446663e-02 2.35121140e+02] [ 1.58963244e-02 -4.26930976e-04 9.99873554e-01 1.01208292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:235.15, Z:10.12 [[-4.42434420e-01 -8.96777994e-01 6.40411440e-03 1.99052294e+02] [ 8.96670416e-01 -4.42480581e-01 -1.38960728e-02 2.35145039e+02] [ 1.52953886e-02 -4.05720996e-04 9.99882936e-01 1.01208856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.04, Y:235.17, Z:10.12 [[-4.42646720e-01 -8.96673419e-01 6.37664812e-03 1.99040241e+02] [ 8.96566949e-01 -4.42692465e-01 -1.38234474e-02 2.35169151e+02] [ 1.52180119e-02 -4.01811704e-04 9.99884119e-01 1.01209568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.03, Y:235.19, Z:10.12 [[-4.42370122e-01 -8.96813129e-01 5.90649583e-03 1.99025731e+02] [ 8.96721956e-01 -4.42409403e-01 -1.27927056e-02 2.35191795e+02] [ 1.40857557e-02 -3.62626256e-04 9.99900725e-01 1.01219139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.02, Y:235.22, Z:10.12 [[-4.42378078e-01 -8.96809870e-01 5.80462047e-03 1.99018237e+02] [ 8.96721977e-01 -4.42416019e-01 -1.25603562e-02 2.35215865e+02] [ 1.38323084e-02 -3.51295468e-04 9.99904267e-01 1.01212962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.00, Y:235.24, Z:10.12 [[-4.42246991e-01 -8.96877615e-01 5.30487991e-03 1.99003376e+02] [ 8.96804326e-01 -4.42278695e-01 -1.14698389e-02 2.35238588e+02] [ 1.26332772e-02 -3.15062514e-04 9.99920147e-01 1.01224657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:235.26, Z:10.12 [[-4.42083867e-01 -8.96958525e-01 5.22101454e-03 1.98991564e+02] [ 8.96887676e-01 -4.42114593e-01 -1.12775469e-02 2.35262734e+02] [ 1.24237786e-02 -3.02957956e-04 9.99922776e-01 1.01228140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.98, Y:235.29, Z:10.12 [[-4.42058034e-01 -8.96972974e-01 4.91721667e-03 1.98980785e+02] [ 8.96910249e-01 -4.42085293e-01 -1.06112996e-02 2.35285807e+02] [ 1.16918782e-02 -2.80508229e-04 9.99931608e-01 1.01232971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:235.31, Z:10.12 [[-4.41988473e-01 -8.97008699e-01 4.64580059e-03 1.98969622e+02] [ 8.96952818e-01 -4.42012812e-01 -1.00158416e-02 2.35308554e+02] [ 1.10378004e-02 -2.59822591e-04 9.99939048e-01 1.01235931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:235.33, Z:10.12 [[-4.42241747e-01 -8.96884399e-01 4.54005866e-03 1.98956199e+02] [ 8.96831130e-01 -4.42264978e-01 -9.77819778e-03 2.35331293e+02] [ 1.07778220e-02 -2.52661328e-04 9.99941886e-01 1.01240306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:235.36, Z:10.12 [[-4.42598514e-01 -8.96708843e-01 4.45031845e-03 1.98944484e+02] [ 8.96657751e-01 -4.42620819e-01 -9.57546911e-03 2.35355237e+02] [ 1.05562114e-02 -2.47675870e-04 9.99944251e-01 1.01242559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:235.38, Z:10.12 [[-4.42806558e-01 -8.96607434e-01 4.17882101e-03 1.98932121e+02] [ 8.96562465e-01 -4.42826215e-01 -8.98278687e-03 2.35379124e+02] [ 9.90452497e-03 -2.31062867e-04 9.99950922e-01 1.01243855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.92, Y:235.40, Z:10.13 [[-4.43154060e-01 -8.96435888e-01 4.14450724e-03 1.98922658e+02] [ 8.96391736e-01 -4.43173381e-01 -8.89996346e-03 2.35403163e+02] [ 9.81498194e-03 -2.28952901e-04 9.99951806e-01 1.01250612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:235.43, Z:10.13 [[-4.43423931e-01 -8.96303846e-01 3.82534428e-03 1.98909021e+02] [ 8.96266300e-01 -4.43440381e-01 -8.20652572e-03 2.35426298e+02] [ 9.05185269e-03 -2.10442733e-04 9.99959009e-01 1.01253824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:235.45, Z:10.13 [[-4.43303692e-01 -8.96363619e-01 3.75492849e-03 1.98897510e+02] [ 8.96327516e-01 -4.43319549e-01 -8.04744924e-03 2.35449103e+02] [ 8.87807393e-03 -2.01818234e-04 9.99960569e-01 1.01256723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:235.47, Z:10.13 [[-4.43647923e-01 -8.96194652e-01 3.41554846e-03 1.98885313e+02] [ 8.96164832e-01 -4.43661033e-01 -7.31310848e-03 2.35472212e+02] [ 8.06931446e-03 -1.83550980e-04 9.99967426e-01 1.01257854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.87, Y:235.49, Z:10.13 [[-4.42872711e-01 -8.96577847e-01 3.45357504e-03 1.98871323e+02] [ 8.96547432e-01 -4.42886142e-01 -7.38703715e-03 2.35494801e+02] [ 8.15259439e-03 -1.75223336e-04 9.99966752e-01 1.01250053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.86, Y:235.52, Z:10.12 [[-4.42510424e-01 -8.96756588e-01 3.48524306e-03 1.98859158e+02] [ 8.96725681e-01 -4.42524116e-01 -7.44707478e-03 2.35518081e+02] [ 8.22051748e-03 -1.70101262e-04 9.99966197e-01 1.01247259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.85, Y:235.54, Z:10.12 [[-4.42361532e-01 -8.96829593e-01 3.59937614e-03 1.98846985e+02] [ 8.96796701e-01 -4.42376143e-01 -7.68284028e-03 2.35541380e+02] [ 8.48247666e-03 -1.70684346e-04 9.99964009e-01 1.01246163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.83, Y:235.56, Z:10.12 [[-4.41524229e-01 -8.97240581e-01 3.96161698e-03 1.98834598e+02] [ 8.97200840e-01 -4.41541967e-01 -8.44655798e-03 2.35563696e+02] [ 9.32781474e-03 -1.74993920e-04 9.99956480e-01 1.01243169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.592755096 meters Centerline goodness [0,1] 0.9999779876290475 Centerline is valid? [True, True] Translation: X:198.82, Y:235.59, Z:10.12 [[-4.41185050e-01 -8.97408089e-01 3.80431916e-03 1.98822503e+02] [ 8.97371521e-01 -4.41201423e-01 -8.10290868e-03 2.35586839e+02] [ 8.95008682e-03 -1.60994505e-04 9.99959934e-01 1.01240811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:235.61, Z:10.12 [[-4.40963290e-01 -8.97516879e-01 3.85071144e-03 1.98808187e+02] [ 8.97479493e-01 -4.40980075e-01 -8.19343752e-03 2.35609099e+02] [ 9.05183549e-03 -1.57070617e-04 9.99959019e-01 1.01245712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.80, Y:235.63, Z:10.12 [[-4.41143400e-01 -8.97428034e-01 3.92731222e-03 1.98797391e+02] [ 8.97389222e-01 -4.41160853e-01 -8.34775814e-03 2.35631911e+02] [ 9.22408859e-03 -1.58230750e-04 9.99957445e-01 1.01246604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.78, Y:235.66, Z:10.12 [[-4.41369432e-01 -8.97317281e-01 3.83698532e-03 1.98783702e+02] [ 8.97280306e-01 -4.41386084e-01 -8.14729644e-03 2.35655591e+02] [ 9.00430181e-03 -1.53116245e-04 9.99959449e-01 1.01244332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.77, Y:235.68, Z:10.12 [[-4.41692035e-01 -8.97158515e-01 3.83991430e-03 1.98772104e+02] [ 8.97121546e-01 -4.41708699e-01 -8.14591572e-03 2.35679721e+02] [ 9.00430120e-03 -1.53116235e-04 9.99959449e-01 1.01246827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:235.70, Z:10.12 [[-4.42167335e-01 -8.96925380e-01 3.59323871e-03 1.98761659e+02] [ 8.96893056e-01 -4.42181911e-01 -7.61594132e-03 2.35703248e+02] [ 8.41979622e-03 -1.44769626e-04 9.99964542e-01 1.01249317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.75, Y:235.73, Z:10.13 [[-4.42973643e-01 -8.96527503e-01 3.57601202e-03 1.98750487e+02] [ 8.96495527e-01 -4.42988052e-01 -7.57341238e-03 2.35727016e+02] [ 8.37390309e-03 -1.48943291e-04 9.99964927e-01 1.01255764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.74, Y:235.75, Z:10.13 [[-4.44077571e-01 -8.95981528e-01 3.49467492e-03 1.98739572e+02] [ 8.95951032e-01 -4.44091296e-01 -7.39387698e-03 2.35749756e+02] [ 8.17673190e-03 -1.52397328e-04 9.99966558e-01 1.01261047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:235.77, Z:10.13 [[-4.44422577e-01 -8.95810245e-01 3.54673807e-03 1.98727554e+02] [ 8.95778895e-01 -4.44436702e-01 -7.49591516e-03 2.35773596e+02] [ 8.29121816e-03 -1.54260824e-04 9.99965615e-01 1.01257421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.72, Y:235.80, Z:10.13 [[-4.44962883e-01 -8.95542428e-01 3.43417570e-03 1.98715291e+02] [ 8.95513084e-01 -4.44976109e-01 -7.25105395e-03 2.35797045e+02] [ 8.02175260e-03 -1.51100600e-04 9.99967814e-01 1.01258051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.70, Y:235.82, Z:10.13 [[-4.45523472e-01 -8.95264173e-01 3.30092922e-03 1.98704187e+02] [ 8.95237109e-01 -4.45535676e-01 -6.96279691e-03 2.35820224e+02] [ 7.70422435e-03 -1.46975119e-04 9.99970311e-01 1.01267892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.69, Y:235.84, Z:10.13 [[-4.45924638e-01 -8.95064791e-01 3.19973507e-03 1.98692047e+02] [ 8.95039391e-01 -4.45936094e-01 -6.74457276e-03 2.35843343e+02] [ 7.46370696e-03 -1.43682239e-04 9.99972136e-01 1.01275001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:235.87, Z:10.13 [[-4.46262736e-01 -8.94896322e-01 3.18483255e-03 1.98680707e+02] [ 8.94871203e-01 -4.46274077e-01 -6.70657934e-03 2.35865772e+02] [ 7.42300140e-03 -1.42881515e-04 9.99972439e-01 1.01278741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.67, Y:235.89, Z:10.13 [[-4.46327099e-01 -8.94863155e-01 3.47191058e-03 1.98669256e+02] [ 8.94833370e-01 -4.46340577e-01 -7.30270432e-03 2.35888729e+02] [ 8.08457560e-03 -1.52613392e-04 9.99967308e-01 1.01278003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.66, Y:235.91, Z:10.13 [[-4.46456919e-01 -8.94798035e-01 3.56316031e-03 1.98656495e+02] [ 8.94766727e-01 -4.46471111e-01 -7.48676050e-03 2.35912358e+02] [ 8.28998673e-03 -1.54318739e-04 9.99965626e-01 1.01276297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.64, Y:235.93, Z:10.13 [[-4.45355474e-01 -8.95345486e-01 3.86802500e-03 1.98642683e+02] [ 8.95308689e-01 -4.45372245e-01 -8.11876060e-03 2.35934764e+02] [ 8.99180664e-03 -1.52658081e-04 9.99959561e-01 1.01270165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.63, Y:235.96, Z:10.13 [[-4.44914843e-01 -8.95563943e-01 4.00081447e-03 1.98629141e+02] [ 8.95524662e-01 -4.44932806e-01 -8.38914394e-03 2.35957510e+02] [ 9.29310843e-03 -1.49626637e-04 9.99956807e-01 1.01269870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:235.98, Z:10.13 [[-4.43906593e-01 -8.96064421e-01 3.93570485e-03 1.98618080e+02] [ 8.96026502e-01 -4.43924020e-01 -8.24453554e-03 2.35980602e+02] [ 9.13478888e-03 -1.33307831e-04 9.99958268e-01 1.01273606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.61, Y:236.00, Z:10.13 [[-4.43742492e-01 -8.96145376e-01 4.00830936e-03 1.98605816e+02] [ 8.96106130e-01 -4.43760576e-01 -8.38775624e-03 2.36003520e+02] [ 9.29537864e-03 -1.30133264e-04 9.99956789e-01 1.01270953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.59, Y:236.03, Z:10.13 [[-4.43217394e-01 -8.96404451e-01 4.17154820e-03 1.98592122e+02] [ 8.96362045e-01 -4.43237007e-01 -8.72007748e-03 2.36026721e+02] [ 9.66570080e-03 -1.25672542e-04 9.99953278e-01 1.01268304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.58, Y:236.05, Z:10.13 [[-4.43124727e-01 -8.96449590e-01 4.31392312e-03 1.98580305e+02] [ 8.96404333e-01 -4.43145707e-01 -9.00852648e-03 2.36050576e+02] [ 9.98738637e-03 -1.24881460e-04 9.99950117e-01 1.01266652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.57, Y:236.08, Z:10.13 [[-4.44186642e-01 -8.95922675e-01 4.55928574e-03 1.98569542e+02] [ 8.95872200e-01 -4.44210019e-01 -9.51112642e-03 2.36075019e+02] [ 1.05465142e-02 -1.40177967e-04 9.99944374e-01 1.01260065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.56, Y:236.10, Z:10.13 [[-4.45086884e-01 -8.95475344e-01 4.64484373e-03 1.98558676e+02] [ 8.95423034e-01 -4.45111094e-01 -9.68005359e-03 2.36098999e+02] [ 1.07357208e-02 -1.49364821e-04 9.99942359e-01 1.01260323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.55, Y:236.12, Z:10.13 [[-4.47033898e-01 -8.94505672e-01 4.50528138e-03 1.98549540e+02] [ 8.94456500e-01 -4.47056570e-01 -9.38045177e-03 2.36123613e+02] [ 1.04049830e-02 -1.63601696e-04 9.99945853e-01 1.01262462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.54, Y:236.15, Z:10.13 [[-4.47864137e-01 -8.94090005e-01 4.55819260e-03 1.98539233e+02] [ 8.94039742e-01 -4.47887300e-01 -9.48188248e-03 2.36147518e+02] [ 1.05192129e-02 -1.71389777e-04 9.99944657e-01 1.01265518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.53, Y:236.17, Z:10.13 [[-4.48934654e-01 -8.93553124e-01 4.52678308e-03 1.98528595e+02] [ 8.93503616e-01 -4.48957441e-01 -9.40766537e-03 2.36171214e+02] [ 1.04385817e-02 -1.78729947e-04 9.99945501e-01 1.01272714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.52, Y:236.19, Z:10.13 [[-4.49425217e-01 -8.93306441e-01 4.53620363e-03 1.98519943e+02] [ 8.93256812e-01 -4.49448073e-01 -9.41792882e-03 2.36194880e+02] [ 1.04518845e-02 -1.80659910e-04 9.99945361e-01 1.01269366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:236.22, Z:10.13 [[-4.49845860e-01 -8.93093729e-01 4.72166035e-03 1.98508282e+02] [ 8.93040059e-01 -4.49870600e-01 -9.79271234e-03 2.36218660e+02] [ 1.08699461e-02 -1.88579265e-04 9.99940903e-01 1.01268996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:236.24, Z:10.13 [[-4.50412458e-01 -8.92807115e-01 4.90636661e-03 1.98496544e+02] [ 8.92749258e-01 -4.50439136e-01 -1.01659592e-02 2.36243037e+02] [ 1.12862603e-02 -1.98719534e-04 9.99936288e-01 1.01270348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.49, Y:236.27, Z:10.13 [[-4.51002855e-01 -8.92508683e-01 4.96741408e-03 1.98488550e+02] [ 8.92449469e-01 -4.51030164e-01 -1.02828092e-02 2.36267925e+02] [ 1.14179501e-02 -2.04410255e-04 9.99934792e-01 1.01269001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:236.29, Z:10.13 [[-4.51525725e-01 -8.92242824e-01 5.22136993e-03 1.98478152e+02] [ 8.92177514e-01 -4.51555862e-01 -1.07975982e-02 2.36292118e+02] [ 1.19918197e-02 -2.17004508e-04 9.99928072e-01 1.01271671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.47, Y:236.32, Z:10.13 [[-4.51875842e-01 -8.92064415e-01 5.41323226e-03 1.98468886e+02] [ 8.91994349e-01 -4.51908208e-01 -1.11826823e-02 2.36315630e+02] [ 1.24219570e-02 -2.24611381e-04 9.99922819e-01 1.01269513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.46, Y:236.34, Z:10.13 [[-4.52343664e-01 -8.91826774e-01 5.49682010e-03 1.98460433e+02] [ 8.91754659e-01 -4.52377003e-01 -1.13435369e-02 2.36341340e+02] [ 1.26031049e-02 -2.29362124e-04 9.99920551e-01 1.01272231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:236.37, Z:10.13 [[-4.52331395e-01 -8.91832965e-01 5.50191871e-03 1.98450129e+02] [ 8.91760857e-01 -4.52364800e-01 -1.13429240e-02 2.36365830e+02] [ 1.26048679e-02 -2.24364898e-04 9.99920530e-01 1.01274372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.44, Y:236.39, Z:10.13 [[-4.52558560e-01 -8.91717497e-01 5.53675723e-03 1.98439892e+02] [ 8.91644606e-01 -4.52592373e-01 -1.14035732e-02 2.36390028e+02] [ 1.26746598e-02 -2.23964927e-04 9.99919648e-01 1.01278345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:236.41, Z:10.13 [[-4.52345978e-01 -8.91824125e-01 5.73127934e-03 1.98432458e+02] [ 8.91746175e-01 -4.52382229e-01 -1.17931262e-02 2.36414354e+02] [ 1.31101233e-02 -2.23726754e-04 9.99914034e-01 1.01281634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.42, Y:236.44, Z:10.13 [[-4.52936597e-01 -8.91525234e-01 5.58537160e-03 1.98422672e+02] [ 8.91451299e-01 -4.52970979e-01 -1.14836442e-02 2.36438581e+02] [ 1.27679698e-02 -2.22275961e-04 9.99918461e-01 1.01283931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:236.46, Z:10.13 [[-4.53533257e-01 -8.91221313e-01 5.67068166e-03 1.98413305e+02] [ 8.91145225e-01 -4.53568649e-01 -1.16477119e-02 2.36463589e+02] [ 1.29527325e-02 -2.29223838e-04 9.99916084e-01 1.01293342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:236.49, Z:10.13 [[-4.54228502e-01 -8.90867493e-01 5.61951928e-03 1.98405574e+02] [ 8.90792892e-01 -4.54263202e-01 -1.15311534e-02 2.36488100e+02] [ 1.28254706e-02 -2.31950710e-04 9.99917723e-01 1.01293514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:236.51, Z:10.13 [[-4.54967474e-01 -8.90489702e-01 5.71729841e-03 1.98396069e+02] [ 8.90412608e-01 -4.55003332e-01 -1.17199118e-02 2.36513005e+02] [ 1.30378506e-02 -2.41424073e-04 9.99914975e-01 1.01293938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.39, Y:236.54, Z:10.13 [[-4.55593183e-01 -8.90167068e-01 6.11898380e-03 1.98386823e+02] [ 8.90078903e-01 -4.55634197e-01 -1.25309535e-02 2.36538164e+02] [ 1.39426604e-02 -2.62638590e-04 9.99902762e-01 1.01291075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.38, Y:236.56, Z:10.13 [[-4.55794755e-01 -8.90061891e-01 6.40083560e-03 1.98376752e+02] [ 8.89965599e-01 -4.55839616e-01 -1.30949202e-02 2.36562351e+02] [ 1.45730439e-02 -2.72072458e-04 9.99893771e-01 1.01288490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.37, Y:236.59, Z:10.13 [[-4.55704503e-01 -8.90107057e-01 6.54465201e-03 1.98367774e+02] [ 8.90006594e-01 -4.55751417e-01 -1.33757079e-02 2.36587439e+02] [ 1.48885464e-02 -2.70586885e-04 9.99889123e-01 1.01288611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:236.61, Z:10.13 [[-4.55784613e-01 -8.90064265e-01 6.78169725e-03 1.98357267e+02] [ 8.89956604e-01 -4.55834980e-01 -1.38460647e-02 2.36612230e+02] [ 1.54152222e-02 -2.75406970e-04 9.99881141e-01 1.01289909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.35, Y:236.64, Z:10.13 [[-4.55084546e-01 -8.90422683e-01 6.74545314e-03 1.98346835e+02] [ 8.90316423e-01 -4.55134463e-01 -1.37581997e-02 2.36635368e+02] [ 1.53207013e-02 -2.55556370e-04 9.99882599e-01 1.01291166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.33, Y:236.66, Z:10.13 [[-4.54018246e-01 -8.90966820e-01 6.74974344e-03 1.98333309e+02] [ 8.90860699e-01 -4.54068358e-01 -1.37528985e-02 2.36657684e+02] [ 1.53182211e-02 -2.30985684e-04 9.99882643e-01 1.01300283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.32, Y:236.68, Z:10.13 [[-4.50790859e-01 -8.92604094e-01 6.74774283e-03 1.98319525e+02] [ 8.92498424e-01 -4.50841327e-01 -1.37354159e-02 2.36680332e+02] [ 1.53024498e-02 -1.69450078e-04 9.99882896e-01 1.01295397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.31, Y:236.70, Z:10.13 [[-4.49778404e-01 -8.93113851e-01 6.85834584e-03 1.98306324e+02] [ 8.93004954e-01 -4.49830665e-01 -1.39472408e-02 2.36703051e+02] [ 1.55415682e-02 -1.48630909e-04 9.99879212e-01 1.01297894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:236.73, Z:10.13 [[-4.48215489e-01 -8.93898155e-01 6.99740327e-03 1.98294071e+02] [ 8.93785092e-01 -4.48270090e-01 -1.42174674e-02 2.36725094e+02] [ 1.58456945e-02 -1.18314368e-04 9.99874442e-01 1.01297030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.28, Y:236.75, Z:10.13 [[-4.47890927e-01 -8.94059329e-01 7.18568898e-03 1.98283039e+02] [ 8.93940323e-01 -4.47948551e-01 -1.45874626e-02 2.36747551e+02] [ 1.62608760e-02 -1.10015016e-04 9.99867777e-01 1.01296971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:236.77, Z:10.13 [[-4.48106112e-01 -8.93952551e-01 7.05336111e-03 1.98271284e+02] [ 8.93838091e-01 -4.48161607e-01 -1.43052748e-02 2.36771134e+02] [ 1.59492825e-02 -1.05718236e-04 9.99872797e-01 1.01304101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.26, Y:236.80, Z:10.13 [[-4.48587527e-01 -8.93711362e-01 7.01654342e-03 1.98259221e+02] [ 8.93598276e-01 -4.48642385e-01 -1.42172881e-02 2.36795003e+02] [ 1.58540707e-02 -1.07727007e-04 9.99874311e-01 1.01315333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.25, Y:236.82, Z:10.13 [[-4.49382785e-01 -8.93313611e-01 6.77534385e-03 1.98247703e+02] [ 8.93208320e-01 -4.49433844e-01 -1.37155893e-02 2.36817929e+02] [ 1.52973914e-02 -1.11756199e-04 9.99882982e-01 1.01317339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.24, Y:236.84, Z:10.13 [[-4.50466304e-01 -8.92768078e-01 6.72813073e-03 1.98235617e+02] [ 8.92664388e-01 -4.50516530e-01 -1.36068738e-02 2.36841664e+02] [ 1.51789166e-02 -1.23475434e-04 9.99884786e-01 1.01320117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.23, Y:236.87, Z:10.13 [[-4.52352474e-01 -8.91815231e-01 6.54465510e-03 1.98225226e+02] [ 8.91717203e-01 -4.52399792e-01 -1.32234193e-02 2.36865115e+02] [ 1.47536473e-02 -1.45664893e-04 9.99891148e-01 1.01321555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.21, Y:236.89, Z:10.13 [[-4.53715420e-01 -8.91121938e-01 6.63402056e-03 1.98214529e+02] [ 8.91021332e-01 -4.53763887e-01 -1.33910559e-02 2.36889095e+02] [ 1.49433427e-02 -1.64674725e-04 9.99888328e-01 1.01327824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.21, Y:236.91, Z:10.13 [[-4.57090047e-01 -8.89395106e-01 6.71077579e-03 1.98206545e+02] [ 8.89292167e-01 -4.57139255e-01 -1.35330685e-02 2.36912924e+02] [ 1.51040039e-02 -2.17990555e-04 9.99885904e-01 1.01329047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:236.94, Z:10.13 [[-4.59239089e-01 -8.88287766e-01 6.65613649e-03 1.98196900e+02] [ 8.88186571e-01 -4.59287256e-01 -1.34101177e-02 2.36937375e+02] [ 1.49691221e-02 -2.46559179e-04 9.99887926e-01 1.01331926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.19, Y:236.96, Z:10.13 [[-4.61509467e-01 -8.87108765e-01 6.85943360e-03 1.98187113e+02] [ 8.87001357e-01 -4.61560351e-01 -1.38070621e-02 2.36962440e+02] [ 1.54144084e-02 -2.87762964e-04 9.99881150e-01 1.01330307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.18, Y:236.99, Z:10.13 [[-4.66062965e-01 -8.84723347e-01 7.06482923e-03 1.98180384e+02] [ 8.84609344e-01 -4.66116359e-01 -1.42073192e-02 2.36987729e+02] [ 1.58625795e-02 -3.71891351e-04 9.99874112e-01 1.01324575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.17, Y:237.01, Z:10.13 [[-4.67913369e-01 -8.83746395e-01 7.02768110e-03 1.98169984e+02] [ 8.83633680e-01 -4.67965973e-01 -1.41197972e-02 2.37012385e+02] [ 1.57670355e-02 -3.96946146e-04 9.99875614e-01 1.01325897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.16, Y:237.04, Z:10.13 [[-4.70553192e-01 -8.82343557e-01 7.03859731e-03 1.98161777e+02] [ 8.82230517e-01 -4.70605626e-01 -1.41301037e-02 2.37036222e+02] [ 1.57800095e-02 -4.39300081e-04 9.99875391e-01 1.01328459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.15, Y:237.06, Z:10.13 [[-4.71521297e-01 -8.81826727e-01 7.02072646e-03 1.98150561e+02] [ 8.81714378e-01 -4.71573347e-01 -1.40831344e-02 2.37060578e+02] [ 1.57296718e-02 -4.50222338e-04 9.99876180e-01 1.01332881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:237.08, Z:10.13 [[-4.72198517e-01 -8.81462970e-01 7.18287229e-03 1.98140294e+02] [ 8.81345526e-01 -4.72252914e-01 -1.43961425e-02 2.37082374e+02] [ 1.60817989e-02 -4.67244809e-04 9.99870570e-01 1.01333906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.13, Y:237.10, Z:10.13 [[-4.72224301e-01 -8.81449478e-01 7.14334018e-03 1.98129376e+02] [ 8.81333522e-01 -4.72278103e-01 -1.43043945e-02 2.37104698e+02] [ 1.59822442e-02 -4.59217510e-04 9.99872170e-01 1.01337923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:237.13, Z:10.13 [[-4.71568798e-01 -8.81801045e-01 7.05594892e-03 1.98116834e+02] [ 8.81688158e-01 -4.71621382e-01 -1.41161012e-02 2.37126244e+02] [ 1.57753292e-02 -4.35566299e-04 9.99875467e-01 1.01343263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.10, Y:237.15, Z:10.14 [[-4.70982118e-01 -8.82117617e-01 6.65985360e-03 1.98104425e+02] [ 8.82017256e-01 -4.71029036e-01 -1.33119469e-02 2.37148235e+02] [ 1.48796873e-02 -3.95583143e-04 9.99889213e-01 1.01351667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:237.17, Z:10.14 [[-4.71303290e-01 -8.81946025e-01 6.66470068e-03 1.98092864e+02] [ 8.81845680e-01 -4.71350245e-01 -1.33095201e-02 2.37170551e+02] [ 1.48796867e-02 -3.95583126e-04 9.99889213e-01 1.01354006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.07, Y:237.19, Z:10.14 [[-4.70691641e-01 -8.82272780e-01 6.64239832e-03 1.98072913e+02] [ 8.82173321e-01 -4.70738356e-01 -1.32526510e-02 2.37190250e+02] [ 1.48192849e-02 -3.78165445e-04 9.99890117e-01 1.01377444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6627550960001 meters Centerline goodness [0,1] 0.9999327595481442 Centerline is valid? [True, True] Translation: X:198.06, Y:237.21, Z:10.14 [[-4.70063289e-01 -8.82609544e-01 6.39510049e-03 1.98061388e+02] [ 8.82517556e-01 -4.70106660e-01 -1.27472108e-02 2.37213457e+02] [ 1.42571892e-02 -3.48207365e-04 9.99898301e-01 1.01373789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.05, Y:237.24, Z:10.14 [[-4.67561349e-01 -8.83938631e-01 6.23556375e-03 1.98046329e+02] [ 8.83851446e-01 -4.67602834e-01 -1.24181514e-02 2.37236852e+02] [ 1.38926510e-02 -2.94935564e-04 9.99903449e-01 1.01393840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.03, Y:237.26, Z:10.14 [[-4.66445316e-01 -8.84527807e-01 6.27103100e-03 1.98030827e+02] [ 8.84439826e-01 -4.66487388e-01 -1.24784662e-02 2.37259661e+02] [ 1.39629072e-02 -2.74172549e-04 9.99902476e-01 1.01401047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.02, Y:237.28, Z:10.14 [[-4.63333431e-01 -8.86158783e-01 6.68908855e-03 1.98016207e+02] [ 8.86059031e-01 -4.63381654e-01 -1.32979889e-02 2.37282402e+02] [ 1.48837305e-02 -2.34475489e-04 9.99889204e-01 1.01399467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.00, Y:237.31, Z:10.14 [[-4.62087626e-01 -8.86809160e-01 6.67388983e-03 1.98003356e+02] [ 8.86710107e-01 -4.62135772e-01 -1.32557134e-02 2.37305232e+02] [ 1.48395313e-02 -2.07495574e-04 9.99889867e-01 1.01401150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.812755096 meters Centerline goodness [0,1] 0.9999551870938831 Centerline is valid? [True, True] Translation: X:197.99, Y:237.33, Z:10.14 [[-4.60660161e-01 -8.87551390e-01 6.68925457e-03 1.97989508e+02] [ 8.87452141e-01 -4.60708691e-01 -1.32739931e-02 2.37328588e+02] [ 1.48631488e-02 -1.78406508e-04 9.99889521e-01 1.01404380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.98, Y:237.35, Z:10.14 [[-4.57957103e-01 -8.88947104e-01 6.95254185e-03 1.97975323e+02] [ 8.88840254e-01 -4.58009856e-01 -1.37831054e-02 2.37349876e+02] [ 1.54367843e-02 -1.32371935e-04 9.99880837e-01 1.01394796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:237.37, Z:10.14 [[-4.57220670e-01 -8.89324485e-01 7.15682335e-03 1.97962878e+02] [ 8.89211543e-01 -4.57276665e-01 -1.41733493e-02 2.37372473e+02] [ 1.58773549e-02 -1.16418350e-04 9.99873940e-01 1.01387893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9027550960001 meters Centerline goodness [0,1] 0.9999553142525192 Centerline is valid? [True, True] Translation: X:197.95, Y:237.40, Z:10.14 [[-4.55929524e-01 -8.89988176e-01 7.02245570e-03 1.97948854e+02] [ 8.89879720e-01 -4.55983595e-01 -1.38940610e-02 2.37396285e+02] [ 1.55676746e-02 -8.55717014e-05 9.99878813e-01 1.01402053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.94, Y:237.42, Z:10.14 [[-4.56043304e-01 -8.89929287e-01 7.09718428e-03 1.97937407e+02] [ 8.89818713e-01 -4.56098518e-01 -1.40285469e-02 2.37419264e+02] [ 1.57214300e-02 -8.24174920e-05 9.99876407e-01 1.01407481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:237.44, Z:10.14 [[-4.56442639e-01 -8.89726996e-01 6.78157901e-03 1.97925951e+02] [ 8.89626214e-01 -4.56493008e-01 -1.33915648e-02 2.37442739e+02] [ 1.50105801e-02 -7.94107230e-05 9.99887332e-01 1.01414604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.92, Y:237.47, Z:10.14 [[-4.57560058e-01 -8.89153039e-01 6.75772608e-03 1.97915518e+02] [ 8.89053095e-01 -4.57609949e-01 -1.33314956e-02 2.37466592e+02] [ 1.49461425e-02 -9.19825908e-05 9.99888296e-01 1.01422889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.90, Y:237.49, Z:10.14 [[-4.58396094e-01 -8.88721392e-01 6.87808852e-03 1.97903640e+02] [ 8.88618004e-01 -4.58447682e-01 -1.35560353e-02 2.37491206e+02] [ 1.52007823e-02 -1.02040354e-04 9.99884456e-01 1.01431196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.89, Y:237.52, Z:10.14 [[-4.59842718e-01 -8.87972325e-01 7.05860706e-03 1.97893814e+02] [ 8.87863551e-01 -4.59896873e-01 -1.38989532e-02 2.37515189e+02] [ 1.55881171e-02 -1.24252475e-04 9.99878490e-01 1.01430657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:237.54, Z:10.14 [[-4.60852847e-01 -8.87447781e-01 7.14772472e-03 1.97882139e+02] [ 8.87336391e-01 -4.60908253e-01 -1.40610391e-02 2.37539418e+02] [ 1.57728832e-02 -1.37633630e-04 9.99875591e-01 1.01433264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.87, Y:237.56, Z:10.14 [[-4.61630413e-01 -8.87043878e-01 7.10775518e-03 1.97870034e+02] [ 8.86933885e-01 -4.61685106e-01 -1.39694911e-02 2.37563942e+02] [ 1.56730962e-02 -1.44633017e-04 9.99877159e-01 1.01437873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.86, Y:237.59, Z:10.14 [[-4.63993380e-01 -8.85811982e-01 6.87581376e-03 1.97860016e+02] [ 8.85709094e-01 -4.64044290e-01 -1.35017659e-02 2.37588642e+02] [ 1.51507081e-02 -1.74759204e-04 9.99885206e-01 1.01440490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.85, Y:237.61, Z:10.14 [[-4.65394371e-01 -8.85077718e-01 6.74628746e-03 1.97848996e+02] [ 8.84978775e-01 -4.65443227e-01 -1.32351694e-02 2.37612842e+02] [ 1.48541674e-02 -1.89252152e-04 9.99889653e-01 1.01449506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:237.64, Z:10.14 [[-4.66818131e-01 -8.84327328e-01 6.78302023e-03 1.97837554e+02] [ 8.84227417e-01 -4.66867361e-01 -1.32944525e-02 2.37636668e+02] [ 1.49234184e-02 -2.08359019e-04 9.99888618e-01 1.01449674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:237.66, Z:10.14 [[-4.67469185e-01 -8.83980516e-01 7.14201891e-03 1.97826125e+02] [ 8.83869927e-01 -4.67523686e-01 -1.39841087e-02 2.37659731e+02] [ 1.57007426e-02 -2.24524173e-04 9.99876711e-01 1.01443302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:237.68, Z:10.14 [[-4.67922865e-01 -8.83738674e-01 7.35853315e-03 1.97813954e+02] [ 8.83621477e-01 -4.67980664e-01 -1.43938948e-02 2.37683114e+02] [ 1.61640928e-02 -2.33074590e-04 9.99869325e-01 1.01438067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.80, Y:237.71, Z:10.14 [[-4.68029336e-01 -8.83677623e-01 7.89928930e-03 1.97800282e+02] [ 8.83542810e-01 -4.68095928e-01 -1.54371282e-02 2.37706697e+02] [ 1.73390699e-02 -2.45668586e-04 9.99849637e-01 1.01439580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.79, Y:237.73, Z:10.14 [[-4.68287844e-01 -8.83539980e-01 7.97495216e-03 1.97788879e+02] [ 8.83402808e-01 -4.68355681e-01 -1.55703230e-02 2.37729993e+02] [ 1.74921171e-02 -2.46297880e-04 9.99846971e-01 1.01439854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.352755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:237.75, Z:10.14 [[-4.67887979e-01 -8.83750242e-01 8.14549234e-03 1.97775313e+02] [ 8.83607455e-01 -4.67958817e-01 -1.58874591e-02 2.37752237e+02] [ 1.78523008e-02 -2.36133379e-04 9.99840607e-01 1.01446871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.76, Y:237.77, Z:10.15 [[-4.67874529e-01 -8.83756678e-01 8.21947799e-03 1.97762427e+02] [ 8.83611562e-01 -4.67946666e-01 -1.60164270e-02 2.37774924e+02] [ 1.80009016e-02 -2.30852458e-04 9.99837944e-01 1.01452713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:237.80, Z:10.15 [[-4.67512514e-01 -8.83948303e-01 8.21259790e-03 1.97748971e+02] [ 8.83803732e-01 -4.67584592e-01 -1.59878912e-02 2.37797810e+02] [ 1.79725535e-02 -2.16214511e-04 9.99838457e-01 1.01462880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.74, Y:237.82, Z:10.15 [[-4.67412282e-01 -8.84000937e-01 8.25237221e-03 1.97736576e+02] [ 8.83855250e-01 -4.67485080e-01 -1.60498439e-02 2.37820523e+02] [ 1.80459379e-02 -2.07991648e-04 9.99837137e-01 1.01465140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:237.84, Z:10.15 [[-4.67627781e-01 -8.83886901e-01 8.25860901e-03 1.97723293e+02] [ 8.83741258e-01 -4.67700657e-01 -1.60463326e-02 2.37843413e+02] [ 1.80457000e-02 -2.05237381e-04 9.99837142e-01 1.01478162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:237.87, Z:10.15 [[-4.67382977e-01 -8.84016596e-01 8.23466651e-03 1.97711583e+02] [ 8.83872100e-01 -4.67455474e-01 -1.59840894e-02 2.37866255e+02] [ 1.79795402e-02 -1.92299296e-04 9.99838337e-01 1.01481522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.70, Y:237.89, Z:10.15 [[-4.66973561e-01 -8.84232739e-01 8.25572233e-03 1.97698126e+02] [ 8.84087820e-01 -4.67046499e-01 -1.60092157e-02 2.37888249e+02] [ 1.80116788e-02 -1.77096896e-04 9.99837761e-01 1.01481478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:237.91, Z:10.15 [[-4.66905593e-01 -8.84270855e-01 8.01391648e-03 1.97684220e+02] [ 8.84134555e-01 -4.66974334e-01 -1.55261207e-02 2.37911146e+02] [ 1.74715894e-02 -1.63852129e-04 9.99847347e-01 1.01490119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.67, Y:237.93, Z:10.15 [[-4.67019260e-01 -8.84211147e-01 7.97865990e-03 1.97670267e+02] [ 8.84076282e-01 -4.67087383e-01 -1.54436011e-02 2.37933680e+02] [ 1.73821356e-02 -1.58715164e-04 9.99848907e-01 1.01507234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:237.96, Z:10.15 [[-4.67113470e-01 -8.84160844e-01 8.03789487e-03 1.97657155e+02] [ 8.84024222e-01 -4.67182596e-01 -1.55433788e-02 2.37956393e+02] [ 1.74980115e-02 -1.54827848e-04 9.99846886e-01 1.01516528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:237.98, Z:10.15 [[-4.66904214e-01 -8.84273277e-01 7.82481434e-03 1.97644558e+02] [ 8.84144065e-01 -4.66969756e-01 -1.51168421e-02 2.37979016e+02] [ 1.70213712e-02 -1.39854126e-04 9.99855116e-01 1.01511460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.63, Y:238.00, Z:10.15 [[-4.67236403e-01 -8.84096883e-01 7.92753762e-03 1.97630204e+02] [ 8.83964480e-01 -4.67303629e-01 -1.53008519e-02 2.38002680e+02] [ 1.72320026e-02 -1.41453351e-04 9.99851508e-01 1.01525631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.62, Y:238.02, Z:10.15 [[-4.67685896e-01 -8.83855091e-01 8.37145192e-03 1.97617653e+02] [ 8.83707653e-01 -4.67760788e-01 -1.61440134e-02 2.38024815e+02] [ 1.81848053e-02 -1.52411218e-04 9.99834631e-01 1.01520626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.60, Y:238.05, Z:10.15 [[-4.68127962e-01 -8.83619373e-01 8.54493286e-03 1.97604396e+02] [ 8.83465985e-01 -4.68205916e-01 -1.64643118e-02 2.38048229e+02] [ 1.85489730e-02 -1.58247202e-04 9.99827941e-01 1.01516368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.59, Y:238.07, Z:10.15 [[-4.68467523e-01 -8.83437003e-01 8.78874687e-03 1.97593069e+02] [ 8.83274983e-01 -4.68549929e-01 -1.69194746e-02 2.38070722e+02] [ 1.90652566e-02 -1.63344110e-04 9.99818228e-01 1.01501772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.58, Y:238.09, Z:10.15 [[-4.69526975e-01 -8.82874720e-01 8.75496063e-03 1.97579700e+02] [ 8.82714117e-01 -4.69608558e-01 -1.68401563e-02 2.38093905e+02] [ 1.89791527e-02 -1.78780298e-04 9.99819864e-01 1.01513622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:238.12, Z:10.15 [[-4.71439153e-01 -8.81859926e-01 8.25814806e-03 1.97568802e+02] [ 8.81717142e-01 -4.71511433e-01 -1.58697538e-02 2.38116383e+02] [ 1.78887111e-02 -2.00272586e-04 9.99839964e-01 1.01523301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.56, Y:238.14, Z:10.15 [[-4.74018819e-01 -8.80480931e-01 7.71301958e-03 1.97557006e+02] [ 8.80356414e-01 -4.74081510e-01 -1.48089578e-02 2.38141183e+02] [ 1.66956049e-02 -2.29518413e-04 9.99860592e-01 1.01543950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.54, Y:238.17, Z:10.16 [[-4.75384760e-01 -8.79745772e-01 7.53045414e-03 1.97544863e+02] [ 8.79627190e-01 -4.75444338e-01 -1.44460885e-02 2.38166101e+02] [ 1.62891971e-02 -2.43458103e-04 9.99867293e-01 1.01553266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.53, Y:238.19, Z:10.16 [[-4.76643550e-01 -8.79065624e-01 7.38613435e-03 1.97534546e+02] [ 8.78951660e-01 -4.76700707e-01 -1.41568393e-02 2.38190250e+02] [ 1.59657662e-02 -2.55711106e-04 9.99872506e-01 1.01557708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.52, Y:238.21, Z:10.16 [[-4.78102842e-01 -8.78274225e-01 7.21510515e-03 1.97521197e+02] [ 8.78165585e-01 -4.78157205e-01 -1.38164112e-02 2.38213040e+02] [ 1.55845524e-02 -2.69608437e-04 9.99878517e-01 1.01567502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.51, Y:238.24, Z:10.16 [[-4.78544717e-01 -8.78034152e-01 7.14020261e-03 1.97507677e+02] [ 8.77927920e-01 -4.78597907e-01 -1.36605256e-02 2.38237233e+02] [ 1.54116940e-02 -2.68589116e-04 9.99881197e-01 1.01568237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.012755096 meters Centerline goodness [0,1] 0.9999778555294743 Centerline is valid? [True, True] Translation: X:197.49, Y:238.26, Z:10.16 [[-4.78432786e-01 -8.78094344e-01 7.23834066e-03 1.97494886e+02] [ 8.77985379e-01 -4.78487465e-01 -1.38354867e-02 2.38259580e+02] [ 1.56123179e-02 -2.64193162e-04 9.99878085e-01 1.01564262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0427550960001 meters Centerline goodness [0,1] 0.9998897099371347 Centerline is valid? [True, True] Translation: X:197.48, Y:238.28, Z:10.16 [[-4.78104179e-01 -8.78272511e-01 7.33426219e-03 1.97482131e+02] [ 8.78160877e-01 -4.78160362e-01 -1.40050802e-02 2.38282477e+02] [ 1.58072304e-02 -2.55225241e-04 9.99875025e-01 1.01565914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.072755096 meters Centerline goodness [0,1] 0.9999778653326841 Centerline is valid? [True, True] Translation: X:197.47, Y:238.31, Z:10.16 [[-4.78074547e-01 -8.78287697e-01 7.44638608e-03 1.97467661e+02] [ 8.78172836e-01 -4.78132468e-01 -1.42061020e-02 2.38305943e+02] [ 1.60374036e-02 -2.52361786e-04 9.99871361e-01 1.01574373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.102755096 meters Centerline goodness [0,1] 0.9999558040350915 Centerline is valid? [True, True] Translation: X:197.45, Y:238.33, Z:10.16 [[-4.77211281e-01 -8.78758168e-01 7.31268283e-03 1.97454009e+02] [ 8.78647622e-01 -4.77267253e-01 -1.39400747e-02 2.38328648e+02] [ 1.57400585e-02 -2.27089524e-04 9.99876092e-01 1.01581194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.132755096 meters Centerline goodness [0,1] 0.9999336209757717 Centerline is valid? [True, True] Translation: X:197.44, Y:238.35, Z:10.16 [[-4.77298669e-01 -8.78712229e-01 7.12743319e-03 1.97440515e+02] [ 8.78607369e-01 -4.77351832e-01 -1.35764443e-02 2.38351978e+02] [ 1.53320809e-02 -2.17803452e-04 9.99882433e-01 1.01590242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.43, Y:238.37, Z:10.16 [[-4.76634458e-01 -8.79074969e-01 6.84057235e-03 1.97427159e+02] [ 8.78978597e-01 -4.76683504e-01 -1.30177801e-02 2.38373743e+02] [ 1.47043926e-02 -1.92005877e-04 9.99891866e-01 1.01605281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.42, Y:238.40, Z:10.16 [[-4.76520146e-01 -8.79138023e-01 6.69972807e-03 1.97415515e+02] [ 8.79045764e-01 -4.76567208e-01 -1.27373615e-02 2.38396673e+02] [ 1.43907696e-02 -1.80241807e-04 9.99896431e-01 1.01608975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.40, Y:238.42, Z:10.16 [[-4.76527865e-01 -8.79134422e-01 6.62282490e-03 1.97402415e+02] [ 8.79044438e-01 -4.76573854e-01 -1.25792866e-02 2.38420050e+02] [ 1.42151490e-02 -1.72623170e-04 9.99898945e-01 1.01614814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.252755096 meters Centerline goodness [0,1] 0.9999556835807667 Centerline is valid? [True, True] Translation: X:197.39, Y:238.44, Z:10.16 [[-4.75870875e-01 -8.79491322e-01 6.47498828e-03 1.97387752e+02] [ 8.79405497e-01 -4.75914900e-01 -1.22874047e-02 2.38441779e+02] [ 1.38882092e-02 -1.53077726e-04 9.99903542e-01 1.01624862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.37, Y:238.46, Z:10.16 [[-4.74201727e-01 -8.80390483e-01 6.73198358e-03 1.97372356e+02] [ 8.80297981e-01 -4.74249493e-01 -1.27625810e-02 2.38463108e+02] [ 1.44286947e-02 -1.25886403e-04 9.99895893e-01 1.01620526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.36, Y:238.49, Z:10.16 [[-4.73590286e-01 -8.80719405e-01 6.75056143e-03 1.97358519e+02] [ 8.80626601e-01 -4.73638382e-01 -1.27856206e-02 2.38485155e+02] [ 1.44578692e-02 -1.10421749e-04 9.99895473e-01 1.01613889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.342755096 meters Centerline goodness [0,1] 0.9997787806388815 Centerline is valid? [True, True] Translation: X:197.35, Y:238.51, Z:10.16 [[-4.72874909e-01 -8.81102164e-01 6.94967906e-03 1.97345019e+02] [ 8.81004033e-01 -4.72925965e-01 -1.31501017e-02 2.38508196e+02] [ 1.48732667e-02 -9.56578451e-05 9.99889382e-01 1.01611457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.372755096 meters Centerline goodness [0,1] 0.9998893340120847 Centerline is valid? [True, True] Translation: X:197.33, Y:238.53, Z:10.16 [[-4.72685194e-01 -8.81202608e-01 7.11833054e-03 1.97332474e+02] [ 8.81099868e-01 -4.72738781e-01 -1.34561490e-02 2.38530336e+02] [ 1.52227045e-02 -8.85623076e-05 9.99884124e-01 1.01613127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4027550960001 meters Centerline goodness [0,1] 0.9998451327433628 Centerline is valid? [True, True] Translation: X:197.32, Y:238.55, Z:10.16 [[-4.72354950e-01 -8.81378986e-01 7.20311998e-03 1.97319594e+02] [ 8.81274005e-01 -4.72409862e-01 -1.36033032e-02 2.38553468e+02] [ 1.53924905e-02 -7.76652035e-05 9.99881526e-01 1.01615282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.432755096 meters Centerline goodness [0,1] 0.9996899224806202 Centerline is valid? [True, True] Translation: X:197.31, Y:238.58, Z:10.16 [[-4.72380205e-01 -8.81364659e-01 7.29925579e-03 1.97306933e+02] [ 8.81257055e-01 -4.72436591e-01 -1.37720793e-02 2.38576859e+02] [ 1.55866595e-02 -7.31370061e-05 9.99878518e-01 1.01618125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.462755096 meters Centerline goodness [0,1] 0.9998010038251487 Centerline is valid? [True, True] Translation: X:197.29, Y:238.60, Z:10.16 [[-4.72920293e-01 -8.81074790e-01 7.32198693e-03 1.97293482e+02] [ 8.80966678e-01 -4.72976965e-01 -1.38023048e-02 2.38599852e+02] [ 1.56239940e-02 -7.69635484e-05 9.99877935e-01 1.01619962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.492755096 meters Centerline goodness [0,1] 0.9998010038251487 Centerline is valid? [True, True] Translation: X:197.28, Y:238.62, Z:10.16 [[-4.73253399e-01 -8.80895869e-01 7.32720547e-03 1.97281084e+02] [ 8.80787779e-01 -4.73310112e-01 -1.37995344e-02 2.38622646e+02] [ 1.56239933e-02 -7.69635449e-05 9.99877935e-01 1.01622377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters Centerline goodness [0,1] 0.9997124529971245 Centerline is valid? [True, True] Translation: X:197.27, Y:238.65, Z:10.16 [[-4.74074962e-01 -8.80455273e-01 7.17235375e-03 1.97268999e+02] [ 8.80351842e-01 -4.74129207e-01 -1.34955416e-02 2.38645044e+02] [ 1.52828432e-02 -8.37035306e-05 9.99883207e-01 1.01619602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.552755096 meters Centerline goodness [0,1] 0.9998675789009048 Centerline is valid? [True, True] Translation: X:197.26, Y:238.67, Z:10.16 [[-4.75291656e-01 -8.79797970e-01 7.30574202e-03 1.97256576e+02] [ 8.79690779e-01 -4.75347790e-01 -1.37336007e-02 2.38668937e+02] [ 1.55555623e-02 -1.00671904e-04 9.99879000e-01 1.01624085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.582755096 meters Centerline goodness [0,1] 0.9999339701545098 Centerline is valid? [True, True] Translation: X:197.25, Y:238.69, Z:10.16 [[-4.77586466e-01 -8.78554573e-01 7.28216057e-03 1.97246696e+02] [ 8.78448106e-01 -4.77641963e-01 -1.36777379e-02 2.38691916e+02] [ 1.54949046e-02 -1.35302336e-04 9.99879938e-01 1.01631062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.612755096 meters Centerline goodness [0,1] 0.9998231340643792 Centerline is valid? [True, True] Translation: X:197.24, Y:238.72, Z:10.16 [[-4.78749527e-01 -8.77921759e-01 7.23017691e-03 1.97235042e+02] [ 8.77816903e-01 -4.78804096e-01 -1.35691700e-02 2.38715359e+02] [ 1.53745079e-02 -1.49462235e-04 9.99881794e-01 1.01635963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.22, Y:238.74, Z:10.16 [[-4.81008167e-01 -8.76685451e-01 7.33236916e-03 1.97224214e+02] [ 8.76577660e-01 -4.81064014e-01 -1.37484938e-02 2.38738076e+02] [ 1.55804434e-02 -1.85746792e-04 9.99878600e-01 1.01642105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.21, Y:238.76, Z:10.16 [[-4.82108213e-01 -8.76079900e-01 7.46187244e-03 1.97211379e+02] [ 8.75968398e-01 -4.82165913e-01 -1.39785037e-02 2.38761235e+02] [ 1.58441467e-02 -2.02786990e-04 9.99874453e-01 1.01643968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.20, Y:238.78, Z:10.17 [[-4.84006398e-01 -8.75029888e-01 7.77834094e-03 1.97197455e+02] [ 8.74908804e-01 -4.84068835e-01 -1.45583911e-02 2.38784510e+02] [ 1.65042798e-02 -2.41015477e-04 9.99863766e-01 1.01655587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:238.81, Z:10.17 [[-4.85253774e-01 -8.74338314e-01 7.82865145e-03 1.97185734e+02] [ 8.74215765e-01 -4.85316850e-01 -1.46407775e-02 2.38807297e+02] [ 1.66003692e-02 -2.60562008e-04 9.99862170e-01 1.01657397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:238.83, Z:10.17 [[-4.86924618e-01 -8.73404956e-01 8.25831048e-03 1.97172653e+02] [ 8.73268670e-01 -4.86994550e-01 -1.54317232e-02 2.38831641e+02] [ 1.74998957e-02 -3.02362109e-04 9.99846819e-01 1.01665112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:238.86, Z:10.17 [[-4.87627789e-01 -8.73011302e-01 8.39088210e-03 1.97159655e+02] [ 8.72870785e-01 -4.87699875e-01 -1.56660429e-02 2.38855398e+02] [ 1.77688646e-02 -3.15042000e-04 9.99842072e-01 1.01667013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.15, Y:238.88, Z:10.17 [[-4.88464925e-01 -8.72541805e-01 8.53321434e-03 1.97146486e+02] [ 8.72396655e-01 -4.88539342e-01 -1.59181587e-02 2.38878943e+02] [ 1.80580699e-02 -3.31114556e-04 9.99836885e-01 1.01672185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:238.90, Z:10.17 [[-4.88956895e-01 -8.72264424e-01 8.71375395e-03 1.97132951e+02] [ 8.72113293e-01 -4.89034414e-01 -1.62402916e-02 2.38901968e+02] [ 1.84271542e-02 -3.41421910e-04 9.99830147e-01 1.01679003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.12, Y:238.92, Z:10.17 [[-4.88640820e-01 -8.72438665e-01 8.99584590e-03 1.97119145e+02] [ 8.72277891e-01 -4.88723502e-01 -1.67517175e-02 2.38923355e+02] [ 1.90113273e-02 -3.38695486e-04 9.99819211e-01 1.01675815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:238.95, Z:10.17 [[-4.88541293e-01 -8.72495018e-01 8.93582740e-03 1.97103930e+02] [ 8.72336643e-01 -4.88622898e-01 -1.66266428e-02 2.38946197e+02] [ 1.88729129e-02 -3.27751903e-04 9.99821837e-01 1.01683248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.09, Y:238.97, Z:10.17 [[-4.88088138e-01 -8.72746254e-01 9.16223780e-03 1.97091177e+02] [ 8.72580089e-01 -4.88174021e-01 -1.70327366e-02 2.38969608e+02] [ 1.93380235e-02 -3.18690406e-04 9.99812952e-01 1.01677725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.08, Y:238.99, Z:10.17 [[-4.87692078e-01 -8.72968335e-01 9.09526563e-03 1.97077162e+02] [ 8.72804921e-01 -4.87776789e-01 -1.68929938e-02 2.38992205e+02] [ 1.91835081e-02 -3.00186638e-04 9.99815935e-01 1.01683712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.06, Y:239.01, Z:10.17 [[-4.86586287e-01 -8.73585790e-01 9.03622833e-03 1.97060693e+02] [ 8.73424870e-01 -4.86670111e-01 -1.67690086e-02 2.39014823e+02] [ 1.90468299e-02 -2.67103093e-04 9.99818557e-01 1.01697508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:239.04, Z:10.17 [[-4.86096724e-01 -8.73858278e-01 9.03798829e-03 1.97048761e+02] [ 8.73697629e-01 -4.86180675e-01 -1.67572134e-02 2.39036988e+02] [ 1.90375249e-02 -2.49157590e-04 9.99818739e-01 1.01689775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.03, Y:239.06, Z:10.17 [[-4.86055136e-01 -8.73881788e-01 9.00146567e-03 1.97033503e+02] [ 8.73722744e-01 -4.86138421e-01 -1.66734177e-02 2.39058893e+02] [ 1.89465544e-02 -2.39415029e-04 9.99820469e-01 1.01706997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.02, Y:239.08, Z:10.17 [[-4.86347109e-01 -8.73720455e-01 8.89129395e-03 1.97020631e+02] [ 8.73565550e-01 -4.86428320e-01 -1.64535729e-02 2.39080811e+02] [ 1.87008004e-02 -2.35019545e-04 9.99825097e-01 1.01716263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:239.10, Z:10.17 [[-4.87339352e-01 -8.73166570e-01 8.97197687e-03 1.97008961e+02] [ 8.73009053e-01 -4.87421868e-01 -1.65865881e-02 2.39103053e+02] [ 1.88559920e-02 -2.50680070e-04 9.99822179e-01 1.01719676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:239.13, Z:10.17 [[-4.89175350e-01 -8.72140112e-01 8.89395114e-03 1.96997548e+02] [ 8.71985434e-01 -4.89256116e-01 -1.64272885e-02 2.39126610e+02] [ 1.86783172e-02 -2.80428771e-04 9.99825506e-01 1.01721952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.99, Y:239.15, Z:10.17 [[-4.90458339e-01 -8.71420370e-01 8.78385601e-03 1.96985294e+02] [ 8.71269648e-01 -4.90536900e-01 -1.62095631e-02 2.39150118e+02] [ 1.84341489e-02 -2.97008233e-04 9.99830033e-01 1.01728562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:239.17, Z:10.17 [[-4.92710645e-01 -8.70150246e-01 8.64694861e-03 1.96973580e+02] [ 8.70004241e-01 -4.92786403e-01 -1.59430974e-02 2.39174520e+02] [ 1.81339889e-02 -3.32451867e-04 9.99835510e-01 1.01741172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.96, Y:239.20, Z:10.17 [[-4.93930480e-01 -8.69458657e-01 8.62121324e-03 1.96962381e+02] [ 8.69313638e-01 -4.94005589e-01 -1.58832484e-02 2.39197311e+02] [ 1.80687554e-02 -3.50682289e-04 9.99836685e-01 1.01740814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.95, Y:239.22, Z:10.18 [[-4.95548660e-01 -8.68536330e-01 8.72747198e-03 1.96948420e+02] [ 8.68387804e-01 -4.95625360e-01 -1.60662474e-02 2.39220258e+02] [ 1.82796760e-02 -3.82777124e-04 9.99832840e-01 1.01753681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.94, Y:239.24, Z:10.18 [[-4.96195376e-01 -8.68164023e-01 9.02103510e-03 1.96936422e+02] [ 8.68005552e-01 -4.96277209e-01 -1.65919807e-02 2.39244006e+02] [ 1.88814949e-02 -4.02555570e-04 9.99821648e-01 1.01751376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.92, Y:239.27, Z:10.18 [[-4.97383138e-01 -8.67482396e-01 9.18187328e-03 1.96923573e+02] [ 8.67318388e-01 -4.97467697e-01 -1.68732000e-02 2.39268157e+02] [ 1.92048893e-02 -4.28837616e-04 9.99815477e-01 1.01752224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.91, Y:239.29, Z:10.17 [[-4.97897296e-01 -8.67186328e-01 9.28200443e-03 1.96912732e+02] [ 8.67018969e-01 -4.97983615e-01 -1.70418927e-02 2.39290807e+02] [ 1.94007825e-02 -4.37438356e-04 9.99811691e-01 1.01747873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.90, Y:239.31, Z:10.17 [[-4.98299406e-01 -8.66952165e-01 9.57316332e-03 1.96900773e+02] [ 8.66774431e-01 -4.98391151e-01 -1.75598121e-02 2.39313058e+02] [ 1.99946970e-02 -4.52270750e-04 9.99799984e-01 1.01745647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.88, Y:239.33, Z:10.18 [[-4.98802947e-01 -8.66660218e-01 9.78196952e-03 1.96884456e+02] [ 8.66474912e-01 -4.98898636e-01 -1.79269914e-02 2.39334721e+02] [ 2.04168216e-02 -4.66204980e-04 9.99791446e-01 1.01761599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.87, Y:239.36, Z:10.18 [[-4.99008858e-01 -8.66540930e-01 9.84765479e-03 1.96871161e+02] [ 8.66353434e-01 -4.99105800e-01 -1.80312896e-02 2.39357921e+02] [ 2.05398721e-02 -4.66223689e-04 9.99788926e-01 1.01763671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.86, Y:239.38, Z:10.18 [[-4.99133714e-01 -8.66468009e-01 9.93602788e-03 1.96857311e+02] [ 8.66277454e-01 -4.99232383e-01 -1.81769308e-02 2.39381364e+02] [ 2.07101159e-02 -4.65362045e-04 9.99785414e-01 1.01774788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:239.40, Z:10.18 [[-4.99403955e-01 -8.66314281e-01 9.75993799e-03 1.96845306e+02] [ 8.66130723e-01 -4.99499109e-01 -1.78384863e-02 2.39403806e+02] [ 2.03288157e-02 -4.55228454e-04 9.99793245e-01 1.01778362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.83, Y:239.43, Z:10.18 [[-4.99587010e-01 -8.66210683e-01 9.58499573e-03 1.96831271e+02] [ 8.66033944e-01 -4.99678753e-01 -1.75029174e-02 2.39426923e+02] [ 1.99506327e-02 -4.43298507e-04 9.99800868e-01 1.01791671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.82, Y:239.45, Z:10.18 [[-4.99567122e-01 -8.66223160e-01 9.49355917e-03 1.96817869e+02] [ 8.66050068e-01 -4.99657133e-01 -1.73213462e-02 2.39450573e+02] [ 1.97476758e-02 -4.31277501e-04 9.99804903e-01 1.01802443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.81, Y:239.47, Z:10.18 [[-4.99604144e-01 -8.66200681e-01 9.59576494e-03 1.96805698e+02] [ 8.66024158e-01 -4.99696103e-01 -1.74917693e-02 2.39472841e+02] [ 1.99463489e-02 -4.28796191e-04 9.99800960e-01 1.01806094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.79, Y:239.50, Z:10.18 [[-4.99275611e-01 -8.66392577e-01 9.36841489e-03 1.96792498e+02] [ 8.66224665e-01 -4.99363335e-01 -1.70613441e-02 2.39495987e+02] [ 1.94600648e-02 -4.03160978e-04 9.99810554e-01 1.01818482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:239.52, Z:10.18 [[-4.98859264e-01 -8.66633028e-01 9.30755272e-03 1.96779230e+02] [ 8.66467634e-01 -4.98945938e-01 -1.69348852e-02 2.39518642e+02] [ 1.93202965e-02 -3.83431183e-04 9.99813272e-01 1.01820595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:239.54, Z:10.18 [[-4.97119672e-01 -8.67631002e-01 9.40621359e-03 1.96764534e+02] [ 8.67462557e-01 -4.97208537e-01 -1.70992054e-02 2.39541694e+02] [ 1.95126504e-02 -3.40813297e-04 9.99809552e-01 1.01834253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.75, Y:239.56, Z:10.18 [[-4.95969404e-01 -8.68289096e-01 9.40193033e-03 1.96751059e+02] [ 8.68121219e-01 -4.96058415e-01 -1.70762352e-02 2.39563903e+02] [ 1.94910155e-02 -3.07274979e-04 9.99809985e-01 1.01835101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.752755096 meters Centerline goodness [0,1] 0.9998902256959691 Centerline is valid? [True, True] Translation: X:196.74, Y:239.59, Z:10.18 [[-4.95293138e-01 -8.68677551e-01 9.16626198e-03 1.96736602e+02] [ 8.68518341e-01 -4.95377872e-01 -1.66329540e-02 2.39586070e+02] [ 1.89894371e-02 -2.77121338e-04 9.99819646e-01 1.01817033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7827550960001 meters Centerline goodness [0,1] 0.9999123537403042 Centerline is valid? [True, True] Translation: X:196.72, Y:239.61, Z:10.18 [[-4.91655274e-01 -8.70742810e-01 9.05822146e-03 1.96720440e+02] [ 8.70587954e-01 -4.91738675e-01 -1.64222365e-02 2.39607572e+02] [ 1.87538222e-02 -1.88100689e-04 9.99824114e-01 1.01820300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.812755096 meters Centerline goodness [0,1] 0.9999123882950762 Centerline is valid? [True, True] Translation: X:196.70, Y:239.63, Z:10.18 [[-4.88678935e-01 -8.72416794e-01 9.04629694e-03 1.96704211e+02] [ 8.72262907e-01 -4.88762645e-01 -1.63859279e-02 2.39629125e+02] [ 1.87168507e-02 -1.16708541e-04 9.99824818e-01 1.01822513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.69, Y:239.65, Z:10.18 [[-4.87730871e-01 -8.72944864e-01 9.26620548e-03 1.96691330e+02] [ 8.72783804e-01 -4.87818877e-01 -1.67682824e-02 2.39650598e+02] [ 1.91580160e-02 -9.10149360e-05 9.99816464e-01 1.01836897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.68, Y:239.67, Z:10.18 [[-4.87216653e-01 -8.73231976e-01 9.26547861e-03 1.96678233e+02] [ 8.73071292e-01 -4.87304741e-01 -1.67513807e-02 2.39673541e+02] [ 1.91429530e-02 -7.21282699e-05 9.99816754e-01 1.01836134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.67, Y:239.70, Z:10.18 [[-4.87209786e-01 -8.73238021e-01 9.05446891e-03 1.96665381e+02] [ 8.73084851e-01 -4.87293910e-01 -1.63550518e-02 2.39696816e+02] [ 1.86940406e-02 -6.30216304e-05 9.99825249e-01 1.01848679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:239.72, Z:10.19 [[-4.87506276e-01 -8.73078486e-01 8.46100127e-03 1.96654427e+02] [ 8.72944959e-01 -4.87579690e-01 -1.52690666e-02 2.39719371e+02] [ 1.74565059e-02 -5.77773747e-05 9.99847622e-01 1.01857999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.962755096 meters Centerline goodness [0,1] 0.999933893038937 Centerline is valid? [True, True] Translation: X:196.64, Y:239.74, Z:10.19 [[-4.87874189e-01 -8.72874534e-01 8.29597957e-03 1.96642068e+02] [ 8.72746375e-01 -4.87944714e-01 -1.49572905e-02 2.39742268e+02] [ 1.71038174e-02 -5.69898898e-05 9.99853717e-01 1.01863443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.63, Y:239.77, Z:10.19 [[-4.88678818e-01 -8.72427488e-01 7.95562297e-03 1.96631194e+02] [ 8.72309783e-01 -4.88743568e-01 -1.43306356e-02 2.39765085e+02] [ 1.63906999e-02 -6.33102906e-05 9.99865661e-01 1.01869880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters Centerline goodness [0,1] 0.9999559810718609 Centerline is valid? [True, True] Translation: X:196.62, Y:239.79, Z:10.19 [[-4.89569687e-01 -8.71929588e-01 7.76635768e-03 1.96619430e+02] [ 8.71817559e-01 -4.89631279e-01 -1.39769304e-02 2.39788747e+02] [ 1.59895508e-02 -7.18344502e-05 9.99872156e-01 1.01874155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.61, Y:239.81, Z:10.19 [[-4.90302868e-01 -8.71515597e-01 7.97884663e-03 1.96608286e+02] [ 8.71397517e-01 -4.90367778e-01 -1.43460661e-02 2.39812134e+02] [ 1.64153896e-02 -8.11701980e-05 9.99865255e-01 1.01871516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.60, Y:239.84, Z:10.19 [[-4.91493798e-01 -8.70842140e-01 8.23493233e-03 1.96598471e+02] [ 8.70716500e-01 -4.91562771e-01 -1.47925554e-02 2.39836611e+02] [ 1.69299668e-02 -1.00157800e-04 9.99856673e-01 1.01874931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.59, Y:239.86, Z:10.19 [[-4.92135852e-01 -8.70480392e-01 8.13572991e-03 1.96586752e+02] [ 8.70357935e-01 -4.92203084e-01 -1.46010257e-02 2.39860892e+02] [ 1.67143379e-02 -1.04691122e-04 9.99860300e-01 1.01876213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters Centerline goodness [0,1] 0.9999557208643287 Centerline is valid? [True, True] Translation: X:196.58, Y:239.89, Z:10.19 [[-4.92885585e-01 -8.70052071e-01 8.55527931e-03 1.96575521e+02] [ 8.69916836e-01 -4.92959815e-01 -1.53401216e-02 2.39886382e+02] [ 1.75641135e-02 -1.18543322e-04 9.99845732e-01 1.01874896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.57, Y:239.91, Z:10.19 [[-4.93327948e-01 -8.69799765e-01 8.71229772e-03 1.96565395e+02] [ 8.69659733e-01 -4.93404857e-01 -1.56075656e-02 2.39909897e+02] [ 1.78741469e-02 -1.22913800e-04 9.99840237e-01 1.01859704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.55, Y:239.93, Z:10.19 [[-4.94056227e-01 -8.69384412e-01 8.89880686e-03 1.96553585e+02] [ 8.69238526e-01 -4.94136344e-01 -1.59266499e-02 2.39933446e+02] [ 1.82436050e-02 -1.33474786e-04 9.99833563e-01 1.01867442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.54, Y:239.96, Z:10.19 [[-4.95176932e-01 -8.68742053e-01 9.33010368e-03 1.96544405e+02] [ 8.68581864e-01 -4.95264798e-01 -1.66830548e-02 2.39959153e+02] [ 1.91141432e-02 -1.57105023e-04 9.99817296e-01 1.01872947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:239.98, Z:10.19 [[-4.95728685e-01 -8.68426687e-01 9.38938322e-03 1.96534561e+02] [ 8.68264701e-01 -4.95817570e-01 -1.67733465e-02 2.39982513e+02] [ 1.92218429e-02 -1.62558986e-04 9.99815230e-01 1.01872131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:240.01, Z:10.19 [[-4.97371541e-01 -8.67487352e-01 9.34041306e-03 1.96525894e+02] [ 8.67327180e-01 -4.97459202e-01 -1.66704876e-02 2.40008179e+02] [ 1.91079115e-02 -1.90231976e-04 9.99817409e-01 1.01888942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.322755096 meters Centerline goodness [0,1] 0.9999331595481585 Centerline is valid? [True, True] Translation: X:196.51, Y:240.03, Z:10.19 [[-4.98305124e-01 -8.66953215e-01 9.17204870e-03 1.96514072e+02] [ 8.66798939e-01 -4.98389489e-01 -1.63559253e-02 2.40033281e+02] [ 1.87510747e-02 -1.99919298e-04 9.99824163e-01 1.01902772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.352755096 meters Centerline goodness [0,1] 0.999977794555225 Centerline is valid? [True, True] Translation: X:196.51, Y:240.06, Z:10.19 [[-4.99745680e-01 -8.66131269e-01 8.41900186e-03 1.96506106e+02] [ 8.66001382e-01 -4.99816549e-01 -1.50008031e-02 2.40058718e+02] [ 1.72006211e-02 -2.05719314e-04 9.99852037e-01 1.01915814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters Centerline goodness [0,1] 0.9999777743204499 Centerline is valid? [True, True] Translation: X:196.49, Y:240.08, Z:10.19 [[-5.00243058e-01 -8.65846831e-01 8.13322654e-03 1.96494807e+02] [ 8.65725785e-01 -5.00309130e-01 -1.44789263e-02 2.40082590e+02] [ 1.66056599e-02 -2.01838403e-04 9.99862096e-01 1.01928559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.48, Y:240.11, Z:10.19 [[-5.00747795e-01 -8.65555862e-01 8.04336645e-03 1.96484261e+02] [ 8.65437657e-01 -5.00812349e-01 -1.43057089e-02 2.40105670e+02] [ 1.64106074e-02 -2.02519949e-04 9.99865316e-01 1.01934071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.47, Y:240.13, Z:10.19 [[-5.01082561e-01 -8.65362051e-01 8.04906453e-03 1.96471311e+02] [ 8.65243873e-01 -5.01147163e-01 -1.43025028e-02 2.40128172e+02] [ 1.64106090e-02 -2.02330948e-04 9.99865316e-01 1.01936487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.472755096 meters Centerline goodness [0,1] 0.9999777263007841 Centerline is valid? [True, True] Translation: X:196.46, Y:240.15, Z:10.19 [[-5.01221079e-01 -8.65283862e-01 7.82740865e-03 1.96461123e+02] [ 8.65172291e-01 -5.01282158e-01 -1.38962185e-02 2.40153303e+02] [ 1.59479139e-02 -1.93020551e-04 9.99872805e-01 1.01947718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters Centerline goodness [0,1] 0.9999777337400637 Centerline is valid? [True, True] Translation: X:196.45, Y:240.18, Z:10.20 [[-5.01413824e-01 -8.65172773e-01 7.76212171e-03 1.96449463e+02] [ 8.65063240e-01 -5.01473865e-01 -1.37678151e-02 2.40177430e+02] [ 1.58040400e-02 -1.88646669e-04 9.99875091e-01 1.01951132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5327550960001 meters Centerline goodness [0,1] 0.999977601576849 Centerline is valid? [True, True] Translation: X:196.44, Y:240.20, Z:10.20 [[-5.00549136e-01 -8.65673432e-01 7.75059955e-03 1.96438842e+02] [ 8.65564481e-01 -5.00609111e-01 -1.37349190e-02 2.40202115e+02] [ 1.57699752e-02 -1.66358184e-04 9.99875632e-01 1.01956037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:240.23, Z:10.20 [[-4.99852823e-01 -8.66074891e-01 7.83825631e-03 1.96426058e+02] [ 8.65963706e-01 -4.99914254e-01 -1.38780232e-02 2.40226068e+02] [ 1.59378635e-02 -1.49323608e-04 9.99872973e-01 1.01959677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.41, Y:240.25, Z:10.20 [[-4.97943215e-01 -8.67173011e-01 7.97021213e-03 1.96414655e+02] [ 8.67058387e-01 -4.98006985e-01 -1.40995270e-02 2.40249684e+02] [ 1.61959506e-02 -1.10124546e-04 9.99868831e-01 1.01951998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:240.27, Z:10.20 [[-4.97146251e-01 -8.67628026e-01 8.19841930e-03 1.96401288e+02] [ 8.67507016e-01 -4.97213838e-01 -1.44905351e-02 2.40274040e+02] [ 1.66487619e-02 -9.17289387e-05 9.99861396e-01 1.01953790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.39, Y:240.30, Z:10.19 [[-4.95020236e-01 -8.68841047e-01 8.37858055e-03 1.96388636e+02] [ 8.68715054e-01 -4.95091136e-01 -1.47960379e-02 2.40297431e+02] [ 1.70035660e-02 -4.57391113e-05 9.99855428e-01 1.01947427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.682755096 meters Centerline goodness [0,1] 0.9999548420601052 Centerline is valid? [True, True] Translation: X:196.37, Y:240.32, Z:10.19 [[-4.93952904e-01 -8.69448646e-01 8.34153471e-03 1.96373824e+02] [ 8.69324064e-01 -4.94023331e-01 -1.47180231e-02 2.40320307e+02] [ 1.69174780e-02 -1.85133715e-05 9.99856889e-01 1.01939349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.36, Y:240.34, Z:10.20 [[-4.92583876e-01 -8.70226061e-01 8.22977092e-03 1.96359633e+02] [ 8.70105110e-01 -4.92652619e-01 -1.45083980e-02 2.40342691e+02] [ 1.66800042e-02 1.41628271e-05 9.99860879e-01 1.01950415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters Centerline goodness [0,1] 0.9999324339541902 Centerline is valid? [True, True] Translation: X:196.35, Y:240.36, Z:10.20 [[-4.90405689e-01 -8.71457220e-01 8.03578594e-03 1.96346156e+02] [ 8.71342258e-01 -4.90471518e-01 -1.41548308e-02 2.40364499e+02] [ 1.62766536e-02 6.03103256e-05 9.99867525e-01 1.01951285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.33, Y:240.39, Z:10.20 [[-4.90132011e-01 -8.71610869e-01 8.06874125e-03 1.96333087e+02] [ 8.71495170e-01 -4.90198417e-01 -1.42014641e-02 2.40387614e+02] [ 1.63334346e-02 7.12768776e-05 9.99866598e-01 1.01955487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.802755096 meters Centerline goodness [0,1] 0.9999325630535449 Centerline is valid? [True, True] Translation: X:196.32, Y:240.41, Z:10.20 [[-4.90414487e-01 -8.71455918e-01 7.62980803e-03 1.96321496e+02] [ 8.71352631e-01 -4.90473830e-01 -1.34169255e-02 2.40409991e+02] [ 1.54344803e-02 6.83986813e-05 9.99880879e-01 1.01960010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.832755096 meters Centerline goodness [0,1] 0.9999774200103868 Centerline is valid? [True, True] Translation: X:196.31, Y:240.43, Z:10.20 [[-4.91161782e-01 -8.71036871e-01 7.40773136e-03 1.96309665e+02] [ 8.70939641e-01 -4.91217637e-01 -1.30143903e-02 2.40432232e+02] [ 1.49748221e-02 5.95157479e-05 9.99887869e-01 1.01969485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.862755096 meters Centerline goodness [0,1] 0.9999101930848675 Centerline is valid? [True, True] Translation: X:196.30, Y:240.46, Z:10.20 [[-4.92496751e-01 -8.70284764e-01 7.16804895e-03 1.96296841e+02] [ 8.70193808e-01 -4.92548910e-01 -1.25820739e-02 2.40455098e+02] [ 1.44806019e-02 4.09613025e-05 9.99895150e-01 1.01971826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.892755096 meters Centerline goodness [0,1] 0.9998647856853112 Centerline is valid? [True, True] Translation: X:196.28, Y:240.48, Z:10.20 [[-4.93388171e-01 -8.69779257e-01 7.22196096e-03 1.96283966e+02] [ 8.69687037e-01 -4.93441023e-01 -1.26654914e-02 2.40477715e+02] [ 1.45797935e-02 3.18422037e-05 9.99893709e-01 1.01973412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9227550960001 meters Centerline goodness [0,1] 0.9997297845031412 Centerline is valid? [True, True] Translation: X:196.27, Y:240.50, Z:10.20 [[-4.94336352e-01 -8.69240544e-01 7.24208684e-03 1.96271241e+02] [ 8.69147919e-01 -4.94389397e-01 -1.26893374e-02 2.40499985e+02] [ 1.46104975e-02 2.16439507e-05 9.99893261e-01 1.01973125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.952755096 meters Centerline goodness [0,1] 0.9996395422186176 Centerline is valid? [True, True] Translation: X:196.26, Y:240.52, Z:10.20 [[-4.95803525e-01 -8.68403486e-01 7.36549089e-03 1.96258468e+02] [ 8.68307759e-01 -4.95858232e-01 -1.28937666e-02 2.40523139e+02] [ 1.48492312e-02 2.73793536e-06 9.99889744e-01 1.01969273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.982755096 meters Centerline goodness [0,1] 0.9998875520071967 Centerline is valid? [True, True] Translation: X:196.25, Y:240.55, Z:10.20 [[-4.96589161e-01 -8.67953702e-01 7.45492910e-03 1.96245013e+02] [ 8.67855761e-01 -4.96645116e-01 -1.30386920e-02 2.40545696e+02] [ 1.50194351e-02 -5.06993986e-06 9.99887202e-01 1.01972346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.23, Y:240.57, Z:10.20 [[-4.97825099e-01 -8.67241300e-01 7.91822328e-03 1.96230369e+02] [ 8.67130923e-01 -4.97888067e-01 -1.38360081e-02 2.40567753e+02] [ 1.59415466e-02 -2.17758469e-05 9.99872925e-01 1.01960934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.22, Y:240.59, Z:10.20 [[-4.98167666e-01 -8.67042193e-01 8.17391620e-03 1.96215816e+02] [ 8.66924760e-01 -4.98234719e-01 -1.42697115e-02 2.40589793e+02] [ 1.64449708e-02 -2.25385255e-05 9.99864772e-01 1.01958083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.20, Y:240.61, Z:10.19 [[-5.00181026e-01 -8.65880274e-01 8.38404784e-03 1.96202416e+02] [ 8.65756790e-01 -5.00251285e-01 -1.46230078e-02 2.40611357e+02] [ 1.68559047e-02 -5.56046804e-05 9.99857928e-01 1.01943728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.102755096 meters Centerline goodness [0,1] 0.9999776075955036 Centerline is valid? [True, True] Translation: X:196.19, Y:240.63, Z:10.19 [[-5.01349219e-01 -8.65204233e-01 8.40220760e-03 1.96188895e+02] [ 8.65080343e-01 -5.01419616e-01 -1.46413646e-02 2.40634530e+02] [ 1.68808023e-02 -7.18520492e-05 9.99857507e-01 1.01947069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:240.66, Z:10.20 [[-5.02981034e-01 -8.64257914e-01 8.26661241e-03 1.96175808e+02] [ 8.64138073e-01 -5.03048953e-01 -1.43924274e-02 2.40657223e+02] [ 1.65972800e-02 -9.56234824e-05 9.99862251e-01 1.01952238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1627550960001 meters Centerline goodness [0,1] 0.9999775653968681 Centerline is valid? [True, True] Translation: X:196.16, Y:240.68, Z:10.20 [[-5.04103042e-01 -8.63604454e-01 8.21401178e-03 1.96163437e+02] [ 8.63486239e-01 -5.04169946e-01 -1.42891842e-02 2.40679739e+02] [ 1.64814610e-02 -1.10535054e-04 9.99864165e-01 1.01953678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.192755096 meters Centerline goodness [0,1] 0.9999329009170208 Centerline is valid? [True, True] Translation: X:196.15, Y:240.70, Z:10.20 [[-5.06955620e-01 -8.61936694e-01 7.81896140e-03 1.96152259e+02] [ 8.61829535e-01 -5.07015891e-01 -1.35918705e-02 2.40703154e+02] [ 1.56796696e-02 -1.51863265e-04 9.99877055e-01 1.01954897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.14, Y:240.73, Z:10.20 [[-5.08887763e-01 -8.60802793e-01 7.19688577e-03 1.96139834e+02] [ 8.60712038e-01 -5.08938624e-01 -1.25005608e-02 2.40726622e+02] [ 1.44232908e-02 -1.66936203e-04 9.99895965e-01 1.01965473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.13, Y:240.75, Z:10.20 [[-5.11920796e-01 -8.59007750e-01 6.54091194e-03 1.96127799e+02] [ 8.58932754e-01 -5.11962545e-01 -1.13523801e-02 2.40750895e+02] [ 1.31004844e-02 -1.93315966e-04 9.99914166e-01 1.01979675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:240.77, Z:10.20 [[-5.13535640e-01 -8.58044972e-01 6.32238584e-03 1.96115370e+02] [ 8.57974937e-01 -5.13574516e-01 -1.09647135e-02 2.40774711e+02] [ 1.26552335e-02 -2.06322546e-04 9.99919898e-01 1.01984592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.10, Y:240.80, Z:10.20 [[-5.14633450e-01 -8.57388375e-01 6.13077588e-03 1.96102320e+02] [ 8.57322577e-01 -5.14669923e-01 -1.06240414e-02 2.40798100e+02] [ 1.22642555e-02 -2.11434488e-04 9.99924769e-01 1.01987486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.09, Y:240.82, Z:10.20 [[-5.16328909e-01 -8.56369419e-01 5.98972016e-03 1.96090827e+02] [ 8.56306650e-01 -5.16363600e-01 -1.03707903e-02 2.40821689e+02] [ 1.19741011e-02 -2.25701640e-04 9.99928282e-01 1.01988108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.08, Y:240.84, Z:10.20 [[-5.16694624e-01 -8.56148990e-01 5.96426953e-03 1.96077644e+02] [ 8.56086841e-01 -5.16728997e-01 -1.03181716e-02 2.40844273e+02] [ 1.19158032e-02 -2.25411129e-04 9.99928979e-01 1.01988968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.06, Y:240.87, Z:10.20 [[-5.16322630e-01 -8.56371679e-01 6.20396883e-03 1.96064617e+02] [ 8.56304568e-01 -5.16359852e-01 -1.07233054e-02 2.40866400e+02] [ 1.23866155e-02 -2.24198389e-04 9.99923258e-01 1.01980702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.05, Y:240.89, Z:10.20 [[-5.15914552e-01 -8.56617351e-01 6.23605179e-03 1.96049569e+02] [ 8.56549681e-01 -5.15952195e-01 -1.07692150e-02 2.40888418e+02] [ 1.24426010e-02 -2.14506550e-04 9.99922565e-01 1.01982504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.03, Y:240.91, Z:10.20 [[-5.15481994e-01 -8.56877476e-01 6.26942939e-03 1.96033681e+02] [ 8.56809214e-01 -5.15520077e-01 -1.08176248e-02 2.40910631e+02] [ 1.25013957e-02 -2.04585924e-04 9.99921834e-01 1.01984435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.02, Y:240.93, Z:10.20 [[-5.14352034e-01 -8.57555013e-01 6.43309164e-03 1.96020003e+02] [ 8.57483306e-01 -5.14392228e-01 -1.10912805e-02 2.40932642e+02] [ 1.28205155e-02 -1.88553991e-04 9.99917796e-01 1.01983916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:240.95, Z:10.20 [[-5.13683537e-01 -8.57956028e-01 6.37788566e-03 1.96007203e+02] [ 8.57885668e-01 -5.13723100e-01 -1.09889298e-02 2.40954879e+02] [ 1.27044858e-02 -1.73335641e-04 9.99919280e-01 1.01983448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.552755096 meters Centerline goodness [0,1] 0.999932836322117 Centerline is valid? [True, True] Translation: X:195.99, Y:240.98, Z:10.20 [[-5.12822415e-01 -8.58469333e-01 6.60113916e-03 1.95994630e+02] [ 8.58394113e-01 -5.12864873e-01 -1.13652843e-02 2.40976682e+02] [ 1.31422405e-02 -1.61993565e-04 9.99913624e-01 1.01978868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.98, Y:241.00, Z:10.20 [[-5.12809759e-01 -8.58475199e-01 6.81786926e-03 1.95979342e+02] [ 8.58395078e-01 -5.12855054e-01 -1.17296118e-02 2.40999622e+02] [ 1.35661595e-02 -1.62633982e-04 9.99907962e-01 1.01984901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.97, Y:241.02, Z:10.20 [[-5.12839927e-01 -8.58458697e-01 6.62388650e-03 1.95965654e+02] [ 8.58383189e-01 -5.12882679e-01 -1.13867992e-02 2.41022683e+02] [ 1.31723734e-02 -1.53772447e-04 9.99913229e-01 1.01986679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters Centerline goodness [0,1] 0.9999775794807407 Centerline is valid? [True, True] Translation: X:195.95, Y:241.05, Z:10.20 [[-5.12227945e-01 -8.58822154e-01 6.85857950e-03 1.95951151e+02] [ 8.58741367e-01 -5.12273840e-01 -1.17804013e-02 2.41045423e+02] [ 1.36307404e-02 -1.44504787e-04 9.99907087e-01 1.01993474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.94, Y:241.07, Z:10.20 [[-5.11598648e-01 -8.59199190e-01 6.60116878e-03 1.95936745e+02] [ 8.59124505e-01 -5.11641219e-01 -1.13290680e-02 2.41067738e+02] [ 1.31113561e-02 -1.24710010e-04 9.99914035e-01 1.02003324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.92, Y:241.09, Z:10.20 [[-5.11320695e-01 -8.59366908e-01 6.29797110e-03 1.95922341e+02] [ 8.59299050e-01 -5.11359468e-01 -1.07998473e-02 2.41090455e+02] [ 1.25015585e-02 -1.10344858e-04 9.99921846e-01 1.02012349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.91, Y:241.11, Z:10.20 [[-5.11095485e-01 -8.59502154e-01 6.11993276e-03 1.95907793e+02] [ 8.59438190e-01 -5.11132114e-01 -1.04861566e-02 2.41113523e+02] [ 1.21409683e-02 -9.97233512e-05 9.99926291e-01 1.02023108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.89, Y:241.14, Z:10.20 [[-5.10272070e-01 -8.59992243e-01 5.97970801e-03 1.95892015e+02] [ 8.59931308e-01 -5.10307099e-01 -1.02377249e-02 2.41136446e+02] [ 1.18558514e-02 -8.18869341e-05 9.99929714e-01 1.02032324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7927550960001 meters Centerline goodness [0,1] 0.9999107043196785 Centerline is valid? [True, True] Translation: X:195.88, Y:241.16, Z:10.20 [[-5.09656364e-01 -8.60357966e-01 5.87885937e-03 1.95877095e+02] [ 8.60299187e-01 -5.09690265e-01 -1.00570231e-02 2.41159097e+02] [ 1.16490373e-02 -6.80478939e-05 9.99932145e-01 1.02033817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.86, Y:241.18, Z:10.20 [[-5.08082467e-01 -8.61285301e-01 6.31162608e-03 1.95861955e+02] [ 8.61217738e-01 -5.08121666e-01 -1.07879493e-02 2.41180496e+02] [ 1.24985761e-02 -4.54835550e-05 9.99921889e-01 1.02029284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:241.20, Z:10.20 [[-5.07571080e-01 -8.61586839e-01 6.30218848e-03 1.95847412e+02] [ 8.61519617e-01 -5.07610202e-01 -1.07625055e-02 2.41202948e+02] [ 1.24718883e-02 -3.32775389e-05 9.99922222e-01 1.02026065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters Centerline goodness [0,1] 0.9999553092599214 Centerline is valid? [True, True] Translation: X:195.83, Y:241.23, Z:10.20 [[-5.06932110e-01 -8.61960495e-01 6.62876097e-03 1.95832332e+02] [ 8.61886293e-01 -5.06975447e-01 -1.13099096e-02 2.41225997e+02] [ 1.31093144e-02 -2.01181377e-05 9.99914069e-01 1.02019951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9127550960001 meters Centerline goodness [0,1] 0.9999105785567379 Centerline is valid? [True, True] Translation: X:195.82, Y:241.25, Z:10.20 [[-5.06438186e-01 -8.62249461e-01 6.79931677e-03 1.95817967e+02] [ 8.62171539e-01 -5.06483827e-01 -1.15918486e-02 2.41247863e+02] [ 1.34388091e-02 -8.37734791e-06 9.99909695e-01 1.02013004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.80, Y:241.27, Z:10.20 [[-5.05355073e-01 -8.62882773e-01 7.04057436e-03 1.95802031e+02] [ 8.62799403e-01 -5.05404115e-01 -1.19946066e-02 2.41269794e+02] [ 1.39082747e-02 1.30680447e-05 9.99903275e-01 1.02005558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.79, Y:241.29, Z:10.20 [[-5.05251554e-01 -8.62942861e-01 7.10533743e-03 1.95788044e+02] [ 8.62858099e-01 -5.05301513e-01 -1.20947487e-02 2.41291717e+02] [ 1.40274148e-02 2.00073621e-05 9.99901611e-01 1.02004683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:241.31, Z:10.20 [[-5.05226617e-01 -8.62957666e-01 7.08039952e-03 1.95773883e+02] [ 8.62873642e-01 -5.05276228e-01 -1.20421023e-02 2.41314591e+02] [ 1.39693820e-02 2.54995153e-05 9.99902423e-01 1.02009895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0327550960001 meters Centerline goodness [0,1] 0.9999106664284438 Centerline is valid? [True, True] Translation: X:195.76, Y:241.34, Z:10.20 [[-5.05506768e-01 -8.62794477e-01 6.97123486e-03 1.95760358e+02] [ 8.62713131e-01 -5.05554834e-01 -1.18475324e-02 2.41337060e+02] [ 1.37463270e-02 2.51680104e-05 9.99905514e-01 1.01998581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.75, Y:241.36, Z:10.20 [[-5.06288697e-01 -8.62336466e-01 6.89739249e-03 1.95747450e+02] [ 8.62256901e-01 -5.06335678e-01 -1.17139842e-02 2.41360711e+02] [ 1.35937916e-02 1.66664944e-05 9.99907600e-01 1.02018961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.73, Y:241.38, Z:10.20 [[-5.07318857e-01 -8.61731909e-01 6.75984633e-03 1.95734450e+02] [ 8.61655557e-01 -5.07363891e-01 -1.14709517e-02 2.41383652e+02] [ 1.33145870e-02 5.22906371e-06 9.99911357e-01 1.02021740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.72, Y:241.41, Z:10.20 [[-5.08167977e-01 -8.61232301e-01 6.65062025e-03 1.95721405e+02] [ 8.61158482e-01 -5.08211495e-01 -1.12758953e-02 2.41406210e+02] [ 1.30910869e-02 -2.81085979e-06 9.99914308e-01 1.02023803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:241.43, Z:10.20 [[-5.09784516e-01 -8.60277579e-01 6.49887493e-03 1.95707989e+02] [ 8.60207133e-01 -5.09825938e-01 -1.10091364e-02 2.41430122e+02] [ 1.27842082e-02 -2.19086880e-05 9.99918278e-01 1.02023740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.70, Y:241.45, Z:10.20 [[-5.12674338e-01 -8.58558816e-01 6.46394079e-03 1.95696102e+02] [ 8.58489103e-01 -5.12715083e-01 -1.09409156e-02 2.41453477e+02] [ 1.27075795e-02 -5.99039398e-05 9.99919254e-01 1.02018469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.68, Y:241.48, Z:10.20 [[-5.14715524e-01 -8.57336844e-01 6.43939931e-03 1.95683174e+02] [ 8.57267680e-01 -5.14755796e-01 -1.08901895e-02 2.41477903e+02] [ 1.26512788e-02 -8.50607052e-05 9.99919966e-01 1.02022018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters Centerline goodness [0,1] 0.9999551891019895 Centerline is valid? [True, True] Translation: X:195.67, Y:241.50, Z:10.20 [[-5.16898551e-01 -8.56024186e-01 6.20334224e-03 1.95671869e+02] [ 8.55960000e-01 -5.16935762e-01 -1.04831378e-02 2.41501367e+02] [ 1.21805489e-02 -1.08905915e-04 9.99925808e-01 1.02016345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.66, Y:241.53, Z:10.20 [[-5.18991384e-01 -8.54757895e-01 6.07326252e-03 1.95659663e+02] [ 8.54696361e-01 -5.19026901e-01 -1.02569991e-02 2.41525184e+02] [ 1.19194375e-02 -1.32498767e-04 9.99928952e-01 1.02035142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:241.55, Z:10.20 [[-5.21525653e-01 -8.53214517e-01 5.99851762e-03 1.95646142e+02] [ 8.53154462e-01 -5.21560123e-01 -1.01243261e-02 2.41550009e+02] [ 1.17668095e-02 -1.62433683e-04 9.99930756e-01 1.02036223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.63, Y:241.57, Z:10.20 [[-5.21830433e-01 -8.53028122e-01 6.00181602e-03 1.95632305e+02] [ 8.52968078e-01 -5.21864921e-01 -1.01223705e-02 2.41572949e+02] [ 1.17668039e-02 -1.62803505e-04 9.99930756e-01 1.02038719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:241.60, Z:10.20 [[-5.25938574e-01 -8.50499857e-01 6.21367341e-03 1.95623373e+02] [ 8.50435423e-01 -5.25975231e-01 -1.04712632e-02 2.41597612e+02] [ 1.21740462e-02 -2.22913263e-04 9.99925869e-01 1.02030211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.61, Y:241.62, Z:10.20 [[-5.28359169e-01 -8.48997651e-01 6.29099060e-03 1.95609824e+02] [ 8.48931590e-01 -5.28396558e-01 -1.05940229e-02 2.41620928e+02] [ 1.23184384e-02 -2.56828505e-04 9.99924092e-01 1.02033599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:241.65, Z:10.20 [[-5.32133424e-01 -8.46641135e-01 5.72785349e-03 1.95596315e+02] [ 8.46586313e-01 -5.32164177e-01 -9.63864465e-03 2.41645823e+02] [ 1.12086315e-02 -2.79922612e-04 9.99937142e-01 1.02038652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.58, Y:241.67, Z:10.20 [[-5.33346059e-01 -8.45881036e-01 5.22070844e-03 1.95580020e+02] [ 8.45835516e-01 -5.33371543e-01 -8.77934886e-03 2.41669344e+02] [ 1.02108620e-02 -2.66570497e-04 9.99947832e-01 1.02044389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:241.69, Z:10.21 [[-5.35591755e-01 -8.44466165e-01 4.28570102e-03 1.95564596e+02] [ 8.44435481e-01 -5.35608849e-01 -7.20274845e-03 2.41692878e+02] [ 8.37793675e-03 -2.38734684e-04 9.99964876e-01 1.02054785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.55, Y:241.72, Z:10.21 [[-5.36837495e-01 -8.43676435e-01 3.94681788e-03 1.95550786e+02] [ 8.43650424e-01 -5.36851954e-01 -6.62887535e-03 2.41716612e+02] [ 7.71148281e-03 -2.28894260e-04 9.99970240e-01 1.02062696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.54, Y:241.74, Z:10.21 [[-5.38165406e-01 -8.42831569e-01 3.59767261e-03 1.95537048e+02] [ 8.42809966e-01 -5.38177387e-01 -6.03834355e-03 2.41740317e+02] [ 7.02549261e-03 -2.17473273e-04 9.99975297e-01 1.02071089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:241.76, Z:10.21 [[-5.39813343e-01 -8.41780759e-01 2.58993450e-03 1.95522740e+02] [ 8.41769559e-01 -5.39819531e-01 -4.34549278e-03 2.41763433e+02] [ 5.05604944e-03 -1.65626961e-04 9.99987204e-01 1.02078921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.51, Y:241.79, Z:10.21 [[-5.40322251e-01 -8.41455729e-01 2.03022401e-03 1.95507630e+02] [ 8.41448849e-01 -5.40326049e-01 -3.40528269e-03 2.41785619e+02] [ 3.96237755e-03 -1.31620353e-04 9.99992141e-01 1.02083534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.49, Y:241.81, Z:10.21 [[-5.40244892e-01 -8.41506428e-01 1.54565224e-03 1.95491298e+02] [ 8.41502441e-01 -5.40247094e-01 -2.59238264e-03 2.41805917e+02] [ 3.01654079e-03 -9.98513482e-05 9.99995445e-01 1.02073715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.47, Y:241.83, Z:10.21 [[-5.40646373e-01 -8.41248863e-01 1.35979254e-03 1.95473468e+02] [ 8.41245781e-01 -5.40648076e-01 -2.27884959e-03 2.41826646e+02] [ 2.65224885e-03 -8.81320255e-05 9.99996479e-01 1.02058811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:241.85, Z:10.21 [[-5.40689862e-01 -8.41221255e-01 1.12878453e-03 1.95459943e+02] [ 8.41219131e-01 -5.40691035e-01 -1.89151156e-03 2.41848659e+02] [ 2.20150341e-03 -7.31659797e-05 9.99997574e-01 1.02058286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:241.87, Z:10.21 [[-5.40620821e-01 -8.41265980e-01 8.24408587e-04 1.95443402e+02] [ 8.41264847e-01 -5.40621447e-01 -1.38181185e-03 2.41870541e+02] [ 1.60816427e-03 -5.34902958e-05 9.99998706e-01 1.02057102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.43, Y:241.89, Z:10.21 [[-5.40006261e-01 -8.41660999e-01 -1.20462368e-05 1.95428016e+02] [ 8.41660999e-01 -5.40006262e-01 1.33548431e-05 2.41892265e+02] [-1.77452942e-05 -2.92714884e-06 1.00000000e+00 1.02060617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:241.91, Z:10.21 [[-5.39897778e-01 -8.41730582e-01 -1.25615176e-04 1.95412975e+02] [ 8.41730558e-01 -5.39897793e-01 2.02155699e-04 2.41914376e+02] [-2.37979991e-04 3.40928117e-06 9.99999972e-01 1.02060644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.812755096 meters Centerline goodness [0,1] 0.9999778927355529 Centerline is valid? [True, True] Translation: X:195.40, Y:241.94, Z:10.21 [[-5.39162797e-01 -8.42201228e-01 -7.55197621e-04 1.95397142e+02] [ 8.42200301e-01 -5.39163325e-01 1.24966943e-03 2.41936168e+02] [-1.45964799e-03 3.77476028e-05 9.99998934e-01 1.02056307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.842755096 meters Centerline goodness [0,1] 0.9999779210456593 Centerline is valid? [True, True] Translation: X:195.38, Y:241.96, Z:10.21 [[-5.39236692e-01 -8.42153466e-01 -1.15276628e-03 1.95382813e+02] [ 8.42151304e-01 -5.39237921e-01 1.90920628e-03 2.41957644e+02] [-2.22945998e-03 5.87104524e-05 9.99997513e-01 1.02059035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.872755096 meters Centerline goodness [0,1] 0.999955859633635 Centerline is valid? [True, True] Translation: X:195.37, Y:241.98, Z:10.21 [[-5.39236001e-01 -8.42153508e-01 -1.41594866e-03 1.95367758e+02] [ 8.42150245e-01 -5.39237855e-01 2.34514426e-03 2.41979978e+02] [-2.73850458e-03 7.21446986e-05 9.99996248e-01 1.02059294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9027550960001 meters Centerline goodness [0,1] 0.9999340122737171 Centerline is valid? [True, True] Translation: X:195.35, Y:242.00, Z:10.21 [[-5.38676094e-01 -8.42510398e-01 -2.07273732e-03 1.95351913e+02] [ 8.42503409e-01 -5.38680071e-01 3.43325007e-03 2.42001087e+02] [-4.00909117e-03 1.03121483e-04 9.99991958e-01 1.02062979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.932755096 meters Centerline goodness [0,1] 0.9999560507174721 Centerline is valid? [True, True] Translation: X:195.34, Y:242.02, Z:10.21 [[-5.38567323e-01 -8.42579739e-01 -2.15010574e-03 1.95338355e+02] [ 8.42572232e-01 -5.38571605e-01 3.55822493e-03 2.42022609e+02] [-4.15607413e-03 1.04724287e-04 9.99991358e-01 1.02068999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.962755096 meters Centerline goodness [0,1] 0.9998906458456357 Centerline is valid? [True, True] Translation: X:195.32, Y:242.04, Z:10.21 [[-5.38787475e-01 -8.42438803e-01 -2.21795803e-03 1.95324873e+02] [ 8.42430827e-01 -5.38792030e-01 3.66759465e-03 2.42043940e+02] [-4.28474216e-03 1.07577845e-04 9.99990815e-01 1.02070845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.992755096 meters Centerline goodness [0,1] 0.999889911488837 Centerline is valid? [True, True] Translation: X:195.31, Y:242.07, Z:10.21 [[-5.38930334e-01 -8.42344915e-01 -3.02312951e-03 1.95311676e+02] [ 8.42330088e-01 -5.38938793e-01 4.99996944e-03 2.42065554e+02] [-5.84098060e-03 1.48162254e-04 9.99982930e-01 1.02087909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters Centerline goodness [0,1] 0.9999779847213967 Centerline is valid? [True, True] Translation: X:195.29, Y:242.09, Z:10.21 [[-5.39187503e-01 -8.42178755e-01 -3.43239426e-03 1.95294639e+02] [ 8.42159671e-01 -5.39198401e-01 5.67201166e-03 2.42087263e+02] [-6.62758922e-03 1.67653779e-04 9.99978023e-01 1.02078347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.052755096 meters Centerline goodness [0,1] 0.9998456075343524 Centerline is valid? [True, True] Translation: X:195.28, Y:242.11, Z:10.21 [[-5.40133844e-01 -8.41568976e-01 -4.13397903e-03 1.95280350e+02] [ 8.41541308e-01 -5.40149624e-01 6.82718836e-03 2.42110227e+02] [-7.97851714e-03 2.08681375e-04 9.99968149e-01 1.02084930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.082755096 meters Centerline goodness [0,1] 0.9997355663287792 Centerline is valid? [True, True] Translation: X:195.27, Y:242.13, Z:10.21 [[-5.40727100e-01 -8.41187432e-01 -4.23173475e-03 1.95270716e+02] [ 8.41158478e-01 -5.40743615e-01 6.98265897e-03 2.42134563e+02] [-8.16200851e-03 2.16153375e-04 9.99966667e-01 1.02116076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.112755096 meters Centerline goodness [0,1] 0.9997355488463319 Centerline is valid? [True, True] Translation: X:195.26, Y:242.16, Z:10.21 [[-5.41569407e-01 -8.40645598e-01 -4.19005528e-03 1.95257818e+02] [ 8.40617248e-01 -5.41585571e-01 6.90730299e-03 2.42156313e+02] [-8.07586734e-03 2.18551246e-04 9.99967366e-01 1.02114429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters Centerline goodness [0,1] 0.9999118709791134 Centerline is valid? [True, True] Translation: X:195.24, Y:242.18, Z:10.21 [[-5.43277703e-01 -8.39544520e-01 -3.78647200e-03 1.95240721e+02] [ 8.39521378e-01 -5.43290858e-01 6.23694982e-03 2.42177838e+02] [-7.29335266e-03 2.09571577e-04 9.99973381e-01 1.02072098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1727550960001 meters Centerline goodness [0,1] 0.9999337411931003 Centerline is valid? [True, True] Translation: X:195.23, Y:242.20, Z:10.21 [[-5.44481375e-01 -8.38763652e-01 -3.94568395e-03 1.95228287e+02] [ 8.38738545e-01 -5.44495624e-01 6.49370837e-03 2.42201543e+02] [-7.59509419e-03 2.26306050e-04 9.99971131e-01 1.02075144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.202755096 meters Centerline goodness [0,1] 0.9998677161187909 Centerline is valid? [True, True] Translation: X:195.22, Y:242.23, Z:10.21 [[-5.46537024e-01 -8.37428165e-01 -3.36896389e-03 1.95215811e+02] [ 8.37409868e-01 -5.46547368e-01 5.53965800e-03 2.42225967e+02] [-6.48036398e-03 2.06424588e-04 9.99978981e-01 1.02070592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.232755096 meters Centerline goodness [0,1] 0.9998896101028834 Centerline is valid? [True, True] Translation: X:195.20, Y:242.25, Z:10.21 [[-5.47959115e-01 -8.36498164e-01 -3.41033894e-03 1.95201381e+02] [ 8.36479425e-01 -5.47969684e-01 5.60322314e-03 2.42249201e+02] [-6.55584822e-03 2.17658836e-04 9.99978487e-01 1.02063259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters Centerline goodness [0,1] 0.9998672625105084 Centerline is valid? [True, True] Translation: X:195.19, Y:242.27, Z:10.21 [[-5.49096209e-01 -8.35752771e-01 -3.26477005e-03 1.95187223e+02] [ 8.35735607e-01 -5.49105873e-01 5.36064607e-03 2.42273000e+02] [-6.27287922e-03 2.15025858e-04 9.99980302e-01 1.02059445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2927550960001 meters Centerline goodness [0,1] 0.9997789517893853 Centerline is valid? [True, True] Translation: X:195.18, Y:242.30, Z:10.21 [[-5.51049509e-01 -8.34468193e-01 -2.69694292e-03 1.95175739e+02] [ 8.34456494e-01 -5.51056077e-01 4.42259741e-03 2.42297157e+02] [-5.17668366e-03 1.86588597e-04 9.99986584e-01 1.02056320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.322755096 meters Centerline goodness [0,1] 0.9999113887596641 Centerline is valid? [True, True] Translation: X:195.16, Y:242.32, Z:10.21 [[-5.52235196e-01 -8.33684679e-01 -2.47887827e-03 1.95164725e+02] [ 8.33674806e-01 -5.52240732e-01 4.06116554e-03 2.42320880e+02] [-4.75466904e-03 1.76140191e-04 9.99988681e-01 1.02064093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.352755096 meters Centerline goodness [0,1] 0.9999334161931818 Centerline is valid? [True, True] Translation: X:195.15, Y:242.34, Z:10.21 [[-5.53109617e-01 -8.33105553e-01 -2.21100957e-03 1.95150606e+02] [ 8.33097709e-01 -5.53114014e-01 3.61866577e-03 2.42343635e+02] [-4.23767093e-03 1.59531837e-04 9.99991008e-01 1.02061893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters Centerline goodness [0,1] 0.9999112550751004 Centerline is valid? [True, True] Translation: X:195.14, Y:242.37, Z:10.21 [[-5.52947129e-01 -8.33213255e-01 -2.26823114e-03 1.95135645e+02] [ 8.33205015e-01 -5.52951758e-01 3.70894712e-03 2.42365722e+02] [-4.34456629e-03 1.60950100e-04 9.99990549e-01 1.02063061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4127550960001 meters Centerline goodness [0,1] 0.9999778761061947 Centerline is valid? [True, True] Translation: X:195.12, Y:242.39, Z:10.21 [[-5.52429212e-01 -8.33556910e-01 -2.20098913e-03 1.95119951e+02] [ 8.33549166e-01 -5.52433575e-01 3.59613649e-03 2.42387750e+02] [-4.21348471e-03 1.51978189e-04 9.99991112e-01 1.02062812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.442755096 meters Centerline goodness [0,1] 0.999933739729658 Centerline is valid? [True, True] Translation: X:195.10, Y:242.41, Z:10.21 [[-5.51023546e-01 -8.34487165e-01 -2.05497228e-03 1.95104745e+02] [ 8.34480434e-01 -5.51027362e-01 3.35443953e-03 2.42409062e+02] [-3.93158269e-03 1.33541003e-04 9.99992262e-01 1.02068062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.472755096 meters Centerline goodness [0,1] 0.9999556943798321 Centerline is valid? [True, True] Translation: X:195.09, Y:242.43, Z:10.21 [[-5.50711919e-01 -8.34692362e-01 -2.24570072e-03 1.95088760e+02] [ 8.34684334e-01 -5.50716479e-01 3.66374577e-03 2.42431028e+02] [-4.29484500e-03 1.43217256e-04 9.99990767e-01 1.02067267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.07, Y:242.45, Z:10.21 [[-5.49833836e-01 -8.35271052e-01 -2.24103695e-03 1.95073571e+02] [ 8.35263074e-01 -5.49838386e-01 3.65318113e-03 2.42453517e+02] [-4.28360458e-03 1.36787181e-04 9.99990816e-01 1.02076366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:242.48, Z:10.21 [[-5.49577869e-01 -8.35439870e-01 -2.09519622e-03 1.95060081e+02] [ 8.35432906e-01 -5.49581848e-01 3.41338390e-03 2.42475485e+02] [-4.00315881e-03 1.25524388e-04 9.99991979e-01 1.02085756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.04, Y:242.50, Z:10.21 [[-5.49278691e-01 -8.35636670e-01 -2.06768557e-03 1.95044785e+02] [ 8.35629903e-01 -5.49282570e-01 3.36510437e-03 2.42497724e+02] [-3.94774825e-03 1.20560237e-04 9.99992200e-01 1.02088477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.03, Y:242.52, Z:10.21 [[-5.48148204e-01 -8.36378886e-01 -1.97616748e-03 1.95028065e+02] [ 8.36372720e-01 -5.48151756e-01 3.21335681e-03 2.42519457e+02] [-3.77082346e-03 1.08583192e-04 9.99992885e-01 1.02090008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:242.54, Z:10.21 [[-5.48029996e-01 -8.36456443e-01 -1.93453071e-03 1.95013437e+02] [ 8.36450548e-01 -5.48033401e-01 3.14213876e-03 2.42541540e+02] [-3.68844965e-03 1.03847018e-04 9.99993192e-01 1.02093547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:242.56, Z:10.21 [[-5.47900389e-01 -8.36541380e-01 -1.91897699e-03 1.94999781e+02] [ 8.36535591e-01 -5.47903741e-01 3.11371932e-03 2.42563448e+02] [-3.65616973e-03 1.00715473e-04 9.99993311e-01 1.02097176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.98, Y:242.59, Z:10.21 [[-5.47561343e-01 -8.36764266e-01 -1.46224035e-03 1.94984600e+02] [ 8.36760913e-01 -5.47563290e-01 2.37016488e-03 2.42585937e+02] [-2.78393841e-03 7.42650947e-05 9.99996122e-01 1.02095329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:242.61, Z:10.21 [[-5.47639692e-01 -8.36713348e-01 -1.24169171e-03 1.94970123e+02] [ 8.36710937e-01 -5.47641096e-01 2.00932003e-03 2.42608418e+02] [-2.36122630e-03 6.14463626e-05 9.99997210e-01 1.02093100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.95, Y:242.63, Z:10.21 [[-5.47929793e-01 -8.36524226e-01 -4.01815434e-04 1.94954086e+02] [ 8.36523977e-01 -5.47929940e-01 6.44940468e-04 2.42630066e+02] [-7.59675033e-04 1.72538523e-05 9.99999711e-01 1.02083131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.772755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.94, Y:242.65, Z:10.21 [[-5.48116047e-01 -8.36402289e-01 -1.02146356e-04 1.94940685e+02] [ 8.36402274e-01 -5.48116056e-01 1.58361056e-04 2.42652226e+02] [-1.88441608e-04 1.36479150e-06 9.99999982e-01 1.02083642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:242.67, Z:10.21 [[-5.48906543e-01 -8.35883652e-01 3.58188180e-04 1.94924675e+02] [ 8.35883446e-01 -5.48906659e-01 -5.86831421e-04 2.42673272e+02] [ 6.87134668e-04 -2.27120360e-05 9.99999764e-01 1.02072986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:242.70, Z:10.21 [[-5.49618601e-01 -8.35415360e-01 7.54921871e-04 1.94911417e+02] [ 8.35414458e-01 -5.49619118e-01 -1.22851556e-03 2.42695138e+02] [ 1.44124026e-03 -4.45423603e-05 9.99998960e-01 1.02071674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.90, Y:242.72, Z:10.21 [[-5.50532693e-01 -8.34813092e-01 9.25308613e-04 1.94896046e+02] [ 8.34811741e-01 -5.50533468e-01 -1.50263660e-03 2.42717128e+02] [ 1.76383406e-03 -5.47920777e-05 9.99998443e-01 1.02069049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.892755096 meters Centerline goodness [0,1] 0.9999780369418638 Centerline is valid? [True, True] Translation: X:194.88, Y:242.74, Z:10.21 [[-5.51307101e-01 -8.34301607e-01 1.14398558e-03 1.94882391e+02] [ 8.34299551e-01 -5.51308283e-01 -1.85353016e-03 2.42738985e+02] [ 2.17709191e-03 -6.74376812e-05 9.99997628e-01 1.02070973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.87, Y:242.76, Z:10.21 [[-5.53183121e-01 -8.33058087e-01 1.63026611e-03 1.94868396e+02] [ 8.33053917e-01 -5.53185514e-01 -2.63800910e-03 2.42761315e+02] [ 3.09945441e-03 -1.01202534e-04 9.99995192e-01 1.02068274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.85, Y:242.78, Z:10.21 [[-5.54201073e-01 -8.32380375e-01 2.02028564e-03 1.94853319e+02] [ 8.32373982e-01 -5.54204741e-01 -3.26479287e-03 2.42784554e+02] [ 3.83720139e-03 -1.27718505e-04 9.99992630e-01 1.02067645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.84, Y:242.81, Z:10.21 [[-5.55591895e-01 -8.31452276e-01 2.18168274e-03 1.94838002e+02] [ 8.31444826e-01 -5.55596160e-01 -3.52270471e-03 2.42805995e+02] [ 4.14109540e-03 -1.43237357e-04 9.99991415e-01 1.02064174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.82, Y:242.83, Z:10.21 [[-5.56509339e-01 -8.30838224e-01 2.28072036e-03 1.94822922e+02] [ 8.30830089e-01 -5.56513992e-01 -3.67964239e-03 2.42828218e+02] [ 4.32644034e-03 -1.52864260e-04 9.99990629e-01 1.02063571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.81, Y:242.85, Z:10.21 [[-5.57202431e-01 -8.30373531e-01 2.29110725e-03 1.94808461e+02] [ 8.30365332e-01 -5.57207120e-01 -3.69337142e-03 2.42850034e+02] [ 4.34349914e-03 -1.55499500e-04 9.99990555e-01 1.02066462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.79, Y:242.87, Z:10.21 [[-5.58655374e-01 -8.29395578e-01 2.67379501e-03 1.94788889e+02] [ 8.29384423e-01 -5.58661741e-01 -4.30568887e-03 2.42869549e+02] [ 5.06486628e-03 -1.87792296e-04 9.99987156e-01 1.02059739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.78, Y:242.89, Z:10.21 [[-5.59610046e-01 -8.28750577e-01 3.01284097e-03 1.94778664e+02] [ 8.28736430e-01 -5.59618115e-01 -4.84726282e-03 2.42893616e+02] [ 5.70321225e-03 -2.15725901e-04 9.99983713e-01 1.02065911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.76, Y:242.91, Z:10.21 [[-5.60153265e-01 -8.28383652e-01 2.97388218e-03 1.94764346e+02] [ 8.28369883e-01 -5.60161119e-01 -4.78111868e-03 2.42914293e+02] [ 5.62645372e-03 -2.14684808e-04 9.99984148e-01 1.02066729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.74, Y:242.93, Z:10.21 [[-5.60868561e-01 -8.27899600e-01 2.95118361e-03 1.94742841e+02] [ 8.27886058e-01 -5.60876284e-01 -4.74022571e-03 2.42932459e+02] [ 5.57967986e-03 -2.15399807e-04 9.99984410e-01 1.02066101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.73, Y:242.95, Z:10.21 [[-5.61299652e-01 -8.27607598e-01 2.89211397e-03 1.94725917e+02] [ 8.27594609e-01 -5.61307063e-01 -4.64161403e-03 2.42952610e+02] [ 5.46479904e-03 -2.11838411e-04 9.99985045e-01 1.02069172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.71, Y:242.97, Z:10.21 [[-5.61617252e-01 -8.27392101e-01 2.89390106e-03 1.94711958e+02] [ 8.27379114e-01 -5.61624667e-01 -4.64049923e-03 2.42974505e+02] [ 5.46479863e-03 -2.11831127e-04 9.99985045e-01 1.02071590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.69, Y:242.99, Z:10.21 [[-5.61268445e-01 -8.27628632e-01 2.92930641e-03 1.94694918e+02] [ 8.27615351e-01 -5.61276050e-01 -4.69329587e-03 2.42994083e+02] [ 5.52845557e-03 -2.09859916e-04 9.99984696e-01 1.02070616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.68, Y:243.01, Z:10.21 [[-5.61105522e-01 -8.27738539e-01 3.08289426e-03 1.94678217e+02] [ 8.27723859e-01 -5.61113949e-01 -4.93448635e-03 2.43014829e+02] [ 5.81431949e-03 -2.16982405e-04 9.99983073e-01 1.02067721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:243.04, Z:10.21 [[-5.60963185e-01 -8.27833964e-01 3.35168294e-03 1.94664109e+02] [ 8.27816646e-01 -5.60973150e-01 -5.35968229e-03 2.43036138e+02] [ 6.31713117e-03 -2.32005517e-04 9.99980020e-01 1.02066928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.65, Y:243.06, Z:10.21 [[-5.60872668e-01 -8.27894047e-01 3.64661265e-03 1.94645847e+02] [ 8.27873588e-01 -5.60884467e-01 -5.82551912e-03 2.43056299e+02] [ 6.86824099e-03 -2.48440151e-04 9.99976383e-01 1.02067907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.63, Y:243.08, Z:10.21 [[-5.60440368e-01 -8.28187567e-01 3.45665746e-03 1.94628210e+02] [ 8.28169218e-01 -5.60450980e-01 -5.51767038e-03 2.43076882e+02] [ 6.50695307e-03 -2.29627908e-04 9.99978803e-01 1.02074094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4027550960001 meters Centerline goodness [0,1] 0.9999349283126912 Centerline is valid? [True, True] Translation: X:194.61, Y:243.10, Z:10.21 [[-5.60472609e-01 -8.28165731e-01 3.46063039e-03 1.94613734e+02] [ 8.28147370e-01 -5.60483247e-01 -5.51938884e-03 2.43098068e+02] [ 6.51059405e-03 -2.27554312e-04 9.99978780e-01 1.02070971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.60, Y:243.12, Z:10.21 [[-5.59477815e-01 -8.28837986e-01 3.48808306e-03 1.94596787e+02] [ 8.28819380e-01 -5.59488646e-01 -5.55795291e-03 2.43117961e+02] [ 6.55818537e-03 -2.18560513e-04 9.99978471e-01 1.02085208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.58, Y:243.14, Z:10.21 [[-5.59208500e-01 -8.29020200e-01 3.37070387e-03 1.94580891e+02] [ 8.29002853e-01 -5.59218620e-01 -5.36700920e-03 2.43138879e+02] [ 6.33431941e-03 -2.06954041e-04 9.99979917e-01 1.02086475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:243.16, Z:10.21 [[-5.58449406e-01 -8.29531044e-01 3.53666649e-03 1.94564674e+02] [ 8.29511989e-01 -5.58460566e-01 -5.62635318e-03 2.43159880e+02] [ 6.64232340e-03 -2.08326337e-04 9.99977918e-01 1.02088339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.55, Y:243.18, Z:10.21 [[-5.56345367e-01 -8.30943000e-01 3.68291881e-03 1.94546623e+02] [ 8.30922401e-01 -5.56357522e-01 -5.85409704e-03 2.43178492e+02] [ 6.91344054e-03 -1.96680029e-04 9.99976083e-01 1.02081211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.53, Y:243.20, Z:10.21 [[-5.55205828e-01 -8.31704772e-01 3.69602522e-03 1.94527406e+02] [ 8.31684080e-01 -5.55218099e-01 -5.86967056e-03 2.43199217e+02] [ 6.93393312e-03 -1.84949968e-04 9.99975943e-01 1.02074393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.51, Y:243.22, Z:10.21 [[-5.54228385e-01 -8.32354151e-01 4.17896556e-03 1.94508563e+02] [ 8.32327758e-01 -5.54244105e-01 -6.63138523e-03 2.43219443e+02] [ 7.83582805e-03 -1.97032894e-04 9.99969280e-01 1.02068182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:243.24, Z:10.21 [[-5.52386205e-01 -8.33574618e-01 4.77875149e-03 1.94491114e+02] [ 8.33540210e-01 -5.52406838e-01 -7.57649707e-03 2.43239606e+02] [ 8.95539066e-03 -2.01870941e-04 9.99959879e-01 1.02060242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.48, Y:243.26, Z:10.21 [[-5.51964056e-01 -8.33852789e-01 5.02069207e-03 1.94476338e+02] [ 8.33814883e-01 -5.51986852e-01 -7.95338978e-03 2.43258961e+02] [ 9.40331227e-03 -2.03657509e-04 9.99955767e-01 1.02056600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:243.28, Z:10.20 [[-5.51925671e-01 -8.33876630e-01 5.27443037e-03 1.94456497e+02] [ 8.33834862e-01 -5.51950832e-01 -8.34878376e-03 2.43277136e+02] [ 9.87308191e-03 -2.09904160e-04 9.99951238e-01 1.02049890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.44, Y:243.30, Z:10.20 [[-5.52577214e-01 -8.33444205e-01 5.40179527e-03 1.94441421e+02] [ 8.33400451e-01 -5.52603573e-01 -8.54282442e-03 2.43298454e+02] [ 1.01050189e-02 -2.18711506e-04 9.99948919e-01 1.02048481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.43, Y:243.32, Z:10.21 [[-5.53382687e-01 -8.32908823e-01 5.52219498e-03 1.94426452e+02] [ 8.32863148e-01 -5.53410192e-01 -8.72556688e-03 2.43320173e+02] [ 1.03236406e-02 -2.29344948e-04 9.99946684e-01 1.02052147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.41, Y:243.34, Z:10.21 [[-5.55173392e-01 -8.31718925e-01 5.11224442e-03 1.94409585e+02] [ 8.31679791e-01 -5.55196882e-01 -8.07137083e-03 2.43342085e+02] [ 9.55141403e-03 -2.29259949e-04 9.99954358e-01 1.02064765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.39, Y:243.37, Z:10.21 [[-5.56461592e-01 -8.30858806e-01 4.91344028e-03 1.94394476e+02] [ 8.30822678e-01 -5.56483236e-01 -7.75154734e-03 2.43365221e+02] [ 9.17468851e-03 -2.31240760e-04 9.99957885e-01 1.02071744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.38, Y:243.39, Z:10.21 [[-5.58373726e-01 -8.29573014e-01 5.23420820e-03 1.94380169e+02] [ 8.29532026e-01 -5.58398195e-01 -8.25069232e-03 2.43387488e+02] [ 9.76732411e-03 -2.65026478e-04 9.99952263e-01 1.02072248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.37, Y:243.41, Z:10.21 [[-5.59211591e-01 -8.29008617e-01 5.20663480e-03 1.94365519e+02] [ 8.28968085e-01 -5.59235764e-01 -8.20214668e-03 2.43409409e+02] [ 9.71138667e-03 -2.70601418e-04 9.99952807e-01 1.02071784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:243.43, Z:10.21 [[-5.60345963e-01 -8.28241744e-01 5.29286776e-03 1.94350924e+02] [ 8.28199896e-01 -5.60370888e-01 -8.33068792e-03 2.43431813e+02] [ 9.86579250e-03 -2.84514823e-04 9.99951291e-01 1.02069451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:243.45, Z:10.21 [[-5.61147454e-01 -8.27697265e-01 5.54733249e-03 1.94336146e+02] [ 8.27651346e-01 -5.61174791e-01 -8.72374808e-03 2.43453210e+02] [ 1.03336456e-02 -3.04051823e-04 9.99946560e-01 1.02064316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.32, Y:243.48, Z:10.21 [[-5.61810225e-01 -8.27248458e-01 5.40923217e-03 1.94320347e+02] [ 8.27204848e-01 -5.61836185e-01 -8.49946504e-03 2.43475036e+02] [ 1.00702717e-02 -3.00543295e-04 9.99949248e-01 1.02065360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.31, Y:243.50, Z:10.21 [[-5.61954837e-01 -8.27150489e-01 5.36933864e-03 1.94305835e+02] [ 8.27107588e-01 -5.61980410e-01 -8.42949151e-03 2.43496837e+02] [ 9.98992115e-03 -2.95972791e-04 9.99950056e-01 1.02065538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.29, Y:243.52, Z:10.21 [[-5.61149865e-01 -8.27695021e-01 5.63747359e-03 1.94292252e+02] [ 8.27647839e-01 -5.61178104e-01 -8.84253682e-03 2.43519898e+02] [ 1.04825504e-02 -2.96145514e-04 9.99945013e-01 1.02057015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:243.54, Z:10.21 [[-5.60551377e-01 -8.28098326e-01 5.94277188e-03 1.94274964e+02] [ 8.28046001e-01 -5.60582798e-01 -9.31379201e-03 2.43540394e+02] [ 1.10441513e-02 -2.99970447e-04 9.99938967e-01 1.02056054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.26, Y:243.56, Z:10.21 [[-5.58465535e-01 -8.29506539e-01 5.92863348e-03 1.94257063e+02] [ 8.29454623e-01 -5.58496939e-01 -9.28428627e-03 2.43561700e+02] [ 1.10124998e-02 -2.67421452e-04 9.99939325e-01 1.02053193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.24, Y:243.58, Z:10.21 [[-5.57424362e-01 -8.30207101e-01 5.85236839e-03 1.94241111e+02] [ 8.30156607e-01 -5.57455028e-01 -9.15965131e-03 2.43584006e+02] [ 1.08668397e-02 -2.47430504e-04 9.99940924e-01 1.02058347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.23, Y:243.61, Z:10.21 [[-5.56603256e-01 -8.30758463e-01 5.76116558e-03 1.94226333e+02] [ 8.30709633e-01 -5.56633024e-01 -9.01009344e-03 2.43605603e+02] [ 1.06920664e-02 -2.29191600e-04 9.99942812e-01 1.02060538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:243.63, Z:10.21 [[-5.55300225e-01 -8.31632108e-01 5.44954759e-03 1.94211753e+02] [ 8.31588527e-01 -5.55326930e-01 -8.51602420e-03 2.43627178e+02] [ 1.01084797e-02 -1.97168896e-04 9.99948889e-01 1.02071516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.20, Y:243.65, Z:10.21 [[-5.54979421e-01 -8.31846446e-01 5.41606418e-03 1.94196517e+02] [ 8.31803476e-01 -5.55005816e-01 -8.45704930e-03 2.43648870e+02] [ 1.00409135e-02 -1.88387308e-04 9.99949571e-01 1.02076488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:243.67, Z:10.21 [[-5.54487131e-01 -8.32172996e-01 5.66803459e-03 1.94182237e+02] [ 8.32126034e-01 -5.54516068e-01 -8.84275197e-03 2.43669451e+02] [ 1.05017157e-02 -1.86673030e-04 9.99944838e-01 1.02068836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.17, Y:243.69, Z:10.21 [[-5.54264169e-01 -8.32321188e-01 5.71593303e-03 1.94168798e+02] [ 8.32273519e-01 -5.54293611e-01 -8.90966314e-03 2.43691313e+02] [ 1.05840066e-02 -1.81087332e-04 9.99943971e-01 1.02069373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.272755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:243.71, Z:10.21 [[-5.54094812e-01 -8.32434084e-01 5.69514402e-03 1.94153698e+02] [ 8.32386847e-01 -5.54124052e-01 -8.86972716e-03 2.43713315e+02] [ 1.05392795e-02 -1.74106829e-04 9.99944445e-01 1.02073173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.14, Y:243.74, Z:10.21 [[-5.54130590e-01 -8.32411150e-01 5.56465751e-03 1.94137901e+02] [ 8.32366124e-01 -5.54158505e-01 -8.65950899e-03 2.43735044e+02] [ 1.02919741e-02 -1.66666426e-04 9.99947022e-01 1.02079719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:243.76, Z:10.21 [[-5.54436920e-01 -8.32205907e-01 5.74719952e-03 1.94125592e+02] [ 8.32157945e-01 -5.54466680e-01 -8.93618134e-03 2.43758537e+02] [ 1.06233735e-02 -1.71971121e-04 9.99943556e-01 1.02080880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.11, Y:243.78, Z:10.21 [[-5.54989524e-01 -8.31837435e-01 5.75416917e-03 1.94110391e+02] [ 8.31789417e-01 -5.55019326e-01 -8.93949859e-03 2.43780057e+02] [ 1.06298847e-02 -1.75071059e-04 9.99943486e-01 1.02081681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.10, Y:243.80, Z:10.21 [[-5.56281815e-01 -8.30974495e-01 5.65079590e-03 1.94097074e+02] [ 8.30928218e-01 -5.56310485e-01 -8.77161394e-03 2.43803365e+02] [ 1.04325845e-02 -1.84083550e-04 9.99945562e-01 1.02081856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.08, Y:243.83, Z:10.21 [[-5.57388687e-01 -8.30231368e-01 5.80761287e-03 1.94084601e+02] [ 8.30182523e-01 -5.57418906e-01 -9.00790562e-03 2.43826049e+02] [ 1.07159190e-02 -1.99525984e-04 9.99942563e-01 1.02084711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:243.85, Z:10.21 [[-5.59621418e-01 -8.28728070e-01 5.80122594e-03 1.94072551e+02] [ 8.28679313e-01 -5.59651441e-01 -8.99230010e-03 2.43850404e+02] [ 1.06988360e-02 -2.24927806e-04 9.99942741e-01 1.02082746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.06, Y:243.87, Z:10.21 [[-5.61087812e-01 -8.27737118e-01 5.63298309e-03 1.94058926e+02] [ 8.27691167e-01 -5.61116039e-01 -8.72485581e-03 2.43873743e+02] [ 1.03826442e-02 -2.33039907e-04 9.99946072e-01 1.02081704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:243.90, Z:10.21 [[-5.62495279e-01 -8.26780224e-01 5.78992415e-03 1.94044983e+02] [ 8.26731703e-01 -5.62525020e-01 -8.96072170e-03 2.43896890e+02] [ 1.06655247e-02 -2.53649804e-04 9.99943090e-01 1.02082456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.03, Y:243.92, Z:10.21 [[-5.64929412e-01 -8.25118676e-01 5.82486041e-03 1.94033479e+02] [ 8.25069554e-01 -5.64959370e-01 -9.00781183e-03 2.43921023e+02] [ 1.07233232e-02 -2.82862863e-04 9.99942464e-01 1.02078248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.02, Y:243.94, Z:10.21 [[-5.65922198e-01 -8.24438323e-01 5.78946062e-03 1.94020109e+02] [ 8.24389821e-01 -5.65951736e-01 -8.94743999e-03 2.43944745e+02] [ 1.06531677e-02 -2.90782503e-04 9.99943211e-01 1.02083447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.01, Y:243.97, Z:10.21 [[-5.66903924e-01 -8.23764286e-01 5.68696247e-03 1.94005435e+02] [ 8.23717522e-01 -5.66932372e-01 -8.78230649e-03 2.43968191e+02] [ 1.04586736e-02 -2.94273382e-04 9.99945263e-01 1.02090638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.99, Y:243.99, Z:10.21 [[-5.68218036e-01 -8.22860332e-01 5.39794975e-03 1.93991918e+02] [ 8.22818222e-01 -5.68243600e-01 -8.32971692e-03 2.43992170e+02] [ 9.92154403e-03 -2.91563970e-04 9.99950738e-01 1.02103088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:244.01, Z:10.21 [[-5.68205496e-01 -8.22868962e-01 5.40240249e-03 1.93978505e+02] [ 8.22826848e-01 -5.68231105e-01 -8.33008603e-03 2.44014209e+02] [ 9.92438238e-03 -2.87958852e-04 9.99950711e-01 1.02109080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.96, Y:244.04, Z:10.21 [[-5.67292314e-01 -8.23500204e-01 5.18118527e-03 1.93963238e+02] [ 8.23461545e-01 -5.67315913e-01 -7.98366519e-03 2.44036483e+02] [ 9.51391876e-03 -2.62565072e-04 9.99954707e-01 1.02119268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:244.06, Z:10.21 [[-5.66686083e-01 -8.23916898e-01 5.27520789e-03 1.93948654e+02] [ 8.23876905e-01 -5.66710578e-01 -8.12201387e-03 2.44058077e+02] [ 9.68138059e-03 -2.56510283e-04 9.99953101e-01 1.02121730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:244.08, Z:10.21 [[-5.66167489e-01 -8.24273080e-01 5.31643724e-03 1.93934690e+02] [ 8.24232544e-01 -5.66192395e-01 -8.17831070e-03 2.44079137e+02] [ 9.75128769e-03 -2.48313041e-04 9.99952424e-01 1.02121926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.92, Y:244.10, Z:10.21 [[-5.65167778e-01 -8.24959902e-01 5.15195193e-03 1.93917522e+02] [ 8.24921930e-01 -5.65191215e-01 -7.91835825e-03 2.44101320e+02] [ 9.44416602e-03 -2.25242816e-04 9.99955378e-01 1.02125080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.90, Y:244.12, Z:10.21 [[-5.62733186e-01 -8.26620332e-01 5.49429547e-03 1.93902162e+02] [ 8.26577289e-01 -5.62759970e-01 -8.43815479e-03 2.44123244e+02] [ 1.00671199e-02 -2.06969883e-04 9.99949304e-01 1.02130376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.89, Y:244.15, Z:10.21 [[-5.61783108e-01 -8.27265781e-01 5.57381979e-03 1.93887675e+02] [ 8.27221575e-01 -5.61810725e-01 -8.55426544e-03 2.44145359e+02] [ 1.02080828e-02 -1.94857849e-04 9.99947877e-01 1.02135444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.87, Y:244.17, Z:10.21 [[-5.59608938e-01 -8.28736910e-01 5.74209986e-03 1.93871445e+02] [ 8.28690149e-01 -5.59638371e-01 -8.80514596e-03 2.44167847e+02] [ 1.05106489e-02 -1.69016787e-04 9.99944747e-01 1.02139444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.86, Y:244.19, Z:10.21 [[-5.58936708e-01 -8.29190417e-01 5.74533348e-03 1.93856328e+02] [ 8.29143696e-01 -5.58966214e-01 -8.80355867e-03 2.44189767e+02] [ 1.05112738e-02 -1.56925065e-04 9.99944743e-01 1.02143898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.84, Y:244.21, Z:10.21 [[-5.58380181e-01 -8.29565869e-01 5.66057846e-03 1.93840716e+02] [ 8.29520612e-01 -5.58408854e-01 -8.66634654e-03 2.44212529e+02] [ 1.03502224e-02 -1.43549643e-04 9.99946425e-01 1.02149169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.83, Y:244.23, Z:10.22 [[-5.57689308e-01 -8.30030075e-01 5.71936324e-03 1.93827714e+02] [ 8.29983971e-01 -5.57718619e-01 -8.74931320e-03 2.44234829e+02] [ 1.04519884e-02 -1.32418607e-04 9.99945368e-01 1.02162014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.81, Y:244.26, Z:10.22 [[-5.57675838e-01 -8.30037156e-01 5.99830022e-03 1.93812720e+02] [ 8.29986532e-01 -5.57708079e-01 -9.16815787e-03 2.44257488e+02] [ 1.09552122e-02 -1.34351720e-04 9.99939981e-01 1.02170504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.80, Y:244.28, Z:10.22 [[-5.57202691e-01 -8.30353380e-01 6.19879899e-03 1.93799342e+02] [ 8.30299423e-01 -5.57237156e-01 -9.46684124e-03 2.44280297e+02] [ 1.13150247e-02 -1.28090194e-04 9.99935975e-01 1.02179370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.78, Y:244.30, Z:10.22 [[-5.57401472e-01 -8.30219081e-01 6.31477729e-03 1.93784256e+02] [ 8.30163170e-01 -5.57437226e-01 -9.63591632e-03 2.44303184e+02] [ 1.15200135e-02 -1.28778417e-04 9.99933634e-01 1.02183939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.77, Y:244.33, Z:10.22 [[-5.57586141e-01 -8.30095725e-01 6.22761969e-03 1.93770739e+02] [ 8.30041424e-01 -5.57620903e-01 -9.49539059e-03 2.44325509e+02] [ 1.13547340e-02 -1.25315875e-04 9.99935525e-01 1.02188859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.76, Y:244.35, Z:10.22 [[-5.57914900e-01 -8.29874771e-01 6.23126605e-03 1.93756303e+02] [ 8.29820483e-01 -5.57949683e-01 -9.49299727e-03 2.44347053e+02] [ 1.13547319e-02 -1.25452414e-04 9.99935525e-01 1.02191275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.74, Y:244.37, Z:10.22 [[-5.58390233e-01 -8.29553439e-01 6.43740615e-03 1.93744660e+02] [ 8.29495576e-01 -5.58427323e-01 -9.79871008e-03 2.44370133e+02] [ 1.17233771e-02 -1.31704084e-04 9.99931270e-01 1.02197490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:244.39, Z:10.22 [[-5.58854403e-01 -8.29237308e-01 6.87345770e-03 1.93732577e+02] [ 8.29171410e-01 -5.58896651e-01 -1.04549397e-02 2.44392977e+02] [ 1.25111786e-02 -1.43514481e-04 9.99921722e-01 1.02196894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.72, Y:244.42, Z:10.22 [[-5.60053662e-01 -8.28420266e-01 7.73034366e-03 1.93719631e+02] [ 8.28336964e-01 -5.60106982e-01 -1.17492043e-02 2.44417059e+02] [ 1.40630984e-02 -1.76855471e-04 9.99901094e-01 1.02202082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.232755096 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:193.71, Y:244.44, Z:10.22 [[-5.60639924e-01 -8.28018496e-01 8.26111022e-03 1.93707549e+02] [ 8.27923477e-01 -5.60700751e-01 -1.25452496e-02 2.44440638e+02] [ 1.50197094e-02 -1.93800666e-04 9.99887179e-01 1.02188943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.69, Y:244.46, Z:10.22 [[-5.61236488e-01 -8.27611479e-01 8.53484728e-03 1.93693399e+02] [ 8.27510178e-01 -5.61301342e-01 -1.29502137e-02 2.44463982e+02] [ 1.55083668e-02 -2.05459481e-04 9.99879717e-01 1.02196823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2927550960001 meters Centerline goodness [0,1] 0.9999783666846944 Centerline is valid? [True, True] Translation: X:193.68, Y:244.49, Z:10.22 [[-5.61549056e-01 -8.27396177e-01 8.84444510e-03 1.93679177e+02] [ 8.27287537e-01 -5.61618662e-01 -1.34093076e-02 2.44487323e+02] [ 1.60620152e-02 -2.13084805e-04 9.99870975e-01 1.02193586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.67, Y:244.51, Z:10.22 [[-5.61408159e-01 -8.27485466e-01 9.41717512e-03 1.93666847e+02] [ 8.27362515e-01 -5.61487094e-01 -1.42657340e-02 2.44510152e+02] [ 1.70923099e-02 -2.17481785e-04 9.99853892e-01 1.02195402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.352755096 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:193.65, Y:244.53, Z:10.22 [[-5.61601447e-01 -8.27350876e-01 9.71297419e-03 1.93652952e+02] [ 8.27220282e-01 -5.61685391e-01 -1.47012550e-02 2.44532595e+02] [ 1.76187319e-02 -2.21476828e-04 9.99844754e-01 1.02178543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.64, Y:244.56, Z:10.22 [[-5.61272241e-01 -8.27572163e-01 9.88870027e-03 1.93639326e+02] [ 8.27437058e-01 -5.61359306e-01 -1.49547524e-02 2.44556720e+02] [ 1.79272507e-02 -2.11410350e-04 9.99839272e-01 1.02201538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.63, Y:244.58, Z:10.22 [[-5.61269727e-01 -8.27572390e-01 1.00116530e-02 1.93625959e+02] [ 8.27434127e-01 -5.61358973e-01 -1.51283961e-02 2.44579702e+02] [ 1.81399742e-02 -2.07127384e-04 9.99835436e-01 1.02205535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.61, Y:244.60, Z:10.22 [[-5.61145333e-01 -8.27655208e-01 1.01376431e-02 1.93612499e+02] [ 8.27513684e-01 -5.61236863e-01 -1.53064048e-02 2.44602941e+02] [ 1.83580446e-02 -2.00079246e-04 9.99831457e-01 1.02214059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.60, Y:244.63, Z:10.22 [[-5.61308982e-01 -8.27542372e-01 1.02883327e-02 1.93601474e+02] [ 8.27396804e-01 -5.61403226e-01 -1.55224567e-02 2.44625794e+02] [ 1.86213938e-02 -2.00360750e-04 9.99826587e-01 1.02219994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters Centerline goodness [0,1] 0.9998910556705524 Centerline is valid? [True, True] Translation: X:193.59, Y:244.65, Z:10.22 [[-5.61402370e-01 -8.27472251e-01 1.08190603e-02 1.93589371e+02] [ 8.27311521e-01 -5.61506573e-01 -1.63100171e-02 2.44648614e+02] [ 1.95710600e-02 -2.05749064e-04 9.99808447e-01 1.02191985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.58, Y:244.67, Z:10.22 [[-5.62235287e-01 -8.26912295e-01 1.03700833e-02 1.93576651e+02] [ 8.26764771e-01 -5.62330875e-01 -1.56204949e-02 2.44673319e+02] [ 1.87481973e-02 -2.08773873e-04 9.99824215e-01 1.02240243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.562755096 meters Centerline goodness [0,1] 0.9999563499858137 Centerline is valid? [True, True] Translation: X:193.56, Y:244.70, Z:10.22 [[-5.62828747e-01 -8.26503680e-01 1.07455977e-02 1.93563280e+02] [ 8.26345451e-01 -5.62931272e-01 -1.61733825e-02 2.44697335e+02] [ 1.94163931e-02 -2.23268830e-04 9.99811459e-01 1.02239875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.55, Y:244.72, Z:10.23 [[-5.63253879e-01 -8.26218806e-01 1.03707406e-02 1.93550102e+02] [ 8.26071599e-01 -5.63349303e-01 -1.55973200e-02 2.44720788e+02] [ 1.87291485e-02 -2.18276700e-04 9.99824570e-01 1.02261365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.54, Y:244.75, Z:10.23 [[-5.64108485e-01 -8.25631967e-01 1.06523716e-02 1.93538992e+02] [ 8.25476797e-01 -5.64209004e-01 -1.60080606e-02 2.44745304e+02] [ 1.92269305e-02 -2.36997243e-04 9.99815117e-01 1.02268913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.53, Y:244.77, Z:10.23 [[-5.64673887e-01 -8.25246916e-01 1.05322771e-02 1.93526422e+02] [ 8.25095412e-01 -5.64772051e-01 -1.58142585e-02 2.44767938e+02] [ 1.89990038e-02 -2.39765293e-04 9.99819474e-01 1.02271823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.51, Y:244.79, Z:10.23 [[-5.65068618e-01 -8.24973259e-01 1.07972081e-02 1.93512302e+02] [ 8.24814250e-01 -5.65171709e-01 -1.61985232e-02 2.44791553e+02] [ 1.94656250e-02 -2.47586016e-04 9.99810496e-01 1.02277109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:244.82, Z:10.23 [[-5.65964518e-01 -8.24356922e-01 1.09466827e-02 1.93501394e+02] [ 8.24193621e-01 -5.66070309e-01 -1.64097743e-02 2.44815649e+02] [ 1.97241031e-02 -2.65163937e-04 9.99805426e-01 1.02278234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters Centerline goodness [0,1] 0.9999339687011644 Centerline is valid? [True, True] Translation: X:193.49, Y:244.84, Z:10.23 [[-5.66350352e-01 -8.24083949e-01 1.15292509e-02 1.93487691e+02] [ 8.23903044e-01 -5.66467621e-01 -1.72687216e-02 2.44838714e+02] [ 2.07618236e-02 -2.81161612e-04 9.99784411e-01 1.02267890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:244.86, Z:10.23 [[-5.67542902e-01 -8.23267874e-01 1.11831603e-02 1.93475744e+02] [ 8.23097780e-01 -5.67652994e-01 -1.67368860e-02 2.44862028e+02] [ 2.01270950e-02 -2.94066455e-04 9.99797386e-01 1.02276343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.46, Y:244.89, Z:10.23 [[-5.68655013e-01 -8.22495945e-01 1.14845982e-02 1.93463568e+02] [ 8.22316683e-01 -5.68770882e-01 -1.71743063e-02 2.44886571e+02] [ 2.06579024e-02 -3.22278693e-04 9.99786551e-01 1.02285633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.45, Y:244.91, Z:10.23 [[-5.69159494e-01 -8.22144642e-01 1.16472278e-02 1.93451717e+02] [ 8.21960482e-01 -5.69278559e-01 -1.74036857e-02 2.44909860e+02] [ 2.09388640e-02 -3.31911973e-04 9.99780703e-01 1.02281664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.44, Y:244.93, Z:10.23 [[-5.69892376e-01 -8.21637814e-01 1.15750998e-02 1.93438527e+02] [ 8.21456103e-01 -5.70009814e-01 -1.72824444e-02 2.44933971e+02] [ 2.07978303e-02 -3.40696896e-04 9.99783644e-01 1.02300198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.42, Y:244.96, Z:10.23 [[-5.70441605e-01 -8.21253742e-01 1.17756391e-02 1.93424887e+02] [ 8.21065884e-01 -5.70563025e-01 -1.75683962e-02 2.44957544e+02] [ 2.11468554e-02 -3.53168595e-04 9.99776318e-01 1.02306782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9227550960001 meters Centerline goodness [0,1] 0.9999559277214632 Centerline is valid? [True, True] Translation: X:193.41, Y:244.98, Z:10.23 [[-5.70805591e-01 -8.20995845e-01 1.21160517e-02 1.93410891e+02] [ 8.20797210e-01 -5.70934049e-01 -1.80624360e-02 2.44981520e+02] [ 2.17466513e-02 -3.65318021e-04 9.99763447e-01 1.02307511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.40, Y:245.00, Z:10.23 [[-5.71245357e-01 -8.20686471e-01 1.23474184e-02 1.93396790e+02] [ 8.20480414e-01 -5.71378662e-01 -1.83933222e-02 2.45004661e+02] [ 2.21502021e-02 -3.76284952e-04 9.99754583e-01 1.02311188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.38, Y:245.03, Z:10.23 [[-5.70789794e-01 -8.20994146e-01 1.29469458e-02 1.93383018e+02] [ 8.20768016e-01 -5.70936487e-01 -1.92715263e-02 2.45028780e+02] [ 2.32136940e-02 -3.73551533e-04 9.99730456e-01 1.02316285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:245.05, Z:10.23 [[-5.70116716e-01 -8.21457679e-01 1.31988901e-02 1.93368953e+02] [ 8.21223172e-01 -5.70269372e-01 -1.96301841e-02 2.45049562e+02] [ 2.36522883e-02 -3.52261695e-04 9.99720183e-01 1.02316429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0427550960001 meters Centerline goodness [0,1] 0.9999555822062318 Centerline is valid? [True, True] Translation: X:193.35, Y:245.07, Z:10.23 [[-5.68181692e-01 -8.22794782e-01 1.33533290e-02 1.93353494e+02] [ 8.22555537e-01 -5.68338510e-01 -1.98425443e-02 2.45070022e+02] [ 2.39155530e-02 -2.90315681e-04 9.99713940e-01 1.02317962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.072755096 meters Centerline goodness [0,1] 0.9999334752527941 Centerline is valid? [True, True] Translation: X:193.34, Y:245.09, Z:10.23 [[-5.67182833e-01 -8.23481599e-01 1.34792497e-02 1.93337478e+02] [ 8.23238420e-01 -5.67342922e-01 -2.00128039e-02 2.45091187e+02] [ 2.41275327e-02 -2.54282529e-04 9.99708856e-01 1.02326580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.32, Y:245.11, Z:10.23 [[-5.66256261e-01 -8.24118343e-01 1.35204729e-02 1.93321403e+02] [ 8.23874254e-01 -5.66417610e-01 -2.00575295e-02 2.45112468e+02] [ 2.41880120e-02 -2.18532121e-04 9.99707403e-01 1.02332269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.132755096 meters Centerline goodness [0,1] 0.999910925043424 Centerline is valid? [True, True] Translation: X:193.30, Y:245.13, Z:10.23 [[-5.64515235e-01 -8.25302864e-01 1.40617242e-02 1.93304698e+02] [ 8.25039652e-01 -5.64690318e-01 -2.08426927e-02 2.45131639e+02] [ 2.51420535e-02 -1.64537545e-04 9.99683875e-01 1.02329383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1627550960001 meters Centerline goodness [0,1] 0.9999778078604559 Centerline is valid? [True, True] Translation: X:193.29, Y:245.15, Z:10.23 [[-5.64061505e-01 -8.25607558e-01 1.43798242e-02 1.93289024e+02] [ 8.25332852e-01 -5.64244752e-01 -2.12965368e-02 2.45152910e+02] [ 2.56963221e-02 -1.44415246e-04 9.99669785e-01 1.02333743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.27, Y:245.17, Z:10.24 [[-5.63689567e-01 -8.25855089e-01 1.47460120e-02 1.93272419e+02] [ 8.25566751e-01 -5.63882396e-01 -2.18216222e-02 2.45174502e+02] [ 2.63365143e-02 -1.26803525e-04 9.99653126e-01 1.02354458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.222755096 meters Centerline goodness [0,1] 0.9999334693515479 Centerline is valid? [True, True] Translation: X:193.26, Y:245.20, Z:10.23 [[-5.63313120e-01 -8.26100116e-01 1.53924361e-02 1.93256987e+02] [ 8.25786499e-01 -5.63523368e-01 -2.27611973e-02 2.45195227e+02] [ 2.74770251e-02 -1.10815117e-04 9.99622429e-01 1.02333341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.252755096 meters Centerline goodness [0,1] 0.9999777817276928 Centerline is valid? [True, True] Translation: X:193.24, Y:245.22, Z:10.23 [[-5.63019464e-01 -8.26295834e-01 1.56294319e-02 1.93241562e+02] [ 8.25972986e-01 -5.63236351e-01 -2.30963354e-02 2.45215790e+02] [ 2.78874699e-02 -9.41978737e-05 9.99611064e-01 1.02333639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.22, Y:245.24, Z:10.24 [[-5.62942234e-01 -8.26344954e-01 1.58132391e-02 1.93224405e+02] [ 8.26014962e-01 -5.63164283e-01 -2.33510833e-02 2.45236852e+02] [ 2.82015013e-02 -8.33389061e-05 9.99602255e-01 1.02359825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.21, Y:245.26, Z:10.24 [[-5.63446579e-01 -8.26000864e-01 1.58280108e-02 1.93209158e+02] [ 8.25670639e-01 -5.63668844e-01 -2.33544712e-02 2.45258312e+02] [ 2.82125699e-02 -9.02731346e-05 9.99601942e-01 1.02361760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.342755096 meters Centerline goodness [0,1] 0.9999556649154309 Centerline is valid? [True, True] Translation: X:193.19, Y:245.28, Z:10.24 [[-5.64275060e-01 -8.25435418e-01 1.58122797e-02 1.93194247e+02] [ 8.25106166e-01 -5.64496554e-01 -2.33121336e-02 2.45280061e+02] [ 2.81686382e-02 -1.07646134e-04 9.99603179e-01 1.02366956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.18, Y:245.30, Z:10.24 [[-5.66368094e-01 -8.24014285e-01 1.50877499e-02 1.93179615e+02] [ 8.23714475e-01 -5.66569000e-01 -2.22268322e-02 2.45303027e+02] [ 2.68634786e-02 -1.60570664e-04 9.99639099e-01 1.02386513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4027550960001 meters Centerline goodness [0,1] 0.9999777984991786 Centerline is valid? [True, True] Translation: X:193.16, Y:245.33, Z:10.24 [[-5.68070299e-01 -8.22846381e-01 1.48313513e-02 1.93164980e+02] [ 8.22556741e-01 -5.68263840e-01 -2.18315481e-02 2.45325584e+02] [ 2.63921310e-02 -2.02226084e-04 9.99651647e-01 1.02393244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.15, Y:245.35, Z:10.24 [[-5.69729686e-01 -8.21706239e-01 1.43854748e-02 1.93150910e+02] [ 8.21433850e-01 -5.69911222e-01 -2.11572640e-02 2.45347377e+02] [ 2.55834993e-02 -2.37205429e-04 9.99672661e-01 1.02400116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.14, Y:245.37, Z:10.24 [[-5.72863658e-01 -8.19535213e-01 1.37573215e-02 1.93138562e+02] [ 8.19285862e-01 -5.73028742e-01 -2.02172696e-02 2.45370261e+02] [ 2.44521049e-02 -3.10560037e-04 9.99700954e-01 1.02412728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:245.39, Z:10.24 [[-5.74452823e-01 -8.18429359e-01 1.33168552e-02 1.93124330e+02] [ 8.18195790e-01 -5.74607057e-01 -1.95545375e-02 2.45392229e+02] [ 2.36559666e-02 -3.37364404e-04 9.99720102e-01 1.02418286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.11, Y:245.42, Z:10.24 [[-5.77099069e-01 -8.16577693e-01 1.25512829e-02 1.93108571e+02] [ 8.16370065e-01 -5.77235415e-01 -1.84171777e-02 2.45415205e+02] [ 2.22841015e-02 -3.82044483e-04 9.99751606e-01 1.02437474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.10, Y:245.44, Z:10.24 [[-5.78248222e-01 -8.15771979e-01 1.20446252e-02 1.93095400e+02] [ 8.15580879e-01 -5.78373519e-01 -1.76607530e-02 2.45438562e+02] [ 2.13734396e-02 -3.88933043e-04 9.99771486e-01 1.02424050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.582755096 meters Centerline goodness [0,1] 0.9999558079413129 Centerline is valid? [True, True] Translation: X:193.08, Y:245.46, Z:10.24 [[-5.79216567e-01 -8.15087015e-01 1.18880668e-02 1.93078043e+02] [ 8.14900992e-01 -5.79338413e-01 -1.74177344e-02 2.45460039e+02] [ 2.10841829e-02 -4.01042947e-04 9.99777624e-01 1.02438809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:245.48, Z:10.24 [[-5.80188762e-01 -8.14396238e-01 1.18223554e-02 1.93062362e+02] [ 8.14212397e-01 -5.80309051e-01 -1.73083367e-02 2.45482509e+02] [ 2.09564641e-02 -4.16194132e-04 9.99780303e-01 1.02443097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters Centerline goodness [0,1] 0.9999116763822646 Centerline is valid? [True, True] Translation: X:193.05, Y:245.50, Z:10.24 [[-5.81102056e-01 -8.13755741e-01 1.10450986e-02 1.93047437e+02] [ 8.13595397e-01 -5.81206874e-01 -1.61585443e-02 2.45504795e+02] [ 1.95685955e-02 -4.03521937e-04 9.99808435e-01 1.02445980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:245.53, Z:10.25 [[-5.81920289e-01 -8.13174650e-01 1.07594883e-02 1.93032150e+02] [ 8.13022617e-01 -5.82019608e-01 -1.57289421e-02 2.45526949e+02] [ 1.90526102e-02 -4.05283249e-04 9.99818400e-01 1.02452085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.02, Y:245.55, Z:10.25 [[-5.82843095e-01 -8.12526036e-01 9.76563875e-03 1.93018356e+02] [ 8.12400885e-01 -5.82924778e-01 -1.42655528e-02 2.45549487e+02] [ 1.72837659e-02 -3.80965393e-04 9.99850552e-01 1.02455243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.00, Y:245.57, Z:10.25 [[-5.83287740e-01 -8.12210150e-01 9.49127799e-03 1.93003587e+02] [ 8.12092077e-01 -5.83364837e-01 -1.38537372e-02 2.45571311e+02] [ 1.67890238e-02 -3.72923378e-04 9.99858985e-01 1.02461387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.99, Y:245.59, Z:10.25 [[-5.83766396e-01 -8.11871761e-01 9.00216448e-03 1.92988774e+02] [ 8.11765672e-01 -5.83835693e-01 -1.31292887e-02 2.45592964e+02] [ 1.59150837e-02 -3.56789424e-04 9.99873283e-01 1.02467585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.98, Y:245.61, Z:10.25 [[-5.84448902e-01 -8.11391139e-01 7.99378257e-03 1.92975049e+02] [ 8.11307570e-01 -5.84503477e-01 -1.16495703e-02 2.45614339e+02] [ 1.41247519e-02 -3.23162286e-04 9.99900189e-01 1.02470458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.96, Y:245.64, Z:10.25 [[-5.85037486e-01 -8.10967632e-01 7.91447744e-03 1.92959424e+02] [ 8.10885810e-01 -5.85090928e-01 -1.15242853e-02 2.45636066e+02] [ 1.39765113e-02 -3.24401441e-04 9.99902271e-01 1.02468456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.95, Y:245.66, Z:10.25 [[-5.85770266e-01 -8.10441326e-01 7.61923335e-03 1.92945354e+02] [ 8.10365572e-01 -5.85819730e-01 -1.10853410e-02 2.45657053e+02] [ 1.34475157e-02 -3.19098792e-04 9.99909527e-01 1.02466245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:245.68, Z:10.25 [[-5.86519823e-01 -8.09907118e-01 6.70502569e-03 1.92929280e+02] [ 8.09848505e-01 -5.86558077e-01 -9.74787889e-03 2.45679468e+02] [ 1.18277635e-02 -2.87269170e-04 9.99930008e-01 1.02470264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:245.70, Z:10.25 [[-5.86990056e-01 -8.09570104e-01 6.23866925e-03 1.92914395e+02] [ 8.09519413e-01 -5.87023146e-01 -9.06347168e-03 2.45702049e+02] [ 1.09997590e-02 -2.69843885e-04 9.99939464e-01 1.02475367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.90, Y:245.72, Z:10.25 [[-5.87650706e-01 -8.09095050e-01 5.64336068e-03 1.92900048e+02] [ 8.09053605e-01 -5.87677750e-01 -8.19302975e-03 2.45724556e+02] [ 9.94541732e-03 -2.48858421e-04 9.99950512e-01 1.02484758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.89, Y:245.75, Z:10.25 [[-5.88453336e-01 -8.08516063e-01 4.94451503e-03 1.92885800e+02] [ 8.08484269e-01 -5.88474066e-01 -7.17362132e-03 2.45746002e+02] [ 8.70970693e-03 -2.23778778e-04 9.99962045e-01 1.02491120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.87, Y:245.77, Z:10.25 [[-5.88866871e-01 -8.08217272e-01 4.54431322e-03 1.92868949e+02] [ 8.08190448e-01 -5.88884369e-01 -6.58784103e-03 2.45767614e+02] [ 8.00048192e-03 -2.06690798e-04 9.99967974e-01 1.02493191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.85, Y:245.79, Z:10.25 [[-5.89006635e-01 -8.08119031e-01 3.84922310e-03 1.92854669e+02] [ 8.08099807e-01 -5.89019186e-01 -5.57671033e-03 2.45788053e+02] [ 6.77391200e-03 -1.74162936e-04 9.99977042e-01 1.02496327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.062755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:245.81, Z:10.25 [[-5.89316106e-01 -8.07893371e-01 3.85077740e-03 1.92839702e+02] [ 8.07874150e-01 -5.89328661e-01 -5.57563676e-03 2.45809268e+02] [ 6.77389346e-03 -1.74869029e-04 9.99977042e-01 1.02498746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.82, Y:245.83, Z:10.25 [[-5.89455878e-01 -8.07792134e-01 3.69272561e-03 1.92822575e+02] [ 8.07774484e-01 -5.89467421e-01 -5.34252593e-03 2.45831043e+02] [ 6.49239186e-03 -1.66293785e-04 9.99978910e-01 1.02497733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.81, Y:245.85, Z:10.25 [[-5.89243401e-01 -8.07947188e-01 3.68185102e-03 1.92806303e+02] [ 8.07929670e-01 -5.89254882e-01 -5.32279755e-03 2.45852767e+02] [ 6.47008800e-03 -1.61746652e-04 9.99979056e-01 1.02496943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:245.87, Z:10.25 [[-5.88412714e-01 -8.08553939e-01 3.31743022e-03 1.92788866e+02] [ 8.08539745e-01 -5.88422050e-01 -4.79291727e-03 2.45873433e+02] [ 5.82738123e-03 -1.37939279e-04 9.99983011e-01 1.02495784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.182755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.77, Y:245.89, Z:10.25 [[-5.87799787e-01 -8.08999745e-01 3.28986229e-03 1.92773548e+02] [ 8.08985816e-01 -5.87808980e-01 -4.74899324e-03 2.45894393e+02] [ 5.77574491e-03 -1.30005285e-04 9.99983312e-01 1.02494447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:245.92, Z:10.25 [[-5.87375525e-01 -8.09309502e-01 2.85004068e-03 1.92756535e+02] [ 8.09299058e-01 -5.87382430e-01 -4.11287048e-03 2.45915747e+02] [ 5.00264898e-03 -1.09264219e-04 9.99987481e-01 1.02492670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.74, Y:245.94, Z:10.25 [[-5.86270320e-01 -8.10112076e-01 2.35290472e-03 1.92739785e+02] [ 8.10104970e-01 -5.86275036e-01 -3.39406396e-03 2.45936454e+02] [ 4.12902150e-03 -8.37391612e-05 9.99991472e-01 1.02488388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.72, Y:245.96, Z:10.25 [[-5.86172445e-01 -8.10183316e-01 2.20457551e-03 1.92724402e+02] [ 8.10177086e-01 -5.86176586e-01 -3.17812315e-03 2.45957744e+02] [ 3.86713289e-03 -7.68316558e-05 9.99992520e-01 1.02485200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:245.98, Z:10.25 [[-5.86937402e-01 -8.09630331e-01 1.79276415e-03 1.92708654e+02] [ 8.09626213e-01 -5.86940136e-01 -2.58313725e-03 2.45980358e+02] [ 3.14363150e-03 -6.46710186e-05 9.99995057e-01 1.02483459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.69, Y:246.00, Z:10.25 [[-5.87619382e-01 -8.09136194e-01 1.44263049e-03 1.92693426e+02] [ 8.09133527e-01 -5.87621151e-01 -2.07819923e-03 2.46003141e+02] [ 2.52926640e-03 -5.39094540e-05 9.99996800e-01 1.02487983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.68, Y:246.03, Z:10.25 [[-5.88547810e-01 -8.08461845e-01 9.59437506e-04 1.92679445e+02] [ 8.08460665e-01 -5.88548591e-01 -1.38194501e-03 2.46025135e+02] [ 1.68192541e-03 -3.76732275e-05 9.99998585e-01 1.02492734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.392755096 meters Centerline goodness [0,1] 0.9998895686551671 Centerline is valid? [True, True] Translation: X:192.66, Y:246.05, Z:10.25 [[-5.89803197e-01 -8.07546631e-01 7.92230275e-04 1.92663375e+02] [ 8.07545824e-01 -5.89803728e-01 -1.14234485e-03 2.46047699e+02] [ 1.38975710e-03 -3.39963922e-05 9.99999034e-01 1.02489161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4227550960001 meters Centerline goodness [0,1] 0.9998892948079265 Centerline is valid? [True, True] Translation: X:192.65, Y:246.07, Z:10.25 [[-5.91502646e-01 -8.06302949e-01 4.18798692e-04 1.92649709e+02] [ 8.06302722e-01 -5.91502794e-01 -6.04929239e-04 2.46070300e+02] [ 7.35476825e-04 -2.01387193e-05 9.99999729e-01 1.02493094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.452755096 meters Centerline goodness [0,1] 0.9999115044247787 Centerline is valid? [True, True] Translation: X:192.64, Y:246.09, Z:10.25 [[-5.92695349e-01 -8.05426566e-01 5.19255462e-04 1.92635832e+02] [ 8.05426218e-01 -5.92695576e-01 -7.49882936e-04 2.46092175e+02] [ 9.11736053e-04 -2.62301657e-05 9.99999584e-01 1.02498445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.482755096 meters Centerline goodness [0,1] 0.9999337206990256 Centerline is valid? [True, True] Translation: X:192.62, Y:246.11, Z:10.25 [[-5.93981103e-01 -8.04478965e-01 2.10891356e-04 1.92622372e+02] [ 8.04478906e-01 -5.93981140e-01 -3.07793736e-04 2.46114390e+02] [ 3.72879074e-04 -1.31660157e-05 9.99999930e-01 1.02505671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.61, Y:246.14, Z:10.25 [[-5.94125820e-01 -8.04372122e-01 -1.64384357e-05 1.92605733e+02] [ 8.04372122e-01 -5.94125820e-01 1.72058092e-05 2.46135078e+02] [-2.36063727e-05 -3.00020392e-06 1.00000000e+00 1.02502474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5427550960001 meters Centerline goodness [0,1] 0.9998230597394555 Centerline is valid? [True, True] Translation: X:192.59, Y:246.16, Z:10.25 [[-5.94092771e-01 -8.04396517e-01 1.49544637e-04 1.92590058e+02] [ 8.04396487e-01 -5.94092790e-01 -2.20048672e-04 2.46156556e+02] [ 2.65849776e-04 -1.04361444e-05 9.99999965e-01 1.02495573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.572755096 meters Centerline goodness [0,1] 0.9998673476155734 Centerline is valid? [True, True] Translation: X:192.57, Y:246.18, Z:10.25 [[-5.94192432e-01 -8.04322812e-01 4.10827419e-04 1.92574833e+02] [ 8.04322593e-01 -5.94192573e-01 -5.93016118e-04 2.46177798e+02] [ 7.21086992e-04 -2.19279140e-05 9.99999740e-01 1.02490457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.602755096 meters Centerline goodness [0,1] 0.9998234073550837 Centerline is valid? [True, True] Translation: X:192.56, Y:246.20, Z:10.25 [[-5.94271554e-01 -8.04264328e-01 4.59010460e-04 1.92558263e+02] [ 8.04264057e-01 -5.94271730e-01 -6.60791679e-04 2.46200032e+02] [ 8.04228116e-04 -2.35240823e-05 9.99999676e-01 1.02490127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.632755096 meters Centerline goodness [0,1] 0.9999779565744517 Centerline is valid? [True, True] Translation: X:192.54, Y:246.22, Z:10.25 [[-5.93559915e-01 -8.04789514e-01 6.82681407e-04 1.92543198e+02] [ 8.04788919e-01 -5.93560307e-01 -9.79196082e-04 2.46222101e+02] [ 1.19325932e-03 -3.17971121e-05 9.99999288e-01 1.02494281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6627550960001 meters Centerline goodness [0,1] 0.9998676402461891 Centerline is valid? [True, True] Translation: X:192.53, Y:246.24, Z:10.25 [[-5.93007274e-01 -8.05196736e-01 7.67497882e-04 1.92526455e+02] [ 8.05195986e-01 -5.93007770e-01 -1.09935488e-03 2.46244042e+02] [ 1.34032916e-03 -3.39392238e-05 9.99999101e-01 1.02495104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.51, Y:246.27, Z:10.25 [[-5.91491421e-01 -8.06310661e-01 1.00821646e-03 1.92511778e+02] [ 8.06309374e-01 -5.91492279e-01 -1.44149591e-03 2.46265347e+02] [ 1.75864577e-03 -3.96980839e-05 9.99998453e-01 1.02502794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.722755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.49, Y:246.29, Z:10.25 [[-5.90884850e-01 -8.06755259e-01 1.02298508e-03 1.92494595e+02] [ 8.06753936e-01 -5.90885735e-01 -1.46132462e-03 2.46286218e+02] [ 1.78339862e-03 -3.81773411e-05 9.99998409e-01 1.02495754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.48, Y:246.31, Z:10.25 [[-5.90202319e-01 -8.07254469e-01 1.20228390e-03 1.92478723e+02] [ 8.07252647e-01 -5.90203542e-01 -1.71529351e-03 2.46307128e+02] [ 2.09427056e-03 -4.18233469e-05 9.99997806e-01 1.02493493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.46, Y:246.33, Z:10.25 [[-5.89645761e-01 -8.07660528e-01 1.53241117e-03 1.92462575e+02] [ 8.07657580e-01 -5.89647750e-01 -2.18257039e-03 2.46328669e+02] [ 2.66635876e-03 -4.92798787e-05 9.99996444e-01 1.02490111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.812755096 meters Centerline goodness [0,1] 0.9999115494328107 Centerline is valid? [True, True] Translation: X:192.45, Y:246.35, Z:10.25 [[-5.87981567e-01 -8.08872372e-01 1.77842915e-03 1.92445298e+02] [ 8.08868417e-01 -5.87984254e-01 -2.52996438e-03 2.46349758e+02] [ 3.09210663e-03 -4.90572521e-05 9.99995218e-01 1.02480570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.842755096 meters Centerline goodness [0,1] 0.9999557375235144 Centerline is valid? [True, True] Translation: X:192.43, Y:246.37, Z:10.25 [[-5.87755310e-01 -8.09036542e-01 1.88948063e-03 1.92429460e+02] [ 8.09032086e-01 -5.87758345e-01 -2.68556022e-03 2.46372054e+02] [ 3.28327436e-03 -4.98018256e-05 9.99994609e-01 1.02478525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.41, Y:246.39, Z:10.25 [[-5.87060073e-01 -8.09540328e-01 2.21989703e-03 1.92413046e+02] [ 8.09534194e-01 -5.87064268e-01 -3.15177574e-03 2.46394172e+02] [ 3.85471179e-03 -5.31991435e-05 9.99992569e-01 1.02472976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.40, Y:246.42, Z:10.25 [[-5.86753228e-01 -8.09762688e-01 2.24474480e-03 1.92396842e+02] [ 8.09756427e-01 -5.86757520e-01 -3.18460397e-03 2.46416093e+02] [ 3.89589436e-03 -5.08801314e-05 9.99992410e-01 1.02470101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:246.44, Z:10.25 [[-5.86368799e-01 -8.10041189e-01 2.21436622e-03 1.92380565e+02] [ 8.10035108e-01 -5.86372978e-01 -3.13925680e-03 2.46438395e+02] [ 3.84137182e-03 -4.70478632e-05 9.99992621e-01 1.02470858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.962755096 meters Centerline goodness [0,1] 0.9999778073679538 Centerline is valid? [True, True] Translation: X:192.37, Y:246.46, Z:10.25 [[-5.85867192e-01 -8.10404739e-01 1.94738233e-03 1.92365050e+02] [ 8.10400042e-01 -5.85870428e-01 -2.75938761e-03 2.46461167e+02] [ 3.37713451e-03 -3.84759501e-05 9.99994297e-01 1.02477753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.992755096 meters Centerline goodness [0,1] 0.9998666222074025 Centerline is valid? [True, True] Translation: X:192.35, Y:246.48, Z:10.25 [[-5.85732010e-01 -8.10502490e-01 1.93038828e-03 1.92349900e+02] [ 8.10497881e-01 -5.85735190e-01 -2.73369546e-03 2.46483134e+02] [ 3.34636332e-03 -3.66373262e-05 9.99994400e-01 1.02485920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0227550960001 meters Centerline goodness [0,1] 0.9999556255685474 Centerline is valid? [True, True] Translation: X:192.34, Y:246.50, Z:10.25 [[-5.85667591e-01 -8.10549883e-01 1.53634324e-03 1.92335917e+02] [ 8.10546967e-01 -5.85669606e-01 -2.17423777e-03 2.46504596e+02] [ 2.66211771e-03 -2.81022462e-05 9.99996456e-01 1.02488307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.052755096 meters Centerline goodness [0,1] 0.9999555654299045 Centerline is valid? [True, True] Translation: X:192.32, Y:246.53, Z:10.25 [[-5.86078877e-01 -8.10252648e-01 1.48205623e-03 1.92321697e+02] [ 8.10249934e-01 -5.86080751e-01 -2.09728990e-03 2.46525648e+02] [ 2.56793932e-03 -2.83413439e-05 9.99996702e-01 1.02494840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.31, Y:246.55, Z:10.25 [[-5.86249772e-01 -8.10129061e-01 1.45230975e-03 1.92306808e+02] [ 8.10126460e-01 -5.86251570e-01 -2.05336595e-03 2.46546936e+02] [ 2.51491030e-03 -2.72307658e-05 9.99996837e-01 1.02497689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.112755096 meters Centerline goodness [0,1] 0.9999777599857664 Centerline is valid? [True, True] Translation: X:192.29, Y:246.57, Z:10.25 [[-5.86574545e-01 -8.09893690e-01 1.58602238e-03 1.92291981e+02] [ 8.09890592e-01 -5.86576688e-01 -2.24004265e-03 2.46568241e+02] [ 2.74452017e-03 -2.94473914e-05 9.99996233e-01 1.02498852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:246.59, Z:10.25 [[-5.86937450e-01 -8.09630955e-01 1.46529958e-03 1.92277484e+02] [ 8.09628313e-01 -5.86939278e-01 -2.06852069e-03 2.46589637e+02] [ 2.53478026e-03 -2.77442286e-05 9.99996787e-01 1.02506878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.26, Y:246.61, Z:10.25 [[-5.87176861e-01 -8.09457168e-01 1.55806922e-03 1.92262082e+02] [ 8.09454186e-01 -5.87178928e-01 -2.19710302e-03 2.46610614e+02] [ 2.69332620e-03 -2.89024060e-05 9.99996373e-01 1.02507347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.25, Y:246.63, Z:10.25 [[-5.87695626e-01 -8.09081042e-01 1.31087149e-03 1.92246316e+02] [ 8.09078933e-01 -5.87697087e-01 -1.84758224e-03 2.46633139e+02] [ 2.26523912e-03 -2.52174974e-05 9.99997434e-01 1.02515839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.232755096 meters Centerline goodness [0,1] 0.9998221392205251 Centerline is valid? [True, True] Translation: X:192.23, Y:246.65, Z:10.25 [[-5.88008348e-01 -8.08853083e-01 1.69511713e-03 1.92230772e+02] [ 8.08849565e-01 -5.88010790e-01 -2.38567910e-03 2.46654962e+02] [ 2.92641106e-03 -3.17044734e-05 9.99995718e-01 1.02516926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.22, Y:246.68, Z:10.25 [[-5.88627723e-01 -8.08402302e-01 1.76694592e-03 1.92215142e+02] [ 8.08398484e-01 -5.88630374e-01 -2.48464636e-03 2.46677644e+02] [ 3.04867187e-03 -3.41353266e-05 9.99995352e-01 1.02521384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:246.70, Z:10.25 [[-5.89548039e-01 -8.07729304e-01 2.54583802e-03 1.92199887e+02] [ 8.07721395e-01 -5.89553534e-01 -3.57478660e-03 2.46700677e+02] [ 4.38836769e-03 -5.11805929e-05 9.99990370e-01 1.02516309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.19, Y:246.72, Z:10.25 [[-5.90124578e-01 -8.07306406e-01 3.05787354e-03 1.92185455e+02] [ 8.07295012e-01 -5.90132497e-01 -4.28948901e-03 2.46722081e+02] [ 5.26748250e-03 -6.27268358e-05 9.99986125e-01 1.02514483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.352755096 meters Centerline goodness [0,1] 0.9999777693795434 Centerline is valid? [True, True] Translation: X:192.17, Y:246.74, Z:10.25 [[-5.90970281e-01 -8.06684984e-01 3.66928118e-03 1.92170643e+02] [ 8.06668599e-01 -5.90981667e-01 -5.14206359e-03 2.46743030e+02] [ 6.31650339e-03 -7.89128606e-05 9.99980048e-01 1.02509572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.16, Y:246.76, Z:10.25 [[-5.91817154e-01 -8.06060870e-01 4.28139179e-03 1.92155597e+02] [ 8.06038593e-01 -5.91832633e-01 -5.99354575e-03 2.46764567e+02] [ 7.36503008e-03 -9.61161765e-05 9.99972873e-01 1.02498157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.14, Y:246.79, Z:10.25 [[-5.92519743e-01 -8.05542414e-01 4.66620085e-03 1.92140101e+02] [ 8.05515983e-01 -5.92538106e-01 -6.52641989e-03 2.46786047e+02] [ 8.02220985e-03 -1.08333276e-04 9.99967816e-01 1.02497626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.12, Y:246.81, Z:10.25 [[-5.93240442e-01 -8.05008095e-01 5.26733917e-03 1.92124292e+02] [ 8.04974455e-01 -5.93263812e-01 -7.36048171e-03 2.46807386e+02] [ 9.05016907e-03 -1.26461947e-04 9.99959038e-01 1.02496294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.11, Y:246.83, Z:10.25 [[-5.93590818e-01 -8.04745479e-01 5.88686566e-03 1.92109947e+02] [ 8.04703520e-01 -5.93619991e-01 -8.21888991e-03 2.46828049e+02] [ 1.01086756e-02 -1.41476064e-04 9.99948896e-01 1.02495789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.09, Y:246.85, Z:10.25 [[-5.93875847e-01 -8.04534095e-01 6.03065679e-03 1.92094085e+02] [ 8.04490109e-01 -5.93906448e-01 -8.41396371e-03 2.46849711e+02] [ 1.03509666e-02 -1.45246081e-04 9.99946417e-01 1.02499523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.08, Y:246.87, Z:10.25 [[-5.93939534e-01 -8.04486467e-01 6.11180615e-03 1.92079166e+02] [ 8.04441360e-01 -5.93970962e-01 -8.52024616e-03 2.46870581e+02] [ 1.04846581e-02 -1.43921390e-04 9.99945024e-01 1.02505622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.562755096 meters Centerline goodness [0,1] 0.9998452286194393 Centerline is valid? [True, True] Translation: X:192.06, Y:246.89, Z:10.25 [[-5.94159040e-01 -8.04316669e-01 7.05203226e-03 1.92061379e+02] [ 8.04256712e-01 -5.94200866e-01 -9.82202451e-03 2.46891375e+02] [ 1.20903417e-02 -1.64200369e-04 9.99926896e-01 1.02488649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.05, Y:246.91, Z:10.25 [[-5.93967398e-01 -8.04458294e-01 7.04153086e-03 1.92046209e+02] [ 8.04398616e-01 -5.94009115e-01 -9.79989443e-03 2.46911764e+02] [ 1.20663399e-02 -1.56620109e-04 9.99927187e-01 1.02505244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.03, Y:246.93, Z:10.25 [[-5.93472398e-01 -8.04821055e-01 7.32001132e-03 1.92028247e+02] [ 8.04756698e-01 -5.93517520e-01 -1.01788947e-02 2.46933028e+02] [ 1.25367437e-02 -1.50064907e-04 9.99921401e-01 1.02513377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6527550960001 meters Centerline goodness [0,1] 0.9999335342077278 Centerline is valid? [True, True] Translation: X:192.01, Y:246.95, Z:10.25 [[-5.93465448e-01 -8.04825136e-01 7.43385813e-03 1.92011500e+02] [ 8.04758857e-01 -5.93511987e-01 -1.03297804e-02 2.46954961e+02] [ 1.27257509e-02 -1.47904607e-04 9.99919013e-01 1.02518576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.00, Y:246.98, Z:10.25 [[-5.93457613e-01 -8.04833111e-01 7.19196552e-03 1.91995483e+02] [ 8.04771167e-01 -5.93501174e-01 -9.98626265e-03 2.46976182e+02] [ 1.23057148e-02 -1.38537112e-04 9.99924272e-01 1.02524437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.712755096 meters Centerline goodness [0,1] 0.9999778584713489 Centerline is valid? [True, True] Translation: X:191.98, Y:247.00, Z:10.25 [[-5.93378700e-01 -8.04891726e-01 7.14340710e-03 1.91979127e+02] [ 8.04830718e-01 -5.93421682e-01 -9.91078570e-03 2.46996441e+02] [ 1.22161621e-02 -1.31615669e-04 9.99925371e-01 1.02528216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.96, Y:247.02, Z:10.25 [[-5.93801047e-01 -8.04581262e-01 7.02203380e-03 1.91963873e+02] [ 8.04522383e-01 -5.93842551e-01 -9.73449151e-03 2.47016732e+02] [ 1.20021719e-02 -1.30967885e-04 9.99927963e-01 1.02532695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.95, Y:247.04, Z:10.25 [[-5.94340916e-01 -8.04180735e-01 7.22640877e-03 1.91948128e+02] [ 8.04118454e-01 -5.94384831e-01 -1.00092517e-02 2.47038152e+02] [ 1.23445151e-02 -1.38019158e-04 9.99923794e-01 1.02535978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.802755096 meters Centerline goodness [0,1] 0.9999778990872323 Centerline is valid? [True, True] Translation: X:191.93, Y:247.06, Z:10.25 [[-5.95005317e-01 -8.03690041e-01 7.14073979e-03 1.91933120e+02] [ 8.03629289e-01 -5.95048147e-01 -9.88268885e-03 2.47059224e+02] [ 1.21917026e-02 -1.41744777e-04 9.99925668e-01 1.02540952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.832755096 meters Centerline goodness [0,1] 0.9999779881135813 Centerline is valid? [True, True] Translation: X:191.92, Y:247.08, Z:10.25 [[-5.95530505e-01 -8.03303248e-01 6.87817289e-03 1.91917737e+02] [ 8.03246945e-01 -5.95570208e-01 -9.51170463e-03 2.47080518e+02] [ 1.17372181e-02 -1.39638901e-04 9.99931107e-01 1.02545359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.862755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.90, Y:247.10, Z:10.26 [[-5.97004963e-01 -8.02207502e-01 6.94243214e-03 1.91903358e+02] [ 8.02150158e-01 -5.97045307e-01 -9.59303712e-03 2.47102688e+02] [ 1.18405529e-02 -1.58217738e-04 9.99929886e-01 1.02550705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.89, Y:247.12, Z:10.26 [[-5.98145207e-01 -8.01356491e-01 7.07709021e-03 1.91889268e+02] [ 8.01296931e-01 -5.98187047e-01 -9.77159240e-03 2.47123536e+02] [ 1.20639527e-02 -1.73980490e-04 9.99927213e-01 1.02551027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9227550960001 meters Centerline goodness [0,1] 0.9999779322520137 Centerline is valid? [True, True] Translation: X:191.87, Y:247.15, Z:10.25 [[-6.00043427e-01 -7.99936660e-01 7.01606764e-03 1.91873082e+02] [ 7.99878117e-01 -6.00084412e-01 -9.67974388e-03 2.47145644e+02] [ 1.19534148e-02 -1.96267720e-04 9.99928536e-01 1.02549990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.952755096 meters Centerline goodness [0,1] 0.9999779322520137 Centerline is valid? [True, True] Translation: X:191.86, Y:247.17, Z:10.26 [[-6.00346481e-01 -7.99709216e-01 7.01944923e-03 1.91857634e+02] [ 7.99650686e-01 -6.00387484e-01 -9.67729123e-03 2.47166502e+02] [ 1.19534084e-02 -1.96620343e-04 9.99928536e-01 1.02552407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.84, Y:247.19, Z:10.26 [[-6.01433080e-01 -7.98891078e-01 7.16209913e-03 1.91841854e+02] [ 7.98830182e-01 -6.01475686e-01 -9.86611331e-03 2.47188250e+02] [ 1.21897784e-02 -2.12505973e-04 9.99925679e-01 1.02555916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.83, Y:247.21, Z:10.26 [[-6.02303738e-01 -7.98234643e-01 7.18761583e-03 1.91826022e+02] [ 7.98173355e-01 -6.02346582e-01 -9.89396511e-03 2.47210606e+02] [ 1.22271415e-02 -2.22208724e-04 9.99925221e-01 1.02561149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0427550960001 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:191.81, Y:247.23, Z:10.26 [[-6.03131746e-01 -7.97606499e-01 7.48126877e-03 1.91812064e+02] [ 7.97540154e-01 -6.03178096e-01 -1.02902046e-02 2.47233354e+02] [ 1.27200715e-02 -2.39736823e-04 9.99919068e-01 1.02562419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.072755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:247.25, Z:10.26 [[-6.03581081e-01 -7.97264795e-01 7.66333282e-03 1.91798074e+02] [ 7.97195263e-01 -6.03629676e-01 -1.05321453e-02 2.47254300e+02] [ 1.30227238e-02 -2.47831031e-04 9.99915170e-01 1.02566539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.78, Y:247.28, Z:10.26 [[-6.03582977e-01 -7.97259993e-01 8.00582938e-03 1.91780236e+02] [ 7.97184230e-01 -6.03636015e-01 -1.09938083e-02 2.47275069e+02] [ 1.35975304e-02 -2.53554578e-04 9.99907517e-01 1.02569110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.76, Y:247.30, Z:10.26 [[-6.01882508e-01 -7.98537931e-01 8.63826548e-03 1.91762489e+02] [ 7.98449990e-01 -6.01944447e-01 -1.18531360e-02 2.47295675e+02] [ 1.46649346e-02 -2.36972242e-04 9.99892436e-01 1.02564696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1627550960001 meters Centerline goodness [0,1] 0.9999559936630875 Centerline is valid? [True, True] Translation: X:191.74, Y:247.32, Z:10.26 [[-6.01005422e-01 -7.99196652e-01 8.78597286e-03 1.91744656e+02] [ 7.99105882e-01 -6.01069599e-01 -1.20468589e-02 2.47316522e+02] [ 1.49087905e-02 -2.19304946e-04 9.99888834e-01 1.02566273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.192755096 meters Centerline goodness [0,1] 0.9998462788501657 Centerline is valid? [True, True] Translation: X:191.73, Y:247.34, Z:10.26 [[-5.99974801e-01 -7.99968455e-01 8.98386637e-03 1.91728290e+02] [ 7.99873779e-01 -6.00042025e-01 -1.23087574e-02 2.47336739e+02] [ 1.52373150e-02 -1.98985148e-04 9.99883886e-01 1.02562017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.222755096 meters Centerline goodness [0,1] 0.9999559771961877 Centerline is valid? [True, True] Translation: X:191.71, Y:247.36, Z:10.26 [[-5.97120067e-01 -8.02093325e-01 9.69142971e-03 1.91708987e+02] [ 8.01983603e-01 -5.97198690e-01 -1.32674293e-02 2.47356008e+02] [ 1.64294256e-02 -1.49880564e-04 9.99865017e-01 1.02563099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.252755096 meters Centerline goodness [0,1] 0.9999118748623045 Centerline is valid? [True, True] Translation: X:191.69, Y:247.38, Z:10.26 [[-5.95649715e-01 -8.03178378e-01 1.02912995e-02 1.91691931e+02] [ 8.03055014e-01 -5.95738599e-01 -1.40771172e-02 2.47375890e+02] [ 1.74373605e-02 -1.20551164e-04 9.99847950e-01 1.02561685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2827550960001 meters Centerline goodness [0,1] 0.9999561191803062 Centerline is valid? [True, True] Translation: X:191.67, Y:247.40, Z:10.26 [[-5.94446169e-01 -8.04066267e-01 1.05446598e-02 1.91674706e+02] [ 8.03937106e-01 -5.94539679e-01 -1.44117798e-02 2.47395962e+02] [ 1.78572447e-02 -8.97839984e-05 9.99840543e-01 1.02562432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.312755096 meters Centerline goodness [0,1] 0.999955994631345 Centerline is valid? [True, True] Translation: X:191.66, Y:247.41, Z:10.26 [[-5.91846818e-01 -8.05974825e-01 1.10419927e-02 1.91657187e+02] [ 8.05833734e-01 -5.91949812e-01 -1.50802013e-02 2.47414506e+02] [ 1.86905681e-02 -2.71589425e-05 9.99825316e-01 1.02555086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.342755096 meters Centerline goodness [0,1] 0.9997802729010569 Centerline is valid? [True, True] Translation: X:191.64, Y:247.43, Z:10.26 [[-5.90958273e-01 -8.06626336e-01 1.10577484e-02 1.91640545e+02] [ 8.06485163e-01 -5.91061718e-01 -1.50906616e-02 2.47434641e+02] [ 1.87083368e-02 -4.13124782e-08 9.99824984e-01 1.02565275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.372755096 meters Centerline goodness [0,1] 0.9999338463913207 Centerline is valid? [True, True] Translation: X:191.62, Y:247.46, Z:10.26 [[-5.90464546e-01 -8.06985556e-01 1.12219701e-02 1.91623581e+02] [ 8.06840450e-01 -5.90571175e-01 -1.53028022e-02 2.47456335e+02] [ 1.89765124e-02 1.85772416e-05 9.99819930e-01 1.02568865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4027550960001 meters Centerline goodness [0,1] 0.9998895979156086 Centerline is valid? [True, True] Translation: X:191.61, Y:247.48, Z:10.26 [[-5.90289363e-01 -8.07106668e-01 1.17172988e-02 1.91608835e+02] [ 8.06948749e-01 -5.90405645e-01 -1.59652895e-02 2.47476899e+02] [ 1.98036510e-02 3.11190636e-05 9.99803888e-01 1.02570741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.432755096 meters Centerline goodness [0,1] 0.9998895564587383 Centerline is valid? [True, True] Translation: X:191.59, Y:247.50, Z:10.26 [[-5.91234741e-01 -8.06412001e-01 1.18812907e-02 1.91593677e+02] [ 8.06249750e-01 -5.91354111e-01 -1.61757842e-02 2.47499168e+02] [ 2.00703966e-02 1.56020921e-05 9.99798569e-01 1.02578651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.462755096 meters Centerline goodness [0,1] 0.9999335886480862 Centerline is valid? [True, True] Translation: X:191.58, Y:247.52, Z:10.26 [[-5.91920323e-01 -8.05905130e-01 1.21347714e-02 1.91578811e+02] [ 8.05735998e-01 -5.92044696e-01 -1.65099785e-02 2.47521039e+02] [ 2.04898034e-02 4.83032747e-06 9.99790062e-01 1.02579115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.492755096 meters Centerline goodness [0,1] 0.9999778702310348 Centerline is valid? [True, True] Translation: X:191.57, Y:247.54, Z:10.26 [[-5.94055890e-01 -8.04334453e-01 1.19869860e-02 1.91566225e+02] [ 8.04169297e-01 -5.94176814e-01 -1.62989275e-02 2.47543289e+02] [ 2.02321781e-02 -4.29077198e-05 9.99795308e-01 1.02576205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:247.56, Z:10.26 [[-5.95434594e-01 -8.03314888e-01 1.19513629e-02 1.91551692e+02] [ 8.03150747e-01 -5.95554520e-01 -1.62385573e-02 2.47564851e+02] [ 2.01623631e-02 -7.02527495e-05 9.99796716e-01 1.02587627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.552755096 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:191.54, Y:247.59, Z:10.26 [[-5.96870326e-01 -8.02251466e-01 1.17642802e-02 1.91536350e+02] [ 8.02092461e-01 -5.96986244e-01 -1.59721350e-02 2.47588013e+02] [ 1.98367822e-02 -9.72529775e-05 9.99803227e-01 1.02596542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.582755096 meters Centerline goodness [0,1] 0.9999556226147155 Centerline is valid? [True, True] Translation: X:191.52, Y:247.61, Z:10.26 [[-5.99706620e-01 -8.00136438e-01 1.15607458e-02 1.91522141e+02] [ 7.99982718e-01 -5.99818020e-01 -1.56842173e-02 2.47611865e+02] [ 1.94838574e-02 -1.57532131e-04 9.99810159e-01 1.02604895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.612755096 meters Centerline goodness [0,1] 0.9999113455528713 Centerline is valid? [True, True] Translation: X:191.51, Y:247.63, Z:10.26 [[-6.01156752e-01 -7.99050500e-01 1.13515627e-02 1.91507689e+02] [ 7.98902293e-01 -6.01263889e-01 -1.53903167e-02 2.47633270e+02] [ 1.91229250e-02 -1.83203300e-04 9.99817123e-01 1.02604834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.49, Y:247.66, Z:10.26 [[-6.03159736e-01 -7.97545016e-01 1.09672417e-02 1.91492174e+02] [ 7.97406604e-01 -6.03259397e-01 -1.48596085e-02 2.47655251e+02] [ 1.84672983e-02 -2.17366623e-04 9.99829441e-01 1.02608438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6727550960001 meters Centerline goodness [0,1] 0.999734759736528 Centerline is valid? [True, True] Translation: X:191.48, Y:247.68, Z:10.26 [[-6.03924598e-01 -7.96970184e-01 1.06585593e-02 1.91476087e+02] [ 7.96839554e-01 -6.04018606e-01 -1.44308580e-02 2.47676686e+02] [ 1.79389316e-02 -2.21988484e-04 9.99839060e-01 1.02611669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.702755096 meters Centerline goodness [0,1] 0.9999337485093415 Centerline is valid? [True, True] Translation: X:191.46, Y:247.70, Z:10.26 [[-6.04126680e-01 -7.96819025e-01 1.05069573e-02 1.91459513e+02] [ 7.96692246e-01 -6.04218003e-01 -1.42151732e-02 2.47698211e+02] [ 1.76754132e-02 -2.16953979e-04 9.99843754e-01 1.02619529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.732755096 meters Centerline goodness [0,1] 0.999955834290257 Centerline is valid? [True, True] Translation: X:191.44, Y:247.72, Z:10.26 [[-6.03701235e-01 -7.97149899e-01 9.84165372e-03 1.91441493e+02] [ 7.97038865e-01 -6.03781420e-01 -1.33057904e-02 2.47719401e+02] [ 1.65489171e-02 -1.88541571e-04 9.99863040e-01 1.02624815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters Centerline goodness [0,1] 0.9998676314860572 Centerline is valid? [True, True] Translation: X:191.42, Y:247.74, Z:10.26 [[-6.02698999e-01 -7.97911427e-01 9.55363535e-03 1.91424237e+02] [ 7.97807039e-01 -6.02774693e-01 -1.29072846e-02 2.47740460e+02] [ 1.60575595e-02 -1.57250005e-04 9.99871057e-01 1.02611769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7927550960001 meters Centerline goodness [0,1] 0.9999780268072951 Centerline is valid? [True, True] Translation: X:191.40, Y:247.76, Z:10.26 [[-6.00780088e-01 -7.99363114e-01 9.04974971e-03 1.91404575e+02] [ 7.99269748e-01 -6.00848234e-01 -1.22175920e-02 2.47758602e+02] [ 1.52038185e-02 -1.06894838e-04 9.99884410e-01 1.02624087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.822755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:247.78, Z:10.26 [[-5.99313444e-01 -8.00466160e-01 8.79340070e-03 1.91387531e+02] [ 8.00378264e-01 -5.99377946e-01 -1.18621871e-02 2.47777535e+02] [ 1.47658498e-02 -7.11214202e-05 9.99890976e-01 1.02623152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.37, Y:247.80, Z:10.26 [[-5.98204124e-01 -8.01298121e-01 8.55262092e-03 1.91369206e+02] [ 8.01215190e-01 -5.98265259e-01 -1.15282049e-02 2.47798228e+02] [ 1.43542649e-02 -4.37298937e-05 9.99896971e-01 1.02631466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters Centerline goodness [0,1] 0.9999341180604358 Centerline is valid? [True, True] Translation: X:191.35, Y:247.82, Z:10.26 [[-5.95395445e-01 -8.03389666e-01 8.32518381e-03 1.91351033e+02] [ 8.03311409e-01 -5.95453646e-01 -1.12132152e-02 2.47817471e+02] [ 1.39658423e-02 1.14178712e-05 9.99902473e-01 1.02634234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9127550960001 meters Centerline goodness [0,1] 0.9999339745141624 Centerline is valid? [True, True] Translation: X:191.33, Y:247.84, Z:10.26 [[-5.94541091e-01 -8.04020810e-01 8.45151929e-03 1.91334007e+02] [ 8.03940349e-01 -5.94601157e-01 -1.13744729e-02 2.47838792e+02] [ 1.41705961e-02 3.19258544e-05 9.99899592e-01 1.02639658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.942755096 meters Centerline goodness [0,1] 0.9999780475490089 Centerline is valid? [True, True] Translation: X:191.32, Y:247.86, Z:10.26 [[-5.93804099e-01 -8.04567956e-01 8.19122802e-03 1.91318000e+02] [ 8.04492530e-01 -5.93860591e-01 -1.10166724e-02 2.47858981e+02] [ 1.37281091e-02 4.80365597e-05 9.99905764e-01 1.02646350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.972755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.30, Y:247.88, Z:10.27 [[-5.92011826e-01 -8.05891128e-01 7.84146368e-03 1.91301011e+02] [ 8.05822203e-01 -5.92063750e-01 -1.05400278e-02 2.47878455e+02] [ 1.31367613e-02 7.90044170e-05 9.99913706e-01 1.02656412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.28, Y:247.90, Z:10.27 [[-5.91475082e-01 -8.06287257e-01 7.62155050e-03 1.91284076e+02] [ 8.06222266e-01 -5.91524177e-01 -1.02374352e-02 2.47899983e+02] [ 1.27626449e-02 8.94758833e-05 9.99918550e-01 1.02660368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.27, Y:247.92, Z:10.27 [[-5.90942531e-01 -8.06677552e-01 7.63227487e-03 1.91267754e+02] [ 8.06612511e-01 -5.90991807e-01 -1.02440941e-02 2.47920820e+02] [ 1.27742927e-02 1.02617513e-04 9.99918400e-01 1.02661088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.062755096 meters Centerline goodness [0,1] 0.9999560816003865 Centerline is valid? [True, True] Translation: X:191.25, Y:247.94, Z:10.27 [[-5.90236127e-01 -8.07198329e-01 7.22311078e-03 1.91252604e+02] [ 8.07140205e-01 -5.90280311e-01 -9.68729839e-03 2.47941272e+02] [ 1.20832311e-02 1.12269643e-04 9.99926989e-01 1.02664487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.092755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.24, Y:247.96, Z:10.27 [[-5.90370856e-01 -8.07100648e-01 7.12715814e-03 1.91236963e+02] [ 8.07044146e-01 -5.90413864e-01 -9.55071236e-03 2.47962856e+02] [ 1.19163591e-02 1.13469023e-04 9.99928991e-01 1.02666728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters Centerline goodness [0,1] 0.9999119679563361 Centerline is valid? [True, True] Translation: X:191.22, Y:247.98, Z:10.27 [[-5.91280440e-01 -8.06431728e-01 7.43700701e-03 1.91223670e+02] [ 8.06370256e-01 -5.91327199e-01 -9.95759423e-03 2.47984123e+02] [ 1.24278244e-02 1.09250552e-04 9.99922766e-01 1.02661958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.21, Y:248.01, Z:10.27 [[-5.92372935e-01 -8.05630038e-01 7.38562916e-03 1.91209115e+02] [ 8.05569450e-01 -5.92418967e-01 -9.88068119e-03 2.48005793e+02] [ 1.23355604e-02 9.65891071e-05 9.99923909e-01 1.02661835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.182755096 meters Centerline goodness [0,1] 0.9999779312779997 Centerline is valid? [True, True] Translation: X:191.19, Y:248.03, Z:10.27 [[-5.93350375e-01 -8.04911813e-01 7.23227645e-03 1.91194409e+02] [ 8.04853752e-01 -5.93394444e-01 -9.66812397e-03 2.48028958e+02] [ 1.20735799e-02 8.43398559e-05 9.99927108e-01 1.02672855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.212755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.18, Y:248.05, Z:10.27 [[-5.94617983e-01 -8.03977603e-01 7.03340840e-03 1.91180096e+02] [ 8.03922707e-01 -5.94659575e-01 -9.39527949e-03 2.48050036e+02] [ 1.17360779e-02 6.77145813e-05 9.99931128e-01 1.02675272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters Centerline goodness [0,1] 0.9999556816167346 Centerline is valid? [True, True] Translation: X:191.17, Y:248.07, Z:10.27 [[-5.96705429e-01 -8.02430787e-01 6.88931664e-03 1.91166539e+02] [ 8.02378101e-01 -5.96745197e-01 -9.19526407e-03 2.48073704e+02] [ 1.14897296e-02 4.09728117e-05 9.99933990e-01 1.02687247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2727550960001 meters Centerline goodness [0,1] 0.9999778599419931 Centerline is valid? [True, True] Translation: X:191.15, Y:248.09, Z:10.27 [[-5.97775619e-01 -8.01638717e-01 6.29895612e-03 1.91150764e+02] [ 8.01594691e-01 -5.97808805e-01 -8.40145859e-03 2.48094951e+02] [ 1.05005059e-02 2.70226752e-05 9.99944868e-01 1.02695208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.302755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.14, Y:248.12, Z:10.27 [[-5.99633854e-01 -8.00253980e-01 5.72794046e-03 1.91135738e+02] [ 8.00217563e-01 -5.99661211e-01 -7.63438928e-03 2.48115826e+02] [ 9.54427412e-03 5.76028722e-06 9.99954452e-01 1.02709408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:248.14, Z:10.27 [[-6.01330640e-01 -7.98981019e-01 5.54909087e-03 1.91121290e+02] [ 7.98946843e-01 -6.01356243e-01 -7.38992085e-03 2.48136493e+02] [ 9.24138693e-03 -1.03572029e-05 9.99957297e-01 1.02715255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.11, Y:248.16, Z:10.27 [[-6.03141198e-01 -7.97615631e-01 5.47730629e-03 1.91106222e+02] [ 7.97582329e-01 -6.03166068e-01 -7.28859161e-03 2.48158478e+02] [ 9.11721989e-03 -2.74471753e-05 9.99958437e-01 1.02724662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.392755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.09, Y:248.18, Z:10.27 [[-6.06155120e-01 -7.95329674e-01 5.16523934e-03 1.91092801e+02] [ 7.95300018e-01 -6.06177125e-01 -6.86839383e-03 2.48179601e+02] [ 8.59368735e-03 -5.53971490e-05 9.99963072e-01 1.02737005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.08, Y:248.20, Z:10.27 [[-6.07537652e-01 -7.94276516e-01 4.77686246e-03 1.91075876e+02] [ 7.94251145e-01 -6.07556428e-01 -6.34865955e-03 2.48201149e+02] [ 7.94480468e-03 -6.30212293e-05 9.99968438e-01 1.02743387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.06, Y:248.22, Z:10.28 [[-6.10115084e-01 -7.92300411e-01 4.43204969e-03 1.91062708e+02] [ 7.92278550e-01 -6.10131176e-01 -5.88620609e-03 2.48223910e+02] [ 7.36777520e-03 -7.98452210e-05 9.99972854e-01 1.02759183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.05, Y:248.24, Z:10.28 [[-6.11580294e-01 -7.91170757e-01 4.28689124e-03 1.91045723e+02] [ 7.91150295e-01 -6.11595312e-01 -5.69074792e-03 2.48243719e+02] [ 7.12419592e-03 -8.87740110e-05 9.99974619e-01 1.02759287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.03, Y:248.27, Z:10.28 [[-6.13498490e-01 -7.89682179e-01 4.65393289e-03 1.91031114e+02] [ 7.89658063e-01 -6.13516131e-01 -6.17252599e-03 2.48265999e+02] [ 7.72959668e-03 -1.11819740e-04 9.99970120e-01 1.02754181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.01, Y:248.29, Z:10.28 [[-6.14595171e-01 -7.88827955e-01 4.82010515e-03 1.91011992e+02] [ 7.88802099e-01 -6.14614060e-01 -6.38792862e-03 2.48285426e+02] [ 8.00148107e-03 -1.23881020e-04 9.99967980e-01 1.02750793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.00, Y:248.31, Z:10.28 [[-6.15735850e-01 -7.87936749e-01 5.00431862e-03 1.90996198e+02] [ 7.87908890e-01 -6.15756170e-01 -6.62717354e-03 2.48305899e+02] [ 8.30323364e-03 -1.37641200e-04 9.99965518e-01 1.02750458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.602755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.98, Y:248.33, Z:10.28 [[-6.16480997e-01 -7.87351770e-01 5.32631200e-03 1.90982904e+02] [ 7.87320245e-01 -6.16503988e-01 -7.04729913e-03 2.48327625e+02] [ 8.83239603e-03 -1.51012720e-04 9.99960982e-01 1.02751775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.96, Y:248.35, Z:10.28 [[-6.17740215e-01 -7.86365129e-01 5.18763291e-03 1.90962924e+02] [ 7.86335236e-01 -6.17761976e-01 -6.85831843e-03 2.48346549e+02] [ 8.59786482e-03 -1.57440549e-04 9.99963025e-01 1.02759414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.94, Y:248.37, Z:10.28 [[-6.18243105e-01 -7.85970350e-01 5.10608916e-03 1.90944761e+02] [ 7.85941416e-01 -6.18264170e-01 -6.74589910e-03 2.48366386e+02] [ 8.45898866e-03 -1.57518659e-04 9.99964210e-01 1.02768507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.692755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:248.39, Z:10.28 [[-6.18827774e-01 -7.85513124e-01 4.61708298e-03 1.90929751e+02] [ 7.85489484e-01 -6.18844981e-01 -6.09590603e-03 2.48387884e+02] [ 7.64567282e-03 -1.45645837e-04 9.99970761e-01 1.02779601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.722755096 meters Centerline goodness [0,1] 0.9999121477674552 Centerline is valid? [True, True] Translation: X:190.91, Y:248.41, Z:10.28 [[-6.19096350e-01 -7.85303024e-01 4.34389866e-03 1.90909877e+02] [ 7.85282123e-01 -6.19111575e-01 -5.73104311e-03 2.48406496e+02] [ 7.18996343e-03 -1.36881911e-04 9.99974143e-01 1.02788244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.752755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.89, Y:248.43, Z:10.28 [[-6.19209397e-01 -7.85215628e-01 4.01747849e-03 1.90892973e+02] [ 7.85197772e-01 -6.19222417e-01 -5.29698917e-03 2.48426521e+02] [ 6.64699142e-03 -1.25430317e-04 9.99977901e-01 1.02788837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.87, Y:248.45, Z:10.28 [[-6.20248644e-01 -7.84397398e-01 3.51311202e-03 1.90874387e+02] [ 7.84383747e-01 -6.20258582e-01 -4.62905018e-03 2.48446747e+02] [ 5.81005280e-03 -1.15534131e-04 9.99983115e-01 1.02793986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.812755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.86, Y:248.47, Z:10.28 [[-6.20916165e-01 -7.83869163e-01 3.50003237e-03 1.90857178e+02] [ 7.83855625e-01 -6.20926019e-01 -4.60848300e-03 2.48468155e+02] [ 5.78570888e-03 -1.17961530e-04 9.99983256e-01 1.02801229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.842755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.84, Y:248.49, Z:10.28 [[-6.21191754e-01 -7.83650779e-01 3.50165306e-03 1.90840805e+02] [ 7.83637244e-01 -6.21201613e-01 -4.60725095e-03 2.48489343e+02] [ 5.78570832e-03 -1.17960551e-04 9.99983256e-01 1.02803723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.872755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.82, Y:248.51, Z:10.28 [[-6.22082952e-01 -7.82943551e-01 3.49253732e-03 1.90824500e+02] [ 7.82930097e-01 -6.22092744e-01 -4.59144802e-03 2.48510551e+02] [ 5.76752674e-03 -1.21848956e-04 9.99983360e-01 1.02806758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.81, Y:248.53, Z:10.28 [[-6.24370964e-01 -7.81120469e-01 3.42227944e-03 1.90808565e+02] [ 7.81107538e-01 -6.24380329e-01 -4.49661857e-03 2.48531367e+02] [ 5.64920477e-03 -1.34389802e-04 9.99984034e-01 1.02813242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.932755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.79, Y:248.55, Z:10.28 [[-6.25948150e-01 -7.79856760e-01 3.51398555e-03 1.90790184e+02] [ 7.79843120e-01 -6.25957996e-01 -4.61470118e-03 2.48552178e+02] [ 5.79841326e-03 -1.48206214e-04 9.99983178e-01 1.02811422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.962755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.77, Y:248.57, Z:10.28 [[-6.27586032e-01 -7.78538052e-01 3.77805491e-03 1.90773397e+02] [ 7.78522285e-01 -6.27597381e-01 -4.95784946e-03 2.48574281e+02] [ 6.23097183e-03 -1.70177131e-04 9.99980573e-01 1.02807078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.992755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.76, Y:248.60, Z:10.28 [[-6.30532524e-01 -7.76150089e-01 4.44690016e-03 1.90756681e+02] [ 7.76128219e-01 -6.30548165e-01 -5.83090480e-03 2.48596698e+02] [ 7.32964202e-03 -2.25210428e-04 9.99973112e-01 1.02799377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.74, Y:248.62, Z:10.28 [[-6.32211707e-01 -7.74781380e-01 4.70856660e-03 1.90741122e+02] [ 7.74756854e-01 -6.32229191e-01 -6.16987648e-03 2.48617411e+02] [ 7.75719867e-03 -2.52673895e-04 9.99969881e-01 1.02798368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.052755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.72, Y:248.64, Z:10.28 [[-6.34206827e-01 -7.73147023e-01 5.03801420e-03 1.90723968e+02] [ 7.73118939e-01 -6.34226772e-01 -6.59610628e-03 2.48638217e+02] [ 8.29500342e-03 -2.88311444e-04 9.99965554e-01 1.02790995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.082755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.71, Y:248.66, Z:10.28 [[-6.35047989e-01 -7.72453502e-01 5.44412738e-03 1.90706956e+02] [ 7.72420732e-01 -6.35071245e-01 -7.12224263e-03 2.48658980e+02] [ 8.95901002e-03 -3.17809007e-04 9.99959817e-01 1.02789444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.112755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.69, Y:248.68, Z:10.28 [[-6.35983352e-01 -7.71683327e-01 5.47893648e-03 1.90690725e+02] [ 7.71650155e-01 -6.36006868e-01 -7.16259267e-03 2.48679802e+02] [ 9.01189456e-03 -3.27467513e-04 9.99959338e-01 1.02785041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.67, Y:248.70, Z:10.28 [[-6.37013055e-01 -7.70827649e-01 6.25328348e-03 1.90672226e+02] [ 7.70784467e-01 -6.37043632e-01 -8.16797660e-03 2.48699629e+02] [ 1.02797166e-02 -3.83173949e-04 9.99947089e-01 1.02763164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.66, Y:248.72, Z:10.28 [[-6.37322780e-01 -7.70568338e-01 6.64150918e-03 1.90655082e+02] [ 7.70519686e-01 -6.37357255e-01 -8.66850271e-03 2.48719408e+02] [ 1.09126878e-02 -4.07220674e-04 9.99940372e-01 1.02750007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.202755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.64, Y:248.74, Z:10.27 [[-6.37661634e-01 -7.70285456e-01 6.92512587e-03 1.90639184e+02] [ 7.70232624e-01 -6.37699095e-01 -9.03158670e-03 2.48739596e+02] [ 1.13730464e-02 -4.25138462e-04 9.99935234e-01 1.02737537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.232755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.62, Y:248.76, Z:10.27 [[-6.36960705e-01 -7.70859438e-01 7.53580957e-03 1.90618339e+02] [ 7.70796999e-01 -6.37005124e-01 -9.82134846e-03 2.48758533e+02] [ 1.23712285e-02 -4.47233637e-04 9.99923373e-01 1.02713657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:248.78, Z:10.27 [[-6.36382767e-01 -7.71333568e-01 7.84227126e-03 1.90598608e+02] [ 7.71266075e-01 -6.36430926e-01 -1.02136469e-02 2.48778633e+02] [ 1.28691926e-02 -4.51311062e-04 9.99917087e-01 1.02704858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.58, Y:248.80, Z:10.27 [[-6.33835242e-01 -7.73418441e-01 8.76364866e-03 1.90579931e+02] [ 7.73334474e-01 -6.33895663e-01 -1.14052439e-02 2.48797934e+02] [ 1.43762649e-02 -4.51813928e-04 9.99896554e-01 1.02685526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.57, Y:248.82, Z:10.27 [[-6.32373801e-01 -7.74613342e-01 8.80605568e-03 1.90565551e+02] [ 7.74528797e-01 -6.32434971e-01 -1.14520543e-02 2.48820497e+02] [ 1.44401716e-02 -4.21435383e-04 9.99895647e-01 1.02668904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.352755096 meters Centerline goodness [0,1] 0.9999345721015441 Centerline is valid? [True, True] Translation: X:190.54, Y:248.84, Z:10.27 [[-6.31075995e-01 -7.75661428e-01 9.61445766e-03 1.90543523e+02] [ 7.75560918e-01 -6.31149084e-01 -1.24938800e-02 2.48837475e+02] [ 1.57591770e-02 -4.27990161e-04 9.99875725e-01 1.02654264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.52, Y:248.86, Z:10.27 [[-6.29015973e-01 -7.77331100e-01 9.76048270e-03 1.90522755e+02] [ 7.77227852e-01 -6.29091577e-01 -1.26749675e-02 2.48857428e+02] [ 1.59928839e-02 -3.86638049e-04 9.99872031e-01 1.02658169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:248.88, Z:10.26 [[-6.24720991e-01 -7.80780704e-01 1.02555058e-02 1.90503887e+02] [ 7.80667334e-01 -6.24805088e-01 -1.33085176e-02 2.48876365e+02] [ 1.67987260e-02 -3.07971936e-04 9.99858844e-01 1.02637257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.442755096 meters Centerline goodness [0,1] 0.9999782386351272 Centerline is valid? [True, True] Translation: X:190.49, Y:248.90, Z:10.26 [[-6.22871043e-01 -7.82260608e-01 1.00002559e-02 1.90485611e+02] [ 7.82153156e-01 -6.22951262e-01 -1.29678715e-02 2.48896634e+02] [ 1.63739271e-02 -2.55579935e-04 9.99865906e-01 1.02632884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.47, Y:248.92, Z:10.26 [[-6.19126825e-01 -7.85235143e-01 9.36716000e-03 1.90466252e+02] [ 7.85141333e-01 -6.19197661e-01 -1.21385014e-02 2.48915267e+02] [ 1.53317014e-02 -1.60727332e-04 9.99882450e-01 1.02639012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:248.94, Z:10.26 [[-6.17659584e-01 -7.86391379e-01 9.23236866e-03 1.90448464e+02] [ 7.86300515e-01 -6.17728568e-01 -1.19547857e-02 2.48935053e+02] [ 1.51042383e-02 -1.24571719e-04 9.99885917e-01 1.02645320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.43, Y:248.96, Z:10.26 [[-6.16447224e-01 -7.87348113e-01 8.70451557e-03 1.90432210e+02] [ 7.87267563e-01 -6.16508670e-01 -1.12624631e-02 2.48955072e+02] [ 1.42338884e-02 -8.99313289e-05 9.99898689e-01 1.02649924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.42, Y:248.98, Z:10.27 [[-6.14281436e-01 -7.89046222e-01 8.02357080e-03 1.90415407e+02] [ 7.88978031e-01 -6.14333833e-01 -1.03733932e-02 2.48975329e+02] [ 1.31142377e-02 -4.17617790e-05 9.99914004e-01 1.02667276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.592755096 meters Centerline goodness [0,1] 0.9999562257873886 Centerline is valid? [True, True] Translation: X:190.40, Y:249.00, Z:10.27 [[-6.13585482e-01 -7.89593094e-01 7.45667866e-03 1.90399524e+02] [ 7.89534327e-01 -6.13630789e-01 -9.63335784e-03 2.48995882e+02] [ 1.21820804e-02 -2.35847516e-05 9.99925795e-01 1.02677387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.38, Y:249.02, Z:10.27 [[-6.13027786e-01 -7.90031475e-01 6.87038491e-03 1.90383471e+02] [ 7.89981686e-01 -6.13066284e-01 -8.86944063e-03 2.49016970e+02] [ 1.12191386e-02 -9.73530328e-06 9.99937063e-01 1.02690359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.37, Y:249.04, Z:10.27 [[-6.11648376e-01 -7.91111504e-01 5.37150699e-03 1.90368890e+02] [ 7.91081149e-01 -6.11671962e-01 -6.93018735e-03 2.49038052e+02] [ 8.76815115e-03 1.04600801e-05 9.99961559e-01 1.02713342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.35, Y:249.06, Z:10.27 [[-6.11220543e-01 -7.91447849e-01 4.44406397e-03 1.90353386e+02] [ 7.91427109e-01 -6.11236699e-01 -5.72974913e-03 2.49060444e+02] [ 7.25117262e-03 1.50123270e-05 9.99973710e-01 1.02724326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.712755096 meters Centerline goodness [0,1] 0.9999562209964101 Centerline is valid? [True, True] Translation: X:190.34, Y:249.08, Z:10.28 [[-6.10600944e-01 -7.91933142e-01 2.89585297e-03 1.90340266e+02] [ 7.91924344e-01 -6.10607811e-01 -3.73290257e-03 2.49083938e+02] [ 4.72443970e-03 1.39826254e-05 9.99988840e-01 1.02754206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.33, Y:249.11, Z:10.28 [[-6.10953411e-01 -7.91663633e-01 2.15014935e-03 1.90325597e+02] [ 7.91658784e-01 -6.10957194e-01 -2.77083820e-03 2.49106891e+02] [ 3.50722105e-03 9.33157192e-06 9.99993850e-01 1.02770668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7727550960001 meters Centerline goodness [0,1] 0.9999560391251786 Centerline is valid? [True, True] Translation: X:190.31, Y:249.13, Z:10.28 [[-6.11662038e-01 -7.91117343e-01 1.70297466e-03 1.90311673e+02] [ 7.91114300e-01 -6.11664409e-01 -2.19426608e-03 2.49129013e+02] [ 2.77757094e-03 5.09834628e-06 9.99996143e-01 1.02785494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.802755096 meters Centerline goodness [0,1] 0.9999558898127523 Centerline is valid? [True, True] Translation: X:190.30, Y:249.16, Z:10.28 [[-6.14824883e-01 -7.88662919e-01 1.07903822e-03 1.90300823e+02] [ 7.88661692e-01 -6.14825829e-01 -1.39108022e-03 2.49155005e+02] [ 1.76051396e-03 -4.27462588e-06 9.99998450e-01 1.02793920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.832755096 meters Centerline goodness [0,1] 0.9999339716077914 Centerline is valid? [True, True] Translation: X:190.29, Y:249.18, Z:10.28 [[-6.16754688e-01 -7.87154985e-01 8.27301117e-04 1.90285518e+02] [ 7.87154262e-01 -6.16755243e-01 -1.06702684e-03 2.49177269e+02] [ 1.35015780e-03 -6.88020511e-06 9.99999089e-01 1.02802046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.862755096 meters Centerline goodness [0,1] 0.9999779487971069 Centerline is valid? [True, True] Translation: X:190.27, Y:249.20, Z:10.28 [[-6.20302658e-01 -7.84362466e-01 -3.66619405e-04 1.90271614e+02] [ 7.84362329e-01 -6.20302766e-01 4.64426109e-04 2.49199463e+02] [-5.91693440e-04 5.22299758e-07 9.99999825e-01 1.02826648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.892755096 meters Centerline goodness [0,1] 0.9999559384018858 Centerline is valid? [True, True] Translation: X:190.26, Y:249.22, Z:10.28 [[-6.22304418e-01 -7.82775172e-01 -4.92164896e-04 1.90255195e+02] [ 7.82774922e-01 -6.22304612e-01 6.25296945e-04 2.49221266e+02] [-7.95743409e-04 3.87071346e-06 9.99999683e-01 1.02827426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9227550960001 meters Centerline goodness [0,1] 0.9999779585179307 Centerline is valid? [True, True] Translation: X:190.24, Y:249.24, Z:10.28 [[-6.24502908e-01 -7.81022207e-01 -6.55602238e-04 1.90238965e+02] [ 7.81021762e-01 -6.24503252e-01 8.34052900e-04 2.49243304e+02] [-1.06083957e-03 8.82884727e-06 9.99999437e-01 1.02829845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.22, Y:249.27, Z:10.28 [[-6.26557400e-01 -7.79374532e-01 -1.07864012e-03 1.90224213e+02] [ 7.79373321e-01 -6.26558328e-01 1.37440542e-03 2.49265307e+02] [-1.74700753e-03 2.04805574e-05 9.99998474e-01 1.02844025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:249.29, Z:10.29 [[-6.30155787e-01 -7.76466304e-01 -1.93993616e-03 1.90210833e+02] [ 7.76462356e-01 -6.30158771e-01 2.47649375e-03 2.49288827e+02] [-3.14538174e-03 5.42894665e-05 9.99995052e-01 1.02863558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.20, Y:249.31, Z:10.29 [[-6.31863904e-01 -7.75075381e-01 -2.48210911e-03 1.90195818e+02] [ 7.75068918e-01 -6.31868774e-01 3.16627332e-03 2.49311983e+02] [-4.02246774e-03 7.68482008e-05 9.99991907e-01 1.02881974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.18, Y:249.34, Z:10.29 [[-6.33474580e-01 -7.73751664e-01 -4.28012342e-03 1.90180356e+02] [ 7.73732409e-01 -6.33489022e-01 5.46063782e-03 2.49335604e+02] [-6.93658879e-03 1.47505045e-04 9.99975931e-01 1.02907563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.072755096 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:190.16, Y:249.36, Z:10.29 [[-6.34220113e-01 -7.73137440e-01 -4.83192642e-03 1.90164891e+02] [ 7.73112913e-01 -6.34238496e-01 6.16076255e-03 2.49357333e+02] [-7.82770993e-03 1.71654804e-04 9.99969348e-01 1.02925885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.15, Y:249.38, Z:10.29 [[-6.34797726e-01 -7.72661524e-01 -5.10068816e-03 1.90150145e+02] [ 7.72634218e-01 -6.34818192e-01 6.49838962e-03 2.49378710e+02] [-8.25906526e-03 1.84196746e-04 9.99965876e-01 1.02937936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:249.40, Z:10.29 [[-6.36263706e-01 -7.71450966e-01 -5.64837299e-03 1.90134548e+02] [ 7.71417472e-01 -6.36288739e-01 7.19198573e-03 2.49400759e+02] [-9.14226046e-03 2.18745876e-04 9.99958185e-01 1.02940094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.12, Y:249.42, Z:10.29 [[-6.37217267e-01 -7.70665178e-01 -5.41656707e-03 1.90118020e+02] [ 7.70634403e-01 -6.37240251e-01 6.89049791e-03 2.49421240e+02] [-8.76192136e-03 2.16551311e-04 9.99961590e-01 1.02932977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.10, Y:249.44, Z:10.29 [[-6.38781927e-01 -7.69372433e-01 -4.86924003e-03 1.90101242e+02] [ 7.69347560e-01 -6.38800451e-01 6.18993675e-03 2.49442508e+02] [-7.87283942e-03 2.07881783e-04 9.99968987e-01 1.02923530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.09, Y:249.46, Z:10.29 [[-6.39706957e-01 -7.68606396e-01 -4.38373060e-03 1.90086484e+02] [ 7.68586260e-01 -6.39721949e-01 5.56686863e-03 2.49462753e+02] [-7.08309952e-03 1.91889492e-04 9.99974896e-01 1.02919871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.252755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:249.48, Z:10.29 [[-6.40700606e-01 -7.67781928e-01 -3.69382043e-03 1.90069299e+02] [ 7.67767644e-01 -6.40711232e-01 4.68640990e-03 2.49482856e+02] [-5.96481307e-03 1.66589852e-04 9.99982197e-01 1.02903281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2827550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.05, Y:249.50, Z:10.29 [[-6.41676623e-01 -7.66969398e-01 -3.00894480e-03 1.90051446e+02] [ 7.66959926e-01 -6.41683663e-01 3.81419760e-03 2.49503185e+02] [-4.85616356e-03 1.39741355e-04 9.99988199e-01 1.02884516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.312755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.04, Y:249.52, Z:10.29 [[-6.43006294e-01 -7.65857923e-01 -2.13239346e-03 1.90036068e+02] [ 7.65853166e-01 -6.43009822e-01 2.70124239e-03 2.49524131e+02] [-3.43991782e-03 1.03815575e-04 9.99994078e-01 1.02868751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.342755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.02, Y:249.54, Z:10.29 [[-6.43656231e-01 -7.65312636e-01 -1.79617761e-03 1.90020352e+02] [ 7.65309271e-01 -6.43658731e-01 2.27092674e-03 2.49543890e+02] [-2.89409434e-03 8.70647682e-05 9.99995808e-01 1.02865837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.372755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.00, Y:249.56, Z:10.28 [[-6.44122622e-01 -7.64921146e-01 -1.29964689e-03 1.90000826e+02] [ 7.64919388e-01 -6.44123930e-01 1.64095950e-03 2.49563346e+02] [-2.09233828e-03 6.28540262e-05 9.99997809e-01 1.02846046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4027550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.98, Y:249.58, Z:10.28 [[-6.45349566e-01 -7.63887348e-01 2.37824176e-04 1.89984973e+02] [ 7.63887287e-01 -6.45349610e-01 -3.06591501e-04 2.49584027e+02] [ 3.87681107e-04 -1.61878280e-05 9.99999925e-01 1.02813709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.432755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.97, Y:249.60, Z:10.28 [[-6.46226844e-01 -7.63143922e-01 1.49011819e-03 1.89967982e+02] [ 7.63141586e-01 -6.46228556e-01 -1.89031951e-03 2.49603795e+02] [ 2.40554277e-03 -8.44040536e-05 9.99997103e-01 1.02784743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.462755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.95, Y:249.62, Z:10.27 [[-6.47619470e-01 -7.61953445e-01 3.99629480e-03 1.89950483e+02] [ 7.61936704e-01 -6.47631759e-01 -5.05602565e-03 2.49624427e+02] [ 6.44058359e-03 -2.29456958e-04 9.99979233e-01 1.02727437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.492755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.94, Y:249.65, Z:10.27 [[-6.47901093e-01 -7.61707398e-01 5.10039889e-03 1.89936808e+02] [ 7.61680170e-01 -6.47921103e-01 -6.44696836e-03 2.49646154e+02] [ 8.21535957e-03 -2.92125155e-04 9.99966211e-01 1.02707068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.91, Y:249.66, Z:10.27 [[-6.48427051e-01 -7.61253294e-01 5.98184492e-03 1.89913809e+02] [ 7.61215875e-01 -6.48454550e-01 -7.55571107e-03 2.49663319e+02] [ 9.63076450e-03 -3.45852132e-04 9.99953563e-01 1.02684611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.552755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.90, Y:249.68, Z:10.27 [[-6.48566153e-01 -7.61128982e-01 6.67964914e-03 1.89898205e+02] [ 7.61082389e-01 -6.48600436e-01 -8.43036415e-03 2.49683164e+02] [ 1.07490178e-02 -3.83885525e-04 9.99942154e-01 1.02663507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.582755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:249.70, Z:10.26 [[-6.48066161e-01 -7.61538242e-01 8.35210724e-03 1.89877050e+02] [ 7.61465564e-01 -6.48119812e-01 -1.05311092e-02 2.49700614e+02] [ 1.34330085e-02 -4.65013427e-04 9.99909665e-01 1.02620908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.612755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.86, Y:249.72, Z:10.26 [[-6.47526025e-01 -7.61984536e-01 9.46644730e-03 1.89855879e+02] [ 7.61891367e-01 -6.47595018e-01 -1.19263330e-02 2.49719035e+02] [ 1.52181054e-02 -5.10206508e-04 9.99884068e-01 1.02601447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.83, Y:249.74, Z:10.25 [[-6.45707431e-01 -7.63492446e-01 1.18827092e-02 1.89834099e+02] [ 7.63346096e-01 -6.45816489e-01 -1.49599549e-02 2.49737208e+02] [ 1.90958621e-02 -5.89134377e-04 9.99817484e-01 1.02540932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.82, Y:249.76, Z:10.25 [[-6.44971206e-01 -7.64086520e-01 1.35621970e-02 1.89815826e+02] [ 7.63896254e-01 -6.45113458e-01 -1.70628324e-02 2.49756117e+02] [ 2.17866361e-02 -6.44924070e-04 9.99762435e-01 1.02505858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.702755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.80, Y:249.78, Z:10.25 [[-6.44091304e-01 -7.64795474e-01 1.53060496e-02 1.89795261e+02] [ 7.64553688e-01 -6.44272773e-01 -1.92419421e-02 2.49775052e+02] [ 2.45774213e-02 -6.91270924e-04 9.99697691e-01 1.02476420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.732755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.78, Y:249.80, Z:10.25 [[-6.44360989e-01 -7.64568135e-01 1.53128366e-02 1.89778428e+02] [ 7.64326414e-01 -6.44542542e-01 -1.92365407e-02 2.49795878e+02] [ 2.45774207e-02 -6.91270908e-04 9.99697691e-01 1.02478915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.76, Y:249.81, Z:10.24 [[-6.41946655e-01 -7.66535392e-01 1.81103787e-02 1.89757817e+02] [ 7.66198560e-01 -6.42201666e-01 -2.27329658e-02 2.49813647e+02] [ 2.90561382e-02 -7.17205294e-04 9.99577524e-01 1.02397648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.74, Y:249.83, Z:10.24 [[-6.40590573e-01 -7.67635232e-01 1.94902319e-02 1.89736023e+02] [ 7.67246222e-01 -6.40886615e-01 -2.44454982e-02 2.49830350e+02] [ 3.12562544e-02 -7.05748866e-04 9.99511155e-01 1.02389921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.822755096 meters Centerline goodness [0,1] 0.9999347173260217 Centerline is valid? [True, True] Translation: X:189.72, Y:249.85, Z:10.23 [[-6.39164223e-01 -7.68785171e-01 2.09393839e-02 1.89716921e+02] [ 7.68337368e-01 -6.39506756e-01 -2.62449602e-02 2.49847598e+02] [ 3.35676136e-02 -6.86328445e-04 9.99436213e-01 1.02348376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.852755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.69, Y:249.86, Z:10.23 [[-6.36131523e-01 -7.71220091e-01 2.35850816e-02 1.89692310e+02] [ 7.70654417e-01 -6.36568294e-01 -2.95394211e-02 2.49862238e+02] [ 3.77949102e-02 -6.15009589e-04 9.99285328e-01 1.02302111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters Centerline goodness [0,1] 0.999847849240333 Centerline is valid? [True, True] Translation: X:189.67, Y:249.88, Z:10.23 [[-6.34865734e-01 -7.72230038e-01 2.46225054e-02 1.89672139e+02] [ 7.71615192e-01 -6.35342782e-01 -3.08147004e-02 2.49880582e+02] [ 3.94397683e-02 -5.64098155e-04 9.99221790e-01 1.02276752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.65, Y:249.90, Z:10.23 [[-6.32361411e-01 -7.74277459e-01 2.47681763e-02 1.89649984e+02] [ 7.73657797e-01 -6.32846140e-01 -3.09737933e-02 2.49896999e+02] [ 3.96567547e-02 -4.24538874e-04 9.99213271e-01 1.02273161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.942755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.63, Y:249.92, Z:10.23 [[-6.31208960e-01 -7.75208185e-01 2.50503233e-02 1.89630374e+02] [ 7.74576010e-01 -6.31705742e-01 -3.13027195e-02 2.49915751e+02] [ 4.00905574e-02 -3.55177520e-04 9.99195987e-01 1.02273243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.972755096 meters Centerline goodness [0,1] 0.9998273257068854 Centerline is valid? [True, True] Translation: X:189.61, Y:249.93, Z:10.23 [[-6.30638992e-01 -7.75675057e-01 2.49533230e-02 1.89611250e+02] [ 7.75049090e-01 -6.31132404e-01 -3.11576135e-02 2.49934393e+02] [ 3.99170343e-02 -3.09155745e-04 9.99202950e-01 1.02273280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters Centerline goodness [0,1] 0.9996975654014819 Centerline is valid? [True, True] Translation: X:189.59, Y:249.95, Z:10.23 [[-6.28926744e-01 -7.77064127e-01 2.49498126e-02 1.89590194e+02] [ 7.76440375e-01 -6.29421401e-01 -3.11294751e-02 2.49951040e+02] [ 3.98935443e-02 -2.06117567e-04 9.99203914e-01 1.02273163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0327550960001 meters Centerline goodness [0,1] 0.9995905172413793 Centerline is valid? [True, True] Translation: X:189.57, Y:249.97, Z:10.23 [[-6.28457306e-01 -7.77449132e-01 2.47842967e-02 1.89571962e+02] [ 7.76834717e-01 -6.28945799e-01 -3.09031510e-02 2.49969567e+02] [ 3.96136073e-02 -1.68008896e-04 9.99215059e-01 1.02268983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.062755096 meters Centerline goodness [0,1] 0.9995261173936457 Centerline is valid? [True, True] Translation: X:189.55, Y:249.99, Z:10.23 [[-6.27877318e-01 -7.77929993e-01 2.43926248e-02 1.89552856e+02] [ 7.77336094e-01 -6.28350947e-01 -3.03921824e-02 2.49988583e+02] [ 3.89701191e-02 -1.21294287e-04 9.99240369e-01 1.02305156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.092755096 meters Centerline goodness [0,1] 0.9996772249956963 Centerline is valid? [True, True] Translation: X:189.53, Y:250.01, Z:10.23 [[-6.26993770e-01 -7.78649818e-01 2.41510687e-02 1.89532662e+02] [ 7.78069070e-01 -6.27458730e-01 -3.00676668e-02 2.50005573e+02] [ 3.85659821e-02 -6.10402224e-05 9.99256054e-01 1.02307100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters Centerline goodness [0,1] 0.9995489109421317 Centerline is valid? [True, True] Translation: X:189.51, Y:250.02, Z:10.23 [[-6.26313021e-01 -7.79208100e-01 2.38062412e-02 1.89513351e+02] [ 7.78645102e-01 -6.26765297e-01 -2.96153186e-02 2.50024523e+02] [ 3.79974220e-02 -1.18465196e-05 9.99277837e-01 1.02312033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1527550960001 meters Centerline goodness [0,1] 0.9996137339055794 Centerline is valid? [True, True] Translation: X:189.49, Y:250.04, Z:10.23 [[-6.24617645e-01 -7.80598357e-01 2.27816344e-02 1.89492820e+02] [ 7.80084446e-01 -6.25032958e-01 -2.83206291e-02 2.50042531e+02] [ 3.63463088e-02 8.20339736e-05 9.99339251e-01 1.02333284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.182755096 meters Centerline goodness [0,1] 0.9996154010512371 Centerline is valid? [True, True] Translation: X:189.48, Y:250.06, Z:10.23 [[-6.24060805e-01 -7.81054288e-01 2.24123173e-02 1.89475331e+02] [ 7.80557973e-01 -6.24463118e-01 -2.78399888e-02 2.50061090e+02] [ 3.57402082e-02 1.20267208e-04 9.99361107e-01 1.02341217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.212755096 meters Centerline goodness [0,1] 0.9996787527038314 Centerline is valid? [True, True] Translation: X:189.46, Y:250.08, Z:10.23 [[-6.23593085e-01 -7.81426997e-01 2.24390925e-02 1.89457157e+02] [ 7.80930532e-01 -6.23996654e-01 -2.78510394e-02 2.50079333e+02] [ 3.57654727e-02 1.55656846e-04 9.99360199e-01 1.02343747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.44, Y:250.10, Z:10.24 [[-6.22322112e-01 -7.82454102e-01 2.19263912e-02 1.89438753e+02] [ 7.81981473e-01 -6.22708221e-01 -2.71928010e-02 2.50097765e+02] [ 3.49308627e-02 2.23350340e-04 9.99389706e-01 1.02410797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.42, Y:250.12, Z:10.24 [[-6.21919241e-01 -7.82789349e-01 2.13843784e-02 1.89421643e+02] [ 7.82340734e-01 -6.22286728e-01 -2.64991355e-02 2.50117407e+02] [ 3.40504559e-02 2.49548049e-04 9.99420084e-01 1.02435842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.302755096 meters Centerline goodness [0,1] 0.999978646166987 Centerline is valid? [True, True] Translation: X:189.40, Y:250.14, Z:10.25 [[-6.21667598e-01 -7.83009695e-01 2.06207296e-02 1.89404353e+02] [ 7.82593354e-01 -6.22009443e-01 -2.55322357e-02 2.50137596e+02] [ 3.28182766e-02 2.65082346e-04 9.99461300e-01 1.02458404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.332755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.39, Y:250.16, Z:10.25 [[-6.20718851e-01 -7.83795521e-01 1.93051600e-02 1.89386956e+02] [ 7.83431584e-01 -6.21018914e-01 -2.38843255e-02 2.50156904e+02] [ 3.07092969e-02 2.98821020e-04 9.99528314e-01 1.02498648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.362755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.37, Y:250.18, Z:10.25 [[-6.19930958e-01 -7.84427222e-01 1.89615815e-02 1.89369762e+02] [ 7.84076988e-01 -6.20220784e-01 -2.34404615e-02 2.50176500e+02] [ 3.01477030e-02 3.35871969e-04 9.99545398e-01 1.02514481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.392755096 meters Centerline goodness [0,1] 0.9999786989306864 Centerline is valid? [True, True] Translation: X:189.35, Y:250.20, Z:10.25 [[-6.17562442e-01 -7.86301076e-01 1.86346020e-02 1.89350474e+02] [ 7.85964179e-01 -6.17843373e-01 -2.30190495e-02 2.50195610e+02] [ 2.96131687e-02 4.30429205e-04 9.99561341e-01 1.02538145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4227550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.33, Y:250.21, Z:10.25 [[-6.16665239e-01 -7.87006673e-01 1.85601758e-02 1.89332077e+02] [ 7.86673287e-01 -6.16944303e-01 -2.29099439e-02 2.50214953e+02] [ 2.94808735e-02 4.73028517e-04 9.99565233e-01 1.02543882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.452755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:250.23, Z:10.26 [[-6.15791223e-01 -7.87690960e-01 1.85505296e-02 1.89313749e+02] [ 7.87358723e-01 -6.16070358e-01 -2.28813361e-02 2.50234726e+02] [ 2.94518530e-02 5.15795307e-04 9.99566067e-01 1.02553186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.482755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.30, Y:250.25, Z:10.26 [[-6.14430860e-01 -7.88773561e-01 1.76348675e-02 1.89295456e+02] [ 7.88474224e-01 -6.14683633e-01 -2.17354454e-02 2.50253754e+02] [ 2.79842091e-02 5.49710061e-04 9.99608214e-01 1.02579177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.512755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:250.27, Z:10.26 [[-6.13847262e-01 -7.89238631e-01 1.71441586e-02 1.89278348e+02] [ 7.88956357e-01 -6.14086365e-01 -2.11140349e-02 2.50273502e+02] [ 2.71920061e-02 5.65200378e-04 9.99630069e-01 1.02596045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:250.29, Z:10.26 [[-6.13710732e-01 -7.89351607e-01 1.68278982e-02 1.89262086e+02] [ 7.89080072e-01 -6.13941135e-01 -2.07104276e-02 2.50292361e+02] [ 2.66791482e-02 5.68347481e-04 9.99643887e-01 1.02610174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.572755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.24, Y:250.31, Z:10.26 [[-6.13268555e-01 -7.89709316e-01 1.61516607e-02 1.89244487e+02] [ 7.89459657e-01 -6.13480947e-01 -1.98639750e-02 2.50312169e+02] [ 2.55955022e-02 5.69133304e-04 9.99672219e-01 1.02627527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.602755096 meters Centerline goodness [0,1] 0.9999574929332001 Centerline is valid? [True, True] Translation: X:189.23, Y:250.33, Z:10.27 [[-6.12160344e-01 -7.90592938e-01 1.49170786e-02 1.89225650e+02] [ 7.90380580e-01 -6.12341803e-01 -1.83318142e-02 2.50331322e+02] [ 2.36273536e-02 5.68159589e-04 9.99720674e-01 1.02659737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.632755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.21, Y:250.35, Z:10.27 [[-6.11697311e-01 -7.90962410e-01 1.43131479e-02 1.89208133e+02] [ 7.90767305e-01 -6.11864483e-01 -1.75762319e-02 2.50351141e+02] [ 2.26598456e-02 5.67035569e-04 9.99743072e-01 1.02672646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.19, Y:250.37, Z:10.27 [[-6.11054466e-01 -7.91450646e-01 1.47754924e-02 1.89191238e+02] [ 7.91243215e-01 -6.11232771e-01 -1.81294094e-02 2.50370268e+02] [ 2.33797979e-02 6.12951554e-04 9.99726467e-01 1.02680914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.692755096 meters Centerline goodness [0,1] 0.9993169982071203 Centerline is valid? [True, True] Translation: X:189.17, Y:250.39, Z:10.27 [[-6.11171604e-01 -7.91348648e-01 1.53814238e-02 1.89174983e+02] [ 7.91124203e-01 -6.11364788e-01 -1.88571629e-02 2.50389829e+02] [ 2.43262512e-02 6.43654175e-04 9.99703866e-01 1.02671921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.722755096 meters Centerline goodness [0,1] 0.9982329146263572 Centerline is valid? [True, True] Translation: X:189.16, Y:250.41, Z:10.27 [[-6.11569713e-01 -7.91020711e-01 1.63927354e-02 1.89158501e+02] [ 7.90766077e-01 -6.11788992e-01 -2.00808880e-02 2.50410321e+02] [ 2.59132933e-02 6.81956127e-04 9.99663962e-01 1.02663056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.752755096 meters Centerline goodness [0,1] 0.99506913924322 Centerline is valid? [True, True] Translation: X:189.14, Y:250.43, Z:10.27 [[-6.13178955e-01 -7.89743385e-01 1.78032329e-02 1.89144743e+02] [ 7.89443019e-01 -6.13436961e-01 -2.17902446e-02 2.50431388e+02] [ 2.81298626e-02 6.93318541e-04 9.99604037e-01 1.02652545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7827550960001 meters Centerline goodness [0,1] 0.9931332874117444 Centerline is valid? [True, True] Translation: X:189.13, Y:250.45, Z:10.27 [[-6.14403895e-01 -7.88775477e-01 1.84689288e-02 1.89130089e+02] [ 7.88452344e-01 -6.14681038e-01 -2.25859253e-02 2.50452641e+02] [ 2.91677243e-02 6.84989748e-04 9.99574297e-01 1.02658353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.812755096 meters Centerline goodness [0,1] 0.9906033630069239 Centerline is valid? [True, True] Translation: X:189.12, Y:250.48, Z:10.27 [[-6.16203280e-01 -7.87360276e-01 1.89027360e-02 1.89117670e+02] [ 7.87021675e-01 -6.16492807e-01 -2.30976498e-02 2.50476310e+02] [ 2.98395728e-02 6.44015391e-04 9.99554493e-01 1.02695992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.842755096 meters Centerline goodness [0,1] 0.9874317879087354 Centerline is valid? [True, True] Translation: X:189.11, Y:250.50, Z:10.27 [[-6.20531327e-01 -7.83961821e-01 1.85670255e-02 1.89105440e+02] [ 7.83634102e-01 -6.20808852e-01 -2.26707554e-02 2.50500823e+02] [ 2.92995805e-02 4.81840475e-04 9.99570559e-01 1.02725325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.872755096 meters Centerline goodness [0,1] 0.9877471036651019 Centerline is valid? [True, True] Translation: X:189.09, Y:250.52, Z:10.28 [[-6.23375790e-01 -7.81715025e-01 1.80067833e-02 1.89091471e+02] [ 7.81406298e-01 -6.23635695e-01 -2.19708351e-02 2.50524664e+02] [ 2.84046047e-02 3.74527177e-04 9.99596438e-01 1.02753168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9027550960001 meters Centerline goodness [0,1] 0.9876364422349508 Centerline is valid? [True, True] Translation: X:189.08, Y:250.55, Z:10.28 [[-6.29083827e-01 -7.77153837e-01 1.68953215e-02 1.89080274e+02] [ 7.76880786e-01 -6.29310643e-01 -2.05999712e-02 2.50550226e+02] [ 2.66417523e-02 1.66541960e-04 9.99645032e-01 1.02767873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.932755096 meters Centerline goodness [0,1] 0.9882587842090413 Centerline is valid? [True, True] Translation: X:189.07, Y:250.57, Z:10.28 [[-6.31983839e-01 -7.74805998e-01 1.64952614e-02 1.89066205e+02] [ 7.74545314e-01 -6.32199067e-01 -2.00971700e-02 2.50573002e+02] [ 2.59996968e-02 7.52407855e-05 9.99661948e-01 1.02780288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.962755096 meters Centerline goodness [0,1] 0.9882722740082376 Centerline is valid? [True, True] Translation: X:189.05, Y:250.60, Z:10.28 [[-6.34635743e-01 -7.72644053e-01 1.60823371e-02 1.89050904e+02] [ 7.72395928e-01 -6.34839482e-01 -1.95796394e-02 2.50595980e+02] [ 2.53377945e-02 -4.00730023e-06 9.99678947e-01 1.02804746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.992755096 meters Centerline goodness [0,1] 0.9886368555473789 Centerline is valid? [True, True] Translation: X:189.04, Y:250.62, Z:10.28 [[-6.38383190e-01 -7.69574566e-01 1.48960071e-02 1.89036877e+02] [ 7.69361164e-01 -6.38556948e-01 -1.81224500e-02 2.50620174e+02] [ 2.34585255e-02 -1.08658074e-04 9.99724805e-01 1.02819929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0227550960001 meters Centerline goodness [0,1] 0.9893451143451143 Centerline is valid? [True, True] Translation: X:189.02, Y:250.64, Z:10.28 [[-6.39984309e-01 -7.68258175e-01 1.41230527e-02 1.89020642e+02] [ 7.68066303e-01 -6.40140107e-01 -1.71696474e-02 2.50642350e+02] [ 2.22314545e-02 -1.40864041e-04 9.99752841e-01 1.02835887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.052755096 meters Centerline goodness [0,1] 0.9892142423979902 Centerline is valid? [True, True] Translation: X:189.01, Y:250.67, Z:10.29 [[-6.42095562e-01 -7.66511185e-01 1.31868202e-02 1.89006794e+02] [ 7.66343788e-01 -6.42230932e-01 -1.60196340e-02 2.50665116e+02] [ 2.07482125e-02 -1.80498154e-04 9.99784716e-01 1.02853020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.082755096 meters Centerline goodness [0,1] 0.9891962251871136 Centerline is valid? [True, True] Translation: X:188.99, Y:250.69, Z:10.29 [[-6.43020897e-01 -7.65737888e-01 1.30235179e-02 1.88990881e+02] [ 7.65574693e-01 -6.43152741e-01 -1.58095089e-02 2.50687455e+02] [ 2.04820512e-02 -1.95368836e-04 9.99790202e-01 1.02863273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.112755096 meters Centerline goodness [0,1] 0.9890581837016574 Centerline is valid? [True, True] Translation: X:188.98, Y:250.71, Z:10.29 [[-6.43410547e-01 -7.65407426e-01 1.32037825e-02 1.88975840e+02] [ 7.65239861e-01 -6.43545983e-01 -1.60163420e-02 2.50709133e+02] [ 2.07562682e-02 -2.01022675e-04 9.99784545e-01 1.02864631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters Centerline goodness [0,1] 0.9892172177384362 Centerline is valid? [True, True] Translation: X:188.96, Y:250.73, Z:10.29 [[-6.43905703e-01 -7.64980713e-01 1.37824430e-02 1.88962172e+02] [ 7.64798333e-01 -6.44053152e-01 -1.67046986e-02 2.50730191e+02] [ 2.16553981e-02 -2.15461248e-04 9.99765471e-01 1.02850528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1727550960001 meters Centerline goodness [0,1] 0.9898216068405746 Centerline is valid? [True, True] Translation: X:188.94, Y:250.75, Z:10.29 [[-6.44002404e-01 -7.64897275e-01 1.38946817e-02 1.88944579e+02] [ 7.64712192e-01 -6.44152244e-01 -1.68270422e-02 2.50749438e+02] [ 2.18212491e-02 -2.11223097e-04 9.99761866e-01 1.02859150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.202755096 meters Centerline goodness [0,1] 0.989436314832453 Centerline is valid? [True, True] Translation: X:188.93, Y:250.77, Z:10.29 [[-6.43971323e-01 -7.64925669e-01 1.37715456e-02 1.88928172e+02] [ 7.64744152e-01 -6.44118530e-01 -1.66643541e-02 2.50769274e+02] [ 2.16174999e-02 -1.99657158e-04 9.99766295e-01 1.02857095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.232755096 meters Centerline goodness [0,1] 0.9889905478770575 Centerline is valid? [True, True] Translation: X:188.91, Y:250.79, Z:10.29 [[-6.42914560e-01 -7.65834353e-01 1.25941466e-02 1.88910967e+02] [ 7.65682945e-01 -6.43037886e-01 -1.52284584e-02 2.50790433e+02] [ 1.97609899e-02 -1.47474402e-04 9.99804722e-01 1.02874035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters Centerline goodness [0,1] 0.9890107517595751 Centerline is valid? [True, True] Translation: X:188.89, Y:250.81, Z:10.29 [[-6.42577026e-01 -7.66125871e-01 1.20795572e-02 1.88893952e+02] [ 7.65986840e-01 -6.42690543e-01 -1.45954849e-02 2.50810982e+02] [ 1.89453958e-02 -1.25941383e-04 9.99820512e-01 1.02885931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2927550960001 meters Centerline goodness [0,1] 0.9889845914127424 Centerline is valid? [True, True] Translation: X:188.88, Y:250.83, Z:10.29 [[-6.41559441e-01 -7.66992295e-01 1.11490898e-02 1.88876243e+02] [ 7.66874162e-01 -6.41656303e-01 -1.34613423e-02 2.50832210e+02] [ 1.74786296e-02 -8.63023554e-05 9.99847233e-01 1.02906716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.322755096 meters Centerline goodness [0,1] 0.9891159101685417 Centerline is valid? [True, True] Translation: X:188.86, Y:250.85, Z:10.29 [[-6.41158660e-01 -7.67331343e-01 1.08711779e-02 1.88859647e+02] [ 7.67219242e-01 -6.41250813e-01 -1.31160283e-02 2.50852322e+02] [ 1.70354913e-02 -6.88782692e-05 9.99854883e-01 1.02910034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.352755096 meters Centerline goodness [0,1] 0.9892789618425576 Centerline is valid? [True, True] Translation: X:188.84, Y:250.87, Z:10.29 [[-6.40837064e-01 -7.67608732e-01 1.02318546e-02 1.88841826e+02] [ 7.67509614e-01 -6.40918740e-01 -1.23353638e-02 2.50872093e+02] [ 1.60265204e-02 -5.19115432e-05 9.99871566e-01 1.02915763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters Centerline goodness [0,1] 0.9893353441775288 Centerline is valid? [True, True] Translation: X:188.82, Y:250.89, Z:10.29 [[-6.39903846e-01 -7.68394903e-01 9.60938010e-03 1.88823429e+02] [ 7.68307696e-01 -6.39975993e-01 -1.15763541e-02 2.50891705e+02] [ 1.50449841e-02 -2.47928348e-05 9.99886818e-01 1.02915802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4127550960001 meters Centerline goodness [0,1] 0.9893365945760384 Centerline is valid? [True, True] Translation: X:188.81, Y:250.91, Z:10.29 [[-6.39323124e-01 -7.68881354e-01 9.34910435e-03 1.88807187e+02] [ 7.68798972e-01 -6.39391479e-01 -1.12550936e-02 2.50910824e+02] [ 1.46315693e-02 -8.05980139e-06 9.99892953e-01 1.02917870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.442755096 meters Centerline goodness [0,1] 0.9890611541774332 Centerline is valid? [True, True] Translation: X:188.79, Y:250.93, Z:10.29 [[-6.39257329e-01 -7.68939595e-01 9.05356622e-03 1.88790649e+02] [ 7.68862450e-01 -6.39321437e-01 -1.08918733e-02 2.50931019e+02] [ 1.41633316e-02 -1.76271079e-06 9.99899695e-01 1.02921064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.472755096 meters Centerline goodness [0,1] 0.989399369575543 Centerline is valid? [True, True] Translation: X:188.77, Y:250.95, Z:10.29 [[-6.38636917e-01 -7.69457825e-01 8.80595104e-03 1.88773251e+02] [ 7.69385003e-01 -6.38697625e-01 -1.05858872e-02 2.50951910e+02] [ 1.37697337e-02 1.46283365e-05 9.99905193e-01 1.02926082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters Centerline goodness [0,1] 0.9891678869842364 Centerline is valid? [True, True] Translation: X:188.76, Y:250.97, Z:10.29 [[-6.38311859e-01 -7.69726992e-01 8.85028041e-03 1.88755989e+02] [ 7.69653572e-01 -6.38373211e-01 -1.06311839e-02 2.50972072e+02] [ 1.38328911e-02 2.56391537e-05 9.99904321e-01 1.02922344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5327550960001 meters Centerline goodness [0,1] 0.9895828840098347 Centerline is valid? [True, True] Translation: X:188.74, Y:250.99, Z:10.29 [[-6.38027811e-01 -7.69959983e-01 9.06293460e-03 1.88739113e+02] [ 7.69883135e-01 -6.38092174e-01 -1.08782165e-02 2.50992934e+02] [ 1.41587790e-02 3.67958472e-05 9.99899759e-01 1.02922235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.562755096 meters Centerline goodness [0,1] 0.9896800603253258 Centerline is valid? [True, True] Translation: X:188.72, Y:251.01, Z:10.29 [[-6.38269701e-01 -7.69760377e-01 8.98615403e-03 1.88722249e+02] [ 7.69684916e-01 -6.38332955e-01 -1.07781558e-02 2.51013900e+02] [ 1.40327555e-02 3.71369073e-05 9.99901535e-01 1.02929245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.592755096 meters Centerline goodness [0,1] 0.989824516017764 Centerline is valid? [True, True] Translation: X:188.71, Y:251.03, Z:10.29 [[-6.38350872e-01 -7.69697210e-01 8.62375226e-03 1.88705320e+02] [ 7.69627808e-01 -6.38409119e-01 -1.03359986e-02 2.51034315e+02] [ 1.34610714e-02 3.90858479e-05 9.99909395e-01 1.02935555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters Centerline goodness [0,1] 0.9903105375601545 Centerline is valid? [True, True] Translation: X:188.69, Y:251.05, Z:10.29 [[-6.38958543e-01 -7.69193469e-01 8.56668265e-03 1.88689123e+02] [ 7.69125044e-01 -6.39015967e-01 -1.02596812e-02 2.51054595e+02] [ 1.33659268e-02 3.33392402e-05 9.99910671e-01 1.02935236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6527550960001 meters Centerline goodness [0,1] 0.990508445326488 Centerline is valid? [True, True] Translation: X:188.67, Y:251.07, Z:10.29 [[-6.39239788e-01 -7.68954114e-01 9.05891905e-03 1.88673327e+02] [ 7.68877702e-01 -6.39303973e-01 -1.08401811e-02 2.51074007e+02] [ 1.41270048e-02 3.57257603e-05 9.99900208e-01 1.02930768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.682755096 meters Centerline goodness [0,1] 0.990508445326488 Centerline is valid? [True, True] Translation: X:188.66, Y:251.09, Z:10.29 [[-6.39535622e-01 -7.68708037e-01 9.06323369e-03 1.88656495e+02] [ 7.68631651e-01 -6.39599838e-01 -1.08365731e-02 2.51093730e+02] [ 1.41270036e-02 3.59137726e-05 9.99900208e-01 1.02933183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.712755096 meters Centerline goodness [0,1] 0.9906525915851737 Centerline is valid? [True, True] Translation: X:188.64, Y:251.11, Z:10.29 [[-6.39715591e-01 -7.68555758e-01 9.27413066e-03 1.88639793e+02] [ 7.68475888e-01 -6.39782811e-01 -1.10799117e-02 2.51114663e+02] [ 1.44489593e-02 3.89535005e-05 9.99895608e-01 1.02933959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters Centerline goodness [0,1] 0.9908266781782862 Centerline is valid? [True, True] Translation: X:188.62, Y:251.14, Z:10.29 [[-6.40081088e-01 -7.68245929e-01 9.71564904e-03 1.88622892e+02] [ 7.68158374e-01 -6.40154818e-01 -1.15982946e-02 2.51135899e+02] [ 1.51298621e-02 3.93081755e-05 9.99885536e-01 1.02935562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7727550960001 meters Centerline goodness [0,1] 0.9911813536298756 Centerline is valid? [True, True] Translation: X:188.61, Y:251.16, Z:10.29 [[-6.40837455e-01 -7.67619256e-01 9.38260681e-03 1.88607570e+02] [ 7.67537656e-01 -6.40906137e-01 -1.11924091e-02 2.51156333e+02] [ 1.46048791e-02 2.89890438e-05 9.99893343e-01 1.02940218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.802755096 meters Centerline goodness [0,1] 0.9916028221443103 Centerline is valid? [True, True] Translation: X:188.59, Y:251.18, Z:10.29 [[-6.41341258e-01 -7.67198206e-01 9.39694578e-03 1.88591637e+02] [ 7.67116446e-01 -6.41410096e-01 -1.12002832e-02 2.51176457e+02] [ 1.46201331e-02 2.53478972e-05 9.99893120e-01 1.02942960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.832755096 meters Centerline goodness [0,1] 0.9919508395360914 Centerline is valid? [True, True] Translation: X:188.58, Y:251.20, Z:10.30 [[-6.41822733e-01 -7.66795504e-01 9.39336471e-03 1.88575070e+02] [ 7.66713890e-01 -6.41891467e-01 -1.11872820e-02 2.51198213e+02] [ 1.46078782e-02 2.17712652e-05 9.99893299e-01 1.02957132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.862755096 meters Centerline goodness [0,1] 0.9923362549112733 Centerline is valid? [True, True] Translation: X:188.56, Y:251.22, Z:10.30 [[-6.43031977e-01 -7.65784736e-01 9.14416840e-03 1.88559658e+02] [ 7.65707405e-01 -6.43096990e-01 -1.08825868e-02 2.51219156e+02] [ 1.42143060e-02 3.90618124e-06 9.99898972e-01 1.02957643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.892755096 meters Centerline goodness [0,1] 0.9919892902640727 Centerline is valid? [True, True] Translation: X:188.54, Y:251.24, Z:10.30 [[-6.43502221e-01 -7.65383135e-01 9.67209174e-03 1.88542790e+02] [ 7.65296705e-01 -6.43574904e-01 -1.15020002e-02 2.51240428e+02] [ 1.50281525e-02 4.57283384e-07 9.99887071e-01 1.02960325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9227550960001 meters Centerline goodness [0,1] 0.9924831518921721 Centerline is valid? [True, True] Translation: X:188.53, Y:251.26, Z:10.30 [[-6.43679307e-01 -7.65234287e-01 9.66622190e-03 1.88525905e+02] [ 7.65148074e-01 -6.43751882e-01 -1.14864622e-02 2.51261045e+02] [ 1.50124832e-02 2.49307380e-06 9.99887306e-01 1.02964200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.952755096 meters Centerline goodness [0,1] 0.9926415377684337 Centerline is valid? [True, True] Translation: X:188.51, Y:251.28, Z:10.30 [[-6.42766278e-01 -7.65989043e-01 1.05970955e-02 1.88508713e+02] [ 7.65885703e-01 -6.42853627e-01 -1.25819166e-02 2.51279404e+02] [ 1.64499916e-02 2.89322482e-05 9.99864689e-01 1.02956067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.982755096 meters Centerline goodness [0,1] 0.9928289941210673 Centerline is valid? [True, True] Translation: X:188.49, Y:251.30, Z:10.29 [[-6.42571383e-01 -7.66148135e-01 1.09111363e-02 1.88491717e+02] [ 7.66038784e-01 -6.42664013e-01 -1.29439995e-02 2.51298332e+02] [ 1.69292157e-02 4.09099618e-05 9.99856690e-01 1.02949848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.012755096 meters Centerline goodness [0,1] 0.9930327075672537 Centerline is valid? [True, True] Translation: X:188.48, Y:251.32, Z:10.29 [[-6.42070113e-01 -7.66557180e-01 1.16644812e-02 1.88475372e+02] [ 7.66432484e-01 -6.42176055e-01 -1.38261427e-02 2.51317796e+02] [ 1.80891795e-02 6.26842856e-05 9.99836375e-01 1.02937336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0427550960001 meters Centerline goodness [0,1] 0.9933047727713074 Centerline is valid? [True, True] Translation: X:188.46, Y:251.34, Z:10.29 [[-6.42447917e-01 -7.66236099e-01 1.19546962e-02 1.88459006e+02] [ 7.66105272e-01 -6.42559131e-01 -1.41589399e-02 2.51338136e+02] [ 1.85306901e-02 6.21743143e-05 9.99828290e-01 1.02939882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.072755096 meters Centerline goodness [0,1] 0.9934112462465706 Centerline is valid? [True, True] Translation: X:188.44, Y:251.36, Z:10.29 [[-6.43114785e-01 -7.65681063e-01 1.16569089e-02 1.88443370e+02] [ 7.65556772e-01 -6.43220419e-01 -1.37957056e-02 2.51357726e+02] [ 1.80610723e-02 5.18032786e-05 9.99836884e-01 1.02944143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.102755096 meters Centerline goodness [0,1] 0.9937342004623728 Centerline is valid? [True, True] Translation: X:188.43, Y:251.38, Z:10.30 [[-6.44268851e-01 -7.64721412e-01 1.08999340e-02 1.88428418e+02] [ 7.64612769e-01 -6.44361048e-01 -1.28900649e-02 2.51378886e+02] [ 1.68808015e-02 2.95613975e-05 9.99857509e-01 1.02960028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.132755096 meters Centerline goodness [0,1] 0.9940713592756278 Centerline is valid? [True, True] Translation: X:188.41, Y:251.40, Z:10.30 [[-6.44993783e-01 -7.64109486e-01 1.09413706e-02 1.88411944e+02] [ 7.64000098e-01 -6.45086578e-01 -1.29289625e-02 2.51399901e+02] [ 1.69372742e-02 2.01077648e-05 9.99856554e-01 1.02975975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1627550960001 meters Centerline goodness [0,1] 0.9944322154603134 Centerline is valid? [True, True] Translation: X:188.40, Y:251.42, Z:10.30 [[-6.46389536e-01 -7.62930389e-01 1.08530338e-02 1.88396448e+02] [ 7.62822763e-01 -6.46480642e-01 -1.28144907e-02 2.51420126e+02] [ 1.67928406e-02 -4.21150410e-06 9.99858990e-01 1.02980105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.192755096 meters Centerline goodness [0,1] 0.9941294110057416 Centerline is valid? [True, True] Translation: X:188.38, Y:251.44, Z:10.30 [[-6.47072394e-01 -7.62347992e-01 1.10840320e-02 1.88379609e+02] [ 7.62235827e-01 -6.47167319e-01 -1.30769236e-02 2.51440705e+02] [ 1.71423897e-02 -1.30699925e-05 9.99853058e-01 1.02980386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.222755096 meters Centerline goodness [0,1] 0.9947767770780044 Centerline is valid? [True, True] Translation: X:188.36, Y:251.46, Z:10.30 [[-6.47686731e-01 -7.61825036e-01 1.11585735e-02 1.88363368e+02] [ 7.61711451e-01 -6.47782845e-01 -1.31548564e-02 2.51460693e+02] [ 1.72500314e-02 -2.06127507e-05 9.99851207e-01 1.02983702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.252755096 meters Centerline goodness [0,1] 0.9947993094518774 Centerline is valid? [True, True] Translation: X:188.35, Y:251.48, Z:10.30 [[-6.48728827e-01 -7.60934294e-01 1.13977401e-02 1.88346604e+02] [ 7.60815829e-01 -6.48828944e-01 -1.34266599e-02 2.51482619e+02] [ 1.76119897e-02 -3.86802414e-05 9.99844896e-01 1.03002310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2827550960001 meters Centerline goodness [0,1] 0.9953400069036935 Centerline is valid? [True, True] Translation: X:188.33, Y:251.50, Z:10.30 [[-6.49258028e-01 -7.60483036e-01 1.13826987e-02 1.88330578e+02] [ 7.60364995e-01 -6.49357799e-01 -1.33986547e-02 2.51502495e+02] [ 1.75808937e-02 -4.41784684e-05 9.99845443e-01 1.02997092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.312755096 meters Centerline goodness [0,1] 0.9951709567541931 Centerline is valid? [True, True] Translation: X:188.31, Y:251.52, Z:10.30 [[-6.50108509e-01 -7.59752491e-01 1.16223562e-02 1.88313393e+02] [ 7.59629502e-01 -6.50212388e-01 -1.36700601e-02 2.51523326e+02] [ 1.79428622e-02 -5.83377134e-05 9.99839012e-01 1.03014437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.342755096 meters Centerline goodness [0,1] 0.9952778316838088 Centerline is valid? [True, True] Translation: X:188.30, Y:251.54, Z:10.30 [[-6.50925228e-01 -7.59050353e-01 1.17859666e-02 1.88296435e+02] [ 7.58923944e-01 -6.51031916e-01 -1.38524807e-02 2.51544251e+02] [ 1.81877708e-02 -7.22769048e-05 9.99834586e-01 1.03022230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.372755096 meters Centerline goodness [0,1] 0.9952524816573155 Centerline is valid? [True, True] Translation: X:188.28, Y:251.56, Z:10.30 [[-6.51780433e-01 -7.58318184e-01 1.16532665e-02 1.88280601e+02] [ 7.58194669e-01 -6.51884594e-01 -1.36864713e-02 2.51564791e+02] [ 1.79752849e-02 -8.51296507e-05 9.99838428e-01 1.03024389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4027550960001 meters Centerline goodness [0,1] 0.9954428630051186 Centerline is valid? [True, True] Translation: X:188.26, Y:251.59, Z:10.30 [[-6.52431602e-01 -7.57756770e-01 1.17337963e-02 1.88263407e+02] [ 7.57631634e-01 -6.52537101e-01 -1.37709061e-02 2.51586455e+02] [ 1.80917347e-02 -9.46790357e-05 9.99836327e-01 1.03024370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.432755096 meters Centerline goodness [0,1] 0.9959495852633847 Centerline is valid? [True, True] Translation: X:188.25, Y:251.61, Z:10.30 [[-6.54272754e-01 -7.56173191e-01 1.13696603e-02 1.88247724e+02] [ 7.56055628e-01 -6.54371522e-01 -1.33341185e-02 2.51608257e+02] [ 1.75228848e-02 -1.28054790e-04 9.99846454e-01 1.03046279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.462755096 meters Centerline goodness [0,1] 0.9960268883018706 Centerline is valid? [True, True] Translation: X:188.23, Y:251.63, Z:10.30 [[-6.55074956e-01 -7.55477201e-01 1.14455933e-02 1.88231063e+02] [ 7.55358132e-01 -6.55174923e-01 -1.34131591e-02 2.51628690e+02] [ 1.76322016e-02 -1.41102617e-04 9.99844531e-01 1.03041227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.492755096 meters Centerline goodness [0,1] 0.9959522886793265 Centerline is valid? [True, True] Translation: X:188.21, Y:251.65, Z:10.30 [[-6.55920140e-01 -7.54741999e-01 1.15449164e-02 1.88213191e+02] [ 7.54620919e-01 -6.56021716e-01 -1.35195315e-02 2.51648836e+02] [ 1.77774741e-02 -1.55697549e-04 9.99841956e-01 1.03038237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5227550960001 meters Centerline goodness [0,1] 0.9962741212956582 Centerline is valid? [True, True] Translation: X:188.20, Y:251.67, Z:10.30 [[-6.56208769e-01 -7.54494921e-01 1.12901004e-02 1.88196146e+02] [ 7.54379264e-01 -6.56305868e-01 -1.32111517e-02 2.51668144e+02] [ 1.73775060e-02 -1.52256003e-04 9.99848988e-01 1.03034168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.552755096 meters Centerline goodness [0,1] 0.9965754162269271 Centerline is valid? [True, True] Translation: X:188.18, Y:251.69, Z:10.30 [[-6.56455112e-01 -7.54277781e-01 1.14767278e-02 1.88177495e+02] [ 7.54158423e-01 -6.56555410e-01 -1.34189224e-02 2.51688123e+02] [ 1.76567027e-02 -1.53649330e-04 9.99844097e-01 1.03040439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.582755096 meters Centerline goodness [0,1] 0.9967744016515063 Centerline is valid? [True, True] Translation: X:188.16, Y:251.71, Z:10.30 [[-6.56576047e-01 -7.54182533e-01 1.07982260e-02 1.88158781e+02] [ 7.54077008e-01 -6.56664822e-01 -1.26165750e-02 2.51707876e+02] [ 1.66060156e-02 -1.41047017e-04 9.99862101e-01 1.03047919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.612755096 meters Centerline goodness [0,1] 0.9964610501029513 Centerline is valid? [True, True] Translation: X:188.14, Y:251.73, Z:10.30 [[-6.56751230e-01 -7.54032396e-01 1.06286432e-02 1.88141301e+02] [ 7.53930293e-01 -6.56837215e-01 -1.24091253e-02 2.51727512e+02] [ 1.63381709e-02 -1.36452234e-04 9.99866514e-01 1.03045664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters Centerline goodness [0,1] 0.9967996907083637 Centerline is valid? [True, True] Translation: X:188.12, Y:251.75, Z:10.30 [[-6.56836273e-01 -7.53963388e-01 1.02625752e-02 1.88123641e+02] [ 7.53868331e-01 -6.56916428e-01 -1.19727118e-02 2.51746582e+02] [ 1.57686406e-02 -1.27480920e-04 9.99875659e-01 1.03041832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6727550960001 meters Centerline goodness [0,1] 0.996931659693166 Centerline is valid? [True, True] Translation: X:188.10, Y:251.77, Z:10.31 [[-6.57294254e-01 -7.53568317e-01 9.95263769e-03 1.88104686e+02] [ 7.53478999e-01 -6.57369588e-01 -1.16026947e-02 2.51766717e+02] [ 1.52859844e-02 -1.27281049e-04 9.99883154e-01 1.03051164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.702755096 meters Centerline goodness [0,1] 0.9970235546038544 Centerline is valid? [True, True] Translation: X:188.09, Y:251.79, Z:10.31 [[-6.58086714e-01 -7.52879991e-01 9.67449974e-03 1.88087106e+02] [ 7.52795641e-01 -6.58157809e-01 -1.12703963e-02 2.51786892e+02] [ 1.48526034e-02 -1.33976847e-04 9.99889685e-01 1.03057835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.732755096 meters Centerline goodness [0,1] 0.9974024858854088 Centerline is valid? [True, True] Translation: X:188.07, Y:251.81, Z:10.31 [[-6.58896610e-01 -7.52183629e-01 8.66292228e-03 1.88069739e+02] [ 7.52116029e-01 -6.58953543e-01 -1.00850211e-02 2.51807285e+02] [ 1.32942511e-02 -1.29463494e-04 9.99911619e-01 1.03072822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters Centerline goodness [0,1] 0.9973250588487054 Centerline is valid? [True, True] Translation: X:188.05, Y:251.83, Z:10.31 [[-6.59266821e-01 -7.51858647e-01 8.70825556e-03 1.88053230e+02] [ 7.51790408e-01 -6.59324319e-01 -1.01303883e-02 2.51828291e+02] [ 1.33581847e-02 -1.31845873e-04 9.99910767e-01 1.03069241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7927550960001 meters Centerline goodness [0,1] 0.9974056047513883 Centerline is valid? [True, True] Translation: X:188.03, Y:251.85, Z:10.31 [[-6.58874154e-01 -7.52203950e-01 8.60622947e-03 1.88034927e+02] [ 7.52137430e-01 -6.58930349e-01 -1.00041374e-02 2.51847254e+02] [ 1.31960574e-02 -1.18400248e-04 9.99912921e-01 1.03069527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.822755096 meters Centerline goodness [0,1] 0.9973483309454055 Centerline is valid? [True, True] Translation: X:188.02, Y:251.87, Z:10.31 [[-6.58625494e-01 -7.52427881e-01 8.04625022e-03 1.88016276e+02] [ 7.52369837e-01 -6.58674634e-01 -9.34636154e-03 2.51866914e+02] [ 1.23323239e-02 -1.01996017e-04 9.99923949e-01 1.03083056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.852755096 meters Centerline goodness [0,1] 0.997283771066815 Centerline is valid? [True, True] Translation: X:188.00, Y:251.89, Z:10.31 [[-6.57940724e-01 -7.53028343e-01 7.89421167e-03 1.87997537e+02] [ 7.52972594e-01 -6.57988075e-01 -9.16328891e-03 2.51886322e+02] [ 1.20945134e-02 -8.47758957e-05 9.99926855e-01 1.03081906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters Centerline goodness [0,1] 0.9975101418789843 Centerline is valid? [True, True] Translation: X:187.98, Y:251.90, Z:10.31 [[-6.57262791e-01 -7.53628762e-01 7.02237021e-03 1.87979499e+02] [ 7.53584739e-01 -6.57300301e-01 -8.14591841e-03 2.51904674e+02] [ 1.07548045e-02 -6.20580455e-05 9.99942164e-01 1.03095835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9127550960001 meters Centerline goodness [0,1] 0.9975733888805377 Centerline is valid? [True, True] Translation: X:187.96, Y:251.92, Z:10.31 [[-6.56320173e-01 -7.54454414e-01 6.50910444e-03 1.87961014e+02] [ 7.54416689e-01 -6.56352448e-01 -7.54475193e-03 2.51923423e+02] [ 9.96443803e-03 -4.11958679e-05 9.99950353e-01 1.03101437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.942755096 meters Centerline goodness [0,1] 0.9976380657906038 Centerline is valid? [True, True] Translation: X:187.94, Y:251.94, Z:10.31 [[-6.53906798e-01 -7.56553520e-01 5.71582415e-03 1.87942636e+02] [ 7.56524550e-01 -6.53931779e-01 -6.62074844e-03 2.51941404e+02] [ 8.74670959e-03 -5.19111707e-06 9.99961747e-01 1.03113208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.972755096 meters Centerline goodness [0,1] 0.9979579114808366 Centerline is valid? [True, True] Translation: X:187.92, Y:251.96, Z:10.31 [[-6.52807591e-01 -7.57503450e-01 5.54734729e-03 1.87924720e+02] [ 7.57476240e-01 -6.52831160e-01 -6.42048247e-03 2.51960281e+02] [ 8.48501879e-03 1.06440737e-05 9.99964002e-01 1.03122783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters Centerline goodness [0,1] 0.9978308957756158 Centerline is valid? [True, True] Translation: X:187.91, Y:251.98, Z:10.31 [[-6.50777107e-01 -7.59250767e-01 5.23740000e-03 1.87906081e+02] [ 7.59226604e-01 -6.50798180e-01 -6.05742330e-03 2.51978328e+02] [ 8.00759367e-03 3.43410048e-05 9.99967938e-01 1.03120002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0327550960001 meters Centerline goodness [0,1] 0.9979132155841921 Centerline is valid? [True, True] Translation: X:187.89, Y:252.00, Z:10.31 [[-6.50066445e-01 -7.59860588e-01 5.05014112e-03 1.87888096e+02] [ 7.59838175e-01 -6.50086059e-01 -5.83633623e-03 2.51997420e+02] [ 7.71782822e-03 4.32836728e-05 9.99970216e-01 1.03116927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.062755096 meters Centerline goodness [0,1] 0.9980612222916353 Centerline is valid? [True, True] Translation: X:187.87, Y:252.02, Z:10.31 [[-6.49554915e-01 -7.60297613e-01 5.09439623e-03 1.87869856e+02] [ 7.60274855e-01 -6.49574890e-01 -5.88285598e-03 2.52016702e+02] [ 7.78191323e-03 5.19033393e-05 9.99969719e-01 1.03116189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.092755096 meters Centerline goodness [0,1] 0.9982526533782035 Centerline is valid? [True, True] Translation: X:187.85, Y:252.04, Z:10.31 [[-6.48914963e-01 -7.60846181e-01 4.73909246e-03 1.87852858e+02] [ 7.60826529e-01 -6.48932265e-01 -5.46875496e-03 2.52035371e+02] [ 7.23623133e-03 5.68703469e-05 9.99973817e-01 1.03114030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters Centerline goodness [0,1] 0.9980190771483324 Centerline is valid? [True, True] Translation: X:187.84, Y:252.06, Z:10.31 [[-6.49034783e-01 -7.60744559e-01 4.64395675e-03 1.87835825e+02] [ 7.60725716e-01 -6.49051394e-01 -5.35471114e-03 2.52055885e+02] [ 7.08773397e-03 5.73835375e-05 9.99974880e-01 1.03111796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1527550960001 meters Centerline goodness [0,1] 0.9980791228713876 Centerline is valid? [True, True] Translation: X:187.82, Y:252.08, Z:10.31 [[-6.49075813e-01 -7.60708204e-01 4.85977016e-03 1.87819315e+02] [ 7.60687601e-01 -6.49094003e-01 -5.59899755e-03 2.52075141e+02] [ 7.41365103e-03 6.25930200e-05 9.99972517e-01 1.03112094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.182755096 meters Centerline goodness [0,1] 0.9982046678635548 Centerline is valid? [True, True] Translation: X:187.80, Y:252.10, Z:10.31 [[-6.49060729e-01 -7.60719187e-01 5.14669685e-03 1.87803151e+02] [ 7.60696121e-01 -6.49081130e-01 -5.92434410e-03 2.52097008e+02] [ 7.84738604e-03 6.98132317e-05 9.99969206e-01 1.03103303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.212755096 meters Centerline goodness [0,1] 0.9982667851030179 Centerline is valid? [True, True] Translation: X:187.79, Y:252.12, Z:10.31 [[-6.49494713e-01 -7.60348428e-01 5.18518555e-03 1.87786159e+02] [ 7.60325037e-01 -6.49515406e-01 -5.96444407e-03 2.52115536e+02] [ 7.90291358e-03 6.85515130e-05 9.99968769e-01 1.03101182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters Centerline goodness [0,1] 0.9984334885340064 Centerline is valid? [True, True] Translation: X:187.77, Y:252.14, Z:10.31 [[-6.50162449e-01 -7.59777581e-01 5.17853681e-03 1.87771588e+02] [ 7.59754271e-01 -6.50183069e-01 -5.95180164e-03 2.52137534e+02] [ 7.88904241e-03 6.47775202e-05 9.99968879e-01 1.03092554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2727550960001 meters Centerline goodness [0,1] 0.9984977139124755 Centerline is valid? [True, True] Translation: X:187.76, Y:252.16, Z:10.31 [[-6.50878978e-01 -7.59161933e-01 5.45111543e-03 1.87756015e+02] [ 7.59136127e-01 -6.50901801e-01 -6.25987653e-03 2.52157781e+02] [ 8.30040082e-03 6.37166177e-05 9.99965549e-01 1.03091670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.302755096 meters Centerline goodness [0,1] 0.9983641955113525 Centerline is valid? [True, True] Translation: X:187.74, Y:252.18, Z:10.31 [[-6.51714826e-01 -7.58442345e-01 5.74413381e-03 1.87740291e+02] [ 7.58413712e-01 -6.51740137e-01 -6.59063052e-03 2.52178927e+02] [ 8.74229582e-03 6.12182204e-05 9.99961784e-01 1.03088884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.332755096 meters Centerline goodness [0,1] 0.9986687036228721 Centerline is valid? [True, True] Translation: X:187.73, Y:252.20, Z:10.31 [[-6.53933048e-01 -7.56527788e-01 6.10529752e-03 1.87727236e+02] [ 7.56495411e-01 -6.53961547e-01 -6.99921902e-03 2.52201830e+02] [ 9.28773349e-03 4.16089252e-05 9.99956867e-01 1.03084223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.362755096 meters Centerline goodness [0,1] 0.9984893267651889 Centerline is valid? [True, True] Translation: X:187.71, Y:252.22, Z:10.31 [[-6.55846670e-01 -7.54868165e-01 6.26096570e-03 1.87713406e+02] [ 7.54834096e-01 -6.55876554e-01 -7.17172692e-03 2.52224775e+02] [ 9.52012894e-03 2.24371675e-05 9.99954682e-01 1.03085352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.392755096 meters Centerline goodness [0,1] 0.9986854213224662 Centerline is valid? [True, True] Translation: X:187.70, Y:252.25, Z:10.31 [[-6.58919338e-01 -7.52186589e-01 6.37504590e-03 1.87702495e+02] [ 7.52151196e-01 -6.58950177e-01 -7.29675970e-03 2.52250412e+02] [ 9.68936241e-03 -1.29776780e-05 9.99953057e-01 1.03093086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4227550960001 meters Centerline goodness [0,1] 0.9987235915492958 Centerline is valid? [True, True] Translation: X:187.69, Y:252.27, Z:10.31 [[-6.60887947e-01 -7.50456903e-01 6.44650858e-03 1.87688311e+02] [ 7.50420686e-01 -6.60919386e-01 -7.37289789e-03 2.52272965e+02] [ 9.79366461e-03 -3.50659654e-05 9.99952040e-01 1.03096480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.452755096 meters Centerline goodness [0,1] 0.9988722552683369 Centerline is valid? [True, True] Translation: X:187.68, Y:252.30, Z:10.31 [[-6.63650425e-01 -7.48010277e-01 6.98133956e-03 1.87677525e+02] [ 7.47967735e-01 -6.63687140e-01 -7.97795449e-03 2.52297480e+02] [ 1.06010172e-02 -7.27561531e-05 9.99943805e-01 1.03091828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.482755096 meters Centerline goodness [0,1] 0.9988696056918678 Centerline is valid? [True, True] Translation: X:187.66, Y:252.32, Z:10.31 [[-6.65579019e-01 -7.46291429e-01 7.32621690e-03 1.87663375e+02] [ 7.46244551e-01 -6.65619331e-01 -8.36518471e-03 2.52320340e+02] [ 1.11193372e-02 -1.00541990e-04 9.99938173e-01 1.03087107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.512755096 meters Centerline goodness [0,1] 0.998917007404133 Centerline is valid? [True, True] Translation: X:187.65, Y:252.34, Z:10.31 [[-6.67290662e-01 -7.44753931e-01 8.04705372e-03 1.87649463e+02] [ 7.44697349e-01 -6.67339168e-01 -9.18116596e-03 2.52343619e+02] [ 1.22078236e-02 -1.33886730e-04 9.99925473e-01 1.03076891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5427550960001 meters Centerline goodness [0,1] 0.999116041634439 Centerline is valid? [True, True] Translation: X:187.63, Y:252.36, Z:10.31 [[-6.67512014e-01 -7.44556486e-01 7.95925238e-03 1.87632148e+02] [ 7.44501197e-01 -6.67559452e-01 -9.07452282e-03 2.52364193e+02] [ 1.20697690e-02 -1.31680084e-04 9.99927149e-01 1.03083530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.572755096 meters Centerline goodness [0,1] 0.999116041634439 Centerline is valid? [True, True] Translation: X:187.61, Y:252.38, Z:10.31 [[-6.67785904e-01 -7.44310811e-01 7.96259109e-03 1.87614829e+02] [ 7.44255539e-01 -6.67833362e-01 -9.07159250e-03 2.52383516e+02] [ 1.20697684e-02 -1.31679071e-04 9.99927149e-01 1.03085946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.602755096 meters Centerline goodness [0,1] 0.9990459708910188 Centerline is valid? [True, True] Translation: X:187.60, Y:252.40, Z:10.31 [[-6.67596283e-01 -7.44486965e-01 7.37301501e-03 1.87597125e+02] [ 7.44439651e-01 -6.67636986e-01 -8.39406731e-03 2.52403541e+02] [ 1.11717712e-02 -1.15083419e-04 9.99937587e-01 1.03092966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.632755096 meters Centerline goodness [0,1] 0.9991140642303433 Centerline is valid? [True, True] Translation: X:187.58, Y:252.42, Z:10.31 [[-6.67313028e-01 -7.44738565e-01 7.60215090e-03 1.87579483e+02] [ 7.44688356e-01 -6.67356320e-01 -8.64841631e-03 2.52423315e+02] [ 1.15141526e-02 -1.09967619e-04 9.99933704e-01 1.03098014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6627550960001 meters Centerline goodness [0,1] 0.9992036279172658 Centerline is valid? [True, True] Translation: X:187.56, Y:252.44, Z:10.31 [[-6.67015625e-01 -7.44996257e-01 8.41032890e-03 1.87563169e+02] [ 7.44934922e-01 -6.67068636e-01 -9.56020863e-03 2.52443461e+02] [ 1.27325863e-02 -1.11660833e-04 9.99918931e-01 1.03091661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.692755096 meters Centerline goodness [0,1] 0.9992003021080925 Centerline is valid? [True, True] Translation: X:187.55, Y:252.46, Z:10.31 [[-6.67644883e-01 -7.44430176e-01 8.60373991e-03 1.87547134e+02] [ 7.44366037e-01 -6.67700306e-01 -9.77261786e-03 2.52464318e+02] [ 1.30197514e-02 -1.20306526e-04 9.99915232e-01 1.03095454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.722755096 meters Centerline goodness [0,1] 0.9992669435990847 Centerline is valid? [True, True] Translation: X:187.53, Y:252.48, Z:10.31 [[-6.67948214e-01 -7.44153712e-01 8.96859616e-03 1.87530499e+02] [ 7.44084095e-01 -6.68008411e-01 -1.01795338e-02 2.52484862e+02] [ 1.35662355e-02 -1.26011650e-04 9.99907966e-01 1.03097938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.752755096 meters Centerline goodness [0,1] 0.9992891574294156 Centerline is valid? [True, True] Translation: X:187.51, Y:252.50, Z:10.31 [[-6.67991286e-01 -7.44117457e-01 8.76649549e-03 1.87514028e+02] [ 7.44051036e-01 -6.68048798e-01 -9.94286888e-03 2.52503064e+02] [ 1.32551091e-02 -1.19029724e-04 9.99912140e-01 1.03101132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7827550960001 meters Centerline goodness [0,1] 0.9992718285928639 Centerline is valid? [True, True] Translation: X:187.50, Y:252.52, Z:10.31 [[-6.68030599e-01 -7.44084524e-01 8.56394481e-03 1.87496424e+02] [ 7.44021232e-01 -6.68085481e-01 -9.70548544e-03 2.52521388e+02] [ 1.29431487e-02 -1.11804475e-04 9.99916228e-01 1.03104768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.812755096 meters Centerline goodness [0,1] 0.9994258457733416 Centerline is valid? [True, True] Translation: X:187.48, Y:252.54, Z:10.31 [[-6.67731945e-01 -7.44355601e-01 8.29389582e-03 1.87478438e+02] [ 7.44296349e-01 -6.67783445e-01 -9.39229770e-03 2.52538975e+02] [ 1.25297357e-02 -9.84208324e-05 9.99921495e-01 1.03117949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.842755096 meters Centerline goodness [0,1] 0.9995134035211891 Centerline is valid? [True, True] Translation: X:187.46, Y:252.56, Z:10.31 [[-6.67544116e-01 -7.44528113e-01 7.92106246e-03 1.87461400e+02] [ 7.44474162e-01 -6.67591104e-01 -8.96325417e-03 2.52557533e+02] [ 1.19614255e-02 -8.63412371e-05 9.99928456e-01 1.03131239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.872755096 meters Centerline goodness [0,1] 0.9995137154351141 Centerline is valid? [True, True] Translation: X:187.44, Y:252.58, Z:10.31 [[-6.67594216e-01 -7.44483664e-01 7.87631724e-03 1.87444384e+02] [ 7.44430398e-01 -6.67640672e-01 -8.90590658e-03 2.52576707e+02] [ 1.18888517e-02 -8.21617469e-05 9.99929322e-01 1.03143830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9027550960001 meters Centerline goodness [0,1] 0.9994735110233629 Centerline is valid? [True, True] Translation: X:187.43, Y:252.60, Z:10.32 [[-6.67291255e-01 -7.44759649e-01 7.44621301e-03 1.87428793e+02] [ 7.44712128e-01 -6.67332796e-01 -8.41344246e-03 2.52596034e+02] [ 1.12350946e-02 -6.89314380e-05 9.99936882e-01 1.03167190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.932755096 meters Centerline goodness [0,1] 0.9995380452715634 Centerline is valid? [True, True] Translation: X:187.41, Y:252.61, Z:10.32 [[-6.67056315e-01 -7.44967108e-01 7.73827742e-03 1.87412103e+02] [ 7.44915882e-01 -6.67101195e-01 -8.73636572e-03 2.52614097e+02] [ 1.16705192e-02 -6.32821739e-05 9.99931895e-01 1.03178699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.962755096 meters Centerline goodness [0,1] 0.999712960918525 Centerline is valid? [True, True] Translation: X:187.39, Y:252.63, Z:10.32 [[-6.66682484e-01 -7.45297991e-01 8.08518575e-03 1.87394099e+02] [ 7.45242182e-01 -6.66731506e-01 -9.12076813e-03 2.52632993e+02] [ 1.21883382e-02 -5.52348748e-05 9.99925718e-01 1.03181612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.992755096 meters Centerline goodness [0,1] 0.9997791080382585 Centerline is valid? [True, True] Translation: X:187.38, Y:252.65, Z:10.32 [[-6.65705252e-01 -7.46155984e-01 9.36835460e-03 1.87376027e+02] [ 7.46081255e-01 -6.65771167e-01 -1.05600137e-02 2.52650274e+02] [ 1.41165978e-02 -4.03028038e-05 9.99900355e-01 1.03173926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0227550960001 meters Centerline goodness [0,1] 0.9997133596454479 Centerline is valid? [True, True] Translation: X:187.36, Y:252.67, Z:10.32 [[-6.65724645e-01 -7.46130821e-01 9.97473395e-03 1.87358402e+02] [ 7.46046220e-01 -6.65799366e-01 -1.12356999e-02 2.52669451e+02] [ 1.50244736e-02 -3.82697826e-05 9.99887126e-01 1.03166207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.052755096 meters Centerline goodness [0,1] 0.9998672066927827 Centerline is valid? [True, True] Translation: X:187.34, Y:252.69, Z:10.31 [[-6.65902772e-01 -7.45943311e-01 1.19195050e-02 1.87340854e+02] [ 7.45822658e-01 -6.66009441e-01 -1.34159445e-02 2.52688975e+02] [ 1.79460369e-02 -4.38777630e-05 9.99838956e-01 1.03139365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.082755096 meters Centerline goodness [0,1] 0.9997789469030461 Centerline is valid? [True, True] Translation: X:187.33, Y:252.71, Z:10.31 [[-6.67007160e-01 -7.44946329e-01 1.25066177e-02 1.87325511e+02] [ 7.44813513e-01 -6.67124398e-01 -1.40665494e-02 2.52707808e+02] [ 1.88222941e-02 -6.73913137e-05 9.99822843e-01 1.03131422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.112755096 meters Centerline goodness [0,1] 0.99977856510186 Centerline is valid? [True, True] Translation: X:187.31, Y:252.73, Z:10.31 [[-6.70051593e-01 -7.42191933e-01 1.34906838e-02 1.87313118e+02] [ 7.42037071e-01 -6.70187372e-01 -1.51615415e-02 2.52729320e+02] [ 2.02940598e-02 -1.48427522e-04 9.99794043e-01 1.03129120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters Centerline goodness [0,1] 0.9998227225386133 Centerline is valid? [True, True] Translation: X:187.30, Y:252.75, Z:10.31 [[-6.72240240e-01 -7.40203634e-01 1.38433928e-02 1.87298586e+02] [ 7.40040384e-01 -6.72382731e-01 -1.55464886e-02 2.52750665e+02] [ 2.08156256e-02 -2.06305515e-04 9.99783310e-01 1.03137167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1727550960001 meters Centerline goodness [0,1] 0.9997792153312874 Centerline is valid? [True, True] Translation: X:187.29, Y:252.77, Z:10.31 [[-6.75191738e-01 -7.37512349e-01 1.38438336e-02 1.87285206e+02] [ 7.37348755e-01 -6.75333588e-01 -1.55357212e-02 2.52772103e+02] [ 2.08069921e-02 -2.81857158e-04 9.99783471e-01 1.03140984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.202755096 meters Centerline goodness [0,1] 0.9998890713049652 Centerline is valid? [True, True] Translation: X:187.27, Y:252.79, Z:10.32 [[-6.77850093e-01 -7.35064517e-01 1.41211928e-02 1.87271000e+02] [ 7.34894017e-01 -6.77997072e-01 -1.58352458e-02 2.52793167e+02] [ 2.12140547e-02 -3.56342787e-04 9.99774893e-01 1.03150101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.232755096 meters Centerline goodness [0,1] 0.9999778961561415 Centerline is valid? [True, True] Translation: X:187.26, Y:252.82, Z:10.32 [[-6.82658248e-01 -7.30597845e-01 1.43005243e-02 1.87259596e+02] [ 7.30422231e-01 -6.82807839e-01 -1.60256041e-02 2.52815530e+02] [ 2.14727819e-02 -4.94589919e-04 9.99769311e-01 1.03160182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters Centerline goodness [0,1] 0.9999777960343718 Centerline is valid? [True, True] Translation: X:187.25, Y:252.84, Z:10.32 [[-6.85156321e-01 -7.28251054e-01 1.45333562e-02 1.87245036e+02] [ 7.28069385e-01 -6.85310206e-01 -1.62754989e-02 2.52835523e+02] [ 2.18125066e-02 -5.69969275e-04 9.99761917e-01 1.03164419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2927550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.23, Y:252.86, Z:10.32 [[-6.89642955e-01 -7.24005325e-01 1.44528225e-02 1.87231399e+02] [ 7.23824976e-01 -6.89794034e-01 -1.61738845e-02 2.52856730e+02] [ 2.16794492e-02 -6.92891583e-04 9.99764733e-01 1.03174834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.322755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.21, Y:252.87, Z:10.32 [[-6.91813495e-01 -7.21940581e-01 1.39958847e-02 1.87209935e+02] [ 7.21771238e-01 -6.91954672e-01 -1.56528660e-02 2.52872295e+02] [ 2.09849570e-02 -7.27036909e-04 9.99779527e-01 1.03211576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.352755096 meters Centerline goodness [0,1] 0.999977893712972 Centerline is valid? [True, True] Translation: X:187.18, Y:252.89, Z:10.32 [[-6.93786515e-01 -7.20045814e-01 1.39390924e-02 1.87184919e+02] [ 7.19877661e-01 -6.93926096e-01 -1.55797226e-02 2.52887066e+02] [ 2.08908140e-02 -7.74560169e-04 9.99781463e-01 1.03249073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.17, Y:252.91, Z:10.33 [[-6.97421212e-01 -7.16509459e-01 1.47596752e-02 1.87166151e+02] [ 7.16320380e-01 -6.97576763e-01 -1.64855483e-02 2.52907203e+02] [ 2.21080577e-02 -9.24714923e-04 9.99755159e-01 1.03265407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4127550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.15, Y:252.93, Z:10.33 [[-6.98741387e-01 -7.15212493e-01 1.52172579e-02 1.87148107e+02] [ 7.15011415e-01 -6.98906368e-01 -1.69872113e-02 2.52927392e+02] [ 2.27849042e-02 -9.89154428e-04 9.99739901e-01 1.03264864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.442755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.13, Y:252.95, Z:10.33 [[-7.00947233e-01 -7.13027948e-01 1.62518148e-02 1.87128705e+02] [ 7.12798289e-01 -7.01134710e-01 -1.81305804e-02 2.52946020e+02] [ 2.43223220e-02 -1.12431440e-03 9.99703536e-01 1.03267220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.472755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.11, Y:252.96, Z:10.33 [[-7.01796268e-01 -7.12187154e-01 1.64759105e-02 1.87110283e+02] [ 7.11951217e-01 -7.01988684e-01 -1.83671866e-02 2.52964482e+02] [ 2.46467771e-02 -1.15997853e-03 9.99695549e-01 1.03268759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.09, Y:252.98, Z:10.33 [[-7.02198035e-01 -7.11785276e-01 1.67224657e-02 1.87088455e+02] [ 7.11542397e-01 -7.02396128e-01 -1.86305165e-02 2.52980869e+02] [ 2.50067224e-02 -1.18356874e-03 9.99686582e-01 1.03283357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5327550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.06, Y:253.00, Z:10.33 [[-7.02175798e-01 -7.11800260e-01 1.70158262e-02 1.87064323e+02] [ 7.11549109e-01 -7.02380924e-01 -1.89447384e-02 2.52995955e+02] [ 2.54364614e-02 -1.19494083e-03 9.99675727e-01 1.03302371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.562755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.04, Y:253.01, Z:10.33 [[-7.01795827e-01 -7.12174456e-01 1.70341079e-02 1.87042486e+02] [ 7.11923202e-01 -7.02001543e-01 -1.89522396e-02 2.53014469e+02] [ 2.54552710e-02 -1.17362603e-03 9.99675273e-01 1.03314988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.592755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.02, Y:253.03, Z:10.33 [[-7.01044665e-01 -7.12915359e-01 1.69726044e-02 1.87020707e+02] [ 7.12666430e-01 -7.01249175e-01 -1.88720827e-02 2.53033277e+02] [ 2.53562224e-02 -1.13436751e-03 9.99677836e-01 1.03325461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.00, Y:253.05, Z:10.33 [[-7.00348954e-01 -7.13600717e-01 1.68926048e-02 1.87002516e+02] [ 7.13354621e-01 -7.00551794e-01 -1.87714978e-02 2.53053094e+02] [ 2.52294989e-02 -1.09618114e-03 9.99681085e-01 1.03318834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6527550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.97, Y:253.07, Z:10.33 [[-6.98534674e-01 -7.15382835e-01 1.66345560e-02 1.86974790e+02] [ 7.15144987e-01 -6.98731982e-01 -1.84733514e-02 2.53066402e+02] [ 2.48386148e-02 -1.00815722e-03 9.99690966e-01 1.03344309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.682755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:253.08, Z:10.34 [[-6.97747442e-01 -7.16162026e-01 1.61387817e-02 1.86953511e+02] [ 7.15938614e-01 -6.97933423e-01 -1.79119815e-02 2.53084043e+02] [ 2.40916761e-02 -9.43662267e-04 9.99709308e-01 1.03351256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.712755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.93, Y:253.10, Z:10.34 [[-6.96612958e-01 -7.17297131e-01 1.46701193e-02 1.86928304e+02] [ 7.17113013e-01 -6.96766935e-01 -1.62715940e-02 2.53098259e+02] [ 2.18932217e-02 -8.14869772e-04 9.99759983e-01 1.03387658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.91, Y:253.12, Z:10.34 [[-6.96605112e-01 -7.17313428e-01 1.42395139e-02 1.86907113e+02] [ 7.17140197e-01 -6.96750194e-01 -1.57830638e-02 2.53115437e+02] [ 2.12427877e-02 -7.82835177e-04 9.99774040e-01 1.03399837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7727550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.89, Y:253.13, Z:10.34 [[-6.96768131e-01 -7.17161889e-01 1.38923245e-02 1.86885207e+02] [ 7.16997195e-01 -6.96906196e-01 -1.53875410e-02 2.53133018e+02] [ 2.07170050e-02 -7.60790512e-04 9.99785090e-01 1.03410071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.802755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.86, Y:253.15, Z:10.34 [[-6.97674194e-01 -7.16290695e-01 1.33550959e-02 1.86862518e+02] [ 7.16138513e-01 -6.97801603e-01 -1.47835163e-02 2.53147726e+02] [ 1.99085025e-02 -7.49979257e-04 9.99801525e-01 1.03414898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.832755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.84, Y:253.17, Z:10.34 [[-6.98446504e-01 -7.15545892e-01 1.29057681e-02 1.86841198e+02] [ 7.15403820e-01 -6.98565338e-01 -1.42773981e-02 2.53165756e+02] [ 1.92316558e-02 -7.39163006e-04 9.99814781e-01 1.03424463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.862755096 meters Centerline goodness [0,1] 0.9999574069341511 Centerline is valid? [True, True] Translation: X:186.82, Y:253.19, Z:10.34 [[-6.99460999e-01 -7.14556130e-01 1.28003124e-02 1.86824307e+02] [ 7.14416371e-01 -6.99577707e-01 -1.41520537e-02 2.53187483e+02] [ 1.90672499e-02 -7.54056887e-04 9.99817919e-01 1.03409149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.892755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.80, Y:253.20, Z:10.34 [[-7.01072885e-01 -7.12989497e-01 1.19493355e-02 1.86802968e+02] [ 7.12867614e-01 -7.01174324e-01 -1.32035309e-02 2.53202213e+02] [ 1.77925461e-02 -7.38343240e-04 9.99841428e-01 1.03425942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9227550960001 meters Centerline goodness [0,1] 0.9999789805570153 Centerline is valid? [True, True] Translation: X:186.78, Y:253.22, Z:10.34 [[-7.01975717e-01 -7.12098773e-01 1.20594818e-02 1.86784187e+02] [ 7.11974682e-01 -7.02078884e-01 -1.33151348e-02 2.53219516e+02] [ 1.79483987e-02 -7.60855538e-04 9.99838625e-01 1.03424781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.952755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.76, Y:253.23, Z:10.34 [[-7.03377050e-01 -7.10713191e-01 1.21443755e-02 1.86760328e+02] [ 7.10587346e-01 -7.03481436e-01 -1.33975255e-02 2.53233614e+02] [ 1.80651408e-02 -7.93872400e-04 9.99836497e-01 1.03441242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.982755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.74, Y:253.25, Z:10.35 [[-7.03922362e-01 -7.10167966e-01 1.24405884e-02 1.86737351e+02] [ 7.10036040e-01 -7.04031810e-01 -1.37125095e-02 2.53247976e+02] [ 1.84967549e-02 -8.19275941e-04 9.99828585e-01 1.03450549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.012755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:253.27, Z:10.34 [[-7.04181210e-01 -7.09912700e-01 1.23604889e-02 1.86720688e+02] [ 7.09782623e-01 -7.04289214e-01 -1.36136288e-02 2.53266657e+02] [ 1.83698470e-02 -8.13201351e-04 9.99830929e-01 1.03442654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0427550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.70, Y:253.28, Z:10.34 [[-7.04199504e-01 -7.09891220e-01 1.25505205e-02 1.86696156e+02] [ 7.09757312e-01 -7.04310859e-01 -1.38120062e-02 2.53278288e+02] [ 1.86444898e-02 -8.18584193e-04 9.99825841e-01 1.03441750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.072755096 meters Centerline goodness [0,1] 0.9998532710084475 Centerline is valid? [True, True] Translation: X:186.68, Y:253.29, Z:10.34 [[-7.03830926e-01 -7.10239165e-01 1.35039012e-02 1.86675063e+02] [ 7.10084471e-01 -7.03959932e-01 -1.48478439e-02 2.53293629e+02] [ 2.00517256e-02 -8.61461186e-04 9.99798573e-01 1.03419815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.102755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.65, Y:253.30, Z:10.35 [[-7.03883196e-01 -7.10205393e-01 1.25198470e-02 1.86648219e+02] [ 7.10072631e-01 -7.03994086e-01 -1.37544804e-02 2.53304903e+02] [ 1.85824044e-02 -7.91546942e-04 9.99827019e-01 1.03474365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.132755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.62, Y:253.32, Z:10.35 [[-7.02664900e-01 -7.11411127e-01 1.24998427e-02 1.86620351e+02] [ 7.11279188e-01 -7.02775672e-01 -1.37212324e-02 2.53316785e+02] [ 1.85460228e-02 -7.50550463e-04 9.99827726e-01 1.03498674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1627550960001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.60, Y:253.33, Z:10.35 [[-7.01959115e-01 -7.12113799e-01 1.21383389e-02 1.86602145e+02] [ 7.11989661e-01 -7.02063702e-01 -1.33146938e-02 2.53334430e+02] [ 1.80034643e-02 -7.03998928e-04 9.99837677e-01 1.03496606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.192755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.57, Y:253.34, Z:10.35 [[-7.00993482e-01 -7.13073486e-01 1.15905515e-02 1.86570451e+02] [ 7.12960595e-01 -7.01089004e-01 -1.27042812e-02 2.53341088e+02] [ 1.71850942e-02 -6.42011836e-04 9.99852119e-01 1.03518988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.222755096 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.55, Y:253.36, Z:10.35 [[-7.01246239e-01 -7.12831590e-01 1.11729889e-02 1.86547563e+02] [ 7.12726827e-01 -7.01334972e-01 -1.22362968e-02 2.53356184e+02] [ 1.65584268e-02 -6.17368191e-04 9.99862709e-01 1.03531986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.252755096 meters Centerline goodness [0,1] 0.9998738011105502 Centerline is valid? [True, True] Translation: X:186.52, Y:253.37, Z:10.36 [[-7.01532759e-01 -7.12559837e-01 1.05008232e-02 1.86521153e+02] [ 7.12467419e-01 -7.01611105e-01 -1.14905849e-02 2.53368026e+02] [ 1.55552235e-02 -5.79527309e-04 9.99878842e-01 1.03552165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2827550960001 meters Centerline goodness [0,1] 0.9996005550182904 Centerline is valid? [True, True] Translation: X:186.50, Y:253.38, Z:10.36 [[-7.02047385e-01 -7.12058804e-01 1.00860926e-02 1.86497986e+02] [ 7.11973628e-01 -7.02119609e-01 -1.10276195e-02 2.53380822e+02] [ 1.49339569e-02 -5.60879490e-04 9.99888325e-01 1.03566493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.312755096 meters Centerline goodness [0,1] 0.9997898497425659 Centerline is valid? [True, True] Translation: X:186.48, Y:253.40, Z:10.36 [[-7.02338702e-01 -7.11765113e-01 1.05248425e-02 1.86477117e+02] [ 7.11672479e-01 -7.02417313e-01 -1.14978480e-02 2.53397652e+02] [ 1.55765986e-02 -5.85142850e-04 9.99878506e-01 1.03572073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.342755096 meters Centerline goodness [0,1] 0.9997056844937773 Centerline is valid? [True, True] Translation: X:186.45, Y:253.41, Z:10.36 [[-7.02294173e-01 -7.11809889e-01 1.04679053e-02 1.86453213e+02] [ 7.11718386e-01 -7.02371947e-01 -1.14275269e-02 2.53410014e+02] [ 1.54865897e-02 -5.75284832e-04 9.99879910e-01 1.03587471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.372755096 meters Centerline goodness [0,1] 0.999600899027454 Centerline is valid? [True, True] Translation: X:186.43, Y:253.43, Z:10.36 [[-7.02505580e-01 -7.11609598e-01 9.88387774e-03 1.86431064e+02] [ 7.11528102e-01 -7.02574897e-01 -1.07830110e-02 2.53425814e+02] [ 1.46174585e-02 -5.42468610e-04 9.99893012e-01 1.03598253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4027550960001 meters Centerline goodness [0,1] 0.9997061416397296 Centerline is valid? [True, True] Translation: X:186.41, Y:253.44, Z:10.36 [[-7.02488993e-01 -7.11628211e-01 9.72132175e-03 1.86408054e+02] [ 7.11549491e-01 -7.02556055e-01 -1.05977241e-02 2.53441045e+02] [ 1.43714129e-02 -5.27582957e-04 9.99896587e-01 1.03611231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.432755096 meters Centerline goodness [0,1] 0.9991572915349934 Centerline is valid? [True, True] Translation: X:186.38, Y:253.45, Z:10.36 [[-7.02072054e-01 -7.12045958e-01 9.24044824e-03 1.86381509e+02] [ 7.11974966e-01 -7.02132691e-01 -1.00663513e-02 2.53453171e+02] [ 1.36557256e-02 -4.88336129e-04 9.99906637e-01 1.03627854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.462755096 meters Centerline goodness [0,1] 0.9991572915349934 Centerline is valid? [True, True] Translation: X:186.36, Y:253.47, Z:10.36 [[-7.02341791e-01 -7.11779851e-01 9.24399647e-03 1.86363804e+02] [ 7.11708880e-01 -7.02402452e-01 -1.00630923e-02 2.53472071e+02] [ 1.36557121e-02 -4.88695889e-04 9.99906637e-01 1.03630272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.492755096 meters Centerline goodness [0,1] 0.998609853192072 Centerline is valid? [True, True] Translation: X:186.34, Y:253.49, Z:10.36 [[-7.02224665e-01 -7.11900713e-01 8.82578857e-03 1.86340691e+02] [ 7.11836121e-01 -7.02279975e-01 -9.60068922e-03 2.53486541e+02] [ 1.30329121e-02 -4.59325672e-04 9.99914963e-01 1.03638249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5227550960001 meters Centerline goodness [0,1] 0.9968015051740358 Centerline is valid? [True, True] Translation: X:186.32, Y:253.50, Z:10.36 [[-7.01837173e-01 -7.12296064e-01 7.67461965e-03 1.86320308e+02] [ 7.12247313e-01 -7.01879025e-01 -8.34265347e-03 2.53503170e+02] [ 1.13290938e-02 -3.88957110e-04 9.99935748e-01 1.03639879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11130.22 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%| | 0/24551 [00:00